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95 lines
2.6 KiB
95 lines
2.6 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef __AP_INERTIAL_SENSOR_MPU6000_H__ |
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#define __AP_INERTIAL_SENSOR_MPU6000_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 MPU6000_DEBUG 0 |
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// on fast CPUs we sample at 1kHz and use a software filter |
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#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75 |
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#define MPU6000_FAST_SAMPLING 1 |
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#else |
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#define MPU6000_FAST_SAMPLING 0 |
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#endif |
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#if MPU6000_FAST_SAMPLING |
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#include <Filter.h> |
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#include <LowPassFilter2p.h> |
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#endif |
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class AP_InertialSensor_MPU6000 : public AP_InertialSensor_Backend |
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{ |
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public: |
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AP_InertialSensor_MPU6000(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 _sum_count >= _sample_count; } |
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bool accel_sample_available(void) { return _sum_count >= _sample_count; } |
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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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#if MPU6000_DEBUG |
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void _dump_registers(void); |
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#endif |
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// instance numbers of accel and gyro data |
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uint8_t _gyro_instance; |
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uint8_t _accel_instance; |
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AP_HAL::DigitalSource *_drdy_pin; |
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bool _init_sensor(void); |
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bool _sample_available(); |
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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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void _register_write_check(uint8_t reg, uint8_t val); |
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bool _hardware_init(void); |
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AP_HAL::SPIDeviceDriver *_spi; |
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AP_HAL::Semaphore *_spi_sem; |
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static const float _gyro_scale; |
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// support for updating filter at runtime |
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int8_t _last_accel_filter_hz; |
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int8_t _last_gyro_filter_hz; |
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void _set_filter_register(uint16_t filter_hz); |
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// count of bus errors |
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uint16_t _error_count; |
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// how many hardware samples before we report a sample to the caller |
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uint8_t _sample_count; |
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#if MPU6000_FAST_SAMPLING |
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Vector3f _accel_filtered; |
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Vector3f _gyro_filtered; |
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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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#else |
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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 _gyro_sum; |
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#endif |
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volatile uint16_t _sum_count; |
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}; |
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#endif // __AP_INERTIAL_SENSOR_MPU6000_H__
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