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PX4-Autopilot/src/drivers/l3gd20/l3gd20.cpp
T
Andrew Tridgell fdbc09e2a5 avoid counters going above limit in INCREMENT() 
when using INCREMENT() the counter would temporarily read equal to
limit, which could cause an issue if the task is preempted.

(this macro should be in a common header, though which header?)
2013-08-28 11:16:30 +02:00

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/****************************************************************************
*
* Copyright (c) 2012, 2013 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.
*
****************************************************************************/
/**
* @file l3gd20.cpp
* Driver for the ST L3GD20 MEMS gyro connected via SPI.
*/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stddef.h>
#include <stdlib.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <nuttx/arch.h>
#include <nuttx/clock.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <drivers/drv_gyro.h>
#include <board_config.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
/* Orientation on board */
#define SENSOR_BOARD_ROTATION_000_DEG 0
#define SENSOR_BOARD_ROTATION_090_DEG 1
#define SENSOR_BOARD_ROTATION_180_DEG 2
#define SENSOR_BOARD_ROTATION_270_DEG 3
/* SPI protocol address bits */
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
#define ADDR_INCREMENT (1<<6)
/* register addresses */
#define ADDR_WHO_AM_I 0x0F
#define WHO_I_AM_H 0xD7
#define WHO_I_AM 0xD4
#define ADDR_CTRL_REG1 0x20
#define REG1_RATE_LP_MASK 0xF0 /* Mask to guard partial register update */
/* keep lowpass low to avoid noise issues */
#define RATE_95HZ_LP_25HZ ((0<<7) | (0<<6) | (0<<5) | (1<<4))
#define RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (1<<5) | (1<<4))
#define RATE_380HZ_LP_20HZ ((1<<7) | (0<<6) | (1<<5) | (0<<4))
#define RATE_760HZ_LP_30HZ ((1<<7) | (1<<6) | (0<<5) | (0<<4))
#define ADDR_CTRL_REG2 0x21
#define ADDR_CTRL_REG3 0x22
#define ADDR_CTRL_REG4 0x23
#define REG4_RANGE_MASK 0x30 /* Mask to guard partial register update */
#define RANGE_250DPS (0<<4)
#define RANGE_500DPS (1<<4)
#define RANGE_2000DPS (3<<4)
#define ADDR_CTRL_REG5 0x24
#define ADDR_REFERENCE 0x25
#define ADDR_OUT_TEMP 0x26
#define ADDR_STATUS_REG 0x27
#define ADDR_OUT_X_L 0x28
#define ADDR_OUT_X_H 0x29
#define ADDR_OUT_Y_L 0x2A
#define ADDR_OUT_Y_H 0x2B
#define ADDR_OUT_Z_L 0x2C
#define ADDR_OUT_Z_H 0x2D
#define ADDR_FIFO_CTRL_REG 0x2E
#define ADDR_FIFO_SRC_REG 0x2F
#define ADDR_INT1_CFG 0x30
#define ADDR_INT1_SRC 0x31
#define ADDR_INT1_TSH_XH 0x32
#define ADDR_INT1_TSH_XL 0x33
#define ADDR_INT1_TSH_YH 0x34
#define ADDR_INT1_TSH_YL 0x35
#define ADDR_INT1_TSH_ZH 0x36
#define ADDR_INT1_TSH_ZL 0x37
#define ADDR_INT1_DURATION 0x38
/* Internal configuration values */
#define REG1_POWER_NORMAL (1<<3)
#define REG1_Z_ENABLE (1<<2)
#define REG1_Y_ENABLE (1<<1)
#define REG1_X_ENABLE (1<<0)
#define REG4_BDU (1<<7)
#define REG4_BLE (1<<6)
//#define REG4_SPI_3WIRE (1<<0)
#define REG5_FIFO_ENABLE (1<<6)
#define REG5_REBOOT_MEMORY (1<<7)
#define STATUS_ZYXOR (1<<7)
#define STATUS_ZOR (1<<6)
#define STATUS_YOR (1<<5)
#define STATUS_XOR (1<<4)
#define STATUS_ZYXDA (1<<3)
#define STATUS_ZDA (1<<2)
#define STATUS_YDA (1<<1)
#define STATUS_XDA (1<<0)
#define FIFO_CTRL_BYPASS_MODE (0<<5)
#define FIFO_CTRL_FIFO_MODE (1<<5)
#define FIFO_CTRL_STREAM_MODE (1<<6)
#define FIFO_CTRL_STREAM_TO_FIFO_MODE (3<<5)
#define FIFO_CTRL_BYPASS_TO_STREAM_MODE (1<<7)
#define L3GD20_DEFAULT_RATE 760
#define L3GD20_DEFAULT_RANGE_DPS 2000
#define L3GD20_DEFAULT_FILTER_FREQ 30
extern "C" { __EXPORT int l3gd20_main(int argc, char *argv[]); }
class L3GD20 : public device::SPI
{
public:
L3GD20(int bus, const char* path, spi_dev_e device);
virtual ~L3GD20();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
protected:
virtual int probe();
private:
struct hrt_call _call;
unsigned _call_interval;
unsigned _num_reports;
volatile unsigned _next_report;
volatile unsigned _oldest_report;
struct gyro_report *_reports;
struct gyro_scale _gyro_scale;
float _gyro_range_scale;
float _gyro_range_rad_s;
orb_advert_t _gyro_topic;
unsigned _current_rate;
unsigned _orientation;
unsigned _read;
perf_counter_t _sample_perf;
math::LowPassFilter2p _gyro_filter_x;
math::LowPassFilter2p _gyro_filter_y;
math::LowPassFilter2p _gyro_filter_z;
/**
* Start automatic measurement.
*/
void start();
/**
* Stop automatic measurement.
*/
void stop();
/**
* Reset the driver
*/
void 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 ring.
*/
void measure();
/**
* Read a register from the L3GD20
*
* @param The register to read.
* @return The value that was read.
*/
uint8_t read_reg(unsigned reg);
/**
* Write a register in the L3GD20
*
* @param reg The register to write.
* @param value The new value to write.
*/
void write_reg(unsigned reg, uint8_t value);
/**
* Modify a register in the L3GD20
*
* Bits are cleared before bits are set.
*
* @param reg The register to modify.
* @param clearbits Bits in the register to clear.
* @param setbits Bits in the register to set.
*/
void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
/**
* Set the L3GD20 measurement range.
*
* @param max_dps The measurement range is set to permit reading at least
* this rate in degrees per second.
* Zero selects the maximum supported range.
* @return OK if the value can be supported, -ERANGE otherwise.
*/
int set_range(unsigned max_dps);
/**
* Set the L3GD20 internal sampling frequency.
*
* @param frequency The internal sampling frequency is set to not less than
* this value.
* Zero selects the maximum rate supported.
* @return OK if the value can be supported.
*/
int set_samplerate(unsigned frequency);
/**
* Set the lowpass filter of the driver
*
* @param samplerate The current samplerate
* @param frequency The cutoff frequency for the lowpass filter
*/
void set_driver_lowpass_filter(float samplerate, float bandwidth);
/**
* Self test
*
* @return 0 on success, 1 on failure
*/
int self_test();
};
/* helper macro for handling report buffer indices */
#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) :
SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 8000000),
_call_interval(0),
_num_reports(0),
_next_report(0),
_oldest_report(0),
_reports(nullptr),
_gyro_range_scale(0.0f),
_gyro_range_rad_s(0.0f),
_gyro_topic(-1),
_current_rate(0),
_orientation(SENSOR_BOARD_ROTATION_270_DEG),
_read(0),
_sample_perf(perf_alloc(PC_ELAPSED, "l3gd20_read")),
_gyro_filter_x(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ),
_gyro_filter_y(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ),
_gyro_filter_z(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ)
{
// enable debug() calls
_debug_enabled = true;
// default 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;
}
L3GD20::~L3GD20()
{
/* make sure we are truly inactive */
stop();
/* free any existing reports */
if (_reports != nullptr)
delete[] _reports;
/* delete the perf counter */
perf_free(_sample_perf);
}
int
L3GD20::init()
{
int ret = ERROR;
/* do SPI init (and probe) first */
if (SPI::init() != OK)
goto out;
/* allocate basic report buffers */
_num_reports = 2;
_oldest_report = _next_report = 0;
_reports = new struct gyro_report[_num_reports];
if (_reports == nullptr)
goto out;
/* advertise sensor topic */
memset(&_reports[0], 0, sizeof(_reports[0]));
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_reports[0]);
reset();
ret = OK;
out:
return ret;
}
int
L3GD20::probe()
{
/* read dummy value to void to clear SPI statemachine on sensor */
(void)read_reg(ADDR_WHO_AM_I);
/* verify that the device is attached and functioning, accept L3GD20 and L3GD20H */
if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) {
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
_orientation = SENSOR_BOARD_ROTATION_270_DEG;
#elif CONFIG_ARCH_BOARD_PX4FMU_V2
_orientation = SENSOR_BOARD_ROTATION_270_DEG;
#else
#error This driver needs a board selection, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2
#endif
return OK;
}
if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM_H) {
_orientation = SENSOR_BOARD_ROTATION_180_DEG;
return OK;
}
return -EIO;
}
ssize_t
L3GD20::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct gyro_report);
int ret = 0;
/* buffer must be large enough */
if (count < 1)
return -ENOSPC;
/* if automatic measurement is enabled */
if (_call_interval > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the measurement code while we are doing this;
* we are careful to avoid racing with it.
*/
while (count--) {
if (_oldest_report != _next_report) {
memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
ret += sizeof(_reports[0]);
INCREMENT(_oldest_report, _num_reports);
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement */
_oldest_report = _next_report = 0;
measure();
/* measurement will have generated a report, copy it out */
memcpy(buffer, _reports, sizeof(*_reports));
ret = sizeof(*_reports);
return ret;
}
int
L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_call_interval = 0;
return OK;
/* external signalling not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT:
return ioctl(filp, SENSORIOCSPOLLRATE, L3GD20_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 sane rate */
if (ticks < 1000)
return -EINVAL;
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_call.period = _call_interval = ticks;
/* adjust filters */
float cutoff_freq_hz = _gyro_filter_x.get_cutoff_freq();
float sample_rate = 1.0e6f/ticks;
set_driver_lowpass_filter(sample_rate, cutoff_freq_hz);
/* 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: {
/* account for sentinel in the ring */
arg++;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100))
return -EINVAL;
/* allocate new buffer */
struct gyro_report *buf = new struct gyro_report[arg];
if (nullptr == buf)
return -ENOMEM;
/* reset the measurement state machine with the new buffer, free the old */
stop();
delete[] _reports;
_num_reports = arg;
_reports = buf;
start();
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _num_reports - 1;
case SENSORIOCRESET:
reset();
return OK;
case GYROIOCSSAMPLERATE:
return set_samplerate(arg);
case GYROIOCGSAMPLERATE:
return _current_rate;
case GYROIOCSLOWPASS: {
float cutoff_freq_hz = arg;
float sample_rate = 1.0e6f / _call_interval;
set_driver_lowpass_filter(sample_rate, cutoff_freq_hz);
return OK;
}
case GYROIOCGLOWPASS:
return _gyro_filter_x.get_cutoff_freq();
case GYROIOCSSCALE:
/* copy scale in */
memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale));
return OK;
case GYROIOCGSCALE:
/* copy scale out */
memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale));
return OK;
case GYROIOCSRANGE:
/* arg should be in dps */
return set_range(arg);
case GYROIOCGRANGE:
/* convert to dps and round */
return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f);
case GYROIOCSELFTEST:
return self_test();
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
}
}
uint8_t
L3GD20::read_reg(unsigned reg)
{
uint8_t cmd[2];
cmd[0] = reg | DIR_READ;
transfer(cmd, cmd, sizeof(cmd));
return cmd[1];
}
void
L3GD20::write_reg(unsigned reg, uint8_t value)
{
uint8_t cmd[2];
cmd[0] = reg | DIR_WRITE;
cmd[1] = value;
transfer(cmd, nullptr, sizeof(cmd));
}
void
L3GD20::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
{
uint8_t val;
val = read_reg(reg);
val &= ~clearbits;
val |= setbits;
write_reg(reg, val);
}
int
L3GD20::set_range(unsigned max_dps)
{
uint8_t bits = REG4_BDU;
float new_range_scale_dps_digit;
float new_range;
if (max_dps == 0) {
max_dps = 2000;
}
if (max_dps <= 250) {
new_range = 250;
bits |= RANGE_250DPS;
new_range_scale_dps_digit = 8.75e-3f;
} else if (max_dps <= 500) {
new_range = 500;
bits |= RANGE_500DPS;
new_range_scale_dps_digit = 17.5e-3f;
} else if (max_dps <= 2000) {
new_range = 2000;
bits |= RANGE_2000DPS;
new_range_scale_dps_digit = 70e-3f;
} else {
return -EINVAL;
}
_gyro_range_rad_s = new_range / 180.0f * M_PI_F;
_gyro_range_scale = new_range_scale_dps_digit / 180.0f * M_PI_F;
write_reg(ADDR_CTRL_REG4, bits);
return OK;
}
int
L3GD20::set_samplerate(unsigned frequency)
{
uint8_t bits = REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
if (frequency == 0)
frequency = 760;
/* use limits good for H or non-H models */
if (frequency <= 100) {
_current_rate = 95;
bits |= RATE_95HZ_LP_25HZ;
} else if (frequency <= 200) {
_current_rate = 190;
bits |= RATE_190HZ_LP_25HZ;
} else if (frequency <= 400) {
_current_rate = 380;
bits |= RATE_380HZ_LP_20HZ;
} else if (frequency <= 800) {
_current_rate = 760;
bits |= RATE_760HZ_LP_30HZ;
} else {
return -EINVAL;
}
write_reg(ADDR_CTRL_REG1, bits);
return OK;
}
void
L3GD20::set_driver_lowpass_filter(float samplerate, float bandwidth)
{
_gyro_filter_x.set_cutoff_frequency(samplerate, bandwidth);
_gyro_filter_y.set_cutoff_frequency(samplerate, bandwidth);
_gyro_filter_z.set_cutoff_frequency(samplerate, bandwidth);
}
void
L3GD20::start()
{
/* make sure we are stopped first */
stop();
/* reset the report ring */
_oldest_report = _next_report = 0;
/* start polling at the specified rate */
hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&L3GD20::measure_trampoline, this);
}
void
L3GD20::stop()
{
hrt_cancel(&_call);
}
void
L3GD20::reset()
{
/* set default configuration */
write_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE);
write_reg(ADDR_CTRL_REG2, 0); /* disable high-pass filters */
write_reg(ADDR_CTRL_REG3, 0); /* no interrupts - we don't use them */
write_reg(ADDR_CTRL_REG4, REG4_BDU);
write_reg(ADDR_CTRL_REG5, 0);
write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */
/* disable FIFO. This makes things simpler and ensures we
* aren't getting stale data. It means we must run the hrt
* callback fast enough to not miss data. */
write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE);
set_samplerate(L3GD20_DEFAULT_RATE);
set_range(L3GD20_DEFAULT_RANGE_DPS);
set_driver_lowpass_filter(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ);
_read = 0;
}
void
L3GD20::measure_trampoline(void *arg)
{
L3GD20 *dev = (L3GD20 *)arg;
/* make another measurement */
dev->measure();
}
void
L3GD20::measure()
{
/* status register and data as read back from the device */
#pragma pack(push, 1)
struct {
uint8_t cmd;
uint8_t temp;
uint8_t status;
int16_t x;
int16_t y;
int16_t z;
} raw_report;
#pragma pack(pop)
gyro_report *report = &_reports[_next_report];
/* start the performance counter */
perf_begin(_sample_perf);
/* fetch data from the sensor */
raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT;
transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report));
/*
* 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.
*/
report->timestamp = hrt_absolute_time();
switch (_orientation) {
case SENSOR_BOARD_ROTATION_000_DEG:
/* keep axes in place */
report->x_raw = raw_report.x;
report->y_raw = raw_report.y;
break;
case SENSOR_BOARD_ROTATION_090_DEG:
/* swap x and y */
report->x_raw = raw_report.y;
report->y_raw = raw_report.x;
break;
case SENSOR_BOARD_ROTATION_180_DEG:
/* swap x and y and negate both */
report->x_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
report->y_raw = ((raw_report.y == -32768) ? 32767 : -raw_report.y);
break;
case SENSOR_BOARD_ROTATION_270_DEG:
/* swap x and y and negate y */
report->x_raw = raw_report.y;
report->y_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
break;
}
report->z_raw = raw_report.z;
report->x = ((report->x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
report->y = ((report->y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
report->z = ((report->z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
report->x = _gyro_filter_x.apply(report->x);
report->y = _gyro_filter_y.apply(report->y);
report->z = _gyro_filter_z.apply(report->z);
report->scaling = _gyro_range_scale;
report->range_rad_s = _gyro_range_rad_s;
/* post a report to the ring - note, not locked */
INCREMENT(_next_report, _num_reports);
/* if we are running up against the oldest report, fix it */
if (_next_report == _oldest_report)
INCREMENT(_oldest_report, _num_reports);
/* notify anyone waiting for data */
poll_notify(POLLIN);
/* publish for subscribers */
if (_gyro_topic > 0)
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, report);
_read++;
/* stop the perf counter */
perf_end(_sample_perf);
}
void
L3GD20::print_info()
{
printf("gyro reads: %u\n", _read);
perf_print_counter(_sample_perf);
printf("report queue: %u (%u/%u @ %p)\n",
_num_reports, _oldest_report, _next_report, _reports);
}
int
L3GD20::self_test()
{
/* evaluate gyro offsets, complain if offset -> zero or larger than 6 dps */
if (fabsf(_gyro_scale.x_offset) > 0.1f || fabsf(_gyro_scale.x_offset) < 0.000001f)
return 1;
if (fabsf(_gyro_scale.x_scale - 1.0f) > 0.3f)
return 1;
if (fabsf(_gyro_scale.y_offset) > 0.1f || fabsf(_gyro_scale.y_offset) < 0.000001f)
return 1;
if (fabsf(_gyro_scale.y_scale - 1.0f) > 0.3f)
return 1;
if (fabsf(_gyro_scale.z_offset) > 0.1f || fabsf(_gyro_scale.z_offset) < 0.000001f)
return 1;
if (fabsf(_gyro_scale.z_scale - 1.0f) > 0.3f)
return 1;
return 0;
}
/**
* Local functions in support of the shell command.
*/
namespace l3gd20
{
L3GD20 *g_dev;
void start();
void test();
void reset();
void info();
/**
* Start the driver.
*/
void
start()
{
int fd;
if (g_dev != nullptr)
errx(0, "already started");
/* create the driver */
g_dev = new L3GD20(1 /* XXX magic number */, GYRO_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO);
if (g_dev == nullptr)
goto fail;
if (OK != g_dev->init())
goto fail;
/* set the poll rate to default, starts automatic data collection */
fd = open(GYRO_DEVICE_PATH, O_RDONLY);
if (fd < 0)
goto fail;
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
goto fail;
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()
{
int fd_gyro = -1;
struct gyro_report g_report;
ssize_t sz;
/* get the driver */
fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
if (fd_gyro < 0)
err(1, "%s open failed", GYRO_DEVICE_PATH);
/* reset to manual polling */
if (ioctl(fd_gyro, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
err(1, "reset to manual polling");
/* do a simple demand read */
sz = read(fd_gyro, &g_report, sizeof(g_report));
if (sz != sizeof(g_report))
err(1, "immediate gyro read failed");
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
/* XXX add poll-rate tests here too */
reset();
errx(0, "PASS");
}
/**
* Reset the driver.
*/
void
reset()
{
int fd = open(GYRO_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "failed ");
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
err(1, "driver reset failed");
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
err(1, "accel pollrate reset failed");
exit(0);
}
/**
* Print a little info about the driver.
*/
void
info()
{
if (g_dev == nullptr)
errx(1, "driver not running\n");
printf("state @ %p\n", g_dev);
g_dev->print_info();
exit(0);
}
} // namespace
int
l3gd20_main(int argc, char *argv[])
{
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start"))
l3gd20::start();
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
l3gd20::test();
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset"))
l3gd20::reset();
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info"))
l3gd20::info();
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}
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