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[mpu] add i2c support for mpu60x0

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This commit is contained in:
Gautier Hattenberger
2013-03-13 10:47:02 +01:00
committed by Felix Ruess
parent 3268576f0b
commit 3ef05a3f3d
3 changed files with 191 additions and 3 deletions
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sw/airborne/peripherals/mpu60X0_i2c.c
+120
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@@ -0,0 +1,120 @@
/*
* Copyright (C) 2013 Gautier Hattenberger
*
* This file is part of paparazzi.
*
* paparazzi 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 2, or (at your option)
* any later version.
*
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/**
* @file peripherals/mpu60x0_i2c.c
*
* Driver for the MPU-60X0 using SPI.
*
*/
#include "peripherals/mpu60x0_i2c.h"
void mpu60x0_i2c_init(struct Mpu60x0_I2c *mpu, struct i2c_periph *i2c_p, uint8_t addr)
{
/* set i2c_peripheral */
mpu->i2c_p = i2c_p;
/* slave address */
mpu->i2c_trans.slave_addr = addr;
/* set inital status: Success or Done */
mpu->i2c_trans.status = I2CTransDone;
/* set default MPU60X0 config options */
mpu60x0_set_default_config(&(mpu->config));
mpu->data_available = FALSE;
mpu->config.initialized = FALSE;
mpu->config.init_status = MPU60X0_CONF_UNINIT;
}
static void mpu60x0_i2c_write_to_reg(void* mpu, uint8_t _reg, uint8_t _val) {
struct Mpu60x0_I2c* mpu_i2c = (struct Mpu60x0_I2c*)(mpu);
mpu_i2c->i2c_trans.buf[0] = _reg;
mpu_i2c->i2c_trans.buf[1] = _val;
mpu_i2c->i2c_trans.len_r = 0;
mpu_i2c->i2c_trans.len_w = 2;
mpu_i2c->i2c_trans.type = I2CTransTx;
i2c_submit(mpu_i2c->i2c_p, &(mpu_i2c->i2c_trans));
}
// Configuration function called once before normal use
void mpu60x0_i2c_start_configure(struct Mpu60x0_I2c *mpu)
{
if (mpu->config.init_status == MPU60X0_CONF_UNINIT) {
mpu->config.init_status++;
if (mpu->i2c_trans.status == I2CTransSuccess || mpu->i2c_trans.status == I2CTransDone) {
mpu60x0_send_config(mpu60x0_i2c_write_to_reg, (void*)mpu, mpu->config);
}
}
}
void mpu60x0_i2c_read(struct Mpu60x0_I2c *mpu)
{
if (mpu->config.initialized && mpu->i2c_trans.status == I2CTransDone) {
mpu->i2c_trans.len_w = 1;
mpu->i2c_trans.len_r = 15; // FIXME external data
mpu->i2c_trans.type = I2CTransTxRx;
/* set read bit and multiple byte bit, then address */
mpu->i2c_trans.buf[0] = MPU60X0_REG_INT_STATUS;
i2c_submit(mpu->i2c_p, &(mpu->i2c_trans));
}
}
#define Int16FromBuf(_buf,_idx) ((int16_t)((_buf[_idx]<<8) | _buf[_idx+1]))
void mpu60x0_i2c_event(struct Mpu60x0_I2c *mpu)
{
if (mpu->config.initialized) {
if (mpu->i2c_trans.status == I2CTransFailed) {
mpu->i2c_trans.status = I2CTransDone;
}
else if (mpu->i2c_trans.status == I2CTransSuccess) {
// Successfull reading
if (bit_is_set(mpu->i2c_trans.buf[0],0)) {
// new data
mpu->data_accel.vect.x = Int16FromBuf(mpu->i2c_trans.buf,1);
mpu->data_accel.vect.y = Int16FromBuf(mpu->i2c_trans.buf,3);
mpu->data_accel.vect.z = Int16FromBuf(mpu->i2c_trans.buf,5);
mpu->data_rates.rates.p = Int16FromBuf(mpu->i2c_trans.buf,9);
mpu->data_rates.rates.q = Int16FromBuf(mpu->i2c_trans.buf,11);
mpu->data_rates.rates.r = Int16FromBuf(mpu->i2c_trans.buf,13);
mpu->data_available = TRUE;
}
mpu->i2c_trans.status = I2CTransDone;
}
}
else if (mpu->config.init_status != MPU60X0_CONF_UNINIT) { // Configuring but not yet initialized
switch (mpu->i2c_trans.status) {
case I2CTransFailed:
mpu->config.init_status--; // Retry config (TODO max retry)
case I2CTransSuccess:
case I2CTransDone:
mpu->i2c_trans.status = I2CTransDone;
mpu60x0_send_config(mpu60x0_i2c_write_to_reg, (void*)mpu, mpu->config);
if (mpu->config.initialized) mpu->i2c_trans.status = I2CTransDone;
break;
default:
break;
}
}
}
sw/airborne/peripherals/mpu60X0_i2c.h
+68
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@@ -0,0 +1,68 @@
/*
* Copyright (C) 2013 Gautier Hattenberger
*
* This file is part of paparazzi.
*
* paparazzi 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 2, or (at your option)
* any later version.
*
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/**
* @file peripherals/mpu60x0_i2c.h
*
* Driver for the MPU-60X0 using I2C.
*/
#ifndef MPU60X0_I2C_H
#define MPU60X0_I2C_H
#include "std.h"
#include "math/pprz_algebra_int.h"
#include "mcu_periph/i2c.h"
/* Include common MPU60X0 options and definitions */
#include "peripherals/mpu60x0.h"
struct Mpu60x0_I2c {
struct i2c_periph *i2c_p;
struct i2c_transaction i2c_trans;
volatile bool_t data_available; ///< data ready flag
union {
struct Int16Vect3 vect; ///< accel data vector in accel coordinate system
int16_t value[3]; ///< accel data values accessible by channel index
} data_accel;
union {
struct Int16Rates rates; ///< rates data as angular rates in gyro coordinate system
int16_t value[3]; ///< rates data values accessible by channel index
} data_rates;
struct Mpu60x0Config config;
};
// Functions
extern void mpu60x0_i2c_init(struct Mpu60x0_I2c *mpu, struct i2c_periph *i2c_p, uint8_t addr);
extern void mpu60x0_i2c_start_configure(struct Mpu60x0_I2c *mpu);
extern void mpu60x0_i2c_read(struct Mpu60x0_I2c *mpu);
extern void mpu60x0_i2c_event(struct Mpu60x0_I2c *mpu);
/// convenience function: read or start configuration if not already initialized
static inline void mpu60x0_i2c_periodic(struct Mpu60x0_I2c *mpu) {
if (mpu->config.initialized)
mpu60x0_i2c_read(mpu);
else
mpu60x0_i2c_start_configure(mpu);
}
#endif // MPU60X0_I2C_H
sw/airborne/peripherals/mpu60X0_spi.c
+3 -3
View File
@@ -78,7 +78,7 @@ void mpu60x0_spi_start_configure(struct Mpu60x0_Spi *mpu)
if (mpu->config.init_status == MPU60X0_CONF_UNINIT) {
mpu->config.init_status++;
if (mpu->spi_trans.status == SPITransSuccess || mpu->spi_trans.status == SPITransDone) {
mpu60x0_spi_send_config(mpu60x0_spi_write_to_reg, (void*)mpu, mpu->config);
mpu60x0_send_config(mpu60x0_spi_write_to_reg, (void*)mpu, mpu->config);
}
}
}
@@ -104,7 +104,7 @@ void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu)
}
else if (mpu->spi_trans.status == SPITransSuccess) {
// Successfull reading
if (bit_is_set(mpu->rx_buf,0)) {
if (bit_is_set(mpu->rx_buf[0],0)) {
// new data
mpu->data_accel.vect.x = Int16FromBuf(mpu->rx_buf,1);
mpu->data_accel.vect.y = Int16FromBuf(mpu->rx_buf,3);
@@ -124,7 +124,7 @@ void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu)
case SPITransSuccess:
case SPITransDone:
mpu->spi_trans.status = SPITransDone;
mpu60x0_spi_send_config(mpu60x0_spi_write_to_reg, (void*)mpu, mpu->config);
mpu60x0_send_config(mpu60x0_spi_write_to_reg, (void*)mpu, mpu->config);
if (mpu->config.initialized) mpu->spi_trans.status = SPITransDone;
break;
default: