forked from Archive/PX4-Autopilot
mpu9250: split icm20948 support out into new separate driver
This commit is contained in:
Daniel Agar
Lorenz Meier
parent
d02685c9f7
commit
8dc0509989
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@ -106,7 +106,7 @@ then
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fi
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# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
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mpu9250 -X -M -R 6 start
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icm20948 -X -M -R 6 start
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# Check for flow sensor, launched as a background task to scan
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px4flow start &
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@ -32,6 +32,7 @@ px4_add_board(
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imu/bmi160
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imu/mpu6000
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imu/mpu9250
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imu/icm20948
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irlock
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lights/blinkm
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lights/oreoled
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@ -38,6 +38,7 @@ add_subdirectory(bmi055)
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add_subdirectory(bmi160)
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add_subdirectory(fxas21002c)
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add_subdirectory(fxos8701cq)
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add_subdirectory(icm20948)
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add_subdirectory(l3gd20)
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add_subdirectory(lsm303d)
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add_subdirectory(mpu6000)
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@ -0,0 +1,48 @@
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############################################################################
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#
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# Copyright (c) 2016 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
|
||||
# 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__icm20948
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MAIN icm20948
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STACK_MAIN 1500
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COMPILE_FLAGS
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SRCS
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icm20948.cpp
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icm20948_i2c.cpp
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icm20948_spi.cpp
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main.cpp
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accel.cpp
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gyro.cpp
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mag.cpp
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mag_i2c.cpp
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DEPENDS
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)
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@ -0,0 +1,147 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2016 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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/**
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* @file gyro.cpp
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*
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* Driver for the Invensense mpu9250 connected via SPI.
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*
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* @author Andrew Tridgell
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*
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* based on the mpu6000 driver
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*/
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#include <px4_config.h>
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#include <ecl/geo/geo.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <stddef.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <stdio.h>
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#include <perf/perf_counter.h>
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#include <board_config.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/device/spi.h>
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#include <drivers/device/ringbuffer.h>
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#include <drivers/device/integrator.h>
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#include <drivers/drv_accel.h>
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#include <drivers/drv_gyro.h>
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#include <drivers/drv_mag.h>
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#include <mathlib/math/filter/LowPassFilter2p.hpp>
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#include <lib/conversion/rotation.h>
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#include "mag.h"
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#include "gyro.h"
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#include "icm20948.h"
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ICM20948_accel::ICM20948_accel(ICM20948 *parent, const char *path) :
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CDev("ICM20948_accel", path),
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_parent(parent)
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{
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}
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ICM20948_accel::~ICM20948_accel()
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{
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if (_accel_class_instance != -1) {
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unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _accel_class_instance);
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}
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}
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int
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ICM20948_accel::init()
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{
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// do base class init
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int ret = CDev::init();
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/* if probe/setup failed, bail now */
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if (ret != OK) {
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DEVICE_DEBUG("accel init failed");
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return ret;
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}
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_accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
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return ret;
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}
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void
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ICM20948_accel::parent_poll_notify()
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{
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poll_notify(POLLIN);
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}
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int
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ICM20948_accel::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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/*
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* Repeated in ICM20948_mag::ioctl
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* Both accel and mag CDev could be unused in case of magnetometer only mode or MPU6500
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*/
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switch (cmd) {
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case SENSORIOCRESET: {
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return _parent->reset();
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}
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case SENSORIOCSPOLLRATE: {
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switch (arg) {
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/* zero would be bad */
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case 0:
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return -EINVAL;
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case SENSOR_POLLRATE_DEFAULT:
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return ioctl(filp, SENSORIOCSPOLLRATE, MPU9250_ACCEL_DEFAULT_RATE);
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/* adjust to a legal polling interval in Hz */
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default:
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return _parent->_set_pollrate(arg);
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}
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}
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case ACCELIOCSSCALE: {
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struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
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memcpy(&_parent->_accel_scale, s, sizeof(_parent->_accel_scale));
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return OK;
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}
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default:
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return CDev::ioctl(filp, cmd, arg);
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}
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}
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@ -0,0 +1,63 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2016 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
|
||||
* 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
|
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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
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* 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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#pragma once
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class ICM20948;
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/**
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* Helper class implementing the accel driver node.
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*/
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class ICM20948_accel : public device::CDev
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{
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public:
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ICM20948_accel(ICM20948 *parent, const char *path);
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~ICM20948_accel();
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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virtual int init();
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protected:
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friend class ICM20948;
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void parent_poll_notify();
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private:
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ICM20948 *_parent;
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orb_advert_t _accel_topic{nullptr};
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int _accel_orb_class_instance{-1};
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int _accel_class_instance{-1};
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};
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@ -0,0 +1,112 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2016 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
|
||||
* 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
|
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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 gyro.cpp
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*
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* Driver for the Invensense icm20948 connected via SPI.
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*
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*
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* based on the mpu9250 driver
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*/
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#include <px4_config.h>
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#include <lib/perf/perf_counter.h>
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#include <drivers/device/spi.h>
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#include <drivers/device/ringbuffer.h>
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#include <drivers/device/integrator.h>
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#include <drivers/drv_accel.h>
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#include <drivers/drv_gyro.h>
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#include <drivers/drv_mag.h>
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#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
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#include <lib/conversion/rotation.h>
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#include "mag.h"
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#include "gyro.h"
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#include "icm20948.h"
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ICM20948_gyro::ICM20948_gyro(ICM20948 *parent, const char *path) :
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CDev("ICM20948_gyro", path),
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_parent(parent)
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{
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}
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ICM20948_gyro::~ICM20948_gyro()
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{
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if (_gyro_class_instance != -1) {
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unregister_class_devname(GYRO_BASE_DEVICE_PATH, _gyro_class_instance);
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}
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}
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int
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ICM20948_gyro::init()
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{
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// do base class init
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int ret = CDev::init();
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/* if probe/setup failed, bail now */
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if (ret != OK) {
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DEVICE_DEBUG("gyro init failed");
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return ret;
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}
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_gyro_class_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
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return ret;
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}
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void
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ICM20948_gyro::parent_poll_notify()
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{
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poll_notify(POLLIN);
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}
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int
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ICM20948_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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/* these are shared with the accel side */
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case SENSORIOCSPOLLRATE:
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case SENSORIOCRESET:
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return _parent->_accel->ioctl(filp, cmd, arg);
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case GYROIOCSSCALE:
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/* copy scale in */
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memcpy(&_parent->_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_parent->_gyro_scale));
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return OK;
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default:
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return CDev::ioctl(filp, cmd, arg);
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}
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}
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@ -0,0 +1,62 @@
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/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
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#pragma once
|
||||
|
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class ICM20948;
|
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|
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/**
|
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* Helper class implementing the gyro driver node.
|
||||
*/
|
||||
class ICM20948_gyro : public device::CDev
|
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{
|
||||
public:
|
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ICM20948_gyro(ICM20948 *parent, const char *path);
|
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~ICM20948_gyro();
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|
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
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|
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virtual int init();
|
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|
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protected:
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friend class ICM20948;
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|
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void parent_poll_notify();
|
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|
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private:
|
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ICM20948 *_parent;
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|
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orb_advert_t _gyro_topic{nullptr};
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int _gyro_orb_class_instance{-1};
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int _gyro_class_instance{-1};
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};
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File diff suppressed because it is too large
Load Diff
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@ -0,0 +1,684 @@
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/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016 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 <stdint.h>
|
||||
|
||||
#include <perf/perf_counter.h>
|
||||
#include <systemlib/conversions.h>
|
||||
|
||||
#include <nuttx/wqueue.h>
|
||||
|
||||
#include <board_config.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include <drivers/device/ringbuffer.h>
|
||||
#include <drivers/device/integrator.h>
|
||||
#include <drivers/drv_accel.h>
|
||||
#include <drivers/drv_gyro.h>
|
||||
#include <drivers/drv_mag.h>
|
||||
#include <mathlib/math/filter/LowPassFilter2p.hpp>
|
||||
#include <lib/conversion/rotation.h>
|
||||
#include <systemlib/err.h>
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/debug_key_value.h>
|
||||
|
||||
#include "mag.h"
|
||||
#include "accel.h"
|
||||
#include "gyro.h"
|
||||
|
||||
|
||||
#if defined(PX4_I2C_OBDEV_MPU9250) || defined(PX4_I2C_BUS_EXPANSION)
|
||||
# define USE_I2C
|
||||
#endif
|
||||
|
||||
|
||||
// MPU 9250 registers
|
||||
#define MPUREG_WHOAMI 0x75
|
||||
#define MPUREG_SMPLRT_DIV 0x19
|
||||
#define MPUREG_CONFIG 0x1A
|
||||
#define MPUREG_GYRO_CONFIG 0x1B
|
||||
#define MPUREG_ACCEL_CONFIG 0x1C
|
||||
#define MPUREG_ACCEL_CONFIG2 0x1D
|
||||
#define MPUREG_LPACCEL_ODR 0x1E
|
||||
#define MPUREG_WOM_THRESH 0x1F
|
||||
#define MPUREG_FIFO_EN 0x23
|
||||
#define MPUREG_I2C_MST_CTRL 0x24
|
||||
#define MPUREG_I2C_SLV0_ADDR 0x25
|
||||
#define MPUREG_I2C_SLV0_REG 0x26
|
||||
#define MPUREG_I2C_SLV0_CTRL 0x27
|
||||
#define MPUREG_I2C_SLV1_ADDR 0x28
|
||||
#define MPUREG_I2C_SLV1_REG 0x29
|
||||
#define MPUREG_I2C_SLV1_CTRL 0x2A
|
||||
#define MPUREG_I2C_SLV2_ADDR 0x2B
|
||||
#define MPUREG_I2C_SLV2_REG 0x2C
|
||||
#define MPUREG_I2C_SLV2_CTRL 0x2D
|
||||
#define MPUREG_I2C_SLV3_ADDR 0x2E
|
||||
#define MPUREG_I2C_SLV3_REG 0x2F
|
||||
#define MPUREG_I2C_SLV3_CTRL 0x30
|
||||
#define MPUREG_I2C_SLV4_ADDR 0x31
|
||||
#define MPUREG_I2C_SLV4_REG 0x32
|
||||
#define MPUREG_I2C_SLV4_DO 0x33
|
||||
#define MPUREG_I2C_SLV4_CTRL 0x34
|
||||
#define MPUREG_I2C_SLV4_DI 0x35
|
||||
#define MPUREG_I2C_MST_STATUS 0x36
|
||||
#define MPUREG_INT_PIN_CFG 0x37
|
||||
#define MPUREG_INT_ENABLE 0x38
|
||||
#define MPUREG_INT_STATUS 0x3A
|
||||
#define MPUREG_ACCEL_XOUT_H 0x3B
|
||||
#define MPUREG_ACCEL_XOUT_L 0x3C
|
||||
#define MPUREG_ACCEL_YOUT_H 0x3D
|
||||
#define MPUREG_ACCEL_YOUT_L 0x3E
|
||||
#define MPUREG_ACCEL_ZOUT_H 0x3F
|
||||
#define MPUREG_ACCEL_ZOUT_L 0x40
|
||||
#define MPUREG_TEMP_OUT_H 0x41
|
||||
#define MPUREG_TEMP_OUT_L 0x42
|
||||
#define MPUREG_GYRO_XOUT_H 0x43
|
||||
#define MPUREG_GYRO_XOUT_L 0x44
|
||||
#define MPUREG_GYRO_YOUT_H 0x45
|
||||
#define MPUREG_GYRO_YOUT_L 0x46
|
||||
#define MPUREG_GYRO_ZOUT_H 0x47
|
||||
#define MPUREG_GYRO_ZOUT_L 0x48
|
||||
#define MPUREG_EXT_SENS_DATA_00 0x49
|
||||
#define MPUREG_I2C_SLV0_D0 0x63
|
||||
#define MPUREG_I2C_SLV1_D0 0x64
|
||||
#define MPUREG_I2C_SLV2_D0 0x65
|
||||
#define MPUREG_I2C_SLV3_D0 0x66
|
||||
#define MPUREG_I2C_MST_DELAY_CTRL 0x67
|
||||
#define MPUREG_SIGNAL_PATH_RESET 0x68
|
||||
#define MPUREG_MOT_DETECT_CTRL 0x69
|
||||
#define MPUREG_USER_CTRL 0x6A
|
||||
#define MPUREG_PWR_MGMT_1 0x6B
|
||||
#define MPUREG_PWR_MGMT_2 0x6C
|
||||
#define MPUREG_FIFO_COUNTH 0x72
|
||||
#define MPUREG_FIFO_COUNTL 0x73
|
||||
#define MPUREG_FIFO_R_W 0x74
|
||||
|
||||
// Configuration bits MPU 9250
|
||||
#define BIT_SLEEP 0x40
|
||||
#define BIT_H_RESET 0x80
|
||||
#define MPU_CLK_SEL_AUTO 0x01
|
||||
|
||||
#define BITS_GYRO_ST_X 0x80
|
||||
#define BITS_GYRO_ST_Y 0x40
|
||||
#define BITS_GYRO_ST_Z 0x20
|
||||
#define BITS_FS_250DPS 0x00
|
||||
#define BITS_FS_500DPS 0x08
|
||||
#define BITS_FS_1000DPS 0x10
|
||||
#define BITS_FS_2000DPS 0x18
|
||||
#define BITS_FS_MASK 0x18
|
||||
|
||||
#define BITS_DLPF_CFG_250HZ 0x00
|
||||
#define BITS_DLPF_CFG_184HZ 0x01
|
||||
#define BITS_DLPF_CFG_92HZ 0x02
|
||||
#define BITS_DLPF_CFG_41HZ 0x03
|
||||
#define BITS_DLPF_CFG_20HZ 0x04
|
||||
#define BITS_DLPF_CFG_10HZ 0x05
|
||||
#define BITS_DLPF_CFG_5HZ 0x06
|
||||
#define BITS_DLPF_CFG_3600HZ 0x07
|
||||
#define BITS_DLPF_CFG_MASK 0x07
|
||||
|
||||
#define BITS_ACCEL_CONFIG2_41HZ 0x03
|
||||
|
||||
#define BIT_RAW_RDY_EN 0x01
|
||||
#define BIT_INT_ANYRD_2CLEAR 0x10
|
||||
#define BIT_INT_BYPASS_EN 0x02
|
||||
|
||||
#define BIT_I2C_READ_FLAG 0x80
|
||||
|
||||
#define BIT_I2C_SLV0_NACK 0x01
|
||||
#define BIT_I2C_FIFO_EN 0x40
|
||||
#define BIT_I2C_MST_EN 0x20
|
||||
#define BIT_I2C_IF_DIS 0x10
|
||||
#define BIT_FIFO_RST 0x04
|
||||
#define BIT_I2C_MST_RST 0x02
|
||||
#define BIT_SIG_COND_RST 0x01
|
||||
|
||||
#define BIT_I2C_SLV0_EN 0x80
|
||||
#define BIT_I2C_SLV0_BYTE_SW 0x40
|
||||
#define BIT_I2C_SLV0_REG_DIS 0x20
|
||||
#define BIT_I2C_SLV0_REG_GRP 0x10
|
||||
|
||||
#define BIT_I2C_MST_MULT_MST_EN 0x80
|
||||
#define BIT_I2C_MST_WAIT_FOR_ES 0x40
|
||||
#define BIT_I2C_MST_SLV_3_FIFO_EN 0x20
|
||||
#define BIT_I2C_MST_P_NSR 0x10
|
||||
#define BITS_I2C_MST_CLOCK_258HZ 0x08
|
||||
#define BITS_I2C_MST_CLOCK_400HZ 0x0D
|
||||
|
||||
#define BIT_I2C_SLV0_DLY_EN 0x01
|
||||
#define BIT_I2C_SLV1_DLY_EN 0x02
|
||||
#define BIT_I2C_SLV2_DLY_EN 0x04
|
||||
#define BIT_I2C_SLV3_DLY_EN 0x08
|
||||
|
||||
#define ICM_WHOAMI_20948 0xEA
|
||||
|
||||
#define MPU9250_ACCEL_DEFAULT_RATE 1000
|
||||
#define MPU9250_ACCEL_MAX_OUTPUT_RATE 280
|
||||
#define MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
|
||||
#define MPU9250_GYRO_DEFAULT_RATE 1000
|
||||
/* rates need to be the same between accel and gyro */
|
||||
#define MPU9250_GYRO_MAX_OUTPUT_RATE MPU9250_ACCEL_MAX_OUTPUT_RATE
|
||||
#define MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ 30
|
||||
|
||||
#define MPU9250_DEFAULT_ONCHIP_FILTER_FREQ 92
|
||||
|
||||
#define MPUIOCGIS_I2C (unsigned)(DEVIOCGDEVICEID+100)
|
||||
|
||||
|
||||
|
||||
// ICM20948 registers and data
|
||||
|
||||
/*
|
||||
* ICM20948 I2C address LSB can be switched by the chip's AD0 pin, thus is device dependent.
|
||||
* Noting this down for now. Here GPS uses 0x69. To support a device implementing the second
|
||||
* address, probably an additional MPU_DEVICE_TYPE is the way to go.
|
||||
*/
|
||||
#define PX4_I2C_EXT_ICM20948_0 0x68
|
||||
#define PX4_I2C_EXT_ICM20948_1 0x69
|
||||
|
||||
/*
|
||||
* ICM20948 uses register banks. Register 127 (0x7F) is used to switch between 4 banks.
|
||||
* There's room in the upper address byte below the port speed setting to code in the
|
||||
* used bank. This is a bit more efficient, already in use for the speed setting and more
|
||||
* in one place than a solution with a lookup table for address/bank pairs.
|
||||
*/
|
||||
|
||||
#define BANK0 0x0000
|
||||
#define BANK1 0x0100
|
||||
#define BANK2 0x0200
|
||||
#define BANK3 0x0300
|
||||
|
||||
#define BANK_REG_MASK 0x0300
|
||||
#define REG_BANK(r) (((r) & BANK_REG_MASK)>>4)
|
||||
#define REG_ADDRESS(r) ((r) & ~BANK_REG_MASK)
|
||||
|
||||
#define ICMREG_20948_BANK_SEL 0x7F
|
||||
|
||||
#define ICMREG_20948_WHOAMI (0x00 | BANK0)
|
||||
#define ICMREG_20948_USER_CTRL (0x03 | BANK0)
|
||||
#define ICMREG_20948_PWR_MGMT_1 (0x06 | BANK0)
|
||||
#define ICMREG_20948_PWR_MGMT_2 (0x07 | BANK0)
|
||||
#define ICMREG_20948_INT_PIN_CFG (0x0F | BANK0)
|
||||
#define ICMREG_20948_INT_ENABLE (0x10 | BANK0)
|
||||
#define ICMREG_20948_INT_ENABLE_1 (0x11 | BANK0)
|
||||
#define ICMREG_20948_ACCEL_XOUT_H (0x2D | BANK0)
|
||||
#define ICMREG_20948_INT_ENABLE_2 (0x12 | BANK0)
|
||||
#define ICMREG_20948_INT_ENABLE_3 (0x13 | BANK0)
|
||||
#define ICMREG_20948_EXT_SLV_SENS_DATA_00 (0x3B | BANK0)
|
||||
#define ICMREG_20948_GYRO_SMPLRT_DIV (0x00 | BANK2)
|
||||
#define ICMREG_20948_GYRO_CONFIG_1 (0x01 | BANK2)
|
||||
#define ICMREG_20948_GYRO_CONFIG_2 (0x02 | BANK2)
|
||||
#define ICMREG_20948_ACCEL_SMPLRT_DIV_1 (0x10 | BANK2)
|
||||
#define ICMREG_20948_ACCEL_SMPLRT_DIV_2 (0x11 | BANK2)
|
||||
#define ICMREG_20948_ACCEL_CONFIG (0x14 | BANK2)
|
||||
#define ICMREG_20948_ACCEL_CONFIG_2 (0x15 | BANK2)
|
||||
#define ICMREG_20948_I2C_MST_CTRL (0x01 | BANK3)
|
||||
#define ICMREG_20948_I2C_SLV0_ADDR (0x03 | BANK3)
|
||||
#define ICMREG_20948_I2C_SLV0_REG (0x04 | BANK3)
|
||||
#define ICMREG_20948_I2C_SLV0_CTRL (0x05 | BANK3)
|
||||
#define ICMREG_20948_I2C_SLV0_DO (0x06 | BANK3)
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* ICM20948 register bits
|
||||
* Most of the regiser set values from MPU9250 have the same
|
||||
* meaning on ICM20948. The exceptions and values not already
|
||||
* defined for MPU9250 are defined below
|
||||
*/
|
||||
#define ICM_BIT_PWR_MGMT_1_ENABLE 0x00
|
||||
#define ICM_BIT_USER_CTRL_I2C_MST_DISABLE 0x00
|
||||
|
||||
#define ICM_BITS_GYRO_DLPF_CFG_197HZ 0x01
|
||||
#define ICM_BITS_GYRO_DLPF_CFG_151HZ 0x09
|
||||
#define ICM_BITS_GYRO_DLPF_CFG_119HZ 0x11
|
||||
#define ICM_BITS_GYRO_DLPF_CFG_51HZ 0x19
|
||||
#define ICM_BITS_GYRO_DLPF_CFG_23HZ 0x21
|
||||
#define ICM_BITS_GYRO_DLPF_CFG_11HZ 0x29
|
||||
#define ICM_BITS_GYRO_DLPF_CFG_5HZ 0x31
|
||||
#define ICM_BITS_GYRO_DLPF_CFG_361HZ 0x39
|
||||
#define ICM_BITS_GYRO_DLPF_CFG_MASK 0x39
|
||||
|
||||
#define ICM_BITS_GYRO_FS_SEL_250DPS 0x00
|
||||
#define ICM_BITS_GYRO_FS_SEL_500DPS 0x02
|
||||
#define ICM_BITS_GYRO_FS_SEL_1000DPS 0x04
|
||||
#define ICM_BITS_GYRO_FS_SEL_2000DPS 0x06
|
||||
#define ICM_BITS_GYRO_FS_SEL_MASK 0x06
|
||||
|
||||
#define ICM_BITS_ACCEL_DLPF_CFG_246HZ 0x09
|
||||
#define ICM_BITS_ACCEL_DLPF_CFG_111HZ 0x11
|
||||
#define ICM_BITS_ACCEL_DLPF_CFG_50HZ 0x19
|
||||
#define ICM_BITS_ACCEL_DLPF_CFG_23HZ 0x21
|
||||
#define ICM_BITS_ACCEL_DLPF_CFG_11HZ 0x29
|
||||
#define ICM_BITS_ACCEL_DLPF_CFG_5HZ 0x31
|
||||
#define ICM_BITS_ACCEL_DLPF_CFG_473HZ 0x39
|
||||
#define ICM_BITS_ACCEL_DLPF_CFG_MASK 0x39
|
||||
|
||||
#define ICM_BITS_ACCEL_FS_SEL_250DPS 0x00
|
||||
#define ICM_BITS_ACCEL_FS_SEL_500DPS 0x02
|
||||
#define ICM_BITS_ACCEL_FS_SEL_1000DPS 0x04
|
||||
#define ICM_BITS_ACCEL_FS_SEL_2000DPS 0x06
|
||||
#define ICM_BITS_ACCEL_FS_SEL_MASK 0x06
|
||||
|
||||
#define ICM_BITS_DEC3_CFG_4 0x00
|
||||
#define ICM_BITS_DEC3_CFG_8 0x01
|
||||
#define ICM_BITS_DEC3_CFG_16 0x10
|
||||
#define ICM_BITS_DEC3_CFG_32 0x11
|
||||
#define ICM_BITS_DEC3_CFG_MASK 0x11
|
||||
|
||||
#define ICM_BITS_I2C_MST_CLOCK_370KHZ 0x00
|
||||
#define ICM_BITS_I2C_MST_CLOCK_400HZ 0x07 // recommended by datasheet for 400kHz target clock
|
||||
|
||||
|
||||
|
||||
#define MPU_OR_ICM(m,i) ((_whoami==ICM_WHOAMI_20948) ? i : m)
|
||||
|
||||
|
||||
#pragma pack(push, 1)
|
||||
/**
|
||||
* Report conversation within the mpu, including command byte and
|
||||
* interrupt status.
|
||||
*/
|
||||
struct ICMReport {
|
||||
uint8_t accel_x[2];
|
||||
uint8_t accel_y[2];
|
||||
uint8_t accel_z[2];
|
||||
uint8_t gyro_x[2];
|
||||
uint8_t gyro_y[2];
|
||||
uint8_t gyro_z[2];
|
||||
uint8_t temp[2];
|
||||
struct ak8963_regs mag;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
|
||||
|
||||
|
||||
#pragma pack(push, 1)
|
||||
/**
|
||||
* Report conversation within the mpu, including command byte and
|
||||
* interrupt status.
|
||||
*/
|
||||
struct MPUReport {
|
||||
uint8_t cmd;
|
||||
uint8_t status;
|
||||
uint8_t accel_x[2];
|
||||
uint8_t accel_y[2];
|
||||
uint8_t accel_z[2];
|
||||
uint8_t temp[2];
|
||||
uint8_t gyro_x[2];
|
||||
uint8_t gyro_y[2];
|
||||
uint8_t gyro_z[2];
|
||||
struct ak8963_regs mag;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
#define MPU_MAX_WRITE_BUFFER_SIZE (2)
|
||||
|
||||
|
||||
/*
|
||||
The MPU9250 can only handle high bus speeds on the sensor and
|
||||
interrupt status registers. All other registers have a maximum 1MHz
|
||||
Communication with all registers of the device is performed using either
|
||||
I2C at 400kHz or SPI at 1MHz. For applications requiring faster communications,
|
||||
the sensor and interrupt registers may be read using SPI at 20MHz
|
||||
*/
|
||||
#define MPU9250_LOW_BUS_SPEED 0
|
||||
#define MPU9250_HIGH_BUS_SPEED 0x8000
|
||||
#define MPU9250_REG_MASK 0x00FF
|
||||
# define MPU9250_IS_HIGH_SPEED(r) ((r) & MPU9250_HIGH_BUS_SPEED)
|
||||
# define MPU9250_REG(r) ((r) & MPU9250_REG_MASK)
|
||||
# define MPU9250_SET_SPEED(r, s) ((r)|(s))
|
||||
# define MPU9250_HIGH_SPEED_OP(r) MPU9250_SET_SPEED((r), MPU9250_HIGH_BUS_SPEED)
|
||||
# define MPU9250_LOW_SPEED_OP(r) ((r) &~MPU9250_HIGH_BUS_SPEED)
|
||||
|
||||
/* interface factories */
|
||||
extern device::Device *ICM20948_SPI_interface(int bus, uint32_t cs, bool external_bus);
|
||||
extern device::Device *ICM20948_I2C_interface(int bus, uint32_t address, bool external_bus);
|
||||
extern int MPU9250_probe(device::Device *dev);
|
||||
|
||||
typedef device::Device *(*ICM20948_constructor)(int, uint32_t, bool);
|
||||
|
||||
class ICM20948_mag;
|
||||
class ICM20948_accel;
|
||||
class ICM20948_gyro;
|
||||
|
||||
class ICM20948
|
||||
{
|
||||
public:
|
||||
ICM20948(device::Device *interface, device::Device *mag_interface, const char *path_accel, const char *path_gyro,
|
||||
const char *path_mag,
|
||||
enum Rotation rotation,
|
||||
bool magnetometer_only);
|
||||
|
||||
virtual ~ICM20948();
|
||||
|
||||
virtual int init();
|
||||
uint8_t get_whoami();
|
||||
|
||||
/**
|
||||
* Diagnostics - print some basic information about the driver.
|
||||
*/
|
||||
void print_info();
|
||||
|
||||
protected:
|
||||
device::Device *_interface;
|
||||
uint8_t _whoami; /** whoami result */
|
||||
|
||||
virtual int probe();
|
||||
|
||||
friend class ICM20948_accel;
|
||||
friend class ICM20948_mag;
|
||||
friend class ICM20948_gyro;
|
||||
|
||||
private:
|
||||
ICM20948_accel *_accel;
|
||||
ICM20948_gyro *_gyro;
|
||||
ICM20948_mag *_mag;
|
||||
uint8_t _selected_bank; /* Remember selected memory bank to avoid polling / setting on each read/write */
|
||||
bool
|
||||
_magnetometer_only; /* To disable accel and gyro reporting if only magnetometer is used (e.g. as external magnetometer) */
|
||||
|
||||
#if defined(USE_I2C)
|
||||
/*
|
||||
* SPI bus based device use hrt
|
||||
* I2C bus needs to use work queue
|
||||
*/
|
||||
work_s _work{};
|
||||
#endif
|
||||
bool _use_hrt;
|
||||
|
||||
struct hrt_call _call {};
|
||||
unsigned _call_interval;
|
||||
|
||||
ringbuffer::RingBuffer *_accel_reports;
|
||||
|
||||
struct accel_calibration_s _accel_scale;
|
||||
float _accel_range_scale;
|
||||
float _accel_range_m_s2;
|
||||
orb_advert_t _accel_topic;
|
||||
|
||||
ringbuffer::RingBuffer *_gyro_reports;
|
||||
|
||||
struct gyro_calibration_s _gyro_scale;
|
||||
float _gyro_range_scale;
|
||||
float _gyro_range_rad_s;
|
||||
|
||||
unsigned _dlpf_freq;
|
||||
unsigned _dlpf_freq_icm_gyro;
|
||||
unsigned _dlpf_freq_icm_accel;
|
||||
|
||||
unsigned _sample_rate;
|
||||
perf_counter_t _accel_reads;
|
||||
perf_counter_t _gyro_reads;
|
||||
perf_counter_t _sample_perf;
|
||||
perf_counter_t _bad_transfers;
|
||||
perf_counter_t _bad_registers;
|
||||
perf_counter_t _good_transfers;
|
||||
perf_counter_t _reset_retries;
|
||||
perf_counter_t _duplicates;
|
||||
|
||||
uint8_t _register_wait;
|
||||
uint64_t _reset_wait;
|
||||
|
||||
math::LowPassFilter2p _accel_filter_x;
|
||||
math::LowPassFilter2p _accel_filter_y;
|
||||
math::LowPassFilter2p _accel_filter_z;
|
||||
math::LowPassFilter2p _gyro_filter_x;
|
||||
math::LowPassFilter2p _gyro_filter_y;
|
||||
math::LowPassFilter2p _gyro_filter_z;
|
||||
|
||||
Integrator _accel_int;
|
||||
Integrator _gyro_int;
|
||||
|
||||
enum Rotation _rotation;
|
||||
|
||||
// this is used to support runtime checking of key
|
||||
// configuration registers to detect SPI bus errors and sensor
|
||||
// reset
|
||||
|
||||
#ifndef MAX
|
||||
#define MAX(X,Y) ((X) > (Y) ? (X) : (Y))
|
||||
#endif
|
||||
|
||||
static constexpr int ICM20948_NUM_CHECKED_REGISTERS{15};
|
||||
static const uint16_t _icm20948_checked_registers[ICM20948_NUM_CHECKED_REGISTERS];
|
||||
|
||||
const uint16_t *_checked_registers;
|
||||
|
||||
uint8_t _checked_values[ICM20948_NUM_CHECKED_REGISTERS];
|
||||
uint8_t _checked_bad[ICM20948_NUM_CHECKED_REGISTERS];
|
||||
unsigned _checked_next;
|
||||
unsigned _num_checked_registers;
|
||||
|
||||
|
||||
// last temperature reading for print_info()
|
||||
float _last_temperature;
|
||||
|
||||
bool check_null_data(uint16_t *data, uint8_t size);
|
||||
bool check_duplicate(uint8_t *accel_data);
|
||||
// keep last accel reading for duplicate detection
|
||||
uint8_t _last_accel_data[6];
|
||||
bool _got_duplicate;
|
||||
|
||||
/**
|
||||
* Start automatic measurement.
|
||||
*/
|
||||
void start();
|
||||
|
||||
/**
|
||||
* Stop automatic measurement.
|
||||
*/
|
||||
void stop();
|
||||
|
||||
/**
|
||||
* Reset chip.
|
||||
*
|
||||
* Resets the chip and measurements ranges, but not scale and offset.
|
||||
*/
|
||||
int reset();
|
||||
|
||||
|
||||
/**
|
||||
* Resets the main chip (excluding the magnetometer if any).
|
||||
*/
|
||||
int reset_mpu();
|
||||
|
||||
|
||||
#if defined(USE_I2C)
|
||||
/**
|
||||
* When the I2C interfase is on
|
||||
* Perform a poll cycle; collect from the previous measurement
|
||||
* and start a new one.
|
||||
*
|
||||
* This is the heart of the measurement state machine. This function
|
||||
* alternately starts a measurement, or collects the data from the
|
||||
* previous measurement.
|
||||
*
|
||||
* When the interval between measurements is greater than the minimum
|
||||
* measurement interval, a gap is inserted between collection
|
||||
* and measurement to provide the most recent measurement possible
|
||||
* at the next interval.
|
||||
*/
|
||||
void cycle();
|
||||
|
||||
/**
|
||||
* Static trampoline from the workq context; because we don't have a
|
||||
* generic workq wrapper yet.
|
||||
*
|
||||
* @param arg Instance pointer for the driver that is polling.
|
||||
*/
|
||||
static void cycle_trampoline(void *arg);
|
||||
|
||||
void use_i2c(bool on_true) { _use_hrt = !on_true; }
|
||||
|
||||
#endif
|
||||
|
||||
bool is_i2c(void) { return !_use_hrt; }
|
||||
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* Static trampoline from the hrt_call context; because we don't have a
|
||||
* generic hrt wrapper yet.
|
||||
*
|
||||
* Called by the HRT in interrupt context at the specified rate if
|
||||
* automatic polling is enabled.
|
||||
*
|
||||
* @param arg Instance pointer for the driver that is polling.
|
||||
*/
|
||||
static void measure_trampoline(void *arg);
|
||||
|
||||
/**
|
||||
* Fetch measurements from the sensor and update the report buffers.
|
||||
*/
|
||||
void measure();
|
||||
|
||||
/**
|
||||
* Select a register bank in ICM20948
|
||||
*
|
||||
* Only actually switches if the remembered bank is different from the
|
||||
* requested one
|
||||
*
|
||||
* @param The index of the register bank to switch to (0-3)
|
||||
* @return Error code
|
||||
*/
|
||||
int select_register_bank(uint8_t bank);
|
||||
|
||||
|
||||
/**
|
||||
* Read a register from the mpu
|
||||
*
|
||||
* @param The register to read.
|
||||
* @param The bus speed to read with.
|
||||
* @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);
|
||||
|
||||
|
||||
/**
|
||||
* Read a register range from the mpu
|
||||
*
|
||||
* @param The start address to read from.
|
||||
* @param The bus speed to read with.
|
||||
* @param The address of the target data buffer.
|
||||
* @param The count of bytes to be read.
|
||||
* @return The value that was read.
|
||||
*/
|
||||
uint8_t read_reg_range(unsigned start_reg, uint32_t speed, uint8_t *buf, uint16_t count);
|
||||
|
||||
/**
|
||||
* Write a register in the mpu
|
||||
*
|
||||
* @param reg The register to write.
|
||||
* @param value The new value to write.
|
||||
*/
|
||||
void write_reg(unsigned reg, uint8_t value);
|
||||
|
||||
/**
|
||||
* Modify a register in the mpu
|
||||
*
|
||||
* Bits are cleared before bits are set.
|
||||
*
|
||||
* @param reg The register to modify.
|
||||
* @param clearbits Bits in the register to clear.
|
||||
* @param setbits Bits in the register to set.
|
||||
*/
|
||||
void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
|
||||
|
||||
/**
|
||||
* Write a register in the mpu, updating _checked_values
|
||||
*
|
||||
* @param reg The register to write.
|
||||
* @param value The new value to write.
|
||||
*/
|
||||
void write_checked_reg(unsigned reg, uint8_t value);
|
||||
|
||||
/**
|
||||
* Modify a checked register in the mpu
|
||||
*
|
||||
* Bits are cleared before bits are set.
|
||||
*
|
||||
* @param reg The register to modify.
|
||||
* @param clearbits Bits in the register to clear.
|
||||
* @param setbits Bits in the register to set.
|
||||
*/
|
||||
void modify_checked_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
|
||||
|
||||
/**
|
||||
* Set the mpu measurement range.
|
||||
*
|
||||
* @param max_g The maximum G value the range must support.
|
||||
* @return OK if the value can be supported, -ERANGE otherwise.
|
||||
*/
|
||||
int set_accel_range(unsigned max_g);
|
||||
|
||||
/**
|
||||
* Swap a 16-bit value read from the mpu to native byte order.
|
||||
*/
|
||||
uint16_t swap16(uint16_t val) { return (val >> 8) | (val << 8); }
|
||||
|
||||
/**
|
||||
* Get the internal / external state
|
||||
*
|
||||
* @return true if the sensor is not on the main MCU board
|
||||
*/
|
||||
bool is_external() { return _interface->external(); }
|
||||
|
||||
/*
|
||||
set low pass filter frequency
|
||||
*/
|
||||
void _set_dlpf_filter(uint16_t frequency_hz);
|
||||
|
||||
/*
|
||||
set sample rate (approximate) - 1kHz to 5Hz
|
||||
*/
|
||||
void _set_sample_rate(unsigned desired_sample_rate_hz);
|
||||
|
||||
/*
|
||||
set poll rate
|
||||
*/
|
||||
int _set_pollrate(unsigned long rate);
|
||||
|
||||
/*
|
||||
check that key registers still have the right value
|
||||
*/
|
||||
void check_registers(void);
|
||||
|
||||
/* do not allow to copy this class due to pointer data members */
|
||||
ICM20948(const ICM20948 &);
|
||||
ICM20948 operator=(const ICM20948 &);
|
||||
};
|
||||
|
|
@ -0,0 +1,131 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016 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 icm20948_i2c.cpp
|
||||
*
|
||||
* I2C interface for ICM20948
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <drivers/device/i2c.h>
|
||||
#include <drivers/drv_accel.h>
|
||||
#include <drivers/drv_device.h>
|
||||
|
||||
#include "icm20948.h"
|
||||
|
||||
#ifdef USE_I2C
|
||||
|
||||
device::Device *ICM20948_I2C_interface(int bus, uint32_t address, bool external_bus);
|
||||
|
||||
class ICM20948_I2C : public device::I2C
|
||||
{
|
||||
public:
|
||||
ICM20948_I2C(int bus, uint32_t address);
|
||||
~ICM20948_I2C() override = default;
|
||||
|
||||
int read(unsigned address, void *data, unsigned count) override;
|
||||
int write(unsigned address, void *data, unsigned count) override;
|
||||
|
||||
protected:
|
||||
virtual int probe();
|
||||
|
||||
private:
|
||||
|
||||
};
|
||||
|
||||
device::Device *
|
||||
ICM20948_I2C_interface(int bus, uint32_t address, bool external_bus)
|
||||
{
|
||||
return new ICM20948_I2C(bus, address);
|
||||
}
|
||||
|
||||
ICM20948_I2C::ICM20948_I2C(int bus, uint32_t address) :
|
||||
I2C("ICM20948_I2C", nullptr, bus, address, 400000)
|
||||
{
|
||||
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
|
||||
}
|
||||
|
||||
int
|
||||
ICM20948_I2C::write(unsigned reg_speed, void *data, unsigned count)
|
||||
{
|
||||
uint8_t cmd[MPU_MAX_WRITE_BUFFER_SIZE];
|
||||
|
||||
if (sizeof(cmd) < (count + 1)) {
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
cmd[0] = MPU9250_REG(reg_speed);
|
||||
cmd[1] = *(uint8_t *)data;
|
||||
return transfer(&cmd[0], count + 1, nullptr, 0);
|
||||
}
|
||||
|
||||
int
|
||||
ICM20948_I2C::read(unsigned reg_speed, void *data, unsigned count)
|
||||
{
|
||||
/* We want to avoid copying the data of MPUReport: So if the caller
|
||||
* supplies a buffer not MPUReport in size, it is assume to be a reg or
|
||||
* reg 16 read
|
||||
* Since MPUReport has a cmd at front, we must return the data
|
||||
* after that. Foe anthing else we must return it
|
||||
*/
|
||||
uint32_t offset = count < sizeof(MPUReport) ? 0 : offsetof(MPUReport, status);
|
||||
uint8_t cmd = MPU9250_REG(reg_speed);
|
||||
return transfer(&cmd, 1, &((uint8_t *)data)[offset], count);
|
||||
}
|
||||
|
||||
int
|
||||
ICM20948_I2C::probe()
|
||||
{
|
||||
uint8_t whoami = 0;
|
||||
uint8_t register_select = REG_BANK(BANK0); // register bank containing WHOAMI for ICM20948
|
||||
|
||||
// Try first for mpu9250/6500
|
||||
read(MPUREG_WHOAMI, &whoami, 1);
|
||||
|
||||
/*
|
||||
* If it's not an MPU it must be an ICM
|
||||
* Make sure register bank 0 is selected - whoami is only present on bank 0, and that is
|
||||
* not sure e.g. if the device has rebooted without repowering the sensor
|
||||
*/
|
||||
write(ICMREG_20948_BANK_SEL, ®ister_select, 1);
|
||||
read(ICMREG_20948_WHOAMI, &whoami, 1);
|
||||
|
||||
if (whoami == ICM_WHOAMI_20948) {
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
#endif /* USE_I2C */
|
||||
|
|
@ -0,0 +1,193 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 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_spi.cpp
|
||||
*
|
||||
* Driver for the Invensense ICM20948 connected via SPI.
|
||||
*
|
||||
* @author Andrew Tridgell
|
||||
* @author Pat Hickey
|
||||
* @author David sidrane
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <drivers/device/spi.h>
|
||||
#include <drivers/drv_accel.h>
|
||||
#include <drivers/drv_device.h>
|
||||
|
||||
#include "icm20948.h"
|
||||
|
||||
#define DIR_READ 0x80
|
||||
#define DIR_WRITE 0x00
|
||||
|
||||
/*
|
||||
* The ICM20948 can only handle high SPI bus speeds of 20Mhz on the sensor and
|
||||
* interrupt status registers. All other registers have a maximum 1MHz
|
||||
* SPI speed
|
||||
*
|
||||
* The Actual Value will be rounded down by the spi driver.
|
||||
* for a 168Mhz CPU this will be 10.5 Mhz and for a 180 Mhz CPU
|
||||
* it will be 11.250 Mhz
|
||||
*/
|
||||
#define MPU9250_LOW_SPI_BUS_SPEED 1000*1000
|
||||
#define MPU9250_HIGH_SPI_BUS_SPEED 20*1000*1000
|
||||
|
||||
device::Device *ICM20948_SPI_interface(int bus, uint32_t cs, bool external_bus);
|
||||
|
||||
class ICM20948_SPI : public device::SPI
|
||||
{
|
||||
public:
|
||||
ICM20948_SPI(int bus, uint32_t device);
|
||||
~ICM20948_SPI() override = default;
|
||||
|
||||
int read(unsigned address, void *data, unsigned count) override;
|
||||
int write(unsigned address, void *data, unsigned count) override;
|
||||
|
||||
protected:
|
||||
int probe() override;
|
||||
|
||||
private:
|
||||
|
||||
/* Helper to set the desired speed and isolate the register on return */
|
||||
void set_bus_frequency(unsigned ®_speed_reg_out);
|
||||
};
|
||||
|
||||
device::Device *
|
||||
ICM20948_SPI_interface(int bus, uint32_t cs, bool external_bus)
|
||||
{
|
||||
device::Device *interface = nullptr;
|
||||
|
||||
if (external_bus) {
|
||||
#if !(defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU))
|
||||
errx(0, "External SPI not available");
|
||||
#endif
|
||||
}
|
||||
|
||||
if (cs != SPIDEV_NONE(0)) {
|
||||
interface = new ICM20948_SPI(bus, cs);
|
||||
}
|
||||
|
||||
return interface;
|
||||
}
|
||||
|
||||
ICM20948_SPI::ICM20948_SPI(int bus, uint32_t device) :
|
||||
SPI("ICM20948", nullptr, bus, device, SPIDEV_MODE3, MPU9250_LOW_SPI_BUS_SPEED)
|
||||
{
|
||||
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
|
||||
}
|
||||
|
||||
void
|
||||
ICM20948_SPI::set_bus_frequency(unsigned ®_speed)
|
||||
{
|
||||
/* Set the desired speed */
|
||||
set_frequency(MPU9250_IS_HIGH_SPEED(reg_speed) ? MPU9250_HIGH_SPI_BUS_SPEED : MPU9250_LOW_SPI_BUS_SPEED);
|
||||
|
||||
/* Isoolate the register on return */
|
||||
reg_speed = MPU9250_REG(reg_speed);
|
||||
}
|
||||
|
||||
int
|
||||
ICM20948_SPI::write(unsigned reg_speed, void *data, unsigned count)
|
||||
{
|
||||
uint8_t cmd[MPU_MAX_WRITE_BUFFER_SIZE];
|
||||
|
||||
if (sizeof(cmd) < (count + 1)) {
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
/* Set the desired speed and isolate the register */
|
||||
|
||||
set_bus_frequency(reg_speed);
|
||||
|
||||
cmd[0] = reg_speed | DIR_WRITE;
|
||||
cmd[1] = *(uint8_t *)data;
|
||||
|
||||
return transfer(&cmd[0], &cmd[0], count + 1);
|
||||
}
|
||||
|
||||
int
|
||||
ICM20948_SPI::read(unsigned reg_speed, void *data, unsigned count)
|
||||
{
|
||||
/* We want to avoid copying the data of MPUReport: So if the caller
|
||||
* supplies a buffer not MPUReport in size, it is assume to be a reg or reg 16 read
|
||||
* and we need to provied the buffer large enough for the callers data
|
||||
* and our command.
|
||||
*/
|
||||
uint8_t cmd[3] = {0, 0, 0};
|
||||
|
||||
uint8_t *pbuff = count < sizeof(MPUReport) ? cmd : (uint8_t *) data ;
|
||||
|
||||
if (count < sizeof(MPUReport)) {
|
||||
/* add command */
|
||||
count++;
|
||||
}
|
||||
|
||||
set_bus_frequency(reg_speed);
|
||||
|
||||
/* Set command */
|
||||
pbuff[0] = reg_speed | DIR_READ ;
|
||||
|
||||
/* Transfer the command and get the data */
|
||||
int ret = transfer(pbuff, pbuff, count);
|
||||
|
||||
if (ret == OK && pbuff == &cmd[0]) {
|
||||
/* Adjust the count back */
|
||||
count--;
|
||||
|
||||
/* Return the data */
|
||||
memcpy(data, &cmd[1], count);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
ICM20948_SPI::probe()
|
||||
{
|
||||
uint8_t whoami = 0;
|
||||
|
||||
int ret = read(MPUREG_WHOAMI, &whoami, 1);
|
||||
|
||||
if (ret != OK) {
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
switch (whoami) {
|
||||
default:
|
||||
PX4_WARN("probe failed! %u", whoami);
|
||||
ret = -EIO;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
|
@ -0,0 +1,513 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 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 mag.cpp
|
||||
*
|
||||
* Driver for the ak8963 magnetometer within the Invensense mpu9250
|
||||
*
|
||||
* @author Robert Dickenson
|
||||
*
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <px4_log.h>
|
||||
#include <px4_time.h>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/device/spi.h>
|
||||
#include <drivers/device/ringbuffer.h>
|
||||
#include <drivers/device/integrator.h>
|
||||
#include <drivers/drv_accel.h>
|
||||
#include <drivers/drv_gyro.h>
|
||||
#include <drivers/drv_mag.h>
|
||||
#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
|
||||
#include <lib/conversion/rotation.h>
|
||||
|
||||
#include "mag.h"
|
||||
#include "icm20948.h"
|
||||
|
||||
|
||||
// If interface is non-null, then it will used for interacting with the device.
|
||||
// Otherwise, it will passthrough the parent ICM20948
|
||||
ICM20948_mag::ICM20948_mag(ICM20948 *parent, device::Device *interface, const char *path) :
|
||||
CDev("ICM20948_mag", path),
|
||||
_interface(interface),
|
||||
_parent(parent),
|
||||
_mag_topic(nullptr),
|
||||
_mag_orb_class_instance(-1),
|
||||
_mag_class_instance(-1),
|
||||
_mag_reading_data(false),
|
||||
_mag_reports(nullptr),
|
||||
_mag_scale{},
|
||||
_mag_range_scale(),
|
||||
_mag_reads(perf_alloc(PC_COUNT, "mpu9250_mag_reads")),
|
||||
_mag_errors(perf_alloc(PC_COUNT, "mpu9250_mag_errors")),
|
||||
_mag_overruns(perf_alloc(PC_COUNT, "mpu9250_mag_overruns")),
|
||||
_mag_overflows(perf_alloc(PC_COUNT, "mpu9250_mag_overflows")),
|
||||
_mag_duplicates(perf_alloc(PC_COUNT, "mpu9250_mag_duplicates")),
|
||||
_mag_asa_x(1.0),
|
||||
_mag_asa_y(1.0),
|
||||
_mag_asa_z(1.0),
|
||||
_last_mag_data{}
|
||||
{
|
||||
// default mag scale factors
|
||||
_mag_scale.x_offset = 0;
|
||||
_mag_scale.x_scale = 1.0f;
|
||||
_mag_scale.y_offset = 0;
|
||||
_mag_scale.y_scale = 1.0f;
|
||||
_mag_scale.z_offset = 0;
|
||||
_mag_scale.z_scale = 1.0f;
|
||||
|
||||
_mag_range_scale = MPU9250_MAG_RANGE_GA;
|
||||
}
|
||||
|
||||
ICM20948_mag::~ICM20948_mag()
|
||||
{
|
||||
if (_mag_class_instance != -1) {
|
||||
unregister_class_devname(MAG_BASE_DEVICE_PATH, _mag_class_instance);
|
||||
}
|
||||
|
||||
if (_mag_reports != nullptr) {
|
||||
delete _mag_reports;
|
||||
}
|
||||
|
||||
orb_unadvertise(_mag_topic);
|
||||
|
||||
perf_free(_mag_reads);
|
||||
perf_free(_mag_errors);
|
||||
perf_free(_mag_overruns);
|
||||
perf_free(_mag_overflows);
|
||||
perf_free(_mag_duplicates);
|
||||
}
|
||||
|
||||
int
|
||||
ICM20948_mag::init()
|
||||
{
|
||||
int ret = CDev::init();
|
||||
|
||||
/* if cdev init failed, bail now */
|
||||
if (ret != OK) {
|
||||
DEVICE_DEBUG("ICM20948 mag init failed");
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
_mag_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report));
|
||||
|
||||
if (_mag_reports == nullptr) {
|
||||
return -ENOMEM;
|
||||
}
|
||||
|
||||
_mag_class_instance = register_class_devname(MAG_BASE_DEVICE_PATH);
|
||||
|
||||
|
||||
/* advertise sensor topic, measure manually to initialize valid report */
|
||||
struct mag_report mrp;
|
||||
_mag_reports->get(&mrp);
|
||||
|
||||
_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mrp,
|
||||
&_mag_orb_class_instance, (_parent->is_external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT);
|
||||
// &_mag_orb_class_instance, ORB_PRIO_LOW);
|
||||
|
||||
if (_mag_topic == nullptr) {
|
||||
PX4_ERR("ADVERT FAIL");
|
||||
return -ENOMEM;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
bool ICM20948_mag::check_duplicate(uint8_t *mag_data)
|
||||
{
|
||||
if (memcmp(mag_data, &_last_mag_data, sizeof(_last_mag_data)) == 0) {
|
||||
// it isn't new data - wait for next timer
|
||||
return true;
|
||||
|
||||
} else {
|
||||
memcpy(&_last_mag_data, mag_data, sizeof(_last_mag_data));
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
ICM20948_mag::measure()
|
||||
{
|
||||
uint8_t ret;
|
||||
union raw_data_t {
|
||||
struct ak8963_regs ak8963_data;
|
||||
struct ak09916_regs ak09916_data;
|
||||
} raw_data;
|
||||
|
||||
|
||||
ret = _interface->read(AK09916REG_ST1, &raw_data, sizeof(struct ak09916_regs));
|
||||
|
||||
if (ret == OK) {
|
||||
raw_data.ak8963_data.st2 = raw_data.ak09916_data.st2;
|
||||
|
||||
_measure(raw_data.ak8963_data);
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
ICM20948_mag::_measure(struct ak8963_regs data)
|
||||
{
|
||||
bool mag_notify = true;
|
||||
|
||||
if (check_duplicate((uint8_t *)&data.x) && !(data.st1 & 0x02)) {
|
||||
perf_count(_mag_duplicates);
|
||||
return;
|
||||
}
|
||||
|
||||
/* monitor for if data overrun flag is ever set */
|
||||
if (data.st1 & 0x02) {
|
||||
perf_count(_mag_overruns);
|
||||
}
|
||||
|
||||
/* monitor for if magnetic sensor overflow flag is ever set noting that st2
|
||||
* is usually not even refreshed, but will always be in the same place in the
|
||||
* mpu's buffers regardless, hence the actual count would be bogus
|
||||
*/
|
||||
if (data.st2 & 0x08) {
|
||||
perf_count(_mag_overflows);
|
||||
}
|
||||
|
||||
mag_report mrb;
|
||||
mrb.timestamp = hrt_absolute_time();
|
||||
// mrb.is_external = false;
|
||||
|
||||
// need a better check here. Using _parent->is_external() for mpu9250 also sets the
|
||||
// internal magnetometers connected to the "external" spi bus as external, at least
|
||||
// on Pixhawk 2.1. For now assuming the ICM20948 is only used on Here GPS, hence external.
|
||||
if (_parent->_whoami == ICM_WHOAMI_20948) {
|
||||
mrb.is_external = _parent->is_external();
|
||||
|
||||
} else {
|
||||
mrb.is_external = false;
|
||||
}
|
||||
|
||||
/*
|
||||
* Align axes - note the accel & gryo are also re-aligned so this
|
||||
* doesn't look obvious with the datasheet
|
||||
*/
|
||||
float xraw_f, yraw_f, zraw_f;
|
||||
|
||||
if (_parent->_whoami == ICM_WHOAMI_20948) {
|
||||
/*
|
||||
* Keeping consistent with the accel and gyro axes of the ICM20948 here, just aligning the magnetometer to them.
|
||||
*/
|
||||
mrb.x_raw = data.y;
|
||||
mrb.y_raw = data.x;
|
||||
mrb.z_raw = -data.z;
|
||||
|
||||
xraw_f = data.y;
|
||||
yraw_f = data.x;
|
||||
zraw_f = -data.z;
|
||||
|
||||
} else {
|
||||
mrb.x_raw = data.x;
|
||||
mrb.y_raw = -data.y;
|
||||
mrb.z_raw = -data.z;
|
||||
|
||||
xraw_f = data.x;
|
||||
yraw_f = -data.y;
|
||||
zraw_f = -data.z;
|
||||
}
|
||||
|
||||
/* apply user specified rotation */
|
||||
rotate_3f(_parent->_rotation, xraw_f, yraw_f, zraw_f);
|
||||
|
||||
if (_parent->_whoami == ICM_WHOAMI_20948) {
|
||||
rotate_3f(ROTATION_YAW_270, xraw_f, yraw_f, zraw_f); //offset between accel/gyro and mag on icm20948
|
||||
}
|
||||
|
||||
mrb.x = ((xraw_f * _mag_range_scale * _mag_asa_x) - _mag_scale.x_offset) * _mag_scale.x_scale;
|
||||
mrb.y = ((yraw_f * _mag_range_scale * _mag_asa_y) - _mag_scale.y_offset) * _mag_scale.y_scale;
|
||||
mrb.z = ((zraw_f * _mag_range_scale * _mag_asa_z) - _mag_scale.z_offset) * _mag_scale.z_scale;
|
||||
mrb.scaling = _mag_range_scale;
|
||||
mrb.temperature = _parent->_last_temperature;
|
||||
mrb.device_id = _parent->_mag->_device_id.devid;
|
||||
|
||||
mrb.error_count = perf_event_count(_mag_errors);
|
||||
|
||||
_mag_reports->force(&mrb);
|
||||
|
||||
/* notify anyone waiting for data */
|
||||
if (mag_notify) {
|
||||
poll_notify(POLLIN);
|
||||
}
|
||||
|
||||
if (mag_notify && !(_pub_blocked)) {
|
||||
/* publish it */
|
||||
orb_publish(ORB_ID(sensor_mag), _mag_topic, &mrb);
|
||||
}
|
||||
}
|
||||
|
||||
int
|
||||
ICM20948_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
/*
|
||||
* Repeated in ICM20948_accel::ioctl
|
||||
* Both accel and mag CDev could be unused in case of magnetometer only mode or MPU6500
|
||||
*/
|
||||
|
||||
switch (cmd) {
|
||||
|
||||
case SENSORIOCRESET:
|
||||
return ak8963_reset();
|
||||
|
||||
case SENSORIOCSPOLLRATE: {
|
||||
switch (arg) {
|
||||
|
||||
/* zero would be bad */
|
||||
case 0:
|
||||
return -EINVAL;
|
||||
|
||||
case SENSOR_POLLRATE_DEFAULT:
|
||||
return ioctl(filp, SENSORIOCSPOLLRATE, MPU9250_ACCEL_DEFAULT_RATE);
|
||||
|
||||
/* adjust to a legal polling interval in Hz */
|
||||
default:
|
||||
return _parent->_set_pollrate(arg);
|
||||
}
|
||||
}
|
||||
|
||||
case MAGIOCSSCALE:
|
||||
/* copy scale in */
|
||||
memcpy(&_mag_scale, (struct mag_scale *) arg, sizeof(_mag_scale));
|
||||
return OK;
|
||||
|
||||
case MAGIOCGSCALE:
|
||||
/* copy scale out */
|
||||
memcpy((struct mag_scale *) arg, &_mag_scale, sizeof(_mag_scale));
|
||||
return OK;
|
||||
|
||||
default:
|
||||
return (int)CDev::ioctl(filp, cmd, arg);
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
ICM20948_mag::set_passthrough(uint8_t reg, uint8_t size, uint8_t *out)
|
||||
{
|
||||
uint8_t addr;
|
||||
|
||||
_parent->write_reg(ICMREG_20948_I2C_SLV0_CTRL, 0); // ensure slave r/w is disabled before changing the registers
|
||||
|
||||
if (out) {
|
||||
_parent->write_reg(ICMREG_20948_I2C_SLV0_DO, *out);
|
||||
addr = AK8963_I2C_ADDR;
|
||||
|
||||
} else {
|
||||
addr = AK8963_I2C_ADDR | BIT_I2C_READ_FLAG;
|
||||
}
|
||||
|
||||
_parent->write_reg(ICMREG_20948_I2C_SLV0_ADDR, addr);
|
||||
_parent->write_reg(ICMREG_20948_I2C_SLV0_REG, reg);
|
||||
_parent->write_reg(ICMREG_20948_I2C_SLV0_CTRL, size | BIT_I2C_SLV0_EN);
|
||||
}
|
||||
|
||||
void
|
||||
ICM20948_mag::read_block(uint8_t reg, uint8_t *val, uint8_t count)
|
||||
{
|
||||
_parent->_interface->read(reg, val, count);
|
||||
}
|
||||
|
||||
void
|
||||
ICM20948_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(ICMREG_20948_EXT_SLV_SENS_DATA_00, buf, size);
|
||||
_parent->write_reg(ICMREG_20948_I2C_SLV0_CTRL, 0); // disable new reads
|
||||
}
|
||||
|
||||
uint8_t
|
||||
ICM20948_mag::read_reg(unsigned int reg)
|
||||
{
|
||||
uint8_t buf;
|
||||
|
||||
if (_interface == nullptr) {
|
||||
passthrough_read(reg, &buf, 0x01);
|
||||
|
||||
} else {
|
||||
_interface->read(reg, &buf, 1);
|
||||
}
|
||||
|
||||
return buf;
|
||||
}
|
||||
|
||||
bool
|
||||
ICM20948_mag::ak8963_check_id(uint8_t &deviceid)
|
||||
{
|
||||
deviceid = read_reg(AK8963REG_WIA);
|
||||
|
||||
return (AK8963_DEVICE_ID == deviceid);
|
||||
}
|
||||
|
||||
/*
|
||||
* 400kHz I2C bus speed = 2.5us per bit = 25us per byte
|
||||
*/
|
||||
void
|
||||
ICM20948_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(ICMREG_20948_I2C_SLV0_CTRL, 0); // disable new writes
|
||||
}
|
||||
|
||||
void
|
||||
ICM20948_mag::write_reg(unsigned reg, uint8_t value)
|
||||
{
|
||||
// general register transfer at low clock speed
|
||||
if (_interface == nullptr) {
|
||||
passthrough_write(reg, value);
|
||||
|
||||
} else {
|
||||
_interface->write(MPU9250_LOW_SPEED_OP(reg), &value, 1);
|
||||
}
|
||||
}
|
||||
|
||||
int
|
||||
ICM20948_mag::ak8963_reset(void)
|
||||
{
|
||||
// First initialize it to use the bus
|
||||
int rv = ak8963_setup();
|
||||
|
||||
if (rv == OK) {
|
||||
// Now reset the mag
|
||||
write_reg(AK09916REG_CNTL3, AK8963_RESET);
|
||||
|
||||
// Then re-initialize the bus/mag
|
||||
rv = ak8963_setup();
|
||||
}
|
||||
|
||||
return rv;
|
||||
}
|
||||
|
||||
bool
|
||||
ICM20948_mag::ak8963_read_adjustments(void)
|
||||
{
|
||||
uint8_t response[3];
|
||||
float ak8963_ASA[3];
|
||||
|
||||
write_reg(AK8963REG_CNTL1, AK8963_FUZE_MODE | AK8963_16BIT_ADC);
|
||||
px4_usleep(50);
|
||||
|
||||
if (_interface != nullptr) {
|
||||
_interface->read(AK8963REG_ASAX, response, 3);
|
||||
|
||||
} else {
|
||||
passthrough_read(AK8963REG_ASAX, response, 3);
|
||||
}
|
||||
|
||||
write_reg(AK8963REG_CNTL1, AK8963_POWERDOWN_MODE);
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
if (0 != response[i] && 0xff != response[i]) {
|
||||
ak8963_ASA[i] = ((float)(response[i] - 128) / 256.0f) + 1.0f;
|
||||
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
_mag_asa_x = ak8963_ASA[0];
|
||||
_mag_asa_y = ak8963_ASA[1];
|
||||
_mag_asa_z = ak8963_ASA[2];
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
int
|
||||
ICM20948_mag::ak8963_setup_master_i2c(void)
|
||||
{
|
||||
/* When _interface is null we are using SPI and must
|
||||
* use the parent interface to configure the device to act
|
||||
* in master mode (SPI to I2C bridge)
|
||||
*/
|
||||
if (_interface == nullptr) {
|
||||
// ICM20948 -> AK09916
|
||||
_parent->modify_checked_reg(ICMREG_20948_USER_CTRL, 0, BIT_I2C_MST_EN);
|
||||
|
||||
// WAIT_FOR_ES does not exist for ICM20948. Not sure how to replace this (or if that is needed)
|
||||
_parent->write_reg(ICMREG_20948_I2C_MST_CTRL, BIT_I2C_MST_P_NSR | ICM_BITS_I2C_MST_CLOCK_400HZ);
|
||||
|
||||
} else {
|
||||
_parent->modify_checked_reg(ICMREG_20948_USER_CTRL, BIT_I2C_MST_EN, 0);
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
int
|
||||
ICM20948_mag::ak8963_setup(void)
|
||||
{
|
||||
int retries = 10;
|
||||
|
||||
do {
|
||||
|
||||
ak8963_setup_master_i2c();
|
||||
write_reg(AK09916REG_CNTL3, AK8963_RESET);
|
||||
|
||||
uint8_t id = 0;
|
||||
|
||||
if (ak8963_check_id(id)) {
|
||||
break;
|
||||
}
|
||||
|
||||
retries--;
|
||||
PX4_WARN("AK8963: bad id %d retries %d", id, retries);
|
||||
_parent->modify_reg(ICMREG_20948_USER_CTRL, 0, BIT_I2C_MST_RST);
|
||||
up_udelay(100);
|
||||
} while (retries > 0);
|
||||
|
||||
if (retries == 0) {
|
||||
PX4_ERR("AK8963: failed to initialize, disabled!");
|
||||
_parent->modify_checked_reg(ICMREG_20948_USER_CTRL, BIT_I2C_MST_EN, 0);
|
||||
_parent->write_reg(ICMREG_20948_I2C_MST_CTRL, 0);
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
write_reg(AK09916REG_CNTL2, AK09916_CNTL2_CONTINOUS_MODE_100HZ);
|
||||
|
||||
if (_interface == NULL) {
|
||||
|
||||
/* Configure mpu' I2c Master interface to read ak8963 data
|
||||
* Into to fifo
|
||||
*/
|
||||
|
||||
set_passthrough(AK09916REG_ST1, sizeof(struct ak09916_regs));
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
|
@ -0,0 +1,194 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "drivers/device/ringbuffer.h" // ringbuffer::RingBuffer
|
||||
#include "drivers/drv_mag.h" // mag_calibration_s
|
||||
#include <perf/perf_counter.h>
|
||||
|
||||
/* in 16-bit sampling mode the mag resolution is 1.5 milli Gauss per bit */
|
||||
|
||||
#define MPU9250_MAG_RANGE_GA 1.5e-3f;
|
||||
|
||||
/* we are using the continuous fixed sampling rate of 100Hz */
|
||||
|
||||
#define MPU9250_AK8963_SAMPLE_RATE 100
|
||||
|
||||
/* ak8963 register address and bit definitions */
|
||||
|
||||
#define AK8963_I2C_ADDR 0x0C
|
||||
#define AK8963_DEVICE_ID 0x48
|
||||
|
||||
#define AK8963REG_WIA 0x00
|
||||
#define AK8963REG_ST1 0x02
|
||||
#define AK8963REG_HXL 0x03
|
||||
#define AK8963REG_ASAX 0x10
|
||||
#define AK8963REG_CNTL1 0x0A
|
||||
#define AK8963REG_CNTL2 0x0B
|
||||
|
||||
#define AK8963_SINGLE_MEAS_MODE 0x01
|
||||
#define AK8963_CONTINUOUS_MODE1 0x02
|
||||
#define AK8963_CONTINUOUS_MODE2 0x06
|
||||
#define AK8963_POWERDOWN_MODE 0x00
|
||||
#define AK8963_SELFTEST_MODE 0x08
|
||||
#define AK8963_FUZE_MODE 0x0F
|
||||
#define AK8963_16BIT_ADC 0x10
|
||||
#define AK8963_14BIT_ADC 0x00
|
||||
#define AK8963_RESET 0x01
|
||||
#define AK8963_HOFL 0x08
|
||||
|
||||
/* ak09916 deviating register addresses and bit definitions */
|
||||
|
||||
#define AK09916_DEVICE_ID_A 0x48 // same as AK8963
|
||||
#define AK09916_DEVICE_ID_B 0x09 // additional ID byte ("INFO" on AK9063 without content specification.)
|
||||
|
||||
#define AK09916REG_HXL 0x11
|
||||
#define AK09916REG_HXH 0x12
|
||||
#define AK09916REG_HYL 0x13
|
||||
#define AK09916REG_HYH 0x14
|
||||
#define AK09916REG_HZL 0x15
|
||||
#define AK09916REG_HZH 0x16
|
||||
#define AK09916REG_ST1 0x10
|
||||
#define AK09916REG_ST2 0x18
|
||||
#define AK09916REG_CNTL2 0x31
|
||||
#define AK09916REG_CNTL3 0x32
|
||||
|
||||
|
||||
#define AK09916_CNTL2_POWERDOWN_MODE 0x00
|
||||
#define AK09916_CNTL2_SINGLE_MODE 0x01 /* default */
|
||||
#define AK09916_CNTL2_CONTINOUS_MODE_10HZ 0x02
|
||||
#define AK09916_CNTL2_CONTINOUS_MODE_20HZ 0x04
|
||||
#define AK09916_CNTL2_CONTINOUS_MODE_50HZ 0x06
|
||||
#define AK09916_CNTL2_CONTINOUS_MODE_100HZ 0x08
|
||||
#define AK09916_CNTL2_SELFTEST_MODE 0x10
|
||||
#define AK09916_CNTL3_SRST 0x01
|
||||
#define AK09916_ST1_DRDY 0x01
|
||||
#define AK09916_ST1_DOR 0x02
|
||||
|
||||
|
||||
class ICM20948;
|
||||
|
||||
#pragma pack(push, 1)
|
||||
struct ak8963_regs {
|
||||
uint8_t st1;
|
||||
int16_t x;
|
||||
int16_t y;
|
||||
int16_t z;
|
||||
uint8_t st2;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
#pragma pack(push, 1)
|
||||
struct ak09916_regs {
|
||||
uint8_t st1;
|
||||
int16_t x;
|
||||
int16_t y;
|
||||
int16_t z;
|
||||
uint8_t tmps;
|
||||
uint8_t st2;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
|
||||
extern device::Device *AK8963_I2C_interface(int bus, bool external_bus);
|
||||
|
||||
typedef device::Device *(*ICM20948_mag_constructor)(int, bool);
|
||||
|
||||
|
||||
/**
|
||||
* Helper class implementing the magnetometer driver node.
|
||||
*/
|
||||
class ICM20948_mag : public device::CDev
|
||||
{
|
||||
public:
|
||||
ICM20948_mag(ICM20948 *parent, device::Device *interface, const char *path);
|
||||
~ICM20948_mag();
|
||||
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
virtual int init();
|
||||
|
||||
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);
|
||||
|
||||
int ak8963_reset(void);
|
||||
int ak8963_setup(void);
|
||||
int ak8963_setup_master_i2c(void);
|
||||
bool ak8963_check_id(uint8_t &id);
|
||||
bool ak8963_read_adjustments(void);
|
||||
|
||||
protected:
|
||||
Device *_interface;
|
||||
|
||||
friend class ICM20948;
|
||||
|
||||
/* Directly measure from the _interface if possible */
|
||||
void measure();
|
||||
|
||||
/* Update the state with prefetched data (internally called by the regular measure() )*/
|
||||
void _measure(struct ak8963_regs data);
|
||||
|
||||
uint8_t read_reg(unsigned reg);
|
||||
void write_reg(unsigned reg, uint8_t value);
|
||||
|
||||
bool is_passthrough() { return _interface == nullptr; }
|
||||
|
||||
private:
|
||||
ICM20948 *_parent;
|
||||
orb_advert_t _mag_topic;
|
||||
int _mag_orb_class_instance;
|
||||
int _mag_class_instance;
|
||||
bool _mag_reading_data;
|
||||
ringbuffer::RingBuffer *_mag_reports;
|
||||
struct mag_calibration_s _mag_scale;
|
||||
float _mag_range_scale;
|
||||
perf_counter_t _mag_reads;
|
||||
perf_counter_t _mag_errors;
|
||||
perf_counter_t _mag_overruns;
|
||||
perf_counter_t _mag_overflows;
|
||||
perf_counter_t _mag_duplicates;
|
||||
float _mag_asa_x;
|
||||
float _mag_asa_y;
|
||||
float _mag_asa_z;
|
||||
|
||||
bool check_duplicate(uint8_t *mag_data);
|
||||
|
||||
// keep last mag reading for duplicate detection
|
||||
uint8_t _last_mag_data[6];
|
||||
|
||||
/* do not allow to copy this class due to pointer data members */
|
||||
ICM20948_mag(const ICM20948_mag &);
|
||||
ICM20948_mag operator=(const ICM20948_mag &);
|
||||
};
|
||||
|
|
@ -0,0 +1,116 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016 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 mag_i2c.cpp
|
||||
*
|
||||
* I2C interface for AK8963
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <drivers/device/i2c.h>
|
||||
#include <drivers/drv_accel.h>
|
||||
#include <drivers/drv_device.h>
|
||||
|
||||
#include "icm20948.h"
|
||||
#include "mag.h"
|
||||
|
||||
#ifdef USE_I2C
|
||||
|
||||
device::Device *AK8963_I2C_interface(int bus, bool external_bus);
|
||||
|
||||
class AK8963_I2C : public device::I2C
|
||||
{
|
||||
public:
|
||||
AK8963_I2C(int bus);
|
||||
~AK8963_I2C() override = default;
|
||||
|
||||
int read(unsigned address, void *data, unsigned count) override;
|
||||
int write(unsigned address, void *data, unsigned count) override;
|
||||
|
||||
protected:
|
||||
int probe() override;
|
||||
|
||||
};
|
||||
|
||||
device::Device *
|
||||
AK8963_I2C_interface(int bus, bool external_bus)
|
||||
{
|
||||
return new AK8963_I2C(bus);
|
||||
}
|
||||
|
||||
AK8963_I2C::AK8963_I2C(int bus) :
|
||||
I2C("AK8963_I2C", nullptr, bus, AK8963_I2C_ADDR, 400000)
|
||||
{
|
||||
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_MPU9250;
|
||||
}
|
||||
|
||||
int
|
||||
AK8963_I2C::write(unsigned reg_speed, void *data, unsigned count)
|
||||
{
|
||||
uint8_t cmd[MPU_MAX_WRITE_BUFFER_SIZE];
|
||||
|
||||
if (sizeof(cmd) < (count + 1)) {
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
cmd[0] = MPU9250_REG(reg_speed);
|
||||
cmd[1] = *(uint8_t *)data;
|
||||
return transfer(&cmd[0], count + 1, nullptr, 0);
|
||||
}
|
||||
|
||||
int
|
||||
AK8963_I2C::read(unsigned reg_speed, void *data, unsigned count)
|
||||
{
|
||||
uint8_t cmd = MPU9250_REG(reg_speed);
|
||||
return transfer(&cmd, 1, (uint8_t *)data, count);
|
||||
}
|
||||
|
||||
int
|
||||
AK8963_I2C::probe()
|
||||
{
|
||||
uint8_t whoami = 0;
|
||||
uint8_t expected = AK8963_DEVICE_ID;
|
||||
|
||||
if (PX4_OK != read(AK8963REG_WIA, &whoami, 1)) {
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
if (whoami != expected) {
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,429 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 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 main.cpp
|
||||
*
|
||||
* Driver for the Invensense icm20948 connected via I2C or SPI.
|
||||
*
|
||||
* based on the mpu9250 driver
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <stdlib.h>
|
||||
#include <fcntl.h>
|
||||
#include <errno.h>
|
||||
#include <stdio.h>
|
||||
#include <px4_getopt.h>
|
||||
|
||||
#include <perf/perf_counter.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/conversions.h>
|
||||
|
||||
#include <board_config.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include <drivers/device/spi.h>
|
||||
#include <drivers/device/ringbuffer.h>
|
||||
#include <drivers/device/integrator.h>
|
||||
#include <drivers/drv_accel.h>
|
||||
#include <drivers/drv_gyro.h>
|
||||
#include <drivers/drv_mag.h>
|
||||
#include <mathlib/math/filter/LowPassFilter2p.hpp>
|
||||
#include <lib/conversion/rotation.h>
|
||||
|
||||
#include "icm20948.h"
|
||||
|
||||
#define ICM_DEVICE_PATH_ACCEL_EXT "/dev/icm20948_accel_ext"
|
||||
#define ICM_DEVICE_PATH_GYRO_EXT "/dev/icm20948_gyro_ext"
|
||||
#define ICM_DEVICE_PATH_MAG_EXT "/dev/icm20948_mag_ext"
|
||||
|
||||
/** driver 'main' command */
|
||||
extern "C" { __EXPORT int icm20948_main(int argc, char *argv[]); }
|
||||
|
||||
enum ICM20948_BUS {
|
||||
ICM20948_BUS_ALL = 0,
|
||||
ICM20948_BUS_I2C_INTERNAL,
|
||||
ICM20948_BUS_I2C_EXTERNAL,
|
||||
// ICM20948_BUS_SPI_INTERNAL,
|
||||
// ICM20948_BUS_SPI_INTERNAL2,
|
||||
ICM20948_BUS_SPI_EXTERNAL
|
||||
};
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace icm20948
|
||||
{
|
||||
|
||||
/*
|
||||
list of supported bus configurations
|
||||
*/
|
||||
|
||||
struct icm20948_bus_option {
|
||||
enum ICM20948_BUS busid;
|
||||
const char *accelpath;
|
||||
const char *gyropath;
|
||||
const char *magpath;
|
||||
ICM20948_constructor interface_constructor;
|
||||
bool magpassthrough;
|
||||
uint8_t busnum;
|
||||
uint32_t address;
|
||||
ICM20948 *dev;
|
||||
} bus_options[] = {
|
||||
#if defined (USE_I2C)
|
||||
|
||||
# if defined(PX4_I2C_BUS_EXPANSION)
|
||||
{ ICM20948_BUS_I2C_EXTERNAL, ICM_DEVICE_PATH_ACCEL_EXT, ICM_DEVICE_PATH_GYRO_EXT, ICM_DEVICE_PATH_MAG_EXT, &ICM20948_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_EXT_ICM20948_1, nullptr },
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
};
|
||||
|
||||
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
|
||||
|
||||
|
||||
void start(enum ICM20948_BUS busid, enum Rotation rotation, bool external_bus, bool magnetometer_only);
|
||||
bool start_bus(struct icm20948_bus_option &bus, enum Rotation rotation, bool external_bus, bool magnetometer_only);
|
||||
struct icm20948_bus_option &find_bus(enum ICM20948_BUS busid);
|
||||
void stop(enum ICM20948_BUS busid);
|
||||
void reset(enum ICM20948_BUS busid);
|
||||
void info(enum ICM20948_BUS busid);
|
||||
void usage();
|
||||
|
||||
/**
|
||||
* find a bus structure for a busid
|
||||
*/
|
||||
struct icm20948_bus_option &find_bus(enum ICM20948_BUS busid)
|
||||
{
|
||||
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
|
||||
if ((busid == ICM20948_BUS_ALL ||
|
||||
busid == bus_options[i].busid) && bus_options[i].dev != nullptr) {
|
||||
return bus_options[i];
|
||||
}
|
||||
}
|
||||
|
||||
errx(1, "bus %u not started", (unsigned)busid);
|
||||
}
|
||||
|
||||
/**
|
||||
* start driver for a specific bus option
|
||||
*/
|
||||
bool
|
||||
start_bus(struct icm20948_bus_option &bus, enum Rotation rotation, bool external, bool magnetometer_only)
|
||||
{
|
||||
int fd = -1;
|
||||
|
||||
PX4_INFO("Bus probed: %d", bus.busid);
|
||||
|
||||
if (bus.dev != nullptr) {
|
||||
warnx("%s SPI not available", external ? "External" : "Internal");
|
||||
return false;
|
||||
}
|
||||
|
||||
device::Device *interface = bus.interface_constructor(bus.busnum, bus.address, external);
|
||||
|
||||
if (interface == nullptr) {
|
||||
warnx("no device on bus %u", (unsigned)bus.busid);
|
||||
return false;
|
||||
}
|
||||
|
||||
if (interface->init() != OK) {
|
||||
delete interface;
|
||||
warnx("no device on bus %u", (unsigned)bus.busid);
|
||||
return false;
|
||||
}
|
||||
|
||||
device::Device *mag_interface = nullptr;
|
||||
|
||||
#ifdef USE_I2C
|
||||
/* For i2c interfaces, connect to the magnetomer directly */
|
||||
bool is_i2c = bus.busid == ICM20948_BUS_I2C_INTERNAL || bus.busid == ICM20948_BUS_I2C_EXTERNAL;
|
||||
|
||||
if (is_i2c) {
|
||||
mag_interface = AK8963_I2C_interface(bus.busnum, external);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
bus.dev = new ICM20948(interface, mag_interface, bus.accelpath, bus.gyropath, bus.magpath, rotation,
|
||||
magnetometer_only);
|
||||
|
||||
if (bus.dev == nullptr) {
|
||||
delete interface;
|
||||
|
||||
if (mag_interface != nullptr) {
|
||||
delete mag_interface;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
if (OK != bus.dev->init()) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
/*
|
||||
* Set the poll rate to default, starts automatic data collection.
|
||||
* Doing this through the mag device for the time being - it's always there, even in magnetometer only mode.
|
||||
* Using accel device for MPU6500.
|
||||
*/
|
||||
fd = open(bus.magpath, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
PX4_INFO("ioctl failed");
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
|
||||
close(fd);
|
||||
|
||||
return true;
|
||||
|
||||
fail:
|
||||
|
||||
if (fd >= 0) {
|
||||
close(fd);
|
||||
}
|
||||
|
||||
if (bus.dev != nullptr) {
|
||||
delete (bus.dev);
|
||||
bus.dev = nullptr;
|
||||
}
|
||||
|
||||
errx(1, "driver start failed");
|
||||
}
|
||||
|
||||
/**
|
||||
* Start the driver.
|
||||
*
|
||||
* This function only returns if the driver is up and running
|
||||
* or failed to detect the sensor.
|
||||
*/
|
||||
void
|
||||
start(enum ICM20948_BUS busid, enum Rotation rotation, bool external, bool magnetometer_only)
|
||||
{
|
||||
|
||||
bool started = false;
|
||||
|
||||
for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
|
||||
if (bus_options[i].dev != nullptr) {
|
||||
// this device is already started
|
||||
continue;
|
||||
}
|
||||
|
||||
if (busid != ICM20948_BUS_ALL && bus_options[i].busid != busid) {
|
||||
// not the one that is asked for
|
||||
continue;
|
||||
}
|
||||
|
||||
started |= start_bus(bus_options[i], rotation, external, magnetometer_only);
|
||||
|
||||
if (started) { break; }
|
||||
}
|
||||
|
||||
exit(started ? 0 : 1);
|
||||
|
||||
}
|
||||
|
||||
void
|
||||
stop(enum ICM20948_BUS busid)
|
||||
{
|
||||
struct icm20948_bus_option &bus = find_bus(busid);
|
||||
|
||||
|
||||
if (bus.dev != nullptr) {
|
||||
delete bus.dev;
|
||||
bus.dev = nullptr;
|
||||
|
||||
} else {
|
||||
/* warn, but not an error */
|
||||
warnx("already stopped.");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
void
|
||||
reset(enum ICM20948_BUS busid)
|
||||
{
|
||||
struct icm20948_bus_option &bus = find_bus(busid);
|
||||
int fd = open(bus.accelpath, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "failed ");
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
|
||||
err(1, "driver reset failed");
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
err(1, "driver poll restart failed");
|
||||
}
|
||||
|
||||
close(fd);
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
void
|
||||
info(enum ICM20948_BUS busid)
|
||||
{
|
||||
struct icm20948_bus_option &bus = find_bus(busid);
|
||||
|
||||
|
||||
if (bus.dev == nullptr) {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
printf("state @ %p\n", bus.dev);
|
||||
bus.dev->print_info();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
void
|
||||
usage()
|
||||
{
|
||||
PX4_INFO("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump', 'testerror'");
|
||||
PX4_INFO("options:");
|
||||
PX4_INFO(" -X (i2c external bus)");
|
||||
PX4_INFO(" -I (i2c internal bus)");
|
||||
PX4_INFO(" -s (spi internal bus)");
|
||||
PX4_INFO(" -S (spi external bus)");
|
||||
PX4_INFO(" -t (spi internal bus, 2nd instance)");
|
||||
PX4_INFO(" -R rotation");
|
||||
PX4_INFO(" -M only enable magnetometer, accel/gyro disabled - not av. on MPU6500");
|
||||
}
|
||||
|
||||
} // namespace icm20948
|
||||
|
||||
int
|
||||
icm20948_main(int argc, char *argv[])
|
||||
{
|
||||
int myoptind = 1;
|
||||
int ch;
|
||||
const char *myoptarg = nullptr;
|
||||
|
||||
enum ICM20948_BUS busid = ICM20948_BUS_ALL;
|
||||
enum Rotation rotation = ROTATION_NONE;
|
||||
bool magnetometer_only = false;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "XISstMR:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'X':
|
||||
busid = ICM20948_BUS_I2C_EXTERNAL;
|
||||
break;
|
||||
|
||||
// case 'I':
|
||||
// busid = ICM20948_BUS_I2C_INTERNAL;
|
||||
// break;
|
||||
|
||||
// case 'S':
|
||||
// busid = ICM20948_BUS_SPI_EXTERNAL;
|
||||
// break;
|
||||
//
|
||||
// case 's':
|
||||
// busid = ICM20948_BUS_SPI_INTERNAL;
|
||||
// break;
|
||||
//
|
||||
// case 't':
|
||||
// busid = ICM20948_BUS_SPI_INTERNAL2;
|
||||
// break;
|
||||
|
||||
case 'R':
|
||||
rotation = (enum Rotation)atoi(myoptarg);
|
||||
break;
|
||||
|
||||
case 'M':
|
||||
magnetometer_only = true;
|
||||
break;
|
||||
|
||||
default:
|
||||
icm20948::usage();
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (myoptind >= argc) {
|
||||
icm20948::usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
bool external = busid == ICM20948_BUS_I2C_EXTERNAL || busid == ICM20948_BUS_SPI_EXTERNAL;
|
||||
const char *verb = argv[myoptind];
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "start")) {
|
||||
icm20948::start(busid, rotation, external, magnetometer_only);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "stop")) {
|
||||
icm20948::stop(busid);
|
||||
}
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "reset")) {
|
||||
icm20948::reset(busid);
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(verb, "info")) {
|
||||
icm20948::info(busid);
|
||||
}
|
||||
|
||||
icm20948::usage();
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -118,9 +118,9 @@ MPU9250_mag::init()
|
|||
|
||||
/* if cdev init failed, bail now */
|
||||
if (ret != OK) {
|
||||
if (_parent->_whoami == MPU_WHOAMI_9250) { DEVICE_DEBUG("MPU9250 mag init failed"); }
|
||||
|
||||
else { DEVICE_DEBUG("ICM20948 mag init failed"); }
|
||||
if (_parent->_whoami == MPU_WHOAMI_9250) {
|
||||
PX4_ERR("mag init failed");
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
|
@ -165,22 +165,14 @@ bool MPU9250_mag::check_duplicate(uint8_t *mag_data)
|
|||
void
|
||||
MPU9250_mag::measure()
|
||||
{
|
||||
uint8_t ret;
|
||||
union raw_data_t {
|
||||
struct ak8963_regs ak8963_data;
|
||||
struct ak09916_regs ak09916_data;
|
||||
} raw_data;
|
||||
|
||||
if (_parent->_whoami == MPU_WHOAMI_9250) {
|
||||
ret = _interface->read(AK8963REG_ST1, &raw_data, sizeof(struct ak8963_regs));
|
||||
|
||||
} else { // ICM20948 --> AK09916
|
||||
ret = _interface->read(AK09916REG_ST1, &raw_data, sizeof(struct ak09916_regs));
|
||||
}
|
||||
uint8_t ret = _interface->read(AK8963REG_ST1, &raw_data, sizeof(struct ak8963_regs));
|
||||
|
||||
if (ret == OK) {
|
||||
if (_parent->_whoami == ICM_WHOAMI_20948) { raw_data.ak8963_data.st2 = raw_data.ak09916_data.st2; }
|
||||
|
||||
_measure(raw_data.ak8963_data);
|
||||
}
|
||||
}
|
||||
|
|
@ -210,17 +202,8 @@ MPU9250_mag::_measure(struct ak8963_regs data)
|
|||
|
||||
mag_report mrb;
|
||||
mrb.timestamp = hrt_absolute_time();
|
||||
// mrb.is_external = false;
|
||||
|
||||
// need a better check here. Using _parent->is_external() for mpu9250 also sets the
|
||||
// internal magnetometers connected to the "external" spi bus as external, at least
|
||||
// on Pixhawk 2.1. For now assuming the ICM20948 is only used on Here GPS, hence external.
|
||||
if (_parent->_whoami == ICM_WHOAMI_20948) {
|
||||
mrb.is_external = _parent->is_external();
|
||||
|
||||
} else {
|
||||
mrb.is_external = false;
|
||||
}
|
||||
mrb.is_external = _parent->is_external();
|
||||
|
||||
/*
|
||||
* Align axes - note the accel & gryo are also re-aligned so this
|
||||
|
|
@ -228,35 +211,17 @@ MPU9250_mag::_measure(struct ak8963_regs data)
|
|||
*/
|
||||
float xraw_f, yraw_f, zraw_f;
|
||||
|
||||
if (_parent->_whoami == ICM_WHOAMI_20948) {
|
||||
/*
|
||||
* Keeping consistent with the accel and gyro axes of the ICM20948 here, just aligning the magnetometer to them.
|
||||
*/
|
||||
mrb.x_raw = data.y;
|
||||
mrb.y_raw = data.x;
|
||||
mrb.z_raw = -data.z;
|
||||
mrb.x_raw = data.x;
|
||||
mrb.y_raw = -data.y;
|
||||
mrb.z_raw = -data.z;
|
||||
|
||||
xraw_f = data.y;
|
||||
yraw_f = data.x;
|
||||
zraw_f = -data.z;
|
||||
|
||||
} else {
|
||||
mrb.x_raw = data.x;
|
||||
mrb.y_raw = -data.y;
|
||||
mrb.z_raw = -data.z;
|
||||
|
||||
xraw_f = data.x;
|
||||
yraw_f = -data.y;
|
||||
zraw_f = -data.z;
|
||||
}
|
||||
xraw_f = data.x;
|
||||
yraw_f = -data.y;
|
||||
zraw_f = -data.z;
|
||||
|
||||
/* apply user specified rotation */
|
||||
rotate_3f(_parent->_rotation, xraw_f, yraw_f, zraw_f);
|
||||
|
||||
if (_parent->_whoami == ICM_WHOAMI_20948) {
|
||||
rotate_3f(ROTATION_YAW_270, xraw_f, yraw_f, zraw_f); //offset between accel/gyro and mag on icm20948
|
||||
}
|
||||
|
||||
mrb.x = ((xraw_f * _mag_range_scale * _mag_asa_x) - _mag_scale.x_offset) * _mag_scale.x_scale;
|
||||
mrb.y = ((yraw_f * _mag_range_scale * _mag_asa_y) - _mag_scale.y_offset) * _mag_scale.y_scale;
|
||||
mrb.z = ((zraw_f * _mag_range_scale * _mag_asa_z) - _mag_scale.z_offset) * _mag_scale.z_scale;
|
||||
|
|
@ -328,20 +293,19 @@ MPU9250_mag::set_passthrough(uint8_t reg, uint8_t size, uint8_t *out)
|
|||
{
|
||||
uint8_t addr;
|
||||
|
||||
_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_CTRL, ICMREG_20948_I2C_SLV0_CTRL),
|
||||
0); // ensure slave r/w is disabled before changing the registers
|
||||
_parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // ensure slave r/w is disabled before changing the registers
|
||||
|
||||
if (out) {
|
||||
_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_D0, ICMREG_20948_I2C_SLV0_DO), *out);
|
||||
_parent->write_reg(MPUREG_I2C_SLV0_D0, *out);
|
||||
addr = AK8963_I2C_ADDR;
|
||||
|
||||
} else {
|
||||
addr = AK8963_I2C_ADDR | BIT_I2C_READ_FLAG;
|
||||
}
|
||||
|
||||
_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_ADDR, ICMREG_20948_I2C_SLV0_ADDR), addr);
|
||||
_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_REG, ICMREG_20948_I2C_SLV0_REG), reg);
|
||||
_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_CTRL, ICMREG_20948_I2C_SLV0_CTRL), size | BIT_I2C_SLV0_EN);
|
||||
_parent->write_reg(MPUREG_I2C_SLV0_ADDR, addr);
|
||||
_parent->write_reg(MPUREG_I2C_SLV0_REG, reg);
|
||||
_parent->write_reg(MPUREG_I2C_SLV0_CTRL, size | BIT_I2C_SLV0_EN);
|
||||
}
|
||||
|
||||
void
|
||||
|
|
@ -355,8 +319,8 @@ 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(AK_MPU_OR_ICM(MPUREG_EXT_SENS_DATA_00, ICMREG_20948_EXT_SLV_SENS_DATA_00), buf, size);
|
||||
_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_CTRL, ICMREG_20948_I2C_SLV0_CTRL), 0); // disable new reads
|
||||
read_block(MPUREG_EXT_SENS_DATA_00, buf, size);
|
||||
_parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // disable new reads
|
||||
}
|
||||
|
||||
uint8_t
|
||||
|
|
@ -390,7 +354,7 @@ 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(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_CTRL, ICMREG_20948_I2C_SLV0_CTRL), 0); // disable new writes
|
||||
_parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // disable new writes
|
||||
}
|
||||
|
||||
void
|
||||
|
|
@ -414,7 +378,7 @@ MPU9250_mag::ak8963_reset(void)
|
|||
if (rv == OK) {
|
||||
|
||||
// Now reset the mag
|
||||
write_reg(AK_MPU_OR_ICM(AK8963REG_CNTL2, AK09916REG_CNTL3), AK8963_RESET);
|
||||
write_reg(AK8963REG_CNTL2, AK8963_RESET);
|
||||
// Then re-initialize the bus/mag
|
||||
rv = ak8963_setup();
|
||||
}
|
||||
|
|
@ -467,15 +431,10 @@ MPU9250_mag::ak8963_setup_master_i2c(void)
|
|||
if (_parent->_whoami == MPU_WHOAMI_9250) {
|
||||
_parent->modify_checked_reg(MPUREG_USER_CTRL, 0, BIT_I2C_MST_EN);
|
||||
_parent->write_reg(MPUREG_I2C_MST_CTRL, BIT_I2C_MST_P_NSR | BIT_I2C_MST_WAIT_FOR_ES | BITS_I2C_MST_CLOCK_400HZ);
|
||||
|
||||
} else { // ICM20948 -> AK09916
|
||||
_parent->modify_checked_reg(ICMREG_20948_USER_CTRL, 0, BIT_I2C_MST_EN);
|
||||
// WAIT_FOR_ES does not exist for ICM20948. Not sure how to replace this (or if that is needed)
|
||||
_parent->write_reg(ICMREG_20948_I2C_MST_CTRL, BIT_I2C_MST_P_NSR | ICM_BITS_I2C_MST_CLOCK_400HZ);
|
||||
}
|
||||
|
||||
} else {
|
||||
_parent->modify_checked_reg(AK_MPU_OR_ICM(MPUREG_USER_CTRL, ICMREG_20948_USER_CTRL), BIT_I2C_MST_EN, 0);
|
||||
_parent->modify_checked_reg(MPUREG_USER_CTRL, BIT_I2C_MST_EN, 0);
|
||||
}
|
||||
|
||||
return OK;
|
||||
|
|
@ -488,7 +447,7 @@ MPU9250_mag::ak8963_setup(void)
|
|||
do {
|
||||
|
||||
ak8963_setup_master_i2c();
|
||||
write_reg(AK_MPU_OR_ICM(AK8963REG_CNTL2, AK09916REG_CNTL3), AK8963_RESET);
|
||||
write_reg(AK8963REG_CNTL2, AK8963_RESET);
|
||||
|
||||
uint8_t id = 0;
|
||||
|
||||
|
|
@ -498,42 +457,36 @@ MPU9250_mag::ak8963_setup(void)
|
|||
|
||||
retries--;
|
||||
PX4_WARN("AK8963: bad id %d retries %d", id, retries);
|
||||
_parent->modify_reg(AK_MPU_OR_ICM(MPUREG_USER_CTRL, ICMREG_20948_USER_CTRL), 0, BIT_I2C_MST_RST);
|
||||
_parent->modify_reg(MPUREG_USER_CTRL, 0, BIT_I2C_MST_RST);
|
||||
up_udelay(100);
|
||||
} while (retries > 0);
|
||||
|
||||
/* No sensitivity adjustments available for AK09916/ICM20948 */
|
||||
if (_parent->_whoami == MPU_WHOAMI_9250) {
|
||||
if (retries > 0) {
|
||||
retries = 10;
|
||||
if (retries > 0) {
|
||||
retries = 10;
|
||||
|
||||
while (!ak8963_read_adjustments() && retries) {
|
||||
retries--;
|
||||
PX4_ERR("AK8963: failed to read adjustment data. Retries %d", retries);
|
||||
while (!ak8963_read_adjustments() && retries) {
|
||||
retries--;
|
||||
PX4_ERR("AK8963: failed to read adjustment data. Retries %d", retries);
|
||||
|
||||
_parent->modify_reg(AK_MPU_OR_ICM(MPUREG_USER_CTRL, ICMREG_20948_USER_CTRL), 0, BIT_I2C_MST_RST);
|
||||
up_udelay(100);
|
||||
ak8963_setup_master_i2c();
|
||||
write_reg(AK_MPU_OR_ICM(AK8963REG_CNTL2, AK09916REG_CNTL3), AK8963_RESET);
|
||||
}
|
||||
_parent->modify_reg(MPUREG_USER_CTRL, 0, BIT_I2C_MST_RST);
|
||||
up_udelay(100);
|
||||
ak8963_setup_master_i2c();
|
||||
write_reg(AK8963REG_CNTL2, AK8963_RESET);
|
||||
}
|
||||
}
|
||||
|
||||
if (retries == 0) {
|
||||
PX4_ERR("AK8963: failed to initialize, disabled!");
|
||||
_parent->modify_checked_reg(AK_MPU_OR_ICM(MPUREG_USER_CTRL, ICMREG_20948_USER_CTRL), BIT_I2C_MST_EN, 0);
|
||||
_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_MST_CTRL, ICMREG_20948_I2C_MST_CTRL), 0);
|
||||
_parent->modify_checked_reg(MPUREG_USER_CTRL, BIT_I2C_MST_EN, 0);
|
||||
_parent->write_reg(MPUREG_I2C_MST_CTRL, 0);
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
if (_parent->_whoami == MPU_WHOAMI_9250) {
|
||||
write_reg(AK8963REG_CNTL1, AK8963_CONTINUOUS_MODE2 | AK8963_16BIT_ADC);
|
||||
|
||||
} else { // ICM20948 -> AK09916
|
||||
write_reg(AK09916REG_CNTL2, AK09916_CNTL2_CONTINOUS_MODE_100HZ);
|
||||
}
|
||||
|
||||
|
||||
if (_interface == NULL) {
|
||||
|
||||
/* Configure mpu' I2c Master interface to read ak8963 data
|
||||
|
|
@ -541,11 +494,7 @@ MPU9250_mag::ak8963_setup(void)
|
|||
*/
|
||||
if (_parent->_whoami == MPU_WHOAMI_9250) {
|
||||
set_passthrough(AK8963REG_ST1, sizeof(struct ak8963_regs));
|
||||
|
||||
} else { // ICM20948 -> AK09916
|
||||
set_passthrough(AK09916REG_ST1, sizeof(struct ak09916_regs));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
return OK;
|
||||
|
|
|
|||
|
|
@ -96,11 +96,6 @@
|
|||
#define AK09916_ST1_DRDY 0x01
|
||||
#define AK09916_ST1_DOR 0x02
|
||||
|
||||
|
||||
#define AK_MPU_OR_ICM(m,i) ((_parent->_whoami == MPU_WHOAMI_9250) ? (m) : (i))
|
||||
|
||||
|
||||
|
||||
class MPU9250;
|
||||
|
||||
#pragma pack(push, 1)
|
||||
|
|
|
|||
|
|
@ -91,10 +91,6 @@
|
|||
#define MPU_DEVICE_PATH_GYRO_EXT2 "/dev/mpu9250_gyro_ext2"
|
||||
#define MPU_DEVICE_PATH_MAG_EXT2 "/dev/mpu9250_mag_ext2"
|
||||
|
||||
#define ICM_DEVICE_PATH_ACCEL_EXT "/dev/icm20948_accel_ext"
|
||||
#define ICM_DEVICE_PATH_GYRO_EXT "/dev/icm20948_gyro_ext"
|
||||
#define ICM_DEVICE_PATH_MAG_EXT "/dev/icm20948_mag_ext"
|
||||
|
||||
/** driver 'main' command */
|
||||
extern "C" { __EXPORT int mpu9250_main(int argc, char *argv[]); }
|
||||
|
||||
|
|
@ -136,7 +132,6 @@ struct mpu9250_bus_option {
|
|||
# if defined(PX4_I2C_OBDEV_MPU9250)
|
||||
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_MPU9250, nullptr },
|
||||
# endif
|
||||
{ MPU9250_BUS_I2C_EXTERNAL, ICM_DEVICE_PATH_ACCEL_EXT, ICM_DEVICE_PATH_GYRO_EXT, ICM_DEVICE_PATH_MAG_EXT, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_EXT_ICM20948_1, nullptr },
|
||||
#endif
|
||||
# if defined(PX4_I2C_BUS_EXPANSION1) && defined(PX4_I2C_OBDEV_MPU9250)
|
||||
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT1, MPU_DEVICE_PATH_GYRO_EXT1, MPU_DEVICE_PATH_MAG_EXT1, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION1, PX4_I2C_OBDEV_MPU9250, nullptr },
|
||||
|
|
|
|||
|
|
@ -89,26 +89,6 @@ const uint16_t MPU9250::_mpu9250_checked_registers[MPU9250_NUM_CHECKED_REGISTERS
|
|||
MPUREG_INT_PIN_CFG
|
||||
};
|
||||
|
||||
|
||||
const uint16_t MPU9250::_icm20948_checked_registers[ICM20948_NUM_CHECKED_REGISTERS] = {
|
||||
ICMREG_20948_USER_CTRL,
|
||||
ICMREG_20948_PWR_MGMT_1,
|
||||
ICMREG_20948_PWR_MGMT_2,
|
||||
ICMREG_20948_INT_PIN_CFG,
|
||||
ICMREG_20948_INT_ENABLE,
|
||||
ICMREG_20948_INT_ENABLE_1,
|
||||
ICMREG_20948_INT_ENABLE_2,
|
||||
ICMREG_20948_INT_ENABLE_3,
|
||||
ICMREG_20948_GYRO_SMPLRT_DIV,
|
||||
ICMREG_20948_GYRO_CONFIG_1,
|
||||
ICMREG_20948_GYRO_CONFIG_2,
|
||||
ICMREG_20948_ACCEL_SMPLRT_DIV_1,
|
||||
ICMREG_20948_ACCEL_SMPLRT_DIV_2,
|
||||
ICMREG_20948_ACCEL_CONFIG,
|
||||
ICMREG_20948_ACCEL_CONFIG_2
|
||||
};
|
||||
|
||||
|
||||
MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const char *path_accel,
|
||||
const char *path_gyro, const char *path_mag,
|
||||
enum Rotation rotation,
|
||||
|
|
@ -138,8 +118,6 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const
|
|||
_gyro_range_scale(0.0f),
|
||||
_gyro_range_rad_s(0.0f),
|
||||
_dlpf_freq(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ),
|
||||
_dlpf_freq_icm_gyro(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ),
|
||||
_dlpf_freq_icm_accel(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ),
|
||||
_sample_rate(1000),
|
||||
_accel_reads(perf_alloc(PC_COUNT, "mpu9250_acc_read")),
|
||||
_gyro_reads(perf_alloc(PC_COUNT, "mpu9250_gyro_read")),
|
||||
|
|
@ -360,7 +338,7 @@ MPU9250::init()
|
|||
}
|
||||
|
||||
/* Magnetometer setup */
|
||||
if (_whoami == MPU_WHOAMI_9250 || _whoami == ICM_WHOAMI_20948) {
|
||||
if (_whoami == MPU_WHOAMI_9250) {
|
||||
|
||||
#ifdef USE_I2C
|
||||
|
||||
|
|
@ -448,7 +426,7 @@ int MPU9250::reset()
|
|||
|
||||
ret = reset_mpu();
|
||||
|
||||
if (ret == OK && (_whoami == MPU_WHOAMI_9250 || _whoami == ICM_WHOAMI_20948)) {
|
||||
if (ret == OK && (_whoami == MPU_WHOAMI_9250)) {
|
||||
ret = _mag->ak8963_reset();
|
||||
}
|
||||
|
||||
|
|
@ -472,22 +450,10 @@ int MPU9250::reset_mpu()
|
|||
write_checked_reg(MPUREG_PWR_MGMT_2, 0);
|
||||
usleep(1000);
|
||||
break;
|
||||
|
||||
case ICM_WHOAMI_20948:
|
||||
write_reg(ICMREG_20948_PWR_MGMT_1, BIT_H_RESET);
|
||||
usleep(1000);
|
||||
|
||||
write_checked_reg(ICMREG_20948_PWR_MGMT_1, MPU_CLK_SEL_AUTO);
|
||||
usleep(200);
|
||||
write_checked_reg(ICMREG_20948_PWR_MGMT_2, 0);
|
||||
break;
|
||||
}
|
||||
|
||||
// Enable I2C bus or Disable I2C bus (recommended on data sheet)
|
||||
|
||||
|
||||
write_checked_reg(MPU_OR_ICM(MPUREG_USER_CTRL, ICMREG_20948_USER_CTRL), is_i2c() ? 0 : BIT_I2C_IF_DIS);
|
||||
|
||||
write_checked_reg(MPUREG_USER_CTRL, is_i2c() ? 0 : BIT_I2C_IF_DIS);
|
||||
|
||||
// SAMPLE RATE
|
||||
_set_sample_rate(_sample_rate);
|
||||
|
|
@ -500,10 +466,6 @@ int MPU9250::reset_mpu()
|
|||
case MPU_WHOAMI_6500:
|
||||
write_checked_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS);
|
||||
break;
|
||||
|
||||
case ICM_WHOAMI_20948:
|
||||
modify_checked_reg(ICMREG_20948_GYRO_CONFIG_1, ICM_BITS_GYRO_FS_SEL_MASK, ICM_BITS_GYRO_FS_SEL_2000DPS);
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -518,8 +480,7 @@ int MPU9250::reset_mpu()
|
|||
set_accel_range(ACCEL_RANGE_G);
|
||||
|
||||
// INT CFG => Interrupt on Data Ready
|
||||
write_checked_reg(MPU_OR_ICM(MPUREG_INT_ENABLE, ICMREG_20948_INT_ENABLE_1),
|
||||
BIT_RAW_RDY_EN); // INT: Raw data ready
|
||||
write_checked_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN); // INT: Raw data ready
|
||||
|
||||
#ifdef USE_I2C
|
||||
bool bypass = !_mag->is_passthrough();
|
||||
|
|
@ -536,11 +497,9 @@ int MPU9250::reset_mpu()
|
|||
* so bypass is true if the mag has an i2c non null interfaces.
|
||||
*/
|
||||
|
||||
write_checked_reg(MPU_OR_ICM(MPUREG_INT_PIN_CFG, ICMREG_20948_INT_PIN_CFG),
|
||||
BIT_INT_ANYRD_2CLEAR | (bypass ? BIT_INT_BYPASS_EN : 0));
|
||||
write_checked_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR | (bypass ? BIT_INT_BYPASS_EN : 0));
|
||||
|
||||
write_checked_reg(MPU_OR_ICM(MPUREG_ACCEL_CONFIG2, ICMREG_20948_ACCEL_CONFIG_2),
|
||||
MPU_OR_ICM(BITS_ACCEL_CONFIG2_41HZ, ICM_BITS_DEC3_CFG_32));
|
||||
write_checked_reg(MPUREG_ACCEL_CONFIG2, BITS_ACCEL_CONFIG2_41HZ);
|
||||
|
||||
retries = 3;
|
||||
bool all_ok = false;
|
||||
|
|
@ -554,9 +513,6 @@ int MPU9250::reset_mpu()
|
|||
|
||||
for (uint8_t i = 0; i < _num_checked_registers; i++) {
|
||||
if ((reg = read_reg(_checked_registers[i])) != _checked_values[i]) {
|
||||
if (_whoami == ICM_WHOAMI_20948) {
|
||||
_interface->read(MPU9250_LOW_SPEED_OP(ICMREG_20948_BANK_SEL), &bankcheck, 1);
|
||||
}
|
||||
|
||||
write_reg(_checked_registers[i], _checked_values[i]);
|
||||
PX4_ERR("Reg %d is:%d s/b:%d Tries:%d - bank s/b %d, is %d", _checked_registers[i], reg, _checked_values[i], retries,
|
||||
|
|
@ -577,13 +533,6 @@ MPU9250::probe()
|
|||
// Try first for mpu9250/6500
|
||||
_whoami = read_reg(MPUREG_WHOAMI);
|
||||
|
||||
// If it's not an MPU it must be an ICM
|
||||
if ((_whoami != MPU_WHOAMI_9250) && (_whoami != MPU_WHOAMI_6500)) {
|
||||
// Make sure selected register bank is bank 0 (which contains WHOAMI)
|
||||
select_register_bank(REG_BANK(ICMREG_20948_WHOAMI));
|
||||
_whoami = read_reg(ICMREG_20948_WHOAMI);
|
||||
}
|
||||
|
||||
if (_whoami == MPU_WHOAMI_9250 || _whoami == MPU_WHOAMI_6500) {
|
||||
|
||||
_num_checked_registers = MPU9250_NUM_CHECKED_REGISTERS;
|
||||
|
|
@ -591,14 +540,6 @@ MPU9250::probe()
|
|||
memset(_checked_values, 0, MPU9250_NUM_CHECKED_REGISTERS);
|
||||
memset(_checked_bad, 0, MPU9250_NUM_CHECKED_REGISTERS);
|
||||
ret = PX4_OK;
|
||||
|
||||
} else if (_whoami == ICM_WHOAMI_20948) {
|
||||
|
||||
_num_checked_registers = ICM20948_NUM_CHECKED_REGISTERS;
|
||||
_checked_registers = _icm20948_checked_registers;
|
||||
memset(_checked_values, 0, ICM20948_NUM_CHECKED_REGISTERS);
|
||||
memset(_checked_bad, 0, ICM20948_NUM_CHECKED_REGISTERS);
|
||||
ret = PX4_OK;
|
||||
}
|
||||
|
||||
_checked_values[0] = _whoami;
|
||||
|
|
@ -613,7 +554,6 @@ MPU9250::probe()
|
|||
|
||||
/*
|
||||
set sample rate (approximate) - 1kHz to 5Hz, for both accel and gyro
|
||||
For ICM20948 accel and gyro samplerates are both set to the same value.
|
||||
*/
|
||||
void
|
||||
MPU9250::_set_sample_rate(unsigned desired_sample_rate_hz)
|
||||
|
|
@ -629,10 +569,6 @@ MPU9250::_set_sample_rate(unsigned desired_sample_rate_hz)
|
|||
case MPU_WHOAMI_6500:
|
||||
div = 1000 / desired_sample_rate_hz;
|
||||
break;
|
||||
|
||||
case ICM_WHOAMI_20948:
|
||||
div = 1100 / desired_sample_rate_hz;
|
||||
break;
|
||||
}
|
||||
|
||||
if (div > 200) { div = 200; }
|
||||
|
|
@ -646,14 +582,6 @@ MPU9250::_set_sample_rate(unsigned desired_sample_rate_hz)
|
|||
write_checked_reg(MPUREG_SMPLRT_DIV, div - 1);
|
||||
_sample_rate = 1000 / div;
|
||||
break;
|
||||
|
||||
case ICM_WHOAMI_20948:
|
||||
write_checked_reg(ICMREG_20948_GYRO_SMPLRT_DIV, div - 1);
|
||||
// There's also an MSB for this allowing much higher dividers for the accelerometer.
|
||||
// For 1 < div < 200 the LSB is sufficient.
|
||||
write_checked_reg(ICMREG_20948_ACCEL_SMPLRT_DIV_2, div - 1);
|
||||
_sample_rate = 1100 / div;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -766,151 +694,15 @@ MPU9250::_set_dlpf_filter(uint16_t frequency_hz)
|
|||
|
||||
write_checked_reg(MPUREG_CONFIG, filter);
|
||||
break;
|
||||
|
||||
case ICM_WHOAMI_20948:
|
||||
|
||||
/*
|
||||
choose next highest filter frequency available for gyroscope
|
||||
*/
|
||||
if (frequency_hz == 0) {
|
||||
_dlpf_freq_icm_gyro = 0;
|
||||
filter = ICM_BITS_GYRO_DLPF_CFG_361HZ;
|
||||
|
||||
} else if (frequency_hz <= 5) {
|
||||
_dlpf_freq_icm_gyro = 5;
|
||||
filter = ICM_BITS_GYRO_DLPF_CFG_5HZ;
|
||||
|
||||
} else if (frequency_hz <= 11) {
|
||||
_dlpf_freq_icm_gyro = 11;
|
||||
filter = ICM_BITS_GYRO_DLPF_CFG_11HZ;
|
||||
|
||||
} else if (frequency_hz <= 23) {
|
||||
_dlpf_freq_icm_gyro = 23;
|
||||
filter = ICM_BITS_GYRO_DLPF_CFG_23HZ;
|
||||
|
||||
} else if (frequency_hz <= 51) {
|
||||
_dlpf_freq_icm_gyro = 51;
|
||||
filter = ICM_BITS_GYRO_DLPF_CFG_51HZ;
|
||||
|
||||
} else if (frequency_hz <= 119) {
|
||||
_dlpf_freq_icm_gyro = 119;
|
||||
filter = ICM_BITS_GYRO_DLPF_CFG_119HZ;
|
||||
|
||||
} else if (frequency_hz <= 151) {
|
||||
_dlpf_freq_icm_gyro = 151;
|
||||
filter = ICM_BITS_GYRO_DLPF_CFG_151HZ;
|
||||
|
||||
} else if (frequency_hz <= 197) {
|
||||
_dlpf_freq_icm_gyro = 197;
|
||||
filter = ICM_BITS_GYRO_DLPF_CFG_197HZ;
|
||||
|
||||
} else {
|
||||
_dlpf_freq_icm_gyro = 0;
|
||||
filter = ICM_BITS_GYRO_DLPF_CFG_361HZ;
|
||||
}
|
||||
|
||||
write_checked_reg(ICMREG_20948_GYRO_CONFIG_1, filter);
|
||||
|
||||
/*
|
||||
choose next highest filter frequency available for accelerometer
|
||||
*/
|
||||
if (frequency_hz == 0) {
|
||||
_dlpf_freq_icm_accel = 0;
|
||||
filter = ICM_BITS_ACCEL_DLPF_CFG_473HZ;
|
||||
|
||||
} else if (frequency_hz <= 5) {
|
||||
_dlpf_freq_icm_accel = 5;
|
||||
filter = ICM_BITS_ACCEL_DLPF_CFG_5HZ;
|
||||
|
||||
} else if (frequency_hz <= 11) {
|
||||
_dlpf_freq_icm_accel = 11;
|
||||
filter = ICM_BITS_ACCEL_DLPF_CFG_11HZ;
|
||||
|
||||
} else if (frequency_hz <= 23) {
|
||||
_dlpf_freq_icm_accel = 23;
|
||||
filter = ICM_BITS_ACCEL_DLPF_CFG_23HZ;
|
||||
|
||||
} else if (frequency_hz <= 50) {
|
||||
_dlpf_freq_icm_accel = 50;
|
||||
filter = ICM_BITS_ACCEL_DLPF_CFG_50HZ;
|
||||
|
||||
} else if (frequency_hz <= 111) {
|
||||
_dlpf_freq_icm_accel = 111;
|
||||
filter = ICM_BITS_ACCEL_DLPF_CFG_111HZ;
|
||||
|
||||
} else if (frequency_hz <= 246) {
|
||||
_dlpf_freq_icm_accel = 246;
|
||||
filter = ICM_BITS_ACCEL_DLPF_CFG_246HZ;
|
||||
|
||||
} else {
|
||||
_dlpf_freq_icm_accel = 0;
|
||||
filter = ICM_BITS_ACCEL_DLPF_CFG_473HZ;
|
||||
}
|
||||
|
||||
write_checked_reg(ICMREG_20948_ACCEL_CONFIG, filter);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
int
|
||||
MPU9250::select_register_bank(uint8_t bank)
|
||||
{
|
||||
uint8_t ret;
|
||||
uint8_t buf;
|
||||
uint8_t retries = 3;
|
||||
|
||||
if (_selected_bank != bank) {
|
||||
ret = _interface->write(MPU9250_LOW_SPEED_OP(ICMREG_20948_BANK_SEL), &bank, 1);
|
||||
|
||||
if (ret != OK) {
|
||||
return ret;
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Making sure the right register bank is selected (even if it should be). Observed some
|
||||
* unexpected changes to this, don't risk writing to the wrong register bank.
|
||||
*/
|
||||
_interface->read(MPU9250_LOW_SPEED_OP(ICMREG_20948_BANK_SEL), &buf, 1);
|
||||
|
||||
while (bank != buf && retries > 0) {
|
||||
//PX4_WARN("user bank: expected %d got %d",bank,buf);
|
||||
ret = _interface->write(MPU9250_LOW_SPEED_OP(ICMREG_20948_BANK_SEL), &bank, 1);
|
||||
|
||||
if (ret != OK) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
retries--;
|
||||
//PX4_WARN("BANK retries: %d", 4-retries);
|
||||
|
||||
_interface->read(MPU9250_LOW_SPEED_OP(ICMREG_20948_BANK_SEL), &buf, 1);
|
||||
}
|
||||
|
||||
|
||||
_selected_bank = bank;
|
||||
|
||||
if (bank != buf) {
|
||||
PX4_DEBUG("SELECT FAILED %d %d %d %d", retries, _selected_bank, bank, buf);
|
||||
return PX4_ERROR;
|
||||
|
||||
} else {
|
||||
return PX4_OK;
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t
|
||||
MPU9250::read_reg(unsigned reg, uint32_t speed)
|
||||
{
|
||||
uint8_t buf;
|
||||
uint8_t buf{};
|
||||
|
||||
if (_whoami == ICM_WHOAMI_20948) {
|
||||
select_register_bank(REG_BANK(reg));
|
||||
_interface->read(MPU9250_SET_SPEED(REG_ADDRESS(reg), speed), &buf, 1);
|
||||
|
||||
} else {
|
||||
_interface->read(MPU9250_SET_SPEED(REG_ADDRESS(reg), speed), &buf, 1);
|
||||
}
|
||||
_interface->read(MPU9250_SET_SPEED(REG_ADDRESS(reg), speed), &buf, 1);
|
||||
|
||||
return buf;
|
||||
}
|
||||
|
|
@ -918,35 +710,20 @@ MPU9250::read_reg(unsigned reg, uint32_t speed)
|
|||
uint8_t
|
||||
MPU9250::read_reg_range(unsigned start_reg, uint32_t speed, uint8_t *buf, uint16_t count)
|
||||
{
|
||||
uint8_t ret;
|
||||
|
||||
if (buf == NULL) { return PX4_ERROR; }
|
||||
|
||||
if (_whoami == ICM_WHOAMI_20948) {
|
||||
select_register_bank(REG_BANK(start_reg));
|
||||
ret = _interface->read(MPU9250_SET_SPEED(REG_ADDRESS(start_reg), speed), buf, count);
|
||||
|
||||
} else {
|
||||
ret = _interface->read(MPU9250_SET_SPEED(REG_ADDRESS(start_reg), speed), buf, count);
|
||||
if (buf == NULL) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
return ret;
|
||||
return _interface->read(MPU9250_SET_SPEED(REG_ADDRESS(start_reg), speed), buf, count);
|
||||
}
|
||||
|
||||
uint16_t
|
||||
MPU9250::read_reg16(unsigned reg)
|
||||
{
|
||||
uint8_t buf[2];
|
||||
uint8_t buf[2] {};
|
||||
|
||||
// general register transfer at low clock speed
|
||||
|
||||
if (_whoami == ICM_WHOAMI_20948) {
|
||||
select_register_bank(REG_BANK(reg));
|
||||
_interface->read(MPU9250_LOW_SPEED_OP(REG_ADDRESS(reg)), &buf, arraySize(buf));
|
||||
|
||||
} else {
|
||||
_interface->read(MPU9250_LOW_SPEED_OP(reg), &buf, arraySize(buf));
|
||||
}
|
||||
_interface->read(MPU9250_LOW_SPEED_OP(reg), &buf, arraySize(buf));
|
||||
|
||||
return (uint16_t)(buf[0] << 8) | buf[1];
|
||||
}
|
||||
|
|
@ -955,14 +732,7 @@ void
|
|||
MPU9250::write_reg(unsigned reg, uint8_t value)
|
||||
{
|
||||
// general register transfer at low clock speed
|
||||
|
||||
if (_whoami == ICM_WHOAMI_20948) {
|
||||
select_register_bank(REG_BANK(reg));
|
||||
_interface->write(MPU9250_LOW_SPEED_OP(REG_ADDRESS(reg)), &value, 1);
|
||||
|
||||
} else {
|
||||
_interface->write(MPU9250_LOW_SPEED_OP(reg), &value, 1);
|
||||
}
|
||||
_interface->write(MPU9250_LOW_SPEED_OP(reg), &value, 1);
|
||||
}
|
||||
|
||||
void
|
||||
|
|
@ -1034,10 +804,6 @@ MPU9250::set_accel_range(unsigned max_g_in)
|
|||
case MPU_WHOAMI_6500:
|
||||
write_checked_reg(MPUREG_ACCEL_CONFIG, afs_sel << 3);
|
||||
break;
|
||||
|
||||
case ICM_WHOAMI_20948:
|
||||
modify_checked_reg(ICMREG_20948_ACCEL_CONFIG, ICM_BITS_ACCEL_FS_SEL_MASK, afs_sel << 1);
|
||||
break;
|
||||
}
|
||||
|
||||
_accel_range_scale = (CONSTANTS_ONE_G / lsb_per_g);
|
||||
|
|
@ -1169,12 +935,8 @@ MPU9250::check_registers(void)
|
|||
// if the product_id is wrong then reset the
|
||||
// sensor completely
|
||||
|
||||
if (_whoami == ICM_WHOAMI_20948) {
|
||||
// reset_mpu();
|
||||
} else {
|
||||
write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
|
||||
write_reg(MPUREG_PWR_MGMT_2, MPU_CLK_SEL_AUTO);
|
||||
}
|
||||
write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
|
||||
write_reg(MPUREG_PWR_MGMT_2, MPU_CLK_SEL_AUTO);
|
||||
|
||||
// after doing a reset we need to wait a long
|
||||
// time before we do any other register writes
|
||||
|
|
@ -1253,8 +1015,6 @@ MPU9250::measure()
|
|||
|
||||
struct MPUReport mpu_report;
|
||||
|
||||
struct ICMReport icm_report;
|
||||
|
||||
struct Report {
|
||||
int16_t accel_x;
|
||||
int16_t accel_y;
|
||||
|
|
@ -1279,19 +1039,11 @@ MPU9250::measure()
|
|||
return;
|
||||
}
|
||||
|
||||
} else { // ICM20948
|
||||
select_register_bank(REG_BANK(ICMREG_20948_ACCEL_XOUT_H));
|
||||
|
||||
if (OK != read_reg_range(ICMREG_20948_ACCEL_XOUT_H, MPU9250_HIGH_BUS_SPEED, (uint8_t *)&icm_report,
|
||||
sizeof(icm_report))) {
|
||||
perf_end(_sample_perf);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
check_registers();
|
||||
|
||||
if (check_duplicate(MPU_OR_ICM(&mpu_report.accel_x[0], &icm_report.accel_x[0]))) {
|
||||
if (check_duplicate(&mpu_report.accel_x[0])) {
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
|
@ -1324,24 +1076,13 @@ MPU9250::measure()
|
|||
/*
|
||||
* Convert from big to little endian
|
||||
*/
|
||||
if (_whoami == ICM_WHOAMI_20948) {
|
||||
report.accel_x = int16_t_from_bytes(icm_report.accel_x);
|
||||
report.accel_y = int16_t_from_bytes(icm_report.accel_y);
|
||||
report.accel_z = int16_t_from_bytes(icm_report.accel_z);
|
||||
report.temp = int16_t_from_bytes(icm_report.temp);
|
||||
report.gyro_x = int16_t_from_bytes(icm_report.gyro_x);
|
||||
report.gyro_y = int16_t_from_bytes(icm_report.gyro_y);
|
||||
report.gyro_z = int16_t_from_bytes(icm_report.gyro_z);
|
||||
|
||||
} else { // MPU9250/MPU6500
|
||||
report.accel_x = int16_t_from_bytes(mpu_report.accel_x);
|
||||
report.accel_y = int16_t_from_bytes(mpu_report.accel_y);
|
||||
report.accel_z = int16_t_from_bytes(mpu_report.accel_z);
|
||||
report.temp = int16_t_from_bytes(mpu_report.temp);
|
||||
report.gyro_x = int16_t_from_bytes(mpu_report.gyro_x);
|
||||
report.gyro_y = int16_t_from_bytes(mpu_report.gyro_y);
|
||||
report.gyro_z = int16_t_from_bytes(mpu_report.gyro_z);
|
||||
}
|
||||
report.accel_x = int16_t_from_bytes(mpu_report.accel_x);
|
||||
report.accel_y = int16_t_from_bytes(mpu_report.accel_y);
|
||||
report.accel_z = int16_t_from_bytes(mpu_report.accel_z);
|
||||
report.temp = int16_t_from_bytes(mpu_report.temp);
|
||||
report.gyro_x = int16_t_from_bytes(mpu_report.gyro_x);
|
||||
report.gyro_y = int16_t_from_bytes(mpu_report.gyro_y);
|
||||
report.gyro_z = int16_t_from_bytes(mpu_report.gyro_z);
|
||||
|
||||
if (check_null_data((uint16_t *)&report, sizeof(report) / 2)) {
|
||||
return;
|
||||
|
|
@ -1371,27 +1112,22 @@ MPU9250::measure()
|
|||
if (!_magnetometer_only) {
|
||||
|
||||
/*
|
||||
* Keeping the axes as they are for ICM20948 so orientation will match the actual chip orientation
|
||||
* Swap axes and negate y
|
||||
*/
|
||||
if (_whoami != ICM_WHOAMI_20948) {
|
||||
/*
|
||||
* Swap axes and negate y
|
||||
*/
|
||||
|
||||
int16_t accel_xt = report.accel_y;
|
||||
int16_t accel_yt = ((report.accel_x == -32768) ? 32767 : -report.accel_x);
|
||||
int16_t accel_xt = report.accel_y;
|
||||
int16_t accel_yt = ((report.accel_x == -32768) ? 32767 : -report.accel_x);
|
||||
|
||||
int16_t gyro_xt = report.gyro_y;
|
||||
int16_t gyro_yt = ((report.gyro_x == -32768) ? 32767 : -report.gyro_x);
|
||||
int16_t gyro_xt = report.gyro_y;
|
||||
int16_t gyro_yt = ((report.gyro_x == -32768) ? 32767 : -report.gyro_x);
|
||||
|
||||
/*
|
||||
* Apply the swap
|
||||
*/
|
||||
report.accel_x = accel_xt;
|
||||
report.accel_y = accel_yt;
|
||||
report.gyro_x = gyro_xt;
|
||||
report.gyro_y = gyro_yt;
|
||||
}
|
||||
/*
|
||||
* Apply the swap
|
||||
*/
|
||||
report.accel_x = accel_xt;
|
||||
report.accel_y = accel_yt;
|
||||
report.gyro_x = gyro_xt;
|
||||
report.gyro_y = gyro_yt;
|
||||
|
||||
/*
|
||||
* Report buffers.
|
||||
|
|
|
|||
|
|
@ -183,7 +183,6 @@
|
|||
|
||||
#define MPU_WHOAMI_9250 0x71
|
||||
#define MPU_WHOAMI_6500 0x70
|
||||
#define ICM_WHOAMI_20948 0xEA
|
||||
|
||||
#define MPU9250_ACCEL_DEFAULT_RATE 1000
|
||||
#define MPU9250_ACCEL_MAX_OUTPUT_RATE 280
|
||||
|
|
@ -195,26 +194,6 @@
|
|||
|
||||
#define MPU9250_DEFAULT_ONCHIP_FILTER_FREQ 92
|
||||
|
||||
#define MPUIOCGIS_I2C (unsigned)(DEVIOCGDEVICEID+100)
|
||||
|
||||
|
||||
|
||||
// ICM20948 registers and data
|
||||
|
||||
/*
|
||||
* ICM20948 I2C address LSB can be switched by the chip's AD0 pin, thus is device dependent.
|
||||
* Noting this down for now. Here GPS uses 0x69. To support a device implementing the second
|
||||
* address, probably an additional MPU_DEVICE_TYPE is the way to go.
|
||||
*/
|
||||
#define PX4_I2C_EXT_ICM20948_0 0x68
|
||||
#define PX4_I2C_EXT_ICM20948_1 0x69
|
||||
|
||||
/*
|
||||
* ICM20948 uses register banks. Register 127 (0x7F) is used to switch between 4 banks.
|
||||
* There's room in the upper address byte below the port speed setting to code in the
|
||||
* used bank. This is a bit more efficient, already in use for the speed setting and more
|
||||
* in one place than a solution with a lookup table for address/bank pairs.
|
||||
*/
|
||||
|
||||
#define BANK0 0x0000
|
||||
#define BANK1 0x0100
|
||||
|
|
@ -225,108 +204,6 @@
|
|||
#define REG_BANK(r) (((r) & BANK_REG_MASK)>>4)
|
||||
#define REG_ADDRESS(r) ((r) & ~BANK_REG_MASK)
|
||||
|
||||
#define ICMREG_20948_BANK_SEL 0x7F
|
||||
|
||||
#define ICMREG_20948_WHOAMI (0x00 | BANK0)
|
||||
#define ICMREG_20948_USER_CTRL (0x03 | BANK0)
|
||||
#define ICMREG_20948_PWR_MGMT_1 (0x06 | BANK0)
|
||||
#define ICMREG_20948_PWR_MGMT_2 (0x07 | BANK0)
|
||||
#define ICMREG_20948_INT_PIN_CFG (0x0F | BANK0)
|
||||
#define ICMREG_20948_INT_ENABLE (0x10 | BANK0)
|
||||
#define ICMREG_20948_INT_ENABLE_1 (0x11 | BANK0)
|
||||
#define ICMREG_20948_ACCEL_XOUT_H (0x2D | BANK0)
|
||||
#define ICMREG_20948_INT_ENABLE_2 (0x12 | BANK0)
|
||||
#define ICMREG_20948_INT_ENABLE_3 (0x13 | BANK0)
|
||||
#define ICMREG_20948_EXT_SLV_SENS_DATA_00 (0x3B | BANK0)
|
||||
#define ICMREG_20948_GYRO_SMPLRT_DIV (0x00 | BANK2)
|
||||
#define ICMREG_20948_GYRO_CONFIG_1 (0x01 | BANK2)
|
||||
#define ICMREG_20948_GYRO_CONFIG_2 (0x02 | BANK2)
|
||||
#define ICMREG_20948_ACCEL_SMPLRT_DIV_1 (0x10 | BANK2)
|
||||
#define ICMREG_20948_ACCEL_SMPLRT_DIV_2 (0x11 | BANK2)
|
||||
#define ICMREG_20948_ACCEL_CONFIG (0x14 | BANK2)
|
||||
#define ICMREG_20948_ACCEL_CONFIG_2 (0x15 | BANK2)
|
||||
#define ICMREG_20948_I2C_MST_CTRL (0x01 | BANK3)
|
||||
#define ICMREG_20948_I2C_SLV0_ADDR (0x03 | BANK3)
|
||||
#define ICMREG_20948_I2C_SLV0_REG (0x04 | BANK3)
|
||||
#define ICMREG_20948_I2C_SLV0_CTRL (0x05 | BANK3)
|
||||
#define ICMREG_20948_I2C_SLV0_DO (0x06 | BANK3)
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* ICM20948 register bits
|
||||
* Most of the regiser set values from MPU9250 have the same
|
||||
* meaning on ICM20948. The exceptions and values not already
|
||||
* defined for MPU9250 are defined below
|
||||
*/
|
||||
#define ICM_BIT_PWR_MGMT_1_ENABLE 0x00
|
||||
#define ICM_BIT_USER_CTRL_I2C_MST_DISABLE 0x00
|
||||
|
||||
#define ICM_BITS_GYRO_DLPF_CFG_197HZ 0x01
|
||||
#define ICM_BITS_GYRO_DLPF_CFG_151HZ 0x09
|
||||
#define ICM_BITS_GYRO_DLPF_CFG_119HZ 0x11
|
||||
#define ICM_BITS_GYRO_DLPF_CFG_51HZ 0x19
|
||||
#define ICM_BITS_GYRO_DLPF_CFG_23HZ 0x21
|
||||
#define ICM_BITS_GYRO_DLPF_CFG_11HZ 0x29
|
||||
#define ICM_BITS_GYRO_DLPF_CFG_5HZ 0x31
|
||||
#define ICM_BITS_GYRO_DLPF_CFG_361HZ 0x39
|
||||
#define ICM_BITS_GYRO_DLPF_CFG_MASK 0x39
|
||||
|
||||
#define ICM_BITS_GYRO_FS_SEL_250DPS 0x00
|
||||
#define ICM_BITS_GYRO_FS_SEL_500DPS 0x02
|
||||
#define ICM_BITS_GYRO_FS_SEL_1000DPS 0x04
|
||||
#define ICM_BITS_GYRO_FS_SEL_2000DPS 0x06
|
||||
#define ICM_BITS_GYRO_FS_SEL_MASK 0x06
|
||||
|
||||
#define ICM_BITS_ACCEL_DLPF_CFG_246HZ 0x09
|
||||
#define ICM_BITS_ACCEL_DLPF_CFG_111HZ 0x11
|
||||
#define ICM_BITS_ACCEL_DLPF_CFG_50HZ 0x19
|
||||
#define ICM_BITS_ACCEL_DLPF_CFG_23HZ 0x21
|
||||
#define ICM_BITS_ACCEL_DLPF_CFG_11HZ 0x29
|
||||
#define ICM_BITS_ACCEL_DLPF_CFG_5HZ 0x31
|
||||
#define ICM_BITS_ACCEL_DLPF_CFG_473HZ 0x39
|
||||
#define ICM_BITS_ACCEL_DLPF_CFG_MASK 0x39
|
||||
|
||||
#define ICM_BITS_ACCEL_FS_SEL_250DPS 0x00
|
||||
#define ICM_BITS_ACCEL_FS_SEL_500DPS 0x02
|
||||
#define ICM_BITS_ACCEL_FS_SEL_1000DPS 0x04
|
||||
#define ICM_BITS_ACCEL_FS_SEL_2000DPS 0x06
|
||||
#define ICM_BITS_ACCEL_FS_SEL_MASK 0x06
|
||||
|
||||
#define ICM_BITS_DEC3_CFG_4 0x00
|
||||
#define ICM_BITS_DEC3_CFG_8 0x01
|
||||
#define ICM_BITS_DEC3_CFG_16 0x10
|
||||
#define ICM_BITS_DEC3_CFG_32 0x11
|
||||
#define ICM_BITS_DEC3_CFG_MASK 0x11
|
||||
|
||||
#define ICM_BITS_I2C_MST_CLOCK_370KHZ 0x00
|
||||
#define ICM_BITS_I2C_MST_CLOCK_400HZ 0x07 // recommended by datasheet for 400kHz target clock
|
||||
|
||||
|
||||
|
||||
#define MPU_OR_ICM(m,i) ((_whoami==ICM_WHOAMI_20948) ? i : m)
|
||||
|
||||
|
||||
#pragma pack(push, 1)
|
||||
/**
|
||||
* Report conversation within the mpu, including command byte and
|
||||
* interrupt status.
|
||||
*/
|
||||
struct ICMReport {
|
||||
uint8_t accel_x[2];
|
||||
uint8_t accel_y[2];
|
||||
uint8_t accel_z[2];
|
||||
uint8_t gyro_x[2];
|
||||
uint8_t gyro_y[2];
|
||||
uint8_t gyro_z[2];
|
||||
uint8_t temp[2];
|
||||
struct ak8963_regs mag;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
|
||||
|
||||
|
||||
#pragma pack(push, 1)
|
||||
/**
|
||||
* Report conversation within the mpu, including command byte and
|
||||
|
|
@ -438,8 +315,6 @@ private:
|
|||
float _gyro_range_rad_s;
|
||||
|
||||
unsigned _dlpf_freq;
|
||||
unsigned _dlpf_freq_icm_gyro;
|
||||
unsigned _dlpf_freq_icm_accel;
|
||||
|
||||
unsigned _sample_rate;
|
||||
perf_counter_t _accel_reads;
|
||||
|
|
@ -474,15 +349,13 @@ private:
|
|||
#define MAX(X,Y) ((X) > (Y) ? (X) : (Y))
|
||||
#endif
|
||||
|
||||
#define MPU9250_NUM_CHECKED_REGISTERS 11
|
||||
static constexpr int MPU9250_NUM_CHECKED_REGISTERS{11};
|
||||
static const uint16_t _mpu9250_checked_registers[MPU9250_NUM_CHECKED_REGISTERS];
|
||||
#define ICM20948_NUM_CHECKED_REGISTERS 15
|
||||
static const uint16_t _icm20948_checked_registers[ICM20948_NUM_CHECKED_REGISTERS];
|
||||
|
||||
const uint16_t *_checked_registers;
|
||||
|
||||
uint8_t _checked_values[MAX(MPU9250_NUM_CHECKED_REGISTERS, ICM20948_NUM_CHECKED_REGISTERS)];
|
||||
uint8_t _checked_bad[MAX(MPU9250_NUM_CHECKED_REGISTERS, ICM20948_NUM_CHECKED_REGISTERS)];
|
||||
uint8_t _checked_values[MPU9250_NUM_CHECKED_REGISTERS];
|
||||
uint8_t _checked_bad[MPU9250_NUM_CHECKED_REGISTERS];
|
||||
unsigned _checked_next;
|
||||
unsigned _num_checked_registers;
|
||||
|
||||
|
|
@ -570,18 +443,6 @@ private:
|
|||
*/
|
||||
void measure();
|
||||
|
||||
/**
|
||||
* Select a register bank in ICM20948
|
||||
*
|
||||
* Only actually switches if the remembered bank is different from the
|
||||
* requested one
|
||||
*
|
||||
* @param The index of the register bank to switch to (0-3)
|
||||
* @return Error code
|
||||
*/
|
||||
int select_register_bank(uint8_t bank);
|
||||
|
||||
|
||||
/**
|
||||
* Read a register from the mpu
|
||||
*
|
||||
|
|
|
|||
|
|
@ -108,26 +108,12 @@ int
|
|||
MPU9250_I2C::probe()
|
||||
{
|
||||
uint8_t whoami = 0;
|
||||
uint8_t register_select = REG_BANK(BANK0); // register bank containing WHOAMI for ICM20948
|
||||
|
||||
// Try first for mpu9250/6500
|
||||
read(MPUREG_WHOAMI, &whoami, 1);
|
||||
|
||||
if (whoami == MPU_WHOAMI_9250 || whoami == MPU_WHOAMI_6500) {
|
||||
return PX4_OK;
|
||||
|
||||
} else {
|
||||
/*
|
||||
* If it's not an MPU it must be an ICM
|
||||
* Make sure register bank 0 is selected - whoami is only present on bank 0, and that is
|
||||
* not sure e.g. if the device has rebooted without repowering the sensor
|
||||
*/
|
||||
write(ICMREG_20948_BANK_SEL, ®ister_select, 1);
|
||||
read(ICMREG_20948_WHOAMI, &whoami, 1);
|
||||
|
||||
if (whoami == ICM_WHOAMI_20948) {
|
||||
return PX4_OK;
|
||||
}
|
||||
}
|
||||
|
||||
return -ENODEV;
|
||||
|
|
|
|||
Loading…
Reference in New Issue