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Add support for the ICM-20602 to the Pixracer FMUv4 (#6577) 

The current ICM-20608 is nearing EOL.

I have tested on both ICM-20608 and ICM-20602 based Pixracers.
This commit is contained in:
Phillip Kocmoud 2017-02-14 10:37:04 -06:00 committed by David Sidrane
parent 8c837e72be
commit ccfecd4ad2
3 changed files with 28 additions and 21 deletions
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5
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -193,6 +193,11 @@ then
then
fi
# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
if mpu6000 -R 2 -T 20602 start
then
fi
# Start either MPU9250 or BMI160. They are both connected to the same SPI bus and use the same
# chip select pin. There are different boards with either one of them and the WHO_AM_I register
# will prevent the incorrect driver from a successful initialization.

11
src/drivers/boards/px4fmu-v4/board_config.h
View File

@ -78,7 +78,7 @@
#define GPIO_SPI_CS_HMC5983 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
#define GPIO_SPI_CS_LIS3MDL (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
#define GPIO_SPI_CS_MS5611 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_ICM_20608_G (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_ICM_2060X (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
/* The BMI160 sensor replaces the MPU9250 on some boards. Only one is actually present and connected
* to the second GPIO pin on port C. The wrong driver will fail during start becaus of an incorrect WHO_AM_I register.*/
@ -90,8 +90,7 @@
#define GPIO_DRDY_MPU9250 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
#define GPIO_DRDY_HMC5983 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN12)
#define GPIO_DRDY_ICM_20608_G (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
#define GPIO_DRDY_ICM_2060X (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
/*
* Define the ability to shut off off the sensor signals
@ -104,13 +103,12 @@
#define GPIO_SPI_CS_OFF_HMC5983 _PIN_OFF(GPIO_SPI_CS_HMC5983)
#define GPIO_SPI_CS_OFF_LIS3MDL _PIN_OFF(GPIO_SPI_CS_LIS3MDL)
#define GPIO_SPI_CS_OFF_MS5611 _PIN_OFF(GPIO_SPI_CS_MS5611)
#define GPIO_SPI_CS_OFF_ICM_20608_G _PIN_OFF(GPIO_SPI_CS_ICM_20608_G)
#define GPIO_SPI_CS_OFF_ICM_2060X _PIN_OFF(GPIO_SPI_CS_ICM_2060X)
#define GPIO_SPI_CS_OFF_BMI160 _PIN_OFF(GPIO_SPI_CS_BMI160)
#define GPIO_DRDY_OFF_MPU9250 _PIN_OFF(GPIO_DRDY_MPU9250)
#define GPIO_DRDY_OFF_HMC5983 _PIN_OFF(GPIO_DRDY_HMC5983)
#define GPIO_DRDY_OFF_ICM_20608_G _PIN_OFF(GPIO_DRDY_ICM_20608_G)
#define GPIO_DRDY_OFF_ICM_2060X _PIN_OFF(GPIO_DRDY_ICM_2060X)
/* SPI1 off */
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
@ -131,6 +129,7 @@
#define PX4_SPIDEV_BMI 8
#define PX4_SPIDEV_BMA 9
#define PX4_SPIDEV_ICM_20608 10
#define PX4_SPIDEV_ICM_20602 11
/* onboard MS5611 and FRAM are both on bus SPI2
* spi_dev_e:SPIDEV_FLASH has the value 2 and is used in the NuttX ramtron driver

27
src/drivers/boards/px4fmu-v4/px4fmu_spi.c
View File

@ -75,12 +75,12 @@ __EXPORT void stm32_spiinitialize(void)
px4_arch_configgpio(GPIO_SPI_CS_MPU9250);
px4_arch_configgpio(GPIO_SPI_CS_HMC5983);
px4_arch_configgpio(GPIO_SPI_CS_MS5611);
px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G);
px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X);
px4_arch_configgpio(GPIO_SPI_CS_BMI160);
px4_arch_configgpio(GPIO_DRDY_MPU9250);
px4_arch_configgpio(GPIO_DRDY_HMC5983);
px4_arch_configgpio(GPIO_DRDY_ICM_20608_G);
px4_arch_configgpio(GPIO_DRDY_ICM_2060X);
#endif
#ifdef CONFIG_STM32_SPI2
@ -96,6 +96,9 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
switch (devid) {
case PX4_SPIDEV_ICM:
/* intended fallthrough */
case PX4_SPIDEV_ICM_20602:
/* intended fallthrough */
case PX4_SPIDEV_ICM_20608:
/* Making sure the other peripherals are not selected */
@ -103,7 +106,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, !selected);
break;
case PX4_SPIDEV_ACCEL_MAG:
@ -116,7 +119,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
break;
case PX4_SPIDEV_HMC:
@ -125,7 +128,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
break;
case PX4_SPIDEV_MPU:
@ -134,7 +137,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
break;
case PX4_SPIDEV_BMI:
@ -142,7 +145,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, !selected);
break;
@ -193,13 +196,13 @@ __EXPORT void board_spi_reset(int ms)
px4_arch_configgpio(GPIO_SPI_CS_OFF_MPU9250);
px4_arch_configgpio(GPIO_SPI_CS_OFF_HMC5983);
px4_arch_configgpio(GPIO_SPI_CS_OFF_MS5611);
px4_arch_configgpio(GPIO_SPI_CS_OFF_ICM_20608_G);
px4_arch_configgpio(GPIO_SPI_CS_OFF_ICM_2060X);
px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI160);
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_MPU9250, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_HMC5983, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_MS5611, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_ICM_20608_G, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_ICM_2060X, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_BMI160, 0);
stm32_configgpio(GPIO_SPI1_SCK_OFF);
@ -212,11 +215,11 @@ __EXPORT void board_spi_reset(int ms)
stm32_configgpio(GPIO_DRDY_OFF_MPU9250);
stm32_configgpio(GPIO_DRDY_OFF_HMC5983);
stm32_configgpio(GPIO_DRDY_OFF_ICM_20608_G);
stm32_configgpio(GPIO_DRDY_OFF_ICM_2060X);
stm32_gpiowrite(GPIO_DRDY_OFF_MPU9250, 0);
stm32_gpiowrite(GPIO_DRDY_OFF_HMC5983, 0);
stm32_gpiowrite(GPIO_DRDY_OFF_ICM_20608_G, 0);
stm32_gpiowrite(GPIO_DRDY_OFF_ICM_2060X, 0);
/* set the sensor rail off */
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
@ -239,7 +242,7 @@ __EXPORT void board_spi_reset(int ms)
px4_arch_configgpio(GPIO_SPI_CS_MPU9250);
px4_arch_configgpio(GPIO_SPI_CS_HMC5983);
px4_arch_configgpio(GPIO_SPI_CS_MS5611);
px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G);
px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X);
px4_arch_configgpio(GPIO_SPI_CS_BMI160);
stm32_configgpio(GPIO_SPI1_SCK);