mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-25 16:56:25 +08:00
Analog Device ADIS16497 IMU initial support
This commit is contained in:
Mohammed Kabir
committed by
Daniel Agar
Daniel Agar
parent
d5aad58c92
commit
20e44aa320
@@ -26,6 +26,7 @@ px4_add_board(
|
||||
gps
|
||||
#heater
|
||||
imu/adis16477
|
||||
imu/adis16497
|
||||
#imu # all available imu drivers
|
||||
irlock
|
||||
lights/blinkm
|
||||
|
||||
@@ -27,6 +27,7 @@ px4_add_board(
|
||||
gps
|
||||
#heater
|
||||
imu/adis16448
|
||||
imu/adis16497
|
||||
#imu # all available imu drivers
|
||||
imu/bmi055
|
||||
imu/icm20948
|
||||
|
||||
@@ -109,6 +109,8 @@
|
||||
#define DRV_GYR_DEVTYPE_ADIS16477 0x60
|
||||
#define DRV_ACC_DEVTYPE_LSM303AGR 0x61
|
||||
#define DRV_MAG_DEVTYPE_LSM303AGR 0x62
|
||||
#define DRV_ACC_DEVTYPE_ADIS16497 0x63
|
||||
#define DRV_GYR_DEVTYPE_ADIS16497 0x64
|
||||
|
||||
/*
|
||||
* ioctl() definitions
|
||||
|
||||
@@ -33,6 +33,7 @@
|
||||
|
||||
add_subdirectory(adis16448)
|
||||
add_subdirectory(adis16477)
|
||||
add_subdirectory(adis16497)
|
||||
add_subdirectory(bma180)
|
||||
add_subdirectory(bmi055)
|
||||
add_subdirectory(bmi160)
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,254 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* ADIS16497.hpp
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef DRIVERS_IMU_ADIS16497_ADIS16497_HPP_
|
||||
#define DRIVERS_IMU_ADIS16497_ADIS16497_HPP_
|
||||
|
||||
#include <drivers/device/ringbuffer.h>
|
||||
#include <drivers/device/spi.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_accel.h>
|
||||
#include <drivers/drv_gyro.h>
|
||||
#include <mathlib/math/filter/LowPassFilter2pVector3f.hpp>
|
||||
#include <drivers/device/integrator.h>
|
||||
#include <lib/conversion/rotation.h>
|
||||
#include <perf/perf_counter.h>
|
||||
#include <ecl/geo/geo.h>
|
||||
|
||||
#define ADIS16497_GYRO_DEFAULT_RATE 1000
|
||||
#define ADIS16497_GYRO_DEFAULT_DRIVER_FILTER_FREQ 80
|
||||
|
||||
#define ADIS16497_ACCEL_DEFAULT_RATE 1000
|
||||
#define ADIS16497_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
|
||||
|
||||
// TODO : This is a copy of the NuttX CRC32 table
|
||||
static const uint32_t crc32_tab[] = {
|
||||
0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
|
||||
0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
|
||||
0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
|
||||
0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
|
||||
0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
|
||||
0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
|
||||
0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
|
||||
0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
|
||||
0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
|
||||
0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
|
||||
0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
|
||||
0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
|
||||
0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
|
||||
0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
|
||||
0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
|
||||
0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
|
||||
0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
|
||||
0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
|
||||
0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
|
||||
0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
|
||||
0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
|
||||
0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
|
||||
0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
|
||||
0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
|
||||
0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
|
||||
0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
|
||||
0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
|
||||
0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
|
||||
0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
|
||||
0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
|
||||
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
|
||||
0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
|
||||
};
|
||||
|
||||
class ADIS16497_gyro;
|
||||
|
||||
class ADIS16497 : public device::SPI
|
||||
{
|
||||
public:
|
||||
ADIS16497(int bus, const char *path_accel, const char *path_gyro, uint32_t device, enum Rotation rotation);
|
||||
virtual ~ADIS16497();
|
||||
|
||||
virtual int init();
|
||||
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
|
||||
void print_info();
|
||||
|
||||
protected:
|
||||
virtual int probe();
|
||||
|
||||
friend class ADIS16497_gyro;
|
||||
|
||||
virtual int gyro_ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
|
||||
private:
|
||||
ADIS16497_gyro *_gyro{nullptr};
|
||||
|
||||
struct hrt_call _call {};
|
||||
unsigned _call_interval{1000};
|
||||
|
||||
struct gyro_calibration_s _gyro_scale {};
|
||||
|
||||
// gyro 0.025 °/sec/LSB
|
||||
float _gyro_range_scale{0.025f};
|
||||
float _gyro_range_rad_s{math::radians(500.0f)};
|
||||
|
||||
struct accel_calibration_s _accel_scale {};
|
||||
|
||||
// accel 1.25 mg/LSB
|
||||
float _accel_range_scale{1.25f * CONSTANTS_ONE_G / 1000.0f};
|
||||
float _accel_range_m_s2{40.0f * CONSTANTS_ONE_G};
|
||||
|
||||
orb_advert_t _accel_topic{nullptr};
|
||||
|
||||
int _accel_orb_class_instance{-1};
|
||||
int _accel_class_instance{-1};
|
||||
|
||||
unsigned _sample_rate{1000};
|
||||
|
||||
perf_counter_t _sample_perf;
|
||||
perf_counter_t _sample_interval_perf;
|
||||
|
||||
perf_counter_t _bad_transfers;
|
||||
|
||||
math::LowPassFilter2pVector3f _gyro_filter{ADIS16497_GYRO_DEFAULT_RATE, ADIS16497_GYRO_DEFAULT_DRIVER_FILTER_FREQ};
|
||||
math::LowPassFilter2pVector3f _accel_filter{ADIS16497_ACCEL_DEFAULT_RATE, ADIS16497_ACCEL_DEFAULT_DRIVER_FILTER_FREQ};
|
||||
|
||||
Integrator _accel_int{4000, false};
|
||||
Integrator _gyro_int{4000, true};
|
||||
|
||||
enum Rotation _rotation;
|
||||
|
||||
#pragma pack(push, 1)
|
||||
/**
|
||||
* Report conversation with the ADIS16497, including command byte.
|
||||
*/
|
||||
struct ADISReport {
|
||||
uint16_t cmd;
|
||||
uint16_t ZEROES;
|
||||
uint16_t BURST_ID;
|
||||
uint16_t SYS_E_FLAG;
|
||||
uint16_t TEMP_OUT;
|
||||
uint16_t X_GYRO_LOW;
|
||||
uint16_t X_GYRO_OUT;
|
||||
uint16_t Y_GYRO_LOW;
|
||||
uint16_t Y_GYRO_OUT;
|
||||
uint16_t Z_GYRO_LOW;
|
||||
uint16_t Z_GYRO_OUT;
|
||||
uint16_t X_ACCEL_LOW;
|
||||
uint16_t X_ACCEL_OUT;
|
||||
uint16_t Y_ACCEL_LOW;
|
||||
uint16_t Y_ACCEL_OUT;
|
||||
uint16_t Z_ACCEL_LOW;
|
||||
uint16_t Z_ACCEL_OUT;
|
||||
uint16_t DATA_CNT;
|
||||
uint16_t CRC_LWR;
|
||||
uint16_t CRC_UPR;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
/**
|
||||
* Start automatic measurement.
|
||||
*/
|
||||
void start();
|
||||
|
||||
/**
|
||||
* Stop automatic measurement.
|
||||
*/
|
||||
void stop();
|
||||
|
||||
/**
|
||||
* Reset chip.
|
||||
*
|
||||
* Resets the chip and measurements ranges, but not scale and offset.
|
||||
*/
|
||||
int 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 int data_ready_interrupt(int irq, void *context, void *arg);
|
||||
|
||||
/**
|
||||
* Fetch measurements from the sensor and update the report buffers.
|
||||
*/
|
||||
int measure();
|
||||
|
||||
void publish_accel(const hrt_abstime &t, const ADISReport &report);
|
||||
void publish_gyro(const hrt_abstime &t, const ADISReport &report);
|
||||
|
||||
uint16_t read_reg16(uint8_t reg);
|
||||
|
||||
void write_reg(uint8_t reg, uint8_t value);
|
||||
void write_reg16(uint8_t reg, uint16_t value);
|
||||
|
||||
// ADIS16497 onboard self test
|
||||
bool self_test_sensor();
|
||||
|
||||
ADIS16497(const ADIS16497 &);
|
||||
ADIS16497 operator=(const ADIS16497 &);
|
||||
|
||||
uint32_t crc32(const uint16_t *data, size_t len)
|
||||
{
|
||||
uint32_t crc = 0xffffffff;
|
||||
uint8_t tbl_idx;
|
||||
uint8_t b;
|
||||
|
||||
while (len--) {
|
||||
b = *data;
|
||||
tbl_idx = crc ^ b;
|
||||
crc = (crc32_tab[tbl_idx] ^ (crc >> 8));
|
||||
|
||||
b = *data >> 8;
|
||||
tbl_idx = crc ^ b;
|
||||
crc = (crc32_tab[tbl_idx] ^ (crc >> 8));
|
||||
|
||||
data++;
|
||||
}
|
||||
|
||||
return crc ^ 0xffffffff;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif /* DRIVERS_IMU_ADIS16497_ADIS16497_HPP_ */
|
||||
@@ -0,0 +1,79 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "ADIS16497_gyro.hpp"
|
||||
|
||||
ADIS16497_gyro::ADIS16497_gyro(ADIS16497 *parent, const char *path) :
|
||||
CDev("ADIS16497_gyro", path),
|
||||
_parent(parent),
|
||||
_gyro_topic(nullptr),
|
||||
_gyro_orb_class_instance(-1),
|
||||
_gyro_class_instance(-1)
|
||||
{
|
||||
}
|
||||
|
||||
ADIS16497_gyro::~ADIS16497_gyro()
|
||||
{
|
||||
if (_gyro_class_instance != -1) {
|
||||
unregister_class_devname(GYRO_BASE_DEVICE_PATH, _gyro_class_instance);
|
||||
}
|
||||
}
|
||||
|
||||
int
|
||||
ADIS16497_gyro::init()
|
||||
{
|
||||
int ret = CDev::init();
|
||||
|
||||
/* if probe/setup failed, bail now */
|
||||
if (ret != OK) {
|
||||
DEVICE_DEBUG("gyro init failed");
|
||||
return ret;
|
||||
}
|
||||
|
||||
_gyro_class_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
ADIS16497_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
switch (cmd) {
|
||||
case DEVIOCGDEVICEID:
|
||||
return (int)CDev::ioctl(filp, cmd, arg);
|
||||
break;
|
||||
|
||||
default:
|
||||
return _parent->gyro_ioctl(filp, cmd, arg);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,71 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef DRIVERS_IMU_ADIS16497_ADIS16497_GYRO_HPP_
|
||||
#define DRIVERS_IMU_ADIS16497_ADIS16497_GYRO_HPP_
|
||||
|
||||
#include "ADIS16497.hpp"
|
||||
|
||||
#include <drivers/device/CDev.hpp>
|
||||
#include <drivers/drv_gyro.h>
|
||||
|
||||
/**
|
||||
* Helper class implementing the gyro driver node.
|
||||
*/
|
||||
class ADIS16497_gyro : public device::CDev
|
||||
{
|
||||
public:
|
||||
ADIS16497_gyro(ADIS16497 *parent, const char *path);
|
||||
virtual ~ADIS16497_gyro();
|
||||
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
|
||||
virtual int init();
|
||||
|
||||
protected:
|
||||
friend class ADIS16497;
|
||||
|
||||
private:
|
||||
ADIS16497 *_parent{nullptr};
|
||||
orb_advert_t _gyro_topic{nullptr};
|
||||
|
||||
int _gyro_orb_class_instance{-1};
|
||||
int _gyro_class_instance{-1};
|
||||
|
||||
/* do not allow to copy this class due to pointer data members */
|
||||
ADIS16497_gyro(const ADIS16497_gyro &);
|
||||
ADIS16497_gyro operator=(const ADIS16497_gyro &);
|
||||
|
||||
};
|
||||
|
||||
#endif /* DRIVERS_IMU_ADIS16497_ADIS16497_GYRO_HPP_ */
|
||||
@@ -0,0 +1,249 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "ADIS16497.hpp"
|
||||
#include <systemlib/err.h>
|
||||
|
||||
#define ADIS16497_DEVICE_PATH_ACCEL "/dev/ADIS16497_accel"
|
||||
#define ADIS16497_DEVICE_PATH_GYRO "/dev/ADIS16497_gyro"
|
||||
|
||||
extern "C" { __EXPORT int adis16497_main(int argc, char *argv[]); }
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace adis16497
|
||||
{
|
||||
|
||||
ADIS16497 *g_dev;
|
||||
|
||||
void start(enum Rotation rotation);
|
||||
void test();
|
||||
void reset();
|
||||
void info();
|
||||
void usage();
|
||||
/**
|
||||
* Start the driver.
|
||||
*/
|
||||
void
|
||||
start(enum Rotation rotation)
|
||||
{
|
||||
if (g_dev != nullptr)
|
||||
/* if already started, the still command succeeded */
|
||||
{
|
||||
errx(0, "already started");
|
||||
}
|
||||
|
||||
/* create the driver */
|
||||
#if defined(PX4_SPIDEV_EXTERNAL1_1)
|
||||
g_dev = new ADIS16497(PX4_SPI_BUS_EXTERNAL1, ADIS16497_DEVICE_PATH_ACCEL, ADIS16497_DEVICE_PATH_GYRO,
|
||||
PX4_SPIDEV_EXTERNAL1_1, rotation);
|
||||
#else
|
||||
PX4_ERR("External SPI not available");
|
||||
exit(0);
|
||||
#endif
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (OK != g_dev->init()) {
|
||||
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()
|
||||
{
|
||||
sensor_accel_s a_report{};
|
||||
sensor_gyro_s g_report{};
|
||||
|
||||
ssize_t sz;
|
||||
|
||||
/* get the driver */
|
||||
int fd = px4_open(ADIS16497_DEVICE_PATH_ACCEL, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "%s open failed", ADIS16497_DEVICE_PATH_ACCEL);
|
||||
}
|
||||
|
||||
/* get the gyro driver */
|
||||
int fd_gyro = px4_open(ADIS16497_DEVICE_PATH_GYRO, O_RDONLY);
|
||||
|
||||
if (fd_gyro < 0) {
|
||||
err(1, "%s open failed", ADIS16497_DEVICE_PATH_GYRO);
|
||||
}
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd, &a_report, sizeof(a_report));
|
||||
|
||||
if (sz != sizeof(a_report)) {
|
||||
PX4_ERR("ret: %d, expected: %d", sz, sizeof(a_report));
|
||||
err(1, "immediate acc read failed");
|
||||
}
|
||||
|
||||
print_message(a_report);
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = px4_read(fd_gyro, &g_report, sizeof(g_report));
|
||||
|
||||
if (sz != sizeof(g_report)) {
|
||||
warnx("ret: %d, expected: %d", sz, sizeof(g_report));
|
||||
err(1, "immediate gyro read failed");
|
||||
}
|
||||
|
||||
print_message(g_report);
|
||||
|
||||
px4_close(fd_gyro);
|
||||
px4_close(fd);
|
||||
|
||||
reset();
|
||||
errx(0, "PASS");
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
void
|
||||
reset()
|
||||
{
|
||||
int fd = px4_open(ADIS16497_DEVICE_PATH_ACCEL, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "open failed");
|
||||
}
|
||||
|
||||
if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) {
|
||||
err(1, "driver reset failed");
|
||||
}
|
||||
|
||||
px4_close(fd);
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
void
|
||||
info()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
printf("state @ %p\n", g_dev);
|
||||
g_dev->print_info();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
void
|
||||
usage()
|
||||
{
|
||||
PX4_INFO("missing command: try 'start', 'test', 'info', 'reset'");
|
||||
PX4_INFO("options:");
|
||||
PX4_INFO(" -R rotation");
|
||||
}
|
||||
|
||||
}
|
||||
// namespace
|
||||
|
||||
int
|
||||
adis16497_main(int argc, char *argv[])
|
||||
{
|
||||
enum Rotation rotation = ROTATION_NONE;
|
||||
int ch;
|
||||
|
||||
/* start options */
|
||||
while ((ch = getopt(argc, argv, "R:")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
rotation = (enum Rotation)atoi(optarg);
|
||||
break;
|
||||
|
||||
default:
|
||||
adis16497::usage();
|
||||
exit(0);
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = argv[optind];
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
|
||||
*/
|
||||
if (!strcmp(verb, "start")) {
|
||||
adis16497::start(rotation);
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(verb, "test")) {
|
||||
adis16497::test();
|
||||
}
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "reset")) {
|
||||
adis16497::reset();
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(verb, "info")) {
|
||||
adis16497::info();
|
||||
}
|
||||
|
||||
adis16497::usage();
|
||||
exit(1);
|
||||
}
|
||||
@@ -0,0 +1,42 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2018 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.
|
||||
#
|
||||
############################################################################
|
||||
px4_add_module(
|
||||
MODULE drivers__imu__adis16497
|
||||
MAIN adis16497
|
||||
STACK_MAIN 1200
|
||||
COMPILE_FLAGS
|
||||
SRCS
|
||||
ADIS16497.cpp
|
||||
ADIS16497_gyro.cpp
|
||||
ADIS16497_main.cpp
|
||||
)
|
||||
Reference in New Issue
Block a user