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refactor mpu6000: use driver base class

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This commit is contained in:
Beat Küng 2020-03-18 17:39:38 +01:00 committed by Daniel Agar
parent 571451942d
commit 1df0fe03d7
3 changed files with 112 additions and 137 deletions
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75
src/drivers/imu/invensense/mpu6000/MPU6000.cpp
View File

@ -46,9 +46,11 @@ static constexpr uint32_t FIFO_INTERVAL{1000}; // 1000 us / 1000 Hz interval
static constexpr uint32_t FIFO_GYRO_SAMPLES{FIFO_INTERVAL / (1000000 / GYRO_RATE)};
static constexpr uint32_t FIFO_ACCEL_SAMPLES{FIFO_INTERVAL / (1000000 / ACCEL_RATE)};
MPU6000::MPU6000(int bus, uint32_t device, enum Rotation rotation) :
SPI(MODULE_NAME, nullptr, bus, device, SPIDEV_MODE3, SPI_SPEED),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
MPU6000::MPU6000(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) :
SPI(MODULE_NAME, nullptr, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_VERY_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_VERY_HIGH, rotation)
{
@ -62,8 +64,6 @@ MPU6000::MPU6000(int bus, uint32_t device, enum Rotation rotation) :
MPU6000::~MPU6000()
{
Stop();
perf_free(_transfer_perf);
perf_free(_fifo_empty_perf);
perf_free(_fifo_overflow_perf);
@ -76,28 +76,41 @@ int MPU6000::probe()
const uint8_t whoami = RegisterRead(Register::WHO_AM_I);
if (whoami != WHOAMI) {
PX4_WARN("unexpected WHO_AM_I 0x%02x", whoami);
DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
return PX4_ERROR;
}
return PX4_OK;
}
bool MPU6000::Init()
void MPU6000::exit_and_cleanup()
{
if (SPI::init() != PX4_OK) {
PX4_ERR("SPI::init failed");
return false;
if (_drdy_gpio != 0) {
// Disable data ready callback
px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr);
RegisterClearBits(Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN);
}
I2CSPIDriverBase::exit_and_cleanup();
}
int MPU6000::init()
{
int ret = SPI::init();
if (ret != PX4_OK) {
DEVICE_DEBUG("SPI::init failed (%i)", ret);
return ret;
}
if (!Reset()) {
PX4_ERR("reset failed");
return false;
DEVICE_DEBUG("reset failed");
return PX4_ERROR;
}
Start();
return true;
return PX4_OK;
}
bool MPU6000::Reset()
@ -211,33 +224,20 @@ void MPU6000::DataReady()
void MPU6000::Start()
{
Stop();
ResetFIFO();
// TODO: cleanup horrible DRDY define mess
#if defined(GPIO_SPI1_EXTI_MPU_DRDY)
// Setup data ready on rising edge
px4_arch_gpiosetevent(GPIO_SPI1_EXTI_MPU_DRDY, true, false, true, &MPU6000::DataReadyInterruptCallback, this);
RegisterSetBits(Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN);
#else
ScheduleOnInterval(FIFO_INTERVAL, FIFO_INTERVAL);
#endif
if (_drdy_gpio == 0) {
ScheduleOnInterval(FIFO_INTERVAL, FIFO_INTERVAL);
} else {
// Setup data ready on rising edge
px4_arch_gpiosetevent(_drdy_gpio, true, false, true, &MPU6000::DataReadyInterruptCallback, this);
RegisterSetBits(Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN);
}
}
void MPU6000::Stop()
{
// TODO: cleanup horrible DRDY define mess
#if defined(GPIO_SPI1_EXTI_MPU_DRDY)
// Disable data ready callback
px4_arch_gpiosetevent(GPIO_SPI1_EXTI_MPU_DRDY, false, false, false, nullptr, nullptr);
RegisterClearBits(Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN);
#else
ScheduleClear();
#endif
}
void MPU6000::Run()
void MPU6000::RunImpl()
{
// use timestamp from the data ready interrupt if available,
// otherwise use the time now roughly corresponding with the last sample we'll pull from the FIFO
@ -338,8 +338,9 @@ void MPU6000::Run()
_px4_accel.updateFIFO(accel);
}
void MPU6000::PrintInfo()
void MPU6000::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_transfer_perf);
perf_print_counter(_fifo_empty_perf);
perf_print_counter(_fifo_overflow_perf);

30
src/drivers/imu/invensense/mpu6000/MPU6000.hpp
View File

@ -48,22 +48,32 @@
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/ecl/geo/geo.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/i2c_spi_buses.h>
using InvenSense_MPU6000::Register;
class MPU6000 : public device::SPI, public px4::ScheduledWorkItem
class MPU6000 : public device::SPI, public I2CSPIDriver<MPU6000>
{
public:
MPU6000(int bus, uint32_t device, enum Rotation rotation = ROTATION_NONE);
MPU6000(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);
~MPU6000() override;
bool Init();
void Start();
void Stop();
bool Reset();
void PrintInfo();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
void RunImpl();
int init() override;
void print_status() override;
void Start();
bool Reset();
protected:
void custom_method(const BusCLIArguments &cli) override;
void exit_and_cleanup() override;
private:
// Transfer data
@ -79,8 +89,6 @@ private:
static int DataReadyInterruptCallback(int irq, void *context, void *arg);
void DataReady();
void Run() override;
uint8_t RegisterRead(Register reg);
void RegisterWrite(Register reg, uint8_t value);
void RegisterSetBits(Register reg, uint8_t setbits);
@ -88,6 +96,8 @@ private:
void ResetFIFO();
const spi_drdy_gpio_t _drdy_gpio;
PX4Accelerometer _px4_accel;
PX4Gyroscope _px4_gyro;

144
src/drivers/imu/invensense/mpu6000/mpu6000_main.cpp
View File

@ -34,120 +34,84 @@
#include "MPU6000.hpp"
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
namespace mpu6000
void
MPU6000::print_usage()
{
MPU6000 *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_MPU)
g_dev = new MPU6000(PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU, rotation);
#elif defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU)
g_dev = new MPU6000(PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, 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;
PRINT_MODULE_USAGE_NAME("mpu6000", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_COMMAND("reset");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
static int stop()
I2CSPIDriverBase *MPU6000::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
if (g_dev == nullptr) {
PX4_WARN("driver not running");
return -1;
MPU6000 *instance = new MPU6000(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
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;
if (OK != instance->init()) {
delete instance;
return nullptr;
}
return g_dev->Reset();
return instance;
}
static int status()
void MPU6000::custom_method(const BusCLIArguments &cli)
{
if (g_dev == nullptr) {
PX4_INFO("driver not running");
return 0;
}
g_dev->PrintInfo();
return 0;
Reset();
}
static int usage()
{
PX4_INFO("missing command: try 'start', 'stop', 'reset', 'status'");
PX4_INFO("options:");
PX4_INFO(" -R rotation");
return 0;
}
} // namespace mpu6000
extern "C" int mpu6000_main(int argc, char *argv[])
{
enum Rotation rotation = ROTATION_NONE;
int myoptind = 1;
int ch = 0;
const char *myoptarg = nullptr;
int ch;
using ThisDriver = MPU6000;
BusCLIArguments cli{false, true};
cli.default_spi_frequency = InvenSense_MPU6000::SPI_SPEED;
// start options
while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
switch (ch) {
case 'R':
rotation = (enum Rotation)atoi(myoptarg);
cli.rotation = (enum Rotation)atoi(cli.optarg());
break;
default:
return mpu6000::usage();
}
}
const char *verb = argv[myoptind];
const char *verb = cli.optarg();
if (!strcmp(verb, "start")) {
return mpu6000::start(rotation);
} else if (!strcmp(verb, "stop")) {
return mpu6000::stop();
} else if (!strcmp(verb, "status")) {
return mpu6000::status();
} else if (!strcmp(verb, "reset")) {
return mpu6000::reset();
if (!verb) {
ThisDriver::print_usage();
return -1;
}
return mpu6000::usage();
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_MPU6000);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
}
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
if (!strcmp(verb, "reset")) {
return ThisDriver::module_custom_method(cli, iterator);
}
ThisDriver::print_usage();
return -1;
}