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Added ICM 20689

sbg
David Sidrane 8 years ago committed by Lorenz Meier
parent
6ebd24a678
commit
749fd2f155
3 changed files with 59 additions and 25 deletions
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  1. 53
      src/drivers/mpu6000/mpu6000.cpp
  2. 14
      src/drivers/mpu6000/mpu6000.h
  3. 17
      src/drivers/mpu6000/mpu6000_spi.cpp

53
src/drivers/mpu6000/mpu6000.cpp
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@ -112,8 +112,10 @@ enum MPU6000_BUS { @@ -112,8 +112,10 @@ enum MPU6000_BUS {
MPU6000_BUS_ALL = 0,
MPU6000_BUS_I2C_INTERNAL,
MPU6000_BUS_I2C_EXTERNAL,
MPU6000_BUS_SPI_INTERNAL,
MPU6000_BUS_SPI_EXTERNAL
MPU6000_BUS_SPI_INTERNAL1,
MPU6000_BUS_SPI_INTERNAL2,
MPU6000_BUS_SPI_EXTERNAL1,
MPU6000_BUS_SPI_EXTERNAL2
};
class MPU6000_gyro;
@ -793,6 +795,10 @@ MPU6000::probe() @@ -793,6 +795,10 @@ MPU6000::probe()
case 20608:
expected = ICM_WHOAMI_20608;
break;
case 20689:
expected = ICM_WHOAMI_20689;
break;
}
if (whoami != expected) {
@ -818,6 +824,7 @@ MPU6000::probe() @@ -818,6 +824,7 @@ MPU6000::probe()
case MPU6000_REV_D9:
case MPU6000_REV_D10:
case ICM20608_REV_00:
case ICM20689_REV_00:
case ICM20602_REV_02:
case MPU6050_REV_D8:
DEVICE_DEBUG("ID 0x%02x", _product);
@ -1563,16 +1570,6 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) @@ -1563,16 +1570,6 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
uint8_t
MPU6000::read_reg(unsigned reg, uint32_t speed)
{
/* There is no MPUREG_PRODUCT_ID on the icm device
* so lets make dummy it up and allow the rest of the
* code to run as is
*/
if (reg == MPUREG_PRODUCT_ID && is_icm_device()) {
return ICM20608_REV_00;
}
uint8_t buf;
_interface->read(MPU6000_SET_SPEED(reg, speed), &buf, 1);
return buf;
@ -2203,23 +2200,27 @@ struct mpu6000_bus_option { @@ -2203,23 +2200,27 @@ struct mpu6000_bus_option {
} bus_options[] = {
#if defined (USE_I2C)
# if defined(PX4_I2C_BUS_ONBOARD)
{ MPU6000_BUS_I2C_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, &MPU6000_I2C_interface, PX4_I2C_BUS_ONBOARD, false, NULL },
{ MPU6000_BUS_I2C_INTERNAL1, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, &MPU6000_I2C_interface, PX4_I2C_BUS_ONBOARD, false, NULL },
# endif
# if defined(PX4_I2C_BUS_EXPANSION)
{ MPU6000_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION, true, NULL },
{ MPU6000_BUS_I2C_EXTERNAL1, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION, true, NULL },
# endif
#endif
#ifdef PX4_SPIDEV_MPU
{ MPU6000_BUS_SPI_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
#endif
#if defined(PX4_SPI_BUS_EXT)
{ MPU6000_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, &MPU6000_SPI_interface, PX4_SPI_BUS_EXT, true, NULL },
{ MPU6000_BUS_SPI_EXTERNAL1, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, &MPU6000_SPI_interface, PX4_SPI_BUS_EXT, true, NULL },
#endif
#ifdef PX4_SPIDEV_ICM_20602
{ MPU6000_BUS_SPI_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
#endif
#ifdef PX4_SPIDEV_ICM_20689
{ MPU6000_BUS_SPI_INTERNAL2, MPU_DEVICE_PATH_ACCEL1, MPU_DEVICE_PATH_GYRO1, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
#endif
#if defined(PX4_SPI_BUS_EXTERNAL)
{ MPU6000_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, &MPU6000_SPI_interface, PX4_SPI_BUS_EXTERNAL, true, NULL },
{ MPU6000_BUS_SPI_EXTERNAL1, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, &MPU6000_SPI_interface, PX4_SPI_BUS_EXTERNAL, true, NULL },
{ MPU6000_BUS_SPI_EXTERNAL2, MPU_DEVICE_PATH_ACCEL_EXT1, MPU_DEVICE_PATH_GYRO_EXT1, &MPU6000_SPI_interface, PX4_SPI_BUS_EXTERNAL, true, NULL },
#endif
};
@ -2566,6 +2567,8 @@ usage() @@ -2566,6 +2567,8 @@ usage()
warnx(" -I internal I2C bus");
warnx(" -S external SPI bus");
warnx(" -s internal SPI bus");
warnx(" -Z external1 SPI bus");
warnx(" -z internal2 SPI bus");
warnx(" -T 6000|20608|20602 (default 6000)");
warnx(" -R rotation");
warnx(" -a accel range (in g)");
@ -2583,7 +2586,7 @@ mpu6000_main(int argc, char *argv[]) @@ -2583,7 +2586,7 @@ mpu6000_main(int argc, char *argv[])
int accel_range = 8;
/* jump over start/off/etc and look at options first */
while ((ch = getopt(argc, argv, "T:XISsR:a:")) != EOF) {
while ((ch = getopt(argc, argv, "T:XISsZzR:a:")) != EOF) {
switch (ch) {
case 'X':
busid = MPU6000_BUS_I2C_EXTERNAL;
@ -2594,11 +2597,19 @@ mpu6000_main(int argc, char *argv[]) @@ -2594,11 +2597,19 @@ mpu6000_main(int argc, char *argv[])
break;
case 'S':
busid = MPU6000_BUS_SPI_EXTERNAL;
busid = MPU6000_BUS_SPI_EXTERNAL1;
break;
case 's':
busid = MPU6000_BUS_SPI_INTERNAL;
busid = MPU6000_BUS_SPI_INTERNAL1;
break;
case 'Z':
busid = MPU6000_BUS_SPI_EXTERNAL2;
break;
case 'z':
busid = MPU6000_BUS_SPI_INTERNAL2;
break;
case 'T':

14
src/drivers/mpu6000/mpu6000.h
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@ -51,8 +51,12 @@ @@ -51,8 +51,12 @@
#define MPU_DEVICE_PATH_ACCEL "/dev/mpu6000_accel"
#define MPU_DEVICE_PATH_GYRO "/dev/mpu6000_gyro"
#define MPU_DEVICE_PATH_ACCEL1 "/dev/mpu6000_accel1"
#define MPU_DEVICE_PATH_GYRO1 "/dev/mpu6000_gyro11"
#define MPU_DEVICE_PATH_ACCEL_EXT "/dev/mpu6000_accel_ext"
#define MPU_DEVICE_PATH_GYRO_EXT "/dev/mpu6000_gyro_ext"
#define MPU_DEVICE_PATH_ACCEL_EXT1 "/dev/mpu6000_accel_ext1"
#define MPU_DEVICE_PATH_GYRO_EXT1 "/dev/mpu6000_gyro_ext1"
// MPU 6000 registers
#define MPUREG_WHOAMI 0x75
@ -120,8 +124,9 @@ @@ -120,8 +124,9 @@
#define BIT_INT_STATUS_DATA 0x01
#define MPU_WHOAMI_6000 0x68
#define ICM_WHOAMI_20608 0xaf
#define ICM_WHOAMI_20602 0x12
#define ICM_WHOAMI_20608 0xaf
#define ICM_WHOAMI_20689 0x98
// ICM2608 specific registers
@ -147,9 +152,12 @@ @@ -147,9 +152,12 @@
#define ICM20602_REV_02 2
// Product ID Description for ICM2608
// There is none
#define ICM20608_REV_00 0
#define ICM20608_REV_00 0xff // In the past, was thought to be not returning a value. But seem repeatable.
// Product ID Description for ICM2689
#define ICM20689_REV_00 0xfe
// Product ID Description for MPU6000
// high 4 bits low 4 bits

17
src/drivers/mpu6000/mpu6000_spi.cpp
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@ -64,7 +64,7 @@ @@ -64,7 +64,7 @@
#define DIR_READ 0x80
#define DIR_WRITE 0x00
#if defined(PX4_SPIDEV_MPU) || defined(PX4_SPIDEV_ICM_20602)
#if defined(PX4_SPIDEV_MPU) || defined(PX4_SPIDEV_ICM_20602) || defined(PX4_SPIDEV_ICM_20689)
# ifdef PX4_SPI_BUS_EXT
# define EXTERNAL_BUS PX4_SPI_BUS_EXT
# else
@ -138,6 +138,12 @@ MPU6000_SPI_interface(int bus, int device_type, bool external_bus) @@ -138,6 +138,12 @@ MPU6000_SPI_interface(int bus, int device_type, bool external_bus)
# endif
break;
case 20689:
# if defined(PX4_SPIDEV_ICM_20689_EXT)
cs = PX4_SPIDEV_ICM_20689_EXT;
# endif
break;
default:
break;
}
@ -168,6 +174,11 @@ MPU6000_SPI_interface(int bus, int device_type, bool external_bus) @@ -168,6 +174,11 @@ MPU6000_SPI_interface(int bus, int device_type, bool external_bus)
#endif
break;
case 20689:
# if defined(PX4_SPIDEV_ICM_20689)
cs = PX4_SPIDEV_ICM_20689;
# endif
default:
break;
}
@ -331,6 +342,10 @@ MPU6000_SPI::probe() @@ -331,6 +342,10 @@ MPU6000_SPI::probe()
case 20608:
expected = ICM_WHOAMI_20608;
break;
case 20689:
expected = ICM_WHOAMI_20689;
break;
}
return (read(MPUREG_WHOAMI, &whoami, 1) > 0 && (whoami == expected)) ? 0 : -EIO;

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