/**************************************************************************** * * Copyright (C) 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ /** * @file lsm303d.cpp * Driver for the ST LSM303D MEMS accelerometer / magnetometer connected via SPI. */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include /* oddly, ERROR is not defined for c++ */ #ifdef ERROR # undef ERROR #endif static const int ERROR = -1; /* SPI protocol address bits */ #define DIR_READ (1<<7) #define DIR_WRITE (0<<7) #define ADDR_INCREMENT (1<<6) /* register addresses: A: accel, M: mag, T: temp */ #define ADDR_WHO_AM_I 0x0F #define WHO_I_AM 0x49 #define ADDR_OUT_L_T 0x05 #define ADDR_OUT_H_T 0x06 #define ADDR_STATUS_M 0x07 #define ADDR_OUT_X_L_M 0x08 #define ADDR_OUT_X_H_M 0x09 #define ADDR_OUT_Y_L_M 0x0A #define ADDR_OUT_Y_H_M 0x0B #define ADDR_OUT_Z_L_M 0x0C #define ADDR_OUT_Z_H_M 0x0D #define ADDR_OUT_TEMP_A 0x26 #define ADDR_STATUS_A 0x27 #define ADDR_OUT_X_L_A 0x28 #define ADDR_OUT_X_H_A 0x29 #define ADDR_OUT_Y_L_A 0x2A #define ADDR_OUT_Y_H_A 0x2B #define ADDR_OUT_Z_L_A 0x2C #define ADDR_OUT_Z_H_A 0x2D #define ADDR_CTRL_REG0 0x1F #define ADDR_CTRL_REG1 0x20 #define ADDR_CTRL_REG2 0x21 #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)) #define REG1_RATE_12_5HZ_A ((0<<7) | (0<<6) | (1<<5) | (1<<4)) #define REG1_RATE_25HZ_A ((0<<7) | (1<<6) | (0<<5) | (0<<4)) #define REG1_RATE_50HZ_A ((0<<7) | (1<<6) | (0<<5) | (1<<4)) #define REG1_RATE_100HZ_A ((0<<7) | (1<<6) | (1<<5) | (0<<4)) #define REG1_RATE_200HZ_A ((0<<7) | (1<<6) | (1<<5) | (1<<4)) #define REG1_RATE_400HZ_A ((1<<7) | (0<<6) | (0<<5) | (0<<4)) #define REG1_RATE_800HZ_A ((1<<7) | (0<<6) | (0<<5) | (1<<4)) #define REG1_RATE_1600HZ_A ((1<<7) | (0<<6) | (1<<5) | (0<<4)) #define REG1_BDU_UPDATE (1<<3) #define REG1_Z_ENABLE_A (1<<2) #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)) #define REG2_FULL_SCALE_8G_A ((0<<5) | (1<<4) | (1<<3)) #define REG2_FULL_SCALE_16G_A ((1<<5) | (0<<4) | (0<<3)) #define REG5_ENABLE_T (1<<7) #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)) #define REG5_RATE_25HZ_M ((0<<4) | (1<<3) | (1<<2)) #define REG5_RATE_50HZ_M ((1<<4) | (0<<3) | (0<<2)) #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<<6) | (1<<5)) #define REG6_FULL_SCALE_2GA_M ((0<<6) | (0<<5)) #define REG6_FULL_SCALE_4GA_M ((0<<6) | (1<<5)) #define REG6_FULL_SCALE_8GA_M ((1<<6) | (0<<5)) #define REG6_FULL_SCALE_12GA_M ((1<<6) | (1<<5)) #define REG7_CONT_MODE_M ((0<<1) | (0<<0)) #define INT_CTRL_M 0x12 #define INT_SRC_M 0x13 /* default values for this device */ #define LSM303D_ACCEL_DEFAULT_RANGE_G 8 #define LSM303D_ACCEL_DEFAULT_RATE 800 #define LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ 50 #define LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30 #define LSM303D_MAG_DEFAULT_RANGE_GA 2 #define LSM303D_MAG_DEFAULT_RATE 100 #define LSM303D_ONE_G 9.80665f extern "C" { __EXPORT int lsm303d_main(int argc, char *argv[]); } class LSM303D_mag; class LSM303D : public device::SPI { public: LSM303D(int bus, const char* path, spi_dev_e device); virtual ~LSM303D(); 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); /** * Diagnostics - print some basic information about the driver. */ void print_info(); protected: virtual int probe(); 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); private: LSM303D_mag *_mag; struct hrt_call _accel_call; struct hrt_call _mag_call; unsigned _call_accel_interval; unsigned _call_mag_interval; unsigned _num_accel_reports; volatile unsigned _next_accel_report; volatile unsigned _oldest_accel_report; struct accel_report *_accel_reports; unsigned _num_mag_reports; volatile unsigned _next_mag_report; volatile unsigned _oldest_mag_report; struct mag_report *_mag_reports; struct accel_scale _accel_scale; unsigned _accel_range_m_s2; float _accel_range_scale; unsigned _accel_samplerate; unsigned _accel_onchip_filter_bandwith; struct mag_scale _mag_scale; unsigned _mag_range_ga; float _mag_range_scale; unsigned _mag_samplerate; orb_advert_t _accel_topic; orb_advert_t _mag_topic; unsigned _accel_read; unsigned _mag_read; perf_counter_t _accel_sample_perf; perf_counter_t _mag_sample_perf; math::LowPassFilter2p _accel_filter_x; math::LowPassFilter2p _accel_filter_y; math::LowPassFilter2p _accel_filter_z; /** * Start automatic measurement. */ void start(); /** * Stop automatic measurement. */ void stop(); /** * Reset chip. * * Resets the chip and measurements ranges, but not scale and offset. */ void reset(); /** * Static trampoline from the hrt_call context; because we don't have a * generic hrt wrapper yet. * * Called by the HRT in interrupt context at the specified rate if * automatic polling is enabled. * * @param arg Instance pointer for the driver that is polling. */ 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); /** * Fetch accel measurements from the sensor and update the report ring. */ void measure(); /** * Fetch mag measurements from the sensor and update the report ring. */ void mag_measure(); /** * Accel self test * * @return 0 on success, 1 on failure */ int accel_self_test(); /** * Mag self test * * @return 0 on success, 1 on failure */ int mag_self_test(); /** * Read a register from the LSM303D * * @param The register to read. * @return The value that was read. */ uint8_t read_reg(unsigned reg); /** * Write a register in the LSM303D * * @param reg The register to write. * @param value The new value to write. */ void write_reg(unsigned reg, uint8_t value); /** * Modify a register in the LSM303D * * Bits are cleared before bits are set. * * @param reg The register to modify. * @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); /** * 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 accel_set_range(unsigned max_g); /** * Set the LSM303D mag measurement range. * * @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 mag_set_range(unsigned max_g); /** * Set the LSM303D on-chip anti-alias filter bandwith. * * @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 accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth); /** * Set the driver lowpass filter bandwidth. * * @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 accel_set_driver_lowpass_filter(float samplerate, float bandwidth); /** * 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 accel_set_samplerate(unsigned frequency); /** * Set the LSM303D internal mag sampling frequency. * * @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 mag_set_samplerate(unsigned frequency); }; /** * Helper class implementing the mag driver node. */ class LSM303D_mag : public device::CDev { public: LSM303D_mag(LSM303D *parent); ~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); protected: friend class LSM303D; void parent_poll_notify(); private: LSM303D *_parent; void measure(); void measure_trampoline(void *arg); }; /* helper macro for handling report buffer indices */ #define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0) LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) : SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 8000000), _mag(new LSM303D_mag(this)), _call_accel_interval(0), _call_mag_interval(0), _num_accel_reports(0), _next_accel_report(0), _oldest_accel_report(0), _accel_reports(nullptr), _num_mag_reports(0), _next_mag_report(0), _oldest_mag_report(0), _mag_reports(nullptr), _accel_range_m_s2(0.0f), _accel_range_scale(0.0f), _accel_samplerate(0), _accel_onchip_filter_bandwith(0), _mag_range_ga(0.0f), _mag_range_scale(0.0f), _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(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) { // enable debug() calls _debug_enabled = true; // default scale factors _accel_scale.x_offset = 0.0f; _accel_scale.x_scale = 1.0f; _accel_scale.y_offset = 0.0f; _accel_scale.y_scale = 1.0f; _accel_scale.z_offset = 0.0f; _accel_scale.z_scale = 1.0f; _mag_scale.x_offset = 0.0f; _mag_scale.x_scale = 1.0f; _mag_scale.y_offset = 0.0f; _mag_scale.y_scale = 1.0f; _mag_scale.z_offset = 0.0f; _mag_scale.z_scale = 1.0f; } LSM303D::~LSM303D() { /* make sure we are truly inactive */ stop(); /* free any existing reports */ if (_accel_reports != nullptr) delete[] _accel_reports; if (_mag_reports != nullptr) delete[] _mag_reports; delete _mag; /* delete the perf counter */ perf_free(_accel_sample_perf); perf_free(_mag_sample_perf); } int LSM303D::init() { int ret = ERROR; int mag_ret; /* do SPI init (and probe) first */ if (SPI::init() != OK) { warnx("SPI init failed"); goto out; } /* allocate basic report buffers */ _num_accel_reports = 2; _oldest_accel_report = _next_accel_report = 0; _accel_reports = new struct accel_report[_num_accel_reports]; if (_accel_reports == nullptr) goto out; /* advertise accel topic */ memset(&_accel_reports[0], 0, sizeof(_accel_reports[0])); _accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_reports[0]); _num_mag_reports = 2; _oldest_mag_report = _next_mag_report = 0; _mag_reports = new struct mag_report[_num_mag_reports]; if (_mag_reports == nullptr) goto out; reset(); /* advertise mag topic */ memset(&_mag_reports[0], 0, sizeof(_mag_reports[0])); _mag_topic = orb_advertise(ORB_ID(sensor_mag), &_mag_reports[0]); /* do CDev init for the mag device node, keep it optional */ mag_ret = _mag->init(); if (mag_ret != OK) { _mag_topic = -1; } ret = OK; out: return ret; } void LSM303D::reset() { irqstate_t flags = irqsave(); /* enable accel*/ write_reg(ADDR_CTRL_REG1, REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE); /* enable mag */ write_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M); write_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M); accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G); accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE); accel_set_driver_lowpass_filter((float)LSM303D_ACCEL_DEFAULT_RATE, (float)LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ); accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ); mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA); mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE); irqrestore(flags); _accel_read = 0; _mag_read = 0; } int LSM303D::probe() { irqstate_t flags = irqsave(); /* read dummy value to void to clear SPI statemachine on sensor */ (void)read_reg(ADDR_WHO_AM_I); /* verify that the device is attached and functioning */ bool success = (read_reg(ADDR_WHO_AM_I) == WHO_I_AM); irqrestore(flags); if (success) return OK; return -EIO; } ssize_t LSM303D::read(struct file *filp, char *buffer, size_t buflen) { unsigned count = buflen / sizeof(struct accel_report); int ret = 0; /* buffer must be large enough */ if (count < 1) return -ENOSPC; /* if automatic measurement is enabled */ if (_call_accel_interval > 0) { /* * While there is space in the caller's buffer, and reports, copy them. * Note that we may be pre-empted by the measurement code while we are doing this; * we are careful to avoid racing with it. */ while (count--) { if (_oldest_accel_report != _next_accel_report) { memcpy(buffer, _accel_reports + _oldest_accel_report, sizeof(*_accel_reports)); ret += sizeof(_accel_reports[0]); INCREMENT(_oldest_accel_report, _num_accel_reports); } } /* if there was no data, warn the caller */ return ret ? ret : -EAGAIN; } /* manual measurement */ _oldest_accel_report = _next_accel_report = 0; measure(); /* measurement will have generated a report, copy it out */ memcpy(buffer, _accel_reports, sizeof(*_accel_reports)); ret = sizeof(*_accel_reports); return ret; } ssize_t LSM303D::mag_read(struct file *filp, char *buffer, size_t buflen) { unsigned count = buflen / sizeof(struct mag_report); int ret = 0; /* buffer must be large enough */ if (count < 1) return -ENOSPC; /* if automatic measurement is enabled */ if (_call_mag_interval > 0) { /* * While there is space in the caller's buffer, and reports, copy them. * Note that we may be pre-empted by the measurement code while we are doing this; * we are careful to avoid racing with it. */ while (count--) { if (_oldest_mag_report != _next_mag_report) { memcpy(buffer, _mag_reports + _oldest_mag_report, sizeof(*_mag_reports)); ret += sizeof(_mag_reports[0]); INCREMENT(_oldest_mag_report, _num_mag_reports); } } /* if there was no data, warn the caller */ return ret ? ret : -EAGAIN; } /* manual measurement */ _oldest_mag_report = _next_mag_report = 0; measure(); /* measurement will have generated a report, copy it out */ memcpy(buffer, _mag_reports, sizeof(*_mag_reports)); ret = sizeof(*_mag_reports); return ret; } int LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg) { switch (cmd) { case SENSORIOCSPOLLRATE: { switch (arg) { /* switching to manual polling */ case SENSOR_POLLRATE_MANUAL: stop(); _call_accel_interval = 0; return OK; /* external signalling not supported */ case SENSOR_POLLRATE_EXTERNAL: /* zero would be bad */ case 0: return -EINVAL; /* set default/max polling rate */ case SENSOR_POLLRATE_MAX: return ioctl(filp, SENSORIOCSPOLLRATE, 1600); case SENSOR_POLLRATE_DEFAULT: return ioctl(filp, SENSORIOCSPOLLRATE, LSM303D_ACCEL_DEFAULT_RATE); /* adjust to a legal polling interval in Hz */ default: { /* do we need to start internal polling? */ bool want_start = (_call_accel_interval == 0); /* convert hz to hrt interval via microseconds */ unsigned ticks = 1000000 / arg; /* check against maximum sane rate */ if (ticks < 500) return -EINVAL; /* adjust filters */ accel_set_driver_lowpass_filter((float)arg, _accel_filter_x.get_cutoff_freq()); /* update interval for next measurement */ /* XXX this is a bit shady, but no other way to adjust... */ _accel_call.period = _call_accel_interval = ticks; /* if we need to start the poll state machine, do it */ if (want_start) start(); return OK; } } } case SENSORIOCGPOLLRATE: if (_call_accel_interval == 0) return SENSOR_POLLRATE_MANUAL; return 1000000 / _call_accel_interval; case SENSORIOCSQUEUEDEPTH: { /* account for sentinel in the ring */ arg++; /* lower bound is mandatory, upper bound is a sanity check */ if ((arg < 2) || (arg > 100)) return -EINVAL; /* allocate new buffer */ struct accel_report *buf = new struct accel_report[arg]; if (nullptr == buf) return -ENOMEM; /* reset the measurement state machine with the new buffer, free the old */ stop(); delete[] _accel_reports; _num_accel_reports = arg; _accel_reports = buf; start(); return OK; } case SENSORIOCGQUEUEDEPTH: return _num_accel_reports - 1; case SENSORIOCRESET: reset(); return OK; case ACCELIOCSSAMPLERATE: return accel_set_samplerate(arg); case ACCELIOCGSAMPLERATE: return _accel_samplerate; case ACCELIOCSLOWPASS: { return accel_set_driver_lowpass_filter((float)_accel_samplerate, (float)arg); } case ACCELIOCGLOWPASS: return _accel_filter_x.get_cutoff_freq(); case ACCELIOCSSCALE: { /* copy scale, but only if off by a few percent */ struct accel_scale *s = (struct accel_scale *) arg; float sum = s->x_scale + s->y_scale + s->z_scale; if (sum > 2.0f && sum < 4.0f) { memcpy(&_accel_scale, s, sizeof(_accel_scale)); return OK; } else { return -EINVAL; } } case ACCELIOCSRANGE: /* arg needs to be in G */ return accel_set_range(arg); case ACCELIOCGRANGE: /* convert to m/s^2 and return rounded in G */ return (unsigned long)((_accel_range_m_s2)/LSM303D_ONE_G + 0.5f); case ACCELIOCGSCALE: /* copy scale out */ memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale)); return OK; case ACCELIOCSELFTEST: return accel_self_test(); default: /* give it to the superclass */ return SPI::ioctl(filp, cmd, arg); } } int LSM303D::mag_ioctl(struct file *filp, int cmd, unsigned long arg) { switch (cmd) { case SENSORIOCSPOLLRATE: { switch (arg) { /* switching to manual polling */ case SENSOR_POLLRATE_MANUAL: stop(); _call_mag_interval = 0; return OK; /* external signalling not supported */ case SENSOR_POLLRATE_EXTERNAL: /* zero would be bad */ case 0: return -EINVAL; /* set default/max polling rate */ case SENSOR_POLLRATE_MAX: case SENSOR_POLLRATE_DEFAULT: /* 100 Hz is max for mag */ return mag_ioctl(filp, SENSORIOCSPOLLRATE, 100); /* adjust to a legal polling interval in Hz */ default: { /* do we need to start internal polling? */ bool want_start = (_call_mag_interval == 0); /* convert hz to hrt interval via microseconds */ unsigned ticks = 1000000 / arg; /* check against maximum sane rate */ if (ticks < 1000) return -EINVAL; /* update interval for next measurement */ /* XXX this is a bit shady, but no other way to adjust... */ _mag_call.period = _call_mag_interval = ticks; /* if we need to start the poll state machine, do it */ if (want_start) start(); return OK; } } } case SENSORIOCGPOLLRATE: if (_call_mag_interval == 0) return SENSOR_POLLRATE_MANUAL; return 1000000 / _call_mag_interval; case SENSORIOCSQUEUEDEPTH: { /* account for sentinel in the ring */ arg++; /* lower bound is mandatory, upper bound is a sanity check */ if ((arg < 2) || (arg > 100)) return -EINVAL; /* allocate new buffer */ struct mag_report *buf = new struct mag_report[arg]; if (nullptr == buf) return -ENOMEM; /* reset the measurement state machine with the new buffer, free the old */ stop(); delete[] _mag_reports; _num_mag_reports = arg; _mag_reports = buf; start(); return OK; } case SENSORIOCGQUEUEDEPTH: return _num_mag_reports - 1; case SENSORIOCRESET: reset(); return OK; case MAGIOCSSAMPLERATE: return mag_set_samplerate(arg); case MAGIOCGSAMPLERATE: return _mag_samplerate; case MAGIOCSLOWPASS: case MAGIOCGLOWPASS: /* not supported, no internal filtering */ return -EINVAL; case MAGIOCSSCALE: /* copy scale in */ memcpy(&_mag_scale, (struct mag_scale *) arg, sizeof(_mag_scale)); return OK; case MAGIOCGSCALE: /* copy scale out */ memcpy((struct mag_scale *) arg, &_mag_scale, sizeof(_mag_scale)); return OK; case MAGIOCSRANGE: return mag_set_range(arg); case MAGIOCGRANGE: return _mag_range_ga; case MAGIOCSELFTEST: return mag_self_test(); case MAGIOCGEXTERNAL: /* no external mag board yet */ return 0; default: /* give it to the superclass */ return SPI::ioctl(filp, cmd, arg); } } int LSM303D::accel_self_test() { if (_accel_read == 0) 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; return 0; } int LSM303D::mag_self_test() { if (_mag_read == 0) return 1; /** * inspect mag offsets * don't check mag scale because it seems this is calibrated on chip */ if (fabsf(_mag_scale.x_offset) < 0.000001f) return 1; if (fabsf(_mag_scale.y_offset) < 0.000001f) return 1; if (fabsf(_mag_scale.z_offset) < 0.000001f) return 1; return 0; } uint8_t LSM303D::read_reg(unsigned reg) { uint8_t cmd[2]; cmd[0] = reg | DIR_READ; transfer(cmd, cmd, sizeof(cmd)); return cmd[1]; } void LSM303D::write_reg(unsigned reg, uint8_t value) { uint8_t cmd[2]; cmd[0] = reg | DIR_WRITE; cmd[1] = value; transfer(cmd, nullptr, sizeof(cmd)); } void LSM303D::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) { uint8_t val; val = read_reg(reg); val &= ~clearbits; val |= setbits; write_reg(reg, val); } int LSM303D::accel_set_range(unsigned max_g) { uint8_t setbits = 0; uint8_t clearbits = REG2_FULL_SCALE_BITS_A; float new_scale_g_digit = 0.0f; if (max_g == 0) max_g = 16; if (max_g <= 2) { _accel_range_m_s2 = 2.0f*LSM303D_ONE_G; setbits |= REG2_FULL_SCALE_2G_A; new_scale_g_digit = 0.061e-3f; } else if (max_g <= 4) { _accel_range_m_s2 = 4.0f*LSM303D_ONE_G; setbits |= REG2_FULL_SCALE_4G_A; new_scale_g_digit = 0.122e-3f; } else if (max_g <= 6) { _accel_range_m_s2 = 6.0f*LSM303D_ONE_G; setbits |= REG2_FULL_SCALE_6G_A; new_scale_g_digit = 0.183e-3f; } else if (max_g <= 8) { _accel_range_m_s2 = 8.0f*LSM303D_ONE_G; setbits |= REG2_FULL_SCALE_8G_A; new_scale_g_digit = 0.244e-3f; } else if (max_g <= 16) { _accel_range_m_s2 = 16.0f*LSM303D_ONE_G; setbits |= REG2_FULL_SCALE_16G_A; new_scale_g_digit = 0.732e-3f; } else { return -EINVAL; } _accel_range_scale = new_scale_g_digit * LSM303D_ONE_G; 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_scale_ga_digit = 0.0f; if (max_ga == 0) max_ga = 12; if (max_ga <= 2) { _mag_range_ga = 2; setbits |= REG6_FULL_SCALE_2GA_M; new_scale_ga_digit = 0.080e-3f; } else if (max_ga <= 4) { _mag_range_ga = 4; setbits |= REG6_FULL_SCALE_4GA_M; new_scale_ga_digit = 0.160e-3f; } else if (max_ga <= 8) { _mag_range_ga = 8; setbits |= REG6_FULL_SCALE_8GA_M; new_scale_ga_digit = 0.320e-3f; } else if (max_ga <= 12) { _mag_range_ga = 12; setbits |= REG6_FULL_SCALE_12GA_M; new_scale_ga_digit = 0.479e-3f; } else { return -EINVAL; } _mag_range_scale = new_scale_ga_digit; modify_reg(ADDR_CTRL_REG6, clearbits, setbits); return OK; } int LSM303D::accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth) { 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; _accel_onchip_filter_bandwith = 50; } else if (bandwidth <= 194) { setbits |= REG2_AA_FILTER_BW_194HZ_A; _accel_onchip_filter_bandwith = 194; } else if (bandwidth <= 362) { setbits |= REG2_AA_FILTER_BW_362HZ_A; _accel_onchip_filter_bandwith = 362; } else if (bandwidth <= 773) { setbits |= REG2_AA_FILTER_BW_773HZ_A; _accel_onchip_filter_bandwith = 773; } else { return -EINVAL; } modify_reg(ADDR_CTRL_REG2, clearbits, setbits); return OK; } int LSM303D::accel_set_driver_lowpass_filter(float samplerate, float bandwidth) { _accel_filter_x.set_cutoff_frequency(samplerate, bandwidth); _accel_filter_y.set_cutoff_frequency(samplerate, bandwidth); _accel_filter_z.set_cutoff_frequency(samplerate, bandwidth); return OK; } int LSM303D::accel_set_samplerate(unsigned frequency) { uint8_t setbits = 0; uint8_t clearbits = REG1_RATE_BITS_A; if (frequency == 0) frequency = 1600; if (frequency <= 100) { setbits |= REG1_RATE_100HZ_A; _accel_samplerate = 100; } else if (frequency <= 200) { setbits |= REG1_RATE_200HZ_A; _accel_samplerate = 200; } else if (frequency <= 400) { setbits |= REG1_RATE_400HZ_A; _accel_samplerate = 400; } else if (frequency <= 800) { setbits |= REG1_RATE_800HZ_A; _accel_samplerate = 800; } else if (frequency <= 1600) { setbits |= REG1_RATE_1600HZ_A; _accel_samplerate = 1600; } 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; _mag_samplerate = 25; } else if (frequency <= 50) { setbits |= REG5_RATE_50HZ_M; _mag_samplerate = 50; } else if (frequency <= 100) { setbits |= REG5_RATE_100HZ_M; _mag_samplerate = 100; } else { return -EINVAL; } modify_reg(ADDR_CTRL_REG5, clearbits, setbits); return OK; } void LSM303D::start() { /* make sure we are stopped first */ stop(); /* reset the report ring */ _oldest_accel_report = _next_accel_report = 0; _oldest_mag_report = _next_mag_report = 0; /* start polling at the specified rate */ hrt_call_every(&_accel_call, 1000, _call_accel_interval, (hrt_callout)&LSM303D::measure_trampoline, this); hrt_call_every(&_mag_call, 1000, _call_mag_interval, (hrt_callout)&LSM303D::mag_measure_trampoline, this); } void LSM303D::stop() { hrt_cancel(&_accel_call); hrt_cancel(&_mag_call); } void LSM303D::measure_trampoline(void *arg) { LSM303D *dev = (LSM303D *)arg; /* make another measurement */ dev->measure(); } void LSM303D::mag_measure_trampoline(void *arg) { LSM303D *dev = (LSM303D *)arg; /* make another measurement */ dev->mag_measure(); } void LSM303D::measure() { /* status register and data as read back from the device */ #pragma pack(push, 1) struct { uint8_t cmd; uint8_t status; int16_t x; int16_t y; int16_t z; } raw_accel_report; #pragma pack(pop) accel_report *accel_report = &_accel_reports[_next_accel_report]; /* start the performance counter */ perf_begin(_accel_sample_perf); /* fetch data from the sensor */ raw_accel_report.cmd = ADDR_STATUS_A | DIR_READ | ADDR_INCREMENT; transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report)); /* * 1) Scale raw value to SI units using scaling from datasheet. * 2) Subtract static offset (in SI units) * 3) Scale the statically calibrated values with a linear * dynamically obtained factor * * Note: the static sensor offset is the number the sensor outputs * at a nominally 'zero' input. Therefore the offset has to * be subtracted. * * Example: A gyro outputs a value of 74 at zero angular rate * the offset is 74 from the origin and subtracting * 74 from all measurements centers them around zero. */ accel_report->timestamp = hrt_absolute_time(); accel_report->x_raw = raw_accel_report.x; accel_report->y_raw = raw_accel_report.y; accel_report->z_raw = raw_accel_report.z; float x_in_new = ((accel_report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale; 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; 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); 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); /* if we are running up against the oldest report, fix it */ if (_next_accel_report == _oldest_accel_report) INCREMENT(_oldest_accel_report, _num_accel_reports); /* notify anyone waiting for data */ poll_notify(POLLIN); /* publish for subscribers */ orb_publish(ORB_ID(sensor_accel), _accel_topic, accel_report); _accel_read++; /* stop the perf counter */ perf_end(_accel_sample_perf); } void LSM303D::mag_measure() { /* status register and data as read back from the device */ #pragma pack(push, 1) struct { uint8_t cmd; uint8_t status; int16_t x; int16_t y; int16_t z; } raw_mag_report; #pragma pack(pop) mag_report *mag_report = &_mag_reports[_next_mag_report]; /* start the performance counter */ perf_begin(_mag_sample_perf); /* fetch data from the sensor */ raw_mag_report.cmd = ADDR_STATUS_M | DIR_READ | ADDR_INCREMENT; transfer((uint8_t *)&raw_mag_report, (uint8_t *)&raw_mag_report, sizeof(raw_mag_report)); /* * 1) Scale raw value to SI units using scaling from datasheet. * 2) Subtract static offset (in SI units) * 3) Scale the statically calibrated values with a linear * dynamically obtained factor * * Note: the static sensor offset is the number the sensor outputs * at a nominally 'zero' input. Therefore the offset has to * be subtracted. * * Example: A gyro outputs a value of 74 at zero angular rate * the offset is 74 from the origin and subtracting * 74 from all measurements centers them around zero. */ mag_report->timestamp = hrt_absolute_time(); mag_report->x_raw = raw_mag_report.x; mag_report->y_raw = raw_mag_report.y; mag_report->z_raw = raw_mag_report.z; mag_report->x = ((mag_report->x_raw * _mag_range_scale) - _mag_scale.x_offset) * _mag_scale.x_scale; mag_report->y = ((mag_report->y_raw * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale; mag_report->z = ((mag_report->z_raw * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale; mag_report->scaling = _mag_range_scale; mag_report->range_ga = (float)_mag_range_ga; /* post a report to the ring - note, not locked */ INCREMENT(_next_mag_report, _num_mag_reports); /* if we are running up against the oldest report, fix it */ if (_next_mag_report == _oldest_mag_report) INCREMENT(_oldest_mag_report, _num_mag_reports); /* XXX please check this poll_notify, is it the right one? */ /* notify anyone waiting for data */ poll_notify(POLLIN); /* publish for subscribers */ orb_publish(ORB_ID(sensor_mag), _mag_topic, mag_report); _mag_read++; /* stop the perf counter */ perf_end(_mag_sample_perf); } void LSM303D::print_info() { printf("accel reads: %u\n", _accel_read); printf("mag reads: %u\n", _mag_read); perf_print_counter(_accel_sample_perf); printf("report queue: %u (%u/%u @ %p)\n", _num_accel_reports, _oldest_accel_report, _next_accel_report, _accel_reports); perf_print_counter(_mag_sample_perf); printf("report queue: %u (%u/%u @ %p)\n", _num_mag_reports, _oldest_mag_report, _next_mag_report, _mag_reports); } LSM303D_mag::LSM303D_mag(LSM303D *parent) : CDev("LSM303D_mag", MAG_DEVICE_PATH), _parent(parent) { } LSM303D_mag::~LSM303D_mag() { } void LSM303D_mag::parent_poll_notify() { poll_notify(POLLIN); } ssize_t LSM303D_mag::read(struct file *filp, char *buffer, size_t buflen) { return _parent->mag_read(filp, buffer, buflen); } int LSM303D_mag::ioctl(struct file *filp, int cmd, unsigned long arg) { return _parent->mag_ioctl(filp, cmd, arg); } void LSM303D_mag::measure() { _parent->mag_measure(); } void LSM303D_mag::measure_trampoline(void *arg) { _parent->mag_measure_trampoline(arg); } /** * Local functions in support of the shell command. */ namespace lsm303d { LSM303D *g_dev; void start(); void test(); void reset(); void info(); /** * Start the driver. */ void start() { int fd, fd_mag; if (g_dev != nullptr) errx(0, "already started"); /* create the driver */ g_dev = new LSM303D(1 /* XXX magic number */, ACCEL_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG); if (g_dev == nullptr) { warnx("failed instantiating LSM303D obj"); goto fail; } if (OK != g_dev->init()) goto fail; /* set the poll rate to default, starts automatic data collection */ fd = open(ACCEL_DEVICE_PATH, O_RDONLY); if (fd < 0) goto fail; if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) goto fail; fd_mag = open(MAG_DEVICE_PATH, O_RDONLY); /* don't fail if open cannot be opened */ if (0 <= fd_mag) { if (ioctl(fd_mag, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { goto fail; } } exit(0); fail: if (g_dev != nullptr) { delete g_dev; g_dev = nullptr; } errx(1, "driver start failed"); } /** * Perform some basic functional tests on the driver; * make sure we can collect data from the sensor in polled * and automatic modes. */ void test() { int fd_accel = -1; struct accel_report accel_report; ssize_t sz; int ret; /* get the driver */ fd_accel = open(ACCEL_DEVICE_PATH, O_RDONLY); if (fd_accel < 0) err(1, "%s open failed", ACCEL_DEVICE_PATH); /* do a simple demand read */ sz = read(fd_accel, &accel_report, sizeof(accel_report)); if (sz != sizeof(accel_report)) err(1, "immediate read failed"); warnx("accel x: \t% 9.5f\tm/s^2", (double)accel_report.x); warnx("accel y: \t% 9.5f\tm/s^2", (double)accel_report.y); warnx("accel z: \t% 9.5f\tm/s^2", (double)accel_report.z); warnx("accel x: \t%d\traw", (int)accel_report.x_raw); warnx("accel y: \t%d\traw", (int)accel_report.y_raw); warnx("accel z: \t%d\traw", (int)accel_report.z_raw); warnx("accel range: %8.4f m/s^2", (double)accel_report.range_m_s2); if (ERROR == (ret = ioctl(fd_accel, ACCELIOCGLOWPASS, 0))) warnx("accel antialias filter bandwidth: fail"); else warnx("accel antialias filter bandwidth: %d Hz", ret); int fd_mag = -1; struct mag_report m_report; /* get the driver */ fd_mag = open(MAG_DEVICE_PATH, O_RDONLY); if (fd_mag < 0) err(1, "%s open failed", MAG_DEVICE_PATH); /* check if mag is onboard or external */ if ((ret = ioctl(fd_mag, MAGIOCGEXTERNAL, 0)) < 0) errx(1, "failed to get if mag is onboard or external"); warnx("mag device active: %s", ret ? "external" : "onboard"); /* do a simple demand read */ sz = read(fd_mag, &m_report, sizeof(m_report)); if (sz != sizeof(m_report)) err(1, "immediate read failed"); 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 */ reset(); errx(0, "PASS"); } /** * Reset the driver. */ void reset() { int fd = open(ACCEL_DEVICE_PATH, O_RDONLY); if (fd < 0) err(1, "failed "); if (ioctl(fd, SENSORIOCRESET, 0) < 0) err(1, "driver reset failed"); if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) err(1, "accel pollrate reset failed"); fd = open(MAG_DEVICE_PATH, O_RDONLY); if (fd < 0) { warnx("mag could not be opened, external mag might be used"); } else { /* no need to reset the mag as well, the reset() is the same */ if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) err(1, "mag pollrate reset failed"); } exit(0); } /** * Print a little info about the driver. */ void info() { if (g_dev == nullptr) errx(1, "driver not running\n"); printf("state @ %p\n", g_dev); g_dev->print_info(); exit(0); } } // namespace int lsm303d_main(int argc, char *argv[]) { /* * Start/load the driver. */ if (!strcmp(argv[1], "start")) lsm303d::start(); /* * Test the driver/device. */ if (!strcmp(argv[1], "test")) lsm303d::test(); /* * Reset the driver. */ if (!strcmp(argv[1], "reset")) lsm303d::reset(); /* * Print driver information. */ if (!strcmp(argv[1], "info")) lsm303d::info(); errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); }