mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-06 10:58:52 +08:00
icm20602: accumulated minor improvements and cleanup
- perform reset as per the datasheet (disable I2C immediately, set power mode, wait for appropriate time, etc) - track consecutive errors and trigger full reset if necessary - remove interrupt perf counter and instead only count misses - minor style changes to stay in sync with the other Invensense drivers - read FIFO count along with full transfer as a sanity check
This commit is contained in:
Daniel Agar
@@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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* Copyright (c) 2019-2020 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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@@ -48,6 +48,10 @@ ICM20602::ICM20602(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Ro
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_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
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_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
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{
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if (drdy_gpio != 0) {
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_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
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}
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ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
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}
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@@ -58,7 +62,7 @@ ICM20602::~ICM20602()
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perf_free(_fifo_empty_perf);
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perf_free(_fifo_overflow_perf);
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perf_free(_fifo_reset_perf);
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perf_free(_drdy_interval_perf);
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perf_free(_drdy_missed_perf);
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}
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int ICM20602::init()
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@@ -76,6 +80,7 @@ int ICM20602::init()
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bool ICM20602::Reset()
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{
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_state = STATE::RESET;
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DataReadyInterruptDisable();
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ScheduleClear();
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ScheduleNow();
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return true;
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@@ -90,16 +95,15 @@ void ICM20602::exit_and_cleanup()
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void ICM20602::print_status()
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{
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I2CSPIDriverBase::print_status();
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PX4_INFO("FIFO empty interval: %d us (%.3f Hz)", _fifo_empty_interval_us,
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static_cast<double>(1000000 / _fifo_empty_interval_us));
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PX4_INFO("FIFO empty interval: %d us (%.1f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
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perf_print_counter(_bad_register_perf);
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perf_print_counter(_bad_transfer_perf);
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perf_print_counter(_fifo_empty_perf);
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perf_print_counter(_fifo_overflow_perf);
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perf_print_counter(_fifo_reset_perf);
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perf_print_counter(_drdy_interval_perf);
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perf_print_counter(_drdy_missed_perf);
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}
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int ICM20602::probe()
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@@ -116,13 +120,16 @@ int ICM20602::probe()
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void ICM20602::RunImpl()
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{
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const hrt_abstime now = hrt_absolute_time();
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switch (_state) {
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case STATE::RESET:
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// PWR_MGMT_1: Device Reset
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RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::DEVICE_RESET);
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_reset_timestamp = hrt_absolute_time();
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_reset_timestamp = now;
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_failure_count = 0;
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_state = STATE::WAIT_FOR_RESET;
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ScheduleDelayed(1_ms);
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ScheduleDelayed(2_ms); // From power-up 2 ms start-up time for register read/write
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break;
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case STATE::WAIT_FOR_RESET:
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@@ -133,13 +140,19 @@ void ICM20602::RunImpl()
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&& (RegisterRead(Register::PWR_MGMT_1) == 0x41)
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&& (RegisterRead(Register::CONFIG) == 0x80)) {
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// Disable I2C, wakeup, and reset digital signal path
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RegisterWrite(Register::I2C_IF, I2C_IF_BIT::I2C_IF_DIS); // set immediately to prevent switching into I2C mode
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RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::CLKSEL_0);
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RegisterWrite(Register::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::ACCEL_RST | SIGNAL_PATH_RESET_BIT::TEMP_RST);
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RegisterSetAndClearBits(Register::USER_CTRL, USER_CTRL_BIT::SIG_COND_RST, 0);
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// if reset succeeded then configure
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_state = STATE::CONFIGURE;
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ScheduleNow();
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ScheduleDelayed(35_ms); // max 35 ms start-up time from sleep
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} else {
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// RESET not complete
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if (hrt_elapsed_time(&_reset_timestamp) > 100_ms) {
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if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
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PX4_DEBUG("Reset failed, retrying");
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_state = STATE::RESET;
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ScheduleDelayed(100_ms);
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@@ -161,7 +174,7 @@ void ICM20602::RunImpl()
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_data_ready_interrupt_enabled = true;
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// backup schedule as a watchdog timeout
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ScheduleDelayed(10_ms);
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ScheduleDelayed(100_ms);
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} else {
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_data_ready_interrupt_enabled = false;
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@@ -171,68 +184,92 @@ void ICM20602::RunImpl()
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FIFOReset();
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} else {
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PX4_DEBUG("Configure failed, retrying");
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// try again in 10 ms
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ScheduleDelayed(10_ms);
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// CONFIGURE not complete
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if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
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PX4_DEBUG("Configure failed, resetting");
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_state = STATE::RESET;
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} else {
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PX4_DEBUG("Configure failed, retrying");
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}
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ScheduleDelayed(100_ms);
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}
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break;
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case STATE::FIFO_READ: {
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hrt_abstime timestamp_sample = 0;
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uint8_t samples = 0;
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uint32_t samples = 0;
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if (_data_ready_interrupt_enabled) {
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// re-schedule as watchdog timeout
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ScheduleDelayed(10_ms);
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// scheduled from interrupt if _drdy_fifo_read_samples was set as expected
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if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
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perf_count(_drdy_missed_perf);
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// timestamp set in data ready interrupt
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samples = _fifo_read_samples.load();
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timestamp_sample = _fifo_watermark_interrupt_timestamp;
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}
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bool failure = false;
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// manually check FIFO count if no samples from DRDY or timestamp looks bogus
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if (!_data_ready_interrupt_enabled || (samples == 0)
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|| (hrt_elapsed_time(×tamp_sample) > (_fifo_empty_interval_us / 2))) {
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// use the time now roughly corresponding with the last sample we'll pull from the FIFO
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timestamp_sample = hrt_absolute_time();
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const uint16_t fifo_count = FIFOReadCount();
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samples = (fifo_count / sizeof(FIFO::DATA) / SAMPLES_PER_TRANSFER) * SAMPLES_PER_TRANSFER; // round down to nearest
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}
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if (samples > FIFO_MAX_SAMPLES) {
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// not technically an overflow, but more samples than we expected or can publish
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perf_count(_fifo_overflow_perf);
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failure = true;
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FIFOReset();
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} else if (samples >= SAMPLES_PER_TRANSFER) {
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// require at least SAMPLES_PER_TRANSFER (we want at least 1 new accel sample per transfer)
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if (!FIFORead(timestamp_sample, samples)) {
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failure = true;
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_px4_accel.increase_error_count();
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_px4_gyro.increase_error_count();
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} else {
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samples = _fifo_gyro_samples;
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}
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} else if (samples == 0) {
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failure = true;
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perf_count(_fifo_empty_perf);
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// push backup schedule back
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ScheduleDelayed(_fifo_empty_interval_us * 2);
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}
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if (failure || hrt_elapsed_time(&_last_config_check_timestamp) > 10_ms) {
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// check registers incrementally
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if (RegisterCheck(_register_cfg[_checked_register], true)) {
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_last_config_check_timestamp = timestamp_sample;
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if (samples == 0) {
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// check current FIFO count
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const uint16_t fifo_count = FIFOReadCount();
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if (fifo_count >= FIFO::SIZE) {
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FIFOReset();
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perf_count(_fifo_overflow_perf);
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} else if (fifo_count == 0) {
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perf_count(_fifo_empty_perf);
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} else {
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// FIFO count (size in bytes) should be a multiple of the FIFO::DATA structure
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samples = (fifo_count / sizeof(FIFO::DATA) / SAMPLES_PER_TRANSFER) * SAMPLES_PER_TRANSFER; // round down to nearest
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if (samples > FIFO_MAX_SAMPLES) {
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// not technically an overflow, but more samples than we expected or can publish
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FIFOReset();
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perf_count(_fifo_overflow_perf);
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samples = 0;
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}
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}
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}
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bool success = false;
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if (samples >= SAMPLES_PER_TRANSFER) {
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if (FIFORead(now, samples)) {
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success = true;
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if (_failure_count > 0) {
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_failure_count--;
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}
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}
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}
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if (!success) {
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_failure_count++;
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// full reset if things are failing consistently
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if (_failure_count > 10) {
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Reset();
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return;
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}
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}
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if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
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// check configuration registers periodically or immediately following any failure
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if (RegisterCheck(_register_cfg[_checked_register])) {
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_last_config_check_timestamp = now;
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_checked_register = (_checked_register + 1) % size_register_cfg;
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} else {
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// register check failed, force reconfigure
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PX4_DEBUG("Health check failed, reconfiguring");
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_state = STATE::CONFIGURE;
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ScheduleNow();
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// register check failed, force reset
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perf_count(_bad_register_perf);
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Reset();
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}
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}
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}
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@@ -248,22 +285,22 @@ void ICM20602::ConfigureAccel()
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switch (ACCEL_FS_SEL) {
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case ACCEL_FS_SEL_2G:
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_px4_accel.set_scale(CONSTANTS_ONE_G / 16384.f);
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_px4_accel.set_range(2 * CONSTANTS_ONE_G);
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_px4_accel.set_range(2.f * CONSTANTS_ONE_G);
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break;
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case ACCEL_FS_SEL_4G:
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_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
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_px4_accel.set_range(4 * CONSTANTS_ONE_G);
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_px4_accel.set_range(4.f * CONSTANTS_ONE_G);
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break;
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case ACCEL_FS_SEL_8G:
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_px4_accel.set_scale(CONSTANTS_ONE_G / 4096.f);
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_px4_accel.set_range(8 * CONSTANTS_ONE_G);
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_px4_accel.set_range(8.f * CONSTANTS_ONE_G);
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break;
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case ACCEL_FS_SEL_16G:
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_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
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_px4_accel.set_range(16 * CONSTANTS_ONE_G);
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_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
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break;
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}
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}
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@@ -303,16 +340,14 @@ void ICM20602::ConfigureSampleRate(int sample_rate)
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}
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// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
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const float min_interval = SAMPLES_PER_TRANSFER * FIFO_SAMPLE_DT;
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const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
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_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
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_fifo_gyro_samples = math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES);
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_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
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// recompute FIFO empty interval (us) with actual gyro sample limit
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_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
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_fifo_accel_samples = math::min(_fifo_empty_interval_us / (1e6f / ACCEL_RATE), (float)FIFO_MAX_SAMPLES);
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ConfigureFIFOWatermark(_fifo_gyro_samples);
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}
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@@ -322,7 +357,12 @@ void ICM20602::ConfigureFIFOWatermark(uint8_t samples)
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const uint16_t fifo_watermark_threshold = samples * sizeof(FIFO::DATA);
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for (auto &r : _register_cfg) {
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if (r.reg == Register::FIFO_WM_TH1) {
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if (r.reg == Register::CONFIG) {
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// Document Number: DS-000176 Page 45 of 57
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// User should ensure that bit 7 of register 0x1A is set to 0 before using FIFO watermark threshold feature
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r.clear_bits = Bit7;
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} else if (r.reg == Register::FIFO_WM_TH1) {
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r.set_bits = (fifo_watermark_threshold >> 8) & 0b00000011;
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} else if (r.reg == Register::FIFO_WM_TH2) {
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@@ -333,10 +373,16 @@ void ICM20602::ConfigureFIFOWatermark(uint8_t samples)
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bool ICM20602::Configure()
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{
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// first set and clear all configured register bits
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for (const auto ®_cfg : _register_cfg) {
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RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
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}
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// now check that all are configured
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bool success = true;
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for (const auto ® : _register_cfg) {
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if (!RegisterCheck(reg)) {
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for (const auto ®_cfg : _register_cfg) {
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if (!RegisterCheck(reg_cfg)) {
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success = false;
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}
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}
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@@ -355,10 +401,11 @@ int ICM20602::DataReadyInterruptCallback(int irq, void *context, void *arg)
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void ICM20602::DataReady()
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{
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perf_count(_drdy_interval_perf);
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_fifo_watermark_interrupt_timestamp = hrt_absolute_time();
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_fifo_read_samples.store(_fifo_gyro_samples);
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ScheduleNow();
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uint32_t expected = 0;
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if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
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ScheduleNow();
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}
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}
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bool ICM20602::DataReadyInterruptConfigure()
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@@ -368,7 +415,7 @@ bool ICM20602::DataReadyInterruptConfigure()
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}
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// Setup data ready on falling edge
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return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &ICM20602::DataReadyInterruptCallback, this) == 0;
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return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
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}
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bool ICM20602::DataReadyInterruptDisable()
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@@ -380,7 +427,7 @@ bool ICM20602::DataReadyInterruptDisable()
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return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
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}
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bool ICM20602::RegisterCheck(const register_config_t ®_cfg, bool notify)
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bool ICM20602::RegisterCheck(const register_config_t ®_cfg)
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{
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bool success = true;
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@@ -396,16 +443,6 @@ bool ICM20602::RegisterCheck(const register_config_t ®_cfg, bool notify)
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success = false;
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}
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if (!success) {
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RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
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if (notify) {
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perf_count(_bad_register_perf);
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_px4_accel.increase_error_count();
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_px4_gyro.increase_error_count();
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}
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}
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return success;
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}
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@@ -426,17 +463,12 @@ void ICM20602::RegisterWrite(Register reg, uint8_t value)
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void ICM20602::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)
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{
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const uint8_t orig_val = RegisterRead(reg);
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uint8_t val = orig_val;
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if (setbits) {
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val |= setbits;
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uint8_t val = (orig_val & ~clearbits) | setbits;
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if (orig_val != val) {
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RegisterWrite(reg, val);
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}
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if (clearbits) {
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val &= ~clearbits;
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}
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RegisterWrite(reg, val);
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}
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uint16_t ICM20602::FIFOReadCount()
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@@ -453,35 +485,45 @@ uint16_t ICM20602::FIFOReadCount()
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return combine(fifo_count_buf[1], fifo_count_buf[2]);
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}
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bool ICM20602::FIFORead(const hrt_abstime ×tamp_sample, uint16_t samples)
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bool ICM20602::FIFORead(const hrt_abstime ×tamp_sample, uint8_t samples)
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{
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FIFOTransferBuffer buffer{};
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const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
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const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 3, FIFO::SIZE);
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if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
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perf_count(_bad_transfer_perf);
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return false;
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}
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const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
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bool bad_data = false;
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ProcessGyro(timestamp_sample, buffer, samples);
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if (!ProcessAccel(timestamp_sample, buffer, samples)) {
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bad_data = true;
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if (fifo_count_bytes >= FIFO::SIZE) {
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perf_count(_fifo_overflow_perf);
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FIFOReset();
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return false;
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}
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// limit temperature updates to 1 Hz
|
||||
if (hrt_elapsed_time(&_temperature_update_timestamp) > 1_s) {
|
||||
_temperature_update_timestamp = timestamp_sample;
|
||||
const uint8_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
|
||||
|
||||
if (!ProcessTemperature(buffer, samples)) {
|
||||
bad_data = true;
|
||||
if (fifo_count_samples == 0) {
|
||||
perf_count(_fifo_empty_perf);
|
||||
return false;
|
||||
}
|
||||
|
||||
const uint8_t valid_samples = math::min(samples, fifo_count_samples);
|
||||
|
||||
if (valid_samples > 0) {
|
||||
// use raw temperature to first validate FIFO transfer
|
||||
if (ProcessTemperature(buffer.f, valid_samples)) {
|
||||
ProcessGyro(timestamp_sample, buffer.f, valid_samples);
|
||||
|
||||
if (ProcessAccel(timestamp_sample, buffer.f, valid_samples)) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return !bad_data;
|
||||
return false;
|
||||
}
|
||||
|
||||
void ICM20602::FIFOReset()
|
||||
@@ -495,8 +537,7 @@ void ICM20602::FIFOReset()
|
||||
RegisterSetAndClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RST, USER_CTRL_BIT::FIFO_EN);
|
||||
|
||||
// reset while FIFO is disabled
|
||||
_fifo_watermark_interrupt_timestamp = 0;
|
||||
_fifo_read_samples.store(0);
|
||||
_drdy_fifo_read_samples.store(0);
|
||||
|
||||
// FIFO_EN: enable both gyro and accel
|
||||
// USER_CTRL: re-enable FIFO
|
||||
@@ -512,12 +553,12 @@ 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 ICM20602::ProcessAccel(const hrt_abstime ×tamp_sample, const FIFOTransferBuffer &buffer,
|
||||
const uint8_t samples)
|
||||
bool ICM20602::ProcessAccel(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
|
||||
{
|
||||
sensor_accel_fifo_s accel{};
|
||||
accel.timestamp_sample = timestamp_sample;
|
||||
accel.dt = _fifo_empty_interval_us / _fifo_accel_samples;
|
||||
accel.samples = 0;
|
||||
accel.dt = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
|
||||
|
||||
bool bad_data = false;
|
||||
|
||||
@@ -525,58 +566,57 @@ bool ICM20602::ProcessAccel(const hrt_abstime ×tamp_sample, const FIFOTrans
|
||||
int accel_first_sample = 1;
|
||||
|
||||
if (samples >= 4) {
|
||||
if (fifo_accel_equal(buffer.f[0], buffer.f[1]) && fifo_accel_equal(buffer.f[2], buffer.f[3])) {
|
||||
if (fifo_accel_equal(fifo[0], fifo[1]) && fifo_accel_equal(fifo[2], fifo[3])) {
|
||||
// [A0, A1, A2, A3]
|
||||
// A0==A1, A2==A3
|
||||
accel_first_sample = 1;
|
||||
|
||||
} else if (fifo_accel_equal(buffer.f[1], buffer.f[2])) {
|
||||
} else if (fifo_accel_equal(fifo[1], fifo[2])) {
|
||||
// [A0, A1, A2, A3]
|
||||
// A0, A1==A2, A3
|
||||
accel_first_sample = 0;
|
||||
|
||||
} else {
|
||||
perf_count(_bad_transfer_perf);
|
||||
// no matching accel samples is an error
|
||||
bad_data = true;
|
||||
perf_count(_bad_transfer_perf);
|
||||
}
|
||||
}
|
||||
|
||||
int accel_samples = 0;
|
||||
|
||||
for (int i = accel_first_sample; i < samples; i = i + 2) {
|
||||
const FIFO::DATA &fifo_sample = buffer.f[i];
|
||||
int16_t accel_x = combine(fifo_sample.ACCEL_XOUT_H, fifo_sample.ACCEL_XOUT_L);
|
||||
int16_t accel_y = combine(fifo_sample.ACCEL_YOUT_H, fifo_sample.ACCEL_YOUT_L);
|
||||
int16_t accel_z = combine(fifo_sample.ACCEL_ZOUT_H, fifo_sample.ACCEL_ZOUT_L);
|
||||
for (int i = accel_first_sample; i < samples; i = i + SAMPLES_PER_TRANSFER) {
|
||||
int16_t accel_x = combine(fifo[i].ACCEL_XOUT_H, fifo[i].ACCEL_XOUT_L);
|
||||
int16_t accel_y = combine(fifo[i].ACCEL_YOUT_H, fifo[i].ACCEL_YOUT_L);
|
||||
int16_t accel_z = combine(fifo[i].ACCEL_ZOUT_H, fifo[i].ACCEL_ZOUT_L);
|
||||
|
||||
// sensor's frame is +x forward, +y left, +z up
|
||||
// flip y & z to publish right handed with z down (x forward, y right, z down)
|
||||
accel.x[accel_samples] = accel_x;
|
||||
accel.y[accel_samples] = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
|
||||
accel.z[accel_samples] = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
|
||||
accel_samples++;
|
||||
accel.x[accel.samples] = accel_x;
|
||||
accel.y[accel.samples] = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
|
||||
accel.z[accel.samples] = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
|
||||
accel.samples++;
|
||||
}
|
||||
|
||||
accel.samples = accel_samples;
|
||||
_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
|
||||
perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
|
||||
|
||||
_px4_accel.updateFIFO(accel);
|
||||
if (accel.samples > 0) {
|
||||
_px4_accel.updateFIFO(accel);
|
||||
}
|
||||
|
||||
return !bad_data;
|
||||
}
|
||||
|
||||
void ICM20602::ProcessGyro(const hrt_abstime ×tamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples)
|
||||
void ICM20602::ProcessGyro(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
|
||||
{
|
||||
sensor_gyro_fifo_s gyro{};
|
||||
gyro.timestamp_sample = timestamp_sample;
|
||||
gyro.samples = samples;
|
||||
gyro.dt = _fifo_empty_interval_us / _fifo_gyro_samples;
|
||||
gyro.dt = FIFO_SAMPLE_DT;
|
||||
|
||||
for (int i = 0; i < samples; i++) {
|
||||
const FIFO::DATA &fifo_sample = buffer.f[i];
|
||||
|
||||
const int16_t gyro_x = combine(fifo_sample.GYRO_XOUT_H, fifo_sample.GYRO_XOUT_L);
|
||||
const int16_t gyro_y = combine(fifo_sample.GYRO_YOUT_H, fifo_sample.GYRO_YOUT_L);
|
||||
const int16_t gyro_z = combine(fifo_sample.GYRO_ZOUT_H, fifo_sample.GYRO_ZOUT_L);
|
||||
const int16_t gyro_x = combine(fifo[i].GYRO_XOUT_H, fifo[i].GYRO_XOUT_L);
|
||||
const int16_t gyro_y = combine(fifo[i].GYRO_YOUT_H, fifo[i].GYRO_YOUT_L);
|
||||
const int16_t gyro_z = combine(fifo[i].GYRO_ZOUT_H, fifo[i].GYRO_ZOUT_L);
|
||||
|
||||
// sensor's frame is +x forward, +y left, +z up
|
||||
// flip y & z to publish right handed with z down (x forward, y right, z down)
|
||||
@@ -585,29 +625,28 @@ void ICM20602::ProcessGyro(const hrt_abstime ×tamp_sample, const FIFOTransf
|
||||
gyro.z[i] = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
|
||||
}
|
||||
|
||||
_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
|
||||
perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
|
||||
|
||||
_px4_gyro.updateFIFO(gyro);
|
||||
}
|
||||
|
||||
bool ICM20602::ProcessTemperature(const FIFOTransferBuffer &buffer, const uint8_t samples)
|
||||
bool ICM20602::ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples)
|
||||
{
|
||||
int16_t temperature[samples];
|
||||
int16_t temperature[FIFO_MAX_SAMPLES];
|
||||
float temperature_sum{0};
|
||||
|
||||
for (int i = 0; i < samples; i++) {
|
||||
const FIFO::DATA &fifo_sample = buffer.f[i];
|
||||
temperature[i] = combine(fifo_sample.TEMP_OUT_H, fifo_sample.TEMP_OUT_L);
|
||||
}
|
||||
|
||||
int32_t temperature_sum{0};
|
||||
|
||||
for (auto t : temperature) {
|
||||
const int16_t t = combine(fifo[i].TEMP_OUT_H, fifo[i].TEMP_OUT_L);
|
||||
temperature_sum += t;
|
||||
temperature[i] = t;
|
||||
}
|
||||
|
||||
const float temperature_avg = temperature_sum / samples;
|
||||
|
||||
for (auto t : temperature) {
|
||||
for (int i = 0; i < samples; i++) {
|
||||
// temperature changing wildly is an indication of a transfer error
|
||||
if (fabsf(t - temperature_avg) > 1000) {
|
||||
if (fabsf(temperature[i] - temperature_avg) > 1000) {
|
||||
perf_count(_bad_transfer_perf);
|
||||
return false;
|
||||
}
|
||||
@@ -615,8 +654,18 @@ bool ICM20602::ProcessTemperature(const FIFOTransferBuffer &buffer, const uint8_
|
||||
|
||||
// use average temperature reading
|
||||
const float temperature_C = (temperature_avg / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
|
||||
_px4_accel.set_temperature(temperature_C);
|
||||
_px4_gyro.set_temperature(temperature_C);
|
||||
|
||||
return true;
|
||||
if (PX4_ISFINITE(temperature_C)
|
||||
&& (temperature_C >= TEMPERATURE_SENSOR_MIN)
|
||||
&& (temperature_C <= TEMPERATURE_SENSOR_MAX)) {
|
||||
|
||||
_px4_accel.set_temperature(temperature_C);
|
||||
_px4_gyro.set_temperature(temperature_C);
|
||||
return true;
|
||||
|
||||
} else {
|
||||
perf_count(_bad_transfer_perf);
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2019-2020 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
|
||||
@@ -73,21 +73,23 @@ private:
|
||||
void exit_and_cleanup() override;
|
||||
|
||||
// Sensor Configuration
|
||||
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 float FIFO_SAMPLE_DT{1e6f / 8000.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}; // 8000 Hz gyro
|
||||
static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4000 Hz accel
|
||||
|
||||
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
|
||||
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
|
||||
|
||||
// Transfer data
|
||||
struct FIFOTransferBuffer {
|
||||
uint8_t cmd{static_cast<uint8_t>(Register::FIFO_R_W) | DIR_READ};
|
||||
uint8_t cmd{static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ};
|
||||
uint8_t FIFO_COUNTH{0};
|
||||
uint8_t FIFO_COUNTL{0};
|
||||
FIFO::DATA f[FIFO_MAX_SAMPLES] {};
|
||||
};
|
||||
// ensure no struct padding
|
||||
static_assert(sizeof(FIFOTransferBuffer) == (1 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
|
||||
static_assert(sizeof(FIFOTransferBuffer) == (3 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
|
||||
|
||||
struct register_config_t {
|
||||
Register reg;
|
||||
@@ -110,21 +112,19 @@ private:
|
||||
bool DataReadyInterruptConfigure();
|
||||
bool DataReadyInterruptDisable();
|
||||
|
||||
bool RegisterCheck(const register_config_t ®_cfg, bool notify = false);
|
||||
bool RegisterCheck(const register_config_t ®_cfg);
|
||||
|
||||
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) { RegisterSetAndClearBits(reg, setbits, 0); }
|
||||
void RegisterClearBits(Register reg, uint8_t clearbits) { RegisterSetAndClearBits(reg, 0, clearbits); }
|
||||
|
||||
uint16_t FIFOReadCount();
|
||||
bool FIFORead(const hrt_abstime ×tamp_sample, uint16_t samples);
|
||||
bool FIFORead(const hrt_abstime ×tamp_sample, uint8_t samples);
|
||||
void FIFOReset();
|
||||
|
||||
bool ProcessAccel(const hrt_abstime ×tamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples);
|
||||
void ProcessGyro(const hrt_abstime ×tamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples);
|
||||
bool ProcessTemperature(const FIFOTransferBuffer &buffer, const uint8_t samples);
|
||||
bool ProcessAccel(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
|
||||
void ProcessGyro(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
|
||||
bool ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples);
|
||||
|
||||
const spi_drdy_gpio_t _drdy_gpio;
|
||||
|
||||
@@ -136,14 +136,13 @@ private:
|
||||
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
|
||||
perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")};
|
||||
perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")};
|
||||
perf_counter_t _drdy_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": DRDY interval")};
|
||||
perf_counter_t _drdy_missed_perf{nullptr};
|
||||
|
||||
hrt_abstime _reset_timestamp{0};
|
||||
hrt_abstime _last_config_check_timestamp{0};
|
||||
hrt_abstime _fifo_watermark_interrupt_timestamp{0};
|
||||
hrt_abstime _temperature_update_timestamp{0};
|
||||
int _failure_count{0};
|
||||
|
||||
px4::atomic<uint8_t> _fifo_read_samples{0};
|
||||
px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
|
||||
bool _data_ready_interrupt_enabled{false};
|
||||
|
||||
enum class STATE : uint8_t {
|
||||
@@ -156,24 +155,23 @@ private:
|
||||
STATE _state{STATE::RESET};
|
||||
|
||||
uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 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))};
|
||||
uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
|
||||
|
||||
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::DEVICE_RESET | PWR_MGMT_1_BIT::SLEEP },
|
||||
{ Register::I2C_IF, I2C_IF_BIT::I2C_IF_DIS, 0 },
|
||||
{ Register::CONFIG, CONFIG_BIT::FIFO_MODE | CONFIG_BIT::DLPF_CFG_BYPASS_DLPF_8KHZ, 0 },
|
||||
{ Register::GYRO_CONFIG, GYRO_CONFIG_BIT::FS_SEL_2000_DPS, GYRO_CONFIG_BIT::FCHOICE_B_8KHZ_BYPASS_DLPF },
|
||||
{ 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::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, Bit7 },
|
||||
{ Register::FIFO_WM_TH1, 0, 0 }, // FIFO_WM_TH[9:8]
|
||||
{ Register::FIFO_WM_TH2, 0, 0 }, // FIFO_WM_TH[7:0]
|
||||
{ Register::USER_CTRL, USER_CTRL_BIT::FIFO_EN, USER_CTRL_BIT::FIFO_RST | USER_CTRL_BIT::SIG_COND_RST },
|
||||
{ Register::FIFO_EN, FIFO_EN_BIT::GYRO_FIFO_EN | FIFO_EN_BIT::ACCEL_FIFO_EN, 0 },
|
||||
{ Register::INT_PIN_CFG, INT_PIN_CFG_BIT::INT_LEVEL | INT_PIN_CFG_BIT::LATCH_INT_EN | INT_PIN_CFG_BIT::INT_RD_CLEAR, 0 },
|
||||
{ Register::INT_ENABLE, 0, INT_ENABLE_BIT::DATA_RDY_INT_EN }
|
||||
{ Register::INT_ENABLE, 0, INT_ENABLE_BIT::DATA_RDY_INT_EN },
|
||||
{ Register::FIFO_WM_TH1, 0, 0 }, // FIFO_WM_TH[9:8]
|
||||
{ Register::FIFO_WM_TH2, 0, 0 }, // FIFO_WM_TH[7:0]
|
||||
{ Register::USER_CTRL, USER_CTRL_BIT::FIFO_EN, 0 },
|
||||
{ Register::PWR_MGMT_1, PWR_MGMT_1_BIT::CLKSEL_0, PWR_MGMT_1_BIT::SLEEP },
|
||||
{ Register::I2C_IF, I2C_IF_BIT::I2C_IF_DIS, 0 },
|
||||
};
|
||||
};
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2019-2020 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
|
||||
@@ -59,39 +59,44 @@ static constexpr uint8_t DIR_READ = 0x80;
|
||||
|
||||
static constexpr uint8_t WHOAMI = 0x12;
|
||||
|
||||
static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C
|
||||
static constexpr float TEMPERATURE_OFFSET = 25.f; // C
|
||||
static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/°C
|
||||
static constexpr float TEMPERATURE_OFFSET = 25.f; // °C
|
||||
static constexpr float TEMPERATURE_SENSOR_MIN = -40.f; // °C
|
||||
static constexpr float TEMPERATURE_SENSOR_MAX = 85.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,
|
||||
|
||||
INT_PIN_CFG = 0x37,
|
||||
INT_ENABLE = 0x38,
|
||||
INT_PIN_CFG = 0x37,
|
||||
INT_ENABLE = 0x38,
|
||||
|
||||
TEMP_OUT_H = 0x41,
|
||||
TEMP_OUT_L = 0x42,
|
||||
TEMP_OUT_H = 0x41,
|
||||
TEMP_OUT_L = 0x42,
|
||||
|
||||
FIFO_WM_TH1 = 0x60,
|
||||
FIFO_WM_TH2 = 0x61,
|
||||
FIFO_WM_TH1 = 0x60,
|
||||
FIFO_WM_TH2 = 0x61,
|
||||
|
||||
USER_CTRL = 0x6A,
|
||||
PWR_MGMT_1 = 0x6B,
|
||||
SIGNAL_PATH_RESET = 0x68,
|
||||
|
||||
I2C_IF = 0x70,
|
||||
USER_CTRL = 0x6A,
|
||||
PWR_MGMT_1 = 0x6B,
|
||||
|
||||
FIFO_COUNTH = 0x72,
|
||||
FIFO_COUNTL = 0x73,
|
||||
FIFO_R_W = 0x74,
|
||||
WHO_AM_I = 0x75,
|
||||
I2C_IF = 0x70,
|
||||
|
||||
FIFO_COUNTH = 0x72,
|
||||
FIFO_COUNTL = 0x73,
|
||||
FIFO_R_W = 0x74,
|
||||
WHO_AM_I = 0x75,
|
||||
};
|
||||
|
||||
// CONFIG
|
||||
enum CONFIG_BIT : uint8_t {
|
||||
// Bit7 - FIFO_WM_TH[9:0] User should ensure that bit 7 of register 0x1A is set to 0 before using this feature
|
||||
FIFO_MODE = Bit6, // when the FIFO is full, additional writes will not be written to FIFO
|
||||
|
||||
DLPF_CFG_BYPASS_DLPF_8KHZ = 7, // Rate 8 kHz [2:0]
|
||||
@@ -139,8 +144,13 @@ enum INT_PIN_CFG_BIT : uint8_t {
|
||||
|
||||
// INT_ENABLE
|
||||
enum INT_ENABLE_BIT : uint8_t {
|
||||
FIFO_OFLOW_EN = Bit4,
|
||||
DATA_RDY_INT_EN = Bit0
|
||||
DATA_RDY_INT_EN = Bit0,
|
||||
};
|
||||
|
||||
// SIGNAL_PATH_RESET
|
||||
enum SIGNAL_PATH_RESET_BIT : uint8_t {
|
||||
ACCEL_RST = Bit1,
|
||||
TEMP_RST = Bit0,
|
||||
};
|
||||
|
||||
// USER_CTRL
|
||||
@@ -155,9 +165,8 @@ enum PWR_MGMT_1_BIT : uint8_t {
|
||||
DEVICE_RESET = Bit7,
|
||||
SLEEP = Bit6,
|
||||
|
||||
CLKSEL_2 = Bit2,
|
||||
CLKSEL_1 = Bit1,
|
||||
CLKSEL_0 = Bit0,
|
||||
// CLKSEL[2:0]
|
||||
CLKSEL_0 = Bit0, // It is required that CLKSEL[2:0] be set to 001 to achieve full gyroscope performance.
|
||||
};
|
||||
|
||||
// I2C_IF
|
||||
|
||||
Reference in New Issue
Block a user