mirror of https://github.com/ArduPilot/ardupilot
118 lines
5.5 KiB
C++
118 lines
5.5 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_INERTIAL_SENSOR_MPU6000_H__
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#define __AP_INERTIAL_SENSOR_MPU6000_H__
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#include <string.h>
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#include <stdint.h>
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#include "../AP_PeriodicProcess/AP_PeriodicProcess.h"
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#include "../AP_Math/AP_Math.h"
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#include "AP_InertialSensor.h"
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#define DMP_FIFO_BUFFER_SIZE 72 // DMP FIFO buffer size
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// DMP memory
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extern const uint8_t dmpMem[8][16][16] PROGMEM;
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class AP_InertialSensor_MPU6000 : public AP_InertialSensor
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{
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public:
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AP_InertialSensor_MPU6000( uint8_t cs_pin );
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uint16_t init( AP_PeriodicProcess * scheduler );
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static void dmp_init(); // Initialise MPU6000's DMP
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static void dmp_reset(); // Reset the DMP (required for changes in gains or offsets to take effect)
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/* Concrete implementation of AP_InertialSensor functions: */
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bool update();
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bool new_data_available();
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float gx();
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float gy();
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float gz();
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void get_gyros( float * );
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float ax();
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float ay();
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float az();
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void get_accels( float * );
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void get_sensors( float * );
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float temperature();
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uint32_t sample_time();
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void reset_sample_time();
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float get_gyro_drift_rate();
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// set_gyro_offsets - updates gyro offsets in mpu6000 registers
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static void set_gyro_offsets_scaled(float offX, float offY, float offZ);
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static void set_gyro_offsets(int16_t offsetX, int16_t offsetY, int16_t offsetZ);
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// set_accel_offsets - updates accel offsets in DMP registers
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static void set_accel_offsets_scaled(float offX, float offY, float offZ);
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static void set_accel_offsets(int16_t offsetX, int16_t offsetY, int16_t offsetZ);
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private:
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static void read(uint32_t);
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static void data_interrupt(void);
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static uint8_t register_read( uint8_t reg );
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static void register_write( uint8_t reg, uint8_t val );
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static void hardware_init();
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Vector3f _gyro;
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Vector3f _accel;
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float _temp;
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uint32_t _last_sample_micros;
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float _temp_to_celsius( uint16_t );
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static const float _accel_scale;
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static const float _gyro_scale;
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static const uint8_t _gyro_data_index[3];
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static const int8_t _gyro_data_sign[3];
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static const uint8_t _accel_data_index[3];
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static const int8_t _accel_data_sign[3];
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static const uint8_t _temp_data_index;
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/* TODO deprecate _cs_pin */
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static uint8_t _cs_pin;
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// ensure we can't initialise twice
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bool _initialised;
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// dmp related methods and parameters
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static void dmp_register_write(uint8_t bank, uint8_t address, uint8_t num_bytes, uint8_t data[]); // Method to write multiple bytes into dmp registers. Requires a "bank"
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static void dmp_set_rate(uint8_t rate); // set DMP output rate (see constants)
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public:
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static Quaternion quaternion; // holds the 4 quaternions representing attitude taken directly from the DMP
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static bool FIFO_ready(); // returns true if new attitude data is available in FIFO buffer
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static void FIFO_reset(); // clear attitude data from FIFO buffer
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static void FIFO_getPacket(); // get latest attitude data from FIFO buffer
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static void dmp_set_gyro_calibration();
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static void dmp_set_accel_calibration();
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static void dmp_apply_endian_accel();
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static void dmp_set_mpu_sensors(); // To configure for SIX_AXIS output
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static void dmp_set_bias_from_no_motion(); // Turn on bias from no motion
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static void dmp_set_bias_none(); // Turn off internal bias correction (we will use this and we handle the gyro bias correction externally)
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static void dmp_set_fifo_interrupt();
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static void dmp_send_quaternion(); // Send quaternion data to FIFO
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static void dmp_send_gyro(); // Send gyro data to FIFO
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static void dmp_send_accel(); // Send accel data to FIFO
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static void dmp_set_fifo_rate(uint8_t rate); // This functions defines the rate at wich attitude data is send to FIFO. Rate: 0 => SAMPLE_RATE(ex:200Hz), 1=> SAMPLE_RATE/2 (ex:100Hz), 2=> SAMPLE_RATE/3 (ex:66Hz)
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static void dmp_set_sensor_fusion_accel_gain(uint8_t gain); // This function defines the weight of the accel on the sensor fusion. Default value is 0x80. The official invensense name is inv_key_0_96 (?)
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static void dmp_load_mem(); // Load initial memory values into DMP memory banks
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static uint8_t _received_packet[DMP_FIFO_BUFFER_SIZE]; // FIFO packet buffer
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static uint8_t _fifoCountH; // high byte of number of elements in fifo buffer
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static uint8_t _fifoCountL; // low byte of number of elements in fifo buffer
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static bool _dmp_initialised;
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};
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#endif // __AP_INERTIAL_SENSOR_MPU6000_H__
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