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651 lines
18 KiB
C
651 lines
18 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core haoftware; you can rnedtt
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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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/*istribu
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* This program is free software; you can rnedtt ad/oe ir 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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#include <pios_mpu6000.h>
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#ifdef PIOS_INCLUDE_MPU6000
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#include <stdint.h>
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#include <pios_constants.h>
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#include <pios_sensors.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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// sensor driver interface
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bool PIOS_MPU6000_driver_Test(uintptr_t context);
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void PIOS_MPU6000_driver_Reset(uintptr_t context);
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void PIOS_MPU6000_driver_get_scale(float *scales, uint8_t size, uintptr_t context);
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QueueHandle_t PIOS_MPU6000_driver_get_queue(uintptr_t context);
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const PIOS_SENSORS_Driver PIOS_MPU6000_Driver = {
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.test = PIOS_MPU6000_driver_Test,
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.poll = NULL,
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.fetch = NULL,
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.reset = PIOS_MPU6000_driver_Reset,
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.get_queue = PIOS_MPU6000_driver_get_queue,
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.get_scale = PIOS_MPU6000_driver_get_scale,
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.is_polled = false,
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};
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//
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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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QueueHandle_t 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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#define PIOS_MPU6000_SAMPLES_BYTES 14
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#define PIOS_MPU6000_SENSOR_FIRST_REG PIOS_MPU6000_ACCEL_X_OUT_MSB
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typedef union {
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uint8_t buffer[1 + PIOS_MPU6000_SAMPLES_BYTES];
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struct {
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uint8_t dummy;
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uint8_t Accel_X_h;
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uint8_t Accel_X_l;
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uint8_t Accel_Y_h;
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uint8_t Accel_Y_l;
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uint8_t Accel_Z_h;
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uint8_t Accel_Z_l;
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uint8_t Temperature_h;
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uint8_t Temperature_l;
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uint8_t Gyro_X_h;
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uint8_t Gyro_X_l;
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uint8_t Gyro_Y_h;
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uint8_t Gyro_Y_l;
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uint8_t Gyro_Z_h;
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uint8_t Gyro_Z_l;
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} data;
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} mpu6000_data_t;
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#define GET_SENSOR_DATA(mpudataptr, sensor) (mpudataptr.data.sensor##_h << 8 | mpudataptr.data.sensor##_l)
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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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static mpu6000_data_t mpu6000_data;
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static PIOS_SENSORS_3Axis_SensorsWithTemp *queue_data = 0;
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#define SENSOR_COUNT 2
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#define SENSOR_DATA_SIZE (sizeof(PIOS_SENSORS_3Axis_SensorsWithTemp) + sizeof(Vector3i16) * SENSOR_COUNT)
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// ! Private functions
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static struct mpu6000_dev *PIOS_MPU6000_alloc(const struct pios_mpu6000_cfg *cfg);
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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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static void PIOS_MPU6000_SetSpeed(const bool fast);
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static bool PIOS_MPU6000_HandleData();
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static bool PIOS_MPU6000_ReadSensor(bool *woken);
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static int32_t PIOS_MPU6000_Test(void);
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void PIOS_MPU6000_Register()
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{
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PIOS_SENSORS_Register(&PIOS_MPU6000_Driver, PIOS_SENSORS_TYPE_3AXIS_GYRO_ACCEL, 0);
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}
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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(const struct pios_mpu6000_cfg *cfg)
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{
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struct mpu6000_dev *mpu6000_dev;
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mpu6000_dev = (struct mpu6000_dev *)pios_malloc(sizeof(*mpu6000_dev));
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PIOS_Assert(mpu6000_dev);
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mpu6000_dev->magic = PIOS_MPU6000_DEV_MAGIC;
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mpu6000_dev->queue = xQueueCreate(cfg->max_downsample + 1, SENSOR_DATA_SIZE);
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PIOS_Assert(mpu6000_dev->queue);
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queue_data = (PIOS_SENSORS_3Axis_SensorsWithTemp *)pios_malloc(SENSOR_DATA_SIZE);
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PIOS_Assert(queue_data);
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queue_data->count = SENSOR_COUNT;
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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 *vdev)
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{
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if (vdev == NULL) {
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return -1;
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}
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if (vdev->magic != PIOS_MPU6000_DEV_MAGIC) {
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return -2;
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}
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if (vdev->spi_id == 0) {
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return -3;
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}
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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(cfg);
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if (dev == NULL) {
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return -1;
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}
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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_MPU6000_Config(cfg);
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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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;
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}
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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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;
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}
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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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;
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}
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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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;
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}
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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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;
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}
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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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;
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}
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// FIFO storage
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store) != 0) {
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;
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}
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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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;
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}
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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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;
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}
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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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;
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}
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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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;
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}
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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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}
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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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if (dev == NULL) {
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return -1;
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}
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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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;
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}
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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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;
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}
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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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;
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}
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dev->gyro_range = gyroRange;
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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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;
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}
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dev->accel_range = accelRange;
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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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*/
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static int32_t PIOS_MPU6000_ClaimBus(bool fast_spi)
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{
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if (PIOS_MPU6000_Validate(dev) != 0) {
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return -1;
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}
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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_MPU6000_SetSpeed(fast_spi);
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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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static void PIOS_MPU6000_SetSpeed(const bool fast)
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{
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if (fast) {
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PIOS_SPI_SetClockSpeed(dev->spi_id, dev->cfg->fast_prescaler);
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} else {
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PIOS_SPI_SetClockSpeed(dev->spi_id, dev->cfg->std_prescaler);
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}
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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 woken[in,out] If non-NULL, will be set to true if woken was false and a higher priority
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* task has is now eligible to run, else unchanged
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*/
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static int32_t PIOS_MPU6000_ClaimBusISR(bool *woken, bool fast_spi)
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{
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if (PIOS_MPU6000_Validate(dev) != 0) {
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return -1;
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}
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if (PIOS_SPI_ClaimBusISR(dev->spi_id, woken) != 0) {
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return -2;
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}
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PIOS_MPU6000_SetSpeed(fast_spi);
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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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*/
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static int32_t PIOS_MPU6000_ReleaseBus()
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{
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if (PIOS_MPU6000_Validate(dev) != 0) {
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return -1;
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}
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PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 1);
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return PIOS_SPI_ReleaseBus(dev->spi_id);
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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 woken[in,out] If non-NULL, will be set to true if woken was false and a higher priority
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* task has is now eligible to run, else unchanged
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*/
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static int32_t PIOS_MPU6000_ReleaseBusISR(bool *woken)
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{
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if (PIOS_MPU6000_Validate(dev) != 0) {
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return -1;
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}
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PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 1);
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return PIOS_SPI_ReleaseBusISR(dev->spi_id, woken);
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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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}
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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();
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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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}
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if (PIOS_SPI_TransferByte(dev->spi_id, 0x7f & reg) != 0) {
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PIOS_MPU6000_ReleaseBus();
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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();
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return -3;
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}
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PIOS_MPU6000_ReleaseBus();
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return 0;
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}
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/**
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* @brief Perform a dummy read in order to restart interrupt generation
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* \returns 0 if succesful
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*/
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int32_t PIOS_MPU6000_DummyReadGyros()
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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(true) != 0) {
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return -1;
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}
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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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}
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PIOS_MPU6000_ReleaseBus();
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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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}
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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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}
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return dev->queue;
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}
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static 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:
|
|
return 1.0f / 32.8f;
|
|
|
|
case PIOS_MPU6000_SCALE_2000_DEG:
|
|
return 1.0f / 16.4f;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
static float PIOS_MPU6000_GetAccelScale()
|
|
{
|
|
switch (dev->accel_range) {
|
|
case PIOS_MPU6000_ACCEL_2G:
|
|
return PIOS_CONST_MKS_GRAV_ACCEL_F / 16384.0f;
|
|
|
|
case PIOS_MPU6000_ACCEL_4G:
|
|
return PIOS_CONST_MKS_GRAV_ACCEL_F / 8192.0f;
|
|
|
|
case PIOS_MPU6000_ACCEL_8G:
|
|
return PIOS_CONST_MKS_GRAV_ACCEL_F / 4096.0f;
|
|
|
|
case PIOS_MPU6000_ACCEL_16G:
|
|
return PIOS_CONST_MKS_GRAV_ACCEL_F / 2048.0f;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* @brief Run self-test operation.
|
|
* \return 0 if test succeeded
|
|
* \return non-zero value if test succeeded
|
|
*/
|
|
static int32_t PIOS_MPU6000_Test(void)
|
|
{
|
|
/* Verify that ID matches (MPU6000 ID is 0x69) */
|
|
int32_t mpu6000_id = PIOS_MPU6000_ReadID();
|
|
|
|
if (mpu6000_id < 0) {
|
|
return -1;
|
|
}
|
|
|
|
if (mpu6000_id != 0x68) {
|
|
return -2;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* @brief EXTI IRQ Handler. Read all the data from onboard buffer
|
|
* @return a boleoan to the EXTI IRQ Handler wrapper indicating if a
|
|
* higher priority task is now eligible to run
|
|
*/
|
|
|
|
bool PIOS_MPU6000_IRQHandler(void)
|
|
{
|
|
bool woken = false;
|
|
|
|
if (!mpu6000_configured) {
|
|
return false;
|
|
}
|
|
|
|
bool read_ok = false;
|
|
read_ok = PIOS_MPU6000_ReadSensor(&woken);
|
|
|
|
if (read_ok) {
|
|
bool woken2 = PIOS_MPU6000_HandleData();
|
|
woken |= woken2;
|
|
}
|
|
|
|
return woken;
|
|
}
|
|
|
|
static bool PIOS_MPU6000_HandleData()
|
|
{
|
|
if (!queue_data) {
|
|
return false;
|
|
}
|
|
|
|
// 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
|
|
|
|
// Currently we only support rotations on top so switch X/Y accordingly
|
|
switch (dev->cfg->orientation) {
|
|
case PIOS_MPU6000_TOP_0DEG:
|
|
queue_data->sample[0].y = GET_SENSOR_DATA(mpu6000_data, Accel_X); // chip X
|
|
queue_data->sample[0].x = GET_SENSOR_DATA(mpu6000_data, Accel_Y); // chip Y
|
|
queue_data->sample[1].y = GET_SENSOR_DATA(mpu6000_data, Gyro_X); // chip X
|
|
queue_data->sample[1].x = GET_SENSOR_DATA(mpu6000_data, Gyro_Y); // chip Y
|
|
break;
|
|
case PIOS_MPU6000_TOP_90DEG:
|
|
// -1 to bring it back to -32768 +32767 range
|
|
queue_data->sample[0].y = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_Y)); // chip Y
|
|
queue_data->sample[0].x = GET_SENSOR_DATA(mpu6000_data, Accel_X); // chip X
|
|
queue_data->sample[1].y = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_Y)); // chip Y
|
|
queue_data->sample[1].x = GET_SENSOR_DATA(mpu6000_data, Gyro_X); // chip X
|
|
break;
|
|
case PIOS_MPU6000_TOP_180DEG:
|
|
queue_data->sample[0].y = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_X)); // chip X
|
|
queue_data->sample[0].x = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_Y)); // chip Y
|
|
queue_data->sample[1].y = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_X)); // chip X
|
|
queue_data->sample[1].x = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_Y)); // chip Y
|
|
break;
|
|
case PIOS_MPU6000_TOP_270DEG:
|
|
queue_data->sample[0].y = GET_SENSOR_DATA(mpu6000_data, Accel_Y); // chip Y
|
|
queue_data->sample[0].x = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_X)); // chip X
|
|
queue_data->sample[1].y = GET_SENSOR_DATA(mpu6000_data, Gyro_Y); // chip Y
|
|
queue_data->sample[1].x = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_X)); // chip X
|
|
break;
|
|
}
|
|
queue_data->sample[0].z = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_Z));
|
|
queue_data->sample[1].z = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_Z));
|
|
const int16_t temp = GET_SENSOR_DATA(mpu6000_data, Temperature);
|
|
queue_data->temperature = 3500 + ((float)(temp + 512)) * (1.0f / 3.4f);
|
|
|
|
BaseType_t higherPriorityTaskWoken;
|
|
xQueueSendToBackFromISR(dev->queue, (void *)queue_data, &higherPriorityTaskWoken);
|
|
return higherPriorityTaskWoken == pdTRUE;
|
|
}
|
|
|
|
static bool PIOS_MPU6000_ReadSensor(bool *woken)
|
|
{
|
|
const uint8_t mpu6000_send_buf[1 + PIOS_MPU6000_SAMPLES_BYTES] = { PIOS_MPU6000_SENSOR_FIRST_REG | 0x80 };
|
|
|
|
if (PIOS_MPU6000_ClaimBusISR(woken, true) != 0) {
|
|
return false;
|
|
}
|
|
if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_data.buffer[0], sizeof(mpu6000_data_t), NULL) < 0) {
|
|
PIOS_MPU6000_ReleaseBusISR(woken);
|
|
return false;
|
|
}
|
|
PIOS_MPU6000_ReleaseBusISR(woken);
|
|
return true;
|
|
}
|
|
|
|
// Sensor driver implementation
|
|
bool PIOS_MPU6000_driver_Test(__attribute__((unused)) uintptr_t context)
|
|
{
|
|
return !PIOS_MPU6000_Test();
|
|
}
|
|
|
|
void PIOS_MPU6000_driver_Reset(__attribute__((unused)) uintptr_t context)
|
|
{
|
|
PIOS_MPU6000_DummyReadGyros();
|
|
}
|
|
|
|
void PIOS_MPU6000_driver_get_scale(float *scales, uint8_t size, __attribute__((unused)) uintptr_t contet)
|
|
{
|
|
PIOS_Assert(size >= 2);
|
|
scales[0] = PIOS_MPU6000_GetAccelScale();
|
|
scales[1] = PIOS_MPU6000_GetScale();
|
|
}
|
|
|
|
QueueHandle_t PIOS_MPU6000_driver_get_queue(__attribute__((unused)) uintptr_t context)
|
|
{
|
|
return dev->queue;
|
|
}
|
|
#endif /* PIOS_INCLUDE_MPU6000 */
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|