Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_InertialSensor: MPU9250 I2C: Connect the auxiliary I2C bus to the main bus 

Using MPU9250 over I2C we can connect the auxiliary bus where there is
a AK8963 and connect this bus to the main one, this way we don't need
any AuxiliaryBus infrastructure as we need with SPI and we can talk
with AK8963 as we would talk with a standalone AK8963.
This commit is contained in:
José Roberto de Souza 2015-09-28 14:23:21 -03:00 committed by Andrew Tridgell
parent b3322ed1ae
commit 0cbe99a862
2 changed files with 18 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
View File

@ -80,6 +80,7 @@ extern const AP_HAL::HAL& hal;
#define MPUREG_INT_PIN_CFG 0x37
# define BIT_INT_RD_CLEAR 0x10 // clear the interrupt when any read occurs
# define BIT_LATCH_INT_EN 0x20 // latch data ready pin
# define BIT_BYPASS_EN 0x02 // connect auxiliary I2C bus to the main I2C bus
#define MPUREG_INT_ENABLE 0x38
// bit definitions for MPUREG_INT_ENABLE
# define BIT_RAW_RDY_EN 0x01
@ -295,6 +296,16 @@ AP_MPU9250_BusDriver_I2C::AP_MPU9250_BusDriver_I2C(AP_HAL::I2CDriver *i2c, uint8
{
}
void AP_MPU9250_BusDriver_I2C::init()
{
uint8_t value;
read8(MPUREG_INT_PIN_CFG, &value);
// enable I2C bypass, connecting auxiliary I2C bus to the main one
value |= BIT_BYPASS_EN;
write8(MPUREG_INT_PIN_CFG, value);
}
void AP_MPU9250_BusDriver_I2C::read8(uint8_t reg, uint8_t *val)
{
_i2c->readRegister(_addr, reg, val);
@ -585,9 +596,9 @@ bool AP_InertialSensor_MPU9250::_hardware_init(void)
// initially run the bus at low speed
_bus->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_LOW);
uint8_t whoami = _register_read(MPUREG_WHOAMI);
if (whoami != MPUREG_WHOAMI_MPU9250 && whoami != MPUREG_WHOAMI_MPU9255) {
hal.console->printf("MPU9250: unexpected WHOAMI 0x%x\n", (unsigned)whoami);
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);
goto fail_whoami;
}
@ -655,7 +666,9 @@ bool AP_InertialSensor_MPU9250::_hardware_init(void)
// clear interrupt on any read, and hold the data ready pin high
// until we clear the interrupt
_register_write(MPUREG_INT_PIN_CFG, BIT_INT_RD_CLEAR | BIT_LATCH_INT_EN);
value = _register_read(MPUREG_INT_PIN_CFG);
value |= BIT_INT_RD_CLEAR | BIT_LATCH_INT_EN;
_register_write(MPUREG_INT_PIN_CFG, value);
// now that we have initialized, we set the SPI bus speed to high
_bus->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_HIGH);

2
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h
View File

@ -136,7 +136,7 @@ class AP_MPU9250_BusDriver_I2C : public AP_MPU9250_BusDriver
{
public:
AP_MPU9250_BusDriver_I2C(AP_HAL::I2CDriver *i2c, uint8_t addr);
void init() {};
void init();
void read8(uint8_t reg, uint8_t *val);
void write8(uint8_t reg, uint8_t val);
void read_block(uint8_t reg, uint8_t *val, uint8_t count);