*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
#include <ao_mpu6000.h>
#include <ao_exti.h>
-static uint8_t ao_mpu6000_wake;
+#if HAS_MPU6000
+
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);
-}
+#ifndef AO_MPU6000_I2C_INDEX
+#define AO_MPU6000_SPI 1
+#else
+#define AO_MPU6000_SPI 0
+#endif
+
+#if AO_MPU6000_SPI
+
+#define ao_mpu6000_spi_get() ao_spi_get(AO_MPU6000_SPI_BUS, AO_SPI_SPEED_1MHz)
+#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, \
+ (1 << AO_MPU6000_SPI_CS_PIN))
+
+#define ao_mpu6000_spi_end() ao_spi_clr_cs(AO_MPU6000_SPI_CS_PORT, \
+ (1 << AO_MPU6000_SPI_CS_PIN))
+
+#endif
+
static void
-ao_mpu6000_reg_write(uint8_t addr, uint8_t value)
+_ao_mpu6000_reg_write(uint8_t addr, uint8_t value)
{
uint8_t d[2] = { addr, value };
+#if AO_MPU6000_SPI
+ ao_mpu6000_spi_start();
+ ao_spi_send(d, 2, AO_MPU6000_SPI_BUS);
+ ao_mpu6000_spi_end();
+#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_put(AO_MPU6000_I2C_INDEX);
+#endif
}
static void
-ao_mpu6000_read(uint8_t addr, void *data, uint8_t len)
+_ao_mpu6000_read(uint8_t addr, void *data, uint8_t len)
{
+#if AO_MPU6000_SPI
+ addr |= 0x80;
+ ao_mpu6000_spi_start();
+ ao_spi_send(&addr, 1, AO_MPU6000_SPI_BUS);
+ ao_spi_recv(data, len, AO_MPU6000_SPI_BUS);
+ ao_mpu6000_spi_end();
+#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_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);
+#endif
}
static uint8_t
-ao_mpu6000_reg_read(uint8_t addr)
+_ao_mpu6000_reg_read(uint8_t addr)
{
uint8_t value;
+#if AO_MPU6000_SPI
+ addr |= 0x80;
+ ao_mpu6000_spi_start();
+ ao_spi_send(&addr, 1, AO_MPU6000_SPI_BUS);
+ ao_spi_recv(&value, 1, AO_MPU6000_SPI_BUS);
+ ao_mpu6000_spi_end();
+#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_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);
+#endif
return value;
}
static void
-ao_mpu6000_sample(struct ao_mpu6000_sample *sample)
+_ao_mpu6000_sample(struct ao_mpu6000_sample *sample)
{
uint16_t *d = (uint16_t *) sample;
int i = sizeof (*sample) / 2;
- ao_mpu6000_read(MPU6000_ACCEL_XOUT_H, sample, sizeof (*sample));
+ _ao_mpu6000_read(MPU6000_ACCEL_XOUT_H, sample, sizeof (*sample));
#if __BYTE_ORDER == __LITTLE_ENDIAN
/* byte swap */
while (i--) {
#define G 981 /* in cm/s² */
+#if 0
static int16_t /* cm/s² */
ao_mpu6000_accel(int16_t v)
{
{
return (int16_t) ((v * (int32_t) 20000) / 32767);
}
+#endif
static uint8_t
-ao_mpu6000_accel_check(int16_t normal, int16_t test, char *which)
+ao_mpu6000_accel_check(int16_t normal, int16_t test)
{
int16_t diff = test - normal;
- if (diff < MPU6000_ST_ACCEL(16) / 2) {
+ if (diff < MPU6000_ST_ACCEL(16) / 4) {
return 1;
}
- if (diff > MPU6000_ST_ACCEL(16) * 2) {
+ if (diff > MPU6000_ST_ACCEL(16) * 4) {
return 1;
}
return 0;
}
static uint8_t
-ao_mpu6000_gyro_check(int16_t normal, int16_t test, char *which)
+ao_mpu6000_gyro_check(int16_t normal, int16_t test)
{
int16_t diff = test - normal;
if (diff < 0)
diff = -diff;
- if (diff < MPU6000_ST_GYRO(2000) / 2) {
+ if (diff < MPU6000_ST_GYRO(2000) / 4) {
return 1;
}
- if (diff > MPU6000_ST_GYRO(2000) * 2) {
+ if (diff > MPU6000_ST_GYRO(2000) * 4) {
return 1;
}
return 0;
}
static void
-ao_mpu6000_setup(void)
+_ao_mpu6000_wait_alive(void)
+{
+ uint8_t i;
+
+ /* 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;
+ }
+ if (i == 30)
+ ao_panic(AO_PANIC_SELF_TEST_MPU6000);
+}
+
+#define ST_TRIES 10
+
+static void
+_ao_mpu6000_setup(void)
{
struct ao_mpu6000_sample normal_mode, test_mode;
- int errors =0;
+ int errors;
+ int st_tries;
if (ao_mpu6000_configured)
return;
+ _ao_mpu6000_wait_alive();
+
/* Reset the whole chip */
- ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
- (1 << MPU6000_PWR_MGMT_1_DEVICE_RESET));
+ _ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
+ (1 << MPU6000_PWR_MGMT_1_DEVICE_RESET));
/* Wait for it to reset. If we talk too quickly, it appears to get confused */
- ao_delay(AO_MS_TO_TICKS(100));
- /* Reset signal conditioning */
- ao_mpu6000_reg_write(MPU6000_USER_CONTROL,
- (0 << MPU6000_USER_CONTROL_FIFO_EN) |
- (0 << MPU6000_USER_CONTROL_I2C_MST_EN) |
- (0 << MPU6000_USER_CONTROL_I2C_IF_DIS) |
- (0 << MPU6000_USER_CONTROL_FIFO_RESET) |
- (0 << MPU6000_USER_CONTROL_I2C_MST_RESET) |
- (1 << MPU6000_USER_CONTROL_SIG_COND_RESET));
+ _ao_mpu6000_wait_alive();
+
+ /* Reset signal conditioning, disabling I2C on SPI systems */
+ _ao_mpu6000_reg_write(MPU6000_USER_CTRL,
+ (0 << MPU6000_USER_CTRL_FIFO_EN) |
+ (0 << MPU6000_USER_CTRL_I2C_MST_EN) |
+ (AO_MPU6000_SPI << MPU6000_USER_CTRL_I2C_IF_DIS) |
+ (0 << MPU6000_USER_CTRL_FIFO_RESET) |
+ (0 << MPU6000_USER_CTRL_I2C_MST_RESET) |
+ (1 << MPU6000_USER_CTRL_SIG_COND_RESET));
- while (ao_mpu6000_reg_read(MPU6000_USER_CONTROL) & (1 << MPU6000_USER_CONTROL_SIG_COND_RESET))
- ao_yield();
+ while (_ao_mpu6000_reg_read(MPU6000_USER_CTRL) & (1 << MPU6000_USER_CTRL_SIG_COND_RESET))
+ ao_delay(AO_MS_TO_TICKS(10));
/* Reset signal paths */
- ao_mpu6000_reg_write(MPU6000_SIGNAL_PATH_RESET,
- (1 << MPU6000_SIGNAL_PATH_RESET_GYRO_RESET) |
- (1 << MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET) |
- (1 << MPU6000_SIGNAL_PATH_RESET_TEMP_RESET));
+ _ao_mpu6000_reg_write(MPU6000_SIGNAL_PATH_RESET,
+ (1 << MPU6000_SIGNAL_PATH_RESET_GYRO_RESET) |
+ (1 << MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET) |
+ (1 << MPU6000_SIGNAL_PATH_RESET_TEMP_RESET));
- ao_mpu6000_reg_write(MPU6000_SIGNAL_PATH_RESET,
- (0 << MPU6000_SIGNAL_PATH_RESET_GYRO_RESET) |
- (0 << MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET) |
- (0 << MPU6000_SIGNAL_PATH_RESET_TEMP_RESET));
+ _ao_mpu6000_reg_write(MPU6000_SIGNAL_PATH_RESET,
+ (0 << MPU6000_SIGNAL_PATH_RESET_GYRO_RESET) |
+ (0 << MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET) |
+ (0 << MPU6000_SIGNAL_PATH_RESET_TEMP_RESET));
/* Select clocks, disable sleep */
- ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
- (0 << MPU6000_PWR_MGMT_1_DEVICE_RESET) |
- (0 << MPU6000_PWR_MGMT_1_SLEEP) |
- (0 << MPU6000_PWR_MGMT_1_CYCLE) |
- (0 << MPU6000_PWR_MGMT_1_TEMP_DIS) |
- (MPU6000_PWR_MGMT_1_CLKSEL_PLL_X_AXIS << MPU6000_PWR_MGMT_1_CLKSEL));
+ _ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
+ (0 << MPU6000_PWR_MGMT_1_DEVICE_RESET) |
+ (0 << MPU6000_PWR_MGMT_1_SLEEP) |
+ (0 << MPU6000_PWR_MGMT_1_CYCLE) |
+ (0 << MPU6000_PWR_MGMT_1_TEMP_DIS) |
+ (MPU6000_PWR_MGMT_1_CLKSEL_PLL_X_AXIS << MPU6000_PWR_MGMT_1_CLKSEL));
- /* Set sample rate divider to sample at full speed
- ao_mpu6000_reg_write(MPU6000_SMPRT_DIV, 0);
+ /* Set sample rate divider to sample at full speed */
+ _ao_mpu6000_reg_write(MPU6000_SMPRT_DIV, 0);
/* Disable filtering */
- ao_mpu6000_reg_write(MPU6000_CONFIG,
- (MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) |
- (MPU6000_CONFIG_DLPF_CFG_260_256 << MPU6000_CONFIG_DLPF_CFG));
-
- /* Configure accelerometer to +/-16G in self-test mode */
- ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
- (1 << MPU600_ACCEL_CONFIG_XA_ST) |
- (1 << MPU600_ACCEL_CONFIG_YA_ST) |
- (1 << MPU600_ACCEL_CONFIG_ZA_ST) |
- (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL));
-
- /* Configure gyro to +/- 2000°/s in self-test mode */
- ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG,
- (1 << MPU600_GYRO_CONFIG_XG_ST) |
- (1 << MPU600_GYRO_CONFIG_YG_ST) |
- (1 << MPU600_GYRO_CONFIG_ZG_ST) |
- (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL));
-
- ao_delay(AO_MS_TO_TICKS(200));
- ao_mpu6000_sample(&test_mode);
-
- /* Configure accelerometer to +/-16G */
- ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
- (0 << MPU600_ACCEL_CONFIG_XA_ST) |
- (0 << MPU600_ACCEL_CONFIG_YA_ST) |
- (0 << MPU600_ACCEL_CONFIG_ZA_ST) |
- (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL));
-
- /* Configure gyro to +/- 2000°/s */
- ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG,
- (0 << MPU600_GYRO_CONFIG_XG_ST) |
- (0 << MPU600_GYRO_CONFIG_YG_ST) |
- (0 << MPU600_GYRO_CONFIG_ZG_ST) |
- (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL));
-
- ao_delay(AO_MS_TO_TICKS(10));
- ao_mpu6000_sample(&normal_mode);
-
- errors += ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x, "x");
- errors += ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y, "y");
- errors += ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z, "z");
+ _ao_mpu6000_reg_write(MPU6000_CONFIG,
+ (MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) |
+ (MPU6000_CONFIG_DLPF_CFG_260_256 << MPU6000_CONFIG_DLPF_CFG));
+
+#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
- errors += ao_mpu6000_gyro_check(normal_mode.gyro_x, test_mode.gyro_x, "x");
- errors += ao_mpu6000_gyro_check(normal_mode.gyro_y, test_mode.gyro_y, "y");
- errors += ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z, "z");
+ for (st_tries = 0; st_tries < ST_TRIES; st_tries++) {
+ errors = 0;
+
+ /* Configure accelerometer to +/-16G in self-test mode */
+ _ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
+ (1 << MPU600_ACCEL_CONFIG_XA_ST) |
+ (1 << MPU600_ACCEL_CONFIG_YA_ST) |
+ (1 << MPU600_ACCEL_CONFIG_ZA_ST) |
+ (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL));
+
+ /* Configure gyro to +/- 2000°/s in self-test mode */
+ _ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG,
+ (1 << MPU600_GYRO_CONFIG_XG_ST) |
+ (1 << MPU600_GYRO_CONFIG_YG_ST) |
+ (1 << MPU600_GYRO_CONFIG_ZG_ST) |
+ (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL));
+
+ ao_delay(AO_MS_TO_TICKS(200));
+ _ao_mpu6000_sample(&test_mode);
+
+ /* Configure accelerometer to +/-16G */
+ _ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
+ (0 << MPU600_ACCEL_CONFIG_XA_ST) |
+ (0 << MPU600_ACCEL_CONFIG_YA_ST) |
+ (0 << MPU600_ACCEL_CONFIG_ZA_ST) |
+ (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL));
+
+ /* Configure gyro to +/- 2000°/s */
+ _ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG,
+ (0 << MPU600_GYRO_CONFIG_XG_ST) |
+ (0 << MPU600_GYRO_CONFIG_YG_ST) |
+ (0 << MPU600_GYRO_CONFIG_ZG_ST) |
+ (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL));
+
+ ao_delay(AO_MS_TO_TICKS(200));
+ _ao_mpu6000_sample(&normal_mode);
+
+ errors += ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x);
+ errors += ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y);
+ errors += ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z);
+
+ errors += ao_mpu6000_gyro_check(normal_mode.gyro_x, test_mode.gyro_x);
+ errors += ao_mpu6000_gyro_check(normal_mode.gyro_y, test_mode.gyro_y);
+ errors += ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z);
+ if (!errors)
+ break;
+ }
- if (errors)
- ao_panic(AO_PANIC_SELF_TEST);
+ if (st_tries == ST_TRIES)
+ ao_sensor_errors = 1;
/* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */
- ao_mpu6000_reg_write(MPU6000_CONFIG,
- (MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) |
- (MPU6000_CONFIG_DLPF_CFG_94_98 << MPU6000_CONFIG_DLPF_CFG));
+ _ao_mpu6000_reg_write(MPU6000_CONFIG,
+ (MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) |
+ (MPU6000_CONFIG_DLPF_CFG_94_98 << MPU6000_CONFIG_DLPF_CFG));
/* Set sample rate divider to sample at 200Hz (v = gyro/rate - 1) */
- ao_mpu6000_reg_write(MPU6000_SMPRT_DIV,
- 1000 / 200 - 1);
+ _ao_mpu6000_reg_write(MPU6000_SMPRT_DIV,
+ 1000 / 200 - 1);
ao_delay(AO_MS_TO_TICKS(100));
ao_mpu6000_configured = 1;
}
+struct ao_mpu6000_sample ao_mpu6000_current;
+
static void
ao_mpu6000(void)
{
- ao_mpu6000_setup();
+ /* ao_mpu6000_init already grabbed the SPI bus and mutex */
+ _ao_mpu6000_setup();
+#if AO_MPU6000_SPI
+ ao_mpu6000_spi_put();
+#endif
for (;;)
{
- ao_mpu6000_sample((struct ao_mpu6000_sample *) &ao_data_ring[ao_data_head].mpu6000);
+#if AO_MPU6000_SPI
+ ao_mpu6000_spi_get();
+#endif
+ _ao_mpu6000_sample(&ao_mpu6000_current);
+#if AO_MPU6000_SPI
+ ao_mpu6000_spi_put();
+#endif
ao_arch_critical(
AO_DATA_PRESENT(AO_DATA_MPU6000);
AO_DATA_WAIT();
ao_mpu6000_configured = 0;
ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000");
+
+#if AO_MPU6000_SPI
+ ao_spi_init_cs(AO_MPU6000_SPI_CS_PORT, (1 << AO_MPU6000_SPI_CS_PIN));
+
+ /* Pretend to be the mpu6000 task. Grab the SPI bus right away and
+ * hold it for the task so that nothing else uses the SPI bus before
+ * we get the I2C mode disabled in the chip
+ */
+
+ ao_cur_task = &ao_mpu6000_task;
+ ao_spi_get(AO_MPU6000_SPI_BUS, AO_SPI_SPEED_1MHz);
+ ao_cur_task = NULL;
+#endif
+
ao_cmd_register(&ao_mpu6000_cmds[0]);
}
+#endif
projects / fw / altos / blobdiff