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inv_mpu.c
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inv_mpu.c
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/*
$License:
Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
See included License.txt for License information.
$
*/
/**
* @addtogroup DRIVERS Sensor Driver Layer
* @brief Hardware drivers to communicate with sensors via I2C.
*
* @{
* @file inv_mpu.c
* @brief An I2C-based driver for Invensense gyroscopes.
* @details This driver currently works for the following devices:
* MPU6050
* MPU6500
* MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus)
* MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus)
*/
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "inv_mpu.h"
#include "stm32f4xx.h"
#include "i2c.h"
#include "delay.h"
#include "Time.h"
/* The following functions must be defined for this platform:
* i2c_write(unsigned char slave_addr, unsigned char reg_addr,
* unsigned char length, unsigned char const *data)
* i2c_read(unsigned char slave_addr, unsigned char reg_addr,
* unsigned char length, unsigned char *data)
* delay_ms(unsigned long num_ms)
* get_ms(unsigned long *count)
* reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin)
* labs(long x)
* fabsf(float x)
* min(int a, int b)
*/
// define后面只有一个参数，表示这个宏是空的，不会对代码产生影响，仅仅是为了方便阅读
#define MPU6050
#define MOTION_DRIVER_TARGET_MSP430
//为了使用磁力计，需添加下面这3个预定义
//#define AK89xx_SECONDARY
//#define AK89xx_BYPASS
//#define AK8975_SECONDARY
#if defined MOTION_DRIVER_TARGET_MSP430
/*#include "msp430.h"
#include "msp430_i2c.h"
#include "msp430_clock.h"
#include "msp430_interrupt.h" */
#define i2c_write i2cWriteBuffer
#define i2c_read i2cReadBuffer
#define delay_ms delay_ms
#define get_ms get_ms
//static int reg_int_cb(struct int_param_s *int_param)
//{
// /*return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
// int_param->active_low);*/
// return 0;
//}
//#define log_i(...) do {} while (0)
//#define log_e(...) do {} while (0)
#define log_e printf
#define log_i printf
/* labs is already defined by TI's toolchain. */
/* fabs is for doubles. fabsf is for floats. */
#define fabs fabsf
#define min(a,b) ((a<b)?a:b)
#elif defined EMPL_TARGET_MSP430
#include "msp430.h"
#include "msp430_i2c.h"
#include "msp430_clock.h"
#include "msp430_interrupt.h"
#include "log.h"
#define i2c_write msp430_i2c_write
#define i2c_read msp430_i2c_read
#define delay_ms msp430_delay_ms
#define get_ms msp430_get_clock_ms
static inline int reg_int_cb(struct int_param_s *int_param)
{
return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit,
int_param->active_low);
}
//#define log_i MPL_LOGI
//#define log_e MPL_LOGE
#define log_e printf
#define log_i printf
/* labs is already defined by TI's toolchain. */
/* fabs is for doubles. fabsf is for floats. */
#define fabs fabsf
#define min(a,b) ((a<b)?a:b)
#elif defined EMPL_TARGET_UC3L0
/* Instead of using the standard TWI driver from the ASF library, we're using
* a TWI driver that follows the slave address + register address convention.
*/
#include "twi.h"
#include "delay.h"
#include "sysclk.h"
#include "log.h"
#include "sensors_xplained.h"
#include "uc3l0_clock.h"
#define i2c_write(a, b, c, d) twi_write(a, b, d, c)
#define i2c_read(a, b, c, d) twi_read(a, b, d, c)
/* delay_ms is a function already defined in ASF. */
#define get_ms uc3l0_get_clock_ms
static inline int reg_int_cb(struct int_param_s *int_param)
{
sensor_board_irq_connect(int_param->pin, int_param->cb, int_param->arg);
return 0;
}
//#define log_i MPL_LOGI
//#define log_e MPL_LOGE
#define log_e printf
#define log_i printf
/* UC3 is a 32-bit processor, so abs and labs are equivalent. */
#define labs abs
#define fabs(x) (((x)>0)?(x):-(x))
#else
//#error Gyro driver is missing the system layer implementations.
#endif
#if !defined MPU6050 && !defined MPU9150 && !defined MPU6500 && !defined MPU9250
//#error Which gyro are you using? Define MPUxxxx in your compiler options.
#endif
/* Time for some messy macro work. =]
* #define MPU9150
* is equivalent to..
* #define MPU6050
* #define AK8975_SECONDARY
*
* #define MPU9250
* is equivalent to..
* #define MPU6500
* #define AK8963_SECONDARY
*/
#if defined MPU9150
#ifndef MPU6050
#define MPU6050
#endif /* #ifndef MPU6050 */
#if defined AK8963_SECONDARY
#error "MPU9150 and AK8963_SECONDARY cannot both be defined."
#elif !defined AK8975_SECONDARY /* #if defined AK8963_SECONDARY */
#define AK8975_SECONDARY
#endif /* #if defined AK8963_SECONDARY */
#elif defined MPU9250 /* #if defined MPU9150 */
#ifndef MPU6500
#define MPU6500
#endif /* #ifndef MPU6500 */
#if defined AK8975_SECONDARY
#error "MPU9250 and AK8975_SECONDARY cannot both be defined."
#elif !defined AK8963_SECONDARY /* #if defined AK8975_SECONDARY */
#define AK8963_SECONDARY
#endif /* #if defined AK8975_SECONDARY */
#endif /* #if defined MPU9150 */
#if defined AK8975_SECONDARY || defined AK8963_SECONDARY
#define AK89xx_SECONDARY
#else
/* #warning "No compass = less profit for Invensense. Lame." */
#endif
static int set_int_enable(unsigned char enable);
/* Hardware registers needed by driver. */
struct gyro_reg_s {
unsigned char who_am_i;
unsigned char rate_div;
unsigned char lpf;
unsigned char prod_id;
unsigned char user_ctrl;
unsigned char fifo_en;
unsigned char gyro_cfg;
unsigned char accel_cfg;
//unsigned char accel_cfg2;
//unsigned char lp_accel_odr;
unsigned char motion_thr;
unsigned char motion_dur;
unsigned char fifo_count_h;
unsigned char fifo_r_w;
unsigned char raw_gyro;
unsigned char raw_accel;
unsigned char temp;
unsigned char int_enable;
unsigned char dmp_int_status;
unsigned char int_status;
//unsigned char accel_intel;
unsigned char pwr_mgmt_1;
unsigned char pwr_mgmt_2;
unsigned char int_pin_cfg;
unsigned char mem_r_w;
unsigned char accel_offs;
unsigned char i2c_mst;
unsigned char bank_sel;
unsigned char mem_start_addr;
unsigned char prgm_start_h;
#if defined AK89xx_SECONDARY
unsigned char s0_addr;
unsigned char s0_reg;
unsigned char s0_ctrl;
unsigned char s1_addr;
unsigned char s1_reg;
unsigned char s1_ctrl;
unsigned char s4_ctrl;
unsigned char s0_do;
unsigned char s1_do;
unsigned char i2c_delay_ctrl;
unsigned char raw_compass;
/* The I2C_MST_VDDIO bit is in this register. */
unsigned char yg_offs_tc;
#endif
};
/* Information specific to a particular device. */
struct hw_s {
unsigned char addr;
unsigned short max_fifo;
unsigned char num_reg;
unsigned short temp_sens;
short temp_offset;
unsigned short bank_size;
#if defined AK89xx_SECONDARY
unsigned short compass_fsr;
#endif
};
/* When entering motion interrupt mode, the driver keeps track of the
* previous state so that it can be restored at a later time.
* TODO: This is tacky. Fix it.
*/
struct motion_int_cache_s {
unsigned short gyro_fsr;
unsigned char accel_fsr;
unsigned short lpf;
unsigned short sample_rate;
unsigned char sensors_on;
unsigned char fifo_sensors;
unsigned char dmp_on;
};
/* Cached chip configuration data.
* TODO: A lot of these can be handled with a bitmask.
*/
struct chip_cfg_s {
/* Matches gyro_cfg >> 3 & 0x03 */
unsigned char gyro_fsr;
/* Matches accel_cfg >> 3 & 0x03 */
unsigned char accel_fsr;
/* Enabled sensors. Uses same masks as fifo_en, NOT pwr_mgmt_2. */
unsigned char sensors;
/* Matches config register. */
unsigned char lpf;
unsigned char clk_src;
/* Sample rate, NOT rate divider. */
unsigned short sample_rate;
/* Matches fifo_en register. */
unsigned char fifo_enable;
/* Matches int enable register. */
unsigned char int_enable;
/* 1 if devices on auxiliary I2C bus appear on the primary. */
unsigned char bypass_mode;
/* 1 if half-sensitivity.
* NOTE: This doesn't belong here, but everything else in hw_s is const,
* and this allows us to save some precious RAM.
*/
unsigned char accel_half;
/* 1 if device in low-power accel-only mode. */
unsigned char lp_accel_mode;
/* 1 if interrupts are only triggered on motion events. */
unsigned char int_motion_only;
struct motion_int_cache_s cache;
/* 1 for active low interrupts. */
unsigned char active_low_int;
/* 1 for latched interrupts. */
unsigned char latched_int;
/* 1 if DMP is enabled. */
unsigned char dmp_on;
/* Ensures that DMP will only be loaded once. */
unsigned char dmp_loaded;
/* Sampling rate used when DMP is enabled. */
unsigned short dmp_sample_rate;
#ifdef AK89xx_SECONDARY
/* Compass sample rate. */
unsigned short compass_sample_rate;
unsigned char compass_addr;
short mag_sens_adj[3];
#endif
};
/* Information for self-test. */
struct test_s {
unsigned long gyro_sens;
unsigned long accel_sens;
unsigned char reg_rate_div;
unsigned char reg_lpf;
unsigned char reg_gyro_fsr;
unsigned char reg_accel_fsr;
unsigned short wait_ms;
unsigned char packet_thresh;
float min_dps;
float max_dps;
float max_gyro_var;
float min_g;
float max_g;
float max_accel_var;
};
/* Gyro driver state variables. */
struct gyro_state_s {
const struct gyro_reg_s *reg;
const struct hw_s *hw;
struct chip_cfg_s chip_cfg;
const struct test_s *test;
};
/* Filter configurations. */
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
};
/* Full scale ranges. */
enum gyro_fsr_e {
INV_FSR_250DPS = 0,
INV_FSR_500DPS,
INV_FSR_1000DPS,
INV_FSR_2000DPS,
NUM_GYRO_FSR
};
/* Full scale ranges. */
enum accel_fsr_e {
INV_FSR_2G = 0,
INV_FSR_4G,
INV_FSR_8G,
INV_FSR_16G,
NUM_ACCEL_FSR
};
/* Clock sources. */
//后续的枚举成员的值为前一个枚举成员的值加1，第一个枚举成员的值默认为0
enum clock_sel_e {
INV_CLK_INTERNAL = 0,
INV_CLK_PLL,
NUM_CLK
};
/* Low-power accel wakeup rates. */
enum lp_accel_rate_e {
#if defined MPU6050
INV_LPA_1_25HZ,
INV_LPA_5HZ,
INV_LPA_20HZ,
INV_LPA_40HZ
#elif defined MPU6500
INV_LPA_0_3125HZ,
INV_LPA_0_625HZ,
INV_LPA_1_25HZ,
INV_LPA_2_5HZ,
INV_LPA_5HZ,
INV_LPA_10HZ,
INV_LPA_20HZ,
INV_LPA_40HZ,
INV_LPA_80HZ,
INV_LPA_160HZ,
INV_LPA_320HZ,
INV_LPA_640HZ
#endif
};
#define BIT_I2C_MST_VDDIO (0x80)
#define BIT_FIFO_EN (0x40)
#define BIT_DMP_EN (0x80)
#define BIT_FIFO_RST (0x04)
#define BIT_DMP_RST (0x08)
#define BIT_FIFO_OVERFLOW (0x10)
#define BIT_DATA_RDY_EN (0x01)
#define BIT_DMP_INT_EN (0x02)
#define BIT_MOT_INT_EN (0x40)
#define BITS_FSR (0x18)
#define BITS_LPF (0x07)
#define BITS_HPF (0x07)
#define BITS_CLK (0x07)
#define BIT_FIFO_SIZE_1024 (0x40)
#define BIT_FIFO_SIZE_2048 (0x80)
#define BIT_FIFO_SIZE_4096 (0xC0)
#define BIT_RESET (0x80)
#define BIT_SLEEP (0x40)
#define BIT_S0_DELAY_EN (0x01)
#define BIT_S2_DELAY_EN (0x04)
#define BITS_SLAVE_LENGTH (0x0F)
#define BIT_SLAVE_BYTE_SW (0x40)
#define BIT_SLAVE_GROUP (0x10)
#define BIT_SLAVE_EN (0x80)
#define BIT_I2C_READ (0x80)
#define BITS_I2C_MASTER_DLY (0x1F)
#define BIT_AUX_IF_EN (0x20)
#define BIT_ACTL (0x80)
#define BIT_LATCH_EN (0x20)
#define BIT_ANY_RD_CLR (0x10)
#define BIT_BYPASS_EN (0x02)
#define BITS_WOM_EN (0xC0)
#define BIT_LPA_CYCLE (0x20)
#define BIT_STBY_XA (0x20)
#define BIT_STBY_YA (0x10)
#define BIT_STBY_ZA (0x08)
#define BIT_STBY_XG (0x04)
#define BIT_STBY_YG (0x02)
#define BIT_STBY_ZG (0x01)
#define BIT_STBY_XYZA (BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA)
#define BIT_STBY_XYZG (BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG)
#if defined AK8975_SECONDARY
#define SUPPORTS_AK89xx_HIGH_SENS (0x00)
#define AK89xx_FSR (9830)
#elif defined AK8963_SECONDARY
#define SUPPORTS_AK89xx_HIGH_SENS (0x10)
#define AK89xx_FSR (4915)
#endif
#ifdef AK89xx_SECONDARY
#define AKM_REG_WHOAMI (0x00)
#define AKM_REG_ST1 (0x02)
#define AKM_REG_HXL (0x03)
#define AKM_REG_ST2 (0x09)
#define AKM_REG_CNTL (0x0A)
#define AKM_REG_ASTC (0x0C)
#define AKM_REG_ASAX (0x10)
#define AKM_REG_ASAY (0x11)
#define AKM_REG_ASAZ (0x12)
#define AKM_DATA_READY (0x01)
#define AKM_DATA_OVERRUN (0x02)
#define AKM_OVERFLOW (0x80)
#define AKM_DATA_ERROR (0x40)
#define AKM_BIT_SELF_TEST (0x40)
#define AKM_POWER_DOWN (0x00 | SUPPORTS_AK89xx_HIGH_SENS)
#define AKM_SINGLE_MEASUREMENT (0x01 | SUPPORTS_AK89xx_HIGH_SENS)
#define AKM_FUSE_ROM_ACCESS (0x0F | SUPPORTS_AK89xx_HIGH_SENS)
#define AKM_MODE_SELF_TEST (0x08 | SUPPORTS_AK89xx_HIGH_SENS)
#define AKM_WHOAMI (0x48)
//#define AKM_WHOAMI (0x7F)
#endif
#if defined MPU6050
/*
const struct gyro_reg_s reg = {
.who_am_i = 0x75,
.rate_div = 0x19,
.lpf = 0x1A,
.prod_id = 0x0C,
.user_ctrl = 0x6A,
.fifo_en = 0x23,
.gyro_cfg = 0x1B,
.accel_cfg = 0x1C,
.motion_thr = 0x1F,
.motion_dur = 0x20,
.fifo_count_h = 0x72,
.fifo_r_w = 0x74,
.raw_gyro = 0x43,
.raw_accel = 0x3B,
.temp = 0x41,
.int_enable = 0x38,
.dmp_int_status = 0x39,
.int_status = 0x3A,
.pwr_mgmt_1 = 0x6B,
.pwr_mgmt_2 = 0x6C,
.int_pin_cfg = 0x37,
.mem_r_w = 0x6F,
.accel_offs = 0x06,
.i2c_mst = 0x24,
.bank_sel = 0x6D,
.mem_start_addr = 0x6E,
.prgm_start_h = 0x70
#ifdef AK89xx_SECONDARY
,.raw_compass = 0x49,
.yg_offs_tc = 0x01,
.s0_addr = 0x25,
.s0_reg = 0x26,
.s0_ctrl = 0x27,
.s1_addr = 0x28,
.s1_reg = 0x29,
.s1_ctrl = 0x2A,
.s4_ctrl = 0x34,
.s0_do = 0x63,
.s1_do = 0x64,
.i2c_delay_ctrl = 0x67
#endif
};
const struct hw_s hw = {
.addr = 0x68,
.max_fifo = 1024,
.num_reg = 118,
.temp_sens = 340,
.temp_offset = -521,
.bank_size = 256
#if defined AK89xx_SECONDARY
,.compass_fsr = AK89xx_FSR
#endif
};
*/
const struct hw_s hw={
0x68, //addr
1024, //max_fifo
118, //num_reg
340, //temp_sens
-521, //temp_offset
256 //bank_size
};
const struct gyro_reg_s reg = {
0x75, //who_am_i
0x19, //rate_div
0x1A, //lpf
0x0C, //prod_id
0x6A, //user_ctrl
0x23, //fifo_en
0x1B, //gyro_cfg
0x1C, //accel_cfg
0x1F, // motion_thr
0x20, // motion_dur
0x72, // fifo_count_h
0x74, // fifo_r_w
0x43, // raw_gyro
0x3B, // raw_accel
0x41, // temp
0x38, // int_enable
0x39, // dmp_int_status
0x3A, // int_status
0x6B, // pwr_mgmt_1
0x6C, // pwr_mgmt_2
0x37, // int_pin_cfg
0x6F, // mem_r_w
0x06, // accel_offs
0x24, // i2c_mst
0x6D, // bank_sel
0x6E, // mem_start_addr
0x70 // prgm_start_h
};
//const struct test_s test = {
// .gyro_sens = 32768/250,
// .accel_sens = 32768/16,
// .reg_rate_div = 0, /* 1kHz. */
// .reg_lpf = 1, /* 188Hz. */
// .reg_gyro_fsr = 0, /* 250dps. */
// .reg_accel_fsr = 0x18, /* 16g. */
// .wait_ms = 50,
// .packet_thresh = 5, /* 5% */
// .min_dps = 10.f,
// .max_dps = 105.f,
// .max_gyro_var = 0.14f,
// .min_g = 0.3f,
// .max_g = 0.95f,
// .max_accel_var = 0.14f
//};
const struct test_s test={
32768/250, //gyro_sens
32768/16, // accel_sens
0, // reg_rate_div
1, // reg_lpf
0, // reg_gyro_fsr
0x18, // reg_accel_fsr
50, // wait_ms
5, // packet_thresh
10.0f, // min_dps
105.0f, // max_dps
0.14f, // max_gyro_var
0.3f, // min_g
0.95f, // max_g
0.14f // max_accel_var
};
/*
static struct gyro_state_s st = {
.reg = ®,
.hw = &hw,
.test = &test
}; */
static struct gyro_state_s st={
®,
&hw,
{0},
&test
};
//st.chip_cfg.dmp_on = 1;
//st.dhip_cfg.fifo_enabel = 1;
/*
#elif defined MPU6500
const struct gyro_reg_s reg = {
.who_am_i = 0x75,
.rate_div = 0x19,
.lpf = 0x1A,
.prod_id = 0x0C,
.user_ctrl = 0x6A,
.fifo_en = 0x23,
.gyro_cfg = 0x1B,
.accel_cfg = 0x1C,
.accel_cfg2 = 0x1D,
.lp_accel_odr = 0x1E,
.motion_thr = 0x1F,
.motion_dur = 0x20,
.fifo_count_h = 0x72,
.fifo_r_w = 0x74,
.raw_gyro = 0x43,
.raw_accel = 0x3B,
.temp = 0x41,
.int_enable = 0x38,
.dmp_int_status = 0x39,
.int_status = 0x3A,
.accel_intel = 0x69,
.pwr_mgmt_1 = 0x6B,
.pwr_mgmt_2 = 0x6C,
.int_pin_cfg = 0x37,
.mem_r_w = 0x6F,
.accel_offs = 0x77,
.i2c_mst = 0x24,
.bank_sel = 0x6D,
.mem_start_addr = 0x6E,
.prgm_start_h = 0x70
#ifdef AK89xx_SECONDARY
,.raw_compass = 0x49,
.s0_addr = 0x25,
.s0_reg = 0x26,
.s0_ctrl = 0x27,
.s1_addr = 0x28,
.s1_reg = 0x29,
.s1_ctrl = 0x2A,
.s4_ctrl = 0x34,
.s0_do = 0x63,
.s1_do = 0x64,
.i2c_delay_ctrl = 0x67
#endif
};
const struct hw_s hw = {
.addr = 0x68,
.max_fifo = 1024,
.num_reg = 128,
.temp_sens = 321,
.temp_offset = 0,
.bank_size = 256
#if defined AK89xx_SECONDARY
,.compass_fsr = AK89xx_FSR
#endif
};
*/
//const struct test_s test = {
// .gyro_sens = 32768/250,
// .accel_sens = 32768/16,
// .reg_rate_div = 0, /* 1kHz. */
// .reg_lpf = 1, /* 188Hz. */
// .reg_gyro_fsr = 0, /* 250dps. */
// .reg_accel_fsr = 0x18, /* 16g. */
// .wait_ms = 50,
// .packet_thresh = 5, /* 5% */
// .min_dps = 10.f,
// .max_dps = 105.f,
// .max_gyro_var = 0.14f,
// .min_g = 0.3f,
// .max_g = 0.95f,
// .max_accel_var = 0.14f
//};
//
//static struct gyro_state_s st = {
// .reg = ®,
// .hw = &hw,
// .test = &test
//};
#endif
#define MAX_PACKET_LENGTH (12)
#ifdef AK89xx_SECONDARY
static int setup_compass(void);
#define MAX_COMPASS_SAMPLE_RATE (100)
#endif
/**
* @brief Enable/disable data ready interrupt.
* If the DMP is on, the DMP interrupt is enabled. Otherwise, the data ready
* interrupt is used.
* @param[in] enable 1 to enable interrupt.
* @return 0 if successful.
*/
static int set_int_enable(unsigned char enable)
{
unsigned char tmp;
if (st.chip_cfg.dmp_on) {
if (enable)
tmp = BIT_DMP_INT_EN;
else
tmp = 0x00;
if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp))
return -1;
st.chip_cfg.int_enable = tmp;
} else {
if (!st.chip_cfg.sensors)
return -1;
if (enable && st.chip_cfg.int_enable)
return 0;
if (enable)
tmp = BIT_DATA_RDY_EN;
else
tmp = 0x00;
if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp))
return -1;
st.chip_cfg.int_enable = tmp;
}
return 0;
}
/**
* @brief Register dump for testing.
* @return 0 if successful.
*/
int mpu_reg_dump(void)
{
unsigned char ii;
unsigned char data;
for (ii = 0; ii < st.hw->num_reg; ii++) {
if (ii == st.reg->fifo_r_w || ii == st.reg->mem_r_w)
continue;
if (i2c_read(st.hw->addr, ii, 1, &data))
return -1;
//log_i("%#5x: %#5x\r\n", ii, data);
}
return 0;
}
/**
* @brief Read from a single register.
* NOTE: The memory and FIFO read/write registers cannot be accessed.
* @param[in] reg Register address.
* @param[out] data Register data.
* @return 0 if successful.
*/
int mpu_read_reg(unsigned char reg, unsigned char *data)
{
if (reg == st.reg->fifo_r_w || reg == st.reg->mem_r_w)
return -1;
if (reg >= st.hw->num_reg)
return -1;
return i2c_read(st.hw->addr, reg, 1, data);
}
/**
* @brief Initialize hardware.
* Initial configuration:\n
* Gyro FSR: +/- 2000DPS\n
* Accel FSR +/- 2G\n
* DLPF: 42Hz\n
* FIFO rate: 50Hz\n
* Clock source: Gyro PLL\n
* FIFO: Disabled.\n
* Data ready interrupt: Disabled, active low, unlatched.
* @param[in] int_param Platform-specific parameters to interrupt API.
* @return 0 if successful.
*/
int mpu_init(void)
{
unsigned char data[6], rev;
/* Reset device. */
data[0] = 0x80;//BIT_RESET;
//addr应该是0x69，一开始就是0x68，所以错了，地址错了，对方收不到，
//也就不会有回音，pwr_mgmt_1是0x6B，是寄存器地址
if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &(data[0]))){
printf("fail!!!\n");
return -1;
}
delay_ms(100);
//先重置再唤醒
/* Wake up chip. */
data[0] = 0x00;
if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &(data[0])))
return -1;
//#if defined和#ifdef的区别很小，后者是前者的功能简化版，后者只能判断宏，前者可以进行更复杂的条件判断
#if defined MPU6050
/* Check product revision. */
//accel_offs是0x06
if (i2c_read(st.hw->addr, st.reg->accel_offs, 6, data))
return -1;
//分别取第5个字节的第三位，第3个字节的第二位，第1个字节的第一位
rev = ((data[5] & 0x01) << 2) | ((data[3] & 0x01) << 1) |
(data[1] & 0x01);
//增加此行以跳过下面这段代码
// rev = 0;
if (rev) {
/* Congrats, these parts are better. */
if (rev == 1)
st.chip_cfg.accel_half = 1;
else if (rev == 2)
st.chip_cfg.accel_half = 0;
else {
log_e
("Unsupported software product rev %d.\n", rev);
return -1;
}
} else {
if (i2c_read(st.hw->addr, st.reg->prod_id, 1, &(data[0])))
return -1;
rev = data[0] & 0x0F;
if (!rev) {
log_e("Product ID read as 0 indicates device is either "
"incompatible or an MPU3050.\n");
return -1;
} else if (rev == 4) {
log_i("Half sensitivity part found.\n");
st.chip_cfg.accel_half = 1;
} else
st.chip_cfg.accel_half = 0;
}
//未定义
#elif defined MPU6500
#define MPU6500_MEM_REV_ADDR (0x17)
if (mpu_read_mem(MPU6500_MEM_REV_ADDR, 1, &rev))
return -1;
if (rev == 0x1)
st.chip_cfg.accel_half = 0;
else {
log_e("Unsupported software product rev %d.\n", rev);
return -1;
}
/* MPU6500 shares 4kB of memory between the DMP and the FIFO. Since the
* first 3kB are needed by the DMP, we'll use the last 1kB for the FIFO.
*/
data[0] = BIT_FIFO_SIZE_1024 | 0x8;
if (i2c_write(st.hw->addr, st.reg->accel_cfg2, 1, data))
return -1;
#endif
/* Set to invalid values to ensure no I2C writes are skipped. */
st.chip_cfg.sensors = 0xFF;
st.chip_cfg.gyro_fsr = 0xFF;
st.chip_cfg.accel_fsr = 0xFF;
st.chip_cfg.lpf = 0xFF;
st.chip_cfg.sample_rate = 0xFFFF;
st.chip_cfg.fifo_enable = 0xFF;
st.chip_cfg.bypass_mode = 0xFF;
//定义了
#ifdef AK89xx_SECONDARY
st.chip_cfg.compass_sample_rate = 0xFFFF;
#endif
/* mpu_set_sensors always preserves this setting. */
st.chip_cfg.clk_src = INV_CLK_PLL;
/* Handled in next call to mpu_set_bypass. */
st.chip_cfg.active_low_int = 1;
st.chip_cfg.latched_int = 0;
st.chip_cfg.int_motion_only = 0;
st.chip_cfg.lp_accel_mode = 0;
memset(&st.chip_cfg.cache, 0, sizeof(st.chip_cfg.cache));
st.chip_cfg.dmp_on = 0;
st.chip_cfg.dmp_loaded = 0;
st.chip_cfg.dmp_sample_rate = 0;
if (mpu_set_gyro_fsr(2000))
return -1;
if (mpu_set_accel_fsr(2))
return -1;
if (mpu_set_lpf(42))
return -1;
if (mpu_set_sample_rate(50))
return -1;
if (mpu_configure_fifo(0))
return -1;
/*if (int_param)
reg_int_cb(int_param);*/
#ifdef AK89xx_SECONDARY
setup_compass();
if (mpu_set_compass_sample_rate(10))
return -1;
#else
/* Already disabled by setup_compass. */
if (mpu_set_bypass(0))
return -1;
#endif
mpu_set_sensors(0);
return 0;
}
/**
* @brief Enter low-power accel-only mode.
* In low-power accel mode, the chip goes to sleep and only wakes up to sample
* the accelerometer at one of the following frequencies:
* \n MPU6050: 1.25Hz, 5Hz, 20Hz, 40Hz
* \n MPU6500: 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz
* \n If the requested rate is not one listed above, the device will be set to
* the next highest rate. Requesting a rate above the maximum supported
* frequency will result in an error.
* \n To select a fractional wake-up frequency, round down the value passed to
* @e rate.
* @param[in] rate Minimum sampling rate, or zero to disable LP
* accel mode.
* @return 0 if successful.
*/
int mpu_lp_accel_mode(unsigned char rate)
{
unsigned char tmp[2];
if (rate > 40)
return -1;
if (!rate) {
mpu_set_int_latched(0);
tmp[0] = 0;
tmp[1] = BIT_STBY_XYZG;
if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp))
return -1;
st.chip_cfg.lp_accel_mode = 0;
return 0;
}
/* For LP accel, we automatically configure the hardware to produce latched
* interrupts. In LP accel mode, the hardware cycles into sleep mode before
* it gets a chance to deassert the interrupt pin; therefore, we shift this
* responsibility over to the MCU.
*
* Any register read will clear the interrupt.
*/
mpu_set_int_latched(1);
#if defined MPU6050
tmp[0] = BIT_LPA_CYCLE;
if (rate == 1) {
tmp[1] = INV_LPA_1_25HZ;
mpu_set_lpf(5);
} else if (rate <= 5) {
tmp[1] = INV_LPA_5HZ;
mpu_set_lpf(5);
} else if (rate <= 20) {
tmp[1] = INV_LPA_20HZ;
mpu_set_lpf(10);
} else {
tmp[1] = INV_LPA_40HZ;
mpu_set_lpf(20);
}
tmp[1] = (tmp[1] << 6) | BIT_STBY_XYZG;
if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp))
return -1;
#elif defined MPU6500
/* Set wake frequency. */
if (rate == 1)
tmp[0] = INV_LPA_1_25HZ;
else if (rate == 2)
tmp[0] = INV_LPA_2_5HZ;
else if (rate <= 5)
tmp[0] = INV_LPA_5HZ;
else if (rate <= 10)
tmp[0] = INV_LPA_10HZ;
else if (rate <= 20)
tmp[0] = INV_LPA_20HZ;
else if (rate <= 40)
tmp[0] = INV_LPA_40HZ;
else if (rate <= 80)
tmp[0] = INV_LPA_80HZ;
else if (rate <= 160)
tmp[0] = INV_LPA_160HZ;
else if (rate <= 320)
tmp[0] = INV_LPA_320HZ;
else
tmp[0] = INV_LPA_640HZ;
if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, tmp))
return -1;
tmp[0] = BIT_LPA_CYCLE;
if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, tmp))
return -1;
#endif
st.chip_cfg.sensors = INV_XYZ_ACCEL;
st.chip_cfg.clk_src = 0;
st.chip_cfg.lp_accel_mode = 1;
mpu_configure_fifo(0);