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Code Issues Releases Activity

REVONANO - Minor cleanup of MPU9250 driver

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This commit is contained in:
Alessio Morale 2014-12-03 00:35:17 +01:00
parent 4ec44cea90
commit 51094ba95d
2 changed files with 177 additions and 179 deletions
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264
flight/pios/common/pios_mpu9250.c
View File

@ -53,29 +53,30 @@ struct mpu9250_dev {
};
#ifdef PIOS_MPU9250_ACCEL
#define PIOS_MPU9250_ACCEL_SAMPLES_BYTES (6)
#define PIOS_MPU9250_ACCEL_SAMPLES_BYTES (6)
#else
#define PIOS_MPU9250_ACCEL_SAMPLES_BYTES (0)
#define PIOS_MPU9250_ACCEL_SAMPLES_BYTES (0)
#endif
#ifdef PIOS_MPU9250_MAG
#define PIOS_MPU9250_MAG_SAMPLES_BYTES (8)
#define PIOS_MPU9250_MAG_SAMPLES_BYTES (8)
#else
#define PIOS_MPU9250_MAG_SAMPLES_BYTES (0)
#define PIOS_MPU9250_MAG_SAMPLES_BYTES (0)
#endif
#define PIOS_MPU9250_GYRO_SAMPLES_BYTES (6)
#define PIOS_MPU9250_TEMP_SAMPLES_BYTES (2)
#define PIOS_MPU9250_GYRO_SAMPLES_BYTES (6)
#define PIOS_MPU9250_TEMP_SAMPLES_BYTES (2)
#define PIOS_MPU9250_SAMPLES_BYTES (PIOS_MPU9250_ACCEL_SAMPLES_BYTES + \
PIOS_MPU9250_GYRO_SAMPLES_BYTES + \
PIOS_MPU9250_TEMP_SAMPLES_BYTES + \
PIOS_MPU9250_MAG_SAMPLES_BYTES)
#define PIOS_MPU9250_SAMPLES_BYTES \
(PIOS_MPU9250_ACCEL_SAMPLES_BYTES + \
PIOS_MPU9250_GYRO_SAMPLES_BYTES + \
PIOS_MPU9250_TEMP_SAMPLES_BYTES + \
PIOS_MPU9250_MAG_SAMPLES_BYTES)
#ifdef PIOS_MPU9250_ACCEL
#define PIOS_MPU9250_SENSOR_FIRST_REG PIOS_MPU9250_ACCEL_X_OUT_MSB
#define PIOS_MPU9250_SENSOR_FIRST_REG PIOS_MPU9250_ACCEL_X_OUT_MSB
#else
#define PIOS_MPU9250_SENSOR_FIRST_REG PIOS_MPU9250_TEMP_OUT_MSB
#define PIOS_MPU9250_SENSOR_FIRST_REG PIOS_MPU9250_TEMP_OUT_MSB
#endif
#if defined(PIOS_MPU9250_MAG) && !defined(PIOS_MPU9250_ACCEL)
@ -104,13 +105,13 @@ typedef union {
uint8_t Gyro_Z_l;
#ifdef PIOS_MPU9250_MAG
uint8_t st1;
uint8_t Mag_X_l;
uint8_t Mag_X_h;
uint8_t Mag_Y_l;
uint8_t Mag_Y_h;
uint8_t Mag_Z_l;
uint8_t Mag_Z_h;
uint8_t st2;
uint8_t Mag_X_l;
uint8_t Mag_X_h;
uint8_t Mag_Y_l;
uint8_t Mag_Y_h;
uint8_t Mag_Z_l;
uint8_t Mag_Z_h;
uint8_t st2;
#endif
} data;
} mpu9250_data_t;
@ -209,11 +210,9 @@ int32_t PIOS_MPU9250_Init(uint32_t spi_id, uint32_t slave_num, const struct pios
*/
static void PIOS_MPU9250_Config(struct pios_mpu9250_cfg const *cfg)
{
uint8_t power;
uint8_t power;
uint8_t fifo_store;
while (PIOS_MPU9250_Test() != 0) {
while (PIOS_MPU9250_Test() != 0) {
;
}
@ -224,10 +223,13 @@ static void PIOS_MPU9250_Config(struct pios_mpu9250_cfg const *cfg)
PIOS_DELAY_WaitmS(100);
// Wake up the chip
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_PWR_MGMT_REG, 0) != 0) {
;
}
// Reset sensors and fifo
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_USER_CTRL_REG,
PIOS_MPU9250_USERCTL_DIS_I2C |
PIOS_MPU9250_USERCTL_DIS_I2C |
PIOS_MPU9250_USERCTL_SIG_COND |
PIOS_MPU9250_USERCTL_FIFO_RST) != 0) {
;
@ -243,18 +245,15 @@ static void PIOS_MPU9250_Config(struct pios_mpu9250_cfg const *cfg)
;
}
// FIFO storage by default, do not include accelerometer and external sense data.
power = 0x38;
fifo_store = cfg->Fifo_store;
power = PIOS_MPU9250_PWRMGMT2_DISABLE_ACCEL;
#if defined(PIOS_MPU9250_ACCEL)
fifo_store |= PIOS_MPU9250_ACCEL_OUT;
power = 0;
power &= ~PIOS_MPU9250_PWRMGMT2_DISABLE_ACCEL;
#endif
#if defined(PIOS_MPU9250_MAG)
fifo_store |= PIOS_MPU9250_EXT0_OUT;
#endif
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_FIFO_EN_REG, fifo_store) != 0) {
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_FIFO_EN_REG, cfg->Fifo_store) != 0) {
;
}
PIOS_MPU9250_SetReg(PIOS_MPU9250_PWR_MGMT2_REG, power);
@ -432,23 +431,23 @@ static int32_t PIOS_MPU9250_GetReg(uint8_t reg)
*/
static int32_t PIOS_MPU9250_SetReg(uint8_t reg, uint8_t data)
{
int ret = 0;
int ret = 0;
if (PIOS_MPU9250_ClaimBus(false) != 0) {
return -1;
}
PIOS_SPI_TransferByte(dev->spi_id, 0x7f & reg);
//if (PIOS_SPI_TransferByte(dev->spi_id, 0x7f & reg) != 0) {
// PIOS_MPU9250_ReleaseBus();
// return -2;
//}
// if (PIOS_SPI_TransferByte(dev->spi_id, 0x7f & reg) != 0) {
// PIOS_MPU9250_ReleaseBus();
// return -2;
// }
PIOS_SPI_TransferByte(dev->spi_id, data);
//if (PIOS_SPI_TransferByte(dev->spi_id, data) != 0) {
// PIOS_MPU9250_ReleaseBus();
// return -3;
//}
// if (PIOS_SPI_TransferByte(dev->spi_id, data) != 0) {
// PIOS_MPU9250_ReleaseBus();
// return -3;
// }
PIOS_MPU9250_ReleaseBus();
@ -456,7 +455,6 @@ static int32_t PIOS_MPU9250_SetReg(uint8_t reg, uint8_t data)
}
/*
* @brief Read the identification bytes from the MPU9250 sensor
* \return ID read from MPU9250 or -1 if failure
@ -551,30 +549,30 @@ int32_t PIOS_MPU9250_Test(void)
*/
static int32_t PIOS_MPU9250_Mag_GetReg(uint8_t reg)
{
int32_t data;
int32_t data;
// Set the I2C slave address and read command.
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV4_ADDR, PIOS_MPU9250_MAG_I2C_ADDR |
PIOS_MPU9250_MAG_I2C_READ_FLAG) != PIOS_MPU9250_MAG_OK) {
// Set the I2C slave address and read command.
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV4_ADDR, PIOS_MPU9250_MAG_I2C_ADDR |
PIOS_MPU9250_MAG_I2C_READ_FLAG) != PIOS_MPU9250_MAG_OK) {
;
}
// Set the address of the register to read.
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV4_REG, reg) != PIOS_MPU9250_MAG_OK) {
// Set the address of the register to read.
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV4_REG, reg) != PIOS_MPU9250_MAG_OK) {
;
}
// Trigger the byte transfer.
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV4_CTRL, PIOS_MPU9250_I2C_SLV_ENABLE) != PIOS_MPU9250_MAG_OK) {
// Trigger the byte transfer.
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV4_CTRL, PIOS_MPU9250_I2C_SLV_ENABLE) != PIOS_MPU9250_MAG_OK) {
;
}
PIOS_DELAY_WaitmS(1);
PIOS_DELAY_WaitmS(1);
// Read result.
data = PIOS_MPU9250_GetReg(PIOS_MPU9250_I2C_SLV4_DI);
PIOS_DELAY_WaitmS(1);
return data;
// Read result.
data = PIOS_MPU9250_GetReg(PIOS_MPU9250_I2C_SLV4_DI);
PIOS_DELAY_WaitmS(1);
return data;
}
/**
@ -584,26 +582,26 @@ static int32_t PIOS_MPU9250_Mag_GetReg(uint8_t reg)
*/
static int32_t PIOS_MPU9250_Mag_SetReg(uint8_t reg, uint8_t data)
{
// Set the I2C slave address.
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV4_ADDR, PIOS_MPU9250_MAG_I2C_ADDR) != PIOS_MPU9250_MAG_OK) {
// Set the I2C slave address.
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV4_ADDR, PIOS_MPU9250_MAG_I2C_ADDR) != PIOS_MPU9250_MAG_OK) {
;
}
// Set the address of the register to write.
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV4_REG, reg) != PIOS_MPU9250_MAG_OK) {
// Set the address of the register to write.
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV4_REG, reg) != PIOS_MPU9250_MAG_OK) {
;
}
// Set the byte to write.
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV4_DO, data) != PIOS_MPU9250_MAG_OK) {
// Set the byte to write.
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV4_DO, data) != PIOS_MPU9250_MAG_OK) {
;
}
// Trigger the byte transfer.
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV4_CTRL, PIOS_MPU9250_I2C_SLV_ENABLE) != PIOS_MPU9250_MAG_OK) {
// Trigger the byte transfer.
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV4_CTRL, PIOS_MPU9250_I2C_SLV_ENABLE) != PIOS_MPU9250_MAG_OK) {
;
}
PIOS_DELAY_WaitmS(1);
PIOS_DELAY_WaitmS(1);
return PIOS_MPU9250_MAG_OK;
}
@ -615,10 +613,9 @@ static int32_t PIOS_MPU9250_Mag_SetReg(uint8_t reg, uint8_t data)
*/
static int32_t PIOS_MPU9250_Mag_Sensitivity(void)
{
int i;
int i;
/* Put mag in power down state before changing mode */
/* Put mag in power down state before changing mode */
PIOS_MPU9250_Mag_SetReg(PIOS_MPU9250_CNTL1, PIOS_MPU9250_MAG_POWER_DOWN_MODE);
PIOS_DELAY_WaitmS(1);
@ -626,35 +623,34 @@ static int32_t PIOS_MPU9250_Mag_Sensitivity(void)
PIOS_MPU9250_Mag_SetReg(PIOS_MPU9250_CNTL1, PIOS_MPU9250_MAG_FUSE_ROM_MODE);
PIOS_DELAY_WaitmS(1);
if (PIOS_MPU9250_ClaimBus(false) != 0) {
return -1;
}
if (PIOS_MPU9250_ClaimBus(false) != 0) {
return -1;
}
/* Set addres and read flag */
PIOS_SPI_TransferByte(dev->spi_id, PIOS_MPU9250_I2C_SLV0_ADDR);
PIOS_SPI_TransferByte(dev->spi_id, PIOS_MPU9250_MAG_I2C_ADDR | PIOS_MPU9250_MAG_I2C_READ_FLAG);
PIOS_SPI_TransferByte(dev->spi_id, PIOS_MPU9250_MAG_I2C_ADDR | PIOS_MPU9250_MAG_I2C_READ_FLAG);
/* Set the address of the register to read. */
PIOS_SPI_TransferByte(dev->spi_id, PIOS_MPU9250_I2C_SLV0_REG);
PIOS_SPI_TransferByte(dev->spi_id, PIOS_MPU9250_ASAX);
/* Set the address of the register to read. */
PIOS_SPI_TransferByte(dev->spi_id, PIOS_MPU9250_I2C_SLV0_REG);
PIOS_SPI_TransferByte(dev->spi_id, PIOS_MPU9250_ASAX);
/* Trigger the byte transfer. */
PIOS_SPI_TransferByte(dev->spi_id, PIOS_MPU9250_I2C_SLV0_CTRL);
PIOS_SPI_TransferByte(dev->spi_id, PIOS_MPU9250_I2C_SLV_ENABLE | 0x3);
/* Trigger the byte transfer. */
PIOS_SPI_TransferByte(dev->spi_id, PIOS_MPU9250_I2C_SLV0_CTRL);
PIOS_SPI_TransferByte(dev->spi_id, PIOS_MPU9250_I2C_SLV_ENABLE | 0x3);
PIOS_DELAY_WaitmS(1);
PIOS_DELAY_WaitmS(1);
/* Read the mag data from SPI block */
for (i=0; i < 0x3; i++)
{
PIOS_SPI_TransferByte(dev->spi_id, (PIOS_MPU9250_EXT_SENS_DATA_00 | 0x80) + i);
dev->mag_sens_adj[i] = (float)(PIOS_SPI_TransferByte(dev->spi_id, 0x0) - 128)/256 + 1;
}
/* Read the mag data from SPI block */
for (i = 0; i < 0x3; i++) {
PIOS_SPI_TransferByte(dev->spi_id, (PIOS_MPU9250_EXT_SENS_DATA_00 | 0x80) + i);
dev->mag_sens_adj[i] = (float)(PIOS_SPI_TransferByte(dev->spi_id, 0x0) - 128) / 256 + 1;
}
PIOS_MPU9250_ReleaseBus();
PIOS_MPU9250_ReleaseBus();
/* Put mag in power down state before changing mode */
/* Put mag in power down state before changing mode */
PIOS_MPU9250_Mag_SetReg(PIOS_MPU9250_CNTL1, PIOS_MPU9250_MAG_POWER_DOWN_MODE);
return PIOS_MPU9250_MAG_OK;
@ -667,48 +663,48 @@ static int32_t PIOS_MPU9250_Mag_Sensitivity(void)
*/
static int32_t PIOS_MPU9250_Mag_Init(void)
{
// I2C multi-master init.
PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_MST_CTRL, PIOS_MPU9250_I2C_MST_P_NSR | PIOS_MPU9250_I2C_MST_CLOCK_400);
PIOS_DELAY_WaitmS(1);
// I2C multi-master init.
PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_MST_CTRL, PIOS_MPU9250_I2C_MST_P_NSR | PIOS_MPU9250_I2C_MST_CLOCK_400);
PIOS_DELAY_WaitmS(1);
// Reset Mag.
PIOS_MPU9250_Mag_SetReg(PIOS_MPU9250_CNTL2, PIOS_MPU9250_MAG_RESET);
PIOS_DELAY_WaitmS(1);
// Reset Mag.
PIOS_MPU9250_Mag_SetReg(PIOS_MPU9250_CNTL2, PIOS_MPU9250_MAG_RESET);
PIOS_DELAY_WaitmS(1);
// read fuse ROM to get the sensitivity adjustment values.
if (PIOS_MPU9250_Mag_Sensitivity() != PIOS_MPU9250_MAG_OK) {
;
}
// read fuse ROM to get the sensitivity adjustment values.
if (PIOS_MPU9250_Mag_Sensitivity() != PIOS_MPU9250_MAG_OK) {
;
}
// Confirm Mag ID.
while (false && (PIOS_MPU9250_Mag_Test() != PIOS_MPU9250_MAG_OK)) {
;
}
// Confirm Mag ID.
while (false && (PIOS_MPU9250_Mag_Test() != PIOS_MPU9250_MAG_OK)) {
;
}
// Make sure no other registers will be triggered before entering continuous mode.
PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV4_CTRL, 0x0);
PIOS_DELAY_WaitmS(1);
PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV0_DO, 0x0);
PIOS_DELAY_WaitmS(1);
// Make sure no other registers will be triggered before entering continuous mode.
PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV4_CTRL, 0x0);
PIOS_DELAY_WaitmS(1);
PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV0_DO, 0x0);
PIOS_DELAY_WaitmS(1);
// Making sure register are accessible.
PIOS_MPU9250_Mag_SetReg(PIOS_MPU9250_CNTL1, PIOS_MPU9250_MAG_OUTPUT_16BITS | PIOS_MPU9250_MAG_CONTINUOUS_MODE2);
PIOS_DELAY_WaitmS(1);
// Making sure register are accessible.
PIOS_MPU9250_Mag_SetReg(PIOS_MPU9250_CNTL1, PIOS_MPU9250_MAG_OUTPUT_16BITS | PIOS_MPU9250_MAG_CONTINUOUS_MODE2);
PIOS_DELAY_WaitmS(1);
// Get ST1, the 6 mag data and ST2.
// This is to save 2 SPI access.
// Set the I2C slave address and read command.
PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV0_ADDR, PIOS_MPU9250_MAG_I2C_ADDR | PIOS_MPU9250_MAG_I2C_READ_FLAG);
// Get ST1, the 6 mag data and ST2.
// This is to save 2 SPI access.
// Set the I2C slave address and read command.
PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV0_ADDR, PIOS_MPU9250_MAG_I2C_ADDR | PIOS_MPU9250_MAG_I2C_READ_FLAG);
// Set the address of the register to read.
PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV0_REG, PIOS_MPU9250_ST1);
// Set the address of the register to read.
PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV0_REG, PIOS_MPU9250_ST1);
// Trigger the byte transfer.
PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV0_CTRL, PIOS_MPU9250_I2C_SLV_ENABLE | 0x8);
PIOS_DELAY_WaitmS(1);
// Trigger the byte transfer.
PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV0_CTRL, PIOS_MPU9250_I2C_SLV_ENABLE | 0x8);
PIOS_DELAY_WaitmS(1);
return PIOS_MPU9250_MAG_OK;
return PIOS_MPU9250_MAG_OK;
}
/*
@ -731,7 +727,6 @@ int32_t PIOS_MPU9250_Mag_ReadID()
*/
static int32_t PIOS_MPU9250_Mag_Test(void)
{
/* Verify that ID matches */
int32_t mpu9250_mag_id = PIOS_MPU9250_Mag_ReadID();
@ -756,18 +751,18 @@ static int32_t PIOS_MPU9250_Mag_Test(void)
*/
static bool PIOS_MPU9250_ReadMag(bool *woken)
{
if (PIOS_MPU9250_ClaimBusISR(woken, true) != 0) {
return false;
}
// Trigger the byte transfer.
PIOS_SPI_TransferByte(dev->spi_id, PIOS_MPU9250_I2C_SLV0_CTRL);
PIOS_SPI_TransferByte(dev->spi_id, PIOS_MPU9250_I2C_SLV_ENABLE | 0x8);
if (PIOS_MPU9250_ClaimBusISR(woken, true) != 0) {
return false;
}
// Trigger the byte transfer.
PIOS_SPI_TransferByte(dev->spi_id, PIOS_MPU9250_I2C_SLV0_CTRL);
PIOS_SPI_TransferByte(dev->spi_id, PIOS_MPU9250_I2C_SLV_ENABLE | 0x8);
PIOS_MPU9250_ReleaseBusISR(woken);
PIOS_MPU9250_ReleaseBusISR(woken);
return true;
return true;
}
#endif
#endif /* if defined(PIOS_MPU9250_MAG) */
/**
@ -939,10 +934,10 @@ static bool PIOS_MPU9250_HandleData()
data.temperature = GET_SENSOR_DATA(mpu9250_data, Temperature);
#ifdef PIOS_MPU9250_MAG
data.mag_y = GET_SENSOR_DATA(mpu9250_data, Mag_X); // chip X
data.mag_x = GET_SENSOR_DATA(mpu9250_data, Mag_Y); // chip Y
data.mag_z = GET_SENSOR_DATA(mpu9250_data, Mag_Z); // chip Z
data.mag_valid = mpu9250_data.data.st1 & PIOS_MPU9250_MAG_DATA_RDY;
data.mag_y = GET_SENSOR_DATA(mpu9250_data, Mag_X); // chip X
data.mag_x = GET_SENSOR_DATA(mpu9250_data, Mag_Y); // chip Y
data.mag_z = GET_SENSOR_DATA(mpu9250_data, Mag_Z); // chip Z
data.mag_valid = mpu9250_data.data.st1 & PIOS_MPU9250_MAG_DATA_RDY;
#endif
BaseType_t higherPriorityTaskWoken;
@ -975,6 +970,7 @@ static bool PIOS_MPU9250_ReadFifo(bool *woken)
* any read clears in the status register (PIOS_MPU9250_INT_CLR_ANYRD set in
* interrupt config register) */
int32_t result;
if ((result = PIOS_MPU9250_GetInterruptStatusRegISR(woken)) < 0) {
return false;
}

92
flight/pios/inc/pios_mpu9250.h
View File

@ -117,64 +117,67 @@
#define PIOS_MPU9250_PWRMGMT_PLL_Z_CLK 0X03
#define PIOS_MPU9250_PWRMGMT_STOP_CLK 0X07
#define PIOS_MPU9250_PWRMGMT2_DISABLE_GYRO 0x07
#define PIOS_MPU9250_PWRMGMT2_DISABLE_ACCEL 0x38
/* I2C */
#define PIOS_MPU9250_I2C_MST_ENABLE 0x80
#define PIOS_MPU9250_I2C_SLV_ENABLE 0x80
#define PIOS_MPU9250_I2C_MST_CLOCK_400 0x0D
#define PIOS_MPU9250_I2C_MST_P_NSR 0x10
#define PIOS_MPU9250_EXT0_OUT 0x01
#define PIOS_MPU9250_I2C_MST_ENABLE 0x80
#define PIOS_MPU9250_I2C_SLV_ENABLE 0x80
#define PIOS_MPU9250_I2C_MST_CLOCK_400 0x0D
#define PIOS_MPU9250_I2C_MST_P_NSR 0x10
#define PIOS_MPU9250_EXT0_OUT 0x01
/* AK893 MAG registers */
/* Read-only Register */
#define PIOS_MPU9250_WIA 0X00
#define PIOS_MPU9250_INFO 0X01
#define PIOS_MPU9250_ST1 0X02
#define PIOS_MPU9250_HXL 0X03
#define PIOS_MPU9250_HXH 0X04
#define PIOS_MPU9250_HYL 0X05
#define PIOS_MPU9250_HYH 0X06
#define PIOS_MPU9250_HZL 0X07
#define PIOS_MPU9250_HZH 0X08
#define PIOS_MPU9250_ST2 0X09
#define PIOS_MPU9250_WIA 0X00
#define PIOS_MPU9250_INFO 0X01
#define PIOS_MPU9250_ST1 0X02
#define PIOS_MPU9250_HXL 0X03
#define PIOS_MPU9250_HXH 0X04
#define PIOS_MPU9250_HYL 0X05
#define PIOS_MPU9250_HYH 0X06
#define PIOS_MPU9250_HZL 0X07
#define PIOS_MPU9250_HZH 0X08
#define PIOS_MPU9250_ST2 0X09
/* Write/read Register */
#define PIOS_MPU9250_CNTL1 0X0A
#define PIOS_MPU9250_CNTL2 0X0B
#define PIOS_MPU9250_ASTC 0X0C
#define PIOS_MPU9250_TS1 0X0D
#define PIOS_MPU9250_TS2 0X0E
#define PIOS_MPU9250_I2CDIS 0X0F
#define PIOS_MPU9250_CNTL1 0X0A
#define PIOS_MPU9250_CNTL2 0X0B
#define PIOS_MPU9250_ASTC 0X0C
#define PIOS_MPU9250_TS1 0X0D
#define PIOS_MPU9250_TS2 0X0E
#define PIOS_MPU9250_I2CDIS 0X0F
/* Read-only Register */
#define PIOS_MPU9250_ASAX 0X10
#define PIOS_MPU9250_ASAY 0X11
#define PIOS_MPU9250_ASAZ 0X12
#define PIOS_MPU9250_ASAX 0X10
#define PIOS_MPU9250_ASAY 0X11
#define PIOS_MPU9250_ASAZ 0X12
/* IDs */
#define PIOS_MPU9250_GYRO_ACC_ID 0x71
#define PIOS_MPU9250_MAG_ID 0x48
#define PIOS_MPU9250_GYRO_ACC_ID 0x71
#define PIOS_MPU9250_MAG_ID 0x48
#define PIOS_MPU9250_MAG_DATA_RDY 0x01
#define PIOS_MPU9250_MAG_DATA_RDY 0x01
#define PIOS_MPU9250_MAG_RESET 0x01
#define PIOS_MPU9250_MAG_POWER_DOWN_MODE 0x00
#define PIOS_MPU9250_MAG_SINGLE_MODE 0x01
#define PIOS_MPU9250_MAG_SINGLE_MODE 0x01
#define PIOS_MPU9250_MAG_CONTINUOUS_MODE1 0x02
#define PIOS_MPU9250_MAG_CONTINUOUS_MODE2 0x06
#define PIOS_MPU9250_MAG_FUSE_ROM_MODE 0x0F
#define PIOS_MPU9250_MAG_FUSE_ROM_MODE 0x0F
#define PIOS_MPU9250_MAG_OUTPUT_16BITS 0x10
#define PIOS_MPU9250_MAG_I2C_ADDR 0x0C
#define PIOS_MPU9250_MAG_I2C_READ_FLAG 0x80
#define PIOS_MPU9250_MAG_ASA_NB_BYTE 3
#define PIOS_MPU9250_MAG_ASAX_IDX 1
#define PIOS_MPU9250_MAG_ASAY_IDX 2
#define PIOS_MPU9250_MAG_ASAZ_IDX 3
#define PIOS_MPU9250_MAG_I2C_ADDR 0x0C
#define PIOS_MPU9250_MAG_I2C_READ_FLAG 0x80
#define PIOS_MPU9250_MAG_ASA_NB_BYTE 3
#define PIOS_MPU9250_MAG_ASAX_IDX 1
#define PIOS_MPU9250_MAG_ASAY_IDX 2
#define PIOS_MPU9250_MAG_ASAZ_IDX 3
#define PIOS_MPU9250_MAG_OK 0
#define PIOS_MPU9250_ERR_MAG_SET_ADDR -1
#define PIOS_MPU9250_ERR_MAG_SET_REG -2
#define PIOS_MPU9250_ERR_MAG_SET_DO -3
#define PIOS_MPU9250_ERR_MAG_SET_TRIGGER -4
#define PIOS_MPU9250_ERR_MAG_READ_ID -5
#define PIOS_MPU9250_ERR_MAG_BAD_ID -6
#define PIOS_MPU9250_ERR_MAG_READ_ASA -7
#define PIOS_MPU9250_MAG_OK 0
#define PIOS_MPU9250_ERR_MAG_SET_ADDR -1
#define PIOS_MPU9250_ERR_MAG_SET_REG -2
#define PIOS_MPU9250_ERR_MAG_SET_DO -3
#define PIOS_MPU9250_ERR_MAG_SET_TRIGGER -4
#define PIOS_MPU9250_ERR_MAG_READ_ID -5
#define PIOS_MPU9250_ERR_MAG_BAD_ID -6
#define PIOS_MPU9250_ERR_MAG_READ_ASA -7
enum pios_mpu9250_range {
PIOS_MPU9250_SCALE_250_DEG = 0x00,
@ -220,13 +223,12 @@ struct pios_mpu9250_data {
int16_t mag_x;
int16_t mag_y;
int16_t mag_z;
int8_t mag_valid;
int8_t mag_valid;
#endif /* PIOS_MPU9250_MAG */
int16_t temperature;
};
struct pios_mpu9250_cfg {
const struct pios_exti_cfg *exti_cfg; /* Pointer to the EXTI configuration */