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new InvenSense IMU drivers review temperature sensitivities and offsets

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This commit is contained in:
Daniel Agar
2020-04-06 22:53:16 -04:00
committed by GitHub
parent da383064c6
commit 0860a61fa6
16 changed files with 21 additions and 22 deletions
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src/drivers/imu/invensense/icm20602/ICM20602.cpp
+1 -1
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@@ -623,7 +623,7 @@ bool ICM20602::ProcessTemperature(const FIFOTransferBuffer &buffer, const uint8_
} }
// use average temperature reading // use average temperature reading
const float temperature_C = temperature_avg / TEMPERATURE_SENSITIVITY + ROOM_TEMPERATURE_OFFSET; const float temperature_C = (temperature_avg / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
_px4_accel.set_temperature(temperature_C); _px4_accel.set_temperature(temperature_C);
_px4_gyro.set_temperature(temperature_C); _px4_gyro.set_temperature(temperature_C);
src/drivers/imu/invensense/icm20602/InvenSense_ICM20602_registers.hpp
+1 -1
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@@ -60,7 +60,7 @@ static constexpr uint8_t DIR_READ = 0x80;
static constexpr uint8_t WHOAMI = 0x12; static constexpr uint8_t WHOAMI = 0x12;
static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C
static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C static constexpr float TEMPERATURE_OFFSET = 25.f; // C
enum class Register : uint8_t { enum class Register : uint8_t {
CONFIG = 0x1A, CONFIG = 0x1A,
src/drivers/imu/invensense/icm20608g/ICM20608G.cpp
+1 -1
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@@ -628,7 +628,7 @@ void ICM20608G::UpdateTemperature()
} }
const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]); const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]);
const float TEMP_degC = ((TEMP_OUT - ROOM_TEMPERATURE_OFFSET) / TEMPERATURE_SENSITIVITY) + ROOM_TEMPERATURE_OFFSET; const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
if (PX4_ISFINITE(TEMP_degC)) { if (PX4_ISFINITE(TEMP_degC)) {
_px4_accel.set_temperature(TEMP_degC); _px4_accel.set_temperature(TEMP_degC);
src/drivers/imu/invensense/icm20608g/InvenSense_ICM20608G_registers.hpp
+1 -1
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@@ -60,7 +60,7 @@ static constexpr uint8_t DIR_READ = 0x80;
static constexpr uint8_t WHOAMI = 0xAF; static constexpr uint8_t WHOAMI = 0xAF;
static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C
static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C static constexpr float TEMPERATURE_OFFSET = 25.f; // C
enum class Register : uint8_t { enum class Register : uint8_t {
CONFIG = 0x1A, CONFIG = 0x1A,
src/drivers/imu/invensense/icm20689/ICM20689.cpp
+1 -1
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@@ -627,7 +627,7 @@ void ICM20689::UpdateTemperature()
} }
const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]); const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]);
const float TEMP_degC = ((TEMP_OUT - ROOM_TEMPERATURE_OFFSET) / TEMPERATURE_SENSITIVITY) + ROOM_TEMPERATURE_OFFSET; const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
if (PX4_ISFINITE(TEMP_degC)) { if (PX4_ISFINITE(TEMP_degC)) {
_px4_accel.set_temperature(TEMP_degC); _px4_accel.set_temperature(TEMP_degC);
src/drivers/imu/invensense/icm20689/InvenSense_ICM20689_registers.hpp
+1 -1
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@@ -60,7 +60,7 @@ static constexpr uint8_t DIR_READ = 0x80;
static constexpr uint8_t WHOAMI = 0x98; static constexpr uint8_t WHOAMI = 0x98;
static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C
static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C static constexpr float TEMPERATURE_OFFSET = 25.f; // C
enum class Register : uint8_t { enum class Register : uint8_t {
CONFIG = 0x1A, CONFIG = 0x1A,
src/drivers/imu/invensense/icm40609d/ICM40609D.cpp
+2 -2
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@@ -618,8 +618,8 @@ void ICM40609D::UpdateTemperature()
const int16_t TEMP_DATA = combine(temperature_buf[1], temperature_buf[2]); const int16_t TEMP_DATA = combine(temperature_buf[1], temperature_buf[2]);
// Temperature in Degrees Centigrade = (TEMP_DATA / 132.48) + 25 // Temperature in Degrees Centigrade
const float TEMP_degC = (TEMP_DATA / TEMPERATURE_SENSITIVITY) + ROOM_TEMPERATURE_OFFSET; const float TEMP_degC = (TEMP_DATA / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
if (PX4_ISFINITE(TEMP_degC)) { if (PX4_ISFINITE(TEMP_degC)) {
_px4_accel.set_temperature(TEMP_degC); _px4_accel.set_temperature(TEMP_degC);
src/drivers/imu/invensense/icm40609d/InvenSense_ICM40609D_registers.hpp
+1 -2
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@@ -60,7 +60,7 @@ static constexpr uint8_t DIR_READ = 0x80;
static constexpr uint8_t WHOAMI = 0x3B; static constexpr uint8_t WHOAMI = 0x3B;
static constexpr float TEMPERATURE_SENSITIVITY = 132.48f; // LSB/C static constexpr float TEMPERATURE_SENSITIVITY = 132.48f; // LSB/C
static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C static constexpr float TEMPERATURE_OFFSET = 25.f; // C
namespace Register namespace Register
{ {
@@ -221,7 +221,6 @@ struct DATA {
uint8_t timestamp_l; uint8_t timestamp_l;
uint8_t timestamp_h; uint8_t timestamp_h;
}; };
static_assert(sizeof(DATA) == 16, "FIFO packet 16 bytes");
// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx // With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
enum FIFO_HEADER_BIT : uint8_t { enum FIFO_HEADER_BIT : uint8_t {
src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
+2 -2
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@@ -620,8 +620,8 @@ void ICM42688P::UpdateTemperature()
const int16_t TEMP_DATA = combine(temperature_buf[1], temperature_buf[2]); const int16_t TEMP_DATA = combine(temperature_buf[1], temperature_buf[2]);
// Temperature in Degrees Centigrade = (TEMP_DATA / 132.48) + 25 // Temperature in Degrees Centigrade
const float TEMP_degC = (TEMP_DATA / TEMPERATURE_SENSITIVITY) + ROOM_TEMPERATURE_OFFSET; const float TEMP_degC = (TEMP_DATA / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
if (PX4_ISFINITE(TEMP_degC)) { if (PX4_ISFINITE(TEMP_degC)) {
_px4_accel.set_temperature(TEMP_degC); _px4_accel.set_temperature(TEMP_degC);
src/drivers/imu/invensense/icm42688p/InvenSense_ICM42688P_registers.hpp
+1 -1
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@@ -60,7 +60,7 @@ static constexpr uint8_t DIR_READ = 0x80;
static constexpr uint8_t WHOAMI = 0x47; static constexpr uint8_t WHOAMI = 0x47;
static constexpr float TEMPERATURE_SENSITIVITY = 132.48f; // LSB/C static constexpr float TEMPERATURE_SENSITIVITY = 132.48f; // LSB/C
static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C static constexpr float TEMPERATURE_OFFSET = 25.f; // C
namespace Register namespace Register
{ {
src/drivers/imu/invensense/mpu6000/InvenSense_MPU6000_registers.hpp
+2 -2
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@@ -60,8 +60,8 @@ static constexpr uint8_t DIR_READ = 0x80;
static constexpr uint8_t WHOAMI = 0x68; static constexpr uint8_t WHOAMI = 0x68;
static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C static constexpr float TEMPERATURE_SENSITIVITY = 340.f; // LSB/C
static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C static constexpr float TEMPERATURE_OFFSET = 36.53f; // C
enum class Register : uint8_t { enum class Register : uint8_t {
CONFIG = 0x1A, CONFIG = 0x1A,
src/drivers/imu/invensense/mpu6000/MPU6000.cpp
+1 -1
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@@ -567,7 +567,7 @@ void MPU6000::UpdateTemperature()
} }
const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]); const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]);
const float TEMP_degC = ((TEMP_OUT - ROOM_TEMPERATURE_OFFSET) / TEMPERATURE_SENSITIVITY) + ROOM_TEMPERATURE_OFFSET; const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
if (PX4_ISFINITE(TEMP_degC)) { if (PX4_ISFINITE(TEMP_degC)) {
_px4_accel.set_temperature(TEMP_degC); _px4_accel.set_temperature(TEMP_degC);
src/drivers/imu/invensense/mpu6500/InvenSense_MPU6500_registers.hpp
+2 -2
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@@ -60,8 +60,8 @@ static constexpr uint8_t DIR_READ = 0x80;
static constexpr uint8_t WHOAMI = 0x70; static constexpr uint8_t WHOAMI = 0x70;
static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C static constexpr float TEMPERATURE_SENSITIVITY = 333.87f; // LSB/C
static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C static constexpr float TEMPERATURE_OFFSET = 21.f; // C
enum class Register : uint8_t { enum class Register : uint8_t {
CONFIG = 0x1A, CONFIG = 0x1A,
src/drivers/imu/invensense/mpu6500/MPU6500.cpp
+1 -1
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@@ -591,7 +591,7 @@ void MPU6500::UpdateTemperature()
} }
const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]); const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]);
const float TEMP_degC = ((TEMP_OUT - ROOM_TEMPERATURE_OFFSET) / TEMPERATURE_SENSITIVITY) + ROOM_TEMPERATURE_OFFSET; const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
if (PX4_ISFINITE(TEMP_degC)) { if (PX4_ISFINITE(TEMP_degC)) {
_px4_accel.set_temperature(TEMP_degC); _px4_accel.set_temperature(TEMP_degC);
src/drivers/imu/invensense/mpu9250/InvenSense_MPU9250_registers.hpp
+2 -2
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@@ -61,8 +61,8 @@ static constexpr uint8_t DIR_READ = 0x80;
static constexpr uint8_t WHOAMI = 0x71; static constexpr uint8_t WHOAMI = 0x71;
static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C static constexpr float TEMPERATURE_SENSITIVITY = 333.87f; // LSB/C
static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C static constexpr float TEMPERATURE_OFFSET = 21.f; // C
enum class Register : uint8_t { enum class Register : uint8_t {
CONFIG = 0x1A, CONFIG = 0x1A,
src/drivers/imu/invensense/mpu9250/MPU9250.cpp
+1 -1
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@@ -624,7 +624,7 @@ void MPU9250::UpdateTemperature()
} }
const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]); const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]);
const float TEMP_degC = ((TEMP_OUT - ROOM_TEMPERATURE_OFFSET) / TEMPERATURE_SENSITIVITY) + ROOM_TEMPERATURE_OFFSET; const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
if (PX4_ISFINITE(TEMP_degC)) { if (PX4_ISFINITE(TEMP_degC)) {
_px4_accel.set_temperature(TEMP_degC); _px4_accel.set_temperature(TEMP_degC);