ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h

158 lines
4.8 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/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <AP_Progmem/AP_Progmem.h>
#include "AP_InertialSensor.h"
// enable debug to see a register dump on startup
#define MPU6000_DEBUG 0
// on fast CPUs we sample at 1kHz and use a software filter
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
#define MPU6000_FAST_SAMPLING 1
#else
#define MPU6000_FAST_SAMPLING 0
#endif
#if MPU6000_FAST_SAMPLING
#include <Filter/Filter.h>
#include <Filter/LowPassFilter2p.h>
#endif
#define MPU6000_SAMPLE_SIZE 12
#define MPU6000_MAX_FIFO_SAMPLES 3
#define MAX_DATA_READ (MPU6000_MAX_FIFO_SAMPLES * MPU6000_SAMPLE_SIZE)
class AP_MPU6000_BusDriver
{
public:
virtual ~AP_MPU6000_BusDriver() { };
virtual void init(bool &fifo_mode, uint8_t &max_samples) = 0;
virtual void read8(uint8_t reg, uint8_t *val) = 0;
virtual void write8(uint8_t reg, uint8_t val) = 0;
virtual void set_bus_speed(AP_HAL::SPIDeviceDriver::bus_speed speed) = 0;
virtual void read_burst(uint8_t* samples,
AP_HAL::DigitalSource *_drdy_pin,
uint8_t &n_samples) = 0;
virtual AP_HAL::Semaphore* get_semaphore() = 0;
};
class AP_InertialSensor_MPU6000 : public AP_InertialSensor_Backend
{
public:
AP_InertialSensor_MPU6000(AP_InertialSensor &imu, AP_MPU6000_BusDriver *bus);
~AP_InertialSensor_MPU6000();
static AP_InertialSensor_Backend *detect_i2c(AP_InertialSensor &_imu,
AP_HAL::I2CDriver *i2c,
uint8_t addr);
static AP_InertialSensor_Backend *detect_spi(AP_InertialSensor &_imu);
/* update accel and gyro state */
bool update();
bool gyro_sample_available(void) { return _sum_count >= _sample_count; }
bool accel_sample_available(void) { return _sum_count >= _sample_count; }
private:
static AP_InertialSensor_Backend *_detect(AP_InertialSensor &_imu,
AP_MPU6000_BusDriver *bus);
#if MPU6000_DEBUG
void _dump_registers(void);
#endif
// instance numbers of accel and gyro data
uint8_t _gyro_instance;
uint8_t _accel_instance;
AP_HAL::DigitalSource *_drdy_pin;
bool _init_sensor(void);
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 );
void _register_write_check(uint8_t reg, uint8_t val);
bool _hardware_init(void);
void _accumulate(uint8_t *samples, uint8_t n_samples);
AP_MPU6000_BusDriver *_bus;
AP_HAL::Semaphore *_bus_sem;
static const float _gyro_scale;
// support for updating filter at runtime
int8_t _last_accel_filter_hz;
int8_t _last_gyro_filter_hz;
void _set_filter_register(uint16_t filter_hz);
// how many hardware samples before we report a sample to the caller
uint8_t _sample_count;
#if MPU6000_FAST_SAMPLING
Vector3f _accel_filtered;
Vector3f _gyro_filtered;
// Low Pass filters for gyro and accel
LowPassFilter2pVector3f _accel_filter;
LowPassFilter2pVector3f _gyro_filter;
#else
// accumulation in timer - must be read with timer disabled
// the sum of the values since last read
Vector3l _accel_sum;
Vector3l _gyro_sum;
#endif
volatile uint16_t _sum_count;
bool _fifo_mode;
uint8_t *_samples;
};
class AP_MPU6000_BusDriver_SPI : public AP_MPU6000_BusDriver
{
public:
AP_MPU6000_BusDriver_SPI(void);
void init(bool &fifo_mode, uint8_t &max_samples);
void read8(uint8_t reg, uint8_t *val);
void write8(uint8_t reg, uint8_t val);
void set_bus_speed(AP_HAL::SPIDeviceDriver::bus_speed speed);
void read_burst(uint8_t* samples,
AP_HAL::DigitalSource *_drdy_pin,
uint8_t &n_samples);
AP_HAL::Semaphore* get_semaphore();
private:
AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem;
// count of bus errors
uint16_t _error_count;
};
class AP_MPU6000_BusDriver_I2C : public AP_MPU6000_BusDriver
{
public:
AP_MPU6000_BusDriver_I2C(AP_HAL::I2CDriver *i2c, uint8_t addr);
void init(bool &fifo_mode, uint8_t &max_samples);
void read8(uint8_t reg, uint8_t *val);
void write8(uint8_t reg, uint8_t val);
void set_bus_speed(AP_HAL::SPIDeviceDriver::bus_speed speed);
void read_burst(uint8_t* samples,
AP_HAL::DigitalSource *_drdy_pin,
uint8_t &n_samples);
AP_HAL::Semaphore* get_semaphore();
private:
uint8_t _addr;
AP_HAL::I2CDriver *_i2c;
AP_HAL::Semaphore *_i2c_sem;
uint8_t _rx[MAX_DATA_READ];
};
#endif // __AP_INERTIAL_SENSOR_MPU6000_H__