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_configured;
26 #ifndef AO_MPU6000_I2C_INDEX
27 #define AO_MPU6000_SPI 1
29 #define AO_MPU6000_SPI 0
34 #define ao_mpu6000_spi_get() ao_spi_get(AO_MPU6000_SPI_BUS, AO_SPI_SPEED_1MHz)
35 #define ao_mpu6000_spi_put() ao_spi_put(AO_MPU6000_SPI_BUS)
37 #define ao_mpu6000_spi_start() ao_spi_set_cs(AO_MPU6000_SPI_CS_PORT, \
38 (1 << AO_MPU6000_SPI_CS_PIN))
40 #define ao_mpu6000_spi_end() ao_spi_clr_cs(AO_MPU6000_SPI_CS_PORT, \
41 (1 << AO_MPU6000_SPI_CS_PIN))
47 _ao_mpu6000_reg_write(uint8_t addr, uint8_t value)
49 uint8_t d[2] = { addr, value };
51 ao_mpu6000_spi_start();
52 ao_spi_send(d, 2, AO_MPU6000_SPI_BUS);
55 ao_i2c_get(AO_MPU6000_I2C_INDEX);
56 ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
57 ao_i2c_send(d, 2, AO_MPU6000_I2C_INDEX, TRUE);
58 ao_i2c_put(AO_MPU6000_I2C_INDEX);
63 _ao_mpu6000_read(uint8_t addr, void *data, uint8_t len)
67 ao_mpu6000_spi_start();
68 ao_spi_send(&addr, 1, AO_MPU6000_SPI_BUS);
69 ao_spi_recv(data, len, AO_MPU6000_SPI_BUS);
72 ao_i2c_get(AO_MPU6000_I2C_INDEX);
73 ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
74 ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
75 ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
76 ao_i2c_recv(data, len, AO_MPU6000_I2C_INDEX, TRUE);
77 ao_i2c_put(AO_MPU6000_I2C_INDEX);
82 _ao_mpu6000_reg_read(uint8_t addr)
87 ao_mpu6000_spi_start();
88 ao_spi_send(&addr, 1, AO_MPU6000_SPI_BUS);
89 ao_spi_recv(&value, 1, AO_MPU6000_SPI_BUS);
92 ao_i2c_get(AO_MPU6000_I2C_INDEX);
93 ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
94 ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
95 ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
96 ao_i2c_recv(&value, 1, AO_MPU6000_I2C_INDEX, TRUE);
97 ao_i2c_put(AO_MPU6000_I2C_INDEX);
103 _ao_mpu6000_sample(struct ao_mpu6000_sample *sample)
105 uint16_t *d = (uint16_t *) sample;
106 int i = sizeof (*sample) / 2;
108 _ao_mpu6000_read(MPU6000_ACCEL_XOUT_H, sample, sizeof (*sample));
109 #if __BYTE_ORDER == __LITTLE_ENDIAN
113 *d++ = (t >> 8) | (t << 8);
118 #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);
135 ao_mpu6000_accel_check(int16_t normal, int16_t test)
137 int16_t diff = test - normal;
139 if (diff < MPU6000_ST_ACCEL(16) / 4) {
142 if (diff > MPU6000_ST_ACCEL(16) * 4) {
149 ao_mpu6000_gyro_check(int16_t normal, int16_t test)
151 int16_t diff = test - normal;
155 if (diff < MPU6000_ST_GYRO(2000) / 4) {
158 if (diff > MPU6000_ST_GYRO(2000) * 4) {
165 _ao_mpu6000_wait_alive(void)
169 /* Wait for the chip to wake up */
170 for (i = 0; i < 30; i++) {
171 ao_delay(AO_MS_TO_TICKS(100));
172 if (_ao_mpu6000_reg_read(MPU6000_WHO_AM_I) == 0x68)
176 ao_panic(AO_PANIC_SELF_TEST_MPU6000);
182 _ao_mpu6000_setup(void)
184 struct ao_mpu6000_sample normal_mode, test_mode;
188 if (ao_mpu6000_configured)
191 _ao_mpu6000_wait_alive();
193 /* Reset the whole chip */
195 _ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
196 (1 << MPU6000_PWR_MGMT_1_DEVICE_RESET));
198 /* Wait for it to reset. If we talk too quickly, it appears to get confused */
200 _ao_mpu6000_wait_alive();
202 /* Reset signal conditioning, disabling I2C on SPI systems */
203 _ao_mpu6000_reg_write(MPU6000_USER_CTRL,
204 (0 << MPU6000_USER_CTRL_FIFO_EN) |
205 (0 << MPU6000_USER_CTRL_I2C_MST_EN) |
206 (AO_MPU6000_SPI << MPU6000_USER_CTRL_I2C_IF_DIS) |
207 (0 << MPU6000_USER_CTRL_FIFO_RESET) |
208 (0 << MPU6000_USER_CTRL_I2C_MST_RESET) |
209 (1 << MPU6000_USER_CTRL_SIG_COND_RESET));
211 while (_ao_mpu6000_reg_read(MPU6000_USER_CTRL) & (1 << MPU6000_USER_CTRL_SIG_COND_RESET))
212 ao_delay(AO_MS_TO_TICKS(10));
214 /* Reset signal paths */
215 _ao_mpu6000_reg_write(MPU6000_SIGNAL_PATH_RESET,
216 (1 << MPU6000_SIGNAL_PATH_RESET_GYRO_RESET) |
217 (1 << MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET) |
218 (1 << MPU6000_SIGNAL_PATH_RESET_TEMP_RESET));
220 _ao_mpu6000_reg_write(MPU6000_SIGNAL_PATH_RESET,
221 (0 << MPU6000_SIGNAL_PATH_RESET_GYRO_RESET) |
222 (0 << MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET) |
223 (0 << MPU6000_SIGNAL_PATH_RESET_TEMP_RESET));
225 /* Select clocks, disable sleep */
226 _ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
227 (0 << MPU6000_PWR_MGMT_1_DEVICE_RESET) |
228 (0 << MPU6000_PWR_MGMT_1_SLEEP) |
229 (0 << MPU6000_PWR_MGMT_1_CYCLE) |
230 (0 << MPU6000_PWR_MGMT_1_TEMP_DIS) |
231 (MPU6000_PWR_MGMT_1_CLKSEL_PLL_X_AXIS << MPU6000_PWR_MGMT_1_CLKSEL));
233 /* Set sample rate divider to sample at full speed */
234 _ao_mpu6000_reg_write(MPU6000_SMPRT_DIV, 0);
236 /* Disable filtering */
237 _ao_mpu6000_reg_write(MPU6000_CONFIG,
238 (MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) |
239 (MPU6000_CONFIG_DLPF_CFG_260_256 << MPU6000_CONFIG_DLPF_CFG));
242 // read the product ID rev c has 1/2 the sensitivity of rev d
243 _mpu6000_product_id = _register_read(MPUREG_PRODUCT_ID);
244 //Serial.printf("Product_ID= 0x%x\n", (unsigned) _mpu6000_product_id);
246 if ((_mpu6000_product_id == MPU6000ES_REV_C4) || (_mpu6000_product_id == MPU6000ES_REV_C5) ||
247 (_mpu6000_product_id == MPU6000_REV_C4) || (_mpu6000_product_id == MPU6000_REV_C5)) {
248 // Accel scale 8g (4096 LSB/g)
249 // Rev C has different scaling than rev D
250 register_write(MPUREG_ACCEL_CONFIG,1<<3);
252 // Accel scale 8g (4096 LSB/g)
253 register_write(MPUREG_ACCEL_CONFIG,2<<3);
255 hal.scheduler->delay(1);
258 for (st_tries = 0; st_tries < ST_TRIES; st_tries++) {
261 /* Configure accelerometer to +/-16G in self-test mode */
262 _ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
263 (1 << MPU600_ACCEL_CONFIG_XA_ST) |
264 (1 << MPU600_ACCEL_CONFIG_YA_ST) |
265 (1 << MPU600_ACCEL_CONFIG_ZA_ST) |
266 (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL));
268 /* Configure gyro to +/- 2000°/s in self-test mode */
269 _ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG,
270 (1 << MPU600_GYRO_CONFIG_XG_ST) |
271 (1 << MPU600_GYRO_CONFIG_YG_ST) |
272 (1 << MPU600_GYRO_CONFIG_ZG_ST) |
273 (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL));
275 ao_delay(AO_MS_TO_TICKS(200));
276 _ao_mpu6000_sample(&test_mode);
278 /* Configure accelerometer to +/-16G */
279 _ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
280 (0 << MPU600_ACCEL_CONFIG_XA_ST) |
281 (0 << MPU600_ACCEL_CONFIG_YA_ST) |
282 (0 << MPU600_ACCEL_CONFIG_ZA_ST) |
283 (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL));
285 /* Configure gyro to +/- 2000°/s */
286 _ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG,
287 (0 << MPU600_GYRO_CONFIG_XG_ST) |
288 (0 << MPU600_GYRO_CONFIG_YG_ST) |
289 (0 << MPU600_GYRO_CONFIG_ZG_ST) |
290 (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL));
292 ao_delay(AO_MS_TO_TICKS(200));
293 _ao_mpu6000_sample(&normal_mode);
295 errors += ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x);
296 errors += ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y);
297 errors += ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z);
299 errors += ao_mpu6000_gyro_check(normal_mode.gyro_x, test_mode.gyro_x);
300 errors += ao_mpu6000_gyro_check(normal_mode.gyro_y, test_mode.gyro_y);
301 errors += ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z);
306 if (st_tries == ST_TRIES)
307 ao_sensor_errors = 1;
309 /* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */
310 _ao_mpu6000_reg_write(MPU6000_CONFIG,
311 (MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) |
312 (MPU6000_CONFIG_DLPF_CFG_94_98 << MPU6000_CONFIG_DLPF_CFG));
314 /* Set sample rate divider to sample at 200Hz (v = gyro/rate - 1) */
315 _ao_mpu6000_reg_write(MPU6000_SMPRT_DIV,
318 ao_delay(AO_MS_TO_TICKS(100));
319 ao_mpu6000_configured = 1;
322 struct ao_mpu6000_sample ao_mpu6000_current;
327 /* ao_mpu6000_init already grabbed the SPI bus and mutex */
330 ao_mpu6000_spi_put();
335 ao_mpu6000_spi_get();
337 _ao_mpu6000_sample(&ao_mpu6000_current);
339 ao_mpu6000_spi_put();
342 AO_DATA_PRESENT(AO_DATA_MPU6000);
348 static struct ao_task ao_mpu6000_task;
351 ao_mpu6000_show(void)
353 struct ao_data sample;
355 ao_data_get(&sample);
356 printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n",
357 sample.mpu6000.accel_x,
358 sample.mpu6000.accel_y,
359 sample.mpu6000.accel_z,
360 sample.mpu6000.gyro_x,
361 sample.mpu6000.gyro_y,
362 sample.mpu6000.gyro_z);
365 static const struct ao_cmds ao_mpu6000_cmds[] = {
366 { ao_mpu6000_show, "I\0Show MPU6000 status" },
371 ao_mpu6000_init(void)
373 ao_mpu6000_configured = 0;
375 ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000");
378 ao_spi_init_cs(AO_MPU6000_SPI_CS_PORT, (1 << AO_MPU6000_SPI_CS_PIN));
380 /* Pretend to be the mpu6000 task. Grab the SPI bus right away and
381 * hold it for the task so that nothing else uses the SPI bus before
382 * we get the I2C mode disabled in the chip
385 ao_cur_task = &ao_mpu6000_task;
386 ao_spi_get(AO_MPU6000_SPI_BUS, AO_SPI_SPEED_1MHz);
390 ao_cmd_register(&ao_mpu6000_cmds[0]);