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MPU9250 I2C mode

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Fixes for other boards

Functioning sensors
This commit is contained in:
Dennis Shtatnov
2016-09-04 19:12:08 +02:00
committed by Lorenz Meier
parent 9c8e56401b
commit 5100785f51
15 changed files with 784 additions and 322 deletions
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src/drivers/mpu9250/main.cpp
+36 -31
View File
@@ -34,7 +34,7 @@
/**
* @file main.cpp
*
* Driver for the Invensense mpu9250 connected via SPI.
* Driver for the Invensense mpu9250 connected via I2C or SPI.
*
* @authors Andrew Tridgell
* Robert Dickenson
@@ -83,11 +83,6 @@
/** driver 'main' command */
extern "C" { __EXPORT int mpu9250_main(int argc, char *argv[]); }
/**
* Local functions in support of the shell command.
*/
namespace mpu9250
{
enum MPU9250_BUS {
MPU9250_BUS_ALL = 0,
@@ -97,6 +92,13 @@ enum MPU9250_BUS {
MPU9250_BUS_SPI_EXTERNAL
};
/**
* Local functions in support of the shell command.
*/
namespace mpu9250
{
/*
list of supported bus configurations
*/
@@ -107,30 +109,31 @@ struct mpu9250_bus_option {
const char *gyropath;
const char *magpath;
MPU9250_constructor interface_constructor;
bool magpassthrough;
uint8_t busnum;
MPU6000 *dev;
MPU9250 *dev;
} bus_options[] = {
#if defined (USE_I2C)
# if defined(PX4_I2C_BUS_ONBOARD)
{ MPU9250_BUS_I2C_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_I2C_interface, PX4_I2C_BUS_ONBOARD, NULL },
{ MPU9250_BUS_I2C_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_I2C_interface, false, PX4_I2C_BUS_ONBOARD, NULL },
# endif
# if defined(PX4_I2C_BUS_EXPANSION)
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_I2C_interface, PX4_I2C_BUS_EXPANSION, NULL },
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, NULL },
# endif
#endif
#ifdef PX4_SPIDEV_MPU
{ MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_SPI_interface, PX4_SPI_BUS_SENSORS, NULL },
{ MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, NULL },
#endif
#if defined(PX4_SPI_BUS_EXT)
{ MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT &MPU9250_SPI_interface, PX4_SPI_BUS_EXT, NULL },
{ MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, NULL },
#endif
};
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
void start(enum MPU9250_BUS busid, enum Rotation rotation);
bool start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation);
void start(enum MPU9250_BUS busid, enum Rotation rotation, bool external_bus);
bool start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external_bus);
struct mpu9250_bus_option &find_bus(enum MPU9250_BUS busid);
void stop(enum MPU9250_BUS busid);
void test(enum MPU9250_BUS busid);
@@ -159,7 +162,7 @@ struct mpu9250_bus_option &find_bus(enum MPU9250_BUS busid)
* start driver for a specific bus option
*/
bool
start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, int range, int device_type, bool external)
start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external)
{
int fd = -1;
@@ -168,7 +171,7 @@ start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, int range, int
return false;
}
device::Device *interface = bus.interface_constructor(bus.busnum, device_type, external);
device::Device *interface = bus.interface_constructor(bus.busnum, external);
if (interface == nullptr) {
warnx("no device on bus %u", (unsigned)bus.busid);
@@ -181,7 +184,17 @@ start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, int range, int
return false;
}
bus.dev = new MPU9250(interface, bus.accelpath, bus.gyropath, bus.magpath, rotation, device_type);
device::Device *mag_interface = nullptr;
#ifdef USE_I2C
/* For i2c interfaces, connect to the magnetomer directly */
bool is_i2c = bus.busid == MPU9250_BUS_I2C_INTERNAL || bus.busid == MPU9250_BUS_I2C_EXTERNAL;
if (is_i2c) {
mag_interface = AK8963_I2C_interface(bus.busnum, external);
}
#endif
bus.dev = new MPU9250(interface, mag_interface, bus.accelpath, bus.gyropath, bus.magpath, rotation);
if (bus.dev == nullptr) {
delete interface;
@@ -203,9 +216,6 @@ start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, int range, int
goto fail;
}
if (ioctl(fd, ACCELIOCSRANGE, range) < 0) {
goto fail;
}
close(fd);
@@ -232,7 +242,7 @@ fail:
* or failed to detect the sensor.
*/
void
start(enum MPU9250_BUS busid, enum Rotation rotation, int range, int device_type, bool external)
start(enum MPU9250_BUS busid, enum Rotation rotation, bool external)
{
bool started = false;
@@ -248,7 +258,7 @@ start(enum MPU9250_BUS busid, enum Rotation rotation, int range, int device_type
continue;
}
started |= start_bus(bus_options[i], rotation, range, device_type, external);
started |= start_bus(bus_options[i], rotation, external);
}
exit(started ? 0 : 1);
@@ -473,7 +483,6 @@ usage()
warnx("options:");
warnx(" -X (external bus)");
warnx(" -R rotation");
warnx(" -a accel range (in g)");
}
} // namespace
@@ -485,13 +494,13 @@ mpu9250_main(int argc, char *argv[])
int ch;
bool external = false;
enum Rotation rotation = ROTATION_NONE;
int accel_range = 8;
//int accel_range = 8;
/* jump over start/off/etc and look at options first */
while ((ch = getopt(argc, argv, "XISsR:a:")) != EOF) {
while ((ch = getopt(argc, argv, "XISsR:")) != EOF) {
switch (ch) {
case 'X':
busid = MPU9260_BUS_I2C_EXTERNAL;
busid = MPU9250_BUS_I2C_EXTERNAL;
break;
case 'I':
@@ -503,17 +512,13 @@ mpu9250_main(int argc, char *argv[])
break;
case 's':
busid = MPU9260_BUS_SPI_INTERNAL;
busid = MPU9250_BUS_SPI_INTERNAL;
break;
case 'R':
rotation = (enum Rotation)atoi(optarg);
break;
case 'a':
accel_range = atoi(optarg);
break;
default:
mpu9250::usage();
exit(0);
@@ -529,7 +534,7 @@ mpu9250_main(int argc, char *argv[])
*/
if (!strcmp(verb, "start")) {
mpu9250::start(busid, rotation, accel_range, device_type, external);
mpu9250::start(busid, rotation, external);
}
if (!strcmp(verb, "stop")) {