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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Analog Device ADIS16497 IMU initial support
This commit is contained in:
Mohammed Kabir
Daniel Agar
parent
d5aad58c92
commit
20e44aa320
@ -26,6 +26,7 @@ px4_add_board(
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gps
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#heater
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imu/adis16477
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imu/adis16497
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#imu # all available imu drivers
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irlock
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lights/blinkm
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@ -27,6 +27,7 @@ px4_add_board(
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gps
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#heater
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imu/adis16448
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imu/adis16497
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#imu # all available imu drivers
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imu/bmi055
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imu/icm20948
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@ -109,6 +109,8 @@
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#define DRV_GYR_DEVTYPE_ADIS16477 0x60
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#define DRV_ACC_DEVTYPE_LSM303AGR 0x61
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#define DRV_MAG_DEVTYPE_LSM303AGR 0x62
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#define DRV_ACC_DEVTYPE_ADIS16497 0x63
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#define DRV_GYR_DEVTYPE_ADIS16497 0x64
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/*
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* ioctl() definitions
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@ -33,6 +33,7 @@
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add_subdirectory(adis16448)
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add_subdirectory(adis16477)
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add_subdirectory(adis16497)
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add_subdirectory(bma180)
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add_subdirectory(bmi055)
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add_subdirectory(bmi160)
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677
src/drivers/imu/adis16497/ADIS16497.cpp
Normal file
677
src/drivers/imu/adis16497/ADIS16497.cpp
Normal file
@ -0,0 +1,677 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "ADIS16497.hpp"
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#include "ADIS16497_gyro.hpp"
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#include <px4_config.h>
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#include <ecl/geo/geo.h>
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#define DIR_READ 0x00
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#define DIR_WRITE 0x80
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// ADIS16497 registers
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static constexpr uint8_t PAGE_ID = 0x0; // Page identifier
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// Page 0x00
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static constexpr uint8_t SYS_E_FLAG = 0x08; // Output, system error flags
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static constexpr uint8_t DIAG_STS = 0x0A; // Output, self test error flags
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static constexpr uint8_t BURST_CMD = 0x7C; // Burst-read command
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static constexpr uint8_t PROD_ID = 0x7E; // Output, product identification
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// Page 0x03
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static constexpr uint8_t GLOB_CMD = 0x02; // Control, global commands
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static constexpr uint8_t FNCTIO_CTRL = 0x06; // Control, I/O pins, functional definitions
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static constexpr uint8_t GPIO_CTRL = 0x08; // Control, I/O pins, general-purpose
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static constexpr uint8_t CONFIG = 0x0A; // Control, clock and miscellaneous corrections
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static constexpr uint8_t DEC_RATE = 0x0C; // Control, output sample rate decimation
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static constexpr uint8_t NULL_CNFG = 0x0E; // Control, automatic bias correction configuration
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static constexpr uint8_t SYNC_SCALE = 0x10; // Control, automatic bias correction configuration
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static constexpr uint8_t RANG_MDL = 0x12; // Measurement range (model-specific) Identifier TODO use this
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static constexpr uint8_t FILTR_BNK_0 = 0x16; // Filter selection
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static constexpr uint8_t FILTR_BNK_1 = 0x18; // Filter selection
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// Stall time between SPI transfers
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static constexpr uint8_t T_STALL = 2;
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using namespace time_literals;
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ADIS16497::ADIS16497(int bus, const char *path_accel, const char *path_gyro, uint32_t device, enum Rotation rotation) :
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SPI("ADIS16497", path_accel, bus, device, SPIDEV_MODE3, 5000000),
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_gyro(new ADIS16497_gyro(this, path_gyro)),
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_sample_perf(perf_alloc(PC_ELAPSED, "ADIS16497_read")),
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_sample_interval_perf(perf_alloc(PC_INTERVAL, "ADIS16497_read_int")),
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_bad_transfers(perf_alloc(PC_COUNT, "ADIS16497_bad_transfers")),
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_rotation(rotation)
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{
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#ifdef GPIO_SPI1_RESET_ADIS16497
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// Configure hardware reset line
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px4_arch_configgpio(GPIO_SPI1_RESET_ADIS16497);
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#endif /* GPIO_SPI1_RESET_ADIS16497 */
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_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_ADIS16497;
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_gyro->_device_id.devid = _device_id.devid;
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_gyro->_device_id.devid_s.devtype = DRV_GYR_DEVTYPE_ADIS16497;
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// Software low pass filter for controllers
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const param_t accel_cut_ph = param_find("IMU_ACCEL_CUTOFF");
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float accel_cut = ADIS16497_ACCEL_DEFAULT_DRIVER_FILTER_FREQ;
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if (accel_cut_ph != PARAM_INVALID && param_get(accel_cut_ph, &accel_cut) == PX4_OK) {
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_accel_filter.set_cutoff_frequency(_sample_rate, accel_cut);
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} else {
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PX4_ERR("IMU_ACCEL_CUTOFF param invalid");
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}
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const param_t gyro_cut_ph = param_find("IMU_GYRO_CUTOFF");
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float gyro_cut = ADIS16497_GYRO_DEFAULT_DRIVER_FILTER_FREQ;
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if (gyro_cut_ph != PARAM_INVALID && param_get(gyro_cut_ph, &gyro_cut) == PX4_OK) {
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_gyro_filter.set_cutoff_frequency(_sample_rate, gyro_cut);
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} else {
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PX4_ERR("IMU_GYRO_CUTOFF param invalid");
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}
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}
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ADIS16497::~ADIS16497()
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{
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/* make sure we are truly inactive */
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stop();
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/* delete the gyro subdriver */
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delete _gyro;
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if (_accel_class_instance != -1) {
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unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _accel_class_instance);
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}
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/* delete the perf counter */
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perf_free(_sample_perf);
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perf_free(_sample_interval_perf);
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perf_free(_bad_transfers);
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}
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int
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ADIS16497::init()
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{
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if (hrt_absolute_time() < 250_ms) {
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// Power-on startup time (if needed)
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up_mdelay(250);
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}
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/* do SPI init (and probe) first */
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if (SPI::init() != OK) {
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/* if probe/setup failed, bail now */
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DEVICE_DEBUG("SPI setup failed");
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return PX4_ERROR;
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}
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/* Initialize offsets and scales */
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_gyro_scale.x_offset = 0.0f;
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_gyro_scale.x_scale = 1.0f;
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_gyro_scale.y_offset = 0.0f;
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_gyro_scale.y_scale = 1.0f;
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_gyro_scale.z_offset = 0.0f;
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_gyro_scale.z_scale = 1.0f;
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_accel_scale.x_offset = 0.0f;
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_accel_scale.x_scale = 1.0f;
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_accel_scale.y_offset = 0.0f;
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_accel_scale.y_scale = 1.0f;
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_accel_scale.z_offset = 0.0f;
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_accel_scale.z_scale = 1.0f;
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/* do CDev init for the gyro device node, keep it optional */
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int ret = _gyro->init();
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/* if probe/setup failed, bail now */
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if (ret != OK) {
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DEVICE_DEBUG("gyro init failed");
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return ret;
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}
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_accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
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/* fetch an initial set of measurements for advertisement */
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measure();
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/* advertise sensor topic, measure manually to initialize valid report */
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sensor_accel_s arp = {};
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/* measurement will have generated a report, publish */
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_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp, &_accel_orb_class_instance, ORB_PRIO_MAX);
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if (_accel_topic == nullptr) {
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PX4_ERR("ADVERT FAIL");
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}
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sensor_gyro_s grp = {};
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_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp, &_gyro->_gyro_orb_class_instance, ORB_PRIO_MAX);
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if (_gyro->_gyro_topic == nullptr) {
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PX4_ERR("ADVERT FAIL");
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}
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if (ret == PX4_OK) {
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start();
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}
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return ret;
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}
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int ADIS16497::reset()
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{
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#ifdef GPIO_SPI1_RESET_ADIS16497
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// Hardware reset
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px4_arch_gpiowrite(GPIO_SPI1_RESET_ADIS16497, 0);
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// The RST line must be in a low state for at least 10 μs to ensure a proper reset initiation and recovery.
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up_udelay(10);
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px4_arch_gpiowrite(GPIO_SPI1_RESET_ADIS16497, 1);
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// Reset recovery time
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up_mdelay(250);
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#else
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// Software reset (global command bit 7)
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uint8_t value[2] = {};
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value[0] = (1 << 7);
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write_reg16(PAGE_ID, 0x03);
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write_reg16(GLOB_CMD, (uint16_t)value[0]);
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// Reset recovery time
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up_mdelay(210);
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#endif /* GPIO_SPI1_RESET_ADIS16497 */
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// Switch to configuration page
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write_reg16(PAGE_ID, 0x03);
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// Functional IO control
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static constexpr uint16_t FNCTIO_CTRL_DEFAULT = 0x000D;
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write_reg16(FNCTIO_CTRL, FNCTIO_CTRL_DEFAULT);
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up_udelay(340);
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const uint16_t fnctio_ctrl = read_reg16(FNCTIO_CTRL);
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if (fnctio_ctrl != FNCTIO_CTRL_DEFAULT) {
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PX4_ERR("Invalid setup, FNCTIO_CTRL=%#X", fnctio_ctrl);
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return PX4_ERROR;
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}
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// Miscellaneous configuration
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static constexpr uint16_t CONFIG_DEFAULT = 0x00C0;
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write_reg16(CONFIG, CONFIG_DEFAULT);
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up_udelay(45);
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const uint16_t config = read_reg16(CONFIG);
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if (config != CONFIG_DEFAULT) {
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PX4_ERR("Invalid setup, CONFIG=%#X", config);
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return PX4_ERROR;
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}
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// Decimation Filter
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static constexpr uint16_t DEC_RATE_DEFAULT = 0x0003; // 4250/4 = 1062 samples per second
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write_reg16(DEC_RATE, DEC_RATE_DEFAULT);
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up_udelay(340);
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const uint16_t dec_rate = read_reg16(DEC_RATE);
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if (dec_rate != DEC_RATE_DEFAULT) {
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PX4_ERR("Invalid setup, DEC_RATE=%#X", dec_rate);
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return PX4_ERROR;
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}
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// Continious bias estimation
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static constexpr uint16_t NULL_CNFG_DEFAULT = 0x0000; // Disable continious bias estimation
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write_reg16(NULL_CNFG, NULL_CNFG_DEFAULT);
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up_udelay(71);
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const uint16_t null_cnfg = read_reg16(NULL_CNFG);
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if (null_cnfg != NULL_CNFG_DEFAULT) {
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PX4_ERR("Invalid setup, NULL_CNFG=%#X", null_cnfg);
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return PX4_ERROR;
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}
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// Bartlett Window FIR Filter
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static constexpr uint16_t FILTR_BNK_0_SETUP = 0x0000; // Disable FIR filter
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static constexpr uint16_t FILTR_BNK_1_SETUP = 0x0000; // Disable FIR filter
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write_reg16(FILTR_BNK_0, FILTR_BNK_0_SETUP);
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write_reg16(FILTR_BNK_1, FILTR_BNK_1_SETUP);
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up_udelay(65);
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const uint16_t filtr_bnk_0 = read_reg16(FILTR_BNK_0);
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if (filtr_bnk_0 != FILTR_BNK_0_SETUP) {
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PX4_ERR("Invalid setup, FILTR_BNK_0=%#X", filtr_bnk_0);
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return PX4_ERROR;
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}
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const uint16_t filtr_bnk_1 = read_reg16(FILTR_BNK_1);
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if (filtr_bnk_1 != FILTR_BNK_1_SETUP) {
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PX4_ERR("Invalid setup, FILTR_BNK_1=%#X", filtr_bnk_1);
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return PX4_ERROR;
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}
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/*
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// Save to flash memory (NOTE : Limited cycles!)
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uint8_t value[2] = {};
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value[0] = (1 << 3);
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write_reg16(PAGE_ID, 0x03);
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write_reg16(GLOB_CMD, (uint16_t)value[0]);
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// save Recovery Time
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up_mdelay(1125);
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*/
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return OK;
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}
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int
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ADIS16497::probe()
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{
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DEVICE_DEBUG("probe");
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// read product id (5 attempts)
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for (int i = 0; i < 5; i++) {
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if (reset() != PX4_OK) {
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continue;
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}
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// Switch to output page
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write_reg16(PAGE_ID, 0x00);
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// Check if the device is an ADIS16497
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static constexpr uint16_t PROD_ID_ADIS16497 = 0x4071;
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uint16_t product_id = read_reg16(PROD_ID);
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if (product_id == PROD_ID_ADIS16497) {
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if (self_test_sensor()) {
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// TODO check model here and set measurement ranges
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return PX4_OK;
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} else {
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PX4_ERR("probe attempt %d: self test failed, resetting", i);
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}
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} else {
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PX4_ERR("probe attempt %d: read product id failed, resetting", i);
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}
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}
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return -EIO;
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}
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bool
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ADIS16497::self_test_sensor()
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{
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// Switch to configuration page
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write_reg16(PAGE_ID, 0x03);
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// Self test (globa l command bit 1)
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uint8_t value[2] = {};
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value[0] = (1 << 1);
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write_reg16(GLOB_CMD, (uint16_t)value[0]);
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up_mdelay(20); // Self test time
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// Switch to output page
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write_reg16(PAGE_ID, 0x0);
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// Read SYS_E_FLAG to check overall result
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uint16_t sys_e_flag = read_reg16(SYS_E_FLAG);
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if (sys_e_flag != 0) {
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PX4_ERR("SYS_E_FLAG: %#X", sys_e_flag);
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// Read DIAG_STS to check per-sensor results
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uint16_t diag_sts_flag = read_reg16(DIAG_STS);
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if (diag_sts_flag != 0) {
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PX4_ERR("DIAG_STS: %#X", diag_sts_flag);
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}
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return false;
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}
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return true;
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}
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int
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ADIS16497::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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case SENSORIOCRESET:
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return reset();
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case ACCELIOCSSCALE: {
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/* copy scale, but only if off by a few percent */
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struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
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memcpy(&_accel_scale, s, sizeof(_accel_scale));
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return OK;
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}
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default:
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/* give it to the superclass */
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return SPI::ioctl(filp, cmd, arg);
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}
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}
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int
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ADIS16497::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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/* these are shared with the accel side */
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case SENSORIOCRESET:
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return ioctl(filp, cmd, arg);
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case GYROIOCSSCALE:
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/* copy scale in */
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memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
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return OK;
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default:
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/* give it to the superclass */
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return SPI::ioctl(filp, cmd, arg);
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}
|
||||
}
|
||||
|
||||
uint16_t
|
||||
ADIS16497::read_reg16(uint8_t reg)
|
||||
{
|
||||
uint16_t cmd[1];
|
||||
|
||||
cmd[0] = ((reg | DIR_READ) << 8) & 0xff00;
|
||||
transferhword(cmd, nullptr, 1);
|
||||
up_udelay(T_STALL);
|
||||
transferhword(nullptr, cmd, 1);
|
||||
up_udelay(T_STALL);
|
||||
|
||||
return cmd[0];
|
||||
}
|
||||
|
||||
void
|
||||
ADIS16497::write_reg(uint8_t reg, uint8_t val)
|
||||
{
|
||||
uint8_t cmd[2];
|
||||
cmd[0] = reg | 0x8;
|
||||
cmd[1] = val;
|
||||
transfer(cmd, cmd, sizeof(cmd));
|
||||
}
|
||||
|
||||
void
|
||||
ADIS16497::write_reg16(uint8_t reg, uint16_t value)
|
||||
{
|
||||
uint16_t cmd[2];
|
||||
|
||||
cmd[0] = ((reg | DIR_WRITE) << 8) | (0x00ff & value);
|
||||
cmd[1] = (((reg + 0x1) | DIR_WRITE) << 8) | ((0xff00 & value) >> 8);
|
||||
|
||||
transferhword(cmd, nullptr, 1);
|
||||
up_udelay(T_STALL);
|
||||
transferhword(cmd + 1, nullptr, 1);
|
||||
up_udelay(T_STALL);
|
||||
}
|
||||
|
||||
void
|
||||
ADIS16497::start()
|
||||
{
|
||||
#ifdef GPIO_SPI1_DRDY1_ADIS16497
|
||||
// Setup data ready on rising edge
|
||||
px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ADIS16497, true, false, true, &ADIS16497::data_ready_interrupt, this);
|
||||
#else
|
||||
// Make sure we are stopped first
|
||||
stop();
|
||||
|
||||
// Start polling at the specified rate
|
||||
hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&ADIS16497::measure_trampoline, this);
|
||||
#endif
|
||||
}
|
||||
|
||||
void
|
||||
ADIS16497::stop()
|
||||
{
|
||||
#ifdef GPIO_SPI1_DRDY1_ADIS16497
|
||||
// Disable data ready callback
|
||||
px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ADIS16497, false, false, false, nullptr, nullptr);
|
||||
#else
|
||||
hrt_cancel(&_call);
|
||||
#endif
|
||||
}
|
||||
|
||||
int
|
||||
ADIS16497::data_ready_interrupt(int irq, void *context, void *arg)
|
||||
{
|
||||
ADIS16497 *dev = reinterpret_cast<ADIS16497 *>(arg);
|
||||
|
||||
/* make another measurement */
|
||||
dev->measure();
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
void
|
||||
ADIS16497::measure_trampoline(void *arg)
|
||||
{
|
||||
ADIS16497 *dev = reinterpret_cast<ADIS16497 *>(arg);
|
||||
|
||||
/* make another measurement */
|
||||
dev->measure();
|
||||
}
|
||||
|
||||
int
|
||||
ADIS16497::measure()
|
||||
{
|
||||
perf_begin(_sample_perf);
|
||||
perf_count(_sample_interval_perf);
|
||||
|
||||
// Fetch the full set of measurements from the ADIS16497 in one pass (burst read).
|
||||
ADISReport adis_report {};
|
||||
adis_report.cmd = ((BURST_CMD | DIR_READ) << 8) & 0xff00;
|
||||
|
||||
// ADIS16497 burst report should be 320 bits
|
||||
static_assert(sizeof(adis_report) == (320 / 8), "ADIS16497 report not 320 bits");
|
||||
|
||||
const hrt_abstime t = hrt_absolute_time();
|
||||
|
||||
if (OK != transferhword((uint16_t *)&adis_report, ((uint16_t *)&adis_report), sizeof(adis_report) / sizeof(uint16_t))) {
|
||||
perf_count(_bad_transfers);
|
||||
perf_end(_sample_perf);
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
// Check burst ID to make sure the correct SPI speed is being used.
|
||||
// The sensor uses a different burst report format at slower speeds
|
||||
static constexpr uint16_t BURST_ID_DEFAULT = 0xA5A5;
|
||||
|
||||
if (adis_report.BURST_ID != BURST_ID_DEFAULT) {
|
||||
PX4_ERR("BURST_ID: %#X", adis_report.BURST_ID);
|
||||
|
||||
perf_count(_bad_transfers);
|
||||
perf_end(_sample_perf);
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
// Check all Status/Error Flag Indicators
|
||||
if (adis_report.SYS_E_FLAG != 0) {
|
||||
PX4_ERR("SYS_E_FLAG: %#X", adis_report.SYS_E_FLAG);
|
||||
|
||||
perf_count(_bad_transfers);
|
||||
perf_end(_sample_perf);
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
uint32_t checksum = uint32_t(adis_report.CRC_UPR) << 16 | adis_report.CRC_LWR;
|
||||
uint32_t checksum_calc = crc32((uint16_t *)&adis_report.SYS_E_FLAG, 15);
|
||||
|
||||
if (checksum != checksum_calc) {
|
||||
PX4_ERR("CHECKSUM: %#X vs. calculated: %#X", checksum, checksum_calc);
|
||||
perf_count(_bad_transfers);
|
||||
perf_end(_sample_perf);
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
// TODO check data counter here to see if we're missing samples/getting repeated samples
|
||||
|
||||
publish_accel(t, adis_report);
|
||||
publish_gyro(t, adis_report);
|
||||
|
||||
perf_end(_sample_perf);
|
||||
return OK;
|
||||
}
|
||||
|
||||
void
|
||||
ADIS16497::publish_accel(const hrt_abstime &t, const ADISReport &report)
|
||||
{
|
||||
float xraw_f = (int32_t(report.X_ACCEL_OUT) << 16 | report.X_ACCEL_LOW) / 65536.0f * _accel_range_scale;
|
||||
float yraw_f = (int32_t(report.Y_ACCEL_OUT) << 16 | report.Y_ACCEL_LOW) / 65536.0f * _accel_range_scale;
|
||||
float zraw_f = (int32_t(report.Z_ACCEL_OUT) << 16 | report.Z_ACCEL_LOW) / 65536.0f * _accel_range_scale;
|
||||
|
||||
// Apply user specified rotation
|
||||
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
|
||||
|
||||
const float x_in_new = (xraw_f - _accel_scale.x_offset) * _accel_scale.x_scale;
|
||||
const float y_in_new = (yraw_f - _accel_scale.y_offset) * _accel_scale.y_scale;
|
||||
const float z_in_new = (zraw_f - _accel_scale.z_offset) * _accel_scale.z_scale;
|
||||
|
||||
matrix::Vector3f aval(x_in_new, y_in_new, z_in_new);
|
||||
|
||||
const matrix::Vector3f val_filt = _accel_filter.apply(aval);
|
||||
|
||||
sensor_accel_s arb{};
|
||||
matrix::Vector3f aval_integrated;
|
||||
|
||||
if (_accel_int.put(t, aval, aval_integrated, arb.integral_dt)) {
|
||||
arb.timestamp = t;
|
||||
|
||||
arb.device_id = _device_id.devid;
|
||||
arb.error_count = perf_event_count(_bad_transfers);
|
||||
|
||||
// Raw sensor readings
|
||||
arb.x_raw = report.X_ACCEL_OUT;
|
||||
arb.y_raw = report.Y_ACCEL_OUT;
|
||||
arb.z_raw = report.Z_ACCEL_OUT;
|
||||
arb.scaling = _accel_range_scale;
|
||||
|
||||
// Filtered values for controls
|
||||
arb.x = val_filt(0);
|
||||
arb.y = val_filt(1);
|
||||
arb.z = val_filt(2);
|
||||
|
||||
// Intgrated values for estimation
|
||||
arb.x_integral = aval_integrated(0);
|
||||
arb.y_integral = aval_integrated(1);
|
||||
arb.z_integral = aval_integrated(2);
|
||||
|
||||
arb.temperature = report.TEMP_OUT * 0.1f - 25.0f; // 1 LSB = 0.1°C, 0x0000 at 25°C
|
||||
|
||||
orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
ADIS16497::publish_gyro(const hrt_abstime &t, const ADISReport &report)
|
||||
{
|
||||
float xraw_f = (int32_t(report.X_GYRO_OUT) << 16 | report.X_GYRO_LOW) / 65536.0f;
|
||||
float yraw_f = (int32_t(report.Y_GYRO_OUT) << 16 | report.Y_GYRO_LOW) / 65536.0f;
|
||||
float zraw_f = (int32_t(report.Z_GYRO_OUT) << 16 | report.Z_GYRO_LOW) / 65536.0f;
|
||||
|
||||
// Apply user specified rotation
|
||||
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
|
||||
|
||||
const float x_gyro_in_new = (math::radians(xraw_f * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
|
||||
const float y_gyro_in_new = (math::radians(yraw_f * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
|
||||
const float z_gyro_in_new = (math::radians(zraw_f * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
|
||||
|
||||
matrix::Vector3f gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
|
||||
|
||||
const matrix::Vector3f gval_filt = _gyro_filter.apply(gval);
|
||||
|
||||
sensor_gyro_s grb{};
|
||||
matrix::Vector3f gval_integrated;
|
||||
|
||||
if (_gyro_int.put(t, gval, gval_integrated, grb.integral_dt)) {
|
||||
grb.timestamp = t;
|
||||
|
||||
grb.device_id = _gyro->_device_id.devid;
|
||||
grb.error_count = perf_event_count(_bad_transfers);
|
||||
|
||||
// Raw sensor readings
|
||||
grb.x_raw = report.X_GYRO_OUT;
|
||||
grb.y_raw = report.Y_GYRO_OUT;
|
||||
grb.z_raw = report.Z_GYRO_OUT;
|
||||
grb.scaling = math::radians(_gyro_range_scale);
|
||||
|
||||
// Filtered values for controls
|
||||
grb.x = gval_filt(0);
|
||||
grb.y = gval_filt(1);
|
||||
grb.z = gval_filt(2);
|
||||
|
||||
// Unfiltered integrated values for estimation
|
||||
grb.x_integral = gval_integrated(0);
|
||||
grb.y_integral = gval_integrated(1);
|
||||
grb.z_integral = gval_integrated(2);
|
||||
|
||||
grb.temperature = report.TEMP_OUT * 0.1f - 25.0f; // 1 LSB = 0.1°C, 0x0000 at 25°C
|
||||
|
||||
orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
ADIS16497::print_info()
|
||||
{
|
||||
perf_print_counter(_sample_perf);
|
||||
perf_print_counter(_sample_interval_perf);
|
||||
perf_print_counter(_bad_transfers);
|
||||
}
|
||||
254
src/drivers/imu/adis16497/ADIS16497.hpp
Normal file
254
src/drivers/imu/adis16497/ADIS16497.hpp
Normal file
@ -0,0 +1,254 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* ADIS16497.hpp
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef DRIVERS_IMU_ADIS16497_ADIS16497_HPP_
|
||||
#define DRIVERS_IMU_ADIS16497_ADIS16497_HPP_
|
||||
|
||||
#include <drivers/device/ringbuffer.h>
|
||||
#include <drivers/device/spi.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_accel.h>
|
||||
#include <drivers/drv_gyro.h>
|
||||
#include <mathlib/math/filter/LowPassFilter2pVector3f.hpp>
|
||||
#include <drivers/device/integrator.h>
|
||||
#include <lib/conversion/rotation.h>
|
||||
#include <perf/perf_counter.h>
|
||||
#include <ecl/geo/geo.h>
|
||||
|
||||
#define ADIS16497_GYRO_DEFAULT_RATE 1000
|
||||
#define ADIS16497_GYRO_DEFAULT_DRIVER_FILTER_FREQ 80
|
||||
|
||||
#define ADIS16497_ACCEL_DEFAULT_RATE 1000
|
||||
#define ADIS16497_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
|
||||
|
||||
// TODO : This is a copy of the NuttX CRC32 table
|
||||
static const uint32_t crc32_tab[] = {
|
||||
0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
|
||||
0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
|
||||
0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
|
||||
0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
|
||||
0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
|
||||
0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
|
||||
0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
|
||||
0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
|
||||
0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
|
||||
0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
|
||||
0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
|
||||
0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
|
||||
0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
|
||||
0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
|
||||
0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
|
||||
0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
|
||||
0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
|
||||
0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
|
||||
0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
|
||||
0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
|
||||
0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
|
||||
0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
|
||||
0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
|
||||
0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
|
||||
0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
|
||||
0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
|
||||
0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
|
||||
0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
|
||||
0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
|
||||
0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
|
||||
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
|
||||
0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
|
||||
};
|
||||
|
||||
class ADIS16497_gyro;
|
||||
|
||||
class ADIS16497 : public device::SPI
|
||||
{
|
||||
public:
|
||||
ADIS16497(int bus, const char *path_accel, const char *path_gyro, uint32_t device, enum Rotation rotation);
|
||||
virtual ~ADIS16497();
|
||||
|
||||
virtual int init();
|
||||
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
|
||||
void print_info();
|
||||
|
||||
protected:
|
||||
virtual int probe();
|
||||
|
||||
friend class ADIS16497_gyro;
|
||||
|
||||
virtual int gyro_ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
|
||||
private:
|
||||
ADIS16497_gyro *_gyro{nullptr};
|
||||
|
||||
struct hrt_call _call {};
|
||||
unsigned _call_interval{1000};
|
||||
|
||||
struct gyro_calibration_s _gyro_scale {};
|
||||
|
||||
// gyro 0.025 °/sec/LSB
|
||||
float _gyro_range_scale{0.025f};
|
||||
float _gyro_range_rad_s{math::radians(500.0f)};
|
||||
|
||||
struct accel_calibration_s _accel_scale {};
|
||||
|
||||
// accel 1.25 mg/LSB
|
||||
float _accel_range_scale{1.25f * CONSTANTS_ONE_G / 1000.0f};
|
||||
float _accel_range_m_s2{40.0f * CONSTANTS_ONE_G};
|
||||
|
||||
orb_advert_t _accel_topic{nullptr};
|
||||
|
||||
int _accel_orb_class_instance{-1};
|
||||
int _accel_class_instance{-1};
|
||||
|
||||
unsigned _sample_rate{1000};
|
||||
|
||||
perf_counter_t _sample_perf;
|
||||
perf_counter_t _sample_interval_perf;
|
||||
|
||||
perf_counter_t _bad_transfers;
|
||||
|
||||
math::LowPassFilter2pVector3f _gyro_filter{ADIS16497_GYRO_DEFAULT_RATE, ADIS16497_GYRO_DEFAULT_DRIVER_FILTER_FREQ};
|
||||
math::LowPassFilter2pVector3f _accel_filter{ADIS16497_ACCEL_DEFAULT_RATE, ADIS16497_ACCEL_DEFAULT_DRIVER_FILTER_FREQ};
|
||||
|
||||
Integrator _accel_int{4000, false};
|
||||
Integrator _gyro_int{4000, true};
|
||||
|
||||
enum Rotation _rotation;
|
||||
|
||||
#pragma pack(push, 1)
|
||||
/**
|
||||
* Report conversation with the ADIS16497, including command byte.
|
||||
*/
|
||||
struct ADISReport {
|
||||
uint16_t cmd;
|
||||
uint16_t ZEROES;
|
||||
uint16_t BURST_ID;
|
||||
uint16_t SYS_E_FLAG;
|
||||
uint16_t TEMP_OUT;
|
||||
uint16_t X_GYRO_LOW;
|
||||
uint16_t X_GYRO_OUT;
|
||||
uint16_t Y_GYRO_LOW;
|
||||
uint16_t Y_GYRO_OUT;
|
||||
uint16_t Z_GYRO_LOW;
|
||||
uint16_t Z_GYRO_OUT;
|
||||
uint16_t X_ACCEL_LOW;
|
||||
uint16_t X_ACCEL_OUT;
|
||||
uint16_t Y_ACCEL_LOW;
|
||||
uint16_t Y_ACCEL_OUT;
|
||||
uint16_t Z_ACCEL_LOW;
|
||||
uint16_t Z_ACCEL_OUT;
|
||||
uint16_t DATA_CNT;
|
||||
uint16_t CRC_LWR;
|
||||
uint16_t CRC_UPR;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
/**
|
||||
* Start automatic measurement.
|
||||
*/
|
||||
void start();
|
||||
|
||||
/**
|
||||
* Stop automatic measurement.
|
||||
*/
|
||||
void stop();
|
||||
|
||||
/**
|
||||
* Reset chip.
|
||||
*
|
||||
* Resets the chip and measurements ranges, but not scale and offset.
|
||||
*/
|
||||
int reset();
|
||||
|
||||
/**
|
||||
* Static trampoline from the hrt_call context; because we don't have a
|
||||
* generic hrt wrapper yet.
|
||||
*
|
||||
* Called by the HRT in interrupt context at the specified rate if
|
||||
* automatic polling is enabled.
|
||||
*
|
||||
* @param arg Instance pointer for the driver that is polling.
|
||||
*/
|
||||
static void measure_trampoline(void *arg);
|
||||
|
||||
static int data_ready_interrupt(int irq, void *context, void *arg);
|
||||
|
||||
/**
|
||||
* Fetch measurements from the sensor and update the report buffers.
|
||||
*/
|
||||
int measure();
|
||||
|
||||
void publish_accel(const hrt_abstime &t, const ADISReport &report);
|
||||
void publish_gyro(const hrt_abstime &t, const ADISReport &report);
|
||||
|
||||
uint16_t read_reg16(uint8_t reg);
|
||||
|
||||
void write_reg(uint8_t reg, uint8_t value);
|
||||
void write_reg16(uint8_t reg, uint16_t value);
|
||||
|
||||
// ADIS16497 onboard self test
|
||||
bool self_test_sensor();
|
||||
|
||||
ADIS16497(const ADIS16497 &);
|
||||
ADIS16497 operator=(const ADIS16497 &);
|
||||
|
||||
uint32_t crc32(const uint16_t *data, size_t len)
|
||||
{
|
||||
uint32_t crc = 0xffffffff;
|
||||
uint8_t tbl_idx;
|
||||
uint8_t b;
|
||||
|
||||
while (len--) {
|
||||
b = *data;
|
||||
tbl_idx = crc ^ b;
|
||||
crc = (crc32_tab[tbl_idx] ^ (crc >> 8));
|
||||
|
||||
b = *data >> 8;
|
||||
tbl_idx = crc ^ b;
|
||||
crc = (crc32_tab[tbl_idx] ^ (crc >> 8));
|
||||
|
||||
data++;
|
||||
}
|
||||
|
||||
return crc ^ 0xffffffff;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif /* DRIVERS_IMU_ADIS16497_ADIS16497_HPP_ */
|
||||
79
src/drivers/imu/adis16497/ADIS16497_gyro.cpp
Normal file
79
src/drivers/imu/adis16497/ADIS16497_gyro.cpp
Normal file
@ -0,0 +1,79 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "ADIS16497_gyro.hpp"
|
||||
|
||||
ADIS16497_gyro::ADIS16497_gyro(ADIS16497 *parent, const char *path) :
|
||||
CDev("ADIS16497_gyro", path),
|
||||
_parent(parent),
|
||||
_gyro_topic(nullptr),
|
||||
_gyro_orb_class_instance(-1),
|
||||
_gyro_class_instance(-1)
|
||||
{
|
||||
}
|
||||
|
||||
ADIS16497_gyro::~ADIS16497_gyro()
|
||||
{
|
||||
if (_gyro_class_instance != -1) {
|
||||
unregister_class_devname(GYRO_BASE_DEVICE_PATH, _gyro_class_instance);
|
||||
}
|
||||
}
|
||||
|
||||
int
|
||||
ADIS16497_gyro::init()
|
||||
{
|
||||
int ret = CDev::init();
|
||||
|
||||
/* if probe/setup failed, bail now */
|
||||
if (ret != OK) {
|
||||
DEVICE_DEBUG("gyro init failed");
|
||||
return ret;
|
||||
}
|
||||
|
||||
_gyro_class_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
ADIS16497_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
switch (cmd) {
|
||||
case DEVIOCGDEVICEID:
|
||||
return (int)CDev::ioctl(filp, cmd, arg);
|
||||
break;
|
||||
|
||||
default:
|
||||
return _parent->gyro_ioctl(filp, cmd, arg);
|
||||
}
|
||||
}
|
||||
71
src/drivers/imu/adis16497/ADIS16497_gyro.hpp
Normal file
71
src/drivers/imu/adis16497/ADIS16497_gyro.hpp
Normal file
@ -0,0 +1,71 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef DRIVERS_IMU_ADIS16497_ADIS16497_GYRO_HPP_
|
||||
#define DRIVERS_IMU_ADIS16497_ADIS16497_GYRO_HPP_
|
||||
|
||||
#include "ADIS16497.hpp"
|
||||
|
||||
#include <drivers/device/CDev.hpp>
|
||||
#include <drivers/drv_gyro.h>
|
||||
|
||||
/**
|
||||
* Helper class implementing the gyro driver node.
|
||||
*/
|
||||
class ADIS16497_gyro : public device::CDev
|
||||
{
|
||||
public:
|
||||
ADIS16497_gyro(ADIS16497 *parent, const char *path);
|
||||
virtual ~ADIS16497_gyro();
|
||||
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
|
||||
virtual int init();
|
||||
|
||||
protected:
|
||||
friend class ADIS16497;
|
||||
|
||||
private:
|
||||
ADIS16497 *_parent{nullptr};
|
||||
orb_advert_t _gyro_topic{nullptr};
|
||||
|
||||
int _gyro_orb_class_instance{-1};
|
||||
int _gyro_class_instance{-1};
|
||||
|
||||
/* do not allow to copy this class due to pointer data members */
|
||||
ADIS16497_gyro(const ADIS16497_gyro &);
|
||||
ADIS16497_gyro operator=(const ADIS16497_gyro &);
|
||||
|
||||
};
|
||||
|
||||
#endif /* DRIVERS_IMU_ADIS16497_ADIS16497_GYRO_HPP_ */
|
||||
249
src/drivers/imu/adis16497/ADIS16497_main.cpp
Normal file
249
src/drivers/imu/adis16497/ADIS16497_main.cpp
Normal file
@ -0,0 +1,249 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "ADIS16497.hpp"
|
||||
#include <systemlib/err.h>
|
||||
|
||||
#define ADIS16497_DEVICE_PATH_ACCEL "/dev/ADIS16497_accel"
|
||||
#define ADIS16497_DEVICE_PATH_GYRO "/dev/ADIS16497_gyro"
|
||||
|
||||
extern "C" { __EXPORT int adis16497_main(int argc, char *argv[]); }
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace adis16497
|
||||
{
|
||||
|
||||
ADIS16497 *g_dev;
|
||||
|
||||
void start(enum Rotation rotation);
|
||||
void test();
|
||||
void reset();
|
||||
void info();
|
||||
void usage();
|
||||
/**
|
||||
* Start the driver.
|
||||
*/
|
||||
void
|
||||
start(enum Rotation rotation)
|
||||
{
|
||||
if (g_dev != nullptr)
|
||||
/* if already started, the still command succeeded */
|
||||
{
|
||||
errx(0, "already started");
|
||||
}
|
||||
|
||||
/* create the driver */
|
||||
#if defined(PX4_SPIDEV_EXTERNAL1_1)
|
||||
g_dev = new ADIS16497(PX4_SPI_BUS_EXTERNAL1, ADIS16497_DEVICE_PATH_ACCEL, ADIS16497_DEVICE_PATH_GYRO,
|
||||
PX4_SPIDEV_EXTERNAL1_1, rotation);
|
||||
#else
|
||||
PX4_ERR("External SPI not available");
|
||||
exit(0);
|
||||
#endif
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (OK != g_dev->init()) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
exit(0);
|
||||
fail:
|
||||
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
}
|
||||
|
||||
errx(1, "driver start failed");
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform some basic functional tests on the driver;
|
||||
* make sure we can collect data from the sensor in polled
|
||||
* and automatic modes.
|
||||
*/
|
||||
void
|
||||
test()
|
||||
{
|
||||
sensor_accel_s a_report{};
|
||||
sensor_gyro_s g_report{};
|
||||
|
||||
ssize_t sz;
|
||||
|
||||
/* get the driver */
|
||||
int fd = px4_open(ADIS16497_DEVICE_PATH_ACCEL, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "%s open failed", ADIS16497_DEVICE_PATH_ACCEL);
|
||||
}
|
||||
|
||||
/* get the gyro driver */
|
||||
int fd_gyro = px4_open(ADIS16497_DEVICE_PATH_GYRO, O_RDONLY);
|
||||
|
||||
if (fd_gyro < 0) {
|
||||
err(1, "%s open failed", ADIS16497_DEVICE_PATH_GYRO);
|
||||
}
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd, &a_report, sizeof(a_report));
|
||||
|
||||
if (sz != sizeof(a_report)) {
|
||||
PX4_ERR("ret: %d, expected: %d", sz, sizeof(a_report));
|
||||
err(1, "immediate acc read failed");
|
||||
}
|
||||
|
||||
print_message(a_report);
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = px4_read(fd_gyro, &g_report, sizeof(g_report));
|
||||
|
||||
if (sz != sizeof(g_report)) {
|
||||
warnx("ret: %d, expected: %d", sz, sizeof(g_report));
|
||||
err(1, "immediate gyro read failed");
|
||||
}
|
||||
|
||||
print_message(g_report);
|
||||
|
||||
px4_close(fd_gyro);
|
||||
px4_close(fd);
|
||||
|
||||
reset();
|
||||
errx(0, "PASS");
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
void
|
||||
reset()
|
||||
{
|
||||
int fd = px4_open(ADIS16497_DEVICE_PATH_ACCEL, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "open failed");
|
||||
}
|
||||
|
||||
if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) {
|
||||
err(1, "driver reset failed");
|
||||
}
|
||||
|
||||
px4_close(fd);
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
void
|
||||
info()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
printf("state @ %p\n", g_dev);
|
||||
g_dev->print_info();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
void
|
||||
usage()
|
||||
{
|
||||
PX4_INFO("missing command: try 'start', 'test', 'info', 'reset'");
|
||||
PX4_INFO("options:");
|
||||
PX4_INFO(" -R rotation");
|
||||
}
|
||||
|
||||
}
|
||||
// namespace
|
||||
|
||||
int
|
||||
adis16497_main(int argc, char *argv[])
|
||||
{
|
||||
enum Rotation rotation = ROTATION_NONE;
|
||||
int ch;
|
||||
|
||||
/* start options */
|
||||
while ((ch = getopt(argc, argv, "R:")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
rotation = (enum Rotation)atoi(optarg);
|
||||
break;
|
||||
|
||||
default:
|
||||
adis16497::usage();
|
||||
exit(0);
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = argv[optind];
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
|
||||
*/
|
||||
if (!strcmp(verb, "start")) {
|
||||
adis16497::start(rotation);
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(verb, "test")) {
|
||||
adis16497::test();
|
||||
}
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "reset")) {
|
||||
adis16497::reset();
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(verb, "info")) {
|
||||
adis16497::info();
|
||||
}
|
||||
|
||||
adis16497::usage();
|
||||
exit(1);
|
||||
}
|
||||
42
src/drivers/imu/adis16497/CMakeLists.txt
Normal file
42
src/drivers/imu/adis16497/CMakeLists.txt
Normal file
@ -0,0 +1,42 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2018 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.
|
||||
#
|
||||
############################################################################
|
||||
px4_add_module(
|
||||
MODULE drivers__imu__adis16497
|
||||
MAIN adis16497
|
||||
STACK_MAIN 1200
|
||||
COMPILE_FLAGS
|
||||
SRCS
|
||||
ADIS16497.cpp
|
||||
ADIS16497_gyro.cpp
|
||||
ADIS16497_main.cpp
|
||||
)
|
||||
Loading…
x
Reference in New Issue
Block a user