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InvenSense ICM20602 and ICM20608-G: new standalone optimized drivers

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- uses the FIFO and SPI DMA to transfer full raw data (8 kHz gyro, 4 kHz accel)
 - new sensor messages for better visibility
   - sensor_{accel, gyro}_fifo: full raw data for optional logging and analysis
   - sensor_{accel, gyro}_status: metadata, clipping, etc
 - currently not enabled by default
This commit is contained in:
Daniel Agar
2019-12-03 23:21:32 -05:00
committed by GitHub
parent 2badea316f
commit 709961ec8c
26 changed files with 1895 additions and 114 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
boards/px4/fmu-v2/default.cmake
View File

@@ -53,7 +53,7 @@ px4_add_board(
#pca9685
#protocol_splitter
#pwm_input
pwm_out_sim
#pwm_out_sim
px4fmu
px4io
#roboclaw

2
boards/px4/fmu-v4/default.cmake
View File

@@ -28,6 +28,8 @@ px4_add_board(
imu/adis16448
imu/adis16477
imu/adis16497
imu/invensense/icm20602
imu/invensense/icm20608-g
imu/mpu6000
imu/mpu9250
irlock

4
boards/px4/fmu-v4/init/rc.board_sensors
View File

@@ -49,5 +49,9 @@ then
mpu6000 -R 2 -T 20608 start
fi
# new sensor drivers (in testing)
#icm20602 -R 8 start
#icm20608g -R 8 start
# mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw
mpu9250 -R 2 start

15
boards/px4/fmu-v4/nuttx-config/include/board.h
View File

@@ -40,6 +40,7 @@
/************************************************************************************
* Included Files
************************************************************************************/
#include "board_dma_map.h"
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
@@ -195,17 +196,6 @@
# define SDIO_SDXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
#endif
/* DMA Channl/Stream Selections *****************************************************/
/* Stream selections are arbitrary for now but might become important in the future
* is we set aside more DMA channels/streams.
*
* SDIO DMA
*   DMAMAP_SDIO_1 = Channel 4, Stream 3 <- may later be used by SPI DMA
*   DMAMAP_SDIO_2 = Channel 4, Stream 6
*/
#define DMAMAP_SDIO DMAMAP_SDIO_1
/* Alternate function pin selections ************************************************/
/*
@@ -235,9 +225,6 @@
/* UART8 has no alternate pin config */
/* UART RX DMA configurations */
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_1 /*DMA2 Stream 2*/
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_1 /*DMA2 Stream 1*/
/*
* CAN

23
boards/px4/fmu-v4/nuttx-config/include/board_dma_map.h Normal file
View File

@@ -0,0 +1,23 @@
#pragma once
/* DMA Channel/Stream Selections
*
* DMAMAP_USART3_RX = DMA1, Stream 1, Channel 4
* DMAMAP_UART4_RX = DMA1, Stream 2, Channel 4
* DMAMAP_UART7_RX = DMA1, Stream 3, Channel 5
* DMAMAP_USART2_RX = DMA1, Stream 5, Channel 4
* DMAMAP_TIM4_UP = DMA1, Stream 6, Channel 2
*
*   DMAMAP_SPI1_RX_1 = DMA2, Stream 0, Channel 3
*   DMAMAP_USART6_RX_1 = DMA2, Stream 1, Channel 4
*   DMAMAP_USART1_RX_1 = DMA2, Stream 2, Channel 4
*   DMAMAP_SPI1_TX_1 = DMA2, Stream 3, Channel 3
* DMAMAP_TIM1_UP = DMA2, Stream 5, Channel 6
*   DMAMAP_SDIO_2 = DMA2, Stream 6, Channel 4
*/
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_1
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_1
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1
#define DMAMAP_SDIO DMAMAP_SDIO_2

2
boards/px4/fmu-v4/nuttx-config/nsh/defconfig
View File

@@ -186,8 +186,10 @@ CONFIG_STM32_SDIO_CARD=y
CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32_SPI1=y
CONFIG_STM32_SPI1_DMA=y
CONFIG_STM32_SPI2=y
CONFIG_STM32_SPI4=y
CONFIG_STM32_SPI_DMA=y
CONFIG_STM32_TIM10=y
CONFIG_STM32_TIM11=y
CONFIG_STM32_TIM1=y

2
boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig
View File

@@ -187,8 +187,10 @@ CONFIG_STM32_SDIO_CARD=y
CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32_SPI1=y
CONFIG_STM32_SPI1_DMA=y
CONFIG_STM32_SPI2=y
CONFIG_STM32_SPI4=y
CONFIG_STM32_SPI_DMA=y
CONFIG_STM32_TIM10=y
CONFIG_STM32_TIM11=y
CONFIG_STM32_TIM1=y

3
boards/px4/fmu-v4/src/board_config.h
View File

@@ -76,7 +76,6 @@
* PE15 HMC5983 PE12
* ---- ----------------------------------------------- -----
*/
#define GPIO_SPI1_CS_PORTC_PIN2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
#define GPIO_SPI1_CS_PORTC_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI1_CS_PORTE_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
@@ -325,7 +324,7 @@
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
/* This board provides a DMA pool and APIs. */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
#define BOARD_DMA_ALLOC_POOL_SIZE (5120 + 512 + 1008) // 5120 fat + 512 + 1008 spi
#define BOARD_HAS_ON_RESET 1

2
boards/px4/fmu-v4pro/default.cmake
View File

@@ -30,6 +30,8 @@ px4_add_board(
#imu # all available imu drivers
imu/mpu6000
imu/mpu9250
imu/invensense/icm20602
imu/invensense/icm20608-g
irlock
lights/blinkm
lights/rgbled

92
boards/px4/fmu-v4pro/nuttx-config/include/board.h
View File

@@ -36,24 +36,21 @@
*
************************************************************************************/
#ifndef __NUTTX_CONFIG_PX4FMUV4_PRO_INCLUDE_BOARD_H
#define __NUTTX_CONFIG_PX4FMUV4_PRO_INCLUDE_BOARD_H
#ifndef __ARCH_BOARD_BOARD_H
#define __ARCH_BOARD_BOARD_H
/************************************************************************************
* Included Files
************************************************************************************/
#include "board_dma_map.h"
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
#endif
#include <stm32.h>
/************************************************************************************
* Definitions
************************************************************************************/
@@ -201,7 +198,7 @@
* to service FIFOs in interrupt driven mode. These values have not been
* tuned!!!
*
* SDIOCLK =48MHz, SDMMC_CK=SDIOCLK/(118+2)=400 KHz
* SDIOCLK=48MHz, SDMMC_CK=SDIOCLK/(118+2)=400 KHz
*/
/* Use the Falling edge of the SDIO_CLK clock to change the edge the
@@ -210,16 +207,16 @@
#define SDIO_CLKCR_EDGE SDIO_CLKCR_NEGEDGE
#define SDIO_INIT_CLKDIV (118 << SDIO_CLKCR_CLKDIV_SHIFT)
#define SDIO_INIT_CLKDIV (118 << SDIO_CLKCR_CLKDIV_SHIFT)
/* DMA ON: SDIOCLK=48MHz, SDMMC_CK=SDIOCLK/(1+2)=16 MHz
* DMA OFF: SDIOCLK=48MHz, SDMMC_CK=SDIOCLK/(2+2)=12 MHz
*/
#ifdef CONFIG_STM32_SDIO_DMA
# define SDIO_MMCXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
# define SDIO_MMCXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
#else
# define SDIO_MMCXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
# define SDIO_MMCXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
#endif
/* DMA ON: SDIOCLK=48MHz, SDMMC_CK=SDIOCLK/(1+2)=16 MHz
@@ -228,23 +225,11 @@
//TODO #warning "Check Freq for 24mHz"
#ifdef CONFIG_STM32_SDIO_DMA
# define SDIO_SDXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
# define SDIO_SDXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
#else
# define SDIO_SDXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
# define SDIO_SDXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
#endif
/* DMA Channel/Stream Selections *****************************************************/
/* Stream selections are arbitrary for now but might become important in the future
* is we set aside more DMA channels/streams.
*
* SDIO DMA
*   DMAMAP_SDIO_1 = Channel 4, Stream 3 <- may later be used by SPI DMA
*   DMAMAP_SDIO_2 = Channel 4, Stream 6
*/
#define DMAMAP_SDIO DMAMAP_SDIO_1
/* FLASH wait states
*
* --------- ---------- ----------- ---------
@@ -260,58 +245,6 @@
#define BOARD_FLASH_WAITSTATES 5
/* LED definitions ******************************************************************/
/* The px4_fmu-v4pro board has numerous LEDs.
* FMU_LED_RED, FMU_LED_GREEN & FMU_LED_BLUE are directly connected and
* can be controlled by software.
*
* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
* The following definitions are used to access individual LEDs.
*/
/* LED index values for use with board_userled() */
#define BOARD_LED1 0
#define BOARD_LED2 1
#define BOARD_LED3 2
#define BOARD_NLEDS 3
#define BOARD_LED_RED BOARD_LED1
#define BOARD_LED_GREEN BOARD_LED2
#define BOARD_LED_BLUE BOARD_LED3
/* LED bits for use with board_userled_all() */
#define BOARD_LED1_BIT (1 << BOARD_LED1)
#define BOARD_LED2_BIT (1 << BOARD_LED2)
#define BOARD_LED3_BIT (1 << BOARD_LED3)
/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
* include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
* events as follows:
*
*
* SYMBOL Meaning LED state
* Red Green Blue
* ---------------------- -------------------------- ------ ------ ----*/
#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */
#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */
#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */
#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */
#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */
#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */
#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */
#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */
#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */
/* Thus if the Green LED is statically on, NuttX has successfully booted and
* is, apparently, running normally. If the Red LED is flashing at
* approximately 2Hz, then a fatal error has been detected and the system
* has halted.
*/
/* Alternate function pin selections ************************************************/
/*
@@ -341,9 +274,6 @@
/* UART8 has no alternate pin config */
/* UART RX DMA configurations */
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
/*
* CAN
@@ -383,7 +313,6 @@
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1
#define GPIO_SPI2_SCK GPIO_SPI2_SCK_1
@@ -422,7 +351,6 @@
# define PROBE_MARK(n)
#endif
/************************************************************************************
* Public Data
************************************************************************************/
@@ -458,4 +386,4 @@ EXTERN void stm32_boardinitialize(void);
#endif
#endif /* __ASSEMBLY__ */
#endif /* __NUTTX_CONFIG_PX4FMUV4_PRO_INCLUDE_BOARD_H */
#endif /* __ARCH_BOARD_BOARD_H */

23
boards/px4/fmu-v4pro/nuttx-config/include/board_dma_map.h Normal file
View File

@@ -0,0 +1,23 @@
#pragma once
/* DMA Channel/Stream Selections
*
* DMAMAP_USART3_RX = DMA1, Stream 1, Channel 4
* DMAMAP_UART4_RX = DMA1, Stream 2, Channel 4
* DMAMAP_UART7_RX = DMA1, Stream 3, Channel 5
* DMAMAP_USART2_RX = DMA1, Stream 5, Channel 4
* DMAMAP_UART8_RX = DMA1, Stream 6, Channel 5
*
*   DMAMAP_SPI1_RX_1 = DMA2, Stream 0, Channel 3
*   DMAMAP_USART6_RX_2 = DMA2, Stream 2, Channel 5
*   DMAMAP_SPI1_TX_1 = DMA2, Stream 3, Channel 3
* DMAMAP_USART1_RX_2 = DMA2, Stream 5, Channel 4
*   DMAMAP_SDIO_2 = DMA2, Stream 6, Channel 4
* DMAMAP_USART6_TX_2 = DMA2, Stream 7, Channel 5
*/
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
#define DMAMAP_SDIO DMAMAP_SDIO_2
#define DMAMAP_USART6_RX DMAMAP_USART6_TX_2

2
boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig
View File

@@ -190,9 +190,11 @@ CONFIG_STM32_SDIO_CARD=y
CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32_SPI1=y
CONFIG_STM32_SPI1_DMA=y
CONFIG_STM32_SPI2=y
CONFIG_STM32_SPI5=y
CONFIG_STM32_SPI6=y
CONFIG_STM32_SPI_DMA=y
CONFIG_STM32_TIM10=y
CONFIG_STM32_TIM11=y
CONFIG_STM32_TIM1=y

5
boards/px4/fmu-v4pro/src/board_config.h
View File

@@ -326,9 +326,8 @@
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
/* This board provides a DMA pool and APIs. */
#define BOARD_DMA_ALLOC_POOL_SIZE (5120 + 512 + 1008) // 5120 fat + 512 + 1008 spi
#define BOARD_HAS_ON_RESET 1

5
msg/sensor_accel_status.msg
View File

@@ -7,12 +7,9 @@ float32 temperature
uint8 rotation
# clipping per axis?
uint64[3] clipping
uint64[3] clipping # clipping per axis
uint16 measure_rate
uint16 sample_rate
float32 full_scale_range
float32 high_frequency_vibration # high frequency vibration level in the IMU delta angle data (rad)

7
msg/sensor_gyro_status.msg
View File

@@ -7,14 +7,9 @@ float32 temperature
uint8 rotation
# clipping per axis?
uint64[3] clipping
uint64[3] clipping # clipping per axis
uint16 measure_rate
uint16 sample_rate
float32 full_scale_range
float32 coning_vibration # Level of coning vibration in the IMU delta angles (rad^2)
float32 high_frequency_vibration # high frequency vibration level in the IMU delta angle data (rad)

46
src/drivers/imu/invensense/icm20602/CMakeLists.txt Normal file
View File

@@ -0,0 +1,46 @@
############################################################################
#
# Copyright (c) 2019 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.
#
############################################################################
px4_add_module(
MODULE drivers__imu__invensense__icm20602
MAIN icm20602
COMPILE_FLAGS
SRCS
ICM20602.cpp
ICM20602.hpp
icm20602_main.cpp
DEPENDS
drivers_accelerometer
drivers_gyroscope
px4_work_queue
)

437
src/drivers/imu/invensense/icm20602/ICM20602.cpp Normal file
View File

@@ -0,0 +1,437 @@
/****************************************************************************
*
* Copyright (c) 2019 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.
*
****************************************************************************/
#include "ICM20602.hpp"
#include <px4_platform/board_dma_alloc.h>
using namespace time_literals;
using namespace InvenSense_ICM20602;
static constexpr int16_t combine(uint8_t msb, uint8_t lsb) { return (msb << 8u) | lsb; }
static constexpr uint32_t GYRO_RATE{8000}; // 8 kHz gyro
static constexpr uint32_t ACCEL_RATE{4000}; // 4 kHz accel
static constexpr uint32_t FIFO_INTERVAL{1000}; // 1000 us / 1000 Hz interval
static constexpr uint32_t FIFO_GYRO_SAMPLES{FIFO_INTERVAL / (1000000 / GYRO_RATE)};
static constexpr uint32_t FIFO_ACCEL_SAMPLES{FIFO_INTERVAL / (1000000 / ACCEL_RATE)};
ICM20602::ICM20602(int bus, uint32_t device, enum Rotation rotation) :
SPI(MODULE_NAME, nullptr, bus, device, SPIDEV_MODE3, SPI_SPEED),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
_px4_accel(get_device_id(), ORB_PRIO_VERY_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_VERY_HIGH, rotation)
{
set_device_type(DRV_ACC_DEVTYPE_ICM20602);
_px4_accel.set_device_type(DRV_ACC_DEVTYPE_ICM20602);
_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ICM20602);
_px4_accel.set_sample_rate(ACCEL_RATE);
_px4_gyro.set_sample_rate(GYRO_RATE);
_px4_accel.set_update_rate(1000000 / FIFO_INTERVAL);
_px4_gyro.set_update_rate(1000000 / FIFO_INTERVAL);
}
ICM20602::~ICM20602()
{
Stop();
if (_dma_data_buffer != nullptr) {
board_dma_free(_dma_data_buffer, FIFO::SIZE);
}
perf_free(_interval_perf);
perf_free(_transfer_perf);
perf_free(_fifo_empty_perf);
perf_free(_fifo_overflow_perf);
perf_free(_fifo_reset_perf);
perf_free(_drdy_count_perf);
perf_free(_drdy_interval_perf);
}
int ICM20602::probe()
{
const uint8_t whoami = RegisterRead(Register::WHO_AM_I);
if (whoami != WHOAMI) {
PX4_WARN("unexpected WHO_AM_I 0x%02x", whoami);
return PX4_ERROR;
}
return PX4_OK;
}
bool ICM20602::Init()
{
if (SPI::init() != PX4_OK) {
PX4_ERR("SPI::init failed");
return false;
}
if (!Reset()) {
PX4_ERR("reset failed");
return false;
}
// allocate DMA capable buffer
_dma_data_buffer = (uint8_t *)board_dma_alloc(FIFO::SIZE);
if (_dma_data_buffer == nullptr) {
PX4_ERR("DMA alloc failed");
return false;
}
Start();
return true;
}
bool ICM20602::Reset()
{
for (int i = 0; i < 5; i++) {
// PWR_MGMT_1: Device Reset
// CLKSEL[2:0] must be set to 001 to achieve full gyroscope performance.
RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::DEVICE_RESET);
usleep(1000);
// PWR_MGMT_1: CLKSEL[2:0] must be set to 001 to achieve full gyroscope performance.
RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::CLKSEL_0);
usleep(1000);
// ACCEL_CONFIG: Accel 16 G range
RegisterSetBits(Register::ACCEL_CONFIG, ACCEL_CONFIG_BIT::ACCEL_FS_SEL_16G);
_px4_accel.set_scale(CONSTANTS_ONE_G / 2048);
_px4_accel.set_range(16.0f * CONSTANTS_ONE_G);
// GYRO_CONFIG: Gyro 2000 degrees/second
RegisterSetBits(Register::GYRO_CONFIG, GYRO_CONFIG_BIT::FS_SEL_2000_DPS);
_px4_gyro.set_scale(math::radians(1.0f / 16.4f));
_px4_gyro.set_range(math::radians(2000.0f));
const bool reset_done = !(RegisterRead(Register::PWR_MGMT_1) & PWR_MGMT_1_BIT::DEVICE_RESET);
const bool clksel_done = (RegisterRead(Register::PWR_MGMT_1) & PWR_MGMT_1_BIT::CLKSEL_0);
const bool data_ready = (RegisterRead(Register::INT_STATUS) & INT_STATUS_BIT::DATA_RDY_INT);
// reset done once data is ready
if (reset_done && clksel_done && data_ready) {
return true;
}
}
return false;
}
void ICM20602::ResetFIFO()
{
perf_count(_fifo_reset_perf);
// ACCEL_CONFIG2: Accel DLPF disabled for full rate (4 kHz)
RegisterSetBits(Register::ACCEL_CONFIG2, ACCEL_CONFIG2_BIT::ACCEL_FCHOICE_B_BYPASS_DLPF);
// GYRO_CONFIG: Gyro DLPF disabled for full rate (8 kHz)
RegisterClearBits(Register::GYRO_CONFIG, GYRO_CONFIG_BIT::FCHOICE_B_8KHZ_BYPASS_DLPF);
// FIFO_EN: disable FIFO
RegisterWrite(Register::FIFO_EN, 0);
RegisterClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_EN | USER_CTRL_BIT::FIFO_RST);
// USER_CTRL: reset FIFO then re-enable
RegisterSetBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RST);
up_udelay(1); // bit auto clears after one clock cycle of the internal 20 MHz clock
RegisterSetBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_EN);
// CONFIG: should ensure that bit 7 of register 0x1A is set to 0 before using FIFO watermark feature
RegisterSetBits(Register::CONFIG, CONFIG_BIT::FIFO_MODE);
RegisterClearBits(Register::CONFIG, CONFIG_BIT::FIFO_WM);
RegisterSetBits(Register::CONFIG, CONFIG_BIT::DLPF_CFG_BYPASS_DLPF_8KHZ);
// FIFO_EN: enable both gyro and accel
_data_ready_count = 0;
RegisterWrite(Register::FIFO_EN, FIFO_EN_BIT::GYRO_FIFO_EN | FIFO_EN_BIT::ACCEL_FIFO_EN);
up_udelay(10);
}
uint8_t ICM20602::RegisterRead(Register reg)
{
uint8_t cmd[2] {};
cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;
transfer(cmd, cmd, sizeof(cmd));
return cmd[1];
}
void ICM20602::RegisterWrite(Register reg, uint8_t value)
{
uint8_t cmd[2] { (uint8_t)reg, value };
transfer(cmd, cmd, sizeof(cmd));
}
void ICM20602::RegisterSetBits(Register reg, uint8_t setbits)
{
uint8_t val = RegisterRead(reg);
if (!(val & setbits)) {
val |= setbits;
RegisterWrite(reg, val);
}
}
void ICM20602::RegisterClearBits(Register reg, uint8_t clearbits)
{
uint8_t val = RegisterRead(reg);
if (val & clearbits) {
val &= !clearbits;
RegisterWrite(reg, val);
}
}
int ICM20602::DataReadyInterruptCallback(int irq, void *context, void *arg)
{
ICM20602 *dev = reinterpret_cast<ICM20602 *>(arg);
dev->DataReady();
return 0;
}
void ICM20602::DataReady()
{
perf_count(_drdy_count_perf);
perf_count(_drdy_interval_perf);
_data_ready_count++;
if (_data_ready_count >= 8) {
_time_data_ready = hrt_absolute_time();
_data_ready_count = 0;
// make another measurement
ScheduleNow();
}
}
void ICM20602::Start()
{
Stop();
ResetFIFO();
// TODO: cleanup horrible DRDY define mess
#if defined(GPIO_DRDY_PORTC_PIN14)
// Setup data ready on rising edge
px4_arch_gpiosetevent(GPIO_DRDY_PORTC_PIN14, true, false, true, &ICM20602::DataReadyInterruptCallback, this);
RegisterSetBits(Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN);
#elif defined(GPIO_SPI1_DRDY1_ICM20602)
// Setup data ready on rising edge
px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ICM20602, true, false, true, &ICM20602::DataReadyInterruptCallback, this);
RegisterSetBits(Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN);
#elif defined(GPIO_SPI1_DRDY4_ICM20602)
// Setup data ready on rising edge
px4_arch_gpiosetevent(GPIO_SPI1_DRDY4_ICM20602, true, false, true, &ICM20602::DataReadyInterruptCallback, this);
RegisterSetBits(Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN);
#elif defined(GPIO_SPI1_DRDY1_ICM20602)
// Setup data ready on rising edge
px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ICM20602, true, false, true, &ICM20602::DataReadyInterruptCallback, this);
RegisterSetBits(Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN);
#elif defined(GPIO_DRDY_ICM_2060X)
// Setup data ready on rising edge
px4_arch_gpiosetevent(GPIO_DRDY_ICM_2060X, true, false, true, &ICM20602::DataReadyInterruptCallback, this);
RegisterSetBits(Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN);
#else
ScheduleOnInterval(FIFO_INTERVAL, FIFO_INTERVAL);
#endif
}
void ICM20602::Stop()
{
// TODO: cleanup horrible DRDY define mess
#if defined(GPIO_DRDY_PORTC_PIN14)
// Disable data ready callback
px4_arch_gpiosetevent(GPIO_DRDY_PORTC_PIN14, false, false, false, nullptr, nullptr);
RegisterClearBits(Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN);
#elif defined(GPIO_SPI1_DRDY1_ICM20602)
// Disable data ready callback
px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ICM20602, false, false, false, nullptr, nullptr);
RegisterClearBits(Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN);
#elif defined(GPIO_SPI1_DRDY4_ICM20602)
// Disable data ready callback
px4_arch_gpiosetevent(GPIO_SPI1_DRDY4_ICM20602, false, false, false, nullptr, nullptr);
RegisterClearBits(Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN);
#elif defined(GPIO_SPI1_DRDY1_ICM20602)
// Disable data ready callback
px4_arch_gpiosetevent(GPIO_SPI1_DRDY1_ICM20602, false, false, false, nullptr, nullptr);
RegisterClearBits(Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN);
#elif defined(GPIO_DRDY_ICM_2060X)
// Disable data ready callback
px4_arch_gpiosetevent(GPIO_DRDY_ICM_2060X, false, false, false, nullptr, nullptr);
RegisterClearBits(Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN);
#else
ScheduleClear();
#endif
}
void ICM20602::Run()
{
perf_count(_interval_perf);
// read FIFO count
uint8_t fifo_count_buf[3] {};
fifo_count_buf[0] = static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ;
//const hrt_abstime timestamp_fifo_check = hrt_absolute_time();
if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
return;
}
const size_t fifo_count = combine(fifo_count_buf[1], fifo_count_buf[2]);
const int samples = (fifo_count / sizeof(FIFO::DATA) / 2) * 2; // round down to nearest 2
if (samples < 2) {
perf_count(_fifo_empty_perf);
return;
} else if (samples > 32) {
// not a real overflow, but something went wrong
perf_count(_fifo_overflow_perf);
ResetFIFO();
return;
}
// check for FIFO overflow
if (RegisterRead(Register::INT_STATUS) & INT_STATUS_BIT::FIFO_OFLOW_INT) {
perf_count(_fifo_overflow_perf);
ResetFIFO();
return;
}
// Transfer data
struct ICM_Report {
uint8_t cmd;
FIFO::DATA f[32]; // max 32 samples
};
static_assert(sizeof(ICM_Report) == (sizeof(uint8_t) + 32 * sizeof(FIFO::DATA))); // ensure no struct padding
ICM_Report *report = (ICM_Report *)_dma_data_buffer;
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
memset(report, 0, transfer_size);
report->cmd = static_cast<uint8_t>(Register::FIFO_R_W) | DIR_READ;
perf_begin(_transfer_perf);
if (transfer(_dma_data_buffer, _dma_data_buffer, transfer_size) != PX4_OK) {
perf_end(_transfer_perf);
return;
}
perf_end(_transfer_perf);
static constexpr uint32_t gyro_dt = FIFO_INTERVAL / FIFO_GYRO_SAMPLES;
// estimate timestamp of first sample in the FIFO from number of samples and fill rate
const hrt_abstime timestamp_sample = _time_data_ready - ((samples - 1) * gyro_dt);
PX4Accelerometer::FIFOSample accel{};
accel.timestamp_sample = timestamp_sample;
accel.dt = FIFO_INTERVAL / FIFO_ACCEL_SAMPLES;
PX4Gyroscope::FIFOSample gyro{};
gyro.timestamp_sample = timestamp_sample;
gyro.samples = samples;
gyro.dt = FIFO_INTERVAL / FIFO_GYRO_SAMPLES;
int accel_samples = 0;
int16_t temperature[samples] {};
for (int i = 0; i < samples; i++) {
const FIFO::DATA &fifo_sample = report->f[i];
// accel data is doubled
if (i % 2) {
// coordinate convention (x forward, y right, z down)
accel.x[accel_samples] = combine(fifo_sample.ACCEL_XOUT_H, fifo_sample.ACCEL_XOUT_L);
accel.y[accel_samples] = -combine(fifo_sample.ACCEL_YOUT_H, fifo_sample.ACCEL_YOUT_L);
accel.z[accel_samples] = -combine(fifo_sample.ACCEL_ZOUT_H, fifo_sample.ACCEL_ZOUT_L);
accel_samples++;
}
temperature[i] = combine(fifo_sample.TEMP_OUT_H, fifo_sample.TEMP_OUT_L);
// coordinate convention (x forward, y right, z down)
gyro.x[i] = combine(fifo_sample.GYRO_XOUT_H, fifo_sample.GYRO_XOUT_L);
gyro.y[i] = -combine(fifo_sample.GYRO_YOUT_H, fifo_sample.GYRO_YOUT_L);
gyro.z[i] = -combine(fifo_sample.GYRO_ZOUT_H, fifo_sample.GYRO_ZOUT_L);
}
accel.samples = accel_samples;
// Temperature
int32_t temperature_sum{0};
for (auto t : temperature) {
temperature_sum += t;
}
const int16_t temperature_avg = temperature_sum / samples;
for (auto t : temperature) {
// temperature changing wildly is an indication of a transfer error
if (abs(t - temperature_avg) > 1000) {
return;
}
}
// use average temperature reading
const float temperature_C = temperature_avg / 326.8f + 25.0f; // 326.8 LSB/C
_px4_accel.set_temperature(temperature_C);
_px4_gyro.set_temperature(temperature_C);
_px4_gyro.updateFIFO(gyro);
_px4_accel.updateFIFO(accel);
}
void ICM20602::PrintInfo()
{
perf_print_counter(_interval_perf);
perf_print_counter(_transfer_perf);
perf_print_counter(_fifo_empty_perf);
perf_print_counter(_fifo_overflow_perf);
perf_print_counter(_fifo_reset_perf);
perf_print_counter(_drdy_count_perf);
perf_print_counter(_drdy_interval_perf);
_px4_accel.print_status();
_px4_gyro.print_status();
}

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/****************************************************************************
*
* Copyright (c) 2019 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 ICM20602.hpp
*
* Driver for the Invensense ICM20602 connected via SPI.
*
*/
#pragma once
#include "InvenSense_ICM20602_registers.hpp"
#include <drivers/drv_hrt.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/device/spi.h>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/ecl/geo/geo.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
using InvenSense_ICM20602::Register;
class ICM20602 : public device::SPI, public px4::ScheduledWorkItem
{
public:
ICM20602(int bus, uint32_t device, enum Rotation rotation = ROTATION_NONE);
~ICM20602() override;
bool Init();
void Start();
void Stop();
bool Reset();
void PrintInfo();
private:
int probe() override;
static int DataReadyInterruptCallback(int irq, void *context, void *arg);
void DataReady();
void Run() override;
uint8_t RegisterRead(Register reg);
void RegisterWrite(Register reg, uint8_t value);
void RegisterSetBits(Register reg, uint8_t setbits);
void RegisterClearBits(Register reg, uint8_t clearbits);
void ResetFIFO();
uint8_t *_dma_data_buffer{nullptr};
PX4Accelerometer _px4_accel;
PX4Gyroscope _px4_gyro;
perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": run interval")};
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": fifo empty")};
perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": fifo overflow")};
perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": fifo reset")};
perf_counter_t _drdy_count_perf{perf_alloc(PC_COUNT, MODULE_NAME": drdy count")};
perf_counter_t _drdy_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": drdy interval")};
hrt_abstime _time_data_ready{0};
int _data_ready_count{0};
};

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/****************************************************************************
*
* Copyright (c) 2019 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 InvenSense_ICM20602_registers.hpp
*
* Invensense ICM-20602 registers.
*
*/
#pragma once
// TODO: move to a central header
static constexpr uint8_t Bit0 = (1 << 0);
static constexpr uint8_t Bit1 = (1 << 1);
static constexpr uint8_t Bit2 = (1 << 2);
static constexpr uint8_t Bit3 = (1 << 3);
static constexpr uint8_t Bit4 = (1 << 4);
static constexpr uint8_t Bit5 = (1 << 5);
static constexpr uint8_t Bit6 = (1 << 6);
static constexpr uint8_t Bit7 = (1 << 7);
namespace InvenSense_ICM20602
{
static constexpr uint32_t SPI_SPEED = 10 * 1000 *
1000; // 10MHz SPI serial interface for communicating with all registers
static constexpr uint8_t DIR_READ = 0x80;
static constexpr uint8_t WHOAMI = 0x12;
enum class Register : uint8_t {
CONFIG = 0x1A,
GYRO_CONFIG = 0x1B,
ACCEL_CONFIG = 0x1C,
ACCEL_CONFIG2 = 0x1D,
FIFO_EN = 0x23,
INT_STATUS = 0x3A,
INT_PIN_CFG = 0x37,
INT_ENABLE = 0x38,
TEMP_OUT_H = 0x41,
TEMP_OUT_L = 0x42,
USER_CTRL = 0x6A,
PWR_MGMT_1 = 0x6B,
FIFO_COUNTH = 0x72,
FIFO_COUNTL = 0x73,
FIFO_R_W = 0x74,
WHO_AM_I = 0x75,
};
// CONFIG
enum CONFIG_BIT : uint8_t {
FIFO_WM = Bit7,
FIFO_MODE = Bit6, // when the FIFO is full, additional writes will not be written to FIFO
DLPF_CFG_BYPASS_DLPF_8KHZ = 7, // Rate 8 kHz [2:0]
};
// GYRO_CONFIG
enum GYRO_CONFIG_BIT : uint8_t {
// FS_SEL [4:3]
FS_SEL_250_DPS = 0, // 0b00000
FS_SEL_500_DPS = Bit3, // 0b01000
FS_SEL_1000_DPS = Bit4, // 0b10000
FS_SEL_2000_DPS = Bit4 | Bit3, // 0b11000
// FCHOICE_B [1:0]
FCHOICE_B_8KHZ_BYPASS_DLPF = Bit1 | Bit0, // 0b10 - 3-dB BW: 3281 Noise BW (Hz): 3451.0 8 kHz
};
// ACCEL_CONFIG
enum ACCEL_CONFIG_BIT : uint8_t {
// ACCEL_FS_SEL [4:3]
ACCEL_FS_SEL_2G = 0, // 0b00000
ACCEL_FS_SEL_4G = Bit3, // 0b01000
ACCEL_FS_SEL_8G = Bit4, // 0b10000
ACCEL_FS_SEL_16G = Bit4 | Bit3, // 0b11000
};
// ACCEL_CONFIG2
enum ACCEL_CONFIG2_BIT : uint8_t {
ACCEL_FCHOICE_B_BYPASS_DLPF = Bit3,
};
// FIFO_EN
enum FIFO_EN_BIT : uint8_t {
GYRO_FIFO_EN = Bit4,
ACCEL_FIFO_EN = Bit3,
};
// INT_ENABLE
enum INT_ENABLE_BIT : uint8_t {
FIFO_OFLOW_EN = Bit4,
DATA_RDY_INT_EN = Bit0
};
// INT_STATUS
enum INT_STATUS_BIT : uint8_t {
FIFO_OFLOW_INT = Bit4,
DATA_RDY_INT = Bit0,
};
// USER_CTRL
enum USER_CTRL_BIT : uint8_t {
FIFO_EN = Bit6,
FIFO_RST = Bit2,
};
// PWR_MGMT_1
enum PWR_MGMT_1_BIT : uint8_t {
DEVICE_RESET = Bit7,
CLKSEL_2 = Bit2,
CLKSEL_1 = Bit1,
CLKSEL_0 = Bit0,
};
namespace FIFO
{
static constexpr size_t SIZE = 1008;
// FIFO_DATA layout when FIFO_EN has both GYRO_FIFO_EN and ACCEL_FIFO_EN set
struct DATA {
uint8_t ACCEL_XOUT_H;
uint8_t ACCEL_XOUT_L;
uint8_t ACCEL_YOUT_H;
uint8_t ACCEL_YOUT_L;
uint8_t ACCEL_ZOUT_H;
uint8_t ACCEL_ZOUT_L;
uint8_t TEMP_OUT_H;
uint8_t TEMP_OUT_L;
uint8_t GYRO_XOUT_H;
uint8_t GYRO_XOUT_L;
uint8_t GYRO_YOUT_H;
uint8_t GYRO_YOUT_L;
uint8_t GYRO_ZOUT_H;
uint8_t GYRO_ZOUT_L;
};
static_assert(sizeof(DATA) == 14);
}
} // namespace InvenSense_ICM20602

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/****************************************************************************
*
* Copyright (c) 2019 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.
*
****************************************************************************/
#include "ICM20602.hpp"
#include <px4_platform_common/getopt.h>
namespace icm20602
{
ICM20602 *g_dev{nullptr};
static int start(enum Rotation rotation)
{
if (g_dev != nullptr) {
PX4_WARN("already started");
return 0;
}
// create the driver
#if defined(PX4_SPI_BUS_SENSORS)
g_dev = new ICM20602(PX4_SPI_BUS_SENSORS, PX4_SPIDEV_ICM_20602, rotation);
#elif defined(PX4_SPI_BUS_SENSORS1)
g_dev = new ICM20602(PX4_SPI_BUS_SENSORS1, PX4_SPIDEV_ICM_20602, rotation);
#endif
if (g_dev == nullptr) {
PX4_ERR("driver start failed");
return -1;
}
if (!g_dev->Init()) {
PX4_ERR("driver init failed");
delete g_dev;
g_dev = nullptr;
return -1;
}
return 0;
}
static int stop()
{
if (g_dev == nullptr) {
PX4_WARN("driver not running");
return -1;
}
g_dev->Stop();
delete g_dev;
g_dev = nullptr;
return 0;
}
static int reset()
{
if (g_dev == nullptr) {
PX4_WARN("driver not running");
return 0;
}
return g_dev->Reset();
}
static int status()
{
if (g_dev == nullptr) {
PX4_INFO("driver not running");
return 0;
}
g_dev->PrintInfo();
return 0;
}
static int usage()
{
PX4_INFO("missing command: try 'start', 'stop', 'reset', 'status'");
PX4_INFO("options:");
PX4_INFO(" -R rotation");
return 0;
}
} // namespace icm20602
extern "C" int icm20602_main(int argc, char *argv[])
{
enum Rotation rotation = ROTATION_NONE;
int myoptind = 1;
int ch = 0;
const char *myoptarg = nullptr;
// start options
while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'R':
rotation = (enum Rotation)atoi(myoptarg);
break;
default:
return icm20602::usage();
}
}
const char *verb = argv[myoptind];
if (!strcmp(verb, "start")) {
return icm20602::start(rotation);
} else if (!strcmp(verb, "stop")) {
return icm20602::stop();
} else if (!strcmp(verb, "status")) {
return icm20602::status();
} else if (!strcmp(verb, "reset")) {
return icm20602::reset();
}
return icm20602::usage();
}

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############################################################################
#
# Copyright (c) 2019 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.
#
############################################################################
px4_add_module(
MODULE drivers__imu__invensense__icm20608g
MAIN icm20608g
COMPILE_FLAGS
SRCS
ICM20608G.cpp
ICM20608G.hpp
icm20608g_main.cpp
DEPENDS
drivers_accelerometer
drivers_gyroscope
px4_work_queue
)

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/****************************************************************************
*
* Copyright (c) 2019 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.
*
****************************************************************************/
#include "ICM20608G.hpp"
#include <px4_platform/board_dma_alloc.h>
using namespace time_literals;
using namespace InvenSense_ICM20608G;
static constexpr int16_t combine(uint8_t msb, uint8_t lsb) { return (msb << 8u) | lsb; }
static constexpr uint32_t GYRO_RATE{8000}; // 8 kHz gyro
static constexpr uint32_t ACCEL_RATE{4000}; // 4 kHz accel
static constexpr uint32_t FIFO_INTERVAL{1000}; // 1000 us / 1000 Hz interval
static constexpr uint32_t FIFO_GYRO_SAMPLES{FIFO_INTERVAL / (1000000 / GYRO_RATE)};
static constexpr uint32_t FIFO_ACCEL_SAMPLES{FIFO_INTERVAL / (1000000 / ACCEL_RATE)};
ICM20608G::ICM20608G(int bus, uint32_t device, enum Rotation rotation) :
SPI(MODULE_NAME, nullptr, bus, device, SPIDEV_MODE3, SPI_SPEED),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
_px4_accel(get_device_id(), ORB_PRIO_VERY_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_VERY_HIGH, rotation)
{
set_device_type(DRV_ACC_DEVTYPE_ICM20608);
_px4_accel.set_device_type(DRV_ACC_DEVTYPE_ICM20608);
_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ICM20608);
_px4_accel.set_sample_rate(ACCEL_RATE);
_px4_gyro.set_sample_rate(GYRO_RATE);
_px4_accel.set_update_rate(1000000 / FIFO_INTERVAL);
_px4_gyro.set_update_rate(1000000 / FIFO_INTERVAL);
}
ICM20608G::~ICM20608G()
{
Stop();
if (_dma_data_buffer != nullptr) {
board_dma_free(_dma_data_buffer, FIFO::SIZE);
}
perf_free(_interval_perf);
perf_free(_transfer_perf);
perf_free(_fifo_empty_perf);
perf_free(_fifo_overflow_perf);
perf_free(_fifo_reset_perf);
perf_free(_drdy_count_perf);
perf_free(_drdy_interval_perf);
}
int ICM20608G::probe()
{
const uint8_t whoami = RegisterRead(Register::WHO_AM_I);
if (whoami != WHOAMI) {
PX4_WARN("unexpected WHO_AM_I 0x%02x", whoami);
return PX4_ERROR;
}
return PX4_OK;
}
bool ICM20608G::Init()
{
if (SPI::init() != PX4_OK) {
PX4_ERR("SPI::init failed");
return false;
}
if (!Reset()) {
PX4_ERR("reset failed");
return false;
}
// allocate DMA capable buffer
_dma_data_buffer = (uint8_t *)board_dma_alloc(FIFO::SIZE);
if (_dma_data_buffer == nullptr) {
PX4_ERR("DMA alloc failed");
return false;
}
Start();
return true;
}
bool ICM20608G::Reset()
{
for (int i = 0; i < 5; i++) {
// PWR_MGMT_1: Device Reset
// CLKSEL[2:0] must be set to 001 to achieve full gyroscope performance.
RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::DEVICE_RESET);
usleep(1000);
// PWR_MGMT_1: CLKSEL[2:0] must be set to 001 to achieve full gyroscope performance.
RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::CLKSEL_0);
usleep(1000);
// ACCEL_CONFIG: Accel 16 G range
RegisterSetBits(Register::ACCEL_CONFIG, ACCEL_CONFIG_BIT::ACCEL_FS_SEL_16G);
_px4_accel.set_scale(CONSTANTS_ONE_G / 2048);
_px4_accel.set_range(16.0f * CONSTANTS_ONE_G);
// GYRO_CONFIG: Gyro 2000 degrees/second
RegisterSetBits(Register::GYRO_CONFIG, GYRO_CONFIG_BIT::FS_SEL_2000_DPS);
_px4_gyro.set_scale(math::radians(1.0f / 16.4f));
_px4_gyro.set_range(math::radians(2000.0f));
const bool reset_done = !(RegisterRead(Register::PWR_MGMT_1) & PWR_MGMT_1_BIT::DEVICE_RESET);
const bool clksel_done = (RegisterRead(Register::PWR_MGMT_1) & PWR_MGMT_1_BIT::CLKSEL_0);
const bool data_ready = (RegisterRead(Register::INT_STATUS) & INT_STATUS_BIT::DATA_RDY_INT);
// reset done once data is ready
if (reset_done && clksel_done && data_ready) {
return true;
}
}
return false;
}
void ICM20608G::ResetFIFO()
{
perf_count(_fifo_reset_perf);
// ACCEL_CONFIG2: Accel DLPF disabled for full rate (4 kHz)
RegisterSetBits(Register::ACCEL_CONFIG2, ACCEL_CONFIG2_BIT::ACCEL_FCHOICE_B_BYPASS_DLPF);
// GYRO_CONFIG: Gyro DLPF disabled for full rate (8 kHz)
RegisterClearBits(Register::GYRO_CONFIG, GYRO_CONFIG_BIT::FCHOICE_B_8KHZ_BYPASS_DLPF);
// FIFO_EN: disable FIFO
RegisterWrite(Register::FIFO_EN, 0);
RegisterClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_EN | USER_CTRL_BIT::FIFO_RST);
// USER_CTRL: reset FIFO then re-enable
RegisterSetBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RST);
up_udelay(1); // bit auto clears after one clock cycle of the internal 20 MHz clock
RegisterSetBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_EN);
// CONFIG: should ensure that bit 7 of register 0x1A is set to 0 before using FIFO watermark feature
RegisterSetBits(Register::CONFIG, CONFIG_BIT::FIFO_MODE);
RegisterSetBits(Register::CONFIG, CONFIG_BIT::DLPF_CFG_BYPASS_DLPF_8KHZ);
// FIFO_EN: enable both gyro and accel
_data_ready_count = 0;
RegisterWrite(Register::FIFO_EN, FIFO_EN_BIT::XG_FIFO_EN | FIFO_EN_BIT::YG_FIFO_EN | FIFO_EN_BIT::ZG_FIFO_EN |
FIFO_EN_BIT::ACCEL_FIFO_EN);
up_udelay(10);
}
uint8_t ICM20608G::RegisterRead(Register reg)
{
uint8_t cmd[2] {};
cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;
transfer(cmd, cmd, sizeof(cmd));
return cmd[1];
}
void ICM20608G::RegisterWrite(Register reg, uint8_t value)
{
uint8_t cmd[2] { (uint8_t)reg, value };
transfer(cmd, cmd, sizeof(cmd));
}
void ICM20608G::RegisterSetBits(Register reg, uint8_t setbits)
{
uint8_t val = RegisterRead(reg);
if (!(val & setbits)) {
val |= setbits;
RegisterWrite(reg, val);
}
}
void ICM20608G::RegisterClearBits(Register reg, uint8_t clearbits)
{
uint8_t val = RegisterRead(reg);
if (val & clearbits) {
val &= !clearbits;
RegisterWrite(reg, val);
}
}
int ICM20608G::DataReadyInterruptCallback(int irq, void *context, void *arg)
{
ICM20608G *dev = reinterpret_cast<ICM20608G *>(arg);
dev->DataReady();
return 0;
}
void ICM20608G::DataReady()
{
perf_count(_drdy_count_perf);
perf_count(_drdy_interval_perf);
_data_ready_count++;
if (_data_ready_count >= 8) {
_time_data_ready = hrt_absolute_time();
_data_ready_count = 0;
// make another measurement
ScheduleNow();
}
}
void ICM20608G::Start()
{
Stop();
ResetFIFO();
// TODO: cleanup horrible DRDY define mess
#if defined(GPIO_DRDY_PORTC_PIN14)
// Setup data ready on rising edge
px4_arch_gpiosetevent(GPIO_DRDY_PORTC_PIN14, true, false, true, &ICM20608G::DataReadyInterruptCallback, this);
RegisterSetBits(Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN);
#elif defined(GPIO_DRDY_ICM_2060X)
// Setup data ready on rising edge
px4_arch_gpiosetevent(GPIO_DRDY_ICM_2060X, true, false, true, &ICM20608G::DataReadyInterruptCallback, this);
RegisterSetBits(Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN);
#else
ScheduleOnInterval(FIFO_INTERVAL, FIFO_INTERVAL);
#endif
}
void ICM20608G::Stop()
{
// TODO: cleanup horrible DRDY define mess
#if defined(GPIO_DRDY_PORTC_PIN14)
// Disable data ready callback
px4_arch_gpiosetevent(GPIO_DRDY_PORTC_PIN14, false, false, false, nullptr, nullptr);
RegisterClearBits(Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN);
#elif defined(GPIO_DRDY_ICM_2060X)
// Disable data ready callback
px4_arch_gpiosetevent(GPIO_DRDY_ICM_2060X, false, false, false, nullptr, nullptr);
RegisterClearBits(Register::INT_ENABLE, INT_ENABLE_BIT::DATA_RDY_INT_EN);
#else
ScheduleClear();
#endif
}
void ICM20608G::Run()
{
perf_count(_interval_perf);
// read FIFO count
uint8_t fifo_count_buf[3] {};
fifo_count_buf[0] = static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ;
//const hrt_abstime timestamp_fifo_check = hrt_absolute_time();
if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
return;
}
const size_t fifo_count = combine(fifo_count_buf[1], fifo_count_buf[2]);
const int samples = (fifo_count / sizeof(FIFO::DATA) / 2) * 2; // round down to nearest 2
if (samples < 2) {
perf_count(_fifo_empty_perf);
return;
} else if (samples > 32) {
// not a real overflow, but something went wrong
perf_count(_fifo_overflow_perf);
ResetFIFO();
return;
}
// check for FIFO overflow
if (RegisterRead(Register::INT_STATUS) & INT_STATUS_BIT::FIFO_OFLOW_INT) {
perf_count(_fifo_overflow_perf);
ResetFIFO();
return;
}
// Transfer data
struct ICM_Report {
uint8_t cmd;
FIFO::DATA f[32]; // max 32 samples
};
static_assert(sizeof(ICM_Report) == (sizeof(uint8_t) + 32 * sizeof(FIFO::DATA))); // ensure no struct padding
ICM_Report *report = (ICM_Report *)_dma_data_buffer;
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
memset(report, 0, transfer_size);
report->cmd = static_cast<uint8_t>(Register::FIFO_R_W) | DIR_READ;
perf_begin(_transfer_perf);
if (transfer(_dma_data_buffer, _dma_data_buffer, transfer_size) != PX4_OK) {
perf_end(_transfer_perf);
return;
}
perf_end(_transfer_perf);
static constexpr uint32_t gyro_dt = FIFO_INTERVAL / FIFO_GYRO_SAMPLES;
// estimate timestamp of first sample in the FIFO from number of samples and fill rate
const hrt_abstime timestamp_sample = _time_data_ready - ((samples - 1) * gyro_dt);
PX4Accelerometer::FIFOSample accel{};
accel.timestamp_sample = timestamp_sample;
accel.dt = FIFO_INTERVAL / FIFO_ACCEL_SAMPLES;
PX4Gyroscope::FIFOSample gyro{};
gyro.timestamp_sample = timestamp_sample;
gyro.samples = samples;
gyro.dt = FIFO_INTERVAL / FIFO_GYRO_SAMPLES;
int accel_samples = 0;
for (int i = 0; i < samples; i++) {
const FIFO::DATA &fifo_sample = report->f[i];
// accel data is doubled
if (i % 2) {
// coordinate convention (x forward, y right, z down)
accel.x[accel_samples] = combine(fifo_sample.ACCEL_XOUT_H, fifo_sample.ACCEL_XOUT_L);
accel.y[accel_samples] = -combine(fifo_sample.ACCEL_YOUT_H, fifo_sample.ACCEL_YOUT_L);
accel.z[accel_samples] = -combine(fifo_sample.ACCEL_ZOUT_H, fifo_sample.ACCEL_ZOUT_L);
accel_samples++;
}
// coordinate convention (x forward, y right, z down)
gyro.x[i] = combine(fifo_sample.GYRO_XOUT_H, fifo_sample.GYRO_XOUT_L);
gyro.y[i] = -combine(fifo_sample.GYRO_YOUT_H, fifo_sample.GYRO_YOUT_L);
gyro.z[i] = -combine(fifo_sample.GYRO_ZOUT_H, fifo_sample.GYRO_ZOUT_L);
}
accel.samples = accel_samples;
// Temperature
if (hrt_elapsed_time(&_time_last_temperature_update) > 1_s) {
// read current temperature
uint8_t temperature_buf[3] {};
temperature_buf[0] = static_cast<uint8_t>(Register::TEMP_OUT_H) | DIR_READ;
if (transfer(temperature_buf, temperature_buf, sizeof(temperature_buf)) != PX4_OK) {
return;
}
const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]);
static constexpr float RoomTemp_Offset = 25.0f; // Room Temperature Offset 25°C
static constexpr float Temp_Sensitivity = 326.8f; // Sensitivity 326.8 LSB/°C
const float TEMP_degC = ((TEMP_OUT - RoomTemp_Offset) / Temp_Sensitivity) + 25.0f;
_px4_accel.set_temperature(TEMP_degC);
_px4_gyro.set_temperature(TEMP_degC);
}
_px4_gyro.updateFIFO(gyro);
_px4_accel.updateFIFO(accel);
}
void ICM20608G::PrintInfo()
{
perf_print_counter(_interval_perf);
perf_print_counter(_transfer_perf);
perf_print_counter(_fifo_empty_perf);
perf_print_counter(_fifo_overflow_perf);
perf_print_counter(_fifo_reset_perf);
perf_print_counter(_drdy_count_perf);
perf_print_counter(_drdy_interval_perf);
_px4_accel.print_status();
_px4_gyro.print_status();
}

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/****************************************************************************
*
* Copyright (c) 2019 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 ICM20608g.hpp
*
* Driver for the Invensense ICM20608G connected via SPI.
*
*/
#pragma once
#include "InvenSense_ICM20608G_registers.hpp"
#include <drivers/drv_hrt.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/device/spi.h>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/ecl/geo/geo.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
using InvenSense_ICM20608G::Register;
class ICM20608G : public device::SPI, public px4::ScheduledWorkItem
{
public:
ICM20608G(int bus, uint32_t device, enum Rotation rotation = ROTATION_NONE);
~ICM20608G() override;
bool Init();
void Start();
void Stop();
bool Reset();
void PrintInfo();
private:
int probe() override;
static int DataReadyInterruptCallback(int irq, void *context, void *arg);
void DataReady();
void Run() override;
uint8_t RegisterRead(Register reg);
void RegisterWrite(Register reg, uint8_t value);
void RegisterSetBits(Register reg, uint8_t setbits);
void RegisterClearBits(Register reg, uint8_t clearbits);
void ResetFIFO();
uint8_t *_dma_data_buffer{nullptr};
PX4Accelerometer _px4_accel;
PX4Gyroscope _px4_gyro;
perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": run interval")};
perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": fifo empty")};
perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": fifo overflow")};
perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": fifo reset")};
perf_counter_t _drdy_count_perf{perf_alloc(PC_COUNT, MODULE_NAME": drdy count")};
perf_counter_t _drdy_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": drdy interval")};
hrt_abstime _time_data_ready{0};
hrt_abstime _time_last_temperature_update{0};
int _data_ready_count{0};
};

176
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/****************************************************************************
*
* Copyright (c) 2019 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 InvenSense_ICM20608G_registers.hpp
*
* Invensense ICM-20608-G registers.
*
*/
#pragma once
// TODO: move to a central header
static constexpr uint8_t Bit0 = (1 << 0);
static constexpr uint8_t Bit1 = (1 << 1);
static constexpr uint8_t Bit2 = (1 << 2);
static constexpr uint8_t Bit3 = (1 << 3);
static constexpr uint8_t Bit4 = (1 << 4);
static constexpr uint8_t Bit5 = (1 << 5);
static constexpr uint8_t Bit6 = (1 << 6);
static constexpr uint8_t Bit7 = (1 << 7);
namespace InvenSense_ICM20608G
{
static constexpr uint32_t SPI_SPEED = 8 * 1000 * 1000; // 8MHz SPI serial interface for communicating with all registers
static constexpr uint8_t DIR_READ = 0x80;
static constexpr uint8_t WHOAMI = 0xAF;
enum class Register : uint8_t {
CONFIG = 0x1A,
GYRO_CONFIG = 0x1B,
ACCEL_CONFIG = 0x1C,
ACCEL_CONFIG2 = 0x1D,
FIFO_EN = 0x23,
INT_STATUS = 0x3A,
INT_PIN_CFG = 0x37,
INT_ENABLE = 0x38,
TEMP_OUT_H = 0x41,
TEMP_OUT_L = 0x42,
USER_CTRL = 0x6A,
PWR_MGMT_1 = 0x6B,
FIFO_COUNTH = 0x72,
FIFO_COUNTL = 0x73,
FIFO_R_W = 0x74,
WHO_AM_I = 0x75,
};
// CONFIG
enum CONFIG_BIT : uint8_t {
FIFO_MODE = Bit6, // when the FIFO is full, additional writes will not be written to FIFO
DLPF_CFG_BYPASS_DLPF_8KHZ = 7, // Rate 8 kHz [2:0]
};
// GYRO_CONFIG
enum GYRO_CONFIG_BIT : uint8_t {
// FS_SEL [4:3]
FS_SEL_250_DPS = 0, // 0b00000
FS_SEL_500_DPS = Bit3, // 0b01000
FS_SEL_1000_DPS = Bit4, // 0b10000
FS_SEL_2000_DPS = Bit4 | Bit3, // 0b11000
// FCHOICE_B [1:0]
FCHOICE_B_8KHZ_BYPASS_DLPF = Bit1 | Bit0, // 0b10 - 3-dB BW: 3281 Noise BW (Hz): 3451.0 8 kHz
};
// ACCEL_CONFIG
enum ACCEL_CONFIG_BIT : uint8_t {
// ACCEL_FS_SEL [4:3]
ACCEL_FS_SEL_2G = 0, // 0b00000
ACCEL_FS_SEL_4G = Bit3, // 0b01000
ACCEL_FS_SEL_8G = Bit4, // 0b10000
ACCEL_FS_SEL_16G = Bit4 | Bit3, // 0b11000
};
// ACCEL_CONFIG2
enum ACCEL_CONFIG2_BIT : uint8_t {
ACCEL_FCHOICE_B_BYPASS_DLPF = Bit3,
};
// FIFO_EN
enum FIFO_EN_BIT : uint8_t {
TEMP_FIFO_EN = Bit7,
XG_FIFO_EN = Bit6,
YG_FIFO_EN = Bit5,
ZG_FIFO_EN = Bit4,
ACCEL_FIFO_EN = Bit3,
};
// INT_ENABLE
enum INT_ENABLE_BIT : uint8_t {
FIFO_OFLOW_EN = Bit4,
DATA_RDY_INT_EN = Bit0
};
// INT_STATUS
enum INT_STATUS_BIT : uint8_t {
FIFO_OFLOW_INT = Bit4,
DATA_RDY_INT = Bit0,
};
// USER_CTRL
enum USER_CTRL_BIT : uint8_t {
FIFO_EN = Bit6,
FIFO_RST = Bit2,
};
// PWR_MGMT_1
enum PWR_MGMT_1_BIT : uint8_t {
DEVICE_RESET = Bit7,
CLKSEL_2 = Bit2,
CLKSEL_1 = Bit1,
CLKSEL_0 = Bit0,
};
namespace FIFO
{
static constexpr size_t SIZE = 512;
// FIFO_DATA layout when FIFO_EN has both {X, Y, Z}G_FIFO_EN and ACCEL_FIFO_EN set
struct DATA {
uint8_t ACCEL_XOUT_H;
uint8_t ACCEL_XOUT_L;
uint8_t ACCEL_YOUT_H;
uint8_t ACCEL_YOUT_L;
uint8_t ACCEL_ZOUT_H;
uint8_t ACCEL_ZOUT_L;
uint8_t GYRO_XOUT_H;
uint8_t GYRO_XOUT_L;
uint8_t GYRO_YOUT_H;
uint8_t GYRO_YOUT_L;
uint8_t GYRO_ZOUT_H;
uint8_t GYRO_ZOUT_L;
};
static_assert(sizeof(DATA) == 12);
}
} // namespace InvenSense_ICM20608G

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/****************************************************************************
*
* Copyright (c) 2019 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.
*
****************************************************************************/
#include "ICM20608G.hpp"
#include <px4_platform_common/getopt.h>
namespace icm20608g
{
ICM20608G *g_dev{nullptr};
static int start(enum Rotation rotation)
{
if (g_dev != nullptr) {
PX4_WARN("already started");
return 0;
}
// create the driver
g_dev = new ICM20608G(PX4_SPI_BUS_SENSORS, PX4_SPIDEV_ICM_20608, rotation);
if (g_dev == nullptr) {
PX4_ERR("driver start failed");
return -1;
}
if (!g_dev->Init()) {
PX4_ERR("driver init failed");
delete g_dev;
g_dev = nullptr;
return -1;
}
return 0;
}
static int stop()
{
if (g_dev == nullptr) {
PX4_WARN("driver not running");
return -1;
}
g_dev->Stop();
delete g_dev;
g_dev = nullptr;
return 0;
}
static int reset()
{
if (g_dev == nullptr) {
PX4_WARN("driver not running");
return 0;
}
return g_dev->Reset();
}
static int status()
{
if (g_dev == nullptr) {
PX4_INFO("driver not running");
return 0;
}
g_dev->PrintInfo();
return 0;
}
static int usage()
{
PX4_INFO("missing command: try 'start', 'stop', 'reset', 'status'");
PX4_INFO("options:");
PX4_INFO(" -R rotation");
return 0;
}
} // namespace icm20608g
extern "C" int icm20608g_main(int argc, char *argv[])
{
enum Rotation rotation = ROTATION_NONE;
int myoptind = 1;
int ch = 0;
const char *myoptarg = nullptr;
// start options
while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'R':
rotation = (enum Rotation)atoi(myoptarg);
break;
default:
return icm20608g::usage();
}
}
const char *verb = argv[myoptind];
if (!strcmp(verb, "start")) {
return icm20608g::start(rotation);
} else if (!strcmp(verb, "stop")) {
return icm20608g::stop();
} else if (!strcmp(verb, "status")) {
return icm20608g::status();
} else if (!strcmp(verb, "reset")) {
return icm20608g::reset();
}
return icm20608g::usage();
}

31
src/modules/mavlink/mavlink_messages.cpp
View File

@@ -81,6 +81,7 @@
#include <uORB/topics/orbit_status.h>
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/sensor_accel_status.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/tecs_status.h>
@@ -2664,6 +2665,10 @@ private:
MavlinkOrbSubscription *_est_sub;
uint64_t _est_time;
MavlinkOrbSubscription *_sensor_accel_status_0_sub;
MavlinkOrbSubscription *_sensor_accel_status_1_sub;
MavlinkOrbSubscription *_sensor_accel_status_2_sub;
/* do not allow top copying this class */
MavlinkStreamEstimatorStatus(MavlinkStreamEstimatorStatus &) = delete;
MavlinkStreamEstimatorStatus &operator = (const MavlinkStreamEstimatorStatus &) = delete;
@@ -2671,7 +2676,10 @@ private:
protected:
explicit MavlinkStreamEstimatorStatus(Mavlink *mavlink) : MavlinkStream(mavlink),
_est_sub(_mavlink->add_orb_subscription(ORB_ID(estimator_status))),
_est_time(0)
_est_time(0),
_sensor_accel_status_0_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_accel_status), 0)),
_sensor_accel_status_1_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_accel_status), 1)),
_sensor_accel_status_2_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_accel_status), 2))
{}
bool send(const hrt_abstime t) override
@@ -2694,11 +2702,30 @@ protected:
mavlink_msg_estimator_status_send_struct(_mavlink->get_channel(), &est_msg);
// VIBRATION
mavlink_vibration_t msg = {};
mavlink_vibration_t msg{};
msg.time_usec = est.timestamp;
msg.vibration_x = est.vibe[0];
msg.vibration_y = est.vibe[1];
msg.vibration_z = est.vibe[2];
sensor_accel_status_s acc_status_0;
if (_sensor_accel_status_0_sub->update(&acc_status_0)) {
msg.clipping_0 = acc_status_0.clipping[0] + acc_status_0.clipping[1] + acc_status_0.clipping[2];
}
sensor_accel_status_s acc_status_1;
if (_sensor_accel_status_1_sub->update(&acc_status_1)) {
msg.clipping_1 = acc_status_1.clipping[0] + acc_status_1.clipping[1] + acc_status_1.clipping[2];
}
sensor_accel_status_s acc_status_2;
if (_sensor_accel_status_2_sub->update(&acc_status_2)) {
msg.clipping_2 = acc_status_2.clipping[0] + acc_status_2.clipping[1] + acc_status_2.clipping[2];
}
mavlink_msg_vibration_send_struct(_mavlink->get_channel(), &msg);
return true;