mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-21 09:17:35 +08:00
Fix MPU6K sampling
This commit is contained in:
Lorenz Meier
@@ -109,4 +109,8 @@ struct accel_calibration_s {
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/** get the hardware low-pass filter cut-off in Hz*/
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#define ACCELIOCGHWLOWPASS _ACCELIOC(11)
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/** determine if hardware is external or onboard */
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#define ACCELIOCGEXTERNAL _ACCELIOC(12)
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#endif /* _DRV_ACCEL_H */
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@@ -106,4 +106,8 @@ struct gyro_calibration_s {
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/** get the hardware low-pass filter cut-off in Hz*/
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#define GYROIOCGHWLOWPASS _GYROIOC(10)
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/** determine if hardware is external or onboard */
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#define GYROIOCGEXTERNAL _GYROIOC(12)
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#endif /* _DRV_GYRO_H */
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@@ -33,12 +33,14 @@
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px4_add_module(
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MODULE drivers__mpu6000
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MAIN mpu6000
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STACK_MAIN 1300
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STACK_MAIN 1400
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COMPILE_FLAGS
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-Weffc++
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-Os
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SRCS
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mpu6000.cpp
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mpu6000_i2c.cpp
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mpu6000_spi.cpp
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DEPENDS
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platforms__common
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)
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+500
-335
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,228 @@
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/****************************************************************************
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*
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* Copyright (c) 2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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||||
* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file .h
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*
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* Shared defines for the mpu6000 driver.
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*/
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#pragma once
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#if defined(PX4_I2C_MPU6050_ADDR) || \
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defined(PX4_I2C_MPU6000_ADDR) || \
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defined(PX4_I2C_ICM_20608_G_ADDR)
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# define USE_I2C
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#endif
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#define DIR_READ 0x80
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#define DIR_WRITE 0x00
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#define MPU_DEVICE_PATH_ACCEL "/dev/mpu6000_accel"
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#define MPU_DEVICE_PATH_GYRO "/dev/mpu6000_gyro"
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#define MPU_DEVICE_PATH_ACCEL_EXT "/dev/mpu6000_accel_ext"
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#define MPU_DEVICE_PATH_GYRO_EXT "/dev/mpu6000_gyro_ext"
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// MPU 6000 registers
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#define MPUREG_WHOAMI 0x75
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#define MPUREG_SMPLRT_DIV 0x19
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#define MPUREG_CONFIG 0x1A
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#define MPUREG_GYRO_CONFIG 0x1B
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#define MPUREG_ACCEL_CONFIG 0x1C
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#define MPUREG_FIFO_EN 0x23
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#define MPUREG_INT_PIN_CFG 0x37
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#define MPUREG_INT_ENABLE 0x38
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#define MPUREG_INT_STATUS 0x3A
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#define MPUREG_ACCEL_XOUT_H 0x3B
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#define MPUREG_ACCEL_XOUT_L 0x3C
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#define MPUREG_ACCEL_YOUT_H 0x3D
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#define MPUREG_ACCEL_YOUT_L 0x3E
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#define MPUREG_ACCEL_ZOUT_H 0x3F
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#define MPUREG_ACCEL_ZOUT_L 0x40
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#define MPUREG_TEMP_OUT_H 0x41
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#define MPUREG_TEMP_OUT_L 0x42
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#define MPUREG_GYRO_XOUT_H 0x43
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#define MPUREG_GYRO_XOUT_L 0x44
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#define MPUREG_GYRO_YOUT_H 0x45
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#define MPUREG_GYRO_YOUT_L 0x46
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#define MPUREG_GYRO_ZOUT_H 0x47
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#define MPUREG_GYRO_ZOUT_L 0x48
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#define MPUREG_USER_CTRL 0x6A
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#define MPUREG_PWR_MGMT_1 0x6B
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#define MPUREG_PWR_MGMT_2 0x6C
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#define MPUREG_FIFO_COUNTH 0x72
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#define MPUREG_FIFO_COUNTL 0x73
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#define MPUREG_FIFO_R_W 0x74
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#define MPUREG_PRODUCT_ID 0x0C
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#define MPUREG_TRIM1 0x0D
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#define MPUREG_TRIM2 0x0E
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#define MPUREG_TRIM3 0x0F
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#define MPUREG_TRIM4 0x10
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#define MPU_GYRO_DLPF_CFG_256HZ_NOLPF2 0x00
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#define MPU_GYRO_DLPF_CFG_188HZ 0x01
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#define MPU_GYRO_DLPF_CFG_98HZ 0x02
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#define MPU_GYRO_DLPF_CFG_42HZ 0x03
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#define MPU_GYRO_DLPF_CFG_20HZ 0x04
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#define MPU_GYRO_DLPF_CFG_10HZ 0x05
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#define MPU_GYRO_DLPF_CFG_5HZ 0x06
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#define MPU_GYRO_DLPF_CFG_2100HZ_NOLPF 0x07
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#define MPU_DLPF_CFG_MASK 0x07
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// Configuration bits MPU 3000 and MPU 6000 (not revised)?
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#define BIT_SLEEP 0x40
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#define BIT_H_RESET 0x80
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#define BITS_CLKSEL 0x07
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#define MPU_CLK_SEL_PLLGYROX 0x01
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#define MPU_CLK_SEL_PLLGYROZ 0x03
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#define MPU_EXT_SYNC_GYROX 0x02
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#define BITS_GYRO_ST_X 0x80
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#define BITS_GYRO_ST_Y 0x40
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#define BITS_GYRO_ST_Z 0x20
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#define BITS_FS_250DPS 0x00
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#define BITS_FS_500DPS 0x08
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#define BITS_FS_1000DPS 0x10
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#define BITS_FS_2000DPS 0x18
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#define BITS_FS_MASK 0x18
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#define BIT_INT_ANYRD_2CLEAR 0x10
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#define BIT_RAW_RDY_EN 0x01
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#define BIT_I2C_IF_DIS 0x10
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#define BIT_INT_STATUS_DATA 0x01
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#define MPU_WHOAMI_6000 0x68
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#define ICM_WHOAMI_20608 0xaf
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// ICM2608 specific registers
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#define ICMREG_ACCEL_CONFIG2 0x1D
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#define ICM_ACC_DLPF_CFG_1046HZ_NOLPF 0x00
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#define ICM_ACC_DLPF_CFG_218HZ 0x01
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#define ICM_ACC_DLPF_CFG_99HZ 0x02
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#define ICM_ACC_DLPF_CFG_44HZ 0x03
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#define ICM_ACC_DLPF_CFG_21HZ 0x04
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#define ICM_ACC_DLPF_CFG_10HZ 0x05
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#define ICM_ACC_DLPF_CFG_5HZ 0x06
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#define ICM_ACC_DLPF_CFG_420HZ 0x07
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/* this is an undocumented register which
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if set incorrectly results in getting a 2.7m/s/s offset
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on the Y axis of the accelerometer
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*/
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#define MPUREG_ICM_UNDOC1 0x11
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#define MPUREG_ICM_UNDOC1_VALUE 0xc9
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// Product ID Description for ICM2608
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// There is none
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#define ICM20608_REV_00 0
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// Product ID Description for MPU6000
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// high 4 bits low 4 bits
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// Product Name Product Revision
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#define MPU6000ES_REV_C4 0x14
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#define MPU6000ES_REV_C5 0x15
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#define MPU6000ES_REV_D6 0x16
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#define MPU6000ES_REV_D7 0x17
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#define MPU6000ES_REV_D8 0x18
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#define MPU6000_REV_C4 0x54
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#define MPU6000_REV_C5 0x55
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#define MPU6000_REV_D6 0x56
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#define MPU6000_REV_D7 0x57
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#define MPU6000_REV_D8 0x58
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#define MPU6000_REV_D9 0x59
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#define MPU6000_REV_D10 0x5A
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#define MPU6050_REV_D8 0x28 // TODO:Need verification
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#define MPU6000_ACCEL_DEFAULT_RANGE_G 8
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#define MPU6000_ACCEL_DEFAULT_RATE 1000
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#define MPU6000_ACCEL_MAX_OUTPUT_RATE 280
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#define MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
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#define MPU6000_GYRO_DEFAULT_RANGE_G 8
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#define MPU6000_GYRO_DEFAULT_RATE 1000
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/* rates need to be the same between accel and gyro */
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#define MPU6000_GYRO_MAX_OUTPUT_RATE MPU6000_ACCEL_MAX_OUTPUT_RATE
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#define MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ 30
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#define MPU6000_DEFAULT_ONCHIP_FILTER_FREQ 42
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#define MPU6000_ONE_G 9.80665f
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#ifdef PX4_SPI_BUS_EXT
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#define EXTERNAL_BUS PX4_SPI_BUS_EXT
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#else
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#define EXTERNAL_BUS 0
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#endif
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#define MPUIOCGIS_I2C (unsigned)(DEVIOCGDEVICEID+100)
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#pragma pack(push, 1)
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/**
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* Report conversation within the MPU6000, including command byte and
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* interrupt status.
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*/
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struct MPUReport {
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uint8_t cmd;
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uint8_t status;
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uint8_t accel_x[2];
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uint8_t accel_y[2];
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uint8_t accel_z[2];
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uint8_t temp[2];
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uint8_t gyro_x[2];
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uint8_t gyro_y[2];
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uint8_t gyro_z[2];
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};
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#pragma pack(pop)
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#define MPU_MAX_READ_BUFFER_SIZE (sizeof(MPUReport) + 1)
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#define MPU_MAX_WRITE_BUFFER_SIZE (2)
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/*
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The MPU6000 can only handle high bus speeds on the sensor and
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interrupt status registers. All other registers have a maximum 1MHz
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Communication with all registers of the device is performed using either
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I2C at 400kHz or SPI at 1MHz. For applications requiring faster communications,
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the sensor and interrupt registers may be read using SPI at 20MHz
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*/
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#define MPU6000_LOW_BUS_SPEED 0
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#define MPU6000_HIGH_BUS_SPEED 0x8000
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# define MPU6000_IS_HIGH_SPEED(r) ((r) & MPU6000_HIGH_BUS_SPEED)
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# define MPU6000_REG(r) ((r) &~MPU6000_HIGH_BUS_SPEED)
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# define MPU6000_SET_SPEED(r, s) ((r)|(s))
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# define MPU6000_HIGH_SPEED_OP(r) MPU6000_SET_SPEED((r), MPU6000_HIGH_BUS_SPEED)
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# define MPU6000_LOW_SPEED_OP(r) MPU6000_REG((r))
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/* interface factories */
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extern device::Device *MPU6000_SPI_interface(int bus, int device_type, bool external_bus);
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extern device::Device *MPU6000_I2C_interface(int bus, int device_type, bool external_bus);
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extern int MPU6000_probe(device::Device *dev, int device_type);
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typedef device::Device *(*MPU6000_constructor)(int, int, bool);
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@@ -0,0 +1,172 @@
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/****************************************************************************
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*
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* Copyright (c) 2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
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****************************************************************************/
|
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|
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/**
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* @file mpu6000_i2c.cpp
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*
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* I2C interface for MPU6000 /MPU6050
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*/
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/* XXX trim includes */
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#include <px4_config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <string.h>
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#include <assert.h>
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#include <debug.h>
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#include <errno.h>
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#include <unistd.h>
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#include <arch/board/board.h>
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#include <drivers/device/i2c.h>
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#include <drivers/drv_accel.h>
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#include <drivers/drv_device.h>
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#include "mpu6000.h"
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#include "board_config.h"
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#ifdef USE_I2C
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device::Device *MPU6000_I2C_interface(int bus, int device_type, bool external_bus);
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class MPU6000_I2C : public device::I2C
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{
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public:
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MPU6000_I2C(int bus, int device_type);
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virtual ~MPU6000_I2C();
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virtual int init();
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virtual int read(unsigned address, void *data, unsigned count);
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virtual int write(unsigned address, void *data, unsigned count);
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virtual int ioctl(unsigned operation, unsigned &arg);
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protected:
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virtual int probe();
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private:
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int _device_type;
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};
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device::Device *
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MPU6000_I2C_interface(int bus, int device_type, bool external_bus)
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{
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return new MPU6000_I2C(bus, device_type);
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}
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MPU6000_I2C::MPU6000_I2C(int bus, int device_type) :
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I2C("MPU6000_I2C", nullptr, bus, PX4_I2C_MPU6050_ADDR, 400000),
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_device_type(device_type)
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{
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_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU6000;
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}
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MPU6000_I2C::~MPU6000_I2C()
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{
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}
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int
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MPU6000_I2C::init()
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{
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/* this will call probe() */
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return I2C::init();
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}
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int
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MPU6000_I2C::ioctl(unsigned operation, unsigned &arg)
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{
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int ret;
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switch (operation) {
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case ACCELIOCGEXTERNAL:
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return _bus == PX4_I2C_BUS_EXPANSION ? 1 : 0;
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case DEVIOCGDEVICEID:
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return CDev::ioctl(nullptr, operation, arg);
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case MPUIOCGIS_I2C:
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return 1;
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default:
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ret = -EINVAL;
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}
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||||
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return ret;
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}
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int
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MPU6000_I2C::write(unsigned reg_speed, void *data, unsigned count)
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{
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uint8_t cmd[MPU_MAX_WRITE_BUFFER_SIZE];
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if (sizeof(cmd) < (count + 1)) {
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return -EIO;
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}
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cmd[0] = MPU6000_REG(reg_speed);
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cmd[1] = *(uint8_t *)data;
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return transfer(&cmd[0], count + 1, nullptr, 0);
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}
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int
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MPU6000_I2C::read(unsigned reg_speed, void *data, unsigned count)
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{
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/* We want to avoid copying the data of MPUReport: So if the caller
|
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* supplies a buffer not MPUReport in size, it is assume to be a reg or
|
||||
* reg 16 read
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||||
* Since MPUReport has a cmd at front, we must return the data
|
||||
* after that. Foe anthing else we must return it
|
||||
*/
|
||||
uint32_t offset = count < sizeof(MPUReport) ? 0 : offsetof(MPUReport, status);
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||||
uint8_t cmd = MPU6000_REG(reg_speed);
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int ret = transfer(&cmd, 1, &((uint8_t *)data)[offset], count);
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||||
return ret == OK ? count : ret;
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||||
}
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||||
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||||
|
||||
int
|
||||
MPU6000_I2C::probe()
|
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{
|
||||
uint8_t whoami = 0;
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uint8_t expected = _device_type == 6000 ? MPU_WHOAMI_6000 : ICM_WHOAMI_20608;
|
||||
return (read(MPUREG_WHOAMI, &whoami, 1) > 0 && (whoami == expected)) ? 0 : -EIO;
|
||||
|
||||
}
|
||||
#endif /* PX4_I2C_OBDEV_HMC5883 */
|
||||
@@ -0,0 +1,281 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 mpu6000_spi.cpp
|
||||
*
|
||||
* Driver for the Invensense MPU6000 connected via SPI.
|
||||
*
|
||||
* @author Andrew Tridgell
|
||||
* @author Pat Hickey
|
||||
* @author David sidrane
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <string.h>
|
||||
#include <assert.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <drivers/device/spi.h>
|
||||
#include <drivers/drv_accel.h>
|
||||
#include <drivers/drv_device.h>
|
||||
|
||||
#include "mpu6000.h"
|
||||
#include <board_config.h>
|
||||
|
||||
#define DIR_READ 0x80
|
||||
#define DIR_WRITE 0x00
|
||||
|
||||
#if PX4_SPIDEV_MPU
|
||||
#ifdef PX4_SPI_BUS_EXT
|
||||
#define EXTERNAL_BUS PX4_SPI_BUS_EXT
|
||||
#else
|
||||
#define EXTERNAL_BUS 0
|
||||
#endif
|
||||
|
||||
/*
|
||||
The MPU6000 can only handle high SPI bus speeds on the sensor and
|
||||
interrupt status registers. All other registers have a maximum 1MHz
|
||||
SPI speed
|
||||
|
||||
*/
|
||||
#define MPU6000_LOW_SPI_BUS_SPEED 1000*1000
|
||||
#define MPU6000_HIGH_SPI_BUS_SPEED 11*1000*1000 /* will be rounded to 10.4 MHz, within margins for MPU6K */
|
||||
|
||||
|
||||
device::Device *MPU6000_SPI_interface(int bus, int device_type, bool external_bus);
|
||||
|
||||
|
||||
class MPU6000_SPI : public device::SPI
|
||||
{
|
||||
public:
|
||||
MPU6000_SPI(int bus, spi_dev_e device, int device_type);
|
||||
virtual ~MPU6000_SPI();
|
||||
|
||||
virtual int init();
|
||||
virtual int read(unsigned address, void *data, unsigned count);
|
||||
virtual int write(unsigned address, void *data, unsigned count);
|
||||
|
||||
virtual int ioctl(unsigned operation, unsigned &arg);
|
||||
protected:
|
||||
virtual int probe();
|
||||
|
||||
private:
|
||||
|
||||
int _device_type;
|
||||
/* Helper to set the desired speed and isolate the register on return */
|
||||
|
||||
void set_bus_frequency(unsigned ®_speed_reg_out);
|
||||
};
|
||||
|
||||
device::Device *
|
||||
MPU6000_SPI_interface(int bus, int device_type, bool external_bus)
|
||||
{
|
||||
spi_dev_e cs = SPIDEV_NONE;
|
||||
device::Device *interface = nullptr;
|
||||
|
||||
if (external_bus) {
|
||||
#ifdef PX4_SPI_BUS_EXT
|
||||
# if defined(PX4_SPIDEV_EXT_ICM)
|
||||
cs = (spi_dev_e)(device_type == 6000 ? PX4_SPIDEV_EXT_MPU : PX4_SPIDEV_EXT_ICM);
|
||||
# else
|
||||
cs = (spi_dev_e) PX4_SPIDEV_EXT_MPU;
|
||||
# endif
|
||||
#endif
|
||||
|
||||
} else {
|
||||
|
||||
#if defined(PX4_SPIDEV_ICM)
|
||||
cs = (spi_dev_e)(device_type == 6000 ? PX4_SPIDEV_MPU : PX4_SPIDEV_ICM);
|
||||
#else
|
||||
cs = (spi_dev_e) PX4_SPIDEV_MPU;
|
||||
#endif
|
||||
}
|
||||
|
||||
if (cs != SPIDEV_NONE) {
|
||||
|
||||
interface = new MPU6000_SPI(bus, cs, device_type);
|
||||
}
|
||||
|
||||
return interface;
|
||||
}
|
||||
|
||||
MPU6000_SPI::MPU6000_SPI(int bus, spi_dev_e device, int device_type) :
|
||||
SPI("MPU6000", nullptr, bus, device, SPIDEV_MODE3, MPU6000_LOW_SPI_BUS_SPEED),
|
||||
_device_type(device_type)
|
||||
{
|
||||
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU6000;
|
||||
}
|
||||
|
||||
MPU6000_SPI::~MPU6000_SPI()
|
||||
{
|
||||
}
|
||||
|
||||
int
|
||||
MPU6000_SPI::init()
|
||||
{
|
||||
int ret;
|
||||
|
||||
ret = SPI::init();
|
||||
|
||||
if (ret != OK) {
|
||||
DEVICE_DEBUG("SPI init failed");
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int
|
||||
MPU6000_SPI::ioctl(unsigned operation, unsigned &arg)
|
||||
{
|
||||
int ret;
|
||||
|
||||
switch (operation) {
|
||||
|
||||
case ACCELIOCGEXTERNAL:
|
||||
#if defined(PX4_SPI_BUS_EXT)
|
||||
return _bus == PX4_SPI_BUS_EXT ? 1 : 0;
|
||||
#else
|
||||
return 0;
|
||||
#endif
|
||||
|
||||
case DEVIOCGDEVICEID:
|
||||
return CDev::ioctl(nullptr, operation, arg);
|
||||
|
||||
case MPUIOCGIS_I2C:
|
||||
return 0;
|
||||
|
||||
default: {
|
||||
ret = -EINVAL;
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void
|
||||
MPU6000_SPI::set_bus_frequency(unsigned ®_speed)
|
||||
{
|
||||
/* Set the desired speed */
|
||||
|
||||
set_frequency(MPU6000_IS_HIGH_SPEED(reg_speed) ? MPU6000_HIGH_SPI_BUS_SPEED : MPU6000_LOW_SPI_BUS_SPEED);
|
||||
|
||||
/* Isoolate the register on return */
|
||||
|
||||
reg_speed = MPU6000_REG(reg_speed);
|
||||
}
|
||||
|
||||
|
||||
int
|
||||
MPU6000_SPI::write(unsigned reg_speed, void *data, unsigned count)
|
||||
{
|
||||
uint8_t cmd[MPU_MAX_WRITE_BUFFER_SIZE];
|
||||
|
||||
if (sizeof(cmd) < (count + 1)) {
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
/* Set the desired speed and isolate the register */
|
||||
|
||||
set_bus_frequency(reg_speed);
|
||||
|
||||
cmd[0] = reg_speed | DIR_WRITE;
|
||||
cmd[1] = *(uint8_t *)data;
|
||||
|
||||
return transfer(&cmd[0], &cmd[0], count + 1);
|
||||
}
|
||||
|
||||
int
|
||||
MPU6000_SPI::read(unsigned reg_speed, void *data, unsigned count)
|
||||
{
|
||||
/* We want to avoid copying the data of MPUReport: So if the caller
|
||||
* supplies a buffer not MPUReport in size, it is assume to be a reg or reg 16 read
|
||||
* and we need to provied the buffer large enough for the callers data
|
||||
* and our command.
|
||||
*/
|
||||
uint8_t cmd[3] = {0, 0, 0};
|
||||
|
||||
uint8_t *pbuff = count < sizeof(MPUReport) ? cmd : (uint8_t *) data ;
|
||||
|
||||
|
||||
if (count < sizeof(MPUReport)) {
|
||||
|
||||
/* add command */
|
||||
|
||||
count++;
|
||||
}
|
||||
|
||||
set_bus_frequency(reg_speed);
|
||||
|
||||
/* Set command */
|
||||
|
||||
pbuff[0] = reg_speed | DIR_READ ;
|
||||
|
||||
/* Transfer the command and get the data */
|
||||
|
||||
int ret = transfer(pbuff, pbuff, count);
|
||||
|
||||
if (ret == OK && pbuff == &cmd[0]) {
|
||||
|
||||
/* Adjust the count back */
|
||||
|
||||
count--;
|
||||
|
||||
/* Return the data */
|
||||
|
||||
memcpy(data, &cmd[1], count);
|
||||
|
||||
}
|
||||
|
||||
return ret == OK ? count : ret;
|
||||
}
|
||||
|
||||
int
|
||||
MPU6000_SPI::probe()
|
||||
{
|
||||
uint8_t whoami = 0;
|
||||
uint8_t expected = _device_type == 6000 ? MPU_WHOAMI_6000 : ICM_WHOAMI_20608;
|
||||
return (read(MPUREG_WHOAMI, &whoami, 1) > 0 && (whoami == expected)) ? 0 : -EIO;
|
||||
|
||||
}
|
||||
|
||||
#endif // PX4_SPIDEV_MPU
|
||||
Reference in New Issue
Block a user