mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
567 lines
16 KiB
C
567 lines
16 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
|
* @{
|
|
* @addtogroup PIOS_MPU6000 MPU6000 Functions
|
|
* @brief Deals with the hardware interface to the 3-axis gyro
|
|
* @{
|
|
*
|
|
* @file pios_mpu000.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
|
* @brief MPU6000 6-axis gyro and accel chip
|
|
* @see The GNU Public License (GPL) Version 3
|
|
*
|
|
******************************************************************************
|
|
*/
|
|
/*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
* for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
*/
|
|
|
|
#include "pios.h"
|
|
|
|
#ifdef PIOS_INCLUDE_MPU6000
|
|
|
|
#include "fifo_buffer.h"
|
|
|
|
/* Global Variables */
|
|
|
|
enum pios_mpu6000_dev_magic {
|
|
PIOS_MPU6000_DEV_MAGIC = 0x9da9b3ed,
|
|
};
|
|
|
|
#define PIOS_MPU6000_MAX_DOWNSAMPLE 2
|
|
struct mpu6000_dev {
|
|
uint32_t spi_id;
|
|
uint32_t slave_num;
|
|
xQueueHandle queue;
|
|
const struct pios_mpu6000_cfg * cfg;
|
|
enum pios_mpu6000_range gyro_range;
|
|
enum pios_mpu6000_accel_range accel_range;
|
|
enum pios_mpu6000_filter filter;
|
|
enum pios_mpu6000_dev_magic magic;
|
|
};
|
|
|
|
//! Global structure for this device device
|
|
static struct mpu6000_dev * dev;
|
|
volatile bool mpu6000_configured = false;
|
|
|
|
//! Private functions
|
|
static struct mpu6000_dev * PIOS_MPU6000_alloc(void);
|
|
static int32_t PIOS_MPU6000_Validate(struct mpu6000_dev * dev);
|
|
static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg);
|
|
static int32_t PIOS_MPU6000_SetReg(uint8_t address, uint8_t buffer);
|
|
static int32_t PIOS_MPU6000_GetReg(uint8_t address);
|
|
|
|
#define GRAV 9.81f
|
|
|
|
/**
|
|
* @brief Allocate a new device
|
|
*/
|
|
static struct mpu6000_dev * PIOS_MPU6000_alloc(void)
|
|
{
|
|
struct mpu6000_dev * mpu6000_dev;
|
|
|
|
mpu6000_dev = (struct mpu6000_dev *)pvPortMalloc(sizeof(*mpu6000_dev));
|
|
if (!mpu6000_dev) return (NULL);
|
|
|
|
mpu6000_dev->magic = PIOS_MPU6000_DEV_MAGIC;
|
|
|
|
mpu6000_dev->queue = xQueueCreate(PIOS_MPU6000_MAX_DOWNSAMPLE, sizeof(struct pios_mpu6000_data));
|
|
if(mpu6000_dev->queue == NULL) {
|
|
vPortFree(mpu6000_dev);
|
|
return NULL;
|
|
}
|
|
|
|
return(mpu6000_dev);
|
|
}
|
|
|
|
/**
|
|
* @brief Validate the handle to the spi device
|
|
* @returns 0 for valid device or -1 otherwise
|
|
*/
|
|
static int32_t PIOS_MPU6000_Validate(struct mpu6000_dev * dev)
|
|
{
|
|
if (dev == NULL)
|
|
return -1;
|
|
if (dev->magic != PIOS_MPU6000_DEV_MAGIC)
|
|
return -2;
|
|
if (dev->spi_id == 0)
|
|
return -3;
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* @brief Initialize the MPU6000 3-axis gyro sensor.
|
|
* @return 0 for success, -1 for failure
|
|
*/
|
|
int32_t PIOS_MPU6000_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_mpu6000_cfg * cfg)
|
|
{
|
|
dev = PIOS_MPU6000_alloc();
|
|
if(dev == NULL)
|
|
return -1;
|
|
|
|
dev->spi_id = spi_id;
|
|
dev->slave_num = slave_num;
|
|
dev->cfg = cfg;
|
|
|
|
/* Configure the MPU6000 Sensor */
|
|
PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_256);
|
|
PIOS_MPU6000_Config(cfg);
|
|
PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_16);
|
|
|
|
/* Set up EXTI line */
|
|
PIOS_EXTI_Init(cfg->exti_cfg);
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* @brief Initialize the MPU6000 3-axis gyro sensor
|
|
* \return none
|
|
* \param[in] PIOS_MPU6000_ConfigTypeDef struct to be used to configure sensor.
|
|
*
|
|
*/
|
|
static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
|
|
{
|
|
|
|
PIOS_MPU6000_Test();
|
|
|
|
// Reset chip
|
|
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, PIOS_MPU6000_PWRMGMT_IMU_RST) != 0);
|
|
PIOS_DELAY_WaitmS(50);
|
|
|
|
// Reset chip and fifo
|
|
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG,
|
|
PIOS_MPU6000_USERCTL_GYRO_RST |
|
|
PIOS_MPU6000_USERCTL_SIG_COND |
|
|
PIOS_MPU6000_USERCTL_FIFO_RST) != 0);
|
|
|
|
// Wait for reset to finish
|
|
while (PIOS_MPU6000_GetReg(PIOS_MPU6000_USER_CTRL_REG) &
|
|
(PIOS_MPU6000_USERCTL_GYRO_RST |
|
|
PIOS_MPU6000_USERCTL_SIG_COND |
|
|
PIOS_MPU6000_USERCTL_FIFO_RST));
|
|
PIOS_DELAY_WaitmS(10);
|
|
//Power management configuration
|
|
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0);
|
|
|
|
// Interrupt configuration
|
|
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_CFG_REG, cfg->interrupt_cfg) != 0);
|
|
|
|
// Interrupt configuration
|
|
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_EN_REG, cfg->interrupt_en) != 0);
|
|
|
|
// FIFO storage
|
|
#if defined(PIOS_MPU6000_ACCEL)
|
|
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store | PIOS_MPU6000_ACCEL_OUT) != 0);
|
|
#else
|
|
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store) != 0);
|
|
#endif
|
|
PIOS_MPU6000_ConfigureRanges(cfg->gyro_range, cfg->accel_range, cfg->filter);
|
|
// Interrupt configuration
|
|
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, cfg->User_ctl) != 0) ;
|
|
|
|
// Interrupt configuration
|
|
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0) ;
|
|
|
|
// Interrupt configuration
|
|
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_CFG_REG, cfg->interrupt_cfg) != 0) ;
|
|
|
|
// Interrupt configuration
|
|
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_EN_REG, cfg->interrupt_en) != 0) ;
|
|
if((PIOS_MPU6000_GetReg(PIOS_MPU6000_INT_EN_REG)) != cfg->interrupt_en)
|
|
return;
|
|
|
|
mpu6000_configured = true;
|
|
}
|
|
/**
|
|
* @brief Configures Gyro, accel and Filter ranges/setings
|
|
* @return 0 if successful, -1 if device has not been initialized
|
|
*/
|
|
int32_t PIOS_MPU6000_ConfigureRanges(
|
|
enum pios_mpu6000_range gyroRange,
|
|
enum pios_mpu6000_accel_range accelRange,
|
|
enum pios_mpu6000_filter filterSetting
|
|
)
|
|
{
|
|
if(dev == NULL)
|
|
return -1;
|
|
PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_256);
|
|
// update filter settings
|
|
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_DLPF_CFG_REG, filterSetting) != 0);
|
|
|
|
// Sample rate divider, chosen upon digital filtering settings
|
|
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_SMPLRT_DIV_REG,
|
|
filterSetting == PIOS_MPU6000_LOWPASS_256_HZ ?
|
|
dev->cfg->Smpl_rate_div_no_dlp : dev->cfg->Smpl_rate_div_dlp) != 0);
|
|
|
|
dev->filter = filterSetting;
|
|
|
|
// Gyro range
|
|
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_GYRO_CFG_REG, gyroRange) != 0);
|
|
|
|
dev->gyro_range = gyroRange;
|
|
#if defined(PIOS_MPU6000_ACCEL)
|
|
// Set the accel range
|
|
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_ACCEL_CFG_REG, accelRange) != 0);
|
|
|
|
dev->accel_range = accelRange;
|
|
#endif
|
|
PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_16);
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* @brief Claim the SPI bus for the accel communications and select this chip
|
|
* @return 0 if successful, -1 for invalid device, -2 if unable to claim bus
|
|
* @param fromIsr[in] Tells if the function is being called from a ISR or not
|
|
*/
|
|
static int32_t PIOS_MPU6000_ClaimBus(bool fromIsr)
|
|
{
|
|
if(PIOS_MPU6000_Validate(dev) != 0)
|
|
return -1;
|
|
if(fromIsr){
|
|
if(PIOS_SPI_ClaimBusISR(dev->spi_id) != 0)
|
|
return -2;
|
|
} else {
|
|
if(PIOS_SPI_ClaimBus(dev->spi_id) != 0)
|
|
return -2;
|
|
}
|
|
PIOS_SPI_RC_PinSet(dev->spi_id,dev->slave_num,0);
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* @brief Release the SPI bus for the accel communications and end the transaction
|
|
* @return 0 if successful
|
|
* @param fromIsr[in] Tells if the function is being called from a ISR or not
|
|
*/
|
|
int32_t PIOS_MPU6000_ReleaseBus(bool fromIsr)
|
|
{
|
|
if(PIOS_MPU6000_Validate(dev) != 0)
|
|
return -1;
|
|
|
|
PIOS_SPI_RC_PinSet(dev->spi_id,dev->slave_num,1);
|
|
if(fromIsr){
|
|
return PIOS_SPI_ReleaseBusISR(dev->spi_id);
|
|
} else {
|
|
return PIOS_SPI_ReleaseBus(dev->spi_id);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Read a register from MPU6000
|
|
* @returns The register value or -1 if failure to get bus
|
|
* @param reg[in] Register address to be read
|
|
*/
|
|
static int32_t PIOS_MPU6000_GetReg(uint8_t reg)
|
|
{
|
|
uint8_t data;
|
|
|
|
if(PIOS_MPU6000_ClaimBus(false) != 0)
|
|
return -1;
|
|
|
|
PIOS_SPI_TransferByte(dev->spi_id,(0x80 | reg) ); // request byte
|
|
data = PIOS_SPI_TransferByte(dev->spi_id,0 ); // receive response
|
|
|
|
PIOS_MPU6000_ReleaseBus(false);
|
|
return data;
|
|
}
|
|
|
|
/**
|
|
* @brief Writes one byte to the MPU6000
|
|
* \param[in] reg Register address
|
|
* \param[in] data Byte to write
|
|
* \return 0 if operation was successful
|
|
* \return -1 if unable to claim SPI bus
|
|
* \return -2 if unable to claim i2c device
|
|
*/
|
|
static int32_t PIOS_MPU6000_SetReg(uint8_t reg, uint8_t data)
|
|
{
|
|
if(PIOS_MPU6000_ClaimBus(false) != 0)
|
|
return -1;
|
|
|
|
if(PIOS_SPI_TransferByte(dev->spi_id, 0x7f & reg) != 0) {
|
|
PIOS_MPU6000_ReleaseBus(false);
|
|
return -2;
|
|
}
|
|
|
|
if(PIOS_SPI_TransferByte(dev->spi_id, data) != 0) {
|
|
PIOS_MPU6000_ReleaseBus(false);
|
|
return -3;
|
|
}
|
|
|
|
PIOS_MPU6000_ReleaseBus(false);
|
|
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* @brief Read current X, Z, Y values (in that order)
|
|
* \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
|
|
* \returns 0 if succesful
|
|
*/
|
|
int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * data)
|
|
{
|
|
// THIS FUNCTION IS DEPRECATED AND DOES NOT PERFORM A ROTATION
|
|
uint8_t buf[7] = {PIOS_MPU6000_GYRO_X_OUT_MSB | 0x80, 0, 0, 0, 0, 0, 0};
|
|
uint8_t rec[7];
|
|
|
|
if(PIOS_MPU6000_ClaimBus(false) != 0)
|
|
return -1;
|
|
|
|
if(PIOS_SPI_TransferBlock(dev->spi_id, &buf[0], &rec[0], sizeof(buf), NULL) < 0)
|
|
return -2;
|
|
|
|
PIOS_MPU6000_ReleaseBus(false);
|
|
|
|
data->gyro_x = rec[1] << 8 | rec[2];
|
|
data->gyro_y = rec[3] << 8 | rec[4];
|
|
data->gyro_z = rec[5] << 8 | rec[6];
|
|
|
|
return 0;
|
|
}
|
|
|
|
/*
|
|
* @brief Read the identification bytes from the MPU6000 sensor
|
|
* \return ID read from MPU6000 or -1 if failure
|
|
*/
|
|
int32_t PIOS_MPU6000_ReadID()
|
|
{
|
|
int32_t mpu6000_id = PIOS_MPU6000_GetReg(PIOS_MPU6000_WHOAMI);
|
|
if(mpu6000_id < 0)
|
|
return -1;
|
|
return mpu6000_id;
|
|
}
|
|
|
|
/**
|
|
* \brief Reads the queue handle
|
|
* \return Handle to the queue or null if invalid device
|
|
*/
|
|
xQueueHandle PIOS_MPU6000_GetQueue()
|
|
{
|
|
if(PIOS_MPU6000_Validate(dev) != 0)
|
|
return (xQueueHandle) NULL;
|
|
|
|
return dev->queue;
|
|
}
|
|
|
|
|
|
float PIOS_MPU6000_GetScale()
|
|
{
|
|
switch (dev->gyro_range) {
|
|
case PIOS_MPU6000_SCALE_250_DEG:
|
|
return 1.0f / 131.0f;
|
|
case PIOS_MPU6000_SCALE_500_DEG:
|
|
return 1.0f / 65.5f;
|
|
case PIOS_MPU6000_SCALE_1000_DEG:
|
|
return 1.0f / 32.8f;
|
|
case PIOS_MPU6000_SCALE_2000_DEG:
|
|
return 1.0f / 16.4f;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
float PIOS_MPU6000_GetAccelScale()
|
|
{
|
|
switch (dev->accel_range) {
|
|
case PIOS_MPU6000_ACCEL_2G:
|
|
return GRAV / 16384.0f;
|
|
case PIOS_MPU6000_ACCEL_4G:
|
|
return GRAV / 8192.0f;
|
|
case PIOS_MPU6000_ACCEL_8G:
|
|
return GRAV / 4096.0f;
|
|
case PIOS_MPU6000_ACCEL_16G:
|
|
return GRAV / 2048.0f;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* @brief Run self-test operation.
|
|
* \return 0 if test succeeded
|
|
* \return non-zero value if test succeeded
|
|
*/
|
|
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 Run self-test operation.
|
|
* \return 0 if test succeeded
|
|
* \return non-zero value if test succeeded
|
|
* @param fromIsr[in] Tells if the function is being called from a ISR or not
|
|
*/
|
|
static int32_t PIOS_MPU6000_FifoDepth(bool fromIsr)
|
|
{
|
|
uint8_t mpu6000_send_buf[3] = {PIOS_MPU6000_FIFO_CNT_MSB | 0x80, 0, 0};
|
|
uint8_t mpu6000_rec_buf[3];
|
|
|
|
if(PIOS_MPU6000_ClaimBus(fromIsr) != 0)
|
|
return -1;
|
|
|
|
if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
|
|
PIOS_MPU6000_ReleaseBus(fromIsr);
|
|
return -1;
|
|
}
|
|
|
|
PIOS_MPU6000_ReleaseBus(fromIsr);
|
|
|
|
return (mpu6000_rec_buf[1] << 8) | mpu6000_rec_buf[2];
|
|
}
|
|
|
|
/**
|
|
* @brief IRQ Handler. Read all the data from onboard buffer
|
|
*/
|
|
uint32_t mpu6000_irq = 0;
|
|
int32_t mpu6000_count;
|
|
uint32_t mpu6000_fifo_backup = 0;
|
|
|
|
uint8_t mpu6000_last_read_count = 0;
|
|
uint32_t mpu6000_fails = 0;
|
|
|
|
uint32_t mpu6000_interval_us;
|
|
uint32_t mpu6000_time_us;
|
|
uint32_t mpu6000_transfer_size;
|
|
|
|
bool PIOS_MPU6000_IRQHandler(void)
|
|
{
|
|
static uint32_t timeval;
|
|
mpu6000_interval_us = PIOS_DELAY_DiffuS(timeval);
|
|
timeval = PIOS_DELAY_GetRaw();
|
|
|
|
if (!mpu6000_configured)
|
|
return false;
|
|
|
|
mpu6000_count = PIOS_MPU6000_FifoDepth(true);
|
|
if (mpu6000_count < sizeof(struct pios_mpu6000_data))
|
|
return false;
|
|
|
|
if (PIOS_MPU6000_ClaimBus(true) != 0)
|
|
return false;
|
|
|
|
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};
|
|
static uint8_t mpu6000_rec_buf[1 + sizeof(struct pios_mpu6000_data) ];
|
|
|
|
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);
|
|
|
|
static struct pios_mpu6000_data data;
|
|
|
|
// In the case where extras samples backed up grabbed an extra
|
|
if (mpu6000_count >= (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 */
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|