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icm20948 i2c passthrough driver for ak09916 magnetometer (Here+ GPS/compass) 

- include icm20948 on most boards by default
 - create more test variants for default boards near flash limit (cuav_nora_test, cuav_x7pro_test, holybro_durandal-v1_test)
This commit is contained in:
Daniel Agar 2021-04-04 21:18:16 -04:00 committed by GitHub
parent c6a0161047
commit ad934b4911
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
57 changed files with 1076 additions and 98 deletions
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3
.ci/Jenkinsfile-compile
View File

@ -45,7 +45,9 @@ pipeline {
"cuav_can-gps-v1_canbootloader",
"cuav_can-gps-v1_default",
"cuav_nora_default",
"cuav_nora_test",
"cuav_x7pro_default",
"cuav_x7pro_test",
"cubepilot_cubeorange_console",
"cubepilot_cubeorange_default",
"cubepilot_cubeyellow_console",
@ -53,6 +55,7 @@ pipeline {
"holybro_can-gps-v1_canbootloader",
"holybro_can-gps-v1_default",
"holybro_durandal-v1_default",
"holybro_durandal-v1_test",
"holybro_kakutef7_default",
"holybro_pix32v5_default",
"modalai_fc-v1_default",

24
.ci/Jenkinsfile-hardware
View File

@ -84,9 +84,9 @@ pipeline {
}
}
stage("cuav_x7pro_default") {
stage("cuav_x7pro_test") {
stages {
stage("build cuav_x7pro_default") {
stage("build cuav_x7pro_test") {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@ -99,10 +99,10 @@ pipeline {
sh 'make distclean'
sh 'ccache -s'
sh 'git fetch --tags'
sh 'make cuav_x7pro_default'
sh 'make cuav_x7pro_test'
sh 'make sizes'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_default'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
}
post {
always {
@ -119,9 +119,9 @@ pipeline {
steps {
sh 'export'
sh 'find /dev/serial'
unstash 'cuav_x7pro_default'
unstash 'cuav_x7pro_test'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_default/cuav_x7pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
}
}
stage("configure") {
@ -823,9 +823,9 @@ pipeline {
}
}
stage("holybro_durandal-v1_default") {
stage("holybro_durandal-v1_test") {
stages {
stage("build holybro_durandal-v1_default") {
stage("build holybro_durandal-v1_test") {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@ -838,10 +838,10 @@ pipeline {
sh 'make distclean'
sh 'ccache -s'
sh 'git fetch --tags'
sh 'make holybro_durandal-v1_default'
sh 'make holybro_durandal-v1_test'
sh 'make sizes'
sh 'ccache -s'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_default'
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_test'
}
post {
always {
@ -858,9 +858,9 @@ pipeline {
steps {
sh 'export'
sh 'find /dev/serial'
unstash 'holybro_durandal-v1_default'
unstash 'holybro_durandal-v1_test'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_test/holybro_durandal-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
}
}
stage("configure") {

3
.github/workflows/compile_nuttx.yml vendored
View File

@ -26,7 +26,9 @@ jobs:
cuav_can-gps-v1_debug,
cuav_can-gps-v1_default,
cuav_nora_default,
cuav_nora_test,
cuav_x7pro_default,
cuav_x7pro_test,
cubepilot_cubeorange_console,
cubepilot_cubeorange_default,
cubepilot_cubeyellow_console,
@ -36,6 +38,7 @@ jobs:
holybro_can-gps-v1_debug,
holybro_can-gps-v1_default,
holybro_durandal-v1_default,
holybro_durandal-v1_test,
holybro_kakutef7_default,
holybro_pix32v5_default,
modalai_fc-v1_default,

9
.vscode/cmake-variants.yaml vendored
View File

@ -96,16 +96,11 @@ CONFIG:
buildType: MinSizeRel
settings:
CONFIG: cuav_x7pro_default
cubepilot_cubeorange_default:
cubepilot_cubeorange_console:
short: cubepilot_cubeorange
buildType: MinSizeRel
settings:
CONFIG: cubepilot_orange_default
cubepilot_cubeyellow_default:
short: cubepilot_cubeyellow
buildType: MinSizeRel
settings:
CONFIG: cubepilot_cubeyellow_default
CONFIG: cubepilot_orange_console
emlid_navio2_default:
short: emlid_navio2
buildType: MinSizeRel

6
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -117,8 +117,9 @@ fi
# probe for optional external I2C devices
if param compare SENS_EXT_I2C_PRB 1
then
icm20948_i2c_passthrough -X -q start
# compasses
ak09916 -X -R 6 -q start # external AK09916 (Here2) is rotated 270 degrees yaw
hmc5883 -T -X -q start
ist8308 -X -q start
ist8310 -X -q start
@ -127,6 +128,9 @@ then
qmc5883l -X -q start
rm3100 -X -q start
# start last (wait for possible icm20948 passthrough mode)
ak09916 -X -q start
# differential pressure sensors
if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
then

1
boards/airmind/mindpx-v2/default.cmake
View File

@ -27,6 +27,7 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
imu/invensense/icm20948 # required for ak09916 mag
imu/l3gd20
imu/lsm303d
imu/invensense/mpu6000

1
boards/av/x-v1/default.cmake
View File

@ -30,6 +30,7 @@ px4_add_board(
#imu # all available imu drivers
imu/adis16477
imu/adis16497
imu/invensense/icm20948 # required for ak09916 mag
irlock
lights # all available light drivers
magnetometer # all available magnetometer drivers

1
boards/beaglebone/blue/default.cmake
View File

@ -26,6 +26,7 @@ px4_add_board(
gps
#imu # all available imu drivers
imu/analog_devices/adis16448
imu/invensense/icm20948 # required for ak09916 mag
imu/invensense/mpu9250
linux_pwm_out
#magnetometer # all available magnetometer drivers

5
boards/cuav/nora/default.cmake
View File

@ -8,7 +8,6 @@ px4_add_board(
ARCHITECTURE cortex-m7
ROMFSROOT px4fmu_common
BUILD_BOOTLOADER
TESTING
UAVCAN_INTERFACES 2
UAVCAN_TIMER_OVERRIDE 2
SERIAL_PORTS
@ -35,6 +34,7 @@ px4_add_board(
imu/bosch/bmi088
imu/invensense/icm20649
imu/invensense/icm20689
#imu/invensense/icm20948 # required for ak09916 mag
irlock
lights # all available light drivers
lights/rgbled_pwm
@ -52,7 +52,6 @@ px4_add_board(
rpm
safety_button
telemetry # all available telemetry drivers
test_ppm
tone_alarm
uavcan
MODULES
@ -114,7 +113,7 @@ px4_add_board(
sd_bench
serial_test
system_time
tests # tests and test runner
#tests # tests and test runner
top
topic_listener
tune_control

139
boards/cuav/nora/test.cmake Normal file
View File

@ -0,0 +1,139 @@
px4_add_board(
PLATFORM nuttx
VENDOR cuav
MODEL nora
LABEL test
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m7
ROMFSROOT px4fmu_common
BUILD_BOOTLOADER
TESTING
UAVCAN_INTERFACES 2
UAVCAN_TIMER_OVERRIDE 2
SERIAL_PORTS
GPS1:/dev/ttyS0
TEL1:/dev/ttyS1
GPS2:/dev/ttyS2
TEL2:/dev/ttyS3
# CONSOLE: /dev/ttyS4
# RC: /dev/ttyS5
DRIVERS
adc/ads1115
adc/board_adc
barometer # all available barometer drivers
batt_smbus
camera_capture
camera_trigger
differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
dshot
gps
heater
#imu # all available imu drivers
imu/analog_devices/adis16448
imu/bosch/bmi088
imu/invensense/icm20649
imu/invensense/icm20689
imu/invensense/icm20948 # required for ak09916 mag
#irlock
lights # all available light drivers
lights/rgbled_pwm
magnetometer # all available magnetometer drivers
optical_flow # all available optical flow drivers
osd
pca9685
pca9685_pwm_out
power_monitor/ina226
#protocol_splitter
pwm_out_sim
pwm_out
rc_input
roboclaw
rpm
safety_button
telemetry # all available telemetry drivers
test_ppm
tone_alarm
uavcan
MODULES
airspeed_selector
attitude_estimator_q
battery_status
camera_feedback
commander
dataman
ekf2
esc_battery
events
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
load_mon
local_position_estimator
logger
mavlink
mc_att_control
mc_hover_thrust_estimator
mc_pos_control
mc_rate_control
#micrortps_bridge
navigator
rc_update
rover_pos_control
sensors
sih
temperature_compensation
#uuv_att_control
#uuv_pos_control
vmount
vtol_att_control
SYSTEMCMDS
bl_update
dmesg
dumpfile
esc_calib
gpio
hardfault_log
i2cdetect
led_control
mft
mixer
motor_ramp
motor_test
mtd
nshterm
param
perf
pwm
reboot
reflect
sd_bench
serial_test
system_time
tests # tests and test runner
top
topic_listener
tune_control
uorb
usb_connected
ver
work_queue
EXAMPLES
fake_gps
#fake_gyro
#fake_magnetometer
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hello
#hwtest # Hardware test
#matlab_csv_serial
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#uuv_example_app
#work_item
)

5
boards/cuav/x7pro/default.cmake
View File

@ -8,7 +8,6 @@ px4_add_board(
ARCHITECTURE cortex-m7
ROMFSROOT px4fmu_common
BUILD_BOOTLOADER
TESTING
UAVCAN_INTERFACES 2
UAVCAN_TIMER_OVERRIDE 2
SERIAL_PORTS
@ -35,6 +34,7 @@ px4_add_board(
imu/bosch/bmi088
imu/invensense/icm20649
imu/invensense/icm20689
imu/invensense/icm20948 # required for ak09916 mag
irlock
lights # all available light drivers
lights/rgbled_pwm
@ -52,7 +52,6 @@ px4_add_board(
rpm
safety_button
telemetry # all available telemetry drivers
test_ppm
tone_alarm
uavcan
MODULES
@ -114,7 +113,7 @@ px4_add_board(
sd_bench
serial_test
system_time
tests # tests and test runner
#tests # tests and test runner
top
topic_listener
tune_control

139
boards/cuav/x7pro/test.cmake Normal file
View File

@ -0,0 +1,139 @@
px4_add_board(
PLATFORM nuttx
VENDOR cuav
MODEL x7pro
LABEL test
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m7
ROMFSROOT px4fmu_common
BUILD_BOOTLOADER
TESTING
UAVCAN_INTERFACES 2
UAVCAN_TIMER_OVERRIDE 2
SERIAL_PORTS
GPS1:/dev/ttyS0
TEL1:/dev/ttyS1
GPS2:/dev/ttyS2
TEL2:/dev/ttyS3
# CONSOLE: /dev/ttyS4
# RC: /dev/ttyS5
DRIVERS
adc/ads1115
adc/board_adc
barometer # all available barometer drivers
batt_smbus
camera_capture
camera_trigger
differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
dshot
gps
heater
#imu # all available imu drivers
imu/analog_devices/adis16470
imu/bosch/bmi088
imu/invensense/icm20649
imu/invensense/icm20689
imu/invensense/icm20948 # required for ak09916 mag
#irlock
lights # all available light drivers
lights/rgbled_pwm
magnetometer # all available magnetometer drivers
optical_flow # all available optical flow drivers
osd
pca9685
pca9685_pwm_out
power_monitor/ina226
#protocol_splitter
pwm_out_sim
pwm_out
rc_input
roboclaw
rpm
safety_button
telemetry # all available telemetry drivers
test_ppm
tone_alarm
uavcan
MODULES
airspeed_selector
attitude_estimator_q
battery_status
camera_feedback
commander
dataman
ekf2
esc_battery
events
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
load_mon
local_position_estimator
logger
mavlink
mc_att_control
mc_hover_thrust_estimator
mc_pos_control
mc_rate_control
#micrortps_bridge
navigator
rc_update
rover_pos_control
sensors
sih
temperature_compensation
#uuv_att_control
#uuv_pos_control
vmount
vtol_att_control
SYSTEMCMDS
bl_update
dmesg
dumpfile
esc_calib
gpio
hardfault_log
i2cdetect
led_control
mft
mixer
motor_ramp
motor_test
mtd
nshterm
param
perf
pwm
reboot
reflect
sd_bench
serial_test
system_time
tests # tests and test runner
top
topic_listener
tune_control
uorb
usb_connected
ver
work_queue
EXAMPLES
fake_gps
#fake_gyro
#fake_magnetometer
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hello
#hwtest # Hardware test
#matlab_csv_serial
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#uuv_example_app
#work_item
)

2
boards/cubepilot/cubeorange/init/rc.board_sensors
View File

@ -13,5 +13,3 @@ icm20948 -s -b 4 -R 10 -M start
ms5611 -s -b 1 start
icm20649 -s -b 1 start
# standard Here/Here2 connected to GPS1
ak09916 -X -b 1 -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw

2
boards/cubepilot/cubeyellow/init/rc.board_sensors
View File

@ -13,5 +13,3 @@ icm20948 -s -b 4 -R 10 -M start
ms5611 -s -b 1 start
icm20649 -s -b 1 start
# standard Here/Here2 connected to GPS1
ak09916 -X -b 1 -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw

1
boards/emlid/navio2/default.cmake
View File

@ -24,6 +24,7 @@ px4_add_board(
gps
#imu # all available imu drivers
imu/analog_devices/adis16448
imu/invensense/icm20948 # required for ak09916 mag
imu/invensense/mpu9250
imu/st/lsm9ds1
linux_pwm_out

31
boards/holybro/durandal-v1/default.cmake
View File

@ -9,7 +9,6 @@ px4_add_board(
ROMFSROOT px4fmu_common
BUILD_BOOTLOADER
IO px4_io-v2_default
TESTING
UAVCAN_INTERFACES 2
SERIAL_PORTS
GPS1:/dev/ttyS0
@ -33,7 +32,8 @@ px4_add_board(
imu/analog_devices/adis16448
imu/bosch/bmi088
imu/invensense/icm20689
irlock
imu/invensense/icm20948 # required for ak09916 mag
#irlock
lights # all available light drivers
magnetometer # all available magnetometer drivers
optical_flow # all available optical flow drivers
@ -48,7 +48,6 @@ px4_add_board(
roboclaw
rpm
telemetry # all available telemetry drivers
test_ppm
tone_alarm
uavcan
MODULES
@ -83,8 +82,8 @@ px4_add_board(
sensors
sih
temperature_compensation
uuv_att_control
uuv_pos_control
#uuv_att_control
#uuv_pos_control
vmount
vtol_att_control
SYSTEMCMDS
@ -110,7 +109,7 @@ px4_add_board(
sd_bench
serial_test
system_time
# tests # tests and test runner
#tests # tests and test runner
top
topic_listener
tune_control
@ -120,15 +119,15 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test
#fake_gyro
#fake_magnetometer
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hello
#hwtest # Hardware test
#matlab_csv_serial
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
uuv_example_app
work_item
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#uuv_example_app
#work_item
)

135
boards/holybro/durandal-v1/test.cmake Normal file
View File

@ -0,0 +1,135 @@
px4_add_board(
PLATFORM nuttx
VENDOR holybro
MODEL durandal-v1
LABEL test
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m7
ROMFSROOT px4fmu_common
BUILD_BOOTLOADER
IO px4_io-v2_default
TESTING
UAVCAN_INTERFACES 2
SERIAL_PORTS
GPS1:/dev/ttyS0
TEL1:/dev/ttyS1
TEL2:/dev/ttyS2
TEL3:/dev/ttyS4
TEL4:/dev/ttyS3
DRIVERS
#adc/ads1115
adc/board_adc
barometer # all available barometer drivers
batt_smbus
camera_capture
camera_trigger
differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
dshot
gps
heater
#imu # all available imu drivers
#imu/analog_devices/adis16448
imu/bosch/bmi088
imu/invensense/icm20689
imu/invensense/icm20948 # required for ak09916 mag
#irlock
lights # all available light drivers
magnetometer # all available magnetometer drivers
optical_flow # all available optical flow drivers
#osd
#pca9685
#pca9685_pwm_out
power_monitor/ina226
#protocol_splitter
pwm_out_sim
pwm_out
px4io
#roboclaw
#rpm
telemetry # all available telemetry drivers
test_ppm
tone_alarm
uavcan
MODULES
airspeed_selector
#attitude_estimator_q
battery_status
camera_feedback
commander
dataman
ekf2
#esc_battery
events
flight_mode_manager
fw_att_control
fw_pos_control_l1
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
load_mon
#local_position_estimator
logger
mavlink
mc_att_control
mc_hover_thrust_estimator
mc_pos_control
mc_rate_control
#micrortps_bridge
navigator
rc_update
#rover_pos_control
sensors
#sih
#temperature_compensation
#uuv_att_control
#uuv_pos_control
vmount
vtol_att_control
SYSTEMCMDS
bl_update
dmesg
dumpfile
esc_calib
gpio
hardfault_log
i2cdetect
led_control
mft
mixer
motor_ramp
motor_test
mtd
nshterm
param
perf
pwm
reboot
#reflect
sd_bench
serial_test
system_time
tests # tests and test runner
top
topic_listener
tune_control
uorb
usb_connected
ver
work_queue
EXAMPLES
fake_gps
#fake_gyro
#fake_magnetometer
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hello
#hwtest # Hardware test
#matlab_csv_serial
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#uuv_example_app
#work_item
)

1
boards/holybro/pix32v5/default.cmake
View File

@ -33,6 +33,7 @@ px4_add_board(
imu/bosch/bmi055
imu/invensense/icm20602
imu/invensense/icm20689
imu/invensense/icm20948 # required for ak09916 mag
irlock
lights # all available light drivers
lights/rgbled_pwm

1
boards/modalai/fc-v1/default.cmake
View File

@ -27,6 +27,7 @@ px4_add_board(
gps
imu/bosch/bmi088
imu/invensense/icm20602
imu/invensense/icm20948 # required for ak09916 mag
imu/invensense/icm42688p
irlock
lights # all available light drivers

21
boards/mro/x21-777/default.cmake
View File

@ -32,6 +32,7 @@ px4_add_board(
#imu # all available imu drivers
imu/invensense/icm20602
imu/invensense/icm20608g
imu/invensense/icm20948 # required for ak09916 mag
imu/invensense/mpu9250
irlock
lights # all available light drivers
@ -121,15 +122,15 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test
#fake_gyro
#fake_magnetometer
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hello
#hwtest # Hardware test
#matlab_csv_serial
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
uuv_example_app
work_item
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#uuv_example_app
#work_item
)

21
boards/mro/x21/default.cmake
View File

@ -33,6 +33,7 @@ px4_add_board(
#imu # all available imu drivers
imu/invensense/icm20602
imu/invensense/icm20608g
imu/invensense/icm20948 # required for ak09916 mag
imu/invensense/mpu9250
irlock
lights # all available light drivers
@ -122,15 +123,15 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test
#fake_gyro
#fake_magnetometer
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hello
#hwtest # Hardware test
#matlab_csv_serial
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
uuv_example_app
work_item
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#uuv_example_app
#work_item
)

1
boards/nxp/fmuk66-e/default.cmake
View File

@ -28,6 +28,7 @@ px4_add_board(
gps
#imu # all available imu drivers
imu/bosch/bmi088
imu/invensense/icm20948 # required for ak09916 mag
imu/invensense/icm42688p
irlock
lights # all available light drivers

1
boards/nxp/fmuk66-e/rtps.cmake
View File

@ -28,6 +28,7 @@ px4_add_board(
gps
#imu # all available imu drivers
imu/bosch/bmi088
imu/invensense/icm20948 # required for ak09916 mag
imu/invensense/icm42688p
irlock
lights # all available light drivers

1
boards/nxp/fmuk66-e/socketcan.cmake
View File

@ -28,6 +28,7 @@ px4_add_board(
gps
#imu # all available imu drivers
imu/bosch/bmi088
imu/invensense/icm20948 # required for ak09916 mag
imu/invensense/icm42688p
irlock
lights # all available light drivers

1
boards/nxp/fmuk66-v3/default.cmake
View File

@ -29,6 +29,7 @@ px4_add_board(
#imu # all available imu drivers
imu/fxas21002c
imu/fxos8701cq
imu/invensense/icm20948 # required for ak09916 mag
irlock
lights # all available light drivers
lights/rgbled_pwm

1
boards/nxp/fmuk66-v3/rtps.cmake
View File

@ -29,6 +29,7 @@ px4_add_board(
#imu # all available imu drivers
imu/fxas21002c
imu/fxos8701cq
imu/invensense/icm20948 # required for ak09916 mag
irlock
lights # all available light drivers
lights/rgbled_pwm

1
boards/nxp/fmuk66-v3/socketcan.cmake
View File

@ -29,6 +29,7 @@ px4_add_board(
#imu # all available imu drivers
imu/fxas21002c
imu/fxos8701cq
imu/invensense/icm20948 # required for ak09916 mag
irlock
lights # all available light drivers
lights/rgbled_pwm

1
boards/nxp/fmurt1062-v1/default.cmake
View File

@ -29,6 +29,7 @@ px4_add_board(
imu/bosch/bmi055
imu/invensense/icm20602
imu/invensense/icm20689
imu/invensense/icm20948 # required for ak09916 mag
#irlock
lights # all available light drivers
lights/rgbled_pwm

2
boards/px4/fmu-v3/default.cmake
View File

@ -33,7 +33,7 @@ px4_add_board(
imu/l3gd20
imu/lsm303d
imu/invensense/icm20608g
imu/invensense/icm20948
imu/invensense/icm20948 # required for ak09916 mag
imu/invensense/mpu6000
imu/invensense/mpu9250
irlock

1
boards/px4/fmu-v4/cannode.cmake
View File

@ -47,6 +47,7 @@ px4_add_board(
#imu/adis16497
imu/invensense/icm20602
imu/invensense/icm20608g
imu/invensense/icm20948 # required for ak09916 mag
imu/invensense/mpu9250
#lights/rgbled
#lights/rgbled_ncp5623c

1
boards/px4/fmu-v4/default.cmake
View File

@ -31,6 +31,7 @@ px4_add_board(
imu/analog_devices/adis16448
imu/invensense/icm20602
imu/invensense/icm20608g
imu/invensense/icm20948 # required for ak09916 mag
imu/invensense/mpu9250
irlock
lights # all available light drivers

1
boards/px4/fmu-v4pro/default.cmake
View File

@ -33,6 +33,7 @@ px4_add_board(
imu/analog_devices/adis16448
imu/invensense/icm20602
imu/invensense/icm20608g
imu/invensense/icm20948 # required for ak09916 mag
imu/invensense/mpu9250
irlock
lights # all available light drivers

1
boards/px4/fmu-v5/ctrlalloc.cmake
View File

@ -32,6 +32,7 @@ px4_add_board(
imu/bosch/bmi055
imu/invensense/icm20602
imu/invensense/icm20689
imu/invensense/icm20948 # required for ak09916 mag
irlock
lights # all available light drivers
lights/rgbled_pwm

1
boards/px4/fmu-v5/debug.cmake
View File

@ -33,6 +33,7 @@ px4_add_board(
#imu/bosch/bmi055
#imu/invensense/icm20602
imu/invensense/icm20689
#imu/invensense/icm20948 # required for ak09916 mag
#irlock
lights # all available light drivers
lights/rgbled_pwm

1
boards/px4/fmu-v5/default.cmake
View File

@ -32,6 +32,7 @@ px4_add_board(
imu/bosch/bmi055
imu/invensense/icm20602
imu/invensense/icm20689
imu/invensense/icm20948 # required for ak09916 mag
irlock
lights # all available light drivers
lights/rgbled_pwm

1
boards/px4/fmu-v5/fixedwing.cmake
View File

@ -29,6 +29,7 @@ px4_add_board(
imu/bosch/bmi055
imu/invensense/icm20602
imu/invensense/icm20689
imu/invensense/icm20948 # required for ak09916 mag
lights # all available light drivers
lights/rgbled_pwm
magnetometer # all available magnetometer drivers

1
boards/px4/fmu-v5/multicopter.cmake
View File

@ -30,6 +30,7 @@ px4_add_board(
imu/bosch/bmi055
imu/invensense/icm20602
imu/invensense/icm20689
imu/invensense/icm20948 # required for ak09916 mag
irlock
lights # all available light drivers
lights/rgbled_pwm

1
boards/px4/fmu-v5/optimized.cmake
View File

@ -35,6 +35,7 @@ px4_add_board(
imu/bosch/bmi055
imu/invensense/icm20602
imu/invensense/icm20689
imu/invensense/icm20948 # required for ak09916 mag
irlock
lights # all available light drivers
#lights/rgbled_pwm

1
boards/px4/fmu-v5/rover.cmake
View File

@ -26,6 +26,7 @@ px4_add_board(
imu/bosch/bmi055
imu/invensense/icm20602
imu/invensense/icm20689
imu/invensense/icm20948 # required for ak09916 mag
lights/rgbled
lights/rgbled_ncp5623c
lights/rgbled_pwm

1
boards/px4/fmu-v5/rtps.cmake
View File

@ -31,6 +31,7 @@ px4_add_board(
imu/bosch/bmi055
imu/invensense/icm20602
imu/invensense/icm20689
imu/invensense/icm20948 # required for ak09916 mag
irlock
lights # all available light drivers
lights/rgbled_pwm

1
boards/px4/fmu-v5/stackcheck.cmake
View File

@ -35,6 +35,7 @@ px4_add_board(
#imu/bosch/bmi055
#imu/invensense/icm20602
imu/invensense/icm20689
#imu/invensense/icm20948 # required for ak09916 mag
#irlock
lights # all available light drivers
lights/rgbled_pwm

1
boards/px4/fmu-v5/uavcanv0periph.cmake
View File

@ -36,6 +36,7 @@ px4_add_board(
imu/bosch/bmi055
imu/invensense/icm20602
imu/invensense/icm20689
#imu/invensense/icm20948 # required for ak09916 mag
#irlock
lights # all available light drivers
lights/rgbled_pwm

1
boards/px4/fmu-v5/uavcanv1.cmake
View File

@ -32,6 +32,7 @@ px4_add_board(
imu/bosch/bmi055
imu/invensense/icm20602
imu/invensense/icm20689
imu/invensense/icm20948 # required for ak09916 mag
irlock
lights # all available light drivers
lights/rgbled_pwm

21
boards/px4/fmu-v5x/base_phy_DP83848C.cmake
View File

@ -33,6 +33,7 @@ px4_add_board(
imu/analog_devices/adis16448
imu/bosch/bmi088
imu/invensense/icm20602
imu/invensense/icm20948 # required for ak09916 mag
imu/invensense/icm42688p
irlock
lights # all available light drivers
@ -124,15 +125,15 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test
#fake_gyro
#fake_magnetometer
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hello
#hwtest # Hardware test
#matlab_csv_serial
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
uuv_example_app
work_item
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#uuv_example_app
#work_item
)

21
boards/px4/fmu-v5x/default.cmake
View File

@ -33,6 +33,7 @@ px4_add_board(
imu/analog_devices/adis16448
imu/bosch/bmi088
imu/invensense/icm20602
imu/invensense/icm20948 # required for ak09916 mag
imu/invensense/icm42688p
irlock
lights # all available light drivers
@ -124,15 +125,15 @@ px4_add_board(
work_queue
EXAMPLES
fake_gps
fake_gyro
fake_magnetometer
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test
#fake_gyro
#fake_magnetometer
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hello
#hwtest # Hardware test
#matlab_csv_serial
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
uuv_example_app
work_item
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#uuv_example_app
#work_item
)

1
boards/px4/fmu-v6u/default.cmake
View File

@ -30,6 +30,7 @@ px4_add_board(
#imu # all available imu drivers
imu/bosch/bmi088
imu/invensense/icm20602
imu/invensense/icm20948 # required for ak09916 mag
imu/invensense/icm42605
irlock
lights # all available light drivers

1
boards/px4/fmu-v6u/test.cmake
View File

@ -31,6 +31,7 @@ px4_add_board(
#imu # all available imu drivers
imu/bosch/bmi088
imu/invensense/icm20602
imu/invensense/icm20948 # required for ak09916 mag
imu/invensense/icm42605
irlock
lights # all available light drivers

1
boards/px4/fmu-v6x/default.cmake
View File

@ -35,6 +35,7 @@ px4_add_board(
imu/bosch/bmi088
imu/invensense/icm20602
imu/invensense/icm20649
imu/invensense/icm20948 # required for ak09916 mag
imu/invensense/icm42688p
irlock
lights # all available light drivers

1
boards/px4/raspberrypi/default.cmake
View File

@ -22,6 +22,7 @@ px4_add_board(
distance_sensor # all available distance sensor drivers
gps
#imu # all available imu drivers
imu/invensense/icm20948 # required for ak09916 mag
imu/invensense/mpu9250
#magnetometer # all available magnetometer drivers
magnetometer/hmc5883

15
src/drivers/imu/invensense/icm20948/CMakeLists.txt
View File

@ -31,7 +31,7 @@
#
############################################################################
px4_add_module(
MODULE drivers__imu__icm20948
MODULE drivers__imu__invensense__icm20948
MAIN icm20948
COMPILE_FLAGS
SRCS
@ -48,3 +48,16 @@ px4_add_module(
drivers_gyroscope
drivers_magnetometer
)
px4_add_module(
MODULE drivers__imu__invensense__icm20948_i2c_passthrough
MAIN icm20948_i2c_passthrough
COMPILE_FLAGS
SRCS
ICM20948_I2C_Passthrough.cpp
ICM20948_I2C_Passthrough.hpp
icm20948_i2c_passthrough_main.cpp
InvenSense_ICM20948_registers.hpp
DEPENDS
px4_work_queue
)

10
src/drivers/imu/invensense/icm20948/ICM20948.cpp
View File

@ -182,8 +182,8 @@ void ICM20948::RunImpl()
ScheduleDelayed(100_ms);
} else {
PX4_DEBUG("Reset not complete, check again in 10 ms");
ScheduleDelayed(10_ms);
PX4_DEBUG("Reset not complete, check again in 100 ms");
ScheduleDelayed(100_ms);
}
}
@ -533,10 +533,11 @@ void ICM20948::RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits
uint16_t ICM20948::FIFOReadCount()
{
SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
// read FIFO count
uint8_t fifo_count_buf[3] {};
fifo_count_buf[0] = static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ;
SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
perf_count(_bad_transfer_perf);
@ -548,9 +549,10 @@ uint16_t ICM20948::FIFOReadCount()
bool ICM20948::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
{
SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 3, FIFO::SIZE);
SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
perf_count(_bad_transfer_perf);

4
src/drivers/imu/invensense/icm20948/ICM20948.hpp
View File

@ -181,9 +181,7 @@ private:
WAIT_FOR_RESET,
CONFIGURE,
FIFO_READ,
};
STATE _state{STATE::RESET};
} _state{STATE::RESET};
uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};

289
src/drivers/imu/invensense/icm20948/ICM20948_I2C_Passthrough.cpp Normal file
View File

@ -0,0 +1,289 @@
/****************************************************************************
*
* Copyright (c) 2021 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 "ICM20948_I2C_Passthrough.hpp"
using namespace time_literals;
static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
{
return (msb << 8u) | lsb;
}
ICM20948_I2C_Passthrough::ICM20948_I2C_Passthrough(I2CSPIBusOption bus_option, int bus, int bus_frequency) :
I2C(DRV_IMU_DEVTYPE_ICM20948, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus)
{
}
ICM20948_I2C_Passthrough::~ICM20948_I2C_Passthrough()
{
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
}
int ICM20948_I2C_Passthrough::init()
{
int ret = I2C::init();
if (ret != PX4_OK) {
DEVICE_DEBUG("I2C::init failed (%i)", ret);
return ret;
}
return Reset() ? 0 : -1;
}
bool ICM20948_I2C_Passthrough::Reset()
{
_state = STATE::RESET;
ScheduleClear();
ScheduleNow();
return true;
}
void ICM20948_I2C_Passthrough::print_status()
{
I2CSPIDriverBase::print_status();
PX4_INFO("temperature: %.1f degC", (double)_temperature);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
}
int ICM20948_I2C_Passthrough::probe()
{
const uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
if (whoami != WHOAMI) {
DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
return PX4_ERROR;
}
return PX4_OK;
}
void ICM20948_I2C_Passthrough::RunImpl()
{
const hrt_abstime now = hrt_absolute_time();
switch (_state) {
case STATE::RESET:
// PWR_MGMT_1: Device Reset
RegisterWrite(Register::BANK_0::PWR_MGMT_1, PWR_MGMT_1_BIT::DEVICE_RESET);
_reset_timestamp = now;
_failure_count = 0;
_state = STATE::WAIT_FOR_RESET;
ScheduleDelayed(1_ms);
break;
case STATE::WAIT_FOR_RESET:
// The reset value is 0x00 for all registers other than the registers below
if ((RegisterRead(Register::BANK_0::WHO_AM_I) == WHOAMI) && (RegisterRead(Register::BANK_0::PWR_MGMT_1) == 0x41)) {
// Wakeup and reset
RegisterWrite(Register::BANK_0::USER_CTRL, USER_CTRL_BIT::SRAM_RST | USER_CTRL_BIT::I2C_MST_RST);
// if reset succeeded then configure
_state = STATE::CONFIGURE;
ScheduleDelayed(1_ms);
} else {
// RESET not complete
if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
PX4_DEBUG("Reset failed, retrying");
_state = STATE::RESET;
ScheduleDelayed(100_ms);
} else {
PX4_DEBUG("Reset not complete, check again in 10 ms");
ScheduleDelayed(10_ms);
}
}
break;
case STATE::CONFIGURE:
if (Configure()) {
_state = STATE::READ;
ScheduleOnInterval(500_ms);
} else {
// CONFIGURE not complete
if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
PX4_DEBUG("Configure failed, resetting");
_state = STATE::RESET;
} else {
PX4_DEBUG("Configure failed, retrying");
}
ScheduleDelayed(10_ms);
}
break;
case STATE::READ: {
if (hrt_elapsed_time(&_last_config_check_timestamp) > 1000_ms) {
// check configuration registers periodically or immediately following any failure
if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0])) {
_last_config_check_timestamp = now;
_checked_register_bank0 = (_checked_register_bank0 + 1) % size_register_bank0_cfg;
} else {
// register check failed, force reset
perf_count(_bad_register_perf);
Reset();
}
} else {
// periodically update temperature (~1 Hz)
if (hrt_elapsed_time(&_temperature_update_timestamp) >= 1_s) {
UpdateTemperature();
_temperature_update_timestamp = now;
}
}
}
break;
}
}
void ICM20948_I2C_Passthrough::SelectRegisterBank(enum REG_BANK_SEL_BIT bank)
{
if (bank != _last_register_bank) {
// select BANK_0
uint8_t cmd_bank_sel[2];
cmd_bank_sel[0] = static_cast<uint8_t>(Register::BANK_0::REG_BANK_SEL);
cmd_bank_sel[1] = bank;
transfer(cmd_bank_sel, 2, nullptr, 0);
_last_register_bank = bank;
}
}
bool ICM20948_I2C_Passthrough::Configure()
{
// first set and clear all configured register bits
for (const auto &reg_cfg : _register_bank0_cfg) {
RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
}
// now check that all are configured
bool success = true;
for (const auto &reg_cfg : _register_bank0_cfg) {
if (!RegisterCheck(reg_cfg)) {
success = false;
}
}
return success;
}
template <typename T>
bool ICM20948_I2C_Passthrough::RegisterCheck(const T &reg_cfg)
{
bool success = true;
const uint8_t reg_value = RegisterRead(reg_cfg.reg);
if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
success = false;
}
if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
success = false;
}
return success;
}
template <typename T>
uint8_t ICM20948_I2C_Passthrough::RegisterRead(T reg)
{
SelectRegisterBank(reg);
uint8_t cmd = static_cast<uint8_t>(reg);
uint8_t value = 0;
transfer(&cmd, 1, &value, 1);
return value;
}
template <typename T>
void ICM20948_I2C_Passthrough::RegisterWrite(T reg, uint8_t value)
{
SelectRegisterBank(reg);
uint8_t cmd[2];
cmd[0] = static_cast<uint8_t>(reg);
cmd[1] = value;
transfer(cmd, sizeof(cmd), nullptr, 0);
}
template <typename T>
void ICM20948_I2C_Passthrough::RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits)
{
const uint8_t orig_val = RegisterRead(reg);
uint8_t val = (orig_val & ~clearbits) | setbits;
if (orig_val != val) {
RegisterWrite(reg, val);
}
}
void ICM20948_I2C_Passthrough::UpdateTemperature()
{
SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
// read current temperature
uint8_t cmd = static_cast<uint8_t>(Register::BANK_0::TEMP_OUT_H);
uint8_t temperature_buf[2] {};
if (transfer(&cmd, 1, temperature_buf, 2) != PX4_OK) {
perf_count(_bad_transfer_perf);
return;
}
const int16_t TEMP_OUT = combine(temperature_buf[0], temperature_buf[1]);
const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
if (PX4_ISFINITE(TEMP_degC)) {
_temperature = TEMP_degC;
}
}

119
src/drivers/imu/invensense/icm20948/ICM20948_I2C_Passthrough.hpp Normal file
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@ -0,0 +1,119 @@
/****************************************************************************
*
* Copyright (c) 2021 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_Passthrough.hpp
*
* Driver for the Invensense ICM20948 connected via SPI.
*
*/
#pragma once
#include "InvenSense_ICM20948_registers.hpp"
#include <drivers/drv_hrt.h>
#include <lib/drivers/device/i2c.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/i2c_spi_buses.h>
using namespace InvenSense_ICM20948;
class ICM20948_I2C_Passthrough : public device::I2C, public I2CSPIDriver<ICM20948_I2C_Passthrough>
{
public:
ICM20948_I2C_Passthrough(I2CSPIBusOption bus_option, int bus, int bus_frequency);
~ICM20948_I2C_Passthrough() override;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
void RunImpl();
int init() override;
void print_status() override;
private:
struct register_bank0_config_t {
Register::BANK_0 reg;
uint8_t set_bits{0};
uint8_t clear_bits{0};
};
int probe() override;
bool Reset();
bool Configure();
void SelectRegisterBank(enum REG_BANK_SEL_BIT bank);
void SelectRegisterBank(Register::BANK_0 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0); }
template <typename T> bool RegisterCheck(const T &reg_cfg);
template <typename T> uint8_t RegisterRead(T reg);
template <typename T> void RegisterWrite(T reg, uint8_t value);
template <typename T> void RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits);
void UpdateTemperature();
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
hrt_abstime _reset_timestamp{0};
hrt_abstime _last_config_check_timestamp{0};
hrt_abstime _temperature_update_timestamp{0};
int _failure_count{0};
float _temperature{NAN};
enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0};
enum class STATE : uint8_t {
RESET,
WAIT_FOR_RESET,
CONFIGURE,
READ,
} _state{STATE::RESET};
uint8_t _checked_register_bank0{0};
static constexpr uint8_t size_register_bank0_cfg{3};
register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] {
// Register | Set bits, Clear bits
{ Register::BANK_0::USER_CTRL, 0, USER_CTRL_BIT::DMP_EN | USER_CTRL_BIT::I2C_MST_EN | USER_CTRL_BIT::I2C_IF_DIS },
{ Register::BANK_0::PWR_MGMT_1, 0, PWR_MGMT_1_BIT::DEVICE_RESET | PWR_MGMT_1_BIT::SLEEP },
{ Register::BANK_0::INT_PIN_CFG, INT_PIN_CFG_BIT::BYPASS_EN, 0 },
};
};

17
src/drivers/imu/invensense/icm20948/InvenSense_ICM20948_registers.hpp
View File

@ -54,6 +54,9 @@ static constexpr uint8_t Bit5 = (1 << 5);
static constexpr uint8_t Bit6 = (1 << 6);
static constexpr uint8_t Bit7 = (1 << 7);
static constexpr uint32_t I2C_SPEED = 400 * 1000; // 400 kHz I2C serial interface
static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0b1101001;
static constexpr uint32_t SPI_SPEED = 7 * 1000 * 1000; // 7 MHz SPI
static constexpr uint8_t DIR_READ = 0x80;
@ -97,8 +100,11 @@ enum class BANK_0 : uint8_t {
};
enum class BANK_2 : uint8_t {
GYRO_SMPLRT_DIV = 0x00,
GYRO_CONFIG_1 = 0x01,
ACCEL_SMPLRT_DIV_2 = 0x11,
ACCEL_CONFIG = 0x14,
REG_BANK_SEL = 0x7F,
@ -146,6 +152,7 @@ enum PWR_MGMT_1_BIT : uint8_t {
// INT_PIN_CFG
enum INT_PIN_CFG_BIT : uint8_t {
INT1_ACTL = Bit7,
BYPASS_EN = Bit1, // When asserted, the I2C_MASTER interface pins (ES_CL and ES_DA) will go into ‘bypass mode’ when the I 2 C master interface is disabled.
};
// INT_ENABLE_1
@ -188,7 +195,10 @@ enum REG_BANK_SEL_BIT : uint8_t {
//---------------- BANK2 Register bits
// GYRO_CONFIG_1
enum GYRO_CONFIG_1_BIT : uint8_t {
// GYRO_FS_SEL[1:0]
// 5:3 GYRO_DLPFCFG[2:0]
GYRO_DLPFCFG = Bit5 | Bit4 | Bit3, // 7 -
// 2:1 GYRO_FS_SEL[1:0]
GYRO_FS_SEL_250_DPS = 0, // 0b00 = ±250 dps
GYRO_FS_SEL_500_DPS = Bit1, // 0b01 = ±500 dps
GYRO_FS_SEL_1000_DPS = Bit2, // 0b10 = ±1000 dps
@ -199,7 +209,10 @@ enum GYRO_CONFIG_1_BIT : uint8_t {
// ACCEL_CONFIG
enum ACCEL_CONFIG_BIT : uint8_t {
// ACCEL_FS_SEL[1:0]
// 5:3 ACCEL_DLPFCFG[2:0]
ACCEL_DLPFCFG = Bit5 | Bit4 | Bit3, // 7 -
// 2:1 ACCEL_FS_SEL[1:0]
ACCEL_FS_SEL_2G = 0, // 0b00: ±2g
ACCEL_FS_SEL_4G = Bit1, // 0b01: ±4g
ACCEL_FS_SEL_8G = Bit2, // 0b10: ±8g

98
src/drivers/imu/invensense/icm20948/icm20948_i2c_passthrough_main.cpp Normal file
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@ -0,0 +1,98 @@
/****************************************************************************
*
* Copyright (c) 2021 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 "ICM20948_I2C_Passthrough.hpp"
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
void ICM20948_I2C_Passthrough::print_usage()
{
PRINT_MODULE_USAGE_NAME("icm20948_i2c_passthrough", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x39);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
I2CSPIDriverBase *ICM20948_I2C_Passthrough::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
ICM20948_I2C_Passthrough *instance = new ICM20948_I2C_Passthrough(iterator.configuredBusOption(), iterator.bus(),
cli.bus_frequency);
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
if (OK != instance->init()) {
delete instance;
return nullptr;
}
return instance;
}
extern "C" int icm20948_i2c_passthrough_main(int argc, char *argv[])
{
using ThisDriver = ICM20948_I2C_Passthrough;
BusCLIArguments cli{true, false};
cli.default_i2c_frequency = I2C_SPEED;
const char *verb = cli.parseDefaultArguments(argc, argv);
if (!verb) {
ThisDriver::print_usage();
return -1;
}
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ICM20948);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
}
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
ThisDriver::print_usage();
return -1;
}

2
src/drivers/imu/invensense/mpu9250/mpu9250_i2c_main.cpp
View File

@ -38,7 +38,7 @@
void MPU9250_I2C::print_usage()
{
PRINT_MODULE_USAGE_NAME("mpu9520", "driver");
PRINT_MODULE_USAGE_NAME("mpu9520_i2c", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);