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author | Andrew Tridgell <tridge@samba.org> | 2013-12-10 14:03:16 +1100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-10 12:06:56 +0100 |
commit | d43e3394b07b5999dff5d04a3dd77f96d76c1134 (patch) | |
tree | 09a57c789038950e710ccc6f5b14ae052d86f6c0 | |
parent | 91870953d951bc0e15640363bcc1d826cb5ed1b1 (diff) | |
download | px4-firmware-d43e3394b07b5999dff5d04a3dd77f96d76c1134.tar.gz px4-firmware-d43e3394b07b5999dff5d04a3dd77f96d76c1134.tar.bz2 px4-firmware-d43e3394b07b5999dff5d04a3dd77f96d76c1134.zip |
l3gd20: added rescheduling and error checking
-rw-r--r-- | src/drivers/l3gd20/l3gd20.cpp | 29 |
1 files changed, 28 insertions, 1 deletions
diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index 910131c6a..1077eb43b 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -209,6 +209,8 @@ private: unsigned _read; perf_counter_t _sample_perf; + perf_counter_t _reschedules; + perf_counter_t _errors; math::LowPassFilter2p _gyro_filter_x; math::LowPassFilter2p _gyro_filter_y; @@ -325,6 +327,8 @@ L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) : _orientation(SENSOR_BOARD_ROTATION_270_DEG), _read(0), _sample_perf(perf_alloc(PC_ELAPSED, "l3gd20_read")), + _reschedules(perf_alloc(PC_COUNT, "l3gd20_reschedules")), + _errors(perf_alloc(PC_COUNT, "l3gd20_errors")), _gyro_filter_x(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ), _gyro_filter_y(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ), _gyro_filter_z(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ) @@ -355,6 +359,8 @@ L3GD20::~L3GD20() /* delete the perf counter */ perf_free(_sample_perf); + perf_free(_reschedules); + perf_free(_errors); } int @@ -746,7 +752,7 @@ L3GD20::reset() /* set default configuration */ write_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE); write_reg(ADDR_CTRL_REG2, 0); /* disable high-pass filters */ - write_reg(ADDR_CTRL_REG3, 0); /* no interrupts - we don't use them */ + write_reg(ADDR_CTRL_REG3, 0x08); /* DRDY enable */ write_reg(ADDR_CTRL_REG4, REG4_BDU); write_reg(ADDR_CTRL_REG5, 0); @@ -776,6 +782,17 @@ L3GD20::measure_trampoline(void *arg) void L3GD20::measure() { +#ifdef GPIO_EXTI_GYRO_DRDY + // if the gyro 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 + if (stm32_gpioread(GPIO_EXTI_GYRO_DRDY) == 0) { + perf_count(_reschedules); + hrt_call_delay(&_call, 100); + return; + } +#endif + /* status register and data as read back from the device */ #pragma pack(push, 1) struct { @@ -798,6 +815,16 @@ L3GD20::measure() raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT; transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report)); +#ifdef GPIO_EXTI_GYRO_DRDY + if (raw_report.status & 0xF != 0xF) { + /* + we waited for DRDY, but did not see DRDY on all axes + when we captured. That means a transfer error of some sort + */ + perf_count(_errors); + return; + } +#endif /* * 1) Scale raw value to SI units using scaling from datasheet. * 2) Subtract static offset (in SI units) |