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adis16477 driver
This commit is contained in:
Daniel Agar
Lorenz Meier
parent
5de5d6ea49
commit
ffbd75d1b9
@ -104,6 +104,8 @@
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#define DRV_MAG_DEVTYPE_ADIS16448 0x56
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#define DRV_GYR_DEVTYPE_ADIS16448 0x57
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#define DRV_BARO_DEVTYPE_LPS22HB 0x58
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#define DRV_ACC_DEVTYPE_ADIS16477 0x59
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#define DRV_GYR_DEVTYPE_ADIS16477 0x60
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/*
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* ioctl() definitions
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@ -32,6 +32,7 @@
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############################################################################
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add_subdirectory(adis16448)
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add_subdirectory(adis16477)
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add_subdirectory(bma180)
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add_subdirectory(bmi055)
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add_subdirectory(bmi160)
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643
src/drivers/imu/adis16477/ADIS16477.cpp
Normal file
643
src/drivers/imu/adis16477/ADIS16477.cpp
Normal file
@ -0,0 +1,643 @@
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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 "ADIS16477.hpp"
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#include "ADIS16477_gyro.hpp"
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#include <px4_config.h>
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#include <ecl/geo/geo.h>
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#define DIR_READ 0x00
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#define DIR_WRITE 0x80
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// ADIS16477 registers
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static constexpr uint8_t DIAG_STAT = 0x02; // Output, system error flags
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static constexpr uint8_t X_GYRO_LOW = 0x04; // Output, x-axis gyroscope, low word
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static constexpr uint8_t X_GYRO_OUT = 0x06; // Output, x-axis gyroscope, high word
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static constexpr uint8_t Y_GYRO_LOW = 0x08; // Output, y-axis gyroscope, low word
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static constexpr uint8_t Y_GYRO_OUT = 0x0A; // Output, y-axis gyroscope, high word
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static constexpr uint8_t Z_GYRO_LOW = 0x0C; // Output, z-axis gyroscope, low word
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static constexpr uint8_t Z_GYRO_OUT = 0x0E; // Output, z-axis gyroscope, high word
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static constexpr uint8_t X_ACCL_LOW = 0x10; // Output, x-axis accelerometer, low word
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static constexpr uint8_t X_ACCL_OUT = 0x12; // Output, x-axis accelerometer, high word
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static constexpr uint8_t Y_ACCL_LOW = 0x14; // Output, y-axis accelerometer, low word
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static constexpr uint8_t Y_ACCL_OUT = 0x16; // Output, y-axis accelerometer, high word
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static constexpr uint8_t Z_ACCL_LOW = 0x18; // Output, z-axis accelerometer, low word
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static constexpr uint8_t Z_ACCL_OUT = 0x1A; // Output, z-axis accelerometer, high word
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static constexpr uint8_t TEMP_OUT = 0x1A; // Output, temperature
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static constexpr uint8_t TIME_STAMP = 0x1A; // Output, time stamp
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static constexpr uint8_t GLOB_CMD = 0x68;
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static constexpr uint8_t PROD_ID = 0x72;
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#define PROD_ID_ADIS16477 0x405D /* ADIS16477 Identification, device number */
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#define T_STALL 16
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#define GYROINITIALSENSITIVITY 250
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#define ACCELINITIALSENSITIVITY (1.0f / 1200.0f)
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#define ACCELDYNAMICRANGE 18.0f
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ADIS16477::ADIS16477(int bus, const char *path_accel, const char *path_gyro, uint32_t device, enum Rotation rotation) :
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SPI("ADIS16477", path_accel, bus, device, SPIDEV_MODE3, 1000000),
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_gyro(new ADIS16477_gyro(this, path_gyro)),
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_sample_perf(perf_alloc(PC_ELAPSED, "adis16477_read")),
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_bad_transfers(perf_alloc(PC_COUNT, "adis16477_bad_transfers")),
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_rotation(rotation)
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{
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_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_ADIS16477;
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_gyro->_device_id.devid = _device_id.devid;
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_gyro->_device_id.devid_s.devtype = DRV_GYR_DEVTYPE_ADIS16477;
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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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// default accel scale factors
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_accel_scale.x_offset = 0;
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_accel_scale.x_scale = 1.0f;
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_accel_scale.y_offset = 0;
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_accel_scale.y_scale = 1.0f;
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_accel_scale.z_offset = 0;
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_accel_scale.z_scale = 1.0f;
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}
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ADIS16477::~ADIS16477()
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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 gyro subdriver */
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delete _gyro;
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if (_accel_class_instance != -1) {
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unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _accel_class_instance);
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}
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/* delete the perf counter */
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perf_free(_sample_perf);
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perf_free(_bad_transfers);
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}
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int
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ADIS16477::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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/* if probe/setup failed, bail now */
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DEVICE_DEBUG("SPI setup failed");
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return PX4_ERROR;
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}
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if (reset() != OK) {
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PX4_ERR("reset failed");
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return PX4_ERROR;
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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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_accel_scale.x_offset = 0;
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_accel_scale.x_scale = 1.0f;
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_accel_scale.y_offset = 0;
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_accel_scale.y_scale = 1.0f;
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_accel_scale.z_offset = 0;
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_accel_scale.z_scale = 1.0f;
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/* do CDev init for the gyro device node, keep it optional */
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int ret = _gyro->init();
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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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_accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
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/* fetch an initial set of measurements for advertisement */
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measure();
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/* advertise sensor topic, measure manually to initialize valid report */
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accel_report arp = {};
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/* measurement will have generated a report, publish */
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_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp, &_accel_orb_class_instance, ORB_PRIO_MAX);
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if (_accel_topic == nullptr) {
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PX4_ERR("ADVERT FAIL");
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}
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gyro_report grp = {};
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_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp, &_gyro->_gyro_orb_class_instance, ORB_PRIO_MAX);
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if (_gyro->_gyro_topic == nullptr) {
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PX4_ERR("ADVERT FAIL");
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}
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return ret;
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}
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int ADIS16477::reset()
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{
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// reset
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uint8_t cmd[2] = { 0xE8, 0x80 };
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transfer(cmd, cmd, sizeof(cmd));
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cmd[0] = 0xE9;
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cmd[1] = 0x00;
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transfer(cmd, cmd, sizeof(cmd));
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return OK;
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}
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int
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ADIS16477::probe()
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{
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reset();
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// why?
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for (int i = 0; i < 255; i++) {
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read_reg(i);
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up_udelay(T_STALL);
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}
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for (int i = 0; i < 25; i++) {
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_product = read_reg(PROD_ID);
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if (_product == PROD_ID_ADIS16477) {
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PX4_INFO("PRODUCT: %X", _product);
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return PX4_OK;
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}
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PX4_ERR("PROD_ID attempt %d", i);
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up_udelay(T_STALL);
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}
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// settling time
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up_udelay(50000);
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for (int i = 0; i < 25; i++) {
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_product = read_reg(PROD_ID + 1);
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if (_product == PROD_ID_ADIS16477) {
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PX4_INFO("PRODUCT: %X", _product);
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return PX4_OK;
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}
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PX4_ERR("PROD_ID attempt 0x73 %d", i);
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up_udelay(T_STALL);
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}
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DEVICE_DEBUG("unexpected ID 0x%02x", _product);
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return -EIO;
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}
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/* set sample rate for both accel and gyro */
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void
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ADIS16477::_set_sample_rate(uint16_t desired_sample_rate_hz)
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{
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}
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/* set the DLPF FIR filter tap. This affects both accelerometer and gyroscope. */
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void
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ADIS16477::_set_dlpf_filter(uint16_t desired_filter_tap)
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{
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//modify_reg16(ADIS16477_SENS_AVG, 0x0007, desired_filter_tap);
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/* Verify data write on the IMU */
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//if ((read_reg16(ADIS16477_SENS_AVG) & 0x0007) != desired_filter_tap) {
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// DEVICE_DEBUG("failed to set IMU filter");
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//}
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}
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/* set IMU to factory defaults. */
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void
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ADIS16477::_set_factory_default()
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{
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//write_reg16(ADIS16477_GLOB_CMD, 0x02);
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}
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/* set the gyroscope dynamic range */
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void
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ADIS16477::_set_gyro_dyn_range(uint16_t desired_gyro_dyn_range)
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{
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}
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int
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ADIS16477::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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ADIS16477::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, 1000);
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case SENSOR_POLLRATE_DEFAULT:
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return ioctl(filp, SENSORIOCSPOLLRATE, ADIS16477_ACCEL_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 sane 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 = _accel_filter_x.get_cutoff_freq();
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float sample_rate = 1.0e6f / ticks;
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_accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
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_accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
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_accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
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float cutoff_freq_hz_gyro = _gyro_filter_x.get_cutoff_freq();
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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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/* XXX this is a bit shady, but no other way to adjust... */
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_call.period = _call_interval = ticks;
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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 ACCELIOCGSAMPLERATE:
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return _sample_rate;
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case ACCELIOCSSAMPLERATE:
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_set_sample_rate(arg);
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return OK;
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case ACCELIOCSSCALE: {
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/* copy scale, but only if off by a few percent */
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struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
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float sum = s->x_scale + s->y_scale + s->z_scale;
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if (sum > 2.0f && sum < 4.0f) {
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memcpy(&_accel_scale, s, sizeof(_accel_scale));
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return OK;
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} else {
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return -EINVAL;
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}
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}
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case ACCELIOCGSCALE:
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/* copy scale out */
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memcpy((struct accel_calibration_s *) arg, &_accel_scale, sizeof(_accel_scale));
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return OK;
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case ACCELIOCSRANGE:
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return -EINVAL;
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case ACCELIOCGRANGE:
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return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
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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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int
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ADIS16477::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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/* these are shared with the accel side */
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case SENSORIOCSPOLLRATE:
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case SENSORIOCGPOLLRATE:
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case SENSORIOCRESET:
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return ioctl(filp, cmd, arg);
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case GYROIOCGSAMPLERATE:
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return _sample_rate;
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case GYROIOCSSAMPLERATE:
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_set_sample_rate(arg);
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return OK;
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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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case GYROIOCSRANGE:
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_set_gyro_dyn_range(arg);
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return OK;
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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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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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uint16_t
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ADIS16477::read_reg(uint8_t reg)
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{
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uint8_t cmd[2] = { reg, 0 };
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transfer(cmd, cmd, sizeof(cmd));
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// return cmd[0] + cmd[1]
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return (cmd[0] << 8) + cmd[1];
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}
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||||
|
||||
void
|
||||
ADIS16477::write_reg(uint8_t reg, uint8_t val)
|
||||
{
|
||||
uint8_t cmd[2];
|
||||
cmd[0] = reg | 0x8;
|
||||
cmd[1] = val;
|
||||
transfer(cmd, cmd, sizeof(cmd));
|
||||
}
|
||||
|
||||
void
|
||||
ADIS16477::start()
|
||||
{
|
||||
/* make sure we are stopped first */
|
||||
uint32_t last_call_interval = _call_interval;
|
||||
stop();
|
||||
_call_interval = last_call_interval;
|
||||
|
||||
/* start polling at the specified rate */
|
||||
hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&ADIS16477::measure_trampoline, this);
|
||||
}
|
||||
|
||||
void
|
||||
ADIS16477::stop()
|
||||
{
|
||||
hrt_cancel(&_call);
|
||||
}
|
||||
|
||||
void
|
||||
ADIS16477::measure_trampoline(void *arg)
|
||||
{
|
||||
ADIS16477 *dev = reinterpret_cast<ADIS16477 *>(arg);
|
||||
|
||||
/* make another measurement */
|
||||
dev->measure();
|
||||
}
|
||||
|
||||
int
|
||||
ADIS16477::measure()
|
||||
{
|
||||
ADISReport adis_report = {};
|
||||
|
||||
// ADIS16477 burst report should be 176 bits
|
||||
//static_assert(sizeof(cmd) + sizeof(report) == (176 / 8), "ADIS16477 report not 176 bits");
|
||||
|
||||
// start measuring
|
||||
perf_begin(_sample_perf);
|
||||
|
||||
// Fetch the full set of measurements from the ADIS16477 in one pass (burst read).
|
||||
adis_report.cmd = ((GLOB_CMD | DIR_READ) << 8) & 0xff00;
|
||||
|
||||
if (OK != transferhword((uint16_t *)&adis_report, ((uint16_t *)&adis_report), sizeof(adis_report) / sizeof(uint16_t))) {
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
if (adis_report.diag_stat != 0) {
|
||||
//PX4_INFO("status: %X", adis_report.diag_stat);
|
||||
perf_event_count(_bad_transfers);
|
||||
}
|
||||
|
||||
publish_gyro(adis_report);
|
||||
publish_accel(adis_report);
|
||||
|
||||
/* stop measuring */
|
||||
perf_end(_sample_perf);
|
||||
return OK;
|
||||
}
|
||||
|
||||
bool
|
||||
ADIS16477::publish_accel(const ADISReport &report)
|
||||
{
|
||||
const bool x_valid = (report.accel_x != 0) && (report.accel_x != INT16_MAX);
|
||||
const bool y_valid = (report.accel_y != 0) && (report.accel_y != INT16_MAX);
|
||||
const bool z_valid = (report.accel_z != 0) && (report.accel_z != INT16_MAX);
|
||||
|
||||
if (!x_valid || !y_valid || !z_valid) {
|
||||
return false;
|
||||
}
|
||||
|
||||
accel_report arb = {};
|
||||
arb.timestamp = hrt_absolute_time();
|
||||
arb.error_count = perf_event_count(_bad_transfers);
|
||||
|
||||
float xraw_f = report.accel_x * _accel_range_scale;
|
||||
float yraw_f = report.accel_y * _accel_range_scale;
|
||||
float zraw_f = report.accel_z * _accel_range_scale;
|
||||
|
||||
arb.x_raw = report.accel_x;
|
||||
arb.y_raw = report.accel_y;
|
||||
arb.z_raw = report.accel_z;
|
||||
|
||||
// apply user specified rotation
|
||||
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
|
||||
|
||||
float x_in_new = (xraw_f - _accel_scale.x_offset) * _accel_scale.x_scale;
|
||||
float y_in_new = (yraw_f - _accel_scale.y_offset) * _accel_scale.y_scale;
|
||||
float z_in_new = (zraw_f - _accel_scale.z_offset) * _accel_scale.z_scale;
|
||||
|
||||
arb.x = _accel_filter_x.apply(x_in_new);
|
||||
arb.y = _accel_filter_y.apply(y_in_new);
|
||||
arb.z = _accel_filter_z.apply(z_in_new);
|
||||
|
||||
matrix::Vector3f aval(x_in_new, y_in_new, z_in_new);
|
||||
matrix::Vector3f aval_integrated;
|
||||
|
||||
bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, arb.integral_dt);
|
||||
arb.x_integral = aval_integrated(0);
|
||||
arb.y_integral = aval_integrated(1);
|
||||
arb.z_integral = aval_integrated(2);
|
||||
|
||||
arb.scaling = _accel_range_scale;
|
||||
arb.range_m_s2 = _accel_range_m_s2;
|
||||
|
||||
/* Temperature report: */
|
||||
// temperature 1 LSB = 0.1°C
|
||||
arb.temperature = report.temp * 0.1;
|
||||
|
||||
/* return device ID */
|
||||
arb.device_id = _device_id.devid;
|
||||
|
||||
if (accel_notify) {
|
||||
orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
|
||||
}
|
||||
|
||||
return accel_notify;
|
||||
}
|
||||
|
||||
bool
|
||||
ADIS16477::publish_gyro(const ADISReport &report)
|
||||
{
|
||||
const bool x_valid = (report.gyro_x != 0) && (report.gyro_x != INT16_MAX);
|
||||
const bool y_valid = (report.gyro_y != 0) && (report.gyro_y != INT16_MAX);
|
||||
const bool z_valid = (report.gyro_z != 0) && (report.gyro_z != INT16_MAX);
|
||||
|
||||
if (!x_valid || !y_valid || !z_valid) {
|
||||
return false;
|
||||
}
|
||||
|
||||
gyro_report grb = {};
|
||||
grb.timestamp = hrt_absolute_time();
|
||||
grb.error_count = perf_event_count(_bad_transfers);
|
||||
|
||||
/* Gyro report: */
|
||||
grb.x_raw = report.gyro_x;
|
||||
grb.y_raw = report.gyro_y;
|
||||
grb.z_raw = report.gyro_z;
|
||||
|
||||
// ADIS16477-2BMLZ scale factory
|
||||
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 = (math::radians(xraw_f * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
|
||||
float y_gyro_in_new = (math::radians(yraw_f * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
|
||||
float z_gyro_in_new = (math::radians(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 = math::radians(_gyro_range_scale);
|
||||
grb.range_rad_s = _gyro_range_rad_s;
|
||||
|
||||
/* Temperature report: */
|
||||
// temperature 1 LSB = 0.1°C
|
||||
grb.temperature = report.temp * 0.1;
|
||||
|
||||
if (gyro_notify) {
|
||||
orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
|
||||
}
|
||||
|
||||
return gyro_notify;
|
||||
}
|
||||
|
||||
void
|
||||
ADIS16477::print_info()
|
||||
{
|
||||
perf_print_counter(_sample_perf);
|
||||
perf_print_counter(_bad_transfers);
|
||||
|
||||
PX4_INFO("DEVICE ID:\nACCEL:\t%d\nGYRO:\t%d\n\n", _device_id.devid, _gyro->_device_id.devid);
|
||||
}
|
||||
230
src/drivers/imu/adis16477/ADIS16477.hpp
Normal file
230
src/drivers/imu/adis16477/ADIS16477.hpp
Normal file
@ -0,0 +1,230 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* ADIS16477.hpp
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef DRIVERS_IMU_ADIS16477_ADIS16477_HPP_
|
||||
#define DRIVERS_IMU_ADIS16477_ADIS16477_HPP_
|
||||
|
||||
#include <drivers/device/ringbuffer.h>
|
||||
#include <drivers/device/spi.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_accel.h>
|
||||
#include <drivers/drv_gyro.h>
|
||||
#include <mathlib/math/filter/LowPassFilter2p.hpp>
|
||||
#include <drivers/device/integrator.h>
|
||||
#include <lib/conversion/rotation.h>
|
||||
#include <perf/perf_counter.h>
|
||||
#include <ecl/geo/geo.h>
|
||||
|
||||
#define ADIS16477_GYRO_DEFAULT_RATE 250
|
||||
#define ADIS16477_GYRO_DEFAULT_DRIVER_FILTER_FREQ 30
|
||||
|
||||
#define ADIS16477_ACCEL_DEFAULT_RATE 250
|
||||
#define ADIS16477_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
|
||||
|
||||
#define ADIS16477_ACCEL_MAX_OUTPUT_RATE 1221
|
||||
#define ADIS16477_GYRO_MAX_OUTPUT_RATE 1221
|
||||
|
||||
class ADIS16477_gyro;
|
||||
|
||||
class ADIS16477 : public device::SPI
|
||||
{
|
||||
public:
|
||||
ADIS16477(int bus, const char *path_accel, const char *path_gyro, uint32_t device, enum Rotation rotation);
|
||||
virtual ~ADIS16477();
|
||||
|
||||
virtual int init();
|
||||
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
|
||||
void print_info();
|
||||
|
||||
protected:
|
||||
virtual int probe();
|
||||
|
||||
friend class ADIS16477_gyro;
|
||||
|
||||
virtual int gyro_ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
|
||||
private:
|
||||
ADIS16477_gyro *_gyro{nullptr};
|
||||
|
||||
uint16_t _product{0}; /** product code */
|
||||
|
||||
struct hrt_call _call {};
|
||||
unsigned _call_interval{0};
|
||||
|
||||
struct gyro_calibration_s _gyro_scale {};
|
||||
|
||||
// gyro 0.025 °/sec/LSB
|
||||
float _gyro_range_scale{0.025f};
|
||||
float _gyro_range_rad_s{math::radians(500.0f)};
|
||||
|
||||
struct accel_calibration_s _accel_scale {};
|
||||
|
||||
// accel 1.25 mg/LSB
|
||||
float _accel_range_scale{1.25f * CONSTANTS_ONE_G / 1000.0f};
|
||||
float _accel_range_m_s2{40.0f * CONSTANTS_ONE_G};
|
||||
|
||||
orb_advert_t _accel_topic{nullptr};
|
||||
|
||||
int _accel_orb_class_instance{-1};
|
||||
int _accel_class_instance{-1};
|
||||
|
||||
unsigned _sample_rate{100};
|
||||
|
||||
perf_counter_t _sample_perf;
|
||||
perf_counter_t _bad_transfers;
|
||||
|
||||
math::LowPassFilter2p _gyro_filter_x{ADIS16477_GYRO_DEFAULT_RATE, ADIS16477_GYRO_DEFAULT_DRIVER_FILTER_FREQ};
|
||||
math::LowPassFilter2p _gyro_filter_y{ADIS16477_GYRO_DEFAULT_RATE, ADIS16477_GYRO_DEFAULT_DRIVER_FILTER_FREQ};
|
||||
math::LowPassFilter2p _gyro_filter_z{ADIS16477_GYRO_DEFAULT_RATE, ADIS16477_GYRO_DEFAULT_DRIVER_FILTER_FREQ};
|
||||
|
||||
math::LowPassFilter2p _accel_filter_x{ADIS16477_ACCEL_DEFAULT_RATE, ADIS16477_ACCEL_DEFAULT_DRIVER_FILTER_FREQ};
|
||||
math::LowPassFilter2p _accel_filter_y{ADIS16477_ACCEL_DEFAULT_RATE, ADIS16477_ACCEL_DEFAULT_DRIVER_FILTER_FREQ};
|
||||
math::LowPassFilter2p _accel_filter_z{ADIS16477_ACCEL_DEFAULT_RATE, ADIS16477_ACCEL_DEFAULT_DRIVER_FILTER_FREQ};
|
||||
|
||||
Integrator _accel_int{1000000 / ADIS16477_ACCEL_MAX_OUTPUT_RATE, false};
|
||||
Integrator _gyro_int{1000000 / ADIS16477_GYRO_MAX_OUTPUT_RATE, true};
|
||||
|
||||
enum Rotation _rotation;
|
||||
|
||||
perf_counter_t _controller_latency_perf;
|
||||
|
||||
#pragma pack(push, 1)
|
||||
/**
|
||||
* Report conversation with in the ADIS16477, including command byte and interrupt status.
|
||||
*/
|
||||
struct ADISReport {
|
||||
uint16_t cmd;
|
||||
uint16_t diag_stat;
|
||||
int16_t gyro_x;
|
||||
int16_t gyro_y;
|
||||
int16_t gyro_z;
|
||||
int16_t accel_x;
|
||||
int16_t accel_y;
|
||||
int16_t accel_z;
|
||||
uint16_t temp;
|
||||
uint16_t DATA_CNTR;
|
||||
uint16_t checksum;
|
||||
|
||||
ADISReport():
|
||||
cmd(0),
|
||||
diag_stat(0),
|
||||
gyro_x(0),
|
||||
gyro_y(0),
|
||||
gyro_z(0),
|
||||
accel_x(0),
|
||||
accel_y(0),
|
||||
accel_z(0),
|
||||
temp(0),
|
||||
DATA_CNTR(0)
|
||||
{}
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
/**
|
||||
* Start automatic measurement.
|
||||
*/
|
||||
void start();
|
||||
|
||||
/**
|
||||
* Stop automatic measurement.
|
||||
*/
|
||||
void stop();
|
||||
|
||||
/**
|
||||
* Reset chip.
|
||||
*
|
||||
* Resets the chip and measurements ranges, but not scale and offset.
|
||||
*/
|
||||
int reset();
|
||||
|
||||
/**
|
||||
* Static trampoline from the hrt_call context; because we don't have a
|
||||
* generic hrt wrapper yet.
|
||||
*
|
||||
* Called by the HRT in interrupt context at the specified rate if
|
||||
* automatic polling is enabled.
|
||||
*
|
||||
* @param arg Instance pointer for the driver that is polling.
|
||||
*/
|
||||
static void measure_trampoline(void *arg);
|
||||
|
||||
/**
|
||||
* Fetch measurements from the sensor and update the report buffers.
|
||||
*/
|
||||
int measure();
|
||||
|
||||
bool publish_accel(const ADISReport &report);
|
||||
bool publish_gyro(const ADISReport &report);
|
||||
|
||||
uint16_t read_reg(uint8_t reg);
|
||||
void write_reg(uint8_t reg, uint8_t val);
|
||||
|
||||
/**
|
||||
* Measurement self test
|
||||
*
|
||||
* @return 0 on success, 1 on failure
|
||||
*/
|
||||
int self_test();
|
||||
|
||||
/*
|
||||
set low pass filter frequency
|
||||
*/
|
||||
void _set_dlpf_filter(uint16_t frequency_hz);
|
||||
|
||||
/*
|
||||
set IMU to factory default
|
||||
*/
|
||||
void _set_factory_default();
|
||||
|
||||
/*
|
||||
set sample rate (approximate) - 1kHz to 5Hz
|
||||
*/
|
||||
void _set_sample_rate(uint16_t desired_sample_rate_hz);
|
||||
|
||||
/*
|
||||
set the gyroscope dynamic range
|
||||
*/
|
||||
void _set_gyro_dyn_range(uint16_t desired_gyro_dyn_range);
|
||||
|
||||
ADIS16477(const ADIS16477 &);
|
||||
ADIS16477 operator=(const ADIS16477 &);
|
||||
};
|
||||
|
||||
#endif /* DRIVERS_IMU_ADIS16477_ADIS16477_HPP_ */
|
||||
79
src/drivers/imu/adis16477/ADIS16477_gyro.cpp
Normal file
79
src/drivers/imu/adis16477/ADIS16477_gyro.cpp
Normal file
@ -0,0 +1,79 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 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 "ADIS16477_gyro.hpp"
|
||||
|
||||
ADIS16477_gyro::ADIS16477_gyro(ADIS16477 *parent, const char *path) :
|
||||
CDev("ADIS16477_gyro", path),
|
||||
_parent(parent),
|
||||
_gyro_topic(nullptr),
|
||||
_gyro_orb_class_instance(-1),
|
||||
_gyro_class_instance(-1)
|
||||
{
|
||||
}
|
||||
|
||||
ADIS16477_gyro::~ADIS16477_gyro()
|
||||
{
|
||||
if (_gyro_class_instance != -1) {
|
||||
unregister_class_devname(GYRO_BASE_DEVICE_PATH, _gyro_class_instance);
|
||||
}
|
||||
}
|
||||
|
||||
int
|
||||
ADIS16477_gyro::init()
|
||||
{
|
||||
int ret = CDev::init();
|
||||
|
||||
/* if probe/setup failed, bail now */
|
||||
if (ret != OK) {
|
||||
DEVICE_DEBUG("gyro init failed");
|
||||
return ret;
|
||||
}
|
||||
|
||||
_gyro_class_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
ADIS16477_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
switch (cmd) {
|
||||
case DEVIOCGDEVICEID:
|
||||
return (int)CDev::ioctl(filp, cmd, arg);
|
||||
break;
|
||||
|
||||
default:
|
||||
return _parent->gyro_ioctl(filp, cmd, arg);
|
||||
}
|
||||
}
|
||||
71
src/drivers/imu/adis16477/ADIS16477_gyro.hpp
Normal file
71
src/drivers/imu/adis16477/ADIS16477_gyro.hpp
Normal file
@ -0,0 +1,71 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef DRIVERS_IMU_ADIS16477_ADIS16477_GYRO_HPP_
|
||||
#define DRIVERS_IMU_ADIS16477_ADIS16477_GYRO_HPP_
|
||||
|
||||
#include "ADIS16477.hpp"
|
||||
|
||||
#include <drivers/device/CDev.hpp>
|
||||
#include <drivers/drv_gyro.h>
|
||||
|
||||
/**
|
||||
* Helper class implementing the gyro driver node.
|
||||
*/
|
||||
class ADIS16477_gyro : public device::CDev
|
||||
{
|
||||
public:
|
||||
ADIS16477_gyro(ADIS16477 *parent, const char *path);
|
||||
virtual ~ADIS16477_gyro();
|
||||
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
|
||||
virtual int init();
|
||||
|
||||
protected:
|
||||
friend class ADIS16477;
|
||||
|
||||
private:
|
||||
ADIS16477 *_parent{nullptr};
|
||||
orb_advert_t _gyro_topic{nullptr};
|
||||
|
||||
int _gyro_orb_class_instance{-1};
|
||||
int _gyro_class_instance{-1};
|
||||
|
||||
/* do not allow to copy this class due to pointer data members */
|
||||
ADIS16477_gyro(const ADIS16477_gyro &);
|
||||
ADIS16477_gyro operator=(const ADIS16477_gyro &);
|
||||
|
||||
};
|
||||
|
||||
#endif /* DRIVERS_IMU_ADIS16477_ADIS16477_GYRO_HPP_ */
|
||||
266
src/drivers/imu/adis16477/ADIS16477_main.cpp
Normal file
266
src/drivers/imu/adis16477/ADIS16477_main.cpp
Normal file
@ -0,0 +1,266 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 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 "ADIS16477.hpp"
|
||||
|
||||
#define ADIS16477_DEVICE_PATH_ACCEL "/dev/adis16477_accel"
|
||||
#define ADIS16477_DEVICE_PATH_GYRO "/dev/adis16477_gyro"
|
||||
|
||||
extern "C" { __EXPORT int adis16477_main(int argc, char *argv[]); }
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace adis16477
|
||||
{
|
||||
|
||||
ADIS16477 *g_dev;
|
||||
|
||||
void start(enum Rotation rotation);
|
||||
void test();
|
||||
void reset();
|
||||
void info();
|
||||
void usage();
|
||||
/**
|
||||
* Start the driver.
|
||||
*/
|
||||
void
|
||||
start(enum Rotation rotation)
|
||||
{
|
||||
int fd = -1;
|
||||
|
||||
if (g_dev != nullptr)
|
||||
/* if already started, the still command succeeded */
|
||||
{
|
||||
errx(0, "already started");
|
||||
}
|
||||
|
||||
/* create the driver */
|
||||
#if defined(PX4_SPIDEV_ADIS16477)
|
||||
g_dev = new ADIS16477(PX4_SPI_BUS_SENSOR1, ADIS16477_DEVICE_PATH_ACCEL, ADIS16477_DEVICE_PATH_GYRO,
|
||||
PX4_SPIDEV_ADIS16477, rotation);
|
||||
#else
|
||||
PX4_ERR("External SPI not available");
|
||||
exit(0);
|
||||
#endif
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (OK != (g_dev)->init()) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
/* set the poll rate to default, starts automatic data collection */
|
||||
fd = px4_open(ADIS16477_DEVICE_PATH_ACCEL, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
px4_close(fd);
|
||||
exit(0);
|
||||
fail:
|
||||
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
}
|
||||
|
||||
errx(1, "driver start failed");
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform some basic functional tests on the driver;
|
||||
* make sure we can collect data from the sensor in polled
|
||||
* and automatic modes.
|
||||
*/
|
||||
void
|
||||
test()
|
||||
{
|
||||
accel_report a_report;
|
||||
gyro_report g_report;
|
||||
|
||||
ssize_t sz;
|
||||
|
||||
/* get the driver */
|
||||
int fd = px4_open(ADIS16477_DEVICE_PATH_ACCEL, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "%s open failed", ADIS16477_DEVICE_PATH_ACCEL);
|
||||
}
|
||||
|
||||
/* get the gyro driver */
|
||||
int fd_gyro = px4_open(ADIS16477_DEVICE_PATH_GYRO, O_RDONLY);
|
||||
|
||||
if (fd_gyro < 0) {
|
||||
err(1, "%s open failed", ADIS16477_DEVICE_PATH_GYRO);
|
||||
}
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd, &a_report, sizeof(a_report));
|
||||
|
||||
if (sz != sizeof(a_report)) {
|
||||
PX4_ERR("ret: %d, expected: %d", sz, sizeof(a_report));
|
||||
err(1, "immediate acc read failed");
|
||||
}
|
||||
|
||||
print_message(a_report);
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = px4_read(fd_gyro, &g_report, sizeof(g_report));
|
||||
|
||||
if (sz != sizeof(g_report)) {
|
||||
warnx("ret: %d, expected: %d", sz, sizeof(g_report));
|
||||
err(1, "immediate gyro read failed");
|
||||
}
|
||||
|
||||
print_message(g_report);
|
||||
|
||||
px4_close(fd_gyro);
|
||||
px4_close(fd);
|
||||
|
||||
reset();
|
||||
errx(0, "PASS");
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
void
|
||||
reset()
|
||||
{
|
||||
int fd = px4_open(ADIS16477_DEVICE_PATH_ACCEL, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "open failed");
|
||||
}
|
||||
|
||||
if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) {
|
||||
err(1, "driver reset failed");
|
||||
}
|
||||
|
||||
if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
err(1, "driver poll restart failed");
|
||||
}
|
||||
|
||||
px4_close(fd);
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
void
|
||||
info()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
printf("state @ %p\n", g_dev);
|
||||
g_dev->print_info();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
void
|
||||
usage()
|
||||
{
|
||||
PX4_INFO("missing command: try 'start', 'test', 'info', 'reset'");
|
||||
PX4_INFO("options:");
|
||||
PX4_INFO(" -R rotation");
|
||||
}
|
||||
|
||||
}
|
||||
// namespace
|
||||
|
||||
int
|
||||
adis16477_main(int argc, char *argv[])
|
||||
{
|
||||
enum Rotation rotation = ROTATION_NONE;
|
||||
int ch;
|
||||
|
||||
/* start options */
|
||||
while ((ch = getopt(argc, argv, "R:")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
rotation = (enum Rotation)atoi(optarg);
|
||||
break;
|
||||
|
||||
default:
|
||||
adis16477::usage();
|
||||
exit(0);
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = argv[optind];
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
|
||||
*/
|
||||
if (!strcmp(verb, "start")) {
|
||||
adis16477::start(rotation);
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(verb, "test")) {
|
||||
adis16477::test();
|
||||
}
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "reset")) {
|
||||
adis16477::reset();
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(verb, "info")) {
|
||||
adis16477::info();
|
||||
}
|
||||
|
||||
adis16477::usage();
|
||||
exit(1);
|
||||
}
|
||||
40
src/drivers/imu/adis16477/CMakeLists.txt
Normal file
40
src/drivers/imu/adis16477/CMakeLists.txt
Normal file
@ -0,0 +1,40 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2018 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.
|
||||
#
|
||||
############################################################################
|
||||
px4_add_module(
|
||||
MODULE drivers__imu__adis16477
|
||||
MAIN adis16477
|
||||
SRCS
|
||||
ADIS16477.cpp
|
||||
ADIS16477_gyro.cpp
|
||||
ADIS16477_main.cpp
|
||||
)
|
||||
Loading…
x
Reference in New Issue
Block a user