mirror of https://github.com/ArduPilot/ardupilot
88 lines
2.9 KiB
C++
88 lines
2.9 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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IMU driver backend class. Each supported gyro/accel sensor type
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needs to have an object derived from this class.
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Note that drivers can implement just gyros or just accels, and can
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also provide multiple gyro/accel instances.
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*/
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#ifndef __AP_INERTIALSENSOR_BACKEND_H__
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#define __AP_INERTIALSENSOR_BACKEND_H__
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class AP_InertialSensor_Backend
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{
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public:
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AP_InertialSensor_Backend(AP_InertialSensor &imu);
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// we declare a virtual destructor so that drivers can
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// override with a custom destructor if need be.
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virtual ~AP_InertialSensor_Backend(void) {}
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/*
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* Update the sensor data. Called by the frontend to transfer
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* accumulated sensor readings to the frontend structure via the
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* _rotate_and_offset_gyro() and _rotate_and_offset_accel() functions
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*/
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virtual bool update() = 0;
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/*
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* return true if at least one accel sample is available in the backend
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* since the last call to update()
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*/
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virtual bool accel_sample_available() = 0;
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/*
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* return true if at least one gyro sample is available in the backend
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* since the last call to update()
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*/
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virtual bool gyro_sample_available() = 0;
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/*
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return the product ID
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*/
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int16_t product_id(void) const { return _product_id; }
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protected:
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// access to frontend
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AP_InertialSensor &_imu;
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// rotate gyro vector and offset
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void _rotate_and_offset_gyro(uint8_t instance, const Vector3f &gyro);
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// rotate accel vector, scale and offset
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void _rotate_and_offset_accel(uint8_t instance, const Vector3f &accel);
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// set accelerometer error_count
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void _set_accel_error_count(uint8_t instance, uint32_t error_count);
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// set gyro error_count
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void _set_gyro_error_count(uint8_t instance, uint32_t error_count);
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// backend should fill in its product ID from AP_PRODUCT_ID_*
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int16_t _product_id;
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// return the default filter frequency in Hz for the sample rate
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uint8_t _default_filter(void) const;
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// note that each backend is also expected to have a static detect()
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// function which instantiates an instance of the backend sensor
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// driver if the sensor is available
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};
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#endif // __AP_INERTIALSENSOR_BACKEND_H__
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