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Diffstat (limited to 'src/drivers/lsm303d/lsm303d.cpp')
-rw-r--r--src/drivers/lsm303d/lsm303d.cpp377
1 files changed, 257 insertions, 120 deletions
diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp
index 32030a1f7..ff56bff17 100644
--- a/src/drivers/lsm303d/lsm303d.cpp
+++ b/src/drivers/lsm303d/lsm303d.cpp
@@ -108,8 +108,10 @@ static const int ERROR = -1;
#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 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))
@@ -127,11 +129,13 @@ static const int ERROR = -1;
#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))
@@ -143,6 +147,7 @@ static const int ERROR = -1;
#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))
@@ -151,6 +156,7 @@ static const int ERROR = -1;
#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<<7) | (1<<6))
#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))
@@ -174,72 +180,66 @@ public:
LSM303D(int bus, const char* path, spi_dev_e device);
virtual ~LSM303D();
- virtual int init();
+ 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);
+ virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
- void print_info();
+ void print_info();
protected:
- virtual int probe();
+ virtual int probe();
- friend class LSM303D_mag;
+ 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);
+ virtual int mag_ioctl(struct file *filp, int cmd, unsigned long arg);
private:
- LSM303D_mag *_mag;
+ LSM303D_mag *_mag;
struct hrt_call _accel_call;
struct hrt_call _mag_call;
- unsigned _call_accel_interval;
- unsigned _call_mag_interval;
+ unsigned _call_accel_interval;
+ unsigned _call_mag_interval;
- unsigned _num_accel_reports;
+ 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;
+ float _accel_range_scale;
+ float _accel_range_m_s2;
orb_advert_t _accel_topic;
- unsigned _num_mag_reports;
+ 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;
+ 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();
+ void start();
/**
* Stop automatic measurement.
*/
- void stop();
+ void stop();
/**
* Static trampoline from the hrt_call context; because we don't have a
@@ -250,24 +250,24 @@ private:
*
* @param arg Instance pointer for the driver that is polling.
*/
- static void measure_trampoline(void *arg);
+ 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);
+ static void mag_measure_trampoline(void *arg);
/**
* Fetch accel measurements from the sensor and update the report ring.
*/
- void measure();
+ void measure();
/**
* Fetch mag measurements from the sensor and update the report ring.
*/
- void mag_measure();
+ void mag_measure();
/**
* Read a register from the LSM303D
@@ -275,7 +275,7 @@ private:
* @param The register to read.
* @return The value that was read.
*/
- uint8_t read_reg(unsigned reg);
+ uint8_t read_reg(unsigned reg);
/**
* Write a register in the LSM303D
@@ -283,7 +283,7 @@ private:
* @param reg The register to write.
* @param value The new value to write.
*/
- void write_reg(unsigned reg, uint8_t value);
+ void write_reg(unsigned reg, uint8_t value);
/**
* Modify a register in the LSM303D
@@ -294,27 +294,54 @@ private:
* @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);
+ 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 set_range(unsigned max_g);
/**
- * Set the LSM303D measurement range.
+ * Set the LSM303D mag measurement range.
*
- * @param max_dps The measurement range is set to permit reading at least
- * this rate in degrees per second.
+ * @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 set_range(unsigned max_dps);
+ int mag_set_range(unsigned max_g);
+
+ /**
+ * Set the LSM303D accel anti-alias filter.
+ *
+ * @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 set_antialias_filter_bandwidth(unsigned max_g);
+
+ /**
+ * 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 set_samplerate(unsigned frequency);
/**
- * Set the LSM303D internal sampling frequency.
+ * Set the LSM303D internal mag sampling frequency.
*
- * @param frequency The internal sampling frequency is set to not less than
+ * @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 set_samplerate(unsigned frequency);
+ int mag_set_samplerate(unsigned frequency);
};
/**
@@ -327,18 +354,18 @@ public:
~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 ioctl(struct file *filp, int cmd, unsigned long arg);
protected:
friend class LSM303D;
- void parent_poll_notify();
+ void parent_poll_notify();
private:
- LSM303D *_parent;
+ LSM303D *_parent;
- void measure();
+ void measure();
- void measure_trampoline(void *arg);
+ void measure_trampoline(void *arg);
};
@@ -364,19 +391,13 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
_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;
+ _mag_range_scale = 12.0f/32767.0f;
// default scale factors
_accel_scale.x_offset = 0;
@@ -446,18 +467,21 @@ LSM303D::init()
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);
+ /* enable accel, XXX do this with an ioctl? */
+ write_reg(ADDR_CTRL_REG1, REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A);
+
+ /* enable mag, XXX do this with an ioctl? */
write_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M);
- write_reg(ADDR_CTRL_REG5, REG5_RATE_100HZ_M | REG5_RES_HIGH_M);
+ write_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M);
- /* XXX should we enable FIFO */
+ /* XXX should we enable FIFO? */
- set_range(500); /* default to 500dps */
- set_samplerate(0); /* max sample rate */
+ set_range(8); /* XXX 16G mode seems wrong (shows 6 instead of 9.8m/s^2, therefore use 8G for now */
+ set_antialias_filter_bandwidth(194); /* XXX: choose bandwidth: 50, 194, 362 or 773 Hz */
+ set_samplerate(400); /* max sample rate */
-// _current_accel_rate = 100;
+ mag_set_range(12); /* XXX: take highest sensor range of 12GA? */
+ mag_set_samplerate(100);
/* XXX test this when another mag is used */
/* do CDev init for the mag device node, keep it optional */
@@ -590,9 +614,13 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
+
+ return ioctl(filp, SENSORIOCSPOLLRATE, 1600);
+
case SENSOR_POLLRATE_DEFAULT:
/* With internal low pass filters enabled, 250 Hz is sufficient */
- return ioctl(filp, SENSORIOCSPOLLRATE, 250);
+ /* XXX for vibration tests with 800 Hz */
+ return ioctl(filp, SENSORIOCSPOLLRATE, 800);
/* adjust to a legal polling interval in Hz */
default: {
@@ -606,6 +634,9 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
if (ticks < 1000)
return -EINVAL;
+ /* adjust sample rate of sensor */
+ set_samplerate(arg);
+
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_accel_call.period = _call_accel_interval = ticks;
@@ -801,33 +832,111 @@ LSM303D::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
}
int
-LSM303D::set_range(unsigned max_dps)
+LSM303D::set_range(unsigned max_g)
+{
+ uint8_t setbits = 0;
+ uint8_t clearbits = REG2_FULL_SCALE_BITS_A;
+ float new_range = 0.0f;
+
+ if (max_g == 0)
+ max_g = 16;
+
+ if (max_g <= 2) {
+ new_range = 2.0f;
+ setbits |= REG2_FULL_SCALE_2G_A;
+
+ } else if (max_g <= 4) {
+ new_range = 4.0f;
+ setbits |= REG2_FULL_SCALE_4G_A;
+
+ } else if (max_g <= 6) {
+ new_range = 6.0f;
+ setbits |= REG2_FULL_SCALE_6G_A;
+
+ } else if (max_g <= 8) {
+ new_range = 8.0f;
+ setbits |= REG2_FULL_SCALE_8G_A;
+
+ } else if (max_g <= 16) {
+ new_range = 16.0f;
+ setbits |= REG2_FULL_SCALE_16G_A;
+
+ } else {
+ return -EINVAL;
+ }
+
+ _accel_range_m_s2 = new_range * 9.80665f;
+ _accel_range_scale = _accel_range_m_s2 / 32768.0f;
+
+ 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_range = 0.0f;
+
+ if (max_ga == 0)
+ max_ga = 12;
+
+ if (max_ga <= 2) {
+ new_range = 2.0f;
+ setbits |= REG6_FULL_SCALE_2GA_M;
+
+ } else if (max_ga <= 4) {
+ new_range = 4.0f;
+ setbits |= REG6_FULL_SCALE_4GA_M;
+
+ } else if (max_ga <= 8) {
+ new_range = 8.0f;
+ setbits |= REG6_FULL_SCALE_8GA_M;
+
+ } else if (max_ga <= 12) {
+ new_range = 12.0f;
+ setbits |= REG6_FULL_SCALE_12GA_M;
+
+ } else {
+ return -EINVAL;
+ }
+
+ _mag_range_ga = new_range;
+ _mag_range_scale = _mag_range_ga / 32768.0f;
+
+ modify_reg(ADDR_CTRL_REG6, clearbits, setbits);
+
+ return OK;
+}
+
+int
+LSM303D::set_antialias_filter_bandwidth(unsigned bandwidth)
{
- /* 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);
+ 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;
+
+ } else if (bandwidth <= 194) {
+ setbits |= REG2_AA_FILTER_BW_194HZ_A;
+
+ } else if (bandwidth <= 362) {
+ setbits |= REG2_AA_FILTER_BW_362HZ_A;
+
+ } else if (bandwidth <= 773) {
+ setbits |= REG2_AA_FILTER_BW_773HZ_A;
+
+ } else {
+ return -EINVAL;
+ }
+
+ modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
return OK;
}
@@ -835,33 +944,60 @@ LSM303D::set_range(unsigned max_dps)
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);
+ uint8_t setbits = 0;
+ uint8_t clearbits = REG1_RATE_BITS_A;
+
+ if (frequency == 0)
+ frequency = 1600;
+
+ if (frequency <= 100) {
+ setbits |= REG1_RATE_100HZ_A;
+
+ } else if (frequency <= 200) {
+ setbits |= REG1_RATE_200HZ_A;
+
+ } else if (frequency <= 400) {
+ setbits |= REG1_RATE_400HZ_A;
+
+ } else if (frequency <= 800) {
+ setbits |= REG1_RATE_800HZ_A;
+
+ } else if (frequency <= 1600) {
+ setbits |= REG1_RATE_1600HZ_A;
+
+ } else {
+ return -EINVAL;
+ }
+
+ modify_reg(ADDR_CTRL_REG1, 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;
+
+ } else if (frequency <= 50) {
+ setbits |= REG5_RATE_50HZ_M;
+
+ } else if (frequency <= 100) {
+ setbits |= REG5_RATE_100HZ_M;
+
+
+ } else {
+ return -EINVAL;
+ }
+
+ modify_reg(ADDR_CTRL_REG5, clearbits, setbits);
return OK;
}
@@ -956,8 +1092,8 @@ LSM303D::measure()
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;
+ accel_report->scaling = _accel_range_scale;
+ accel_report->range_m_s2 = _accel_range_m_s2;
/* post a report to the ring - note, not locked */
INCREMENT(_next_accel_report, _num_accel_reports);
@@ -1183,15 +1319,13 @@ test()
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% 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);
-
+ warnx("accel range: %8.4f m/s^2", (double)a_report.range_m_s2);
int fd_mag = -1;
@@ -1209,10 +1343,13 @@ test()
if (sz != sizeof(m_report))
err(1, "immediate read failed");
- /* XXX fix the test output */
+ 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 */
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-03 21:17:45 +0000