mirror of https://github.com/ArduPilot/ardupilot
41 lines
1.0 KiB
C++
41 lines
1.0 KiB
C++
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
|
|
|
|
#include <AP_HAL/I2CDevice.h>
|
|
#include <Filter/Filter.h>
|
|
#include <Filter/LowPassFilter2p.h>
|
|
|
|
#include "AP_InertialSensor.h"
|
|
#include "AP_InertialSensor_Backend.h"
|
|
|
|
class AP_InertialSensor_L3G4200D : public AP_InertialSensor_Backend
|
|
{
|
|
public:
|
|
AP_InertialSensor_L3G4200D(AP_InertialSensor &imu,
|
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
|
|
virtual ~AP_InertialSensor_L3G4200D();
|
|
|
|
// probe the sensor on I2C bus
|
|
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
|
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
|
|
|
|
/* update accel and gyro state */
|
|
bool update();
|
|
|
|
// return product ID
|
|
int16_t product_id() const { return AP_PRODUCT_ID_L3G4200D; }
|
|
|
|
private:
|
|
bool _init_sensor();
|
|
void _accumulate();
|
|
|
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
|
|
|
|
// gyro and accel instances
|
|
uint8_t _gyro_instance;
|
|
uint8_t _accel_instance;
|
|
};
|
|
#endif
|