mirror of https://github.com/ArduPilot/ardupilot
63 lines
1.7 KiB
C++
63 lines
1.7 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file AP_IMU_Oilpan.h
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/// @brief IMU driver for the APM oilpan
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#ifndef AP_IMU_Oilpan_h
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#define AP_IMU_Oilpan_h
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#include "IMU.h"
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#include <AP_Math.h>
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#include <AP_ADC.h>
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#include <inttypes.h>
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class AP_IMU_Oilpan : public IMU
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{
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public:
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AP_IMU_Oilpan(AP_ADC *adc, uint16_t address) :
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_adc(adc),
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_address(address)
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{}
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virtual void init(Start_style style = COLD_START);
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virtual void init_accel(Start_style style = COLD_START);
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virtual void init_gyro(Start_style style = COLD_START);
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virtual bool update(void);
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// XXX backwards compat hacks
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void zero_accel(void);
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void print_accel_offsets(void); ///< XXX debug hack
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void print_gyro_offsets(void); ///< XXX debug hack
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void ax(const int v) { _adc_offset[3] = v; }
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void ay(const int v) { _adc_offset[4] = v; }
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void az(const int v) { _adc_offset[5] = v; }
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private:
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float _gyro_temp_comp(int i, int temp) const;
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void _save_gyro_cal(void);
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void _save_accel_cal(void);
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float _gyro_in(uint8_t channel, int temperature);
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float _accel_in(uint8_t channel);
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AP_ADC *_adc; // Analog to digital converter pointer
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uint16_t _address; // EEPROM start address for saving/retrieving offsets
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float _adc_offset[6]; // Array that store the Offset of the gyros and accelerometers
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// XXX should not be implementing these here
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float read_EE_float(int address);
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void write_EE_float(float value, int address);
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// constants
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static const uint8_t _sensors[6];
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static const int8_t _sensor_signs[6];
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static const uint8_t _gyro_temp_ch = 3; // The ADC channel reading the gyro temperature
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static const float _gyro_temp_curve[3][3];
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};
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#endif
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