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mpu6000: accumulated minor improvements and cleanup

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- perform reset as per the datasheet (disable I2C immediately, set power mode, wait for appropriate time, etc)
 - only track consecutive errors (not total) to trigger full reset if necessary
 - remove interrupt perf counter and instead only count misses
 - minor style changes to stay in sync with the other Invensense drivers
This commit is contained in:
Daniel Agar
2020-08-16 19:01:56 -04:00
parent 8adea51131
commit 19adf805d4
3 changed files with 29 additions and 30 deletions
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src/drivers/imu/invensense/mpu6000/InvenSense_MPU6000_registers.hpp
+1 -1
View File
@@ -55,7 +55,7 @@ static constexpr uint8_t Bit7 = (1 << 7);
namespace InvenSense_MPU6000
{
static constexpr uint32_t SPI_SPEED = 1 * 1000 * 1000;
static constexpr uint32_t SPI_SPEED_SENSOR = 10 * 1000 * 1000; // 20MHz for reading sensor and interrupt registers
static constexpr uint32_t SPI_SPEED_SENSOR = 5 * 1000 * 1000; // 20MHz for reading sensor and interrupt registers
static constexpr uint8_t DIR_READ = 0x80;
static constexpr uint8_t WHOAMI = 0x68;
src/drivers/imu/invensense/mpu6000/MPU6000.cpp
+21 -21
View File
@@ -49,7 +49,7 @@ MPU6000::MPU6000(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rota
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
{
if (drdy_gpio != 0) {
_drdy_interval_perf = perf_alloc(PC_INTERVAL, MODULE_NAME": DRDY interval");
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
}
ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
@@ -62,7 +62,7 @@ MPU6000::~MPU6000()
perf_free(_fifo_empty_perf);
perf_free(_fifo_overflow_perf);
perf_free(_fifo_reset_perf);
perf_free(_drdy_interval_perf);
perf_free(_drdy_missed_perf);
}
int MPU6000::init()
@@ -96,15 +96,14 @@ void MPU6000::print_status()
{
I2CSPIDriverBase::print_status();
PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
PX4_INFO("FIFO empty interval: %d us (%.1f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
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);
perf_print_counter(_drdy_missed_perf);
}
int MPU6000::probe()
@@ -128,8 +127,7 @@ void MPU6000::RunImpl()
// PWR_MGMT_1: Device Reset
RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::DEVICE_RESET);
_reset_timestamp = now;
_consecutive_failures = 0;
_total_failures = 0;
_failure_count = 0;
_state = STATE::WAIT_FOR_RESET;
ScheduleDelayed(100_ms); // Wait 100ms (Document Number: RM-MPU-6000A-00 Page 41 of 46)
break;
@@ -142,10 +140,10 @@ void MPU6000::RunImpl()
&& (RegisterRead(Register::PWR_MGMT_1) == 0x40)) {
// Wakeup and reset digital signal path
RegisterWrite(Register::PWR_MGMT_1, 0);
RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::CLKSEL_0);
RegisterWrite(Register::SIGNAL_PATH_RESET,
SIGNAL_PATH_RESET_BIT::GYRO_RESET | SIGNAL_PATH_RESET_BIT::ACCEL_RESET | SIGNAL_PATH_RESET_BIT::TEMP_RESET);
RegisterSetAndClearBits(Register::USER_CTRL, USER_CTRL_BIT::SIG_COND_RESET, USER_CTRL_BIT::I2C_IF_DIS);
RegisterWrite(Register::USER_CTRL, USER_CTRL_BIT::SIG_COND_RESET | USER_CTRL_BIT::I2C_IF_DIS);
// if reset succeeded then configure
_state = STATE::CONFIGURE;
@@ -194,7 +192,7 @@ void MPU6000::RunImpl()
PX4_DEBUG("Configure failed, retrying");
}
ScheduleDelayed(10_ms);
ScheduleDelayed(100_ms);
}
break;
@@ -202,8 +200,8 @@ void MPU6000::RunImpl()
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);
if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
perf_count(_drdy_missed_perf);
}
// push backup schedule back
@@ -233,23 +231,25 @@ void MPU6000::RunImpl()
} else if (samples >= 1) {
if (FIFORead(now, samples)) {
success = true;
_consecutive_failures = 0;
if (_failure_count > 0) {
_failure_count--;
}
}
}
}
if (!success) {
_consecutive_failures++;
_total_failures++;
_failure_count++;
// full reset if things are failing consistently
if (_consecutive_failures > 100 || _total_failures > 1000) {
if (_failure_count > 10) {
Reset();
return;
}
}
if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 10_ms) {
if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
// check configuration registers periodically or immediately following any failure
if (RegisterCheck(_register_cfg[_checked_register])) {
_last_config_check_timestamp = now;
@@ -375,12 +375,12 @@ int MPU6000::DataReadyInterruptCallback(int irq, void *context, void *arg)
void MPU6000::DataReady()
{
const uint8_t count = _drdy_count.fetch_add(1) + 1;
uint8_t expected = 0;
uint32_t expected = 0;
// at least the required number of samples in the FIFO
if ((count >= _fifo_gyro_samples) && _drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
if (((_drdy_count.fetch_add(1) + 1) >= _fifo_gyro_samples)
&& _drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
_drdy_count.store(0);
ScheduleNow();
}
src/drivers/imu/invensense/mpu6000/MPU6000.hpp
+7 -8
View File
@@ -133,19 +133,18 @@ private:
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")};
perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")};
perf_counter_t _drdy_interval_perf{nullptr};
perf_counter_t _drdy_missed_perf{nullptr};
hrt_abstime _reset_timestamp{0};
hrt_abstime _last_config_check_timestamp{0};
hrt_abstime _temperature_update_timestamp{0};
unsigned _consecutive_failures{0};
unsigned _total_failures{0};
int _failure_count{0};
FIFO::DATA _fifo_sample_last_new_accel{};
int _fifo_accel_samples_count{0};
uint32_t _fifo_accel_samples_count{0};
px4::atomic<uint8_t> _drdy_fifo_read_samples{0};
px4::atomic<uint8_t> _drdy_count{0};
px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
px4::atomic<uint32_t> _drdy_count{0};
bool _data_ready_interrupt_enabled{false};
enum class STATE : uint8_t {
@@ -158,7 +157,7 @@ private:
STATE _state{STATE::RESET};
uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
uint8_t _fifo_gyro_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
uint8_t _checked_register{0};
static constexpr uint8_t size_register_cfg{7};
@@ -170,6 +169,6 @@ private:
{ Register::INT_PIN_CFG, INT_PIN_CFG_BIT::INT_LEVEL, 0 },
{ Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN, 0 },
{ Register::USER_CTRL, USER_CTRL_BIT::FIFO_EN | USER_CTRL_BIT::I2C_IF_DIS, 0 },
{ Register::PWR_MGMT_1, PWR_MGMT_1_BIT::CLKSEL_0, PWR_MGMT_1_BIT::DEVICE_RESET | PWR_MGMT_1_BIT::SLEEP },
{ Register::PWR_MGMT_1, PWR_MGMT_1_BIT::CLKSEL_0, PWR_MGMT_1_BIT::SLEEP },
};
};