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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program 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 .
This program 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 this program . If not , see < http : //www.gnu.org/licenses/>.
*/
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# include <AP_HAL/AP_HAL.h>
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# if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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# include "AP_InertialSensor_MPU9250.h"
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# include <assert.h>
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# include <utility>
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# include <AP_HAL_Linux/GPIO.h>
extern const AP_HAL : : HAL & hal ;
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// MPU9250 accelerometer scaling for 16g range
# define MPU9250_ACCEL_SCALE_1G (GRAVITY_MSS / 2048.0f)
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# define MPUREG_XG_OFFS_TC 0x00
# define MPUREG_YG_OFFS_TC 0x01
# define MPUREG_ZG_OFFS_TC 0x02
# define MPUREG_X_FINE_GAIN 0x03
# define MPUREG_Y_FINE_GAIN 0x04
# define MPUREG_Z_FINE_GAIN 0x05
// MPU9250 registers
# define MPUREG_XA_OFFS_H 0x77 // X axis accelerometer offset (high byte)
# define MPUREG_XA_OFFS_L 0x78 // X axis accelerometer offset (low byte)
# define MPUREG_YA_OFFS_H 0x7A // Y axis accelerometer offset (high byte)
# define MPUREG_YA_OFFS_L 0x0B // Y axis accelerometer offset (low byte)
# define MPUREG_ZA_OFFS_H 0x0D // Z axis accelerometer offset (high byte)
# define MPUREG_ZA_OFFS_L 0x0E // Z axis accelerometer offset (low byte)
// MPU6000 & MPU9250 registers
// not sure if present in MPU9250
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// #define MPUREG_PRODUCT_ID 0x0C // Product ID Register
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# define MPUREG_XG_OFFS_USRH 0x13 // X axis gyro offset (high byte)
# define MPUREG_XG_OFFS_USRL 0x14 // X axis gyro offset (low byte)
# define MPUREG_YG_OFFS_USRH 0x15 // Y axis gyro offset (high byte)
# define MPUREG_YG_OFFS_USRL 0x16 // Y axis gyro offset (low byte)
# define MPUREG_ZG_OFFS_USRH 0x17 // Z axis gyro offset (high byte)
# define MPUREG_ZG_OFFS_USRL 0x18 // Z axis gyro offset (low byte)
# define MPUREG_SMPLRT_DIV 0x19 // sample rate. Fsample= 1Khz/(<this value>+1) = 200Hz
# define MPUREG_SMPLRT_1000HZ 0x00
# define MPUREG_SMPLRT_500HZ 0x01
# define MPUREG_SMPLRT_250HZ 0x03
# define MPUREG_SMPLRT_200HZ 0x04
# define MPUREG_SMPLRT_100HZ 0x09
# define MPUREG_SMPLRT_50HZ 0x13
# define MPUREG_CONFIG 0x1A
# define MPUREG_GYRO_CONFIG 0x1B
// bit definitions for MPUREG_GYRO_CONFIG
# define BITS_GYRO_FS_250DPS 0x00
# define BITS_GYRO_FS_500DPS 0x08
# define BITS_GYRO_FS_1000DPS 0x10
# define BITS_GYRO_FS_2000DPS 0x18
# define BITS_GYRO_FS_MASK 0x18 // only bits 3 and 4 are used for gyro full scale so use this to mask off other bits
# define BITS_GYRO_ZGYRO_SELFTEST 0x20
# define BITS_GYRO_YGYRO_SELFTEST 0x40
# define BITS_GYRO_XGYRO_SELFTEST 0x80
# define MPUREG_ACCEL_CONFIG 0x1C
# define MPUREG_MOT_THR 0x1F // detection threshold for Motion interrupt generation. Motion is detected when the absolute value of any of the accelerometer measurements exceeds this
# define MPUREG_MOT_DUR 0x20 // duration counter threshold for Motion interrupt generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit of 1 LSB = 1 ms
# define MPUREG_ZRMOT_THR 0x21 // detection threshold for Zero Motion interrupt generation.
# define MPUREG_ZRMOT_DUR 0x22 // duration counter threshold for Zero Motion interrupt generation. The duration counter ticks at 16 Hz, therefore ZRMOT_DUR has a unit of 1 LSB = 64 ms.
# define MPUREG_FIFO_EN 0x23
# define MPUREG_INT_PIN_CFG 0x37
# define BIT_INT_RD_CLEAR 0x10 // clear the interrupt when any read occurs
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# define BIT_LATCH_INT_EN 0x20 // latch data ready pin
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# define BIT_BYPASS_EN 0x02 // connect auxiliary I2C bus to the main I2C bus
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# define MPUREG_INT_ENABLE 0x38
// bit definitions for MPUREG_INT_ENABLE
# define BIT_RAW_RDY_EN 0x01
# define BIT_DMP_INT_EN 0x02 // enabling this bit (DMP_INT_EN) also enables RAW_RDY_EN it seems
# define BIT_UNKNOWN_INT_EN 0x04
# define BIT_I2C_MST_INT_EN 0x08
# define BIT_FIFO_OFLOW_EN 0x10
# define BIT_ZMOT_EN 0x20
# define BIT_MOT_EN 0x40
# define BIT_FF_EN 0x80
# define MPUREG_INT_STATUS 0x3A
// bit definitions for MPUREG_INT_STATUS (same bit pattern as above because this register shows what interrupt actually fired)
# define BIT_RAW_RDY_INT 0x01
# define BIT_DMP_INT 0x02
# define BIT_UNKNOWN_INT 0x04
# define BIT_I2C_MST_INT 0x08
# define BIT_FIFO_OFLOW_INT 0x10
# define BIT_ZMOT_INT 0x20
# define BIT_MOT_INT 0x40
# define BIT_FF_INT 0x80
# define MPUREG_ACCEL_XOUT_H 0x3B
# define MPUREG_ACCEL_XOUT_L 0x3C
# define MPUREG_ACCEL_YOUT_H 0x3D
# define MPUREG_ACCEL_YOUT_L 0x3E
# define MPUREG_ACCEL_ZOUT_H 0x3F
# define MPUREG_ACCEL_ZOUT_L 0x40
# define MPUREG_TEMP_OUT_H 0x41
# define MPUREG_TEMP_OUT_L 0x42
# define MPUREG_GYRO_XOUT_H 0x43
# define MPUREG_GYRO_XOUT_L 0x44
# define MPUREG_GYRO_YOUT_H 0x45
# define MPUREG_GYRO_YOUT_L 0x46
# define MPUREG_GYRO_ZOUT_H 0x47
# define MPUREG_GYRO_ZOUT_L 0x48
# define MPUREG_USER_CTRL 0x6A
// bit definitions for MPUREG_USER_CTRL
# define BIT_USER_CTRL_SIG_COND_RESET 0x01 // resets signal paths and results registers for all sensors (gyros, accel, temp)
# define BIT_USER_CTRL_I2C_MST_RESET 0x02 // reset I2C Master (only applicable if I2C_MST_EN bit is set)
# define BIT_USER_CTRL_FIFO_RESET 0x04 // Reset (i.e. clear) FIFO buffer
# define BIT_USER_CTRL_DMP_RESET 0x08 // Reset DMP
# define BIT_USER_CTRL_I2C_IF_DIS 0x10 // Disable primary I2C interface and enable hal.spi->interface
# define BIT_USER_CTRL_I2C_MST_EN 0x20 // Enable MPU to act as the I2C Master to external slave sensors
# define BIT_USER_CTRL_FIFO_EN 0x40 // Enable FIFO operations
# define BIT_USER_CTRL_DMP_EN 0x80 // Enable DMP operations
# define MPUREG_PWR_MGMT_1 0x6B
# define BIT_PWR_MGMT_1_CLK_INTERNAL 0x00 // clock set to internal 8Mhz oscillator
# define BIT_PWR_MGMT_1_CLK_XGYRO 0x01 // PLL with X axis gyroscope reference
# define BIT_PWR_MGMT_1_CLK_YGYRO 0x02 // PLL with Y axis gyroscope reference
# define BIT_PWR_MGMT_1_CLK_ZGYRO 0x03 // PLL with Z axis gyroscope reference
# define BIT_PWR_MGMT_1_CLK_EXT32KHZ 0x04 // PLL with external 32.768kHz reference
# define BIT_PWR_MGMT_1_CLK_EXT19MHZ 0x05 // PLL with external 19.2MHz reference
# define BIT_PWR_MGMT_1_CLK_STOP 0x07 // Stops the clock and keeps the timing generator in reset
# define BIT_PWR_MGMT_1_TEMP_DIS 0x08 // disable temperature sensor
# define BIT_PWR_MGMT_1_CYCLE 0x20 // put sensor into cycle mode. cycles between sleep mode and waking up to take a single sample of data from active sensors at a rate determined by LP_WAKE_CTRL
# define BIT_PWR_MGMT_1_SLEEP 0x40 // put sensor into low power sleep mode
# define BIT_PWR_MGMT_1_DEVICE_RESET 0x80 // reset entire device
# define MPUREG_PWR_MGMT_2 0x6C // allows the user to configure the frequency of wake-ups in Accelerometer Only Low Power Mode
# define MPUREG_BANK_SEL 0x6D // DMP bank selection register (used to indirectly access DMP registers)
# define MPUREG_MEM_START_ADDR 0x6E // DMP memory start address (used to indirectly write to dmp memory)
# define MPUREG_MEM_R_W 0x6F // DMP related register
# define MPUREG_DMP_CFG_1 0x70 // DMP related register
# define MPUREG_DMP_CFG_2 0x71 // DMP related register
# define MPUREG_FIFO_COUNTH 0x72
# define MPUREG_FIFO_COUNTL 0x73
# define MPUREG_FIFO_R_W 0x74
# define MPUREG_WHOAMI 0x75
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# define MPUREG_WHOAMI_MPU9250 0x71
# define MPUREG_WHOAMI_MPU9255 0x73
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/* bit definitions for MPUREG_MST_CTRL */
# define MPUREG_I2C_MST_CTRL 0x24
# define I2C_MST_P_NSR 0x10
# define I2C_SLV0_EN 0x80
# define I2C_MST_CLOCK_400KHZ 0x0D
# define I2C_MST_CLOCK_258KHZ 0x08
# define MPUREG_I2C_SLV4_CTRL 0x34
# define MPUREG_I2C_MST_DELAY_CTRL 0x67
# define I2C_SLV0_DLY_EN 0x01
# define I2C_SLV1_DLY_EN 0x02
# define I2C_SLV2_DLY_EN 0x04
# define I2C_SLV3_DLY_EN 0x08
# define READ_FLAG 0x80
# define MPUREG_I2C_SLV0_ADDR 0x25
# define MPUREG_EXT_SENS_DATA_00 0x49
# define MPUREG_I2C_SLV0_DO 0x63
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// Configuration bits MPU 3000, MPU 6000 and MPU9250
# define BITS_DLPF_CFG_256HZ_NOLPF2 0x00
# define BITS_DLPF_CFG_188HZ 0x01
# define BITS_DLPF_CFG_98HZ 0x02
# define BITS_DLPF_CFG_42HZ 0x03
# define BITS_DLPF_CFG_20HZ 0x04
# define BITS_DLPF_CFG_10HZ 0x05
# define BITS_DLPF_CFG_5HZ 0x06
# define BITS_DLPF_CFG_2100HZ_NOLPF 0x07
# define BITS_DLPF_CFG_MASK 0x07
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# define DEFAULT_SMPLRT_DIV MPUREG_SMPLRT_1000HZ
# define DEFAULT_SAMPLE_RATE (1000 / (DEFAULT_SMPLRT_DIV + 1))
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# define MPU9250_SAMPLE_SIZE 14
# define MPU9250_MAX_FIFO_SAMPLES 3
# define MAX_DATA_READ (MPU9250_MAX_FIFO_SAMPLES * MPU9250_SAMPLE_SIZE)
# define int16_val(v, idx) ((int16_t)(((uint16_t)v[2*idx] << 8) | v[2*idx+1]))
# define uint16_val(v, idx)(((uint16_t)v[2*idx] << 8) | v[2*idx+1])
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/*
* PS - MPU - 9250 A - 00. pdf , page 8 , lists LSB sensitivity of
* gyro as 16.4 LSB / DPS at scale factor of + / - 2000 dps ( FS_SEL = = 3 )
*/
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static const float GYRO_SCALE = 0.0174532f / 16.4f ;
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/*
* PS - MPU - 9250 A - 00. pdf , page 9 , lists LSB sensitivity of
* accel as 4096 LSB / mg at scale factor of + / - 8 g ( AFS_SEL = = 2 )
*
* See note below about accel scaling of engineering sample MPUXk
* variants however
*/
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AP_InertialSensor_MPU9250 : : AP_InertialSensor_MPU9250 ( AP_InertialSensor & imu ,
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AP_HAL : : OwnPtr < AP_HAL : : Device > dev )
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: AP_InertialSensor_Backend ( imu )
# if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
, _default_rotation ( ROTATION_ROLL_180_YAW_270 )
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# elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE = = HAL_BOARD_SUBTYPE_LINUX_NAVIO2
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, _default_rotation ( ROTATION_NONE )
# elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE = = HAL_BOARD_SUBTYPE_LINUX_PXFMINI
, _default_rotation ( ROTATION_YAW_270 )
# elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
, _default_rotation ( ROTATION_NONE )
# elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
, _default_rotation ( ROTATION_NONE )
# else
/* rotate for PXF (and default for other boards) */
, _default_rotation ( ROTATION_ROLL_180_YAW_90 )
# endif
, _dev ( std : : move ( dev ) )
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{
}
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AP_InertialSensor_MPU9250 : : ~ AP_InertialSensor_MPU9250 ( )
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{
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delete _auxiliary_bus ;
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}
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AP_InertialSensor_Backend * AP_InertialSensor_MPU9250 : : probe ( AP_InertialSensor & imu ,
AP_HAL : : OwnPtr < AP_HAL : : I2CDevice > dev )
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{
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AP_InertialSensor_MPU9250 * sensor =
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new AP_InertialSensor_MPU9250 ( imu , std : : move ( dev ) ) ;
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if ( ! sensor | | ! sensor - > _init ( ) ) {
delete sensor ;
return nullptr ;
}
sensor - > _id = HAL_INS_MPU9250_I2C ;
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return sensor ;
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}
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AP_InertialSensor_Backend * AP_InertialSensor_MPU9250 : : probe ( AP_InertialSensor & imu ,
AP_HAL : : OwnPtr < AP_HAL : : SPIDevice > dev )
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{
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AP_InertialSensor_MPU9250 * sensor ;
dev - > set_read_flag ( 0x80 ) ;
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sensor = new AP_InertialSensor_MPU9250 ( imu , std : : move ( dev ) ) ;
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if ( ! sensor | | ! sensor - > _init ( ) ) {
delete sensor ;
return nullptr ;
}
sensor - > _id = HAL_INS_MPU9250_SPI ;
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return sensor ;
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}
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bool AP_InertialSensor_MPU9250 : : _init ( )
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{
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hal . scheduler - > suspend_timer_procs ( ) ;
bool success = _hardware_init ( ) ;
hal . scheduler - > resume_timer_procs ( ) ;
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# if MPU9250_DEBUG
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_dump_registers ( ) ;
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# endif
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return success ;
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}
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bool AP_InertialSensor_MPU9250 : : _has_auxiliary_bus ( )
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{
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return _dev - > bus_type ! = AP_HAL : : Device : : BUS_TYPE_I2C ;
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}
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void AP_InertialSensor_MPU9250 : : start ( )
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{
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hal . scheduler - > suspend_timer_procs ( ) ;
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if ( ! _dev - > get_semaphore ( ) - > take ( 100 ) ) {
AP_HAL : : panic ( " MPU92500: Unable to get semaphore " ) ;
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}
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// initially run the bus at low speed
_dev - > set_speed ( AP_HAL : : Device : : SPEED_LOW ) ;
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// only used for wake-up in accelerometer only low power mode
_register_write ( MPUREG_PWR_MGMT_2 , 0x00 ) ;
hal . scheduler - > delay ( 1 ) ;
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// disable sensor filtering
_register_write ( MPUREG_CONFIG , BITS_DLPF_CFG_256HZ_NOLPF2 ) ;
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// set sample rate to 1kHz, and use the 2 pole filter to give the
// desired rate
_register_write ( MPUREG_SMPLRT_DIV , DEFAULT_SMPLRT_DIV ) ;
hal . scheduler - > delay ( 1 ) ;
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// Gyro scale 2000º/s
_register_write ( MPUREG_GYRO_CONFIG , BITS_GYRO_FS_2000DPS ) ;
hal . scheduler - > delay ( 1 ) ;
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_product_id = AP_PRODUCT_ID_MPU9250 ;
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// RM-MPU-9250A-00.pdf, pg. 15, select accel full scale 16g
_register_write ( MPUREG_ACCEL_CONFIG , 3 < < 3 ) ;
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// configure interrupt to fire when new data arrives
_register_write ( MPUREG_INT_ENABLE , BIT_RAW_RDY_EN ) ;
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// clear interrupt on any read, and hold the data ready pin high
// until we clear the interrupt
uint8_t value = _register_read ( MPUREG_INT_PIN_CFG ) ;
value | = BIT_INT_RD_CLEAR | BIT_LATCH_INT_EN ;
_register_write ( MPUREG_INT_PIN_CFG , value ) ;
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// now that we have initialised, we set the bus speed to high
_dev - > set_speed ( AP_HAL : : Device : : SPEED_HIGH ) ;
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_dev - > get_semaphore ( ) - > give ( ) ;
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// grab the used instances
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_gyro_instance = _imu . register_gyro ( DEFAULT_SAMPLE_RATE ) ;
_accel_instance = _imu . register_accel ( DEFAULT_SAMPLE_RATE ) ;
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hal . scheduler - > resume_timer_procs ( ) ;
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// start the timer process to read samples
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hal . scheduler - > register_timer_process (
FUNCTOR_BIND_MEMBER ( & AP_InertialSensor_MPU9250 : : _poll_data , void ) ) ;
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}
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/*
update the accel and gyro vectors
*/
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bool AP_InertialSensor_MPU9250 : : update ( )
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{
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update_gyro ( _gyro_instance ) ;
update_accel ( _accel_instance ) ;
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return true ;
}
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AuxiliaryBus * AP_InertialSensor_MPU9250 : : get_auxiliary_bus ( )
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{
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if ( _auxiliary_bus ) {
return _auxiliary_bus ;
}
if ( _has_auxiliary_bus ( ) ) {
_auxiliary_bus = new AP_MPU9250_AuxiliaryBus ( * this ) ;
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}
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return _auxiliary_bus ;
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}
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/*
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* Return true if the MPU9250 has new data available for reading .
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*/
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bool AP_InertialSensor_MPU9250 : : _data_ready ( )
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{
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uint8_t int_status = _register_read ( MPUREG_INT_STATUS ) ;
return _data_ready ( int_status ) ;
}
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bool AP_InertialSensor_MPU9250 : : _data_ready ( uint8_t int_status )
{
return ( int_status & BIT_RAW_RDY_INT ) ! = 0 ;
}
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/*
* Timer process to poll for new data from the MPU6000 .
*/
void AP_InertialSensor_MPU9250 : : _poll_data ( )
{
if ( ! _dev - > get_semaphore ( ) - > take_nonblocking ( ) ) {
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return ;
}
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_read_sample ( ) ;
_dev - > get_semaphore ( ) - > give ( ) ;
}
void AP_InertialSensor_MPU9250 : : _accumulate ( uint8_t * rx )
{
Vector3f accel , gyro ;
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accel = Vector3f ( int16_val ( rx , 1 ) ,
int16_val ( rx , 0 ) ,
- int16_val ( rx , 2 ) ) ;
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accel * = MPU9250_ACCEL_SCALE_1G ;
accel . rotate ( _default_rotation ) ;
_rotate_and_correct_accel ( _accel_instance , accel ) ;
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_notify_new_accel_raw_sample ( _accel_instance , accel ) ;
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gyro = Vector3f ( int16_val ( rx , 5 ) ,
int16_val ( rx , 4 ) ,
- int16_val ( rx , 6 ) ) ;
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gyro * = GYRO_SCALE ;
gyro . rotate ( _default_rotation ) ;
_rotate_and_correct_gyro ( _gyro_instance , gyro ) ;
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_notify_new_gyro_raw_sample ( _gyro_instance , gyro ) ;
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}
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/*
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* read from the data registers and update filtered data
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*/
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void AP_InertialSensor_MPU9250 : : _read_sample ( )
{
/* one register address followed by seven 2-byte registers */
struct PACKED {
uint8_t int_status ;
uint8_t d [ 14 ] ;
} rx ;
if ( ! _block_read ( MPUREG_INT_STATUS , ( uint8_t * ) & rx , sizeof ( rx ) ) ) {
hal . console - > printf ( " MPU9250: error reading sample \n " ) ;
return ;
}
if ( ! _data_ready ( rx . int_status ) ) {
return ;
}
_accumulate ( rx . d ) ;
}
bool AP_InertialSensor_MPU9250 : : _block_read ( uint8_t reg , uint8_t * buf ,
uint32_t size )
{
return _dev - > read_registers ( reg , buf , size ) ;
}
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uint8_t AP_InertialSensor_MPU9250 : : _register_read ( uint8_t reg )
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{
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uint8_t val = 0 ;
_dev - > read_registers ( reg , & val , 1 ) ;
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return val ;
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}
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void AP_InertialSensor_MPU9250 : : _register_write ( uint8_t reg , uint8_t val )
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{
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_dev - > write_register ( reg , val ) ;
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}
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bool AP_InertialSensor_MPU9250 : : _hardware_init ( void )
{
if ( ! _dev - > get_semaphore ( ) - > take ( 100 ) ) {
AP_HAL : : panic ( " MPU6000: Unable to get semaphore " ) ;
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}
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// initially run the bus at low speed
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_dev - > set_speed ( AP_HAL : : Device : : SPEED_LOW ) ;
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uint8_t value = _register_read ( MPUREG_WHOAMI ) ;
if ( value ! = MPUREG_WHOAMI_MPU9250 & & value ! = MPUREG_WHOAMI_MPU9255 ) {
hal . console - > printf ( " MPU9250: unexpected WHOAMI 0x%x \n " , ( unsigned ) value ) ;
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goto fail_whoami ;
}
// Chip reset
uint8_t tries ;
for ( tries = 0 ; tries < 5 ; tries + + ) {
uint8_t user_ctrl = _register_read ( MPUREG_USER_CTRL ) ;
/* First disable the master I2C to avoid hanging the slaves on the
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* aulixiliar I2C bus - it will be enabled again if the AuxiliaryBus
* is used */
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if ( user_ctrl & BIT_USER_CTRL_I2C_MST_EN ) {
_register_write ( MPUREG_USER_CTRL , user_ctrl & ~ BIT_USER_CTRL_I2C_MST_EN ) ;
hal . scheduler - > delay ( 10 ) ;
}
// reset device
_register_write ( MPUREG_PWR_MGMT_1 , BIT_PWR_MGMT_1_DEVICE_RESET ) ;
hal . scheduler - > delay ( 100 ) ;
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/* bus-dependent initialization */
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if ( _dev - > bus_type = = AP_HAL : : Device : : BUS_TYPE_SPI ) {
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/* Disable I2C bus if SPI selected (Recommended in Datasheet to be
* done just after the device is reset ) */
_register_write ( MPUREG_USER_CTRL , BIT_USER_CTRL_I2C_IF_DIS ) ;
}
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// Wake up device and select GyroZ clock. Note that the
// MPU9250 starts up in sleep mode, and it can take some time
// for it to come out of sleep
_register_write ( MPUREG_PWR_MGMT_1 , BIT_PWR_MGMT_1_CLK_ZGYRO ) ;
hal . scheduler - > delay ( 5 ) ;
// check it has woken up
if ( _register_read ( MPUREG_PWR_MGMT_1 ) = = BIT_PWR_MGMT_1_CLK_ZGYRO ) {
break ;
}
hal . scheduler - > delay ( 10 ) ;
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if ( _data_ready ( ) ) {
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break ;
}
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# if MPU9250_DEBUG
_dump_registers ( ) ;
# endif
}
if ( tries = = 5 ) {
hal . console - > println ( " Failed to boot MPU9250 5 times " ) ;
goto fail_tries ;
}
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_dev - > set_speed ( AP_HAL : : Device : : SPEED_HIGH ) ;
_dev - > get_semaphore ( ) - > give ( ) ;
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return true ;
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fail_tries :
fail_whoami :
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_dev - > get_semaphore ( ) - > give ( ) ;
_dev - > set_speed ( AP_HAL : : Device : : SPEED_HIGH ) ;
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return false ;
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}
# if MPU9250_DEBUG
// dump all config registers - used for debug
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void AP_InertialSensor_MPU9250 : : _dump_registers ( AP_MPU9250_BusDriver * bus )
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{
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hal . console - > println ( " MPU9250 registers " ) ;
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for ( uint8_t reg = 0 ; reg < = 126 ; reg + + ) {
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uint8_t v = _register_read ( bus , reg ) ;
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hal . console - > printf ( " %02x:%02x " , ( unsigned ) reg , ( unsigned ) v ) ;
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if ( ( reg - ( MPUREG_PRODUCT_ID - 1 ) ) % 16 = = 0 ) {
hal . console - > println ( ) ;
}
}
hal . console - > println ( ) ;
}
# endif
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AP_MPU9250_AuxiliaryBusSlave : : AP_MPU9250_AuxiliaryBusSlave ( AuxiliaryBus & bus , uint8_t addr ,
uint8_t instance )
: AuxiliaryBusSlave ( bus , addr , instance )
, _mpu9250_addr ( MPUREG_I2C_SLV0_ADDR + _instance * 3 )
, _mpu9250_reg ( _mpu9250_addr + 1 )
, _mpu9250_ctrl ( _mpu9250_addr + 2 )
, _mpu9250_do ( MPUREG_I2C_SLV0_DO + _instance )
{
}
int AP_MPU9250_AuxiliaryBusSlave : : _set_passthrough ( uint8_t reg , uint8_t size ,
uint8_t * out )
{
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auto & backend = AP_InertialSensor_MPU9250 : : from ( _bus . get_backend ( ) ) ;
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uint8_t addr ;
/* Ensure the slave read/write is disabled before changing the registers */
backend . _register_write ( _mpu9250_ctrl , 0 ) ;
if ( out ) {
backend . _register_write ( _mpu9250_do , * out ) ;
addr = _addr ;
} else {
addr = _addr | READ_FLAG ;
}
backend . _register_write ( _mpu9250_addr , addr ) ;
backend . _register_write ( _mpu9250_reg , reg ) ;
backend . _register_write ( _mpu9250_ctrl , I2C_SLV0_EN | size ) ;
return 0 ;
}
int AP_MPU9250_AuxiliaryBusSlave : : passthrough_read ( uint8_t reg , uint8_t * buf ,
uint8_t size )
{
assert ( buf ) ;
if ( _registered ) {
hal . console - > println ( " Error: can't passthrough when slave is already configured " ) ;
return - 1 ;
}
int r = _set_passthrough ( reg , size ) ;
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if ( r < 0 ) {
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return r ;
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}
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/* wait the value to be read from the slave and read it back */
hal . scheduler - > delay ( 10 ) ;
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auto & backend = AP_InertialSensor_MPU9250 : : from ( _bus . get_backend ( ) ) ;
backend . _block_read ( MPUREG_EXT_SENS_DATA_00 + _ext_sens_data , buf , size ) ;
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/* disable new reads */
backend . _register_write ( _mpu9250_ctrl , 0 ) ;
return size ;
}
int AP_MPU9250_AuxiliaryBusSlave : : passthrough_write ( uint8_t reg , uint8_t val )
{
if ( _registered ) {
hal . console - > println ( " Error: can't passthrough when slave is already configured " ) ;
return - 1 ;
}
int r = _set_passthrough ( reg , 1 , & val ) ;
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if ( r < 0 ) {
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return r ;
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}
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/* wait the value to be written to the slave */
hal . scheduler - > delay ( 10 ) ;
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auto & backend = AP_InertialSensor_MPU9250 : : from ( _bus . get_backend ( ) ) ;
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/* disable new writes */
backend . _register_write ( _mpu9250_ctrl , 0 ) ;
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return 1 ;
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}
int AP_MPU9250_AuxiliaryBusSlave : : read ( uint8_t * buf )
{
if ( ! _registered ) {
hal . console - > println ( " Error: can't read before configuring slave " ) ;
return - 1 ;
}
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auto & backend = AP_InertialSensor_MPU9250 : : from ( _bus . get_backend ( ) ) ;
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if ( ! backend . _block_read ( MPUREG_EXT_SENS_DATA_00 + _ext_sens_data , buf , _sample_size ) ) {
return - 1 ;
}
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return _sample_size ;
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}
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/* MPU9250 provides up to 5 slave devices, but the 5th is way too different to
* configure and is seldom used */
AP_MPU9250_AuxiliaryBus : : AP_MPU9250_AuxiliaryBus ( AP_InertialSensor_MPU9250 & backend )
: AuxiliaryBus ( backend , 4 )
{
}
AP_HAL : : Semaphore * AP_MPU9250_AuxiliaryBus : : get_semaphore ( )
{
return AP_InertialSensor_MPU9250 : : from ( _ins_backend ) . _dev - > get_semaphore ( ) ;
}
AuxiliaryBusSlave * AP_MPU9250_AuxiliaryBus : : _instantiate_slave ( uint8_t addr , uint8_t instance )
{
/* Enable slaves on MPU9250 if this is the first time */
if ( _ext_sens_data = = 0 )
_configure_slaves ( ) ;
return new AP_MPU9250_AuxiliaryBusSlave ( * this , addr , instance ) ;
}
void AP_MPU9250_AuxiliaryBus : : _configure_slaves ( )
{
auto & backend = AP_InertialSensor_MPU9250 : : from ( _ins_backend ) ;
/* Enable the I2C master to slaves on the auxiliary I2C bus*/
uint8_t user_ctrl = backend . _register_read ( MPUREG_USER_CTRL ) ;
backend . _register_write ( MPUREG_USER_CTRL , user_ctrl | BIT_USER_CTRL_I2C_MST_EN ) ;
/* stop condition between reads; clock at 400kHz */
backend . _register_write ( MPUREG_I2C_MST_CTRL ,
I2C_MST_CLOCK_400KHZ | I2C_MST_P_NSR ) ;
/* Hard-code divider for internal sample rate, 1 kHz, resulting in a
* sample rate of 100 Hz */
backend . _register_write ( MPUREG_I2C_SLV4_CTRL , 9 ) ;
/* All slaves are subject to the sample rate */
backend . _register_write ( MPUREG_I2C_MST_DELAY_CTRL ,
I2C_SLV0_DLY_EN | I2C_SLV1_DLY_EN |
I2C_SLV2_DLY_EN | I2C_SLV3_DLY_EN ) ;
}
int AP_MPU9250_AuxiliaryBus : : _configure_periodic_read ( AuxiliaryBusSlave * slave ,
uint8_t reg , uint8_t size )
{
if ( _ext_sens_data + size > MAX_EXT_SENS_DATA ) {
return - 1 ;
}
AP_MPU9250_AuxiliaryBusSlave * mpu_slave =
static_cast < AP_MPU9250_AuxiliaryBusSlave * > ( slave ) ;
mpu_slave - > _set_passthrough ( reg , size ) ;
mpu_slave - > _ext_sens_data = _ext_sens_data ;
_ext_sens_data + = size ;
return 0 ;
}
# endif