/**
******************************************************************************
* @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 <stdint.h>
#include <pios_constants.h>
#include <pios_sensors.h>
/* Global Variables */
enum pios_mpu9250_dev_magic {
PIOS_MPU9250_DEV_MAGIC = 0x9da9b3ed,
};
struct mpu9250_dev {
uint32_t spi_id;
uint32_t slave_num;
QueueHandle_t 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;
} __attribute__((__packed__)) mpu9250_data_t;
#define GET_SENSOR_DATA(mpudataptr, sensor) (mpudataptr.data.sensor##_h << 8 | mpudataptr.data.sensor##_l)
static PIOS_SENSORS_3Axis_SensorsWithTemp *queue_data = 0;
static PIOS_SENSORS_3Axis_SensorsWithTemp *mag_data = 0;
static volatile bool mag_ready = false;
#define SENSOR_COUNT 2
#define SENSOR_DATA_SIZE (sizeof(PIOS_SENSORS_3Axis_SensorsWithTemp) + sizeof(Vector3i16) * SENSOR_COUNT)
#define MAG_SENSOR_DATA_SIZE (sizeof(PIOS_SENSORS_3Axis_SensorsWithTemp) + sizeof(Vector3i16))
// ! 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(uint32_t gyro_read_timestamp);
static bool PIOS_MPU9250_ReadSensor(bool *woken);
static int32_t PIOS_MPU9250_Test(void);
#if defined(PIOS_MPU9250_MAG)
static int32_t PIOS_MPU9250_Mag_Test(void);
static int32_t PIOS_MPU9250_Mag_Init(void);
#endif
/* Driver Framework interfaces */
// Gyro/accel interface
bool PIOS_MPU9250_Main_driver_Test(uintptr_t context);
void PIOS_MPU9250_Main_driver_Reset(uintptr_t context);
void PIOS_MPU9250_Main_driver_get_scale(float *scales, uint8_t size, uintptr_t context);
QueueHandle_t PIOS_MPU9250_Main_driver_get_queue(uintptr_t context);
const PIOS_SENSORS_Driver PIOS_MPU9250_Main_Driver = {
.test = PIOS_MPU9250_Main_driver_Test,
.poll = NULL,
.fetch = NULL,
.reset = PIOS_MPU9250_Main_driver_Reset,
.get_queue = PIOS_MPU9250_Main_driver_get_queue,
.get_scale = PIOS_MPU9250_Main_driver_get_scale,
.is_polled = false,
};
// mag sensor interface
bool PIOS_MPU9250_Mag_driver_Test(uintptr_t context);
void PIOS_MPU9250_Mag_driver_Reset(uintptr_t context);
void PIOS_MPU9250_Mag_driver_get_scale(float *scales, uint8_t size, uintptr_t context);
void PIOS_MPU9250_Mag_driver_fetch(void *, uint8_t size, uintptr_t context);
bool PIOS_MPU9250_Mag_driver_poll(uintptr_t context);
const PIOS_SENSORS_Driver PIOS_MPU9250_Mag_Driver = {
.test = PIOS_MPU9250_Mag_driver_Test,
.poll = PIOS_MPU9250_Mag_driver_poll,
.fetch = PIOS_MPU9250_Mag_driver_fetch,
.reset = PIOS_MPU9250_Mag_driver_Reset,
.get_queue = NULL,
.get_scale = PIOS_MPU9250_Mag_driver_get_scale,
.is_polled = true,
};
void PIOS_MPU9250_MainRegister()
{
PIOS_SENSORS_Register(&PIOS_MPU9250_Main_Driver, PIOS_SENSORS_TYPE_3AXIS_GYRO_ACCEL, 0);
}
void PIOS_MPU9250_MagRegister()
{
PIOS_SENSORS_Register(&PIOS_MPU9250_Mag_Driver, PIOS_SENSORS_TYPE_3AXIS_MAG, 0);
}
/**
* @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));
PIOS_Assert(mpu9250_dev);
mpu9250_dev->magic = PIOS_MPU9250_DEV_MAGIC;
mpu9250_dev->queue = xQueueCreate(cfg->max_downsample + 1, SENSOR_DATA_SIZE);
PIOS_Assert(mpu9250_dev->queue);
queue_data = (PIOS_SENSORS_3Axis_SensorsWithTemp *)pios_malloc(SENSOR_DATA_SIZE);
PIOS_Assert(queue_data);
queue_data->count = SENSOR_COUNT;
mag_data = (PIOS_SENSORS_3Axis_SensorsWithTemp *)pios_malloc(MAG_SENSOR_DATA_SIZE);
mag_data->count = 1;
PIOS_Assert(mag_data);
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;
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);
// Wake up the chip
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_PWR_MGMT_REG, 0) != 0) {
;
}
// Reset sensors and fifo
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_USER_CTRL_REG,
PIOS_MPU9250_USERCTL_DIS_I2C |
PIOS_MPU9250_USERCTL_SIG_COND) != 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 = PIOS_MPU9250_PWRMGMT2_DISABLE_ACCEL;
#if defined(PIOS_MPU9250_ACCEL)
power &= ~PIOS_MPU9250_PWRMGMT2_DISABLE_ACCEL;
#endif
while (PIOS_MPU9250_SetReg(PIOS_MPU9250_FIFO_EN_REG, cfg->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;
}
PIOS_MPU9250_GetReg(PIOS_MPU9250_INT_STATUS_REG);
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;
}
static 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;
}
static 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
*/
static 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);
int32_t ret = PIOS_SPI_TransferByte(dev->spi_id, 0x0);
if (ret < 0) {
PIOS_MPU9250_ReleaseBus();
return -1;
}
dev->mag_sens_adj[i] = 1.0f; // 1.0f + ((float)((uint8_t)ret - 128)) / 256.0f;
}
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 /* if defined(PIOS_MPU9250_MAG) */
/**
* @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
*/
bool PIOS_MPU9250_IRQHandler(void)
{
uint32_t gyro_read_timestamp = PIOS_DELAY_GetRaw();
bool woken = false;
if (!mpu9250_configured) {
return false;
}
#if defined(PIOS_MPU9250_MAG)
PIOS_MPU9250_ReadMag(&woken);
#endif
if (PIOS_MPU9250_ReadSensor(&woken)) {
woken |= PIOS_MPU9250_HandleData(gyro_read_timestamp);
}
return woken;
}
static bool PIOS_MPU9250_HandleData(uint32_t gyro_read_timestamp)
{
// 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
if (!queue_data) {
return false;
}
#ifdef PIOS_MPU9250_MAG
bool mag_valid = mpu9250_data.data.st1 & PIOS_MPU9250_MAG_DATA_RDY;
#endif
// 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
queue_data->sample[0].y = GET_SENSOR_DATA(mpu9250_data, Accel_X); // chip X
queue_data->sample[0].x = GET_SENSOR_DATA(mpu9250_data, Accel_Y); // chip Y
#endif
queue_data->sample[1].y = GET_SENSOR_DATA(mpu9250_data, Gyro_X); // chip X
queue_data->sample[1].x = GET_SENSOR_DATA(mpu9250_data, Gyro_Y); // chip Y
#ifdef PIOS_MPU9250_MAG
if (mag_valid) {
mag_data->sample[0].y = GET_SENSOR_DATA(mpu9250_data, Mag_Y) * dev->mag_sens_adj[1]; // chip Y
mag_data->sample[0].x = GET_SENSOR_DATA(mpu9250_data, Mag_X) * dev->mag_sens_adj[0]; // chip X
}
#endif
break;
case PIOS_MPU9250_TOP_90DEG:
// -1 to bring it back to -32768 +32767 range
#ifdef PIOS_MPU9250_ACCEL
queue_data->sample[0].y = -1 - (GET_SENSOR_DATA(mpu9250_data, Accel_Y)); // chip Y
queue_data->sample[0].x = GET_SENSOR_DATA(mpu9250_data, Accel_X); // chip X
#endif
queue_data->sample[1].y = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_Y)); // chip Y
queue_data->sample[1].x = GET_SENSOR_DATA(mpu9250_data, Gyro_X); // chip X
#ifdef PIOS_MPU9250_MAG
if (mag_valid) {
mag_data->sample[0].y = GET_SENSOR_DATA(mpu9250_data, Mag_X) * dev->mag_sens_adj[0]; // chip X
mag_data->sample[0].x = -1 - (GET_SENSOR_DATA(mpu9250_data, Mag_Y)) * dev->mag_sens_adj[1]; // chip Y
}
#endif
break;
case PIOS_MPU9250_TOP_180DEG:
#ifdef PIOS_MPU9250_ACCEL
queue_data->sample[0].y = -1 - (GET_SENSOR_DATA(mpu9250_data, Accel_X)); // chip X
queue_data->sample[0].x = -1 - (GET_SENSOR_DATA(mpu9250_data, Accel_Y)); // chip Y
#endif
queue_data->sample[1].y = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_X)); // chip X
queue_data->sample[1].x = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_Y)); // chip Y
#ifdef PIOS_MPU9250_MAG
if (mag_valid) {
mag_data->sample[0].y = -1 - (GET_SENSOR_DATA(mpu9250_data, Mag_Y)) * dev->mag_sens_adj[1]; // chip Y
mag_data->sample[0].x = -1 - (GET_SENSOR_DATA(mpu9250_data, Mag_X)) * dev->mag_sens_adj[0]; // chip X
}
#endif
break;
case PIOS_MPU9250_TOP_270DEG:
#ifdef PIOS_MPU9250_ACCEL
queue_data->sample[0].y = GET_SENSOR_DATA(mpu9250_data, Accel_Y); // chip Y
queue_data->sample[0].x = -1 - (GET_SENSOR_DATA(mpu9250_data, Accel_X)); // chip X
#endif
queue_data->sample[1].y = GET_SENSOR_DATA(mpu9250_data, Gyro_Y); // chip Y
queue_data->sample[1].x = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_X)); // chip X
#ifdef PIOS_MPU9250_MAG
if (mag_valid) {
mag_data->sample[0].y = -1 - (GET_SENSOR_DATA(mpu9250_data, Mag_X)) * dev->mag_sens_adj[0]; // chip X
mag_data->sample[0].x = GET_SENSOR_DATA(mpu9250_data, Mag_Y) * dev->mag_sens_adj[1]; // chip Y
}
#endif
break;
}
#ifdef PIOS_MPU9250_ACCEL
queue_data->sample[0].z = -1 - (GET_SENSOR_DATA(mpu9250_data, Accel_Z));
#endif
queue_data->sample[1].z = -1 - (GET_SENSOR_DATA(mpu9250_data, Gyro_Z));
const int16_t temp = GET_SENSOR_DATA(mpu9250_data, Temperature);
queue_data->temperature = 2100 + ((float)(temp - PIOS_MPU9250_TEMP_OFFSET)) * (100.0f / PIOS_MPU9250_TEMP_SENSITIVITY);
queue_data->timestamp = gyro_read_timestamp;
mag_data->temperature = queue_data->temperature;
#ifdef PIOS_MPU9250_MAG
if (mag_valid) {
mag_data->sample[0].z = GET_SENSOR_DATA(mpu9250_data, Mag_Z) * dev->mag_sens_adj[2]; // chip Z
mag_ready = true;
}
#endif
BaseType_t higherPriorityTaskWoken;
xQueueSendToBackFromISR(dev->queue, queue_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);
return false;
}
PIOS_MPU9250_ReleaseBusISR(woken);
return true;
}
// Sensor driver implementation
bool PIOS_MPU9250_Main_driver_Test(__attribute__((unused)) uintptr_t context)
{
return !PIOS_MPU9250_Test();
}
void PIOS_MPU9250_Main_driver_Reset(__attribute__((unused)) uintptr_t context)
{
PIOS_MPU9250_GetReg(PIOS_MPU9250_INT_STATUS_REG);
}
void PIOS_MPU9250_Main_driver_get_scale(float *scales, uint8_t size, __attribute__((unused)) uintptr_t contet)
{
PIOS_Assert(size >= 2);
scales[0] = PIOS_MPU9250_GetAccelScale();
scales[1] = PIOS_MPU9250_GetScale();
}
QueueHandle_t PIOS_MPU9250_Main_driver_get_queue(__attribute__((unused)) uintptr_t context)
{
return dev->queue;
}
/* PIOS sensor driver implementation */
bool PIOS_MPU9250_Mag_driver_Test(__attribute__((unused)) uintptr_t context)
{
return !PIOS_MPU9250_Test();
}
void PIOS_MPU9250_Mag_driver_Reset(__attribute__((unused)) uintptr_t context) {}
void PIOS_MPU9250_Mag_driver_get_scale(float *scales, uint8_t size, __attribute__((unused)) uintptr_t context)
{
PIOS_Assert(size > 0);
scales[0] = 1;
}
void PIOS_MPU9250_Mag_driver_fetch(void *data, uint8_t size, __attribute__((unused)) uintptr_t context)
{
mag_ready = false;
PIOS_Assert(size > 0);
memcpy(data, mag_data, MAG_SENSOR_DATA_SIZE);
}
bool PIOS_MPU9250_Mag_driver_poll(__attribute__((unused)) uintptr_t context)
{
return mag_ready;
}
#endif /* PIOS_INCLUDE_MPU9250 */
/**
* @}
* @}
*/