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45 lines
959 B
45 lines
959 B
/// -*- 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_QURT |
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#include "AP_InertialSensor.h" |
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#include "AP_InertialSensor_Backend.h" |
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extern "C" { |
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#undef DEG_TO_RAD |
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#include <mpu9x50.h> |
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} |
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#include <AP_HAL/utility/RingBuffer.h> |
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extern ObjectBuffer<mpu9x50_data> *mpu9250_mag_buffer; |
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class AP_InertialSensor_QURT : public AP_InertialSensor_Backend |
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{ |
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public: |
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AP_InertialSensor_QURT(AP_InertialSensor &imu); |
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/* update accel and gyro state */ |
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bool update() override; |
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void accumulate(void) override; |
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// detect the sensor |
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu); |
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void data_ready(void); |
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private: |
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bool init_sensor(); |
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void init_mpu9250(); |
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uint64_t last_timestamp; |
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uint32_t start_time_ms; |
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uint8_t gyro_instance; |
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uint8_t accel_instance; |
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ObjectBuffer<mpu9x50_data> buf{100}; |
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}; |
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#endif
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