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Add SPI MPU6000 driver. Unfortunate hack in HMC5883 EXTI handler to call
MPU6000. Need to generalize EXTI ASAP.
This commit is contained in:
James Cotton
parent
8477c2229b
commit
d97e5dbc59
@ -410,12 +410,18 @@ void PIOS_HMC5883_IRQHandler(void)
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* Soon this will be generic in pios_exti and the BMA180 will register
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* Soon this will be generic in pios_exti and the BMA180 will register
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* against it. Right now this is crap!
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* against it. Right now this is crap!
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*/
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*/
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extern void PIOS_MPU6000_IRQHandler();
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void EXTI9_5_IRQHandler(void)
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void EXTI9_5_IRQHandler(void)
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{
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{
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if (EXTI_GetITStatus(dev_cfg->eoc_exti.init.EXTI_Line) != RESET) {
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if (EXTI_GetITStatus(dev_cfg->eoc_exti.init.EXTI_Line) != RESET) {
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PIOS_HMC5883_IRQHandler();
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PIOS_HMC5883_IRQHandler();
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EXTI_ClearITPendingBit(dev_cfg->eoc_exti.init.EXTI_Line);
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EXTI_ClearITPendingBit(dev_cfg->eoc_exti.init.EXTI_Line);
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}
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}
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if (EXTI_GetITStatus(EXTI_Line8) != RESET) {
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PIOS_MPU6000_IRQHandler();
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EXTI_ClearITPendingBit(EXTI_Line8);
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}
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}
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}
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380
flight/PiOS/STM32F4xx/pios_mpu6000.c
Normal file
380
flight/PiOS/STM32F4xx/pios_mpu6000.c
Normal file
@ -0,0 +1,380 @@
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/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_MPU6000 MPU6000 Functions
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* @brief Deals with the hardware interface to the 3-axis gyro
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* @{
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*
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* @file pios_mpu000.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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* @brief MPU6000 6-axis gyro and accel chip
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* @see The GNU Public License (GPL) Version 3
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*
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******************************************************************************
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*/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/* Project Includes */
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#include "pios.h"
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#if defined(PIOS_INCLUDE_MPU6000)
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/* Global Variables */
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uint32_t pios_spi_gyro;
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/* Local Variables */
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#define DEG_TO_RAD (M_PI / 180.0)
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static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg);
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static int32_t PIOS_MPU6000_SetReg(uint8_t address, uint8_t buffer);
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static int32_t PIOS_MPU6000_GetReg(uint8_t address);
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#define PIOS_MPU6000_MAX_DOWNSAMPLE 100
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static int16_t pios_mpu6000_buffer[PIOS_MPU6000_MAX_DOWNSAMPLE * sizeof(struct pios_mpu6000_data)];
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static t_fifo_buffer pios_mpu6000_fifo;
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volatile bool mpu6000_configured = false;
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volatile bool mpu6000_cb_ready = true;
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static struct pios_mpu6000_cfg const * cfg;
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/**
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* @brief Initialize the MPU6050 3-axis gyro sensor.
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* @return none
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*/
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void PIOS_MPU6000_Init(const struct pios_mpu6000_cfg * new_cfg)
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{
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cfg = new_cfg;
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fifoBuf_init(&pios_mpu6000_fifo, (uint8_t *) pios_mpu6000_buffer, sizeof(pios_mpu6000_buffer));
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/* Configure EOC pin as input floating */
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GPIO_Init(cfg->drdy.gpio, &cfg->drdy.init);
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/* Configure the End Of Conversion (EOC) interrupt */
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SYSCFG_EXTILineConfig(cfg->eoc_exti.port_source, cfg->eoc_exti.pin_source);
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EXTI_Init(&cfg->eoc_exti.init);
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/* Enable and set EOC EXTI Interrupt to the lowest priority */
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NVIC_Init(&cfg->eoc_irq.init);
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/* Configure the MPU6050 Sensor */
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PIOS_MPU6000_Config(cfg);
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}
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/**
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* @brief Initialize the MPU6050 3-axis gyro sensor
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* \return none
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* \param[in] PIOS_MPU6000_ConfigTypeDef struct to be used to configure sensor.
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*
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*/
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static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
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{
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mpu6000_cb_ready = true;
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// Reset chip and fifo
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, 0x01 | 0x02 | 0x04) != 0);
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PIOS_DELAY_WaituS(20);
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// FIFO storage
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store) != 0);
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// Sample rate divider
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_SMPLRT_DIV_REG, cfg->Smpl_rate_div) != 0) ;
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// Digital low-pass filter and scale
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_DLPF_CFG_REG, cfg->filter) != 0) ;
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// Digital low-pass filter and scale
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_GYRO_CFG_REG, cfg->gyro_range) != 0) ;
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// Interrupt configuration
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, cfg->User_ctl) != 0) ;
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// Interrupt configuration
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0) ;
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// Interrupt configuration
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_CFG_REG, cfg->interrupt_cfg) != 0) ;
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// Interrupt configuration
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_EN_REG, cfg->interrupt_en) != 0) ;
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if(PIOS_MPU6000_GetReg(PIOS_MPU6000_INT_EN_REG) != cfg->interrupt_en)
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return;
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mpu6000_configured = true;
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}
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/**
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* @brief Claim the SPI bus for the accel communications and select this chip
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* @return 0 if successful, -1 if unable to claim bus
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*/
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int32_t PIOS_MPU6000_ClaimBus()
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{
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if(PIOS_SPI_ClaimBus(pios_spi_gyro) != 0)
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return -1;
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PIOS_SPI_RC_PinSet(pios_spi_gyro,0,0);
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return 0;
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}
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/**
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* @brief Release the SPI bus for the accel communications and end the transaction
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* @return 0 if successful
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*/
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int32_t PIOS_MPU6000_ReleaseBus()
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{
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PIOS_SPI_RC_PinSet(pios_spi_gyro,0,1);
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return PIOS_SPI_ReleaseBus(pios_spi_gyro);
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}
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/**
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* @brief Connect to the correct SPI bus
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*/
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void PIOS_MPU6000_Attach(uint32_t spi_id)
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{
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pios_spi_gyro = spi_id;
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}
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/**
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* @brief Read a register from MPU6000
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* @returns The register value or -1 if failure to get bus
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* @param reg[in] Register address to be read
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*/
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static int32_t PIOS_MPU6000_GetReg(uint8_t reg)
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{
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uint8_t data;
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if(PIOS_MPU6000_ClaimBus() != 0)
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return -1;
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PIOS_SPI_TransferByte(pios_spi_gyro,(0x80 | reg) ); // request byte
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data = PIOS_SPI_TransferByte(pios_spi_gyro,0 ); // receive response
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PIOS_MPU6000_ReleaseBus();
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return data;
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}
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/**
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* @brief Writes one byte to the MPU6000
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* \param[in] reg Register address
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* \param[in] data Byte to write
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* \return 0 if operation was successful
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* \return -1 if unable to claim SPI bus
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* \return -2 if unable to claim i2c device
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*/
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static int32_t PIOS_MPU6000_SetReg(uint8_t reg, uint8_t data)
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{
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if(PIOS_MPU6000_ClaimBus() != 0)
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return -1;
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if(PIOS_SPI_TransferByte(pios_spi_gyro, 0x7f & reg) != 0) {
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PIOS_MPU6000_ReleaseBus();
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return -2;
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}
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if(PIOS_SPI_TransferByte(pios_spi_gyro, data) != 0) {
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PIOS_MPU6000_ReleaseBus();
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return -3;
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}
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PIOS_MPU6000_ReleaseBus();
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return 0;
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}
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/**
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* @brief Read current X, Z, Y values (in that order)
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* \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
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* \returns The number of samples remaining in the fifo
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*/
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int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * data)
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{
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uint8_t buf[7] = {PIOS_MPU6000_GYRO_X_OUT_MSB | 0x80, 0, 0, 0, 0, 0, 0};
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uint8_t rec[7];
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if(PIOS_MPU6000_ClaimBus() != 0)
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return -1;
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/*
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if(PIOS_SPI_TransferBlock(pios_spi_gyro, &buf[0], &rec[0], sizeof(buf), NULL) < 0)
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return -2;
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*/
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PIOS_SPI_TransferByte(pios_spi_gyro,(0x80 | PIOS_MPU6000_GYRO_X_OUT_MSB) ); // request byte
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rec[1] = PIOS_SPI_TransferByte(pios_spi_gyro,0 ); // receive response
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rec[2] = PIOS_SPI_TransferByte(pios_spi_gyro,0 ); // receive response
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rec[3] = PIOS_SPI_TransferByte(pios_spi_gyro,0 ); // receive response
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rec[4] = PIOS_SPI_TransferByte(pios_spi_gyro,0 ); // receive response
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rec[5] = PIOS_SPI_TransferByte(pios_spi_gyro,0 ); // receive response
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rec[6] = PIOS_SPI_TransferByte(pios_spi_gyro,0 ); // receive response
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PIOS_MPU6000_ReleaseBus();
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data->gyro_x = rec[1] << 8 | rec[2];
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data->gyro_y = rec[3] << 8 | rec[4];
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data->gyro_z = rec[5] << 8 | rec[6];
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return 0;
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}
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/**
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* @brief Read the identification bytes from the MPU6050 sensor
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* \return ID read from MPU6050 or -1 if failure
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*/
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int32_t PIOS_MPU6000_ReadID()
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{
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int32_t mpu6000_id = PIOS_MPU6000_GetReg(PIOS_MPU6000_WHOAMI);
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if(mpu6000_id < 0)
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return -1;
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return mpu6000_id;
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}
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/**
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* \brief Reads the data from the MPU6050 FIFO
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* \param[out] buffer destination buffer
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* \param[in] len maximum number of bytes which should be read
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* \note This returns the data as X, Y, Z the temperature
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* \return number of bytes transferred if operation was successful
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* \return -1 if error during I2C transfer
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*/
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int32_t PIOS_MPU6000_ReadFifo(struct pios_mpu6000_data * buffer)
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{
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if(fifoBuf_getUsed(&pios_mpu6000_fifo) < sizeof(*buffer))
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return -1;
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fifoBuf_getData(&pios_mpu6000_fifo, (uint8_t *) buffer, sizeof(*buffer));
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return 0;
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}
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float PIOS_MPU6000_GetScale()
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{
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switch (cfg->gyro_range) {
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case PIOS_MPU6000_SCALE_250_DEG:
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return 1.0f / 131.0f;
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case PIOS_MPU6000_SCALE_500_DEG:
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return 1.0f / 65.5f;
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case PIOS_MPU6000_SCALE_1000_DEG:
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return 1.0f / 32.8f;
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case PIOS_MPU6000_SCALE_2000_DEG:
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return 1.0f / 16.4f;
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}
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return 0;
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}
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/**
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* @brief Run self-test operation.
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* \return 0 if test succeeded
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* \return non-zero value if test succeeded
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*/
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uint8_t PIOS_MPU6000_Test(void)
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{
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/* Verify that ID matches (MPU6050 ID is 0x69) */
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int32_t mpu6000_id = PIOS_MPU6000_ReadID();
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if(mpu6000_id < 0)
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return -1;
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if(mpu6000_id != 0x68);
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return -2;
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return 0;
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}
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/**
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* @brief IRQ Handler. Read all the data from onboard buffer
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*/
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uint32_t mpu6000_irq = 0;
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uint32_t mpu6000_count;
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uint32_t mpu6000_fifo_full = 0;
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void PIOS_MPU6000_IRQHandler(void)
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{
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if(!mpu6000_configured)
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return;
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struct pios_mpu6000_data data;
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mpu6000_irq++;
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if(PIOS_MPU6000_ClaimBus() != 0)
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return;
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// Get number of bytes in the fifo
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uint8_t buf[3] = {PIOS_MPU6000_FIFO_CNT_MSB | 0x80, 0, 0};
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uint8_t rec[3];
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if(PIOS_SPI_TransferBlock(pios_spi_gyro, &buf[0], &rec[0], sizeof(buf), NULL) < 0) {
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PIOS_MPU6000_ReleaseBus();
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return;
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}
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mpu6000_count = rec[1] << 8 | rec[2];
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uint32_t count = mpu6000_count > 40 ? 40 : mpu6000_count;
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while(count--) {
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if(fifoBuf_getFree(&pios_mpu6000_fifo) < sizeof(data)) {
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PIOS_MPU6000_ReleaseBus();
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mpu6000_fifo_full++;
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return;
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}
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uint8_t buf[1+8] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
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uint8_t rec[1+8];
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||||||
|
|
||||||
|
if(PIOS_SPI_TransferBlock(pios_spi_gyro, &buf[0], &rec[0], sizeof(buf), NULL) < 0) {
|
||||||
|
PIOS_MPU6000_ReleaseBus();
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
data.temperature = rec[1] << 8 | rec[2];
|
||||||
|
data.gyro_x = rec[3] << 8 | rec[4];
|
||||||
|
data.gyro_y = rec[5] << 8 | rec[6];
|
||||||
|
data.gyro_z = rec[7] << 8 | rec[8];
|
||||||
|
|
||||||
|
fifoBuf_putData(&pios_mpu6000_fifo, (uint8_t *) &data, sizeof(data));
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
PIOS_MPU6000_ReleaseBus();
|
||||||
|
|
||||||
|
mpu6000_irq++;
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
#if defined(PIOS_INCLUDE_MPU6000)
|
||||||
|
/**
|
||||||
|
* 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_MPU6000_IRQHandler();
|
||||||
|
EXTI_ClearITPendingBit(EXTI_Line1);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @}
|
||||||
|
* @}
|
||||||
|
*/
|
||||||
158
flight/PiOS/inc/pios_mpu6000.h
Normal file
158
flight/PiOS/inc/pios_mpu6000.h
Normal file
@ -0,0 +1,158 @@
|
|||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||||
|
* @{
|
||||||
|
* @addtogroup PIOS_MPU6000 MPU6050 Functions
|
||||||
|
* @brief Deals with the hardware interface to the 3-axis gyro
|
||||||
|
* @{
|
||||||
|
*
|
||||||
|
* @file PIOS_MPU6000.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_MPU6000_H
|
||||||
|
#define PIOS_MPU6000_H
|
||||||
|
|
||||||
|
#include "pios.h"
|
||||||
|
|
||||||
|
/* MPU6050 Addresses */
|
||||||
|
#define PIOS_MPU6000_SMPLRT_DIV_REG 0X19
|
||||||
|
#define PIOS_MPU6000_DLPF_CFG_REG 0X1A
|
||||||
|
#define PIOS_MPU6000_GYRO_CFG_REG 0X1B
|
||||||
|
#define PIOS_MPU6000_ACCEL_CFG_REG 0X1C
|
||||||
|
#define PIOS_MPU6000_FIFO_EN_REG 0x23
|
||||||
|
#define PIOS_MPU6000_INT_CFG_REG 0x37
|
||||||
|
#define PIOS_MPU6000_INT_EN_REG 0x38
|
||||||
|
#define PIOS_MPU6000_INT_STATUS_REG 0x3A
|
||||||
|
#define PIOS_MPU6000_ACCEL_X_OUT_MSB 0x3B
|
||||||
|
#define PIOS_MPU6000_ACCEL_X_OUT_LSB 0x3C
|
||||||
|
#define PIOS_MPU6000_ACCEL_Y_OUT_MSB 0x3D
|
||||||
|
#define PIOS_MPU6000_ACCEL_Y_OUT_LSB 0x3E
|
||||||
|
#define PIOS_MPU6000_ACCEL_Z_OUT_MSB 0x3F
|
||||||
|
#define PIOS_MPU6000_ACCEL_Z_OUT_LSB 0x40
|
||||||
|
#define PIOS_MPU6000_TEMP_OUT_MSB 0x41
|
||||||
|
#define PIOS_MPU6000_TEMP_OUT_LSB 0x42
|
||||||
|
#define PIOS_MPU6000_GYRO_X_OUT_MSB 0x43
|
||||||
|
#define PIOS_MPU6000_GYRO_X_OUT_LSB 0x44
|
||||||
|
#define PIOS_MPU6000_GYRO_Y_OUT_MSB 0x45
|
||||||
|
#define PIOS_MPU6000_GYRO_Y_OUT_LSB 0x46
|
||||||
|
#define PIOS_MPU6000_GYRO_Z_OUT_MSB 0x47
|
||||||
|
#define PIOS_MPU6000_GYRO_Z_OUT_LSB 0x48
|
||||||
|
#define PIOS_MPU6000_USER_CTRL_REG 0x6A
|
||||||
|
#define PIOS_MPU6000_PWR_MGMT_REG 0x6B
|
||||||
|
#define PIOS_MPU6000_FIFO_CNT_MSB 0x72
|
||||||
|
#define PIOS_MPU6000_FIFO_CNT_LSB 0x73
|
||||||
|
#define PIOS_MPU6000_FIFO_REG 0x74
|
||||||
|
#define PIOS_MPU6000_WHOAMI 0x75
|
||||||
|
|
||||||
|
/* FIFO enable for storing different values */
|
||||||
|
#define PIOS_MPU6000_FIFO_TEMP_OUT 0x80
|
||||||
|
#define PIOS_MPU6000_FIFO_GYRO_X_OUT 0x40
|
||||||
|
#define PIOS_MPU6000_FIFO_GYRO_Y_OUT 0x20
|
||||||
|
#define PIOS_MPU6000_FIFO_GYRO_Z_OUT 0x10
|
||||||
|
#define PIOS_MPU6000_ACCEL_OUT 0x04
|
||||||
|
|
||||||
|
/* Interrupt Configuration */
|
||||||
|
#define PIOS_MPU6000_INT_ACTL 0x80
|
||||||
|
#define PIOS_MPU6000_INT_OPEN 0x40
|
||||||
|
#define PIOS_MPU6000_INT_LATCH_EN 0x20
|
||||||
|
#define PIOS_MPU6000_INT_CLR_ANYRD 0x10
|
||||||
|
|
||||||
|
#define PIOS_MPU6000_INTEN_OVERFLOW 0x10
|
||||||
|
#define PIOS_MPU6000_INTEN_DATA_RDY 0x01
|
||||||
|
|
||||||
|
/* Interrupt status */
|
||||||
|
#define PIOS_MPU6000_INT_STATUS_FIFO_FULL 0x80
|
||||||
|
#define PIOS_MPU6000_INT_STATUS_IMU_RDY 0X04
|
||||||
|
#define PIOS_MPU6000_INT_STATUS_DATA_RDY 0X01
|
||||||
|
|
||||||
|
/* User control functionality */
|
||||||
|
#define PIOS_MPU6000_USERCTL_FIFO_EN 0X40
|
||||||
|
#define PIOS_MPU6000_USERCTL_FIFO_RST 0X02
|
||||||
|
#define PIOS_MPU6000_USERCTL_GYRO_RST 0X01
|
||||||
|
|
||||||
|
/* Power management and clock selection */
|
||||||
|
#define PIOS_MPU6000_PWRMGMT_IMU_RST 0X80
|
||||||
|
#define PIOS_MPU6000_PWRMGMT_INTERN_CLK 0X00
|
||||||
|
#define PIOS_MPU6000_PWRMGMT_PLL_X_CLK 0X01
|
||||||
|
#define PIOS_MPU6000_PWRMGMT_PLL_Y_CLK 0X02
|
||||||
|
#define PIOS_MPU6000_PWRMGMT_PLL_Z_CLK 0X03
|
||||||
|
#define PIOS_MPU6000_PWRMGMT_STOP_CLK 0X07
|
||||||
|
|
||||||
|
enum pios_mpu6000_range {
|
||||||
|
PIOS_MPU6000_SCALE_250_DEG = 0x00,
|
||||||
|
PIOS_MPU6000_SCALE_500_DEG = 0x08,
|
||||||
|
PIOS_MPU6000_SCALE_1000_DEG = 0x10,
|
||||||
|
PIOS_MPU6000_SCALE_2000_DEG = 0x18
|
||||||
|
};
|
||||||
|
|
||||||
|
enum pios_mpu6000_filter {
|
||||||
|
PIOS_MPU6000_LOWPASS_256_HZ = 0x00,
|
||||||
|
PIOS_MPU6000_LOWPASS_188_HZ = 0x01,
|
||||||
|
PIOS_MPU6000_LOWPASS_98_HZ = 0x02,
|
||||||
|
PIOS_MPU6000_LOWPASS_42_HZ = 0x03,
|
||||||
|
PIOS_MPU6000_LOWPASS_20_HZ = 0x04,
|
||||||
|
PIOS_MPU6000_LOWPASS_10_HZ = 0x05,
|
||||||
|
PIOS_MPU6000_LOWPASS_5_HZ = 0x06
|
||||||
|
};
|
||||||
|
|
||||||
|
struct pios_mpu6000_data {
|
||||||
|
int16_t gyro_x;
|
||||||
|
int16_t gyro_y;
|
||||||
|
int16_t gyro_z;
|
||||||
|
int16_t accel_x;
|
||||||
|
int16_t accel_y;
|
||||||
|
int16_t accel_z;
|
||||||
|
int16_t temperature;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct pios_mpu6000_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 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_mpu6000_range gyro_range;
|
||||||
|
enum pios_mpu6000_filter filter;
|
||||||
|
};
|
||||||
|
|
||||||
|
/* Public Functions */
|
||||||
|
extern void PIOS_MPU6000_Init(const struct pios_mpu6000_cfg * cfg);
|
||||||
|
extern void PIOS_MPU6000_Attach(uint32_t spi_id);
|
||||||
|
extern int32_t PIOS_MPU6000_ReadFifo(struct pios_mpu6000_data * buffer);
|
||||||
|
extern int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * buffer);
|
||||||
|
extern int32_t PIOS_MPU6000_ReadID();
|
||||||
|
extern uint8_t PIOS_MPU6000_Test();
|
||||||
|
extern float PIOS_MPU6000_GetScale();
|
||||||
|
|
||||||
|
#endif /* PIOS_MPU6000_H */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @}
|
||||||
|
* @}
|
||||||
|
*/
|
||||||
Loading…
x
Reference in New Issue
Block a user