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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Added ICM 20689
This commit is contained in:
David Sidrane
Lorenz Meier
parent
6ebd24a678
commit
749fd2f155
@ -112,8 +112,10 @@ enum MPU6000_BUS {
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MPU6000_BUS_ALL = 0,
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MPU6000_BUS_I2C_INTERNAL,
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MPU6000_BUS_I2C_EXTERNAL,
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MPU6000_BUS_SPI_INTERNAL,
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MPU6000_BUS_SPI_EXTERNAL
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MPU6000_BUS_SPI_INTERNAL1,
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MPU6000_BUS_SPI_INTERNAL2,
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MPU6000_BUS_SPI_EXTERNAL1,
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MPU6000_BUS_SPI_EXTERNAL2
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};
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class MPU6000_gyro;
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@ -793,6 +795,10 @@ MPU6000::probe()
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case 20608:
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expected = ICM_WHOAMI_20608;
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break;
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case 20689:
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expected = ICM_WHOAMI_20689;
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break;
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}
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if (whoami != expected) {
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@ -818,6 +824,7 @@ MPU6000::probe()
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case MPU6000_REV_D9:
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case MPU6000_REV_D10:
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case ICM20608_REV_00:
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case ICM20689_REV_00:
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case ICM20602_REV_02:
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case MPU6050_REV_D8:
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DEVICE_DEBUG("ID 0x%02x", _product);
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@ -1563,16 +1570,6 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
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uint8_t
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MPU6000::read_reg(unsigned reg, uint32_t speed)
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{
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/* There is no MPUREG_PRODUCT_ID on the icm device
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* so lets make dummy it up and allow the rest of the
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* code to run as is
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*/
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if (reg == MPUREG_PRODUCT_ID && is_icm_device()) {
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return ICM20608_REV_00;
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}
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uint8_t buf;
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_interface->read(MPU6000_SET_SPEED(reg, speed), &buf, 1);
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return buf;
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@ -2203,23 +2200,27 @@ struct mpu6000_bus_option {
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} bus_options[] = {
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#if defined (USE_I2C)
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# if defined(PX4_I2C_BUS_ONBOARD)
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{ MPU6000_BUS_I2C_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, &MPU6000_I2C_interface, PX4_I2C_BUS_ONBOARD, false, NULL },
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{ MPU6000_BUS_I2C_INTERNAL1, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, &MPU6000_I2C_interface, PX4_I2C_BUS_ONBOARD, false, NULL },
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# endif
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# if defined(PX4_I2C_BUS_EXPANSION)
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{ MPU6000_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION, true, NULL },
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{ MPU6000_BUS_I2C_EXTERNAL1, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION, true, NULL },
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# endif
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#endif
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#ifdef PX4_SPIDEV_MPU
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{ MPU6000_BUS_SPI_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
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{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
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#endif
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#if defined(PX4_SPI_BUS_EXT)
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{ MPU6000_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, &MPU6000_SPI_interface, PX4_SPI_BUS_EXT, true, NULL },
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{ MPU6000_BUS_SPI_EXTERNAL1, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, &MPU6000_SPI_interface, PX4_SPI_BUS_EXT, true, NULL },
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#endif
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#ifdef PX4_SPIDEV_ICM_20602
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{ MPU6000_BUS_SPI_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
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{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
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#endif
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#ifdef PX4_SPIDEV_ICM_20689
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{ MPU6000_BUS_SPI_INTERNAL2, MPU_DEVICE_PATH_ACCEL1, MPU_DEVICE_PATH_GYRO1, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
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#endif
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#if defined(PX4_SPI_BUS_EXTERNAL)
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{ MPU6000_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, &MPU6000_SPI_interface, PX4_SPI_BUS_EXTERNAL, true, NULL },
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{ MPU6000_BUS_SPI_EXTERNAL1, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, &MPU6000_SPI_interface, PX4_SPI_BUS_EXTERNAL, true, NULL },
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{ MPU6000_BUS_SPI_EXTERNAL2, MPU_DEVICE_PATH_ACCEL_EXT1, MPU_DEVICE_PATH_GYRO_EXT1, &MPU6000_SPI_interface, PX4_SPI_BUS_EXTERNAL, true, NULL },
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#endif
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};
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@ -2566,6 +2567,8 @@ usage()
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warnx(" -I internal I2C bus");
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warnx(" -S external SPI bus");
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warnx(" -s internal SPI bus");
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warnx(" -Z external1 SPI bus");
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warnx(" -z internal2 SPI bus");
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warnx(" -T 6000|20608|20602 (default 6000)");
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warnx(" -R rotation");
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warnx(" -a accel range (in g)");
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@ -2583,7 +2586,7 @@ mpu6000_main(int argc, char *argv[])
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int accel_range = 8;
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/* jump over start/off/etc and look at options first */
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while ((ch = getopt(argc, argv, "T:XISsR:a:")) != EOF) {
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while ((ch = getopt(argc, argv, "T:XISsZzR:a:")) != EOF) {
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switch (ch) {
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case 'X':
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busid = MPU6000_BUS_I2C_EXTERNAL;
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@ -2594,11 +2597,19 @@ mpu6000_main(int argc, char *argv[])
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break;
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case 'S':
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busid = MPU6000_BUS_SPI_EXTERNAL;
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busid = MPU6000_BUS_SPI_EXTERNAL1;
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break;
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case 's':
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busid = MPU6000_BUS_SPI_INTERNAL;
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busid = MPU6000_BUS_SPI_INTERNAL1;
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break;
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case 'Z':
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busid = MPU6000_BUS_SPI_EXTERNAL2;
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break;
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case 'z':
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busid = MPU6000_BUS_SPI_INTERNAL2;
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break;
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case 'T':
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@ -51,8 +51,12 @@
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#define MPU_DEVICE_PATH_ACCEL "/dev/mpu6000_accel"
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#define MPU_DEVICE_PATH_GYRO "/dev/mpu6000_gyro"
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#define MPU_DEVICE_PATH_ACCEL1 "/dev/mpu6000_accel1"
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#define MPU_DEVICE_PATH_GYRO1 "/dev/mpu6000_gyro11"
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#define MPU_DEVICE_PATH_ACCEL_EXT "/dev/mpu6000_accel_ext"
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#define MPU_DEVICE_PATH_GYRO_EXT "/dev/mpu6000_gyro_ext"
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#define MPU_DEVICE_PATH_ACCEL_EXT1 "/dev/mpu6000_accel_ext1"
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#define MPU_DEVICE_PATH_GYRO_EXT1 "/dev/mpu6000_gyro_ext1"
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// MPU 6000 registers
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#define MPUREG_WHOAMI 0x75
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@ -120,8 +124,9 @@
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#define BIT_INT_STATUS_DATA 0x01
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#define MPU_WHOAMI_6000 0x68
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#define ICM_WHOAMI_20608 0xaf
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#define ICM_WHOAMI_20602 0x12
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#define ICM_WHOAMI_20608 0xaf
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#define ICM_WHOAMI_20689 0x98
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// ICM2608 specific registers
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@ -147,9 +152,12 @@
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#define ICM20602_REV_02 2
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// Product ID Description for ICM2608
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// There is none
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#define ICM20608_REV_00 0
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#define ICM20608_REV_00 0xff // In the past, was thought to be not returning a value. But seem repeatable.
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// Product ID Description for ICM2689
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#define ICM20689_REV_00 0xfe
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// Product ID Description for MPU6000
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// high 4 bits low 4 bits
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@ -64,7 +64,7 @@
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#define DIR_READ 0x80
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#define DIR_WRITE 0x00
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#if defined(PX4_SPIDEV_MPU) || defined(PX4_SPIDEV_ICM_20602)
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#if defined(PX4_SPIDEV_MPU) || defined(PX4_SPIDEV_ICM_20602) || defined(PX4_SPIDEV_ICM_20689)
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# ifdef PX4_SPI_BUS_EXT
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# define EXTERNAL_BUS PX4_SPI_BUS_EXT
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# else
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@ -138,6 +138,12 @@ MPU6000_SPI_interface(int bus, int device_type, bool external_bus)
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# endif
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break;
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case 20689:
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# if defined(PX4_SPIDEV_ICM_20689_EXT)
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cs = PX4_SPIDEV_ICM_20689_EXT;
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# endif
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break;
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default:
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break;
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}
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@ -168,6 +174,11 @@ MPU6000_SPI_interface(int bus, int device_type, bool external_bus)
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#endif
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break;
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case 20689:
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# if defined(PX4_SPIDEV_ICM_20689)
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cs = PX4_SPIDEV_ICM_20689;
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# endif
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default:
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break;
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}
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@ -331,6 +342,10 @@ MPU6000_SPI::probe()
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case 20608:
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expected = ICM_WHOAMI_20608;
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break;
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case 20689:
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expected = ICM_WHOAMI_20689;
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break;
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}
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return (read(MPUREG_WHOAMI, &whoami, 1) > 0 && (whoami == expected)) ? 0 : -EIO;
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