mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-30 15:52:12 +01:00
Add code for MPU6050 driver
This commit is contained in:
James Cotton
parent
1e2fe77e3f
commit
96a098bf74
396
flight/PiOS/STM32F4xx/pios_mpu6050.c
Normal file
396
flight/PiOS/STM32F4xx/pios_mpu6050.c
Normal file
@ -0,0 +1,396 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_MPU6050 MPU6050 Functions
|
||||
* @brief Deals with the hardware interface to the 3-axis gyro
|
||||
* @{
|
||||
*
|
||||
* @file pios_mpu050.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief MPU6050 3-axis gyor functions from INS
|
||||
* @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
|
||||
*/
|
||||
|
||||
/* Project Includes */
|
||||
#include "pios.h"
|
||||
|
||||
#if defined(PIOS_INCLUDE_MPU6050)
|
||||
|
||||
/* Global Variables */
|
||||
|
||||
/* Local Variables */
|
||||
#define DEG_TO_RAD (M_PI / 180.0)
|
||||
static void PIOS_MPU6050_Config(struct pios_mpu6050_cfg const * cfg);
|
||||
static int32_t PIOS_MPU6050_Read(uint8_t address, uint8_t * buffer, uint8_t len);
|
||||
static int32_t PIOS_MPU6050_Write(uint8_t address, uint8_t buffer);
|
||||
|
||||
#define PIOS_MPU6050_MAX_DOWNSAMPLE 10
|
||||
static int16_t pios_mpu6050_buffer[PIOS_MPU6050_MAX_DOWNSAMPLE * sizeof(struct pios_mpu6050_data)];
|
||||
static t_fifo_buffer pios_mpu6050_fifo;
|
||||
|
||||
volatile bool mpu6050_first_read = true;
|
||||
volatile bool mpu6050_configured = false;
|
||||
volatile bool mpu6050_cb_ready = true;
|
||||
|
||||
static struct pios_mpu6050_cfg const * cfg;
|
||||
|
||||
/**
|
||||
* @brief Initialize the MPU6050 3-axis gyro sensor.
|
||||
* @return none
|
||||
*/
|
||||
void PIOS_MPU6050_Init(const struct pios_mpu6050_cfg * new_cfg)
|
||||
{
|
||||
cfg = new_cfg;
|
||||
|
||||
fifoBuf_init(&pios_mpu6050_fifo, (uint8_t *) pios_mpu6050_buffer, sizeof(pios_mpu6050_buffer));
|
||||
|
||||
/* Configure EOC pin as input floating */
|
||||
GPIO_Init(cfg->drdy.gpio, &cfg->drdy.init);
|
||||
|
||||
/* Configure the End Of Conversion (EOC) interrupt */
|
||||
SYSCFG_EXTILineConfig(cfg->eoc_exti.port_source, cfg->eoc_exti.pin_source);
|
||||
EXTI_Init(&cfg->eoc_exti.init);
|
||||
|
||||
/* Enable and set EOC EXTI Interrupt to the lowest priority */
|
||||
NVIC_Init(&cfg->eoc_irq.init);
|
||||
|
||||
/* Configure the MPU6050 Sensor */
|
||||
PIOS_MPU6050_Config(cfg);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initialize the MPU6050 3-axis gyro sensor
|
||||
* \return none
|
||||
* \param[in] PIOS_MPU6050_ConfigTypeDef struct to be used to configure sensor.
|
||||
*
|
||||
*/
|
||||
static void PIOS_MPU6050_Config(struct pios_mpu6050_cfg const * cfg)
|
||||
{
|
||||
mpu6050_first_read = true;
|
||||
mpu6050_cb_ready = true;
|
||||
|
||||
// Reset chip and fifo
|
||||
while (PIOS_MPU6050_Write(PIOS_MPU6050_USER_CTRL_REG, 0x01 | 0x02) != 0);
|
||||
PIOS_DELAY_WaituS(20);
|
||||
while (PIOS_MPU6050_Write(PIOS_MPU6050_USER_CTRL_REG, 0x00) != 0);
|
||||
|
||||
// FIFO storage
|
||||
while (PIOS_MPU6050_Write(PIOS_MPU6050_FIFO_EN_REG, cfg->Fifo_store) != 0);
|
||||
|
||||
// Sample rate divider
|
||||
while (PIOS_MPU6050_Write(PIOS_MPU6050_SMPLRT_DIV_REG, cfg->Smpl_rate_div) != 0) ;
|
||||
|
||||
// Digital low-pass filter and scale
|
||||
while (PIOS_MPU6050_Write(PIOS_MPU6050_DLPF_CFG_REG, cfg->filter | (cfg->range << 3)) != 0) ;
|
||||
|
||||
// Interrupt configuration
|
||||
while (PIOS_MPU6050_Write(PIOS_MPU6050_USER_CTRL_REG, cfg->User_ctl) != 0) ;
|
||||
|
||||
// Interrupt configuration
|
||||
while (PIOS_MPU6050_Write(PIOS_MPU6050_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0) ;
|
||||
|
||||
// Interrupt configuration
|
||||
while (PIOS_MPU6050_Write(PIOS_MPU6050_INT_CFG_REG, cfg->Interrupt_cfg) != 0) ;
|
||||
|
||||
mpu6050_configured = true;
|
||||
}
|
||||
|
||||
/**
|
||||
* @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
|
||||
* \returns The number of samples remaining in the fifo
|
||||
*/
|
||||
int32_t PIOS_MPU6050_ReadGyros(struct pios_mpu6050_data * data)
|
||||
{
|
||||
uint8_t buf[6];
|
||||
if(PIOS_MPU6050_Read(PIOS_MPU6050_GYRO_X_OUT_MSB, (uint8_t *) buf, sizeof(buf)) < 0)
|
||||
return -1;
|
||||
data->x = buf[0] << 8 | buf[1];
|
||||
data->y = buf[2] << 8 | buf[3];
|
||||
data->z = buf[4] << 8 | buf[5];
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Read the identification bytes from the MPU6050 sensor
|
||||
* \return ID read from MPU6050 or -1 if failure
|
||||
*/
|
||||
int32_t PIOS_MPU6050_ReadID()
|
||||
{
|
||||
uint8_t mpu6050_id;
|
||||
if(PIOS_MPU6050_Read(PIOS_MPU6050_WHOAMI, (uint8_t *) &mpu6050_id, 1) != 0)
|
||||
return -1;
|
||||
return mpu6050_id;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Reads the data from the MPU6050 FIFO
|
||||
* \param[out] buffer destination buffer
|
||||
* \param[in] len maximum number of bytes which should be read
|
||||
* \note This returns the data as X, Y, Z the temperature
|
||||
* \return number of bytes transferred if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
*/
|
||||
int32_t PIOS_MPU6050_ReadFifo(struct pios_mpu6050_data * buffer)
|
||||
{
|
||||
if(fifoBuf_getUsed(&pios_mpu6050_fifo) < sizeof(*buffer))
|
||||
return -1;
|
||||
|
||||
fifoBuf_getData(&pios_mpu6050_fifo, (uint8_t *) buffer, sizeof(*buffer));
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Reads one or more bytes from MPU6050 into a buffer
|
||||
* \param[in] address MPU6050 register address (depends on size)
|
||||
* \param[out] buffer destination buffer
|
||||
* \param[in] len number of bytes which should be read
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
* \return -2 if unable to claim i2c device
|
||||
*/
|
||||
static int32_t PIOS_MPU6050_Read(uint8_t address, uint8_t * buffer, uint8_t len)
|
||||
{
|
||||
uint8_t addr_buffer[] = {
|
||||
address,
|
||||
};
|
||||
|
||||
const struct pios_i2c_txn txn_list[] = {
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_MPU6050_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_WRITE,
|
||||
.len = sizeof(addr_buffer),
|
||||
.buf = addr_buffer,
|
||||
}
|
||||
,
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_MPU6050_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_READ,
|
||||
.len = len,
|
||||
.buf = buffer,
|
||||
}
|
||||
};
|
||||
|
||||
return PIOS_I2C_Transfer(PIOS_I2C_GYRO_ADAPTER, txn_list, NELEMENTS(txn_list));
|
||||
}
|
||||
|
||||
// Must allocate on stack to be persistent
|
||||
static uint8_t cb_addr_buffer[] = {
|
||||
0,
|
||||
};
|
||||
static struct pios_i2c_txn cb_txn_list[] = {
|
||||
{
|
||||
.addr = PIOS_MPU6050_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_WRITE,
|
||||
.len = sizeof(cb_addr_buffer),
|
||||
.buf = cb_addr_buffer,
|
||||
}
|
||||
,
|
||||
{
|
||||
.addr = PIOS_MPU6050_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_READ,
|
||||
.len = 0,
|
||||
.buf = 0,
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
static int32_t PIOS_MPU6050_Read_Callback(uint8_t address, uint8_t * buffer, uint8_t len, void *callback)
|
||||
{
|
||||
cb_addr_buffer[0] = address;
|
||||
cb_txn_list[0].info = __func__,
|
||||
cb_txn_list[1].info = __func__;
|
||||
cb_txn_list[1].len = len;
|
||||
cb_txn_list[1].buf = buffer;
|
||||
|
||||
return PIOS_I2C_Transfer_Callback(PIOS_I2C_GYRO_ADAPTER, cb_txn_list, NELEMENTS(cb_txn_list), callback);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Writes one or more bytes to the MPU6050
|
||||
* \param[in] address Register address
|
||||
* \param[in] buffer source buffer
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
* \return -2 if unable to claim i2c device
|
||||
*/
|
||||
static int32_t PIOS_MPU6050_Write(uint8_t address, uint8_t buffer)
|
||||
{
|
||||
uint8_t data[] = {
|
||||
address,
|
||||
buffer,
|
||||
};
|
||||
|
||||
const struct pios_i2c_txn txn_list[] = {
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_MPU6050_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_WRITE,
|
||||
.len = sizeof(data),
|
||||
.buf = data,
|
||||
}
|
||||
,
|
||||
};
|
||||
|
||||
return PIOS_I2C_Transfer(PIOS_I2C_GYRO_ADAPTER, txn_list, NELEMENTS(txn_list));
|
||||
}
|
||||
|
||||
float PIOS_MPU6050_GetScale()
|
||||
{
|
||||
switch (cfg->range) {
|
||||
case PIOS_MPU6050_SCALE_250_DEG:
|
||||
return DEG_TO_RAD / 131.0;
|
||||
case PIOS_MPU6050_SCALE_500_DEG:
|
||||
return DEG_TO_RAD / 65.5;
|
||||
case PIOS_MPU6050_SCALE_1000_DEG:
|
||||
return DEG_TO_RAD / 32.8;
|
||||
case PIOS_MPU6050_SCALE_2000_DEG:
|
||||
return DEG_TO_RAD / 16.4;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
/**
|
||||
* @brief Run self-test operation.
|
||||
* \return 0 if test succeeded
|
||||
* \return non-zero value if test succeeded
|
||||
*/
|
||||
uint8_t PIOS_MPU6050_Test(void)
|
||||
{
|
||||
/* Verify that ID matches (MPU6050 ID is 0x69) */
|
||||
int32_t mpu6050_id = PIOS_MPU6050_ReadID();
|
||||
if(mpu6050_id < 0)
|
||||
return -1;
|
||||
|
||||
if(mpu6050_id != PIOS_MPU6050_I2C_ADDR & 0xFE)
|
||||
return -2;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static uint8_t mpu6050_read_buffer[sizeof(struct pios_mpu6050_data) + 2]; // Right now using ,Y,Z,fifo_footer
|
||||
static void MPU6050_callback()
|
||||
{
|
||||
struct pios_mpu6050_data data;
|
||||
|
||||
if(fifoBuf_getFree(&pios_mpu6050_fifo) < sizeof(data))
|
||||
goto out;
|
||||
|
||||
if(mpu6050_first_read) {
|
||||
data.temperature = mpu6050_read_buffer[0] << 8 | mpu6050_read_buffer[1];
|
||||
data.x = mpu6050_read_buffer[2] << 8 | mpu6050_read_buffer[3];
|
||||
data.y = mpu6050_read_buffer[4] << 8 | mpu6050_read_buffer[5];
|
||||
data.z = mpu6050_read_buffer[6] << 8 | mpu6050_read_buffer[7];
|
||||
|
||||
mpu6050_first_read = false;
|
||||
} else {
|
||||
// First two bytes are left over fifo from last call
|
||||
data.temperature = mpu6050_read_buffer[2] << 8 | mpu6050_read_buffer[3];
|
||||
data.x = mpu6050_read_buffer[4] << 8 | mpu6050_read_buffer[5];
|
||||
data.y = mpu6050_read_buffer[6] << 8 | mpu6050_read_buffer[7];
|
||||
data.z = mpu6050_read_buffer[8] << 8 | mpu6050_read_buffer[9];
|
||||
}
|
||||
|
||||
fifoBuf_putData(&pios_mpu6050_fifo, (uint8_t *) &data, sizeof(data));
|
||||
|
||||
out:
|
||||
mpu6050_cb_ready = true;
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief IRQ Handler
|
||||
*/
|
||||
uint32_t mpu6050_irq = 0;
|
||||
uint16_t fifo_level;
|
||||
uint8_t fifo_level_data[2];
|
||||
uint32_t cb_not_ready = 0;
|
||||
void PIOS_MPU6050_IRQHandler(void)
|
||||
{
|
||||
|
||||
mpu6050_irq++;
|
||||
|
||||
if(!mpu6050_configured)
|
||||
return;
|
||||
|
||||
//PIOS_Assert(MPU6050_cb_ready);
|
||||
if(!mpu6050_cb_ready) {
|
||||
PIOS_LED_Toggle(LED2);
|
||||
cb_not_ready++;
|
||||
return;
|
||||
}
|
||||
|
||||
// If at least one read doesnt succeed then the irq not reset and we will stall
|
||||
while(PIOS_MPU6050_Read(PIOS_MPU6050_FIFO_CNT_MSB, (uint8_t *) &fifo_level_data, sizeof(fifo_level_data)) != 0)
|
||||
PIOS_DELAY_WaituS(10);
|
||||
|
||||
fifo_level = (fifo_level_data[0] << 8) + fifo_level_data[1];
|
||||
|
||||
PIOS_DELAY_WaituS(10);
|
||||
|
||||
if(mpu6050_first_read) {
|
||||
// Stupid system for MPU6050. If first read from buffer then we will read 4 sensors without fifo
|
||||
// footer. After this we will read out a fifo footer
|
||||
if(fifo_level < sizeof(mpu6050_read_buffer))
|
||||
return;
|
||||
|
||||
mpu6050_cb_ready = false;
|
||||
|
||||
// Leave footer in buffer
|
||||
PIOS_MPU6050_Read_Callback(PIOS_MPU6050_FIFO_REG, mpu6050_read_buffer, sizeof(mpu6050_read_buffer) - 2, MPU6050_callback);
|
||||
|
||||
} else {
|
||||
// Stupid system for MPU6050. Ensure something is left in buffer
|
||||
if(fifo_level < (sizeof(mpu6050_read_buffer) + 2))
|
||||
return;
|
||||
|
||||
mpu6050_cb_ready = false;
|
||||
|
||||
// Leave footer in buffer
|
||||
PIOS_MPU6050_Read_Callback(PIOS_MPU6050_FIFO_REG, mpu6050_read_buffer, sizeof(mpu6050_read_buffer), MPU6050_callback);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* The physical IRQ handler
|
||||
* Soon this will be generic in pios_exti and the BMA180 will register
|
||||
* against it. Right now this is crap!
|
||||
*/
|
||||
void EXTI1_IRQHandler(void)
|
||||
{
|
||||
if (EXTI_GetITStatus(EXTI_Line1) != RESET)
|
||||
{
|
||||
PIOS_MPU6050_IRQHandler();
|
||||
EXTI_ClearITPendingBit(EXTI_Line1);
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
151
flight/PiOS/inc/pios_mpu6050.h
Normal file
151
flight/PiOS/inc/pios_mpu6050.h
Normal file
@ -0,0 +1,151 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_MPU6050 MPU6050 Functions
|
||||
* @brief Deals with the hardware interface to the 3-axis gyro
|
||||
* @{
|
||||
*
|
||||
* @file pios_MPU6050.h
|
||||
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief MPU6050 3-axis gyor 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_MPU6050_H
|
||||
#define PIOS_MPU6050_H
|
||||
|
||||
#include "pios.h"
|
||||
|
||||
/* MPU6050 Addresses */
|
||||
#define PIOS_MPU6050_I2C_ADDR 0x69
|
||||
#define PIOS_MPU6050_X_MSB_OFFSET_REG 0x43
|
||||
#define PIOS_MPU6050_X_LSB_OFFSET_REG 0x44
|
||||
#define PIOS_MPU6050_Y_MSB_OFFSET_REG 0x45
|
||||
#define PIOS_MPU6050_Y_LSB_OFFSET_REG 0x46
|
||||
#define PIOS_MPU6050_Z_MSB_OFFSET_REG 0x47
|
||||
#define PIOS_MPU6050_Z_LSB_OFFSET_REG 0x48
|
||||
#define PIOS_MPU6050_FIFO_EN_REG 0x23
|
||||
#define PIOS_MPU6050_SMPLRT_DIV_REG 0X19
|
||||
#define PIOS_MPU6050_DLPF_CFG_REG 0X16
|
||||
#define PIOS_MPU6050_INT_CFG_REG 0x37
|
||||
#define PIOS_MPU6050_INT_STATUS_REG 0x3A
|
||||
#define PIOS_MPU6050_TEMP_OUT_MSB 0x41
|
||||
#define PIOS_MPU6050_TEMP_OUT_LSB 0x42
|
||||
#define PIOS_MPU6050_GYRO_X_OUT_MSB 0x1D
|
||||
#define PIOS_MPU6050_GYRO_X_OUT_LSB 0x1E
|
||||
#define PIOS_MPU6050_GYRO_Y_OUT_MSB 0x1F
|
||||
#define PIOS_MPU6050_GYRO_Y_OUT_LSB 0x20
|
||||
#define PIOS_MPU6050_GYRO_Z_OUT_MSB 0x21
|
||||
#define PIOS_MPU6050_GYRO_Z_OUT_LSB 0x22
|
||||
#define PIOS_MPU6050_FIFO_CNT_MSB 0x72
|
||||
#define PIOS_MPU6050_FIFO_CNT_LSB 0x73
|
||||
#define PIOS_MPU6050_FIFO_REG 0x74
|
||||
#define PIOS_MPU6050_USER_CTRL_REG 0x6A
|
||||
#define PIOS_MPU6050_PWR_MGMT_REG 0x6C
|
||||
#define PIOS_MPU6050_WHOAMI 0x75
|
||||
|
||||
/* FIFO enable for storing different values */
|
||||
#define PIOS_MPU6050_FIFO_TEMP_OUT 0x80
|
||||
#define PIOS_MPU6050_FIFO_GYRO_X_OUT 0x40
|
||||
#define PIOS_MPU6050_FIFO_GYRO_Y_OUT 0x20
|
||||
#define PIOS_MPU6050_FIFO_GYRO_Z_OUT 0x10
|
||||
#define PIOS_MPU6050_FIFO_FOOTER 0x01
|
||||
|
||||
|
||||
/* Interrupt Configuration */
|
||||
#define PIOS_MPU6050_INT_ACTL 0x80
|
||||
#define PIOS_MPU6050_INT_OPEN 0x40
|
||||
#define PIOS_MPU6050_INT_LATCH_EN 0x20
|
||||
#define PIOS_MPU6050_INT_CLR_ANYRD 0x10
|
||||
#define PIOS_MPU6050_INT_IMU_RDY 0x04
|
||||
#define PIOS_MPU6050_INT_DATA_RDY 0x01
|
||||
|
||||
/* Interrupt status */
|
||||
#define PIOS_MPU6050_INT_STATUS_FIFO_FULL 0x80
|
||||
#define PIOS_MPU6050_INT_STATUS_IMU_RDY 0X04
|
||||
#define PIOS_MPU6050_INT_STATUS_DATA_RDY 0X01
|
||||
|
||||
/* User control functionality */
|
||||
#define PIOS_MPU6050_USERCTL_FIFO_EN 0X40
|
||||
#define PIOS_MPU6050_USERCTL_FIFO_RST 0X02
|
||||
#define PIOS_MPU6050_USERCTL_GYRO_RST 0X01
|
||||
|
||||
/* Power management and clock selection */
|
||||
#define PIOS_MPU6050_PWRMGMT_IMU_RST 0X80
|
||||
#define PIOS_MPU6050_PWRMGMT_INTERN_CLK 0X00
|
||||
#define PIOS_MPU6050_PWRMGMT_PLL_X_CLK 0X01
|
||||
#define PIOS_MPU6050_PWRMGMT_PLL_Y_CLK 0X02
|
||||
#define PIOS_MPU6050_PWRMGMT_PLL_Z_CLK 0X03
|
||||
#define PIOS_MPU6050_PWRMGMT_STOP_CLK 0X07
|
||||
|
||||
enum pios_mpu6050_range {
|
||||
PIOS_MPU6050_SCALE_250_DEG = 0x00,
|
||||
PIOS_MPU6050_SCALE_500_DEG = 0x01,
|
||||
PIOS_MPU6050_SCALE_1000_DEG = 0x02,
|
||||
PIOS_MPU6050_SCALE_2000_DEG = 0x03
|
||||
};
|
||||
|
||||
enum pios_mpu6050_filter {
|
||||
PIOS_MPU6050_LOWPASS_256_HZ = 0x00,
|
||||
PIOS_MPU6050_LOWPASS_188_HZ = 0x01,
|
||||
PIOS_MPU6050_LOWPASS_98_HZ = 0x02,
|
||||
PIOS_MPU6050_LOWPASS_42_HZ = 0x03,
|
||||
PIOS_MPU6050_LOWPASS_20_HZ = 0x04,
|
||||
PIOS_MPU6050_LOWPASS_10_HZ = 0x05,
|
||||
PIOS_MPU6050_LOWPASS_5_HZ = 0x06
|
||||
};
|
||||
|
||||
struct pios_mpu6050_data {
|
||||
int16_t x;
|
||||
int16_t y;
|
||||
int16_t z;
|
||||
int16_t temperature;
|
||||
};
|
||||
|
||||
struct pios_mpu6050_cfg {
|
||||
struct stm32_gpio drdy;
|
||||
struct stm32_exti eoc_exti;
|
||||
struct stm32_irq eoc_irq;
|
||||
|
||||
uint8_t Fifo_store; /* FIFO storage of different readings (See datasheet page 31 for more details) */
|
||||
uint8_t Smpl_rate_div; /* Sample rate divider to use (See datasheet page 32 for more details) */
|
||||
uint8_t Interrupt_cfg; /* 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_mpu6050_range range;
|
||||
enum pios_mpu6050_filter filter;
|
||||
};
|
||||
|
||||
/* Public Functions */
|
||||
extern void PIOS_MPU6050_Init(const struct pios_mpu6050_cfg * cfg);
|
||||
extern int32_t PIOS_MPU6050_ReadFifo(struct pios_mpu6050_data * buffer);
|
||||
extern int32_t PIOS_MPU6050_ReadGyros(struct pios_mpu6050_data * buffer);
|
||||
extern int32_t PIOS_MPU6050_ReadID();
|
||||
extern uint8_t PIOS_MPU6050_Test();
|
||||
extern float PIOS_MPU6050_GetScale();
|
||||
|
||||
#endif /* PIOS_MPU6050_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -117,6 +117,9 @@
|
||||
#if defined(PIOS_INCLUDE_IMU3000)
|
||||
#include <pios_imu3000.h>
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_MPU6050)
|
||||
#include <pios_mpu6050.h>
|
||||
#endif
|
||||
#include <pios_iap.h>
|
||||
|
||||
#if defined(PIOS_INCLUDE_ADXL345)
|
||||
|
||||
@ -3320,6 +3320,18 @@
|
||||
65FA9B71147087020019A260 /* STM32F4xx_Revolution.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM32F4xx_Revolution.h; sourceTree = "<group>"; };
|
||||
65FA9B77147095D40019A260 /* attitude.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = attitude.c; sourceTree = "<group>"; };
|
||||
65FA9B79147095D40019A260 /* attitude.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = attitude.h; sourceTree = "<group>"; };
|
||||
65FA9B7A14709E700019A260 /* pios_mpu6050.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_mpu6050.c; sourceTree = "<group>"; };
|
||||
65FA9B7B14709E9E0019A260 /* pios_board_info.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board_info.h; sourceTree = "<group>"; };
|
||||
65FA9B7C14709E9E0019A260 /* pios_gcsrcvr_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_gcsrcvr_priv.h; sourceTree = "<group>"; };
|
||||
65FA9B7D14709E9E0019A260 /* pios_hcsr04.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_hcsr04.h; sourceTree = "<group>"; };
|
||||
65FA9B7E14709E9E0019A260 /* pios_i2c_esc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_i2c_esc.h; sourceTree = "<group>"; };
|
||||
65FA9B7F14709E9E0019A260 /* pios_iap.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_iap.h; sourceTree = "<group>"; };
|
||||
65FA9B8014709E9E0019A260 /* pios_initcall.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_initcall.h; sourceTree = "<group>"; };
|
||||
65FA9B8114709E9E0019A260 /* pios_mpu6050.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_mpu6050.h; sourceTree = "<group>"; };
|
||||
65FA9B8214709E9E0019A260 /* pios_ppm_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_ppm_priv.h; sourceTree = "<group>"; };
|
||||
65FA9B8314709E9E0019A260 /* pios_tim_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_tim_priv.h; sourceTree = "<group>"; };
|
||||
65FA9B8414709E9F0019A260 /* pios_tim.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_tim.h; sourceTree = "<group>"; };
|
||||
65FA9B8514709E9F0019A260 /* pios_usb_hid_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_usb_hid_priv.h; sourceTree = "<group>"; };
|
||||
65FAA03F133B669400F6F5CD /* GTOP_BIN.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = GTOP_BIN.c; sourceTree = "<group>"; };
|
||||
65FBE14412E7C98100176B5A /* pios_servo_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_servo_priv.h; sourceTree = "<group>"; };
|
||||
65FC66AA123F30F100B04F74 /* ahrs_timer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_timer.c; path = ../../AHRS/ahrs_timer.c; sourceTree = SOURCE_ROOT; };
|
||||
@ -3862,6 +3874,7 @@
|
||||
65904ECF14613B6100FD9482 /* pios_imu3000.c */,
|
||||
65904ED014613B6100FD9482 /* pios_irq.c */,
|
||||
65904ED114613B6100FD9482 /* pios_led.c */,
|
||||
65FA9B7A14709E700019A260 /* pios_mpu6050.c */,
|
||||
65904ED214613B6100FD9482 /* pios_ppm.c */,
|
||||
65904ED314613B6100FD9482 /* pios_servo.c */,
|
||||
65904ED414613B6100FD9482 /* pios_spi.c */,
|
||||
@ -8490,6 +8503,7 @@
|
||||
65E8F03811EFF25C00BBF654 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65FA9B8514709E9F0019A260 /* pios_usb_hid_priv.h */,
|
||||
65DEA78513F0FE6000095B06 /* stm32f2xx_conf.h */,
|
||||
65E8F03A11EFF25C00BBF654 /* pios_adc.h */,
|
||||
6528CCE212E40F6700CF5144 /* pios_adxl345.h */,
|
||||
@ -8497,6 +8511,7 @@
|
||||
65E6E09912E037C800058553 /* pios_adc_priv.h */,
|
||||
65DEA78613F1118400095B06 /* pios_bma180.h */,
|
||||
65E8F03B11EFF25C00BBF654 /* pios_bmp085.h */,
|
||||
65FA9B7B14709E9E0019A260 /* pios_board_info.h */,
|
||||
65E8F03C11EFF25C00BBF654 /* pios_com.h */,
|
||||
65E8F03D11EFF25C00BBF654 /* pios_com_priv.h */,
|
||||
65E8C745139A6D1A00E1F979 /* pios_crc.h */,
|
||||
@ -8505,17 +8520,24 @@
|
||||
65E8F04011EFF25C00BBF654 /* pios_exti.h */,
|
||||
6512D60512ED4CA2008175E5 /* pios_flash_w25x.h */,
|
||||
65FF4D61137EFA4F00146BE4 /* pios_flashfs_objlist.h */,
|
||||
65FA9B7C14709E9E0019A260 /* pios_gcsrcvr_priv.h */,
|
||||
65E8F04111EFF25C00BBF654 /* pios_gpio.h */,
|
||||
65FA9B7D14709E9E0019A260 /* pios_hcsr04.h */,
|
||||
65E8F04211EFF25C00BBF654 /* pios_hmc5843.h */,
|
||||
65D1FBD413F504C9006374A6 /* pios_hmc5883.h */,
|
||||
65FA9B7F14709E9E0019A260 /* pios_iap.h */,
|
||||
65E8F04311EFF25C00BBF654 /* pios_i2c.h */,
|
||||
65FA9B7E14709E9E0019A260 /* pios_i2c_esc.h */,
|
||||
6526645A122DF972006F9A3C /* pios_i2c_priv.h */,
|
||||
65D1FBDA13F51AE1006374A6 /* pios_imu3000.h */,
|
||||
65FA9B8014709E9E0019A260 /* pios_initcall.h */,
|
||||
65E8F04411EFF25C00BBF654 /* pios_irq.h */,
|
||||
65E8F04511EFF25C00BBF654 /* pios_led.h */,
|
||||
65FA9B8114709E9E0019A260 /* pios_mpu6050.h */,
|
||||
65E8F04611EFF25C00BBF654 /* pios_opahrs.h */,
|
||||
65E8F04711EFF25C00BBF654 /* pios_opahrs_proto.h */,
|
||||
65E8F04811EFF25C00BBF654 /* pios_ppm.h */,
|
||||
65FA9B8214709E9E0019A260 /* pios_ppm_priv.h */,
|
||||
65E8F04911EFF25C00BBF654 /* pios_pwm.h */,
|
||||
657FF86A12EA8BFB00801617 /* pios_pwm_priv.h */,
|
||||
65643CAC1413322000A32F59 /* pios_rcvr.h */,
|
||||
@ -8533,6 +8555,8 @@
|
||||
65E8F04E11EFF25C00BBF654 /* pios_spi_priv.h */,
|
||||
65E8F04F11EFF25C00BBF654 /* pios_stm32.h */,
|
||||
65E8F05011EFF25C00BBF654 /* pios_sys.h */,
|
||||
65FA9B8314709E9E0019A260 /* pios_tim_priv.h */,
|
||||
65FA9B8414709E9F0019A260 /* pios_tim.h */,
|
||||
65E8F05111EFF25C00BBF654 /* pios_usart.h */,
|
||||
65E8F05211EFF25C00BBF654 /* pios_usart_priv.h */,
|
||||
65E8F05311EFF25C00BBF654 /* pios_usb.h */,
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user