Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
mpu60x0_spi.c
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1 /*
2  * Copyright (C) 2013 Gautier Hattenberger
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
30 
31 void mpu60x0_spi_init(struct Mpu60x0_Spi *mpu, struct spi_periph *spi_p, uint8_t slave_idx)
32 {
33  /* set spi_peripheral */
34  mpu->spi_p = spi_p;
35 
36  /* configure spi transaction */
39  mpu->spi_trans.dss = SPIDss8bit;
41  mpu->spi_trans.cdiv = SPIDiv64;
42 
44  mpu->spi_trans.slave_idx = slave_idx;
45  mpu->spi_trans.output_length = 2;
47  mpu->spi_trans.before_cb = NULL;
48  mpu->spi_trans.after_cb = NULL;
49  mpu->spi_trans.input_buf = &(mpu->rx_buf[0]);
50  mpu->spi_trans.output_buf = &(mpu->tx_buf[0]);
51 
52  /* set inital status: Success or Done */
54 
55  /* set default MPU60X0 config options */
57 
58  mpu->data_available = false;
59  mpu->config.initialized = false;
61 
63 }
64 
65 
66 static void mpu60x0_spi_write_to_reg(void *mpu, uint8_t _reg, uint8_t _val)
67 {
68  struct Mpu60x0_Spi *mpu_spi = (struct Mpu60x0_Spi *)(mpu);
69  mpu_spi->spi_trans.output_length = 2;
70  mpu_spi->spi_trans.input_length = 0;
71  mpu_spi->tx_buf[0] = _reg;
72  mpu_spi->tx_buf[1] = _val;
73  spi_submit(mpu_spi->spi_p, &(mpu_spi->spi_trans));
74 }
75 
76 // Configuration function called once before normal use
78 {
80 
81  // First check if we found the chip (succesfull WHO_AM_I response)
82  if (mpu->spi_trans.status == SPITransSuccess &&
83  (mpu->rx_buf[1] == MPU60X0_WHOAMI_REPLY ||
84  mpu->rx_buf[1] == ICM20600_WHOAMI_REPLY ||
85  mpu->rx_buf[1] == ICM20608_WHOAMI_REPLY ||
86  mpu->rx_buf[1] == ICM20602_WHOAMI_REPLY ||
87  mpu->rx_buf[1] == ICM20689_WHOAMI_REPLY)) {
88 
89  if (mpu->rx_buf[1] == MPU60X0_WHOAMI_REPLY) {
90  mpu->config.type = MPU60X0;
91  } else if (mpu->rx_buf[1] == ICM20600_WHOAMI_REPLY) {
92  mpu->config.type = ICM20600;
93  } else if (mpu->rx_buf[1] == ICM20608_WHOAMI_REPLY) {
94  mpu->config.type = ICM20608;
95  } else if (mpu->rx_buf[1] == ICM20602_WHOAMI_REPLY) {
96  mpu->config.type = ICM20602;
97  } else if (mpu->rx_buf[1] == ICM20689_WHOAMI_REPLY) {
98  mpu->config.type = ICM20689;
99  }
100 
101  mpu->config.init_status++;
103  mpu60x0_send_config(mpu60x0_spi_write_to_reg, (void *)mpu, &(mpu->config));
104  }
105  // Send WHO_AM_I to check if chip is there
106  else if (mpu->spi_trans.status != SPITransRunning && mpu->spi_trans.status != SPITransPending) {
107  mpu->spi_trans.output_length = 1;
108  mpu->spi_trans.input_length = 2;
110  spi_submit(mpu->spi_p, &(mpu->spi_trans));
111  }
112  }
113 }
114 
115 void mpu60x0_spi_read(struct Mpu60x0_Spi *mpu)
116 {
117  if (mpu->config.initialized && mpu->spi_trans.status == SPITransDone) {
118  mpu->spi_trans.output_length = 1;
119  mpu->spi_trans.input_length = 1 + mpu->config.nb_bytes;
120  /* set read bit and multiple byte bit, then address */
122  spi_submit(mpu->spi_p, &(mpu->spi_trans));
123  }
124 }
125 
126 #define Int16FromBuf(_buf,_idx) ((int16_t)((_buf[_idx]<<8) | _buf[_idx+1]))
127 
129 {
130  if (mpu->config.initialized) {
131  if (mpu->spi_trans.status == SPITransFailed) {
133  } else if (mpu->spi_trans.status == SPITransSuccess) {
134  // Successfull reading
135  if (bit_is_set(mpu->rx_buf[1], 0)) {
136  // new data
137  mpu->data_accel.vect.x = Int16FromBuf(mpu->rx_buf, 2);
138  mpu->data_accel.vect.y = Int16FromBuf(mpu->rx_buf, 4);
139  mpu->data_accel.vect.z = Int16FromBuf(mpu->rx_buf, 6);
140  mpu->data_rates.rates.p = Int16FromBuf(mpu->rx_buf, 10);
141  mpu->data_rates.rates.q = Int16FromBuf(mpu->rx_buf, 12);
142  mpu->data_rates.rates.r = Int16FromBuf(mpu->rx_buf, 14);
143 
144  int16_t temp_raw = Int16FromBuf(mpu->rx_buf, 8);
145  switch(mpu->config.type) {
146  case ICM20600:
147  case ICM20602:
148  case ICM20608:
149  mpu->temp = (float)temp_raw / 326.8f + 25.0f;
150  break;
151  case ICM20689:
152  mpu->temp = (float)temp_raw * 0.003f + 25.0f;
153  break;
154  default:
155  mpu->temp = (float)temp_raw / 340.0f + 36.53f;
156  break;
157  }
158 
159  // if we are reading slaves, copy the ext_sens_data
160  if (mpu->config.nb_slaves > 0) {
161  /* the buffer is volatile, since filled from ISR
162  * but we know it's ok to use it here so we silence the warning
163  */
164 #pragma GCC diagnostic push
165 #pragma GCC diagnostic ignored "-Wcast-qual"
166  memcpy(mpu->data_ext, (uint8_t *) & (mpu->rx_buf[16]), mpu->config.nb_bytes - 15);
167 #pragma GCC diagnostic pop
168  }
169 
170  mpu->data_available = true;
171  }
173  }
174  } else if (mpu->config.init_status != MPU60X0_CONF_UNINIT) { // Configuring but not yet initialized
175  switch (mpu->spi_trans.status) {
176  case SPITransFailed:
177  mpu->config.init_status--; // Retry config (TODO max retry)
178  /* Falls through. */
179  case SPITransSuccess:
180  case SPITransDone:
181  mpu60x0_send_config(mpu60x0_spi_write_to_reg, (void *)mpu, &(mpu->config));
182  if (mpu->config.initialized) {
183  mpu->spi_trans.status = SPITransDone;
184  }
185  break;
186  default:
187  break;
188  }
189  }
190 }
191 
194 {
195  struct Mpu60x0_Spi *mpu_spi = (struct Mpu60x0_Spi *)(mpu);
196 
197  if (mpu_spi->slave_init_status == MPU60X0_SPI_CONF_UNINIT) {
198  mpu_spi->slave_init_status++;
199  }
200 
201  switch (mpu_spi->slave_init_status) {
203  /* configure MPU I2C master clock and stop/start between slave reads */
204  mpu_set(mpu, MPU60X0_REG_I2C_MST_CTRL, ((1 << 4) | mpu_spi->config.i2c_mst_clk));
205  mpu_spi->slave_init_status++;
206  break;
208  /* Set I2C slaves delayed sample rate */
209  mpu_set(mpu, MPU60X0_REG_I2C_MST_DELAY, mpu_spi->config.i2c_mst_delay);
210  mpu_spi->slave_init_status++;
211  break;
213  /* enable internal I2C master and disable primary I2C interface */
214  mpu_set(mpu, MPU60X0_REG_USER_CTRL, ((1 << MPU60X0_I2C_IF_DIS) |
215  (1 << MPU60X0_I2C_MST_EN)));
216  mpu_spi->slave_init_status++;
217  break;
219  /* configure each slave until all nb_slaves are done */
220  if (mpu_spi->config.nb_slave_init < mpu_spi->config.nb_slaves && mpu_spi->config.nb_slave_init < MPU60X0_I2C_NB_SLAVES) {
221  // proceed to next slave if configure for current one returns true
222  if (mpu_spi->config.slaves[mpu_spi->config.nb_slave_init].configure(mpu_set, mpu)) {
223  mpu_spi->config.nb_slave_init++;
224  }
225  }
226  else {
227  /* all slave devies configured, continue MPU side configuration of I2C slave stuff */
228  mpu_spi->slave_init_status++;
229  }
230  break;
232  return true;
233  default:
234  break;
235  }
236  return false;
237 }
enum SPIClockPolarity cpol
clock polarity control
Definition: spi.h:155
enum SPIClockPhase cpha
clock phase control
Definition: spi.h:156
enum SPISlaveSelect select
slave selection behavior
Definition: spi.h:154
SPICallback before_cb
NULL or function called before the transaction.
Definition: spi.h:160
SPICallback after_cb
NULL or function called after the transaction.
Definition: spi.h:161
enum SPIDataSizeSelect dss
data transfer word size
Definition: spi.h:157
volatile uint8_t * output_buf
pointer to transmit buffer for DMA
Definition: spi.h:150
uint16_t input_length
number of data words to read
Definition: spi.h:151
enum SPIClockDiv cdiv
prescaler of main clock to use as SPI clock
Definition: spi.h:159
volatile uint8_t * input_buf
pointer to receive buffer for DMA
Definition: spi.h:149
uint8_t slave_idx
slave id: SPI_SLAVE0 to SPI_SLAVE4
Definition: spi.h:153
enum SPIBitOrder bitorder
MSB/LSB order.
Definition: spi.h:158
uint16_t output_length
number of data words to write
Definition: spi.h:152
enum SPITransactionStatus status
Definition: spi.h:162
bool spi_submit(struct spi_periph *p, struct spi_transaction *t)
Submit SPI transaction.
Definition: spi_arch.c:533
@ SPICphaEdge2
CPHA = 1.
Definition: spi.h:75
@ SPITransFailed
Definition: spi.h:100
@ SPITransSuccess
Definition: spi.h:99
@ SPITransRunning
Definition: spi.h:98
@ SPITransPending
Definition: spi.h:97
@ SPITransDone
Definition: spi.h:101
@ SPICpolIdleHigh
CPOL = 1.
Definition: spi.h:84
@ SPISelectUnselect
slave is selected before transaction and unselected after
Definition: spi.h:63
@ SPIMSBFirst
Definition: spi.h:112
@ SPIDiv64
Definition: spi.h:125
@ SPIDss8bit
Definition: spi.h:90
SPI peripheral structure.
Definition: spi.h:174
void mpu60x0_set_default_config(struct Mpu60x0Config *c)
Definition: mpu60x0.c:67
void mpu60x0_send_config(Mpu60x0ConfigSet mpu_set, void *mpu, struct Mpu60x0Config *config)
Configuration sequence called once before normal use.
Definition: mpu60x0.c:89
Mpu60x0I2cSlaveConfigure configure
Definition: mpu60x0.h:135
uint8_t i2c_mst_delay
MPU I2C slaves delayed sample rate.
Definition: mpu60x0.h:160
#define MPU60X0_I2C_NB_SLAVES
Definition: mpu60x0.h:53
enum Mpu60x0MstClk i2c_mst_clk
MPU I2C master clock speed.
Definition: mpu60x0.h:159
bool initialized
config done flag
Definition: mpu60x0.h:149
uint8_t nb_bytes
number of bytes to read starting with MPU60X0_REG_INT_STATUS
Definition: mpu60x0.h:147
@ ICM20602
Definition: mpu60x0.h:108
@ ICM20689
Definition: mpu60x0.h:109
@ ICM20600
Definition: mpu60x0.h:106
@ MPU60X0
Definition: mpu60x0.h:105
@ ICM20608
Definition: mpu60x0.h:107
uint8_t nb_slaves
number of used I2C slaves
Definition: mpu60x0.h:156
uint8_t nb_slave_init
number of already configured/initialized slaves
Definition: mpu60x0.h:157
struct Mpu60x0I2cSlave slaves[MPU60X0_I2C_NB_SLAVES]
I2C slaves.
Definition: mpu60x0.h:158
enum Mpu60x0Type type
The type of sensor (MPU60x0, ICM20608, ...)
Definition: mpu60x0.h:139
enum Mpu60x0ConfStatus init_status
init status
Definition: mpu60x0.h:148
@ MPU60X0_CONF_UNINIT
Definition: mpu60x0.h:113
void(* Mpu60x0ConfigSet)(void *mpu, uint8_t _reg, uint8_t _val)
Configuration function prototype.
Definition: mpu60x0.h:129
#define MPU60X0_REG_USER_CTRL
Definition: mpu60x0_regs.h:39
#define MPU60X0_WHOAMI_REPLY
Definition: mpu60x0_regs.h:119
#define ICM20600_WHOAMI_REPLY
Definition: mpu60x0_regs.h:120
#define MPU60X0_REG_WHO_AM_I
Definition: mpu60x0_regs.h:118
#define MPU60X0_REG_INT_STATUS
Definition: mpu60x0_regs.h:91
#define ICM20689_WHOAMI_REPLY
Definition: mpu60x0_regs.h:123
#define MPU60X0_SPI_READ
Definition: mpu60x0_regs.h:35
#define MPU60X0_I2C_IF_DIS
Definition: mpu60x0_regs.h:132
#define ICM20602_WHOAMI_REPLY
Definition: mpu60x0_regs.h:122
#define MPU60X0_REG_I2C_MST_CTRL
Definition: mpu60x0_regs.h:58
#define ICM20608_WHOAMI_REPLY
Definition: mpu60x0_regs.h:121
#define MPU60X0_I2C_MST_EN
Definition: mpu60x0_regs.h:133
#define MPU60X0_REG_I2C_MST_DELAY
Definition: mpu60x0_regs.h:60
void mpu60x0_spi_read(struct Mpu60x0_Spi *mpu)
Definition: mpu60x0_spi.c:115
void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu)
Definition: mpu60x0_spi.c:128
void mpu60x0_spi_init(struct Mpu60x0_Spi *mpu, struct spi_periph *spi_p, uint8_t slave_idx)
Definition: mpu60x0_spi.c:31
void mpu60x0_spi_start_configure(struct Mpu60x0_Spi *mpu)
Definition: mpu60x0_spi.c:77
#define Int16FromBuf(_buf, _idx)
Definition: mpu60x0_spi.c:126
bool mpu60x0_configure_i2c_slaves(Mpu60x0ConfigSet mpu_set, void *mpu)
configure the registered I2C slaves
Definition: mpu60x0_spi.c:193
static void mpu60x0_spi_write_to_reg(void *mpu, uint8_t _reg, uint8_t _val)
Definition: mpu60x0_spi.c:66
Driver for the MPU-60X0 using SPI.
volatile bool data_available
data ready flag
Definition: mpu60x0_spi.h:56
uint8_t data_ext[MPU60X0_BUFFER_EXT_LEN]
Definition: mpu60x0_spi.h:66
struct Mpu60x0Config config
Definition: mpu60x0_spi.h:67
struct spi_transaction spi_trans
Definition: mpu60x0_spi.h:53
float temp
temperature in degrees Celcius
Definition: mpu60x0_spi.h:65
volatile uint8_t tx_buf[2]
Definition: mpu60x0_spi.h:54
union Mpu60x0_Spi::@332 data_rates
union Mpu60x0_Spi::@331 data_accel
enum Mpu60x0SpiSlaveInitStatus slave_init_status
Definition: mpu60x0_spi.h:68
struct spi_periph * spi_p
Definition: mpu60x0_spi.h:52
@ MPU60X0_SPI_CONF_SLAVES_CONFIGURE
Definition: mpu60x0_spi.h:47
@ MPU60X0_SPI_CONF_UNINIT
Definition: mpu60x0_spi.h:43
@ MPU60X0_SPI_CONF_I2C_MST_CLK
Definition: mpu60x0_spi.h:44
@ MPU60X0_SPI_CONF_DONE
Definition: mpu60x0_spi.h:48
@ MPU60X0_SPI_CONF_I2C_MST_DELAY
Definition: mpu60x0_spi.h:45
@ MPU60X0_SPI_CONF_I2C_MST_EN
Definition: mpu60x0_spi.h:46
volatile uint8_t rx_buf[MPU60X0_BUFFER_LEN]
Definition: mpu60x0_spi.h:55
#define MPU60X0_BUFFER_LEN
Definition: mpu60x0_spi.h:39
short int16_t
Typedef defining 16 bit short type.
Definition: vl53l1_types.h:93
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98