mirror of https://github.com/ArduPilot/ardupilot
170 lines
4.6 KiB
C++
170 lines
4.6 KiB
C++
#pragma once
|
|
|
|
#include <stdint.h>
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_HAL/I2CDevice.h>
|
|
#include <AP_HAL/SPIDevice.h>
|
|
#include <AP_HAL/utility/OwnPtr.h>
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <Filter/Filter.h>
|
|
#include <Filter/LowPassFilter.h>
|
|
#include <Filter/LowPassFilter2p.h>
|
|
|
|
#include "AP_InertialSensor.h"
|
|
#include "AP_InertialSensor_Backend.h"
|
|
#include "AuxiliaryBus.h"
|
|
|
|
// enable debug to see a register dump on startup
|
|
#define MPU6000_DEBUG 0
|
|
|
|
class AP_MPU6000_AuxiliaryBus;
|
|
class AP_MPU6000_AuxiliaryBusSlave;
|
|
|
|
class AP_InertialSensor_MPU6000 : public AP_InertialSensor_Backend
|
|
{
|
|
friend AP_MPU6000_AuxiliaryBus;
|
|
friend AP_MPU6000_AuxiliaryBusSlave;
|
|
|
|
public:
|
|
virtual ~AP_InertialSensor_MPU6000();
|
|
|
|
static AP_InertialSensor_MPU6000 &from(AP_InertialSensor_Backend &backend) {
|
|
return static_cast<AP_InertialSensor_MPU6000&>(backend);
|
|
}
|
|
|
|
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
|
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
|
|
enum Rotation rotation = ROTATION_NONE);
|
|
|
|
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
|
|
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev,
|
|
enum Rotation rotation = ROTATION_NONE);
|
|
|
|
/* update accel and gyro state */
|
|
bool update();
|
|
|
|
/*
|
|
* Return an AuxiliaryBus if the bus driver allows it
|
|
*/
|
|
AuxiliaryBus *get_auxiliary_bus() override;
|
|
|
|
void start() override;
|
|
|
|
private:
|
|
AP_InertialSensor_MPU6000(AP_InertialSensor &imu,
|
|
AP_HAL::OwnPtr<AP_HAL::Device> dev,
|
|
enum Rotation rotation);
|
|
|
|
#if MPU6000_DEBUG
|
|
void _dump_registers();
|
|
#endif
|
|
|
|
/* Initialize sensor*/
|
|
bool _init();
|
|
bool _hardware_init();
|
|
bool _check_whoami();
|
|
|
|
void _set_filter_register(void);
|
|
void _fifo_reset();
|
|
void _fifo_enable();
|
|
bool _has_auxiliary_bus();
|
|
|
|
/* Read samples from FIFO (FIFO enabled) */
|
|
void _read_fifo();
|
|
|
|
/* Check if there's data available by either reading DRDY pin or register */
|
|
bool _data_ready();
|
|
|
|
/* Poll for new data (non-blocking) */
|
|
bool _poll_data();
|
|
|
|
/* Read and write functions taking the differences between buses into
|
|
* account */
|
|
bool _block_read(uint8_t reg, uint8_t *buf, uint32_t size);
|
|
uint8_t _register_read(uint8_t reg);
|
|
void _register_write(uint8_t reg, uint8_t val, bool checked=false);
|
|
|
|
void _accumulate(uint8_t *samples, uint8_t n_samples);
|
|
void _accumulate_fast_sampling(uint8_t *samples, uint8_t n_samples);
|
|
void _check_temperature(void);
|
|
|
|
// instance numbers of accel and gyro data
|
|
uint8_t _gyro_instance;
|
|
uint8_t _accel_instance;
|
|
|
|
uint16_t _error_count;
|
|
|
|
float _temp_filtered;
|
|
float _accel_scale;
|
|
LowPassFilter2pFloat _temp_filter;
|
|
|
|
enum Rotation _rotation;
|
|
|
|
AP_HAL::DigitalSource *_drdy_pin;
|
|
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
|
|
AP_MPU6000_AuxiliaryBus *_auxiliary_bus;
|
|
|
|
// is this an ICM-20608?
|
|
bool _is_icm_device;
|
|
|
|
// are we doing more than 1kHz sampling?
|
|
bool _fast_sampling;
|
|
|
|
// last temperature reading, used to detect FIFO errors
|
|
float _last_temp;
|
|
uint8_t _temp_counter;
|
|
|
|
// has master i2c been enabled?
|
|
bool _master_i2c_enable;
|
|
|
|
// buffer for fifo read
|
|
uint8_t *_fifo_buffer;
|
|
|
|
uint8_t _reg_check_counter;
|
|
};
|
|
|
|
class AP_MPU6000_AuxiliaryBusSlave : public AuxiliaryBusSlave
|
|
{
|
|
friend class AP_MPU6000_AuxiliaryBus;
|
|
|
|
public:
|
|
int passthrough_read(uint8_t reg, uint8_t *buf, uint8_t size) override;
|
|
int passthrough_write(uint8_t reg, uint8_t val) override;
|
|
|
|
int read(uint8_t *buf) override;
|
|
|
|
protected:
|
|
AP_MPU6000_AuxiliaryBusSlave(AuxiliaryBus &bus, uint8_t addr, uint8_t instance);
|
|
int _set_passthrough(uint8_t reg, uint8_t size, uint8_t *out = nullptr);
|
|
|
|
private:
|
|
const uint8_t _mpu6000_addr;
|
|
const uint8_t _mpu6000_reg;
|
|
const uint8_t _mpu6000_ctrl;
|
|
const uint8_t _mpu6000_do;
|
|
|
|
uint8_t _ext_sens_data = 0;
|
|
};
|
|
|
|
class AP_MPU6000_AuxiliaryBus : public AuxiliaryBus
|
|
{
|
|
friend class AP_InertialSensor_MPU6000;
|
|
|
|
public:
|
|
AP_HAL::Semaphore *get_semaphore() override;
|
|
|
|
protected:
|
|
AP_MPU6000_AuxiliaryBus(AP_InertialSensor_MPU6000 &backend, uint32_t devid);
|
|
|
|
AuxiliaryBusSlave *_instantiate_slave(uint8_t addr, uint8_t instance) override;
|
|
int _configure_periodic_read(AuxiliaryBusSlave *slave, uint8_t reg,
|
|
uint8_t size) override;
|
|
|
|
private:
|
|
void _configure_slaves();
|
|
|
|
static const uint8_t MAX_EXT_SENS_DATA = 24;
|
|
uint8_t _ext_sens_data = 0;
|
|
};
|