Relocate some of the common MPU code from MPU6050 into accgyro_mpu.c.
This commit is contained in:
Dominic Clifton
parent
9f95334347
commit
b46d56a5bd
7
Makefile
7
Makefile
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@ -292,6 +292,7 @@ NAZE_SRC = startup_stm32f10x_md_gcc.S \
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drivers/accgyro_bma280.c \
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drivers/accgyro_l3g4200d.c \
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drivers/accgyro_mma845x.c \
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drivers/accgyro_mpu.c \
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drivers/accgyro_mpu3050.c \
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drivers/accgyro_mpu6050.c \
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drivers/accgyro_spi_mpu6500.c \
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@ -332,6 +333,7 @@ EUSTM32F103RC_SRC = startup_stm32f10x_hd_gcc.S \
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drivers/accgyro_bma280.c \
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drivers/accgyro_l3g4200d.c \
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drivers/accgyro_mma845x.c \
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drivers/accgyro_mpu.c \
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drivers/accgyro_mpu3050.c \
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drivers/accgyro_mpu6050.c \
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drivers/accgyro_spi_mpu6000.c \
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@ -369,6 +371,7 @@ EUSTM32F103RC_SRC = startup_stm32f10x_hd_gcc.S \
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PORT103R_SRC = $(EUSTM32F103RC_SRC)
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OLIMEXINO_SRC = startup_stm32f10x_md_gcc.S \
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drivers/accgyro_mpu.c \
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drivers/accgyro_mpu6050.c \
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drivers/adc.c \
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drivers/adc_stm32f10x.c \
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@ -408,6 +411,7 @@ CJMCU_SRC = \
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startup_stm32f10x_md_gcc.S \
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drivers/adc.c \
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drivers/adc_stm32f10x.c \
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drivers/accgyro_mpu.c \
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drivers/accgyro_mpu6050.c \
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drivers/bus_i2c_stm32f10x.c \
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drivers/compass_hmc5883l.c \
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@ -499,6 +503,7 @@ STM32F3DISCOVERY_SRC = \
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drivers/accgyro_adxl345.c \
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drivers/accgyro_bma280.c \
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drivers/accgyro_mma845x.c \
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drivers/accgyro_mpu.c \
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drivers/accgyro_mpu3050.c \
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drivers/accgyro_mpu6050.c \
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drivers/accgyro_l3g4200d.c \
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@ -527,6 +532,7 @@ COLIBRI_RACE_SRC = \
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SPARKY_SRC = \
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$(STM32F30x_COMMON_SRC) \
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drivers/display_ug2864hsweg01.c \
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drivers/accgyro_mpu.c \
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drivers/accgyro_mpu6050.c \
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drivers/barometer_ms5611.c \
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drivers/compass_ak8975.c \
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@ -539,6 +545,7 @@ ALIENWIIF3_SRC = $(SPARKY_SRC)
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SPRACINGF3_SRC = \
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$(STM32F30x_COMMON_SRC) \
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drivers/accgyro_mpu.c \
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drivers/accgyro_mpu6050.c \
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drivers/barometer_ms5611.c \
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drivers/compass_ak8975.c \
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@ -17,7 +17,7 @@
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#pragma once
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extern uint16_t acc_1G;
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extern uint16_t acc_1G; // FIXME move into acc_t
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typedef struct gyro_s {
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sensorInitFuncPtr init; // initialize function
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@ -0,0 +1,279 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <string.h>
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#include "platform.h"
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#include "build_config.h"
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#include "debug.h"
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#include "common/maths.h"
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#include "nvic.h"
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#include "system.h"
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#include "gpio.h"
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#include "exti.h"
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#include "bus_i2c.h"
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#include "sensor.h"
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#include "accgyro.h"
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#include "accgyro_mpu6050.h"
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#include "accgyro_mpu.h"
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//#define DEBUG_MPU_DATA_READY_INTERRUPT
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// MPU6050, Standard address 0x68
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// MPU_INT on PB13 on rev4 Naze32 hardware
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#define MPU6050_ADDRESS 0x68
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uint8_t mpuLowPassFilter = INV_FILTER_42HZ;
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void mpu6050AccInit(void);
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bool mpu6050AccRead(int16_t *accData);
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void mpu6050GyroInit(void);
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bool mpu6050GyroRead(int16_t *gyroADC);
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mpuDetectionResult_t mpuDetectionResult;
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static const extiConfig_t *mpuIntExtiConfig = NULL;
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// MPU6050
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#define MPU_RA_WHO_AM_I 0x75
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#define MPU_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
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#define MPU_RA_PRODUCT_ID 0x0C // Product ID Register
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#define MPU_RA_ACCEL_XOUT_H 0x3B
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#define MPU_RA_GYRO_XOUT_H 0x43
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mpuDetectionResult_t *detectMpu(const extiConfig_t *configToUse)
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{
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memset(&mpuDetectionResult, 0, sizeof(mpuDetectionResult));
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mpuIntExtiConfig = configToUse;
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bool ack;
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uint8_t sig;
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uint8_t readBuffer[6];
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uint8_t revision;
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uint8_t productId;
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delay(35); // datasheet page 13 says 30ms. other stuff could have been running meanwhile. but we'll be safe
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ack = i2cRead(MPU6050_ADDRESS, MPU_RA_WHO_AM_I, 1, &sig);
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if (!ack)
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return &mpuDetectionResult;
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// So like, MPU6xxx has a "WHO_AM_I" register, that is used to verify the identity of the device.
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// The contents of WHO_AM_I are the upper 6 bits of the MPU-60X0<58>s 7-bit I2C address.
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// The least significant bit of the MPU-60X0<58>s I2C address is determined by the value of the AD0 pin. (we know that already).
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// But here's the best part: The value of the AD0 pin is not reflected in this register.
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if (sig != (MPU6050_ADDRESS & 0x7e))
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return &mpuDetectionResult;
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// There is a map of revision contained in the android source tree which is quite comprehensive and may help to understand this code
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// See https://android.googlesource.com/kernel/msm.git/+/eaf36994a3992b8f918c18e4f7411e8b2320a35f/drivers/misc/mpu6050/mldl_cfg.c
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// determine product ID and accel revision
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i2cRead(MPU6050_ADDRESS, MPU_RA_XA_OFFS_H, 6, readBuffer);
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revision = ((readBuffer[5] & 0x01) << 2) | ((readBuffer[3] & 0x01) << 1) | (readBuffer[1] & 0x01);
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if (revision) {
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/* Congrats, these parts are better. */
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if (revision == 1) {
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mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
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} else if (revision == 2) {
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mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
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} else {
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failureMode(FAILURE_ACC_INCOMPATIBLE);
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}
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} else {
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i2cRead(MPU6050_ADDRESS, MPU_RA_PRODUCT_ID, 1, &productId);
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revision = productId & 0x0F;
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if (!revision) {
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failureMode(FAILURE_ACC_INCOMPATIBLE);
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} else if (revision == 4) {
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mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
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} else {
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mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
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}
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}
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mpuDetectionResult.sensor = MPU_60x0;
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return &mpuDetectionResult;
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}
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void MPU_DATA_READY_EXTI_Handler(void)
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{
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if (EXTI_GetITStatus(mpuIntExtiConfig->exti_line) == RESET) {
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return;
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}
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EXTI_ClearITPendingBit(mpuIntExtiConfig->exti_line);
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#ifdef DEBUG_MPU_DATA_READY_INTERRUPT
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// Measure the delta in micro seconds between calls to the interrupt handler
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static uint32_t lastCalledAt = 0;
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static int32_t callDelta = 0;
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uint32_t now = micros();
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callDelta = now - lastCalledAt;
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//UNUSED(callDelta);
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debug[0] = callDelta;
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lastCalledAt = now;
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#endif
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}
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void configureMPUDataReadyInterruptHandling(void)
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{
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#ifdef USE_MPU_DATA_READY_SIGNAL
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#ifdef STM32F10X
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// enable AFIO for EXTI support
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
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#endif
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#ifdef STM32F303xC
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/* Enable SYSCFG clock otherwise the EXTI irq handlers are not called */
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
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#endif
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#ifdef STM32F10X
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gpioExtiLineConfig(mpuIntExtiConfig->exti_port_source, mpuIntExtiConfig->exti_pin_source);
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#endif
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#ifdef STM32F303xC
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gpioExtiLineConfig(mpuIntExtiConfig->exti_port_source, mpuIntExtiConfig->exti_pin_source);
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#endif
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#ifdef ENSURE_MPU_DATA_READY_IS_LOW
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uint8_t status = GPIO_ReadInputDataBit(mpuIntExtiConfig->gpioPort, mpuIntExtiConfig->gpioPin);
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if (status) {
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return;
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}
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#endif
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registerExti15_10_CallbackHandler(MPU_DATA_READY_EXTI_Handler);
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EXTI_ClearITPendingBit(mpuIntExtiConfig->exti_line);
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EXTI_InitTypeDef EXTIInit;
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EXTIInit.EXTI_Line = mpuIntExtiConfig->exti_line;
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EXTIInit.EXTI_Mode = EXTI_Mode_Interrupt;
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EXTIInit.EXTI_Trigger = EXTI_Trigger_Rising;
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EXTIInit.EXTI_LineCmd = ENABLE;
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EXTI_Init(&EXTIInit);
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_InitStructure.NVIC_IRQChannel = mpuIntExtiConfig->exti_irqn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_MPU_DATA_READY);
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_MPU_DATA_READY);
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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#endif
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}
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void mpuIntExtiInit(void)
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{
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gpio_config_t gpio;
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static bool mpuExtiInitDone = false;
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if (mpuExtiInitDone || !mpuIntExtiConfig) {
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return;
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}
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#ifdef STM32F303
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if (mpuIntExtiConfig->gpioAHBPeripherals) {
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RCC_AHBPeriphClockCmd(mpuIntExtiConfig->gpioAHBPeripherals, ENABLE);
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}
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#endif
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#ifdef STM32F10X
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if (mpuIntExtiConfig->gpioAPB2Peripherals) {
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RCC_APB2PeriphClockCmd(mpuIntExtiConfig->gpioAPB2Peripherals, ENABLE);
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}
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#endif
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gpio.pin = mpuIntExtiConfig->gpioPin;
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gpio.speed = Speed_2MHz;
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gpio.mode = Mode_IN_FLOATING;
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gpioInit(mpuIntExtiConfig->gpioPort, &gpio);
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configureMPUDataReadyInterruptHandling();
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mpuExtiInitDone = true;
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}
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void configureMPULPF(uint16_t lpf)
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{
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if (lpf == 256)
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mpuLowPassFilter = INV_FILTER_256HZ_NOLPF2;
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else if (lpf >= 188)
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mpuLowPassFilter = INV_FILTER_188HZ;
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else if (lpf >= 98)
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mpuLowPassFilter = INV_FILTER_98HZ;
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else if (lpf >= 42)
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mpuLowPassFilter = INV_FILTER_42HZ;
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else if (lpf >= 20)
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mpuLowPassFilter = INV_FILTER_20HZ;
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else if (lpf >= 10)
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mpuLowPassFilter = INV_FILTER_10HZ;
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else if (lpf > 0)
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mpuLowPassFilter = INV_FILTER_5HZ;
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else
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mpuLowPassFilter = INV_FILTER_256HZ_NOLPF2;
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}
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bool mpuAccRead(int16_t *accData)
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{
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uint8_t buf[6];
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bool ack = i2cRead(MPU6050_ADDRESS, MPU_RA_ACCEL_XOUT_H, 6, buf);
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if (!ack) {
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return false;
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}
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accData[0] = (int16_t)((buf[0] << 8) | buf[1]);
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accData[1] = (int16_t)((buf[2] << 8) | buf[3]);
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accData[2] = (int16_t)((buf[4] << 8) | buf[5]);
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return true;
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}
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bool mpuGyroRead(int16_t *gyroADC)
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{
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uint8_t buf[6];
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bool ack = i2cRead(MPU6050_ADDRESS, MPU_RA_GYRO_XOUT_H, 6, buf);
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if (!ack) {
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return false;
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}
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gyroADC[0] = (int16_t)((buf[0] << 8) | buf[1]);
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gyroADC[1] = (int16_t)((buf[2] << 8) | buf[3]);
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gyroADC[2] = (int16_t)((buf[4] << 8) | buf[5]);
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return true;
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}
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@ -0,0 +1,75 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
|
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* the Free Software Foundation, either version 3 of the License, or
|
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* (at your option) any later version.
|
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*
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* Cleanflight is distributed in the hope that it will be useful,
|
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
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* GNU General Public License for more details.
|
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*
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* You should have received a copy of the GNU General Public License
|
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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enum lpf_e {
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INV_FILTER_256HZ_NOLPF2 = 0,
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INV_FILTER_188HZ,
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INV_FILTER_98HZ,
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INV_FILTER_42HZ,
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INV_FILTER_20HZ,
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INV_FILTER_10HZ,
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INV_FILTER_5HZ,
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INV_FILTER_2100HZ_NOLPF,
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NUM_FILTER
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};
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enum gyro_fsr_e {
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INV_FSR_250DPS = 0,
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INV_FSR_500DPS,
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INV_FSR_1000DPS,
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INV_FSR_2000DPS,
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NUM_GYRO_FSR
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};
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enum clock_sel_e {
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INV_CLK_INTERNAL = 0,
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INV_CLK_PLL,
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NUM_CLK
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};
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enum accel_fsr_e {
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INV_FSR_2G = 0,
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INV_FSR_4G,
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INV_FSR_8G,
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INV_FSR_16G,
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NUM_ACCEL_FSR
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};
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typedef enum {
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MPU_NONE,
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MPU_3050,
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MPU_60x0,
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MPU_65xx_I2C,
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MPU_65xx_SPI
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} detectedMPUSensor_e;
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typedef enum {
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MPU_HALF_RESOLUTION,
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MPU_FULL_RESOLUTION
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} mpu6050Resolution_e;
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typedef struct mpuDetectionResult_s {
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detectedMPUSensor_e sensor;
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mpu6050Resolution_e resolution;
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} mpuDetectionResult_t;
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void configureMPULPF(uint16_t lpf);
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void configureMPUDataReadyInterruptHandling(void);
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void mpuIntExtiInit(void);
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bool mpuAccRead(int16_t *accData);
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bool mpuGyroRead(int16_t *gyroADC);
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mpuDetectionResult_t *detectMpu(const extiConfig_t *configToUse);
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@ -29,12 +29,17 @@
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#include "system.h"
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#include "gpio.h"
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#include "exti.h"
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#include "bus_i2c.h"
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#include "sensor.h"
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#include "accgyro.h"
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#include "accgyro_mpu.h"
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#include "accgyro_mpu6050.h"
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extern mpuDetectionResult_t mpuDetectionResult;
|
||||
extern uint8_t mpuLowPassFilter;
|
||||
|
||||
//#define DEBUG_MPU_DATA_READY_INTERRUPT
|
||||
|
||||
// MPU6050, Standard address 0x68
|
||||
|
|
@ -140,291 +145,55 @@
|
|||
|
||||
#define MPU6050_SMPLRT_DIV 0 // 8000Hz
|
||||
|
||||
enum lpf_e {
|
||||
INV_FILTER_256HZ_NOLPF2 = 0,
|
||||
INV_FILTER_188HZ,
|
||||
INV_FILTER_98HZ,
|
||||
INV_FILTER_42HZ,
|
||||
INV_FILTER_20HZ,
|
||||
INV_FILTER_10HZ,
|
||||
INV_FILTER_5HZ,
|
||||
INV_FILTER_2100HZ_NOLPF,
|
||||
NUM_FILTER
|
||||
};
|
||||
enum gyro_fsr_e {
|
||||
INV_FSR_250DPS = 0,
|
||||
INV_FSR_500DPS,
|
||||
INV_FSR_1000DPS,
|
||||
INV_FSR_2000DPS,
|
||||
NUM_GYRO_FSR
|
||||
};
|
||||
enum clock_sel_e {
|
||||
INV_CLK_INTERNAL = 0,
|
||||
INV_CLK_PLL,
|
||||
NUM_CLK
|
||||
};
|
||||
enum accel_fsr_e {
|
||||
INV_FSR_2G = 0,
|
||||
INV_FSR_4G,
|
||||
INV_FSR_8G,
|
||||
INV_FSR_16G,
|
||||
NUM_ACCEL_FSR
|
||||
};
|
||||
|
||||
static uint8_t mpuLowPassFilter = INV_FILTER_42HZ;
|
||||
static void mpu6050AccInit(void);
|
||||
static bool mpu6050AccRead(int16_t *accData);
|
||||
static void mpu6050GyroInit(void);
|
||||
static bool mpu6050GyroRead(int16_t *gyroADC);
|
||||
|
||||
typedef enum {
|
||||
MPU_6050_HALF_RESOLUTION,
|
||||
MPU_6050_FULL_RESOLUTION
|
||||
} mpu6050Resolution_e;
|
||||
|
||||
static mpu6050Resolution_e mpuAccelTrim;
|
||||
|
||||
static const mpu6050Config_t *mpu6050Config = NULL;
|
||||
|
||||
void MPU_DATA_READY_EXTI_Handler(void)
|
||||
bool mpu6050AccDetect(acc_t *acc)
|
||||
{
|
||||
if (EXTI_GetITStatus(mpu6050Config->exti_line) == RESET) {
|
||||
return;
|
||||
}
|
||||
|
||||
EXTI_ClearITPendingBit(mpu6050Config->exti_line);
|
||||
|
||||
#ifdef DEBUG_MPU_DATA_READY_INTERRUPT
|
||||
// Measure the delta in micro seconds between calls to the interrupt handler
|
||||
static uint32_t lastCalledAt = 0;
|
||||
static int32_t callDelta = 0;
|
||||
|
||||
uint32_t now = micros();
|
||||
callDelta = now - lastCalledAt;
|
||||
|
||||
//UNUSED(callDelta);
|
||||
debug[0] = callDelta;
|
||||
|
||||
lastCalledAt = now;
|
||||
#endif
|
||||
}
|
||||
|
||||
void configureMPUDataReadyInterruptHandling(void)
|
||||
{
|
||||
#ifdef USE_MPU_DATA_READY_SIGNAL
|
||||
|
||||
#ifdef STM32F10X
|
||||
// enable AFIO for EXTI support
|
||||
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
|
||||
#endif
|
||||
|
||||
#ifdef STM32F303xC
|
||||
/* Enable SYSCFG clock otherwise the EXTI irq handlers are not called */
|
||||
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
|
||||
#endif
|
||||
|
||||
#ifdef STM32F10X
|
||||
gpioExtiLineConfig(mpu6050Config->exti_port_source, mpu6050Config->exti_pin_source);
|
||||
#endif
|
||||
|
||||
#ifdef STM32F303xC
|
||||
gpioExtiLineConfig(mpu6050Config->exti_port_source, mpu6050Config->exti_pin_source);
|
||||
#endif
|
||||
|
||||
#ifdef ENSURE_MPU_DATA_READY_IS_LOW
|
||||
uint8_t status = GPIO_ReadInputDataBit(mpu6050Config->gpioPort, mpu6050Config->gpioPin);
|
||||
if (status) {
|
||||
return;
|
||||
}
|
||||
#endif
|
||||
|
||||
registerExti15_10_CallbackHandler(MPU_DATA_READY_EXTI_Handler);
|
||||
|
||||
EXTI_ClearITPendingBit(mpu6050Config->exti_line);
|
||||
|
||||
EXTI_InitTypeDef EXTIInit;
|
||||
EXTIInit.EXTI_Line = mpu6050Config->exti_line;
|
||||
EXTIInit.EXTI_Mode = EXTI_Mode_Interrupt;
|
||||
EXTIInit.EXTI_Trigger = EXTI_Trigger_Rising;
|
||||
EXTIInit.EXTI_LineCmd = ENABLE;
|
||||
EXTI_Init(&EXTIInit);
|
||||
|
||||
NVIC_InitTypeDef NVIC_InitStructure;
|
||||
|
||||
NVIC_InitStructure.NVIC_IRQChannel = mpu6050Config->exti_irqn;
|
||||
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_MPU_DATA_READY);
|
||||
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_MPU_DATA_READY);
|
||||
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
|
||||
NVIC_Init(&NVIC_InitStructure);
|
||||
#endif
|
||||
}
|
||||
|
||||
void mpu6050GpioInit(void) {
|
||||
gpio_config_t gpio;
|
||||
|
||||
static bool mpu6050GpioInitDone = false;
|
||||
|
||||
if (mpu6050GpioInitDone || !mpu6050Config) {
|
||||
return;
|
||||
}
|
||||
|
||||
#ifdef STM32F303
|
||||
if (mpu6050Config->gpioAHBPeripherals) {
|
||||
RCC_AHBPeriphClockCmd(mpu6050Config->gpioAHBPeripherals, ENABLE);
|
||||
}
|
||||
#endif
|
||||
#ifdef STM32F10X
|
||||
if (mpu6050Config->gpioAPB2Peripherals) {
|
||||
RCC_APB2PeriphClockCmd(mpu6050Config->gpioAPB2Peripherals, ENABLE);
|
||||
}
|
||||
#endif
|
||||
|
||||
gpio.pin = mpu6050Config->gpioPin;
|
||||
gpio.speed = Speed_2MHz;
|
||||
gpio.mode = Mode_IN_FLOATING;
|
||||
gpioInit(mpu6050Config->gpioPort, &gpio);
|
||||
|
||||
configureMPUDataReadyInterruptHandling();
|
||||
|
||||
mpu6050GpioInitDone = true;
|
||||
}
|
||||
|
||||
static bool mpu6050Detect(void)
|
||||
{
|
||||
bool ack;
|
||||
uint8_t sig;
|
||||
|
||||
delay(35); // datasheet page 13 says 30ms. other stuff could have been running meanwhile. but we'll be safe
|
||||
|
||||
ack = i2cRead(MPU6050_ADDRESS, MPU_RA_WHO_AM_I, 1, &sig);
|
||||
if (!ack)
|
||||
if (mpuDetectionResult.sensor != MPU_60x0) {
|
||||
return false;
|
||||
|
||||
// So like, MPU6xxx has a "WHO_AM_I" register, that is used to verify the identity of the device.
|
||||
// The contents of WHO_AM_I are the upper 6 bits of the MPU-60X0<58>s 7-bit I2C address.
|
||||
// The least significant bit of the MPU-60X0<58>s I2C address is determined by the value of the AD0 pin. (we know that already).
|
||||
// But here's the best part: The value of the AD0 pin is not reflected in this register.
|
||||
|
||||
if (sig != (MPU6050_ADDRESS & 0x7e))
|
||||
return false;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool mpu6050AccDetect(const mpu6050Config_t *configToUse, acc_t *acc)
|
||||
{
|
||||
uint8_t readBuffer[6];
|
||||
uint8_t revision;
|
||||
uint8_t productId;
|
||||
|
||||
mpu6050Config = configToUse;
|
||||
|
||||
if (!mpu6050Detect()) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// There is a map of revision contained in the android source tree which is quite comprehensive and may help to understand this code
|
||||
// See https://android.googlesource.com/kernel/msm.git/+/eaf36994a3992b8f918c18e4f7411e8b2320a35f/drivers/misc/mpu6050/mldl_cfg.c
|
||||
|
||||
// determine product ID and accel revision
|
||||
i2cRead(MPU6050_ADDRESS, MPU_RA_XA_OFFS_H, 6, readBuffer);
|
||||
revision = ((readBuffer[5] & 0x01) << 2) | ((readBuffer[3] & 0x01) << 1) | (readBuffer[1] & 0x01);
|
||||
if (revision) {
|
||||
/* Congrats, these parts are better. */
|
||||
if (revision == 1) {
|
||||
mpuAccelTrim = MPU_6050_HALF_RESOLUTION;
|
||||
} else if (revision == 2) {
|
||||
mpuAccelTrim = MPU_6050_FULL_RESOLUTION;
|
||||
} else {
|
||||
failureMode(FAILURE_ACC_INCOMPATIBLE);
|
||||
}
|
||||
} else {
|
||||
i2cRead(MPU6050_ADDRESS, MPU_RA_PRODUCT_ID, 1, &productId);
|
||||
revision = productId & 0x0F;
|
||||
if (!revision) {
|
||||
failureMode(FAILURE_ACC_INCOMPATIBLE);
|
||||
} else if (revision == 4) {
|
||||
mpuAccelTrim = MPU_6050_HALF_RESOLUTION;
|
||||
} else {
|
||||
mpuAccelTrim = MPU_6050_FULL_RESOLUTION;
|
||||
}
|
||||
}
|
||||
|
||||
acc->init = mpu6050AccInit;
|
||||
acc->read = mpu6050AccRead;
|
||||
acc->revisionCode = (mpuAccelTrim == MPU_6050_HALF_RESOLUTION ? 'o' : 'n'); // es/non-es variance between MPU6050 sensors, half of the naze boards are mpu6000ES.
|
||||
acc->read = mpuAccRead;
|
||||
acc->revisionCode = (mpuDetectionResult.resolution == MPU_HALF_RESOLUTION ? 'o' : 'n'); // es/non-es variance between MPU6050 sensors, half of the naze boards are mpu6000ES.
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool mpu6050GyroDetect(const mpu6050Config_t *configToUse, gyro_t *gyro, uint16_t lpf)
|
||||
bool mpu6050GyroDetect(gyro_t *gyro, uint16_t lpf)
|
||||
{
|
||||
mpu6050Config = configToUse;
|
||||
|
||||
if (!mpu6050Detect()) {
|
||||
return false;
|
||||
if (mpuDetectionResult.sensor != MPU_60x0) {
|
||||
return false;;
|
||||
}
|
||||
|
||||
|
||||
gyro->init = mpu6050GyroInit;
|
||||
gyro->read = mpu6050GyroRead;
|
||||
gyro->read = mpuGyroRead;
|
||||
|
||||
// 16.4 dps/lsb scalefactor
|
||||
gyro->scale = 1.0f / 16.4f;
|
||||
|
||||
if (lpf == 256)
|
||||
mpuLowPassFilter = INV_FILTER_256HZ_NOLPF2;
|
||||
else if (lpf >= 188)
|
||||
mpuLowPassFilter = INV_FILTER_188HZ;
|
||||
else if (lpf >= 98)
|
||||
mpuLowPassFilter = INV_FILTER_98HZ;
|
||||
else if (lpf >= 42)
|
||||
mpuLowPassFilter = INV_FILTER_42HZ;
|
||||
else if (lpf >= 20)
|
||||
mpuLowPassFilter = INV_FILTER_20HZ;
|
||||
else if (lpf >= 10)
|
||||
mpuLowPassFilter = INV_FILTER_10HZ;
|
||||
else if (lpf > 0)
|
||||
mpuLowPassFilter = INV_FILTER_5HZ;
|
||||
else
|
||||
mpuLowPassFilter = INV_FILTER_256HZ_NOLPF2;
|
||||
configureMPULPF(lpf);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
static void mpu6050AccInit(void)
|
||||
{
|
||||
mpu6050GpioInit();
|
||||
mpuIntExtiInit();
|
||||
|
||||
switch (mpuAccelTrim) {
|
||||
case MPU_6050_HALF_RESOLUTION:
|
||||
switch (mpuDetectionResult.resolution) {
|
||||
case MPU_HALF_RESOLUTION:
|
||||
acc_1G = 256 * 8;
|
||||
break;
|
||||
case MPU_6050_FULL_RESOLUTION:
|
||||
case MPU_FULL_RESOLUTION:
|
||||
acc_1G = 512 * 8;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
static bool mpu6050AccRead(int16_t *accData)
|
||||
{
|
||||
uint8_t buf[6];
|
||||
|
||||
bool ack = i2cRead(MPU6050_ADDRESS, MPU_RA_ACCEL_XOUT_H, 6, buf);
|
||||
if (!ack) {
|
||||
return false;
|
||||
}
|
||||
|
||||
accData[0] = (int16_t)((buf[0] << 8) | buf[1]);
|
||||
accData[1] = (int16_t)((buf[2] << 8) | buf[3]);
|
||||
accData[2] = (int16_t)((buf[4] << 8) | buf[5]);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
static void mpu6050GyroInit(void)
|
||||
{
|
||||
mpu6050GpioInit();
|
||||
mpuIntExtiInit();
|
||||
|
||||
bool ack;
|
||||
ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
|
||||
|
|
@ -447,19 +216,3 @@ static void mpu6050GyroInit(void)
|
|||
#endif
|
||||
UNUSED(ack);
|
||||
}
|
||||
|
||||
static bool mpu6050GyroRead(int16_t *gyroADC)
|
||||
{
|
||||
uint8_t buf[6];
|
||||
|
||||
bool ack = i2cRead(MPU6050_ADDRESS, MPU_RA_GYRO_XOUT_H, 6, buf);
|
||||
if (!ack) {
|
||||
return false;
|
||||
}
|
||||
|
||||
gyroADC[0] = (int16_t)((buf[0] << 8) | buf[1]);
|
||||
gyroADC[1] = (int16_t)((buf[2] << 8) | buf[3]);
|
||||
gyroADC[2] = (int16_t)((buf[4] << 8) | buf[5]);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -17,23 +17,5 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
typedef struct mpu6050Config_s {
|
||||
#ifdef STM32F303
|
||||
uint32_t gpioAHBPeripherals;
|
||||
#endif
|
||||
#ifdef STM32F10X
|
||||
uint32_t gpioAPB2Peripherals;
|
||||
#endif
|
||||
uint16_t gpioPin;
|
||||
GPIO_TypeDef *gpioPort;
|
||||
|
||||
uint8_t exti_port_source;
|
||||
uint32_t exti_line;
|
||||
uint8_t exti_pin_source;
|
||||
IRQn_Type exti_irqn;
|
||||
} mpu6050Config_t;
|
||||
|
||||
bool mpu6050AccDetect(const mpu6050Config_t *config,acc_t *acc);
|
||||
bool mpu6050GyroDetect(const mpu6050Config_t *config, gyro_t *gyro, uint16_t lpf);
|
||||
void mpu6050DmpLoop(void);
|
||||
void mpu6050DmpResetFifo(void);
|
||||
bool mpu6050AccDetect(acc_t *acc);
|
||||
bool mpu6050GyroDetect(gyro_t *gyro, uint16_t lpf);
|
||||
|
|
|
|||
|
|
@ -0,0 +1,35 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
|
||||
#pragma once
|
||||
|
||||
typedef struct extiConfig_s {
|
||||
#ifdef STM32F303
|
||||
uint32_t gpioAHBPeripherals;
|
||||
#endif
|
||||
#ifdef STM32F10X
|
||||
uint32_t gpioAPB2Peripherals;
|
||||
#endif
|
||||
uint16_t gpioPin;
|
||||
GPIO_TypeDef *gpioPort;
|
||||
|
||||
uint8_t exti_port_source;
|
||||
uint32_t exti_line;
|
||||
uint8_t exti_pin_source;
|
||||
IRQn_Type exti_irqn;
|
||||
} extiConfig_t;
|
||||
|
|
@ -24,6 +24,10 @@
|
|||
|
||||
#include "common/axis.h"
|
||||
|
||||
#include "drivers/gpio.h"
|
||||
#include "drivers/system.h"
|
||||
#include "drivers/exti.h"
|
||||
|
||||
#include "drivers/sensor.h"
|
||||
|
||||
#include "drivers/accgyro.h"
|
||||
|
|
@ -31,6 +35,7 @@
|
|||
#include "drivers/accgyro_bma280.h"
|
||||
#include "drivers/accgyro_l3g4200d.h"
|
||||
#include "drivers/accgyro_mma845x.h"
|
||||
#include "drivers/accgyro_mpu.h"
|
||||
#include "drivers/accgyro_mpu3050.h"
|
||||
#include "drivers/accgyro_mpu6050.h"
|
||||
#include "drivers/accgyro_l3gd20.h"
|
||||
|
|
@ -50,9 +55,6 @@
|
|||
|
||||
#include "drivers/sonar_hcsr04.h"
|
||||
|
||||
#include "drivers/gpio.h"
|
||||
#include "drivers/system.h"
|
||||
|
||||
#include "config/runtime_config.h"
|
||||
|
||||
#include "sensors/sensors.h"
|
||||
|
|
@ -76,11 +78,11 @@ extern acc_t acc;
|
|||
uint8_t detectedSensors[MAX_SENSORS_TO_DETECT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE };
|
||||
|
||||
|
||||
const mpu6050Config_t *selectMPU6050Config(void)
|
||||
const extiConfig_t *selectMPUIntExtiConfig(void)
|
||||
{
|
||||
#ifdef NAZE
|
||||
// MPU_INT output on rev4 PB13
|
||||
static const mpu6050Config_t nazeRev4MPU6050Config = {
|
||||
static const extiConfig_t nazeRev4MPUIntExtiConfig = {
|
||||
.gpioAPB2Peripherals = RCC_APB2Periph_GPIOB,
|
||||
.gpioPin = Pin_13,
|
||||
.gpioPort = GPIOB,
|
||||
|
|
@ -90,7 +92,7 @@ const mpu6050Config_t *selectMPU6050Config(void)
|
|||
.exti_irqn = EXTI15_10_IRQn
|
||||
};
|
||||
// MPU_INT output on rev5 hardware PC13
|
||||
static const mpu6050Config_t nazeRev5MPU6050Config = {
|
||||
static const extiConfig_t nazeRev5MPUIntExtiConfig = {
|
||||
.gpioAPB2Peripherals = RCC_APB2Periph_GPIOC,
|
||||
.gpioPin = Pin_13,
|
||||
.gpioPort = GPIOC,
|
||||
|
|
@ -101,14 +103,14 @@ const mpu6050Config_t *selectMPU6050Config(void)
|
|||
};
|
||||
|
||||
if (hardwareRevision < NAZE32_REV5) {
|
||||
return &nazeRev4MPU6050Config;
|
||||
return &nazeRev4MPUIntExtiConfig;
|
||||
} else {
|
||||
return &nazeRev5MPU6050Config;
|
||||
return &nazeRev5MPUIntExtiConfig;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef SPRACINGF3
|
||||
static const mpu6050Config_t spRacingF3MPU6050Config = {
|
||||
static const extiConfig_t spRacingF3MPUIntExtiConfig = {
|
||||
.gpioAHBPeripherals = RCC_AHBPeriph_GPIOC,
|
||||
.gpioPort = GPIOC,
|
||||
.gpioPin = Pin_13,
|
||||
|
|
@ -117,7 +119,7 @@ const mpu6050Config_t *selectMPU6050Config(void)
|
|||
.exti_line = EXTI_Line13,
|
||||
.exti_irqn = EXTI15_10_IRQn
|
||||
};
|
||||
return &spRacingF3MPU6050Config;
|
||||
return &spRacingF3MPUIntExtiConfig;
|
||||
#endif
|
||||
|
||||
return NULL;
|
||||
|
|
@ -171,7 +173,7 @@ bool detectGyro(uint16_t gyroLpf)
|
|||
; // fallthrough
|
||||
case GYRO_MPU6050:
|
||||
#ifdef USE_GYRO_MPU6050
|
||||
if (mpu6050GyroDetect(selectMPU6050Config(), &gyro, gyroLpf)) {
|
||||
if (mpu6050GyroDetect(&gyro, gyroLpf)) {
|
||||
#ifdef GYRO_MPU6050_ALIGN
|
||||
gyroHardware = GYRO_MPU6050;
|
||||
gyroAlign = GYRO_MPU6050_ALIGN;
|
||||
|
|
@ -279,7 +281,7 @@ static void detectAcc(accelerationSensor_e accHardwareToUse)
|
|||
{
|
||||
accelerationSensor_e accHardware;
|
||||
|
||||
#ifdef USE_ACC_ADXL345
|
||||
#ifdef USE_ACC_ADXL345
|
||||
drv_adxl345_config_t acc_params;
|
||||
#endif
|
||||
|
||||
|
|
@ -319,7 +321,7 @@ retry:
|
|||
; // fallthrough
|
||||
case ACC_MPU6050: // MPU6050
|
||||
#ifdef USE_ACC_MPU6050
|
||||
if (mpu6050AccDetect(selectMPU6050Config(), &acc)) {
|
||||
if (mpu6050AccDetect(&acc)) {
|
||||
#ifdef ACC_MPU6050_ALIGN
|
||||
accAlign = ACC_MPU6050_ALIGN;
|
||||
#endif
|
||||
|
|
@ -597,6 +599,14 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
|
|||
memset(&acc, 0, sizeof(acc));
|
||||
memset(&gyro, 0, sizeof(gyro));
|
||||
|
||||
#if defined(USE_GYRO_MPU6050) || defined(USE_ACC_MPU6050)
|
||||
|
||||
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
|
||||
|
||||
mpuDetectionResult_t *mpuDetectionResult = detectMpu(extiConfig);
|
||||
UNUSED(mpuDetectionResult);
|
||||
#endif
|
||||
|
||||
if (!detectGyro(gyroLpf)) {
|
||||
return false;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue