mirror of https://github.com/ArduPilot/ardupilot
88 lines
2.6 KiB
C++
88 lines
2.6 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.h>
|
|
#include <AP_Math.h>
|
|
#include <AP_Progmem.h>
|
|
#include "AP_InertialSensor.h"
|
|
|
|
#define MPU6000_CS_PIN 53 // APM pin connected to mpu6000's chip select pin
|
|
|
|
// enable debug to see a register dump on startup
|
|
#define MPU6000_DEBUG 0
|
|
|
|
class AP_InertialSensor_MPU6000 : public AP_InertialSensor
|
|
{
|
|
public:
|
|
|
|
AP_InertialSensor_MPU6000();
|
|
|
|
/* Concrete implementation of AP_InertialSensor functions: */
|
|
bool update();
|
|
float get_gyro_drift_rate();
|
|
|
|
// wait for a sample to be available, with timeout in milliseconds
|
|
bool wait_for_sample(uint16_t timeout_ms);
|
|
|
|
// get_delta_time returns the time period in seconds overwhich the sensor data was collected
|
|
float get_delta_time();
|
|
|
|
uint16_t error_count(void) const { return _error_count; }
|
|
bool healthy(void) const { return _error_count <= 4; }
|
|
bool get_gyro_health(uint8_t instance) const { return healthy(); }
|
|
bool get_accel_health(uint8_t instance) const { return healthy(); }
|
|
|
|
protected:
|
|
uint16_t _init_sensor( Sample_rate sample_rate );
|
|
|
|
private:
|
|
AP_HAL::DigitalSource *_drdy_pin;
|
|
|
|
bool _sample_available();
|
|
void _read_data_transaction();
|
|
bool _data_ready();
|
|
void _poll_data(void);
|
|
uint8_t _register_read( uint8_t reg );
|
|
void _register_write( uint8_t reg, uint8_t val );
|
|
bool _hardware_init(Sample_rate sample_rate);
|
|
|
|
AP_HAL::SPIDeviceDriver *_spi;
|
|
AP_HAL::Semaphore *_spi_sem;
|
|
|
|
uint16_t _num_samples;
|
|
static const float _gyro_scale;
|
|
|
|
uint32_t _last_sample_time_micros;
|
|
|
|
// ensure we can't initialise twice
|
|
bool _initialised;
|
|
int16_t _mpu6000_product_id;
|
|
|
|
// how many hardware samples before we report a sample to the caller
|
|
uint8_t _sample_shift;
|
|
|
|
// support for updating filter at runtime
|
|
uint8_t _last_filter_hz;
|
|
|
|
void _set_filter_register(uint8_t filter_hz, uint8_t default_filter);
|
|
|
|
uint16_t _error_count;
|
|
|
|
// accumulation in timer - must be read with timer disabled
|
|
// the sum of the values since last read
|
|
Vector3l _accel_sum;
|
|
Vector3l _gyro_sum;
|
|
volatile int16_t _sum_count;
|
|
|
|
public:
|
|
|
|
#if MPU6000_DEBUG
|
|
void _dump_registers(void);
|
|
#endif
|
|
};
|
|
|
|
#endif // __AP_INERTIAL_SENSOR_MPU6000_H__
|