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39 lines
985 B
39 lines
985 B
#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
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#include <AP_HAL/I2CDevice.h> |
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#include <Filter/Filter.h> |
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#include <Filter/LowPassFilter2p.h> |
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#include "AP_InertialSensor.h" |
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#include "AP_InertialSensor_Backend.h" |
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class AP_InertialSensor_L3G4200D : public AP_InertialSensor_Backend |
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{ |
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public: |
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AP_InertialSensor_L3G4200D(AP_InertialSensor &imu, |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev); |
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virtual ~AP_InertialSensor_L3G4200D(); |
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// probe the sensor on I2C bus |
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static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu, |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev); |
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/* update accel and gyro state */ |
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bool update() override; |
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void start(void) override; |
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private: |
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bool _init_sensor(); |
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void _accumulate(); |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev; |
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// gyro and accel instances |
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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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