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delete unused imu/bma180

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This commit is contained in:
Daniel Agar
2021-02-23 14:43:42 -05:00
parent e38560b928
commit f9705c96f7
4 changed files with 1 additions and 545 deletions
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2
src/drivers/drv_sensor.h
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@@ -64,7 +64,7 @@
#define DRV_MAG_DEVTYPE_LIS2MDL 0x0C
#define DRV_IMU_DEVTYPE_LSM303D 0x11
#define DRV_ACC_DEVTYPE_BMA180 0x12
#define DRV_ACC_DEVTYPE_MPU6000_LEGACY 0x13
#define DRV_IMU_DEVTYPE_SIM 0x14
#define DRV_ACC_DEVTYPE_MPU9250_LEGACY 0x16

1
src/drivers/imu/CMakeLists.txt
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@@ -34,7 +34,6 @@
add_subdirectory(adis16477)
add_subdirectory(adis16497)
add_subdirectory(analog_devices)
add_subdirectory(bma180)
add_subdirectory(bmi055)
add_subdirectory(bmi088)
add_subdirectory(bmi160)

40
src/drivers/imu/bma180/CMakeLists.txt
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@@ -1,40 +0,0 @@
############################################################################
#
# Copyright (c) 2015 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__bma180
MAIN bma180
COMPILE_FLAGS
-Wno-cast-align # TODO: fix and enable
SRCS
bma180.cpp
)

503
src/drivers/imu/bma180/bma180.cpp
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@@ -1,503 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 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 bma180.cpp
* Driver for the Bosch BMA 180 MEMS accelerometer connected via SPI.
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
#include <lib/ecl/geo/geo.h>
#include <lib/perf/perf_counter.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
static constexpr uint8_t DIR_READ{1 << 7};
#define ADDR_CHIP_ID 0x00
#define CHIP_ID 0x03
#define ADDR_ACC_X_LSB 0x02
#define ADDR_ACC_Y_LSB 0x04
#define ADDR_ACC_Z_LSB 0x06
#define ADDR_TEMPERATURE 0x08
#define ADDR_CTRL_REG0 0x0D
#define REG0_WRITE_ENABLE 0x10
#define ADDR_RESET 0x10
#define SOFT_RESET 0xB6
#define ADDR_BW_TCS 0x20
#define BW_TCS_BW_MASK (0xf<<4)
#define BW_TCS_BW_10HZ (0<<4)
#define BW_TCS_BW_20HZ (1<<4)
#define BW_TCS_BW_40HZ (2<<4)
#define BW_TCS_BW_75HZ (3<<4)
#define BW_TCS_BW_150HZ (4<<4)
#define BW_TCS_BW_300HZ (5<<4)
#define BW_TCS_BW_600HZ (6<<4)
#define BW_TCS_BW_1200HZ (7<<4)
#define ADDR_HIGH_DUR 0x27
#define HIGH_DUR_DIS_I2C (1<<0)
#define ADDR_TCO_Z 0x30
#define TCO_Z_MODE_MASK 0x3
#define ADDR_GAIN_Y 0x33
#define GAIN_Y_SHADOW_DIS (1<<0)
#define ADDR_OFFSET_LSB1 0x35
#define OFFSET_LSB1_RANGE_MASK (7<<1)
#define OFFSET_LSB1_RANGE_1G (0<<1)
#define OFFSET_LSB1_RANGE_2G (2<<1)
#define OFFSET_LSB1_RANGE_3G (3<<1)
#define OFFSET_LSB1_RANGE_4G (4<<1)
#define OFFSET_LSB1_RANGE_8G (5<<1)
#define OFFSET_LSB1_RANGE_16G (6<<1)
#define ADDR_OFFSET_T 0x37
#define OFFSET_T_READOUT_12BIT (1<<0)
class BMA180 : public device::SPI, public I2CSPIDriver<BMA180>
{
public:
BMA180(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode);
virtual ~BMA180();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
int init() override;
void print_status() override;
void RunImpl();
private:
int probe() override;
PX4Accelerometer _px4_accel;
unsigned _current_lowpass;
unsigned _current_range;
perf_counter_t _sample_perf;
/**
* Start automatic measurement.
*/
void start();
/**
* Fetch measurements from the sensor and update the report ring.
*/
void measure();
/**
* Read a register from the BMA180
*
* @param The register to read.
* @return The value that was read.
*/
uint8_t read_reg(uint8_t reg);
/**
* Write a register in the BMA180
*
* @param reg The register to write.
* @param value The new value to write.
*/
void write_reg(uint8_t reg, uint8_t value);
/**
* Modify a register in the BMA180
*
* Bits are cleared before bits are set.
*
* @param reg The register to modify.
* @param clearbits Bits in the register to clear.
* @param setbits Bits in the register to set.
*/
void modify_reg(uint8_t reg, uint8_t clearbits, uint8_t setbits);
/**
* Set the BMA180 measurement range.
*
* @param max_g The maximum G value the range must support.
* @return OK if the value can be supported, -ERANGE otherwise.
*/
int set_range(unsigned max_g);
/**
* Set the BMA180 internal lowpass filter frequency.
*
* @param frequency The internal lowpass filter frequency is set to a value
* equal or greater to this.
* Zero selects the highest frequency supported.
* @return OK if the value can be supported.
*/
int set_lowpass(unsigned frequency);
};
BMA180::BMA180(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode) :
SPI(DRV_ACC_DEVTYPE_BMA180, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read"))
{
}
BMA180::~BMA180()
{
/* delete the perf counter */
perf_free(_sample_perf);
}
int BMA180::init()
{
int ret = PX4_ERROR;
/* do SPI init (and probe) first */
if (SPI::init() != OK) {
goto out;
}
/* perform soft reset (p48) */
write_reg(ADDR_RESET, SOFT_RESET);
/* wait 10 ms (datasheet incorrectly lists 10 us on page 49) */
usleep(10000);
/* enable writing to chip config */
modify_reg(ADDR_CTRL_REG0, 0, REG0_WRITE_ENABLE);
/* disable I2C interface */
modify_reg(ADDR_HIGH_DUR, HIGH_DUR_DIS_I2C, 0);
/* switch to low-noise mode */
modify_reg(ADDR_TCO_Z, TCO_Z_MODE_MASK, 0);
/* disable 12-bit mode */
modify_reg(ADDR_OFFSET_T, OFFSET_T_READOUT_12BIT, 0);
/* disable shadow-disable mode */
modify_reg(ADDR_GAIN_Y, GAIN_Y_SHADOW_DIS, 0);
/* disable writing to chip config */
modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0);
if (set_range(4)) {
PX4_ERR("Failed setting range");
}
if (set_lowpass(75)) {
PX4_ERR("Failed setting lowpass");
}
if (read_reg(ADDR_CHIP_ID) == CHIP_ID) {
ret = OK;
} else {
ret = PX4_ERROR;
}
/* advertise sensor topic, measure manually to initialize valid report */
measure();
start();
out:
return ret;
}
int BMA180::probe()
{
/* dummy read to ensure SPI state machine is sane */
read_reg(ADDR_CHIP_ID);
if (read_reg(ADDR_CHIP_ID) == CHIP_ID) {
return OK;
}
return -EIO;
}
uint8_t BMA180::read_reg(uint8_t reg)
{
uint8_t cmd[2] {};
cmd[0] = reg | DIR_READ;
transfer(cmd, cmd, sizeof(cmd));
return cmd[1];
}
void BMA180::write_reg(uint8_t reg, uint8_t value)
{
uint8_t cmd[2] {reg, value};
transfer(cmd, nullptr, sizeof(cmd));
}
void BMA180::modify_reg(uint8_t reg, uint8_t clearbits, uint8_t setbits)
{
uint8_t val = read_reg(reg);
val &= ~clearbits;
val |= setbits;
write_reg(reg, val);
}
int BMA180::set_range(unsigned max_g)
{
uint8_t rangebits;
if (max_g == 0) {
max_g = 16;
}
if (max_g > 16) {
return -ERANGE;
}
if (max_g <= 2) {
_current_range = 2;
rangebits = OFFSET_LSB1_RANGE_2G;
} else if (max_g <= 3) {
_current_range = 3;
rangebits = OFFSET_LSB1_RANGE_3G;
} else if (max_g <= 4) {
_current_range = 4;
rangebits = OFFSET_LSB1_RANGE_4G;
} else if (max_g <= 8) {
_current_range = 8;
rangebits = OFFSET_LSB1_RANGE_8G;
} else if (max_g <= 16) {
_current_range = 16;
rangebits = OFFSET_LSB1_RANGE_16G;
} else {
return -EINVAL;
}
/* set new range scaling factor */
float accel_range_m_s2 = _current_range * CONSTANTS_ONE_G;
_px4_accel.set_scale(accel_range_m_s2 / 8192.f);
/* enable writing to chip config */
modify_reg(ADDR_CTRL_REG0, 0, REG0_WRITE_ENABLE);
/* adjust sensor configuration */
modify_reg(ADDR_OFFSET_LSB1, OFFSET_LSB1_RANGE_MASK, rangebits);
/* block writing to chip config */
modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0);
/* check if wanted value is now in register */
return !((read_reg(ADDR_OFFSET_LSB1) & OFFSET_LSB1_RANGE_MASK) ==
(OFFSET_LSB1_RANGE_MASK & rangebits));
}
int BMA180::set_lowpass(unsigned frequency)
{
uint8_t bwbits;
if (frequency > 1200) {
return -ERANGE;
} else if (frequency > 600) {
bwbits = BW_TCS_BW_1200HZ;
} else if (frequency > 300) {
bwbits = BW_TCS_BW_600HZ;
} else if (frequency > 150) {
bwbits = BW_TCS_BW_300HZ;
} else if (frequency > 75) {
bwbits = BW_TCS_BW_150HZ;
} else if (frequency > 40) {
bwbits = BW_TCS_BW_75HZ;
} else if (frequency > 20) {
bwbits = BW_TCS_BW_40HZ;
} else if (frequency > 10) {
bwbits = BW_TCS_BW_20HZ;
} else {
bwbits = BW_TCS_BW_10HZ;
}
/* enable writing to chip config */
modify_reg(ADDR_CTRL_REG0, 0, REG0_WRITE_ENABLE);
/* adjust sensor configuration */
modify_reg(ADDR_BW_TCS, BW_TCS_BW_MASK, bwbits);
/* block writing to chip config */
modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0);
/* check if wanted value is now in register */
return !((read_reg(ADDR_BW_TCS) & BW_TCS_BW_MASK) == (BW_TCS_BW_MASK & bwbits));
}
void BMA180::start()
{
/* start polling at the specified rate */
ScheduleOnInterval(1000, 10000);
}
void BMA180::RunImpl()
{
/* make another measurement */
measure();
}
void BMA180::measure()
{
/* start the performance counter */
perf_begin(_sample_perf);
const hrt_abstime timestamp_sample = hrt_absolute_time();
/*
* y of board is x of sensor and x of board is -y of sensor
* perform only the axis assignment here.
* Two non-value bits are discarded directly
*/
int16_t y_raw = read_reg(ADDR_ACC_X_LSB + 0);
y_raw |= read_reg(ADDR_ACC_X_LSB + 1) << 8;
int16_t x_raw = read_reg(ADDR_ACC_X_LSB + 2);
x_raw |= read_reg(ADDR_ACC_X_LSB + 3) << 8;
int16_t z_raw = read_reg(ADDR_ACC_X_LSB + 4);
z_raw |= read_reg(ADDR_ACC_X_LSB + 5) << 8;
/* discard two non-value bits in the 16 bit measurement */
x_raw = (x_raw / 4);
y_raw = (y_raw / 4);
z_raw = (z_raw / 4);
/* invert y axis, due to 14 bit data no overflow can occur in the negation */
y_raw = -y_raw;
_px4_accel.update(timestamp_sample, x_raw, y_raw, z_raw);
/* stop the perf counter */
perf_end(_sample_perf);
}
void BMA180::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
}
void BMA180::print_usage()
{
PRINT_MODULE_USAGE_NAME("bma180", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
I2CSPIDriverBase *BMA180::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
BMA180 *instance = new BMA180(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
cli.bus_frequency, cli.spi_mode);
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
if (OK != instance->init()) {
delete instance;
return nullptr;
}
return instance;
}
extern "C" __EXPORT int bma180_main(int argc, char *argv[])
{
int ch;
using ThisDriver = BMA180;
BusCLIArguments cli{false, true};
cli.default_spi_frequency = 8000000;
while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
switch (ch) {
case 'R':
cli.rotation = (enum Rotation)atoi(cli.optarg());
break;
}
}
const char *verb = cli.optarg();
if (!verb) {
ThisDriver::print_usage();
return -1;
}
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_ACC_DEVTYPE_BMA180);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
}
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
ThisDriver::print_usage();
return -1;
}