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503 lines
14 KiB
C++
503 lines
14 KiB
C++
#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 16
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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_ACCEL_MAX_PUBLISH_RATE 280
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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_GYRO_MAX_PUBLISH_RATE BMI160_ACCEL_MAX_PUBLISH_RATE
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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_BUS_SPEED 10*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
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// reset
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#define BMI160_NUM_CHECKED_REGISTERS 10
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static const uint8_t _checked_registers[BMI160_NUM_CHECKED_REGISTERS];
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uint8_t _checked_values[BMI160_NUM_CHECKED_REGISTERS];
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uint8_t _checked_bad[BMI160_NUM_CHECKED_REGISTERS];
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uint8_t _checked_next;
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// last temperature reading for print_info()
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float _last_temperature;
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// keep last accel reading for duplicate detection
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uint16_t _last_accel[3];
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bool _got_duplicate;
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/**
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* Start automatic measurement.
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*/
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void start();
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/**
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* Stop automatic measurement.
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*/
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void stop();
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/**
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* Reset chip.
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*
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* Resets the chip and measurements ranges, but not scale and offset.
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*/
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int reset();
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/**
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* Static trampoline from the hrt_call context; because we don't have a
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* generic hrt wrapper yet.
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*
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* Called by the HRT in interrupt context at the specified rate if
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* automatic polling is enabled.
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*
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* @param arg Instance pointer for the driver that is polling.
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*/
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static void measure_trampoline(void *arg);
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/**
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* Fetch measurements from the sensor and update the report buffers.
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*/
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void measure();
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/**
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* Read a register from the BMI160
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*
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* @param The register to read.
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* @return The value that was read.
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*/
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uint8_t read_reg(unsigned reg);
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uint16_t read_reg16(unsigned reg);
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/**
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* Write a register in the BMI160
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*
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* @param reg The register to write.
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* @param value The new value to write.
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*/
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void write_reg(unsigned reg, uint8_t value);
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/**
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* Modify a register in the BMI160
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*
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* Bits are cleared before bits are set.
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*
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* @param reg The register to modify.
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* @param clearbits Bits in the register to clear.
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* @param setbits Bits in the register to set.
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*/
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void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
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/**
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* Write a register in the BMI160, updating _checked_values
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*
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* @param reg The register to write.
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* @param value The new value to write.
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*/
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void write_checked_reg(unsigned reg, uint8_t value);
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/**
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* Set the BMI160 measurement range.
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*
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* @param max_g The maximum G value the range must support.
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* @param max_dps The maximum DPS value the range must support.
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* @return OK if the value can be supported, -ERANGE otherwise.
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*/
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int set_accel_range(unsigned max_g);
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int set_gyro_range(unsigned max_dps);
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/**
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* Swap a 16-bit value read from the BMI160 to native byte order.
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*/
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uint16_t swap16(uint16_t val) { return (val >> 8) | (val << 8); }
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|
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/**
|
|
* Get the internal / external state
|
|
*
|
|
* @return true if the sensor is not on the main MCU board
|
|
*/
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|
bool is_external() { return (_bus == EXTERNAL_BUS); }
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|
|
|
/**
|
|
* Measurement self test
|
|
*
|
|
* @return 0 on success, 1 on failure
|
|
*/
|
|
int self_test();
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|
|
|
/**
|
|
* Accel self test
|
|
*
|
|
* @return 0 on success, 1 on failure
|
|
*/
|
|
int accel_self_test();
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|
|
|
/**
|
|
* Gyro self test
|
|
*
|
|
* @return 0 on success, 1 on failure
|
|
*/
|
|
int gyro_self_test();
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|
|
|
/*
|
|
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_ */
|