PX4Accelerometer.hpp
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/****************************************************************************
*
* Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <drivers/drv_hrt.h>
#include <lib/conversion/rotation.h>
#include <lib/ecl/geo/geo.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_accel.h>
#include <uORB/topics/sensor_accel_fifo.h>
class PX4Accelerometer
{
public:
PX4Accelerometer(uint32_t device_id, enum Rotation rotation = ROTATION_NONE);
~PX4Accelerometer();
uint32_t get_device_id() const { return _device_id; }
int32_t get_max_rate_hz() const { return _imu_gyro_rate_max; }
void set_device_id(uint32_t device_id) { _device_id = device_id; }
void set_device_type(uint8_t devtype);
void set_error_count(uint32_t error_count) { _error_count = error_count; }
void increase_error_count() { _error_count++; }
void set_range(float range) { _range = range; UpdateClipLimit(); }
void set_scale(float scale) { _scale = scale; UpdateClipLimit(); }
void set_temperature(float temperature) { _temperature = temperature; }
void update(const hrt_abstime ×tamp_sample, float x, float y, float z);
void updateFIFO(sensor_accel_fifo_s &sample);
int get_instance() { return _sensor_pub.get_instance(); };
private:
void UpdateClipLimit();
uORB::PublicationMulti<sensor_accel_s> _sensor_pub{ORB_ID(sensor_accel)};
uORB::PublicationMulti<sensor_accel_fifo_s> _sensor_fifo_pub{ORB_ID(sensor_accel_fifo)};
uint32_t _device_id{0};
const enum Rotation _rotation;
int32_t _imu_gyro_rate_max{0}; // match gyro max rate
float _range{16 * CONSTANTS_ONE_G};
float _scale{1.f};
float _temperature{NAN};
float _clip_limit{_range / _scale};
uint32_t _error_count{0};
int16_t _last_sample[3] {};
};