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60 lines
1.6 KiB
60 lines
1.6 KiB
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#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
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#include <AP_HAL/I2CDevice.h> |
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#include <Filter/Filter.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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class AP_InertialSensor_L3G4200D : public AP_InertialSensor_Backend |
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{ |
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public: |
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AP_InertialSensor_L3G4200D(AP_InertialSensor &imu, |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_gyro, |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_accel); |
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virtual ~AP_InertialSensor_L3G4200D(); |
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// probe the sensor on I2C bus |
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static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu, |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_gyro, |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_accel); |
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/* update accel and gyro state */ |
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bool update() override; |
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void start(void) override; |
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private: |
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bool _accel_init(); |
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bool _gyro_init(); |
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bool _init_sensor(); |
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void _accumulate_gyro(); |
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void _accumulate_accel(); |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev_gyro; |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev_accel; |
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void _set_filter_frequency(uint8_t filter_hz); |
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// Low Pass filters for gyro and accel |
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LowPassFilter2pVector3f _accel_filter; |
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LowPassFilter2pVector3f _gyro_filter; |
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enum Rotation _rotation; |
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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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}; |
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#endif // __AP_INERTIAL_SENSOR_L3G4200D2_H__
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