mirror of https://github.com/ArduPilot/ardupilot
1611 lines
59 KiB
C++
1611 lines
59 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL.h>
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#include "AP_InertialSensor_MPU6000.h"
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extern const AP_HAL::HAL& hal;
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// MPU6000 accelerometer scaling
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#define MPU6000_ACCEL_SCALE_1G (GRAVITY / 4096.0f)
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// MPU 6000 registers
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#define MPUREG_XG_OFFS_TC 0x00
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#define MPUREG_YG_OFFS_TC 0x01
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#define MPUREG_ZG_OFFS_TC 0x02
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#define MPUREG_X_FINE_GAIN 0x03
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#define MPUREG_Y_FINE_GAIN 0x04
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#define MPUREG_Z_FINE_GAIN 0x05
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#define MPUREG_XA_OFFS_H 0x06 // X axis accelerometer offset (high byte)
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#define MPUREG_XA_OFFS_L 0x07 // X axis accelerometer offset (low byte)
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#define MPUREG_YA_OFFS_H 0x08 // Y axis accelerometer offset (high byte)
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#define MPUREG_YA_OFFS_L 0x09 // Y axis accelerometer offset (low byte)
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#define MPUREG_ZA_OFFS_H 0x0A // Z axis accelerometer offset (high byte)
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#define MPUREG_ZA_OFFS_L 0x0B // Z axis accelerometer offset (low byte)
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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)
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#define MPUREG_XG_OFFS_USRL 0x14 // X axis gyro offset (low byte)
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#define MPUREG_YG_OFFS_USRH 0x15 // Y axis gyro offset (high byte)
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#define MPUREG_YG_OFFS_USRL 0x16 // Y axis gyro offset (low byte)
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#define MPUREG_ZG_OFFS_USRH 0x17 // Z axis gyro offset (high byte)
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#define MPUREG_ZG_OFFS_USRL 0x18 // Z axis gyro offset (low byte)
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#define MPUREG_SMPLRT_DIV 0x19 // sample rate. Fsample= 1Khz/(<this value>+1) = 200Hz
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# define MPUREG_SMPLRT_1000HZ 0x00
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# define MPUREG_SMPLRT_500HZ 0x01
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# define MPUREG_SMPLRT_250HZ 0x03
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# define MPUREG_SMPLRT_200HZ 0x04
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# define MPUREG_SMPLRT_100HZ 0x09
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# define MPUREG_SMPLRT_50HZ 0x13
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#define MPUREG_CONFIG 0x1A
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#define MPUREG_GYRO_CONFIG 0x1B
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// bit definitions for MPUREG_GYRO_CONFIG
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# define BITS_GYRO_FS_250DPS 0x00
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# define BITS_GYRO_FS_500DPS 0x08
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# define BITS_GYRO_FS_1000DPS 0x10
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# define BITS_GYRO_FS_2000DPS 0x18
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# 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
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# define BITS_GYRO_ZGYRO_SELFTEST 0x20
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# define BITS_GYRO_YGYRO_SELFTEST 0x40
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# define BITS_GYRO_XGYRO_SELFTEST 0x80
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#define MPUREG_ACCEL_CONFIG 0x1C
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#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
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#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
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#define MPUREG_ZRMOT_THR 0x21 // detection threshold for Zero Motion interrupt generation.
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#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.
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#define MPUREG_FIFO_EN 0x23
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#define MPUREG_INT_PIN_CFG 0x37
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# 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 MPUREG_INT_ENABLE 0x38
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// bit definitions for MPUREG_INT_ENABLE
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# define BIT_RAW_RDY_EN 0x01
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# define BIT_DMP_INT_EN 0x02 // enabling this bit (DMP_INT_EN) also enables RAW_RDY_EN it seems
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# define BIT_UNKNOWN_INT_EN 0x04
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# define BIT_I2C_MST_INT_EN 0x08
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# define BIT_FIFO_OFLOW_EN 0x10
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# define BIT_ZMOT_EN 0x20
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# define BIT_MOT_EN 0x40
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# define BIT_FF_EN 0x80
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#define MPUREG_INT_STATUS 0x3A
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// bit definitions for MPUREG_INT_STATUS (same bit pattern as above because this register shows what interrupt actually fired)
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# define BIT_RAW_RDY_INT 0x01
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# define BIT_DMP_INT 0x02
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# define BIT_UNKNOWN_INT 0x04
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# define BIT_I2C_MST_INT 0x08
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# define BIT_FIFO_OFLOW_INT 0x10
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# define BIT_ZMOT_INT 0x20
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# define BIT_MOT_INT 0x40
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# define BIT_FF_INT 0x80
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#define MPUREG_ACCEL_XOUT_H 0x3B
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#define MPUREG_ACCEL_XOUT_L 0x3C
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#define MPUREG_ACCEL_YOUT_H 0x3D
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#define MPUREG_ACCEL_YOUT_L 0x3E
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#define MPUREG_ACCEL_ZOUT_H 0x3F
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#define MPUREG_ACCEL_ZOUT_L 0x40
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#define MPUREG_TEMP_OUT_H 0x41
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#define MPUREG_TEMP_OUT_L 0x42
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#define MPUREG_GYRO_XOUT_H 0x43
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#define MPUREG_GYRO_XOUT_L 0x44
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#define MPUREG_GYRO_YOUT_H 0x45
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#define MPUREG_GYRO_YOUT_L 0x46
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#define MPUREG_GYRO_ZOUT_H 0x47
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#define MPUREG_GYRO_ZOUT_L 0x48
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#define MPUREG_USER_CTRL 0x6A
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// bit definitions for MPUREG_USER_CTRL
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# define BIT_USER_CTRL_SIG_COND_RESET 0x01 // resets signal paths and results registers for all sensors (gyros, accel, temp)
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# define BIT_USER_CTRL_I2C_MST_RESET 0x02 // reset I2C Master (only applicable if I2C_MST_EN bit is set)
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# define BIT_USER_CTRL_FIFO_RESET 0x04 // Reset (i.e. clear) FIFO buffer
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# define BIT_USER_CTRL_DMP_RESET 0x08 // Reset DMP
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# define BIT_USER_CTRL_I2C_IF_DIS 0x10 // Disable primary I2C interface and enable hal.spi->interface
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# define BIT_USER_CTRL_I2C_MST_EN 0x20 // Enable MPU to act as the I2C Master to external slave sensors
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# define BIT_USER_CTRL_FIFO_EN 0x40 // Enable FIFO operations
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# define BIT_USER_CTRL_DMP_EN 0x80 // Enable DMP operations
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#define MPUREG_PWR_MGMT_1 0x6B
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# define BIT_PWR_MGMT_1_CLK_INTERNAL 0x00 // clock set to internal 8Mhz oscillator
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# define BIT_PWR_MGMT_1_CLK_XGYRO 0x01 // PLL with X axis gyroscope reference
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# define BIT_PWR_MGMT_1_CLK_YGYRO 0x02 // PLL with Y axis gyroscope reference
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# define BIT_PWR_MGMT_1_CLK_ZGYRO 0x03 // PLL with Z axis gyroscope reference
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# define BIT_PWR_MGMT_1_CLK_EXT32KHZ 0x04 // PLL with external 32.768kHz reference
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# define BIT_PWR_MGMT_1_CLK_EXT19MHZ 0x05 // PLL with external 19.2MHz reference
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# define BIT_PWR_MGMT_1_CLK_STOP 0x07 // Stops the clock and keeps the timing generator in reset
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# define BIT_PWR_MGMT_1_TEMP_DIS 0x08 // disable temperature sensor
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# 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
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# define BIT_PWR_MGMT_1_SLEEP 0x40 // put sensor into low power sleep mode
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# define BIT_PWR_MGMT_1_DEVICE_RESET 0x80 // reset entire device
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#define MPUREG_PWR_MGMT_2 0x6C // allows the user to configure the frequency of wake-ups in Accelerometer Only Low Power Mode
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#define MPUREG_BANK_SEL 0x6D // DMP bank selection register (used to indirectly access DMP registers)
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#define MPUREG_MEM_START_ADDR 0x6E // DMP memory start address (used to indirectly write to dmp memory)
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#define MPUREG_MEM_R_W 0x6F // DMP related register
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#define MPUREG_DMP_CFG_1 0x70 // DMP related register
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#define MPUREG_DMP_CFG_2 0x71 // DMP related register
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#define MPUREG_FIFO_COUNTH 0x72
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#define MPUREG_FIFO_COUNTL 0x73
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#define MPUREG_FIFO_R_W 0x74
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#define MPUREG_WHOAMI 0x75
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// Configuration bits MPU 3000 and MPU 6000 (not revised)?
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#define BITS_DLPF_CFG_256HZ_NOLPF2 0x00
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#define BITS_DLPF_CFG_188HZ 0x01
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#define BITS_DLPF_CFG_98HZ 0x02
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#define BITS_DLPF_CFG_42HZ 0x03
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#define BITS_DLPF_CFG_20HZ 0x04
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#define BITS_DLPF_CFG_10HZ 0x05
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#define BITS_DLPF_CFG_5HZ 0x06
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#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07
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#define BITS_DLPF_CFG_MASK 0x07
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// Product ID Description for MPU6000
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// high 4 bits low 4 bits
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// Product Name Product Revision
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#define MPU6000ES_REV_C4 0x14 // 0001 0100
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#define MPU6000ES_REV_C5 0x15 // 0001 0101
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#define MPU6000ES_REV_D6 0x16 // 0001 0110
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#define MPU6000ES_REV_D7 0x17 // 0001 0111
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#define MPU6000ES_REV_D8 0x18 // 0001 1000
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#define MPU6000_REV_C4 0x54 // 0101 0100
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#define MPU6000_REV_C5 0x55 // 0101 0101
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#define MPU6000_REV_D6 0x56 // 0101 0110
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#define MPU6000_REV_D7 0x57 // 0101 0111
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#define MPU6000_REV_D8 0x58 // 0101 1000
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#define MPU6000_REV_D9 0x59 // 0101 1001
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// DMP output rate constants
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#define MPU6000_200HZ 0x00 // default value
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#define MPU6000_100HZ 0x01
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#define MPU6000_66HZ 0x02
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#define MPU6000_50HZ 0x03
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// DMP FIFO constants
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// Default quaternion FIFO size (4*4) + Footer(2)
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#define FIFO_PACKET_SIZE 18
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// Rate of the gyro bias from gravity correction (200Hz/4) => 50Hz
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#define GYRO_BIAS_FROM_GRAVITY_RATE 4
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// Default gain for accel fusion (with gyros)
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#define DEFAULT_ACCEL_FUSION_GAIN 0x80
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/*
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* RM-MPU-6000A-00.pdf, page 33, section 4.25 lists LSB sensitivity of
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* gyro as 16.4 LSB/DPS at scale factor of +/- 2000dps (FS_SEL==3)
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*/
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const float AP_InertialSensor_MPU6000::_gyro_scale = (0.0174532 / 16.4);
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/* pch: I believe the accel and gyro indicies are correct
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* but somone else should please confirm.
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*
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* jamesjb: Y and Z axes are flipped on the PX4FMU
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*/
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const uint8_t AP_InertialSensor_MPU6000::_gyro_data_index[3] = { 5, 4, 6 };
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const uint8_t AP_InertialSensor_MPU6000::_accel_data_index[3] = { 1, 0, 2 };
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#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
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const int8_t AP_InertialSensor_MPU6000::_gyro_data_sign[3] = { 1, -1, 1 };
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const int8_t AP_InertialSensor_MPU6000::_accel_data_sign[3] = { 1, -1, 1 };
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#else
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const int8_t AP_InertialSensor_MPU6000::_gyro_data_sign[3] = { 1, 1, -1 };
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const int8_t AP_InertialSensor_MPU6000::_accel_data_sign[3] = { 1, 1, -1 };
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#endif
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const uint8_t AP_InertialSensor_MPU6000::_temp_data_index = 3;
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int16_t AP_InertialSensor_MPU6000::_mpu6000_product_id = AP_PRODUCT_ID_NONE;
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AP_HAL::DigitalSource *AP_InertialSensor_MPU6000::_drdy_pin = NULL;
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// time we start collecting sample (reset on update)
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// time latest sample was collected
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static volatile uint32_t _last_sample_time_micros = 0;
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// DMP related static variables
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bool AP_InertialSensor_MPU6000::_dmp_initialised = false;
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// high byte of number of elements in fifo buffer
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uint8_t AP_InertialSensor_MPU6000::_fifoCountH;
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// low byte of number of elements in fifo buffer
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uint8_t AP_InertialSensor_MPU6000::_fifoCountL;
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// holds the 4 quaternions representing attitude taken directly from the DMP
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Quaternion AP_InertialSensor_MPU6000::quaternion;
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/* Static SPI device driver */
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AP_HAL::SPIDeviceDriver* AP_InertialSensor_MPU6000::_spi = NULL;
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AP_HAL::Semaphore* AP_InertialSensor_MPU6000::_spi_sem = NULL;
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/*
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* RM-MPU-6000A-00.pdf, page 31, section 4.23 lists LSB sensitivity of
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* accel as 4096 LSB/mg at scale factor of +/- 8g (AFS_SEL==2)
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*
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* See note below about accel scaling of engineering sample MPU6k
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* variants however
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*/
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AP_InertialSensor_MPU6000::AP_InertialSensor_MPU6000()
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{
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_temp = 0;
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_initialised = false;
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_dmp_initialised = false;
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}
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uint16_t AP_InertialSensor_MPU6000::_init_sensor( Sample_rate sample_rate )
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{
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if (_initialised) return _mpu6000_product_id;
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_initialised = true;
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_spi = hal.spi->device(AP_HAL::SPIDevice_MPU6000);
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_spi_sem = _spi->get_semaphore();
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/* Pin 70 defined especially to hook
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up PE6 to the hal.gpio abstraction.
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(It is not a valid pin under Arduino.) */
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_drdy_pin = hal.gpio->channel(70);
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hal.scheduler->suspend_timer_procs();
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uint8_t tries = 0;
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do {
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bool success = hardware_init(sample_rate);
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if (success) {
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hal.scheduler->delay(_msec_per_sample+2);
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if (_data_ready()) {
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break;
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} else {
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hal.console->println_P(
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PSTR("MPU6000 startup failed: no data ready"));
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}
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}
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if (tries++ > 5) {
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hal.scheduler->panic(PSTR("PANIC: failed to boot MPU6000 5 times"));
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}
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} while (1);
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hal.scheduler->resume_timer_procs();
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/* read the first lot of data.
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* _read_data_transaction requires the spi semaphore to be taken by
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* its caller. */
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_last_sample_time_micros = hal.scheduler->micros();
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_read_data_transaction();
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// start the timer process to read samples
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hal.scheduler->register_timer_process(_poll_data);
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#if MPU6000_DEBUG
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_dump_registers();
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#endif
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return _mpu6000_product_id;
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}
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// accumulation in ISR - must be read with interrupts disabled
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// the sum of the values since last read
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static volatile int32_t _sum[7];
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// how many values we've accumulated since last read
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static volatile uint16_t _count;
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/*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */
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void AP_InertialSensor_MPU6000::wait_for_sample()
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{
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uint32_t tstart = hal.scheduler->micros();
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while (num_samples_available() == 0) {
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uint32_t now = hal.scheduler->micros();
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uint32_t dt = now - tstart;
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if (dt > 50000) {
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hal.scheduler->panic(
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PSTR("PANIC: AP_InertialSensor_MPU6000::update "
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"waited 50ms for data from interrupt"));
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}
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}
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}
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bool AP_InertialSensor_MPU6000::update( void )
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{
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int32_t sum[7];
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float count_scale;
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Vector3f accel_scale = _accel_scale.get();
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// wait for at least 1 sample
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wait_for_sample();
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// disable timer procs for mininum time
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hal.scheduler->suspend_timer_procs();
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/** ATOMIC SECTION w/r/t TIMER PROCESS */
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{
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for (int i=0; i<7; i++) {
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sum[i] = _sum[i];
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_sum[i] = 0;
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}
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_num_samples = _count;
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_count = 0;
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}
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hal.scheduler->resume_timer_procs();
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count_scale = 1.0f / _num_samples;
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_gyro = Vector3f(_gyro_data_sign[0] * sum[_gyro_data_index[0]],
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_gyro_data_sign[1] * sum[_gyro_data_index[1]],
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_gyro_data_sign[2] * sum[_gyro_data_index[2]]);
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_gyro.rotate(_board_orientation);
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_gyro *= _gyro_scale * count_scale;
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_gyro -= _gyro_offset;
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_accel = Vector3f(_accel_data_sign[0] * sum[_accel_data_index[0]],
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_accel_data_sign[1] * sum[_accel_data_index[1]],
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_accel_data_sign[2] * sum[_accel_data_index[2]]);
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_accel.rotate(_board_orientation);
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_accel *= count_scale * MPU6000_ACCEL_SCALE_1G;
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_accel.x *= accel_scale.x;
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_accel.y *= accel_scale.y;
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_accel.z *= accel_scale.z;
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_accel -= _accel_offset;
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_temp = _temp_to_celsius(sum[_temp_data_index] * count_scale);
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return true;
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}
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bool AP_InertialSensor_MPU6000::new_data_available( void )
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{
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return _count != 0;
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}
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float AP_InertialSensor_MPU6000::temperature() {
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return _temp;
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}
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/*================ HARDWARE FUNCTIONS ==================== */
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/**
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* Return true if the MPU6000 has new data available for reading.
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*
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* We use the data ready pin if it is available. Otherwise, read the
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* status register.
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*/
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bool AP_InertialSensor_MPU6000::_data_ready()
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{
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if (_drdy_pin) {
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return _drdy_pin->read() != 0;
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}
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if (hal.scheduler->in_timerprocess()) {
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bool got = _spi_sem->take_nonblocking();
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if (got) {
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uint8_t status = _register_read(MPUREG_INT_STATUS);
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_spi_sem->give();
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return (status & BIT_RAW_RDY_INT) != 0;
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} else {
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return false;
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}
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} else {
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bool got = _spi_sem->take(10);
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if (got) {
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uint8_t status = _register_read(MPUREG_INT_STATUS);
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_spi_sem->give();
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return (status & BIT_RAW_RDY_INT) != 0;
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} else {
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hal.scheduler->panic(
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PSTR("PANIC: AP_InertialSensor_MPU6000::_data_ready failed to "
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"take SPI semaphore synchronously"));
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}
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}
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return false;
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}
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|
|
|
/**
|
|
* Timer process to poll for new data from the MPU6000.
|
|
*/
|
|
void AP_InertialSensor_MPU6000::_poll_data(uint32_t now)
|
|
{
|
|
if (_data_ready()) {
|
|
if (hal.scheduler->in_timerprocess()) {
|
|
_read_data_from_timerprocess();
|
|
} else {
|
|
/* Synchronous read - take semaphore */
|
|
bool got = _spi_sem->take(10);
|
|
if (got) {
|
|
_last_sample_time_micros = hal.scheduler->micros();
|
|
_read_data_transaction();
|
|
_spi_sem->give();
|
|
} else {
|
|
hal.scheduler->panic(
|
|
PSTR("PANIC: AP_InertialSensor_MPU6000::_poll_data "
|
|
"failed to take SPI semaphore synchronously"));
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
* this is called from the _poll_data, in the timer process context.
|
|
* when the MPU6000 has new sensor data available and add it to _sum[] to
|
|
* ensure this is the case, these other devices must perform their spi reads
|
|
* after being called by the AP_TimerProcess.
|
|
*/
|
|
void AP_InertialSensor_MPU6000::_read_data_from_timerprocess()
|
|
{
|
|
static uint8_t semfail_ctr = 0;
|
|
bool got = _spi_sem->take_nonblocking();
|
|
if (!got) {
|
|
semfail_ctr++;
|
|
if (semfail_ctr > 100) {
|
|
hal.scheduler->panic(PSTR("PANIC: failed to take SPI semaphore "
|
|
"100 times in AP_InertialSensor_MPU6000::"
|
|
"_read_data_from_timerprocess"));
|
|
}
|
|
return;
|
|
} else {
|
|
semfail_ctr = 0;
|
|
}
|
|
|
|
_last_sample_time_micros = hal.scheduler->micros();
|
|
_read_data_transaction();
|
|
|
|
_spi_sem->give();
|
|
}
|
|
|
|
void AP_InertialSensor_MPU6000::_read_data_transaction() {
|
|
/* one resister address followed by seven 2-byte registers */
|
|
uint8_t tx[15];
|
|
uint8_t rx[15];
|
|
memset(tx,0,15);
|
|
tx[0] = MPUREG_ACCEL_XOUT_H | 0x80;
|
|
_spi->transaction(tx, rx, 15);
|
|
|
|
for (uint8_t i = 0; i < 7; i++) {
|
|
_sum[i] += (int16_t)(((uint16_t)rx[2*i+1] << 8) | rx[2*i+2]);
|
|
}
|
|
|
|
_count++;
|
|
if (_count == 0) {
|
|
// rollover - v unlikely
|
|
memset((void*)_sum, 0, sizeof(_sum));
|
|
}
|
|
|
|
// should also read FIFO data if enabled
|
|
if( _dmp_initialised ) {
|
|
if( FIFO_ready() ) {
|
|
FIFO_getPacket();
|
|
}
|
|
}
|
|
}
|
|
|
|
uint8_t AP_InertialSensor_MPU6000::_register_read( uint8_t reg )
|
|
{
|
|
uint8_t addr = reg | 0x80; // Set most significant bit
|
|
|
|
uint8_t tx[2];
|
|
uint8_t rx[2];
|
|
|
|
tx[0] = addr;
|
|
tx[1] = 0;
|
|
_spi->transaction(tx, rx, 2);
|
|
|
|
return rx[1];
|
|
}
|
|
|
|
void AP_InertialSensor_MPU6000::register_write(uint8_t reg, uint8_t val)
|
|
{
|
|
uint8_t tx[2];
|
|
uint8_t rx[2];
|
|
|
|
tx[0] = reg;
|
|
tx[1] = val;
|
|
_spi->transaction(tx, rx, 2);
|
|
}
|
|
|
|
bool AP_InertialSensor_MPU6000::hardware_init(Sample_rate sample_rate)
|
|
{
|
|
if (!_spi_sem->take(100)) {
|
|
hal.scheduler->panic(PSTR("MPU6000: Unable to get semaphore"));
|
|
}
|
|
|
|
// Chip reset
|
|
uint8_t tries;
|
|
for (tries = 0; tries<5; tries++) {
|
|
register_write(MPUREG_PWR_MGMT_1, BIT_PWR_MGMT_1_DEVICE_RESET);
|
|
hal.scheduler->delay(100);
|
|
|
|
// Wake up device and select GyroZ clock. Note that the
|
|
// MPU6000 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;
|
|
}
|
|
}
|
|
if (tries == 5) {
|
|
hal.console->println_P(PSTR("Failed to boot MPU6000 5 times"));
|
|
_spi_sem->give();
|
|
return false;
|
|
}
|
|
|
|
register_write(MPUREG_PWR_MGMT_2, 0x00); // only used for wake-up in accelerometer only low power mode
|
|
hal.scheduler->delay(1);
|
|
|
|
// Disable I2C bus (recommended on datasheet)
|
|
register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_I2C_IF_DIS);
|
|
hal.scheduler->delay(1);
|
|
|
|
uint8_t rate, filter, default_filter;
|
|
|
|
// sample rate and filtering
|
|
// to minimise the effects of aliasing we choose a filter
|
|
// that is less than half of the sample rate
|
|
switch (sample_rate) {
|
|
case RATE_50HZ:
|
|
rate = MPUREG_SMPLRT_50HZ;
|
|
default_filter = BITS_DLPF_CFG_20HZ;
|
|
_msec_per_sample = 20;
|
|
break;
|
|
case RATE_100HZ:
|
|
rate = MPUREG_SMPLRT_100HZ;
|
|
default_filter = BITS_DLPF_CFG_42HZ;
|
|
_msec_per_sample = 10;
|
|
break;
|
|
case RATE_200HZ:
|
|
default:
|
|
rate = MPUREG_SMPLRT_200HZ;
|
|
default_filter = BITS_DLPF_CFG_42HZ;
|
|
_msec_per_sample = 5;
|
|
break;
|
|
}
|
|
|
|
// choose filtering frequency
|
|
switch (_mpu6000_filter) {
|
|
case 5:
|
|
filter = BITS_DLPF_CFG_5HZ;
|
|
break;
|
|
case 10:
|
|
filter = BITS_DLPF_CFG_10HZ;
|
|
break;
|
|
case 20:
|
|
filter = BITS_DLPF_CFG_20HZ;
|
|
break;
|
|
case 42:
|
|
filter = BITS_DLPF_CFG_42HZ;
|
|
break;
|
|
case 98:
|
|
filter = BITS_DLPF_CFG_98HZ;
|
|
break;
|
|
case 0:
|
|
default:
|
|
// the user hasn't specified a specific frequency,
|
|
// use the default value for the given sample rate
|
|
filter = default_filter;
|
|
}
|
|
|
|
// set sample rate
|
|
register_write(MPUREG_SMPLRT_DIV, rate);
|
|
hal.scheduler->delay(1);
|
|
|
|
// set low pass filter
|
|
register_write(MPUREG_CONFIG, filter);
|
|
hal.scheduler->delay(1);
|
|
|
|
register_write(MPUREG_GYRO_CONFIG, BITS_GYRO_FS_2000DPS); // Gyro scale 2000º/s
|
|
hal.scheduler->delay(1);
|
|
|
|
// read the product ID rev c has 1/2 the sensitivity of rev d
|
|
_mpu6000_product_id = _register_read(MPUREG_PRODUCT_ID);
|
|
//Serial.printf("Product_ID= 0x%x\n", (unsigned) _mpu6000_product_id);
|
|
|
|
if ((_mpu6000_product_id == MPU6000ES_REV_C4) || (_mpu6000_product_id == MPU6000ES_REV_C5) ||
|
|
(_mpu6000_product_id == MPU6000_REV_C4) || (_mpu6000_product_id == MPU6000_REV_C5)) {
|
|
// Accel scale 8g (4096 LSB/g)
|
|
// Rev C has different scaling than rev D
|
|
register_write(MPUREG_ACCEL_CONFIG,1<<3);
|
|
} else {
|
|
// Accel scale 8g (4096 LSB/g)
|
|
register_write(MPUREG_ACCEL_CONFIG,2<<3);
|
|
}
|
|
hal.scheduler->delay(1);
|
|
|
|
// configure interrupt to fire when new data arrives
|
|
register_write(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN);
|
|
hal.scheduler->delay(1);
|
|
|
|
// 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);
|
|
hal.scheduler->delay(1);
|
|
|
|
_spi_sem->give();
|
|
|
|
return true;
|
|
}
|
|
|
|
float AP_InertialSensor_MPU6000::_temp_to_celsius ( uint16_t regval )
|
|
{
|
|
/* TODO */
|
|
return 20.0;
|
|
}
|
|
|
|
// return the MPU6k gyro drift rate in radian/s/s
|
|
// note that this is much better than the oilpan gyros
|
|
float AP_InertialSensor_MPU6000::get_gyro_drift_rate(void)
|
|
{
|
|
// 0.5 degrees/second/minute
|
|
return ToRad(0.5/60);
|
|
}
|
|
|
|
// get number of samples read from the sensors
|
|
uint16_t AP_InertialSensor_MPU6000::num_samples_available()
|
|
{
|
|
_poll_data(0);
|
|
return _count;
|
|
}
|
|
|
|
|
|
#if MPU6000_DEBUG
|
|
// dump all config registers - used for debug
|
|
void AP_InertialSensor_MPU6000::_dump_registers(void)
|
|
{
|
|
for (uint8_t reg=25; reg<=108; reg++) {
|
|
uint8_t v = _register_read(reg);
|
|
hal.console->printf_P(PSTR("%02x:%02x "), (unsigned)reg, (unsigned)v);
|
|
if ((reg - 24) % 16 == 0) {
|
|
hal.console->println();
|
|
}
|
|
}
|
|
hal.console->println();
|
|
}
|
|
#endif
|
|
|
|
|
|
// get_delta_time returns the time period in seconds overwhich the sensor data was collected
|
|
float AP_InertialSensor_MPU6000::get_delta_time()
|
|
{
|
|
return _msec_per_sample * 0.001 * _num_samples;
|
|
}
|
|
|
|
// Update gyro offsets with new values. Offsets provided in as scaled deg/sec values
|
|
void AP_InertialSensor_MPU6000::push_gyro_offsets_to_dmp()
|
|
{
|
|
Vector3f gyro_offsets = _gyro_offset.get();
|
|
|
|
int16_t offsetX = gyro_offsets.x / _gyro_scale * _gyro_data_sign[0];
|
|
int16_t offsetY = gyro_offsets.y / _gyro_scale * _gyro_data_sign[1];
|
|
int16_t offsetZ = gyro_offsets.z / _gyro_scale * _gyro_data_sign[2];
|
|
|
|
set_dmp_gyro_offsets(offsetX, offsetY, offsetZ);
|
|
|
|
// remove ins level offsets to avoid double counting
|
|
gyro_offsets.x = 0;
|
|
gyro_offsets.y = 0;
|
|
gyro_offsets.z = 0;
|
|
_gyro_offset = gyro_offsets;
|
|
}
|
|
|
|
// Update gyro offsets with new values. New offset values are substracted to actual offset values.
|
|
// offset values in gyro LSB units (as read from registers)
|
|
void AP_InertialSensor_MPU6000::set_dmp_gyro_offsets(int16_t offsetX, int16_t offsetY, int16_t offsetZ)
|
|
{
|
|
int16_t aux_int;
|
|
|
|
if (offsetX != 0) {
|
|
// Read actual value
|
|
aux_int = (_register_read(MPUREG_XG_OFFS_USRH)<<8) | _register_read(MPUREG_XG_OFFS_USRL);
|
|
aux_int -= offsetX<<1; // Adjust to internal units
|
|
// Write to MPU registers
|
|
register_write(MPUREG_XG_OFFS_USRH, (aux_int>>8)&0xFF);
|
|
register_write(MPUREG_XG_OFFS_USRL, aux_int&0xFF);
|
|
}
|
|
if (offsetY != 0) {
|
|
aux_int = (_register_read(MPUREG_YG_OFFS_USRH)<<8) | _register_read(MPUREG_YG_OFFS_USRL);
|
|
aux_int -= offsetY<<1; // Adjust to internal units
|
|
// Write to MPU registers
|
|
register_write(MPUREG_YG_OFFS_USRH, (aux_int>>8)&0xFF);
|
|
register_write(MPUREG_YG_OFFS_USRL, aux_int&0xFF);
|
|
}
|
|
if (offsetZ != 0) {
|
|
aux_int = (_register_read(MPUREG_ZG_OFFS_USRH)<<8) | _register_read(MPUREG_ZG_OFFS_USRL);
|
|
aux_int -= offsetZ<<1; // Adjust to internal units
|
|
// Write to MPU registers
|
|
register_write(MPUREG_ZG_OFFS_USRH, (aux_int>>8)&0xFF);
|
|
register_write(MPUREG_ZG_OFFS_USRL, aux_int&0xFF);
|
|
}
|
|
}
|
|
|
|
// Update accel offsets with new values. Offsets provided in as scaled values (1G)
|
|
void AP_InertialSensor_MPU6000::push_accel_offsets_to_dmp()
|
|
{
|
|
Vector3f accel_offset = _accel_offset.get();
|
|
Vector3f accel_scale = _accel_scale.get();
|
|
int16_t offsetX = accel_offset.x / (accel_scale.x * _accel_data_sign[0] * MPU6000_ACCEL_SCALE_1G);
|
|
int16_t offsetY = accel_offset.y / (accel_scale.y * _accel_data_sign[1] * MPU6000_ACCEL_SCALE_1G);
|
|
int16_t offsetZ = accel_offset.z / (accel_scale.z * _accel_data_sign[2] * MPU6000_ACCEL_SCALE_1G);
|
|
|
|
// strangely x and y are reversed
|
|
set_dmp_accel_offsets(offsetY, offsetX, offsetZ);
|
|
}
|
|
|
|
// set_accel_offsets - adds an offset to acceleromter readings
|
|
// This is useful for dynamic acceleration correction (for example centripetal force correction)
|
|
// and for the initial offset calibration
|
|
// Input, accel offsets for X,Y and Z in LSB units (as read from raw values)
|
|
void AP_InertialSensor_MPU6000::set_dmp_accel_offsets(int16_t offsetX, int16_t offsetY, int16_t offsetZ)
|
|
{
|
|
int aux_int;
|
|
uint8_t regs[2];
|
|
|
|
// Write accel offsets to DMP memory...
|
|
// TO-DO: why don't we write to main accel offset registries? i.e. MPUREG_XA_OFFS_H
|
|
aux_int = offsetX>>1; // Transform to internal units
|
|
regs[0]=(aux_int>>8)&0xFF;
|
|
regs[1]=aux_int&0xFF;
|
|
dmp_register_write(0x01,0x08,2,regs); // key KEY_D_1_8 Accel X offset
|
|
|
|
aux_int = offsetY>>1;
|
|
regs[0]=(aux_int>>8)&0xFF;
|
|
regs[1]=aux_int&0xFF;
|
|
dmp_register_write(0x01,0x0A,2,regs); // key KEY_D_1_10 Accel Y offset
|
|
|
|
aux_int = offsetZ>>1;
|
|
regs[0]=(aux_int>>8)&0xFF;
|
|
regs[1]=aux_int&0xFF;
|
|
dmp_register_write(0x01,0x02,2,regs); // key KEY_D_1_2 Accel Z offset
|
|
}
|
|
|
|
// dmp_register_write - method to write to dmp's registers
|
|
// the dmp is logically separated from the main mpu6000. To write a block of memory to the DMP's memory you
|
|
// write the "bank" and starting address into two of the main MPU's registers, then write the data one byte
|
|
// at a time into the MPUREG_MEM_R_W register
|
|
void AP_InertialSensor_MPU6000::dmp_register_write(uint8_t bank, uint8_t address, uint8_t num_bytes, uint8_t data[])
|
|
{
|
|
register_write(MPUREG_BANK_SEL,bank);
|
|
register_write(MPUREG_MEM_START_ADDR,address);
|
|
|
|
_spi->cs_assert();
|
|
_spi->transfer(MPUREG_MEM_R_W);
|
|
for (uint8_t i=0; i<num_bytes; i++) {
|
|
_spi->transfer(data[i]);
|
|
}
|
|
_spi->cs_release();
|
|
}
|
|
|
|
// MPU6000 DMP initialization
|
|
// this should be called after hardware_init if you wish to enable the dmp
|
|
void AP_InertialSensor_MPU6000::dmp_init()
|
|
{
|
|
uint8_t regs[4]; // for writing to dmp
|
|
|
|
// ensure we only initialise once
|
|
if( _dmp_initialised ) {
|
|
return;
|
|
}
|
|
|
|
// load initial values into DMP memory
|
|
dmp_load_mem();
|
|
|
|
dmp_set_gyro_calibration();
|
|
dmp_set_accel_calibration();
|
|
dmp_apply_endian_accel();
|
|
dmp_set_mpu_sensors();
|
|
dmp_set_bias_none();
|
|
dmp_set_fifo_interrupt();
|
|
dmp_send_quaternion(); // By default we only send the quaternion to the FIFO (18 bytes packet size)
|
|
dmp_set_fifo_rate(MPU6000_200HZ); // 200Hz DMP output rate
|
|
|
|
register_write(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN | BIT_DMP_INT_EN ); // configure interrupts to fire only when new data arrives from DMP (in fifo buffer)
|
|
|
|
// Randy: no idea what this does
|
|
register_write(MPUREG_DMP_CFG_1, 0x03); //MPUREG_DMP_CFG_1, 0x03
|
|
register_write(MPUREG_DMP_CFG_2, 0x00); //MPUREG_DMP_CFG_2, 0x00
|
|
|
|
//inv_state_change_fifo
|
|
regs[0] = 0xFF;
|
|
regs[1] = 0xFF;
|
|
dmp_register_write(0x01, 0xB2, 0x02, regs); // D_1_178
|
|
|
|
// ?? FIFO ??
|
|
regs[0] = 0x09;
|
|
regs[1] = 0x23;
|
|
regs[2] = 0xA1;
|
|
regs[3] = 0x35;
|
|
dmp_register_write(0x01, 0x90, 0x04, regs); // D_1_144
|
|
|
|
//register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_FIFO_RESET); //MPUREG_USER_CTRL, BIT_FIFO_RST
|
|
FIFO_reset();
|
|
|
|
FIFO_ready();
|
|
|
|
//register_write(MPUREG_USER_CTRL, 0x00); // MPUREG_USER_CTRL, 0. TO-DO: is all this setting of USER_CTRL really necessary?
|
|
|
|
register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_FIFO_RESET); //MPUREG_USER_CTRL, BIT_FIFO_RST. TO-DO: replace this call with FIFO_reset()?
|
|
register_write(MPUREG_USER_CTRL, 0x00); // MPUREG_USER_CTRL: 0
|
|
register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_DMP_EN | BIT_USER_CTRL_FIFO_EN | BIT_USER_CTRL_DMP_RESET);
|
|
|
|
// Set the gain of the accel in the sensor fusion
|
|
dmp_set_sensor_fusion_accel_gain(DEFAULT_ACCEL_FUSION_GAIN); // default value
|
|
|
|
// dmp initialisation complete
|
|
_dmp_initialised = true;
|
|
|
|
}
|
|
|
|
// dmp_reset - reset dmp (required for changes in gains or offsets to take effect)
|
|
void AP_InertialSensor_MPU6000::dmp_reset()
|
|
{
|
|
//uint8_t tmp = register_read(MPUREG_USER_CTRL);
|
|
//tmp |= BIT_USER_CTRL_DMP_RESET;
|
|
//register_write(MPUREG_USER_CTRL,tmp);
|
|
register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_FIFO_RESET); //MPUREG_USER_CTRL, BIT_FIFO_RST. TO-DO: replace this call with FIFO_reset()?
|
|
register_write(MPUREG_USER_CTRL, 0x00); // MPUREG_USER_CTRL: 0
|
|
register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_DMP_EN | BIT_USER_CTRL_FIFO_EN | BIT_USER_CTRL_DMP_RESET);
|
|
}
|
|
|
|
// New data packet in FIFO?
|
|
bool AP_InertialSensor_MPU6000::FIFO_ready()
|
|
{
|
|
_fifoCountH = _register_read(MPUREG_FIFO_COUNTH);
|
|
_fifoCountL = _register_read(MPUREG_FIFO_COUNTL);
|
|
if(_fifoCountL == FIFO_PACKET_SIZE) {
|
|
return 1;
|
|
}
|
|
else{
|
|
//We should not reach this point or maybe we have more than one packet (we should manage this!)
|
|
FIFO_reset();
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
// FIFO_reset - reset/clear FIFO buffer used to capture attitude information from DMP
|
|
void AP_InertialSensor_MPU6000::FIFO_reset()
|
|
{
|
|
uint8_t temp;
|
|
temp = _register_read(MPUREG_USER_CTRL);
|
|
temp = temp | BIT_USER_CTRL_FIFO_RESET; // FIFO RESET BIT
|
|
register_write(MPUREG_USER_CTRL, temp);
|
|
}
|
|
|
|
// FIFO_getPacket - read an attitude packet from FIFO buffer
|
|
// TO-DO: interpret results instead of just dumping into a buffer
|
|
void AP_InertialSensor_MPU6000::FIFO_getPacket()
|
|
{
|
|
uint8_t i;
|
|
int16_t q_data[4];
|
|
uint8_t addr = MPUREG_FIFO_R_W | 0x80; // Set most significant bit to indicate a read
|
|
uint8_t received_packet[DMP_FIFO_BUFFER_SIZE]; // FIFO packet buffer
|
|
_spi->cs_assert();
|
|
_spi->transfer(addr); // send address we want to read from
|
|
for(i = 0; i < _fifoCountL; i++) {
|
|
received_packet[i] = _spi->transfer(0); // request value
|
|
}
|
|
_spi->cs_release();
|
|
|
|
// we are using 16 bits resolution
|
|
q_data[0] = (int16_t) ((((uint16_t) received_packet[0]) << 8) + ((uint16_t) received_packet[1]));
|
|
q_data[1] = (int16_t) ((((uint16_t) received_packet[4]) << 8) + ((uint16_t) received_packet[5]));
|
|
q_data[2] = (int16_t) ((((uint16_t) received_packet[8]) << 8) + ((uint16_t) received_packet[9]));
|
|
q_data[3] = (int16_t) ((((uint16_t) received_packet[12]) << 8) + ((uint16_t) received_packet[13]));
|
|
|
|
quaternion.q1 = ((float)q_data[0]) / 16384.0f; // convert from fixed point to float
|
|
quaternion.q2 = ((float)q_data[2]) / 16384.0f; // convert from fixed point to float
|
|
quaternion.q3 = ((float)q_data[1]) / 16384.0f; // convert from fixed point to float
|
|
quaternion.q4 = ((float)-q_data[3]) / 16384.0f; // convert from fixed point to float
|
|
}
|
|
|
|
// dmp_set_gyro_calibration - apply default gyro calibration FS=2000dps and default orientation
|
|
void AP_InertialSensor_MPU6000::dmp_set_gyro_calibration()
|
|
{
|
|
uint8_t regs[4];
|
|
regs[0]=0x4C;
|
|
regs[1]=0xCD;
|
|
regs[2]=0x6C;
|
|
dmp_register_write(0x03, 0x7B, 0x03, regs); //FCFG_1 inv_set_gyro_calibration
|
|
regs[0]=0x36;
|
|
regs[1]=0x56;
|
|
regs[2]=0x76;
|
|
dmp_register_write(0x03, 0xAB, 0x03, regs); //FCFG_3 inv_set_gyro_calibration
|
|
regs[0]=0x02;
|
|
regs[1]=0xCB;
|
|
regs[2]=0x47;
|
|
regs[3]=0xA2;
|
|
dmp_register_write(0x00, 0x68, 0x04, regs); //D_0_104 inv_set_gyro_calibration
|
|
regs[0]=0x00;
|
|
regs[1]=0x05;
|
|
regs[2]=0x8B;
|
|
regs[3]=0xC1;
|
|
dmp_register_write(0x02, 0x18, 0x04, regs); //D_0_24 inv_set_gyro_calibration
|
|
}
|
|
|
|
// dmp_set_accel_calibration - apply default accel calibration scale=8g and default orientation
|
|
void AP_InertialSensor_MPU6000::dmp_set_accel_calibration()
|
|
{
|
|
uint8_t regs[6];
|
|
regs[0]=0x00;
|
|
regs[1]=0x00;
|
|
regs[2]=0x00;
|
|
regs[3]=0x00;
|
|
dmp_register_write(0x01, 0x0C, 0x04, regs); //D_1_152 inv_set_accel_calibration
|
|
regs[0]=0x0C;
|
|
regs[1]=0xC9;
|
|
regs[2]=0x2C;
|
|
regs[3]=0x97;
|
|
regs[4]=0x97;
|
|
regs[5]=0x97;
|
|
dmp_register_write(0x03, 0x7F, 0x06, regs); //FCFG_2 inv_set_accel_calibration
|
|
regs[0]=0x26;
|
|
regs[1]=0x46;
|
|
regs[2]=0x66;
|
|
dmp_register_write(0x03, 0x89, 0x03, regs); //FCFG_7 inv_set_accel_calibration
|
|
// accel range, 0x20,0x00 => 2g, 0x10,0x00=>4g regs= (1073741824/accel_scale*65536)
|
|
//regs[0]=0x20; // 2g
|
|
regs[0]=0x08; // 8g
|
|
regs[1]=0x00;
|
|
dmp_register_write(0x00, 0x6C, 0x02, regs); //D_0_108 inv_set_accel_calibration
|
|
}
|
|
|
|
// dmp_apply_endian_accel - set byte order of accelerometer values?
|
|
void AP_InertialSensor_MPU6000::dmp_apply_endian_accel()
|
|
{
|
|
uint8_t regs[4];
|
|
regs[0]=0x00;
|
|
regs[1]=0x00;
|
|
regs[2]=0x40;
|
|
regs[3]=0x00;
|
|
dmp_register_write(0x01, 0xEC, 0x04, regs); //D_1_236 inv_apply_endian_accel
|
|
}
|
|
|
|
// dmp_set_mpu_sensors - to configure for SIX_AXIS output
|
|
void AP_InertialSensor_MPU6000::dmp_set_mpu_sensors()
|
|
{
|
|
uint8_t regs[6];
|
|
regs[0]=0x0C;
|
|
regs[1]=0xC9;
|
|
regs[2]=0x2C;
|
|
regs[3]=0x97;
|
|
regs[4]=0x97;
|
|
regs[5]=0x97;
|
|
dmp_register_write(0x03, 0x7F, 0x06, regs); //FCFG_2 inv_set_mpu_sensors(INV_SIX_AXIS_GYRO_ACCEL);
|
|
}
|
|
|
|
// dmp_set_bias_from_no_motion - turn on bias from no motion
|
|
void AP_InertialSensor_MPU6000::dmp_set_bias_from_no_motion()
|
|
{
|
|
uint8_t regs[4];
|
|
regs[0]=0x0D;
|
|
regs[1]=0x35;
|
|
regs[2]=0x5D;
|
|
dmp_register_write(0x04, 0x02, 0x03, regs); //CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
|
|
regs[0]=0x87;
|
|
regs[1]=0x2D;
|
|
regs[2]=0x35;
|
|
regs[3]=0x3D;
|
|
dmp_register_write(0x04, 0x09, 0x04, regs); //FCFG_5 inv_set_bias_update( INV_BIAS_FROM_NO_MOTION );
|
|
}
|
|
|
|
// dmp_set_bias_none - turn off internal bias correction (we will use this and we handle the gyro bias correction externally)
|
|
void AP_InertialSensor_MPU6000::dmp_set_bias_none()
|
|
{
|
|
uint8_t regs[4];
|
|
regs[0]=0x98;
|
|
regs[1]=0x98;
|
|
regs[2]=0x98;
|
|
dmp_register_write(0x04, 0x02, 0x03, regs); //CFG_MOTION_BIAS inv_turn_off_bias_from_no_motion
|
|
regs[0]=0x87;
|
|
regs[1]=0x2D;
|
|
regs[2]=0x35;
|
|
regs[3]=0x3D;
|
|
dmp_register_write(0x04, 0x09, 0x04, regs); //FCFG_5 inv_set_bias_update( INV_BIAS_FROM_NO_MOTION );
|
|
}
|
|
|
|
// dmp_set_fifo_interrupt
|
|
void AP_InertialSensor_MPU6000::dmp_set_fifo_interrupt()
|
|
{
|
|
uint8_t regs[1];
|
|
regs[0]=0xFE;
|
|
dmp_register_write(0x07, 0x86, 0x01, regs); //CFG_6 inv_set_fifo_interupt
|
|
}
|
|
|
|
// dmp_send_quaternion - send quaternion data to FIFO
|
|
void AP_InertialSensor_MPU6000::dmp_send_quaternion()
|
|
{
|
|
uint8_t regs[5];
|
|
regs[0]=0xF1;
|
|
regs[1]=0x20;
|
|
regs[2]=0x28;
|
|
regs[3]=0x30;
|
|
regs[4]=0x38;
|
|
dmp_register_write(0x07, 0x41, 0x05, regs); //CFG_8 inv_send_quaternion
|
|
regs[0]=0x30;
|
|
dmp_register_write(0x07, 0x7E, 0x01, regs); //CFG_16 inv_set_footer
|
|
}
|
|
|
|
// dmp_send_gyro - send gyro data to FIFO
|
|
void AP_InertialSensor_MPU6000::dmp_send_gyro()
|
|
{
|
|
uint8_t regs[4];
|
|
regs[0]=0xF1;
|
|
regs[1]=0x28;
|
|
regs[2]=0x30;
|
|
regs[3]=0x38;
|
|
dmp_register_write(0x07, 0x47, 0x04, regs); //CFG_9 inv_send_gyro
|
|
}
|
|
|
|
// dmp_send_accel - send accel data to FIFO
|
|
void AP_InertialSensor_MPU6000::dmp_send_accel()
|
|
{
|
|
uint8_t regs[54];
|
|
regs[0]=0xF1;
|
|
regs[1]=0x28;
|
|
regs[2]=0x30;
|
|
regs[3]=0x38;
|
|
dmp_register_write(0x07, 0x6C, 0x04, regs); //CFG_12 inv_send_accel
|
|
}
|
|
|
|
// This functions defines the rate at wich attitude data is send to FIFO
|
|
// Rate: 0 => SAMPLE_RATE(ex:200Hz), 1=> SAMPLE_RATE/2 (ex:100Hz), 2=> SAMPLE_RATE/3 (ex:66Hz)
|
|
// rate constant definitions in MPU6000.h
|
|
void AP_InertialSensor_MPU6000::dmp_set_fifo_rate(uint8_t rate)
|
|
{
|
|
uint8_t regs[2];
|
|
regs[0]=0x00;
|
|
regs[1]=rate;
|
|
dmp_register_write(0x02, 0x16, 0x02, regs); //D_0_22 inv_set_fifo_rate
|
|
}
|
|
|
|
// This function defines the weight of the accel on the sensor fusion
|
|
// default value is 0x80
|
|
// The official invensense name is inv_key_0_96 (??)
|
|
void AP_InertialSensor_MPU6000::dmp_set_sensor_fusion_accel_gain(uint8_t gain)
|
|
{
|
|
//inv_key_0_96
|
|
register_write(MPUREG_BANK_SEL,0x00);
|
|
register_write(MPUREG_MEM_START_ADDR, 0x60);
|
|
_spi->cs_assert();
|
|
_spi->transfer(MPUREG_MEM_R_W);
|
|
_spi->transfer(0x00);
|
|
_spi->transfer(gain); // Original : 0x80 To test: 0x40, 0x20 (too less)
|
|
_spi->transfer(0x00);
|
|
_spi->transfer(0x00);
|
|
_spi->cs_release();
|
|
}
|
|
|
|
// Load initial memory values into DMP memory banks
|
|
void AP_InertialSensor_MPU6000::dmp_load_mem()
|
|
{
|
|
|
|
for(int i = 0; i < 7; i++) {
|
|
register_write(MPUREG_BANK_SEL,i); //MPUREG_BANK_SEL
|
|
for(uint8_t j = 0; j < 16; j++) {
|
|
uint8_t start_addy = j * 0x10;
|
|
register_write(MPUREG_MEM_START_ADDR,start_addy);
|
|
_spi->cs_assert();
|
|
_spi->transfer(MPUREG_MEM_R_W);
|
|
for(int k = 0; k < 16; k++) {
|
|
uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[i][j][k]));
|
|
_spi->transfer((uint8_t) byteToSend);
|
|
}
|
|
_spi->cs_release();
|
|
}
|
|
}
|
|
|
|
register_write(MPUREG_BANK_SEL,7); //MPUREG_BANK_SEL
|
|
for(uint8_t j = 0; j < 8; j++) {
|
|
uint8_t start_addy = j * 0x10;
|
|
register_write(MPUREG_MEM_START_ADDR,start_addy);
|
|
_spi->cs_assert();
|
|
_spi->transfer(MPUREG_MEM_R_W);
|
|
for(int k = 0; k < 16; k++) {
|
|
uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[7][j][k]));
|
|
_spi->transfer((uint8_t) byteToSend);
|
|
}
|
|
_spi->cs_release();
|
|
}
|
|
|
|
register_write(MPUREG_MEM_START_ADDR,0x80);
|
|
_spi->cs_assert();
|
|
_spi->transfer(MPUREG_MEM_R_W);
|
|
for(int k = 0; k < 9; k++) {
|
|
uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[7][8][k]));
|
|
_spi->transfer((uint8_t) byteToSend);
|
|
}
|
|
_spi->cs_release();
|
|
}
|
|
|
|
// ========= DMP MEMORY ================================
|
|
|
|
const uint8_t dmpMem[8][16][16] PROGMEM = {
|
|
{
|
|
{
|
|
0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00
|
|
}
|
|
,
|
|
{
|
|
0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01
|
|
}
|
|
,
|
|
{
|
|
0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
|
|
}
|
|
,
|
|
{
|
|
0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00
|
|
}
|
|
,
|
|
{
|
|
0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01
|
|
}
|
|
,
|
|
{
|
|
0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
|
|
}
|
|
,
|
|
{
|
|
0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00
|
|
}
|
|
,
|
|
{
|
|
0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00
|
|
}
|
|
,
|
|
{
|
|
0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82
|
|
}
|
|
,
|
|
{
|
|
0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00
|
|
}
|
|
,
|
|
{
|
|
0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00
|
|
}
|
|
,
|
|
{
|
|
0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0
|
|
}
|
|
,
|
|
{
|
|
0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
|
|
}
|
|
,
|
|
{
|
|
0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC
|
|
}
|
|
,
|
|
{
|
|
0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4
|
|
}
|
|
,
|
|
{
|
|
0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10
|
|
}
|
|
}
|
|
,
|
|
{
|
|
{
|
|
0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
|
|
}
|
|
,
|
|
{
|
|
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00
|
|
}
|
|
,
|
|
{
|
|
0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8
|
|
}
|
|
,
|
|
{
|
|
0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7
|
|
}
|
|
,
|
|
{
|
|
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C
|
|
}
|
|
,
|
|
{
|
|
0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00
|
|
}
|
|
,
|
|
{
|
|
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14
|
|
}
|
|
,
|
|
{
|
|
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
|
|
}
|
|
,
|
|
{
|
|
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
|
|
}
|
|
,
|
|
{
|
|
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
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}
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,
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{
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0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C
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}
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,
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{
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0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00
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}
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,
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{
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30
|
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}
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,
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{
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
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}
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,
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{
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
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}
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,
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{
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0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0
|
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}
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}
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,
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{
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{
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0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
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}
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,
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{
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0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00
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}
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,
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{
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0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00
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}
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,
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{
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
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}
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,
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{
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0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
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}
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,
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{
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0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
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}
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,
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{
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0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
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}
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,
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{
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
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}
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,
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{
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
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}
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,
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{
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0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
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}
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,
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{
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
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}
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,
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{
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00
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}
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,
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{
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0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
|
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}
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,
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{
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
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}
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,
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{
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
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}
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,
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{
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
|
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}
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}
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,
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{
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{
|
|
0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F
|
|
}
|
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,
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{
|
|
0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2
|
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}
|
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,
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{
|
|
0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF
|
|
}
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,
|
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{
|
|
0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C
|
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}
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,
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{
|
|
0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1
|
|
}
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,
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{
|
|
0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01
|
|
}
|
|
,
|
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{
|
|
0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80
|
|
}
|
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,
|
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{
|
|
0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C
|
|
}
|
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,
|
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{
|
|
0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80
|
|
}
|
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,
|
|
{
|
|
0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E
|
|
}
|
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,
|
|
{
|
|
0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9
|
|
}
|
|
,
|
|
{
|
|
0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24
|
|
}
|
|
,
|
|
{
|
|
0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0
|
|
}
|
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,
|
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{
|
|
0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86
|
|
}
|
|
,
|
|
{
|
|
0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1
|
|
}
|
|
,
|
|
{
|
|
0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86
|
|
}
|
|
}
|
|
,
|
|
{
|
|
{
|
|
0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA
|
|
}
|
|
,
|
|
{
|
|
0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C
|
|
}
|
|
,
|
|
{
|
|
0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8
|
|
}
|
|
,
|
|
{
|
|
0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3
|
|
}
|
|
,
|
|
{
|
|
0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84
|
|
}
|
|
,
|
|
{
|
|
0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5
|
|
}
|
|
,
|
|
{
|
|
0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3
|
|
}
|
|
,
|
|
{
|
|
0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1
|
|
}
|
|
,
|
|
{
|
|
0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5
|
|
}
|
|
,
|
|
{
|
|
0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D
|
|
}
|
|
,
|
|
{
|
|
0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9
|
|
}
|
|
,
|
|
{
|
|
0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D
|
|
}
|
|
,
|
|
{
|
|
0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9
|
|
}
|
|
,
|
|
{
|
|
0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A
|
|
}
|
|
,
|
|
{
|
|
0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8
|
|
}
|
|
,
|
|
{
|
|
0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87
|
|
}
|
|
}
|
|
,
|
|
{
|
|
{
|
|
0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8
|
|
}
|
|
,
|
|
{
|
|
0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68
|
|
}
|
|
,
|
|
{
|
|
0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D
|
|
}
|
|
,
|
|
{
|
|
0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94
|
|
}
|
|
,
|
|
{
|
|
0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA
|
|
}
|
|
,
|
|
{
|
|
0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56
|
|
}
|
|
,
|
|
{
|
|
0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9
|
|
}
|
|
,
|
|
{
|
|
0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA
|
|
}
|
|
,
|
|
{
|
|
0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A
|
|
}
|
|
,
|
|
{
|
|
0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60
|
|
}
|
|
,
|
|
{
|
|
0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97
|
|
}
|
|
,
|
|
{
|
|
0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04
|
|
}
|
|
,
|
|
{
|
|
0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78
|
|
}
|
|
,
|
|
{
|
|
0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79
|
|
}
|
|
,
|
|
{
|
|
0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68
|
|
}
|
|
,
|
|
{
|
|
0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68
|
|
}
|
|
}
|
|
,
|
|
{
|
|
{
|
|
0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04
|
|
}
|
|
,
|
|
{
|
|
0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66
|
|
}
|
|
,
|
|
{
|
|
0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31
|
|
}
|
|
,
|
|
{
|
|
0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60
|
|
}
|
|
,
|
|
{
|
|
0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76
|
|
}
|
|
,
|
|
{
|
|
0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56
|
|
}
|
|
,
|
|
{
|
|
0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD
|
|
}
|
|
,
|
|
{
|
|
0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91
|
|
}
|
|
,
|
|
{
|
|
0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8
|
|
}
|
|
,
|
|
{
|
|
0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE
|
|
}
|
|
,
|
|
{
|
|
0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9
|
|
}
|
|
,
|
|
{
|
|
0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD
|
|
}
|
|
,
|
|
{
|
|
0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E
|
|
}
|
|
,
|
|
{
|
|
0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8
|
|
}
|
|
,
|
|
{
|
|
0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89
|
|
}
|
|
,
|
|
{
|
|
0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79
|
|
}
|
|
}
|
|
,
|
|
{
|
|
{
|
|
0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8
|
|
}
|
|
,
|
|
{
|
|
0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA
|
|
}
|
|
,
|
|
{
|
|
0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB
|
|
}
|
|
,
|
|
{
|
|
0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3
|
|
}
|
|
,
|
|
{
|
|
0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3
|
|
}
|
|
,
|
|
{
|
|
0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3
|
|
}
|
|
,
|
|
{
|
|
0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3
|
|
}
|
|
,
|
|
{
|
|
0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC
|
|
}
|
|
,
|
|
{
|
|
0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF
|
|
}
|
|
}
|
|
};
|