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MPU6K: Correctly register sub-type, remove magic numbers.

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Before this change the MPU6K driver would register only the MPU6K family, but not the sub-type, which prevented telling individual sensors apart. This is a breaking change because users will have to perform their accel and gyro calibration again. However, it is unavoidable since right now the different sensors can end up with the same ID and the wrong offsets can be applied to the wrong sensor.
This commit is contained in:
Lorenz Meier 2017-01-28 18:37:02 +01:00
parent a33bce0d26
commit e88bb4cc09
1 changed files with 44 additions and 11 deletions
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55
src/drivers/mpu6000/mpu6000.cpp
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@ -108,6 +108,13 @@
*/
#define MPU6000_TIMER_REDUCTION 200
enum MPU_DEVICE_TYPE {
MPU_DEVICE_TYPE_MPU6000 = 6000,
MPU_DEVICE_TYPE_ICM20602 = 20602,
MPU_DEVICE_TYPE_ICM20608 = 20608,
MPU_DEVICE_TYPE_ICM20689 = 20689
};
enum MPU6000_BUS {
MPU6000_BUS_ALL = 0,
MPU6000_BUS_I2C_INTERNAL,
@ -257,11 +264,11 @@ private:
/**
* is_icm_device
*/
bool is_icm_device() { return !is_mpu_device();}
bool is_icm_device() { return !is_mpu_device(); }
/**
* is_mpu_device
*/
bool is_mpu_device() { return _device_type == 6000;}
bool is_mpu_device() { return _device_type == MPU_DEVICE_TYPE_MPU6000; }
#if defined(USE_I2C)
@ -523,11 +530,37 @@ MPU6000::MPU6000(device::Device *interface, const char *path_accel, const char *
// disable debug() calls
_debug_enabled = false;
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU6000;
switch (_device_type) {
/* Prime _gyro with parents devid. */
_gyro->_device_id.devid = _device_id.devid;
_gyro->_device_id.devid_s.devtype = DRV_GYR_DEVTYPE_MPU6000;
default:
case MPU_DEVICE_TYPE_MPU6000:
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU6000;
/* Prime _gyro with parents devid. */
_gyro->_device_id.devid = _device_id.devid;
_gyro->_device_id.devid_s.devtype = DRV_GYR_DEVTYPE_MPU6000;
break;
case MPU_DEVICE_TYPE_ICM20602:
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_ICM20602;
/* Prime _gyro with parents devid. */
_gyro->_device_id.devid = _device_id.devid;
_gyro->_device_id.devid_s.devtype = DRV_GYR_DEVTYPE_ICM20602;
break;
case MPU_DEVICE_TYPE_ICM20608:
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_ICM20608;
/* Prime _gyro with parents devid. */
_gyro->_device_id.devid = _device_id.devid;
_gyro->_device_id.devid_s.devtype = DRV_GYR_DEVTYPE_ICM20608;
break;
case MPU_DEVICE_TYPE_ICM20689:
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_ICM20689;
/* Prime _gyro with parents devid. */
_gyro->_device_id.devid = _device_id.devid;
_gyro->_device_id.devid_s.devtype = DRV_GYR_DEVTYPE_ICM20689;
break;
}
// default accel scale factors
_accel_scale.x_offset = 0;
@ -786,19 +819,19 @@ MPU6000::probe()
switch (_device_type) {
default:
case 6000:
case MPU_DEVICE_TYPE_MPU6000:
expected = MPU_WHOAMI_6000;
break;
case 20602:
case MPU_DEVICE_TYPE_ICM20602:
expected = ICM_WHOAMI_20602;
break;
case 20608:
case MPU_DEVICE_TYPE_ICM20608:
expected = ICM_WHOAMI_20608;
break;
case 20689:
case MPU_DEVICE_TYPE_ICM20689:
expected = ICM_WHOAMI_20689;
break;
}
@ -2607,7 +2640,7 @@ int
mpu6000_main(int argc, char *argv[])
{
enum MPU6000_BUS busid = MPU6000_BUS_ALL;
int device_type = 6000;
int device_type = MPU_DEVICE_TYPE_MPU6000;
int ch;
enum Rotation rotation = ROTATION_NONE;
int accel_range = 8;