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132 lines
3.5 KiB
C++
132 lines
3.5 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 gyro.cpp
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*
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* Driver for the Invensense mpu9250 connected via SPI.
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*
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* @author Andrew Tridgell
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*
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* based on the mpu6000 driver
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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 <stddef.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <stdio.h>
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#include <systemlib/perf_counter.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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#include "mag.h"
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#include "gyro.h"
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#include "mpu9250.h"
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MPU9250_gyro::MPU9250_gyro(MPU9250 *parent, const char *path) :
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CDev("MPU9250_gyro", path),
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_parent(parent),
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_gyro_topic(nullptr),
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_gyro_orb_class_instance(-1),
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_gyro_class_instance(-1)
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{
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}
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MPU9250_gyro::~MPU9250_gyro()
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{
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if (_gyro_class_instance != -1) {
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unregister_class_devname(GYRO_BASE_DEVICE_PATH, _gyro_class_instance);
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}
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}
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int
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MPU9250_gyro::init()
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{
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int ret;
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// do base class init
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ret = CDev::init();
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/* if probe/setup failed, bail now */
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if (ret != OK) {
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DEVICE_DEBUG("gyro init failed");
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return ret;
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}
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_gyro_class_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
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return ret;
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}
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void
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MPU9250_gyro::parent_poll_notify()
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{
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poll_notify(POLLIN);
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}
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ssize_t
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MPU9250_gyro::read(struct file *filp, char *buffer, size_t buflen)
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{
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return _parent->gyro_read(filp, buffer, buflen);
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}
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int
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MPU9250_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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case DEVIOCGDEVICEID:
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return (int)CDev::ioctl(filp, cmd, arg);
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break;
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default:
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return _parent->gyro_ioctl(filp, cmd, arg);
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}
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}
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