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This commit is contained in:
Lorenz Meier
2014-07-15 22:07:03 +02:00
parent 79aa600d29 619433d369
commit e696ed5509
554 changed files with 17667 additions and 122452 deletions
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src/drivers/lsm303d/lsm303d.cpp
+71 -15
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@@ -52,6 +52,7 @@
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <getopt.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
@@ -68,6 +69,7 @@
#include <board_config.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
@@ -75,12 +77,17 @@
#endif
static const int ERROR = -1;
// enable this to debug the buggy lsm303d sensor in very early
// prototype pixhawk boards
#define CHECK_EXTREMES 0
/* SPI protocol address bits */
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
#define ADDR_INCREMENT (1<<6)
#define LSM303D_DEVICE_PATH_ACCEL "/dev/lsm303d_accel"
#define LSM303D_DEVICE_PATH_ACCEL_EXT "/dev/lsm303d_accel_ext"
#define LSM303D_DEVICE_PATH_MAG "/dev/lsm303d_mag"
/* register addresses: A: accel, M: mag, T: temp */
@@ -216,7 +223,7 @@ class LSM303D_mag;
class LSM303D : public device::SPI
{
public:
LSM303D(int bus, const char* path, spi_dev_e device);
LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rotation);
virtual ~LSM303D();
virtual int init();
@@ -305,7 +312,8 @@ private:
uint64_t _last_log_us;
uint64_t _last_log_sync_us;
uint64_t _last_log_reg_us;
uint64_t _last_log_alarm_us;
uint64_t _last_log_alarm_us;
enum Rotation _rotation;
/**
* Start automatic measurement.
@@ -485,7 +493,7 @@ private:
};
LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
LSM303D::LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rotation) :
SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within safety margins for LSM303D */),
_mag(new LSM303D_mag(this)),
_call_accel_interval(0),
@@ -519,8 +527,11 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
_last_log_us(0),
_last_log_sync_us(0),
_last_log_reg_us(0),
_last_log_alarm_us(0)
_last_log_alarm_us(0),
_rotation(rotation)
{
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LSM303D;
// enable debug() calls
_debug_enabled = true;
@@ -841,7 +852,9 @@ LSM303D::read(struct file *filp, char *buffer, size_t buflen)
*/
while (count--) {
if (_accel_reports->get(arb)) {
#if CHECK_EXTREMES
check_extremes(arb);
#endif
ret += sizeof(*arb);
arb++;
}
@@ -1544,6 +1557,9 @@ LSM303D::measure()
accel_report.y = _accel_filter_y.apply(y_in_new);
accel_report.z = _accel_filter_z.apply(z_in_new);
// apply user specified rotation
rotate_3f(_rotation, accel_report.x, accel_report.y, accel_report.z);
accel_report.scaling = _accel_range_scale;
accel_report.range_m_s2 = _accel_range_m_s2;
@@ -1628,6 +1644,9 @@ LSM303D::mag_measure()
mag_report.scaling = _mag_range_scale;
mag_report.range_ga = (float)_mag_range_ga;
// apply user specified rotation
rotate_3f(_rotation, mag_report.x, mag_report.y, mag_report.z);
_mag_reports->force(&mag_report);
/* XXX please check this poll_notify, is it the right one? */
@@ -1801,26 +1820,34 @@ namespace lsm303d
LSM303D *g_dev;
void start();
void start(bool external_bus, enum Rotation rotation);
void test();
void reset();
void info();
void regdump();
void logging();
void usage();
/**
* Start the driver.
*/
void
start()
start(bool external_bus, enum Rotation rotation)
{
int fd, fd_mag;
if (g_dev != nullptr)
errx(0, "already started");
/* create the driver */
g_dev = new LSM303D(PX4_SPI_BUS_SENSORS, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG);
if (external_bus) {
#ifdef PX4_SPI_BUS_EXT
g_dev = new LSM303D(PX4_SPI_BUS_EXT, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_EXT_ACCEL_MAG, rotation);
#else
errx(0, "External SPI not available");
#endif
} else {
g_dev = new LSM303D(PX4_SPI_BUS_SENSORS, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG, rotation);
}
if (g_dev == nullptr) {
warnx("failed instantiating LSM303D obj");
@@ -2016,47 +2043,76 @@ logging()
exit(0);
}
void
usage()
{
warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump', 'logging'");
warnx("options:");
warnx(" -X (external bus)");
warnx(" -R rotation");
}
} // namespace
int
lsm303d_main(int argc, char *argv[])
{
bool external_bus = false;
int ch;
enum Rotation rotation = ROTATION_NONE;
/* jump over start/off/etc and look at options first */
while ((ch = getopt(argc, argv, "XR:")) != EOF) {
switch (ch) {
case 'X':
external_bus = true;
break;
case 'R':
rotation = (enum Rotation)atoi(optarg);
break;
default:
lsm303d::usage();
exit(0);
}
}
const char *verb = argv[optind];
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start"))
lsm303d::start();
if (!strcmp(verb, "start"))
lsm303d::start(external_bus, rotation);
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
if (!strcmp(verb, "test"))
lsm303d::test();
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset"))
if (!strcmp(verb, "reset"))
lsm303d::reset();
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info"))
if (!strcmp(verb, "info"))
lsm303d::info();
/*
* dump device registers
*/
if (!strcmp(argv[1], "regdump"))
if (!strcmp(verb, "regdump"))
lsm303d::regdump();
/*
* dump device registers
*/
if (!strcmp(argv[1], "logging"))
if (!strcmp(verb, "logging"))
lsm303d::logging();
errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'logging' or 'regdump'");