mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-25 00:31:36 +08:00
add new invensense/mpu6500 driver for airmind mindpx
This commit is contained in:
Daniel Agar
@@ -27,6 +27,7 @@ px4_add_board(
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#imu # all available imu drivers
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imu/l3gd20
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imu/lsm303d
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imu/invensense/mpu6500
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imu/mpu6000
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imu/mpu9250
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irlock
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@@ -13,6 +13,7 @@ qmc5883 -X start
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hmc5883 -T -I -R 12 start
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qmc5883 -I -R 12 start
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# mpu6500 -s R 2 start # new driver in testing
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mpu6000 -s -R 8 start
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mpu9250 -s -R 8 start
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lsm303d -s -R 10 start
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@@ -46,7 +46,8 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
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initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortB, GPIO::Pin2}, SPI::DRDY{GPIO::PortE, GPIO::Pin14}),
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initSPIDevice(DRV_ACC_DEVTYPE_LSM303D, SPI::CS{GPIO::PortD, GPIO::Pin11}),
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initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin15}),
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initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin10}),
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initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortC, GPIO::Pin0}),
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initSPIDevice(DRV_IMU_DEVTYPE_MPU6500, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortC, GPIO::Pin0}),
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}),
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};
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@@ -82,9 +82,9 @@
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#define DRV_RNG_DEVTYPE_MB12XX 0x31
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#define DRV_RNG_DEVTYPE_LL40LS 0x32
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#define DRV_ACC_DEVTYPE_MPU6050 0x33
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#define DRV_ACC_DEVTYPE_MPU6500 0x34
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#define DRV_ACC_DEVTYPE_MPU6500_LEGACY 0x34
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#define DRV_GYR_DEVTYPE_MPU6050 0x35
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#define DRV_GYR_DEVTYPE_MPU6500 0x36
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#define DRV_IMU_DEVTYPE_MPU6500 0x36
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#define DRV_ACC_DEVTYPE_ICM20602_LEGACY 0x37
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#define DRV_IMU_DEVTYPE_ICM20602 0x38
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#define DRV_ACC_DEVTYPE_ICM20608_LEGACY 0x39
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@@ -0,0 +1,46 @@
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############################################################################
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#
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# Copyright (c) 2020 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__invensense__mpu6500
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MAIN mpu6500
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COMPILE_FLAGS
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SRCS
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MPU6500.cpp
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MPU6500.hpp
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mpu6500_main.cpp
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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 +1,193 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 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 InvenSense_MPU6500_registers.hpp
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*
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* Invensense MPU6500 registers.
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*
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*/
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#pragma once
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#include <cstdint>
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// TODO: move to a central header
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static constexpr uint8_t Bit0 = (1 << 0);
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static constexpr uint8_t Bit1 = (1 << 1);
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static constexpr uint8_t Bit2 = (1 << 2);
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static constexpr uint8_t Bit3 = (1 << 3);
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static constexpr uint8_t Bit4 = (1 << 4);
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static constexpr uint8_t Bit5 = (1 << 5);
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static constexpr uint8_t Bit6 = (1 << 6);
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static constexpr uint8_t Bit7 = (1 << 7);
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namespace InvenSense_MPU6500
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{
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static constexpr uint32_t SPI_SPEED = 1 * 1000 * 1000;
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static constexpr uint32_t SPI_SPEED_SENSOR = 10 * 1000 * 1000; // 20MHz for reading sensor and interrupt registers
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static constexpr uint8_t DIR_READ = 0x80;
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static constexpr uint8_t WHOAMI = 0x70;
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static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C
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static constexpr float ROOM_TEMPERATURE_OFFSET = 25.f; // C
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enum class Register : uint8_t {
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CONFIG = 0x1A,
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GYRO_CONFIG = 0x1B,
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ACCEL_CONFIG = 0x1C,
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ACCEL_CONFIG2 = 0x1D,
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FIFO_EN = 0x23,
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INT_PIN_CFG = 0x37,
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INT_ENABLE = 0x38,
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TEMP_OUT_H = 0x41,
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TEMP_OUT_L = 0x42,
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SIGNAL_PATH_RESET = 0x68,
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USER_CTRL = 0x6A,
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PWR_MGMT_1 = 0x6B,
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FIFO_COUNTH = 0x72,
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FIFO_COUNTL = 0x73,
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FIFO_R_W = 0x74,
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WHO_AM_I = 0x75,
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};
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// CONFIG
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enum CONFIG_BIT : uint8_t {
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FIFO_MODE = Bit6, // when the FIFO is full, additional writes will not be written to FIFO
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DLPF_CFG_BYPASS_DLPF_8KHZ = 7, // Rate 8 kHz [2:0]
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};
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// GYRO_CONFIG
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enum GYRO_CONFIG_BIT : uint8_t {
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// GYRO_FS_SEL [4:3]
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GYRO_FS_SEL_250_DPS = 0, // 0b00000
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GYRO_FS_SEL_500_DPS = Bit3, // 0b01000
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GYRO_FS_SEL_1000_DPS = Bit4, // 0b10000
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GYRO_FS_SEL_2000_DPS = Bit4 | Bit3, // 0b11000
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// FCHOICE_B [1:0]
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FCHOICE_B_8KHZ_BYPASS_DLPF = Bit1 | Bit0, // 0b00 - 3-dB BW: 3281 Noise BW (Hz): 3451.0 8 kHz
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};
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// ACCEL_CONFIG
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enum ACCEL_CONFIG_BIT : uint8_t {
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// ACCEL_FS_SEL [4:3]
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ACCEL_FS_SEL_2G = 0, // 0b00000
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ACCEL_FS_SEL_4G = Bit3, // 0b01000
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ACCEL_FS_SEL_8G = Bit4, // 0b10000
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ACCEL_FS_SEL_16G = Bit4 | Bit3, // 0b11000
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};
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// ACCEL_CONFIG2
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enum ACCEL_CONFIG2_BIT : uint8_t {
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ACCEL_FCHOICE_B_BYPASS_DLPF = Bit3,
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};
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// FIFO_EN
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enum FIFO_EN_BIT : uint8_t {
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TEMP_OUT = Bit7,
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GYRO_XOUT = Bit6,
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GYRO_YOUT = Bit5,
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GYRO_ZOUT = Bit4,
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ACCEL = Bit3,
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};
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// INT_PIN_CFG
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enum INT_PIN_CFG_BIT : uint8_t {
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ACTL = Bit7,
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};
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// INT_ENABLE
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enum INT_ENABLE_BIT : uint8_t {
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RAW_RDY_EN = Bit0
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};
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// SIGNAL_PATH_RESET
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enum SIGNAL_PATH_RESET_BIT : uint8_t {
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GYRO_RESET = Bit2,
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ACCEL_RESET = Bit1,
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TEMP_RESET = Bit0,
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};
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// USER_CTRL
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enum USER_CTRL_BIT : uint8_t {
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FIFO_EN = Bit6,
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I2C_MST_EN = Bit5,
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I2C_IF_DIS = Bit4,
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FIFO_RST = Bit2,
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I2C_MST_RST = Bit1,
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SIG_COND_RST = Bit0,
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};
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// PWR_MGMT_1
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enum PWR_MGMT_1_BIT : uint8_t {
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H_RESET = Bit7,
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SLEEP = Bit6,
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CLKSEL_2 = Bit2,
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CLKSEL_1 = Bit1,
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CLKSEL_0 = Bit0,
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};
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namespace FIFO
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{
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static constexpr size_t SIZE = 512;
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// FIFO_DATA layout when FIFO_EN has GYRO_{X, Y, Z}OUT and ACCEL set
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struct DATA {
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uint8_t ACCEL_XOUT_H;
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uint8_t ACCEL_XOUT_L;
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uint8_t ACCEL_YOUT_H;
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uint8_t ACCEL_YOUT_L;
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uint8_t ACCEL_ZOUT_H;
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uint8_t ACCEL_ZOUT_L;
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uint8_t GYRO_XOUT_H;
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uint8_t GYRO_XOUT_L;
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uint8_t GYRO_YOUT_H;
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uint8_t GYRO_YOUT_L;
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uint8_t GYRO_ZOUT_H;
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uint8_t GYRO_ZOUT_L;
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};
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}
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} // namespace InvenSense_MPU6500
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,178 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 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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****************************************************************************/
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/**
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* @file MPU6500.hpp
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*
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* Driver for the Invensense MPU6500 connected via SPI.
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*
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*/
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#pragma once
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#include "InvenSense_MPU6500_registers.hpp"
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#include <drivers/drv_hrt.h>
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#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
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#include <lib/drivers/device/spi.h>
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#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
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#include <lib/ecl/geo/geo.h>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/atomic.h>
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#include <px4_platform_common/i2c_spi_buses.h>
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using namespace InvenSense_MPU6500;
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class MPU6500 : public device::SPI, public I2CSPIDriver<MPU6500>
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{
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public:
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MPU6500(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
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spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
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~MPU6500() override;
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static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
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int runtime_instance);
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static void print_usage();
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void RunImpl();
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int init() override;
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void print_status() override;
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void Start();
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bool Reset();
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protected:
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void custom_method(const BusCLIArguments &cli) override;
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void exit_and_cleanup() override;
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private:
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// Sensor Configuration
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static constexpr float FIFO_SAMPLE_DT{125.f};
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static constexpr uint32_t SAMPLES_PER_TRANSFER{2}; // ensure at least 1 new accel sample per transfer
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static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 8 kHz gyro
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static constexpr float ACCEL_RATE{GYRO_RATE / 2.f}; // 4 kHz accel
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static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
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// Transfer data
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struct FIFOTransferBuffer {
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uint8_t cmd{static_cast<uint8_t>(Register::FIFO_R_W) | DIR_READ};
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FIFO::DATA f[FIFO_MAX_SAMPLES] {};
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};
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// ensure no struct padding
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static_assert(sizeof(FIFOTransferBuffer) == (1 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
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struct register_config_t {
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Register reg;
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uint8_t set_bits{0};
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uint8_t clear_bits{0};
|
||||
};
|
||||
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int probe() override;
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bool Configure();
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void ConfigureAccel();
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void ConfigureGyro();
|
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void ConfigureSampleRate(int sample_rate);
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|
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static int DataReadyInterruptCallback(int irq, void *context, void *arg);
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void DataReady();
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bool DataReadyInterruptConfigure();
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bool DataReadyInterruptDisable();
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|
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bool RegisterCheck(const register_config_t ®_cfg, bool notify = false);
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|
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uint8_t RegisterRead(Register reg);
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void RegisterWrite(Register reg, uint8_t value);
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void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
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void RegisterSetBits(Register reg, uint8_t setbits) { RegisterSetAndClearBits(reg, setbits, 0); }
|
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void RegisterClearBits(Register reg, uint8_t clearbits) { RegisterSetAndClearBits(reg, 0, clearbits); }
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uint16_t FIFOReadCount();
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bool FIFORead(const hrt_abstime ×tamp_sample, uint16_t samples);
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void FIFOReset();
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bool ProcessAccel(const hrt_abstime ×tamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples);
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void ProcessGyro(const hrt_abstime ×tamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples);
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void UpdateTemperature();
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const spi_drdy_gpio_t _drdy_gpio;
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PX4Accelerometer _px4_accel;
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PX4Gyroscope _px4_gyro;
|
||||
|
||||
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
|
||||
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
|
||||
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
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||||
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
|
||||
perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")};
|
||||
perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")};
|
||||
perf_counter_t _drdy_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": DRDY interval")};
|
||||
|
||||
hrt_abstime _reset_timestamp{0};
|
||||
hrt_abstime _last_config_check_timestamp{0};
|
||||
hrt_abstime _fifo_watermark_interrupt_timestamp{0};
|
||||
hrt_abstime _temperature_update_timestamp{0};
|
||||
|
||||
px4::atomic<uint8_t> _data_ready_count{0};
|
||||
px4::atomic<uint8_t> _fifo_read_samples{0};
|
||||
bool _data_ready_interrupt_enabled{false};
|
||||
|
||||
enum class STATE : uint8_t {
|
||||
RESET,
|
||||
WAIT_FOR_RESET,
|
||||
CONFIGURE,
|
||||
FIFO_READ,
|
||||
};
|
||||
|
||||
STATE _state{STATE::RESET};
|
||||
|
||||
uint16_t _fifo_empty_interval_us{1000}; // default 1000 us / 1000 Hz transfer interval
|
||||
uint8_t _fifo_gyro_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
|
||||
uint8_t _fifo_accel_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / ACCEL_RATE))};
|
||||
|
||||
uint8_t _checked_register{0};
|
||||
static constexpr uint8_t size_register_cfg{9};
|
||||
register_config_t _register_cfg[size_register_cfg] {
|
||||
// Register | Set bits, Clear bits
|
||||
{ Register::PWR_MGMT_1, PWR_MGMT_1_BIT::CLKSEL_0, PWR_MGMT_1_BIT::H_RESET | PWR_MGMT_1_BIT::SLEEP },
|
||||
{ Register::ACCEL_CONFIG, ACCEL_CONFIG_BIT::ACCEL_FS_SEL_16G, 0 },
|
||||
{ Register::ACCEL_CONFIG2, ACCEL_CONFIG2_BIT::ACCEL_FCHOICE_B_BYPASS_DLPF, 0 },
|
||||
{ Register::GYRO_CONFIG, GYRO_CONFIG_BIT::GYRO_FS_SEL_2000_DPS, GYRO_CONFIG_BIT::FCHOICE_B_8KHZ_BYPASS_DLPF },
|
||||
{ Register::CONFIG, CONFIG_BIT::FIFO_MODE | CONFIG_BIT::DLPF_CFG_BYPASS_DLPF_8KHZ, 0 },
|
||||
{ Register::USER_CTRL, USER_CTRL_BIT::FIFO_EN, 0 },
|
||||
{ Register::FIFO_EN, FIFO_EN_BIT::GYRO_XOUT | FIFO_EN_BIT::GYRO_YOUT | FIFO_EN_BIT::GYRO_ZOUT | FIFO_EN_BIT::ACCEL, 0 },
|
||||
{ Register::INT_PIN_CFG, INT_PIN_CFG_BIT::ACTL, 0 },
|
||||
{ Register::INT_ENABLE, INT_ENABLE_BIT::RAW_RDY_EN, 0 }
|
||||
};
|
||||
};
|
||||
@@ -0,0 +1,117 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 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 "MPU6500.hpp"
|
||||
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
|
||||
void
|
||||
MPU6500::print_usage()
|
||||
{
|
||||
PRINT_MODULE_USAGE_NAME("mpu9520", "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_COMMAND("reset");
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
}
|
||||
|
||||
I2CSPIDriverBase *MPU6500::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
|
||||
int runtime_instance)
|
||||
{
|
||||
MPU6500 *instance = new MPU6500(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
|
||||
cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
|
||||
|
||||
if (!instance) {
|
||||
PX4_ERR("alloc failed");
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
if (OK != instance->init()) {
|
||||
delete instance;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
return instance;
|
||||
}
|
||||
|
||||
void MPU6500::custom_method(const BusCLIArguments &cli)
|
||||
{
|
||||
Reset();
|
||||
}
|
||||
|
||||
extern "C" int mpu6500_main(int argc, char *argv[])
|
||||
{
|
||||
int ch;
|
||||
using ThisDriver = MPU6500;
|
||||
BusCLIArguments cli{false, true};
|
||||
cli.default_spi_frequency = SPI_SPEED;
|
||||
|
||||
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_MPU6500);
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "reset")) {
|
||||
return ThisDriver::module_custom_method(cli, iterator);
|
||||
}
|
||||
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
@@ -118,6 +118,10 @@ bool param_modify_on_import(const char *name, bson_type_t type, void *value)
|
||||
device_id.devid_s.devtype = DRV_IMU_DEVTYPE_MPU6000;
|
||||
}
|
||||
|
||||
if (device_id.devid_s.devtype == DRV_ACC_DEVTYPE_MPU6500_LEGACY) {
|
||||
device_id.devid_s.devtype = DRV_IMU_DEVTYPE_MPU6500;
|
||||
}
|
||||
|
||||
if (device_id.devid_s.devtype == DRV_ACC_DEVTYPE_MPU9250_LEGACY) {
|
||||
device_id.devid_s.devtype = DRV_IMU_DEVTYPE_MPU9250;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user