#include <MPU6000.hpp>

Inheritance diagram for MPU6000:

Collaboration diagram for MPU6000:

Public Member Functions
	MPU6000 (device::Device *interface, enum Rotation rotation, int device_type)

virtual	~MPU6000 ()

virtual int	init ()

void	print_info ()
	Diagnostics - print some basic information about the driver. More...

void	print_registers ()

int	factory_self_test ()
	Test behaviour against factory offsets. More...

void	test_error ()

void	start ()
	Start automatic measurement. More...

int	reset ()
	Reset chip. More...

Protected Member Functions
virtual int	probe ()

Protected Attributes
device::Device *	_interface

Private Member Functions
void	Run () override

void	stop ()
	Stop automatic measurement. More...

bool	is_icm_device ()
	is_icm_device More...

bool	is_mpu_device ()
	is_mpu_device More...

int	measure ()
	Fetch measurements from the sensor and update the report buffers. More...

uint8_t	read_reg (unsigned reg, uint32_t speed=MPU6000_LOW_BUS_SPEED)
	Read a register from the MPU6000. More...

uint16_t	read_reg16 (unsigned reg)

int	write_reg (unsigned reg, uint8_t value)
	Write a register in the MPU6000. More...

void	modify_reg (unsigned reg, uint8_t clearbits, uint8_t setbits)
	Modify a register in the MPU6000. More...

void	write_checked_reg (unsigned reg, uint8_t value)
	Write a register in the MPU6000, updating _checked_values. More...

int	set_accel_range (unsigned max_g)
	Set the MPU6000 measurement range. More...

void	_set_dlpf_filter (uint16_t frequency_hz)

void	_set_icm_acc_dlpf_filter (uint16_t frequency_hz)

void	_set_sample_rate (unsigned desired_sample_rate_hz)

void	check_registers (void)

	MPU6000 (const MPU6000 &)

MPU6000	operator= (const MPU6000 &)

Private Attributes
int	_device_type

uint8_t	_product {0}

unsigned	_call_interval {1000}
	product code More...

PX4Accelerometer	_px4_accel

PX4Gyroscope	_px4_gyro

unsigned	_sample_rate {1000}

perf_counter_t	_sample_perf

perf_counter_t	_bad_transfers

perf_counter_t	_bad_registers

perf_counter_t	_reset_retries

perf_counter_t	_duplicates

uint8_t	_register_wait {0}

uint64_t	_reset_wait {0}

uint8_t	_checked_values [MPU6000_NUM_CHECKED_REGISTERS]

uint8_t	_checked_next {0}

volatile bool	_in_factory_test {false}

uint16_t	_last_accel [3] {}

bool	_got_duplicate {false}

Static Private Attributes
static constexpr int	MPU6000_CHECKED_PRODUCT_ID_INDEX = 0

static constexpr int	MPU6000_NUM_CHECKED_REGISTERS = 10

static constexpr uint8_t	_checked_registers [MPU6000_NUM_CHECKED_REGISTERS]

Detailed Description

Definition at line 285 of file MPU6000.hpp.

Constructor & Destructor Documentation

◆ MPU6000() [1/2]

MPU6000::MPU6000	(	device::Device *	interface,
		enum Rotation	rotation,
		int	device_type
	)

Definition at line 42 of file MPU6000.cpp.

References _device_type, _px4_accel, _px4_gyro, DRV_ACC_DEVTYPE_ICM20602, DRV_ACC_DEVTYPE_ICM20608, DRV_ACC_DEVTYPE_ICM20689, DRV_ACC_DEVTYPE_MPU6000, DRV_GYR_DEVTYPE_ICM20602, DRV_GYR_DEVTYPE_ICM20608, DRV_GYR_DEVTYPE_ICM20689, DRV_GYR_DEVTYPE_MPU6000, MPU_DEVICE_TYPE_ICM20602, MPU_DEVICE_TYPE_ICM20608, MPU_DEVICE_TYPE_ICM20689, MPU_DEVICE_TYPE_MPU6000, PX4Accelerometer::set_device_type(), and PX4Gyroscope::set_device_type().

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◆ ~MPU6000()

MPU6000::~MPU6000 ( )

virtual

Definition at line 78 of file MPU6000.cpp.

References _bad_registers, _bad_transfers, _duplicates, _reset_retries, _sample_perf, perf_free(), and stop().

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◆ MPU6000() [2/2]

MPU6000::MPU6000 ( const MPU6000 & )

private

Member Function Documentation

◆ _set_dlpf_filter()

void MPU6000::_set_dlpf_filter ( uint16_t frequency_hz )

private

Definition at line 305 of file MPU6000.cpp.

References MPU_GYRO_DLPF_CFG_10HZ, MPU_GYRO_DLPF_CFG_188HZ, MPU_GYRO_DLPF_CFG_20HZ, MPU_GYRO_DLPF_CFG_2100HZ_NOLPF, MPU_GYRO_DLPF_CFG_256HZ_NOLPF2, MPU_GYRO_DLPF_CFG_42HZ, MPU_GYRO_DLPF_CFG_5HZ, MPU_GYRO_DLPF_CFG_98HZ, MPUREG_CONFIG, and write_checked_reg().

Referenced by reset().

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◆ _set_icm_acc_dlpf_filter()

void MPU6000::_set_icm_acc_dlpf_filter ( uint16_t frequency_hz )

private

Definition at line 341 of file MPU6000.cpp.

References ICM_ACC_DLPF_CFG_1046HZ_NOLPF, ICM_ACC_DLPF_CFG_10HZ, ICM_ACC_DLPF_CFG_218HZ, ICM_ACC_DLPF_CFG_21HZ, ICM_ACC_DLPF_CFG_420HZ, ICM_ACC_DLPF_CFG_44HZ, ICM_ACC_DLPF_CFG_5HZ, ICM_ACC_DLPF_CFG_99HZ, ICMREG_ACCEL_CONFIG2, and write_checked_reg().

Referenced by reset().

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◆ _set_sample_rate()

void MPU6000::_set_sample_rate ( unsigned desired_sample_rate_hz )

private

Definition at line 281 of file MPU6000.cpp.

References _sample_rate, MPU6000_GYRO_DEFAULT_RATE, MPUREG_SMPLRT_DIV, and write_checked_reg().

Referenced by reset().

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◆ check_registers()

void MPU6000::check_registers ( void )

private

Definition at line 660 of file MPU6000.cpp.

References _bad_registers, _checked_next, _checked_registers, _checked_values, _register_wait, _reset_wait, BIT_H_RESET, hrt_absolute_time(), is_icm_device(), MPU6000_CHECKED_PRODUCT_ID_INDEX, MPU6000_HIGH_BUS_SPEED, MPU6000_NUM_CHECKED_REGISTERS, MPUREG_ICM_UNDOC1, MPUREG_PWR_MGMT_1, perf_count(), read_reg(), and write_reg().

Referenced by measure().

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◆ factory_self_test()

int MPU6000::factory_self_test ( )

Test behaviour against factory offsets.

Returns: 0 on success, 1 on failure

Definition at line 383 of file MPU6000.cpp.

References _in_factory_test, _interface, BITS_FS_250DPS, BITS_GYRO_ST_X, BITS_GYRO_ST_Y, BITS_GYRO_ST_Z, err, f(), int16_t_from_bytes(), MPU6000_HIGH_BUS_SPEED, MPU6000_SET_SPEED, MPUREG_ACCEL_CONFIG, MPUREG_GYRO_CONFIG, MPUREG_INT_STATUS, MPUREG_TRIM1, MPUREG_TRIM2, MPUREG_TRIM3, MPUREG_TRIM4, OK, device::Device::read(), read_reg(), and write_reg().

Referenced by mpu6000::factorytest().

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◆ init()

int MPU6000::init ( )

virtual

Definition at line 92 of file MPU6000.cpp.

References OK, probe(), and reset().

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◆ is_icm_device()

bool MPU6000::is_icm_device ( )

inlineprivate

is_icm_device

Definition at line 391 of file MPU6000.hpp.

Referenced by check_registers(), measure(), probe(), and reset().

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◆ is_mpu_device()

bool MPU6000::is_mpu_device ( )

inlineprivate

is_mpu_device

Definition at line 395 of file MPU6000.hpp.

References MPU6000_LOW_BUS_SPEED, and MPU_DEVICE_TYPE_MPU6000.

Referenced by probe(), and set_accel_range().

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◆ measure()

int MPU6000::measure ( )

private

Fetch measurements from the sensor and update the report buffers.

Definition at line 721 of file MPU6000.cpp.

References _bad_registers, _bad_transfers, _duplicates, _got_duplicate, _in_factory_test, _interface, _last_accel, _px4_accel, _px4_gyro, _register_wait, _reset_wait, _sample_perf, check_registers(), hrt_absolute_time(), hrt_abstime, int16_t_from_bytes(), is_icm_device(), MPU6000_HIGH_BUS_SPEED, MPU6000_SET_SPEED, MPUREG_INT_STATUS, OK, perf_begin(), perf_count(), perf_end(), perf_event_count(), device::Device::read(), PX4Accelerometer::set_error_count(), PX4Gyroscope::set_error_count(), PX4Accelerometer::set_temperature(), PX4Gyroscope::set_temperature(), PX4Accelerometer::update(), and PX4Gyroscope::update().

Referenced by Run().

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◆ modify_reg()

void MPU6000::modify_reg	(	unsigned	reg,
		uint8_t	clearbits,
		uint8_t	setbits
	)

private

Modify a register in the MPU6000.

Bits are cleared before bits are set.

Parameters

reg	The register to modify.
clearbits	Bits in the register to clear.
setbits	Bits in the register to set.

Definition at line 564 of file MPU6000.cpp.

References read_reg(), and write_reg().

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◆ operator=()

MPU6000 MPU6000::operator= ( const MPU6000 & )

private

◆ print_info()

void MPU6000::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 886 of file MPU6000.cpp.

References _bad_registers, _bad_transfers, _duplicates, _px4_accel, _px4_gyro, _reset_retries, _sample_perf, perf_print_counter(), PX4Accelerometer::print_status(), and PX4Gyroscope::print_status().

Referenced by mpu6000::info().

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◆ print_registers()

void MPU6000::print_registers ( )

Definition at line 899 of file MPU6000.cpp.

References MPUREG_PRODUCT_ID, and read_reg().

Referenced by mpu6000::regdump(), and test_error().

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◆ probe()

int MPU6000::probe ( )

protectedvirtual

Definition at line 203 of file MPU6000.cpp.

References _checked_values, _device_type, _product, ICM20602_REV_01, ICM20602_REV_02, ICM20608_REV_FF, ICM20689_REV_03, ICM20689_REV_04, ICM20689_REV_FE, ICM_WHOAMI_20602, ICM_WHOAMI_20608, ICM_WHOAMI_20689, is_icm_device(), is_mpu_device(), MPU6000_CHECKED_PRODUCT_ID_INDEX, MPU6000_REV_C4, MPU6000_REV_C5, MPU6000_REV_D10, MPU6000_REV_D6, MPU6000_REV_D7, MPU6000_REV_D8, MPU6000_REV_D9, MPU6000ES_REV_C4, MPU6000ES_REV_C5, MPU6000ES_REV_D6, MPU6000ES_REV_D7, MPU6000ES_REV_D8, MPU6050_REV_D8, MPU_DEVICE_TYPE_ICM20602, MPU_DEVICE_TYPE_ICM20608, MPU_DEVICE_TYPE_ICM20689, MPU_DEVICE_TYPE_MPU6000, MPU_WHOAMI_6000, MPUREG_PRODUCT_ID, MPUREG_WHOAMI, OK, and read_reg().

Referenced by init().

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◆ read_reg()

uint8_t MPU6000::read_reg	(	unsigned	reg,
		uint32_t	speed = `MPU6000_LOW_BUS_SPEED`
	)

private

Read a register from the MPU6000.

Parameters

The	register to read.

Returns: The value that was read.

Definition at line 539 of file MPU6000.cpp.

References _interface, MPU6000_SET_SPEED, and device::Device::read().

Referenced by check_registers(), factory_self_test(), modify_reg(), print_registers(), probe(), and reset().

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◆ read_reg16()

uint16_t MPU6000::read_reg16 ( unsigned reg )

private

Definition at line 547 of file MPU6000.cpp.

References _interface, arraySize, MPU6000_LOW_SPEED_OP, and device::Device::read().

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◆ reset()

int MPU6000::reset ( )

Reset chip.

Resets the chip and measurements ranges, but not scale and offset.

Definition at line 110 of file MPU6000.cpp.

References _interface, _px4_gyro, _reset_retries, _reset_wait, _set_dlpf_filter(), _set_icm_acc_dlpf_filter(), _set_sample_rate(), BIT_H_RESET, BIT_I2C_IF_DIS, BIT_INT_ANYRD_2CLEAR, BIT_RAW_RDY_EN, BITS_FS_2000DPS, device::Device::DeviceBusType_I2C, f(), device::Device::get_device_bus_type(), hrt_absolute_time(), is_icm_device(), MPU6000_ACCEL_DEFAULT_RANGE_G, MPU6000_DEFAULT_ONCHIP_FILTER_FREQ, MPU_CLK_SEL_PLLGYROZ, MPUREG_GYRO_CONFIG, MPUREG_ICM_UNDOC1, MPUREG_ICM_UNDOC1_VALUE, MPUREG_INT_ENABLE, MPUREG_INT_PIN_CFG, MPUREG_PWR_MGMT_1, MPUREG_USER_CTRL, OK, perf_count(), read_reg(), set_accel_range(), PX4Gyroscope::set_scale(), state, write_checked_reg(), and write_reg().

Referenced by init(), and mpu6000::reset().

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◆ Run()

void MPU6000::Run ( )

overrideprivate

Definition at line 653 of file MPU6000.cpp.

References measure().

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◆ set_accel_range()

int MPU6000::set_accel_range ( unsigned max_g )

private

Set the MPU6000 measurement range.

Parameters

max_g The maximum G value the range must support.

Returns: OK if the value can be supported, -ERANGE otherwise.

Definition at line 585 of file MPU6000.cpp.

References _product, _px4_accel, CONSTANTS_ONE_G, f(), is_mpu_device(), MPU6000_REV_C4, MPU6000_REV_C5, MPU6000ES_REV_C4, MPU6000ES_REV_C5, MPUREG_ACCEL_CONFIG, OK, PX4Accelerometer::set_scale(), and write_checked_reg().

Referenced by reset().

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◆ start()

void MPU6000::start ( )

Start automatic measurement.

Definition at line 633 of file MPU6000.cpp.

References _call_interval, MPU6000_TIMER_REDUCTION, and stop().

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◆ stop()

void MPU6000::stop ( )

private

Stop automatic measurement.

Definition at line 644 of file MPU6000.cpp.

References _last_accel.

Referenced by start(), and ~MPU6000().

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◆ test_error()

void MPU6000::test_error ( )

Definition at line 526 of file MPU6000.cpp.

References _in_factory_test, _interface, data, MPU6000_LOW_BUS_SPEED, MPU6000_SET_SPEED, MPUREG_INT_STATUS, print_registers(), and device::Device::read().

Referenced by mpu6000::testerror().

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◆ write_checked_reg()

void MPU6000::write_checked_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the MPU6000, updating _checked_values.

Parameters

reg	The register to write.
value	The new value to write.

Definition at line 573 of file MPU6000.cpp.

References _checked_registers, _checked_values, MPU6000_NUM_CHECKED_REGISTERS, and write_reg().

Referenced by _set_dlpf_filter(), _set_icm_acc_dlpf_filter(), _set_sample_rate(), reset(), and set_accel_range().

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◆ write_reg()

int MPU6000::write_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the MPU6000.

Parameters

reg	The register to write.
value	The new value to write.

Definition at line 557 of file MPU6000.cpp.

References _interface, MPU6000_LOW_SPEED_OP, and device::Device::write().

Referenced by check_registers(), factory_self_test(), modify_reg(), reset(), and write_checked_reg().

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Member Data Documentation

◆ _bad_registers

perf_counter_t MPU6000::_bad_registers

private

Definition at line 346 of file MPU6000.hpp.

Referenced by check_registers(), measure(), print_info(), and ~MPU6000().

◆ _bad_transfers

perf_counter_t MPU6000::_bad_transfers

private

Definition at line 345 of file MPU6000.hpp.

Referenced by measure(), print_info(), and ~MPU6000().

◆ _call_interval

unsigned MPU6000::_call_interval {1000}

private

product code

Definition at line 337 of file MPU6000.hpp.

Referenced by start().

◆ _checked_next

uint8_t MPU6000::_checked_next {0}

private

Definition at line 373 of file MPU6000.hpp.

Referenced by check_registers().

◆ _checked_registers

constexpr uint8_t MPU6000::_checked_registers

staticprivate

Initial value:

{
        MPUREG_PRODUCT_ID,
        MPUREG_PWR_MGMT_1,
        MPUREG_USER_CTRL,
        MPUREG_SMPLRT_DIV,
        MPUREG_CONFIG,
        MPUREG_GYRO_CONFIG,
        MPUREG_ACCEL_CONFIG,
        MPUREG_INT_ENABLE,
        MPUREG_INT_PIN_CFG,
        MPUREG_ICM_UNDOC1
    }

Definition at line 359 of file MPU6000.hpp.

Referenced by check_registers(), and write_checked_reg().

◆ _checked_values

uint8_t MPU6000::_checked_values[MPU6000_NUM_CHECKED_REGISTERS]

private

Definition at line 372 of file MPU6000.hpp.

Referenced by check_registers(), probe(), and write_checked_reg().

◆ _device_type

int MPU6000::_device_type

private

Definition at line 334 of file MPU6000.hpp.

Referenced by MPU6000(), and probe().

◆ _duplicates

perf_counter_t MPU6000::_duplicates

private

Definition at line 348 of file MPU6000.hpp.

Referenced by measure(), print_info(), and ~MPU6000().

◆ _got_duplicate

bool MPU6000::_got_duplicate {false}

private

Definition at line 381 of file MPU6000.hpp.

Referenced by measure().

◆ _in_factory_test

volatile bool MPU6000::_in_factory_test {false}

private

Definition at line 377 of file MPU6000.hpp.

Referenced by factory_self_test(), measure(), and test_error().

◆ _interface

device::Device* MPU6000::_interface

protected

Definition at line 326 of file MPU6000.hpp.

Referenced by factory_self_test(), measure(), read_reg(), read_reg16(), reset(), test_error(), and write_reg().

◆ _last_accel

uint16_t MPU6000::_last_accel[3] {}

private

Definition at line 380 of file MPU6000.hpp.

Referenced by measure(), and stop().

◆ _product

uint8_t MPU6000::_product {0}

private

Definition at line 335 of file MPU6000.hpp.

Referenced by probe(), and set_accel_range().

◆ _px4_accel

PX4Accelerometer MPU6000::_px4_accel

private

Definition at line 339 of file MPU6000.hpp.

Referenced by measure(), MPU6000(), print_info(), and set_accel_range().

◆ _px4_gyro

PX4Gyroscope MPU6000::_px4_gyro

private

Definition at line 340 of file MPU6000.hpp.

Referenced by measure(), MPU6000(), print_info(), and reset().

◆ _register_wait

uint8_t MPU6000::_register_wait {0}

private

Definition at line 350 of file MPU6000.hpp.

Referenced by check_registers(), and measure().

◆ _reset_retries

perf_counter_t MPU6000::_reset_retries

private

Definition at line 347 of file MPU6000.hpp.

Referenced by print_info(), reset(), and ~MPU6000().

◆ _reset_wait

uint64_t MPU6000::_reset_wait {0}

private

Definition at line 351 of file MPU6000.hpp.

Referenced by check_registers(), measure(), and reset().

◆ _sample_perf

perf_counter_t MPU6000::_sample_perf

private

Definition at line 344 of file MPU6000.hpp.

Referenced by measure(), print_info(), and ~MPU6000().

◆ _sample_rate

unsigned MPU6000::_sample_rate {1000}

private

Definition at line 342 of file MPU6000.hpp.

Referenced by _set_sample_rate().

◆ MPU6000_CHECKED_PRODUCT_ID_INDEX

constexpr int MPU6000::MPU6000_CHECKED_PRODUCT_ID_INDEX = 0

staticprivate

Definition at line 356 of file MPU6000.hpp.

Referenced by check_registers(), and probe().

◆ MPU6000_NUM_CHECKED_REGISTERS

constexpr int MPU6000::MPU6000_NUM_CHECKED_REGISTERS = 10

staticprivate

Definition at line 357 of file MPU6000.hpp.

Referenced by check_registers(), and write_checked_reg().

The documentation for this class was generated from the following files:

src/drivers/imu/mpu6000/MPU6000.hpp
src/drivers/imu/mpu6000/MPU6000.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MPU6000() [1/2]

◆ ~MPU6000()

◆ MPU6000() [2/2]

Member Function Documentation

◆ _set_dlpf_filter()

◆ _set_icm_acc_dlpf_filter()

◆ _set_sample_rate()

◆ check_registers()

◆ factory_self_test()

◆ init()

◆ is_icm_device()

◆ is_mpu_device()

◆ measure()

◆ modify_reg()

◆ operator=()

◆ print_info()

◆ print_registers()

◆ probe()

◆ read_reg()

◆ read_reg16()

◆ reset()

◆ Run()

◆ set_accel_range()

◆ start()

◆ stop()

◆ test_error()

◆ write_checked_reg()

◆ write_reg()

Member Data Documentation

◆ _bad_registers

◆ _bad_transfers

◆ _call_interval

◆ _checked_next

◆ _checked_registers

◆ _checked_values

◆ _device_type

◆ _duplicates

◆ _got_duplicate

◆ _in_factory_test

◆ _interface

◆ _last_accel

◆ _product

◆ _px4_accel

◆ _px4_gyro

◆ _register_wait

◆ _reset_retries

◆ _reset_wait

◆ _sample_perf

◆ _sample_rate

◆ MPU6000_CHECKED_PRODUCT_ID_INDEX

◆ MPU6000_NUM_CHECKED_REGISTERS