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adis16477 driver
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
5de5d6ea49
commit
ffbd75d1b9
@@ -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
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ADIS16477::write_reg(uint8_t reg, uint8_t val)
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{
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uint8_t cmd[2];
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cmd[0] = reg | 0x8;
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cmd[1] = val;
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transfer(cmd, cmd, sizeof(cmd));
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}
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void
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ADIS16477::start()
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{
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/* make sure we are stopped first */
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uint32_t last_call_interval = _call_interval;
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stop();
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_call_interval = last_call_interval;
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/* start polling at the specified rate */
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hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&ADIS16477::measure_trampoline, this);
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}
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void
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ADIS16477::stop()
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{
|
||||
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);
|
||||
}
|
||||
Reference in New Issue
Block a user