2 * Copyright © 2012 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
19 #include <ao_mpu6000.h>
24 static uint8_t ao_mpu6000_wake;
25 static uint8_t ao_mpu6000_configured;
27 #ifndef AO_MPU6000_I2C_INDEX
28 #define AO_MPU6000_SPI 1
30 #define AO_MPU6000_SPI 0
35 #define ao_mpu6000_spi_get() ao_spi_get(AO_MPU6000_SPI_BUS, AO_SPI_SPEED_1MHz)
36 #define ao_mpu6000_spi_put() ao_spi_put(AO_MPU6000_SPI_BUS)
38 #define ao_mpu6000_spi_start() ao_spi_set_cs(AO_MPU6000_SPI_CS_PORT, \
39 (1 << AO_MPU6000_SPI_CS_PIN))
41 #define ao_mpu6000_spi_end() ao_spi_clr_cs(AO_MPU6000_SPI_CS_PORT, \
42 (1 << AO_MPU6000_SPI_CS_PIN))
48 _ao_mpu6000_reg_write(uint8_t addr, uint8_t value)
50 uint8_t d[2] = { addr, value };
52 ao_mpu6000_spi_start();
53 ao_spi_send(d, 2, AO_MPU6000_SPI_BUS);
56 ao_i2c_get(AO_MPU6000_I2C_INDEX);
57 ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
58 ao_i2c_send(d, 2, AO_MPU6000_I2C_INDEX, TRUE);
59 ao_i2c_put(AO_MPU6000_I2C_INDEX);
64 _ao_mpu6000_read(uint8_t addr, void *data, uint8_t len)
68 ao_mpu6000_spi_start();
69 ao_spi_send(&addr, 1, AO_MPU6000_SPI_BUS);
70 ao_spi_recv(data, len, AO_MPU6000_SPI_BUS);
73 ao_i2c_get(AO_MPU6000_I2C_INDEX);
74 ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
75 ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
76 ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
77 ao_i2c_recv(data, len, AO_MPU6000_I2C_INDEX, TRUE);
78 ao_i2c_put(AO_MPU6000_I2C_INDEX);
83 _ao_mpu6000_reg_read(uint8_t addr)
88 ao_mpu6000_spi_start();
89 ao_spi_send(&addr, 1, AO_MPU6000_SPI_BUS);
90 ao_spi_recv(&value, 1, AO_MPU6000_SPI_BUS);
93 ao_i2c_get(AO_MPU6000_I2C_INDEX);
94 ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
95 ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
96 ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
97 ao_i2c_recv(&value, 1, AO_MPU6000_I2C_INDEX, TRUE);
98 ao_i2c_put(AO_MPU6000_I2C_INDEX);
104 _ao_mpu6000_sample(struct ao_mpu6000_sample *sample)
106 uint16_t *d = (uint16_t *) sample;
107 int i = sizeof (*sample) / 2;
109 _ao_mpu6000_read(MPU6000_ACCEL_XOUT_H, sample, sizeof (*sample));
110 #if __BYTE_ORDER == __LITTLE_ENDIAN
114 *d++ = (t >> 8) | (t << 8);
119 #define G 981 /* in cm/s² */
121 static int16_t /* cm/s² */
122 ao_mpu6000_accel(int16_t v)
124 return (int16_t) ((v * (int32_t) (16.0 * 980.665 + 0.5)) / 32767);
127 static int16_t /* deg*10/s */
128 ao_mpu6000_gyro(int16_t v)
130 return (int16_t) ((v * (int32_t) 20000) / 32767);
134 ao_mpu6000_accel_check(int16_t normal, int16_t test, char *which)
136 int16_t diff = test - normal;
138 if (diff < MPU6000_ST_ACCEL(16) / 2) {
141 if (diff > MPU6000_ST_ACCEL(16) * 2) {
148 ao_mpu6000_gyro_check(int16_t normal, int16_t test, char *which)
150 int16_t diff = test - normal;
154 if (diff < MPU6000_ST_GYRO(2000) / 2) {
157 if (diff > MPU6000_ST_GYRO(2000) * 2) {
164 _ao_mpu6000_wait_alive(void)
168 /* Wait for the chip to wake up */
169 for (i = 0; i < 30; i++) {
170 ao_delay(AO_MS_TO_TICKS(100));
171 if (_ao_mpu6000_reg_read(MPU6000_WHO_AM_I) == 0x68)
175 ao_panic(AO_PANIC_SELF_TEST_MPU6000);
179 _ao_mpu6000_setup(void)
181 struct ao_mpu6000_sample normal_mode, test_mode;
184 if (ao_mpu6000_configured)
187 _ao_mpu6000_wait_alive();
189 /* Reset the whole chip */
191 _ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
192 (1 << MPU6000_PWR_MGMT_1_DEVICE_RESET));
194 /* Wait for it to reset. If we talk too quickly, it appears to get confused */
196 _ao_mpu6000_wait_alive();
198 /* Reset signal conditioning, disabling I2C on SPI systems */
199 _ao_mpu6000_reg_write(MPU6000_USER_CTRL,
200 (0 << MPU6000_USER_CTRL_FIFO_EN) |
201 (0 << MPU6000_USER_CTRL_I2C_MST_EN) |
202 (AO_MPU6000_SPI << MPU6000_USER_CTRL_I2C_IF_DIS) |
203 (0 << MPU6000_USER_CTRL_FIFO_RESET) |
204 (0 << MPU6000_USER_CTRL_I2C_MST_RESET) |
205 (1 << MPU6000_USER_CTRL_SIG_COND_RESET));
207 while (_ao_mpu6000_reg_read(MPU6000_USER_CTRL) & (1 << MPU6000_USER_CTRL_SIG_COND_RESET))
208 ao_delay(AO_MS_TO_TICKS(10));
210 /* Reset signal paths */
211 _ao_mpu6000_reg_write(MPU6000_SIGNAL_PATH_RESET,
212 (1 << MPU6000_SIGNAL_PATH_RESET_GYRO_RESET) |
213 (1 << MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET) |
214 (1 << MPU6000_SIGNAL_PATH_RESET_TEMP_RESET));
216 _ao_mpu6000_reg_write(MPU6000_SIGNAL_PATH_RESET,
217 (0 << MPU6000_SIGNAL_PATH_RESET_GYRO_RESET) |
218 (0 << MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET) |
219 (0 << MPU6000_SIGNAL_PATH_RESET_TEMP_RESET));
221 /* Select clocks, disable sleep */
222 _ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
223 (0 << MPU6000_PWR_MGMT_1_DEVICE_RESET) |
224 (0 << MPU6000_PWR_MGMT_1_SLEEP) |
225 (0 << MPU6000_PWR_MGMT_1_CYCLE) |
226 (0 << MPU6000_PWR_MGMT_1_TEMP_DIS) |
227 (MPU6000_PWR_MGMT_1_CLKSEL_PLL_X_AXIS << MPU6000_PWR_MGMT_1_CLKSEL));
229 /* Set sample rate divider to sample at full speed */
230 _ao_mpu6000_reg_write(MPU6000_SMPRT_DIV, 0);
232 /* Disable filtering */
233 _ao_mpu6000_reg_write(MPU6000_CONFIG,
234 (MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) |
235 (MPU6000_CONFIG_DLPF_CFG_260_256 << MPU6000_CONFIG_DLPF_CFG));
237 /* Configure accelerometer to +/-16G in self-test mode */
238 _ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
239 (1 << MPU600_ACCEL_CONFIG_XA_ST) |
240 (1 << MPU600_ACCEL_CONFIG_YA_ST) |
241 (1 << MPU600_ACCEL_CONFIG_ZA_ST) |
242 (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL));
244 /* Configure gyro to +/- 2000°/s in self-test mode */
245 _ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG,
246 (1 << MPU600_GYRO_CONFIG_XG_ST) |
247 (1 << MPU600_GYRO_CONFIG_YG_ST) |
248 (1 << MPU600_GYRO_CONFIG_ZG_ST) |
249 (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL));
251 ao_delay(AO_MS_TO_TICKS(200));
252 _ao_mpu6000_sample(&test_mode);
255 // read the product ID rev c has 1/2 the sensitivity of rev d
256 _mpu6000_product_id = _register_read(MPUREG_PRODUCT_ID);
257 //Serial.printf("Product_ID= 0x%x\n", (unsigned) _mpu6000_product_id);
259 if ((_mpu6000_product_id == MPU6000ES_REV_C4) || (_mpu6000_product_id == MPU6000ES_REV_C5) ||
260 (_mpu6000_product_id == MPU6000_REV_C4) || (_mpu6000_product_id == MPU6000_REV_C5)) {
261 // Accel scale 8g (4096 LSB/g)
262 // Rev C has different scaling than rev D
263 register_write(MPUREG_ACCEL_CONFIG,1<<3);
265 // Accel scale 8g (4096 LSB/g)
266 register_write(MPUREG_ACCEL_CONFIG,2<<3);
268 hal.scheduler->delay(1);
272 /* Configure accelerometer to +/-16G */
273 _ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
274 (0 << MPU600_ACCEL_CONFIG_XA_ST) |
275 (0 << MPU600_ACCEL_CONFIG_YA_ST) |
276 (0 << MPU600_ACCEL_CONFIG_ZA_ST) |
277 (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL));
279 /* Configure gyro to +/- 2000°/s */
280 _ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG,
281 (0 << MPU600_GYRO_CONFIG_XG_ST) |
282 (0 << MPU600_GYRO_CONFIG_YG_ST) |
283 (0 << MPU600_GYRO_CONFIG_ZG_ST) |
284 (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL));
286 ao_delay(AO_MS_TO_TICKS(10));
287 _ao_mpu6000_sample(&normal_mode);
289 errors += ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x, "x");
290 errors += ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y, "y");
291 errors += ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z, "z");
293 errors += ao_mpu6000_gyro_check(normal_mode.gyro_x, test_mode.gyro_x, "x");
294 errors += ao_mpu6000_gyro_check(normal_mode.gyro_y, test_mode.gyro_y, "y");
295 errors += ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z, "z");
298 ao_panic(AO_PANIC_SELF_TEST_MPU6000);
300 /* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */
301 _ao_mpu6000_reg_write(MPU6000_CONFIG,
302 (MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) |
303 (MPU6000_CONFIG_DLPF_CFG_94_98 << MPU6000_CONFIG_DLPF_CFG));
305 /* Set sample rate divider to sample at 200Hz (v = gyro/rate - 1) */
306 _ao_mpu6000_reg_write(MPU6000_SMPRT_DIV,
309 ao_delay(AO_MS_TO_TICKS(100));
310 ao_mpu6000_configured = 1;
313 struct ao_mpu6000_sample ao_mpu6000_current;
318 /* ao_mpu6000_init already grabbed the SPI bus and mutex */
321 ao_mpu6000_spi_put();
326 ao_mpu6000_spi_get();
328 _ao_mpu6000_sample(&ao_mpu6000_current);
330 ao_mpu6000_spi_put();
333 AO_DATA_PRESENT(AO_DATA_MPU6000);
339 static struct ao_task ao_mpu6000_task;
342 ao_mpu6000_show(void)
344 struct ao_data sample;
346 ao_data_get(&sample);
347 printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n",
348 sample.mpu6000.accel_x,
349 sample.mpu6000.accel_y,
350 sample.mpu6000.accel_z,
351 sample.mpu6000.gyro_x,
352 sample.mpu6000.gyro_y,
353 sample.mpu6000.gyro_z);
356 static const struct ao_cmds ao_mpu6000_cmds[] = {
357 { ao_mpu6000_show, "I\0Show MPU6000 status" },
362 ao_mpu6000_init(void)
364 ao_mpu6000_configured = 0;
366 ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000");
369 ao_spi_init_cs(AO_MPU6000_SPI_CS_PORT, (1 << AO_MPU6000_SPI_CS_PIN));
371 /* Pretend to be the mpu6000 task. Grab the SPI bus right away and
372 * hold it for the task so that nothing else uses the SPI bus before
373 * we get the I2C mode disabled in the chip
376 ao_cur_task = &ao_mpu6000_task;
377 ao_spi_get(AO_MPU6000_SPI_BUS, AO_SPI_SPEED_1MHz);
381 ao_cmd_register(&ao_mpu6000_cmds[0]);