ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.h

95 lines
2.8 KiB
C++

#ifndef __AP_INERTIAL_SENSOR_LSM9DS0_H__
#define __AP_INERTIAL_SENSOR_LSM9DS0_H__
#define LSM9DS0_DEBUG 0
#include <AP_HAL/AP_HAL.h>
#include "AP_InertialSensor.h"
class AP_InertialSensor_LSM9DS0 : public AP_InertialSensor_Backend
{
public:
enum gyro_scale
{
G_SCALE_245DPS = 0,
G_SCALE_500DPS,
G_SCALE_2000DPS,
};
enum accel_scale
{
A_SCALE_2G = 0,
A_SCALE_4G,
A_SCALE_6G,
A_SCALE_8G,
A_SCALE_16G
};
AP_InertialSensor_LSM9DS0(AP_InertialSensor &imu,
int drdy_pin_num_a, int drdy_pin_num_b);
bool update();
static AP_InertialSensor_Backend * detect(AP_InertialSensor &imu);
private:
struct PACKED sensor_raw_data {
int16_t x;
int16_t y;
int16_t z;
};
AP_HAL::SPIDeviceDriver * _accel_spi;
AP_HAL::SPIDeviceDriver * _gyro_spi;
AP_HAL::Semaphore * _spi_sem;
/*
* If data-ready GPIO pins numbers are not defined (i.e. any negative
* value), the fallback approach used is to check if there's new data ready
* by reading the status register. It is *strongly* recommended to use
* data-ready GPIO pins for performance reasons.
*/
int _drdy_pin_num_a;
AP_HAL::DigitalSource * _drdy_pin_a;
int _drdy_pin_num_g;
AP_HAL::DigitalSource * _drdy_pin_g;
bool _accel_data_ready();
bool _gyro_data_ready();
void _poll_data();
bool _init_sensor();
bool _hardware_init();
uint8_t _gyro_instance;
uint8_t _accel_instance;
void _gyro_init();
void _accel_init();
float _gyro_scale, _accel_scale;
void _set_gyro_scale(gyro_scale scale);
void _set_accel_scale(accel_scale scale);
uint8_t _register_read_xm( uint8_t reg );
uint8_t _register_read_g( uint8_t reg );
void _register_write_xm( uint8_t reg, uint8_t val );
void _register_write_g( uint8_t reg, uint8_t val );
void _accel_raw_data(struct sensor_raw_data *raw_data);
void _gyro_raw_data(struct sensor_raw_data *raw_data);
void _read_data_transaction_a();
void _read_data_transaction_g();
#if LSM9DS0_DEBUG
void _dump_registers();
#endif
};
#endif /* __AP_INERTIAL_SENSOR_LSM9DS0_H__ */