mirror of https://github.com/ArduPilot/ardupilot
113 lines
3.2 KiB
C++
113 lines
3.2 KiB
C++
#pragma once
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#define LSM9DS0_DEBUG 0
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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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class AP_InertialSensor_LSM9DS0 : public AP_InertialSensor_Backend
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{
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public:
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virtual ~AP_InertialSensor_LSM9DS0() { }
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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_gyro,
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel,
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enum Rotation rotation_a = ROTATION_NONE,
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enum Rotation rotation_g = ROTATION_NONE,
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enum Rotation rotation_gH = ROTATION_NONE);
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private:
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AP_InertialSensor_LSM9DS0(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_gyro,
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel,
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int drdy_pin_num_a, int drdy_pin_num_b,
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enum Rotation rotation_a,
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enum Rotation rotation_g,
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enum Rotation rotation_gH);
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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 gyro_scale {
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G_SCALE_245DPS = 0,
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G_SCALE_500DPS,
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G_SCALE_2000DPS,
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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_6G,
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A_SCALE_8G,
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A_SCALE_16G,
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};
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bool _accel_data_ready();
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bool _gyro_data_ready();
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void _poll_data();
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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 _gyro_disable_i2c();
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void _accel_disable_i2c();
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void _set_gyro_scale(gyro_scale scale);
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void _set_accel_scale(accel_scale scale);
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uint8_t _register_read_xm(uint8_t reg);
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uint8_t _register_read_g(uint8_t reg);
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void _register_write_xm(uint8_t reg, uint8_t val, bool checked=false);
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void _register_write_g(uint8_t reg, uint8_t val, bool checked=false);
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void _read_data_transaction_a();
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void _read_data_transaction_g();
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#if LSM9DS0_DEBUG
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void _dump_registers();
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#endif
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev_gyro;
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev_accel;
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AP_HAL::Semaphore *_spi_sem;
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/*
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* If data-ready GPIO pins numbers are not defined (i.e. any negative
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* value), the fallback approach used is to check if there's new data ready
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* by reading the status register. It is *strongly* recommended to use
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* data-ready GPIO pins for performance reasons.
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*/
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AP_HAL::DigitalSource * _drdy_pin_a;
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AP_HAL::DigitalSource * _drdy_pin_g;
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float _gyro_scale;
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float _accel_scale;
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int _drdy_pin_num_a;
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int _drdy_pin_num_g;
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uint8_t _gyro_instance;
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uint8_t _accel_instance;
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// gyro whoami
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uint8_t whoami_g;
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/*
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for boards that have a separate LSM303D and L3GD20 there can be
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different rotations for each
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*/
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enum Rotation _rotation_a;
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enum Rotation _rotation_g; // for L3GD20
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enum Rotation _rotation_gH; // for L3GD20H
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};
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