mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-01 02:55:07 +08:00
bosch bmi160 driver (#4469)
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
755176b247
commit
7b0078a20d
@@ -48,6 +48,7 @@ set(config_module_list
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drivers/bst
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drivers/snapdragon_rc_pwm
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drivers/lis3mdl
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drivers/bmi160
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#
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# System commands
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@@ -0,0 +1,47 @@
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############################################################################
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#
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# Copyright (c) 2015 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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px4_add_module(
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MODULE drivers__bmi160
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MAIN bmi160
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STACK_MAIN 1200
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COMPILE_FLAGS
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-Weffc++
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-Os
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SRCS
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bmi160.cpp
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bmi160_gyro.cpp
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bmi160_main.cpp
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,63 @@
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#include "bmi160_gyro.hpp"
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#include "bmi160.hpp"
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BMI160_gyro::BMI160_gyro(BMI160 *parent, const char *path) : CDev("BMI160_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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BMI160_gyro::~BMI160_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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BMI160_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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BMI160_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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BMI160_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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BMI160_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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@@ -0,0 +1,41 @@
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#ifndef BMI160_GYRO_HPP_
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#define BMI160_GYRO_HPP_
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#include <px4_config.h>
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#include "bmi160.hpp"
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/**
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* Helper class implementing the gyro driver node.
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*/
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class BMI160_gyro : public device::CDev
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{
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public:
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BMI160_gyro(BMI160 *parent, const char *path);
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~BMI160_gyro();
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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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virtual int init();
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protected:
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friend class BMI160;
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void parent_poll_notify();
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private:
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BMI160 *_parent;
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orb_advert_t _gyro_topic;
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int _gyro_orb_class_instance;
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int _gyro_class_instance;
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/* do not allow to copy this class due to pointer data members */
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BMI160_gyro(const BMI160_gyro &);
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BMI160_gyro operator=(const BMI160_gyro &);
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};
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#endif /* BMI160_GYRO_HPP_ */
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@@ -0,0 +1,358 @@
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#include "bmi160.hpp"
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#include <board_config.h>
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/** driver 'main' command */
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extern "C" { __EXPORT int bmi160_main(int argc, char *argv[]); }
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/**
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* Local functions in support of the shell command.
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*/
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namespace bmi160
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{
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BMI160 *g_dev_int; // on internal bus
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BMI160 *g_dev_ext; // on external bus
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void start(bool, enum Rotation);
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void stop(bool);
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void test(bool);
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void reset(bool);
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void info(bool);
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void regdump(bool);
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void testerror(bool);
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void usage();
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/**
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* Start the driver.
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*
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* This function only returns if the driver is up and running
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* or failed to detect the sensor.
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*/
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void
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start(bool external_bus, enum Rotation rotation)
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{
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int fd;
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BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
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const char *path_accel = external_bus ? BMI160_DEVICE_PATH_ACCEL_EXT : BMI160_DEVICE_PATH_ACCEL;
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const char *path_gyro = external_bus ? BMI160_DEVICE_PATH_GYRO_EXT : BMI160_DEVICE_PATH_GYRO;
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if (*g_dev_ptr != nullptr)
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/* if already started, the still command succeeded */
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{
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errx(0, "already started");
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}
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/* create the driver */
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if (external_bus) {
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#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BMI)
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*g_dev_ptr = new BMI160(PX4_SPI_BUS_EXT, path_accel, path_gyro, (spi_dev_e)PX4_SPIDEV_EXT_BMI, rotation);
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#else
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errx(0, "External SPI not available");
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#endif
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} else {
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*g_dev_ptr = new BMI160(PX4_SPI_BUS_SENSORS, path_accel, path_gyro, (spi_dev_e)PX4_SPIDEV_BMI, rotation);
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}
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if (*g_dev_ptr == nullptr) {
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goto fail;
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}
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if (OK != (*g_dev_ptr)->init()) {
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goto fail;
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}
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/* set the poll rate to default, starts automatic data collection */
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fd = open(path_accel, O_RDONLY);
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if (fd < 0) {
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goto fail;
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}
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if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
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goto fail;
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}
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close(fd);
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exit(0);
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fail:
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if (*g_dev_ptr != nullptr) {
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delete(*g_dev_ptr);
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*g_dev_ptr = nullptr;
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}
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errx(1, "driver start failed");
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}
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void
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stop(bool external_bus)
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{
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BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
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if (*g_dev_ptr != nullptr) {
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delete *g_dev_ptr;
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*g_dev_ptr = nullptr;
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} else {
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/* warn, but not an error */
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warnx("already stopped.");
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}
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exit(0);
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}
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/**
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* Perform some basic functional tests on the driver;
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* make sure we can collect data from the sensor in polled
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* and automatic modes.
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*/
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void
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test(bool external_bus)
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{
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const char *path_accel = external_bus ? BMI160_DEVICE_PATH_ACCEL_EXT : BMI160_DEVICE_PATH_ACCEL;
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const char *path_gyro = external_bus ? BMI160_DEVICE_PATH_GYRO_EXT : BMI160_DEVICE_PATH_GYRO;
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accel_report a_report;
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gyro_report g_report;
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ssize_t sz;
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/* get the driver */
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int fd = open(path_accel, O_RDONLY);
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if (fd < 0)
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err(1, "%s open failed (try 'bmi160 start')",
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path_accel);
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/* get the driver */
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int fd_gyro = open(path_gyro, O_RDONLY);
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if (fd_gyro < 0) {
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err(1, "%s open failed", path_gyro);
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}
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/* reset to manual polling */
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if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) {
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err(1, "reset to manual polling");
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}
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/* do a simple demand read */
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sz = read(fd, &a_report, sizeof(a_report));
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if (sz != sizeof(a_report)) {
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warnx("ret: %d, expected: %d", sz, sizeof(a_report));
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err(1, "immediate acc read failed");
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}
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warnx("single read");
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warnx("time: %lld", a_report.timestamp);
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warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x);
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warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y);
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warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z);
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warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
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warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
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warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
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warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
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(double)(a_report.range_m_s2 / BMI160_ONE_G));
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/* do a simple demand read */
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sz = read(fd_gyro, &g_report, sizeof(g_report));
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if (sz != sizeof(g_report)) {
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warnx("ret: %d, expected: %d", sz, sizeof(g_report));
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err(1, "immediate gyro read failed");
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}
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warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
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warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
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warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
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warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
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warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
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warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
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warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
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(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
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warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature);
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warnx("temp: \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
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/* reset to default polling */
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if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
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err(1, "reset to default polling");
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}
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close(fd);
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close(fd_gyro);
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/* XXX add poll-rate tests here too */
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reset(external_bus);
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errx(0, "PASS");
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}
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/**
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* Reset the driver.
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*/
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void
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reset(bool external_bus)
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{
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const char *path_accel = external_bus ? BMI160_DEVICE_PATH_ACCEL_EXT : BMI160_DEVICE_PATH_ACCEL;
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int fd = open(path_accel, O_RDONLY);
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if (fd < 0) {
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err(1, "failed ");
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}
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if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
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err(1, "driver reset failed");
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}
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if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
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err(1, "driver poll restart failed");
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}
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close(fd);
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exit(0);
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}
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|
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/**
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* Print a little info about the driver.
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*/
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void
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info(bool external_bus)
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{
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BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
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|
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if (*g_dev_ptr == nullptr) {
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errx(1, "driver not running");
|
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}
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|
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printf("state @ %p\n", *g_dev_ptr);
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(*g_dev_ptr)->print_info();
|
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|
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exit(0);
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}
|
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|
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/**
|
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* Dump the register information
|
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*/
|
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void
|
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regdump(bool external_bus)
|
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{
|
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BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
|
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|
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if (*g_dev_ptr == nullptr) {
|
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errx(1, "driver not running");
|
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}
|
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|
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printf("regdump @ %p\n", *g_dev_ptr);
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(*g_dev_ptr)->print_registers();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
/**
|
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* deliberately produce an error to test recovery
|
||||
*/
|
||||
void
|
||||
testerror(bool external_bus)
|
||||
{
|
||||
BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
|
||||
|
||||
if (*g_dev_ptr == nullptr) {
|
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errx(1, "driver not running");
|
||||
}
|
||||
|
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(*g_dev_ptr)->test_error();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
void
|
||||
usage()
|
||||
{
|
||||
warnx("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump', 'testerror'");
|
||||
warnx("options:");
|
||||
warnx(" -X (external bus)");
|
||||
warnx(" -R rotation");
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
int
|
||||
bmi160_main(int argc, char *argv[])
|
||||
{
|
||||
bool external_bus = false;
|
||||
int ch;
|
||||
enum Rotation rotation = ROTATION_NONE;
|
||||
|
||||
/* jump over start/off/etc and look at options first */
|
||||
while ((ch = getopt(argc, argv, "XR:")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'X':
|
||||
external_bus = true;
|
||||
break;
|
||||
|
||||
case 'R':
|
||||
rotation = (enum Rotation)atoi(optarg);
|
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break;
|
||||
|
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default:
|
||||
bmi160::usage();
|
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exit(0);
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = argv[optind];
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
|
||||
*/
|
||||
if (!strcmp(verb, "start")) {
|
||||
bmi160::start(external_bus, rotation);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "stop")) {
|
||||
bmi160::stop(external_bus);
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(verb, "test")) {
|
||||
bmi160::test(external_bus);
|
||||
}
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "reset")) {
|
||||
bmi160::reset(external_bus);
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(verb, "info")) {
|
||||
bmi160::info(external_bus);
|
||||
}
|
||||
|
||||
/*
|
||||
* Print register information.
|
||||
*/
|
||||
if (!strcmp(verb, "regdump")) {
|
||||
bmi160::regdump(external_bus);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "testerror")) {
|
||||
bmi160::testerror(external_bus);
|
||||
}
|
||||
|
||||
bmi160::usage();
|
||||
exit(1);
|
||||
}
|
||||
@@ -125,6 +125,7 @@ __BEGIN_DECLS
|
||||
#define PX4_SPIDEV_MPU 4
|
||||
#define PX4_SPIDEV_HMC 5
|
||||
#define PX4_SPIDEV_LIS 7
|
||||
#define PX4_SPIDEV_BMI 8
|
||||
|
||||
/* External bus */
|
||||
#define PX4_SPIDEV_EXT0 1
|
||||
@@ -138,6 +139,8 @@ __BEGIN_DECLS
|
||||
#define PX4_SPIDEV_EXT_ACCEL_MAG PX4_SPIDEV_EXT2
|
||||
#define PX4_SPIDEV_EXT_GYRO PX4_SPIDEV_EXT3
|
||||
|
||||
#define PX4_SPIDEV_EXT_BMI PX4_SPIDEV_EXT_GYRO
|
||||
|
||||
/* I2C busses */
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_ONBOARD 2
|
||||
|
||||
@@ -63,10 +63,12 @@
|
||||
#define DRV_ACC_DEVTYPE_ACCELSIM 0x14
|
||||
#define DRV_ACC_DEVTYPE_GYROSIM 0x15
|
||||
#define DRV_ACC_DEVTYPE_MPU9250 0x16
|
||||
#define DRV_ACC_DEVTYPE_BMI160 0x17
|
||||
#define DRV_GYR_DEVTYPE_MPU6000 0x21
|
||||
#define DRV_GYR_DEVTYPE_L3GD20 0x22
|
||||
#define DRV_GYR_DEVTYPE_GYROSIM 0x23
|
||||
#define DRV_GYR_DEVTYPE_MPU9250 0x24
|
||||
#define DRV_GYR_DEVTYPE_BMI160 0x25
|
||||
#define DRV_RNG_DEVTYPE_MB12XX 0x31
|
||||
#define DRV_RNG_DEVTYPE_LL40LS 0x32
|
||||
|
||||
@@ -78,6 +80,7 @@
|
||||
#define DRV_GYR_DEVTYPE_MPU6500 0x21
|
||||
#endif
|
||||
|
||||
|
||||
/*
|
||||
* ioctl() definitions
|
||||
*
|
||||
|
||||
Reference in New Issue
Block a user