From 318b564486aa9965bbad54c71e51fcb32b414162 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Mon, 7 May 2012 21:51:25 -0700 Subject: [PATCH] altos: Get mpu6000 working This initializes the device appropraitely, and provides a command to dump the current values in converted form. Signed-off-by: Keith Packard --- src/drivers/ao_mpu6000.c | 225 +++++++++++++++++++++++++++++++++++---- src/drivers/ao_mpu6000.h | 133 ++++++++++++++++++++++- 2 files changed, 334 insertions(+), 24 deletions(-) diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c index d7f67d6e..d27c42b0 100644 --- a/src/drivers/ao_mpu6000.c +++ b/src/drivers/ao_mpu6000.c @@ -23,25 +23,27 @@ static uint8_t ao_mpu6000_wake; 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, FALSE); - ao_i2c_send(data, len, AO_MPU6000_I2C_INDEX, TRUE); + 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); @@ -51,34 +53,211 @@ ao_mpu6000_read(uint8_t addr, uint8_t *data, uint8_t len) 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, 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); + 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)); + /* byte swap (sigh) */ + while (i--) { + uint16_t t = *d; + *d++ = (t >> 8) | (t << 8); + } +} + +#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) { + printf ("%s accel self test value too small (normal %d, test %d)\n", + which, normal, test); + return FALSE; + } + if (diff > MPU6000_ST_ACCEL(16) * 2) { + printf ("%s accel self test value too large (normal %d, test %d)\n", + which, normal, test); + return FALSE; + } + return TRUE; +} + +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) { + printf ("%s gyro self test value too small (normal %d, test %d)\n", + which, normal, test); + return FALSE; + } + if (diff > MPU6000_ST_GYRO(2000) * 2) { + printf ("%s gyro self test value too large (normal %d, test %d)\n", + which, normal, test); + return FALSE; + } + return TRUE; +} + static void ao_mpu6000_setup(void) { + struct ao_mpu6000_sample normal_mode, test_mode; + int t; + 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)); + while (ao_mpu6000_reg_read(MPU6000_PWR_MGMT_1) & + (1 << MPU6000_PWR_MGMT_1_DEVICE_RESET)) + ao_yield(); + + /* 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); + + ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x, "x"); + ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y, "y"); + ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z, "z"); + + ao_mpu6000_gyro_check(normal_mode.gyro_x, test_mode.gyro_x, "x"); + ao_mpu6000_gyro_check(normal_mode.gyro_y, test_mode.gyro_y, "y"); + ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z, "z"); + + /* 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_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]); -#if 0 - ao_mpu6000_read(MPU6000_ACCEL_XOUT_H, data, 14); - for (i = 0; i < 14; i++) - printf ("reg %02x: %02x\n", i + MPU6000_ACCEL_XOUT_H, data[i]); -#endif + struct ao_mpu6000_sample sample; + + ao_mpu6000_setup(); + ao_mpu6000_sample(&sample); + printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n", + ao_mpu6000_accel(sample.accel_x), + ao_mpu6000_accel(sample.accel_y), + ao_mpu6000_accel(sample.accel_z), + ao_mpu6000_gyro(sample.gyro_x), + ao_mpu6000_gyro(sample.gyro_y), + ao_mpu6000_gyro(sample.gyro_z)); } static const struct ao_cmds ao_mpu6000_cmds[] = { diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h index d436a3e0..ca76b081 100644 --- a/src/drivers/ao_mpu6000.h +++ b/src/drivers/ao_mpu6000.h @@ -21,9 +21,140 @@ #define MPU6000_ADDR_WRITE 0xd0 #define MPU6000_ADDR_READ 0xd1 -#define MPU6000_ACCEL_XOUT_H 0x3b +#define MPU6000_SMPRT_DIV 0x19 + +#define MPU6000_CONFIG 0x1a + +#define MPU6000_CONFIG_EXT_SYNC_SET 3 +#define MPU6000_CONFIG_EXT_SYNC_SET_DISABLED 0 +#define MPU6000_CONFIG_EXT_SYNC_SET_TEMP_OUT_L 1 +#define MPU6000_CONFIG_EXT_SYNC_SET_GYRO_XOUT_L 2 +#define MPU6000_CONFIG_EXT_SYNC_SET_GYRO_YOUT_L 3 +#define MPU6000_CONFIG_EXT_SYNC_SET_GYRO_ZOUT_L 4 +#define MPU6000_CONFIG_EXT_SYNC_SET_ACCEL_XOUT_L 5 +#define MPU6000_CONFIG_EXT_SYNC_SET_ACCEL_YOUT_L 6 +#define MPU6000_CONFIG_EXT_SYNC_SET_ACCEL_ZOUT_L 7 +#define MPU6000_CONFIG_EXT_SYNC_SET_MASK 7 + +#define MPU6000_CONFIG_DLPF_CFG 0 +#define MPU6000_CONFIG_DLPF_CFG_260_256 0 +#define MPU6000_CONFIG_DLPF_CFG_184_188 1 +#define MPU6000_CONFIG_DLPF_CFG_94_98 2 +#define MPU6000_CONFIG_DLPF_CFG_44_42 3 +#define MPU6000_CONFIG_DLPF_CFG_21_20 4 +#define MPU6000_CONFIG_DLPF_CFG_10_10 5 +#define MPU6000_CONFIG_DLPF_CFG_5_5 6 +#define MPU6000_CONFIG_DLPF_CFG_MASK 7 + +#define MPU6000_GYRO_CONFIG 0x1b +# define MPU600_GYRO_CONFIG_XG_ST 7 +# define MPU600_GYRO_CONFIG_YG_ST 6 +# define MPU600_GYRO_CONFIG_ZG_ST 5 +# define MPU600_GYRO_CONFIG_FS_SEL 3 +# define MPU600_GYRO_CONFIG_FS_SEL_250 0 +# define MPU600_GYRO_CONFIG_FS_SEL_500 1 +# define MPU600_GYRO_CONFIG_FS_SEL_1000 2 +# define MPU600_GYRO_CONFIG_FS_SEL_2000 3 +# define MPU600_GYRO_CONFIG_FS_SEL_MASK 3 + +#define MPU6000_ACCEL_CONFIG 0x1c +# define MPU600_ACCEL_CONFIG_XA_ST 7 +# define MPU600_ACCEL_CONFIG_YA_ST 6 +# define MPU600_ACCEL_CONFIG_ZA_ST 5 +# define MPU600_ACCEL_CONFIG_AFS_SEL 3 +# define MPU600_ACCEL_CONFIG_AFS_SEL_2G 0 +# define MPU600_ACCEL_CONFIG_AFS_SEL_4G 1 +# define MPU600_ACCEL_CONFIG_AFS_SEL_8G 2 +# define MPU600_ACCEL_CONFIG_AFS_SEL_16G 3 +# define MPU600_ACCEL_CONFIG_AFS_SEL_MASK 3 +# define MPU600_ACCEL_CONFIG_ACCEL_HPF 0 +# define MPU600_ACCEL_CONFIG_ACCEL_HPF_RESET 0 +# define MPU600_ACCEL_CONFIG_ACCEL_HPF_5Hz 1 +# define MPU600_ACCEL_CONFIG_ACCEL_HPF_2_5Hz 2 +# define MPU600_ACCEL_CONFIG_ACCEL_HPF_1_25Hz 3 +# define MPU600_ACCEL_CONFIG_ACCEL_HPF_0_63Hz 4 +# define MPU600_ACCEL_CONFIG_ACCEL_HPF_HOLD 7 +# define MPU600_ACCEL_CONFIG_ACCEL_HPF_MASK 7 + +#define MPU6000_INT_ENABLE 0x38 +#define MPU6000_INT_ENABLE_FF_EN 7 +#define MPU6000_INT_ENABLE_MOT_EN 6 +#define MPU6000_INT_ENABLE_ZMOT_EN 5 +#define MPU6000_INT_ENABLE_FIFO_OFLOW_EN 4 +#define MPU6000_INT_ENABLE_I2C_MST_INT_EN 3 +#define MPU6000_INT_ENABLE_DATA_RDY_EN 0 + +#define MPU6000_INT_STATUS 0x3a +#define MPU6000_INT_STATUS_FF_EN 7 +#define MPU6000_INT_STATUS_MOT_EN 6 +#define MPU6000_INT_STATUS_ZMOT_EN 5 +#define MPU6000_INT_STATUS_FIFO_OFLOW_EN 4 +#define MPU6000_INT_STATUS_I2C_MST_INT_EN 3 +#define MPU6000_INT_STATUS_DATA_RDY_EN 0 + +#define MPU6000_ACCEL_XOUT_H 0x3b +#define MPU6000_ACCEL_XOUT_L 0x3c +#define MPU6000_ACCEL_YOUT_H 0x3d +#define MPU6000_ACCEL_YOUT_L 0x3e +#define MPU6000_ACCEL_ZOUT_H 0x3f +#define MPU6000_ACCEL_ZOUT_L 0x40 +#define MPU6000_TEMP_H 0x41 +#define MPU6000_TEMP_L 0x42 +#define MPU6000_GYRO_XOUT_H 0x43 +#define MPU6000_GYRO_XOUT_L 0x44 +#define MPU6000_GYRO_YOUT_H 0x45 +#define MPU6000_GYRO_YOUT_L 0x46 +#define MPU6000_GYRO_ZOUT_H 0x47 +#define MPU6000_GYRO_ZOUT_L 0x48 + +#define MPU6000_SIGNAL_PATH_RESET 0x68 +#define MPU6000_SIGNAL_PATH_RESET_GYRO_RESET 2 +#define MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET 1 +#define MPU6000_SIGNAL_PATH_RESET_TEMP_RESET 0 + +#define MPU6000_USER_CONTROL 0x6a +#define MPU6000_USER_CONTROL_FIFO_EN 6 +#define MPU6000_USER_CONTROL_I2C_MST_EN 5 +#define MPU6000_USER_CONTROL_I2C_IF_DIS 4 +#define MPU6000_USER_CONTROL_FIFO_RESET 2 +#define MPU6000_USER_CONTROL_I2C_MST_RESET 1 +#define MPU6000_USER_CONTROL_SIG_COND_RESET 0 + +#define MPU6000_PWR_MGMT_1 0x6b +#define MPU6000_PWR_MGMT_1_DEVICE_RESET 7 +#define MPU6000_PWR_MGMT_1_SLEEP 6 +#define MPU6000_PWR_MGMT_1_CYCLE 5 +#define MPU6000_PWR_MGMT_1_TEMP_DIS 3 +#define MPU6000_PWR_MGMT_1_CLKSEL 0 +#define MPU6000_PWR_MGMT_1_CLKSEL_INTERNAL 0 +#define MPU6000_PWR_MGMT_1_CLKSEL_PLL_X_AXIS 1 +#define MPU6000_PWR_MGMT_1_CLKSEL_PLL_Y_AXIS 2 +#define MPU6000_PWR_MGMT_1_CLKSEL_PLL_Z_AXIS 3 +#define MPU6000_PWR_MGMT_1_CLKSEL_PLL_EXTERNAL_32K 4 +#define MPU6000_PWR_MGMT_1_CLKSEL_PLL_EXTERNAL_19M 5 +#define MPU6000_PWR_MGMT_1_CLKSEL_STOP 7 +#define MPU6000_PWR_MGMT_1_CLKSEL_MASK 7 + +#define MPU6000_PWR_MGMT_2 0x6c + #define MPU6000_WHO_AM_I 0x75 +/* Self test acceleration is approximately 0.5g */ +#define MPU6000_ST_ACCEL(full_scale) (32767 / ((full_scale) * 2)) + +/* Self test gyro is approximately 50°/s */ +#define MPU6000_ST_GYRO(full_scale) ((int16_t) (((int32_t) 32767 * (int32_t) 50) / (full_scale))) + +struct ao_mpu6000_sample { + int16_t accel_x; + int16_t accel_y; + int16_t accel_z; + int16_t temp; + int16_t gyro_x; + int16_t gyro_y; + int16_t gyro_z; +}; + void ao_mpu6000_init(void); -- 2.30.2