Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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imu_mpu9250_spi.c
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1/*
2 * Copyright (C) 2014 Gautier Hattenberger <gautier.hattenberger@enac.fr>
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, see
18 * <http://www.gnu.org/licenses/>.
19 */
20
29#include "modules/imu/imu.h"
30#include "modules/core/abi.h"
31#include "mcu_periph/sys_time.h"
32#include "mcu_periph/spi.h"
34#include "generated/modules.h"
35
36/* SPI defaults set in subsystem makefile, can be configured from airframe file */
39
40
41#if !defined IMU_MPU9250_GYRO_LOWPASS_FILTER && !defined IMU_MPU9250_ACCEL_LOWPASS_FILTER && !defined IMU_MPU9250_SMPLRT_DIV
42#if (PERIODIC_FREQUENCY >= 60) && (PERIODIC_FREQUENCY <= 120)
43/* Accelerometer: Bandwidth 41Hz, Delay 5.9ms
44 * Gyroscope: Bandwidth 41Hz, Delay 5.9ms sampling 1kHz
45 * Output rate: 100Hz
46 */
47#define IMU_MPU9250_GYRO_LOWPASS_FILTER MPU9250_DLPF_GYRO_41HZ
48#define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_41HZ
49#define IMU_MPU9250_SMPLRT_DIV 9
50PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
51#elif (PERIODIC_FREQUENCY == 512) || (PERIODIC_FREQUENCY == 500)
52/* Accelerometer: Bandwidth 184Hz, Delay 5.8ms
53 * Gyroscope: Bandwidth 250Hz, Delay 0.97ms sampling 8kHz
54 * Output rate: 2kHz
55 */
56#define IMU_MPU9250_GYRO_LOWPASS_FILTER MPU9250_DLPF_GYRO_250HZ
57#define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_184HZ
58#define IMU_MPU9250_SMPLRT_DIV 3
59PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
60#else
61/* By default, don't go too fast */
62#define IMU_MPU9250_SMPLRT_DIV 9
63#define IMU_MPU9250_GYRO_LOWPASS_FILTER MPU9250_DLPF_GYRO_41HZ
64#define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_41HZ
65PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
66#warning "Non-default PERIODIC_FREQUENCY: please define IMU_MPU9250_GYRO_LOWPASS_FILTER, IMU_MPU9250_ACCEL_LOWPASS_FILTER and IMU_MPU9250_SMPLRT_DIV."
67#endif
68#endif
72
75
76// Default channels order
77#ifndef IMU_MPU9250_CHAN_X
78#define IMU_MPU9250_CHAN_X 0
79#endif
81#ifndef IMU_MPU9250_CHAN_Y
82#define IMU_MPU9250_CHAN_Y 1
83#endif
85#ifndef IMU_MPU9250_CHAN_Z
86#define IMU_MPU9250_CHAN_Z 2
87#endif
89
90#ifndef IMU_MPU9250_X_SIGN
91#define IMU_MPU9250_X_SIGN 1
92#endif
94#ifndef IMU_MPU9250_Y_SIGN
95#define IMU_MPU9250_Y_SIGN 1
96#endif
98#ifndef IMU_MPU9250_Z_SIGN
99#define IMU_MPU9250_Z_SIGN 1
100#endif
102
103#ifndef IMU_MPU9250_READ_MAG
104#define IMU_MPU9250_READ_MAG TRUE
105#endif
106
107#ifndef IMU_MPU9250_MAG_STARTUP_DELAY
108#define IMU_MPU9250_MAG_STARTUP_DELAY 1
109#endif
110
112
113void mpu_wait_slave4_ready(void);
116
118{
119 /* MPU9250 */
121 // change the default configuration
127
128 // Set the default scaling
131
132 /* "internal" ak8963 magnetometer as I2C slave */
133#if IMU_MPU9250_READ_MAG
134 /* read 15 bytes for status, accel, gyro + 7 bytes for mag slave */
137#endif
138 /* set callback function to configure mag */
140
141 /* Set MPU I2C master clock */
143 /* Enable I2C slave0 delayed sample rate */
145
146
147 /* configure spi transaction for wait_slave4 */
153
162
165}
166
171
172#define Int16FromBuf(_buf,_idx) ((int16_t)(_buf[_idx] | (_buf[_idx+1] << 8)))
174{
176
177 // If the MPU9250 SPI transaction has succeeded: convert the data
179
181 // set channel order
182 struct Int32Vect3 accel = {
186 };
187 struct Int32Rates rates = {
191 };
192
193#if IMU_MPU9250_READ_MAG
194 if (!bit_is_set(imu_mpu9250.mpu.data_ext[6], 3)) { //mag valid just HOFL == 0
196 struct Int32Vect3 mag;
201 }
202#endif
203
207 }
208
209}
210
211// hack with waiting to avoid creating another event loop to check the mag config status
213{
214 mpu_set(mpu, _reg, _val);
215 while (imu_mpu9250.mpu.spi_trans.status != SPITransSuccess);
216}
217
222{
223 // wait before starting the configuration of the mag
224 // doing to early may void the mode configuration
226 return false;
227 }
228
229 //config AK8963 soft reset
233 mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_CTRL, (1 << 7)); // Slave 4 enable
234
236
237 // Set it to continious measuring mode 2
241 mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_CTRL, (1 << 7)); // Slave 4 enable
242
244
245 //Config SLV0 for continus Read
248 // Put the enable command as last.
250 (1 << 7) | // Slave 0 enable
251 (7 << 0)); // Read 7 bytes (mag x,y,z + status)
252
253 return true;
254}
255
265
267{
268 if (bit_is_set(t->input_buf[1], MPU9250_I2C_SLV4_DONE)) {
270 } else {
272 }
273 t->status = SPITransDone;
274}
Main include for ABI (AirBorneInterface).
#define IMU_MPU9250_ID
#define AK8963_REG_HXL
Definition ak8963_regs.h:46
#define AK8963_CNTL1_CM_2
Definition ak8963_regs.h:37
#define AK8963_REG_CNTL2
Definition ak8963_regs.h:54
#define AK8963_REG_CNTL1
Definition ak8963_regs.h:53
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
angular rates
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
@ SPITransSuccess
Definition spi.h:99
@ 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 transaction structure.
Definition spi.h:148
void imu_set_defaults_accel(uint8_t abi_id, const struct Int32RMat *imu_to_sensor, const struct Int32Vect3 *neutral, const struct Int32Vect3 *scale)
Set the defaults for a accel sensor WARNING: Should be called before sensor is publishing messages to...
Definition imu.c:610
void imu_set_defaults_gyro(uint8_t abi_id, const struct Int32RMat *imu_to_sensor, const struct Int32Rates *neutral, const struct Int32Rates *scale)
Set the defaults for a gyro sensor WARNING: Should be called before sensor is publishing messages to ...
Definition imu.c:580
Inertial Measurement Unit interface.
#define IMU_MPU9250_ACCEL_RANGE
#define IMU_MPU9250_GYRO_RANGE
#define IMU_MPU9250_MAG_STARTUP_DELAY
#define IMU_MPU9250_GYRO_LOWPASS_FILTER
#define IMU_MPU9250_X_SIGN
#define IMU_MPU9250_CHAN_X
bool imu_mpu9250_configure_mag_slave(Mpu9250ConfigSet mpu_set, void *mpu)
function to configure akm8963 mag
void imu_mpu9250_periodic(void)
#define IMU_MPU9250_Y_SIGN
#define IMU_MPU9250_ACCEL_LOWPASS_FILTER
void mpu_wait_slave4_ready_cb(struct spi_transaction *t)
void imu_mpu9250_init(void)
void mpu_wait_slave4_ready(void)
#define IMU_MPU9250_Z_SIGN
#define IMU_MPU9250_SMPLRT_DIV
#define IMU_MPU9250_CHAN_Z
#define IMU_MPU9250_CHAN_Y
static void mpu_set_and_wait(Mpu9250ConfigSet mpu_set, void *mpu, uint8_t _reg, uint8_t _val)
struct ImuMpu9250 imu_mpu9250
#define Int16FromBuf(_buf, _idx)
void imu_mpu9250_event(void)
IMU driver for the MPU9250 using SPI.
struct spi_transaction wait_slave4_trans
volatile uint8_t wait_slave4_rx_buf[2]
struct Mpu9250_I2c mpu
volatile uint8_t wait_slave4_tx_buf[1]
volatile bool slave4_ready
PRINT_CONFIG_MSG("USE_INS_NAV_INIT defaulting to TRUE")
uint16_t foo
Definition main_demo5.c:58
const struct Int32Vect3 MPU9250_ACCEL_SENS_FRAC[4][2]
Definition mpu9250.c:57
const struct Int32Rates MPU9250_GYRO_SENS_FRAC[4][2]
Definition mpu9250.c:39
enum Mpu9250DLPFGyro dlpf_gyro_cfg
Digital Low Pass Filter for gyroscope.
Definition mpu9250.h:130
Mpu9250I2cSlaveConfigure configure
Definition mpu9250.h:124
void(* Mpu9250ConfigSet)(void *mpu, uint8_t _reg, uint8_t _val)
Configuration function prototype.
Definition mpu9250.h:118
uint8_t i2c_mst_delay
MPU I2C slaves delayed sample rate.
Definition mpu9250.h:148
enum Mpu9250MstClk i2c_mst_clk
MPU I2C master clock speed.
Definition mpu9250.h:147
uint8_t nb_slaves
number of used I2C slaves
Definition mpu9250.h:144
enum Mpu9250GyroRanges gyro_range
deg/s Range
Definition mpu9250.h:131
uint8_t nb_bytes
number of bytes to read starting with MPU9250_REG_INT_STATUS
Definition mpu9250.h:135
enum Mpu9250DLPFAccel dlpf_accel_cfg
Digital Low Pass Filter for accelerometer.
Definition mpu9250.h:129
uint8_t smplrt_div
Sample rate divider.
Definition mpu9250.h:128
enum Mpu9250AccelRanges accel_range
g Range
Definition mpu9250.h:132
struct Mpu9250I2cSlave slaves[MPU9250_I2C_NB_SLAVES]
I2C slaves.
Definition mpu9250.h:146
union Mpu9250_I2c::@346 data_rates
struct Mpu9250Config config
Definition mpu9250_i2c.h:72
uint8_t data_ext[MPU9250_BUFFER_EXT_LEN]
Definition mpu9250_i2c.h:71
union Mpu9250_I2c::@345 data_accel
volatile bool data_available
data ready flag
Definition mpu9250_i2c.h:62
#define MPU9250_REG_I2C_SLV4_ADDR
#define MPU9250_I2C_SLV4_DONE
#define MPU9250_REG_I2C_MST_STATUS
#define MPU9250_REG_I2C_SLV0_ADDR
#define MPU9250_SPI_READ
@ MPU9250_MST_CLK_400KHZ
#define MPU9250_MAG_ADDR
#define MPU9250_REG_I2C_SLV4_REG
#define MPU9250_REG_I2C_SLV4_DO
#define MPU9250_REG_I2C_SLV4_CTRL
#define MPU9250_REG_I2C_SLV0_CTRL
#define MPU9250_REG_I2C_SLV0_REG
void mpu9250_spi_init(struct Mpu9250_Spi *mpu, struct spi_periph *spi_p, uint8_t slave_idx)
Definition mpu9250_spi.c:31
void mpu9250_spi_event(struct Mpu9250_Spi *mpu)
static void mpu9250_spi_periodic(struct Mpu9250_Spi *mpu)
convenience function: read or start configuration if not already initialized
Definition mpu9250_spi.h:77
PRINT_CONFIG_VAR(ONELOOP_ANDI_FILT_CUTOFF)
Architecture independent SPI (Serial Peripheral Interface) API.
Architecture independent timing functions.
static float get_sys_time_float(void)
Get the time in seconds since startup.
Definition sys_time.h:138
int int32_t
Typedef defining 32 bit int type.
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.