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IMU: expose IMU_PRODUCT_ID as EEPROM Variable 

this will allow us to log the Product ID in tlogs
This commit is contained in:
Craig Elder 2012-05-08 19:29:59 -07:00
parent c323a71933
commit fe742f1c23
7 changed files with 41 additions and 13 deletions
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13
libraries/AP_Common/AP_Common.h
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@ -240,7 +240,16 @@ struct Location {
#define AP_PRODUCT_ID_APM1_1280 0x01 // APM1 with 1280 CPUs
#define AP_PRODUCT_ID_APM1_2560 0x02 // APM1 with 2560 CPUs
#define AP_PRODUCT_ID_SITL 0x03 // Software in the loop
#define AP_PRODUCT_ID_APM2_REVC 0x14 // APM2 with REV C MPU 6000
#define AP_PRODUCT_ID_APM2_REVD 0x58 // APM2 with REV D MPU 6000
#define AP_PRODUCT_ID_APM2_REVC4 0x14 // APM2 with MPU6000ES_REV_C4
#define AP_PRODUCT_ID_APM2_REV_C5 0x15 // APM2 with MPU6000ES_REV_C5
#define AP_PRODUCT_ID_APM2_REV_D6 0x16 // APM2 with MPU6000ES_REV_D6
#define AP_PRODUCT_ID_APM2_REV_D7 0x17 // APM2 with MPU6000ES_REV_D7
#define AP_PRODUCT_ID_APM2_REV_D8 0x18 // APM2 with MPU6000ES_REV_D8
#define AP_PRODUCT_ID_APM2_REV_C4 0x54 // APM2 with MPU6000_REV_C4
#define AP_PRODUCT_ID_APM2_REV_C5 0x55 // APM2 with MPU6000_REV_C5
#define AP_PRODUCT_ID_APM2_REV_D6 0x56 // APM2 with MPU6000_REV_D6
#define AP_PRODUCT_ID_APM2_REV_D7 0x57 // APM2 with MPU6000_REV_D7
#define AP_PRODUCT_ID_APM2_REV_D8 0x58 // APM2 with MPU6000_REV_D8
#define AP_PRODUCT_ID_APM2_REV_D9 0x59 // APM2 with MPU6000_REV_D9
#endif // _AP_COMMON_H

2
libraries/AP_IMU/AP_IMU_INS.cpp
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@ -27,7 +27,7 @@ AP_IMU_INS::init( Start_style style,
void (*flash_leds_cb)(bool on),
AP_PeriodicProcess * scheduler )
{
_ins->init(scheduler);
_product_id = _ins->init(scheduler);
// if we are warm-starting, load the calibration data from EEPROM and go
//
if (WARM_START == style) {

5
libraries/AP_IMU/AP_IMU_INS.h
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@ -28,7 +28,9 @@ public:
///
AP_IMU_INS(AP_InertialSensor *ins) :
_ins(ins)
{}
{
_product_id = AP_PRODUCT_ID_NONE; // set during hardware init
}
/// Do warm or cold start.
///
@ -65,6 +67,7 @@ public:
virtual void ay(const float v) { _sensor_cal[4] = v; }
virtual void az(const float v) { _sensor_cal[5] = v; }
virtual float get_gyro_drift_rate(void);
private:
AP_InertialSensor *_ins; ///< INS provides an axis and unit correct sensor source.

6
libraries/AP_IMU/AP_IMU_Shim.h
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@ -11,7 +11,10 @@
class AP_IMU_Shim : public IMU
{
public:
AP_IMU_Shim(void) {}
AP_IMU_Shim(void) {
_product_id = AP_PRODUCT_ID_NONE;
}
/// @name IMU protocol
//@{
@ -69,6 +72,7 @@ public:
float get_gyro_drift_rate(void) { return 0; }
private:
/// set true when new data is delivered
bool _updated;

1
libraries/AP_IMU/IMU.cpp
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@ -4,6 +4,7 @@
// this allows the sensor calibration to be saved to EEPROM
const AP_Param::GroupInfo IMU::var_info[] PROGMEM = {
AP_GROUPINFO("CAL", 0, IMU, _sensor_cal),
AP_GROUPINFO("PRODUCT_ID", 1, IMU, _product_id),
AP_GROUPEND
};

2
libraries/AP_IMU/IMU.h
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@ -120,6 +120,8 @@ protected:
/// number of microseconds that the accel and gyro values
/// were sampled over
uint32_t _sample_time;
AP_Int16 _product_id; // this is the product id returned from the INS init
};
#endif

25
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
View File

@ -40,7 +40,7 @@
#define MPUREG_FIFO_COUNTH 0x72
#define MPUREG_FIFO_COUNTL 0x73
#define MPUREG_FIFO_R_W 0x74
#define MPUREG_PRODUCT_ID 0x0C // product ID REV C = 0x14 REV D = 0x58
#define MPUREG_PRODUCT_ID 0x0C // Product ID Register
// Configuration bits MPU 3000 and MPU 6000 (not revised)?
@ -68,10 +68,20 @@
#define BIT_RAW_RDY_EN 0x01
#define BIT_I2C_IF_DIS 0x10
#define BIT_INT_STATUS_DATA 0x01
#define MPU6000_REV_C 0x14
#define MPU6000_REV_D 0x58
// Product ID Description for MPU6000
// high 4 bits low 4 bits
// Product Name Product Revision
#define MPU6000ES_REV_C4 0x14 // 0001 0100
#define MPU6000ES_REV_C5 0x15 // 0001 0101
#define MPU6000ES_REV_D6 0x16 // 0001 0110
#define MPU6000ES_REV_D7 0x17 // 0001 0111
#define MPU6000ES_REV_D8 0x18 // 0001 1000
#define MPU6000_REV_C4 0x54 // 0101 0100
#define MPU6000_REV_C5 0x55 // 0101 0101
#define MPU6000_REV_D6 0x56 // 0101 0110
#define MPU6000_REV_D7 0x57 // 0101 0111
#define MPU6000_REV_D8 0x58 // 0101 1000
#define MPU6000_REV_D9 0x59 // 0101 1001
uint8_t AP_InertialSensor_MPU6000::_cs_pin;
@ -326,7 +336,8 @@ void AP_InertialSensor_MPU6000::hardware_init()
//Serial.printf("Product_ID= 0x%x\n", (unsigned) _product_id);
if (_product_id == MPU6000_REV_C) {
if ((_product_id == MPU6000ES_REV_C4) || (_product_id == MPU6000ES_REV_C5) ||
(_product_id == MPU6000_REV_C4) || (_product_id == MPU6000_REV_C5)){
// Accel scale 8g (4096 LSB/g)
// Rev C has different scaling than rev D
register_write(MPUREG_ACCEL_CONFIG,1<<3);
@ -334,8 +345,6 @@ void AP_InertialSensor_MPU6000::hardware_init()
// Accel scale 8g (4096 LSB/g)
register_write(MPUREG_ACCEL_CONFIG,2<<3);
}
delay(1);
// INT CFG => Interrupt on Data Ready