Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             :    This program is distributed in the hope that it will be useful,
       7             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       8             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
       9             :    GNU General Public License for more details.
      10             :    You should have received a copy of the GNU General Public License
      11             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      12             :  */
      13             : /*
      14             :   support for MicroStrain CX5/GX5-45 serially connected AHRS Systems
      15             :  */
      16             : 
      17             : #pragma once
      18             : 
      19             : #include "AP_ExternalAHRS_config.h"
      20             : 
      21             : #if AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED
      22             : 
      23             : #include "AP_ExternalAHRS_backend.h"
      24             : #include <AP_GPS/AP_GPS.h>
      25             : #include <AP_HAL/AP_HAL.h>
      26             : #include "MicroStrain_common.h"
      27             : 
      28             : class AP_ExternalAHRS_MicroStrain5: public AP_ExternalAHRS_backend, public AP_MicroStrain
      29             : {
      30             : public:
      31             : 
      32             :     AP_ExternalAHRS_MicroStrain5(AP_ExternalAHRS *frontend, AP_ExternalAHRS::state_t &state);
      33             : 
      34             :     // get serial port number, -1 for not enabled
      35             :     int8_t get_port(void) const override;
      36             : 
      37             :     // Get model/type name
      38             :     const char* get_name() const override;
      39             : 
      40             :     // accessors for AP_AHRS
      41             :     bool healthy(void) const override;
      42             :     bool initialised(void) const override;
      43             :     bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const override;
      44             :     void get_filter_status(nav_filter_status &status) const override;
      45             :     bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const override;
      46             : 
      47             :     // check for new data
      48      184394 :     void update() override {
      49      184394 :         build_packet();
      50      184394 :     };
      51             : 
      52             : protected:
      53             : 
      54          50 :     uint8_t num_gps_sensors(void) const override {
      55          50 :         return 1;
      56             :     }
      57             : 
      58             : private:
      59             : 
      60             :     uint32_t baudrate;
      61             :     int8_t port_num;
      62             :     bool port_open = false;
      63             :     
      64             : 
      65             : 
      66             :     void build_packet();
      67             : 
      68             :     void post_imu() const;
      69             :     void post_gnss() const;
      70             :     void post_filter() const;
      71             : 
      72             :     void update_thread();
      73             : 
      74             :     AP_HAL::UARTDriver *uart;
      75             :     HAL_Semaphore sem;
      76             : 
      77             : };
      78             : 
      79             : #endif // AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED