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/*
* Copyright (C) 2012 Lorenz Meier. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name of the author or the names of contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
/*
* Driver for the ST mpu6000 MEMS gyroscope
*/
#include <nuttx/config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <errno.h>
#include <unistd.h>
#include <stdio.h>
#include <nuttx/spi.h>
#include <arch/board/board.h>
#include <nuttx/arch.h>
#include "chip.h"
#include "stm32_internal.h"
#include "px4fmu-internal.h"
#include <arch/board/drv_mpu6000.h>
#define DIR_READ (0x80)
#define DIR_WRITE (0<<7)
#define ADDR_INCREMENT (1<<6)
#define WHO_I_AM 0xD4
// MPU 6000 registers
#define MPUREG_WHOAMI 0x75 //
#define MPUREG_SMPLRT_DIV 0x19 //
#define MPUREG_CONFIG 0x1A //
#define MPUREG_GYRO_CONFIG 0x1B
#define MPUREG_ACCEL_CONFIG 0x1C
#define MPUREG_FIFO_EN 0x23
#define MPUREG_INT_PIN_CFG 0x37
#define MPUREG_INT_ENABLE 0x38
#define MPUREG_INT_STATUS 0x3A
#define MPUREG_ACCEL_XOUT_H 0x3B //
#define MPUREG_ACCEL_XOUT_L 0x3C //
#define MPUREG_ACCEL_YOUT_H 0x3D //
#define MPUREG_ACCEL_YOUT_L 0x3E //
#define MPUREG_ACCEL_ZOUT_H 0x3F //
#define MPUREG_ACCEL_ZOUT_L 0x40 //
#define MPUREG_TEMP_OUT_H 0x41//
#define MPUREG_TEMP_OUT_L 0x42//
#define MPUREG_GYRO_XOUT_H 0x43 //
#define MPUREG_GYRO_XOUT_L 0x44 //
#define MPUREG_GYRO_YOUT_H 0x45 //
#define MPUREG_GYRO_YOUT_L 0x46 //
#define MPUREG_GYRO_ZOUT_H 0x47 //
#define MPUREG_GYRO_ZOUT_L 0x48 //
#define MPUREG_USER_CTRL 0x6A //
#define MPUREG_PWR_MGMT_1 0x6B //
#define MPUREG_PWR_MGMT_2 0x6C //
#define MPUREG_FIFO_COUNTH 0x72
#define MPUREG_FIFO_COUNTL 0x73
#define MPUREG_FIFO_R_W 0x74
#define MPUREG_PRODUCT_ID 0x0C // Product ID Register
// Configuration bits MPU 3000 and MPU 6000 (not revised)?
#define BIT_SLEEP 0x40
#define BIT_H_RESET 0x80
#define BITS_CLKSEL 0x07
#define MPU_CLK_SEL_PLLGYROX 0x01
#define MPU_CLK_SEL_PLLGYROZ 0x03
#define MPU_EXT_SYNC_GYROX 0x02
#define BITS_FS_250DPS 0x00
#define BITS_FS_500DPS 0x08
#define BITS_FS_1000DPS 0x10
#define BITS_FS_2000DPS 0x18
#define BITS_FS_MASK 0x18
#define BITS_DLPF_CFG_256HZ_NOLPF2 0x00
#define BITS_DLPF_CFG_188HZ 0x01
#define BITS_DLPF_CFG_98HZ 0x02
#define BITS_DLPF_CFG_42HZ 0x03
#define BITS_DLPF_CFG_20HZ 0x04
#define BITS_DLPF_CFG_10HZ 0x05
#define BITS_DLPF_CFG_5HZ 0x06
#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07
#define BITS_DLPF_CFG_MASK 0x07
#define BIT_INT_ANYRD_2CLEAR 0x10
#define BIT_RAW_RDY_EN 0x01
#define BIT_I2C_IF_DIS 0x10
#define BIT_INT_STATUS_DATA 0x01
// Product ID Description for MPU6000
// high 4 bits low 4 bits
// Product Name Product Revision
#define MPU6000ES_REV_C4 0x14 // 0001 0100
#define MPU6000ES_REV_C5 0x15 // 0001 0101
#define MPU6000ES_REV_D6 0x16 // 0001 0110
#define MPU6000ES_REV_D7 0x17 // 0001 0111
#define MPU6000ES_REV_D8 0x18 // 0001 1000
#define MPU6000_REV_C4 0x54 // 0101 0100
#define MPU6000_REV_C5 0x55 // 0101 0101
#define MPU6000_REV_D6 0x56 // 0101 0110
#define MPU6000_REV_D7 0x57 // 0101 0111
#define MPU6000_REV_D8 0x58 // 0101 1000
#define MPU6000_REV_D9 0x59 // 0101 1001
#define MPU6000_REV_D10 0x5A // 0101 1010
static FAR struct mpu6000_dev_s mpu6000_dev;
static ssize_t mpu6000_read(struct file *filp, FAR char *buffer, size_t buflen);
static int mpu6000_ioctl(struct file *filp, int cmd, unsigned long arg);
static const struct file_operations mpu6000_fops = {
.open = 0,
.close = 0,
.read = mpu6000_read,
.write = 0,
.seek = 0,
.ioctl = mpu6000_ioctl,
#ifndef CONFIG_DISABLE_POLL
.poll = 0
#endif
};
struct mpu6000_dev_s
{
struct spi_dev_s *spi;
int spi_id;
uint8_t rate;
struct mpu6000_buffer *buffer;
};
static void mpu6000_write_reg(uint8_t address, uint8_t data);
static uint8_t mpu6000_read_reg(uint8_t address);
static void
mpu6000_write_reg(uint8_t address, uint8_t data)
{
uint8_t cmd[2] = { address | DIR_WRITE, data };
SPI_SELECT(mpu6000_dev.spi, mpu6000_dev.spi_id, true);
SPI_SNDBLOCK(mpu6000_dev.spi, &cmd, sizeof(cmd));
SPI_SELECT(mpu6000_dev.spi, mpu6000_dev.spi_id, false);
}
static uint8_t
mpu6000_read_reg(uint8_t address)
{
uint8_t cmd[2] = {address | DIR_READ, 0};
uint8_t data[2];
SPI_SELECT(mpu6000_dev.spi, mpu6000_dev.spi_id, true);
SPI_EXCHANGE(mpu6000_dev.spi, cmd, data, sizeof(cmd));
SPI_SELECT(mpu6000_dev.spi, mpu6000_dev.spi_id, false);
return data[1];
}
static int
mpu6000_set_range(uint8_t range)
{
// /* mask out illegal bit positions */
// uint8_t write_range = range & REG4_RANGE_MASK;
// /* immediately return if user supplied invalid value */
// if (write_range != range) return EINVAL;
// /* set remaining bits to a sane value */
// write_range |= REG4_BDU;
// /* write to device */
// write_reg(ADDR_CTRL_REG4, write_range);
// /* return 0 if register value is now written value, 1 if unchanged */
// return !(read_reg(ADDR_CTRL_REG4) == write_range);
}
static int
mpu6000_set_rate(uint8_t rate)
{
// /* mask out illegal bit positions */
// uint8_t write_rate = rate & REG1_RATE_LP_MASK;
// /* immediately return if user supplied invalid value */
// if (write_rate != rate) return EINVAL;
// /* set remaining bits to a sane value */
// write_rate |= REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
// /* write to device */
// write_reg(ADDR_CTRL_REG1, write_rate);
// /* return 0 if register value is now written value, 1 if unchanged */
// return !(read_reg(ADDR_CTRL_REG1) == write_rate);
}
static int
mpu6000_read_fifo(int16_t *data)
{
// struct { /* status register and data as read back from the device */
// uint8_t cmd;
// uint8_t temp;
// uint8_t status;
// int16_t x;
// int16_t y;
// int16_t z;
// } __attribute__((packed)) report;
//
// report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT;
//
// /* exchange the report structure with the device */
// SPI_LOCK(mpu6000_dev.spi, true);
//
// SPI_SELECT(mpu6000_dev.spi, mpu6000_dev.spi_id, true);
//
// read_reg(ADDR_WHO_AM_I);
//
// SPI_EXCHANGE(mpu6000_dev.spi, &report, &report, sizeof(report));
// SPI_SELECT(mpu6000_dev.spi, mpu6000_dev.spi_id, false);
//
// SPI_LOCK(mpu6000_dev.spi, false);
//
//
//
//
// Device has MSB first at lower address (big endian)
struct { /* status register and data as read back from the device */
uint8_t cmd;
uint8_t int_status;
int16_t xacc;
int16_t yacc;
int16_t zacc;
int8_t temp;
int16_t rollspeed;
int16_t pitchspeed;
int16_t yawspeed;
} __attribute__((packed)) report;
report.cmd = 0x26 | DIR_READ | ADDR_INCREMENT;
SPI_LOCK(mpu6000_dev.spi, true);
SPI_SELECT(mpu6000_dev.spi, PX4_SPIDEV_MPU, true);
SPI_EXCHANGE(mpu6000_dev.spi, &report, &report, sizeof(report));
SPI_SELECT(mpu6000_dev.spi, PX4_SPIDEV_MPU, false);
SPI_LOCK(mpu6000_dev.spi, false);
data[0] = report.xacc;
data[1] = report.yacc;
data[2] = report.zacc;
return (report.int_status & 0x01);
}
static ssize_t
mpu6000_read(struct file *filp, char *buffer, size_t buflen)
{
/* if the buffer is large enough, and data are available, return success */
if (buflen >= 6) {
if (mpu6000_read_fifo((int16_t *)buffer))
return 6;
/* no data */
return 0;
}
/* buffer too small */
errno = ENOSPC;
return ERROR;
}
static int
mpu6000_ioctl(struct file *filp, int cmd, unsigned long arg)
{
int result = ERROR;
switch (cmd) {
case MPU6000_SETRATE:
if ((arg & 0x00/* XXX REG MASK MISSING */) == arg) {
SPI_LOCK(mpu6000_dev.spi, true);
mpu6000_set_rate(arg);
SPI_LOCK(mpu6000_dev.spi, false);
result = 0;
mpu6000_dev.rate = arg;
}
break;
case MPU6000_SETRANGE:
if ((arg & 0x00/* XXX REG MASK MISSING */) == arg) {
SPI_LOCK(mpu6000_dev.spi, true);
mpu6000_set_range(arg);
SPI_LOCK(mpu6000_dev.spi, false);
result = 0;
}
break;
case MPU6000_SETBUFFER:
mpu6000_dev.buffer = (struct mpu6000_buffer *)arg;
result = 0;
break;
}
if (result)
errno = EINVAL;
return result;
}
int
mpu6000_attach(struct spi_dev_s *spi, int spi_id)
{
int result = ERROR;
mpu6000_dev.spi = spi;
mpu6000_dev.spi_id = spi_id;
SPI_LOCK(mpu6000_dev.spi, true);
// Set sensor-specific SPI mode
SPI_SETFREQUENCY(mpu6000_dev.spi, 10000000); // 500 KHz
SPI_SETBITS(mpu6000_dev.spi, 8);
// Either mode 1 or mode 3
SPI_SETMODE(mpu6000_dev.spi, SPIDEV_MODE3);
// Chip reset
mpu6000_write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
up_udelay(10000);
// Wake up device and select GyroZ clock (better performance)
mpu6000_write_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ);
up_udelay(1000);
// Disable I2C bus (recommended on datasheet)
mpu6000_write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
up_udelay(1000);
// SAMPLE RATE
mpu6000_write_reg(MPUREG_SMPLRT_DIV,0x04); // Sample rate = 200Hz Fsample= 1Khz/(4+1) = 200Hz
usleep(1000);
// FS & DLPF FS=2000�/s, DLPF = 98Hz (low pass filter)
mpu6000_write_reg(MPUREG_CONFIG, BITS_DLPF_CFG_98HZ);
usleep(1000);
mpu6000_write_reg(MPUREG_GYRO_CONFIG,BITS_FS_2000DPS); // Gyro scale 2000�/s
usleep(1000);
uint8_t _product_id = mpu6000_read_reg(MPUREG_PRODUCT_ID);
printf("MPU-6000 product id: %d\n", (int)_product_id);
if ((_product_id == MPU6000ES_REV_C4) || (_product_id == MPU6000ES_REV_C5) ||
(_product_id == MPU6000_REV_C4) || (_product_id == MPU6000_REV_C5)){
// Accel scale 8g (4096 LSB/g)
// Rev C has different scaling than rev D
mpu6000_write_reg(MPUREG_ACCEL_CONFIG,1<<3);
} else {
// Accel scale 8g (4096 LSB/g)
mpu6000_write_reg(MPUREG_ACCEL_CONFIG,2<<3);
}
usleep(1000);
// INT CFG => Interrupt on Data Ready
mpu6000_write_reg(MPUREG_INT_ENABLE,BIT_RAW_RDY_EN); // INT: Raw data ready
usleep(1000);
mpu6000_write_reg(MPUREG_INT_PIN_CFG,BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read
usleep(1000);
// Oscillator set
// write_reg(MPUREG_PWR_MGMT_1,MPU_CLK_SEL_PLLGYROZ);
usleep(1000);
/* revert back to normal bus mode */
SPI_SETFREQUENCY(mpu6000_dev.spi, 10000000);
SPI_SETBITS(mpu6000_dev.spi, 8);
SPI_SETMODE(mpu6000_dev.spi, SPIDEV_MODE3);
/* verify that the device is attached and functioning */
if ((_product_id == MPU6000ES_REV_C4) || (_product_id == MPU6000ES_REV_C5) ||
(_product_id == MPU6000_REV_C4) || (_product_id == MPU6000_REV_C5) ||
(_product_id == MPU6000_REV_D7) || (_product_id == MPU6000_REV_D8) ||
(_product_id == MPU6000_REV_D9) || (_product_id == MPU6000_REV_D10)){
/* make ourselves available */
register_driver("/dev/mpu6000", &mpu6000_fops, 0666, NULL);
result = OK;
} else {
errno = EIO;
}
SPI_LOCK(mpu6000_dev.spi, false);
SPI_LOCK(mpu6000_dev.spi, false);
return result;
}
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