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l3gd20: added rescheduling and error checking

This commit is contained in:
Andrew Tridgell 2013-12-10 14:03:16 +11:00 committed by Lorenz Meier
parent 2b491a7954
commit 893d66d961
1 changed files with 28 additions and 1 deletions
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29
src/drivers/l3gd20/l3gd20.cpp
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@ -209,6 +209,8 @@ private:
unsigned _read;
perf_counter_t _sample_perf;
perf_counter_t _reschedules;
perf_counter_t _errors;
math::LowPassFilter2p _gyro_filter_x;
math::LowPassFilter2p _gyro_filter_y;
@ -325,6 +327,8 @@ L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) :
_orientation(SENSOR_BOARD_ROTATION_270_DEG),
_read(0),
_sample_perf(perf_alloc(PC_ELAPSED, "l3gd20_read")),
_reschedules(perf_alloc(PC_COUNT, "l3gd20_reschedules")),
_errors(perf_alloc(PC_COUNT, "l3gd20_errors")),
_gyro_filter_x(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ),
_gyro_filter_y(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ),
_gyro_filter_z(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ)
@ -355,6 +359,8 @@ L3GD20::~L3GD20()
/* delete the perf counter */
perf_free(_sample_perf);
perf_free(_reschedules);
perf_free(_errors);
}
int
@ -746,7 +752,7 @@ L3GD20::reset()
/* 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_REG3, 0x08); /* DRDY enable */
write_reg(ADDR_CTRL_REG4, REG4_BDU);
write_reg(ADDR_CTRL_REG5, 0);
@ -776,6 +782,17 @@ L3GD20::measure_trampoline(void *arg)
void
L3GD20::measure()
{
#ifdef GPIO_EXTI_GYRO_DRDY
// if the gyro doesn't have any data ready then re-schedule
// for 100 microseconds later. This ensures we don't double
// read a value and then miss the next value
if (stm32_gpioread(GPIO_EXTI_GYRO_DRDY) == 0) {
perf_count(_reschedules);
hrt_call_delay(&_call, 100);
return;
}
#endif
/* status register and data as read back from the device */
#pragma pack(push, 1)
struct {
@ -798,6 +815,16 @@ L3GD20::measure()
raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT;
transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report));
#ifdef GPIO_EXTI_GYRO_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
*/
perf_count(_errors);
return;
}
#endif
/*
* 1) Scale raw value to SI units using scaling from datasheet.
* 2) Subtract static offset (in SI units)