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Relocate and use some of the common MPU code from MPU3050 into 

accgyro_mpu.c.
This commit is contained in:
Dominic Clifton 2015-09-19 14:17:19 +01:00
parent b46d56a5bd
commit da46d9f1d2
4 changed files with 76 additions and 87 deletions
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78
src/main/drivers/accgyro_mpu.c
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@ -35,67 +35,100 @@
#include "sensor.h"
#include "accgyro.h"
#include "accgyro_mpu3050.h"
#include "accgyro_mpu6050.h"
#include "accgyro_mpu.h"
//#define DEBUG_MPU_DATA_READY_INTERRUPT
// MPU6050, Standard address 0x68
// MPU_INT on PB13 on rev4 Naze32 hardware
#define MPU6050_ADDRESS 0x68
uint8_t mpuLowPassFilter = INV_FILTER_42HZ;
void mpu6050AccInit(void);
bool mpu6050AccRead(int16_t *accData);
void mpu6050GyroInit(void);
bool mpu6050GyroRead(int16_t *gyroADC);
void mpu6050FindRevision(void);
mpuDetectionResult_t mpuDetectionResult;
typedef struct mpuConfiguration_s {
uint8_t gyroReadXRegister; // Y and Z must registers follow this, 2 words each
} mpuConfiguration_t;
static mpuConfiguration_t mpuConfiguration;
static const extiConfig_t *mpuIntExtiConfig = NULL;
#define MPU_ADDRESS 0x68
// MPU6050
#define MPU_RA_WHO_AM_I 0x75
#define MPU_RA_WHO_AM_I_LEGACY 0x00
#define MPU_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
#define MPU_RA_PRODUCT_ID 0x0C // Product ID Register
#define MPU_RA_ACCEL_XOUT_H 0x3B
#define MPU_RA_GYRO_XOUT_H 0x43
// WHO_AM_I register contents for MPU3050, 6050 and 6500
#define MPU6500_WHO_AM_I_CONST (0x70)
#define MPUx0x0_WHO_AM_I_CONST (0x68)
#define MPU_INQUIRY_MASK 0x7E
mpuDetectionResult_t *detectMpu(const extiConfig_t *configToUse)
{
memset(&mpuDetectionResult, 0, sizeof(mpuDetectionResult));
memset(&mpuConfiguration, 0, sizeof(mpuConfiguration));
mpuIntExtiConfig = configToUse;
bool ack;
uint8_t sig;
uint8_t readBuffer[6];
uint8_t revision;
uint8_t productId;
uint8_t inquiryResult;
delay(35); // datasheet page 13 says 30ms. other stuff could have been running meanwhile. but we'll be safe
// MPU datasheet specifies 30ms.
delay(35);
ack = i2cRead(MPU6050_ADDRESS, MPU_RA_WHO_AM_I, 1, &sig);
ack = i2cRead(MPU_ADDRESS, MPU_RA_WHO_AM_I, 1, &sig);
if (!ack)
return &mpuDetectionResult;
// 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.
mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
if (sig != (MPU6050_ADDRESS & 0x7e))
// If an MPU3050 is connected sig will contain 0.
ack = i2cRead(MPU_ADDRESS, MPU_RA_WHO_AM_I_LEGACY, 1, &inquiryResult);
inquiryResult &= MPU_INQUIRY_MASK;
if (ack && inquiryResult == MPUx0x0_WHO_AM_I_CONST) {
mpuDetectionResult.sensor = MPU_3050;
mpuConfiguration.gyroReadXRegister = MPU3050_GYRO_OUT;
return &mpuDetectionResult;
}
sig &= MPU_INQUIRY_MASK;
if (sig != MPUx0x0_WHO_AM_I_CONST)
return &mpuDetectionResult;
mpuDetectionResult.sensor = MPU_60x0;
mpu6050FindRevision();
return &mpuDetectionResult;
}
void mpu6050FindRevision(void)
{
bool ack;
UNUSED(ack);
uint8_t readBuffer[6];
uint8_t revision;
uint8_t productId;
// 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);
ack = i2cRead(MPU_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. */
@ -107,7 +140,7 @@ mpuDetectionResult_t *detectMpu(const extiConfig_t *configToUse)
failureMode(FAILURE_ACC_INCOMPATIBLE);
}
} else {
i2cRead(MPU6050_ADDRESS, MPU_RA_PRODUCT_ID, 1, &productId);
ack = i2cRead(MPU_ADDRESS, MPU_RA_PRODUCT_ID, 1, &productId);
revision = productId & 0x0F;
if (!revision) {
failureMode(FAILURE_ACC_INCOMPATIBLE);
@ -117,9 +150,6 @@ mpuDetectionResult_t *detectMpu(const extiConfig_t *configToUse)
mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
}
}
mpuDetectionResult.sensor = MPU_60x0;
return &mpuDetectionResult;
}
void MPU_DATA_READY_EXTI_Handler(void)
@ -250,7 +280,7 @@ bool mpuAccRead(int16_t *accData)
{
uint8_t buf[6];
bool ack = i2cRead(MPU6050_ADDRESS, MPU_RA_ACCEL_XOUT_H, 6, buf);
bool ack = i2cRead(MPU_ADDRESS, MPU_RA_ACCEL_XOUT_H, 6, buf);
if (!ack) {
return false;
}
@ -266,7 +296,7 @@ bool mpuGyroRead(int16_t *gyroADC)
{
uint8_t buf[6];
bool ack = i2cRead(MPU6050_ADDRESS, MPU_RA_GYRO_XOUT_H, 6, buf);
bool ack = i2cRead(MPU_ADDRESS, mpuConfiguration.gyroReadXRegister, 6, buf);
if (!ack) {
return false;
}

73
src/main/drivers/accgyro_mpu3050.c
View File

@ -23,26 +23,20 @@
#include "common/maths.h"
#include "system.h"
#include "exti.h"
#include "bus_i2c.h"
#include "sensor.h"
#include "accgyro.h"
#include "accgyro_mpu.h"
#include "accgyro_mpu3050.h"
extern mpuDetectionResult_t mpuDetectionResult;
extern uint8_t mpuLowPassFilter;
// MPU3050, Standard address 0x68
#define MPU3050_ADDRESS 0x68
// Registers
#define MPU3050_SMPLRT_DIV 0x15
#define MPU3050_DLPF_FS_SYNC 0x16
#define MPU3050_INT_CFG 0x17
#define MPU3050_TEMP_OUT 0x1B
#define MPU3050_GYRO_OUT 0x1D
#define MPU3050_USER_CTRL 0x3D
#define MPU3050_PWR_MGM 0x3E
// Bits
#define MPU3050_FS_SEL_2000DPS 0x18
#define MPU3050_DLPF_10HZ 0x05
@ -55,56 +49,27 @@
#define MPU3050_USER_RESET 0x01
#define MPU3050_CLK_SEL_PLL_GX 0x01
static uint8_t mpuLowPassFilter = MPU3050_DLPF_42HZ;
static void mpu3050Init(void);
static bool mpu3050Read(int16_t *gyroADC);
void mpu3050Init(void);
static bool mpu3050ReadTemp(int16_t *tempData);
bool mpu3050Detect(gyro_t *gyro, uint16_t lpf)
{
bool ack;
delay(25); // datasheet page 13 says 20ms. other stuff could have been running meanwhile. but we'll be safe
ack = i2cWrite(MPU3050_ADDRESS, MPU3050_SMPLRT_DIV, 0);
if (!ack)
return false;
if (mpuDetectionResult.sensor != MPU_3050) {
return false;;
}
gyro->init = mpu3050Init;
gyro->read = mpu3050Read;
gyro->read = mpuGyroRead;
gyro->temperature = mpu3050ReadTemp;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
// default lpf is 42Hz
switch (lpf) {
case 256:
mpuLowPassFilter = MPU3050_DLPF_256HZ;
break;
case 188:
mpuLowPassFilter = MPU3050_DLPF_188HZ;
break;
case 98:
mpuLowPassFilter = MPU3050_DLPF_98HZ;
break;
default:
case 42:
mpuLowPassFilter = MPU3050_DLPF_42HZ;
break;
case 20:
mpuLowPassFilter = MPU3050_DLPF_20HZ;
break;
case 10:
mpuLowPassFilter = MPU3050_DLPF_10HZ;
break;
}
configureMPULPF(lpf);
return true;
}
static void mpu3050Init(void)
void mpu3050Init(void)
{
bool ack;
@ -120,22 +85,6 @@ static void mpu3050Init(void)
i2cWrite(MPU3050_ADDRESS, MPU3050_PWR_MGM, MPU3050_CLK_SEL_PLL_GX);
}
// Read 3 gyro values into user-provided buffer. No overrun checking is done.
static bool mpu3050Read(int16_t *gyroADC)
{
uint8_t buf[6];
if (!i2cRead(MPU3050_ADDRESS, MPU3050_GYRO_OUT, 6, buf)) {
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;
}
static bool mpu3050ReadTemp(int16_t *tempData)
{
uint8_t buf[2];

10
src/main/drivers/accgyro_mpu3050.h
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@ -17,4 +17,14 @@
#pragma once
// Registers
#define MPU3050_SMPLRT_DIV 0x15
#define MPU3050_DLPF_FS_SYNC 0x16
#define MPU3050_INT_CFG 0x17
#define MPU3050_TEMP_OUT 0x1B
#define MPU3050_GYRO_OUT 0x1D
#define MPU3050_USER_CTRL 0x3D
#define MPU3050_PWR_MGM 0x3E
void mpu3050Init(void);
bool mpu3050Detect(gyro_t *gyro, uint16_t lpf);

2
src/main/sensors/initialisation.c
View File

@ -599,7 +599,7 @@ 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)
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_ACC_MPU6050)
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();