InvenSense MPU9250 move to PX4Accelerometer and PX4Gyroscope helpers

2026-11-03 01:41:37 +08:00 · 2019-05-31 21:43:30 -04:00
parent cd45d8fc68
commit 32fb2bae8c
15 changed files with 134 additions and 1214 deletions
@@ -0,0 +1,114 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mag_i2c.cpp
+ *
+ * I2C interface for AK8963
+ */
+
+#include <px4_config.h>
+#include <drivers/device/i2c.h>
+#include <drivers/drv_device.h>
+
+#include "mpu9250.h"
+#include "MPU9250_mag.h"
+
+#ifdef USE_I2C
+
+device::Device *AK8963_I2C_interface(int bus, bool external_bus);
+
+class AK8963_I2C : public device::I2C
+{
+public:
+	AK8963_I2C(int bus);
+	~AK8963_I2C() override = default;
+
+	int	read(unsigned address, void *data, unsigned count) override;
+	int	write(unsigned address, void *data, unsigned count) override;
+
+protected:
+	int	probe() override;
+
+};
+
+device::Device *
+AK8963_I2C_interface(int bus, bool external_bus)
+{
+	return new AK8963_I2C(bus);
+}
+
+AK8963_I2C::AK8963_I2C(int bus) : I2C("AK8963_I2C", nullptr, bus, AK8963_I2C_ADDR, 400000)
+{
+	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_MPU9250;
+}
+
+int
+AK8963_I2C::write(unsigned reg_speed, void *data, unsigned count)
+{
+	uint8_t cmd[MPU_MAX_WRITE_BUFFER_SIZE];
+
+	if (sizeof(cmd) < (count + 1)) {
+		return -EIO;
+	}
+
+	cmd[0] = MPU9250_REG(reg_speed);
+	cmd[1] = *(uint8_t *)data;
+	return transfer(&cmd[0], count + 1, nullptr, 0);
+}
+
+int
+AK8963_I2C::read(unsigned reg_speed, void *data, unsigned count)
+{
+	uint8_t cmd = MPU9250_REG(reg_speed);
+	return transfer(&cmd, 1, (uint8_t *)data, count);
+}
+
+int
+AK8963_I2C::probe()
+{
+	uint8_t whoami = 0;
+	uint8_t expected = AK8963_DEVICE_ID;
+
+	if (PX4_OK != read(AK8963REG_WIA, &whoami, 1)) {
+		return -EIO;
+	}
+
+	if (whoami != expected) {
+		return -EIO;
+	}
+
+	return OK;
+}
+
+#endif