mirror of https://github.com/ArduPilot/ardupilot
128 lines
4.0 KiB
C++
128 lines
4.0 KiB
C++
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#include "AP_InertialSensor_Oilpan.h"
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// ADC channel mappings on for the APM Oilpan
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// Sensors: GYROX, GYROY, GYROZ, ACCELX, ACCELY, ACCELZ
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const uint8_t AP_InertialSensor_Oilpan::_sensors[6] = { 1, 2, 0, 4, 5, 6 };
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// ADC result sign adjustment for sensors.
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const int8_t AP_InertialSensor_Oilpan::_sensor_signs[6] =
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{ 1, -1, -1, 1, -1 , -1 };
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// ADC channel reading the gyro temperature
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const uint8_t AP_InertialSensor_Oilpan::_gyro_temp_ch = 3;
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// Maximum possible value returned by an offset-corrected sensor channel
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const float AP_InertialSensor_Oilpan::_adc_constraint = 900;
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// ADC : Voltage reference 3.3v / 12bits(4096 steps) => 0.8mV/ADC step
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// ADXL335 Sensitivity(from datasheet) => 330mV/g,
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// 0.8mV/ADC step => 330/0.8 = 412
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// Tested value : 418
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// 1G in the raw data coming from the accelerometer
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// Value based on actual sample data from 20 boards
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const float AP_InertialSensor_Oilpan::_gravity = 423.8;
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///< would like to use _gravity here, but cannot
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const float AP_InertialSensor_Oilpan::_accel_scale = 9.80665 / 423.8;
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#define ToRad(x) (x*0.01745329252) // *pi/180
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// IDG500 Sensitivity (from datasheet) => 2.0mV/degree/s,
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// 0.8mV/ADC step => 0.8/3.33 = 0.4
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// Tested values : 0.4026, ?, 0.4192
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const float AP_InertialSensor_Oilpan::_gyro_gain_x = ToRad(0.4);
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const float AP_InertialSensor_Oilpan::_gyro_gain_y = ToRad(0.41);
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const float AP_InertialSensor_Oilpan::_gyro_gain_z = ToRad(0.41);
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/* ------ Public functions -------------------------------------------*/
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AP_InertialSensor_Oilpan::AP_InertialSensor_Oilpan( AP_ADC * adc ) :
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_adc(adc)
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{
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_gyro.x = 0;
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_gyro.y = 0;
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_gyro.z = 0;
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_accel.x = 0;
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_accel.y = 0;
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_accel.z = 0;
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}
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void AP_InertialSensor_Oilpan::init( AP_PeriodicProcess * scheduler)
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{
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_adc->Init(scheduler);
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// tell the ADC driver that we will be needed some channels
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for (uint8_t ch=0; ch<6; ch++) {
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_adc->enable_channel(_sensors[ch]);
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}
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}
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bool AP_InertialSensor_Oilpan::update()
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{
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uint16_t adc_values[6];
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_sample_time = _adc->Ch6(_sensors, adc_values);
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_temp = _adc->Ch(_gyro_temp_ch);
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_gyro.x = _gyro_gain_x * _sensor_signs[0] * _gyro_apply_std_offset( adc_values[0] );
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_gyro.y = _gyro_gain_y * _sensor_signs[1] * _gyro_apply_std_offset( adc_values[1] );
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_gyro.z = _gyro_gain_z * _sensor_signs[2] * _gyro_apply_std_offset( adc_values[2] );
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_accel.x = _accel_scale * _sensor_signs[3] * _accel_apply_std_offset( adc_values[3] );
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_accel.y = _accel_scale * _sensor_signs[4] * _accel_apply_std_offset( adc_values[4] );
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_accel.z = _accel_scale * _sensor_signs[5] * _accel_apply_std_offset( adc_values[5] );
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return true;
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}
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float AP_InertialSensor_Oilpan::gx() { return _gyro.x; }
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float AP_InertialSensor_Oilpan::gy() { return _gyro.y; }
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float AP_InertialSensor_Oilpan::gz() { return _gyro.z; }
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void AP_InertialSensor_Oilpan::get_gyros( float * g )
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{
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g[0] = _gyro.x;
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g[1] = _gyro.y;
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g[2] = _gyro.z;
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}
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float AP_InertialSensor_Oilpan::ax() { return _accel.x; }
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float AP_InertialSensor_Oilpan::ay() { return _accel.y; }
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float AP_InertialSensor_Oilpan::az() { return _accel.z; }
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void AP_InertialSensor_Oilpan::get_accels( float * a )
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{
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a[0] = _accel.x;
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a[1] = _accel.y;
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a[2] = _accel.z;
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}
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void AP_InertialSensor_Oilpan::get_sensors( float * sensors )
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{
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sensors[0] = _gyro.x;
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sensors[1] = _gyro.y;
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sensors[2] = _gyro.z;
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sensors[3] = _accel.x;
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sensors[4] = _accel.y;
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sensors[5] = _accel.z;
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}
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float AP_InertialSensor_Oilpan::temperature() { return _temp; }
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uint32_t AP_InertialSensor_Oilpan::sample_time() { return _sample_time; }
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void AP_InertialSensor_Oilpan::reset_sample_time() { }
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/* ------ Private functions -------------------------------------------*/
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float AP_InertialSensor_Oilpan::_gyro_apply_std_offset( uint16_t adc_value )
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{
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/* Magic number from AP_ADC_Oilpan.h */
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return ((float) adc_value ) - 1658.0f;
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}
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float AP_InertialSensor_Oilpan::_accel_apply_std_offset( uint16_t adc_value )
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{
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/* Magic number from AP_ADC_Oilpan.h */
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return ((float) adc_value ) - 2041.0f;
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}
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