mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-10 01:48:29 -04:00
9c6bd38e91
Due to the way the headers are organized changing a single change in an inertial sensor driver would trigger a rebuild for most of the files in the project. Time could be saved by using ccache (since most of the things didn't change) but we can do better, i.e. re-organize the headers so we don't have to re-build everything. With this patch only AP_InertialSensor/AP_InertialSensor.h is exposed to most users. There are some corner cases to integrate with some example code, but most of the places now depend only on this header and this header doesn't depend on the specific backends. Now changing a single header, e.g. AP_InertialSensor_L3G4200D.h triggers a rebuild only of these files: $ waf copter 'copter' finished successfully (0.000s) Waf: Entering directory `/home/lucas/p/dronecode/ardupilot/build/minlure' [ 80/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor.cpp [ 84/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp [310/370] Linking build/minlure/ArduCopter/libArduCopter_libs.a [370/370] Linking build/minlure/bin/arducopter Waf: Leaving directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
93 lines
2.8 KiB
C++
93 lines
2.8 KiB
C++
#pragma once
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#define LSM9DS0_DEBUG 0
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#include <AP_HAL/AP_HAL.h>
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#include "AP_InertialSensor.h"
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#include "AP_InertialSensor_Backend.h"
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class AP_InertialSensor_LSM9DS0 : public AP_InertialSensor_Backend
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{
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public:
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enum gyro_scale
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{
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G_SCALE_245DPS = 0,
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G_SCALE_500DPS,
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G_SCALE_2000DPS,
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};
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enum accel_scale
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{
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A_SCALE_2G = 0,
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A_SCALE_4G,
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A_SCALE_6G,
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A_SCALE_8G,
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A_SCALE_16G
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};
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AP_InertialSensor_LSM9DS0(AP_InertialSensor &imu,
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int drdy_pin_num_a, int drdy_pin_num_b);
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bool update();
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static AP_InertialSensor_Backend * detect(AP_InertialSensor &imu);
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private:
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struct PACKED sensor_raw_data {
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int16_t x;
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int16_t y;
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int16_t z;
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};
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AP_HAL::SPIDeviceDriver * _accel_spi;
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AP_HAL::SPIDeviceDriver * _gyro_spi;
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AP_HAL::Semaphore * _spi_sem;
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/*
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* If data-ready GPIO pins numbers are not defined (i.e. any negative
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* value), the fallback approach used is to check if there's new data ready
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* by reading the status register. It is *strongly* recommended to use
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* data-ready GPIO pins for performance reasons.
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*/
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int _drdy_pin_num_a;
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AP_HAL::DigitalSource * _drdy_pin_a;
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int _drdy_pin_num_g;
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AP_HAL::DigitalSource * _drdy_pin_g;
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bool _accel_data_ready();
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bool _gyro_data_ready();
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void _poll_data();
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bool _init_sensor();
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bool _hardware_init();
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uint8_t _gyro_instance;
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uint8_t _accel_instance;
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void _gyro_init();
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void _accel_init();
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float _gyro_scale, _accel_scale;
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void _set_gyro_scale(gyro_scale scale);
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void _set_accel_scale(accel_scale scale);
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uint8_t _register_read_xm( uint8_t reg );
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uint8_t _register_read_g( uint8_t reg );
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void _register_write_xm( uint8_t reg, uint8_t val );
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void _register_write_g( uint8_t reg, uint8_t val );
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void _accel_raw_data(struct sensor_raw_data *raw_data);
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void _gyro_raw_data(struct sensor_raw_data *raw_data);
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void _read_data_transaction_a();
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void _read_data_transaction_g();
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#if LSM9DS0_DEBUG
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void _dump_registers();
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#endif
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};
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