mirror of https://github.com/ArduPilot/ardupilot
284 lines
10 KiB
C++
284 lines
10 KiB
C++
/*
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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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This is an INS driver for the combination L3G4200D gyro and ADXL345 accelerometer.
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This combination is available as a cheap 10DOF sensor on ebay
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This sensor driver is an example only - it should not be used in any
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serious autopilot as the latencies on I2C prevent good timing at
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high sample rates. It is useful when doing an initial port of
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ardupilot to a board where only I2C is available, and a cheap sensor
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can be used.
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Datasheets:
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ADXL345 Accelerometer http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
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L3G4200D gyro http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00265057.pdf
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include "AP_InertialSensor_L3G4200D.h"
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#include <inttypes.h>
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#include <utility>
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const extern AP_HAL::HAL &hal;
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///////
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/// Accelerometer ADXL345 register definitions
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#define ADXL345_ACCELEROMETER_ADDRESS 0x53
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#define ADXL345_ACCELEROMETER_XL345_DEVID 0xe5
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#define ADXL345_ACCELEROMETER_ADXLREG_BW_RATE 0x2c
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#define ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL 0x2d
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#define ADXL345_ACCELEROMETER_ADXLREG_DATA_FORMAT 0x31
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#define ADXL345_ACCELEROMETER_ADXLREG_DEVID 0x00
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#define ADXL345_ACCELEROMETER_ADXLREG_DATAX0 0x32
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#define ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL 0x38
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#define ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL_STREAM 0x9F
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#define ADXL345_ACCELEROMETER_ADXLREG_FIFO_STATUS 0x39
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// ADXL345 accelerometer scaling
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// Result will be scaled to 1m/s/s
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// ADXL345 in Full resolution mode (any g scaling) is 256 counts/g, so scale by 9.81/256 = 0.038320312
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#define ADXL345_ACCELEROMETER_SCALE_M_S (GRAVITY_MSS / 256.0f)
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/// Gyro ITG3205 register definitions
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#define L3G4200D_I2C_ADDRESS 0x69
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#define L3G4200D_REG_WHO_AM_I 0x0f
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#define L3G4200D_REG_WHO_AM_I_VALUE 0xd3
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#define L3G4200D_REG_CTRL_REG1 0x20
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#define L3G4200D_REG_CTRL_REG1_DRBW_800_110 0xf0
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#define L3G4200D_REG_CTRL_REG1_PD 0x08
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#define L3G4200D_REG_CTRL_REG1_XYZ_ENABLE 0x07
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#define L3G4200D_REG_CTRL_REG4 0x23
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#define L3G4200D_REG_CTRL_REG4_FS_2000 0x30
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#define L3G4200D_REG_CTRL_REG5 0x24
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#define L3G4200D_REG_CTRL_REG5_FIFO_EN 0x40
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#define L3G4200D_REG_FIFO_CTL 0x2e
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#define L3G4200D_REG_FIFO_CTL_STREAM 0x40
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#define L3G4200D_REG_FIFO_SRC 0x2f
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#define L3G4200D_REG_FIFO_SRC_ENTRIES_MASK 0x1f
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#define L3G4200D_REG_FIFO_SRC_EMPTY 0x20
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#define L3G4200D_REG_FIFO_SRC_OVERRUN 0x40
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#define L3G4200D_REG_XL 0x28
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// this bit is ORd into the register to enable auto-increment mode
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#define L3G4200D_REG_AUTO_INCREMENT 0x80
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// L3G4200D Gyroscope scaling
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// running at 2000 DPS full range, 16 bit signed data, datasheet
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// specifies 70 mdps per bit
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#define L3G4200D_GYRO_SCALE_R_S (DEG_TO_RAD * 70.0f * 0.001f)
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// constructor
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AP_InertialSensor_L3G4200D::AP_InertialSensor_L3G4200D(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
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: AP_InertialSensor_Backend(imu)
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, _dev(std::move(dev))
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{
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}
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AP_InertialSensor_L3G4200D::~AP_InertialSensor_L3G4200D()
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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_L3G4200D::probe(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
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{
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if (!dev) {
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return nullptr;
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}
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AP_InertialSensor_L3G4200D *sensor
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= new AP_InertialSensor_L3G4200D(imu, std::move(dev));
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if (!sensor || !sensor->_init_sensor()) {
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delete sensor;
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return nullptr;
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}
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return sensor;
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}
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bool AP_InertialSensor_L3G4200D::_init_sensor(void)
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{
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_dev->get_semaphore()->take_blocking();
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// Init the accelerometer
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uint8_t data = 0;
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_dev->read_registers(ADXL345_ACCELEROMETER_ADXLREG_DEVID, &data, 1);
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if (data != ADXL345_ACCELEROMETER_XL345_DEVID) {
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AP_HAL::panic("AP_InertialSensor_L3G4200D: could not find ADXL345 accelerometer sensor");
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}
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_dev->write_register(ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL, 0x00);
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hal.scheduler->delay(5);
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_dev->write_register(ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL, 0xff);
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hal.scheduler->delay(5);
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// Measure mode:
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_dev->write_register(ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL, 0x08);
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hal.scheduler->delay(5);
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// Full resolution, 8g:
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// Caution, this must agree with ADXL345_ACCELEROMETER_SCALE_1G
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// In full resoution mode, the scale factor need not change
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_dev->write_register(ADXL345_ACCELEROMETER_ADXLREG_DATA_FORMAT, 0x08);
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hal.scheduler->delay(5);
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// Normal power, 800Hz Output Data Rate, 400Hz bandwidth:
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_dev->write_register(ADXL345_ACCELEROMETER_ADXLREG_BW_RATE, 0x0d);
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hal.scheduler->delay(5);
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// enable FIFO in stream mode. This will allow us to read the accelerometers
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// much less frequently
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_dev->write_register(ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL,
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ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL_STREAM);
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// Init the Gyro
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// Expect to read the right 'WHO_AM_I' value
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_dev->read_registers(L3G4200D_REG_WHO_AM_I, &data, 1);
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if (data != L3G4200D_REG_WHO_AM_I_VALUE) {
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AP_HAL::panic("AP_InertialSensor_L3G4200D: could not find L3G4200D gyro sensor");
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}
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// setup for 800Hz sampling with 110Hz filter
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_dev->write_register(L3G4200D_REG_CTRL_REG1,
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L3G4200D_REG_CTRL_REG1_DRBW_800_110 |
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L3G4200D_REG_CTRL_REG1_PD |
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L3G4200D_REG_CTRL_REG1_XYZ_ENABLE);
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hal.scheduler->delay(1);
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_dev->write_register(L3G4200D_REG_CTRL_REG1,
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L3G4200D_REG_CTRL_REG1_DRBW_800_110 |
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L3G4200D_REG_CTRL_REG1_PD |
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L3G4200D_REG_CTRL_REG1_XYZ_ENABLE);
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hal.scheduler->delay(1);
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_dev->write_register(L3G4200D_REG_CTRL_REG1,
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L3G4200D_REG_CTRL_REG1_DRBW_800_110 |
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L3G4200D_REG_CTRL_REG1_PD |
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L3G4200D_REG_CTRL_REG1_XYZ_ENABLE);
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hal.scheduler->delay(1);
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// setup for 2000 degrees/sec full range
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_dev->write_register(L3G4200D_REG_CTRL_REG4,
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L3G4200D_REG_CTRL_REG4_FS_2000);
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hal.scheduler->delay(1);
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// enable FIFO
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_dev->write_register(L3G4200D_REG_CTRL_REG5,
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L3G4200D_REG_CTRL_REG5_FIFO_EN);
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hal.scheduler->delay(1);
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// enable FIFO in stream mode. This will allow us to read the gyros much less frequently
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_dev->write_register(L3G4200D_REG_FIFO_CTL,
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L3G4200D_REG_FIFO_CTL_STREAM);
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hal.scheduler->delay(1);
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_dev->get_semaphore()->give();
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return true;
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}
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/*
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startup the sensor
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*/
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void AP_InertialSensor_L3G4200D::start(void)
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{
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_gyro_instance = _imu.register_gyro(800, _dev->get_bus_id_devtype(DEVTYPE_L3G4200D));
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_accel_instance = _imu.register_accel(800, _dev->get_bus_id_devtype(DEVTYPE_L3G4200D));
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// start the timer process to read samples
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_dev->register_periodic_callback(1250, FUNCTOR_BIND_MEMBER(&AP_InertialSensor_L3G4200D::_accumulate, void));
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}
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/*
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copy filtered data to the frontend
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*/
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bool AP_InertialSensor_L3G4200D::update(void)
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{
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update_gyro(_gyro_instance);
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update_accel(_accel_instance);
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return true;
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}
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// Accumulate values from accels and gyros
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void AP_InertialSensor_L3G4200D::_accumulate(void)
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{
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uint8_t num_samples_available;
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uint8_t fifo_status = 0;
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// Read gyro FIFO status
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fifo_status = 0;
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_dev->read_registers(L3G4200D_REG_FIFO_SRC, &fifo_status, 1);
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if (fifo_status & L3G4200D_REG_FIFO_SRC_OVERRUN) {
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// FIFO is full
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num_samples_available = 32;
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} else if (fifo_status & L3G4200D_REG_FIFO_SRC_EMPTY) {
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// FIFO is empty
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num_samples_available = 0;
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} else {
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// FIFO is partly full
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num_samples_available = fifo_status & L3G4200D_REG_FIFO_SRC_ENTRIES_MASK;
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}
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if (num_samples_available > 0) {
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// read all the entries in one go, using AUTO_INCREMENT. This saves a lot of time on I2C setup
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int16_t buffer[num_samples_available][3];
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if (!_dev->read_registers(L3G4200D_REG_XL | L3G4200D_REG_AUTO_INCREMENT,
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(uint8_t *)&buffer, sizeof(buffer))) {
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for (uint8_t i=0; i < num_samples_available; i++) {
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Vector3f gyro = Vector3f(buffer[i][0], -buffer[i][1], -buffer[i][2]);
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// Adjust for chip scaling to get radians/sec
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gyro *= L3G4200D_GYRO_SCALE_R_S;
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_rotate_and_correct_gyro(_gyro_instance, gyro);
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_notify_new_gyro_raw_sample(_gyro_instance, gyro);
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}
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}
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}
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// Read accelerometer FIFO to find out how many samples are available
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_dev->read_registers(ADXL345_ACCELEROMETER_ADXLREG_FIFO_STATUS,
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&fifo_status, 1);
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num_samples_available = fifo_status & 0x3F;
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// read the samples and apply the filter
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if (num_samples_available > 0) {
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int16_t buffer[num_samples_available][3];
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if (!_dev->read_registers_multiple(ADXL345_ACCELEROMETER_ADXLREG_DATAX0,
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(uint8_t *)buffer, sizeof(buffer[0]),
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num_samples_available)) {
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for (uint8_t i=0; i<num_samples_available; i++) {
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Vector3f accel = Vector3f(buffer[i][0], -buffer[i][1], -buffer[i][2]);
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// Adjust for chip scaling to get m/s/s
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accel *= ADXL345_ACCELEROMETER_SCALE_M_S;
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_rotate_and_correct_accel(_accel_instance, accel);
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_notify_new_accel_raw_sample(_accel_instance, accel);
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}
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}
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}
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}
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#endif
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