diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h index 58a9fe6b88..31c634afa6 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor.h +++ b/libraries/AP_InertialSensor/AP_InertialSensor.h @@ -189,5 +189,6 @@ protected: #include "AP_InertialSensor_PX4.h" #include "AP_InertialSensor_UserInteract_Stream.h" #include "AP_InertialSensor_UserInteract_MAVLink.h" +#include "AP_InertialSensor_Flymaple.h" #endif // __AP_INERTIAL_SENSOR_H__ diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp new file mode 100644 index 0000000000..e46d2d2080 --- /dev/null +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp @@ -0,0 +1,227 @@ +/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- +/* + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + */ +/* + Flymaple port by Mike McCauley + */ + +// Interface to the Flymaple sensors: +// ITG3205 Gyroscope +// ADXL345 Accelerometer + +#include +#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE +#include "AP_InertialSensor_Flymaple.h" + +const extern AP_HAL::HAL& hal; + + +Vector3f AP_InertialSensor_Flymaple::_accel_sum; +uint32_t AP_InertialSensor_Flymaple::_accel_sum_count; +Vector3f AP_InertialSensor_Flymaple::_gyro_sum; +uint32_t AP_InertialSensor_Flymaple::_gyro_sum_count; +volatile bool AP_InertialSensor_Flymaple::_in_accumulate; +uint64_t AP_InertialSensor_Flymaple::_last_accel_timestamp; +uint64_t AP_InertialSensor_Flymaple::_last_gyro_timestamp; +int AP_InertialSensor_Flymaple::_accel_fd; +int AP_InertialSensor_Flymaple::_gyro_fd; + +/////// +/// Accelerometer ADXL345 definitions +#define FLYMAPLE_ACCELEROMETER_ADDRESS 0x53 +#define FLYMAPLE_ACCELEROMETER_XL345_DEVID 0xe5 +#define FLYMAPLE_ACCELEROMETER_ADXLREG_BW_RATE 0x2c +#define FLYMAPLE_ACCELEROMETER_ADXLREG_POWER_CTL 0x2d +#define FLYMAPLE_ACCELEROMETER_ADXLREG_DATA_FORMAT 0x31 +#define FLYMAPLE_ACCELEROMETER_ADXLREG_DEVID 0x00 +#define FLYMAPLE_ACCELEROMETER_ADXLREG_DATAX0 0x32 +#define FLYMAPLE_ACCELEROMETER_GRAVITY 248 + +/// Gyro ITG3205 definitions +#define FLYMAPLE_GYRO_ADDRESS 0x68 +#define FLYMAPLE_GYRO_PWR_MGM 0x3e +#define FLYMAPLE_GYRO_DLPF_FS 0x16 +#define FLYMAPLE_GYRO_INT_CFG 0x17 +#define FLYMAPLE_GYRO_SMPLRT_DIV 0x15 +#define FLYMAPLE_GYRO_GYROX_H 0x1d + +uint16_t AP_InertialSensor_Flymaple::_init_sensor( Sample_rate sample_rate ) +{ + switch (sample_rate) { + case RATE_50HZ: + _sample_divider = 4; + _default_filter_hz = 10; + break; + case RATE_100HZ: + _sample_divider = 2; + _default_filter_hz = 20; + break; + case RATE_200HZ: + default: + _sample_divider = 1; + _default_filter_hz = 20; + break; + } + + // Init the accelerometer + uint8_t data; + hal.i2c->readRegister(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_DEVID, &data); + if (data != FLYMAPLE_ACCELEROMETER_XL345_DEVID) + hal.scheduler->panic(PSTR("AP_InertialSensor_Flymaple: could not find ADXL345 accelerometer sensor")); + hal.i2c->writeRegister(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_POWER_CTL, 0x00); + hal.scheduler->delay(5); + hal.i2c->writeRegister(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_POWER_CTL, 0xff); + hal.scheduler->delay(5); + hal.i2c->writeRegister(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_POWER_CTL, 0x08); + hal.scheduler->delay(5); + hal.i2c->writeRegister(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_DATA_FORMAT, 0x08); + hal.scheduler->delay(5); + hal.i2c->writeRegister(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_BW_RATE, 0x09); + hal.scheduler->delay(5); + + /// Init the Gyro + hal.i2c->writeRegister(FLYMAPLE_GYRO_ADDRESS, FLYMAPLE_GYRO_PWR_MGM, 0x00); + hal.scheduler->delay(1); + hal.i2c->writeRegister(FLYMAPLE_GYRO_ADDRESS, FLYMAPLE_GYRO_SMPLRT_DIV, 0x07); + hal.scheduler->delay(1); + hal.i2c->writeRegister(FLYMAPLE_GYRO_ADDRESS, FLYMAPLE_GYRO_DLPF_FS,0x1e); + hal.scheduler->delay(1); + hal.i2c->writeRegister(FLYMAPLE_GYRO_ADDRESS, FLYMAPLE_GYRO_INT_CFG, 0x00); + hal.scheduler->delay(1); + + return AP_PRODUCT_ID_FLYMAPLE; +} + +/* + set the filter frequency + */ +void AP_InertialSensor_Flymaple::_set_filter_frequency(uint8_t filter_hz) +{ + if (filter_hz == 0) { + filter_hz = _default_filter_hz; + } + +/// TODO ... +} + +/*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */ + +bool AP_InertialSensor_Flymaple::update(void) +{ + while (num_samples_available() == 0) { + hal.scheduler->delay(1); + } + Vector3f accel_scale = _accel_scale.get(); + + hal.scheduler->suspend_timer_procs(); + + // base the time on the gyro timestamp, as that is what is + // multiplied by time to integrate in DCM + _delta_time = (_last_gyro_timestamp - _last_update_usec) * 1.0e-6f; + _last_update_usec = _last_gyro_timestamp; + + _accel = _accel_sum / _accel_sum_count; + _accel_sum.zero(); + _accel_sum_count = 0; + + _gyro = _gyro_sum / _gyro_sum_count; + _gyro_sum.zero(); + _gyro_sum_count = 0; + + hal.scheduler->resume_timer_procs(); + + // add offsets and rotation + _accel.rotate(_board_orientation); + _accel.x *= accel_scale.x; + _accel.y *= accel_scale.y; + _accel.z *= accel_scale.z; + _accel -= _accel_offset; + + _gyro.rotate(_board_orientation); + _gyro *= (1.0 / 14.375) * (3.1415926 / 180); // ITG3200 14.375 LSB degrees/sec with FS_SEL=3 + _gyro -= _gyro_offset; + +#if 0 +// whats this all about???? + if (_last_filter_hz != _mpu6000_filter) { + _set_filter_frequency(_mpu6000_filter); + _last_filter_hz = _mpu6000_filter; + } +#endif + return true; +} + +float AP_InertialSensor_Flymaple::get_delta_time(void) +{ + return _delta_time; +} + +uint32_t AP_InertialSensor_Flymaple::get_last_sample_time_micros(void) +{ + return _last_update_usec; +} + +float AP_InertialSensor_Flymaple::get_gyro_drift_rate(void) +{ + // 0.5 degrees/second/minute + return ToRad(0.5/60); +} + +void AP_InertialSensor_Flymaple::_accumulate(void) +{ + if (_in_accumulate) { + return; + } + _in_accumulate = true; + + // Read accelerometer + uint8_t buffer[8]; + if (hal.i2c->readRegisters(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_DATAX0, 8, buffer) == 0) + { + int16_t x = -((((int16_t)buffer[1]) << 8) | buffer[0]); // X axis + int16_t y = (((int16_t)buffer[3]) << 8) | buffer[2]; // Y axis + int16_t z = -((((int16_t)buffer[5]) << 8) | buffer[4]); // Z axis + _accel_sum += Vector3f(x, y, z); + _accel_sum_count++; + _last_accel_timestamp = hal.scheduler->micros(); + } + + // Read gyro + if (hal.i2c->readRegisters(FLYMAPLE_GYRO_ADDRESS, FLYMAPLE_GYRO_GYROX_H, 6, buffer) == 0) + { + int16_t x = (((int16_t)buffer[0]) << 8) | buffer[1]; // X axis + int16_t y = (((int16_t)buffer[2]) << 8) | buffer[3]; // Y axis + int16_t z = -((((int16_t)buffer[4]) << 8) | buffer[5]); // Z axis + _gyro_sum += Vector3f(x, y, z); + _gyro_sum_count++; + _last_gyro_timestamp = hal.scheduler->micros(); + } + + _in_accumulate = false; +} + +void AP_InertialSensor_Flymaple::_ins_timer(uint32_t now) +{ + _accumulate(); +} + +uint16_t AP_InertialSensor_Flymaple::num_samples_available(void) +{ + _accumulate(); + return min(_accel_sum_count, _gyro_sum_count) / _sample_divider; +} + +#endif // CONFIG_HAL_BOARD + diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.h b/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.h new file mode 100644 index 0000000000..c09c6f5dca --- /dev/null +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.h @@ -0,0 +1,51 @@ +/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- + +#ifndef __AP_INERTIAL_SENSOR_FLYMAPLE_H__ +#define __AP_INERTIAL_SENSOR_FLYMAPLE_H__ + +#include +#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE + +#include +#include "AP_InertialSensor.h" + +class AP_InertialSensor_Flymaple : public AP_InertialSensor +{ +public: + + AP_InertialSensor_Flymaple() : AP_InertialSensor() {} + + /* Concrete implementation of AP_InertialSensor functions: */ + bool update(); + float get_delta_time(); + uint32_t get_last_sample_time_micros(); + float get_gyro_drift_rate(); + uint16_t num_samples_available(); + +private: + uint16_t _init_sensor( Sample_rate sample_rate ); + static void _ins_timer(uint32_t now); + static void _accumulate(void); + uint64_t _last_update_usec; + float _delta_time; + static Vector3f _accel_sum; + static uint32_t _accel_sum_count; + static Vector3f _gyro_sum; + static uint32_t _gyro_sum_count; + static volatile bool _in_accumulate; + static uint64_t _last_accel_timestamp; + static uint64_t _last_gyro_timestamp; + uint8_t _sample_divider; + + // support for updating filter at runtime + uint8_t _last_filter_hz; + uint8_t _default_filter_hz; + + void _set_filter_frequency(uint8_t filter_hz); + + // accelerometer and gyro driver handles + static int _accel_fd; + static int _gyro_fd; +}; +#endif +#endif // __AP_INERTIAL_SENSOR_FLYMAPLE_H__