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91 lines
2.7 KiB
91 lines
2.7 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef __AP_INERTIAL_SENSOR_MPU9250_H__ |
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#define __AP_INERTIAL_SENSOR_MPU9250_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 <Filter.h> |
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#include <LowPassFilter2p.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 MPU9250_DEBUG 0 |
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class AP_InertialSensor_MPU9250 : public AP_InertialSensor |
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{ |
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public: |
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AP_InertialSensor_MPU9250(); |
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/* Concrete implementation of AP_InertialSensor functions: */ |
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bool update(); |
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float get_gyro_drift_rate(); |
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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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private: |
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uint16_t _init_sensor( Sample_rate sample_rate ); |
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void _read_data_transaction(); |
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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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bool _hardware_init(Sample_rate sample_rate); |
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bool _sample_available(); |
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AP_HAL::SPIDeviceDriver *_spi; |
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AP_HAL::Semaphore *_spi_sem; |
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uint32_t _sample_time_usec; |
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uint64_t _last_sample_usec; |
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// ensure we can't initialise twice |
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bool _initialised; |
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int16_t _mpu9250_product_id; |
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// support for updating filter at runtime |
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int16_t _last_filter_hz; |
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// change the filter frequency |
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void _set_filter(uint8_t filter_hz); |
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// This structure is used to pass data from the timer which reads |
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// the sensor to the main thread. The _shared_data_idx is used to |
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// prevent race conditions by ensuring the data is fully updated |
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// before being used by the consumer |
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struct { |
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Vector3f _accel_filtered; |
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Vector3f _gyro_filtered; |
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} _shared_data[2]; |
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volatile uint8_t _shared_data_idx; |
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// Low Pass filters for gyro and accel |
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LowPassFilter2p _accel_filter_x; |
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LowPassFilter2p _accel_filter_y; |
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LowPassFilter2p _accel_filter_z; |
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LowPassFilter2p _gyro_filter_x; |
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LowPassFilter2p _gyro_filter_y; |
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LowPassFilter2p _gyro_filter_z; |
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// do we currently have a sample pending? |
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bool _have_sample_available; |
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// default filter frequency when set to zero |
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uint8_t _default_filter_hz; |
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public: |
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#if MPU9250_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_MPU9250_H__
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