ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h

99 lines
2.7 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_INERTIAL_SENSOR_MPU6000_H__
#define __AP_INERTIAL_SENSOR_MPU6000_H__
#include <stdint.h>
#include <AP_HAL.h>
#include <AP_Math.h>
#include <AP_Progmem.h>
#include "AP_InertialSensor.h"
// enable debug to see a register dump on startup
#define MPU6000_DEBUG 0
// on fast CPUs we sample at 1kHz and use a software filter
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
#define MPU6000_FAST_SAMPLING 1
#else
#define MPU6000_FAST_SAMPLING 0
#endif
#if MPU6000_FAST_SAMPLING
#include <Filter.h>
#include <LowPassFilter2p.h>
#endif
class AP_InertialSensor_MPU6000 : public AP_InertialSensor_Backend
{
public:
AP_InertialSensor_MPU6000(AP_InertialSensor &imu);
/* update accel and gyro state */
bool update();
bool gyro_sample_available(void) { return _sum_count >= _sample_count; }
bool accel_sample_available(void) { return _sum_count >= _sample_count; }
// detect the sensor
static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
private:
#if MPU6000_DEBUG
void _dump_registers(void);
#endif
// instance numbers of accel and gyro data
uint8_t _gyro_instance;
uint8_t _accel_instance;
AP_HAL::DigitalSource *_drdy_pin;
bool _init_sensor(void);
bool _sample_available();
void _read_data_transaction();
bool _data_ready();
void _poll_data(void);
uint8_t _register_read( uint8_t reg );
void _register_write( uint8_t reg, uint8_t val );
void _register_write_check(uint8_t reg, uint8_t val);
bool _hardware_init(void);
AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem;
static const float _gyro_scale;
// support for updating filter at runtime
uint8_t _last_filter_hz;
void _set_filter_register(uint8_t filter_hz);
// count of bus errors
uint16_t _error_count;
// how many hardware samples before we report a sample to the caller
uint8_t _sample_count;
#if MPU6000_FAST_SAMPLING
Vector3f _accel_filtered;
Vector3f _gyro_filtered;
// Low Pass filters for gyro and accel
LowPassFilter2p _accel_filter_x;
LowPassFilter2p _accel_filter_y;
LowPassFilter2p _accel_filter_z;
LowPassFilter2p _gyro_filter_x;
LowPassFilter2p _gyro_filter_y;
LowPassFilter2p _gyro_filter_z;
#else
// accumulation in timer - must be read with timer disabled
// the sum of the values since last read
Vector3l _accel_sum;
Vector3l _gyro_sum;
#endif
volatile uint16_t _sum_count;
};
#endif // __AP_INERTIAL_SENSOR_MPU6000_H__