#include <AP_InertialSensor_RST.h>

Inheritance diagram for AP_InertialSensor_RST:

Collaboration diagram for AP_InertialSensor_RST:

Public Member Functions
	AP_InertialSensor_RST (AP_InertialSensor &imu, AP_HAL::OwnPtr< AP_HAL::SPIDevice > dev_gyro, AP_HAL::OwnPtr< AP_HAL::SPIDevice > dev_accel, enum Rotation rotation_a, enum Rotation rotation_g)

virtual	~AP_InertialSensor_RST ()

bool	update () override

void	start (void) 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, enum Rotation rotation_g)

Private Member Functions
bool	_init_sensor ()

bool	_init_gyro ()

bool	_init_accel ()

void	gyro_measure ()

void	accel_measure ()

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

AP_HAL::OwnPtr< AP_HAL::SPIDevice >	_dev_accel

float	_gyro_scale

float	_accel_scale

uint8_t	_gyro_instance

uint8_t	_accel_instance

enum Rotation	_rotation_g

enum Rotation	_rotation_a

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 14 of file AP_InertialSensor_RST.h.

Constructor & Destructor Documentation

◆ AP_InertialSensor_RST()

AP_InertialSensor_RST::AP_InertialSensor_RST	(	AP_InertialSensor &	imu,
		AP_HAL::OwnPtr< AP_HAL::SPIDevice >	dev_gyro,
		AP_HAL::OwnPtr< AP_HAL::SPIDevice >	dev_accel,
		enum Rotation	rotation_a,
		enum Rotation	rotation_g
	)

Definition at line 179 of file AP_InertialSensor_RST.cpp.

Referenced by probe().

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◆ ~AP_InertialSensor_RST()

AP_InertialSensor_RST::~AP_InertialSensor_RST ( )

virtual

Definition at line 192 of file AP_InertialSensor_RST.cpp.

Member Function Documentation

◆ _init_accel()

bool AP_InertialSensor_RST::_init_accel ( void )

private

Definition at line 284 of file AP_InertialSensor_RST.cpp.

Referenced by _init_sensor().

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◆ _init_gyro()

bool AP_InertialSensor_RST::_init_gyro ( void )

private

Definition at line 221 of file AP_InertialSensor_RST.cpp.

Referenced by _init_sensor().

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◆ _init_sensor()

bool AP_InertialSensor_RST::_init_sensor ( void )

private

Definition at line 329 of file AP_InertialSensor_RST.cpp.

Referenced by probe().

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◆ accel_measure()

void AP_InertialSensor_RST::accel_measure ( void )

private

Definition at line 387 of file AP_InertialSensor_RST.cpp.

Referenced by start().

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◆ gyro_measure()

void AP_InertialSensor_RST::gyro_measure ( void )

private

Definition at line 366 of file AP_InertialSensor_RST.cpp.

Referenced by start().

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◆ probe()

AP_InertialSensor_Backend * AP_InertialSensor_RST::probe	(	AP_InertialSensor &	imu,
		AP_HAL::OwnPtr< AP_HAL::SPIDevice >	dev_gyro,
		AP_HAL::OwnPtr< AP_HAL::SPIDevice >	dev_accel,
		enum Rotation	rotation_a,
		enum Rotation	rotation_g
	)

static

Definition at line 199 of file AP_InertialSensor_RST.cpp.

Referenced by AP_InertialSensor::detect_backends().

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◆ start()

void AP_InertialSensor_RST::start ( void )

overridevirtual

Reimplemented from AP_InertialSensor_Backend.

Definition at line 341 of file AP_InertialSensor_RST.cpp.

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◆ update()

bool AP_InertialSensor_RST::update ( void )

overridevirtual

Implements AP_InertialSensor_Backend.

Definition at line 357 of file AP_InertialSensor_RST.cpp.

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Member Data Documentation

◆ _accel_instance

uint8_t AP_InertialSensor_RST::_accel_instance

private

Definition at line 52 of file AP_InertialSensor_RST.h.

Referenced by accel_measure(), start(), and update().

◆ _accel_scale

float AP_InertialSensor_RST::_accel_scale

private

Definition at line 48 of file AP_InertialSensor_RST.h.

Referenced by _init_accel(), and accel_measure().

◆ _dev_accel

AP_HAL::OwnPtr<AP_HAL::SPIDevice> AP_InertialSensor_RST::_dev_accel

private

Definition at line 45 of file AP_InertialSensor_RST.h.

Referenced by _init_accel(), accel_measure(), and start().

◆ _dev_gyro

AP_HAL::OwnPtr<AP_HAL::SPIDevice> AP_InertialSensor_RST::_dev_gyro

private

Definition at line 44 of file AP_InertialSensor_RST.h.

Referenced by _init_gyro(), gyro_measure(), and start().

◆ _gyro_instance

uint8_t AP_InertialSensor_RST::_gyro_instance

private

Definition at line 51 of file AP_InertialSensor_RST.h.

Referenced by gyro_measure(), start(), and update().

◆ _gyro_scale

float AP_InertialSensor_RST::_gyro_scale

private

Definition at line 47 of file AP_InertialSensor_RST.h.

Referenced by _init_gyro(), and gyro_measure().

◆ _rotation_a

enum Rotation AP_InertialSensor_RST::_rotation_a

private

Definition at line 54 of file AP_InertialSensor_RST.h.

Referenced by start().

◆ _rotation_g

enum Rotation AP_InertialSensor_RST::_rotation_g

private

Definition at line 53 of file AP_InertialSensor_RST.h.

Referenced by start().

The documentation for this class was generated from the following files:

libraries/AP_InertialSensor/AP_InertialSensor_RST.h
libraries/AP_InertialSensor/AP_InertialSensor_RST.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AP_InertialSensor_RST()

◆ ~AP_InertialSensor_RST()

Member Function Documentation

◆ _init_accel()

◆ _init_gyro()

◆ _init_sensor()

◆ accel_measure()

◆ gyro_measure()

◆ probe()

◆ start()

◆ update()

Member Data Documentation

◆ _accel_instance

◆ _accel_scale

◆ _dev_accel

◆ _dev_gyro

◆ _gyro_instance

◆ _gyro_scale

◆ _rotation_a

◆ _rotation_g