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|
/****************************************************************************
*
* Copyright (C) 2012 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.
*
****************************************************************************/
/**
* @file mpu6000.cpp
*
* Driver for the Invensense MPU6000 connected via SPI.
*/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stddef.h>
#include <stdlib.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <nuttx/arch.h>
#include <nuttx/clock.h>
#include <arch/board/board.h>
#include <arch/board/up_hrt.h>
#include <drivers/device/spi.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#define DIR_READ 0x80
#define DIR_WRITE 0x00
// MPU 6000 registers
#define MPUREG_WHOAMI 0x75
#define MPUREG_SMPLRT_DIV 0x19
#define MPUREG_CONFIG 0x1A
#define MPUREG_GYRO_CONFIG 0x1B
#define MPUREG_ACCEL_CONFIG 0x1C
#define MPUREG_FIFO_EN 0x23
#define MPUREG_INT_PIN_CFG 0x37
#define MPUREG_INT_ENABLE 0x38
#define MPUREG_INT_STATUS 0x3A
#define MPUREG_ACCEL_XOUT_H 0x3B
#define MPUREG_ACCEL_XOUT_L 0x3C
#define MPUREG_ACCEL_YOUT_H 0x3D
#define MPUREG_ACCEL_YOUT_L 0x3E
#define MPUREG_ACCEL_ZOUT_H 0x3F
#define MPUREG_ACCEL_ZOUT_L 0x40
#define MPUREG_TEMP_OUT_H 0x41
#define MPUREG_TEMP_OUT_L 0x42
#define MPUREG_GYRO_XOUT_H 0x43
#define MPUREG_GYRO_XOUT_L 0x44
#define MPUREG_GYRO_YOUT_H 0x45
#define MPUREG_GYRO_YOUT_L 0x46
#define MPUREG_GYRO_ZOUT_H 0x47
#define MPUREG_GYRO_ZOUT_L 0x48
#define MPUREG_USER_CTRL 0x6A
#define MPUREG_PWR_MGMT_1 0x6B
#define MPUREG_PWR_MGMT_2 0x6C
#define MPUREG_FIFO_COUNTH 0x72
#define MPUREG_FIFO_COUNTL 0x73
#define MPUREG_FIFO_R_W 0x74
#define MPUREG_PRODUCT_ID 0x0C
// Configuration bits MPU 3000 and MPU 6000 (not revised)?
#define BIT_SLEEP 0x40
#define BIT_H_RESET 0x80
#define BITS_CLKSEL 0x07
#define MPU_CLK_SEL_PLLGYROX 0x01
#define MPU_CLK_SEL_PLLGYROZ 0x03
#define MPU_EXT_SYNC_GYROX 0x02
#define BITS_FS_250DPS 0x00
#define BITS_FS_500DPS 0x08
#define BITS_FS_1000DPS 0x10
#define BITS_FS_2000DPS 0x18
#define BITS_FS_MASK 0x18
#define BITS_DLPF_CFG_256HZ_NOLPF2 0x00
#define BITS_DLPF_CFG_188HZ 0x01
#define BITS_DLPF_CFG_98HZ 0x02
#define BITS_DLPF_CFG_42HZ 0x03
#define BITS_DLPF_CFG_20HZ 0x04
#define BITS_DLPF_CFG_10HZ 0x05
#define BITS_DLPF_CFG_5HZ 0x06
#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07
#define BITS_DLPF_CFG_MASK 0x07
#define BIT_INT_ANYRD_2CLEAR 0x10
#define BIT_RAW_RDY_EN 0x01
#define BIT_I2C_IF_DIS 0x10
#define BIT_INT_STATUS_DATA 0x01
// Product ID Description for MPU6000
// high 4 bits low 4 bits
// Product Name Product Revision
#define MPU6000ES_REV_C4 0x14
#define MPU6000ES_REV_C5 0x15
#define MPU6000ES_REV_D6 0x16
#define MPU6000ES_REV_D7 0x17
#define MPU6000ES_REV_D8 0x18
#define MPU6000_REV_C4 0x54
#define MPU6000_REV_C5 0x55
#define MPU6000_REV_D6 0x56
#define MPU6000_REV_D7 0x57
#define MPU6000_REV_D8 0x58
#define MPU6000_REV_D9 0x59
#define MPU6000_REV_D10 0x5A
class MPU6000_gyro;
class MPU6000 : public device::SPI
{
public:
MPU6000(int bus, spi_dev_e device);
~MPU6000();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
protected:
virtual int probe();
friend class MPU6000_gyro;
virtual ssize_t gyro_read(struct file *filp, char *buffer, size_t buflen);
virtual int gyro_ioctl(struct file *filp, int cmd, unsigned long arg);
private:
MPU6000_gyro *_gyro;
uint8_t _product; /** product code */
struct hrt_call _call;
unsigned _call_interval;
struct accel_report _accel_report;
struct accel_scale _accel_scale;
float _accel_range_scale;
float _accel_range_m_s2;
orb_advert_t _accel_topic;
struct gyro_report _gyro_report;
struct gyro_scale _gyro_scale;
float _gyro_range_scale;
float _gyro_range_rad_s;
orb_advert_t _gyro_topic;
unsigned _reads;
perf_counter_t _sample_perf;
/**
* Start automatic measurement.
*/
void start();
/**
* Stop automatic measurement.
*/
void stop();
/**
* Static trampoline from the hrt_call context; because we don't have a
* generic hrt wrapper yet.
*
* Called by the HRT in interrupt context at the specified rate if
* automatic polling is enabled.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void measure_trampoline(void *arg);
/**
* Fetch measurements from the sensor and update the report ring.
*/
void measure();
/**
* Read a register from the MPU6000
*
* @param The register to read.
* @return The value that was read.
*/
uint8_t read_reg(unsigned reg);
uint16_t read_reg16(unsigned reg);
/**
* Write a register in the MPU6000
*
* @param reg The register to write.
* @param value The new value to write.
*/
void write_reg(unsigned reg, uint8_t value);
/**
* Modify a register in the MPU6000
*
* Bits are cleared before bits are set.
*
* @param reg The register to modify.
* @param clearbits Bits in the register to clear.
* @param setbits Bits in the register to set.
*/
void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
/**
* Set the MPU6000 measurement range.
*
* @param max_g The maximum G value the range must support.
* @return OK if the value can be supported, -ERANGE otherwise.
*/
int set_range(unsigned max_g);
/**
* Swap a 16-bit value read from the MPU6000 to native byte order.
*/
uint16_t swap16(uint16_t val) { return (val >> 8) | (val << 8); }
};
/**
* Helper class implementing the gyro driver node.
*/
class MPU6000_gyro : public device::CDev
{
public:
MPU6000_gyro(MPU6000 *parent);
~MPU6000_gyro();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
protected:
friend class MPU6000;
void parent_poll_notify();
private:
MPU6000 *_parent;
};
/** driver 'main' command */
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),
_gyro(new MPU6000_gyro(this)),
_product(0),
_call_interval(0),
_accel_range_scale(0.02f),
_accel_range_m_s2(0.0f),
_accel_topic(-1),
_gyro_range_scale(0.02f),
_gyro_range_rad_s(0.0f),
_gyro_topic(-1),
_reads(0),
_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read"))
{
// disable debug() calls
_debug_enabled = false;
// default accel scale factors
_accel_scale.x_offset = 0;
_accel_scale.x_scale = 1.0f;
_accel_scale.y_offset = 0;
_accel_scale.y_scale = 1.0f;
_accel_scale.z_offset = 0;
_accel_scale.z_scale = 1.0f;
// default gyro scale factors
_gyro_scale.x_offset = 0;
_gyro_scale.x_scale = 1.0f;
_gyro_scale.y_offset = 0;
_gyro_scale.y_scale = 1.0f;
_gyro_scale.z_offset = 0;
_gyro_scale.z_scale = 1.0f;
memset(&_accel_report, 0, sizeof(_accel_report));
memset(&_gyro_report, 0, sizeof(_gyro_report));
memset(&_call, 0, sizeof(_call));
}
MPU6000::~MPU6000()
{
/* make sure we are truly inactive */
stop();
/* delete the gyro subdriver */
delete _gyro;
/* delete the perf counter */
perf_free(_sample_perf);
}
int
MPU6000::init()
{
int ret;
/* do SPI init (and probe) first */
ret = SPI::init();
/* if probe/setup failed, bail now */
if (ret != OK) {
debug("SPI setup failed");
return ret;
}
/* advertise sensor topics */
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_report);
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_gyro_report);
// Chip reset
write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
up_udelay(10000);
// Wake up device and select GyroZ clock (better performance)
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);
up_udelay(1000);
// SAMPLE RATE
write_reg(MPUREG_SMPLRT_DIV, 0x04); // Sample rate = 200Hz Fsample= 1Khz/(4+1) = 200Hz
usleep(1000);
// FS & DLPF FS=2000 deg/s, DLPF = 98Hz (low pass filter)
write_reg(MPUREG_CONFIG, BITS_DLPF_CFG_98HZ);
usleep(1000);
// Gyro scale 2000 deg/s ()
write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS);
usleep(1000);
// correct gyro scale factors
// scale to rad/s in SI units
// 2000 deg/s = (2000/180)*PI = 34.906585 rad/s
// scaling factor:
// 1/(2^15)*(2000/180)*PI
_gyro_scale.x_offset = 0;
_gyro_scale.x_scale = 1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F);
_gyro_scale.y_offset = 0;
_gyro_scale.y_scale = 1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F);
_gyro_scale.z_offset = 0;
_gyro_scale.z_scale = 1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F);
_gyro_range_scale = 1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F);
_gyro_range_rad_s = (2000.0f / 180.0f) * M_PI_F;
// product-specific scaling
switch (_product) {
case MPU6000ES_REV_C4:
case MPU6000ES_REV_C5:
case MPU6000_REV_C4:
case MPU6000_REV_C5:
// Accel scale 8g (4096 LSB/g)
// Rev C has different scaling than rev D
write_reg(MPUREG_ACCEL_CONFIG, 1 << 3);
break;
case MPU6000ES_REV_D6:
case MPU6000ES_REV_D7:
case MPU6000ES_REV_D8:
case MPU6000_REV_D6:
case MPU6000_REV_D7:
case MPU6000_REV_D8:
case MPU6000_REV_D9:
case MPU6000_REV_D10:
// Accel scale 8g (4096 LSB/g)
write_reg(MPUREG_ACCEL_CONFIG, 2 << 3);
break;
}
// Correct accel scale factors of 4096 LSB/g
// scale to m/s^2 ( 1g = 9.81 m/s^2)
_accel_scale.x_offset = 0;
_accel_scale.x_scale = 1.0f / (4096.0f / 9.81f);
_accel_scale.y_offset = 0;
_accel_scale.y_scale = 1.0f / (4096.0f / 9.81f);
_accel_scale.z_offset = 0;
_accel_scale.z_scale = 1.0f / (4096.0f / 9.81f);
_accel_range_scale = 1.0f / (4096.0f / 9.81f);
_accel_range_m_s2 = 8.0f * 9.81f;
usleep(1000);
// INT CFG => Interrupt on Data Ready
write_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN); // INT: Raw data ready
usleep(1000);
write_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read
usleep(1000);
// Oscillator set
// write_reg(MPUREG_PWR_MGMT_1,MPU_CLK_SEL_PLLGYROZ);
usleep(1000);
/* do CDev init for the gyro device node */
ret = _gyro->init();
return ret;
}
int
MPU6000::probe()
{
/* look for a product ID we recognise */
_product = read_reg(MPUREG_PRODUCT_ID);
// verify product revision
switch (_product) {
case MPU6000ES_REV_C4:
case MPU6000ES_REV_C5:
case MPU6000_REV_C4:
case MPU6000_REV_C5:
case MPU6000ES_REV_D6:
case MPU6000ES_REV_D7:
case MPU6000ES_REV_D8:
case MPU6000_REV_D6:
case MPU6000_REV_D7:
case MPU6000_REV_D8:
case MPU6000_REV_D9:
case MPU6000_REV_D10:
debug("ID 0x%02x", _product);
return OK;
}
debug("unexpected ID 0x%02x", _product);
return -EIO;
}
ssize_t
MPU6000::read(struct file *filp, char *buffer, size_t buflen)
{
int ret = 0;
/* buffer must be large enough */
if (buflen < sizeof(_accel_report))
return -ENOSPC;
/* if automatic measurement is not enabled */
if (_call_interval == 0)
measure();
/* copy out the latest reports */
memcpy(buffer, &_accel_report, sizeof(_accel_report));
ret = sizeof(_accel_report);
return ret;
}
ssize_t
MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen)
{
int ret = 0;
/* buffer must be large enough */
if (buflen < sizeof(_gyro_report))
return -ENOSPC;
/* if automatic measurement is not enabled */
if (_call_interval == 0)
measure();
/* copy out the latest report */
memcpy(buffer, &_gyro_report, sizeof(_gyro_report));
ret = sizeof(_gyro_report);
return ret;
}
int
MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_call_interval = 0;
return OK;
/* external signalling not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT:
/* XXX 500Hz is just a wild guess */
return ioctl(filp, SENSORIOCSPOLLRATE, 500);
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_call_interval == 0);
/* convert hz to hrt interval via microseconds */
unsigned ticks = 1000000 / arg;
/* check against maximum sane rate */
if (ticks < 1000)
return -EINVAL;
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_call.period = _call_interval = ticks;
/* if we need to start the poll state machine, do it */
if (want_start)
start();
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_call_interval == 0)
return SENSOR_POLLRATE_MANUAL;
return 1000000 / _call_interval;
case SENSORIOCSQUEUEDEPTH:
/* XXX not implemented */
return -EINVAL;
case SENSORIOCGQUEUEDEPTH:
/* XXX not implemented */
return -EINVAL;
case ACCELIOCSSAMPLERATE:
case ACCELIOCGSAMPLERATE:
/* XXX not implemented */
return -EINVAL;
case ACCELIOCSLOWPASS:
case ACCELIOCGLOWPASS:
/* XXX not implemented */
return -EINVAL;
case ACCELIOCSSCALE:
case ACCELIOCGSCALE:
/* XXX not implemented */
return -EINVAL;
case ACCELIOCSRANGE:
case ACCELIOCGRANGE:
/* XXX not implemented */
return -EINVAL;
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
}
}
int
MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
/* these are shared with the accel side */
case SENSORIOCSPOLLRATE:
case SENSORIOCGPOLLRATE:
case SENSORIOCSQUEUEDEPTH:
case SENSORIOCGQUEUEDEPTH:
case SENSORIOCRESET:
return ioctl(filp, cmd, arg);
case GYROIOCSSAMPLERATE:
case GYROIOCGSAMPLERATE:
/* XXX not implemented */
return -EINVAL;
case GYROIOCSLOWPASS:
case GYROIOCGLOWPASS:
/* XXX not implemented */
return -EINVAL;
case GYROIOCSSCALE:
case GYROIOCGSCALE:
/* XXX not implemented */
return -EINVAL;
case GYROIOCSRANGE:
case GYROIOCGRANGE:
/* XXX not implemented */
return -EINVAL;
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
}
}
uint8_t
MPU6000::read_reg(unsigned reg)
{
uint8_t cmd[2];
cmd[0] = reg | DIR_READ;
transfer(cmd, cmd, sizeof(cmd));
return cmd[1];
}
uint16_t
MPU6000::read_reg16(unsigned reg)
{
uint8_t cmd[3];
cmd[0] = reg | DIR_READ;
transfer(cmd, cmd, sizeof(cmd));
return (uint16_t)(cmd[1] << 8) | cmd[2];
}
void
MPU6000::write_reg(unsigned reg, uint8_t value)
{
uint8_t cmd[2];
cmd[0] = reg | DIR_WRITE;
cmd[1] = value;
transfer(cmd, nullptr, sizeof(cmd));
}
void
MPU6000::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
{
uint8_t val;
val = read_reg(reg);
val &= ~clearbits;
val |= setbits;
write_reg(reg, val);
}
int
MPU6000::set_range(unsigned max_g)
{
#if 0
uint8_t rangebits;
float rangescale;
if (max_g > 16) {
return -ERANGE;
} else if (max_g > 8) { /* 16G */
rangebits = OFFSET_LSB1_RANGE_16G;
rangescale = 1.98;
} else if (max_g > 4) { /* 8G */
rangebits = OFFSET_LSB1_RANGE_8G;
rangescale = 0.99;
} else if (max_g > 3) { /* 4G */
rangebits = OFFSET_LSB1_RANGE_4G;
rangescale = 0.5;
} else if (max_g > 2) { /* 3G */
rangebits = OFFSET_LSB1_RANGE_3G;
rangescale = 0.38;
} else if (max_g > 1) { /* 2G */
rangebits = OFFSET_LSB1_RANGE_2G;
rangescale = 0.25;
} else { /* 1G */
rangebits = OFFSET_LSB1_RANGE_1G;
rangescale = 0.13;
}
/* adjust sensor configuration */
modify_reg(ADDR_OFFSET_LSB1, OFFSET_LSB1_RANGE_MASK, rangebits);
_range_scale = rangescale;
#endif
return OK;
}
void
MPU6000::start()
{
/* make sure we are stopped first */
stop();
/* start polling at the specified rate */
hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&MPU6000::measure_trampoline, this);
}
void
MPU6000::stop()
{
hrt_cancel(&_call);
}
void
MPU6000::measure_trampoline(void *arg)
{
MPU6000 *dev = (MPU6000 *)arg;
/* make another measurement */
dev->measure();
}
void
MPU6000::measure()
{
#pragma pack(push, 1)
/**
* Report conversation within the MPU6000, including command byte and
* interrupt status.
*/
struct Report {
uint8_t cmd;
uint8_t status;
uint16_t accel_x;
uint16_t accel_y;
uint16_t accel_z;
uint16_t temp;
uint16_t gyro_x;
uint16_t gyro_y;
uint16_t gyro_z;
} report;
#pragma pack(pop)
/* start measuring */
perf_begin(_sample_perf);
/*
* Fetch the full set of measurements from the MPU6000 in one pass.
*/
report.cmd = DIR_READ | MPUREG_INT_STATUS;
transfer((uint8_t *)&report, (uint8_t *)&report, sizeof(report));
/*
* Adjust and scale results to mg.
*/
_gyro_report.timestamp = _accel_report.timestamp = hrt_absolute_time();
_accel_report.x_raw = report.accel_x;
_accel_report.y_raw = report.accel_x;
_accel_report.z_raw = report.accel_x;
_accel_report.x = report.accel_x * _accel_range_scale;
_accel_report.y = report.accel_y * _accel_range_scale;
_accel_report.z = report.accel_z * _accel_range_scale;
_accel_report.scaling = _accel_range_scale;
_accel_report.range_m_s2 = _accel_range_m_s2;
_gyro_report.x_raw = report.gyro_x;
_gyro_report.y_raw = report.gyro_y;
_gyro_report.z_raw = report.gyro_z;
_gyro_report.x = report.gyro_x * _gyro_range_scale;
_gyro_report.y = report.gyro_y * _gyro_range_scale;
_gyro_report.z = report.gyro_z * _gyro_range_scale;
_gyro_report.scaling = _gyro_range_scale;
_gyro_report.range_rad_s = _gyro_range_rad_s;
/* notify anyone waiting for data */
poll_notify(POLLIN);
_gyro->parent_poll_notify();
/* and publish for subscribers */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &_accel_report);
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &_gyro_report);
/* stop measuring */
perf_end(_sample_perf);
}
void
MPU6000::print_info()
{
printf("reads: %u\n", _reads);
}
MPU6000_gyro::MPU6000_gyro(MPU6000 *parent) :
CDev("MPU6000_gyro", GYRO_DEVICE_PATH),
_parent(parent)
{
}
MPU6000_gyro::~MPU6000_gyro()
{
}
void
MPU6000_gyro::parent_poll_notify()
{
poll_notify(POLLIN);
}
ssize_t
MPU6000_gyro::read(struct file *filp, char *buffer, size_t buflen)
{
return _parent->gyro_read(filp, buffer, buflen);
}
int
MPU6000_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
{
return _parent->gyro_ioctl(filp, cmd, arg);
}
/**
* Local functions in support of the shell command.
*/
namespace mpu6000
{
MPU6000 *g_dev;
void start();
void test();
void reset();
void info();
/**
* Start the driver.
*/
void
start()
{
int fd;
if (g_dev != nullptr)
errx(1, "already started");
/* create the driver */
g_dev = new MPU6000(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_MPU);
if (g_dev == nullptr)
goto fail;
if (OK != g_dev->init())
goto fail;
/* set the poll rate to default, starts automatic data collection */
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0)
goto fail;
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
goto fail;
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
void
test()
{
int fd = -1;
int fd_gyro = -1;
struct accel_report report;
struct gyro_report g_report;
ssize_t sz;
/* get the driver */
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)",
ACCEL_DEVICE_PATH);
/* get the driver */
fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
if (fd_gyro < 0)
err(1, "%s open failed", GYRO_DEVICE_PATH);
/* 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, &report, sizeof(report));
if (sz != sizeof(report))
err(1, "immediate acc read failed");
warnx("single read");
warnx("time: %lld", report.timestamp);
warnx("acc x: \t% 5.2f\tm/s^2", (double)report.x);
warnx("acc y: \t% 5.2f\tm/s^2", (double)report.y);
warnx("acc z: \t% 5.2f\tm/s^2", (double)report.z);
warnx("acc range: %6.2f m/s^2 (%6.2f g)", (double)report.range_m_s2,
(double)(report.range_m_s2 / 9.81f));
/* do a simple demand read */
sz = read(fd_gyro, &g_report, sizeof(g_report));
if (sz != sizeof(g_report))
err(1, "immediate gyro read failed");
warnx("gyro x: \t% 5.2f\trad/s", (double)g_report.x);
warnx("gyro y: \t% 5.2f\trad/s", (double)g_report.y);
warnx("gyro z: \t% 5.2f\trad/s", (double)g_report.z);
warnx("gyro range: %6.3f rad/s (%8.1f deg/s)", (double)g_report.range_rad_s,
(double)((g_report.range_rad_s / M_PI_F) * 180.0f));
/* XXX add poll-rate tests here too */
reset();
errx(0, "PASS");
}
/**
* Reset the driver.
*/
void
reset()
{
int fd = open(ACCEL_DEVICE_PATH, 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");
exit(0);
}
/**
* Print a little info about the driver.
*/
void
info()
{
if (g_dev == nullptr)
errx(1, "driver not running");
printf("state @ %p\n", g_dev);
g_dev->print_info();
exit(0);
}
} // namespace
int
mpu6000_main(int argc, char *argv[])
{
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start"))
mpu6000::start();
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
mpu6000::test();
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset"))
mpu6000::reset();
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info"))
mpu6000::info();
errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
}
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