ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h

40 lines
985 B
C++

#pragma once
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <AP_HAL/I2CDevice.h>
#include <Filter/Filter.h>
#include <Filter/LowPassFilter2p.h>
#include "AP_InertialSensor.h"
#include "AP_InertialSensor_Backend.h"
class AP_InertialSensor_L3G4200D : public AP_InertialSensor_Backend
{
public:
AP_InertialSensor_L3G4200D(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
virtual ~AP_InertialSensor_L3G4200D();
// probe the sensor on I2C bus
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
/* update accel and gyro state */
bool update() override;
void start(void) override;
private:
bool _init_sensor();
bool _accumulate();
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
// gyro and accel instances
uint8_t _gyro_instance;
uint8_t _accel_instance;
};
#endif