diff --git a/src/drivers/mpu9250/module.mk b/src/drivers/mpu9250/module.mk new file mode 100644 index 0000000000..80ee992da4 --- /dev/null +++ b/src/drivers/mpu9250/module.mk @@ -0,0 +1,46 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 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. +# +############################################################################ + +# +# Makefile to build the MPU6000 driver. +# + +MODULE_COMMAND = mpu9250 + +SRCS = mpu9250.cpp + +MODULE_STACKSIZE = 1200 + +EXTRACXXFLAGS = -Weffc++ + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/mpu9250/mpu9250.cpp b/src/drivers/mpu9250/mpu9250.cpp new file mode 100644 index 0000000000..248c4b038f --- /dev/null +++ b/src/drivers/mpu9250/mpu9250.cpp @@ -0,0 +1,2070 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2015 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 mpu9250.cpp + * + * Driver for the Invensense MPU9250 connected via SPI. + * + * @author Andrew Tridgell + * + * based on the mpu6000 driver + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include + +#define DIR_READ 0x80 +#define DIR_WRITE 0x00 + +#define MPU_DEVICE_PATH_ACCEL "/dev/mpu9250_accel" +#define MPU_DEVICE_PATH_GYRO "/dev/mpu9250_gyro" +#define MPU_DEVICE_PATH_ACCEL_EXT "/dev/mpu9250_accel_ext" +#define MPU_DEVICE_PATH_GYRO_EXT "/dev/mpu9250_gyro_ext" + +// MPU 9250 registers +#define MPUREG_WHOAMI 0x75 +#define MPUREG_SMPLRT_DIV 0x19 +#define MPUREG_CONFIG 0x1A +#define MPUREG_GYRO_CONFIG 0x1B +#define MPUREG_ACCEL_CONFIG 0x1C +#define MPUREG_ACCEL_CONFIG2 0x1D +#define MPUREG_LPACCEL_ODR 0x1E +#define MPUREG_WOM_THRESH 0x1F +#define MPUREG_FIFO_EN 0x23 +#define MPUREG_I2C_MST_CTRL 0x24 +#define MPUREG_I2C_SLV0_ADDR 0x25 +#define MPUREG_I2C_SLV0_REG 0x26 +#define MPUREG_I2C_SLV0_CTRL 0x27 +#define MPUREG_I2C_SLV1_ADDR 0x28 +#define MPUREG_I2C_SLV1_REG 0x29 +#define MPUREG_I2C_SLV1_CTRL 0x2A +#define MPUREG_I2C_SLV2_ADDR 0x2B +#define MPUREG_I2C_SLV2_REG 0x2C +#define MPUREG_I2C_SLV2_CTRL 0x2D +#define MPUREG_I2C_SLV3_ADDR 0x2E +#define MPUREG_I2C_SLV3_REG 0x2F +#define MPUREG_I2C_SLV3_CTRL 0x30 +#define MPUREG_I2C_SLV4_ADDR 0x31 +#define MPUREG_I2C_SLV4_REG 0x32 +#define MPUREG_I2C_SLV4_DO 0x33 +#define MPUREG_I2C_SLV4_CTRL 0x34 +#define MPUREG_I2C_SLV4_DI 0x35 +#define MPUREG_I2C_MST_STATUS 0x36 +#define MPUREG_INT_PIN_CFG 0x37 +#define MPUREG_INT_ENABLE 0x38 +#define MPUREG_INT_STATUS 0x3A +#define MPUREG_ACCEL_XOUT_H 0x3B +#define MPUREG_ACCEL_XOUT_L 0x3C +#define MPUREG_ACCEL_YOUT_H 0x3D +#define MPUREG_ACCEL_YOUT_L 0x3E +#define MPUREG_ACCEL_ZOUT_H 0x3F +#define MPUREG_ACCEL_ZOUT_L 0x40 +#define MPUREG_TEMP_OUT_H 0x41 +#define MPUREG_TEMP_OUT_L 0x42 +#define MPUREG_GYRO_XOUT_H 0x43 +#define MPUREG_GYRO_XOUT_L 0x44 +#define MPUREG_GYRO_YOUT_H 0x45 +#define MPUREG_GYRO_YOUT_L 0x46 +#define MPUREG_GYRO_ZOUT_H 0x47 +#define MPUREG_GYRO_ZOUT_L 0x48 +#define MPUREG_EXT_SENS_DATA_00 0x49 +#define MPUREG_I2C_SLV0_D0 0x63 +#define MPUREG_I2C_SLV1_D0 0x64 +#define MPUREG_I2C_SLV2_D0 0x65 +#define MPUREG_I2C_SLV3_D0 0x66 +#define MPUREG_I2C_MST_DELAY_CTRL 0x67 +#define MPUREG_SIGNAL_PATH_RESET 0x68 +#define MPUREG_MOT_DETECT_CTRL 0x69 +#define MPUREG_USER_CTRL 0x6A +#define MPUREG_PWR_MGMT_1 0x6B +#define MPUREG_PWR_MGMT_2 0x6C +#define MPUREG_FIFO_COUNTH 0x72 +#define MPUREG_FIFO_COUNTL 0x73 +#define MPUREG_FIFO_R_W 0x74 + +// Configuration bits MPU 9250 +#define BIT_SLEEP 0x40 +#define BIT_H_RESET 0x80 +#define MPU_CLK_SEL_AUTO 0x01 + +#define BITS_GYRO_ST_X 0x80 +#define BITS_GYRO_ST_Y 0x40 +#define BITS_GYRO_ST_Z 0x20 +#define BITS_FS_250DPS 0x00 +#define BITS_FS_500DPS 0x08 +#define BITS_FS_1000DPS 0x10 +#define BITS_FS_2000DPS 0x18 +#define BITS_FS_MASK 0x18 + +#define BITS_DLPF_CFG_250HZ 0x00 +#define BITS_DLPF_CFG_184HZ 0x01 +#define BITS_DLPF_CFG_92HZ 0x02 +#define BITS_DLPF_CFG_41HZ 0x03 +#define BITS_DLPF_CFG_20HZ 0x04 +#define BITS_DLPF_CFG_10HZ 0x05 +#define BITS_DLPF_CFG_5HZ 0x06 +#define BITS_DLPF_CFG_3600HZ 0x07 +#define BITS_DLPF_CFG_MASK 0x07 + +#define BIT_RAW_RDY_EN 0x01 +#define BIT_INT_ANYRD_2CLEAR 0x10 + +#define MPU_WHOAMI_9250 0x71 + +#define MPU9250_DEFAULT_ONCHIP_FILTER_FREQ 41 +#define MPU9250_ACCEL_DEFAULT_RATE 1000 +#define MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30 +#define MPU9250_GYRO_DEFAULT_RATE 1000 +#define MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ 30 + +#define MPU9250_ONE_G 9.80665f + +#ifdef PX4_SPI_BUS_EXT +#define EXTERNAL_BUS PX4_SPI_BUS_EXT +#else +#define EXTERNAL_BUS 0 +#endif + +/* + the MPU9250 can only handle high SPI bus speeds on the sensor and + interrupt status registers. All other registers have a maximum 1MHz + SPI speed + */ +#define MPU9250_LOW_BUS_SPEED 1000*1000 +#define MPU9250_HIGH_BUS_SPEED 11*1000*1000 + +/* + we set the timer interrupt to run a bit faster than the desired + sample rate and then throw away duplicates by comparing + accelerometer values. This time reduction is enough to cope with + worst case timing jitter due to other timers + */ +#define MPU9250_TIMER_REDUCTION 200 + +class MPU9250_gyro; + +class MPU9250 : public device::SPI +{ +public: + MPU9250(int bus, const char *path_accel, const char *path_gyro, spi_dev_e device, enum Rotation rotation); + virtual ~MPU9250(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + + void print_registers(); + + // deliberately cause a sensor error + void test_error(); + +protected: + virtual int probe(); + + friend class MPU9250_gyro; + + virtual ssize_t gyro_read(struct file *filp, char *buffer, size_t buflen); + virtual int gyro_ioctl(struct file *filp, int cmd, unsigned long arg); + +private: + MPU9250_gyro *_gyro; + uint8_t _whoami; /** whoami result */ + + struct hrt_call _call; + unsigned _call_interval; + + ringbuffer::RingBuffer *_accel_reports; + + struct accel_scale _accel_scale; + float _accel_range_scale; + float _accel_range_m_s2; + orb_advert_t _accel_topic; + int _accel_orb_class_instance; + int _accel_class_instance; + + ringbuffer::RingBuffer *_gyro_reports; + + struct gyro_scale _gyro_scale; + float _gyro_range_scale; + float _gyro_range_rad_s; + + unsigned _dlpf_freq; + + unsigned _sample_rate; + perf_counter_t _accel_reads; + perf_counter_t _gyro_reads; + perf_counter_t _sample_perf; + perf_counter_t _bad_transfers; + perf_counter_t _bad_registers; + perf_counter_t _good_transfers; + perf_counter_t _reset_retries; + perf_counter_t _duplicates; + perf_counter_t _system_latency_perf; + perf_counter_t _controller_latency_perf; + + uint8_t _register_wait; + uint64_t _reset_wait; + + math::LowPassFilter2p _accel_filter_x; + math::LowPassFilter2p _accel_filter_y; + math::LowPassFilter2p _accel_filter_z; + math::LowPassFilter2p _gyro_filter_x; + math::LowPassFilter2p _gyro_filter_y; + math::LowPassFilter2p _gyro_filter_z; + + enum Rotation _rotation; + + // this is used to support runtime checking of key + // configuration registers to detect SPI bus errors and sensor + // reset +#define MPU9250_NUM_CHECKED_REGISTERS 11 + static const uint8_t _checked_registers[MPU9250_NUM_CHECKED_REGISTERS]; + uint8_t _checked_values[MPU9250_NUM_CHECKED_REGISTERS]; + uint8_t _checked_bad[MPU9250_NUM_CHECKED_REGISTERS]; + uint8_t _checked_next; + + // last temperature reading for print_info() + float _last_temperature; + + // keep last accel reading for duplicate detection + uint16_t _last_accel[3]; + bool _got_duplicate; + + /** + * Start automatic measurement. + */ + void start(); + + /** + * Stop automatic measurement. + */ + void stop(); + + /** + * Reset chip. + * + * Resets the chip and measurements ranges, but not scale and offset. + */ + int reset(); + + /** + * Static trampoline from the hrt_call context; because we don't have a + * generic hrt wrapper yet. + * + * Called by the HRT in interrupt context at the specified rate if + * automatic polling is enabled. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void measure_trampoline(void *arg); + + /** + * Fetch measurements from the sensor and update the report buffers. + */ + void measure(); + + /** + * Read a register from the MPU9250 + * + * @param The register to read. + * @return The value that was read. + */ + uint8_t read_reg(unsigned reg, uint32_t speed=MPU9250_LOW_BUS_SPEED); + uint16_t read_reg16(unsigned reg); + + /** + * Write a register in the MPU9250 + * + * @param reg The register to write. + * @param value The new value to write. + */ + void write_reg(unsigned reg, uint8_t value); + + /** + * Modify a register in the MPU9250 + * + * Bits are cleared before bits are set. + * + * @param reg The register to modify. + * @param clearbits Bits in the register to clear. + * @param setbits Bits in the register to set. + */ + void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits); + + /** + * Write a register in the MPU9250, updating _checked_values + * + * @param reg The register to write. + * @param value The new value to write. + */ + void write_checked_reg(unsigned reg, uint8_t value); + + /** + * Set the MPU9250 measurement range. + * + * @param max_g The maximum G value the range must support. + * @return OK if the value can be supported, -ERANGE otherwise. + */ + int set_accel_range(unsigned max_g); + + /** + * Swap a 16-bit value read from the MPU9250 to native byte order. + */ + uint16_t swap16(uint16_t val) { return (val >> 8) | (val << 8); } + + /** + * Get the internal / external state + * + * @return true if the sensor is not on the main MCU board + */ + bool is_external() { return (_bus == EXTERNAL_BUS); } + + /** + * Measurement self test + * + * @return 0 on success, 1 on failure + */ + int self_test(); + + /** + * Accel self test + * + * @return 0 on success, 1 on failure + */ + int accel_self_test(); + + /** + * Gyro self test + * + * @return 0 on success, 1 on failure + */ + int gyro_self_test(); + + /* + set low pass filter frequency + */ + void _set_dlpf_filter(uint16_t frequency_hz); + + /* + set sample rate (approximate) - 1kHz to 5Hz + */ + void _set_sample_rate(unsigned desired_sample_rate_hz); + + /* + check that key registers still have the right value + */ + void check_registers(void); + + /* do not allow to copy this class due to pointer data members */ + MPU9250(const MPU9250&); + MPU9250 operator=(const MPU9250&); + +#pragma pack(push, 1) + /** + * Report conversation within the MPU9250, including command byte and + * interrupt status. + */ + struct MPUReport { + uint8_t cmd; + uint8_t status; + uint8_t accel_x[2]; + uint8_t accel_y[2]; + uint8_t accel_z[2]; + uint8_t temp[2]; + uint8_t gyro_x[2]; + uint8_t gyro_y[2]; + uint8_t gyro_z[2]; + }; +#pragma pack(pop) +}; + +/* + list of registers that will be checked in check_registers(). Note + that MPUREG_PRODUCT_ID must be first in the list. + */ +const uint8_t MPU9250::_checked_registers[MPU9250_NUM_CHECKED_REGISTERS] = { MPUREG_WHOAMI, + MPUREG_PWR_MGMT_1, + MPUREG_PWR_MGMT_2, + MPUREG_USER_CTRL, + MPUREG_SMPLRT_DIV, + MPUREG_CONFIG, + MPUREG_GYRO_CONFIG, + MPUREG_ACCEL_CONFIG, + MPUREG_ACCEL_CONFIG2, + MPUREG_INT_ENABLE, + MPUREG_INT_PIN_CFG }; + + + +/** + * Helper class implementing the gyro driver node. + */ +class MPU9250_gyro : public device::CDev +{ +public: + MPU9250_gyro(MPU9250 *parent, const char *path); + ~MPU9250_gyro(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + virtual int init(); + +protected: + friend class MPU9250; + + void parent_poll_notify(); + +private: + MPU9250 *_parent; + orb_advert_t _gyro_topic; + int _gyro_orb_class_instance; + int _gyro_class_instance; + + /* do not allow to copy this class due to pointer data members */ + MPU9250_gyro(const MPU9250_gyro&); + MPU9250_gyro operator=(const MPU9250_gyro&); +}; + +/** driver 'main' command */ +extern "C" { __EXPORT int mpu9250_main(int argc, char *argv[]); } + +MPU9250::MPU9250(int bus, const char *path_accel, const char *path_gyro, spi_dev_e device, enum Rotation rotation) : + SPI("MPU9250", path_accel, bus, device, SPIDEV_MODE3, MPU9250_LOW_BUS_SPEED), + _gyro(new MPU9250_gyro(this, path_gyro)), + _whoami(0), + _call{}, + _call_interval(0), + _accel_reports(nullptr), + _accel_scale{}, + _accel_range_scale(0.0f), + _accel_range_m_s2(0.0f), + _accel_topic(nullptr), + _accel_orb_class_instance(-1), + _accel_class_instance(-1), + _gyro_reports(nullptr), + _gyro_scale{}, + _gyro_range_scale(0.0f), + _gyro_range_rad_s(0.0f), + _dlpf_freq(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ), + _sample_rate(1000), + _accel_reads(perf_alloc(PC_COUNT, "mpu9250_accel_read")), + _gyro_reads(perf_alloc(PC_COUNT, "mpu9250_gyro_read")), + _sample_perf(perf_alloc(PC_ELAPSED, "mpu9250_read")), + _bad_transfers(perf_alloc(PC_COUNT, "mpu9250_bad_transfers")), + _bad_registers(perf_alloc(PC_COUNT, "mpu9250_bad_registers")), + _good_transfers(perf_alloc(PC_COUNT, "mpu9250_good_transfers")), + _reset_retries(perf_alloc(PC_COUNT, "mpu9250_reset_retries")), + _duplicates(perf_alloc(PC_COUNT, "mpu9250_duplicates")), + _system_latency_perf(perf_alloc_once(PC_ELAPSED, "sys_latency")), + _controller_latency_perf(perf_alloc_once(PC_ELAPSED, "ctrl_latency")), + _register_wait(0), + _reset_wait(0), + _accel_filter_x(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), + _accel_filter_y(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), + _accel_filter_z(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), + _gyro_filter_x(MPU9250_GYRO_DEFAULT_RATE, MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ), + _gyro_filter_y(MPU9250_GYRO_DEFAULT_RATE, MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ), + _gyro_filter_z(MPU9250_GYRO_DEFAULT_RATE, MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ), + _rotation(rotation), + _checked_next(0), + _last_temperature(0), + _last_accel{}, + _got_duplicate(false) +{ + // disable debug() calls + _debug_enabled = false; + + _device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250; + + /* Prime _gyro with parents devid. */ + _gyro->_device_id.devid = _device_id.devid; + _gyro->_device_id.devid_s.devtype = DRV_GYR_DEVTYPE_MPU9250; + + // default accel scale factors + _accel_scale.x_offset = 0; + _accel_scale.x_scale = 1.0f; + _accel_scale.y_offset = 0; + _accel_scale.y_scale = 1.0f; + _accel_scale.z_offset = 0; + _accel_scale.z_scale = 1.0f; + + // default gyro scale factors + _gyro_scale.x_offset = 0; + _gyro_scale.x_scale = 1.0f; + _gyro_scale.y_offset = 0; + _gyro_scale.y_scale = 1.0f; + _gyro_scale.z_offset = 0; + _gyro_scale.z_scale = 1.0f; + + memset(&_call, 0, sizeof(_call)); +} + +MPU9250::~MPU9250() +{ + /* make sure we are truly inactive */ + stop(); + + /* delete the gyro subdriver */ + delete _gyro; + + /* free any existing reports */ + if (_accel_reports != nullptr) + delete _accel_reports; + if (_gyro_reports != nullptr) + delete _gyro_reports; + + if (_accel_class_instance != -1) + unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _accel_class_instance); + + /* delete the perf counter */ + perf_free(_sample_perf); + perf_free(_accel_reads); + perf_free(_gyro_reads); + perf_free(_bad_transfers); + perf_free(_bad_registers); + perf_free(_good_transfers); + perf_free(_reset_retries); + perf_free(_duplicates); +} + +int +MPU9250::init() +{ + int ret; + + /* do SPI init (and probe) first */ + ret = SPI::init(); + + /* if probe/setup failed, bail now */ + if (ret != OK) { + DEVICE_DEBUG("SPI setup failed"); + return ret; + } + + /* allocate basic report buffers */ + _accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report)); + if (_accel_reports == nullptr) + goto out; + + _gyro_reports = new ringbuffer::RingBuffer(2, sizeof(gyro_report)); + if (_gyro_reports == nullptr) + goto out; + + if (reset() != OK) + goto out; + + /* Initialize offsets and scales */ + _accel_scale.x_offset = 0; + _accel_scale.x_scale = 1.0f; + _accel_scale.y_offset = 0; + _accel_scale.y_scale = 1.0f; + _accel_scale.z_offset = 0; + _accel_scale.z_scale = 1.0f; + + _gyro_scale.x_offset = 0; + _gyro_scale.x_scale = 1.0f; + _gyro_scale.y_offset = 0; + _gyro_scale.y_scale = 1.0f; + _gyro_scale.z_offset = 0; + _gyro_scale.z_scale = 1.0f; + + + /* do CDev init for the gyro device node, keep it optional */ + ret = _gyro->init(); + /* if probe/setup failed, bail now */ + if (ret != OK) { + DEVICE_DEBUG("gyro init failed"); + return ret; + } + + _accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH); + + measure(); + + /* advertise sensor topic, measure manually to initialize valid report */ + struct accel_report arp; + _accel_reports->get(&arp); + + /* measurement will have generated a report, publish */ + _accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp, + &_accel_orb_class_instance, (is_external()) ? ORB_PRIO_MAX : ORB_PRIO_HIGH); + + if (_accel_topic == nullptr) { + warnx("ADVERT FAIL"); + } + + + /* advertise sensor topic, measure manually to initialize valid report */ + struct gyro_report grp; + _gyro_reports->get(&grp); + + _gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp, + &_gyro->_gyro_orb_class_instance, (is_external()) ? ORB_PRIO_MAX : ORB_PRIO_HIGH); + + if (_gyro->_gyro_topic == nullptr) { + warnx("ADVERT FAIL"); + } + +out: + return ret; +} + +int MPU9250::reset() +{ + write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET); + up_udelay(10000); + + write_checked_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_AUTO); + up_udelay(1000); + + write_checked_reg(MPUREG_PWR_MGMT_2, 0); + up_udelay(1000); + + // SAMPLE RATE + _set_sample_rate(_sample_rate); + usleep(1000); + + // FS & DLPF FS=2000 deg/s, DLPF = 20Hz (low pass filter) + // was 90 Hz, but this ruins quality and does not improve the + // system response + _set_dlpf_filter(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ); + usleep(1000); + + // Gyro scale 2000 deg/s () + write_checked_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS); + usleep(1000); + + // correct gyro scale factors + // scale to rad/s in SI units + // 2000 deg/s = (2000/180)*PI = 34.906585 rad/s + // scaling factor: + // 1/(2^15)*(2000/180)*PI + _gyro_range_scale = (0.0174532 / 16.4);//1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F); + _gyro_range_rad_s = (2000.0f / 180.0f) * M_PI_F; + + set_accel_range(16); + + usleep(1000); + + // INT CFG => Interrupt on Data Ready + write_checked_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN); // INT: Raw data ready + usleep(1000); + write_checked_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read + usleep(1000); + + uint8_t retries = 10; + while (retries--) { + bool all_ok = true; + for (uint8_t i=0; i200) div=200; + if(div<1) div=1; + write_checked_reg(MPUREG_SMPLRT_DIV, div-1); + _sample_rate = 1000 / div; +} + +/* + set the DLPF filter frequency. This affects both accel and gyro. + */ +void +MPU9250::_set_dlpf_filter(uint16_t frequency_hz) +{ + uint8_t filter; + + /* + choose next highest filter frequency available + */ + if (frequency_hz == 0) { + _dlpf_freq = 0; + filter = BITS_DLPF_CFG_3600HZ; + } else if (frequency_hz <= 5) { + _dlpf_freq = 5; + filter = BITS_DLPF_CFG_5HZ; + } else if (frequency_hz <= 10) { + _dlpf_freq = 10; + filter = BITS_DLPF_CFG_10HZ; + } else if (frequency_hz <= 20) { + _dlpf_freq = 20; + filter = BITS_DLPF_CFG_20HZ; + } else if (frequency_hz <= 41) { + _dlpf_freq = 41; + filter = BITS_DLPF_CFG_41HZ; + } else if (frequency_hz <= 92) { + _dlpf_freq = 92; + filter = BITS_DLPF_CFG_92HZ; + } else if (frequency_hz <= 184) { + _dlpf_freq = 184; + filter = BITS_DLPF_CFG_184HZ; + } else if (frequency_hz <= 250) { + _dlpf_freq = 250; + filter = BITS_DLPF_CFG_250HZ; + } else { + _dlpf_freq = 0; + filter = BITS_DLPF_CFG_3600HZ; + } + write_checked_reg(MPUREG_CONFIG, filter); +} + +ssize_t +MPU9250::read(struct file *filp, char *buffer, size_t buflen) +{ + unsigned count = buflen / sizeof(accel_report); + + /* buffer must be large enough */ + if (count < 1) + return -ENOSPC; + + /* if automatic measurement is not enabled, get a fresh measurement into the buffer */ + if (_call_interval == 0) { + _accel_reports->flush(); + measure(); + } + + /* if no data, error (we could block here) */ + if (_accel_reports->empty()) + return -EAGAIN; + + perf_count(_accel_reads); + + /* copy reports out of our buffer to the caller */ + accel_report *arp = reinterpret_cast(buffer); + int transferred = 0; + while (count--) { + if (!_accel_reports->get(arp)) + break; + transferred++; + arp++; + } + + /* return the number of bytes transferred */ + return (transferred * sizeof(accel_report)); +} + +int +MPU9250::self_test() +{ + if (perf_event_count(_sample_perf) == 0) { + measure(); + } + + /* return 0 on success, 1 else */ + return (perf_event_count(_sample_perf) > 0) ? 0 : 1; +} + +int +MPU9250::accel_self_test() +{ + if (self_test()) + return 1; + + /* inspect accel offsets */ + if (fabsf(_accel_scale.x_offset) < 0.000001f) + return 1; + if (fabsf(_accel_scale.x_scale - 1.0f) > 0.4f || fabsf(_accel_scale.x_scale - 1.0f) < 0.000001f) + return 1; + + if (fabsf(_accel_scale.y_offset) < 0.000001f) + return 1; + if (fabsf(_accel_scale.y_scale - 1.0f) > 0.4f || fabsf(_accel_scale.y_scale - 1.0f) < 0.000001f) + return 1; + + if (fabsf(_accel_scale.z_offset) < 0.000001f) + return 1; + if (fabsf(_accel_scale.z_scale - 1.0f) > 0.4f || fabsf(_accel_scale.z_scale - 1.0f) < 0.000001f) + return 1; + + return 0; +} + +int +MPU9250::gyro_self_test() +{ + if (self_test()) + return 1; + + /* + * Maximum deviation of 20 degrees, according to + * http://www.invensense.com/mems/gyro/documents/PS-MPU-9250A-00v3.4.pdf + * Section 6.1, initial ZRO tolerance + */ + const float max_offset = 0.34f; + /* 30% scale error is chosen to catch completely faulty units but + * to let some slight scale error pass. Requires a rate table or correlation + * with mag rotations + data fit to + * calibrate properly and is not done by default. + */ + const float max_scale = 0.3f; + + /* evaluate gyro offsets, complain if offset -> zero or larger than 20 dps. */ + if (fabsf(_gyro_scale.x_offset) > max_offset) + return 1; + + /* evaluate gyro scale, complain if off by more than 30% */ + if (fabsf(_gyro_scale.x_scale - 1.0f) > max_scale) + return 1; + + if (fabsf(_gyro_scale.y_offset) > max_offset) + return 1; + if (fabsf(_gyro_scale.y_scale - 1.0f) > max_scale) + return 1; + + if (fabsf(_gyro_scale.z_offset) > max_offset) + return 1; + if (fabsf(_gyro_scale.z_scale - 1.0f) > max_scale) + return 1; + + /* check if all scales are zero */ + if ((fabsf(_gyro_scale.x_offset) < 0.000001f) && + (fabsf(_gyro_scale.y_offset) < 0.000001f) && + (fabsf(_gyro_scale.z_offset) < 0.000001f)) { + /* if all are zero, this device is not calibrated */ + return 1; + } + + return 0; +} + + + +/* + deliberately trigger an error in the sensor to trigger recovery + */ +void +MPU9250::test_error() +{ + // deliberately trigger an error. This was noticed during + // development as a handy way to test the reset logic + uint8_t data[16]; + memset(data, 0, sizeof(data)); + transfer(data, data, sizeof(data)); + ::printf("error triggered\n"); + print_registers(); +} + +ssize_t +MPU9250::gyro_read(struct file *filp, char *buffer, size_t buflen) +{ + unsigned count = buflen / sizeof(gyro_report); + + /* buffer must be large enough */ + if (count < 1) + return -ENOSPC; + + /* if automatic measurement is not enabled, get a fresh measurement into the buffer */ + if (_call_interval == 0) { + _gyro_reports->flush(); + measure(); + } + + /* if no data, error (we could block here) */ + if (_gyro_reports->empty()) + return -EAGAIN; + + perf_count(_gyro_reads); + + /* copy reports out of our buffer to the caller */ + gyro_report *grp = reinterpret_cast(buffer); + int transferred = 0; + while (count--) { + if (!_gyro_reports->get(grp)) + break; + transferred++; + grp++; + } + + /* return the number of bytes transferred */ + return (transferred * sizeof(gyro_report)); +} + +int +MPU9250::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case SENSORIOCRESET: + return reset(); + + case SENSORIOCSPOLLRATE: { + switch (arg) { + + /* switching to manual polling */ + case SENSOR_POLLRATE_MANUAL: + stop(); + _call_interval = 0; + return OK; + + /* external signalling not supported */ + case SENSOR_POLLRATE_EXTERNAL: + + /* zero would be bad */ + case 0: + return -EINVAL; + + /* set default/max polling rate */ + case SENSOR_POLLRATE_MAX: + return ioctl(filp, SENSORIOCSPOLLRATE, 1000); + + case SENSOR_POLLRATE_DEFAULT: + return ioctl(filp, SENSORIOCSPOLLRATE, MPU9250_ACCEL_DEFAULT_RATE); + + /* adjust to a legal polling interval in Hz */ + default: { + /* do we need to start internal polling? */ + bool want_start = (_call_interval == 0); + + /* convert hz to hrt interval via microseconds */ + unsigned ticks = 1000000 / arg; + + /* check against maximum sane rate */ + if (ticks < 1000) + return -EINVAL; + + // adjust filters + float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq(); + float sample_rate = 1.0e6f/ticks; + _set_dlpf_filter(cutoff_freq_hz); + _accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz); + _accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz); + _accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz); + + + float cutoff_freq_hz_gyro = _gyro_filter_x.get_cutoff_freq(); + _set_dlpf_filter(cutoff_freq_hz_gyro); + _gyro_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro); + _gyro_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro); + _gyro_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro); + + /* update interval for next measurement */ + /* XXX this is a bit shady, but no other way to adjust... */ + _call_interval = ticks; + + /* + set call interval faster then the sample time. We + then detect when we have duplicate samples and reject + them. This prevents aliasing due to a beat between the + stm32 clock and the mpu9250 clock + */ + _call.period = _call_interval - MPU9250_TIMER_REDUCTION; + + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); + + return OK; + } + } + } + + case SENSORIOCGPOLLRATE: + if (_call_interval == 0) + return SENSOR_POLLRATE_MANUAL; + + return 1000000 / _call_interval; + + case SENSORIOCSQUEUEDEPTH: { + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 1) || (arg > 100)) + return -EINVAL; + + irqstate_t flags = irqsave(); + if (!_accel_reports->resize(arg)) { + irqrestore(flags); + return -ENOMEM; + } + irqrestore(flags); + + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _accel_reports->size(); + + case ACCELIOCGSAMPLERATE: + return _sample_rate; + + case ACCELIOCSSAMPLERATE: + _set_sample_rate(arg); + return OK; + + case ACCELIOCGLOWPASS: + return _accel_filter_x.get_cutoff_freq(); + + case ACCELIOCSLOWPASS: + // set software filtering + _accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg); + _accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg); + _accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg); + return OK; + + case ACCELIOCSSCALE: + { + /* copy scale, but only if off by a few percent */ + struct accel_scale *s = (struct accel_scale *) arg; + float sum = s->x_scale + s->y_scale + s->z_scale; + if (sum > 2.0f && sum < 4.0f) { + memcpy(&_accel_scale, s, sizeof(_accel_scale)); + return OK; + } else { + return -EINVAL; + } + } + + case ACCELIOCGSCALE: + /* copy scale out */ + memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale)); + return OK; + + case ACCELIOCSRANGE: + return set_accel_range(arg); + + case ACCELIOCGRANGE: + return (unsigned long)((_accel_range_m_s2)/MPU9250_ONE_G + 0.5f); + + case ACCELIOCSELFTEST: + return accel_self_test(); + +#ifdef ACCELIOCSHWLOWPASS + case ACCELIOCSHWLOWPASS: + _set_dlpf_filter(arg); + return OK; +#endif + +#ifdef ACCELIOCGHWLOWPASS + case ACCELIOCGHWLOWPASS: + return _dlpf_freq; +#endif + + + default: + /* give it to the superclass */ + return SPI::ioctl(filp, cmd, arg); + } +} + +int +MPU9250::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + /* these are shared with the accel side */ + case SENSORIOCSPOLLRATE: + case SENSORIOCGPOLLRATE: + case SENSORIOCRESET: + return ioctl(filp, cmd, arg); + + case SENSORIOCSQUEUEDEPTH: { + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 1) || (arg > 100)) + return -EINVAL; + + irqstate_t flags = irqsave(); + if (!_gyro_reports->resize(arg)) { + irqrestore(flags); + return -ENOMEM; + } + irqrestore(flags); + + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _gyro_reports->size(); + + case GYROIOCGSAMPLERATE: + return _sample_rate; + + case GYROIOCSSAMPLERATE: + _set_sample_rate(arg); + return OK; + + case GYROIOCGLOWPASS: + return _gyro_filter_x.get_cutoff_freq(); + + case GYROIOCSLOWPASS: + // set software filtering + _gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg); + _gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg); + _gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg); + return OK; + + case GYROIOCSSCALE: + /* copy scale in */ + memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale)); + return OK; + + case GYROIOCGSCALE: + /* copy scale out */ + memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale)); + return OK; + + case GYROIOCSRANGE: + /* XXX not implemented */ + // XXX change these two values on set: + // _gyro_range_scale = xx + // _gyro_range_rad_s = xx + return -EINVAL; + case GYROIOCGRANGE: + return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f); + + case GYROIOCSELFTEST: + return gyro_self_test(); + +#ifdef GYROIOCSHWLOWPASS + case GYROIOCSHWLOWPASS: + _set_dlpf_filter(arg); + return OK; +#endif + +#ifdef GYROIOCGHWLOWPASS + case GYROIOCGHWLOWPASS: + return _dlpf_freq; +#endif + + default: + /* give it to the superclass */ + return SPI::ioctl(filp, cmd, arg); + } +} + +uint8_t +MPU9250::read_reg(unsigned reg, uint32_t speed) +{ + uint8_t cmd[2] = { (uint8_t)(reg | DIR_READ), 0}; + + // general register transfer at low clock speed + set_frequency(speed); + + transfer(cmd, cmd, sizeof(cmd)); + + return cmd[1]; +} + +uint16_t +MPU9250::read_reg16(unsigned reg) +{ + uint8_t cmd[3] = { (uint8_t)(reg | DIR_READ), 0, 0 }; + + // general register transfer at low clock speed + set_frequency(MPU9250_LOW_BUS_SPEED); + + transfer(cmd, cmd, sizeof(cmd)); + + return (uint16_t)(cmd[1] << 8) | cmd[2]; +} + +void +MPU9250::write_reg(unsigned reg, uint8_t value) +{ + uint8_t cmd[2]; + + cmd[0] = reg | DIR_WRITE; + cmd[1] = value; + + // general register transfer at low clock speed + set_frequency(MPU9250_LOW_BUS_SPEED); + + transfer(cmd, nullptr, sizeof(cmd)); +} + +void +MPU9250::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) +{ + uint8_t val; + + val = read_reg(reg); + val &= ~clearbits; + val |= setbits; + write_reg(reg, val); +} + +void +MPU9250::write_checked_reg(unsigned reg, uint8_t value) +{ + write_reg(reg, value); + for (uint8_t i=0; i 8) { // 16g - AFS_SEL = 3 + afs_sel = 3; + lsb_per_g = 2048; + max_accel_g = 16; + } else if (max_g_in > 4) { // 8g - AFS_SEL = 2 + afs_sel = 2; + lsb_per_g = 4096; + max_accel_g = 8; + } else if (max_g_in > 2) { // 4g - AFS_SEL = 1 + afs_sel = 1; + lsb_per_g = 8192; + max_accel_g = 4; + } else { // 2g - AFS_SEL = 0 + afs_sel = 0; + lsb_per_g = 16384; + max_accel_g = 2; + } + + write_checked_reg(MPUREG_ACCEL_CONFIG, afs_sel << 3); + _accel_range_scale = (MPU9250_ONE_G / lsb_per_g); + _accel_range_m_s2 = max_accel_g * MPU9250_ONE_G; + + return OK; +} + +void +MPU9250::start() +{ + /* make sure we are stopped first */ + stop(); + + /* discard any stale data in the buffers */ + _accel_reports->flush(); + _gyro_reports->flush(); + + /* start polling at the specified rate */ + hrt_call_every(&_call, + 1000, + _call_interval-MPU9250_TIMER_REDUCTION, + (hrt_callout)&MPU9250::measure_trampoline, this); +} + +void +MPU9250::stop() +{ + hrt_cancel(&_call); +} + +void +MPU9250::measure_trampoline(void *arg) +{ + MPU9250 *dev = reinterpret_cast(arg); + + /* make another measurement */ + dev->measure(); +} + +void +MPU9250::check_registers(void) +{ + /* + we read the register at full speed, even though it isn't + listed as a high speed register. The low speed requirement + for some registers seems to be a propgation delay + requirement for changing sensor configuration, which should + not apply to reading a single register. It is also a better + test of SPI bus health to read at the same speed as we read + the data registers. + */ + uint8_t v; + if ((v=read_reg(_checked_registers[_checked_next], MPU9250_HIGH_BUS_SPEED)) != + _checked_values[_checked_next]) { + _checked_bad[_checked_next] = v; + + /* + if we get the wrong value then we know the SPI bus + or sensor is very sick. We set _register_wait to 20 + and wait until we have seen 20 good values in a row + before we consider the sensor to be OK again. + */ + perf_count(_bad_registers); + + /* + try to fix the bad register value. We only try to + fix one per loop to prevent a bad sensor hogging the + bus. + */ + if (_register_wait == 0 || _checked_next == 0) { + // if the product_id is wrong then reset the + // sensor completely + write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET); + write_reg(MPUREG_PWR_MGMT_2, MPU_CLK_SEL_AUTO); + // after doing a reset we need to wait a long + // time before we do any other register writes + // or we will end up with the mpu9250 in a + // bizarre state where it has all correct + // register values but large offsets on the + // accel axes + _reset_wait = hrt_absolute_time() + 10000; + _checked_next = 0; + } else { + write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]); + // waiting 3ms between register writes seems + // to raise the chance of the sensor + // recovering considerably + _reset_wait = hrt_absolute_time() + 3000; + } + _register_wait = 20; + } + _checked_next = (_checked_next+1) % MPU9250_NUM_CHECKED_REGISTERS; +} + +void +MPU9250::measure() +{ + if (hrt_absolute_time() < _reset_wait) { + // we're waiting for a reset to complete + return; + } + + struct MPUReport mpu_report; + struct Report { + int16_t accel_x; + int16_t accel_y; + int16_t accel_z; + int16_t temp; + int16_t gyro_x; + int16_t gyro_y; + int16_t gyro_z; + } report; + + /* start measuring */ + perf_begin(_sample_perf); + + /* + * Fetch the full set of measurements from the MPU9250 in one pass. + */ + mpu_report.cmd = DIR_READ | MPUREG_INT_STATUS; + + // sensor transfer at high clock speed + set_frequency(MPU9250_HIGH_BUS_SPEED); + + if (OK != transfer((uint8_t *)&mpu_report, ((uint8_t *)&mpu_report), sizeof(mpu_report))) + return; + + check_registers(); + + /* + see if this is duplicate accelerometer data. Note that we + can't use the data ready interrupt status bit in the status + register as that also goes high on new gyro data, and when + we run with BITS_DLPF_CFG_256HZ_NOLPF2 the gyro is being + sampled at 8kHz, so we would incorrectly think we have new + data when we are in fact getting duplicate accelerometer data. + */ + if (!_got_duplicate && memcmp(&mpu_report.accel_x[0], &_last_accel[0], 6) == 0) { + // it isn't new data - wait for next timer + perf_end(_sample_perf); + perf_count(_duplicates); + _got_duplicate = true; + return; + } + memcpy(&_last_accel[0], &mpu_report.accel_x[0], 6); + _got_duplicate = false; + + /* + * Convert from big to little endian + */ + + report.accel_x = int16_t_from_bytes(mpu_report.accel_x); + report.accel_y = int16_t_from_bytes(mpu_report.accel_y); + report.accel_z = int16_t_from_bytes(mpu_report.accel_z); + + report.temp = int16_t_from_bytes(mpu_report.temp); + + report.gyro_x = int16_t_from_bytes(mpu_report.gyro_x); + report.gyro_y = int16_t_from_bytes(mpu_report.gyro_y); + report.gyro_z = int16_t_from_bytes(mpu_report.gyro_z); + + if (report.accel_x == 0 && + report.accel_y == 0 && + report.accel_z == 0 && + report.temp == 0 && + report.gyro_x == 0 && + report.gyro_y == 0 && + report.gyro_z == 0) { + // all zero data - probably a SPI bus error + perf_count(_bad_transfers); + perf_end(_sample_perf); + // note that we don't call reset() here as a reset() + // costs 20ms with interrupts disabled. That means if + // the mpu6k does go bad it would cause a FMU failure, + // regardless of whether another sensor is available, + return; + } + + perf_count(_good_transfers); + + if (_register_wait != 0) { + // we are waiting for some good transfers before using + // the sensor again. We still increment + // _good_transfers, but don't return any data yet + _register_wait--; + return; + } + + + /* + * Swap axes and negate y + */ + int16_t accel_xt = report.accel_y; + int16_t accel_yt = ((report.accel_x == -32768) ? 32767 : -report.accel_x); + + int16_t gyro_xt = report.gyro_y; + int16_t gyro_yt = ((report.gyro_x == -32768) ? 32767 : -report.gyro_x); + + /* + * Apply the swap + */ + report.accel_x = accel_xt; + report.accel_y = accel_yt; + report.gyro_x = gyro_xt; + report.gyro_y = gyro_yt; + + /* + * Report buffers. + */ + accel_report arb; + gyro_report grb; + + /* + * Adjust and scale results to m/s^2. + */ + grb.timestamp = arb.timestamp = hrt_absolute_time(); + + // report the error count as the sum of the number of bad + // transfers and bad register reads. This allows the higher + // level code to decide if it should use this sensor based on + // whether it has had failures + grb.error_count = arb.error_count = perf_event_count(_bad_transfers) + perf_event_count(_bad_registers); + + /* + * 1) Scale raw value to SI units using scaling from datasheet. + * 2) Subtract static offset (in SI units) + * 3) Scale the statically calibrated values with a linear + * dynamically obtained factor + * + * Note: the static sensor offset is the number the sensor outputs + * at a nominally 'zero' input. Therefore the offset has to + * be subtracted. + * + * Example: A gyro outputs a value of 74 at zero angular rate + * the offset is 74 from the origin and subtracting + * 74 from all measurements centers them around zero. + */ + + + /* NOTE: Axes have been swapped to match the board a few lines above. */ + + arb.x_raw = report.accel_x; + arb.y_raw = report.accel_y; + arb.z_raw = report.accel_z; + + float xraw_f = report.accel_x; + float yraw_f = report.accel_y; + float zraw_f = report.accel_z; + + // apply user specified rotation + rotate_3f(_rotation, xraw_f, yraw_f, zraw_f); + + float x_in_new = ((xraw_f * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale; + float y_in_new = ((yraw_f * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale; + float z_in_new = ((zraw_f * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale; + + arb.x = _accel_filter_x.apply(x_in_new); + arb.y = _accel_filter_y.apply(y_in_new); + arb.z = _accel_filter_z.apply(z_in_new); + + arb.scaling = _accel_range_scale; + arb.range_m_s2 = _accel_range_m_s2; + + _last_temperature = (report.temp) / 361.0f + 35.0f; + + arb.temperature_raw = report.temp; + arb.temperature = _last_temperature; + + grb.x_raw = report.gyro_x; + grb.y_raw = report.gyro_y; + grb.z_raw = report.gyro_z; + + xraw_f = report.gyro_x; + yraw_f = report.gyro_y; + zraw_f = report.gyro_z; + + // apply user specified rotation + rotate_3f(_rotation, xraw_f, yraw_f, zraw_f); + + float x_gyro_in_new = ((xraw_f * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale; + float y_gyro_in_new = ((yraw_f * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale; + float z_gyro_in_new = ((zraw_f * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale; + + grb.x = _gyro_filter_x.apply(x_gyro_in_new); + grb.y = _gyro_filter_y.apply(y_gyro_in_new); + grb.z = _gyro_filter_z.apply(z_gyro_in_new); + + grb.scaling = _gyro_range_scale; + grb.range_rad_s = _gyro_range_rad_s; + + grb.temperature_raw = report.temp; + grb.temperature = _last_temperature; + + _accel_reports->force(&arb); + _gyro_reports->force(&grb); + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + _gyro->parent_poll_notify(); + + if (!(_pub_blocked)) { + /* log the time of this report */ + perf_begin(_controller_latency_perf); + perf_begin(_system_latency_perf); + /* publish it */ + orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb); + } + + if (!(_pub_blocked)) { + /* publish it */ + orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb); + } + + /* stop measuring */ + perf_end(_sample_perf); +} + +void +MPU9250::print_info() +{ + perf_print_counter(_sample_perf); + perf_print_counter(_accel_reads); + perf_print_counter(_gyro_reads); + perf_print_counter(_bad_transfers); + perf_print_counter(_bad_registers); + perf_print_counter(_good_transfers); + perf_print_counter(_reset_retries); + perf_print_counter(_duplicates); + _accel_reports->print_info("accel queue"); + _gyro_reports->print_info("gyro queue"); + ::printf("checked_next: %u\n", _checked_next); + for (uint8_t i=0; igyro_read(filp, buffer, buflen); +} + +int +MPU9250_gyro::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + + switch (cmd) { + case DEVIOCGDEVICEID: + return (int)CDev::ioctl(filp, cmd, arg); + break; + default: + return _parent->gyro_ioctl(filp, cmd, arg); + } +} + +/** + * Local functions in support of the shell command. + */ +namespace mpu9250 +{ + +MPU9250 *g_dev_int; // on internal bus +MPU9250 *g_dev_ext; // on external bus + +void start(bool, enum Rotation); +void stop(bool); +void test(bool); +void reset(bool); +void info(bool); +void regdump(bool); +void testerror(bool); +void usage(); + +/** + * Start the driver. + * + * This function only returns if the driver is up and running + * or failed to detect the sensor. + */ +void +start(bool external_bus, enum Rotation rotation) +{ + int fd; + MPU9250 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int; + const char *path_accel = external_bus?MPU_DEVICE_PATH_ACCEL_EXT:MPU_DEVICE_PATH_ACCEL; + const char *path_gyro = external_bus?MPU_DEVICE_PATH_GYRO_EXT:MPU_DEVICE_PATH_GYRO; + + if (*g_dev_ptr != nullptr) + /* if already started, the still command succeeded */ + errx(0, "already started"); + + /* create the driver */ + if (external_bus) { +#ifdef PX4_SPI_BUS_EXT + *g_dev_ptr = new MPU9250(PX4_SPI_BUS_EXT, path_accel, path_gyro, (spi_dev_e)PX4_SPIDEV_EXT_MPU, rotation); +#else + errx(0, "External SPI not available"); +#endif + } else { + *g_dev_ptr = new MPU9250(PX4_SPI_BUS_SENSORS, path_accel, path_gyro, (spi_dev_e)PX4_SPIDEV_MPU, rotation); + } + + if (*g_dev_ptr == nullptr) + goto fail; + + if (OK != (*g_dev_ptr)->init()) + goto fail; + + /* set the poll rate to default, starts automatic data collection */ + fd = open(path_accel, O_RDONLY); + + if (fd < 0) + goto fail; + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + goto fail; + + close(fd); + + exit(0); +fail: + + if (*g_dev_ptr != nullptr) { + delete (*g_dev_ptr); + *g_dev_ptr = nullptr; + } + + errx(1, "driver start failed"); +} + +void +stop(bool external_bus) +{ + MPU9250 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int; + if (*g_dev_ptr != nullptr) { + delete *g_dev_ptr; + *g_dev_ptr = nullptr; + } else { + /* warn, but not an error */ + warnx("already stopped."); + } + exit(0); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test(bool external_bus) +{ + const char *path_accel = external_bus?MPU_DEVICE_PATH_ACCEL_EXT:MPU_DEVICE_PATH_ACCEL; + const char *path_gyro = external_bus?MPU_DEVICE_PATH_GYRO_EXT:MPU_DEVICE_PATH_GYRO; + accel_report a_report; + gyro_report g_report; + ssize_t sz; + + /* get the driver */ + int fd = open(path_accel, O_RDONLY); + + if (fd < 0) + err(1, "%s open failed (try 'mpu9250 start')", + path_accel); + + /* get the driver */ + int fd_gyro = open(path_gyro, O_RDONLY); + + if (fd_gyro < 0) + err(1, "%s open failed", path_gyro); + + /* reset to manual polling */ + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) + err(1, "reset to manual polling"); + + /* do a simple demand read */ + sz = read(fd, &a_report, sizeof(a_report)); + + if (sz != sizeof(a_report)) { + warnx("ret: %d, expected: %d", sz, sizeof(a_report)); + err(1, "immediate acc read failed"); + } + + warnx("single read"); + warnx("time: %lld", a_report.timestamp); + warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x); + warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y); + warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z); + warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw); + warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw); + warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw); + warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2, + (double)(a_report.range_m_s2 / MPU9250_ONE_G)); + + /* do a simple demand read */ + sz = read(fd_gyro, &g_report, sizeof(g_report)); + + if (sz != sizeof(g_report)) { + warnx("ret: %d, expected: %d", sz, sizeof(g_report)); + err(1, "immediate gyro read failed"); + } + + warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x); + warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y); + warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z); + warnx("gyro x: \t%d\traw", (int)g_report.x_raw); + warnx("gyro y: \t%d\traw", (int)g_report.y_raw); + warnx("gyro z: \t%d\traw", (int)g_report.z_raw); + warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s, + (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f)); + + warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature); + warnx("temp: \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw); + + + /* XXX add poll-rate tests here too */ + + reset(external_bus); + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset(bool external_bus) +{ + const char *path_accel = external_bus?MPU_DEVICE_PATH_ACCEL_EXT:MPU_DEVICE_PATH_ACCEL; + int fd = open(path_accel, O_RDONLY); + + if (fd < 0) + err(1, "failed "); + + if (ioctl(fd, SENSORIOCRESET, 0) < 0) + err(1, "driver reset failed"); + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + err(1, "driver poll restart failed"); + + close(fd); + + exit(0); +} + +/** + * Print a little info about the driver. + */ +void +info(bool external_bus) +{ + MPU9250 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int; + if (*g_dev_ptr == nullptr) + errx(1, "driver not running"); + + printf("state @ %p\n", *g_dev_ptr); + (*g_dev_ptr)->print_info(); + + exit(0); +} + +/** + * Dump the register information + */ +void +regdump(bool external_bus) +{ + MPU9250 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int; + if (*g_dev_ptr == nullptr) + errx(1, "driver not running"); + + printf("regdump @ %p\n", *g_dev_ptr); + (*g_dev_ptr)->print_registers(); + + exit(0); +} + +/** + * deliberately produce an error to test recovery + */ +void +testerror(bool external_bus) +{ + MPU9250 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int; + if (*g_dev_ptr == nullptr) + errx(1, "driver not running"); + + (*g_dev_ptr)->test_error(); + + exit(0); +} + +void +usage() +{ + warnx("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump', 'testerror'"); + warnx("options:"); + warnx(" -X (external bus)"); + warnx(" -R rotation"); +} + +} // namespace + +int +mpu9250_main(int argc, char *argv[]) +{ + bool external_bus = false; + int ch; + enum Rotation rotation = ROTATION_NONE; + + /* jump over start/off/etc and look at options first */ + while ((ch = getopt(argc, argv, "XR:")) != EOF) { + switch (ch) { + case 'X': + external_bus = true; + break; + case 'R': + rotation = (enum Rotation)atoi(optarg); + break; + default: + mpu9250::usage(); + exit(0); + } + } + + const char *verb = argv[optind]; + + /* + * Start/load the driver. + + */ + if (!strcmp(verb, "start")) { + mpu9250::start(external_bus, rotation); + } + + if (!strcmp(verb, "stop")) { + mpu9250::stop(external_bus); + } + + /* + * Test the driver/device. + */ + if (!strcmp(verb, "test")) { + mpu9250::test(external_bus); + } + + /* + * Reset the driver. + */ + if (!strcmp(verb, "reset")) { + mpu9250::reset(external_bus); + } + + /* + * Print driver information. + */ + if (!strcmp(verb, "info")) { + mpu9250::info(external_bus); + } + + /* + * Print register information. + */ + if (!strcmp(verb, "regdump")) { + mpu9250::regdump(external_bus); + } + + if (!strcmp(verb, "testerror")) { + mpu9250::testerror(external_bus); + } + + mpu9250::usage(); + exit(1); +}