static uint8_t ao_mpu6000_configured;
static void
-ao_mpu6000_isr(void)
+ao_mpu6000_write(uint8_t addr, uint8_t *data, uint8_t len)
{
- ao_exti_disable(&AO_MPU6000_INT_PORT, AO_MPU6000_INT_PIN);
- ao_mpu6000_wake = 1;
- ao_wakeup(&ao_mpu6000_wake);
+ 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);
}
static void
-ao_mpu6000_write(uint8_t addr, uint8_t *data, uint8_t len)
+ao_mpu6000_reg_write(uint8_t addr, uint8_t value)
{
+ uint8_t d[2] = { addr, value };
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);
- if (len)
- ao_i2c_send(data, len, AO_MPU6000_I2C_INDEX);
- ao_i2c_stop(AO_MPU6000_I2C_INDEX);
+ ao_i2c_send(d, 2, AO_MPU6000_I2C_INDEX, TRUE);
ao_i2c_put(AO_MPU6000_I2C_INDEX);
}
static void
-ao_mpu6000_read(uint8_t addr, uint8_t *data, uint8_t len)
+ao_mpu6000_read(uint8_t addr, void *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_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);
+}
+
+static uint8_t
+ao_mpu6000_reg_read(uint8_t addr)
{
+ uint8_t value;
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);
+ ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
- if (len)
- ao_i2c_recv(data, len, AO_MPU6000_I2C_INDEX);
- ao_i2c_stop(AO_MPU6000_I2C_INDEX);
+ ao_i2c_recv(&value, 1, AO_MPU6000_I2C_INDEX, TRUE);
ao_i2c_put(AO_MPU6000_I2C_INDEX);
+ return value;
+}
+
+static void
+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));
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+ /* byte swap */
+ while (i--) {
+ uint16_t t = *d;
+ *d++ = (t >> 8) | (t << 8);
+ }
+#endif
+}
+
+#define G 981 /* in cm/s² */
+
+static int16_t /* cm/s² */
+ao_mpu6000_accel(int16_t v)
+{
+ return (int16_t) ((v * (int32_t) (16.0 * 980.665 + 0.5)) / 32767);
+}
+
+static int16_t /* deg*10/s */
+ao_mpu6000_gyro(int16_t v)
+{
+ return (int16_t) ((v * (int32_t) 20000) / 32767);
+}
+
+static uint8_t
+ao_mpu6000_accel_check(int16_t normal, int16_t test, char *which)
+{
+ int16_t diff = test - normal;
+
+ if (diff < MPU6000_ST_ACCEL(16) / 2) {
+ return 1;
+ }
+ if (diff > MPU6000_ST_ACCEL(16) * 2) {
+ return 1;
+ }
+ return 0;
+}
+
+static uint8_t
+ao_mpu6000_gyro_check(int16_t normal, int16_t test, char *which)
+{
+ int16_t diff = test - normal;
+
+ if (diff < 0)
+ diff = -diff;
+ if (diff < MPU6000_ST_GYRO(2000) / 2) {
+ return 1;
+ }
+ if (diff > MPU6000_ST_GYRO(2000) * 2) {
+ return 1;
+ }
+ return 0;
}
static void
ao_mpu6000_setup(void)
{
+ struct ao_mpu6000_sample normal_mode, test_mode;
+ int errors =0;
+
if (ao_mpu6000_configured)
return;
- /* Enable the EXTI interrupt for the appropriate pin */
- ao_enable_port(AO_MPU6000_INT_PORT);
- ao_exti_setup(&AO_MPU6000_INT_PORT, AO_MPU6000_INT_PIN,
- AO_EXTI_MODE_FALLING, ao_mpu6000_isr);
+ /* Reset the whole chip */
+
+ 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));
+
+ while (ao_mpu6000_reg_read(MPU6000_USER_CONTROL) & (1 << MPU6000_USER_CONTROL_SIG_COND_RESET))
+ ao_yield();
+
+ /* 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,
+ (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));
+
+ /* 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");
+
+ 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");
+
+ if (errors)
+ ao_panic(AO_PANIC_SELF_TEST_MPU6000);
+
+ /* 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));
+
+ /* Set sample rate divider to sample at 200Hz (v = gyro/rate - 1) */
+ ao_mpu6000_reg_write(MPU6000_SMPRT_DIV,
+ 1000 / 200 - 1);
+
+ ao_delay(AO_MS_TO_TICKS(100));
ao_mpu6000_configured = 1;
}
+static void
+ao_mpu6000(void)
+{
+ ao_mpu6000_setup();
+ for (;;)
+ {
+ ao_mpu6000_sample((struct ao_mpu6000_sample *) &ao_data_ring[ao_data_head].mpu6000);
+ ao_arch_critical(
+ AO_DATA_PRESENT(AO_DATA_MPU6000);
+ AO_DATA_WAIT();
+ );
+ }
+}
+
+static struct ao_task ao_mpu6000_task;
+
static void
ao_mpu6000_show(void)
{
- uint8_t addr;
- uint8_t data[14];
- uint8_t i;
-
- ao_mpu6000_read(MPU6000_WHO_AM_I, data, 1);
- printf ("mpu6000 WHO_AM_I: %02x\n", data[0]);
- ao_mpu6000_read(MPU6000_ACCEL_XOUT_H, data, 1);
- for (i = 0; i < 14; i++)
- printf ("reg %02x: %02x\n", i + MPU6000_ACCEL_XOUT_H, data[i]);
+ struct ao_data sample;
+
+ ao_data_get(&sample);
+ printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n",
+ sample.mpu6000.accel_x,
+ sample.mpu6000.accel_y,
+ sample.mpu6000.accel_z,
+ sample.mpu6000.gyro_x,
+ sample.mpu6000.gyro_y,
+ sample.mpu6000.gyro_z);
}
static const struct ao_cmds ao_mpu6000_cmds[] = {
{
ao_mpu6000_configured = 0;
+ ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000");
ao_cmd_register(&ao_mpu6000_cmds[0]);
}
projects / fw / altos / blobdiff