mirror of
https://bitbucket.org/librepilot/librepilot.git
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a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
567 lines
16 KiB
C
567 lines
16 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_MPU6000 MPU6000 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_mpu000.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief MPU6000 6-axis gyro and accel chip
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* @see The GNU Public License (GPL) Version 3
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*
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******************************************************************************
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*/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "pios.h"
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#ifdef PIOS_INCLUDE_MPU6000
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#include "fifo_buffer.h"
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/* Global Variables */
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enum pios_mpu6000_dev_magic {
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PIOS_MPU6000_DEV_MAGIC = 0x9da9b3ed,
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};
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#define PIOS_MPU6000_MAX_DOWNSAMPLE 2
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struct mpu6000_dev {
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uint32_t spi_id;
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uint32_t slave_num;
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xQueueHandle queue;
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const struct pios_mpu6000_cfg * cfg;
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enum pios_mpu6000_range gyro_range;
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enum pios_mpu6000_accel_range accel_range;
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enum pios_mpu6000_filter filter;
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enum pios_mpu6000_dev_magic magic;
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};
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//! Global structure for this device device
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static struct mpu6000_dev * dev;
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volatile bool mpu6000_configured = false;
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//! Private functions
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static struct mpu6000_dev * PIOS_MPU6000_alloc(void);
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static int32_t PIOS_MPU6000_Validate(struct mpu6000_dev * dev);
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static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg);
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static int32_t PIOS_MPU6000_SetReg(uint8_t address, uint8_t buffer);
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static int32_t PIOS_MPU6000_GetReg(uint8_t address);
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#define GRAV 9.81f
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/**
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* @brief Allocate a new device
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*/
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static struct mpu6000_dev * PIOS_MPU6000_alloc(void)
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{
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struct mpu6000_dev * mpu6000_dev;
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mpu6000_dev = (struct mpu6000_dev *)pvPortMalloc(sizeof(*mpu6000_dev));
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if (!mpu6000_dev) return (NULL);
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mpu6000_dev->magic = PIOS_MPU6000_DEV_MAGIC;
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mpu6000_dev->queue = xQueueCreate(PIOS_MPU6000_MAX_DOWNSAMPLE, sizeof(struct pios_mpu6000_data));
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if(mpu6000_dev->queue == NULL) {
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vPortFree(mpu6000_dev);
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return NULL;
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}
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return(mpu6000_dev);
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}
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/**
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* @brief Validate the handle to the spi device
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* @returns 0 for valid device or -1 otherwise
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*/
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static int32_t PIOS_MPU6000_Validate(struct mpu6000_dev * dev)
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{
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if (dev == NULL)
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return -1;
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if (dev->magic != PIOS_MPU6000_DEV_MAGIC)
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return -2;
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if (dev->spi_id == 0)
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return -3;
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return 0;
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}
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/**
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* @brief Initialize the MPU6000 3-axis gyro sensor.
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* @return 0 for success, -1 for failure
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*/
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int32_t PIOS_MPU6000_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_mpu6000_cfg * cfg)
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{
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dev = PIOS_MPU6000_alloc();
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if(dev == NULL)
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return -1;
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dev->spi_id = spi_id;
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dev->slave_num = slave_num;
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dev->cfg = cfg;
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/* Configure the MPU6000 Sensor */
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PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_256);
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PIOS_MPU6000_Config(cfg);
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PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_16);
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/* Set up EXTI line */
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PIOS_EXTI_Init(cfg->exti_cfg);
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return 0;
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}
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/**
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* @brief Initialize the MPU6000 3-axis gyro sensor
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* \return none
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* \param[in] PIOS_MPU6000_ConfigTypeDef struct to be used to configure sensor.
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*
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*/
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static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
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{
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PIOS_MPU6000_Test();
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// Reset chip
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, PIOS_MPU6000_PWRMGMT_IMU_RST) != 0);
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PIOS_DELAY_WaitmS(50);
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// Reset chip and fifo
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG,
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PIOS_MPU6000_USERCTL_GYRO_RST |
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PIOS_MPU6000_USERCTL_SIG_COND |
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PIOS_MPU6000_USERCTL_FIFO_RST) != 0);
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// Wait for reset to finish
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while (PIOS_MPU6000_GetReg(PIOS_MPU6000_USER_CTRL_REG) &
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(PIOS_MPU6000_USERCTL_GYRO_RST |
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PIOS_MPU6000_USERCTL_SIG_COND |
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PIOS_MPU6000_USERCTL_FIFO_RST));
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PIOS_DELAY_WaitmS(10);
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//Power management configuration
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0);
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// Interrupt configuration
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_CFG_REG, cfg->interrupt_cfg) != 0);
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// Interrupt configuration
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_EN_REG, cfg->interrupt_en) != 0);
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// FIFO storage
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#if defined(PIOS_MPU6000_ACCEL)
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store | PIOS_MPU6000_ACCEL_OUT) != 0);
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#else
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store) != 0);
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#endif
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PIOS_MPU6000_ConfigureRanges(cfg->gyro_range, cfg->accel_range, cfg->filter);
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// Interrupt configuration
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, cfg->User_ctl) != 0) ;
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// Interrupt configuration
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0) ;
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// Interrupt configuration
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_CFG_REG, cfg->interrupt_cfg) != 0) ;
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// Interrupt configuration
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_EN_REG, cfg->interrupt_en) != 0) ;
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if((PIOS_MPU6000_GetReg(PIOS_MPU6000_INT_EN_REG)) != cfg->interrupt_en)
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return;
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mpu6000_configured = true;
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}
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/**
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* @brief Configures Gyro, accel and Filter ranges/setings
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* @return 0 if successful, -1 if device has not been initialized
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*/
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int32_t PIOS_MPU6000_ConfigureRanges(
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enum pios_mpu6000_range gyroRange,
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enum pios_mpu6000_accel_range accelRange,
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enum pios_mpu6000_filter filterSetting
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)
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{
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if(dev == NULL)
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return -1;
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PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_256);
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// update filter settings
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_DLPF_CFG_REG, filterSetting) != 0);
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// Sample rate divider, chosen upon digital filtering settings
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_SMPLRT_DIV_REG,
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filterSetting == PIOS_MPU6000_LOWPASS_256_HZ ?
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dev->cfg->Smpl_rate_div_no_dlp : dev->cfg->Smpl_rate_div_dlp) != 0);
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dev->filter = filterSetting;
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// Gyro range
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_GYRO_CFG_REG, gyroRange) != 0);
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dev->gyro_range = gyroRange;
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#if defined(PIOS_MPU6000_ACCEL)
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// Set the accel range
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_ACCEL_CFG_REG, accelRange) != 0);
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dev->accel_range = accelRange;
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#endif
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PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_16);
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return 0;
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}
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/**
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* @brief Claim the SPI bus for the accel communications and select this chip
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* @return 0 if successful, -1 for invalid device, -2 if unable to claim bus
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* @param fromIsr[in] Tells if the function is being called from a ISR or not
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*/
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static int32_t PIOS_MPU6000_ClaimBus(bool fromIsr)
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{
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if(PIOS_MPU6000_Validate(dev) != 0)
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return -1;
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if(fromIsr){
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if(PIOS_SPI_ClaimBusISR(dev->spi_id) != 0)
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return -2;
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} else {
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if(PIOS_SPI_ClaimBus(dev->spi_id) != 0)
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return -2;
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}
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PIOS_SPI_RC_PinSet(dev->spi_id,dev->slave_num,0);
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return 0;
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}
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/**
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* @brief Release the SPI bus for the accel communications and end the transaction
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* @return 0 if successful
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* @param fromIsr[in] Tells if the function is being called from a ISR or not
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*/
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int32_t PIOS_MPU6000_ReleaseBus(bool fromIsr)
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{
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if(PIOS_MPU6000_Validate(dev) != 0)
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return -1;
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PIOS_SPI_RC_PinSet(dev->spi_id,dev->slave_num,1);
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if(fromIsr){
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return PIOS_SPI_ReleaseBusISR(dev->spi_id);
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} else {
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return PIOS_SPI_ReleaseBus(dev->spi_id);
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}
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}
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/**
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* @brief Read a register from MPU6000
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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_MPU6000_GetReg(uint8_t reg)
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{
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uint8_t data;
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if(PIOS_MPU6000_ClaimBus(false) != 0)
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return -1;
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PIOS_SPI_TransferByte(dev->spi_id,(0x80 | reg) ); // request byte
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data = PIOS_SPI_TransferByte(dev->spi_id,0 ); // receive response
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PIOS_MPU6000_ReleaseBus(false);
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return data;
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}
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/**
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* @brief Writes one byte to the MPU6000
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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_MPU6000_SetReg(uint8_t reg, uint8_t data)
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{
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if(PIOS_MPU6000_ClaimBus(false) != 0)
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return -1;
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if(PIOS_SPI_TransferByte(dev->spi_id, 0x7f & reg) != 0) {
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PIOS_MPU6000_ReleaseBus(false);
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return -2;
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}
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if(PIOS_SPI_TransferByte(dev->spi_id, data) != 0) {
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PIOS_MPU6000_ReleaseBus(false);
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return -3;
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}
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PIOS_MPU6000_ReleaseBus(false);
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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 0 if succesful
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*/
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int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * data)
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{
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// THIS FUNCTION IS DEPRECATED AND DOES NOT PERFORM A ROTATION
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uint8_t buf[7] = {PIOS_MPU6000_GYRO_X_OUT_MSB | 0x80, 0, 0, 0, 0, 0, 0};
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uint8_t rec[7];
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if(PIOS_MPU6000_ClaimBus(false) != 0)
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return -1;
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if(PIOS_SPI_TransferBlock(dev->spi_id, &buf[0], &rec[0], sizeof(buf), NULL) < 0)
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return -2;
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PIOS_MPU6000_ReleaseBus(false);
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data->gyro_x = rec[1] << 8 | rec[2];
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data->gyro_y = rec[3] << 8 | rec[4];
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data->gyro_z = rec[5] << 8 | rec[6];
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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 MPU6000 sensor
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* \return ID read from MPU6000 or -1 if failure
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*/
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int32_t PIOS_MPU6000_ReadID()
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{
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int32_t mpu6000_id = PIOS_MPU6000_GetReg(PIOS_MPU6000_WHOAMI);
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if(mpu6000_id < 0)
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return -1;
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return mpu6000_id;
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}
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/**
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* \brief Reads the queue handle
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* \return Handle to the queue or null if invalid device
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*/
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xQueueHandle PIOS_MPU6000_GetQueue()
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{
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if(PIOS_MPU6000_Validate(dev) != 0)
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return (xQueueHandle) NULL;
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return dev->queue;
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}
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float PIOS_MPU6000_GetScale()
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{
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switch (dev->gyro_range) {
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case PIOS_MPU6000_SCALE_250_DEG:
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return 1.0f / 131.0f;
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case PIOS_MPU6000_SCALE_500_DEG:
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return 1.0f / 65.5f;
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case PIOS_MPU6000_SCALE_1000_DEG:
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return 1.0f / 32.8f;
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case PIOS_MPU6000_SCALE_2000_DEG:
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return 1.0f / 16.4f;
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}
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return 0;
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}
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float PIOS_MPU6000_GetAccelScale()
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{
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switch (dev->accel_range) {
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case PIOS_MPU6000_ACCEL_2G:
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return GRAV / 16384.0f;
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case PIOS_MPU6000_ACCEL_4G:
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return GRAV / 8192.0f;
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case PIOS_MPU6000_ACCEL_8G:
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return GRAV / 4096.0f;
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case PIOS_MPU6000_ACCEL_16G:
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return GRAV / 2048.0f;
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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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int32_t PIOS_MPU6000_Test(void)
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{
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/* Verify that ID matches (MPU6000 ID is 0x69) */
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int32_t mpu6000_id = PIOS_MPU6000_ReadID();
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if(mpu6000_id < 0)
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return -1;
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if(mpu6000_id != 0x68)
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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 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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* @param fromIsr[in] Tells if the function is being called from a ISR or not
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*/
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static int32_t PIOS_MPU6000_FifoDepth(bool fromIsr)
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{
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uint8_t mpu6000_send_buf[3] = {PIOS_MPU6000_FIFO_CNT_MSB | 0x80, 0, 0};
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uint8_t mpu6000_rec_buf[3];
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if(PIOS_MPU6000_ClaimBus(fromIsr) != 0)
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return -1;
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if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
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PIOS_MPU6000_ReleaseBus(fromIsr);
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return -1;
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}
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PIOS_MPU6000_ReleaseBus(fromIsr);
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return (mpu6000_rec_buf[1] << 8) | mpu6000_rec_buf[2];
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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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uint32_t mpu6000_irq = 0;
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int32_t mpu6000_count;
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uint32_t mpu6000_fifo_backup = 0;
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uint8_t mpu6000_last_read_count = 0;
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uint32_t mpu6000_fails = 0;
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uint32_t mpu6000_interval_us;
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uint32_t mpu6000_time_us;
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uint32_t mpu6000_transfer_size;
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bool PIOS_MPU6000_IRQHandler(void)
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{
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static uint32_t timeval;
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mpu6000_interval_us = PIOS_DELAY_DiffuS(timeval);
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timeval = PIOS_DELAY_GetRaw();
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if (!mpu6000_configured)
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return false;
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mpu6000_count = PIOS_MPU6000_FifoDepth(true);
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if (mpu6000_count < (int32_t)sizeof(struct pios_mpu6000_data))
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return false;
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if (PIOS_MPU6000_ClaimBus(true) != 0)
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return false;
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static uint8_t mpu6000_send_buf[1 + sizeof(struct pios_mpu6000_data) ] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
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static uint8_t mpu6000_rec_buf[1 + sizeof(struct pios_mpu6000_data) ];
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if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
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PIOS_MPU6000_ReleaseBus(true);
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mpu6000_fails++;
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return false;
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}
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|
|
PIOS_MPU6000_ReleaseBus(true);
|
|
|
|
static struct pios_mpu6000_data data;
|
|
|
|
// In the case where extras samples backed up grabbed an extra
|
|
if (mpu6000_count >= (int32_t)(sizeof(data) * 2)) {
|
|
mpu6000_fifo_backup++;
|
|
if (PIOS_MPU6000_ClaimBus(true) != 0)
|
|
return false;
|
|
|
|
if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
|
|
PIOS_MPU6000_ReleaseBus(true);
|
|
mpu6000_fails++;
|
|
return false;
|
|
}
|
|
|
|
PIOS_MPU6000_ReleaseBus(true);
|
|
}
|
|
|
|
// Rotate the sensor to OP convention. The datasheet defines X as towards the right
|
|
// and Y as forward. OP convention transposes this. Also the Z is defined negatively
|
|
// to our convention
|
|
#if defined(PIOS_MPU6000_ACCEL)
|
|
// Currently we only support rotations on top so switch X/Y accordingly
|
|
switch (dev->cfg->orientation) {
|
|
case PIOS_MPU6000_TOP_0DEG:
|
|
data.accel_y = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]; // chip X
|
|
data.accel_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip Y
|
|
data.gyro_y = mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]; // chip X
|
|
data.gyro_x = mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]; // chip Y
|
|
break;
|
|
case PIOS_MPU6000_TOP_90DEG:
|
|
// -1 to bring it back to -32768 +32767 range
|
|
data.accel_y = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip Y
|
|
data.accel_x = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]; // chip X
|
|
data.gyro_y = -1 - (mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]); // chip Y
|
|
data.gyro_x = mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]; // chip X
|
|
break;
|
|
case PIOS_MPU6000_TOP_180DEG:
|
|
data.accel_y = -1 - (mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]); // chip X
|
|
data.accel_x = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip Y
|
|
data.gyro_y = -1 - (mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]); // chip X
|
|
data.gyro_x = -1 - (mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]); // chip Y
|
|
break;
|
|
case PIOS_MPU6000_TOP_270DEG:
|
|
data.accel_y = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip Y
|
|
data.accel_x = -1 - (mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]); // chip X
|
|
data.gyro_y = mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]; // chip Y
|
|
data.gyro_x = -1 - (mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]); // chip X
|
|
break;
|
|
}
|
|
data.gyro_z = -1 - (mpu6000_rec_buf[13] << 8 | mpu6000_rec_buf[14]);
|
|
data.accel_z = -1 - (mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]);
|
|
data.temperature = mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8];
|
|
#else
|
|
data.gyro_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4];
|
|
data.gyro_y = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6];
|
|
switch (dev->cfg->orientation) {
|
|
case PIOS_MPU6000_TOP_0DEG:
|
|
data.gyro_y = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4];
|
|
data.gyro_x = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6];
|
|
break;
|
|
case PIOS_MPU6000_TOP_90DEG:
|
|
data.gyro_y = -1 - (mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]); // chip Y
|
|
data.gyro_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip X
|
|
break;
|
|
case PIOS_MPU6000_TOP_180DEG:
|
|
data.gyro_y = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]);
|
|
data.gyro_x = -1 - (mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]);
|
|
break;
|
|
case PIOS_MPU6000_TOP_270DEG:
|
|
data.gyro_y = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]; // chip Y
|
|
data.gyro_x = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip X
|
|
break;
|
|
}
|
|
data.gyro_z = -1 - (mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8]);
|
|
data.temperature = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2];
|
|
#endif
|
|
|
|
portBASE_TYPE xHigherPriorityTaskWoken;
|
|
xQueueSendToBackFromISR(dev->queue, (void *) &data, &xHigherPriorityTaskWoken);
|
|
|
|
mpu6000_irq++;
|
|
|
|
mpu6000_time_us = PIOS_DELAY_DiffuS(timeval);
|
|
|
|
return xHigherPriorityTaskWoken == pdTRUE;
|
|
}
|
|
|
|
#endif /* PIOS_INCLUDE_MPU6000 */
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|