Andrew Tridgell
12 years ago
3 changed files with 405 additions and 0 deletions
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/ |
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/*
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This is an INS driver for the combination L3G4200D gyro and ADXL345 accelerometer. |
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This combination is available as a cheap 10DOF sensor on ebay |
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*/ |
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// ADXL345 Accelerometer http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
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// L3G4200D gyro http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00265057.pdf
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#include <AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
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#include <AP_Math.h> |
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#include "AP_InertialSensor_L3G4200D.h" |
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#include <stdio.h> |
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#include <unistd.h> |
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const extern AP_HAL::HAL& hal; |
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///////
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/// Accelerometer ADXL345 register definitions
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#define ADXL345_ACCELEROMETER_ADDRESS 0x53 |
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#define ADXL345_ACCELEROMETER_XL345_DEVID 0xe5 |
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#define ADXL345_ACCELEROMETER_ADXLREG_BW_RATE 0x2c |
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#define ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL 0x2d |
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#define ADXL345_ACCELEROMETER_ADXLREG_DATA_FORMAT 0x31 |
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#define ADXL345_ACCELEROMETER_ADXLREG_DEVID 0x00 |
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#define ADXL345_ACCELEROMETER_ADXLREG_DATAX0 0x32 |
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#define ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL 0x38 |
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#define ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL_STREAM 0x9F |
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#define ADXL345_ACCELEROMETER_ADXLREG_FIFO_STATUS 0x39 |
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// ADXL345 accelerometer scaling
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// Result will be scaled to 1m/s/s
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// ADXL345 in Full resolution mode (any g scaling) is 256 counts/g, so scale by 9.81/256 = 0.038320312
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#define ADXL345_ACCELEROMETER_SCALE_M_S (GRAVITY_MSS / 256.0f) |
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/// Gyro ITG3205 register definitions
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#define L3G4200D_I2C_ADDRESS 0x69 |
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#define L3G4200D_REG_WHO_AM_I 0x0f |
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#define L3G4200D_REG_WHO_AM_I_VALUE 0xd3 |
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#define L3G4200D_REG_CTRL_REG1 0x20 |
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#define L3G4200D_REG_CTRL_REG1_DRBW_800_110 0xf0 |
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#define L3G4200D_REG_CTRL_REG1_PD 0x08 |
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#define L3G4200D_REG_CTRL_REG1_XYZ_ENABLE 0x07 |
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#define L3G4200D_REG_CTRL_REG4 0x23 |
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#define L3G4200D_REG_CTRL_REG4_FS_2000 0x30 |
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#define L3G4200D_REG_CTRL_REG5 0x24 |
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#define L3G4200D_REG_CTRL_REG5_FIFO_EN 0x40 |
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#define L3G4200D_REG_FIFO_CTL 0x2e |
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#define L3G4200D_REG_FIFO_CTL_STREAM 0x40 |
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#define L3G4200D_REG_FIFO_SRC 0x2f |
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#define L3G4200D_REG_FIFO_SRC_ENTRIES_MASK 0x1f |
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#define L3G4200D_REG_FIFO_SRC_EMPTY 0x20 |
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#define L3G4200D_REG_FIFO_SRC_OVERRUN 0x40 |
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#define L3G4200D_REG_XL 0x28 |
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// this bit is ORd into the register to enable auto-increment mode
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#define L3G4200D_REG_AUTO_INCREMENT 0x80 |
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// L3G4200D Gyroscope scaling
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// running at 2000 DPS full range, 16 bit signed data, datasheet
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// specifies 70 mdps per bit
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#define L3G4200D_GYRO_SCALE_R_S (DEG_TO_RAD * 70.0f * 0.001f) |
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// constructor
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AP_InertialSensor_L3G4200D::AP_InertialSensor_L3G4200D() : |
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AP_InertialSensor(), |
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_sample_available(false), |
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_accel_filter_x(800, 10), |
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_accel_filter_y(800, 10), |
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_accel_filter_z(800, 10), |
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_gyro_filter_x(800, 10), |
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_gyro_filter_y(800, 10), |
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_gyro_filter_z(800, 10) |
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{} |
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uint16_t AP_InertialSensor_L3G4200D::_init_sensor( Sample_rate sample_rate )
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{ |
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switch (sample_rate) { |
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case RATE_50HZ: |
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_default_filter_hz = 10; |
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_sample_period_usec = (1000*1000) / 50; |
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break; |
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case RATE_100HZ: |
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_default_filter_hz = 20; |
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_sample_period_usec = (1000*1000) / 100; |
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break; |
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case RATE_200HZ: |
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default: |
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_default_filter_hz = 20; |
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_sample_period_usec = (1000*1000) / 200; |
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break; |
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} |
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// get pointer to i2c bus semaphore
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AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore(); |
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// take i2c bus sempahore
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if (!i2c_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) |
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return false; |
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// Init the accelerometer
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uint8_t data = 0; |
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hal.i2c->readRegister(ADXL345_ACCELEROMETER_ADDRESS, ADXL345_ACCELEROMETER_ADXLREG_DEVID, &data); |
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if (data != ADXL345_ACCELEROMETER_XL345_DEVID) { |
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hal.scheduler->panic(PSTR("AP_InertialSensor_L3G4200D: could not find ADXL345 accelerometer sensor")); |
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} |
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hal.i2c->writeRegister(ADXL345_ACCELEROMETER_ADDRESS, ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL, 0x00); |
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hal.scheduler->delay(5); |
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hal.i2c->writeRegister(ADXL345_ACCELEROMETER_ADDRESS, ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL, 0xff); |
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hal.scheduler->delay(5); |
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// Measure mode:
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hal.i2c->writeRegister(ADXL345_ACCELEROMETER_ADDRESS, ADXL345_ACCELEROMETER_ADXLREG_POWER_CTL, 0x08); |
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hal.scheduler->delay(5); |
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// Full resolution, 8g:
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// Caution, this must agree with ADXL345_ACCELEROMETER_SCALE_1G
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// In full resoution mode, the scale factor need not change
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hal.i2c->writeRegister(ADXL345_ACCELEROMETER_ADDRESS, ADXL345_ACCELEROMETER_ADXLREG_DATA_FORMAT, 0x08); |
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hal.scheduler->delay(5); |
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// Normal power, 800Hz Output Data Rate, 400Hz bandwidth:
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hal.i2c->writeRegister(ADXL345_ACCELEROMETER_ADDRESS, ADXL345_ACCELEROMETER_ADXLREG_BW_RATE, 0x0d); |
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hal.scheduler->delay(5); |
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// enable FIFO in stream mode. This will allow us to read the accelerometers much less frequently
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hal.i2c->writeRegister(ADXL345_ACCELEROMETER_ADDRESS,
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ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL,
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ADXL345_ACCELEROMETER_ADXLREG_FIFO_CTL_STREAM); |
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// Init the Gyro
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// Expect to read the right 'WHO_AM_I' value
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hal.i2c->readRegister(L3G4200D_I2C_ADDRESS, L3G4200D_REG_WHO_AM_I, &data); |
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if (data != L3G4200D_REG_WHO_AM_I_VALUE) |
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hal.scheduler->panic(PSTR("AP_InertialSensor_L3G4200D: could not find L3G4200D gyro sensor")); |
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// setup for 800Hz sampling with 110Hz filter
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hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
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L3G4200D_REG_CTRL_REG1,
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L3G4200D_REG_CTRL_REG1_DRBW_800_110 | |
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L3G4200D_REG_CTRL_REG1_PD | |
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L3G4200D_REG_CTRL_REG1_XYZ_ENABLE); |
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hal.scheduler->delay(1); |
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hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
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L3G4200D_REG_CTRL_REG1,
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L3G4200D_REG_CTRL_REG1_DRBW_800_110 | |
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L3G4200D_REG_CTRL_REG1_PD | |
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L3G4200D_REG_CTRL_REG1_XYZ_ENABLE); |
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hal.scheduler->delay(1); |
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hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
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L3G4200D_REG_CTRL_REG1,
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L3G4200D_REG_CTRL_REG1_DRBW_800_110 | |
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L3G4200D_REG_CTRL_REG1_PD | |
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L3G4200D_REG_CTRL_REG1_XYZ_ENABLE); |
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hal.scheduler->delay(1); |
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// setup for 2000 degrees/sec full range
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hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
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L3G4200D_REG_CTRL_REG4,
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L3G4200D_REG_CTRL_REG4_FS_2000); |
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hal.scheduler->delay(1); |
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// enable FIFO
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hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS,
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L3G4200D_REG_CTRL_REG5,
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L3G4200D_REG_CTRL_REG5_FIFO_EN); |
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hal.scheduler->delay(1); |
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// enable FIFO in stream mode. This will allow us to read the gyros much less frequently
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hal.i2c->writeRegister(L3G4200D_I2C_ADDRESS, |
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L3G4200D_REG_FIFO_CTL, |
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L3G4200D_REG_FIFO_CTL_STREAM); |
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hal.scheduler->delay(1); |
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// Set up the filter desired
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_set_filter_frequency(_mpu6000_filter); |
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// give back i2c semaphore
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i2c_sem->give(); |
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// start the timer process to read samples
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hal.scheduler->register_timer_process(AP_HAL_MEMBERPROC(&AP_InertialSensor_L3G4200D::_accumulate)); |
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return AP_PRODUCT_ID_L3G4200D; |
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} |
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/*
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set the filter frequency |
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*/ |
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void AP_InertialSensor_L3G4200D::_set_filter_frequency(uint8_t filter_hz) |
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{ |
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if (filter_hz == 0) |
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filter_hz = _default_filter_hz; |
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_accel_filter_x.set_cutoff_frequency(800, filter_hz); |
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_accel_filter_y.set_cutoff_frequency(800, filter_hz); |
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_accel_filter_z.set_cutoff_frequency(800, filter_hz); |
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_gyro_filter_x.set_cutoff_frequency(800, filter_hz); |
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_gyro_filter_y.set_cutoff_frequency(800, filter_hz); |
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_gyro_filter_z.set_cutoff_frequency(800, filter_hz); |
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} |
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/*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */ |
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bool AP_InertialSensor_L3G4200D::update(void)
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{ |
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while (sample_available() == false) { |
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hal.scheduler->delay(1); |
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} |
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Vector3f accel_scale = _accel_scale.get(); |
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hal.scheduler->suspend_timer_procs(); |
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_accel = _accel_filtered; |
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_gyro = _gyro_filtered; |
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hal.scheduler->resume_timer_procs(); |
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// add offsets and rotation
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_accel.rotate(_board_orientation); |
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// Adjust for chip scaling to get m/s/s
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_accel *= ADXL345_ACCELEROMETER_SCALE_M_S; |
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// Now the calibration scale factor
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_accel.x *= accel_scale.x; |
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_accel.y *= accel_scale.y; |
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_accel.z *= accel_scale.z; |
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_accel -= _accel_offset; |
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_gyro.rotate(_board_orientation); |
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// Adjust for chip scaling to get radians/sec
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_gyro *= L3G4200D_GYRO_SCALE_R_S; |
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_gyro -= _gyro_offset; |
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if (_last_filter_hz != _mpu6000_filter) { |
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_set_filter_frequency(_mpu6000_filter); |
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_last_filter_hz = _mpu6000_filter; |
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} |
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_sample_available = false; |
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_last_sample_time = hal.scheduler->micros(); |
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return true; |
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} |
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float AP_InertialSensor_L3G4200D::get_delta_time(void)
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{ |
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return _sample_period_usec * 1.0e-6f; |
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} |
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float AP_InertialSensor_L3G4200D::get_gyro_drift_rate(void)
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{ |
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// 0.5 degrees/second/minute (a guess)
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return ToRad(0.5/60); |
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} |
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// Accumulate values from accels and gyros
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void AP_InertialSensor_L3G4200D::_accumulate(void) |
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{ |
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// get pointer to i2c bus semaphore
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AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore(); |
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// take i2c bus sempahore
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if (!i2c_sem->take_nonblocking()) |
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return; |
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// Read accelerometer FIFO to find out how many samples are available
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uint8_t num_samples_available; |
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uint8_t fifo_status = 0; |
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hal.i2c->readRegister(ADXL345_ACCELEROMETER_ADDRESS, |
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ADXL345_ACCELEROMETER_ADXLREG_FIFO_STATUS, |
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&fifo_status); |
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num_samples_available = fifo_status & 0x3F; |
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// read the samples and apply the filter
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for (uint8_t i=0; i<num_samples_available; i++) { |
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int16_t buffer[3]; |
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if (hal.i2c->readRegisters(ADXL345_ACCELEROMETER_ADDRESS,
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ADXL345_ACCELEROMETER_ADXLREG_DATAX0, sizeof(buffer), (uint8_t *)buffer) == 0) { |
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_accel_filtered = Vector3f(_accel_filter_x.apply(buffer[0]), |
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_accel_filter_y.apply(-buffer[1]), |
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_accel_filter_z.apply(-buffer[2])); |
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} |
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} |
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// Read gyro FIFO status
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fifo_status = 0; |
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hal.i2c->readRegister(L3G4200D_I2C_ADDRESS, |
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L3G4200D_REG_FIFO_SRC, |
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&fifo_status); |
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if (fifo_status & L3G4200D_REG_FIFO_SRC_OVERRUN) { |
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// FIFO is full
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num_samples_available = 32; |
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} else if (fifo_status & L3G4200D_REG_FIFO_SRC_EMPTY) { |
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// FIFO is empty
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num_samples_available = 0; |
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} else { |
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// FIFO is partly full
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num_samples_available = fifo_status & L3G4200D_REG_FIFO_SRC_ENTRIES_MASK; |
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} |
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// read all the entries in one go, using AUTO_INCREMENT. This saves a lot of time on I2C setup
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int16_t buffer[num_samples_available][3]; |
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if (hal.i2c->readRegisters(L3G4200D_I2C_ADDRESS, L3G4200D_REG_XL | L3G4200D_REG_AUTO_INCREMENT,
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sizeof(buffer), (uint8_t *)&buffer[0][0]) == 0) { |
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for (uint8_t i=0; i<num_samples_available; i++) { |
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_gyro_filtered = Vector3f(_gyro_filter_x.apply(buffer[i][0]),
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_gyro_filter_y.apply(-buffer[i][1]),
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_gyro_filter_z.apply(-buffer[i][2])); |
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} |
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} |
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_sample_available = true; |
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// give back i2c semaphore
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i2c_sem->give(); |
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} |
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bool AP_InertialSensor_L3G4200D::sample_available(void) |
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{ |
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if (!_sample_available) { |
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return false; |
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} |
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return ((hal.scheduler->micros() - _last_sample_time) >= _sample_period_usec); |
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} |
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#endif // CONFIG_HAL_BOARD
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@ -0,0 +1,51 @@
@@ -0,0 +1,51 @@
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_INERTIAL_SENSOR_L3G4200D_H__ |
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#define __AP_INERTIAL_SENSOR_L3G4200D_H__ |
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#include <AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
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#include <AP_Progmem.h> |
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#include "AP_InertialSensor.h" |
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#include <Filter.h> |
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#include <LowPassFilter2p.h> |
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class AP_InertialSensor_L3G4200D : public AP_InertialSensor |
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{ |
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public: |
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AP_InertialSensor_L3G4200D(); |
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/* Concrete implementation of AP_InertialSensor functions: */ |
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bool update(); |
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float get_delta_time(); |
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float get_gyro_drift_rate(); |
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bool sample_available(); |
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private: |
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uint16_t _init_sensor( Sample_rate sample_rate ); |
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void _accumulate(void); |
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uint64_t _last_update_usec; |
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Vector3f _accel_filtered; |
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Vector3f _gyro_filtered; |
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uint32_t _sample_period_usec; |
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uint32_t _last_sample_time; |
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volatile bool _sample_available; |
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// support for updating filter at runtime
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uint8_t _last_filter_hz; |
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uint8_t _default_filter_hz; |
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void _set_filter_frequency(uint8_t filter_hz); |
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// Low Pass filters for gyro and accel
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LowPassFilter2p _accel_filter_x; |
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LowPassFilter2p _accel_filter_y; |
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LowPassFilter2p _accel_filter_z; |
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LowPassFilter2p _gyro_filter_x; |
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LowPassFilter2p _gyro_filter_y; |
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LowPassFilter2p _gyro_filter_z; |
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}; |
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#endif |
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#endif // __AP_INERTIAL_SENSOR_L3G4200D_H__
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