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62 lines
1.9 KiB
62 lines
1.9 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef __AP_INERTIAL_SENSOR_MPU9150_H__ |
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#define __AP_INERTIAL_SENSOR_MPU9150_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 <AP_Progmem.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_MPU9150 : public AP_InertialSensor_Backend |
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{ |
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public: |
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AP_InertialSensor_MPU9150(AP_InertialSensor &imu); |
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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_available; } |
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bool accel_sample_available(void) { return _have_sample_available; } |
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// detect the sensor |
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu); |
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private: |
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bool _init_sensor(); |
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void _accumulate(void); |
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Vector3f _accel_filtered; |
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Vector3f _gyro_filtered; |
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bool _have_sample_available; |
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// // support for updating filter at runtime |
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uint8_t _last_filter_hz; |
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uint8_t _default_filter_hz; |
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int16_t mpu_set_gyro_fsr(uint16_t fsr); |
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int16_t mpu_set_accel_fsr(uint8_t fsr); |
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int16_t mpu_set_lpf(uint16_t lpf); |
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int16_t mpu_set_sample_rate(uint16_t rate); |
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int16_t mpu_set_compass_sample_rate(uint16_t rate, uint16_t chip_sample_rate); |
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int16_t mpu_configure_fifo(uint8_t sensors); |
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int16_t set_int_enable(uint8_t enable); |
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int16_t mpu_reset_fifo(uint8_t sensors); |
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int16_t mpu_set_sensors(uint8_t sensors); |
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int16_t mpu_set_int_latched(uint8_t enable); |
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int16_t mpu_read_fifo(int16_t *gyro, int16_t *accel, uint32_t timestamp, uint8_t *sensors, uint8_t *more); |
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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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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_MPU9150_H__
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