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bmi055 split accel and gyro headers
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
4c5ace9b75
commit
eef325e2af
@@ -0,0 +1,858 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 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 "BMI055_gyro.hpp"
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/*
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list of registers that will be checked in check_registers(). Note
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that ADDR_WHO_AM_I must be first in the list.
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*/
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const uint8_t BMI055_gyro::_checked_registers[BMI055_GYRO_NUM_CHECKED_REGISTERS] = { BMI055_GYR_CHIP_ID,
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BMI055_GYR_LPM1,
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BMI055_GYR_BW,
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BMI055_GYR_RANGE,
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BMI055_GYR_INT_EN_0,
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BMI055_GYR_INT_EN_1,
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BMI055_GYR_INT_MAP_1
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};
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BMI055_gyro::BMI055_gyro(int bus, const char *path_gyro, uint32_t device, enum Rotation rotation) :
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BMI055("BMI055_GYRO", path_gyro, bus, device, SPIDEV_MODE3, BMI055_BUS_SPEED, rotation),
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_gyro_reports(nullptr),
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_gyro_scale{},
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_gyro_range_scale(0.0f),
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_gyro_range_rad_s(0.0f),
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_gyro_topic(nullptr),
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_gyro_orb_class_instance(-1),
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_gyro_class_instance(-1),
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_gyro_sample_rate(BMI055_GYRO_DEFAULT_RATE),
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_gyro_reads(perf_alloc(PC_COUNT, "bmi055_gyro_read")),
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_gyro_filter_x(BMI055_GYRO_DEFAULT_RATE, BMI055_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
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_gyro_filter_y(BMI055_GYRO_DEFAULT_RATE, BMI055_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
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_gyro_filter_z(BMI055_GYRO_DEFAULT_RATE, BMI055_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
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_gyro_int(1000000 / BMI055_GYRO_MAX_PUBLISH_RATE, true),
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_last_temperature(0)
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{
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_device_id.devid_s.devtype = DRV_GYR_DEVTYPE_BMI055;
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// default gyro scale factors
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_gyro_scale.x_offset = 0;
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_gyro_scale.x_scale = 1.0f;
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_gyro_scale.y_offset = 0;
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_gyro_scale.y_scale = 1.0f;
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_gyro_scale.z_offset = 0;
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_gyro_scale.z_scale = 1.0f;
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memset(&_call, 0, sizeof(_call));
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}
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BMI055_gyro::~BMI055_gyro()
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{
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/* make sure we are truly inactive */
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stop();
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/* free any existing reports */
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if (_gyro_reports != nullptr) {
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delete _gyro_reports;
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}
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if (_gyro_class_instance != -1) {
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unregister_class_devname(GYRO_BASE_DEVICE_PATH, _gyro_class_instance);
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}
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/* delete the perf counter */
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perf_free(_gyro_reads);
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}
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int
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BMI055_gyro::init()
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{
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/* do SPI init (and probe) first */
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int ret = SPI::init();
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/* if probe/setup failed, bail now */
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if (ret != OK) {
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DEVICE_DEBUG("SPI setup failed");
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return ret;
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}
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/* allocate basic report buffers */
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_gyro_reports = new ringbuffer::RingBuffer(2, sizeof(gyro_report));
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if (_gyro_reports == nullptr) {
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goto out;
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}
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if (reset() != OK) {
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goto out;
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}
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/* Initialize offsets and scales */
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_gyro_scale.x_offset = 0;
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_gyro_scale.x_scale = 1.0f;
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_gyro_scale.y_offset = 0;
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_gyro_scale.y_scale = 1.0f;
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_gyro_scale.z_offset = 0;
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_gyro_scale.z_scale = 1.0f;
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/* if probe/setup failed, bail now */
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if (ret != OK) {
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DEVICE_DEBUG("gyro init failed");
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return ret;
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}
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_gyro_class_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
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measure();
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/* advertise sensor topic, measure manually to initialize valid report */
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struct gyro_report grp;
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_gyro_reports->get(&grp);
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_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
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&_gyro_orb_class_instance, (external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
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if (_gyro_topic == nullptr) {
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warnx("ADVERT FAIL");
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}
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out:
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return ret;
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}
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int BMI055_gyro::reset()
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{
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write_reg(BMI055_GYR_SOFTRESET, BMI055_SOFT_RESET);//Soft-reset
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usleep(5000);
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write_checked_reg(BMI055_GYR_BW, 0); // Write Gyro Bandwidth
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write_checked_reg(BMI055_GYR_RANGE, 0);// Write Gyro range
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write_checked_reg(BMI055_GYR_INT_EN_0, BMI055_GYR_DRDY_INT_EN); //Enable DRDY interrupt
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write_checked_reg(BMI055_GYR_INT_MAP_1, BMI055_GYR_DRDY_INT1); //Map DRDY interrupt on pin INT1
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set_gyro_range(BMI055_GYRO_DEFAULT_RANGE_DPS);// set Gyro range
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gyro_set_sample_rate(BMI055_GYRO_DEFAULT_RATE);// set Gyro ODR
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//Enable Gyroscope in normal mode
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write_reg(BMI055_GYR_LPM1, BMI055_GYRO_NORMAL);
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up_udelay(1000);
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uint8_t retries = 10;
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while (retries--) {
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bool all_ok = true;
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for (uint8_t i = 0; i < BMI055_GYRO_NUM_CHECKED_REGISTERS; i++) {
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if (read_reg(_checked_registers[i]) != _checked_values[i]) {
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write_reg(_checked_registers[i], _checked_values[i]);
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all_ok = false;
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}
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}
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if (all_ok) {
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break;
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}
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}
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_gyro_reads = 0;
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return OK;
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}
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int
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BMI055_gyro::probe()
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{
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/* look for device ID */
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_whoami = read_reg(BMI055_GYR_CHIP_ID);
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// verify product revision
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switch (_whoami) {
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case BMI055_GYR_WHO_AM_I:
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memset(_checked_values, 0, sizeof(_checked_values));
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memset(_checked_bad, 0, sizeof(_checked_bad));
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_checked_values[0] = _whoami;
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_checked_bad[0] = _whoami;
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return OK;
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}
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DEVICE_DEBUG("unexpected whoami 0x%02x", _whoami);
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return -EIO;
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}
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int
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BMI055_gyro::gyro_set_sample_rate(float frequency)
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{
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uint8_t setbits = 0;
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uint8_t clearbits = BMI055_GYRO_BW_MASK;
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if (frequency <= 100) {
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setbits |= BMI055_GYRO_RATE_100;
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_gyro_sample_rate = 100;
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} else if (frequency <= 250) {
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setbits |= BMI055_GYRO_RATE_400;
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_gyro_sample_rate = 400;
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} else if (frequency <= 1000) {
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setbits |= BMI055_GYRO_RATE_1000;
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_gyro_sample_rate = 1000;
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} else if (frequency > 1000) {
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setbits |= BMI055_GYRO_RATE_2000;
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_gyro_sample_rate = 2000;
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} else {
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return -EINVAL;
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}
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modify_reg(BMI055_GYR_BW, clearbits, setbits);
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return OK;
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}
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int
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BMI055_gyro::self_test()
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{
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if (perf_event_count(_sample_perf) == 0) {
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measure();
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}
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/* return 0 on success, 1 else */
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return (perf_event_count(_sample_perf) > 0) ? 0 : 1;
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}
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int
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BMI055_gyro::gyro_self_test()
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{
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if (self_test()) {
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return 1;
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}
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/*
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* Maximum deviation of 10 degrees
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*/
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const float max_offset = (float)(10 * M_PI_F / 180.0f);
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/* 30% scale error is chosen to catch completely faulty units but
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* to let some slight scale error pass. Requires a rate table or correlation
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* with mag rotations + data fit to
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* calibrate properly and is not done by default.
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*/
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const float max_scale = 0.3f;
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/* evaluate gyro offsets, complain if offset -> zero or larger than 30 dps. */
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if (fabsf(_gyro_scale.x_offset) > max_offset) {
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return 1;
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}
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/* evaluate gyro scale, complain if off by more than 30% */
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if (fabsf(_gyro_scale.x_scale - 1.0f) > max_scale) {
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return 1;
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}
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if (fabsf(_gyro_scale.y_offset) > max_offset) {
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return 1;
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}
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if (fabsf(_gyro_scale.y_scale - 1.0f) > max_scale) {
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return 1;
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}
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if (fabsf(_gyro_scale.z_offset) > max_offset) {
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return 1;
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}
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if (fabsf(_gyro_scale.z_scale - 1.0f) > max_scale) {
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return 1;
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}
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/* check if all scales are zero */
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if ((fabsf(_gyro_scale.x_offset) < 0.000001f) &&
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(fabsf(_gyro_scale.y_offset) < 0.000001f) &&
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(fabsf(_gyro_scale.z_offset) < 0.000001f)) {
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/* if all are zero, this device is not calibrated */
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return 1;
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}
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return 0;
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}
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/*
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deliberately trigger an error in the sensor to trigger recovery
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*/
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void
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BMI055_gyro::test_error()
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{
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write_reg(BMI055_GYR_SOFTRESET, BMI055_SOFT_RESET);
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::printf("error triggered\n");
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print_registers();
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}
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ssize_t
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BMI055_gyro::read(struct file *filp, char *buffer, size_t buflen)
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{
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unsigned count = buflen / sizeof(gyro_report);
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/* buffer must be large enough */
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if (count < 1) {
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return -ENOSPC;
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}
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/* if automatic measurement is not enabled, get a fresh measurement into the buffer */
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if (_call_interval == 0) {
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_gyro_reports->flush();
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measure();
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}
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/* if no data, error (we could block here) */
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if (_gyro_reports->empty()) {
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return -EAGAIN;
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}
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perf_count(_gyro_reads);
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/* copy reports out of our buffer to the caller */
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gyro_report *grp = reinterpret_cast<gyro_report *>(buffer);
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int transferred = 0;
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while (count--) {
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if (!_gyro_reports->get(grp)) {
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break;
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}
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transferred++;
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grp++;
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}
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/* return the number of bytes transferred */
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return (transferred * sizeof(gyro_report));
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}
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int
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BMI055_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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case SENSORIOCRESET:
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return reset();
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case SENSORIOCSPOLLRATE: {
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switch (arg) {
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/* switching to manual polling */
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case SENSOR_POLLRATE_MANUAL:
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stop();
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_call_interval = 0;
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return OK;
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/* external signalling not supported */
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case SENSOR_POLLRATE_EXTERNAL:
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/* zero would be bad */
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case 0:
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return -EINVAL;
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/* set default/max polling rate */
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case SENSOR_POLLRATE_MAX:
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return ioctl(filp, SENSORIOCSPOLLRATE, BMI055_GYRO_MAX_RATE);
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case SENSOR_POLLRATE_DEFAULT:
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return ioctl(filp, SENSORIOCSPOLLRATE, BMI055_GYRO_DEFAULT_RATE);
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/* adjust to a legal polling interval in Hz */
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default: {
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/* do we need to start internal polling? */
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bool want_start = (_call_interval == 0);
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/* convert hz to hrt interval via microseconds */
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unsigned ticks = 1000000 / arg;
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/* check against maximum rate */
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if (ticks < 1000) {
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return -EINVAL;
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}
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// adjust filters
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float cutoff_freq_hz_gyro = _gyro_filter_x.get_cutoff_freq();
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float sample_rate = 1.0e6f / ticks;
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_gyro_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
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_gyro_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
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_gyro_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
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/* update interval for next measurement */
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_call_interval = ticks;
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/*
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set call interval faster than the sample time. We
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then detect when we have duplicate samples and reject
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them. This prevents aliasing due to a beat between the
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stm32 clock and the bmi055 clock
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*/
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_call.period = _call_interval - BMI055_TIMER_REDUCTION;
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/* if we need to start the poll state machine, do it */
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if (want_start) {
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start();
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}
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return OK;
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}
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}
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}
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case SENSORIOCGPOLLRATE:
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if (_call_interval == 0) {
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return SENSOR_POLLRATE_MANUAL;
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}
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return 1000000 / _call_interval;
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case SENSORIOCSQUEUEDEPTH: {
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/* lower bound is mandatory, upper bound is a sanity check */
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if ((arg < 1) || (arg > 100)) {
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return -EINVAL;
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}
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irqstate_t flags = px4_enter_critical_section();
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if (!_gyro_reports->resize(arg)) {
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px4_leave_critical_section(flags);
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return -ENOMEM;
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}
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px4_leave_critical_section(flags);
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return OK;
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}
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case GYROIOCGSAMPLERATE:
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return _gyro_sample_rate;
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case GYROIOCSSAMPLERATE:
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return gyro_set_sample_rate(arg);
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case GYROIOCSSCALE:
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/* copy scale in */
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memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
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return OK;
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case GYROIOCGSCALE:
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/* copy scale out */
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memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
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return OK;
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||||
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case GYROIOCSRANGE:
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return set_gyro_range(arg);
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case GYROIOCGRANGE:
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||||
return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f);
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||||
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||||
case GYROIOCSELFTEST:
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return gyro_self_test();
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||||
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default:
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/* give it to the superclass */
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||||
return SPI::ioctl(filp, cmd, arg);
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||||
}
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||||
}
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||||
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||||
void
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||||
BMI055_gyro::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
|
||||
{
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||||
uint8_t val;
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||||
|
||||
val = read_reg(reg);
|
||||
val &= ~clearbits;
|
||||
val |= setbits;
|
||||
write_checked_reg(reg, val);
|
||||
}
|
||||
|
||||
void
|
||||
BMI055_gyro::write_checked_reg(unsigned reg, uint8_t value)
|
||||
{
|
||||
write_reg(reg, value);
|
||||
|
||||
for (uint8_t i = 0; i < BMI055_GYRO_NUM_CHECKED_REGISTERS; i++) {
|
||||
if (reg == _checked_registers[i]) {
|
||||
_checked_values[i] = value;
|
||||
_checked_bad[i] = value;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int
|
||||
BMI055_gyro::set_gyro_range(unsigned max_dps)
|
||||
{
|
||||
uint8_t setbits = 0;
|
||||
uint8_t clearbits = BMI055_GYRO_RANGE_125_DPS | BMI055_GYRO_RANGE_250_DPS;
|
||||
float lsb_per_dps;
|
||||
float max_gyro_dps;
|
||||
|
||||
if (max_dps == 0) {
|
||||
max_dps = 2000;
|
||||
}
|
||||
|
||||
if (max_dps <= 125) {
|
||||
max_gyro_dps = 125;
|
||||
lsb_per_dps = 262.4;
|
||||
setbits |= BMI055_GYRO_RANGE_125_DPS;
|
||||
|
||||
} else if (max_dps <= 250) {
|
||||
max_gyro_dps = 250;
|
||||
lsb_per_dps = 131.2;
|
||||
setbits |= BMI055_GYRO_RANGE_250_DPS;
|
||||
|
||||
} else if (max_dps <= 500) {
|
||||
max_gyro_dps = 500;
|
||||
lsb_per_dps = 65.6;
|
||||
setbits |= BMI055_GYRO_RANGE_500_DPS;
|
||||
|
||||
} else if (max_dps <= 1000) {
|
||||
max_gyro_dps = 1000;
|
||||
lsb_per_dps = 32.8;
|
||||
setbits |= BMI055_GYRO_RANGE_1000_DPS;
|
||||
|
||||
} else if (max_dps <= 2000) {
|
||||
max_gyro_dps = 2000;
|
||||
lsb_per_dps = 16.4;
|
||||
setbits |= BMI055_GYRO_RANGE_2000_DPS;
|
||||
|
||||
} else {
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
_gyro_range_rad_s = (max_gyro_dps / 180.0f * M_PI_F);
|
||||
_gyro_range_scale = (M_PI_F / (180.0f * lsb_per_dps));
|
||||
|
||||
modify_reg(BMI055_GYR_RANGE, clearbits, setbits);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
void
|
||||
BMI055_gyro::start()
|
||||
{
|
||||
/* make sure we are stopped first */
|
||||
stop();
|
||||
|
||||
/* discard any stale data in the buffers */
|
||||
_gyro_reports->flush();
|
||||
|
||||
/* start polling at the specified rate */
|
||||
hrt_call_every(&_call,
|
||||
1000,
|
||||
_call_interval - BMI055_TIMER_REDUCTION,
|
||||
(hrt_callout)&BMI055_gyro::measure_trampoline, this);
|
||||
reset();
|
||||
}
|
||||
|
||||
void
|
||||
BMI055_gyro::stop()
|
||||
{
|
||||
hrt_cancel(&_call);
|
||||
}
|
||||
|
||||
void
|
||||
BMI055_gyro::measure_trampoline(void *arg)
|
||||
{
|
||||
BMI055_gyro *dev = reinterpret_cast<BMI055_gyro *>(arg);
|
||||
|
||||
/* make another measurement */
|
||||
dev->measure();
|
||||
}
|
||||
|
||||
void
|
||||
BMI055_gyro::check_registers(void)
|
||||
{
|
||||
uint8_t v;
|
||||
|
||||
if ((v = read_reg(_checked_registers[_checked_next])) !=
|
||||
_checked_values[_checked_next]) {
|
||||
_checked_bad[_checked_next] = v;
|
||||
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
if (_register_wait == 0 || _checked_next == 0) {
|
||||
// if the product_id is wrong then reset the
|
||||
// sensor completely
|
||||
write_reg(BMI055_GYR_SOFTRESET, BMI055_SOFT_RESET);
|
||||
_reset_wait = hrt_absolute_time() + 10000;
|
||||
_checked_next = 0;
|
||||
|
||||
} else {
|
||||
write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]);
|
||||
// waiting 3ms between register writes seems
|
||||
// to raise the chance of the sensor
|
||||
// recovering considerably
|
||||
_reset_wait = hrt_absolute_time() + 3000;
|
||||
}
|
||||
|
||||
_register_wait = 20;
|
||||
}
|
||||
|
||||
_checked_next = (_checked_next + 1) % BMI055_GYRO_NUM_CHECKED_REGISTERS;
|
||||
}
|
||||
|
||||
void
|
||||
BMI055_gyro::measure()
|
||||
{
|
||||
if (hrt_absolute_time() < _reset_wait) {
|
||||
// we're waiting for a reset to complete
|
||||
return;
|
||||
}
|
||||
|
||||
struct BMI_GyroReport bmi_gyroreport;
|
||||
|
||||
struct Report {
|
||||
int16_t temp;
|
||||
int16_t gyro_x;
|
||||
int16_t gyro_y;
|
||||
int16_t gyro_z;
|
||||
} report;
|
||||
|
||||
/* start measuring */
|
||||
perf_begin(_sample_perf);
|
||||
|
||||
/*
|
||||
* Fetch the full set of measurements from the BMI055 gyro in one pass.
|
||||
*/
|
||||
bmi_gyroreport.cmd = BMI055_GYR_X_L | DIR_READ;
|
||||
|
||||
|
||||
if (OK != transfer((uint8_t *)&bmi_gyroreport, ((uint8_t *)&bmi_gyroreport), sizeof(bmi_gyroreport))) {
|
||||
return;
|
||||
}
|
||||
|
||||
check_registers();
|
||||
|
||||
uint8_t temp = read_reg(BMI055_ACC_TEMP);
|
||||
|
||||
report.temp = temp;
|
||||
|
||||
report.gyro_x = bmi_gyroreport.gyro_x;
|
||||
report.gyro_y = bmi_gyroreport.gyro_y;
|
||||
report.gyro_z = bmi_gyroreport.gyro_z;
|
||||
|
||||
if (report.temp == 0 &&
|
||||
report.gyro_x == 0 &&
|
||||
report.gyro_y == 0 &&
|
||||
report.gyro_z == 0) {
|
||||
// all zero data - probably a SPI bus error
|
||||
perf_count(_bad_transfers);
|
||||
perf_end(_sample_perf);
|
||||
// note that we don't call reset() here as a reset()
|
||||
// costs 20ms with interrupts disabled. That means if
|
||||
// the bmi055 does go bad it would cause a FMU failure,
|
||||
// regardless of whether another sensor is available,
|
||||
return;
|
||||
}
|
||||
|
||||
perf_count(_good_transfers);
|
||||
|
||||
if (_register_wait != 0) {
|
||||
// we are waiting for some good transfers before using
|
||||
// the sensor again. We still increment
|
||||
// _good_transfers, but don't return any data yet
|
||||
_register_wait--;
|
||||
return;
|
||||
}
|
||||
|
||||
/*
|
||||
* Report buffers.
|
||||
*/
|
||||
gyro_report grb;
|
||||
|
||||
grb.timestamp = hrt_absolute_time();
|
||||
|
||||
// report the error count as the sum of the number of bad
|
||||
// transfers and bad register reads. This allows the higher
|
||||
// level code to decide if it should use this sensor based on
|
||||
// whether it has had failures
|
||||
grb.error_count = perf_event_count(_bad_transfers) + perf_event_count(_bad_registers);
|
||||
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
grb.x_raw = report.gyro_x;
|
||||
grb.y_raw = report.gyro_y;
|
||||
grb.z_raw = report.gyro_z;
|
||||
|
||||
float xraw_f = report.gyro_x;
|
||||
float yraw_f = report.gyro_y;
|
||||
float zraw_f = report.gyro_z;
|
||||
|
||||
// apply user specified rotation
|
||||
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
|
||||
|
||||
float x_gyro_in_new = ((xraw_f * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
|
||||
float y_gyro_in_new = ((yraw_f * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
|
||||
float z_gyro_in_new = ((zraw_f * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
|
||||
|
||||
grb.x = _gyro_filter_x.apply(x_gyro_in_new);
|
||||
grb.y = _gyro_filter_y.apply(y_gyro_in_new);
|
||||
grb.z = _gyro_filter_z.apply(z_gyro_in_new);
|
||||
|
||||
matrix::Vector3f gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
|
||||
matrix::Vector3f gval_integrated;
|
||||
|
||||
bool gyro_notify = _gyro_int.put(grb.timestamp, gval, gval_integrated, grb.integral_dt);
|
||||
grb.x_integral = gval_integrated(0);
|
||||
grb.y_integral = gval_integrated(1);
|
||||
grb.z_integral = gval_integrated(2);
|
||||
|
||||
grb.scaling = _gyro_range_scale;
|
||||
grb.range_rad_s = _gyro_range_rad_s;
|
||||
|
||||
grb.temperature_raw = report.temp;
|
||||
grb.temperature = _last_temperature;
|
||||
grb.device_id = _device_id.devid;
|
||||
|
||||
_gyro_reports->force(&grb);
|
||||
|
||||
/* notify anyone waiting for data */
|
||||
if (gyro_notify) {
|
||||
poll_notify(POLLIN);
|
||||
}
|
||||
|
||||
if (gyro_notify && !(_pub_blocked)) {
|
||||
/* publish it */
|
||||
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &grb);
|
||||
}
|
||||
|
||||
/* stop measuring */
|
||||
perf_end(_sample_perf);
|
||||
}
|
||||
|
||||
void
|
||||
BMI055_gyro::print_info()
|
||||
{
|
||||
PX4_INFO("Gyro");
|
||||
|
||||
perf_print_counter(_sample_perf);
|
||||
perf_print_counter(_gyro_reads);
|
||||
perf_print_counter(_bad_transfers);
|
||||
perf_print_counter(_bad_registers);
|
||||
perf_print_counter(_good_transfers);
|
||||
perf_print_counter(_reset_retries);
|
||||
perf_print_counter(_duplicates);
|
||||
|
||||
_gyro_reports->print_info("gyro queue");
|
||||
::printf("checked_next: %u\n", _checked_next);
|
||||
|
||||
for (uint8_t i = 0; i < BMI055_GYRO_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]);
|
||||
}
|
||||
|
||||
if (v != _checked_bad[i]) {
|
||||
::printf("reg %02x:%02x was bad %02x\n",
|
||||
(unsigned)_checked_registers[i],
|
||||
(unsigned)v,
|
||||
(unsigned)_checked_bad[i]);
|
||||
}
|
||||
}
|
||||
|
||||
::printf("temperature: %.1f\n", (double)_last_temperature);
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
void
|
||||
BMI055_gyro::print_registers()
|
||||
{
|
||||
uint8_t index = 0;
|
||||
printf("BMI055 gyro registers\n");
|
||||
|
||||
uint8_t reg = _checked_registers[index++];
|
||||
uint8_t v = read_reg(reg);
|
||||
printf("Gyro Chip Id: %02x:%02x ", (unsigned)reg, (unsigned)v);
|
||||
printf("\n");
|
||||
|
||||
reg = _checked_registers[index++];
|
||||
v = read_reg(reg);
|
||||
printf("Gyro Power: %02x:%02x ", (unsigned)reg, (unsigned)v);
|
||||
printf("\n");
|
||||
|
||||
reg = _checked_registers[index++];
|
||||
v = read_reg(reg);
|
||||
printf("Gyro Bw: %02x:%02x ", (unsigned)reg, (unsigned)v);
|
||||
printf("\n");
|
||||
|
||||
reg = _checked_registers[index++];
|
||||
v = read_reg(reg);
|
||||
printf("Gyro Range: %02x:%02x ", (unsigned)reg, (unsigned)v);
|
||||
printf("\n");
|
||||
|
||||
reg = _checked_registers[index++];
|
||||
v = read_reg(reg);
|
||||
printf("Gyro Int-en-0: %02x:%02x ", (unsigned)reg, (unsigned)v);
|
||||
printf("\n");
|
||||
|
||||
reg = _checked_registers[index++];
|
||||
v = read_reg(reg);
|
||||
printf("Gyro Int-en-1: %02x:%02x ", (unsigned)reg, (unsigned)v);
|
||||
printf("\n");
|
||||
|
||||
reg = _checked_registers[index++];
|
||||
v = read_reg(reg);
|
||||
printf("Gyro Int-Map-1: %02x:%02x ", (unsigned)reg, (unsigned)v);
|
||||
|
||||
printf("\n");
|
||||
}
|
||||
Reference in New Issue
Block a user