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l3gd20: split into separate header, implementation, and main
This commit is contained in:
Daniel Agar
@@ -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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