diff options
author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-05 10:02:07 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-05 10:02:07 +0100 |
commit | 16b9f666e790a2b939f7890b39cc6e4cf2552165 (patch) | |
tree | ee936b06d15e75e12b175f6786772781aff32cd8 /src/drivers/lsm303d/lsm303d.cpp | |
parent | e16c4ff76e7eff2da88bcbef5d05dd4ba11e7203 (diff) | |
parent | c3ed35f5cc8e2617e61747e904dbaa652d1cc2c8 (diff) | |
download | px4-firmware-16b9f666e790a2b939f7890b39cc6e4cf2552165.tar.gz px4-firmware-16b9f666e790a2b939f7890b39cc6e4cf2552165.tar.bz2 px4-firmware-16b9f666e790a2b939f7890b39cc6e4cf2552165.zip |
Merge remote-tracking branch 'upstream/master' into dev_ros
Conflicts:
src/lib/mathlib/math/Matrix.hpp
src/modules/mc_att_control/mc_att_control_main.cpp
src/modules/uORB/topics/vehicle_status.h
src/platforms/px4_includes.h
Diffstat (limited to 'src/drivers/lsm303d/lsm303d.cpp')
-rw-r--r-- | src/drivers/lsm303d/lsm303d.cpp | 400 |
1 files changed, 186 insertions, 214 deletions
diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 01c89192a..57754e4c0 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -77,10 +77,6 @@ #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) @@ -242,14 +238,9 @@ public: void print_registers(); /** - * toggle logging - */ - void toggle_logging(); - - /** - * check for extreme accel values + * deliberately trigger an error */ - void check_extremes(const accel_report *arb); + void test_error(); protected: virtual int probe(); @@ -292,30 +283,30 @@ private: 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; + perf_counter_t _bad_registers; + perf_counter_t _bad_values; + + uint8_t _register_wait; 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; + // values used to + float _last_accel[3]; + uint8_t _constant_accel_count; + + // this is used to support runtime checking of key + // configuration registers to detect SPI bus errors and sensor + // reset +#define LSM303D_NUM_CHECKED_REGISTERS 8 + static const uint8_t _checked_registers[LSM303D_NUM_CHECKED_REGISTERS]; + uint8_t _checked_values[LSM303D_NUM_CHECKED_REGISTERS]; + uint8_t _checked_next; + /** * Start automatic measurement. */ @@ -357,6 +348,11 @@ private: static void mag_measure_trampoline(void *arg); /** + * check key registers for correct values + */ + void check_registers(void); + + /** * Fetch accel measurements from the sensor and update the report ring. */ void measure(); @@ -408,6 +404,14 @@ private: void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits); /** + * Write a register in the LSM303D, updating _checked_values + * + * @param reg The register to write. + * @param value The new value to write. + */ + void write_checked_reg(unsigned reg, uint8_t value); + + /** * Set the LSM303D accel measurement range. * * @param max_g The measurement range of the accel is in g (9.81m/s^2) @@ -468,6 +472,19 @@ private: LSM303D operator=(const LSM303D&); }; +/* + list of registers that will be checked in check_registers(). Note + that ADDR_WHO_AM_I must be first in the list. + */ +const uint8_t LSM303D::_checked_registers[LSM303D_NUM_CHECKED_REGISTERS] = { ADDR_WHO_AM_I, + ADDR_CTRL_REG1, + ADDR_CTRL_REG2, + ADDR_CTRL_REG3, + ADDR_CTRL_REG4, + ADDR_CTRL_REG5, + ADDR_CTRL_REG6, + ADDR_CTRL_REG7 }; + /** * Helper class implementing the mag driver node. */ @@ -528,23 +545,16 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rota _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")), + _bad_registers(perf_alloc(PC_COUNT, "lsm303d_bad_registers")), + _bad_values(perf_alloc(PC_COUNT, "lsm303d_bad_values")), + _register_wait(0), _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) + _rotation(rotation), + _constant_accel_count(0), + _checked_next(0) { _device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LSM303D; @@ -586,9 +596,8 @@ LSM303D::~LSM303D() /* 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(_bad_registers); + perf_free(_bad_values); perf_free(_accel_reschedules); } @@ -703,15 +712,14 @@ LSM303D::reset() 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); + write_checked_reg(ADDR_CTRL_REG1, + REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE | REG1_RATE_800HZ_A); /* 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 + write_checked_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M); + write_checked_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M); + write_checked_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1 + write_checked_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); @@ -739,126 +747,12 @@ LSM303D::probe() /* verify that the device is attached and functioning */ bool success = (read_reg(ADDR_WHO_AM_I) == WHO_I_AM); - if (success) + if (success) { + _checked_values[0] = WHO_I_AM; 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); - } - } + return -EIO; } ssize_t @@ -879,9 +773,6 @@ LSM303D::read(struct file *filp, char *buffer, size_t buflen) */ while (count--) { if (_accel_reports->get(arb)) { -#if CHECK_EXTREMES - check_extremes(arb); -#endif ret += sizeof(*arb); arb++; } @@ -1263,6 +1154,17 @@ LSM303D::write_reg(unsigned reg, uint8_t value) } void +LSM303D::write_checked_reg(unsigned reg, uint8_t value) +{ + write_reg(reg, value); + for (uint8_t i=0; i<LSM303D_NUM_CHECKED_REGISTERS; i++) { + if (reg == _checked_registers[i]) { + _checked_values[i] = value; + } + } +} + +void LSM303D::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) { uint8_t val; @@ -1270,7 +1172,7 @@ LSM303D::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) val = read_reg(reg); val &= ~clearbits; val |= setbits; - write_reg(reg, val); + write_checked_reg(reg, val); } int @@ -1439,7 +1341,6 @@ LSM303D::accel_set_samplerate(unsigned frequency) } modify_reg(ADDR_CTRL_REG1, clearbits, setbits); - _reg1_expected = (_reg1_expected & ~clearbits) | setbits; return OK; } @@ -1515,24 +1416,35 @@ LSM303D::mag_measure_trampoline(void *arg) } void -LSM303D::measure() +LSM303D::check_registers(void) { - // 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; - } + uint8_t v; + if ((v=read_reg(_checked_registers[_checked_next])) != _checked_values[_checked_next]) { + /* + if we get the wrong value then we know the SPI bus + or sensor is very sick. We set _register_wait to 20 + and wait until we have seen 20 good values in a row + before we consider the sensor to be OK again. + */ + perf_count(_bad_registers); + + /* + try to fix the bad register value. We only try to + fix one per loop to prevent a bad sensor hogging the + bus. We skip zero as that is the WHO_AM_I, which + is not writeable + */ + if (_checked_next != 0) { + write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]); + } + _register_wait = 20; + } + _checked_next = (_checked_next+1) % LSM303D_NUM_CHECKED_REGISTERS; +} +void +LSM303D::measure() +{ /* status register and data as read back from the device */ #pragma pack(push, 1) @@ -1550,6 +1462,30 @@ LSM303D::measure() /* start the performance counter */ perf_begin(_accel_sample_perf); + check_registers(); + + // 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 +#ifdef GPIO_EXTI_ACCEL_DRDY + if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_ACCEL_DRDY) == 0) { + perf_count(_accel_reschedules); + hrt_call_delay(&_accel_call, 100); + perf_end(_accel_sample_perf); + return; + } +#endif + + if (_register_wait != 0) { + // we are waiting for some good transfers before using + // the sensor again. + _register_wait--; + perf_end(_accel_sample_perf); + return; + } + /* 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; @@ -1572,7 +1508,12 @@ LSM303D::measure() accel_report.timestamp = hrt_absolute_time(); - accel_report.error_count = 0; // not reported + + // report the error count as the sum of the number of bad + // register reads and bad values. This allows the higher level + // code to decide if it should use this sensor based on + // whether it has had failures + accel_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values); accel_report.x_raw = raw_accel_report.x; accel_report.y_raw = raw_accel_report.y; @@ -1582,6 +1523,36 @@ LSM303D::measure() 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; + /* + we have logs where the accelerometers get stuck at a fixed + large value. We want to detect this and mark the sensor as + being faulty + */ + if (fabsf(_last_accel[0] - x_in_new) < 0.001f && + fabsf(_last_accel[1] - y_in_new) < 0.001f && + fabsf(_last_accel[2] - z_in_new) < 0.001f && + fabsf(x_in_new) > 20 && + fabsf(y_in_new) > 20 && + fabsf(z_in_new) > 20) { + _constant_accel_count += 1; + } else { + _constant_accel_count = 0; + } + if (_constant_accel_count > 100) { + // we've had 100 constant accel readings with large + // values. The sensor is almost certainly dead. We + // will raise the error_count so that the top level + // flight code will know to avoid this sensor, but + // we'll still give the data so that it can be logged + // and viewed + perf_count(_bad_values); + _constant_accel_count = 0; + } + + _last_accel[0] = x_in_new; + _last_accel[1] = y_in_new; + _last_accel[2] = z_in_new; + 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); @@ -1611,12 +1582,6 @@ LSM303D::measure() 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 { @@ -1691,8 +1656,22 @@ LSM303D::print_info() printf("accel reads: %u\n", _accel_read); printf("mag reads: %u\n", _mag_read); perf_print_counter(_accel_sample_perf); + perf_print_counter(_mag_sample_perf); + perf_print_counter(_bad_registers); + perf_print_counter(_bad_values); + perf_print_counter(_accel_reschedules); _accel_reports->print_info("accel reports"); _mag_reports->print_info("mag reports"); + ::printf("checked_next: %u\n", _checked_next); + for (uint8_t i=0; i<LSM303D_NUM_CHECKED_REGISTERS; i++) { + uint8_t v = read_reg(_checked_registers[i]); + if (v != _checked_values[i]) { + ::printf("reg %02x:%02x should be %02x\n", + (unsigned)_checked_registers[i], + (unsigned)v, + (unsigned)_checked_values[i]); + } + } } void @@ -1750,20 +1729,13 @@ LSM303D::print_registers() 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() +LSM303D::test_error() { - 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"); - } + // trigger an error + write_reg(ADDR_CTRL_REG3, 0); } LSM303D_mag::LSM303D_mag(LSM303D *parent) : @@ -1839,8 +1811,8 @@ void test(); void reset(); void info(); void regdump(); -void logging(); void usage(); +void test_error(); /** * Start the driver. @@ -2047,15 +2019,15 @@ regdump() } /** - * toggle logging + * trigger an error */ void -logging() +test_error() { if (g_dev == nullptr) errx(1, "driver not running\n"); - g_dev->toggle_logging(); + g_dev->test_error(); exit(0); } @@ -2063,7 +2035,7 @@ logging() void usage() { - warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump', 'logging'"); + warnx("missing command: try 'start', 'info', 'test', 'reset', 'testerror' or 'regdump'"); warnx("options:"); warnx(" -X (external bus)"); warnx(" -R rotation"); @@ -2127,10 +2099,10 @@ lsm303d_main(int argc, char *argv[]) lsm303d::regdump(); /* - * dump device registers + * trigger an error */ - if (!strcmp(verb, "logging")) - lsm303d::logging(); + if (!strcmp(verb, "testerror")) + lsm303d::test_error(); - errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'logging' or 'regdump'"); + errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'testerror' or 'regdump'"); } |