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InvenSense ICM-40609-D IMU driver
This is another new InvenSense sensor with max output data rate of 32 kHz (both accel & gyro), on board anti-aliasing filter, and accel range 32G. Overall quite similar to the ICM-42688-P added in #14420, but with doubled accel range and without the optional high resolution output or clock sync.
This commit is contained in:
Daniel Agar
@@ -30,6 +30,7 @@ px4_add_board(
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imu/adis16497
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imu/invensense/icm20602
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imu/invensense/icm20608g
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imu/invensense/icm40609d
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#imu/invensense/mpu9250
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#imu/mpu6000 # legacy icm20602/icm20608g driver
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imu/mpu9250
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@@ -78,6 +78,8 @@
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#define DRV_GYR_DEVTYPE_BMI160 0x25
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#define DRV_IMU_DEVTYPE_ICM42688P 0x26
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#define DRV_IMU_DEVTYPE_ICM40609D 0x27
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#define DRV_RNG_DEVTYPE_MB12XX 0x31
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#define DRV_RNG_DEVTYPE_LL40LS 0x32
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#define DRV_ACC_DEVTYPE_MPU6050 0x33
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@@ -0,0 +1,46 @@
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############################################################################
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#
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# Copyright (c) 2020 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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px4_add_module(
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MODULE drivers__imu__invensense__icm40609d
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MAIN icm40609d
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COMPILE_FLAGS
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SRCS
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icm40609d_main.cpp
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ICM40609D.cpp
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ICM40609D.hpp
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InvenSense_ICM40609D_registers.hpp
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DEPENDS
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px4_work_queue
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drivers_accelerometer
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drivers_gyroscope
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)
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@@ -0,0 +1,668 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 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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#include "ICM40609D.hpp"
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#include <px4_platform/board_dma_alloc.h>
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using namespace time_literals;
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static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
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{
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return (msb << 8u) | lsb;
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}
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ICM40609D::ICM40609D(int bus, uint32_t device, enum Rotation rotation) :
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SPI(MODULE_NAME, nullptr, bus, device, SPIDEV_MODE3, SPI_SPEED),
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ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
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_px4_accel(get_device_id(), ORB_PRIO_VERY_HIGH, rotation),
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_px4_gyro(get_device_id(), ORB_PRIO_VERY_HIGH, rotation)
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{
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set_device_type(DRV_IMU_DEVTYPE_ICM40609D);
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_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM40609D);
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_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM40609D);
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ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
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}
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ICM40609D::~ICM40609D()
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{
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Stop();
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if (_dma_data_buffer != nullptr) {
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board_dma_free(_dma_data_buffer, FIFO::SIZE);
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}
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perf_free(_transfer_perf);
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perf_free(_bad_register_perf);
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perf_free(_bad_transfer_perf);
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perf_free(_fifo_empty_perf);
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perf_free(_fifo_overflow_perf);
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perf_free(_fifo_reset_perf);
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perf_free(_drdy_interval_perf);
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}
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bool ICM40609D::Init()
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{
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if (SPI::init() != PX4_OK) {
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PX4_ERR("SPI::init failed");
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return false;
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}
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// allocate DMA capable buffer
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_dma_data_buffer = (uint8_t *)board_dma_alloc(FIFO::SIZE);
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if (_dma_data_buffer == nullptr) {
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PX4_ERR("DMA alloc failed");
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return false;
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}
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return Reset();
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}
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void ICM40609D::Stop()
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{
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// wait until stopped
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while (_state.load() != STATE::STOPPED) {
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_state.store(STATE::REQUEST_STOP);
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ScheduleNow();
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px4_usleep(10);
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}
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}
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bool ICM40609D::Reset()
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{
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_state.store(STATE::RESET);
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ScheduleClear();
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ScheduleNow();
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return true;
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}
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void ICM40609D::PrintInfo()
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{
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PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us,
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static_cast<double>(1000000 / _fifo_empty_interval_us));
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perf_print_counter(_transfer_perf);
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perf_print_counter(_bad_register_perf);
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perf_print_counter(_bad_transfer_perf);
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perf_print_counter(_fifo_empty_perf);
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perf_print_counter(_fifo_overflow_perf);
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perf_print_counter(_fifo_reset_perf);
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perf_print_counter(_drdy_interval_perf);
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_px4_accel.print_status();
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_px4_gyro.print_status();
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}
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int ICM40609D::probe()
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{
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const uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
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if (whoami != WHOAMI) {
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PX4_WARN("unexpected WHO_AM_I 0x%02x", whoami);
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return PX4_ERROR;
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}
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return PX4_OK;
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}
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void ICM40609D::Run()
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{
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switch (_state.load()) {
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case STATE::RESET:
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// DEVICE_CONFIG: Software reset
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RegisterWrite(Register::BANK_0::DEVICE_CONFIG, DEVICE_CONFIG_BIT::SOFT_RESET_CONFIG);
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_reset_timestamp = hrt_absolute_time();
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_state.store(STATE::WAIT_FOR_RESET);
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ScheduleDelayed(1_ms); // wait 1 ms for soft reset to be effective
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break;
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case STATE::WAIT_FOR_RESET:
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if ((RegisterRead(Register::BANK_0::WHO_AM_I) == WHOAMI)) {
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// if reset succeeded then configure
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_state.store(STATE::CONFIGURE);
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ScheduleNow();
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} else {
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// RESET not complete
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if (hrt_elapsed_time(&_reset_timestamp) > 10_ms) {
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PX4_ERR("Reset failed, retrying");
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_state.store(STATE::RESET);
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ScheduleDelayed(10_ms);
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} else {
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PX4_DEBUG("Reset not complete, check again in 10 ms");
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ScheduleDelayed(10_ms);
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}
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}
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break;
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case STATE::CONFIGURE:
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if (Configure()) {
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// if configure succeeded then start reading from FIFO
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_state.store(STATE::FIFO_READ);
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if (DataReadyInterruptConfigure()) {
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_data_ready_interrupt_enabled = true;
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// backup schedule as a watchdog timeout
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ScheduleDelayed(10_ms);
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} else {
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_data_ready_interrupt_enabled = false;
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ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
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}
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FIFOReset();
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} else {
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PX4_DEBUG("Configure failed, retrying");
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// try again in 10 ms
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ScheduleDelayed(10_ms);
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}
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break;
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case STATE::FIFO_READ: {
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hrt_abstime timestamp_sample = 0;
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uint8_t samples = 0;
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if (_data_ready_interrupt_enabled) {
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// re-schedule as watchdog timeout
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ScheduleDelayed(10_ms);
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// timestamp set in data ready interrupt
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samples = _fifo_read_samples.load();
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timestamp_sample = _fifo_watermark_interrupt_timestamp;
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}
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bool failure = false;
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// manually check FIFO count if no samples from DRDY or timestamp looks bogus
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if (!_data_ready_interrupt_enabled || (samples == 0)
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|| (hrt_elapsed_time(×tamp_sample) > (_fifo_empty_interval_us / 2))) {
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// use the time now roughly corresponding with the last sample we'll pull from the FIFO
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timestamp_sample = hrt_absolute_time();
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const uint16_t fifo_count = FIFOReadCount();
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if (fifo_count == 0) {
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failure = true;
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perf_count(_fifo_empty_perf);
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}
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samples = fifo_count / sizeof(FIFO::DATA);
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}
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if (samples > FIFO_MAX_SAMPLES) {
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// not technically an overflow, but more samples than we expected or can publish
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perf_count(_fifo_overflow_perf);
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failure = true;
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FIFOReset();
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} else if (samples >= 1) {
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if (!FIFORead(timestamp_sample, samples)) {
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failure = true;
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_px4_accel.increase_error_count();
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_px4_gyro.increase_error_count();
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}
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}
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if (failure || hrt_elapsed_time(&_last_config_check_timestamp) > 10_ms) {
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// check BANK_0 registers incrementally
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if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0], true)) {
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_last_config_check_timestamp = timestamp_sample;
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_checked_register_bank0 = (_checked_register_bank0 + 1) % size_register_bank0_cfg;
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} else {
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// register check failed, force reconfigure
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PX4_DEBUG("Health check failed, reconfiguring");
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_state.store(STATE::CONFIGURE);
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ScheduleNow();
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}
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} else {
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// periodically update temperature (1 Hz)
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if (hrt_elapsed_time(&_temperature_update_timestamp) > 1_s) {
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UpdateTemperature();
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_temperature_update_timestamp = timestamp_sample;
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}
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}
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}
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break;
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case STATE::REQUEST_STOP:
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DataReadyInterruptDisable();
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ScheduleClear();
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_state.store(STATE::STOPPED);
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break;
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case STATE::STOPPED:
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// DO NOTHING
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break;
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}
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}
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void ICM40609D::ConfigureAccel()
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{
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const uint8_t ACCEL_FS_SEL = RegisterRead(Register::BANK_0::ACCEL_CONFIG0) & (Bit7 | Bit6 | Bit5); // 7:5 ACCEL_FS_SEL
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switch (ACCEL_FS_SEL) {
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case ACCEL_FS_SEL_4G:
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_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
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_px4_accel.set_range(4 * CONSTANTS_ONE_G);
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break;
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case ACCEL_FS_SEL_8G:
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_px4_accel.set_scale(CONSTANTS_ONE_G / 4096.f);
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_px4_accel.set_range(8 * CONSTANTS_ONE_G);
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break;
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case ACCEL_FS_SEL_16G:
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_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
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_px4_accel.set_range(16 * CONSTANTS_ONE_G);
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break;
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case ACCEL_FS_SEL_32G:
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_px4_accel.set_scale(CONSTANTS_ONE_G / 1024.f);
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_px4_accel.set_range(32 * CONSTANTS_ONE_G);
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break;
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}
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}
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void ICM40609D::ConfigureGyro()
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{
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const uint8_t GYRO_FS_SEL = RegisterRead(Register::BANK_0::GYRO_CONFIG0) & (Bit7 | Bit6 | Bit5); // 7:5 GYRO_FS_SEL
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switch (GYRO_FS_SEL) {
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case GYRO_FS_SEL_125_DPS:
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_px4_gyro.set_scale(math::radians(1.f / 262.f));
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_px4_gyro.set_range(math::radians(125.f));
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break;
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case GYRO_FS_SEL_250_DPS:
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_px4_gyro.set_scale(math::radians(1.f / 131.f));
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_px4_gyro.set_range(math::radians(250.f));
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break;
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case GYRO_FS_SEL_500_DPS:
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_px4_gyro.set_scale(math::radians(1.f / 65.5f));
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_px4_gyro.set_range(math::radians(500.f));
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break;
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case GYRO_FS_SEL_1000_DPS:
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_px4_gyro.set_scale(math::radians(1.f / 32.8f));
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_px4_gyro.set_range(math::radians(1000.f));
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break;
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case GYRO_FS_SEL_2000_DPS:
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_px4_gyro.set_scale(math::radians(1.f / 16.4f));
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_px4_gyro.set_range(math::radians(2000.0f));
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break;
|
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}
|
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}
|
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|
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void ICM40609D::ConfigureSampleRate(int sample_rate)
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{
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if (sample_rate == 0) {
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sample_rate = 2000; // default to 2 kHz
|
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}
|
||||
|
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static constexpr float sample_min_interval = 1e6f / GYRO_RATE;
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|
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_fifo_empty_interval_us = math::max(((1000000 / sample_rate) / sample_min_interval) * sample_min_interval,
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sample_min_interval); // round down to nearest sample_min_interval
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_fifo_gyro_samples = math::min(_fifo_empty_interval_us / (1000000 / GYRO_RATE), FIFO_MAX_SAMPLES);
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// recompute FIFO empty interval (us) with actual gyro sample limit
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_fifo_empty_interval_us = _fifo_gyro_samples * (1000000 / GYRO_RATE);
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_fifo_accel_samples = math::min(_fifo_empty_interval_us / (1000000 / ACCEL_RATE), FIFO_MAX_SAMPLES);
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_px4_accel.set_update_rate(1000000 / _fifo_empty_interval_us);
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_px4_gyro.set_update_rate(1000000 / _fifo_empty_interval_us);
|
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|
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// FIFO watermark threshold in number of bytes
|
||||
const uint16_t fifo_watermark_threshold = _fifo_gyro_samples * sizeof(FIFO::DATA);
|
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|
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for (auto &r : _register_bank0_cfg) {
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if (r.reg == Register::BANK_0::FIFO_CONFIG2) {
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// FIFO_WM[7:0] FIFO_CONFIG2
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r.set_bits = fifo_watermark_threshold & 0xFF;
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} else if (r.reg == Register::BANK_0::FIFO_CONFIG3) {
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// FIFO_WM[11:8] FIFO_CONFIG3
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r.set_bits = (fifo_watermark_threshold >> 8) & 0x0F;
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}
|
||||
}
|
||||
}
|
||||
|
||||
bool ICM40609D::Configure()
|
||||
{
|
||||
bool success = true;
|
||||
|
||||
for (const auto ® : _register_bank0_cfg) {
|
||||
if (!RegisterCheck(reg)) {
|
||||
success = false;
|
||||
}
|
||||
}
|
||||
|
||||
ConfigureAccel();
|
||||
ConfigureGyro();
|
||||
|
||||
return success;
|
||||
}
|
||||
|
||||
int ICM40609D::DataReadyInterruptCallback(int irq, void *context, void *arg)
|
||||
{
|
||||
static_cast<ICM40609D *>(arg)->DataReady();
|
||||
return 0;
|
||||
}
|
||||
|
||||
void ICM40609D::DataReady()
|
||||
{
|
||||
_fifo_watermark_interrupt_timestamp = hrt_absolute_time();
|
||||
_fifo_read_samples.store(_fifo_gyro_samples);
|
||||
ScheduleNow();
|
||||
perf_count(_drdy_interval_perf);
|
||||
}
|
||||
|
||||
bool ICM40609D::DataReadyInterruptConfigure()
|
||||
{
|
||||
int ret_setevent = -1;
|
||||
|
||||
// Setup data ready on falling edge
|
||||
// TODO: cleanup horrible DRDY define mess
|
||||
#if defined(GPIO_SPI1_DRDY1_ICM40609D)
|
||||
ret_setevent = px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ICM40609D, false, true, true,
|
||||
&ICM40609D::DataReadyInterruptCallback, this);
|
||||
#endif
|
||||
|
||||
return (ret_setevent == 0);
|
||||
}
|
||||
|
||||
bool ICM40609D::DataReadyInterruptDisable()
|
||||
{
|
||||
int ret_setevent = -1;
|
||||
|
||||
// Disable data ready callback
|
||||
// TODO: cleanup horrible DRDY define mess
|
||||
#if defined(GPIO_SPI1_DRDY1_ICM40609D)
|
||||
ret_setevent = px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ICM40609D, false, false, false, nullptr, nullptr);
|
||||
#endif
|
||||
|
||||
return (ret_setevent == 0);
|
||||
}
|
||||
|
||||
bool ICM40609D::RegisterCheck(const register_bank0_config_t ®_cfg, bool notify)
|
||||
{
|
||||
const uint8_t reg_value = RegisterRead(reg_cfg.reg);
|
||||
bool success = true;
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
if (!success) {
|
||||
RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
|
||||
|
||||
if (notify) {
|
||||
perf_count(_bad_register_perf);
|
||||
_px4_accel.increase_error_count();
|
||||
_px4_gyro.increase_error_count();
|
||||
}
|
||||
}
|
||||
|
||||
return success;
|
||||
}
|
||||
|
||||
uint8_t ICM40609D::RegisterRead(Register::BANK_0 reg)
|
||||
{
|
||||
uint8_t cmd[2] {};
|
||||
cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;
|
||||
transfer(cmd, cmd, sizeof(cmd));
|
||||
return cmd[1];
|
||||
}
|
||||
|
||||
void ICM40609D::RegisterWrite(Register::BANK_0 reg, uint8_t value)
|
||||
{
|
||||
uint8_t cmd[2] { (uint8_t)reg, value };
|
||||
transfer(cmd, cmd, sizeof(cmd));
|
||||
}
|
||||
|
||||
void ICM40609D::RegisterSetAndClearBits(Register::BANK_0 reg, uint8_t setbits, uint8_t clearbits)
|
||||
{
|
||||
const uint8_t orig_val = RegisterRead(reg);
|
||||
uint8_t val = orig_val;
|
||||
|
||||
if (setbits) {
|
||||
val |= setbits;
|
||||
}
|
||||
|
||||
if (clearbits) {
|
||||
val &= ~clearbits;
|
||||
}
|
||||
|
||||
RegisterWrite(reg, val);
|
||||
}
|
||||
|
||||
void ICM40609D::RegisterSetBits(Register::BANK_0 reg, uint8_t setbits)
|
||||
{
|
||||
RegisterSetAndClearBits(reg, setbits, 0);
|
||||
}
|
||||
|
||||
void ICM40609D::RegisterClearBits(Register::BANK_0 reg, uint8_t clearbits)
|
||||
{
|
||||
RegisterSetAndClearBits(reg, 0, clearbits);
|
||||
}
|
||||
|
||||
uint16_t ICM40609D::FIFOReadCount()
|
||||
{
|
||||
// read FIFO count
|
||||
uint8_t fifo_count_buf[3] {};
|
||||
fifo_count_buf[0] = static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ;
|
||||
|
||||
if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
|
||||
perf_count(_bad_transfer_perf);
|
||||
return 0;
|
||||
}
|
||||
|
||||
return combine(fifo_count_buf[1], fifo_count_buf[2]);
|
||||
}
|
||||
|
||||
bool ICM40609D::FIFORead(const hrt_abstime ×tamp_sample, uint16_t samples)
|
||||
{
|
||||
TransferBuffer *report = (TransferBuffer *)_dma_data_buffer;
|
||||
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, FIFO::SIZE);
|
||||
memset(report, 0, transfer_size);
|
||||
report->cmd = static_cast<uint8_t>(Register::BANK_0::INT_STATUS) | DIR_READ;
|
||||
|
||||
perf_begin(_transfer_perf);
|
||||
|
||||
if (transfer(_dma_data_buffer, _dma_data_buffer, transfer_size) != PX4_OK) {
|
||||
perf_end(_transfer_perf);
|
||||
perf_count(_bad_transfer_perf);
|
||||
return false;
|
||||
}
|
||||
|
||||
perf_end(_transfer_perf);
|
||||
|
||||
if (report->INT_STATUS & INT_STATUS_BIT::FIFO_FULL_INT) {
|
||||
perf_count(_fifo_overflow_perf);
|
||||
FIFOReset();
|
||||
}
|
||||
|
||||
const uint16_t fifo_count_bytes = combine(report->FIFO_COUNTH, report->FIFO_COUNTL);
|
||||
const uint16_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
|
||||
|
||||
if (fifo_count_samples == 0) {
|
||||
perf_count(_fifo_empty_perf);
|
||||
return false;
|
||||
}
|
||||
|
||||
// check FIFO header in every sample
|
||||
int valid_samples = 0;
|
||||
|
||||
for (int i = 0; i < math::min(samples, fifo_count_samples); i++) {
|
||||
bool valid = true;
|
||||
|
||||
// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
|
||||
const uint8_t FIFO_HEADER = report->f[i].FIFO_Header;
|
||||
|
||||
if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_MSG) {
|
||||
// FIFO sample empty if HEADER_MSG set
|
||||
valid = false;
|
||||
|
||||
} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ACCEL)) {
|
||||
// accel bit not set
|
||||
valid = false;
|
||||
|
||||
} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_GYRO)) {
|
||||
// gyro bit not set
|
||||
valid = false;
|
||||
}
|
||||
|
||||
if (valid) {
|
||||
valid_samples++;
|
||||
|
||||
} else {
|
||||
perf_count(_bad_transfer_perf);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (valid_samples > 0) {
|
||||
ProcessGyro(timestamp_sample, report, valid_samples);
|
||||
ProcessAccel(timestamp_sample, report, valid_samples);
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
void ICM40609D::FIFOReset()
|
||||
{
|
||||
perf_count(_fifo_reset_perf);
|
||||
|
||||
// SIGNAL_PATH_RESET: FIFO flush
|
||||
RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH);
|
||||
|
||||
// reset while FIFO is disabled
|
||||
_fifo_watermark_interrupt_timestamp = 0;
|
||||
_fifo_read_samples.store(0);
|
||||
}
|
||||
|
||||
void ICM40609D::ProcessAccel(const hrt_abstime ×tamp_sample, const TransferBuffer *const report, uint8_t samples)
|
||||
{
|
||||
PX4Accelerometer::FIFOSample accel;
|
||||
accel.timestamp_sample = timestamp_sample;
|
||||
accel.dt = _fifo_empty_interval_us / _fifo_accel_samples;
|
||||
|
||||
int accel_samples = 0;
|
||||
|
||||
for (int i = 0; i < samples; i++) {
|
||||
const FIFO::DATA &fifo_sample = report->f[i];
|
||||
int16_t accel_x = combine(fifo_sample.ACCEL_DATA_X1, fifo_sample.ACCEL_DATA_X0);
|
||||
int16_t accel_y = combine(fifo_sample.ACCEL_DATA_Y1, fifo_sample.ACCEL_DATA_Y0);
|
||||
int16_t accel_z = combine(fifo_sample.ACCEL_DATA_Z1, fifo_sample.ACCEL_DATA_Z0);
|
||||
|
||||
// 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)
|
||||
accel.x[accel_samples] = accel_x;
|
||||
accel.y[accel_samples] = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
|
||||
accel.z[accel_samples] = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
|
||||
accel_samples++;
|
||||
}
|
||||
|
||||
accel.samples = accel_samples;
|
||||
|
||||
_px4_accel.updateFIFO(accel);
|
||||
}
|
||||
|
||||
void ICM40609D::ProcessGyro(const hrt_abstime ×tamp_sample, const TransferBuffer *const report, uint8_t samples)
|
||||
{
|
||||
PX4Gyroscope::FIFOSample gyro;
|
||||
gyro.timestamp_sample = timestamp_sample;
|
||||
gyro.samples = samples;
|
||||
gyro.dt = _fifo_empty_interval_us / _fifo_gyro_samples;
|
||||
|
||||
for (int i = 0; i < samples; i++) {
|
||||
const FIFO::DATA &fifo_sample = report->f[i];
|
||||
|
||||
const int16_t gyro_x = combine(fifo_sample.GYRO_DATA_X1, fifo_sample.GYRO_DATA_X0);
|
||||
const int16_t gyro_y = combine(fifo_sample.GYRO_DATA_Y1, fifo_sample.GYRO_DATA_Y0);
|
||||
const int16_t gyro_z = combine(fifo_sample.GYRO_DATA_Z1, fifo_sample.GYRO_DATA_Z0);
|
||||
|
||||
// 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.updateFIFO(gyro);
|
||||
}
|
||||
|
||||
void ICM40609D::UpdateTemperature()
|
||||
{
|
||||
// read current temperature
|
||||
uint8_t temperature_buf[3] {};
|
||||
temperature_buf[0] = static_cast<uint8_t>(Register::BANK_0::TEMP_DATA1) | DIR_READ;
|
||||
|
||||
if (transfer(temperature_buf, temperature_buf, sizeof(temperature_buf)) != PX4_OK) {
|
||||
perf_count(_bad_transfer_perf);
|
||||
return;
|
||||
}
|
||||
|
||||
const int16_t TEMP_DATA = combine(temperature_buf[1], temperature_buf[2]);
|
||||
|
||||
// Temperature in Degrees Centigrade = (TEMP_DATA / 132.48) + 25
|
||||
const float TEMP_degC = (TEMP_DATA / TEMPERATURE_SENSITIVITY) + ROOM_TEMPERATURE_OFFSET;
|
||||
|
||||
if (PX4_ISFINITE(TEMP_degC)) {
|
||||
_px4_accel.set_temperature(TEMP_degC);
|
||||
_px4_gyro.set_temperature(TEMP_degC);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,172 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file ICM40609D.hpp
|
||||
*
|
||||
* Driver for the Invensense ICM40609D connected via SPI.
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "InvenSense_ICM40609D_registers.hpp"
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
|
||||
#include <lib/drivers/device/spi.h>
|
||||
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
|
||||
#include <lib/ecl/geo/geo.h>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
#include <px4_platform_common/atomic.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
|
||||
using namespace InvenSense_ICM40609D;
|
||||
|
||||
class ICM40609D : public device::SPI, public px4::ScheduledWorkItem
|
||||
{
|
||||
public:
|
||||
ICM40609D(int bus, uint32_t device, enum Rotation rotation = ROTATION_NONE);
|
||||
~ICM40609D() override;
|
||||
|
||||
bool Init();
|
||||
void Start();
|
||||
void Stop();
|
||||
bool Reset();
|
||||
void PrintInfo();
|
||||
|
||||
private:
|
||||
|
||||
static constexpr uint32_t GYRO_RATE{8000}; // 8 kHz gyro
|
||||
static constexpr uint32_t ACCEL_RATE{8000}; // 8 kHz accel
|
||||
static constexpr uint32_t FIFO_MAX_SAMPLES{ math::min(FIFO::SIZE / sizeof(FIFO::DATA) + 1, sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
|
||||
|
||||
// Transfer data
|
||||
struct TransferBuffer {
|
||||
uint8_t cmd;
|
||||
uint8_t INT_STATUS;
|
||||
uint8_t FIFO_COUNTH;
|
||||
uint8_t FIFO_COUNTL;
|
||||
FIFO::DATA f[FIFO_MAX_SAMPLES];
|
||||
};
|
||||
// ensure no struct padding
|
||||
static_assert(sizeof(TransferBuffer) == (4 * sizeof(uint8_t) + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
|
||||
|
||||
struct register_bank0_config_t {
|
||||
Register::BANK_0 reg;
|
||||
uint8_t set_bits{0};
|
||||
uint8_t clear_bits{0};
|
||||
};
|
||||
|
||||
int probe() override;
|
||||
|
||||
void Run() override;
|
||||
|
||||
bool Configure();
|
||||
void ConfigureAccel();
|
||||
void ConfigureGyro();
|
||||
void ConfigureSampleRate(int sample_rate);
|
||||
|
||||
static int DataReadyInterruptCallback(int irq, void *context, void *arg);
|
||||
void DataReady();
|
||||
bool DataReadyInterruptConfigure();
|
||||
bool DataReadyInterruptDisable();
|
||||
|
||||
bool RegisterCheck(const register_bank0_config_t ®_cfg, bool notify = false);
|
||||
uint8_t RegisterRead(Register::BANK_0 reg);
|
||||
void RegisterWrite(Register::BANK_0 reg, uint8_t value);
|
||||
void RegisterSetAndClearBits(Register::BANK_0 reg, uint8_t setbits, uint8_t clearbits);
|
||||
void RegisterSetBits(Register::BANK_0 reg, uint8_t setbits);
|
||||
void RegisterClearBits(Register::BANK_0 reg, uint8_t clearbits);
|
||||
|
||||
uint16_t FIFOReadCount();
|
||||
bool FIFORead(const hrt_abstime ×tamp_sample, uint16_t samples);
|
||||
void FIFOReset();
|
||||
|
||||
void ProcessAccel(const hrt_abstime ×tamp_sample, const TransferBuffer *const buffer, uint8_t samples);
|
||||
void ProcessGyro(const hrt_abstime ×tamp_sample, const TransferBuffer *const buffer, uint8_t samples);
|
||||
void UpdateTemperature();
|
||||
|
||||
uint8_t *_dma_data_buffer{nullptr};
|
||||
|
||||
PX4Accelerometer _px4_accel;
|
||||
PX4Gyroscope _px4_gyro;
|
||||
|
||||
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
|
||||
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
|
||||
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
|
||||
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{perf_alloc(PC_INTERVAL, MODULE_NAME": DRDY interval")};
|
||||
|
||||
hrt_abstime _reset_timestamp{0};
|
||||
hrt_abstime _last_config_check_timestamp{0};
|
||||
hrt_abstime _fifo_watermark_interrupt_timestamp{0};
|
||||
hrt_abstime _temperature_update_timestamp{0};
|
||||
|
||||
px4::atomic<uint8_t> _fifo_read_samples{0};
|
||||
bool _data_ready_interrupt_enabled{false};
|
||||
|
||||
enum class STATE : uint8_t {
|
||||
RESET,
|
||||
WAIT_FOR_RESET,
|
||||
CONFIGURE,
|
||||
FIFO_READ,
|
||||
REQUEST_STOP,
|
||||
STOPPED,
|
||||
};
|
||||
|
||||
px4::atomic<STATE> _state{STATE::RESET};
|
||||
|
||||
uint16_t _fifo_empty_interval_us{500}; // default 500 us / 2000 Hz transfer interval
|
||||
uint8_t _fifo_gyro_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
|
||||
uint8_t _fifo_accel_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / ACCEL_RATE))};
|
||||
|
||||
uint8_t _checked_register_bank0{0};
|
||||
static constexpr uint8_t size_register_bank0_cfg{11};
|
||||
register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] {
|
||||
// Register | Set bits, Clear bits
|
||||
{ Register::BANK_0::INT_CONFIG, INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY },
|
||||
{ Register::BANK_0::FIFO_CONFIG, FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 },
|
||||
{ Register::BANK_0::PWR_MGMT0, PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE, 0 },
|
||||
{ Register::BANK_0::GYRO_CONFIG0, GYRO_CONFIG0_BIT::GYRO_ODR_8kHz, Bit7 | Bit6 | Bit5 | Bit3 | Bit2 },
|
||||
{ Register::BANK_0::ACCEL_CONFIG0, ACCEL_CONFIG0_BIT::ACCEL_ODR_8kHz, Bit7 | Bit6 | Bit5 | Bit3 | Bit2 },
|
||||
{ Register::BANK_0::FIFO_CONFIG1, FIFO_CONFIG1_BIT::FIFO_WM_GT_TH | FIFO_CONFIG1_BIT::FIFO_GYRO_EN | FIFO_CONFIG1_BIT::FIFO_ACCEL_EN, FIFO_CONFIG1_BIT::FIFO_TEMP_EN },
|
||||
{ Register::BANK_0::FIFO_CONFIG2, 0, 0 }, // FIFO_WM[7:0] set at runtime
|
||||
{ Register::BANK_0::FIFO_CONFIG3, 0, 0 }, // FIFO_WM[11:8] set at runtime
|
||||
{ Register::BANK_0::INT_CONFIG0, INT_CONFIG0_BIT::CLEAR_ON_FIFO_READ, 0 },
|
||||
{ Register::BANK_0::INT_SOURCE0, INT_SOURCE0_BIT::FIFO_THS_INT1_EN, 0 },
|
||||
};
|
||||
|
||||
};
|
||||
@@ -0,0 +1,238 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file InvenSense_ICM40609D_registers.hpp
|
||||
*
|
||||
* Invensense ICM-40609-D registers.
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
// TODO: move to a central header
|
||||
static constexpr uint8_t Bit0 = (1 << 0);
|
||||
static constexpr uint8_t Bit1 = (1 << 1);
|
||||
static constexpr uint8_t Bit2 = (1 << 2);
|
||||
static constexpr uint8_t Bit3 = (1 << 3);
|
||||
static constexpr uint8_t Bit4 = (1 << 4);
|
||||
static constexpr uint8_t Bit5 = (1 << 5);
|
||||
static constexpr uint8_t Bit6 = (1 << 6);
|
||||
static constexpr uint8_t Bit7 = (1 << 7);
|
||||
|
||||
namespace InvenSense_ICM40609D
|
||||
{
|
||||
static constexpr uint32_t SPI_SPEED = 24 * 1000 * 1000; // 24 MHz SPI
|
||||
static constexpr uint8_t DIR_READ = 0x80;
|
||||
|
||||
static constexpr uint8_t WHOAMI = 0x3B;
|
||||
|
||||
static constexpr float TEMPERATURE_SENSITIVITY = 132.48f; // LSB/C
|
||||
static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C
|
||||
|
||||
namespace Register
|
||||
{
|
||||
|
||||
enum class BANK_0 : uint8_t {
|
||||
DEVICE_CONFIG = 0x11,
|
||||
|
||||
INT_CONFIG = 0x14,
|
||||
|
||||
FIFO_CONFIG = 0x16,
|
||||
|
||||
TEMP_DATA1 = 0x1D,
|
||||
TEMP_DATA0 = 0x1E,
|
||||
|
||||
INT_STATUS = 0x2D,
|
||||
FIFO_COUNTH = 0x2E,
|
||||
FIFO_COUNTL = 0x2F,
|
||||
FIFO_DATA = 0x30,
|
||||
|
||||
SIGNAL_PATH_RESET = 0x4B,
|
||||
|
||||
PWR_MGMT0 = 0x4E,
|
||||
GYRO_CONFIG0 = 0x4F,
|
||||
ACCEL_CONFIG0 = 0x50,
|
||||
|
||||
FIFO_CONFIG1 = 0x5F,
|
||||
FIFO_CONFIG2 = 0x60,
|
||||
FIFO_CONFIG3 = 0x61,
|
||||
|
||||
INT_CONFIG0 = 0x63,
|
||||
|
||||
INT_SOURCE0 = 0x65,
|
||||
|
||||
WHO_AM_I = 0x75,
|
||||
REG_BANK_SEL = 0x76,
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
//---------------- BANK0 Register bits
|
||||
|
||||
// DEVICE_CONFIG
|
||||
enum DEVICE_CONFIG_BIT : uint8_t {
|
||||
SOFT_RESET_CONFIG = Bit0, //
|
||||
};
|
||||
|
||||
// INT_CONFIG
|
||||
enum INT_CONFIG_BIT : uint8_t {
|
||||
INT1_MODE = Bit2,
|
||||
INT1_DRIVE_CIRCUIT = Bit1,
|
||||
INT1_POLARITY = Bit0,
|
||||
};
|
||||
|
||||
// FIFO_CONFIG
|
||||
enum FIFO_CONFIG_BIT : uint8_t {
|
||||
// 7:6 FIFO_MODE
|
||||
FIFO_MODE_STOP_ON_FULL = Bit7 | Bit6, // 11: STOP-on-FULL Mode
|
||||
};
|
||||
|
||||
// INT_STATUS
|
||||
enum INT_STATUS_BIT : uint8_t {
|
||||
DATA_RDY_INT = Bit3,
|
||||
FIFO_THS_INT = Bit2,
|
||||
FIFO_FULL_INT = Bit1,
|
||||
};
|
||||
|
||||
// SIGNAL_PATH_RESET
|
||||
enum SIGNAL_PATH_RESET_BIT : uint8_t {
|
||||
FIFO_FLUSH = Bit1,
|
||||
};
|
||||
|
||||
// PWR_MGMT0
|
||||
enum PWR_MGMT0_BIT : uint8_t {
|
||||
GYRO_MODE_LOW_NOISE = Bit3 | Bit2, // 11: Places gyroscope in Low Noise (LN) Mode
|
||||
ACCEL_MODE_LOW_NOISE = Bit1 | Bit0, // 11: Places accelerometer in Low Noise (LN) Mode
|
||||
};
|
||||
|
||||
// GYRO_CONFIG0
|
||||
enum GYRO_CONFIG0_BIT : uint8_t {
|
||||
// 7:5 GYRO_FS_SEL
|
||||
GYRO_FS_SEL_2000_DPS = 0, // 0b000 = 000: ±2000dps (default)
|
||||
GYRO_FS_SEL_1000_DPS = Bit5, // 0b001 = ±1000 dps
|
||||
GYRO_FS_SEL_500_DPS = Bit6, // 0b010 = ±500 dps
|
||||
GYRO_FS_SEL_250_DPS = Bit6 | Bit5, // 0b011 = ±250 dps
|
||||
GYRO_FS_SEL_125_DPS = Bit7, // 0b100 = ±125 dps
|
||||
|
||||
// 3:0 GYRO_ODR
|
||||
GYRO_ODR_32kHz = Bit0, // 0001: 32kHz
|
||||
GYRO_ODR_16kHz = Bit1, // 0010: 16kHz
|
||||
GYRO_ODR_8kHz = Bit1 | Bit0, // 0011: 8kHz
|
||||
GYRO_ODR_4kHz = Bit2, // 0100: 4kHz
|
||||
GYRO_ODR_2kHz = Bit2 | Bit0, // 0101: 2kHz
|
||||
GYRO_ODR_1kHz = Bit2 | Bit1, // 0110: 1kHz (default)
|
||||
};
|
||||
|
||||
// ACCEL_CONFIG0
|
||||
enum ACCEL_CONFIG0_BIT : uint8_t {
|
||||
// 7:5 ACCEL_FS_SEL
|
||||
ACCEL_FS_SEL_32G = 0, // 000: ±32g (default)
|
||||
ACCEL_FS_SEL_16G = Bit5, // 001: ±16g
|
||||
ACCEL_FS_SEL_8G = Bit6, // 010: ±8g
|
||||
ACCEL_FS_SEL_4G = Bit6 | Bit5, // 011: ±4g
|
||||
|
||||
// 3:0 ACCEL_ODR
|
||||
ACCEL_ODR_32kHz = Bit0, // 0001: 32kHz
|
||||
ACCEL_ODR_16kHz = Bit1, // 0010: 16kHz
|
||||
ACCEL_ODR_8kHz = Bit1 | Bit0, // 0011: 8kHz
|
||||
ACCEL_ODR_4kHz = Bit2, // 0100: 4kHz
|
||||
ACCEL_ODR_2kHz = Bit2 | Bit0, // 0101: 2kHz
|
||||
ACCEL_ODR_1kHz = Bit2 | Bit1, // 0110: 1kHz (default)
|
||||
};
|
||||
|
||||
// FIFO_CONFIG1
|
||||
enum FIFO_CONFIG1_BIT : uint8_t {
|
||||
FIFO_RESUME_PARTIAL_RD = Bit6,
|
||||
FIFO_WM_GT_TH = Bit5,
|
||||
|
||||
FIFO_TEMP_EN = Bit2,
|
||||
FIFO_GYRO_EN = Bit1,
|
||||
FIFO_ACCEL_EN = Bit0,
|
||||
};
|
||||
|
||||
// INT_CONFIG0
|
||||
enum INT_CONFIG0_BIT : uint8_t {
|
||||
// 3:2 FIFO_THS_INT_CLEAR
|
||||
CLEAR_ON_FIFO_READ = Bit3,
|
||||
};
|
||||
|
||||
// INT_SOURCE0
|
||||
enum INT_SOURCE0_BIT : uint8_t {
|
||||
UI_DRDY_INT1_EN = Bit3,
|
||||
FIFO_THS_INT1_EN = Bit2, // FIFO threshold interrupt routed to INT1
|
||||
FIFO_FULL_INT1_EN = Bit1,
|
||||
};
|
||||
|
||||
namespace FIFO
|
||||
{
|
||||
static constexpr size_t SIZE = 2048;
|
||||
|
||||
// FIFO_DATA layout when FIFO_CONFIG1 has FIFO_GYRO_EN and FIFO_ACCEL_EN set
|
||||
|
||||
// Packet 3
|
||||
struct DATA {
|
||||
uint8_t FIFO_Header;
|
||||
uint8_t ACCEL_DATA_X1;
|
||||
uint8_t ACCEL_DATA_X0;
|
||||
uint8_t ACCEL_DATA_Y1;
|
||||
uint8_t ACCEL_DATA_Y0;
|
||||
uint8_t ACCEL_DATA_Z1;
|
||||
uint8_t ACCEL_DATA_Z0;
|
||||
uint8_t GYRO_DATA_X1;
|
||||
uint8_t GYRO_DATA_X0;
|
||||
uint8_t GYRO_DATA_Y1;
|
||||
uint8_t GYRO_DATA_Y0;
|
||||
uint8_t GYRO_DATA_Z1;
|
||||
uint8_t GYRO_DATA_Z0;
|
||||
uint8_t temperature; // Temperature[7:0]
|
||||
uint8_t timestamp_l;
|
||||
uint8_t timestamp_h;
|
||||
};
|
||||
static_assert(sizeof(DATA) == 16, "FIFO packet 16 bytes");
|
||||
|
||||
// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
|
||||
enum FIFO_HEADER_BIT : uint8_t {
|
||||
HEADER_MSG = Bit7, // 1: FIFO is empty
|
||||
HEADER_ACCEL = Bit6,
|
||||
HEADER_GYRO = Bit5,
|
||||
|
||||
HEADER_TIMESTAMP_FSYNC = Bit3 | Bit2,
|
||||
HEADER_ODR_ACCEL = Bit1,
|
||||
HEADER_ODR_GYRO = Bit0,
|
||||
};
|
||||
|
||||
}
|
||||
} // namespace InvenSense_ICM40609D
|
||||
@@ -0,0 +1,151 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 "ICM40609D.hpp"
|
||||
|
||||
#include <px4_platform_common/getopt.h>
|
||||
|
||||
namespace icm40609d
|
||||
{
|
||||
ICM40609D *g_dev{nullptr};
|
||||
|
||||
static int start(enum Rotation rotation)
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
PX4_WARN("already started");
|
||||
return 0;
|
||||
}
|
||||
|
||||
// create the driver
|
||||
#if defined(PX4_SPI_BUS_SENSORS) && defined(PX4_SPIDEV_ICM_40609D)
|
||||
g_dev = new ICM40609D(PX4_SPI_BUS_SENSORS, PX4_SPIDEV_ICM_40609D, rotation);
|
||||
#endif
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
PX4_ERR("driver start failed");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (!g_dev->Init()) {
|
||||
PX4_ERR("driver init failed");
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int stop()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
PX4_WARN("driver not running");
|
||||
return -1;
|
||||
}
|
||||
|
||||
g_dev->Stop();
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int reset()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
PX4_WARN("driver not running");
|
||||
return 0;
|
||||
}
|
||||
|
||||
return g_dev->Reset();
|
||||
}
|
||||
|
||||
static int status()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
PX4_INFO("driver not running");
|
||||
return 0;
|
||||
}
|
||||
|
||||
g_dev->PrintInfo();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int usage()
|
||||
{
|
||||
PX4_INFO("missing command: try 'start', 'stop', 'reset', 'status'");
|
||||
PX4_INFO("options:");
|
||||
PX4_INFO(" -R rotation");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
} // namespace icm40609d
|
||||
|
||||
extern "C" int icm40609d_main(int argc, char *argv[])
|
||||
{
|
||||
enum Rotation rotation = ROTATION_NONE;
|
||||
int myoptind = 1;
|
||||
int ch = 0;
|
||||
const char *myoptarg = nullptr;
|
||||
|
||||
// start options
|
||||
while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
rotation = (enum Rotation)atoi(myoptarg);
|
||||
break;
|
||||
|
||||
default:
|
||||
return icm40609d::usage();
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = argv[myoptind];
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
return icm40609d::start(rotation);
|
||||
|
||||
} else if (!strcmp(verb, "stop")) {
|
||||
return icm40609d::stop();
|
||||
|
||||
} else if (!strcmp(verb, "status")) {
|
||||
return icm40609d::status();
|
||||
|
||||
} else if (!strcmp(verb, "reset")) {
|
||||
return icm40609d::reset();
|
||||
}
|
||||
|
||||
return icm40609d::usage();
|
||||
}
|
||||
Reference in New Issue
Block a user