X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_mpu6000.c;h=e5594a662c6dfcb62f6d11e0acd1a78565bd2ce1;hb=d2216717adac7f7e917e13085de6ce8118023d5f;hp=81d3c16cc76479f3eb2298fb23292d0d3191714a;hpb=c8dbcaf69cd538a31ab6e2b568237ae7c8656a9a;p=fw%2Faltos

diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index 81d3c16c..e5594a66 100644
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -32,7 +32,9 @@ static uint8_t	ao_mpu6000_configured;
 
 #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(AO_MPU6000_SPI_BUS, 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,	\
@@ -55,7 +57,7 @@ _ao_mpu6000_reg_write(uint8_t addr, uint8_t value)
 #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
 }
@@ -72,9 +74,9 @@ _ao_mpu6000_read(uint8_t addr, void *data, uint8_t len)
 #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
 }
@@ -92,9 +94,9 @@ _ao_mpu6000_reg_read(uint8_t addr)
 #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;
@@ -111,7 +113,7 @@ _ao_mpu6000_sample(struct ao_mpu6000_sample *sample)
 	/* byte swap */
 	while (i--) {
 		uint16_t	t = *d;
-		*d++ = (t >> 8) | (t << 8);
+		*d++ = (uint16_t) ((t >> 8) | (t << 8));
 	}
 #endif
 }
@@ -162,6 +164,8 @@ ao_mpu6000_gyro_check(int16_t normal, int16_t test)
 	return 0;
 }
 
+static uint8_t	mpu_id;
+
 static void
 _ao_mpu6000_wait_alive(void)
 {
@@ -170,11 +174,11 @@ _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
@@ -305,7 +309,7 @@ _ao_mpu6000_setup(void)
 	}
 
 	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,
@@ -353,6 +357,15 @@ static struct ao_task ao_mpu6000_task;
 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,
@@ -360,6 +373,7 @@ ao_mpu6000_show(void)
 		ao_mpu6000_current.gyro_x,
 		ao_mpu6000_current.gyro_y,
 		ao_mpu6000_current.gyro_z);
+#endif
 }
 
 static const struct ao_cmds ao_mpu6000_cmds[] = {
@@ -383,7 +397,7 @@ ao_mpu6000_init(void)
 	 */
 
 	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