forked from Archive/PX4-Autopilot
new mpu9250 driver using FIFOs and raw sampling (8 kHz gyro, 4 kHz accel)
- currently disabled by default
This commit is contained in:
Daniel Agar
GitHub
parent
931a3f2684
commit
116716ad22
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############################################################################
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#
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# Copyright (c) 2020 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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||||
# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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||||
# 2. Redistributions in binary form must reproduce the above copyright
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||||
# notice, this list of conditions and the following disclaimer in
|
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# the documentation and/or other materials provided with the
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||||
# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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||||
# used to endorse or promote products derived from this software
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# without specific prior written permission.
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||||
#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE drivers__imu__invensense__mpu9250
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MAIN mpu9250
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COMPILE_FLAGS
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SRCS
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MPU9250.cpp
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MPU9250.hpp
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mpu9250_main.cpp
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DEPENDS
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drivers_accelerometer
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drivers_gyroscope
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px4_work_queue
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)
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file InvenSense_MPU9250_registers.hpp
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*
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* Invensense MPU9250 registers.
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*
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*/
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#pragma once
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// TODO: move to a central header
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static constexpr uint8_t Bit0 = (1 << 0);
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static constexpr uint8_t Bit1 = (1 << 1);
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static constexpr uint8_t Bit2 = (1 << 2);
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static constexpr uint8_t Bit3 = (1 << 3);
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static constexpr uint8_t Bit4 = (1 << 4);
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static constexpr uint8_t Bit5 = (1 << 5);
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static constexpr uint8_t Bit6 = (1 << 6);
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static constexpr uint8_t Bit7 = (1 << 7);
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namespace InvenSense_MPU9250
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{
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static constexpr uint32_t SPI_SPEED = 20 * 1000 * 1000;
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static constexpr uint8_t DIR_READ = 0x80;
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static constexpr uint8_t WHOAMI = 0x71;
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enum class Register : uint8_t {
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CONFIG = 0x1A,
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GYRO_CONFIG = 0x1B,
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ACCEL_CONFIG = 0x1C,
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ACCEL_CONFIG2 = 0x1D,
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FIFO_EN = 0x23,
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INT_STATUS = 0x3A,
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INT_PIN_CFG = 0x37,
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INT_ENABLE = 0x38,
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TEMP_OUT_H = 0x41,
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TEMP_OUT_L = 0x42,
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USER_CTRL = 0x6A,
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PWR_MGMT_1 = 0x6B,
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FIFO_COUNTH = 0x72,
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FIFO_COUNTL = 0x73,
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FIFO_R_W = 0x74,
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WHO_AM_I = 0x75,
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};
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// CONFIG
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enum CONFIG_BIT : uint8_t {
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FIFO_MODE = Bit6, // when the FIFO is full, additional writes will not be written to FIFO
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DLPF_CFG_BYPASS_DLPF_8KHZ = 7, // Rate 8 kHz [2:0]
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};
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// GYRO_CONFIG
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enum GYRO_CONFIG_BIT : uint8_t {
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// GYRO_FS_SEL [4:3]
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GYRO_FS_SEL_250_DPS = 0, // 0b00000
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GYRO_FS_SEL_500_DPS = Bit3, // 0b01000
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GYRO_FS_SEL_1000_DPS = Bit4, // 0b10000
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GYRO_FS_SEL_2000_DPS = Bit4 | Bit3, // 0b11000
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// FCHOICE_B [1:0]
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FCHOICE_B_8KHZ_BYPASS_DLPF = Bit1 | Bit0, // 0b10 - 3-dB BW: 3281 Noise BW (Hz): 3451.0 8 kHz
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};
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// ACCEL_CONFIG
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enum ACCEL_CONFIG_BIT : uint8_t {
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// ACCEL_FS_SEL [4:3]
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ACCEL_FS_SEL_2G = 0, // 0b00000
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ACCEL_FS_SEL_4G = Bit3, // 0b01000
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ACCEL_FS_SEL_8G = Bit4, // 0b10000
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ACCEL_FS_SEL_16G = Bit4 | Bit3, // 0b11000
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};
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// ACCEL_CONFIG2
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enum ACCEL_CONFIG2_BIT : uint8_t {
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ACCEL_FCHOICE_B_BYPASS_DLPF = Bit3,
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};
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// FIFO_EN
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enum FIFO_EN_BIT : uint8_t {
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TEMP_OUT = Bit7,
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GYRO_XOUT = Bit6,
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GYRO_YOUT = Bit5,
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GYRO_ZOUT = Bit4,
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ACCEL = Bit3,
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};
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// INT_ENABLE
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enum INT_ENABLE_BIT : uint8_t {
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FIFO_OFLOW_EN = Bit4,
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DATA_RDY_INT_EN = Bit0
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};
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// INT_STATUS
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enum INT_STATUS_BIT : uint8_t {
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FIFO_OFLOW_INT = Bit4,
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DATA_RDY_INT = Bit0,
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};
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// USER_CTRL
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enum USER_CTRL_BIT : uint8_t {
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FIFO_EN = Bit6,
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FIFO_RST = Bit2,
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};
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// PWR_MGMT_1
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enum PWR_MGMT_1_BIT : uint8_t {
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H_RESET = Bit7,
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CLKSEL_2 = Bit2,
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CLKSEL_1 = Bit1,
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CLKSEL_0 = Bit0,
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};
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namespace FIFO
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{
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static constexpr size_t SIZE = 512;
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// FIFO_DATA layout when FIFO_EN has GYRO_{X, Y, Z}OUT and ACCEL set
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struct DATA {
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uint8_t ACCEL_XOUT_H;
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uint8_t ACCEL_XOUT_L;
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uint8_t ACCEL_YOUT_H;
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uint8_t ACCEL_YOUT_L;
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uint8_t ACCEL_ZOUT_H;
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uint8_t ACCEL_ZOUT_L;
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uint8_t GYRO_XOUT_H;
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uint8_t GYRO_XOUT_L;
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uint8_t GYRO_YOUT_H;
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uint8_t GYRO_YOUT_L;
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uint8_t GYRO_ZOUT_H;
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uint8_t GYRO_ZOUT_L;
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};
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static_assert(sizeof(DATA) == 12);
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}
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} // namespace InvenSense_MPU9250
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@ -0,0 +1,382 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
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* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "MPU9250.hpp"
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#include <px4_platform/board_dma_alloc.h>
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using namespace time_literals;
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using namespace InvenSense_MPU9250;
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static constexpr int16_t combine(uint8_t msb, uint8_t lsb) { return (msb << 8u) | lsb; }
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static constexpr uint32_t GYRO_RATE{8000}; // 8 kHz gyro
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static constexpr uint32_t ACCEL_RATE{4000}; // 4 kHz accel
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static constexpr uint32_t FIFO_INTERVAL{1000}; // 1000 us / 1000 Hz interval
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static constexpr uint32_t FIFO_GYRO_SAMPLES{FIFO_INTERVAL / (1000000 / GYRO_RATE)};
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static constexpr uint32_t FIFO_ACCEL_SAMPLES{FIFO_INTERVAL / (1000000 / ACCEL_RATE)};
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MPU9250::MPU9250(int bus, uint32_t device, enum Rotation rotation) :
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SPI(MODULE_NAME, nullptr, bus, device, SPIDEV_MODE3, SPI_SPEED),
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ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
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_px4_accel(get_device_id(), ORB_PRIO_VERY_HIGH, rotation),
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_px4_gyro(get_device_id(), ORB_PRIO_VERY_HIGH, rotation)
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{
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set_device_type(DRV_ACC_DEVTYPE_MPU9250);
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_px4_accel.set_device_type(DRV_ACC_DEVTYPE_MPU9250);
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_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_MPU9250);
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_px4_accel.set_update_rate(1000000 / FIFO_INTERVAL);
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_px4_gyro.set_update_rate(1000000 / FIFO_INTERVAL);
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}
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MPU9250::~MPU9250()
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{
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Stop();
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if (_dma_data_buffer != nullptr) {
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board_dma_free(_dma_data_buffer, FIFO::SIZE);
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}
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perf_free(_interval_perf);
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perf_free(_transfer_perf);
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perf_free(_fifo_empty_perf);
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perf_free(_fifo_overflow_perf);
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perf_free(_fifo_reset_perf);
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perf_free(_drdy_interval_perf);
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}
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int MPU9250::probe()
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{
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const uint8_t whoami = RegisterRead(Register::WHO_AM_I);
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if (whoami != WHOAMI) {
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PX4_WARN("unexpected WHO_AM_I 0x%02x", whoami);
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return PX4_ERROR;
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}
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return PX4_OK;
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}
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bool MPU9250::Init()
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{
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if (SPI::init() != PX4_OK) {
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PX4_ERR("SPI::init failed");
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return false;
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}
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if (!Reset()) {
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PX4_ERR("reset failed");
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return false;
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}
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// allocate DMA capable buffer
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_dma_data_buffer = (uint8_t *)board_dma_alloc(FIFO::SIZE);
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if (_dma_data_buffer == nullptr) {
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PX4_ERR("DMA alloc failed");
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return false;
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}
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Start();
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return true;
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}
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bool MPU9250::Reset()
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{
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// PWR_MGMT_1: Device Reset
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// CLKSEL[2:0] must be set to 001 to achieve full gyroscope performance.
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RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::H_RESET);
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usleep(1000);
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// PWR_MGMT_1: CLKSEL[2:0] must be set to 001 to achieve full gyroscope performance.
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RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::CLKSEL_0);
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usleep(1000);
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// ACCEL_CONFIG: Accel 16 G range
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RegisterSetBits(Register::ACCEL_CONFIG, ACCEL_CONFIG_BIT::ACCEL_FS_SEL_16G);
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_px4_accel.set_scale(CONSTANTS_ONE_G / 2048);
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_px4_accel.set_range(16.0f * CONSTANTS_ONE_G);
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// GYRO_CONFIG: Gyro 2000 degrees/second
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RegisterSetBits(Register::GYRO_CONFIG, GYRO_CONFIG_BIT::GYRO_FS_SEL_2000_DPS);
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_px4_gyro.set_scale(math::radians(1.0f / 16.4f));
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_px4_gyro.set_range(math::radians(2000.0f));
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// reset done once data is ready
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const bool reset_done = !(RegisterRead(Register::PWR_MGMT_1) & PWR_MGMT_1_BIT::H_RESET);
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const bool clksel_done = (RegisterRead(Register::PWR_MGMT_1) & PWR_MGMT_1_BIT::CLKSEL_0);
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const bool data_ready = (RegisterRead(Register::INT_STATUS) & INT_STATUS_BIT::DATA_RDY_INT);
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return reset_done && clksel_done && data_ready;
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}
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void MPU9250::ResetFIFO()
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{
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perf_count(_fifo_reset_perf);
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// ACCEL_CONFIG2: Accel DLPF disabled for full rate (4 kHz)
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RegisterSetBits(Register::ACCEL_CONFIG2, ACCEL_CONFIG2_BIT::ACCEL_FCHOICE_B_BYPASS_DLPF);
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// GYRO_CONFIG: Gyro DLPF disabled for full rate (8 kHz)
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RegisterClearBits(Register::GYRO_CONFIG, GYRO_CONFIG_BIT::FCHOICE_B_8KHZ_BYPASS_DLPF);
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// FIFO_EN: disable FIFO
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RegisterWrite(Register::FIFO_EN, 0);
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RegisterClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_EN | USER_CTRL_BIT::FIFO_RST);
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// USER_CTRL: reset FIFO then re-enable
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RegisterSetBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RST);
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up_udelay(1); // bit auto clears after one clock cycle of the internal 20 MHz clock
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RegisterSetBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_EN);
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// CONFIG: should ensure that bit 7 of register 0x1A is set to 0 before using FIFO watermark feature
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RegisterSetBits(Register::CONFIG, CONFIG_BIT::FIFO_MODE);
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RegisterSetBits(Register::CONFIG, CONFIG_BIT::DLPF_CFG_BYPASS_DLPF_8KHZ);
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// FIFO_EN: enable both gyro and accel
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_data_ready_count = 0;
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RegisterWrite(Register::FIFO_EN, FIFO_EN_BIT::GYRO_XOUT | FIFO_EN_BIT::GYRO_YOUT | FIFO_EN_BIT::GYRO_ZOUT |
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FIFO_EN_BIT::ACCEL);
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up_udelay(10);
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}
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uint8_t MPU9250::RegisterRead(Register reg)
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{
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uint8_t cmd[2] {};
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cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;
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transfer(cmd, cmd, sizeof(cmd));
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return cmd[1];
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}
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void MPU9250::RegisterWrite(Register reg, uint8_t value)
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{
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uint8_t cmd[2] { (uint8_t)reg, value };
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transfer(cmd, cmd, sizeof(cmd));
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}
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void MPU9250::RegisterSetBits(Register reg, uint8_t setbits)
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{
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uint8_t val = RegisterRead(reg);
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if (!(val & setbits)) {
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val |= setbits;
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RegisterWrite(reg, val);
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}
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}
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void MPU9250::RegisterClearBits(Register reg, uint8_t clearbits)
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{
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uint8_t val = RegisterRead(reg);
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if (val & clearbits) {
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val &= !clearbits;
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RegisterWrite(reg, val);
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}
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}
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int MPU9250::DataReadyInterruptCallback(int irq, void *context, void *arg)
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{
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MPU9250 *dev = reinterpret_cast<MPU9250 *>(arg);
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dev->DataReady();
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return 0;
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}
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void MPU9250::DataReady()
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{
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perf_count(_drdy_interval_perf);
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_data_ready_count++;
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|
||||
if (_data_ready_count >= 8) {
|
||||
_time_data_ready = hrt_absolute_time();
|
||||
|
||||
_data_ready_count = 0;
|
||||
|
||||
// make another measurement
|
||||
ScheduleNow();
|
||||
}
|
||||
}
|
||||
|
||||
void MPU9250::Start()
|
||||
{
|
||||
Stop();
|
||||
|
||||
ResetFIFO();
|
||||
|
||||
// TODO: cleanup horrible DRDY define mess
|
||||
#if defined(GPIO_DRDY_PORTD_PIN15)
|
||||
// Setup data ready on rising edge
|
||||
px4_arch_gpiosetevent(GPIO_DRDY_PORTD_PIN15, true, false, true, &MPU9250::DataReadyInterruptCallback, this);
|
||||
RegisterSetBits(Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN);
|
||||
#else
|
||||
ScheduleOnInterval(FIFO_INTERVAL, FIFO_INTERVAL);
|
||||
#endif
|
||||
}
|
||||
|
||||
void MPU9250::Stop()
|
||||
{
|
||||
// TODO: cleanup horrible DRDY define mess
|
||||
#if defined(GPIO_DRDY_PORTD_PIN15)
|
||||
// Disable data ready callback
|
||||
px4_arch_gpiosetevent(GPIO_DRDY_PORTD_PIN15, false, false, false, nullptr, nullptr);
|
||||
RegisterClearBits(Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN);
|
||||
#else
|
||||
ScheduleClear();
|
||||
#endif
|
||||
}
|
||||
|
||||
void MPU9250::Run()
|
||||
{
|
||||
perf_count(_interval_perf);
|
||||
|
||||
// use timestamp from the data ready interrupt if available,
|
||||
// otherwise use the time now roughly corresponding with the last sample we'll pull from the FIFO
|
||||
const hrt_abstime timestamp_sample = (hrt_elapsed_time(&_time_data_ready) < FIFO_INTERVAL) ? _time_data_ready :
|
||||
hrt_absolute_time();
|
||||
|
||||
// read FIFO count
|
||||
uint8_t fifo_count_buf[3] {};
|
||||
fifo_count_buf[0] = static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ;
|
||||
|
||||
if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
|
||||
return;
|
||||
}
|
||||
|
||||
const size_t fifo_count = combine(fifo_count_buf[1], fifo_count_buf[2]);
|
||||
const int samples = (fifo_count / sizeof(FIFO::DATA) / 2) * 2; // round down to nearest 2
|
||||
|
||||
if (samples < 2) {
|
||||
perf_count(_fifo_empty_perf);
|
||||
return;
|
||||
|
||||
} else if (samples > 16) {
|
||||
// not technically an overflow, but more samples than we expected
|
||||
perf_count(_fifo_overflow_perf);
|
||||
ResetFIFO();
|
||||
return;
|
||||
}
|
||||
|
||||
// Transfer data
|
||||
struct TransferBuffer {
|
||||
uint8_t cmd;
|
||||
FIFO::DATA f[16]; // max 16 samples
|
||||
};
|
||||
static_assert(sizeof(TransferBuffer) == (sizeof(uint8_t) + 16 * sizeof(FIFO::DATA))); // ensure no struct padding
|
||||
|
||||
TransferBuffer *report = (TransferBuffer *)_dma_data_buffer;
|
||||
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
|
||||
memset(report, 0, transfer_size);
|
||||
report->cmd = static_cast<uint8_t>(Register::FIFO_R_W) | DIR_READ;
|
||||
|
||||
perf_begin(_transfer_perf);
|
||||
|
||||
if (transfer(_dma_data_buffer, _dma_data_buffer, transfer_size) != PX4_OK) {
|
||||
perf_end(_transfer_perf);
|
||||
return;
|
||||
}
|
||||
|
||||
perf_end(_transfer_perf);
|
||||
|
||||
PX4Accelerometer::FIFOSample accel;
|
||||
accel.timestamp_sample = timestamp_sample;
|
||||
accel.dt = FIFO_INTERVAL / FIFO_ACCEL_SAMPLES;
|
||||
|
||||
PX4Gyroscope::FIFOSample gyro;
|
||||
gyro.timestamp_sample = timestamp_sample;
|
||||
gyro.samples = samples;
|
||||
gyro.dt = FIFO_INTERVAL / FIFO_GYRO_SAMPLES;
|
||||
|
||||
int accel_samples = 0;
|
||||
|
||||
for (int i = 0; i < samples; i++) {
|
||||
const FIFO::DATA &fifo_sample = report->f[i];
|
||||
|
||||
// accel data is doubled
|
||||
if (i % 2) {
|
||||
// coordinate convention (x forward, y right, z down)
|
||||
accel.x[accel_samples] = combine(fifo_sample.ACCEL_XOUT_H, fifo_sample.ACCEL_XOUT_L);
|
||||
accel.y[accel_samples] = -combine(fifo_sample.ACCEL_YOUT_H, fifo_sample.ACCEL_YOUT_L);
|
||||
accel.z[accel_samples] = -combine(fifo_sample.ACCEL_ZOUT_H, fifo_sample.ACCEL_ZOUT_L);
|
||||
|
||||
accel_samples++;
|
||||
}
|
||||
|
||||
// coordinate convention (x forward, y right, z down)
|
||||
gyro.x[i] = combine(fifo_sample.GYRO_XOUT_H, fifo_sample.GYRO_XOUT_L);
|
||||
gyro.y[i] = -combine(fifo_sample.GYRO_YOUT_H, fifo_sample.GYRO_YOUT_L);
|
||||
gyro.z[i] = -combine(fifo_sample.GYRO_ZOUT_H, fifo_sample.GYRO_ZOUT_L);
|
||||
}
|
||||
|
||||
accel.samples = accel_samples;
|
||||
|
||||
// Temperature
|
||||
if (hrt_elapsed_time(&_time_last_temperature_update) > 1_s) {
|
||||
// read current temperature
|
||||
uint8_t temperature_buf[3] {};
|
||||
temperature_buf[0] = static_cast<uint8_t>(Register::TEMP_OUT_H) | DIR_READ;
|
||||
|
||||
if (transfer(temperature_buf, temperature_buf, sizeof(temperature_buf)) != PX4_OK) {
|
||||
return;
|
||||
}
|
||||
|
||||
const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]);
|
||||
|
||||
static constexpr float RoomTemp_Offset = 25.0f; // Room Temperature Offset 25°C
|
||||
static constexpr float Temp_Sensitivity = 326.8f; // Sensitivity 326.8 LSB/°C
|
||||
|
||||
const float TEMP_degC = ((TEMP_OUT - RoomTemp_Offset) / Temp_Sensitivity) + 25.0f;
|
||||
|
||||
_px4_accel.set_temperature(TEMP_degC);
|
||||
_px4_gyro.set_temperature(TEMP_degC);
|
||||
}
|
||||
|
||||
_px4_gyro.updateFIFO(gyro);
|
||||
_px4_accel.updateFIFO(accel);
|
||||
}
|
||||
|
||||
void MPU9250::PrintInfo()
|
||||
{
|
||||
perf_print_counter(_interval_perf);
|
||||
perf_print_counter(_transfer_perf);
|
||||
perf_print_counter(_fifo_empty_perf);
|
||||
perf_print_counter(_fifo_overflow_perf);
|
||||
perf_print_counter(_fifo_reset_perf);
|
||||
perf_print_counter(_drdy_interval_perf);
|
||||
|
||||
_px4_accel.print_status();
|
||||
_px4_gyro.print_status();
|
||||
}
|
||||
|
|
@ -0,0 +1,97 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file MPU9250.hpp
|
||||
*
|
||||
* Driver for the Invensense MPU9250 connected via SPI.
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "InvenSense_MPU9250_registers.hpp"
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
|
||||
#include <lib/drivers/device/spi.h>
|
||||
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
|
||||
#include <lib/ecl/geo/geo.h>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
|
||||
using InvenSense_MPU9250::Register;
|
||||
|
||||
class MPU9250 : public device::SPI, public px4::ScheduledWorkItem
|
||||
{
|
||||
public:
|
||||
MPU9250(int bus, uint32_t device, enum Rotation rotation = ROTATION_NONE);
|
||||
~MPU9250() override;
|
||||
|
||||
bool Init();
|
||||
void Start();
|
||||
void Stop();
|
||||
bool Reset();
|
||||
void PrintInfo();
|
||||
|
||||
private:
|
||||
int probe() override;
|
||||
|
||||
static int DataReadyInterruptCallback(int irq, void *context, void *arg);
|
||||
void DataReady();
|
||||
|
||||
void Run() override;
|
||||
|
||||
uint8_t RegisterRead(Register reg);
|
||||
void RegisterWrite(Register reg, uint8_t value);
|
||||
void RegisterSetBits(Register reg, uint8_t setbits);
|
||||
void RegisterClearBits(Register reg, uint8_t clearbits);
|
||||
|
||||
void ResetFIFO();
|
||||
|
||||
uint8_t *_dma_data_buffer{nullptr};
|
||||
|
||||
PX4Accelerometer _px4_accel;
|
||||
PX4Gyroscope _px4_gyro;
|
||||
|
||||
perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": run interval")};
|
||||
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
|
||||
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": fifo empty")};
|
||||
perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": fifo overflow")};
|
||||
perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": fifo reset")};
|
||||
perf_counter_t _drdy_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": drdy interval")};
|
||||
|
||||
hrt_abstime _time_data_ready{0};
|
||||
hrt_abstime _time_last_temperature_update{0};
|
||||
int _data_ready_count{0};
|
||||
};
|
||||
|
|
@ -0,0 +1,153 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "MPU9250.hpp"
|
||||
|
||||
#include <px4_platform_common/getopt.h>
|
||||
|
||||
namespace mpu9250
|
||||
{
|
||||
MPU9250 *g_dev{nullptr};
|
||||
|
||||
static int start(enum Rotation rotation)
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
PX4_WARN("already started");
|
||||
return 0;
|
||||
}
|
||||
|
||||
// create the driver
|
||||
#if defined(PX4_SPI_BUS_SENSORS) && defined(PX4_SPIDEV_MPU)
|
||||
g_dev = new MPU9250(PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU, rotation);
|
||||
#elif defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU)
|
||||
g_dev = new MPU9250(PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, rotation);
|
||||
#endif
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
PX4_ERR("driver start failed");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (!g_dev->Init()) {
|
||||
PX4_ERR("driver init failed");
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int stop()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
PX4_WARN("driver not running");
|
||||
return -1;
|
||||
}
|
||||
|
||||
g_dev->Stop();
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int reset()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
PX4_WARN("driver not running");
|
||||
return 0;
|
||||
}
|
||||
|
||||
return g_dev->Reset();
|
||||
}
|
||||
|
||||
static int status()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
PX4_INFO("driver not running");
|
||||
return 0;
|
||||
}
|
||||
|
||||
g_dev->PrintInfo();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int usage()
|
||||
{
|
||||
PX4_INFO("missing command: try 'start', 'stop', 'reset', 'status'");
|
||||
PX4_INFO("options:");
|
||||
PX4_INFO(" -R rotation");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
} // namespace mpu9250
|
||||
|
||||
extern "C" int mpu9250_main(int argc, char *argv[])
|
||||
{
|
||||
enum Rotation rotation = ROTATION_NONE;
|
||||
int myoptind = 1;
|
||||
int ch = 0;
|
||||
const char *myoptarg = nullptr;
|
||||
|
||||
// start options
|
||||
while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
rotation = (enum Rotation)atoi(myoptarg);
|
||||
break;
|
||||
|
||||
default:
|
||||
return mpu9250::usage();
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = argv[myoptind];
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
return mpu9250::start(rotation);
|
||||
|
||||
} else if (!strcmp(verb, "stop")) {
|
||||
return mpu9250::stop();
|
||||
|
||||
} else if (!strcmp(verb, "status")) {
|
||||
return mpu9250::status();
|
||||
|
||||
} else if (!strcmp(verb, "reset")) {
|
||||
return mpu9250::reset();
|
||||
}
|
||||
|
||||
return mpu9250::usage();
|
||||
}
|
||||
Loading…
Reference in New Issue