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52 lines
1.3 KiB
52 lines
1.3 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef __AP_INERTIAL_SENSOR_OILPAN_H__ |
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#define __AP_INERTIAL_SENSOR_OILPAN_H__ |
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#include <stdint.h> |
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#include <AP_ADC.h> |
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#include <AP_Math.h> |
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#include "AP_InertialSensor.h" |
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class AP_InertialSensor_Oilpan : public AP_InertialSensor |
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{ |
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public: |
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AP_InertialSensor_Oilpan( AP_ADC * adc ); |
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/* Concrete implementation of AP_InertialSensor functions: */ |
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bool update(); |
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float get_delta_time() const; |
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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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protected: |
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uint16_t _init_sensor(Sample_rate sample_rate); |
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private: |
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bool _sample_available(); |
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AP_ADC * _adc; |
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float _temp; |
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uint32_t _delta_time_micros; |
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static const uint8_t _sensors[6]; |
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static const int8_t _sensor_signs[6]; |
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static const uint8_t _gyro_temp_ch; |
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static const float _gyro_gain_x; |
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static const float _gyro_gain_y; |
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static const float _gyro_gain_z; |
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static const float _adc_constraint; |
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uint8_t _sample_threshold; |
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}; |
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#endif // __AP_INERTIAL_SENSOR_OILPAN_H__
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