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invensense/mpu9250 add ak8963 support and other minor improvements

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- mag enabled with -M when starting
 - always check FIFO count before transfer
 - interupt pin set active low and latch
 - relax retry timeout if configure failed
 - improve configured empty rate (sample rate) rounding
 - fix RegisterCheck
 - check FIFO count as part of full transfer and reset or adjust timing if necessary
 - rename DRV_MAG_DEVTYPE_MPU9250 -> DRV_MAG_DEVTYPE_AK8963
This commit is contained in:
Daniel Agar
2020-03-25 01:05:38 -04:00
parent d55c3d80f3
commit 75370ebf42
11 changed files with 844 additions and 133 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/drv_sensor.h
+1 -1
View File
@@ -55,7 +55,7 @@
#define DRV_MAG_DEVTYPE_HMC5883 0x01
#define DRV_MAG_DEVTYPE_LSM303D 0x02
#define DRV_MAG_DEVTYPE_MAGSIM 0x03
#define DRV_MAG_DEVTYPE_MPU9250 0x04
#define DRV_MAG_DEVTYPE_AK8963 0x04
#define DRV_MAG_DEVTYPE_LIS3MDL 0x05
#define DRV_MAG_DEVTYPE_IST8310 0x06
#define DRV_MAG_DEVTYPE_RM3100 0x07
src/drivers/imu/invensense/mpu9250/AKM_AK8963_registers.hpp
+110
View File
@@ -0,0 +1,110 @@
/****************************************************************************
*
* 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 AKM_AK8963_registers.hpp
*
* AKM AK8963 registers.
*
*/
#pragma once
#include <cstdint>
namespace AKM_AK8963
{
// TODO: move to a central header
static constexpr uint8_t Bit0 = (1 << 0);
static constexpr uint8_t Bit1 = (1 << 1);
static constexpr uint8_t Bit2 = (1 << 2);
static constexpr uint8_t Bit3 = (1 << 3);
static constexpr uint8_t Bit4 = (1 << 4);
static constexpr uint8_t Bit5 = (1 << 5);
static constexpr uint8_t Bit6 = (1 << 6);
static constexpr uint8_t Bit7 = (1 << 7);
static constexpr uint32_t I2C_SPEED = 400 * 1000; // 400 kHz I2C serial interface
static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0x0C;
static constexpr uint8_t WHOAMI = 0x48;
enum class Register : uint8_t {
WIA = 0x00, // Device ID
ST1 = 0x02, // Status 1
HXL = 0x03,
HXH = 0x04,
HYL = 0x05,
HYH = 0x06,
HZL = 0x07,
HZH = 0x08,
ST2 = 0x09, // Status 2
CNTL1 = 0x0A, // Control 1
CNTL2 = 0x0B, // Control 2
ASAX = 0x10, // X-axis sensitivity adjustment value
ASAY = 0x11, // Y-axis sensitivity adjustment value
ASAZ = 0x12, // Z-axis sensitivity adjustment value
};
// ST1
enum ST1_BIT : uint8_t {
DRDY = Bit0,
};
// ST2
enum ST2_BIT : uint8_t {
BITM = Bit4, // Output bit setting (mirror)
HOFL = Bit3, // Magnetic sensor overflow
};
// CNTL1
enum CNTL1_BIT : uint8_t {
BIT_16 = Bit4, // Output bit setting (16-bit output)
// MODE[3:0]: Operation mode setting
POWER_DOWN_MODE = 0,
SINGLE_MEASUREMENT_MODE = Bit0,
CONTINUOUS_MODE_1 = Bit1, // 8 Hz
CONTINUOUS_MODE_2 = Bit2 | Bit1, // 100 Hz
};
// CNTL2
enum CNTL2_BIT : uint8_t {
SRST = Bit0, // Reset
};
} // namespace InvenSense_MPU9250
src/drivers/imu/invensense/mpu9250/CMakeLists.txt
+5
View File
@@ -36,11 +36,16 @@ px4_add_module(
MAIN mpu9250
COMPILE_FLAGS
SRCS
AKM_AK8963_registers.hpp
InvenSense_MPU9250_registers.hpp
MPU9250_AK8963.cpp
MPU9250_AK8963.hpp
MPU9250.cpp
MPU9250.hpp
mpu9250_main.cpp
DEPENDS
drivers_accelerometer
drivers_gyroscope
drivers_magnetometer
px4_work_queue
)
src/drivers/imu/invensense/mpu9250/InvenSense_MPU9250_registers.hpp
+83 -20
View File
@@ -42,6 +42,8 @@
#include <cstdint>
namespace InvenSense_MPU9250
{
// TODO: move to a central header
static constexpr uint8_t Bit0 = (1 << 0);
static constexpr uint8_t Bit1 = (1 << 1);
@@ -52,10 +54,9 @@ static constexpr uint8_t Bit5 = (1 << 5);
static constexpr uint8_t Bit6 = (1 << 6);
static constexpr uint8_t Bit7 = (1 << 7);
namespace InvenSense_MPU9250
{
static constexpr uint32_t SPI_SPEED = 1 * 1000 * 1000;
static constexpr uint32_t SPI_SPEED_SENSOR = 20 * 1000 * 1000; // 20MHz for reading sensor and interrupt registers
static constexpr uint32_t SPI_SPEED_SENSOR = 10 * 1000 * 1000; // 20MHz for reading sensor and interrupt registers
static constexpr uint8_t DIR_READ = 0x80;
static constexpr uint8_t WHOAMI = 0x71;
@@ -64,27 +65,42 @@ static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C
static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C
enum class Register : uint8_t {
CONFIG = 0x1A,
GYRO_CONFIG = 0x1B,
ACCEL_CONFIG = 0x1C,
ACCEL_CONFIG2 = 0x1D,
CONFIG = 0x1A,
GYRO_CONFIG = 0x1B,
ACCEL_CONFIG = 0x1C,
ACCEL_CONFIG2 = 0x1D,
FIFO_EN = 0x23,
FIFO_EN = 0x23,
I2C_MST_CTRL = 0x24,
I2C_SLV0_ADDR = 0x25,
I2C_SLV0_REG = 0x26,
I2C_SLV0_CTRL = 0x27,
INT_ENABLE = 0x38,
I2C_SLV4_CTRL = 0x34,
TEMP_OUT_H = 0x41,
TEMP_OUT_L = 0x42,
I2C_MST_STATUS = 0x36,
INT_PIN_CFG = 0x37,
INT_ENABLE = 0x38,
USER_CTRL = 0x6A,
PWR_MGMT_1 = 0x6B,
TEMP_OUT_H = 0x41,
TEMP_OUT_L = 0x42,
I2C_IF = 0x70,
EXT_SENS_DATA_00 = 0x49, // EXT_SENS_DATA_00[7:0]
// [EXT_SENS_DATA_01, EXT_SENS_DATA_22]
EXT_SENS_DATA_23 = 0x60, // EXT_SENS_DATA_23[7:0]
FIFO_COUNTH = 0x72,
FIFO_COUNTL = 0x73,
FIFO_R_W = 0x74,
WHO_AM_I = 0x75,
I2C_SLV0_DO = 0x63,
I2C_MST_DELAY_CTRL = 0x67,
SIGNAL_PATH_RESET = 0x68,
USER_CTRL = 0x6A,
PWR_MGMT_1 = 0x6B,
FIFO_COUNTH = 0x72,
FIFO_COUNTL = 0x73,
FIFO_R_W = 0x74,
WHO_AM_I = 0x75,
};
// CONFIG
@@ -129,10 +145,57 @@ enum FIFO_EN_BIT : uint8_t {
ACCEL = Bit3,
};
// I2C_MST_CTRL
enum I2C_MST_CTRL_BIT : uint8_t {
I2C_MST_P_NSR = Bit4, // I2C Master’s transition from one slave read to the next slave read
// I2C_MST_CLK [3:0]
I2C_MST_CLK_400_kHz = 13,
};
// I2C_SLV0_ADDR
enum I2C_SLV0_ADDR_BIT : uint8_t {
I2C_SLV0_RNW = Bit7, // 1 – Transfer is a read
// I2C_ID_0[6:0]
I2C_ID_0 = Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1 | Bit0, // Physical address of I2C slave 0
};
// I2C_SLV0_CTRL
enum I2C_SLV0_CTRL_BIT : uint8_t {
I2C_SLV0_EN = Bit7, // Enable reading data from this slave
I2C_SLV0_BYTE_SW = Bit6, // Swap bytes when reading both the low and high byte of a word
I2C_SLV0_REG_DIS = Bit5, // transaction does not write a register value (only read data)
I2C_SLV0_LENG = Bit3 | Bit2 | Bit1 | Bit0, // Number of bytes to be read from I2C slave 0
};
// I2C_SLV4_CTRL
enum I2C_SLV4_CTRL_BIT : uint8_t {
// I2C_MST_DLY[4:0]
I2C_MST_DLY = Bit4 | Bit3 | Bit2 | Bit1 | Bit0,
};
// INT_PIN_CFG
enum INT_PIN_CFG_BIT : uint8_t {
ACTL = Bit7,
};
// INT_ENABLE
enum INT_ENABLE_BIT : uint8_t {
FIFO_OFLOW_EN = Bit4,
RAW_RDY_EN = Bit0
RAW_RDY_EN = Bit0
};
// I2C_MST_DELAY_CTRL
enum I2C_MST_DELAY_CTRL_BIT : uint8_t {
I2C_SLVX_DLY_EN = Bit4 | Bit3 | Bit2 | Bit1 | Bit0, // limit all slave access (1+I2C_MST_DLY)
};
// SIGNAL_PATH_RESET
enum SIGNAL_PATH_RESET_BIT : uint8_t {
GYRO_RESET = Bit2,
ACCEL_RESET = Bit1,
TEMP_RESET = Bit0,
};
// USER_CTRL
src/drivers/imu/invensense/mpu9250/MPU9250.cpp
+147 -84
View File
@@ -33,6 +33,8 @@
#include "MPU9250.hpp"
#include "AKM_AK8963_registers.hpp"
using namespace time_literals;
static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
@@ -41,18 +43,40 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
}
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_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio, bool enable_magnetometer) :
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)
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
{
set_device_type(DRV_IMU_DEVTYPE_MPU9250);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_MPU9250);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_MPU9250);
ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
if (enable_magnetometer) {
_slave_ak8963_magnetometer = new AKM_AK8963::MPU9250_AK8963(*this, rotation);
if (_slave_ak8963_magnetometer) {
for (auto &r : _register_cfg) {
if (r.reg == Register::I2C_SLV4_CTRL) {
r.set_bits = I2C_SLV4_CTRL_BIT::I2C_MST_DLY;
} else if (r.reg == Register::I2C_MST_CTRL) {
r.set_bits = I2C_MST_CTRL_BIT::I2C_MST_P_NSR | I2C_MST_CTRL_BIT::I2C_MST_CLK_400_kHz;
} else if (r.reg == Register::I2C_MST_DELAY_CTRL) {
r.set_bits = I2C_MST_DELAY_CTRL_BIT::I2C_SLVX_DLY_EN;
} else if (r.reg == Register::I2C_MST_DELAY_CTRL) {
r.set_bits = I2C_MST_DELAY_CTRL_BIT::I2C_SLVX_DLY_EN;
}
}
}
}
}
MPU9250::~MPU9250()
@@ -66,12 +90,6 @@ MPU9250::~MPU9250()
perf_free(_drdy_interval_perf);
}
void MPU9250::exit_and_cleanup()
{
DataReadyInterruptDisable();
I2CSPIDriverBase::exit_and_cleanup();
}
int MPU9250::init()
{
int ret = SPI::init();
@@ -92,6 +110,12 @@ bool MPU9250::Reset()
return true;
}
void MPU9250::exit_and_cleanup()
{
DataReadyInterruptDisable();
I2CSPIDriverBase::exit_and_cleanup();
}
void MPU9250::print_status()
{
I2CSPIDriverBase::print_status();
@@ -108,6 +132,10 @@ void MPU9250::print_status()
_px4_accel.print_status();
_px4_gyro.print_status();
if (_slave_ak8963_magnetometer) {
_slave_ak8963_magnetometer->PrintInfo();
}
}
int MPU9250::probe()
@@ -130,7 +158,7 @@ void MPU9250::RunImpl()
RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::H_RESET);
_reset_timestamp = hrt_absolute_time();
_state = STATE::WAIT_FOR_RESET;
ScheduleDelayed(100);
ScheduleDelayed(100_ms);
break;
case STATE::WAIT_FOR_RESET:
@@ -140,20 +168,24 @@ void MPU9250::RunImpl()
if ((RegisterRead(Register::WHO_AM_I) == WHOAMI)
&& (RegisterRead(Register::PWR_MGMT_1) == 0x01)) {
// SIGNAL_PATH_RESET: ensure the reset is performed properly
RegisterWrite(Register::SIGNAL_PATH_RESET,
SIGNAL_PATH_RESET_BIT::GYRO_RESET | SIGNAL_PATH_RESET_BIT::ACCEL_RESET | SIGNAL_PATH_RESET_BIT::TEMP_RESET);
// if reset succeeded then configure
_state = STATE::CONFIGURE;
ScheduleNow();
ScheduleDelayed(100_ms);
} else {
// RESET not complete
if (hrt_elapsed_time(&_reset_timestamp) > 10_ms) {
PX4_ERR("Reset failed, retrying");
if (hrt_elapsed_time(&_reset_timestamp) > 100_ms) {
PX4_DEBUG("Reset failed, retrying");
_state = STATE::RESET;
ScheduleDelayed(10_ms);
ScheduleDelayed(100_ms);
} else {
PX4_DEBUG("Reset not complete, check again in 1 ms");
ScheduleDelayed(1_ms);
PX4_DEBUG("Reset not complete, check again in 10 ms");
ScheduleDelayed(10_ms);
}
}
@@ -161,6 +193,12 @@ void MPU9250::RunImpl()
case STATE::CONFIGURE:
if (Configure()) {
// start AK8963 magnetometer (I2C aux)
if (_slave_ak8963_magnetometer) {
_slave_ak8963_magnetometer->Reset();
}
// if configure succeeded then start reading from FIFO
_state = STATE::FIFO_READ;
@@ -179,56 +217,49 @@ void MPU9250::RunImpl()
} else {
PX4_DEBUG("Configure failed, retrying");
// try again in 1 ms
ScheduleDelayed(1_ms);
// try again in 10 ms
ScheduleDelayed(10_ms);
}
break;
case STATE::FIFO_READ: {
hrt_abstime timestamp_sample = 0;
uint8_t samples = 0;
if (_data_ready_interrupt_enabled) {
if (_data_ready_interrupt_enabled && (hrt_elapsed_time(&timestamp_sample) < (_fifo_empty_interval_us / 2))) {
// re-schedule as watchdog timeout
ScheduleDelayed(10_ms);
// timestamp set in data ready interrupt
samples = _fifo_read_samples.load();
timestamp_sample = _fifo_watermark_interrupt_timestamp;
}
bool failure = false;
// manually check FIFO count if no samples from DRDY or timestamp looks bogus
if (!_data_ready_interrupt_enabled || (samples == 0)
|| (hrt_elapsed_time(&timestamp_sample) > (_fifo_empty_interval_us / 2))) {
} else {
// use the time now roughly corresponding with the last sample we'll pull from the FIFO
timestamp_sample = hrt_absolute_time();
const uint16_t fifo_count = FIFOReadCount();
if (fifo_count == 0) {
failure = true;
perf_count(_fifo_empty_perf);
}
samples = (fifo_count / sizeof(FIFO::DATA) / 2) * 2; // round down to nearest 2
}
const uint16_t fifo_count = FIFOReadCount();
const uint8_t samples = (fifo_count / sizeof(FIFO::DATA) / SAMPLES_PER_TRANSFER) *
SAMPLES_PER_TRANSFER; // round down to nearest
bool failure = false;
if (samples > FIFO_MAX_SAMPLES) {
// not technically an overflow, but more samples than we expected or can publish
perf_count(_fifo_overflow_perf);
failure = true;
FIFOReset();
} else if (samples >= 2) {
// require at least 2 samples (we want at least 1 new accel sample per transfer)
} else if (samples >= SAMPLES_PER_TRANSFER) {
// require at least SAMPLES_PER_TRANSFER (we want at least 1 new accel sample per transfer)
if (!FIFORead(timestamp_sample, samples)) {
failure = true;
_px4_accel.increase_error_count();
_px4_gyro.increase_error_count();
}
} else if (samples == 0) {
failure = true;
perf_count(_fifo_empty_perf);
}
if (failure || hrt_elapsed_time(&_last_config_check_timestamp) > 10_ms) {
@@ -290,23 +321,23 @@ void MPU9250::ConfigureGyro()
switch (GYRO_FS_SEL) {
case GYRO_FS_SEL_250_DPS:
_px4_gyro.set_scale(math::radians(1.0f / 131.f));
_px4_gyro.set_scale(math::radians(1.f / 131.f));
_px4_gyro.set_range(math::radians(250.f));
break;
case GYRO_FS_SEL_500_DPS:
_px4_gyro.set_scale(math::radians(1.0f / 65.5f));
_px4_gyro.set_scale(math::radians(1.f / 65.5f));
_px4_gyro.set_range(math::radians(500.f));
break;
case GYRO_FS_SEL_1000_DPS:
_px4_gyro.set_scale(math::radians(1.0f / 32.8f));
_px4_gyro.set_range(math::radians(1000.0f));
_px4_gyro.set_scale(math::radians(1.f / 32.8f));
_px4_gyro.set_range(math::radians(1000.f));
break;
case GYRO_FS_SEL_2000_DPS:
_px4_gyro.set_scale(math::radians(1.0f / 16.4f));
_px4_gyro.set_range(math::radians(2000.0f));
_px4_gyro.set_scale(math::radians(1.f / 16.4f));
_px4_gyro.set_range(math::radians(2000.f));
break;
}
}
@@ -317,16 +348,19 @@ void MPU9250::ConfigureSampleRate(int sample_rate)
sample_rate = 1000; // default to 1 kHz
}
_fifo_empty_interval_us = math::max(((1000000 / sample_rate) / 250) * 250, 250); // round down to nearest 250 us
_fifo_gyro_samples = math::min(_fifo_empty_interval_us / (1000000 / GYRO_RATE), FIFO_MAX_SAMPLES);
// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
const float min_interval = SAMPLES_PER_TRANSFER * FIFO_SAMPLE_DT;
_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
_fifo_gyro_samples = math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES);
// recompute FIFO empty interval (us) with actual gyro sample limit
_fifo_empty_interval_us = _fifo_gyro_samples * (1000000 / GYRO_RATE);
_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
_fifo_accel_samples = math::min(_fifo_empty_interval_us / (1000000 / ACCEL_RATE), FIFO_MAX_SAMPLES);
_fifo_accel_samples = math::min(_fifo_empty_interval_us / (1e6f / ACCEL_RATE), (float)FIFO_MAX_SAMPLES);
_px4_accel.set_update_rate(1000000 / _fifo_empty_interval_us);
_px4_gyro.set_update_rate(1000000 / _fifo_empty_interval_us);
_px4_accel.set_update_rate(1e6f / _fifo_empty_interval_us);
_px4_gyro.set_update_rate(1e6f / _fifo_empty_interval_us);
}
bool MPU9250::Configure()
@@ -353,14 +387,14 @@ int MPU9250::DataReadyInterruptCallback(int irq, void *context, void *arg)
void MPU9250::DataReady()
{
perf_count(_drdy_interval_perf);
if (_data_ready_count.fetch_add(1) >= (_fifo_gyro_samples - 1)) {
_data_ready_count.store(0);
_fifo_watermark_interrupt_timestamp = hrt_absolute_time();
_fifo_read_samples.store(_fifo_gyro_samples);
ScheduleNow();
}
perf_count(_drdy_interval_perf);
}
bool MPU9250::DataReadyInterruptConfigure()
@@ -369,8 +403,8 @@ bool MPU9250::DataReadyInterruptConfigure()
return false;
}
// Setup data ready on rising edge
return px4_arch_gpiosetevent(_drdy_gpio, true, false, true, &MPU9250::DataReadyInterruptCallback, this) == 0;
// Setup data ready on falling edge
return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &MPU9250::DataReadyInterruptCallback, this) == 0;
}
bool MPU9250::DataReadyInterruptDisable()
@@ -388,12 +422,12 @@ bool MPU9250::RegisterCheck(const register_config_t &reg_cfg, bool notify)
const uint8_t reg_value = RegisterRead(reg_cfg.reg);
if (reg_cfg.set_bits && !(reg_value & reg_cfg.set_bits)) {
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)) {
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;
}
@@ -401,13 +435,6 @@ bool MPU9250::RegisterCheck(const register_config_t &reg_cfg, bool notify)
if (!success) {
RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
if (reg_cfg.reg == Register::ACCEL_CONFIG) {
ConfigureAccel();
} else if (reg_cfg.reg == Register::GYRO_CONFIG) {
ConfigureGyro();
}
if (notify) {
perf_count(_bad_register_perf);
_px4_accel.increase_error_count();
@@ -422,6 +449,7 @@ uint8_t MPU9250::RegisterRead(Register reg)
{
uint8_t cmd[2] {};
cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;
set_frequency(SPI_SPEED); // low speed for regular registers
transfer(cmd, cmd, sizeof(cmd));
return cmd[1];
}
@@ -429,6 +457,7 @@ uint8_t MPU9250::RegisterRead(Register reg)
void MPU9250::RegisterWrite(Register reg, uint8_t value)
{
uint8_t cmd[2] { (uint8_t)reg, value };
set_frequency(SPI_SPEED); // low speed for regular registers
transfer(cmd, cmd, sizeof(cmd));
}
@@ -448,21 +477,12 @@ void MPU9250::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t cle
RegisterWrite(reg, val);
}
void MPU9250::RegisterSetBits(Register reg, uint8_t setbits)
{
RegisterSetAndClearBits(reg, setbits, 0);
}
void MPU9250::RegisterClearBits(Register reg, uint8_t clearbits)
{
RegisterSetAndClearBits(reg, 0, clearbits);
}
uint16_t MPU9250::FIFOReadCount()
{
// read FIFO count
uint8_t fifo_count_buf[3] {};
fifo_count_buf[0] = static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ;
set_frequency(SPI_SPEED_SENSOR);
if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
perf_count(_bad_transfer_perf);
@@ -478,17 +498,14 @@ bool MPU9250::FIFORead(const hrt_abstime &timestamp_sample, uint16_t samples)
FIFOTransferBuffer buffer{};
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
set_frequency(SPI_SPEED_SENSOR);
if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
set_frequency(SPI_SPEED); // restore normal speed
perf_end(_transfer_perf);
perf_count(_bad_transfer_perf);
return false;
}
set_frequency(SPI_SPEED); // restore normal speed
perf_end(_transfer_perf);
ProcessGyro(timestamp_sample, buffer, samples);
@@ -502,9 +519,8 @@ void MPU9250::FIFOReset()
// FIFO_EN: disable FIFO
RegisterWrite(Register::FIFO_EN, 0);
// USER_CTRL: disable FIFO and reset all signal paths
RegisterSetAndClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RST | USER_CTRL_BIT::SIG_COND_RST,
USER_CTRL_BIT::FIFO_EN);
// USER_CTRL: reset FIFO
RegisterSetAndClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RST, USER_CTRL_BIT::FIFO_EN);
// reset while FIFO is disabled
_data_ready_count.store(0);
@@ -525,7 +541,7 @@ static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
return (memcmp(&f0.ACCEL_XOUT_H, &f1.ACCEL_XOUT_H, 6) == 0);
}
bool MPU9250::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, uint8_t samples)
bool MPU9250::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples)
{
PX4Accelerometer::FIFOSample accel;
accel.timestamp_sample = timestamp_sample;
@@ -536,8 +552,8 @@ bool MPU9250::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransf
// accel data is doubled in FIFO, but might be shifted
int accel_first_sample = 1;
if (samples >= 3) {
if (fifo_accel_equal(buffer.f[0], buffer.f[1])) {
if (samples >= 4) {
if (fifo_accel_equal(buffer.f[0], buffer.f[1]) && fifo_accel_equal(buffer.f[2], buffer.f[3])) {
// [A0, A1, A2, A3]
// A0==A1, A2==A3
accel_first_sample = 1;
@@ -576,7 +592,7 @@ bool MPU9250::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransf
return !bad_data;
}
void MPU9250::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, uint8_t samples)
void MPU9250::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples)
{
PX4Gyroscope::FIFOSample gyro;
gyro.timestamp_sample = timestamp_sample;
@@ -605,6 +621,7 @@ void MPU9250::UpdateTemperature()
// read current temperature
uint8_t temperature_buf[3] {};
temperature_buf[0] = static_cast<uint8_t>(Register::TEMP_OUT_H) | DIR_READ;
set_frequency(SPI_SPEED_SENSOR);
if (transfer(temperature_buf, temperature_buf, sizeof(temperature_buf)) != PX4_OK) {
perf_count(_bad_transfer_perf);
@@ -617,5 +634,51 @@ void MPU9250::UpdateTemperature()
if (PX4_ISFINITE(TEMP_degC)) {
_px4_accel.set_temperature(TEMP_degC);
_px4_gyro.set_temperature(TEMP_degC);
if (_slave_ak8963_magnetometer) {
_slave_ak8963_magnetometer->set_temperature(TEMP_degC);
}
}
}
void MPU9250::I2CSlaveRegisterStartRead(uint8_t slave_i2c_addr, uint8_t reg)
{
I2CSlaveExternalSensorDataEnable(slave_i2c_addr, reg, 1);
}
void MPU9250::I2CSlaveRegisterWrite(uint8_t slave_i2c_addr, uint8_t reg, uint8_t val)
{
RegisterWrite(Register::I2C_SLV0_ADDR, slave_i2c_addr);
RegisterWrite(Register::I2C_SLV0_REG, reg);
RegisterWrite(Register::I2C_SLV0_DO, val);
RegisterSetBits(Register::I2C_SLV0_CTRL, 1 | I2C_SLV0_CTRL_BIT::I2C_SLV0_EN);
}
void MPU9250::I2CSlaveExternalSensorDataEnable(uint8_t slave_i2c_addr, uint8_t reg, uint8_t size)
{
//RegisterWrite(Register::I2C_SLV0_ADDR, 0); // disable slave
RegisterWrite(Register::I2C_SLV0_ADDR, slave_i2c_addr | I2C_SLV0_ADDR_BIT::I2C_SLV0_RNW);
RegisterWrite(Register::I2C_SLV0_REG, reg);
RegisterWrite(Register::I2C_SLV0_CTRL, size | I2C_SLV0_CTRL_BIT::I2C_SLV0_EN);
}
bool MPU9250::I2CSlaveExternalSensorDataRead(uint8_t *buffer, uint8_t length)
{
bool ret = false;
if (buffer != nullptr && length <= 24) {
// max EXT_SENS_DATA 24 bytes
uint8_t transfer_buffer[24 + 1] {};
transfer_buffer[0] = static_cast<uint8_t>(Register::EXT_SENS_DATA_00) | DIR_READ;
set_frequency(SPI_SPEED_SENSOR);
if (transfer(transfer_buffer, transfer_buffer, length + 1) == PX4_OK) {
ret = true;
}
// copy data after cmd back to return buffer
memcpy(buffer, &transfer_buffer[1], length);
}
return ret;
}
src/drivers/imu/invensense/mpu9250/MPU9250.hpp
+41 -24
View File
@@ -51,24 +51,25 @@
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include "MPU9250_AK8963.hpp"
using namespace InvenSense_MPU9250;
class MPU9250 : public device::SPI, public I2CSPIDriver<MPU9250>
{
public:
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_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio, bool enable_magnetometer = false);
~MPU9250() override;
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 print_status() override;
void Start();
bool Reset();
@@ -77,11 +78,13 @@ protected:
void custom_method(const BusCLIArguments &cli) override;
void exit_and_cleanup() override;
private:
// Sensor Configuration
static constexpr uint32_t GYRO_RATE{8000}; // 8 kHz gyro
static constexpr uint32_t ACCEL_RATE{4000}; // 4 kHz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{ math::min(FIFO::SIZE / sizeof(FIFO::DATA) + 1, sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
static constexpr float FIFO_SAMPLE_DT{125.f};
static constexpr uint32_t SAMPLES_PER_TRANSFER{2}; // ensure at least 1 new accel sample per transfer
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 8 kHz gyro
static constexpr float ACCEL_RATE{GYRO_RATE / 2.f}; // 4 kHz accel
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
// Transfer data
struct FIFOTransferBuffer {
@@ -89,7 +92,7 @@ private:
FIFO::DATA f[FIFO_MAX_SAMPLES] {};
};
// ensure no struct padding
static_assert(sizeof(FIFOTransferBuffer) == (sizeof(uint8_t) + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
static_assert(sizeof(FIFOTransferBuffer) == (1 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
struct register_config_t {
Register reg;
@@ -114,19 +117,29 @@ private:
uint8_t RegisterRead(Register reg);
void RegisterWrite(Register reg, uint8_t value);
void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
void RegisterSetBits(Register reg, uint8_t setbits);
void RegisterClearBits(Register reg, uint8_t clearbits);
void RegisterSetBits(Register reg, uint8_t setbits) { RegisterSetAndClearBits(reg, setbits, 0); }
void RegisterClearBits(Register reg, uint8_t clearbits) { RegisterSetAndClearBits(reg, 0, clearbits); }
uint16_t FIFOReadCount();
bool FIFORead(const hrt_abstime &timestamp_sample, uint16_t samples);
void FIFOReset();
bool ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, uint8_t samples);
void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, uint8_t samples);
bool ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples);
void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples);
void UpdateTemperature();
const spi_drdy_gpio_t _drdy_gpio;
// I2C AUX interface (slave 1 - 4)
friend class AKM_AK8963::MPU9250_AK8963;
void I2CSlaveRegisterStartRead(uint8_t slave_i2c_addr, uint8_t reg);
void I2CSlaveRegisterWrite(uint8_t slave_i2c_addr, uint8_t reg, uint8_t val);
void I2CSlaveExternalSensorDataEnable(uint8_t slave_i2c_addr, uint8_t reg, uint8_t size);
bool I2CSlaveExternalSensorDataRead(uint8_t *buffer, uint8_t length);
AKM_AK8963::MPU9250_AK8963 *_slave_ak8963_magnetometer{nullptr};
PX4Accelerometer _px4_accel;
PX4Gyroscope _px4_gyro;
@@ -146,7 +159,6 @@ private:
px4::atomic<uint8_t> _data_ready_count{0};
px4::atomic<uint8_t> _fifo_read_samples{0};
bool _data_ready_interrupt_enabled{false};
uint8_t _checked_register{0};
enum class STATE : uint8_t {
RESET,
@@ -157,20 +169,25 @@ private:
STATE _state{STATE::RESET};
uint16_t _fifo_empty_interval_us{1000}; // 1000 us / 1000 Hz transfer interval
uint16_t _fifo_empty_interval_us{1000}; // default 1000 us / 1000 Hz transfer interval
uint8_t _fifo_gyro_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
uint8_t _fifo_accel_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / ACCEL_RATE))};
static constexpr uint8_t size_register_cfg{11};
uint8_t _checked_register{0};
static constexpr uint8_t size_register_cfg{12};
register_config_t _register_cfg[size_register_cfg] {
// Register | Set bits, Clear bits
{ Register::PWR_MGMT_1, PWR_MGMT_1_BIT::CLKSEL_0, PWR_MGMT_1_BIT::H_RESET | PWR_MGMT_1_BIT::SLEEP },
{ Register::ACCEL_CONFIG, ACCEL_CONFIG_BIT::ACCEL_FS_SEL_16G, 0 },
{ Register::ACCEL_CONFIG2, ACCEL_CONFIG2_BIT::ACCEL_FCHOICE_B_BYPASS_DLPF, 0 },
{ Register::GYRO_CONFIG, GYRO_CONFIG_BIT::GYRO_FS_SEL_2000_DPS, GYRO_CONFIG_BIT::FCHOICE_B_8KHZ_BYPASS_DLPF },
{ Register::CONFIG, CONFIG_BIT::DLPF_CFG_BYPASS_DLPF_8KHZ, Bit7 | CONFIG_BIT::FIFO_MODE },
{ Register::USER_CTRL, USER_CTRL_BIT::FIFO_EN, 0 },
{ Register::FIFO_EN, FIFO_EN_BIT::GYRO_XOUT | FIFO_EN_BIT::GYRO_YOUT | FIFO_EN_BIT::GYRO_ZOUT | FIFO_EN_BIT::ACCEL, 0 },
{ Register::INT_ENABLE, INT_ENABLE_BIT::RAW_RDY_EN, 0 }
// Register | Set bits, Clear bits
{ Register::PWR_MGMT_1, PWR_MGMT_1_BIT::CLKSEL_0, PWR_MGMT_1_BIT::H_RESET | PWR_MGMT_1_BIT::SLEEP },
{ Register::ACCEL_CONFIG, ACCEL_CONFIG_BIT::ACCEL_FS_SEL_16G, 0 },
{ Register::ACCEL_CONFIG2, ACCEL_CONFIG2_BIT::ACCEL_FCHOICE_B_BYPASS_DLPF, 0 },
{ Register::GYRO_CONFIG, GYRO_CONFIG_BIT::GYRO_FS_SEL_2000_DPS, GYRO_CONFIG_BIT::FCHOICE_B_8KHZ_BYPASS_DLPF },
{ Register::CONFIG, CONFIG_BIT::FIFO_MODE | CONFIG_BIT::DLPF_CFG_BYPASS_DLPF_8KHZ, 0 },
{ Register::USER_CTRL, USER_CTRL_BIT::FIFO_EN | USER_CTRL_BIT::I2C_MST_EN | USER_CTRL_BIT::I2C_IF_DIS, 0 },
{ Register::FIFO_EN, FIFO_EN_BIT::GYRO_XOUT | FIFO_EN_BIT::GYRO_YOUT | FIFO_EN_BIT::GYRO_ZOUT | FIFO_EN_BIT::ACCEL, 0 },
{ Register::I2C_SLV4_CTRL, I2C_SLV4_CTRL_BIT::I2C_MST_DLY, 0 },
{ Register::I2C_MST_CTRL, I2C_MST_CTRL_BIT::I2C_MST_P_NSR | I2C_MST_CTRL_BIT::I2C_MST_CLK_400_kHz, 0 },
{ Register::I2C_MST_DELAY_CTRL, I2C_MST_DELAY_CTRL_BIT::I2C_SLVX_DLY_EN, 0 },
{ Register::INT_PIN_CFG, INT_PIN_CFG_BIT::ACTL, 0 },
{ Register::INT_ENABLE, INT_ENABLE_BIT::RAW_RDY_EN, 0 }
};
};
src/drivers/imu/invensense/mpu9250/MPU9250_AK8963.cpp
+310
View File
@@ -0,0 +1,310 @@
/****************************************************************************
*
* 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_AK8963.hpp"
#include "MPU9250.hpp"
using namespace time_literals;
namespace AKM_AK8963
{
static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
{
return (msb << 8u) | lsb;
}
MPU9250_AK8963::MPU9250_AK8963(MPU9250 &mpu9250, enum Rotation rotation) :
ScheduledWorkItem("mpu9250_ak8963", px4::device_bus_to_wq(mpu9250.get_device_id())),
_mpu9250(mpu9250),
_px4_mag(mpu9250.get_device_id(), ORB_PRIO_DEFAULT, rotation)
{
_px4_mag.set_device_type(DRV_MAG_DEVTYPE_AK8963);
_px4_mag.set_external(mpu9250.external());
}
MPU9250_AK8963::~MPU9250_AK8963()
{
Stop();
perf_free(_transfer_perf);
perf_free(_bad_register_perf);
perf_free(_bad_transfer_perf);
perf_free(_duplicate_data_perf);
}
bool MPU9250_AK8963::Init()
{
return Reset();
}
void MPU9250_AK8963::Stop()
{
// wait until stopped
while (_state.load() != STATE::STOPPED) {
_state.store(STATE::REQUEST_STOP);
ScheduleNow();
px4_usleep(10);
}
}
bool MPU9250_AK8963::Reset()
{
_state.store(STATE::RESET);
ScheduleClear();
ScheduleNow();
return true;
}
void MPU9250_AK8963::PrintInfo()
{
perf_print_counter(_transfer_perf);
perf_print_counter(_bad_register_perf);
perf_print_counter(_bad_transfer_perf);
perf_print_counter(_duplicate_data_perf);
_px4_mag.print_status();
}
void MPU9250_AK8963::Run()
{
switch (_state.load()) {
case STATE::RESET:
// CNTL2 SRST: Soft reset
RegisterWrite(Register::CNTL2, CNTL2_BIT::SRST);
_reset_timestamp = hrt_absolute_time();
_state.store(STATE::READ_WHO_AM_I);
ScheduleDelayed(100_ms);
break;
case STATE::READ_WHO_AM_I:
_mpu9250.I2CSlaveRegisterStartRead(I2C_ADDRESS_DEFAULT, (uint8_t)Register::WIA);
_state.store(STATE::WAIT_FOR_RESET);
ScheduleDelayed(10_ms);
break;
case STATE::WAIT_FOR_RESET: {
uint8_t WIA = 0;
_mpu9250.I2CSlaveExternalSensorDataRead(&WIA, 1);
if (WIA == WHOAMI) {
// if reset succeeded then configure
_state.store(STATE::CONFIGURE);
ScheduleDelayed(10_ms);
} else {
// RESET not complete
if (hrt_elapsed_time(&_reset_timestamp) > 100_ms) {
PX4_DEBUG("Reset failed, retrying");
_state.store(STATE::RESET);
ScheduleDelayed(100_ms);
} else {
PX4_DEBUG("Reset not complete, check again in 100 ms");
ScheduleDelayed(100_ms);
}
}
}
break;
// TODO: read FUSE ROM (to get ASA corrections)
case STATE::CONFIGURE:
if (Configure()) {
// if configure succeeded then start reading
_mpu9250.I2CSlaveExternalSensorDataEnable(I2C_ADDRESS_DEFAULT, (uint8_t)Register::HXL, sizeof(TransferBuffer));
_state.store(STATE::READ);
ScheduleOnInterval(10_ms, 10_ms); // 100 Hz
} else {
PX4_DEBUG("Configure failed, retrying");
// try again in 100 ms
ScheduleDelayed(100_ms);
}
break;
case STATE::READ: {
perf_begin(_transfer_perf);
TransferBuffer buffer{};
const hrt_abstime timestamp_sample = hrt_absolute_time();
bool success = _mpu9250.I2CSlaveExternalSensorDataRead((uint8_t *)&buffer, sizeof(TransferBuffer));
perf_end(_transfer_perf);
if (success && !(buffer.ST2 & ST2_BIT::HOFL)) {
// sensor's frame is +y forward (x), -x right, +z down
int16_t x = combine(buffer.HYH, buffer.HYL); // +Y
int16_t y = combine(buffer.HXH, buffer.HXL); // +X
y = (y == INT16_MIN) ? INT16_MAX : -y; // flip y
int16_t z = combine(buffer.HZH, buffer.HZL);
const bool all_zero = (x == 0 && y == 0 && z == 0);
const bool new_data = (_last_measurement[0] != x || _last_measurement[1] != y || _last_measurement[2] != z);
if (!new_data) {
perf_count(_duplicate_data_perf);
}
if (!all_zero && new_data) {
_px4_mag.update(timestamp_sample, x, y, z);
_last_measurement[0] = x;
_last_measurement[1] = y;
_last_measurement[2] = z;
} else {
success = false;
}
}
if (!success) {
perf_count(_bad_transfer_perf);
}
}
break;
case STATE::REQUEST_STOP:
ScheduleClear();
_state.store(STATE::STOPPED);
break;
case STATE::STOPPED:
// DO NOTHING
break;
}
}
bool MPU9250_AK8963::Configure()
{
bool success = true;
for (const auto &reg : _register_cfg) {
if (!RegisterCheck(reg)) {
success = false;
}
}
// TODO: read ASA and set sensitivity
//const uint8_t ASAX = RegisterRead(Register::ASAX);
//const uint8_t ASAY = RegisterRead(Register::ASAY);
//const uint8_t ASAZ = RegisterRead(Register::ASAZ);
// float ak8963_ASA[3] {};
// for (int i = 0; i < 3; i++) {
// if (0 != response[i] && 0xff != response[i]) {
// ak8963_ASA[i] = ((float)(response[i] - 128) / 256.0f) + 1.0f;
// } else {
// return false;
// }
// }
// _px4_mag.set_sensitivity(ak8963_ASA[0], ak8963_ASA[1], ak8963_ASA[2]);
// in 16-bit sampling mode the mag resolution is 1.5 milli Gauss per bit */
_px4_mag.set_scale(1.5e-3f);
return success;
}
bool MPU9250_AK8963::RegisterCheck(const register_config_t &reg_cfg, bool notify)
{
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;
}
if (!success) {
RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
if (notify) {
perf_count(_bad_register_perf);
_px4_mag.increase_error_count();
}
}
return success;
}
uint8_t MPU9250_AK8963::RegisterRead(Register reg)
{
// TODO: use slave 4 and check register
_mpu9250.I2CSlaveRegisterStartRead(I2C_ADDRESS_DEFAULT, static_cast<uint8_t>(reg));
usleep(1000);
uint8_t buffer{};
_mpu9250.I2CSlaveExternalSensorDataRead(&buffer, 1);
return buffer;
}
void MPU9250_AK8963::RegisterWrite(Register reg, uint8_t value)
{
return _mpu9250.I2CSlaveRegisterWrite(I2C_ADDRESS_DEFAULT, static_cast<uint8_t>(reg), value);
}
void MPU9250_AK8963::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)
{
const uint8_t orig_val = RegisterRead(reg);
uint8_t val = orig_val;
if (setbits) {
val |= setbits;
}
if (clearbits) {
val &= ~clearbits;
}
RegisterWrite(reg, val);
}
} // namespace AKM_AK8963
src/drivers/imu/invensense/mpu9250/MPU9250_AK8963.hpp
+137
View File
@@ -0,0 +1,137 @@
/****************************************************************************
*
* 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 AK8963.hpp
*
* Driver for the AKM AK8963 connected via I2C.
*
*/
#pragma once
#include "AKM_AK8963_registers.hpp"
#include <drivers/drv_hrt.h>
#include <lib/drivers/device/i2c.h>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
class MPU9250;
namespace AKM_AK8963
{
class MPU9250_AK8963 : public px4::ScheduledWorkItem
{
public:
MPU9250_AK8963(MPU9250 &mpu9250, enum Rotation rotation = ROTATION_NONE);
~MPU9250_AK8963() override;
bool Init();
void Start();
void Stop();
bool Reset();
void PrintInfo();
void set_temperature(float temperature) { _px4_mag.set_temperature(temperature); }
private:
struct TransferBuffer {
//uint8_t ST1;
uint8_t HXL;
uint8_t HXH;
uint8_t HYL;
uint8_t HYH;
uint8_t HZL;
uint8_t HZH;
uint8_t ST2;
};
struct register_config_t {
AKM_AK8963::Register reg;
uint8_t set_bits{0};
uint8_t clear_bits{0};
};
int probe();
void Run() override;
bool Configure();
bool RegisterCheck(const register_config_t &reg_cfg, bool notify = false);
uint8_t RegisterRead(AKM_AK8963::Register reg);
void RegisterWrite(AKM_AK8963::Register reg, uint8_t value);
void RegisterSetAndClearBits(AKM_AK8963::Register reg, uint8_t setbits, uint8_t clearbits);
MPU9250 &_mpu9250;
PX4Magnetometer _px4_mag;
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME"_ak8963: transfer")};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_ak8963: bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_ak8963: bad transfer")};
perf_counter_t _duplicate_data_perf{perf_alloc(PC_COUNT, MODULE_NAME"_ak8963: duplicate data")};
hrt_abstime _reset_timestamp{0};
hrt_abstime _last_config_check_timestamp{0};
int16_t _last_measurement[3] {};
uint8_t _checked_register{0};
enum class STATE : uint8_t {
RESET,
READ_WHO_AM_I,
WAIT_FOR_RESET,
CONFIGURE,
READ,
REQUEST_STOP,
STOPPED,
};
px4::atomic<STATE> _state{STATE::RESET};
static constexpr uint8_t size_register_cfg{1};
register_config_t _register_cfg[size_register_cfg] {
// Register | Set bits, Clear bits
{ AKM_AK8963::Register::CNTL1, AKM_AK8963::CNTL1_BIT::CONTINUOUS_MODE_2 | AKM_AK8963::CNTL1_BIT::BIT_16 },
};
};
} // namespace AKM_AK8963
src/drivers/imu/invensense/mpu9250/mpu9250_main.cpp
+8 -2
View File
@@ -43,6 +43,7 @@ MPU9250::print_usage()
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
PRINT_MODULE_USAGE_PARAM_FLAG('M', "Enable Magnetometer (AK8963)", true);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_COMMAND("reset");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
@@ -51,8 +52,9 @@ MPU9250::print_usage()
I2CSPIDriverBase *MPU9250::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
bool mag = (cli.custom1 == 1);
MPU9250 *instance = new MPU9250(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO(), mag);
if (!instance) {
PX4_ERR("alloc failed");
@@ -79,8 +81,12 @@ extern "C" int mpu9250_main(int argc, char *argv[])
BusCLIArguments cli{false, true};
cli.default_spi_frequency = SPI_SPEED;
while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
while ((ch = cli.getopt(argc, argv, "MR:")) != EOF) {
switch (ch) {
case 'M':
cli.custom1 = 1;
break;
case 'R':
cli.rotation = (enum Rotation)atoi(cli.optarg());
break;
src/drivers/imu/mpu9250/AK8963_I2C.cpp
+1 -1
View File
@@ -70,7 +70,7 @@ AK8963_I2C_interface(int bus, int bus_frequency)
AK8963_I2C::AK8963_I2C(int bus, int bus_frequency) : I2C("AK8963_I2C", nullptr, bus, AK8963_I2C_ADDR, bus_frequency)
{
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_MPU9250;
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_AK8963;
}
int
src/drivers/imu/mpu9250/MPU9250_mag.cpp
+1 -1
View File
@@ -60,7 +60,7 @@ MPU9250_mag::MPU9250_mag(MPU9250 *parent, device::Device *interface, enum Rotati
_mag_overflows(perf_alloc(PC_COUNT, MODULE_NAME": mag_overflows")),
_mag_errors(perf_alloc(PC_COUNT, MODULE_NAME": mag_errors"))
{
_px4_mag.set_device_type(DRV_MAG_DEVTYPE_MPU9250);
_px4_mag.set_device_type(DRV_MAG_DEVTYPE_AK8963);
_px4_mag.set_scale(MPU9250_MAG_RANGE_GA);
}