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improvements / debugging on I2C drivers

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This commit is contained in:
Lorenz Meier
2012-08-24 14:58:14 +02:00
parent 45e178eaa3
commit d12c09cc86
9 changed files with 68 additions and 42 deletions
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apps/drivers/mpu6000/mpu6000.cpp
+20 -10
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@@ -181,11 +181,13 @@ private:
struct accel_report _accel_report;
struct accel_scale _accel_scale;
float _accel_range_scale;
float _accel_range_m_s2;
orb_advert_t _accel_topic;
struct gyro_report _gyro_report;
struct gyro_scale _gyro_scale;
float _gyro_range_scale;
float _gyro_range_rad_s;
orb_advert_t _gyro_topic;
unsigned _reads;
@@ -289,8 +291,10 @@ MPU6000::MPU6000(int bus, spi_dev_e device) :
_product(0),
_call_interval(0),
_accel_range_scale(0.02f),
_accel_range_m_s2(0.0f),
_accel_topic(-1),
_gyro_range_scale(0.02f),
_gyro_range_rad_s(0.0f),
_gyro_topic(-1),
_reads(0),
_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read"))
@@ -383,6 +387,7 @@ MPU6000::init()
_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);
_gyro_range_rad_s = (2000.0f / 180.0f) * M_PI_F;
// product-specific scaling
switch (_product) {
@@ -417,6 +422,7 @@ MPU6000::init()
_accel_scale.z_offset = 0;
_accel_scale.z_scale = 1.0f / (4096.0f / 9.81f);
_accel_range_scale = 1.0f / (4096.0f / 9.81f);
_accel_range_m_s2 = 8.0f * 9.81f;
usleep(1000);
@@ -779,6 +785,8 @@ MPU6000::measure()
_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;
_accel_report.scaling = _accel_range_scale;
_accel_report.range_m_s2 = _accel_range_m_s2;
_gyro_report.x_raw = report.gyro_x;
_gyro_report.y_raw = report.gyro_y;
@@ -787,6 +795,8 @@ MPU6000::measure()
_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;
_gyro_report.scaling = _gyro_range_scale;
_gyro_report.range_rad_s = _gyro_range_rad_s;
/* notify anyone waiting for data */
poll_notify(POLLIN);
@@ -884,25 +894,25 @@ test()
printf("single read\n");
fflush(stdout);
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,
printf("acc x: \t% 5.2f\tm/s^2\n", (double)report.x);
printf("acc y: \t% 5.2f\tm/s^2\n", (double)report.y);
printf("acc z: \t% 5.2f\tm/s^2\n", (double)report.z);
printf("acc range: %6.2f m/s^2 (%6.2f 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));
sz = read(fd_gyro, &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));
printf("gyro x: \t% 5.2f\trad/s\n", (double)g_report.x);
printf("gyro y: \t% 5.2f\trad/s\n", (double)g_report.y);
printf("gyro z: \t% 5.2f\trad/s\n", (double)g_report.z);
printf("gyro range: %6.3f rad/s (%8.1f deg/s)\n", (double)g_report.range_rad_s,
(double)((g_report.range_rad_s / M_PI_F) * 180.0f));
} while (0);