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/*
* Copyright © 2012 Keith Packard <keithp@keithp.com>
*
* 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; version 2 of the License.
*
* 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 <ao.h>
#include <ao_mpu6000.h>
#include <ao_exti.h>
static uint8_t ao_mpu6000_wake;
static uint8_t ao_mpu6000_configured;
static void
ao_mpu6000_write(uint8_t addr, uint8_t *data, uint8_t len)
{
ao_i2c_get(AO_MPU6000_I2C_INDEX);
ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
ao_i2c_send(data, len, AO_MPU6000_I2C_INDEX, TRUE);
ao_i2c_put(AO_MPU6000_I2C_INDEX);
}
static void
ao_mpu6000_reg_write(uint8_t addr, uint8_t value)
{
uint8_t d[2] = { addr, value };
ao_i2c_get(AO_MPU6000_I2C_INDEX);
ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
ao_i2c_send(d, 2, AO_MPU6000_I2C_INDEX, TRUE);
ao_i2c_put(AO_MPU6000_I2C_INDEX);
}
static void
ao_mpu6000_read(uint8_t addr, void *data, uint8_t len)
{
ao_i2c_get(AO_MPU6000_I2C_INDEX);
ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
ao_i2c_recv(data, len, AO_MPU6000_I2C_INDEX, TRUE);
ao_i2c_put(AO_MPU6000_I2C_INDEX);
}
static uint8_t
ao_mpu6000_reg_read(uint8_t addr)
{
uint8_t value;
ao_i2c_get(AO_MPU6000_I2C_INDEX);
ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
ao_i2c_recv(&value, 1, AO_MPU6000_I2C_INDEX, TRUE);
ao_i2c_put(AO_MPU6000_I2C_INDEX);
return value;
}
static void
ao_mpu6000_sample(struct ao_mpu6000_sample *sample)
{
uint16_t *d = (uint16_t *) sample;
int i = sizeof (*sample) / 2;
ao_mpu6000_read(MPU6000_ACCEL_XOUT_H, sample, sizeof (*sample));
#if __BYTE_ORDER == __LITTLE_ENDIAN
/* byte swap */
while (i--) {
uint16_t t = *d;
*d++ = (t >> 8) | (t << 8);
}
#endif
}
#define G 981 /* in cm/s² */
static int16_t /* cm/s² */
ao_mpu6000_accel(int16_t v)
{
return (int16_t) ((v * (int32_t) (16.0 * 980.665 + 0.5)) / 32767);
}
static int16_t /* deg*10/s */
ao_mpu6000_gyro(int16_t v)
{
return (int16_t) ((v * (int32_t) 20000) / 32767);
}
static uint8_t
ao_mpu6000_accel_check(int16_t normal, int16_t test, char *which)
{
int16_t diff = test - normal;
if (diff < MPU6000_ST_ACCEL(16) / 2) {
return 1;
}
if (diff > MPU6000_ST_ACCEL(16) * 2) {
return 1;
}
return 0;
}
static uint8_t
ao_mpu6000_gyro_check(int16_t normal, int16_t test, char *which)
{
int16_t diff = test - normal;
if (diff < 0)
diff = -diff;
if (diff < MPU6000_ST_GYRO(2000) / 2) {
return 1;
}
if (diff > MPU6000_ST_GYRO(2000) * 2) {
return 1;
}
return 0;
}
static void
ao_mpu6000_setup(void)
{
struct ao_mpu6000_sample normal_mode, test_mode;
int errors =0;
if (ao_mpu6000_configured)
return;
/* Reset the whole chip */
ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
(1 << MPU6000_PWR_MGMT_1_DEVICE_RESET));
/* Wait for it to reset. If we talk too quickly, it appears to get confused */
ao_delay(AO_MS_TO_TICKS(100));
/* Reset signal conditioning */
ao_mpu6000_reg_write(MPU6000_USER_CONTROL,
(0 << MPU6000_USER_CONTROL_FIFO_EN) |
(0 << MPU6000_USER_CONTROL_I2C_MST_EN) |
(0 << MPU6000_USER_CONTROL_I2C_IF_DIS) |
(0 << MPU6000_USER_CONTROL_FIFO_RESET) |
(0 << MPU6000_USER_CONTROL_I2C_MST_RESET) |
(1 << MPU6000_USER_CONTROL_SIG_COND_RESET));
while (ao_mpu6000_reg_read(MPU6000_USER_CONTROL) & (1 << MPU6000_USER_CONTROL_SIG_COND_RESET))
ao_yield();
/* Reset signal paths */
ao_mpu6000_reg_write(MPU6000_SIGNAL_PATH_RESET,
(1 << MPU6000_SIGNAL_PATH_RESET_GYRO_RESET) |
(1 << MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET) |
(1 << MPU6000_SIGNAL_PATH_RESET_TEMP_RESET));
ao_mpu6000_reg_write(MPU6000_SIGNAL_PATH_RESET,
(0 << MPU6000_SIGNAL_PATH_RESET_GYRO_RESET) |
(0 << MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET) |
(0 << MPU6000_SIGNAL_PATH_RESET_TEMP_RESET));
/* Select clocks, disable sleep */
ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1,
(0 << MPU6000_PWR_MGMT_1_DEVICE_RESET) |
(0 << MPU6000_PWR_MGMT_1_SLEEP) |
(0 << MPU6000_PWR_MGMT_1_CYCLE) |
(0 << MPU6000_PWR_MGMT_1_TEMP_DIS) |
(MPU6000_PWR_MGMT_1_CLKSEL_PLL_X_AXIS << MPU6000_PWR_MGMT_1_CLKSEL));
/* Set sample rate divider to sample at full speed
ao_mpu6000_reg_write(MPU6000_SMPRT_DIV, 0);
/* Disable filtering */
ao_mpu6000_reg_write(MPU6000_CONFIG,
(MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) |
(MPU6000_CONFIG_DLPF_CFG_260_256 << MPU6000_CONFIG_DLPF_CFG));
/* Configure accelerometer to +/-16G in self-test mode */
ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
(1 << MPU600_ACCEL_CONFIG_XA_ST) |
(1 << MPU600_ACCEL_CONFIG_YA_ST) |
(1 << MPU600_ACCEL_CONFIG_ZA_ST) |
(MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL));
/* Configure gyro to +/- 2000°/s in self-test mode */
ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG,
(1 << MPU600_GYRO_CONFIG_XG_ST) |
(1 << MPU600_GYRO_CONFIG_YG_ST) |
(1 << MPU600_GYRO_CONFIG_ZG_ST) |
(MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL));
ao_delay(AO_MS_TO_TICKS(200));
ao_mpu6000_sample(&test_mode);
/* Configure accelerometer to +/-16G */
ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG,
(0 << MPU600_ACCEL_CONFIG_XA_ST) |
(0 << MPU600_ACCEL_CONFIG_YA_ST) |
(0 << MPU600_ACCEL_CONFIG_ZA_ST) |
(MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL));
/* Configure gyro to +/- 2000°/s */
ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG,
(0 << MPU600_GYRO_CONFIG_XG_ST) |
(0 << MPU600_GYRO_CONFIG_YG_ST) |
(0 << MPU600_GYRO_CONFIG_ZG_ST) |
(MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL));
ao_delay(AO_MS_TO_TICKS(10));
ao_mpu6000_sample(&normal_mode);
errors += ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x, "x");
errors += ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y, "y");
errors += ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z, "z");
errors += ao_mpu6000_gyro_check(normal_mode.gyro_x, test_mode.gyro_x, "x");
errors += ao_mpu6000_gyro_check(normal_mode.gyro_y, test_mode.gyro_y, "y");
errors += ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z, "z");
if (errors)
ao_panic(AO_PANIC_SELF_TEST_MPU6000);
/* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */
ao_mpu6000_reg_write(MPU6000_CONFIG,
(MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) |
(MPU6000_CONFIG_DLPF_CFG_94_98 << MPU6000_CONFIG_DLPF_CFG));
/* Set sample rate divider to sample at 200Hz (v = gyro/rate - 1) */
ao_mpu6000_reg_write(MPU6000_SMPRT_DIV,
1000 / 200 - 1);
ao_delay(AO_MS_TO_TICKS(100));
ao_mpu6000_configured = 1;
}
struct ao_mpu6000_sample ao_mpu6000_current;
static void
ao_mpu6000(void)
{
ao_mpu6000_setup();
for (;;)
{
ao_mpu6000_sample(&ao_mpu6000_current);
ao_arch_critical(
AO_DATA_PRESENT(AO_DATA_MPU6000);
AO_DATA_WAIT();
);
}
}
static struct ao_task ao_mpu6000_task;
static void
ao_mpu6000_show(void)
{
struct ao_data sample;
ao_data_get(&sample);
printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n",
sample.mpu6000.accel_x,
sample.mpu6000.accel_y,
sample.mpu6000.accel_z,
sample.mpu6000.gyro_x,
sample.mpu6000.gyro_y,
sample.mpu6000.gyro_z);
}
static const struct ao_cmds ao_mpu6000_cmds[] = {
{ ao_mpu6000_show, "I\0Show MPU6000 status" },
{ 0, NULL }
};
void
ao_mpu6000_init(void)
{
ao_mpu6000_configured = 0;
ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000");
ao_cmd_register(&ao_mpu6000_cmds[0]);
}
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