#include <AP_InertialSensor_Invensense.h>

Inheritance diagram for AP_InertialSensor_Invensense:

Collaboration diagram for AP_InertialSensor_Invensense:

Public Types
enum	Invensense_Type { Invensense_MPU6000 =0, Invensense_MPU6500, Invensense_MPU9250, Invensense_ICM20608, Invensense_ICM20602, Invensense_ICM20789, Invensense_ICM20689 }

Public Types inherited from AP_InertialSensor_Backend
enum	DevTypes { DEVTYPE_BMI160 = 0x09, DEVTYPE_L3G4200D = 0x10, DEVTYPE_ACC_LSM303D = 0x11, DEVTYPE_ACC_BMA180 = 0x12, DEVTYPE_ACC_MPU6000 = 0x13, DEVTYPE_ACC_MPU9250 = 0x16, DEVTYPE_ACC_IIS328DQ = 0x17, DEVTYPE_ACC_LSM9DS1 = 0x18, DEVTYPE_GYR_MPU6000 = 0x21, DEVTYPE_GYR_L3GD20 = 0x22, DEVTYPE_GYR_MPU9250 = 0x24, DEVTYPE_GYR_I3G4250D = 0x25, DEVTYPE_GYR_LSM9DS1 = 0x26, DEVTYPE_INS_ICM20789 = 0x27, DEVTYPE_INS_ICM20689 = 0x28 }

Public Member Functions
virtual	~AP_InertialSensor_Invensense ()

bool	update () override

void	accumulate () override

AuxiliaryBus *	get_auxiliary_bus () override

void	start () override

Public Member Functions inherited from AP_InertialSensor_Backend
	AP_InertialSensor_Backend (AP_InertialSensor &imu)

	AP_InertialSensor_Backend (const AP_InertialSensor_Backend &that)=delete

virtual	~AP_InertialSensor_Backend (void)

int16_t	get_id () const

void	notify_fifo_reset (void)

Static Public Member Functions
static AP_InertialSensor_Invensense &	from (AP_InertialSensor_Backend &backend)

static AP_InertialSensor_Backend *	probe (AP_InertialSensor &imu, AP_HAL::OwnPtr< AP_HAL::I2CDevice > dev, enum Rotation rotation=ROTATION_NONE)

static AP_InertialSensor_Backend *	probe (AP_InertialSensor &imu, AP_HAL::OwnPtr< AP_HAL::SPIDevice > dev, enum Rotation rotation=ROTATION_NONE)

Public Attributes
const uint16_t	multiplier_accel = INT16_MAX/(26*GRAVITY_MSS)

Vector3f	accel

Vector3f	gyro

uint8_t	count

LowPassFilterVector3f	accel_filter {4000, 188}

LowPassFilterVector3f	gyro_filter {8000, 188}

Private Member Functions
	AP_InertialSensor_Invensense (AP_InertialSensor &imu, AP_HAL::OwnPtr< AP_HAL::Device > dev, enum Rotation rotation)

bool	_init ()

bool	_hardware_init ()

bool	_check_whoami ()

void	_set_filter_register (void)

void	_fifo_reset ()

bool	_has_auxiliary_bus ()

void	_read_fifo ()

bool	_data_ready ()

void	_poll_data ()

bool	_block_read (uint8_t reg, uint8_t *buf, uint32_t size)

uint8_t	_register_read (uint8_t reg)

void	_register_write (uint8_t reg, uint8_t val, bool checked=false)

bool	_accumulate (uint8_t *samples, uint8_t n_samples)

bool	_accumulate_sensor_rate_sampling (uint8_t *samples, uint8_t n_samples)

bool	_check_raw_temp (int16_t t2)

Private Attributes
friend	AP_Invensense_AuxiliaryBus

friend	AP_Invensense_AuxiliaryBusSlave

int16_t	_raw_temp

uint8_t	_gyro_instance

uint8_t	_accel_instance

float	temp_sensitivity = 1.0/340

float	temp_zero = 36.53

float	_temp_filtered

float	_accel_scale

float	_fifo_accel_scale

float	_fifo_gyro_scale

LowPassFilter2pFloat	_temp_filter

enum Rotation	_rotation

AP_HAL::DigitalSource *	_drdy_pin

AP_HAL::OwnPtr< AP_HAL::Device >	_dev

AP_Invensense_AuxiliaryBus *	_auxiliary_bus

enum Invensense_Type	_mpu_type

bool	_fast_sampling

uint8_t	_fifo_downsample_rate

uint16_t	_backend_rate_hz

uint8_t	_last_stat_user_ctrl

uint8_t *	_fifo_buffer

struct {
Vector3f accel

Vector3f gyro

uint8_t count

LowPassFilterVector3f accel_filter {4000, 188}

LowPassFilterVector3f gyro_filter {8000, 188}

}	_accum

Additional Inherited Members
Protected Member Functions inherited from AP_InertialSensor_Backend
void	_rotate_and_correct_accel (uint8_t instance, Vector3f &accel)

void	_rotate_and_correct_gyro (uint8_t instance, Vector3f &gyro)

void	_publish_gyro (uint8_t instance, const Vector3f &gyro)

void	_notify_new_gyro_raw_sample (uint8_t instance, const Vector3f &accel, uint64_t sample_us=0)

void	_publish_accel (uint8_t instance, const Vector3f &accel)

void	_notify_new_accel_raw_sample (uint8_t instance, const Vector3f &accel, uint64_t sample_us=0, bool fsync_set=false)

void	_set_accel_oversampling (uint8_t instance, uint8_t n)

void	_set_gyro_oversampling (uint8_t instance, uint8_t n)

void	_set_accel_sensor_rate_sampling_enabled (uint8_t instance, bool value)

void	_set_gyro_sensor_rate_sampling_enabled (uint8_t instance, bool value)

void	_set_raw_sample_accel_multiplier (uint8_t instance, uint16_t mul)

void	_set_raw_sampl_gyro_multiplier (uint8_t instance, uint16_t mul)

void	_update_sensor_rate (uint16_t &count, uint32_t &start_us, float &rate_hz) const

void	_set_accel_max_abs_offset (uint8_t instance, float offset)

uint32_t	_accel_raw_sample_rate (uint8_t instance) const

void	_set_accel_raw_sample_rate (uint8_t instance, uint16_t rate_hz)

uint32_t	_gyro_raw_sample_rate (uint8_t instance) const

void	_set_gyro_raw_sample_rate (uint8_t instance, uint16_t rate_hz)

void	_publish_temperature (uint8_t instance, float temperature)

void	_set_accel_error_count (uint8_t instance, uint32_t error_count)

void	_set_gyro_error_count (uint8_t instance, uint32_t error_count)

void	_inc_accel_error_count (uint8_t instance)

void	_inc_gyro_error_count (uint8_t instance)

uint8_t	_accel_filter_cutoff (void) const

uint8_t	_gyro_filter_cutoff (void) const

uint16_t	get_sample_rate_hz (void) const

void	update_gyro (uint8_t instance)

void	update_accel (uint8_t instance)

void	set_gyro_orientation (uint8_t instance, enum Rotation rotation)

void	set_accel_orientation (uint8_t instance, enum Rotation rotation)

void	increment_clip_count (uint8_t instance)

bool	enable_fast_sampling (uint8_t instance)

void	_notify_new_accel_sensor_rate_sample (uint8_t instance, const Vector3f &accel)

void	_notify_new_gyro_sensor_rate_sample (uint8_t instance, const Vector3f &gyro)

void	notify_accel_fifo_reset (uint8_t instance)

void	notify_gyro_fifo_reset (uint8_t instance)

Protected Attributes inherited from AP_InertialSensor_Backend
AP_InertialSensor &	_imu

AP_HAL::Semaphore *	_sem

int16_t	_id = -1

int8_t	_last_accel_filter_hz [INS_MAX_INSTANCES]

int8_t	_last_gyro_filter_hz [INS_MAX_INSTANCES]

Detailed Description

Definition at line 28 of file AP_InertialSensor_Invensense.h.

Member Enumeration Documentation

◆ Invensense_Type

enum AP_InertialSensor_Invensense::Invensense_Type

Enumerator
Invensense_MPU6000
Invensense_MPU6500
Invensense_MPU9250
Invensense_ICM20608
Invensense_ICM20602
Invensense_ICM20789
Invensense_ICM20689

Definition at line 59 of file AP_InertialSensor_Invensense.h.

Constructor & Destructor Documentation

◆ ~AP_InertialSensor_Invensense()

AP_InertialSensor_Invensense::~AP_InertialSensor_Invensense ( )

virtual

Definition at line 88 of file AP_InertialSensor_Invensense.cpp.

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◆ AP_InertialSensor_Invensense()

AP_InertialSensor_Invensense::AP_InertialSensor_Invensense	(	AP_InertialSensor &	imu,
		AP_HAL::OwnPtr< AP_HAL::Device >	dev,
		enum Rotation	rotation
	)

private

Definition at line 78 of file AP_InertialSensor_Invensense.cpp.

Referenced by probe().

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Member Function Documentation

◆ _accumulate()

bool AP_InertialSensor_Invensense::_accumulate	(	uint8_t *	samples,
		uint8_t	n_samples
	)

private

Definition at line 404 of file AP_InertialSensor_Invensense.cpp.

Referenced by _read_fifo().

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◆ _accumulate_sensor_rate_sampling()

bool AP_InertialSensor_Invensense::_accumulate_sensor_rate_sampling	(	uint8_t *	samples,
		uint8_t	n_samples
	)

private

Definition at line 452 of file AP_InertialSensor_Invensense.cpp.

Referenced by _read_fifo().

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◆ _block_read()

bool AP_InertialSensor_Invensense::_block_read	(	uint8_t	reg,
		uint8_t *	buf,
		uint32_t	size
	)

private

Definition at line 633 of file AP_InertialSensor_Invensense.cpp.

Referenced by _check_raw_temp(), and _read_fifo().

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◆ _check_raw_temp()

bool AP_InertialSensor_Invensense::_check_raw_temp ( int16_t t2 )

private

Definition at line 620 of file AP_InertialSensor_Invensense.cpp.

Referenced by _accumulate(), and _accumulate_sensor_rate_sampling().

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◆ _check_whoami()

bool AP_InertialSensor_Invensense::_check_whoami ( void )

private

Definition at line 725 of file AP_InertialSensor_Invensense.cpp.

Referenced by _hardware_init().

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◆ _data_ready()

bool AP_InertialSensor_Invensense::_data_ready ( )

private

Definition at line 387 of file AP_InertialSensor_Invensense.cpp.

Referenced by _hardware_init().

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◆ _fifo_reset()

void AP_InertialSensor_Invensense::_fifo_reset ( )

private

Definition at line 158 of file AP_InertialSensor_Invensense.cpp.

Referenced by _accumulate(), _accumulate_sensor_rate_sampling(), _read_fifo(), and start().

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◆ _hardware_init()

bool AP_InertialSensor_Invensense::_hardware_init ( void )

private

Definition at line 758 of file AP_InertialSensor_Invensense.cpp.

Referenced by _init().

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◆ _has_auxiliary_bus()

bool AP_InertialSensor_Invensense::_has_auxiliary_bus ( )

private

Definition at line 178 of file AP_InertialSensor_Invensense.cpp.

Referenced by get_auxiliary_bus().

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◆ _init()

bool AP_InertialSensor_Invensense::_init ( void )

private

Definition at line 146 of file AP_InertialSensor_Invensense.cpp.

Referenced by probe().

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◆ _poll_data()

void AP_InertialSensor_Invensense::_poll_data ( )

private

Definition at line 399 of file AP_InertialSensor_Invensense.cpp.

Referenced by start().

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◆ _read_fifo()

void AP_InertialSensor_Invensense::_read_fifo ( )

private

Definition at line 526 of file AP_InertialSensor_Invensense.cpp.

Referenced by _poll_data().

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◆ _register_read()

uint8_t AP_InertialSensor_Invensense::_register_read ( uint8_t reg )

private

Definition at line 639 of file AP_InertialSensor_Invensense.cpp.

Referenced by _check_whoami(), _data_ready(), _hardware_init(), and start().

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◆ _register_write()

void AP_InertialSensor_Invensense::_register_write	(	uint8_t	reg,
		uint8_t	val,
		bool	checked = `false`
	)

private

Definition at line 646 of file AP_InertialSensor_Invensense.cpp.

Referenced by _fifo_reset(), _hardware_init(), _set_filter_register(), AP_Invensense_AuxiliaryBusSlave::_set_passthrough(), AP_Invensense_AuxiliaryBusSlave::passthrough_read(), AP_Invensense_AuxiliaryBusSlave::passthrough_write(), and start().

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◆ _set_filter_register()

void AP_InertialSensor_Invensense::_set_filter_register ( void )

private

Definition at line 654 of file AP_InertialSensor_Invensense.cpp.

Referenced by start().

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◆ accumulate()

void AP_InertialSensor_Invensense::accumulate ( void )

overridevirtual

Reimplemented from AP_InertialSensor_Backend.

Definition at line 363 of file AP_InertialSensor_Invensense.cpp.

Referenced by from().

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◆ from()

static AP_InertialSensor_Invensense& AP_InertialSensor_Invensense::from ( AP_InertialSensor_Backend & backend )

inlinestatic

Definition at line 36 of file AP_InertialSensor_Invensense.h.

Referenced by AP_Invensense_AuxiliaryBus::_configure_slaves(), AP_Invensense_AuxiliaryBusSlave::_set_passthrough(), AP_Invensense_AuxiliaryBusSlave::passthrough_read(), AP_Invensense_AuxiliaryBusSlave::passthrough_write(), AP_Invensense_AuxiliaryBusSlave::read(), and AP_Invensense_AuxiliaryBus::register_periodic_callback().

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◆ get_auxiliary_bus()

AuxiliaryBus * AP_InertialSensor_Invensense::get_auxiliary_bus ( )

overridevirtual

Reimplemented from AP_InertialSensor_Backend.

Definition at line 368 of file AP_InertialSensor_Invensense.cpp.

Referenced by from().

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◆ probe() [1/2]

AP_InertialSensor_Backend * AP_InertialSensor_Invensense::probe	(	AP_InertialSensor &	imu,
		AP_HAL::OwnPtr< AP_HAL::I2CDevice >	dev,
		enum Rotation	rotation = `ROTATION_NONE`
	)

static

Definition at line 96 of file AP_InertialSensor_Invensense.cpp.

Referenced by AP_InertialSensor::detect_backends(), and from().

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◆ probe() [2/2]

AP_InertialSensor_Backend * AP_InertialSensor_Invensense::probe	(	AP_InertialSensor &	imu,
		AP_HAL::OwnPtr< AP_HAL::SPIDevice >	dev,
		enum Rotation	rotation = `ROTATION_NONE`
	)