#include <AP_InertialSensor_Revo.h>

Inheritance diagram for AP_InertialSensor_Revo:

Collaboration diagram for AP_InertialSensor_Revo:

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

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_Revo ()

bool	update () override

void	accumulate () override

void	start () override

void	_isr ()

void	_ioc ()

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 AuxiliaryBus *	get_auxiliary_bus ()

int16_t	get_id () const

void	notify_fifo_reset (void)

Static Public Member Functions
static AP_InertialSensor_Revo &	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)

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

bool	_init ()

bool	_hardware_init ()

bool	_check_whoami ()

void	_start ()

void	_set_filter_register (void)

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

int16_t	_raw_temp

uint8_t	_gyro_instance

uint8_t	_accel_instance

uint16_t	_error_count

float	temp_sensitivity = 1.0/340

float	temp_zero = 36.53

float	_temp_filtered

float	_accel_scale

LowPassFilter2pFloat	_temp_filter

enum Rotation	_rotation

AP_HAL::DigitalSource *	_drdy_pin

AP_HAL::OwnPtr< AP_HAL::Device >	_dev

enum Invensense_Type	_mpu_type

uint8_t	product_id

bool	_fast_sampling

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

uint16_t	read_ptr

volatile uint16_t	write_ptr

uint16_t	nodata_count

void *	task_handle

float	accel_len

uint32_t	last_sample

Vector3f	gyro_mean

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 47 of file AP_InertialSensor_Revo.h.

Member Enumeration Documentation

◆ Invensense_Type

enum AP_InertialSensor_Revo::Invensense_Type

Enumerator
Invensense_MPU6000
Invensense_MPU6500
Invensense_MPU9250
Invensense_ICM20608
Invensense_ICM20602

Definition at line 75 of file AP_InertialSensor_Revo.h.

Constructor & Destructor Documentation

◆ ~AP_InertialSensor_Revo()

virtual AP_InertialSensor_Revo::~AP_InertialSensor_Revo ( )

virtual

◆ AP_InertialSensor_Revo()

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

private

Member Function Documentation

◆ _accumulate()

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

private

◆ _accumulate_sensor_rate_sampling()

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

private

◆ _block_read()

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

private

◆ _check_raw_temp()

bool AP_InertialSensor_Revo::_check_raw_temp ( int16_t t2 )

private

◆ _check_whoami()

bool AP_InertialSensor_Revo::_check_whoami ( )

private

◆ _data_ready()

bool AP_InertialSensor_Revo::_data_ready ( )

private

◆ _hardware_init()

bool AP_InertialSensor_Revo::_hardware_init ( )

private

◆ _init()

bool AP_InertialSensor_Revo::_init ( )

private

◆ _ioc()

void AP_InertialSensor_Revo::_ioc ( )

◆ _isr()

void AP_InertialSensor_Revo::_isr ( )

◆ _poll_data()

void AP_InertialSensor_Revo::_poll_data ( )

private

◆ _read_fifo()

void AP_InertialSensor_Revo::_read_fifo ( )

private

◆ _register_read()

uint8_t AP_InertialSensor_Revo::_register_read ( uint8_t reg )

private

◆ _register_write()

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

private

◆ _set_filter_register()

void AP_InertialSensor_Revo::_set_filter_register ( void )

private

◆ _start()

void AP_InertialSensor_Revo::_start ( )

private

◆ accumulate()

void AP_InertialSensor_Revo::accumulate ( )

overridevirtual

Reimplemented from AP_InertialSensor_Backend.

◆ from()

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

inlinestatic

Definition at line 54 of file AP_InertialSensor_Revo.h.

◆ probe() [1/2]

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

static

Referenced by AP_InertialSensor::detect_backends().

Here is the caller graph for this function:

◆ probe() [2/2]

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

static

◆ start()

void AP_InertialSensor_Revo::start ( )

overridevirtual

Reimplemented from AP_InertialSensor_Backend.

◆ update()

bool AP_InertialSensor_Revo::update ( )

overridevirtual

Implements AP_InertialSensor_Backend.

Member Data Documentation

◆ _accel_instance

uint8_t AP_InertialSensor_Revo::_accel_instance

private

Definition at line 120 of file AP_InertialSensor_Revo.h.

◆ _accel_scale

float AP_InertialSensor_Revo::_accel_scale

private

Definition at line 128 of file AP_InertialSensor_Revo.h.

◆ _accum

struct { ... } AP_InertialSensor_Revo::_accum

◆ _dev

AP_HAL::OwnPtr<AP_HAL::Device> AP_InertialSensor_Revo::_dev

private

Definition at line 134 of file AP_InertialSensor_Revo.h.

◆ _drdy_pin

AP_HAL::DigitalSource* AP_InertialSensor_Revo::_drdy_pin

private

Definition at line 133 of file AP_InertialSensor_Revo.h.

◆ _error_count

uint16_t AP_InertialSensor_Revo::_error_count

private

Definition at line 122 of file AP_InertialSensor_Revo.h.

◆ _fast_sampling

bool AP_InertialSensor_Revo::_fast_sampling

private

Definition at line 141 of file AP_InertialSensor_Revo.h.

◆ _fifo_buffer

uint8_t* AP_InertialSensor_Revo::_fifo_buffer

private

Definition at line 147 of file AP_InertialSensor_Revo.h.

◆ _gyro_instance

uint8_t AP_InertialSensor_Revo::_gyro_instance

private

Definition at line 119 of file AP_InertialSensor_Revo.h.

◆ _last_stat_user_ctrl

uint8_t AP_InertialSensor_Revo::_last_stat_user_ctrl

private

Definition at line 144 of file AP_InertialSensor_Revo.h.

◆ _mpu_type

enum Invensense_Type AP_InertialSensor_Revo::_mpu_type

private

Definition at line 137 of file AP_InertialSensor_Revo.h.

◆ _raw_temp

int16_t AP_InertialSensor_Revo::_raw_temp

private

Definition at line 116 of file AP_InertialSensor_Revo.h.

◆ _rotation

enum Rotation AP_InertialSensor_Revo::_rotation

private

Definition at line 131 of file AP_InertialSensor_Revo.h.

◆ _temp_filter

LowPassFilter2pFloat AP_InertialSensor_Revo::_temp_filter

private

Definition at line 129 of file AP_InertialSensor_Revo.h.

◆ _temp_filtered

float AP_InertialSensor_Revo::_temp_filtered

private

Definition at line 127 of file AP_InertialSensor_Revo.h.

◆ accel

Vector3f AP_InertialSensor_Revo::accel

Definition at line 155 of file AP_InertialSensor_Revo.h.

◆ accel_filter

LowPassFilterVector3f AP_InertialSensor_Revo::accel_filter {4000, 188}

Definition at line 158 of file AP_InertialSensor_Revo.h.

◆ accel_len

float AP_InertialSensor_Revo::accel_len

private

Definition at line 166 of file AP_InertialSensor_Revo.h.

◆ AP_Invensense_AuxiliaryBus

friend AP_InertialSensor_Revo::AP_Invensense_AuxiliaryBus

private

Definition at line 49 of file AP_InertialSensor_Revo.h.

◆ count

uint8_t AP_InertialSensor_Revo::count

Definition at line 157 of file AP_InertialSensor_Revo.h.

◆ gyro

Vector3f AP_InertialSensor_Revo::gyro

Definition at line 156 of file AP_InertialSensor_Revo.h.

◆ gyro_filter

LowPassFilterVector3f AP_InertialSensor_Revo::gyro_filter {8000, 188}

Definition at line 159 of file AP_InertialSensor_Revo.h.

◆ gyro_mean

Vector3f AP_InertialSensor_Revo::gyro_mean

private

Definition at line 169 of file AP_InertialSensor_Revo.h.

◆ last_sample

uint32_t AP_InertialSensor_Revo::last_sample

private

Definition at line 167 of file AP_InertialSensor_Revo.h.

◆ nodata_count

uint16_t AP_InertialSensor_Revo::nodata_count

private

Definition at line 164 of file AP_InertialSensor_Revo.h.

◆ product_id

uint8_t AP_InertialSensor_Revo::product_id

private

Definition at line 138 of file AP_InertialSensor_Revo.h.

◆ read_ptr

uint16_t AP_InertialSensor_Revo::read_ptr

private

Definition at line 162 of file AP_InertialSensor_Revo.h.

◆ task_handle

void* AP_InertialSensor_Revo::task_handle

private

Definition at line 165 of file AP_InertialSensor_Revo.h.

◆ temp_sensitivity

float AP_InertialSensor_Revo::temp_sensitivity = 1.0/340

private

Definition at line 124 of file AP_InertialSensor_Revo.h.

◆ temp_zero

float AP_InertialSensor_Revo::temp_zero = 36.53

private

Definition at line 125 of file AP_InertialSensor_Revo.h.

◆ write_ptr

volatile uint16_t AP_InertialSensor_Revo::write_ptr

private

Definition at line 163 of file AP_InertialSensor_Revo.h.

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

libraries/AP_InertialSensor/AP_InertialSensor_Revo.h

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ Invensense_Type

Constructor & Destructor Documentation

◆ ~AP_InertialSensor_Revo()

◆ AP_InertialSensor_Revo()

Member Function Documentation

◆ _accumulate()

◆ _accumulate_sensor_rate_sampling()

◆ _block_read()

◆ _check_raw_temp()

◆ _check_whoami()

◆ _data_ready()

◆ _hardware_init()

◆ _init()

◆ _ioc()

◆ _isr()

◆ _poll_data()

◆ _read_fifo()

◆ _register_read()

◆ _register_write()

◆ _set_filter_register()

◆ _start()

◆ accumulate()

◆ from()

◆ probe() [1/2]

◆ probe() [2/2]

◆ start()

◆ update()

Member Data Documentation

◆ _accel_instance

◆ _accel_scale

◆ _accum

◆ _dev

◆ _drdy_pin

◆ _error_count

◆ _fast_sampling

◆ _fifo_buffer

◆ _gyro_instance

◆ _last_stat_user_ctrl

◆ _mpu_type

◆ _raw_temp

◆ _rotation

◆ _temp_filter

◆ _temp_filtered

◆ accel

◆ accel_filter

◆ accel_len

◆ AP_Invensense_AuxiliaryBus

◆ count

◆ gyro

◆ gyro_filter

◆ gyro_mean

◆ last_sample

◆ nodata_count

◆ product_id

◆ read_ptr

◆ task_handle

◆ temp_sensitivity

◆ temp_zero

◆ write_ptr