forked from Archive/PX4-Autopilot
Merge branch 'mpu6k_queue' of github.com:PX4/Firmware into fmuv2_bringup
This commit is contained in:
Lorenz Meier
commit
e95861e9df
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|
@ -104,6 +104,17 @@ public:
|
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*/
|
||||
bool full() { return _next(_head) == _tail; }
|
||||
|
||||
/*
|
||||
* Returns the capacity of the buffer, or zero if the buffer could
|
||||
* not be allocated.
|
||||
*/
|
||||
unsigned size() { return (_buf != nullptr) ? _size : 0; }
|
||||
|
||||
/*
|
||||
* Empties the buffer.
|
||||
*/
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||||
void flush() { _head = _tail = _size; }
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private:
|
||||
T *const _buf;
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const unsigned _size;
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|
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@ -114,11 +125,11 @@ private:
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};
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template <typename T>
|
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RingBuffer<T>::RingBuffer(unsigned size) :
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_buf(new T[size + 1]),
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_size(size),
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_head(size),
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_tail(size)
|
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RingBuffer<T>::RingBuffer(unsigned with_size) :
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_buf(new T[with_size + 1]),
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_size(with_size),
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_head(with_size),
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_tail(with_size)
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{}
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template <typename T>
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|
|
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@ -67,6 +67,7 @@
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#include <drivers/drv_hrt.h>
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#include <drivers/device/spi.h>
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#include <drivers/device/ringbuffer.h>
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#include <drivers/drv_accel.h>
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#include <drivers/drv_gyro.h>
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@ -181,13 +182,17 @@ private:
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struct hrt_call _call;
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unsigned _call_interval;
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struct accel_report _accel_report;
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typedef RingBuffer<accel_report> AccelReportBuffer;
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AccelReportBuffer *_accel_reports;
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struct accel_scale _accel_scale;
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float _accel_range_scale;
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float _accel_range_m_s2;
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orb_advert_t _accel_topic;
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struct gyro_report _gyro_report;
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typedef RingBuffer<gyro_report> GyroReportBuffer;
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GyroReportBuffer *_gyro_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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@ -207,6 +212,13 @@ private:
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*/
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void stop();
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/**
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* Reset chip.
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*
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* Resets the chip and measurements ranges, but not scale and offset.
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*/
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void reset();
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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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@ -219,7 +231,7 @@ private:
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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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* Fetch measurements from the sensor and update the report buffers.
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*/
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void measure();
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@ -311,9 +323,11 @@ MPU6000::MPU6000(int bus, spi_dev_e device) :
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_gyro(new MPU6000_gyro(this)),
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_product(0),
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_call_interval(0),
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_accel_reports(nullptr),
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_accel_range_scale(0.0f),
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_accel_range_m_s2(0.0f),
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_accel_topic(-1),
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_gyro_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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|
|
@ -340,8 +354,6 @@ MPU6000::MPU6000(int bus, spi_dev_e device) :
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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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memset(&_accel_report, 0, sizeof(_accel_report));
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memset(&_gyro_report, 0, sizeof(_gyro_report));
|
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memset(&_call, 0, sizeof(_call));
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}
|
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|
@ -353,6 +365,12 @@ MPU6000::~MPU6000()
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/* delete the gyro subdriver */
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delete _gyro;
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|
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/* free any existing reports */
|
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if (_accel_reports != nullptr)
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delete _accel_reports;
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if (_gyro_reports != nullptr)
|
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delete _gyro_reports;
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|
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/* delete the perf counter */
|
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perf_free(_sample_perf);
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}
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|
@ -361,6 +379,7 @@ int
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MPU6000::init()
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{
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int ret;
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int gyro_ret;
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|
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/* do SPI init (and probe) first */
|
||||
ret = SPI::init();
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||||
|
|
@ -371,6 +390,59 @@ MPU6000::init()
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return ret;
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}
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||||
|
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/* allocate basic report buffers */
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_accel_reports = new AccelReportBuffer(2);
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if (_accel_reports == nullptr)
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goto out;
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|
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_gyro_reports = new GyroReportBuffer(2);
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||||
if (_gyro_reports == nullptr)
|
||||
goto out;
|
||||
|
||||
reset();
|
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|
||||
/* Initialize offsets and scales */
|
||||
_accel_scale.x_offset = 0;
|
||||
_accel_scale.x_scale = 1.0f;
|
||||
_accel_scale.y_offset = 0;
|
||||
_accel_scale.y_scale = 1.0f;
|
||||
_accel_scale.z_offset = 0;
|
||||
_accel_scale.z_scale = 1.0f;
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||||
|
||||
_gyro_scale.x_offset = 0;
|
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_gyro_scale.x_scale = 1.0f;
|
||||
_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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/* do CDev init for the gyro device node, keep it optional */
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gyro_ret = _gyro->init();
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|
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/* fetch an initial set of measurements for advertisement */
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measure();
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||||
|
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if (gyro_ret != OK) {
|
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_gyro_topic = -1;
|
||||
} else {
|
||||
gyro_report gr;
|
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_gyro_reports->get(gr);
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|
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_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &gr);
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}
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/* advertise accel topic */
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accel_report ar;
|
||||
_accel_reports->get(ar);
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_accel_topic = orb_advertise(ORB_ID(sensor_accel), &ar);
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out:
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return ret;
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}
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||||
|
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void MPU6000::reset()
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||||
{
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|
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// Chip reset
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write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
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up_udelay(10000);
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|
@ -402,12 +474,6 @@ MPU6000::init()
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// 2000 deg/s = (2000/180)*PI = 34.906585 rad/s
|
||||
// scaling factor:
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||||
// 1/(2^15)*(2000/180)*PI
|
||||
_gyro_scale.x_offset = 0;
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_gyro_scale.x_scale = 1.0f;
|
||||
_gyro_scale.y_offset = 0;
|
||||
_gyro_scale.y_scale = 1.0f;
|
||||
_gyro_scale.z_offset = 0;
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||||
_gyro_scale.z_scale = 1.0f;
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||||
_gyro_range_scale = (0.0174532 / 16.4);//1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F);
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||||
_gyro_range_rad_s = (2000.0f / 180.0f) * M_PI_F;
|
||||
|
||||
|
|
@ -440,12 +506,6 @@ MPU6000::init()
|
|||
|
||||
// Correct accel scale factors of 4096 LSB/g
|
||||
// scale to m/s^2 ( 1g = 9.81 m/s^2)
|
||||
_accel_scale.x_offset = 0;
|
||||
_accel_scale.x_scale = 1.0f;
|
||||
_accel_scale.y_offset = 0;
|
||||
_accel_scale.y_scale = 1.0f;
|
||||
_accel_scale.z_offset = 0;
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||||
_accel_scale.z_scale = 1.0f;
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_accel_range_scale = (9.81f / 4096.0f);
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_accel_range_m_s2 = 8.0f * 9.81f;
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@ -461,22 +521,6 @@ MPU6000::init()
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// write_reg(MPUREG_PWR_MGMT_1,MPU_CLK_SEL_PLLGYROZ);
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usleep(1000);
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|
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/* do CDev init for the gyro device node, keep it optional */
|
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int gyro_ret = _gyro->init();
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||||
|
||||
/* ensure we got real values to share */
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||||
measure();
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|
||||
if (gyro_ret != OK) {
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_gyro_topic = -1;
|
||||
} else {
|
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_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_gyro_report);
|
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}
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|
||||
/* advertise sensor topics */
|
||||
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_report);
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|
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return ret;
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}
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int
|
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|
@ -555,21 +599,33 @@ MPU6000::_set_dlpf_filter(uint16_t frequency_hz)
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ssize_t
|
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MPU6000::read(struct file *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
int ret = 0;
|
||||
unsigned count = buflen / sizeof(accel_report);
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||||
|
||||
/* buffer must be large enough */
|
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if (buflen < sizeof(_accel_report))
|
||||
if (count < 1)
|
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return -ENOSPC;
|
||||
|
||||
/* if automatic measurement is not enabled */
|
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if (_call_interval == 0)
|
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/* if automatic measurement is not enabled, get a fresh measurement into the buffer */
|
||||
if (_call_interval == 0) {
|
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_accel_reports->flush();
|
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measure();
|
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}
|
||||
|
||||
/* copy out the latest reports */
|
||||
memcpy(buffer, &_accel_report, sizeof(_accel_report));
|
||||
ret = sizeof(_accel_report);
|
||||
/* if no data, error (we could block here) */
|
||||
if (_accel_reports->empty())
|
||||
return -EAGAIN;
|
||||
|
||||
return ret;
|
||||
/* copy reports out of our buffer to the caller */
|
||||
accel_report *arp = reinterpret_cast<accel_report *>(buffer);
|
||||
int transferred = 0;
|
||||
while (count--) {
|
||||
if (!_accel_reports->get(*arp++))
|
||||
break;
|
||||
transferred++;
|
||||
}
|
||||
|
||||
/* return the number of bytes transferred */
|
||||
return (transferred * sizeof(accel_report));
|
||||
}
|
||||
|
||||
int
|
||||
|
|
@ -586,21 +642,33 @@ MPU6000::self_test()
|
|||
ssize_t
|
||||
MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
int ret = 0;
|
||||
unsigned count = buflen / sizeof(gyro_report);
|
||||
|
||||
/* buffer must be large enough */
|
||||
if (buflen < sizeof(_gyro_report))
|
||||
if (count < 1)
|
||||
return -ENOSPC;
|
||||
|
||||
/* if automatic measurement is not enabled */
|
||||
if (_call_interval == 0)
|
||||
/* if automatic measurement is not enabled, get a fresh measurement into the buffer */
|
||||
if (_call_interval == 0) {
|
||||
_gyro_reports->flush();
|
||||
measure();
|
||||
}
|
||||
|
||||
/* copy out the latest report */
|
||||
memcpy(buffer, &_gyro_report, sizeof(_gyro_report));
|
||||
ret = sizeof(_gyro_report);
|
||||
/* if no data, error (we could block here) */
|
||||
if (_gyro_reports->empty())
|
||||
return -EAGAIN;
|
||||
|
||||
return ret;
|
||||
/* copy reports out of our buffer to the caller */
|
||||
gyro_report *arp = reinterpret_cast<gyro_report *>(buffer);
|
||||
int transferred = 0;
|
||||
while (count--) {
|
||||
if (!_gyro_reports->get(*arp++))
|
||||
break;
|
||||
transferred++;
|
||||
}
|
||||
|
||||
/* return the number of bytes transferred */
|
||||
return (transferred * sizeof(gyro_report));
|
||||
}
|
||||
|
||||
int
|
||||
|
|
@ -608,6 +676,10 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
{
|
||||
switch (cmd) {
|
||||
|
||||
case SENSORIOCRESET:
|
||||
reset();
|
||||
return OK;
|
||||
|
||||
case SENSORIOCSPOLLRATE: {
|
||||
switch (arg) {
|
||||
|
||||
|
|
@ -627,8 +699,8 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
/* set default/max polling rate */
|
||||
case SENSOR_POLLRATE_MAX:
|
||||
case SENSOR_POLLRATE_DEFAULT:
|
||||
/* XXX 500Hz is just a wild guess */
|
||||
return ioctl(filp, SENSORIOCSPOLLRATE, 500);
|
||||
/* set to same as sample rate per default */
|
||||
return ioctl(filp, SENSORIOCSPOLLRATE, _sample_rate);
|
||||
|
||||
/* adjust to a legal polling interval in Hz */
|
||||
default: {
|
||||
|
|
@ -661,14 +733,32 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
|
||||
return 1000000 / _call_interval;
|
||||
|
||||
case SENSORIOCSQUEUEDEPTH:
|
||||
/* XXX not implemented */
|
||||
case SENSORIOCSQUEUEDEPTH: {
|
||||
/* lower bound is mandatory, upper bound is a sanity check */
|
||||
if ((arg < 1) || (arg > 100))
|
||||
return -EINVAL;
|
||||
|
||||
/* allocate new buffer */
|
||||
AccelReportBuffer *buf = new AccelReportBuffer(arg);
|
||||
|
||||
if (nullptr == buf)
|
||||
return -ENOMEM;
|
||||
if (buf->size() == 0) {
|
||||
delete buf;
|
||||
return -ENOMEM;
|
||||
}
|
||||
|
||||
/* reset the measurement state machine with the new buffer, free the old */
|
||||
stop();
|
||||
delete _accel_reports;
|
||||
_accel_reports = buf;
|
||||
start();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
case SENSORIOCGQUEUEDEPTH:
|
||||
/* XXX not implemented */
|
||||
return -EINVAL;
|
||||
|
||||
return _accel_reports->size();
|
||||
|
||||
case ACCELIOCGSAMPLERATE:
|
||||
return _sample_rate;
|
||||
|
|
@ -726,11 +816,36 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
/* these are shared with the accel side */
|
||||
case SENSORIOCSPOLLRATE:
|
||||
case SENSORIOCGPOLLRATE:
|
||||
case SENSORIOCSQUEUEDEPTH:
|
||||
case SENSORIOCGQUEUEDEPTH:
|
||||
case SENSORIOCRESET:
|
||||
return ioctl(filp, cmd, arg);
|
||||
|
||||
case SENSORIOCSQUEUEDEPTH: {
|
||||
/* lower bound is mandatory, upper bound is a sanity check */
|
||||
if ((arg < 1) || (arg > 100))
|
||||
return -EINVAL;
|
||||
|
||||
/* allocate new buffer */
|
||||
GyroReportBuffer *buf = new GyroReportBuffer(arg);
|
||||
|
||||
if (nullptr == buf)
|
||||
return -ENOMEM;
|
||||
if (buf->size() == 0) {
|
||||
delete buf;
|
||||
return -ENOMEM;
|
||||
}
|
||||
|
||||
/* reset the measurement state machine with the new buffer, free the old */
|
||||
stop();
|
||||
delete _gyro_reports;
|
||||
_gyro_reports = buf;
|
||||
start();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
case SENSORIOCGQUEUEDEPTH:
|
||||
return _gyro_reports->size();
|
||||
|
||||
case GYROIOCGSAMPLERATE:
|
||||
return _sample_rate;
|
||||
|
||||
|
|
@ -865,6 +980,10 @@ MPU6000::start()
|
|||
/* make sure we are stopped first */
|
||||
stop();
|
||||
|
||||
/* discard any stale data in the buffers */
|
||||
_accel_reports->flush();
|
||||
_gyro_reports->flush();
|
||||
|
||||
/* start polling at the specified rate */
|
||||
hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&MPU6000::measure_trampoline, this);
|
||||
}
|
||||
|
|
@ -878,7 +997,7 @@ MPU6000::stop()
|
|||
void
|
||||
MPU6000::measure_trampoline(void *arg)
|
||||
{
|
||||
MPU6000 *dev = (MPU6000 *)arg;
|
||||
MPU6000 *dev = reinterpret_cast<MPU6000 *>(arg);
|
||||
|
||||
/* make another measurement */
|
||||
dev->measure();
|
||||
|
|
@ -959,10 +1078,16 @@ MPU6000::measure()
|
|||
report.gyro_x = gyro_xt;
|
||||
report.gyro_y = gyro_yt;
|
||||
|
||||
/*
|
||||
* Report buffers.
|
||||
*/
|
||||
accel_report arb;
|
||||
gyro_report grb;
|
||||
|
||||
/*
|
||||
* Adjust and scale results to m/s^2.
|
||||
*/
|
||||
_gyro_report.timestamp = _accel_report.timestamp = hrt_absolute_time();
|
||||
grb.timestamp = arb.timestamp = hrt_absolute_time();
|
||||
|
||||
|
||||
/*
|
||||
|
|
@ -983,40 +1108,43 @@ MPU6000::measure()
|
|||
|
||||
/* NOTE: Axes have been swapped to match the board a few lines above. */
|
||||
|
||||
_accel_report.x_raw = report.accel_x;
|
||||
_accel_report.y_raw = report.accel_y;
|
||||
_accel_report.z_raw = report.accel_z;
|
||||
arb.x_raw = report.accel_x;
|
||||
arb.y_raw = report.accel_y;
|
||||
arb.z_raw = report.accel_z;
|
||||
|
||||
_accel_report.x = ((report.accel_x * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
|
||||
_accel_report.y = ((report.accel_y * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
|
||||
_accel_report.z = ((report.accel_z * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
|
||||
_accel_report.scaling = _accel_range_scale;
|
||||
_accel_report.range_m_s2 = _accel_range_m_s2;
|
||||
arb.x = ((report.accel_x * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
|
||||
arb.y = ((report.accel_y * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
|
||||
arb.z = ((report.accel_z * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
|
||||
arb.scaling = _accel_range_scale;
|
||||
arb.range_m_s2 = _accel_range_m_s2;
|
||||
|
||||
_accel_report.temperature_raw = report.temp;
|
||||
_accel_report.temperature = (report.temp) / 361.0f + 35.0f;
|
||||
arb.temperature_raw = report.temp;
|
||||
arb.temperature = (report.temp) / 361.0f + 35.0f;
|
||||
|
||||
_gyro_report.x_raw = report.gyro_x;
|
||||
_gyro_report.y_raw = report.gyro_y;
|
||||
_gyro_report.z_raw = report.gyro_z;
|
||||
grb.x_raw = report.gyro_x;
|
||||
grb.y_raw = report.gyro_y;
|
||||
grb.z_raw = report.gyro_z;
|
||||
|
||||
_gyro_report.x = ((report.gyro_x * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
|
||||
_gyro_report.y = ((report.gyro_y * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
|
||||
_gyro_report.z = ((report.gyro_z * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
|
||||
_gyro_report.scaling = _gyro_range_scale;
|
||||
_gyro_report.range_rad_s = _gyro_range_rad_s;
|
||||
grb.x = ((report.gyro_x * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
|
||||
grb.y = ((report.gyro_y * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
|
||||
grb.z = ((report.gyro_z * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
|
||||
grb.scaling = _gyro_range_scale;
|
||||
grb.range_rad_s = _gyro_range_rad_s;
|
||||
|
||||
_gyro_report.temperature_raw = report.temp;
|
||||
_gyro_report.temperature = (report.temp) / 361.0f + 35.0f;
|
||||
grb.temperature_raw = report.temp;
|
||||
grb.temperature = (report.temp) / 361.0f + 35.0f;
|
||||
|
||||
_accel_reports->put(arb);
|
||||
_gyro_reports->put(grb);
|
||||
|
||||
/* notify anyone waiting for data */
|
||||
poll_notify(POLLIN);
|
||||
_gyro->parent_poll_notify();
|
||||
|
||||
/* and publish for subscribers */
|
||||
orb_publish(ORB_ID(sensor_accel), _accel_topic, &_accel_report);
|
||||
orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
|
||||
if (_gyro_topic != -1) {
|
||||
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &_gyro_report);
|
||||
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &grb);
|
||||
}
|
||||
|
||||
/* stop measuring */
|
||||
|
|
@ -1119,21 +1247,19 @@ fail:
|
|||
void
|
||||
test()
|
||||
{
|
||||
int fd = -1;
|
||||
int fd_gyro = -1;
|
||||
struct accel_report a_report;
|
||||
struct gyro_report g_report;
|
||||
accel_report a_report;
|
||||
gyro_report g_report;
|
||||
ssize_t sz;
|
||||
|
||||
/* get the driver */
|
||||
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
|
||||
int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0)
|
||||
err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)",
|
||||
ACCEL_DEVICE_PATH);
|
||||
|
||||
/* get the driver */
|
||||
fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
|
||||
int fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd_gyro < 0)
|
||||
err(1, "%s open failed", GYRO_DEVICE_PATH);
|
||||
|
|
@ -1145,8 +1271,10 @@ test()
|
|||
/* do a simple demand read */
|
||||
sz = read(fd, &a_report, sizeof(a_report));
|
||||
|
||||
if (sz != sizeof(a_report))
|
||||
if (sz != sizeof(a_report)) {
|
||||
warnx("ret: %d, expected: %d", sz, sizeof(a_report));
|
||||
err(1, "immediate acc read failed");
|
||||
}
|
||||
|
||||
warnx("single read");
|
||||
warnx("time: %lld", a_report.timestamp);
|
||||
|
|
@ -1162,8 +1290,10 @@ test()
|
|||
/* do a simple demand read */
|
||||
sz = read(fd_gyro, &g_report, sizeof(g_report));
|
||||
|
||||
if (sz != sizeof(g_report))
|
||||
if (sz != sizeof(g_report)) {
|
||||
warnx("ret: %d, expected: %d", sz, sizeof(g_report));
|
||||
err(1, "immediate gyro read failed");
|
||||
}
|
||||
|
||||
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
|
||||
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
|
||||
|
|
|
|||
Loading…
Reference in New Issue