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hoverboard-sideboard-hack-STM/Src/mpu6050.c
EmanuelFeru 323e30b5bb Added Hovercar variant 
- hovercar variant
- iBUS receiver support
- updated baud rate to 115200
2020-12-07 20:30:38 +01:00

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/**
* This file was taken from InvenSense MotionApps v6.12 library and
* refactored for the hoverboard-sideboard-hack project.
*
* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
* Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
*
* 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, either version 3 of the License, or
* (at your option) any later version.
*
* 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, see <http://www.gnu.org/licenses/>.
*/
// Includes
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "defines.h"
#include "config.h"
#include "util.h"
#include "mpu6050.h"
#include "mpu6050_dmp.h"
/* The following functions must be defined for this platform:
* i2c_write(unsigned char slave_addr, unsigned char reg_addr,
* unsigned char length, unsigned char const *data)
* i2c_read(unsigned char slave_addr, unsigned char reg_addr,
* unsigned char length, unsigned char *data)
* delay_ms(unsigned long num_ms)
* get_ms(unsigned long *count)
* labs(long x)
* fabsf(float x)
* min(int a, int b)
*/
MPU_Data mpu; // holds the MPU-6050 data
#ifdef SERIAL_AUX_RX
uint8_t print_aux = 0; // print AUX serial data
#endif
#ifdef MPU_SENSOR_ENABLE
static signed char MPU_ORIENTATION[9] = {1, 0, 0, // [-] MPU Sensor orientation matrix: set this according to the sensor installation
0, 1, 0,
0, 0, 1};
#if !defined MPU6050 && !defined MPU9150 && !defined MPU6500 && !defined MPU9250
#error Which gyro are you using? Define MPUxxxx in config.h
#endif
/* Time for some messy macro work. =]
* #define MPU9150
* is equivalent to..
* #define MPU6050
* #define AK8975_SECONDARY
*
* #define MPU9250
* is equivalent to..
* #define MPU6500
* #define AK8963_SECONDARY
*/
#if defined MPU9150
#ifndef MPU6050
#define MPU6050
#endif /* #ifndef MPU6050 */
#if defined AK8963_SECONDARY
#error "MPU9150 and AK8963_SECONDARY cannot both be defined."
#elif !defined AK8975_SECONDARY /* #if defined AK8963_SECONDARY */
#define AK8975_SECONDARY
#endif /* #if defined AK8963_SECONDARY */
#elif defined MPU9250 /* #if defined MPU9150 */
#ifndef MPU6500
#define MPU6500
#endif /* #ifndef MPU6500 */
#if defined AK8975_SECONDARY
#error "MPU9250 and AK8975_SECONDARY cannot both be defined."
#elif !defined AK8963_SECONDARY /* #if defined AK8975_SECONDARY */
#define AK8963_SECONDARY
#endif /* #if defined AK8975_SECONDARY */
#endif /* #if defined MPU9150 */
#if defined AK8975_SECONDARY || defined AK8963_SECONDARY
#define AK89xx_SECONDARY
#else
/* #warning "No compass = less profit for Invensense. Lame." */
#endif
static int set_int_enable(unsigned char enable);
/* Hardware registers needed by driver. */
struct gyro_reg_s {
unsigned char who_am_i;
unsigned char rate_div;
unsigned char lpf;
unsigned char prod_id;
unsigned char user_ctrl;
unsigned char fifo_en;
unsigned char gyro_cfg;
unsigned char accel_cfg;
unsigned char accel_cfg2;
unsigned char lp_accel_odr;
unsigned char motion_thr;
unsigned char motion_dur;
unsigned char fifo_count_h;
unsigned char fifo_r_w;
unsigned char raw_gyro;
unsigned char raw_accel;
unsigned char temp;
unsigned char int_enable;
unsigned char dmp_int_status;
unsigned char int_status;
unsigned char accel_intel;
unsigned char pwr_mgmt_1;
unsigned char pwr_mgmt_2;
unsigned char int_pin_cfg;
unsigned char mem_r_w;
unsigned char accel_offs;
unsigned char i2c_mst;
unsigned char bank_sel;
unsigned char mem_start_addr;
unsigned char prgm_start_h;
#if defined AK89xx_SECONDARY
unsigned char s0_addr;
unsigned char s0_reg;
unsigned char s0_ctrl;
unsigned char s1_addr;
unsigned char s1_reg;
unsigned char s1_ctrl;
unsigned char s4_ctrl;
unsigned char s0_do;
unsigned char s1_do;
unsigned char i2c_delay_ctrl;
unsigned char raw_compass;
/* The I2C_MST_VDDIO bit is in this register. */
unsigned char yg_offs_tc;
#endif
};
/* Information specific to a particular device. */
struct hw_s {
unsigned char addr;
unsigned short max_fifo;
unsigned char num_reg;
unsigned short temp_sens;
short temp_offset;
unsigned short bank_size;
#if defined AK89xx_SECONDARY
unsigned short compass_fsr;
#endif
};
/* When entering motion interrupt mode, the driver keeps track of the
* previous state so that it can be restored at a later time.
* TODO: This is tacky. Fix it.
*/
struct motion_int_cache_s {
unsigned short gyro_fsr;
unsigned char accel_fsr;
unsigned short lpf;
unsigned short sample_rate;
unsigned char sensors_on;
unsigned char fifo_sensors;
unsigned char dmp_on;
};
/* Cached chip configuration data.
* TODO: A lot of these can be handled with a bitmask.
*/
struct chip_cfg_s {
/* Matches gyro_cfg >> 3 & 0x03 */
unsigned char gyro_fsr;
/* Matches accel_cfg >> 3 & 0x03 */
unsigned char accel_fsr;
/* Enabled sensors. Uses same masks as fifo_en, NOT pwr_mgmt_2. */
unsigned char sensors;
/* Matches config register. */
unsigned char lpf;
unsigned char clk_src;
/* Sample rate, NOT rate divider. */
unsigned short sample_rate;
/* Matches fifo_en register. */
unsigned char fifo_enable;
/* Matches int enable register. */
unsigned char int_enable;
/* 1 if devices on auxiliary I2C bus appear on the primary. */
unsigned char bypass_mode;
/* 1 if half-sensitivity.
* NOTE: This doesn't belong here, but everything else in hw_s is const,
* and this allows us to save some precious RAM.
*/
unsigned char accel_half;
/* 1 if device in low-power accel-only mode. */
unsigned char lp_accel_mode;
/* 1 if interrupts are only triggered on motion events. */
unsigned char int_motion_only;
struct motion_int_cache_s cache;
/* 1 for active low interrupts. */
unsigned char active_low_int;
/* 1 for latched interrupts. */
unsigned char latched_int;
/* 1 if DMP is enabled. */
unsigned char dmp_on;
/* Ensures that DMP will only be loaded once. */
unsigned char dmp_loaded;
/* Sampling rate used when DMP is enabled. */
unsigned short dmp_sample_rate;
#ifdef AK89xx_SECONDARY
/* Compass sample rate. */
unsigned short compass_sample_rate;
unsigned char compass_addr;
short mag_sens_adj[3];
#endif
};
/* Information for self-test. */
struct test_s {
unsigned long gyro_sens;
unsigned long accel_sens;
unsigned char reg_rate_div;
unsigned char reg_lpf;
unsigned char reg_gyro_fsr;
unsigned char reg_accel_fsr;
unsigned short wait_ms;
unsigned char packet_thresh;
float min_dps;
float max_dps;
float max_gyro_var;
float min_g;
float max_g;
float max_accel_var;
#ifdef MPU6500
float max_g_offset;
unsigned short sample_wait_ms;
#endif
};
/* Gyro driver state variables. */
struct gyro_state_s {
const struct gyro_reg_s *reg;
const struct hw_s *hw;
struct chip_cfg_s chip_cfg;
const struct test_s *test;
};
/* Filter configurations. */
enum lpf_e {
INV_FILTER_256HZ_NOLPF2 = 0,
INV_FILTER_188HZ,
INV_FILTER_98HZ,
INV_FILTER_42HZ,
INV_FILTER_20HZ,
INV_FILTER_10HZ,
INV_FILTER_5HZ,
INV_FILTER_2100HZ_NOLPF,
NUM_FILTER
};
/* Full scale ranges. */
enum gyro_fsr_e {
INV_FSR_250DPS = 0,
INV_FSR_500DPS,
INV_FSR_1000DPS,
INV_FSR_2000DPS,
NUM_GYRO_FSR
};
/* Full scale ranges. */
enum accel_fsr_e {
INV_FSR_2G = 0,
INV_FSR_4G,
INV_FSR_8G,
INV_FSR_16G,
NUM_ACCEL_FSR
};
/* Clock sources. */
enum clock_sel_e {
INV_CLK_INTERNAL = 0,
INV_CLK_PLL,
NUM_CLK
};
/* Low-power accel wakeup rates. */
enum lp_accel_rate_e {
#if defined MPU6050
INV_LPA_1_25HZ,
INV_LPA_5HZ,
INV_LPA_20HZ,
INV_LPA_40HZ
#elif defined MPU6500
INV_LPA_0_3125HZ,
INV_LPA_0_625HZ,
INV_LPA_1_25HZ,
INV_LPA_2_5HZ,
INV_LPA_5HZ,
INV_LPA_10HZ,
INV_LPA_20HZ,
INV_LPA_40HZ,
INV_LPA_80HZ,
INV_LPA_160HZ,
INV_LPA_320HZ,
INV_LPA_640HZ
#endif
};
#define BIT_I2C_MST_VDDIO (0x80)
#define BIT_FIFO_EN (0x40)
#define BIT_DMP_EN (0x80)
#define BIT_FIFO_RST (0x04)
#define BIT_DMP_RST (0x08)
#define BIT_FIFO_OVERFLOW (0x10)
#define BIT_DATA_RDY_EN (0x01)
#define BIT_DMP_INT_EN (0x02)
#define BIT_MOT_INT_EN (0x40)
#define BITS_FSR (0x18)
#define BITS_LPF (0x07)
#define BITS_HPF (0x07)
#define BITS_CLK (0x07)
#define BIT_FIFO_SIZE_1024 (0x40)
#define BIT_FIFO_SIZE_2048 (0x80)
#define BIT_FIFO_SIZE_4096 (0xC0)
#define BIT_RESET (0x80)
#define BIT_SLEEP (0x40)
#define BIT_S0_DELAY_EN (0x01)
#define BIT_S2_DELAY_EN (0x04)
#define BITS_SLAVE_LENGTH (0x0F)
#define BIT_SLAVE_BYTE_SW (0x40)
#define BIT_SLAVE_GROUP (0x10)
#define BIT_SLAVE_EN (0x80)
#define BIT_I2C_READ (0x80)
#define BITS_I2C_MASTER_DLY (0x1F)
#define BIT_AUX_IF_EN (0x20)
#define BIT_ACTL (0x80)
#define BIT_LATCH_EN (0x20)
#define BIT_ANY_RD_CLR (0x10)
#define BIT_BYPASS_EN (0x02)
#define BITS_WOM_EN (0xC0)
#define BIT_LPA_CYCLE (0x20)
#define BIT_STBY_XA (0x20)
#define BIT_STBY_YA (0x10)
#define BIT_STBY_ZA (0x08)
#define BIT_STBY_XG (0x04)
#define BIT_STBY_YG (0x02)
#define BIT_STBY_ZG (0x01)
#define BIT_STBY_XYZA (BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA)
#define BIT_STBY_XYZG (BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG)
#if defined AK8975_SECONDARY
#define SUPPORTS_AK89xx_HIGH_SENS (0x00)
#define AK89xx_FSR (9830)
#elif defined AK8963_SECONDARY
#define SUPPORTS_AK89xx_HIGH_SENS (0x10)
#define AK89xx_FSR (4915)
#endif
#ifdef AK89xx_SECONDARY
#define AKM_REG_WHOAMI (0x00)
#define AKM_REG_ST1 (0x02)
#define AKM_REG_HXL (0x03)
#define AKM_REG_ST2 (0x09)
#define AKM_REG_CNTL (0x0A)
#define AKM_REG_ASTC (0x0C)
#define AKM_REG_ASAX (0x10)
#define AKM_REG_ASAY (0x11)
#define AKM_REG_ASAZ (0x12)
#define AKM_DATA_READY (0x01)
#define AKM_DATA_OVERRUN (0x02)
#define AKM_OVERFLOW (0x80)
#define AKM_DATA_ERROR (0x40)
#define AKM_BIT_SELF_TEST (0x40)
#define AKM_POWER_DOWN (0x00 | SUPPORTS_AK89xx_HIGH_SENS)
#define AKM_SINGLE_MEASUREMENT (0x01 | SUPPORTS_AK89xx_HIGH_SENS)
#define AKM_FUSE_ROM_ACCESS (0x0F | SUPPORTS_AK89xx_HIGH_SENS)
#define AKM_MODE_SELF_TEST (0x08 | SUPPORTS_AK89xx_HIGH_SENS)
#define AKM_WHOAMI (0x48)
#endif
#if defined MPU6050
const struct gyro_reg_s reg = {
.who_am_i = 0x75,
.rate_div = 0x19,
.lpf = 0x1A,
.prod_id = 0x0C,
.user_ctrl = 0x6A,
.fifo_en = 0x23,
.gyro_cfg = 0x1B,
.accel_cfg = 0x1C,
.motion_thr = 0x1F,
.motion_dur = 0x20,
.fifo_count_h = 0x72,
.fifo_r_w = 0x74,
.raw_gyro = 0x43,
.raw_accel = 0x3B,
.temp = 0x41,
.int_enable = 0x38,
.dmp_int_status = 0x39,
.int_status = 0x3A,
.pwr_mgmt_1 = 0x6B,
.pwr_mgmt_2 = 0x6C,
.int_pin_cfg = 0x37,
.mem_r_w = 0x6F,
.accel_offs = 0x06,
.i2c_mst = 0x24,
.bank_sel = 0x6D,
.mem_start_addr = 0x6E,
.prgm_start_h = 0x70
#ifdef AK89xx_SECONDARY
,.raw_compass = 0x49,
.yg_offs_tc = 0x01,
.s0_addr = 0x25,
.s0_reg = 0x26,
.s0_ctrl = 0x27,
.s1_addr = 0x28,
.s1_reg = 0x29,
.s1_ctrl = 0x2A,
.s4_ctrl = 0x34,
.s0_do = 0x63,
.s1_do = 0x64,
.i2c_delay_ctrl = 0x67
#endif
};
const struct hw_s hw = {
.addr = 0x68,
.max_fifo = 1024,
.num_reg = 118,
.temp_sens = 340,
.temp_offset = -521,
.bank_size = 256
#if defined AK89xx_SECONDARY
,.compass_fsr = AK89xx_FSR
#endif
};
const struct test_s test = {
.gyro_sens = 32768/250,
.accel_sens = 32768/16,
.reg_rate_div = 0, /* 1kHz. */
.reg_lpf = 1, /* 188Hz. */
.reg_gyro_fsr = 0, /* 250dps. */
.reg_accel_fsr = 0x18, /* 16g. */
.wait_ms = 50,
.packet_thresh = 5, /* 5% */
.min_dps = 10.f,
.max_dps = 105.f,
.max_gyro_var = 0.14f,
.min_g = 0.3f,
.max_g = 0.95f,
.max_accel_var = 0.14f
};
static struct gyro_state_s st = {
.reg = &reg,
.hw = &hw,
.test = &test
};
#elif defined MPU6500
const struct gyro_reg_s reg = {
.who_am_i = 0x75,
.rate_div = 0x19,
.lpf = 0x1A,
.prod_id = 0x0C,
.user_ctrl = 0x6A,
.fifo_en = 0x23,
.gyro_cfg = 0x1B,
.accel_cfg = 0x1C,
.accel_cfg2 = 0x1D,
.lp_accel_odr = 0x1E,
.motion_thr = 0x1F,
.motion_dur = 0x20,
.fifo_count_h = 0x72,
.fifo_r_w = 0x74,
.raw_gyro = 0x43,
.raw_accel = 0x3B,
.temp = 0x41,
.int_enable = 0x38,
.dmp_int_status = 0x39,
.int_status = 0x3A,
.accel_intel = 0x69,
.pwr_mgmt_1 = 0x6B,
.pwr_mgmt_2 = 0x6C,
.int_pin_cfg = 0x37,
.mem_r_w = 0x6F,
.accel_offs = 0x77,
.i2c_mst = 0x24,
.bank_sel = 0x6D,
.mem_start_addr = 0x6E,
.prgm_start_h = 0x70
#ifdef AK89xx_SECONDARY
,.raw_compass = 0x49,
.s0_addr = 0x25,
.s0_reg = 0x26,
.s0_ctrl = 0x27,
.s1_addr = 0x28,
.s1_reg = 0x29,
.s1_ctrl = 0x2A,
.s4_ctrl = 0x34,
.s0_do = 0x63,
.s1_do = 0x64,
.i2c_delay_ctrl = 0x67
#endif
};
const struct hw_s hw = {
.addr = 0x68,
.max_fifo = 1024,
.num_reg = 128,
.temp_sens = 321,
.temp_offset = 0,
.bank_size = 256
#if defined AK89xx_SECONDARY
,.compass_fsr = AK89xx_FSR
#endif
};
const struct test_s test = {
.gyro_sens = 32768/250,
.accel_sens = 32768/2, // FSR = +-2G = 16384 LSB/G
.reg_rate_div = 0, // 1kHz.
.reg_lpf = 2, // 92Hz low pass filter
.reg_gyro_fsr = 0, // 250dps.
.reg_accel_fsr = 0x0, // Accel FSR setting = 2g.
.wait_ms = 200, // 200ms stabilization time
.packet_thresh = 200, // 200 samples
.min_dps = 20.f, // 20 dps for Gyro Criteria C
.max_dps = 60.f, // Must exceed 60 dps threshold for Gyro Criteria B
.max_gyro_var = .5f, // Must exceed +50% variation for Gyro Criteria A
.min_g = .225f, // Accel must exceed Min 225 mg for Criteria B
.max_g = .675f, // Accel cannot exceed Max 675 mg for Criteria B
.max_accel_var = .5f, // Accel must be within 50% variation for Criteria A
.max_g_offset = .5f, // 500 mg for Accel Criteria C
.sample_wait_ms = 10 // 10ms sample time wait
};
static struct gyro_state_s st = {
.reg = &reg,
.hw = &hw,
.test = &test
};
#endif
#define MAX_PACKET_LENGTH (12)
#ifdef MPU6500
#define HWST_MAX_PACKET_LENGTH (512)
#endif
#ifdef AK89xx_SECONDARY
static int setup_compass(void);
#define MAX_COMPASS_SAMPLE_RATE (100)
#endif
/**
* @brief Enable/disable data ready interrupt.
* If the DMP is on, the DMP interrupt is enabled. Otherwise, the data ready interrupt is used.
* @param[in] enable 1 to enable interrupt.
* @return 0 if successful.
*/
static int set_int_enable(unsigned char enable)
{
unsigned char tmp;
if (st.chip_cfg.dmp_on) {
if (enable)
tmp = BIT_DMP_INT_EN;
else
tmp = 0x00;
if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp))
return -1;
st.chip_cfg.int_enable = tmp;
} else {
if (!st.chip_cfg.sensors)
return -1;
if (enable && st.chip_cfg.int_enable)
return 0;
if (enable)
tmp = BIT_DATA_RDY_EN;
else
tmp = 0x00;
if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp))
return -1;
st.chip_cfg.int_enable = tmp;
}
return 0;
}
/**
* @brief Register dump for testing.
* @return 0 if successful.
*/
int mpu_reg_dump(void)
{
unsigned char ii;
unsigned char data;
for (ii = 0; ii < st.hw->num_reg; ii++) {
if (ii == st.reg->fifo_r_w || ii == st.reg->mem_r_w)
continue;
if (i2c_read(st.hw->addr, ii, 1, &data))
return -1;
#ifdef SERIAL_DEBUG
log_i("%#5x: %#5x\r\n", ii, data);
#endif
}
return 0;
}
/**
* @brief Read from a single register.
* NOTE: The memory and FIFO read/write registers cannot be accessed.
* @param[in] reg Register address.
* @param[out] data Register data.
* @return 0 if successful.
*/
int mpu_read_reg(unsigned char reg, unsigned char *data)
{
if (reg == st.reg->fifo_r_w || reg == st.reg->mem_r_w)
return -1;
if (reg >= st.hw->num_reg)
return -1;
return i2c_read(st.hw->addr, reg, 1, data);
}
/**
* @brief Initialize hardware.
* Initial configuration:\n
* Gyro FSR: +/- 2000DPS\n
* Accel FSR +/- 2G\n
* DLPF: 42Hz\n
* FIFO rate: 50Hz\n
* Clock source: Gyro PLL\n
* FIFO: Disabled.\n
* Data ready interrupt: Disabled, active low, unlatched.
* @param[in] int_param Platform-specific parameters to interrupt API.
* @return 0 if successful.
*/
int mpu_init(void)
{
unsigned char data[6];
/* Reset device. */
data[0] = BIT_RESET;
if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
return -1;
delay_ms(100);
/* Wake up chip. */
data[0] = 0x00;
if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
return -1;
st.chip_cfg.accel_half = 0;
#ifdef MPU6500
/* MPU6500 shares 4kB of memory between the DMP and the FIFO. Since the
* first 3kB are needed by the DMP, we'll use the last 1kB for the FIFO.
*/
data[0] = BIT_FIFO_SIZE_1024 | 0x8;
if (i2c_write(st.hw->addr, st.reg->accel_cfg2, 1, data))
return -1;
#endif
/* Set to invalid values to ensure no I2C writes are skipped. */
st.chip_cfg.sensors = 0xFF;
st.chip_cfg.gyro_fsr = 0xFF;
st.chip_cfg.accel_fsr = 0xFF;
st.chip_cfg.lpf = 0xFF;
st.chip_cfg.sample_rate = 0xFFFF;
st.chip_cfg.fifo_enable = 0xFF;
st.chip_cfg.bypass_mode = 0xFF;
#ifdef AK89xx_SECONDARY
st.chip_cfg.compass_sample_rate = 0xFFFF;
#endif
/* mpu_set_sensors always preserves this setting. */
st.chip_cfg.clk_src = INV_CLK_PLL;
/* Handled in next call to mpu_set_bypass. */
st.chip_cfg.active_low_int = 1;
st.chip_cfg.latched_int = 0;
st.chip_cfg.int_motion_only = 0;
st.chip_cfg.lp_accel_mode = 0;
memset(&st.chip_cfg.cache, 0, sizeof(st.chip_cfg.cache));
st.chip_cfg.dmp_on = 0;
st.chip_cfg.dmp_loaded = 0;
st.chip_cfg.dmp_sample_rate = 0;
if (mpu_set_gyro_fsr(MPU_GYRO_FSR))
return -1;
if (mpu_set_accel_fsr(MPU_ACCEL_FSR))
return -1;
if (mpu_set_lpf(42))
return -1;
if (mpu_set_sample_rate(50))
return -1;
if (mpu_configure_fifo(0))
return -1;
#ifdef AK89xx_SECONDARY
setup_compass();
if (mpu_set_compass_sample_rate(10))
return -1;
#else
/* Already disabled by setup_compass. */
if (mpu_set_bypass(0))
return -1;
#endif
mpu_set_sensors(0);
return 0;
}
/**
* @brief Enter low-power accel-only mode.
* In low-power accel mode, the chip goes to sleep and only wakes up to sample
* the accelerometer at one of the following frequencies:
* \n MPU6050: 1.25Hz, 5Hz, 20Hz, 40Hz
* \n MPU6500: 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz
* \n If the requested rate is not one listed above, the device will be set to
* the next highest rate. Requesting a rate above the maximum supported
* frequency will result in an error.
* \n To select a fractional wake-up frequency, round down the value passed to
* @e rate.
* @param[in] rate Minimum sampling rate, or zero to disable LP
* accel mode.
* @return 0 if successful.
*/
int mpu_lp_accel_mode(unsigned short rate)
{
unsigned char tmp[2];
if (rate > 40)
return -1;
if (!rate) {
mpu_set_int_latched(0);
tmp[0] = 0;
tmp[1] = BIT_STBY_XYZG;
if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp))
return -1;
st.chip_cfg.lp_accel_mode = 0;
return 0;
}
/* For LP accel, we automatically configure the hardware to produce latched
* interrupts. In LP accel mode, the hardware cycles into sleep mode before
* it gets a chance to deassert the interrupt pin; therefore, we shift this
* responsibility over to the MCU.
*
* Any register read will clear the interrupt.
*/
mpu_set_int_latched(1);
#if defined MPU6050
tmp[0] = BIT_LPA_CYCLE;
if (rate == 1) {
tmp[1] = INV_LPA_1_25HZ;
mpu_set_lpf(5);
} else if (rate <= 5) {
tmp[1] = INV_LPA_5HZ;
mpu_set_lpf(5);
} else if (rate <= 20) {
tmp[1] = INV_LPA_20HZ;
mpu_set_lpf(10);
} else {
tmp[1] = INV_LPA_40HZ;
mpu_set_lpf(20);
}
tmp[1] = (tmp[1] << 6) | BIT_STBY_XYZG;
if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp))
return -1;
#elif defined MPU6500
/* Set wake frequency. */
if (rate == 1)
tmp[0] = INV_LPA_1_25HZ;
else if (rate == 2)
tmp[0] = INV_LPA_2_5HZ;
else if (rate <= 5)
tmp[0] = INV_LPA_5HZ;
else if (rate <= 10)
tmp[0] = INV_LPA_10HZ;
else if (rate <= 20)
tmp[0] = INV_LPA_20HZ;
else if (rate <= 40)
tmp[0] = INV_LPA_40HZ;
else if (rate <= 80)
tmp[0] = INV_LPA_80HZ;
else if (rate <= 160)
tmp[0] = INV_LPA_160HZ;
else if (rate <= 320)
tmp[0] = INV_LPA_320HZ;
else
tmp[0] = INV_LPA_640HZ;
if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, tmp))
return -1;
tmp[0] = BIT_LPA_CYCLE;
if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, tmp))
return -1;
#endif
st.chip_cfg.sensors = INV_XYZ_ACCEL;
st.chip_cfg.clk_src = 0;
st.chip_cfg.lp_accel_mode = 1;
mpu_configure_fifo(0);
return 0;
}
/**
* @brief Read raw gyro data directly from the registers.
* @param[out] data Raw data in hardware units.
* @param[out] timestamp Timestamp in milliseconds. Null if not needed.
* @return 0 if successful.
*/
int mpu_get_gyro_reg(short *data, unsigned long *timestamp)
{
unsigned char tmp[6];
if (!(st.chip_cfg.sensors & INV_XYZ_GYRO))
return -1;
if (i2c_read(st.hw->addr, st.reg->raw_gyro, 6, tmp))
return -1;
data[0] = (tmp[0] << 8) | tmp[1];
data[1] = (tmp[2] << 8) | tmp[3];
data[2] = (tmp[4] << 8) | tmp[5];
if (timestamp)
get_ms(timestamp);
return 0;
}
/**
* @brief Read raw accel data directly from the registers.
* @param[out] data Raw data in hardware units.
* @param[out] timestamp Timestamp in milliseconds. Null if not needed.
* @return 0 if successful.
*/
int mpu_get_accel_reg(short *data, unsigned long *timestamp)
{
unsigned char tmp[6];
if (!(st.chip_cfg.sensors & INV_XYZ_ACCEL))
return -1;
if (i2c_read(st.hw->addr, st.reg->raw_accel, 6, tmp))
return -1;
data[0] = (tmp[0] << 8) | tmp[1];
data[1] = (tmp[2] << 8) | tmp[3];
data[2] = (tmp[4] << 8) | tmp[5];
if (timestamp)
get_ms(timestamp);
return 0;
}
/**
* @brief Read temperature data directly from the registers.
* @param[out] data Data in q16 format.
* @param[out] timestamp Timestamp in milliseconds. Null if not needed.
* @return 0 if successful.
*/
int mpu_get_temperature(long *data, unsigned long *timestamp)
{
unsigned char tmp[2];
short raw;
if (!(st.chip_cfg.sensors))
return -1;
if (i2c_read(st.hw->addr, st.reg->temp, 2, tmp))
return -1;
raw = (tmp[0] << 8) | tmp[1];
if (timestamp)
get_ms(timestamp);
data[0] = (long)((35 + ((raw - (float)st.hw->temp_offset) / st.hw->temp_sens)) * 65536L);
return 0;
}
/**
* @brief Read biases to the accel bias 6500 registers.
* This function reads from the MPU6500 accel offset cancellations registers.
* The format are G in +-8G format. The register is initialized with OTP
* factory trim values.
* @param[in] accel_bias returned structure with the accel bias
* @return 0 if successful.
*/
int mpu_read_6500_accel_bias(long *accel_bias) {
unsigned char data[6];
if (i2c_read(st.hw->addr, 0x77, 2, &data[0]))
return -1;
if (i2c_read(st.hw->addr, 0x7A, 2, &data[2]))
return -1;
if (i2c_read(st.hw->addr, 0x7D, 2, &data[4]))
return -1;
accel_bias[0] = ((long)data[0]<<8) | data[1];
accel_bias[1] = ((long)data[2]<<8) | data[3];
accel_bias[2] = ((long)data[4]<<8) | data[5];
return 0;
}
/**
* @brief Read biases to the accel bias 6050 registers.
* This function reads from the MPU6050 accel offset cancellations registers.
* The format are G in +-8G format. The register is initialized with OTP
* factory trim values.
* @param[in] accel_bias returned structure with the accel bias
* @return 0 if successful.
*/
int mpu_read_6050_accel_bias(long *accel_bias) {
unsigned char data[6];
if (i2c_read(st.hw->addr, 0x06, 2, &data[0]))
return -1;
if (i2c_read(st.hw->addr, 0x08, 2, &data[2]))
return -1;
if (i2c_read(st.hw->addr, 0x0A, 2, &data[4]))
return -1;
accel_bias[0] = ((long)data[0]<<8) | data[1];
accel_bias[1] = ((long)data[2]<<8) | data[3];
accel_bias[2] = ((long)data[4]<<8) | data[5];
return 0;
}
int mpu_read_6500_gyro_bias(long *gyro_bias) {
unsigned char data[6];
if (i2c_read(st.hw->addr, 0x13, 2, &data[0]))
return -1;
if (i2c_read(st.hw->addr, 0x15, 2, &data[2]))
return -1;
if (i2c_read(st.hw->addr, 0x17, 2, &data[4]))
return -1;
gyro_bias[0] = ((long)data[0]<<8) | data[1];
gyro_bias[1] = ((long)data[2]<<8) | data[3];
gyro_bias[2] = ((long)data[4]<<8) | data[5];
return 0;
}
/**
* @brief Push biases to the gyro bias 6500/6050 registers.
* This function expects biases relative to the current sensor output, and
* these biases will be added to the factory-supplied values. Bias inputs are LSB
* in +-1000dps format.
* @param[in] gyro_bias New biases.
* @return 0 if successful.
*/
int mpu_set_gyro_bias_reg(long *gyro_bias)
{
unsigned char data[6] = {0, 0, 0, 0, 0, 0};
int i=0;
for(i=0;i<3;i++) {
gyro_bias[i]= (-gyro_bias[i]);
}
data[0] = (gyro_bias[0] >> 8) & 0xff;
data[1] = (gyro_bias[0]) & 0xff;
data[2] = (gyro_bias[1] >> 8) & 0xff;
data[3] = (gyro_bias[1]) & 0xff;
data[4] = (gyro_bias[2] >> 8) & 0xff;
data[5] = (gyro_bias[2]) & 0xff;
if (i2c_write(st.hw->addr, 0x13, 2, &data[0]))
return -1;
if (i2c_write(st.hw->addr, 0x15, 2, &data[2]))
return -1;
if (i2c_write(st.hw->addr, 0x17, 2, &data[4]))
return -1;
return 0;
}
/**
* @brief Push biases to the accel bias 6050 registers.
* This function expects biases relative to the current sensor output, and
* these biases will be added to the factory-supplied values. Bias inputs are LSB
* in +-16G format.
* @param[in] accel_bias New biases.
* @return 0 if successful.
*/
int mpu_set_accel_bias_6050_reg(const long *accel_bias) {
unsigned char data[6] = {0, 0, 0, 0, 0, 0};
long accel_reg_bias[3] = {0, 0, 0};
if(mpu_read_6050_accel_bias(accel_reg_bias))
return -1;
accel_reg_bias[0] -= (accel_bias[0] & ~1);
accel_reg_bias[1] -= (accel_bias[1] & ~1);
accel_reg_bias[2] -= (accel_bias[2] & ~1);
data[0] = (accel_reg_bias[0] >> 8) & 0xff;
data[1] = (accel_reg_bias[0]) & 0xff;
data[2] = (accel_reg_bias[1] >> 8) & 0xff;
data[3] = (accel_reg_bias[1]) & 0xff;
data[4] = (accel_reg_bias[2] >> 8) & 0xff;
data[5] = (accel_reg_bias[2]) & 0xff;
if (i2c_write(st.hw->addr, 0x06, 2, &data[0]))
return -1;
if (i2c_write(st.hw->addr, 0x08, 2, &data[2]))
return -1;
if (i2c_write(st.hw->addr, 0x0A, 2, &data[4]))
return -1;
return 0;
}
/**
* @brief Push biases to the accel bias 6500 registers.
* This function expects biases relative to the current sensor output, and
* these biases will be added to the factory-supplied values. Bias inputs are LSB
* in +-16G format.
* @param[in] accel_bias New biases.
* @return 0 if successful.
*/
int mpu_set_accel_bias_6500_reg(const long *accel_bias) {
unsigned char data[6] = {0, 0, 0, 0, 0, 0};
long accel_reg_bias[3] = {0, 0, 0};
if(mpu_read_6500_accel_bias(accel_reg_bias))
return -1;
// Preserve bit 0 of factory value (for temperature compensation)
accel_reg_bias[0] -= (accel_bias[0] & ~1);
accel_reg_bias[1] -= (accel_bias[1] & ~1);
accel_reg_bias[2] -= (accel_bias[2] & ~1);
data[0] = (accel_reg_bias[0] >> 8) & 0xff;
data[1] = (accel_reg_bias[0]) & 0xff;
data[2] = (accel_reg_bias[1] >> 8) & 0xff;
data[3] = (accel_reg_bias[1]) & 0xff;
data[4] = (accel_reg_bias[2] >> 8) & 0xff;
data[5] = (accel_reg_bias[2]) & 0xff;
if (i2c_write(st.hw->addr, 0x77, 2, &data[0]))
return -1;
if (i2c_write(st.hw->addr, 0x7A, 2, &data[2]))
return -1;
if (i2c_write(st.hw->addr, 0x7D, 2, &data[4]))
return -1;
return 0;
}
/**
* @brief Reset FIFO read/write pointers.
* @return 0 if successful.
*/
int mpu_reset_fifo(void)
{
unsigned char data;
if (!(st.chip_cfg.sensors))
return -1;
data = 0;
if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
return -1;
if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data))
return -1;
if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
return -1;
if (st.chip_cfg.dmp_on) {
data = BIT_FIFO_RST | BIT_DMP_RST;
if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
return -1;
delay_ms(50);
data = BIT_DMP_EN | BIT_FIFO_EN;
if (st.chip_cfg.sensors & INV_XYZ_COMPASS)
data |= BIT_AUX_IF_EN;
if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
return -1;
if (st.chip_cfg.int_enable)
data = BIT_DMP_INT_EN;
else
data = 0;
if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
return -1;
data = 0;
if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data))
return -1;
} else {
data = BIT_FIFO_RST;
if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
return -1;
if (st.chip_cfg.bypass_mode || !(st.chip_cfg.sensors & INV_XYZ_COMPASS))
data = BIT_FIFO_EN;
else
data = BIT_FIFO_EN | BIT_AUX_IF_EN;
if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data))
return -1;
delay_ms(50);
if (st.chip_cfg.int_enable)
data = BIT_DATA_RDY_EN;
else
data = 0;
if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data))
return -1;
if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &st.chip_cfg.fifo_enable))
return -1;
}
return 0;
}
/**
* @brief Get the gyro full-scale range.
* @param[out] fsr Current full-scale range.
* @return 0 if successful.
*/
int mpu_get_gyro_fsr(unsigned short *fsr)
{
switch (st.chip_cfg.gyro_fsr) {
case INV_FSR_250DPS:
fsr[0] = 250;
break;
case INV_FSR_500DPS:
fsr[0] = 500;
break;
case INV_FSR_1000DPS:
fsr[0] = 1000;
break;
case INV_FSR_2000DPS:
fsr[0] = 2000;
break;
default:
fsr[0] = 0;
break;
}
return 0;
}
/**
* @brief Set the gyro full-scale range.
* @param[in] fsr Desired full-scale range.
* @return 0 if successful.
*/
int mpu_set_gyro_fsr(unsigned short fsr)
{
unsigned char data;
if (!(st.chip_cfg.sensors))
return -1;
switch (fsr) {
case 250:
data = INV_FSR_250DPS << 3;
break;
case 500:
data = INV_FSR_500DPS << 3;
break;
case 1000:
data = INV_FSR_1000DPS << 3;
break;
case 2000:
data = INV_FSR_2000DPS << 3;
break;
default:
return -1;
}
if (st.chip_cfg.gyro_fsr == (data >> 3))
return 0;
if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, &data))
return -1;
st.chip_cfg.gyro_fsr = data >> 3;
return 0;
}
/**
* @brief Get the accel full-scale range.
* @param[out] fsr Current full-scale range.
* @return 0 if successful.
*/
int mpu_get_accel_fsr(unsigned char *fsr)
{
switch (st.chip_cfg.accel_fsr) {
case INV_FSR_2G:
fsr[0] = 2;
break;
case INV_FSR_4G:
fsr[0] = 4;
break;
case INV_FSR_8G:
fsr[0] = 8;
break;
case INV_FSR_16G:
fsr[0] = 16;
break;
default:
return -1;
}
if (st.chip_cfg.accel_half)
fsr[0] <<= 1;
return 0;
}
/**
* @brief Set the accel full-scale range.
* @param[in] fsr Desired full-scale range.
* @return 0 if successful.
*/
int mpu_set_accel_fsr(unsigned char fsr)
{
unsigned char data;
if (!(st.chip_cfg.sensors))
return -1;
switch (fsr) {
case 2:
data = INV_FSR_2G << 3;
break;
case 4:
data = INV_FSR_4G << 3;
break;
case 8:
data = INV_FSR_8G << 3;
break;
case 16:
data = INV_FSR_16G << 3;
break;
default:
return -1;
}
if (st.chip_cfg.accel_fsr == (data >> 3))
return 0;
if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, &data))
return -1;
st.chip_cfg.accel_fsr = data >> 3;
return 0;
}
/**
* @brief Get the current DLPF setting.
* @param[out] lpf Current LPF setting.
* 0 if successful.
*/
int mpu_get_lpf(unsigned short *lpf)
{
switch (st.chip_cfg.lpf) {
case INV_FILTER_188HZ:
lpf[0] = 188;
break;
case INV_FILTER_98HZ:
lpf[0] = 98;
break;
case INV_FILTER_42HZ:
lpf[0] = 42;
break;
case INV_FILTER_20HZ:
lpf[0] = 20;
break;
case INV_FILTER_10HZ:
lpf[0] = 10;
break;
case INV_FILTER_5HZ:
lpf[0] = 5;
break;
case INV_FILTER_256HZ_NOLPF2:
case INV_FILTER_2100HZ_NOLPF:
default:
lpf[0] = 0;
break;
}
return 0;
}
/**
* @brief Set digital low pass filter.
* The following LPF settings are supported: 188, 98, 42, 20, 10, 5.
* @param[in] lpf Desired LPF setting.
* @return 0 if successful.
*/
int mpu_set_lpf(unsigned short lpf)
{
unsigned char data;
if (!(st.chip_cfg.sensors))
return -1;
if (lpf >= 188)
data = INV_FILTER_188HZ;
else if (lpf >= 98)
data = INV_FILTER_98HZ;
else if (lpf >= 42)
data = INV_FILTER_42HZ;
else if (lpf >= 20)
data = INV_FILTER_20HZ;
else if (lpf >= 10)
data = INV_FILTER_10HZ;
else
data = INV_FILTER_5HZ;
if (st.chip_cfg.lpf == data)
return 0;
if (i2c_write(st.hw->addr, st.reg->lpf, 1, &data))
return -1;
st.chip_cfg.lpf = data;
return 0;
}
/**
* @brief Get sampling rate.
* @param[out] rate Current sampling rate (Hz).
* @return 0 if successful.
*/
int mpu_get_sample_rate(unsigned short *rate)
{
if (st.chip_cfg.dmp_on)
return -1;
else
rate[0] = st.chip_cfg.sample_rate;
return 0;
}
/**
* @brief Set sampling rate.
* Sampling rate must be between 4Hz and 1kHz.
* @param[in] rate Desired sampling rate (Hz).
* @return 0 if successful.
*/
int mpu_set_sample_rate(unsigned short rate)
{
unsigned char data;
if (!(st.chip_cfg.sensors))
return -1;
if (st.chip_cfg.dmp_on)
return -1;
else {
if (st.chip_cfg.lp_accel_mode) {
if (rate && (rate <= 40)) {
/* Just stay in low-power accel mode. */
mpu_lp_accel_mode(rate);
return 0;
}
/* Requested rate exceeds the allowed frequencies in LP accel mode,
* switch back to full-power mode.
*/
mpu_lp_accel_mode(0);
}
if (rate < 4)
rate = 4;
else if (rate > 1000)
rate = 1000;
data = 1000 / rate - 1;
if (i2c_write(st.hw->addr, st.reg->rate_div, 1, &data))
return -1;
st.chip_cfg.sample_rate = 1000 / (1 + data);
#ifdef AK89xx_SECONDARY
mpu_set_compass_sample_rate(min(st.chip_cfg.compass_sample_rate, MAX_COMPASS_SAMPLE_RATE));
#endif
/* Automatically set LPF to 1/2 sampling rate. */
mpu_set_lpf(st.chip_cfg.sample_rate >> 1);
return 0;
}
}
/**
* @brief Get compass sampling rate.
* @param[out] rate Current compass sampling rate (Hz).
* @return 0 if successful.
*/
int mpu_get_compass_sample_rate(unsigned short *rate)
{
#ifdef AK89xx_SECONDARY
rate[0] = st.chip_cfg.compass_sample_rate;
return 0;
#else
rate[0] = 0;
return -1;
#endif
}
/**
* @brief Set compass sampling rate.
* The compass on the auxiliary I2C bus is read by the MPU hardware at a
* maximum of 100Hz. The actual rate can be set to a fraction of the gyro
* sampling rate.
*
* \n WARNING: The new rate may be different than what was requested. Call
* mpu_get_compass_sample_rate to check the actual setting.
* @param[in] rate Desired compass sampling rate (Hz).
* @return 0 if successful.
*/
int mpu_set_compass_sample_rate(unsigned short rate)
{
#ifdef AK89xx_SECONDARY
unsigned char div;
if (!rate || rate > st.chip_cfg.sample_rate || rate > MAX_COMPASS_SAMPLE_RATE)
return -1;
div = st.chip_cfg.sample_rate / rate - 1;
if (i2c_write(st.hw->addr, st.reg->s4_ctrl, 1, &div))
return -1;
st.chip_cfg.compass_sample_rate = st.chip_cfg.sample_rate / (div + 1);
return 0;
#else
return -1;
#endif
}
/**
* @brief Get gyro sensitivity scale factor.
* @param[out] sens Conversion from hardware units to dps.
* @return 0 if successful.
*/
int mpu_get_gyro_sens(float *sens)
{
switch (st.chip_cfg.gyro_fsr) {
case INV_FSR_250DPS:
sens[0] = 131.f;
break;
case INV_FSR_500DPS:
sens[0] = 65.5f;
break;
case INV_FSR_1000DPS:
sens[0] = 32.8f;
break;
case INV_FSR_2000DPS:
sens[0] = 16.4f;
break;
default:
return -1;
}
return 0;
}
/**
* @brief Get accel sensitivity scale factor.
* @param[out] sens Conversion from hardware units to g's.
* @return 0 if successful.
*/
int mpu_get_accel_sens(unsigned short *sens)
{
switch (st.chip_cfg.accel_fsr) {
case INV_FSR_2G:
sens[0] = 16384;
break;
case INV_FSR_4G:
sens[0] = 8192;
break;
case INV_FSR_8G:
sens[0] = 4096;
break;
case INV_FSR_16G:
sens[0] = 2048;
break;
default:
return -1;
}
if (st.chip_cfg.accel_half)
sens[0] >>= 1;
return 0;
}
/**
* @brief Get current FIFO configuration.
* @e sensors can contain a combination of the following flags:
* \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
* \n INV_XYZ_GYRO
* \n INV_XYZ_ACCEL
* @param[out] sensors Mask of sensors in FIFO.
* @return 0 if successful.
*/
int mpu_get_fifo_config(unsigned char *sensors)
{
sensors[0] = st.chip_cfg.fifo_enable;
return 0;
}
/**
* @brief Select which sensors are pushed to FIFO.
* @e sensors can contain a combination of the following flags:
* \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
* \n INV_XYZ_GYRO
* \n INV_XYZ_ACCEL
* @param[in] sensors Mask of sensors to push to FIFO.
* @return 0 if successful.
*/
int mpu_configure_fifo(unsigned char sensors)
{
unsigned char prev;
int result = 0;
/* Compass data isn't going into the FIFO. Stop trying. */
sensors &= ~INV_XYZ_COMPASS;
if (st.chip_cfg.dmp_on)
return 0;
else {
if (!(st.chip_cfg.sensors))
return -1;
prev = st.chip_cfg.fifo_enable;
st.chip_cfg.fifo_enable = sensors & st.chip_cfg.sensors;
if (st.chip_cfg.fifo_enable != sensors)
/* You're not getting what you asked for. Some sensors are
* asleep.
*/
result = -1;
else
result = 0;
if (sensors || st.chip_cfg.lp_accel_mode)
set_int_enable(1);
else
set_int_enable(0);
if (sensors) {
if (mpu_reset_fifo()) {
st.chip_cfg.fifo_enable = prev;
return -1;
}
}
}
return result;
}
/**
* @brief Get current power state.
* @param[in] power_on 1 if turned on, 0 if suspended.
* @return 0 if successful.
*/
int mpu_get_power_state(unsigned char *power_on)
{
if (st.chip_cfg.sensors)
power_on[0] = 1;
else
power_on[0] = 0;
return 0;
}
/**
* @brief Turn specific sensors on/off.
* @e sensors can contain a combination of the following flags:
* \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
* \n INV_XYZ_GYRO
* \n INV_XYZ_ACCEL
* \n INV_XYZ_COMPASS
* @param[in] sensors Mask of sensors to wake.
* @return 0 if successful.
*/
int mpu_set_sensors(unsigned char sensors)
{
unsigned char data;
#ifdef AK89xx_SECONDARY
unsigned char user_ctrl;
#endif
if (sensors & INV_XYZ_GYRO)
data = INV_CLK_PLL;
else if (sensors)
data = 0;
else
data = BIT_SLEEP;
if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &data)) {
st.chip_cfg.sensors = 0;
return -1;
}
st.chip_cfg.clk_src = data & ~BIT_SLEEP;
data = 0;
if (!(sensors & INV_X_GYRO))
data |= BIT_STBY_XG;
if (!(sensors & INV_Y_GYRO))
data |= BIT_STBY_YG;
if (!(sensors & INV_Z_GYRO))
data |= BIT_STBY_ZG;
if (!(sensors & INV_XYZ_ACCEL))
data |= BIT_STBY_XYZA;
if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_2, 1, &data)) {
st.chip_cfg.sensors = 0;
return -1;
}
if (sensors && (sensors != INV_XYZ_ACCEL))
/* Latched interrupts only used in LP accel mode. */
mpu_set_int_latched(0);
#ifdef AK89xx_SECONDARY
#ifdef AK89xx_BYPASS
if (sensors & INV_XYZ_COMPASS)
mpu_set_bypass(1);
else
mpu_set_bypass(0);
#else
if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl))
return -1;
/* Handle AKM power management. */
if (sensors & INV_XYZ_COMPASS) {
data = AKM_SINGLE_MEASUREMENT;
user_ctrl |= BIT_AUX_IF_EN;
} else {
data = AKM_POWER_DOWN;
user_ctrl &= ~BIT_AUX_IF_EN;
}
if (st.chip_cfg.dmp_on)
user_ctrl |= BIT_DMP_EN;
else
user_ctrl &= ~BIT_DMP_EN;
if (i2c_write(st.hw->addr, st.reg->s1_do, 1, &data))
return -1;
/* Enable/disable I2C master mode. */
if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl))
return -1;
#endif
#endif
st.chip_cfg.sensors = sensors;
st.chip_cfg.lp_accel_mode = 0;
delay_ms(50);
return 0;
}
/**
* @brief Read the MPU interrupt status registers.
* @param[out] status Mask of interrupt bits.
* @return 0 if successful.
*/
int mpu_get_int_status(short *status)
{
unsigned char tmp[2];
if (!st.chip_cfg.sensors)
return -1;
if (i2c_read(st.hw->addr, st.reg->dmp_int_status, 2, tmp))
return -1;
status[0] = (tmp[0] << 8) | tmp[1];
return 0;
}
/**
* @brief Get one packet from the FIFO.
* If @e sensors does not contain a particular sensor, disregard the data
* returned to that pointer.
* \n @e sensors can contain a combination of the following flags:
* \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO
* \n INV_XYZ_GYRO
* \n INV_XYZ_ACCEL
* \n If the FIFO has no new data, @e sensors will be zero.
* \n If the FIFO is disabled, @e sensors will be zero and this function will
* return a non-zero error code.
* @param[out] gyro Gyro data in hardware units.
* @param[out] accel Accel data in hardware units.
* @param[out] timestamp Timestamp in milliseconds.
* @param[out] sensors Mask of sensors read from FIFO.
* @param[out] more Number of remaining packets.
* @return 0 if successful.
*/
int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
unsigned char *sensors, unsigned char *more)
{
/* Assumes maximum packet size is gyro (6) + accel (6). */
unsigned char data[MAX_PACKET_LENGTH];
unsigned char packet_size = 0;
unsigned short fifo_count, index = 0;
if (st.chip_cfg.dmp_on)
return -1;
sensors[0] = 0;
if (!st.chip_cfg.sensors)
return -1;
if (!st.chip_cfg.fifo_enable)
return -1;
if (st.chip_cfg.fifo_enable & INV_X_GYRO)
packet_size += 2;
if (st.chip_cfg.fifo_enable & INV_Y_GYRO)
packet_size += 2;
if (st.chip_cfg.fifo_enable & INV_Z_GYRO)
packet_size += 2;
if (st.chip_cfg.fifo_enable & INV_XYZ_ACCEL)
packet_size += 6;
if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data))
return -1;
fifo_count = (data[0] << 8) | data[1];
if (fifo_count < packet_size)
return 0;
// #ifdef SERIAL_DEBUG
// log_i("FIFO count: %hd\r\n", fifo_count);
// #endif
if (fifo_count > (st.hw->max_fifo >> 1)) {
/* FIFO is 50% full, better check overflow bit. */
if (i2c_read(st.hw->addr, st.reg->int_status, 1, data))
return -1;
if (data[0] & BIT_FIFO_OVERFLOW) {
mpu_reset_fifo();
return -2;
}
}
get_ms((unsigned long*)timestamp);
if (i2c_read(st.hw->addr, st.reg->fifo_r_w, packet_size, data))
return -1;
more[0] = fifo_count / packet_size - 1;
sensors[0] = 0;
if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_XYZ_ACCEL) {
accel[0] = (data[index+0] << 8) | data[index+1];
accel[1] = (data[index+2] << 8) | data[index+3];
accel[2] = (data[index+4] << 8) | data[index+5];
sensors[0] |= INV_XYZ_ACCEL;
index += 6;
}
if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_X_GYRO) {
gyro[0] = (data[index+0] << 8) | data[index+1];
sensors[0] |= INV_X_GYRO;
index += 2;
}
if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Y_GYRO) {
gyro[1] = (data[index+0] << 8) | data[index+1];
sensors[0] |= INV_Y_GYRO;
index += 2;
}
if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Z_GYRO) {
gyro[2] = (data[index+0] << 8) | data[index+1];
sensors[0] |= INV_Z_GYRO;
index += 2;
}
return 0;
}
/**
* @brief Get one unparsed packet from the FIFO.
* This function should be used if the packet is to be parsed elsewhere.
* @param[in] length Length of one FIFO packet.
* @param[in] data FIFO packet.
* @param[in] more Number of remaining packets.
*/
int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
unsigned char *more)
{
unsigned char tmp[2];
unsigned short fifo_count;
if (!st.chip_cfg.dmp_on)
return -1;
if (!st.chip_cfg.sensors)
return -1;
if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, tmp))
return -1;
fifo_count = (tmp[0] << 8) | tmp[1];
if (fifo_count < length) {
more[0] = 0;
return -1;
}
if (fifo_count > (st.hw->max_fifo >> 1)) {
/* FIFO is 50% full, better check overflow bit. */
if (i2c_read(st.hw->addr, st.reg->int_status, 1, tmp))
return -1;
if (tmp[0] & BIT_FIFO_OVERFLOW) {
mpu_reset_fifo();
return -2;
}
}
if (i2c_read(st.hw->addr, st.reg->fifo_r_w, length, data))
return -1;
more[0] = fifo_count / length - 1;
return 0;
}
/**
* @brief Set device to bypass mode.
* @param[in] bypass_on 1 to enable bypass mode.
* @return 0 if successful.
*/
int mpu_set_bypass(unsigned char bypass_on)
{
unsigned char tmp;
if (st.chip_cfg.bypass_mode == bypass_on)
return 0;
if (bypass_on) {
if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
return -1;
tmp &= ~BIT_AUX_IF_EN;
if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
return -1;
delay_ms(3);
tmp = BIT_BYPASS_EN;
if (st.chip_cfg.active_low_int)
tmp |= BIT_ACTL;
if (st.chip_cfg.latched_int)
tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR;
if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
return -1;
} else {
/* Enable I2C master mode if compass is being used. */
if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
return -1;
if (st.chip_cfg.sensors & INV_XYZ_COMPASS)
tmp |= BIT_AUX_IF_EN;
else
tmp &= ~BIT_AUX_IF_EN;
if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp))
return -1;
delay_ms(3);
if (st.chip_cfg.active_low_int)
tmp = BIT_ACTL;
else
tmp = 0;
if (st.chip_cfg.latched_int)
tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR;
if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
return -1;
}
st.chip_cfg.bypass_mode = bypass_on;
return 0;
}
/**
* @brief Set interrupt level.
* @param[in] active_low 1 for active low, 0 for active high.
* @return 0 if successful.
*/
int mpu_set_int_level(unsigned char active_low)
{
st.chip_cfg.active_low_int = active_low;
return 0;
}
/**
* @brief Enable latched interrupts.
* Any MPU register will clear the interrupt.
* @param[in] enable 1 to enable, 0 to disable.
* @return 0 if successful.
*/
int mpu_set_int_latched(unsigned char enable)
{
unsigned char tmp;
if (st.chip_cfg.latched_int == enable)
return 0;
if (enable)
tmp = BIT_LATCH_EN | BIT_ANY_RD_CLR;
else
tmp = 0;
if (st.chip_cfg.bypass_mode)
tmp |= BIT_BYPASS_EN;
if (st.chip_cfg.active_low_int)
tmp |= BIT_ACTL;
if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp))
return -1;
st.chip_cfg.latched_int = enable;
return 0;
}
#ifdef MPU6050
static int get_accel_prod_shift(float *st_shift)
{
unsigned char tmp[4], shift_code[3], ii;
if (i2c_read(st.hw->addr, 0x0D, 4, tmp))
return 0x07;
shift_code[0] = ((tmp[0] & 0xE0) >> 3) | ((tmp[3] & 0x30) >> 4);
shift_code[1] = ((tmp[1] & 0xE0) >> 3) | ((tmp[3] & 0x0C) >> 2);
shift_code[2] = ((tmp[2] & 0xE0) >> 3) | (tmp[3] & 0x03);
for (ii = 0; ii < 3; ii++) {
if (!shift_code[ii]) {
st_shift[ii] = 0.f;
continue;
}
/* Equivalent to..
* st_shift[ii] = 0.34f * powf(0.92f/0.34f, (shift_code[ii]-1) / 30.f)
*/
st_shift[ii] = 0.34f;
while (--shift_code[ii])
st_shift[ii] *= 1.034f;
}
return 0;
}
static int accel_self_test(long *bias_regular, long *bias_st)
{
int jj, result = 0;
float st_shift[3], st_shift_cust, st_shift_var;
get_accel_prod_shift(st_shift);
for(jj = 0; jj < 3; jj++) {
st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f;
if (st_shift[jj]) {
st_shift_var = st_shift_cust / st_shift[jj] - 1.f;
if (fabs(st_shift_var) > test.max_accel_var)
result |= 1 << jj;
} else if ((st_shift_cust < test.min_g) ||
(st_shift_cust > test.max_g))
result |= 1 << jj;
}
return result;
}
static int gyro_self_test(long *bias_regular, long *bias_st)
{
int jj, result = 0;
unsigned char tmp[3];
float st_shift, st_shift_cust, st_shift_var;
if (i2c_read(st.hw->addr, 0x0D, 3, tmp))
return 0x07;
tmp[0] &= 0x1F;
tmp[1] &= 0x1F;
tmp[2] &= 0x1F;
for (jj = 0; jj < 3; jj++) {
st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f;
if (tmp[jj]) {
st_shift = 3275.f / test.gyro_sens;
while (--tmp[jj])
st_shift *= 1.046f;
st_shift_var = st_shift_cust / st_shift - 1.f;
if (fabs(st_shift_var) > test.max_gyro_var)
result |= 1 << jj;
} else if ((st_shift_cust < test.min_dps) ||
(st_shift_cust > test.max_dps))
result |= 1 << jj;
}
return result;
}
#endif
#ifdef AK89xx_SECONDARY
static int compass_self_test(void)
{
unsigned char tmp[6];
unsigned char tries = 10;
int result = 0x07;
short data;
mpu_set_bypass(1);
tmp[0] = AKM_POWER_DOWN;
if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp))
return 0x07;
tmp[0] = AKM_BIT_SELF_TEST;
if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp))
goto AKM_restore;
tmp[0] = AKM_MODE_SELF_TEST;
if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp))
goto AKM_restore;
do {
delay_ms(10);
if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 1, tmp))
goto AKM_restore;
if (tmp[0] & AKM_DATA_READY)
break;
} while (tries--);
if (!(tmp[0] & AKM_DATA_READY))
goto AKM_restore;
if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_HXL, 6, tmp))
goto AKM_restore;
result = 0;
#if defined MPU9150
data = (short)(tmp[1] << 8) | tmp[0];
if ((data > 100) || (data < -100))
result |= 0x01;
data = (short)(tmp[3] << 8) | tmp[2];
if ((data > 100) || (data < -100))
result |= 0x02;
data = (short)(tmp[5] << 8) | tmp[4];
if ((data > -300) || (data < -1000))
result |= 0x04;
#elif defined MPU9250
data = (short)(tmp[1] << 8) | tmp[0];
if ((data > 200) || (data < -200))
result |= 0x01;
data = (short)(tmp[3] << 8) | tmp[2];
if ((data > 200) || (data < -200))
result |= 0x02;
data = (short)(tmp[5] << 8) | tmp[4];
if ((data > -800) || (data < -3200))
result |= 0x04;
#endif
AKM_restore:
tmp[0] = 0 | SUPPORTS_AK89xx_HIGH_SENS;
i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp);
tmp[0] = SUPPORTS_AK89xx_HIGH_SENS;
i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp);
mpu_set_bypass(0);
return result;
}
#endif
static int get_st_biases(long *gyro, long *accel, unsigned char hw_test)
{
unsigned char data[MAX_PACKET_LENGTH];
unsigned char packet_count, ii;
unsigned short fifo_count;
data[0] = 0x01;
data[1] = 0;
if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, data))
return -1;
delay_ms(200);
data[0] = 0;
if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data))
return -1;
if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
return -1;
if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
return -1;
if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data))
return -1;
if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
return -1;
data[0] = BIT_FIFO_RST | BIT_DMP_RST;
if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
return -1;
delay_ms(15);
data[0] = st.test->reg_lpf;
if (i2c_write(st.hw->addr, st.reg->lpf, 1, data))
return -1;
data[0] = st.test->reg_rate_div;
if (i2c_write(st.hw->addr, st.reg->rate_div, 1, data))
return -1;
if (hw_test)
data[0] = st.test->reg_gyro_fsr | 0xE0;
else
data[0] = st.test->reg_gyro_fsr;
if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, data))
return -1;
if (hw_test)
data[0] = st.test->reg_accel_fsr | 0xE0;
else
data[0] = test.reg_accel_fsr;
if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, data))
return -1;
if (hw_test)
delay_ms(200);
/* Fill FIFO for test.wait_ms milliseconds. */
data[0] = BIT_FIFO_EN;
if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
return -1;
data[0] = INV_XYZ_GYRO | INV_XYZ_ACCEL;
if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
return -1;
delay_ms(test.wait_ms);
data[0] = 0;
if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
return -1;
if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data))
return -1;
fifo_count = (data[0] << 8) | data[1];
packet_count = fifo_count / MAX_PACKET_LENGTH;
gyro[0] = gyro[1] = gyro[2] = 0;
accel[0] = accel[1] = accel[2] = 0;
for (ii = 0; ii < packet_count; ii++) {
short accel_cur[3], gyro_cur[3];
if (i2c_read(st.hw->addr, st.reg->fifo_r_w, MAX_PACKET_LENGTH, data))
return -1;
accel_cur[0] = ((short)data[0] << 8) | data[1];
accel_cur[1] = ((short)data[2] << 8) | data[3];
accel_cur[2] = ((short)data[4] << 8) | data[5];
accel[0] += (long)accel_cur[0];
accel[1] += (long)accel_cur[1];
accel[2] += (long)accel_cur[2];
gyro_cur[0] = (((short)data[6] << 8) | data[7]);
gyro_cur[1] = (((short)data[8] << 8) | data[9]);
gyro_cur[2] = (((short)data[10] << 8) | data[11]);
gyro[0] += (long)gyro_cur[0];
gyro[1] += (long)gyro_cur[1];
gyro[2] += (long)gyro_cur[2];
}
#ifdef EMPL_NO_64BIT
gyro[0] = (long)(((float)gyro[0]*65536.f) / test.gyro_sens / packet_count);
gyro[1] = (long)(((float)gyro[1]*65536.f) / test.gyro_sens / packet_count);
gyro[2] = (long)(((float)gyro[2]*65536.f) / test.gyro_sens / packet_count);
if (has_accel) {
accel[0] = (long)(((float)accel[0]*65536.f) / test.accel_sens /
packet_count);
accel[1] = (long)(((float)accel[1]*65536.f) / test.accel_sens /
packet_count);
accel[2] = (long)(((float)accel[2]*65536.f) / test.accel_sens /
packet_count);
/* Don't remove gravity! */
accel[2] -= 65536L;
}
#else
gyro[0] = (long)(((long long)gyro[0]<<16) / test.gyro_sens / packet_count);
gyro[1] = (long)(((long long)gyro[1]<<16) / test.gyro_sens / packet_count);
gyro[2] = (long)(((long long)gyro[2]<<16) / test.gyro_sens / packet_count);
accel[0] = (long)(((long long)accel[0]<<16) / test.accel_sens /
packet_count);
accel[1] = (long)(((long long)accel[1]<<16) / test.accel_sens /
packet_count);
accel[2] = (long)(((long long)accel[2]<<16) / test.accel_sens /
packet_count);
/* Don't remove gravity! */
if (accel[2] > 0L)
accel[2] -= 65536L;
else
accel[2] += 65536L;
#endif
return 0;
}
#ifdef MPU6500
#define REG_6500_XG_ST_DATA 0x0
#define REG_6500_XA_ST_DATA 0xD
static const unsigned short mpu_6500_st_tb[256] = {
2620,2646,2672,2699,2726,2753,2781,2808, //7
2837,2865,2894,2923,2952,2981,3011,3041, //15
3072,3102,3133,3165,3196,3228,3261,3293, //23
3326,3359,3393,3427,3461,3496,3531,3566, //31
3602,3638,3674,3711,3748,3786,3823,3862, //39
3900,3939,3979,4019,4059,4099,4140,4182, //47
4224,4266,4308,4352,4395,4439,4483,4528, //55
4574,4619,4665,4712,4759,4807,4855,4903, //63
4953,5002,5052,5103,5154,5205,5257,5310, //71
5363,5417,5471,5525,5581,5636,5693,5750, //79
5807,5865,5924,5983,6043,6104,6165,6226, //87
6289,6351,6415,6479,6544,6609,6675,6742, //95
6810,6878,6946,7016,7086,7157,7229,7301, //103
7374,7448,7522,7597,7673,7750,7828,7906, //111
7985,8065,8145,8227,8309,8392,8476,8561, //119
8647,8733,8820,8909,8998,9088,9178,9270,
9363,9457,9551,9647,9743,9841,9939,10038,
10139,10240,10343,10446,10550,10656,10763,10870,
10979,11089,11200,11312,11425,11539,11654,11771,
11889,12008,12128,12249,12371,12495,12620,12746,
12874,13002,13132,13264,13396,13530,13666,13802,
13940,14080,14221,14363,14506,14652,14798,14946,
15096,15247,15399,15553,15709,15866,16024,16184,
16346,16510,16675,16842,17010,17180,17352,17526,
17701,17878,18057,18237,18420,18604,18790,18978,
19167,19359,19553,19748,19946,20145,20347,20550,
20756,20963,21173,21385,21598,21814,22033,22253,
22475,22700,22927,23156,23388,23622,23858,24097,
24338,24581,24827,25075,25326,25579,25835,26093,
26354,26618,26884,27153,27424,27699,27976,28255,
28538,28823,29112,29403,29697,29994,30294,30597,
30903,31212,31524,31839,32157,32479,32804,33132
};
static int accel_6500_self_test(long *bias_regular, long *bias_st, int debug)
{
int i, result = 0, otp_value_zero = 0;
float accel_st_al_min, accel_st_al_max;
float st_shift_cust[3], st_shift_ratio[3], ct_shift_prod[3], accel_offset_max;
unsigned char regs[3];
if (i2c_read(st.hw->addr, REG_6500_XA_ST_DATA, 3, regs)) {
if(debug)
log_i("Reading OTP Register Error\r\n");
return 0x07;
}
if(debug)
log_i("Accel OTP:%d, %d, %d\r\n", regs[0], regs[1], regs[2]);
for (i = 0; i < 3; i++) {
if (regs[i] != 0) {
ct_shift_prod[i] = mpu_6500_st_tb[regs[i] - 1];
ct_shift_prod[i] *= 65536.f;
ct_shift_prod[i] /= test.accel_sens;
}
else {
ct_shift_prod[i] = 0;
otp_value_zero = 1;
}
}
if(otp_value_zero == 0) {
if(debug)
log_i("ACCEL:CRITERIA A\r\n");
for (i = 0; i < 3; i++) {
st_shift_cust[i] = bias_st[i] - bias_regular[i];
if(debug) {
log_i("Bias_Shift=%ld, Bias_Reg=%ld, Bias_HWST=%ld\r\n",
(long)st_shift_cust[i], bias_regular[i],
bias_st[i]);
log_i("OTP value: %ld\r\n", (long)ct_shift_prod[i]);
}
st_shift_ratio[i] = st_shift_cust[i] / ct_shift_prod[i] - 1.f;
if(debug)
log_i("ratio=%ld, threshold=%ld\r\n", (long)st_shift_ratio[i],
(long)test.max_accel_var);
if (fabs(st_shift_ratio[i]) > test.max_accel_var) {
if(debug)
log_i("ACCEL Fail Axis = %d\r\n", i);
result |= 1 << i; //Error condition
}
}
}
else {
/* Self Test Pass/Fail Criteria B */
accel_st_al_min = test.min_g * 65536.f;
accel_st_al_max = test.max_g * 65536.f;
if(debug) {
log_i("ACCEL:CRITERIA B\r\n");
log_i("Min MG: %ld\r\n", (long)accel_st_al_min);
log_i("Max MG: %ld\r\n", (long)accel_st_al_max);
}
for (i = 0; i < 3; i++) {
st_shift_cust[i] = bias_st[i] - bias_regular[i];
if(debug)
log_i("Bias_shift=%ld, st=%ld, reg=%ld\r\n", (long)st_shift_cust[i], bias_st[i], bias_regular[i]);
if(st_shift_cust[i] < accel_st_al_min || st_shift_cust[i] > accel_st_al_max) {
if(debug)
log_i("Accel FAIL axis:%d <= 225mg or >= 675mg\r\n", i);
result |= 1 << i; //Error condition
}
}
}
if(result == 0) {
/* Self Test Pass/Fail Criteria C */
accel_offset_max = test.max_g_offset * 65536.f;
if(debug)
log_i("Accel:CRITERIA C: bias less than %ld\n", (long)accel_offset_max);
for (i = 0; i < 3; i++) {
if(fabs(bias_regular[i]) > accel_offset_max) {
if(debug)
log_i("FAILED: Accel axis:%d = %ld > 500mg\n", i, bias_regular[i]);
result |= 1 << i; //Error condition
}
}
}
return result;
}
static int gyro_6500_self_test(long *bias_regular, long *bias_st, int debug)
{
int i, result = 0, otp_value_zero = 0;
float gyro_st_al_max;
float st_shift_cust[3], st_shift_ratio[3], ct_shift_prod[3], gyro_offset_max;
unsigned char regs[3];
if (i2c_read(st.hw->addr, REG_6500_XG_ST_DATA, 3, regs)) {
if(debug)
log_i("Reading OTP Register Error.\n");
return 0x07;
}
if(debug)
log_i("Gyro OTP:%d, %d, %d\r\n", regs[0], regs[1], regs[2]);
for (i = 0; i < 3; i++) {
if (regs[i] != 0) {
ct_shift_prod[i] = mpu_6500_st_tb[regs[i] - 1];
ct_shift_prod[i] *= 65536.f;
ct_shift_prod[i] /= test.gyro_sens;
}
else {
ct_shift_prod[i] = 0;
otp_value_zero = 1;
}
}
if(otp_value_zero == 0) {
if(debug)
log_i("GYRO:CRITERIA A\n");
/* Self Test Pass/Fail Criteria A */
for (i = 0; i < 3; i++) {
st_shift_cust[i] = bias_st[i] - bias_regular[i];
if(debug) {
log_i("Bias_Shift=%ld, Bias_Reg=%ld, Bias_HWST=%ld\r\n",
(long)st_shift_cust[i], bias_regular[i],
bias_st[i]);
log_i("OTP value: %ld\r\n", (long)ct_shift_prod[i]);
}
st_shift_ratio[i] = st_shift_cust[i] / ct_shift_prod[i];
if(debug)
log_i("ratio=%ld, threshold=%ld\r\n", (long)st_shift_ratio[i],
(long)test.max_gyro_var);
if (fabs(st_shift_ratio[i]) < test.max_gyro_var) {
if(debug)
log_i("Gyro Fail Axis = %d\n", i);
result |= 1 << i; //Error condition
}
}
}
else {
/* Self Test Pass/Fail Criteria B */
gyro_st_al_max = test.max_dps * 65536.f;
if(debug) {
log_i("GYRO:CRITERIA B\r\n");
log_i("Max DPS: %ld\r\n", (long)gyro_st_al_max);
}
for (i = 0; i < 3; i++) {
st_shift_cust[i] = bias_st[i] - bias_regular[i];
if(debug)
log_i("Bias_shift=%ld, st=%ld, reg=%ld\r\n", (long)st_shift_cust[i], bias_st[i], bias_regular[i]);
if(st_shift_cust[i] < gyro_st_al_max) {
if(debug)
log_i("GYRO FAIL axis:%d greater than 60dps\r\n", i);
result |= 1 << i; //Error condition
}
}
}
if(result == 0) {
/* Self Test Pass/Fail Criteria C */
gyro_offset_max = test.min_dps * 65536.f;
if(debug)
log_i("Gyro:CRITERIA C: bias less than %ld\r\n", (long)gyro_offset_max);
for (i = 0; i < 3; i++) {
if(fabs(bias_regular[i]) > gyro_offset_max) {
if(debug)
log_i("FAILED: Gyro axis:%d = %ld > 20dps\r\n", i, bias_regular[i]);
result |= 1 << i; //Error condition
}
}
}
return result;
}
static int get_st_6500_biases(long *gyro, long *accel, unsigned char hw_test, int debug)
{
unsigned char data[HWST_MAX_PACKET_LENGTH];
unsigned char packet_count, ii;
unsigned short fifo_count;
int s = 0, read_size = 0, ind;
data[0] = 0x01;
data[1] = 0;
if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, data))
return -1;
delay_ms(200);
data[0] = 0;
if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data))
return -1;
if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
return -1;
if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
return -1;
if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data))
return -1;
if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
return -1;
data[0] = BIT_FIFO_RST | BIT_DMP_RST;
if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
return -1;
delay_ms(15);
data[0] = st.test->reg_lpf;
if (i2c_write(st.hw->addr, st.reg->lpf, 1, data))
return -1;
data[0] = st.test->reg_rate_div;
if (i2c_write(st.hw->addr, st.reg->rate_div, 1, data))
return -1;
if (hw_test)
data[0] = st.test->reg_gyro_fsr | 0xE0;
else
data[0] = st.test->reg_gyro_fsr;
if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, data))
return -1;
if (hw_test)
data[0] = st.test->reg_accel_fsr | 0xE0;
else
data[0] = test.reg_accel_fsr;
if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, data))
return -1;
delay_ms(test.wait_ms); //wait 200ms for sensors to stabilize
/* Enable FIFO */
data[0] = BIT_FIFO_EN;
if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data))
return -1;
data[0] = INV_XYZ_GYRO | INV_XYZ_ACCEL;
if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
return -1;
//initialize the bias return values
gyro[0] = gyro[1] = gyro[2] = 0;
accel[0] = accel[1] = accel[2] = 0;
if(debug)
log_i("Starting Bias Loop Reads\r\n");
//start reading samples
while (s < test.packet_thresh) {
delay_ms(test.sample_wait_ms); //wait 10ms to fill FIFO
if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data))
return -1;
fifo_count = (data[0] << 8) | data[1];
packet_count = fifo_count / MAX_PACKET_LENGTH;
if ((test.packet_thresh - s) < packet_count)
packet_count = test.packet_thresh - s;
read_size = packet_count * MAX_PACKET_LENGTH;
//burst read from FIFO
if (i2c_read(st.hw->addr, st.reg->fifo_r_w, read_size, data))
return -1;
ind = 0;
for (ii = 0; ii < packet_count; ii++) {
short accel_cur[3], gyro_cur[3];
accel_cur[0] = ((short)data[ind + 0] << 8) | data[ind + 1];
accel_cur[1] = ((short)data[ind + 2] << 8) | data[ind + 3];
accel_cur[2] = ((short)data[ind + 4] << 8) | data[ind + 5];
accel[0] += (long)accel_cur[0];
accel[1] += (long)accel_cur[1];
accel[2] += (long)accel_cur[2];
gyro_cur[0] = (((short)data[ind + 6] << 8) | data[ind + 7]);
gyro_cur[1] = (((short)data[ind + 8] << 8) | data[ind + 9]);
gyro_cur[2] = (((short)data[ind + 10] << 8) | data[ind + 11]);
gyro[0] += (long)gyro_cur[0];
gyro[1] += (long)gyro_cur[1];
gyro[2] += (long)gyro_cur[2];
ind += MAX_PACKET_LENGTH;
}
s += packet_count;
}
if(debug)
log_i("Samples: %d\r\n", s);
//stop FIFO
data[0] = 0;
if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data))
return -1;
gyro[0] = (long)(((long long)gyro[0]<<16) / test.gyro_sens / s);
gyro[1] = (long)(((long long)gyro[1]<<16) / test.gyro_sens / s);
gyro[2] = (long)(((long long)gyro[2]<<16) / test.gyro_sens / s);
accel[0] = (long)(((long long)accel[0]<<16) / test.accel_sens / s);
accel[1] = (long)(((long long)accel[1]<<16) / test.accel_sens / s);
accel[2] = (long)(((long long)accel[2]<<16) / test.accel_sens / s);
/* remove gravity from bias calculation */
if (accel[2] > 0L)
accel[2] -= 65536L;
else
accel[2] += 65536L;
if(debug) {
log_i("Accel offset data HWST bit=%d: %ld %ld %ld\r\n", hw_test, accel[0], accel[1], accel[2]);
log_i("Gyro offset data HWST bit=%d: %ld %ld %ld\r\n", hw_test, gyro[0], gyro[1], gyro[2]);
}
return 0;
}
/**
* @brief Trigger gyro/accel/compass self-test for MPU6500/MPU9250
* On success/error, the self-test returns a mask representing the sensor(s)
* that failed. For each bit, a one (1) represents a "pass" case; conversely,
* a zero (0) indicates a failure.
*
* \n The mask is defined as follows:
* \n Bit 0: Gyro.
* \n Bit 1: Accel.
* \n Bit 2: Compass.
*
* @param[out] gyro Gyro biases in q16 format.
* @param[out] accel Accel biases (if applicable) in q16 format.
* @param[in] debug Debug flag used to print out more detailed logs. Must first set up logging in Motion Driver.
* @return Result mask (see above).
*/
int mpu_run_6500_self_test(long *gyro, long *accel, unsigned char debug)
{
const unsigned char tries = 2;
long gyro_st[3], accel_st[3];
unsigned char accel_result, gyro_result;
#ifdef AK89xx_SECONDARY
unsigned char compass_result;
#endif
int ii;
int result;
unsigned char accel_fsr, fifo_sensors, sensors_on;
unsigned short gyro_fsr, sample_rate, lpf;
unsigned char dmp_was_on;
if(debug)
log_i("Starting MPU6500 HWST!\r\n");
if (st.chip_cfg.dmp_on) {
mpu_set_dmp_state(0);
dmp_was_on = 1;
} else
dmp_was_on = 0;
/* Get initial settings. */
mpu_get_gyro_fsr(&gyro_fsr);
mpu_get_accel_fsr(&accel_fsr);
mpu_get_lpf(&lpf);
mpu_get_sample_rate(&sample_rate);
sensors_on = st.chip_cfg.sensors;
mpu_get_fifo_config(&fifo_sensors);
if(debug)
log_i("Retrieving Biases\r\n");
for (ii = 0; ii < tries; ii++)
if (!get_st_6500_biases(gyro, accel, 0, debug))
break;
if (ii == tries) {
/* If we reach this point, we most likely encountered an I2C error.
* We'll just report an error for all three sensors.
*/
if(debug)
log_i("Retrieving Biases Error - possible I2C error\r\n");
result = 0;
goto restore;
}
if(debug)
log_i("Retrieving ST Biases\r\n");
for (ii = 0; ii < tries; ii++)
if (!get_st_6500_biases(gyro_st, accel_st, 1, debug))
break;
if (ii == tries) {
if(debug)
log_i("Retrieving ST Biases Error - possible I2C error\r\n");
/* Again, probably an I2C error. */
result = 0;
goto restore;
}
accel_result = accel_6500_self_test(accel, accel_st, debug);
if(debug)
log_i("Accel Self Test Results: %d\r\n", accel_result);
gyro_result = gyro_6500_self_test(gyro, gyro_st, debug);
if(debug)
log_i("Gyro Self Test Results: %d\r\n", gyro_result);
result = 0;
if (!gyro_result)
result |= 0x01;
if (!accel_result)
result |= 0x02;
#ifdef AK89xx_SECONDARY
compass_result = compass_self_test();
if(debug)
log_i("Compass Self Test Results: %d\r\n", compass_result);
if (!compass_result)
result |= 0x04;
#else
result |= 0x04;
#endif
restore:
if(debug)
log_i("Exiting HWST\r\n");
/* Set to invalid values to ensure no I2C writes are skipped. */
st.chip_cfg.gyro_fsr = 0xFF;
st.chip_cfg.accel_fsr = 0xFF;
st.chip_cfg.lpf = 0xFF;
st.chip_cfg.sample_rate = 0xFFFF;
st.chip_cfg.sensors = 0xFF;
st.chip_cfg.fifo_enable = 0xFF;
st.chip_cfg.clk_src = INV_CLK_PLL;
mpu_set_gyro_fsr(gyro_fsr);
mpu_set_accel_fsr(accel_fsr);
mpu_set_lpf(lpf);
mpu_set_sample_rate(sample_rate);
mpu_set_sensors(sensors_on);
mpu_configure_fifo(fifo_sensors);
if (dmp_was_on)
mpu_set_dmp_state(1);
return result;
}
#endif
/*
* \n This function must be called with the device either face-up or face-down
* (z-axis is parallel to gravity).
* @param[out] gyro Gyro biases in q16 format.
* @param[out] accel Accel biases (if applicable) in q16 format.
* @return Result mask (see above).
*/
int mpu_run_self_test(long *gyro, long *accel)
{
#ifdef MPU6050
const unsigned char tries = 2;
long gyro_st[3], accel_st[3];
unsigned char accel_result, gyro_result;
#ifdef AK89xx_SECONDARY
unsigned char compass_result;
#endif
int ii;
#endif
int result;
unsigned char accel_fsr, fifo_sensors, sensors_on;
unsigned short gyro_fsr, sample_rate, lpf;
unsigned char dmp_was_on;
if (st.chip_cfg.dmp_on) {
mpu_set_dmp_state(0);
dmp_was_on = 1;
} else
dmp_was_on = 0;
/* Get initial settings. */
mpu_get_gyro_fsr(&gyro_fsr);
mpu_get_accel_fsr(&accel_fsr);
mpu_get_lpf(&lpf);
mpu_get_sample_rate(&sample_rate);
sensors_on = st.chip_cfg.sensors;
mpu_get_fifo_config(&fifo_sensors);
/* For older chips, the self-test will be different. */
#if defined MPU6050
for (ii = 0; ii < tries; ii++)
if (!get_st_biases(gyro, accel, 0))
break;
if (ii == tries) {
/* If we reach this point, we most likely encountered an I2C error.
* We'll just report an error for all three sensors.
*/
result = 0;
goto restore;
}
for (ii = 0; ii < tries; ii++)
if (!get_st_biases(gyro_st, accel_st, 1))
break;
if (ii == tries) {
/* Again, probably an I2C error. */
result = 0;
goto restore;
}
accel_result = accel_self_test(accel, accel_st);
gyro_result = gyro_self_test(gyro, gyro_st);
result = 0;
if (!gyro_result)
result |= 0x01;
if (!accel_result)
result |= 0x02;
#ifdef AK89xx_SECONDARY
compass_result = compass_self_test();
if (!compass_result)
result |= 0x04;
#else
result |= 0x04;
#endif
restore:
#elif defined MPU6500
/* For now, this function will return a "pass" result for all three sensors
* for compatibility with current test applications.
*/
get_st_biases(gyro, accel, 0);
result = 0x7;
#endif
/* Set to invalid values to ensure no I2C writes are skipped. */
st.chip_cfg.gyro_fsr = 0xFF;
st.chip_cfg.accel_fsr = 0xFF;
st.chip_cfg.lpf = 0xFF;
st.chip_cfg.sample_rate = 0xFFFF;
st.chip_cfg.sensors = 0xFF;
st.chip_cfg.fifo_enable = 0xFF;
st.chip_cfg.clk_src = INV_CLK_PLL;
mpu_set_gyro_fsr(gyro_fsr);
mpu_set_accel_fsr(accel_fsr);
mpu_set_lpf(lpf);
mpu_set_sample_rate(sample_rate);
mpu_set_sensors(sensors_on);
mpu_configure_fifo(fifo_sensors);
if (dmp_was_on)
mpu_set_dmp_state(1);
return result;
}
/**
* @brief Write to the DMP memory.
* This function prevents I2C writes past the bank boundaries. The DMP memory
* is only accessible when the chip is awake.
* @param[in] mem_addr Memory location (bank << 8 | start address)
* @param[in] length Number of bytes to write.
* @param[in] data Bytes to write to memory.
* @return 0 if successful.
*/
int mpu_write_mem(unsigned short mem_addr, unsigned short length,
unsigned char *data)
{
unsigned char tmp[2];
if (!data)
return -1;
if (!st.chip_cfg.sensors)
return -1;
tmp[0] = (unsigned char)(mem_addr >> 8);
tmp[1] = (unsigned char)(mem_addr & 0xFF);
/* Check bank boundaries. */
if (tmp[1] + length > st.hw->bank_size)
return -1;
if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp))
return -1;
if (i2c_write(st.hw->addr, st.reg->mem_r_w, length, data))
return -1;
return 0;
}
/**
* @brief Read from the DMP memory.
* This function prevents I2C reads past the bank boundaries. The DMP memory
* is only accessible when the chip is awake.
* @param[in] mem_addr Memory location (bank << 8 | start address)
* @param[in] length Number of bytes to read.
* @param[out] data Bytes read from memory.
* @return 0 if successful.
*/
int mpu_read_mem(unsigned short mem_addr, unsigned short length,
unsigned char *data)
{
unsigned char tmp[2];
if (!data)
return -1;
if (!st.chip_cfg.sensors)
return -1;
tmp[0] = (unsigned char)(mem_addr >> 8);
tmp[1] = (unsigned char)(mem_addr & 0xFF);
/* Check bank boundaries. */
if (tmp[1] + length > st.hw->bank_size)
return -1;
if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp))
return -1;
if (i2c_read(st.hw->addr, st.reg->mem_r_w, length, data))
return -1;
return 0;
}
/**
* @brief Load and verify DMP image.
* @param[in] length Length of DMP image.
* @param[in] firmware DMP code.
* @param[in] start_addr Starting address of DMP code memory.
* @param[in] sample_rate Fixed sampling rate used when DMP is enabled.
* @return 0 if successful.
*/
int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
unsigned short start_addr, unsigned short sample_rate)
{
unsigned short ii;
unsigned short this_write;
/* Must divide evenly into st.hw->bank_size to avoid bank crossings. */
#define LOAD_CHUNK (16)
unsigned char cur[LOAD_CHUNK], tmp[2];
if (st.chip_cfg.dmp_loaded)
/* DMP should only be loaded once. */
return -1;
if (!firmware)
return -1;
for (ii = 0; ii < length; ii += this_write) {
this_write = min(LOAD_CHUNK, length - ii);
if (mpu_write_mem(ii, this_write, (unsigned char*)&firmware[ii]))
return -1;
if (mpu_read_mem(ii, this_write, cur))
return -1;
if (memcmp(firmware+ii, cur, this_write))
return -2;
}
/* Set program start address. */
tmp[0] = start_addr >> 8;
tmp[1] = start_addr & 0xFF;
if (i2c_write(st.hw->addr, st.reg->prgm_start_h, 2, tmp))
return -1;
st.chip_cfg.dmp_loaded = 1;
st.chip_cfg.dmp_sample_rate = sample_rate;
return 0;
}
/**
* @brief Enable/disable DMP support.
* @param[in] enable 1 to turn on the DMP.
* @return 0 if successful.
*/
int mpu_set_dmp_state(unsigned char enable)
{
unsigned char tmp;
if (st.chip_cfg.dmp_on == enable)
return 0;
if (enable) {
if (!st.chip_cfg.dmp_loaded)
return -1;
/* Disable data ready interrupt. */
set_int_enable(0);
/* Disable bypass mode. */
mpu_set_bypass(0);
/* Keep constant sample rate, FIFO rate controlled by DMP. */
mpu_set_sample_rate(st.chip_cfg.dmp_sample_rate);
/* Remove FIFO elements. */
tmp = 0;
i2c_write(st.hw->addr, 0x23, 1, &tmp);
st.chip_cfg.dmp_on = 1;
/* Enable DMP interrupt. */
set_int_enable(1);
mpu_reset_fifo();
} else {
/* Disable DMP interrupt. */
set_int_enable(0);
/* Restore FIFO settings. */
tmp = st.chip_cfg.fifo_enable;
i2c_write(st.hw->addr, 0x23, 1, &tmp);
st.chip_cfg.dmp_on = 0;
mpu_reset_fifo();
}
return 0;
}
/**
* @brief Get DMP state.
* @param[out] enabled 1 if enabled.
* @return 0 if successful.
*/
int mpu_get_dmp_state(unsigned char *enabled)
{
enabled[0] = st.chip_cfg.dmp_on;
return 0;
}
#ifdef AK89xx_SECONDARY
/* This initialization is similar to the one in ak8975.c. */
static int setup_compass(void)
{
unsigned char data[4], akm_addr;
mpu_set_bypass(1);
/* Find compass. Possible addresses range from 0x0C to 0x0F. */
for (akm_addr = 0x0C; akm_addr <= 0x0F; akm_addr++) {
int result;
result = i2c_read(akm_addr, AKM_REG_WHOAMI, 1, data);
if (!result && (data[0] == AKM_WHOAMI))
break;
}
if (akm_addr > 0x0F) {
/* TODO: Handle this case in all compass-related functions. */
#ifdef SERIAL_DEBUG
log_i("Compass not found\r\n");
#endif
return -1;
}
st.chip_cfg.compass_addr = akm_addr;
data[0] = AKM_POWER_DOWN;
if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
return -1;
delay_ms(1);
data[0] = AKM_FUSE_ROM_ACCESS;
if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
return -1;
delay_ms(1);
/* Get sensitivity adjustment data from fuse ROM. */
if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ASAX, 3, data))
return -1;
st.chip_cfg.mag_sens_adj[0] = (long)data[0] + 128;
st.chip_cfg.mag_sens_adj[1] = (long)data[1] + 128;
st.chip_cfg.mag_sens_adj[2] = (long)data[2] + 128;
data[0] = AKM_POWER_DOWN;
if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data))
return -1;
delay_ms(1);
mpu_set_bypass(0);
/* Set up master mode, master clock, and ES bit. */
data[0] = 0x40;
if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data))
return -1;
/* Slave 0 reads from AKM data registers. */
data[0] = BIT_I2C_READ | st.chip_cfg.compass_addr;
if (i2c_write(st.hw->addr, st.reg->s0_addr, 1, data))
return -1;
/* Compass reads start at this register. */
data[0] = AKM_REG_ST1;
if (i2c_write(st.hw->addr, st.reg->s0_reg, 1, data))
return -1;
/* Enable slave 0, 8-byte reads. */
data[0] = BIT_SLAVE_EN | 8;
if (i2c_write(st.hw->addr, st.reg->s0_ctrl, 1, data))
return -1;
/* Slave 1 changes AKM measurement mode. */
data[0] = st.chip_cfg.compass_addr;
if (i2c_write(st.hw->addr, st.reg->s1_addr, 1, data))
return -1;
/* AKM measurement mode register. */
data[0] = AKM_REG_CNTL;
if (i2c_write(st.hw->addr, st.reg->s1_reg, 1, data))
return -1;
/* Enable slave 1, 1-byte writes. */
data[0] = BIT_SLAVE_EN | 1;
if (i2c_write(st.hw->addr, st.reg->s1_ctrl, 1, data))
return -1;
/* Set slave 1 data. */
data[0] = AKM_SINGLE_MEASUREMENT;
if (i2c_write(st.hw->addr, st.reg->s1_do, 1, data))
return -1;
/* Trigger slave 0 and slave 1 actions at each sample. */
data[0] = 0x03;
if (i2c_write(st.hw->addr, st.reg->i2c_delay_ctrl, 1, data))
return -1;
#ifdef MPU9150
/* For the MPU9150, the auxiliary I2C bus needs to be set to VDD. */
data[0] = BIT_I2C_MST_VDDIO;
if (i2c_write(st.hw->addr, st.reg->yg_offs_tc, 1, data))
return -1;
#endif
return 0;
}
#endif
/**
* @brief Read raw compass data.
* @param[out] data Raw data in hardware units.
* @param[out] timestamp Timestamp in milliseconds. Null if not needed.
* @return 0 if successful.
*/
int mpu_get_compass_reg(short *data, unsigned long *timestamp)
{
#ifdef AK89xx_SECONDARY
unsigned char tmp[9];
if (!(st.chip_cfg.sensors & INV_XYZ_COMPASS))
return -1;
#ifdef AK89xx_BYPASS
if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 8, tmp))
return -1;
tmp[8] = AKM_SINGLE_MEASUREMENT;
if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp+8))
return -1;
#else
if (i2c_read(st.hw->addr, st.reg->raw_compass, 8, tmp))
return -1;
#endif
#if defined AK8975_SECONDARY
/* AK8975 doesn't have the overrun error bit. */
if (!(tmp[0] & AKM_DATA_READY))
return -2;
if ((tmp[7] & AKM_OVERFLOW) || (tmp[7] & AKM_DATA_ERROR))
return -3;
#elif defined AK8963_SECONDARY
/* AK8963 doesn't have the data read error bit. */
if (!(tmp[0] & AKM_DATA_READY) || (tmp[0] & AKM_DATA_OVERRUN))
return -2;
if (tmp[7] & AKM_OVERFLOW)
return -3;
#endif
data[0] = (tmp[2] << 8) | tmp[1];
data[1] = (tmp[4] << 8) | tmp[3];
data[2] = (tmp[6] << 8) | tmp[5];
data[0] = ((long)data[0] * st.chip_cfg.mag_sens_adj[0]) >> 8;
data[1] = ((long)data[1] * st.chip_cfg.mag_sens_adj[1]) >> 8;
data[2] = ((long)data[2] * st.chip_cfg.mag_sens_adj[2]) >> 8;
if (timestamp)
get_ms(timestamp);
return 0;
#else
return -1;
#endif
}
/**
* @brief Get the compass full-scale range.
* @param[out] fsr Current full-scale range.
* @return 0 if successful.
*/
int mpu_get_compass_fsr(unsigned short *fsr)
{
#ifdef AK89xx_SECONDARY
fsr[0] = st.hw->compass_fsr;
return 0;
#else
return -1;
#endif
}
/**
* @brief Enters LP accel motion interrupt mode.
* The behaviour of this feature is very different between the MPU6050 and the
* MPU6500. Each chip's version of this feature is explained below.
*
* \n The hardware motion threshold can be between 32mg and 8160mg in 32mg
* increments.
*
* \n Low-power accel mode supports the following frequencies:
* \n 1.25Hz, 5Hz, 20Hz, 40Hz
*
* \n MPU6500:
* \n Unlike the MPU6050 version, the hardware does not "lock in" a reference
* sample. The hardware monitors the accel data and detects any large change
* over a short period of time.
*
* \n The hardware motion threshold can be between 4mg and 1020mg in 4mg
* increments.
*
* \n MPU6500 Low-power accel mode supports the following frequencies:
* \n 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz
*
* \n\n NOTES:
* \n The driver will round down @e thresh to the nearest supported value if
* an unsupported threshold is selected.
* \n To select a fractional wake-up frequency, round down the value passed to
* @e lpa_freq.
* \n The MPU6500 does not support a delay parameter. If this function is used
* for the MPU6500, the value passed to @e time will be ignored.
* \n To disable this mode, set @e lpa_freq to zero. The driver will restore
* the previous configuration.
*
* @param[in] thresh Motion threshold in mg.
* @param[in] time Duration in milliseconds that the accel data must
* exceed @e thresh before motion is reported.
* @param[in] lpa_freq Minimum sampling rate, or zero to disable.
* @return 0 if successful.
*/
int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time, unsigned short lpa_freq)
{
#if defined MPU6500
unsigned char data[3];
#endif
if (lpa_freq) {
#if defined MPU6500
unsigned char thresh_hw;
/* 1LSb = 4mg. */
if (thresh > 1020)
thresh_hw = 255;
else if (thresh < 4)
thresh_hw = 1;
else
thresh_hw = thresh >> 2;
#endif
if (!time)
/* Minimum duration must be 1ms. */
time = 1;
#if defined MPU6500
if (lpa_freq > 640)
/* At this point, the chip has not been re-configured, so the
* function can safely exit.
*/
return -1;
#endif
if (!st.chip_cfg.int_motion_only) {
/* Store current settings for later. */
if (st.chip_cfg.dmp_on) {
mpu_set_dmp_state(0);
st.chip_cfg.cache.dmp_on = 1;
} else
st.chip_cfg.cache.dmp_on = 0;
mpu_get_gyro_fsr(&st.chip_cfg.cache.gyro_fsr);
mpu_get_accel_fsr(&st.chip_cfg.cache.accel_fsr);
mpu_get_lpf(&st.chip_cfg.cache.lpf);
mpu_get_sample_rate(&st.chip_cfg.cache.sample_rate);
st.chip_cfg.cache.sensors_on = st.chip_cfg.sensors;
mpu_get_fifo_config(&st.chip_cfg.cache.fifo_sensors);
}
#if defined MPU6500
/* Disable hardware interrupts. */
set_int_enable(0);
/* Enter full-power accel-only mode, no FIFO/DMP. */
data[0] = 0;
data[1] = 0;
data[2] = BIT_STBY_XYZG;
if (i2c_write(st.hw->addr, st.reg->user_ctrl, 3, data))
goto lp_int_restore;
/* Set motion threshold. */
data[0] = thresh_hw;
if (i2c_write(st.hw->addr, st.reg->motion_thr, 1, data))
goto lp_int_restore;
/* Set wake frequency. */
if (lpa_freq == 1)
data[0] = INV_LPA_1_25HZ;
else if (lpa_freq == 2)
data[0] = INV_LPA_2_5HZ;
else if (lpa_freq <= 5)
data[0] = INV_LPA_5HZ;
else if (lpa_freq <= 10)
data[0] = INV_LPA_10HZ;
else if (lpa_freq <= 20)
data[0] = INV_LPA_20HZ;
else if (lpa_freq <= 40)
data[0] = INV_LPA_40HZ;
else if (lpa_freq <= 80)
data[0] = INV_LPA_80HZ;
else if (lpa_freq <= 160)
data[0] = INV_LPA_160HZ;
else if (lpa_freq <= 320)
data[0] = INV_LPA_320HZ;
else
data[0] = INV_LPA_640HZ;
if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, data))
goto lp_int_restore;
/* Enable motion interrupt (MPU6500 version). */
data[0] = BITS_WOM_EN;
if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data))
goto lp_int_restore;
/* Enable cycle mode. */
data[0] = BIT_LPA_CYCLE;
if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
goto lp_int_restore;
/* Enable interrupt. */
data[0] = BIT_MOT_INT_EN;
if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data))
goto lp_int_restore;
st.chip_cfg.int_motion_only = 1;
return 0;
#endif
} else {
/* Don't "restore" the previous state if no state has been saved. */
unsigned int ii;
char *cache_ptr = (char*)&st.chip_cfg.cache;
for (ii = 0; ii < sizeof(st.chip_cfg.cache); ii++) {
if (cache_ptr[ii] != 0)
goto lp_int_restore;
}
/* If we reach this point, motion interrupt mode hasn't been used yet. */
return -1;
}
lp_int_restore:
/* Set to invalid values to ensure no I2C writes are skipped. */
st.chip_cfg.gyro_fsr = 0xFF;
st.chip_cfg.accel_fsr = 0xFF;
st.chip_cfg.lpf = 0xFF;
st.chip_cfg.sample_rate = 0xFFFF;
st.chip_cfg.sensors = 0xFF;
st.chip_cfg.fifo_enable = 0xFF;
st.chip_cfg.clk_src = INV_CLK_PLL;
mpu_set_sensors(st.chip_cfg.cache.sensors_on);
mpu_set_gyro_fsr(st.chip_cfg.cache.gyro_fsr);
mpu_set_accel_fsr(st.chip_cfg.cache.accel_fsr);
mpu_set_lpf(st.chip_cfg.cache.lpf);
mpu_set_sample_rate(st.chip_cfg.cache.sample_rate);
mpu_configure_fifo(st.chip_cfg.cache.fifo_sensors);
if (st.chip_cfg.cache.dmp_on)
mpu_set_dmp_state(1);
#ifdef MPU6500
/* Disable motion interrupt (MPU6500 version). */
data[0] = 0;
if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data))
goto lp_int_restore;
#endif
st.chip_cfg.int_motion_only = 0;
return 0;
}
/*
* This function must be called with the device either face-up or face-down
* (z-axis is parallel to gravity).
*/
void mpu_start_self_test(void)
{
int result;
long gyro[3], accel[3];
#if defined (MPU6500) || defined (MPU9250)
result = mpu_run_6500_self_test(gyro, accel, 0);
#elif defined (MPU6050) || defined (MPU9150)
result = mpu_run_self_test(gyro, accel);
#endif
#ifdef SERIAL_DEBUG
log_i("accel: %ld %ld %ld\r\n",
accel[0],
accel[1],
accel[2]);
log_i("gyro: %ld %ld %ld\r\n",
gyro[0],
gyro[1],
gyro[2]);
#endif
if (result == 0x7) {
consoleLog("Passed!\r\n");
/* Test passed. We can trust the gyro data here, so now we need to update calibrated data*/
#ifdef USE_CAL_HW_REGISTERS
/*
* This portion of the code uses the HW offset registers that are in the MPUxxxx devices
* instead of pushing the cal data to the MPL software library
*/
unsigned char i = 0;
for(i = 0; i<3; i++) {
gyro[i] = (long)(gyro[i] * 32.8f); //convert to +-1000dps
accel[i] *= 2048.f; //convert to +-16G
accel[i] = accel[i] >> 16;
gyro[i] = (long)(gyro[i] >> 16);
}
mpu_set_gyro_bias_reg(gyro);
#if defined (MPU6500) || defined (MPU9250)
mpu_set_accel_bias_6500_reg(accel);
#elif defined (MPU6050) || defined (MPU9150)
mpu_set_accel_bias_6050_reg(accel);
#endif
#endif
}
else {
if (!(result & 0x1))
consoleLog("Gyro failed\r\n");
if (!(result & 0x2))
consoleLog("Accel failed\r\n");
if (!(result & 0x4))
consoleLog("Compass failed\r\n");
}
}
//=========================================================================================
struct hal_s {
unsigned char lp_accel_mode;
unsigned char sensors;
unsigned char dmp_on;
unsigned char wait_for_tap;
volatile unsigned char new_gyro;
unsigned long no_dmp_hz;
unsigned long next_pedo_ms;
unsigned long next_temp_ms;
unsigned int report;
unsigned short dmp_features;
};
static struct hal_s hal = {0};
/* This fuction handle sensor on/off combinations. */
void mpu_setup_gyro(void)
{
unsigned char mask = 0, lp_accel_was_on = 0;
if (hal.sensors & ACCEL_ON) {
mask |= INV_XYZ_ACCEL;
consoleLog("Accel ON\r\n");
} else {
consoleLog("Accel OFF\r\n");
}
if (hal.sensors & GYRO_ON) {
mask |= INV_XYZ_GYRO;
lp_accel_was_on |= hal.lp_accel_mode;
consoleLog("Gyro ON\r\n");
} else {
consoleLog("Gyro OFF\r\n");
}
#ifdef COMPASS_ENABLED
if (hal.sensors & COMPASS_ON) {
mask |= INV_XYZ_COMPASS;
lp_accel_was_on |= hal.lp_accel_mode;
}
#endif
/* If you need a power transition, this function should be called with a
* mask of the sensors still enabled. The driver turns off any sensors
* excluded from this mask.
*/
mpu_set_sensors(mask);
mpu_configure_fifo(mask);
if (lp_accel_was_on) {
unsigned short rate;
hal.lp_accel_mode = 0;
/* Switching out of LP accel, notify MPL of new accel sampling rate. */
mpu_get_sample_rate(&rate);
}
}
unsigned short inv_row_2_scale(const signed char *row)
{
unsigned short b;
if (row[0] > 0)
b = 0;
else if (row[0] < 0)
b = 4;
else if (row[1] > 0)
b = 1;
else if (row[1] < 0)
b = 5;
else if (row[2] > 0)
b = 2;
else if (row[2] < 0)
b = 6;
else
b = 7; // error
return b;
}
/*
* This function converts the Sensor orientation matric to a scalar
*/
unsigned short inv_orientation_matrix_to_scalar(const signed char *mtx)
{
unsigned short scalar;
scalar = inv_row_2_scale(mtx);
scalar |= inv_row_2_scale(mtx + 3) << 3;
scalar |= inv_row_2_scale(mtx + 6) << 6;
return scalar;
}
/**
* @}
*/
/* =========================== MPU-6050 Configuration =========================== */
int mpu_config(void)
{
consoleLog("Configuring MPU6050... ");
if(mpu_init()) {
consoleLog("FAIL (MPU)\r\n");
return -1;
}
/* Get/set hardware configuration. Start gyro. */
/* Wake up all sensors. */
mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL);
/* Push both gyro and accel data into the FIFO. */
mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL);
mpu_set_sample_rate(MPU_DEFAULT_HZ);
/* Read back configuration in case it was set improperly. */
// mpu_get_sample_rate(&gyro_rate);
// mpu_get_gyro_fsr(&gyro_fsr);
// mpu_get_accel_fsr(&accel_fsr);
/* Initialize HAL state variables. */
hal.sensors = ACCEL_ON | GYRO_ON;
hal.dmp_on = 0;
hal.report = 0;
hal.next_pedo_ms = 0;
hal.next_temp_ms = 0;
#ifdef MPU_DMP_ENABLE
/* To initialize the DMP:
* 1. Call dmp_load_motion_driver_firmware(). This pushes the DMP image in
* inv_mpu_dmp_motion_driver.h into the MPU memory.
* 2. Push the gyro and accel orientation matrix to the DMP.
* 3. Register gesture callbacks. Don't worry, these callbacks won't be
* executed unless the corresponding feature is enabled.
* 4. Call dmp_enable_feature(mask) to enable different features.
* 5. Call dmp_set_fifo_rate(freq) to select a DMP output rate.
* 6. Call any feature-specific control functions.
*
* To enable the DMP, just call mpu_set_dmp_state(1). This function can
* be called repeatedly to enable and disable the DMP at runtime.
*
* The following is a short summary of the features supported in the DMP
* image provided in inv_mpu_dmp_motion_driver.c:
* DMP_FEATURE_LP_QUAT: Generate a gyro-only quaternion on the DMP at
* 200Hz. Integrating the gyro data at higher rates reduces numerical
* errors (compared to integration on the MCU at a lower sampling rate).
* DMP_FEATURE_6X_LP_QUAT: Generate a gyro/accel quaternion on the DMP at
* 200Hz. Cannot be used in combination with DMP_FEATURE_LP_QUAT.
* DMP_FEATURE_TAP: Detect taps along the X, Y, and Z axes.
* DMP_FEATURE_ANDROID_ORIENT: Google's screen rotation algorithm. Triggers
* an event at the four orientations where the screen should rotate.
* DMP_FEATURE_GYRO_CAL: Calibrates the gyro data after eight seconds of
* no motion.
* DMP_FEATURE_SEND_RAW_ACCEL: Add raw accelerometer data to the FIFO.
* DMP_FEATURE_SEND_RAW_GYRO: Add raw gyro data to the FIFO.
* DMP_FEATURE_SEND_CAL_GYRO: Add calibrated gyro data to the FIFO. Cannot
* be used in combination with DMP_FEATURE_SEND_RAW_GYRO.
*/
consoleLog(" writing DMP... ");
if (dmp_load_motion_driver_firmware()) {
consoleLog(" FAIL (DMP)\r\n");
return -1;
}
dmp_set_orientation(inv_orientation_matrix_to_scalar(MPU_ORIENTATION));
dmp_register_tap_cb(mpu_tap_func);
dmp_register_android_orient_cb(mpu_android_orient_func);
/*
* Known Bug -
* DMP when enabled will sample sensor data at 200Hz and output to FIFO at the rate
* specified in the dmp_set_fifo_rate API. The DMP will then sent an interrupt once
* a sample has been put into the FIFO. Therefore if the dmp_set_fifo_rate is at 25Hz
* there will be a 25Hz interrupt from the MPU device.
*
* There is a known issue in which if you do not enable DMP_FEATURE_TAP
* then the interrupts will be at 200Hz even if fifo rate
* is set at a different rate. To avoid this issue include the DMP_FEATURE_TAP
*
* DMP sensor fusion works only with gyro at +-2000dps and accel +-2G
*/
hal.dmp_features = DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT |
DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_RAW_GYRO | DMP_FEATURE_GYRO_CAL;
dmp_enable_feature(hal.dmp_features);
dmp_set_fifo_rate(MPU_DEFAULT_HZ);
mpu_set_dmp_state(1);
hal.dmp_on = 1;
#endif
consoleLog(" OK\r\n");
return 0;
}
/* =========================== MPU-6050 Get Packet Data =========================== */
void mpu_get_data(void)
{
unsigned long sensor_timestamp;
unsigned long timestamp;
unsigned char new_data = 0, new_temp = 0;
uint8_t mpu_int_status; // holds actual interrupt status byte from MPU
// check for DMP interrupt bit or Data Ready interrupt bit (in case DMP is disabled) -> this interrupt should happen frequently
i2c_readByte(st.hw->addr, st.reg->int_status, &mpu_int_status);
if (mpu_int_status & MPU_INT_STATUS_DMP || mpu_int_status & MPU_INT_STATUS_DATA_READY) {
hal.new_gyro = 1;
}
get_tick_count_ms(&timestamp);
/* Temperature data doesn't need to be read with every gyro sample.
* Let's make them timer-based.
*/
if (timestamp > hal.next_temp_ms) {
hal.next_temp_ms = timestamp + TEMP_READ_MS;
new_temp = 1;
}
if (hal.new_gyro && hal.dmp_on) {
short gyro[3], accel[3], sensors;
static long quat[4], temperature;
unsigned char more;
/* This function gets new data from the FIFO when the DMP is in
* use. The FIFO can contain any combination of gyro, accel,
* quaternion, and gesture data. The sensors parameter tells the
* caller which data fields were actually populated with new data.
* For example, if sensors == (INV_XYZ_GYRO | INV_WXYZ_QUAT), then
* the FIFO isn't being filled with accel data.
* The driver parses the gesture data to determine if a gesture
* event has occurred; on an event, the application will be notified
* via a callback (assuming that a callback function was properly
* registered). The more parameter is non-zero if there are
* leftover packets in the FIFO.
*/
dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more);
if (!more)
hal.new_gyro = 0;
if (sensors & INV_XYZ_GYRO) {
mpu.gyro.x = gyro[0];
mpu.gyro.y = gyro[1];
mpu.gyro.z = gyro[2];
new_data = 1;
if (new_temp) {
new_temp = 0;
mpu_get_temperature(&temperature, &sensor_timestamp);
mpu.temp = (int16_t)((temperature*100) >> 16); // Convert temperature[q16] to temperature*100[degC]
}
}
if (sensors & INV_XYZ_ACCEL) {
mpu.accel.x = accel[0];
mpu.accel.y = accel[1];
mpu.accel.z = accel[2];
new_data = 1;
}
if (sensors & INV_WXYZ_QUAT) {
mpu.quat.w = quat[0];
mpu.quat.x = quat[1];
mpu.quat.y = quat[2];
mpu.quat.z = quat[3];
mpu_calc_euler_angles(); // Calculate Euler angles
new_data = 1;
}
} else if (hal.new_gyro) {
short gyro[3], accel[3];
long temperature;
unsigned char sensors, more;
/* This function gets new data from the FIFO. The FIFO can contain
* gyro, accel, both, or neither. The sensors parameter tells the
* caller which data fields were actually populated with new data.
* For example, if sensors == INV_XYZ_GYRO, then the FIFO isn't
* being filled with accel data. The more parameter is non-zero if
* there are leftover packets in the FIFO. The HAL can use this
* information to increase the frequency at which this function is
* called.
*/
hal.new_gyro = 0;
mpu_read_fifo(gyro, accel, &sensor_timestamp, &sensors, &more);
if (more)
hal.new_gyro = 1;
if (sensors & INV_XYZ_GYRO) {
mpu.gyro.x = gyro[0];
mpu.gyro.y = gyro[1];
mpu.gyro.z = gyro[2];
new_data = 1;
if (new_temp) {
new_temp = 0;
mpu_get_temperature(&temperature, &sensor_timestamp);
mpu.temp = (int16_t)((temperature*100) >> 16); // Convert temperature[q16] to temperature*100[degC]
}
}
if (sensors & INV_XYZ_ACCEL) {
mpu.accel.x = accel[0];
mpu.accel.y = accel[1];
mpu.accel.z = accel[2];
new_data = 1;
}
}
if (new_data) {
// do something if needed
}
}
/* =========================== MPU-6050 Post-processing Functions =========================== */
void mpu_read_gyro_raw(void)
{
uint8_t buffer[6];
// Read 6 BYTES of data starting from GYRO_XOUT_H register (the MPU-6050 automatically increments the register address)
i2c_readBytes(st.hw->addr, st.reg->raw_accel, 6, buffer);
mpu.gyro.x = (int16_t)(buffer[0] << 8 | buffer[1]);
mpu.gyro.y = (int16_t)(buffer[2] << 8 | buffer[3]);
mpu.gyro.z = (int16_t)(buffer[4] << 8 | buffer[5]);
/*** convert the RAW hardware units values into dps (<28>/s)
we have to divide according to the Full scale value set in FS_SEL,
configured to 2000<30>/s (check MPU_GYRO_FSR). So we need to divide by 16.4 LSB/<2F>/s
for more details check GYRO_CONFIG Register ****/
//Gx = mpu.gyro.x / 16.4;
//Gy = mpu.gyro.y / 16.4;
//Gz = mpu.gyro.z / 16.4;
}
void mpu_read_accel_raw(void)
{
uint8_t buffer[6];
// Read 6 BYTES of data starting from ACCEL_XOUT_H register (the MPU-6050 automatically increments the register address)
i2c_readBytes(st.hw->addr, st.reg->raw_gyro, 6, buffer);
mpu.accel.x = (int16_t)(buffer[0] << 8 | buffer[1]);
mpu.accel.y = (int16_t)(buffer[2] << 8 | buffer[3]);
mpu.accel.z = (int16_t)(buffer[4] << 8 | buffer[5]);
/*** convert the RAW hardware units into acceleration in 'g'
we have to divide according to the Full scale value set in FS_SEL,
configured to 2g (check MPU_ACCEL_FSR). So we need to divide by 16384.0 LSB/g
for more details check ACCEL_CONFIG Register ****/
//Ax = mpu.accel.x / 16384.0;
//Ay = mpu.accel.y / 16384.0;
//Az = mpu.accel.z / 16384.0;
}
/*
* Calculate Euler Angles
* aerospace sequence, to obtain sensor attitude:
* 1. roll (x-axis rotation)
* 2. pitch (y-axis rotation)
* 3. yaw (z-axis rotation)
*/
void mpu_calc_euler_angles(void) {
float w, x, y, z;
float yaw, pitch, roll;
// Convert quaternions[q30] to quaternion[float]
w = (float)mpu.quat.w / q30; // q30 = 2^30
x = (float)mpu.quat.x / q30;
y = (float)mpu.quat.y / q30;
z = (float)mpu.quat.z / q30;
// Calculate Euler angles: source <https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles>
roll = atan2(2*(w*x + y*z), 1 - 2*(x*x + y*y)); // roll (x-axis rotation)
pitch = asin(2*(w*y - z*x)); // pitch (y-axis rotation)
yaw = atan2(2*(w*z + x*y), 1 - 2*(y*y + z*z)); // yaw (z-axis rotation)
// Convert [rad] to [deg*100]
mpu.euler.roll = (int16_t)(roll * RAD2DEG * 100);
mpu.euler.pitch = (int16_t)(pitch * RAD2DEG * 100);
mpu.euler.yaw = (int16_t)(yaw * RAD2DEG * 100);
}
void mpu_tap_func(unsigned char direction, unsigned char count)
{
switch (direction) {
case TAP_X_UP:
consoleLog("Tap X+ ");
break;
case TAP_X_DOWN:
consoleLog("Tap X- ");
break;
case TAP_Y_UP:
consoleLog("Tap Y+ ");
break;
case TAP_Y_DOWN:
consoleLog("Tap Y- ");
break;
case TAP_Z_UP:
consoleLog("Tap Z+ ");
break;
case TAP_Z_DOWN:
consoleLog("Tap Z- ");
break;
default:
return;
}
#ifdef SERIAL_DEBUG
log_i("x %d\r\n", count);
#endif
return;
}
void mpu_android_orient_func(unsigned char orientation)
{
switch (orientation) {
case ANDROID_ORIENT_PORTRAIT:
consoleLog("Portrait\r\n");
break;
case ANDROID_ORIENT_LANDSCAPE:
consoleLog("Landscape\r\n");
break;
case ANDROID_ORIENT_REVERSE_PORTRAIT:
consoleLog("Rev. Portrait\r\n");
break;
case ANDROID_ORIENT_REVERSE_LANDSCAPE:
consoleLog("Rev. Landscape\r\n");
break;
default:
return;
}
}
/* =========================== MPU Print data =========================== */
void mpu_print_to_console(void)
{
#ifdef SERIAL_DEBUG
if (hal.report & PRINT_ACCEL) {
log_i( "accX:%d accY:%d accZ:%d\r\n", mpu.accel.x, mpu.accel.y, mpu.accel.z);
}
if (hal.report & PRINT_GYRO) {
log_i( "gyrX:%d gyrY:%d gyrZ:%d\r\n", mpu.gyro.x, mpu.gyro.y, mpu.gyro.z);
}
if (hal.report & PRINT_QUAT) {
log_i( "qW:%ld qX:%ld qY:%ld qZ:%ld\r\n", (long)mpu.quat.w, (long)mpu.quat.x, (long)mpu.quat.y, (long)mpu.quat.z);
}
if (hal.report & PRINT_EULER) {
log_i( "Roll:%d Pitch:%d Yaw:%d\r\n", mpu.euler.roll, mpu.euler.pitch, mpu.euler.yaw);
}
if (hal.report & PRINT_TEMP) {
log_i( "Temp:%d\r\n", mpu.temp);
}
if (hal.report & PRINT_PEDO) {
unsigned long timestamp;
get_tick_count_ms(&timestamp);
if (timestamp > hal.next_pedo_ms) {
hal.next_pedo_ms = timestamp + PEDO_READ_MS;
unsigned long step_count, walk_time;
dmp_get_pedometer_step_count(&step_count);
dmp_get_pedometer_walk_time(&walk_time);
log_i( "Walked %ld steps in %ld sec\r\n", step_count, walk_time/1000);
}
}
#endif
}
#endif // MPU_SENSOR_ENABLE
/* =========================== User Input Handling =========================== */
void mpu_handle_input(char c)
{
#ifdef SERIAL_DEBUG
switch (c) {
/* This command prints the Help text. */
case 'h':
consoleLog("=== HELP ===\r\n");
consoleLog("h: Print Help\r\n");
consoleLog("x: Print Serial AUX\r\n");
#ifdef MPU_SENSOR_ENABLE
consoleLog("8: Set Accelerometer on/off\r\n");
consoleLog("9: Set Gyroscope on/off\r\n");
consoleLog("r: Print Registers\r\n");
consoleLog("a: Print Accelerometer\r\n");
consoleLog("g: Print Gyroscope\r\n");
consoleLog("q: Print Quaternion\r\n");
consoleLog("e: Print Euler angles in deg*100\r\n");
consoleLog("t: Print Temperature in degC*100\r\n");
consoleLog("p: Print Pedometer\r\n");
consoleLog("0: Reset Pedometer\r\n");
consoleLog("1: Set DMP/MPU freq 10 Hz\r\n");
consoleLog("2: Set DMP/MPU freq 50 Hz\r\n");
consoleLog("3: Set DMP/MPU freq 100 Hz\r\n");
consoleLog(",: Set DMP interrupt to gesture\r\n");
consoleLog(".: Set DMP interrupt to continuous\r\n");
consoleLog("f: Set DMP on/off\r\n");
consoleLog("v: Set Quaternion on/off\r\n");
consoleLog("w: Test low-power accel mode\r\n");
consoleLog("s: Run self-test (device must be facing up or down)\r\n");
#endif // MPU_SENSOR_ENABLE
consoleLog("============\r\n");
break;
/* These commands print individual sensor data. */
case 'x':
#ifdef SERIAL_AUX_RX
print_aux ^= PRINT_AUX;
#else
consoleLog("AUX serial NOT enabled\r\n");
#endif
break;
#ifdef MPU_SENSOR_ENABLE
/* These commands turn off individual sensors. */
case '8':
hal.sensors ^= ACCEL_ON;
mpu_setup_gyro();
break;
case '9':
hal.sensors ^= GYRO_ON;
mpu_setup_gyro();
break;
/* This command prints out the value of each gyro register for debugging.
* If logging is disabled, this function has no effect.
*/
case 'r':
mpu_reg_dump();
break;
/* These commands print individual sensor data. */
case 'a':
hal.report ^= PRINT_ACCEL;
break;
case 'g':
hal.report ^= PRINT_GYRO;
break;
case 'q':
hal.report ^= PRINT_QUAT;
break;
case 'e':
hal.report ^= PRINT_EULER;
break;
case 't':
hal.report ^= PRINT_TEMP;
break;
case 'p':
/* Toggle pedometer display. */
hal.report ^= PRINT_PEDO;
break;
case '0':
/* Reset pedometer. */
dmp_set_pedometer_step_count(0);
dmp_set_pedometer_walk_time(0);
consoleLog("Pedometer reset OK\r\n");
break;
/* Depending on your application, sensor data may be needed at a faster or
* slower rate. These commands can speed up or slow down the rate at which
* the sensor data is received.
*/
case '1':
if (hal.dmp_on) {
if (0 == dmp_set_fifo_rate(10)) {consoleLog("DMP 10 Hz\r\n");}
} else
if (0 == mpu_set_sample_rate(10)) {consoleLog("MPU 10 Hz\r\n");}
break;
case '2':
if (hal.dmp_on) {
if (0 == dmp_set_fifo_rate(50)) {consoleLog("DMP 50 Hz\r\n");}
} else
if (0 == mpu_set_sample_rate(50)) {consoleLog("MPU 50 Hz\r\n");}
break;
case '3':
if (hal.dmp_on) {
if (0 == dmp_set_fifo_rate(100)) {consoleLog("DMP 100 Hz\r\n");}
} else
if (0 == mpu_set_sample_rate(100)) {consoleLog("MPU 100 Hz\r\n");}
break;
/* Set hardware to interrupt on gesture event only. This feature is
* useful for keeping the MCU asleep until the DMP detects as a tap or
* orientation event.
*/
case ',':
dmp_set_interrupt_mode(DMP_INT_GESTURE);
break;
case '.':
/* Set hardware to interrupt periodically. */
dmp_set_interrupt_mode(DMP_INT_CONTINUOUS);
break;
/* Toggle DMP. */
case 'f':
if (hal.lp_accel_mode) /* LP accel is not compatible with the DMP. */
return;
if (hal.dmp_on) {
unsigned short dmp_rate;
unsigned char mask = 0;
hal.dmp_on = 0;
mpu_set_dmp_state(0);
/* Restore FIFO settings. */
if (hal.sensors & ACCEL_ON)
mask |= INV_XYZ_ACCEL;
if (hal.sensors & GYRO_ON)
mask |= INV_XYZ_GYRO;
if (hal.sensors & COMPASS_ON)
mask |= INV_XYZ_COMPASS;
mpu_configure_fifo(mask);
/* When the DMP is used, the hardware sampling rate is fixed at
* 200Hz, and the DMP is configured to downsample the FIFO output
* using the function dmp_set_fifo_rate. However, when the DMP is
* turned off, the sampling rate remains at 200Hz. This could be
* handled in mpu6050.c, but it would need to know that
* mpu6050_dmp.c exists. To avoid this, we'll just
* put the extra logic in the application layer.
*/
dmp_get_fifo_rate(&dmp_rate);
mpu_set_sample_rate(dmp_rate);
consoleLog("DMP OFF\r\n");
} else {
unsigned short sample_rate;
hal.dmp_on = 1;
/* Preserve current FIFO rate. */
mpu_get_sample_rate(&sample_rate);
dmp_set_fifo_rate(sample_rate);
mpu_set_dmp_state(1);
consoleLog("DMP ON\r\n");
}
break;
case 'v':
/* Toggle LP quaternion.
* The DMP features can be enabled/disabled at runtime. Use this same
* approach for other features.
*/
hal.dmp_features ^= DMP_FEATURE_6X_LP_QUAT;
dmp_enable_feature(hal.dmp_features);
if (!(hal.dmp_features & DMP_FEATURE_6X_LP_QUAT)) {
consoleLog("Quat OFF\n");
} else
consoleLog("Quat ON\n");
break;
/* Test out low-power accel mode. */
case 'w':
if (hal.dmp_on) {
consoleLog("Low-power mode needs DMP to be off!\r\n");
break; /* LP accel is not compatible with the DMP. */
}
mpu_lp_accel_mode(20);
/* When LP accel mode is enabled, the driver automatically configures
* the hardware for latched interrupts. However, the MCU sometimes
* misses the rising/falling edge, and the hal.new_gyro flag is never
* set. To avoid getting locked in this state, we're overriding the
* driver's configuration and sticking to unlatched interrupt mode.
*
* TODO: The MCU supports level-triggered interrupts.
*/
mpu_set_int_latched(0);
hal.sensors &= ~(GYRO_ON|COMPASS_ON);
hal.sensors |= ACCEL_ON;
hal.lp_accel_mode = 1;
break;
/* The hardware self test is completely localized in the gyro driver.
* Logging is assumed to be enabled; otherwise, a couple LEDs could
* probably be used here to display the test results.
*/
case 's':
mpu_start_self_test();
break;
#endif // MPU_SENSOR_ENABLE
default:
break;
}
#endif // SERIAL_DEBUG
}
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