mirror of https://github.com/ArduPilot/ardupilot
497 lines
21 KiB
C++
497 lines
21 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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-- Coded by Victor Mayoral Vilches --
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*/
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include "AP_InertialSensor_MPU9250.h"
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#include "../AP_HAL_Linux/GPIO.h"
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extern const AP_HAL::HAL& hal;
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// MPU6000 accelerometer scaling
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#define MPU9250_ACCEL_SCALE_1G (GRAVITY_MSS / 4096.0f)
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#define MPUREG_XG_OFFS_TC 0x00
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#define MPUREG_YG_OFFS_TC 0x01
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#define MPUREG_ZG_OFFS_TC 0x02
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#define MPUREG_X_FINE_GAIN 0x03
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#define MPUREG_Y_FINE_GAIN 0x04
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#define MPUREG_Z_FINE_GAIN 0x05
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// MPU9250 registers
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#define MPUREG_XA_OFFS_H 0x77 // X axis accelerometer offset (high byte)
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#define MPUREG_XA_OFFS_L 0x78 // X axis accelerometer offset (low byte)
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#define MPUREG_YA_OFFS_H 0x7A // Y axis accelerometer offset (high byte)
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#define MPUREG_YA_OFFS_L 0x0B // Y axis accelerometer offset (low byte)
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#define MPUREG_ZA_OFFS_H 0x0D // Z axis accelerometer offset (high byte)
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#define MPUREG_ZA_OFFS_L 0x0E // Z axis accelerometer offset (low byte)
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// MPU6000 & MPU9250 registers
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// not sure if present in MPU9250
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// #define MPUREG_PRODUCT_ID 0x0C // Product ID Register
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#define MPUREG_XG_OFFS_USRH 0x13 // X axis gyro offset (high byte)
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#define MPUREG_XG_OFFS_USRL 0x14 // X axis gyro offset (low byte)
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#define MPUREG_YG_OFFS_USRH 0x15 // Y axis gyro offset (high byte)
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#define MPUREG_YG_OFFS_USRL 0x16 // Y axis gyro offset (low byte)
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#define MPUREG_ZG_OFFS_USRH 0x17 // Z axis gyro offset (high byte)
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#define MPUREG_ZG_OFFS_USRL 0x18 // Z axis gyro offset (low byte)
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#define MPUREG_SMPLRT_DIV 0x19 // sample rate. Fsample= 1Khz/(<this value>+1) = 200Hz
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# define MPUREG_SMPLRT_1000HZ 0x00
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# define MPUREG_SMPLRT_500HZ 0x01
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# define MPUREG_SMPLRT_250HZ 0x03
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# define MPUREG_SMPLRT_200HZ 0x04
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# define MPUREG_SMPLRT_100HZ 0x09
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# define MPUREG_SMPLRT_50HZ 0x13
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#define MPUREG_CONFIG 0x1A
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#define MPUREG_GYRO_CONFIG 0x1B
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// bit definitions for MPUREG_GYRO_CONFIG
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# define BITS_GYRO_FS_250DPS 0x00
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# define BITS_GYRO_FS_500DPS 0x08
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# define BITS_GYRO_FS_1000DPS 0x10
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# define BITS_GYRO_FS_2000DPS 0x18
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# define BITS_GYRO_FS_MASK 0x18 // only bits 3 and 4 are used for gyro full scale so use this to mask off other bits
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# define BITS_GYRO_ZGYRO_SELFTEST 0x20
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# define BITS_GYRO_YGYRO_SELFTEST 0x40
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# define BITS_GYRO_XGYRO_SELFTEST 0x80
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#define MPUREG_ACCEL_CONFIG 0x1C
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#define MPUREG_MOT_THR 0x1F // detection threshold for Motion interrupt generation. Motion is detected when the absolute value of any of the accelerometer measurements exceeds this
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#define MPUREG_MOT_DUR 0x20 // duration counter threshold for Motion interrupt generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit of 1 LSB = 1 ms
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#define MPUREG_ZRMOT_THR 0x21 // detection threshold for Zero Motion interrupt generation.
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#define MPUREG_ZRMOT_DUR 0x22 // duration counter threshold for Zero Motion interrupt generation. The duration counter ticks at 16 Hz, therefore ZRMOT_DUR has a unit of 1 LSB = 64 ms.
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#define MPUREG_FIFO_EN 0x23
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#define MPUREG_INT_PIN_CFG 0x37
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# define BIT_INT_RD_CLEAR 0x10 // clear the interrupt when any read occurs
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# define BIT_LATCH_INT_EN 0x20 // latch data ready pin
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#define MPUREG_INT_ENABLE 0x38
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// bit definitions for MPUREG_INT_ENABLE
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# define BIT_RAW_RDY_EN 0x01
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# define BIT_DMP_INT_EN 0x02 // enabling this bit (DMP_INT_EN) also enables RAW_RDY_EN it seems
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# define BIT_UNKNOWN_INT_EN 0x04
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# define BIT_I2C_MST_INT_EN 0x08
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# define BIT_FIFO_OFLOW_EN 0x10
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# define BIT_ZMOT_EN 0x20
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# define BIT_MOT_EN 0x40
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# define BIT_FF_EN 0x80
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#define MPUREG_INT_STATUS 0x3A
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// bit definitions for MPUREG_INT_STATUS (same bit pattern as above because this register shows what interrupt actually fired)
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# define BIT_RAW_RDY_INT 0x01
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# define BIT_DMP_INT 0x02
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# define BIT_UNKNOWN_INT 0x04
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# define BIT_I2C_MST_INT 0x08
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# define BIT_FIFO_OFLOW_INT 0x10
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# define BIT_ZMOT_INT 0x20
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# define BIT_MOT_INT 0x40
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# define BIT_FF_INT 0x80
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#define MPUREG_ACCEL_XOUT_H 0x3B
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#define MPUREG_ACCEL_XOUT_L 0x3C
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#define MPUREG_ACCEL_YOUT_H 0x3D
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#define MPUREG_ACCEL_YOUT_L 0x3E
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#define MPUREG_ACCEL_ZOUT_H 0x3F
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#define MPUREG_ACCEL_ZOUT_L 0x40
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#define MPUREG_TEMP_OUT_H 0x41
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#define MPUREG_TEMP_OUT_L 0x42
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#define MPUREG_GYRO_XOUT_H 0x43
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#define MPUREG_GYRO_XOUT_L 0x44
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#define MPUREG_GYRO_YOUT_H 0x45
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#define MPUREG_GYRO_YOUT_L 0x46
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#define MPUREG_GYRO_ZOUT_H 0x47
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#define MPUREG_GYRO_ZOUT_L 0x48
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#define MPUREG_USER_CTRL 0x6A
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// bit definitions for MPUREG_USER_CTRL
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# define BIT_USER_CTRL_SIG_COND_RESET 0x01 // resets signal paths and results registers for all sensors (gyros, accel, temp)
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# define BIT_USER_CTRL_I2C_MST_RESET 0x02 // reset I2C Master (only applicable if I2C_MST_EN bit is set)
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# define BIT_USER_CTRL_FIFO_RESET 0x04 // Reset (i.e. clear) FIFO buffer
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# define BIT_USER_CTRL_DMP_RESET 0x08 // Reset DMP
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# define BIT_USER_CTRL_I2C_IF_DIS 0x10 // Disable primary I2C interface and enable hal.spi->interface
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# define BIT_USER_CTRL_I2C_MST_EN 0x20 // Enable MPU to act as the I2C Master to external slave sensors
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# define BIT_USER_CTRL_FIFO_EN 0x40 // Enable FIFO operations
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# define BIT_USER_CTRL_DMP_EN 0x80 // Enable DMP operations
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#define MPUREG_PWR_MGMT_1 0x6B
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# define BIT_PWR_MGMT_1_CLK_INTERNAL 0x00 // clock set to internal 8Mhz oscillator
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# define BIT_PWR_MGMT_1_CLK_XGYRO 0x01 // PLL with X axis gyroscope reference
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# define BIT_PWR_MGMT_1_CLK_YGYRO 0x02 // PLL with Y axis gyroscope reference
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# define BIT_PWR_MGMT_1_CLK_ZGYRO 0x03 // PLL with Z axis gyroscope reference
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# define BIT_PWR_MGMT_1_CLK_EXT32KHZ 0x04 // PLL with external 32.768kHz reference
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# define BIT_PWR_MGMT_1_CLK_EXT19MHZ 0x05 // PLL with external 19.2MHz reference
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# define BIT_PWR_MGMT_1_CLK_STOP 0x07 // Stops the clock and keeps the timing generator in reset
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# define BIT_PWR_MGMT_1_TEMP_DIS 0x08 // disable temperature sensor
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# define BIT_PWR_MGMT_1_CYCLE 0x20 // put sensor into cycle mode. cycles between sleep mode and waking up to take a single sample of data from active sensors at a rate determined by LP_WAKE_CTRL
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# define BIT_PWR_MGMT_1_SLEEP 0x40 // put sensor into low power sleep mode
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# define BIT_PWR_MGMT_1_DEVICE_RESET 0x80 // reset entire device
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#define MPUREG_PWR_MGMT_2 0x6C // allows the user to configure the frequency of wake-ups in Accelerometer Only Low Power Mode
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#define MPUREG_BANK_SEL 0x6D // DMP bank selection register (used to indirectly access DMP registers)
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#define MPUREG_MEM_START_ADDR 0x6E // DMP memory start address (used to indirectly write to dmp memory)
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#define MPUREG_MEM_R_W 0x6F // DMP related register
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#define MPUREG_DMP_CFG_1 0x70 // DMP related register
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#define MPUREG_DMP_CFG_2 0x71 // DMP related register
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#define MPUREG_FIFO_COUNTH 0x72
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#define MPUREG_FIFO_COUNTL 0x73
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#define MPUREG_FIFO_R_W 0x74
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#define MPUREG_WHOAMI 0x75
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// Configuration bits MPU 3000, MPU 6000 and MPU9250
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#define BITS_DLPF_CFG_256HZ_NOLPF2 0x00
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#define BITS_DLPF_CFG_188HZ 0x01
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#define BITS_DLPF_CFG_98HZ 0x02
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#define BITS_DLPF_CFG_42HZ 0x03
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#define BITS_DLPF_CFG_20HZ 0x04
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#define BITS_DLPF_CFG_10HZ 0x05
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#define BITS_DLPF_CFG_5HZ 0x06
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#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07
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#define BITS_DLPF_CFG_MASK 0x07
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/*
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* PS-MPU-9250A-00.pdf, page 8, lists LSB sensitivity of
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* gyro as 16.4 LSB/DPS at scale factor of +/- 2000dps (FS_SEL==3)
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*/
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#define GYRO_SCALE (0.0174532f / 16.4f)
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/*
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* PS-MPU-9250A-00.pdf, page 9, lists LSB sensitivity of
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* accel as 4096 LSB/mg at scale factor of +/- 8g (AFS_SEL==2)
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*
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* See note below about accel scaling of engineering sample MPUXk
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* variants however
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*/
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AP_InertialSensor_MPU9250::AP_InertialSensor_MPU9250(AP_InertialSensor &imu) :
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AP_InertialSensor_Backend(imu),
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_last_filter_hz(-1),
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_shared_data_idx(0),
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_accel_filter_x(1000, 15),
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_accel_filter_y(1000, 15),
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_accel_filter_z(1000, 15),
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_gyro_filter_x(1000, 15),
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_gyro_filter_y(1000, 15),
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_gyro_filter_z(1000, 15),
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_have_sample_available(false)
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{
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}
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/*
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detect the sensor
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*/
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AP_InertialSensor_Backend *AP_InertialSensor_MPU9250::detect(AP_InertialSensor &_imu)
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{
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AP_InertialSensor_MPU9250 *sensor = new AP_InertialSensor_MPU9250(_imu);
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if (sensor == NULL) {
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return NULL;
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}
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if (!sensor->_init_sensor()) {
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delete sensor;
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return NULL;
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}
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return sensor;
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}
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/*
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initialise the sensor
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*/
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bool AP_InertialSensor_MPU9250::_init_sensor(void)
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{
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_spi = hal.spi->device(AP_HAL::SPIDevice_MPU9250);
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_spi_sem = _spi->get_semaphore();
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// we need to suspend timers to prevent other SPI drivers grabbing
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// the bus while we do the long initialisation
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hal.scheduler->suspend_timer_procs();
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uint8_t whoami = _register_read(MPUREG_WHOAMI);
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if (whoami != 0x71) {
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// TODO: we should probably accept multiple chip
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// revisions. This is the one on the PXF
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hal.console->printf("MPU9250: unexpected WHOAMI 0x%x\n", (unsigned)whoami);
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return false;
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}
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uint8_t tries = 0;
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do {
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bool success = _hardware_init();
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if (success) {
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hal.scheduler->delay(10);
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if (!_spi_sem->take(100)) {
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hal.console->printf("MPU9250: Unable to get semaphore");
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return false;
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}
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uint8_t status = _register_read(MPUREG_INT_STATUS);
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if ((status & BIT_RAW_RDY_INT) != 0) {
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_spi_sem->give();
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break;
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}
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_spi_sem->give();
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}
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if (tries++ > 5) {
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return false;
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}
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} while (1);
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hal.scheduler->resume_timer_procs();
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_gyro_instance = _imu.register_gyro();
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_accel_instance = _imu.register_accel();
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_product_id = AP_PRODUCT_ID_MPU9250;
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// start the timer process to read samples
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hal.scheduler->register_timer_process(AP_HAL_MEMBERPROC(&AP_InertialSensor_MPU9250::_poll_data));
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#if MPU9250_DEBUG
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_dump_registers();
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#endif
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return true;
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}
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/*
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update the accel and gyro vectors
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*/
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bool AP_InertialSensor_MPU9250::update( void )
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{
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// pull the data from the timer shared data buffer
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uint8_t idx = _shared_data_idx;
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Vector3f gyro = _shared_data[idx]._gyro_filtered;
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Vector3f accel = _shared_data[idx]._accel_filtered;
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_have_sample_available = false;
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accel *= MPU9250_ACCEL_SCALE_1G;
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gyro *= GYRO_SCALE;
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// rotate for bbone default
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accel.rotate(ROTATION_ROLL_180_YAW_90);
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gyro.rotate(ROTATION_ROLL_180_YAW_90);
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
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// PXF has an additional YAW 180
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accel.rotate(ROTATION_YAW_180);
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gyro.rotate(ROTATION_YAW_180);
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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// NavIO has different orientation, assuming RaspberryPi is right
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// way up, and PWM pins on NavIO are at the back of the aircraft
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accel.rotate(ROTATION_ROLL_180_YAW_90);
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gyro.rotate(ROTATION_ROLL_180_YAW_90);
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#endif
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_rotate_and_offset_gyro(_gyro_instance, gyro);
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_rotate_and_offset_accel(_accel_instance, accel);
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if (_last_filter_hz != _imu.get_filter()) {
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_set_filter(_imu.get_filter());
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_last_filter_hz = _imu.get_filter();
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}
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return true;
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}
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/*================ HARDWARE FUNCTIONS ==================== */
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/**
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* Timer process to poll for new data from the MPU9250.
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*/
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void AP_InertialSensor_MPU9250::_poll_data(void)
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{
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if (!_spi_sem->take_nonblocking()) {
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/*
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the semaphore being busy is an expected condition when the
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mainline code is calling wait_for_sample() which will
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grab the semaphore. We return now and rely on the mainline
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code grabbing the latest sample.
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*/
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return;
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}
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_read_data_transaction();
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_spi_sem->give();
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}
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/*
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read from the data registers and update filtered data
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*/
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void AP_InertialSensor_MPU9250::_read_data_transaction()
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{
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/* one resister address followed by seven 2-byte registers */
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struct PACKED {
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uint8_t cmd;
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uint8_t int_status;
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uint8_t v[14];
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} rx, tx = { cmd : MPUREG_INT_STATUS | 0x80, };
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_spi->transaction((const uint8_t *)&tx, (uint8_t *)&rx, sizeof(rx));
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#define int16_val(v, idx) ((int16_t)(((uint16_t)v[2*idx] << 8) | v[2*idx+1]))
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Vector3f _accel_filtered = Vector3f(_accel_filter_x.apply(int16_val(rx.v, 1)),
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_accel_filter_y.apply(int16_val(rx.v, 0)),
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_accel_filter_z.apply(-int16_val(rx.v, 2)));
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Vector3f _gyro_filtered = Vector3f(_gyro_filter_x.apply(int16_val(rx.v, 5)),
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_gyro_filter_y.apply(int16_val(rx.v, 4)),
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_gyro_filter_z.apply(-int16_val(rx.v, 6)));
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// update the shared buffer
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uint8_t idx = _shared_data_idx ^ 1;
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_shared_data[idx]._accel_filtered = _accel_filtered;
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_shared_data[idx]._gyro_filtered = _gyro_filtered;
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_shared_data_idx = idx;
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_have_sample_available = true;
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}
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/*
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read an 8 bit register
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*/
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uint8_t AP_InertialSensor_MPU9250::_register_read( uint8_t reg )
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{
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uint8_t addr = reg | 0x80; // Set most significant bit
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uint8_t tx[2];
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uint8_t rx[2];
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tx[0] = addr;
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tx[1] = 0;
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_spi->transaction(tx, rx, 2);
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return rx[1];
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}
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/*
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write an 8 bit register
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*/
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void AP_InertialSensor_MPU9250::_register_write(uint8_t reg, uint8_t val)
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{
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uint8_t tx[2];
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uint8_t rx[2];
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tx[0] = reg;
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tx[1] = val;
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_spi->transaction(tx, rx, 2);
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}
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/*
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set the accel/gyro filter frequency
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*/
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void AP_InertialSensor_MPU9250::_set_filter(uint8_t filter_hz)
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{
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if (filter_hz == 0) {
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filter_hz = _default_filter_hz;
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}
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_accel_filter_x.set_cutoff_frequency(1000, filter_hz);
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_accel_filter_y.set_cutoff_frequency(1000, filter_hz);
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_accel_filter_z.set_cutoff_frequency(1000, filter_hz);
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_gyro_filter_x.set_cutoff_frequency(1000, filter_hz);
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_gyro_filter_y.set_cutoff_frequency(1000, filter_hz);
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_gyro_filter_z.set_cutoff_frequency(1000, filter_hz);
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}
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/*
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initialise the sensor configuration registers
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*/
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bool AP_InertialSensor_MPU9250::_hardware_init(void)
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{
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if (!_spi_sem->take(100)) {
|
|
hal.console->printf("MPU9250: Unable to get semaphore");
|
|
return false;
|
|
}
|
|
|
|
// initially run the bus at low speed
|
|
_spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_LOW);
|
|
|
|
// Chip reset
|
|
uint8_t tries;
|
|
for (tries = 0; tries<5; tries++) {
|
|
_register_write(MPUREG_PWR_MGMT_1, BIT_PWR_MGMT_1_DEVICE_RESET);
|
|
hal.scheduler->delay(100);
|
|
|
|
// Wake up device and select GyroZ clock. Note that the
|
|
// MPU6000 starts up in sleep mode, and it can take some time
|
|
// for it to come out of sleep
|
|
_register_write(MPUREG_PWR_MGMT_1, BIT_PWR_MGMT_1_CLK_ZGYRO);
|
|
hal.scheduler->delay(5);
|
|
|
|
// check it has woken up
|
|
if (_register_read(MPUREG_PWR_MGMT_1) == BIT_PWR_MGMT_1_CLK_ZGYRO) {
|
|
break;
|
|
}
|
|
#if MPU9250_DEBUG
|
|
_dump_registers();
|
|
#endif
|
|
}
|
|
if (tries == 5) {
|
|
hal.console->println_P(PSTR("Failed to boot MPU9250 5 times"));
|
|
_spi_sem->give();
|
|
return false;
|
|
}
|
|
|
|
_register_write(MPUREG_PWR_MGMT_2, 0x00); // only used for wake-up in accelerometer only low power mode
|
|
|
|
// Disable I2C bus (recommended on datasheet)
|
|
_register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_I2C_IF_DIS);
|
|
|
|
_default_filter_hz = _default_filter();
|
|
|
|
// used a fixed filter of 42Hz on the sensor, then filter using
|
|
// the 2-pole software filter
|
|
_register_write(MPUREG_CONFIG, BITS_DLPF_CFG_42HZ);
|
|
|
|
// set sample rate to 1kHz, and use the 2 pole filter to give the
|
|
// desired rate
|
|
_register_write(MPUREG_SMPLRT_DIV, MPUREG_SMPLRT_1000HZ);
|
|
_register_write(MPUREG_GYRO_CONFIG, BITS_GYRO_FS_2000DPS); // Gyro scale 2000º/s
|
|
|
|
// RM-MPU-9250A-00.pdf, pg. 15, select accel full scale 8g
|
|
_register_write(MPUREG_ACCEL_CONFIG,2<<3);
|
|
|
|
// configure interrupt to fire when new data arrives
|
|
_register_write(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN);
|
|
|
|
// clear interrupt on any read, and hold the data ready pin high
|
|
// until we clear the interrupt
|
|
_register_write(MPUREG_INT_PIN_CFG, BIT_INT_RD_CLEAR | BIT_LATCH_INT_EN);
|
|
|
|
// now that we have initialised, we set the SPI bus speed to high
|
|
// (8MHz on APM2)
|
|
_spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_HIGH);
|
|
|
|
_spi_sem->give();
|
|
|
|
return true;
|
|
}
|
|
|
|
#if MPU9250_DEBUG
|
|
// dump all config registers - used for debug
|
|
void AP_InertialSensor_MPU9250::_dump_registers(void)
|
|
{
|
|
hal.console->println_P(PSTR("MPU9250 registers"));
|
|
for (uint8_t reg=0; reg<=126; reg++) {
|
|
uint8_t v = _register_read(reg);
|
|
hal.console->printf_P(PSTR("%02x:%02x "), (unsigned)reg, (unsigned)v);
|
|
if ((reg - (MPUREG_PRODUCT_ID-1)) % 16 == 0) {
|
|
hal.console->println();
|
|
}
|
|
}
|
|
hal.console->println();
|
|
}
|
|
#endif
|
|
|
|
|
|
#endif // CONFIG_HAL_BOARD
|