mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
invensense icm20602 improvements
- checked register mechanism and simple watchdog
- driver checks for errors gradually and can reconfigure itself
- respect IMU_GYRO_RATEMAX at the driver level
- fixed sensor INT16_MIN and INT16_MAX handling (y & z axis are flipped before publishing)
- increased sensor_gyro_fifo max size (enables running the driver much slower, but still transferring all raw data)
- PX4Accelerometer/PX4Gyroscope remove unnecessary memsets
This commit is contained in:
Daniel Agar
parent
40921241e7
commit
22499effb9
@ -59,7 +59,7 @@ px4_add_board(
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MODULES
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#ekf2
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#load_mon
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#sensors
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sensors
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#temperature_compensation
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SYSTEMCMDS
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#bl_update
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@ -30,6 +30,7 @@ px4_add_board(
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imu/adis16497
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imu/invensense/icm20602
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imu/invensense/icm20608-g
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#imu/invensense/mpu9250
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imu/mpu6000
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imu/mpu9250
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irlock
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@ -10,7 +10,7 @@ uint8 rotation
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uint32[3] clipping # clipping per axis
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uint16 measure_rate
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uint16 measure_rate_hz
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float32 full_scale_range
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@ -8,6 +8,6 @@ float32 scale
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uint8 samples # number of valid samples
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int16[16] x # angular velocity in the NED X board axis in rad/s
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int16[16] y # angular velocity in the NED Y board axis in rad/s
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int16[16] z # angular velocity in the NED Z board axis in rad/s
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int16[32] x # angular velocity in the NED X board axis in rad/s
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int16[32] y # angular velocity in the NED Y board axis in rad/s
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int16[32] z # angular velocity in the NED Z board axis in rad/s
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@ -10,7 +10,7 @@ uint8 rotation
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uint32[3] clipping # clipping per axis
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uint16 measure_rate
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uint16 measure_rate_hz
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float32 full_scale_range
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@ -50,13 +50,13 @@ namespace wq_configurations
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{
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static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 1600, 0}; // PX4 inner loop highest priority
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static constexpr wq_config_t SPI0{"wq:SPI0", 1900, -1};
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static constexpr wq_config_t SPI1{"wq:SPI1", 1900, -2};
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static constexpr wq_config_t SPI2{"wq:SPI2", 1900, -3};
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static constexpr wq_config_t SPI3{"wq:SPI3", 1900, -4};
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static constexpr wq_config_t SPI4{"wq:SPI4", 1900, -5};
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static constexpr wq_config_t SPI5{"wq:SPI5", 1900, -6};
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static constexpr wq_config_t SPI6{"wq:SPI6", 1900, -7};
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static constexpr wq_config_t SPI0{"wq:SPI0", 2000, -1};
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static constexpr wq_config_t SPI1{"wq:SPI1", 2000, -2};
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static constexpr wq_config_t SPI2{"wq:SPI2", 2000, -3};
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static constexpr wq_config_t SPI3{"wq:SPI3", 2000, -4};
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static constexpr wq_config_t SPI4{"wq:SPI4", 2000, -5};
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static constexpr wq_config_t SPI5{"wq:SPI5", 2000, -6};
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static constexpr wq_config_t SPI6{"wq:SPI6", 2000, -7};
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static constexpr wq_config_t I2C0{"wq:I2C0", 1400, -8};
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static constexpr wq_config_t I2C1{"wq:I2C1", 1400, -9};
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@ -36,17 +36,16 @@
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#include <px4_platform/board_dma_alloc.h>
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using namespace time_literals;
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using namespace InvenSense_ICM20602;
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static constexpr int16_t combine(uint8_t msb, uint8_t lsb) { return (msb << 8u) | lsb; }
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static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
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{
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return (msb << 8u) | lsb;
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}
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static constexpr uint32_t GYRO_RATE{8000}; // 8 kHz gyro
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static constexpr uint32_t ACCEL_RATE{4000}; // 4 kHz accel
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static constexpr uint32_t FIFO_INTERVAL{1000}; // 1000 us / 1000 Hz interval
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static constexpr uint32_t FIFO_GYRO_SAMPLES{FIFO_INTERVAL / (1000000 / GYRO_RATE)};
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static constexpr uint32_t FIFO_ACCEL_SAMPLES{FIFO_INTERVAL / (1000000 / ACCEL_RATE)};
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static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
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{
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return (memcmp(&f0.ACCEL_XOUT_H, &f1.ACCEL_XOUT_H, 6) == 0);
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}
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ICM20602::ICM20602(int bus, uint32_t device, enum Rotation rotation) :
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SPI(MODULE_NAME, nullptr, bus, device, SPIDEV_MODE3, SPI_SPEED),
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@ -57,9 +56,6 @@ ICM20602::ICM20602(int bus, uint32_t device, enum Rotation rotation) :
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set_device_type(DRV_ACC_DEVTYPE_ICM20602);
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_px4_accel.set_device_type(DRV_ACC_DEVTYPE_ICM20602);
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_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ICM20602);
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_px4_accel.set_update_rate(1000000 / FIFO_INTERVAL);
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_px4_gyro.set_update_rate(1000000 / FIFO_INTERVAL);
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}
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ICM20602::~ICM20602()
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@ -71,12 +67,46 @@ ICM20602::~ICM20602()
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}
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perf_free(_transfer_perf);
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perf_free(_bad_register_perf);
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perf_free(_bad_transfer_perf);
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perf_free(_fifo_empty_perf);
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perf_free(_fifo_overflow_perf);
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perf_free(_fifo_reset_perf);
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perf_free(_drdy_interval_perf);
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}
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void ICM20602::ConfigureSampleRate(int sample_rate)
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{
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if (sample_rate == 0) {
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sample_rate = 1000; // default to 1 kHz
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}
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sample_rate = math::constrain(sample_rate, 250, 2000); // limit 250 - 2000 Hz
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_fifo_empty_interval_us = math::max(((1000000 / sample_rate) / 250) * 250, 500); // round down to nearest 250 us
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_fifo_gyro_samples = math::min(_fifo_empty_interval_us / (1000000 / GYRO_RATE), FIFO_MAX_SAMPLES);
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// recompute FIFO empty interval (us) with actual gyro sample limit
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_fifo_empty_interval_us = _fifo_gyro_samples * (1000000 / GYRO_RATE);
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_fifo_accel_samples = math::min(_fifo_empty_interval_us / (1000000 / ACCEL_RATE), FIFO_MAX_SAMPLES);
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_px4_accel.set_update_rate(1000000 / _fifo_empty_interval_us);
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_px4_gyro.set_update_rate(1000000 / _fifo_empty_interval_us);
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// FIFO watermark threshold in number of bytes
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const uint16_t fifo_watermark_threshold = _fifo_gyro_samples * sizeof(FIFO::DATA);
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for (auto &r : _register_cfg) {
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if (r.reg == Register::FIFO_WM_TH1) {
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r.set_bits = (fifo_watermark_threshold >> 8) & 0b00000011;
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} else if (r.reg == Register::FIFO_WM_TH2) {
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r.set_bits = fifo_watermark_threshold & 0xFF;
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}
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}
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}
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int ICM20602::probe()
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{
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const uint8_t whoami = RegisterRead(Register::WHO_AM_I);
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@ -96,11 +126,6 @@ bool ICM20602::Init()
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return false;
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}
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if (!Reset()) {
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PX4_ERR("reset failed");
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return false;
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}
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// allocate DMA capable buffer
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_dma_data_buffer = (uint8_t *)board_dma_alloc(FIFO::SIZE);
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@ -109,6 +134,11 @@ bool ICM20602::Init()
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return false;
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}
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if (!Reset()) {
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PX4_ERR("reset failed");
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return false;
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}
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Start();
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return true;
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@ -117,64 +147,142 @@ bool ICM20602::Init()
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bool ICM20602::Reset()
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{
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// PWR_MGMT_1: Device Reset
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// CLKSEL[2:0] must be set to 001 to achieve full gyroscope performance.
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RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::DEVICE_RESET);
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usleep(1000);
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// PWR_MGMT_1: CLKSEL[2:0] must be set to 001 to achieve full gyroscope performance.
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RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::CLKSEL_0);
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usleep(1000);
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for (int i = 0; i < 100; i++) {
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// The reset value is 0x00 for all registers other than the registers below
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// Document Number: DS-000176 Page 31 of 57
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if ((RegisterRead(Register::WHO_AM_I) == WHOAMI)
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&& (RegisterRead(Register::PWR_MGMT_1) == 0x41)
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&& (RegisterRead(Register::CONFIG) == 0x80)) {
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return true;
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}
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}
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// ACCEL_CONFIG: Accel 16 G range
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RegisterSetBits(Register::ACCEL_CONFIG, ACCEL_CONFIG_BIT::ACCEL_FS_SEL_16G);
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_px4_accel.set_scale(CONSTANTS_ONE_G / 2048);
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_px4_accel.set_range(16.0f * CONSTANTS_ONE_G);
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return false;
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}
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// GYRO_CONFIG: Gyro 2000 degrees/second
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RegisterSetBits(Register::GYRO_CONFIG, GYRO_CONFIG_BIT::FS_SEL_2000_DPS);
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_px4_gyro.set_scale(math::radians(1.0f / 16.4f));
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_px4_gyro.set_range(math::radians(2000.0f));
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void ICM20602::ConfigureAccel()
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{
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const uint8_t ACCEL_FS_SEL = RegisterRead(Register::ACCEL_CONFIG) & (Bit4 | Bit3); // [4:3] ACCEL_FS_SEL[1:0]
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// reset done once data is ready
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const bool reset_done = !(RegisterRead(Register::PWR_MGMT_1) & PWR_MGMT_1_BIT::DEVICE_RESET);
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const bool clksel_done = (RegisterRead(Register::PWR_MGMT_1) & PWR_MGMT_1_BIT::CLKSEL_0);
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const bool data_ready = (RegisterRead(Register::INT_STATUS) & INT_STATUS_BIT::DATA_RDY_INT);
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switch (ACCEL_FS_SEL) {
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case ACCEL_FS_SEL_2G:
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_px4_accel.set_scale(CONSTANTS_ONE_G / 16384);
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_px4_accel.set_range(2 * CONSTANTS_ONE_G);
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break;
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return reset_done && clksel_done && data_ready;
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case ACCEL_FS_SEL_4G:
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_px4_accel.set_scale(CONSTANTS_ONE_G / 8192);
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_px4_accel.set_range(4 * CONSTANTS_ONE_G);
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break;
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case ACCEL_FS_SEL_8G:
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_px4_accel.set_scale(CONSTANTS_ONE_G / 4096);
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_px4_accel.set_range(8 * CONSTANTS_ONE_G);
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break;
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case ACCEL_FS_SEL_16G:
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_px4_accel.set_scale(CONSTANTS_ONE_G / 2048);
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_px4_accel.set_range(16 * CONSTANTS_ONE_G);
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break;
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}
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}
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void ICM20602::ConfigureGyro()
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{
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const uint8_t FS_SEL = RegisterRead(Register::GYRO_CONFIG) & (Bit4 | Bit3); // [4:3] FS_SEL[1:0]
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switch (FS_SEL) {
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case FS_SEL_250_DPS:
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_px4_gyro.set_scale(math::radians(1.0f / 131.f));
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_px4_gyro.set_range(math::radians(250.f));
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break;
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case FS_SEL_500_DPS:
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_px4_gyro.set_scale(math::radians(1.0f / 65.5f));
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_px4_gyro.set_range(math::radians(500.f));
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break;
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case FS_SEL_1000_DPS:
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_px4_gyro.set_scale(math::radians(1.0f / 32.8f));
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_px4_gyro.set_range(math::radians(1000.0f));
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break;
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case FS_SEL_2000_DPS:
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_px4_gyro.set_scale(math::radians(1.0f / 16.4f));
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_px4_gyro.set_range(math::radians(2000.0f));
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break;
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}
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}
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void ICM20602::ResetFIFO()
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{
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perf_count(_fifo_reset_perf);
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// ACCEL_CONFIG2: Accel DLPF disabled for full rate (4 kHz)
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RegisterSetBits(Register::ACCEL_CONFIG2, ACCEL_CONFIG2_BIT::ACCEL_FCHOICE_B_BYPASS_DLPF);
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// GYRO_CONFIG: Gyro DLPF disabled for full rate (8 kHz)
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RegisterClearBits(Register::GYRO_CONFIG, GYRO_CONFIG_BIT::FCHOICE_B_8KHZ_BYPASS_DLPF);
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// FIFO_EN: disable FIFO
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RegisterWrite(Register::FIFO_EN, 0);
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RegisterClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_EN | USER_CTRL_BIT::FIFO_RST);
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// USER_CTRL: reset FIFO then re-enable
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RegisterSetBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RST);
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up_udelay(1); // bit auto clears after one clock cycle of the internal 20 MHz clock
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RegisterSetBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_EN);
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// CONFIG: User should ensure that bit 7 of register 0x1A (Register::CONFIG) is set to 0 before using watermark feature
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RegisterClearBits(Register::CONFIG, Bit7);
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RegisterSetBits(Register::CONFIG, CONFIG_BIT::FIFO_MODE | CONFIG_BIT::DLPF_CFG_BYPASS_DLPF_8KHZ);
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// FIFO Watermark
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static constexpr uint8_t fifo_watermark = 8 * sizeof(FIFO::DATA);
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static_assert(fifo_watermark < UINT8_MAX);
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RegisterWrite(Register::FIFO_WM_TH1, 0);
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RegisterWrite(Register::FIFO_WM_TH2, fifo_watermark);
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// USER_CTRL: disable FIFO and reset all signal paths
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RegisterSetAndClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RST | USER_CTRL_BIT::SIG_COND_RST,
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USER_CTRL_BIT::FIFO_EN);
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// FIFO_EN: enable both gyro and accel
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RegisterWrite(Register::FIFO_EN, FIFO_EN_BIT::GYRO_FIFO_EN | FIFO_EN_BIT::ACCEL_FIFO_EN);
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up_udelay(10);
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RegisterSetBits(Register::FIFO_EN, FIFO_EN_BIT::GYRO_FIFO_EN | FIFO_EN_BIT::ACCEL_FIFO_EN);
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// USER_CTRL: re-enable FIFO
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RegisterSetAndClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_EN,
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USER_CTRL_BIT::FIFO_RST | USER_CTRL_BIT::SIG_COND_RST);
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}
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bool ICM20602::Configure(bool notify)
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{
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bool success = true;
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for (const auto ® : _register_cfg) {
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if (!CheckRegister(reg, notify)) {
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success = false;
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}
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}
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return success;
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}
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bool ICM20602::CheckRegister(const register_config_t ®_cfg, bool notify)
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{
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bool success = true;
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const uint8_t reg_value = RegisterRead(reg_cfg.reg);
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if (reg_cfg.set_bits && !(reg_value & reg_cfg.set_bits)) {
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if (notify) {
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PX4_ERR("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
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}
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success = false;
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}
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if (reg_cfg.clear_bits && (reg_value & reg_cfg.clear_bits)) {
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if (notify) {
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PX4_ERR("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
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}
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success = false;
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}
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if (!success) {
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RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
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if (reg_cfg.reg == Register::ACCEL_CONFIG) {
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ConfigureAccel();
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} else if (reg_cfg.reg == Register::GYRO_CONFIG) {
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ConfigureGyro();
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}
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if (notify) {
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perf_count(_bad_register_perf);
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}
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}
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return success;
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}
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uint8_t ICM20602::RegisterRead(Register reg)
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@ -191,24 +299,30 @@ void ICM20602::RegisterWrite(Register reg, uint8_t value)
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transfer(cmd, cmd, sizeof(cmd));
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}
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void ICM20602::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)
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{
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const uint8_t orig_val = RegisterRead(reg);
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uint8_t val = orig_val;
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if (setbits) {
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val |= setbits;
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}
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if (clearbits) {
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val &= ~clearbits;
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}
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RegisterWrite(reg, val);
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}
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void ICM20602::RegisterSetBits(Register reg, uint8_t setbits)
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{
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uint8_t val = RegisterRead(reg);
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if (!(val & setbits)) {
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val |= setbits;
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RegisterWrite(reg, val);
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}
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RegisterSetAndClearBits(reg, setbits, 0);
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}
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void ICM20602::RegisterClearBits(Register reg, uint8_t clearbits)
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{
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uint8_t val = RegisterRead(reg);
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if (val & clearbits) {
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val &= !clearbits;
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RegisterWrite(reg, val);
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}
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RegisterSetAndClearBits(reg, 0, clearbits);
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}
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int ICM20602::DataReadyInterruptCallback(int irq, void *context, void *arg)
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@ -222,108 +336,136 @@ void ICM20602::DataReady()
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{
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perf_count(_drdy_interval_perf);
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|
||||
_time_data_ready = hrt_absolute_time();
|
||||
|
||||
// make another measurement
|
||||
ScheduleNow();
|
||||
}
|
||||
|
||||
void ICM20602::Start()
|
||||
{
|
||||
Stop();
|
||||
ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
|
||||
|
||||
ResetFIFO();
|
||||
// attempt to configure 3 times
|
||||
for (int i = 0; i < 3; i++) {
|
||||
if (Configure(false)) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// TODO: cleanup horrible DRDY define mess
|
||||
#if defined(GPIO_DRDY_PORTC_PIN14)
|
||||
_using_data_ready_interrupt_enabled = true;
|
||||
// Setup data ready on rising edge
|
||||
px4_arch_gpiosetevent(GPIO_DRDY_PORTC_PIN14, true, false, true, &ICM20602::DataReadyInterruptCallback, this);
|
||||
RegisterSetBits(Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN);
|
||||
#elif defined(GPIO_SPI1_DRDY1_ICM20602)
|
||||
_using_data_ready_interrupt_enabled = true;
|
||||
// Setup data ready on rising edge
|
||||
px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ICM20602, true, false, true, &ICM20602::DataReadyInterruptCallback, this);
|
||||
RegisterSetBits(Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN);
|
||||
#elif defined(GPIO_SPI1_DRDY4_ICM20602)
|
||||
_using_data_ready_interrupt_enabled = true;
|
||||
// Setup data ready on rising edge
|
||||
px4_arch_gpiosetevent(GPIO_SPI1_DRDY4_ICM20602, true, false, true, &ICM20602::DataReadyInterruptCallback, this);
|
||||
RegisterSetBits(Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN);
|
||||
#elif defined(GPIO_SPI1_DRDY1_ICM20602)
|
||||
_using_data_ready_interrupt_enabled = true;
|
||||
// Setup data ready on rising edge
|
||||
px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ICM20602, true, false, true, &ICM20602::DataReadyInterruptCallback, this);
|
||||
RegisterSetBits(Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN);
|
||||
#elif defined(GPIO_DRDY_ICM_2060X)
|
||||
_using_data_ready_interrupt_enabled = true;
|
||||
// Setup data ready on rising edge
|
||||
px4_arch_gpiosetevent(GPIO_DRDY_ICM_2060X, true, false, true, &ICM20602::DataReadyInterruptCallback, this);
|
||||
RegisterSetBits(Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN);
|
||||
#else
|
||||
ScheduleOnInterval(FIFO_INTERVAL, FIFO_INTERVAL);
|
||||
_using_data_ready_interrupt_enabled = false;
|
||||
ScheduleOnInterval(FIFO_EMPTY_INTERVAL_US, FIFO_EMPTY_INTERVAL_US);
|
||||
#endif
|
||||
|
||||
ResetFIFO();
|
||||
|
||||
// schedule as watchdog
|
||||
if (_using_data_ready_interrupt_enabled) {
|
||||
ScheduleDelayed(100_ms);
|
||||
}
|
||||
}
|
||||
|
||||
void ICM20602::Stop()
|
||||
{
|
||||
Reset();
|
||||
|
||||
// TODO: cleanup horrible DRDY define mess
|
||||
#if defined(GPIO_DRDY_PORTC_PIN14)
|
||||
// Disable data ready callback
|
||||
px4_arch_gpiosetevent(GPIO_DRDY_PORTC_PIN14, false, false, false, nullptr, nullptr);
|
||||
RegisterClearBits(Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN);
|
||||
#elif defined(GPIO_SPI1_DRDY1_ICM20602)
|
||||
// Disable data ready callback
|
||||
px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ICM20602, false, false, false, nullptr, nullptr);
|
||||
RegisterClearBits(Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN);
|
||||
#elif defined(GPIO_SPI1_DRDY4_ICM20602)
|
||||
// Disable data ready callback
|
||||
px4_arch_gpiosetevent(GPIO_SPI1_DRDY4_ICM20602, false, false, false, nullptr, nullptr);
|
||||
RegisterClearBits(Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN);
|
||||
#elif defined(GPIO_SPI1_DRDY1_ICM20602)
|
||||
// Disable data ready callback
|
||||
px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ICM20602, false, false, false, nullptr, nullptr);
|
||||
RegisterClearBits(Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN);
|
||||
#elif defined(GPIO_DRDY_ICM_2060X)
|
||||
// Disable data ready callback
|
||||
px4_arch_gpiosetevent(GPIO_DRDY_ICM_2060X, false, false, false, nullptr, nullptr);
|
||||
RegisterClearBits(Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN);
|
||||
#else
|
||||
ScheduleClear();
|
||||
#endif
|
||||
|
||||
ScheduleClear();
|
||||
}
|
||||
|
||||
void ICM20602::Run()
|
||||
{
|
||||
// use timestamp from the data ready interrupt if available,
|
||||
// otherwise use the time now roughly corresponding with the last sample we'll pull from the FIFO
|
||||
const hrt_abstime timestamp_sample = (hrt_elapsed_time(&_time_data_ready) < FIFO_INTERVAL) ? _time_data_ready :
|
||||
hrt_absolute_time();
|
||||
// use the time now roughly corresponding with the last sample we'll pull from the FIFO
|
||||
const hrt_abstime timestamp_sample = hrt_absolute_time();
|
||||
|
||||
// read FIFO count
|
||||
uint8_t fifo_count_buf[3] {};
|
||||
fifo_count_buf[0] = static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ;
|
||||
//const hrt_abstime timestamp_fifo_check = hrt_absolute_time();
|
||||
|
||||
if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
|
||||
return;
|
||||
perf_count(_bad_transfer_perf);
|
||||
}
|
||||
|
||||
const size_t fifo_count = combine(fifo_count_buf[1], fifo_count_buf[2]);
|
||||
const int samples = (fifo_count / sizeof(FIFO::DATA) / 2) * 2; // round down to nearest 2
|
||||
if (_using_data_ready_interrupt_enabled) {
|
||||
// re-schedule as watchdog
|
||||
ScheduleDelayed(100_ms);
|
||||
}
|
||||
|
||||
// check registers
|
||||
if (hrt_elapsed_time(&_last_config_check) > 100_ms) {
|
||||
_checked_register = (_checked_register + 1) % size_register_cfg;
|
||||
|
||||
if (CheckRegister(_register_cfg[_checked_register])) {
|
||||
// delay next register check if current succeeded
|
||||
_last_config_check = hrt_absolute_time();
|
||||
|
||||
} else {
|
||||
// if register check failed reconfigure all
|
||||
Configure();
|
||||
ResetFIFO();
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
const uint16_t fifo_count = combine(fifo_count_buf[1], fifo_count_buf[2]);
|
||||
const uint8_t samples = (fifo_count / sizeof(FIFO::DATA) / 2) * 2; // round down to nearest 2
|
||||
|
||||
if (samples < 2) {
|
||||
perf_count(_fifo_empty_perf);
|
||||
return;
|
||||
|
||||
} else if (samples > 16) {
|
||||
// not technically an overflow, but more samples than we expected
|
||||
} else if (samples > FIFO_MAX_SAMPLES) {
|
||||
// not technically an overflow, but more samples than we expected or can publish
|
||||
perf_count(_fifo_overflow_perf);
|
||||
ResetFIFO();
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
// Transfer data
|
||||
struct TransferBuffer {
|
||||
uint8_t cmd;
|
||||
FIFO::DATA f[16]; // max 16 samples
|
||||
FIFO::DATA f[FIFO_MAX_SAMPLES];
|
||||
};
|
||||
static_assert(sizeof(TransferBuffer) == (sizeof(uint8_t) + 16 * sizeof(FIFO::DATA))); // ensure no struct padding
|
||||
// ensure no struct padding
|
||||
static_assert(sizeof(TransferBuffer) == (sizeof(uint8_t) + FIFO_MAX_SAMPLES * sizeof(FIFO::DATA)));
|
||||
|
||||
TransferBuffer *report = (TransferBuffer *)_dma_data_buffer;
|
||||
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
|
||||
@ -334,45 +476,76 @@ void ICM20602::Run()
|
||||
|
||||
if (transfer(_dma_data_buffer, _dma_data_buffer, transfer_size) != PX4_OK) {
|
||||
perf_end(_transfer_perf);
|
||||
perf_count(_bad_transfer_perf);
|
||||
return;
|
||||
}
|
||||
|
||||
perf_end(_transfer_perf);
|
||||
|
||||
|
||||
PX4Accelerometer::FIFOSample accel;
|
||||
accel.timestamp_sample = timestamp_sample;
|
||||
accel.dt = FIFO_INTERVAL / FIFO_ACCEL_SAMPLES;
|
||||
accel.dt = _fifo_empty_interval_us / _fifo_accel_samples;
|
||||
|
||||
// accel data is doubled in FIFO, but might be shifted
|
||||
int accel_first_sample = 0;
|
||||
|
||||
if (samples >= 3) {
|
||||
if (fifo_accel_equal(report->f[0], report->f[1])) {
|
||||
// [A0, A1, A2, A3]
|
||||
// A0==A1, A2==A3
|
||||
accel_first_sample = 1;
|
||||
|
||||
} else if (fifo_accel_equal(report->f[1], report->f[2])) {
|
||||
// [A0, A1, A2, A3]
|
||||
// A0, A1==A2, A3
|
||||
accel_first_sample = 0;
|
||||
|
||||
} else {
|
||||
perf_count(_bad_transfer_perf);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
int accel_samples = 0;
|
||||
|
||||
for (int i = accel_first_sample; i < samples; i = i + 2) {
|
||||
const FIFO::DATA &fifo_sample = report->f[i];
|
||||
int16_t accel_x = combine(fifo_sample.ACCEL_XOUT_H, fifo_sample.ACCEL_XOUT_L);
|
||||
int16_t accel_y = combine(fifo_sample.ACCEL_YOUT_H, fifo_sample.ACCEL_YOUT_L);
|
||||
int16_t accel_z = combine(fifo_sample.ACCEL_ZOUT_H, fifo_sample.ACCEL_ZOUT_L);
|
||||
|
||||
// sensor's frame is +x forward, +y left, +z up, flip y & z to publish right handed (x forward, y right, z down)
|
||||
accel.x[accel_samples] = accel_x;
|
||||
accel.y[accel_samples] = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
|
||||
accel.z[accel_samples] = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
|
||||
accel_samples++;
|
||||
}
|
||||
|
||||
accel.samples = accel_samples;
|
||||
|
||||
|
||||
PX4Gyroscope::FIFOSample gyro;
|
||||
gyro.timestamp_sample = timestamp_sample;
|
||||
gyro.samples = samples;
|
||||
gyro.dt = FIFO_INTERVAL / FIFO_GYRO_SAMPLES;
|
||||
gyro.dt = _fifo_empty_interval_us / _fifo_gyro_samples;
|
||||
|
||||
int accel_samples = 0;
|
||||
int16_t temperature[samples] {};
|
||||
int16_t temperature[samples];
|
||||
|
||||
for (int i = 0; i < samples; i++) {
|
||||
const FIFO::DATA &fifo_sample = report->f[i];
|
||||
|
||||
// accel data is doubled
|
||||
if (i % 2) {
|
||||
// coordinate convention (x forward, y right, z down)
|
||||
accel.x[accel_samples] = combine(fifo_sample.ACCEL_XOUT_H, fifo_sample.ACCEL_XOUT_L);
|
||||
accel.y[accel_samples] = -combine(fifo_sample.ACCEL_YOUT_H, fifo_sample.ACCEL_YOUT_L);
|
||||
accel.z[accel_samples] = -combine(fifo_sample.ACCEL_ZOUT_H, fifo_sample.ACCEL_ZOUT_L);
|
||||
|
||||
accel_samples++;
|
||||
}
|
||||
|
||||
temperature[i] = combine(fifo_sample.TEMP_OUT_H, fifo_sample.TEMP_OUT_L);
|
||||
|
||||
// coordinate convention (x forward, y right, z down)
|
||||
gyro.x[i] = combine(fifo_sample.GYRO_XOUT_H, fifo_sample.GYRO_XOUT_L);
|
||||
gyro.y[i] = -combine(fifo_sample.GYRO_YOUT_H, fifo_sample.GYRO_YOUT_L);
|
||||
gyro.z[i] = -combine(fifo_sample.GYRO_ZOUT_H, fifo_sample.GYRO_ZOUT_L);
|
||||
}
|
||||
const int16_t gyro_x = combine(fifo_sample.GYRO_XOUT_H, fifo_sample.GYRO_XOUT_L);
|
||||
const int16_t gyro_y = combine(fifo_sample.GYRO_YOUT_H, fifo_sample.GYRO_YOUT_L);
|
||||
const int16_t gyro_z = combine(fifo_sample.GYRO_ZOUT_H, fifo_sample.GYRO_ZOUT_L);
|
||||
|
||||
accel.samples = accel_samples;
|
||||
// sensor's frame is +x forward, +y left, +z up, flip y & z to publish right handed (x forward, y right, z down)
|
||||
gyro.x[i] = gyro_x;
|
||||
gyro.y[i] = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
|
||||
gyro.z[i] = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
|
||||
}
|
||||
|
||||
// Temperature
|
||||
int32_t temperature_sum{0};
|
||||
@ -381,17 +554,18 @@ void ICM20602::Run()
|
||||
temperature_sum += t;
|
||||
}
|
||||
|
||||
const int16_t temperature_avg = temperature_sum / samples;
|
||||
const float temperature_avg = temperature_sum / samples;
|
||||
|
||||
for (auto t : temperature) {
|
||||
// temperature changing wildly is an indication of a transfer error
|
||||
if (abs(t - temperature_avg) > 1000) {
|
||||
if (fabsf(t - temperature_avg) > 1000) {
|
||||
perf_count(_bad_transfer_perf);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
// use average temperature reading
|
||||
const float temperature_C = temperature_avg / 326.8f + 25.0f; // 326.8 LSB/C
|
||||
const float temperature_C = temperature_avg / TEMPERATURE_SENSITIVITY + ROOM_TEMPERATURE_OFFSET;
|
||||
_px4_accel.set_temperature(temperature_C);
|
||||
_px4_gyro.set_temperature(temperature_C);
|
||||
|
||||
@ -402,7 +576,12 @@ void ICM20602::Run()
|
||||
|
||||
void ICM20602::PrintInfo()
|
||||
{
|
||||
PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us,
|
||||
static_cast<double>(1000000 / _fifo_empty_interval_us));
|
||||
|
||||
perf_print_counter(_transfer_perf);
|
||||
perf_print_counter(_bad_register_perf);
|
||||
perf_print_counter(_bad_transfer_perf);
|
||||
perf_print_counter(_fifo_empty_perf);
|
||||
perf_print_counter(_fifo_overflow_perf);
|
||||
perf_print_counter(_fifo_reset_perf);
|
||||
|
||||
@ -50,7 +50,7 @@
|
||||
#include <lib/perf/perf_counter.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
|
||||
using InvenSense_ICM20602::Register;
|
||||
using namespace InvenSense_ICM20602;
|
||||
|
||||
class ICM20602 : public device::SPI, public px4::ScheduledWorkItem
|
||||
{
|
||||
@ -65,6 +65,13 @@ public:
|
||||
void PrintInfo();
|
||||
|
||||
private:
|
||||
|
||||
struct register_config_t {
|
||||
Register reg;
|
||||
uint8_t set_bits{0};
|
||||
uint8_t clear_bits{0};
|
||||
};
|
||||
|
||||
int probe() override;
|
||||
|
||||
static int DataReadyInterruptCallback(int irq, void *context, void *arg);
|
||||
@ -72,8 +79,16 @@ private:
|
||||
|
||||
void Run() override;
|
||||
|
||||
void ConfigureSampleRate(int sample_rate);
|
||||
bool CheckRegister(const register_config_t ®_cfg, bool notify = true);
|
||||
bool Configure(bool notify = true);
|
||||
|
||||
void ConfigureAccel();
|
||||
void ConfigureGyro();
|
||||
|
||||
uint8_t RegisterRead(Register reg);
|
||||
void RegisterWrite(Register reg, uint8_t value);
|
||||
void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
|
||||
void RegisterSetBits(Register reg, uint8_t setbits);
|
||||
void RegisterClearBits(Register reg, uint8_t clearbits);
|
||||
|
||||
@ -85,10 +100,41 @@ private:
|
||||
PX4Gyroscope _px4_gyro;
|
||||
|
||||
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
|
||||
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
|
||||
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
|
||||
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": fifo empty")};
|
||||
perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": fifo overflow")};
|
||||
perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": fifo reset")};
|
||||
perf_counter_t _drdy_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": drdy interval")};
|
||||
|
||||
hrt_abstime _time_data_ready{0};
|
||||
hrt_abstime _last_config_check{0};
|
||||
|
||||
uint8_t _checked_register{0};
|
||||
|
||||
bool _using_data_ready_interrupt_enabled{false};
|
||||
|
||||
// Sensor Configuration
|
||||
static constexpr uint32_t GYRO_RATE{8000}; // 8 kHz gyro
|
||||
static constexpr uint32_t ACCEL_RATE{4000}; // 4 kHz accel
|
||||
static constexpr uint32_t FIFO_MAX_SAMPLES{ math::min(FIFO::SIZE / sizeof(FIFO::DATA) + 1, sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
|
||||
|
||||
uint16_t _fifo_empty_interval_us{1000}; // 1000 us / 1000 Hz transfer interval
|
||||
uint8_t _fifo_gyro_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
|
||||
uint8_t _fifo_accel_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / ACCEL_RATE))};
|
||||
|
||||
static constexpr uint8_t size_register_cfg{11};
|
||||
register_config_t _register_cfg[size_register_cfg] {
|
||||
// Register | Set bits, Clear bits
|
||||
{ Register::PWR_MGMT_1, PWR_MGMT_1_BIT::CLKSEL_0, PWR_MGMT_1_BIT::DEVICE_RESET | PWR_MGMT_1_BIT::SLEEP },
|
||||
{ Register::I2C_IF, I2C_IF_BIT::I2C_IF_DIS, 0 },
|
||||
{ Register::ACCEL_CONFIG, ACCEL_CONFIG_BIT::ACCEL_FS_SEL_16G, 0 },
|
||||
{ Register::ACCEL_CONFIG2, ACCEL_CONFIG2_BIT::ACCEL_FCHOICE_B_BYPASS_DLPF, 0 },
|
||||
{ Register::GYRO_CONFIG, GYRO_CONFIG_BIT::FS_SEL_2000_DPS, GYRO_CONFIG_BIT::FCHOICE_B_8KHZ_BYPASS_DLPF },
|
||||
{ Register::CONFIG, CONFIG_BIT::DLPF_CFG_BYPASS_DLPF_8KHZ, Bit7 | CONFIG_BIT::FIFO_MODE },
|
||||
{ Register::FIFO_WM_TH1, 0, 0 }, // FIFO_WM_TH[9:8]
|
||||
{ Register::FIFO_WM_TH2, 0, 0 }, // FIFO_WM_TH[7:0]
|
||||
{ Register::USER_CTRL, USER_CTRL_BIT::FIFO_EN, 0 },
|
||||
{ Register::FIFO_EN, FIFO_EN_BIT::GYRO_FIFO_EN | FIFO_EN_BIT::ACCEL_FIFO_EN, 0 },
|
||||
{ Register::INT_ENABLE, INT_ENABLE_BIT::FIFO_OFLOW_EN, INT_ENABLE_BIT::DATA_RDY_INT_EN }
|
||||
};
|
||||
};
|
||||
|
||||
@ -40,6 +40,8 @@
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
// TODO: move to a central header
|
||||
static constexpr uint8_t Bit0 = (1 << 0);
|
||||
static constexpr uint8_t Bit1 = (1 << 1);
|
||||
@ -58,6 +60,9 @@ static constexpr uint8_t DIR_READ = 0x80;
|
||||
|
||||
static constexpr uint8_t WHOAMI = 0x12;
|
||||
|
||||
static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C
|
||||
static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C
|
||||
|
||||
enum class Register : uint8_t {
|
||||
CONFIG = 0x1A,
|
||||
GYRO_CONFIG = 0x1B,
|
||||
@ -66,10 +71,7 @@ enum class Register : uint8_t {
|
||||
|
||||
FIFO_EN = 0x23,
|
||||
|
||||
INT_STATUS = 0x3A,
|
||||
|
||||
INT_ENABLE = 0x38,
|
||||
FIFO_WM_INT_STATUS = 0x39,
|
||||
|
||||
TEMP_OUT_H = 0x41,
|
||||
TEMP_OUT_L = 0x42,
|
||||
@ -80,6 +82,8 @@ enum class Register : uint8_t {
|
||||
USER_CTRL = 0x6A,
|
||||
PWR_MGMT_1 = 0x6B,
|
||||
|
||||
I2C_IF = 0x70,
|
||||
|
||||
FIFO_COUNTH = 0x72,
|
||||
FIFO_COUNTL = 0x73,
|
||||
FIFO_R_W = 0x74,
|
||||
@ -102,7 +106,7 @@ enum GYRO_CONFIG_BIT : uint8_t {
|
||||
FS_SEL_2000_DPS = Bit4 | Bit3, // 0b11000
|
||||
|
||||
// FCHOICE_B [1:0]
|
||||
FCHOICE_B_8KHZ_BYPASS_DLPF = Bit1 | Bit0, // 0b10 - 3-dB BW: 3281 Noise BW (Hz): 3451.0 8 kHz
|
||||
FCHOICE_B_8KHZ_BYPASS_DLPF = Bit1 | Bit0, // 0b00 - 3-dB BW: 3281 Noise BW (Hz): 3451.0 8 kHz
|
||||
};
|
||||
|
||||
// ACCEL_CONFIG
|
||||
@ -131,26 +135,28 @@ enum INT_ENABLE_BIT : uint8_t {
|
||||
DATA_RDY_INT_EN = Bit0
|
||||
};
|
||||
|
||||
// INT_STATUS
|
||||
enum INT_STATUS_BIT : uint8_t {
|
||||
FIFO_OFLOW_INT = Bit4,
|
||||
DATA_RDY_INT = Bit0,
|
||||
};
|
||||
|
||||
// USER_CTRL
|
||||
enum USER_CTRL_BIT : uint8_t {
|
||||
FIFO_EN = Bit6,
|
||||
FIFO_RST = Bit2,
|
||||
FIFO_EN = Bit6,
|
||||
FIFO_RST = Bit2,
|
||||
SIG_COND_RST = Bit0,
|
||||
};
|
||||
|
||||
// PWR_MGMT_1
|
||||
enum PWR_MGMT_1_BIT : uint8_t {
|
||||
DEVICE_RESET = Bit7,
|
||||
SLEEP = Bit6,
|
||||
|
||||
CLKSEL_2 = Bit2,
|
||||
CLKSEL_1 = Bit1,
|
||||
CLKSEL_0 = Bit0,
|
||||
};
|
||||
|
||||
// I2C_IF
|
||||
enum I2C_IF_BIT : uint8_t {
|
||||
I2C_IF_DIS = Bit6, // 1 – Disable I2C Slave module and put the serial interface in SPI mode only.
|
||||
};
|
||||
|
||||
|
||||
namespace FIFO
|
||||
{
|
||||
|
||||
@ -50,12 +50,12 @@ static inline int32_t sum(const int16_t samples[16], uint8_t len)
|
||||
return sum;
|
||||
}
|
||||
|
||||
static inline unsigned clipping(const int16_t samples[16], int16_t clip_limit, uint8_t len)
|
||||
static constexpr unsigned clipping(const int16_t samples[16], int16_t clip_limit, uint8_t len)
|
||||
{
|
||||
unsigned clip_count = 0;
|
||||
|
||||
for (int n = 0; n < len; n++) {
|
||||
if (abs(samples[n]) > clip_limit) {
|
||||
if (abs(samples[n]) >= clip_limit) {
|
||||
clip_count++;
|
||||
}
|
||||
}
|
||||
@ -120,7 +120,10 @@ void PX4Accelerometer::set_device_type(uint8_t devtype)
|
||||
|
||||
void PX4Accelerometer::set_update_rate(uint16_t rate)
|
||||
{
|
||||
_update_rate = rate;
|
||||
const uint32_t update_interval = 1000000 / rate;
|
||||
|
||||
// TODO: set this intelligently
|
||||
_integrator_reset_samples = 4000 / update_interval;
|
||||
}
|
||||
|
||||
@ -144,7 +147,7 @@ void PX4Accelerometer::update(hrt_abstime timestamp_sample, float x, float y, fl
|
||||
|
||||
// publish raw data immediately
|
||||
{
|
||||
sensor_accel_s report{};
|
||||
sensor_accel_s report;
|
||||
|
||||
report.timestamp_sample = timestamp_sample;
|
||||
report.device_id = _device_id;
|
||||
@ -166,7 +169,7 @@ void PX4Accelerometer::update(hrt_abstime timestamp_sample, float x, float y, fl
|
||||
if (_integrator.put(timestamp_sample, val_calibrated, delta_velocity, integral_dt)) {
|
||||
|
||||
// fill sensor_accel_integrated and publish
|
||||
sensor_accel_integrated_s report{};
|
||||
sensor_accel_integrated_s report;
|
||||
|
||||
report.timestamp_sample = timestamp_sample;
|
||||
report.error_count = _error_count;
|
||||
@ -208,7 +211,7 @@ void PX4Accelerometer::updateFIFO(const FIFOSample &sample)
|
||||
// Apply range scale and the calibrating offset/scale
|
||||
const Vector3f val_calibrated{((Vector3f{x, y, z} * _scale) - _calibration_offset).emult(_calibration_scale)};
|
||||
|
||||
sensor_accel_s report{};
|
||||
sensor_accel_s report;
|
||||
|
||||
report.timestamp_sample = sample.timestamp_sample;
|
||||
report.device_id = _device_id;
|
||||
@ -269,7 +272,7 @@ void PX4Accelerometer::updateFIFO(const FIFOSample &sample)
|
||||
delta_velocity *= 1e-6f * dt;
|
||||
|
||||
// fill sensor_accel_integrated and publish
|
||||
sensor_accel_integrated_s report{};
|
||||
sensor_accel_integrated_s report;
|
||||
|
||||
report.timestamp_sample = sample.timestamp_sample;
|
||||
report.error_count = _error_count;
|
||||
@ -316,13 +319,13 @@ void PX4Accelerometer::PublishStatus()
|
||||
{
|
||||
// publish sensor status
|
||||
if (hrt_elapsed_time(&_status_last_publish) >= 100_ms) {
|
||||
sensor_accel_status_s status{};
|
||||
sensor_accel_status_s status;
|
||||
|
||||
status.device_id = _device_id;
|
||||
status.error_count = _error_count;
|
||||
status.full_scale_range = _range;
|
||||
status.rotation = _rotation;
|
||||
status.measure_rate = _update_rate;
|
||||
status.measure_rate_hz = _update_rate;
|
||||
status.temperature = _temperature;
|
||||
status.vibration_metric = _vibration_metric;
|
||||
status.clipping[0] = _clipping[0];
|
||||
@ -347,8 +350,8 @@ void PX4Accelerometer::ResetIntegrator()
|
||||
|
||||
void PX4Accelerometer::UpdateClipLimit()
|
||||
{
|
||||
// 95% of potential max
|
||||
_clip_limit = (_range / _scale) * 0.95f;
|
||||
// 99.9% of potential max
|
||||
_clip_limit = fmaxf((_range / _scale) * 0.999f, INT16_MAX);
|
||||
}
|
||||
|
||||
void PX4Accelerometer::UpdateVibrationMetrics(const Vector3f &delta_velocity)
|
||||
|
||||
@ -50,12 +50,12 @@ static inline int32_t sum(const int16_t samples[16], uint8_t len)
|
||||
return sum;
|
||||
}
|
||||
|
||||
static inline unsigned clipping(const int16_t samples[16], int16_t clip_limit, uint8_t len)
|
||||
static constexpr unsigned clipping(const int16_t samples[16], int16_t clip_limit, uint8_t len)
|
||||
{
|
||||
unsigned clip_count = 0;
|
||||
|
||||
for (int n = 0; n < len; n++) {
|
||||
if (abs(samples[n]) > clip_limit) {
|
||||
if (abs(samples[n]) >= clip_limit) {
|
||||
clip_count++;
|
||||
}
|
||||
}
|
||||
@ -65,6 +65,7 @@ static inline unsigned clipping(const int16_t samples[16], int16_t clip_limit, u
|
||||
|
||||
PX4Gyroscope::PX4Gyroscope(uint32_t device_id, uint8_t priority, enum Rotation rotation) :
|
||||
CDev(nullptr),
|
||||
ModuleParams(nullptr),
|
||||
_sensor_pub{ORB_ID(sensor_gyro), priority},
|
||||
_sensor_fifo_pub{ORB_ID(sensor_gyro_fifo), priority},
|
||||
_sensor_integrated_pub{ORB_ID(sensor_gyro_integrated), priority},
|
||||
@ -74,6 +75,8 @@ PX4Gyroscope::PX4Gyroscope(uint32_t device_id, uint8_t priority, enum Rotation r
|
||||
_rotation_dcm{get_rot_matrix(rotation)}
|
||||
{
|
||||
_class_device_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
|
||||
|
||||
updateParams();
|
||||
}
|
||||
|
||||
PX4Gyroscope::~PX4Gyroscope()
|
||||
@ -119,7 +122,10 @@ void PX4Gyroscope::set_device_type(uint8_t devtype)
|
||||
|
||||
void PX4Gyroscope::set_update_rate(uint16_t rate)
|
||||
{
|
||||
_update_rate = rate;
|
||||
const uint32_t update_interval = 1000000 / rate;
|
||||
|
||||
// TODO: set this intelligently
|
||||
_integrator_reset_samples = 4000 / update_interval;
|
||||
}
|
||||
|
||||
@ -143,7 +149,7 @@ void PX4Gyroscope::update(hrt_abstime timestamp_sample, float x, float y, float
|
||||
|
||||
// publish raw data immediately
|
||||
{
|
||||
sensor_gyro_s report{};
|
||||
sensor_gyro_s report;
|
||||
|
||||
report.timestamp_sample = timestamp_sample;
|
||||
report.device_id = _device_id;
|
||||
@ -165,7 +171,7 @@ void PX4Gyroscope::update(hrt_abstime timestamp_sample, float x, float y, float
|
||||
if (_integrator.put(timestamp_sample, val_calibrated, delta_angle, integral_dt)) {
|
||||
|
||||
// fill sensor_gyro_integrated and publish
|
||||
sensor_gyro_integrated_s report{};
|
||||
sensor_gyro_integrated_s report;
|
||||
|
||||
report.timestamp_sample = timestamp_sample;
|
||||
report.error_count = _error_count;
|
||||
@ -207,7 +213,7 @@ void PX4Gyroscope::updateFIFO(const FIFOSample &sample)
|
||||
// Apply range scale and the calibration offset
|
||||
const Vector3f val_calibrated{(Vector3f{x, y, z} * _scale) - _calibration_offset};
|
||||
|
||||
sensor_gyro_s report{};
|
||||
sensor_gyro_s report;
|
||||
|
||||
report.timestamp_sample = sample.timestamp_sample;
|
||||
report.device_id = _device_id;
|
||||
@ -268,7 +274,7 @@ void PX4Gyroscope::updateFIFO(const FIFOSample &sample)
|
||||
delta_angle *= 1e-6f * dt;
|
||||
|
||||
// fill sensor_gyro_integrated and publish
|
||||
sensor_gyro_integrated_s report{};
|
||||
sensor_gyro_integrated_s report;
|
||||
|
||||
report.timestamp_sample = sample.timestamp_sample;
|
||||
report.error_count = _error_count;
|
||||
@ -315,13 +321,13 @@ void PX4Gyroscope::PublishStatus()
|
||||
{
|
||||
// publish sensor status
|
||||
if (hrt_elapsed_time(&_status_last_publish) >= 100_ms) {
|
||||
sensor_gyro_status_s status{};
|
||||
sensor_gyro_status_s status;
|
||||
|
||||
status.device_id = _device_id;
|
||||
status.error_count = _error_count;
|
||||
status.full_scale_range = _range;
|
||||
status.rotation = _rotation;
|
||||
status.measure_rate = _update_rate;
|
||||
status.measure_rate_hz = _update_rate;
|
||||
status.temperature = _temperature;
|
||||
status.vibration_metric = _vibration_metric;
|
||||
status.coning_vibration = _coning_vibration;
|
||||
@ -347,11 +353,10 @@ void PX4Gyroscope::ResetIntegrator()
|
||||
|
||||
void PX4Gyroscope::UpdateClipLimit()
|
||||
{
|
||||
// 95% of potential max
|
||||
_clip_limit = (_range / _scale) * 0.95f;
|
||||
// 99.9% of potential max
|
||||
_clip_limit = fmaxf((_range / _scale) * 0.999f, INT16_MAX);
|
||||
}
|
||||
|
||||
|
||||
void PX4Gyroscope::UpdateVibrationMetrics(const Vector3f &delta_angle)
|
||||
{
|
||||
// Gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle)
|
||||
|
||||
@ -38,6 +38,7 @@
|
||||
#include <lib/cdev/CDev.hpp>
|
||||
#include <lib/conversion/rotation.h>
|
||||
#include <lib/drivers/device/integrator.h>
|
||||
#include <px4_platform_common/module_params.h>
|
||||
#include <uORB/PublicationMulti.hpp>
|
||||
#include <uORB/PublicationQueuedMulti.hpp>
|
||||
#include <uORB/topics/sensor_gyro.h>
|
||||
@ -45,7 +46,7 @@
|
||||
#include <uORB/topics/sensor_gyro_integrated.h>
|
||||
#include <uORB/topics/sensor_gyro_status.h>
|
||||
|
||||
class PX4Gyroscope : public cdev::CDev
|
||||
class PX4Gyroscope : public cdev::CDev, public ModuleParams
|
||||
{
|
||||
public:
|
||||
PX4Gyroscope(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
|
||||
@ -55,6 +56,8 @@ public:
|
||||
|
||||
uint32_t get_device_id() const { return _device_id; }
|
||||
|
||||
float get_max_rate_hz() const { return _param_imu_gyro_rate_max.get(); }
|
||||
|
||||
void set_device_id(uint32_t device_id) { _device_id = device_id; }
|
||||
void set_device_type(uint8_t devtype);
|
||||
void set_error_count(uint64_t error_count) { _error_count += error_count; }
|
||||
@ -72,9 +75,9 @@ public:
|
||||
uint8_t samples; // number of samples
|
||||
float dt; // in microseconds
|
||||
|
||||
int16_t x[16];
|
||||
int16_t y[16];
|
||||
int16_t z[16];
|
||||
int16_t x[32];
|
||||
int16_t y[32];
|
||||
int16_t z[32];
|
||||
};
|
||||
static_assert(sizeof(FIFOSample::x) == sizeof(sensor_gyro_fifo_s::x), "FIFOSample.x invalid size");
|
||||
static_assert(sizeof(FIFOSample::y) == sizeof(sensor_gyro_fifo_s::y), "FIFOSample.y invalid size");
|
||||
@ -131,4 +134,7 @@ private:
|
||||
uint8_t _integrator_fifo_samples{0};
|
||||
uint8_t _integrator_clipping{0};
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamInt<px4::params::IMU_GYRO_RATEMAX>) _param_imu_gyro_rate_max
|
||||
)
|
||||
};
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user