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1002 lines
29 KiB
C
1002 lines
29 KiB
C
/**
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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_MPU9250 MPU9250 Functions
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* @brief Deals with the hardware interface to the 9 DOF sensor.
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* @{
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*
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* @file pios_mp9250.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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* @brief MPU9250 9-axis gyro, accel and mag 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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#include "pios.h"
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#include <pios_mpu9250.h>
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#ifdef PIOS_INCLUDE_MPU9250
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#include <stdint.h>
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#include <pios_constants.h>
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#include <pios_sensors.h>
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/* Global Variables */
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enum pios_mpu9250_dev_magic {
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PIOS_MPU9250_DEV_MAGIC = 0x9da9b3ed,
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};
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struct mpu9250_dev {
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uint32_t spi_id;
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uint32_t slave_num;
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QueueHandle_t queue;
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const struct pios_mpu9250_cfg *cfg;
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enum pios_mpu9250_range gyro_range;
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enum pios_mpu9250_accel_range accel_range;
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enum pios_mpu9250_filter filter;
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enum pios_mpu9250_dev_magic magic;
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float mag_sens_adj[PIOS_MPU9250_MAG_ASA_NB_BYTE];
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};
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#ifdef PIOS_MPU9250_ACCEL
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#define PIOS_MPU9250_ACCEL_SAMPLES_BYTES (6)
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#else
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#define PIOS_MPU9250_ACCEL_SAMPLES_BYTES (0)
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#endif
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#ifdef PIOS_MPU9250_MAG
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#define PIOS_MPU9250_MAG_SAMPLES_BYTES (8)
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#else
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#define PIOS_MPU9250_MAG_SAMPLES_BYTES (0)
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#endif
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#define PIOS_MPU9250_GYRO_SAMPLES_BYTES (6)
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#define PIOS_MPU9250_TEMP_SAMPLES_BYTES (2)
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#define PIOS_MPU9250_SAMPLES_BYTES \
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(PIOS_MPU9250_ACCEL_SAMPLES_BYTES + \
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PIOS_MPU9250_GYRO_SAMPLES_BYTES + \
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PIOS_MPU9250_TEMP_SAMPLES_BYTES + \
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PIOS_MPU9250_MAG_SAMPLES_BYTES)
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#ifdef PIOS_MPU9250_ACCEL
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#define PIOS_MPU9250_SENSOR_FIRST_REG PIOS_MPU9250_ACCEL_X_OUT_MSB
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#else
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#define PIOS_MPU9250_SENSOR_FIRST_REG PIOS_MPU9250_TEMP_OUT_MSB
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#endif
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#if defined(PIOS_MPU9250_MAG) && !defined(PIOS_MPU9250_ACCEL)
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#error ERROR: PIOS_MPU9250_ACCEL not defined! THIS CONFIGURATION IS NOT SUPPORTED
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#endif
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typedef union {
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uint8_t buffer[2 + PIOS_MPU9250_SAMPLES_BYTES];
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struct {
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uint8_t dummy;
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#ifdef PIOS_MPU9250_ACCEL
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uint8_t Accel_X_h;
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uint8_t Accel_X_l;
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uint8_t Accel_Y_h;
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uint8_t Accel_Y_l;
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uint8_t Accel_Z_h;
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uint8_t Accel_Z_l;
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#endif
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uint8_t Temperature_h;
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uint8_t Temperature_l;
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uint8_t Gyro_X_h;
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uint8_t Gyro_X_l;
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uint8_t Gyro_Y_h;
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uint8_t Gyro_Y_l;
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uint8_t Gyro_Z_h;
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uint8_t Gyro_Z_l;
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#ifdef PIOS_MPU9250_MAG
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uint8_t st1;
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uint8_t Mag_X_l;
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uint8_t Mag_X_h;
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uint8_t Mag_Y_l;
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uint8_t Mag_Y_h;
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uint8_t Mag_Z_l;
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uint8_t Mag_Z_h;
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uint8_t st2;
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#endif
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} data;
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} __attribute__((__packed__)) mpu9250_data_t;
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#define GET_SENSOR_DATA(mpudataptr, sensor) ((int16_t)((mpudataptr.data.sensor##_h << 8 | mpudataptr.data.sensor##_l)))
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static PIOS_SENSORS_3Axis_SensorsWithTemp *queue_data = 0;
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static PIOS_SENSORS_3Axis_SensorsWithTemp *mag_data = 0;
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static volatile bool mag_ready = false;
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#define SENSOR_COUNT 2
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#define SENSOR_DATA_SIZE (sizeof(PIOS_SENSORS_3Axis_SensorsWithTemp) + sizeof(Vector3i16) * SENSOR_COUNT)
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#define MAG_SENSOR_DATA_SIZE (sizeof(PIOS_SENSORS_3Axis_SensorsWithTemp) + sizeof(Vector3i16))
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// ! Global structure for this device device
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static struct mpu9250_dev *dev;
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volatile bool mpu9250_configured = false;
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static mpu9250_data_t mpu9250_data;
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static int32_t mpu9250_id;
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// ! Private functions
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static struct mpu9250_dev *PIOS_MPU9250_alloc(const struct pios_mpu9250_cfg *cfg);
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static int32_t PIOS_MPU9250_Validate(struct mpu9250_dev *dev);
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static void PIOS_MPU9250_Config(struct pios_mpu9250_cfg const *cfg);
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static int32_t PIOS_MPU9250_SetReg(uint8_t address, uint8_t buffer);
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static int32_t PIOS_MPU9250_GetReg(uint8_t address);
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static void PIOS_MPU9250_SetSpeed(const bool fast);
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static bool PIOS_MPU9250_HandleData(uint32_t gyro_read_timestamp);
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static bool PIOS_MPU9250_ReadSensor(bool *woken);
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static int32_t PIOS_MPU9250_Test(void);
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#if defined(PIOS_MPU9250_MAG)
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static int32_t PIOS_MPU9250_Mag_Test(void);
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static int32_t PIOS_MPU9250_Mag_Init(void);
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#endif
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/* Driver Framework interfaces */
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// Gyro/accel interface
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bool PIOS_MPU9250_Main_driver_Test(uintptr_t context);
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void PIOS_MPU9250_Main_driver_Reset(uintptr_t context);
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void PIOS_MPU9250_Main_driver_get_scale(float *scales, uint8_t size, uintptr_t context);
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QueueHandle_t PIOS_MPU9250_Main_driver_get_queue(uintptr_t context);
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const PIOS_SENSORS_Driver PIOS_MPU9250_Main_Driver = {
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.test = PIOS_MPU9250_Main_driver_Test,
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.poll = NULL,
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.fetch = NULL,
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.reset = PIOS_MPU9250_Main_driver_Reset,
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.get_queue = PIOS_MPU9250_Main_driver_get_queue,
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.get_scale = PIOS_MPU9250_Main_driver_get_scale,
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.is_polled = false,
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};
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// mag sensor interface
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bool PIOS_MPU9250_Mag_driver_Test(uintptr_t context);
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void PIOS_MPU9250_Mag_driver_Reset(uintptr_t context);
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void PIOS_MPU9250_Mag_driver_get_scale(float *scales, uint8_t size, uintptr_t context);
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void PIOS_MPU9250_Mag_driver_fetch(void *, uint8_t size, uintptr_t context);
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bool PIOS_MPU9250_Mag_driver_poll(uintptr_t context);
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const PIOS_SENSORS_Driver PIOS_MPU9250_Mag_Driver = {
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.test = PIOS_MPU9250_Mag_driver_Test,
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.poll = PIOS_MPU9250_Mag_driver_poll,
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.fetch = PIOS_MPU9250_Mag_driver_fetch,
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.reset = PIOS_MPU9250_Mag_driver_Reset,
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.get_queue = NULL,
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.get_scale = PIOS_MPU9250_Mag_driver_get_scale,
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.is_polled = true,
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};
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void PIOS_MPU9250_MainRegister()
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{
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PIOS_SENSORS_Register(&PIOS_MPU9250_Main_Driver, PIOS_SENSORS_TYPE_3AXIS_GYRO_ACCEL, 0);
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}
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void PIOS_MPU9250_MagRegister()
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{
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if (mpu9250_id == PIOS_MPU9250_GYRO_ACC_ID) {
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PIOS_SENSORS_Register(&PIOS_MPU9250_Mag_Driver, PIOS_SENSORS_TYPE_3AXIS_MAG, 0);
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}
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}
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/**
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* @brief Allocate a new device
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*/
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static struct mpu9250_dev *PIOS_MPU9250_alloc(const struct pios_mpu9250_cfg *cfg)
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{
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struct mpu9250_dev *mpu9250_dev;
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mpu9250_dev = (struct mpu9250_dev *)pios_malloc(sizeof(*mpu9250_dev));
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PIOS_Assert(mpu9250_dev);
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mpu9250_dev->magic = PIOS_MPU9250_DEV_MAGIC;
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mpu9250_dev->queue = xQueueCreate(cfg->max_downsample + 1, SENSOR_DATA_SIZE);
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PIOS_Assert(mpu9250_dev->queue);
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queue_data = (PIOS_SENSORS_3Axis_SensorsWithTemp *)pios_malloc(SENSOR_DATA_SIZE);
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PIOS_Assert(queue_data);
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queue_data->count = SENSOR_COUNT;
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mag_data = (PIOS_SENSORS_3Axis_SensorsWithTemp *)pios_malloc(MAG_SENSOR_DATA_SIZE);
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mag_data->count = 1;
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PIOS_Assert(mag_data);
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return mpu9250_dev;
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}
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/**
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* @brief Validate the handle to the spi device
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* @returns 0 for valid device or -1 otherwise
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*/
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static int32_t PIOS_MPU9250_Validate(struct mpu9250_dev *vdev)
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{
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if (vdev == NULL) {
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return -1;
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}
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if (vdev->magic != PIOS_MPU9250_DEV_MAGIC) {
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return -2;
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}
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if (vdev->spi_id == 0) {
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return -3;
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}
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return 0;
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}
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/**
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* @brief Initialize the MPU9250 3-axis gyro sensor.
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* @return 0 for success, -1 for failure
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*/
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int32_t PIOS_MPU9250_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_mpu9250_cfg *cfg)
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{
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dev = PIOS_MPU9250_alloc(cfg);
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if (dev == NULL) {
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return -1;
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}
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dev->spi_id = spi_id;
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dev->slave_num = slave_num;
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dev->cfg = cfg;
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/* Configure the MPU9250 Sensor */
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PIOS_MPU9250_Config(cfg);
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/* Set up EXTI line */
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PIOS_EXTI_Init(cfg->exti_cfg);
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return 0;
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}
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/**
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* @brief Initialize the MPU9250 3-axis gyro sensor
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* \return none
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* \param[in] PIOS_MPU9250_ConfigTypeDef struct to be used to configure sensor.
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*
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*/
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static void PIOS_MPU9250_Config(struct pios_mpu9250_cfg const *cfg)
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{
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uint8_t power;
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while (PIOS_MPU9250_Test() != 0) {
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;
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}
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// Reset chip
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while (PIOS_MPU9250_SetReg(PIOS_MPU9250_PWR_MGMT_REG, PIOS_MPU9250_PWRMGMT_IMU_RST) != 0) {
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;
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}
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PIOS_DELAY_WaitmS(100);
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// Wake up the chip
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while (PIOS_MPU9250_SetReg(PIOS_MPU9250_PWR_MGMT_REG, 0) != 0) {
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;
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}
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// Reset sensors and fifo
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while (PIOS_MPU9250_SetReg(PIOS_MPU9250_USER_CTRL_REG,
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PIOS_MPU9250_USERCTL_DIS_I2C |
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PIOS_MPU9250_USERCTL_SIG_COND) != 0) {
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;
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}
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PIOS_DELAY_WaitmS(100);
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// Power management configuration
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while (PIOS_MPU9250_SetReg(PIOS_MPU9250_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0) {
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;
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}
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while (PIOS_MPU9250_SetReg(PIOS_MPU9250_USER_CTRL_REG, cfg->User_ctl) != 0) {
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;
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}
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// FIFO storage by default, do not include accelerometer and external sense data.
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power = PIOS_MPU9250_PWRMGMT2_DISABLE_ACCEL;
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#if defined(PIOS_MPU9250_ACCEL)
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power &= ~PIOS_MPU9250_PWRMGMT2_DISABLE_ACCEL;
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#endif
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while (PIOS_MPU9250_SetReg(PIOS_MPU9250_FIFO_EN_REG, cfg->Fifo_store) != 0) {
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;
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}
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PIOS_MPU9250_SetReg(PIOS_MPU9250_PWR_MGMT2_REG, power);
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#if defined(PIOS_MPU9250_ACCEL)
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PIOS_MPU9250_ConfigureRanges(cfg->gyro_range, cfg->accel_range, cfg->filter);
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#endif
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// Interrupt configuration
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while (PIOS_MPU9250_SetReg(PIOS_MPU9250_INT_CFG_REG, cfg->interrupt_cfg) != 0) {
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;
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}
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#ifdef PIOS_MPU9250_MAG
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if (mpu9250_id == PIOS_MPU9250_GYRO_ACC_ID) {
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PIOS_MPU9250_Mag_Init();
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}
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#endif
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// Interrupt enable
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while (PIOS_MPU9250_SetReg(PIOS_MPU9250_INT_EN_REG, cfg->interrupt_en) != 0) {
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;
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}
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if ((PIOS_MPU9250_GetReg(PIOS_MPU9250_INT_EN_REG)) != cfg->interrupt_en) {
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return;
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}
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PIOS_MPU9250_GetReg(PIOS_MPU9250_INT_STATUS_REG);
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mpu9250_configured = true;
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}
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/**
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* @brief Configures Gyro, accel and Filter ranges/setings
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* @return 0 if successful, -1 if device has not been initialized
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*/
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int32_t PIOS_MPU9250_ConfigureRanges(
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enum pios_mpu9250_range gyroRange,
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enum pios_mpu9250_accel_range accelRange,
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enum pios_mpu9250_filter filterSetting)
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{
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if (dev == NULL) {
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return -1;
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}
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// update filter settings
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while (PIOS_MPU9250_SetReg(PIOS_MPU9250_DLPF_CFG_REG, filterSetting) != 0) {
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;
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}
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// Sample rate divider, chosen upon digital filtering settings
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while (PIOS_MPU9250_SetReg(PIOS_MPU9250_SMPLRT_DIV_REG,
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filterSetting == PIOS_MPU9250_LOWPASS_256_HZ ?
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dev->cfg->Smpl_rate_div_no_dlp : dev->cfg->Smpl_rate_div_dlp) != 0) {
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;
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}
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dev->filter = filterSetting;
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// Gyro range
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while (PIOS_MPU9250_SetReg(PIOS_MPU9250_GYRO_CFG_REG, gyroRange) != 0) {
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;
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}
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dev->gyro_range = gyroRange;
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#if defined(PIOS_MPU9250_ACCEL)
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// Set the accel range
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while (PIOS_MPU9250_SetReg(PIOS_MPU9250_ACCEL_CFG_REG, accelRange) != 0) {
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;
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}
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dev->accel_range = accelRange;
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#endif
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return 0;
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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 for invalid device, -2 if unable to claim bus
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*/
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static int32_t PIOS_MPU9250_ClaimBus(bool fast_spi)
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{
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if (PIOS_MPU9250_Validate(dev) != 0) {
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return -1;
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}
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if (PIOS_SPI_ClaimBus(dev->spi_id) != 0) {
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return -2;
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}
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PIOS_MPU9250_SetSpeed(fast_spi);
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PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 0);
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return 0;
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}
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static void PIOS_MPU9250_SetSpeed(const bool fast)
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{
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if (fast) {
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PIOS_SPI_SetClockSpeed(dev->spi_id, dev->cfg->fast_prescaler);
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} else {
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PIOS_SPI_SetClockSpeed(dev->spi_id, dev->cfg->std_prescaler);
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}
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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 for invalid device, -2 if unable to claim bus
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* @param woken[in,out] If non-NULL, will be set to true if woken was false and a higher priority
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* task has is now eligible to run, else unchanged
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*/
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static int32_t PIOS_MPU9250_ClaimBusISR(bool *woken, bool fast_spi)
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{
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if (PIOS_MPU9250_Validate(dev) != 0) {
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return -1;
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}
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if (PIOS_SPI_ClaimBusISR(dev->spi_id, woken) != 0) {
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return -2;
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}
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PIOS_MPU9250_SetSpeed(fast_spi);
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PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 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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static int32_t PIOS_MPU9250_ReleaseBus()
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{
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if (PIOS_MPU9250_Validate(dev) != 0) {
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return -1;
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}
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PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 1);
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return PIOS_SPI_ReleaseBus(dev->spi_id);
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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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* @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 id = PIOS_MPU9250_GetReg(PIOS_MPU9250_WHOAMI);
|
|
|
|
if (id < 0) {
|
|
return -1;
|
|
}
|
|
return 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 */
|
|
mpu9250_id = PIOS_MPU9250_ReadID();
|
|
|
|
if (mpu9250_id < 0) {
|
|
return -1;
|
|
}
|
|
|
|
if ((mpu9250_id != PIOS_MPU9250_GYRO_ACC_ID) && (mpu9250_id != PIOS_MPU6500_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)
|
|
{
|
|
/* 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);
|
|
|
|
/* Set addres and read flag */
|
|
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_ASAX);
|
|
|
|
/* Trigger the byte transfer. */
|
|
PIOS_MPU9250_SetReg(PIOS_MPU9250_I2C_SLV0_CTRL, PIOS_MPU9250_I2C_SLV_ENABLE | 0x3);
|
|
|
|
PIOS_DELAY_WaitmS(1);
|
|
|
|
if (PIOS_MPU9250_ClaimBus(false) != 0) {
|
|
return -1;
|
|
}
|
|
|
|
/* Read the mag data from SPI block */
|
|
|
|
uint8_t mpu9250_send_buf[4] = { PIOS_MPU9250_EXT_SENS_DATA_00 | 0x80 };
|
|
|
|
if (PIOS_SPI_TransferBlock(dev->spi_id, mpu9250_send_buf, mpu9250_send_buf, sizeof(mpu9250_send_buf), 0) == 0) {
|
|
for (int i = 0; i < 3; ++i) {
|
|
dev->mag_sens_adj[i] = 1.0f + ((float)((uint8_t)mpu9250_send_buf[i + 1] - 128)) / 256.0f;
|
|
}
|
|
} else {
|
|
PIOS_MPU9250_ReleaseBus();
|
|
return -1;
|
|
}
|
|
|
|
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 */
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|