mirror of https://github.com/ArduPilot/ardupilot
75 lines
1.7 KiB
C++
75 lines
1.7 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_INERTIAL_SENSOR_MPU6000_H__
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#define __AP_INERTIAL_SENSOR_MPU6000_H__
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#include <string.h>
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#include <stdint.h>
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#include "../AP_PeriodicProcess/AP_PeriodicProcess.h"
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#include "../AP_Math/AP_Math.h"
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#include "AP_InertialSensor.h"
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class AP_InertialSensor_MPU6000 : public AP_InertialSensor
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{
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public:
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AP_InertialSensor_MPU6000( uint8_t cs_pin );
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uint16_t init( AP_PeriodicProcess * scheduler );
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/* Concrete implementation of AP_InertialSensor functions: */
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bool update();
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bool new_data_available();
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float gx();
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float gy();
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float gz();
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void get_gyros( float * );
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float ax();
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float ay();
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float az();
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void get_accels( float * );
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void get_sensors( float * );
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float temperature();
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uint32_t sample_time();
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void reset_sample_time();
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float get_gyro_drift_rate();
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private:
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static void read(uint32_t);
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static void data_interrupt(void);
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static uint8_t register_read( uint8_t reg );
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static void register_write( uint8_t reg, uint8_t val );
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static void hardware_init();
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Vector3f _gyro;
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Vector3f _accel;
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float _temp;
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uint32_t _last_sample_micros;
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float _temp_to_celsius( uint16_t );
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static const float _accel_scale;
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static const float _gyro_scale;
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static const uint8_t _gyro_data_index[3];
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static const int8_t _gyro_data_sign[3];
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static const uint8_t _accel_data_index[3];
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static const int8_t _accel_data_sign[3];
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static const uint8_t _temp_data_index;
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static int16_t _data[7];
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/* TODO deprecate _cs_pin */
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static uint8_t _cs_pin;
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// ensure we can't initialise twice
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unsigned _initialised:1;
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};
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#endif // __AP_INERTIAL_SENSOR_MPU6000_H__
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