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AP_InertialSensor: rewrite basic code for spi device transactions

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* I'm not touching that DMP stuff because I'm pretty convinced it should
  instead be deprecated
This commit is contained in:
Pat Hickey 2012-12-17 18:00:17 -08:00 committed by Andrew Tridgell
parent 3153105682
commit b502732249
1 changed files with 23 additions and 27 deletions
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50
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -299,14 +299,6 @@ float AP_InertialSensor_MPU6000::temperature() {
/*================ HARDWARE FUNCTIONS ==================== */ /*================ HARDWARE FUNCTIONS ==================== */
static int16_t spi_transfer_16(AP_HAL::SPIDeviceDriver *_spi)
{
uint8_t byte_H, byte_L;
byte_H = _spi->transfer(0);
byte_L = _spi->transfer(0);
return (((int16_t)byte_H)<<8) | byte_L;
}
/* /*
* this is called from the data_interrupt which fires when the MPU6000 has new * this is called from the data_interrupt which fires when the MPU6000 has new
* sensor data available and add it to _sum[] to ensure this is the case, * sensor data available and add it to _sum[] to ensure this is the case,
@ -330,15 +322,17 @@ void AP_InertialSensor_MPU6000::read(uint32_t)
} }
} }
// now read the data /* one resister address followed by seven 2-byte registers */
_spi->cs_assert(); uint8_t tx[15];
uint8_t addr = MPUREG_ACCEL_XOUT_H | 0x80; uint8_t rx[15];
_spi->transfer(addr); memset(tx,0,15);
for (uint8_t i=0; i<7; i++) { tx[0] = MPUREG_ACCEL_XOUT_H | 0x80;
_sum[i] += spi_transfer_16(_spi); _spi->transaction(tx, rx, 15);
}
_spi->cs_release(); for (uint8_t i = 0; i < 7; i++) {
_sum[i] += ((rx[2*i+1] << 8) | rx[2*i+2]);
}
_count++; _count++;
if (_count == 0) { if (_count == 0) {
// rollover - v unlikely // rollover - v unlikely
@ -366,22 +360,24 @@ uint8_t AP_InertialSensor_MPU6000::register_read( uint8_t reg )
uint8_t return_value; uint8_t return_value;
uint8_t addr = reg | 0x80; // Set most significant bit uint8_t addr = reg | 0x80; // Set most significant bit
_spi->cs_assert(); uint8_t tx[2];
uint8_t rx[2];
_spi->transfer(addr); tx[0] = addr;
return_value = _spi->transfer(0); tx[1] = 0;
_spi->transaction(tx, rx, 2);
_spi->cs_release(); return rx[1];
return return_value;
} }
void AP_InertialSensor_MPU6000::register_write(uint8_t reg, uint8_t val) void AP_InertialSensor_MPU6000::register_write(uint8_t reg, uint8_t val)
{ {
_spi->cs_assert(); uint8_t tx[2];
_spi->transfer(reg); uint8_t rx[2];
_spi->transfer(val);
_spi->cs_release(); tx[0] = reg;
tx[1] = val;
_spi->transaction(tx, rx, 2);
} }
// MPU6000 new data interrupt on INT6 // MPU6000 new data interrupt on INT6