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478 lines
12 KiB
C
478 lines
12 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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/* Project Includes */
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#include "pios.h"
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#if defined(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_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 DEG_TO_RAD (M_PI / 180.0)
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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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// Reset chip
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, 0x80) != 0);
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PIOS_DELAY_WaitmS(100);
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// Reset chip and fifo
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, 0x01 | 0x02 | 0x04) != 0);
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// Wait for reset to finish
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while (PIOS_MPU6000_GetReg(PIOS_MPU6000_USER_CTRL_REG) & 0x07);
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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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// Set the accel scale
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_ACCEL_CFG_REG, cfg->accel_range) != 0);
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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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// Sample rate divider
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_SMPLRT_DIV_REG, cfg->Smpl_rate_div) != 0) ;
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// Digital low-pass filter and scale
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_DLPF_CFG_REG, cfg->filter) != 0) ;
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// Digital low-pass filter and scale
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_GYRO_CFG_REG, cfg->gyro_range) != 0) ;
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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 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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int32_t PIOS_MPU6000_ClaimBus()
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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(PIOS_SPI_ClaimBus(dev->spi_id) != 0)
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return -2;
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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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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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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 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() != 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();
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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() != 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();
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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 Read current X, Z, Y values (in that order)
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* \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
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* \returns The number of samples remaining in the fifo
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*/
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int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * data)
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{
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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() != 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();
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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->cfg->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->cfg->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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uint8_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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*/
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static int32_t PIOS_MPU6000_FifoDepth(void)
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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() != 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();
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return -1;
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}
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PIOS_MPU6000_ReleaseBus();
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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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void 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;
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mpu6000_count = PIOS_MPU6000_FifoDepth();
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if(mpu6000_count < sizeof(struct pios_mpu6000_data))
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return;
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if(PIOS_MPU6000_ClaimBus() != 0)
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return;
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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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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();
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mpu6000_fails++;
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return;
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}
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PIOS_MPU6000_ReleaseBus();
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struct pios_mpu6000_data data;
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// In the case where extras samples backed up grabbed an extra
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if (mpu6000_count >= (sizeof(data) * 2)) {
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mpu6000_fifo_backup++;
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if(PIOS_MPU6000_ClaimBus() != 0)
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return;
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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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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();
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mpu6000_fails++;
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return;
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}
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PIOS_MPU6000_ReleaseBus();
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}
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#if defined(PIOS_MPU6000_ACCEL)
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data.accel_x = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2];
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data.accel_y = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4];
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data.accel_z = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6];
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data.temperature = mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8];
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data.gyro_x = mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10];
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data.gyro_y = mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12];
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data.gyro_z = mpu6000_rec_buf[13] << 8 | mpu6000_rec_buf[14];
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#else
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data.temperature = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2];
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data.gyro_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4];
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data.gyro_y = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6];
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data.gyro_z = mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8];
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#endif
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xQueueSend(dev->queue, (void *) &data, 0);
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mpu6000_irq++;
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mpu6000_time_us = PIOS_DELAY_DiffuS(timeval);
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}
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#endif
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/**
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* @}
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* @}
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*/
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