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mpu9250: improve AK8963 init (fixes raspberry pi support)

This commit is contained in:
SalimTerryLi 2020-01-04 11:29:46 +08:00 committed by Daniel Agar
parent 16bd1088fa
commit 5f5a2e12fb
5 changed files with 123 additions and 49 deletions
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4
boards/px4/raspberrypi/src/board_config.h
View File

@ -53,6 +53,10 @@
#define PX4_NUMBER_I2C_BUSES 2
// SPI
#define PX4_SPI_BUS_SENSORS 0
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 0)
#define ADC_BATTERY_VOLTAGE_CHANNEL 0
#define ADC_BATTERY_CURRENT_CHANNEL 1

148
src/drivers/imu/mpu9250/MPU9250_mag.cpp
View File

@ -158,32 +158,17 @@ MPU9250_mag::set_passthrough(uint8_t reg, uint8_t size, uint8_t *out)
}
_parent->write_reg(MPUREG_I2C_SLV0_ADDR, addr);
_parent->write_reg(MPUREG_I2C_SLV0_REG, reg);
_parent->write_reg(MPUREG_I2C_SLV0_REG, reg);
_parent->write_reg(MPUREG_I2C_SLV0_CTRL, size | BIT_I2C_SLV0_EN);
}
void
MPU9250_mag::read_block(uint8_t reg, uint8_t *val, uint8_t count)
{
_parent->_interface->read(reg, val, count);
}
void
MPU9250_mag::passthrough_read(uint8_t reg, uint8_t *buf, uint8_t size)
{
set_passthrough(reg, size);
px4_usleep(25 + 25 * size); // wait for the value to be read from slave
read_block(MPUREG_EXT_SENS_DATA_00, buf, size);
_parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // disable new reads
}
uint8_t
MPU9250_mag::read_reg(unsigned int reg)
{
uint8_t buf{};
if (_interface == nullptr) {
passthrough_read(reg, &buf, 0x01);
read_reg_through_mpu9250(reg, &buf);
} else {
_interface->read(reg, &buf, 1);
@ -200,23 +185,12 @@ MPU9250_mag::ak8963_check_id(uint8_t &deviceid)
return (AK8963_DEVICE_ID == deviceid);
}
/*
* 400kHz I2C bus speed = 2.5us per bit = 25us per byte
*/
void
MPU9250_mag::passthrough_write(uint8_t reg, uint8_t val)
{
set_passthrough(reg, 1, &val);
px4_usleep(50); // wait for the value to be written to slave
_parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // disable new writes
}
void
MPU9250_mag::write_reg(unsigned reg, uint8_t value)
{
// general register transfer at low clock speed
if (_interface == nullptr) {
passthrough_write(reg, value);
write_reg_through_mpu9250(reg, value);
} else {
_interface->write(MPU9250_LOW_SPEED_OP(reg), &value, 1);
@ -246,17 +220,19 @@ MPU9250_mag::ak8963_read_adjustments()
uint8_t response[3];
float ak8963_ASA[3];
write_reg(AK8963REG_CNTL1, AK8963_FUZE_MODE | AK8963_16BIT_ADC);
px4_usleep(50);
write_reg_through_mpu9250(AK8963REG_CNTL1, AK8963_FUZE_MODE | AK8963_16BIT_ADC);
px4_usleep(200);
if (_interface != nullptr) {
_interface->read(AK8963REG_ASAX, response, 3);
} else {
passthrough_read(AK8963REG_ASAX, response, 3);
for (int i = 0; i < 3; ++i) {
read_reg_through_mpu9250(AK8963REG_ASAX + i, response + i);
}
}
write_reg(AK8963REG_CNTL1, AK8963_POWERDOWN_MODE);
write_reg_through_mpu9250(AK8963REG_CNTL1, AK8963_POWERDOWN_MODE);
for (int i = 0; i < 3; i++) {
if (0 != response[i] && 0xff != response[i]) {
@ -291,6 +267,7 @@ MPU9250_mag::ak8963_setup_master_i2c()
return OK;
}
int
MPU9250_mag::ak8963_setup()
{
@ -299,6 +276,7 @@ MPU9250_mag::ak8963_setup()
do {
ak8963_setup_master_i2c();
write_reg(AK8963REG_CNTL2, AK8963_RESET);
px4_usleep(100);
uint8_t id = 0;
@ -347,3 +325,107 @@ MPU9250_mag::ak8963_setup()
return OK;
}
void MPU9250_mag::write_imu_reg_verified(int reg, uint8_t val, uint8_t mask)
{
uint8_t b;
int retry = 5;
while (retry) { // should not reach any retries in normal condition
--retry;
_parent->write_reg(reg, val);
b = _parent->read_reg(reg);
if ((b & mask) != val) {
PX4_DEBUG("MPU9250_mag::write_imu_reg_verified failed. retrying...");
continue;
} else {
return;
}
}
}
void MPU9250_mag::read_reg_through_mpu9250(uint8_t reg, uint8_t *val)
{
uint8_t b = 0;
// Read operation on the mag using the slave 4 registers.
write_imu_reg_verified(MPUREG_I2C_SLV4_ADDR,
AK8963_I2C_ADDR | BIT_I2C_READ_FLAG, 0xff);
// Set the mag register to read from.
write_imu_reg_verified(MPUREG_I2C_SLV4_REG, reg, 0xff);
// Read the existing value of the SLV4 control register.
b = _parent->read_reg(MPUREG_I2C_SLV4_CTRL);
// Set the I2C_SLV4_EN bit in I2C_SL4_CTRL register without overwriting other
// bits. Enable data transfer, a read transfer as configured above.
b |= 0x80;
// Trigger the data transfer
_parent->write_reg(MPUREG_I2C_SLV4_CTRL, b);
// Continuously check I2C_MST_STATUS register value for the completion
// of I2C transfer until timeout
int loop_ctrl = 1000; // wait up to 1000 * 1ms for completion
do {
px4_usleep(1000);
b = _parent->read_reg(MPUREG_I2C_MST_STATUS);
} while (((b & 0x40) == 0x00) && (--loop_ctrl));
if (loop_ctrl == 0) {
PX4_ERR("I2C transfer timed out");
} else {
PX4_DEBUG("mpu9250 SPI2IIC read delay: %dms", loop_ctrl);
}
// Read the value received from the mag, and copy to the caller's out parameter.
*val = _parent->read_reg(MPUREG_I2C_SLV4_DI);
}
void MPU9250_mag::write_reg_through_mpu9250(uint8_t reg, uint8_t val)
{
uint8_t b = 0;
// Configure a write operation to the mag using Slave 4.
write_imu_reg_verified(MPUREG_I2C_SLV4_ADDR,
AK8963_I2C_ADDR, 0xff);
// Set the mag register address to write to using Slave 4.
write_imu_reg_verified(MPUREG_I2C_SLV4_REG, reg, 0xff);
// Set the value to write in the I2C_SLV4_DO register.
write_imu_reg_verified(MPUREG_I2C_SLV4_DO, val, 0xff);
// Read the current value of the Slave 4 control register.
b = _parent->read_reg(MPUREG_I2C_SLV4_CTRL);
// Set I2C_SLV4_EN bit in I2C_SL4_CTRL register without overwriting other
// bits.
b |= 0x80;
// Trigger the data transfer from the byte now stored in the SLV4_DO register.
_parent->write_reg(MPUREG_I2C_SLV4_CTRL, b);
// Continuously check I2C_MST_STATUS regsiter value for the completion
// of I2C transfer until timeout.
int loop_ctrl = 1000; // wait up to 1000 * 1ms for completion
do {
px4_usleep(1000);
b = _parent->read_reg(MPUREG_I2C_MST_STATUS);
} while (((b & 0x40) == 0x00) && (--loop_ctrl));
if (loop_ctrl == 0) {
PX4_ERR("I2C transfer to mag timed out");
} else {
PX4_DEBUG("mpu9250 SPI2IIC write delay: %dms", loop_ctrl);
}
}

8
src/drivers/imu/mpu9250/MPU9250_mag.h
View File

@ -115,10 +115,7 @@ public:
MPU9250_mag(MPU9250 *parent, device::Device *interface, enum Rotation rotation);
~MPU9250_mag();
void set_passthrough(uint8_t reg, uint8_t size, uint8_t *out = NULL);
void passthrough_read(uint8_t reg, uint8_t *buf, uint8_t size);
void passthrough_write(uint8_t reg, uint8_t val);
void read_block(uint8_t reg, uint8_t *val, uint8_t count);
void set_passthrough(uint8_t reg, uint8_t size, uint8_t *out = nullptr);
int ak8963_reset();
int ak8963_setup();
@ -138,6 +135,9 @@ protected:
uint8_t read_reg(unsigned reg);
void write_reg(unsigned reg, uint8_t value);
void write_imu_reg_verified(int reg, uint8_t val, uint8_t mask);
void read_reg_through_mpu9250(uint8_t reg, uint8_t *val);
void write_reg_through_mpu9250(uint8_t reg, uint8_t val);
bool is_passthrough() { return _interface == nullptr; }

11
src/drivers/imu/mpu9250/mpu9250.cpp
View File

@ -398,17 +398,6 @@ MPU9250::read_reg_range(unsigned start_reg, uint32_t speed, uint8_t *buf, uint16
return _interface->read(MPU9250_SET_SPEED(start_reg, speed), buf, count);
}
uint16_t
MPU9250::read_reg16(unsigned reg)
{
uint8_t buf[2] {};
// general register transfer at low clock speed
_interface->read(MPU9250_LOW_SPEED_OP(reg), &buf, arraySize(buf));
return (uint16_t)(buf[0] << 8) | buf[1];
}
void
MPU9250::write_reg(unsigned reg, uint8_t value)
{

1
src/drivers/imu/mpu9250/mpu9250.h
View File

@ -316,7 +316,6 @@ private:
* @return The value that was read.
*/
uint8_t read_reg(unsigned reg, uint32_t speed = MPU9250_LOW_BUS_SPEED);
uint16_t read_reg16(unsigned reg);
/**