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Commit 1f593202 authored by Andrea Milluzzo's avatar Andrea Milluzzo
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lsm9ds1 driver seems working! adj sensitivity

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miosix-kernel @ 38bea287
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Subproject commit 9096c209182fc1c86a1f4f33c9a1546fdad4e0b3
Subproject commit 38bea2878c5470f8dd4cdd5792c969a5bf5ab660
sbs.conf
+ 8
− 0
View file @ 1f593202
......@@ -483,6 +483,14 @@ Include: %shared %spi
Defines: -DDEBUG
Main: drivers/test-lsm9ds1
[test-lsm9ds1-class]
Type: test
BoardId: stm32f407vg_stm32f4discovery
BinName: test-lsm9ds1-class
Include: %shared %spi
Defines: -DDEBUG
Main: drivers/test-lsm9ds1-class
[test-rls]
Type: test
BoardId: stm32f429zi_skyward_death_stack
......
src/shared/sensors/LSM9DS1/LSM9DS1_AxelGyro.h
+ 46
− 37
View file @ 1f593202
......@@ -105,6 +105,12 @@ class LSM9DS1_XLG : public GyroSensor, public AccelSensor, public TemperatureSen
}
void getWhoami()
{
SPITransaction spi(spislave);
uint8_t whoami = spi.read(regMapXLG::WHO_AM_I);
TRACE("whoami: 0x%02X\n", whoami);
}
bool init() override
......@@ -113,34 +119,34 @@ class LSM9DS1_XLG : public GyroSensor, public AccelSensor, public TemperatureSen
switch(axelFSR)
{
case AxelFSR::FS_2:
axelFSRval = 2.0f;
axelSensitivity = 0.061f;
break;
case AxelFSR::FS_4:
axelFSRval = 4.0f;
axelSensitivity = 0.122f;
break;
case AxelFSR::FS_8:
axelFSRval = 8.0f;
axelSensitivity = 0.244f;
break;
case AxelFSR::FS_16:
axelFSRval = 16.0f;
axelSensitivity = 0.732f;
break;
default:
axelFSRval = 2.0f;
axelSensitivity = 0.061f;
break;
}
switch (gyroFSR)
{
case GyroFSR::FS_245:
gyroFSRval = 245.0f;
gyroSensitivity = 8.75f;
break;
case GyroFSR::FS_500:
gyroFSRval = 500.0f;
gyroSensitivity = 17.50f;
break;
case GyroFSR::FS_2000:
gyroFSRval = 2000.0f;
gyroSensitivity = 70.0f;
break;
default:
gyroFSRval = 245.0f;
gyroSensitivity = 8.75f;
break;
}
......@@ -165,8 +171,9 @@ class LSM9DS1_XLG : public GyroSensor, public AccelSensor, public TemperatureSen
spi.write(regMapXLG::CTRL_REG9, (CTRL_REG9_VAL|0x02)); //DRDY_mask_bit ON, I2C OFF, FIFO ON
}
else
{
spi.write(regMapXLG::CTRL_REG9, CTRL_REG9_VAL); //DRDY_mask_bit ON, I2C OFF, FIFO OFF
}
//Axel Setup: ODR, FSR defined by constructor, auto anti-aliasing BW (max), LPF2/HPF bypassed and disabled, axel output enabled by default @ startup
......@@ -181,17 +188,19 @@ class LSM9DS1_XLG : public GyroSensor, public AccelSensor, public TemperatureSen
//spi.write(regMapXLG::ORIENT_CFG_G, ORIENT_CFG_VAL); //angular rate sign and orientation Setup <--- BOARD DEPENDENT
//Check all the registers have been written correctly
if(spi.read(regMapXLG::CTRL_REG8)!=CTRL_REG8_VAL) return false;
if(spi.read(regMapXLG::CTRL_REG8)!=CTRL_REG8_VAL) {return false;}
if(fifo_enabled)
{
if(spi.read(regMapXLG::FIFO_CTRL) != (FIFO_CTRL_VAL|fifo_watermark)) return false;
if(spi.read(regMapXLG::INT1_CTRL) != INT1_CTRL_VAL) return false;
if(spi.read(regMapXLG::CTRL_REG9) != (CTRL_REG9_VAL| 0x02)) return false;
if(spi.read(regMapXLG::FIFO_CTRL) != (FIFO_CTRL_VAL|fifo_watermark)) {return false;}
if(spi.read(regMapXLG::INT1_CTRL) != INT1_CTRL_VAL) {return false;}
if(spi.read(regMapXLG::CTRL_REG9) != (CTRL_REG9_VAL| 0x02)) {return false;}
}
else
if(spi.read(regMapXLG::CTRL_REG9) != CTRL_REG9_VAL) return false;
if(spi.read(regMapXLG::CTRL_REG6_XL) != CTRL_REG6_XL_VAL) return false;
if(spi.read(regMapXLG::CTRL_REG1_G) != CTRL_REG1_G_VAL) return false;
{
if(spi.read(regMapXLG::CTRL_REG9) != CTRL_REG9_VAL) {return false;}
}
if(spi.read(regMapXLG::CTRL_REG6_XL) != CTRL_REG6_XL_VAL) {return false;}
if(spi.read(regMapXLG::CTRL_REG1_G) != CTRL_REG1_G_VAL) {return false;}
//@ startup, some samples have to be discarded (datasheet)
......@@ -243,14 +252,14 @@ class LSM9DS1_XLG : public GyroSensor, public AccelSensor, public TemperatureSen
// TRACE("LSM9DS1 temp: %02X\n, temp");
mLastAccel =
Vec3(x_xl * axelFSRval / 0xFFFF,
y_xl * axelFSRval / 0xFFFF,
z_xl * axelFSRval / 0xFFFF);
Vec3(x_xl / axelSensitivity,
y_xl / axelSensitivity,
z_xl / axelSensitivity);
mLastGyro =
Vec3(x_gy * gyroFSRval / 0xFFFF,
y_gy * gyroFSRval / 0xFFFF,
z_gy * gyroFSRval / 0xFFFF);
Vec3(x_gy / gyroSensitivity,
y_gy / gyroSensitivity,
z_gy / gyroSensitivity);
mLastTemp = tempZero + temp / tempSensistivity; //25°C + TEMP/S devo castare a float "temp"?
}
......@@ -267,22 +276,22 @@ class LSM9DS1_XLG : public GyroSensor, public AccelSensor, public TemperatureSen
//convert & store
for(int i=0; i<fifo_samples; i++ )
{
uint16_t x_gy = buf[i*12] | buf[i*6 + 1] << 8;
uint16_t y_gy = buf[i*12 + 2] | buf[i*6 + 3] << 8;
uint16_t z_gy = buf[i*12 + 4] | buf[i*6 + 5] << 8;
uint16_t x_gy = buf[i*12] | buf[i*12 + 1] << 8;
uint16_t y_gy = buf[i*12 + 2] | buf[i*12 + 3] << 8;
uint16_t z_gy = buf[i*12 + 4] | buf[i*12 + 5] << 8;
uint16_t x_xl = buf[i*12 + 6] | buf[i*6 + 7] << 8;
uint16_t y_xl = buf[i*12 + 8] | buf[i*6 + 9] << 8;
uint16_t z_xl = buf[i*12 + 10] | buf[i*6 + 11] << 8;
uint16_t x_xl = buf[i*12 + 6] | buf[i*12 + 7] << 8;
uint16_t y_xl = buf[i*12 + 8] | buf[i*12 + 9] << 8;
uint16_t z_xl = buf[i*12 + 10] | buf[i*12 + 11] << 8;
gyro_fifo[i] =
Vec3(x_gy * axelFSRval / 0xFFFF,
y_gy * axelFSRval / 0xFFFF,
z_gy * axelFSRval / 0xFFFF);
Vec3(x_gy / gyroSensitivity,
y_gy / gyroSensitivity,
z_gy / gyroSensitivity);
axel_fifo[i] =
Vec3(x_xl * axelFSRval / 0xFFFF,
y_xl * axelFSRval / 0xFFFF,
z_xl * axelFSRval / 0xFFFF);
Vec3(x_xl / axelSensitivity,
y_xl / axelSensitivity,
z_xl / axelSensitivity);
}
}
return true;
......@@ -318,8 +327,8 @@ class LSM9DS1_XLG : public GyroSensor, public AccelSensor, public TemperatureSen
GyroFSR gyroFSR;
ODR odr;
float axelFSRval;
float gyroFSRval;
float axelSensitivity;
float gyroSensitivity;
float tempZero = 25.0f;
float tempSensistivity = 16.0f;
static const uint8_t samplesToDiscard = 8; //max possible val
......
src/tests/drivers/test-lsm9ds1-class.cpp 0 → 100644
+ 88
− 0
View file @ 1f593202
/**
* test LSM9DS1 axel + gyro
* Copyright (c) 2020 Skyward Experimental Rocketry
* Authors: Andrea Milluzzo
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include "drivers/spi/SPIDriver.h"
#include "sensors/LSM9DS1/LSM9DS1_AxelGyro.h"
using namespace miosix;
typedef Gpio<GPIOA_BASE, 5> GpioSck; //questi sono i pin SPI per f407_discovery
typedef Gpio<GPIOA_BASE, 6> GpioMiso;
typedef Gpio<GPIOA_BASE, 7> GpioMosi;
static const bool FIFO_ENABLED = false;
//SPI
SPIBus bus(SPI1);
SPIBusConfig cfg;
GpioPin cs(GPIOE_BASE, 7);
int main(){
cfg.br = SPIBaudRate::DIV_64; //max 10MHz
{
FastInterruptDisableLock dLock;
RCC->APB2ENR |= RCC_APB2ENR_SPI1EN; //SPI1 ENABLE
GpioSck::mode(Mode::ALTERNATE);
GpioMiso::mode(Mode::ALTERNATE);
GpioMosi::mode(Mode::ALTERNATE);
cs.mode(Mode::OUTPUT);
GpioSck::alternateFunction(5);
GpioMiso::alternateFunction(5);
GpioMosi::alternateFunction(5);
GpioSck::speed(Speed::_25MHz);
}
cs.high();
LSM9DS1_XLG sensor1(
bus,
cs,
cfg,
LSM9DS1_XLG::AxelFSR::FS_8,
LSM9DS1_XLG::GyroFSR::FS_245,
LSM9DS1_XLG::ODR::ODR_952
);
sensor1.getWhoami();
while(1)
{
Thread::sleep(500);
}
return 0;
}
\ No newline at end of file
src/tests/drivers/test-lsm9ds1.cpp
+ 11
− 5
View file @ 1f593202
......@@ -34,6 +34,7 @@ typedef Gpio<GPIOA_BASE, 7> GpioMosi;
static const bool FIFO_ENABLED = false;
Vec3 adata, gdata;
float tdata;
//SPI
SPIBus bus(SPI1);
......@@ -44,9 +45,8 @@ GpioPin cs(GPIOE_BASE, 7);
int main(){
cfg.br = SPIBaudRate::DIV_256; //max 10MHz
cfg.cpol = 1;
cfg.cpha = 1;
cfg.br = SPIBaudRate::DIV_64; //max 10MHz
{
FastInterruptDisableLock dLock;
......@@ -60,12 +60,16 @@ int main(){
GpioSck::alternateFunction(5);
GpioMiso::alternateFunction(5);
GpioMosi::alternateFunction(5);
GpioSck::speed(Speed::_25MHz);
}
cs.high();
LSM9DS1_XLG lsm9ds1(
bus,
cs,
cfg,
LSM9DS1_XLG::AxelFSR::FS_8,
LSM9DS1_XLG::GyroFSR::FS_245,
LSM9DS1_XLG::ODR::ODR_952
......@@ -80,10 +84,12 @@ int main(){
lsm9ds1.onSimpleUpdate();
adata = *(lsm9ds1.accelDataPtr());
gdata = *(lsm9ds1.gyroDataPtr());
TRACE("TIMESTAMP:%.3f\taxel:%.3f,%.3f,%.3f\tgyro:%.3f,%.3f,%.3f\n",
tdata = *(lsm9ds1.tempDataPtr());
TRACE("TIMESTAMP:%lld\t\taxel: %.3f,%.3f,%.3f\t\tgyro: %.3f,%.3f,%.3f\t\ttemp: %.3f\n",
tick-first_tick,
adata.getX(), adata.getY(), adata.getZ(),
gdata.getX(), gdata.getY(), gdata.getZ());
gdata.getX(), gdata.getY(), gdata.getZ(),
tdata);
Thread::sleep(500);
}
......
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