Add internal AK8963 magnetometer support to the MPU9250 device driver

src/drivers/mpu9250/CMakeLists.txt

@@ -39,6 +39,9 @@ px4_add_module(
 		-Os
 	SRCS
 		mpu9250.cpp
+		main.cpp
+		gyro.cpp
+		mag.cpp
 	DEPENDS
 		platforms__common
 	)

src/drivers/mpu9250/gyro.cpp

@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file gyro.cpp
+ *
+ * Driver for the Invensense mpu9250 connected via SPI.
+ *
+ * @author Andrew Tridgell
+ *
+ * based on the mpu6000 driver
+ */
+
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <stdio.h>
+
+#include <systemlib/perf_counter.h>
+
+#include <board_config.h>
+#include <drivers/drv_hrt.h>
+
+#include <drivers/device/spi.h>
+#include <drivers/device/ringbuffer.h>
+#include <drivers/device/integrator.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_gyro.h>
+#include <drivers/drv_mag.h>
+#include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/conversion/rotation.h>
+
+#include "gyro.h"
+#include "mpu9250.h"
+
+MPU9250_gyro::MPU9250_gyro(MPU9250 *parent, const char *path) :
+	CDev("MPU9250_gyro", path),
+	_parent(parent),
+	_gyro_topic(nullptr),
+	_gyro_orb_class_instance(-1),
+	_gyro_class_instance(-1)
+{
+}
+
+MPU9250_gyro::~MPU9250_gyro()
+{
+	if (_gyro_class_instance != -1) {
+		unregister_class_devname(GYRO_BASE_DEVICE_PATH, _gyro_class_instance);
+	}
+}
+
+int
+MPU9250_gyro::init()
+{
+	int ret;
+
+	// do base class init
+	ret = CDev::init();
+
+	/* if probe/setup failed, bail now */
+	if (ret != OK) {
+		DEVICE_DEBUG("gyro init failed");
+		return ret;
+	}
+
+	_gyro_class_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
+
+	return ret;
+}
+
+void
+MPU9250_gyro::parent_poll_notify()
+{
+	poll_notify(POLLIN);
+}
+
+ssize_t
+MPU9250_gyro::read(struct file *filp, char *buffer, size_t buflen)
+{
+	return _parent->gyro_read(filp, buffer, buflen);
+}
+
+int
+MPU9250_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+
+	switch (cmd) {
+	case DEVIOCGDEVICEID:
+		return (int)CDev::ioctl(filp, cmd, arg);
+		break;
+
+	default:
+		return _parent->gyro_ioctl(filp, cmd, arg);
+	}
+}

src/drivers/mpu9250/gyro.h

@@ -0,0 +1,64 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+class MPU9250;
+
+/**
+ * Helper class implementing the gyro driver node.
+ */
+class MPU9250_gyro : public device::CDev
+{
+public:
+    MPU9250_gyro(MPU9250 *parent, const char *path);
+    ~MPU9250_gyro();
+
+	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();
+
+protected:
+    friend class MPU9250;
+
+	void			parent_poll_notify();
+
+private:
+    MPU9250			*_parent;
+	orb_advert_t		_gyro_topic;
+	int			_gyro_orb_class_instance;
+	int			_gyro_class_instance;
+
+	/* do not allow to copy this class due to pointer data members */
+    MPU9250_gyro(const MPU9250_gyro &);
+    MPU9250_gyro operator=(const MPU9250_gyro &);
+};

src/drivers/mpu9250/mag.cpp

@@ -0,0 +1,275 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mag.cpp
+ */
+
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <stdio.h>
+
+#include <systemlib/perf_counter.h>
+
+#include <board_config.h>
+#include <drivers/drv_hrt.h>
+
+#include <drivers/device/spi.h>
+#include <drivers/device/ringbuffer.h>
+#include <drivers/device/integrator.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_gyro.h>
+#include <drivers/drv_mag.h>
+#include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/conversion/rotation.h>
+
+#include "mag.h"
+#include "mpu9250.h"
+
+MPU9250_mag::MPU9250_mag(MPU9250 *parent, const char *path) :
+	CDev("MPU9250_mag", path),
+	_parent(parent),
+	_mag_topic(nullptr),
+	_mag_orb_class_instance(-1),
+	_mag_class_instance(-1)
+{
+}
+
+MPU9250_mag::~MPU9250_mag()
+{
+	if (_mag_class_instance != -1) {
+		unregister_class_devname(MAG_BASE_DEVICE_PATH, _mag_class_instance);
+	}
+}
+
+int
+MPU9250_mag::init()
+{
+	int ret;
+
+	ret = CDev::init();
+
+	/* if probe/setup failed, bail now */
+	if (ret != OK) {
+		DEVICE_DEBUG("mag init failed");
+		return ret;
+	}
+
+	_mag_class_instance = register_class_devname(MAG_BASE_DEVICE_PATH);
+
+	return ret;
+}
+
+void
+MPU9250_mag::parent_poll_notify()
+{
+	poll_notify(POLLIN);
+}
+
+ssize_t
+MPU9250_mag::read(struct file *filp, char *buffer, size_t buflen)
+{
+	return _parent->mag_read(filp, buffer, buflen);
+}
+
+int
+MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+	case DEVIOCGDEVICEID:
+		return (int)CDev::ioctl(filp, cmd, arg);
+		break;
+
+	default:
+		return _parent->mag_ioctl(filp, cmd, arg);
+	}
+}
+#if 0
+int
+HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+    unsigned dummy = arg;
+
+    switch (cmd) {
+    case SENSORIOCSPOLLRATE: {
+            switch (arg) {
+
+            /* switching to manual polling */
+            case SENSOR_POLLRATE_MANUAL:
+                stop();
+                _measure_ticks = 0;
+                return OK;
+
+            /* external signalling (DRDY) not supported */
+            case SENSOR_POLLRATE_EXTERNAL:
+
+            /* zero would be bad */
+            case 0:
+                return -EINVAL;
+
+            /* set default/max polling rate */
+            case SENSOR_POLLRATE_MAX:
+            case SENSOR_POLLRATE_DEFAULT: {
+                    /* do we need to start internal polling? */
+                    bool want_start = (_measure_ticks == 0);
+
+                    /* set interval for next measurement to minimum legal value */
+                    _measure_ticks = USEC2TICK(HMC5883_CONVERSION_INTERVAL);
+
+                    /* if we need to start the poll state machine, do it */
+                    if (want_start) {
+                        start();
+                    }
+
+                    return OK;
+                }
+
+            /* adjust to a legal polling interval in Hz */
+            default: {
+                    /* do we need to start internal polling? */
+                    bool want_start = (_measure_ticks == 0);
+
+                    /* convert hz to tick interval via microseconds */
+                    unsigned ticks = USEC2TICK(1000000 / arg);
+
+                    /* check against maximum rate */
+                    if (ticks < USEC2TICK(HMC5883_CONVERSION_INTERVAL)) {
+                        return -EINVAL;
+                    }
+
+                    /* update interval for next measurement */
+                    _measure_ticks = ticks;
+
+                    /* if we need to start the poll state machine, do it */
+                    if (want_start) {
+                        start();
+                    }
+
+                    return OK;
+                }
+            }
+        }
+
+    case SENSORIOCGPOLLRATE:
+        if (_measure_ticks == 0) {
+            return SENSOR_POLLRATE_MANUAL;
+        }
+
+        return 1000000 / TICK2USEC(_measure_ticks);
+
+    case SENSORIOCSQUEUEDEPTH: {
+            /* lower bound is mandatory, upper bound is a sanity check */
+            if ((arg < 1) || (arg > 100)) {
+                return -EINVAL;
+            }
+
+            irqstate_t flags = irqsave();
+
+            if (!_reports->resize(arg)) {
+                irqrestore(flags);
+                return -ENOMEM;
+            }
+
+            irqrestore(flags);
+
+            return OK;
+        }
+
+    case SENSORIOCGQUEUEDEPTH:
+        return _reports->size();
+
+    case SENSORIOCRESET:
+        return reset();
+
+    case MAGIOCSSAMPLERATE:
+        /* same as pollrate because device is in single measurement mode*/
+        return ioctl(filp, SENSORIOCSPOLLRATE, arg);
+
+    case MAGIOCGSAMPLERATE:
+        /* same as pollrate because device is in single measurement mode*/
+        return 1000000 / TICK2USEC(_measure_ticks);
+
+    case MAGIOCSRANGE:
+        return set_range(arg);
+
+    case MAGIOCGRANGE:
+        return _range_ga;
+
+    case MAGIOCSLOWPASS:
+    case MAGIOCGLOWPASS:
+        /* not supported, no internal filtering */
+        return -EINVAL;
+
+    case MAGIOCSSCALE:
+        /* set new scale factors */
+        memcpy(&_scale, (mag_scale *)arg, sizeof(_scale));
+        /* check calibration, but not actually return an error */
+        (void)check_calibration();
+        return 0;
+
+    case MAGIOCGSCALE:
+        /* copy out scale factors */
+        memcpy((mag_scale *)arg, &_scale, sizeof(_scale));
+        return 0;
+
+    case MAGIOCCALIBRATE:
+        return calibrate(filp, arg);
+
+    case MAGIOCEXSTRAP:
+        return set_excitement(arg);
+
+    case MAGIOCSELFTEST:
+        return check_calibration();
+
+    case MAGIOCGEXTERNAL:
+        DEVICE_DEBUG("MAGIOCGEXTERNAL in main driver");
+        return _interface->ioctl(cmd, dummy);
+
+    case MAGIOCSTEMPCOMP:
+        return set_temperature_compensation(arg);
+
+    case DEVIOCGDEVICEID:
+        return _interface->ioctl(cmd, dummy);
+
+    default:
+        /* give it to the superclass */
+        return CDev::ioctl(filp, cmd, arg);
+    }
+}
+#endif

src/drivers/mpu9250/mag.h

@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+class MPU9250;
+
+/**
+ * Helper class implementing the magnetometer driver node.
+ */
+class MPU9250_mag : public device::CDev
+{
+public:
+    MPU9250_mag(MPU9250 *parent, 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();
+
+protected:
+    friend class MPU9250;
+
+	void			parent_poll_notify();
+
+private:
+    MPU9250			*_parent;
+	orb_advert_t		_mag_topic;
+	int			_mag_orb_class_instance;
+	int			_mag_class_instance;
+
+	/* do not allow to copy this class due to pointer data members */
+    MPU9250_mag(const MPU9250_mag &);
+    MPU9250_mag operator=(const MPU9250_mag &);
+};
+

src/drivers/mpu9250/main.cpp

@@ -0,0 +1,493 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file main.cpp
+ *
+ * Driver for the Invensense mpu9250 connected via SPI.
+ *
+ * @author Andrew Tridgell
+ *
+ * based on the mpu6000 driver
+ */
+
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+#include <getopt.h>
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+#include <systemlib/conversions.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/clock.h>
+
+#include <board_config.h>
+#include <drivers/drv_hrt.h>
+
+#include <drivers/device/spi.h>
+#include <drivers/device/ringbuffer.h>
+#include <drivers/device/integrator.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_gyro.h>
+#include <drivers/drv_mag.h>
+#include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/conversion/rotation.h>
+
+#include "gyro.h"
+#include "mpu9250.h"
+
+#define MPU_DEVICE_PATH_ACCEL		"/dev/mpu9250_accel"
+#define MPU_DEVICE_PATH_GYRO		"/dev/mpu9250_gyro"
+#define MPU_DEVICE_PATH_MAG 		"/dev/mpu9250_mag"
+#define MPU_DEVICE_PATH_ACCEL_EXT	"/dev/mpu9250_accel_ext"
+#define MPU_DEVICE_PATH_GYRO_EXT	"/dev/mpu9250_gyro_ext"
+#define MPU_DEVICE_PATH_MAG_EXT 	"/dev/mpu9250_mag_ext"
+
+/** driver 'main' command */
+extern "C" { __EXPORT int mpu9250_main(int argc, char *argv[]); }
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace mpu9250
+{
+
+MPU9250	*g_dev_int; // on internal bus
+MPU9250	*g_dev_ext; // on external bus
+
+void	start(bool, enum Rotation);
+void	stop(bool);
+void	test(bool);
+void	reset(bool);
+void	info(bool);
+void	regdump(bool);
+void	testerror(bool);
+void	usage();
+void	w(bool);
+void	g(bool, char *);
+
+/**
+ * Start the driver.
+ *
+ * This function only returns if the driver is up and running
+ * or failed to detect the sensor.
+ */
+void
+start(bool external_bus, enum Rotation rotation)
+{
+	int fd;
+    MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
+	const char *path_accel = external_bus ? MPU_DEVICE_PATH_ACCEL_EXT : MPU_DEVICE_PATH_ACCEL;
+    const char *path_gyro  = external_bus ? MPU_DEVICE_PATH_GYRO_EXT : MPU_DEVICE_PATH_GYRO;
+    const char *path_mag   = external_bus ? MPU_DEVICE_PATH_MAG_EXT : MPU_DEVICE_PATH_MAG;
+
+	if (*g_dev_ptr != nullptr)
+		/* if already started, the still command succeeded */
+	{
+		errx(0, "already started");
+	}
+
+	/* create the driver */
+	if (external_bus) {
+#ifdef PX4_SPI_BUS_EXT
+        *g_dev_ptr = new MPU9250(PX4_SPI_BUS_EXT, path_accel, path_gyro, path_mag, (spi_dev_e)PX4_SPIDEV_EXT_MPU, rotation);
+#else
+		errx(0, "External SPI not available");
+#endif
+
+	} else {
+        *g_dev_ptr = new MPU9250(PX4_SPI_BUS_SENSORS, path_accel, path_gyro, path_mag, (spi_dev_e)PX4_SPIDEV_MPU, rotation);
+	}
+
+	if (*g_dev_ptr == nullptr) {
+		goto fail;
+	}
+
+	if (OK != (*g_dev_ptr)->init()) {
+		goto fail;
+	}
+
+	/* set the poll rate to default, starts automatic data collection */
+	fd = open(path_accel, O_RDONLY);
+
+	if (fd < 0) {
+		goto fail;
+	}
+
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+		goto fail;
+	}
+
+	close(fd);
+
+	exit(0);
+fail:
+
+	if (*g_dev_ptr != nullptr) {
+		delete(*g_dev_ptr);
+		*g_dev_ptr = nullptr;
+	}
+
+	errx(1, "driver start failed");
+}
+
+void
+stop(bool external_bus)
+{
+    MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
+
+	if (*g_dev_ptr != nullptr) {
+		delete *g_dev_ptr;
+		*g_dev_ptr = nullptr;
+
+	} else {
+		/* warn, but not an error */
+		warnx("already stopped.");
+	}
+
+	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(bool external_bus)
+{
+	const char *path_accel = external_bus ? MPU_DEVICE_PATH_ACCEL_EXT : MPU_DEVICE_PATH_ACCEL;
+    const char *path_gyro  = external_bus ? MPU_DEVICE_PATH_GYRO_EXT : MPU_DEVICE_PATH_GYRO;
+    const char *path_mag   = external_bus ? MPU_DEVICE_PATH_MAG_EXT : MPU_DEVICE_PATH_MAG;
+    accel_report a_report;
+    gyro_report g_report;
+    mag_report m_report;
+    ssize_t sz;
+
+	/* get the driver */
+	int fd = open(path_accel, O_RDONLY);
+
+	if (fd < 0)
+		err(1, "%s open failed (try 'm start')",
+		    path_accel);
+
+    /* get the driver */
+    int fd_gyro = open(path_gyro, O_RDONLY);
+
+    if (fd_gyro < 0) {
+        err(1, "%s open failed", path_gyro);
+    }
+
+    /* get the driver */
+    int fd_mag = open(path_mag, O_RDONLY);
+
+    if (fd_mag < 0) {
+        err(1, "%s open failed", path_mag);
+    }
+
+    /* reset to manual polling */
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) {
+		err(1, "reset to manual polling");
+	}
+
+	/* 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");
+	}
+
+	warnx("single read");
+	warnx("time:     %lld", a_report.timestamp);
+	warnx("acc  x:  \t%8.4f\tm/s^2", (double)a_report.x);
+	warnx("acc  y:  \t%8.4f\tm/s^2", (double)a_report.y);
+	warnx("acc  z:  \t%8.4f\tm/s^2", (double)a_report.z);
+	warnx("acc  x:  \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
+	warnx("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
+	warnx("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
+	warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
+	      (double)(a_report.range_m_s2 / MPU9250_ONE_G));
+
+	/* 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");
+	}
+
+	warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
+	warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
+	warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
+	warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
+	warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
+	warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
+	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
+	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
+
+	warnx("temp:  \t%8.4f\tdeg celsius", (double)a_report.temperature);
+	warnx("temp:  \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
+
+    /* 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");
+    }
+
+    warnx("mag x: \t% 9.5f\trad/s", (double)m_report.x);
+    warnx("mag y: \t% 9.5f\trad/s", (double)m_report.y);
+    warnx("mag z: \t% 9.5f\trad/s", (double)m_report.z);
+    warnx("mag x: \t%d\traw", (int)m_report.x_raw);
+    warnx("mag y: \t%d\traw", (int)m_report.y_raw);
+    warnx("mag z: \t%d\traw", (int)m_report.z_raw);
+//    warnx("mag range: %8.4f rad/s (%d deg/s)", (double)m_report.range_rad_s,
+//          (int)((m_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
+
+    /* 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(external_bus);
+	errx(0, "PASS");
+}
+
+/**
+ * Reset the driver.
+ */
+void
+reset(bool external_bus)
+{
+	const char *path_accel = external_bus ? MPU_DEVICE_PATH_ACCEL_EXT : MPU_DEVICE_PATH_ACCEL;
+	int fd = open(path_accel, O_RDONLY);
+
+	if (fd < 0) {
+		err(1, "failed ");
+	}
+
+	if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
+		err(1, "driver reset failed");
+	}
+
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+		err(1, "driver poll restart failed");
+	}
+
+	close(fd);
+
+	exit(0);
+}
+
+/**
+ * Print a little info about the driver.
+ */
+void
+info(bool external_bus)
+{
+    MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
+
+	if (*g_dev_ptr == nullptr) {
+		errx(1, "driver not running");
+	}
+
+	printf("state @ %p\n", *g_dev_ptr);
+	(*g_dev_ptr)->print_info();
+
+	exit(0);
+}
+
+/**
+ * Dump the register information
+ */
+void
+regdump(bool external_bus)
+{
+    MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
+
+	if (*g_dev_ptr == nullptr) {
+		errx(1, "driver not running");
+	}
+
+	printf("regdump @ %p\n", *g_dev_ptr);
+	(*g_dev_ptr)->print_registers();
+
+	exit(0);
+}
+
+/**
+ * deliberately produce an error to test recovery
+ */
+void
+testerror(bool external_bus)
+{
+    MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
+
+    if (*g_dev_ptr == nullptr) {
+        errx(1, "driver not running");
+    }
+
+    (*g_dev_ptr)->test_error();
+
+    exit(0);
+}
+
+void
+w(bool external_bus)
+{
+    MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
+
+    if (*g_dev_ptr == nullptr) {
+        errx(1, "driver not running");
+    }
+    (*g_dev_ptr)->ak8963_read();
+    exit(0);
+}
+
+void
+usage()
+{
+    warnx("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump', 'testerror', 'mag'");
+	warnx("options:");
+	warnx("    -X    (external bus)");
+	warnx("    -R rotation");
+}
+
+} // namespace
+
+extern int mpu_report_valid_mag;
+extern int mpu_report_invalid_mag;
+
+int
+mpu9250_main(int argc, char *argv[])
+{
+	bool external_bus = false;
+	int ch;
+	enum Rotation rotation = ROTATION_NONE;
+
+	/* jump over start/off/etc and look at options first */
+	while ((ch = getopt(argc, argv, "XR:")) != EOF) {
+		switch (ch) {
+		case 'X':
+			external_bus = true;
+			break;
+
+		case 'R':
+			rotation = (enum Rotation)atoi(optarg);
+			break;
+
+		default:
+            mpu9250::usage();
+			exit(0);
+		}
+	}
+
+	const char *verb = argv[optind];
+
+	/*
+	 * Start/load the driver.
+	 */
+	if (!strcmp(verb, "start")) {
+        mpu9250::start(external_bus, rotation);
+	}
+
+	if (!strcmp(verb, "stop")) {
+        mpu9250::stop(external_bus);
+	}
+
+	/*
+	 * Test the driver/device.
+	 */
+	if (!strcmp(verb, "test")) {
+        mpu9250::test(external_bus);
+	}
+
+	/*
+	 * Reset the driver.
+	 */
+	if (!strcmp(verb, "reset")) {
+        mpu9250::reset(external_bus);
+	}
+
+	/*
+	 * Print driver information.
+	 */
+	if (!strcmp(verb, "info")) {
+        mpu9250::info(external_bus);
+	}
+
+	/*
+	 * Print register information.
+	 */
+	if (!strcmp(verb, "regdump")) {
+        mpu9250::regdump(external_bus);
+	}
+
+    if (!strcmp(verb, "testerror")) {
+        mpu9250::testerror(external_bus);
+    }
+
+    if (!strcmp(verb, "w")) {
+        mpu9250::w(external_bus);
+    }
+
+    if (!strcmp(verb, "g")) {
+        printf("valid %u invalid %u\n", mpu_report_valid_mag, mpu_report_invalid_mag);
+        exit(0);
+    }
+
+    mpu9250::usage();
+	exit(1);
+}

src/drivers/mpu9250/mpu9250.h

@@ -0,0 +1,314 @@
+#ifdef PX4_SPI_BUS_EXT
+#define EXTERNAL_BUS PX4_SPI_BUS_EXT
+#else
+#define EXTERNAL_BUS 0
+#endif
+
+/*
+  the MPU9250 can only handle high SPI bus speeds on the sensor and
+  interrupt status registers. All other registers have a maximum 1MHz
+  SPI speed
+ */
+#define MPU9250_LOW_BUS_SPEED				1000*1000
+#define MPU9250_HIGH_BUS_SPEED				11*1000*1000
+
+#define MPU9250_ONE_G					9.80665f
+
+class MPU9250_mag;
+class MPU9250_gyro;
+
+class MPU9250 : public device::SPI
+{
+public:
+    MPU9250(int bus, const char *path_accel, const char *path_gyro, const char *path_mag, spi_dev_e device, enum Rotation rotation);
+    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();
+
+    // begin experimenting with the internal magnetometer
+    void set_passthrough(uint8_t reg, uint8_t size, uint8_t *out = NULL);
+    void passthrough_read(uint8_t reg, uint8_t *buf, uint8_t size);
+    void passthrough_write(uint8_t reg, uint8_t val);
+    void read_block(uint8_t reg, uint8_t *val, uint8_t count);
+
+    void ak8963_read(void);
+    void ak8963_reset(void);
+    bool ak8963_setup(void);
+    bool ak8963_check_id(void);
+
+protected:
+	virtual int		probe();
+
+    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);
+
+    virtual ssize_t		mag_read(struct file *filp, char *buffer, size_t buflen);
+    virtual int		mag_ioctl(struct file *filp, int cmd, unsigned long arg);
+
+private:
+    MPU9250_gyro	*_gyro;
+    MPU9250_mag     *_mag;
+    uint8_t			_whoami;	/** whoami result */
+
+	struct hrt_call		_call;
+	unsigned		_call_interval;
+
+	ringbuffer::RingBuffer	*_accel_reports;
+
+	struct accel_scale	_accel_scale;
+	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;
+
+    struct gyro_scale	_gyro_scale;
+    float			_gyro_range_scale;
+    float			_gyro_range_rad_s;
+
+    ringbuffer::RingBuffer	*_mag_reports;
+
+    struct mag_scale	_mag_scale;
+    float			_mag_range_scale;
+    float			_mag_range_rad_s;
+
+    unsigned		_dlpf_freq;
+
+	unsigned		_sample_rate;
+	perf_counter_t		_accel_reads;
+    perf_counter_t		_gyro_reads;
+    perf_counter_t		_mag_reads;
+    perf_counter_t		_sample_perf;
+	perf_counter_t		_bad_transfers;
+	perf_counter_t		_bad_registers;
+	perf_counter_t		_good_transfers;
+	perf_counter_t		_reset_retries;
+	perf_counter_t		_duplicates;
+	perf_counter_t		_controller_latency_perf;
+
+	uint8_t			_register_wait;
+	uint64_t		_reset_wait;
+
+	math::LowPassFilter2p	_accel_filter_x;
+	math::LowPassFilter2p	_accel_filter_y;
+	math::LowPassFilter2p	_accel_filter_z;
+    math::LowPassFilter2p	_gyro_filter_x;
+    math::LowPassFilter2p	_gyro_filter_y;
+    math::LowPassFilter2p	_gyro_filter_z;
+//    math::LowPassFilter2p	_mag_filter_x;
+//    math::LowPassFilter2p	_mag_filter_y;
+//    math::LowPassFilter2p	_mag_filter_z;
+
+	Integrator		_accel_int;
+    Integrator		_gyro_int;
+//    Integrator		_mag_int;
+
+	enum Rotation		_rotation;
+
+	// this is used to support runtime checking of key
+	// configuration registers to detect SPI bus errors and sensor
+	// reset
+#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;
+
+	// last temperature reading for print_info()
+	float			_last_temperature;
+
+	// keep last accel reading for duplicate detection
+	uint16_t		_last_accel[3];
+    bool			_got_duplicate;
+
+    // keep last magetometer reading for duplicate detection
+    uint16_t		_last_mag[3];
+    bool			_got_duplicate_mag;
+
+	/**
+	 * Start automatic measurement.
+	 */
+	void			start();
+
+	/**
+	 * Stop automatic measurement.
+	 */
+	void			stop();
+
+	/**
+	 * Reset chip.
+	 *
+	 * Resets the chip and measurements ranges, but not scale and offset.
+	 */
+	int			reset();
+
+	/**
+	 * Static trampoline from the hrt_call context; because we don't have a
+	 * generic hrt wrapper yet.
+	 *
+	 * Called by the HRT in interrupt context at the specified rate if
+	 * automatic polling is enabled.
+	 *
+	 * @param arg		Instance pointer for the driver that is polling.
+	 */
+	static void		measure_trampoline(void *arg);
+
+	/**
+	 * Fetch measurements from the sensor and update the report buffers.
+	 */
+	void			measure();
+
+	/**
+     * Read a register from the mpu
+	 *
+	 * @param		The register to read.
+	 * @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);
+
+	/**
+     * Write a register in the mpu
+	 *
+	 * @param reg		The register to write.
+	 * @param value		The new value to write.
+	 */
+	void			write_reg(unsigned reg, uint8_t value);
+
+	/**
+     * Modify a register in the mpu
+	 *
+	 * Bits are cleared before bits are set.
+	 *
+	 * @param reg		The register to modify.
+	 * @param clearbits	Bits in the register to clear.
+	 * @param setbits	Bits in the register to set.
+	 */
+	void			modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
+
+	/**
+     * Write a register in the mpu, updating _checked_values
+	 *
+	 * @param reg		The register to write.
+	 * @param value		The new value to write.
+	 */
+	void			write_checked_reg(unsigned reg, uint8_t value);
+
+	/**
+     * Set the mpu measurement range.
+	 *
+	 * @param max_g		The maximum G value the range must support.
+	 * @return		OK if the value can be supported, -ERANGE otherwise.
+	 */
+	int			set_accel_range(unsigned max_g);
+
+	/**
+     * Swap a 16-bit value read from the mpu to native byte order.
+	 */
+	uint16_t		swap16(uint16_t val) { return (val >> 8) | (val << 8);	}
+
+	/**
+	 * Get the internal / external state
+	 *
+	 * @return true if the sensor is not on the main MCU board
+	 */
+	bool			is_external() { return (_bus == EXTERNAL_BUS); }
+
+	/**
+	 * Measurement self test
+	 *
+	 * @return 0 on success, 1 on failure
+	 */
+	int 			self_test();
+
+	/**
+	 * Accel self test
+	 *
+	 * @return 0 on success, 1 on failure
+	 */
+	int 			accel_self_test();
+
+    /**
+     * Gyro self test
+     *
+     * @return 0 on success, 1 on failure
+     */
+    int 			gyro_self_test();
+
+    /**
+     * Magnetometer self test
+     *
+     * @return 0 on success, 1 on failure
+     */
+    int 			mag_self_test();
+
+    /*
+	  set low pass filter frequency
+	 */
+	void _set_dlpf_filter(uint16_t frequency_hz);
+
+	/*
+	  set sample rate (approximate) - 1kHz to 5Hz
+	*/
+	void _set_sample_rate(unsigned desired_sample_rate_hz);
+
+	/*
+	  check that key registers still have the right value
+	 */
+	void check_registers(void);
+
+	/* do not allow to copy this class due to pointer data members */
+    MPU9250(const MPU9250 &);
+    MPU9250 operator=(const MPU9250 &);
+
+#pragma pack(push, 1)
+    struct ak8963_regs {
+        uint8_t id;
+        uint8_t info;
+        uint8_t st1;
+        int16_t x;
+        int16_t y;
+        int16_t z;
+        uint8_t st2;
+    };
+
+	/**
+     * Report conversation within the mpu, including command byte and
+	 * interrupt status.
+	 */
+	struct MPUReport {
+		uint8_t		cmd;
+		uint8_t		status;
+		uint8_t		accel_x[2];
+		uint8_t		accel_y[2];
+		uint8_t		accel_z[2];
+		uint8_t		temp[2];
+        uint8_t		gyro_x[2];
+        uint8_t		gyro_y[2];
+        uint8_t		gyro_z[2];
+//        uint8_t		mag_x[2];
+//        uint8_t		mag_y[2];
+//        uint8_t		mag_z[2];
+        struct ak8963_regs mag;
+    };
+#pragma pack(pop)
+};
+