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ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp

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/*
* 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 <http://www.gnu.org/licenses/>.
*
* -- Adapted from Victor Mayoral Vilches's legacy driver under folder LSM9DS0
*/
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include "AP_InertialSensor_LSM9DS0.h"
#include <AP_HAL_Linux/GPIO.h>
extern const AP_HAL::HAL& hal;
#define LSM9DS0_G_WHOAMI 0xD4
#define LSM9DS0_XM_WHOAMI 0x49
////////////////////////////
// LSM9DS0 Gyro Registers //
////////////////////////////
#define WHO_AM_I_G 0x0F
#define CTRL_REG1_G 0x20
# define CTRL_REG1_G_DR_95Hz_BW_12500mHz (0x0 << 4)
# define CTRL_REG1_G_DR_95Hz_BW_25Hz (0x1 << 4)
# define CTRL_REG1_G_DR_190Hz_BW_12500mHz (0x4 << 4)
# define CTRL_REG1_G_DR_190Hz_BW_25Hz (0x5 << 4)
# define CTRL_REG1_G_DR_190Hz_BW_50Hz (0x6 << 4)
# define CTRL_REG1_G_DR_190Hz_BW_70Hz (0x7 << 4)
# define CTRL_REG1_G_DR_380Hz_BW_20Hz (0x8 << 4)
# define CTRL_REG1_G_DR_380Hz_BW_25Hz (0x9 << 4)
# define CTRL_REG1_G_DR_380Hz_BW_50Hz (0xA << 4)
# define CTRL_REG1_G_DR_380Hz_BW_100Hz (0xB << 4)
# define CTRL_REG1_G_DR_760Hz_BW_30Hz (0xC << 4)
# define CTRL_REG1_G_DR_760Hz_BW_35Hz (0xD << 4)
# define CTRL_REG1_G_DR_760Hz_BW_50Hz (0xE << 4)
# define CTRL_REG1_G_DR_760Hz_BW_100Hz (0xF << 4)
# define CTRL_REG1_G_PD (0x1 << 3)
# define CTRL_REG1_G_ZEN (0x1 << 2)
# define CTRL_REG1_G_YEN (0x1 << 1)
# define CTRL_REG1_G_XEN (0x1 << 0)
#define CTRL_REG2_G 0x21
# define CTRL_REG2_G_HPM_NORMAL_RESET (0x0 << 4)
# define CTRL_REG2_G_HPM_REFERENCE (0x1 << 4)
# define CTRL_REG2_G_HPM_NORMAL (0x2 << 4)
# define CTRL_REG2_G_HPM_AUTORESET (0x3 << 4)
# define CTRL_REG2_G_HPCF_0 (0x0 << 0)
# define CTRL_REG2_G_HPCF_1 (0x1 << 0)
# define CTRL_REG2_G_HPCF_2 (0x2 << 0)
# define CTRL_REG2_G_HPCF_3 (0x3 << 0)
# define CTRL_REG2_G_HPCF_4 (0x4 << 0)
# define CTRL_REG2_G_HPCF_5 (0x5 << 0)
# define CTRL_REG2_G_HPCF_6 (0x6 << 0)
# define CTRL_REG2_G_HPCF_7 (0x7 << 0)
# define CTRL_REG2_G_HPCF_8 (0x8 << 0)
# define CTRL_REG2_G_HPCF_9 (0x9 << 0)
#define CTRL_REG3_G 0x22
# define CTRL_REG3_G_I1_INT1 (0x1 << 7)
# define CTRL_REG3_G_I1_BOOT (0x1 << 6)
# define CTRL_REG3_G_H_LACTIVE (0x1 << 5)
# define CTRL_REG3_G_PP_OD (0x1 << 4)
# define CTRL_REG3_G_I2_DRDY (0x1 << 3)
# define CTRL_REG3_G_I2_WTM (0x1 << 2)
# define CTRL_REG3_G_I2_ORUN (0x1 << 1)
# define CTRL_REG3_G_I2_EMPTY (0x1 << 0)
#define CTRL_REG4_G 0x23
# define CTRL_REG4_G_BDU (0x1 << 7)
# define CTRL_REG4_G_BLE (0x1 << 6)
# define CTRL_REG4_G_FS_245DPS (0x0 << 4)
# define CTRL_REG4_G_FS_500DPS (0x1 << 4)
# define CTRL_REG4_G_FS_2000DPS (0x2 << 4)
# define CTRL_REG4_G_ST_NORMAL (0x0 << 1)
# define CTRL_REG4_G_ST_0 (0x1 << 1)
# define CTRL_REG4_G_ST_1 (0x3 << 1)
# define CTRL_REG4_G_SIM_3WIRE (0x1 << 0)
#define CTRL_REG5_G 0x24
# define CTRL_REG5_G_BOOT (0x1 << 7)
# define CTRL_REG5_G_FIFO_EN (0x1 << 6)
# define CTRL_REG5_G_HPEN (0x1 << 4)
# define CTRL_REG5_G_INT1_SEL_00 (0x0 << 2)
# define CTRL_REG5_G_INT1_SEL_01 (0x1 << 2)
# define CTRL_REG5_G_INT1_SEL_10 (0x2 << 2)
# define CTRL_REG5_G_INT1_SEL_11 (0x3 << 2)
# define CTRL_REG5_G_OUT_SEL_00 (0x0 << 0)
# define CTRL_REG5_G_OUT_SEL_01 (0x1 << 0)
# define CTRL_REG5_G_OUT_SEL_10 (0x2 << 0)
# define CTRL_REG5_G_OUT_SEL_11 (0x3 << 0)
#define REFERENCE_G 0x25
#define STATUS_REG_G 0x27
# define STATUS_REG_G_ZYXOR (0x1 << 7)
# define STATUS_REG_G_ZOR (0x1 << 6)
# define STATUS_REG_G_YOR (0x1 << 5)
# define STATUS_REG_G_XOR (0x1 << 4)
# define STATUS_REG_G_ZYXDA (0x1 << 3)
# define STATUS_REG_G_ZDA (0x1 << 2)
# define STATUS_REG_G_YDA (0x1 << 1)
# define STATUS_REG_G_XDA (0x1 << 0)
#define OUT_X_L_G 0x28
#define OUT_X_H_G 0x29
#define OUT_Y_L_G 0x2A
#define OUT_Y_H_G 0x2B
#define OUT_Z_L_G 0x2C
#define OUT_Z_H_G 0x2D
#define FIFO_CTRL_REG_G 0x2E
# define FIFO_CTRL_REG_G_FM_BYPASS (0x0 << 5)
# define FIFO_CTRL_REG_G_FM_FIFO (0x1 << 5)
# define FIFO_CTRL_REG_G_FM_STREAM (0x2 << 5)
# define FIFO_CTRL_REG_G_FM_STREAM_TO_FIFO (0x3 << 5)
# define FIFO_CTRL_REG_G_FM_BYPASS_TO_STREAM (0x4 << 5)
# define FIFO_CTRL_REG_G_WTM_MASK 0x1F
#define FIFO_SRC_REG_G 0x2F
# define FIFO_SRC_REG_G_WTM (0x1 << 7)
# define FIFO_SRC_REG_G_OVRN (0x1 << 6)
# define FIFO_SRC_REG_G_EMPTY (0x1 << 5)
# define FIFO_SRC_REG_G_FSS_MASK 0x1F
#define INT1_CFG_G 0x30
# define INT1_CFG_G_AND_OR (0x1 << 7)
# define INT1_CFG_G_LIR (0x1 << 6)
# define INT1_CFG_G_ZHIE (0x1 << 5)
# define INT1_CFG_G_ZLIE (0x1 << 4)
# define INT1_CFG_G_YHIE (0x1 << 3)
# define INT1_CFG_G_YLIE (0x1 << 2)
# define INT1_CFG_G_XHIE (0x1 << 1)
# define INT1_CFG_G_XLIE (0x1 << 0)
#define INT1_SRC_G 0x31
# define INT1_SRC_G_IA (0x1 << 6)
# define INT1_SRC_G_ZH (0x1 << 5)
# define INT1_SRC_G_ZL (0x1 << 4)
# define INT1_SRC_G_YH (0x1 << 3)
# define INT1_SRC_G_YL (0x1 << 2)
# define INT1_SRC_G_XH (0x1 << 1)
# define INT1_SRC_G_XL (0x1 << 0)
#define INT1_THS_XH_G 0x32
#define INT1_THS_XL_G 0x33
#define INT1_THS_YH_G 0x34
#define INT1_THS_YL_G 0x35
#define INT1_THS_ZH_G 0x36
#define INT1_THS_ZL_G 0x37
#define INT1_DURATION_G 0x38
# define INT1_DURATION_G_WAIT (0x1 << 7)
# define INT1_DURATION_G_D_MASK 0x7F
//////////////////////////////////////////
// LSM9DS0 Accel/Magneto (XM) Registers //
//////////////////////////////////////////
#define OUT_TEMP_L_XM 0x05
#define OUT_TEMP_H_XM 0x06
#define STATUS_REG_M 0x07
# define STATUS_REG_M_ZYXMOR (0x1 << 7)
# define STATUS_REG_M_ZMOR (0x1 << 6)
# define STATUS_REG_M_YMOR (0x1 << 5)
# define STATUS_REG_M_XMOR (0x1 << 4)
# define STATUS_REG_M_ZYXMDA (0x1 << 3)
# define STATUS_REG_M_ZMDA (0x1 << 2)
# define STATUS_REG_M_YMDA (0x1 << 1)
# define STATUS_REG_M_XMDA (0x1 << 0)
#define OUT_X_L_M 0x08
#define OUT_X_H_M 0x09
#define OUT_Y_L_M 0x0A
#define OUT_Y_H_M 0x0B
#define OUT_Z_L_M 0x0C
#define OUT_Z_H_M 0x0D
#define WHO_AM_I_XM 0x0F
#define INT_CTRL_REG_M 0x12
# define INT_CTRL_REG_M_XMIEN (0x1 << 7)
# define INT_CTRL_REG_M_YMIEN (0x1 << 6)
# define INT_CTRL_REG_M_ZMIEN (0x1 << 5)
# define INT_CTRL_REG_M_PP_OD (0x1 << 4)
# define INT_CTRL_REG_M_IEA (0x1 << 3)
# define INT_CTRL_REG_M_IEL (0x1 << 2)
# define INT_CTRL_REG_M_4D (0x1 << 1)
# define INT_CTRL_REG_M_MIEN (0x1 << 0)
#define INT_SRC_REG_M 0x13
# define INT_SRC_REG_M_M_PTH_X (0x1 << 7)
# define INT_SRC_REG_M_M_PTH_Y (0x1 << 6)
# define INT_SRC_REG_M_M_PTH_Z (0x1 << 5)
# define INT_SRC_REG_M_M_NTH_X (0x1 << 4)
# define INT_SRC_REG_M_M_NTH_Y (0x1 << 3)
# define INT_SRC_REG_M_M_NTH_Z (0x1 << 2)
# define INT_SRC_REG_M_MROI (0x1 << 1)
# define INT_SRC_REG_M_MINT (0x1 << 0)
#define INT_THS_L_M 0x14
#define INT_THS_H_M 0x15
#define OFFSET_X_L_M 0x16
#define OFFSET_X_H_M 0x17
#define OFFSET_Y_L_M 0x18
#define OFFSET_Y_H_M 0x19
#define OFFSET_Z_L_M 0x1A
#define OFFSET_Z_H_M 0x1B
#define REFERENCE_X 0x1C
#define REFERENCE_Y 0x1D
#define REFERENCE_Z 0x1E
#define CTRL_REG0_XM 0x1F
# define CTRL_REG0_XM_B00T (0x1 << 7)
# define CTRL_REG0_XM_FIFO_EN (0x1 << 6)
# define CTRL_REG0_XM_WTM_EN (0x1 << 5)
# define CTRL_REG0_XM_HP_CLICK (0x1 << 2)
# define CTRL_REG0_XM_HPIS1 (0x1 << 1)
# define CTRL_REG0_XM_HPIS2 (0x1 << 0)
#define CTRL_REG1_XM 0x20
# define CTRL_REG1_XM_AODR_POWERDOWN (0x0 << 4)
# define CTRL_REG1_XM_AODR_3125mHz (0x1 << 4)
# define CTRL_REG1_XM_AODR_6250mHz (0x2 << 4)
# define CTRL_REG1_XM_AODR_12500mHz (0x3 << 4)
# define CTRL_REG1_XM_AODR_25Hz (0x4 << 4)
# define CTRL_REG1_XM_AODR_50Hz (0x5 << 4)
# define CTRL_REG1_XM_AODR_100Hz (0x6 << 4)
# define CTRL_REG1_XM_AODR_200Hz (0x7 << 4)
# define CTRL_REG1_XM_AODR_400Hz (0x8 << 4)
# define CTRL_REG1_XM_AODR_800Hz (0x9 << 4)
# define CTRL_REG1_XM_AODR_1600Hz (0xA << 4)
# define CTRL_REG1_XM_BDU (0x1 << 3)
# define CTRL_REG1_XM_AZEN (0x1 << 2)
# define CTRL_REG1_XM_AYEN (0x1 << 1)
# define CTRL_REG1_XM_AXEN (0x1 << 0)
#define CTRL_REG2_XM 0x21
# define CTRL_REG2_XM_ABW_773Hz (0x0 << 6)
# define CTRL_REG2_XM_ABW_194Hz (0x1 << 6)
# define CTRL_REG2_XM_ABW_362Hz (0x2 << 6)
# define CTRL_REG2_XM_ABW_50Hz (0x3 << 6)
# define CTRL_REG2_XM_AFS_2G (0x0 << 3)
# define CTRL_REG2_XM_AFS_4G (0x1 << 3)
# define CTRL_REG2_XM_AFS_6G (0x2 << 3)
# define CTRL_REG2_XM_AFS_8G (0x3 << 3)
# define CTRL_REG2_XM_AFS_16G (0x4 << 3)
# define CTRL_REG2_XM_AST_NORMAL (0x0 << 1)
# define CTRL_REG2_XM_AST_POSITIVE (0x1 << 1)
# define CTRL_REG2_XM_AST_NEGATIVE (0x2 << 1)
# define CTRL_REG2_XM_SIM_3WIRE (0x1 << 0)
#define CTRL_REG3_XM 0x22
# define CTRL_REG3_XM_P1_BOOT (0x1 << 7)
# define CTRL_REG3_XM_P1_TAP (0x1 << 6)
# define CTRL_REG3_XM_P1_INT1 (0x1 << 5)
# define CTRL_REG3_XM_P1_INT2 (0x1 << 4)
# define CTRL_REG3_XM_P1_INTM (0x1 << 3)
# define CTRL_REG3_XM_P1_DRDYA (0x1 << 2)
# define CTRL_REG3_XM_P1_DRDYM (0x1 << 1)
# define CTRL_REG3_XM_P1_EMPTY (0x1 << 0)
#define CTRL_REG4_XM 0x23
# define CTRL_REG4_XM_P2_TAP (0x1 << 7)
# define CTRL_REG4_XM_P2_INT1 (0x1 << 6)
# define CTRL_REG4_XM_P2_INT2 (0x1 << 5)
# define CTRL_REG4_XM_P2_INTM (0x1 << 4)
# define CTRL_REG4_XM_P2_DRDYA (0x1 << 3)
# define CTRL_REG4_XM_P2_DRDYM (0x1 << 2)
# define CTRL_REG4_XM_P2_OVERRUN (0x1 << 1)
# define CTRL_REG4_XM_P2_WTM (0x1 << 0)
#define CTRL_REG5_XM 0x24
# define CTRL_REG5_XM_TEMP_EN (0x1 << 7)
# define CTRL_REG5_XM_M_RES_LOW (0x0 << 5)
# define CTRL_REG5_XM_M_RES_HIGH (0x3 << 5)
# define CTRL_REG5_XM_ODR_3125mHz (0x0 << 2)
# define CTRL_REG5_XM_ODR_6250mHz (0x1 << 2)
# define CTRL_REG5_XM_ODR_12500mHz (0x2 << 2)
# define CTRL_REG5_XM_ODR_25Hz (0x3 << 2)
# define CTRL_REG5_XM_ODR_50Hz (0x4 << 2)
# define CTRL_REG5_XM_ODR_100Hz (0x5 << 2)
# define CTRL_REG5_XM_LIR2 (0x1 << 1)
# define CTRL_REG5_XM_LIR1 (0x1 << 0)
#define CTRL_REG6_XM 0x25
# define CTRL_REG6_XM_MFS_2Gs (0x0 << 5)
# define CTRL_REG6_XM_MFS_4Gs (0x1 << 5)
# define CTRL_REG6_XM_MFS_8Gs (0x2 << 5)
# define CTRL_REG6_XM_MFS_12Gs (0x3 << 5)
#define CTRL_REG7_XM 0x26
# define CTRL_REG7_XM_AHPM_NORMAL_RESET (0x0 << 6)
# define CTRL_REG7_XM_AHPM_REFERENCE (0x1 << 6)
# define CTRL_REG7_XM_AHPM_NORMAL (0x2 << 6)
# define CTRL_REG7_XM_AHPM_AUTORESET (0x3 << 6)
# define CTRL_REG7_XM_AFDS (0x1 << 5)
# define CTRL_REG7_XM_MLP (0x1 << 2)
# define CTRL_REG7_XM_MD_CONTINUOUS (0x0 << 0)
# define CTRL_REG7_XM_MD_SINGLE (0x1 << 0)
# define CTRL_REG7_XM_MD_POWERDOWN (0x2 << 0)
#define STATUS_REG_A 0x27
# define STATUS_REG_A_ZYXAOR (0x1 << 7)
# define STATUS_REG_A_ZAOR (0x1 << 6)
# define STATUS_REG_A_YAOR (0x1 << 5)
# define STATUS_REG_A_XAOR (0x1 << 4)
# define STATUS_REG_A_ZYXADA (0x1 << 3)
# define STATUS_REG_A_ZADA (0x1 << 2)
# define STATUS_REG_A_YADA (0x1 << 1)
# define STATUS_REG_A_XADA (0x1 << 0)
#define OUT_X_L_A 0x28
#define OUT_X_H_A 0x29
#define OUT_Y_L_A 0x2A
#define OUT_Y_H_A 0x2B
#define OUT_Z_L_A 0x2C
#define OUT_Z_H_A 0x2D
#define FIFO_CTRL_REG 0x2E
# define FIFO_CTRL_REG_FM_BYPASS (0x0 << 5)
# define FIFO_CTRL_REG_FM_FIFO (0x1 << 5)
# define FIFO_CTRL_REG_FM_STREAM (0x2 << 5)
# define FIFO_CTRL_REG_FM_STREAM_TO_FIFO (0x3 << 5)
# define FIFO_CTRL_REG_FM_BYPASS_TO_STREAM (0x4 << 5)
# define FIFO_CTRL_REG_FTH_MASK 0x1F
#define FIFO_SRC_REG 0x2F
# define FIFO_SRC_REG_WTM (0x1 << 7)
# define FIFO_SRC_REG_OVRN (0x1 << 6)
# define FIFO_SRC_REG_EMPTY (0x1 << 5)
# define FIFO_SRC_REG_FSS_MASK 0x1F
#define INT_GEN_1_REG 0x30
# define INT_GEN_1_REG_AOI (0x1 << 7)
# define INT_GEN_1_REG_6D (0x1 << 6)
# define INT_GEN_1_REG_ZHIE_ZUPE (0x1 << 5)
# define INT_GEN_1_REG_ZLIE_ZDOWNE (0x1 << 4)
# define INT_GEN_1_REG_YHIE_YUPE (0x1 << 3)
# define INT_GEN_1_REG_YLIE_YDOWNE (0x1 << 2)
# define INT_GEN_1_REG_XHIE_XUPE (0x1 << 1)
# define INT_GEN_1_REG_XLIE_XDOWNE (0x1 << 0)
#define INT_GEN_1_SRC 0x31
# define INT_GEN_1_SRC_IA (0x1 << 6)
# define INT_GEN_1_SRC_ZH (0x1 << 5)
# define INT_GEN_1_SRC_ZL (0x1 << 4)
# define INT_GEN_1_SRC_YH (0x1 << 3)
# define INT_GEN_1_SRC_YL (0x1 << 2)
# define INT_GEN_1_SRC_XH (0x1 << 1)
# define INT_GEN_1_SRC_XL (0x1 << 0)
#define INT_GEN_1_THS 0x32
#define INT_GEN_1_DURATION 0x33
#define INT_GEN_2_REG 0x34
# define INT_GEN_2_REG_AOI (0x1 << 7)
# define INT_GEN_2_REG_6D (0x1 << 6)
# define INT_GEN_2_REG_ZHIE_ZUPE (0x1 << 5)
# define INT_GEN_2_REG_ZLIE_ZDOWNE (0x1 << 4)
# define INT_GEN_2_REG_YHIE_YUPE (0x1 << 3)
# define INT_GEN_2_REG_YLIE_YDOWNE (0x1 << 2)
# define INT_GEN_2_REG_XHIE_XUPE (0x1 << 1)
# define INT_GEN_2_REG_XLIE_XDOWNE (0x1 << 0)
#define INT_GEN_2_SRC 0x35
# define INT_GEN_2_SRC_IA (0x1 << 6)
# define INT_GEN_2_SRC_ZH (0x1 << 5)
# define INT_GEN_2_SRC_ZL (0x1 << 4)
# define INT_GEN_2_SRC_YH (0x1 << 3)
# define INT_GEN_2_SRC_YL (0x1 << 2)
# define INT_GEN_2_SRC_XH (0x1 << 1)
# define INT_GEN_2_SRC_XL (0x1 << 0)
#define INT_GEN_2_THS 0x36
#define INT_GEN_2_DURATION 0x37
#define CLICK_CFG 0x38
# define CLICK_CFG_ZD (0x1 << 5)
# define CLICK_CFG_ZS (0x1 << 4)
# define CLICK_CFG_YD (0x1 << 3)
# define CLICK_CFG_YS (0x1 << 2)
# define CLICK_CFG_XD (0x1 << 1)
# define CLICK_CFG_XS (0x1 << 0)
#define CLICK_SRC 0x39
# define CLICK_SRC_IA (0x1 << 6)
# define CLICK_SRC_DCLICK (0x1 << 5)
# define CLICK_SRC_SCLICK (0x1 << 4)
# define CLICK_SRC_SIGN (0x1 << 3)
# define CLICK_SRC_Z (0x1 << 2)
# define CLICK_SRC_Y (0x1 << 1)
# define CLICK_SRC_X (0x1 << 0)
#define CLICK_THS 0x3A
#define TIME_LIMIT 0x3B
#define TIME_LATENCY 0x3C
#define TIME_WINDOW 0x3D
#define ACT_THS 0x3E
#define ACT_DUR 0x3F
AP_InertialSensor_LSM9DS0::AP_InertialSensor_LSM9DS0(AP_InertialSensor &imu,
int drdy_pin_num_a,
int drdy_pin_num_g) :
AP_InertialSensor_Backend(imu),
_drdy_pin_a(NULL),
_drdy_pin_g(NULL),
_last_accel_filter_hz(-1),
_last_gyro_filter_hz(-1),
_accel_filter(800, 15),
_gyro_filter(760, 15),
_gyro_sample_available(false),
_accel_sample_available(false),
_drdy_pin_num_a(drdy_pin_num_a),
_drdy_pin_num_g(drdy_pin_num_g)
{
_product_id = AP_PRODUCT_ID_NONE;
}
AP_InertialSensor_Backend *AP_InertialSensor_LSM9DS0::detect(AP_InertialSensor &_imu)
{
int drdy_pin_num_a = -1, drdy_pin_num_g = -1;
AP_InertialSensor_LSM9DS0 *sensor =
new AP_InertialSensor_LSM9DS0(_imu, drdy_pin_num_a, drdy_pin_num_g);
if (sensor == NULL) {
return NULL;
}
if (!sensor->_init_sensor()) {
delete sensor;
return NULL;
}
return sensor;
}
bool AP_InertialSensor_LSM9DS0::_init_sensor()
{
_gyro_spi = hal.spi->device(AP_HAL::SPIDevice_LSM9DS0_G);
_accel_spi = hal.spi->device(AP_HAL::SPIDevice_LSM9DS0_AM);
_spi_sem = _gyro_spi->get_semaphore(); /* same semaphore for both */
if (_drdy_pin_num_a >= 0) {
_drdy_pin_a = hal.gpio->channel(_drdy_pin_num_a);
if (_drdy_pin_a == NULL) {
hal.scheduler->panic("LSM9DS0: null accel data-ready GPIO channel\n");
}
}
if (_drdy_pin_num_g >= 0) {
_drdy_pin_g = hal.gpio->channel(_drdy_pin_num_g);
if (_drdy_pin_g == NULL) {
hal.scheduler->panic("LSM9DS0: null gyro data-ready GPIO channel\n");
}
}
hal.scheduler->suspend_timer_procs();
uint8_t whoami;
bool whoami_ok = true;
whoami = _register_read_g(WHO_AM_I_G);
if (whoami != LSM9DS0_G_WHOAMI) {
hal.console->printf("LSM9DS0: unexpected gyro WHOAMI 0x%x\n", (unsigned)whoami);
whoami_ok = false;
}
whoami = _register_read_xm(WHO_AM_I_XM);
if (whoami != LSM9DS0_XM_WHOAMI) {
hal.console->printf("LSM9DS0: unexpected acc/mag WHOAMI 0x%x\n", (unsigned)whoami);
whoami_ok = false;
}
if (!whoami_ok) return false;
uint8_t tries = 0;
bool a_ready = false;
bool g_ready = false;
do {
bool success = _hardware_init();
if (success) {
hal.scheduler->delay(10);
if (!_spi_sem->take(100)) {
hal.console->printf("LSM9DS0: Unable to get semaphore\n");
return false;
}
if (!a_ready) {
a_ready = _accel_data_ready();
}
if (!g_ready) {
g_ready = _gyro_data_ready();
}
if (a_ready && g_ready) {
_spi_sem->give();
break;
} else {
hal.console->printf("LSM9DS0 startup failed: no data ready\n");
}
_spi_sem->give();
}
if (tries++ > 5) {
hal.console->printf("failed to boot LSM9DS0 5 times\n");
return false;
}
} while (1);
hal.scheduler->resume_timer_procs();
_gyro_instance = _imu.register_gyro();
_accel_instance = _imu.register_accel();
_set_accel_max_abs_offset(_accel_instance, 5.0f);
#if LSM9DS0_DEBUG
_dump_registers();
#endif
/* start the timer process to read samples */
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_InertialSensor_LSM9DS0::_poll_data, void));
return true;
}
bool AP_InertialSensor_LSM9DS0::_hardware_init()
{
if (!_spi_sem->take(100)) {
hal.console->printf("LSM9DS0: Unable to get semaphore\n");
return false;
}
_gyro_spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_LOW);
_accel_spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_LOW);
_gyro_init();
_accel_init();
_gyro_spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_HIGH);
_accel_spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_HIGH);
_spi_sem->give();
return true;
}
uint8_t AP_InertialSensor_LSM9DS0::_register_read_xm( uint8_t reg )
{
uint8_t addr = reg | 0x80; /* set read bit */
uint8_t tx[2];
uint8_t rx[2];
tx[0] = addr;
tx[1] = 0;
_accel_spi->transaction(tx, rx, 2);
return rx[1];
}
uint8_t AP_InertialSensor_LSM9DS0::_register_read_g( uint8_t reg )
{
uint8_t addr = reg | 0x80; /* set read bit */
uint8_t tx[2];
uint8_t rx[2];
tx[0] = addr;
tx[1] = 0;
_gyro_spi->transaction(tx, rx, 2);
return rx[1];
}
void AP_InertialSensor_LSM9DS0::_register_write_xm(uint8_t reg, uint8_t val)
{
uint8_t tx[2];
uint8_t rx[2];
tx[0] = reg;
tx[1] = val;
_accel_spi->transaction(tx, rx, 2);
}
void AP_InertialSensor_LSM9DS0::_register_write_g(uint8_t reg, uint8_t val)
{
uint8_t tx[2];
uint8_t rx[2];
tx[0] = reg;
tx[1] = val;
_gyro_spi->transaction(tx, rx, 2);
}
void AP_InertialSensor_LSM9DS0::_gyro_init()
{
_register_write_g(CTRL_REG1_G,
CTRL_REG1_G_DR_760Hz_BW_50Hz |
CTRL_REG1_G_PD |
CTRL_REG1_G_ZEN |
CTRL_REG1_G_YEN |
CTRL_REG1_G_XEN);
hal.scheduler->delay(1);
_register_write_g(CTRL_REG2_G, 0x00);
hal.scheduler->delay(1);
/*
* Gyro data ready on DRDY_G
*/
_register_write_g(CTRL_REG3_G, CTRL_REG3_G_I2_DRDY);
hal.scheduler->delay(1);
_register_write_g(CTRL_REG4_G,
CTRL_REG4_G_BDU |
CTRL_REG4_G_FS_2000DPS);
_set_gyro_scale(G_SCALE_2000DPS);
hal.scheduler->delay(1);
_register_write_g(CTRL_REG5_G, 0x00);
hal.scheduler->delay(1);
}
void AP_InertialSensor_LSM9DS0::_accel_init()
{
_register_write_xm(CTRL_REG0_XM, 0x00);
hal.scheduler->delay(1);
_register_write_xm(CTRL_REG1_XM,
CTRL_REG1_XM_AODR_800Hz |
CTRL_REG1_XM_BDU |
CTRL_REG1_XM_AZEN |
CTRL_REG1_XM_AYEN |
CTRL_REG1_XM_AXEN);
hal.scheduler->delay(1);
_register_write_xm(CTRL_REG2_XM,
CTRL_REG2_XM_ABW_50Hz |
CTRL_REG2_XM_AFS_16G);
_set_accel_scale(A_SCALE_16G);
hal.scheduler->delay(1);
/* Accel data ready on INT1 */
_register_write_xm(CTRL_REG3_XM, CTRL_REG3_XM_P1_DRDYA);
hal.scheduler->delay(1);
}
void AP_InertialSensor_LSM9DS0::_set_gyro_scale(gyro_scale scale)
{
/* scales values from datasheet in mdps/digit */
switch (scale) {
case G_SCALE_245DPS:
_gyro_scale = 8.75;
break;
case G_SCALE_500DPS:
_gyro_scale = 17.50;
break;
case G_SCALE_2000DPS:
_gyro_scale = 70;
break;
}
_gyro_scale /= 1000; /* convert mdps/digit to dps/digit */
_gyro_scale *= DEG_TO_RAD; /* convert dps/digit to (rad/s)/digit */
}
void AP_InertialSensor_LSM9DS0::_set_accel_scale(accel_scale scale)
{
/*
* Possible accelerometer scales (and their register bit settings) are:
* 2 g (000), 4g (001), 6g (010) 8g (011), 16g (100). Here's a bit of an
* algorithm to calculate g/(ADC tick) based on that 3-bit value:
*/
_accel_scale = (((float) scale + 1.0f) * 2.0f) / 32768.0f;
if (scale == A_SCALE_16G) {
_accel_scale = 0.000732; /* the datasheet shows an exception for +-16G */
}
_accel_scale *= GRAVITY_MSS; /* convert to G/LSB to (m/s/s)/LSB */
}
/**
* Timer process to poll for new data from the LSM9DS0.
*/
void AP_InertialSensor_LSM9DS0::_poll_data()
{
bool drdy_is_from_reg = _drdy_pin_num_a < 0 || _drdy_pin_num_g < 0;
bool gyro_ready;
bool accel_ready;
if (drdy_is_from_reg && !_spi_sem->take_nonblocking()) {
/*
* the semaphore being busy is an expected condition when the
* mainline code is calling wait_for_sample() which will
* grab the semaphore. We return now and rely on the mainline
* code grabbing the latest sample.
*/
return;
}
gyro_ready = _gyro_data_ready();
accel_ready = _accel_data_ready();
if (gyro_ready || accel_ready) {
if (!drdy_is_from_reg && !_spi_sem->take_nonblocking()) {
return;
}
if (gyro_ready) {
_read_data_transaction_g();
}
if (accel_ready) {
_read_data_transaction_a();
}
_spi_sem->give();
} else if(drdy_is_from_reg) {
_spi_sem->give();
}
}
bool AP_InertialSensor_LSM9DS0::_accel_data_ready()
{
if (_drdy_pin_a != NULL) {
return _drdy_pin_a->read() != 0;
} else {
uint8_t status = _register_read_xm(STATUS_REG_A);
return status & STATUS_REG_A_ZYXADA;
}
}
bool AP_InertialSensor_LSM9DS0::_gyro_data_ready()
{
if (_drdy_pin_g != NULL) {
return _drdy_pin_g->read() != 0;
} else {
uint8_t status = _register_read_xm(STATUS_REG_G);
return status & STATUS_REG_G_ZYXDA;
}
}
void AP_InertialSensor_LSM9DS0::_accel_raw_data(struct sensor_raw_data *raw_data)
{
struct __attribute__((packed)) {
uint8_t reg;
struct sensor_raw_data data;
} tx = {.reg = OUT_X_L_A | 0xC0, .data = {}}, rx;
_accel_spi->transaction((uint8_t *)&tx, (uint8_t *)&rx, 7);
*raw_data = rx.data;
}
void AP_InertialSensor_LSM9DS0::_gyro_raw_data(struct sensor_raw_data *raw_data)
{
struct __attribute__((packed)) {
uint8_t reg;
struct sensor_raw_data data;
} tx = {.reg = OUT_X_L_G | 0xC0, .data = {}}, rx;
_gyro_spi->transaction((uint8_t *)&tx, (uint8_t *)&rx, 7);
*raw_data = rx.data;
}
void AP_InertialSensor_LSM9DS0::_read_data_transaction_a()
{
struct sensor_raw_data raw_data;
_accel_raw_data(&raw_data);
Vector3f accel_data(raw_data.x, -raw_data.y, -raw_data.z);
accel_data *= _accel_scale;
_rotate_and_correct_accel(_accel_instance, accel_data);
_notify_new_accel_raw_sample(_accel_instance, accel_data);
_accel_filtered = _accel_filter.apply(accel_data);
_accel_sample_available = true;
}
/*
* read from the data registers and update filtered data
*/
void AP_InertialSensor_LSM9DS0::_read_data_transaction_g()
{
struct sensor_raw_data raw_data;
_gyro_raw_data(&raw_data);
Vector3f gyro_data(raw_data.x, -raw_data.y, -raw_data.z);
gyro_data *= _gyro_scale;
_rotate_and_correct_gyro(_gyro_instance, gyro_data);
_notify_new_gyro_raw_sample(_gyro_instance, gyro_data);
_gyro_filtered = _gyro_filter.apply(gyro_data);
_gyro_sample_available = true;
}
bool AP_InertialSensor_LSM9DS0::update()
{
_accel_sample_available = false;
_gyro_sample_available = false;
_publish_gyro(_gyro_instance, _gyro_filtered);
_publish_accel(_accel_instance, _accel_filtered);
if (_last_accel_filter_hz != _accel_filter_cutoff()) {
_set_accel_filter(_accel_filter_cutoff());
_last_accel_filter_hz = _accel_filter_cutoff();
}
if (_last_gyro_filter_hz != _gyro_filter_cutoff()) {
_set_gyro_filter(_gyro_filter_cutoff());
_last_gyro_filter_hz = _gyro_filter_cutoff();
}
return true;
}
/*
* set the accel filter frequency
*/
void AP_InertialSensor_LSM9DS0::_set_accel_filter(uint8_t filter_hz)
{
_accel_filter.set_cutoff_frequency(800, filter_hz);
}
/*
* set the gyro filter frequency
*/
void AP_InertialSensor_LSM9DS0::_set_gyro_filter(uint8_t filter_hz)
{
_gyro_filter.set_cutoff_frequency(760, filter_hz);
}
#if LSM9DS0_DEBUG
/* dump all config registers - used for debug */
void AP_InertialSensor_LSM9DS0::_dump_registers(void)
{
hal.console->println("LSM9DS0 registers:");
hal.console->println("Gyroscope registers:");
const uint8_t first = OUT_TEMP_L_XM;
const uint8_t last = ACT_DUR;
for (uint8_t reg=first; reg<=last; reg++) {
uint8_t v = _register_read_g(reg);
hal.console->printf("%02x:%02x ", (unsigned)reg, (unsigned)v);
if ((reg - (first-1)) % 16 == 0) {
hal.console->println();
}
}
hal.console->println();
hal.console->println("Accelerometer and Magnetometers registers:");
for (uint8_t reg=first; reg<=last; reg++) {
uint8_t v = _register_read_xm(reg);
hal.console->printf("%02x:%02x ", (unsigned)reg, (unsigned)v);
if ((reg - (first-1)) % 16 == 0) {
hal.console->println();
}
}
hal.console->println();
}
#endif
#endif /* CONFIG_HAL_BOARD == HAL_BOARD_LINUX */
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