Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
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mpu60x0.c
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1 /*
2  * Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
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
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18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
30 #include "peripherals/mpu60x0.h"
31 
33 {
40 
41  /* Number of bytes to read starting with MPU60X0_REG_INT_STATUS
42  * By default read only gyro and accel data -> 15 bytes.
43  * Increase to include slave data.
44  */
45  c->nb_bytes = 15;
46  c->nb_slaves = 0;
47 
48  c->i2c_bypass = FALSE;
49 }
50 
51 void mpu60x0_send_config(Mpu60x0ConfigSet mpu_set, void* mpu, struct Mpu60x0Config* config)
52 {
53  switch (config->init_status) {
54  case MPU60X0_CONF_RESET:
55  /* device reset, set register values to defaults */
56  mpu_set(mpu, MPU60X0_REG_PWR_MGMT_1, (1<<6));
57  config->init_status++;
58  break;
60  /* trigger FIFO, I2C_MST and SIG_COND resets */
61  mpu_set(mpu, MPU60X0_REG_USER_CTRL, ((1 << MPU60X0_FIFO_RESET) |
62  (1 << MPU60X0_I2C_MST_RESET) |
63  (1 << MPU60X0_SIG_COND_RESET)));
64  config->init_status++;
65  break;
66  case MPU60X0_CONF_PWR:
67  /* switch to gyroX clock by default */
68  mpu_set(mpu, MPU60X0_REG_PWR_MGMT_1, ((config->clk_sel)|(0<<6)));
69  config->init_status++;
70  break;
71  case MPU60X0_CONF_SD:
72  /* configure sample rate divider */
73  mpu_set(mpu, MPU60X0_REG_SMPLRT_DIV, config->smplrt_div);
74  config->init_status++;
75  break;
76  case MPU60X0_CONF_DLPF:
77  /* configure digital low pass filter */
78  mpu_set(mpu, MPU60X0_REG_CONFIG, config->dlpf_cfg);
79  config->init_status++;
80  break;
81  case MPU60X0_CONF_GYRO:
82  /* configure gyro range */
83  mpu_set(mpu, MPU60X0_REG_GYRO_CONFIG, (config->gyro_range<<3));
84  config->init_status++;
85  break;
86  case MPU60X0_CONF_ACCEL:
87  /* configure accelerometer range */
88  mpu_set(mpu, MPU60X0_REG_ACCEL_CONFIG, (config->accel_range<<3));
89  config->init_status++;
90  break;
92  /* if any, set MPU for I2C slaves and configure them*/
93  if (config->nb_slaves > 0) {
94  /* returns TRUE when all slaves are configured */
95  if (mpu60x0_configure_i2c_slaves(mpu_set, mpu))
96  config->init_status++;
97  }
98  else
99  config->init_status++;
100  break;
102  /* configure data ready interrupt */
103  mpu_set(mpu, MPU60X0_REG_INT_ENABLE, (config->drdy_int_enable<<0));
104  config->init_status++;
105  break;
106  case MPU60X0_CONF_DONE:
107  config->initialized = TRUE;
108  break;
109  default:
110  break;
111  }
112 }
#define MPU60X0_REG_USER_CTRL
Definition: mpu60x0_regs.h:39
#define MPU60X0_REG_PWR_MGMT_1
Definition: mpu60x0_regs.h:40
enum Mpu60x0DLPF dlpf_cfg
Digital Low Pass Filter.
Definition: mpu60x0.h:75
uint8_t nb_slaves
number of used I2C slaves
Definition: mpu60x0.h:89
#define MPU60X0_REG_SMPLRT_DIV
Definition: mpu60x0_regs.h:50
uint8_t smplrt_div
Sample rate divider.
Definition: mpu60x0.h:74
#define MPU60X0_REG_CONFIG
Definition: mpu60x0_regs.h:51
#define FALSE
Definition: imu_chimu.h:141
#define MPU60X0_FIFO_RESET
Definition: mpu60x0_regs.h:125
bool_t drdy_int_enable
Enable Data Ready Interrupt.
Definition: mpu60x0.h:78
bool_t mpu60x0_configure_i2c_slaves(Mpu60x0ConfigSet mpu_set, void *mpu)
Configure I2C slaves of the MPU.
Definition: mpu60x0_i2c.c:124
enum Mpu60x0AccelRanges accel_range
g Range
Definition: mpu60x0.h:77
#define MPU60X0_DEFAULT_AFS_SEL
Default accel full scale range +- 16g.
Definition: mpu60x0.h:41
uint8_t nb_bytes
number of bytes to read starting with MPU60X0_REG_INT_STATUS
Definition: mpu60x0.h:80
bool_t initialized
config done flag
Definition: mpu60x0.h:82
enum Mpu60x0GyroRanges gyro_range
deg/s Range
Definition: mpu60x0.h:76
enum Mpu60x0ConfStatus init_status
init status
Definition: mpu60x0.h:81
#define TRUE
Definition: imu_chimu.h:144
void mpu60x0_send_config(Mpu60x0ConfigSet mpu_set, void *mpu, struct Mpu60x0Config *config)
Configuration sequence called once before normal use.
Definition: mpu60x0.c:51
#define MPU60X0_DEFAULT_DLPF_CFG
Default internal sampling (1kHz, 42Hz LP Bandwidth)
Definition: mpu60x0.h:43
bool_t i2c_bypass
Bypass MPU I2C.
Definition: mpu60x0.h:87
#define MPU60X0_DEFAULT_CLK_SEL
Default clock: PLL with X gyro reference.
Definition: mpu60x0.h:47
#define MPU60X0_SIG_COND_RESET
Definition: mpu60x0_regs.h:123
MPU-60X0 driver common interface (I2C and SPI).
#define MPU60X0_I2C_MST_RESET
Definition: mpu60x0_regs.h:124
#define MPU60X0_DEFAULT_SMPLRT_DIV
Default sample rate divider.
Definition: mpu60x0.h:37
uint8_t clk_sel
Clock select.
Definition: mpu60x0.h:79
#define MPU60X0_REG_INT_ENABLE
Definition: mpu60x0_regs.h:88
void mpu60x0_set_default_config(struct Mpu60x0Config *c)
Definition: mpu60x0.c:32
static struct point c
Definition: discsurvey.c:39
#define MPU60X0_REG_GYRO_CONFIG
Definition: mpu60x0_regs.h:52
void(* Mpu60x0ConfigSet)(void *mpu, uint8_t _reg, uint8_t _val)
Configuration function prototype.
Definition: mpu60x0.h:64
#define MPU60X0_REG_ACCEL_CONFIG
Definition: mpu60x0_regs.h:53
#define MPU60X0_DEFAULT_FS_SEL
Default gyro full scale range +- 2000°/s.
Definition: mpu60x0.h:39