void
L3GD20::measure()
{
#if L3GD20_USE_DRDY
// if the gyro doesn't have any data ready then re-schedule
// for 100 microseconds later. This ensures we don't double
// read a value and then miss the next value
if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_GYRO_DRDY) == 0) {
perf_count(_reschedules);
hrt_call_delay(&_call, 100);
return;
}
#endif
/* status register and data as read back from the device */
#pragma pack(push, 1)
struct {
uint8_t cmd;
uint8_t temp;
uint8_t status;
int16_t x;
int16_t y;
int16_t z;
} raw_report;
#pragma pack(pop)
gyro_report report;
/* start the performance counter */
perf_begin(_sample_perf);
/* fetch data from the sensor */
memset(&raw_report, 0, sizeof(raw_report));
raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT;
transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report));
#if L3GD20_USE_DRDY
if ((raw_report.status & 0xF) != 0xF) {
/*
we waited for DRDY, but did not see DRDY on all axes
when we captured. That means a transfer error of some sort
*/
perf_count(_errors);
return;
}
#endif
/*
* 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.
*/
report.timestamp = hrt_absolute_time();
report.error_count = 0; // not recorded
switch (_orientation) {
case SENSOR_BOARD_ROTATION_000_DEG:
/* keep axes in place */
report.x_raw = raw_report.x;
report.y_raw = raw_report.y;
break;
case SENSOR_BOARD_ROTATION_090_DEG:
/* swap x and y */
report.x_raw = raw_report.y;
report.y_raw = raw_report.x;
break;
case SENSOR_BOARD_ROTATION_180_DEG:
/* swap x and y and negate both */
report.x_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
report.y_raw = ((raw_report.y == -32768) ? 32767 : -raw_report.y);
break;
case SENSOR_BOARD_ROTATION_270_DEG:
/* swap x and y and negate y */
report.x_raw = raw_report.y;
report.y_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
break;
}
report.z_raw = raw_report.z;
report.x = ((report.x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
report.y = ((report.y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
report.z = ((report.z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
report.x = _gyro_filter_x.apply(report.x);
report.y = _gyro_filter_y.apply(report.y);
report.z = _gyro_filter_z.apply(report.z);
// apply user specified rotation
rotate_3f(_rotation, report.x, report.y, report.z);
report.scaling = _gyro_range_scale;
report.range_rad_s = _gyro_range_rad_s;
_reports->force(&report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
/* publish for subscribers */
if (!(_pub_blocked)) {
/* publish it */
orb_publish(_orb_id, _gyro_topic, &report);
}
_read++;
/* stop the perf counter */
perf_end(_sample_perf);
}
void
LSM303D::measure()
{
// if the accel doesn't have any data ready then re-schedule
// for 100 microseconds later. This ensures we don't double
// read a value and then miss the next value
if (stm32_gpioread(GPIO_EXTI_ACCEL_DRDY) == 0) {
perf_count(_accel_reschedules);
hrt_call_delay(&_accel_call, 100);
return;
}
if (read_reg(ADDR_CTRL_REG1) != _reg1_expected) {
perf_count(_reg1_resets);
reset();
return;
}
/* 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;
/* start the performance counter */
perf_begin(_accel_sample_perf);
/* fetch data from the sensor */
memset(&raw_accel_report, 0, sizeof(raw_accel_report));
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.error_count = 0; // not reported
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;
_accel_reports->force(&accel_report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
if (_accel_topic > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report);
}
_accel_read++;
/* stop the perf counter */
perf_end(_accel_sample_perf);
}