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bosch bmi160 driver (#4469)
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
755176b247
commit
7b0078a20d
@@ -48,6 +48,7 @@ set(config_module_list
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drivers/bst
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drivers/snapdragon_rc_pwm
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drivers/lis3mdl
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drivers/bmi160
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#
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# System commands
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@@ -0,0 +1,47 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE drivers__bmi160
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MAIN bmi160
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STACK_MAIN 1200
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COMPILE_FLAGS
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-Weffc++
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-Os
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SRCS
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bmi160.cpp
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bmi160_gyro.cpp
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bmi160_main.cpp
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,501 @@
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#ifndef BMI160_HPP_
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#define BMI160_HPP_
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#include <px4_config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <stddef.h>
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#include <stdlib.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <getopt.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/err.h>
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#include <systemlib/conversions.h>
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#include <nuttx/arch.h>
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#include <nuttx/clock.h>
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#include <board_config.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/device/spi.h>
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#include <drivers/device/ringbuffer.h>
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#include <drivers/device/integrator.h>
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#include <drivers/drv_accel.h>
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#include <drivers/drv_gyro.h>
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#include <drivers/drv_mag.h>
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#include <mathlib/math/filter/LowPassFilter2p.hpp>
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#include <lib/conversion/rotation.h>
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#define DIR_READ 0x80
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#define DIR_WRITE 0x00
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#define BMI160_DEVICE_PATH_ACCEL "/dev/bmi160_accel"
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#define BMI160_DEVICE_PATH_GYRO "/dev/bmi160_gyro"
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#define BMI160_DEVICE_PATH_MAG "/dev/bmi160_mag"
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#define BMI160_DEVICE_PATH_ACCEL_EXT "/dev/bmi160_accel_ext"
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#define BMI160_DEVICE_PATH_GYRO_EXT "/dev/bmi160_gyro_ext"
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#define BMI160_DEVICE_PATH_MAG_EXT "/dev/bmi160_mag_ext"
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// BMI 160 registers
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#define BMIREG_CHIP_ID 0x00
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#define BMIREG_ERR_REG 0x02
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#define BMIREG_PMU_STATUS 0x03
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#define BMIREG_DATA_0 0x04
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#define BMIREG_DATA_1 0x05
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#define BMIREG_DATA_2 0x06
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#define BMIREG_DATA_3 0x07
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#define BMIREG_DATA_4 0x08
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#define BMIREG_DATA_5 0x09
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#define BMIREG_DATA_6 0x0A
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#define BMIREG_DATA_7 0x0B
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#define BMIREG_GYR_X_L 0x0C
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#define BMIREG_GYR_X_H 0x0D
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#define BMIREG_GYR_Y_L 0x0E
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#define BMIREG_GYR_Y_H 0x0F
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#define BMIREG_GYR_Z_L 0x10
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#define BMIREG_GYR_Z_H 0x11
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#define BMIREG_ACC_X_L 0x12
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#define BMIREG_ACC_X_H 0x13
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#define BMIREG_ACC_Y_L 0x14
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#define BMIREG_ACC_Y_H 0x15
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#define BMIREG_ACC_Z_L 0x16
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#define BMIREG_ACC_Z_H 0x17
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#define BMIREG_SENSORTIME0 0x18
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#define BMIREG_SENSORTIME1 0x19
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#define BMIREG_SENSORTIME2 0x1A
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#define BMIREG_STATUS 0x1B
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#define BMIREG_INT_STATUS_0 0x1C
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#define BMIREG_INT_STATUS_1 0x1D
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#define BMIREG_INT_STATUS_2 0x1E
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#define BMIREG_INT_STATUS_3 0x1F
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#define BMIREG_TEMP_0 0x20
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#define BMIREG_TEMP_1 0x21
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#define BMIREG_FIFO_LEN_0 0x22
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#define BMIREG_FIFO_LEN_1 0x23
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#define BMIREG_FIFO_DATA 0x24
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#define BMIREG_ACC_CONF 0x40
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#define BMIREG_ACC_RANGE 0x41
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#define BMIREG_GYR_CONF 0x42
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#define BMIREG_GYR_RANGE 0x43
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#define BMIREG_MAG_CONF 0x44
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#define BMIREG_FIFO_DOWNS 0x45
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#define BMIREG_FIFO_CONFIG_0 0x46
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#define BMIREG_FIFO_CONFIG_1 0x47
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#define BMIREG_MAG_IF_0 0x4B
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#define BMIREG_MAG_IF_1 0x4C
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#define BMIREG_MAG_IF_2 0x4D
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#define BMIREG_MAG_IF_3 0x4E
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#define BMIREG_MAG_IF_4 0x4F
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#define BMIREG_INT_EN_0 0x50
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#define BMIREG_INT_EN_1 0x51
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#define BMIREG_INT_EN_2 0x52
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#define BMIREG_INT_OUT_CTRL 0x53
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#define BMIREG_INT_LANTCH 0x54
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#define BMIREG_INT_MAP_0 0x55
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#define BMIREG_INT_MAP_1 0x56
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#define BMIREG_INT_MAP_2 0x57
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#define BMIREG_INT_DATA_0 0x58
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#define BMIREG_INT_DATA_1 0x59
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#define BMIREG_INT_LH_0 0x5A
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#define BMIREG_INT_LH_1 0x5B
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#define BMIREG_INT_LH_2 0x5C
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#define BMIREG_INT_LH_3 0x5D
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#define BMIREG_INT_LH_4 0x5E
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#define BMIREG_INT_MOT_0 0x5F
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#define BMIREG_INT_MOT_1 0x60
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#define BMIREG_INT_MOT_2 0x61
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#define BMIREG_INT_MOT_3 0x62
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#define BMIREG_INT_TAP_0 0x63
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#define BMIREG_INT_TAP_1 0x64
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#define BMIREG_INT_ORIE_0 0x65
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#define BMIREG_INT_ORIE_1 0x66
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#define BMIREG_INT_FLAT_0 0x67
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#define BMIREG_INT_FLAT_1 0x68
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#define BMIREG_FOC_CONF 0x69
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#define BMIREG_CONF 0x6A
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#define BMIREG_IF_CONF 0x6B
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#define BMIREG_PMU_TRIGGER 0x6C
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#define BMIREG_SELF_TEST 0x6D
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#define BMIREG_NV_CONF 0x70
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#define BMIREG_OFFSET_ACC_X 0x71
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#define BMIREG_OFFSET_ACC_Y 0x72
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#define BMIREG_OFFSET_ACC_Z 0x73
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#define BMIREG_OFFSET_GYR_X 0x74
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#define BMIREG_OFFSET_GYR_Y 0x75
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#define BMIREG_OFFSET_GYR_Z 0x76
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#define BMIREG_OFFSET_EN 0x77
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#define BMIREG_STEP_CONT_0 0x78
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#define BMIREG_STEP_CONT_1 0x79
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#define BMIREG_STEP_CONF_0 0x7A
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#define BMIREG_STEP_CONF_1 0x7B
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#define BMIREG_CMD 0x7E
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// Configuration bits BMI 160
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#define BMI160_WHO_AM_I 0xD1
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//BMIREG_STATUS 0x1B
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#define BMI_DRDY_ACCEL (1<<7)
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#define BMI_DRDY_GYRO (1<<6)
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#define BMI_DRDY_MAG (1<<5)
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#define BMI_GYRO_SELF_TEST_OK (1<<1)
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//BMIREG_INT_STATUS_1 0x1D
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#define BMI_DRDY_INT (1<<4)
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//BMIREG_ACC_CONF 0x40
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#define BMI_ACCEL_RATE_25_32 (0<<3) | (0<<2) | (0<<1) | (1<<0)
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#define BMI_ACCEL_RATE_25_16 (0<<3) | (0<<2) | (1<<1) | (0<<0)
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#define BMI_ACCEL_RATE_25_8 (0<<3) | (0<<2) | (1<<1) | (1<<0)
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#define BMI_ACCEL_RATE_25_4 (0<<3) | (1<<2) | (0<<1) | (0<<0)
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#define BMI_ACCEL_RATE_25_2 (0<<3) | (1<<2) | (0<<1) | (1<<0)
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#define BMI_ACCEL_RATE_25 (0<<3) | (1<<2) | (1<<1) | (0<<0)
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#define BMI_ACCEL_RATE_50 (0<<3) | (1<<2) | (1<<1) | (1<<0)
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#define BMI_ACCEL_RATE_100 (1<<3) | (0<<2) | (0<<1) | (0<<0)
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#define BMI_ACCEL_RATE_200 (1<<3) | (0<<2) | (0<<1) | (1<<0)
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#define BMI_ACCEL_RATE_400 (1<<3) | (0<<2) | (1<<1) | (0<<0)
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#define BMI_ACCEL_RATE_800 (1<<3) | (0<<2) | (1<<1) | (1<<0)
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#define BMI_ACCEL_RATE_1600 (1<<3) | (1<<2) | (0<<1) | (0<<0)
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#define BMI_ACCEL_US (0<<7)
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#define BMI_ACCEL_BWP_NORMAL (0<<6) | (1<<5) | (0<<4)
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#define BMI_ACCEL_BWP_OSR2 (0<<6) | (0<<5) | (1<<4)
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#define BMI_ACCEL_BWP_OSR4 (0<<6) | (0<<5) | (0<<4)
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//BMIREG_ACC_RANGE 0x41
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#define BMI_ACCEL_RANGE_2_G (0<<3) | (0<<2) | (1<<1) | (1<<0)
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#define BMI_ACCEL_RANGE_4_G (0<<3) | (1<<2) | (0<<1) | (1<<0)
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#define BMI_ACCEL_RANGE_8_G (1<<3) | (0<<2) | (0<<1) | (0<<0)
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#define BMI_ACCEL_RANGE_16_G (1<<3) | (1<<2) | (0<<1) | (0<<0)
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//BMIREG_GYR_CONF 0x42
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#define BMI_GYRO_RATE_25 (0<<3) | (1<<2) | (1<<1) | (0<<0)
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#define BMI_GYRO_RATE_50 (0<<3) | (1<<2) | (1<<1) | (1<<0)
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#define BMI_GYRO_RATE_100 (1<<3) | (0<<2) | (0<<1) | (0<<0)
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#define BMI_GYRO_RATE_200 (1<<3) | (0<<2) | (0<<1) | (1<<0)
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#define BMI_GYRO_RATE_400 (1<<3) | (0<<2) | (1<<1) | (0<<0)
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#define BMI_GYRO_RATE_800 (1<<3) | (0<<2) | (1<<1) | (1<<0)
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#define BMI_GYRO_RATE_1600 (1<<3) | (1<<2) | (0<<1) | (0<<0)
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#define BMI_GYRO_RATE_3200 (1<<3) | (1<<2) | (0<<1) | (1<<0)
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#define BMI_GYRO_BWP_NORMAL (1<<5) | (0<<4)
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#define BMI_GYRO_BWP_OSR2 (0<<5) | (1<<4)
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#define BMI_GYRO_BWP_OSR4 (0<<5) | (0<<4)
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//BMIREG_GYR_RANGE 0x43
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#define BMI_GYRO_RANGE_2000_DPS (0<<2) | (0<<1) | (0<<0)
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#define BMI_GYRO_RANGE_1000_DPS (0<<2) | (0<<1) | (1<<0)
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#define BMI_GYRO_RANGE_500_DPS (0<<2) | (1<<1) | (0<<0)
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#define BMI_GYRO_RANGE_250_DPS (0<<2) | (1<<1) | (1<<0)
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#define BMI_GYRO_RANGE_125_DPS (1<<2) | (0<<1) | (0<<0)
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//BMIREG_INT_EN_1 0x51
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#define BMI_DRDY_INT_EN (1<<4)
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//BMIREG_INT_OUT_CTRL 0x53
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#define BMI_INT1_EN (1<<3) | (0<<2) | (1<<1) //Data Ready on INT1 High
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//BMIREG_INT_MAP_1 0x56
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#define BMI_DRDY_INT1 (1<<7)
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//BMIREG_IF_CONF 0x6B
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#define BMI_SPI_3_WIRE (1<<0)
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#define BMI_SPI_4_WIRE (0<<0)
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#define BMI_AUTO_DIS_SEC (0<<5) | (0<<4)
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#define BMI_I2C_OIS_SEC (0<<5) | (1<<4)
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#define BMI_AUTO_MAG_SEC (1<<5) | (0<<4)
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//BMIREG_NV_CONF 0x70
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#define BMI_SPI (1<<0)
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//BMIREG_CMD 0x7E
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#define BMI_ACCEL_NORMAL_MODE 0x11 //Wait at least 3.8 ms before another CMD
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#define BMI_GYRO_NORMAL_MODE 0x15 //Wait at least 80 ms before another CMD
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#define BMI160_SOFT_RESET 0xB6
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#define BMI160_ACCEL_DEFAULT_RANGE_G 4
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#define BMI160_GYRO_DEFAULT_RANGE_DPS 2000
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#define BMI160_ACCEL_DEFAULT_RATE 800
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#define BMI160_ACCEL_MAX_RATE 1600
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#define BMI160_GYRO_DEFAULT_RATE 800
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#define BMI160_GYRO_MAX_RATE 3200
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#define BMI160_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ 324
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#define BMI160_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 50
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#define BMI160_GYRO_DEFAULT_ONCHIP_FILTER_FREQ 254.6f
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#define BMI160_GYRO_DEFAULT_DRIVER_FILTER_FREQ 50
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#define BMI160_ONE_G 9.80665f
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#define BMI160_LOW_BUS_SPEED 1000*1000
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#define BMI160_HIGH_BUS_SPEED 11*1000*1000
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#define BMI160_TIMER_REDUCTION 200
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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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#define EXTERNAL_BUS 0
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#endif
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class BMI160_gyro;
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class BMI160 : public device::SPI
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{
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public:
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BMI160(int bus, const char *path_accel, const char *path_gyro, spi_dev_e device, enum Rotation rotation);
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virtual ~BMI160();
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virtual int init();
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virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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void print_registers();
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// deliberately cause a sensor error
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void test_error();
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protected:
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virtual int probe();
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friend class BMI160_gyro;
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virtual ssize_t gyro_read(struct file *filp, char *buffer, size_t buflen);
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virtual int gyro_ioctl(struct file *filp, int cmd, unsigned long arg);
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private:
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BMI160_gyro *_gyro;
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uint8_t _whoami; /** whoami result */
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struct hrt_call _call;
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unsigned _call_interval;
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ringbuffer::RingBuffer *_accel_reports;
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struct accel_calibration_s _accel_scale;
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float _accel_range_scale;
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float _accel_range_m_s2;
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orb_advert_t _accel_topic;
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int _accel_orb_class_instance;
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int _accel_class_instance;
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ringbuffer::RingBuffer *_gyro_reports;
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struct gyro_calibration_s _gyro_scale;
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float _gyro_range_scale;
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float _gyro_range_rad_s;
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unsigned _dlpf_freq;
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float _accel_sample_rate;
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float _gyro_sample_rate;
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perf_counter_t _accel_reads;
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perf_counter_t _gyro_reads;
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perf_counter_t _sample_perf;
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perf_counter_t _bad_transfers;
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perf_counter_t _bad_registers;
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perf_counter_t _good_transfers;
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perf_counter_t _reset_retries;
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perf_counter_t _duplicates;
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perf_counter_t _controller_latency_perf;
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uint8_t _register_wait;
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uint64_t _reset_wait;
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math::LowPassFilter2p _accel_filter_x;
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math::LowPassFilter2p _accel_filter_y;
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math::LowPassFilter2p _accel_filter_z;
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math::LowPassFilter2p _gyro_filter_x;
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math::LowPassFilter2p _gyro_filter_y;
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math::LowPassFilter2p _gyro_filter_z;
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Integrator _accel_int;
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Integrator _gyro_int;
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enum Rotation _rotation;
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// this is used to support runtime checking of key
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// configuration registers to detect SPI bus errors and sensor
|
||||
// reset
|
||||
#define BMI160_NUM_CHECKED_REGISTERS 10
|
||||
static const uint8_t _checked_registers[BMI160_NUM_CHECKED_REGISTERS];
|
||||
uint8_t _checked_values[BMI160_NUM_CHECKED_REGISTERS];
|
||||
uint8_t _checked_bad[BMI160_NUM_CHECKED_REGISTERS];
|
||||
uint8_t _checked_next;
|
||||
|
||||
// last temperature reading for print_info()
|
||||
float _last_temperature;
|
||||
|
||||
// keep last accel reading for duplicate detection
|
||||
uint16_t _last_accel[3];
|
||||
bool _got_duplicate;
|
||||
|
||||
/**
|
||||
* Start automatic measurement.
|
||||
*/
|
||||
void start();
|
||||
|
||||
/**
|
||||
* Stop automatic measurement.
|
||||
*/
|
||||
void stop();
|
||||
|
||||
/**
|
||||
* Reset chip.
|
||||
*
|
||||
* Resets the chip and measurements ranges, but not scale and offset.
|
||||
*/
|
||||
int reset();
|
||||
|
||||
/**
|
||||
* Static trampoline from the hrt_call context; because we don't have a
|
||||
* generic hrt wrapper yet.
|
||||
*
|
||||
* Called by the HRT in interrupt context at the specified rate if
|
||||
* automatic polling is enabled.
|
||||
*
|
||||
* @param arg Instance pointer for the driver that is polling.
|
||||
*/
|
||||
static void measure_trampoline(void *arg);
|
||||
|
||||
/**
|
||||
* Fetch measurements from the sensor and update the report buffers.
|
||||
*/
|
||||
void measure();
|
||||
|
||||
/**
|
||||
* Read a register from the BMI160
|
||||
*
|
||||
* @param The register to read.
|
||||
* @return The value that was read.
|
||||
*/
|
||||
uint8_t read_reg(unsigned reg, uint32_t speed = BMI160_LOW_BUS_SPEED);
|
||||
uint16_t read_reg16(unsigned reg);
|
||||
|
||||
/**
|
||||
* Write a register in the BMI160
|
||||
*
|
||||
* @param reg The register to write.
|
||||
* @param value The new value to write.
|
||||
*/
|
||||
void write_reg(unsigned reg, uint8_t value);
|
||||
|
||||
/**
|
||||
* Modify a register in the BMI160
|
||||
*
|
||||
* Bits are cleared before bits are set.
|
||||
*
|
||||
* @param reg The register to modify.
|
||||
* @param clearbits Bits in the register to clear.
|
||||
* @param setbits Bits in the register to set.
|
||||
*/
|
||||
void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
|
||||
|
||||
/**
|
||||
* Write a register in the BMI160, updating _checked_values
|
||||
*
|
||||
* @param reg The register to write.
|
||||
* @param value The new value to write.
|
||||
*/
|
||||
void write_checked_reg(unsigned reg, uint8_t value);
|
||||
|
||||
/**
|
||||
* Set the BMI160 measurement range.
|
||||
*
|
||||
* @param max_g The maximum G value the range must support.
|
||||
* @param max_dps The maximum DPS value the range must support.
|
||||
* @return OK if the value can be supported, -ERANGE otherwise.
|
||||
*/
|
||||
int set_accel_range(unsigned max_g);
|
||||
int set_gyro_range(unsigned max_dps);
|
||||
|
||||
/**
|
||||
* Swap a 16-bit value read from the BMI160 to native byte order.
|
||||
*/
|
||||
uint16_t swap16(uint16_t val) { return (val >> 8) | (val << 8); }
|
||||
|
||||
/**
|
||||
* Get the internal / external state
|
||||
*
|
||||
* @return true if the sensor is not on the main MCU board
|
||||
*/
|
||||
bool is_external() { return (_bus == EXTERNAL_BUS); }
|
||||
|
||||
/**
|
||||
* Measurement self test
|
||||
*
|
||||
* @return 0 on success, 1 on failure
|
||||
*/
|
||||
int self_test();
|
||||
|
||||
/**
|
||||
* Accel self test
|
||||
*
|
||||
* @return 0 on success, 1 on failure
|
||||
*/
|
||||
int accel_self_test();
|
||||
|
||||
/**
|
||||
* Gyro self test
|
||||
*
|
||||
* @return 0 on success, 1 on failure
|
||||
*/
|
||||
int gyro_self_test();
|
||||
|
||||
/*
|
||||
set low pass filter frequency
|
||||
*/
|
||||
void _set_dlpf_filter(uint16_t frequency_hz);
|
||||
|
||||
/*
|
||||
set sample rate (approximate) - 10 - 952 Hz
|
||||
*/
|
||||
int accel_set_sample_rate(float desired_sample_rate_hz);
|
||||
int gyro_set_sample_rate(float desired_sample_rate_hz);
|
||||
/*
|
||||
check that key registers still have the right value
|
||||
*/
|
||||
void check_registers(void);
|
||||
|
||||
/* do not allow to copy this class due to pointer data members */
|
||||
BMI160(const BMI160 &);
|
||||
BMI160 operator=(const BMI160 &);
|
||||
|
||||
#pragma pack(push, 1)
|
||||
/**
|
||||
* Report conversation within the BMI160, including command byte and
|
||||
* interrupt status.
|
||||
*/
|
||||
struct BMIReport {
|
||||
uint8_t cmd;
|
||||
int16_t gyro_x;
|
||||
int16_t gyro_y;
|
||||
int16_t gyro_z;
|
||||
int16_t accel_x;
|
||||
int16_t accel_y;
|
||||
int16_t accel_z;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* BMI160_HPP_ */
|
||||
@@ -0,0 +1,63 @@
|
||||
|
||||
#include "bmi160_gyro.hpp"
|
||||
#include "bmi160.hpp"
|
||||
|
||||
BMI160_gyro::BMI160_gyro(BMI160 *parent, const char *path) : CDev("BMI160_gyro", path),
|
||||
_parent(parent),
|
||||
_gyro_topic(nullptr),
|
||||
_gyro_orb_class_instance(-1),
|
||||
_gyro_class_instance(-1)
|
||||
{
|
||||
}
|
||||
|
||||
BMI160_gyro::~BMI160_gyro()
|
||||
{
|
||||
if (_gyro_class_instance != -1) {
|
||||
unregister_class_devname(GYRO_BASE_DEVICE_PATH, _gyro_class_instance);
|
||||
}
|
||||
}
|
||||
|
||||
int
|
||||
BMI160_gyro::init()
|
||||
{
|
||||
int ret;
|
||||
|
||||
// do base class init
|
||||
ret = CDev::init();
|
||||
|
||||
/* if probe/setup failed, bail now */
|
||||
if (ret != OK) {
|
||||
DEVICE_DEBUG("gyro init failed");
|
||||
return ret;
|
||||
}
|
||||
|
||||
_gyro_class_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void
|
||||
BMI160_gyro::parent_poll_notify()
|
||||
{
|
||||
poll_notify(POLLIN);
|
||||
}
|
||||
|
||||
ssize_t
|
||||
BMI160_gyro::read(struct file *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
return _parent->gyro_read(filp, buffer, buflen);
|
||||
}
|
||||
|
||||
int
|
||||
BMI160_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
|
||||
switch (cmd) {
|
||||
case DEVIOCGDEVICEID:
|
||||
return (int)CDev::ioctl(filp, cmd, arg);
|
||||
break;
|
||||
|
||||
default:
|
||||
return _parent->gyro_ioctl(filp, cmd, arg);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,41 @@
|
||||
#ifndef BMI160_GYRO_HPP_
|
||||
#define BMI160_GYRO_HPP_
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include "bmi160.hpp"
|
||||
|
||||
/**
|
||||
* Helper class implementing the gyro driver node.
|
||||
*/
|
||||
class BMI160_gyro : public device::CDev
|
||||
{
|
||||
public:
|
||||
BMI160_gyro(BMI160 *parent, const char *path);
|
||||
~BMI160_gyro();
|
||||
|
||||
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
|
||||
virtual int init();
|
||||
|
||||
protected:
|
||||
friend class BMI160;
|
||||
|
||||
void parent_poll_notify();
|
||||
|
||||
private:
|
||||
BMI160 *_parent;
|
||||
orb_advert_t _gyro_topic;
|
||||
int _gyro_orb_class_instance;
|
||||
int _gyro_class_instance;
|
||||
|
||||
/* do not allow to copy this class due to pointer data members */
|
||||
BMI160_gyro(const BMI160_gyro &);
|
||||
BMI160_gyro operator=(const BMI160_gyro &);
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
#endif /* BMI160_GYRO_HPP_ */
|
||||
@@ -0,0 +1,358 @@
|
||||
|
||||
#include "bmi160.hpp"
|
||||
|
||||
#include <board_config.h>
|
||||
|
||||
/** driver 'main' command */
|
||||
extern "C" { __EXPORT int bmi160_main(int argc, char *argv[]); }
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace bmi160
|
||||
{
|
||||
|
||||
BMI160 *g_dev_int; // on internal bus
|
||||
BMI160 *g_dev_ext; // on external bus
|
||||
|
||||
void start(bool, enum Rotation);
|
||||
void stop(bool);
|
||||
void test(bool);
|
||||
void reset(bool);
|
||||
void info(bool);
|
||||
void regdump(bool);
|
||||
void testerror(bool);
|
||||
void usage();
|
||||
|
||||
|
||||
/**
|
||||
* Start the driver.
|
||||
*
|
||||
* This function only returns if the driver is up and running
|
||||
* or failed to detect the sensor.
|
||||
*/
|
||||
void
|
||||
start(bool external_bus, enum Rotation rotation)
|
||||
{
|
||||
int fd;
|
||||
BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
|
||||
const char *path_accel = external_bus ? BMI160_DEVICE_PATH_ACCEL_EXT : BMI160_DEVICE_PATH_ACCEL;
|
||||
const char *path_gyro = external_bus ? BMI160_DEVICE_PATH_GYRO_EXT : BMI160_DEVICE_PATH_GYRO;
|
||||
|
||||
if (*g_dev_ptr != nullptr)
|
||||
/* if already started, the still command succeeded */
|
||||
{
|
||||
errx(0, "already started");
|
||||
}
|
||||
|
||||
/* create the driver */
|
||||
if (external_bus) {
|
||||
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BMI)
|
||||
*g_dev_ptr = new BMI160(PX4_SPI_BUS_EXT, path_accel, path_gyro, (spi_dev_e)PX4_SPIDEV_EXT_BMI, rotation);
|
||||
#else
|
||||
errx(0, "External SPI not available");
|
||||
#endif
|
||||
|
||||
} else {
|
||||
*g_dev_ptr = new BMI160(PX4_SPI_BUS_SENSORS, path_accel, path_gyro, (spi_dev_e)PX4_SPIDEV_BMI, rotation);
|
||||
}
|
||||
|
||||
if (*g_dev_ptr == nullptr) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (OK != (*g_dev_ptr)->init()) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
/* set the poll rate to default, starts automatic data collection */
|
||||
fd = open(path_accel, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
close(fd);
|
||||
|
||||
exit(0);
|
||||
fail:
|
||||
|
||||
if (*g_dev_ptr != nullptr) {
|
||||
delete(*g_dev_ptr);
|
||||
*g_dev_ptr = nullptr;
|
||||
}
|
||||
|
||||
errx(1, "driver start failed");
|
||||
}
|
||||
|
||||
void
|
||||
stop(bool external_bus)
|
||||
{
|
||||
BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
|
||||
|
||||
if (*g_dev_ptr != nullptr) {
|
||||
delete *g_dev_ptr;
|
||||
*g_dev_ptr = nullptr;
|
||||
|
||||
} else {
|
||||
/* warn, but not an error */
|
||||
warnx("already stopped.");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform some basic functional tests on the driver;
|
||||
* make sure we can collect data from the sensor in polled
|
||||
* and automatic modes.
|
||||
*/
|
||||
void
|
||||
test(bool external_bus)
|
||||
{
|
||||
const char *path_accel = external_bus ? BMI160_DEVICE_PATH_ACCEL_EXT : BMI160_DEVICE_PATH_ACCEL;
|
||||
const char *path_gyro = external_bus ? BMI160_DEVICE_PATH_GYRO_EXT : BMI160_DEVICE_PATH_GYRO;
|
||||
accel_report a_report;
|
||||
gyro_report g_report;
|
||||
ssize_t sz;
|
||||
|
||||
/* get the driver */
|
||||
int fd = open(path_accel, O_RDONLY);
|
||||
|
||||
if (fd < 0)
|
||||
err(1, "%s open failed (try 'bmi160 start')",
|
||||
path_accel);
|
||||
|
||||
/* get the driver */
|
||||
int fd_gyro = open(path_gyro, O_RDONLY);
|
||||
|
||||
if (fd_gyro < 0) {
|
||||
err(1, "%s open failed", path_gyro);
|
||||
}
|
||||
|
||||
/* reset to manual polling */
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) {
|
||||
err(1, "reset to manual polling");
|
||||
}
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd, &a_report, sizeof(a_report));
|
||||
|
||||
if (sz != sizeof(a_report)) {
|
||||
warnx("ret: %d, expected: %d", sz, sizeof(a_report));
|
||||
err(1, "immediate acc read failed");
|
||||
}
|
||||
|
||||
warnx("single read");
|
||||
warnx("time: %lld", a_report.timestamp);
|
||||
warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x);
|
||||
warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y);
|
||||
warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z);
|
||||
warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
|
||||
warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
|
||||
warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
|
||||
warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
|
||||
(double)(a_report.range_m_s2 / BMI160_ONE_G));
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd_gyro, &g_report, sizeof(g_report));
|
||||
|
||||
if (sz != sizeof(g_report)) {
|
||||
warnx("ret: %d, expected: %d", sz, sizeof(g_report));
|
||||
err(1, "immediate gyro read failed");
|
||||
}
|
||||
|
||||
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
|
||||
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
|
||||
warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
|
||||
warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
|
||||
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
|
||||
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
|
||||
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
|
||||
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
|
||||
|
||||
warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature);
|
||||
warnx("temp: \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
|
||||
|
||||
/* reset to default polling */
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
err(1, "reset to default polling");
|
||||
}
|
||||
|
||||
close(fd);
|
||||
close(fd_gyro);
|
||||
|
||||
/* XXX add poll-rate tests here too */
|
||||
|
||||
reset(external_bus);
|
||||
errx(0, "PASS");
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
void
|
||||
reset(bool external_bus)
|
||||
{
|
||||
const char *path_accel = external_bus ? BMI160_DEVICE_PATH_ACCEL_EXT : BMI160_DEVICE_PATH_ACCEL;
|
||||
int fd = open(path_accel, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "failed ");
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
|
||||
err(1, "driver reset failed");
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
err(1, "driver poll restart failed");
|
||||
}
|
||||
|
||||
close(fd);
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
void
|
||||
info(bool external_bus)
|
||||
{
|
||||
BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
|
||||
|
||||
if (*g_dev_ptr == nullptr) {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
printf("state @ %p\n", *g_dev_ptr);
|
||||
(*g_dev_ptr)->print_info();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Dump the register information
|
||||
*/
|
||||
void
|
||||
regdump(bool external_bus)
|
||||
{
|
||||
BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
|
||||
|
||||
if (*g_dev_ptr == nullptr) {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
printf("regdump @ %p\n", *g_dev_ptr);
|
||||
(*g_dev_ptr)->print_registers();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* deliberately produce an error to test recovery
|
||||
*/
|
||||
void
|
||||
testerror(bool external_bus)
|
||||
{
|
||||
BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
|
||||
|
||||
if (*g_dev_ptr == nullptr) {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
(*g_dev_ptr)->test_error();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
void
|
||||
usage()
|
||||
{
|
||||
warnx("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump', 'testerror'");
|
||||
warnx("options:");
|
||||
warnx(" -X (external bus)");
|
||||
warnx(" -R rotation");
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
int
|
||||
bmi160_main(int argc, char *argv[])
|
||||
{
|
||||
bool external_bus = false;
|
||||
int ch;
|
||||
enum Rotation rotation = ROTATION_NONE;
|
||||
|
||||
/* jump over start/off/etc and look at options first */
|
||||
while ((ch = getopt(argc, argv, "XR:")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'X':
|
||||
external_bus = true;
|
||||
break;
|
||||
|
||||
case 'R':
|
||||
rotation = (enum Rotation)atoi(optarg);
|
||||
break;
|
||||
|
||||
default:
|
||||
bmi160::usage();
|
||||
exit(0);
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = argv[optind];
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
|
||||
*/
|
||||
if (!strcmp(verb, "start")) {
|
||||
bmi160::start(external_bus, rotation);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "stop")) {
|
||||
bmi160::stop(external_bus);
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(verb, "test")) {
|
||||
bmi160::test(external_bus);
|
||||
}
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "reset")) {
|
||||
bmi160::reset(external_bus);
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(verb, "info")) {
|
||||
bmi160::info(external_bus);
|
||||
}
|
||||
|
||||
/*
|
||||
* Print register information.
|
||||
*/
|
||||
if (!strcmp(verb, "regdump")) {
|
||||
bmi160::regdump(external_bus);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "testerror")) {
|
||||
bmi160::testerror(external_bus);
|
||||
}
|
||||
|
||||
bmi160::usage();
|
||||
exit(1);
|
||||
}
|
||||
@@ -125,6 +125,7 @@ __BEGIN_DECLS
|
||||
#define PX4_SPIDEV_MPU 4
|
||||
#define PX4_SPIDEV_HMC 5
|
||||
#define PX4_SPIDEV_LIS 7
|
||||
#define PX4_SPIDEV_BMI 8
|
||||
|
||||
/* External bus */
|
||||
#define PX4_SPIDEV_EXT0 1
|
||||
@@ -138,6 +139,8 @@ __BEGIN_DECLS
|
||||
#define PX4_SPIDEV_EXT_ACCEL_MAG PX4_SPIDEV_EXT2
|
||||
#define PX4_SPIDEV_EXT_GYRO PX4_SPIDEV_EXT3
|
||||
|
||||
#define PX4_SPIDEV_EXT_BMI PX4_SPIDEV_EXT_GYRO
|
||||
|
||||
/* I2C busses */
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_ONBOARD 2
|
||||
|
||||
@@ -63,10 +63,12 @@
|
||||
#define DRV_ACC_DEVTYPE_ACCELSIM 0x14
|
||||
#define DRV_ACC_DEVTYPE_GYROSIM 0x15
|
||||
#define DRV_ACC_DEVTYPE_MPU9250 0x16
|
||||
#define DRV_ACC_DEVTYPE_BMI160 0x17
|
||||
#define DRV_GYR_DEVTYPE_MPU6000 0x21
|
||||
#define DRV_GYR_DEVTYPE_L3GD20 0x22
|
||||
#define DRV_GYR_DEVTYPE_GYROSIM 0x23
|
||||
#define DRV_GYR_DEVTYPE_MPU9250 0x24
|
||||
#define DRV_GYR_DEVTYPE_BMI160 0x25
|
||||
#define DRV_RNG_DEVTYPE_MB12XX 0x31
|
||||
#define DRV_RNG_DEVTYPE_LL40LS 0x32
|
||||
|
||||
@@ -78,6 +80,7 @@
|
||||
#define DRV_GYR_DEVTYPE_MPU6500 0x21
|
||||
#endif
|
||||
|
||||
|
||||
/*
|
||||
* ioctl() definitions
|
||||
*
|
||||
|
||||
Reference in New Issue
Block a user