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[peripherals] mpu60x0: common implementation in c file

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This commit is contained in:
Felix Ruess
2013-05-03 20:30:36 +02:00
parent 436d836aba
commit 4ee11c98fd
5 changed files with 97 additions and 52 deletions
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conf/firmwares/subsystems/shared/imu_apogee.makefile
+1
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@@ -13,6 +13,7 @@ IMU_APOGEE_I2C_DEV=i2c1
IMU_APOGEE_CFLAGS += -DUSE_I2C -DUSE_I2C1
IMU_APOGEE_CFLAGS += -DIMU_APOGEE_I2C_DEV=$(IMU_APOGEE_I2C_DEV)
IMU_APOGEE_SRCS += peripherals/mpu60x0.c
IMU_APOGEE_SRCS += peripherals/mpu60x0_i2c.c
# with default APOGEE_SMPLRT_DIV (gyro output 100Hz)
conf/firmwares/subsystems/shared/imu_aspirin_v2.1_new.makefile
+1
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@@ -45,6 +45,7 @@ endif
IMU_ASPIRIN_2_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin_2.h\"
IMU_ASPIRIN_2_SRCS = $(SRC_SUBSYSTEMS)/imu.c
IMU_ASPIRIN_2_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_aspirin_2.c
IMU_ASPIRIN_2_SRCS += peripherals/mpu60x0.c
IMU_ASPIRIN_2_SRCS += peripherals/mpu60x0_spi.c
# Magnetometer
sw/airborne/peripherals/mpu60x0.c
+86
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@@ -0,0 +1,86 @@
/*
* Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
*
* 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.c
*
* MPU-60X0 driver common functions (I2C and SPI).
*
* Still needs the either the I2C or SPI specific implementation.
*/
#include "peripherals/mpu60x0.h"
void mpu60x0_set_default_config(struct Mpu60x0Config *c)
{
c->smplrt_div = MPU60X0_DEFAULT_SMPLRT_DIV;
c->dlpf_cfg = MPU60X0_DEFAULT_DLPF_CFG;
c->gyro_range = MPU60X0_DEFAULT_FS_SEL;
c->accel_range = MPU60X0_DEFAULT_AFS_SEL;
c->i2c_bypass = TRUE;
c->drdy_int_enable = FALSE;
c->clk_sel = MPU60X0_DEFAULT_CLK_SEL;
}
void mpu60x0_send_config(Mpu60x0ConfigSet mpu_set, void* mpu, struct Mpu60x0Config* config)
{
switch (config->init_status) {
case MPU60X0_CONF_PWR:
/* switch to gyroX clock by default */
mpu_set(mpu, MPU60X0_REG_PWR_MGMT_1, ((config->clk_sel)|(0<<6)));
config->init_status++;
break;
case MPU60X0_CONF_SD:
/* configure sample rate divider */
mpu_set(mpu, MPU60X0_REG_SMPLRT_DIV, config->smplrt_div);
config->init_status++;
break;
case MPU60X0_CONF_DLPF:
/* configure digital low pass filter */
mpu_set(mpu, MPU60X0_REG_CONFIG, config->dlpf_cfg);
config->init_status++;
break;
case MPU60X0_CONF_GYRO:
/* configure gyro range */
mpu_set(mpu, MPU60X0_REG_GYRO_CONFIG, (config->gyro_range<<3));
config->init_status++;
break;
case MPU60X0_CONF_ACCEL:
/* configure accelerometer range */
mpu_set(mpu, MPU60X0_REG_ACCEL_CONFIG, (config->accel_range<<3));
config->init_status++;
break;
case MPU60X0_CONF_I2C_BYPASS:
mpu_set(mpu, MPU60X0_REG_INT_PIN_CFG, (config->i2c_bypass<<1));
config->init_status++;
break;
case MPU60X0_CONF_INT_ENABLE:
/* configure data ready interrupt */
mpu_set(mpu, MPU60X0_REG_INT_ENABLE, (config->drdy_int_enable<<0));
config->init_status++;
break;
case MPU60X0_CONF_DONE:
config->initialized = TRUE;
break;
default:
break;
}
}
sw/airborne/peripherals/mpu60x0.h
+4 -51
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@@ -50,10 +50,10 @@ enum Mpu60x0ConfStatus {
MPU60X0_CONF_UNINIT,
MPU60X0_CONF_PWR,
MPU60X0_CONF_SD,
MPU60X0_CONF_CONFIG,
MPU60X0_CONF_DLPF,
MPU60X0_CONF_GYRO,
MPU60X0_CONF_ACCEL,
MPU60X0_CONF_INT_PIN,
MPU60X0_CONF_I2C_BYPASS,
MPU60X0_CONF_INT_ENABLE,
MPU60X0_CONF_DONE
};
@@ -70,59 +70,12 @@ struct Mpu60x0Config {
bool_t initialized; ///< config done flag
};
static inline void mpu60x0_set_default_config(struct Mpu60x0Config *c)
{
c->smplrt_div = MPU60X0_DEFAULT_SMPLRT_DIV;
c->dlpf_cfg = MPU60X0_DEFAULT_DLPF_CFG;
c->gyro_range = MPU60X0_DEFAULT_FS_SEL;
c->accel_range = MPU60X0_DEFAULT_AFS_SEL;
c->i2c_bypass = TRUE;
c->drdy_int_enable = FALSE;
c->clk_sel = MPU60X0_DEFAULT_CLK_SEL;
}
extern void mpu60x0_set_default_config(struct Mpu60x0Config *c);
/// Configuration function prototype
typedef void (*Mpu60x0ConfigSet)(void* mpu, uint8_t _reg, uint8_t _val);
/// Configuration sequence called once before normal use
static inline void mpu60x0_send_config(Mpu60x0ConfigSet mpu_set, void* mpu, struct Mpu60x0Config* config)
{
switch (config->init_status) {
case MPU60X0_CONF_SD:
mpu_set(mpu, MPU60X0_REG_SMPLRT_DIV, config->smplrt_div);
config->init_status++;
break;
case MPU60X0_CONF_CONFIG:
mpu_set(mpu, MPU60X0_REG_CONFIG, config->dlpf_cfg);
config->init_status++;
break;
case MPU60X0_CONF_GYRO:
mpu_set(mpu, MPU60X0_REG_GYRO_CONFIG, (config->gyro_range<<3));
config->init_status++;
break;
case MPU60X0_CONF_ACCEL:
mpu_set(mpu, MPU60X0_REG_ACCEL_CONFIG, (config->accel_range<<3));
config->init_status++;
break;
case MPU60X0_CONF_INT_PIN:
mpu_set(mpu, MPU60X0_REG_INT_PIN_CFG, (config->i2c_bypass<<1));
config->init_status++;
break;
case MPU60X0_CONF_INT_ENABLE:
mpu_set(mpu, MPU60X0_REG_INT_ENABLE, (config->drdy_int_enable<<0));
config->init_status++;
break;
case MPU60X0_CONF_PWR:
mpu_set(mpu, MPU60X0_REG_PWR_MGMT_1, ((config->clk_sel)|(0<<6)));
config->init_status++;
break;
case MPU60X0_CONF_DONE:
config->initialized = TRUE;
break;
default:
break;
}
}
extern void mpu60x0_send_config(Mpu60x0ConfigSet mpu_set, void* mpu, struct Mpu60x0Config* config);
#endif // MPU60X0_H
sw/airborne/peripherals/mpu60x0_regs.h
+4
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@@ -119,6 +119,10 @@
#define MPU60X0_REG_WHO_AM_I 0X75
#define MPU60X0_WHOAMI_REPLY 0x68
// Bit positions
#define MPU60X0_I2C_BYPASS_EN 1
#define MPU60X0_I2C_MST_EN 5
/** Digital Low Pass Filter Options
* DLFP is affecting both gyro and accels,
* with slightly different bandwidth