mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-30 18:06:39 +08:00
drivers/imu: new Murata SCH16T IMU driver (#22914)
--------- Co-authored-by: alexklimaj <alex@arkelectron.com>
This commit is contained in:
Jacob Dahl
GitHub
@@ -138,6 +138,12 @@ then
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adis16507 -S start
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adis16507 -S start
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fi
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fi
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# SCH16T spi external IMU
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if param compare -s SENS_EN_SCH16T 1
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then
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sch16t -S start
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fi
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# Eagle Tree airspeed sensor external I2C
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# Eagle Tree airspeed sensor external I2C
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if param compare -s SENS_EN_ETSASPD 1
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if param compare -s SENS_EN_ETSASPD 1
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then
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then
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@@ -20,6 +20,7 @@ CONFIG_DRIVERS_DSHOT=y
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CONFIG_DRIVERS_GPS=y
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CONFIG_DRIVERS_GPS=y
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CONFIG_DRIVERS_HEATER=y
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CONFIG_DRIVERS_HEATER=y
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CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
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CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
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CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
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CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
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CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
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CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
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CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
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CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
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CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
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@@ -133,6 +133,8 @@
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#define DRV_IMU_DEVTYPE_ADIS16477 0x59
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#define DRV_IMU_DEVTYPE_ADIS16477 0x59
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#define DRV_IMU_DEVTYPE_ADIS16507 0x5A
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#define DRV_IMU_DEVTYPE_ADIS16507 0x5A
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#define DRV_IMU_DEVTYPE_SCH16T 0x5B
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#define DRV_BARO_DEVTYPE_MPC2520 0x5F
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#define DRV_BARO_DEVTYPE_MPC2520 0x5F
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#define DRV_BARO_DEVTYPE_LPS22HB 0x60
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#define DRV_BARO_DEVTYPE_LPS22HB 0x60
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@@ -8,6 +8,7 @@ menu "IMU"
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select DRIVERS_IMU_ANALOG_DEVICES_ADIS16470
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select DRIVERS_IMU_ANALOG_DEVICES_ADIS16470
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select DRIVERS_IMU_BOSCH_BMI055
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select DRIVERS_IMU_BOSCH_BMI055
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select DRIVERS_IMU_BOSCH_BMI088
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select DRIVERS_IMU_BOSCH_BMI088
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select DRIVERS_IMU_MURATA_SCH16T
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select DRIVERS_IMU_NXP_FXAS21002C
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select DRIVERS_IMU_NXP_FXAS21002C
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select DRIVERS_IMU_NXP_FXOS8701CQ
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select DRIVERS_IMU_NXP_FXOS8701CQ
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select DRIVERS_IMU_INVENSENSE_ICM20602
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select DRIVERS_IMU_INVENSENSE_ICM20602
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@@ -0,0 +1,3 @@
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menu "Murata"
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rsource "*/Kconfig"
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endmenu #Murata
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@@ -0,0 +1,47 @@
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############################################################################
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#
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# Copyright (c) 2022 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__imu__murata__sch16t
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MAIN sch16t
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COMPILE_FLAGS
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SRCS
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SCH16T.cpp
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SCH16T.hpp
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sch16t_main.cpp
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Murata_SCH16T_registers.hpp
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DEPENDS
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drivers_accelerometer
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drivers_gyroscope
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px4_work_queue
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)
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@@ -0,0 +1,5 @@
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menuconfig DRIVERS_IMU_MURATA_SCH16T
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bool "SCH16T"
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default n
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---help---
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Enable support for murata SCH16T
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@@ -0,0 +1,115 @@
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/****************************************************************************
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*
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* Copyright (c) 2024 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
|
||||||
|
* 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
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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
|
||||||
|
* 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
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||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* 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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#pragma once
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#include <cstdint>
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namespace Murata_SCH16T
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{
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static constexpr uint32_t SPI_SPEED = 5 * 1000 * 1000; // 5 MHz SPI serial interface
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static constexpr uint32_t SAMPLE_INTERVAL_US = 678; // 1500 Hz -- decimation factor 8, F_PRIM/16, 1.475 kHz
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static constexpr uint16_t EOI = (1 << 1); // End of Initialization
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static constexpr uint16_t EN_SENSOR = (1 << 0); // Enable RATE and ACC measurement
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static constexpr uint16_t DRY_DRV_EN = (1 << 5); // Enables Data ready function
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static constexpr uint16_t FILTER_BYPASS = (0b111); // Bypass filter
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static constexpr uint16_t RATE_300DPS_1475HZ = 0b0'001'001'011'011'011; // Gyro XYZ range 300 deg/s @ 1475Hz
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static constexpr uint16_t ACC12_8G_1475HZ = 0b0'001'001'011'011'011; // Acc XYZ range 8 G and 1475 update rate
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static constexpr uint16_t ACC3_26G = (0b000 << 0);
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static constexpr uint16_t SPI_SOFT_RESET = (0b1010);
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// Data registers
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#define RATE_X1 0x01 // 20 bit
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#define RATE_Y1 0x02 // 20 bit
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#define RATE_Z1 0x03 // 20 bit
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#define ACC_X1 0x04 // 20 bit
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#define ACC_Y1 0x05 // 20 bit
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#define ACC_Z1 0x06 // 20 bit
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#define ACC_X3 0x07 // 20 bit
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#define ACC_Y3 0x08 // 20 bit
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#define ACC_Z3 0x09 // 20 bit
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#define RATE_X2 0x0A // 20 bit
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#define RATE_Y2 0x0B // 20 bit
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#define RATE_Z2 0x0C // 20 bit
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#define ACC_X2 0x0D // 20 bit
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#define ACC_Y2 0x0E // 20 bit
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#define ACC_Z2 0x0F // 20 bit
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#define TEMP 0x10 // 16 bit
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// Status registers
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#define STAT_SUM 0x14 // 16 bit
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#define STAT_SUM_SAT 0x15 // 16 bit
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#define STAT_COM 0x16 // 16 bit
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#define STAT_RATE_COM 0x17 // 16 bit
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#define STAT_RATE_X 0x18 // 16 bit
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#define STAT_RATE_Y 0x19 // 16 bit
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#define STAT_RATE_Z 0x1A // 16 bit
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#define STAT_ACC_X 0x1B // 16 bit
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#define STAT_ACC_Y 0x1C // 16 bit
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#define STAT_ACC_Z 0x1D // 16 bit
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// Control registers
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#define CTRL_FILT_RATE 0x25 // 9 bit
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#define CTRL_FILT_ACC12 0x26 // 9 bit
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#define CTRL_FILT_ACC3 0x27 // 9 bit
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#define CTRL_RATE 0x28 // 15 bit
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#define CTRL_ACC12 0x29 // 15 bit
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#define CTRL_ACC3 0x2A // 3 bit
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#define CTRL_USER_IF 0x33 // 16 bit
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#define CTRL_ST 0x34 // 13 bit
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#define CTRL_MODE 0x35 // 4 bit
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#define CTRL_RESET 0x36 // 4 bit
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// Misc registers
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#define ASIC_ID 0x3B // 12 bit
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#define COMP_ID 0x3C // 16 bit
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#define SN_ID1 0x3D // 16 bit
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#define SN_ID2 0x3E // 16 bit
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#define SN_ID3 0x3F // 16 bit
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// STAT_SUM_SAT bits
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#define STAT_SUM_SAT_RSVD (1 << 15)
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#define STAT_SUM_SAT_RATE_X1 (1 << 14)
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#define STAT_SUM_SAT_RATE_Y1 (1 << 13)
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#define STAT_SUM_SAT_RATE_Z1 (1 << 12)
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#define STAT_SUM_SAT_ACC_X1 (1 << 11)
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#define STAT_SUM_SAT_ACC_Y1 (1 << 10)
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#define STAT_SUM_SAT_ACC_Z1 (1 << 9)
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#define STAT_SUM_SAT_ACC_X3 (1 << 8)
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#define STAT_SUM_SAT_ACC_Y3 (1 << 7)
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#define STAT_SUM_SAT_ACC_Z3 (1 << 6)
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#define STAT_SUM_SAT_RATE_X2 (1 << 5)
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#define STAT_SUM_SAT_RATE_Y2 (1 << 4)
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#define STAT_SUM_SAT_RATE_Z2 (1 << 3)
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#define STAT_SUM_SAT_ACC_X2 (1 << 2)
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#define STAT_SUM_SAT_ACC_Y2 (1 << 1)
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#define STAT_SUM_SAT_ACC_Z2 (1 << 0)
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|
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|
} // namespace Murata_SCH16T
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,149 @@
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|
/****************************************************************************
|
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|
*
|
||||||
|
* Copyright (c) 2024 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.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
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|
#pragma once
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|
|
||||||
|
#include "Murata_SCH16T_registers.hpp"
|
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|
|
||||||
|
#include <px4_platform_common/i2c_spi_buses.h>
|
||||||
|
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
|
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|
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
|
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|
|
||||||
|
using namespace Murata_SCH16T;
|
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|
|
||||||
|
class SCH16T : public device::SPI, public I2CSPIDriver<SCH16T>
|
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|
{
|
||||||
|
public:
|
||||||
|
SCH16T(const I2CSPIDriverConfig &config);
|
||||||
|
~SCH16T() override;
|
||||||
|
|
||||||
|
static void print_usage();
|
||||||
|
|
||||||
|
void RunImpl();
|
||||||
|
|
||||||
|
int init() override;
|
||||||
|
void print_status() override;
|
||||||
|
|
||||||
|
private:
|
||||||
|
struct SensorData {
|
||||||
|
int32_t acc_x;
|
||||||
|
int32_t acc_y;
|
||||||
|
int32_t acc_z;
|
||||||
|
int32_t gyro_x;
|
||||||
|
int32_t gyro_y;
|
||||||
|
int32_t gyro_z;
|
||||||
|
int32_t temp;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct SensorStatus {
|
||||||
|
uint16_t summary;
|
||||||
|
uint16_t saturation;
|
||||||
|
uint16_t common;
|
||||||
|
uint16_t rate_common;
|
||||||
|
uint16_t rate_x;
|
||||||
|
uint16_t rate_y;
|
||||||
|
uint16_t rate_z;
|
||||||
|
uint16_t acc_x;
|
||||||
|
uint16_t acc_y;
|
||||||
|
uint16_t acc_z;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct RegisterConfig {
|
||||||
|
RegisterConfig(uint16_t a, uint16_t v)
|
||||||
|
: addr(a)
|
||||||
|
, value(v)
|
||||||
|
{};
|
||||||
|
uint8_t addr;
|
||||||
|
uint16_t value;
|
||||||
|
};
|
||||||
|
|
||||||
|
int probe() override;
|
||||||
|
void exit_and_cleanup() override;
|
||||||
|
|
||||||
|
bool ValidateSensorStatus();
|
||||||
|
bool ValidateRegisterConfiguration();
|
||||||
|
void Reset();
|
||||||
|
void ResetSpi6(bool reset);
|
||||||
|
uint8_t CalculateCRC8(uint64_t frame);
|
||||||
|
|
||||||
|
bool ReadData(SensorData *data);
|
||||||
|
void ReadStatusRegisters();
|
||||||
|
|
||||||
|
void Configure();
|
||||||
|
void SoftwareReset();
|
||||||
|
|
||||||
|
void RegisterWrite(uint8_t addr, uint16_t value);
|
||||||
|
uint64_t RegisterRead(uint8_t addr);
|
||||||
|
uint64_t TransferSpiFrame(uint64_t frame);
|
||||||
|
|
||||||
|
static int DataReadyInterruptCallback(int irq, void *context, void *arg);
|
||||||
|
void DataReady();
|
||||||
|
bool DataReadyInterruptConfigure();
|
||||||
|
bool DataReadyInterruptDisable();
|
||||||
|
private:
|
||||||
|
PX4Accelerometer _px4_accel;
|
||||||
|
PX4Gyroscope _px4_gyro;
|
||||||
|
|
||||||
|
SensorStatus _sensor_status{};
|
||||||
|
|
||||||
|
int _failure_count{0};
|
||||||
|
|
||||||
|
px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
|
||||||
|
const spi_drdy_gpio_t _drdy_gpio;
|
||||||
|
bool _hardware_reset_available{false};
|
||||||
|
|
||||||
|
enum class STATE : uint8_t {
|
||||||
|
RESET_INIT,
|
||||||
|
RESET_HARD,
|
||||||
|
CONFIGURE,
|
||||||
|
LOCK_CONFIGURATION,
|
||||||
|
VALIDATE,
|
||||||
|
READ,
|
||||||
|
} _state{STATE::RESET_INIT};
|
||||||
|
|
||||||
|
RegisterConfig _registers[6] = {
|
||||||
|
RegisterConfig(CTRL_FILT_RATE, FILTER_BYPASS), // Bypass filter
|
||||||
|
RegisterConfig(CTRL_FILT_ACC12, FILTER_BYPASS), // Bypass filter
|
||||||
|
RegisterConfig(CTRL_FILT_ACC3, FILTER_BYPASS), // Bypass filter
|
||||||
|
RegisterConfig(CTRL_RATE, RATE_300DPS_1475HZ), // +/- 300 deg/s, 1600 LSB/(deg/s) -- default, Decimation 8, 1475Hz
|
||||||
|
RegisterConfig(CTRL_ACC12, ACC12_8G_1475HZ), // +/- 80 m/s^2, 3200 LSB/(m/s^2) -- default, Decimation 8, 1475Hz
|
||||||
|
RegisterConfig(CTRL_ACC3, ACC3_26G) // +/- 260 m/s^2, 1600 LSB/(m/s^2) -- default
|
||||||
|
};
|
||||||
|
|
||||||
|
perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
|
||||||
|
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
|
||||||
|
perf_counter_t _perf_crc_bad{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": CRC8 bad"))};
|
||||||
|
perf_counter_t _perf_frame_bad{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": Frame bad"))};
|
||||||
|
perf_counter_t _drdy_missed_perf{nullptr};
|
||||||
|
|
||||||
|
};
|
||||||
@@ -0,0 +1,44 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2024 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.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Murata SCH16T IMU (external SPI)
|
||||||
|
*
|
||||||
|
* @reboot_required true
|
||||||
|
* @min 0
|
||||||
|
* @max 1
|
||||||
|
* @group Sensors
|
||||||
|
* @value 0 Disabled
|
||||||
|
* @value 1 Enabled
|
||||||
|
*/
|
||||||
|
PARAM_DEFINE_INT32(SENS_EN_SCH16T, 0);
|
||||||
@@ -0,0 +1,87 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2024 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.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#include "SCH16T.hpp"
|
||||||
|
|
||||||
|
#include <px4_platform_common/module.h>
|
||||||
|
|
||||||
|
void SCH16T::print_usage()
|
||||||
|
{
|
||||||
|
PRINT_MODULE_USAGE_NAME("sch16t", "driver");
|
||||||
|
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
|
||||||
|
PRINT_MODULE_USAGE_COMMAND("start");
|
||||||
|
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
|
||||||
|
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
|
||||||
|
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||||
|
}
|
||||||
|
|
||||||
|
extern "C" int sch16t_main(int argc, char *argv[])
|
||||||
|
{
|
||||||
|
int ch;
|
||||||
|
using ThisDriver = SCH16T;
|
||||||
|
BusCLIArguments cli{false, true};
|
||||||
|
cli.default_spi_frequency = SPI_SPEED;
|
||||||
|
cli.spi_mode = SPIDEV_MODE0;
|
||||||
|
|
||||||
|
while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
|
||||||
|
switch (ch) {
|
||||||
|
case 'R':
|
||||||
|
cli.rotation = (enum Rotation)atoi(cli.optArg());
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
const char *verb = cli.optArg();
|
||||||
|
|
||||||
|
if (!verb) {
|
||||||
|
ThisDriver::print_usage();
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_SCH16T);
|
||||||
|
|
||||||
|
if (!strcmp(verb, "start")) {
|
||||||
|
return ThisDriver::module_start(cli, iterator);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!strcmp(verb, "stop")) {
|
||||||
|
return ThisDriver::module_stop(iterator);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!strcmp(verb, "status")) {
|
||||||
|
return ThisDriver::module_status(iterator);
|
||||||
|
}
|
||||||
|
|
||||||
|
ThisDriver::print_usage();
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
Reference in New Issue
Block a user