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107 lines
3.6 KiB
107 lines
3.6 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef __AP_INERTIAL_SENSOR_LSM303D_H__ |
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#define __AP_INERTIAL_SENSOR_LSM303D_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 "AP_InertialSensor.h" |
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// enable debug to see a register dump on startup |
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#define LSM303D_DEBUG 0 |
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class AP_InertialSensor_LSM303D: public AP_InertialSensor |
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{ |
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public: |
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AP_InertialSensor_LSM303D(); |
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/* Concrete implementation of AP_InertialSensor functions: */ |
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bool update(); |
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// wait for a sample to be available, with timeout in milliseconds |
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bool wait_for_sample(uint16_t timeout_ms); |
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// get_delta_time returns the time period in seconds overwhich the sensor data was collected |
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float get_delta_time() const; |
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uint16_t error_count(void) const { return _error_count; } |
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bool healthy(void) const { return _error_count <= 4; } |
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bool get_accel_health(uint8_t instance) const { return healthy(); } |
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protected: |
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uint16_t _init_sensor( Sample_rate sample_rate ); |
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private: |
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AP_HAL::DigitalSource *_drdy_pin_x; |
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AP_HAL::DigitalSource *_drdy_pin_m; |
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uint8_t _accel_range_m_s2; |
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float _accel_range_scale; |
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uint8_t _accel_samplerate; |
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uint8_t _accel_onchip_filter_bandwith; |
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uint8_t _mag_range_ga; |
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float _mag_range_scale; |
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uint8_t _mag_samplerate; |
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// expceted values of reg1 and reg7 to catch in-flight |
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// brownouts of the sensor |
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uint8_t _reg1_expected; |
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uint8_t _reg7_expected; |
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bool _sample_available(); |
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void _read_data_transaction(); |
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void _read_data_transaction_accel(); |
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void _read_data_transaction_mag(); |
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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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void _register_write_check(uint8_t reg, uint8_t val); |
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void _register_modify(uint8_t reg, uint8_t clearbits, uint8_t setbits); |
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bool _hardware_init(Sample_rate sample_rate); |
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void disable_i2c(void); |
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uint8_t accel_set_range(uint8_t max_g); |
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uint8_t accel_set_samplerate(uint16_t frequency); |
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uint8_t accel_set_onchip_lowpass_filter_bandwidth(uint8_t bandwidth); |
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uint8_t mag_set_range(uint8_t max_ga); |
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uint8_t mag_set_samplerate(uint16_t frequency); |
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AP_HAL::SPIDeviceDriver *_spi; |
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AP_HAL::Semaphore *_spi_sem; |
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uint16_t _num_samples; |
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float _accel_scale; |
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float _mag_scale; |
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uint32_t _last_sample_time_micros; |
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// ensure we can't initialise twice |
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bool _initialised; |
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int16_t _LSM303D_product_id; |
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// how many hardware samples before we report a sample to the caller |
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uint8_t _sample_shift; |
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// support for updating filter at runtime |
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uint8_t _last_filter_hz; |
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void _set_filter_register(uint8_t filter_hz, uint8_t default_filter); |
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uint16_t _error_count; |
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// accumulation in timer - must be read with timer disabled |
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// the sum of the values since last read |
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Vector3l _accel_sum; |
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Vector3l _mag_sum; |
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volatile int16_t _sum_count; |
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public: |
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#if LSM303D_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_LSM303D_H__
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