mirror of https://github.com/ArduPilot/ardupilot
141 lines
4.9 KiB
C++
141 lines
4.9 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
/*
|
|
IMU driver backend class. Each supported gyro/accel sensor type
|
|
needs to have an object derived from this class.
|
|
|
|
Note that drivers can implement just gyros or just accels, and can
|
|
also provide multiple gyro/accel instances.
|
|
*/
|
|
#ifndef __AP_INERTIALSENSOR_BACKEND_H__
|
|
#define __AP_INERTIALSENSOR_BACKEND_H__
|
|
|
|
class AuxiliaryBus;
|
|
|
|
class AP_InertialSensor_Backend
|
|
{
|
|
public:
|
|
AP_InertialSensor_Backend(AP_InertialSensor &imu);
|
|
|
|
// we declare a virtual destructor so that drivers can
|
|
// override with a custom destructor if need be.
|
|
virtual ~AP_InertialSensor_Backend(void) {}
|
|
|
|
/*
|
|
* Update the sensor data. Called by the frontend to transfer
|
|
* accumulated sensor readings to the frontend structure via the
|
|
* _publish_gyro() and _publish_accel() functions
|
|
*/
|
|
virtual bool update() = 0;
|
|
|
|
/*
|
|
* return true if at least one accel sample is available in the backend
|
|
* since the last call to update()
|
|
*/
|
|
virtual bool accel_sample_available() = 0;
|
|
|
|
/*
|
|
* return true if at least one gyro sample is available in the backend
|
|
* since the last call to update()
|
|
*/
|
|
virtual bool gyro_sample_available() = 0;
|
|
|
|
/*
|
|
* Configure and start all sensors. The empty implementation allows
|
|
* subclasses to already start the sensors when it's detected
|
|
*/
|
|
virtual void start() { }
|
|
|
|
/*
|
|
* Return an AuxiliaryBus if backend has another bus it is able to export
|
|
*/
|
|
virtual AuxiliaryBus *get_auxiliar_bus() { return nullptr; }
|
|
|
|
/*
|
|
return the product ID
|
|
*/
|
|
int16_t product_id(void) const { return _product_id; }
|
|
|
|
int16_t get_id() const { return _id; }
|
|
|
|
protected:
|
|
// access to frontend
|
|
AP_InertialSensor &_imu;
|
|
|
|
void _rotate_and_correct_accel(uint8_t instance, Vector3f &accel);
|
|
void _rotate_and_correct_gyro(uint8_t instance, Vector3f &gyro);
|
|
|
|
void _publish_delta_velocity(uint8_t instance, const Vector3f &delta_velocity, float dt);
|
|
void _publish_delta_angle(uint8_t instance, const Vector3f &delta_angle);
|
|
|
|
// rotate gyro vector, offset and publish
|
|
void _publish_gyro(uint8_t instance, const Vector3f &gyro);
|
|
|
|
// rotate accel vector, scale, offset and publish
|
|
void _publish_accel(uint8_t instance, const Vector3f &accel);
|
|
|
|
// this should be called every time a new accel raw sample is available -
|
|
// be it published or not
|
|
// the sample is raw in the sense that it's not filtered yet, but it must
|
|
// be rotated and corrected (_rotate_and_correct_accel)
|
|
void _notify_new_accel_raw_sample(uint8_t instance, const Vector3f &accel);
|
|
|
|
// set accelerometer max absolute offset for calibration
|
|
void _set_accel_max_abs_offset(uint8_t instance, float offset);
|
|
|
|
// set accelerometer sample rate
|
|
void _set_accel_sample_rate(uint8_t instance, uint32_t rate);
|
|
uint32_t _accel_sample_rate(uint8_t instance) const {
|
|
return _imu._accel_sample_rates[instance];
|
|
}
|
|
|
|
// publish a temperature value
|
|
void _publish_temperature(uint8_t instance, float temperature);
|
|
|
|
// set accelerometer error_count
|
|
void _set_accel_error_count(uint8_t instance, uint32_t error_count);
|
|
|
|
// set gyro error_count
|
|
void _set_gyro_error_count(uint8_t instance, uint32_t error_count);
|
|
|
|
// backend should fill in its product ID from AP_PRODUCT_ID_*
|
|
int16_t _product_id;
|
|
|
|
// backend unique identifier or -1 if backend doesn't identify itself
|
|
int16_t _id = -1;
|
|
|
|
// return the default filter frequency in Hz for the sample rate
|
|
uint8_t _accel_filter_cutoff(void) const { return _imu._accel_filter_cutoff; }
|
|
|
|
// return the default filter frequency in Hz for the sample rate
|
|
uint8_t _gyro_filter_cutoff(void) const { return _imu._gyro_filter_cutoff; }
|
|
|
|
// return the requested sample rate in Hz
|
|
uint16_t get_sample_rate_hz(void) const;
|
|
|
|
// access to frontend dataflash
|
|
DataFlash_Class *get_dataflash(void) const {
|
|
return _imu._log_raw_data? _imu._dataflash : NULL;
|
|
}
|
|
|
|
// note that each backend is also expected to have a static detect()
|
|
// function which instantiates an instance of the backend sensor
|
|
// driver if the sensor is available
|
|
};
|
|
|
|
#endif // __AP_INERTIALSENSOR_BACKEND_H__
|