From 6341fa7eca9c1b4f179c6431e2324d680e0d7995 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Mon, 22 Dec 2014 00:38:51 +0100 Subject: [PATCH] OP-1658 - MPU6000 sensor device model implementation --- flight/pios/common/pios_mpu6000.c | 315 +++++++++--------------------- flight/pios/inc/pios_mpu6000.h | 20 +- 2 files changed, 96 insertions(+), 239 deletions(-) diff --git a/flight/pios/common/pios_mpu6000.c b/flight/pios/common/pios_mpu6000.c index c6079beb0..ae0c6a6a4 100644 --- a/flight/pios/common/pios_mpu6000.c +++ b/flight/pios/common/pios_mpu6000.c @@ -1,6 +1,6 @@ /** ****************************************************************************** - * @addtogroup PIOS PIOS Core hardware abstraction layer + * @addtogroup PIOS PIOS Core haoftware; you can rnedtt * @{ * @addtogroup PIOS_MPU6000 MPU6000 Functions * @brief Deals with the hardware interface to the 3-axis gyro @@ -13,8 +13,8 @@ * ****************************************************************************** */ -/* - * This program is free software; you can redistribute it and/or modify +/*istribu + * This program is free software; you can rnedtt ad/oe ir modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 3 of the License, or * (at your option) any later version. @@ -32,18 +32,38 @@ #include "pios.h" #include #ifdef PIOS_INCLUDE_MPU6000 - +#include #include +#include + /* Global Variables */ enum pios_mpu6000_dev_magic { PIOS_MPU6000_DEV_MAGIC = 0x9da9b3ed, }; +// sensor driver interface +bool PIOS_MPU6000_driver_Test(uintptr_t context); +void PIOS_MPU6000_driver_Reset(uintptr_t context); +void PIOS_MPU6000_driver_get_scale(float *scales, uint8_t size, uintptr_t context); +QueueHandle_t PIOS_MPU6000_driver_get_queue(uintptr_t context); + +PIOS_SENSORS_Driver PIOS_MPU6000_Driver = { + .test = PIOS_MPU6000_driver_Test, + .poll = NULL, + .fetch = NULL, + .reset = PIOS_MPU6000_driver_Reset, + .get_queue = PIOS_MPU6000_driver_get_queue, + .get_scale = PIOS_MPU6000_driver_get_scale, + .is_polled = false, +}; +// + + struct mpu6000_dev { - uint32_t spi_id; - uint32_t slave_num; - xQueueHandle queue; + uint32_t spi_id; + uint32_t slave_num; + QueueHandle_t queue; const struct pios_mpu6000_cfg *cfg; enum pios_mpu6000_range gyro_range; enum pios_mpu6000_accel_range accel_range; @@ -51,26 +71,19 @@ struct mpu6000_dev { enum pios_mpu6000_dev_magic magic; }; -#ifdef PIOS_MPU6000_ACCEL #define PIOS_MPU6000_SAMPLES_BYTES 14 #define PIOS_MPU6000_SENSOR_FIRST_REG PIOS_MPU6000_ACCEL_X_OUT_MSB -#else -#define PIOS_MPU6000_SENSOR_FIRST_REG PIOS_MPU6000_TEMP_OUT_MSB -#define PIOS_MPU6000_SAMPLES_BYTES 8 -#endif typedef union { uint8_t buffer[1 + PIOS_MPU6000_SAMPLES_BYTES]; struct { uint8_t dummy; -#ifdef PIOS_MPU6000_ACCEL uint8_t Accel_X_h; uint8_t Accel_X_l; uint8_t Accel_Y_h; uint8_t Accel_Y_l; uint8_t Accel_Z_h; uint8_t Accel_Z_l; -#endif uint8_t Temperature_h; uint8_t Temperature_l; uint8_t Gyro_X_h; @@ -88,7 +101,9 @@ typedef union { static struct mpu6000_dev *dev; volatile bool mpu6000_configured = false; static mpu6000_data_t mpu6000_data; - +static PIOS_SENSORS_3Axis_SensorsWithTemp *queue_data = 0; +#define SENSOR_COUNT 2 +#define SENSOR_DATA_SIZE (sizeof(PIOS_SENSORS_3Axis_SensorsWithTemp) + sizeof(Vector3i16) * SENSOR_COUNT) // ! Private functions static struct mpu6000_dev *PIOS_MPU6000_alloc(const struct pios_mpu6000_cfg *cfg); static int32_t PIOS_MPU6000_Validate(struct mpu6000_dev *dev); @@ -97,8 +112,14 @@ static int32_t PIOS_MPU6000_SetReg(uint8_t address, uint8_t buffer); static int32_t PIOS_MPU6000_GetReg(uint8_t address); static void PIOS_MPU6000_SetSpeed(const bool fast); static bool PIOS_MPU6000_HandleData(); -static bool PIOS_MPU6000_ReadFifo(bool *woken); static bool PIOS_MPU6000_ReadSensor(bool *woken); + +static int32_t PIOS_MPU6000_Test(void); + +void PIOS_MPU6000_Register() +{ + PIOS_SENSORS_Register(&PIOS_MPU6000_Driver, PIOS_SENSORS_TYPE_3AXIS_GYRO_ACCEL, 0); +} /** * @brief Allocate a new device */ @@ -107,18 +128,16 @@ static struct mpu6000_dev *PIOS_MPU6000_alloc(const struct pios_mpu6000_cfg *cfg struct mpu6000_dev *mpu6000_dev; mpu6000_dev = (struct mpu6000_dev *)pios_malloc(sizeof(*mpu6000_dev)); - if (!mpu6000_dev) { - return NULL; - } + PIOS_Assert(mpu6000_dev); mpu6000_dev->magic = PIOS_MPU6000_DEV_MAGIC; - mpu6000_dev->queue = xQueueCreate(cfg->max_downsample + 1, sizeof(struct pios_mpu6000_data)); - if (mpu6000_dev->queue == NULL) { - vPortFree(mpu6000_dev); - return NULL; - } + mpu6000_dev->queue = xQueueCreate(cfg->max_downsample + 1, SENSOR_DATA_SIZE); + PIOS_Assert(mpu6000_dev->queue); + queue_data = (PIOS_SENSORS_3Axis_SensorsWithTemp *)pios_malloc(SENSOR_DATA_SIZE); + PIOS_Assert(queue_data); + queue_data->count = SENSOR_COUNT; return mpu6000_dev; } @@ -211,15 +230,9 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const *cfg) } // FIFO storage -#if defined(PIOS_MPU6000_ACCEL) - while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store | PIOS_MPU6000_ACCEL_OUT) != 0) { - ; - } -#else while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store) != 0) { ; } -#endif PIOS_MPU6000_ConfigureRanges(cfg->gyro_range, cfg->accel_range, cfg->filter); // Interrupt configuration while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, cfg->User_ctl) != 0) { @@ -279,14 +292,12 @@ int32_t PIOS_MPU6000_ConfigureRanges( } dev->gyro_range = gyroRange; -#if defined(PIOS_MPU6000_ACCEL) // Set the accel range while (PIOS_MPU6000_SetReg(PIOS_MPU6000_ACCEL_CFG_REG, accelRange) != 0) { ; } dev->accel_range = accelRange; -#endif return 0; } @@ -414,11 +425,10 @@ static int32_t PIOS_MPU6000_SetReg(uint8_t reg, uint8_t data) } /** - * @brief Read current X, Z, Y values (in that order) - * \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings + * @brief Perform a dummy read in order to restart interrupt generation * \returns 0 if succesful */ -int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data *data) +int32_t PIOS_MPU6000_DummyReadGyros() { // THIS FUNCTION IS DEPRECATED AND DOES NOT PERFORM A ROTATION uint8_t buf[7] = { PIOS_MPU6000_GYRO_X_OUT_MSB | 0x80, 0, 0, 0, 0, 0, 0 }; @@ -434,10 +444,6 @@ int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data *data) PIOS_MPU6000_ReleaseBus(); - data->gyro_x = rec[1] << 8 | rec[2]; - data->gyro_y = rec[3] << 8 | rec[4]; - data->gyro_z = rec[5] << 8 | rec[6]; - return 0; } @@ -469,7 +475,7 @@ xQueueHandle PIOS_MPU6000_GetQueue() } -float PIOS_MPU6000_GetScale() +static float PIOS_MPU6000_GetScale() { switch (dev->gyro_range) { case PIOS_MPU6000_SCALE_250_DEG: @@ -487,7 +493,7 @@ float PIOS_MPU6000_GetScale() return 0; } -float PIOS_MPU6000_GetAccelScale() +static float PIOS_MPU6000_GetAccelScale() { switch (dev->accel_range) { case PIOS_MPU6000_ACCEL_2G: @@ -510,7 +516,7 @@ float PIOS_MPU6000_GetAccelScale() * \return 0 if test succeeded * \return non-zero value if test succeeded */ -int32_t PIOS_MPU6000_Test(void) +static int32_t PIOS_MPU6000_Test(void) { /* Verify that ID matches (MPU6000 ID is 0x69) */ int32_t mpu6000_id = PIOS_MPU6000_ReadID(); @@ -526,172 +532,76 @@ int32_t PIOS_MPU6000_Test(void) return 0; } -/** - * @brief Reads the contents of the MPU6000 Interrupt Status register from an ISR - * @return The register value or -1 on failure to claim the bus - */ -static int32_t PIOS_MPU6000_GetInterruptStatusRegISR(bool *woken) -{ - /* Interrupt Status register can be read at high SPI clock speed */ - uint8_t data; - - if (PIOS_MPU6000_ClaimBusISR(woken, false) != 0) { - return -1; - } - PIOS_SPI_TransferByte(dev->spi_id, (0x80 | PIOS_MPU6000_INT_STATUS_REG)); - data = PIOS_SPI_TransferByte(dev->spi_id, 0); - PIOS_MPU6000_ReleaseBusISR(woken); - return data; -} - -/** - * @brief Resets the MPU6000 FIFO from an ISR - * @param woken[in,out] If non-NULL, will be set to true if woken was false and a higher priority - * task has is now eligible to run, else unchanged - * @return 0 if operation was successful - * @return -1 if unable to claim SPI bus - * @return -2 if write to the device failed - */ -static int32_t PIOS_MPU6000_ResetFifoISR(bool *woken) -{ - int32_t result = 0; - - if (PIOS_MPU6000_ClaimBusISR(woken, false) != 0) { - return -1; - } - /* Reset FIFO. */ - if (PIOS_SPI_TransferByte(dev->spi_id, 0x7f & PIOS_MPU6000_USER_CTRL_REG) != 0) { - result = -2; - } else if (PIOS_SPI_TransferByte(dev->spi_id, (dev->cfg->User_ctl | PIOS_MPU6000_USERCTL_FIFO_RST)) != 0) { - result = -2; - } - PIOS_MPU6000_ReleaseBusISR(woken); - return result; -} - -/** - * @brief Obtains the number of bytes in the FIFO. Call from ISR only. - * @return the number of bytes in the FIFO - * @param woken[in,out] If non-NULL, will be set to true if woken was false and a higher priority - * task has is now eligible to run, else unchanged - */ -static int32_t PIOS_MPU6000_FifoDepthISR(bool *woken) -{ - uint8_t mpu6000_send_buf[3] = { PIOS_MPU6000_FIFO_CNT_MSB | 0x80, 0, 0 }; - uint8_t mpu6000_rec_buf[3]; - - if (PIOS_MPU6000_ClaimBusISR(woken, false) != 0) { - return -1; - } - - if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) { - PIOS_MPU6000_ReleaseBusISR(woken); - return -1; - } - - PIOS_MPU6000_ReleaseBusISR(woken); - - return (mpu6000_rec_buf[1] << 8) | mpu6000_rec_buf[2]; -} - /** * @brief EXTI IRQ Handler. Read all the data from onboard buffer - * @return a boolean to the EXTI IRQ Handler wrapper indicating if a + * @return a boleoan to the EXTI IRQ Handler wrapper indicating if a * higher priority task is now eligible to run */ -uint32_t mpu6000_irq = 0; -int32_t mpu6000_count; -uint32_t mpu6000_fifo_backup = 0; - -uint8_t mpu6000_last_read_count = 0; -uint32_t mpu6000_fails = 0; - -uint32_t mpu6000_interval_us; -uint32_t mpu6000_time_us; -uint32_t mpu6000_transfer_size; bool PIOS_MPU6000_IRQHandler(void) { bool woken = false; - static uint32_t timeval; - - mpu6000_interval_us = PIOS_DELAY_DiffuS(timeval); - timeval = PIOS_DELAY_GetRaw(); if (!mpu6000_configured) { return false; } bool read_ok = false; - if (dev->cfg->User_ctl & PIOS_MPU6000_USERCTL_FIFO_EN) { - read_ok = PIOS_MPU6000_ReadFifo(&woken); - } else { - read_ok = PIOS_MPU6000_ReadSensor(&woken); - } + read_ok = PIOS_MPU6000_ReadSensor(&woken); + if (read_ok) { bool woken2 = PIOS_MPU6000_HandleData(); woken |= woken2; } - mpu6000_irq++; - - mpu6000_time_us = PIOS_DELAY_DiffuS(timeval); - return woken; } static bool PIOS_MPU6000_HandleData() { + if (!queue_data) { + return false; + } + // Rotate the sensor to OP convention. The datasheet defines X as towards the right // and Y as forward. OP convention transposes this. Also the Z is defined negatively // to our convention - static struct pios_mpu6000_data data; - // Currently we only support rotations on top so switch X/Y accordingly switch (dev->cfg->orientation) { case PIOS_MPU6000_TOP_0DEG: -#ifdef PIOS_MPU6000_ACCEL - data.accel_y = GET_SENSOR_DATA(mpu6000_data, Accel_X); // chip X - data.accel_x = GET_SENSOR_DATA(mpu6000_data, Accel_Y); // chip Y -#endif - data.gyro_y = GET_SENSOR_DATA(mpu6000_data, Gyro_X); // chip X - data.gyro_x = GET_SENSOR_DATA(mpu6000_data, Gyro_Y); // chip Y + queue_data->sample[0].y = GET_SENSOR_DATA(mpu6000_data, Accel_X); // chip X + queue_data->sample[0].x = GET_SENSOR_DATA(mpu6000_data, Accel_Y); // chip Y + queue_data->sample[1].y = GET_SENSOR_DATA(mpu6000_data, Gyro_X); // chip X + queue_data->sample[1].x = GET_SENSOR_DATA(mpu6000_data, Gyro_Y); // chip Y break; case PIOS_MPU6000_TOP_90DEG: // -1 to bring it back to -32768 +32767 range -#ifdef PIOS_MPU6000_ACCEL - data.accel_y = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_Y)); // chip Y - data.accel_x = GET_SENSOR_DATA(mpu6000_data, Accel_X); // chip X -#endif - data.gyro_y = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_Y)); // chip Y - data.gyro_x = GET_SENSOR_DATA(mpu6000_data, Gyro_X); // chip X + queue_data->sample[0].y = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_Y)); // chip Y + queue_data->sample[0].x = GET_SENSOR_DATA(mpu6000_data, Accel_X); // chip X + queue_data->sample[1].y = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_Y)); // chip Y + queue_data->sample[1].x = GET_SENSOR_DATA(mpu6000_data, Gyro_X); // chip X break; case PIOS_MPU6000_TOP_180DEG: -#ifdef PIOS_MPU6000_ACCEL - data.accel_y = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_X)); // chip X - data.accel_x = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_Y)); // chip Y -#endif - data.gyro_y = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_X)); // chip X - data.gyro_x = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_Y)); // chip Y + queue_data->sample[0].y = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_X)); // chip X + queue_data->sample[0].x = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_Y)); // chip Y + queue_data->sample[1].y = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_X)); // chip X + queue_data->sample[1].x = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_Y)); // chip Y break; case PIOS_MPU6000_TOP_270DEG: -#ifdef PIOS_MPU6000_ACCEL - data.accel_y = GET_SENSOR_DATA(mpu6000_data, Accel_Y); // chip Y - data.accel_x = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_X)); // chip X -#endif - data.gyro_y = GET_SENSOR_DATA(mpu6000_data, Gyro_Y); // chip Y - data.gyro_x = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_X)); // chip X + queue_data->sample[0].y = GET_SENSOR_DATA(mpu6000_data, Accel_Y); // chip Y + queue_data->sample[0].x = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_X)); // chip X + queue_data->sample[1].y = GET_SENSOR_DATA(mpu6000_data, Gyro_Y); // chip Y + queue_data->sample[1].x = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_X)); // chip X break; } -#ifdef PIOS_MPU6000_ACCEL - data.accel_z = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_Z)); -#endif - data.gyro_z = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_Z)); - data.temperature = GET_SENSOR_DATA(mpu6000_data, Temperature); + queue_data->sample[0].z = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_Z)); + queue_data->sample[1].z = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_Z)); + const int16_t temp = GET_SENSOR_DATA(mpu6000_data, Temperature); + queue_data->temperature = 3500 + ((float)(temp + 512)) * (1.0f / 3.4f); BaseType_t higherPriorityTaskWoken; - xQueueSendToBackFromISR(dev->queue, (void *)&data, &higherPriorityTaskWoken); + xQueueSendToBackFromISR(dev->queue, (void *)&queue_data, &higherPriorityTaskWoken); return higherPriorityTaskWoken == pdTRUE; } @@ -704,72 +614,33 @@ static bool PIOS_MPU6000_ReadSensor(bool *woken) } if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_data.buffer[0], sizeof(mpu6000_data_t), NULL) < 0) { PIOS_MPU6000_ReleaseBusISR(woken); - mpu6000_fails++; return false; } PIOS_MPU6000_ReleaseBusISR(woken); return true; } -static bool PIOS_MPU6000_ReadFifo(bool *woken) +// Sensor driver implementation +bool PIOS_MPU6000_driver_Test(__attribute__((unused)) uintptr_t context) { - /* Temporary fix for OP-1049. Expected to be superceded for next major release - * by code changes for OP-1039. - * Read interrupt status register to check for FIFO overflow. Must be the - * first read after interrupt, in case the device is configured so that - * any read clears in the status register (PIOS_MPU6000_INT_CLR_ANYRD set in - * interrupt config register) */ - int32_t result; + return !PIOS_MPU6000_Test(); +} - if ((result = PIOS_MPU6000_GetInterruptStatusRegISR(woken)) < 0) { - return false; - } - if (result & PIOS_MPU6000_INT_STATUS_FIFO_OVERFLOW) { - /* The FIFO has overflowed, so reset it, - * to enable sample sync to be recovered. - * If the reset fails, we are in trouble, but - * we keep trying on subsequent interrupts. */ - PIOS_MPU6000_ResetFifoISR(woken); - /* Return and wait for the next new sample. */ - return false; - } +void PIOS_MPU6000_driver_Reset(__attribute__((unused)) uintptr_t context) +{ + PIOS_MPU6000_DummyReadGyros(); +} - /* Usual case - FIFO has not overflowed. */ - mpu6000_count = PIOS_MPU6000_FifoDepthISR(woken); - if (mpu6000_count < PIOS_MPU6000_SAMPLES_BYTES) { - return false; - } +void PIOS_MPU6000_driver_get_scale(float *scales, uint8_t size, __attribute__((unused)) uintptr_t contet) +{ + PIOS_Assert(size >= 2); + scales[0] = PIOS_MPU6000_GetScale(); + scales[1] = PIOS_MPU6000_GetAccelScale(); +} - if (PIOS_MPU6000_ClaimBusISR(woken, true) != 0) { - return false; - } - - const uint8_t mpu6000_send_buf[1 + PIOS_MPU6000_SAMPLES_BYTES] = { PIOS_MPU6000_FIFO_REG | 0x80 }; - - if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_data.buffer[0], sizeof(mpu6000_data_t), NULL) < 0) { - PIOS_MPU6000_ReleaseBusISR(woken); - mpu6000_fails++; - return false; - } - - PIOS_MPU6000_ReleaseBusISR(woken); - - // In the case where extras samples backed up grabbed an extra - if (mpu6000_count >= PIOS_MPU6000_SAMPLES_BYTES * 2) { - mpu6000_fifo_backup++; - if (PIOS_MPU6000_ClaimBusISR(woken, true) != 0) { - return false; - } - - if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_data.buffer[0], sizeof(mpu6000_data_t), NULL) < 0) { - PIOS_MPU6000_ReleaseBusISR(woken); - mpu6000_fails++; - return false; - } - - PIOS_MPU6000_ReleaseBusISR(woken); - } - return true; +QueueHandle_t PIOS_MPU6000_driver_get_queue(__attribute__((unused)) uintptr_t context) +{ + return dev->queue; } #endif /* PIOS_INCLUDE_MPU6000 */ diff --git a/flight/pios/inc/pios_mpu6000.h b/flight/pios/inc/pios_mpu6000.h index e8c40a5c8..4d6acbc61 100644 --- a/flight/pios/inc/pios_mpu6000.h +++ b/flight/pios/inc/pios_mpu6000.h @@ -31,6 +31,7 @@ #ifndef PIOS_MPU6000_H #define PIOS_MPU6000_H +#include /* MPU6000 Addresses */ #define PIOS_MPU6000_SMPLRT_DIV_REG 0X19 @@ -131,18 +132,6 @@ enum pios_mpu6000_orientation { // clockwise rotation from board forward PIOS_MPU6000_TOP_270DEG = 0x03 }; -struct pios_mpu6000_data { - int16_t gyro_x; - int16_t gyro_y; - int16_t gyro_z; -#if defined(PIOS_MPU6000_ACCEL) - int16_t accel_x; - int16_t accel_y; - int16_t accel_z; -#endif /* PIOS_MPU6000_ACCEL */ - int16_t temperature; -}; - struct pios_mpu6000_cfg { const struct pios_exti_cfg *exti_cfg; /* Pointer to the EXTI configuration */ @@ -167,14 +156,11 @@ struct pios_mpu6000_cfg { /* Public Functions */ extern int32_t PIOS_MPU6000_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_mpu6000_cfg *new_cfg); extern int32_t PIOS_MPU6000_ConfigureRanges(enum pios_mpu6000_range gyroRange, enum pios_mpu6000_accel_range accelRange, enum pios_mpu6000_filter filterSetting); -extern xQueueHandle PIOS_MPU6000_GetQueue(); -extern int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data *buffer); extern int32_t PIOS_MPU6000_ReadID(); -extern int32_t PIOS_MPU6000_Test(); -extern float PIOS_MPU6000_GetScale(); -extern float PIOS_MPU6000_GetAccelScale(); +extern void PIOS_MPU6000_Register(); extern bool PIOS_MPU6000_IRQHandler(void); +extern PIOS_SENSORS_Driver PIOS_MPU6000_Driver; #endif /* PIOS_MPU6000_H */ /**