/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file lsm303d.cpp
* Driver for the ST LSM303D MEMS accelerometer / magnetometer connected via SPI.
*/
#include <nuttx/config.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <stdint.h>
#include <stdbool.h>
#include <stddef.h>
#include <stdlib.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <getopt.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <nuttx/arch.h>
#include <nuttx/clock.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_mag.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/drv_tone_alarm.h>
#include <board_config.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
// enable this to debug the buggy lsm303d sensor in very early
// prototype pixhawk boards
#define CHECK_EXTREMES 0
/* SPI protocol address bits */
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
#define ADDR_INCREMENT (1<<6)
#define LSM303D_DEVICE_PATH_ACCEL "/dev/lsm303d_accel"
#define LSM303D_DEVICE_PATH_ACCEL_EXT "/dev/lsm303d_accel_ext"
#define LSM303D_DEVICE_PATH_MAG "/dev/lsm303d_mag"
/* register addresses: A: accel, M: mag, T: temp */
#define ADDR_WHO_AM_I 0x0F
#define WHO_I_AM 0x49
#define ADDR_OUT_TEMP_L 0x05
#define ADDR_OUT_TEMP_H 0x06
#define ADDR_STATUS_M 0x07
#define ADDR_OUT_X_L_M 0x08
#define ADDR_OUT_X_H_M 0x09
#define ADDR_OUT_Y_L_M 0x0A
#define ADDR_OUT_Y_H_M 0x0B
#define ADDR_OUT_Z_L_M 0x0C
#define ADDR_OUT_Z_H_M 0x0D
#define ADDR_INT_CTRL_M 0x12
#define ADDR_INT_SRC_M 0x13
#define ADDR_REFERENCE_X 0x1c
#define ADDR_REFERENCE_Y 0x1d
#define ADDR_REFERENCE_Z 0x1e
#define ADDR_STATUS_A 0x27
#define ADDR_OUT_X_L_A 0x28
#define ADDR_OUT_X_H_A 0x29
#define ADDR_OUT_Y_L_A 0x2A
#define ADDR_OUT_Y_H_A 0x2B
#define ADDR_OUT_Z_L_A 0x2C
#define ADDR_OUT_Z_H_A 0x2D
#define ADDR_CTRL_REG0 0x1F
#define ADDR_CTRL_REG1 0x20
#define ADDR_CTRL_REG2 0x21
#define ADDR_CTRL_REG3 0x22
#define ADDR_CTRL_REG4 0x23
#define ADDR_CTRL_REG5 0x24
#define ADDR_CTRL_REG6 0x25
#define ADDR_CTRL_REG7 0x26
#define ADDR_FIFO_CTRL 0x2e
#define ADDR_FIFO_SRC 0x2f
#define ADDR_IG_CFG1 0x30
#define ADDR_IG_SRC1 0x31
#define ADDR_IG_THS1 0x32
#define ADDR_IG_DUR1 0x33
#define ADDR_IG_CFG2 0x34
#define ADDR_IG_SRC2 0x35
#define ADDR_IG_THS2 0x36
#define ADDR_IG_DUR2 0x37
#define ADDR_CLICK_CFG 0x38
#define ADDR_CLICK_SRC 0x39
#define ADDR_CLICK_THS 0x3a
#define ADDR_TIME_LIMIT 0x3b
#define ADDR_TIME_LATENCY 0x3c
#define ADDR_TIME_WINDOW 0x3d
#define ADDR_ACT_THS 0x3e
#define ADDR_ACT_DUR 0x3f
#define REG1_RATE_BITS_A ((1<<7) | (1<<6) | (1<<5) | (1<<4))
#define REG1_POWERDOWN_A ((0<<7) | (0<<6) | (0<<5) | (0<<4))
#define REG1_RATE_3_125HZ_A ((0<<7) | (0<<6) | (0<<5) | (1<<4))
#define REG1_RATE_6_25HZ_A ((0<<7) | (0<<6) | (1<<5) | (0<<4))
#define REG1_RATE_12_5HZ_A ((0<<7) | (0<<6) | (1<<5) | (1<<4))
#define REG1_RATE_25HZ_A ((0<<7) | (1<<6) | (0<<5) | (0<<4))
#define REG1_RATE_50HZ_A ((0<<7) | (1<<6) | (0<<5) | (1<<4))
#define REG1_RATE_100HZ_A ((0<<7) | (1<<6) | (1<<5) | (0<<4))
#define REG1_RATE_200HZ_A ((0<<7) | (1<<6) | (1<<5) | (1<<4))
#define REG1_RATE_400HZ_A ((1<<7) | (0<<6) | (0<<5) | (0<<4))
#define REG1_RATE_800HZ_A ((1<<7) | (0<<6) | (0<<5) | (1<<4))
#define REG1_RATE_1600HZ_A ((1<<7) | (0<<6) | (1<<5) | (0<<4))
#define REG1_BDU_UPDATE (1<<3)
#define REG1_Z_ENABLE_A (1<<2)
#define REG1_Y_ENABLE_A (1<<1)
#define REG1_X_ENABLE_A (1<<0)
#define REG2_ANTIALIAS_FILTER_BW_BITS_A ((1<<7) | (1<<6))
#define REG2_AA_FILTER_BW_773HZ_A ((0<<7) | (0<<6))
#define REG2_AA_FILTER_BW_194HZ_A ((0<<7) | (1<<6))
#define REG2_AA_FILTER_BW_362HZ_A ((1<<7) | (0<<6))
#define REG2_AA_FILTER_BW_50HZ_A ((1<<7) | (1<<6))
#define REG2_FULL_SCALE_BITS_A ((1<<5) | (1<<4) | (1<<3))
#define REG2_FULL_SCALE_2G_A ((0<<5) | (0<<4) | (0<<3))
#define REG2_FULL_SCALE_4G_A ((0<<5) | (0<<4) | (1<<3))
#define REG2_FULL_SCALE_6G_A ((0<<5) | (1<<4) | (0<<3))
#define REG2_FULL_SCALE_8G_A ((0<<5) | (1<<4) | (1<<3))
#define REG2_FULL_SCALE_16G_A ((1<<5) | (0<<4) | (0<<3))
#define REG5_ENABLE_T (1<<7)
#define REG5_RES_HIGH_M ((1<<6) | (1<<5))
#define REG5_RES_LOW_M ((0<<6) | (0<<5))
#define REG5_RATE_BITS_M ((1<<4) | (1<<3) | (1<<2))
#define REG5_RATE_3_125HZ_M ((0<<4) | (0<<3) | (0<<2))
#define REG5_RATE_6_25HZ_M ((0<<4) | (0<<3) | (1<<2))
#define REG5_RATE_12_5HZ_M ((0<<4) | (1<<3) | (0<<2))
#define REG5_RATE_25HZ_M ((0<<4) | (1<<3) | (1<<2))
#define REG5_RATE_50HZ_M ((1<<4) | (0<<3) | (0<<2))
#define REG5_RATE_100HZ_M ((1<<4) | (0<<3) | (1<<2))
#define REG5_RATE_DO_NOT_USE_M ((1<<4) | (1<<3) | (0<<2))
#define REG6_FULL_SCALE_BITS_M ((1<<6) | (1<<5))
#define REG6_FULL_SCALE_2GA_M ((0<<6) | (0<<5))
#define REG6_FULL_SCALE_4GA_M ((0<<6) | (1<<5))
#define REG6_FULL_SCALE_8GA_M ((1<<6) | (0<<5))
#define REG6_FULL_SCALE_12GA_M ((1<<6) | (1<<5))
#define REG7_CONT_MODE_M ((0<<1) | (0<<0))
#define INT_CTRL_M 0x12
#define INT_SRC_M 0x13
/* default values for this device */
#define LSM303D_ACCEL_DEFAULT_RANGE_G 8
#define LSM303D_ACCEL_DEFAULT_RATE 800
#define LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ 50
#define LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
#define LSM303D_MAG_DEFAULT_RANGE_GA 2
#define LSM303D_MAG_DEFAULT_RATE 100
#define LSM303D_ONE_G 9.80665f
extern "C" { __EXPORT int lsm303d_main(int argc, char *argv[]); }
class LSM303D_mag;
class LSM303D : public device::SPI
{
public:
LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rotation);
virtual ~LSM303D();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
/**
* dump register values
*/
void print_registers();
/**
* toggle logging
*/
void toggle_logging();
/**
* check for extreme accel values
*/
void check_extremes(const accel_report *arb);
protected:
virtual int probe();
friend class LSM303D_mag;
virtual ssize_t mag_read(struct file *filp, char *buffer, size_t buflen);
virtual int mag_ioctl(struct file *filp, int cmd, unsigned long arg);
private:
LSM303D_mag *_mag;
struct hrt_call _accel_call;
struct hrt_call _mag_call;
unsigned _call_accel_interval;
unsigned _call_mag_interval;
RingBuffer *_accel_reports;
RingBuffer *_mag_reports;
struct accel_scale _accel_scale;
unsigned _accel_range_m_s2;
float _accel_range_scale;
unsigned _accel_samplerate;
unsigned _accel_onchip_filter_bandwith;
struct mag_scale _mag_scale;
unsigned _mag_range_ga;
float _mag_range_scale;
unsigned _mag_samplerate;
orb_advert_t _accel_topic;
orb_id_t _accel_orb_id;
int _accel_class_instance;
unsigned _accel_read;
unsigned _mag_read;
perf_counter_t _accel_sample_perf;
perf_counter_t _mag_sample_perf;
perf_counter_t _reg1_resets;
perf_counter_t _reg7_resets;
perf_counter_t _extreme_values;
perf_counter_t _accel_reschedules;
math::LowPassFilter2p _accel_filter_x;
math::LowPassFilter2p _accel_filter_y;
math::LowPassFilter2p _accel_filter_z;
// expceted values of reg1 and reg7 to catch in-flight
// brownouts of the sensor
uint8_t _reg1_expected;
uint8_t _reg7_expected;
// accel logging
int _accel_log_fd;
bool _accel_logging_enabled;
uint64_t _last_extreme_us;
uint64_t _last_log_us;
uint64_t _last_log_sync_us;
uint64_t _last_log_reg_us;
uint64_t _last_log_alarm_us;
enum Rotation _rotation;
/**
* Start automatic measurement.
*/
void start();
/**
* Stop automatic measurement.
*/
void stop();
/**
* Reset chip.
*
* Resets the chip and measurements ranges, but not scale and offset.
*/
void reset();
/**
* disable I2C on the chip
*/
void disable_i2c();
/**
* Static trampoline from the hrt_call context; because we don't have a
* generic hrt wrapper yet.
*
* Called by the HRT in interrupt context at the specified rate if
* automatic polling is enabled.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void measure_trampoline(void *arg);
/**
* Static trampoline for the mag because it runs at a lower rate
*
* @param arg Instance pointer for the driver that is polling.
*/
static void mag_measure_trampoline(void *arg);
/**
* Fetch accel measurements from the sensor and update the report ring.
*/
void measure();
/**
* Fetch mag measurements from the sensor and update the report ring.
*/
void mag_measure();
/**
* Accel self test
*
* @return 0 on success, 1 on failure
*/
int accel_self_test();
/**
* Mag self test
*
* @return 0 on success, 1 on failure
*/
int mag_self_test();
/**
* Read a register from the LSM303D
*
* @param The register to read.
* @return The value that was read.
*/
uint8_t read_reg(unsigned reg);
/**
* Write a register in the LSM303D
*
* @param reg The register to write.
* @param value The new value to write.
*/
void write_reg(unsigned reg, uint8_t value);
/**
* Modify a register in the LSM303D
*
* Bits are cleared before bits are set.
*
* @param reg The register to modify.
* @param clearbits Bits in the register to clear.
* @param setbits Bits in the register to set.
*/
void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
/**
* Set the LSM303D accel measurement range.
*
* @param max_g The measurement range of the accel is in g (9.81m/s^2)
* Zero selects the maximum supported range.
* @return OK if the value can be supported, -ERANGE otherwise.
*/
int accel_set_range(unsigned max_g);
/**
* Set the LSM303D mag measurement range.
*
* @param max_ga The measurement range of the mag is in Ga
* Zero selects the maximum supported range.
* @return OK if the value can be supported, -ERANGE otherwise.
*/
int mag_set_range(unsigned max_g);
/**
* Set the LSM303D on-chip anti-alias filter bandwith.
*
* @param bandwidth The anti-alias filter bandwidth in Hz
* Zero selects the highest bandwidth
* @return OK if the value can be supported, -ERANGE otherwise.
*/
int accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth);
/**
* Set the driver lowpass filter bandwidth.
*
* @param bandwidth The anti-alias filter bandwidth in Hz
* Zero selects the highest bandwidth
* @return OK if the value can be supported, -ERANGE otherwise.
*/
int accel_set_driver_lowpass_filter(float samplerate, float bandwidth);
/**
* Set the LSM303D internal accel sampling frequency.
*
* @param frequency The internal accel sampling frequency is set to not less than
* this value.
* Zero selects the maximum rate supported.
* @return OK if the value can be supported.
*/
int accel_set_samplerate(unsigned frequency);
/**
* Set the LSM303D internal mag sampling frequency.
*
* @param frequency The internal mag sampling frequency is set to not less than
* this value.
* Zero selects the maximum rate supported.
* @return OK if the value can be supported.
*/
int mag_set_samplerate(unsigned frequency);
/* this class cannot be copied */
LSM303D(const LSM303D&);
LSM303D operator=(const LSM303D&);
};
/**
* Helper class implementing the mag driver node.
*/
class LSM303D_mag : public device::CDev
{
public:
LSM303D_mag(LSM303D *parent);
~LSM303D_mag();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
virtual int init();
protected:
friend class LSM303D;
void parent_poll_notify();
private:
LSM303D *_parent;
orb_advert_t _mag_topic;
orb_id_t _mag_orb_id;
int _mag_class_instance;
void measure();
void measure_trampoline(void *arg);
/* this class does not allow copying due to ptr data members */
LSM303D_mag(const LSM303D_mag&);
LSM303D_mag operator=(const LSM303D_mag&);
};
LSM303D::LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rotation) :
SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within safety margins for LSM303D */),
_mag(new LSM303D_mag(this)),
_accel_call{},
_mag_call{},
_call_accel_interval(0),
_call_mag_interval(0),
_accel_reports(nullptr),
_mag_reports(nullptr),
_accel_scale{},
_accel_range_m_s2(0.0f),
_accel_range_scale(0.0f),
_accel_samplerate(0),
_accel_onchip_filter_bandwith(0),
_mag_scale{},
_mag_range_ga(0.0f),
_mag_range_scale(0.0f),
_mag_samplerate(0),
_accel_topic(-1),
_accel_orb_id(nullptr),
_accel_class_instance(-1),
_accel_read(0),
_mag_read(0),
_accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_accel_read")),
_mag_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_mag_read")),
_reg1_resets(perf_alloc(PC_COUNT, "lsm303d_reg1_resets")),
_reg7_resets(perf_alloc(PC_COUNT, "lsm303d_reg7_resets")),
_extreme_values(perf_alloc(PC_COUNT, "lsm303d_extremes")),
_accel_reschedules(perf_alloc(PC_COUNT, "lsm303d_accel_resched")),
_accel_filter_x(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_y(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_z(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_reg1_expected(0),
_reg7_expected(0),
_accel_log_fd(-1),
_accel_logging_enabled(false),
_last_extreme_us(0),
_last_log_us(0),
_last_log_sync_us(0),
_last_log_reg_us(0),
_last_log_alarm_us(0),
_rotation(rotation)
{
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LSM303D;
// enable debug() calls
_debug_enabled = true;
// default scale factors
_accel_scale.x_offset = 0.0f;
_accel_scale.x_scale = 1.0f;
_accel_scale.y_offset = 0.0f;
_accel_scale.y_scale = 1.0f;
_accel_scale.z_offset = 0.0f;
_accel_scale.z_scale = 1.0f;
_mag_scale.x_offset = 0.0f;
_mag_scale.x_scale = 1.0f;
_mag_scale.y_offset = 0.0f;
_mag_scale.y_scale = 1.0f;
_mag_scale.z_offset = 0.0f;
_mag_scale.z_scale = 1.0f;
}
LSM303D::~LSM303D()
{
/* make sure we are truly inactive */
stop();
/* free any existing reports */
if (_accel_reports != nullptr)
delete _accel_reports;
if (_mag_reports != nullptr)
delete _mag_reports;
if (_accel_class_instance != -1)
unregister_class_devname(ACCEL_DEVICE_PATH, _accel_class_instance);
delete _mag;
/* delete the perf counter */
perf_free(_accel_sample_perf);
perf_free(_mag_sample_perf);
perf_free(_reg1_resets);
perf_free(_reg7_resets);
perf_free(_extreme_values);
perf_free(_accel_reschedules);
}
int
LSM303D::init()
{
int ret = ERROR;
/* do SPI init (and probe) first */
if (SPI::init() != OK) {
warnx("SPI init failed");
goto out;
}
/* allocate basic report buffers */
_accel_reports = new RingBuffer(2, sizeof(accel_report));
if (_accel_reports == nullptr)
goto out;
/* advertise accel topic */
_mag_reports = new RingBuffer(2, sizeof(mag_report));
if (_mag_reports == nullptr)
goto out;
reset();
/* do CDev init for the mag device node */
ret = _mag->init();
if (ret != OK) {
warnx("MAG init failed");
goto out;
}
/* fill report structures */
measure();
/* advertise sensor topic, measure manually to initialize valid report */
struct mag_report mrp;
_mag_reports->get(&mrp);
/* measurement will have generated a report, publish */
switch (_mag->_mag_class_instance) {
case CLASS_DEVICE_PRIMARY:
_mag->_mag_orb_id = ORB_ID(sensor_mag0);
break;
case CLASS_DEVICE_SECONDARY:
_mag->_mag_orb_id = ORB_ID(sensor_mag1);
break;
case CLASS_DEVICE_TERTIARY:
_mag->_mag_orb_id = ORB_ID(sensor_mag2);
break;
}
_mag->_mag_topic = orb_advertise(_mag->_mag_orb_id, &mrp);
if (_mag->_mag_topic < 0) {
warnx("ADVERT ERR");
}
_accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH);
/* advertise sensor topic, measure manually to initialize valid report */
struct accel_report arp;
_accel_reports->get(&arp);
/* measurement will have generated a report, publish */
switch (_accel_class_instance) {
case CLASS_DEVICE_PRIMARY:
_accel_orb_id = ORB_ID(sensor_accel0);
break;
case CLASS_DEVICE_SECONDARY:
_accel_orb_id = ORB_ID(sensor_accel1);
break;
case CLASS_DEVICE_TERTIARY:
_accel_orb_id = ORB_ID(sensor_accel2);
break;
}
_accel_topic = orb_advertise(_accel_orb_id, &arp);
if (_accel_topic < 0) {
warnx("ADVERT ERR");
}
out:
return ret;
}
void
LSM303D::disable_i2c(void)
{
uint8_t a = read_reg(0x02);
write_reg(0x02, (0x10 | a));
a = read_reg(0x02);
write_reg(0x02, (0xF7 & a));
a = read_reg(0x15);
write_reg(0x15, (0x80 | a));
a = read_reg(0x02);
write_reg(0x02, (0xE7 & a));
}
void
LSM303D::reset()
{
// ensure the chip doesn't interpret any other bus traffic as I2C
disable_i2c();
/* enable accel*/
_reg1_expected = REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE | REG1_RATE_800HZ_A;
write_reg(ADDR_CTRL_REG1, _reg1_expected);
/* enable mag */
_reg7_expected = REG7_CONT_MODE_M;
write_reg(ADDR_CTRL_REG7, _reg7_expected);
write_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M);
write_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1
write_reg(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2
accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G);
accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE);
accel_set_driver_lowpass_filter((float)LSM303D_ACCEL_DEFAULT_RATE, (float)LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ);
// we setup the anti-alias on-chip filter as 50Hz. We believe
// this operates in the analog domain, and is critical for
// anti-aliasing. The 2 pole software filter is designed to
// operate in conjunction with this on-chip filter
accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ);
mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA);
mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE);
_accel_read = 0;
_mag_read = 0;
}
int
LSM303D::probe()
{
/* read dummy value to void to clear SPI statemachine on sensor */
(void)read_reg(ADDR_WHO_AM_I);
/* verify that the device is attached and functioning */
bool success = (read_reg(ADDR_WHO_AM_I) == WHO_I_AM);
if (success)
return OK;
return -EIO;
}
#define ACCEL_LOGFILE "/fs/microsd/lsm303d.log"
/**
check for extreme accelerometer values and log to a file on the SD card
*/
void
LSM303D::check_extremes(const accel_report *arb)
{
const float extreme_threshold = 30;
static bool boot_ok = false;
bool is_extreme = (fabsf(arb->x) > extreme_threshold &&
fabsf(arb->y) > extreme_threshold &&
fabsf(arb->z) > extreme_threshold);
if (is_extreme) {
perf_count(_extreme_values);
// force accel logging on if we see extreme values
_accel_logging_enabled = true;
} else {
boot_ok = true;
}
if (! _accel_logging_enabled) {
// logging has been disabled by user, close
if (_accel_log_fd != -1) {
::close(_accel_log_fd);
_accel_log_fd = -1;
}
return;
}
if (_accel_log_fd == -1) {
// keep last 10 logs
::unlink(ACCEL_LOGFILE ".9");
for (uint8_t i=8; i>0; i--) {
uint8_t len = strlen(ACCEL_LOGFILE)+3;
char log1[len], log2[len];
snprintf(log1, sizeof(log1), "%s.%u", ACCEL_LOGFILE, (unsigned)i);
snprintf(log2, sizeof(log2), "%s.%u", ACCEL_LOGFILE, (unsigned)(i+1));
::rename(log1, log2);
}
::rename(ACCEL_LOGFILE, ACCEL_LOGFILE ".1");
// open the new logfile
_accel_log_fd = ::open(ACCEL_LOGFILE, O_WRONLY|O_CREAT|O_TRUNC, 0666);
if (_accel_log_fd == -1) {
return;
}
}
uint64_t now = hrt_absolute_time();
// log accels at 1Hz
if (_last_log_us == 0 ||
now - _last_log_us > 1000*1000) {
_last_log_us = now;
::dprintf(_accel_log_fd, "ARB %llu %.3f %.3f %.3f %d %d %d boot_ok=%u\r\n",
(unsigned long long)arb->timestamp,
(double)arb->x, (double)arb->y, (double)arb->z,
(int)arb->x_raw,
(int)arb->y_raw,
(int)arb->z_raw,
(unsigned)boot_ok);
}
const uint8_t reglist[] = { ADDR_WHO_AM_I, 0x02, 0x15, ADDR_STATUS_A, ADDR_STATUS_M, ADDR_CTRL_REG0, ADDR_CTRL_REG1,
ADDR_CTRL_REG2, ADDR_CTRL_REG3, ADDR_CTRL_REG4, ADDR_CTRL_REG5, ADDR_CTRL_REG6,
ADDR_CTRL_REG7, ADDR_OUT_TEMP_L, ADDR_OUT_TEMP_H, ADDR_INT_CTRL_M, ADDR_INT_SRC_M,
ADDR_REFERENCE_X, ADDR_REFERENCE_Y, ADDR_REFERENCE_Z, ADDR_OUT_X_L_A, ADDR_OUT_X_H_A,
ADDR_OUT_Y_L_A, ADDR_OUT_Y_H_A, ADDR_OUT_Z_L_A, ADDR_OUT_Z_H_A, ADDR_FIFO_CTRL,
ADDR_FIFO_SRC, ADDR_IG_CFG1, ADDR_IG_SRC1, ADDR_IG_THS1, ADDR_IG_DUR1, ADDR_IG_CFG2,
ADDR_IG_SRC2, ADDR_IG_THS2, ADDR_IG_DUR2, ADDR_CLICK_CFG, ADDR_CLICK_SRC,
ADDR_CLICK_THS, ADDR_TIME_LIMIT, ADDR_TIME_LATENCY, ADDR_TIME_WINDOW,
ADDR_ACT_THS, ADDR_ACT_DUR,
ADDR_OUT_X_L_M, ADDR_OUT_X_H_M,
ADDR_OUT_Y_L_M, ADDR_OUT_Y_H_M, ADDR_OUT_Z_L_M, ADDR_OUT_Z_H_M, 0x02, 0x15, ADDR_WHO_AM_I};
uint8_t regval[sizeof(reglist)];
for (uint8_t i=0; i<sizeof(reglist); i++) {
regval[i] = read_reg(reglist[i]);
}
// log registers at 10Hz when we have extreme values, or 0.5 Hz without
if (_last_log_reg_us == 0 ||
(is_extreme && (now - _last_log_reg_us > 250*1000)) ||
(now - _last_log_reg_us > 10*1000*1000)) {
_last_log_reg_us = now;
::dprintf(_accel_log_fd, "XREG %llu", (unsigned long long)hrt_absolute_time());
for (uint8_t i=0; i<sizeof(reglist); i++) {
::dprintf(_accel_log_fd, " %02x:%02x", (unsigned)reglist[i], (unsigned)regval[i]);
}
::dprintf(_accel_log_fd, "\n");
}
// fsync at 0.1Hz
if (now - _last_log_sync_us > 10*1000*1000) {
_last_log_sync_us = now;
::fsync(_accel_log_fd);
}
// play alarm every 10s if we have had an extreme value
if (perf_event_count(_extreme_values) != 0 &&
(now - _last_log_alarm_us > 10*1000*1000)) {
_last_log_alarm_us = now;
int tfd = ::open(TONEALARM_DEVICE_PATH, 0);
if (tfd != -1) {
uint8_t tone = 3;
if (!is_extreme) {
tone = 3;
} else if (boot_ok) {
tone = 4;
} else {
tone = 5;
}
::ioctl(tfd, TONE_SET_ALARM, tone);
::close(tfd);
}
}
}
ssize_t
LSM303D::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct accel_report);
accel_report *arb = reinterpret_cast<accel_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
if (count < 1)
return -ENOSPC;
/* if automatic measurement is enabled */
if (_call_accel_interval > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
*/
while (count--) {
if (_accel_reports->get(arb)) {
#if CHECK_EXTREMES
check_extremes(arb);
#endif
ret += sizeof(*arb);
arb++;
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement */
measure();
/* measurement will have generated a report, copy it out */
if (_accel_reports->get(arb))
ret = sizeof(*arb);
return ret;
}
ssize_t
LSM303D::mag_read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct mag_report);
mag_report *mrb = reinterpret_cast<mag_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
if (count < 1)
return -ENOSPC;
/* if automatic measurement is enabled */
if (_call_mag_interval > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
*/
while (count--) {
if (_mag_reports->get(mrb)) {
ret += sizeof(*mrb);
mrb++;
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement */
_mag_reports->flush();
_mag->measure();
/* measurement will have generated a report, copy it out */
if (_mag_reports->get(mrb))
ret = sizeof(*mrb);
return ret;
}
int
LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_call_accel_interval = 0;
return OK;
/* external signalling not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
return ioctl(filp, SENSORIOCSPOLLRATE, 1600);
case SENSOR_POLLRATE_DEFAULT:
return ioctl(filp, SENSORIOCSPOLLRATE, LSM303D_ACCEL_DEFAULT_RATE);
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_call_accel_interval == 0);
/* convert hz to hrt interval via microseconds */
unsigned ticks = 1000000 / arg;
/* check against maximum sane rate */
if (ticks < 500)
return -EINVAL;
/* adjust filters */
accel_set_driver_lowpass_filter((float)arg, _accel_filter_x.get_cutoff_freq());
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_accel_call.period = _call_accel_interval = ticks;
/* if we need to start the poll state machine, do it */
if (want_start)
start();
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_call_accel_interval == 0)
return SENSOR_POLLRATE_MANUAL;
return 1000000 / _call_accel_interval;
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100))
return -EINVAL;
irqstate_t flags = irqsave();
if (!_accel_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _accel_reports->size();
case SENSORIOCRESET:
reset();
return OK;
case ACCELIOCSSAMPLERATE:
return accel_set_samplerate(arg);
case ACCELIOCGSAMPLERATE:
return _accel_samplerate;
case ACCELIOCSLOWPASS: {
return accel_set_driver_lowpass_filter((float)_accel_samplerate, (float)arg);
}
case ACCELIOCGLOWPASS:
return _accel_filter_x.get_cutoff_freq();
case ACCELIOCSSCALE: {
/* copy scale, but only if off by a few percent */
struct accel_scale *s = (struct accel_scale *) arg;
float sum = s->x_scale + s->y_scale + s->z_scale;
if (sum > 2.0f && sum < 4.0f) {
memcpy(&_accel_scale, s, sizeof(_accel_scale));
return OK;
} else {
return -EINVAL;
}
}
case ACCELIOCSRANGE:
/* arg needs to be in G */
return accel_set_range(arg);
case ACCELIOCGRANGE:
/* convert to m/s^2 and return rounded in G */
return (unsigned long)((_accel_range_m_s2)/LSM303D_ONE_G + 0.5f);
case ACCELIOCGSCALE:
/* copy scale out */
memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale));
return OK;
case ACCELIOCSELFTEST:
return accel_self_test();
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
}
}
int
LSM303D::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_call_mag_interval = 0;
return OK;
/* external signalling not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT:
/* 100 Hz is max for mag */
return mag_ioctl(filp, SENSORIOCSPOLLRATE, 100);
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_call_mag_interval == 0);
/* convert hz to hrt interval via microseconds */
unsigned ticks = 1000000 / arg;
/* check against maximum sane rate */
if (ticks < 1000)
return -EINVAL;
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_mag_call.period = _call_mag_interval = ticks;
/* if we need to start the poll state machine, do it */
if (want_start)
start();
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_call_mag_interval == 0)
return SENSOR_POLLRATE_MANUAL;
return 1000000 / _call_mag_interval;
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100))
return -EINVAL;
irqstate_t flags = irqsave();
if (!_mag_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _mag_reports->size();
case SENSORIOCRESET:
reset();
return OK;
case MAGIOCSSAMPLERATE:
return mag_set_samplerate(arg);
case MAGIOCGSAMPLERATE:
return _mag_samplerate;
case MAGIOCSLOWPASS:
case MAGIOCGLOWPASS:
/* not supported, no internal filtering */
return -EINVAL;
case MAGIOCSSCALE:
/* copy scale in */
memcpy(&_mag_scale, (struct mag_scale *) arg, sizeof(_mag_scale));
return OK;
case MAGIOCGSCALE:
/* copy scale out */
memcpy((struct mag_scale *) arg, &_mag_scale, sizeof(_mag_scale));
return OK;
case MAGIOCSRANGE:
return mag_set_range(arg);
case MAGIOCGRANGE:
return _mag_range_ga;
case MAGIOCSELFTEST:
return mag_self_test();
case MAGIOCGEXTERNAL:
/* no external mag board yet */
return 0;
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
}
}
int
LSM303D::accel_self_test()
{
if (_accel_read == 0)
return 1;
/* inspect accel offsets */
if (fabsf(_accel_scale.x_offset) < 0.000001f)
return 1;
if (fabsf(_accel_scale.x_scale - 1.0f) > 0.4f || fabsf(_accel_scale.x_scale - 1.0f) < 0.000001f)
return 1;
if (fabsf(_accel_scale.y_offset) < 0.000001f)
return 1;
if (fabsf(_accel_scale.y_scale - 1.0f) > 0.4f || fabsf(_accel_scale.y_scale - 1.0f) < 0.000001f)
return 1;
if (fabsf(_accel_scale.z_offset) < 0.000001f)
return 1;
if (fabsf(_accel_scale.z_scale - 1.0f) > 0.4f || fabsf(_accel_scale.z_scale - 1.0f) < 0.000001f)
return 1;
return 0;
}
int
LSM303D::mag_self_test()
{
if (_mag_read == 0)
return 1;
/**
* inspect mag offsets
* don't check mag scale because it seems this is calibrated on chip
*/
if (fabsf(_mag_scale.x_offset) < 0.000001f)
return 1;
if (fabsf(_mag_scale.y_offset) < 0.000001f)
return 1;
if (fabsf(_mag_scale.z_offset) < 0.000001f)
return 1;
return 0;
}
uint8_t
LSM303D::read_reg(unsigned reg)
{
uint8_t cmd[2];
cmd[0] = reg | DIR_READ;
cmd[1] = 0;
transfer(cmd, cmd, sizeof(cmd));
return cmd[1];
}
void
LSM303D::write_reg(unsigned reg, uint8_t value)
{
uint8_t cmd[2];
cmd[0] = reg | DIR_WRITE;
cmd[1] = value;
transfer(cmd, nullptr, sizeof(cmd));
}
void
LSM303D::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
{
uint8_t val;
val = read_reg(reg);
val &= ~clearbits;
val |= setbits;
write_reg(reg, val);
}
int
LSM303D::accel_set_range(unsigned max_g)
{
uint8_t setbits = 0;
uint8_t clearbits = REG2_FULL_SCALE_BITS_A;
float new_scale_g_digit = 0.0f;
if (max_g == 0)
max_g = 16;
if (max_g <= 2) {
_accel_range_m_s2 = 2.0f*LSM303D_ONE_G;
setbits |= REG2_FULL_SCALE_2G_A;
new_scale_g_digit = 0.061e-3f;
} else if (max_g <= 4) {
_accel_range_m_s2 = 4.0f*LSM303D_ONE_G;
setbits |= REG2_FULL_SCALE_4G_A;
new_scale_g_digit = 0.122e-3f;
} else if (max_g <= 6) {
_accel_range_m_s2 = 6.0f*LSM303D_ONE_G;
setbits |= REG2_FULL_SCALE_6G_A;
new_scale_g_digit = 0.183e-3f;
} else if (max_g <= 8) {
_accel_range_m_s2 = 8.0f*LSM303D_ONE_G;
setbits |= REG2_FULL_SCALE_8G_A;
new_scale_g_digit = 0.244e-3f;
} else if (max_g <= 16) {
_accel_range_m_s2 = 16.0f*LSM303D_ONE_G;
setbits |= REG2_FULL_SCALE_16G_A;
new_scale_g_digit = 0.732e-3f;
} else {
return -EINVAL;
}
_accel_range_scale = new_scale_g_digit * LSM303D_ONE_G;
modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
return OK;
}
int
LSM303D::mag_set_range(unsigned max_ga)
{
uint8_t setbits = 0;
uint8_t clearbits = REG6_FULL_SCALE_BITS_M;
float new_scale_ga_digit = 0.0f;
if (max_ga == 0)
max_ga = 12;
if (max_ga <= 2) {
_mag_range_ga = 2;
setbits |= REG6_FULL_SCALE_2GA_M;
new_scale_ga_digit = 0.080e-3f;
} else if (max_ga <= 4) {
_mag_range_ga = 4;
setbits |= REG6_FULL_SCALE_4GA_M;
new_scale_ga_digit = 0.160e-3f;
} else if (max_ga <= 8) {
_mag_range_ga = 8;
setbits |= REG6_FULL_SCALE_8GA_M;
new_scale_ga_digit = 0.320e-3f;
} else if (max_ga <= 12) {
_mag_range_ga = 12;
setbits |= REG6_FULL_SCALE_12GA_M;
new_scale_ga_digit = 0.479e-3f;
} else {
return -EINVAL;
}
_mag_range_scale = new_scale_ga_digit;
modify_reg(ADDR_CTRL_REG6, clearbits, setbits);
return OK;
}
int
LSM303D::accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth)
{
uint8_t setbits = 0;
uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A;
if (bandwidth == 0)
bandwidth = 773;
if (bandwidth <= 50) {
setbits |= REG2_AA_FILTER_BW_50HZ_A;
_accel_onchip_filter_bandwith = 50;
} else if (bandwidth <= 194) {
setbits |= REG2_AA_FILTER_BW_194HZ_A;
_accel_onchip_filter_bandwith = 194;
} else if (bandwidth <= 362) {
setbits |= REG2_AA_FILTER_BW_362HZ_A;
_accel_onchip_filter_bandwith = 362;
} else if (bandwidth <= 773) {
setbits |= REG2_AA_FILTER_BW_773HZ_A;
_accel_onchip_filter_bandwith = 773;
} else {
return -EINVAL;
}
modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
return OK;
}
int
LSM303D::accel_set_driver_lowpass_filter(float samplerate, float bandwidth)
{
_accel_filter_x.set_cutoff_frequency(samplerate, bandwidth);
_accel_filter_y.set_cutoff_frequency(samplerate, bandwidth);
_accel_filter_z.set_cutoff_frequency(samplerate, bandwidth);
return OK;
}
int
LSM303D::accel_set_samplerate(unsigned frequency)
{
uint8_t setbits = 0;
uint8_t clearbits = REG1_RATE_BITS_A;
if (frequency == 0)
frequency = 1600;
if (frequency <= 100) {
setbits |= REG1_RATE_100HZ_A;
_accel_samplerate = 100;
} else if (frequency <= 200) {
setbits |= REG1_RATE_200HZ_A;
_accel_samplerate = 200;
} else if (frequency <= 400) {
setbits |= REG1_RATE_400HZ_A;
_accel_samplerate = 400;
} else if (frequency <= 800) {
setbits |= REG1_RATE_800HZ_A;
_accel_samplerate = 800;
} else if (frequency <= 1600) {
setbits |= REG1_RATE_1600HZ_A;
_accel_samplerate = 1600;
} else {
return -EINVAL;
}
modify_reg(ADDR_CTRL_REG1, clearbits, setbits);
_reg1_expected = (_reg1_expected & ~clearbits) | setbits;
return OK;
}
int
LSM303D::mag_set_samplerate(unsigned frequency)
{
uint8_t setbits = 0;
uint8_t clearbits = REG5_RATE_BITS_M;
if (frequency == 0)
frequency = 100;
if (frequency <= 25) {
setbits |= REG5_RATE_25HZ_M;
_mag_samplerate = 25;
} else if (frequency <= 50) {
setbits |= REG5_RATE_50HZ_M;
_mag_samplerate = 50;
} else if (frequency <= 100) {
setbits |= REG5_RATE_100HZ_M;
_mag_samplerate = 100;
} else {
return -EINVAL;
}
modify_reg(ADDR_CTRL_REG5, clearbits, setbits);
return OK;
}
void
LSM303D::start()
{
/* make sure we are stopped first */
stop();
/* reset the report ring */
_accel_reports->flush();
_mag_reports->flush();
/* start polling at the specified rate */
hrt_call_every(&_accel_call, 1000, _call_accel_interval, (hrt_callout)&LSM303D::measure_trampoline, this);
hrt_call_every(&_mag_call, 1000, _call_mag_interval, (hrt_callout)&LSM303D::mag_measure_trampoline, this);
}
void
LSM303D::stop()
{
hrt_cancel(&_accel_call);
hrt_cancel(&_mag_call);
}
void
LSM303D::measure_trampoline(void *arg)
{
LSM303D *dev = (LSM303D *)arg;
/* make another measurement */
dev->measure();
}
void
LSM303D::mag_measure_trampoline(void *arg)
{
LSM303D *dev = (LSM303D *)arg;
/* make another measurement */
dev->mag_measure();
}
void
LSM303D::measure()
{
// if the accel doesn't have any data ready then re-schedule
// for 100 microseconds later. This ensures we don't double
// read a value and then miss the next value.
// Note that DRDY is not available when the lsm303d is
// connected on the external bus
if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_ACCEL_DRDY) == 0) {
perf_count(_accel_reschedules);
hrt_call_delay(&_accel_call, 100);
return;
}
if (read_reg(ADDR_CTRL_REG1) != _reg1_expected) {
perf_count(_reg1_resets);
reset();
return;
}
/* status register and data as read back from the device */
#pragma pack(push, 1)
struct {
uint8_t cmd;
uint8_t status;
int16_t x;
int16_t y;
int16_t z;
} raw_accel_report;
#pragma pack(pop)
accel_report accel_report;
/* start the performance counter */
perf_begin(_accel_sample_perf);
/* fetch data from the sensor */
memset(&raw_accel_report, 0, sizeof(raw_accel_report));
raw_accel_report.cmd = ADDR_STATUS_A | DIR_READ | ADDR_INCREMENT;
transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report));
/*
* 1) Scale raw value to SI units using scaling from datasheet.
* 2) Subtract static offset (in SI units)
* 3) Scale the statically calibrated values with a linear
* dynamically obtained factor
*
* Note: the static sensor offset is the number the sensor outputs
* at a nominally 'zero' input. Therefore the offset has to
* be subtracted.
*
* Example: A gyro outputs a value of 74 at zero angular rate
* the offset is 74 from the origin and subtracting
* 74 from all measurements centers them around zero.
*/
accel_report.timestamp = hrt_absolute_time();
accel_report.error_count = 0; // not reported
accel_report.x_raw = raw_accel_report.x;
accel_report.y_raw = raw_accel_report.y;
accel_report.z_raw = raw_accel_report.z;
float x_in_new = ((accel_report.x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
float y_in_new = ((accel_report.y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
float z_in_new = ((accel_report.z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
accel_report.x = _accel_filter_x.apply(x_in_new);
accel_report.y = _accel_filter_y.apply(y_in_new);
accel_report.z = _accel_filter_z.apply(z_in_new);
// apply user specified rotation
rotate_3f(_rotation, accel_report.x, accel_report.y, accel_report.z);
accel_report.scaling = _accel_range_scale;
accel_report.range_m_s2 = _accel_range_m_s2;
_accel_reports->force(&accel_report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
if (!(_pub_blocked)) {
/* publish it */
orb_publish(_accel_orb_id, _accel_topic, &accel_report);
}
_accel_read++;
/* stop the perf counter */
perf_end(_accel_sample_perf);
}
void
LSM303D::mag_measure()
{
if (read_reg(ADDR_CTRL_REG7) != _reg7_expected) {
perf_count(_reg7_resets);
reset();
return;
}
/* status register and data as read back from the device */
#pragma pack(push, 1)
struct {
uint8_t cmd;
uint8_t status;
int16_t x;
int16_t y;
int16_t z;
} raw_mag_report;
#pragma pack(pop)
mag_report mag_report;
/* start the performance counter */
perf_begin(_mag_sample_perf);
/* fetch data from the sensor */
memset(&raw_mag_report, 0, sizeof(raw_mag_report));
raw_mag_report.cmd = ADDR_STATUS_M | DIR_READ | ADDR_INCREMENT;
transfer((uint8_t *)&raw_mag_report, (uint8_t *)&raw_mag_report, sizeof(raw_mag_report));
/*
* 1) Scale raw value to SI units using scaling from datasheet.
* 2) Subtract static offset (in SI units)
* 3) Scale the statically calibrated values with a linear
* dynamically obtained factor
*
* Note: the static sensor offset is the number the sensor outputs
* at a nominally 'zero' input. Therefore the offset has to
* be subtracted.
*
* Example: A gyro outputs a value of 74 at zero angular rate
* the offset is 74 from the origin and subtracting
* 74 from all measurements centers them around zero.
*/
mag_report.timestamp = hrt_absolute_time();
mag_report.x_raw = raw_mag_report.x;
mag_report.y_raw = raw_mag_report.y;
mag_report.z_raw = raw_mag_report.z;
mag_report.x = ((mag_report.x_raw * _mag_range_scale) - _mag_scale.x_offset) * _mag_scale.x_scale;
mag_report.y = ((mag_report.y_raw * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale;
mag_report.z = ((mag_report.z_raw * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale;
mag_report.scaling = _mag_range_scale;
mag_report.range_ga = (float)_mag_range_ga;
// apply user specified rotation
rotate_3f(_rotation, mag_report.x, mag_report.y, mag_report.z);
_mag_reports->force(&mag_report);
/* XXX please check this poll_notify, is it the right one? */
/* notify anyone waiting for data */
poll_notify(POLLIN);
if (!(_pub_blocked)) {
/* publish it */
orb_publish(_mag->_mag_orb_id, _mag->_mag_topic, &mag_report);
}
_mag_read++;
/* stop the perf counter */
perf_end(_mag_sample_perf);
}
void
LSM303D::print_info()
{
printf("accel reads: %u\n", _accel_read);
printf("mag reads: %u\n", _mag_read);
perf_print_counter(_accel_sample_perf);
_accel_reports->print_info("accel reports");
_mag_reports->print_info("mag reports");
}
void
LSM303D::print_registers()
{
const struct {
uint8_t reg;
const char *name;
} regmap[] = {
{ ADDR_WHO_AM_I, "WHO_AM_I" },
{ 0x02, "I2C_CONTROL1" },
{ 0x15, "I2C_CONTROL2" },
{ ADDR_STATUS_A, "STATUS_A" },
{ ADDR_STATUS_M, "STATUS_M" },
{ ADDR_CTRL_REG0, "CTRL_REG0" },
{ ADDR_CTRL_REG1, "CTRL_REG1" },
{ ADDR_CTRL_REG2, "CTRL_REG2" },
{ ADDR_CTRL_REG3, "CTRL_REG3" },
{ ADDR_CTRL_REG4, "CTRL_REG4" },
{ ADDR_CTRL_REG5, "CTRL_REG5" },
{ ADDR_CTRL_REG6, "CTRL_REG6" },
{ ADDR_CTRL_REG7, "CTRL_REG7" },
{ ADDR_OUT_TEMP_L, "TEMP_L" },
{ ADDR_OUT_TEMP_H, "TEMP_H" },
{ ADDR_INT_CTRL_M, "INT_CTRL_M" },
{ ADDR_INT_SRC_M, "INT_SRC_M" },
{ ADDR_REFERENCE_X, "REFERENCE_X" },
{ ADDR_REFERENCE_Y, "REFERENCE_Y" },
{ ADDR_REFERENCE_Z, "REFERENCE_Z" },
{ ADDR_OUT_X_L_A, "ACCEL_XL" },
{ ADDR_OUT_X_H_A, "ACCEL_XH" },
{ ADDR_OUT_Y_L_A, "ACCEL_YL" },
{ ADDR_OUT_Y_H_A, "ACCEL_YH" },
{ ADDR_OUT_Z_L_A, "ACCEL_ZL" },
{ ADDR_OUT_Z_H_A, "ACCEL_ZH" },
{ ADDR_FIFO_CTRL, "FIFO_CTRL" },
{ ADDR_FIFO_SRC, "FIFO_SRC" },
{ ADDR_IG_CFG1, "IG_CFG1" },
{ ADDR_IG_SRC1, "IG_SRC1" },
{ ADDR_IG_THS1, "IG_THS1" },
{ ADDR_IG_DUR1, "IG_DUR1" },
{ ADDR_IG_CFG2, "IG_CFG2" },
{ ADDR_IG_SRC2, "IG_SRC2" },
{ ADDR_IG_THS2, "IG_THS2" },
{ ADDR_IG_DUR2, "IG_DUR2" },
{ ADDR_CLICK_CFG, "CLICK_CFG" },
{ ADDR_CLICK_SRC, "CLICK_SRC" },
{ ADDR_CLICK_THS, "CLICK_THS" },
{ ADDR_TIME_LIMIT, "TIME_LIMIT" },
{ ADDR_TIME_LATENCY,"TIME_LATENCY" },
{ ADDR_TIME_WINDOW, "TIME_WINDOW" },
{ ADDR_ACT_THS, "ACT_THS" },
{ ADDR_ACT_DUR, "ACT_DUR" }
};
for (uint8_t i=0; i<sizeof(regmap)/sizeof(regmap[0]); i++) {
printf("0x%02x %s\n", read_reg(regmap[i].reg), regmap[i].name);
}
printf("_reg1_expected=0x%02x\n", _reg1_expected);
printf("_reg7_expected=0x%02x\n", _reg7_expected);
}
void
LSM303D::toggle_logging()
{
if (! _accel_logging_enabled) {
_accel_logging_enabled = true;
printf("Started logging to %s\n", ACCEL_LOGFILE);
} else {
_accel_logging_enabled = false;
printf("Stopped logging\n");
}
}
LSM303D_mag::LSM303D_mag(LSM303D *parent) :
CDev("LSM303D_mag", LSM303D_DEVICE_PATH_MAG),
_parent(parent),
_mag_topic(-1),
_mag_orb_id(nullptr),
_mag_class_instance(-1)
{
}
LSM303D_mag::~LSM303D_mag()
{
if (_mag_class_instance != -1)
unregister_class_devname(MAG_DEVICE_PATH, _mag_class_instance);
}
int
LSM303D_mag::init()
{
int ret;
ret = CDev::init();
if (ret != OK)
goto out;
_mag_class_instance = register_class_devname(MAG_DEVICE_PATH);
out:
return ret;
}
void
LSM303D_mag::parent_poll_notify()
{
poll_notify(POLLIN);
}
ssize_t
LSM303D_mag::read(struct file *filp, char *buffer, size_t buflen)
{
return _parent->mag_read(filp, buffer, buflen);
}
int
LSM303D_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
{
return _parent->mag_ioctl(filp, cmd, arg);
}
void
LSM303D_mag::measure()
{
_parent->mag_measure();
}
void
LSM303D_mag::measure_trampoline(void *arg)
{
_parent->mag_measure_trampoline(arg);
}
/**
* Local functions in support of the shell command.
*/
namespace lsm303d
{
LSM303D *g_dev;
void start(bool external_bus, enum Rotation rotation);
void test();
void reset();
void info();
void regdump();
void logging();
void usage();
/**
* Start the driver.
*
* This function call only returns once the driver is
* up and running or failed to detect the sensor.
*/
void
start(bool external_bus, enum Rotation rotation)
{
int fd, fd_mag;
if (g_dev != nullptr)
errx(0, "already started");
/* create the driver */
if (external_bus) {
#ifdef PX4_SPI_BUS_EXT
g_dev = new LSM303D(PX4_SPI_BUS_EXT, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_EXT_ACCEL_MAG, rotation);
#else
errx(0, "External SPI not available");
#endif
} else {
g_dev = new LSM303D(PX4_SPI_BUS_SENSORS, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG, rotation);
}
if (g_dev == nullptr) {
warnx("failed instantiating LSM303D obj");
goto fail;
}
if (OK != g_dev->init())
goto fail;
/* set the poll rate to default, starts automatic data collection */
fd = open(LSM303D_DEVICE_PATH_ACCEL, O_RDONLY);
if (fd < 0)
goto fail;
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
goto fail;
fd_mag = open(LSM303D_DEVICE_PATH_MAG, O_RDONLY);
/* don't fail if open cannot be opened */
if (0 <= fd_mag) {
if (ioctl(fd_mag, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail;
}
}
close(fd);
close(fd_mag);
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
void
test()
{
int fd_accel = -1;
struct accel_report accel_report;
ssize_t sz;
int ret;
/* get the driver */
fd_accel = open(LSM303D_DEVICE_PATH_ACCEL, O_RDONLY);
if (fd_accel < 0)
err(1, "%s open failed", LSM303D_DEVICE_PATH_ACCEL);
/* do a simple demand read */
sz = read(fd_accel, &accel_report, sizeof(accel_report));
if (sz != sizeof(accel_report))
err(1, "immediate read failed");
warnx("accel x: \t% 9.5f\tm/s^2", (double)accel_report.x);
warnx("accel y: \t% 9.5f\tm/s^2", (double)accel_report.y);
warnx("accel z: \t% 9.5f\tm/s^2", (double)accel_report.z);
warnx("accel x: \t%d\traw", (int)accel_report.x_raw);
warnx("accel y: \t%d\traw", (int)accel_report.y_raw);
warnx("accel z: \t%d\traw", (int)accel_report.z_raw);
warnx("accel range: %8.4f m/s^2", (double)accel_report.range_m_s2);
if (ERROR == (ret = ioctl(fd_accel, ACCELIOCGLOWPASS, 0)))
warnx("accel antialias filter bandwidth: fail");
else
warnx("accel antialias filter bandwidth: %d Hz", ret);
int fd_mag = -1;
struct mag_report m_report;
/* get the driver */
fd_mag = open(LSM303D_DEVICE_PATH_MAG, O_RDONLY);
if (fd_mag < 0)
err(1, "%s open failed", LSM303D_DEVICE_PATH_MAG);
/* check if mag is onboard or external */
if ((ret = ioctl(fd_mag, MAGIOCGEXTERNAL, 0)) < 0)
errx(1, "failed to get if mag is onboard or external");
warnx("mag device active: %s", ret ? "external" : "onboard");
/* do a simple demand read */
sz = read(fd_mag, &m_report, sizeof(m_report));
if (sz != sizeof(m_report))
err(1, "immediate read failed");
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 */
close(fd_accel);
close(fd_mag);
reset();
errx(0, "PASS");
}
/**
* Reset the driver.
*/
void
reset()
{
int fd = open(LSM303D_DEVICE_PATH_ACCEL, O_RDONLY);
if (fd < 0)
err(1, "failed ");
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
err(1, "driver reset failed");
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
err(1, "accel pollrate reset failed");
close(fd);
fd = open(LSM303D_DEVICE_PATH_MAG, O_RDONLY);
if (fd < 0) {
warnx("mag could not be opened, external mag might be used");
} else {
/* no need to reset the mag as well, the reset() is the same */
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
err(1, "mag pollrate reset failed");
}
close(fd);
exit(0);
}
/**
* Print a little info about the driver.
*/
void
info()
{
if (g_dev == nullptr)
errx(1, "driver not running\n");
printf("state @ %p\n", g_dev);
g_dev->print_info();
exit(0);
}
/**
* dump registers from device
*/
void
regdump()
{
if (g_dev == nullptr)
errx(1, "driver not running\n");
printf("regdump @ %p\n", g_dev);
g_dev->print_registers();
exit(0);
}
/**
* toggle logging
*/
void
logging()
{
if (g_dev == nullptr)
errx(1, "driver not running\n");
g_dev->toggle_logging();
exit(0);
}
void
usage()
{
warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump', 'logging'");
warnx("options:");
warnx(" -X (external bus)");
warnx(" -R rotation");
}
} // namespace
int
lsm303d_main(int argc, char *argv[])
{
bool external_bus = false;
int ch;
enum Rotation rotation = ROTATION_NONE;
/* jump over start/off/etc and look at options first */
while ((ch = getopt(argc, argv, "XR:")) != EOF) {
switch (ch) {
case 'X':
external_bus = true;
break;
case 'R':
rotation = (enum Rotation)atoi(optarg);
break;
default:
lsm303d::usage();
exit(0);
}
}
const char *verb = argv[optind];
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start"))
lsm303d::start(external_bus, rotation);
/*
* Test the driver/device.
*/
if (!strcmp(verb, "test"))
lsm303d::test();
/*
* Reset the driver.
*/
if (!strcmp(verb, "reset"))
lsm303d::reset();
/*
* Print driver information.
*/
if (!strcmp(verb, "info"))
lsm303d::info();
/*
* dump device registers
*/
if (!strcmp(verb, "regdump"))
lsm303d::regdump();
/*
* dump device registers
*/
if (!strcmp(verb, "logging"))
lsm303d::logging();
errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'logging' or 'regdump'");
}