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l3gd20: split into separate header, implementation, and main
This commit is contained in:
Daniel Agar
GitHub
parent
30a73416dc
commit
e189733bb9
@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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# Copyright (c) 2015-2019 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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@ -31,12 +31,15 @@
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#
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############################################################################
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px4_add_module(
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MODULE drivers__l3gd20
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MODULE drivers__imu__l3gd20
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MAIN l3gd20
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COMPILE_FLAGS
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-Wno-cast-align # TODO: fix and enable
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SRCS
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l3gd20.cpp
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L3GD20.hpp
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L3GD20.cpp
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l3gd20_main.cpp
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DEPENDS
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drivers_gyroscope
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px4_work_queue
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)
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461
src/drivers/imu/l3gd20/L3GD20.cpp
Normal file
461
src/drivers/imu/l3gd20/L3GD20.cpp
Normal file
@ -0,0 +1,461 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2019 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 "L3GD20.hpp"
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constexpr uint8_t L3GD20::_checked_registers[];
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L3GD20::L3GD20(int bus, uint32_t device, enum Rotation rotation) :
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SPI("L3GD20", nullptr, bus, device, SPIDEV_MODE3, 11 * 1000 * 1000),
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ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(this->get_device_id())),
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_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation),
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_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
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_errors(perf_alloc(PC_COUNT, MODULE_NAME": err")),
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_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad_reg")),
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_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": dupe"))
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{
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_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_L3GD20);
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}
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L3GD20::~L3GD20()
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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 perf counter */
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perf_free(_sample_perf);
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perf_free(_errors);
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perf_free(_bad_registers);
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perf_free(_duplicates);
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}
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int
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L3GD20::init()
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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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return PX4_ERROR;
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}
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reset();
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start();
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return PX4_OK;
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}
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int
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L3GD20::probe()
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{
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/* read dummy value to void to clear SPI statemachine on sensor */
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read_reg(ADDR_WHO_AM_I);
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bool success = false;
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uint8_t v = 0;
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/* verify that the device is attached and functioning, accept
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* L3GD20, L3GD20H and L3G4200D */
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if ((v = read_reg(ADDR_WHO_AM_I)) == WHO_I_AM) {
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_orientation = SENSOR_BOARD_ROTATION_DEFAULT;
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success = true;
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} else if ((v = read_reg(ADDR_WHO_AM_I)) == WHO_I_AM_H) {
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_orientation = SENSOR_BOARD_ROTATION_180_DEG;
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success = true;
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} else if ((v = read_reg(ADDR_WHO_AM_I)) == WHO_I_AM_L3G4200D) {
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/* Detect the L3G4200D used on AeroCore */
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_is_l3g4200d = true;
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_orientation = SENSOR_BOARD_ROTATION_DEFAULT;
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success = true;
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}
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if (success) {
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_checked_values[0] = v;
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return OK;
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}
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return -EIO;
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}
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uint8_t
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L3GD20::read_reg(unsigned reg)
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{
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uint8_t cmd[2] {};
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cmd[0] = reg | DIR_READ;
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cmd[1] = 0;
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transfer(cmd, cmd, sizeof(cmd));
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return cmd[1];
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}
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void
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L3GD20::write_reg(unsigned reg, uint8_t value)
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{
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uint8_t cmd[2] {};
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cmd[0] = reg | DIR_WRITE;
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cmd[1] = value;
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transfer(cmd, nullptr, sizeof(cmd));
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}
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void
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L3GD20::write_checked_reg(unsigned reg, uint8_t value)
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{
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write_reg(reg, value);
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for (uint8_t i = 0; i < L3GD20_NUM_CHECKED_REGISTERS; i++) {
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if (reg == _checked_registers[i]) {
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_checked_values[i] = value;
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}
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}
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}
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void
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L3GD20::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
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{
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uint8_t val = read_reg(reg);
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val &= ~clearbits;
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val |= setbits;
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write_checked_reg(reg, val);
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}
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int
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L3GD20::set_range(unsigned max_dps)
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{
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uint8_t bits = REG4_BDU;
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float new_range_scale_dps_digit;
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if (max_dps == 0) {
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max_dps = 2000;
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}
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if (max_dps <= 250) {
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//new_range = 250;
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bits |= RANGE_250DPS;
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new_range_scale_dps_digit = 8.75e-3f;
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} else if (max_dps <= 500) {
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//new_range = 500;
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bits |= RANGE_500DPS;
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new_range_scale_dps_digit = 17.5e-3f;
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} else if (max_dps <= 2000) {
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//new_range = 2000;
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bits |= RANGE_2000DPS;
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new_range_scale_dps_digit = 70e-3f;
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} else {
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return -EINVAL;
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}
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_px4_gyro.set_scale(new_range_scale_dps_digit / 180.0f * M_PI_F);
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write_checked_reg(ADDR_CTRL_REG4, bits);
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return OK;
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}
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int
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L3GD20::set_samplerate(unsigned frequency)
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{
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uint8_t bits = REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
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if (frequency == 0) {
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frequency = _is_l3g4200d ? 800 : 760;
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}
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/*
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* Use limits good for H or non-H models. Rates are slightly different
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* for L3G4200D part but register settings are the same.
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*/
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if (frequency <= 100) {
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bits |= RATE_95HZ_LP_25HZ;
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} else if (frequency <= 200) {
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bits |= RATE_190HZ_LP_50HZ;
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} else if (frequency <= 400) {
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bits |= RATE_380HZ_LP_50HZ;
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} else if (frequency <= 800) {
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bits |= RATE_760HZ_LP_50HZ;
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} else {
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return -EINVAL;
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}
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write_checked_reg(ADDR_CTRL_REG1, bits);
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return OK;
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}
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void
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L3GD20::start()
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{
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/* make sure we are stopped first */
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stop();
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/* start polling at the specified rate */
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uint64_t interval = 1000000 / L3GD20_DEFAULT_RATE;
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ScheduleOnInterval(interval - L3GD20_TIMER_REDUCTION, 10000);
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}
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void
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L3GD20::stop()
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{
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ScheduleClear();
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}
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void
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L3GD20::disable_i2c()
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{
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uint8_t retries = 10;
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while (retries--) {
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// add retries
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uint8_t a = read_reg(0x05);
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write_reg(0x05, (0x20 | a));
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if (read_reg(0x05) == (a | 0x20)) {
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// this sets the I2C_DIS bit on the
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// L3GD20H. The l3gd20 datasheet doesn't
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// mention this register, but it does seem to
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// accept it.
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write_checked_reg(ADDR_LOW_ODR, 0x08);
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return;
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}
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}
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DEVICE_DEBUG("FAILED TO DISABLE I2C");
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}
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void
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L3GD20::reset()
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{
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// ensure the chip doesn't interpret any other bus traffic as I2C
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disable_i2c();
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/* set default configuration */
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write_checked_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE);
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write_checked_reg(ADDR_CTRL_REG2, 0); /* disable high-pass filters */
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write_checked_reg(ADDR_CTRL_REG3, 0x08); /* DRDY enable */
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write_checked_reg(ADDR_CTRL_REG4, REG4_BDU);
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write_checked_reg(ADDR_CTRL_REG5, 0);
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write_checked_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */
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/* disable FIFO. This makes things simpler and ensures we
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* aren't getting stale data. It means we must run the hrt
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* callback fast enough to not miss data. */
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write_checked_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE);
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set_samplerate(0); // 760Hz or 800Hz
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set_range(L3GD20_DEFAULT_RANGE_DPS);
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_read = 0;
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}
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void
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L3GD20::Run()
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{
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/* make another measurement */
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measure();
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}
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void
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L3GD20::check_registers()
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{
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uint8_t v;
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if ((v = read_reg(_checked_registers[_checked_next])) != _checked_values[_checked_next]) {
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/*
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if we get the wrong value then we know the SPI bus
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or sensor is very sick. We set _register_wait to 20
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and wait until we have seen 20 good values in a row
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before we consider the sensor to be OK again.
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*/
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perf_count(_bad_registers);
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/*
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try to fix the bad register value. We only try to
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fix one per loop to prevent a bad sensor hogging the
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bus. We skip zero as that is the WHO_AM_I, which
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is not writeable
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*/
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if (_checked_next != 0) {
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write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]);
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}
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_register_wait = 20;
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}
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_checked_next = (_checked_next + 1) % L3GD20_NUM_CHECKED_REGISTERS;
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}
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void
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L3GD20::measure()
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{
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/* status register and data as read back from the device */
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#pragma pack(push, 1)
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struct {
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uint8_t cmd;
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int8_t temp;
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uint8_t status;
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int16_t x;
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int16_t y;
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int16_t z;
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} raw_report{};
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#pragma pack(pop)
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/* start the performance counter */
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perf_begin(_sample_perf);
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check_registers();
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/* fetch data from the sensor */
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const hrt_abstime timestamp_sample = hrt_absolute_time();
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raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT;
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transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report));
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if (!(raw_report.status & STATUS_ZYXDA)) {
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perf_end(_sample_perf);
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perf_count(_duplicates);
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return;
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}
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/*
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* 1) Scale raw value to SI units using scaling from datasheet.
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* 2) Subtract static offset (in SI units)
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* 3) Scale the statically calibrated values with a linear
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* dynamically obtained factor
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*
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* Note: the static sensor offset is the number the sensor outputs
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* at a nominally 'zero' input. Therefore the offset has to
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* be subtracted.
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*
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* Example: A gyro outputs a value of 74 at zero angular rate
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* the offset is 74 from the origin and subtracting
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* 74 from all measurements centers them around zero.
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*/
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_px4_gyro.set_error_count(perf_event_count(_bad_registers));
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_px4_gyro.set_temperature(L3GD20_TEMP_OFFSET_CELSIUS - raw_report.temp);
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switch (_orientation) {
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case SENSOR_BOARD_ROTATION_090_DEG:
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/* swap x and y */
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_px4_gyro.update(timestamp_sample, raw_report.y, raw_report.x, raw_report.z);
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break;
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case SENSOR_BOARD_ROTATION_180_DEG: {
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/* swap x and y and negate both */
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int16_t x = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
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int16_t y = ((raw_report.y == -32768) ? 32767 : -raw_report.y);
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_px4_gyro.update(timestamp_sample, x, y, raw_report.z);
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}
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break;
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case SENSOR_BOARD_ROTATION_270_DEG: {
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/* swap x and y and negate y */
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int16_t x = raw_report.y;
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int16_t y = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
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_px4_gyro.update(timestamp_sample, x, y, raw_report.z);
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}
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break;
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case SENSOR_BOARD_ROTATION_000_DEG:
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// FALLTHROUGH
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default:
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// keep axes in place
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_px4_gyro.update(timestamp_sample, raw_report.x, raw_report.y, raw_report.z);
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}
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_read++;
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/* stop the perf counter */
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perf_end(_sample_perf);
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}
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void
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L3GD20::print_info()
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{
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printf("gyro reads: %u\n", _read);
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perf_print_counter(_sample_perf);
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perf_print_counter(_errors);
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perf_print_counter(_bad_registers);
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perf_print_counter(_duplicates);
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::printf("checked_next: %u\n", _checked_next);
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for (uint8_t i = 0; i < L3GD20_NUM_CHECKED_REGISTERS; i++) {
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uint8_t v = read_reg(_checked_registers[i]);
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if (v != _checked_values[i]) {
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::printf("reg %02x:%02x should be %02x\n",
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(unsigned)_checked_registers[i],
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(unsigned)v,
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(unsigned)_checked_values[i]);
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}
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}
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_px4_gyro.print_status();
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}
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void
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L3GD20::print_registers()
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{
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printf("L3GD20 registers\n");
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for (uint8_t reg = 0; reg <= 0x40; reg++) {
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uint8_t v = read_reg(reg);
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printf("%02x:%02x ", (unsigned)reg, (unsigned)v);
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if ((reg + 1) % 16 == 0) {
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printf("\n");
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}
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}
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printf("\n");
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}
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void
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L3GD20::test_error()
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{
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// trigger a deliberate error
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write_reg(ADDR_CTRL_REG3, 0);
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}
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290
src/drivers/imu/l3gd20/L3GD20.hpp
Normal file
290
src/drivers/imu/l3gd20/L3GD20.hpp
Normal file
@ -0,0 +1,290 @@
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/****************************************************************************
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*
|
||||
* Copyright (c) 2012-2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file l3gd20.cpp
|
||||
* Driver for the ST L3GD20 MEMS and L3GD20H mems gyros connected via SPI.
|
||||
*
|
||||
* Note: With the exception of the self-test feature, the ST L3G4200D is
|
||||
* also supported by this driver.
|
||||
*/
|
||||
|
||||
#include <drivers/device/spi.h>
|
||||
#include <lib/conversion/rotation.h>
|
||||
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
|
||||
#include <perf/perf_counter.h>
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
|
||||
/* Orientation on board */
|
||||
#define SENSOR_BOARD_ROTATION_000_DEG 0
|
||||
#define SENSOR_BOARD_ROTATION_090_DEG 1
|
||||
#define SENSOR_BOARD_ROTATION_180_DEG 2
|
||||
#define SENSOR_BOARD_ROTATION_270_DEG 3
|
||||
|
||||
/* SPI protocol address bits */
|
||||
#define DIR_READ (1<<7)
|
||||
#define DIR_WRITE (0<<7)
|
||||
#define ADDR_INCREMENT (1<<6)
|
||||
|
||||
/* register addresses */
|
||||
#define ADDR_WHO_AM_I 0x0F
|
||||
#define WHO_I_AM_H 0xD7
|
||||
#define WHO_I_AM 0xD4
|
||||
#define WHO_I_AM_L3G4200D 0xD3 /* for L3G4200D */
|
||||
|
||||
#define ADDR_CTRL_REG1 0x20
|
||||
#define REG1_RATE_LP_MASK 0xF0 /* Mask to guard partial register update */
|
||||
|
||||
/* keep lowpass low to avoid noise issues */
|
||||
#define RATE_95HZ_LP_25HZ ((0<<7) | (0<<6) | (0<<5) | (1<<4))
|
||||
#define RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (0<<5) | (1<<4))
|
||||
#define RATE_190HZ_LP_50HZ ((0<<7) | (1<<6) | (1<<5) | (0<<4))
|
||||
#define RATE_190HZ_LP_70HZ ((0<<7) | (1<<6) | (1<<5) | (1<<4))
|
||||
#define RATE_380HZ_LP_20HZ ((1<<7) | (0<<6) | (1<<5) | (0<<4))
|
||||
#define RATE_380HZ_LP_25HZ ((1<<7) | (0<<6) | (0<<5) | (1<<4))
|
||||
#define RATE_380HZ_LP_50HZ ((1<<7) | (0<<6) | (1<<5) | (0<<4))
|
||||
#define RATE_380HZ_LP_100HZ ((1<<7) | (0<<6) | (1<<5) | (1<<4))
|
||||
#define RATE_760HZ_LP_30HZ ((1<<7) | (1<<6) | (0<<5) | (0<<4))
|
||||
#define RATE_760HZ_LP_35HZ ((1<<7) | (1<<6) | (0<<5) | (1<<4))
|
||||
#define RATE_760HZ_LP_50HZ ((1<<7) | (1<<6) | (1<<5) | (0<<4))
|
||||
#define RATE_760HZ_LP_100HZ ((1<<7) | (1<<6) | (1<<5) | (1<<4))
|
||||
|
||||
#define ADDR_CTRL_REG2 0x21
|
||||
#define ADDR_CTRL_REG3 0x22
|
||||
#define ADDR_CTRL_REG4 0x23
|
||||
#define REG4_RANGE_MASK 0x30 /* Mask to guard partial register update */
|
||||
#define RANGE_250DPS (0<<4)
|
||||
#define RANGE_500DPS (1<<4)
|
||||
#define RANGE_2000DPS (3<<4)
|
||||
|
||||
#define ADDR_CTRL_REG5 0x24
|
||||
#define ADDR_REFERENCE 0x25
|
||||
#define ADDR_OUT_TEMP 0x26
|
||||
#define ADDR_STATUS_REG 0x27
|
||||
#define ADDR_OUT_X_L 0x28
|
||||
#define ADDR_OUT_X_H 0x29
|
||||
#define ADDR_OUT_Y_L 0x2A
|
||||
#define ADDR_OUT_Y_H 0x2B
|
||||
#define ADDR_OUT_Z_L 0x2C
|
||||
#define ADDR_OUT_Z_H 0x2D
|
||||
#define ADDR_FIFO_CTRL_REG 0x2E
|
||||
#define ADDR_FIFO_SRC_REG 0x2F
|
||||
#define ADDR_INT1_CFG 0x30
|
||||
#define ADDR_INT1_SRC 0x31
|
||||
#define ADDR_INT1_TSH_XH 0x32
|
||||
#define ADDR_INT1_TSH_XL 0x33
|
||||
#define ADDR_INT1_TSH_YH 0x34
|
||||
#define ADDR_INT1_TSH_YL 0x35
|
||||
#define ADDR_INT1_TSH_ZH 0x36
|
||||
#define ADDR_INT1_TSH_ZL 0x37
|
||||
#define ADDR_INT1_DURATION 0x38
|
||||
#define ADDR_LOW_ODR 0x39
|
||||
|
||||
|
||||
/* Internal configuration values */
|
||||
#define REG1_POWER_NORMAL (1<<3)
|
||||
#define REG1_Z_ENABLE (1<<2)
|
||||
#define REG1_Y_ENABLE (1<<1)
|
||||
#define REG1_X_ENABLE (1<<0)
|
||||
|
||||
#define REG4_BDU (1<<7)
|
||||
#define REG4_BLE (1<<6)
|
||||
//#define REG4_SPI_3WIRE (1<<0)
|
||||
|
||||
#define REG5_FIFO_ENABLE (1<<6)
|
||||
#define REG5_REBOOT_MEMORY (1<<7)
|
||||
|
||||
#define STATUS_ZYXOR (1<<7)
|
||||
#define STATUS_ZOR (1<<6)
|
||||
#define STATUS_YOR (1<<5)
|
||||
#define STATUS_XOR (1<<4)
|
||||
#define STATUS_ZYXDA (1<<3)
|
||||
#define STATUS_ZDA (1<<2)
|
||||
#define STATUS_YDA (1<<1)
|
||||
#define STATUS_XDA (1<<0)
|
||||
|
||||
#define FIFO_CTRL_BYPASS_MODE (0<<5)
|
||||
#define FIFO_CTRL_FIFO_MODE (1<<5)
|
||||
#define FIFO_CTRL_STREAM_MODE (1<<6)
|
||||
#define FIFO_CTRL_STREAM_TO_FIFO_MODE (3<<5)
|
||||
#define FIFO_CTRL_BYPASS_TO_STREAM_MODE (1<<7)
|
||||
|
||||
#define L3GD20_DEFAULT_RATE 760
|
||||
#define L3GD20_DEFAULT_RANGE_DPS 2000
|
||||
#define L3GD20_TEMP_OFFSET_CELSIUS 40
|
||||
|
||||
#define L3GD20_MAX_OFFSET 0.45f /**< max offset: 25 degrees/s */
|
||||
|
||||
#ifndef SENSOR_BOARD_ROTATION_DEFAULT
|
||||
#define SENSOR_BOARD_ROTATION_DEFAULT SENSOR_BOARD_ROTATION_270_DEG
|
||||
#endif
|
||||
|
||||
/*
|
||||
we set the timer interrupt to run a bit faster than the desired
|
||||
sample rate and then throw away duplicates using the data ready bit.
|
||||
This time reduction is enough to cope with worst case timing jitter
|
||||
due to other timers
|
||||
*/
|
||||
#define L3GD20_TIMER_REDUCTION 600
|
||||
|
||||
class L3GD20 : public device::SPI, public px4::ScheduledWorkItem
|
||||
{
|
||||
public:
|
||||
L3GD20(int bus, uint32_t device, enum Rotation rotation);
|
||||
virtual ~L3GD20();
|
||||
|
||||
virtual int init();
|
||||
|
||||
/**
|
||||
* Diagnostics - print some basic information about the driver.
|
||||
*/
|
||||
void print_info();
|
||||
|
||||
// print register dump
|
||||
void print_registers();
|
||||
|
||||
// trigger an error
|
||||
void test_error();
|
||||
|
||||
protected:
|
||||
virtual int probe();
|
||||
|
||||
private:
|
||||
|
||||
PX4Gyroscope _px4_gyro;
|
||||
|
||||
unsigned _orientation{SENSOR_BOARD_ROTATION_DEFAULT};
|
||||
|
||||
unsigned _read{0};
|
||||
|
||||
perf_counter_t _sample_perf;
|
||||
perf_counter_t _errors;
|
||||
perf_counter_t _bad_registers;
|
||||
perf_counter_t _duplicates;
|
||||
|
||||
uint8_t _register_wait{0};
|
||||
|
||||
/* true if an L3G4200D is detected */
|
||||
bool _is_l3g4200d{false};
|
||||
|
||||
// this is used to support runtime checking of key
|
||||
// configuration registers to detect SPI bus errors and sensor
|
||||
// reset
|
||||
static constexpr int L3GD20_NUM_CHECKED_REGISTERS{8};
|
||||
static constexpr uint8_t _checked_registers[] = {
|
||||
ADDR_WHO_AM_I,
|
||||
ADDR_CTRL_REG1,
|
||||
ADDR_CTRL_REG2,
|
||||
ADDR_CTRL_REG3,
|
||||
ADDR_CTRL_REG4,
|
||||
ADDR_CTRL_REG5,
|
||||
ADDR_FIFO_CTRL_REG,
|
||||
ADDR_LOW_ODR
|
||||
};
|
||||
|
||||
uint8_t _checked_values[L3GD20_NUM_CHECKED_REGISTERS] {};
|
||||
uint8_t _checked_next{0};
|
||||
|
||||
void start();
|
||||
void stop();
|
||||
void reset();
|
||||
void disable_i2c();
|
||||
void Run() override;
|
||||
|
||||
/**
|
||||
* check key registers for correct values
|
||||
*/
|
||||
void check_registers();
|
||||
|
||||
/**
|
||||
* Fetch measurements from the sensor and update the report ring.
|
||||
*/
|
||||
void measure();
|
||||
|
||||
/**
|
||||
* Read a register from the L3GD20
|
||||
*
|
||||
* @param The register to read.
|
||||
* @return The value that was read.
|
||||
*/
|
||||
uint8_t read_reg(unsigned reg);
|
||||
|
||||
/**
|
||||
* Write a register in the L3GD20
|
||||
*
|
||||
* @param reg The register to write.
|
||||
* @param value The new value to write.
|
||||
*/
|
||||
void write_reg(unsigned reg, uint8_t value);
|
||||
|
||||
/**
|
||||
* Modify a register in the L3GD20
|
||||
*
|
||||
* Bits are cleared before bits are set.
|
||||
*
|
||||
* @param reg The register to modify.
|
||||
* @param clearbits Bits in the register to clear.
|
||||
* @param setbits Bits in the register to set.
|
||||
*/
|
||||
void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
|
||||
|
||||
/**
|
||||
* Write a register in the L3GD20, updating _checked_values
|
||||
*
|
||||
* @param reg The register to write.
|
||||
* @param value The new value to write.
|
||||
*/
|
||||
void write_checked_reg(unsigned reg, uint8_t value);
|
||||
|
||||
/**
|
||||
* Set the L3GD20 measurement range.
|
||||
*
|
||||
* @param max_dps The measurement range is set to permit reading at least
|
||||
* this rate in degrees per second.
|
||||
* Zero selects the maximum supported range.
|
||||
* @return OK if the value can be supported, -ERANGE otherwise.
|
||||
*/
|
||||
int set_range(unsigned max_dps);
|
||||
|
||||
/**
|
||||
* Set the L3GD20 internal sampling frequency.
|
||||
*
|
||||
* @param frequency The internal sampling frequency is set to not less than
|
||||
* this value.
|
||||
* Zero selects the maximum rate supported.
|
||||
* @return OK if the value can be supported.
|
||||
*/
|
||||
int set_samplerate(unsigned frequency);
|
||||
|
||||
};
|
||||
@ -1,934 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file l3gd20.cpp
|
||||
* Driver for the ST L3GD20 MEMS and L3GD20H mems gyros connected via SPI.
|
||||
*
|
||||
* Note: With the exception of the self-test feature, the ST L3G4200D is
|
||||
* also supported by this driver.
|
||||
*/
|
||||
|
||||
#include <drivers/device/spi.h>
|
||||
#include <lib/conversion/rotation.h>
|
||||
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
|
||||
#include <perf/perf_counter.h>
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
|
||||
#define L3GD20_DEVICE_PATH "/dev/l3gd20"
|
||||
|
||||
/* Orientation on board */
|
||||
#define SENSOR_BOARD_ROTATION_000_DEG 0
|
||||
#define SENSOR_BOARD_ROTATION_090_DEG 1
|
||||
#define SENSOR_BOARD_ROTATION_180_DEG 2
|
||||
#define SENSOR_BOARD_ROTATION_270_DEG 3
|
||||
|
||||
/* SPI protocol address bits */
|
||||
#define DIR_READ (1<<7)
|
||||
#define DIR_WRITE (0<<7)
|
||||
#define ADDR_INCREMENT (1<<6)
|
||||
|
||||
/* register addresses */
|
||||
#define ADDR_WHO_AM_I 0x0F
|
||||
#define WHO_I_AM_H 0xD7
|
||||
#define WHO_I_AM 0xD4
|
||||
#define WHO_I_AM_L3G4200D 0xD3 /* for L3G4200D */
|
||||
|
||||
#define ADDR_CTRL_REG1 0x20
|
||||
#define REG1_RATE_LP_MASK 0xF0 /* Mask to guard partial register update */
|
||||
|
||||
/* keep lowpass low to avoid noise issues */
|
||||
#define RATE_95HZ_LP_25HZ ((0<<7) | (0<<6) | (0<<5) | (1<<4))
|
||||
#define RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (0<<5) | (1<<4))
|
||||
#define RATE_190HZ_LP_50HZ ((0<<7) | (1<<6) | (1<<5) | (0<<4))
|
||||
#define RATE_190HZ_LP_70HZ ((0<<7) | (1<<6) | (1<<5) | (1<<4))
|
||||
#define RATE_380HZ_LP_20HZ ((1<<7) | (0<<6) | (1<<5) | (0<<4))
|
||||
#define RATE_380HZ_LP_25HZ ((1<<7) | (0<<6) | (0<<5) | (1<<4))
|
||||
#define RATE_380HZ_LP_50HZ ((1<<7) | (0<<6) | (1<<5) | (0<<4))
|
||||
#define RATE_380HZ_LP_100HZ ((1<<7) | (0<<6) | (1<<5) | (1<<4))
|
||||
#define RATE_760HZ_LP_30HZ ((1<<7) | (1<<6) | (0<<5) | (0<<4))
|
||||
#define RATE_760HZ_LP_35HZ ((1<<7) | (1<<6) | (0<<5) | (1<<4))
|
||||
#define RATE_760HZ_LP_50HZ ((1<<7) | (1<<6) | (1<<5) | (0<<4))
|
||||
#define RATE_760HZ_LP_100HZ ((1<<7) | (1<<6) | (1<<5) | (1<<4))
|
||||
|
||||
#define ADDR_CTRL_REG2 0x21
|
||||
#define ADDR_CTRL_REG3 0x22
|
||||
#define ADDR_CTRL_REG4 0x23
|
||||
#define REG4_RANGE_MASK 0x30 /* Mask to guard partial register update */
|
||||
#define RANGE_250DPS (0<<4)
|
||||
#define RANGE_500DPS (1<<4)
|
||||
#define RANGE_2000DPS (3<<4)
|
||||
|
||||
#define ADDR_CTRL_REG5 0x24
|
||||
#define ADDR_REFERENCE 0x25
|
||||
#define ADDR_OUT_TEMP 0x26
|
||||
#define ADDR_STATUS_REG 0x27
|
||||
#define ADDR_OUT_X_L 0x28
|
||||
#define ADDR_OUT_X_H 0x29
|
||||
#define ADDR_OUT_Y_L 0x2A
|
||||
#define ADDR_OUT_Y_H 0x2B
|
||||
#define ADDR_OUT_Z_L 0x2C
|
||||
#define ADDR_OUT_Z_H 0x2D
|
||||
#define ADDR_FIFO_CTRL_REG 0x2E
|
||||
#define ADDR_FIFO_SRC_REG 0x2F
|
||||
#define ADDR_INT1_CFG 0x30
|
||||
#define ADDR_INT1_SRC 0x31
|
||||
#define ADDR_INT1_TSH_XH 0x32
|
||||
#define ADDR_INT1_TSH_XL 0x33
|
||||
#define ADDR_INT1_TSH_YH 0x34
|
||||
#define ADDR_INT1_TSH_YL 0x35
|
||||
#define ADDR_INT1_TSH_ZH 0x36
|
||||
#define ADDR_INT1_TSH_ZL 0x37
|
||||
#define ADDR_INT1_DURATION 0x38
|
||||
#define ADDR_LOW_ODR 0x39
|
||||
|
||||
|
||||
/* Internal configuration values */
|
||||
#define REG1_POWER_NORMAL (1<<3)
|
||||
#define REG1_Z_ENABLE (1<<2)
|
||||
#define REG1_Y_ENABLE (1<<1)
|
||||
#define REG1_X_ENABLE (1<<0)
|
||||
|
||||
#define REG4_BDU (1<<7)
|
||||
#define REG4_BLE (1<<6)
|
||||
//#define REG4_SPI_3WIRE (1<<0)
|
||||
|
||||
#define REG5_FIFO_ENABLE (1<<6)
|
||||
#define REG5_REBOOT_MEMORY (1<<7)
|
||||
|
||||
#define STATUS_ZYXOR (1<<7)
|
||||
#define STATUS_ZOR (1<<6)
|
||||
#define STATUS_YOR (1<<5)
|
||||
#define STATUS_XOR (1<<4)
|
||||
#define STATUS_ZYXDA (1<<3)
|
||||
#define STATUS_ZDA (1<<2)
|
||||
#define STATUS_YDA (1<<1)
|
||||
#define STATUS_XDA (1<<0)
|
||||
|
||||
#define FIFO_CTRL_BYPASS_MODE (0<<5)
|
||||
#define FIFO_CTRL_FIFO_MODE (1<<5)
|
||||
#define FIFO_CTRL_STREAM_MODE (1<<6)
|
||||
#define FIFO_CTRL_STREAM_TO_FIFO_MODE (3<<5)
|
||||
#define FIFO_CTRL_BYPASS_TO_STREAM_MODE (1<<7)
|
||||
|
||||
#define L3GD20_DEFAULT_RATE 760
|
||||
#define L3G4200D_DEFAULT_RATE 800
|
||||
#define L3GD20_MAX_OUTPUT_RATE 280
|
||||
#define L3GD20_DEFAULT_RANGE_DPS 2000
|
||||
#define L3GD20_DEFAULT_FILTER_FREQ 30
|
||||
#define L3GD20_TEMP_OFFSET_CELSIUS 40
|
||||
|
||||
#define L3GD20_MAX_OFFSET 0.45f /**< max offset: 25 degrees/s */
|
||||
|
||||
#ifndef SENSOR_BOARD_ROTATION_DEFAULT
|
||||
#define SENSOR_BOARD_ROTATION_DEFAULT SENSOR_BOARD_ROTATION_270_DEG
|
||||
#endif
|
||||
|
||||
/*
|
||||
we set the timer interrupt to run a bit faster than the desired
|
||||
sample rate and then throw away duplicates using the data ready bit.
|
||||
This time reduction is enough to cope with worst case timing jitter
|
||||
due to other timers
|
||||
*/
|
||||
#define L3GD20_TIMER_REDUCTION 600
|
||||
|
||||
extern "C" { __EXPORT int l3gd20_main(int argc, char *argv[]); }
|
||||
|
||||
class L3GD20 : public device::SPI, public px4::ScheduledWorkItem
|
||||
{
|
||||
public:
|
||||
L3GD20(int bus, const char *path, uint32_t device, enum Rotation rotation);
|
||||
virtual ~L3GD20();
|
||||
|
||||
virtual int init();
|
||||
|
||||
/**
|
||||
* Diagnostics - print some basic information about the driver.
|
||||
*/
|
||||
void print_info();
|
||||
|
||||
// print register dump
|
||||
void print_registers();
|
||||
|
||||
// trigger an error
|
||||
void test_error();
|
||||
|
||||
protected:
|
||||
virtual int probe();
|
||||
|
||||
private:
|
||||
|
||||
PX4Gyroscope _px4_gyro;
|
||||
|
||||
unsigned _current_rate{0};
|
||||
unsigned _orientation{SENSOR_BOARD_ROTATION_DEFAULT};
|
||||
|
||||
unsigned _read{0};
|
||||
|
||||
perf_counter_t _sample_perf;
|
||||
perf_counter_t _errors;
|
||||
perf_counter_t _bad_registers;
|
||||
perf_counter_t _duplicates;
|
||||
|
||||
uint8_t _register_wait{0};
|
||||
|
||||
/* true if an L3G4200D is detected */
|
||||
bool _is_l3g4200d{false};
|
||||
|
||||
enum Rotation _rotation;
|
||||
|
||||
// this is used to support runtime checking of key
|
||||
// configuration registers to detect SPI bus errors and sensor
|
||||
// reset
|
||||
static constexpr int L3GD20_NUM_CHECKED_REGISTERS{8};
|
||||
static constexpr uint8_t _checked_registers[] = {
|
||||
ADDR_WHO_AM_I,
|
||||
ADDR_CTRL_REG1,
|
||||
ADDR_CTRL_REG2,
|
||||
ADDR_CTRL_REG3,
|
||||
ADDR_CTRL_REG4,
|
||||
ADDR_CTRL_REG5,
|
||||
ADDR_FIFO_CTRL_REG,
|
||||
ADDR_LOW_ODR
|
||||
};
|
||||
|
||||
uint8_t _checked_values[L3GD20_NUM_CHECKED_REGISTERS] {};
|
||||
uint8_t _checked_next{0};
|
||||
|
||||
/**
|
||||
* Start automatic measurement.
|
||||
*/
|
||||
void start();
|
||||
|
||||
/**
|
||||
* Stop automatic measurement.
|
||||
*/
|
||||
void stop();
|
||||
|
||||
/**
|
||||
* Reset the driver
|
||||
*/
|
||||
void reset();
|
||||
|
||||
/**
|
||||
* disable I2C on the chip
|
||||
*/
|
||||
void disable_i2c();
|
||||
|
||||
void Run() override;
|
||||
|
||||
/**
|
||||
* check key registers for correct values
|
||||
*/
|
||||
void check_registers(void);
|
||||
|
||||
/**
|
||||
* Fetch measurements from the sensor and update the report ring.
|
||||
*/
|
||||
void measure();
|
||||
|
||||
/**
|
||||
* Read a register from the L3GD20
|
||||
*
|
||||
* @param The register to read.
|
||||
* @return The value that was read.
|
||||
*/
|
||||
uint8_t read_reg(unsigned reg);
|
||||
|
||||
/**
|
||||
* Write a register in the L3GD20
|
||||
*
|
||||
* @param reg The register to write.
|
||||
* @param value The new value to write.
|
||||
*/
|
||||
void write_reg(unsigned reg, uint8_t value);
|
||||
|
||||
/**
|
||||
* Modify a register in the L3GD20
|
||||
*
|
||||
* Bits are cleared before bits are set.
|
||||
*
|
||||
* @param reg The register to modify.
|
||||
* @param clearbits Bits in the register to clear.
|
||||
* @param setbits Bits in the register to set.
|
||||
*/
|
||||
void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
|
||||
|
||||
/**
|
||||
* Write a register in the L3GD20, updating _checked_values
|
||||
*
|
||||
* @param reg The register to write.
|
||||
* @param value The new value to write.
|
||||
*/
|
||||
void write_checked_reg(unsigned reg, uint8_t value);
|
||||
|
||||
/**
|
||||
* Set the L3GD20 measurement range.
|
||||
*
|
||||
* @param max_dps The measurement range is set to permit reading at least
|
||||
* this rate in degrees per second.
|
||||
* Zero selects the maximum supported range.
|
||||
* @return OK if the value can be supported, -ERANGE otherwise.
|
||||
*/
|
||||
int set_range(unsigned max_dps);
|
||||
|
||||
/**
|
||||
* Set the L3GD20 internal sampling frequency.
|
||||
*
|
||||
* @param frequency The internal sampling frequency is set to not less than
|
||||
* this value.
|
||||
* Zero selects the maximum rate supported.
|
||||
* @return OK if the value can be supported.
|
||||
*/
|
||||
int set_samplerate(unsigned frequency);
|
||||
|
||||
/* this class does not allow copying */
|
||||
L3GD20(const L3GD20 &);
|
||||
L3GD20 operator=(const L3GD20 &);
|
||||
};
|
||||
|
||||
constexpr uint8_t L3GD20::_checked_registers[];
|
||||
|
||||
L3GD20::L3GD20(int bus, const char *path, uint32_t device, enum Rotation rotation) :
|
||||
SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 11 * 1000 * 1000),
|
||||
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(this->get_device_id())),
|
||||
_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation),
|
||||
_sample_perf(perf_alloc(PC_ELAPSED, "l3gd20_read")),
|
||||
_errors(perf_alloc(PC_COUNT, "l3gd20_err")),
|
||||
_bad_registers(perf_alloc(PC_COUNT, "l3gd20_bad_reg")),
|
||||
_duplicates(perf_alloc(PC_COUNT, "l3gd20_dupe")),
|
||||
_rotation(rotation)
|
||||
{
|
||||
_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_L3GD20);
|
||||
}
|
||||
|
||||
L3GD20::~L3GD20()
|
||||
{
|
||||
/* make sure we are truly inactive */
|
||||
stop();
|
||||
|
||||
/* delete the perf counter */
|
||||
perf_free(_sample_perf);
|
||||
perf_free(_errors);
|
||||
perf_free(_bad_registers);
|
||||
perf_free(_duplicates);
|
||||
}
|
||||
|
||||
int
|
||||
L3GD20::init()
|
||||
{
|
||||
/* do SPI init (and probe) first */
|
||||
if (SPI::init() != OK) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
reset();
|
||||
|
||||
start();
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int
|
||||
L3GD20::probe()
|
||||
{
|
||||
/* read dummy value to void to clear SPI statemachine on sensor */
|
||||
(void)read_reg(ADDR_WHO_AM_I);
|
||||
|
||||
bool success = false;
|
||||
uint8_t v = 0;
|
||||
|
||||
/* verify that the device is attached and functioning, accept
|
||||
* L3GD20, L3GD20H and L3G4200D */
|
||||
if ((v = read_reg(ADDR_WHO_AM_I)) == WHO_I_AM) {
|
||||
_orientation = SENSOR_BOARD_ROTATION_DEFAULT;
|
||||
success = true;
|
||||
|
||||
} else if ((v = read_reg(ADDR_WHO_AM_I)) == WHO_I_AM_H) {
|
||||
_orientation = SENSOR_BOARD_ROTATION_180_DEG;
|
||||
success = true;
|
||||
|
||||
} else if ((v = read_reg(ADDR_WHO_AM_I)) == WHO_I_AM_L3G4200D) {
|
||||
/* Detect the L3G4200D used on AeroCore */
|
||||
_is_l3g4200d = true;
|
||||
_orientation = SENSOR_BOARD_ROTATION_DEFAULT;
|
||||
success = true;
|
||||
}
|
||||
|
||||
if (success) {
|
||||
_checked_values[0] = v;
|
||||
return OK;
|
||||
}
|
||||
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
uint8_t
|
||||
L3GD20::read_reg(unsigned reg)
|
||||
{
|
||||
uint8_t cmd[2] {};
|
||||
|
||||
cmd[0] = reg | DIR_READ;
|
||||
cmd[1] = 0;
|
||||
|
||||
transfer(cmd, cmd, sizeof(cmd));
|
||||
|
||||
return cmd[1];
|
||||
}
|
||||
|
||||
void
|
||||
L3GD20::write_reg(unsigned reg, uint8_t value)
|
||||
{
|
||||
uint8_t cmd[2] {};
|
||||
|
||||
cmd[0] = reg | DIR_WRITE;
|
||||
cmd[1] = value;
|
||||
|
||||
transfer(cmd, nullptr, sizeof(cmd));
|
||||
}
|
||||
|
||||
void
|
||||
L3GD20::write_checked_reg(unsigned reg, uint8_t value)
|
||||
{
|
||||
write_reg(reg, value);
|
||||
|
||||
for (uint8_t i = 0; i < L3GD20_NUM_CHECKED_REGISTERS; i++) {
|
||||
if (reg == _checked_registers[i]) {
|
||||
_checked_values[i] = value;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
L3GD20::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
|
||||
{
|
||||
uint8_t val = read_reg(reg);
|
||||
val &= ~clearbits;
|
||||
val |= setbits;
|
||||
write_checked_reg(reg, val);
|
||||
}
|
||||
|
||||
int
|
||||
L3GD20::set_range(unsigned max_dps)
|
||||
{
|
||||
uint8_t bits = REG4_BDU;
|
||||
float new_range_scale_dps_digit;
|
||||
|
||||
if (max_dps == 0) {
|
||||
max_dps = 2000;
|
||||
}
|
||||
|
||||
if (max_dps <= 250) {
|
||||
//new_range = 250;
|
||||
bits |= RANGE_250DPS;
|
||||
new_range_scale_dps_digit = 8.75e-3f;
|
||||
|
||||
} else if (max_dps <= 500) {
|
||||
//new_range = 500;
|
||||
bits |= RANGE_500DPS;
|
||||
new_range_scale_dps_digit = 17.5e-3f;
|
||||
|
||||
} else if (max_dps <= 2000) {
|
||||
//new_range = 2000;
|
||||
bits |= RANGE_2000DPS;
|
||||
new_range_scale_dps_digit = 70e-3f;
|
||||
|
||||
} else {
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
_px4_gyro.set_scale(new_range_scale_dps_digit / 180.0f * M_PI_F);
|
||||
|
||||
write_checked_reg(ADDR_CTRL_REG4, bits);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int
|
||||
L3GD20::set_samplerate(unsigned frequency)
|
||||
{
|
||||
uint8_t bits = REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
|
||||
|
||||
if (frequency == 0) {
|
||||
frequency = _is_l3g4200d ? 800 : 760;
|
||||
}
|
||||
|
||||
/*
|
||||
* Use limits good for H or non-H models. Rates are slightly different
|
||||
* for L3G4200D part but register settings are the same.
|
||||
*/
|
||||
if (frequency <= 100) {
|
||||
_current_rate = _is_l3g4200d ? 100 : 95;
|
||||
bits |= RATE_95HZ_LP_25HZ;
|
||||
|
||||
} else if (frequency <= 200) {
|
||||
_current_rate = _is_l3g4200d ? 200 : 190;
|
||||
bits |= RATE_190HZ_LP_50HZ;
|
||||
|
||||
} else if (frequency <= 400) {
|
||||
_current_rate = _is_l3g4200d ? 400 : 380;
|
||||
bits |= RATE_380HZ_LP_50HZ;
|
||||
|
||||
} else if (frequency <= 800) {
|
||||
_current_rate = _is_l3g4200d ? 800 : 760;
|
||||
bits |= RATE_760HZ_LP_50HZ;
|
||||
|
||||
} else {
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
write_checked_reg(ADDR_CTRL_REG1, bits);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
void
|
||||
L3GD20::start()
|
||||
{
|
||||
/* make sure we are stopped first */
|
||||
stop();
|
||||
|
||||
/* start polling at the specified rate */
|
||||
uint64_t interval = 1000000 / L3G4200D_DEFAULT_RATE;
|
||||
ScheduleOnInterval(interval - L3GD20_TIMER_REDUCTION, 10000);
|
||||
}
|
||||
|
||||
void
|
||||
L3GD20::stop()
|
||||
{
|
||||
ScheduleClear();
|
||||
}
|
||||
|
||||
void
|
||||
L3GD20::disable_i2c(void)
|
||||
{
|
||||
uint8_t retries = 10;
|
||||
|
||||
while (retries--) {
|
||||
// add retries
|
||||
uint8_t a = read_reg(0x05);
|
||||
write_reg(0x05, (0x20 | a));
|
||||
|
||||
if (read_reg(0x05) == (a | 0x20)) {
|
||||
// this sets the I2C_DIS bit on the
|
||||
// L3GD20H. The l3gd20 datasheet doesn't
|
||||
// mention this register, but it does seem to
|
||||
// accept it.
|
||||
write_checked_reg(ADDR_LOW_ODR, 0x08);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
DEVICE_DEBUG("FAILED TO DISABLE I2C");
|
||||
}
|
||||
|
||||
void
|
||||
L3GD20::reset()
|
||||
{
|
||||
// ensure the chip doesn't interpret any other bus traffic as I2C
|
||||
disable_i2c();
|
||||
|
||||
/* set default configuration */
|
||||
write_checked_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE);
|
||||
write_checked_reg(ADDR_CTRL_REG2, 0); /* disable high-pass filters */
|
||||
write_checked_reg(ADDR_CTRL_REG3, 0x08); /* DRDY enable */
|
||||
write_checked_reg(ADDR_CTRL_REG4, REG4_BDU);
|
||||
write_checked_reg(ADDR_CTRL_REG5, 0);
|
||||
write_checked_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */
|
||||
|
||||
/* disable FIFO. This makes things simpler and ensures we
|
||||
* aren't getting stale data. It means we must run the hrt
|
||||
* callback fast enough to not miss data. */
|
||||
write_checked_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE);
|
||||
|
||||
set_samplerate(0); // 760Hz or 800Hz
|
||||
set_range(L3GD20_DEFAULT_RANGE_DPS);
|
||||
|
||||
_read = 0;
|
||||
}
|
||||
|
||||
void
|
||||
L3GD20::Run()
|
||||
{
|
||||
/* make another measurement */
|
||||
measure();
|
||||
}
|
||||
|
||||
void
|
||||
L3GD20::check_registers(void)
|
||||
{
|
||||
uint8_t v;
|
||||
|
||||
if ((v = read_reg(_checked_registers[_checked_next])) != _checked_values[_checked_next]) {
|
||||
/*
|
||||
if we get the wrong value then we know the SPI bus
|
||||
or sensor is very sick. We set _register_wait to 20
|
||||
and wait until we have seen 20 good values in a row
|
||||
before we consider the sensor to be OK again.
|
||||
*/
|
||||
perf_count(_bad_registers);
|
||||
|
||||
/*
|
||||
try to fix the bad register value. We only try to
|
||||
fix one per loop to prevent a bad sensor hogging the
|
||||
bus. We skip zero as that is the WHO_AM_I, which
|
||||
is not writeable
|
||||
*/
|
||||
if (_checked_next != 0) {
|
||||
write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]);
|
||||
}
|
||||
|
||||
_register_wait = 20;
|
||||
}
|
||||
|
||||
_checked_next = (_checked_next + 1) % L3GD20_NUM_CHECKED_REGISTERS;
|
||||
}
|
||||
|
||||
void
|
||||
L3GD20::measure()
|
||||
{
|
||||
/* status register and data as read back from the device */
|
||||
#pragma pack(push, 1)
|
||||
struct {
|
||||
uint8_t cmd;
|
||||
int8_t temp;
|
||||
uint8_t status;
|
||||
int16_t x;
|
||||
int16_t y;
|
||||
int16_t z;
|
||||
} raw_report{};
|
||||
#pragma pack(pop)
|
||||
|
||||
/* start the performance counter */
|
||||
perf_begin(_sample_perf);
|
||||
|
||||
check_registers();
|
||||
|
||||
/* fetch data from the sensor */
|
||||
const hrt_abstime timestamp_sample = hrt_absolute_time();
|
||||
raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT;
|
||||
transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report));
|
||||
|
||||
if (!(raw_report.status & STATUS_ZYXDA)) {
|
||||
perf_end(_sample_perf);
|
||||
perf_count(_duplicates);
|
||||
return;
|
||||
}
|
||||
|
||||
/*
|
||||
* 1) Scale raw value to SI units using scaling from datasheet.
|
||||
* 2) Subtract static offset (in SI units)
|
||||
* 3) Scale the statically calibrated values with a linear
|
||||
* dynamically obtained factor
|
||||
*
|
||||
* Note: the static sensor offset is the number the sensor outputs
|
||||
* at a nominally 'zero' input. Therefore the offset has to
|
||||
* be subtracted.
|
||||
*
|
||||
* Example: A gyro outputs a value of 74 at zero angular rate
|
||||
* the offset is 74 from the origin and subtracting
|
||||
* 74 from all measurements centers them around zero.
|
||||
*/
|
||||
_px4_gyro.set_error_count(perf_event_count(_bad_registers));
|
||||
|
||||
_px4_gyro.set_temperature(L3GD20_TEMP_OFFSET_CELSIUS - raw_report.temp);
|
||||
|
||||
switch (_orientation) {
|
||||
case SENSOR_BOARD_ROTATION_090_DEG:
|
||||
/* swap x and y */
|
||||
_px4_gyro.update(timestamp_sample, raw_report.y, raw_report.x, raw_report.z);
|
||||
break;
|
||||
|
||||
case SENSOR_BOARD_ROTATION_180_DEG: {
|
||||
/* swap x and y and negate both */
|
||||
int16_t x = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
|
||||
int16_t y = ((raw_report.y == -32768) ? 32767 : -raw_report.y);
|
||||
_px4_gyro.update(timestamp_sample, x, y, raw_report.z);
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case SENSOR_BOARD_ROTATION_270_DEG: {
|
||||
/* swap x and y and negate y */
|
||||
int16_t x = raw_report.y;
|
||||
int16_t y = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
|
||||
_px4_gyro.update(timestamp_sample, x, y, raw_report.z);
|
||||
}
|
||||
break;
|
||||
|
||||
case SENSOR_BOARD_ROTATION_000_DEG:
|
||||
|
||||
// FALLTHROUGH
|
||||
default:
|
||||
// keep axes in place
|
||||
_px4_gyro.update(timestamp_sample, raw_report.x, raw_report.y, raw_report.z);
|
||||
}
|
||||
|
||||
_read++;
|
||||
|
||||
/* stop the perf counter */
|
||||
perf_end(_sample_perf);
|
||||
}
|
||||
|
||||
void
|
||||
L3GD20::print_info()
|
||||
{
|
||||
printf("gyro reads: %u\n", _read);
|
||||
perf_print_counter(_sample_perf);
|
||||
perf_print_counter(_errors);
|
||||
perf_print_counter(_bad_registers);
|
||||
perf_print_counter(_duplicates);
|
||||
|
||||
::printf("checked_next: %u\n", _checked_next);
|
||||
|
||||
for (uint8_t i = 0; i < L3GD20_NUM_CHECKED_REGISTERS; i++) {
|
||||
uint8_t v = read_reg(_checked_registers[i]);
|
||||
|
||||
if (v != _checked_values[i]) {
|
||||
::printf("reg %02x:%02x should be %02x\n",
|
||||
(unsigned)_checked_registers[i],
|
||||
(unsigned)v,
|
||||
(unsigned)_checked_values[i]);
|
||||
}
|
||||
}
|
||||
|
||||
_px4_gyro.print_status();
|
||||
}
|
||||
|
||||
void
|
||||
L3GD20::print_registers()
|
||||
{
|
||||
printf("L3GD20 registers\n");
|
||||
|
||||
for (uint8_t reg = 0; reg <= 0x40; reg++) {
|
||||
uint8_t v = read_reg(reg);
|
||||
printf("%02x:%02x ", (unsigned)reg, (unsigned)v);
|
||||
|
||||
if ((reg + 1) % 16 == 0) {
|
||||
printf("\n");
|
||||
}
|
||||
}
|
||||
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
void
|
||||
L3GD20::test_error()
|
||||
{
|
||||
// trigger a deliberate error
|
||||
write_reg(ADDR_CTRL_REG3, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace l3gd20
|
||||
{
|
||||
|
||||
L3GD20 *g_dev;
|
||||
|
||||
void usage();
|
||||
void start(bool external_bus, enum Rotation rotation);
|
||||
void info();
|
||||
void regdump();
|
||||
void test_error();
|
||||
|
||||
/**
|
||||
* Start the driver.
|
||||
*
|
||||
* This function call only returns once the driver
|
||||
* started or failed to detect the sensor.
|
||||
*/
|
||||
void
|
||||
start(bool external_bus, enum Rotation rotation)
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
errx(0, "already started");
|
||||
}
|
||||
|
||||
/* create the driver */
|
||||
if (external_bus) {
|
||||
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_GYRO)
|
||||
g_dev = new L3GD20(PX4_SPI_BUS_EXT, L3GD20_DEVICE_PATH, PX4_SPIDEV_EXT_GYRO, rotation);
|
||||
#else
|
||||
errx(0, "External SPI not available");
|
||||
#endif
|
||||
|
||||
} else {
|
||||
g_dev = new L3GD20(PX4_SPI_BUS_SENSORS, L3GD20_DEVICE_PATH, PX4_SPIDEV_GYRO, rotation);
|
||||
}
|
||||
|
||||
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");
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
void
|
||||
info()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
errx(1, "driver not running\n");
|
||||
}
|
||||
|
||||
printf("state @ %p\n", g_dev);
|
||||
g_dev->print_info();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Dump the register information
|
||||
*/
|
||||
void
|
||||
regdump(void)
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
printf("regdump @ %p\n", g_dev);
|
||||
g_dev->print_registers();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* trigger an error
|
||||
*/
|
||||
void
|
||||
test_error(void)
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
printf("regdump @ %p\n", g_dev);
|
||||
g_dev->test_error();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
void
|
||||
usage()
|
||||
{
|
||||
warnx("missing command: try 'start', 'info', 'testerror' or 'regdump'");
|
||||
warnx("options:");
|
||||
warnx(" -X (external bus)");
|
||||
warnx(" -R rotation");
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
int
|
||||
l3gd20_main(int argc, char *argv[])
|
||||
{
|
||||
int myoptind = 1;
|
||||
int ch;
|
||||
const char *myoptarg = nullptr;
|
||||
bool external_bus = false;
|
||||
enum Rotation rotation = ROTATION_NONE;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "XR:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'X':
|
||||
external_bus = true;
|
||||
break;
|
||||
|
||||
case 'R':
|
||||
rotation = (enum Rotation)atoi(myoptarg);
|
||||
break;
|
||||
|
||||
default:
|
||||
l3gd20::usage();
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (myoptind >= argc) {
|
||||
l3gd20::usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
const char *verb = argv[myoptind];
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
|
||||
*/
|
||||
if (!strcmp(verb, "start")) {
|
||||
l3gd20::start(external_bus, rotation);
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(verb, "info")) {
|
||||
l3gd20::info();
|
||||
}
|
||||
|
||||
/*
|
||||
* Print register information.
|
||||
*/
|
||||
if (!strcmp(verb, "regdump")) {
|
||||
l3gd20::regdump();
|
||||
}
|
||||
|
||||
/*
|
||||
* trigger an error
|
||||
*/
|
||||
if (!strcmp(verb, "testerror")) {
|
||||
l3gd20::test_error();
|
||||
}
|
||||
|
||||
PX4_ERR("unrecognized command, try 'start', 'test', 'reset', 'info', 'testerror' or 'regdump'");
|
||||
return -1;
|
||||
}
|
||||
193
src/drivers/imu/l3gd20/l3gd20_main.cpp
Normal file
193
src/drivers/imu/l3gd20/l3gd20_main.cpp
Normal file
@ -0,0 +1,193 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2019 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 "L3GD20.hpp"
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace l3gd20
|
||||
{
|
||||
|
||||
L3GD20 *g_dev{nullptr};
|
||||
|
||||
/**
|
||||
* Start the driver.
|
||||
*
|
||||
* This function call only returns once the driver
|
||||
* started or failed to detect the sensor.
|
||||
*/
|
||||
static void start(bool external_bus, enum Rotation rotation)
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
errx(0, "already started");
|
||||
}
|
||||
|
||||
/* create the driver */
|
||||
if (external_bus) {
|
||||
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_GYRO)
|
||||
g_dev = new L3GD20(PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_GYRO, rotation);
|
||||
#else
|
||||
errx(0, "External SPI not available");
|
||||
#endif
|
||||
|
||||
} else {
|
||||
g_dev = new L3GD20(PX4_SPI_BUS_SENSORS, PX4_SPIDEV_GYRO, rotation);
|
||||
}
|
||||
|
||||
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");
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
static void info()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
errx(1, "driver not running\n");
|
||||
}
|
||||
|
||||
printf("state @ %p\n", g_dev);
|
||||
g_dev->print_info();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Dump the register information
|
||||
*/
|
||||
static void regdump()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
printf("regdump @ %p\n", g_dev);
|
||||
g_dev->print_registers();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* trigger an error
|
||||
*/
|
||||
static void test_error()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
printf("regdump @ %p\n", g_dev);
|
||||
g_dev->test_error();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
static void usage()
|
||||
{
|
||||
warnx("missing command: try 'start', 'info', 'testerror' or 'regdump'");
|
||||
warnx("options:");
|
||||
warnx(" -X (external bus)");
|
||||
warnx(" -R rotation");
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
extern "C" __EXPORT int l3gd20_main(int argc, char *argv[])
|
||||
{
|
||||
int myoptind = 1;
|
||||
int ch;
|
||||
const char *myoptarg = nullptr;
|
||||
bool external_bus = false;
|
||||
enum Rotation rotation = ROTATION_NONE;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "XR:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'X':
|
||||
external_bus = true;
|
||||
break;
|
||||
|
||||
case 'R':
|
||||
rotation = (enum Rotation)atoi(myoptarg);
|
||||
break;
|
||||
|
||||
default:
|
||||
l3gd20::usage();
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (myoptind >= argc) {
|
||||
l3gd20::usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
const char *verb = argv[myoptind];
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
|
||||
*/
|
||||
if (!strcmp(verb, "start")) {
|
||||
l3gd20::start(external_bus, rotation);
|
||||
|
||||
} else if (!strcmp(verb, "info")) {
|
||||
l3gd20::info();
|
||||
|
||||
} else if (!strcmp(verb, "regdump")) {
|
||||
l3gd20::regdump();
|
||||
|
||||
} else if (!strcmp(verb, "testerror")) {
|
||||
l3gd20::test_error();
|
||||
}
|
||||
|
||||
l3gd20::usage();
|
||||
|
||||
return -1;
|
||||
}
|
||||
Loading…
x
Reference in New Issue
Block a user