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AP_InertialSensor: update L3G4200D driver

zr-v5.1
mhefny 4 years ago committed by Lucas De Marchi
parent
1200d0e2f8
commit
02daa4c3ec
2 changed files with 164 additions and 77 deletions
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  1. 210
      libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
  2. 31
      libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h

210
libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
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@ -26,15 +26,18 @@ Datasheets: @@ -26,15 +26,18 @@ Datasheets:
ADXL345 Accelerometer http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
L3G4200D gyro http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00265057.pdf
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include "AP_InertialSensor_L3G4200D.h"
#include <inttypes.h>
#include <utility>
const extern AP_HAL::HAL &hal;
const extern AP_HAL::HAL& hal;
///////
/// Accelerometer ADXL345 register definitions
@ -46,43 +49,71 @@ const extern AP_HAL::HAL &hal; @@ -46,43 +49,71 @@ const extern AP_HAL::HAL &hal;
#define ADXL345_ACCELEROMETER_ADXLREG_DEVID 0x00
#define ADXL345_ACCELEROMETER_ADXLREG_DATAX0 0x32
#define ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL 0x38
#define ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL_STREAM 0x9F
#define ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL_STREAM 0x9F // 32 sample before triggering
#define ADXL345_ACCELEROMETER_ADXLREG_FIFO_STATUS 0x39
#define ADXL345_ACCELEROMETER_BW_RATE_0_10HZ 0x00
#define ADXL345_ACCELEROMETER_BW_RATE_0_20HZ 0x01
#define ADXL345_ACCELEROMETER_BW_RATE_0_39HZ 0x02
#define ADXL345_ACCELEROMETER_BW_RATE_0_78HZ 0x03
#define ADXL345_ACCELEROMETER_BW_RATE_1_56HZ 0x04
#define ADXL345_ACCELEROMETER_BW_RATE_3_13HZ 0x05
#define ADXL345_ACCELEROMETER_BW_RATE_6_25HZ 0x06
#define ADXL345_ACCELEROMETER_BW_RATE_12_5HZ 0x07
#define ADXL345_ACCELEROMETER_BW_RATE_25HZ 0x08
#define ADXL345_ACCELEROMETER_BW_RATE_50HZ 0x09
#define ADXL345_ACCELEROMETER_BW_RATE_100HZ 0x0A
#define ADXL345_ACCELEROMETER_BW_RATE_200HZ 0x0B
#define ADXL345_ACCELEROMETER_BW_RATE_400HZ 0x0C
#define ADXL345_ACCELEROMETER_BW_RATE_800HZ 0x0D
#define ADXL345_ACCELEROMETER_BW_RATE_1600HZ 0x0E
#define ADXL345_ACCELEROMETER_BW_RATE_3200HZ 0x0F
#define ADXL345_ACCELEROMETER_ENABLE 0x08
#define ADXL345_ACCELEROMETER_MEASURE_MODE 0x08
#define ADXL345_ACCELEROMETER_RANGE_2G 0x00
#define ADXL345_ACCELEROMETER_RANGE_4G 0x01
#define ADXL345_ACCELEROMETER_RANGE_8G 0x02
#define ADXL345_ACCELEROMETER_RANGE_16G 0x03
// ADXL345 accelerometer scaling
// Result will be scaled to 1m/s/s
// ADXL345 in Full resolution mode (any g scaling) is 256 counts/g, so scale by 9.81/256 = 0.038320312
#define ADXL345_ACCELEROMETER_SCALE_M_S (GRAVITY_MSS / 256.0f)
/// Gyro ITG3205 register definitions
#define L3G4200D_I2C_ADDRESS 0x69
#define L3G4200D_I2C_ADDRESS 0x69
#define L3G4200D_REG_WHO_AM_I 0x0f
#define L3G4200D_REG_WHO_AM_I 0x0f
#define L3G4200D_REG_WHO_AM_I_VALUE 0xd3
#define L3G4200D_REG_CTRL_REG1 0x20
#define L3G4200D_REG_CTRL_REG1 0x20
#define L3G4200D_REG_CTRL_REG1_DRBW_800_110 0xf0
#define L3G4200D_REG_CTRL_REG1_PD 0x08
#define L3G4200D_REG_CTRL_REG1_XYZ_ENABLE 0x07
#define L3G4200D_REG_CTRL_REG4 0x23
#define L3G4200D_REG_CTRL_REG4 0x23
#define L3G4200D_REG_CTRL_REG4_FS_2000 0x30
#define L3G4200D_REG_CTRL_REG5 0x24
#define L3G4200D_REG_CTRL_REG5 0x24
#define L3G4200D_REG_CTRL_REG5_FIFO_EN 0x40
#define L3G4200D_REG_FIFO_CTL 0x2e
#define L3G4200D_REG_FIFO_CTL 0x2e
#define L3G4200D_REG_FIFO_CTL_STREAM 0x40
#define L3G4200D_REG_FIFO_SRC 0x2f
#define L3G4200D_REG_FIFO_SRC 0x2f
#define L3G4200D_REG_FIFO_SRC_ENTRIES_MASK 0x1f
#define L3G4200D_REG_FIFO_SRC_EMPTY 0x20
#define L3G4200D_REG_FIFO_SRC_OVERRUN 0x40
#define L3G4200D_REG_XL 0x28
#define L3G4200D_REG_XL 0x28
// this bit is ORd into the register to enable auto-increment mode
#define L3G4200D_REG_AUTO_INCREMENT 0x80
#define L3G4200D_REG_AUTO_INCREMENT 0x80
// L3G4200D Gyroscope scaling
// running at 2000 DPS full range, 16 bit signed data, datasheet
@ -91,12 +122,15 @@ const extern AP_HAL::HAL &hal; @@ -91,12 +122,15 @@ const extern AP_HAL::HAL &hal;
// constructor
AP_InertialSensor_L3G4200D::AP_InertialSensor_L3G4200D(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_gyro,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_accel)
: AP_InertialSensor_Backend(imu)
, _dev(std::move(dev))
, _dev_gyro(std::move(dev_gyro))
, _dev_accel(std::move(dev_accel))
{
}
AP_InertialSensor_L3G4200D::~AP_InertialSensor_L3G4200D()
{
}
@ -105,13 +139,14 @@ AP_InertialSensor_L3G4200D::~AP_InertialSensor_L3G4200D() @@ -105,13 +139,14 @@ AP_InertialSensor_L3G4200D::~AP_InertialSensor_L3G4200D()
detect the sensor
*/
AP_InertialSensor_Backend *AP_InertialSensor_L3G4200D::probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_gyro,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_accel)
{
if (!dev) {
if ((!dev_accel) || (!dev_gyro)){
return nullptr;
}
AP_InertialSensor_L3G4200D *sensor
= new AP_InertialSensor_L3G4200D(imu, std::move(dev));
= new AP_InertialSensor_L3G4200D(imu, std::move(dev_gyro), std::move(dev_accel));
if (!sensor || !sensor->_init_sensor()) {
delete sensor;
return nullptr;
@ -120,82 +155,92 @@ AP_InertialSensor_Backend *AP_InertialSensor_L3G4200D::probe(AP_InertialSensor & @@ -120,82 +155,92 @@ AP_InertialSensor_Backend *AP_InertialSensor_L3G4200D::probe(AP_InertialSensor &
return sensor;
}
bool AP_InertialSensor_L3G4200D::_init_sensor(void)
bool AP_InertialSensor_L3G4200D::_accel_init()
{
_dev->get_semaphore()->take_blocking();
_dev_accel->get_semaphore()->take_blocking();
// Init the accelerometer
uint8_t data = 0;
_dev->read_registers(ADXL345_ACCELEROMETER_ADXLREG_DEVID, &data, 1);
_dev_accel->read_registers(ADXL345_ACCELEROMETER_ADXLREG_DEVID, &data, 1);
if (data != ADXL345_ACCELEROMETER_XL345_DEVID) {
AP_HAL::panic("AP_InertialSensor_L3G4200D: could not find ADXL345 accelerometer sensor");
}
_dev->write_register(ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL, 0x00);
hal.scheduler->delay(5);
_dev->write_register(ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL, 0xff);
hal.scheduler->delay(5);
// Measure mode:
_dev->write_register(ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL, 0x08);
hal.scheduler->delay(5);
// Full resolution, 8g:
// Caution, this must agree with ADXL345_ACCELEROMETER_SCALE_1G
// In full resoution mode, the scale factor need not change
_dev->write_register(ADXL345_ACCELEROMETER_ADXLREG_DATA_FORMAT, 0x08);
_dev_accel->write_register(ADXL345_ACCELEROMETER_ADXLREG_DATA_FORMAT, ADXL345_ACCELEROMETER_RANGE_2G);
hal.scheduler->delay(5);
// Normal power, 800Hz Output Data Rate, 400Hz bandwidth:
_dev->write_register(ADXL345_ACCELEROMETER_ADXLREG_BW_RATE, 0x0d);
_dev_accel->write_register(ADXL345_ACCELEROMETER_ADXLREG_BW_RATE, ADXL345_ACCELEROMETER_BW_RATE_400HZ);
hal.scheduler->delay(5);
// enable FIFO in stream mode. This will allow us to read the accelerometers
// much less frequently
_dev->write_register(ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL,
ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL_STREAM);
// enable FIFO in stream mode. This will allow us to read the gyros much less frequently
_dev_accel->write_register(ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL,
ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL_STREAM);
hal.scheduler->delay(5);
// Measure mode:
_dev_accel->write_register(ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL,
ADXL345_ACCELEROMETER_MEASURE_MODE);
hal.scheduler->delay(5);
// Set up the filter desired
_set_filter_frequency(_accel_filter_cutoff());
_dev_accel->get_semaphore()->give();
return true;
}
bool AP_InertialSensor_L3G4200D::_gyro_init()
{
uint8_t data = 0;
// Init the Gyro
// Expect to read the right 'WHO_AM_I' value
_dev->read_registers(L3G4200D_REG_WHO_AM_I, &data, 1);
_dev_gyro->get_semaphore()->take_blocking();
_dev_gyro->read_registers(L3G4200D_REG_WHO_AM_I, &data, 1);
if (data != L3G4200D_REG_WHO_AM_I_VALUE) {
AP_HAL::panic("AP_InertialSensor_L3G4200D: could not find L3G4200D gyro sensor");
}
// setup for 800Hz sampling with 110Hz filter
_dev->write_register(L3G4200D_REG_CTRL_REG1,
// setup for 800Hz sampling with 110Hz filter
_dev_gyro->write_register(L3G4200D_REG_CTRL_REG1, // CTRL_REG1 400Hz ODR, 20hz filter, run!
L3G4200D_REG_CTRL_REG1_DRBW_800_110 |
L3G4200D_REG_CTRL_REG1_PD |
L3G4200D_REG_CTRL_REG1_XYZ_ENABLE);
hal.scheduler->delay(1);
hal.scheduler->delay(5);
_dev->write_register(L3G4200D_REG_CTRL_REG1,
L3G4200D_REG_CTRL_REG1_DRBW_800_110 |
L3G4200D_REG_CTRL_REG1_PD |
L3G4200D_REG_CTRL_REG1_XYZ_ENABLE);
hal.scheduler->delay(1);
_dev->write_register(L3G4200D_REG_CTRL_REG1,
L3G4200D_REG_CTRL_REG1_DRBW_800_110 |
L3G4200D_REG_CTRL_REG1_PD |
L3G4200D_REG_CTRL_REG1_XYZ_ENABLE);
hal.scheduler->delay(1);
// setup for 2000 degrees/sec full range
_dev->write_register(L3G4200D_REG_CTRL_REG4,
_dev_gyro->write_register(L3G4200D_REG_CTRL_REG4,
L3G4200D_REG_CTRL_REG4_FS_2000);
hal.scheduler->delay(1);
hal.scheduler->delay(5);
// enable FIFO
_dev->write_register(L3G4200D_REG_CTRL_REG5,
_dev_gyro->write_register(L3G4200D_REG_CTRL_REG5,
L3G4200D_REG_CTRL_REG5_FIFO_EN);
hal.scheduler->delay(1);
hal.scheduler->delay(5);
// enable FIFO in stream mode. This will allow us to read the gyros much less frequently
_dev->write_register(L3G4200D_REG_FIFO_CTL,
_dev_gyro->write_register(L3G4200D_REG_FIFO_CTL,
L3G4200D_REG_FIFO_CTL_STREAM);
hal.scheduler->delay(1);
hal.scheduler->delay(5);
_dev_gyro->get_semaphore()->give();
return true;
}
_dev->get_semaphore()->give();
bool AP_InertialSensor_L3G4200D::_init_sensor(void)
{
_accel_init();
_gyro_init();
return true;
}
@ -205,13 +250,25 @@ bool AP_InertialSensor_L3G4200D::_init_sensor(void) @@ -205,13 +250,25 @@ bool AP_InertialSensor_L3G4200D::_init_sensor(void)
*/
void AP_InertialSensor_L3G4200D::start(void)
{
_gyro_instance = _imu.register_gyro(800, _dev->get_bus_id_devtype(DEVTYPE_L3G4200D));
_accel_instance = _imu.register_accel(800, _dev->get_bus_id_devtype(DEVTYPE_L3G4200D));
_gyro_instance = _imu.register_gyro(800, _dev_gyro->get_bus_id_devtype(DEVTYPE_L3G4200D));
_accel_instance = _imu.register_accel(800, _dev_accel->get_bus_id_devtype(DEVTYPE_L3G4200D));
// start the timer process to read samples
_dev->register_periodic_callback(1250, FUNCTOR_BIND_MEMBER(&AP_InertialSensor_L3G4200D::_accumulate, void));
_dev_accel->register_periodic_callback(1250, FUNCTOR_BIND_MEMBER(&AP_InertialSensor_L3G4200D::_accumulate_accel, void));
_dev_gyro->register_periodic_callback(1250, FUNCTOR_BIND_MEMBER(&AP_InertialSensor_L3G4200D::_accumulate_gyro, void));
}
/*
set the filter frequency
*/
void AP_InertialSensor_L3G4200D::_set_filter_frequency(uint8_t filter_hz)
{
_accel_filter.set_cutoff_frequency(800, filter_hz);
_gyro_filter.set_cutoff_frequency(800, filter_hz);
}
/*
copy filtered data to the frontend
*/
@ -224,14 +281,14 @@ bool AP_InertialSensor_L3G4200D::update(void) @@ -224,14 +281,14 @@ bool AP_InertialSensor_L3G4200D::update(void)
}
// Accumulate values from accels and gyros
void AP_InertialSensor_L3G4200D::_accumulate(void)
void AP_InertialSensor_L3G4200D::_accumulate_gyro (void)
{
uint8_t num_samples_available;
uint8_t fifo_status = 0;
// Read gyro FIFO status
fifo_status = 0;
_dev->read_registers(L3G4200D_REG_FIFO_SRC, &fifo_status, 1);
_dev_gyro->read_registers(L3G4200D_REG_FIFO_SRC, &fifo_status, 1);
if (fifo_status & L3G4200D_REG_FIFO_SRC_OVERRUN) {
// FIFO is full
num_samples_available = 32;
@ -243,33 +300,42 @@ void AP_InertialSensor_L3G4200D::_accumulate(void) @@ -243,33 +300,42 @@ void AP_InertialSensor_L3G4200D::_accumulate(void)
num_samples_available = fifo_status & L3G4200D_REG_FIFO_SRC_ENTRIES_MASK;
}
// read the samples and apply the filter
if (num_samples_available > 0) {
// read all the entries in one go, using AUTO_INCREMENT. This saves a lot of time on I2C setup
int16_t buffer[num_samples_available][3];
if (!_dev->read_registers(L3G4200D_REG_XL | L3G4200D_REG_AUTO_INCREMENT,
if (_dev_gyro->read_registers(L3G4200D_REG_XL | L3G4200D_REG_AUTO_INCREMENT,
(uint8_t *)&buffer, sizeof(buffer))) {
for (uint8_t i=0; i < num_samples_available; i++) {
Vector3f gyro = Vector3f(buffer[i][0], -buffer[i][1], -buffer[i][2]);
// Adjust for chip scaling to get radians/sec
//hal.console->printf("gyro %f \r\n",gyro.x);
gyro *= L3G4200D_GYRO_SCALE_R_S;
_rotate_and_correct_gyro(_gyro_instance, gyro);
_notify_new_gyro_raw_sample(_gyro_instance, gyro);
}
}
}
}
void AP_InertialSensor_L3G4200D::_accumulate_accel (void)
{
uint8_t num_samples_available;
uint8_t fifo_status = 0;
// Read accelerometer FIFO to find out how many samples are available
_dev->read_registers(ADXL345_ACCELEROMETER_ADXLREG_FIFO_STATUS,
_dev_accel->read_registers(ADXL345_ACCELEROMETER_ADXLREG_FIFO_STATUS,
&fifo_status, 1);
num_samples_available = fifo_status & 0x3F;
// read the samples and apply the filter
if (num_samples_available > 0) {
int16_t buffer[num_samples_available][3];
if (!_dev->read_registers_multiple(ADXL345_ACCELEROMETER_ADXLREG_DATAX0,
(uint8_t *)buffer, sizeof(buffer[0]),
num_samples_available)) {
for (uint8_t i=0; i<num_samples_available; i++) {
for (uint8_t i=0; i<num_samples_available; i++)
{
if (_dev_accel->read_registers(ADXL345_ACCELEROMETER_ADXLREG_DATAX0,
(uint8_t *)buffer[i], sizeof(buffer[0])))
{
Vector3f accel = Vector3f(buffer[i][0], -buffer[i][1], -buffer[i][2]);
// Adjust for chip scaling to get m/s/s
accel *= ADXL345_ACCELEROMETER_SCALE_M_S;
@ -280,4 +346,4 @@ void AP_InertialSensor_L3G4200D::_accumulate(void) @@ -280,4 +346,4 @@ void AP_InertialSensor_L3G4200D::_accumulate(void)
}
}
#endif
#endif

31
libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h
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@ -1,3 +1,4 @@ @@ -1,3 +1,4 @@
#pragma once
#include <AP_HAL/AP_HAL.h>
@ -14,26 +15,46 @@ class AP_InertialSensor_L3G4200D : public AP_InertialSensor_Backend @@ -14,26 +15,46 @@ class AP_InertialSensor_L3G4200D : public AP_InertialSensor_Backend
{
public:
AP_InertialSensor_L3G4200D(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_gyro,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_accel);
virtual ~AP_InertialSensor_L3G4200D();
// probe the sensor on I2C bus
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_gyro,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_accel);
/* update accel and gyro state */
bool update() override;
void start(void) override;
private:
bool _accel_init();
bool _gyro_init();
bool _init_sensor();
void _accumulate();
void _accumulate_gyro();
void _accumulate_accel();
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev_gyro;
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev_accel;
void _set_filter_frequency(uint8_t filter_hz);
// Low Pass filters for gyro and accel
LowPassFilter2pVector3f _accel_filter;
LowPassFilter2pVector3f _gyro_filter;
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
enum Rotation _rotation;
// gyro and accel instances
uint8_t _gyro_instance;
uint8_t _accel_instance;
};
#endif
#endif // __AP_INERTIAL_SENSOR_L3G4200D2_H__
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