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https://github.com/paparazzi/paparazzi.git
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Merge branch 'mpu9250_spi'
* mpu9250_spi: MPU9250 work in spi mode, but not test it in real flight [imu] start mpu9250_spi impl
This commit is contained in:
Felix Ruess
@@ -0,0 +1,59 @@
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# Hey Emacs, this is a -*- makefile -*-
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#
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# MPU9250 IMU via SPI
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# Should @ conf/firmwares/subsystems/shared/imu_mpu9250_spi.makefile
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#
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include $(CFG_SHARED)/spi_master.makefile
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# for fixedwing firmware and ap only
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ifeq ($(TARGET), ap)
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IMU_MPU9250_CFLAGS = -DUSE_IMU
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endif
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IMU_MPU9250_CFLAGS += -DIMU_TYPE_H=\"imu/imu_mpu9250_spi.h\"
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IMU_MPU9250_SRCS = $(SRC_SUBSYSTEMS)/imu.c
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IMU_MPU9250_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_mpu9250_spi.c
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IMU_MPU9250_SRCS += peripherals/mpu9250.c
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IMU_MPU9250_SRCS += peripherals/mpu9250_spi.c
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# set default SPI device and slave index
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ifeq ($(ARCH), lpc21)
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IMU_MPU9250_SPI_DEV ?= spi1
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IMU_MPU9250_SPI_SLAVE_IDX ?= SPI_SLAVE0
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else ifeq ($(ARCH), stm32)
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IMU_MPU9250_SPI_DEV ?= spi2
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IMU_MPU9250_SPI_SLAVE_IDX ?= SPI_SLAVE2
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endif
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ifeq ($(TARGET), ap)
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ifndef IMU_MPU9250_SPI_DEV
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$(error Error: IMU_MPU9250_SPI_DEV not configured!)
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endif
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ifndef IMU_MPU9250_SPI_SLAVE_IDX
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$(error Error: IMU_MPU9250_SPI_SLAVE_IDX not configured!)
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endif
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endif
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# convert spix to upper/lower case
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IMU_MPU9250_SPI_DEV_UPPER=$(shell echo $(IMU_MPU9250_SPI_DEV) | tr a-z A-Z)
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IMU_MPU9250_SPI_DEV_LOWER=$(shell echo $(IMU_MPU9250_SPI_DEV) | tr A-Z a-z)
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IMU_MPU9250_CFLAGS += -DIMU_MPU9250_SPI_DEV=$(IMU_MPU9250_SPI_DEV_LOWER)
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IMU_MPU9250_CFLAGS += -DUSE_$(IMU_MPU9250_SPI_DEV_UPPER)
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IMU_MPU9250_CFLAGS += -DIMU_MPU9250_SPI_SLAVE_IDX=$(IMU_MPU9250_SPI_SLAVE_IDX)
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IMU_MPU9250_CFLAGS += -DUSE_$(IMU_MPU9250_SPI_SLAVE_IDX)
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# add it for all targets except sim, fbw and nps
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ifeq (,$(findstring $(TARGET),sim fbw nps))
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$(TARGET).CFLAGS += $(IMU_MPU9250_CFLAGS)
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$(TARGET).srcs += $(IMU_MPU9250_SRCS)
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endif
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#
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# NPS simulator
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#
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include $(CFG_SHARED)/imu_nps.makefile
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@@ -0,0 +1,270 @@
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/*
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* Copyright (C) 2014 Gautier Hattenberger <gautier.hattenberger@enac.fr>
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*
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* 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, see
|
||||
* <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file subsystems/imu/imu_mpu9250_spi.c
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*
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* IMU driver for the MPU9250 using SPI
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*
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*/
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#include "subsystems/imu.h"
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#include "subsystems/abi.h"
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#include "mcu_periph/sys_time.h"
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#include "mcu_periph/spi.h"
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#include "peripherals/ak8963_regs.h"
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/* SPI defaults set in subsystem makefile, can be configured from airframe file */
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PRINT_CONFIG_VAR(IMU_MPU9250_SPI_SLAVE_IDX)
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PRINT_CONFIG_VAR(IMU_MPU9250_SPI_DEV)
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#if !defined IMU_MPU9250_GYRO_LOWPASS_FILTER && !defined IMU_MPU9250_ACCEL_LOWPASS_FILTER && !defined IMU_MPU9250_SMPLRT_DIV
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#if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
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/* Accelerometer: Bandwidth 41Hz, Delay 5.9ms
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* Gyroscope: Bandwidth 41Hz, Delay 5.9ms sampling 1kHz
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* Output rate: 100Hz
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*/
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#define IMU_MPU9250_GYRO_LOWPASS_FILTER MPU9250_DLPF_GYRO_41HZ
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#define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_41HZ
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#define IMU_MPU9250_SMPLRT_DIV 9
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PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
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#elif PERIODIC_FREQUENCY == 512
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/* Accelerometer: Bandwidth 184Hz, Delay 5.8ms
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* Gyroscope: Bandwidth 250Hz, Delay 0.97ms sampling 8kHz
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* Output rate: 2kHz
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*/
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#define IMU_MPU9250_GYRO_LOWPASS_FILTER MPU9250_DLPF_GYRO_250HZ
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#define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_184HZ
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#define IMU_MPU9250_SMPLRT_DIV 3
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PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
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#else
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/* By default, don't go too fast */
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#define IMU_MPU9250_SMPLRT_DIV 9
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#define IMU_MPU9250_GYRO_LOWPASS_FILTER MPU9250_DLPF_GYRO_41HZ
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#define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_41HZ
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PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
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#endif
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#endif
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PRINT_CONFIG_VAR(IMU_MPU9250_SMPLRT_DIV)
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PRINT_CONFIG_VAR(IMU_MPU9250_GYRO_LOWPASS_FILTER)
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PRINT_CONFIG_VAR(IMU_MPU9250_ACCEL_LOWPASS_FILTER)
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#ifndef IMU_MPU9250_GYRO_RANGE
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#define IMU_MPU9250_GYRO_RANGE MPU9250_GYRO_RANGE_1000
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#endif
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PRINT_CONFIG_VAR(IMU_MPU9250_GYRO_RANGE)
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#ifndef IMU_MPU9250_ACCEL_RANGE
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#define IMU_MPU9250_ACCEL_RANGE MPU9250_ACCEL_RANGE_8G
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#endif
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PRINT_CONFIG_VAR(IMU_MPU9250_ACCEL_RANGE)
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// Default channels order
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#ifndef IMU_MPU9250_CHAN_X
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#define IMU_MPU9250_CHAN_X 0
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#endif
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PRINT_CONFIG_VAR(IMU_MPU9250_CHAN_X)
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#ifndef IMU_MPU9250_CHAN_Y
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#define IMU_MPU9250_CHAN_Y 1
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#endif
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PRINT_CONFIG_VAR(IMU_MPU9250_CHAN_Y)
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#ifndef IMU_MPU9250_CHAN_Z
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#define IMU_MPU9250_CHAN_Z 2
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#endif
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PRINT_CONFIG_VAR(IMU_MPU9250_CHAN_Z)
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#ifndef IMU_MPU9250_READ_MAG
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#define IMU_MPU9250_READ_MAG TRUE
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#endif
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#ifndef IMU_MPU9250_MAG_STARTUP_DELAY
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#define IMU_MPU9250_MAG_STARTUP_DELAY 1
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#endif
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struct ImuMpu9250 imu_mpu9250;
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void mpu_wait_slave4_ready(void);
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void mpu_wait_slave4_ready_cb(struct spi_transaction *t);
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bool_t imu_mpu9250_configure_mag_slave(Mpu9250ConfigSet mpu_set, void *mpu);
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void imu_impl_init(void)
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{
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/* MPU9250 */
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mpu9250_spi_init(&imu_mpu9250.mpu, &(IMU_MPU9250_SPI_DEV), IMU_MPU9250_SPI_SLAVE_IDX);
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// change the default configuration
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imu_mpu9250.mpu.config.smplrt_div = IMU_MPU9250_SMPLRT_DIV;
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imu_mpu9250.mpu.config.dlpf_gyro_cfg = IMU_MPU9250_GYRO_LOWPASS_FILTER;
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imu_mpu9250.mpu.config.dlpf_accel_cfg = IMU_MPU9250_ACCEL_LOWPASS_FILTER;
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imu_mpu9250.mpu.config.gyro_range = IMU_MPU9250_GYRO_RANGE;
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imu_mpu9250.mpu.config.accel_range = IMU_MPU9250_ACCEL_RANGE;
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/* "internal" ak8963 magnetometer as I2C slave */
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#if IMU_MPU9250_READ_MAG
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/* read 15 bytes for status, accel, gyro + 7 bytes for mag slave */
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imu_mpu9250.mpu.config.nb_bytes = 22;
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imu_mpu9250.mpu.config.nb_slaves = 1;
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#endif
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/* set callback function to configure mag */
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imu_mpu9250.mpu.config.slaves[0].configure = &imu_mpu9250_configure_mag_slave;
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/* Set MPU I2C master clock */
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imu_mpu9250.mpu.config.i2c_mst_clk = MPU9250_MST_CLK_400KHZ;
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/* Enable I2C slave0 delayed sample rate */
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imu_mpu9250.mpu.config.i2c_mst_delay = 1;
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/* configure spi transaction for wait_slave4 */
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imu_mpu9250.wait_slave4_trans.cpol = SPICpolIdleHigh;
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imu_mpu9250.wait_slave4_trans.cpha = SPICphaEdge2;
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imu_mpu9250.wait_slave4_trans.dss = SPIDss8bit;
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imu_mpu9250.wait_slave4_trans.bitorder = SPIMSBFirst;
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imu_mpu9250.wait_slave4_trans.cdiv = SPIDiv64;
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imu_mpu9250.wait_slave4_trans.select = SPISelectUnselect;
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imu_mpu9250.wait_slave4_trans.slave_idx = IMU_MPU9250_SPI_SLAVE_IDX;
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imu_mpu9250.wait_slave4_trans.output_length = 1;
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imu_mpu9250.wait_slave4_trans.input_length = 2;
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imu_mpu9250.wait_slave4_trans.before_cb = NULL;
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imu_mpu9250.wait_slave4_trans.after_cb = mpu_wait_slave4_ready_cb;
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imu_mpu9250.wait_slave4_trans.input_buf = &(imu_mpu9250.wait_slave4_rx_buf[0]);
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imu_mpu9250.wait_slave4_trans.output_buf = &(imu_mpu9250.wait_slave4_tx_buf[0]);
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imu_mpu9250.wait_slave4_trans.status = SPITransDone;
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imu_mpu9250.slave4_ready = FALSE;
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}
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void imu_periodic(void)
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{
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mpu9250_spi_periodic(&imu_mpu9250.mpu);
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}
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#define Int16FromBuf(_buf,_idx) ((int16_t)(_buf[_idx] | (_buf[_idx+1] << 8)))
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void imu_mpu9250_event(void)
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{
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uint32_t now_ts = get_sys_time_usec();
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// If the MPU9250 SPI transaction has succeeded: convert the data
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mpu9250_spi_event(&imu_mpu9250.mpu);
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if (imu_mpu9250.mpu.data_available) {
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// set channel order
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struct Int32Vect3 accel = {
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(int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_X]),
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(int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_Y]),
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(int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_Z])
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};
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struct Int32Rates rates = {
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(int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_X]),
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(int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_Y]),
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(int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_Z])
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};
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// unscaled vector
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VECT3_COPY(imu.accel_unscaled, accel);
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RATES_COPY(imu.gyro_unscaled, rates);
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#if IMU_MPU9250_READ_MAG
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if (!bit_is_set(imu_mpu9250.mpu.data_ext[6], 3)) { //mag valid just HOFL == 0
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/** FIXME: assumes that we get new mag data each time instead of reading drdy bit */
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struct Int32Vect3 mag;
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mag.x = Int16FromBuf(imu_mpu9250.mpu.data_ext, 2 * IMU_MPU9250_CHAN_Y);
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mag.y = Int16FromBuf(imu_mpu9250.mpu.data_ext, 2 * IMU_MPU9250_CHAN_X);
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mag.z = -Int16FromBuf(imu_mpu9250.mpu.data_ext, 2 * IMU_MPU9250_CHAN_Z);
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VECT3_COPY(imu.mag_unscaled, mag);
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imu_scale_mag(&imu);
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AbiSendMsgIMU_MAG_INT32(IMU_MPU9250_ID, now_ts, &imu.mag);
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}
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#endif
|
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imu_mpu9250.mpu.data_available = FALSE;
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imu_scale_gyro(&imu);
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imu_scale_accel(&imu);
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AbiSendMsgIMU_GYRO_INT32(IMU_MPU9250_ID, now_ts, &imu.gyro);
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AbiSendMsgIMU_ACCEL_INT32(IMU_MPU9250_ID, now_ts, &imu.accel);
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}
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}
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// hack with waiting to avoid creating another event loop to check the mag config status
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static inline void mpu_set_and_wait(Mpu9250ConfigSet mpu_set, void *mpu, uint8_t _reg, uint8_t _val)
|
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{
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mpu_set(mpu, _reg, _val);
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while (imu_mpu9250.mpu.spi_trans.status != SPITransSuccess);
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}
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|
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/** function to configure akm8963 mag
|
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* @return TRUE if mag configuration finished
|
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*/
|
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bool_t imu_mpu9250_configure_mag_slave(Mpu9250ConfigSet mpu_set, void *mpu)
|
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{
|
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// wait before starting the configuration of the mag
|
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// doing to early may void the mode configuration
|
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if (get_sys_time_float() < IMU_MPU9250_MAG_STARTUP_DELAY) {
|
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return FALSE;
|
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}
|
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|
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//config AK8963 soft reset
|
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mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_ADDR, (MPU9250_MAG_ADDR >> 1));
|
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mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_REG, AK8963_REG_CNTL2);
|
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mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_DO, 1);
|
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mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_CTRL, (1 << 7)); // Slave 4 enable
|
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|
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mpu_wait_slave4_ready();
|
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|
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// Set it to continious measuring mode 2
|
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mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_ADDR, (MPU9250_MAG_ADDR >> 1));
|
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mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_REG, AK8963_REG_CNTL1);
|
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mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_DO, AK8963_CNTL1_CM_2);
|
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mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_CTRL, (1 << 7)); // Slave 4 enable
|
||||
|
||||
mpu_wait_slave4_ready();
|
||||
|
||||
//Config SLV0 for continus Read
|
||||
mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV0_ADDR, (MPU9250_MAG_ADDR >> 1) | MPU9250_SPI_READ);
|
||||
mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV0_REG, AK8963_REG_HXL);
|
||||
// Put the enable command as last.
|
||||
mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV0_CTRL,
|
||||
(1 << 7) | // Slave 0 enable
|
||||
(7 << 0)); // Read 7 bytes (mag x,y,z + status)
|
||||
|
||||
return TRUE;
|
||||
}
|
||||
|
||||
void mpu_wait_slave4_ready(void)
|
||||
{
|
||||
while (!imu_mpu9250.slave4_ready) {
|
||||
if (imu_mpu9250.wait_slave4_trans.status == SPITransDone) {
|
||||
imu_mpu9250.wait_slave4_tx_buf[0] = MPU9250_REG_I2C_MST_STATUS | MPU9250_SPI_READ;
|
||||
spi_submit(imu_mpu9250.mpu.spi_p, &(imu_mpu9250.wait_slave4_trans));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void mpu_wait_slave4_ready_cb(struct spi_transaction *t)
|
||||
{
|
||||
if (bit_is_set(t->input_buf[1], MPU9250_I2C_SLV4_DONE)) {
|
||||
imu_mpu9250.slave4_ready = TRUE;
|
||||
} else {
|
||||
imu_mpu9250.slave4_ready = FALSE;
|
||||
}
|
||||
t->status = SPITransDone;
|
||||
}
|
||||
@@ -0,0 +1,89 @@
|
||||
/*
|
||||
* Copyright (C) 2014 Gautier Hattenberger <gautier.hattenberger@enac.fr>
|
||||
*
|
||||
* 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, see
|
||||
* <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file subsystems/imu/imu_mpu9250_spi.h
|
||||
*
|
||||
* IMU driver for the MPU9250 using SPI
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef IMU_MPU9250_SPI_H
|
||||
#define IMU_MPU9250_SPI_H
|
||||
|
||||
#include "std.h"
|
||||
#include "generated/airframe.h"
|
||||
#include "subsystems/imu.h"
|
||||
|
||||
#include "peripherals/mpu9250_spi.h"
|
||||
|
||||
|
||||
/** default gyro sensitivy and neutral from the datasheet
|
||||
* MPU with 1000 deg/s has 32.8 LSB/(deg/s)
|
||||
* sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC
|
||||
* sens = 1/32.8 * pi/180 * 4096 = 2.17953
|
||||
I*/
|
||||
#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
|
||||
// FIXME
|
||||
#define IMU_GYRO_P_SENS 2.17953
|
||||
#define IMU_GYRO_P_SENS_NUM 18271
|
||||
#define IMU_GYRO_P_SENS_DEN 8383
|
||||
#define IMU_GYRO_Q_SENS 2.17953
|
||||
#define IMU_GYRO_Q_SENS_NUM 18271
|
||||
#define IMU_GYRO_Q_SENS_DEN 8383
|
||||
#define IMU_GYRO_R_SENS 2.17953
|
||||
#define IMU_GYRO_R_SENS_NUM 18271
|
||||
#define IMU_GYRO_R_SENS_DEN 8383
|
||||
#endif
|
||||
|
||||
/** default accel sensitivy from the datasheet
|
||||
* MPU with 8g has 4096 LSB/g
|
||||
* sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525
|
||||
*/
|
||||
#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
|
||||
// FIXME
|
||||
#define IMU_ACCEL_X_SENS 2.4525
|
||||
#define IMU_ACCEL_X_SENS_NUM 981
|
||||
#define IMU_ACCEL_X_SENS_DEN 400
|
||||
#define IMU_ACCEL_Y_SENS 2.4525
|
||||
#define IMU_ACCEL_Y_SENS_NUM 981
|
||||
#define IMU_ACCEL_Y_SENS_DEN 400
|
||||
#define IMU_ACCEL_Z_SENS 2.4525
|
||||
#define IMU_ACCEL_Z_SENS_NUM 981
|
||||
#define IMU_ACCEL_Z_SENS_DEN 400
|
||||
#endif
|
||||
|
||||
|
||||
struct ImuMpu9250 {
|
||||
struct Mpu9250_Spi mpu;
|
||||
|
||||
struct spi_transaction wait_slave4_trans;
|
||||
volatile uint8_t wait_slave4_tx_buf[1];
|
||||
volatile uint8_t wait_slave4_rx_buf[2];
|
||||
volatile bool_t slave4_ready;
|
||||
};
|
||||
|
||||
extern struct ImuMpu9250 imu_mpu9250;
|
||||
|
||||
extern void imu_mpu9250_event(void);
|
||||
|
||||
#define ImuEvent imu_mpu9250_event
|
||||
|
||||
#endif /* IMU_MPU9250_SPI_H */
|
||||
Reference in New Issue
Block a user