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>
22 static uint8_t ao_mpu6000_wake;
23 static uint8_t ao_mpu6000_configured;
25 #define ao_mpu6000_spi_get() ao_spi_get_bit(AO_MPU6000_SPI_CS_PORT, \
26 AO_MPU6000_SPI_CS_PIN, \
31 #define ao_mpu6000_spi_put() ao_spi_put_bit(AO_MPU6000_SPI_CS_PORT, \
32 AO_MPU6000_SPI_CS_PIN, \
38 ao_mpu6000_reg_write(uint8_t addr, uint8_t value)
40 uint8_t d[2] = { addr, value };
41 #ifdef AO_MPU6000_I2C_INDEX
42 ao_i2c_get(AO_MPU6000_I2C_INDEX);
43 ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
44 ao_i2c_send(d, 2, AO_MPU6000_I2C_INDEX, TRUE);
45 ao_i2c_put(AO_MPU6000_I2C_INDEX);
48 ao_spi_send(d, 2, AO_MPU6000_SPI_BUS);
54 ao_mpu6000_read(uint8_t addr, void *data, uint8_t len)
56 #ifdef AO_MPU6000_I2C_INDEX
57 ao_i2c_get(AO_MPU6000_I2C_INDEX);
58 ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
59 ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
60 ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
61 ao_i2c_recv(data, len, AO_MPU6000_I2C_INDEX, TRUE);
62 ao_i2c_put(AO_MPU6000_I2C_INDEX);
66 ao_spi_send(&addr, 1, AO_MPU6000_SPI_BUS);
67 ao_spi_recv(data, len, AO_MPU6000_SPI_BUS);
73 ao_mpu6000_reg_read(uint8_t addr)
76 #ifdef AO_MPU6000_I2C_INDEX
77 ao_i2c_get(AO_MPU6000_I2C_INDEX);
78 ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
79 ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
80 ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
81 ao_i2c_recv(&value, 1, AO_MPU6000_I2C_INDEX, TRUE);
82 ao_i2c_put(AO_MPU6000_I2C_INDEX);
86 ao_spi_send(&addr, 1, AO_MPU6000_SPI_BUS);
87 ao_spi_recv(&value, 1, AO_MPU6000_SPI_BUS);
94 ao_mpu6000_sample(struct ao_mpu6000_sample *sample)
96 uint16_t *d = (uint16_t *) sample;
97 int i = sizeof (*sample) / 2;
99 ao_mpu6000_read(MPU6000_ACCEL_XOUT_H, sample, sizeof (*sample));
100 #if __BYTE_ORDER == __LITTLE_ENDIAN
104 *d++ = (t >> 8) | (t << 8);
109 #define G 981 /* in cm/s² */
111 static int16_t /* cm/s² */
112 ao_mpu6000_accel(int16_t v)
114 return (int16_t) ((v * (int32_t) (16.0 * 980.665 + 0.5)) / 32767);
117 static int16_t /* deg*10/s */
118 ao_mpu6000_gyro(int16_t v)
120 return (int16_t) ((v * (int32_t) 20000) / 32767);
124 ao_mpu6000_accel_check(int16_t normal, int16_t test, char *which)
126 int16_t diff = test - normal;
128 if (diff < MPU6000_ST_ACCEL(16) / 2) {
131 if (diff > MPU6000_ST_ACCEL(16) * 2) {
138 ao_mpu6000_gyro_check(int16_t normal, int16_t test, char *which)
140 int16_t diff = test - normal;
144 if (diff < MPU6000_ST_GYRO(2000) / 2) {
147 if (diff > MPU6000_ST_GYRO(2000) * 2) {
154 ao_mpu6000_setup(void)
156 struct ao_mpu6000_sample normal_mode, test_mode;
159 if (ao_mpu6000_configured)
162 /* Reset the whole chip */
164 ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
165 (1 << MPU6000_PWR_MGMT_1_DEVICE_RESET));
167 /* Wait for it to reset. If we talk too quickly, it appears to get confused */
168 ao_delay(AO_MS_TO_TICKS(100));
170 /* Reset signal conditioning */
171 ao_mpu6000_reg_write(MPU6000_USER_CONTROL,
172 (0 << MPU6000_USER_CONTROL_FIFO_EN) |
173 (0 << MPU6000_USER_CONTROL_I2C_MST_EN) |
174 (0 << MPU6000_USER_CONTROL_I2C_IF_DIS) |
175 (0 << MPU6000_USER_CONTROL_FIFO_RESET) |
176 (0 << MPU6000_USER_CONTROL_I2C_MST_RESET) |
177 (1 << MPU6000_USER_CONTROL_SIG_COND_RESET));
179 while (ao_mpu6000_reg_read(MPU6000_USER_CONTROL) & (1 << MPU6000_USER_CONTROL_SIG_COND_RESET))
182 /* Reset signal paths */
183 ao_mpu6000_reg_write(MPU6000_SIGNAL_PATH_RESET,
184 (1 << MPU6000_SIGNAL_PATH_RESET_GYRO_RESET) |
185 (1 << MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET) |
186 (1 << MPU6000_SIGNAL_PATH_RESET_TEMP_RESET));
188 ao_mpu6000_reg_write(MPU6000_SIGNAL_PATH_RESET,
189 (0 << MPU6000_SIGNAL_PATH_RESET_GYRO_RESET) |
190 (0 << MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET) |
191 (0 << MPU6000_SIGNAL_PATH_RESET_TEMP_RESET));
193 /* Select clocks, disable sleep */
194 ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
195 (0 << MPU6000_PWR_MGMT_1_DEVICE_RESET) |
196 (0 << MPU6000_PWR_MGMT_1_SLEEP) |
197 (0 << MPU6000_PWR_MGMT_1_CYCLE) |
198 (0 << MPU6000_PWR_MGMT_1_TEMP_DIS) |
199 (MPU6000_PWR_MGMT_1_CLKSEL_PLL_X_AXIS << MPU6000_PWR_MGMT_1_CLKSEL));
201 /* Set sample rate divider to sample at full speed
202 ao_mpu6000_reg_write(MPU6000_SMPRT_DIV, 0);
204 /* Disable filtering */
205 ao_mpu6000_reg_write(MPU6000_CONFIG,
206 (MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) |
207 (MPU6000_CONFIG_DLPF_CFG_260_256 << MPU6000_CONFIG_DLPF_CFG));
209 /* Configure accelerometer to +/-16G in self-test mode */
210 ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
211 (1 << MPU600_ACCEL_CONFIG_XA_ST) |
212 (1 << MPU600_ACCEL_CONFIG_YA_ST) |
213 (1 << MPU600_ACCEL_CONFIG_ZA_ST) |
214 (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL));
216 /* Configure gyro to +/- 2000°/s in self-test mode */
217 ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG,
218 (1 << MPU600_GYRO_CONFIG_XG_ST) |
219 (1 << MPU600_GYRO_CONFIG_YG_ST) |
220 (1 << MPU600_GYRO_CONFIG_ZG_ST) |
221 (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL));
223 ao_delay(AO_MS_TO_TICKS(200));
224 ao_mpu6000_sample(&test_mode);
227 // read the product ID rev c has 1/2 the sensitivity of rev d
228 _mpu6000_product_id = _register_read(MPUREG_PRODUCT_ID);
229 //Serial.printf("Product_ID= 0x%x\n", (unsigned) _mpu6000_product_id);
231 if ((_mpu6000_product_id == MPU6000ES_REV_C4) || (_mpu6000_product_id == MPU6000ES_REV_C5) ||
232 (_mpu6000_product_id == MPU6000_REV_C4) || (_mpu6000_product_id == MPU6000_REV_C5)) {
233 // Accel scale 8g (4096 LSB/g)
234 // Rev C has different scaling than rev D
235 register_write(MPUREG_ACCEL_CONFIG,1<<3);
237 // Accel scale 8g (4096 LSB/g)
238 register_write(MPUREG_ACCEL_CONFIG,2<<3);
240 hal.scheduler->delay(1);
244 /* Configure accelerometer to +/-16G */
245 ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
246 (0 << MPU600_ACCEL_CONFIG_XA_ST) |
247 (0 << MPU600_ACCEL_CONFIG_YA_ST) |
248 (0 << MPU600_ACCEL_CONFIG_ZA_ST) |
249 (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL));
251 /* Configure gyro to +/- 2000°/s */
252 ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG,
253 (0 << MPU600_GYRO_CONFIG_XG_ST) |
254 (0 << MPU600_GYRO_CONFIG_YG_ST) |
255 (0 << MPU600_GYRO_CONFIG_ZG_ST) |
256 (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL));
258 ao_delay(AO_MS_TO_TICKS(10));
259 ao_mpu6000_sample(&normal_mode);
261 errors += ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x, "x");
262 errors += ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y, "y");
263 errors += ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z, "z");
265 errors += ao_mpu6000_gyro_check(normal_mode.gyro_x, test_mode.gyro_x, "x");
266 errors += ao_mpu6000_gyro_check(normal_mode.gyro_y, test_mode.gyro_y, "y");
267 errors += ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z, "z");
270 ao_panic(AO_PANIC_SELF_TEST_MPU6000);
272 /* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */
273 ao_mpu6000_reg_write(MPU6000_CONFIG,
274 (MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) |
275 (MPU6000_CONFIG_DLPF_CFG_94_98 << MPU6000_CONFIG_DLPF_CFG));
277 /* Set sample rate divider to sample at 200Hz (v = gyro/rate - 1) */
278 ao_mpu6000_reg_write(MPU6000_SMPRT_DIV,
281 ao_delay(AO_MS_TO_TICKS(100));
282 ao_mpu6000_configured = 1;
285 struct ao_mpu6000_sample ao_mpu6000_current;
293 ao_mpu6000_sample(&ao_mpu6000_current);
295 AO_DATA_PRESENT(AO_DATA_MPU6000);
301 static struct ao_task ao_mpu6000_task;
304 ao_mpu6000_show(void)
306 struct ao_data sample;
308 ao_data_get(&sample);
309 printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n",
310 sample.mpu6000.accel_x,
311 sample.mpu6000.accel_y,
312 sample.mpu6000.accel_z,
313 sample.mpu6000.gyro_x,
314 sample.mpu6000.gyro_y,
315 sample.mpu6000.gyro_z);
318 static const struct ao_cmds ao_mpu6000_cmds[] = {
319 { ao_mpu6000_show, "I\0Show MPU6000 status" },
324 ao_mpu6000_init(void)
326 ao_mpu6000_configured = 0;
328 ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000");
329 ao_cmd_register(&ao_mpu6000_cmds[0]);