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@ -32,308 +32,91 @@
@@ -32,308 +32,91 @@
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****************************************************************************/ |
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#include "MPU6000.hpp" |
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#include <px4_platform_common/i2c_spi_buses.h> |
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#include <px4_platform_common/module.h> |
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/**
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* Local functions in support of the shell command. |
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*/ |
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namespace mpu6000 |
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void |
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MPU6000::print_usage() |
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{ |
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PRINT_MODULE_USAGE_NAME("mpu6000", "driver"); |
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PRINT_MODULE_USAGE_SUBCATEGORY("imu"); |
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PRINT_MODULE_USAGE_COMMAND("start"); |
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PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true); |
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PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true); |
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/*
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list of supported bus configurations |
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*/ |
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struct mpu6000_bus_option { |
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enum MPU6000_BUS busid; |
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MPU_DEVICE_TYPE device_type; |
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MPU6000_constructor interface_constructor; |
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uint8_t busnum; |
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bool external; |
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MPU6000 *dev; |
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} bus_options[] = { |
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#if defined (USE_I2C) |
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# if defined(PX4_I2C_BUS_ONBOARD) |
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{ MPU6000_BUS_I2C_INTERNAL, MPU_DEVICE_TYPE_MPU6000, &MPU6000_I2C_interface, PX4_I2C_BUS_ONBOARD, false, NULL }, |
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# endif |
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# if defined(PX4_I2C_BUS_EXPANSION) |
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{ MPU6000_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU6000, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION, true, NULL }, |
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# endif |
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# if defined(PX4_I2C_BUS_EXPANSION1) |
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{ MPU6000_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU6000, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION1, true, NULL }, |
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# endif |
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# if defined(PX4_I2C_BUS_EXPANSION2) |
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{ MPU6000_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU6000, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION2, true, NULL }, |
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# endif |
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#endif |
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#ifdef PX4_SPIDEV_MPU |
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{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_MPU6000, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL }, |
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#endif |
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#if defined(PX4_SPI_BUS_EXT) |
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{ MPU6000_BUS_SPI_EXTERNAL1, MPU_DEVICE_TYPE_MPU6000, &MPU6000_SPI_interface, PX4_SPI_BUS_EXT, true, NULL }, |
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#endif |
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#if defined(PX4_SPIDEV_ICM_20602) && defined(PX4_SPI_BUS_SENSORS) |
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{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20602, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL }, |
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#endif |
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#if defined(PX4_SPIDEV_ICM_20602) && defined(PX4_SPI_BUS_SENSORS1) |
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{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20602, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS1, false, NULL }, |
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#endif |
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#if defined(PX4_SPIDEV_ICM_20602) && defined(PX4_SPI_BUS_1) |
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{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20602, &MPU6000_SPI_interface, PX4_SPI_BUS_1, false, NULL }, |
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#endif |
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#ifdef PX4_SPIDEV_ICM_20608 |
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{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20608, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL }, |
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#endif |
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#ifdef PX4_SPIDEV_ICM_20689 |
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{ MPU6000_BUS_SPI_INTERNAL2, MPU_DEVICE_TYPE_ICM20689, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL }, |
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#endif |
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#if defined(PX4_SPI_BUS_EXTERNAL) |
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{ MPU6000_BUS_SPI_EXTERNAL1, MPU_DEVICE_TYPE_MPU6000, &MPU6000_SPI_interface, PX4_SPI_BUS_EXTERNAL, true, NULL }, |
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{ MPU6000_BUS_SPI_EXTERNAL2, MPU_DEVICE_TYPE_MPU6000, &MPU6000_SPI_interface, PX4_SPI_BUS_EXTERNAL, true, NULL }, |
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#endif |
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}; |
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#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0])) |
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PRINT_MODULE_USAGE_PARAM_STRING('T', "6000", "6000|20608|20602|20689", "Device type", true); |
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void start(enum MPU6000_BUS busid, enum Rotation rotation, int device_type); |
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bool start_bus(struct mpu6000_bus_option &bus, enum Rotation rotation, int device_type); |
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void stop(enum MPU6000_BUS busid); |
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static struct mpu6000_bus_option &find_bus(enum MPU6000_BUS busid); |
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void reset(enum MPU6000_BUS busid); |
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void info(enum MPU6000_BUS busid); |
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void regdump(enum MPU6000_BUS busid); |
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void testerror(enum MPU6000_BUS busid); |
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PRINT_MODULE_USAGE_COMMAND("reset"); |
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PRINT_MODULE_USAGE_COMMAND("regdump"); |
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#ifndef CONSTRAINED_FLASH |
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void factorytest(enum MPU6000_BUS busid); |
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PRINT_MODULE_USAGE_COMMAND("factorytest"); |
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#endif |
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void usage(); |
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/**
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* find a bus structure for a busid |
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*/ |
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struct mpu6000_bus_option &find_bus(enum MPU6000_BUS busid) |
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{ |
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for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) { |
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if ((busid == MPU6000_BUS_ALL || |
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busid == bus_options[i].busid) && bus_options[i].dev != NULL) { |
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return bus_options[i]; |
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} |
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} |
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PRINT_MODULE_USAGE_COMMAND("testerror"); |
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errx(1, "bus %u not started", (unsigned)busid); |
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); |
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} |
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/**
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* start driver for a specific bus option |
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*/ |
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bool |
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start_bus(struct mpu6000_bus_option &bus, enum Rotation rotation, int device_type) |
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{ |
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if (bus.dev != nullptr) { |
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warnx("%s SPI not available", bus.external ? "External" : "Internal"); |
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return false; |
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} |
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device::Device *interface = bus.interface_constructor(bus.busnum, device_type, bus.external); |
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if (interface == nullptr) { |
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warnx("failed creating interface for bus #%u (SPI%u)", (unsigned)bus.busid, (unsigned)bus.busnum); |
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return false; |
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} |
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if (interface->init() != OK) { |
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delete interface; |
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warnx("no device on bus #%u (SPI%u)", (unsigned)bus.busid, (unsigned)bus.busnum); |
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return false; |
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} |
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bus.dev = new MPU6000(interface, rotation, device_type); |
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if (bus.dev == nullptr) { |
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delete interface; |
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return false; |
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} |
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if (OK != bus.dev->init()) { |
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goto fail; |
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} |
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/* set the poll rate to default, starts automatic data collection */ |
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bus.dev->start(); |
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return true; |
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fail: |
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if (bus.dev != nullptr) { |
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delete bus.dev; |
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bus.dev = nullptr; |
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} |
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return false; |
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} |
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/**
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* Start the driver. |
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* |
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* This function only returns if the driver is up and running |
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* or failed to detect the sensor. |
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*/ |
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void |
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start(enum MPU6000_BUS busid, enum Rotation rotation, int device_type) |
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MPU6000::custom_method(const BusCLIArguments &cli) |
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{ |
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bool started = false; |
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switch (cli.custom1) { |
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case 0: reset(); |
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break; |
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for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) { |
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if (busid == MPU6000_BUS_ALL && bus_options[i].dev != NULL) { |
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// this device is already started
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continue; |
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} |
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if (busid != MPU6000_BUS_ALL && bus_options[i].busid != busid) { |
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// not the one that is asked for
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continue; |
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} |
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case 1: print_registers(); |
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break; |
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#ifndef CONSTRAINED_FLASH |
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if (bus_options[i].device_type != device_type) { |
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// not the one that is asked for
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continue; |
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} |
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case 2: factory_self_test(); |
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break; |
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#endif |
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started |= start_bus(bus_options[i], rotation, device_type); |
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case 3: test_error(); |
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break; |
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} |
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exit(started ? 0 : 1); |
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} |
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void |
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stop(enum MPU6000_BUS busid) |
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I2CSPIDriverBase *MPU6000::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, |
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int runtime_instance) |
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{ |
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struct mpu6000_bus_option &bus = find_bus(busid); |
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if (bus.dev != nullptr) { |
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delete bus.dev; |
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bus.dev = nullptr; |
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} else { |
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/* warn, but not an error */ |
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warnx("already stopped."); |
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} |
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device::Device *interface = nullptr; |
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int device_type = cli.type; |
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exit(0); |
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} |
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if (iterator.busType() == BOARD_I2C_BUS) { |
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interface = MPU6000_I2C_interface(iterator.bus(), iterator.devid(), device_type, iterator.external(), |
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cli.bus_frequency); |
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/**
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* Reset the driver. |
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*/ |
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void |
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reset(enum MPU6000_BUS busid) |
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{ |
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struct mpu6000_bus_option &bus = find_bus(busid); |
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if (bus.dev == nullptr) { |
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errx(1, "driver not running"); |
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} else if (iterator.busType() == BOARD_SPI_BUS) { |
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interface = MPU6000_SPI_interface(iterator.bus(), iterator.devid(), device_type, iterator.external(), |
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cli.bus_frequency, cli.spi_mode); |
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} |
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bus.dev->reset(); |
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exit(0); |
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} |
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/**
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* Print a little info about the driver. |
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*/ |
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void |
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info(enum MPU6000_BUS busid) |
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{ |
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struct mpu6000_bus_option &bus = find_bus(busid); |
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if (bus.dev == nullptr) { |
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errx(1, "driver not running"); |
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if (interface == nullptr) { |
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PX4_ERR("alloc failed"); |
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return nullptr; |
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} |
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bus.dev->print_info(); |
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exit(0); |
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} |
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/**
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* Dump the register information |
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*/ |
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void |
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regdump(enum MPU6000_BUS busid) |
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{ |
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struct mpu6000_bus_option &bus = find_bus(busid); |
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if (bus.dev == nullptr) { |
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errx(1, "driver not running"); |
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if (interface->init() != OK) { |
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delete interface; |
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PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid()); |
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return nullptr; |
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} |
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printf("regdump @ %p\n", bus.dev); |
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bus.dev->print_registers(); |
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exit(0); |
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} |
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MPU6000 *dev = new MPU6000(interface, cli.rotation, device_type, iterator.configuredBusOption(), iterator.bus()); |
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/**
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* deliberately produce an error to test recovery |
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*/ |
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void |
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testerror(enum MPU6000_BUS busid) |
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{ |
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struct mpu6000_bus_option &bus = find_bus(busid); |
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if (bus.dev == nullptr) { |
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errx(1, "driver not running"); |
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if (dev == nullptr) { |
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delete interface; |
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return nullptr; |
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} |
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bus.dev->test_error(); |
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exit(0); |
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} |
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#ifndef CONSTRAINED_FLASH |
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/**
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* Dump the register information |
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*/ |
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void |
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factorytest(enum MPU6000_BUS busid) |
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{ |
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struct mpu6000_bus_option &bus = find_bus(busid); |
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if (bus.dev == nullptr) { |
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errx(1, "driver not running"); |
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if (OK != dev->init()) { |
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delete dev; |
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return nullptr; |
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} |
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bus.dev->factory_self_test(); |
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exit(0); |
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dev->start(); |
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return dev; |
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} |
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#endif |
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void |
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usage() |
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{ |
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warnx("missing command: try 'start', 'info', 'stop',\n'reset', 'regdump', 'testerror'" |
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#ifndef CONSTRAINED_FLASH |
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", 'factorytest'" |
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#endif |
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); |
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warnx("options:"); |
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warnx(" -X external I2C bus"); |
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warnx(" -I internal I2C bus"); |
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warnx(" -S external SPI bus"); |
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warnx(" -s internal SPI bus"); |
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warnx(" -Z external1 SPI bus"); |
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warnx(" -z internal2 SPI bus"); |
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warnx(" -T 6000|20608|20602 (default 6000)"); |
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warnx(" -R rotation"); |
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} |
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} // namespace
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/** driver 'main' command */ |
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extern "C" { __EXPORT int mpu6000_main(int argc, char *argv[]); } |
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@ -341,105 +124,89 @@ extern "C" { __EXPORT int mpu6000_main(int argc, char *argv[]); }
@@ -341,105 +124,89 @@ extern "C" { __EXPORT int mpu6000_main(int argc, char *argv[]); }
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int |
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mpu6000_main(int argc, char *argv[]) |
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{ |
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int myoptind = 1; |
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int ch; |
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const char *myoptarg = nullptr; |
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using ThisDriver = MPU6000; |
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BusCLIArguments cli{true, true}; |
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cli.type = MPU_DEVICE_TYPE_MPU6000; |
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cli.default_spi_frequency = 1000 * 1000; // low speed bus frequency
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enum MPU6000_BUS busid = MPU6000_BUS_ALL; |
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int device_type = MPU_DEVICE_TYPE_MPU6000; |
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enum Rotation rotation = ROTATION_NONE; |
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while ((ch = px4_getopt(argc, argv, "T:XISsZzR:a:", &myoptind, &myoptarg)) != EOF) { |
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while ((ch = cli.getopt(argc, argv, "T:R:")) != EOF) { |
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switch (ch) { |
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case 'X': |
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busid = MPU6000_BUS_I2C_EXTERNAL; |
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case 'T': |
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cli.type = atoi(cli.optarg()); |
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break; |
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case 'I': |
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busid = MPU6000_BUS_I2C_INTERNAL; |
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case 'R': |
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cli.rotation = (enum Rotation)atoi(cli.optarg()); |
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break; |
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} |
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} |
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case 'S': |
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busid = MPU6000_BUS_SPI_EXTERNAL1; |
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break; |
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const char *verb = cli.optarg(); |
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case 's': |
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busid = MPU6000_BUS_SPI_INTERNAL1; |
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break; |
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if (!verb) { |
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ThisDriver::print_usage(); |
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return -1; |
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} |
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case 'Z': |
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busid = MPU6000_BUS_SPI_EXTERNAL2; |
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break; |
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uint16_t dev_type_driver = 0; |
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case 'z': |
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busid = MPU6000_BUS_SPI_INTERNAL2; |
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break; |
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case 'T': |
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device_type = atoi(myoptarg); |
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break; |
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switch (cli.type) { |
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case MPU_DEVICE_TYPE_MPU6000: |
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dev_type_driver = DRV_IMU_DEVTYPE_MPU6000; |
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break; |
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case 'R': |
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rotation = (enum Rotation)atoi(myoptarg); |
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break; |
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case MPU_DEVICE_TYPE_ICM20602: |
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dev_type_driver = DRV_IMU_DEVTYPE_ICM20602; |
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break; |
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default: |
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mpu6000::usage(); |
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return 0; |
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} |
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} |
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case MPU_DEVICE_TYPE_ICM20608: |
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dev_type_driver = DRV_IMU_DEVTYPE_ICM20608; |
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break; |
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if (myoptind >= argc) { |
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mpu6000::usage(); |
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return -1; |
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case MPU_DEVICE_TYPE_ICM20689: |
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dev_type_driver = DRV_IMU_DEVTYPE_ICM20689; |
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break; |
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} |
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const char *verb = argv[myoptind]; |
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BusInstanceIterator iterator(MODULE_NAME, cli, dev_type_driver); |
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/*
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* Start/load the driver. |
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*/ |
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if (!strcmp(verb, "start")) { |
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mpu6000::start(busid, rotation, device_type); |
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return ThisDriver::module_start(cli, iterator); |
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} |
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if (!strcmp(verb, "stop")) { |
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mpu6000::stop(busid); |
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return ThisDriver::module_stop(iterator); |
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} |
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/*
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* Reset the driver. |
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*/ |
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if (!strcmp(verb, "reset")) { |
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mpu6000::reset(busid); |
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if (!strcmp(verb, "status")) { |
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return ThisDriver::module_status(iterator); |
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} |
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/*
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* Print driver information. |
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*/ |
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if (!strcmp(verb, "info") || !strcmp(verb, "status")) { |
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mpu6000::info(busid); |
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if (!strcmp(verb, "reset")) { |
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cli.custom1 = 0; |
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return ThisDriver::module_custom_method(cli, iterator); |
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} |
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/*
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* Print register information. |
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*/ |
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if (!strcmp(verb, "regdump")) { |
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mpu6000::regdump(busid); |
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cli.custom1 = 1; |
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return ThisDriver::module_custom_method(cli, iterator); |
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} |
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#ifndef CONSTRAINED_FLASH |
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if (!strcmp(verb, "factorytest")) { |
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mpu6000::factorytest(busid); |
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cli.custom1 = 2; |
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return ThisDriver::module_custom_method(cli, iterator); |
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} |
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#endif |
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if (!strcmp(verb, "testerror")) { |
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mpu6000::testerror(busid); |
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cli.custom1 = 3; |
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return ThisDriver::module_custom_method(cli, iterator); |
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} |
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|
mpu6000::usage(); |
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|
ThisDriver::print_usage(); |
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|
return -1; |
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|
} |
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Beat Küng
5 years ago
committed by
Daniel Agar