/** ****************************************************************************** * @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 */ /** * @} * @} */