From fc24037b03b0df3d8d75a98b929c7b37753e0337 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Wed, 21 Aug 2013 12:37:06 +0200 Subject: Changed range handling of LSM303D once again, added defines for default values --- src/drivers/lsm303d/lsm303d.cpp | 63 +++++++++++++++++++++++++---------------- 1 file changed, 39 insertions(+), 24 deletions(-) (limited to 'src/drivers/lsm303d/lsm303d.cpp') diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 2b7769992..803cd658f 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -54,6 +54,7 @@ #include #include +#include #include #include @@ -168,6 +169,14 @@ static const int ERROR = -1; #define INT_CTRL_M 0x12 #define INT_SRC_M 0x13 +/* default values for this device */ +#define ACCEL_DEFAULT_RANGE_G 8 +#define ACCEL_DEFAULT_SAMPLERATE 800 +#define ACCEL_DEFAULT_ONCHIP_FILTER_FREQ 50 +#define ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30 + +#define MAG_DEFAULT_RANGE_GA 2 +#define MAG_DEFAULT_SAMPLERATE 100 extern "C" { __EXPORT int lsm303d_main(int argc, char *argv[]); } @@ -219,7 +228,7 @@ private: struct mag_report *_mag_reports; struct accel_scale _accel_scale; - unsigned _accel_range_g; + unsigned _accel_range_m_s2; float _accel_range_scale; unsigned _accel_samplerate; unsigned _accel_filter_bandwith; @@ -418,22 +427,22 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) : _next_mag_report(0), _oldest_mag_report(0), _mag_reports(nullptr), - _accel_range_g(8), + _accel_range_m_s2(0.0f), _accel_range_scale(0.0f), - _accel_samplerate(800), - _accel_filter_bandwith(50), - _mag_range_ga(2), + _accel_samplerate(0), + _accel_filter_bandwith(0), + _mag_range_ga(0.0f), _mag_range_scale(0.0f), - _mag_samplerate(100), + _mag_samplerate(0), _accel_topic(-1), _mag_topic(-1), _accel_read(0), _mag_read(0), _accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_accel_read")), _mag_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_mag_read")), - _accel_filter_x(800, 30), - _accel_filter_y(800, 30), - _accel_filter_z(800, 30) + _accel_filter_x(0, 0), + _accel_filter_y(0, 0), + _accel_filter_z(0, 0) { // enable debug() calls _debug_enabled = true; @@ -529,12 +538,17 @@ LSM303D::reset() write_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M); write_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M); - accel_set_range(_accel_range_g); - accel_set_samplerate(_accel_samplerate); - accel_set_antialias_filter_bandwidth(_accel_filter_bandwith); + _accel_filter_bandwith = ACCEL_DEFAULT_DRIVER_FILTER_FREQ; + + accel_set_range(ACCEL_DEFAULT_RANGE_G); + accel_set_samplerate(ACCEL_DEFAULT_SAMPLERATE); + accel_set_antialias_filter_bandwidth(ACCEL_DEFAULT_ONCHIP_FILTER_FREQ); + + mag_set_range(MAG_DEFAULT_RANGE_GA); + mag_set_samplerate(MAG_DEFAULT_SAMPLERATE); - mag_set_range(_mag_range_ga); - mag_set_samplerate(_mag_samplerate); + _accel_read = 0; + _mag_read = 0; } int @@ -658,8 +672,7 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg) return ioctl(filp, SENSORIOCSPOLLRATE, 1600); case SENSOR_POLLRATE_DEFAULT: - /* Use 800Hz as it is filtered in the driver as well*/ - return ioctl(filp, SENSORIOCSPOLLRATE, 800); + return ioctl(filp, SENSORIOCSPOLLRATE, ACCEL_DEFAULT_SAMPLERATE); /* adjust to a legal polling interval in Hz */ default: { @@ -759,10 +772,12 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg) } case ACCELIOCSRANGE: + /* arg needs to be in G */ return accel_set_range(arg); case ACCELIOCGRANGE: - return _accel_range_g; + /* convert to m/s^2 and return rounded in G */ + return (unsigned long)((_accel_range_m_s2)/CONSTANTS_ONE_G + 0.5f); case ACCELIOCGSCALE: /* copy scale out */ @@ -999,27 +1014,27 @@ LSM303D::accel_set_range(unsigned max_g) max_g = 16; if (max_g <= 2) { - _accel_range_g = 2; + _accel_range_m_s2 = 2.0f*CONSTANTS_ONE_G; setbits |= REG2_FULL_SCALE_2G_A; new_scale_g_digit = 0.061e-3f; } else if (max_g <= 4) { - _accel_range_g = 4; + _accel_range_m_s2 = 4.0f*CONSTANTS_ONE_G; setbits |= REG2_FULL_SCALE_4G_A; new_scale_g_digit = 0.122e-3f; } else if (max_g <= 6) { - _accel_range_g = 6; + _accel_range_m_s2 = 6.0f*CONSTANTS_ONE_G; setbits |= REG2_FULL_SCALE_6G_A; new_scale_g_digit = 0.183e-3f; } else if (max_g <= 8) { - _accel_range_g = 8; + _accel_range_m_s2 = 8.0f*CONSTANTS_ONE_G; setbits |= REG2_FULL_SCALE_8G_A; new_scale_g_digit = 0.244e-3f; } else if (max_g <= 16) { - _accel_range_g = 16; + _accel_range_m_s2 = 16.0f*CONSTANTS_ONE_G; setbits |= REG2_FULL_SCALE_16G_A; new_scale_g_digit = 0.732e-3f; @@ -1027,7 +1042,7 @@ LSM303D::accel_set_range(unsigned max_g) return -EINVAL; } - _accel_range_scale = new_scale_g_digit * 9.80665f; + _accel_range_scale = new_scale_g_digit * CONSTANTS_ONE_G; modify_reg(ADDR_CTRL_REG2, clearbits, setbits); @@ -1272,7 +1287,7 @@ LSM303D::measure() accel_report->z = _accel_filter_z.apply(z_in_new); accel_report->scaling = _accel_range_scale; - accel_report->range_m_s2 = _accel_range_g * 9.80665f; + 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); -- cgit v1.2.3