#include <AP_InertialSensor_LSM9DS0.h>

Inheritance diagram for AP_InertialSensor_LSM9DS0:

Collaboration diagram for AP_InertialSensor_LSM9DS0:

Classes
struct	sensor_raw_data

Public Member Functions
virtual	~AP_InertialSensor_LSM9DS0 ()

void	start (void) override

bool	update () 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)

virtual void	accumulate ()

virtual AuxiliaryBus *	get_auxiliary_bus ()

int16_t	get_id () const

void	notify_fifo_reset (void)

Static Public Member Functions
static AP_InertialSensor_Backend *	probe (AP_InertialSensor &imu, AP_HAL::OwnPtr< AP_HAL::SPIDevice > dev_gyro, AP_HAL::OwnPtr< AP_HAL::SPIDevice > dev_accel, enum Rotation rotation_a=ROTATION_NONE, enum Rotation rotation_g=ROTATION_NONE, enum Rotation rotation_gH=ROTATION_NONE)

Private Types
enum	gyro_scale { G_SCALE_245DPS = 0, G_SCALE_500DPS, G_SCALE_2000DPS }

enum	accel_scale { A_SCALE_2G = 0, A_SCALE_4G, A_SCALE_6G, A_SCALE_8G, A_SCALE_16G }

Private Member Functions
	AP_InertialSensor_LSM9DS0 (AP_InertialSensor &imu, AP_HAL::OwnPtr< AP_HAL::SPIDevice > dev_gyro, AP_HAL::OwnPtr< AP_HAL::SPIDevice > dev_accel, int drdy_pin_num_a, int drdy_pin_num_b, enum Rotation rotation_a, enum Rotation rotation_g, enum Rotation rotation_gH)

bool	_accel_data_ready ()

bool	_gyro_data_ready ()

void	_poll_data ()

bool	_init_sensor ()

bool	_hardware_init ()

void	_gyro_init ()

void	_accel_init ()

void	_gyro_disable_i2c ()

void	_accel_disable_i2c ()

void	_set_gyro_scale (gyro_scale scale)

void	_set_accel_scale (accel_scale scale)

uint8_t	_register_read_xm (uint8_t reg)

uint8_t	_register_read_g (uint8_t reg)

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

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

void	_read_data_transaction_a ()

void	_read_data_transaction_g ()

Private Attributes
AP_HAL::OwnPtr< AP_HAL::SPIDevice >	_dev_gyro

AP_HAL::OwnPtr< AP_HAL::SPIDevice >	_dev_accel

AP_HAL::Semaphore *	_spi_sem

AP_HAL::DigitalSource *	_drdy_pin_a

AP_HAL::DigitalSource *	_drdy_pin_g

float	_gyro_scale

float	_accel_scale

int	_drdy_pin_num_a

int	_drdy_pin_num_g

uint8_t	_gyro_instance

uint8_t	_accel_instance

uint8_t	whoami_g

enum Rotation	_rotation_a

enum Rotation	_rotation_g

enum Rotation	_rotation_gH

Additional Inherited Members
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 }

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 11 of file AP_InertialSensor_LSM9DS0.h.

Member Enumeration Documentation

◆ accel_scale

enum AP_InertialSensor_LSM9DS0::accel_scale

private

Enumerator
A_SCALE_2G
A_SCALE_4G
A_SCALE_6G
A_SCALE_8G
A_SCALE_16G

Definition at line 46 of file AP_InertialSensor_LSM9DS0.h.

◆ gyro_scale

enum AP_InertialSensor_LSM9DS0::gyro_scale

private

Enumerator
G_SCALE_245DPS
G_SCALE_500DPS
G_SCALE_2000DPS

Definition at line 40 of file AP_InertialSensor_LSM9DS0.h.

Constructor & Destructor Documentation

◆ ~AP_InertialSensor_LSM9DS0()

virtual AP_InertialSensor_LSM9DS0::~AP_InertialSensor_LSM9DS0 ( )

inlinevirtual

Definition at line 14 of file AP_InertialSensor_LSM9DS0.h.

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◆ AP_InertialSensor_LSM9DS0()

AP_InertialSensor_LSM9DS0::AP_InertialSensor_LSM9DS0	(	AP_InertialSensor &	imu,
		AP_HAL::OwnPtr< AP_HAL::SPIDevice >	dev_gyro,
		AP_HAL::OwnPtr< AP_HAL::SPIDevice >	dev_accel,
		int	drdy_pin_num_a,
		int	drdy_pin_num_b,
		enum Rotation	rotation_a,
		enum Rotation	rotation_g,
		enum Rotation	rotation_gH
	)

private

Definition at line 374 of file AP_InertialSensor_LSM9DS0.cpp.

Referenced by probe(), and ~AP_InertialSensor_LSM9DS0().

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Member Function Documentation

◆ _accel_data_ready()

bool AP_InertialSensor_LSM9DS0::_accel_data_ready ( )

private

Definition at line 706 of file AP_InertialSensor_LSM9DS0.cpp.

Referenced by _hardware_init(), and _poll_data().

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◆ _accel_disable_i2c()

void AP_InertialSensor_LSM9DS0::_accel_disable_i2c ( )

private

Definition at line 577 of file AP_InertialSensor_LSM9DS0.cpp.

Referenced by _accel_init().

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◆ _accel_init()

void AP_InertialSensor_LSM9DS0::_accel_init ( )

private

Definition at line 621 of file AP_InertialSensor_LSM9DS0.cpp.

Referenced by _hardware_init().

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◆ _gyro_data_ready()

bool AP_InertialSensor_LSM9DS0::_gyro_data_ready ( )

private

Definition at line 716 of file AP_InertialSensor_LSM9DS0.cpp.

Referenced by _hardware_init(), and _poll_data().

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◆ _gyro_disable_i2c()

void AP_InertialSensor_LSM9DS0::_gyro_disable_i2c ( )

private

Definition at line 563 of file AP_InertialSensor_LSM9DS0.cpp.

Referenced by _gyro_init().

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◆ _gyro_init()

void AP_InertialSensor_LSM9DS0::_gyro_init ( )

private

Definition at line 589 of file AP_InertialSensor_LSM9DS0.cpp.

Referenced by _hardware_init().

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◆ _hardware_init()

bool AP_InertialSensor_LSM9DS0::_hardware_init ( void )

private

Definition at line 450 of file AP_InertialSensor_LSM9DS0.cpp.

Referenced by _init_sensor().

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◆ _init_sensor()

bool AP_InertialSensor_LSM9DS0::_init_sensor ( void )

private

Definition at line 415 of file AP_InertialSensor_LSM9DS0.cpp.

Referenced by probe().

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◆ _poll_data()

void AP_InertialSensor_LSM9DS0::_poll_data ( )

private

Timer process to poll for new data from the LSM9DS0.

Definition at line 688 of file AP_InertialSensor_LSM9DS0.cpp.

Referenced by start().

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◆ _read_data_transaction_a()

void AP_InertialSensor_LSM9DS0::_read_data_transaction_a ( )

private

Definition at line 726 of file AP_InertialSensor_LSM9DS0.cpp.

Referenced by _poll_data().

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◆ _read_data_transaction_g()

void AP_InertialSensor_LSM9DS0::_read_data_transaction_g ( )

private

Definition at line 746 of file AP_InertialSensor_LSM9DS0.cpp.

Referenced by _poll_data().

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◆ _register_read_g()

uint8_t AP_InertialSensor_LSM9DS0::_register_read_g ( uint8_t reg )

private

Definition at line 544 of file AP_InertialSensor_LSM9DS0.cpp.

Referenced by _gyro_data_ready(), _gyro_disable_i2c(), _hardware_init(), and update().

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◆ _register_read_xm()

uint8_t AP_InertialSensor_LSM9DS0::_register_read_xm ( uint8_t reg )

private

Definition at line 535 of file AP_InertialSensor_LSM9DS0.cpp.

Referenced by _accel_data_ready(), _accel_disable_i2c(), _hardware_init(), and update().

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◆ _register_write_g()

void AP_InertialSensor_LSM9DS0::_register_write_g	(	uint8_t	reg,
		uint8_t	val,
		bool	checked = `false`
	)

private

Definition at line 558 of file AP_InertialSensor_LSM9DS0.cpp.

Referenced by _gyro_disable_i2c(), and _gyro_init().

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◆ _register_write_xm()

void AP_InertialSensor_LSM9DS0::_register_write_xm	(	uint8_t	reg,
		uint8_t	val,
		bool	checked = `false`
	)

private

Definition at line 553 of file AP_InertialSensor_LSM9DS0.cpp.

Referenced by _accel_disable_i2c(), and _accel_init().

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◆ _set_accel_scale()

void AP_InertialSensor_LSM9DS0::_set_accel_scale ( accel_scale scale )

private

Definition at line 669 of file AP_InertialSensor_LSM9DS0.cpp.

Referenced by _accel_init().

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◆ _set_gyro_scale()

void AP_InertialSensor_LSM9DS0::_set_gyro_scale ( gyro_scale scale )

private

Definition at line 648 of file AP_InertialSensor_LSM9DS0.cpp.

Referenced by _gyro_init().

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◆ probe()

AP_InertialSensor_Backend * AP_InertialSensor_LSM9DS0::probe	(	AP_InertialSensor &	imu,
		AP_HAL::OwnPtr< AP_HAL::SPIDevice >	dev_gyro,
		AP_HAL::OwnPtr< AP_HAL::SPIDevice >	dev_accel,
		enum Rotation	rotation_a = `ROTATION_NONE`,
		enum Rotation	rotation_g = `ROTATION_NONE`,
		enum Rotation	rotation_gH = `ROTATION_NONE`
	)