ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h

86 lines
2.4 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_INERTIAL_SENSOR_MPU9250_H__
#define __AP_INERTIAL_SENSOR_MPU9250_H__
#include <stdint.h>
#include <AP_HAL.h>
#include <AP_Math.h>
#include <AP_Progmem.h>
#include <Filter.h>
#include <LowPassFilter2p.h>
#include "AP_InertialSensor.h"
// enable debug to see a register dump on startup
#define MPU9250_DEBUG 0
class AP_InertialSensor_MPU9250 : public AP_InertialSensor_Backend
{
public:
AP_InertialSensor_MPU9250(AP_InertialSensor &imu);
/* update accel and gyro state */
bool update();
bool gyro_sample_available(void) { return _have_sample_available; }
bool accel_sample_available(void) { return _have_sample_available; }
// detect the sensor
static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
private:
bool _init_sensor(void);
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(void);
bool _sample_available();
AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem;
// support for updating filter at runtime
int16_t _last_filter_hz;
// change the filter frequency
void _set_filter(uint8_t filter_hz);
// This structure is used to pass data from the timer which reads
// the sensor to the main thread. The _shared_data_idx is used to
// prevent race conditions by ensuring the data is fully updated
// before being used by the consumer
struct {
Vector3f _accel_filtered;
Vector3f _gyro_filtered;
} _shared_data[2];
volatile uint8_t _shared_data_idx;
// Low Pass filters for gyro and accel
LowPassFilter2p _accel_filter_x;
LowPassFilter2p _accel_filter_y;
LowPassFilter2p _accel_filter_z;
LowPassFilter2p _gyro_filter_x;
LowPassFilter2p _gyro_filter_y;
LowPassFilter2p _gyro_filter_z;
// do we currently have a sample pending?
bool _have_sample_available;
// default filter frequency when set to zero
uint8_t _default_filter_hz;
// gyro and accel instances
uint8_t _gyro_instance;
uint8_t _accel_instance;
#if MPU9250_DEBUG
void _dump_registers(void);
#endif
};
#endif // __AP_INERTIAL_SENSOR_MPU9250_H__