fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 14:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added required scalings, added gyro to MPU6000 test, changed sensors app to read from new drivers

Browse Source
This commit is contained in:
Lorenz Meier
2012-08-24 02:16:26 +02:00
parent 0e44d3810e
commit 295e9da1ba
5 changed files with 235 additions and 103 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/drivers/drv_accel.h
+6 -1
View File
@@ -50,10 +50,15 @@
* structure.
*/
struct accel_report {
uint64_t timestamp;
float x;
float y;
float z;
uint64_t timestamp;
float range_m_s2;
float scaling;
uint16_t x_raw;
uint16_t y_raw;
uint16_t z_raw;
};
/** accel scaling factors; Vout = (Vin * Vscale) + Voffset */
apps/drivers/drv_gyro.h
+7 -1
View File
@@ -50,10 +50,16 @@
* structure.
*/
struct gyro_report {
uint64_t timestamp;
float x;
float y;
float z;
uint64_t timestamp;
float range_rad_s;
float scaling;
int16_t x_raw;
int16_t y_raw;
int16_t z_raw;
};
/** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */
apps/drivers/drv_mag.h
+7 -1
View File
@@ -52,10 +52,16 @@
* Output values are in gauss.
*/
struct mag_report {
uint64_t timestamp;
float x;
float y;
float z;
uint64_t timestamp;
float range_ga;
float scaling;
uint16_t x_raw;
uint16_t y_raw;
uint16_t z_raw;
};
/** mag scaling factors; Vout = (Vin * Vscale) + Voffset */
apps/drivers/mpu6000/mpu6000.cpp
+67 -11
View File
@@ -364,12 +364,26 @@ MPU6000::init()
write_reg(MPUREG_SMPLRT_DIV, 0x04); // Sample rate = 200Hz Fsample= 1Khz/(4+1) = 200Hz
usleep(1000);
// FS & DLPF FS=2000¼/s, DLPF = 98Hz (low pass filter)
// FS & DLPF FS=2000 deg/s, DLPF = 98Hz (low pass filter)
write_reg(MPUREG_CONFIG, BITS_DLPF_CFG_98HZ);
usleep(1000);
write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS); // Gyro scale 2000¼/s
// Gyro scale 2000 deg/s ()
write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS);
usleep(1000);
// correct gyro scale factors
// scale to rad/s in SI units
// 2000 deg/s = (2000/180)*PI = 34.906585 rad/s
// scaling factor:
// 1/(2^15)*(2000/180)*PI
_gyro_scale.x_offset = 0;
_gyro_scale.x_scale = 1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F);
_gyro_scale.y_offset = 0;
_gyro_scale.y_scale = 1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F);
_gyro_scale.z_offset = 0;
_gyro_scale.z_scale = 1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F);
_gyro_range_scale = 1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F);
// product-specific scaling
switch (_product) {
case MPU6000ES_REV_C4:
@@ -394,6 +408,16 @@ MPU6000::init()
break;
}
// Correct accel scale factors of 4096 LSB/g
// scale to m/s^2 ( 1g = 9.81 m/s^2)
_accel_scale.x_offset = 0;
_accel_scale.x_scale = 1.0f / (4096.0f / 9.81f);
_accel_scale.y_offset = 0;
_accel_scale.y_scale = 1.0f / (4096.0f / 9.81f);
_accel_scale.z_offset = 0;
_accel_scale.z_scale = 1.0f / (4096.0f / 9.81f);
_accel_range_scale = 1.0f / (4096.0f / 9.81f);
usleep(1000);
// INT CFG => Interrupt on Data Ready
@@ -472,7 +496,7 @@ MPU6000::read(struct file *filp, char *buffer, size_t buflen)
if (_call_interval == 0)
measure();
/* copy out the latest report */
/* copy out the latest reports */
memcpy(buffer, &_accel_report, sizeof(_accel_report));
ret = sizeof(_accel_report);
@@ -746,10 +770,18 @@ MPU6000::measure()
*/
_gyro_report.timestamp = _accel_report.timestamp = hrt_absolute_time();
_accel_report.x_raw = report.accel_x;
_accel_report.y_raw = report.accel_x;
_accel_report.z_raw = report.accel_x;
_accel_report.x = report.accel_x * _accel_range_scale;
_accel_report.y = report.accel_y * _accel_range_scale;
_accel_report.z = report.accel_z * _accel_range_scale;
_gyro_report.x_raw = report.gyro_x;
_gyro_report.y_raw = report.gyro_y;
_gyro_report.z_raw = report.gyro_z;
_gyro_report.x = report.gyro_x * _gyro_range_scale;
_gyro_report.y = report.gyro_y * _gyro_range_scale;
_gyro_report.z = report.gyro_z * _gyro_range_scale;
@@ -816,17 +848,26 @@ int
test()
{
int fd = -1;
int fd_gyro = -1;
struct accel_report report;
struct gyro_report g_report;
ssize_t sz;
const char *reason = "test OK";
do {
/* get the driver */
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
reason = "can't open driver, use <mpu6000 start> first";
reason = "can't open accel driver, use <mpu6000 start> first";
break;
}
/* get the driver */
fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
if (fd_gyro < 0) {
reason = "can't open gyro driver, use <mpu6000 start> first";
break;
}
@@ -834,17 +875,32 @@ test()
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
reason = "immediate read failed";
reason = "immediate acc read failed";
break;
}
printf("single read\n");
fflush(stdout);
printf("time: %lld\n", report.timestamp);
printf("x: %5.2f\n", (double)report.x);
printf("y: %5.2f\n", (double)report.y);
printf("z: %5.2f\n", (double)report.z);
printf("test: %8.4f\n", 1.5);
printf("time: %lld\n", report.timestamp);
printf("acc x: %5.2f m/s^2\n", (double)report.x);
printf("acc y: %5.2f m/s^2\n", (double)report.y);
printf("acc z: %5.2f m/s^2\n", (double)report.z);
printf("acc range: %4.0f m/s^2 (%3.0f g)\n", (double)report.range_m_s2,
(double)(report.range_m_s2 / 9.81f));
/* do a simple demand read */
sz = read(fd, &g_report, sizeof(g_report));
if (sz != sizeof(g_report)) {
reason = "immediate gyro read failed";
break;
}
printf("gyro x: %5.2f rad/s\n", (double)g_report.x);
printf("gyro y: %5.2f rad/s\n", (double)g_report.y);
printf("gyro z: %5.2f rad/s\n", (double)g_report.z);
printf("gyro range: %3.0f rad/s (%5.0f deg/s)\n", (double)g_report.range_rad_s,
(double)(g_report.range_rad_s / M_PI_F * 180.0f));
} while (0);