diff options
Diffstat (limited to 'src/drivers/mpu6000/mpu6000.cpp')
-rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp | 178 |
1 files changed, 135 insertions, 43 deletions
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 70359110e..bbc595af4 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -75,6 +75,9 @@ #define DIR_READ 0x80 #define DIR_WRITE 0x00 +#define MPU_DEVICE_PATH_ACCEL "/dev/mpu6000_accel" +#define MPU_DEVICE_PATH_GYRO "/dev/mpu6000_gyro" + // MPU 6000 registers #define MPUREG_WHOAMI 0x75 #define MPUREG_SMPLRT_DIV 0x19 @@ -161,6 +164,14 @@ #define MPU6000_ONE_G 9.80665f +/* + the MPU6000 can only handle high SPI bus speeds on the sensor and + interrupt status registers. All other registers have a maximum 1MHz + SPI speed + */ +#define MPU6000_LOW_BUS_SPEED 1000*1000 +#define MPU6000_HIGH_BUS_SPEED 11*1000*1000 /* will be rounded to 10.4 MHz, within margins for MPU6K */ + class MPU6000_gyro; class MPU6000 : public device::SPI @@ -200,17 +211,19 @@ private: float _accel_range_scale; float _accel_range_m_s2; orb_advert_t _accel_topic; + int _accel_class_instance; RingBuffer *_gyro_reports; struct gyro_scale _gyro_scale; float _gyro_range_scale; float _gyro_range_rad_s; - orb_advert_t _gyro_topic; - unsigned _reads; unsigned _sample_rate; + perf_counter_t _accel_reads; + perf_counter_t _gyro_reads; perf_counter_t _sample_perf; + perf_counter_t _bad_transfers; math::LowPassFilter2p _accel_filter_x; math::LowPassFilter2p _accel_filter_y; @@ -338,12 +351,17 @@ public: 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 MPU6000; void parent_poll_notify(); + private: MPU6000 *_parent; + orb_advert_t _gyro_topic; + int _gyro_class_instance; }; @@ -351,7 +369,7 @@ private: extern "C" { __EXPORT int mpu6000_main(int argc, char *argv[]); } MPU6000::MPU6000(int bus, spi_dev_e device) : - SPI("MPU6000", ACCEL_DEVICE_PATH, bus, device, SPIDEV_MODE3, 10000000), + SPI("MPU6000", MPU_DEVICE_PATH_ACCEL, bus, device, SPIDEV_MODE3, MPU6000_LOW_BUS_SPEED), _gyro(new MPU6000_gyro(this)), _product(0), _call_interval(0), @@ -359,13 +377,15 @@ MPU6000::MPU6000(int bus, spi_dev_e device) : _accel_range_scale(0.0f), _accel_range_m_s2(0.0f), _accel_topic(-1), + _accel_class_instance(-1), _gyro_reports(nullptr), _gyro_range_scale(0.0f), _gyro_range_rad_s(0.0f), - _gyro_topic(-1), - _reads(0), _sample_rate(1000), + _accel_reads(perf_alloc(PC_COUNT, "mpu6000_accel_read")), + _gyro_reads(perf_alloc(PC_COUNT, "mpu6000_gyro_read")), _sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")), + _bad_transfers(perf_alloc(PC_COUNT, "mpu6000_bad_transfers")), _accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_y(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_z(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), @@ -409,8 +429,14 @@ MPU6000::~MPU6000() if (_gyro_reports != nullptr) delete _gyro_reports; + if (_accel_class_instance != -1) + unregister_class_devname(ACCEL_DEVICE_PATH, _accel_class_instance); + /* delete the perf counter */ perf_free(_sample_perf); + perf_free(_accel_reads); + perf_free(_gyro_reads); + perf_free(_bad_transfers); } int @@ -455,24 +481,23 @@ MPU6000::init() _gyro_scale.z_scale = 1.0f; /* do CDev init for the gyro device node, keep it optional */ - gyro_ret = _gyro->init(); + ret = _gyro->init(); + /* if probe/setup failed, bail now */ + if (ret != OK) { + debug("gyro init failed"); + return ret; + } /* fetch an initial set of measurements for advertisement */ measure(); - if (gyro_ret != OK) { - _gyro_topic = -1; - } else { - gyro_report gr; - _gyro_reports->get(&gr); - - _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &gr); - } - - /* advertise accel topic */ - accel_report ar; - _accel_reports->get(&ar); - _accel_topic = orb_advertise(ORB_ID(sensor_accel), &ar); + _accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH); + if (_accel_class_instance == CLASS_DEVICE_PRIMARY) { + /* advertise accel topic */ + accel_report ar; + _accel_reports->get(&ar); + _accel_topic = orb_advertise(ORB_ID(sensor_accel), &ar); + } out: return ret; @@ -480,17 +505,26 @@ out: void MPU6000::reset() { + // if the mpu6000 is initialised after the l3gd20 and lsm303d + // then if we don't do an irqsave/irqrestore here the mpu6000 + // frequenctly comes up in a bad state where all transfers + // come as zero + irqstate_t state; + state = irqsave(); - // Chip reset write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET); up_udelay(10000); - // Wake up device and select GyroZ clock (better performance) + // Wake up device and select GyroZ clock. Note that the + // MPU6000 starts up in sleep mode, and it can take some time + // for it to come out of sleep write_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ); up_udelay(1000); // Disable I2C bus (recommended on datasheet) write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS); + irqrestore(state); + up_udelay(1000); // SAMPLE RATE @@ -652,6 +686,8 @@ MPU6000::read(struct file *filp, char *buffer, size_t buflen) if (_accel_reports->empty()) return -EAGAIN; + perf_count(_accel_reads); + /* copy reports out of our buffer to the caller */ accel_report *arp = reinterpret_cast<accel_report *>(buffer); int transferred = 0; @@ -669,12 +705,12 @@ MPU6000::read(struct file *filp, char *buffer, size_t buflen) int MPU6000::self_test() { - if (_reads == 0) { + if (perf_event_count(_sample_perf) == 0) { measure(); } /* return 0 on success, 1 else */ - return (_reads > 0) ? 0 : 1; + return (perf_event_count(_sample_perf) > 0) ? 0 : 1; } int @@ -746,6 +782,8 @@ MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen) if (_gyro_reports->empty()) return -EAGAIN; + perf_count(_gyro_reads); + /* copy reports out of our buffer to the caller */ gyro_report *grp = reinterpret_cast<gyro_report *>(buffer); int transferred = 0; @@ -987,9 +1025,10 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) uint8_t MPU6000::read_reg(unsigned reg) { - uint8_t cmd[2]; + uint8_t cmd[2] = { (uint8_t)(reg | DIR_READ), 0}; - cmd[0] = reg | DIR_READ; + // general register transfer at low clock speed + set_frequency(MPU6000_LOW_BUS_SPEED); transfer(cmd, cmd, sizeof(cmd)); @@ -999,9 +1038,10 @@ MPU6000::read_reg(unsigned reg) uint16_t MPU6000::read_reg16(unsigned reg) { - uint8_t cmd[3]; + uint8_t cmd[3] = { (uint8_t)(reg | DIR_READ), 0, 0 }; - cmd[0] = reg | DIR_READ; + // general register transfer at low clock speed + set_frequency(MPU6000_LOW_BUS_SPEED); transfer(cmd, cmd, sizeof(cmd)); @@ -1016,6 +1056,9 @@ MPU6000::write_reg(unsigned reg, uint8_t value) cmd[0] = reg | DIR_WRITE; cmd[1] = value; + // general register transfer at low clock speed + set_frequency(MPU6000_LOW_BUS_SPEED); + transfer(cmd, nullptr, sizeof(cmd)); } @@ -1139,12 +1182,13 @@ MPU6000::measure() * Fetch the full set of measurements from the MPU6000 in one pass. */ mpu_report.cmd = DIR_READ | MPUREG_INT_STATUS; + + // sensor transfer at high clock speed + set_frequency(MPU6000_HIGH_BUS_SPEED); + if (OK != transfer((uint8_t *)&mpu_report, ((uint8_t *)&mpu_report), sizeof(mpu_report))) return; - /* count measurement */ - _reads++; - /* * Convert from big to little endian */ @@ -1159,6 +1203,20 @@ MPU6000::measure() report.gyro_y = int16_t_from_bytes(mpu_report.gyro_y); report.gyro_z = int16_t_from_bytes(mpu_report.gyro_z); + if (report.accel_x == 0 && + report.accel_y == 0 && + report.accel_z == 0 && + report.temp == 0 && + report.gyro_x == 0 && + report.gyro_y == 0 && + report.gyro_z == 0) { + // all zero data - probably a SPI bus error + perf_count(_bad_transfers); + perf_end(_sample_perf); + return; + } + + /* * Swap axes and negate y */ @@ -1249,10 +1307,11 @@ MPU6000::measure() poll_notify(POLLIN); _gyro->parent_poll_notify(); - /* and publish for subscribers */ - orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb); - if (_gyro_topic != -1) { - orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &grb); + if (_accel_topic != -1) { + orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb); + } + if (_gyro->_gyro_topic != -1) { + orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb); } /* stop measuring */ @@ -1263,19 +1322,48 @@ void MPU6000::print_info() { perf_print_counter(_sample_perf); - printf("reads: %u\n", _reads); + perf_print_counter(_accel_reads); + perf_print_counter(_gyro_reads); _accel_reports->print_info("accel queue"); _gyro_reports->print_info("gyro queue"); } MPU6000_gyro::MPU6000_gyro(MPU6000 *parent) : - CDev("MPU6000_gyro", GYRO_DEVICE_PATH), - _parent(parent) + CDev("MPU6000_gyro", MPU_DEVICE_PATH_GYRO), + _parent(parent), + _gyro_class_instance(-1) { } MPU6000_gyro::~MPU6000_gyro() { + if (_gyro_class_instance != -1) + unregister_class_devname(GYRO_DEVICE_PATH, _gyro_class_instance); +} + +int +MPU6000_gyro::init() +{ + int ret; + + // do base class init + ret = CDev::init(); + + /* if probe/setup failed, bail now */ + if (ret != OK) { + debug("gyro init failed"); + return ret; + } + + _gyro_class_instance = register_class_devname(GYRO_DEVICE_PATH); + if (_gyro_class_instance == CLASS_DEVICE_PRIMARY) { + gyro_report gr; + memset(&gr, 0, sizeof(gr)); + _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &gr); + } + +out: + return ret; } void @@ -1331,7 +1419,7 @@ start() goto fail; /* set the poll rate to default, starts automatic data collection */ - fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY); if (fd < 0) goto fail; @@ -1339,6 +1427,8 @@ start() if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) goto fail; + close(fd); + exit(0); fail: @@ -1363,17 +1453,17 @@ test() ssize_t sz; /* get the driver */ - int fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + int fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY); if (fd < 0) err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)", - ACCEL_DEVICE_PATH); + MPU_DEVICE_PATH_ACCEL); /* get the driver */ - int fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY); + int fd_gyro = open(MPU_DEVICE_PATH_GYRO, O_RDONLY); if (fd_gyro < 0) - err(1, "%s open failed", GYRO_DEVICE_PATH); + err(1, "%s open failed", MPU_DEVICE_PATH_GYRO); /* reset to manual polling */ if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) @@ -1431,7 +1521,7 @@ test() void reset() { - int fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + int fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY); if (fd < 0) err(1, "failed "); @@ -1442,6 +1532,8 @@ reset() if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) err(1, "driver poll restart failed"); + close(fd); + exit(0); } |