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MPU6500 conversion

This commit is contained in:
Martin Budden 2017-06-29 07:38:53 +01:00
parent 8df87bc47d
commit 79589f99ca
4 changed files with 30 additions and 42 deletions
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5
src/main/drivers/accgyro/accgyro_mpu.c
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@ -248,14 +248,15 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
#endif
#ifdef USE_GYRO_SPI_MPU6500
gyro->bus.spi.instance = MPU6500_SPI_INSTANCE;
gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU6500_CS_PIN)) : gyro->bus.spi.csnPin;
const uint8_t mpu6500Sensor = mpu6500SpiDetect(&gyro->bus);
// some targets using MPU_9250_SPI, ICM_20608_SPI or ICM_20602_SPI state sensor is MPU_65xx_SPI
if (mpu6500Sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = mpu6500Sensor;
gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
gyro->mpuConfiguration.readFn = mpu6500SpiReadRegister;
gyro->mpuConfiguration.writeFn = mpu6500SpiWriteRegister;
gyro->mpuConfiguration.readFn = spiReadRegister;
gyro->mpuConfiguration.writeFn = spiWriteRegister;
return true;
}
#endif

41
src/main/drivers/accgyro/accgyro_spi_mpu6500.c
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@ -34,39 +34,8 @@
#include "accgyro_mpu6500.h"
#include "accgyro_spi_mpu6500.h"
#define DISABLE_MPU6500(spiCsnPin) IOHi(spiCsnPin)
#define ENABLE_MPU6500(spiCsnPin) IOLo(spiCsnPin)
#define BIT_SLEEP 0x40
bool mpu6500SpiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data)
{
ENABLE_MPU6500(bus->spi.csnPin);
spiTransferByte(MPU6500_SPI_INSTANCE, reg);
spiTransferByte(MPU6500_SPI_INSTANCE, data);
DISABLE_MPU6500(bus->spi.csnPin);
return true;
}
bool mpu6500SpiWriteRegisterDelayed(const busDevice_t *bus, uint8_t reg, uint8_t data)
{
mpu6500SpiWriteRegister(bus, reg, data);
delayMicroseconds(10);
return true;
}
bool mpu6500SpiReadRegister(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data)
{
ENABLE_MPU6500(bus->spi.csnPin);
spiTransferByte(MPU6500_SPI_INSTANCE, reg | 0x80); // read transaction
spiTransfer(MPU6500_SPI_INSTANCE, data, NULL, length);
DISABLE_MPU6500(bus->spi.csnPin);
return true;
}
static void mpu6500SpiInit(const busDevice_t *bus)
{
static bool hardwareInitialised = false;
@ -79,7 +48,7 @@ static void mpu6500SpiInit(const busDevice_t *bus)
IOConfigGPIO(bus->spi.csnPin, SPI_IO_CS_CFG);
IOHi(bus->spi.csnPin);
spiSetDivisor(MPU6500_SPI_INSTANCE, SPI_CLOCK_FAST);
spiSetDivisor(bus->spi.instance, SPI_CLOCK_FAST);
hardwareInitialised = true;
}
@ -89,7 +58,7 @@ uint8_t mpu6500SpiDetect(const busDevice_t *bus)
mpu6500SpiInit(bus);
uint8_t tmp;
mpu6500SpiReadRegister(bus, MPU_RA_WHO_AM_I, 1, &tmp);
spiReadRegister(bus, MPU_RA_WHO_AM_I, 1, &tmp);
uint8_t mpuDetected = MPU_NONE;
switch (tmp) {
@ -122,16 +91,16 @@ void mpu6500SpiAccInit(accDev_t *acc)
void mpu6500SpiGyroInit(gyroDev_t *gyro)
{
spiSetDivisor(MPU6500_SPI_INSTANCE, SPI_CLOCK_SLOW);
spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_SLOW);
delayMicroseconds(1);
mpu6500GyroInit(gyro);
// Disable Primary I2C Interface
mpu6500SpiWriteRegister(&gyro->bus, MPU_RA_USER_CTRL, MPU6500_BIT_I2C_IF_DIS);
spiWriteRegister(&gyro->bus, MPU_RA_USER_CTRL, MPU6500_BIT_I2C_IF_DIS);
delay(100);
spiSetDivisor(MPU6500_SPI_INSTANCE, SPI_CLOCK_FAST);
spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_FAST);
delayMicroseconds(1);
}

4
src/main/drivers/accgyro/accgyro_spi_mpu6500.h
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@ -24,9 +24,5 @@ uint8_t mpu6500SpiDetect(const busDevice_t *bus);
bool mpu6500SpiAccDetect(accDev_t *acc);
bool mpu6500SpiGyroDetect(gyroDev_t *gyro);
bool mpu6500SpiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data);
bool mpu6500SpiWriteRegisterDelayed(const busDevice_t *bus, uint8_t reg, uint8_t data);
bool mpu6500SpiReadRegister(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data);
void mpu6500SpiGyroInit(gyroDev_t *gyro);
void mpu6500SpiAccInit(accDev_t *acc);

22
src/main/drivers/compass/compass_ak8963.c
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@ -30,6 +30,7 @@
#include "drivers/bus_i2c.h"
#include "drivers/bus_spi.h"
#include "drivers/io.h"
#include "drivers/sensor.h"
#include "drivers/time.h"
@ -109,6 +110,27 @@ typedef enum {
static queuedReadState_t queuedRead = { false, 0, 0};
static bool mpu6500SpiWriteRegisterDelayed(const busDevice_t *bus, uint8_t reg, uint8_t data)
{
IOLo(bus->spi.csnPin);
spiTransferByte(MPU6500_SPI_INSTANCE, reg);
spiTransferByte(MPU6500_SPI_INSTANCE, data);
IOHi(bus->spi.csnPin);
delayMicroseconds(10);
return true;
}
static bool mpu6500SpiReadRegister(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data)
{
IOLo(bus->spi.csnPin);
spiTransferByte(MPU6500_SPI_INSTANCE, reg | 0x80); // read transaction
spiTransfer(MPU6500_SPI_INSTANCE, data, NULL, length);
IOHi(bus->spi.csnPin);
return true;
}
static bool ak8963SensorRead(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *buf)
{
verifympu9250SpiWriteRegister(bus, MPU_RA_I2C_SLV0_ADDR, addr_ | READ_FLAG); // set I2C slave address for read