static uint8_t ao_mpu6000_wake;
static uint8_t ao_mpu6000_configured;
-static void
-ao_mpu6000_write(uint8_t addr, uint8_t *data, uint8_t len)
-{
- 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(data, len, AO_MPU6000_I2C_INDEX, TRUE);
- ao_i2c_put(AO_MPU6000_I2C_INDEX);
-}
+#define ao_mpu6000_spi_get() ao_spi_get_bit(AO_MPU6000_SPI_CS_PORT, \
+ AO_MPU6000_SPI_CS_PIN, \
+ AO_MPU6000_SPI_CS, \
+ AO_MPU6000_SPI_BUS, \
+ AO_SPI_SPEED_1MHz)
+
+#define ao_mpu6000_spi_put() ao_spi_put_bit(AO_MPU6000_SPI_CS_PORT, \
+ AO_MPU6000_SPI_CS_PIN, \
+ AO_MPU6000_SPI_CS, \
+ AO_MPU6000_SPI_BUS)
+
static void
ao_mpu6000_reg_write(uint8_t addr, uint8_t value)
{
uint8_t d[2] = { addr, value };
+#ifdef AO_MPU6000_I2C_INDEX
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_put(AO_MPU6000_I2C_INDEX);
+#else
+ ao_mpu6000_spi_get();
+ ao_spi_send(d, 2, AO_MPU6000_SPI_BUS);
+ ao_mpu6000_spi_put();
+#endif
}
static void
ao_mpu6000_read(uint8_t addr, void *data, uint8_t len)
{
+#ifdef AO_MPU6000_I2C_INDEX
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_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
ao_i2c_recv(data, len, AO_MPU6000_I2C_INDEX, TRUE);
ao_i2c_put(AO_MPU6000_I2C_INDEX);
+#else
+ addr |= 0x80;
+ ao_mpu6000_spi_get();
+ ao_spi_send(&addr, 1, AO_MPU6000_SPI_BUS);
+ ao_spi_recv(data, len, AO_MPU6000_SPI_BUS);
+ ao_mpu6000_spi_put();
+#endif
}
static uint8_t
ao_mpu6000_reg_read(uint8_t addr)
{
uint8_t value;
+#ifdef AO_MPU6000_I2C_INDEX
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_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
ao_i2c_recv(&value, 1, AO_MPU6000_I2C_INDEX, TRUE);
ao_i2c_put(AO_MPU6000_I2C_INDEX);
+#else
+ addr |= 0x80;
+ ao_mpu6000_spi_get();
+ ao_spi_send(&addr, 1, AO_MPU6000_SPI_BUS);
+ ao_spi_recv(&value, 1, AO_MPU6000_SPI_BUS);
+ ao_mpu6000_spi_put();
+#endif
return value;
}
ao_delay(AO_MS_TO_TICKS(200));
ao_mpu6000_sample(&test_mode);
+#if TRIDGE
+ // read the product ID rev c has 1/2 the sensitivity of rev d
+ _mpu6000_product_id = _register_read(MPUREG_PRODUCT_ID);
+ //Serial.printf("Product_ID= 0x%x\n", (unsigned) _mpu6000_product_id);
+
+ if ((_mpu6000_product_id == MPU6000ES_REV_C4) || (_mpu6000_product_id == MPU6000ES_REV_C5) ||
+ (_mpu6000_product_id == MPU6000_REV_C4) || (_mpu6000_product_id == MPU6000_REV_C5)) {
+ // Accel scale 8g (4096 LSB/g)
+ // Rev C has different scaling than rev D
+ register_write(MPUREG_ACCEL_CONFIG,1<<3);
+ } else {
+ // Accel scale 8g (4096 LSB/g)
+ register_write(MPUREG_ACCEL_CONFIG,2<<3);
+ }
+ hal.scheduler->delay(1);
+
+#endif
+
/* Configure accelerometer to +/-16G */
ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
(0 << MPU600_ACCEL_CONFIG_XA_ST) |
ao_mpu6000_configured = 1;
}
+struct ao_mpu6000_sample ao_mpu6000_current;
+
static void
ao_mpu6000(void)
{
ao_mpu6000_setup();
for (;;)
{
- ao_mpu6000_sample((struct ao_mpu6000_sample *) &ao_data_ring[ao_data_head].mpu6000);
+ ao_mpu6000_sample(&ao_mpu6000_current);
ao_arch_critical(
AO_DATA_PRESENT(AO_DATA_MPU6000);
AO_DATA_WAIT();