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318 lines
9.3 KiB
C
318 lines
9.3 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 Types */
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typedef struct {
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uint8_t Fifo_store; /* FIFO storage of different readings (See datasheet page 31 for more details) */
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uint8_t Smpl_rate_div; /* Sample rate divider to use (See datasheet page 32 for more details) */
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uint8_t DigLPF_Scale; /* Digital low-pass filter and full-range scale (See datasheet page 33 for more details) */
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uint8_t Interrupt_cfg; /* 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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} PIOS_IMU3000_ConfigTypeDef;
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/* Local Variables */
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static void PIOS_IMU3000_Config(PIOS_IMU3000_ConfigTypeDef * IMU3000_Config_Struct);
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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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/**
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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(void)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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EXTI_InitTypeDef EXTI_InitStructure;
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NVIC_InitTypeDef NVIC_InitStructure;
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/* Enable INT GPIO clock */
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RCC_APB2PeriphClockCmd(PIOS_IMU3000_INT_CLK | RCC_APB2Periph_AFIO, ENABLE);
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/* Configure IMU3000 interrupt pin as input floating */
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GPIO_InitStructure.GPIO_Pin = PIOS_IMU3000_INT_GPIO_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
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GPIO_Init(PIOS_IMU3000_INT_GPIO_PORT, &GPIO_InitStructure);
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/* Configure the End Of Conversion (EOC) interrupt */
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GPIO_EXTILineConfig(PIOS_IMU3000_INT_PORT_SOURCE, PIOS_IMU3000_INT_PIN_SOURCE);
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EXTI_InitStructure.EXTI_Line = PIOS_IMU3000_INT_EXTI_LINE;
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EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
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EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
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EXTI_InitStructure.EXTI_LineCmd = ENABLE;
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EXTI_Init(&EXTI_InitStructure);
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/* Enable and set EOC EXTI Interrupt to the lowest priority */
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NVIC_InitStructure.NVIC_IRQChannel = PIOS_IMU3000_INT_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IMU3000_INT_PRIO;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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/* Configure the IMU3000 Sensor */
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PIOS_IMU3000_ConfigTypeDef IMU3000_InitStructure;
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IMU3000_InitStructure.Fifo_store = PIOS_IMU3000_FIFO_TEMP_OUT | PIOS_IMU3000_FIFO_GYRO_X_OUT |
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PIOS_IMU3000_FIFO_GYRO_Y_OUT | PIOS_IMU3000_FIFO_GYRO_Z_OUT | PIOS_IMU3000_FIFO_FOOTER;
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IMU3000_InitStructure.Smpl_rate_div = 8;
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IMU3000_InitStructure.DigLPF_Scale = PIOS_IMU3000_LOWPASS_256_HZ | PIOS_IMU3000_SCALE_500_DEG;
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IMU3000_InitStructure.Interrupt_cfg = PIOS_IMU3000_INT_CLR_ANYRD | PIOS_IMU3000_INT_DATA_RDY;
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IMU3000_InitStructure.User_ctl = PIOS_IMU3000_USERCTL_FIFO_EN;
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IMU3000_InitStructure.Pwr_mgmt_clk = PIOS_IMU3000_PWRMGMT_PLL_X_CLK;
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PIOS_IMU3000_Config(&IMU3000_InitStructure);
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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(PIOS_IMU3000_ConfigTypeDef * IMU3000_Config_Struct)
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{
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// TODO: Add checks against current config so we only update what has changed
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// FIFO storage
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while (PIOS_IMU3000_Write(PIOS_IMU3000_FIFO_EN_REG, IMU3000_Config_Struct->Fifo_store) != 0);
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// Sample rate divider
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while (PIOS_IMU3000_Write(PIOS_IMU3000_SMPLRT_DIV_REG, IMU3000_Config_Struct->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, IMU3000_Config_Struct->DigLPF_Scale) != 0) ;
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// Interrupt configuration
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while (PIOS_IMU3000_Write(PIOS_IMU3000_INT_CFG_REG, IMU3000_Config_Struct->Interrupt_cfg) != 0) ;
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// Interrupt configuration
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while (PIOS_IMU3000_Write(PIOS_IMU3000_USER_CTRL_REG, IMU3000_Config_Struct->User_ctl) != 0) ;
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// Interrupt configuration
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while (PIOS_IMU3000_Write(PIOS_IMU3000_PWR_MGMT_REG, IMU3000_Config_Struct->Pwr_mgmt_clk) != 0) ;
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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(int16_t * 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[0] = buf[0] << 8 | buf[1];
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data[1] = buf[2] << 8 | buf[3];
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data[2] = 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 id;
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if(PIOS_IMU3000_Read(0x00, &id, 1) != 0)
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return -1;
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return 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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* \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(uint8_t * buffer, uint16_t len)
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{
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uint16_t fifo_level;
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uint8_t addr_buffer[] = {
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0x3A,
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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 = 2,
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.buf = (uint8_t *) &fifo_level,
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}
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};
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// Get the number of bytes in the fifo
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PIOS_I2C_Transfer(PIOS_I2C_GYRO_ADAPTER, txn_list, NELEMENTS(txn_list));
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addr_buffer[0] = 0x3C;
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if(len > fifo_level)
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len = fifo_level;
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len &= 0x01f8; // only read chunks of 8 bytes (includes footer)
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const struct pios_i2c_txn txn_list2[] = {
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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_list2, NELEMENTS(txn_list)) ? len : -1;
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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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/**
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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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/**
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* @brief Run self-test operation.
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* \return 0 if test failed
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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 id = 0;
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id = PIOS_IMU3000_ReadID();
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if(id < 0)
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return -1;
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if(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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/**
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* @brief IRQ Handler
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*/
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void PIOS_IMU3000_IRQHandler(void)
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{
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}
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#endif /* PIOS_INCLUDE_IMU3000 */
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/**
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* @}
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* @}
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*/
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