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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-09 17:56:32 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-09 17:56:32 +0200 |
commit | dccdc977d5be4f957bcaea036b66d0391b29fd2b (patch) | |
tree | ef152395c70667167c1087934d594c88ca46e2b8 /src/drivers | |
parent | 7861caf482584afcc19ad235bcbedf26386c05dd (diff) | |
download | px4-firmware-dccdc977d5be4f957bcaea036b66d0391b29fd2b.tar.gz px4-firmware-dccdc977d5be4f957bcaea036b66d0391b29fd2b.tar.bz2 px4-firmware-dccdc977d5be4f957bcaea036b66d0391b29fd2b.zip |
Made accel / gyro self tests aware of offsets and scales, added support to config command to call these
Diffstat (limited to 'src/drivers')
-rw-r--r-- | src/drivers/l3gd20/l3gd20.cpp | 35 | ||||
-rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp | 69 |
2 files changed, 100 insertions, 4 deletions
diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index 1ffca2f43..744abfa00 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -260,6 +260,13 @@ private: * @return OK if the value can be supported. */ int set_samplerate(unsigned frequency); + + /** + * Self test + * + * @return 0 on success, 1 on failure + */ + int self_test(); }; /* helper macro for handling report buffer indices */ @@ -519,6 +526,9 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg) case GYROIOCGRANGE: return _current_range; + case GYROIOCSELFTEST: + return self_test(); + default: /* give it to the superclass */ return SPI::ioctl(filp, cmd, arg); @@ -713,7 +723,8 @@ L3GD20::measure() poll_notify(POLLIN); /* publish for subscribers */ - orb_publish(ORB_ID(sensor_gyro), _gyro_topic, report); + if (_gyro_topic > 0) + orb_publish(ORB_ID(sensor_gyro), _gyro_topic, report); /* stop the perf counter */ perf_end(_sample_perf); @@ -727,6 +738,28 @@ L3GD20::print_info() _num_reports, _oldest_report, _next_report, _reports); } +int +L3GD20::self_test() +{ + /* evaluate gyro offsets, complain if offset -> zero or larger than 6 dps */ + if (fabsf(_gyro_scale.x_offset) > 0.1f || fabsf(_gyro_scale.x_offset) < 0.000001f) + return 1; + if (fabsf(_gyro_scale.x_scale - 1.0f) > 0.3f) + return 1; + + if (fabsf(_gyro_scale.y_offset) > 0.1f || fabsf(_gyro_scale.y_offset) < 0.000001f) + return 1; + if (fabsf(_gyro_scale.y_scale - 1.0f) > 0.3f) + return 1; + + if (fabsf(_gyro_scale.z_offset) > 0.1f || fabsf(_gyro_scale.z_offset) < 0.000001f) + return 1; + if (fabsf(_gyro_scale.z_scale - 1.0f) > 0.3f) + return 1; + + return 0; +} + /** * Local functions in support of the shell command. */ diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index c4e331a30..ce8fe9fee 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -285,12 +285,26 @@ private: uint16_t swap16(uint16_t val) { return (val >> 8) | (val << 8); } /** - * Self test + * Measurement self test * * @return 0 on success, 1 on failure */ int self_test(); + /** + * Accel self test + * + * @return 0 on success, 1 on failure + */ + int accel_self_test(); + + /** + * Gyro self test + * + * @return 0 on success, 1 on failure + */ + int gyro_self_test(); + /* set low pass filter frequency */ @@ -321,6 +335,7 @@ protected: void parent_poll_notify(); private: MPU6000 *_parent; + }; /** driver 'main' command */ @@ -653,6 +668,54 @@ MPU6000::self_test() return (_reads > 0) ? 0 : 1; } +int +MPU6000::accel_self_test() +{ + if (self_test()) + 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; +} + +int +MPU6000::gyro_self_test() +{ + if (self_test()) + return 1; + + /* evaluate gyro offsets, complain if offset -> zero or larger than 6 dps */ + if (fabsf(_gyro_scale.x_offset) > 0.1f || fabsf(_gyro_scale.x_offset) < 0.000001f) + return 1; + if (fabsf(_gyro_scale.x_scale - 1.0f) > 0.3f) + return 1; + + if (fabsf(_gyro_scale.y_offset) > 0.1f || fabsf(_gyro_scale.y_offset) < 0.000001f) + return 1; + if (fabsf(_gyro_scale.y_scale - 1.0f) > 0.3f) + return 1; + + if (fabsf(_gyro_scale.z_offset) > 0.1f || fabsf(_gyro_scale.z_offset) < 0.000001f) + return 1; + if (fabsf(_gyro_scale.z_scale - 1.0f) > 0.3f) + return 1; + + return 0; +} + ssize_t MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen) { @@ -835,7 +898,7 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) return _accel_range_m_s2; case ACCELIOCSELFTEST: - return self_test(); + return accel_self_test(); default: /* give it to the superclass */ @@ -918,7 +981,7 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) return _gyro_range_rad_s; case GYROIOCSELFTEST: - return self_test(); + return gyro_self_test(); default: /* give it to the superclass */ |