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282 lines
6.4 KiB
C++
282 lines
6.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012-2016 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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/**
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* @file mpu6000_spi.cpp
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*
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* Driver for the Invensense MPU6000 connected via SPI.
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*
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* @author Andrew Tridgell
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* @author Pat Hickey
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* @author David sidrane
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*/
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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 <string.h>
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#include <assert.h>
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#include <debug.h>
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#include <errno.h>
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#include <unistd.h>
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#include <arch/board/board.h>
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#include <drivers/device/spi.h>
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#include <drivers/drv_accel.h>
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#include <drivers/drv_device.h>
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#include "mpu6000.h"
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#include <board_config.h>
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#define DIR_READ 0x80
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#define DIR_WRITE 0x00
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#if PX4_SPIDEV_MPU
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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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/*
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The MPU6000 can only handle high SPI bus speeds on the sensor and
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interrupt status registers. All other registers have a maximum 1MHz
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SPI speed
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*/
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#define MPU6000_LOW_SPI_BUS_SPEED 1000*1000
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#define MPU6000_HIGH_SPI_BUS_SPEED 11*1000*1000 /* will be rounded to 10.4 MHz, within margins for MPU6K */
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device::Device *MPU6000_SPI_interface(int bus, int device_type, bool external_bus);
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class MPU6000_SPI : public device::SPI
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{
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public:
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MPU6000_SPI(int bus, spi_dev_e device, int device_type);
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virtual ~MPU6000_SPI();
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virtual int init();
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virtual int read(unsigned address, void *data, unsigned count);
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virtual int write(unsigned address, void *data, unsigned count);
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virtual int ioctl(unsigned operation, unsigned &arg);
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protected:
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virtual int probe();
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private:
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int _device_type;
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/* Helper to set the desired speed and isolate the register on return */
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void set_bus_frequency(unsigned ®_speed_reg_out);
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};
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device::Device *
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MPU6000_SPI_interface(int bus, int device_type, bool external_bus)
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{
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spi_dev_e cs = SPIDEV_NONE;
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device::Device *interface = nullptr;
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if (external_bus) {
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#ifdef PX4_SPI_BUS_EXT
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# if defined(PX4_SPIDEV_EXT_ICM)
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cs = (spi_dev_e)(device_type == 6000 ? PX4_SPIDEV_EXT_MPU : PX4_SPIDEV_EXT_ICM);
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# else
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cs = (spi_dev_e) PX4_SPIDEV_EXT_MPU;
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# endif
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#endif
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} else {
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#if defined(PX4_SPIDEV_ICM)
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cs = (spi_dev_e)(device_type == 6000 ? PX4_SPIDEV_MPU : PX4_SPIDEV_ICM);
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#else
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cs = (spi_dev_e) PX4_SPIDEV_MPU;
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#endif
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}
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if (cs != SPIDEV_NONE) {
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interface = new MPU6000_SPI(bus, cs, device_type);
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}
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return interface;
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}
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MPU6000_SPI::MPU6000_SPI(int bus, spi_dev_e device, int device_type) :
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SPI("MPU6000", nullptr, bus, device, SPIDEV_MODE3, MPU6000_LOW_SPI_BUS_SPEED),
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_device_type(device_type)
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{
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_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU6000;
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}
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MPU6000_SPI::~MPU6000_SPI()
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{
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}
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int
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MPU6000_SPI::init()
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{
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int ret;
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ret = SPI::init();
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if (ret != OK) {
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DEVICE_DEBUG("SPI init failed");
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return -EIO;
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}
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return OK;
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}
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int
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MPU6000_SPI::ioctl(unsigned operation, unsigned &arg)
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{
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int ret;
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switch (operation) {
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case ACCELIOCGEXTERNAL:
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#if defined(PX4_SPI_BUS_EXT)
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return _bus == PX4_SPI_BUS_EXT ? 1 : 0;
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#else
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return 0;
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#endif
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case DEVIOCGDEVICEID:
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return CDev::ioctl(nullptr, operation, arg);
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case MPUIOCGIS_I2C:
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return 0;
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default: {
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ret = -EINVAL;
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}
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}
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return ret;
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}
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void
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MPU6000_SPI::set_bus_frequency(unsigned ®_speed)
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{
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/* Set the desired speed */
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set_frequency(MPU6000_IS_HIGH_SPEED(reg_speed) ? MPU6000_HIGH_SPI_BUS_SPEED : MPU6000_LOW_SPI_BUS_SPEED);
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/* Isoolate the register on return */
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reg_speed = MPU6000_REG(reg_speed);
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}
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int
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MPU6000_SPI::write(unsigned reg_speed, void *data, unsigned count)
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{
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uint8_t cmd[MPU_MAX_WRITE_BUFFER_SIZE];
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if (sizeof(cmd) < (count + 1)) {
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return -EIO;
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}
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/* Set the desired speed and isolate the register */
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set_bus_frequency(reg_speed);
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cmd[0] = reg_speed | DIR_WRITE;
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cmd[1] = *(uint8_t *)data;
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return transfer(&cmd[0], &cmd[0], count + 1);
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}
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int
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MPU6000_SPI::read(unsigned reg_speed, void *data, unsigned count)
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{
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/* We want to avoid copying the data of MPUReport: So if the caller
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* supplies a buffer not MPUReport in size, it is assume to be a reg or reg 16 read
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* and we need to provied the buffer large enough for the callers data
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* and our command.
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*/
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uint8_t cmd[3] = {0, 0, 0};
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uint8_t *pbuff = count < sizeof(MPUReport) ? cmd : (uint8_t *) data ;
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if (count < sizeof(MPUReport)) {
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/* add command */
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count++;
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}
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set_bus_frequency(reg_speed);
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/* Set command */
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pbuff[0] = reg_speed | DIR_READ ;
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/* Transfer the command and get the data */
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int ret = transfer(pbuff, pbuff, count);
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if (ret == OK && pbuff == &cmd[0]) {
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/* Adjust the count back */
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count--;
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/* Return the data */
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memcpy(data, &cmd[1], count);
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}
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return ret == OK ? count : ret;
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}
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int
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MPU6000_SPI::probe()
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{
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uint8_t whoami = 0;
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uint8_t expected = _device_type == 6000 ? MPU_WHOAMI_6000 : ICM_WHOAMI_20608;
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return (read(MPUREG_WHOAMI, &whoami, 1) > 0 && (whoami == expected)) ? 0 : -EIO;
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}
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#endif // PX4_SPIDEV_MPU
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