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63 lines
1.6 KiB
63 lines
1.6 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef __AP_INERTIAL_SENSOR_L3G4200D_H__ |
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#define __AP_INERTIAL_SENSOR_L3G4200D_H__ |
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#include <AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
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#include <pthread.h> |
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#include "AP_InertialSensor.h" |
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#include <Filter.h> |
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#include <LowPassFilter2p.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_InertialSensor_L3G4200D(); |
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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; } |
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bool accel_sample_available(void) { return _have_sample; } |
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// detect the sensor |
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu); |
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// return product ID |
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int16_t product_id(void) const { return AP_PRODUCT_ID_L3G4200D; } |
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private: |
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bool _init_sensor(void); |
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void _accumulate(void); |
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struct { |
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Vector3f accel_filtered; |
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Vector3f gyro_filtered; |
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} _data[2]; |
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int _data_idx; |
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pthread_spinlock_t _data_lock; |
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bool _have_gyro_sample; |
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bool _have_accel_sample; |
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volatile bool _have_sample; |
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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_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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// 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 |
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#endif // __AP_INERTIAL_SENSOR_L3G4200D_H__
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