mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 23:18:28 -04:00
232 lines
7.7 KiB
C++
232 lines
7.7 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Flymaple port by Mike McCauley
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*/
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// Interface to the Flymaple sensors:
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// ITG3205 Gyroscope
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// ADXL345 Accelerometer
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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#include "AP_InertialSensor_Flymaple.h"
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const extern AP_HAL::HAL& hal;
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Vector3f AP_InertialSensor_Flymaple::_accel_sum;
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uint32_t AP_InertialSensor_Flymaple::_accel_sum_count;
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Vector3f AP_InertialSensor_Flymaple::_gyro_sum;
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uint32_t AP_InertialSensor_Flymaple::_gyro_sum_count;
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volatile bool AP_InertialSensor_Flymaple::_in_accumulate;
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uint64_t AP_InertialSensor_Flymaple::_last_accel_timestamp;
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uint64_t AP_InertialSensor_Flymaple::_last_gyro_timestamp;
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int AP_InertialSensor_Flymaple::_accel_fd;
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int AP_InertialSensor_Flymaple::_gyro_fd;
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///////
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/// Accelerometer ADXL345 definitions
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#define FLYMAPLE_ACCELEROMETER_ADDRESS 0x53
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#define FLYMAPLE_ACCELEROMETER_XL345_DEVID 0xe5
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#define FLYMAPLE_ACCELEROMETER_ADXLREG_BW_RATE 0x2c
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#define FLYMAPLE_ACCELEROMETER_ADXLREG_POWER_CTL 0x2d
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#define FLYMAPLE_ACCELEROMETER_ADXLREG_DATA_FORMAT 0x31
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#define FLYMAPLE_ACCELEROMETER_ADXLREG_DEVID 0x00
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#define FLYMAPLE_ACCELEROMETER_ADXLREG_DATAX0 0x32
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#define FLYMAPLE_ACCELEROMETER_GRAVITY 248
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/// Gyro ITG3205 definitions
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#define FLYMAPLE_GYRO_ADDRESS 0x68
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#define FLYMAPLE_GYRO_PWR_MGM 0x3e
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#define FLYMAPLE_GYRO_DLPF_FS 0x16
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#define FLYMAPLE_GYRO_INT_CFG 0x17
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#define FLYMAPLE_GYRO_SMPLRT_DIV 0x15
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#define FLYMAPLE_GYRO_GYROX_H 0x1d
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uint16_t AP_InertialSensor_Flymaple::_init_sensor( Sample_rate sample_rate )
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{
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switch (sample_rate) {
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case RATE_50HZ:
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_sample_divider = 4;
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_default_filter_hz = 10;
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break;
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case RATE_100HZ:
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_sample_divider = 2;
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_default_filter_hz = 20;
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break;
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case RATE_200HZ:
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default:
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_sample_divider = 1;
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_default_filter_hz = 20;
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break;
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}
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// Init the accelerometer
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uint8_t data;
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hal.i2c->readRegister(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_DEVID, &data);
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if (data != FLYMAPLE_ACCELEROMETER_XL345_DEVID)
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hal.scheduler->panic(PSTR("AP_InertialSensor_Flymaple: could not find ADXL345 accelerometer sensor"));
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hal.i2c->writeRegister(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_POWER_CTL, 0x00);
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hal.scheduler->delay(5);
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hal.i2c->writeRegister(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_POWER_CTL, 0xff);
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hal.scheduler->delay(5);
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hal.i2c->writeRegister(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_POWER_CTL, 0x08);
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hal.scheduler->delay(5);
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hal.i2c->writeRegister(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_DATA_FORMAT, 0x08);
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hal.scheduler->delay(5);
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hal.i2c->writeRegister(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_BW_RATE, 0x09);
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hal.scheduler->delay(5);
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/// Init the Gyro
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hal.i2c->writeRegister(FLYMAPLE_GYRO_ADDRESS, FLYMAPLE_GYRO_PWR_MGM, 0x00);
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hal.scheduler->delay(1);
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hal.i2c->writeRegister(FLYMAPLE_GYRO_ADDRESS, FLYMAPLE_GYRO_SMPLRT_DIV, 0x07);
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hal.scheduler->delay(1);
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hal.i2c->writeRegister(FLYMAPLE_GYRO_ADDRESS, FLYMAPLE_GYRO_DLPF_FS,0x1e);
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hal.scheduler->delay(1);
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hal.i2c->writeRegister(FLYMAPLE_GYRO_ADDRESS, FLYMAPLE_GYRO_INT_CFG, 0x00);
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hal.scheduler->delay(1);
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return AP_PRODUCT_ID_FLYMAPLE;
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}
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/*
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set the filter frequency
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*/
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void AP_InertialSensor_Flymaple::_set_filter_frequency(uint8_t filter_hz)
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{
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if (filter_hz == 0) {
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filter_hz = _default_filter_hz;
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}
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/// TODO ...
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}
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/*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */
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bool AP_InertialSensor_Flymaple::update(void)
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{
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while (num_samples_available() == 0) {
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hal.scheduler->delay(1);
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}
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Vector3f accel_scale = _accel_scale.get();
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hal.scheduler->suspend_timer_procs();
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// base the time on the gyro timestamp, as that is what is
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// multiplied by time to integrate in DCM
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_delta_time = (_last_gyro_timestamp - _last_update_usec) * 1.0e-6f;
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_last_update_usec = _last_gyro_timestamp;
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_accel = _accel_sum / _accel_sum_count;
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_accel_sum.zero();
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_accel_sum_count = 0;
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_gyro = _gyro_sum / _gyro_sum_count;
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_gyro_sum.zero();
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_gyro_sum_count = 0;
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hal.scheduler->resume_timer_procs();
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// add offsets and rotation
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_accel.rotate(_board_orientation);
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_accel.x *= accel_scale.x;
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_accel.y *= accel_scale.y;
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_accel.z *= accel_scale.z;
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_accel -= _accel_offset;
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_gyro.rotate(_board_orientation);
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_gyro *= (1.0 / 14.375) * (3.1415926 / 180); // ITG3200 14.375 LSB degrees/sec with FS_SEL=3
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_gyro -= _gyro_offset;
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#if 0
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// whats this all about????
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if (_last_filter_hz != _mpu6000_filter) {
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_set_filter_frequency(_mpu6000_filter);
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_last_filter_hz = _mpu6000_filter;
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}
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#endif
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return true;
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}
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float AP_InertialSensor_Flymaple::get_delta_time(void)
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{
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return _delta_time;
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}
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uint32_t AP_InertialSensor_Flymaple::get_last_sample_time_micros(void)
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{
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return _last_update_usec;
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}
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float AP_InertialSensor_Flymaple::get_gyro_drift_rate(void)
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{
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// 0.5 degrees/second/minute
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return ToRad(0.5/60);
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}
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void AP_InertialSensor_Flymaple::_accumulate(void)
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{
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if (_in_accumulate) {
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return;
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}
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_in_accumulate = true;
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// Read accelerometer
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uint8_t buffer[8];
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if (hal.i2c->readRegisters(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_DATAX0, 8, buffer) == 0)
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{
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// The order is a bit wierd here since the standard we have adopted for Flymaple
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// sensor orientation is different to what the board designers intended
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// Caution, to support alternative chip orientations on other bords, may
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// need to add a chip orientation rotate
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int16_t y = ((((int16_t)buffer[1]) << 8) | buffer[0]); // chip X axis
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int16_t x = (((int16_t)buffer[3]) << 8) | buffer[2]; // chip Y axis
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int16_t z = -((((int16_t)buffer[5]) << 8) | buffer[4]); // chip Z axis
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_accel_sum += Vector3f(x, y, z);
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_accel_sum_count++;
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_last_accel_timestamp = hal.scheduler->micros();
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}
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// Read gyro
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if (hal.i2c->readRegisters(FLYMAPLE_GYRO_ADDRESS, FLYMAPLE_GYRO_GYROX_H, 6, buffer) == 0)
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{
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int16_t y = -(((int16_t)buffer[0]) << 8) | buffer[1]; // chip X axis
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int16_t x = -(((int16_t)buffer[2]) << 8) | buffer[3]; // chip Y axis
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int16_t z = -((((int16_t)buffer[4]) << 8) | buffer[5]); // chip Z axis
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_gyro_sum += Vector3f(x, y, z);
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_gyro_sum_count++;
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_last_gyro_timestamp = hal.scheduler->micros();
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}
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_in_accumulate = false;
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}
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void AP_InertialSensor_Flymaple::_ins_timer(uint32_t now)
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{
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_accumulate();
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}
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uint16_t AP_InertialSensor_Flymaple::num_samples_available(void)
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{
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_accumulate();
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return min(_accel_sum_count, _gyro_sum_count) / _sample_divider;
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}
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#endif // CONFIG_HAL_BOARD
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