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343 lines
8.5 KiB
C
343 lines
8.5 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_L3GD20 L3GD20 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_l3gd20.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief L3GD20 3-axis gyro 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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/* Project Includes */
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#include "pios.h"
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#if defined(PIOS_INCLUDE_L3GD20)
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/* Global Variables */
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uint32_t pios_spi_gyro;
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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_L3GD20_Config(struct pios_l3gd20_cfg const * cfg);
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static int32_t PIOS_L3GD20_SetReg(uint8_t address, uint8_t buffer);
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static int32_t PIOS_L3GD20_GetReg(uint8_t address);
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#define PIOS_L3GD20_MAX_DOWNSAMPLE 100
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static int16_t pios_l3gd20_buffer[PIOS_L3GD20_MAX_DOWNSAMPLE * sizeof(struct pios_l3gd20_data)];
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static t_fifo_buffer pios_l3gd20_fifo;
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volatile bool l3gd20_configured = false;
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static struct pios_l3gd20_cfg const * cfg;
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#define GRAV 9.81f
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/**
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* @brief Initialize the MPU6050 3-axis gyro sensor.
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* @return none
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*/
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void PIOS_L3GD20_Init(const struct pios_l3gd20_cfg * new_cfg)
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{
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cfg = new_cfg;
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fifoBuf_init(&pios_l3gd20_fifo, (uint8_t *) pios_l3gd20_buffer, sizeof(pios_l3gd20_buffer));
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/* Configure the MPU6050 Sensor */
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PIOS_SPI_SetPrescalar(pios_spi_gyro, SPI_BaudRatePrescaler_256);
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PIOS_L3GD20_Config(cfg);
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PIOS_SPI_SetPrescalar(pios_spi_gyro, SPI_BaudRatePrescaler_16);
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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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// An initial read is needed to get it running
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struct pios_l3gd20_data data;
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PIOS_L3GD20_ReadGyros(&data);
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}
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/**
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* @brief Initialize the L3GD20 3-axis gyro sensor
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* \return none
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* \param[in] PIOS_L3GD20_ConfigTypeDef struct to be used to configure sensor.
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*
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*/
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static void PIOS_L3GD20_Config(struct pios_l3gd20_cfg const * cfg)
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{
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// This register enables the channels and sets the bandwidth
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PIOS_L3GD20_SetReg(PIOS_L3GD20_CTRL_REG1, PIOS_L3GD20_CTRL1_FASTEST |
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PIOS_L3GD20_CTRL1_PD | PIOS_L3GD20_CTRL1_ZEN |
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PIOS_L3GD20_CTRL1_YEN | PIOS_L3GD20_CTRL1_XEN);
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// Disable the high pass filters
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PIOS_L3GD20_SetReg(PIOS_L3GD20_CTRL_REG2, 0);
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// Set int2 to go high on data ready
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PIOS_L3GD20_SetReg(PIOS_L3GD20_CTRL_REG3, 0x08);
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// Select SPI interface, 500 deg/s, endianness?
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PIOS_L3GD20_SetReg(PIOS_L3GD20_CTRL_REG4, 0x10);
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// Enable FIFO, disable HPF
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PIOS_L3GD20_SetReg(PIOS_L3GD20_CTRL_REG5, 0x40);
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// Fifo stream mode
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PIOS_L3GD20_SetReg(PIOS_L3GD20_FIFO_CTRL_REG, 0x40);
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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 if unable to claim bus
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*/
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int32_t PIOS_L3GD20_ClaimBus()
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{
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if(PIOS_SPI_ClaimBus(pios_spi_gyro) != 0)
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return -1;
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PIOS_SPI_RC_PinSet(pios_spi_gyro,0,0);
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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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int32_t PIOS_L3GD20_ReleaseBus()
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{
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PIOS_SPI_RC_PinSet(pios_spi_gyro,0,1);
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return PIOS_SPI_ReleaseBus(pios_spi_gyro);
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}
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/**
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* @brief Connect to the correct SPI bus
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*/
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void PIOS_L3GD20_Attach(uint32_t spi_id)
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{
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pios_spi_gyro = spi_id;
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}
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/**
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* @brief Read a register from L3GD20
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* @returns The register value or -1 if failure to get bus
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* @param reg[in] Register address to be read
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*/
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static int32_t PIOS_L3GD20_GetReg(uint8_t reg)
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{
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uint8_t data;
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if(PIOS_L3GD20_ClaimBus() != 0)
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return -1;
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PIOS_SPI_TransferByte(pios_spi_gyro,(0x80 | reg) ); // request byte
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data = PIOS_SPI_TransferByte(pios_spi_gyro,0 ); // receive response
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PIOS_L3GD20_ReleaseBus();
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return data;
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}
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/**
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* @brief Writes one byte to the L3GD20
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* \param[in] reg Register address
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* \param[in] data Byte to write
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* \return 0 if operation was successful
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* \return -1 if unable to claim SPI bus
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* \return -2 if unable to claim i2c device
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*/
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static int32_t PIOS_L3GD20_SetReg(uint8_t reg, uint8_t data)
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{
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if(PIOS_L3GD20_ClaimBus() != 0)
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return -1;
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if(PIOS_SPI_TransferByte(pios_spi_gyro, 0x7f & reg) != 0) {
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PIOS_L3GD20_ReleaseBus();
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return -2;
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}
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if(PIOS_SPI_TransferByte(pios_spi_gyro, data) != 0) {
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PIOS_L3GD20_ReleaseBus();
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return -3;
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}
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PIOS_L3GD20_ReleaseBus();
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return 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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uint32_t l3gd20_irq = 0;
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int32_t PIOS_L3GD20_ReadGyros(struct pios_l3gd20_data * data)
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{
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uint8_t buf[7] = {PIOS_L3GD20_GYRO_X_OUT_LSB | 0x80 | 0x40, 0, 0, 0, 0, 0, 0};
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uint8_t rec[7];
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if(PIOS_L3GD20_ClaimBus() != 0)
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return -1;
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if(PIOS_SPI_TransferBlock(pios_spi_gyro, &buf[0], &rec[0], sizeof(buf), NULL) < 0) {
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PIOS_L3GD20_ReleaseBus();
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data->gyro_x = 0;
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data->gyro_y = 0;
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data->gyro_z = 0;
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data->temperature = 0;
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return -2;
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}
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PIOS_L3GD20_ReleaseBus();
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memcpy((uint8_t *) &(data->gyro_x), &rec[1], 6);
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data->temperature = PIOS_L3GD20_GetReg(PIOS_L3GD20_OUT_TEMP);
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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 MPU6050 sensor
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* \return ID read from MPU6050 or -1 if failure
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*/
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int32_t PIOS_L3GD20_ReadID()
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{
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int32_t l3gd20_id = PIOS_L3GD20_GetReg(PIOS_L3GD20_WHOAMI);
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if(l3gd20_id < 0)
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return -1;
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return l3gd20_id;
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}
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/**
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* \brief Reads the data from the MPU6050 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_L3GD20_ReadFifo(struct pios_l3gd20_data * buffer)
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{
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if(fifoBuf_getUsed(&pios_l3gd20_fifo) < sizeof(*buffer))
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return -1;
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fifoBuf_getData(&pios_l3gd20_fifo, (uint8_t *) buffer, sizeof(*buffer));
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return 0;
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}
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float PIOS_L3GD20_GetScale()
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{
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return 0.01750f;
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switch (cfg->gyro_range) {
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case PIOS_L3GD20_SCALE_250_DEG:
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return 0.00875f;
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case PIOS_L3GD20_SCALE_500_DEG:
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return 0.01750f;
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case PIOS_L3GD20_SCALE_2000_DEG:
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return 0.070f;
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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_L3GD20_Test(void)
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{
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int32_t l3gd20_id = PIOS_L3GD20_ReadID();
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if(l3gd20_id < 0)
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return -1;
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uint8_t id = l3gd20_id;
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if(id == 0xD4)
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return 0;
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return -2;
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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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static int32_t PIOS_L3GD20_FifoDepth(void)
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{
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/* uint8_t l3gd20_send_buf[3] = {PIOS_L3GD20_FIFO_CNT_MSB | 0x80, 0, 0};
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uint8_t l3gd20_rec_buf[3];
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if(PIOS_L3GD20_ClaimBus() != 0)
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return -1;
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if(PIOS_SPI_TransferBlock(pios_spi_gyro, &l3gd20_send_buf[0], &l3gd20_rec_buf[0], sizeof(l3gd20_send_buf), NULL) < 0) {
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PIOS_L3GD20_ReleaseBus();
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return -1;
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}
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PIOS_L3GD20_ReleaseBus();
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return (l3gd20_rec_buf[1] << 8) | l3gd20_rec_buf[2];*/
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return 0;
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}
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/**
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* @brief IRQ Handler. Read all the data from onboard buffer
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*/
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int32_t l3gd20_count;
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uint32_t l3gd20_fifo_full = 0;
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void PIOS_L3GD20_IRQHandler(void)
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{
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struct pios_l3gd20_data data;
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PIOS_L3GD20_ReadGyros(&data);
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data.temperature = l3gd20_irq;
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if(fifoBuf_getFree(&pios_l3gd20_fifo) < sizeof(data)) {
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l3gd20_fifo_full++;
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return;
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}
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fifoBuf_putData(&pios_l3gd20_fifo, (uint8_t *) &data, sizeof(data));
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l3gd20_irq++;
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}
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#endif /* L3GD20 */
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/**
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* @}
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* @}
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*/
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