From 1aabd7155ea8ea86ecfde279b875ee2d10956881 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 8 Oct 2013 11:07:59 +1100 Subject: [PATCH] AP_InertialSensor: added L3G4200D driver this is for a cheap ebay 10DOF sensor --- .../AP_InertialSensor/AP_InertialSensor.h | 1 + .../AP_InertialSensor_L3G4200D.cpp | 353 ++++++++++++++++++ .../AP_InertialSensor_L3G4200D.h | 51 +++ 3 files changed, 405 insertions(+) create mode 100644 libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp create mode 100644 libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h index 797b4c0105..9673ba0d09 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor.h +++ b/libraries/AP_InertialSensor/AP_InertialSensor.h @@ -190,5 +190,6 @@ protected: #include "AP_InertialSensor_UserInteract_Stream.h" #include "AP_InertialSensor_UserInteract_MAVLink.h" #include "AP_InertialSensor_Flymaple.h" +#include "AP_InertialSensor_L3G4200D.h" #endif // __AP_INERTIAL_SENSOR_H__ diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp new file mode 100644 index 0000000000..7b517e61de --- /dev/null +++ b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp @@ -0,0 +1,353 @@ +/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- +/* + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + */ +/* + This is an INS driver for the combination L3G4200D gyro and ADXL345 accelerometer. + This combination is available as a cheap 10DOF sensor on ebay + */ +// 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 +#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX + +#include +#include "AP_InertialSensor_L3G4200D.h" +#include +#include + +const extern AP_HAL::HAL& hal; + +/////// +/// Accelerometer ADXL345 register definitions +#define ADXL345_ACCELEROMETER_ADDRESS 0x53 +#define ADXL345_ACCELEROMETER_XL345_DEVID 0xe5 +#define ADXL345_ACCELEROMETER_ADXLREG_BW_RATE 0x2c +#define ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL 0x2d +#define ADXL345_ACCELEROMETER_ADXLREG_DATA_FORMAT 0x31 +#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_STATUS 0x39 + +// 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_REG_WHO_AM_I 0x0f +#define L3G4200D_REG_WHO_AM_I_VALUE 0xd3 + +#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_FS_2000 0x30 + +#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_STREAM 0x40 + +#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 + +// this bit is ORd into the register to enable auto-increment mode +#define L3G4200D_REG_AUTO_INCREMENT 0x80 + +// L3G4200D Gyroscope scaling +// running at 2000 DPS full range, 16 bit signed data, datasheet +// specifies 70 mdps per bit +#define L3G4200D_GYRO_SCALE_R_S (DEG_TO_RAD * 70.0f * 0.001f) + +// constructor +AP_InertialSensor_L3G4200D::AP_InertialSensor_L3G4200D() : + AP_InertialSensor(), + _sample_available(false), + _accel_filter_x(800, 10), + _accel_filter_y(800, 10), + _accel_filter_z(800, 10), + _gyro_filter_x(800, 10), + _gyro_filter_y(800, 10), + _gyro_filter_z(800, 10) +{} + +uint16_t AP_InertialSensor_L3G4200D::_init_sensor( Sample_rate sample_rate ) +{ + + switch (sample_rate) { + case RATE_50HZ: + _default_filter_hz = 10; + _sample_period_usec = (1000*1000) / 50; + break; + case RATE_100HZ: + _default_filter_hz = 20; + _sample_period_usec = (1000*1000) / 100; + break; + case RATE_200HZ: + default: + _default_filter_hz = 20; + _sample_period_usec = (1000*1000) / 200; + break; + } + + // get pointer to i2c bus semaphore + AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore(); + + // take i2c bus sempahore + if (!i2c_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) + return false; + + // Init the accelerometer + uint8_t data = 0; + hal.i2c->readRegister(ADXL345_ACCELEROMETER_ADDRESS, ADXL345_ACCELEROMETER_ADXLREG_DEVID, &data); + if (data != ADXL345_ACCELEROMETER_XL345_DEVID) { + hal.scheduler->panic(PSTR("AP_InertialSensor_L3G4200D: could not find ADXL345 accelerometer sensor")); + } + hal.i2c->writeRegister(ADXL345_ACCELEROMETER_ADDRESS, ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL, 0x00); + hal.scheduler->delay(5); + hal.i2c->writeRegister(ADXL345_ACCELEROMETER_ADDRESS, ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL, 0xff); + hal.scheduler->delay(5); + // Measure mode: + hal.i2c->writeRegister(ADXL345_ACCELEROMETER_ADDRESS, 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 + hal.i2c->writeRegister(ADXL345_ACCELEROMETER_ADDRESS, ADXL345_ACCELEROMETER_ADXLREG_DATA_FORMAT, 0x08); + hal.scheduler->delay(5); + + // Normal power, 800Hz Output Data Rate, 400Hz bandwidth: + hal.i2c->writeRegister(ADXL345_ACCELEROMETER_ADDRESS, ADXL345_ACCELEROMETER_ADXLREG_BW_RATE, 0x0d); + hal.scheduler->delay(5); + + // enable FIFO in stream mode. This will allow us to read the accelerometers much less frequently + hal.i2c->writeRegister(ADXL345_ACCELEROMETER_ADDRESS, + ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL, + ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL_STREAM); + + // Init the Gyro + // Expect to read the right 'WHO_AM_I' value + hal.i2c->readRegister(L3G4200D_I2C_ADDRESS, L3G4200D_REG_WHO_AM_I, &data); + if (data != L3G4200D_REG_WHO_AM_I_VALUE) + hal.scheduler->panic(PSTR("AP_InertialSensor_L3G4200D: could not find L3G4200D gyro sensor")); + + // setup for 800Hz sampling with 110Hz filter + hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS, + 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); + + hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS, + 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); + + hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS, + 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 + hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS, + L3G4200D_REG_CTRL_REG4, + L3G4200D_REG_CTRL_REG4_FS_2000); + hal.scheduler->delay(1); + + // enable FIFO + hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS, + L3G4200D_REG_CTRL_REG5, + L3G4200D_REG_CTRL_REG5_FIFO_EN); + hal.scheduler->delay(1); + + // enable FIFO in stream mode. This will allow us to read the gyros much less frequently + hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS, + L3G4200D_REG_FIFO_CTL, + L3G4200D_REG_FIFO_CTL_STREAM); + hal.scheduler->delay(1); + + + // Set up the filter desired + _set_filter_frequency(_mpu6000_filter); + + // give back i2c semaphore + i2c_sem->give(); + + // start the timer process to read samples + hal.scheduler->register_timer_process(AP_HAL_MEMBERPROC(&AP_InertialSensor_L3G4200D::_accumulate)); + + return AP_PRODUCT_ID_L3G4200D; +} + +/* + set the filter frequency + */ +void AP_InertialSensor_L3G4200D::_set_filter_frequency(uint8_t filter_hz) +{ + if (filter_hz == 0) + filter_hz = _default_filter_hz; + + _accel_filter_x.set_cutoff_frequency(800, filter_hz); + _accel_filter_y.set_cutoff_frequency(800, filter_hz); + _accel_filter_z.set_cutoff_frequency(800, filter_hz); + _gyro_filter_x.set_cutoff_frequency(800, filter_hz); + _gyro_filter_y.set_cutoff_frequency(800, filter_hz); + _gyro_filter_z.set_cutoff_frequency(800, filter_hz); +} + +/*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */ + +bool AP_InertialSensor_L3G4200D::update(void) +{ + while (sample_available() == false) { + hal.scheduler->delay(1); + } + Vector3f accel_scale = _accel_scale.get(); + + hal.scheduler->suspend_timer_procs(); + _accel = _accel_filtered; + _gyro = _gyro_filtered; + hal.scheduler->resume_timer_procs(); + + // add offsets and rotation + _accel.rotate(_board_orientation); + + // Adjust for chip scaling to get m/s/s + _accel *= ADXL345_ACCELEROMETER_SCALE_M_S; + + // Now the calibration scale factor + _accel.x *= accel_scale.x; + _accel.y *= accel_scale.y; + _accel.z *= accel_scale.z; + _accel -= _accel_offset; + + _gyro.rotate(_board_orientation); + + // Adjust for chip scaling to get radians/sec + _gyro *= L3G4200D_GYRO_SCALE_R_S; + _gyro -= _gyro_offset; + + if (_last_filter_hz != _mpu6000_filter) { + _set_filter_frequency(_mpu6000_filter); + _last_filter_hz = _mpu6000_filter; + } + + _sample_available = false; + _last_sample_time = hal.scheduler->micros(); + + return true; +} + +float AP_InertialSensor_L3G4200D::get_delta_time(void) +{ + return _sample_period_usec * 1.0e-6f; +} + +float AP_InertialSensor_L3G4200D::get_gyro_drift_rate(void) +{ + // 0.5 degrees/second/minute (a guess) + return ToRad(0.5/60); +} + +// Accumulate values from accels and gyros +void AP_InertialSensor_L3G4200D::_accumulate(void) +{ + // get pointer to i2c bus semaphore + AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore(); + + // take i2c bus sempahore + if (!i2c_sem->take_nonblocking()) + return; + + // Read accelerometer FIFO to find out how many samples are available + uint8_t num_samples_available; + uint8_t fifo_status = 0; + hal.i2c->readRegister(ADXL345_ACCELEROMETER_ADDRESS, + ADXL345_ACCELEROMETER_ADXLREG_FIFO_STATUS, + &fifo_status); + num_samples_available = fifo_status & 0x3F; + + // read the samples and apply the filter + for (uint8_t i=0; ireadRegisters(ADXL345_ACCELEROMETER_ADDRESS, + ADXL345_ACCELEROMETER_ADXLREG_DATAX0, sizeof(buffer), (uint8_t *)buffer) == 0) { + _accel_filtered = Vector3f(_accel_filter_x.apply(buffer[0]), + _accel_filter_y.apply(-buffer[1]), + _accel_filter_z.apply(-buffer[2])); + } + } + + // Read gyro FIFO status + fifo_status = 0; + hal.i2c->readRegister(L3G4200D_I2C_ADDRESS, + L3G4200D_REG_FIFO_SRC, + &fifo_status); + if (fifo_status & L3G4200D_REG_FIFO_SRC_OVERRUN) { + // FIFO is full + num_samples_available = 32; + } else if (fifo_status & L3G4200D_REG_FIFO_SRC_EMPTY) { + // FIFO is empty + num_samples_available = 0; + } else { + // FIFO is partly full + num_samples_available = fifo_status & L3G4200D_REG_FIFO_SRC_ENTRIES_MASK; + } + + // 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 (hal.i2c->readRegisters(L3G4200D_I2C_ADDRESS, L3G4200D_REG_XL | L3G4200D_REG_AUTO_INCREMENT, + sizeof(buffer), (uint8_t *)&buffer[0][0]) == 0) { + for (uint8_t i=0; igive(); +} + +bool AP_InertialSensor_L3G4200D::sample_available(void) +{ + if (!_sample_available) { + return false; + } + return ((hal.scheduler->micros() - _last_sample_time) >= _sample_period_usec); +} + +#endif // CONFIG_HAL_BOARD + diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h new file mode 100644 index 0000000000..7a1c52fa98 --- /dev/null +++ b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h @@ -0,0 +1,51 @@ +/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- + +#ifndef __AP_INERTIAL_SENSOR_L3G4200D_H__ +#define __AP_INERTIAL_SENSOR_L3G4200D_H__ + +#include +#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX + +#include +#include "AP_InertialSensor.h" +#include +#include + +class AP_InertialSensor_L3G4200D : public AP_InertialSensor +{ +public: + + AP_InertialSensor_L3G4200D(); + + /* Concrete implementation of AP_InertialSensor functions: */ + bool update(); + float get_delta_time(); + float get_gyro_drift_rate(); + bool sample_available(); + +private: + uint16_t _init_sensor( Sample_rate sample_rate ); + void _accumulate(void); + uint64_t _last_update_usec; + Vector3f _accel_filtered; + Vector3f _gyro_filtered; + uint32_t _sample_period_usec; + uint32_t _last_sample_time; + volatile bool _sample_available; + + // support for updating filter at runtime + uint8_t _last_filter_hz; + uint8_t _default_filter_hz; + + void _set_filter_frequency(uint8_t filter_hz); + + // Low Pass filters for gyro and accel + LowPassFilter2p _accel_filter_x; + LowPassFilter2p _accel_filter_y; + LowPassFilter2p _accel_filter_z; + LowPassFilter2p _gyro_filter_x; + LowPassFilter2p _gyro_filter_y; + LowPassFilter2p _gyro_filter_z; +}; +#endif +#endif // __AP_INERTIAL_SENSOR_L3G4200D_H__