diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 6a53ee9c9159d1dbb031ad1575f351ed0e4e7513..d15365afd339e2d5f2a6064f0175313160a77db6 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -100,6 +100,9 @@ then
teraranger start -a
fi
+# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
+mpu9250 -X -M -R 6 start
+
###############################################################################
# End Optional drivers #
###############################################################################
diff --git a/src/drivers/imu/mpu9250/CMakeLists.txt b/src/drivers/imu/mpu9250/CMakeLists.txt
index 05cb193c7d3436624367d7aa4e8a8021570a06bc..bd40db5da7866ac9d07a109ae6c26ae645f54b61 100644
--- a/src/drivers/imu/mpu9250/CMakeLists.txt
+++ b/src/drivers/imu/mpu9250/CMakeLists.txt
@@ -40,6 +40,7 @@ px4_add_module(
mpu9250_i2c.cpp
mpu9250_spi.cpp
main.cpp
+ accel.cpp
gyro.cpp
mag.cpp
mag_i2c.cpp
diff --git a/src/drivers/imu/mpu9250/accel.cpp b/src/drivers/imu/mpu9250/accel.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..230c5f006b30e9bdc4ad0c8b373f56bb4b6f7a8a
--- /dev/null
+++ b/src/drivers/imu/mpu9250/accel.cpp
@@ -0,0 +1,147 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2012-2016 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 gyro.cpp
+ *
+ * Driver for the Invensense mpu9250 connected via SPI.
+ *
+ * @author Andrew Tridgell
+ *
+ * based on the mpu6000 driver
+ */
+
+#include <px4_config.h>
+#include <ecl/geo/geo.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <stdio.h>
+
+#include <perf/perf_counter.h>
+
+#include <board_config.h>
+#include <drivers/drv_hrt.h>
+
+#include <drivers/device/spi.h>
+#include <drivers/device/ringbuffer.h>
+#include <drivers/device/integrator.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_gyro.h>
+#include <drivers/drv_mag.h>
+#include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/conversion/rotation.h>
+
+#include "mag.h"
+#include "gyro.h"
+#include "mpu9250.h"
+
+MPU9250_accel::MPU9250_accel(MPU9250 *parent, const char *path) :
+ CDev("MPU9250_accel", path),
+ _parent(parent)
+{
+}
+
+MPU9250_accel::~MPU9250_accel()
+{
+ if (_accel_class_instance != -1) {
+ unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _accel_class_instance);
+ }
+}
+
+int
+MPU9250_accel::init()
+{
+ // do base class init
+ int ret = CDev::init();
+
+ /* if probe/setup failed, bail now */
+ if (ret != OK) {
+ DEVICE_DEBUG("accel init failed");
+ return ret;
+ }
+
+ _accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
+
+ return ret;
+}
+
+void
+MPU9250_accel::parent_poll_notify()
+{
+ poll_notify(POLLIN);
+}
+
+int
+MPU9250_accel::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+ /*
+ * Repeated in MPU9250_mag::ioctl
+ * Both accel and mag CDev could be unused in case of magnetometer only mode or MPU6500
+ */
+
+ switch (cmd) {
+ case SENSORIOCRESET: {
+ return _parent->reset();
+ }
+
+ case SENSORIOCSPOLLRATE: {
+ switch (arg) {
+
+ /* zero would be bad */
+ case 0:
+ return -EINVAL;
+
+ case SENSOR_POLLRATE_DEFAULT:
+ return ioctl(filp, SENSORIOCSPOLLRATE, MPU9250_ACCEL_DEFAULT_RATE);
+
+ /* adjust to a legal polling interval in Hz */
+ default:
+ return _parent->_set_pollrate(arg);
+ }
+ }
+
+ case ACCELIOCSSCALE: {
+ struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
+ memcpy(&_parent->_accel_scale, s, sizeof(_parent->_accel_scale));
+ return OK;
+ }
+
+ default:
+ return CDev::ioctl(filp, cmd, arg);
+ }
+}
diff --git a/src/drivers/imu/mpu9250/accel.h b/src/drivers/imu/mpu9250/accel.h
new file mode 100644
index 0000000000000000000000000000000000000000..fd9cc63eda6207a9e9c36f0cf7f795ad674e9398
--- /dev/null
+++ b/src/drivers/imu/mpu9250/accel.h
@@ -0,0 +1,63 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2012-2016 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+class MPU9250;
+
+/**
+ * Helper class implementing the accel driver node.
+ */
+class MPU9250_accel : public device::CDev
+{
+public:
+ MPU9250_accel(MPU9250 *parent, const char *path);
+ ~MPU9250_accel();
+
+ virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
+
+ virtual int init();
+
+protected:
+ friend class MPU9250;
+
+ void parent_poll_notify();
+
+private:
+ MPU9250 *_parent;
+
+ orb_advert_t _accel_topic{nullptr};
+ int _accel_orb_class_instance{-1};
+ int _accel_class_instance{-1};
+
+};
diff --git a/src/drivers/imu/mpu9250/gyro.cpp b/src/drivers/imu/mpu9250/gyro.cpp
index bb06a30de4feddfdf921df641a32679864d7eb82..465bbae5aee6234aaeffe188b41802505bec4bda 100644
--- a/src/drivers/imu/mpu9250/gyro.cpp
+++ b/src/drivers/imu/mpu9250/gyro.cpp
@@ -42,27 +42,14 @@
*/
#include <px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <stdio.h>
-
-#include <perf/perf_counter.h>
-
-#include <board_config.h>
-#include <drivers/drv_hrt.h>
-
+#include <lib/perf/perf_counter.h>
#include <drivers/device/spi.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/integrator.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
-#include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
#include "mag.h"
@@ -71,10 +58,7 @@
MPU9250_gyro::MPU9250_gyro(MPU9250 *parent, const char *path) :
CDev("MPU9250_gyro", path),
- _parent(parent),
- _gyro_topic(nullptr),
- _gyro_orb_class_instance(-1),
- _gyro_class_instance(-1)
+ _parent(parent)
{
}
@@ -88,10 +72,8 @@ MPU9250_gyro::~MPU9250_gyro()
int
MPU9250_gyro::init()
{
- int ret;
-
// do base class init
- ret = CDev::init();
+ int ret = CDev::init();
/* if probe/setup failed, bail now */
if (ret != OK) {
@@ -110,22 +92,22 @@ MPU9250_gyro::parent_poll_notify()
poll_notify(POLLIN);
}
-ssize_t
-MPU9250_gyro::read(struct file *filp, char *buffer, size_t buflen)
-{
- return _parent->gyro_read(filp, buffer, buflen);
-}
-
int
MPU9250_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
{
-
switch (cmd) {
- case DEVIOCGDEVICEID:
- return (int)CDev::ioctl(filp, cmd, arg);
- break;
+
+ /* these are shared with the accel side */
+ case SENSORIOCSPOLLRATE:
+ case SENSORIOCRESET:
+ return _parent->_accel->ioctl(filp, cmd, arg);
+
+ case GYROIOCSSCALE:
+ /* copy scale in */
+ memcpy(&_parent->_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_parent->_gyro_scale));
+ return OK;
default:
- return _parent->gyro_ioctl(filp, cmd, arg);
+ return CDev::ioctl(filp, cmd, arg);
}
}
diff --git a/src/drivers/imu/mpu9250/gyro.h b/src/drivers/imu/mpu9250/gyro.h
index d13304a3ed75679f513a62630ba2f79f9e24ad18..d24088d23f60a235d8ce27191faf245a1a9e60fc 100644
--- a/src/drivers/imu/mpu9250/gyro.h
+++ b/src/drivers/imu/mpu9250/gyro.h
@@ -44,7 +44,6 @@ public:
MPU9250_gyro(MPU9250 *parent, const char *path);
~MPU9250_gyro();
- virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
virtual int init();
@@ -56,11 +55,8 @@ protected:
private:
MPU9250 *_parent;
- orb_advert_t _gyro_topic;
- int _gyro_orb_class_instance;
- int _gyro_class_instance;
- /* do not allow to copy this class due to pointer data members */
- MPU9250_gyro(const MPU9250_gyro &);
- MPU9250_gyro operator=(const MPU9250_gyro &);
+ orb_advert_t _gyro_topic{nullptr};
+ int _gyro_orb_class_instance{-1};
+ int _gyro_class_instance{-1};
};
diff --git a/src/drivers/imu/mpu9250/mag.cpp b/src/drivers/imu/mpu9250/mag.cpp
index 8e08c9dcaeb1e7acb4150a4b9778a27b3eaff893..cdbc35f3dadb68ad75e27e6b8c60f847f579fb14 100644
--- a/src/drivers/imu/mpu9250/mag.cpp
+++ b/src/drivers/imu/mpu9250/mag.cpp
@@ -42,27 +42,15 @@
#include <px4_config.h>
#include <px4_log.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <stdio.h>
-
-#include <perf/perf_counter.h>
-
-#include <board_config.h>
+#include <lib/perf/perf_counter.h>
#include <drivers/drv_hrt.h>
-
#include <drivers/device/spi.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/integrator.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
-#include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
#include "mag.h"
@@ -129,14 +117,17 @@ MPU9250_mag::init()
/* if cdev init failed, bail now */
if (ret != OK) {
- DEVICE_DEBUG("MPU9250 mag init failed");
+ if (_parent->_device_type == MPU_DEVICE_TYPE_MPU9250) { DEVICE_DEBUG("MPU9250 mag init failed"); }
+
+ else { DEVICE_DEBUG("ICM20948 mag init failed"); }
+
return ret;
}
_mag_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report));
if (_mag_reports == nullptr) {
- return -ENOMEM;;
+ return -ENOMEM;
}
_mag_class_instance = register_class_devname(MAG_BASE_DEVICE_PATH);
@@ -147,8 +138,8 @@ MPU9250_mag::init()
_mag_reports->get(&mrp);
_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mrp,
- &_mag_orb_class_instance, ORB_PRIO_LOW);
- // &_mag_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
+ &_mag_orb_class_instance, (_parent->is_external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT);
+// &_mag_orb_class_instance, ORB_PRIO_LOW);
if (_mag_topic == nullptr) {
PX4_ERR("ADVERT FAIL");
@@ -173,10 +164,23 @@ bool MPU9250_mag::check_duplicate(uint8_t *mag_data)
void
MPU9250_mag::measure()
{
- struct ak8963_regs data;
+ uint8_t ret;
+ union raw_data_t {
+ struct ak8963_regs ak8963_data;
+ struct ak09916_regs ak09916_data;
+ } raw_data;
+
+ if (_parent->_device_type == MPU_DEVICE_TYPE_MPU9250) {
+ ret = _interface->read(AK8963REG_ST1, &raw_data, sizeof(struct ak8963_regs));
- if (OK == _interface->read(AK8963REG_ST1, &data, sizeof(struct ak8963_regs))) {
- _measure(data);
+ } else { // ICM20948 --> AK09916
+ ret = _interface->read(AK09916REG_ST1, &raw_data, sizeof(struct ak09916_regs));
+ }
+
+ if (ret == OK) {
+ if (_parent->_device_type == MPU_DEVICE_TYPE_ICM20948) { raw_data.ak8963_data.st2 = raw_data.ak09916_data.st2; }
+
+ _measure(raw_data.ak8963_data);
}
}
@@ -205,23 +209,53 @@ MPU9250_mag::_measure(struct ak8963_regs data)
mag_report mrb;
mrb.timestamp = hrt_absolute_time();
- mrb.is_external = false;
+// mrb.is_external = false;
+
+ // need a better check here. Using _parent->is_external() for mpu9250 also sets the
+ // internal magnetometers connected to the "external" spi bus as external, at least
+ // on Pixhawk 2.1. For now assuming the ICM20948 is only used on Here GPS, hence external.
+ if (_parent->_device_type == MPU_DEVICE_TYPE_ICM20948) {
+ mrb.is_external = _parent->is_external();
+
+ } else {
+ mrb.is_external = false;
+ }
/*
* Align axes - note the accel & gryo are also re-aligned so this
* doesn't look obvious with the datasheet
*/
- mrb.x_raw = data.x;
- mrb.y_raw = -data.y;
- mrb.z_raw = -data.z;
+ float xraw_f, yraw_f, zraw_f;
- float xraw_f = data.x;
- float yraw_f = -data.y;
- float zraw_f = -data.z;
+ if (_parent->_device_type == MPU_DEVICE_TYPE_ICM20948) {
+ /*
+ * Keeping consistent with the accel and gyro axes of the ICM20948 here, just aligning the magnetometer to them.
+ */
+ mrb.x_raw = data.y;
+ mrb.y_raw = data.x;
+ mrb.z_raw = -data.z;
+
+ xraw_f = data.y;
+ yraw_f = data.x;
+ zraw_f = -data.z;
+
+ } else {
+ mrb.x_raw = data.x;
+ mrb.y_raw = -data.y;
+ mrb.z_raw = -data.z;
+
+ xraw_f = data.x;
+ yraw_f = -data.y;
+ zraw_f = -data.z;
+ }
/* apply user specified rotation */
rotate_3f(_parent->_rotation, xraw_f, yraw_f, zraw_f);
+ if (_parent->_device_type == MPU_DEVICE_TYPE_ICM20948) {
+ rotate_3f(ROTATION_YAW_270, xraw_f, yraw_f, zraw_f); //offset between accel/gyro and mag on icm20948
+ }
+
mrb.x = ((xraw_f * _mag_range_scale * _mag_asa_x) - _mag_scale.x_offset) * _mag_scale.x_scale;
mrb.y = ((yraw_f * _mag_range_scale * _mag_asa_y) - _mag_scale.y_offset) * _mag_scale.y_scale;
mrb.z = ((zraw_f * _mag_range_scale * _mag_asa_z) - _mag_scale.z_offset) * _mag_scale.z_scale;
@@ -244,52 +278,14 @@ MPU9250_mag::_measure(struct ak8963_regs data)
}
}
-ssize_t
-MPU9250_mag::read(struct file *filp, char *buffer, size_t buflen)
-{
- unsigned count = buflen / sizeof(mag_report);
-
- /* buffer must be large enough */
- if (count < 1) {
- return -ENOSPC;
- }
-
- /* if automatic measurement is not enabled, get a fresh measurement into the buffer */
- if (_parent->_call_interval == 0) {
- _mag_reports->flush();
- /* TODO: this won't work as getting valid magnetometer
- * data requires more than one measure cycle
- */
- _parent->measure();
- }
-
- /* if no data, error (we could block here) */
- if (_mag_reports->empty()) {
- return -EAGAIN;
- }
-
- perf_count(_mag_reads);
-
- /* copy reports out of our buffer to the caller */
- mag_report *mrp = reinterpret_cast<mag_report *>(buffer);
- int transferred = 0;
-
- while (count--) {
- if (!_mag_reports->get(mrp)) {
- break;
- }
-
- transferred++;
- mrp++;
- }
-
- /* return the number of bytes transferred */
- return (transferred * sizeof(mag_report));
-}
-
int
MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
{
+ /*
+ * Repeated in MPU9250_accel::ioctl
+ * Both accel and mag CDev could be unused in case of magnetometer only mode or MPU6500
+ */
+
switch (cmd) {
case SENSORIOCRESET:
@@ -302,18 +298,12 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
case 0:
return -EINVAL;
- /* set default polling rate */
case SENSOR_POLLRATE_DEFAULT:
- return ioctl(filp, SENSORIOCSPOLLRATE, MPU9250_AK8963_SAMPLE_RATE);
+ return ioctl(filp, SENSORIOCSPOLLRATE, MPU9250_ACCEL_DEFAULT_RATE);
/* adjust to a legal polling interval in Hz */
- default: {
- if (MPU9250_AK8963_SAMPLE_RATE != arg) {
- return -EINVAL;
- }
-
- return OK;
- }
+ default:
+ return _parent->_set_pollrate(arg);
}
}
@@ -337,19 +327,20 @@ MPU9250_mag::set_passthrough(uint8_t reg, uint8_t size, uint8_t *out)
{
uint8_t addr;
- _parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // ensure slave r/w is disabled before changing the registers
+ _parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_CTRL, ICMREG_20948_I2C_SLV0_CTRL),
+ 0); // ensure slave r/w is disabled before changing the registers
if (out) {
- _parent->write_reg(MPUREG_I2C_SLV0_D0, *out);
+ _parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_D0, ICMREG_20948_I2C_SLV0_DO), *out);
addr = AK8963_I2C_ADDR;
} else {
addr = AK8963_I2C_ADDR | BIT_I2C_READ_FLAG;
}
- _parent->write_reg(MPUREG_I2C_SLV0_ADDR, addr);
- _parent->write_reg(MPUREG_I2C_SLV0_REG, reg);
- _parent->write_reg(MPUREG_I2C_SLV0_CTRL, size | BIT_I2C_SLV0_EN);
+ _parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_ADDR, ICMREG_20948_I2C_SLV0_ADDR), addr);
+ _parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_REG, ICMREG_20948_I2C_SLV0_REG), reg);
+ _parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_CTRL, ICMREG_20948_I2C_SLV0_CTRL), size | BIT_I2C_SLV0_EN);
}
void
@@ -363,8 +354,8 @@ MPU9250_mag::passthrough_read(uint8_t reg, uint8_t *buf, uint8_t size)
{
set_passthrough(reg, size);
usleep(25 + 25 * size); // wait for the value to be read from slave
- read_block(MPUREG_EXT_SENS_DATA_00, buf, size);
- _parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // disable new reads
+ read_block(AK_MPU_OR_ICM(MPUREG_EXT_SENS_DATA_00, ICMREG_20948_EXT_SLV_SENS_DATA_00), buf, size);
+ _parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_CTRL, ICMREG_20948_I2C_SLV0_CTRL), 0); // disable new reads
}
uint8_t
@@ -382,7 +373,6 @@ MPU9250_mag::read_reg(unsigned int reg)
return buf;
}
-
bool
MPU9250_mag::ak8963_check_id(uint8_t &deviceid)
{
@@ -399,11 +389,9 @@ MPU9250_mag::passthrough_write(uint8_t reg, uint8_t val)
{
set_passthrough(reg, 1, &val);
usleep(50); // wait for the value to be written to slave
- _parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // disable new writes
+ _parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_CTRL, ICMREG_20948_I2C_SLV0_CTRL), 0); // disable new writes
}
-
-
void
MPU9250_mag::write_reg(unsigned reg, uint8_t value)
{
@@ -416,26 +404,21 @@ MPU9250_mag::write_reg(unsigned reg, uint8_t value)
}
}
-
-
-
int
MPU9250_mag::ak8963_reset(void)
{
// First initialize it to use the bus
-
int rv = ak8963_setup();
if (rv == OK) {
// Now reset the mag
- write_reg(AK8963REG_CNTL2, AK8963_RESET);
+ write_reg(AK_MPU_OR_ICM(AK8963REG_CNTL2, AK09916REG_CNTL3), AK8963_RESET);
// Then re-initialize the bus/mag
rv = ak8963_setup();
}
return rv;
-
}
bool
@@ -480,11 +463,18 @@ MPU9250_mag::ak8963_setup_master_i2c(void)
* in master mode (SPI to I2C bridge)
*/
if (_interface == nullptr) {
- _parent->modify_checked_reg(MPUREG_USER_CTRL, 0, BIT_I2C_MST_EN);
- _parent->write_reg(MPUREG_I2C_MST_CTRL, BIT_I2C_MST_P_NSR | BIT_I2C_MST_WAIT_FOR_ES | BITS_I2C_MST_CLOCK_400HZ);
+ if (_parent->_device_type == MPU_DEVICE_TYPE_MPU9250) {
+ _parent->modify_checked_reg(MPUREG_USER_CTRL, 0, BIT_I2C_MST_EN);
+ _parent->write_reg(MPUREG_I2C_MST_CTRL, BIT_I2C_MST_P_NSR | BIT_I2C_MST_WAIT_FOR_ES | BITS_I2C_MST_CLOCK_400HZ);
+
+ } else { // ICM20948 -> AK09916
+ _parent->modify_checked_reg(ICMREG_20948_USER_CTRL, 0, BIT_I2C_MST_EN);
+ // WAIT_FOR_ES does not exist for ICM20948. Not sure how to replace this (or if that is needed)
+ _parent->write_reg(ICMREG_20948_I2C_MST_CTRL, BIT_I2C_MST_P_NSR | ICM_BITS_I2C_MST_CLOCK_400HZ);
+ }
} else {
- _parent->modify_checked_reg(MPUREG_USER_CTRL, BIT_I2C_MST_EN, 0);
+ _parent->modify_checked_reg(AK_MPU_OR_ICM(MPUREG_USER_CTRL, ICMREG_20948_USER_CTRL), BIT_I2C_MST_EN, 0);
}
return OK;
@@ -497,7 +487,7 @@ MPU9250_mag::ak8963_setup(void)
do {
ak8963_setup_master_i2c();
- write_reg(AK8963REG_CNTL2, AK8963_RESET);
+ write_reg(AK_MPU_OR_ICM(AK8963REG_CNTL2, AK09916REG_CNTL3), AK8963_RESET);
uint8_t id = 0;
@@ -506,33 +496,41 @@ MPU9250_mag::ak8963_setup(void)
}
retries--;
- PX4_ERR("AK8963: bad id %d retries %d", id, retries);
- _parent->modify_reg(MPUREG_USER_CTRL, 0, BIT_I2C_MST_RST);
+ PX4_WARN("AK8963: bad id %d retries %d", id, retries);
+ _parent->modify_reg(AK_MPU_OR_ICM(MPUREG_USER_CTRL, ICMREG_20948_USER_CTRL), 0, BIT_I2C_MST_RST);
up_udelay(100);
} while (retries > 0);
- if (retries > 0) {
- retries = 10;
+ /* No sensitivity adjustments available for AK09916/ICM20948 */
+ if (_parent->_device_type == MPU_DEVICE_TYPE_MPU9250) {
+ if (retries > 0) {
+ retries = 10;
- while (!ak8963_read_adjustments() && retries) {
- retries--;
- PX4_ERR("AK8963: failed to read adjustment data. Retries %d", retries);
+ while (!ak8963_read_adjustments() && retries) {
+ retries--;
+ PX4_ERR("AK8963: failed to read adjustment data. Retries %d", retries);
- _parent->modify_reg(MPUREG_USER_CTRL, 0, BIT_I2C_MST_RST);
- up_udelay(100);
- ak8963_setup_master_i2c();
- write_reg(AK8963REG_CNTL2, AK8963_RESET);
+ _parent->modify_reg(AK_MPU_OR_ICM(MPUREG_USER_CTRL, ICMREG_20948_USER_CTRL), 0, BIT_I2C_MST_RST);
+ up_udelay(100);
+ ak8963_setup_master_i2c();
+ write_reg(AK_MPU_OR_ICM(AK8963REG_CNTL2, AK09916REG_CNTL3), AK8963_RESET);
+ }
}
}
if (retries == 0) {
PX4_ERR("AK8963: failed to initialize, disabled!");
- _parent->modify_checked_reg(MPUREG_USER_CTRL, BIT_I2C_MST_EN, 0);
- _parent->write_reg(MPUREG_I2C_MST_CTRL, 0);
+ _parent->modify_checked_reg(AK_MPU_OR_ICM(MPUREG_USER_CTRL, ICMREG_20948_USER_CTRL), BIT_I2C_MST_EN, 0);
+ _parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_MST_CTRL, ICMREG_20948_I2C_MST_CTRL), 0);
return -EIO;
}
- write_reg(AK8963REG_CNTL1, AK8963_CONTINUOUS_MODE2 | AK8963_16BIT_ADC);
+ if (_parent->_device_type == MPU_DEVICE_TYPE_MPU9250) {
+ write_reg(AK8963REG_CNTL1, AK8963_CONTINUOUS_MODE2 | AK8963_16BIT_ADC);
+
+ } else { // ICM20948 -> AK09916
+ write_reg(AK09916REG_CNTL2, AK09916_CNTL2_CONTINOUS_MODE_100HZ);
+ }
if (_interface == NULL) {
@@ -540,7 +538,13 @@ MPU9250_mag::ak8963_setup(void)
/* Configure mpu' I2c Master interface to read ak8963 data
* Into to fifo
*/
- set_passthrough(AK8963REG_ST1, sizeof(struct ak8963_regs));
+ if (_parent->_device_type == MPU_DEVICE_TYPE_MPU9250) {
+ set_passthrough(AK8963REG_ST1, sizeof(struct ak8963_regs));
+
+ } else { // ICM20948 -> AK09916
+ set_passthrough(AK09916REG_ST1, sizeof(struct ak09916_regs));
+ }
+
}
return OK;
diff --git a/src/drivers/imu/mpu9250/mag.h b/src/drivers/imu/mpu9250/mag.h
index d734fa2efe2978164ae336f4228233989ecb9cd7..2bc1d0283255e746ccc351ca878b67500f2f20a1 100644
--- a/src/drivers/imu/mpu9250/mag.h
+++ b/src/drivers/imu/mpu9250/mag.h
@@ -66,6 +66,38 @@
#define AK8963_16BIT_ADC 0x10
#define AK8963_14BIT_ADC 0x00
#define AK8963_RESET 0x01
+#define AK8963_HOFL 0x08
+
+/* ak09916 deviating register addresses and bit definitions */
+
+#define AK09916_DEVICE_ID_A 0x48 // same as AK8963
+#define AK09916_DEVICE_ID_B 0x09 // additional ID byte ("INFO" on AK9063 without content specification.)
+
+#define AK09916REG_HXL 0x11
+#define AK09916REG_HXH 0x12
+#define AK09916REG_HYL 0x13
+#define AK09916REG_HYH 0x14
+#define AK09916REG_HZL 0x15
+#define AK09916REG_HZH 0x16
+#define AK09916REG_ST1 0x10
+#define AK09916REG_ST2 0x18
+#define AK09916REG_CNTL2 0x31
+#define AK09916REG_CNTL3 0x32
+
+
+#define AK09916_CNTL2_POWERDOWN_MODE 0x00
+#define AK09916_CNTL2_SINGLE_MODE 0x01 /* default */
+#define AK09916_CNTL2_CONTINOUS_MODE_10HZ 0x02
+#define AK09916_CNTL2_CONTINOUS_MODE_20HZ 0x04
+#define AK09916_CNTL2_CONTINOUS_MODE_50HZ 0x06
+#define AK09916_CNTL2_CONTINOUS_MODE_100HZ 0x08
+#define AK09916_CNTL2_SELFTEST_MODE 0x10
+#define AK09916_CNTL3_SRST 0x01
+#define AK09916_ST1_DRDY 0x01
+#define AK09916_ST1_DOR 0x02
+
+
+#define AK_MPU_OR_ICM(m,i) ((_parent->_device_type==MPU_DEVICE_TYPE_MPU9250) ? (m) : (i))
@@ -81,6 +113,18 @@ struct ak8963_regs {
};
#pragma pack(pop)
+#pragma pack(push, 1)
+struct ak09916_regs {
+ uint8_t st1;
+ int16_t x;
+ int16_t y;
+ int16_t z;
+ uint8_t tmps;
+ uint8_t st2;
+};
+#pragma pack(pop)
+
+
extern device::Device *AK8963_I2C_interface(int bus, bool external_bus);
typedef device::Device *(*MPU9250_mag_constructor)(int, bool);
@@ -95,7 +139,6 @@ public:
MPU9250_mag(MPU9250 *parent, device::Device *interface, const char *path);
~MPU9250_mag();
- virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
virtual int init();
@@ -121,15 +164,11 @@ protected:
/* Update the state with prefetched data (internally called by the regular measure() )*/
void _measure(struct ak8963_regs data);
-
uint8_t read_reg(unsigned reg);
void write_reg(unsigned reg, uint8_t value);
-
bool is_passthrough() { return _interface == nullptr; }
- int self_test(void);
-
private:
MPU9250 *_parent;
orb_advert_t _mag_topic;
diff --git a/src/drivers/imu/mpu9250/mag_i2c.cpp b/src/drivers/imu/mpu9250/mag_i2c.cpp
index 23a4ba8b74e0f83ede2e212e513a446b7ac026cd..91e74bf0a833998f0bd7935283c53feabc921c7e 100644
--- a/src/drivers/imu/mpu9250/mag_i2c.cpp
+++ b/src/drivers/imu/mpu9250/mag_i2c.cpp
@@ -102,7 +102,7 @@ AK8963_I2C::probe()
uint8_t whoami = 0;
uint8_t expected = AK8963_DEVICE_ID;
- if (read(AK8963REG_WIA, &whoami, 1)) {
+ if (PX4_OK != read(AK8963REG_WIA, &whoami, 1)) {
return -EIO;
}
diff --git a/src/drivers/imu/mpu9250/main.cpp b/src/drivers/imu/mpu9250/main.cpp
index 294082966180c69381f2cb7a9aa931f32d5754bd..d5e05f2612f475a8d54d687078926d8f96a5e55d 100644
--- a/src/drivers/imu/mpu9250/main.cpp
+++ b/src/drivers/imu/mpu9250/main.cpp
@@ -91,10 +91,33 @@
#define MPU_DEVICE_PATH_GYRO_EXT2 "/dev/mpu9250_gyro_ext2"
#define MPU_DEVICE_PATH_MAG_EXT2 "/dev/mpu9250_mag_ext2"
+#define MPU_DEVICE_PATH_MPU6500_ACCEL "/dev/mpu6500_accel"
+#define MPU_DEVICE_PATH_MPU6500_GYRO "/dev/mpu6500_gyro"
+#define MPU_DEVICE_PATH_MPU6500_MAG "/dev/mpu6500_mag"
+
+#define MPU_DEVICE_PATH_MPU6500_ACCEL_1 "/dev/mpu6500_accel1"
+#define MPU_DEVICE_PATH_MPU6500_GYRO_1 "/dev/mpu6500_gyro1"
+#define MPU_DEVICE_PATH_MPU6500_MAG_1 "/dev/mpu6500_mag1"
+
+#define MPU_DEVICE_PATH_MPU6500_ACCEL_EXT "/dev/mpu6500_accel_ext"
+#define MPU_DEVICE_PATH_MPU6500_GYRO_EXT "/dev/mpu6500_gyro_ext"
+#define MPU_DEVICE_PATH_MPU6500_MAG_EXT "/dev/mpu6500_mag_ext"
+
+#define MPU_DEVICE_PATH_ICM_ACCEL_EXT "/dev/mpu9250_icm_accel_ext"
+#define MPU_DEVICE_PATH_ICM_GYRO_EXT "/dev/mpu9250_icm_gyro_ext"
+#define MPU_DEVICE_PATH_ICM_MAG_EXT "/dev/mpu9250_icm_mag_ext"
+
+#define MPU_DEVICE_PATH_ICM_ACCEL_EXT1 "/dev/mpu9250_icm_accel_ext1"
+#define MPU_DEVICE_PATH_ICM_GYRO_EXT1 "/dev/mpu9250_icm_gyro_ext1"
+#define MPU_DEVICE_PATH_ICM_MAG_EXT1 "/dev/mpu9250_icm_mag_ext1"
+
+#define MPU_DEVICE_PATH_ICM_ACCEL_EXT2 "/dev/mpu9250_icm_accel_ext2"
+#define MPU_DEVICE_PATH_ICM_GYRO_EXT2 "/dev/mpu9250_icm_gyro_ext2"
+#define MPU_DEVICE_PATH_ICM_MAG_EXT2 "/dev/mpu9250_icm_mag_ext2"
+
/** driver 'main' command */
extern "C" { __EXPORT int mpu9250_main(int argc, char *argv[]); }
-
enum MPU9250_BUS {
MPU9250_BUS_ALL = 0,
MPU9250_BUS_I2C_INTERNAL,
@@ -104,7 +127,6 @@ enum MPU9250_BUS {
MPU9250_BUS_SPI_EXTERNAL
};
-
/**
* Local functions in support of the shell command.
*/
@@ -117,6 +139,7 @@ namespace mpu9250
struct mpu9250_bus_option {
enum MPU9250_BUS busid;
+ MPU_DEVICE_TYPE device_type;
const char *accelpath;
const char *gyropath;
const char *magpath;
@@ -127,42 +150,47 @@ struct mpu9250_bus_option {
MPU9250 *dev;
} bus_options[] = {
#if defined (USE_I2C)
-# if defined(PX4_I2C_BUS_ONBOARD)
- { MPU9250_BUS_I2C_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_I2C_interface, false, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_MPU9250, NULL },
+# if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV_MPU9250)
+ { MPU9250_BUS_I2C_INTERNAL, MPU_DEVICE_TYPE_MPU9250, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_I2C_interface, false, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_MPU9250, NULL },
+ { MPU9250_BUS_I2C_INTERNAL, MPU_DEVICE_TYPE_MPU6500, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_I2C_interface, false, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_MPU9250, NULL },
# endif
# if defined(PX4_I2C_BUS_EXPANSION)
- { MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_MPU9250, NULL },
+# if defined(PX4_I2C_OBDEV_MPU9250)
+ { MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU9250, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_MPU9250, NULL },
+ { MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU6500, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_MPU9250, NULL },
# endif
-# if defined(PX4_I2C_BUS_EXPANSION1)
+ { MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_ICM20948, MPU_DEVICE_PATH_ICM_ACCEL_EXT, MPU_DEVICE_PATH_ICM_GYRO_EXT, MPU_DEVICE_PATH_ICM_MAG_EXT, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_EXT_ICM20948_1, NULL },
+#endif
+# if defined(PX4_I2C_BUS_EXPANSION1) && defined(PX4_I2C_OBDEV_MPU9250)
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT1, MPU_DEVICE_PATH_GYRO_EXT1, MPU_DEVICE_PATH_MAG_EXT1, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION1, PX4_I2C_OBDEV_MPU9250, NULL },
# endif
-# if defined(PX4_I2C_BUS_EXPANSION2)
+# if defined(PX4_I2C_BUS_EXPANSION2) && defined(PX4_I2C_OBDEV_MPU9250)
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT2, MPU_DEVICE_PATH_GYRO_EXT2, MPU_DEVICE_PATH_MAG_EXT2, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION2, PX4_I2C_OBDEV_MPU9250, NULL },
# endif
#endif
#ifdef PX4_SPIDEV_MPU
- { MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU, NULL },
+ { MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_TYPE_MPU9250, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU, NULL },
+ { MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_TYPE_MPU6500, MPU_DEVICE_PATH_MPU6500_ACCEL, MPU_DEVICE_PATH_MPU6500_GYRO, MPU_DEVICE_PATH_MPU6500_MAG, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU, NULL },
#endif
#ifdef PX4_SPIDEV_MPU2
- { MPU9250_BUS_SPI_INTERNAL2, MPU_DEVICE_PATH_ACCEL_1, MPU_DEVICE_PATH_GYRO_1, MPU_DEVICE_PATH_MAG_1, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU2, NULL },
+ { MPU9250_BUS_SPI_INTERNAL2, MPU_DEVICE_TYPE_MPU9250, MPU_DEVICE_PATH_ACCEL_1, MPU_DEVICE_PATH_GYRO_1, MPU_DEVICE_PATH_MAG_1, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU2, NULL },
+ { MPU9250_BUS_SPI_INTERNAL2, MPU_DEVICE_TYPE_MPU6500, MPU_DEVICE_PATH_MPU6500_ACCEL_1, MPU_DEVICE_PATH_MPU6500_GYRO_1, MPU_DEVICE_PATH_MPU6500_MAG_1, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU2, NULL },
#endif
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU)
- { MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, NULL },
+ { MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_TYPE_MPU9250, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, NULL },
+ { MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_TYPE_MPU6500, MPU_DEVICE_PATH_MPU6500_ACCEL_EXT, MPU_DEVICE_PATH_MPU6500_GYRO_EXT, MPU_DEVICE_PATH_MPU6500_MAG_EXT, &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, NULL },
#endif
};
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
-void start(enum MPU9250_BUS busid, enum Rotation rotation, bool external_bus);
-bool start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external_bus);
+void start(enum MPU9250_BUS busid, enum Rotation rotation, bool external_bus, bool magnetometer_only);
+bool start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external_bus, bool magnetometer_only);
struct mpu9250_bus_option &find_bus(enum MPU9250_BUS busid);
void stop(enum MPU9250_BUS busid);
-void test(enum MPU9250_BUS busid);
void reset(enum MPU9250_BUS busid);
void info(enum MPU9250_BUS busid);
-void regdump(enum MPU9250_BUS busid);
-void testerror(enum MPU9250_BUS busid);
void usage();
/**
@@ -184,16 +212,18 @@ struct mpu9250_bus_option &find_bus(enum MPU9250_BUS busid)
* start driver for a specific bus option
*/
bool
-start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external)
+start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external, bool magnetometer_only)
{
int fd = -1;
+ PX4_INFO("Bus probed: %d", bus.busid);
+
if (bus.dev != nullptr) {
warnx("%s SPI not available", external ? "External" : "Internal");
return false;
}
- device::Device *interface = bus.interface_constructor(bus.busnum, bus.address, external);
+ device::Device *interface = bus.interface_constructor(bus.busnum, bus.device_type, bus.address, external);
if (interface == nullptr) {
warnx("no device on bus %u", (unsigned)bus.busid);
@@ -218,10 +248,16 @@ start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external)
#endif
- bus.dev = new MPU9250(interface, mag_interface, bus.accelpath, bus.gyropath, bus.magpath, rotation);
+ bus.dev = new MPU9250(interface, mag_interface, bus.accelpath, bus.gyropath, bus.magpath, rotation, bus.device_type,
+ magnetometer_only);
if (bus.dev == nullptr) {
delete interface;
+
+ if (mag_interface != nullptr) {
+ delete mag_interface;
+ }
+
return false;
}
@@ -229,8 +265,17 @@ start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external)
goto fail;
}
- /* set the poll rate to default, starts automatic data collection */
- fd = open(bus.accelpath, O_RDONLY);
+ /*
+ * Set the poll rate to default, starts automatic data collection.
+ * Doing this through the mag device for the time being - it's always there, even in magnetometer only mode.
+ * Using accel device for MPU6500.
+ */
+ if (bus.device_type == MPU_DEVICE_TYPE_MPU6500) {
+ fd = open(bus.accelpath, O_RDONLY);
+
+ } else {
+ fd = open(bus.magpath, O_RDONLY);
+ }
if (fd < 0) {
goto fail;
@@ -266,7 +311,7 @@ fail:
* or failed to detect the sensor.
*/
void
-start(enum MPU9250_BUS busid, enum Rotation rotation, bool external)
+start(enum MPU9250_BUS busid, enum Rotation rotation, bool external, bool magnetometer_only)
{
bool started = false;
@@ -282,7 +327,14 @@ start(enum MPU9250_BUS busid, enum Rotation rotation, bool external)
continue;
}
- started |= start_bus(bus_options[i], rotation, external);
+ if (bus_options[i].device_type == MPU_DEVICE_TYPE_MPU6500 && magnetometer_only) {
+ // prevent starting MPU6500 in magnetometer only mode
+ continue;
+ }
+
+ started |= start_bus(bus_options[i], rotation, external, magnetometer_only);
+
+ if (started) { break; }
}
exit(started ? 0 : 1);
@@ -307,86 +359,6 @@ stop(enum MPU9250_BUS busid)
exit(0);
}
-/**
- * Perform some basic functional tests on the driver;
- * make sure we can collect data from the sensor in polled
- * and automatic modes.
- */
-void
-test(enum MPU9250_BUS busid)
-{
- struct mpu9250_bus_option &bus = find_bus(busid);
- sensor_accel_s a_report{};
- sensor_gyro_s g_report{};
- mag_report m_report;
- ssize_t sz;
-
- /* get the driver */
- int fd = open(bus.accelpath, O_RDONLY);
-
- if (fd < 0) {
- err(1, "%s open failed (try 'm start')", bus.accelpath);
- }
-
- /* get the driver */
- int fd_gyro = open(bus.gyropath, O_RDONLY);
-
- if (fd_gyro < 0) {
- err(1, "%s open failed", bus.gyropath);
- }
-
- /* get the driver */
- int fd_mag = open(bus.magpath, O_RDONLY);
-
- if (fd_mag < 0) {
- err(1, "%s open failed", bus.magpath);
- }
-
- /* do a simple demand read */
- sz = read(fd, &a_report, sizeof(a_report));
-
- if (sz != sizeof(a_report)) {
- warnx("ret: %d, expected: %d", sz, sizeof(a_report));
- err(1, "immediate acc read failed");
- }
-
- print_message(a_report);
-
- /* do a simple demand read */
- sz = read(fd_gyro, &g_report, sizeof(g_report));
-
- if (sz != sizeof(g_report)) {
- warnx("ret: %d, expected: %d", sz, sizeof(g_report));
- err(1, "immediate gyro read failed");
- }
-
- print_message(g_report);
-
- /* do a simple demand read */
- sz = read(fd_mag, &m_report, sizeof(m_report));
-
- if (sz != sizeof(m_report)) {
- warnx("ret: %d, expected: %d", sz, sizeof(m_report));
- err(1, "immediate mag read failed");
- }
-
- print_message(m_report);
-
- /* reset to default polling */
- if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
- err(1, "reset to default polling");
- }
-
- close(fd);
- close(fd_gyro);
- close(fd_mag);
-
- /* XXX add poll-rate tests here too */
-
- reset(busid);
- errx(0, "PASS");
-}
-
/**
* Reset the driver.
*/
@@ -432,43 +404,6 @@ info(enum MPU9250_BUS busid)
exit(0);
}
-/**
- * Dump the register information
- */
-void
-regdump(enum MPU9250_BUS busid)
-{
- struct mpu9250_bus_option &bus = find_bus(busid);
-
-
- if (bus.dev == nullptr) {
- errx(1, "driver not running");
- }
-
- printf("regdump @ %p\n", bus.dev);
- bus.dev->print_registers();
-
- exit(0);
-}
-
-/**
- * deliberately produce an error to test recovery
- */
-void
-testerror(enum MPU9250_BUS busid)
-{
- struct mpu9250_bus_option &bus = find_bus(busid);
-
-
- if (bus.dev == nullptr) {
- errx(1, "driver not running");
- }
-
- bus.dev->test_error();
-
- exit(0);
-}
-
void
usage()
{
@@ -480,7 +415,7 @@ usage()
PX4_INFO(" -S (spi external bus)");
PX4_INFO(" -t (spi internal bus, 2nd instance)");
PX4_INFO(" -R rotation");
-
+ PX4_INFO(" -M only enable magnetometer, accel/gyro disabled - not av. on MPU6500");
}
} // namespace
@@ -494,8 +429,9 @@ mpu9250_main(int argc, char *argv[])
enum MPU9250_BUS busid = MPU9250_BUS_ALL;
enum Rotation rotation = ROTATION_NONE;
+ bool magnetometer_only = false;
- while ((ch = px4_getopt(argc, argv, "XISstR:", &myoptind, &myoptarg)) != EOF) {
+ while ((ch = px4_getopt(argc, argv, "XISstMR:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'X':
busid = MPU9250_BUS_I2C_EXTERNAL;
@@ -521,6 +457,10 @@ mpu9250_main(int argc, char *argv[])
rotation = (enum Rotation)atoi(myoptarg);
break;
+ case 'M':
+ magnetometer_only = true;
+ break;
+
default:
mpu9250::usage();
return 0;
@@ -539,20 +479,13 @@ mpu9250_main(int argc, char *argv[])
* Start/load the driver.
*/
if (!strcmp(verb, "start")) {
- mpu9250::start(busid, rotation, external);
+ mpu9250::start(busid, rotation, external, magnetometer_only);
}
if (!strcmp(verb, "stop")) {
mpu9250::stop(busid);
}
- /*
- * Test the driver/device.
- */
- if (!strcmp(verb, "test")) {
- mpu9250::test(busid);
- }
-
/*
* Reset the driver.
*/
@@ -567,17 +500,6 @@ mpu9250_main(int argc, char *argv[])
mpu9250::info(busid);
}
- /*
- * Print register information.
- */
- if (!strcmp(verb, "regdump")) {
- mpu9250::regdump(busid);
- }
-
- if (!strcmp(verb, "testerror")) {
- mpu9250::testerror(busid);
- }
-
mpu9250::usage();
return 0;
}
diff --git a/src/drivers/imu/mpu9250/mpu9250.cpp b/src/drivers/imu/mpu9250/mpu9250.cpp
index bd48a61b18c5d4e7323e6104fc28b7e895fb8105..1c5792371e9b389b30938323caca5872db333d8d 100644
--- a/src/drivers/imu/mpu9250/mpu9250.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250.cpp
@@ -42,43 +42,22 @@
*/
#include <px4_config.h>
-#include <ecl/geo/geo.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 <perf/perf_counter.h>
-#include <systemlib/err.h>
+#include <lib/ecl/geo/geo.h>
+#include <lib/perf/perf_counter.h>
#include <systemlib/conversions.h>
#include <systemlib/px4_macros.h>
-
-#include <nuttx/arch.h>
-#include <nuttx/clock.h>
-
-#include <board_config.h>
#include <drivers/drv_hrt.h>
-
#include <drivers/device/spi.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/integrator.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
-#include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
#include "mag.h"
+#include "accel.h"
#include "gyro.h"
#include "mpu9250.h"
@@ -96,28 +75,52 @@
list of registers that will be checked in check_registers(). Note
that MPUREG_PRODUCT_ID must be first in the list.
*/
-const uint8_t MPU9250::_checked_registers[MPU9250_NUM_CHECKED_REGISTERS] = { MPUREG_WHOAMI,
- MPUREG_PWR_MGMT_1,
- MPUREG_PWR_MGMT_2,
- MPUREG_USER_CTRL,
- MPUREG_SMPLRT_DIV,
- MPUREG_CONFIG,
- MPUREG_GYRO_CONFIG,
- MPUREG_ACCEL_CONFIG,
- MPUREG_ACCEL_CONFIG2,
- MPUREG_INT_ENABLE,
- MPUREG_INT_PIN_CFG
- };
+const uint16_t MPU9250::_mpu9250_checked_registers[MPU9250_NUM_CHECKED_REGISTERS] = { MPUREG_WHOAMI,
+ MPUREG_PWR_MGMT_1,
+ MPUREG_PWR_MGMT_2,
+ MPUREG_USER_CTRL,
+ MPUREG_SMPLRT_DIV,
+ MPUREG_CONFIG,
+ MPUREG_GYRO_CONFIG,
+ MPUREG_ACCEL_CONFIG,
+ MPUREG_ACCEL_CONFIG2,
+ MPUREG_INT_ENABLE,
+ MPUREG_INT_PIN_CFG
+ };
+
+
+const uint16_t MPU9250::_icm20948_checked_registers[ICM20948_NUM_CHECKED_REGISTERS] = {
+ ICMREG_20948_USER_CTRL,
+ ICMREG_20948_PWR_MGMT_1,
+ ICMREG_20948_PWR_MGMT_2,
+ ICMREG_20948_INT_PIN_CFG,
+ ICMREG_20948_INT_ENABLE,
+ ICMREG_20948_INT_ENABLE_1,
+ ICMREG_20948_INT_ENABLE_2,
+ ICMREG_20948_INT_ENABLE_3,
+ ICMREG_20948_GYRO_SMPLRT_DIV,
+ ICMREG_20948_GYRO_CONFIG_1,
+ ICMREG_20948_GYRO_CONFIG_2,
+ ICMREG_20948_ACCEL_SMPLRT_DIV_1,
+ ICMREG_20948_ACCEL_SMPLRT_DIV_2,
+ ICMREG_20948_ACCEL_CONFIG,
+ ICMREG_20948_ACCEL_CONFIG_2
+};
MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const char *path_accel,
const char *path_gyro, const char *path_mag,
- enum Rotation rotation) :
- CDev("MPU9250", path_accel),
+ enum Rotation rotation,
+ int device_type,
+ bool magnetometer_only) :
_interface(interface),
- _gyro(new MPU9250_gyro(this, path_gyro)),
+ _accel(magnetometer_only ? nullptr : new MPU9250_accel(this, path_accel)),
+ _gyro(magnetometer_only ? nullptr : new MPU9250_gyro(this, path_gyro)),
_mag(new MPU9250_mag(this, mag_interface, path_mag)),
_whoami(0),
+ _device_type(device_type),
+ _selected_bank(0xFF), // invalid/improbable bank value, will be set on first read/write
+ _magnetometer_only(magnetometer_only),
#if defined(USE_I2C)
_work {},
_use_hrt(false),
@@ -131,13 +134,13 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const
_accel_range_scale(0.0f),
_accel_range_m_s2(0.0f),
_accel_topic(nullptr),
- _accel_orb_class_instance(-1),
- _accel_class_instance(-1),
_gyro_reports(nullptr),
_gyro_scale{},
_gyro_range_scale(0.0f),
_gyro_range_rad_s(0.0f),
_dlpf_freq(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ),
+ _dlpf_freq_icm_gyro(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ),
+ _dlpf_freq_icm_accel(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ),
_sample_rate(1000),
_accel_reads(perf_alloc(PC_COUNT, "mpu9250_acc_read")),
_gyro_reads(perf_alloc(PC_COUNT, "mpu9250_gyro_read")),
@@ -158,37 +161,40 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const
_accel_int(1000000 / MPU9250_ACCEL_MAX_OUTPUT_RATE),
_gyro_int(1000000 / MPU9250_GYRO_MAX_OUTPUT_RATE, true),
_rotation(rotation),
+ _checked_registers(nullptr),
_checked_next(0),
+ _num_checked_registers(0),
_last_temperature(0),
_last_accel_data{},
_got_duplicate(false)
{
- // disable debug() calls
- _debug_enabled = false;
-
- /* Set device parameters and make sure parameters of the bus device are adopted */
- _device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
- _device_id.devid_s.bus_type = (device::Device::DeviceBusType)_interface->get_device_bus_type();
- _device_id.devid_s.bus = _interface->get_device_bus();
- _device_id.devid_s.address = _interface->get_device_address();
-
- /* Prime _gyro with parents devid. */
- /* Set device parameters and make sure parameters of the bus device are adopted */
- _gyro->_device_id.devid = _device_id.devid;
- _gyro->_device_id.devid_s.devtype = DRV_GYR_DEVTYPE_MPU9250;
- _gyro->_device_id.devid_s.bus_type = _interface->get_device_bus_type();
- _gyro->_device_id.devid_s.bus = _interface->get_device_bus();
- _gyro->_device_id.devid_s.address = _interface->get_device_address();
-
- /* Prime _mag with parents devid. */
- _mag->_device_id.devid = _device_id.devid;
+ if (_accel != nullptr) {
+ /* Set device parameters and make sure parameters of the bus device are adopted */
+ _accel->_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
+ _accel->_device_id.devid_s.bus_type = (device::Device::DeviceBusType)_interface->get_device_bus_type();
+ _accel->_device_id.devid_s.bus = _interface->get_device_bus();
+ _accel->_device_id.devid_s.address = _interface->get_device_address();
+ }
+
+ if (_gyro != nullptr) {
+ /* Prime _gyro with common devid. */
+ /* Set device parameters and make sure parameters of the bus device are adopted */
+ _gyro->_device_id.devid = 0;
+ _gyro->_device_id.devid_s.devtype = DRV_GYR_DEVTYPE_MPU9250;
+ _gyro->_device_id.devid_s.bus_type = _interface->get_device_bus_type();
+ _gyro->_device_id.devid_s.bus = _interface->get_device_bus();
+ _gyro->_device_id.devid_s.address = _interface->get_device_address();
+ }
+
+ /* Prime _mag with common devid. */
+ _mag->_device_id.devid = 0;
_mag->_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_MPU9250;
_mag->_device_id.devid_s.bus_type = _interface->get_device_bus_type();
_mag->_device_id.devid_s.bus = _interface->get_device_bus();
_mag->_device_id.devid_s.address = _interface->get_device_address();
/* For an independent mag, ensure that it is connected to the i2c bus */
- _interface->set_device_type(_device_id.devid_s.devtype);
+ _interface->set_device_type(DRV_ACC_DEVTYPE_MPU9250);
// default accel scale factors
_accel_scale.x_offset = 0;
@@ -205,20 +211,21 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const
_gyro_scale.y_scale = 1.0f;
_gyro_scale.z_offset = 0;
_gyro_scale.z_scale = 1.0f;
-
- memset(&_call, 0, sizeof(_call));
-#if defined(USE_I2C)
- memset(&_work, 0, sizeof(_work));
-#endif
}
MPU9250::~MPU9250()
{
/* make sure we are truly inactive */
stop();
+ _call_interval = 0;
- orb_unadvertise(_accel_topic);
- orb_unadvertise(_gyro->_gyro_topic);
+ if (!_magnetometer_only) {
+ orb_unadvertise(_accel_topic);
+ orb_unadvertise(_gyro->_gyro_topic);
+ }
+
+ /* delete the accel subdriver */
+ delete _accel;
/* delete the gyro subdriver */
delete _gyro;
@@ -235,10 +242,6 @@ MPU9250::~MPU9250()
delete _gyro_reports;
}
- if (_accel_class_instance != -1) {
- unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _accel_class_instance);
- }
-
/* delete the perf counter */
perf_free(_sample_perf);
perf_free(_accel_reads);
@@ -253,9 +256,10 @@ MPU9250::~MPU9250()
int
MPU9250::init()
{
+ irqstate_t state;
#if defined(USE_I2C)
- use_i2c(_interface->get_device_bus_type() == Device::DeviceBusType_I2C);
+ use_i2c(_interface->get_device_bus_type() == device::Device::DeviceBusType_I2C);
#endif
/*
@@ -263,7 +267,7 @@ MPU9250::init()
* make the integration autoreset faster so that we integrate just one
* sample since the sampling rate is already low.
*/
- if (is_i2c()) {
+ if (is_i2c() && !_magnetometer_only) {
_sample_rate = 200;
_accel_int.set_autoreset_interval(1000000 / 1000);
_gyro_int.set_autoreset_interval(1000000 / 1000);
@@ -272,145 +276,150 @@ MPU9250::init()
int ret = probe();
if (ret != OK) {
- DEVICE_DEBUG("MPU9250 probe failed");
+ PX4_DEBUG("MPU9250 probe failed");
return ret;
}
- /* do init */
-
- ret = CDev::init();
+ state = px4_enter_critical_section();
+ _reset_wait = hrt_absolute_time() + 100000;
+ px4_leave_critical_section(state);
- /* if init failed, bail now */
- if (ret != OK) {
- DEVICE_DEBUG("CDev init failed");
+ if (reset_mpu() != OK) {
+ PX4_ERR("Exiting! Device failed to take initialization");
return ret;
}
- /* allocate basic report buffers */
- _accel_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_accel_s));
- ret = -ENOMEM;
+ if (!_magnetometer_only) {
+ /* allocate basic report buffers */
+ _accel_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_accel_s));
+ ret = -ENOMEM;
- if (_accel_reports == nullptr) {
- return ret;
- }
+ if (_accel_reports == nullptr) {
+ return ret;
+ }
- _gyro_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_gyro_s));
+ _gyro_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_gyro_s));
- if (_gyro_reports == nullptr) {
- return ret;
- }
+ if (_gyro_reports == nullptr) {
+ return ret;
+ }
- if (reset_mpu() != OK) {
- PX4_ERR("Exiting! Device failed to take initialization");
- return ret;
- }
+ /* Initialize offsets and scales */
+ _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;
- /* Initialize offsets and scales */
- _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;
+ _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;
- _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;
+ // set software low pass filter for controllers
+ param_t accel_cut_ph = param_find("IMU_ACCEL_CUTOFF");
+ float accel_cut = MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ;
- // set software low pass filter for controllers
- param_t accel_cut_ph = param_find("IMU_ACCEL_CUTOFF");
- float accel_cut = MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ;
+ if (accel_cut_ph != PARAM_INVALID && (param_get(accel_cut_ph, &accel_cut) == PX4_OK)) {
+ PX4_INFO("accel cutoff set to %.2f Hz", double(accel_cut));
- if (accel_cut_ph != PARAM_INVALID && (param_get(accel_cut_ph, &accel_cut) == PX4_OK)) {
- _accel_filter_x.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, accel_cut);
- _accel_filter_y.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, accel_cut);
- _accel_filter_z.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, accel_cut);
+ _accel_filter_x.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, accel_cut);
+ _accel_filter_y.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, accel_cut);
+ _accel_filter_z.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, accel_cut);
- } else {
- PX4_ERR("IMU_ACCEL_CUTOFF param invalid");
- }
+ }
- param_t gyro_cut_ph = param_find("IMU_GYRO_CUTOFF");
- float gyro_cut = MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ;
+ param_t gyro_cut_ph = param_find("IMU_GYRO_CUTOFF");
+ float gyro_cut = MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ;
- if (gyro_cut_ph != PARAM_INVALID && (param_get(gyro_cut_ph, &gyro_cut) == PX4_OK)) {
- _gyro_filter_x.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, gyro_cut);
- _gyro_filter_y.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, gyro_cut);
- _gyro_filter_z.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, gyro_cut);
+ if (gyro_cut_ph != PARAM_INVALID && (param_get(gyro_cut_ph, &gyro_cut) == PX4_OK)) {
+ PX4_INFO("gyro cutoff set to %.2f Hz", double(gyro_cut));
- } else {
- PX4_ERR("IMU_GYRO_CUTOFF param invalid");
- }
+ _gyro_filter_x.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, gyro_cut);
+ _gyro_filter_y.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, gyro_cut);
+ _gyro_filter_z.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, gyro_cut);
- /* do CDev init for the gyro device node, keep it optional */
- ret = _gyro->init();
+ }
- /* if probe/setup failed, bail now */
- if (ret != OK) {
- DEVICE_DEBUG("gyro init failed");
- return ret;
+ /* do CDev init for the accel device node */
+ ret = _accel->init();
+
+ /* if probe/setup failed, bail now */
+ if (ret != OK) {
+ PX4_DEBUG("accel init failed");
+ return ret;
+ }
+
+ /* do CDev init for the gyro device node */
+ ret = _gyro->init();
+
+ /* if probe/setup failed, bail now */
+ if (ret != OK) {
+ PX4_DEBUG("gyro init failed");
+ return ret;
+ }
}
+ /* Magnetometer setup */
+ if (_device_type == MPU_DEVICE_TYPE_MPU9250 || _device_type == MPU_DEVICE_TYPE_ICM20948) {
+
#ifdef USE_I2C
- if (!_mag->is_passthrough() && _mag->_interface->init() != PX4_OK) {
- PX4_ERR("failed to setup ak8963 interface");
- }
+ up_udelay(100);
+
+ if (!_mag->is_passthrough() && _mag->_interface->init() != PX4_OK) {
+ PX4_ERR("failed to setup ak8963 interface");
+ }
#endif /* USE_I2C */
- /* do CDev init for the mag device node, keep it optional */
- if (_whoami == MPU_WHOAMI_9250) {
+ /* do CDev init for the mag device node */
ret = _mag->init();
- }
-
- /* if probe/setup failed, bail now */
- if (ret != OK) {
- DEVICE_DEBUG("mag init failed");
- return ret;
- }
+ /* if probe/setup failed, bail now */
+ if (ret != OK) {
+ PX4_DEBUG("mag init failed");
+ return ret;
+ }
- if (_whoami == MPU_WHOAMI_9250) {
ret = _mag->ak8963_reset();
- }
- if (ret != OK) {
- DEVICE_DEBUG("mag reset failed");
- return ret;
+ if (ret != OK) {
+ PX4_DEBUG("mag reset failed");
+ return ret;
+ }
}
-
- _accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
-
measure();
- /* advertise sensor topic, measure manually to initialize valid report */
- sensor_accel_s arp;
- _accel_reports->get(&arp);
+ if (!_magnetometer_only) {
+ /* advertise sensor topic, measure manually to initialize valid report */
+ sensor_accel_s arp;
+ _accel_reports->get(&arp);
- /* measurement will have generated a report, publish */
- _accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
- &_accel_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
+ /* measurement will have generated a report, publish */
+ _accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
+ &_accel->_accel_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
- if (_accel_topic == nullptr) {
- PX4_ERR("ADVERT FAIL");
- return ret;
- }
+ if (_accel_topic == nullptr) {
+ PX4_ERR("ADVERT FAIL");
+ return ret;
+ }
- /* advertise sensor topic, measure manually to initialize valid report */
- sensor_gyro_s grp;
- _gyro_reports->get(&grp);
+ /* advertise sensor topic, measure manually to initialize valid report */
+ sensor_gyro_s grp;
+ _gyro_reports->get(&grp);
- _gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
- &_gyro->_gyro_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
+ _gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
+ &_gyro->_gyro_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
- if (_gyro->_gyro_topic == nullptr) {
- PX4_ERR("ADVERT FAIL");
- return ret;
+ if (_gyro->_gyro_topic == nullptr) {
+ PX4_ERR("ADVERT FAIL");
+ return ret;
+ }
}
return ret;
@@ -438,7 +447,7 @@ int MPU9250::reset()
ret = reset_mpu();
- if (ret == OK && _whoami == MPU_WHOAMI_9250) {
+ if (ret == OK && (_device_type == MPU_DEVICE_TYPE_MPU9250 || _device_type == MPU_DEVICE_TYPE_ICM20948)) {
ret = _mag->ak8963_reset();
}
@@ -452,16 +461,32 @@ int MPU9250::reset()
int MPU9250::reset_mpu()
{
- write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
- write_checked_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_AUTO);
- write_checked_reg(MPUREG_PWR_MGMT_2, 0);
+ uint8_t retries;
+
+ switch (_device_type) {
+ case MPU_DEVICE_TYPE_MPU9250:
+ case MPU_DEVICE_TYPE_MPU6500:
+ write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
+ write_checked_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_AUTO);
+ write_checked_reg(MPUREG_PWR_MGMT_2, 0);
+ usleep(1000);
+ break;
+
+ case MPU_DEVICE_TYPE_ICM20948:
+ write_reg(ICMREG_20948_PWR_MGMT_1, BIT_H_RESET);
+ usleep(1000);
+
+ write_checked_reg(ICMREG_20948_PWR_MGMT_1, MPU_CLK_SEL_AUTO);
+ usleep(200);
+ write_checked_reg(ICMREG_20948_PWR_MGMT_2, 0);
+ break;
+ }
+ // Enable I2C bus or Disable I2C bus (recommended on data sheet)
- usleep(1000);
- // Enable I2C bus or Disable I2C bus (recommended on data sheet)
+ write_checked_reg(MPU_OR_ICM(MPUREG_USER_CTRL, ICMREG_20948_USER_CTRL), is_i2c() ? 0 : BIT_I2C_IF_DIS);
- write_checked_reg(MPUREG_USER_CTRL, is_i2c() ? 0 : BIT_I2C_IF_DIS);
// SAMPLE RATE
_set_sample_rate(_sample_rate);
@@ -469,7 +494,17 @@ int MPU9250::reset_mpu()
_set_dlpf_filter(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ);
// Gyro scale 2000 deg/s ()
- write_checked_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS);
+ switch (_device_type) {
+ case MPU_DEVICE_TYPE_MPU9250:
+ case MPU_DEVICE_TYPE_MPU6500:
+ write_checked_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS);
+ break;
+
+ case MPU_DEVICE_TYPE_ICM20948:
+ modify_checked_reg(ICMREG_20948_GYRO_CONFIG_1, ICM_BITS_GYRO_FS_SEL_MASK, ICM_BITS_GYRO_FS_SEL_2000DPS);
+ break;
+ }
+
// correct gyro scale factors
// scale to rad/s in SI units
@@ -482,7 +517,8 @@ int MPU9250::reset_mpu()
set_accel_range(ACCEL_RANGE_G);
// INT CFG => Interrupt on Data Ready
- write_checked_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN); // INT: Raw data ready
+ write_checked_reg(MPU_OR_ICM(MPUREG_INT_ENABLE, ICMREG_20948_INT_ENABLE_1),
+ BIT_RAW_RDY_EN); // INT: Raw data ready
#ifdef USE_I2C
bool bypass = !_mag->is_passthrough();
@@ -499,11 +535,13 @@ int MPU9250::reset_mpu()
* so bypass is true if the mag has an i2c non null interfaces.
*/
- write_checked_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR | (bypass ? BIT_INT_BYPASS_EN : 0));
+ write_checked_reg(MPU_OR_ICM(MPUREG_INT_PIN_CFG, ICMREG_20948_INT_PIN_CFG),
+ BIT_INT_ANYRD_2CLEAR | (bypass ? BIT_INT_BYPASS_EN : 0));
- write_checked_reg(MPUREG_ACCEL_CONFIG2, BITS_ACCEL_CONFIG2_41HZ);
+ write_checked_reg(MPU_OR_ICM(MPUREG_ACCEL_CONFIG2, ICMREG_20948_ACCEL_CONFIG_2),
+ MPU_OR_ICM(BITS_ACCEL_CONFIG2_41HZ, ICM_BITS_DEC3_CFG_32));
- uint8_t retries = 3;
+ retries = 3;
bool all_ok = false;
while (!all_ok && retries--) {
@@ -511,11 +549,17 @@ int MPU9250::reset_mpu()
// Assume all checked values are as expected
all_ok = true;
uint8_t reg;
+ uint8_t bankcheck = 0;
- for (uint8_t i = 0; i < MPU9250_NUM_CHECKED_REGISTERS; i++) {
+ for (uint8_t i = 0; i < _num_checked_registers; i++) {
if ((reg = read_reg(_checked_registers[i])) != _checked_values[i]) {
+ if (_device_type == MPU_DEVICE_TYPE_ICM20948) {
+ _interface->read(MPU9250_LOW_SPEED_OP(ICMREG_20948_BANK_SEL), &bankcheck, 1);
+ }
+
write_reg(_checked_registers[i], _checked_values[i]);
- PX4_ERR("Reg %d is:%d s/b:%d Tries:%d", _checked_registers[i], reg, _checked_values[i], retries);
+ PX4_ERR("Reg %d is:%d s/b:%d Tries:%d - bank s/b %d, is %d", _checked_registers[i], reg, _checked_values[i], retries,
+ REG_BANK(_checked_registers[i]), bankcheck);
all_ok = false;
}
}
@@ -527,42 +571,160 @@ int MPU9250::reset_mpu()
int
MPU9250::probe()
{
+ int ret = -EIO;
+
/* look for device ID */
- _whoami = read_reg(MPUREG_WHOAMI);
-
- // verify product revision
- switch (_whoami) {
- case MPU_WHOAMI_9250:
- case MPU_WHOAMI_6500:
- memset(_checked_values, 0, sizeof(_checked_values));
- memset(_checked_bad, 0, sizeof(_checked_bad));
- _checked_values[0] = _whoami;
- _checked_bad[0] = _whoami;
- return OK;
+ switch (_device_type) {
+
+ case MPU_DEVICE_TYPE_MPU9250:
+ _whoami = read_reg(MPUREG_WHOAMI);
+
+ if (_whoami == MPU_WHOAMI_9250) {
+ _num_checked_registers = MPU9250_NUM_CHECKED_REGISTERS;
+ _checked_registers = _mpu9250_checked_registers;
+ memset(_checked_values, 0, MPU9250_NUM_CHECKED_REGISTERS);
+ memset(_checked_bad, 0, MPU9250_NUM_CHECKED_REGISTERS);
+ ret = OK;
+ }
+
+ break;
+
+ case MPU_DEVICE_TYPE_MPU6500:
+ _whoami = read_reg(MPUREG_WHOAMI);
+
+ if (_whoami == MPU_WHOAMI_6500) {
+ _num_checked_registers = MPU9250_NUM_CHECKED_REGISTERS;
+ _checked_registers = _mpu9250_checked_registers;
+ memset(_checked_values, 0, MPU9250_NUM_CHECKED_REGISTERS);
+ memset(_checked_bad, 0, MPU9250_NUM_CHECKED_REGISTERS);
+ ret = OK;
+ }
+
+ break;
+
+ case MPU_DEVICE_TYPE_ICM20948:
+ _whoami = read_reg(ICMREG_20948_WHOAMI);
+
+ if (_whoami == ICM_WHOAMI_20948) {
+ _num_checked_registers = ICM20948_NUM_CHECKED_REGISTERS;
+ _checked_registers = _icm20948_checked_registers;
+ memset(_checked_values, 0, ICM20948_NUM_CHECKED_REGISTERS);
+ memset(_checked_bad, 0, ICM20948_NUM_CHECKED_REGISTERS);
+ ret = OK;
+ }
+
+ break;
+ }
+
+ _checked_values[0] = _whoami;
+ _checked_bad[0] = _whoami;
+
+ if (ret != OK) {
+ PX4_DEBUG("unexpected whoami 0x%02x", _whoami);
}
- DEVICE_DEBUG("unexpected whoami 0x%02x", _whoami);
- return -EIO;
+ return ret;
}
/*
set sample rate (approximate) - 1kHz to 5Hz, for both accel and gyro
+ For ICM20948 accel and gyro samplerates are both set to the same value.
*/
void
MPU9250::_set_sample_rate(unsigned desired_sample_rate_hz)
{
+ uint8_t div = 1;
+
if (desired_sample_rate_hz == 0) {
desired_sample_rate_hz = MPU9250_GYRO_DEFAULT_RATE;
}
- uint8_t div = 1000 / desired_sample_rate_hz;
+ switch (_device_type) {
+ case MPU_DEVICE_TYPE_MPU9250:
+ case MPU_DEVICE_TYPE_MPU6500:
+ div = 1000 / desired_sample_rate_hz;
+ break;
+
+ case MPU_DEVICE_TYPE_ICM20948:
+ div = 1100 / desired_sample_rate_hz;
+ break;
+ }
if (div > 200) { div = 200; }
if (div < 1) { div = 1; }
- write_checked_reg(MPUREG_SMPLRT_DIV, div - 1);
- _sample_rate = 1000 / div;
+
+ switch (_device_type) {
+ case MPU_DEVICE_TYPE_MPU9250:
+ case MPU_DEVICE_TYPE_MPU6500:
+ write_checked_reg(MPUREG_SMPLRT_DIV, div - 1);
+ _sample_rate = 1000 / div;
+ break;
+
+ case MPU_DEVICE_TYPE_ICM20948:
+ write_checked_reg(ICMREG_20948_GYRO_SMPLRT_DIV, div - 1);
+ // There's also an MSB for this allowing much higher dividers for the accelerometer.
+ // For 1 < div < 200 the LSB is sufficient.
+ write_checked_reg(ICMREG_20948_ACCEL_SMPLRT_DIV_2, div - 1);
+ _sample_rate = 1100 / div;
+ break;
+ }
+}
+
+/*
+ * Set poll rate
+ */
+int
+MPU9250::_set_pollrate(unsigned long rate)
+{
+ if (rate == 0) {
+ return -EINVAL;
+
+ } else {
+ /* do we need to start internal polling? */
+ bool want_start = (_call_interval == 0);
+
+ /* convert hz to hrt interval via microseconds */
+ unsigned ticks = 1000000 / rate;
+
+ /* check against maximum sane rate */
+ if (ticks < 1000) {
+ return -EINVAL;
+ }
+
+ // adjust filters
+ float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq();
+ float sample_rate = 1.0e6f / ticks;
+ _accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
+ _accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
+ _accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
+
+
+ float cutoff_freq_hz_gyro = _gyro_filter_x.get_cutoff_freq();
+ _gyro_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
+ _gyro_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
+ _gyro_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
+
+ /* update interval for next measurement */
+ /* XXX this is a bit shady, but no other way to adjust... */
+ _call_interval = ticks;
+
+ /*
+ set call interval faster than the sample time. We
+ then detect when we have duplicate samples and reject
+ them. This prevents aliasing due to a beat between the
+ stm32 clock and the mpu9250 clock
+ */
+ _call.period = _call_interval - MPU9250_TIMER_REDUCTION;
+
+ /* if we need to start the poll state machine, do it */
+ if (want_start) {
+ start();
+ }
+
+ return OK;
+ }
}
/*
@@ -573,261 +735,182 @@ MPU9250::_set_dlpf_filter(uint16_t frequency_hz)
{
uint8_t filter;
- /*
- choose next highest filter frequency available
- */
- if (frequency_hz == 0) {
- _dlpf_freq = 0;
- filter = BITS_DLPF_CFG_3600HZ;
+ switch (_device_type) {
+ case MPU_DEVICE_TYPE_MPU9250:
+ case MPU_DEVICE_TYPE_MPU6500:
- } else if (frequency_hz <= 5) {
- _dlpf_freq = 5;
- filter = BITS_DLPF_CFG_5HZ;
+ /*
+ choose next highest filter frequency available
+ */
+ if (frequency_hz == 0) {
+ _dlpf_freq = 0;
+ filter = BITS_DLPF_CFG_3600HZ;
- } else if (frequency_hz <= 10) {
- _dlpf_freq = 10;
- filter = BITS_DLPF_CFG_10HZ;
+ } else if (frequency_hz <= 5) {
+ _dlpf_freq = 5;
+ filter = BITS_DLPF_CFG_5HZ;
- } else if (frequency_hz <= 20) {
- _dlpf_freq = 20;
- filter = BITS_DLPF_CFG_20HZ;
+ } else if (frequency_hz <= 10) {
+ _dlpf_freq = 10;
+ filter = BITS_DLPF_CFG_10HZ;
- } else if (frequency_hz <= 41) {
- _dlpf_freq = 41;
- filter = BITS_DLPF_CFG_41HZ;
+ } else if (frequency_hz <= 20) {
+ _dlpf_freq = 20;
+ filter = BITS_DLPF_CFG_20HZ;
- } else if (frequency_hz <= 92) {
- _dlpf_freq = 92;
- filter = BITS_DLPF_CFG_92HZ;
+ } else if (frequency_hz <= 41) {
+ _dlpf_freq = 41;
+ filter = BITS_DLPF_CFG_41HZ;
- } else if (frequency_hz <= 184) {
- _dlpf_freq = 184;
- filter = BITS_DLPF_CFG_184HZ;
+ } else if (frequency_hz <= 92) {
+ _dlpf_freq = 92;
+ filter = BITS_DLPF_CFG_92HZ;
- } else if (frequency_hz <= 250) {
- _dlpf_freq = 250;
- filter = BITS_DLPF_CFG_250HZ;
+ } else if (frequency_hz <= 184) {
+ _dlpf_freq = 184;
+ filter = BITS_DLPF_CFG_184HZ;
- } else {
- _dlpf_freq = 0;
- filter = BITS_DLPF_CFG_3600HZ;
- }
+ } else if (frequency_hz <= 250) {
+ _dlpf_freq = 250;
+ filter = BITS_DLPF_CFG_250HZ;
- write_checked_reg(MPUREG_CONFIG, filter);
-}
+ } else {
+ _dlpf_freq = 0;
+ filter = BITS_DLPF_CFG_3600HZ;
+ }
-ssize_t
-MPU9250::read(struct file *filp, char *buffer, size_t buflen)
-{
- unsigned count = buflen / sizeof(sensor_accel_s);
+ write_checked_reg(MPUREG_CONFIG, filter);
+ break;
- /* buffer must be large enough */
- if (count < 1) {
- return -ENOSPC;
- }
+ case MPU_DEVICE_TYPE_ICM20948:
- /* if automatic measurement is not enabled, get a fresh measurement into the buffer */
- if (_call_interval == 0) {
- _accel_reports->flush();
- measure();
- }
+ /*
+ choose next highest filter frequency available for gyroscope
+ */
+ if (frequency_hz == 0) {
+ _dlpf_freq_icm_gyro = 0;
+ filter = ICM_BITS_GYRO_DLPF_CFG_361HZ;
- /* if no data, error (we could block here) */
- if (_accel_reports->empty()) {
- return -EAGAIN;
- }
+ } else if (frequency_hz <= 5) {
+ _dlpf_freq_icm_gyro = 5;
+ filter = ICM_BITS_GYRO_DLPF_CFG_5HZ;
- perf_count(_accel_reads);
+ } else if (frequency_hz <= 11) {
+ _dlpf_freq_icm_gyro = 11;
+ filter = ICM_BITS_GYRO_DLPF_CFG_11HZ;
- /* copy reports out of our buffer to the caller */
- sensor_accel_s *arp = reinterpret_cast<sensor_accel_s *>(buffer);
- int transferred = 0;
+ } else if (frequency_hz <= 23) {
+ _dlpf_freq_icm_gyro = 23;
+ filter = ICM_BITS_GYRO_DLPF_CFG_23HZ;
- while (count--) {
- if (!_accel_reports->get(arp)) {
- break;
- }
+ } else if (frequency_hz <= 51) {
+ _dlpf_freq_icm_gyro = 51;
+ filter = ICM_BITS_GYRO_DLPF_CFG_51HZ;
- transferred++;
- arp++;
- }
+ } else if (frequency_hz <= 119) {
+ _dlpf_freq_icm_gyro = 119;
+ filter = ICM_BITS_GYRO_DLPF_CFG_119HZ;
- /* return the number of bytes transferred */
- return (transferred * sizeof(sensor_accel_s));
-}
+ } else if (frequency_hz <= 151) {
+ _dlpf_freq_icm_gyro = 151;
+ filter = ICM_BITS_GYRO_DLPF_CFG_151HZ;
-int
-MPU9250::self_test()
-{
- if (perf_event_count(_sample_perf) == 0) {
- measure();
- }
+ } else if (frequency_hz <= 197) {
+ _dlpf_freq_icm_gyro = 197;
+ filter = ICM_BITS_GYRO_DLPF_CFG_197HZ;
- /* return 0 on success, 1 else */
- return (perf_event_count(_sample_perf) > 0) ? 0 : 1;
-}
+ } else {
+ _dlpf_freq_icm_gyro = 0;
+ filter = ICM_BITS_GYRO_DLPF_CFG_361HZ;
+ }
-/*
- deliberately trigger an error in the sensor to trigger recovery
- */
-void
-MPU9250::test_error()
-{
- // deliberately trigger an error. This was noticed during
- // development as a handy way to test the reset logic
- uint8_t data[16];
- memset(data, 0, sizeof(data));
- _interface->read(MPU9250_SET_SPEED(MPUREG_INT_STATUS, MPU9250_LOW_BUS_SPEED), data, sizeof(data));
- ::printf("error triggered\n");
- print_registers();
-}
+ write_checked_reg(ICMREG_20948_GYRO_CONFIG_1, filter);
-ssize_t
-MPU9250::gyro_read(struct file *filp, char *buffer, size_t buflen)
-{
- unsigned count = buflen / sizeof(sensor_gyro_s);
+ /*
+ choose next highest filter frequency available for accelerometer
+ */
+ if (frequency_hz == 0) {
+ _dlpf_freq_icm_accel = 0;
+ filter = ICM_BITS_ACCEL_DLPF_CFG_473HZ;
- /* buffer must be large enough */
- if (count < 1) {
- return -ENOSPC;
- }
+ } else if (frequency_hz <= 5) {
+ _dlpf_freq_icm_accel = 5;
+ filter = ICM_BITS_ACCEL_DLPF_CFG_5HZ;
- /* if automatic measurement is not enabled, get a fresh measurement into the buffer */
- if (_call_interval == 0) {
- _gyro_reports->flush();
- measure();
- }
+ } else if (frequency_hz <= 11) {
+ _dlpf_freq_icm_accel = 11;
+ filter = ICM_BITS_ACCEL_DLPF_CFG_11HZ;
- /* if no data, error (we could block here) */
- if (_gyro_reports->empty()) {
- return -EAGAIN;
- }
+ } else if (frequency_hz <= 23) {
+ _dlpf_freq_icm_accel = 23;
+ filter = ICM_BITS_ACCEL_DLPF_CFG_23HZ;
- perf_count(_gyro_reads);
+ } else if (frequency_hz <= 50) {
+ _dlpf_freq_icm_accel = 50;
+ filter = ICM_BITS_ACCEL_DLPF_CFG_50HZ;
- /* copy reports out of our buffer to the caller */
- sensor_gyro_s *grp = reinterpret_cast<sensor_gyro_s *>(buffer);
- int transferred = 0;
+ } else if (frequency_hz <= 111) {
+ _dlpf_freq_icm_accel = 111;
+ filter = ICM_BITS_ACCEL_DLPF_CFG_111HZ;
- while (count--) {
- if (!_gyro_reports->get(grp)) {
- break;
+ } else if (frequency_hz <= 246) {
+ _dlpf_freq_icm_accel = 246;
+ filter = ICM_BITS_ACCEL_DLPF_CFG_246HZ;
+
+ } else {
+ _dlpf_freq_icm_accel = 0;
+ filter = ICM_BITS_ACCEL_DLPF_CFG_473HZ;
}
- transferred++;
- grp++;
+ write_checked_reg(ICMREG_20948_ACCEL_CONFIG, filter);
+ break;
}
-
- /* return the number of bytes transferred */
- return (transferred * sizeof(sensor_gyro_s));
}
int
-MPU9250::ioctl(struct file *filp, int cmd, unsigned long arg)
+MPU9250::select_register_bank(uint8_t bank)
{
- switch (cmd) {
+ uint8_t ret;
+ uint8_t buf;
+ uint8_t retries = 3;
- case SENSORIOCRESET: {
- return reset();
- }
+ if (_selected_bank != bank) {
+ ret = _interface->write(MPU9250_LOW_SPEED_OP(ICMREG_20948_BANK_SEL), &bank, 1);
- case SENSORIOCSPOLLRATE: {
- switch (arg) {
-
- /* zero would be bad */
- case 0:
- return -EINVAL;
-
- /* set default polling rate */
- case SENSOR_POLLRATE_DEFAULT:
- return ioctl(filp, SENSORIOCSPOLLRATE, MPU9250_ACCEL_DEFAULT_RATE);
-
- /* 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;
- }
-
- // adjust filters
- float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq();
- float sample_rate = 1.0e6f / ticks;
- _accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
- _accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
- _accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
-
-
- float cutoff_freq_hz_gyro = _gyro_filter_x.get_cutoff_freq();
- _gyro_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
- _gyro_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
- _gyro_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
-
- /* update interval for next measurement */
- /* XXX this is a bit shady, but no other way to adjust... */
- _call_interval = ticks;
-
- /*
- set call interval faster than the sample time. We
- then detect when we have duplicate samples and reject
- them. This prevents aliasing due to a beat between the
- stm32 clock and the mpu9250 clock
- */
- _call.period = _call_interval - MPU9250_TIMER_REDUCTION;
-
- /* if we need to start the poll state machine, do it */
- if (want_start) {
- start();
- }
-
- return OK;
- }
- }
+ if (ret != OK) {
+ return ret;
}
+ }
- case ACCELIOCSSCALE: {
- /* copy scale, but only if off by a few percent */
- struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
- float sum = s->x_scale + s->y_scale + s->z_scale;
+ /*
+ * Making sure the right register bank is selected (even if it should be). Observed some
+ * unexpected changes to this, don't risk writing to the wrong register bank.
+ */
+ _interface->read(MPU9250_LOW_SPEED_OP(ICMREG_20948_BANK_SEL), &buf, 1);
- if (sum > 2.0f && sum < 4.0f) {
- memcpy(&_accel_scale, s, sizeof(_accel_scale));
- return OK;
+ while (bank != buf && retries > 0) {
+ //PX4_WARN("user bank: expected %d got %d",bank,buf);
+ ret = _interface->write(MPU9250_LOW_SPEED_OP(ICMREG_20948_BANK_SEL), &bank, 1);
- } else {
- return -EINVAL;
- }
+ if (ret != OK) {
+ return ret;
}
- default:
- /* give it to the superclass */
- return CDev::ioctl(filp, cmd, arg);
+ retries--;
+ //PX4_WARN("BANK retries: %d", 4-retries);
+
+ _interface->read(MPU9250_LOW_SPEED_OP(ICMREG_20948_BANK_SEL), &buf, 1);
}
-}
-int
-MPU9250::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
-{
- switch (cmd) {
- /* these are shared with the accel side */
- case SENSORIOCSPOLLRATE:
- case SENSORIOCRESET:
- return ioctl(filp, cmd, arg);
+ _selected_bank = bank;
- case GYROIOCSSCALE:
- /* copy scale in */
- memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
- return OK;
+ if (bank != buf) {
+ PX4_DEBUG("SELECT FAILED %d %d %d %d", retries, _selected_bank, bank, buf);
+ return PX4_ERROR;
- default:
- /* give it to the superclass */
- return CDev::ioctl(filp, cmd, arg);
+ } else {
+ return PX4_OK;
}
}
@@ -835,10 +918,36 @@ uint8_t
MPU9250::read_reg(unsigned reg, uint32_t speed)
{
uint8_t buf;
- _interface->read(MPU9250_SET_SPEED(reg, speed), &buf, 1);
+
+ if (_device_type == MPU_DEVICE_TYPE_ICM20948) {
+ select_register_bank(REG_BANK(reg));
+ _interface->read(MPU9250_SET_SPEED(REG_ADDRESS(reg), speed), &buf, 1);
+
+ } else {
+ _interface->read(MPU9250_SET_SPEED(REG_ADDRESS(reg), speed), &buf, 1);
+ }
+
return buf;
}
+uint8_t
+MPU9250::read_reg_range(unsigned start_reg, uint32_t speed, uint8_t *buf, uint16_t count)
+{
+ uint8_t ret;
+
+ if (buf == NULL) { return PX4_ERROR; }
+
+ if (_device_type == MPU_DEVICE_TYPE_ICM20948) {
+ select_register_bank(REG_BANK(start_reg));
+ ret = _interface->read(MPU9250_SET_SPEED(REG_ADDRESS(start_reg), speed), buf, count);
+
+ } else {
+ ret = _interface->read(MPU9250_SET_SPEED(REG_ADDRESS(start_reg), speed), buf, count);
+ }
+
+ return ret;
+}
+
uint16_t
MPU9250::read_reg16(unsigned reg)
{
@@ -846,7 +955,14 @@ MPU9250::read_reg16(unsigned reg)
// general register transfer at low clock speed
- _interface->read(MPU9250_LOW_SPEED_OP(reg), &buf, arraySize(buf));
+ if (_device_type == MPU_DEVICE_TYPE_ICM20948) {
+ select_register_bank(REG_BANK(reg));
+ _interface->read(MPU9250_LOW_SPEED_OP(REG_ADDRESS(reg)), &buf, arraySize(buf));
+
+ } else {
+ _interface->read(MPU9250_LOW_SPEED_OP(reg), &buf, arraySize(buf));
+ }
+
return (uint16_t)(buf[0] << 8) | buf[1];
}
@@ -855,7 +971,13 @@ MPU9250::write_reg(unsigned reg, uint8_t value)
{
// general register transfer at low clock speed
- _interface->write(MPU9250_LOW_SPEED_OP(reg), &value, 1);
+ if (_device_type == MPU_DEVICE_TYPE_ICM20948) {
+ select_register_bank(REG_BANK(reg));
+ _interface->write(MPU9250_LOW_SPEED_OP(REG_ADDRESS(reg)), &value, 1);
+
+ } else {
+ _interface->write(MPU9250_LOW_SPEED_OP(reg), &value, 1);
+ }
}
void
@@ -885,7 +1007,7 @@ MPU9250::write_checked_reg(unsigned reg, uint8_t value)
{
write_reg(reg, value);
- for (uint8_t i = 0; i < MPU9250_NUM_CHECKED_REGISTERS; i++) {
+ for (uint8_t i = 0; i < _num_checked_registers; i++) {
if (reg == _checked_registers[i]) {
_checked_values[i] = value;
_checked_bad[i] = value;
@@ -922,7 +1044,17 @@ MPU9250::set_accel_range(unsigned max_g_in)
max_accel_g = 2;
}
- write_checked_reg(MPUREG_ACCEL_CONFIG, afs_sel << 3);
+ switch (_device_type) {
+ case MPU_DEVICE_TYPE_MPU9250:
+ case MPU_DEVICE_TYPE_MPU6500:
+ write_checked_reg(MPUREG_ACCEL_CONFIG, afs_sel << 3);
+ break;
+
+ case MPU_DEVICE_TYPE_ICM20948:
+ modify_checked_reg(ICMREG_20948_ACCEL_CONFIG, ICM_BITS_ACCEL_FS_SEL_MASK, afs_sel << 1);
+ break;
+ }
+
_accel_range_scale = (CONSTANTS_ONE_G / lsb_per_g);
_accel_range_m_s2 = max_accel_g * CONSTANTS_ONE_G;
@@ -936,8 +1068,11 @@ MPU9250::start()
stop();
/* discard any stale data in the buffers */
- _accel_reports->flush();
- _gyro_reports->flush();
+ if (!_magnetometer_only) {
+ _accel_reports->flush();
+ _gyro_reports->flush();
+ }
+
_mag->_mag_reports->flush();
if (_use_hrt) {
@@ -1048,8 +1183,14 @@ MPU9250::check_registers(void)
if (_register_wait == 0 || _checked_next == 0) {
// if the product_id is wrong then reset the
// sensor completely
- write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
- write_reg(MPUREG_PWR_MGMT_2, MPU_CLK_SEL_AUTO);
+
+ if (_device_type == MPU_DEVICE_TYPE_ICM20948) {
+ // reset_mpu();
+ } else {
+ write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
+ write_reg(MPUREG_PWR_MGMT_2, MPU_CLK_SEL_AUTO);
+ }
+
// after doing a reset we need to wait a long
// time before we do any other register writes
// or we will end up with the mpu9250 in a
@@ -1070,10 +1211,10 @@ MPU9250::check_registers(void)
_register_wait = 20;
}
- _checked_next = (_checked_next + 1) % MPU9250_NUM_CHECKED_REGISTERS;
+ _checked_next = (_checked_next + 1) % _num_checked_registers;
}
-bool MPU9250::check_null_data(uint32_t *data, uint8_t size)
+bool MPU9250::check_null_data(uint16_t *data, uint8_t size)
{
while (size--) {
if (*data++) {
@@ -1119,6 +1260,7 @@ bool MPU9250::check_duplicate(uint8_t *accel_data)
void
MPU9250::measure()
{
+
if (hrt_absolute_time() < _reset_wait) {
// we're waiting for a reset to complete
return;
@@ -1126,6 +1268,8 @@ MPU9250::measure()
struct MPUReport mpu_report;
+ struct ICMReport icm_report;
+
struct Report {
int16_t accel_x;
int16_t accel_y;
@@ -1140,197 +1284,253 @@ MPU9250::measure()
perf_begin(_sample_perf);
/*
- * Fetch the full set of measurements from the MPU9250 in one pass.
+ * Fetch the full set of measurements from the MPU9250 in one pass
*/
- if (OK != _interface->read(MPU9250_SET_SPEED(MPUREG_INT_STATUS, MPU9250_HIGH_BUS_SPEED),
- (uint8_t *)&mpu_report,
- sizeof(mpu_report))) {
- perf_end(_sample_perf);
- return;
- }
- check_registers();
+ if ((!_magnetometer_only || _mag->is_passthrough()) && _register_wait == 0) {
+ if (_device_type == MPU_DEVICE_TYPE_MPU9250 || _device_type == MPU_DEVICE_TYPE_MPU6500) {
+ if (OK != read_reg_range(MPUREG_INT_STATUS, MPU9250_HIGH_BUS_SPEED, (uint8_t *)&mpu_report, sizeof(mpu_report))) {
+ perf_end(_sample_perf);
+ return;
+ }
- if (check_duplicate(&mpu_report.accel_x[0])) {
- return;
+ } else { // ICM20948
+ select_register_bank(REG_BANK(ICMREG_20948_ACCEL_XOUT_H));
+
+ if (OK != read_reg_range(ICMREG_20948_ACCEL_XOUT_H, MPU9250_HIGH_BUS_SPEED, (uint8_t *)&icm_report,
+ sizeof(icm_report))) {
+ perf_end(_sample_perf);
+ return;
+ }
+ }
+
+ check_registers();
+
+ if (check_duplicate(MPU_OR_ICM(&mpu_report.accel_x[0], &icm_report.accel_x[0]))) {
+ return;
+ }
}
-#ifdef USE_I2C
+ /*
+ * In case of a mag passthrough read, hand the magnetometer data over to _mag. Else,
+ * try to read a magnetometer report.
+ */
+
+# ifdef USE_I2C
if (_mag->is_passthrough()) {
-#endif
+# endif
+
_mag->_measure(mpu_report.mag);
-#ifdef USE_I2C
+
+# ifdef USE_I2C
} else {
_mag->measure();
}
-#endif
+# endif
/*
- * Convert from big to little endian
+ * Continue evaluating gyro and accelerometer results
*/
- report.accel_x = int16_t_from_bytes(mpu_report.accel_x);
- report.accel_y = int16_t_from_bytes(mpu_report.accel_y);
- report.accel_z = int16_t_from_bytes(mpu_report.accel_z);
- report.temp = int16_t_from_bytes(mpu_report.temp);
- report.gyro_x = int16_t_from_bytes(mpu_report.gyro_x);
- report.gyro_y = int16_t_from_bytes(mpu_report.gyro_y);
- report.gyro_z = int16_t_from_bytes(mpu_report.gyro_z);
-
- if (check_null_data((uint32_t *)&report, sizeof(report) / 4)) {
- return;
+ if (!_magnetometer_only && _register_wait == 0) {
+
+ /*
+ * Convert from big to little endian
+ */
+ if (_device_type == MPU_DEVICE_TYPE_ICM20948) {
+ report.accel_x = int16_t_from_bytes(icm_report.accel_x);
+ report.accel_y = int16_t_from_bytes(icm_report.accel_y);
+ report.accel_z = int16_t_from_bytes(icm_report.accel_z);
+ report.temp = int16_t_from_bytes(icm_report.temp);
+ report.gyro_x = int16_t_from_bytes(icm_report.gyro_x);
+ report.gyro_y = int16_t_from_bytes(icm_report.gyro_y);
+ report.gyro_z = int16_t_from_bytes(icm_report.gyro_z);
+
+ } else { // MPU9250/MPU6500
+ report.accel_x = int16_t_from_bytes(mpu_report.accel_x);
+ report.accel_y = int16_t_from_bytes(mpu_report.accel_y);
+ report.accel_z = int16_t_from_bytes(mpu_report.accel_z);
+ report.temp = int16_t_from_bytes(mpu_report.temp);
+ report.gyro_x = int16_t_from_bytes(mpu_report.gyro_x);
+ report.gyro_y = int16_t_from_bytes(mpu_report.gyro_y);
+ report.gyro_z = int16_t_from_bytes(mpu_report.gyro_z);
+ }
+
+ if (check_null_data((uint16_t *)&report, sizeof(report) / 2)) {
+ return;
+ }
}
if (_register_wait != 0) {
- // we are waiting for some good transfers before using the sensor again
- // We still increment _good_transfers, but don't return any data yet
+ /*
+ * We are waiting for some good transfers before using the sensor again.
+ * We still increment _good_transfers, but don't return any data yet.
+ *
+ */
_register_wait--;
return;
}
/*
- * Swap axes and negate y
+ * Get sensor temperature
*/
- int16_t accel_xt = report.accel_y;
- int16_t accel_yt = ((report.accel_x == -32768) ? 32767 : -report.accel_x);
+ _last_temperature = (report.temp) / 333.87f + 21.0f;
- int16_t gyro_xt = report.gyro_y;
- int16_t gyro_yt = ((report.gyro_x == -32768) ? 32767 : -report.gyro_x);
/*
- * Apply the swap
+ * Convert and publish accelerometer and gyrometer data.
*/
- report.accel_x = accel_xt;
- report.accel_y = accel_yt;
- report.gyro_x = gyro_xt;
- report.gyro_y = gyro_yt;
- /*
- * Report buffers.
- */
- sensor_accel_s arb{};
- sensor_gyro_s grb{};
+ if (!_magnetometer_only) {
- /*
- * Adjust and scale results to m/s^2.
- */
- grb.timestamp = arb.timestamp = hrt_absolute_time();
+ /*
+ * Keeping the axes as they are for ICM20948 so orientation will match the actual chip orientation
+ */
+ if (_device_type != MPU_DEVICE_TYPE_ICM20948) {
+ /*
+ * Swap axes and negate y
+ */
+
+ int16_t accel_xt = report.accel_y;
+ int16_t accel_yt = ((report.accel_x == -32768) ? 32767 : -report.accel_x);
+
+ int16_t gyro_xt = report.gyro_y;
+ int16_t gyro_yt = ((report.gyro_x == -32768) ? 32767 : -report.gyro_x);
+
+ /*
+ * Apply the swap
+ */
+ report.accel_x = accel_xt;
+ report.accel_y = accel_yt;
+ report.gyro_x = gyro_xt;
+ report.gyro_y = gyro_yt;
+ }
- // report the error count as the sum of the number of bad
- // transfers and bad register reads. This allows the higher
- // level code to decide if it should use this sensor based on
- // whether it has had failures
- grb.error_count = arb.error_count = perf_event_count(_bad_transfers) + perf_event_count(_bad_registers);
+ /*
+ * Report buffers.
+ */
+ sensor_accel_s arb;
+ sensor_gyro_s grb;
- /*
- * 1) Scale raw value to SI units using scaling from datasheet.
- * 2) Subtract static offset (in SI units)
- * 3) Scale the statically calibrated values with a linear
- * dynamically obtained factor
- *
- * Note: the static sensor offset is the number the sensor outputs
- * at a nominally 'zero' input. Therefore the offset has to
- * be subtracted.
- *
- * Example: A gyro outputs a value of 74 at zero angular rate
- * the offset is 74 from the origin and subtracting
- * 74 from all measurements centers them around zero.
- */
+ /*
+ * Adjust and scale results to m/s^2.
+ */
+ grb.timestamp = arb.timestamp = hrt_absolute_time();
- /* NOTE: Axes have been swapped to match the board a few lines above. */
+ // report the error count as the sum of the number of bad
+ // transfers and bad register reads. This allows the higher
+ // level code to decide if it should use this sensor based on
+ // whether it has had failures
+ grb.error_count = arb.error_count = perf_event_count(_bad_transfers) + perf_event_count(_bad_registers);
- arb.x_raw = report.accel_x;
- arb.y_raw = report.accel_y;
- arb.z_raw = report.accel_z;
+ /*
+ * 1) Scale raw value to SI units using scaling from datasheet.
+ * 2) Subtract static offset (in SI units)
+ * 3) Scale the statically calibrated values with a linear
+ * dynamically obtained factor
+ *
+ * Note: the static sensor offset is the number the sensor outputs
+ * at a nominally 'zero' input. Therefore the offset has to
+ * be subtracted.
+ *
+ * Example: A gyro outputs a value of 74 at zero angular rate
+ * the offset is 74 from the origin and subtracting
+ * 74 from all measurements centers them around zero.
+ */
- float xraw_f = report.accel_x;
- float yraw_f = report.accel_y;
- float zraw_f = report.accel_z;
+ /* NOTE: Axes have been swapped to match the board a few lines above. */
- // apply user specified rotation
- rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
+ arb.x_raw = report.accel_x;
+ arb.y_raw = report.accel_y;
+ arb.z_raw = report.accel_z;
- float x_in_new = ((xraw_f * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
- float y_in_new = ((yraw_f * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
- float z_in_new = ((zraw_f * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
+ float xraw_f = report.accel_x;
+ float yraw_f = report.accel_y;
+ float zraw_f = report.accel_z;
- arb.x = _accel_filter_x.apply(x_in_new);
- arb.y = _accel_filter_y.apply(y_in_new);
- arb.z = _accel_filter_z.apply(z_in_new);
+ // apply user specified rotation
+ rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
- matrix::Vector3f aval(x_in_new, y_in_new, z_in_new);
- matrix::Vector3f aval_integrated;
+ float x_in_new = ((xraw_f * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
+ float y_in_new = ((yraw_f * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
+ float z_in_new = ((zraw_f * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
- bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, arb.integral_dt);
- arb.x_integral = aval_integrated(0);
- arb.y_integral = aval_integrated(1);
- arb.z_integral = aval_integrated(2);
+ arb.x = _accel_filter_x.apply(x_in_new);
+ arb.y = _accel_filter_y.apply(y_in_new);
+ arb.z = _accel_filter_z.apply(z_in_new);
- arb.scaling = _accel_range_scale;
+ matrix::Vector3f aval(x_in_new, y_in_new, z_in_new);
+ matrix::Vector3f aval_integrated;
- _last_temperature = (report.temp) / 361.0f + 35.0f;
+ bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, arb.integral_dt);
+ arb.x_integral = aval_integrated(0);
+ arb.y_integral = aval_integrated(1);
+ arb.z_integral = aval_integrated(2);
- arb.temperature = _last_temperature;
+ arb.scaling = _accel_range_scale;
- /* return device ID */
- arb.device_id = _device_id.devid;
+ arb.temperature = _last_temperature;
- grb.x_raw = report.gyro_x;
- grb.y_raw = report.gyro_y;
- grb.z_raw = report.gyro_z;
+ /* return device ID */
+ arb.device_id = _accel->_device_id.devid;
- xraw_f = report.gyro_x;
- yraw_f = report.gyro_y;
- zraw_f = report.gyro_z;
+ grb.x_raw = report.gyro_x;
+ grb.y_raw = report.gyro_y;
+ grb.z_raw = report.gyro_z;
- // apply user specified rotation
- rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
+ xraw_f = report.gyro_x;
+ yraw_f = report.gyro_y;
+ zraw_f = report.gyro_z;
- float x_gyro_in_new = ((xraw_f * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
- float y_gyro_in_new = ((yraw_f * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
- float z_gyro_in_new = ((zraw_f * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
+ // apply user specified rotation
+ rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
- grb.x = _gyro_filter_x.apply(x_gyro_in_new);
- grb.y = _gyro_filter_y.apply(y_gyro_in_new);
- grb.z = _gyro_filter_z.apply(z_gyro_in_new);
+ float x_gyro_in_new = ((xraw_f * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
+ float y_gyro_in_new = ((yraw_f * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
+ float z_gyro_in_new = ((zraw_f * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
- matrix::Vector3f gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
- matrix::Vector3f gval_integrated;
+ grb.x = _gyro_filter_x.apply(x_gyro_in_new);
+ grb.y = _gyro_filter_y.apply(y_gyro_in_new);
+ grb.z = _gyro_filter_z.apply(z_gyro_in_new);
- bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, grb.integral_dt);
- grb.x_integral = gval_integrated(0);
- grb.y_integral = gval_integrated(1);
- grb.z_integral = gval_integrated(2);
+ matrix::Vector3f gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
+ matrix::Vector3f gval_integrated;
- grb.scaling = _gyro_range_scale;
+ bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, grb.integral_dt);
+ grb.x_integral = gval_integrated(0);
+ grb.y_integral = gval_integrated(1);
+ grb.z_integral = gval_integrated(2);
- grb.temperature = _last_temperature;
+ grb.scaling = _gyro_range_scale;
- /* return device ID */
- grb.device_id = _gyro->_device_id.devid;
+ grb.temperature = _last_temperature;
- _accel_reports->force(&arb);
- _gyro_reports->force(&grb);
+ /* return device ID */
+ grb.device_id = _gyro->_device_id.devid;
- /* notify anyone waiting for data */
- if (accel_notify) {
- poll_notify(POLLIN);
- }
+ _accel_reports->force(&arb);
+ _gyro_reports->force(&grb);
- if (gyro_notify) {
- _gyro->parent_poll_notify();
- }
+ /* notify anyone waiting for data */
+ if (accel_notify) {
+ _accel->poll_notify(POLLIN);
+ }
- if (accel_notify && !(_pub_blocked)) {
- /* publish it */
- orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
- }
+ if (gyro_notify) {
+ _gyro->parent_poll_notify();
+ }
+
+ if (accel_notify && !(_accel->_pub_blocked)) {
+ /* publish it */
+ orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
+ }
- if (gyro_notify && !(_pub_blocked)) {
- /* publish it */
- orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
+ if (gyro_notify && !(_gyro->_pub_blocked)) {
+ /* publish it */
+ orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
+ }
}
/* stop measuring */
@@ -1340,6 +1540,7 @@ MPU9250::measure()
void
MPU9250::print_info()
{
+ ::printf("Device type:%d\n", _device_type);
perf_print_counter(_sample_perf);
perf_print_counter(_accel_reads);
perf_print_counter(_gyro_reads);
@@ -1348,44 +1549,11 @@ MPU9250::print_info()
perf_print_counter(_good_transfers);
perf_print_counter(_reset_retries);
perf_print_counter(_duplicates);
- _accel_reports->print_info("accel queue");
- _gyro_reports->print_info("gyro queue");
- _mag->_mag_reports->print_info("mag queue");
- ::printf("checked_next: %u\n", _checked_next);
-
- for (uint8_t i = 0; i < MPU9250_NUM_CHECKED_REGISTERS; i++) {
- uint8_t v = read_reg(_checked_registers[i], MPU9250_HIGH_BUS_SPEED);
-
- 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]);
- }
- }
-
-}
+ ::printf("temperature: %.1f\n", (double)_last_temperature);
-void
-MPU9250::print_registers()
-{
- printf("MPU9250 registers\n");
-
- for (uint8_t reg = 0; reg <= 126; reg++) {
- uint8_t v = read_reg(reg);
- printf("%02x:%02x ", (unsigned)reg, (unsigned)v);
-
- if (reg % 13 == 0) {
- printf("\n");
- }
+ if (!_magnetometer_only) {
+ _accel_reports->print_info("accel queue");
+ _gyro_reports->print_info("gyro queue");
+ _mag->_mag_reports->print_info("mag queue");
}
-
- printf("\n");
}
diff --git a/src/drivers/imu/mpu9250/mpu9250.h b/src/drivers/imu/mpu9250/mpu9250.h
index 3939e9527013e3ead5798bb1d620fc2829e6aefa..81c6f50f073168acfa13c4d4a196bb5c80bd019f 100644
--- a/src/drivers/imu/mpu9250/mpu9250.h
+++ b/src/drivers/imu/mpu9250/mpu9250.h
@@ -49,12 +49,23 @@
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/debug_key_value.h>
+
#include "mag.h"
+#include "accel.h"
#include "gyro.h"
+/* List of supported device types */
+enum MPU_DEVICE_TYPE {
+ MPU_DEVICE_TYPE_MPU9250 = 9250,
+ MPU_DEVICE_TYPE_MPU6500 = 6500,
+ MPU_DEVICE_TYPE_ICM20948 = 20948
+};
+
-#if defined(PX4_I2C_OBDEV_MPU9250)
+#if defined(PX4_I2C_OBDEV_MPU9250) || defined(PX4_I2C_BUS_EXPANSION)
# define USE_I2C
#endif
@@ -177,8 +188,9 @@
#define BIT_I2C_SLV2_DLY_EN 0x04
#define BIT_I2C_SLV3_DLY_EN 0x08
-#define MPU_WHOAMI_9250 0x71
-#define MPU_WHOAMI_6500 0x70
+#define MPU_WHOAMI_9250 0x71
+#define MPU_WHOAMI_6500 0x70
+#define ICM_WHOAMI_20948 0xEA
#define MPU9250_ACCEL_DEFAULT_RATE 1000
#define MPU9250_ACCEL_MAX_OUTPUT_RATE 280
@@ -193,6 +205,135 @@
#define MPUIOCGIS_I2C (unsigned)(DEVIOCGDEVICEID+100)
+
+// ICM20948 registers and data
+
+/*
+ * ICM20948 I2C address LSB can be switched by the chip's AD0 pin, thus is device dependent.
+ * Noting this down for now. Here GPS uses 0x69. To support a device implementing the second
+ * address, probably an additional MPU_DEVICE_TYPE is the way to go.
+ */
+#define PX4_I2C_EXT_ICM20948_0 0x68
+#define PX4_I2C_EXT_ICM20948_1 0x69
+
+/*
+ * ICM20948 uses register banks. Register 127 (0x7F) is used to switch between 4 banks.
+ * There's room in the upper address byte below the port speed setting to code in the
+ * used bank. This is a bit more efficient, already in use for the speed setting and more
+ * in one place than a solution with a lookup table for address/bank pairs.
+ */
+
+#define BANK0 0x0000
+#define BANK1 0x0100
+#define BANK2 0x0200
+#define BANK3 0x0300
+
+#define BANK_REG_MASK 0x0300
+#define REG_BANK(r) (((r) & BANK_REG_MASK)>>4)
+#define REG_ADDRESS(r) ((r) & ~BANK_REG_MASK)
+
+#define ICMREG_20948_BANK_SEL 0x7F
+
+#define ICMREG_20948_WHOAMI (0x00 | BANK0)
+#define ICMREG_20948_USER_CTRL (0x03 | BANK0)
+#define ICMREG_20948_PWR_MGMT_1 (0x06 | BANK0)
+#define ICMREG_20948_PWR_MGMT_2 (0x07 | BANK0)
+#define ICMREG_20948_INT_PIN_CFG (0x0F | BANK0)
+#define ICMREG_20948_INT_ENABLE (0x10 | BANK0)
+#define ICMREG_20948_INT_ENABLE_1 (0x11 | BANK0)
+#define ICMREG_20948_ACCEL_XOUT_H (0x2D | BANK0)
+#define ICMREG_20948_INT_ENABLE_2 (0x12 | BANK0)
+#define ICMREG_20948_INT_ENABLE_3 (0x13 | BANK0)
+#define ICMREG_20948_EXT_SLV_SENS_DATA_00 (0x3B | BANK0)
+#define ICMREG_20948_GYRO_SMPLRT_DIV (0x00 | BANK2)
+#define ICMREG_20948_GYRO_CONFIG_1 (0x01 | BANK2)
+#define ICMREG_20948_GYRO_CONFIG_2 (0x02 | BANK2)
+#define ICMREG_20948_ACCEL_SMPLRT_DIV_1 (0x10 | BANK2)
+#define ICMREG_20948_ACCEL_SMPLRT_DIV_2 (0x11 | BANK2)
+#define ICMREG_20948_ACCEL_CONFIG (0x14 | BANK2)
+#define ICMREG_20948_ACCEL_CONFIG_2 (0x15 | BANK2)
+#define ICMREG_20948_I2C_MST_CTRL (0x01 | BANK3)
+#define ICMREG_20948_I2C_SLV0_ADDR (0x03 | BANK3)
+#define ICMREG_20948_I2C_SLV0_REG (0x04 | BANK3)
+#define ICMREG_20948_I2C_SLV0_CTRL (0x05 | BANK3)
+#define ICMREG_20948_I2C_SLV0_DO (0x06 | BANK3)
+
+
+
+/*
+* ICM20948 register bits
+* Most of the regiser set values from MPU9250 have the same
+* meaning on ICM20948. The exceptions and values not already
+* defined for MPU9250 are defined below
+*/
+#define ICM_BIT_PWR_MGMT_1_ENABLE 0x00
+#define ICM_BIT_USER_CTRL_I2C_MST_DISABLE 0x00
+
+#define ICM_BITS_GYRO_DLPF_CFG_197HZ 0x01
+#define ICM_BITS_GYRO_DLPF_CFG_151HZ 0x09
+#define ICM_BITS_GYRO_DLPF_CFG_119HZ 0x11
+#define ICM_BITS_GYRO_DLPF_CFG_51HZ 0x19
+#define ICM_BITS_GYRO_DLPF_CFG_23HZ 0x21
+#define ICM_BITS_GYRO_DLPF_CFG_11HZ 0x29
+#define ICM_BITS_GYRO_DLPF_CFG_5HZ 0x31
+#define ICM_BITS_GYRO_DLPF_CFG_361HZ 0x39
+#define ICM_BITS_GYRO_DLPF_CFG_MASK 0x39
+
+#define ICM_BITS_GYRO_FS_SEL_250DPS 0x00
+#define ICM_BITS_GYRO_FS_SEL_500DPS 0x02
+#define ICM_BITS_GYRO_FS_SEL_1000DPS 0x04
+#define ICM_BITS_GYRO_FS_SEL_2000DPS 0x06
+#define ICM_BITS_GYRO_FS_SEL_MASK 0x06
+
+#define ICM_BITS_ACCEL_DLPF_CFG_246HZ 0x09
+#define ICM_BITS_ACCEL_DLPF_CFG_111HZ 0x11
+#define ICM_BITS_ACCEL_DLPF_CFG_50HZ 0x19
+#define ICM_BITS_ACCEL_DLPF_CFG_23HZ 0x21
+#define ICM_BITS_ACCEL_DLPF_CFG_11HZ 0x29
+#define ICM_BITS_ACCEL_DLPF_CFG_5HZ 0x31
+#define ICM_BITS_ACCEL_DLPF_CFG_473HZ 0x39
+#define ICM_BITS_ACCEL_DLPF_CFG_MASK 0x39
+
+#define ICM_BITS_ACCEL_FS_SEL_250DPS 0x00
+#define ICM_BITS_ACCEL_FS_SEL_500DPS 0x02
+#define ICM_BITS_ACCEL_FS_SEL_1000DPS 0x04
+#define ICM_BITS_ACCEL_FS_SEL_2000DPS 0x06
+#define ICM_BITS_ACCEL_FS_SEL_MASK 0x06
+
+#define ICM_BITS_DEC3_CFG_4 0x00
+#define ICM_BITS_DEC3_CFG_8 0x01
+#define ICM_BITS_DEC3_CFG_16 0x10
+#define ICM_BITS_DEC3_CFG_32 0x11
+#define ICM_BITS_DEC3_CFG_MASK 0x11
+
+#define ICM_BITS_I2C_MST_CLOCK_370KHZ 0x00
+#define ICM_BITS_I2C_MST_CLOCK_400HZ 0x07 // recommended by datasheet for 400kHz target clock
+
+
+
+#define MPU_OR_ICM(m,i) ((_device_type==MPU_DEVICE_TYPE_ICM20948) ? i : m)
+
+
+#pragma pack(push, 1)
+/**
+ * Report conversation within the mpu, including command byte and
+ * interrupt status.
+ */
+struct ICMReport {
+ uint8_t accel_x[2];
+ uint8_t accel_y[2];
+ uint8_t accel_z[2];
+ uint8_t gyro_x[2];
+ uint8_t gyro_y[2];
+ uint8_t gyro_z[2];
+ uint8_t temp[2];
+ struct ak8963_regs mag;
+};
+#pragma pack(pop)
+
+
+
+
#pragma pack(push, 1)
/**
* Report conversation within the mpu, including command byte and
@@ -224,71 +365,71 @@ struct MPUReport {
*/
#define MPU9250_LOW_BUS_SPEED 0
#define MPU9250_HIGH_BUS_SPEED 0x8000
+#define MPU9250_REG_MASK 0x00FF
# define MPU9250_IS_HIGH_SPEED(r) ((r) & MPU9250_HIGH_BUS_SPEED)
-# define MPU9250_REG(r) ((r) &~MPU9250_HIGH_BUS_SPEED)
+# define MPU9250_REG(r) ((r) & MPU9250_REG_MASK)
# define MPU9250_SET_SPEED(r, s) ((r)|(s))
# define MPU9250_HIGH_SPEED_OP(r) MPU9250_SET_SPEED((r), MPU9250_HIGH_BUS_SPEED)
-# define MPU9250_LOW_SPEED_OP(r) MPU9250_REG((r))
+# define MPU9250_LOW_SPEED_OP(r) ((r) &~MPU9250_HIGH_BUS_SPEED)
/* interface factories */
-extern device::Device *MPU9250_SPI_interface(int bus, uint32_t cs, bool external_bus);
-extern device::Device *MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus);
+extern device::Device *MPU9250_SPI_interface(int bus, int device_type, uint32_t cs, bool external_bus);
+extern device::Device *MPU9250_I2C_interface(int bus, int device_type, uint32_t address, bool external_bus);
extern int MPU9250_probe(device::Device *dev, int device_type);
-typedef device::Device *(*MPU9250_constructor)(int, uint32_t, bool);
+typedef device::Device *(*MPU9250_constructor)(int, int, uint32_t, bool);
class MPU9250_mag;
+class MPU9250_accel;
class MPU9250_gyro;
-class MPU9250 : public device::CDev
+class MPU9250
{
public:
MPU9250(device::Device *interface, device::Device *mag_interface, const char *path_accel, const char *path_gyro,
const char *path_mag,
- enum Rotation rotation);
+ enum Rotation rotation,
+ int device_type,
+ bool magnetometer_only);
+
virtual ~MPU9250();
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();
- void print_registers();
-
- // deliberately cause a sensor error
- void test_error();
-
protected:
- Device *_interface;
+ device::Device *_interface;
virtual int probe();
+ friend class MPU9250_accel;
friend class MPU9250_mag;
friend class MPU9250_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:
+ MPU9250_accel *_accel;
MPU9250_gyro *_gyro;
MPU9250_mag *_mag;
uint8_t _whoami; /** whoami result */
+ int _device_type;
+ uint8_t _selected_bank; /* Remember selected memory bank to avoid polling / setting on each read/write */
+ bool
+ _magnetometer_only; /* To disable accel and gyro reporting if only magnetometer is used (e.g. as external magnetometer) */
#if defined(USE_I2C)
/*
* SPI bus based device use hrt
* I2C bus needs to use work queue
*/
- work_s _work;
+ work_s _work{};
#endif
bool _use_hrt;
- struct hrt_call _call;
+ struct hrt_call _call {};
unsigned _call_interval;
ringbuffer::RingBuffer *_accel_reports;
@@ -297,8 +438,6 @@ private:
float _accel_range_scale;
float _accel_range_m_s2;
orb_advert_t _accel_topic;
- int _accel_orb_class_instance;
- int _accel_class_instance;
ringbuffer::RingBuffer *_gyro_reports;
@@ -307,6 +446,8 @@ private:
float _gyro_range_rad_s;
unsigned _dlpf_freq;
+ unsigned _dlpf_freq_icm_gyro;
+ unsigned _dlpf_freq_icm_accel;
unsigned _sample_rate;
perf_counter_t _accel_reads;
@@ -336,16 +477,28 @@ private:
// this is used to support runtime checking of key
// configuration registers to detect SPI bus errors and sensor
// reset
+
+#ifndef MAX
+#define MAX(X,Y) ((X) > (Y) ? (X) : (Y))
+#endif
+
#define MPU9250_NUM_CHECKED_REGISTERS 11
- static const uint8_t _checked_registers[MPU9250_NUM_CHECKED_REGISTERS];
- uint8_t _checked_values[MPU9250_NUM_CHECKED_REGISTERS];
- uint8_t _checked_bad[MPU9250_NUM_CHECKED_REGISTERS];
- uint8_t _checked_next;
+ static const uint16_t _mpu9250_checked_registers[MPU9250_NUM_CHECKED_REGISTERS];
+#define ICM20948_NUM_CHECKED_REGISTERS 15
+ static const uint16_t _icm20948_checked_registers[ICM20948_NUM_CHECKED_REGISTERS];
+
+ const uint16_t *_checked_registers;
+
+ uint8_t _checked_values[MAX(MPU9250_NUM_CHECKED_REGISTERS, ICM20948_NUM_CHECKED_REGISTERS)];
+ uint8_t _checked_bad[MAX(MPU9250_NUM_CHECKED_REGISTERS, ICM20948_NUM_CHECKED_REGISTERS)];
+ unsigned _checked_next;
+ unsigned _num_checked_registers;
+
// last temperature reading for print_info()
float _last_temperature;
- bool check_null_data(uint32_t *data, uint8_t size);
+ bool check_null_data(uint16_t *data, uint8_t size);
bool check_duplicate(uint8_t *accel_data);
// keep last accel reading for duplicate detection
uint8_t _last_accel_data[6];
@@ -425,15 +578,40 @@ private:
*/
void measure();
+ /**
+ * Select a register bank in ICM20948
+ *
+ * Only actually switches if the remembered bank is different from the
+ * requested one
+ *
+ * @param The index of the register bank to switch to (0-3)
+ * @return Error code
+ */
+ int select_register_bank(uint8_t bank);
+
+
/**
* Read a register from the mpu
*
* @param The register to read.
+ * @param The bus speed to read with.
* @return The value that was read.
*/
uint8_t read_reg(unsigned reg, uint32_t speed = MPU9250_LOW_BUS_SPEED);
uint16_t read_reg16(unsigned reg);
+
+ /**
+ * Read a register range from the mpu
+ *
+ * @param The start address to read from.
+ * @param The bus speed to read with.
+ * @param The address of the target data buffer.
+ * @param The count of bytes to be read.
+ * @return The value that was read.
+ */
+ uint8_t read_reg_range(unsigned start_reg, uint32_t speed, uint8_t *buf, uint16_t count);
+
/**
* Write a register in the mpu
*
@@ -492,13 +670,6 @@ private:
*/
bool is_external() { return _interface->external(); }
- /**
- * Measurement self test
- *
- * @return 0 on success, 1 on failure
- */
- int self_test();
-
/*
set low pass filter frequency
*/
@@ -509,6 +680,11 @@ private:
*/
void _set_sample_rate(unsigned desired_sample_rate_hz);
+ /*
+ set poll rate
+ */
+ int _set_pollrate(unsigned long rate);
+
/*
check that key registers still have the right value
*/
diff --git a/src/drivers/imu/mpu9250/mpu9250_i2c.cpp b/src/drivers/imu/mpu9250/mpu9250_i2c.cpp
index 3893d74621afd502db66e04b1069bff8274cf907..f9ded07ddcad1be25477ef45eea1d82fe2305ea7 100644
--- a/src/drivers/imu/mpu9250/mpu9250_i2c.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250_i2c.cpp
@@ -46,30 +46,34 @@
#ifdef USE_I2C
-device::Device *MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus);
+device::Device *MPU9250_I2C_interface(int bus, int device_type, uint32_t address, bool external_bus);
class MPU9250_I2C : public device::I2C
{
public:
- MPU9250_I2C(int bus, uint32_t address);
+ MPU9250_I2C(int bus, int device_type, uint32_t address);
~MPU9250_I2C() override = default;
int read(unsigned address, void *data, unsigned count) override;
int write(unsigned address, void *data, unsigned count) override;
protected:
- int probe() override;
+ virtual int probe();
+
+private:
+ int _device_type;
};
device::Device *
-MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus)
+MPU9250_I2C_interface(int bus, int device_type, uint32_t address, bool external_bus)
{
- return new MPU9250_I2C(bus, address);
+ return new MPU9250_I2C(bus, device_type, address);
}
-MPU9250_I2C::MPU9250_I2C(int bus, uint32_t address) :
- I2C("MPU9250_I2C", nullptr, bus, address, 400000)
+MPU9250_I2C::MPU9250_I2C(int bus, int device_type, uint32_t address) :
+ I2C("MPU9250_I2C", nullptr, bus, address, 400000),
+ _device_type(device_type)
{
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
}
@@ -106,8 +110,34 @@ int
MPU9250_I2C::probe()
{
uint8_t whoami = 0;
- uint8_t expected = MPU_WHOAMI_9250;
- return (read(MPUREG_WHOAMI, &whoami, 1) == OK && (whoami == expected)) ? 0 : -EIO;
+ uint8_t reg_whoami = 0;
+ uint8_t expected = 0;
+ uint8_t register_select = REG_BANK(BANK0); // register bank containing WHOAMI for ICM20948
+
+ switch (_device_type) {
+ case MPU_DEVICE_TYPE_MPU9250:
+ reg_whoami = MPUREG_WHOAMI;
+ expected = MPU_WHOAMI_9250;
+ break;
+
+ case MPU_DEVICE_TYPE_MPU6500:
+ reg_whoami = MPUREG_WHOAMI;
+ expected = MPU_WHOAMI_6500;
+ break;
+
+ case MPU_DEVICE_TYPE_ICM20948:
+ reg_whoami = ICMREG_20948_WHOAMI;
+ expected = ICM_WHOAMI_20948;
+ /*
+ * make sure register bank 0 is selected - whoami is only present on bank 0, and that is
+ * not sure e.g. if the device has rebooted without repowering the sensor
+ */
+ write(ICMREG_20948_BANK_SEL, ®ister_select, 1);
+
+ break;
+ }
+
+ return (read(reg_whoami, &whoami, 1) == OK && (whoami == expected)) ? 0 : -EIO;
}
#endif /* USE_I2C */
diff --git a/src/drivers/imu/mpu9250/mpu9250_spi.cpp b/src/drivers/imu/mpu9250/mpu9250_spi.cpp
index c02d6f2dc4c69b5789741546ea7dcc3253b521b4..8a30fff910ef469b6fbb9c31f638a768f34a501b 100644
--- a/src/drivers/imu/mpu9250/mpu9250_spi.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250_spi.cpp
@@ -63,7 +63,7 @@
#define MPU9250_LOW_SPI_BUS_SPEED 1000*1000
#define MPU9250_HIGH_SPI_BUS_SPEED 20*1000*1000
-device::Device *MPU9250_SPI_interface(int bus, uint32_t cs, bool external_bus);
+device::Device *MPU9250_SPI_interface(int bus, int device_type, uint32_t cs, bool external_bus);
class MPU9250_SPI : public device::SPI
{
@@ -84,7 +84,7 @@ private:
};
device::Device *
-MPU9250_SPI_interface(int bus, uint32_t cs, bool external_bus)
+MPU9250_SPI_interface(int bus, int device_type, uint32_t cs, bool external_bus)
{
device::Device *interface = nullptr;