mirror of https://github.com/ArduPilot/ardupilot
223 lines
7.9 KiB
C++
223 lines
7.9 KiB
C++
/*
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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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#pragma once
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#include <inttypes.h>
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#include <AP_Math/AP_Math.h>
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#include "AP_InertialSensor.h"
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class AuxiliaryBus;
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class DataFlash_Class;
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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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AP_InertialSensor_Backend(const AP_InertialSensor_Backend &that) = delete;
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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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* _publish_gyro() and _publish_accel() functions
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*/
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virtual bool update() = 0;
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/*
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* optional function to accumulate more samples. This is needed for drivers that don't use a timer to gather samples
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*/
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virtual void accumulate() {}
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/*
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* Configure and start all sensors. The empty implementation allows
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* subclasses to already start the sensors when it's detected
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*/
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virtual void start() { }
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/*
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* Return an AuxiliaryBus if backend has another bus it is able to export
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*/
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virtual AuxiliaryBus *get_auxiliary_bus() { return nullptr; }
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/*
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* Return the unique identifier for this backend: it's the same for
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* several sensors if the backend registers more gyros/accels
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*/
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int16_t get_id() const { return _id; }
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// notify of a fifo reset
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void notify_fifo_reset(void);
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/*
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device driver IDs. These are used to fill in the devtype field
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of the device ID, which shows up as INS*ID* parameters to
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users. The values are chosen for compatibility with existing PX4
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drivers.
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If a change is made to a driver that would make existing
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calibration values invalid then this number must be changed.
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*/
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enum DevTypes {
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DEVTYPE_BMI160 = 0x09,
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DEVTYPE_L3G4200D = 0x10,
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DEVTYPE_ACC_LSM303D = 0x11,
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DEVTYPE_ACC_BMA180 = 0x12,
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DEVTYPE_ACC_MPU6000 = 0x13,
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DEVTYPE_ACC_MPU9250 = 0x16,
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DEVTYPE_GYR_MPU6000 = 0x21,
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DEVTYPE_GYR_L3GD20 = 0x22,
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DEVTYPE_GYR_MPU9250 = 0x24
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};
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protected:
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// access to frontend
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AP_InertialSensor &_imu;
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// semaphore for access to shared frontend data
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AP_HAL::Semaphore *_sem;
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void _rotate_and_correct_accel(uint8_t instance, Vector3f &accel);
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void _rotate_and_correct_gyro(uint8_t instance, Vector3f &gyro);
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// rotate gyro vector, offset and publish
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void _publish_gyro(uint8_t instance, const Vector3f &gyro);
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// this should be called every time a new gyro raw sample is
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// available - be it published or not the sample is raw in the
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// sense that it's not filtered yet, but it must be rotated and
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// corrected (_rotate_and_correct_gyro)
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// The sample_us value must be provided for non-FIFO based
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// sensors, and should be set to zero for FIFO based sensors
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void _notify_new_gyro_raw_sample(uint8_t instance, const Vector3f &accel, uint64_t sample_us=0);
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// rotate accel vector, scale, offset and publish
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void _publish_accel(uint8_t instance, const Vector3f &accel);
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// this should be called every time a new accel raw sample is available -
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// be it published or not
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// the sample is raw in the sense that it's not filtered yet, but it must
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// be rotated and corrected (_rotate_and_correct_accel)
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// The sample_us value must be provided for non-FIFO based
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// sensors, and should be set to zero for FIFO based sensors
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void _notify_new_accel_raw_sample(uint8_t instance, const Vector3f &accel, uint64_t sample_us=0, bool fsync_set=false);
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// set the amount of oversamping a accel is doing
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void _set_accel_oversampling(uint8_t instance, uint8_t n);
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// set the amount of oversamping a gyro is doing
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void _set_gyro_oversampling(uint8_t instance, uint8_t n);
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// update the sensor rate for FIFO sensors
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void _update_sensor_rate(uint16_t &count, uint32_t &start_us, float &rate_hz);
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// set accelerometer max absolute offset for calibration
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void _set_accel_max_abs_offset(uint8_t instance, float offset);
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// get accelerometer raw sample rate
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uint32_t _accel_raw_sample_rate(uint8_t instance) const {
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return _imu._accel_raw_sample_rates[instance];
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}
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// get gyroscope raw sample rate
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uint32_t _gyro_raw_sample_rate(uint8_t instance) const {
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return _imu._gyro_raw_sample_rates[instance];
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}
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// publish a temperature value
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void _publish_temperature(uint8_t instance, float temperature);
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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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// increment accelerometer error_count
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void _inc_accel_error_count(uint8_t instance);
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// increment gyro error_count
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void _inc_gyro_error_count(uint8_t instance);
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// backend unique identifier or -1 if backend doesn't identify itself
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int16_t _id = -1;
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// return the default filter frequency in Hz for the sample rate
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uint8_t _accel_filter_cutoff(void) const { return _imu._accel_filter_cutoff; }
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// return the default filter frequency in Hz for the sample rate
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uint8_t _gyro_filter_cutoff(void) const { return _imu._gyro_filter_cutoff; }
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// return the requested sample rate in Hz
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uint16_t get_sample_rate_hz(void) const;
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// common gyro update function for all backends
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void update_gyro(uint8_t instance);
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// common accel update function for all backends
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void update_accel(uint8_t instance);
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// support for updating filter at runtime
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int8_t _last_accel_filter_hz[INS_MAX_INSTANCES];
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int8_t _last_gyro_filter_hz[INS_MAX_INSTANCES];
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void set_gyro_orientation(uint8_t instance, enum Rotation rotation) {
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_imu._gyro_orientation[instance] = rotation;
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}
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void set_accel_orientation(uint8_t instance, enum Rotation rotation) {
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_imu._accel_orientation[instance] = rotation;
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}
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// increment clipping counted. Used by drivers that do decimation before supplying
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// samples to the frontend
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void increment_clip_count(uint8_t instance) {
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_imu._accel_clip_count[instance]++;
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}
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// should fast sampling be enabled on this IMU?
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bool enable_fast_sampling(uint8_t instance) {
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return (_imu._fast_sampling_mask & (1U<<instance)) != 0;
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}
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/*
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notify of a FIFO reset so we don't use bad data to update observed sensor rate
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*/
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void notify_accel_fifo_reset(uint8_t instance);
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void notify_gyro_fifo_reset(uint8_t instance);
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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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private:
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bool should_log_imu_raw() const;
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void log_accel_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &accel);
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void log_gyro_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &gryo);
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};
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