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264 lines
9.2 KiB
C
264 lines
9.2 KiB
C
/****************************************************************************
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*
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* Copyright (c) 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 .h
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*
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* Shared defines for the mpu6000 driver.
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*/
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#pragma once
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#if defined(PX4_I2C_MPU6050_ADDR) || \
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defined(PX4_I2C_MPU6000_ADDR) || \
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defined(PX4_I2C_ICM_20608_G_ADDR)
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# define USE_I2C
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#endif
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#define DIR_READ 0x80
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#define DIR_WRITE 0x00
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#define MPU_DEVICE_PATH_ACCEL "/dev/mpu6000_accel"
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#define MPU_DEVICE_PATH_GYRO "/dev/mpu6000_gyro"
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#define MPU_DEVICE_PATH_ACCEL1 "/dev/mpu6000_accel1"
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#define MPU_DEVICE_PATH_GYRO1 "/dev/mpu6000_gyro1"
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#define MPU_DEVICE_PATH_ACCEL_EXT "/dev/mpu6000_accel_ext"
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#define MPU_DEVICE_PATH_GYRO_EXT "/dev/mpu6000_gyro_ext"
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#define MPU_DEVICE_PATH_ACCEL_EXT1 "/dev/mpu6000_accel_ext1"
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#define MPU_DEVICE_PATH_GYRO_EXT1 "/dev/mpu6000_gyro_ext1"
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#define ICM20602_DEVICE_PATH_ACCEL "/dev/icm20602_accel"
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#define ICM20602_DEVICE_PATH_GYRO "/dev/icm20602_gyro"
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#define ICM20602_DEVICE_PATH_ACCEL1 "/dev/icm20602_accel1"
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#define ICM20602_DEVICE_PATH_GYRO1 "/dev/icm20602_gyro1"
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#define ICM20602_DEVICE_PATH_ACCEL_EXT "/dev/icm20602_accel_ext"
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#define ICM20602_DEVICE_PATH_GYRO_EXT "/dev/icm20602_gyro_ext"
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#define ICM20602_DEVICE_PATH_ACCEL_EXT1 "/dev/icm20602_accel_ext1"
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#define ICM20602_DEVICE_PATH_GYRO_EXT1 "/dev/icm20602_gyro_ext1"
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#define ICM20608_DEVICE_PATH_ACCEL "/dev/icm20608_accel"
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#define ICM20608_DEVICE_PATH_GYRO "/dev/icm20608_gyro"
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#define ICM20608_DEVICE_PATH_ACCEL1 "/dev/icm20608_accel1"
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#define ICM20608_DEVICE_PATH_GYRO1 "/dev/icm20608_gyro1"
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#define ICM20608_DEVICE_PATH_ACCEL_EXT "/dev/icm20608_accel_ext"
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#define ICM20608_DEVICE_PATH_GYRO_EXT "/dev/icm20608_gyro_ext"
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#define ICM20608_DEVICE_PATH_ACCEL_EXT1 "/dev/icm20608_accel_ext1"
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#define ICM20608_DEVICE_PATH_GYRO_EXT1 "/dev/icm20608_gyro_ext1"
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#define ICM20689_DEVICE_PATH_ACCEL "/dev/icm20689_accel"
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#define ICM20689_DEVICE_PATH_GYRO "/dev/icm20689_gyro"
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// MPU 6000 registers
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#define MPUREG_WHOAMI 0x75
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#define MPUREG_SMPLRT_DIV 0x19
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#define MPUREG_CONFIG 0x1A
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#define MPUREG_GYRO_CONFIG 0x1B
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#define MPUREG_ACCEL_CONFIG 0x1C
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#define MPUREG_FIFO_EN 0x23
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#define MPUREG_INT_PIN_CFG 0x37
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#define MPUREG_INT_ENABLE 0x38
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#define MPUREG_INT_STATUS 0x3A
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#define MPUREG_ACCEL_XOUT_H 0x3B
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#define MPUREG_ACCEL_XOUT_L 0x3C
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#define MPUREG_ACCEL_YOUT_H 0x3D
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#define MPUREG_ACCEL_YOUT_L 0x3E
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#define MPUREG_ACCEL_ZOUT_H 0x3F
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#define MPUREG_ACCEL_ZOUT_L 0x40
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#define MPUREG_TEMP_OUT_H 0x41
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#define MPUREG_TEMP_OUT_L 0x42
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#define MPUREG_GYRO_XOUT_H 0x43
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#define MPUREG_GYRO_XOUT_L 0x44
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#define MPUREG_GYRO_YOUT_H 0x45
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#define MPUREG_GYRO_YOUT_L 0x46
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#define MPUREG_GYRO_ZOUT_H 0x47
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#define MPUREG_GYRO_ZOUT_L 0x48
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#define MPUREG_USER_CTRL 0x6A
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#define MPUREG_PWR_MGMT_1 0x6B
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#define MPUREG_PWR_MGMT_2 0x6C
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#define MPUREG_FIFO_COUNTH 0x72
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#define MPUREG_FIFO_COUNTL 0x73
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#define MPUREG_FIFO_R_W 0x74
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#define MPUREG_PRODUCT_ID 0x0C
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#define MPUREG_TRIM1 0x0D
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#define MPUREG_TRIM2 0x0E
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#define MPUREG_TRIM3 0x0F
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#define MPUREG_TRIM4 0x10
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#define MPU_GYRO_DLPF_CFG_256HZ_NOLPF2 0x00
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#define MPU_GYRO_DLPF_CFG_188HZ 0x01
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#define MPU_GYRO_DLPF_CFG_98HZ 0x02
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#define MPU_GYRO_DLPF_CFG_42HZ 0x03
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#define MPU_GYRO_DLPF_CFG_20HZ 0x04
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#define MPU_GYRO_DLPF_CFG_10HZ 0x05
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#define MPU_GYRO_DLPF_CFG_5HZ 0x06
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#define MPU_GYRO_DLPF_CFG_2100HZ_NOLPF 0x07
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#define MPU_DLPF_CFG_MASK 0x07
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// Configuration bits MPU 3000 and MPU 6000 (not revised)?
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#define BIT_SLEEP 0x40
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#define BIT_H_RESET 0x80
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#define BITS_CLKSEL 0x07
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#define MPU_CLK_SEL_PLLGYROX 0x01
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#define MPU_CLK_SEL_PLLGYROZ 0x03
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#define MPU_EXT_SYNC_GYROX 0x02
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#define BITS_GYRO_ST_X 0x80
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#define BITS_GYRO_ST_Y 0x40
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#define BITS_GYRO_ST_Z 0x20
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#define BITS_FS_250DPS 0x00
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#define BITS_FS_500DPS 0x08
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#define BITS_FS_1000DPS 0x10
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#define BITS_FS_2000DPS 0x18
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#define BITS_FS_MASK 0x18
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#define BIT_INT_ANYRD_2CLEAR 0x10
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#define BIT_RAW_RDY_EN 0x01
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#define BIT_I2C_IF_DIS 0x10
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#define BIT_INT_STATUS_DATA 0x01
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#define MPU_WHOAMI_6000 0x68
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#define ICM_WHOAMI_20602 0x12
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#define ICM_WHOAMI_20608 0xaf
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#define ICM_WHOAMI_20689 0x98
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// ICM2608 specific registers
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#define ICMREG_ACCEL_CONFIG2 0x1D
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#define ICM_ACC_DLPF_CFG_1046HZ_NOLPF 0x00
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#define ICM_ACC_DLPF_CFG_218HZ 0x01
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#define ICM_ACC_DLPF_CFG_99HZ 0x02
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#define ICM_ACC_DLPF_CFG_44HZ 0x03
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#define ICM_ACC_DLPF_CFG_21HZ 0x04
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#define ICM_ACC_DLPF_CFG_10HZ 0x05
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#define ICM_ACC_DLPF_CFG_5HZ 0x06
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#define ICM_ACC_DLPF_CFG_420HZ 0x07
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/* this is an undocumented register which
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if set incorrectly results in getting a 2.7m/s/s offset
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on the Y axis of the accelerometer
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*/
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#define MPUREG_ICM_UNDOC1 0x11
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#define MPUREG_ICM_UNDOC1_VALUE 0xc9
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// Product ID Description for ICM20602
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// Read From device
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#define ICM20602_REV_01 1
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#define ICM20602_REV_02 2
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// Product ID Description for ICM20608
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#define ICM20608_REV_FF 0xff // In the past, was thought to be not returning a value. But seem repeatable.
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// Product ID Description for ICM20689
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#define ICM20689_REV_FE 0xfe
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#define ICM20689_REV_03 0x03
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// Product ID Description for MPU6000
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// high 4 bits low 4 bits
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// Product Name Product Revision
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#define MPU6000ES_REV_C4 0x14
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#define MPU6000ES_REV_C5 0x15
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#define MPU6000ES_REV_D6 0x16
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#define MPU6000ES_REV_D7 0x17
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#define MPU6000ES_REV_D8 0x18
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#define MPU6000_REV_C4 0x54
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#define MPU6000_REV_C5 0x55
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#define MPU6000_REV_D6 0x56
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#define MPU6000_REV_D7 0x57
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#define MPU6000_REV_D8 0x58
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#define MPU6000_REV_D9 0x59
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#define MPU6000_REV_D10 0x5A
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#define MPU6050_REV_D8 0x28 // TODO:Need verification
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#define MPU6000_ACCEL_DEFAULT_RANGE_G 16
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#define MPU6000_ACCEL_DEFAULT_RATE 1000
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#define MPU6000_ACCEL_MAX_OUTPUT_RATE 280
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#define MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
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#define MPU6000_GYRO_DEFAULT_RANGE_G 8
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#define MPU6000_GYRO_DEFAULT_RATE 1000
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/* rates need to be the same between accel and gyro */
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#define MPU6000_GYRO_MAX_OUTPUT_RATE MPU6000_ACCEL_MAX_OUTPUT_RATE
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#define MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ 30
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#define MPU6000_DEFAULT_ONCHIP_FILTER_FREQ 42
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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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#define MPUIOCGIS_I2C (unsigned)(DEVIOCGDEVICEID+100)
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#pragma pack(push, 1)
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/**
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* Report conversation within the MPU6000, including command byte and
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* interrupt status.
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*/
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struct MPUReport {
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uint8_t cmd;
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uint8_t status;
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uint8_t accel_x[2];
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uint8_t accel_y[2];
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uint8_t accel_z[2];
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uint8_t temp[2];
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uint8_t gyro_x[2];
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uint8_t gyro_y[2];
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uint8_t gyro_z[2];
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};
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#pragma pack(pop)
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#define MPU_MAX_READ_BUFFER_SIZE (sizeof(MPUReport) + 1)
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#define MPU_MAX_WRITE_BUFFER_SIZE (2)
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/*
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The MPU6000 can only handle high bus speeds on the sensor and
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interrupt status registers. All other registers have a maximum 1MHz
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Communication with all registers of the device is performed using either
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I2C at 400kHz or SPI at 1MHz. For applications requiring faster communications,
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the sensor and interrupt registers may be read using SPI at 20MHz
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*/
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#define MPU6000_LOW_BUS_SPEED 0
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#define MPU6000_HIGH_BUS_SPEED 0x8000
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# define MPU6000_IS_HIGH_SPEED(r) ((r) & MPU6000_HIGH_BUS_SPEED)
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# define MPU6000_REG(r) ((r) &~MPU6000_HIGH_BUS_SPEED)
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# define MPU6000_SET_SPEED(r, s) ((r)|(s))
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# define MPU6000_HIGH_SPEED_OP(r) MPU6000_SET_SPEED((r), MPU6000_HIGH_BUS_SPEED)
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# define MPU6000_LOW_SPEED_OP(r) MPU6000_REG((r))
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/* interface factories */
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extern device::Device *MPU6000_SPI_interface(int bus, int device_type, bool external_bus);
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extern device::Device *MPU6000_I2C_interface(int bus, int device_type, bool external_bus);
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extern int MPU6000_probe(device::Device *dev, int device_type);
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typedef device::Device *(*MPU6000_constructor)(int, int, bool);
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