mirror of https://github.com/ArduPilot/ardupilot
83 lines
2.4 KiB
C++
83 lines
2.4 KiB
C++
/*
|
|
* This file is free software: you can redistribute it and/or modify it
|
|
* under the terms of the GNU General Public License as published by the
|
|
* Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This file is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
|
* See the GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
the ADIS1647x is unusual as it uses 16 bit registers. It also needs
|
|
to run as the only sensor on the SPI bus for good performance
|
|
*/
|
|
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
#include "AP_InertialSensor.h"
|
|
#include "AP_InertialSensor_Backend.h"
|
|
|
|
class AP_InertialSensor_ADIS1647x : public AP_InertialSensor_Backend {
|
|
public:
|
|
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
|
|
AP_HAL::OwnPtr<AP_HAL::Device> dev,
|
|
enum Rotation rotation,
|
|
uint8_t drdy_gpio);
|
|
|
|
/**
|
|
* Configure the sensors and start reading routine.
|
|
*/
|
|
void start() override;
|
|
bool update() override;
|
|
|
|
private:
|
|
AP_InertialSensor_ADIS1647x(AP_InertialSensor &imu,
|
|
AP_HAL::OwnPtr<AP_HAL::Device> dev,
|
|
enum Rotation rotation,
|
|
uint8_t drdy_gpio);
|
|
|
|
/*
|
|
initialise driver
|
|
*/
|
|
bool init();
|
|
void read_sensor16(void);
|
|
void read_sensor32(void);
|
|
void read_sensor32_delta(void);
|
|
void loop(void);
|
|
bool check_product_id(uint16_t &id);
|
|
|
|
// read a 16 bit register
|
|
uint16_t read_reg16(uint8_t regnum) const;
|
|
|
|
// write a 16 bit register
|
|
bool write_reg16(uint8_t regnum, uint16_t value, bool confirm=false) const;
|
|
|
|
AP_HAL::OwnPtr<AP_HAL::Device> dev;
|
|
|
|
enum class OpMode : uint8_t {
|
|
Basic =1,
|
|
AG32 =2,
|
|
Delta32 =3
|
|
} opmode;
|
|
|
|
enum Rotation rotation;
|
|
uint8_t drdy_pin;
|
|
|
|
uint16_t last_counter;
|
|
bool done_first_read;
|
|
float temp_sum;
|
|
uint8_t temp_count;
|
|
float expected_sample_rate_hz;
|
|
|
|
float accel_scale;
|
|
float gyro_scale;
|
|
double dangle_scale;
|
|
double dvel_scale;
|
|
};
|