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255 lines
10 KiB
C
255 lines
10 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 3-axis gyro
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* @{
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*
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* @file PIOS_MPU9250.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief MPU9250 3-axis gyro function headers
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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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#ifndef PIOS_MPU9250_H
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#define PIOS_MPU9250_H
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#include <pios_sensors.h>
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/* MPU9250 Addresses */
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#define PIOS_MPU9250_SMPLRT_DIV_REG 0X19
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#define PIOS_MPU9250_DLPF_CFG_REG 0X1A
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#define PIOS_MPU9250_GYRO_CFG_REG 0X1B
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#define PIOS_MPU9250_ACCEL_CFG_REG 0X1C
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#define PIOS_MPU9250_FIFO_EN_REG 0x23
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#define PIOS_MPU9250_I2C_MST_CTRL 0x24
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#define PIOS_MPU9250_I2C_SLV0_ADDR 0x25
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#define PIOS_MPU9250_I2C_SLV0_REG 0x26
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#define PIOS_MPU9250_I2C_SLV0_CTRL 0x27
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#define PIOS_MPU9250_I2C_SLV1_ADDR 0x28
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#define PIOS_MPU9250_I2C_SLV1_REG 0x29
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#define PIOS_MPU9250_I2C_SLV1_CTRL 0x2A
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#define PIOS_MPU9250_I2C_SLV4_ADDR 0x31
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#define PIOS_MPU9250_I2C_SLV4_REG 0x32
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#define PIOS_MPU9250_I2C_SLV4_DO 0x33
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#define PIOS_MPU9250_I2C_SLV4_CTRL 0x34
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#define PIOS_MPU9250_I2C_SLV4_DI 0x35
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#define PIOS_MPU9250_INT_CFG_REG 0x37
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#define PIOS_MPU9250_INT_EN_REG 0x38
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#define PIOS_MPU9250_INT_STATUS_REG 0x3A
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#define PIOS_MPU9250_ACCEL_X_OUT_MSB 0x3B
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#define PIOS_MPU9250_ACCEL_X_OUT_LSB 0x3C
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#define PIOS_MPU9250_ACCEL_Y_OUT_MSB 0x3D
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#define PIOS_MPU9250_ACCEL_Y_OUT_LSB 0x3E
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#define PIOS_MPU9250_ACCEL_Z_OUT_MSB 0x3F
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#define PIOS_MPU9250_ACCEL_Z_OUT_LSB 0x40
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#define PIOS_MPU9250_TEMP_OUT_MSB 0x41
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#define PIOS_MPU9250_TEMP_OUT_LSB 0x42
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#define PIOS_MPU9250_GYRO_X_OUT_MSB 0x43
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#define PIOS_MPU9250_GYRO_X_OUT_LSB 0x44
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#define PIOS_MPU9250_GYRO_Y_OUT_MSB 0x45
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#define PIOS_MPU9250_GYRO_Y_OUT_LSB 0x46
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#define PIOS_MPU9250_GYRO_Z_OUT_MSB 0x47
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#define PIOS_MPU9250_GYRO_Z_OUT_LSB 0x48
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#define PIOS_MPU9250_EXT_SENS_DATA_00 0x49
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#define PIOS_MPU9250_I2C_SLV0_DO 0x63
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#define PIOS_MPU9250_I2C_SLV1_DO 0x64
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#define PIOS_MPU9250_I2C_MST_DELAY_CTRL 0x67
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#define PIOS_MPU9250_USER_CTRL_REG 0x6A
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#define PIOS_MPU9250_PWR_MGMT_REG 0x6B
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#define PIOS_MPU9250_PWR_MGMT2_REG 0x6C
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#define PIOS_MPU9250_FIFO_CNT_MSB 0x72
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#define PIOS_MPU9250_FIFO_CNT_LSB 0x73
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#define PIOS_MPU9250_FIFO_REG 0x74
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#define PIOS_MPU9250_WHOAMI 0x75
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/* FIFO enable for storing different values */
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#define PIOS_MPU9250_FIFO_TEMP_OUT 0x80
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#define PIOS_MPU9250_FIFO_GYRO_X_OUT 0x40
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#define PIOS_MPU9250_FIFO_GYRO_Y_OUT 0x20
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#define PIOS_MPU9250_FIFO_GYRO_Z_OUT 0x10
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#define PIOS_MPU9250_ACCEL_OUT 0x08
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/* Interrupt Configuration */
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#define PIOS_MPU9250_INT_ACTL 0x80
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#define PIOS_MPU9250_INT_OPEN 0x40
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#define PIOS_MPU9250_INT_LATCH_EN 0x20
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#define PIOS_MPU9250_INT_CLR_ANYRD 0x10
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#define PIOS_MPU9250_INTEN_OVERFLOW 0x10
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#define PIOS_MPU9250_INTEN_DATA_RDY 0x01
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/* Interrupt status */
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#define PIOS_MPU9250_INT_STATUS_FIFO_FULL 0x80
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#define PIOS_MPU9250_INT_STATUS_FIFO_OVERFLOW 0x10
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#define PIOS_MPU9250_INT_STATUS_IMU_RDY 0X04
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#define PIOS_MPU9250_INT_STATUS_DATA_RDY 0X01
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/* User control functionality */
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#define PIOS_MPU9250_USERCTL_FIFO_EN 0X40
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#define PIOS_MPU9250_USERCTL_I2C_MST_EN 0x20
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#define PIOS_MPU9250_USERCTL_DIS_I2C 0X10
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#define PIOS_MPU9250_USERCTL_FIFO_RST 0X04
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#define PIOS_MPU9250_USERCTL_SIG_COND 0X01
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#define PIOS_MPU9250_USERCTL_I2C_MST_RST 0X02
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/* Power management and clock selection */
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#define PIOS_MPU9250_PWRMGMT_IMU_RST 0X80
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#define PIOS_MPU9250_PWRMGMT_INTERN_CLK 0X00
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#define PIOS_MPU9250_PWRMGMT_PLL_X_CLK 0X01
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#define PIOS_MPU9250_PWRMGMT_PLL_Y_CLK 0X02
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#define PIOS_MPU9250_PWRMGMT_PLL_Z_CLK 0X03
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#define PIOS_MPU9250_PWRMGMT_STOP_CLK 0X07
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#define PIOS_MPU9250_PWRMGMT2_DISABLE_GYRO 0x07
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#define PIOS_MPU9250_PWRMGMT2_DISABLE_ACCEL 0x38
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/* I2C */
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#define PIOS_MPU9250_I2C_MST_ENABLE 0x80
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#define PIOS_MPU9250_I2C_SLV_ENABLE 0x80
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#define PIOS_MPU9250_I2C_MST_CLOCK_400 0x0D
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#define PIOS_MPU9250_I2C_MST_P_NSR 0x10
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#define PIOS_MPU9250_EXT0_OUT 0x01
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/* AK893 MAG registers */
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/* Read-only Register */
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#define PIOS_MPU9250_WIA 0X00
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#define PIOS_MPU9250_INFO 0X01
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#define PIOS_MPU9250_ST1 0X02
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#define PIOS_MPU9250_HXL 0X03
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#define PIOS_MPU9250_HXH 0X04
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#define PIOS_MPU9250_HYL 0X05
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#define PIOS_MPU9250_HYH 0X06
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#define PIOS_MPU9250_HZL 0X07
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#define PIOS_MPU9250_HZH 0X08
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#define PIOS_MPU9250_ST2 0X09
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/* Write/read Register */
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#define PIOS_MPU9250_CNTL1 0X0A
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#define PIOS_MPU9250_CNTL2 0X0B
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#define PIOS_MPU9250_ASTC 0X0C
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#define PIOS_MPU9250_TS1 0X0D
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#define PIOS_MPU9250_TS2 0X0E
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#define PIOS_MPU9250_I2CDIS 0X0F
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/* Read-only Register */
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#define PIOS_MPU9250_ASAX 0X10
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#define PIOS_MPU9250_ASAY 0X11
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#define PIOS_MPU9250_ASAZ 0X12
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/* IDs */
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#define PIOS_MPU9250_GYRO_ACC_ID 0x71
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#define PIOS_MPU9250_MAG_ID 0x48
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#define PIOS_MPU9250_MAG_DATA_RDY 0x01
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#define PIOS_MPU9250_MAG_RESET 0x01
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#define PIOS_MPU9250_MAG_POWER_DOWN_MODE 0x00
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#define PIOS_MPU9250_MAG_SINGLE_MODE 0x01
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#define PIOS_MPU9250_MAG_CONTINUOUS_MODE1 0x02
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#define PIOS_MPU9250_MAG_CONTINUOUS_MODE2 0x06
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#define PIOS_MPU9250_MAG_FUSE_ROM_MODE 0x0F
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#define PIOS_MPU9250_MAG_OUTPUT_16BITS 0x10
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#define PIOS_MPU9250_MAG_I2C_ADDR 0x0C
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#define PIOS_MPU9250_MAG_I2C_READ_FLAG 0x80
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#define PIOS_MPU9250_MAG_ASA_NB_BYTE 3
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#define PIOS_MPU9250_MAG_ASAX_IDX 1
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#define PIOS_MPU9250_MAG_ASAY_IDX 2
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#define PIOS_MPU9250_MAG_ASAZ_IDX 3
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#define PIOS_MPU9250_MAG_OK 0
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#define PIOS_MPU9250_ERR_MAG_SET_ADDR -1
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#define PIOS_MPU9250_ERR_MAG_SET_REG -2
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#define PIOS_MPU9250_ERR_MAG_SET_DO -3
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#define PIOS_MPU9250_ERR_MAG_SET_TRIGGER -4
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#define PIOS_MPU9250_ERR_MAG_READ_ID -5
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#define PIOS_MPU9250_ERR_MAG_BAD_ID -6
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#define PIOS_MPU9250_ERR_MAG_READ_ASA -7
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#define PIOS_MPU9250_TEMP_OFFSET 0
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#define PIOS_MPU9250_TEMP_SENSITIVITY 321.0f
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enum pios_mpu9250_range {
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PIOS_MPU9250_SCALE_250_DEG = 0x00,
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PIOS_MPU9250_SCALE_500_DEG = 0x08,
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PIOS_MPU9250_SCALE_1000_DEG = 0x10,
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PIOS_MPU9250_SCALE_2000_DEG = 0x18
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};
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enum pios_mpu9250_filter {
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PIOS_MPU9250_LOWPASS_256_HZ = 0x00,
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PIOS_MPU9250_LOWPASS_188_HZ = 0x01,
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PIOS_MPU9250_LOWPASS_98_HZ = 0x02,
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PIOS_MPU9250_LOWPASS_42_HZ = 0x03,
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PIOS_MPU9250_LOWPASS_20_HZ = 0x04,
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PIOS_MPU9250_LOWPASS_10_HZ = 0x05,
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PIOS_MPU9250_LOWPASS_5_HZ = 0x06
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};
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enum pios_mpu9250_accel_range {
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PIOS_MPU9250_ACCEL_2G = 0x00,
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PIOS_MPU9250_ACCEL_4G = 0x08,
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PIOS_MPU9250_ACCEL_8G = 0x10,
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PIOS_MPU9250_ACCEL_16G = 0x18
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};
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enum pios_mpu9250_orientation { // clockwise rotation from board forward
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PIOS_MPU9250_TOP_0DEG = 0x00,
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PIOS_MPU9250_TOP_90DEG = 0x01,
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PIOS_MPU9250_TOP_180DEG = 0x02,
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PIOS_MPU9250_TOP_270DEG = 0x03
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};
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struct pios_mpu9250_cfg {
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const struct pios_exti_cfg *exti_cfg; /* Pointer to the EXTI configuration */
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uint8_t Fifo_store; /* FIFO storage of different readings (See datasheet page 31 for more details) */
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/* Sample rate divider to use (See datasheet page 32 for more details).*/
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uint8_t Smpl_rate_div_no_dlp; /* used when no dlp is applied (fs=8KHz)*/
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uint8_t Smpl_rate_div_dlp; /* used when dlp is on (fs=1kHz)*/
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uint8_t interrupt_cfg; /* Interrupt configuration (See datasheet page 35 for more details) */
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uint8_t interrupt_en; /* Interrupt configuration (See datasheet page 35 for more details) */
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uint8_t User_ctl; /* User control settings (See datasheet page 41 for more details) */
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uint8_t Pwr_mgmt_clk; /* Power management and clock selection (See datasheet page 32 for more details) */
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enum pios_mpu9250_accel_range accel_range;
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enum pios_mpu9250_range gyro_range;
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enum pios_mpu9250_filter filter;
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enum pios_mpu9250_orientation orientation;
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SPIPrescalerTypeDef fast_prescaler;
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SPIPrescalerTypeDef std_prescaler;
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uint8_t max_downsample;
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};
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/* Public Functions */
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extern int32_t PIOS_MPU9250_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_mpu9250_cfg *new_cfg);
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extern int32_t PIOS_MPU9250_ConfigureRanges(enum pios_mpu9250_range gyroRange, enum pios_mpu9250_accel_range accelRange, enum pios_mpu9250_filter filterSetting);
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extern int32_t PIOS_MPU9250_ReadID();
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extern void PIOS_MPU9250_MainRegister();
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extern void PIOS_MPU9250_MagRegister();
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extern bool PIOS_MPU9250_IRQHandler(void);
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extern const PIOS_SENSORS_Driver PIOS_MPU9250_Main_Driver;
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extern const PIOS_SENSORS_Driver PIOS_MPU9250_Mag_Driver;
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#endif /* PIOS_MPU9250_H */
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/**
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* @}
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* @}
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*/
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