mirror of https://github.com/ArduPilot/ardupilot
149 lines
4.0 KiB
C++
149 lines
4.0 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
#pragma once
|
|
|
|
#include <stdint.h>
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_HAL/I2CDevice.h>
|
|
#include <AP_HAL/SPIDevice.h>
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <Filter/Filter.h>
|
|
#include <Filter/LowPassFilter2p.h>
|
|
|
|
#include "AP_InertialSensor_Backend.h"
|
|
#include "AP_InertialSensor.h"
|
|
#include "AuxiliaryBus.h"
|
|
|
|
class AP_MPU9250_AuxiliaryBus;
|
|
class AP_MPU9250_AuxiliaryBusSlave;
|
|
|
|
// enable debug to see a register dump on startup
|
|
#define MPU9250_DEBUG 0
|
|
|
|
class AP_InertialSensor_MPU9250 : public AP_InertialSensor_Backend
|
|
{
|
|
friend AP_MPU9250_AuxiliaryBus;
|
|
friend AP_MPU9250_AuxiliaryBusSlave;
|
|
|
|
public:
|
|
virtual ~AP_InertialSensor_MPU9250();
|
|
|
|
static AP_InertialSensor_MPU9250 &from(AP_InertialSensor_Backend &backend) {
|
|
return static_cast<AP_InertialSensor_MPU9250&>(backend);
|
|
}
|
|
|
|
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
|
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
|
|
|
|
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
|
|
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev);
|
|
|
|
/* update accel and gyro state */
|
|
bool update();
|
|
|
|
/*
|
|
* Return an AuxiliaryBus if the bus driver allows it
|
|
*/
|
|
AuxiliaryBus *get_auxiliary_bus() override;
|
|
|
|
void start() override;
|
|
|
|
private:
|
|
enum bus_type {
|
|
BUS_TYPE_I2C = 0,
|
|
BUS_TYPE_SPI,
|
|
};
|
|
|
|
AP_InertialSensor_MPU9250(AP_InertialSensor &imu,
|
|
AP_HAL::OwnPtr<AP_HAL::Device> dev,
|
|
enum bus_type bus_type,
|
|
uint8_t read_flag);
|
|
|
|
#if MPU9250_DEBUG
|
|
static void _dump_registers();
|
|
#endif
|
|
|
|
bool _init();
|
|
bool _hardware_init();
|
|
|
|
void _set_filter_register(uint16_t filter_hz);
|
|
bool _has_auxiliary_bus();
|
|
|
|
/* Read a single sample */
|
|
void _read_sample();
|
|
|
|
/* Check if there's data available by reading register */
|
|
bool _data_ready();
|
|
bool _data_ready(uint8_t int_status);
|
|
|
|
/* Poll for new data (non-blocking) */
|
|
void _poll_data();
|
|
|
|
/* Read and write functions taking the differences between buses into
|
|
* account */
|
|
bool _block_read(uint8_t reg, uint8_t *buf, uint32_t size);
|
|
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);
|
|
|
|
void _accumulate(uint8_t *sample);
|
|
|
|
// instance numbers of accel and gyro data
|
|
uint8_t _gyro_instance;
|
|
uint8_t _accel_instance;
|
|
|
|
const uint8_t _read_flag;
|
|
const enum bus_type _bus_type;
|
|
|
|
// The default rotation for the IMU, its value depends on how the IMU is
|
|
// placed by default on the system
|
|
enum Rotation _default_rotation;
|
|
|
|
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
|
|
AP_MPU9250_AuxiliaryBus *_auxiliary_bus;
|
|
};
|
|
|
|
class AP_MPU9250_AuxiliaryBusSlave : public AuxiliaryBusSlave
|
|
{
|
|
friend class AP_MPU9250_AuxiliaryBus;
|
|
|
|
public:
|
|
int passthrough_read(uint8_t reg, uint8_t *buf, uint8_t size) override;
|
|
int passthrough_write(uint8_t reg, uint8_t val) override;
|
|
|
|
int read(uint8_t *buf) override;
|
|
|
|
protected:
|
|
AP_MPU9250_AuxiliaryBusSlave(AuxiliaryBus &bus, uint8_t addr, uint8_t instance);
|
|
int _set_passthrough(uint8_t reg, uint8_t size, uint8_t *out = nullptr);
|
|
|
|
private:
|
|
const uint8_t _mpu9250_addr;
|
|
const uint8_t _mpu9250_reg;
|
|
const uint8_t _mpu9250_ctrl;
|
|
const uint8_t _mpu9250_do;
|
|
|
|
uint8_t _ext_sens_data = 0;
|
|
};
|
|
|
|
class AP_MPU9250_AuxiliaryBus : public AuxiliaryBus
|
|
{
|
|
friend class AP_InertialSensor_MPU9250;
|
|
|
|
public:
|
|
AP_HAL::Semaphore *get_semaphore() override;
|
|
|
|
protected:
|
|
AP_MPU9250_AuxiliaryBus(AP_InertialSensor_MPU9250 &backend);
|
|
|
|
AuxiliaryBusSlave *_instantiate_slave(uint8_t addr, uint8_t instance);
|
|
int _configure_periodic_read(AuxiliaryBusSlave *slave, uint8_t reg,
|
|
uint8_t size);
|
|
|
|
private:
|
|
void _configure_slaves();
|
|
|
|
static const uint8_t MAX_EXT_SENS_DATA = 24;
|
|
uint8_t _ext_sens_data = 0;
|
|
};
|