diff --git a/src/drivers/imu/invensense/mpu9250/MPU9250.cpp b/src/drivers/imu/invensense/mpu9250/MPU9250.cpp index df55708419..d7d8f6b47c 100644 --- a/src/drivers/imu/invensense/mpu9250/MPU9250.cpp +++ b/src/drivers/imu/invensense/mpu9250/MPU9250.cpp @@ -40,9 +40,11 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb) return (msb << 8u) | lsb; } -MPU9250::MPU9250(int bus, uint32_t device, enum Rotation rotation) : - SPI(MODULE_NAME, nullptr, bus, device, SPIDEV_MODE3, SPI_SPEED), - ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())), +MPU9250::MPU9250(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency, + spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) : + SPI(MODULE_NAME, nullptr, bus, device, spi_mode, bus_frequency), + I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus), + _drdy_gpio(drdy_gpio), _px4_accel(get_device_id(), ORB_PRIO_VERY_HIGH, rotation), _px4_gyro(get_device_id(), ORB_PRIO_VERY_HIGH, rotation) { @@ -55,8 +57,6 @@ MPU9250::MPU9250(int bus, uint32_t device, enum Rotation rotation) : MPU9250::~MPU9250() { - Stop(); - perf_free(_transfer_perf); perf_free(_bad_register_perf); perf_free(_bad_transfer_perf); @@ -66,36 +66,35 @@ MPU9250::~MPU9250() perf_free(_drdy_interval_perf); } -bool MPU9250::Init() +void MPU9250::exit_and_cleanup() { - if (SPI::init() != PX4_OK) { - PX4_ERR("SPI::init failed"); - return false; - } - - return Reset(); + DataReadyInterruptDisable(); + I2CSPIDriverBase::exit_and_cleanup(); } -void MPU9250::Stop() +int MPU9250::init() { - // wait until stopped - while (_state.load() != STATE::STOPPED) { - _state.store(STATE::REQUEST_STOP); - ScheduleNow(); - px4_usleep(10); + int ret = SPI::init(); + + if (ret != PX4_OK) { + DEVICE_DEBUG("SPI::init failed (%i)", ret); + return ret; } + + return Reset() ? 0 : -1; } bool MPU9250::Reset() { - _state.store(STATE::RESET); + _state = STATE::RESET; ScheduleClear(); ScheduleNow(); return true; } -void MPU9250::PrintInfo() +void MPU9250::print_status() { + I2CSPIDriverBase::print_status(); PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us, static_cast(1000000 / _fifo_empty_interval_us)); @@ -116,21 +115,21 @@ int MPU9250::probe() const uint8_t whoami = RegisterRead(Register::WHO_AM_I); if (whoami != WHOAMI) { - PX4_WARN("unexpected WHO_AM_I 0x%02x", whoami); + DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami); return PX4_ERROR; } return PX4_OK; } -void MPU9250::Run() +void MPU9250::RunImpl() { - switch (_state.load()) { + switch (_state) { case STATE::RESET: // PWR_MGMT_1: Device Reset RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::H_RESET); _reset_timestamp = hrt_absolute_time(); - _state.store(STATE::WAIT_FOR_RESET); + _state = STATE::WAIT_FOR_RESET; ScheduleDelayed(100); break; @@ -142,14 +141,14 @@ void MPU9250::Run() && (RegisterRead(Register::PWR_MGMT_1) == 0x01)) { // if reset succeeded then configure - _state.store(STATE::CONFIGURE); + _state = STATE::CONFIGURE; ScheduleNow(); } else { // RESET not complete if (hrt_elapsed_time(&_reset_timestamp) > 10_ms) { PX4_ERR("Reset failed, retrying"); - _state.store(STATE::RESET); + _state = STATE::RESET; ScheduleDelayed(10_ms); } else { @@ -163,7 +162,7 @@ void MPU9250::Run() case STATE::CONFIGURE: if (Configure()) { // if configure succeeded then start reading from FIFO - _state.store(STATE::FIFO_READ); + _state = STATE::FIFO_READ; if (DataReadyInterruptConfigure()) { _data_ready_interrupt_enabled = true; @@ -241,7 +240,7 @@ void MPU9250::Run() } else { // register check failed, force reconfigure PX4_DEBUG("Health check failed, reconfiguring"); - _state.store(STATE::CONFIGURE); + _state = STATE::CONFIGURE; ScheduleNow(); } @@ -255,16 +254,6 @@ void MPU9250::Run() } break; - - case STATE::REQUEST_STOP: - DataReadyInterruptDisable(); - ScheduleClear(); - _state.store(STATE::STOPPED); - break; - - case STATE::STOPPED: - // DO NOTHING - break; } } @@ -376,29 +365,21 @@ void MPU9250::DataReady() bool MPU9250::DataReadyInterruptConfigure() { - int ret_setevent = -1; + if (_drdy_gpio == 0) { + return false; + } // Setup data ready on rising edge - // TODO: cleanup horrible DRDY define mess -#if defined(GPIO_DRDY_PORTD_PIN15) - ret_setevent = px4_arch_gpiosetevent(GPIO_DRDY_PORTD_PIN15, true, false, true, &MPU9250::DataReadyInterruptCallback, - this); -#endif - - return (ret_setevent == 0); + return px4_arch_gpiosetevent(_drdy_gpio, true, false, true, &MPU9250::DataReadyInterruptCallback, this) == 0; } bool MPU9250::DataReadyInterruptDisable() { - int ret_setevent = -1; + if (_drdy_gpio == 0) { + return false; + } - // Disable data ready callback - // TODO: cleanup horrible DRDY define mess -#if defined(GPIO_DRDY_PORTD_PIN15) - ret_setevent = px4_arch_gpiosetevent(GPIO_DRDY_PORTD_PIN15, false, false, false, nullptr, nullptr); -#endif - - return (ret_setevent == 0); + return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0; } bool MPU9250::RegisterCheck(const register_config_t ®_cfg, bool notify) @@ -493,11 +474,11 @@ uint16_t MPU9250::FIFOReadCount() bool MPU9250::FIFORead(const hrt_abstime ×tamp_sample, uint16_t samples) { - FIFOTransferBuffer buffer{}; + perf_begin(_transfer_perf); + FIFOTransferBuffer buffer{}; const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE); - perf_begin(_transfer_perf); set_frequency(SPI_SPEED_SENSOR); if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) { diff --git a/src/drivers/imu/invensense/mpu9250/MPU9250.hpp b/src/drivers/imu/invensense/mpu9250/MPU9250.hpp index d1ca95f30e..dd9467486b 100644 --- a/src/drivers/imu/invensense/mpu9250/MPU9250.hpp +++ b/src/drivers/imu/invensense/mpu9250/MPU9250.hpp @@ -49,22 +49,33 @@ #include #include #include -#include +#include using namespace InvenSense_MPU9250; -class MPU9250 : public device::SPI, public px4::ScheduledWorkItem +class MPU9250 : public device::SPI, public I2CSPIDriver { public: - MPU9250(int bus, uint32_t device, enum Rotation rotation = ROTATION_NONE); + MPU9250(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency, + spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio); ~MPU9250() override; - bool Init(); - void Start(); - void Stop(); - bool Reset(); - void PrintInfo(); + static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, + int runtime_instance); + static void print_usage(); + void print_status() override; + + void RunImpl(); + + int init() override; + + void Start(); + bool Reset(); + +protected: + void custom_method(const BusCLIArguments &cli) override; + void exit_and_cleanup() override; private: // Sensor Configuration @@ -88,8 +99,6 @@ private: int probe() override; - void Run() override; - bool Configure(); void ConfigureAccel(); void ConfigureGyro(); @@ -116,6 +125,8 @@ private: void ProcessGyro(const hrt_abstime ×tamp_sample, const FIFOTransferBuffer &buffer, uint8_t samples); void UpdateTemperature(); + const spi_drdy_gpio_t _drdy_gpio; + PX4Accelerometer _px4_accel; PX4Gyroscope _px4_gyro; @@ -142,11 +153,9 @@ private: WAIT_FOR_RESET, CONFIGURE, FIFO_READ, - REQUEST_STOP, - STOPPED, }; - px4::atomic _state{STATE::RESET}; + STATE _state{STATE::RESET}; uint16_t _fifo_empty_interval_us{1000}; // 1000 us / 1000 Hz transfer interval uint8_t _fifo_gyro_samples{static_cast(_fifo_empty_interval_us / (1000000 / GYRO_RATE))}; diff --git a/src/drivers/imu/invensense/mpu9250/mpu9250_main.cpp b/src/drivers/imu/invensense/mpu9250/mpu9250_main.cpp index 0b145c9905..6151251ebd 100644 --- a/src/drivers/imu/invensense/mpu9250/mpu9250_main.cpp +++ b/src/drivers/imu/invensense/mpu9250/mpu9250_main.cpp @@ -34,120 +34,84 @@ #include "MPU9250.hpp" #include +#include -namespace mpu9250 +void +MPU9250::print_usage() { -MPU9250 *g_dev{nullptr}; - -static int start(enum Rotation rotation) -{ - if (g_dev != nullptr) { - PX4_WARN("already started"); - return 0; - } - - // create the driver -#if defined(PX4_SPI_BUS_SENSORS) && defined(PX4_SPIDEV_MPU) - g_dev = new MPU9250(PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU, rotation); -#elif defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU) - g_dev = new MPU9250(PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, rotation); -#endif - - if (g_dev == nullptr) { - PX4_ERR("driver start failed"); - return -1; - } - - if (!g_dev->Init()) { - PX4_ERR("driver init failed"); - delete g_dev; - g_dev = nullptr; - return -1; - } - - return 0; + PRINT_MODULE_USAGE_NAME("mpu9520", "driver"); + PRINT_MODULE_USAGE_SUBCATEGORY("imu"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true); + PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true); + PRINT_MODULE_USAGE_COMMAND("reset"); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); } -static int stop() +I2CSPIDriverBase *MPU9250::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, + int runtime_instance) { - if (g_dev == nullptr) { - PX4_WARN("driver not running"); - return -1; + MPU9250 *instance = new MPU9250(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation, + cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO()); + + if (!instance) { + PX4_ERR("alloc failed"); + return nullptr; } - g_dev->Stop(); - delete g_dev; - g_dev = nullptr; - - return 0; -} - -static int reset() -{ - if (g_dev == nullptr) { - PX4_WARN("driver not running"); - return 0; + if (OK != instance->init()) { + delete instance; + return nullptr; } - return g_dev->Reset(); + return instance; } -static int status() +void MPU9250::custom_method(const BusCLIArguments &cli) { - if (g_dev == nullptr) { - PX4_INFO("driver not running"); - return 0; - } - - g_dev->PrintInfo(); - - return 0; + Reset(); } -static int usage() -{ - PX4_INFO("missing command: try 'start', 'stop', 'reset', 'status'"); - PX4_INFO("options:"); - PX4_INFO(" -R rotation"); - - return 0; -} - -} // namespace mpu9250 - extern "C" int mpu9250_main(int argc, char *argv[]) { - enum Rotation rotation = ROTATION_NONE; - int myoptind = 1; - int ch = 0; - const char *myoptarg = nullptr; + int ch; + using ThisDriver = MPU9250; + BusCLIArguments cli{false, true}; + cli.default_spi_frequency = SPI_SPEED; - // start options - while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) { + while ((ch = cli.getopt(argc, argv, "R:")) != EOF) { switch (ch) { case 'R': - rotation = (enum Rotation)atoi(myoptarg); + cli.rotation = (enum Rotation)atoi(cli.optarg()); break; - - default: - return mpu9250::usage(); } } - const char *verb = argv[myoptind]; + const char *verb = cli.optarg(); - if (!strcmp(verb, "start")) { - return mpu9250::start(rotation); - - } else if (!strcmp(verb, "stop")) { - return mpu9250::stop(); - - } else if (!strcmp(verb, "status")) { - return mpu9250::status(); - - } else if (!strcmp(verb, "reset")) { - return mpu9250::reset(); + if (!verb) { + ThisDriver::print_usage(); + return -1; } - return mpu9250::usage(); + 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); + } + + if (!strcmp(verb, "reset")) { + return ThisDriver::module_custom_method(cli, iterator); + } + + ThisDriver::print_usage(); + return -1; }