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bitcraze crazyflie fixes

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This commit is contained in:
Daniel Agar
2022-05-10 16:59:44 -04:00
parent a71d101869
commit 53cdb802b1
131 changed files with 434 additions and 1091 deletions
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src/drivers/imu/bosch/bmi088_i2c/BMI088.cpp
+2 -5
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2022 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
@@ -76,10 +76,7 @@ int BMI088::init()
return ret;
}
int res = Reset() ? 0 : -1;
_state = STATE::SELFTEST;
return res;
return Reset() ? 0 : -1;
}
bool BMI088::Reset()
src/drivers/imu/bosch/bmi088_i2c/BMI088.hpp
+1 -8
View File
@@ -65,23 +65,16 @@ protected:
hrt_abstime _last_config_check_timestamp{0};
hrt_abstime _temperature_update_timestamp{0};
int _failure_count{0};
int _overflow_data_size_count{0};
int _overflow_fifo_max_samples_count{0};
int _fifo_read_error_count{0};
int _empty_count{0};
int _total_failure_count{0};
px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
bool _data_ready_interrupt_enabled{false};
enum class STATE : uint8_t {
SELFTEST,
RESET,
WAIT_FOR_RESET,
CONFIGURE,
FIFO_READ,
} _state{STATE::SELFTEST};
} _state{STATE::RESET};
uint16_t _fifo_empty_interval_us{2500}; // 2500 us / 400 Hz transfer interval
src/drivers/imu/bosch/bmi088_i2c/BMI088_Accelerometer.cpp
+126 -459
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2022 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
@@ -39,6 +39,7 @@ using namespace time_literals;
namespace Bosch::BMI088::Accelerometer
{
BMI088_Accelerometer::BMI088_Accelerometer(const I2CSPIDriverConfig &config) :
BMI088(config),
_px4_accel(get_device_id(), config.rotation)
@@ -47,7 +48,7 @@ BMI088_Accelerometer::BMI088_Accelerometer(const I2CSPIDriverConfig &config) :
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_accel: DRDY missed");
}
ConfigureSampleRate(1600);
ConfigureSampleRate(_px4_accel.get_max_rate_hz());
}
BMI088_Accelerometer::~BMI088_Accelerometer()
@@ -80,32 +81,21 @@ void BMI088_Accelerometer::print_status()
perf_print_counter(_drdy_missed_perf);
}
uint8_t BMI088_Accelerometer::RegisterRead(Register reg)
{
uint8_t add = static_cast<uint8_t>(reg);
uint8_t cmd[2] = {add, 0};
transfer(&cmd[0], 1, &cmd[1], 1);
return cmd[1];
}
uint8_t BMI088_Accelerometer::RegisterWrite(Register reg, uint8_t value)
{
uint8_t add = static_cast<uint8_t>(reg);
uint8_t cmd[2] = { add, value};
return transfer(cmd, sizeof(cmd), nullptr, 0);
}
int BMI088_Accelerometer::probe()
{
const uint8_t ACC_CHIP_ID = RegisterRead(Register::ACC_CHIP_ID);
if (ACC_CHIP_ID != ID) {
if (ACC_CHIP_ID == ID_088) {
DEVICE_DEBUG("BMI088 Accel");
} else if (ACC_CHIP_ID == ID_090L) {
DEVICE_DEBUG("BMI090L Accel");
} else {
DEVICE_DEBUG("unexpected ACC_CHIP_ID 0x%02x", ACC_CHIP_ID);
return PX4_ERROR;
}
PX4_WARN("Probe success, ACC_CHIP_ID: 0x%02x", ACC_CHIP_ID);
return PX4_OK;
}
@@ -114,27 +104,17 @@ void BMI088_Accelerometer::RunImpl()
const hrt_abstime now = hrt_absolute_time();
switch (_state) {
case STATE::SELFTEST:
//PX4_WARN("Selftest state");
//SelfTest();
_state = STATE::RESET;
ScheduleDelayed(10_ms);
break;
case STATE::RESET:
// ACC_SOFTRESET: Writing a value of 0xB6 to this register resets the sensor
RegisterWrite(Register::ACC_SOFTRESET, 0xB6);
_reset_timestamp = now;
_failure_count = 0;
_state = STATE::WAIT_FOR_RESET;
ScheduleDelayed(1_ms); // Following a delay of 1 ms, all configuration settings are overwritten with their reset value.
break;
case STATE::WAIT_FOR_RESET:
if (RegisterRead(Register::ACC_CHIP_ID) == ID) {
if ((RegisterRead(Register::ACC_CHIP_ID) == ID_088) || (RegisterRead(Register::ACC_CHIP_ID) == ID_090L)) {
// ACC_PWR_CONF: Power on sensor
RegisterWrite(Register::ACC_PWR_CONF, 0);
@@ -191,15 +171,104 @@ void BMI088_Accelerometer::RunImpl()
break;
case STATE::FIFO_READ: {
SimpleFIFORead(now);
hrt_abstime timestamp_sample = now;
uint8_t samples = 0;
if (_data_ready_interrupt_enabled) {
// scheduled from interrupt if _drdy_timestamp_sample was set as expected
const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
timestamp_sample = drdy_timestamp_sample;
samples = _fifo_samples;
} else {
perf_count(_drdy_missed_perf);
}
// push backup schedule back
ScheduleDelayed(_fifo_empty_interval_us * 2);
}
if (samples == 0) {
// check current FIFO count
const uint16_t fifo_byte_counter = FIFOReadCount();
if (fifo_byte_counter >= FIFO::SIZE) {
FIFOReset();
perf_count(_fifo_overflow_perf);
} else if ((fifo_byte_counter == 0) || (fifo_byte_counter == 0x8000)) {
// An empty FIFO corresponds to 0x8000
perf_count(_fifo_empty_perf);
} else {
samples = fifo_byte_counter / sizeof(FIFO::DATA);
// tolerate minor jitter, leave sample to next iteration if behind by only 1
if (samples == _fifo_samples + 1) {
timestamp_sample -= static_cast<int>(FIFO_SAMPLE_DT);
samples--;
}
if (samples > FIFO_MAX_SAMPLES) {
// not technically an overflow, but more samples than we expected or can publish
FIFOReset();
perf_count(_fifo_overflow_perf);
samples = 0;
}
}
}
bool success = false;
if (samples >= 1) {
if (FIFORead(timestamp_sample, samples)) {
success = true;
if (_failure_count > 0) {
_failure_count--;
}
}
}
if (!success) {
_failure_count++;
// full reset if things are failing consistently
if (_failure_count > 10) {
Reset();
return;
}
}
if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
// check configuration registers periodically or immediately following any failure
if (RegisterCheck(_register_cfg[_checked_register])) {
_last_config_check_timestamp = now;
_checked_register = (_checked_register + 1) % size_register_cfg;
} else {
// register check failed, force reset
perf_count(_bad_register_perf);
Reset();
}
} else {
// periodically update temperature (~1 Hz)
if (hrt_elapsed_time(&_temperature_update_timestamp) >= 1_s) {
UpdateTemperature();
_temperature_update_timestamp = now;
}
}
}
break;
}
}
void BMI088_Accelerometer::ConfigureAccel()
{
//PX4_WARN("ConfigureAccel");
const uint8_t ACC_RANGE = RegisterRead(Register::ACC_RANGE) & (Bit1 | Bit0);
switch (ACC_RANGE) {
@@ -231,15 +300,11 @@ void BMI088_Accelerometer::ConfigureSampleRate(int sample_rate)
const float min_interval = FIFO_SAMPLE_DT;
_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
PX4_WARN("_fifo_empty_interval_us %d", _fifo_empty_interval_us);
_fifo_samples = math::min((float)_fifo_empty_interval_us / (1e6f / RATE), (float)FIFO_MAX_SAMPLES);
PX4_WARN("_fifo_samples %d", _fifo_samples);
// recompute FIFO empty interval (us) with actual sample limit
_fifo_empty_interval_us = _fifo_samples * (1e6f / RATE);
PX4_WARN("_fifo_empty_interval_us %d", _fifo_empty_interval_us);
//PX4_WARN("_fifo_samples %d", _fifo_samples);
ConfigureFIFOWatermark(_fifo_samples);
}
@@ -265,7 +330,6 @@ void BMI088_Accelerometer::ConfigureFIFOWatermark(uint8_t samples)
bool BMI088_Accelerometer::Configure()
{
// first set and clear all configured register bits
for (const auto &reg_cfg : _register_cfg) {
RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
@@ -293,6 +357,7 @@ int BMI088_Accelerometer::DataReadyInterruptCallback(int irq, void *context, voi
void BMI088_Accelerometer::DataReady()
{
_drdy_timestamp_sample.store(hrt_absolute_time());
ScheduleNow();
}
@@ -334,6 +399,20 @@ bool BMI088_Accelerometer::RegisterCheck(const register_config_t &reg_cfg)
return success;
}
uint8_t BMI088_Accelerometer::RegisterRead(Register reg)
{
uint8_t cmd = static_cast<uint8_t>(reg);
uint8_t value = 0;
transfer(&cmd, 1, &value, 1);
return value;
}
void BMI088_Accelerometer::RegisterWrite(Register reg, uint8_t value)
{
uint8_t cmd[2] { (uint8_t)reg, value };
transfer(cmd, sizeof(cmd), nullptr, 0);
}
void BMI088_Accelerometer::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)
{
const uint8_t orig_val = RegisterRead(reg);
@@ -349,10 +428,9 @@ uint16_t BMI088_Accelerometer::FIFOReadCount()
{
// FIFO length registers FIFO_LENGTH_1 and FIFO_LENGTH_0 contain the 14 bit FIFO byte
uint8_t fifo_len_buf[2] {};
fifo_len_buf[0] = static_cast<uint8_t>(Register::FIFO_LENGTH_0) | DIR_READ;
// fifo_len_buf[1] dummy byte
uint8_t cmd = static_cast<uint8_t>(Register::FIFO_LENGTH_0);
if (transfer(&fifo_len_buf[0], 1, &fifo_len_buf[0], 2) != PX4_OK) {
if (transfer(&cmd, 1, fifo_len_buf, sizeof(fifo_len_buf)) != PX4_OK) {
perf_count(_bad_transfer_perf);
return 0;
}
@@ -366,14 +444,13 @@ uint16_t BMI088_Accelerometer::FIFOReadCount()
bool BMI088_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
{
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, FIFO::SIZE);
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 2, FIFO::SIZE);
if (transfer((uint8_t *)&buffer, 1, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
if (transfer(&buffer.cmd, 1, (uint8_t *)&buffer.FIFO_LENGTH_0, transfer_size) != PX4_OK) {
perf_count(_bad_transfer_perf);
return false;
}
//PX4_WARN("Accel transfer success");
const size_t fifo_byte_counter = combine(buffer.FIFO_LENGTH_1 & 0x3F, buffer.FIFO_LENGTH_0);
// An empty FIFO corresponds to 0x8000
@@ -463,119 +540,6 @@ bool BMI088_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t
return false;
}
bool BMI088_Accelerometer::SimpleFIFORead(const hrt_abstime &timestamp_sample)
{
sensor_accel_fifo_s accel{};
accel.timestamp_sample = timestamp_sample;
accel.samples = 0;
accel.dt = FIFO_SAMPLE_DT;
int fifo_fill_level = 0;
uint8_t data_o[2] = { 0, 0 };
uint8_t data_i[1] = {static_cast<uint8_t>(Register::FIFO_LENGTH_0)};
data_i[0] = static_cast<uint8_t>(Register::FIFO_LENGTH_0);
transfer(&data_i[0], 1, &data_o[0], 2);
fifo_fill_level = data_o[0] + (data_o[1] << 8);
if (fifo_fill_level & 0x8000) {
return false;
}
int n_frames_to_read = 6;
// don't read more than 6 frames at a time
if (fifo_fill_level > n_frames_to_read * 7) {
fifo_fill_level = n_frames_to_read * 7;
}
if (fifo_fill_level == 0) {
return false;
}
uint8_t data[fifo_fill_level];
data[0] = static_cast<uint8_t>(Register::FIFO_DATA);
if (transfer(&data[0], 1, &data[0], fifo_fill_level) != PX4_OK) {
return false;
}
const uint8_t *p = &data[0];
while (fifo_fill_level >= 7) {
uint8_t frame_len = 2;
switch (p[0] & 0xFC) {
case 0x84: {
// accel frame
frame_len = 7;
const uint8_t *d = p + 1;
int16_t xyz[3] {
int16_t(uint16_t(d[0] | (d[1] << 8))),
int16_t(uint16_t(d[2] | (d[3] << 8))),
int16_t(uint16_t(d[4] | (d[5] << 8)))
};
const int16_t tX[3] = {1, 0, 0};
const int16_t tY[3] = {0, -1, 0};
const int16_t tZ[3] = {0, 0, -1};
float x = 0;
float y = 0;
float z = 0;
x = xyz[0] * tX[0] + xyz[1] * tX[1] + xyz[2] * tX[2];
y = xyz[0] * tY[0] + xyz[1] * tY[1] + xyz[2] * tY[2];
z = xyz[0] * tZ[0] + xyz[1] * tZ[1] + xyz[2] * tZ[2];
accel.x[accel.samples] = x;
accel.y[accel.samples] = y;
accel.z[accel.samples] = z;
accel.samples++;
break;
}
case 0x40:
// skip frame
frame_len = 2;
break;
case 0x44:
// sensortime frame
frame_len = 4;
break;
case 0x48:
// fifo config frame
frame_len = 2;
break;
case 0x50:
// sample drop frame
frame_len = 2;
break;
}
p += frame_len;
fifo_fill_level -= frame_len;
}
_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_WARN("accel.samples: %d", accel.samples);
_px4_accel.updateFIFO(accel);
return true;
}
return true;
}
void BMI088_Accelerometer::FIFOReset()
{
perf_count(_fifo_reset_perf);
@@ -590,17 +554,17 @@ void BMI088_Accelerometer::FIFOReset()
void BMI088_Accelerometer::UpdateTemperature()
{
// stored in an 11-bit value in 2’s complement format
uint8_t temperature_buf[4] {};
temperature_buf[0] = static_cast<uint8_t>(Register::TEMP_MSB) | ACC_I2C_ADDR_PRIMARY;
uint8_t temperature_buf[2] {};
uint8_t cmd = static_cast<uint8_t>(Register::TEMP_MSB);
// temperature_buf[1] dummy byte
if (transfer(&temperature_buf[0], 1, &temperature_buf[0], sizeof(temperature_buf)) != PX4_OK) {
if (transfer(&cmd, 1, &temperature_buf[0], sizeof(temperature_buf)) != PX4_OK) {
perf_count(_bad_transfer_perf);
return;
}
const uint8_t TEMP_MSB = temperature_buf[2];
const uint8_t TEMP_LSB = temperature_buf[3];
const uint8_t TEMP_MSB = temperature_buf[0];
const uint8_t TEMP_LSB = temperature_buf[1];
// Datasheet 5.3.7: Register 0x22 – 0x23: Temperature sensor data
uint16_t Temp_uint11 = (TEMP_MSB * 8) + (TEMP_LSB / 32);
@@ -623,301 +587,4 @@ void BMI088_Accelerometer::UpdateTemperature()
}
}
bool BMI088_Accelerometer::SelfTest()
{
PX4_WARN("Running self-test with datasheet recomended steps(page 17)");
// Reset
PX4_WARN("Reseting the sensor");
if (RegisterWrite(Register::ACC_SOFTRESET, 0xB6) == PX4_OK) {
PX4_WARN("Reset success");
}
usleep(100000);
PX4_WARN("Accel on");
if (RegisterWrite(Register::ACC_PWR_CTRL, 0x04) == PX4_OK) {
PX4_WARN("Accel on success");
}
usleep(100000);
PX4_WARN("Sensor ErrReg: 0x%02x", CheckSensorErrReg());
Configure();
usleep(1000000);
PX4_WARN("Sensor ErrReg: 0x%02x", CheckSensorErrReg());
const uint8_t ACC_CHIP_ID = RegisterRead(Register::ACC_CHIP_ID);
PX4_WARN("ACC_CHIP_ID: 0x%02x", ACC_CHIP_ID);
usleep(30000);
PX4_WARN("Sensor ErrReg: 0x%02x", CheckSensorErrReg());
if (RegisterWrite(Register::ACC_PWR_CONF, 0) == PX4_OK) {
PX4_WARN("Start sensor success");
PX4_WARN("ACC_PWR_CONF(0): 0x%02x", RegisterRead(Register::ACC_PWR_CONF));
}
usleep(2000000);
PX4_WARN("Sensor ErrReg: 0x%02x", CheckSensorErrReg());
if (RegisterWrite(Register::ACC_RANGE, 0x03) == PX4_OK) {
PX4_WARN("Range set success");
PX4_WARN("ACC_RANGE(0x03): 0x%02x", RegisterRead(Register::ACC_RANGE));
}
usleep(100000);
PX4_WARN("Sensor ErrReg: 0x%02x", CheckSensorErrReg());
if (RegisterWrite(Register::ACC_CONF, 0xA7) == PX4_OK) {
PX4_WARN("Conf set success");
PX4_WARN("ACC_CONF(0xA7): 0x%02x", RegisterRead(Register::ACC_CONF));
}
usleep(100000);
PX4_WARN("Sensor ErrReg: 0x%02x", CheckSensorErrReg());
// Positive sel-test polarity
if (RegisterWrite(Register::ACC_SELF_TEST, 0x0D) == PX4_OK) {
PX4_WARN("Self-test positive mode set success");
PX4_WARN("ACC_SELF_TEST(0x0D): 0x%02x", RegisterRead(Register::ACC_SELF_TEST));
}
usleep(100000);
PX4_WARN("Sensor ErrReg: 0x%02x", CheckSensorErrReg());
float *accel_mss = ReadAccelDataFIFO();
PX4_WARN("Positive value");
PX4_WARN("X %f", (double)accel_mss[0]);
PX4_WARN("Y %f", (double)accel_mss[1]);
PX4_WARN("Z %f", (double)accel_mss[2]);
// Negative sel-test polarity
if (RegisterWrite(Register::ACC_SELF_TEST, 0x09) == PX4_OK) {
PX4_WARN("Self-test negative mode set success");
PX4_WARN("ACC_SELF_TEST(0x09): 0x%02x", RegisterRead(Register::ACC_SELF_TEST));
}
usleep(600000);
PX4_WARN("Sensor ErrReg: 0x%02x", CheckSensorErrReg());
float *accel_mss2 = ReadAccelDataFIFO();
PX4_WARN("Negative value");
PX4_WARN("X %f", (double)accel_mss2[0]);
PX4_WARN("Y %f", (double)accel_mss2[1]);
PX4_WARN("Z %f", (double)accel_mss2[2]);
// Calculate difference between positive and negative sef-test response
float diff_x = accel_mss[0] - accel_mss2[0];
float diff_y = accel_mss[1] - accel_mss2[1];
float diff_z = accel_mss[2] - accel_mss2[2];
PX4_WARN("Diff value");
PX4_WARN("diff_x %f", (double)diff_x);
PX4_WARN("diff_y %f", (double)diff_y);
PX4_WARN("diff_z %f", (double)diff_z);
if (diff_x >= 1000) {
PX4_WARN("X Axis self-test success");
}
if (diff_y >= 1000) {
PX4_WARN("Y Axis self-test success");
}
if (diff_z >= 500) {
PX4_WARN("Z Axis self-test success");
}
// Disable self-test
RegisterWrite(Register::ACC_SELF_TEST, 0x00);
usleep(60000);
PX4_WARN("Sensor ErrReg: 0x%02x", CheckSensorErrReg());
// Reset
//PX4_WARN("Reseting the sensor again");
//RegisterWrite(Register::ACC_SOFTRESET, 0xB6);
//usleep(100000);
return true;
}
float *BMI088_Accelerometer::ReadAccelData()
{
uint8_t cmd[1] = {0x12};
uint8_t buf[6] = {0, 0, 0, 0, 0, 0};
uint8_t *buffer = buf;
int16_t accel[3];
if (transfer(&cmd[0], 1, buffer, sizeof(buf)) == PX4_OK) {
PX4_WARN("ReadAccelData transfer success");
}
for (uint8_t i = 0; i < sizeof(buf); i++) {
PX4_WARN("buf[%d]: %f", i, (double)buf[i]);
}
accel[0] = (buf[1] << 8) | buf[0];
accel[1] = (buf[3] << 8) | buf[2];
accel[2] = (buf[5] << 8) | buf[4];
float *accel_mss = new float[3];
accel_mss[0] = (float) accel[0] / 32768.0f * 1000.0f * powf(2.0f, 24.0f + 1.0f) * 1.50f;
accel_mss[1] = (float) accel[1] / 32768.0f * 1000.0f * powf(2.0f, 24.0f + 1.0f) * 1.50f;
accel_mss[2] = (float) accel[2] / 32768.0f * 1000.0f * powf(2.0f, 24.0f + 1.0f) * 1.50f;
return accel_mss;
}
float *BMI088_Accelerometer::ReadAccelDataFIFO()
{
float *accel_mg = new float[3];
struct FIFO::bmi08x_sensor_data bmi08x_accel;
uint8_t buffer[50] = {0};
PX4_WARN("FIFO mode is stop-at-full");
/* Desired FIFO mode is stop-at-full: set bit #0 to 1 in 0x48. Bit #1 must always be one! */
buffer[0] = 0x00 | 0x02;
RegisterWrite(Register::FIFO_CONFIG_0, buffer[0]);
PX4_WARN("FIFO_CONFIG_0(0x%02x): 0x%02x", buffer[0], RegisterRead(Register::FIFO_CONFIG_0));
PX4_WARN("Downsampling factor 2**4 = 16");
/* Downsampling factor 2**4 = 16: write 4 into bit #4-6 of reg. 0x45. Bit #7 must always be one! */
buffer[0] = 0x10 | 0x80;
RegisterWrite(Register::FIFO_DOWN_SAMPLING, buffer[0]);
PX4_WARN("FIFO_DOWN_SAMPLING(0x%02x): 0x%02x", buffer[0], RegisterRead(Register::FIFO_DOWN_SAMPLING));
/* Set water mark to 42 bytes (aka 6 frames, each 7 bytes: 1 byte header + 6 bytes accel data) */
// uint16_t wml = 42;
// buffer[0] = (uint8_t) wml & 0xff;
// buffer[1] = (uint8_t) (wml >> 8) & 0xff;
// uint8_t add = static_cast<uint8_t>(Register::FIFO_WTM_0);
// uint8_t cmd[3] = { add, buffer[0], buffer[1]};
// transfer(cmd, sizeof(cmd), nullptr, 0);
// PX4_WARN("FIFO_WTM_0(0x%02x): 0x%02x",cmd[0], RegisterRead(Register::FIFO_WTM_0));
/* Enable the actual FIFO functionality: write 0x50 to 0x49. Bit #4 must always be one! */
buffer[0] = 0x10 | 0x40;
RegisterWrite(Register::FIFO_CONFIG_1, buffer[0]);
PX4_WARN("FIFO_CONFIG_1(0x%02x): 0x%02x", buffer[0], RegisterRead(Register::FIFO_CONFIG_1));
usleep(1000000);
int fifo_fill_level = 0;
uint8_t data_o[2] = { 0, 0 };
uint8_t data_i[1] = {static_cast<uint8_t>(Register::FIFO_LENGTH_0)};
data_i[0] = static_cast<uint8_t>(Register::FIFO_LENGTH_0);
transfer(&data_i[0], 1, &data_o[0], 2);
fifo_fill_level = data_o[0] + 256 * data_o[1];
PX4_WARN("fifo_fill_level %d", fifo_fill_level);
// while(fifo_fill_level < wml)
// {
// transfer(&data_i[0], 1, &data_o[0], 2);
// fifo_fill_level = data_o[0] + 256 * data_o[1];
// PX4_WARN("fifo_fill_level %d", fifo_fill_level);
// }
uint8_t custom_size = 42;
uint8_t buffer_data[custom_size] = {0};
buffer[0] = static_cast<uint8_t>(Register::FIFO_DATA);
bmi08x_accel.x = 10;
PX4_WARN("bmi08x_accel %d", bmi08x_accel.x);
transfer(&buffer[0], 1, &buffer_data[0], custom_size);
/* This is a super-simple FIFO parsing loop, hoping it will only find valid accel data packets */
for (int i = 1; i < custom_size;) {
/* Header of acceleration sensor data frame: 100001xxb, where x is INT1/INT2 tag, ignored here */
if (buffer_data[i] == (0x84 & 0x8c)) {
UnpackSensorData(&bmi08x_accel, &buffer_data[i + 1]);
PX4_WARN("Frame: %03d ax:%f ay:%f az:%f", i / 6, (double)bmi08x_accel.x, (double)bmi08x_accel.y,
(double)bmi08x_accel.z);
accel_mg[0] = bmi08x_accel.x;
accel_mg[1] = bmi08x_accel.y;
accel_mg[2] = bmi08x_accel.z;
float *data_in_mg = SensorDataTomg(accel_mg);
PX4_WARN("Frame mg: %03d ax:%f ay:%f az:%f", i / 6, (double)data_in_mg[0], (double)data_in_mg[1],
(double)data_in_mg[2]);
i += 7;
} else {
i++;
}
}
return accel_mg;
}
uint8_t BMI088_Accelerometer::CheckSensorErrReg()
{
return RegisterRead(Register::ACC_ERR_REG);
}
void BMI088_Accelerometer::UnpackSensorData(struct FIFO::bmi08x_sensor_data *sens_data, uint8_t *buffer)
{
uint16_t data_lsb;
uint16_t data_msb;
uint16_t start_idx = 0;
/* Gyro raw x data */
data_lsb = buffer[start_idx++];
data_msb = buffer[start_idx++];
sens_data->x = (int16_t)((data_msb << 8) | data_lsb);
/* Gyro raw y data */
data_lsb = buffer[start_idx++];
data_msb = buffer[start_idx++];
sens_data->y = (int16_t)((data_msb << 8) | data_lsb);
/* Gyro raw z data */
data_lsb = buffer[start_idx++];
data_msb = buffer[start_idx++];
sens_data->z = (int16_t)((data_msb << 8) | data_lsb);
}
float *BMI088_Accelerometer::SensorDataTomg(float *data)
{
data[0] = (float) data[0] / 32768.0f * 1000.0f * powf(2.0f, 24.0f + 1.0f) * 1.50f;
data[1] = (float) data[1] / 32768.0f * 1000.0f * powf(2.0f, 24.0f + 1.0f) * 1.50f;
data[2] = (float) data[2] / 32768.0f * 1000.0f * powf(2.0f, 24.0f + 1.0f) * 1.50f;
return data;
}
bool BMI088_Accelerometer::NormalRead(const hrt_abstime &timestamp_sample)
{
const int16_t tX[3] = {1, 0, 0};
const int16_t tY[3] = {0, -1, 0};
const int16_t tZ[3] = {0, 0, -1};
float x = 0;
float y = 0;
float z = 0;
uint8_t buffer[6] = {0};
uint8_t cmd[1] = {static_cast<uint8_t>(Register::ACC_READ)};
transfer(&cmd[0], 1, &buffer[0], 6);
uint8_t RATE_X_LSB = buffer[0];
uint8_t RATE_X_MSB = buffer[1];
uint8_t RATE_Y_LSB = buffer[2];
uint8_t RATE_Y_MSB = buffer[3];
uint8_t RATE_Z_LSB = buffer[4];
uint8_t RATE_Z_MSB = buffer[5];
const int16_t accel_x = combine(RATE_X_MSB, RATE_X_LSB);
const int16_t accel_y = combine(RATE_Y_MSB, RATE_Y_LSB);
const int16_t accel_z = combine(RATE_Z_MSB, RATE_Z_LSB);
// 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)
x = accel_x * tX[0] + accel_y * tX[1] + accel_z * tX[2];
y = accel_x * tY[0] + accel_y * tY[1] + accel_z * tY[2];
z = accel_x * tZ[0] + accel_y * tZ[1] + accel_z * tZ[2];
//PX4_WARN("x: %f | y: %f | z: %f", (double)x, (double)y ,(double)z);
_px4_accel.update(timestamp_sample, x, y, z);
return true;
}
} // namespace Bosch::BMI088::Accelerometer
src/drivers/imu/bosch/bmi088_i2c/BMI088_Accelerometer.hpp
+3 -16
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2022 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
@@ -55,7 +55,6 @@ private:
void exit_and_cleanup() override;
// Sensor Configuration
// static constexpr uint32_t RATE{1600}; // 1600 Hz
static constexpr uint32_t RATE{1600}; // 1600 Hz
static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
@@ -69,10 +68,6 @@ private:
uint8_t FIFO_LENGTH_1{0};
FIFO::DATA f[FIFO_MAX_SAMPLES] {};
};
// Transfer data without length
struct FIFOTransferBufferWithoutLength {
FIFO::DATA f[FIFO_MAX_SAMPLES] {};
};
// ensure no struct padding
static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
@@ -97,7 +92,7 @@ private:
bool RegisterCheck(const register_config_t &reg_cfg);
uint8_t RegisterRead(Register reg);
uint8_t RegisterWrite(Register reg, uint8_t value);
void RegisterWrite(Register reg, uint8_t value);
void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
uint16_t FIFOReadCount();
@@ -105,14 +100,6 @@ private:
void FIFOReset();
void UpdateTemperature();
void UnpackSensorData(struct FIFO::bmi08x_sensor_data *sens_data, uint8_t *buffer);
bool SelfTest();
float *ReadAccelData();
float *ReadAccelDataFIFO();
float *SensorDataTomg(float *data);
uint8_t CheckSensorErrReg();
bool SimpleFIFORead(const hrt_abstime &timestamp_sample);
bool NormalRead(const hrt_abstime &timestamp_sample);
PX4Accelerometer _px4_accel;
@@ -129,7 +116,7 @@ private:
static constexpr uint8_t size_register_cfg{10};
register_config_t _register_cfg[size_register_cfg] {
// Register | Set bits, Clear bits
{ Register::ACC_PWR_CONF, 0, ACC_PWR_CONF_BIT::acc_pwr_save }, //
{ Register::ACC_PWR_CONF, 0, ACC_PWR_CONF_BIT::acc_pwr_save },
{ Register::ACC_PWR_CTRL, ACC_PWR_CTRL_BIT::acc_enable, 0 },
{ Register::ACC_CONF, ACC_CONF_BIT::acc_bwp_Normal | ACC_CONF_BIT::acc_odr_1600, Bit1 | Bit0 },
{ Register::ACC_RANGE, ACC_RANGE_BIT::acc_range_24g, 0 },
src/drivers/imu/bosch/bmi088_i2c/BMI088_Gyroscope.cpp
+91 -139
View File
@@ -48,7 +48,7 @@ BMI088_Gyroscope::BMI088_Gyroscope(const I2CSPIDriverConfig &config) :
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_gyro: DRDY missed");
}
ConfigureSampleRate(2000);
ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
}
BMI088_Gyroscope::~BMI088_Gyroscope()
@@ -98,13 +98,6 @@ void BMI088_Gyroscope::RunImpl()
const hrt_abstime now = hrt_absolute_time();
switch (_state) {
case STATE::SELFTEST:
//SelfTest();
_state = STATE::RESET;
ScheduleDelayed(1_ms);
break;
case STATE::RESET:
// GYRO_SOFTRESET: Writing a value of 0xB6 to this register resets the sensor.
// Following a delay of 30 ms, all configuration settings are overwritten with their reset value.
@@ -170,8 +163,90 @@ void BMI088_Gyroscope::RunImpl()
break;
case STATE::FIFO_READ: {
SimpleFIFORead(now);
hrt_abstime timestamp_sample = 0;
if (_data_ready_interrupt_enabled) {
// scheduled from interrupt if _drdy_timestamp_sample was set as expected
const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
timestamp_sample = drdy_timestamp_sample;
} else {
perf_count(_drdy_missed_perf);
}
// push backup schedule back
ScheduleDelayed(_fifo_empty_interval_us * 2);
}
// always check current FIFO status/count
bool success = false;
const uint8_t FIFO_STATUS = RegisterRead(Register::FIFO_STATUS);
if (FIFO_STATUS & FIFO_STATUS_BIT::Fifo_overrun) {
FIFOReset();
perf_count(_fifo_overflow_perf);
} else {
const uint8_t fifo_frame_counter = FIFO_STATUS & FIFO_STATUS_BIT::Fifo_frame_counter;
if (fifo_frame_counter > FIFO_MAX_SAMPLES) {
// not technically an overflow, but more samples than we expected or can publish
FIFOReset();
perf_count(_fifo_overflow_perf);
} else if (fifo_frame_counter == 0) {
perf_count(_fifo_empty_perf);
} else if (fifo_frame_counter >= 1) {
uint8_t samples = fifo_frame_counter;
// tolerate minor jitter, leave sample to next iteration if behind by only 1
if (samples == _fifo_samples + 1) {
// sample timestamp set from data ready already corresponds to _fifo_samples
if (timestamp_sample == 0) {
timestamp_sample = now - static_cast<int>(FIFO_SAMPLE_DT);
}
samples--;
}
if (FIFORead((timestamp_sample == 0) ? now : timestamp_sample, samples)) {
success = true;
if (_failure_count > 0) {
_failure_count--;
}
}
}
}
if (!success) {
_failure_count++;
// full reset if things are failing consistently
if (_failure_count > 10) {
Reset();
return;
}
}
if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
// check configuration registers periodically or immediately following any failure
if (RegisterCheck(_register_cfg[_checked_register])) {
_last_config_check_timestamp = now;
_checked_register = (_checked_register + 1) % size_register_cfg;
} else {
// register check failed, force reset
perf_count(_bad_register_perf);
Reset();
}
}
}
break;
}
}
@@ -306,16 +381,15 @@ bool BMI088_Gyroscope::RegisterCheck(const register_config_t &reg_cfg)
uint8_t BMI088_Gyroscope::RegisterRead(Register reg)
{
uint8_t add = static_cast<uint8_t>(reg);
uint8_t cmd[2] = {add, 0};
transfer(&cmd[0], 1, &cmd[1], 1);
return cmd[1];
uint8_t cmd = static_cast<uint8_t>(reg);
uint8_t value = 0;
transfer(&cmd, 1, &value, 1);
return value;
}
void BMI088_Gyroscope::RegisterWrite(Register reg, uint8_t value)
{
uint8_t add = static_cast<uint8_t>(reg);
uint8_t cmd[2] = {add, value};
uint8_t cmd[2] { (uint8_t)reg, value };
transfer(cmd, sizeof(cmd), nullptr, 0);
}
@@ -333,10 +407,9 @@ void BMI088_Gyroscope::RegisterSetAndClearBits(Register reg, uint8_t setbits, ui
bool BMI088_Gyroscope::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
{
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA), FIFO::SIZE);
//PX4_WARN("Estimated transfer size: %d", transfer_size);
if (transfer((uint8_t *)&buffer, 1, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
if (transfer((uint8_t *)&buffer.cmd, 1, (uint8_t *)&buffer.f, transfer_size) != PX4_OK) {
perf_count(_bad_transfer_perf);
return false;
}
@@ -390,125 +463,4 @@ void BMI088_Gyroscope::FIFOReset()
}
}
bool BMI088_Gyroscope::SelfTest()
{
//Datasheet page 17 self test
//Set bit0 to enable built in self test
RegisterWrite(Register::SELF_TEST, 0x01);
usleep(10000);
uint8_t res = 0;
uint8_t test_res = false;
while (true) {
res = RegisterRead(Register::SELF_TEST);
if ((res & 0x02) == 0x02) {
if ((res & 0x04) == 0x00) {
PX4_WARN("Gyro Self-test success");
test_res = true;
} else {
PX4_WARN("Gyro Self-test error");
}
break;
}
}
RegisterWrite(Register::SELF_TEST, 0x00);
return test_res;
}
bool BMI088_Gyroscope::NormalRead(const hrt_abstime &timestamp_sample)
{
float x = 0;
float y = 0;
float z = 0;
uint8_t buffer[6] = {0};
uint8_t cmd[1] = {static_cast<uint8_t>(Register::READ_GYRO)};
transfer(&cmd[0], 1, &buffer[0], 6);
uint8_t RATE_X_LSB = buffer[0];
uint8_t RATE_X_MSB = buffer[1];
uint8_t RATE_Y_LSB = buffer[2];
uint8_t RATE_Y_MSB = buffer[3];
uint8_t RATE_Z_LSB = buffer[4];
uint8_t RATE_Z_MSB = buffer[5];
const int16_t gyro_x = combine(RATE_X_MSB, RATE_X_LSB);
const int16_t gyro_y = combine(RATE_Y_MSB, RATE_Y_LSB);
const int16_t gyro_z = combine(RATE_Z_MSB, RATE_Z_LSB);
// 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)
x = gyro_x;
y = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
z = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
_px4_gyro.update(timestamp_sample, x, y, z);
return true;
}
bool BMI088_Gyroscope::SimpleFIFORead(const hrt_abstime &timestamp_sample)
{
uint8_t n_frames;
sensor_gyro_fifo_s gyro{};
gyro.timestamp_sample = timestamp_sample;
gyro.samples = 0;
gyro.dt = FIFO_SAMPLE_DT;
uint8_t data_i[1] = {static_cast<uint8_t>(Register::FIFO_STATUS)};
transfer(&data_i[0], 1, &n_frames, 1);
n_frames &= 0x7F;
int n_frames_to_read = 6;
// don't read more than 8 frames at a time
if (n_frames > n_frames_to_read) {
n_frames = n_frames_to_read;
}
if (n_frames == 0) {
return false;
}
uint8_t data[6 * n_frames];
data[0] = static_cast<uint8_t>(Register::FIFO_DATA);
if (transfer(&data[0], 1, &data[0], 6 * n_frames) != PX4_OK) {
//PX4_WARN("transfer(&data[0], 1, &data[0], fifo_fill_level) != PX4_OK");
return false;
}
for (uint8_t i = 0; i < n_frames; i++) {
const uint8_t *d = &data[i * 6];
int16_t xyz[3] {
int16_t(uint16_t(d[0] | d[1] << 8)),
int16_t(uint16_t(d[2] | d[3] << 8)),
int16_t(uint16_t(d[4] | d[5] << 8))
};
gyro.x[i] = xyz[0];
gyro.y[i] = (xyz[1] == INT16_MIN) ? INT16_MAX : -xyz[1];
gyro.z[i] = (xyz[2] == INT16_MIN) ? INT16_MAX : -xyz[2];
gyro.samples++;
}
_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));
if (gyro.samples > 0) {
//PX4_WARN("accel.samples: %d", accel.samples);
_px4_gyro.updateFIFO(gyro);
return true;
}
return true;
}
} // namespace Bosch::BMI088::Gyroscope
src/drivers/imu/bosch/bmi088_i2c/BMI088_Gyroscope.hpp
+3 -6
View File
@@ -55,7 +55,7 @@ private:
void exit_and_cleanup() override;
// Sensor Configuration
static constexpr uint32_t RATE{400}; // 2000 Hz
static constexpr uint32_t RATE{2000}; // 2000 Hz
static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
@@ -95,9 +95,6 @@ private:
bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
void FIFOReset();
bool SelfTest();
bool NormalRead(const hrt_abstime &timestamp_sample);
bool SimpleFIFORead(const hrt_abstime &timestamp_sample);
PX4Gyroscope _px4_gyro;
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: bad register")};
@@ -114,13 +111,13 @@ private:
register_config_t _register_cfg[size_register_cfg] {
// Register | Set bits, Clear bits
{ Register::GYRO_RANGE, GYRO_RANGE_BIT::gyro_range_2000_dps, 0 },
{ Register::GYRO_BANDWIDTH, 0, GYRO_BANDWIDTH_BIT::gyro_bw_2000_Hz},
{ Register::GYRO_BANDWIDTH, 0, GYRO_BANDWIDTH_BIT::gyro_bw_532_Hz },
{ Register::GYRO_INT_CTRL, GYRO_INT_CTRL_BIT::fifo_en, 0 },
{ Register::INT3_INT4_IO_CONF, 0, INT3_INT4_IO_CONF_BIT::Int3_od | INT3_INT4_IO_CONF_BIT::Int3_lvl },
{ Register::INT3_INT4_IO_MAP, INT3_INT4_IO_MAP_BIT::Int3_fifo, 0 },
{ Register::FIFO_WM_ENABLE, FIFO_WM_ENABLE_BIT::fifo_wm_enable, 0 },
{ Register::FIFO_CONFIG_0, 0, 0 }, // fifo_water_mark_level_trigger_retain<6:0>
{ Register::FIFO_CONFIG_1, FIFO_CONFIG_1_BIT::FIFO_MODE_STREAM, 0 },
{ Register::FIFO_CONFIG_1, FIFO_CONFIG_1_BIT::FIFO_MODE, 0 },
};
};
src/drivers/imu/bosch/bmi088_i2c/Bosch_BMI088_Accelerometer_Registers.hpp
+8 -29
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2022 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
@@ -48,15 +48,14 @@ static constexpr uint8_t Bit7 = (1 << 7);
static constexpr uint32_t SPI_SPEED = 10 * 1000 * 1000; // 10MHz SPI serial interface
static constexpr uint32_t I2C_400_SPEED = 400 * 1000; // 400kHz I2C interface
static constexpr uint32_t I2C_200_SPEED = 200 * 1000; // 200kHz I2C interface
static constexpr uint32_t I2C_100_SPEED = 100 * 1000; // 100kHz I2C interface
static constexpr uint32_t I2C_SPEED = 400 * 1000; // 400kHz I2C interface
static constexpr uint8_t DIR_READ = 0x80;
static constexpr uint8_t ID = 0x1E;
static constexpr uint8_t ID_088 = 0x1E;
static constexpr uint8_t ID_090L = 0x1A;
static constexpr uint8_t ACC_I2C_ADDR_PRIMARY = 0x18;
static constexpr uint8_t ACC_I2C_ADDR_PRIMARY = 0x18;
static constexpr uint8_t ACC_I2C_ADDR_SECONDARY = 0x19;
enum class Register : uint8_t {
@@ -74,7 +73,7 @@ enum class Register : uint8_t {
ACC_CONF = 0x40,
ACC_RANGE = 0x41,
FIFO_DOWN_SAMPLING = 0x45,
FIFO_DOWNS = 0x45,
FIFO_WTM_0 = 0x46,
FIFO_WTM_1 = 0x47,
FIFO_CONFIG_0 = 0x48,
@@ -87,24 +86,15 @@ enum class Register : uint8_t {
ACC_PWR_CONF = 0x7C,
ACC_PWR_CTRL = 0x7D,
ACC_SOFTRESET = 0x7E,
ACC_SELF_TEST = 0x6D,
ACC_I2C_ADDR_PRIMARY_REG = 0x6D,
ACC_I2C_ADDR_SECONDARY_REG = 0x19,
ACC_READ = 0x12
};
// ACC_CONF
enum ACC_CONF_BIT : uint8_t {
// [7:4] acc_bwp
acc_bwp_Normal = Bit7 | Bit5, // Filter setting normal
// [7:4] acc_bwp
acc_bwp_osr_4 = Bit7, // OSR4
// [3:0] acc_odr
acc_odr_1600 = Bit3 | Bit2, // ODR 1600 Hz
// [3:0] acc_odr
acc_odr_12_5 = Bit2 | Bit0, // ODR 12.5 Hz
// [3:0] acc_odr
acc_odr_100 = Bit3, // ODR 100 Hz
};
// ACC_RANGE
@@ -158,7 +148,7 @@ enum ACC_PWR_CTRL_BIT : uint8_t {
namespace FIFO
{
static constexpr size_t SIZE = 1024;
// 1. Acceleration sensor data frame - Frame length: 7 bytes (1 byte header + 6 bytes payload)
// Payload: the next bytes contain the sensor data in the same order as defined in the register map (addresses 0x12 – 0x17).
@@ -176,8 +166,6 @@ struct DATA {
uint8_t ACC_Z_LSB;
uint8_t ACC_Z_MSB;
};
static constexpr size_t SIZE = 1024;
//static constexpr size_t SIZE = sizeof(DATA) * 10;
static_assert(sizeof(DATA) == 7);
enum header : uint8_t {
@@ -187,15 +175,6 @@ enum header : uint8_t {
FIFO_input_config_frame = 0b01001000,
sample_drop_frame = 0b01010000,
};
struct bmi08x_sensor_data {
/*! X-axis sensor data */
int16_t x;
/*! Y-axis sensor data */
int16_t y;
/*! Z-axis sensor data */
int16_t z;
};
} // namespace FIFO
} // namespace Bosch::BMI088::Accelerometer
src/drivers/imu/bosch/bmi088_i2c/Bosch_BMI088_Gyroscope_Registers.hpp
+3 -10
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2022 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
@@ -48,9 +48,7 @@ static constexpr uint8_t Bit7 = (1 << 7);
static constexpr uint32_t SPI_SPEED = 10 * 1000 * 1000; // 10MHz SPI serial interface
static constexpr uint32_t I2C_400_SPEED = 400 * 1000; // 400kHz I2C interface
static constexpr uint32_t I2C_200_SPEED = 200 * 1000; // 200kHz I2C interface
static constexpr uint32_t I2C_100_SPEED = 100 * 1000; // 100kHz I2C interface
static constexpr uint32_t I2C_SPEED = 400 * 1000; // 400kHz I2C interface
static constexpr uint8_t DIR_READ = 0x80;
@@ -76,8 +74,6 @@ enum class Register : uint8_t {
FIFO_CONFIG_0 = 0x3D,
FIFO_CONFIG_1 = 0x3E,
FIFO_DATA = 0x3F,
SELF_TEST = 0x3C,
READ_GYRO = 0x02,
};
// FIFO_STATUS
@@ -97,9 +93,7 @@ enum GYRO_RANGE_BIT : uint8_t {
// GYRO_BANDWIDTH
enum GYRO_BANDWIDTH_BIT : uint8_t {
gyro_bw_100_Hz = Bit2 | Bit1 | Bit0,
gyro_bw_200_Hz = Bit4,
gyro_bw_2000_Hz = 0x00,
gyro_bw_532_Hz = Bit2 | Bit1 | Bit0
};
// GYRO_INT_CTRL
@@ -131,7 +125,6 @@ enum FIFO_WM_ENABLE_BIT : uint8_t {
// FIFO_CONFIG_1
enum FIFO_CONFIG_1_BIT : uint8_t {
FIFO_MODE = Bit6,
FIFO_MODE_STREAM = Bit7,
};
src/drivers/imu/bosch/bmi088_i2c/bmi088_i2c_main.cpp
+5 -7
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020, 2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2022 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
@@ -60,19 +60,20 @@ extern "C" int bmi088_i2c_main(int argc, char *argv[])
uint16_t type = 0;
const char *name = MODULE_NAME;
while ((ch = cli.getOpt(argc, argv, "AGR:")) != EOF) {
switch (ch) {
case 'A':
type = DRV_ACC_DEVTYPE_BMI088;
name = MODULE_NAME "_accel";
cli.i2c_address = 0x18;
cli.default_i2c_frequency = 400 * 1000;
break;
case 'G':
type = DRV_GYR_DEVTYPE_BMI088;
name = MODULE_NAME "_gyro";
cli.i2c_address = 0x69;
cli.default_i2c_frequency = 400 * 1000;
break;
case 'R':
@@ -92,17 +93,14 @@ extern "C" int bmi088_i2c_main(int argc, char *argv[])
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
}
if (!strcmp(verb, "stop")) {
} else if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
if (!strcmp(verb, "status")) {
} else if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
PX4_WARN("print_usage1");
ThisDriver::print_usage();
return -1;
}