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ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_L3GD20.cpp

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/****************************************************************************
*
* Coded by Víctor Mayoral Vilches <v.mayoralv@gmail.com> using
* l3gd20.cpp <https://github.com/diydrones/PX4Firmware> from the PX4 Development Team.
*
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <AP_HAL.h>
#if defined(NOT_YET)
#include "AP_InertialSensor_L3GD20.h"
extern const AP_HAL::HAL& hal;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
#define L3GD20_DRDY_PIN 70
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
#include "../AP_HAL_Linux/GPIO.h"
#define L3GD20_DRDY_PIN BBB_P8_34 // GYRO_DRDY
#endif
#endif
/* L3GD20 definitions */
/* Orientation on board */
#define SENSOR_BOARD_ROTATION_000_DEG 0
#define SENSOR_BOARD_ROTATION_090_DEG 1
#define SENSOR_BOARD_ROTATION_180_DEG 2
#define SENSOR_BOARD_ROTATION_270_DEG 3
/* SPI protocol address bits */
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
#define ADDR_INCREMENT (1<<6)
/* register addresses */
#define ADDR_WHO_AM_I 0x0F
#define WHO_I_AM_H 0xD7
#define WHO_I_AM 0xD4
#define ADDR_CTRL_REG1 0x20
#define REG1_RATE_LP_MASK 0xF0 /* Mask to guard partial register update */
/* keep lowpass low to avoid noise issues */
#define RATE_95HZ_LP_25HZ ((0<<7) | (0<<6) | (0<<5) | (1<<4))
#define RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (0<<5) | (1<<4))
#define RATE_190HZ_LP_50HZ ((0<<7) | (1<<6) | (1<<5) | (0<<4))
#define RATE_190HZ_LP_70HZ ((0<<7) | (1<<6) | (1<<5) | (1<<4))
#define RATE_380HZ_LP_20HZ ((1<<7) | (0<<6) | (1<<5) | (0<<4))
#define RATE_380HZ_LP_25HZ ((1<<7) | (0<<6) | (0<<5) | (1<<4))
#define RATE_380HZ_LP_50HZ ((1<<7) | (0<<6) | (1<<5) | (0<<4))
#define RATE_380HZ_LP_100HZ ((1<<7) | (0<<6) | (1<<5) | (1<<4))
#define RATE_760HZ_LP_30HZ ((1<<7) | (1<<6) | (0<<5) | (0<<4))
#define RATE_760HZ_LP_35HZ ((1<<7) | (1<<6) | (0<<5) | (1<<4))
#define RATE_760HZ_LP_50HZ ((1<<7) | (1<<6) | (1<<5) | (0<<4))
#define RATE_760HZ_LP_100HZ ((1<<7) | (1<<6) | (1<<5) | (1<<4))
#define ADDR_CTRL_REG2 0x21
#define ADDR_CTRL_REG3 0x22
#define ADDR_CTRL_REG4 0x23
#define REG4_RANGE_MASK 0x30 /* Mask to guard partial register update */
#define RANGE_250DPS (0<<4)
#define RANGE_500DPS (1<<4)
#define RANGE_2000DPS (3<<4)
#define ADDR_CTRL_REG5 0x24
#define ADDR_REFERENCE 0x25
#define ADDR_OUT_TEMP 0x26
#define ADDR_STATUS_REG 0x27
#define ADDR_OUT_X_L 0x28
#define ADDR_OUT_X_H 0x29
#define ADDR_OUT_Y_L 0x2A
#define ADDR_OUT_Y_H 0x2B
#define ADDR_OUT_Z_L 0x2C
#define ADDR_OUT_Z_H 0x2D
#define ADDR_FIFO_CTRL_REG 0x2E
#define ADDR_FIFO_SRC_REG 0x2F
#define ADDR_INT1_CFG 0x30
#define ADDR_INT1_SRC 0x31
#define ADDR_INT1_TSH_XH 0x32
#define ADDR_INT1_TSH_XL 0x33
#define ADDR_INT1_TSH_YH 0x34
#define ADDR_INT1_TSH_YL 0x35
#define ADDR_INT1_TSH_ZH 0x36
#define ADDR_INT1_TSH_ZL 0x37
#define ADDR_INT1_DURATION 0x38
/* Internal configuration values */
#define REG1_POWER_NORMAL (1<<3)
#define REG1_Z_ENABLE (1<<2)
#define REG1_Y_ENABLE (1<<1)
#define REG1_X_ENABLE (1<<0)
#define REG4_BDU (1<<7)
#define REG4_BLE (1<<6)
//#define REG4_SPI_3WIRE (1<<0)
#define REG5_FIFO_ENABLE (1<<6)
#define REG5_REBOOT_MEMORY (1<<7)
#define STATUS_ZYXOR (1<<7)
#define STATUS_ZOR (1<<6)
#define STATUS_YOR (1<<5)
#define STATUS_XOR (1<<4)
#define STATUS_ZYXDA (1<<3)
#define STATUS_ZDA (1<<2)
#define STATUS_YDA (1<<1)
#define STATUS_XDA (1<<0)
#define FIFO_CTRL_BYPASS_MODE (0<<5)
#define FIFO_CTRL_FIFO_MODE (1<<5)
#define FIFO_CTRL_STREAM_MODE (1<<6)
#define FIFO_CTRL_STREAM_TO_FIFO_MODE (3<<5)
#define FIFO_CTRL_BYPASS_TO_STREAM_MODE (1<<7)
#define L3GD20_DEFAULT_RATE 760
#define L3GD20_DEFAULT_RANGE_DPS 2000
#define L3GD20_DEFAULT_FILTER_FREQ 30
// const float AP_InertialSensor_L3GD20::_gyro_scale = (0.0174532f / 16.4f);
AP_InertialSensor_L3GD20::AP_InertialSensor_L3GD20() :
AP_InertialSensor(),
_drdy_pin(NULL),
_initialised(false),
_L3GD20_product_id(AP_PRODUCT_ID_NONE)
{
}
uint16_t AP_InertialSensor_L3GD20::_init_sensor( Sample_rate sample_rate )
{
if (_initialised) return _L3GD20_product_id;
_initialised = true;
_spi = hal.spi->device(AP_HAL::SPIDevice_L3GD20);
_spi_sem = _spi->get_semaphore();
#ifdef L3GD20_DRDY_PIN
_drdy_pin = hal.gpio->channel(L3GD20_DRDY_PIN);
_drdy_pin->mode(HAL_GPIO_INPUT);
#endif
hal.scheduler->suspend_timer_procs();
// Test WHOAMI
uint8_t whoami = _register_read(ADDR_WHO_AM_I);
if (whoami != WHO_I_AM) {
// TODO: we should probably accept multiple chip
// revisions. This is the one on the PXF
hal.console->printf("L3GD20: unexpected WHOAMI 0x%x\n", (unsigned)whoami);
hal.scheduler->panic(PSTR("L3GD20: bad WHOAMI"));
}
uint8_t tries = 0;
do {
bool success = _hardware_init(sample_rate);
if (success) {
hal.scheduler->delay(5+2);
if (!_spi_sem->take(100)) {
hal.scheduler->panic(PSTR("L3GD20: Unable to get semaphore"));
}
if (_data_ready()) {
_spi_sem->give();
break;
} else {
hal.console->println_P(
PSTR("L3GD20 startup failed: no data ready"));
}
_spi_sem->give();
}
if (tries++ > 5) {
hal.scheduler->panic(PSTR("PANIC: failed to boot L3GD20 5 times"));
}
} while (1);
hal.scheduler->resume_timer_procs();
/* read the first lot of data.
* _read_data_transaction requires the spi semaphore to be taken by
* its caller. */
_last_sample_time_micros = hal.scheduler->micros();
hal.scheduler->delay(10);
if (_spi_sem->take(100)) {
_read_data_transaction();
_spi_sem->give();
}
// start the timer process to read samples
hal.scheduler->register_timer_process(AP_HAL_MEMBERPROC(&AP_InertialSensor_L3GD20::_poll_data));
#if L3GD20_DEBUG
_dump_registers();
#endif
return _L3GD20_product_id;
}
/*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */
bool AP_InertialSensor_L3GD20::wait_for_sample(uint16_t timeout_ms)
{
if (_sample_available()) {
return true;
}
uint32_t start = hal.scheduler->millis();
while ((hal.scheduler->millis() - start) < timeout_ms) {
hal.scheduler->delay_microseconds(100);
if (_sample_available()) {
return true;
}
}
return false;
}
bool AP_InertialSensor_L3GD20::update( void )
{
// wait for at least 1 sample
if (!wait_for_sample(1000)) {
return false;
}
// disable timer procs for mininum time
hal.scheduler->suspend_timer_procs();
_gyro[0] = Vector3f(_gyro_sum.x, _gyro_sum.y, _gyro_sum.z);
_num_samples = _sum_count;
_gyro_sum.zero();
_sum_count = 0;
hal.scheduler->resume_timer_procs();
_gyro[0].rotate(_board_orientation);
_gyro[0] *= _gyro_scale / _num_samples;
_gyro[0] -= _gyro_offset[0];
// if (_last_filter_hz != _L3GD20_filter) {
// if (_spi_sem->take(10)) {
// _spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_LOW);
// _set_filter_register(_L3GD20_filter, 0);
// _spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_HIGH);
// _error_count = 0;
// _spi_sem->give();
// }
// }
return true;
}
/*================ HARDWARE FUNCTIONS ==================== */
/**
* Return true if the L3GD20 has new data available for reading.
*
* We use the data ready pin if it is available. Otherwise, read the
* status register.
*/
bool AP_InertialSensor_L3GD20::_data_ready()
{
if (_drdy_pin) {
return _drdy_pin->read() != 0;
}
// TODO: read status register
return false;
}
/**
* Timer process to poll for new data from the L3GD20.
*/
void AP_InertialSensor_L3GD20::_poll_data(void)
{
if (hal.scheduler->in_timerprocess()) {
if (!_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;
}
if (_data_ready()) {
_last_sample_time_micros = hal.scheduler->micros();
_read_data_transaction();
}
_spi_sem->give();
} else {
/* Synchronous read - take semaphore */
if (_spi_sem->take(10)) {
if (_data_ready()) {
_last_sample_time_micros = hal.scheduler->micros();
_read_data_transaction();
}
_spi_sem->give();
} else {
hal.scheduler->panic(
PSTR("PANIC: AP_InertialSensor_L3GD20::_poll_data "
"failed to take SPI semaphore synchronously"));
}
}
}
void AP_InertialSensor_L3GD20::_read_data_transaction() {
struct {
uint8_t cmd;
uint8_t temp;
uint8_t status;
int16_t x;
int16_t y;
int16_t z;
} raw_report;
/* fetch data from the sensor */
memset(&raw_report, 0, sizeof(raw_report));
raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT;
_spi->transaction((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report));
#if L3GD20_USE_DRDY
if ((raw_report.status & 0xF) != 0xF) {
/*
we waited for DRDY, but did not see DRDY on all axes
when we captured. That means a transfer error of some sort
*/
hal.console->println_P(
PSTR("L3GD20: DRDY is not on in all axes, transfer error"));
return;
}
#endif
_gyro_sum.x += raw_report.x;
_gyro_sum.y += raw_report.y;
_gyro_sum.z -= raw_report.z;
_sum_count++;
if (_sum_count == 0) {
// rollover - v unlikely
_gyro_sum.zero();
}
}
uint8_t AP_InertialSensor_L3GD20::_register_read( uint8_t reg )
{
uint8_t addr = reg | 0x80; // Set most significant bit
uint8_t tx[2];
uint8_t rx[2];
tx[0] = addr;
tx[1] = 0;
_spi->transaction(tx, rx, 2);
return rx[1];
}
void AP_InertialSensor_L3GD20::_register_write(uint8_t reg, uint8_t val)
{
uint8_t tx[2];
uint8_t rx[2];
tx[0] = reg;
tx[1] = val;
_spi->transaction(tx, rx, 2);
}
/*
useful when debugging SPI bus errors
*/
void AP_InertialSensor_L3GD20::_register_write_check(uint8_t reg, uint8_t val)
{
uint8_t readed;
_register_write(reg, val);
readed = _register_read(reg);
if (readed != val){
hal.console->printf_P(PSTR("Values doesn't match; written: %02x; read: %02x "), val, readed);
}
#if L3GD20_DEBUG
hal.console->printf_P(PSTR("Values written: %02x; readed: %02x "), val, readed);
#endif
}
/*
set the DLPF filter frequency. Assumes caller has taken semaphore
TODO needs to be changed according to L3GD20 needs
*/
// void AP_InertialSensor_L3GD20::_set_filter_register(uint8_t filter_hz, uint8_t default_filter)
// {
// uint8_t filter = default_filter;
// // choose filtering frequency
// switch (filter_hz) {
// case 5:
// filter = BITS_DLPF_CFG_5HZ;
// break;
// case 10:
// filter = BITS_DLPF_CFG_10HZ;
// break;
// case 20:
// filter = BITS_DLPF_CFG_20HZ;
// break;
// case 42:
// filter = BITS_DLPF_CFG_42HZ;
// break;
// case 98:
// filter = BITS_DLPF_CFG_98HZ;
// break;
// }
// if (filter != 0) {
// _last_filter_hz = filter_hz;
// _register_write(MPUREG_CONFIG, filter);
// }
// }
void AP_InertialSensor_L3GD20::disable_i2c(void)
{
uint8_t retries = 10;
while (retries--) {
// add retries
uint8_t a = _register_read(0x05);
_register_write(0x05, (0x20 | a));
if (_register_read(0x05) == (a | 0x20)) {
return;
}
}
hal.scheduler->panic(PSTR("L3GD20: Unable to disable I2C"));
}
uint8_t AP_InertialSensor_L3GD20::set_samplerate(uint16_t frequency)
{
uint8_t bits = REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
if (frequency == 0)
frequency = 760;
/* use limits good for H or non-H models */
if (frequency <= 100) {
// _current_rate = 95;
bits |= RATE_95HZ_LP_25HZ;
} else if (frequency <= 200) {
// _current_rate = 190;
bits |= RATE_190HZ_LP_50HZ;
} else if (frequency <= 400) {
// _current_rate = 380;
bits |= RATE_380HZ_LP_50HZ;
} else if (frequency <= 800) {
// _current_rate = 760;
bits |= RATE_760HZ_LP_50HZ;
} else {
return -1;
}
_register_write(ADDR_CTRL_REG1, bits);
return 0;
}
uint8_t AP_InertialSensor_L3GD20::set_range(uint8_t max_dps)
{
uint8_t bits = REG4_BDU;
float new_range_scale_dps_digit;
float new_range;
if (max_dps == 0) {
max_dps = 2000;
}
if (max_dps <= 250) {
new_range = 250;
bits |= RANGE_250DPS;
new_range_scale_dps_digit = 8.75e-3f;
} else if (max_dps <= 500) {
new_range = 500;
bits |= RANGE_500DPS;
new_range_scale_dps_digit = 17.5e-3f;
} else if (max_dps <= 2000) {
new_range = 2000;
bits |= RANGE_2000DPS;
new_range_scale_dps_digit = 70e-3f;
} else {
return -1;
}
// _gyro_range_rad_s = new_range / 180.0f * M_PI_F;
// _gyro_range_scale = new_range_scale_dps_digit / 180.0f * M_PI_F;
_gyro_scale = new_range_scale_dps_digit / 180.0f * M_PI_F;
_register_write(ADDR_CTRL_REG4, bits);
return 0;
}
bool AP_InertialSensor_L3GD20::_hardware_init(Sample_rate sample_rate)
{
if (!_spi_sem->take(100)) {
hal.scheduler->panic(PSTR("L3GD20: Unable to get semaphore"));
}
// initially run the bus at low speed
_spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_LOW);
// ensure the chip doesn't interpret any other bus traffic as I2C
disable_i2c();
// Chip reset
/* set default configuration */
_register_write(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE);
hal.scheduler->delay(1);
_register_write(ADDR_CTRL_REG2, 0); /* disable high-pass filters */
hal.scheduler->delay(1);
_register_write(ADDR_CTRL_REG3, 0x08); /* DRDY enable */
hal.scheduler->delay(1);
_register_write(ADDR_CTRL_REG4, REG4_BDU);
hal.scheduler->delay(1);
_register_write(ADDR_CTRL_REG5, 0);
hal.scheduler->delay(1);
_register_write(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */
hal.scheduler->delay(1);
/* disable FIFO. This makes things simpler and ensures we
* aren't getting stale data. It means we must run the hrt
* callback fast enough to not miss data. */
_register_write(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE);
hal.scheduler->delay(1);
set_samplerate(0); // 760Hz
hal.scheduler->delay(1);
set_range(L3GD20_DEFAULT_RANGE_DPS);
hal.scheduler->delay(1);
// //TODO: Filtering
// uint8_t default_filter;
// // sample rate and filtering
// // to minimise the effects of aliasing we choose a filter
// // that is less than half of the sample rate
// switch (sample_rate) {
// case RATE_50HZ:
// // this is used for plane and rover, where noise resistance is
// // more important than update rate. Tests on an aerobatic plane
// // show that 10Hz is fine, and makes it very noise resistant
// default_filter = BITS_DLPF_CFG_10HZ;
// _sample_shift = 2;
// break;
// case RATE_100HZ:
// default_filter = BITS_DLPF_CFG_20HZ;
// _sample_shift = 1;
// break;
// case RATE_200HZ:
// default:
// default_filter = BITS_DLPF_CFG_20HZ;
// _sample_shift = 0;
// break;
// }
// _set_filter_register(_L3GD20_filter, default_filter);
// now that we have initialised, we set the SPI bus speed to high
_spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_HIGH);
_spi_sem->give();
return true;
}
// return the MPU6k gyro drift rate in radian/s/s
// note that this is much better than the oilpan gyros
float AP_InertialSensor_L3GD20::get_gyro_drift_rate(void)
{
// 0.5 degrees/second/minute
return ToRad(0.5f/60);
}
// return true if a sample is available
bool AP_InertialSensor_L3GD20::_sample_available()
{
_poll_data();
// return (_sum_count >> _sample_shift) > 0;
return (_sum_count) > 0;
}
#if L3GD20_DEBUG
// dump all config registers - used for debug
void AP_InertialSensor_L3GD20::_dump_registers(void)
{
hal.console->println_P(PSTR("L3GD20 registers"));
if (_spi_sem->take(100)) {
for (uint8_t reg=ADDR_WHO_AM_I; reg<=56; reg++) { // 0x38 = 56
uint8_t v = _register_read(reg);
hal.console->printf_P(PSTR("%02x:%02x "), (unsigned)reg, (unsigned)v);
if ((reg - (ADDR_WHO_AM_I-1)) % 16 == 0) {
hal.console->println();
}
}
hal.console->println();
_spi_sem->give();
}
}
#endif
// get_delta_time returns the time period in seconds overwhich the sensor data was collected
float AP_InertialSensor_L3GD20::get_delta_time() const
{
// the sensor runs at 200Hz
return 0.005f * _num_samples;
}
#endif
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