bmi160: cleanup

src/drivers/drv_sensor.h

@@ -69,13 +69,13 @@
 #define DRV_ACC_DEVTYPE_MPU6000_LEGACY  0x13
 #define DRV_ACC_DEVTYPE_ACCELSIM 0x14
 #define DRV_ACC_DEVTYPE_MPU9250_LEGACY  0x16
-#define DRV_ACC_DEVTYPE_BMI160   0x17
+#define DRV_IMU_DEVTYPE_BMI160   0x17
 
 #define DRV_IMU_DEVTYPE_MPU6000  0x21
 #define DRV_GYR_DEVTYPE_L3GD20   0x22
 #define DRV_GYR_DEVTYPE_GYROSIM  0x23
 #define DRV_IMU_DEVTYPE_MPU9250  0x24
-#define DRV_GYR_DEVTYPE_BMI160   0x25
+
 #define DRV_IMU_DEVTYPE_ICM42688P 0x26
 #define DRV_IMU_DEVTYPE_ICM40609D 0x27
 

src/drivers/imu/CMakeLists.txt

@@ -36,11 +36,14 @@ add_subdirectory(adis16477)
 add_subdirectory(adis16497)
 add_subdirectory(bma180)
 add_subdirectory(bmi055)
+add_subdirectory(bmi088)
 add_subdirectory(bmi160)
 add_subdirectory(fxas21002c)
 add_subdirectory(fxos8701cq)
 add_subdirectory(icm20948)
+add_subdirectory(invensense)
 add_subdirectory(l3gd20)
 add_subdirectory(lsm303d)
 add_subdirectory(mpu6000)
 add_subdirectory(mpu9250)
+add_subdirectory(st)

src/drivers/imu/bmi160/bmi160.cpp

@@ -53,16 +53,16 @@ BMI160::BMI160(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotatio
 	       spi_mode_e spi_mode) :
 	SPI(DRV_IMU_DEVTYPE_BMI160, MODULE_NAME, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_accel(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
-	_px4_gyro(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
-	_accel_reads(perf_alloc(PC_COUNT, "bmi160_accel_read")),
-	_gyro_reads(perf_alloc(PC_COUNT, "bmi160_gyro_read")),
-	_sample_perf(perf_alloc(PC_ELAPSED, "bmi160_read")),
-	_bad_transfers(perf_alloc(PC_COUNT, "bmi160_bad_transfers")),
-	_bad_registers(perf_alloc(PC_COUNT, "bmi160_bad_registers")),
-	_good_transfers(perf_alloc(PC_COUNT, "bmi160_good_transfers")),
-	_reset_retries(perf_alloc(PC_COUNT, "bmi160_reset_retries")),
-	_duplicates(perf_alloc(PC_COUNT, "bmi160_duplicates"))
+	_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
+	_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation),
+	_accel_reads(perf_alloc(PC_COUNT, MODULE_NAME": accel read")),
+	_gyro_reads(perf_alloc(PC_COUNT, MODULE_NAME":gyro read")),
+	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME":read")),
+	_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME":bad transfers")),
+	_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME":bad registers")),
+	_good_transfers(perf_alloc(PC_COUNT, MODULE_NAME":good transfers")),
+	_reset_retries(perf_alloc(PC_COUNT, MODULE_NAME":reset retries")),
+	_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": duplicates"))
 {
 }
 
@@ -79,8 +79,7 @@ BMI160::~BMI160()
 	perf_free(_duplicates);
 }
 
-int
-BMI160::init()
+int BMI160::init()
 {
 	/* do SPI init (and probe) first */
 	int ret = SPI::init();
@@ -123,18 +122,13 @@ int BMI160::reset()
 	set_gyro_range(BMI160_GYRO_DEFAULT_RANGE_DPS);
 	gyro_set_sample_rate(BMI160_GYRO_DEFAULT_RATE);
 
-
-	//_set_dlpf_filter(BMI160_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ); //NOT CONSIDERING FILTERING YET
-
-	//Enable Accelerometer in normal mode
+	// Enable Accelerometer in normal mode
 	write_reg(BMIREG_CMD, BMI_ACCEL_NORMAL_MODE);
-	up_udelay(4100);
-	//usleep(4100);
+	px4_usleep(4100);
 
 	//Enable Gyroscope in normal mode
 	write_reg(BMIREG_CMD, BMI_GYRO_NORMAL_MODE);
-	up_udelay(80300);
-	//usleep(80300);
+	px4_usleep(80300);
 
 	uint8_t retries = 10;
 
@@ -159,8 +153,7 @@ int BMI160::reset()
 	return OK;
 }
 
-int
-BMI160::probe()
+int BMI160::probe()
 {
 	/* look for device ID */
 	_whoami = read_reg(BMIREG_CHIP_ID);
@@ -179,8 +172,7 @@ BMI160::probe()
 	return -EIO;
 }
 
-int
-BMI160::accel_set_sample_rate(float frequency)
+int BMI160::accel_set_sample_rate(float frequency)
 {
 	uint8_t setbits = 0;
 	uint8_t clearbits = (BMI_ACCEL_RATE_25_8 | BMI_ACCEL_RATE_1600);
@@ -246,8 +238,7 @@ BMI160::accel_set_sample_rate(float frequency)
 	return OK;
 }
 
-int
-BMI160::gyro_set_sample_rate(float frequency)
+int BMI160::gyro_set_sample_rate(float frequency)
 {
 	uint8_t setbits = 0;
 	uint8_t clearbits = (BMI_GYRO_RATE_200 | BMI_GYRO_RATE_25);
@@ -297,95 +288,31 @@ BMI160::gyro_set_sample_rate(float frequency)
 	return OK;
 }
 
-void
-BMI160::_set_dlpf_filter(uint16_t bandwidth)
-{
-	_dlpf_freq = 0;
-	bandwidth = bandwidth;   //TO BE IMPLEMENTED
-	/*uint8_t setbits = BW_SCAL_ODR_BW_XL;
-	uint8_t clearbits = BW_XL_50_HZ;
-
-	if (bandwidth == 0) {
-	    _dlpf_freq = 408;
-	    clearbits = BW_SCAL_ODR_BW_XL | BW_XL_50_HZ;
-	    setbits = 0;
-	}
-
-	if (bandwidth <= 50) {
-	    setbits |= BW_XL_50_HZ;
-	    _dlpf_freq = 50;
-
-	} else if (bandwidth <= 105) {
-	    setbits |= BW_XL_105_HZ;
-	    _dlpf_freq = 105;
-
-	} else if (bandwidth <= 211) {
-	    setbits |= BW_XL_211_HZ;
-	    _dlpf_freq = 211;
-
-	} else if (bandwidth <= 408) {
-	    setbits |= BW_XL_408_HZ;
-	    _dlpf_freq = 408;
-
-	}
-	modify_reg(CTRL_REG6_XL, clearbits, setbits);*/
-}
-
-/*
-  deliberately trigger an error in the sensor to trigger recovery
- */
-void
-BMI160::test_error()
-{
-	write_reg(BMIREG_CMD, BMI160_SOFT_RESET);
-	::printf("error triggered\n");
-	print_registers();
-}
-
-uint8_t
-BMI160::read_reg(unsigned reg)
+uint8_t BMI160::read_reg(uint8_t reg)
 {
 	uint8_t cmd[2] = { (uint8_t)(reg | DIR_READ), 0};
-
 	transfer(cmd, cmd, sizeof(cmd));
-
 	return cmd[1];
 }
 
-uint16_t
-BMI160::read_reg16(unsigned reg)
-{
-	uint8_t cmd[3] = { (uint8_t)(reg | DIR_READ), 0, 0 };
-
-	transfer(cmd, cmd, sizeof(cmd));
-
-	return (uint16_t)(cmd[1] << 8) | cmd[2];
-}
-
-void
-BMI160::write_reg(unsigned reg, uint8_t value)
+void BMI160::write_reg(uint8_t reg, uint8_t value)
 {
 	uint8_t	cmd[2];
-
 	cmd[0] = reg | DIR_WRITE;
 	cmd[1] = value;
-
 	transfer(cmd, nullptr, sizeof(cmd));
 }
 
 void
-BMI160::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
+BMI160::modify_reg(uint8_t reg, uint8_t clearbits, uint8_t setbits)
 {
-	uint8_t	val;
-
-	val = read_reg(reg);
+	uint8_t	val = read_reg(reg);
 	val &= ~clearbits;
 	val |= setbits;
 	write_checked_reg(reg, val);
 }
 
-void
-BMI160::write_checked_reg(unsigned reg, uint8_t value)
+void BMI160::write_checked_reg(uint8_t reg, uint8_t value)
 {
 	write_reg(reg, value);
 
@@ -397,8 +324,7 @@ BMI160::write_checked_reg(unsigned reg, uint8_t value)
 	}
 }
 
-int
-BMI160::set_accel_range(unsigned max_g)
+int BMI160::set_accel_range(unsigned max_g)
 {
 	uint8_t setbits = 0;
 	uint8_t clearbits = BMI_ACCEL_RANGE_2_G | BMI_ACCEL_RANGE_16_G;
@@ -439,8 +365,7 @@ BMI160::set_accel_range(unsigned max_g)
 	return OK;
 }
 
-int
-BMI160::set_gyro_range(unsigned max_dps)
+int BMI160::set_gyro_range(unsigned max_dps)
 {
 	uint8_t setbits = 0;
 	uint8_t clearbits = BMI_GYRO_RANGE_125_DPS | BMI_GYRO_RANGE_250_DPS;
@@ -487,8 +412,7 @@ BMI160::set_gyro_range(unsigned max_dps)
 	return OK;
 }
 
-void
-BMI160::start()
+void BMI160::start()
 {
 	/* start polling at the specified rate */
 	ScheduleOnInterval((1_s / BMI160_GYRO_DEFAULT_RATE) - BMI160_TIMER_REDUCTION, 1000);
@@ -496,8 +420,7 @@ BMI160::start()
 	reset();
 }
 
-void
-BMI160::check_registers(void)
+void BMI160::check_registers()
 {
 	uint8_t v;
 
@@ -539,8 +462,7 @@ BMI160::check_registers(void)
 	_checked_next = (_checked_next + 1) % BMI160_NUM_CHECKED_REGISTERS;
 }
 
-void
-BMI160::RunImpl()
+void BMI160::RunImpl()
 {
 	if (hrt_absolute_time() < _reset_wait) {
 		// we're waiting for a reset to complete
@@ -557,7 +479,7 @@ BMI160::RunImpl()
 		int16_t		gyro_x;
 		int16_t		gyro_y;
 		int16_t		gyro_z;
-	} report;
+	} report{};
 
 	/* start measuring */
 	perf_begin(_sample_perf);
@@ -567,7 +489,7 @@ BMI160::RunImpl()
 	 */
 	bmi_report.cmd = BMIREG_GYR_X_L | DIR_READ;
 
-	uint8_t		status = read_reg(BMIREG_STATUS);
+	uint8_t status = read_reg(BMIREG_STATUS);
 
 	const hrt_abstime timestamp_sample = hrt_absolute_time();
 
@@ -594,8 +516,6 @@ BMI160::RunImpl()
 
 	report.temp = ((temp_h << 8) + temp_l);
 
-
-
 	report.accel_x = bmi_report.accel_x;
 	report.accel_y = bmi_report.accel_y;
 	report.accel_z = bmi_report.accel_z;
@@ -669,8 +589,7 @@ BMI160::RunImpl()
 	perf_end(_sample_perf);
 }
 
-void
-BMI160::print_status()
+void BMI160::print_status()
 {
 	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
@@ -681,44 +600,6 @@ BMI160::print_status()
 	perf_print_counter(_good_transfers);
 	perf_print_counter(_reset_retries);
 	perf_print_counter(_duplicates);
-
-	::printf("checked_next: %u\n", _checked_next);
-
-	for (uint8_t i = 0; i < BMI160_NUM_CHECKED_REGISTERS; i++) {
-		uint8_t v = read_reg(_checked_registers[i]);
-
-		if (v != _checked_values[i]) {
-			::printf("reg %02x:%02x should be %02x\n",
-				 (unsigned)_checked_registers[i],
-				 (unsigned)v,
-				 (unsigned)_checked_values[i]);
-		}
-
-		if (v != _checked_bad[i]) {
-			::printf("reg %02x:%02x was bad %02x\n",
-				 (unsigned)_checked_registers[i],
-				 (unsigned)v,
-				 (unsigned)_checked_bad[i]);
-		}
-	}
-
 	_px4_accel.print_status();
 	_px4_gyro.print_status();
 }
-
-void
-BMI160::print_registers()
-{
-	printf("BMI160 registers\n");
-
-	for (uint8_t reg = 0x40; reg <= 0x47; reg++) {
-		uint8_t v = read_reg(reg);
-		printf("%02x:%02x ", (unsigned)reg, (unsigned)v);
-
-		if (reg % 13 == 0) {
-			printf("\n");
-		}
-	}
-
-	printf("\n");
-}

src/drivers/imu/bmi160/bmi160.hpp

@@ -231,12 +231,6 @@
 #define BMI160_GYRO_MAX_RATE                3200
 #define BMI160_GYRO_MAX_PUBLISH_RATE        BMI160_ACCEL_MAX_PUBLISH_RATE
 
-#define BMI160_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ	324
-#define BMI160_ACCEL_DEFAULT_DRIVER_FILTER_FREQ	50
-
-#define BMI160_GYRO_DEFAULT_ONCHIP_FILTER_FREQ	254.6f
-#define BMI160_GYRO_DEFAULT_DRIVER_FILTER_FREQ	50
-
 #define BMI160_BUS_SPEED				10*1000*1000
 
 #define BMI160_TIMER_REDUCTION				200
@@ -253,23 +247,12 @@ public:
 	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
 					     int runtime_instance);
 	static void print_usage();
-
 	int		init() override;
-
-	void			print_status() override;
-
-	void			print_registers();
-
-	// deliberately cause a sensor error
-	void 			test_error();
-
-	void			RunImpl();
-
-protected:
-	int		probe() override;
-	void custom_method(const BusCLIArguments &cli) override;
+	void		print_status() override;
+	void		RunImpl();
 
 private:
+	int		probe() override;
 
 	PX4Accelerometer	_px4_accel;
 	PX4Gyroscope		_px4_gyro;
@@ -324,8 +307,7 @@ private:
 	 * @param		The register to read.
 	 * @return		The value that was read.
 	 */
-	uint8_t			read_reg(unsigned reg);
-	uint16_t		read_reg16(unsigned reg);
+	uint8_t			read_reg(uint8_t reg);
 
 	/**
 	 * Write a register in the BMI160
@@ -333,7 +315,7 @@ private:
 	 * @param reg		The register to write.
 	 * @param value		The new value to write.
 	 */
-	void			write_reg(unsigned reg, uint8_t value);
+	void			write_reg(uint8_t reg, uint8_t value);
 
 	/**
 	 * Modify a register in the BMI160
@@ -344,7 +326,7 @@ private:
 	 * @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);
+	void			modify_reg(uint8_t reg, uint8_t clearbits, uint8_t setbits);
 
 	/**
 	 * Write a register in the BMI160, updating _checked_values
@@ -352,7 +334,7 @@ private:
 	 * @param reg		The register to write.
 	 * @param value		The new value to write.
 	 */
-	void			write_checked_reg(unsigned reg, uint8_t value);
+	void			write_checked_reg(uint8_t reg, uint8_t value);
 
 	/**
 	 * Set the BMI160 measurement range.
@@ -364,16 +346,6 @@ private:
 	int			set_accel_range(unsigned max_g);
 	int			set_gyro_range(unsigned max_dps);
 
-	/**
-	 * Swap a 16-bit value read from the BMI160 to native byte order.
-	 */
-	uint16_t		swap16(uint16_t val) { return (val >> 8) | (val << 8);	}
-
-	/*
-	  set low pass filter frequency
-	 */
-	void _set_dlpf_filter(uint16_t frequency_hz);
-
 	/*
 	  set sample rate (approximate) - 10 - 952 Hz
 	*/
@@ -382,11 +354,7 @@ private:
 	/*
 	  check that key registers still have the right value
 	 */
-	void check_registers(void);
-
-	/* do not allow to copy this class due to pointer data members */
-	BMI160(const BMI160 &);
-	BMI160 operator=(const BMI160 &);
+	void check_registers();
 
 #pragma pack(push, 1)
 	/**

src/drivers/imu/bmi160/bmi160_main.cpp

@@ -44,9 +44,6 @@ BMI160::print_usage()
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
 	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
-	PRINT_MODULE_USAGE_COMMAND("reset");
-	PRINT_MODULE_USAGE_COMMAND("regdump");
-	PRINT_MODULE_USAGE_COMMAND("testerror");
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
@@ -69,21 +66,6 @@ I2CSPIDriverBase *BMI160::instantiate(const BusCLIArguments &cli, const BusInsta
 	return instance;
 }
 
-void
-BMI160::custom_method(const BusCLIArguments &cli)
-{
-	switch (cli.custom1) {
-	case 0: reset();
-		break;
-
-	case 1: print_registers();
-		break;
-
-	case 2: test_error();
-		break;
-	}
-}
-
 extern "C" int bmi160_main(int argc, char *argv[])
 {
 	int ch;
@@ -120,21 +102,6 @@ extern "C" int bmi160_main(int argc, char *argv[])
 		return ThisDriver::module_status(iterator);
 	}
 
-	if (!strcmp(verb, "reset")) {
-		cli.custom1 = 0;
-		return ThisDriver::module_custom_method(cli, iterator);
-	}
-
-	if (!strcmp(verb, "regdump")) {
-		cli.custom1 = 1;
-		return ThisDriver::module_custom_method(cli, iterator);
-	}
-
-	if (!strcmp(verb, "testerror")) {
-		cli.custom1 = 2;
-		return ThisDriver::module_custom_method(cli, iterator);
-	}
-
 	ThisDriver::print_usage();
 	return -1;
 }

src/drivers/imu/invensense/CMakeLists.txt

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2020 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.
+#
+############################################################################
+
+add_subdirectory(icm20602)
+add_subdirectory(icm20608g)
+add_subdirectory(icm20689)
+add_subdirectory(icm40609d)
+add_subdirectory(icm42688p)
+add_subdirectory(mpu6000)
+add_subdirectory(mpu6500)
+add_subdirectory(mpu9250)