mirror of https://github.com/ArduPilot/ardupilot
75 lines
1.9 KiB
C++
75 lines
1.9 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/SPIDevice.h>
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#include "AP_InertialSensor.h"
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#include "AP_InertialSensor_Backend.h"
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/* enable debug to see a register dump on startup */
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#define LSM9DS1_DEBUG 0
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class AP_InertialSensor_LSM9DS1 : public AP_InertialSensor_Backend
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{
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public:
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virtual ~AP_InertialSensor_LSM9DS1() { }
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void start(void) override;
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bool update() override;
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static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev,
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enum Rotation rotation = ROTATION_NONE);
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private:
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AP_InertialSensor_LSM9DS1(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev,
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int drdy_pin_num_xg,
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enum Rotation rotation);
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
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struct PACKED sensor_raw_data {
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int16_t x;
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int16_t y;
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int16_t z;
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};
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enum accel_scale {
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A_SCALE_2G = 0,
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A_SCALE_4G,
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A_SCALE_8G,
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A_SCALE_16G
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};
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void _poll_data();
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void _fifo_reset();
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bool _init_sensor();
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bool _hardware_init();
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void _gyro_init();
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void _accel_init();
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void _set_gyro_scale();
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void _set_accel_scale(accel_scale scale);
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uint8_t _register_read(uint8_t reg);
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void _register_write(uint8_t reg, uint8_t val, bool checked=false);
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void _read_data_transaction_x(uint16_t samples);
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void _read_data_transaction_g(uint16_t samples);
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#if LSM9DS1_DEBUG
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void _dump_registers();
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#endif
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev;
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AP_HAL::Semaphore *_spi_sem;
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AP_HAL::DigitalSource * _drdy_pin_xg;
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float _gyro_scale;
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float _accel_scale;
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int _drdy_pin_num_xg;
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uint8_t _gyro_instance;
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uint8_t _accel_instance;
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enum Rotation _rotation;
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};
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