PX4 Firmware
PX4 Autopilot Software http://px4.io
Classes | Public Member Functions | Private Member Functions | Private Attributes | List of all members
DfMpu9250Wrapper Class Reference
Inheritance diagram for DfMpu9250Wrapper:
Collaboration diagram for DfMpu9250Wrapper:

Classes

struct  accel_calibration_s
 
struct  gyro_calibration_s
 
struct  mag_calibration_s
 

Public Member Functions

 DfMpu9250Wrapper (bool mag_enabled, enum Rotation rotation)
 
 ~DfMpu9250Wrapper ()
 
int start ()
 Start automatic measurement. More...
 
int stop ()
 Stop automatic measurement. More...
 
void info ()
 Print some debug info. More...
 
- Public Member Functions inherited from MPU9250
 MPU9250 (device::Device *interface, device::Device *mag_interface, enum Rotation rotation)
 
virtual ~MPU9250 ()
 
virtual int init ()
 
uint8_t get_whoami ()
 
void print_info ()
 Diagnostics - print some basic information about the driver. More...
 

Private Member Functions

int _publish (struct imu_sensor_data &data)
 
void _update_accel_calibration ()
 
void _update_gyro_calibration ()
 
void _update_mag_calibration ()
 

Private Attributes

orb_advert_t _accel_topic
 
orb_advert_t _gyro_topic
 
orb_advert_t _mag_topic
 
orb_advert_t _mavlink_log_pub
 
int _param_update_sub
 
struct DfMpu9250Wrapper::accel_calibration_s _accel_calibration
 
struct DfMpu9250Wrapper::gyro_calibration_s _gyro_calibration
 
struct DfMpu9250Wrapper::mag_calibration_s _mag_calibration
 
int _accel_orb_class_instance
 
int _gyro_orb_class_instance
 
int _mag_orb_class_instance
 
Integrator _accel_int
 
Integrator _gyro_int
 
math::LowPassFilter2p _accel_filter_x
 
math::LowPassFilter2p _accel_filter_y
 
math::LowPassFilter2p _accel_filter_z
 
math::LowPassFilter2p _gyro_filter_x
 
math::LowPassFilter2p _gyro_filter_y
 
math::LowPassFilter2p _gyro_filter_z
 
perf_counter_t _read_counter
 
perf_counter_t _error_counter
 
perf_counter_t _fifo_overflow_counter
 
perf_counter_t _fifo_corruption_counter
 
perf_counter_t _gyro_range_hit_counter
 
perf_counter_t _accel_range_hit_counter
 
perf_counter_t _mag_fifo_overflow_counter
 
perf_counter_t _publish_perf
 
hrt_abstime _last_accel_range_hit_time
 
uint64_t _last_accel_range_hit_count
 
bool _mag_enabled
 
enum Rotation _rotation
 

Additional Inherited Members

- Protected Member Functions inherited from MPU9250
virtual int probe ()
 whoami result More...
 
void Run () override
 
- Protected Attributes inherited from MPU9250
device::Device * _interface
 
uint8_t _whoami {0}
 

Detailed Description

Definition at line 86 of file df_mpu9250_wrapper.cpp.

Constructor & Destructor Documentation

◆ DfMpu9250Wrapper()

DfMpu9250Wrapper::DfMpu9250Wrapper ( bool  mag_enabled,
enum Rotation  rotation 
)

Definition at line 185 of file df_mpu9250_wrapper.cpp.

References _accel_calibration, _accel_filter_x, _accel_filter_y, _accel_filter_z, _accel_int, _accel_orb_class_instance, _accel_range_hit_counter, _error_counter, _fifo_corruption_counter, _fifo_overflow_counter, _gyro_calibration, _gyro_filter_x, _gyro_filter_y, _gyro_filter_z, _gyro_int, _gyro_orb_class_instance, _gyro_range_hit_counter, _last_accel_range_hit_count, _last_accel_range_hit_time, _mag_calibration, _mag_enabled, _mag_fifo_overflow_counter, _mag_orb_class_instance, _publish_perf, _read_counter, _rotation, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ, MPU9250_ACCEL_DEFAULT_RATE, MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ, MPU9250_GYRO_DEFAULT_RATE, MPU9250_PUB_RATE, param_find(), param_get(), PARAM_INVALID, PC_COUNT, PC_ELAPSED, perf_alloc, math::LowPassFilter2p::set_cutoff_frequency(), DfMpu9250Wrapper::accel_calibration_s::x_offset, DfMpu9250Wrapper::gyro_calibration_s::x_offset, DfMpu9250Wrapper::mag_calibration_s::x_offset, DfMpu9250Wrapper::accel_calibration_s::x_scale, DfMpu9250Wrapper::gyro_calibration_s::x_scale, DfMpu9250Wrapper::mag_calibration_s::x_scale, DfMpu9250Wrapper::accel_calibration_s::y_offset, DfMpu9250Wrapper::gyro_calibration_s::y_offset, DfMpu9250Wrapper::mag_calibration_s::y_offset, DfMpu9250Wrapper::accel_calibration_s::y_scale, DfMpu9250Wrapper::gyro_calibration_s::y_scale, DfMpu9250Wrapper::mag_calibration_s::y_scale, DfMpu9250Wrapper::accel_calibration_s::z_offset, DfMpu9250Wrapper::gyro_calibration_s::z_offset, DfMpu9250Wrapper::mag_calibration_s::z_offset, DfMpu9250Wrapper::accel_calibration_s::z_scale, DfMpu9250Wrapper::gyro_calibration_s::z_scale, and DfMpu9250Wrapper::mag_calibration_s::z_scale.

Referenced by df_mpu9250_wrapper::start().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ ~DfMpu9250Wrapper()

DfMpu9250Wrapper::~DfMpu9250Wrapper ( )

Definition at line 269 of file df_mpu9250_wrapper.cpp.

References _accel_range_hit_counter, _error_counter, _fifo_corruption_counter, _fifo_overflow_counter, _gyro_range_hit_counter, _mag_enabled, _mag_fifo_overflow_counter, _publish_perf, _read_counter, and perf_free().

Here is the call graph for this function:

Member Function Documentation

◆ _publish()

int DfMpu9250Wrapper::_publish ( struct imu_sensor_data &  data)
private

Definition at line 600 of file df_mpu9250_wrapper.cpp.

References _accel_calibration, _accel_filter_x, _accel_filter_y, _accel_filter_z, _accel_int, _accel_range_hit_counter, _accel_topic, _error_counter, _fifo_corruption_counter, _fifo_overflow_counter, _gyro_calibration, _gyro_filter_x, _gyro_filter_y, _gyro_filter_z, _gyro_int, _gyro_range_hit_counter, _gyro_topic, _last_accel_range_hit_count, _last_accel_range_hit_time, _mag_calibration, _mag_enabled, _mag_fifo_overflow_counter, _mag_orb_class_instance, _mag_topic, _mavlink_log_pub, _param_update_sub, _publish_perf, _read_counter, _rotation, _update_accel_calibration(), _update_gyro_calibration(), _update_mag_calibration(), math::LowPassFilter2p::apply(), sensor_gyro_s::device_id, sensor_accel_s::device_id, sensor_accel_s::error_count, sensor_gyro_s::error_count, hrt_absolute_time(), hrt_elapsed_time(), sensor_accel_s::integral_dt, sensor_gyro_s::integral_dt, mag_report, mavlink_log_critical, orb_advertise_multi(), orb_check(), orb_copy(), ORB_ID, ORB_PRIO_LOW, orb_publish(), perf_begin(), perf_end(), perf_set_count(), Integrator::put(), rotate_3f(), sensor_gyro_s::scaling, sensor_accel_s::scaling, sensor_accel_s::timestamp, sensor_gyro_s::timestamp, sensor_gyro_s::x, sensor_accel_s::x, sensor_accel_s::x_integral, sensor_gyro_s::x_integral, DfMpu9250Wrapper::accel_calibration_s::x_offset, DfMpu9250Wrapper::gyro_calibration_s::x_offset, DfMpu9250Wrapper::mag_calibration_s::x_offset, sensor_accel_s::x_raw, sensor_gyro_s::x_raw, DfMpu9250Wrapper::accel_calibration_s::x_scale, DfMpu9250Wrapper::gyro_calibration_s::x_scale, DfMpu9250Wrapper::mag_calibration_s::x_scale, sensor_gyro_s::y, sensor_accel_s::y, sensor_accel_s::y_integral, sensor_gyro_s::y_integral, DfMpu9250Wrapper::accel_calibration_s::y_offset, DfMpu9250Wrapper::gyro_calibration_s::y_offset, DfMpu9250Wrapper::mag_calibration_s::y_offset, sensor_gyro_s::y_raw, sensor_accel_s::y_raw, DfMpu9250Wrapper::accel_calibration_s::y_scale, DfMpu9250Wrapper::gyro_calibration_s::y_scale, DfMpu9250Wrapper::mag_calibration_s::y_scale, sensor_gyro_s::z, sensor_accel_s::z, sensor_gyro_s::z_integral, sensor_accel_s::z_integral, DfMpu9250Wrapper::accel_calibration_s::z_offset, DfMpu9250Wrapper::gyro_calibration_s::z_offset, DfMpu9250Wrapper::mag_calibration_s::z_offset, sensor_gyro_s::z_raw, sensor_accel_s::z_raw, DfMpu9250Wrapper::accel_calibration_s::z_scale, DfMpu9250Wrapper::gyro_calibration_s::z_scale, and DfMpu9250Wrapper::mag_calibration_s::z_scale.

Here is the call graph for this function:

◆ _update_accel_calibration()

void DfMpu9250Wrapper::_update_accel_calibration ( )
private

Definition at line 444 of file df_mpu9250_wrapper.cpp.

References _accel_calibration, device_id, OK, param_find(), param_get(), DfMpu9250Wrapper::accel_calibration_s::x_offset, DfMpu9250Wrapper::accel_calibration_s::x_scale, DfMpu9250Wrapper::accel_calibration_s::y_offset, DfMpu9250Wrapper::accel_calibration_s::y_scale, DfMpu9250Wrapper::accel_calibration_s::z_offset, and DfMpu9250Wrapper::accel_calibration_s::z_scale.

Referenced by _publish(), and start().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ _update_gyro_calibration()

void DfMpu9250Wrapper::_update_gyro_calibration ( )
private

Definition at line 369 of file df_mpu9250_wrapper.cpp.

References _gyro_calibration, device_id, OK, param_find(), param_get(), DfMpu9250Wrapper::gyro_calibration_s::x_offset, DfMpu9250Wrapper::gyro_calibration_s::x_scale, DfMpu9250Wrapper::gyro_calibration_s::y_offset, DfMpu9250Wrapper::gyro_calibration_s::y_scale, DfMpu9250Wrapper::gyro_calibration_s::z_offset, and DfMpu9250Wrapper::gyro_calibration_s::z_scale.

Referenced by _publish(), and start().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ _update_mag_calibration()

void DfMpu9250Wrapper::_update_mag_calibration ( )
private

Definition at line 520 of file df_mpu9250_wrapper.cpp.

References _mag_calibration, _mag_enabled, device_id, OK, param_find(), param_get(), DfMpu9250Wrapper::mag_calibration_s::x_offset, DfMpu9250Wrapper::mag_calibration_s::x_scale, DfMpu9250Wrapper::mag_calibration_s::y_offset, DfMpu9250Wrapper::mag_calibration_s::y_scale, DfMpu9250Wrapper::mag_calibration_s::z_offset, and DfMpu9250Wrapper::mag_calibration_s::z_scale.

Referenced by _publish(), and start().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ info()

void DfMpu9250Wrapper::info ( )

Print some debug info.

Definition at line 353 of file df_mpu9250_wrapper.cpp.

References _accel_range_hit_counter, _error_counter, _fifo_corruption_counter, _fifo_overflow_counter, _gyro_range_hit_counter, _mag_enabled, _mag_fifo_overflow_counter, _publish_perf, _read_counter, and perf_print_counter().

Referenced by df_mpu9250_wrapper::info().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ start()

int DfMpu9250Wrapper::start ( )

Start automatic measurement.

Returns
0 on success

Definition at line 285 of file df_mpu9250_wrapper.cpp.

References _accel_orb_class_instance, _accel_topic, _gyro_orb_class_instance, _gyro_topic, _mag_enabled, _param_update_sub, _update_accel_calibration(), _update_gyro_calibration(), _update_mag_calibration(), MPU9250::init(), orb_advertise_multi(), ORB_ID, ORB_PRIO_DEFAULT, orb_subscribe(), and MPU9250::start().

Referenced by df_mpu9250_wrapper::start().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ stop()

int DfMpu9250Wrapper::stop ( )

Stop automatic measurement.

Returns
0 on success

Definition at line 340 of file df_mpu9250_wrapper.cpp.

References MPU9250::stop().

Referenced by df_mpu9250_wrapper::stop().

Here is the call graph for this function:
Here is the caller graph for this function:

Member Data Documentation

◆ _accel_calibration

struct DfMpu9250Wrapper::accel_calibration_s DfMpu9250Wrapper::_accel_calibration
private

Referenced by _publish(), _update_accel_calibration(), and DfMpu9250Wrapper().

◆ _accel_filter_x

math::LowPassFilter2p DfMpu9250Wrapper::_accel_filter_x
private

Definition at line 161 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), and DfMpu9250Wrapper().

◆ _accel_filter_y

math::LowPassFilter2p DfMpu9250Wrapper::_accel_filter_y
private

Definition at line 162 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), and DfMpu9250Wrapper().

◆ _accel_filter_z

math::LowPassFilter2p DfMpu9250Wrapper::_accel_filter_z
private

Definition at line 163 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), and DfMpu9250Wrapper().

◆ _accel_int

Integrator DfMpu9250Wrapper::_accel_int
private

Definition at line 158 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), and DfMpu9250Wrapper().

◆ _accel_orb_class_instance

int DfMpu9250Wrapper::_accel_orb_class_instance
private

Definition at line 154 of file df_mpu9250_wrapper.cpp.

Referenced by DfMpu9250Wrapper(), and start().

◆ _accel_range_hit_counter

perf_counter_t DfMpu9250Wrapper::_accel_range_hit_counter
private

Definition at line 173 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), DfMpu9250Wrapper(), info(), and ~DfMpu9250Wrapper().

◆ _accel_topic

orb_advert_t DfMpu9250Wrapper::_accel_topic
private

Definition at line 119 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), and start().

◆ _error_counter

perf_counter_t DfMpu9250Wrapper::_error_counter
private

Definition at line 169 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), DfMpu9250Wrapper(), info(), and ~DfMpu9250Wrapper().

◆ _fifo_corruption_counter

perf_counter_t DfMpu9250Wrapper::_fifo_corruption_counter
private

Definition at line 171 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), DfMpu9250Wrapper(), info(), and ~DfMpu9250Wrapper().

◆ _fifo_overflow_counter

perf_counter_t DfMpu9250Wrapper::_fifo_overflow_counter
private

Definition at line 170 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), DfMpu9250Wrapper(), info(), and ~DfMpu9250Wrapper().

◆ _gyro_calibration

struct DfMpu9250Wrapper::gyro_calibration_s DfMpu9250Wrapper::_gyro_calibration
private

Referenced by _publish(), _update_gyro_calibration(), and DfMpu9250Wrapper().

◆ _gyro_filter_x

math::LowPassFilter2p DfMpu9250Wrapper::_gyro_filter_x
private

Definition at line 164 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), and DfMpu9250Wrapper().

◆ _gyro_filter_y

math::LowPassFilter2p DfMpu9250Wrapper::_gyro_filter_y
private

Definition at line 165 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), and DfMpu9250Wrapper().

◆ _gyro_filter_z

math::LowPassFilter2p DfMpu9250Wrapper::_gyro_filter_z
private

Definition at line 166 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), and DfMpu9250Wrapper().

◆ _gyro_int

Integrator DfMpu9250Wrapper::_gyro_int
private

Definition at line 159 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), and DfMpu9250Wrapper().

◆ _gyro_orb_class_instance

int DfMpu9250Wrapper::_gyro_orb_class_instance
private

Definition at line 155 of file df_mpu9250_wrapper.cpp.

Referenced by DfMpu9250Wrapper(), and start().

◆ _gyro_range_hit_counter

perf_counter_t DfMpu9250Wrapper::_gyro_range_hit_counter
private

Definition at line 172 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), DfMpu9250Wrapper(), info(), and ~DfMpu9250Wrapper().

◆ _gyro_topic

orb_advert_t DfMpu9250Wrapper::_gyro_topic
private

Definition at line 120 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), and start().

◆ _last_accel_range_hit_count

uint64_t DfMpu9250Wrapper::_last_accel_range_hit_count
private

Definition at line 178 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), and DfMpu9250Wrapper().

◆ _last_accel_range_hit_time

hrt_abstime DfMpu9250Wrapper::_last_accel_range_hit_time
private

Definition at line 177 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), and DfMpu9250Wrapper().

◆ _mag_calibration

struct DfMpu9250Wrapper::mag_calibration_s DfMpu9250Wrapper::_mag_calibration
private

Referenced by _publish(), _update_mag_calibration(), and DfMpu9250Wrapper().

◆ _mag_enabled

bool DfMpu9250Wrapper::_mag_enabled
private

Definition at line 180 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), _update_mag_calibration(), DfMpu9250Wrapper(), info(), start(), and ~DfMpu9250Wrapper().

◆ _mag_fifo_overflow_counter

perf_counter_t DfMpu9250Wrapper::_mag_fifo_overflow_counter
private

Definition at line 174 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), DfMpu9250Wrapper(), info(), and ~DfMpu9250Wrapper().

◆ _mag_orb_class_instance

int DfMpu9250Wrapper::_mag_orb_class_instance
private

Definition at line 156 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), and DfMpu9250Wrapper().

◆ _mag_topic

orb_advert_t DfMpu9250Wrapper::_mag_topic
private

Definition at line 121 of file df_mpu9250_wrapper.cpp.

Referenced by _publish().

◆ _mavlink_log_pub

orb_advert_t DfMpu9250Wrapper::_mavlink_log_pub
private

Definition at line 123 of file df_mpu9250_wrapper.cpp.

Referenced by _publish().

◆ _param_update_sub

int DfMpu9250Wrapper::_param_update_sub
private

Definition at line 125 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), and start().

◆ _publish_perf

perf_counter_t DfMpu9250Wrapper::_publish_perf
private

Definition at line 175 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), DfMpu9250Wrapper(), info(), and ~DfMpu9250Wrapper().

◆ _read_counter

perf_counter_t DfMpu9250Wrapper::_read_counter
private

Definition at line 168 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), DfMpu9250Wrapper(), info(), and ~DfMpu9250Wrapper().

◆ _rotation

enum Rotation DfMpu9250Wrapper::_rotation
private

Definition at line 182 of file df_mpu9250_wrapper.cpp.

Referenced by _publish(), and DfMpu9250Wrapper().

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