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227 lines
7.3 KiB
227 lines
7.3 KiB
/// -*- 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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Flymaple port by Mike McCauley |
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*/ |
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// Interface to the Flymaple sensors: |
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// ITG3205 Gyroscope |
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// ADXL345 Accelerometer |
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#include <AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE |
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#include "AP_InertialSensor_Flymaple.h" |
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const extern AP_HAL::HAL& hal; |
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Vector3f AP_InertialSensor_Flymaple::_accel_sum; |
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uint32_t AP_InertialSensor_Flymaple::_accel_sum_count; |
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Vector3f AP_InertialSensor_Flymaple::_gyro_sum; |
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uint32_t AP_InertialSensor_Flymaple::_gyro_sum_count; |
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volatile bool AP_InertialSensor_Flymaple::_in_accumulate; |
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uint64_t AP_InertialSensor_Flymaple::_last_accel_timestamp; |
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uint64_t AP_InertialSensor_Flymaple::_last_gyro_timestamp; |
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int AP_InertialSensor_Flymaple::_accel_fd; |
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int AP_InertialSensor_Flymaple::_gyro_fd; |
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/////// |
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/// Accelerometer ADXL345 definitions |
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#define FLYMAPLE_ACCELEROMETER_ADDRESS 0x53 |
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#define FLYMAPLE_ACCELEROMETER_XL345_DEVID 0xe5 |
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#define FLYMAPLE_ACCELEROMETER_ADXLREG_BW_RATE 0x2c |
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#define FLYMAPLE_ACCELEROMETER_ADXLREG_POWER_CTL 0x2d |
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#define FLYMAPLE_ACCELEROMETER_ADXLREG_DATA_FORMAT 0x31 |
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#define FLYMAPLE_ACCELEROMETER_ADXLREG_DEVID 0x00 |
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#define FLYMAPLE_ACCELEROMETER_ADXLREG_DATAX0 0x32 |
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#define FLYMAPLE_ACCELEROMETER_GRAVITY 248 |
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/// Gyro ITG3205 definitions |
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#define FLYMAPLE_GYRO_ADDRESS 0x68 |
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#define FLYMAPLE_GYRO_PWR_MGM 0x3e |
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#define FLYMAPLE_GYRO_DLPF_FS 0x16 |
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#define FLYMAPLE_GYRO_INT_CFG 0x17 |
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#define FLYMAPLE_GYRO_SMPLRT_DIV 0x15 |
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#define FLYMAPLE_GYRO_GYROX_H 0x1d |
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uint16_t AP_InertialSensor_Flymaple::_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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_sample_divider = 4; |
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_default_filter_hz = 10; |
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break; |
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case RATE_100HZ: |
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_sample_divider = 2; |
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_default_filter_hz = 20; |
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break; |
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case RATE_200HZ: |
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default: |
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_sample_divider = 1; |
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_default_filter_hz = 20; |
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break; |
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} |
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// Init the accelerometer |
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uint8_t data; |
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hal.i2c->readRegister(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_DEVID, &data); |
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if (data != FLYMAPLE_ACCELEROMETER_XL345_DEVID) |
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hal.scheduler->panic(PSTR("AP_InertialSensor_Flymaple: could not find ADXL345 accelerometer sensor")); |
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hal.i2c->writeRegister(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_POWER_CTL, 0x00); |
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hal.scheduler->delay(5); |
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hal.i2c->writeRegister(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_POWER_CTL, 0xff); |
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hal.scheduler->delay(5); |
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hal.i2c->writeRegister(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_POWER_CTL, 0x08); |
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hal.scheduler->delay(5); |
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hal.i2c->writeRegister(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_DATA_FORMAT, 0x08); |
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hal.scheduler->delay(5); |
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hal.i2c->writeRegister(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_BW_RATE, 0x09); |
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hal.scheduler->delay(5); |
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/// Init the Gyro |
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hal.i2c->writeRegister(FLYMAPLE_GYRO_ADDRESS, FLYMAPLE_GYRO_PWR_MGM, 0x00); |
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hal.scheduler->delay(1); |
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hal.i2c->writeRegister(FLYMAPLE_GYRO_ADDRESS, FLYMAPLE_GYRO_SMPLRT_DIV, 0x07); |
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hal.scheduler->delay(1); |
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hal.i2c->writeRegister(FLYMAPLE_GYRO_ADDRESS, FLYMAPLE_GYRO_DLPF_FS,0x1e); |
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hal.scheduler->delay(1); |
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hal.i2c->writeRegister(FLYMAPLE_GYRO_ADDRESS, FLYMAPLE_GYRO_INT_CFG, 0x00); |
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hal.scheduler->delay(1); |
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return AP_PRODUCT_ID_FLYMAPLE; |
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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_Flymaple::_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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} |
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/// TODO ... |
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} |
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/*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */ |
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bool AP_InertialSensor_Flymaple::update(void) |
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{ |
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while (num_samples_available() == 0) { |
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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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// base the time on the gyro timestamp, as that is what is |
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// multiplied by time to integrate in DCM |
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_delta_time = (_last_gyro_timestamp - _last_update_usec) * 1.0e-6f; |
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_last_update_usec = _last_gyro_timestamp; |
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_accel = _accel_sum / _accel_sum_count; |
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_accel_sum.zero(); |
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_accel_sum_count = 0; |
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_gyro = _gyro_sum / _gyro_sum_count; |
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_gyro_sum.zero(); |
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_gyro_sum_count = 0; |
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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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_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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_gyro *= (1.0 / 14.375) * (3.1415926 / 180); // ITG3200 14.375 LSB degrees/sec with FS_SEL=3 |
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_gyro -= _gyro_offset; |
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#if 0 |
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// whats this all about???? |
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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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#endif |
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return true; |
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} |
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float AP_InertialSensor_Flymaple::get_delta_time(void) |
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{ |
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return _delta_time; |
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} |
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uint32_t AP_InertialSensor_Flymaple::get_last_sample_time_micros(void) |
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{ |
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return _last_update_usec; |
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} |
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float AP_InertialSensor_Flymaple::get_gyro_drift_rate(void) |
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{ |
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// 0.5 degrees/second/minute |
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return ToRad(0.5/60); |
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} |
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void AP_InertialSensor_Flymaple::_accumulate(void) |
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{ |
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if (_in_accumulate) { |
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return; |
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} |
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_in_accumulate = true; |
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// Read accelerometer |
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uint8_t buffer[8]; |
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if (hal.i2c->readRegisters(FLYMAPLE_ACCELEROMETER_ADDRESS, FLYMAPLE_ACCELEROMETER_ADXLREG_DATAX0, 8, buffer) == 0) |
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{ |
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int16_t x = -((((int16_t)buffer[1]) << 8) | buffer[0]); // X axis |
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int16_t y = (((int16_t)buffer[3]) << 8) | buffer[2]; // Y axis |
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int16_t z = -((((int16_t)buffer[5]) << 8) | buffer[4]); // Z axis |
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_accel_sum += Vector3f(x, y, z); |
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_accel_sum_count++; |
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_last_accel_timestamp = hal.scheduler->micros(); |
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} |
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// Read gyro |
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if (hal.i2c->readRegisters(FLYMAPLE_GYRO_ADDRESS, FLYMAPLE_GYRO_GYROX_H, 6, buffer) == 0) |
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{ |
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int16_t x = (((int16_t)buffer[0]) << 8) | buffer[1]; // X axis |
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int16_t y = (((int16_t)buffer[2]) << 8) | buffer[3]; // Y axis |
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int16_t z = -((((int16_t)buffer[4]) << 8) | buffer[5]); // Z axis |
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_gyro_sum += Vector3f(x, y, z); |
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_gyro_sum_count++; |
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_last_gyro_timestamp = hal.scheduler->micros(); |
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} |
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_in_accumulate = false; |
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} |
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void AP_InertialSensor_Flymaple::_ins_timer(uint32_t now) |
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{ |
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_accumulate(); |
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} |
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uint16_t AP_InertialSensor_Flymaple::num_samples_available(void) |
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{ |
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_accumulate(); |
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return min(_accel_sum_count, _gyro_sum_count) / _sample_divider; |
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} |
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#endif // CONFIG_HAL_BOARD |
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