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https://github.com/ArduPilot/ardupilot
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43 lines
1.1 KiB
C++
43 lines
1.1 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include <AP_HAL/I2CDevice.h>
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#include <Filter/Filter.h>
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#include <Filter/LowPassFilter2p.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_L3G4200D : public AP_InertialSensor_Backend
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{
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public:
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AP_InertialSensor_L3G4200D(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
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virtual ~AP_InertialSensor_L3G4200D();
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// probe the sensor on I2C bus
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static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
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/* update accel and gyro state */
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bool update() override;
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// return product ID
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int16_t product_id() const override { return AP_PRODUCT_ID_L3G4200D; }
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void start(void) override;
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private:
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bool _init_sensor();
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bool _accumulate();
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
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// gyro and accel instances
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uint8_t _gyro_instance;
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uint8_t _accel_instance;
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};
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#endif
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