forked from Archive/PX4-Autopilot
ICM20948 integration into MPU9250 driver (#10116)
* Integrated preliminary ICM20948 support into MPU9250 driver. Fixed temperature conversion for MPU9250/ICM20948. * Included missing check for PX4_I2C_OBDEV_MPU9250 in main.cpp. * Added explicit bus for internal MPU9250 on Pixhawk 2.1 to avoid implicit start of an externally attached device with wrong orientation.
This commit is contained in:
flochir
Daniel Agar
parent
5c9aa1ca88
commit
ab9e9793a0
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@ -100,6 +100,9 @@ then
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teraranger start -a
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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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###############################################################################
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# End Optional drivers #
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###############################################################################
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@ -40,6 +40,7 @@ px4_add_module(
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mpu9250_i2c.cpp
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mpu9250_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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@ -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 "mpu9250.h"
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MPU9250_accel::MPU9250_accel(MPU9250 *parent, const char *path) :
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CDev("MPU9250_accel", path),
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_parent(parent)
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{
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}
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MPU9250_accel::~MPU9250_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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MPU9250_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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MPU9250_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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MPU9250_accel::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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/*
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* Repeated in MPU9250_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
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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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#pragma once
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class MPU9250;
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/**
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* Helper class implementing the accel driver node.
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*/
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class MPU9250_accel : public device::CDev
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{
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public:
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MPU9250_accel(MPU9250 *parent, const char *path);
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~MPU9250_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 MPU9250;
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void parent_poll_notify();
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private:
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MPU9250 *_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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@ -42,27 +42,14 @@
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*/
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#include <px4_config.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 <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 <mathlib/math/filter/LowPassFilter2p.hpp>
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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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@ -71,10 +58,7 @@
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MPU9250_gyro::MPU9250_gyro(MPU9250 *parent, const char *path) :
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CDev("MPU9250_gyro", path),
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_parent(parent),
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_gyro_topic(nullptr),
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_gyro_orb_class_instance(-1),
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_gyro_class_instance(-1)
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_parent(parent)
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{
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}
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@ -88,10 +72,8 @@ MPU9250_gyro::~MPU9250_gyro()
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int
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MPU9250_gyro::init()
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{
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int ret;
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// do base class init
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ret = CDev::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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@ -110,22 +92,22 @@ MPU9250_gyro::parent_poll_notify()
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poll_notify(POLLIN);
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}
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ssize_t
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MPU9250_gyro::read(struct file *filp, char *buffer, size_t buflen)
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{
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return _parent->gyro_read(filp, buffer, buflen);
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}
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int
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MPU9250_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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case DEVIOCGDEVICEID:
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return (int)CDev::ioctl(filp, cmd, arg);
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break;
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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 _parent->gyro_ioctl(filp, cmd, arg);
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return CDev::ioctl(filp, cmd, arg);
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}
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}
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@ -44,7 +44,6 @@ public:
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MPU9250_gyro(MPU9250 *parent, const char *path);
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~MPU9250_gyro();
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virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
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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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@ -56,11 +55,8 @@ protected:
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private:
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MPU9250 *_parent;
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orb_advert_t _gyro_topic;
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int _gyro_orb_class_instance;
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int _gyro_class_instance;
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/* do not allow to copy this class due to pointer data members */
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MPU9250_gyro(const MPU9250_gyro &);
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MPU9250_gyro operator=(const MPU9250_gyro &);
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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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@ -42,27 +42,15 @@
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#include <px4_config.h>
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#include <px4_log.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 <lib/perf/perf_counter.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/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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@ -129,14 +117,17 @@ MPU9250_mag::init()
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/* if cdev init failed, bail now */
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if (ret != OK) {
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DEVICE_DEBUG("MPU9250 mag init failed");
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if (_parent->_device_type == MPU_DEVICE_TYPE_MPU9250) { DEVICE_DEBUG("MPU9250 mag init failed"); }
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else { DEVICE_DEBUG("ICM20948 mag init failed"); }
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return ret;
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}
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_mag_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report));
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if (_mag_reports == nullptr) {
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return -ENOMEM;;
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return -ENOMEM;
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}
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_mag_class_instance = register_class_devname(MAG_BASE_DEVICE_PATH);
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@ -147,8 +138,8 @@ MPU9250_mag::init()
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_mag_reports->get(&mrp);
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_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mrp,
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&_mag_orb_class_instance, ORB_PRIO_LOW);
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// &_mag_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
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&_mag_orb_class_instance, (_parent->is_external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT);
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// &_mag_orb_class_instance, ORB_PRIO_LOW);
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if (_mag_topic == nullptr) {
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PX4_ERR("ADVERT FAIL");
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@ -173,10 +164,23 @@ bool MPU9250_mag::check_duplicate(uint8_t *mag_data)
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void
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MPU9250_mag::measure()
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{
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struct ak8963_regs data;
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uint8_t ret;
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union raw_data_t {
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struct ak8963_regs ak8963_data;
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struct ak09916_regs ak09916_data;
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} raw_data;
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if (OK == _interface->read(AK8963REG_ST1, &data, sizeof(struct ak8963_regs))) {
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_measure(data);
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if (_parent->_device_type == MPU_DEVICE_TYPE_MPU9250) {
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ret = _interface->read(AK8963REG_ST1, &raw_data, sizeof(struct ak8963_regs));
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} else { // ICM20948 --> AK09916
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ret = _interface->read(AK09916REG_ST1, &raw_data, sizeof(struct ak09916_regs));
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}
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|
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if (ret == OK) {
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if (_parent->_device_type == MPU_DEVICE_TYPE_ICM20948) { raw_data.ak8963_data.st2 = raw_data.ak09916_data.st2; }
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_measure(raw_data.ak8963_data);
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}
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}
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@ -205,23 +209,53 @@ MPU9250_mag::_measure(struct ak8963_regs data)
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mag_report mrb;
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mrb.timestamp = hrt_absolute_time();
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mrb.is_external = false;
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// mrb.is_external = false;
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// need a better check here. Using _parent->is_external() for mpu9250 also sets the
|
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// internal magnetometers connected to the "external" spi bus as external, at least
|
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// on Pixhawk 2.1. For now assuming the ICM20948 is only used on Here GPS, hence external.
|
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if (_parent->_device_type == MPU_DEVICE_TYPE_ICM20948) {
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mrb.is_external = _parent->is_external();
|
||||
|
||||
} else {
|
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mrb.is_external = false;
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||||
}
|
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|
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/*
|
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* Align axes - note the accel & gryo are also re-aligned so this
|
||||
* doesn't look obvious with the datasheet
|
||||
*/
|
||||
mrb.x_raw = data.x;
|
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mrb.y_raw = -data.y;
|
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mrb.z_raw = -data.z;
|
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float xraw_f, yraw_f, zraw_f;
|
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|
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float xraw_f = data.x;
|
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float yraw_f = -data.y;
|
||||
float zraw_f = -data.z;
|
||||
if (_parent->_device_type == MPU_DEVICE_TYPE_ICM20948) {
|
||||
/*
|
||||
* 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->_device_type == MPU_DEVICE_TYPE_ICM20948) {
|
||||
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;
|
||||
|
|
@ -244,52 +278,14 @@ MPU9250_mag::_measure(struct ak8963_regs data)
|
|||
}
|
||||
}
|
||||
|
||||
ssize_t
|
||||
MPU9250_mag::read(struct file *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
unsigned count = buflen / sizeof(mag_report);
|
||||
|
||||
/* buffer must be large enough */
|
||||
if (count < 1) {
|
||||
return -ENOSPC;
|
||||
}
|
||||
|
||||
/* if automatic measurement is not enabled, get a fresh measurement into the buffer */
|
||||
if (_parent->_call_interval == 0) {
|
||||
_mag_reports->flush();
|
||||
/* TODO: this won't work as getting valid magnetometer
|
||||
* data requires more than one measure cycle
|
||||
*/
|
||||
_parent->measure();
|
||||
}
|
||||
|
||||
/* if no data, error (we could block here) */
|
||||
if (_mag_reports->empty()) {
|
||||
return -EAGAIN;
|
||||
}
|
||||
|
||||
perf_count(_mag_reads);
|
||||
|
||||
/* copy reports out of our buffer to the caller */
|
||||
mag_report *mrp = reinterpret_cast<mag_report *>(buffer);
|
||||
int transferred = 0;
|
||||
|
||||
while (count--) {
|
||||
if (!_mag_reports->get(mrp)) {
|
||||
break;
|
||||
}
|
||||
|
||||
transferred++;
|
||||
mrp++;
|
||||
}
|
||||
|
||||
/* return the number of bytes transferred */
|
||||
return (transferred * sizeof(mag_report));
|
||||
}
|
||||
|
||||
int
|
||||
MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
/*
|
||||
* Repeated in MPU9250_accel::ioctl
|
||||
* Both accel and mag CDev could be unused in case of magnetometer only mode or MPU6500
|
||||
*/
|
||||
|
||||
switch (cmd) {
|
||||
|
||||
case SENSORIOCRESET:
|
||||
|
|
@ -302,18 +298,12 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
case 0:
|
||||
return -EINVAL;
|
||||
|
||||
/* set default polling rate */
|
||||
case SENSOR_POLLRATE_DEFAULT:
|
||||
return ioctl(filp, SENSORIOCSPOLLRATE, MPU9250_AK8963_SAMPLE_RATE);
|
||||
return ioctl(filp, SENSORIOCSPOLLRATE, MPU9250_ACCEL_DEFAULT_RATE);
|
||||
|
||||
/* adjust to a legal polling interval in Hz */
|
||||
default: {
|
||||
if (MPU9250_AK8963_SAMPLE_RATE != arg) {
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
default:
|
||||
return _parent->_set_pollrate(arg);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -337,19 +327,20 @@ MPU9250_mag::set_passthrough(uint8_t reg, uint8_t size, uint8_t *out)
|
|||
{
|
||||
uint8_t addr;
|
||||
|
||||
_parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // ensure slave r/w is disabled before changing the registers
|
||||
_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
|
||||
|
||||
if (out) {
|
||||
_parent->write_reg(MPUREG_I2C_SLV0_D0, *out);
|
||||
_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_D0, ICMREG_20948_I2C_SLV0_DO), *out);
|
||||
addr = AK8963_I2C_ADDR;
|
||||
|
||||
} else {
|
||||
addr = AK8963_I2C_ADDR | BIT_I2C_READ_FLAG;
|
||||
}
|
||||
|
||||
_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);
|
||||
_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);
|
||||
}
|
||||
|
||||
void
|
||||
|
|
@ -363,8 +354,8 @@ MPU9250_mag::passthrough_read(uint8_t reg, uint8_t *buf, uint8_t size)
|
|||
{
|
||||
set_passthrough(reg, size);
|
||||
usleep(25 + 25 * size); // wait for the value to be read from slave
|
||||
read_block(MPUREG_EXT_SENS_DATA_00, buf, size);
|
||||
_parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // disable new reads
|
||||
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
|
||||
}
|
||||
|
||||
uint8_t
|
||||
|
|
@ -382,7 +373,6 @@ MPU9250_mag::read_reg(unsigned int reg)
|
|||
return buf;
|
||||
}
|
||||
|
||||
|
||||
bool
|
||||
MPU9250_mag::ak8963_check_id(uint8_t &deviceid)
|
||||
{
|
||||
|
|
@ -399,11 +389,9 @@ MPU9250_mag::passthrough_write(uint8_t reg, uint8_t val)
|
|||
{
|
||||
set_passthrough(reg, 1, &val);
|
||||
usleep(50); // wait for the value to be written to slave
|
||||
_parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // disable new writes
|
||||
_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_CTRL, ICMREG_20948_I2C_SLV0_CTRL), 0); // disable new writes
|
||||
}
|
||||
|
||||
|
||||
|
||||
void
|
||||
MPU9250_mag::write_reg(unsigned reg, uint8_t value)
|
||||
{
|
||||
|
|
@ -416,26 +404,21 @@ MPU9250_mag::write_reg(unsigned reg, uint8_t value)
|
|||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
int
|
||||
MPU9250_mag::ak8963_reset(void)
|
||||
{
|
||||
// First initialize it to use the bus
|
||||
|
||||
int rv = ak8963_setup();
|
||||
|
||||
if (rv == OK) {
|
||||
|
||||
// Now reset the mag
|
||||
write_reg(AK8963REG_CNTL2, AK8963_RESET);
|
||||
write_reg(AK_MPU_OR_ICM(AK8963REG_CNTL2, AK09916REG_CNTL3), AK8963_RESET);
|
||||
// Then re-initialize the bus/mag
|
||||
rv = ak8963_setup();
|
||||
}
|
||||
|
||||
return rv;
|
||||
|
||||
}
|
||||
|
||||
bool
|
||||
|
|
@ -480,11 +463,18 @@ MPU9250_mag::ak8963_setup_master_i2c(void)
|
|||
* in master mode (SPI to I2C bridge)
|
||||
*/
|
||||
if (_interface == nullptr) {
|
||||
_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);
|
||||
if (_parent->_device_type == MPU_DEVICE_TYPE_MPU9250) {
|
||||
_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(MPUREG_USER_CTRL, BIT_I2C_MST_EN, 0);
|
||||
_parent->modify_checked_reg(AK_MPU_OR_ICM(MPUREG_USER_CTRL, ICMREG_20948_USER_CTRL), BIT_I2C_MST_EN, 0);
|
||||
}
|
||||
|
||||
return OK;
|
||||
|
|
@ -497,7 +487,7 @@ MPU9250_mag::ak8963_setup(void)
|
|||
do {
|
||||
|
||||
ak8963_setup_master_i2c();
|
||||
write_reg(AK8963REG_CNTL2, AK8963_RESET);
|
||||
write_reg(AK_MPU_OR_ICM(AK8963REG_CNTL2, AK09916REG_CNTL3), AK8963_RESET);
|
||||
|
||||
uint8_t id = 0;
|
||||
|
||||
|
|
@ -506,33 +496,41 @@ MPU9250_mag::ak8963_setup(void)
|
|||
}
|
||||
|
||||
retries--;
|
||||
PX4_ERR("AK8963: bad id %d retries %d", id, retries);
|
||||
_parent->modify_reg(MPUREG_USER_CTRL, 0, BIT_I2C_MST_RST);
|
||||
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);
|
||||
up_udelay(100);
|
||||
} while (retries > 0);
|
||||
|
||||
if (retries > 0) {
|
||||
retries = 10;
|
||||
/* No sensitivity adjustments available for AK09916/ICM20948 */
|
||||
if (_parent->_device_type == MPU_DEVICE_TYPE_MPU9250) {
|
||||
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(MPUREG_USER_CTRL, 0, BIT_I2C_MST_RST);
|
||||
up_udelay(100);
|
||||
ak8963_setup_master_i2c();
|
||||
write_reg(AK8963REG_CNTL2, AK8963_RESET);
|
||||
_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);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (retries == 0) {
|
||||
PX4_ERR("AK8963: failed to initialize, disabled!");
|
||||
_parent->modify_checked_reg(MPUREG_USER_CTRL, BIT_I2C_MST_EN, 0);
|
||||
_parent->write_reg(MPUREG_I2C_MST_CTRL, 0);
|
||||
_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);
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
write_reg(AK8963REG_CNTL1, AK8963_CONTINUOUS_MODE2 | AK8963_16BIT_ADC);
|
||||
if (_parent->_device_type == MPU_DEVICE_TYPE_MPU9250) {
|
||||
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) {
|
||||
|
|
@ -540,7 +538,13 @@ MPU9250_mag::ak8963_setup(void)
|
|||
/* Configure mpu' I2c Master interface to read ak8963 data
|
||||
* Into to fifo
|
||||
*/
|
||||
set_passthrough(AK8963REG_ST1, sizeof(struct ak8963_regs));
|
||||
if (_parent->_device_type == MPU_DEVICE_TYPE_MPU9250) {
|
||||
set_passthrough(AK8963REG_ST1, sizeof(struct ak8963_regs));
|
||||
|
||||
} else { // ICM20948 -> AK09916
|
||||
set_passthrough(AK09916REG_ST1, sizeof(struct ak09916_regs));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
return OK;
|
||||
|
|
|
|||
|
|
@ -66,6 +66,38 @@
|
|||
#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
|
||||
|
||||
|
||||
#define AK_MPU_OR_ICM(m,i) ((_parent->_device_type==MPU_DEVICE_TYPE_MPU9250) ? (m) : (i))
|
||||
|
||||
|
||||
|
||||
|
|
@ -81,6 +113,18 @@ struct ak8963_regs {
|
|||
};
|
||||
#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 *(*MPU9250_mag_constructor)(int, bool);
|
||||
|
|
@ -95,7 +139,6 @@ public:
|
|||
MPU9250_mag(MPU9250 *parent, device::Device *interface, const char *path);
|
||||
~MPU9250_mag();
|
||||
|
||||
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
virtual int init();
|
||||
|
||||
|
|
@ -121,15 +164,11 @@ protected:
|
|||
/* 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; }
|
||||
|
||||
int self_test(void);
|
||||
|
||||
private:
|
||||
MPU9250 *_parent;
|
||||
orb_advert_t _mag_topic;
|
||||
|
|
|
|||
|
|
@ -102,7 +102,7 @@ AK8963_I2C::probe()
|
|||
uint8_t whoami = 0;
|
||||
uint8_t expected = AK8963_DEVICE_ID;
|
||||
|
||||
if (read(AK8963REG_WIA, &whoami, 1)) {
|
||||
if (PX4_OK != read(AK8963REG_WIA, &whoami, 1)) {
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -91,10 +91,33 @@
|
|||
#define MPU_DEVICE_PATH_GYRO_EXT2 "/dev/mpu9250_gyro_ext2"
|
||||
#define MPU_DEVICE_PATH_MAG_EXT2 "/dev/mpu9250_mag_ext2"
|
||||
|
||||
#define MPU_DEVICE_PATH_MPU6500_ACCEL "/dev/mpu6500_accel"
|
||||
#define MPU_DEVICE_PATH_MPU6500_GYRO "/dev/mpu6500_gyro"
|
||||
#define MPU_DEVICE_PATH_MPU6500_MAG "/dev/mpu6500_mag"
|
||||
|
||||
#define MPU_DEVICE_PATH_MPU6500_ACCEL_1 "/dev/mpu6500_accel1"
|
||||
#define MPU_DEVICE_PATH_MPU6500_GYRO_1 "/dev/mpu6500_gyro1"
|
||||
#define MPU_DEVICE_PATH_MPU6500_MAG_1 "/dev/mpu6500_mag1"
|
||||
|
||||
#define MPU_DEVICE_PATH_MPU6500_ACCEL_EXT "/dev/mpu6500_accel_ext"
|
||||
#define MPU_DEVICE_PATH_MPU6500_GYRO_EXT "/dev/mpu6500_gyro_ext"
|
||||
#define MPU_DEVICE_PATH_MPU6500_MAG_EXT "/dev/mpu6500_mag_ext"
|
||||
|
||||
#define MPU_DEVICE_PATH_ICM_ACCEL_EXT "/dev/mpu9250_icm_accel_ext"
|
||||
#define MPU_DEVICE_PATH_ICM_GYRO_EXT "/dev/mpu9250_icm_gyro_ext"
|
||||
#define MPU_DEVICE_PATH_ICM_MAG_EXT "/dev/mpu9250_icm_mag_ext"
|
||||
|
||||
#define MPU_DEVICE_PATH_ICM_ACCEL_EXT1 "/dev/mpu9250_icm_accel_ext1"
|
||||
#define MPU_DEVICE_PATH_ICM_GYRO_EXT1 "/dev/mpu9250_icm_gyro_ext1"
|
||||
#define MPU_DEVICE_PATH_ICM_MAG_EXT1 "/dev/mpu9250_icm_mag_ext1"
|
||||
|
||||
#define MPU_DEVICE_PATH_ICM_ACCEL_EXT2 "/dev/mpu9250_icm_accel_ext2"
|
||||
#define MPU_DEVICE_PATH_ICM_GYRO_EXT2 "/dev/mpu9250_icm_gyro_ext2"
|
||||
#define MPU_DEVICE_PATH_ICM_MAG_EXT2 "/dev/mpu9250_icm_mag_ext2"
|
||||
|
||||
/** driver 'main' command */
|
||||
extern "C" { __EXPORT int mpu9250_main(int argc, char *argv[]); }
|
||||
|
||||
|
||||
enum MPU9250_BUS {
|
||||
MPU9250_BUS_ALL = 0,
|
||||
MPU9250_BUS_I2C_INTERNAL,
|
||||
|
|
@ -104,7 +127,6 @@ enum MPU9250_BUS {
|
|||
MPU9250_BUS_SPI_EXTERNAL
|
||||
};
|
||||
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
|
|
@ -117,6 +139,7 @@ namespace mpu9250
|
|||
|
||||
struct mpu9250_bus_option {
|
||||
enum MPU9250_BUS busid;
|
||||
MPU_DEVICE_TYPE device_type;
|
||||
const char *accelpath;
|
||||
const char *gyropath;
|
||||
const char *magpath;
|
||||
|
|
@ -127,42 +150,47 @@ struct mpu9250_bus_option {
|
|||
MPU9250 *dev;
|
||||
} bus_options[] = {
|
||||
#if defined (USE_I2C)
|
||||
# if defined(PX4_I2C_BUS_ONBOARD)
|
||||
{ MPU9250_BUS_I2C_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_I2C_interface, false, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_MPU9250, NULL },
|
||||
# if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV_MPU9250)
|
||||
{ MPU9250_BUS_I2C_INTERNAL, MPU_DEVICE_TYPE_MPU9250, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_I2C_interface, false, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_MPU9250, NULL },
|
||||
{ MPU9250_BUS_I2C_INTERNAL, MPU_DEVICE_TYPE_MPU6500, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_I2C_interface, false, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_MPU9250, NULL },
|
||||
# endif
|
||||
# if defined(PX4_I2C_BUS_EXPANSION)
|
||||
{ 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, NULL },
|
||||
# if defined(PX4_I2C_OBDEV_MPU9250)
|
||||
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU9250, 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, NULL },
|
||||
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU6500, 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, NULL },
|
||||
# endif
|
||||
# if defined(PX4_I2C_BUS_EXPANSION1)
|
||||
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_ICM20948, MPU_DEVICE_PATH_ICM_ACCEL_EXT, MPU_DEVICE_PATH_ICM_GYRO_EXT, MPU_DEVICE_PATH_ICM_MAG_EXT, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_EXT_ICM20948_1, NULL },
|
||||
#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, NULL },
|
||||
# endif
|
||||
# if defined(PX4_I2C_BUS_EXPANSION2)
|
||||
# if defined(PX4_I2C_BUS_EXPANSION2) && defined(PX4_I2C_OBDEV_MPU9250)
|
||||
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT2, MPU_DEVICE_PATH_GYRO_EXT2, MPU_DEVICE_PATH_MAG_EXT2, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION2, PX4_I2C_OBDEV_MPU9250, NULL },
|
||||
# endif
|
||||
#endif
|
||||
#ifdef PX4_SPIDEV_MPU
|
||||
{ MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU, NULL },
|
||||
{ MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_TYPE_MPU9250, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU, NULL },
|
||||
{ MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_TYPE_MPU6500, MPU_DEVICE_PATH_MPU6500_ACCEL, MPU_DEVICE_PATH_MPU6500_GYRO, MPU_DEVICE_PATH_MPU6500_MAG, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU, NULL },
|
||||
#endif
|
||||
#ifdef PX4_SPIDEV_MPU2
|
||||
{ MPU9250_BUS_SPI_INTERNAL2, MPU_DEVICE_PATH_ACCEL_1, MPU_DEVICE_PATH_GYRO_1, MPU_DEVICE_PATH_MAG_1, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU2, NULL },
|
||||
{ MPU9250_BUS_SPI_INTERNAL2, MPU_DEVICE_TYPE_MPU9250, MPU_DEVICE_PATH_ACCEL_1, MPU_DEVICE_PATH_GYRO_1, MPU_DEVICE_PATH_MAG_1, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU2, NULL },
|
||||
{ MPU9250_BUS_SPI_INTERNAL2, MPU_DEVICE_TYPE_MPU6500, MPU_DEVICE_PATH_MPU6500_ACCEL_1, MPU_DEVICE_PATH_MPU6500_GYRO_1, MPU_DEVICE_PATH_MPU6500_MAG_1, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU2, NULL },
|
||||
#endif
|
||||
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU)
|
||||
{ MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, NULL },
|
||||
{ MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_TYPE_MPU9250, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, NULL },
|
||||
{ MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_TYPE_MPU6500, MPU_DEVICE_PATH_MPU6500_ACCEL_EXT, MPU_DEVICE_PATH_MPU6500_GYRO_EXT, MPU_DEVICE_PATH_MPU6500_MAG_EXT, &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, NULL },
|
||||
#endif
|
||||
};
|
||||
|
||||
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
|
||||
|
||||
|
||||
void start(enum MPU9250_BUS busid, enum Rotation rotation, bool external_bus);
|
||||
bool start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external_bus);
|
||||
void start(enum MPU9250_BUS busid, enum Rotation rotation, bool external_bus, bool magnetometer_only);
|
||||
bool start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external_bus, bool magnetometer_only);
|
||||
struct mpu9250_bus_option &find_bus(enum MPU9250_BUS busid);
|
||||
void stop(enum MPU9250_BUS busid);
|
||||
void test(enum MPU9250_BUS busid);
|
||||
void reset(enum MPU9250_BUS busid);
|
||||
void info(enum MPU9250_BUS busid);
|
||||
void regdump(enum MPU9250_BUS busid);
|
||||
void testerror(enum MPU9250_BUS busid);
|
||||
void usage();
|
||||
|
||||
/**
|
||||
|
|
@ -184,16 +212,18 @@ struct mpu9250_bus_option &find_bus(enum MPU9250_BUS busid)
|
|||
* start driver for a specific bus option
|
||||
*/
|
||||
bool
|
||||
start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external)
|
||||
start_bus(struct mpu9250_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);
|
||||
device::Device *interface = bus.interface_constructor(bus.busnum, bus.device_type, bus.address, external);
|
||||
|
||||
if (interface == nullptr) {
|
||||
warnx("no device on bus %u", (unsigned)bus.busid);
|
||||
|
|
@ -218,10 +248,16 @@ start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external)
|
|||
|
||||
#endif
|
||||
|
||||
bus.dev = new MPU9250(interface, mag_interface, bus.accelpath, bus.gyropath, bus.magpath, rotation);
|
||||
bus.dev = new MPU9250(interface, mag_interface, bus.accelpath, bus.gyropath, bus.magpath, rotation, bus.device_type,
|
||||
magnetometer_only);
|
||||
|
||||
if (bus.dev == nullptr) {
|
||||
delete interface;
|
||||
|
||||
if (mag_interface != nullptr) {
|
||||
delete mag_interface;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
|
|
@ -229,8 +265,17 @@ start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external)
|
|||
goto fail;
|
||||
}
|
||||
|
||||
/* set the poll rate to default, starts automatic data collection */
|
||||
fd = open(bus.accelpath, O_RDONLY);
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
if (bus.device_type == MPU_DEVICE_TYPE_MPU6500) {
|
||||
fd = open(bus.accelpath, O_RDONLY);
|
||||
|
||||
} else {
|
||||
fd = open(bus.magpath, O_RDONLY);
|
||||
}
|
||||
|
||||
if (fd < 0) {
|
||||
goto fail;
|
||||
|
|
@ -266,7 +311,7 @@ fail:
|
|||
* or failed to detect the sensor.
|
||||
*/
|
||||
void
|
||||
start(enum MPU9250_BUS busid, enum Rotation rotation, bool external)
|
||||
start(enum MPU9250_BUS busid, enum Rotation rotation, bool external, bool magnetometer_only)
|
||||
{
|
||||
|
||||
bool started = false;
|
||||
|
|
@ -282,7 +327,14 @@ start(enum MPU9250_BUS busid, enum Rotation rotation, bool external)
|
|||
continue;
|
||||
}
|
||||
|
||||
started |= start_bus(bus_options[i], rotation, external);
|
||||
if (bus_options[i].device_type == MPU_DEVICE_TYPE_MPU6500 && magnetometer_only) {
|
||||
// prevent starting MPU6500 in magnetometer only mode
|
||||
continue;
|
||||
}
|
||||
|
||||
started |= start_bus(bus_options[i], rotation, external, magnetometer_only);
|
||||
|
||||
if (started) { break; }
|
||||
}
|
||||
|
||||
exit(started ? 0 : 1);
|
||||
|
|
@ -307,86 +359,6 @@ stop(enum MPU9250_BUS busid)
|
|||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform some basic functional tests on the driver;
|
||||
* make sure we can collect data from the sensor in polled
|
||||
* and automatic modes.
|
||||
*/
|
||||
void
|
||||
test(enum MPU9250_BUS busid)
|
||||
{
|
||||
struct mpu9250_bus_option &bus = find_bus(busid);
|
||||
sensor_accel_s a_report{};
|
||||
sensor_gyro_s g_report{};
|
||||
mag_report m_report;
|
||||
ssize_t sz;
|
||||
|
||||
/* get the driver */
|
||||
int fd = open(bus.accelpath, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "%s open failed (try 'm start')", bus.accelpath);
|
||||
}
|
||||
|
||||
/* get the driver */
|
||||
int fd_gyro = open(bus.gyropath, O_RDONLY);
|
||||
|
||||
if (fd_gyro < 0) {
|
||||
err(1, "%s open failed", bus.gyropath);
|
||||
}
|
||||
|
||||
/* get the driver */
|
||||
int fd_mag = open(bus.magpath, O_RDONLY);
|
||||
|
||||
if (fd_mag < 0) {
|
||||
err(1, "%s open failed", bus.magpath);
|
||||
}
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd, &a_report, sizeof(a_report));
|
||||
|
||||
if (sz != sizeof(a_report)) {
|
||||
warnx("ret: %d, expected: %d", sz, sizeof(a_report));
|
||||
err(1, "immediate acc read failed");
|
||||
}
|
||||
|
||||
print_message(a_report);
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd_gyro, &g_report, sizeof(g_report));
|
||||
|
||||
if (sz != sizeof(g_report)) {
|
||||
warnx("ret: %d, expected: %d", sz, sizeof(g_report));
|
||||
err(1, "immediate gyro read failed");
|
||||
}
|
||||
|
||||
print_message(g_report);
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd_mag, &m_report, sizeof(m_report));
|
||||
|
||||
if (sz != sizeof(m_report)) {
|
||||
warnx("ret: %d, expected: %d", sz, sizeof(m_report));
|
||||
err(1, "immediate mag read failed");
|
||||
}
|
||||
|
||||
print_message(m_report);
|
||||
|
||||
/* reset to default polling */
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
err(1, "reset to default polling");
|
||||
}
|
||||
|
||||
close(fd);
|
||||
close(fd_gyro);
|
||||
close(fd_mag);
|
||||
|
||||
/* XXX add poll-rate tests here too */
|
||||
|
||||
reset(busid);
|
||||
errx(0, "PASS");
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
|
|
@ -432,43 +404,6 @@ info(enum MPU9250_BUS busid)
|
|||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Dump the register information
|
||||
*/
|
||||
void
|
||||
regdump(enum MPU9250_BUS busid)
|
||||
{
|
||||
struct mpu9250_bus_option &bus = find_bus(busid);
|
||||
|
||||
|
||||
if (bus.dev == nullptr) {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
printf("regdump @ %p\n", bus.dev);
|
||||
bus.dev->print_registers();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* deliberately produce an error to test recovery
|
||||
*/
|
||||
void
|
||||
testerror(enum MPU9250_BUS busid)
|
||||
{
|
||||
struct mpu9250_bus_option &bus = find_bus(busid);
|
||||
|
||||
|
||||
if (bus.dev == nullptr) {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
bus.dev->test_error();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
void
|
||||
usage()
|
||||
{
|
||||
|
|
@ -480,7 +415,7 @@ usage()
|
|||
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
|
||||
|
|
@ -494,8 +429,9 @@ mpu9250_main(int argc, char *argv[])
|
|||
|
||||
enum MPU9250_BUS busid = MPU9250_BUS_ALL;
|
||||
enum Rotation rotation = ROTATION_NONE;
|
||||
bool magnetometer_only = false;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "XISstR:", &myoptind, &myoptarg)) != EOF) {
|
||||
while ((ch = px4_getopt(argc, argv, "XISstMR:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'X':
|
||||
busid = MPU9250_BUS_I2C_EXTERNAL;
|
||||
|
|
@ -521,6 +457,10 @@ mpu9250_main(int argc, char *argv[])
|
|||
rotation = (enum Rotation)atoi(myoptarg);
|
||||
break;
|
||||
|
||||
case 'M':
|
||||
magnetometer_only = true;
|
||||
break;
|
||||
|
||||
default:
|
||||
mpu9250::usage();
|
||||
return 0;
|
||||
|
|
@ -539,20 +479,13 @@ mpu9250_main(int argc, char *argv[])
|
|||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "start")) {
|
||||
mpu9250::start(busid, rotation, external);
|
||||
mpu9250::start(busid, rotation, external, magnetometer_only);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "stop")) {
|
||||
mpu9250::stop(busid);
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(verb, "test")) {
|
||||
mpu9250::test(busid);
|
||||
}
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
|
|
@ -567,17 +500,6 @@ mpu9250_main(int argc, char *argv[])
|
|||
mpu9250::info(busid);
|
||||
}
|
||||
|
||||
/*
|
||||
* Print register information.
|
||||
*/
|
||||
if (!strcmp(verb, "regdump")) {
|
||||
mpu9250::regdump(busid);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "testerror")) {
|
||||
mpu9250::testerror(busid);
|
||||
}
|
||||
|
||||
mpu9250::usage();
|
||||
return 0;
|
||||
}
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
|
|
@ -49,12 +49,23 @@
|
|||
#include <mathlib/math/filter/LowPassFilter2p.hpp>
|
||||
#include <lib/conversion/rotation.h>
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/debug_key_value.h>
|
||||
|
||||
#include "mag.h"
|
||||
#include "accel.h"
|
||||
#include "gyro.h"
|
||||
|
||||
|
||||
/* List of supported device types */
|
||||
enum MPU_DEVICE_TYPE {
|
||||
MPU_DEVICE_TYPE_MPU9250 = 9250,
|
||||
MPU_DEVICE_TYPE_MPU6500 = 6500,
|
||||
MPU_DEVICE_TYPE_ICM20948 = 20948
|
||||
};
|
||||
|
||||
#if defined(PX4_I2C_OBDEV_MPU9250)
|
||||
|
||||
#if defined(PX4_I2C_OBDEV_MPU9250) || defined(PX4_I2C_BUS_EXPANSION)
|
||||
# define USE_I2C
|
||||
#endif
|
||||
|
||||
|
|
@ -177,8 +188,9 @@
|
|||
#define BIT_I2C_SLV2_DLY_EN 0x04
|
||||
#define BIT_I2C_SLV3_DLY_EN 0x08
|
||||
|
||||
#define MPU_WHOAMI_9250 0x71
|
||||
#define MPU_WHOAMI_6500 0x70
|
||||
#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
|
||||
|
|
@ -193,6 +205,135 @@
|
|||
#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) ((_device_type==MPU_DEVICE_TYPE_ICM20948) ? 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
|
||||
|
|
@ -224,71 +365,71 @@ struct MPUReport {
|
|||
*/
|
||||
#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_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) MPU9250_REG((r))
|
||||
# define MPU9250_LOW_SPEED_OP(r) ((r) &~MPU9250_HIGH_BUS_SPEED)
|
||||
|
||||
/* interface factories */
|
||||
extern device::Device *MPU9250_SPI_interface(int bus, uint32_t cs, bool external_bus);
|
||||
extern device::Device *MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus);
|
||||
extern device::Device *MPU9250_SPI_interface(int bus, int device_type, uint32_t cs, bool external_bus);
|
||||
extern device::Device *MPU9250_I2C_interface(int bus, int device_type, uint32_t address, bool external_bus);
|
||||
extern int MPU9250_probe(device::Device *dev, int device_type);
|
||||
|
||||
typedef device::Device *(*MPU9250_constructor)(int, uint32_t, bool);
|
||||
typedef device::Device *(*MPU9250_constructor)(int, int, uint32_t, bool);
|
||||
|
||||
class MPU9250_mag;
|
||||
class MPU9250_accel;
|
||||
class MPU9250_gyro;
|
||||
|
||||
class MPU9250 : public device::CDev
|
||||
class MPU9250
|
||||
{
|
||||
public:
|
||||
MPU9250(device::Device *interface, device::Device *mag_interface, const char *path_accel, const char *path_gyro,
|
||||
const char *path_mag,
|
||||
enum Rotation rotation);
|
||||
enum Rotation rotation,
|
||||
int device_type,
|
||||
bool magnetometer_only);
|
||||
|
||||
virtual ~MPU9250();
|
||||
|
||||
virtual int init();
|
||||
|
||||
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
|
||||
/**
|
||||
* Diagnostics - print some basic information about the driver.
|
||||
*/
|
||||
void print_info();
|
||||
|
||||
void print_registers();
|
||||
|
||||
// deliberately cause a sensor error
|
||||
void test_error();
|
||||
|
||||
protected:
|
||||
Device *_interface;
|
||||
device::Device *_interface;
|
||||
|
||||
virtual int probe();
|
||||
|
||||
friend class MPU9250_accel;
|
||||
friend class MPU9250_mag;
|
||||
friend class MPU9250_gyro;
|
||||
|
||||
virtual ssize_t gyro_read(struct file *filp, char *buffer, size_t buflen);
|
||||
virtual int gyro_ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
|
||||
private:
|
||||
MPU9250_accel *_accel;
|
||||
MPU9250_gyro *_gyro;
|
||||
MPU9250_mag *_mag;
|
||||
uint8_t _whoami; /** whoami result */
|
||||
int _device_type;
|
||||
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;
|
||||
work_s _work{};
|
||||
#endif
|
||||
bool _use_hrt;
|
||||
|
||||
struct hrt_call _call;
|
||||
struct hrt_call _call {};
|
||||
unsigned _call_interval;
|
||||
|
||||
ringbuffer::RingBuffer *_accel_reports;
|
||||
|
|
@ -297,8 +438,6 @@ private:
|
|||
float _accel_range_scale;
|
||||
float _accel_range_m_s2;
|
||||
orb_advert_t _accel_topic;
|
||||
int _accel_orb_class_instance;
|
||||
int _accel_class_instance;
|
||||
|
||||
ringbuffer::RingBuffer *_gyro_reports;
|
||||
|
||||
|
|
@ -307,6 +446,8 @@ 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;
|
||||
|
|
@ -336,16 +477,28 @@ private:
|
|||
// 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
|
||||
|
||||
#define MPU9250_NUM_CHECKED_REGISTERS 11
|
||||
static const uint8_t _checked_registers[MPU9250_NUM_CHECKED_REGISTERS];
|
||||
uint8_t _checked_values[MPU9250_NUM_CHECKED_REGISTERS];
|
||||
uint8_t _checked_bad[MPU9250_NUM_CHECKED_REGISTERS];
|
||||
uint8_t _checked_next;
|
||||
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)];
|
||||
unsigned _checked_next;
|
||||
unsigned _num_checked_registers;
|
||||
|
||||
|
||||
// last temperature reading for print_info()
|
||||
float _last_temperature;
|
||||
|
||||
bool check_null_data(uint32_t *data, uint8_t size);
|
||||
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];
|
||||
|
|
@ -425,15 +578,40 @@ 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
|
||||
*
|
||||
* @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
|
||||
*
|
||||
|
|
@ -492,13 +670,6 @@ private:
|
|||
*/
|
||||
bool is_external() { return _interface->external(); }
|
||||
|
||||
/**
|
||||
* Measurement self test
|
||||
*
|
||||
* @return 0 on success, 1 on failure
|
||||
*/
|
||||
int self_test();
|
||||
|
||||
/*
|
||||
set low pass filter frequency
|
||||
*/
|
||||
|
|
@ -509,6 +680,11 @@ private:
|
|||
*/
|
||||
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
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -46,30 +46,34 @@
|
|||
|
||||
#ifdef USE_I2C
|
||||
|
||||
device::Device *MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus);
|
||||
device::Device *MPU9250_I2C_interface(int bus, int device_type, uint32_t address, bool external_bus);
|
||||
|
||||
class MPU9250_I2C : public device::I2C
|
||||
{
|
||||
public:
|
||||
MPU9250_I2C(int bus, uint32_t address);
|
||||
MPU9250_I2C(int bus, int device_type, uint32_t address);
|
||||
~MPU9250_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;
|
||||
virtual int probe();
|
||||
|
||||
private:
|
||||
int _device_type;
|
||||
|
||||
};
|
||||
|
||||
device::Device *
|
||||
MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus)
|
||||
MPU9250_I2C_interface(int bus, int device_type, uint32_t address, bool external_bus)
|
||||
{
|
||||
return new MPU9250_I2C(bus, address);
|
||||
return new MPU9250_I2C(bus, device_type, address);
|
||||
}
|
||||
|
||||
MPU9250_I2C::MPU9250_I2C(int bus, uint32_t address) :
|
||||
I2C("MPU9250_I2C", nullptr, bus, address, 400000)
|
||||
MPU9250_I2C::MPU9250_I2C(int bus, int device_type, uint32_t address) :
|
||||
I2C("MPU9250_I2C", nullptr, bus, address, 400000),
|
||||
_device_type(device_type)
|
||||
{
|
||||
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
|
||||
}
|
||||
|
|
@ -106,8 +110,34 @@ int
|
|||
MPU9250_I2C::probe()
|
||||
{
|
||||
uint8_t whoami = 0;
|
||||
uint8_t expected = MPU_WHOAMI_9250;
|
||||
return (read(MPUREG_WHOAMI, &whoami, 1) == OK && (whoami == expected)) ? 0 : -EIO;
|
||||
uint8_t reg_whoami = 0;
|
||||
uint8_t expected = 0;
|
||||
uint8_t register_select = REG_BANK(BANK0); // register bank containing WHOAMI for ICM20948
|
||||
|
||||
switch (_device_type) {
|
||||
case MPU_DEVICE_TYPE_MPU9250:
|
||||
reg_whoami = MPUREG_WHOAMI;
|
||||
expected = MPU_WHOAMI_9250;
|
||||
break;
|
||||
|
||||
case MPU_DEVICE_TYPE_MPU6500:
|
||||
reg_whoami = MPUREG_WHOAMI;
|
||||
expected = MPU_WHOAMI_6500;
|
||||
break;
|
||||
|
||||
case MPU_DEVICE_TYPE_ICM20948:
|
||||
reg_whoami = ICMREG_20948_WHOAMI;
|
||||
expected = ICM_WHOAMI_20948;
|
||||
/*
|
||||
* 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);
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
return (read(reg_whoami, &whoami, 1) == OK && (whoami == expected)) ? 0 : -EIO;
|
||||
}
|
||||
|
||||
#endif /* USE_I2C */
|
||||
|
|
|
|||
|
|
@ -63,7 +63,7 @@
|
|||
#define MPU9250_LOW_SPI_BUS_SPEED 1000*1000
|
||||
#define MPU9250_HIGH_SPI_BUS_SPEED 20*1000*1000
|
||||
|
||||
device::Device *MPU9250_SPI_interface(int bus, uint32_t cs, bool external_bus);
|
||||
device::Device *MPU9250_SPI_interface(int bus, int device_type, uint32_t cs, bool external_bus);
|
||||
|
||||
class MPU9250_SPI : public device::SPI
|
||||
{
|
||||
|
|
@ -84,7 +84,7 @@ private:
|
|||
};
|
||||
|
||||
device::Device *
|
||||
MPU9250_SPI_interface(int bus, uint32_t cs, bool external_bus)
|
||||
MPU9250_SPI_interface(int bus, int device_type, uint32_t cs, bool external_bus)
|
||||
{
|
||||
device::Device *interface = nullptr;
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue