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AP_InertialSensor: L3G4200D: use AP_HAL::I2CDevice abstraction

This commit is contained in:
Lucas De Marchi 2016-01-19 03:07:09 -02:00
parent af846636e4
commit 58f4624f8c
3 changed files with 70 additions and 79 deletions
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2
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -536,7 +536,7 @@ AP_InertialSensor::detect_backends(void)
#elif HAL_INS_DEFAULT == HAL_INS_LSM9DS0
_add_backend(AP_InertialSensor_LSM9DS0::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_L3G4200D
_add_backend(AP_InertialSensor_L3G4200D::detect(*this));
_add_backend(AP_InertialSensor_L3G4200D::probe(*this, hal.i2c_mgr->get_device(HAL_INS_L3G4200D_I2C_BUS, HAL_INS_L3G4200D_I2C_ADDR));
#elif HAL_INS_DEFAULT == HAL_INS_RASPILOT
//_add_backend(AP_InertialSensor_L3GD20::detect);
//_add_backend(AP_InertialSensor_LSM303D::detect);

132
libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
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@ -33,8 +33,9 @@ Datasheets:
#include "AP_InertialSensor_L3G4200D.h"
#include <inttypes.h>
#include <utility>
const extern AP_HAL::HAL& hal;
const extern AP_HAL::HAL &hal;
///////
/// Accelerometer ADXL345 register definitions
@ -90,8 +91,10 @@ const extern AP_HAL::HAL& hal;
#define L3G4200D_GYRO_SCALE_R_S (DEG_TO_RAD * 70.0f * 0.001f)
// constructor
AP_InertialSensor_L3G4200D::AP_InertialSensor_L3G4200D(AP_InertialSensor &imu) :
AP_InertialSensor_Backend(imu)
AP_InertialSensor_L3G4200D::AP_InertialSensor_L3G4200D(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
: AP_InertialSensor_Backend(imu)
, _dev(std::move(dev))
{
}
@ -102,15 +105,14 @@ AP_InertialSensor_L3G4200D::~AP_InertialSensor_L3G4200D()
/*
detect the sensor
*/
AP_InertialSensor_Backend *AP_InertialSensor_L3G4200D::detect(AP_InertialSensor &_imu)
AP_InertialSensor_Backend *AP_InertialSensor_L3G4200D::probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
{
AP_InertialSensor_L3G4200D *sensor = new AP_InertialSensor_L3G4200D(_imu);
if (sensor == NULL) {
return NULL;
}
if (!sensor->_init_sensor()) {
AP_InertialSensor_L3G4200D *sensor
= new AP_InertialSensor_L3G4200D(imu, std::move(dev));
if (!sensor || !sensor->_init_sensor()) {
delete sensor;
return NULL;
return nullptr;
}
return sensor;
@ -118,91 +120,82 @@ AP_InertialSensor_Backend *AP_InertialSensor_L3G4200D::detect(AP_InertialSensor
bool AP_InertialSensor_L3G4200D::_init_sensor(void)
{
// get pointer to i2c bus semaphore
AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
// take i2c bus sempahore
if (!i2c_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER))
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
// Init the accelerometer
uint8_t data = 0;
hal.i2c->readRegister(ADXL345_ACCELEROMETER_ADDRESS, ADXL345_ACCELEROMETER_ADXLREG_DEVID, &data);
_dev->read_registers(ADXL345_ACCELEROMETER_ADXLREG_DEVID, &data, 1);
if (data != ADXL345_ACCELEROMETER_XL345_DEVID) {
AP_HAL::panic("AP_InertialSensor_L3G4200D: could not find ADXL345 accelerometer sensor");
}
hal.i2c->writeRegister(ADXL345_ACCELEROMETER_ADDRESS, ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL, 0x00);
_dev->write_register(ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL, 0x00);
hal.scheduler->delay(5);
hal.i2c->writeRegister(ADXL345_ACCELEROMETER_ADDRESS, ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL, 0xff);
_dev->write_register(ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL, 0xff);
hal.scheduler->delay(5);
// Measure mode:
hal.i2c->writeRegister(ADXL345_ACCELEROMETER_ADDRESS, ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL, 0x08);
_dev->write_register(ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL, 0x08);
hal.scheduler->delay(5);
// Full resolution, 8g:
// Caution, this must agree with ADXL345_ACCELEROMETER_SCALE_1G
// In full resoution mode, the scale factor need not change
hal.i2c->writeRegister(ADXL345_ACCELEROMETER_ADDRESS, ADXL345_ACCELEROMETER_ADXLREG_DATA_FORMAT, 0x08);
_dev->write_register(ADXL345_ACCELEROMETER_ADXLREG_DATA_FORMAT, 0x08);
hal.scheduler->delay(5);
// Normal power, 800Hz Output Data Rate, 400Hz bandwidth:
hal.i2c->writeRegister(ADXL345_ACCELEROMETER_ADDRESS, ADXL345_ACCELEROMETER_ADXLREG_BW_RATE, 0x0d);
_dev->write_register(ADXL345_ACCELEROMETER_ADXLREG_BW_RATE, 0x0d);
hal.scheduler->delay(5);
// enable FIFO in stream mode. This will allow us to read the accelerometers much less frequently
hal.i2c->writeRegister(ADXL345_ACCELEROMETER_ADDRESS,
ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL,
ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL_STREAM);
// enable FIFO in stream mode. This will allow us to read the accelerometers
// much less frequently
_dev->write_register(ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL,
ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL_STREAM);
// Init the Gyro
// Expect to read the right 'WHO_AM_I' value
hal.i2c->readRegister(L3G4200D_I2C_ADDRESS, L3G4200D_REG_WHO_AM_I, &data);
if (data != L3G4200D_REG_WHO_AM_I_VALUE)
_dev->read_registers(L3G4200D_REG_WHO_AM_I, &data, 1);
if (data != L3G4200D_REG_WHO_AM_I_VALUE) {
AP_HAL::panic("AP_InertialSensor_L3G4200D: could not find L3G4200D gyro sensor");
}
// setup for 800Hz sampling with 110Hz filter
hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
L3G4200D_REG_CTRL_REG1,
L3G4200D_REG_CTRL_REG1_DRBW_800_110 |
L3G4200D_REG_CTRL_REG1_PD |
L3G4200D_REG_CTRL_REG1_XYZ_ENABLE);
_dev->write_register(L3G4200D_REG_CTRL_REG1,
L3G4200D_REG_CTRL_REG1_DRBW_800_110 |
L3G4200D_REG_CTRL_REG1_PD |
L3G4200D_REG_CTRL_REG1_XYZ_ENABLE);
hal.scheduler->delay(1);
hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
L3G4200D_REG_CTRL_REG1,
L3G4200D_REG_CTRL_REG1_DRBW_800_110 |
L3G4200D_REG_CTRL_REG1_PD |
L3G4200D_REG_CTRL_REG1_XYZ_ENABLE);
_dev->write_register(L3G4200D_REG_CTRL_REG1,
L3G4200D_REG_CTRL_REG1_DRBW_800_110 |
L3G4200D_REG_CTRL_REG1_PD |
L3G4200D_REG_CTRL_REG1_XYZ_ENABLE);
hal.scheduler->delay(1);
hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
L3G4200D_REG_CTRL_REG1,
L3G4200D_REG_CTRL_REG1_DRBW_800_110 |
L3G4200D_REG_CTRL_REG1_PD |
L3G4200D_REG_CTRL_REG1_XYZ_ENABLE);
_dev->write_register(L3G4200D_REG_CTRL_REG1,
L3G4200D_REG_CTRL_REG1_DRBW_800_110 |
L3G4200D_REG_CTRL_REG1_PD |
L3G4200D_REG_CTRL_REG1_XYZ_ENABLE);
hal.scheduler->delay(1);
// setup for 2000 degrees/sec full range
hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
L3G4200D_REG_CTRL_REG4,
L3G4200D_REG_CTRL_REG4_FS_2000);
_dev->write_register(L3G4200D_REG_CTRL_REG4,
L3G4200D_REG_CTRL_REG4_FS_2000);
hal.scheduler->delay(1);
// enable FIFO
hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
L3G4200D_REG_CTRL_REG5,
L3G4200D_REG_CTRL_REG5_FIFO_EN);
_dev->write_register(L3G4200D_REG_CTRL_REG5,
L3G4200D_REG_CTRL_REG5_FIFO_EN);
hal.scheduler->delay(1);
// enable FIFO in stream mode. This will allow us to read the gyros much less frequently
hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
L3G4200D_REG_FIFO_CTL,
L3G4200D_REG_FIFO_CTL_STREAM);
_dev->write_register(L3G4200D_REG_FIFO_CTL,
L3G4200D_REG_FIFO_CTL_STREAM);
hal.scheduler->delay(1);
// give back i2c semaphore
i2c_sem->give();
_dev->get_semaphore()->give();
_gyro_instance = _imu.register_gyro(800);
_accel_instance = _imu.register_accel(800);
@ -228,21 +221,16 @@ bool AP_InertialSensor_L3G4200D::update(void)
// Accumulate values from accels and gyros
void AP_InertialSensor_L3G4200D::_accumulate(void)
{
// get pointer to i2c bus semaphore
AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
// take i2c bus sempahore
if (!i2c_sem->take_nonblocking())
if (!_dev->get_semaphore()->take_nonblocking()) {
return;
}
uint8_t num_samples_available;
uint8_t fifo_status = 0;
// Read gyro FIFO status
fifo_status = 0;
hal.i2c->readRegister(L3G4200D_I2C_ADDRESS,
L3G4200D_REG_FIFO_SRC,
&fifo_status);
_dev->read_registers(L3G4200D_REG_FIFO_SRC, &fifo_status, 1);
if (fifo_status & L3G4200D_REG_FIFO_SRC_OVERRUN) {
// FIFO is full
num_samples_available = 32;
@ -257,9 +245,9 @@ void AP_InertialSensor_L3G4200D::_accumulate(void)
if (num_samples_available > 0) {
// read all the entries in one go, using AUTO_INCREMENT. This saves a lot of time on I2C setup
int16_t buffer[num_samples_available][3];
if (hal.i2c->readRegisters(L3G4200D_I2C_ADDRESS, L3G4200D_REG_XL | L3G4200D_REG_AUTO_INCREMENT,
sizeof(buffer), (uint8_t *)&buffer[0][0]) == 0) {
for (uint8_t i=0; i<num_samples_available; i++) {
if (!_dev->read_registers(L3G4200D_REG_XL | L3G4200D_REG_AUTO_INCREMENT,
(uint8_t *)&buffer, sizeof(buffer))) {
for (uint8_t i=0; i < num_samples_available; i++) {
Vector3f gyro = Vector3f(buffer[i][0], -buffer[i][1], -buffer[i][2]);
// Adjust for chip scaling to get radians/sec
gyro *= L3G4200D_GYRO_SCALE_R_S;
@ -270,18 +258,16 @@ void AP_InertialSensor_L3G4200D::_accumulate(void)
}
// Read accelerometer FIFO to find out how many samples are available
hal.i2c->readRegister(ADXL345_ACCELEROMETER_ADDRESS,
ADXL345_ACCELEROMETER_ADXLREG_FIFO_STATUS,
&fifo_status);
_dev->read_registers(ADXL345_ACCELEROMETER_ADXLREG_FIFO_STATUS,
&fifo_status, 1);
num_samples_available = fifo_status & 0x3F;
// read the samples and apply the filter
if (num_samples_available > 0) {
int16_t buffer[num_samples_available][3];
if (hal.i2c->readRegistersMultiple(ADXL345_ACCELEROMETER_ADDRESS,
ADXL345_ACCELEROMETER_ADXLREG_DATAX0,
sizeof(buffer[0]), num_samples_available,
(uint8_t *)&buffer[0][0]) == 0) {
if (!_dev->read_registers_multiple(ADXL345_ACCELEROMETER_ADXLREG_DATAX0,
(uint8_t *)buffer, sizeof(buffer[0]),
num_samples_available)) {
for (uint8_t i=0; i<num_samples_available; i++) {
Vector3f accel = Vector3f(buffer[i][0], -buffer[i][1], -buffer[i][2]);
// Adjust for chip scaling to get m/s/s
@ -293,7 +279,7 @@ void AP_InertialSensor_L3G4200D::_accumulate(void)
}
// give back i2c semaphore
i2c_sem->give();
_dev->get_semaphore()->give();
}
#endif

15
libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h
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@ -4,6 +4,7 @@
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <AP_HAL/I2CDevice.h>
#include <Filter/Filter.h>
#include <Filter/LowPassFilter2p.h>
@ -13,15 +14,17 @@
class AP_InertialSensor_L3G4200D : public AP_InertialSensor_Backend
{
public:
AP_InertialSensor_L3G4200D(AP_InertialSensor &imu);
~AP_InertialSensor_L3G4200D();
AP_InertialSensor_L3G4200D(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
virtual ~AP_InertialSensor_L3G4200D();
// probe the sensor on I2C bus
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
/* update accel and gyro state */
bool update();
// detect the sensor
static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
// return product ID
int16_t product_id() const { return AP_PRODUCT_ID_L3G4200D; }
@ -29,6 +32,8 @@ private:
bool _init_sensor();
void _accumulate();
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
// gyro and accel instances
uint8_t _gyro_instance;
uint8_t _accel_instance;