mirror of https://github.com/ArduPilot/ardupilot
129 lines
3.3 KiB
C++
129 lines
3.3 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_QURT
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#include "AP_InertialSensor_QURT.h"
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const extern AP_HAL::HAL& hal;
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ObjectBuffer<mpu9x50_data> *mpu9250_mag_buffer = nullptr;
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AP_InertialSensor_QURT::AP_InertialSensor_QURT(AP_InertialSensor &imu) :
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AP_InertialSensor_Backend(imu)
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{
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}
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/*
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detect the sensor
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*/
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AP_InertialSensor_Backend *AP_InertialSensor_QURT::detect(AP_InertialSensor &_imu)
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{
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AP_InertialSensor_QURT *sensor = new AP_InertialSensor_QURT(_imu);
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if (sensor == nullptr) {
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return nullptr;
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}
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if (!sensor->init_sensor()) {
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delete sensor;
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return nullptr;
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}
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return sensor;
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}
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bool AP_InertialSensor_QURT::init_sensor(void)
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{
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gyro_instance = _imu.register_gyro(1000, 1);
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accel_instance = _imu.register_accel(1000, 1);
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mpu9250_mag_buffer = new ObjectBuffer<mpu9x50_data>(20);
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init_mpu9250();
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return true;
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}
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/*
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handle data ready interrupt from mpu9250
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*/
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extern "C" {
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static void *mpu_data_ready_trampoline(void *ctx);
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}
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static void *mpu_data_ready_trampoline(void *ctx)
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{
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((AP_InertialSensor_QURT *)ctx)->data_ready();
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return nullptr;
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}
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void AP_InertialSensor_QURT::init_mpu9250(void)
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{
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struct mpu9x50_config config;
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config.gyro_lpf = MPU9X50_GYRO_LPF_184HZ;
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config.acc_lpf = MPU9X50_ACC_LPF_184HZ;
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config.gyro_fsr = MPU9X50_GYRO_FSR_2000DPS;
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config.acc_fsr = MPU9X50_ACC_FSR_16G;
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config.gyro_sample_rate = MPU9x50_SAMPLE_RATE_1000HZ;
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config.compass_enabled = true;
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config.compass_sample_rate = MPU9x50_COMPASS_SAMPLE_RATE_100HZ;
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config.spi_dev_path = "/dev/spi-1";
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int ret;
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ret = mpu9x50_validate_configuration(&config);
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if (ret != 0) {
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AP_HAL::panic("Bad MPU9x50 configuration");
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}
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ret = mpu9x50_initialize(&config);
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if (ret != 0) {
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AP_HAL::panic("Failed to initialise mpu9250");
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}
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mpu9x50_register_interrupt(65, mpu_data_ready_trampoline, this);
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HAP_PRINTF("Opened MPU9X50");
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}
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void AP_InertialSensor_QURT::data_ready(void)
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{
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uint64_t now = AP_HAL::micros64();
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struct mpu9x50_data data;
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int ret = mpu9x50_get_data(&data);
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if (ret == 0) {
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data.timestamp = now;
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buf.push(data);
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if (data.mag_data_ready) {
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mpu9250_mag_buffer->push(data);
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}
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}
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}
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void AP_InertialSensor_QURT::accumulate(void)
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{
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const float ACCEL_SCALE_1G = GRAVITY_MSS / 2048.0;
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const float GYRO_SCALE = 0.0174532 / 16.4;
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struct mpu9x50_data data;
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while (buf.pop(data)) {
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Vector3f accel(data.accel_raw[0]*ACCEL_SCALE_1G,
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data.accel_raw[1]*ACCEL_SCALE_1G,
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data.accel_raw[2]*ACCEL_SCALE_1G);
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Vector3f gyro(data.gyro_raw[0]*GYRO_SCALE,
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data.gyro_raw[1]*GYRO_SCALE,
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data.gyro_raw[2]*GYRO_SCALE);
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_rotate_and_correct_accel(accel_instance, accel);
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_rotate_and_correct_gyro(gyro_instance, gyro);
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_notify_new_gyro_raw_sample(gyro_instance, gyro, data.timestamp);
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_notify_new_accel_raw_sample(accel_instance, accel, data.timestamp);
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}
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}
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bool AP_InertialSensor_QURT::update(void)
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{
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accumulate();
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update_accel(accel_instance);
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update_gyro(gyro_instance);
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return true;
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}
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#endif // HAL_BOARD_QURT
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