/****************************************************************************
*
* Copyright (C) 2013 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
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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****************************************************************************/
/**
* @file lsm303d.cpp
* Driver for the ST LSM303D MEMS accelerometer / magnetometer connected via SPI.
*/
#include <nuttx/config.h>
#include <sys/types.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 <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <nuttx/arch.h>
#include <nuttx/clock.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <drivers/device/spi.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_mag.h>
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
/* SPI protocol address bits */
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
#define ADDR_INCREMENT (1<<6)
/* register addresses: A: accel, M: mag, T: temp */
#define ADDR_WHO_AM_I 0x0F
#define WHO_I_AM 0x49
#define ADDR_OUT_L_T 0x05
#define ADDR_OUT_H_T 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_OUT_TEMP_A 0x26
#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_REG7 0x26
#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_CONT_UPDATE_A (0<<3)
#define REG1_Z_ENABLE_A (1<<2)
#define REG1_Y_ENABLE_A (1<<1)
#define REG1_X_ENABLE_A (1<<0)
#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_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_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_2GA_M ((0<<7) | (0<<6))
#define REG6_FULL_SCALE_4GA_M ((0<<7) | (1<<6))
#define REG6_FULL_SCALE_8GA_M ((1<<7) | (0<<6))
#define REG6_FULL_SCALE_12GA_M ((1<<7) | (1<<6))
#define REG7_CONT_MODE_M ((0<<1) | (0<<0))
#define INT_CTRL_M 0x12
#define INT_SRC_M 0x13
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);
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();
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;
unsigned _num_accel_reports;
volatile unsigned _next_accel_report;
volatile unsigned _oldest_accel_report;
struct accel_report *_accel_reports;
struct accel_scale _accel_scale;
float _accel_range_scale;
float _accel_range_m_s2;
orb_advert_t _accel_topic;
unsigned _num_mag_reports;
volatile unsigned _next_mag_report;
volatile unsigned _oldest_mag_report;
struct mag_report *_mag_reports;
struct mag_scale _mag_scale;
float _mag_range_scale;
float _mag_range_ga;
orb_advert_t _mag_topic;
unsigned _current_accel_rate;
unsigned _current_accel_range;
unsigned _current_mag_rate;
unsigned _current_mag_range;
perf_counter_t _accel_sample_perf;
perf_counter_t _mag_sample_perf;
/**
* Start automatic measurement.
*/
void start();
/**
* Stop automatic measurement.
*/
void stop();
/**
* 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();
/**
* 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 measurement range.
*
* @param max_dps The measurement range is set to permit reading at least
* this rate in degrees per second.
* Zero selects the maximum supported range.
* @return OK if the value can be supported, -ERANGE otherwise.
*/
int set_range(unsigned max_dps);
/**
* Set the LSM303D internal sampling frequency.
*
* @param frequency The internal 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 set_samplerate(unsigned frequency);
};
/**
* 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);
protected:
friend class LSM303D;
void parent_poll_notify();
private:
LSM303D *_parent;
void measure();
void measure_trampoline(void *arg);
};
/* helper macro for handling report buffer indices */
#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 8000000),
_mag(new LSM303D_mag(this)),
_call_accel_interval(0),
_call_mag_interval(0),
_num_accel_reports(0),
_next_accel_report(0),
_oldest_accel_report(0),
_accel_reports(nullptr),
_accel_range_scale(0.0f),
_accel_range_m_s2(0.0f),
_accel_topic(-1),
_num_mag_reports(0),
_next_mag_report(0),
_oldest_mag_report(0),
_mag_reports(nullptr),
_mag_range_scale(0.0f),
_mag_range_ga(0.0f),
_current_accel_rate(0),
_current_accel_range(0),
_current_mag_rate(0),
_current_mag_range(0),
_accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_accel_read")),
_mag_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_mag_read"))
{
// enable debug() calls
_debug_enabled = true;
/* XXX fix this default values */
_accel_range_scale = 1.0f;
_mag_range_scale = 1.0f;
// default scale factors
_accel_scale.x_offset = 0;
_accel_scale.x_scale = 1.0f;
_accel_scale.y_offset = 0;
_accel_scale.y_scale = 1.0f;
_accel_scale.z_offset = 0;
_accel_scale.z_scale = 1.0f;
_mag_scale.x_offset = 0;
_mag_scale.x_scale = 1.0f;
_mag_scale.y_offset = 0;
_mag_scale.y_scale = 1.0f;
_mag_scale.z_offset = 0;
_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;
delete _mag;
/* delete the perf counter */
perf_free(_accel_sample_perf);
perf_free(_mag_sample_perf);
}
int
LSM303D::init()
{
int ret = ERROR;
int mag_ret;
int fd_mag;
/* do SPI init (and probe) first */
if (SPI::init() != OK)
goto out;
/* allocate basic report buffers */
_num_accel_reports = 2;
_oldest_accel_report = _next_accel_report = 0;
_accel_reports = new struct accel_report[_num_accel_reports];
if (_accel_reports == nullptr)
goto out;
/* advertise accel topic */
memset(&_accel_reports[0], 0, sizeof(_accel_reports[0]));
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_reports[0]);
_num_mag_reports = 2;
_oldest_mag_report = _next_mag_report = 0;
_mag_reports = new struct mag_report[_num_mag_reports];
if (_mag_reports == nullptr)
goto out;
/* advertise mag topic */
memset(&_mag_reports[0], 0, sizeof(_mag_reports[0]));
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &_mag_reports[0]);
/* XXX do this with ioctls */
/* set default configuration */
write_reg(ADDR_CTRL_REG1, REG1_RATE_400HZ_A | REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A);
write_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M);
write_reg(ADDR_CTRL_REG5, REG5_RATE_100HZ_M | REG5_RES_HIGH_M);
/* XXX should we enable FIFO */
set_range(500); /* default to 500dps */
set_samplerate(0); /* max sample rate */
// _current_accel_rate = 100;
/* XXX test this when another mag is used */
/* do CDev init for the mag device node, keep it optional */
mag_ret = _mag->init();
if (mag_ret != OK) {
_mag_topic = -1;
}
ret = OK;
out:
return ret;
}
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 */
if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM)
return OK;
return -EIO;
}
ssize_t
LSM303D::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct accel_report);
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.
* Note that we may be pre-empted by the measurement code while we are doing this;
* we are careful to avoid racing with it.
*/
while (count--) {
if (_oldest_accel_report != _next_accel_report) {
memcpy(buffer, _accel_reports + _oldest_accel_report, sizeof(*_accel_reports));
ret += sizeof(_accel_reports[0]);
INCREMENT(_oldest_accel_report, _num_accel_reports);
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement */
_oldest_accel_report = _next_accel_report = 0;
measure();
/* measurement will have generated a report, copy it out */
memcpy(buffer, _accel_reports, sizeof(*_accel_reports));
ret = sizeof(*_accel_reports);
return ret;
}
ssize_t
LSM303D::mag_read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct mag_report);
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.
* Note that we may be pre-empted by the measurement code while we are doing this;
* we are careful to avoid racing with it.
*/
while (count--) {
if (_oldest_mag_report != _next_mag_report) {
memcpy(buffer, _mag_reports + _oldest_mag_report, sizeof(*_mag_reports));
ret += sizeof(_mag_reports[0]);
INCREMENT(_oldest_mag_report, _num_mag_reports);
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement */
_oldest_mag_report = _next_mag_report = 0;
measure();
/* measurement will have generated a report, copy it out */
memcpy(buffer, _mag_reports, sizeof(*_mag_reports));
ret = sizeof(*_mag_reports);
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:
case SENSOR_POLLRATE_DEFAULT:
/* With internal low pass filters enabled, 250 Hz is sufficient */
return ioctl(filp, SENSORIOCSPOLLRATE, 250);
/* 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 < 1000)
return -EINVAL;
/* 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: {
/* account for sentinel in the ring */
arg++;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100))
return -EINVAL;
/* allocate new buffer */
struct accel_report *buf = new struct accel_report[arg];
if (nullptr == buf)
return -ENOMEM;
/* reset the measurement state machine with the new buffer, free the old */
stop();
delete[] _accel_reports;
_num_accel_reports = arg;
_accel_reports = buf;
start();
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _num_accel_reports - 1;
case SENSORIOCRESET:
/* XXX implement */
return -EINVAL;
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:
/* 50 Hz is max for mag */
return mag_ioctl(filp, SENSORIOCSPOLLRATE, 50);
/* 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:
case SENSORIOCGQUEUEDEPTH:
case SENSORIOCRESET:
return ioctl(filp, cmd, arg);
case MAGIOCSSAMPLERATE:
// case MAGIOCGSAMPLERATE:
/* XXX not implemented */
return -EINVAL;
case MAGIOCSLOWPASS:
// case MAGIOCGLOWPASS:
/* XXX not implemented */
// _set_dlpf_filter((uint16_t)arg);
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:
// case MAGIOCGRANGE:
/* XXX not implemented */
// XXX change these two values on set:
// _mag_range_scale = xx
// _mag_range_ga = xx
return -EINVAL;
case MAGIOCSELFTEST:
/* XXX not implemented */
// return self_test();
return -EINVAL;
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
}
}
uint8_t
LSM303D::read_reg(unsigned reg)
{
uint8_t cmd[2];
cmd[0] = reg | DIR_READ;
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::set_range(unsigned max_dps)
{
/* XXX implement this */
// uint8_t bits = REG4_BDU;
//
// if (max_dps == 0)
// max_dps = 2000;
//
// if (max_dps <= 250) {
// _current_range = 250;
// bits |= RANGE_250DPS;
//
// } else if (max_dps <= 500) {
// _current_range = 500;
// bits |= RANGE_500DPS;
//
// } else if (max_dps <= 2000) {
// _current_range = 2000;
// bits |= RANGE_2000DPS;
//
// } else {
// return -EINVAL;
// }
//
// _gyro_range_rad_s = _current_range / 180.0f * M_PI_F;
// _gyro_range_scale = _gyro_range_rad_s / 32768.0f;
// write_reg(ADDR_CTRL_REG4, bits);
return OK;
}
int
LSM303D::set_samplerate(unsigned frequency)
{
/* XXX implement this */
// uint8_t bits = REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
//
// if (frequency == 0)
// frequency = 760;
//
// if (frequency <= 95) {
// _current_rate = 95;
// bits |= RATE_95HZ_LP_25HZ;
//
// } else if (frequency <= 190) {
// _current_rate = 190;
// bits |= RATE_190HZ_LP_25HZ;
//
// } else if (frequency <= 380) {
// _current_rate = 380;
// bits |= RATE_380HZ_LP_30HZ;
//
// } else if (frequency <= 760) {
// _current_rate = 760;
// bits |= RATE_760HZ_LP_30HZ;
//
// } else {
// return -EINVAL;
// }
//
// write_reg(ADDR_CTRL_REG1, bits);
return OK;
}
void
LSM303D::start()
{
/* make sure we are stopped first */
stop();
/* reset the report ring */
_oldest_accel_report = _next_accel_report = 0;
_oldest_mag_report = _next_mag_report = 0;
/* 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()
{
/* 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 = &_accel_reports[_next_accel_report];
/* start the performance counter */
perf_begin(_accel_sample_perf);
/* fetch data from the sensor */
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));
/* XXX adapt the comment to specs */
/*
* 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();
/* XXX adjust for sensor alignment to board here */
accel_report->x_raw = raw_accel_report.x;
accel_report->y_raw = raw_accel_report.y;
accel_report->z_raw = raw_accel_report.z;
accel_report->x = ((accel_report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
accel_report->y = ((accel_report->y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
accel_report->z = ((accel_report->z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
// report->scaling = _gyro_range_scale;
// report->range_rad_s = _gyro_range_rad_s;
/* post a report to the ring - note, not locked */
INCREMENT(_next_accel_report, _num_accel_reports);
/* if we are running up against the oldest report, fix it */
if (_next_accel_report == _oldest_accel_report)
INCREMENT(_oldest_accel_report, _num_accel_reports);
/* notify anyone waiting for data */
poll_notify(POLLIN);
/* publish for subscribers */
orb_publish(ORB_ID(sensor_accel), _accel_topic, accel_report);
/* stop the perf counter */
perf_end(_accel_sample_perf);
}
void
LSM303D::mag_measure()
{
/* 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 = &_mag_reports[_next_mag_report];
/* start the performance counter */
perf_begin(_mag_sample_perf);
/* fetch data from the sensor */
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));
/* XXX adapt the comment to specs */
/*
* 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();
/* XXX adjust for sensor alignment to board here */
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;
// report->scaling = _gyro_range_scale;
// report->range_rad_s = _gyro_range_rad_s;
/* post a report to the ring - note, not locked */
INCREMENT(_next_mag_report, _num_mag_reports);
/* if we are running up against the oldest report, fix it */
if (_next_mag_report == _oldest_mag_report)
INCREMENT(_oldest_mag_report, _num_mag_reports);
/* XXX please check this poll_notify, is it the right one? */
/* notify anyone waiting for data */
poll_notify(POLLIN);
/* publish for subscribers */
orb_publish(ORB_ID(sensor_mag), _mag_topic, mag_report);
/* stop the perf counter */
perf_end(_mag_sample_perf);
}
void
LSM303D::print_info()
{
perf_print_counter(_accel_sample_perf);
printf("report queue: %u (%u/%u @ %p)\n",
_num_accel_reports, _oldest_accel_report, _next_accel_report, _accel_reports);
perf_print_counter(_mag_sample_perf);
printf("report queue: %u (%u/%u @ %p)\n",
_num_mag_reports, _oldest_mag_report, _next_mag_report, _mag_reports);
}
LSM303D_mag::LSM303D_mag(LSM303D *parent) :
CDev("LSM303D_mag", MAG_DEVICE_PATH),
_parent(parent)
{
}
LSM303D_mag::~LSM303D_mag()
{
}
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();
void test();
void reset();
void info();
/**
* Start the driver.
*/
void
start()
{
int fd, fd_mag;
if (g_dev != nullptr)
errx(1, "already started");
/* create the driver */
g_dev = new LSM303D(1 /* XXX magic number */, ACCEL_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG);
if (g_dev == nullptr)
goto fail;
if (OK != g_dev->init())
goto fail;
/* set the poll rate to default, starts automatic data collection */
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0)
goto fail;
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
goto fail;
fd_mag = open(MAG_DEVICE_PATH, 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;
}
}
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 a_report;
ssize_t sz;
/* get the driver */
fd_accel = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd_accel < 0)
err(1, "%s open failed", ACCEL_DEVICE_PATH);
/* do a simple demand read */
sz = read(fd_accel, &a_report, sizeof(a_report));
if (sz != sizeof(a_report))
err(1, "immediate read failed");
/* XXX fix the test output */
// warnx("accel x: \t% 9.5f\tm/s^2", (double)a_report.x);
// warnx("accel y: \t% 9.5f\tm/s^2", (double)a_report.y);
// warnx("accel z: \t% 9.5f\tm/s^2", (double)a_report.z);
warnx("accel x: \t%d\traw", (int)a_report.x_raw);
warnx("accel y: \t%d\traw", (int)a_report.y_raw);
warnx("accel z: \t%d\traw", (int)a_report.z_raw);
// warnx("accel range: %8.4f m/s^2", (double)a_report.range_m_s2);
int fd_mag = -1;
struct mag_report m_report;
/* get the driver */
fd_mag = open(MAG_DEVICE_PATH, O_RDONLY);
if (fd_mag < 0)
err(1, "%s open failed", MAG_DEVICE_PATH);
/* do a simple demand read */
sz = read(fd_mag, &m_report, sizeof(m_report));
if (sz != sizeof(m_report))
err(1, "immediate read failed");
/* XXX fix the test output */
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);
/* XXX add poll-rate tests here too */
// reset();
errx(0, "PASS");
}
/**
* Reset the driver.
*/
void
reset()
{
int fd = open(ACCEL_DEVICE_PATH, 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, "driver poll restart failed");
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);
}
} // namespace
int
lsm303d_main(int argc, char *argv[])
{
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start"))
lsm303d::start();
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
lsm303d::test();
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset"))
lsm303d::reset();
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info"))
lsm303d::info();
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}