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107 lines
3.8 KiB
107 lines
3.8 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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IMU driver backend class. Each supported gyro/accel sensor type |
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needs to have an object derived from this class. |
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Note that drivers can implement just gyros or just accels, and can |
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also provide multiple gyro/accel instances. |
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*/ |
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#ifndef __AP_INERTIALSENSOR_BACKEND_H__ |
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#define __AP_INERTIALSENSOR_BACKEND_H__ |
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class AP_InertialSensor_Backend |
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{ |
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public: |
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AP_InertialSensor_Backend(AP_InertialSensor &imu); |
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// we declare a virtual destructor so that drivers can |
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// override with a custom destructor if need be. |
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virtual ~AP_InertialSensor_Backend(void) {} |
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/* |
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* Update the sensor data. Called by the frontend to transfer |
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* accumulated sensor readings to the frontend structure via the |
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* _publish_gyro() and _publish_accel() functions |
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*/ |
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virtual bool update() = 0; |
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/* |
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* return true if at least one accel sample is available in the backend |
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* since the last call to update() |
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*/ |
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virtual bool accel_sample_available() = 0; |
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/* |
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* return true if at least one gyro sample is available in the backend |
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* since the last call to update() |
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*/ |
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virtual bool gyro_sample_available() = 0; |
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/* |
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return the product ID |
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*/ |
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int16_t product_id(void) const { return _product_id; } |
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protected: |
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// access to frontend |
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AP_InertialSensor &_imu; |
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void _rotate_and_correct_accel(uint8_t instance, Vector3f &accel); |
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void _rotate_and_correct_gyro(uint8_t instance, Vector3f &gyro); |
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void _publish_delta_velocity(uint8_t instance, const Vector3f &delta_velocity, float dt); |
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void _publish_delta_angle(uint8_t instance, const Vector3f &delta_angle); |
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// rotate gyro vector, offset and publish |
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void _publish_gyro(uint8_t instance, const Vector3f &gyro, bool rotate_and_correct = true); |
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// rotate accel vector, scale, offset and publish |
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void _publish_accel(uint8_t instance, const Vector3f &accel, bool rotate_and_correct = true); |
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// publish a temperature value |
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void _publish_temperature(uint8_t instance, float temperature); |
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// set accelerometer error_count |
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void _set_accel_error_count(uint8_t instance, uint32_t error_count); |
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// set gyro error_count |
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void _set_gyro_error_count(uint8_t instance, uint32_t error_count); |
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// backend should fill in its product ID from AP_PRODUCT_ID_* |
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int16_t _product_id; |
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// return the default filter frequency in Hz for the sample rate |
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uint8_t _accel_filter_cutoff(void) const { return _imu._accel_filter_cutoff; } |
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// return the default filter frequency in Hz for the sample rate |
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uint8_t _gyro_filter_cutoff(void) const { return _imu._gyro_filter_cutoff; } |
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// return the requested sample rate in Hz |
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uint16_t get_sample_rate_hz(void) const; |
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// access to frontend dataflash |
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DataFlash_Class *get_dataflash(void) const { |
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return _imu._log_raw_data? _imu._dataflash : NULL; |
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} |
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// note that each backend is also expected to have a static detect() |
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// function which instantiates an instance of the backend sensor |
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// driver if the sensor is available |
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}; |
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#endif // __AP_INERTIALSENSOR_BACKEND_H__
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