mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-02 05:20:34 +08:00
Beat Küng
ce7d8d2270
With this we don't have to use the ioctl MAGIOCGEXTERNAL, which does not work on POSIX (eg. RPi).
2239 lines
52 KiB
C++
2239 lines
52 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2013-2015 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 lsm303d.cpp
|
|
* Driver for the ST LSM303D MEMS accelerometer / magnetometer connected via SPI.
|
|
*/
|
|
|
|
#include <px4_config.h>
|
|
#include <px4_defines.h>
|
|
|
|
#include <sys/types.h>
|
|
#include <sys/stat.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 <getopt.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_accel.h>
|
|
#include <drivers/drv_mag.h>
|
|
#include <drivers/device/ringbuffer.h>
|
|
#include <drivers/device/integrator.h>
|
|
|
|
#include <board_config.h>
|
|
#include <mathlib/math/filter/LowPassFilter2p.hpp>
|
|
#include <lib/conversion/rotation.h>
|
|
|
|
/* SPI protocol address bits */
|
|
#define DIR_READ (1<<7)
|
|
#define DIR_WRITE (0<<7)
|
|
#define ADDR_INCREMENT (1<<6)
|
|
|
|
#define LSM303D_DEVICE_PATH_ACCEL "/dev/lsm303d_accel"
|
|
#define LSM303D_DEVICE_PATH_ACCEL_EXT "/dev/lsm303d_accel_ext"
|
|
#define LSM303D_DEVICE_PATH_MAG "/dev/lsm303d_mag"
|
|
|
|
/* register addresses: A: accel, M: mag, T: temp */
|
|
#define ADDR_WHO_AM_I 0x0F
|
|
#define WHO_I_AM 0x49
|
|
|
|
#define ADDR_OUT_TEMP_L 0x05
|
|
#define ADDR_OUT_TEMP_H 0x06
|
|
#define ADDR_STATUS_M 0x07
|
|
#define ADDR_OUT_X_L_M 0x08
|
|
#define ADDR_OUT_X_H_M 0x09
|
|
#define ADDR_OUT_Y_L_M 0x0A
|
|
#define ADDR_OUT_Y_H_M 0x0B
|
|
#define ADDR_OUT_Z_L_M 0x0C
|
|
#define ADDR_OUT_Z_H_M 0x0D
|
|
|
|
#define ADDR_INT_CTRL_M 0x12
|
|
#define ADDR_INT_SRC_M 0x13
|
|
#define ADDR_REFERENCE_X 0x1c
|
|
#define ADDR_REFERENCE_Y 0x1d
|
|
#define ADDR_REFERENCE_Z 0x1e
|
|
|
|
#define ADDR_STATUS_A 0x27
|
|
#define ADDR_OUT_X_L_A 0x28
|
|
#define ADDR_OUT_X_H_A 0x29
|
|
#define ADDR_OUT_Y_L_A 0x2A
|
|
#define ADDR_OUT_Y_H_A 0x2B
|
|
#define ADDR_OUT_Z_L_A 0x2C
|
|
#define ADDR_OUT_Z_H_A 0x2D
|
|
|
|
#define ADDR_CTRL_REG0 0x1F
|
|
#define ADDR_CTRL_REG1 0x20
|
|
#define ADDR_CTRL_REG2 0x21
|
|
#define ADDR_CTRL_REG3 0x22
|
|
#define ADDR_CTRL_REG4 0x23
|
|
#define ADDR_CTRL_REG5 0x24
|
|
#define ADDR_CTRL_REG6 0x25
|
|
#define ADDR_CTRL_REG7 0x26
|
|
|
|
#define ADDR_FIFO_CTRL 0x2e
|
|
#define ADDR_FIFO_SRC 0x2f
|
|
|
|
#define ADDR_IG_CFG1 0x30
|
|
#define ADDR_IG_SRC1 0x31
|
|
#define ADDR_IG_THS1 0x32
|
|
#define ADDR_IG_DUR1 0x33
|
|
#define ADDR_IG_CFG2 0x34
|
|
#define ADDR_IG_SRC2 0x35
|
|
#define ADDR_IG_THS2 0x36
|
|
#define ADDR_IG_DUR2 0x37
|
|
#define ADDR_CLICK_CFG 0x38
|
|
#define ADDR_CLICK_SRC 0x39
|
|
#define ADDR_CLICK_THS 0x3a
|
|
#define ADDR_TIME_LIMIT 0x3b
|
|
#define ADDR_TIME_LATENCY 0x3c
|
|
#define ADDR_TIME_WINDOW 0x3d
|
|
#define ADDR_ACT_THS 0x3e
|
|
#define ADDR_ACT_DUR 0x3f
|
|
|
|
#define REG1_RATE_BITS_A ((1<<7) | (1<<6) | (1<<5) | (1<<4))
|
|
#define REG1_POWERDOWN_A ((0<<7) | (0<<6) | (0<<5) | (0<<4))
|
|
#define REG1_RATE_3_125HZ_A ((0<<7) | (0<<6) | (0<<5) | (1<<4))
|
|
#define REG1_RATE_6_25HZ_A ((0<<7) | (0<<6) | (1<<5) | (0<<4))
|
|
#define REG1_RATE_12_5HZ_A ((0<<7) | (0<<6) | (1<<5) | (1<<4))
|
|
#define REG1_RATE_25HZ_A ((0<<7) | (1<<6) | (0<<5) | (0<<4))
|
|
#define REG1_RATE_50HZ_A ((0<<7) | (1<<6) | (0<<5) | (1<<4))
|
|
#define REG1_RATE_100HZ_A ((0<<7) | (1<<6) | (1<<5) | (0<<4))
|
|
#define REG1_RATE_200HZ_A ((0<<7) | (1<<6) | (1<<5) | (1<<4))
|
|
#define REG1_RATE_400HZ_A ((1<<7) | (0<<6) | (0<<5) | (0<<4))
|
|
#define REG1_RATE_800HZ_A ((1<<7) | (0<<6) | (0<<5) | (1<<4))
|
|
#define REG1_RATE_1600HZ_A ((1<<7) | (0<<6) | (1<<5) | (0<<4))
|
|
|
|
#define REG1_BDU_UPDATE (1<<3)
|
|
#define REG1_Z_ENABLE_A (1<<2)
|
|
#define REG1_Y_ENABLE_A (1<<1)
|
|
#define REG1_X_ENABLE_A (1<<0)
|
|
|
|
#define REG2_ANTIALIAS_FILTER_BW_BITS_A ((1<<7) | (1<<6))
|
|
#define REG2_AA_FILTER_BW_773HZ_A ((0<<7) | (0<<6))
|
|
#define REG2_AA_FILTER_BW_194HZ_A ((0<<7) | (1<<6))
|
|
#define REG2_AA_FILTER_BW_362HZ_A ((1<<7) | (0<<6))
|
|
#define REG2_AA_FILTER_BW_50HZ_A ((1<<7) | (1<<6))
|
|
|
|
#define REG2_FULL_SCALE_BITS_A ((1<<5) | (1<<4) | (1<<3))
|
|
#define REG2_FULL_SCALE_2G_A ((0<<5) | (0<<4) | (0<<3))
|
|
#define REG2_FULL_SCALE_4G_A ((0<<5) | (0<<4) | (1<<3))
|
|
#define REG2_FULL_SCALE_6G_A ((0<<5) | (1<<4) | (0<<3))
|
|
#define REG2_FULL_SCALE_8G_A ((0<<5) | (1<<4) | (1<<3))
|
|
#define REG2_FULL_SCALE_16G_A ((1<<5) | (0<<4) | (0<<3))
|
|
|
|
#define REG5_ENABLE_T (1<<7)
|
|
|
|
#define REG5_RES_HIGH_M ((1<<6) | (1<<5))
|
|
#define REG5_RES_LOW_M ((0<<6) | (0<<5))
|
|
|
|
#define REG5_RATE_BITS_M ((1<<4) | (1<<3) | (1<<2))
|
|
#define REG5_RATE_3_125HZ_M ((0<<4) | (0<<3) | (0<<2))
|
|
#define REG5_RATE_6_25HZ_M ((0<<4) | (0<<3) | (1<<2))
|
|
#define REG5_RATE_12_5HZ_M ((0<<4) | (1<<3) | (0<<2))
|
|
#define REG5_RATE_25HZ_M ((0<<4) | (1<<3) | (1<<2))
|
|
#define REG5_RATE_50HZ_M ((1<<4) | (0<<3) | (0<<2))
|
|
#define REG5_RATE_100HZ_M ((1<<4) | (0<<3) | (1<<2))
|
|
#define REG5_RATE_DO_NOT_USE_M ((1<<4) | (1<<3) | (0<<2))
|
|
|
|
#define REG6_FULL_SCALE_BITS_M ((1<<6) | (1<<5))
|
|
#define REG6_FULL_SCALE_2GA_M ((0<<6) | (0<<5))
|
|
#define REG6_FULL_SCALE_4GA_M ((0<<6) | (1<<5))
|
|
#define REG6_FULL_SCALE_8GA_M ((1<<6) | (0<<5))
|
|
#define REG6_FULL_SCALE_12GA_M ((1<<6) | (1<<5))
|
|
|
|
#define REG7_CONT_MODE_M ((0<<1) | (0<<0))
|
|
|
|
#define REG_STATUS_A_NEW_ZYXADA 0x08
|
|
|
|
#define INT_CTRL_M 0x12
|
|
#define INT_SRC_M 0x13
|
|
|
|
/* default values for this device */
|
|
#define LSM303D_ACCEL_DEFAULT_RANGE_G 16
|
|
#define LSM303D_ACCEL_DEFAULT_RATE 800
|
|
#define LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ 50
|
|
#define LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
|
|
#define LSM303D_ACCEL_MAX_OUTPUT_RATE 280
|
|
|
|
#define LSM303D_MAG_DEFAULT_RANGE_GA 2
|
|
#define LSM303D_MAG_DEFAULT_RATE 100
|
|
|
|
#define LSM303D_ONE_G 9.80665f
|
|
|
|
#ifdef PX4_SPI_BUS_EXT
|
|
#define EXTERNAL_BUS PX4_SPI_BUS_EXT
|
|
#else
|
|
#define EXTERNAL_BUS 0
|
|
#endif
|
|
|
|
/*
|
|
we set the timer interrupt to run a bit faster than the desired
|
|
sample rate and then throw away duplicates using the data ready bit.
|
|
This time reduction is enough to cope with worst case timing jitter
|
|
due to other timers
|
|
*/
|
|
#define LSM303D_TIMER_REDUCTION 200
|
|
|
|
extern "C" { __EXPORT int lsm303d_main(int argc, char *argv[]); }
|
|
|
|
|
|
class LSM303D_mag;
|
|
|
|
class LSM303D : public device::SPI
|
|
{
|
|
public:
|
|
LSM303D(int bus, const char *path, spi_dev_e device, enum Rotation rotation);
|
|
virtual ~LSM303D();
|
|
|
|
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();
|
|
|
|
/**
|
|
* dump register values
|
|
*/
|
|
void print_registers();
|
|
|
|
/**
|
|
* deliberately trigger an error
|
|
*/
|
|
void test_error();
|
|
|
|
protected:
|
|
virtual int probe();
|
|
|
|
friend class LSM303D_mag;
|
|
|
|
virtual ssize_t mag_read(struct file *filp, char *buffer, size_t buflen);
|
|
virtual int mag_ioctl(struct file *filp, int cmd, unsigned long arg);
|
|
|
|
private:
|
|
|
|
LSM303D_mag *_mag;
|
|
|
|
struct hrt_call _accel_call;
|
|
struct hrt_call _mag_call;
|
|
|
|
unsigned _call_accel_interval;
|
|
unsigned _call_mag_interval;
|
|
|
|
ringbuffer::RingBuffer *_accel_reports;
|
|
ringbuffer::RingBuffer *_mag_reports;
|
|
|
|
struct accel_calibration_s _accel_scale;
|
|
unsigned _accel_range_m_s2;
|
|
float _accel_range_scale;
|
|
unsigned _accel_samplerate;
|
|
unsigned _accel_onchip_filter_bandwith;
|
|
|
|
struct mag_calibration_s _mag_scale;
|
|
unsigned _mag_range_ga;
|
|
float _mag_range_scale;
|
|
unsigned _mag_samplerate;
|
|
|
|
orb_advert_t _accel_topic;
|
|
int _accel_orb_class_instance;
|
|
int _accel_class_instance;
|
|
|
|
unsigned _accel_read;
|
|
unsigned _mag_read;
|
|
|
|
perf_counter_t _accel_sample_perf;
|
|
perf_counter_t _mag_sample_perf;
|
|
perf_counter_t _bad_registers;
|
|
perf_counter_t _bad_values;
|
|
perf_counter_t _accel_duplicates;
|
|
|
|
uint8_t _register_wait;
|
|
|
|
math::LowPassFilter2p _accel_filter_x;
|
|
math::LowPassFilter2p _accel_filter_y;
|
|
math::LowPassFilter2p _accel_filter_z;
|
|
|
|
Integrator _accel_int;
|
|
|
|
enum Rotation _rotation;
|
|
|
|
// values used to
|
|
float _last_accel[3];
|
|
uint8_t _constant_accel_count;
|
|
|
|
// last temperature value
|
|
float _last_temperature;
|
|
|
|
// this is used to support runtime checking of key
|
|
// configuration registers to detect SPI bus errors and sensor
|
|
// reset
|
|
#define LSM303D_NUM_CHECKED_REGISTERS 8
|
|
static const uint8_t _checked_registers[LSM303D_NUM_CHECKED_REGISTERS];
|
|
uint8_t _checked_values[LSM303D_NUM_CHECKED_REGISTERS];
|
|
uint8_t _checked_next;
|
|
|
|
/**
|
|
* Start automatic measurement.
|
|
*/
|
|
void start();
|
|
|
|
/**
|
|
* Stop automatic measurement.
|
|
*/
|
|
void stop();
|
|
|
|
/**
|
|
* Reset chip.
|
|
*
|
|
* Resets the chip and measurements ranges, but not scale and offset.
|
|
*/
|
|
void reset();
|
|
|
|
/**
|
|
* disable I2C on the chip
|
|
*/
|
|
void disable_i2c();
|
|
|
|
/**
|
|
* Get the internal / external state
|
|
*
|
|
* @return true if the sensor is not on the main MCU board
|
|
*/
|
|
bool is_external() { return (_bus == EXTERNAL_BUS); }
|
|
|
|
/**
|
|
* 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);
|
|
|
|
/**
|
|
* Static trampoline for the mag because it runs at a lower rate
|
|
*
|
|
* @param arg Instance pointer for the driver that is polling.
|
|
*/
|
|
static void mag_measure_trampoline(void *arg);
|
|
|
|
/**
|
|
* check key registers for correct values
|
|
*/
|
|
void check_registers(void);
|
|
|
|
/**
|
|
* Fetch accel measurements from the sensor and update the report ring.
|
|
*/
|
|
void measure();
|
|
|
|
/**
|
|
* Fetch mag measurements from the sensor and update the report ring.
|
|
*/
|
|
void mag_measure();
|
|
|
|
/**
|
|
* Accel self test
|
|
*
|
|
* @return 0 on success, 1 on failure
|
|
*/
|
|
int accel_self_test();
|
|
|
|
/**
|
|
* Mag self test
|
|
*
|
|
* @return 0 on success, 1 on failure
|
|
*/
|
|
int mag_self_test();
|
|
|
|
/**
|
|
* Read a register from the LSM303D
|
|
*
|
|
* @param The register to read.
|
|
* @return The value that was read.
|
|
*/
|
|
uint8_t read_reg(unsigned reg);
|
|
|
|
/**
|
|
* Write a register in the LSM303D
|
|
*
|
|
* @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 LSM303D
|
|
*
|
|
* 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);
|
|
|
|
/**
|
|
* Write a register in the LSM303D, updating _checked_values
|
|
*
|
|
* @param reg The register to write.
|
|
* @param value The new value to write.
|
|
*/
|
|
void write_checked_reg(unsigned reg, uint8_t value);
|
|
|
|
/**
|
|
* Set the LSM303D accel measurement range.
|
|
*
|
|
* @param max_g The measurement range of the accel is in g (9.81m/s^2)
|
|
* Zero selects the maximum supported range.
|
|
* @return OK if the value can be supported, -ERANGE otherwise.
|
|
*/
|
|
int accel_set_range(unsigned max_g);
|
|
|
|
/**
|
|
* Set the LSM303D mag measurement range.
|
|
*
|
|
* @param max_ga The measurement range of the mag is in Ga
|
|
* Zero selects the maximum supported range.
|
|
* @return OK if the value can be supported, -ERANGE otherwise.
|
|
*/
|
|
int mag_set_range(unsigned max_g);
|
|
|
|
/**
|
|
* Set the LSM303D on-chip anti-alias filter bandwith.
|
|
*
|
|
* @param bandwidth The anti-alias filter bandwidth in Hz
|
|
* Zero selects the highest bandwidth
|
|
* @return OK if the value can be supported, -ERANGE otherwise.
|
|
*/
|
|
int accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth);
|
|
|
|
/**
|
|
* Set the driver lowpass filter bandwidth.
|
|
*
|
|
* @param bandwidth The anti-alias filter bandwidth in Hz
|
|
* Zero selects the highest bandwidth
|
|
* @return OK if the value can be supported, -ERANGE otherwise.
|
|
*/
|
|
int accel_set_driver_lowpass_filter(float samplerate, float bandwidth);
|
|
|
|
/**
|
|
* Set the LSM303D internal accel sampling frequency.
|
|
*
|
|
* @param frequency The internal accel 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 accel_set_samplerate(unsigned frequency);
|
|
|
|
/**
|
|
* Set the LSM303D internal mag sampling frequency.
|
|
*
|
|
* @param frequency The internal mag 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 mag_set_samplerate(unsigned frequency);
|
|
|
|
/* this class cannot be copied */
|
|
LSM303D(const LSM303D &);
|
|
LSM303D operator=(const LSM303D &);
|
|
};
|
|
|
|
/*
|
|
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 LSM303D::_checked_registers[LSM303D_NUM_CHECKED_REGISTERS] = { ADDR_WHO_AM_I,
|
|
ADDR_CTRL_REG1,
|
|
ADDR_CTRL_REG2,
|
|
ADDR_CTRL_REG3,
|
|
ADDR_CTRL_REG4,
|
|
ADDR_CTRL_REG5,
|
|
ADDR_CTRL_REG6,
|
|
ADDR_CTRL_REG7
|
|
};
|
|
|
|
/**
|
|
* Helper class implementing the mag driver node.
|
|
*/
|
|
class LSM303D_mag : public device::CDev
|
|
{
|
|
public:
|
|
LSM303D_mag(LSM303D *parent);
|
|
~LSM303D_mag();
|
|
|
|
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
|
|
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
|
|
|
virtual int init();
|
|
|
|
protected:
|
|
friend class LSM303D;
|
|
|
|
void parent_poll_notify();
|
|
private:
|
|
LSM303D *_parent;
|
|
|
|
orb_advert_t _mag_topic;
|
|
int _mag_orb_class_instance;
|
|
int _mag_class_instance;
|
|
|
|
void measure();
|
|
|
|
void measure_trampoline(void *arg);
|
|
|
|
/* this class does not allow copying due to ptr data members */
|
|
LSM303D_mag(const LSM303D_mag &);
|
|
LSM303D_mag operator=(const LSM303D_mag &);
|
|
};
|
|
|
|
|
|
LSM303D::LSM303D(int bus, const char *path, spi_dev_e device, enum Rotation rotation) :
|
|
SPI("LSM303D", path, bus, device, SPIDEV_MODE3,
|
|
11 * 1000 * 1000 /* will be rounded to 10.4 MHz, within safety margins for LSM303D */),
|
|
_mag(new LSM303D_mag(this)),
|
|
_accel_call{},
|
|
_mag_call{},
|
|
_call_accel_interval(0),
|
|
_call_mag_interval(0),
|
|
_accel_reports(nullptr),
|
|
_mag_reports(nullptr),
|
|
_accel_scale{},
|
|
_accel_range_m_s2(0.0f),
|
|
_accel_range_scale(0.0f),
|
|
_accel_samplerate(0),
|
|
_accel_onchip_filter_bandwith(0),
|
|
_mag_scale{},
|
|
_mag_range_ga(0.0f),
|
|
_mag_range_scale(0.0f),
|
|
_mag_samplerate(0),
|
|
_accel_topic(nullptr),
|
|
_accel_orb_class_instance(-1),
|
|
_accel_class_instance(-1),
|
|
_accel_read(0),
|
|
_mag_read(0),
|
|
_accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_acc_read")),
|
|
_mag_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_mag_read")),
|
|
_bad_registers(perf_alloc(PC_COUNT, "lsm303d_bad_reg")),
|
|
_bad_values(perf_alloc(PC_COUNT, "lsm303d_bad_val")),
|
|
_accel_duplicates(perf_alloc(PC_COUNT, "lsm303d_acc_dupe")),
|
|
_register_wait(0),
|
|
_accel_filter_x(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
|
|
_accel_filter_y(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
|
|
_accel_filter_z(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
|
|
_accel_int(1000000 / LSM303D_ACCEL_MAX_OUTPUT_RATE, true),
|
|
_rotation(rotation),
|
|
_constant_accel_count(0),
|
|
_last_temperature(0),
|
|
_checked_next(0)
|
|
{
|
|
|
|
|
|
// enable debug() calls
|
|
_debug_enabled = true;
|
|
|
|
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_LSM303D;
|
|
|
|
/* Prime _mag with parents devid. */
|
|
_mag->_device_id.devid = _device_id.devid;
|
|
_mag->_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LSM303D;
|
|
|
|
|
|
// default scale factors
|
|
_accel_scale.x_offset = 0.0f;
|
|
_accel_scale.x_scale = 1.0f;
|
|
_accel_scale.y_offset = 0.0f;
|
|
_accel_scale.y_scale = 1.0f;
|
|
_accel_scale.z_offset = 0.0f;
|
|
_accel_scale.z_scale = 1.0f;
|
|
|
|
_mag_scale.x_offset = 0.0f;
|
|
_mag_scale.x_scale = 1.0f;
|
|
_mag_scale.y_offset = 0.0f;
|
|
_mag_scale.y_scale = 1.0f;
|
|
_mag_scale.z_offset = 0.0f;
|
|
_mag_scale.z_scale = 1.0f;
|
|
}
|
|
|
|
LSM303D::~LSM303D()
|
|
{
|
|
/* make sure we are truly inactive */
|
|
stop();
|
|
|
|
/* free any existing reports */
|
|
if (_accel_reports != nullptr) {
|
|
delete _accel_reports;
|
|
}
|
|
|
|
if (_mag_reports != nullptr) {
|
|
delete _mag_reports;
|
|
}
|
|
|
|
if (_accel_class_instance != -1) {
|
|
unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _accel_class_instance);
|
|
}
|
|
|
|
delete _mag;
|
|
|
|
/* delete the perf counter */
|
|
perf_free(_accel_sample_perf);
|
|
perf_free(_mag_sample_perf);
|
|
perf_free(_bad_registers);
|
|
perf_free(_bad_values);
|
|
perf_free(_accel_duplicates);
|
|
}
|
|
|
|
int
|
|
LSM303D::init()
|
|
{
|
|
int ret = PX4_ERROR;
|
|
|
|
/* do SPI init (and probe) first */
|
|
if (SPI::init() != OK) {
|
|
warnx("SPI init failed");
|
|
goto out;
|
|
}
|
|
|
|
/* allocate basic report buffers */
|
|
_accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
|
|
|
|
if (_accel_reports == nullptr) {
|
|
goto out;
|
|
}
|
|
|
|
_mag_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report));
|
|
|
|
if (_mag_reports == nullptr) {
|
|
goto out;
|
|
}
|
|
|
|
reset();
|
|
|
|
/* do CDev init for the mag device node */
|
|
ret = _mag->init();
|
|
|
|
if (ret != OK) {
|
|
warnx("MAG init failed");
|
|
goto out;
|
|
}
|
|
|
|
/* fill report structures */
|
|
measure();
|
|
|
|
/* advertise sensor topic, measure manually to initialize valid report */
|
|
struct mag_report mrp;
|
|
_mag_reports->get(&mrp);
|
|
|
|
/* measurement will have generated a report, publish */
|
|
_mag->_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mrp,
|
|
&_mag->_mag_orb_class_instance, ORB_PRIO_LOW);
|
|
|
|
if (_mag->_mag_topic == nullptr) {
|
|
warnx("ADVERT ERR");
|
|
}
|
|
|
|
|
|
_accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
|
|
|
|
/* 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, (is_external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT);
|
|
|
|
if (_accel_topic == nullptr) {
|
|
warnx("ADVERT ERR");
|
|
}
|
|
|
|
out:
|
|
return ret;
|
|
}
|
|
|
|
void
|
|
LSM303D::disable_i2c(void)
|
|
{
|
|
uint8_t a = read_reg(0x02);
|
|
write_reg(0x02, (0x10 | a));
|
|
a = read_reg(0x02);
|
|
write_reg(0x02, (0xF7 & a));
|
|
a = read_reg(0x15);
|
|
write_reg(0x15, (0x80 | a));
|
|
a = read_reg(0x02);
|
|
write_reg(0x02, (0xE7 & a));
|
|
}
|
|
|
|
void
|
|
LSM303D::reset()
|
|
{
|
|
// ensure the chip doesn't interpret any other bus traffic as I2C
|
|
disable_i2c();
|
|
|
|
/* enable accel*/
|
|
write_checked_reg(ADDR_CTRL_REG1,
|
|
REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE | REG1_RATE_800HZ_A);
|
|
|
|
/* enable mag */
|
|
write_checked_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M);
|
|
write_checked_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M | REG5_ENABLE_T);
|
|
write_checked_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1
|
|
write_checked_reg(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2
|
|
|
|
accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G);
|
|
accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE);
|
|
accel_set_driver_lowpass_filter((float)LSM303D_ACCEL_DEFAULT_RATE, (float)LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ);
|
|
|
|
// we setup the anti-alias on-chip filter as 50Hz. We believe
|
|
// this operates in the analog domain, and is critical for
|
|
// anti-aliasing. The 2 pole software filter is designed to
|
|
// operate in conjunction with this on-chip filter
|
|
accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ);
|
|
|
|
mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA);
|
|
mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE);
|
|
|
|
_accel_read = 0;
|
|
_mag_read = 0;
|
|
}
|
|
|
|
int
|
|
LSM303D::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 */
|
|
bool success = (read_reg(ADDR_WHO_AM_I) == WHO_I_AM);
|
|
|
|
if (success) {
|
|
_checked_values[0] = WHO_I_AM;
|
|
return OK;
|
|
}
|
|
|
|
return -EIO;
|
|
}
|
|
|
|
ssize_t
|
|
LSM303D::read(struct file *filp, char *buffer, size_t buflen)
|
|
{
|
|
unsigned count = buflen / sizeof(struct accel_report);
|
|
accel_report *arb = reinterpret_cast<accel_report *>(buffer);
|
|
int ret = 0;
|
|
|
|
/* buffer must be large enough */
|
|
if (count < 1) {
|
|
return -ENOSPC;
|
|
}
|
|
|
|
/* if automatic measurement is enabled */
|
|
if (_call_accel_interval > 0) {
|
|
/*
|
|
* While there is space in the caller's buffer, and reports, copy them.
|
|
*/
|
|
while (count--) {
|
|
if (_accel_reports->get(arb)) {
|
|
ret += sizeof(*arb);
|
|
arb++;
|
|
}
|
|
}
|
|
|
|
/* if there was no data, warn the caller */
|
|
return ret ? ret : -EAGAIN;
|
|
}
|
|
|
|
/* manual measurement */
|
|
measure();
|
|
|
|
/* measurement will have generated a report, copy it out */
|
|
if (_accel_reports->get(arb)) {
|
|
ret = sizeof(*arb);
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
ssize_t
|
|
LSM303D::mag_read(struct file *filp, char *buffer, size_t buflen)
|
|
{
|
|
unsigned count = buflen / sizeof(struct mag_report);
|
|
mag_report *mrb = reinterpret_cast<mag_report *>(buffer);
|
|
int ret = 0;
|
|
|
|
/* buffer must be large enough */
|
|
if (count < 1) {
|
|
return -ENOSPC;
|
|
}
|
|
|
|
/* if automatic measurement is enabled */
|
|
if (_call_mag_interval > 0) {
|
|
|
|
/*
|
|
* While there is space in the caller's buffer, and reports, copy them.
|
|
*/
|
|
while (count--) {
|
|
if (_mag_reports->get(mrb)) {
|
|
ret += sizeof(*mrb);
|
|
mrb++;
|
|
}
|
|
}
|
|
|
|
/* if there was no data, warn the caller */
|
|
return ret ? ret : -EAGAIN;
|
|
}
|
|
|
|
/* manual measurement */
|
|
_mag_reports->flush();
|
|
_mag->measure();
|
|
|
|
/* measurement will have generated a report, copy it out */
|
|
if (_mag_reports->get(mrb)) {
|
|
ret = sizeof(*mrb);
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
int
|
|
LSM303D::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_accel_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:
|
|
return ioctl(filp, SENSORIOCSPOLLRATE, 1600);
|
|
|
|
case SENSOR_POLLRATE_DEFAULT:
|
|
return ioctl(filp, SENSORIOCSPOLLRATE, LSM303D_ACCEL_DEFAULT_RATE);
|
|
|
|
/* adjust to a legal polling interval in Hz */
|
|
default: {
|
|
/* do we need to start internal polling? */
|
|
bool want_start = (_call_accel_interval == 0);
|
|
|
|
/* convert hz to hrt interval via microseconds */
|
|
unsigned ticks = 1000000 / arg;
|
|
|
|
/* check against maximum sane rate */
|
|
if (ticks < 500) {
|
|
return -EINVAL;
|
|
}
|
|
|
|
/* adjust filters */
|
|
accel_set_driver_lowpass_filter((float)arg, _accel_filter_x.get_cutoff_freq());
|
|
|
|
/* update interval for next measurement */
|
|
/* XXX this is a bit shady, but no other way to adjust... */
|
|
_call_accel_interval = ticks;
|
|
|
|
_accel_call.period = _call_accel_interval - LSM303D_TIMER_REDUCTION;
|
|
|
|
/* if we need to start the poll state machine, do it */
|
|
if (want_start) {
|
|
start();
|
|
}
|
|
|
|
return OK;
|
|
}
|
|
}
|
|
}
|
|
|
|
case SENSORIOCGPOLLRATE:
|
|
if (_call_accel_interval == 0) {
|
|
return SENSOR_POLLRATE_MANUAL;
|
|
}
|
|
|
|
return 1000000 / _call_accel_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 SENSORIOCGQUEUEDEPTH:
|
|
return _accel_reports->size();
|
|
|
|
case SENSORIOCRESET:
|
|
reset();
|
|
return OK;
|
|
|
|
case ACCELIOCSSAMPLERATE:
|
|
return accel_set_samplerate(arg);
|
|
|
|
case ACCELIOCGSAMPLERATE:
|
|
return _accel_samplerate;
|
|
|
|
case ACCELIOCSLOWPASS: {
|
|
return accel_set_driver_lowpass_filter((float)_accel_samplerate, (float)arg);
|
|
}
|
|
|
|
case ACCELIOCGLOWPASS:
|
|
return static_cast<int>(_accel_filter_x.get_cutoff_freq());
|
|
|
|
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 ACCELIOCSRANGE:
|
|
/* arg needs to be in G */
|
|
return accel_set_range(arg);
|
|
|
|
case ACCELIOCGRANGE:
|
|
/* convert to m/s^2 and return rounded in G */
|
|
return (unsigned long)((_accel_range_m_s2) / LSM303D_ONE_G + 0.5f);
|
|
|
|
case ACCELIOCGSCALE:
|
|
/* copy scale out */
|
|
memcpy((struct accel_calibration_s *) arg, &_accel_scale, sizeof(_accel_scale));
|
|
return OK;
|
|
|
|
case ACCELIOCSELFTEST:
|
|
return accel_self_test();
|
|
|
|
default:
|
|
/* give it to the superclass */
|
|
return SPI::ioctl(filp, cmd, arg);
|
|
}
|
|
}
|
|
|
|
int
|
|
LSM303D::mag_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_mag_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:
|
|
/* 100 Hz is max for mag */
|
|
return mag_ioctl(filp, SENSORIOCSPOLLRATE, 100);
|
|
|
|
/* adjust to a legal polling interval in Hz */
|
|
default: {
|
|
/* do we need to start internal polling? */
|
|
bool want_start = (_call_mag_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... */
|
|
_mag_call.period = _call_mag_interval = ticks;
|
|
|
|
/* if we need to start the poll state machine, do it */
|
|
if (want_start) {
|
|
start();
|
|
}
|
|
|
|
return OK;
|
|
}
|
|
}
|
|
}
|
|
|
|
case SENSORIOCGPOLLRATE:
|
|
if (_call_mag_interval == 0) {
|
|
return SENSOR_POLLRATE_MANUAL;
|
|
}
|
|
|
|
return 1000000 / _call_mag_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 (!_mag_reports->resize(arg)) {
|
|
px4_leave_critical_section(flags);
|
|
return -ENOMEM;
|
|
}
|
|
|
|
px4_leave_critical_section(flags);
|
|
|
|
return OK;
|
|
}
|
|
|
|
case SENSORIOCGQUEUEDEPTH:
|
|
return _mag_reports->size();
|
|
|
|
case SENSORIOCRESET:
|
|
reset();
|
|
return OK;
|
|
|
|
case MAGIOCSSAMPLERATE:
|
|
return mag_set_samplerate(arg);
|
|
|
|
case MAGIOCGSAMPLERATE:
|
|
return _mag_samplerate;
|
|
|
|
case MAGIOCSLOWPASS:
|
|
case MAGIOCGLOWPASS:
|
|
/* not supported, no internal filtering */
|
|
return -EINVAL;
|
|
|
|
case MAGIOCSSCALE:
|
|
/* copy scale in */
|
|
memcpy(&_mag_scale, (struct mag_calibration_s *) arg, sizeof(_mag_scale));
|
|
return OK;
|
|
|
|
case MAGIOCGSCALE:
|
|
/* copy scale out */
|
|
memcpy((struct mag_calibration_s *) arg, &_mag_scale, sizeof(_mag_scale));
|
|
return OK;
|
|
|
|
case MAGIOCSRANGE:
|
|
return mag_set_range(arg);
|
|
|
|
case MAGIOCGRANGE:
|
|
return _mag_range_ga;
|
|
|
|
case MAGIOCSELFTEST:
|
|
return mag_self_test();
|
|
|
|
case MAGIOCGEXTERNAL:
|
|
/* Even if this sensor is on the "external" SPI bus
|
|
* it is still fixed to the autopilot assembly,
|
|
* so always return 0.
|
|
*/
|
|
return 0;
|
|
|
|
default:
|
|
/* give it to the superclass */
|
|
return SPI::ioctl(filp, cmd, arg);
|
|
}
|
|
}
|
|
|
|
int
|
|
LSM303D::accel_self_test()
|
|
{
|
|
if (_accel_read == 0) {
|
|
return 1;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
int
|
|
LSM303D::mag_self_test()
|
|
{
|
|
if (_mag_read == 0) {
|
|
return 1;
|
|
}
|
|
|
|
/**
|
|
* inspect mag offsets
|
|
* don't check mag scale because it seems this is calibrated on chip
|
|
*/
|
|
if (fabsf(_mag_scale.x_offset) < 0.000001f) {
|
|
return 1;
|
|
}
|
|
|
|
if (fabsf(_mag_scale.y_offset) < 0.000001f) {
|
|
return 1;
|
|
}
|
|
|
|
if (fabsf(_mag_scale.z_offset) < 0.000001f) {
|
|
return 1;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
uint8_t
|
|
LSM303D::read_reg(unsigned reg)
|
|
{
|
|
uint8_t cmd[2];
|
|
|
|
cmd[0] = reg | DIR_READ;
|
|
cmd[1] = 0;
|
|
|
|
transfer(cmd, cmd, sizeof(cmd));
|
|
|
|
return cmd[1];
|
|
}
|
|
|
|
void
|
|
LSM303D::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
|
|
LSM303D::write_checked_reg(unsigned reg, uint8_t value)
|
|
{
|
|
write_reg(reg, value);
|
|
|
|
for (uint8_t i = 0; i < LSM303D_NUM_CHECKED_REGISTERS; i++) {
|
|
if (reg == _checked_registers[i]) {
|
|
_checked_values[i] = value;
|
|
}
|
|
}
|
|
}
|
|
|
|
void
|
|
LSM303D::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);
|
|
}
|
|
|
|
int
|
|
LSM303D::accel_set_range(unsigned max_g)
|
|
{
|
|
uint8_t setbits = 0;
|
|
uint8_t clearbits = REG2_FULL_SCALE_BITS_A;
|
|
float new_scale_g_digit = 0.0f;
|
|
|
|
if (max_g == 0) {
|
|
max_g = 16;
|
|
}
|
|
|
|
if (max_g <= 2) {
|
|
_accel_range_m_s2 = 2.0f * LSM303D_ONE_G;
|
|
setbits |= REG2_FULL_SCALE_2G_A;
|
|
new_scale_g_digit = 0.061e-3f;
|
|
|
|
} else if (max_g <= 4) {
|
|
_accel_range_m_s2 = 4.0f * LSM303D_ONE_G;
|
|
setbits |= REG2_FULL_SCALE_4G_A;
|
|
new_scale_g_digit = 0.122e-3f;
|
|
|
|
} else if (max_g <= 6) {
|
|
_accel_range_m_s2 = 6.0f * LSM303D_ONE_G;
|
|
setbits |= REG2_FULL_SCALE_6G_A;
|
|
new_scale_g_digit = 0.183e-3f;
|
|
|
|
} else if (max_g <= 8) {
|
|
_accel_range_m_s2 = 8.0f * LSM303D_ONE_G;
|
|
setbits |= REG2_FULL_SCALE_8G_A;
|
|
new_scale_g_digit = 0.244e-3f;
|
|
|
|
} else if (max_g <= 16) {
|
|
_accel_range_m_s2 = 16.0f * LSM303D_ONE_G;
|
|
setbits |= REG2_FULL_SCALE_16G_A;
|
|
new_scale_g_digit = 0.732e-3f;
|
|
|
|
} else {
|
|
return -EINVAL;
|
|
}
|
|
|
|
_accel_range_scale = new_scale_g_digit * LSM303D_ONE_G;
|
|
|
|
|
|
modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
|
|
|
|
return OK;
|
|
}
|
|
|
|
int
|
|
LSM303D::mag_set_range(unsigned max_ga)
|
|
{
|
|
uint8_t setbits = 0;
|
|
uint8_t clearbits = REG6_FULL_SCALE_BITS_M;
|
|
float new_scale_ga_digit = 0.0f;
|
|
|
|
if (max_ga == 0) {
|
|
max_ga = 12;
|
|
}
|
|
|
|
if (max_ga <= 2) {
|
|
_mag_range_ga = 2;
|
|
setbits |= REG6_FULL_SCALE_2GA_M;
|
|
new_scale_ga_digit = 0.080e-3f;
|
|
|
|
} else if (max_ga <= 4) {
|
|
_mag_range_ga = 4;
|
|
setbits |= REG6_FULL_SCALE_4GA_M;
|
|
new_scale_ga_digit = 0.160e-3f;
|
|
|
|
} else if (max_ga <= 8) {
|
|
_mag_range_ga = 8;
|
|
setbits |= REG6_FULL_SCALE_8GA_M;
|
|
new_scale_ga_digit = 0.320e-3f;
|
|
|
|
} else if (max_ga <= 12) {
|
|
_mag_range_ga = 12;
|
|
setbits |= REG6_FULL_SCALE_12GA_M;
|
|
new_scale_ga_digit = 0.479e-3f;
|
|
|
|
} else {
|
|
return -EINVAL;
|
|
}
|
|
|
|
_mag_range_scale = new_scale_ga_digit;
|
|
|
|
modify_reg(ADDR_CTRL_REG6, clearbits, setbits);
|
|
|
|
return OK;
|
|
}
|
|
|
|
int
|
|
LSM303D::accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth)
|
|
{
|
|
uint8_t setbits = 0;
|
|
uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A;
|
|
|
|
if (bandwidth == 0) {
|
|
bandwidth = 773;
|
|
}
|
|
|
|
if (bandwidth <= 50) {
|
|
setbits |= REG2_AA_FILTER_BW_50HZ_A;
|
|
_accel_onchip_filter_bandwith = 50;
|
|
|
|
} else if (bandwidth <= 194) {
|
|
setbits |= REG2_AA_FILTER_BW_194HZ_A;
|
|
_accel_onchip_filter_bandwith = 194;
|
|
|
|
} else if (bandwidth <= 362) {
|
|
setbits |= REG2_AA_FILTER_BW_362HZ_A;
|
|
_accel_onchip_filter_bandwith = 362;
|
|
|
|
} else if (bandwidth <= 773) {
|
|
setbits |= REG2_AA_FILTER_BW_773HZ_A;
|
|
_accel_onchip_filter_bandwith = 773;
|
|
|
|
} else {
|
|
return -EINVAL;
|
|
}
|
|
|
|
modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
|
|
|
|
return OK;
|
|
}
|
|
|
|
int
|
|
LSM303D::accel_set_driver_lowpass_filter(float samplerate, float bandwidth)
|
|
{
|
|
_accel_filter_x.set_cutoff_frequency(samplerate, bandwidth);
|
|
_accel_filter_y.set_cutoff_frequency(samplerate, bandwidth);
|
|
_accel_filter_z.set_cutoff_frequency(samplerate, bandwidth);
|
|
|
|
return OK;
|
|
}
|
|
|
|
int
|
|
LSM303D::accel_set_samplerate(unsigned frequency)
|
|
{
|
|
uint8_t setbits = 0;
|
|
uint8_t clearbits = REG1_RATE_BITS_A;
|
|
|
|
if (frequency == 0 || frequency == ACCEL_SAMPLERATE_DEFAULT) {
|
|
frequency = 1600;
|
|
}
|
|
|
|
if (frequency <= 100) {
|
|
setbits |= REG1_RATE_100HZ_A;
|
|
_accel_samplerate = 100;
|
|
|
|
} else if (frequency <= 200) {
|
|
setbits |= REG1_RATE_200HZ_A;
|
|
_accel_samplerate = 200;
|
|
|
|
} else if (frequency <= 400) {
|
|
setbits |= REG1_RATE_400HZ_A;
|
|
_accel_samplerate = 400;
|
|
|
|
} else if (frequency <= 800) {
|
|
setbits |= REG1_RATE_800HZ_A;
|
|
_accel_samplerate = 800;
|
|
|
|
} else if (frequency <= 1600) {
|
|
setbits |= REG1_RATE_1600HZ_A;
|
|
_accel_samplerate = 1600;
|
|
|
|
} else {
|
|
return -EINVAL;
|
|
}
|
|
|
|
modify_reg(ADDR_CTRL_REG1, clearbits, setbits);
|
|
|
|
return OK;
|
|
}
|
|
|
|
int
|
|
LSM303D::mag_set_samplerate(unsigned frequency)
|
|
{
|
|
uint8_t setbits = 0;
|
|
uint8_t clearbits = REG5_RATE_BITS_M;
|
|
|
|
if (frequency == 0) {
|
|
frequency = 100;
|
|
}
|
|
|
|
if (frequency <= 25) {
|
|
setbits |= REG5_RATE_25HZ_M;
|
|
_mag_samplerate = 25;
|
|
|
|
} else if (frequency <= 50) {
|
|
setbits |= REG5_RATE_50HZ_M;
|
|
_mag_samplerate = 50;
|
|
|
|
} else if (frequency <= 100) {
|
|
setbits |= REG5_RATE_100HZ_M;
|
|
_mag_samplerate = 100;
|
|
|
|
} else {
|
|
return -EINVAL;
|
|
}
|
|
|
|
modify_reg(ADDR_CTRL_REG5, clearbits, setbits);
|
|
|
|
return OK;
|
|
}
|
|
|
|
void
|
|
LSM303D::start()
|
|
{
|
|
/* make sure we are stopped first */
|
|
stop();
|
|
|
|
/* reset the report ring */
|
|
_accel_reports->flush();
|
|
_mag_reports->flush();
|
|
|
|
/* start polling at the specified rate */
|
|
hrt_call_every(&_accel_call,
|
|
1000,
|
|
_call_accel_interval - LSM303D_TIMER_REDUCTION,
|
|
(hrt_callout)&LSM303D::measure_trampoline, this);
|
|
hrt_call_every(&_mag_call, 1000, _call_mag_interval, (hrt_callout)&LSM303D::mag_measure_trampoline, this);
|
|
}
|
|
|
|
void
|
|
LSM303D::stop()
|
|
{
|
|
hrt_cancel(&_accel_call);
|
|
hrt_cancel(&_mag_call);
|
|
|
|
/* reset internal states */
|
|
memset(_last_accel, 0, sizeof(_last_accel));
|
|
|
|
/* discard unread data in the buffers */
|
|
_accel_reports->flush();
|
|
_mag_reports->flush();
|
|
}
|
|
|
|
void
|
|
LSM303D::measure_trampoline(void *arg)
|
|
{
|
|
LSM303D *dev = (LSM303D *)arg;
|
|
|
|
/* make another measurement */
|
|
dev->measure();
|
|
}
|
|
|
|
void
|
|
LSM303D::mag_measure_trampoline(void *arg)
|
|
{
|
|
LSM303D *dev = (LSM303D *)arg;
|
|
|
|
/* make another measurement */
|
|
dev->mag_measure();
|
|
}
|
|
|
|
void
|
|
LSM303D::check_registers(void)
|
|
{
|
|
uint8_t v;
|
|
|
|
if ((v = read_reg(_checked_registers[_checked_next])) != _checked_values[_checked_next]) {
|
|
/*
|
|
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. We skip zero as that is the WHO_AM_I, which
|
|
is not writeable
|
|
*/
|
|
if (_checked_next != 0) {
|
|
write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]);
|
|
}
|
|
|
|
_register_wait = 20;
|
|
}
|
|
|
|
_checked_next = (_checked_next + 1) % LSM303D_NUM_CHECKED_REGISTERS;
|
|
}
|
|
|
|
void
|
|
LSM303D::measure()
|
|
{
|
|
/* status register and data as read back from the device */
|
|
|
|
#pragma pack(push, 1)
|
|
struct {
|
|
uint8_t cmd;
|
|
uint8_t status;
|
|
int16_t x;
|
|
int16_t y;
|
|
int16_t z;
|
|
} raw_accel_report;
|
|
#pragma pack(pop)
|
|
|
|
accel_report accel_report;
|
|
|
|
/* start the performance counter */
|
|
perf_begin(_accel_sample_perf);
|
|
|
|
check_registers();
|
|
|
|
if (_register_wait != 0) {
|
|
// we are waiting for some good transfers before using
|
|
// the sensor again.
|
|
_register_wait--;
|
|
perf_end(_accel_sample_perf);
|
|
return;
|
|
}
|
|
|
|
/* fetch data from the sensor */
|
|
memset(&raw_accel_report, 0, sizeof(raw_accel_report));
|
|
raw_accel_report.cmd = ADDR_STATUS_A | DIR_READ | ADDR_INCREMENT;
|
|
transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report));
|
|
|
|
if (!(raw_accel_report.status & REG_STATUS_A_NEW_ZYXADA)) {
|
|
perf_end(_accel_sample_perf);
|
|
perf_count(_accel_duplicates);
|
|
return;
|
|
}
|
|
|
|
/*
|
|
* 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.
|
|
*/
|
|
|
|
accel_report.timestamp = hrt_absolute_time();
|
|
|
|
// use the temperature from the last mag reading
|
|
accel_report.temperature = _last_temperature;
|
|
|
|
// report the error count as the sum of the number of bad
|
|
// register reads and bad values. This allows the higher level
|
|
// code to decide if it should use this sensor based on
|
|
// whether it has had failures
|
|
accel_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values);
|
|
|
|
accel_report.x_raw = raw_accel_report.x;
|
|
accel_report.y_raw = raw_accel_report.y;
|
|
accel_report.z_raw = raw_accel_report.z;
|
|
|
|
float xraw_f = raw_accel_report.x;
|
|
float yraw_f = raw_accel_report.y;
|
|
float zraw_f = raw_accel_report.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;
|
|
|
|
/*
|
|
we have logs where the accelerometers get stuck at a fixed
|
|
large value. We want to detect this and mark the sensor as
|
|
being faulty
|
|
*/
|
|
if (fabsf(_last_accel[0] - x_in_new) < 0.001f &&
|
|
fabsf(_last_accel[1] - y_in_new) < 0.001f &&
|
|
fabsf(_last_accel[2] - z_in_new) < 0.001f &&
|
|
fabsf(x_in_new) > 20 &&
|
|
fabsf(y_in_new) > 20 &&
|
|
fabsf(z_in_new) > 20) {
|
|
_constant_accel_count += 1;
|
|
|
|
} else {
|
|
_constant_accel_count = 0;
|
|
}
|
|
|
|
if (_constant_accel_count > 100) {
|
|
// we've had 100 constant accel readings with large
|
|
// values. The sensor is almost certainly dead. We
|
|
// will raise the error_count so that the top level
|
|
// flight code will know to avoid this sensor, but
|
|
// we'll still give the data so that it can be logged
|
|
// and viewed
|
|
perf_count(_bad_values);
|
|
_constant_accel_count = 0;
|
|
}
|
|
|
|
_last_accel[0] = x_in_new;
|
|
_last_accel[1] = y_in_new;
|
|
_last_accel[2] = z_in_new;
|
|
|
|
accel_report.x = _accel_filter_x.apply(x_in_new);
|
|
accel_report.y = _accel_filter_y.apply(y_in_new);
|
|
accel_report.z = _accel_filter_z.apply(z_in_new);
|
|
|
|
math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
|
|
math::Vector<3> aval_integrated;
|
|
|
|
bool accel_notify = _accel_int.put(accel_report.timestamp, aval, aval_integrated, accel_report.integral_dt);
|
|
accel_report.x_integral = aval_integrated(0);
|
|
accel_report.y_integral = aval_integrated(1);
|
|
accel_report.z_integral = aval_integrated(2);
|
|
|
|
accel_report.scaling = _accel_range_scale;
|
|
accel_report.range_m_s2 = _accel_range_m_s2;
|
|
|
|
/* return device ID */
|
|
accel_report.device_id = _device_id.devid;
|
|
|
|
_accel_reports->force(&accel_report);
|
|
|
|
/* notify anyone waiting for data */
|
|
if (accel_notify) {
|
|
poll_notify(POLLIN);
|
|
|
|
if (!(_pub_blocked)) {
|
|
/* publish it */
|
|
orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report);
|
|
}
|
|
}
|
|
|
|
_accel_read++;
|
|
|
|
/* stop the perf counter */
|
|
perf_end(_accel_sample_perf);
|
|
}
|
|
|
|
void
|
|
LSM303D::mag_measure()
|
|
{
|
|
/* status register and data as read back from the device */
|
|
#pragma pack(push, 1)
|
|
struct {
|
|
uint8_t cmd;
|
|
int16_t temperature;
|
|
uint8_t status;
|
|
int16_t x;
|
|
int16_t y;
|
|
int16_t z;
|
|
} raw_mag_report;
|
|
#pragma pack(pop)
|
|
|
|
mag_report mag_report {};
|
|
|
|
/* start the performance counter */
|
|
perf_begin(_mag_sample_perf);
|
|
|
|
/* fetch data from the sensor */
|
|
memset(&raw_mag_report, 0, sizeof(raw_mag_report));
|
|
raw_mag_report.cmd = ADDR_OUT_TEMP_L | DIR_READ | ADDR_INCREMENT;
|
|
transfer((uint8_t *)&raw_mag_report, (uint8_t *)&raw_mag_report, sizeof(raw_mag_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.
|
|
*/
|
|
|
|
mag_report.timestamp = hrt_absolute_time();
|
|
mag_report.is_external = is_external();
|
|
|
|
mag_report.x_raw = raw_mag_report.x;
|
|
mag_report.y_raw = raw_mag_report.y;
|
|
mag_report.z_raw = raw_mag_report.z;
|
|
|
|
float xraw_f = mag_report.x_raw;
|
|
float yraw_f = mag_report.y_raw;
|
|
float zraw_f = mag_report.z_raw;
|
|
|
|
/* apply user specified rotation */
|
|
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
|
|
|
|
mag_report.x = ((xraw_f * _mag_range_scale) - _mag_scale.x_offset) * _mag_scale.x_scale;
|
|
mag_report.y = ((yraw_f * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale;
|
|
mag_report.z = ((zraw_f * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale;
|
|
mag_report.scaling = _mag_range_scale;
|
|
mag_report.range_ga = (float)_mag_range_ga;
|
|
mag_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values);
|
|
|
|
/* remember the temperature. The datasheet isn't clear, but it
|
|
* seems to be a signed offset from 25 degrees C in units of 0.125C
|
|
*/
|
|
_last_temperature = 25 + (raw_mag_report.temperature * 0.125f);
|
|
mag_report.temperature = _last_temperature;
|
|
mag_report.device_id = _mag->_device_id.devid;
|
|
|
|
_mag_reports->force(&mag_report);
|
|
|
|
/* notify anyone waiting for data */
|
|
poll_notify(POLLIN);
|
|
|
|
if (!(_pub_blocked)) {
|
|
/* publish it */
|
|
orb_publish(ORB_ID(sensor_mag), _mag->_mag_topic, &mag_report);
|
|
}
|
|
|
|
_mag_read++;
|
|
|
|
/* stop the perf counter */
|
|
perf_end(_mag_sample_perf);
|
|
}
|
|
|
|
void
|
|
LSM303D::print_info()
|
|
{
|
|
printf("accel reads: %u\n", _accel_read);
|
|
printf("mag reads: %u\n", _mag_read);
|
|
perf_print_counter(_accel_sample_perf);
|
|
perf_print_counter(_mag_sample_perf);
|
|
perf_print_counter(_bad_registers);
|
|
perf_print_counter(_bad_values);
|
|
perf_print_counter(_accel_duplicates);
|
|
_accel_reports->print_info("accel reports");
|
|
_mag_reports->print_info("mag reports");
|
|
::printf("checked_next: %u\n", _checked_next);
|
|
|
|
for (uint8_t i = 0; i < LSM303D_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]);
|
|
}
|
|
}
|
|
|
|
::printf("temperature: %.2f\n", (double)_last_temperature);
|
|
}
|
|
|
|
void
|
|
LSM303D::print_registers()
|
|
{
|
|
const struct {
|
|
uint8_t reg;
|
|
const char *name;
|
|
} regmap[] = {
|
|
{ ADDR_WHO_AM_I, "WHO_AM_I" },
|
|
{ 0x02, "I2C_CONTROL1" },
|
|
{ 0x15, "I2C_CONTROL2" },
|
|
{ ADDR_STATUS_A, "STATUS_A" },
|
|
{ ADDR_STATUS_M, "STATUS_M" },
|
|
{ ADDR_CTRL_REG0, "CTRL_REG0" },
|
|
{ ADDR_CTRL_REG1, "CTRL_REG1" },
|
|
{ ADDR_CTRL_REG2, "CTRL_REG2" },
|
|
{ ADDR_CTRL_REG3, "CTRL_REG3" },
|
|
{ ADDR_CTRL_REG4, "CTRL_REG4" },
|
|
{ ADDR_CTRL_REG5, "CTRL_REG5" },
|
|
{ ADDR_CTRL_REG6, "CTRL_REG6" },
|
|
{ ADDR_CTRL_REG7, "CTRL_REG7" },
|
|
{ ADDR_OUT_TEMP_L, "TEMP_L" },
|
|
{ ADDR_OUT_TEMP_H, "TEMP_H" },
|
|
{ ADDR_INT_CTRL_M, "INT_CTRL_M" },
|
|
{ ADDR_INT_SRC_M, "INT_SRC_M" },
|
|
{ ADDR_REFERENCE_X, "REFERENCE_X" },
|
|
{ ADDR_REFERENCE_Y, "REFERENCE_Y" },
|
|
{ ADDR_REFERENCE_Z, "REFERENCE_Z" },
|
|
{ ADDR_OUT_X_L_A, "ACCEL_XL" },
|
|
{ ADDR_OUT_X_H_A, "ACCEL_XH" },
|
|
{ ADDR_OUT_Y_L_A, "ACCEL_YL" },
|
|
{ ADDR_OUT_Y_H_A, "ACCEL_YH" },
|
|
{ ADDR_OUT_Z_L_A, "ACCEL_ZL" },
|
|
{ ADDR_OUT_Z_H_A, "ACCEL_ZH" },
|
|
{ ADDR_FIFO_CTRL, "FIFO_CTRL" },
|
|
{ ADDR_FIFO_SRC, "FIFO_SRC" },
|
|
{ ADDR_IG_CFG1, "IG_CFG1" },
|
|
{ ADDR_IG_SRC1, "IG_SRC1" },
|
|
{ ADDR_IG_THS1, "IG_THS1" },
|
|
{ ADDR_IG_DUR1, "IG_DUR1" },
|
|
{ ADDR_IG_CFG2, "IG_CFG2" },
|
|
{ ADDR_IG_SRC2, "IG_SRC2" },
|
|
{ ADDR_IG_THS2, "IG_THS2" },
|
|
{ ADDR_IG_DUR2, "IG_DUR2" },
|
|
{ ADDR_CLICK_CFG, "CLICK_CFG" },
|
|
{ ADDR_CLICK_SRC, "CLICK_SRC" },
|
|
{ ADDR_CLICK_THS, "CLICK_THS" },
|
|
{ ADDR_TIME_LIMIT, "TIME_LIMIT" },
|
|
{ ADDR_TIME_LATENCY, "TIME_LATENCY" },
|
|
{ ADDR_TIME_WINDOW, "TIME_WINDOW" },
|
|
{ ADDR_ACT_THS, "ACT_THS" },
|
|
{ ADDR_ACT_DUR, "ACT_DUR" }
|
|
};
|
|
|
|
for (uint8_t i = 0; i < sizeof(regmap) / sizeof(regmap[0]); i++) {
|
|
printf("0x%02x %s\n", read_reg(regmap[i].reg), regmap[i].name);
|
|
}
|
|
}
|
|
|
|
void
|
|
LSM303D::test_error()
|
|
{
|
|
// trigger an error
|
|
write_reg(ADDR_CTRL_REG3, 0);
|
|
}
|
|
|
|
LSM303D_mag::LSM303D_mag(LSM303D *parent) :
|
|
CDev("LSM303D_mag", LSM303D_DEVICE_PATH_MAG),
|
|
_parent(parent),
|
|
_mag_topic(nullptr),
|
|
_mag_orb_class_instance(-1),
|
|
_mag_class_instance(-1)
|
|
{
|
|
}
|
|
|
|
LSM303D_mag::~LSM303D_mag()
|
|
{
|
|
if (_mag_class_instance != -1) {
|
|
unregister_class_devname(MAG_BASE_DEVICE_PATH, _mag_class_instance);
|
|
}
|
|
}
|
|
|
|
int
|
|
LSM303D_mag::init()
|
|
{
|
|
int ret;
|
|
|
|
ret = CDev::init();
|
|
|
|
if (ret != OK) {
|
|
goto out;
|
|
}
|
|
|
|
_mag_class_instance = register_class_devname(MAG_BASE_DEVICE_PATH);
|
|
|
|
out:
|
|
return ret;
|
|
}
|
|
|
|
void
|
|
LSM303D_mag::parent_poll_notify()
|
|
{
|
|
poll_notify(POLLIN);
|
|
}
|
|
|
|
ssize_t
|
|
LSM303D_mag::read(struct file *filp, char *buffer, size_t buflen)
|
|
{
|
|
return _parent->mag_read(filp, buffer, buflen);
|
|
}
|
|
|
|
int
|
|
LSM303D_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
|
|
{
|
|
switch (cmd) {
|
|
case DEVIOCGDEVICEID:
|
|
return (int)CDev::ioctl(filp, cmd, arg);
|
|
break;
|
|
|
|
default:
|
|
return _parent->mag_ioctl(filp, cmd, arg);
|
|
}
|
|
}
|
|
|
|
void
|
|
LSM303D_mag::measure()
|
|
{
|
|
_parent->mag_measure();
|
|
}
|
|
|
|
void
|
|
LSM303D_mag::measure_trampoline(void *arg)
|
|
{
|
|
_parent->mag_measure_trampoline(arg);
|
|
}
|
|
|
|
/**
|
|
* Local functions in support of the shell command.
|
|
*/
|
|
namespace lsm303d
|
|
{
|
|
|
|
LSM303D *g_dev;
|
|
|
|
void start(bool external_bus, enum Rotation rotation, unsigned range);
|
|
void test();
|
|
void reset();
|
|
void info();
|
|
void regdump();
|
|
void usage();
|
|
void test_error();
|
|
|
|
/**
|
|
* Start the driver.
|
|
*
|
|
* This function call only returns once the driver is
|
|
* up and running or failed to detect the sensor.
|
|
*/
|
|
void
|
|
start(bool external_bus, enum Rotation rotation, unsigned range)
|
|
{
|
|
int fd, fd_mag;
|
|
|
|
if (g_dev != nullptr) {
|
|
errx(0, "already started");
|
|
}
|
|
|
|
/* create the driver */
|
|
if (external_bus) {
|
|
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_ACCEL_MAG)
|
|
g_dev = new LSM303D(PX4_SPI_BUS_EXT, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_EXT_ACCEL_MAG, rotation);
|
|
#else
|
|
errx(0, "External SPI not available");
|
|
#endif
|
|
|
|
} else {
|
|
g_dev = new LSM303D(PX4_SPI_BUS_SENSORS, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG, rotation);
|
|
}
|
|
|
|
if (g_dev == nullptr) {
|
|
warnx("failed instantiating LSM303D obj");
|
|
goto fail;
|
|
}
|
|
|
|
if (OK != g_dev->init()) {
|
|
goto fail;
|
|
}
|
|
|
|
/* set the poll rate to default, starts automatic data collection */
|
|
fd = open(LSM303D_DEVICE_PATH_ACCEL, O_RDONLY);
|
|
|
|
if (fd < 0) {
|
|
goto fail;
|
|
}
|
|
|
|
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
|
goto fail;
|
|
}
|
|
|
|
if (ioctl(fd, ACCELIOCSRANGE, range) < 0) {
|
|
goto fail;
|
|
}
|
|
|
|
fd_mag = open(LSM303D_DEVICE_PATH_MAG, O_RDONLY);
|
|
|
|
/* don't fail if open cannot be opened */
|
|
if (0 <= fd_mag) {
|
|
if (ioctl(fd_mag, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
|
goto fail;
|
|
}
|
|
}
|
|
|
|
close(fd);
|
|
close(fd_mag);
|
|
|
|
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_accel = -1;
|
|
struct accel_report accel_report;
|
|
ssize_t sz;
|
|
int ret;
|
|
|
|
/* get the driver */
|
|
fd_accel = open(LSM303D_DEVICE_PATH_ACCEL, O_RDONLY);
|
|
|
|
if (fd_accel < 0) {
|
|
err(1, "%s open failed", LSM303D_DEVICE_PATH_ACCEL);
|
|
}
|
|
|
|
/* do a simple demand read */
|
|
sz = read(fd_accel, &accel_report, sizeof(accel_report));
|
|
|
|
if (sz != sizeof(accel_report)) {
|
|
err(1, "immediate read failed");
|
|
}
|
|
|
|
|
|
warnx("accel x: \t% 9.5f\tm/s^2", (double)accel_report.x);
|
|
warnx("accel y: \t% 9.5f\tm/s^2", (double)accel_report.y);
|
|
warnx("accel z: \t% 9.5f\tm/s^2", (double)accel_report.z);
|
|
warnx("accel x: \t%d\traw", (int)accel_report.x_raw);
|
|
warnx("accel y: \t%d\traw", (int)accel_report.y_raw);
|
|
warnx("accel z: \t%d\traw", (int)accel_report.z_raw);
|
|
|
|
warnx("accel range: %8.4f m/s^2", (double)accel_report.range_m_s2);
|
|
|
|
if (PX4_ERROR == (ret = ioctl(fd_accel, ACCELIOCGLOWPASS, 0))) {
|
|
warnx("accel antialias filter bandwidth: fail");
|
|
|
|
} else {
|
|
warnx("accel antialias filter bandwidth: %d Hz", ret);
|
|
}
|
|
|
|
int fd_mag = -1;
|
|
struct mag_report m_report;
|
|
|
|
/* get the driver */
|
|
fd_mag = open(LSM303D_DEVICE_PATH_MAG, O_RDONLY);
|
|
|
|
if (fd_mag < 0) {
|
|
err(1, "%s open failed", LSM303D_DEVICE_PATH_MAG);
|
|
}
|
|
|
|
/* check if mag is onboard or external */
|
|
if ((ret = ioctl(fd_mag, MAGIOCGEXTERNAL, 0)) < 0) {
|
|
errx(1, "failed to get if mag is onboard or external");
|
|
}
|
|
|
|
warnx("mag device active: %s", ret ? "external" : "onboard");
|
|
|
|
/* do a simple demand read */
|
|
sz = read(fd_mag, &m_report, sizeof(m_report));
|
|
|
|
if (sz != sizeof(m_report)) {
|
|
err(1, "immediate read failed");
|
|
}
|
|
|
|
warnx("mag x: \t% 9.5f\tga", (double)m_report.x);
|
|
warnx("mag y: \t% 9.5f\tga", (double)m_report.y);
|
|
warnx("mag z: \t% 9.5f\tga", (double)m_report.z);
|
|
warnx("mag x: \t%d\traw", (int)m_report.x_raw);
|
|
warnx("mag y: \t%d\traw", (int)m_report.y_raw);
|
|
warnx("mag z: \t%d\traw", (int)m_report.z_raw);
|
|
warnx("mag range: %8.4f ga", (double)m_report.range_ga);
|
|
|
|
/* reset to default polling */
|
|
if (ioctl(fd_accel, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
|
err(1, "reset to default polling");
|
|
}
|
|
|
|
close(fd_accel);
|
|
close(fd_mag);
|
|
|
|
reset();
|
|
errx(0, "PASS");
|
|
}
|
|
|
|
/**
|
|
* Reset the driver.
|
|
*/
|
|
void
|
|
reset()
|
|
{
|
|
int fd = open(LSM303D_DEVICE_PATH_ACCEL, 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");
|
|
}
|
|
|
|
close(fd);
|
|
|
|
fd = open(LSM303D_DEVICE_PATH_MAG, O_RDONLY);
|
|
|
|
if (fd < 0) {
|
|
warnx("mag could not be opened, external mag might be used");
|
|
|
|
} else {
|
|
/* no need to reset the mag as well, the reset() is the same */
|
|
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
|
err(1, "mag pollrate reset failed");
|
|
}
|
|
}
|
|
|
|
close(fd);
|
|
|
|
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);
|
|
}
|
|
|
|
/**
|
|
* dump registers from device
|
|
*/
|
|
void
|
|
regdump()
|
|
{
|
|
if (g_dev == nullptr) {
|
|
errx(1, "driver not running\n");
|
|
}
|
|
|
|
printf("regdump @ %p\n", g_dev);
|
|
g_dev->print_registers();
|
|
|
|
exit(0);
|
|
}
|
|
|
|
/**
|
|
* trigger an error
|
|
*/
|
|
void
|
|
test_error()
|
|
{
|
|
if (g_dev == nullptr) {
|
|
errx(1, "driver not running\n");
|
|
}
|
|
|
|
g_dev->test_error();
|
|
|
|
exit(0);
|
|
}
|
|
|
|
void
|
|
usage()
|
|
{
|
|
warnx("missing command: try 'start', 'info', 'test', 'reset', 'testerror' or 'regdump'");
|
|
warnx("options:");
|
|
warnx(" -X (external bus)");
|
|
warnx(" -R rotation");
|
|
}
|
|
|
|
} // namespace
|
|
|
|
int
|
|
lsm303d_main(int argc, char *argv[])
|
|
{
|
|
bool external_bus = false;
|
|
int ch;
|
|
enum Rotation rotation = ROTATION_NONE;
|
|
int accel_range = 8;
|
|
|
|
/* jump over start/off/etc and look at options first */
|
|
while ((ch = getopt(argc, argv, "XR:a:")) != EOF) {
|
|
switch (ch) {
|
|
case 'X':
|
|
external_bus = true;
|
|
break;
|
|
|
|
case 'R':
|
|
rotation = (enum Rotation)atoi(optarg);
|
|
break;
|
|
|
|
case 'a':
|
|
accel_range = atoi(optarg);
|
|
break;
|
|
|
|
default:
|
|
lsm303d::usage();
|
|
exit(0);
|
|
}
|
|
}
|
|
|
|
const char *verb = argv[optind];
|
|
|
|
/*
|
|
* Start/load the driver.
|
|
|
|
*/
|
|
if (!strcmp(verb, "start")) {
|
|
lsm303d::start(external_bus, rotation, accel_range);
|
|
}
|
|
|
|
/*
|
|
* Test the driver/device.
|
|
*/
|
|
if (!strcmp(verb, "test")) {
|
|
lsm303d::test();
|
|
}
|
|
|
|
/*
|
|
* Reset the driver.
|
|
*/
|
|
if (!strcmp(verb, "reset")) {
|
|
lsm303d::reset();
|
|
}
|
|
|
|
/*
|
|
* Print driver information.
|
|
*/
|
|
if (!strcmp(verb, "info")) {
|
|
lsm303d::info();
|
|
}
|
|
|
|
/*
|
|
* dump device registers
|
|
*/
|
|
if (!strcmp(verb, "regdump")) {
|
|
lsm303d::regdump();
|
|
}
|
|
|
|
/*
|
|
* trigger an error
|
|
*/
|
|
if (!strcmp(verb, "testerror")) {
|
|
lsm303d::test_error();
|
|
}
|
|
|
|
errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'testerror' or 'regdump'");
|
|
}
|