Paparazzi UAS  v5.14.0_stable-0-g3f680d1
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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
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 #include "peripherals/mpu60x0.h"
31 
32 const float MPU60X0_GYRO_SENS[4] = {
37 };
38 
44 };
45 
46 const float MPU60X0_ACCEL_SENS[4] = {
51 };
52 
58 };
59 
61 {
67  c->drdy_int_enable = false;
68 
69  /* Number of bytes to read starting with MPU60X0_REG_INT_STATUS
70  * By default read only gyro and accel data -> 15 bytes.
71  * Increase to include slave data.
72  */
73  c->nb_bytes = 15;
74  c->nb_slaves = 0;
75  c->nb_slave_init = 0;
76 
77  c->i2c_bypass = false;
78 }
79 
80 void mpu60x0_send_config(Mpu60x0ConfigSet mpu_set, void *mpu, struct Mpu60x0Config *config)
81 {
82  switch (config->init_status) {
83  case MPU60X0_CONF_RESET:
84  /* device reset, set register values to defaults */
85  mpu_set(mpu, MPU60X0_REG_PWR_MGMT_1, (1 << 6));
86  config->init_status++;
87  break;
89  /* trigger FIFO, I2C_MST and SIG_COND resets */
90  mpu_set(mpu, MPU60X0_REG_USER_CTRL, ((1 << MPU60X0_FIFO_RESET) |
91  (1 << MPU60X0_I2C_MST_RESET) |
92  (1 << MPU60X0_SIG_COND_RESET)));
93  config->init_status++;
94  break;
95  case MPU60X0_CONF_PWR:
96  /* switch to gyroX clock by default */
97  mpu_set(mpu, MPU60X0_REG_PWR_MGMT_1, ((config->clk_sel) | (0 << 6)));
98  config->init_status++;
99  break;
100  case MPU60X0_CONF_SD:
101  /* configure sample rate divider */
102  mpu_set(mpu, MPU60X0_REG_SMPLRT_DIV, config->smplrt_div);
103  config->init_status++;
104  break;
105  case MPU60X0_CONF_DLPF:
106  /* configure digital low pass filter */
107  mpu_set(mpu, MPU60X0_REG_CONFIG, config->dlpf_cfg);
108  config->init_status++;
109  break;
110  case MPU60X0_CONF_GYRO:
111  /* configure gyro range */
112  mpu_set(mpu, MPU60X0_REG_GYRO_CONFIG, (config->gyro_range << 3));
113  config->init_status++;
114  break;
115  case MPU60X0_CONF_ACCEL:
116  /* configure accelerometer range */
117  mpu_set(mpu, MPU60X0_REG_ACCEL_CONFIG, (config->accel_range << 3));
118  config->init_status++;
119  break;
121  /* if any, set MPU for I2C slaves and configure them*/
122  if (config->nb_slaves > 0) {
123  /* returns TRUE when all slaves are configured */
124  if (mpu60x0_configure_i2c_slaves(mpu_set, mpu)) {
125  config->init_status++;
126  }
127  } else {
128  config->init_status++;
129  }
130  break;
132  /* configure data ready interrupt */
133  mpu_set(mpu, MPU60X0_REG_INT_ENABLE, (config->drdy_int_enable << 0));
134  config->init_status++;
135  break;
136  case MPU60X0_CONF_DONE:
137  config->initialized = true;
138  break;
139  default:
140  break;
141  }
142 }
#define MPU60X0_REG_USER_CTRL
Definition: mpu60x0_regs.h:39
#define MPU60X0_REG_PWR_MGMT_1
Definition: mpu60x0_regs.h:40
#define MPU60X0_GYRO_SENS_250_DEN
Definition: mpu60x0.h:61
#define MPU60X0_ACCEL_SENS_16G_DEN
Definition: mpu60x0.h:93
bool initialized
config done flag
Definition: mpu60x0.h:133
#define MPU60X0_GYRO_SENS_2000_NUM
Definition: mpu60x0.h:69
uint8_t smplrt_div
Sample rate divider.
Definition: mpu60x0.h:125
uint8_t nb_slave_init
number of already configured/initialized slaves
Definition: mpu60x0.h:141
#define MPU60X0_REG_SMPLRT_DIV
Definition: mpu60x0_regs.h:50
#define MPU60X0_REG_CONFIG
Definition: mpu60x0_regs.h:51
#define MPU60X0_ACCEL_SENS_8G
Definition: mpu60x0.h:88
enum Mpu60x0GyroRanges gyro_range
deg/s Range
Definition: mpu60x0.h:127
#define MPU60X0_GYRO_SENS_2000
Definition: mpu60x0.h:68
#define MPU60X0_ACCEL_SENS_2G_DEN
Definition: mpu60x0.h:84
enum Mpu60x0AccelRanges accel_range
g Range
Definition: mpu60x0.h:128
#define MPU60X0_GYRO_SENS_500_DEN
Definition: mpu60x0.h:64
bool drdy_int_enable
Enable Data Ready Interrupt.
Definition: mpu60x0.h:129
enum Mpu60x0DLPF dlpf_cfg
Digital Low Pass Filter.
Definition: mpu60x0.h:126
#define MPU60X0_GYRO_SENS_250_NUM
Definition: mpu60x0.h:60
#define MPU60X0_FIFO_RESET
Definition: mpu60x0_regs.h:129
enum Mpu60x0ConfStatus init_status
init status
Definition: mpu60x0.h:132
#define MPU60X0_DEFAULT_AFS_SEL
Default accel full scale range +- 16g.
Definition: mpu60x0.h:41
#define MPU60X0_GYRO_SENS_500
Definition: mpu60x0.h:62
#define MPU60X0_ACCEL_SENS_2G
default accel sensitivy from the datasheet sens = 9.81 [m/s^2] / [LSB/g] * 2^INT32_ACCEL_FRAC ex: MPU...
Definition: mpu60x0.h:82
#define MPU60X0_GYRO_SENS_2000_DEN
Definition: mpu60x0.h:70
#define MPU60X0_ACCEL_SENS_4G
Definition: mpu60x0.h:85
#define MPU60X0_ACCEL_SENS_8G_DEN
Definition: mpu60x0.h:90
uint8_t nb_slaves
number of used I2C slaves
Definition: mpu60x0.h:140
uint8_t clk_sel
Clock select.
Definition: mpu60x0.h:130
#define MPU60X0_GYRO_SENS_250
default gyro sensitivy from the datasheet sens = 1/ [LSB/(deg/s)] * pi/180 * 2^INT32_RATE_FRAC ex: MP...
Definition: mpu60x0.h:59
#define MPU60X0_ACCEL_SENS_4G_DEN
Definition: mpu60x0.h:87
#define MPU60X0_GYRO_SENS_500_NUM
Definition: mpu60x0.h:63
signed long int32_t
Definition: types.h:19
const int32_t MPU60X0_GYRO_SENS_FRAC[4][2]
Definition: mpu60x0.c:39
#define MPU60X0_ACCEL_SENS_16G_NUM
Definition: mpu60x0.h:92
void mpu60x0_send_config(Mpu60x0ConfigSet mpu_set, void *mpu, struct Mpu60x0Config *config)
Configuration sequence called once before normal use.
Definition: mpu60x0.c:80
#define MPU60X0_GYRO_SENS_1000
Definition: mpu60x0.h:65
bool mpu60x0_configure_i2c_slaves(Mpu60x0ConfigSet mpu_set, void *mpu)
Configure I2C slaves of the MPU.
Definition: mpu60x0_i2c.c:135
#define MPU60X0_DEFAULT_DLPF_CFG
Default internal sampling (1kHz, 42Hz LP Bandwidth)
Definition: mpu60x0.h:43
static const struct usb_config_descriptor config
Definition: usb_ser_hw.c:199
#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:127
#define MPU60X0_ACCEL_SENS_4G_NUM
Definition: mpu60x0.h:86
#define MPU60X0_GYRO_SENS_1000_NUM
Definition: mpu60x0.h:66
MPU-60X0 driver common interface (I2C and SPI).
#define MPU60X0_I2C_MST_RESET
Definition: mpu60x0_regs.h:128
const int32_t MPU60X0_ACCEL_SENS_FRAC[4][2]
Definition: mpu60x0.c:53
const float MPU60X0_ACCEL_SENS[4]
Definition: mpu60x0.c:46
#define MPU60X0_DEFAULT_SMPLRT_DIV
Default sample rate divider.
Definition: mpu60x0.h:37
#define MPU60X0_ACCEL_SENS_16G
Definition: mpu60x0.h:91
#define MPU60X0_ACCEL_SENS_2G_NUM
Definition: mpu60x0.h:83
const float MPU60X0_GYRO_SENS[4]
Definition: mpu60x0.c:32
bool i2c_bypass
Bypass MPU I2C.
Definition: mpu60x0.h:138
#define MPU60X0_GYRO_SENS_1000_DEN
Definition: mpu60x0.h:67
#define MPU60X0_REG_INT_ENABLE
Definition: mpu60x0_regs.h:88
void mpu60x0_set_default_config(struct Mpu60x0Config *c)
Definition: mpu60x0.c:60
uint8_t nb_bytes
number of bytes to read starting with MPU60X0_REG_INT_STATUS
Definition: mpu60x0.h:131
#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:115
#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
#define MPU60X0_ACCEL_SENS_8G_NUM
Definition: mpu60x0.h:89