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401 lines
11 KiB
C
401 lines
11 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_IMU3000 IMU3000 Functions
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* @brief Deals with the hardware interface to the 3-axis gyro
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* @{
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*
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* @file pios_IMU3000.c
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* @author David "Buzz" Carlson (buzz@chebuzz.com)
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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* @brief IMU3000 3-axis gyor functions from INS
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* @see The GNU Public License (GPL) Version 3
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*
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******************************************************************************
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*/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/* Project Includes */
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#include "pios.h"
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#if defined(PIOS_INCLUDE_IMU3000)
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/* Global Variables */
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/* Local Variables */
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#define DEG_TO_RAD (M_PI / 180.0)
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static void PIOS_IMU3000_Config(struct pios_imu3000_cfg const * cfg);
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static int32_t PIOS_IMU3000_Read(uint8_t address, uint8_t * buffer, uint8_t len);
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static int32_t PIOS_IMU3000_Write(uint8_t address, uint8_t buffer);
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#define PIOS_IMU3000_MAX_DOWNSAMPLE 10
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static int16_t pios_imu3000_buffer[PIOS_IMU3000_MAX_DOWNSAMPLE * sizeof(struct pios_imu3000_data)];
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static t_fifo_buffer pios_imu3000_fifo;
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volatile bool imu3000_first_read = true;
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volatile bool imu3000_configured = false;
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volatile bool imu3000_cb_ready = true;
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static struct pios_imu3000_cfg const * cfg;
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/**
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* @brief Initialize the IMU3000 3-axis gyro sensor.
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* @return none
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*/
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void PIOS_IMU3000_Init(const struct pios_imu3000_cfg * new_cfg)
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{
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cfg = new_cfg;
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fifoBuf_init(&pios_imu3000_fifo, (uint8_t *) pios_imu3000_buffer, sizeof(pios_imu3000_buffer));
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/* Configure EOC pin as input floating */
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GPIO_Init(cfg->drdy.gpio, &cfg->drdy.init);
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/* Configure the End Of Conversion (EOC) interrupt */
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SYSCFG_EXTILineConfig(cfg->eoc_exti.port_source, cfg->eoc_exti.pin_source);
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EXTI_Init(&cfg->eoc_exti.init);
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/* Enable and set EOC EXTI Interrupt to the lowest priority */
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NVIC_Init(&cfg->eoc_irq.init);
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/* Configure the IMU3000 Sensor */
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PIOS_IMU3000_Config(cfg);
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}
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/**
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* @brief Initialize the IMU3000 3-axis gyro sensor
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* \return none
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* \param[in] PIOS_IMU3000_ConfigTypeDef struct to be used to configure sensor.
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*
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*/
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static void PIOS_IMU3000_Config(struct pios_imu3000_cfg const * cfg)
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{
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imu3000_first_read = true;
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imu3000_cb_ready = true;
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// Reset chip and fifo
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while (PIOS_IMU3000_Write(PIOS_IMU3000_USER_CTRL_REG, 0x01 | 0x02) != 0);
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PIOS_DELAY_WaituS(20);
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while (PIOS_IMU3000_Write(PIOS_IMU3000_USER_CTRL_REG, 0x00) != 0);
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// FIFO storage
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while (PIOS_IMU3000_Write(PIOS_IMU3000_FIFO_EN_REG, cfg->Fifo_store) != 0);
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// Sample rate divider
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while (PIOS_IMU3000_Write(PIOS_IMU3000_SMPLRT_DIV_REG, cfg->Smpl_rate_div) != 0) ;
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// Digital low-pass filter and scale
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while (PIOS_IMU3000_Write(PIOS_IMU3000_DLPF_CFG_REG, cfg->filter | (cfg->range << 3)) != 0) ;
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// Interrupt configuration
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while (PIOS_IMU3000_Write(PIOS_IMU3000_USER_CTRL_REG, cfg->User_ctl) != 0) ;
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// Interrupt configuration
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while (PIOS_IMU3000_Write(PIOS_IMU3000_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0) ;
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// Interrupt configuration
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while (PIOS_IMU3000_Write(PIOS_IMU3000_INT_CFG_REG, cfg->Interrupt_cfg) != 0) ;
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imu3000_configured = true;
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}
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/**
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* @brief Read current X, Z, Y values (in that order)
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* \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
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* \returns The number of samples remaining in the fifo
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*/
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int32_t PIOS_IMU3000_ReadGyros(struct pios_imu3000_data * data)
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{
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uint8_t buf[6];
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if(PIOS_IMU3000_Read(PIOS_IMU3000_GYRO_X_OUT_MSB, (uint8_t *) buf, sizeof(buf)) < 0)
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return -1;
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data->x = buf[0] << 8 | buf[1];
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data->y = buf[2] << 8 | buf[3];
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data->z = buf[4] << 8 | buf[5];
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return 0;
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}
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/**
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* @brief Read the identification bytes from the IMU3000 sensor
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* \return ID read from IMU3000 or -1 if failure
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*/
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int32_t PIOS_IMU3000_ReadID()
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{
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uint8_t imu3000_id;
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if(PIOS_IMU3000_Read(0x00, (uint8_t *) &imu3000_id, 1) != 0)
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return -1;
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return imu3000_id;
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}
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/**
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* \brief Reads the data from the IMU3000 FIFO
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* \param[out] buffer destination buffer
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* \param[in] len maximum number of bytes which should be read
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* \note This returns the data as X, Y, Z the temperature
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* \return number of bytes transferred if operation was successful
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* \return -1 if error during I2C transfer
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*/
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int32_t PIOS_IMU3000_ReadFifo(struct pios_imu3000_data * buffer)
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{
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if(fifoBuf_getUsed(&pios_imu3000_fifo) < sizeof(*buffer))
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return -1;
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fifoBuf_getData(&pios_imu3000_fifo, (uint8_t *) buffer, sizeof(*buffer));
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return 0;
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}
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/**
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* @brief Reads one or more bytes from IMU3000 into a buffer
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* \param[in] address IMU3000 register address (depends on size)
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* \param[out] buffer destination buffer
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* \param[in] len number of bytes which should be read
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* \return 0 if operation was successful
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* \return -1 if error during I2C transfer
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* \return -4 if invalid length
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*/
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static int32_t PIOS_IMU3000_Read(uint8_t address, uint8_t * buffer, uint8_t len)
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{
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uint8_t addr_buffer[] = {
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address,
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};
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const struct pios_i2c_txn txn_list[] = {
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{
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.info = __func__,
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.addr = PIOS_IMU3000_I2C_ADDR,
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.rw = PIOS_I2C_TXN_WRITE,
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.len = sizeof(addr_buffer),
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.buf = addr_buffer,
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}
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,
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{
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.info = __func__,
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.addr = PIOS_IMU3000_I2C_ADDR,
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.rw = PIOS_I2C_TXN_READ,
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.len = len,
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.buf = buffer,
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}
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};
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return PIOS_I2C_Transfer(PIOS_I2C_GYRO_ADAPTER, txn_list, NELEMENTS(txn_list)) ? 0 : -1;
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}
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// Must allocate on stack to be persistent
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static uint8_t cb_addr_buffer[] = {
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0,
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};
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static struct pios_i2c_txn cb_txn_list[] = {
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{
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.addr = PIOS_IMU3000_I2C_ADDR,
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.rw = PIOS_I2C_TXN_WRITE,
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.len = sizeof(cb_addr_buffer),
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.buf = cb_addr_buffer,
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}
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,
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{
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.addr = PIOS_IMU3000_I2C_ADDR,
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.rw = PIOS_I2C_TXN_READ,
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.len = 0,
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.buf = 0,
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}
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};
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static int32_t PIOS_IMU3000_Read_Callback(uint8_t address, uint8_t * buffer, uint8_t len, void *callback)
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{
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cb_addr_buffer[0] = address;
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cb_txn_list[0].info = __func__,
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cb_txn_list[1].info = __func__;
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cb_txn_list[1].len = len;
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cb_txn_list[1].buf = buffer;
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PIOS_I2C_Transfer_Callback(PIOS_I2C_GYRO_ADAPTER, cb_txn_list, NELEMENTS(cb_txn_list), callback);
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return 0;
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}
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/**
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* @brief Writes one or more bytes to the IMU3000
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* \param[in] address Register address
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* \param[in] buffer source buffer
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* \return 0 if operation was successful
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* \return -1 if error during I2C transfer
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*/
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static int32_t PIOS_IMU3000_Write(uint8_t address, uint8_t buffer)
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{
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uint8_t data[] = {
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address,
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buffer,
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};
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const struct pios_i2c_txn txn_list[] = {
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{
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.info = __func__,
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.addr = PIOS_IMU3000_I2C_ADDR,
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.rw = PIOS_I2C_TXN_WRITE,
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.len = sizeof(data),
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.buf = data,
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}
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,
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};
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return PIOS_I2C_Transfer(PIOS_I2C_GYRO_ADAPTER, txn_list, NELEMENTS(txn_list)) ? 0 : -1;
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}
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float PIOS_IMU3000_GetScale()
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{
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switch (cfg->range) {
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case PIOS_IMU3000_SCALE_250_DEG:
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return DEG_TO_RAD / 131.0;
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case PIOS_IMU3000_SCALE_500_DEG:
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return DEG_TO_RAD / 65.5;
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case PIOS_IMU3000_SCALE_1000_DEG:
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return DEG_TO_RAD / 32.8;
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case PIOS_IMU3000_SCALE_2000_DEG:
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return DEG_TO_RAD / 16.4;
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}
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return 0;
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}
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/**
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* @brief Run self-test operation.
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* \return 0 if test succeeded
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* \return non-zero value if test succeeded
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*/
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uint8_t PIOS_IMU3000_Test(void)
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{
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/* Verify that ID matches (IMU3000 ID is 0x69) */
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int32_t imu3000_id = PIOS_IMU3000_ReadID();
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if(imu3000_id < 0)
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return -1;
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if(imu3000_id != PIOS_IMU3000_I2C_ADDR)
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return -2;
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return 0;
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}
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static uint8_t imu3000_read_buffer[sizeof(struct pios_imu3000_data) + 2]; // Right now using ,Y,Z,fifo_footer
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static void imu3000_callback()
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{
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struct pios_imu3000_data data;
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if(fifoBuf_getFree(&pios_imu3000_fifo) < sizeof(data))
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goto out;
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if(imu3000_first_read) {
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data.x = imu3000_read_buffer[0] << 8 | imu3000_read_buffer[1];
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data.y = imu3000_read_buffer[2] << 8 | imu3000_read_buffer[3];
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data.z = imu3000_read_buffer[4] << 8 | imu3000_read_buffer[5];
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imu3000_first_read = false;
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} else {
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// First two bytes are left over fifo from last call
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data.x = imu3000_read_buffer[2] << 8 | imu3000_read_buffer[3];
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data.y = imu3000_read_buffer[4] << 8 | imu3000_read_buffer[5];
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data.z = imu3000_read_buffer[6] << 8 | imu3000_read_buffer[7];
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}
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fifoBuf_putData(&pios_imu3000_fifo, (uint8_t *) &data, sizeof(data));
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out:
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imu3000_cb_ready = true;
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}
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/**
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* @brief IRQ Handler
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*/
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uint32_t imu3000_irq = 0;
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uint16_t fifo_level;
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uint8_t fifo_level_data[2];
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uint32_t imu3000_readtime;
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uint32_t cb_not_ready = 0;
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void PIOS_IMU3000_IRQHandler(void)
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{
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imu3000_irq++;
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if(!imu3000_configured)
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return;
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//PIOS_Assert(imu3000_cb_ready);
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if(!imu3000_cb_ready) {
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PIOS_LED_Toggle(LED2);
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cb_not_ready++;
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return;
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}
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// If at least one read doesnt succeed then the irq not reset and we will stall
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while(PIOS_IMU3000_Read(PIOS_IMU3000_FIFO_CNT_MSB, (uint8_t *) &fifo_level_data, sizeof(fifo_level_data)) != 0)
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PIOS_DELAY_WaituS(10);
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fifo_level = (fifo_level_data[0] << 8) + fifo_level_data[1];
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PIOS_DELAY_WaituS(10);
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if(imu3000_first_read) {
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// Stupid system for IMU3000. If first read from buffer then we will read 4 sensors without fifo
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// footer. After this we will read out a fifo footer
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if(fifo_level < sizeof(imu3000_read_buffer))
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return;
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imu3000_cb_ready = false;
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// Leave footer in buffer
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PIOS_IMU3000_Read_Callback(PIOS_IMU3000_FIFO_REG, imu3000_read_buffer, sizeof(imu3000_read_buffer) - 2, imu3000_callback);
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} else {
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// Stupid system for IMU3000. Ensure something is left in buffer
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if(fifo_level < (sizeof(imu3000_read_buffer) + 2))
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return;
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uint32_t timeval = PIOS_DELAY_GetRaw();
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imu3000_cb_ready = false;
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// Leave footer in buffer
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PIOS_IMU3000_Read_Callback(PIOS_IMU3000_FIFO_REG, imu3000_read_buffer, sizeof(imu3000_read_buffer), imu3000_callback);
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imu3000_readtime = PIOS_DELAY_DiffuS(timeval);
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}
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}
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/**
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* The physical IRQ handler
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* Soon this will be generic in pios_exti and the BMA180 will register
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* against it. Right now this is crap!
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*/
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void EXTI1_IRQHandler(void)
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{
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if (EXTI_GetITStatus(EXTI_Line1) != RESET)
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{
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PIOS_IMU3000_IRQHandler();
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EXTI_ClearITPendingBit(EXTI_Line1);
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}
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}
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#endif
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/**
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* @}
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* @}
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*/
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