580 lines
16 KiB
C
580 lines
16 KiB
C
/****************************************************************************
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* drivers/sensors/wtgahrs2.c
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* Driver for the Wit-Motion WTGAHRS2 accelerometer, gyroscope, magnetic,
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* angle, barometer, temperature, gps sensors by serial interface with host
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/sensors/wtgahrs2.h>
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#include <nuttx/kthread.h>
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#include <nuttx/kmalloc.h>
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#include <termios.h>
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#include <math.h>
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#include <fcntl.h>
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#include <stdio.h>
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#include <debug.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define WTGAHRS2_ARRAYSIZE(a) (sizeof((a))/sizeof(a[0]))
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#define WTGAHRS2_ACCEL_IDX 0
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#define WTGAHRS2_GYRO_IDX 1
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#define WTGAHRS2_MAG_IDX 2
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#define WTGAHRS2_BARO_IDX 3
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#define WTGAHRS2_GPS_IDX 4
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#define WTGAHRS2_MAX_IDX 5
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#define WTGAHRS2_GPS0_MASK (1 << 0) /* Time */
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#define WTGAHRS2_GPS1_MASK (1 << 1) /* Longitude, Latitude */
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#define WTGAHRS2_GPS2_MASK (1 << 2) /* Ground speed, Height, Yaw */
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#define WTGAHRS2_GPS_MASK (7 << 0)
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#define WTGAHRS2_GPS0_INFO 0x50
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#define WTGAHRS2_ACCEL_INFO 0x51
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#define WTGAHRS2_GYRO_INFO 0x52
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#define WTGAHRS2_MAG_INFO 0x54
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#define WTGAHRS2_BARO_INFO 0x56
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#define WTGAHRS2_GPS1_INFO 0x57
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#define WTGAHRS2_GPS2_INFO 0x58
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#define WTGAHRS2_RSP_HEADER 0x55
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#define WTGAHRS2_RSP_LENGTH 11
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#define WTGAHRS2_CMD_LENGTH 5
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/****************************************************************************
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* Private Types
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****************************************************************************/
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struct wtgahrs2_sensor_s
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{
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struct sensor_lowerhalf_s lower;
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unsigned int interval;
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unsigned int last_update;
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bool enable;
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};
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struct wtgahrs2_dev_s
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{
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struct wtgahrs2_sensor_s dev[WTGAHRS2_MAX_IDX];
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struct file file;
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struct sensor_event_gps gps;
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unsigned char gps_mask;
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};
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/****************************************************************************
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* Private
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****************************************************************************/
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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static int wtgahrs2_activate(FAR struct sensor_lowerhalf_s *lower, bool sw);
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static int wtgahrs2_set_interval(FAR struct sensor_lowerhalf_s *lower,
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FAR unsigned int *interval);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/* in microseconds */
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static const unsigned int g_wtgahrs2_interval[] =
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{
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10000000, /* 0.1 hz */
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2000000, /* 0.5 hz */
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1000000, /* 1 hz */
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500000, /* 2 hz */
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200000, /* 5 hz */
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100000, /* 10 hz */
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50000, /* 20 hz */
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20000, /* 50 hz */
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10000, /* 100 hz */
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5000, /* 200 hz */
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};
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static const uint8_t g_wtgahrs2_unlock[] =
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{
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0xff, 0xaa, 0x69, 0x88, 0xb5
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};
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static const uint8_t g_wtgahrs2_odr_200hz[] =
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{
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0xff, 0xaa, 0x03, 0x0b, 0x00
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};
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static const uint8_t g_wtgahrs2_enable_sensor[] =
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{
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0xff, 0xaa, 0x02, 0xd7, 0x05
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};
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static const struct sensor_ops_s g_wtgahrs2_ops =
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{
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.activate = wtgahrs2_activate,
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.set_interval = wtgahrs2_set_interval,
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.batch = NULL,
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};
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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static void wtgahrs2_sendcmd(FAR struct wtgahrs2_dev_s *rtdata,
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const void *cmd)
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{
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file_write(&rtdata->file, cmd, WTGAHRS2_CMD_LENGTH);
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usleep(10000);
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}
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static int wtgahrs2_activate(FAR struct sensor_lowerhalf_s *lower, bool sw)
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{
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FAR struct wtgahrs2_sensor_s *dev = (FAR struct wtgahrs2_sensor_s *)lower;
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dev->enable = sw;
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return 0;
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}
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static int wtgahrs2_set_interval(FAR struct sensor_lowerhalf_s *lower,
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FAR unsigned int *interval)
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{
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FAR struct wtgahrs2_sensor_s *dev = (FAR struct wtgahrs2_sensor_s *)lower;
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int idx = 0;
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for (; idx < WTGAHRS2_ARRAYSIZE(g_wtgahrs2_interval) - 1; idx++)
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{
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if (*interval >= g_wtgahrs2_interval[idx])
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{
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break;
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}
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}
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*interval = g_wtgahrs2_interval[idx];
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dev->interval = *interval;
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return 0;
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}
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static void wtgahrs2_accel_data(FAR struct wtgahrs2_dev_s *rtdata,
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FAR unsigned char *buffer)
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{
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FAR struct wtgahrs2_sensor_s *dev = &rtdata->dev[WTGAHRS2_ACCEL_IDX];
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FAR struct sensor_lowerhalf_s *lower = &dev->lower;
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uint64_t now = sensor_get_timestamp();
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struct sensor_event_accel accel;
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if (!dev->enable || now - dev->last_update < dev->interval)
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{
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return;
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}
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dev->last_update = now;
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accel.timestamp = now;
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accel.x = (short)(buffer[1] << 8 | buffer[0]) * (16 * 9.8f / 32768);
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accel.y = (short)(buffer[3] << 8 | buffer[2]) * (16 * 9.8f / 32768);
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accel.z = (short)(buffer[5] << 8 | buffer[4]) * (16 * 9.8f / 32768);
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accel.temperature = (short)(buffer[7] << 8 | buffer[6]) / 100.0f;
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lower->push_event(lower->priv, &accel, sizeof(accel));
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sninfo("Accel: %.3fm/s^2 %.3fm/s^2 %.3fm/s^2, t:%.1f\n",
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accel.x, accel.y, accel.z, accel.temperature);
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}
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static void wtgahrs2_gyro_data(FAR struct wtgahrs2_dev_s *rtdata,
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FAR unsigned char *buffer)
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{
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FAR struct wtgahrs2_sensor_s *dev = &rtdata->dev[WTGAHRS2_GYRO_IDX];
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FAR struct sensor_lowerhalf_s *lower = &dev->lower;
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uint64_t now = sensor_get_timestamp();
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struct sensor_event_gyro gyro;
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if (!dev->enable || now - dev->last_update < dev->interval)
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{
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return;
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}
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dev->last_update = now;
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gyro.timestamp = now;
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gyro.x = (short)(buffer[1] << 8 | buffer[0]) * (2000 * M_PI / 180 / 32768);
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gyro.y = (short)(buffer[3] << 8 | buffer[2]) * (2000 * M_PI / 180 / 32768);
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gyro.z = (short)(buffer[5] << 8 | buffer[4]) * (2000 * M_PI / 180 / 32768);
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gyro.temperature = (short)(buffer[7] << 8 | buffer[6]) / 100.0f;
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lower->push_event(lower->priv, &gyro, sizeof(gyro));
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sninfo("Gyro: %.3frad/s %.3frad/s %.3frad/s, t:%.1f\n",
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gyro.x, gyro.y, gyro.z, gyro.temperature);
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}
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static void wtgahrs2_mag_data(FAR struct wtgahrs2_dev_s *rtdata,
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FAR unsigned char *buffer)
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{
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FAR struct wtgahrs2_sensor_s *dev = &rtdata->dev[WTGAHRS2_MAG_IDX];
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FAR struct sensor_lowerhalf_s *lower = &dev->lower;
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uint64_t now = sensor_get_timestamp();
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struct sensor_event_mag mag;
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if (!dev->enable || now - dev->last_update < dev->interval)
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{
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return;
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}
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dev->last_update = now;
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mag.timestamp = now;
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mag.x = (short)(buffer[1] << 8 | buffer[0]) * 0.16f;
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mag.y = (short)(buffer[3] << 8 | buffer[2]) * 0.16f;
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mag.z = (short)(buffer[5] << 8 | buffer[4]) * 0.16f;
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mag.temperature = (short)(buffer[7] << 8 | buffer[6]) / 100.0f;
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lower->push_event(lower->priv, &mag, sizeof(mag));
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sninfo("Mag: %.3fuT %.3fuT %.3fuT, t:%.1f\n",
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mag.x, mag.y, mag.z, mag.temperature);
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}
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static void wtgahrs2_baro_data(FAR struct wtgahrs2_dev_s *rtdata,
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FAR unsigned char *buffer)
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{
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FAR struct wtgahrs2_sensor_s *dev = &rtdata->dev[WTGAHRS2_BARO_IDX];
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FAR struct sensor_lowerhalf_s *lower = &dev->lower;
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uint64_t now = sensor_get_timestamp();
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struct sensor_event_baro baro;
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if (!dev->enable || now - dev->last_update < dev->interval)
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{
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return;
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}
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dev->last_update = now;
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baro.timestamp = now;
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baro.pressure = (long)(buffer[3] << 24 | buffer[2] << 16 |
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buffer[1] << 8 | buffer[0]) / 100.0f;
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baro.temperature = NAN;
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lower->push_event(lower->priv, &baro, sizeof(baro));
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sninfo("Pressure : %.3fhPa\n", baro.pressure);
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}
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static void wtgahrs2_gps_data(FAR struct wtgahrs2_dev_s *rtdata,
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FAR unsigned char *buffer, int info_type)
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{
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FAR struct wtgahrs2_sensor_s *dev = &rtdata->dev[WTGAHRS2_GPS_IDX];
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FAR struct sensor_lowerhalf_s *lower = &dev->lower;
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uint64_t now = sensor_get_timestamp();
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if (!dev->enable || now - dev->last_update < dev->interval)
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{
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return;
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}
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if (rtdata->gps_mask == 0)
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{
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dev->last_update = now;
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}
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switch (info_type)
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{
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case WTGAHRS2_GPS0_INFO:
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rtdata->gps_mask |= WTGAHRS2_GPS0_MASK;
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rtdata->gps.year = 2000 + buffer[0];
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rtdata->gps.month = buffer[1];
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rtdata->gps.day = buffer[2];
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rtdata->gps.hour = buffer[3];
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rtdata->gps.min = buffer[4];
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rtdata->gps.sec = buffer[5];
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rtdata->gps.msec = (buffer[7] << 8) | buffer[6];
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break;
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case WTGAHRS2_GPS1_INFO:
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rtdata->gps_mask |= WTGAHRS2_GPS1_MASK;
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rtdata->gps.longitude = (long)(buffer[3] << 8
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| buffer[2] << 8
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| buffer[1] << 8
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| buffer[0]) / 10000000.0f;
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rtdata->gps.latitude = (long)(buffer[7] << 8
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| buffer[6] << 8
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| buffer[5] << 8
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| buffer[4]) / 10000000.0f;
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break;
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case WTGAHRS2_GPS2_INFO:
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rtdata->gps_mask |= WTGAHRS2_GPS2_MASK;
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rtdata->gps.height = (short)(buffer[1] << 8 | buffer[0]) / 10.0f;
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rtdata->gps.yaw = (short)(buffer[3] << 8 | buffer[2]) / 10.0f;
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rtdata->gps.speed = (long)(buffer[7] << 8 | buffer[6] << 8
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| buffer[5] << 8 | buffer[4]) / 3600.0f;
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break;
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}
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if (rtdata->gps_mask == WTGAHRS2_GPS_MASK)
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{
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rtdata->gps_mask = 0;
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lower->push_event(lower->priv, &rtdata->gps, sizeof(rtdata->gps));
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sninfo("Time : %d/%d/%d-%d:%d:%d\n", rtdata->gps.year,
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rtdata->gps.month, rtdata->gps.day, rtdata->gps.hour,
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rtdata->gps.min, rtdata->gps.sec);
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sninfo("GPS longitude : %fdegree, latitude:%fdegree\n",
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rtdata->gps.longitude, rtdata->gps.latitude);
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sninfo("GPS speed: %fm/s, yaw:%fdegrees, height:%fm \n",
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rtdata->gps.speed, rtdata->gps.yaw, rtdata->gps.height);
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}
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}
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static bool wtgahrs2_process_data(FAR struct wtgahrs2_dev_s *rtdata,
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FAR unsigned char *buffer)
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{
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unsigned char sum = 0;
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int i;
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/* calculate sum and verify checksum */
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for (i = 0; i < WTGAHRS2_RSP_LENGTH - 1; i++)
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{
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sum += buffer[i];
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}
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if (sum != buffer[WTGAHRS2_RSP_LENGTH - 1])
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{
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return false;
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}
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switch (buffer[1])
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{
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case WTGAHRS2_ACCEL_INFO:
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wtgahrs2_accel_data(rtdata, &buffer[2]);
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break;
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case WTGAHRS2_GYRO_INFO:
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wtgahrs2_gyro_data(rtdata, &buffer[2]);
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break;
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case WTGAHRS2_MAG_INFO:
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wtgahrs2_mag_data(rtdata, &buffer[2]);
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break;
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case WTGAHRS2_BARO_INFO:
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wtgahrs2_baro_data(rtdata, &buffer[2]);
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break;
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case WTGAHRS2_GPS0_INFO:
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case WTGAHRS2_GPS1_INFO:
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case WTGAHRS2_GPS2_INFO:
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wtgahrs2_gps_data(rtdata, &buffer[2], buffer[1]);
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break;
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}
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return true;
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}
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static int wtgahrs2_thread(int argc, FAR char *argv[])
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{
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FAR struct wtgahrs2_dev_s *rtdata = (FAR struct wtgahrs2_dev_s *)
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((uintptr_t)strtoul(argv[1], NULL, 0));
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unsigned char buffer[8 * WTGAHRS2_RSP_LENGTH];
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ssize_t count = 0;
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ssize_t pos;
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while (1)
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{
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count += file_read(&rtdata->file, buffer + count,
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sizeof(buffer) - count);
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for (pos = 0; pos < count; pos++)
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{
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if (buffer[pos] != WTGAHRS2_RSP_HEADER)
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{
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continue;
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}
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if (count - pos < WTGAHRS2_RSP_LENGTH)
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{
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memmove(buffer, buffer + pos, count - pos);
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break;
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}
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if (wtgahrs2_process_data(rtdata, &buffer[pos]))
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{
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pos += WTGAHRS2_RSP_LENGTH - 1;
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}
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}
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count -= pos;
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}
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return 0;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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int wtgahrs2_initialize(FAR const char *path, int devno)
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{
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FAR struct wtgahrs2_dev_s *rtdata;
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FAR struct wtgahrs2_sensor_s *tmp;
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#ifdef CONFIG_SERIAL_TERMIOS
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struct termios opt;
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#endif
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FAR char *argv[2];
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char arg1[16];
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int ret;
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if (!path)
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{
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snerr("Invalid path for serial interface\n");
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return -EINVAL;
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}
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rtdata = kmm_zalloc(sizeof(struct wtgahrs2_dev_s));
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if (!rtdata)
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{
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snerr("Memory cannot be allocated for wtgahrs2\n");
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return -ENOMEM;
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}
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/* Open serial tty port and set baud rate */
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ret = file_open(&rtdata->file, path, O_RDWR);
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if (ret < 0)
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{
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snerr("Failed to open wtgahrs2 serial:%s, err:%d", path, ret);
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goto open_err;
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}
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#ifdef CONFIG_SERIAL_TERMIOS
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file_ioctl(&rtdata->file, TCGETS, &opt);
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cfmakeraw(&opt);
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cfsetispeed(&opt, B115200);
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cfsetospeed(&opt, B115200);
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file_ioctl(&rtdata->file, TCSETS, &opt);
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#endif
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/* Accelerometer register */
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tmp = &rtdata->dev[WTGAHRS2_ACCEL_IDX];
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tmp->lower.ops = &g_wtgahrs2_ops;
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tmp->lower.type = SENSOR_TYPE_ACCELEROMETER;
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tmp->lower.buffer_number = 1;
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ret = sensor_register(&tmp->lower, devno);
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if (ret < 0)
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{
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goto accel_err;
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}
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/* Gyroscope register */
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tmp = &rtdata->dev[WTGAHRS2_GYRO_IDX];
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tmp->lower.ops = &g_wtgahrs2_ops;
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tmp->lower.type = SENSOR_TYPE_GYROSCOPE;
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tmp->lower.buffer_number = 1;
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ret = sensor_register(&tmp->lower, devno);
|
|
if (ret < 0)
|
|
{
|
|
goto gyro_err;
|
|
}
|
|
|
|
/* Magnetic register */
|
|
|
|
tmp = &rtdata->dev[WTGAHRS2_MAG_IDX];
|
|
tmp->lower.ops = &g_wtgahrs2_ops;
|
|
tmp->lower.type = SENSOR_TYPE_MAGNETIC_FIELD;
|
|
tmp->lower.buffer_number = 1;
|
|
ret = sensor_register(&tmp->lower, devno);
|
|
if (ret < 0)
|
|
{
|
|
goto mag_err;
|
|
}
|
|
|
|
/* Barometer register */
|
|
|
|
tmp = &rtdata->dev[WTGAHRS2_BARO_IDX];
|
|
tmp->lower.ops = &g_wtgahrs2_ops;
|
|
tmp->lower.type = SENSOR_TYPE_BAROMETER;
|
|
tmp->lower.buffer_number = 1;
|
|
ret = sensor_register(&tmp->lower, devno);
|
|
if (ret < 0)
|
|
{
|
|
goto baro_err;
|
|
}
|
|
|
|
/* GPS register */
|
|
|
|
tmp = &rtdata->dev[WTGAHRS2_GPS_IDX];
|
|
tmp->lower.ops = &g_wtgahrs2_ops;
|
|
tmp->lower.type = SENSOR_TYPE_GPS;
|
|
tmp->lower.buffer_number = 1;
|
|
ret = sensor_register(&tmp->lower, devno);
|
|
if (ret < 0)
|
|
{
|
|
goto gps_err;
|
|
}
|
|
|
|
/* Set sensor default attributes and enter unlock mode */
|
|
|
|
wtgahrs2_sendcmd(rtdata, g_wtgahrs2_unlock);
|
|
|
|
/* Set sensor default odr 200hz */
|
|
|
|
wtgahrs2_sendcmd(rtdata, g_wtgahrs2_odr_200hz);
|
|
|
|
/* Enable all sensor */
|
|
|
|
wtgahrs2_sendcmd(rtdata, g_wtgahrs2_enable_sensor);
|
|
|
|
snprintf(arg1, 16, "0x%" PRIxPTR, (uintptr_t)rtdata);
|
|
argv[0] = arg1;
|
|
argv[1] = NULL;
|
|
|
|
ret = kthread_create("wtgahrs2_thread", SCHED_PRIORITY_DEFAULT,
|
|
CONFIG_DEFAULT_TASK_STACKSIZE,
|
|
wtgahrs2_thread, argv);
|
|
if (ret < 0)
|
|
{
|
|
goto thr_err;
|
|
}
|
|
|
|
return ret;
|
|
|
|
thr_err:
|
|
sensor_unregister(&rtdata->dev[WTGAHRS2_GPS_IDX].lower, devno);
|
|
gps_err:
|
|
sensor_unregister(&rtdata->dev[WTGAHRS2_BARO_IDX].lower, devno);
|
|
baro_err:
|
|
sensor_unregister(&rtdata->dev[WTGAHRS2_MAG_IDX].lower, devno);
|
|
mag_err:
|
|
sensor_unregister(&rtdata->dev[WTGAHRS2_GYRO_IDX].lower, devno);
|
|
gyro_err:
|
|
sensor_unregister(&rtdata->dev[WTGAHRS2_ACCEL_IDX].lower, devno);
|
|
accel_err:
|
|
file_close(&rtdata->file);
|
|
open_err:
|
|
kmm_free(rtdata);
|
|
return ret;
|
|
}
|