mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-29 15:53:34 +08:00
mpu9250: create dedicated i2c version and delete legacy driver
- update crazyflie and bbblue usage - eventually this should be merged with the SPI version after interface changes are made
This commit is contained in:
Daniel Agar
@@ -48,4 +48,19 @@ px4_add_module(
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drivers_gyroscope
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drivers_magnetometer
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px4_work_queue
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)
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)
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px4_add_module(
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MODULE drivers__imu__invensense__mpu9250_i2c
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MAIN mpu9250_i2c
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COMPILE_FLAGS
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SRCS
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InvenSense_MPU9250_registers.hpp
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MPU9250_I2C.cpp
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MPU9250_I2C.hpp
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mpu9250_i2c_main.cpp
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DEPENDS
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drivers_accelerometer
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drivers_gyroscope
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px4_work_queue
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)
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@@ -54,6 +54,8 @@ static constexpr uint8_t Bit5 = (1 << 5);
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static constexpr uint8_t Bit6 = (1 << 6);
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static constexpr uint8_t Bit7 = (1 << 7);
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static constexpr uint32_t I2C_ADDRESS_DEFAULT = 0x69; // 0b110100X
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static constexpr uint32_t I2C_SPEED = 400 * 1000;
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static constexpr uint32_t SPI_SPEED = 1 * 1000 * 1000;
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static constexpr uint32_t SPI_SPEED_SENSOR = 10 * 1000 * 1000; // 20MHz for reading sensor and interrupt registers
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@@ -106,7 +108,9 @@ enum class Register : uint8_t {
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enum CONFIG_BIT : uint8_t {
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FIFO_MODE = Bit6, // when the FIFO is full, additional writes will not be written to FIFO
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DLPF_CFG_BYPASS_DLPF_8KHZ = 7, // Rate 8 kHz [2:0]
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// DLPF_CFG[2:0]
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DLPF_CFG_Fs_1KHZ = 1, // Rate 1 kHz, 184 Hz Bandwidth
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DLPF_CFG_BYPASS_DLPF_8KHZ = 7, // Rate 8 kHz, 3600 Hz Bandwidth
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};
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// GYRO_CONFIG
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@@ -118,7 +122,7 @@ enum GYRO_CONFIG_BIT : uint8_t {
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GYRO_FS_SEL_2000_DPS = Bit4 | Bit3, // 0b11000
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// FCHOICE_B [1:0]
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FCHOICE_B_8KHZ_BYPASS_DLPF = Bit1 | Bit0, // 0b00 - 3-dB BW: 3281 Noise BW (Hz): 3451.0 8 kHz
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FCHOICE_B_BYPASS_DLPF = Bit1 | Bit0, // 0b00 - 3-dB BW: 3281 Noise BW (Hz): 3451.0 8 kHz
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};
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// ACCEL_CONFIG
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@@ -133,6 +137,9 @@ enum ACCEL_CONFIG_BIT : uint8_t {
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// ACCEL_CONFIG2
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enum ACCEL_CONFIG2_BIT : uint8_t {
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ACCEL_FCHOICE_B_BYPASS_DLPF = Bit3,
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// [2:0] A_DLPFCFG
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A_DLPFCFG_BW_218HZ_DLPF = 1, // Rate 1 kHz, 218.1 Hz Bandwidth (DLPF filter Block)
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};
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// FIFO_EN
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@@ -177,7 +184,8 @@ enum I2C_SLV4_CTRL_BIT : uint8_t {
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// INT_PIN_CFG
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enum INT_PIN_CFG_BIT : uint8_t {
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ACTL = Bit7,
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ACTL = Bit7,
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BYPASS_EN = Bit1, // interface pins(ES_CL and ES_DA) will go into ‘bypass mode’ when the i2c master interface is disabled
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};
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// INT_ENABLE
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@@ -173,7 +173,7 @@ private:
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register_config_t _register_cfg[size_register_cfg] {
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// Register | Set bits, Clear bits
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{ Register::CONFIG, CONFIG_BIT::FIFO_MODE | CONFIG_BIT::DLPF_CFG_BYPASS_DLPF_8KHZ, 0 },
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{ Register::GYRO_CONFIG, GYRO_CONFIG_BIT::GYRO_FS_SEL_2000_DPS, GYRO_CONFIG_BIT::FCHOICE_B_8KHZ_BYPASS_DLPF },
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{ Register::GYRO_CONFIG, GYRO_CONFIG_BIT::GYRO_FS_SEL_2000_DPS, GYRO_CONFIG_BIT::FCHOICE_B_BYPASS_DLPF },
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{ Register::ACCEL_CONFIG, ACCEL_CONFIG_BIT::ACCEL_FS_SEL_16G, 0 },
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{ Register::ACCEL_CONFIG2, ACCEL_CONFIG2_BIT::ACCEL_FCHOICE_B_BYPASS_DLPF, 0 },
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{ Register::FIFO_EN, FIFO_EN_BIT::GYRO_XOUT | FIFO_EN_BIT::GYRO_YOUT | FIFO_EN_BIT::GYRO_ZOUT | FIFO_EN_BIT::ACCEL, 0 },
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@@ -0,0 +1,591 @@
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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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#include "MPU9250_I2C.hpp"
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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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MPU9250_I2C::MPU9250_I2C(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation,
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int bus_frequency, int address, spi_drdy_gpio_t drdy_gpio) :
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I2C(DRV_IMU_DEVTYPE_MPU9250, MODULE_NAME, bus, address, bus_frequency),
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I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
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_drdy_gpio(drdy_gpio),
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_px4_accel(get_device_id(), rotation),
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_px4_gyro(get_device_id(), rotation)
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{
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if (drdy_gpio != 0) {
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_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
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}
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ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
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}
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MPU9250_I2C::~MPU9250_I2C()
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{
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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_missed_perf);
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}
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int MPU9250_I2C::init()
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{
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int ret = I2C::init();
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if (ret != PX4_OK) {
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DEVICE_DEBUG("I2C::init failed (%i)", ret);
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return ret;
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}
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return Reset() ? 0 : -1;
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}
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bool MPU9250_I2C::Reset()
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{
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_state = STATE::RESET;
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DataReadyInterruptDisable();
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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 MPU9250_I2C::exit_and_cleanup()
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{
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DataReadyInterruptDisable();
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I2CSPIDriverBase::exit_and_cleanup();
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}
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void MPU9250_I2C::print_status()
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{
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I2CSPIDriverBase::print_status();
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PX4_INFO("FIFO empty interval: %d us (%.1f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
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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_missed_perf);
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}
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int MPU9250_I2C::probe()
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{
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const uint8_t whoami = RegisterRead(Register::WHO_AM_I);
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if (whoami != WHOAMI) {
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DEVICE_DEBUG("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 MPU9250_I2C::RunImpl()
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{
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const hrt_abstime now = hrt_absolute_time();
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switch (_state) {
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case STATE::RESET:
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// PWR_MGMT_1: Device Reset
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RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::H_RESET);
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_reset_timestamp = now;
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_failure_count = 0;
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_state = STATE::WAIT_FOR_RESET;
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ScheduleDelayed(100_ms);
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break;
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case STATE::WAIT_FOR_RESET:
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// The reset value is 0x00 for all registers other than the registers below
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// Document Number: RM-MPU-9250A-00 Page 9 of 55
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if ((RegisterRead(Register::WHO_AM_I) == WHOAMI)
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&& (RegisterRead(Register::PWR_MGMT_1) == 0x01)) {
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// Wakeup and reset digital signal path
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RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::CLKSEL_0);
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RegisterWrite(Register::SIGNAL_PATH_RESET,
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SIGNAL_PATH_RESET_BIT::GYRO_RESET | SIGNAL_PATH_RESET_BIT::ACCEL_RESET | SIGNAL_PATH_RESET_BIT::TEMP_RESET);
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RegisterWrite(Register::USER_CTRL, USER_CTRL_BIT::SIG_COND_RST);
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// if reset succeeded then configure
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_state = STATE::CONFIGURE;
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ScheduleDelayed(100_ms);
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} else {
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// RESET not complete
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if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
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PX4_DEBUG("Reset failed, retrying");
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_state = STATE::RESET;
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ScheduleDelayed(100_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 = 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(100_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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// CONFIGURE not complete
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if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
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PX4_DEBUG("Configure failed, resetting");
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_state = STATE::RESET;
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} else {
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PX4_DEBUG("Configure failed, retrying");
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}
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ScheduleDelayed(100_ms);
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}
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break;
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case STATE::FIFO_READ: {
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if (_data_ready_interrupt_enabled) {
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// scheduled from interrupt if _drdy_fifo_read_samples was set
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if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
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perf_count(_drdy_missed_perf);
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}
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// push backup schedule back
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ScheduleDelayed(_fifo_empty_interval_us * 2);
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}
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// always check current FIFO count
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bool success = false;
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const uint16_t fifo_count = FIFOReadCount();
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if (fifo_count >= FIFO::SIZE) {
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FIFOReset();
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perf_count(_fifo_overflow_perf);
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} else if (fifo_count == 0) {
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perf_count(_fifo_empty_perf);
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} else {
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// FIFO count (size in bytes) should be a multiple of the FIFO::DATA structure
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const uint8_t samples = (fifo_count / sizeof(FIFO::DATA) / SAMPLES_PER_TRANSFER) *
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SAMPLES_PER_TRANSFER; // round down to nearest
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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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FIFOReset();
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perf_count(_fifo_overflow_perf);
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} else if (samples >= 1) {
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if (FIFORead(now, samples)) {
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success = true;
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if (_failure_count > 0) {
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_failure_count--;
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}
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}
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}
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}
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if (!success) {
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_failure_count++;
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// full reset if things are failing consistently
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if (_failure_count > 10) {
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Reset();
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return;
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}
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}
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if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
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// check configuration registers periodically or immediately following any failure
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if (RegisterCheck(_register_cfg[_checked_register])) {
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_last_config_check_timestamp = now;
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_checked_register = (_checked_register + 1) % size_register_cfg;
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} else {
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// register check failed, force reset
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perf_count(_bad_register_perf);
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Reset();
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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 = now;
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}
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}
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}
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break;
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}
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}
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void MPU9250_I2C::ConfigureAccel()
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{
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const uint8_t ACCEL_FS_SEL = RegisterRead(Register::ACCEL_CONFIG) & (Bit4 | Bit3); // [4:3] ACCEL_FS_SEL[1:0]
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switch (ACCEL_FS_SEL) {
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case ACCEL_FS_SEL_2G:
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_px4_accel.set_scale(CONSTANTS_ONE_G / 16384.f);
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_px4_accel.set_range(2.f * CONSTANTS_ONE_G);
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break;
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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.f * 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.f * 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.f * CONSTANTS_ONE_G);
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break;
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}
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}
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void MPU9250_I2C::ConfigureGyro()
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{
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const uint8_t GYRO_FS_SEL = RegisterRead(Register::GYRO_CONFIG) & (Bit4 | Bit3); // [4:3] GYRO_FS_SEL[1:0]
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float range_dps = 0.f;
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switch (GYRO_FS_SEL) {
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case GYRO_FS_SEL_250_DPS:
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range_dps = 250.f;
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break;
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case GYRO_FS_SEL_500_DPS:
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range_dps = 500.f;
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break;
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case GYRO_FS_SEL_1000_DPS:
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range_dps = 1000.f;
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break;
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case GYRO_FS_SEL_2000_DPS:
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range_dps = 2000.f;
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break;
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}
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_px4_gyro.set_scale(math::radians(range_dps / 32768.f));
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_px4_gyro.set_range(math::radians(range_dps));
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}
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void MPU9250_I2C::ConfigureSampleRate(int sample_rate)
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{
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if (sample_rate == 0) {
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sample_rate = 1000; // default to 1000 Hz
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}
|
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|
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// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
|
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const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
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_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
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_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
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// recompute FIFO empty interval (us) with actual gyro sample limit
|
||||
_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
|
||||
}
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||||
|
||||
bool MPU9250_I2C::Configure()
|
||||
{
|
||||
// first set and clear all configured register bits
|
||||
for (const auto ®_cfg : _register_cfg) {
|
||||
RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
|
||||
}
|
||||
|
||||
// now check that all are configured
|
||||
bool success = true;
|
||||
|
||||
for (const auto ®_cfg : _register_cfg) {
|
||||
if (!RegisterCheck(reg_cfg)) {
|
||||
success = false;
|
||||
}
|
||||
}
|
||||
|
||||
ConfigureAccel();
|
||||
ConfigureGyro();
|
||||
|
||||
return success;
|
||||
}
|
||||
|
||||
int MPU9250_I2C::DataReadyInterruptCallback(int irq, void *context, void *arg)
|
||||
{
|
||||
static_cast<MPU9250_I2C *>(arg)->DataReady();
|
||||
return 0;
|
||||
}
|
||||
|
||||
void MPU9250_I2C::DataReady()
|
||||
{
|
||||
uint32_t expected = 0;
|
||||
|
||||
// at least the required number of samples in the FIFO
|
||||
if (((_drdy_count.fetch_add(1) + 1) >= _fifo_gyro_samples)
|
||||
&& _drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
|
||||
|
||||
_drdy_count.store(0);
|
||||
ScheduleNow();
|
||||
}
|
||||
}
|
||||
|
||||
bool MPU9250_I2C::DataReadyInterruptConfigure()
|
||||
{
|
||||
// TODO
|
||||
return false;
|
||||
|
||||
if (_drdy_gpio == 0) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// Setup data ready on falling edge
|
||||
return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
|
||||
}
|
||||
|
||||
bool MPU9250_I2C::DataReadyInterruptDisable()
|
||||
{
|
||||
if (_drdy_gpio == 0) {
|
||||
return false;
|
||||
}
|
||||
|
||||
return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
|
||||
}
|
||||
|
||||
bool MPU9250_I2C::RegisterCheck(const register_config_t ®_cfg)
|
||||
{
|
||||
bool success = true;
|
||||
|
||||
const uint8_t reg_value = RegisterRead(reg_cfg.reg);
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
return success;
|
||||
}
|
||||
|
||||
uint8_t MPU9250_I2C::RegisterRead(Register reg)
|
||||
{
|
||||
uint8_t cmd = static_cast<uint8_t>(reg);
|
||||
uint8_t value = 0;
|
||||
//set_frequency(SPI_SPEED); // low speed for regular registers
|
||||
transfer(&cmd, 1, &value, 1);
|
||||
return value;
|
||||
}
|
||||
|
||||
void MPU9250_I2C::RegisterWrite(Register reg, uint8_t value)
|
||||
{
|
||||
uint8_t cmd[2];
|
||||
cmd[0] = static_cast<uint8_t>(reg);
|
||||
cmd[1] = value;
|
||||
//set_frequency(SPI_SPEED); // low speed for regular registers
|
||||
transfer(cmd, sizeof(cmd), nullptr, 0);
|
||||
}
|
||||
|
||||
void MPU9250_I2C::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)
|
||||
{
|
||||
const uint8_t orig_val = RegisterRead(reg);
|
||||
|
||||
uint8_t val = (orig_val & ~clearbits) | setbits;
|
||||
|
||||
if (orig_val != val) {
|
||||
RegisterWrite(reg, val);
|
||||
}
|
||||
}
|
||||
|
||||
uint16_t MPU9250_I2C::FIFOReadCount()
|
||||
{
|
||||
// read FIFO count
|
||||
uint8_t cmd = static_cast<uint8_t>(Register::FIFO_COUNTH);
|
||||
uint8_t fifo_count_buf[2] {};
|
||||
//set_frequency(SPI_SPEED_SENSOR);
|
||||
|
||||
if (transfer(&cmd, 1, fifo_count_buf, 2) != PX4_OK) {
|
||||
perf_count(_bad_transfer_perf);
|
||||
return 0;
|
||||
}
|
||||
|
||||
return combine(fifo_count_buf[0], fifo_count_buf[1]);
|
||||
}
|
||||
|
||||
bool MPU9250_I2C::FIFORead(const hrt_abstime ×tamp_sample, uint8_t samples)
|
||||
{
|
||||
uint8_t cmd = static_cast<uint8_t>(Register::FIFO_R_W);
|
||||
FIFOTransferBuffer buffer{};
|
||||
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA), FIFO::SIZE);
|
||||
//set_frequency(SPI_SPEED_SENSOR);
|
||||
|
||||
if (transfer(&cmd, 1, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
|
||||
perf_count(_bad_transfer_perf);
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
ProcessGyro(timestamp_sample, buffer.f, samples);
|
||||
return ProcessAccel(timestamp_sample, buffer.f, samples);
|
||||
}
|
||||
|
||||
void MPU9250_I2C::FIFOReset()
|
||||
{
|
||||
perf_count(_fifo_reset_perf);
|
||||
|
||||
// FIFO_EN: disable FIFO
|
||||
RegisterWrite(Register::FIFO_EN, 0);
|
||||
|
||||
// USER_CTRL: reset FIFO
|
||||
RegisterSetAndClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RST, USER_CTRL_BIT::FIFO_EN);
|
||||
|
||||
// reset while FIFO is disabled
|
||||
_drdy_count.store(0);
|
||||
_drdy_fifo_read_samples.store(0);
|
||||
|
||||
// FIFO_EN: enable both gyro and accel
|
||||
// USER_CTRL: re-enable FIFO
|
||||
for (const auto &r : _register_cfg) {
|
||||
if ((r.reg == Register::FIFO_EN) || (r.reg == Register::USER_CTRL)) {
|
||||
RegisterSetAndClearBits(r.reg, r.set_bits, r.clear_bits);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool MPU9250_I2C::ProcessAccel(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
|
||||
{
|
||||
sensor_accel_fifo_s accel{};
|
||||
accel.timestamp_sample = timestamp_sample;
|
||||
accel.samples = 0;
|
||||
accel.dt = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
|
||||
|
||||
bool bad_data = false;
|
||||
|
||||
for (int i = 0; i < samples; i = i + SAMPLES_PER_TRANSFER) {
|
||||
int16_t accel_x = combine(fifo[i].ACCEL_XOUT_H, fifo[i].ACCEL_XOUT_L);
|
||||
int16_t accel_y = combine(fifo[i].ACCEL_YOUT_H, fifo[i].ACCEL_YOUT_L);
|
||||
int16_t accel_z = combine(fifo[i].ACCEL_ZOUT_H, fifo[i].ACCEL_ZOUT_L);
|
||||
|
||||
// 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++;
|
||||
}
|
||||
|
||||
_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
|
||||
perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
|
||||
|
||||
if (accel.samples > 0) {
|
||||
_px4_accel.updateFIFO(accel);
|
||||
}
|
||||
|
||||
return !bad_data;
|
||||
}
|
||||
|
||||
void MPU9250_I2C::ProcessGyro(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
|
||||
{
|
||||
sensor_gyro_fifo_s gyro{};
|
||||
gyro.timestamp_sample = timestamp_sample;
|
||||
gyro.samples = samples;
|
||||
gyro.dt = FIFO_SAMPLE_DT;
|
||||
|
||||
for (int i = 0; i < samples; i++) {
|
||||
const int16_t gyro_x = combine(fifo[i].GYRO_XOUT_H, fifo[i].GYRO_XOUT_L);
|
||||
const int16_t gyro_y = combine(fifo[i].GYRO_YOUT_H, fifo[i].GYRO_YOUT_L);
|
||||
const int16_t gyro_z = combine(fifo[i].GYRO_ZOUT_H, fifo[i].GYRO_ZOUT_L);
|
||||
|
||||
// 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.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
|
||||
perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
|
||||
|
||||
_px4_gyro.updateFIFO(gyro);
|
||||
}
|
||||
|
||||
void MPU9250_I2C::UpdateTemperature()
|
||||
{
|
||||
// read current temperature
|
||||
uint8_t cmd = static_cast<uint8_t>(Register::TEMP_OUT_H);
|
||||
uint8_t temperature_buf[2] {};
|
||||
//set_frequency(SPI_SPEED_SENSOR);
|
||||
|
||||
if (transfer(&cmd, 1, temperature_buf, 2) != PX4_OK) {
|
||||
perf_count(_bad_transfer_perf);
|
||||
return;
|
||||
}
|
||||
|
||||
const int16_t TEMP_OUT = combine(temperature_buf[0], temperature_buf[1]);
|
||||
const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + 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 MPU9250_I2C.hpp
|
||||
*
|
||||
* Driver for the Invensense MPU9250 connected via I2C.
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "InvenSense_MPU9250_registers.hpp"
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
|
||||
#include <lib/drivers/device/i2c.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/i2c_spi_buses.h>
|
||||
|
||||
using namespace InvenSense_MPU9250;
|
||||
|
||||
class MPU9250_I2C : public device::I2C, public I2CSPIDriver<MPU9250_I2C>
|
||||
{
|
||||
public:
|
||||
MPU9250_I2C(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
|
||||
int address, spi_drdy_gpio_t drdy_gpio);
|
||||
~MPU9250_I2C() override;
|
||||
|
||||
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;
|
||||
|
||||
private:
|
||||
void exit_and_cleanup() override;
|
||||
|
||||
// Sensor Configuration
|
||||
static constexpr float FIFO_SAMPLE_DT{1e6f / 1000.f};
|
||||
static constexpr uint32_t SAMPLES_PER_TRANSFER{1}; // ensure at least 1 new accel sample per transfer
|
||||
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 1000 Hz gyro
|
||||
static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 1000 Hz accel
|
||||
|
||||
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
|
||||
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
|
||||
|
||||
// Transfer data
|
||||
struct FIFOTransferBuffer {
|
||||
FIFO::DATA f[FIFO_MAX_SAMPLES] {};
|
||||
};
|
||||
// ensure no struct padding
|
||||
static_assert(sizeof(FIFOTransferBuffer) == (FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
|
||||
|
||||
struct register_config_t {
|
||||
Register reg;
|
||||
uint8_t set_bits{0};
|
||||
uint8_t clear_bits{0};
|
||||
};
|
||||
|
||||
int probe() override;
|
||||
|
||||
bool Reset();
|
||||
|
||||
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_config_t ®_cfg);
|
||||
|
||||
uint8_t RegisterRead(Register reg);
|
||||
void RegisterWrite(Register reg, uint8_t value);
|
||||
void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
|
||||
|
||||
uint16_t FIFOReadCount();
|
||||
bool FIFORead(const hrt_abstime ×tamp_sample, uint8_t samples);
|
||||
void FIFOReset();
|
||||
|
||||
bool ProcessAccel(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
|
||||
void ProcessGyro(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
|
||||
void UpdateTemperature();
|
||||
|
||||
const spi_drdy_gpio_t _drdy_gpio;
|
||||
|
||||
PX4Accelerometer _px4_accel;
|
||||
PX4Gyroscope _px4_gyro;
|
||||
|
||||
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_missed_perf{nullptr};
|
||||
|
||||
hrt_abstime _reset_timestamp{0};
|
||||
hrt_abstime _last_config_check_timestamp{0};
|
||||
hrt_abstime _temperature_update_timestamp{0};
|
||||
int _failure_count{0};
|
||||
|
||||
px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
|
||||
px4::atomic<uint32_t> _drdy_count{0};
|
||||
bool _data_ready_interrupt_enabled{false};
|
||||
|
||||
enum class STATE : uint8_t {
|
||||
RESET,
|
||||
WAIT_FOR_RESET,
|
||||
CONFIGURE,
|
||||
FIFO_READ,
|
||||
};
|
||||
|
||||
STATE _state{STATE::RESET};
|
||||
|
||||
uint16_t _fifo_empty_interval_us{1000}; // default 1000 us / 1000 Hz transfer interval
|
||||
uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
|
||||
|
||||
uint8_t _checked_register{0};
|
||||
static constexpr uint8_t size_register_cfg{9};
|
||||
register_config_t _register_cfg[size_register_cfg] {
|
||||
// Register | Set bits, Clear bits
|
||||
{ Register::CONFIG, CONFIG_BIT::FIFO_MODE | CONFIG_BIT::DLPF_CFG_Fs_1KHZ, 0 },
|
||||
{ Register::GYRO_CONFIG, GYRO_CONFIG_BIT::GYRO_FS_SEL_2000_DPS, 0 },
|
||||
{ Register::ACCEL_CONFIG, ACCEL_CONFIG_BIT::ACCEL_FS_SEL_16G, 0 },
|
||||
{ Register::ACCEL_CONFIG2, ACCEL_CONFIG2_BIT::A_DLPFCFG_BW_218HZ_DLPF, 0 },
|
||||
{ Register::FIFO_EN, FIFO_EN_BIT::GYRO_XOUT | FIFO_EN_BIT::GYRO_YOUT | FIFO_EN_BIT::GYRO_ZOUT | FIFO_EN_BIT::ACCEL, FIFO_EN_BIT::TEMP_OUT },
|
||||
{ Register::INT_PIN_CFG, INT_PIN_CFG_BIT::ACTL | INT_PIN_CFG_BIT::BYPASS_EN, 0 },
|
||||
{ Register::INT_ENABLE, INT_ENABLE_BIT::RAW_RDY_EN, 0 },
|
||||
{ Register::USER_CTRL, USER_CTRL_BIT::FIFO_EN, USER_CTRL_BIT::I2C_MST_EN | USER_CTRL_BIT::I2C_IF_DIS },
|
||||
{ Register::PWR_MGMT_1, PWR_MGMT_1_BIT::CLKSEL_0, PWR_MGMT_1_BIT::SLEEP },
|
||||
};
|
||||
};
|
||||
@@ -0,0 +1,108 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 "MPU9250_I2C.hpp"
|
||||
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
|
||||
void MPU9250_I2C::print_usage()
|
||||
{
|
||||
PRINT_MODULE_USAGE_NAME("mpu9520", "driver");
|
||||
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x39);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
}
|
||||
|
||||
I2CSPIDriverBase *MPU9250_I2C::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
|
||||
int runtime_instance)
|
||||
{
|
||||
MPU9250_I2C *instance = new MPU9250_I2C(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
|
||||
cli.bus_frequency, cli.i2c_address, iterator.DRDYGPIO());
|
||||
|
||||
if (!instance) {
|
||||
PX4_ERR("alloc failed");
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
if (OK != instance->init()) {
|
||||
delete instance;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
return instance;
|
||||
}
|
||||
|
||||
extern "C" int mpu9250_i2c_main(int argc, char *argv[])
|
||||
{
|
||||
int ch;
|
||||
using ThisDriver = MPU9250_I2C;
|
||||
BusCLIArguments cli{true, false};
|
||||
cli.default_i2c_frequency = I2C_SPEED;
|
||||
cli.i2c_address = I2C_ADDRESS_DEFAULT;
|
||||
|
||||
while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
cli.rotation = (enum Rotation)atoi(cli.optarg());
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = cli.optarg();
|
||||
|
||||
if (!verb) {
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_MPU9250);
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
Reference in New Issue
Block a user