mirror of https://github.com/ArduPilot/ardupilot
704 lines
28 KiB
C++
704 lines
28 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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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>
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extern const AP_HAL::HAL &hal;
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// MPU9250 accelerometer scaling for 16g range
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#define MPU9250_ACCEL_SCALE_1G (GRAVITY_MSS / 2048.0f)
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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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// MPU9250 registers
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#define MPUREG_XA_OFFS_H 0x77 // X axis accelerometer offset (high byte)
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#define MPUREG_XA_OFFS_L 0x78 // X axis accelerometer offset (low byte)
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#define MPUREG_YA_OFFS_H 0x7A // Y axis accelerometer offset (high byte)
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#define MPUREG_YA_OFFS_L 0x0B // Y axis accelerometer offset (low byte)
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#define MPUREG_ZA_OFFS_H 0x0D // Z axis accelerometer offset (high byte)
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#define MPUREG_ZA_OFFS_L 0x0E // Z axis accelerometer offset (low byte)
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// MPU6000 & MPU9250 registers
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// 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)
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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 BIT_BYPASS_EN 0x02 // connect auxiliary I2C bus to the main I2C bus
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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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#define MPUREG_WHOAMI_MPU9250 0x71
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#define MPUREG_WHOAMI_MPU9255 0x73
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/* bit definitions for MPUREG_MST_CTRL */
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#define MPUREG_I2C_MST_CTRL 0x24
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# define I2C_MST_P_NSR 0x10
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# define I2C_SLV0_EN 0x80
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# define I2C_MST_CLOCK_400KHZ 0x0D
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# define I2C_MST_CLOCK_258KHZ 0x08
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#define MPUREG_I2C_SLV4_CTRL 0x34
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#define MPUREG_I2C_MST_DELAY_CTRL 0x67
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# define I2C_SLV0_DLY_EN 0x01
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# define I2C_SLV1_DLY_EN 0x02
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# define I2C_SLV2_DLY_EN 0x04
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# define I2C_SLV3_DLY_EN 0x08
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#define READ_FLAG 0x80
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#define MPUREG_I2C_SLV0_ADDR 0x25
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#define MPUREG_EXT_SENS_DATA_00 0x49
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#define MPUREG_I2C_SLV0_DO 0x63
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// Configuration bits MPU 3000, MPU 6000 and MPU9250
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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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#define DEFAULT_SMPLRT_DIV MPUREG_SMPLRT_1000HZ
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#define DEFAULT_SAMPLE_RATE (1000 / (DEFAULT_SMPLRT_DIV + 1))
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#define MPU9250_SAMPLE_SIZE 14
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#define MPU9250_MAX_FIFO_SAMPLES 3
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#define MAX_DATA_READ (MPU9250_MAX_FIFO_SAMPLES * MPU9250_SAMPLE_SIZE)
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#define int16_val(v, idx) ((int16_t)(((uint16_t)v[2*idx] << 8) | v[2*idx+1]))
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#define uint16_val(v, idx)(((uint16_t)v[2*idx] << 8) | v[2*idx+1])
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/*
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* PS-MPU-9250A-00.pdf, page 8, 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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static const float GYRO_SCALE = 0.0174532f / 16.4f;
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/*
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* PS-MPU-9250A-00.pdf, page 9, 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 MPUXk
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* variants however
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*/
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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)
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
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, _default_rotation(ROTATION_ROLL_180_YAW_270)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
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, _default_rotation(ROTATION_NONE)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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, _default_rotation(ROTATION_YAW_270)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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, _default_rotation(ROTATION_NONE)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
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, _default_rotation(ROTATION_NONE)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
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, _default_rotation(ROTATION_NONE)
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#else
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/* rotate for PXF (and default for other boards) */
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, _default_rotation(ROTATION_ROLL_180_YAW_90)
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#endif
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, _dev(std::move(dev))
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{
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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,
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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()) {
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delete sensor;
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return nullptr;
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}
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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,
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev)
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{
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AP_InertialSensor_MPU9250 *sensor;
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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()) {
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delete sensor;
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return nullptr;
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}
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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();
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bool success = _hardware_init();
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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)) {
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AP_HAL::panic("MPU92500: 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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// only used for wake-up in accelerometer only low power mode
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_register_write(MPUREG_PWR_MGMT_2, 0x00);
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hal.scheduler->delay(1);
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// disable sensor filtering
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_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
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// desired rate
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_register_write(MPUREG_SMPLRT_DIV, DEFAULT_SMPLRT_DIV);
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hal.scheduler->delay(1);
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// Gyro scale 2000º/s
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_register_write(MPUREG_GYRO_CONFIG, BITS_GYRO_FS_2000DPS);
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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
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_register_write(MPUREG_ACCEL_CONFIG,3<<3);
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// configure interrupt to fire when new data arrives
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_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
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// until we clear the interrupt
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uint8_t value = _register_read(MPUREG_INT_PIN_CFG);
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value |= BIT_INT_RD_CLEAR | BIT_LATCH_INT_EN;
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_register_write(MPUREG_INT_PIN_CFG, value);
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// now that we have initialised, we set the bus speed to high
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_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);
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_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(
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FUNCTOR_BIND_MEMBER(&AP_InertialSensor_MPU9250::_poll_data, void));
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}
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/*
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update the accel and gyro vectors
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*/
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bool AP_InertialSensor_MPU9250::update()
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{
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update_gyro(_gyro_instance);
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update_accel(_accel_instance);
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return true;
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}
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AuxiliaryBus *AP_InertialSensor_MPU9250::get_auxiliary_bus()
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{
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if (_auxiliary_bus) {
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return _auxiliary_bus;
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}
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if (_has_auxiliary_bus()) {
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_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);
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return _data_ready(int_status);
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}
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bool AP_InertialSensor_MPU9250::_data_ready(uint8_t int_status)
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{
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return (int_status & BIT_RAW_RDY_INT) != 0;
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}
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/*
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* Timer process to poll for new data from the MPU9250.
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*/
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void AP_InertialSensor_MPU9250::_poll_data()
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{
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if (!_dev->get_semaphore()->take_nonblocking()) {
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return;
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}
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_read_sample();
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_dev->get_semaphore()->give();
|
|
}
|
|
|
|
void AP_InertialSensor_MPU9250::_accumulate(uint8_t *rx)
|
|
{
|
|
Vector3f accel, gyro;
|
|
|
|
accel = Vector3f(int16_val(rx, 1),
|
|
int16_val(rx, 0),
|
|
-int16_val(rx, 2));
|
|
accel *= MPU9250_ACCEL_SCALE_1G;
|
|
accel.rotate(_default_rotation);
|
|
_rotate_and_correct_accel(_accel_instance, accel);
|
|
_notify_new_accel_raw_sample(_accel_instance, accel);
|
|
|
|
gyro = Vector3f(int16_val(rx, 5),
|
|
int16_val(rx, 4),
|
|
-int16_val(rx, 6));
|
|
gyro *= GYRO_SCALE;
|
|
gyro.rotate(_default_rotation);
|
|
_rotate_and_correct_gyro(_gyro_instance, gyro);
|
|
_notify_new_gyro_raw_sample(_gyro_instance, gyro);
|
|
}
|
|
|
|
|
|
/*
|
|
* read from the data registers and update filtered data
|
|
*/
|
|
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);
|
|
}
|
|
|
|
uint8_t AP_InertialSensor_MPU9250::_register_read(uint8_t reg)
|
|
{
|
|
uint8_t val = 0;
|
|
_dev->read_registers(reg, &val, 1);
|
|
return val;
|
|
}
|
|
|
|
void AP_InertialSensor_MPU9250::_register_write(uint8_t reg, uint8_t val)
|
|
{
|
|
_dev->write_register(reg, val);
|
|
}
|
|
|
|
bool AP_InertialSensor_MPU9250::_hardware_init(void)
|
|
{
|
|
if (!_dev->get_semaphore()->take(100)) {
|
|
AP_HAL::panic("MPU9250: Unable to get semaphore");
|
|
}
|
|
|
|
// initially run the bus at low speed
|
|
_dev->set_speed(AP_HAL::Device::SPEED_LOW);
|
|
|
|
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;
|
|
}
|
|
|
|
// 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
|
|
* aulixiliar I2C bus - it will be enabled again if the AuxiliaryBus
|
|
* is used */
|
|
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);
|
|
|
|
/* bus-dependent initialization */
|
|
if (_dev->bus_type == AP_HAL::Device::BUS_TYPE_SPI) {
|
|
/* 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);
|
|
}
|
|
|
|
// 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);
|
|
if (_data_ready()) {
|
|
break;
|
|
}
|
|
|
|
#if MPU9250_DEBUG
|
|
_dump_registers();
|
|
#endif
|
|
}
|
|
if (tries == 5) {
|
|
hal.console->println("Failed to boot MPU9250 5 times");
|
|
goto fail_tries;
|
|
}
|
|
|
|
_dev->set_speed(AP_HAL::Device::SPEED_HIGH);
|
|
_dev->get_semaphore()->give();
|
|
|
|
return true;
|
|
|
|
fail_tries:
|
|
fail_whoami:
|
|
_dev->get_semaphore()->give();
|
|
_dev->set_speed(AP_HAL::Device::SPEED_HIGH);
|
|
return false;
|
|
}
|
|
|
|
#if MPU9250_DEBUG
|
|
// dump all config registers - used for debug
|
|
void AP_InertialSensor_MPU9250::_dump_registers(AP_MPU9250_BusDriver *bus)
|
|
{
|
|
hal.console->println("MPU9250 registers");
|
|
for (uint8_t reg=0; reg<=126; reg++) {
|
|
uint8_t v = _register_read(bus, reg);
|
|
hal.console->printf("%02x:%02x ", (unsigned)reg, (unsigned)v);
|
|
if ((reg - (MPUREG_PRODUCT_ID-1)) % 16 == 0) {
|
|
hal.console->println();
|
|
}
|
|
}
|
|
hal.console->println();
|
|
}
|
|
#endif
|
|
|
|
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)
|
|
{
|
|
auto &backend = AP_InertialSensor_MPU9250::from(_bus.get_backend());
|
|
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);
|
|
if (r < 0) {
|
|
return r;
|
|
}
|
|
|
|
/* wait the value to be read from the slave and read it back */
|
|
hal.scheduler->delay(10);
|
|
|
|
auto &backend = AP_InertialSensor_MPU9250::from(_bus.get_backend());
|
|
backend._block_read(MPUREG_EXT_SENS_DATA_00 + _ext_sens_data, buf, size);
|
|
|
|
/* 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);
|
|
if (r < 0) {
|
|
return r;
|
|
}
|
|
|
|
/* wait the value to be written to the slave */
|
|
hal.scheduler->delay(10);
|
|
|
|
auto &backend = AP_InertialSensor_MPU9250::from(_bus.get_backend());
|
|
|
|
/* disable new writes */
|
|
backend._register_write(_mpu9250_ctrl, 0);
|
|
|
|
return 1;
|
|
}
|
|
|
|
int AP_MPU9250_AuxiliaryBusSlave::read(uint8_t *buf)
|
|
{
|
|
if (!_registered) {
|
|
hal.console->println("Error: can't read before configuring slave");
|
|
return -1;
|
|
}
|
|
|
|
auto &backend = AP_InertialSensor_MPU9250::from(_bus.get_backend());
|
|
if (!backend._block_read(MPUREG_EXT_SENS_DATA_00 + _ext_sens_data, buf, _sample_size)) {
|
|
return -1;
|
|
}
|
|
|
|
return _sample_size;
|
|
}
|
|
|
|
/* 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 100Hz */
|
|
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
|