mirror of https://github.com/ArduPilot/ardupilot
149 lines
3.9 KiB
C++
149 lines
3.9 KiB
C++
#pragma once
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#include <stdint.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/I2CDevice.h>
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#include <AP_HAL/SPIDevice.h>
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#include <AP_HAL/utility/OwnPtr.h>
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#include <AP_Math/AP_Math.h>
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#include <Filter/Filter.h>
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#include <Filter/LowPassFilter.h>
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#include <Filter/LowPassFilter2p.h>
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#include "AP_InertialSensor.h"
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#include "AP_InertialSensor_Backend.h"
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#include "AuxiliaryBus.h"
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// enable debug to see a register dump on startup
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#define MPU6000_DEBUG 0
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class AP_MPU6000_AuxiliaryBus;
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class AP_MPU6000_AuxiliaryBusSlave;
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class AP_InertialSensor_MPU6000 : public AP_InertialSensor_Backend
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{
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friend AP_MPU6000_AuxiliaryBus;
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friend AP_MPU6000_AuxiliaryBusSlave;
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public:
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virtual ~AP_InertialSensor_MPU6000();
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static AP_InertialSensor_MPU6000 &from(AP_InertialSensor_Backend &backend) {
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return static_cast<AP_InertialSensor_MPU6000&>(backend);
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}
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static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
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static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev);
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/* update accel and gyro state */
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bool update();
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/*
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* Return an AuxiliaryBus if the bus driver allows it
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*/
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AuxiliaryBus *get_auxiliary_bus() override;
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void start() override;
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private:
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AP_InertialSensor_MPU6000(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::Device> dev,
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bool use_fifo);
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#if MPU6000_DEBUG
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void _dump_registers();
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#endif
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/* Initialize sensor*/
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bool _init();
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bool _hardware_init();
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void _set_filter_register(uint16_t filter_hz);
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void _fifo_reset();
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void _fifo_enable();
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bool _has_auxiliary_bus();
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/* Read samples from FIFO (FIFO enabled) */
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void _read_fifo();
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/* Read a single sample (FIFO disabled) */
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void _read_sample();
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/* Check if there's data available by either reading DRDY pin or register */
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bool _data_ready();
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/* Poll for new data (non-blocking) */
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void _poll_data();
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/* Read and write functions taking the differences between buses into
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* account */
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bool _block_read(uint8_t reg, uint8_t *buf, uint32_t size);
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uint8_t _register_read(uint8_t reg);
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void _register_write(uint8_t reg, uint8_t val );
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void _accumulate(uint8_t *samples, uint8_t n_samples);
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// instance numbers of accel and gyro data
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uint8_t _gyro_instance;
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uint8_t _accel_instance;
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const bool _use_fifo;
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uint16_t _error_count;
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float _temp_filtered;
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LowPassFilter2pFloat _temp_filter;
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AP_HAL::DigitalSource *_drdy_pin;
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AP_HAL::OwnPtr<AP_HAL::Device> _dev;
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AP_MPU6000_AuxiliaryBus *_auxiliary_bus;
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};
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class AP_MPU6000_AuxiliaryBusSlave : public AuxiliaryBusSlave
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{
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friend class AP_MPU6000_AuxiliaryBus;
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public:
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int passthrough_read(uint8_t reg, uint8_t *buf, uint8_t size) override;
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int passthrough_write(uint8_t reg, uint8_t val) override;
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int read(uint8_t *buf) override;
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protected:
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AP_MPU6000_AuxiliaryBusSlave(AuxiliaryBus &bus, uint8_t addr, uint8_t instance);
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int _set_passthrough(uint8_t reg, uint8_t size, uint8_t *out = nullptr);
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private:
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const uint8_t _mpu6000_addr;
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const uint8_t _mpu6000_reg;
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const uint8_t _mpu6000_ctrl;
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const uint8_t _mpu6000_do;
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uint8_t _ext_sens_data = 0;
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};
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class AP_MPU6000_AuxiliaryBus : public AuxiliaryBus
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{
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friend class AP_InertialSensor_MPU6000;
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public:
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AP_HAL::Semaphore *get_semaphore() override;
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protected:
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AP_MPU6000_AuxiliaryBus(AP_InertialSensor_MPU6000 &backend);
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AuxiliaryBusSlave *_instantiate_slave(uint8_t addr, uint8_t instance) override;
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int _configure_periodic_read(AuxiliaryBusSlave *slave, uint8_t reg,
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uint8_t size) override;
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private:
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void _configure_slaves();
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static const uint8_t MAX_EXT_SENS_DATA = 24;
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uint8_t _ext_sens_data = 0;
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};
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