ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h

207 lines
6.3 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_INERTIAL_SENSOR_MPU6000_H__
#define __AP_INERTIAL_SENSOR_MPU6000_H__
#include <stdint.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <Filter/Filter.h>
#include <Filter/LowPassFilter2p.h>
#include <Filter/LowPassFilter.h>
#include "AP_InertialSensor.h"
#include "AuxiliaryBus.h"
// enable debug to see a register dump on startup
#define MPU6000_DEBUG 0
#define MPU6000_SAMPLE_SIZE 14
#define MPU6000_MAX_FIFO_SAMPLES 3
#define MAX_DATA_READ (MPU6000_MAX_FIFO_SAMPLES * MPU6000_SAMPLE_SIZE)
class AP_MPU6000_AuxiliaryBus;
class AP_MPU6000_AuxiliaryBusSlave;
class AP_MPU6000_BusDriver
{
public:
virtual ~AP_MPU6000_BusDriver() { };
virtual void init() = 0;
virtual void start(bool &fifo_mode, uint8_t &max_samples) = 0;
virtual void read8(uint8_t reg, uint8_t *val) = 0;
/// Copy data from the device to @p buf starting at @p reg with @size
/// length.
virtual void read_block(uint8_t reg, uint8_t *buf, uint32_t size) = 0;
virtual void write8(uint8_t reg, uint8_t val) = 0;
virtual void set_bus_speed(AP_HAL::SPIDeviceDriver::bus_speed speed) = 0;
virtual void read_data_transaction(uint8_t* samples,
AP_HAL::DigitalSource *_drdy_pin,
uint8_t &n_samples) = 0;
virtual AP_HAL::Semaphore* get_semaphore() = 0;
virtual bool has_auxiliary_bus() = 0;
};
class AP_InertialSensor_MPU6000 : public AP_InertialSensor_Backend
{
friend AP_MPU6000_AuxiliaryBus;
friend AP_MPU6000_AuxiliaryBusSlave;
public:
AP_InertialSensor_MPU6000(AP_InertialSensor &imu, AP_MPU6000_BusDriver *bus);
~AP_InertialSensor_MPU6000();
static AP_InertialSensor_Backend *detect_i2c(AP_InertialSensor &_imu,
AP_HAL::I2CDriver *i2c,
uint8_t addr);
static AP_InertialSensor_Backend *detect_spi(AP_InertialSensor &_imu);
static AP_InertialSensor_MPU6000 &from(AP_InertialSensor_Backend &backend) {
return static_cast<AP_InertialSensor_MPU6000&>(backend);
}
/* update accel and gyro state */
bool update();
/*
* Return an AuxiliaryBus if the bus driver allows it
*/
AuxiliaryBus *get_auxiliary_bus() override;
void start() override;
private:
static AP_InertialSensor_Backend *_detect(AP_InertialSensor &_imu,
AP_MPU6000_BusDriver *bus,
int16_t id = -1);
#if MPU6000_DEBUG
void _dump_registers(void);
#endif
// instance numbers of accel and gyro data
uint8_t _gyro_instance;
uint8_t _accel_instance;
AP_HAL::DigitalSource *_drdy_pin;
bool _init_sensor(void);
void _read_data_transaction();
bool _data_ready();
void _poll_data(void);
void _read_block(uint8_t reg, uint8_t *buf, uint32_t size);
uint8_t _register_read( uint8_t reg);
void _register_write( uint8_t reg, uint8_t val );
void _register_write_check(uint8_t reg, uint8_t val);
bool _hardware_init(void);
void _accumulate(uint8_t *samples, uint8_t n_samples);
AP_MPU6000_BusDriver *_bus;
AP_HAL::Semaphore *_bus_sem;
AP_MPU6000_AuxiliaryBus *_auxiliary_bus = nullptr;
static const float _gyro_scale;
void _set_filter_register(uint16_t filter_hz);
float _temp_filtered;
LowPassFilter2pFloat _temp_filter;
bool _fifo_mode;
uint8_t *_samples = nullptr;
};
class AP_MPU6000_BusDriver_SPI : public AP_MPU6000_BusDriver
{
public:
AP_MPU6000_BusDriver_SPI(void);
void init();
void start(bool &fifo_mode, uint8_t &max_samples);
void read8(uint8_t reg, uint8_t *val);
void read_block(uint8_t reg, uint8_t *buf, uint32_t size) override;
void write8(uint8_t reg, uint8_t val);
void set_bus_speed(AP_HAL::SPIDeviceDriver::bus_speed speed);
void read_data_transaction(uint8_t* samples,
AP_HAL::DigitalSource *_drdy_pin,
uint8_t &n_samples);
AP_HAL::Semaphore* get_semaphore();
bool has_auxiliary_bus() override;
private:
AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem;
// count of bus errors
uint16_t _error_count;
};
class AP_MPU6000_BusDriver_I2C : public AP_MPU6000_BusDriver
{
public:
AP_MPU6000_BusDriver_I2C(AP_HAL::I2CDriver *i2c, uint8_t addr);
void init();
void start(bool &fifo_mode, uint8_t &max_samples);
void read8(uint8_t reg, uint8_t *val);
void read_block(uint8_t reg, uint8_t *buf, uint32_t size) override;
void write8(uint8_t reg, uint8_t val);
void set_bus_speed(AP_HAL::SPIDeviceDriver::bus_speed speed);
void read_data_transaction(uint8_t* samples,
AP_HAL::DigitalSource *_drdy_pin,
uint8_t &n_samples);
AP_HAL::Semaphore* get_semaphore();
bool has_auxiliary_bus() override;
private:
uint8_t _addr;
AP_HAL::I2CDriver *_i2c;
AP_HAL::Semaphore *_i2c_sem;
uint8_t _rx[MAX_DATA_READ];
};
class AP_MPU6000_AuxiliaryBusSlave : public AuxiliaryBusSlave
{
friend class AP_MPU6000_AuxiliaryBus;
public:
int passthrough_read(uint8_t reg, uint8_t *buf, uint8_t size) override;
int passthrough_write(uint8_t reg, uint8_t val) override;
int read(uint8_t *buf) override;
protected:
AP_MPU6000_AuxiliaryBusSlave(AuxiliaryBus &bus, uint8_t addr, uint8_t instance);
int _set_passthrough(uint8_t reg, uint8_t size, uint8_t *out = nullptr);
private:
const uint8_t _mpu6000_addr;
const uint8_t _mpu6000_reg;
const uint8_t _mpu6000_ctrl;
const uint8_t _mpu6000_do;
uint8_t _ext_sens_data = 0;
};
class AP_MPU6000_AuxiliaryBus : public AuxiliaryBus
{
friend class AP_InertialSensor_MPU6000;
public:
AP_HAL::Semaphore *get_semaphore() override;
protected:
AP_MPU6000_AuxiliaryBus(AP_InertialSensor_MPU6000 &backend);
AuxiliaryBusSlave *_instantiate_slave(uint8_t addr, uint8_t instance) override;
int _configure_periodic_read(AuxiliaryBusSlave *slave, uint8_t reg,
uint8_t size) override;
private:
void _configure_slaves();
static const uint8_t MAX_EXT_SENS_DATA = 24;
uint8_t _ext_sens_data = 0;
};
#endif // __AP_INERTIAL_SENSOR_MPU6000_H__