forked from Archive/PX4-Autopilot
Added LSM303D driver skeleton
This commit is contained in:
Lorenz Meier
parent
4ccf252b76
commit
4a5505b044
|
|
@ -0,0 +1,42 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Makefile to build the LSM303D driver.
|
||||
#
|
||||
|
||||
APPNAME = lsm303d
|
||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
||||
STACKSIZE = 2048
|
||||
|
||||
include $(APPDIR)/mk/app.mk
|
||||
|
|
@ -0,0 +1,833 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file lsm303d.cpp
|
||||
* Driver for the ST LSM303D MEMS accel / mag connected via SPI.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <stddef.h>
|
||||
#include <stdlib.h>
|
||||
#include <semaphore.h>
|
||||
#include <string.h>
|
||||
#include <fcntl.h>
|
||||
#include <poll.h>
|
||||
#include <errno.h>
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <systemlib/perf_counter.h>
|
||||
#include <systemlib/err.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
#include <nuttx/clock.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <drivers/device/spi.h>
|
||||
#include <drivers/drv_accel.h>
|
||||
#include <drivers/drv_mag.h>
|
||||
|
||||
|
||||
/* oddly, ERROR is not defined for c++ */
|
||||
#ifdef ERROR
|
||||
# undef ERROR
|
||||
#endif
|
||||
static const int ERROR = -1;
|
||||
|
||||
/* SPI protocol address bits */
|
||||
#define DIR_READ (1<<7)
|
||||
#define DIR_WRITE (0<<7)
|
||||
#define ADDR_INCREMENT (1<<6)
|
||||
|
||||
/* register addresses */
|
||||
#define ADDR_TEMP_OUT_L 0x05
|
||||
#define ADDR_TEMP_OUT_H 0x06
|
||||
#define ADDR_STATUS_M 0x07
|
||||
#define ADDR_OUT_X_L_M 0x08
|
||||
#define ADDR_OUT_X_H_M 0x09
|
||||
#define ADDR_OUT_Y_L_M 0x08
|
||||
#define ADDR_OUT_Y_H_M 0x09
|
||||
#define ADDR_OUT_Z_L_M 0x0A
|
||||
#define ADDR_OUT_Z_H_M 0x0B
|
||||
|
||||
#define ADDR_WHO_AM_I 0x0F
|
||||
#define WHO_I_AM 0x49
|
||||
|
||||
#define INT_CTRL_M 0x12
|
||||
#define INT_SRC_M 0x13
|
||||
|
||||
extern "C" { __EXPORT int lsm303d_main(int argc, char *argv[]); }
|
||||
|
||||
class LSM303D : public device::SPI
|
||||
{
|
||||
public:
|
||||
LSM303D(int bus, const char* path, spi_dev_e device);
|
||||
virtual ~LSM303D();
|
||||
|
||||
virtual int init();
|
||||
|
||||
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
|
||||
/**
|
||||
* Diagnostics - print some basic information about the driver.
|
||||
*/
|
||||
void print_info();
|
||||
|
||||
protected:
|
||||
virtual int probe();
|
||||
|
||||
private:
|
||||
|
||||
struct hrt_call _call;
|
||||
unsigned _call_interval;
|
||||
|
||||
unsigned _num_reports;
|
||||
volatile unsigned _next_report;
|
||||
volatile unsigned _oldest_report;
|
||||
struct gyro_report *_reports;
|
||||
|
||||
struct gyro_scale _gyro_scale;
|
||||
float _gyro_range_scale;
|
||||
float _gyro_range_rad_s;
|
||||
orb_advert_t _gyro_topic;
|
||||
|
||||
unsigned _current_rate;
|
||||
unsigned _current_range;
|
||||
|
||||
perf_counter_t _sample_perf;
|
||||
|
||||
/**
|
||||
* Start automatic measurement.
|
||||
*/
|
||||
void start();
|
||||
|
||||
/**
|
||||
* Stop automatic measurement.
|
||||
*/
|
||||
void stop();
|
||||
|
||||
/**
|
||||
* Static trampoline from the hrt_call context; because we don't have a
|
||||
* generic hrt wrapper yet.
|
||||
*
|
||||
* Called by the HRT in interrupt context at the specified rate if
|
||||
* automatic polling is enabled.
|
||||
*
|
||||
* @param arg Instance pointer for the driver that is polling.
|
||||
*/
|
||||
static void measure_trampoline(void *arg);
|
||||
|
||||
/**
|
||||
* Fetch measurements from the sensor and update the report ring.
|
||||
*/
|
||||
void measure();
|
||||
|
||||
/**
|
||||
* Read a register from the LSM303D
|
||||
*
|
||||
* @param The register to read.
|
||||
* @return The value that was read.
|
||||
*/
|
||||
uint8_t read_reg(unsigned reg);
|
||||
|
||||
/**
|
||||
* Write a register in the LSM303D
|
||||
*
|
||||
* @param reg The register to write.
|
||||
* @param value The new value to write.
|
||||
*/
|
||||
void write_reg(unsigned reg, uint8_t value);
|
||||
|
||||
/**
|
||||
* Modify a register in the LSM303D
|
||||
*
|
||||
* Bits are cleared before bits are set.
|
||||
*
|
||||
* @param reg The register to modify.
|
||||
* @param clearbits Bits in the register to clear.
|
||||
* @param setbits Bits in the register to set.
|
||||
*/
|
||||
void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
|
||||
|
||||
/**
|
||||
* Set the LSM303D measurement range.
|
||||
*
|
||||
* @param max_dps The measurement range is set to permit reading at least
|
||||
* this rate in degrees per second.
|
||||
* Zero selects the maximum supported range.
|
||||
* @return OK if the value can be supported, -ERANGE otherwise.
|
||||
*/
|
||||
int set_range(unsigned max_dps);
|
||||
|
||||
/**
|
||||
* Set the LSM303D internal sampling frequency.
|
||||
*
|
||||
* @param frequency The internal sampling frequency is set to not less than
|
||||
* this value.
|
||||
* Zero selects the maximum rate supported.
|
||||
* @return OK if the value can be supported.
|
||||
*/
|
||||
int set_samplerate(unsigned frequency);
|
||||
};
|
||||
|
||||
/* helper macro for handling report buffer indices */
|
||||
#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
|
||||
|
||||
|
||||
LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
|
||||
SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 8000000),
|
||||
_call_interval(0),
|
||||
_num_reports(0),
|
||||
_next_report(0),
|
||||
_oldest_report(0),
|
||||
_reports(nullptr),
|
||||
_gyro_range_scale(0.0f),
|
||||
_gyro_range_rad_s(0.0f),
|
||||
_gyro_topic(-1),
|
||||
_current_rate(0),
|
||||
_current_range(0),
|
||||
_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_read"))
|
||||
{
|
||||
// enable debug() calls
|
||||
_debug_enabled = true;
|
||||
|
||||
// default scale factors
|
||||
_gyro_scale.x_offset = 0;
|
||||
_gyro_scale.x_scale = 1.0f;
|
||||
_gyro_scale.y_offset = 0;
|
||||
_gyro_scale.y_scale = 1.0f;
|
||||
_gyro_scale.z_offset = 0;
|
||||
_gyro_scale.z_scale = 1.0f;
|
||||
}
|
||||
|
||||
LSM303D::~LSM303D()
|
||||
{
|
||||
/* make sure we are truly inactive */
|
||||
stop();
|
||||
|
||||
/* free any existing reports */
|
||||
if (_reports != nullptr)
|
||||
delete[] _reports;
|
||||
|
||||
/* delete the perf counter */
|
||||
perf_free(_sample_perf);
|
||||
}
|
||||
|
||||
int
|
||||
LSM303D::init()
|
||||
{
|
||||
int ret = ERROR;
|
||||
|
||||
/* do SPI init (and probe) first */
|
||||
if (SPI::init() != OK)
|
||||
goto out;
|
||||
|
||||
/* allocate basic report buffers */
|
||||
_num_reports = 2;
|
||||
_oldest_report = _next_report = 0;
|
||||
_reports = new struct accel_report[_num_reports];
|
||||
|
||||
if (_reports == nullptr)
|
||||
goto out;
|
||||
|
||||
/* advertise sensor topic */
|
||||
memset(&_reports[0], 0, sizeof(_reports[0]));
|
||||
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_reports[0]);
|
||||
|
||||
// /* set default configuration */
|
||||
// write_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE);
|
||||
// write_reg(ADDR_CTRL_REG2, 0); /* disable high-pass filters */
|
||||
// write_reg(ADDR_CTRL_REG3, 0); /* no interrupts - we don't use them */
|
||||
// write_reg(ADDR_CTRL_REG4, REG4_BDU);
|
||||
// write_reg(ADDR_CTRL_REG5, 0);
|
||||
//
|
||||
// write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */
|
||||
// write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_STREAM_MODE); /* Enable FIFO, old data is overwritten */
|
||||
|
||||
set_range(500); /* default to 500dps */
|
||||
set_samplerate(0); /* max sample rate */
|
||||
|
||||
ret = OK;
|
||||
out:
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
LSM303D::probe()
|
||||
{
|
||||
/* read dummy value to void to clear SPI statemachine on sensor */
|
||||
(void)read_reg(ADDR_WHO_AM_I);
|
||||
|
||||
/* verify that the device is attached and functioning */
|
||||
if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM)
|
||||
return OK;
|
||||
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
ssize_t
|
||||
LSM303D::read(struct file *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
unsigned count = buflen / sizeof(struct gyro_report);
|
||||
int ret = 0;
|
||||
|
||||
// /* buffer must be large enough */
|
||||
// if (count < 1)
|
||||
// return -ENOSPC;
|
||||
//
|
||||
// /* if automatic measurement is enabled */
|
||||
// if (_call_interval > 0) {
|
||||
//
|
||||
// /*
|
||||
// * While there is space in the caller's buffer, and reports, copy them.
|
||||
// * Note that we may be pre-empted by the measurement code while we are doing this;
|
||||
// * we are careful to avoid racing with it.
|
||||
// */
|
||||
// while (count--) {
|
||||
// if (_oldest_report != _next_report) {
|
||||
// memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
|
||||
// ret += sizeof(_reports[0]);
|
||||
// INCREMENT(_oldest_report, _num_reports);
|
||||
// }
|
||||
// }
|
||||
//
|
||||
// /* if there was no data, warn the caller */
|
||||
// return ret ? ret : -EAGAIN;
|
||||
// }
|
||||
//
|
||||
// /* manual measurement */
|
||||
// _oldest_report = _next_report = 0;
|
||||
// measure();
|
||||
//
|
||||
// /* measurement will have generated a report, copy it out */
|
||||
// memcpy(buffer, _reports, sizeof(*_reports));
|
||||
// ret = sizeof(*_reports);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
switch (cmd) {
|
||||
|
||||
// case SENSORIOCSPOLLRATE: {
|
||||
// switch (arg) {
|
||||
//
|
||||
// /* switching to manual polling */
|
||||
// case SENSOR_POLLRATE_MANUAL:
|
||||
// stop();
|
||||
// _call_interval = 0;
|
||||
// return OK;
|
||||
//
|
||||
// /* external signalling not supported */
|
||||
// case SENSOR_POLLRATE_EXTERNAL:
|
||||
//
|
||||
// /* zero would be bad */
|
||||
// case 0:
|
||||
// return -EINVAL;
|
||||
//
|
||||
// /* set default/max polling rate */
|
||||
// case SENSOR_POLLRATE_MAX:
|
||||
// case SENSOR_POLLRATE_DEFAULT:
|
||||
// /* With internal low pass filters enabled, 250 Hz is sufficient */
|
||||
// return ioctl(filp, SENSORIOCSPOLLRATE, 250);
|
||||
//
|
||||
// /* adjust to a legal polling interval in Hz */
|
||||
// default: {
|
||||
// /* do we need to start internal polling? */
|
||||
// bool want_start = (_call_interval == 0);
|
||||
//
|
||||
// /* convert hz to hrt interval via microseconds */
|
||||
// unsigned ticks = 1000000 / arg;
|
||||
//
|
||||
// /* check against maximum sane rate */
|
||||
// if (ticks < 1000)
|
||||
// return -EINVAL;
|
||||
//
|
||||
// /* update interval for next measurement */
|
||||
// /* XXX this is a bit shady, but no other way to adjust... */
|
||||
// _call.period = _call_interval = ticks;
|
||||
//
|
||||
// /* if we need to start the poll state machine, do it */
|
||||
// if (want_start)
|
||||
// start();
|
||||
//
|
||||
// return OK;
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
//
|
||||
// case SENSORIOCGPOLLRATE:
|
||||
// if (_call_interval == 0)
|
||||
// return SENSOR_POLLRATE_MANUAL;
|
||||
//
|
||||
// return 1000000 / _call_interval;
|
||||
//
|
||||
// case SENSORIOCSQUEUEDEPTH: {
|
||||
// /* account for sentinel in the ring */
|
||||
// arg++;
|
||||
//
|
||||
// /* lower bound is mandatory, upper bound is a sanity check */
|
||||
// if ((arg < 2) || (arg > 100))
|
||||
// return -EINVAL;
|
||||
//
|
||||
// /* allocate new buffer */
|
||||
// struct gyro_report *buf = new struct gyro_report[arg];
|
||||
//
|
||||
// if (nullptr == buf)
|
||||
// return -ENOMEM;
|
||||
//
|
||||
// /* reset the measurement state machine with the new buffer, free the old */
|
||||
// stop();
|
||||
// delete[] _reports;
|
||||
// _num_reports = arg;
|
||||
// _reports = buf;
|
||||
// start();
|
||||
//
|
||||
// return OK;
|
||||
// }
|
||||
//
|
||||
// case SENSORIOCGQUEUEDEPTH:
|
||||
// return _num_reports - 1;
|
||||
//
|
||||
// case SENSORIOCRESET:
|
||||
// /* XXX implement */
|
||||
// return -EINVAL;
|
||||
//
|
||||
// case GYROIOCSSAMPLERATE:
|
||||
// return set_samplerate(arg);
|
||||
//
|
||||
// case GYROIOCGSAMPLERATE:
|
||||
// return _current_rate;
|
||||
//
|
||||
// case GYROIOCSLOWPASS:
|
||||
// case GYROIOCGLOWPASS:
|
||||
// /* XXX not implemented due to wacky interaction with samplerate */
|
||||
// return -EINVAL;
|
||||
//
|
||||
// case GYROIOCSSCALE:
|
||||
// /* copy scale in */
|
||||
// memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale));
|
||||
// return OK;
|
||||
//
|
||||
// case GYROIOCGSCALE:
|
||||
// /* copy scale out */
|
||||
// memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale));
|
||||
// return OK;
|
||||
//
|
||||
// case GYROIOCSRANGE:
|
||||
// return set_range(arg);
|
||||
//
|
||||
// case GYROIOCGRANGE:
|
||||
// return _current_range;
|
||||
|
||||
default:
|
||||
/* give it to the superclass */
|
||||
return SPI::ioctl(filp, cmd, arg);
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t
|
||||
LSM303D::read_reg(unsigned reg)
|
||||
{
|
||||
uint8_t cmd[2];
|
||||
|
||||
cmd[0] = reg | DIR_READ;
|
||||
|
||||
transfer(cmd, cmd, sizeof(cmd));
|
||||
|
||||
return cmd[1];
|
||||
}
|
||||
|
||||
void
|
||||
LSM303D::write_reg(unsigned reg, uint8_t value)
|
||||
{
|
||||
uint8_t cmd[2];
|
||||
|
||||
cmd[0] = reg | DIR_WRITE;
|
||||
cmd[1] = value;
|
||||
|
||||
transfer(cmd, nullptr, sizeof(cmd));
|
||||
}
|
||||
|
||||
void
|
||||
LSM303D::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
|
||||
{
|
||||
uint8_t val;
|
||||
|
||||
val = read_reg(reg);
|
||||
val &= ~clearbits;
|
||||
val |= setbits;
|
||||
write_reg(reg, val);
|
||||
}
|
||||
|
||||
int
|
||||
LSM303D::set_range(unsigned max_dps)
|
||||
{
|
||||
// uint8_t bits = REG4_BDU;
|
||||
//
|
||||
// if (max_dps == 0)
|
||||
// max_dps = 2000;
|
||||
//
|
||||
// if (max_dps <= 250) {
|
||||
// _current_range = 250;
|
||||
// bits |= RANGE_250DPS;
|
||||
//
|
||||
// } else if (max_dps <= 500) {
|
||||
// _current_range = 500;
|
||||
// bits |= RANGE_500DPS;
|
||||
//
|
||||
// } else if (max_dps <= 2000) {
|
||||
// _current_range = 2000;
|
||||
// bits |= RANGE_2000DPS;
|
||||
//
|
||||
// } else {
|
||||
// return -EINVAL;
|
||||
// }
|
||||
//
|
||||
// _gyro_range_rad_s = _current_range / 180.0f * M_PI_F;
|
||||
// _gyro_range_scale = _gyro_range_rad_s / 32768.0f;
|
||||
// write_reg(ADDR_CTRL_REG4, bits);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int
|
||||
LSM303D::set_samplerate(unsigned frequency)
|
||||
{
|
||||
// uint8_t bits = REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
|
||||
//
|
||||
// if (frequency == 0)
|
||||
// frequency = 760;
|
||||
//
|
||||
// if (frequency <= 95) {
|
||||
// _current_rate = 95;
|
||||
// bits |= RATE_95HZ_LP_25HZ;
|
||||
//
|
||||
// } else if (frequency <= 190) {
|
||||
// _current_rate = 190;
|
||||
// bits |= RATE_190HZ_LP_25HZ;
|
||||
//
|
||||
// } else if (frequency <= 380) {
|
||||
// _current_rate = 380;
|
||||
// bits |= RATE_380HZ_LP_30HZ;
|
||||
//
|
||||
// } else if (frequency <= 760) {
|
||||
// _current_rate = 760;
|
||||
// bits |= RATE_760HZ_LP_30HZ;
|
||||
//
|
||||
// } else {
|
||||
// return -EINVAL;
|
||||
// }
|
||||
//
|
||||
// write_reg(ADDR_CTRL_REG1, bits);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
void
|
||||
LSM303D::start()
|
||||
{
|
||||
/* make sure we are stopped first */
|
||||
stop();
|
||||
|
||||
/* reset the report ring */
|
||||
_oldest_report = _next_report = 0;
|
||||
|
||||
/* start polling at the specified rate */
|
||||
hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&LSM303D::measure_trampoline, this);
|
||||
}
|
||||
|
||||
void
|
||||
LSM303D::stop()
|
||||
{
|
||||
hrt_cancel(&_call);
|
||||
}
|
||||
|
||||
void
|
||||
LSM303D::measure_trampoline(void *arg)
|
||||
{
|
||||
LSM303D *dev = (LSM303D *)arg;
|
||||
|
||||
/* make another measurement */
|
||||
dev->measure();
|
||||
}
|
||||
|
||||
void
|
||||
LSM303D::measure()
|
||||
{
|
||||
// /* status register and data as read back from the device */
|
||||
//#pragma pack(push, 1)
|
||||
// struct {
|
||||
// uint8_t cmd;
|
||||
// uint8_t temp;
|
||||
// uint8_t status;
|
||||
// int16_t x;
|
||||
// int16_t y;
|
||||
// int16_t z;
|
||||
// } raw_report;
|
||||
//#pragma pack(pop)
|
||||
//
|
||||
// gyro_report *report = &_reports[_next_report];
|
||||
//
|
||||
// /* start the performance counter */
|
||||
// perf_begin(_sample_perf);
|
||||
//
|
||||
// /* fetch data from the sensor */
|
||||
// raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT;
|
||||
// transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report));
|
||||
//
|
||||
// /*
|
||||
// * 1) Scale raw value to SI units using scaling from datasheet.
|
||||
// * 2) Subtract static offset (in SI units)
|
||||
// * 3) Scale the statically calibrated values with a linear
|
||||
// * dynamically obtained factor
|
||||
// *
|
||||
// * Note: the static sensor offset is the number the sensor outputs
|
||||
// * at a nominally 'zero' input. Therefore the offset has to
|
||||
// * be subtracted.
|
||||
// *
|
||||
// * Example: A gyro outputs a value of 74 at zero angular rate
|
||||
// * the offset is 74 from the origin and subtracting
|
||||
// * 74 from all measurements centers them around zero.
|
||||
// */
|
||||
// report->timestamp = hrt_absolute_time();
|
||||
// /* XXX adjust for sensor alignment to board here */
|
||||
// report->x_raw = raw_report.x;
|
||||
// report->y_raw = raw_report.y;
|
||||
// report->z_raw = raw_report.z;
|
||||
//
|
||||
// report->x = ((report->x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
|
||||
// report->y = ((report->y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
|
||||
// report->z = ((report->z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
|
||||
// report->scaling = _gyro_range_scale;
|
||||
// report->range_rad_s = _gyro_range_rad_s;
|
||||
//
|
||||
// /* post a report to the ring - note, not locked */
|
||||
// INCREMENT(_next_report, _num_reports);
|
||||
//
|
||||
// /* if we are running up against the oldest report, fix it */
|
||||
// if (_next_report == _oldest_report)
|
||||
// INCREMENT(_oldest_report, _num_reports);
|
||||
//
|
||||
// /* notify anyone waiting for data */
|
||||
// poll_notify(POLLIN);
|
||||
//
|
||||
// /* publish for subscribers */
|
||||
// orb_publish(ORB_ID(sensor_gyro), _gyro_topic, report);
|
||||
|
||||
/* stop the perf counter */
|
||||
perf_end(_sample_perf);
|
||||
}
|
||||
|
||||
void
|
||||
LSM303D::print_info()
|
||||
{
|
||||
perf_print_counter(_sample_perf);
|
||||
printf("report queue: %u (%u/%u @ %p)\n",
|
||||
_num_reports, _oldest_report, _next_report, _reports);
|
||||
}
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace lsm303d
|
||||
{
|
||||
|
||||
LSM303D *g_dev;
|
||||
|
||||
void start();
|
||||
void test();
|
||||
void reset();
|
||||
void info();
|
||||
|
||||
/**
|
||||
* Start the driver.
|
||||
*/
|
||||
void
|
||||
start()
|
||||
{
|
||||
int fd;
|
||||
|
||||
if (g_dev != nullptr)
|
||||
errx(1, "already started");
|
||||
|
||||
/* create the driver */
|
||||
g_dev = new LSM303D(1 /* XXX magic number */, ACCEL_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_ACCEL);
|
||||
|
||||
if (g_dev == nullptr)
|
||||
goto fail;
|
||||
|
||||
if (OK != g_dev->init())
|
||||
goto fail;
|
||||
|
||||
/* set the poll rate to default, starts automatic data collection */
|
||||
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0)
|
||||
goto fail;
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
|
||||
goto fail;
|
||||
|
||||
exit(0);
|
||||
fail:
|
||||
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
}
|
||||
|
||||
errx(1, "driver start failed");
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform some basic functional tests on the driver;
|
||||
* make sure we can collect data from the sensor in polled
|
||||
* and automatic modes.
|
||||
*/
|
||||
void
|
||||
test()
|
||||
{
|
||||
int fd_accel = -1;
|
||||
struct accel_report a_report;
|
||||
ssize_t sz;
|
||||
|
||||
/* get the driver */
|
||||
fd_accel = open(ACCEL_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd_accel < 0)
|
||||
err(1, "%s open failed", ACCEL_DEVICE_PATH);
|
||||
|
||||
/* reset to manual polling */
|
||||
if (ioctl(fd_accel, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
|
||||
err(1, "reset to manual polling");
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd_accel, &a_report, sizeof(a_report));
|
||||
|
||||
if (sz != sizeof(a_report))
|
||||
err(1, "immediate gyro read failed");
|
||||
|
||||
warnx("accel x: \t% 9.5f\tm/s^2", (double)a_report.x);
|
||||
warnx("accel y: \t% 9.5f\tm/s^2", (double)a_report.y);
|
||||
warnx("accel z: \t% 9.5f\tm/s^2", (double)a_report.z);
|
||||
warnx("accel x: \t%d\traw", (int)a_report.x_raw);
|
||||
warnx("accel y: \t%d\traw", (int)a_report.y_raw);
|
||||
warnx("accel z: \t%d\traw", (int)a_report.z_raw);
|
||||
warnx("accel range: %8.4f m/s^2", (double)a_report.range_m_s2);
|
||||
|
||||
/* XXX add poll-rate tests here too */
|
||||
|
||||
reset();
|
||||
errx(0, "PASS");
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
void
|
||||
reset()
|
||||
{
|
||||
int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0)
|
||||
err(1, "failed ");
|
||||
|
||||
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
|
||||
err(1, "driver reset failed");
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
|
||||
err(1, "driver poll restart failed");
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
void
|
||||
info()
|
||||
{
|
||||
if (g_dev == nullptr)
|
||||
errx(1, "driver not running\n");
|
||||
|
||||
printf("state @ %p\n", g_dev);
|
||||
g_dev->print_info();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
} // namespace
|
||||
|
||||
int
|
||||
lsm303d_main(int argc, char *argv[])
|
||||
{
|
||||
/*
|
||||
* Start/load the driver.
|
||||
|
||||
*/
|
||||
if (!strcmp(argv[1], "start"))
|
||||
LSM303D::start();
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(argv[1], "test"))
|
||||
lsm303d::test();
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(argv[1], "reset"))
|
||||
lsm303d::reset();
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(argv[1], "info"))
|
||||
lsm303d::info();
|
||||
|
||||
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
|
||||
}
|
||||
|
|
@ -116,6 +116,7 @@ CONFIGURED_APPS += drivers/device
|
|||
# XXX needs conversion to SPI
|
||||
#CONFIGURED_APPS += drivers/ms5611
|
||||
CONFIGURED_APPS += drivers/l3gd20
|
||||
CONFIGURED_APPS += drivers/lsm303d
|
||||
# XXX needs conversion to serial
|
||||
#CONFIGURED_APPS += drivers/px4io
|
||||
CONFIGURED_APPS += drivers/stm32
|
||||
|
|
|
|||
Loading…
Reference in New Issue