Browse Source
* Integrated preliminary ICM20948 support into MPU9250 driver. Fixed temperature conversion for MPU9250/ICM20948. * Included missing check for PX4_I2C_OBDEV_MPU9250 in main.cpp. * Added explicit bus for internal MPU9250 on Pixhawk 2.1 to avoid implicit start of an externally attached device with wrong orientation.sbg
flochir
6 years ago
committed by
Daniel Agar
14 changed files with 1491 additions and 960 deletions
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|
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/****************************************************************************
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* |
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* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file gyro.cpp |
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* |
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* Driver for the Invensense mpu9250 connected via SPI. |
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* |
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* @author Andrew Tridgell |
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* |
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* based on the mpu6000 driver |
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*/ |
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#include <px4_config.h> |
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#include <ecl/geo/geo.h> |
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#include <sys/types.h> |
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#include <stdint.h> |
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#include <stdbool.h> |
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#include <stddef.h> |
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#include <stdlib.h> |
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#include <errno.h> |
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#include <stdio.h> |
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#include <perf/perf_counter.h> |
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#include <board_config.h> |
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#include <drivers/drv_hrt.h> |
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#include <drivers/device/spi.h> |
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#include <drivers/device/ringbuffer.h> |
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#include <drivers/device/integrator.h> |
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#include <drivers/drv_accel.h> |
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#include <drivers/drv_gyro.h> |
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#include <drivers/drv_mag.h> |
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#include <mathlib/math/filter/LowPassFilter2p.hpp> |
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#include <lib/conversion/rotation.h> |
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#include "mag.h" |
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#include "gyro.h" |
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#include "mpu9250.h" |
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MPU9250_accel::MPU9250_accel(MPU9250 *parent, const char *path) : |
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CDev("MPU9250_accel", path), |
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_parent(parent) |
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{ |
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} |
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MPU9250_accel::~MPU9250_accel() |
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{ |
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if (_accel_class_instance != -1) { |
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unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _accel_class_instance); |
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} |
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} |
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int |
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MPU9250_accel::init() |
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{ |
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// do base class init
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int ret = CDev::init(); |
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/* if probe/setup failed, bail now */ |
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if (ret != OK) { |
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DEVICE_DEBUG("accel init failed"); |
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return ret; |
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} |
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_accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH); |
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return ret; |
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} |
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void |
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MPU9250_accel::parent_poll_notify() |
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{ |
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poll_notify(POLLIN); |
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} |
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int |
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MPU9250_accel::ioctl(struct file *filp, int cmd, unsigned long arg) |
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{ |
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/*
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* Repeated in MPU9250_mag::ioctl |
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* Both accel and mag CDev could be unused in case of magnetometer only mode or MPU6500 |
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*/ |
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switch (cmd) { |
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case SENSORIOCRESET: { |
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return _parent->reset(); |
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} |
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case SENSORIOCSPOLLRATE: { |
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switch (arg) { |
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/* zero would be bad */ |
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case 0: |
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return -EINVAL; |
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case SENSOR_POLLRATE_DEFAULT: |
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return ioctl(filp, SENSORIOCSPOLLRATE, MPU9250_ACCEL_DEFAULT_RATE); |
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/* adjust to a legal polling interval in Hz */ |
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default: |
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return _parent->_set_pollrate(arg); |
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} |
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} |
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case ACCELIOCSSCALE: { |
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struct accel_calibration_s *s = (struct accel_calibration_s *) arg; |
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memcpy(&_parent->_accel_scale, s, sizeof(_parent->_accel_scale)); |
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return OK; |
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} |
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default: |
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return CDev::ioctl(filp, cmd, arg); |
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} |
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} |
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@ -0,0 +1,63 @@
@@ -0,0 +1,63 @@
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/****************************************************************************
|
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* |
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* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved. |
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* |
||||
* 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. |
||||
* |
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****************************************************************************/ |
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|
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#pragma once |
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class MPU9250; |
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/**
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* Helper class implementing the accel driver node. |
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*/ |
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class MPU9250_accel : public device::CDev |
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{ |
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public: |
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MPU9250_accel(MPU9250 *parent, const char *path); |
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~MPU9250_accel(); |
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg); |
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virtual int init(); |
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protected: |
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friend class MPU9250; |
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void parent_poll_notify(); |
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private: |
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MPU9250 *_parent; |
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orb_advert_t _accel_topic{nullptr}; |
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int _accel_orb_class_instance{-1}; |
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int _accel_class_instance{-1}; |
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}; |
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