new Bosch BMI088 IMU driver using FIFOs and DRDY

2026-11-04 17:01:35 +08:00 · 2020-06-11 12:25:13 -04:00
parent b6ec00c079
commit 13e34b32e6
30 changed files with 1801 additions and 1739 deletions
@@ -0,0 +1,462 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 "BMI088_Gyroscope.hpp"
+
+#include <px4_platform/board_dma_alloc.h>
+
+using namespace time_literals;
+
+namespace Bosch::BMI088::Gyroscope
+{
+
+BMI088_Gyroscope::BMI088_Gyroscope(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
+				   int bus_frequency, spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
+	BMI088(DRV_GYR_DEVTYPE_BMI088, "BMI088_Gyroscope", bus_option, bus, device, spi_mode, bus_frequency, drdy_gpio),
+	_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
+{
+	if (drdy_gpio != 0) {
+		_drdy_interval_perf = perf_alloc(PC_INTERVAL, MODULE_NAME"_gyro: DRDY interval");
+	}
+
+	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
+}
+
+BMI088_Gyroscope::~BMI088_Gyroscope()
+{
+	perf_free(_transfer_perf);
+	perf_free(_bad_register_perf);
+	perf_free(_bad_transfer_perf);
+	perf_free(_fifo_empty_perf);
+	perf_free(_fifo_overflow_perf);
+	perf_free(_fifo_reset_perf);
+	perf_free(_drdy_interval_perf);
+}
+
+void BMI088_Gyroscope::exit_and_cleanup()
+{
+	DataReadyInterruptDisable();
+	I2CSPIDriverBase::exit_and_cleanup();
+}
+
+void BMI088_Gyroscope::print_status()
+{
+	I2CSPIDriverBase::print_status();
+
+	PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
+
+	perf_print_counter(_transfer_perf);
+	perf_print_counter(_bad_register_perf);
+	perf_print_counter(_bad_transfer_perf);
+	perf_print_counter(_fifo_empty_perf);
+	perf_print_counter(_fifo_overflow_perf);
+	perf_print_counter(_fifo_reset_perf);
+	perf_print_counter(_drdy_interval_perf);
+
+	_px4_gyro.print_status();
+}
+
+int BMI088_Gyroscope::probe()
+{
+	const uint8_t chipid = RegisterRead(Register::GYRO_CHIP_ID);
+
+	if (chipid != ID) {
+		DEVICE_DEBUG("unexpected GYRO_CHIP_ID 0x%02x", chipid);
+		return PX4_ERROR;
+	}
+
+	return PX4_OK;
+}
+
+void BMI088_Gyroscope::RunImpl()
+{
+	const hrt_abstime now = hrt_absolute_time();
+
+	switch (_state) {
+	case STATE::RESET:
+		// GYRO_SOFTRESET: Writing a value of 0xB6 to this register resets the sensor.
+		// Following a delay of 30 ms, all configuration settings are overwritten with their reset value.
+		RegisterWrite(Register::GYRO_SOFTRESET, 0xB6);
+		_reset_timestamp = now;
+		_consecutive_failures = 0;
+		_total_failures = 0;
+		_state = STATE::WAIT_FOR_RESET;
+		ScheduleDelayed(30_ms);
+		break;
+
+	case STATE::WAIT_FOR_RESET:
+		if ((RegisterRead(Register::GYRO_CHIP_ID) == ID)) {
+			// if reset succeeded then configure
+			_state = STATE::CONFIGURE;
+			ScheduleDelayed(1_ms);
+
+		} else {
+			// RESET not complete
+			if (hrt_elapsed_time(&_reset_timestamp) > 100_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()) {
+			// if configure succeeded then start reading from FIFO
+			_state = STATE::FIFO_READ;
+
+			if (DataReadyInterruptConfigure()) {
+				_data_ready_interrupt_enabled = true;
+
+				// backup schedule as a watchdog timeout
+				ScheduleDelayed(10_ms);
+
+			} else {
+				_data_ready_interrupt_enabled = false;
+				ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
+			}
+
+			FIFOReset();
+
+		} 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::FIFO_READ: {
+			if (_data_ready_interrupt_enabled) {
+				// scheduled from interrupt if _drdy_fifo_read_samples was set
+				if (_drdy_fifo_read_samples.fetch_and(0) == _fifo_gyro_samples) {
+					perf_count_interval(_drdy_interval_perf, now);
+				}
+
+				// push backup schedule back
+				ScheduleDelayed(_fifo_empty_interval_us * 2);
+			}
+
+			// always check current FIFO status/count
+			bool success = false;
+			const uint8_t FIFO_STATUS = RegisterRead(Register::FIFO_STATUS);
+
+			if (FIFO_STATUS & FIFO_STATUS_BIT::Fifo_overrun) {
+				FIFOReset();
+				perf_count(_fifo_overflow_perf);
+
+			} else {
+				const uint8_t fifo_frame_counter = FIFO_STATUS & FIFO_STATUS_BIT::Fifo_frame_counter;
+
+				if (fifo_frame_counter > FIFO_MAX_SAMPLES) {
+					// not necessarily an actual FIFO overflow, but more samples than we expected or can publish
+					FIFOReset();
+					perf_count(_fifo_overflow_perf);
+
+				} else if (fifo_frame_counter == 0) {
+					perf_count(_fifo_empty_perf);
+
+				} else if (fifo_frame_counter >= 1) {
+					if (FIFORead(now, fifo_frame_counter)) {
+						success = true;
+						_consecutive_failures = 0;
+					}
+				}
+			}
+
+			if (!success) {
+				_consecutive_failures++;
+				_total_failures++;
+
+				// full reset if things are failing consistently
+				if (_consecutive_failures > 100 || _total_failures > 1000) {
+					Reset();
+					return;
+				}
+			}
+
+			if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 10_ms) {
+				// check configuration registers periodically or immediately following any failure
+				if (RegisterCheck(_register_cfg[_checked_register])) {
+					_last_config_check_timestamp = now;
+					_checked_register = (_checked_register + 1) % size_register_cfg;
+
+				} else {
+					// register check failed, force reset
+					perf_count(_bad_register_perf);
+					Reset();
+				}
+			}
+		}
+
+		break;
+	}
+}
+
+void BMI088_Gyroscope::ConfigureGyro()
+{
+	const uint8_t GYRO_RANGE = RegisterRead(Register::GYRO_RANGE) & (Bit3 | Bit2 | Bit1 | Bit0);
+
+	switch (GYRO_RANGE) {
+	case gyro_range_2000_dps:
+		_px4_gyro.set_scale(math::radians(1.f / 16.384f));
+		_px4_gyro.set_range(math::radians(2000.f));
+		break;
+
+	case gyro_range_1000_dps:
+		_px4_gyro.set_scale(math::radians(1.f / 32.768f));
+		_px4_gyro.set_range(math::radians(1000.f));
+		break;
+
+	case gyro_range_500_dps:
+		_px4_gyro.set_scale(math::radians(1.f / 65.536f));
+		_px4_gyro.set_range(math::radians(500.f));
+		break;
+
+	case gyro_range_250_dps:
+		_px4_gyro.set_scale(math::radians(1.f / 131.072f));
+		_px4_gyro.set_range(math::radians(250.f));
+		break;
+
+	case gyro_range_125_dps:
+		_px4_gyro.set_scale(math::radians(1.f / 262.144f));
+		_px4_gyro.set_range(math::radians(125.f));
+		break;
+	}
+}
+
+void BMI088_Gyroscope::ConfigureSampleRate(int sample_rate)
+{
+	if (sample_rate == 0) {
+		sample_rate = 1000; // default to 1000 Hz
+	}
+
+	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
+	const float min_interval = FIFO_SAMPLE_DT;
+	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
+
+	_fifo_gyro_samples = math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES);
+
+	// recompute FIFO empty interval (us) with actual gyro sample limit
+	_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
+
+	ConfigureFIFOWatermark(_fifo_gyro_samples);
+}
+
+void BMI088_Gyroscope::ConfigureFIFOWatermark(uint8_t samples)
+{
+	// FIFO watermark threshold
+	for (auto &r : _register_cfg) {
+		if (r.reg == Register::FIFO_CONFIG_0) {
+			r.set_bits = samples;
+			r.clear_bits = ~r.set_bits;
+		}
+	}
+}
+
+bool BMI088_Gyroscope::Configure()
+{
+	// first set and clear all configured register bits
+	for (const auto &reg_cfg : _register_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_cfg) {
+		if (!RegisterCheck(reg_cfg)) {
+			success = false;
+		}
+	}
+
+	ConfigureGyro();
+
+	return success;
+}
+
+int BMI088_Gyroscope::DataReadyInterruptCallback(int irq, void *context, void *arg)
+{
+	static_cast<BMI088_Gyroscope *>(arg)->DataReady();
+	return 0;
+}
+
+void BMI088_Gyroscope::DataReady()
+{
+	uint8_t expected = 0;
+
+	if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
+		ScheduleNow();
+	}
+}
+
+bool BMI088_Gyroscope::DataReadyInterruptConfigure()
+{
+	if (_drdy_gpio == 0) {
+		return false;
+	}
+
+	// Setup data ready on falling edge
+	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
+}
+
+bool BMI088_Gyroscope::DataReadyInterruptDisable()
+{
+	if (_drdy_gpio == 0) {
+		return false;
+	}
+
+	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
+}
+
+bool BMI088_Gyroscope::RegisterCheck(const register_config_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;
+}
+
+uint8_t BMI088_Gyroscope::RegisterRead(Register reg)
+{
+	uint8_t cmd[2] {};
+	cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;
+	transfer(cmd, cmd, sizeof(cmd));
+	return cmd[1];
+}
+
+void BMI088_Gyroscope::RegisterWrite(Register reg, uint8_t value)
+{
+	uint8_t cmd[2] {(uint8_t)reg, value};
+	transfer(cmd, cmd, sizeof(cmd));
+}
+
+void BMI088_Gyroscope::RegisterSetAndClearBits(Register 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);
+	}
+}
+
+bool BMI088_Gyroscope::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
+{
+	FIFOTransferBuffer buffer{};
+	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
+
+	perf_begin(_transfer_perf);
+
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
+		perf_end(_transfer_perf);
+		perf_count(_bad_transfer_perf);
+		return false;
+	}
+
+	perf_end(_transfer_perf);
+
+	PX4Gyroscope::FIFOSample gyro;
+	gyro.timestamp_sample = timestamp_sample;
+	gyro.samples = samples;
+	gyro.dt = FIFO_SAMPLE_DT;
+
+	for (int i = 0; i < samples; i++) {
+		const FIFO::DATA &fifo_sample = buffer.f[i];
+
+		const int16_t gyro_x = combine(fifo_sample.RATE_X_MSB, fifo_sample.RATE_X_LSB);
+		const int16_t gyro_y = combine(fifo_sample.RATE_Y_MSB, fifo_sample.RATE_Y_LSB);
+		const int16_t gyro_z = combine(fifo_sample.RATE_Z_MSB, fifo_sample.RATE_Z_LSB);
+
+		// sensor's frame is +x forward, +y left, +z up
+		//  flip y & z to publish right handed with z down (x forward, y right, z down)
+		gyro.x[i] = gyro_x;
+		gyro.y[i] = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
+		gyro.z[i] = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
+	}
+
+	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
+				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
+
+	_px4_gyro.updateFIFO(gyro);
+
+	return true;
+}
+
+void BMI088_Gyroscope::FIFOReset()
+{
+	perf_count(_fifo_reset_perf);
+
+	// FIFO_CONFIG_0: Writing to water mark level trigger in register 0x3D (FIFO_CONFIG_0) clears the FIFO buffer.
+	RegisterWrite(Register::FIFO_CONFIG_0, 0);
+
+	// FIFO_CONFIG_1: FIFO overrun condition can only be cleared by writing to the FIFO configuration register FIFO_CONFIG_1
+	RegisterWrite(Register::FIFO_CONFIG_1, 0);
+
+	// reset while FIFO is disabled
+	_drdy_fifo_read_samples.store(0);
+
+	// FIFO_CONFIG_0: restore FIFO watermark
+	// FIFO_CONFIG_1: re-enable FIFO
+	for (const auto &r : _register_cfg) {
+		if ((r.reg == Register::FIFO_CONFIG_0) || (r.reg == Register::FIFO_CONFIG_1)) {
+			RegisterSetAndClearBits(r.reg, r.set_bits, r.clear_bits);
+		}
+	}
+}
+
+} // namespace Bosch::BMI088::Gyroscope