mirror of https://github.com/ArduPilot/ardupilot
90 lines
2.6 KiB
C++
90 lines
2.6 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_INERTIAL_SENSOR_MPU6000_H__
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#define __AP_INERTIAL_SENSOR_MPU6000_H__
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#include <stdint.h>
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#include <AP_HAL.h>
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#include <AP_Math.h>
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#include <AP_Progmem.h>
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#include "AP_InertialSensor.h"
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#define MPU6000_CS_PIN 53 // APM pin connected to mpu6000's chip select pin
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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_InertialSensor_MPU6000 : public AP_InertialSensor
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{
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public:
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AP_InertialSensor_MPU6000();
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/* Concrete implementation of AP_InertialSensor functions: */
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bool update();
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float get_gyro_drift_rate();
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// sample_available - true when a new sample is available
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bool sample_available();
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// get_delta_time returns the time period in seconds overwhich the sensor data was collected
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float get_delta_time();
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protected:
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uint16_t _init_sensor( Sample_rate sample_rate );
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private:
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void _read_data_from_timerprocess();
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void _read_data_transaction();
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bool _data_ready();
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void _poll_data(void);
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AP_HAL::DigitalSource *_drdy_pin;
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uint8_t _register_read( uint8_t reg );
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bool _register_read_from_timerprocess( uint8_t reg, uint8_t *val );
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void register_write( uint8_t reg, uint8_t val );
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void wait_for_sample();
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bool hardware_init(Sample_rate sample_rate);
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AP_HAL::SPIDeviceDriver *_spi;
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AP_HAL::Semaphore *_spi_sem;
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uint16_t _num_samples;
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float _temp;
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float _temp_to_celsius( uint16_t );
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static const float _gyro_scale;
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static const uint8_t _gyro_data_index[3];
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static const int8_t _gyro_data_sign[3];
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static const uint8_t _accel_data_index[3];
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static const int8_t _accel_data_sign[3];
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static const uint8_t _temp_data_index;
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uint32_t _last_sample_time_micros;
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// ensure we can't initialise twice
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bool _initialised;
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int16_t _mpu6000_product_id;
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// how many hardware samples before we report a sample to the caller
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uint8_t _sample_shift;
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// support for updating filter at runtime
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uint8_t _last_filter_hz;
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void _set_filter_register(uint8_t filter_hz, uint8_t default_filter);
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public:
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#if MPU6000_DEBUG
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void _dump_registers(void);
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#endif
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};
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#endif // __AP_INERTIAL_SENSOR_MPU6000_H__
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