#include "SIM_Invensense_v3.h" #include void SITL::InvensenseV3::update(const class Aircraft &aircraft) { assert_storage_size _assert_fifo_size; (void)_assert_fifo_size; const SIM *sitl = AP::sitl(); const int16_t xAccel = sitl->state.xAccel / accel_scale(); const int16_t yAccel = sitl->state.yAccel / accel_scale(); const int16_t zAccel = sitl->state.zAccel / accel_scale(); const int16_t p = radians(sitl->state.rollRate) / gyro_scale(); const int16_t q = radians(sitl->state.pitchRate) / gyro_scale(); const int16_t r = radians(sitl->state.yawRate) / gyro_scale(); struct FIFOData new_data { 0x68, { xAccel, yAccel, zAccel }, { p, q, r }, 21, // temperature AP_HAL::millis16() // timestamp }; for (uint8_t i=0; i<2; i++) { if (!write_to_fifo(InvensenseV3DevReg::FIFO_DATA, (uint8_t*)&new_data, sizeof(new_data))) { return; } } update_sample_count(); } // assert_register_values ensures register states when we go to do // various operations (e.g. reading from FIFO) void SITL::InvensenseV3::assert_register_values() { static const struct expected_register_values { uint8_t reg; uint8_t value; } expected[] { { InvensenseV3DevReg::FIFO_CONFIG, 0x80 }, { InvensenseV3DevReg::FIFO_CONFIG1, 0x07 }, { InvensenseV3DevReg::INTF_CONFIG0, 0xC0 }, { InvensenseV3DevReg::SIGNAL_PATH_RESET, 2 }, { InvensenseV3DevReg::PWR_MGMT0, 0x0f }, { InvensenseV3DevReg::GYRO_CONFIG0, 0x05 }, { InvensenseV3DevReg::ACCEL_CONFIG0, 0x05 }, }; for (const auto &stuff : expected) { assert_register_value(stuff.reg, stuff.value); } } int SITL::InvensenseV3::rdwr(I2C::i2c_rdwr_ioctl_data *&data) { const uint8_t addr = data->msgs[0].buf[0]; // see if it is a fifo... if (fifoname[addr] != nullptr) { return rdwr_fifo(data); } // see if it is a block... if (blockname[addr] != nullptr) { return rdwr_block(data); } return I2CRegisters_8Bit::rdwr(data); } int SITL::InvensenseV3::rdwr_fifo(I2C::i2c_rdwr_ioctl_data *&data) { const uint8_t addr = data->msgs[0].buf[0]; assert_register_values(); // check for block/FIFO read/write bits and pieces if (data->nmsgs == 2) { if (data->msgs[0].flags != 0) { AP_HAL::panic("Unexpected flags"); } if (data->msgs[1].flags != I2C_M_RD) { AP_HAL::panic("Unexpected flags"); } const uint8_t len = data->msgs[1].len; if (len > value_lengths[addr]) { if (value_lengths[addr] != 0) { // we expect reads and writes into the fifo to be the same size AP_HAL::panic("Read of unexpected size"); } return -1; } memcpy(data->msgs[1].buf, values[addr], len); memmove(values[addr], values[addr]+len, value_lengths[addr]-len); value_lengths[addr] -= len; if (addr == InvensenseV3DevReg::FIFO_DATA) { // bit of a hack... callback? update_sample_count(); } return 0; } return -1; } void SITL::InvensenseV3::add_fifo(const char *name, uint8_t reg, int8_t mode) { // ::fprintf(stderr, "Adding fifo %u (0x%02x) (%s)\n", reg, reg, name); fifoname[reg] = name; if (mode == O_RDONLY || mode == O_RDWR) { readable_fifos.set((uint8_t)reg); } if (mode == O_WRONLY || mode == O_RDWR) { writable_fifos.set((uint8_t)reg); } values[reg] = (char*)malloc(fifo_len); // allocate the fifo... if (values[reg] == nullptr) { AP_HAL::panic("Failed to allocate FIFO..."); } } void SITL::InvensenseV3::update_sample_count() { if (value_lengths[InvensenseV3DevReg::FIFO_DATA] % sizeof(FIFOData)) { AP_HAL::panic("fifo data not multiple of sample size"); } uint16_t samplecount = value_lengths[InvensenseV3DevReg::FIFO_DATA]/sizeof(FIFOData); set_block(InvensenseV3DevReg::FIFO_COUNTH, (uint8_t*)&samplecount, 2); } bool SITL::InvensenseV3::write_to_fifo(uint8_t fifo, uint8_t *value, uint8_t valuelen) { if (fifoname[fifo] == nullptr) { AP_HAL::panic("Setting un-named fifo %u", fifo); } // ::fprintf(stderr, "Setting %u (0x%02x) (%s) to 0x%02x (%c)\n", (unsigned)reg, (unsigned)reg, regname[reg], (unsigned)value, value); if (valuelen == 0) { AP_HAL::panic("Zero-length values not permitted by spec"); } if (values[fifo] == nullptr) { AP_HAL::panic("Write to unallocated FIFO"); } if (value_lengths[fifo] + valuelen > fifo_len) { // ::fprintf(stderr, "dropped\n"); // this happens a lot at startup return false; // just drop it } memcpy(&(values[fifo][value_lengths[fifo]]), value, valuelen); value_lengths[fifo] += valuelen; if (fifo == InvensenseV3DevReg::FIFO_DATA) { // bit of a hack... callback? update_sample_count(); } return true; } void SITL::InvensenseV3::add_block(const char *name, uint8_t addr, uint8_t len, int8_t mode) { // ::fprintf(stderr, "Adding block %u (0x%02x) (%s)\n", addr, addr, name); blockname[addr] = name; block_values[addr] = (char*)malloc(len); block_value_lengths[addr] = len; if (block_values[addr] == nullptr) { AP_HAL::panic("Allocation failed for block (len=%u)", len); } if (mode == O_RDONLY || mode == O_RDWR) { readable_blocks.set((uint8_t)addr); } if (mode == O_WRONLY || mode == O_RDWR) { writable_blocks.set((uint8_t)addr); } } void SITL::InvensenseV3::set_block(uint8_t addr, uint8_t *value, uint8_t valuelen) { if (blockname[addr] == nullptr) { AP_HAL::panic("Setting un-named block %u", addr); } if (valuelen != block_value_lengths[addr]) { AP_HAL::panic("Invalid block write got=%u want=%u", valuelen, block_value_lengths[addr]); } memcpy(block_values[addr], value, valuelen); } int SITL::InvensenseV3::rdwr_block(I2C::i2c_rdwr_ioctl_data *&data) { const uint8_t addr = data->msgs[0].buf[0]; // it is a block. if (data->nmsgs == 2) { // data read request if (data->msgs[0].flags != 0) { AP_HAL::panic("Unexpected flags"); } if (data->msgs[1].flags != I2C_M_RD) { AP_HAL::panic("Unexpected flags"); } if (data->msgs[1].len != block_value_lengths[addr]) { AP_HAL::panic("Block read length not equal to block length (got=%u want=%u)", data->msgs[1].len, block_value_lengths[addr]); } memcpy(&data->msgs[1].buf[0], block_values[addr], data->msgs[1].len); return 0; } if (data->nmsgs == 1) { // data write request if (data->msgs[0].flags != 0) { AP_HAL::panic("Unexpected flags"); } AP_HAL::panic("block writes not implemented"); } return -1; }