Paparazzi UAS  v5.8.2_stable-0-g6260b7c
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mpu9250_spi.c
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1 /*
2  * Copyright (C) 2013 Gautier Hattenberger
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4  * This file is part of paparazzi.
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20  */
21 
30 
31 void mpu9250_spi_init(struct Mpu9250_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 MPU9250 config options */
57 
58  mpu->data_available = FALSE;
59  mpu->config.initialized = FALSE;
61 
63 }
64 
65 
66 static void mpu9250_spi_write_to_reg(void *mpu, uint8_t _reg, uint8_t _val)
67 {
68  struct Mpu9250_Spi *mpu_spi = (struct Mpu9250_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  mpu->config.init_status++;
83  }
84  }
85 }
86 
87 void mpu9250_spi_read(struct Mpu9250_Spi *mpu)
88 {
89  if (mpu->config.initialized && mpu->spi_trans.status == SPITransDone) {
90  mpu->spi_trans.output_length = 1;
91  mpu->spi_trans.input_length = 1 + mpu->config.nb_bytes;
92  /* set read bit and multiple byte bit, then address */
94  spi_submit(mpu->spi_p, &(mpu->spi_trans));
95  }
96 }
97 
98 #define Int16FromBuf(_buf,_idx) ((int16_t)((_buf[_idx]<<8) | _buf[_idx+1]))
99 
101 {
102  if (mpu->config.initialized) {
103  if (mpu->spi_trans.status == SPITransFailed) {
105  } else if (mpu->spi_trans.status == SPITransSuccess) {
106  // Successfull reading
107  if (bit_is_set(mpu->rx_buf[1], 0)) {
108  // new data
109  mpu->data_accel.vect.x = Int16FromBuf(mpu->rx_buf, 2);
110  mpu->data_accel.vect.y = Int16FromBuf(mpu->rx_buf, 4);
111  mpu->data_accel.vect.z = Int16FromBuf(mpu->rx_buf, 6);
112  mpu->data_rates.rates.p = Int16FromBuf(mpu->rx_buf, 10);
113  mpu->data_rates.rates.q = Int16FromBuf(mpu->rx_buf, 12);
114  mpu->data_rates.rates.r = Int16FromBuf(mpu->rx_buf, 14);
115 
116  // if we are reading slaves, copy the ext_sens_data
117  if (mpu->config.nb_slaves > 0) {
118  /* the buffer is volatile, since filled from ISR
119  * but we know it's ok to use it here so we silence the warning
120  */
121 #pragma GCC diagnostic push
122 #pragma GCC diagnostic ignored "-Wcast-qual"
123  memcpy(mpu->data_ext, (uint8_t *) & (mpu->rx_buf[16]), mpu->config.nb_bytes - 15);
124 #pragma GCC diagnostic pop
125  }
126 
127  mpu->data_available = TRUE;
128  }
130  }
131  } else if (mpu->config.init_status != MPU9250_CONF_UNINIT) { // Configuring but not yet initialized
132  switch (mpu->spi_trans.status) {
133  case SPITransFailed:
134  mpu->config.init_status--; // Retry config (TODO max retry)
135  case SPITransSuccess:
136  case SPITransDone:
137  mpu9250_send_config(mpu9250_spi_write_to_reg, (void *)mpu, &(mpu->config));
138  if (mpu->config.initialized) {
140  }
141  break;
142  default:
143  break;
144  }
145  }
146 }
147 
150 {
151  struct Mpu9250_Spi *mpu_spi = (struct Mpu9250_Spi *)(mpu);
152 
153  if (mpu_spi->slave_init_status == MPU9250_SPI_CONF_UNINIT) {
154  mpu_spi->slave_init_status++;
155  }
156 
157  switch (mpu_spi->slave_init_status) {
159  /* configure MPU I2C master clock and stop/start between slave reads */
160  mpu_set(mpu, MPU9250_REG_I2C_MST_CTRL, ((1 << 4) | mpu_spi->config.i2c_mst_clk));
161  mpu_spi->slave_init_status++;
162  break;
164  /* Set I2C slaves delayed sample rate */
165  mpu_set(mpu, MPU9250_REG_I2C_MST_DELAY, mpu_spi->config.i2c_mst_delay);
166  mpu_spi->slave_init_status++;
167  break;
169  /* enable internal I2C master and disable primary I2C interface */
170  mpu_set(mpu, MPU9250_REG_USER_CTRL, ((1 << MPU9250_I2C_IF_DIS) |
171  (1 << MPU9250_I2C_MST_EN)));
172  mpu_spi->slave_init_status++;
173  break;
175  /* configure first slave, only one slave supported so far */
176  if (mpu_spi->config.slaves[0].configure(mpu_set, mpu)) {
177  mpu_spi->slave_init_status++;
178  }
179  break;
181  return TRUE;
182  default:
183  break;
184  }
185  return FALSE;
186 }
enum Mpu9250MstClk i2c_mst_clk
MPU I2C master clock speed.
Definition: mpu9250.h:94
enum SPIClockPolarity cpol
clock polarity control
Definition: spi.h:149
Mpu9250I2cSlaveConfigure configure
Definition: mpu9250.h:72
enum SPIClockDiv cdiv
prescaler of main clock to use as SPI clock
Definition: spi.h:153
volatile uint8_t tx_buf[2]
Definition: mpu9250_spi.h:54
#define MPU9250_REG_INT_STATUS
Definition: mpu9250_regs.h:93
uint16_t output_length
number of data words to write
Definition: spi.h:146
CPHA = 1.
Definition: spi.h:69
enum Mpu9250ConfStatus init_status
init status
Definition: mpu9250.h:84
uint8_t nb_bytes
number of bytes to read starting with MPU9250_REG_INT_STATUS
Definition: mpu9250.h:83
#define MPU9250_BUFFER_LEN
Definition: mpu9250_spi.h:39
volatile bool_t data_available
data ready flag
Definition: mpu9250_spi.h:56
union Mpu9250_Spi::@47 data_accel
CPOL = 1.
Definition: spi.h:78
enum SPIBitOrder bitorder
MSB/LSB order.
Definition: spi.h:152
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
bool_t mpu9250_configure_i2c_slaves(Mpu9250ConfigSet mpu_set, void *mpu)
Configure I2C slaves of the MPU.
Definition: mpu9250_spi.c:149
#define FALSE
Definition: std.h:5
void mpu9250_spi_event(struct Mpu9250_Spi *mpu)
Definition: mpu9250_spi.c:100
union Mpu9250_Spi::@48 data_rates
struct Mpu9250I2cSlave slaves[5]
I2C slaves.
Definition: mpu9250.h:93
enum SPIClockPhase cpha
clock phase control
Definition: spi.h:150
Driver for the MPU-9250 using SPI.
#define TRUE
Definition: std.h:4
SPI peripheral structure.
Definition: spi.h:168
Definition: spi.h:84
enum Mpu9250SpiSlaveInitStatus slave_init_status
Definition: mpu9250_spi.h:67
bool_t spi_submit(struct spi_periph *p, struct spi_transaction *t)
Submit a spi transaction.
Definition: spi_arch.c:48
void mpu9250_send_config(Mpu9250ConfigSet mpu_set, void *mpu, struct Mpu9250Config *config)
Configuration sequence called once before normal use.
Definition: mpu9250.c:52
void mpu9250_spi_init(struct Mpu9250_Spi *mpu, struct spi_periph *spi_p, uint8_t slave_idx)
Definition: mpu9250_spi.c:31
#define MPU9250_REG_I2C_MST_CTRL
Definition: mpu9250_regs.h:60
SPICallback after_cb
NULL or function called after the transaction.
Definition: spi.h:155
void(* Mpu9250ConfigSet)(void *mpu, uint8_t _reg, uint8_t _val)
Configuration function prototype.
Definition: mpu9250.h:66
uint8_t data_ext[MPU9250_BUFFER_EXT_LEN]
Definition: mpu9250_spi.h:65
void mpu9250_set_default_config(struct Mpu9250Config *c)
Definition: mpu9250.c:32
uint8_t nb_slaves
number of used I2C slaves
Definition: mpu9250.h:92
#define MPU9250_I2C_IF_DIS
Definition: mpu9250_regs.h:130
struct Mpu9250Config config
Definition: mpu9250_spi.h:66
uint16_t input_length
number of data words to read
Definition: spi.h:145
struct spi_periph * spi_p
Definition: mpu9250_spi.h:52
#define MPU9250_REG_I2C_MST_DELAY
Definition: mpu9250_regs.h:62
bool_t initialized
config done flag
Definition: mpu9250.h:85
#define MPU9250_REG_USER_CTRL
Definition: mpu9250_regs.h:41
unsigned char uint8_t
Definition: types.h:14
#define MPU9250_I2C_MST_EN
Definition: mpu9250_regs.h:131
static void mpu9250_spi_write_to_reg(void *mpu, uint8_t _reg, uint8_t _val)
Definition: mpu9250_spi.c:66
void mpu9250_spi_read(struct Mpu9250_Spi *mpu)
Definition: mpu9250_spi.c:87
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 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
#define Int16FromBuf(_buf, _idx)
Definition: mpu9250_spi.c:98
struct spi_transaction spi_trans
Definition: mpu9250_spi.h:53
volatile uint8_t rx_buf[MPU9250_BUFFER_LEN]
Definition: mpu9250_spi.h:55
#define MPU9250_SPI_READ
Definition: mpu9250_regs.h:37
uint8_t i2c_mst_delay
MPU I2C slaves delayed sample rate.
Definition: mpu9250.h:95
enum SPITransactionStatus status
Definition: spi.h:156
void mpu9250_spi_start_configure(struct Mpu9250_Spi *mpu)
Definition: mpu9250_spi.c:77