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REVONANO - Add MPU9250 support

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Mathieu Rondonneau 2015-05-18 21:27:42 +02:00 committed by Alessio Morale
parent fb11b312c5
commit 66b06e4c9a
6 changed files with 1414 additions and 0 deletions
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1033
flight/pios/common/pios_mpu9250.c Normal file
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/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_MPU9250 MPU9250 Functions
* @brief Deals with the hardware interface to the 9 DOF sensor.
* @{
*
* @file pios_mp9250.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief MPU9250 9-axis gyro, accel and mag chip
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************
*/
/*
* 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; either version 3 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 MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#include "pios_mpu9250.h"
#ifdef PIOS_INCLUDE_MPU9250
#include <pios_constants.h>
/* Global Variables */
enum pios_mpu9250_dev_magic {
PIOS_MPU9250_DEV_MAGIC = 0x9da9b3ed,
};
struct mpu9250_dev {
uint32_t spi_id;
uint32_t slave_num;
xQueueHandle queue;
const struct pios_mpu9250_cfg *cfg;
enum pios_mpu9250_range gyro_range;
enum pios_mpu9250_accel_range accel_range;
enum pios_mpu9250_filter filter;
enum pios_mpu9250_dev_magic magic;
float mag_sens_adj[PIOS_MPU9250_MAG_ASA_NB_BYTE];
};
#ifdef PIOS_MPU9250_ACCEL
#define PIOS_MPU9250_ACCEL_SAMPLES_BYTES (6)
#else
#define PIOS_MPU9250_ACCEL_SAMPLES_BYTES (0)
#endif
#ifdef PIOS_MPU9250_MAG
#define PIOS_MPU9250_MAG_SAMPLES_BYTES (8)
#else
#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_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
#else
#define PIOS_MPU9250_SENSOR_FIRST_REG PIOS_MPU9250_TEMP_OUT_MSB
#endif
#if defined(PIOS_MPU9250_MAG) && !defined(PIOS_MPU9250_ACCEL)
#error ERROR: PIOS_MPU9250_ACCEL not defined! THIS CONFIGURATION IS NOT SUPPORTED
#endif
typedef union {
uint8_t buffer[2 + PIOS_MPU9250_SAMPLES_BYTES];
struct {
uint8_t dummy;
#ifdef PIOS_MPU9250_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;
uint8_t Gyro_X_l;
uint8_t Gyro_Y_h;
uint8_t Gyro_Y_l;
uint8_t Gyro_Z_h;
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;
#endif
} data;
} mpu9250_data_t;
#define GET_SENSOR_DATA(mpudataptr, sensor) (mpudataptr.data.sensor##_h << 8 | mpudataptr.data.sensor##_l)
// ! Global structure for this device device
static struct mpu9250_dev *dev;
volatile bool mpu9250_configured = false;
static mpu9250_data_t mpu9250_data;
// ! Private functions
static struct mpu9250_dev *PIOS_MPU9250_alloc(const struct pios_mpu9250_cfg *cfg);
static int32_t PIOS_MPU9250_Validate(struct mpu9250_dev *dev);
static void PIOS_MPU9250_Config(struct pios_mpu9250_cfg const *cfg);
static int32_t PIOS_MPU9250_SetReg(uint8_t address, uint8_t buffer);
static int32_t PIOS_MPU9250_GetReg(uint8_t address);
static void PIOS_MPU9250_SetSpeed(const bool fast);
static bool PIOS_MPU9250_HandleData();
static bool PIOS_MPU9250_ReadFifo(bool *woken);
static bool PIOS_MPU9250_ReadSensor(bool *woken);
#if defined(PIOS_MPU9250_MAG)
static int32_t PIOS_MPU9250_Mag_Test(void);
static int32_t PIOS_MPU9250_Mag_Init(void);
#endif
/**
* @brief Allocate a new device
*/
static struct mpu9250_dev *PIOS_MPU9250_alloc(const struct pios_mpu9250_cfg *cfg)
{
struct mpu9250_dev *mpu9250_dev;
mpu9250_dev = (struct mpu9250_dev *)pios_malloc(sizeof(*mpu9250_dev));
if (!mpu9250_dev) {
return NULL;
}
mpu9250_dev->magic = PIOS_MPU9250_DEV_MAGIC;
mpu9250_dev->queue = xQueueCreate(cfg->max_downsample + 1, sizeof(struct pios_mpu9250_data));
if (mpu9250_dev->queue == NULL) {
vPortFree(mpu9250_dev);
return NULL;
}
return mpu9250_dev;
}
/**
* @brief Validate the handle to the spi device
* @returns 0 for valid device or -1 otherwise
*/
static int32_t PIOS_MPU9250_Validate(struct mpu9250_dev *vdev)
{
if (vdev == NULL) {
return -1;
}
if (vdev->magic != PIOS_MPU9250_DEV_MAGIC) {
return -2;
}
if (vdev->spi_id == 0) {
return -3;
}
return 0;
}
/**
* @brief Initialize the MPU9250 3-axis gyro sensor.
* @return 0 for success, -1 for failure
*/
int32_t PIOS_MPU9250_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_mpu9250_cfg *cfg)
{
dev = PIOS_MPU9250_alloc(cfg);
if (dev == NULL) {
return -1;
}
dev->spi_id = spi_id;
dev->slave_num = slave_num;
dev->cfg = cfg;
/* Configure the MPU9250 Sensor */
PIOS_MPU9250_Config(cfg);
/* Set up EXTI line */
PIOS_EXTI_Init(cfg->exti_cfg);
return 0;
}
/**
* @brief Initialize the MPU9250 3-axis gyro sensor
* \return none
* \param[in] PIOS_MPU9250_ConfigTypeDef struct to be used to configure sensor.
*
*/
static void PIOS_MPU9250_Config(struct pios_mpu9250_cfg const *cfg)
{
uint8_t power;
uint8_t fifo_store;
while (PIOS_MPU9250_Test() != 0) {
;
}
// Reset chip
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_PWR_MGMT_REG, PIOS_MPU9250_PWRMGMT_IMU_RST) != 0) {
;
}
PIOS_DELAY_WaitmS(100);
// Reset sensors and fifo
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_USER_CTRL_REG,
PIOS_MPU9250_USERCTL_DIS_I2C |
PIOS_MPU9250_USERCTL_SIG_COND |
PIOS_MPU9250_USERCTL_FIFO_RST) != 0) {
;
}
PIOS_DELAY_WaitmS(100);
// Power management configuration
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0) {
;
}
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_USER_CTRL_REG, cfg->User_ctl) != 0) {
;
}
// FIFO storage by default, do not include accelerometer and external sense data.
power = 0x38;
fifo_store = cfg->Fifo_store;
#if defined(PIOS_MPU9250_ACCEL)
fifo_store |= PIOS_MPU9250_ACCEL_OUT;
power = 0;
#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) {
;
}
PIOS_MPU9250_SetReg(PIOS_MPU9250_PWR_MGMT2_REG, power);
#if defined(PIOS_MPU9250_ACCEL)
PIOS_MPU9250_ConfigureRanges(cfg->gyro_range, cfg->accel_range, cfg->filter);
#endif
// Interrupt configuration
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_INT_CFG_REG, cfg->interrupt_cfg) != 0) {
;
}
#ifdef PIOS_MPU9250_MAG
PIOS_MPU9250_Mag_Init();
#endif
// Interrupt enable
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_INT_EN_REG, cfg->interrupt_en) != 0) {
;
}
if ((PIOS_MPU9250_GetReg(PIOS_MPU9250_INT_EN_REG)) != cfg->interrupt_en) {
return;
}
mpu9250_configured = true;
}
/**
* @brief Configures Gyro, accel and Filter ranges/setings
* @return 0 if successful, -1 if device has not been initialized
*/
int32_t PIOS_MPU9250_ConfigureRanges(
enum pios_mpu9250_range gyroRange,
enum pios_mpu9250_accel_range accelRange,
enum pios_mpu9250_filter filterSetting)
{
if (dev == NULL) {
return -1;
}
// update filter settings
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_DLPF_CFG_REG, filterSetting) != 0) {
;
}
// Sample rate divider, chosen upon digital filtering settings
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_SMPLRT_DIV_REG,
filterSetting == PIOS_MPU9250_LOWPASS_256_HZ ?
dev->cfg->Smpl_rate_div_no_dlp : dev->cfg->Smpl_rate_div_dlp) != 0) {
;
}
dev->filter = filterSetting;
// Gyro range
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_GYRO_CFG_REG, gyroRange) != 0) {
;
}
dev->gyro_range = gyroRange;
#if defined(PIOS_MPU9250_ACCEL)
// Set the accel range
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_ACCEL_CFG_REG, accelRange) != 0) {
;
}
dev->accel_range = accelRange;
#endif
return 0;
}
/**
* @brief Claim the SPI bus for the accel communications and select this chip
* @return 0 if successful, -1 for invalid device, -2 if unable to claim bus
*/
static int32_t PIOS_MPU9250_ClaimBus(bool fast_spi)
{
if (PIOS_MPU9250_Validate(dev) != 0) {
return -1;
}
if (PIOS_SPI_ClaimBus(dev->spi_id) != 0) {
return -2;
}
PIOS_MPU9250_SetSpeed(fast_spi);
PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 0);
return 0;
}
static void PIOS_MPU9250_SetSpeed(const bool fast)
{
if (fast) {
PIOS_SPI_SetClockSpeed(dev->spi_id, dev->cfg->fast_prescaler);
} else {
PIOS_SPI_SetClockSpeed(dev->spi_id, dev->cfg->std_prescaler);
}
}
/**
* @brief Claim the SPI bus for the accel communications and select this chip
* @return 0 if successful, -1 for invalid device, -2 if unable to claim bus
* @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_MPU9250_ClaimBusISR(bool *woken, bool fast_spi)
{
if (PIOS_MPU9250_Validate(dev) != 0) {
return -1;
}
if (PIOS_SPI_ClaimBusISR(dev->spi_id, woken) != 0) {
return -2;
}
PIOS_MPU9250_SetSpeed(fast_spi);
PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 0);
return 0;
}
/**
* @brief Release the SPI bus for the accel communications and end the transaction
* @return 0 if successful
*/
static int32_t PIOS_MPU9250_ReleaseBus()
{
if (PIOS_MPU9250_Validate(dev) != 0) {
return -1;
}
PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 1);
return PIOS_SPI_ReleaseBus(dev->spi_id);
}
/**
* @brief Release the SPI bus for the accel communications and end the transaction
* @return 0 if successful
* @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_MPU9250_ReleaseBusISR(bool *woken)
{
if (PIOS_MPU9250_Validate(dev) != 0) {
return -1;
}
PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 1);
return PIOS_SPI_ReleaseBusISR(dev->spi_id, woken);
}
/**
* @brief Read a register from MPU9250
* @returns The register value or -1 if failure to get bus
* @param reg[in] Register address to be read
*/
static int32_t PIOS_MPU9250_GetReg(uint8_t reg)
{
uint8_t data;
if (PIOS_MPU9250_ClaimBus(false) != 0) {
return -1;
}
PIOS_SPI_TransferByte(dev->spi_id, (0x80 | reg)); // request byte
data = PIOS_SPI_TransferByte(dev->spi_id, 0); // receive response
PIOS_MPU9250_ReleaseBus();
return data;
}
/**
* @brief Writes one byte to the MPU9250
* \param[in] reg Register address
* \param[in] data Byte to write
* \return 0 if operation was successful
* \return -1 if unable to claim SPI bus
* \return -2 if unable to send the command
* \return -3 if unable to receive the response
*/
static int32_t PIOS_MPU9250_SetReg(uint8_t reg, uint8_t data)
{
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;
//}
PIOS_SPI_TransferByte(dev->spi_id, data);
//if (PIOS_SPI_TransferByte(dev->spi_id, data) != 0) {
// PIOS_MPU9250_ReleaseBus();
// return -3;
//}
PIOS_MPU9250_ReleaseBus();
return ret;
}
/*
* @brief Read the identification bytes from the MPU9250 sensor
* \return ID read from MPU9250 or -1 if failure
*/
int32_t PIOS_MPU9250_ReadID()
{
int32_t mpu9250_id = PIOS_MPU9250_GetReg(PIOS_MPU9250_WHOAMI);
if (mpu9250_id < 0) {
return -1;
}
return mpu9250_id;
}
/**
* \brief Reads the queue handle
* \return Handle to the queue or null if invalid device
*/
xQueueHandle PIOS_MPU9250_GetQueue()
{
if (PIOS_MPU9250_Validate(dev) != 0) {
return (xQueueHandle)NULL;
}
return dev->queue;
}
float PIOS_MPU9250_GetScale()
{
switch (dev->gyro_range) {
case PIOS_MPU9250_SCALE_250_DEG:
return 1.0f / 131.0f;
case PIOS_MPU9250_SCALE_500_DEG:
return 1.0f / 65.5f;
case PIOS_MPU9250_SCALE_1000_DEG:
return 1.0f / 32.8f;
case PIOS_MPU9250_SCALE_2000_DEG:
return 1.0f / 16.4f;
}
return 0;
}
float PIOS_MPU9250_GetAccelScale()
{
switch (dev->accel_range) {
case PIOS_MPU9250_ACCEL_2G:
return PIOS_CONST_MKS_GRAV_ACCEL_F / 16384.0f;
case PIOS_MPU9250_ACCEL_4G:
return PIOS_CONST_MKS_GRAV_ACCEL_F / 8192.0f;
case PIOS_MPU9250_ACCEL_8G:
return PIOS_CONST_MKS_GRAV_ACCEL_F / 4096.0f;
case PIOS_MPU9250_ACCEL_16G:
return PIOS_CONST_MKS_GRAV_ACCEL_F / 2048.0f;
}
return 0;
}
/**
* @brief Run self-test operation.
* \return 0 if test succeeded
* \return non-zero value if test failed
*/
int32_t PIOS_MPU9250_Test(void)
{
/* Verify that ID matches */
int32_t mpu9250_id = PIOS_MPU9250_ReadID();
if (mpu9250_id < 0) {
return -1;
}
if (mpu9250_id != PIOS_MPU9250_GYRO_ACC_ID) {
return -2;
}
return 0;
}
#if defined(PIOS_MPU9250_MAG)
/**
* @brief Read a mag register from MPU9250
* @returns The register value or -1 if failure to get bus
* @param reg[in] Register address to be read
*/
static int32_t PIOS_MPU9250_Mag_GetReg(uint8_t reg)
{
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 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) {
;
}
PIOS_DELAY_WaitmS(1);
// Read result.
data = PIOS_MPU9250_GetReg(PIOS_MPU9250_I2C_SLV4_DI);
PIOS_DELAY_WaitmS(1);
return data;
}
/**
* @brief Writes one byte to the MPU9250
* \param[in] reg Register address
* \param[in] data Byte to write
*/
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 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) {
;
}
// 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);
return PIOS_MPU9250_MAG_OK;
}
/**
* @rief Get ASAx registers from fuse ROM
* Hadj = H*((ASA-128)*0.5/128+1)
* \return 0 if test succeeded
* \return non-zero value if test failed
*/
static int32_t PIOS_MPU9250_Mag_Sensitivity(void)
{
int i;
/* 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);
/* Enable fuse ROM for access */
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;
}
/* 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);
/* 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);
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;
}
PIOS_MPU9250_ReleaseBus();
/* 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;
}
/**
* @brief Read a mag register from MPU9250
* @returns The register value or -1 if failure to get bus
* @param reg[in] Register address to be read
*/
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);
// 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) {
;
}
// 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);
// 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);
// 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);
return PIOS_MPU9250_MAG_OK;
}
/*
* @brief Read the mag identification bytes from the MPU9250 sensor
*/
int32_t PIOS_MPU9250_Mag_ReadID()
{
int32_t mpu9250_mag_id = PIOS_MPU9250_Mag_GetReg(PIOS_MPU9250_WIA);
if (mpu9250_mag_id < PIOS_MPU9250_MAG_OK) {
return PIOS_MPU9250_ERR_MAG_READ_ID;
}
return mpu9250_mag_id;
}
/**
* @brief Run self-test operation.
* \return 0 if test succeeded
* \return non-zero value if test failed
*/
static int32_t PIOS_MPU9250_Mag_Test(void)
{
/* Verify that ID matches */
int32_t mpu9250_mag_id = PIOS_MPU9250_Mag_ReadID();
if (mpu9250_mag_id < PIOS_MPU9250_MAG_OK) {
return PIOS_MPU9250_ERR_MAG_READ_ID;
}
if (mpu9250_mag_id != PIOS_MPU9250_MAG_ID) {
return PIOS_MPU9250_ERR_MAG_BAD_ID;
}
/* TODO: run self-test */
return PIOS_MPU9250_MAG_OK;
}
/**
* @brief Read the mag data.
* \return true if data has been read from mpu
* \return false on error
*/
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);
PIOS_MPU9250_ReleaseBusISR(woken);
return true;
}
#endif
/**
* @brief Reads the contents of the MPU9250 Interrupt Status register from an ISR
* @return The register value or -1 on failure to claim the bus
*/
static int32_t PIOS_MPU9250_GetInterruptStatusRegISR(bool *woken)
{
/* Interrupt Status register can be read at high SPI clock speed */
uint8_t data;
if (PIOS_MPU9250_ClaimBusISR(woken, false) != 0) {
return -1;
}
PIOS_SPI_TransferByte(dev->spi_id, (0x80 | PIOS_MPU9250_INT_STATUS_REG));
data = PIOS_SPI_TransferByte(dev->spi_id, 0);
PIOS_MPU9250_ReleaseBusISR(woken);
return data;
}
/**
* @brief Resets the MPU9250 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_MPU9250_ResetFifoISR(bool *woken)
{
int32_t result = 0;
if (PIOS_MPU9250_ClaimBusISR(woken, false) != 0) {
return -1;
}
/* Reset FIFO. */
if (PIOS_SPI_TransferByte(dev->spi_id, 0x7f & PIOS_MPU9250_USER_CTRL_REG) != 0) {
result = -2;
} else if (PIOS_SPI_TransferByte(dev->spi_id, (dev->cfg->User_ctl | PIOS_MPU9250_USERCTL_FIFO_RST)) != 0) {
result = -2;
}
PIOS_MPU9250_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_MPU9250_FifoDepthISR(bool *woken)
{
uint8_t mpu9250_send_buf[3] = { PIOS_MPU9250_FIFO_CNT_MSB | 0x80, 0, 0 };
uint8_t mpu9250_rec_buf[3];
if (PIOS_MPU9250_ClaimBusISR(woken, false) != 0) {
return -1;
}
if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu9250_send_buf[0], &mpu9250_rec_buf[0], sizeof(mpu9250_send_buf), NULL) < 0) {
PIOS_MPU9250_ReleaseBusISR(woken);
return -1;
}
PIOS_MPU9250_ReleaseBusISR(woken);
return (mpu9250_rec_buf[1] << 8) | mpu9250_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
* higher priority task is now eligible to run
*/
uint32_t mpu9250_irq = 0;
int32_t mpu9250_count;
uint32_t mpu9250_fifo_backup = 0;
uint8_t mpu9250_last_read_count = 0;
uint32_t mpu9250_fails = 0;
uint32_t mpu9250_interval_us;
uint32_t mpu9250_time_us;
uint32_t mpu9250_transfer_size;
bool PIOS_MPU9250_IRQHandler(void)
{
bool woken = false;
static uint32_t timeval;
mpu9250_interval_us = PIOS_DELAY_DiffuS(timeval);
timeval = PIOS_DELAY_GetRaw();
if (!mpu9250_configured) {
return false;
}
#if defined(PIOS_MPU9250_MAG)
PIOS_MPU9250_ReadMag(&woken);
#endif
bool read_ok = false;
if (dev->cfg->User_ctl & PIOS_MPU9250_USERCTL_FIFO_EN) {
read_ok = PIOS_MPU9250_ReadFifo(&woken);
} else {
read_ok = PIOS_MPU9250_ReadSensor(&woken);
}
if (read_ok) {
bool woken2 = PIOS_MPU9250_HandleData();
woken |= woken2;
}
mpu9250_irq++;
mpu9250_time_us = PIOS_DELAY_DiffuS(timeval);
return woken;
}
static bool PIOS_MPU9250_HandleData()
{
// 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_mpu9250_data data;
// Currently we only support rotations on top so switch X/Y accordingly
switch (dev->cfg->orientation) {
case PIOS_MPU9250_TOP_0DEG:
#ifdef PIOS_MPU9250_ACCEL
data.accel_y = GET_SENSOR_DATA(mpu9250_data, Accel_X); // chip X
data.accel_x = GET_SENSOR_DATA(mpu9250_data, Accel_Y); // chip Y
#endif
data.gyro_y = GET_SENSOR_DATA(mpu9250_data, Gyro_X); // chip X
data.gyro_x = GET_SENSOR_DATA(mpu9250_data, Gyro_Y); // chip Y
break;
case PIOS_MPU9250_TOP_90DEG:
// -1 to bring it back to -32768 +32767 range
#ifdef PIOS_MPU9250_ACCEL
data.accel_y = -1 - (GET_SENSOR_DATA(mpu9250_data, Accel_Y)); // chip Y
data.accel_x = GET_SENSOR_DATA(mpu9250_data, Accel_X); // chip X
#endif
data.gyro_y = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_Y)); // chip Y
data.gyro_x = GET_SENSOR_DATA(mpu9250_data, Gyro_X); // chip X
break;
case PIOS_MPU9250_TOP_180DEG:
#ifdef PIOS_MPU9250_ACCEL
data.accel_y = -1 - (GET_SENSOR_DATA(mpu9250_data, Accel_X)); // chip X
data.accel_x = -1 - (GET_SENSOR_DATA(mpu9250_data, Accel_Y)); // chip Y
#endif
data.gyro_y = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_X)); // chip X
data.gyro_x = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_Y)); // chip Y
break;
case PIOS_MPU9250_TOP_270DEG:
#ifdef PIOS_MPU9250_ACCEL
data.accel_y = GET_SENSOR_DATA(mpu9250_data, Accel_Y); // chip Y
data.accel_x = -1 - (GET_SENSOR_DATA(mpu9250_data, Accel_X)); // chip X
#endif
data.gyro_y = GET_SENSOR_DATA(mpu9250_data, Gyro_Y); // chip Y
data.gyro_x = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_X)); // chip X
break;
}
#ifdef PIOS_MPU9250_ACCEL
data.accel_z = -1 - (GET_SENSOR_DATA(mpu9250_data, Accel_Z));
#endif
data.gyro_z = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_Z));
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;
#endif
BaseType_t higherPriorityTaskWoken;
xQueueSendToBackFromISR(dev->queue, (void *)&data, &higherPriorityTaskWoken);
return higherPriorityTaskWoken == pdTRUE;
}
static bool PIOS_MPU9250_ReadSensor(bool *woken)
{
const uint8_t mpu9250_send_buf[1 + PIOS_MPU9250_SAMPLES_BYTES] = { PIOS_MPU9250_SENSOR_FIRST_REG | 0x80 };
if (PIOS_MPU9250_ClaimBusISR(woken, true) != 0) {
return false;
}
if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu9250_send_buf[0], &mpu9250_data.buffer[0], sizeof(mpu9250_data_t), NULL) < 0) {
PIOS_MPU9250_ReleaseBusISR(woken);
mpu9250_fails++;
return false;
}
PIOS_MPU9250_ReleaseBusISR(woken);
return true;
}
static bool PIOS_MPU9250_ReadFifo(bool *woken)
{
/* 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_MPU9250_INT_CLR_ANYRD set in
* interrupt config register) */
int32_t result;
if ((result = PIOS_MPU9250_GetInterruptStatusRegISR(woken)) < 0) {
return false;
}
if (result & PIOS_MPU9250_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_MPU9250_ResetFifoISR(woken);
/* Return and wait for the next new sample. */
return false;
}
/* Usual case - FIFO has not overflowed. */
mpu9250_count = PIOS_MPU9250_FifoDepthISR(woken);
if (mpu9250_count < PIOS_MPU9250_SAMPLES_BYTES) {
return false;
}
if (PIOS_MPU9250_ClaimBusISR(woken, true) != 0) {
return false;
}
const uint8_t mpu9250_send_buf[1 + PIOS_MPU9250_SAMPLES_BYTES] = { PIOS_MPU9250_FIFO_REG | 0x80 };
if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu9250_send_buf[0], &mpu9250_data.buffer[0], sizeof(mpu9250_data_t), NULL) < 0) {
PIOS_MPU9250_ReleaseBusISR(woken);
mpu9250_fails++;
return false;
}
PIOS_MPU9250_ReleaseBusISR(woken);
// In the case where extras samples backed up grabbed an extra
if (mpu9250_count >= PIOS_MPU9250_SAMPLES_BYTES * 2) {
mpu9250_fifo_backup++;
if (PIOS_MPU9250_ClaimBusISR(woken, true) != 0) {
return false;
}
if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu9250_send_buf[0], &mpu9250_data.buffer[0], sizeof(mpu9250_data_t), NULL) < 0) {
PIOS_MPU9250_ReleaseBusISR(woken);
mpu9250_fails++;
return false;
}
PIOS_MPU9250_ReleaseBusISR(woken);
}
return true;
}
#endif /* PIOS_INCLUDE_MPU9250 */
/**
* @}
* @}
*/

266
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/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_MPU9250 MPU9250 Functions
* @brief Deals with the hardware interface to the 3-axis gyro
* @{
*
* @file PIOS_MPU9250.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief MPU9250 3-axis gyro function headers
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************
*/
/*
* 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; either version 3 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 MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_MPU9250_H
#define PIOS_MPU9250_H
/* MPU9250 Addresses */
#define PIOS_MPU9250_SMPLRT_DIV_REG 0X19
#define PIOS_MPU9250_DLPF_CFG_REG 0X1A
#define PIOS_MPU9250_GYRO_CFG_REG 0X1B
#define PIOS_MPU9250_ACCEL_CFG_REG 0X1C
#define PIOS_MPU9250_FIFO_EN_REG 0x23
#define PIOS_MPU9250_I2C_MST_CTRL 0x24
#define PIOS_MPU9250_I2C_SLV0_ADDR 0x25
#define PIOS_MPU9250_I2C_SLV0_REG 0x26
#define PIOS_MPU9250_I2C_SLV0_CTRL 0x27
#define PIOS_MPU9250_I2C_SLV1_ADDR 0x28
#define PIOS_MPU9250_I2C_SLV1_REG 0x29
#define PIOS_MPU9250_I2C_SLV1_CTRL 0x2A
#define PIOS_MPU9250_I2C_SLV4_ADDR 0x31
#define PIOS_MPU9250_I2C_SLV4_REG 0x32
#define PIOS_MPU9250_I2C_SLV4_DO 0x33
#define PIOS_MPU9250_I2C_SLV4_CTRL 0x34
#define PIOS_MPU9250_I2C_SLV4_DI 0x35
#define PIOS_MPU9250_INT_CFG_REG 0x37
#define PIOS_MPU9250_INT_EN_REG 0x38
#define PIOS_MPU9250_INT_STATUS_REG 0x3A
#define PIOS_MPU9250_ACCEL_X_OUT_MSB 0x3B
#define PIOS_MPU9250_ACCEL_X_OUT_LSB 0x3C
#define PIOS_MPU9250_ACCEL_Y_OUT_MSB 0x3D
#define PIOS_MPU9250_ACCEL_Y_OUT_LSB 0x3E
#define PIOS_MPU9250_ACCEL_Z_OUT_MSB 0x3F
#define PIOS_MPU9250_ACCEL_Z_OUT_LSB 0x40
#define PIOS_MPU9250_TEMP_OUT_MSB 0x41
#define PIOS_MPU9250_TEMP_OUT_LSB 0x42
#define PIOS_MPU9250_GYRO_X_OUT_MSB 0x43
#define PIOS_MPU9250_GYRO_X_OUT_LSB 0x44
#define PIOS_MPU9250_GYRO_Y_OUT_MSB 0x45
#define PIOS_MPU9250_GYRO_Y_OUT_LSB 0x46
#define PIOS_MPU9250_GYRO_Z_OUT_MSB 0x47
#define PIOS_MPU9250_GYRO_Z_OUT_LSB 0x48
#define PIOS_MPU9250_EXT_SENS_DATA_00 0x49
#define PIOS_MPU9250_I2C_SLV0_DO 0x63
#define PIOS_MPU9250_I2C_SLV1_DO 0x64
#define PIOS_MPU9250_I2C_MST_DELAY_CTRL 0x67
#define PIOS_MPU9250_USER_CTRL_REG 0x6A
#define PIOS_MPU9250_PWR_MGMT_REG 0x6B
#define PIOS_MPU9250_PWR_MGMT2_REG 0x6C
#define PIOS_MPU9250_FIFO_CNT_MSB 0x72
#define PIOS_MPU9250_FIFO_CNT_LSB 0x73
#define PIOS_MPU9250_FIFO_REG 0x74
#define PIOS_MPU9250_WHOAMI 0x75
/* FIFO enable for storing different values */
#define PIOS_MPU9250_FIFO_TEMP_OUT 0x80
#define PIOS_MPU9250_FIFO_GYRO_X_OUT 0x40
#define PIOS_MPU9250_FIFO_GYRO_Y_OUT 0x20
#define PIOS_MPU9250_FIFO_GYRO_Z_OUT 0x10
#define PIOS_MPU9250_ACCEL_OUT 0x08
/* Interrupt Configuration */
#define PIOS_MPU9250_INT_ACTL 0x80
#define PIOS_MPU9250_INT_OPEN 0x40
#define PIOS_MPU9250_INT_LATCH_EN 0x20
#define PIOS_MPU9250_INT_CLR_ANYRD 0x10
#define PIOS_MPU9250_INTEN_OVERFLOW 0x10
#define PIOS_MPU9250_INTEN_DATA_RDY 0x01
/* Interrupt status */
#define PIOS_MPU9250_INT_STATUS_FIFO_FULL 0x80
#define PIOS_MPU9250_INT_STATUS_FIFO_OVERFLOW 0x10
#define PIOS_MPU9250_INT_STATUS_IMU_RDY 0X04
#define PIOS_MPU9250_INT_STATUS_DATA_RDY 0X01
/* User control functionality */
#define PIOS_MPU9250_USERCTL_FIFO_EN 0X40
#define PIOS_MPU9250_USERCTL_I2C_MST_EN 0x20
#define PIOS_MPU9250_USERCTL_DIS_I2C 0X10
#define PIOS_MPU9250_USERCTL_FIFO_RST 0X04
#define PIOS_MPU9250_USERCTL_SIG_COND 0X01
#define PIOS_MPU9250_USERCTL_I2C_MST_RST 0X02
/* Power management and clock selection */
#define PIOS_MPU9250_PWRMGMT_IMU_RST 0X80
#define PIOS_MPU9250_PWRMGMT_INTERN_CLK 0X00
#define PIOS_MPU9250_PWRMGMT_PLL_X_CLK 0X01
#define PIOS_MPU9250_PWRMGMT_PLL_Y_CLK 0X02
#define PIOS_MPU9250_PWRMGMT_PLL_Z_CLK 0X03
#define PIOS_MPU9250_PWRMGMT_STOP_CLK 0X07
/* 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
/* 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
/* 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
/* Read-only Register */
#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_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_CONTINUOUS_MODE1 0x02
#define PIOS_MPU9250_MAG_CONTINUOUS_MODE2 0x06
#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_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,
PIOS_MPU9250_SCALE_500_DEG = 0x08,
PIOS_MPU9250_SCALE_1000_DEG = 0x10,
PIOS_MPU9250_SCALE_2000_DEG = 0x18
};
enum pios_mpu9250_filter {
PIOS_MPU9250_LOWPASS_256_HZ = 0x00,
PIOS_MPU9250_LOWPASS_188_HZ = 0x01,
PIOS_MPU9250_LOWPASS_98_HZ = 0x02,
PIOS_MPU9250_LOWPASS_42_HZ = 0x03,
PIOS_MPU9250_LOWPASS_20_HZ = 0x04,
PIOS_MPU9250_LOWPASS_10_HZ = 0x05,
PIOS_MPU9250_LOWPASS_5_HZ = 0x06
};
enum pios_mpu9250_accel_range {
PIOS_MPU9250_ACCEL_2G = 0x00,
PIOS_MPU9250_ACCEL_4G = 0x08,
PIOS_MPU9250_ACCEL_8G = 0x10,
PIOS_MPU9250_ACCEL_16G = 0x18
};
enum pios_mpu9250_orientation { // clockwise rotation from board forward
PIOS_MPU9250_TOP_0DEG = 0x00,
PIOS_MPU9250_TOP_90DEG = 0x01,
PIOS_MPU9250_TOP_180DEG = 0x02,
PIOS_MPU9250_TOP_270DEG = 0x03
};
struct pios_mpu9250_data {
int16_t gyro_x;
int16_t gyro_y;
int16_t gyro_z;
#if defined(PIOS_MPU9250_ACCEL)
int16_t accel_x;
int16_t accel_y;
int16_t accel_z;
#endif /* PIOS_MPU9250_ACCEL */
#if defined(PIOS_MPU9250_MAG)
int16_t mag_x;
int16_t mag_y;
int16_t mag_z;
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 */
uint8_t Fifo_store; /* FIFO storage of different readings (See datasheet page 31 for more details) */
/* Sample rate divider to use (See datasheet page 32 for more details).*/
uint8_t Smpl_rate_div_no_dlp; /* used when no dlp is applied (fs=8KHz)*/
uint8_t Smpl_rate_div_dlp; /* used when dlp is on (fs=1kHz)*/
uint8_t interrupt_cfg; /* Interrupt configuration (See datasheet page 35 for more details) */
uint8_t interrupt_en; /* Interrupt configuration (See datasheet page 35 for more details) */
uint8_t User_ctl; /* User control settings (See datasheet page 41 for more details) */
uint8_t Pwr_mgmt_clk; /* Power management and clock selection (See datasheet page 32 for more details) */
enum pios_mpu9250_accel_range accel_range;
enum pios_mpu9250_range gyro_range;
enum pios_mpu9250_filter filter;
enum pios_mpu9250_orientation orientation;
SPIPrescalerTypeDef fast_prescaler;
SPIPrescalerTypeDef std_prescaler;
uint8_t max_downsample;
};
/* Public Functions */
extern int32_t PIOS_MPU9250_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_mpu9250_cfg *new_cfg);
extern int32_t PIOS_MPU9250_ConfigureRanges(enum pios_mpu9250_range gyroRange, enum pios_mpu9250_accel_range accelRange, enum pios_mpu9250_filter filterSetting);
extern xQueueHandle PIOS_MPU9250_GetQueue();
extern int32_t PIOS_MPU9250_ReadID();
extern int32_t PIOS_MPU9250_Test();
extern float PIOS_MPU9250_GetScale();
extern float PIOS_MPU9250_GetAccelScale();
extern bool PIOS_MPU9250_IRQHandler(void);
#endif /* PIOS_MPU9250_H */
/**
* @}
* @}
*/

74
flight/pios/inc/pios_mpu9250_config.h Normal file
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@ -0,0 +1,74 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_MPU9250 OpenPilot layer configuration utilities
* @brief provides mpu9250 configuration helpers function
* @{
*
* @file PIOS_MPU9250_CONFIG.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @brief MPU9250 UAVO-based configuration functions
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************
*/
/*
* 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; either version 3 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 MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_MPU9250_CONFIG_H
#define PIOS_MPU9250_CONFIG_H
#include "mpu9250settings.h"
#include "pios_mpu9250.h"
#define PIOS_MPU9250_CONFIG_MAP_GYROSCALE(x) \
(x == MPU9250SETTINGS_GYROSCALE_SCALE_250 ? PIOS_MPU9250_SCALE_250_DEG : \
x == MPU9250SETTINGS_GYROSCALE_SCALE_500 ? PIOS_MPU9250_SCALE_500_DEG : \
x == MPU9250SETTINGS_GYROSCALE_SCALE_1000 ? PIOS_MPU9250_SCALE_1000_DEG : \
PIOS_MPU9250_SCALE_2000_DEG)
#define PIOS_MPU9250_CONFIG_MAP_ACCELSCALE(x) \
(x == MPU9250SETTINGS_ACCELSCALE_SCALE_2G ? PIOS_MPU9250_ACCEL_2G : \
x == MPU9250SETTINGS_ACCELSCALE_SCALE_4G ? PIOS_MPU9250_ACCEL_4G : \
x == MPU9250SETTINGS_ACCELSCALE_SCALE_16G ? PIOS_MPU9250_ACCEL_16G : \
PIOS_MPU9250_ACCEL_8G)
#define PIOS_MPU9250_CONFIG_MAP_FILTERSETTING(x) \
(x == MPU9250SETTINGS_FILTERSETTING_LOWPASS_188_HZ ? PIOS_MPU9250_LOWPASS_188_HZ : \
x == MPU9250SETTINGS_FILTERSETTING_LOWPASS_98_HZ ? PIOS_MPU9250_LOWPASS_98_HZ : \
x == MPU9250SETTINGS_FILTERSETTING_LOWPASS_42_HZ ? PIOS_MPU9250_LOWPASS_42_HZ : \
x == MPU9250SETTINGS_FILTERSETTING_LOWPASS_20_HZ ? PIOS_MPU9250_LOWPASS_20_HZ : \
x == MPU9250SETTINGS_FILTERSETTING_LOWPASS_10_HZ ? PIOS_MPU9250_LOWPASS_10_HZ : \
x == MPU9250SETTINGS_FILTERSETTING_LOWPASS_5_HZ ? PIOS_MPU9250_LOWPASS_5_HZ : \
PIOS_MPU9250_LOWPASS_256_HZ)
/**
* @brief Updates MPU9250 config based on Mpu9250Settings UAVO
* @returns 0 if succeed or -1 otherwise
*/
int32_t PIOS_MPU9250_CONFIG_Configure()
{
Mpu9250SettingsInitialize();
Mpu9250SettingsData mpu9250settings;
Mpu9250SettingsGet(&mpu9250settings);
return PIOS_MPU9250_ConfigureRanges(
PIOS_MPU9250_CONFIG_MAP_GYROSCALE(mpu9250settings.GyroScale),
PIOS_MPU9250_CONFIG_MAP_ACCELSCALE(mpu9250settings.AccelScale),
PIOS_MPU9250_CONFIG_MAP_FILTERSETTING(mpu9250settings.FilterSetting)
);
}
#endif /* PIOS_MPU9250_CONFIG_H */

2
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
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@ -132,6 +132,7 @@ HEADERS += \
$$UAVOBJECT_SYNTHETICS/waypoint.h \
$$UAVOBJECT_SYNTHETICS/waypointactive.h \
$$UAVOBJECT_SYNTHETICS/mpu6000settings.h \
$$UAVOBJECT_SYNTHETICS/mpu9250settings.h \
$$UAVOBJECT_SYNTHETICS/takeofflocation.h \
$$UAVOBJECT_SYNTHETICS/auxmagsensor.h \
$$UAVOBJECT_SYNTHETICS/auxmagsettings.h \
@ -245,6 +246,7 @@ SOURCES += \
$$UAVOBJECT_SYNTHETICS/waypoint.cpp \
$$UAVOBJECT_SYNTHETICS/waypointactive.cpp \
$$UAVOBJECT_SYNTHETICS/mpu6000settings.cpp \
$$UAVOBJECT_SYNTHETICS/mpu9250settings.cpp \
$$UAVOBJECT_SYNTHETICS/takeofflocation.cpp \
$$UAVOBJECT_SYNTHETICS/auxmagsensor.cpp \
$$UAVOBJECT_SYNTHETICS/auxmagsettings.cpp \

1
make/apps-defs.mk
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@ -74,6 +74,7 @@ SRC += $(PIOSCOMMON)/pios_hmc5x83.c
SRC += $(PIOSCOMMON)/pios_i2c_esc.c
SRC += $(PIOSCOMMON)/pios_l3gd20.c
SRC += $(PIOSCOMMON)/pios_mpu6000.c
SRC += $(PIOSCOMMON)/pios_mpu9250.c
SRC += $(PIOSCOMMON)/pios_mpxv.c
SRC += $(PIOSCOMMON)/pios_ms4525do.c
SRC += $(PIOSCOMMON)/pios_ms5611.c

38
shared/uavobjectdefinition/mpu9250settings.xml Normal file
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@ -0,0 +1,38 @@
<xml>
<object name="Mpu9250Settings" singleinstance="true" settings="true" category="Sensors">
<description>Settings for the @ref MPU9250 sensor used on revobone. Reboot the board for this to takes effect</description>
<field name="GyroScale" units="deg/s" type="enum" elements="1" defaultvalue="Scale_2000">
<options>
<option>Scale_250</option>
<option>Scale_500</option>
<option>Scale_1000</option>
<option>Scale_2000</option>
</options>
</field>
<field name="AccelScale" units="g" type="enum" elements="1" defaultvalue="Scale_8g">
<options>
<option>Scale_2g</option>
<option>Scale_4g</option>
<option>Scale_8g</option>
<option>Scale_16g</option>
</options>
</field>
<field name="FilterSetting" units="Hz" type="enum" elements="1" defaultvalue="Lowpass_256_Hz">
<options>
<option>Lowpass_256_Hz</option>
<option>Lowpass_188_Hz</option>
<option>Lowpass_98_Hz</option>
<option>Lowpass_42_Hz</option>
<option>Lowpass_20_Hz</option>
<option>Lowpass_10_Hz</option>
<option>Lowpass_5_Hz</option>
</options>
</field>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>