mirror of https://github.com/ArduPilot/ardupilot
233 lines
6.8 KiB
C++
233 lines
6.8 KiB
C++
#pragma once
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/*
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driver for the invensense range of IMUs, including:
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MPU6000
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MPU9250
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ICM-20608
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*/
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#include <stdint.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/I2CDevice.h>
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#include <AP_HAL/SPIDevice.h>
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#include <AP_HAL/utility/OwnPtr.h>
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#include <AP_Math/AP_Math.h>
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#include <Filter/Filter.h>
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#include <Filter/LowPassFilter.h>
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#include <Filter/LowPassFilter2p.h>
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#include "AP_InertialSensor.h"
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#include "AP_InertialSensor_Backend.h"
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#include "AuxiliaryBus.h"
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class AP_Invensense_AuxiliaryBus;
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class AP_Invensense_AuxiliaryBusSlave;
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class AP_InertialSensor_Invensense : public AP_InertialSensor_Backend
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{
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friend AP_Invensense_AuxiliaryBus;
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friend AP_Invensense_AuxiliaryBusSlave;
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public:
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virtual ~AP_InertialSensor_Invensense();
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static AP_InertialSensor_Invensense &from(AP_InertialSensor_Backend &backend) {
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return static_cast<AP_InertialSensor_Invensense&>(backend);
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}
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static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
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enum Rotation rotation);
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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);
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/* update accel and gyro state */
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bool update() override __RAMFUNC__; /* front end */
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void accumulate() override; /* front end */
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/*
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* Return an AuxiliaryBus if the bus driver allows it
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*/
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AuxiliaryBus *get_auxiliary_bus() override;
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void start() override;
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// get a startup banner to output to the GCS
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bool get_output_banner(char* banner, uint8_t banner_len) override;
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enum Invensense_Type {
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Invensense_MPU6000=0,
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Invensense_MPU6500,
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Invensense_MPU9250,
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Invensense_ICM20608,
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Invensense_ICM20602,
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Invensense_ICM20601,
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Invensense_ICM20789,
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Invensense_ICM20689,
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};
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// acclerometers on Invensense sensors will return values up to
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// 24G, but they are not guaranteed to be remotely linear past
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// 16G
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const uint16_t multiplier_accel = INT16_MAX/(26*GRAVITY_MSS);
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private:
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AP_InertialSensor_Invensense(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::Device> dev,
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enum Rotation rotation);
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/* Initialize sensor*/
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bool _init();
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bool _hardware_init();
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bool _check_whoami();
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void _set_filter_register(void);
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void _fifo_reset(bool log_error) __RAMFUNC__;
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bool _has_auxiliary_bus();
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/* Read samples from FIFO (FIFO enabled) */
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void _read_fifo() __RAMFUNC__;
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/* Check if there's data available by either reading DRDY pin or register */
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bool _data_ready() __RAMFUNC__;
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/* Poll for new data (non-blocking) */
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void _poll_data() __RAMFUNC__;
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// debug function to watch for register changes
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void _check_register_change(void) __RAMFUNC__;
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/* Read and write functions taking the differences between buses into
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* account */
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bool _block_read(uint8_t reg, uint8_t *buf, uint32_t size) __RAMFUNC__;
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uint8_t _register_read(uint8_t reg) __RAMFUNC__;
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void _register_write(uint8_t reg, uint8_t val, bool checked=false) __RAMFUNC__;
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bool _accumulate(uint8_t *samples, uint8_t n_samples) __RAMFUNC__;
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bool _accumulate_sensor_rate_sampling(uint8_t *samples, uint8_t n_samples) __RAMFUNC__;
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bool _check_raw_temp(int16_t t2) __RAMFUNC__;
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int16_t _raw_temp;
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// instance numbers of accel and gyro data
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uint8_t _gyro_instance;
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uint8_t _accel_instance;
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float temp_sensitivity = 1.0f/340; // degC/LSB
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float temp_zero = 36.53f; // degC
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float _temp_filtered;
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float _accel_scale;
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float _gyro_scale;
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float _fifo_accel_scale;
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float _fifo_gyro_scale;
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LowPassFilter2pFloat _temp_filter;
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uint32_t last_reset_ms;
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uint8_t reset_count;
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enum Rotation _rotation;
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// enable checking of unexpected resets of offsets
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bool _enable_offset_checking;
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// ICM-20602 y offset register. See usage for explanation
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uint8_t _saved_y_ofs_high;
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AP_HAL::DigitalSource *_drdy_pin;
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AP_HAL::OwnPtr<AP_HAL::Device> _dev;
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AP_Invensense_AuxiliaryBus *_auxiliary_bus;
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// which sensor type this is
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enum Invensense_Type _mpu_type;
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// are we doing more than 1kHz sampling?
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bool _fast_sampling;
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// what downsampling rate are we using from the FIFO for gyros?
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uint8_t _gyro_fifo_downsample_rate;
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// what downsampling rate are we using from the FIFO for accels?
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uint8_t _accel_fifo_downsample_rate;
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// ratio of raw gyro to accel sample rate
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uint8_t _gyro_to_accel_sample_ratio;
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// what rate are we generating samples into the backend for gyros?
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uint16_t _gyro_backend_rate_hz;
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// what rate are we generating samples into the backend for accels?
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uint16_t _accel_backend_rate_hz;
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// Last status from register user control
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uint8_t _last_stat_user_ctrl;
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// buffer for fifo read
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uint8_t *_fifo_buffer;
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/*
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accumulators for sensor_rate sampling
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See description in _accumulate_sensor_rate_sampling()
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*/
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struct {
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Vector3f accel;
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Vector3f gyro;
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uint8_t accel_count;
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uint8_t gyro_count;
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LowPassFilterVector3f accel_filter{4000, 188};
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} _accum;
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};
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class AP_Invensense_AuxiliaryBusSlave : public AuxiliaryBusSlave
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{
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friend class AP_Invensense_AuxiliaryBus;
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public:
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int passthrough_read(uint8_t reg, uint8_t *buf, uint8_t size) override;
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int passthrough_write(uint8_t reg, uint8_t val) override;
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int read(uint8_t *buf) override;
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protected:
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AP_Invensense_AuxiliaryBusSlave(AuxiliaryBus &bus, uint8_t addr, uint8_t instance);
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int _set_passthrough(uint8_t reg, uint8_t size, uint8_t *out = nullptr);
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private:
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const uint8_t _mpu_addr;
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const uint8_t _mpu_reg;
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const uint8_t _mpu_ctrl;
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const uint8_t _mpu_do;
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uint8_t _ext_sens_data = 0;
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};
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class AP_Invensense_AuxiliaryBus : public AuxiliaryBus
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{
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friend class AP_InertialSensor_Invensense;
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public:
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AP_HAL::Semaphore *get_semaphore() override;
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AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb) override;
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protected:
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AP_Invensense_AuxiliaryBus(AP_InertialSensor_Invensense &backend, uint32_t devid);
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AuxiliaryBusSlave *_instantiate_slave(uint8_t addr, uint8_t instance) override;
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int _configure_periodic_read(AuxiliaryBusSlave *slave, uint8_t reg,
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uint8_t size) override;
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private:
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void _configure_slaves();
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static const uint8_t MAX_EXT_SENS_DATA = 24;
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uint8_t _ext_sens_data = 0;
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};
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#ifndef INS_INVENSENSE_20789_I2C_ADDR
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#define INS_INVENSENSE_20789_I2C_ADDR 0x68
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#endif
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