#if AO_MPU6000_SPI
-#define ao_mpu6000_spi_get() ao_spi_get(AO_MPU6000_SPI_BUS, AO_SPI_SPEED_1MHz)
+#define AO_MPU6000_SPI_SPEED ao_spi_speed(1000000) /* 1Mhz for all register access */
+
+#define ao_mpu6000_spi_get() ao_spi_get(AO_MPU6000_SPI_BUS, AO_MPU6000_SPI_SPEED)
#define ao_mpu6000_spi_put() ao_spi_put(AO_MPU6000_SPI_BUS)
#define ao_mpu6000_spi_start() ao_spi_set_cs(AO_MPU6000_SPI_CS_PORT, \
#else
ao_i2c_get(AO_MPU6000_I2C_INDEX);
ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
- ao_i2c_send(d, 2, AO_MPU6000_I2C_INDEX, TRUE);
+ ao_i2c_send(d, 2, AO_MPU6000_I2C_INDEX, true);
ao_i2c_put(AO_MPU6000_I2C_INDEX);
#endif
}
#else
ao_i2c_get(AO_MPU6000_I2C_INDEX);
ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
- ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
+ ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, false);
ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
- ao_i2c_recv(data, len, AO_MPU6000_I2C_INDEX, TRUE);
+ ao_i2c_recv(data, len, AO_MPU6000_I2C_INDEX, true);
ao_i2c_put(AO_MPU6000_I2C_INDEX);
#endif
}
#else
ao_i2c_get(AO_MPU6000_I2C_INDEX);
ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
- ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
+ ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, false);
ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
- ao_i2c_recv(&value, 1, AO_MPU6000_I2C_INDEX, TRUE);
+ ao_i2c_recv(&value, 1, AO_MPU6000_I2C_INDEX, true);
ao_i2c_put(AO_MPU6000_I2C_INDEX);
#endif
return value;
return 0;
}
+static uint8_t mpu_id;
+
static void
_ao_mpu6000_wait_alive(void)
{
/* Wait for the chip to wake up */
for (i = 0; i < 30; i++) {
ao_delay(AO_MS_TO_TICKS(100));
- if (_ao_mpu6000_reg_read(MPU6000_WHO_AM_I) == 0x68)
- break;
+ mpu_id = _ao_mpu6000_reg_read(MPU6000_WHO_AM_I);
+ if (mpu_id == 0x68)
+ return;
}
- if (i == 30)
- ao_panic(AO_PANIC_SELF_TEST_MPU6000);
+ AO_SENSOR_ERROR(AO_DATA_MPU6000);
}
#define ST_TRIES 10
}
if (st_tries == ST_TRIES)
- ao_sensor_errors = 1;
+ AO_SENSOR_ERROR(AO_DATA_MPU6000);
/* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */
_ao_mpu6000_reg_write(MPU6000_CONFIG,
static void
ao_mpu6000_show(void)
{
+#ifdef AO_LOG_NORMALIZED
+ printf ("MPU6000: %7d %7d %7d %7d %7d %7d\n",
+ ao_mpu6000_along(&ao_mpu6000_current),
+ ao_mpu6000_across(&ao_mpu6000_current),
+ ao_mpu6000_through(&ao_mpu6000_current),
+ ao_mpu6000_roll(&ao_mpu6000_current),
+ ao_mpu6000_pitch(&ao_mpu6000_current),
+ ao_mpu6000_yaw(&ao_mpu6000_current));
+#else
printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n",
ao_mpu6000_current.accel_x,
ao_mpu6000_current.accel_y,
ao_mpu6000_current.gyro_x,
ao_mpu6000_current.gyro_y,
ao_mpu6000_current.gyro_z);
+#endif
}
static const struct ao_cmds ao_mpu6000_cmds[] = {
*/
ao_cur_task = &ao_mpu6000_task;
- ao_spi_get(AO_MPU6000_SPI_BUS, AO_SPI_SPEED_1MHz);
+ ao_mpu6000_spi_get();
ao_cur_task = NULL;
#endif