mirror of https://github.com/ArduPilot/ardupilot
127 lines
3.6 KiB
C++
127 lines
3.6 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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#include "AP_InertialSensor_Oilpan.h"
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#include <AP_ADC/AP_ADC.h>
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const extern AP_HAL::HAL& hal;
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// this driver assumes an AP_ADC object has been declared globally
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extern AP_ADC_ADS7844 apm1_adc;
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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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// 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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// Oilpan accelerometer scaling & offsets
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#define OILPAN_ACCEL_SCALE_1G (GRAVITY_MSS * 2.0f / (2465.0f - 1617.0f))
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#define OILPAN_RAW_ACCEL_OFFSET ((2465.0f + 1617.0f) * 0.5f)
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#define OILPAN_RAW_GYRO_OFFSET 1658.0f
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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 = radians(0.4f);
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const float AP_InertialSensor_Oilpan::_gyro_gain_y = radians(0.41f);
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const float AP_InertialSensor_Oilpan::_gyro_gain_z = radians(0.41f);
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/* ------ Public functions -------------------------------------------*/
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AP_InertialSensor_Oilpan::AP_InertialSensor_Oilpan(AP_InertialSensor &imu) :
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AP_InertialSensor_Backend(imu)
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{
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}
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/*
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detect the sensor
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*/
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AP_InertialSensor_Backend *AP_InertialSensor_Oilpan::detect(AP_InertialSensor &_imu)
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{
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AP_InertialSensor_Oilpan *sensor = new AP_InertialSensor_Oilpan(_imu);
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if (sensor == NULL) {
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return NULL;
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}
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if (!sensor->_init_sensor()) {
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delete sensor;
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return NULL;
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}
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return sensor;
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}
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bool AP_InertialSensor_Oilpan::_init_sensor(void)
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{
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apm1_adc.Init();
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switch (_imu.get_sample_rate()) {
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case AP_InertialSensor::RATE_50HZ:
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_sample_threshold = 20;
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break;
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case AP_InertialSensor::RATE_100HZ:
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_sample_threshold = 10;
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break;
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case AP_InertialSensor::RATE_200HZ:
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_sample_threshold = 5;
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break;
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default:
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// can't do this speed
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return false;
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}
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_gyro_instance = _imu.register_gyro();
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_accel_instance = _imu.register_accel();
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_product_id = AP_PRODUCT_ID_APM1_2560;
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return true;
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}
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/*
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copy data from ADC to frontend
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*/
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bool AP_InertialSensor_Oilpan::update()
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{
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float adc_values[6];
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apm1_adc.Ch6(_sensors, adc_values);
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// copy gyros to frontend
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Vector3f v;
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v(_sensor_signs[0] * ( adc_values[0] - OILPAN_RAW_GYRO_OFFSET ) * _gyro_gain_x,
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_sensor_signs[1] * ( adc_values[1] - OILPAN_RAW_GYRO_OFFSET ) * _gyro_gain_y,
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_sensor_signs[2] * ( adc_values[2] - OILPAN_RAW_GYRO_OFFSET ) * _gyro_gain_z);
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_publish_gyro(_gyro_instance, v);
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// copy accels to frontend
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v(_sensor_signs[3] * (adc_values[3] - OILPAN_RAW_ACCEL_OFFSET),
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_sensor_signs[4] * (adc_values[4] - OILPAN_RAW_ACCEL_OFFSET),
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_sensor_signs[5] * (adc_values[5] - OILPAN_RAW_ACCEL_OFFSET));
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v *= OILPAN_ACCEL_SCALE_1G;
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_publish_accel(_accel_instance, v);
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return true;
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}
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// return true if a new sample is available
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bool AP_InertialSensor_Oilpan::_sample_available() const
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{
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return apm1_adc.num_samples_available(_sensors) >= _sample_threshold;
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}
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#endif // CONFIG_HAL_BOARD
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