forked from Archive/PX4-Autopilot
Added LSM303D driver skeleton
This commit is contained in:
Lorenz Meier
parent
4ccf252b76
commit
4a5505b044
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############################################################################
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#
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# Copyright (C) 2013 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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#
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# Makefile to build the LSM303D driver.
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#
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APPNAME = lsm303d
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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include $(APPDIR)/mk/app.mk
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/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file lsm303d.cpp
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* Driver for the ST LSM303D MEMS accel / mag connected via SPI.
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*/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <stddef.h>
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#include <stdlib.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/err.h>
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#include <nuttx/arch.h>
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#include <nuttx/clock.h>
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#include <drivers/drv_hrt.h>
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#include <arch/board/board.h>
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#include <drivers/device/spi.h>
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#include <drivers/drv_accel.h>
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#include <drivers/drv_mag.h>
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/* oddly, ERROR is not defined for c++ */
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#ifdef ERROR
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# undef ERROR
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#endif
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static const int ERROR = -1;
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/* SPI protocol address bits */
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#define DIR_READ (1<<7)
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#define DIR_WRITE (0<<7)
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#define ADDR_INCREMENT (1<<6)
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/* register addresses */
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#define ADDR_TEMP_OUT_L 0x05
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#define ADDR_TEMP_OUT_H 0x06
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#define ADDR_STATUS_M 0x07
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#define ADDR_OUT_X_L_M 0x08
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#define ADDR_OUT_X_H_M 0x09
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#define ADDR_OUT_Y_L_M 0x08
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#define ADDR_OUT_Y_H_M 0x09
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#define ADDR_OUT_Z_L_M 0x0A
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#define ADDR_OUT_Z_H_M 0x0B
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#define ADDR_WHO_AM_I 0x0F
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#define WHO_I_AM 0x49
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#define INT_CTRL_M 0x12
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#define INT_SRC_M 0x13
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extern "C" { __EXPORT int lsm303d_main(int argc, char *argv[]); }
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class LSM303D : public device::SPI
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{
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public:
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LSM303D(int bus, const char* path, spi_dev_e device);
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virtual ~LSM303D();
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virtual int init();
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virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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protected:
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virtual int probe();
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private:
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struct hrt_call _call;
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unsigned _call_interval;
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unsigned _num_reports;
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volatile unsigned _next_report;
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volatile unsigned _oldest_report;
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struct gyro_report *_reports;
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struct gyro_scale _gyro_scale;
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float _gyro_range_scale;
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float _gyro_range_rad_s;
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orb_advert_t _gyro_topic;
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unsigned _current_rate;
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unsigned _current_range;
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perf_counter_t _sample_perf;
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/**
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* Start automatic measurement.
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*/
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void start();
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/**
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* Stop automatic measurement.
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*/
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void stop();
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/**
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* Static trampoline from the hrt_call context; because we don't have a
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* generic hrt wrapper yet.
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*
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* Called by the HRT in interrupt context at the specified rate if
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* automatic polling is enabled.
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*
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* @param arg Instance pointer for the driver that is polling.
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*/
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static void measure_trampoline(void *arg);
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/**
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* Fetch measurements from the sensor and update the report ring.
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*/
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void measure();
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/**
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* Read a register from the LSM303D
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*
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* @param The register to read.
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* @return The value that was read.
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*/
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uint8_t read_reg(unsigned reg);
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/**
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* Write a register in the LSM303D
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*
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* @param reg The register to write.
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* @param value The new value to write.
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*/
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void write_reg(unsigned reg, uint8_t value);
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/**
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* Modify a register in the LSM303D
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*
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* Bits are cleared before bits are set.
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*
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* @param reg The register to modify.
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* @param clearbits Bits in the register to clear.
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* @param setbits Bits in the register to set.
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*/
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void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
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/**
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* Set the LSM303D measurement range.
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*
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* @param max_dps The measurement range is set to permit reading at least
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* this rate in degrees per second.
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* Zero selects the maximum supported range.
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* @return OK if the value can be supported, -ERANGE otherwise.
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*/
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int set_range(unsigned max_dps);
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/**
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* Set the LSM303D internal sampling frequency.
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*
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* @param frequency The internal sampling frequency is set to not less than
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* this value.
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* Zero selects the maximum rate supported.
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* @return OK if the value can be supported.
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*/
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int set_samplerate(unsigned frequency);
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};
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/* helper macro for handling report buffer indices */
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#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
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LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
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SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 8000000),
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_call_interval(0),
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_num_reports(0),
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_next_report(0),
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_oldest_report(0),
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_reports(nullptr),
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_gyro_range_scale(0.0f),
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_gyro_range_rad_s(0.0f),
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_gyro_topic(-1),
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_current_rate(0),
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_current_range(0),
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_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_read"))
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{
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// enable debug() calls
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_debug_enabled = true;
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// default scale factors
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_gyro_scale.x_offset = 0;
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_gyro_scale.x_scale = 1.0f;
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_gyro_scale.y_offset = 0;
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_gyro_scale.y_scale = 1.0f;
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_gyro_scale.z_offset = 0;
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_gyro_scale.z_scale = 1.0f;
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}
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LSM303D::~LSM303D()
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{
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/* make sure we are truly inactive */
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stop();
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/* free any existing reports */
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if (_reports != nullptr)
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delete[] _reports;
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/* delete the perf counter */
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perf_free(_sample_perf);
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}
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int
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LSM303D::init()
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{
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int ret = ERROR;
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/* do SPI init (and probe) first */
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if (SPI::init() != OK)
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goto out;
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/* allocate basic report buffers */
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_num_reports = 2;
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_oldest_report = _next_report = 0;
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_reports = new struct accel_report[_num_reports];
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if (_reports == nullptr)
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goto out;
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/* advertise sensor topic */
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memset(&_reports[0], 0, sizeof(_reports[0]));
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_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_reports[0]);
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// /* set default configuration */
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// write_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE);
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// write_reg(ADDR_CTRL_REG2, 0); /* disable high-pass filters */
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// write_reg(ADDR_CTRL_REG3, 0); /* no interrupts - we don't use them */
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// write_reg(ADDR_CTRL_REG4, REG4_BDU);
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// write_reg(ADDR_CTRL_REG5, 0);
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//
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// write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */
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// write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_STREAM_MODE); /* Enable FIFO, old data is overwritten */
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set_range(500); /* default to 500dps */
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set_samplerate(0); /* max sample rate */
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ret = OK;
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out:
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return ret;
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}
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int
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LSM303D::probe()
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{
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/* read dummy value to void to clear SPI statemachine on sensor */
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(void)read_reg(ADDR_WHO_AM_I);
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/* verify that the device is attached and functioning */
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if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM)
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return OK;
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return -EIO;
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}
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ssize_t
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LSM303D::read(struct file *filp, char *buffer, size_t buflen)
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{
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unsigned count = buflen / sizeof(struct gyro_report);
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int ret = 0;
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// /* buffer must be large enough */
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// if (count < 1)
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// return -ENOSPC;
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//
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// /* if automatic measurement is enabled */
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// if (_call_interval > 0) {
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//
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// /*
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// * While there is space in the caller's buffer, and reports, copy them.
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// * Note that we may be pre-empted by the measurement code while we are doing this;
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// * we are careful to avoid racing with it.
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// */
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// while (count--) {
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// if (_oldest_report != _next_report) {
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// memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
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// ret += sizeof(_reports[0]);
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// INCREMENT(_oldest_report, _num_reports);
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// }
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// }
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//
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// /* if there was no data, warn the caller */
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// return ret ? ret : -EAGAIN;
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// }
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//
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// /* manual measurement */
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// _oldest_report = _next_report = 0;
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// measure();
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//
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// /* measurement will have generated a report, copy it out */
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// memcpy(buffer, _reports, sizeof(*_reports));
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// ret = sizeof(*_reports);
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return ret;
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}
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int
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LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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// case SENSORIOCSPOLLRATE: {
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// switch (arg) {
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//
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// /* switching to manual polling */
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// case SENSOR_POLLRATE_MANUAL:
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||||||
|
// 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
|
# XXX needs conversion to SPI
|
||||||
#CONFIGURED_APPS += drivers/ms5611
|
#CONFIGURED_APPS += drivers/ms5611
|
||||||
CONFIGURED_APPS += drivers/l3gd20
|
CONFIGURED_APPS += drivers/l3gd20
|
||||||
|
CONFIGURED_APPS += drivers/lsm303d
|
||||||
# XXX needs conversion to serial
|
# XXX needs conversion to serial
|
||||||
#CONFIGURED_APPS += drivers/px4io
|
#CONFIGURED_APPS += drivers/px4io
|
||||||
CONFIGURED_APPS += drivers/stm32
|
CONFIGURED_APPS += drivers/stm32
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue