forked from Archive/PX4-Autopilot
Added some functions for changing rates etc (WIP)
This commit is contained in:
Julian Oes
Lorenz Meier
parent
4703a68979
commit
eb3d6f228c
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@ -108,8 +108,10 @@ static const int ERROR = -1;
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#define ADDR_CTRL_REG3 0x22
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#define ADDR_CTRL_REG4 0x23
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#define ADDR_CTRL_REG5 0x24
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#define ADDR_CTRL_REG6 0x25
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#define ADDR_CTRL_REG7 0x26
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#define REG1_RATE_BITS_A ((1<<7) | (1<<6) | (1<<5) | (1<<4))
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#define REG1_POWERDOWN_A ((0<<7) | (0<<6) | (0<<5) | (0<<4))
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#define REG1_RATE_3_125HZ_A ((0<<7) | (0<<6) | (0<<5) | (1<<4))
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#define REG1_RATE_6_25HZ_A ((0<<7) | (0<<6) | (1<<5) | (0<<4))
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@ -127,11 +129,13 @@ static const int ERROR = -1;
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#define REG1_Y_ENABLE_A (1<<1)
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#define REG1_X_ENABLE_A (1<<0)
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#define REG2_ANTIALIAS_FILTER_BW_BITS_A ((1<<7) | (1<<6))
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#define REG2_AA_FILTER_BW_773HZ_A ((0<<7) | (0<<6))
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#define REG2_AA_FILTER_BW_194HZ_A ((0<<7) | (1<<6))
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#define REG2_AA_FILTER_BW_362HZ_A ((1<<7) | (0<<6))
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#define REG2_AA_FILTER_BW_50HZ_A ((1<<7) | (1<<6))
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#define REG2_FULL_SCALE_BITS_A ((1<<5) | (1<<4) | (1<<3))
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#define REG2_FULL_SCALE_2G_A ((0<<5) | (0<<4) | (0<<3))
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#define REG2_FULL_SCALE_4G_A ((0<<5) | (0<<4) | (1<<3))
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#define REG2_FULL_SCALE_6G_A ((0<<5) | (1<<4) | (0<<3))
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@ -143,6 +147,7 @@ static const int ERROR = -1;
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#define REG5_RES_HIGH_M ((1<<6) | (1<<5))
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#define REG5_RES_LOW_M ((0<<6) | (0<<5))
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#define REG5_RATE_BITS_M ((1<<4) | (1<<3) | (1<<2))
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#define REG5_RATE_3_125HZ_M ((0<<4) | (0<<3) | (0<<2))
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#define REG5_RATE_6_25HZ_M ((0<<4) | (0<<3) | (1<<2))
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#define REG5_RATE_12_5HZ_M ((0<<4) | (1<<3) | (0<<2))
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@ -151,6 +156,7 @@ static const int ERROR = -1;
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#define REG5_RATE_100HZ_M ((1<<4) | (0<<3) | (1<<2))
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#define REG5_RATE_DO_NOT_USE_M ((1<<4) | (1<<3) | (0<<2))
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#define REG6_FULL_SCALE_BITS_M ((1<<7) | (1<<6))
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#define REG6_FULL_SCALE_2GA_M ((0<<7) | (0<<6))
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#define REG6_FULL_SCALE_4GA_M ((0<<7) | (1<<6))
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#define REG6_FULL_SCALE_8GA_M ((1<<7) | (0<<6))
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@ -222,12 +228,6 @@ private:
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float _mag_range_ga;
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orb_advert_t _mag_topic;
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unsigned _current_accel_rate;
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unsigned _current_accel_range;
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unsigned _current_mag_rate;
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unsigned _current_mag_range;
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perf_counter_t _accel_sample_perf;
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perf_counter_t _mag_sample_perf;
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@ -297,24 +297,51 @@ private:
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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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* Set the LSM303D accel 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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* @param max_g The measurement range of the accel is in g (9.81m/s^2)
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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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int set_range(unsigned max_g);
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/**
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* Set the LSM303D internal sampling frequency.
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* Set the LSM303D mag measurement range.
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*
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* @param frequency The internal sampling frequency is set to not less than
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* @param max_ga The measurement range of the mag is in Ga
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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 mag_set_range(unsigned max_g);
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/**
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* Set the LSM303D accel anti-alias filter.
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*
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* @param bandwidth The anti-alias filter bandwidth in Hz
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* Zero selects the highest bandwidth
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* @return OK if the value can be supported, -ERANGE otherwise.
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*/
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int set_antialias_filter_bandwidth(unsigned max_g);
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/**
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* Set the LSM303D internal accel sampling frequency.
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*
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* @param frequency The internal accel 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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* Set the LSM303D internal mag sampling frequency.
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*
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* @param frequency The internal mag 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 mag_set_samplerate(unsigned frequency);
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};
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/**
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@ -364,19 +391,13 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
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_mag_reports(nullptr),
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_mag_range_scale(0.0f),
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_mag_range_ga(0.0f),
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_current_accel_rate(0),
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_current_accel_range(0),
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_current_mag_rate(0),
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_current_mag_range(0),
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_accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_accel_read")),
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_mag_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_mag_read"))
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{
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// enable debug() calls
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_debug_enabled = true;
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/* XXX fix this default values */
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_accel_range_scale = 1.0f;
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_mag_range_scale = 1.0f;
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_mag_range_scale = 12.0f/32767.0f;
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// default scale factors
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_accel_scale.x_offset = 0;
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@ -446,18 +467,21 @@ LSM303D::init()
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memset(&_mag_reports[0], 0, sizeof(_mag_reports[0]));
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_mag_topic = orb_advertise(ORB_ID(sensor_mag), &_mag_reports[0]);
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/* XXX do this with ioctls */
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/* set default configuration */
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write_reg(ADDR_CTRL_REG1, REG1_RATE_400HZ_A | REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A);
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/* enable accel, XXX do this with an ioctl? */
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write_reg(ADDR_CTRL_REG1, REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A);
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/* enable mag, XXX do this with an ioctl? */
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write_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M);
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write_reg(ADDR_CTRL_REG5, REG5_RATE_100HZ_M | REG5_RES_HIGH_M);
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write_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M);
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/* XXX should we enable FIFO */
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/* XXX should we enable FIFO? */
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set_range(500); /* default to 500dps */
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set_samplerate(0); /* max sample rate */
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set_range(8); /* XXX 16G mode seems wrong (shows 6 instead of 9.8m/s^2, therefore use 8G for now */
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set_antialias_filter_bandwidth(194); /* XXX: choose bandwidth: 50, 194, 362 or 773 Hz */
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set_samplerate(400); /* max sample rate */
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// _current_accel_rate = 100;
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mag_set_range(12); /* XXX: take highest sensor range of 12GA? */
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mag_set_samplerate(100);
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/* XXX test this when another mag is used */
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/* do CDev init for the mag device node, keep it optional */
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@ -590,9 +614,13 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
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/* set default/max polling rate */
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case SENSOR_POLLRATE_MAX:
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return ioctl(filp, SENSORIOCSPOLLRATE, 1600);
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case SENSOR_POLLRATE_DEFAULT:
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/* With internal low pass filters enabled, 250 Hz is sufficient */
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return ioctl(filp, SENSORIOCSPOLLRATE, 250);
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/* XXX for vibration tests with 800 Hz */
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return ioctl(filp, SENSORIOCSPOLLRATE, 800);
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/* adjust to a legal polling interval in Hz */
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default: {
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@ -606,6 +634,9 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
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if (ticks < 1000)
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return -EINVAL;
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/* adjust sample rate of sensor */
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set_samplerate(arg);
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/* update interval for next measurement */
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/* XXX this is a bit shady, but no other way to adjust... */
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_accel_call.period = _call_accel_interval = ticks;
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@ -801,33 +832,111 @@ LSM303D::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
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}
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int
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LSM303D::set_range(unsigned max_dps)
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LSM303D::set_range(unsigned max_g)
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{
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/* XXX implement this */
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// uint8_t bits = REG4_BDU;
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//
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// if (max_dps == 0)
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// max_dps = 2000;
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//
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// if (max_dps <= 250) {
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// _current_range = 250;
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// bits |= RANGE_250DPS;
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//
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// } else if (max_dps <= 500) {
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// _current_range = 500;
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// bits |= RANGE_500DPS;
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//
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// } else if (max_dps <= 2000) {
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// _current_range = 2000;
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// bits |= RANGE_2000DPS;
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//
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// } else {
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// return -EINVAL;
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// }
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//
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// _gyro_range_rad_s = _current_range / 180.0f * M_PI_F;
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// _gyro_range_scale = _gyro_range_rad_s / 32768.0f;
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// write_reg(ADDR_CTRL_REG4, bits);
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uint8_t setbits = 0;
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uint8_t clearbits = REG2_FULL_SCALE_BITS_A;
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float new_range = 0.0f;
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if (max_g == 0)
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max_g = 16;
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if (max_g <= 2) {
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new_range = 2.0f;
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setbits |= REG2_FULL_SCALE_2G_A;
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} else if (max_g <= 4) {
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new_range = 4.0f;
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setbits |= REG2_FULL_SCALE_4G_A;
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} else if (max_g <= 6) {
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new_range = 6.0f;
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setbits |= REG2_FULL_SCALE_6G_A;
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} else if (max_g <= 8) {
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new_range = 8.0f;
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setbits |= REG2_FULL_SCALE_8G_A;
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} else if (max_g <= 16) {
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new_range = 16.0f;
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setbits |= REG2_FULL_SCALE_16G_A;
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} else {
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return -EINVAL;
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}
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_accel_range_m_s2 = new_range * 9.80665f;
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_accel_range_scale = _accel_range_m_s2 / 32768.0f;
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modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
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return OK;
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}
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int
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LSM303D::mag_set_range(unsigned max_ga)
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{
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uint8_t setbits = 0;
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uint8_t clearbits = REG6_FULL_SCALE_BITS_M;
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float new_range = 0.0f;
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if (max_ga == 0)
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max_ga = 12;
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if (max_ga <= 2) {
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new_range = 2.0f;
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setbits |= REG6_FULL_SCALE_2GA_M;
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} else if (max_ga <= 4) {
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new_range = 4.0f;
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setbits |= REG6_FULL_SCALE_4GA_M;
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} else if (max_ga <= 8) {
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new_range = 8.0f;
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setbits |= REG6_FULL_SCALE_8GA_M;
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} else if (max_ga <= 12) {
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new_range = 12.0f;
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setbits |= REG6_FULL_SCALE_12GA_M;
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} else {
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return -EINVAL;
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}
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_mag_range_ga = new_range;
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_mag_range_scale = _mag_range_ga / 32768.0f;
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modify_reg(ADDR_CTRL_REG6, clearbits, setbits);
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return OK;
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}
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int
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LSM303D::set_antialias_filter_bandwidth(unsigned bandwidth)
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{
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uint8_t setbits = 0;
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uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A;
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if (bandwidth == 0)
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bandwidth = 773;
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if (bandwidth <= 50) {
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setbits |= REG2_AA_FILTER_BW_50HZ_A;
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} else if (bandwidth <= 194) {
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setbits |= REG2_AA_FILTER_BW_194HZ_A;
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} else if (bandwidth <= 362) {
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setbits |= REG2_AA_FILTER_BW_362HZ_A;
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} else if (bandwidth <= 773) {
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setbits |= REG2_AA_FILTER_BW_773HZ_A;
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} else {
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return -EINVAL;
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}
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modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
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return OK;
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}
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@ -835,33 +944,60 @@ LSM303D::set_range(unsigned max_dps)
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int
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LSM303D::set_samplerate(unsigned frequency)
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{
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/* XXX implement this */
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// uint8_t bits = REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
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//
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// if (frequency == 0)
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// frequency = 760;
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//
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// if (frequency <= 95) {
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// _current_rate = 95;
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// bits |= RATE_95HZ_LP_25HZ;
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//
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// } else if (frequency <= 190) {
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// _current_rate = 190;
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// bits |= RATE_190HZ_LP_25HZ;
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//
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// } else if (frequency <= 380) {
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// _current_rate = 380;
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// bits |= RATE_380HZ_LP_30HZ;
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//
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// } else if (frequency <= 760) {
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// _current_rate = 760;
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// bits |= RATE_760HZ_LP_30HZ;
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//
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// } else {
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// return -EINVAL;
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// }
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//
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// write_reg(ADDR_CTRL_REG1, bits);
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uint8_t setbits = 0;
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uint8_t clearbits = REG1_RATE_BITS_A;
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if (frequency == 0)
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frequency = 1600;
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if (frequency <= 100) {
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setbits |= REG1_RATE_100HZ_A;
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} else if (frequency <= 200) {
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setbits |= REG1_RATE_200HZ_A;
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} else if (frequency <= 400) {
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setbits |= REG1_RATE_400HZ_A;
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} else if (frequency <= 800) {
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setbits |= REG1_RATE_800HZ_A;
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} else if (frequency <= 1600) {
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setbits |= REG1_RATE_1600HZ_A;
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} else {
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return -EINVAL;
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}
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modify_reg(ADDR_CTRL_REG1, clearbits, setbits);
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return OK;
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}
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int
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LSM303D::mag_set_samplerate(unsigned frequency)
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{
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uint8_t setbits = 0;
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uint8_t clearbits = REG5_RATE_BITS_M;
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if (frequency == 0)
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frequency = 100;
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if (frequency <= 25) {
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setbits |= REG5_RATE_25HZ_M;
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} else if (frequency <= 50) {
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setbits |= REG5_RATE_50HZ_M;
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} else if (frequency <= 100) {
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setbits |= REG5_RATE_100HZ_M;
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} else {
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return -EINVAL;
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}
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modify_reg(ADDR_CTRL_REG5, clearbits, setbits);
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return OK;
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}
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@ -956,8 +1092,8 @@ LSM303D::measure()
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accel_report->x = ((accel_report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
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accel_report->y = ((accel_report->y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
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accel_report->z = ((accel_report->z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
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// report->scaling = _gyro_range_scale;
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// report->range_rad_s = _gyro_range_rad_s;
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accel_report->scaling = _accel_range_scale;
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accel_report->range_m_s2 = _accel_range_m_s2;
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/* post a report to the ring - note, not locked */
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INCREMENT(_next_accel_report, _num_accel_reports);
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@ -1183,15 +1319,13 @@ test()
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if (sz != sizeof(a_report))
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err(1, "immediate read failed");
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/* XXX fix the test output */
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// 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% 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);
|
||||
|
||||
warnx("accel range: %8.4f m/s^2", (double)a_report.range_m_s2);
|
||||
|
||||
|
||||
int fd_mag = -1;
|
||||
|
|
@ -1209,10 +1343,13 @@ test()
|
|||
if (sz != sizeof(m_report))
|
||||
err(1, "immediate read failed");
|
||||
|
||||
/* XXX fix the test output */
|
||||
warnx("mag x: \t% 9.5f\tga", (double)m_report.x);
|
||||
warnx("mag y: \t% 9.5f\tga", (double)m_report.y);
|
||||
warnx("mag z: \t% 9.5f\tga", (double)m_report.z);
|
||||
warnx("mag x: \t%d\traw", (int)m_report.x_raw);
|
||||
warnx("mag y: \t%d\traw", (int)m_report.y_raw);
|
||||
warnx("mag z: \t%d\traw", (int)m_report.z_raw);
|
||||
warnx("mag range: %8.4f ga", (double)m_report.range_ga);
|
||||
|
||||
/* XXX add poll-rate tests here too */
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue