bosch bmi160 driver (#4469)

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -48,6 +48,7 @@ set(config_module_list
 	drivers/bst
 	drivers/snapdragon_rc_pwm
 	drivers/lis3mdl
+	drivers/bmi160
 
 	#
 	# System commands

src/drivers/bmi160/CMakeLists.txt

@@ -0,0 +1,47 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__bmi160
+	MAIN bmi160
+	STACK_MAIN 1200
+	COMPILE_FLAGS
+		-Weffc++
+		-Os
+	SRCS
+		bmi160.cpp
+		bmi160_gyro.cpp
+		bmi160_main.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/drivers/bmi160/bmi160_gyro.cpp

@@ -0,0 +1,63 @@
+
+#include "bmi160_gyro.hpp"
+#include "bmi160.hpp"
+
+BMI160_gyro::BMI160_gyro(BMI160 *parent, const char *path) : CDev("BMI160_gyro", path),
+	_parent(parent),
+	_gyro_topic(nullptr),
+	_gyro_orb_class_instance(-1),
+	_gyro_class_instance(-1)
+{
+}
+
+BMI160_gyro::~BMI160_gyro()
+{
+	if (_gyro_class_instance != -1) {
+		unregister_class_devname(GYRO_BASE_DEVICE_PATH, _gyro_class_instance);
+	}
+}
+
+int
+BMI160_gyro::init()
+{
+	int ret;
+
+	// do base class init
+	ret = CDev::init();
+
+	/* if probe/setup failed, bail now */
+	if (ret != OK) {
+		DEVICE_DEBUG("gyro init failed");
+		return ret;
+	}
+
+	_gyro_class_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
+
+	return ret;
+}
+
+void
+BMI160_gyro::parent_poll_notify()
+{
+	poll_notify(POLLIN);
+}
+
+ssize_t
+BMI160_gyro::read(struct file *filp, char *buffer, size_t buflen)
+{
+	return _parent->gyro_read(filp, buffer, buflen);
+}
+
+int
+BMI160_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+
+	switch (cmd) {
+	case DEVIOCGDEVICEID:
+		return (int)CDev::ioctl(filp, cmd, arg);
+		break;
+
+	default:
+		return _parent->gyro_ioctl(filp, cmd, arg);
+	}
+}

src/drivers/bmi160/bmi160_gyro.hpp

@@ -0,0 +1,41 @@
+#ifndef BMI160_GYRO_HPP_
+#define BMI160_GYRO_HPP_
+
+#include <px4_config.h>
+
+#include "bmi160.hpp"
+
+/**
+ * Helper class implementing the gyro driver node.
+ */
+class BMI160_gyro : public device::CDev
+{
+public:
+	BMI160_gyro(BMI160 *parent, const char *path);
+	~BMI160_gyro();
+
+	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
+	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	virtual int		init();
+
+protected:
+	friend class BMI160;
+
+	void			parent_poll_notify();
+
+private:
+	BMI160			*_parent;
+	orb_advert_t		_gyro_topic;
+	int			_gyro_orb_class_instance;
+	int			_gyro_class_instance;
+
+	/* do not allow to copy this class due to pointer data members */
+	BMI160_gyro(const BMI160_gyro &);
+	BMI160_gyro operator=(const BMI160_gyro &);
+};
+
+
+
+
+#endif /* BMI160_GYRO_HPP_ */

src/drivers/bmi160/bmi160_main.cpp

@@ -0,0 +1,358 @@
+
+#include "bmi160.hpp"
+
+#include <board_config.h>
+
+/** driver 'main' command */
+extern "C" { __EXPORT int bmi160_main(int argc, char *argv[]); }
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace bmi160
+{
+
+BMI160	*g_dev_int; // on internal bus
+BMI160	*g_dev_ext; // on external bus
+
+void	start(bool, enum Rotation);
+void	stop(bool);
+void	test(bool);
+void	reset(bool);
+void	info(bool);
+void	regdump(bool);
+void	testerror(bool);
+void	usage();
+
+
+/**
+ * Start the driver.
+ *
+ * This function only returns if the driver is up and running
+ * or failed to detect the sensor.
+ */
+void
+start(bool external_bus, enum Rotation rotation)
+{
+	int fd;
+	BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
+	const char *path_accel = external_bus ? BMI160_DEVICE_PATH_ACCEL_EXT : BMI160_DEVICE_PATH_ACCEL;
+	const char *path_gyro  = external_bus ? BMI160_DEVICE_PATH_GYRO_EXT : BMI160_DEVICE_PATH_GYRO;
+
+	if (*g_dev_ptr != nullptr)
+		/* if already started, the still command succeeded */
+	{
+		errx(0, "already started");
+	}
+
+	/* create the driver */
+	if (external_bus) {
+#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BMI)
+		*g_dev_ptr = new BMI160(PX4_SPI_BUS_EXT, path_accel, path_gyro, (spi_dev_e)PX4_SPIDEV_EXT_BMI, rotation);
+#else
+		errx(0, "External SPI not available");
+#endif
+
+	} else {
+		*g_dev_ptr = new BMI160(PX4_SPI_BUS_SENSORS, path_accel, path_gyro, (spi_dev_e)PX4_SPIDEV_BMI, rotation);
+	}
+
+	if (*g_dev_ptr == nullptr) {
+		goto fail;
+	}
+
+	if (OK != (*g_dev_ptr)->init()) {
+		goto fail;
+	}
+
+	/* set the poll rate to default, starts automatic data collection */
+	fd = open(path_accel, O_RDONLY);
+
+	if (fd < 0) {
+		goto fail;
+	}
+
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+		goto fail;
+	}
+
+	close(fd);
+
+	exit(0);
+fail:
+
+	if (*g_dev_ptr != nullptr) {
+		delete(*g_dev_ptr);
+		*g_dev_ptr = nullptr;
+	}
+
+	errx(1, "driver start failed");
+}
+
+void
+stop(bool external_bus)
+{
+	BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
+
+	if (*g_dev_ptr != nullptr) {
+		delete *g_dev_ptr;
+		*g_dev_ptr = nullptr;
+
+	} else {
+		/* warn, but not an error */
+		warnx("already stopped.");
+	}
+
+	exit(0);
+}
+
+/**
+ * Perform some basic functional tests on the driver;
+ * make sure we can collect data from the sensor in polled
+ * and automatic modes.
+ */
+void
+test(bool external_bus)
+{
+	const char *path_accel = external_bus ? BMI160_DEVICE_PATH_ACCEL_EXT : BMI160_DEVICE_PATH_ACCEL;
+	const char *path_gyro  = external_bus ? BMI160_DEVICE_PATH_GYRO_EXT : BMI160_DEVICE_PATH_GYRO;
+	accel_report a_report;
+	gyro_report g_report;
+	ssize_t sz;
+
+	/* get the driver */
+	int fd = open(path_accel, O_RDONLY);
+
+	if (fd < 0)
+		err(1, "%s open failed (try 'bmi160 start')",
+		    path_accel);
+
+	/* get the driver */
+	int fd_gyro = open(path_gyro, O_RDONLY);
+
+	if (fd_gyro < 0) {
+		err(1, "%s open failed", path_gyro);
+	}
+
+	/* reset to manual polling */
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) {
+		err(1, "reset to manual polling");
+	}
+
+	/* do a simple demand read */
+	sz = read(fd, &a_report, sizeof(a_report));
+
+	if (sz != sizeof(a_report)) {
+		warnx("ret: %d, expected: %d", sz, sizeof(a_report));
+		err(1, "immediate acc read failed");
+	}
+
+	warnx("single read");
+	warnx("time:     %lld", a_report.timestamp);
+	warnx("acc  x:  \t%8.4f\tm/s^2", (double)a_report.x);
+	warnx("acc  y:  \t%8.4f\tm/s^2", (double)a_report.y);
+	warnx("acc  z:  \t%8.4f\tm/s^2", (double)a_report.z);
+	warnx("acc  x:  \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
+	warnx("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
+	warnx("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
+	warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
+	      (double)(a_report.range_m_s2 / BMI160_ONE_G));
+
+	/* do a simple demand read */
+	sz = read(fd_gyro, &g_report, sizeof(g_report));
+
+	if (sz != sizeof(g_report)) {
+		warnx("ret: %d, expected: %d", sz, sizeof(g_report));
+		err(1, "immediate gyro read failed");
+	}
+
+	warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
+	warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
+	warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
+	warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
+	warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
+	warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
+	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
+	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
+
+	warnx("temp:  \t%8.4f\tdeg celsius", (double)a_report.temperature);
+	warnx("temp:  \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
+
+	/* reset to default polling */
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+		err(1, "reset to default polling");
+	}
+
+	close(fd);
+	close(fd_gyro);
+
+	/* XXX add poll-rate tests here too */
+
+	reset(external_bus);
+	errx(0, "PASS");
+}
+
+/**
+ * Reset the driver.
+ */
+void
+reset(bool external_bus)
+{
+	const char *path_accel = external_bus ? BMI160_DEVICE_PATH_ACCEL_EXT : BMI160_DEVICE_PATH_ACCEL;
+	int fd = open(path_accel, O_RDONLY);
+
+	if (fd < 0) {
+		err(1, "failed ");
+	}
+
+	if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
+		err(1, "driver reset failed");
+	}
+
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+		err(1, "driver poll restart failed");
+	}
+
+	close(fd);
+
+	exit(0);
+}
+
+/**
+ * Print a little info about the driver.
+ */
+void
+info(bool external_bus)
+{
+	BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
+
+	if (*g_dev_ptr == nullptr) {
+		errx(1, "driver not running");
+	}
+
+	printf("state @ %p\n", *g_dev_ptr);
+	(*g_dev_ptr)->print_info();
+
+	exit(0);
+}
+
+/**
+ * Dump the register information
+ */
+void
+regdump(bool external_bus)
+{
+	BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
+
+	if (*g_dev_ptr == nullptr) {
+		errx(1, "driver not running");
+	}
+
+	printf("regdump @ %p\n", *g_dev_ptr);
+	(*g_dev_ptr)->print_registers();
+
+	exit(0);
+}
+
+
+/**
+ * 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) {
+		errx(1, "driver not running");
+	}
+
+	(*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);
+			break;
+
+		default:
+			bmi160::usage();
+			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);
+}

src/drivers/boards/px4fmu-v2/board_config.h

@@ -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

src/drivers/drv_sensor.h

@@ -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
  *