/**************************************************************************** * * 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 "BMI055_accel.hpp" #include /* list of registers that will be checked in check_registers(). Note that ADDR_WHO_AM_I must be first in the list. */ const uint8_t BMI055_accel::_checked_registers[BMI055_ACCEL_NUM_CHECKED_REGISTERS] = { BMI055_ACC_CHIP_ID, BMI055_ACC_BW, BMI055_ACC_RANGE, BMI055_ACC_INT_EN_1, BMI055_ACC_INT_MAP_1, }; BMI055_accel::BMI055_accel(int bus, const char *path_accel, uint32_t device, enum Rotation rotation) : BMI055("BMI055_ACCEL", path_accel, bus, device, SPIDEV_MODE3, BMI055_BUS_SPEED, rotation), _sample_perf(perf_alloc(PC_ELAPSED, "bmi055_accel_read")), _measure_interval(perf_alloc(PC_INTERVAL, "bmi055_accel_measure_interval")), _bad_transfers(perf_alloc(PC_COUNT, "bmi055_accel_bad_transfers")), _bad_registers(perf_alloc(PC_COUNT, "bmi055_accel_bad_registers")), _duplicates(perf_alloc(PC_COUNT, "bmi055_accel_duplicates")), _accel_reports(nullptr), _accel_scale{}, _accel_range_scale(0.0f), _accel_range_m_s2(0.0f), _accel_topic(nullptr), _accel_orb_class_instance(-1), _accel_class_instance(-1), _accel_sample_rate(BMI055_ACCEL_DEFAULT_RATE), _accel_filter_x(BMI055_ACCEL_DEFAULT_RATE, BMI055_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_y(BMI055_ACCEL_DEFAULT_RATE, BMI055_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_z(BMI055_ACCEL_DEFAULT_RATE, BMI055_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_int(1000000 / BMI055_ACCEL_MAX_PUBLISH_RATE), _last_temperature(0), _got_duplicate(false) { _device_id.devid_s.devtype = DRV_ACC_DEVTYPE_BMI055; // default accel scale factors _accel_scale.x_offset = 0; _accel_scale.x_scale = 1.0f; _accel_scale.y_offset = 0; _accel_scale.y_scale = 1.0f; _accel_scale.z_offset = 0; _accel_scale.z_scale = 1.0f; memset(&_call, 0, sizeof(_call)); } BMI055_accel::~BMI055_accel() { /* make sure we are truly inactive */ stop(); /* free any existing reports */ if (_accel_reports != nullptr) { delete _accel_reports; } if (_accel_class_instance != -1) { unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _accel_class_instance); } /* delete the perf counter */ perf_free(_sample_perf); perf_free(_measure_interval); perf_free(_bad_transfers); perf_free(_bad_registers); perf_free(_duplicates); } int BMI055_accel::init() { /* do SPI init (and probe) first */ int ret = SPI::init(); /* if probe/setup failed, bail now */ if (ret != OK) { DEVICE_DEBUG("SPI setup failed"); return ret; } /* allocate basic report buffers */ _accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report)); if (_accel_reports == nullptr) { goto out; } if (reset() != OK) { goto out; } /* Initialize offsets and scales */ _accel_scale.x_offset = 0; _accel_scale.x_scale = 1.0f; _accel_scale.y_offset = 0; _accel_scale.y_scale = 1.0f; _accel_scale.z_offset = 0; _accel_scale.z_scale = 1.0f; _accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH); measure(); /* advertise sensor topic, measure manually to initialize valid report */ struct accel_report arp; _accel_reports->get(&arp); /* measurement will have generated a report, publish */ _accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp, &_accel_orb_class_instance, (external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1); if (_accel_topic == nullptr) { warnx("ADVERT FAIL"); } out: return ret; } int BMI055_accel::reset() { write_reg(BMI055_ACC_SOFTRESET, BMI055_SOFT_RESET);//Soft-reset up_udelay(5000); write_checked_reg(BMI055_ACC_BW, BMI055_ACCEL_BW_1000); //Write accel bandwidth write_checked_reg(BMI055_ACC_RANGE, BMI055_ACCEL_RANGE_2_G);//Write range write_checked_reg(BMI055_ACC_INT_EN_1, BMI055_ACC_DRDY_INT_EN); //Enable DRDY interrupt write_checked_reg(BMI055_ACC_INT_MAP_1, BMI055_ACC_DRDY_INT1); //Map DRDY interrupt on pin INT1 set_accel_range(BMI055_ACCEL_DEFAULT_RANGE_G);//set accel range accel_set_sample_rate(BMI055_ACCEL_DEFAULT_RATE);//set accel ODR //Enable Accelerometer in normal mode write_reg(BMI055_ACC_PMU_LPW, BMI055_ACCEL_NORMAL); up_udelay(1000); uint8_t retries = 10; while (retries--) { bool all_ok = true; for (uint8_t i = 0; i < BMI055_ACCEL_NUM_CHECKED_REGISTERS; i++) { if (read_reg(_checked_registers[i]) != _checked_values[i]) { write_reg(_checked_registers[i], _checked_values[i]); all_ok = false; } } if (all_ok) { break; } } return OK; } int BMI055_accel::probe() { /* look for device ID */ _whoami = read_reg(BMI055_ACC_CHIP_ID); // verify product revision switch (_whoami) { case BMI055_ACC_WHO_AM_I: memset(_checked_values, 0, sizeof(_checked_values)); memset(_checked_bad, 0, sizeof(_checked_bad)); _checked_values[0] = _whoami; _checked_bad[0] = _whoami; return OK; } DEVICE_DEBUG("unexpected whoami 0x%02x", _whoami); return -EIO; } int BMI055_accel::accel_set_sample_rate(float frequency) { uint8_t setbits = 0; uint8_t clearbits = BMI055_ACCEL_BW_1000; if (frequency < (3125 / 100)) { setbits |= BMI055_ACCEL_BW_7_81; _accel_sample_rate = 1563 / 100; } else if (frequency < (625 / 10)) { setbits |= BMI055_ACCEL_BW_15_63; _accel_sample_rate = 625 / 10; } else if (frequency < (125)) { setbits |= BMI055_ACCEL_BW_31_25; _accel_sample_rate = 625 / 10; } else if (frequency < 250) { setbits |= BMI055_ACCEL_BW_62_5; _accel_sample_rate = 125; } else if (frequency < 500) { setbits |= BMI055_ACCEL_BW_125; _accel_sample_rate = 250; } else if (frequency < 1000) { setbits |= BMI055_ACCEL_BW_250; _accel_sample_rate = 500; } else if (frequency < 2000) { setbits |= BMI055_ACCEL_BW_500; _accel_sample_rate = 1000; } else if (frequency >= 2000) { setbits |= BMI055_ACCEL_BW_1000; _accel_sample_rate = 2000; } else { return -EINVAL; } /* Write accel ODR */ modify_reg(BMI055_ACC_BW, clearbits, setbits); return OK; } ssize_t BMI055_accel::read(struct file *filp, char *buffer, size_t buflen) { unsigned count = buflen / sizeof(accel_report); /* buffer must be large enough */ if (count < 1) { return -ENOSPC; } /* if automatic measurement is not enabled, get a fresh measurement into the buffer */ if (_call_interval == 0) { _accel_reports->flush(); measure(); } /* if no data, error (we could block here) */ if (_accel_reports->empty()) { return -EAGAIN; } /* copy reports out of our buffer to the caller */ accel_report *arp = reinterpret_cast(buffer); int transferred = 0; while (count--) { if (!_accel_reports->get(arp)) { break; } transferred++; arp++; } /* return the number of bytes transferred */ return (transferred * sizeof(accel_report)); } int BMI055_accel::self_test() { if (perf_event_count(_sample_perf) == 0) { measure(); } /* return 0 on success, 1 else */ return (perf_event_count(_sample_perf) > 0) ? 0 : 1; } /* deliberately trigger an error in the sensor to trigger recovery */ void BMI055_accel::test_error() { write_reg(BMI055_ACC_SOFTRESET, BMI055_SOFT_RESET); ::printf("error triggered\n"); print_registers(); } int BMI055_accel::ioctl(struct file *filp, int cmd, unsigned long arg) { switch (cmd) { case SENSORIOCRESET: return reset(); case SENSORIOCSPOLLRATE: { switch (arg) { /* switching to manual polling */ case SENSOR_POLLRATE_MANUAL: stop(); _call_interval = 0; return OK; /* zero would be bad */ case 0: return -EINVAL; /* set default/max polling rate */ case SENSOR_POLLRATE_MAX: return ioctl(filp, SENSORIOCSPOLLRATE, BMI055_ACCEL_MAX_RATE); case SENSOR_POLLRATE_DEFAULT: // Polling at the highest frequency. We may get duplicate values on the sensors return ioctl(filp, SENSORIOCSPOLLRATE, BMI055_ACCEL_DEFAULT_RATE); /* adjust to a legal polling interval in Hz */ default: { /* do we need to start internal polling? */ bool want_start = (_call_interval == 0); /* convert hz to hrt interval via microseconds */ unsigned ticks = 1000000 / arg; /* check against maximum rate */ if (ticks < 1000) { return -EINVAL; } // adjust filters float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq(); float sample_rate = 1.0e6f / ticks; _accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz); _accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz); _accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz); /* update interval for next measurement */ _call_interval = ticks; /* set call interval faster than the sample time. We then detect when we have duplicate samples and reject them. This prevents aliasing due to a beat between the stm32 clock and the bmi055 clock */ _call.period = _call_interval - BMI055_TIMER_REDUCTION; /* if we need to start the poll state machine, do it */ if (want_start) { start(); } return OK; } } } case SENSORIOCGPOLLRATE: if (_call_interval == 0) { return SENSOR_POLLRATE_MANUAL; } return 1000000 / _call_interval; case SENSORIOCSQUEUEDEPTH: { /* lower bound is mandatory, upper bound is a sanity check */ if ((arg < 1) || (arg > 100)) { return -EINVAL; } irqstate_t flags = px4_enter_critical_section(); if (!_accel_reports->resize(arg)) { px4_leave_critical_section(flags); return -ENOMEM; } px4_leave_critical_section(flags); return OK; } case ACCELIOCSSAMPLERATE: return accel_set_sample_rate(arg); case ACCELIOCSSCALE: { /* copy scale, but only if off by a few percent */ struct accel_calibration_s *s = (struct accel_calibration_s *) arg; float sum = s->x_scale + s->y_scale + s->z_scale; if (sum > 2.0f && sum < 4.0f) { memcpy(&_accel_scale, s, sizeof(_accel_scale)); return OK; } else { return -EINVAL; } } case ACCELIOCGSCALE: /* copy scale out */ memcpy((struct accel_calibration_s *) arg, &_accel_scale, sizeof(_accel_scale)); return OK; case ACCELIOCSRANGE: return set_accel_range(arg); case ACCELIOCGRANGE: return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f); default: /* give it to the superclass */ return SPI::ioctl(filp, cmd, arg); } } void BMI055_accel::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) { uint8_t val; val = read_reg(reg); val &= ~clearbits; val |= setbits; write_checked_reg(reg, val); } void BMI055_accel::write_checked_reg(unsigned reg, uint8_t value) { write_reg(reg, value); for (uint8_t i = 0; i < BMI055_ACCEL_NUM_CHECKED_REGISTERS; i++) { if (reg == _checked_registers[i]) { _checked_values[i] = value; _checked_bad[i] = value; } } } int BMI055_accel::set_accel_range(unsigned max_g) { uint8_t setbits = 0; uint8_t clearbits = BMI055_ACCEL_RANGE_2_G | BMI055_ACCEL_RANGE_16_G; float lsb_per_g; float max_accel_g; if (max_g == 0) { max_g = 16; } if (max_g <= 2) { max_accel_g = 2; setbits |= BMI055_ACCEL_RANGE_2_G; lsb_per_g = 1024; } else if (max_g <= 4) { max_accel_g = 4; setbits |= BMI055_ACCEL_RANGE_4_G; lsb_per_g = 512; } else if (max_g <= 8) { max_accel_g = 8; setbits |= BMI055_ACCEL_RANGE_8_G; lsb_per_g = 256; } else if (max_g <= 16) { max_accel_g = 16; setbits |= BMI055_ACCEL_RANGE_16_G; lsb_per_g = 128; } else { return -EINVAL; } _accel_range_scale = (CONSTANTS_ONE_G / lsb_per_g); _accel_range_m_s2 = max_accel_g * CONSTANTS_ONE_G; modify_reg(BMI055_ACC_RANGE, clearbits, setbits); return OK; } void BMI055_accel::start() { /* make sure we are stopped first */ stop(); /* discard any stale data in the buffers */ _accel_reports->flush(); /* start polling at the specified rate */ hrt_call_every(&_call, 1000, _call_interval - BMI055_TIMER_REDUCTION, (hrt_callout)&BMI055_accel::measure_trampoline, this); reset(); } void BMI055_accel::stop() { hrt_cancel(&_call); } void BMI055_accel::measure_trampoline(void *arg) { BMI055_accel *dev = reinterpret_cast(arg); /* make another measurement */ dev->measure(); } void BMI055_accel::check_registers(void) { uint8_t v; if ((v = read_reg(_checked_registers[_checked_next])) != _checked_values[_checked_next]) { _checked_bad[_checked_next] = v; /* if we get the wrong value then we know the SPI bus or sensor is very sick. We set _register_wait to 20 and wait until we have seen 20 good values in a row before we consider the sensor to be OK again. */ perf_count(_bad_registers); /* try to fix the bad register value. We only try to fix one per loop to prevent a bad sensor hogging the bus. */ if (_register_wait == 0 || _checked_next == 0) { // if the product_id is wrong then reset the // sensor completely write_reg(BMI055_ACC_SOFTRESET, BMI055_SOFT_RESET); _reset_wait = hrt_absolute_time() + 10000; _checked_next = 0; } else { write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]); // waiting 3ms between register writes seems // to raise the chance of the sensor // recovering considerably _reset_wait = hrt_absolute_time() + 3000; } _register_wait = 20; } _checked_next = (_checked_next + 1) % BMI055_ACCEL_NUM_CHECKED_REGISTERS; } void BMI055_accel::measure() { perf_count(_measure_interval); uint8_t index = 0, accel_data[7]; uint16_t lsb, msb, msblsb; uint8_t status_x, status_y, status_z; if (hrt_absolute_time() < _reset_wait) { // we're waiting for a reset to complete return; } struct Report { int16_t accel_x; int16_t accel_y; int16_t accel_z; int16_t temp; } report; /* start measuring */ perf_begin(_sample_perf); /* * Fetch the full set of measurements from the BMI055 in one pass. */ accel_data[index] = BMI055_ACC_X_L | DIR_READ; if (OK != transfer(accel_data, accel_data, sizeof(accel_data))) { return; } check_registers(); /* Extracting accel data from the read data */ index = 1; lsb = (uint16_t)accel_data[index++]; status_x = (lsb & BMI055_NEW_DATA_MASK); msb = (uint16_t)accel_data[index++]; msblsb = (msb << 8) | lsb; report.accel_x = ((int16_t)msblsb >> 4); /* Data in X axis */ lsb = (uint16_t)accel_data[index++]; status_y = (lsb & BMI055_NEW_DATA_MASK); msb = (uint16_t)accel_data[index++]; msblsb = (msb << 8) | lsb; report.accel_y = ((int16_t)msblsb >> 4); /* Data in Y axis */ lsb = (uint16_t)accel_data[index++]; status_z = (lsb & BMI055_NEW_DATA_MASK); msb = (uint16_t)accel_data[index++]; msblsb = (msb << 8) | lsb; report.accel_z = ((int16_t)msblsb >> 4); /* Data in Z axis */ // Checking the status of new data if ((!status_x) || (!status_y) || (!status_z)) { perf_end(_sample_perf); perf_count(_duplicates); _got_duplicate = true; return; } _got_duplicate = false; uint8_t temp = read_reg(BMI055_ACC_TEMP); report.temp = temp; if (report.accel_x == 0 && report.accel_y == 0 && report.accel_z == 0 && report.temp == 0) { // all zero data - probably a SPI bus error perf_count(_bad_transfers); perf_end(_sample_perf); // note that we don't call reset() here as a reset() // costs 20ms with interrupts disabled. That means if // the bmi055 accel does go bad it would cause a FMU failure, // regardless of whether another sensor is available, return; } if (_register_wait != 0) { // we are waiting for some good transfers before using // the sensor again, but don't return any data yet _register_wait--; return; } /* * Report buffers. */ accel_report arb; arb.timestamp = hrt_absolute_time(); // report the error count as the sum of the number of bad // transfers and bad register reads. This allows the higher // level code to decide if it should use this sensor based on // whether it has had failures arb.error_count = perf_event_count(_bad_transfers) + perf_event_count(_bad_registers); /* * 1) Scale raw value to SI units using scaling from datasheet. * 2) Subtract static offset (in SI units) * 3) Scale the statically calibrated values with a linear * dynamically obtained factor * * Note: the static sensor offset is the number the sensor outputs * at a nominally 'zero' input. Therefore the offset has to * be subtracted. * */ arb.x_raw = report.accel_x; arb.y_raw = report.accel_y; arb.z_raw = report.accel_z; float xraw_f = report.accel_x; float yraw_f = report.accel_y; float zraw_f = report.accel_z; // apply user specified rotation rotate_3f(_rotation, xraw_f, yraw_f, zraw_f); float x_in_new = ((xraw_f * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale; float y_in_new = ((yraw_f * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale; float z_in_new = ((zraw_f * _accel_range_scale) - _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; _last_temperature = 23 + report.temp * 1.0f / 512.0f; arb.temperature = _last_temperature; arb.device_id = _device_id.devid; _accel_reports->force(&arb); /* notify anyone waiting for data */ if (accel_notify) { poll_notify(POLLIN); } if (accel_notify && !(_pub_blocked)) { /* publish it */ orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb); } /* stop measuring */ perf_end(_sample_perf); } void BMI055_accel::print_info() { PX4_INFO("Accel"); perf_print_counter(_sample_perf); perf_print_counter(_measure_interval); perf_print_counter(_bad_transfers); perf_print_counter(_bad_registers); perf_print_counter(_duplicates); _accel_reports->print_info("accel queue"); ::printf("checked_next: %u\n", _checked_next); for (uint8_t i = 0; i < BMI055_ACCEL_NUM_CHECKED_REGISTERS; i++) { uint8_t v = read_reg(_checked_registers[i]); if (v != _checked_values[i]) { ::printf("reg %02x:%02x should be %02x\n", (unsigned)_checked_registers[i], (unsigned)v, (unsigned)_checked_values[i]); } if (v != _checked_bad[i]) { ::printf("reg %02x:%02x was bad %02x\n", (unsigned)_checked_registers[i], (unsigned)v, (unsigned)_checked_bad[i]); } } ::printf("temperature: %.1f\n", (double)_last_temperature); printf("\n"); } void BMI055_accel::print_registers() { uint8_t index = 0; printf("BMI055 accel registers\n"); uint8_t reg = _checked_registers[index++]; uint8_t v = read_reg(reg); printf("Accel Chip Id: %02x:%02x ", (unsigned)reg, (unsigned)v); printf("\n"); reg = _checked_registers[index++]; v = read_reg(reg); printf("Accel Bw: %02x:%02x ", (unsigned)reg, (unsigned)v); printf("\n"); reg = _checked_registers[index++]; v = read_reg(reg); printf("Accel Range: %02x:%02x ", (unsigned)reg, (unsigned)v); printf("\n"); reg = _checked_registers[index++]; v = read_reg(reg); printf("Accel Int-en-1: %02x:%02x ", (unsigned)reg, (unsigned)v); printf("\n"); reg = _checked_registers[index++]; v = read_reg(reg); printf("Accel Int-Map-1: %02x:%02x ", (unsigned)reg, (unsigned)v); printf("\n"); }