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SNS - Changes for IMUs to work #152

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SNS - Changes for IMUs to work #152

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3592d55
changes to get imus to work
SnickeyX Jun 10, 2022
7152017
fixed comment
SnickeyX Jun 11, 2022
b0b1166
Merge branch 'master' into sns-imu
SnickeyX Jun 14, 2022
b0b6666
removed unnecessary comment
SnickeyX Jun 23, 2022
28f95ab
Merge branch 'sns-imu' of github.com:Hyp-ed/hyped-2022 into sns-imu
SnickeyX Jun 23, 2022
1183500
fixed gpio pip exporting issue
SnickeyX Jun 28, 2022
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1 change: 0 additions & 1 deletion src/debugging/can_listener.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,6 @@ bool CanListener::hasId(uint32_t id, bool extended)
log_.debug("received extended CAN message; skipping");
return false;
}

return ids_.find(id) != ids_.end();
}

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7 changes: 4 additions & 3 deletions src/sensors/imu.cpp
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Expand Up @@ -29,7 +29,7 @@ static constexpr uint8_t kPwrMgmt1 = 0x06; // userbank 0
static constexpr uint8_t kPwrMgmt2 = 0x07; // userbank 0

// Configuration
static constexpr uint8_t kReadFlag = 0x80; // unable to find in datasheet
static constexpr uint8_t kReadFlag = 0x80; // msb is 1 which signifies a read operation for SPI

// Configuration bits Imu
// constexpr uint8_t kBitsFs250Dps = 0x00;
Expand Down Expand Up @@ -286,12 +286,13 @@ data::ImuData Imu::getData()
}
} else {
log_.debug("Getting Imu data");
uint8_t response[8];
uint8_t response[6];
int16_t bit_data;
float value;
std::array<float, 3> acceleration_data;

readBytes(kAccelXoutH, response, 8);
// Reading six bytes - first two give x-acceleration, next two give y-acceleration, last two give z-acceleration (high and low byte pairs)
readBytes(kAccelXoutH, response, 6);
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for (size_t i = 0; i < 3; ++i) {
bit_data = ((int16_t)response[i * 2] << 8) | response[i * 2 + 1];
value = static_cast<float>(bit_data);
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9 changes: 6 additions & 3 deletions src/utils/io/spi.cpp
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Expand Up @@ -96,7 +96,7 @@ Spi &Spi::getInstance()

Spi::Spi(Logger &log) : spi_fd_(-1), hw_(0), ch_(0), log_(log)
{
const char device[] = "/dev/spidev1.0"; // spidev1.0 for SPI0
const char device[] = "/dev/spidev0.0"; // spidev0.0 for SPI0
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spi_fd_ = open(device, O_RDWR, 0);

if (spi_fd_ < 0) {
Expand All @@ -105,7 +105,7 @@ Spi::Spi(Logger &log) : spi_fd_(-1), hw_(0), ch_(0), log_(log)
}

// set clock frequency
setClock(Clock::k1MHz);
setClock(Clock::k500KHz);
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Is this required? Did we test it? Has it to do with the new IMUs?

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Yes, yes and yes. Although this just needs to be tested with the sensors PCB but with an individual IMU, this worked.


uint8_t bits = SPI_BITS; // need to change this value
if (ioctl(spi_fd_, SPI_IOC_WR_BITS_PER_WORD, &bits) < 0) {
Expand Down Expand Up @@ -149,14 +149,17 @@ bool Spi::initialise()
ch_ = &hw_->ch0;

log_.info("Mapping successfully created %d", sizeof(SPI_HW));
log_.info("revision 0x%x", hw_->revision);
//log_.info("revision 0x%x", hw_->revision);
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return true;
}

void Spi::setClock(Clock clk)
{
uint32_t data;
switch (clk) {
case Clock::k500KHz:
data = 500000;
break;
case Clock::k1MHz:
data = 1000000;
break;
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2 changes: 1 addition & 1 deletion src/utils/io/spi.hpp
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Expand Up @@ -15,7 +15,7 @@ class Spi {
public:
static Spi &getInstance();

enum class Clock { k1MHz, k4MHz, k16MHz, k20MHz };
enum class Clock { k500KHz, k1MHz, k4MHz, k16MHz, k20MHz };

void setClock(Clock clk);

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