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41 lines
1.1 KiB
41 lines
1.1 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#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(); |
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// return product ID |
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int16_t product_id() const { return AP_PRODUCT_ID_L3G4200D; } |
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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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