Paparazzi UAS  v5.14.0_stable-0-g3f680d1
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mpu60x0_spi.c
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1 /*
2  * Copyright (C) 2013 Gautier Hattenberger
3  *
4  * This file is part of paparazzi.
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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 && mpu->rx_buf[1] == MPU60X0_WHOAMI_REPLY) {
83  mpu->config.init_status++;
86  }
87  // Send WHO_AM_I to check if chip is there
88  else if(mpu->spi_trans.status != SPITransRunning && mpu->spi_trans.status != SPITransPending) {
89  mpu->spi_trans.output_length = 1;
90  mpu->spi_trans.input_length = 2;
92  spi_submit(mpu->spi_p, &(mpu->spi_trans));
93  }
94  }
95 }
96 
97 void mpu60x0_spi_read(struct Mpu60x0_Spi *mpu)
98 {
99  if (mpu->config.initialized && mpu->spi_trans.status == SPITransDone) {
100  mpu->spi_trans.output_length = 1;
101  mpu->spi_trans.input_length = 1 + mpu->config.nb_bytes;
102  /* set read bit and multiple byte bit, then address */
104  spi_submit(mpu->spi_p, &(mpu->spi_trans));
105  }
106 }
107 
108 #define Int16FromBuf(_buf,_idx) ((int16_t)((_buf[_idx]<<8) | _buf[_idx+1]))
109 
111 {
112  if (mpu->config.initialized) {
113  if (mpu->spi_trans.status == SPITransFailed) {
115  } else if (mpu->spi_trans.status == SPITransSuccess) {
116  // Successfull reading
117  if (bit_is_set(mpu->rx_buf[1], 0)) {
118  // new data
119  mpu->data_accel.vect.x = Int16FromBuf(mpu->rx_buf, 2);
120  mpu->data_accel.vect.y = Int16FromBuf(mpu->rx_buf, 4);
121  mpu->data_accel.vect.z = Int16FromBuf(mpu->rx_buf, 6);
122  mpu->data_rates.rates.p = Int16FromBuf(mpu->rx_buf, 10);
123  mpu->data_rates.rates.q = Int16FromBuf(mpu->rx_buf, 12);
124  mpu->data_rates.rates.r = Int16FromBuf(mpu->rx_buf, 14);
125 
126  int16_t temp_raw = Int16FromBuf(mpu->rx_buf, 8);
127 #if ICM20608
128  mpu->temp = (float)temp_raw / 326.8f + 25.0f;
129 #else
130  mpu->temp = (float)temp_raw / 340.0f + 36.53f;
131 #endif
132 
133  // if we are reading slaves, copy the ext_sens_data
134  if (mpu->config.nb_slaves > 0) {
135  /* the buffer is volatile, since filled from ISR
136  * but we know it's ok to use it here so we silence the warning
137  */
138 #pragma GCC diagnostic push
139 #pragma GCC diagnostic ignored "-Wcast-qual"
140  memcpy(mpu->data_ext, (uint8_t *) & (mpu->rx_buf[16]), mpu->config.nb_bytes - 15);
141 #pragma GCC diagnostic pop
142  }
143 
144  mpu->data_available = true;
145  }
147  }
148  } else if (mpu->config.init_status != MPU60X0_CONF_UNINIT) { // Configuring but not yet initialized
149  switch (mpu->spi_trans.status) {
150  case SPITransFailed:
151  mpu->config.init_status--; // Retry config (TODO max retry)
152  /* Falls through. */
153  case SPITransSuccess:
154  case SPITransDone:
155  mpu60x0_send_config(mpu60x0_spi_write_to_reg, (void *)mpu, &(mpu->config));
156  if (mpu->config.initialized) {
158  }
159  break;
160  default:
161  break;
162  }
163  }
164 }
165 
168 {
169  struct Mpu60x0_Spi *mpu_spi = (struct Mpu60x0_Spi *)(mpu);
170 
171  if (mpu_spi->slave_init_status == MPU60X0_SPI_CONF_UNINIT) {
172  mpu_spi->slave_init_status++;
173  }
174 
175  switch (mpu_spi->slave_init_status) {
177  /* configure MPU I2C master clock and stop/start between slave reads */
178  mpu_set(mpu, MPU60X0_REG_I2C_MST_CTRL, ((1 << 4) | mpu_spi->config.i2c_mst_clk));
179  mpu_spi->slave_init_status++;
180  break;
182  /* Set I2C slaves delayed sample rate */
183  mpu_set(mpu, MPU60X0_REG_I2C_MST_DELAY, mpu_spi->config.i2c_mst_delay);
184  mpu_spi->slave_init_status++;
185  break;
187  /* enable internal I2C master and disable primary I2C interface */
188  mpu_set(mpu, MPU60X0_REG_USER_CTRL, ((1 << MPU60X0_I2C_IF_DIS) |
189  (1 << MPU60X0_I2C_MST_EN)));
190  mpu_spi->slave_init_status++;
191  break;
193  /* configure each slave until all nb_slaves are done */
194  if (mpu_spi->config.nb_slave_init < mpu_spi->config.nb_slaves && mpu_spi->config.nb_slave_init < MPU60X0_I2C_NB_SLAVES) {
195  // proceed to next slave if configure for current one returns true
196  if (mpu_spi->config.slaves[mpu_spi->config.nb_slave_init].configure(mpu_set, mpu)) {
197  mpu_spi->config.nb_slave_init++;
198  }
199  }
200  else {
201  /* all slave devies configured, continue MPU side configuration of I2C slave stuff */
202  mpu_spi->slave_init_status++;
203  }
204  break;
206  return true;
207  default:
208  break;
209  }
210  return false;
211 }
enum SPIClockPolarity cpol
clock polarity control
Definition: spi.h:149
void mpu60x0_spi_init(struct Mpu60x0_Spi *mpu, struct spi_periph *spi_p, uint8_t slave_idx)
Definition: mpu60x0_spi.c:31
#define MPU60X0_REG_USER_CTRL
Definition: mpu60x0_regs.h:39
enum SPIClockDiv cdiv
prescaler of main clock to use as SPI clock
Definition: spi.h:153
uint8_t data_ext[MPU60X0_BUFFER_EXT_LEN]
Definition: mpu60x0_spi.h:66
uint16_t output_length
number of data words to write
Definition: spi.h:146
#define MPU60X0_I2C_MST_EN
Definition: mpu60x0_regs.h:131
bool initialized
config done flag
Definition: mpu60x0.h:133
void mpu60x0_spi_start_configure(struct Mpu60x0_Spi *mpu)
Definition: mpu60x0_spi.c:77
CPHA = 1.
Definition: spi.h:69
#define MPU60X0_WHOAMI_REPLY
Definition: mpu60x0_regs.h:120
struct Mpu60x0Config config
Definition: mpu60x0_spi.h:67
void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu)
Definition: mpu60x0_spi.c:110
uint8_t nb_slave_init
number of already configured/initialized slaves
Definition: mpu60x0.h:141
#define MPU60X0_REG_I2C_MST_CTRL
Definition: mpu60x0_regs.h:56
bool spi_submit(struct spi_periph *p, struct spi_transaction *t)
Submit SPI transaction.
Definition: spi_arch.c:458
CPOL = 1.
Definition: spi.h:78
enum SPIBitOrder bitorder
MSB/LSB order.
Definition: spi.h:152
#define MPU60X0_BUFFER_LEN
Definition: mpu60x0_spi.h:39
#define MPU60X0_REG_WHO_AM_I
Definition: mpu60x0_regs.h:116
volatile uint8_t rx_buf[MPU60X0_BUFFER_LEN]
Definition: mpu60x0_spi.h:55
volatile uint8_t * output_buf
pointer to transmit buffer for DMA
Definition: spi.h:144
enum SPISlaveSelect select
slave selection behavior
Definition: spi.h:148
Mpu60x0I2cSlaveConfigure configure
Definition: mpu60x0.h:121
enum Mpu60x0ConfStatus init_status
init status
Definition: mpu60x0.h:132
enum SPIClockPhase cpha
clock phase control
Definition: spi.h:150
enum Mpu60x0MstClk i2c_mst_clk
MPU I2C master clock speed.
Definition: mpu60x0.h:143
#define Int16FromBuf(_buf, _idx)
Definition: mpu60x0_spi.c:108
#define MPU60X0_SPI_READ
Definition: mpu60x0_regs.h:35
SPI peripheral structure.
Definition: spi.h:168
Definition: spi.h:84
#define MPU60X0_I2C_IF_DIS
Definition: mpu60x0_regs.h:130
enum Mpu60x0SpiSlaveInitStatus slave_init_status
Definition: mpu60x0_spi.h:68
#define MPU60X0_REG_I2C_MST_DELAY
Definition: mpu60x0_regs.h:58
struct spi_transaction spi_trans
Definition: mpu60x0_spi.h:53
SPICallback after_cb
NULL or function called after the transaction.
Definition: spi.h:155
#define MPU60X0_I2C_NB_SLAVES
Definition: mpu60x0.h:51
uint8_t nb_slaves
number of used I2C slaves
Definition: mpu60x0.h:140
static void mpu60x0_spi_write_to_reg(void *mpu, uint8_t _reg, uint8_t _val)
Definition: mpu60x0_spi.c:66
signed short int16_t
Definition: types.h:17
float temp
temperature in degrees Celcius
Definition: mpu60x0_spi.h:65
struct spi_periph * spi_p
Definition: mpu60x0_spi.h:52
void mpu60x0_spi_read(struct Mpu60x0_Spi *mpu)
Definition: mpu60x0_spi.c:97
volatile uint8_t tx_buf[2]
Definition: mpu60x0_spi.h:54
uint16_t input_length
number of data words to read
Definition: spi.h:145
volatile bool data_available
data ready flag
Definition: mpu60x0_spi.h:56
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_REG_INT_STATUS
Definition: mpu60x0_regs.h:89
union Mpu60x0_Spi::@316 data_rates
unsigned char uint8_t
Definition: types.h:14
union Mpu60x0_Spi::@315 data_accel
bool mpu60x0_configure_i2c_slaves(Mpu60x0ConfigSet mpu_set, void *mpu)
configure the registered I2C slaves
Definition: mpu60x0_spi.c:167
slave is selected before transaction and unselected after
Definition: spi.h:57
enum SPIDataSizeSelect dss
data transfer word size
Definition: spi.h:151
uint8_t i2c_mst_delay
MPU I2C slaves delayed sample rate.
Definition: mpu60x0.h:144
uint8_t slave_idx
slave id: SPI_SLAVE0 to SPI_SLAVE4
Definition: spi.h:147
Definition: spi.h:119
volatile uint8_t * input_buf
pointer to receive buffer for DMA
Definition: spi.h:143
SPICallback before_cb
NULL or function called before the transaction.
Definition: spi.h:154
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
Driver for the MPU-60X0 using SPI.
struct Mpu60x0I2cSlave slaves[MPU60X0_I2C_NB_SLAVES]
I2C slaves.
Definition: mpu60x0.h:142
void(* Mpu60x0ConfigSet)(void *mpu, uint8_t _reg, uint8_t _val)
Configuration function prototype.
Definition: mpu60x0.h:115
enum SPITransactionStatus status
Definition: spi.h:156