mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-03 11:24:10 +01:00
88b483f37d
coordinate system Previously there were hacks spread throughout to deal with various ways of positioning the chips. Now the driver structure specifies the rotation of the chip relative to the board layout and the output X/Y/Z are already in OP convention. This flag seems to do the right thing for Revolution, CC3D, and RevoMini
176 lines
6.3 KiB
C
176 lines
6.3 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
|
* @{
|
|
* @addtogroup PIOS_MPU6000 MPU6000 Functions
|
|
* @brief Deals with the hardware interface to the 3-axis gyro
|
|
* @{
|
|
*
|
|
* @file PIOS_MPU6000.h
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
|
* @brief MPU6000 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"
|
|
|
|
/* MPU6000 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 0x08
|
|
|
|
/* 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_DIS_I2C 0X10
|
|
#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
|
|
};
|
|
|
|
enum pios_mpu6000_accel_range {
|
|
PIOS_MPU6000_ACCEL_2G = 0x00,
|
|
PIOS_MPU6000_ACCEL_4G = 0x08,
|
|
PIOS_MPU6000_ACCEL_8G = 0x10,
|
|
PIOS_MPU6000_ACCEL_16G = 0x18
|
|
};
|
|
|
|
enum pios_mpu6000_orientation { // clockwise rotation from board forward
|
|
PIOS_MPU6000_TOP_0DEG = 0x00,
|
|
PIOS_MPU6000_TOP_90DEG = 0x01,
|
|
PIOS_MPU6000_TOP_180DEG = 0x02,
|
|
PIOS_MPU6000_TOP_270DEG = 0x03
|
|
};
|
|
|
|
struct pios_mpu6000_data {
|
|
int16_t gyro_x;
|
|
int16_t gyro_y;
|
|
int16_t gyro_z;
|
|
#if defined(PIOS_MPU6000_ACCEL)
|
|
int16_t accel_x;
|
|
int16_t accel_y;
|
|
int16_t accel_z;
|
|
#endif /* PIOS_MPU6000_ACCEL */
|
|
int16_t temperature;
|
|
};
|
|
|
|
struct pios_mpu6000_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) */
|
|
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_accel_range accel_range;
|
|
enum pios_mpu6000_range gyro_range;
|
|
enum pios_mpu6000_filter filter;
|
|
enum pios_mpu6000_orientation orientation;
|
|
};
|
|
|
|
/* Public Functions */
|
|
extern int32_t PIOS_MPU6000_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_mpu6000_cfg * new_cfg);
|
|
extern xQueueHandle PIOS_MPU6000_GetQueue();
|
|
extern int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * buffer);
|
|
extern int32_t PIOS_MPU6000_ReadID();
|
|
extern int32_t PIOS_MPU6000_Test();
|
|
extern float PIOS_MPU6000_GetScale();
|
|
extern float PIOS_MPU6000_GetAccelScale();
|
|
extern void PIOS_MPU6000_IRQHandler(void);
|
|
|
|
#endif /* PIOS_MPU6000_H */
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|