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Diffstat (limited to 'src/drivers/mpu6000/mpu6000.cpp')
-rw-r--r--src/drivers/mpu6000/mpu6000.cpp119
1 files changed, 59 insertions, 60 deletions
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index 2be758244..e322e8b3a 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2012-2015 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
@@ -175,6 +175,12 @@
#define MPU6000_ONE_G 9.80665f
+#ifdef PX4_SPI_BUS_EXT
+#define EXTERNAL_BUS PX4_SPI_BUS_EXT
+#else
+#define EXTERNAL_BUS 0
+#endif
+
/*
the MPU6000 can only handle high SPI bus speeds on the sensor and
interrupt status registers. All other registers have a maximum 1MHz
@@ -234,7 +240,7 @@ private:
float _accel_range_scale;
float _accel_range_m_s2;
orb_advert_t _accel_topic;
- orb_id_t _accel_orb_id;
+ int _accel_orb_class_instance;
int _accel_class_instance;
RingBuffer *_gyro_reports;
@@ -361,6 +367,13 @@ private:
uint16_t swap16(uint16_t val) { return (val >> 8) | (val << 8); }
/**
+ * Get the internal / external state
+ *
+ * @return true if the sensor is not on the main MCU board
+ */
+ bool is_external() { return (_bus == EXTERNAL_BUS); }
+
+ /**
* Measurement self test
*
* @return 0 on success, 1 on failure
@@ -433,7 +446,7 @@ const uint8_t MPU6000::_checked_registers[MPU6000_NUM_CHECKED_REGISTERS] = { MPU
MPUREG_INT_ENABLE,
MPUREG_INT_PIN_CFG };
-
+
/**
* Helper class implementing the gyro driver node.
@@ -457,7 +470,7 @@ protected:
private:
MPU6000 *_parent;
orb_advert_t _gyro_topic;
- orb_id_t _gyro_orb_id;
+ int _gyro_orb_class_instance;
int _gyro_class_instance;
/* do not allow to copy this class due to pointer data members */
@@ -479,7 +492,7 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
_accel_range_scale(0.0f),
_accel_range_m_s2(0.0f),
_accel_topic(-1),
- _accel_orb_id(nullptr),
+ _accel_orb_class_instance(-1),
_accel_class_instance(-1),
_gyro_reports(nullptr),
_gyro_scale{},
@@ -510,6 +523,12 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
// disable debug() calls
_debug_enabled = false;
+ _device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU6000;
+
+ /* Prime _gyro with parents devid. */
+ _gyro->_device_id.devid = _device_id.devid;
+ _gyro->_device_id.devid_s.devtype = DRV_GYR_DEVTYPE_MPU6000;
+
// default accel scale factors
_accel_scale.x_offset = 0;
_accel_scale.x_scale = 1.0f;
@@ -596,6 +615,7 @@ MPU6000::init()
_gyro_scale.z_offset = 0;
_gyro_scale.z_scale = 1.0f;
+
/* do CDev init for the gyro device node, keep it optional */
ret = _gyro->init();
/* if probe/setup failed, bail now */
@@ -613,22 +633,8 @@ MPU6000::init()
_accel_reports->get(&arp);
/* measurement will have generated a report, publish */
- switch (_accel_class_instance) {
- case CLASS_DEVICE_PRIMARY:
- _accel_orb_id = ORB_ID(sensor_accel0);
- break;
-
- case CLASS_DEVICE_SECONDARY:
- _accel_orb_id = ORB_ID(sensor_accel1);
- break;
-
- case CLASS_DEVICE_TERTIARY:
- _accel_orb_id = ORB_ID(sensor_accel2);
- break;
-
- }
-
- _accel_topic = orb_advertise(_accel_orb_id, &arp);
+ _accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
+ &_accel_orb_class_instance, (is_external()) ? ORB_PRIO_MAX : ORB_PRIO_HIGH);
if (_accel_topic < 0) {
warnx("ADVERT FAIL");
@@ -639,22 +645,8 @@ MPU6000::init()
struct gyro_report grp;
_gyro_reports->get(&grp);
- switch (_gyro->_gyro_class_instance) {
- case CLASS_DEVICE_PRIMARY:
- _gyro->_gyro_orb_id = ORB_ID(sensor_gyro0);
- break;
-
- case CLASS_DEVICE_SECONDARY:
- _gyro->_gyro_orb_id = ORB_ID(sensor_gyro1);
- break;
-
- case CLASS_DEVICE_TERTIARY:
- _gyro->_gyro_orb_id = ORB_ID(sensor_gyro2);
- break;
-
- }
-
- _gyro->_gyro_topic = orb_advertise(_gyro->_gyro_orb_id, &grp);
+ _gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
+ &_gyro->_gyro_orb_class_instance, (is_external()) ? ORB_PRIO_MAX : ORB_PRIO_HIGH);
if (_gyro->_gyro_topic < 0) {
warnx("ADVERT FAIL");
@@ -683,7 +675,7 @@ int MPU6000::reset()
// for it to come out of sleep
write_checked_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ);
up_udelay(1000);
-
+
// Disable I2C bus (recommended on datasheet)
write_checked_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
irqrestore(state);
@@ -741,7 +733,7 @@ int MPU6000::reset()
case MPU6000_REV_D9:
case MPU6000_REV_D10:
// default case to cope with new chip revisions, which
- // presumably won't have the accel scaling bug
+ // presumably won't have the accel scaling bug
default:
// Accel scale 8g (4096 LSB/g)
write_checked_reg(MPUREG_ACCEL_CONFIG, 2 << 3);
@@ -819,7 +811,7 @@ MPU6000::_set_dlpf_filter(uint16_t frequency_hz)
{
uint8_t filter;
- /*
+ /*
choose next highest filter frequency available
*/
if (frequency_hz == 0) {
@@ -921,7 +913,7 @@ MPU6000::gyro_self_test()
if (self_test())
return 1;
- /*
+ /*
* Maximum deviation of 20 degrees, according to
* http://www.invensense.com/mems/gyro/documents/PS-MPU-6000A-00v3.4.pdf
* Section 6.1, initial ZRO tolerance
@@ -982,7 +974,7 @@ MPU6000::factory_self_test()
// gyro self test has to be done at 250DPS
write_reg(MPUREG_GYRO_CONFIG, BITS_FS_250DPS);
- struct MPUReport mpu_report;
+ struct MPUReport mpu_report;
float accel_baseline[3];
float gyro_baseline[3];
float accel[3];
@@ -1012,10 +1004,10 @@ MPU6000::factory_self_test()
}
#if 1
- write_reg(MPUREG_GYRO_CONFIG,
- BITS_FS_250DPS |
- BITS_GYRO_ST_X |
- BITS_GYRO_ST_Y |
+ write_reg(MPUREG_GYRO_CONFIG,
+ BITS_FS_250DPS |
+ BITS_GYRO_ST_X |
+ BITS_GYRO_ST_Y |
BITS_GYRO_ST_Z);
// accel 8g, self-test enabled all axes
@@ -1085,7 +1077,7 @@ MPU6000::factory_self_test()
::printf("FAIL\n");
ret = -EIO;
}
- }
+ }
for (uint8_t i=0; i<3; i++) {
float diff = gyro[i]-gyro_baseline[i];
float err = 100*(diff - gyro_ftrim[i]) / gyro_ftrim[i];
@@ -1100,7 +1092,7 @@ MPU6000::factory_self_test()
::printf("FAIL\n");
ret = -EIO;
}
- }
+ }
write_reg(MPUREG_GYRO_CONFIG, saved_gyro_config);
write_reg(MPUREG_ACCEL_CONFIG, saved_accel_config);
@@ -1247,14 +1239,14 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100))
return -EINVAL;
-
+
irqstate_t flags = irqsave();
if (!_accel_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
-
+
return OK;
}
@@ -1536,13 +1528,13 @@ MPU6000::check_registers(void)
the data registers.
*/
uint8_t v;
- if ((v=read_reg(_checked_registers[_checked_next], MPU6000_HIGH_BUS_SPEED)) !=
+ if ((v=read_reg(_checked_registers[_checked_next], MPU6000_HIGH_BUS_SPEED)) !=
_checked_values[_checked_next]) {
/*
if we get the wrong value then we know the SPI bus
or sensor is very sick. We set _register_wait to 20
and wait until we have seen 20 good values in a row
- before we consider the sensor to be OK again.
+ before we consider the sensor to be OK again.
*/
perf_count(_bad_registers);
@@ -1655,7 +1647,7 @@ MPU6000::measure()
_register_wait--;
return;
}
-
+
/*
* Swap axes and negate y
@@ -1716,7 +1708,7 @@ MPU6000::measure()
float x_in_new = ((report.accel_x * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
float y_in_new = ((report.accel_y * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
float z_in_new = ((report.accel_z * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
-
+
arb.x = _accel_filter_x.apply(x_in_new);
arb.y = _accel_filter_y.apply(y_in_new);
arb.z = _accel_filter_z.apply(z_in_new);
@@ -1737,7 +1729,7 @@ MPU6000::measure()
float x_gyro_in_new = ((report.gyro_x * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
float y_gyro_in_new = ((report.gyro_y * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
float z_gyro_in_new = ((report.gyro_z * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
-
+
grb.x = _gyro_filter_x.apply(x_gyro_in_new);
grb.y = _gyro_filter_y.apply(y_gyro_in_new);
grb.z = _gyro_filter_z.apply(z_gyro_in_new);
@@ -1763,12 +1755,12 @@ MPU6000::measure()
perf_begin(_controller_latency_perf);
perf_begin(_system_latency_perf);
/* publish it */
- orb_publish(_accel_orb_id, _accel_topic, &arb);
+ orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
}
if (!(_pub_blocked)) {
/* publish it */
- orb_publish(_gyro->_gyro_orb_id, _gyro->_gyro_topic, &grb);
+ orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
}
/* stop measuring */
@@ -1791,7 +1783,7 @@ MPU6000::print_info()
for (uint8_t i=0; i<MPU6000_NUM_CHECKED_REGISTERS; i++) {
uint8_t v = read_reg(_checked_registers[i], MPU6000_HIGH_BUS_SPEED);
if (v != _checked_values[i]) {
- ::printf("reg %02x:%02x should be %02x\n",
+ ::printf("reg %02x:%02x should be %02x\n",
(unsigned)_checked_registers[i],
(unsigned)v,
(unsigned)_checked_values[i]);
@@ -1818,7 +1810,7 @@ MPU6000_gyro::MPU6000_gyro(MPU6000 *parent, const char *path) :
CDev("MPU6000_gyro", path),
_parent(parent),
_gyro_topic(-1),
- _gyro_orb_id(nullptr),
+ _gyro_orb_class_instance(-1),
_gyro_class_instance(-1)
{
}
@@ -1863,7 +1855,14 @@ MPU6000_gyro::read(struct file *filp, char *buffer, size_t buflen)
int
MPU6000_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
{
- return _parent->gyro_ioctl(filp, cmd, arg);
+
+ switch (cmd) {
+ case DEVIOCGDEVICEID:
+ return (int)CDev::ioctl(filp, cmd, arg);
+ break;
+ default:
+ return _parent->gyro_ioctl(filp, cmd, arg);
+ }
}
/**
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-02 12:20:49 +0000