/**************************************************************************** * * 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_gyro.hpp" /* 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_gyro::_checked_registers[BMI055_GYRO_NUM_CHECKED_REGISTERS] = { BMI055_GYR_CHIP_ID, BMI055_GYR_LPM1, BMI055_GYR_BW, BMI055_GYR_RANGE, BMI055_GYR_INT_EN_0, BMI055_GYR_INT_EN_1, BMI055_GYR_INT_MAP_1 }; BMI055_gyro::BMI055_gyro(int bus, const char *path_gyro, uint32_t device, enum Rotation rotation) : BMI055("BMI055_GYRO", path_gyro, bus, device, SPIDEV_MODE3, BMI055_BUS_SPEED, rotation), _sample_perf(perf_alloc(PC_ELAPSED, "bmi055_gyro_read")), _measure_interval(perf_alloc(PC_INTERVAL, "bmi055_gyro_measure_interval")), _bad_transfers(perf_alloc(PC_COUNT, "bmi055_gyro_bad_transfers")), _bad_registers(perf_alloc(PC_COUNT, "bmi055_gyro_bad_registers")), _gyro_reports(nullptr), _gyro_scale{}, _gyro_range_scale(0.0f), _gyro_range_rad_s(0.0f), _gyro_topic(nullptr), _gyro_orb_class_instance(-1), _gyro_class_instance(-1), _gyro_sample_rate(BMI055_GYRO_DEFAULT_RATE), _gyro_filter_x(BMI055_GYRO_DEFAULT_RATE, BMI055_GYRO_DEFAULT_DRIVER_FILTER_FREQ), _gyro_filter_y(BMI055_GYRO_DEFAULT_RATE, BMI055_GYRO_DEFAULT_DRIVER_FILTER_FREQ), _gyro_filter_z(BMI055_GYRO_DEFAULT_RATE, BMI055_GYRO_DEFAULT_DRIVER_FILTER_FREQ), _gyro_int(1000000 / BMI055_GYRO_MAX_PUBLISH_RATE, true), _last_temperature(0) { _device_id.devid_s.devtype = DRV_GYR_DEVTYPE_BMI055; // default gyro scale factors _gyro_scale.x_offset = 0; _gyro_scale.x_scale = 1.0f; _gyro_scale.y_offset = 0; _gyro_scale.y_scale = 1.0f; _gyro_scale.z_offset = 0; _gyro_scale.z_scale = 1.0f; memset(&_call, 0, sizeof(_call)); } BMI055_gyro::~BMI055_gyro() { /* make sure we are truly inactive */ stop(); /* free any existing reports */ if (_gyro_reports != nullptr) { delete _gyro_reports; } if (_gyro_class_instance != -1) { unregister_class_devname(GYRO_BASE_DEVICE_PATH, _gyro_class_instance); } /* delete the perf counter */ perf_free(_sample_perf); perf_free(_measure_interval); perf_free(_bad_transfers); perf_free(_bad_registers); } int BMI055_gyro::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 */ _gyro_reports = new ringbuffer::RingBuffer(2, sizeof(gyro_report)); if (_gyro_reports == nullptr) { goto out; } if (reset() != OK) { goto out; } /* Initialize offsets and scales */ _gyro_scale.x_offset = 0; _gyro_scale.x_scale = 1.0f; _gyro_scale.y_offset = 0; _gyro_scale.y_scale = 1.0f; _gyro_scale.z_offset = 0; _gyro_scale.z_scale = 1.0f; /* 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); measure(); /* advertise sensor topic, measure manually to initialize valid report */ struct gyro_report grp; _gyro_reports->get(&grp); _gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp, &_gyro_orb_class_instance, (external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1); if (_gyro_topic == nullptr) { warnx("ADVERT FAIL"); } out: return ret; } int BMI055_gyro::reset() { write_reg(BMI055_GYR_SOFTRESET, BMI055_SOFT_RESET);//Soft-reset usleep(5000); write_checked_reg(BMI055_GYR_BW, 0); // Write Gyro Bandwidth write_checked_reg(BMI055_GYR_RANGE, 0);// Write Gyro range write_checked_reg(BMI055_GYR_INT_EN_0, BMI055_GYR_DRDY_INT_EN); //Enable DRDY interrupt write_checked_reg(BMI055_GYR_INT_MAP_1, BMI055_GYR_DRDY_INT1); //Map DRDY interrupt on pin INT1 set_gyro_range(BMI055_GYRO_DEFAULT_RANGE_DPS);// set Gyro range gyro_set_sample_rate(BMI055_GYRO_DEFAULT_RATE);// set Gyro ODR //Enable Gyroscope in normal mode write_reg(BMI055_GYR_LPM1, BMI055_GYRO_NORMAL); up_udelay(1000); uint8_t retries = 10; while (retries--) { bool all_ok = true; for (uint8_t i = 0; i < BMI055_GYRO_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_gyro::probe() { /* look for device ID */ _whoami = read_reg(BMI055_GYR_CHIP_ID); // verify product revision switch (_whoami) { case BMI055_GYR_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_gyro::gyro_set_sample_rate(float frequency) { uint8_t setbits = 0; uint8_t clearbits = BMI055_GYRO_BW_MASK; if (frequency <= 100) { setbits |= BMI055_GYRO_RATE_100; _gyro_sample_rate = 100; } else if (frequency <= 250) { setbits |= BMI055_GYRO_RATE_400; _gyro_sample_rate = 400; } else if (frequency <= 1000) { setbits |= BMI055_GYRO_RATE_1000; _gyro_sample_rate = 1000; } else if (frequency > 1000) { setbits |= BMI055_GYRO_RATE_2000; _gyro_sample_rate = 2000; } else { return -EINVAL; } modify_reg(BMI055_GYR_BW, clearbits, setbits); return OK; } int BMI055_gyro::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_gyro::test_error() { write_reg(BMI055_GYR_SOFTRESET, BMI055_SOFT_RESET); ::printf("error triggered\n"); print_registers(); } ssize_t BMI055_gyro::read(struct file *filp, char *buffer, size_t buflen) { unsigned count = buflen / sizeof(gyro_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) { _gyro_reports->flush(); measure(); } /* if no data, error (we could block here) */ if (_gyro_reports->empty()) { return -EAGAIN; } /* copy reports out of our buffer to the caller */ gyro_report *grp = reinterpret_cast(buffer); int transferred = 0; while (count--) { if (!_gyro_reports->get(grp)) { break; } transferred++; grp++; } /* return the number of bytes transferred */ return (transferred * sizeof(gyro_report)); } int BMI055_gyro::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_GYRO_MAX_RATE); case SENSOR_POLLRATE_DEFAULT: return ioctl(filp, SENSORIOCSPOLLRATE, BMI055_GYRO_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_gyro = _gyro_filter_x.get_cutoff_freq(); float sample_rate = 1.0e6f / ticks; _gyro_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro); _gyro_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro); _gyro_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro); /* 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 (!_gyro_reports->resize(arg)) { px4_leave_critical_section(flags); return -ENOMEM; } px4_leave_critical_section(flags); return OK; } case GYROIOCGSAMPLERATE: return _gyro_sample_rate; case GYROIOCSSAMPLERATE: return gyro_set_sample_rate(arg); case GYROIOCSSCALE: /* copy scale in */ memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale)); return OK; case GYROIOCSRANGE: return set_gyro_range(arg); case GYROIOCGRANGE: return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f); default: /* give it to the superclass */ return SPI::ioctl(filp, cmd, arg); } } void BMI055_gyro::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_gyro::write_checked_reg(unsigned reg, uint8_t value) { write_reg(reg, value); for (uint8_t i = 0; i < BMI055_GYRO_NUM_CHECKED_REGISTERS; i++) { if (reg == _checked_registers[i]) { _checked_values[i] = value; _checked_bad[i] = value; } } } int BMI055_gyro::set_gyro_range(unsigned max_dps) { uint8_t setbits = 0; uint8_t clearbits = BMI055_GYRO_RANGE_125_DPS | BMI055_GYRO_RANGE_250_DPS; float lsb_per_dps; float max_gyro_dps; if (max_dps == 0) { max_dps = 2000; } if (max_dps <= 125) { max_gyro_dps = 125; lsb_per_dps = 262.4; setbits |= BMI055_GYRO_RANGE_125_DPS; } else if (max_dps <= 250) { max_gyro_dps = 250; lsb_per_dps = 131.2; setbits |= BMI055_GYRO_RANGE_250_DPS; } else if (max_dps <= 500) { max_gyro_dps = 500; lsb_per_dps = 65.6; setbits |= BMI055_GYRO_RANGE_500_DPS; } else if (max_dps <= 1000) { max_gyro_dps = 1000; lsb_per_dps = 32.8; setbits |= BMI055_GYRO_RANGE_1000_DPS; } else if (max_dps <= 2000) { max_gyro_dps = 2000; lsb_per_dps = 16.4; setbits |= BMI055_GYRO_RANGE_2000_DPS; } else { return -EINVAL; } _gyro_range_rad_s = (max_gyro_dps / 180.0f * M_PI_F); _gyro_range_scale = (M_PI_F / (180.0f * lsb_per_dps)); modify_reg(BMI055_GYR_RANGE, clearbits, setbits); return OK; } void BMI055_gyro::start() { /* make sure we are stopped first */ stop(); /* discard any stale data in the buffers */ _gyro_reports->flush(); /* start polling at the specified rate */ hrt_call_every(&_call, 1000, _call_interval - BMI055_TIMER_REDUCTION, (hrt_callout)&BMI055_gyro::measure_trampoline, this); reset(); } void BMI055_gyro::stop() { hrt_cancel(&_call); } void BMI055_gyro::measure_trampoline(void *arg) { BMI055_gyro *dev = reinterpret_cast(arg); /* make another measurement */ dev->measure(); } void BMI055_gyro::check_registers(void) { uint8_t v; if ((v = read_reg(_checked_registers[_checked_next])) != _checked_values[_checked_next]) { _checked_bad[_checked_next] = v; /* if we get the wrong value then we know the SPI bus or sensor is very sick. We set _register_wait to 20 and wait until we have seen 20 good values in a row before we consider the sensor to be OK again. */ perf_count(_bad_registers); /* try to fix the bad register value. We only try to fix one per loop to prevent a bad sensor hogging the bus. */ if (_register_wait == 0 || _checked_next == 0) { // if the product_id is wrong then reset the // sensor completely write_reg(BMI055_GYR_SOFTRESET, BMI055_SOFT_RESET); _reset_wait = hrt_absolute_time() + 10000; _checked_next = 0; } else { write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]); // waiting 3ms between register writes seems // to raise the chance of the sensor // recovering considerably _reset_wait = hrt_absolute_time() + 3000; } _register_wait = 20; } _checked_next = (_checked_next + 1) % BMI055_GYRO_NUM_CHECKED_REGISTERS; } void BMI055_gyro::measure() { perf_count(_measure_interval); if (hrt_absolute_time() < _reset_wait) { // we're waiting for a reset to complete return; } struct BMI_GyroReport bmi_gyroreport; struct Report { int16_t temp; int16_t gyro_x; int16_t gyro_y; int16_t gyro_z; } report; /* start measuring */ perf_begin(_sample_perf); /* * Fetch the full set of measurements from the BMI055 gyro in one pass. */ bmi_gyroreport.cmd = BMI055_GYR_X_L | DIR_READ; if (OK != transfer((uint8_t *)&bmi_gyroreport, ((uint8_t *)&bmi_gyroreport), sizeof(bmi_gyroreport))) { return; } check_registers(); uint8_t temp = read_reg(BMI055_ACC_TEMP); report.temp = temp; report.gyro_x = bmi_gyroreport.gyro_x; report.gyro_y = bmi_gyroreport.gyro_y; report.gyro_z = bmi_gyroreport.gyro_z; if (report.temp == 0 && report.gyro_x == 0 && report.gyro_y == 0 && report.gyro_z == 0) { // all zero data - probably a SPI bus error perf_count(_bad_transfers); perf_end(_sample_perf); // note that we don't call reset() here as a reset() // costs 20ms with interrupts disabled. That means if // the bmi055 does go bad it would cause a FMU failure, // regardless of whether another sensor is available, return; } 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. */ gyro_report grb; grb.timestamp = hrt_absolute_time(); // report the error count as the sum of the number of bad // transfers and bad register reads. This allows the higher // level code to decide if it should use this sensor based on // whether it has had failures grb.error_count = perf_event_count(_bad_transfers) + perf_event_count(_bad_registers); /* * 1) Scale raw value to SI units using scaling from datasheet. * 2) Subtract static offset (in SI units) * 3) Scale the statically calibrated values with a linear * dynamically obtained factor * * Note: the static sensor offset is the number the sensor outputs * at a nominally 'zero' input. Therefore the offset has to * be subtracted. * * Example: A gyro outputs a value of 74 at zero angular rate * the offset is 74 from the origin and subtracting * 74 from all measurements centers them around zero. */ grb.x_raw = report.gyro_x; grb.y_raw = report.gyro_y; grb.z_raw = report.gyro_z; float xraw_f = report.gyro_x; float yraw_f = report.gyro_y; float zraw_f = report.gyro_z; // apply user specified rotation rotate_3f(_rotation, xraw_f, yraw_f, zraw_f); float x_gyro_in_new = ((xraw_f * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale; float y_gyro_in_new = ((yraw_f * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale; float z_gyro_in_new = ((zraw_f * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale; grb.x = _gyro_filter_x.apply(x_gyro_in_new); grb.y = _gyro_filter_y.apply(y_gyro_in_new); grb.z = _gyro_filter_z.apply(z_gyro_in_new); matrix::Vector3f gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new); matrix::Vector3f gval_integrated; bool gyro_notify = _gyro_int.put(grb.timestamp, gval, gval_integrated, grb.integral_dt); grb.x_integral = gval_integrated(0); grb.y_integral = gval_integrated(1); grb.z_integral = gval_integrated(2); grb.scaling = _gyro_range_scale; grb.temperature = _last_temperature; grb.device_id = _device_id.devid; _gyro_reports->force(&grb); /* notify anyone waiting for data */ if (gyro_notify) { poll_notify(POLLIN); } if (gyro_notify && !(_pub_blocked)) { /* publish it */ orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &grb); } /* stop measuring */ perf_end(_sample_perf); } void BMI055_gyro::print_info() { PX4_INFO("Gyro"); perf_print_counter(_sample_perf); perf_print_counter(_measure_interval); perf_print_counter(_bad_transfers); perf_print_counter(_bad_registers); _gyro_reports->print_info("gyro queue"); ::printf("checked_next: %u\n", _checked_next); for (uint8_t i = 0; i < BMI055_GYRO_NUM_CHECKED_REGISTERS; i++) { uint8_t v = read_reg(_checked_registers[i]); if (v != _checked_values[i]) { ::printf("reg %02x:%02x should be %02x\n", (unsigned)_checked_registers[i], (unsigned)v, (unsigned)_checked_values[i]); } if (v != _checked_bad[i]) { ::printf("reg %02x:%02x was bad %02x\n", (unsigned)_checked_registers[i], (unsigned)v, (unsigned)_checked_bad[i]); } } ::printf("temperature: %.1f\n", (double)_last_temperature); printf("\n"); } void BMI055_gyro::print_registers() { uint8_t index = 0; printf("BMI055 gyro registers\n"); uint8_t reg = _checked_registers[index++]; uint8_t v = read_reg(reg); printf("Gyro Chip Id: %02x:%02x ", (unsigned)reg, (unsigned)v); printf("\n"); reg = _checked_registers[index++]; v = read_reg(reg); printf("Gyro Power: %02x:%02x ", (unsigned)reg, (unsigned)v); printf("\n"); reg = _checked_registers[index++]; v = read_reg(reg); printf("Gyro Bw: %02x:%02x ", (unsigned)reg, (unsigned)v); printf("\n"); reg = _checked_registers[index++]; v = read_reg(reg); printf("Gyro Range: %02x:%02x ", (unsigned)reg, (unsigned)v); printf("\n"); reg = _checked_registers[index++]; v = read_reg(reg); printf("Gyro Int-en-0: %02x:%02x ", (unsigned)reg, (unsigned)v); printf("\n"); reg = _checked_registers[index++]; v = read_reg(reg); printf("Gyro Int-en-1: %02x:%02x ", (unsigned)reg, (unsigned)v); printf("\n"); reg = _checked_registers[index++]; v = read_reg(reg); printf("Gyro Int-Map-1: %02x:%02x ", (unsigned)reg, (unsigned)v); printf("\n"); }