mirror of https://github.com/ArduPilot/ardupilot
86 lines
2.4 KiB
C++
86 lines
2.4 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_INERTIAL_SENSOR_MPU9250_H__
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#define __AP_INERTIAL_SENSOR_MPU9250_H__
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#include <stdint.h>
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#include <AP_HAL.h>
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#include <AP_Math.h>
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#include <AP_Progmem.h>
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#include <Filter.h>
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#include <LowPassFilter2p.h>
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#include "AP_InertialSensor.h"
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// enable debug to see a register dump on startup
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#define MPU9250_DEBUG 0
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class AP_InertialSensor_MPU9250 : public AP_InertialSensor_Backend
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{
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public:
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AP_InertialSensor_MPU9250(AP_InertialSensor &imu);
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/* update accel and gyro state */
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bool update();
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bool gyro_sample_available(void) { return _have_sample_available; }
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bool accel_sample_available(void) { return _have_sample_available; }
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// detect the sensor
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
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private:
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bool _init_sensor(void);
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void _read_data_transaction();
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bool _data_ready();
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void _poll_data(void);
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uint8_t _register_read( uint8_t reg );
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void _register_write( uint8_t reg, uint8_t val );
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bool _hardware_init(void);
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bool _sample_available();
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AP_HAL::SPIDeviceDriver *_spi;
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AP_HAL::Semaphore *_spi_sem;
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// support for updating filter at runtime
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int16_t _last_filter_hz;
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// change the filter frequency
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void _set_filter(uint8_t filter_hz);
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// This structure is used to pass data from the timer which reads
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// the sensor to the main thread. The _shared_data_idx is used to
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// prevent race conditions by ensuring the data is fully updated
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// before being used by the consumer
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struct {
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Vector3f _accel_filtered;
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Vector3f _gyro_filtered;
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} _shared_data[2];
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volatile uint8_t _shared_data_idx;
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// Low Pass filters for gyro and accel
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LowPassFilter2p _accel_filter_x;
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LowPassFilter2p _accel_filter_y;
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LowPassFilter2p _accel_filter_z;
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LowPassFilter2p _gyro_filter_x;
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LowPassFilter2p _gyro_filter_y;
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LowPassFilter2p _gyro_filter_z;
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// do we currently have a sample pending?
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bool _have_sample_available;
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// default filter frequency when set to zero
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uint8_t _default_filter_hz;
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// gyro and accel instances
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uint8_t _gyro_instance;
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uint8_t _accel_instance;
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#if MPU9250_DEBUG
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void _dump_registers(void);
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#endif
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};
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#endif // __AP_INERTIAL_SENSOR_MPU9250_H__
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