*
* 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
#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, \
#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;
/* byte swap */
while (i--) {
uint16_t t = *d;
- *d++ = (t >> 8) | (t << 8);
+ *d++ = (uint16_t) ((t >> 8) | (t << 8));
}
#endif
}
#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;
}
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;
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
_ao_mpu6000_wait_alive();
/* Reset the whole chip */
-
+
_ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
(1 << MPU6000_PWR_MGMT_1_DEVICE_RESET));
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, "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");
+
+ 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 (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,
/* 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)
{
+ struct ao_mpu6000_sample sample;
/* ao_mpu6000_init already grabbed the SPI bus and mutex */
_ao_mpu6000_setup();
#if AO_MPU6000_SPI
#if AO_MPU6000_SPI
ao_mpu6000_spi_get();
#endif
- _ao_mpu6000_sample(&ao_mpu6000_current);
+ _ao_mpu6000_sample(&sample);
#if AO_MPU6000_SPI
ao_mpu6000_spi_put();
-#endif
- ao_arch_critical(
- AO_DATA_PRESENT(AO_DATA_MPU6000);
- AO_DATA_WAIT();
- );
+#endif
+ ao_arch_block_interrupts();
+ ao_mpu6000_current = sample;
+ AO_DATA_PRESENT(AO_DATA_MPU6000);
+ AO_DATA_WAIT();
+ ao_arch_release_interrupts();
}
}
static void
ao_mpu6000_show(void)
{
- struct ao_data sample;
-
- ao_data_get(&sample);
+#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",
- sample.mpu6000.accel_x,
- sample.mpu6000.accel_y,
- sample.mpu6000.accel_z,
- sample.mpu6000.gyro_x,
- sample.mpu6000.gyro_y,
- sample.mpu6000.gyro_z);
+ ao_mpu6000_current.accel_x,
+ ao_mpu6000_current.accel_y,
+ ao_mpu6000_current.accel_z,
+ 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_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));
*/
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
+#endif
ao_cmd_register(&ao_mpu6000_cmds[0]);
}
projects / fw / altos / blobdiff