src/main/drivers/accgyro/accgyro_mpu.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20 #include <stdlib.h>
  21 #include <string.h>
  22
  23 #include "platform.h"
  24
  25 #include "build/atomic.h"
  26 #include "build/build_config.h"
  27 #include "build/debug.h"
  28
  29 #include "common/maths.h"
  30 #include "common/utils.h"
  31
  32 #include "drivers/bus.h"
  33 #include "drivers/io.h"
  34 #include "drivers/nvic.h"
  35 #include "drivers/sensor.h"
  36 #include "drivers/system.h"
  37 #include "drivers/time.h"
  38
  39 #include "drivers/sensor.h"
  40 #include "drivers/accgyro/accgyro.h"
  41 #include "drivers/accgyro/accgyro_mpu.h"
  42
  43 // Check busDevice scratchpad memory size
  44 STATIC_ASSERT(sizeof(mpuContextData_t) < BUS_SCRATCHPAD_MEMORY_SIZE, busDevice_scratchpad_memory_too_small);
  45
  46 static const gyroFilterAndRateConfig_t mpuGyroConfigs[] = {
  47     { GYRO_LPF_256HZ,   8000,   { MPU_DLPF_256HZ,   0  } },
  48     { GYRO_LPF_256HZ,   4000,   { MPU_DLPF_256HZ,   1  } },
  49     { GYRO_LPF_256HZ,   2000,   { MPU_DLPF_256HZ,   3  } },
  50     { GYRO_LPF_256HZ,   1000,   { MPU_DLPF_256HZ,   7  } },
  51     { GYRO_LPF_256HZ,    666,   { MPU_DLPF_256HZ,   11 } },
  52     { GYRO_LPF_256HZ,    500,   { MPU_DLPF_256HZ,   15 } },
  53 };
  54
  55 const gyroFilterAndRateConfig_t * mpuChooseGyroConfig(uint8_t desiredLpf, uint16_t desiredRateHz)
  56 {
  57     return chooseGyroConfig(desiredLpf, desiredRateHz, &mpuGyroConfigs[0], ARRAYLEN(mpuGyroConfigs));
  58 }
  59
  60 bool mpuGyroRead(gyroDev_t *gyro)
  61 {
  62     uint8_t data[6];
  63
  64     const bool ack = busReadBuf(gyro->busDev, MPU_RA_GYRO_XOUT_H, data, 6);
  65     if (!ack) {
  66         return false;
  67     }
  68
  69     gyro->gyroADCRaw[X] = (float) int16_val_big_endian(data, 0);
  70     gyro->gyroADCRaw[Y] = (float) int16_val_big_endian(data, 1);
  71     gyro->gyroADCRaw[Z] = (float) int16_val_big_endian(data, 2);
  72
  73     return true;
  74 }
  75
  76 static bool mpuUpdateSensorContext(busDevice_t * busDev, mpuContextData_t * ctx)
  77 {
  78     ctx->lastReadStatus = busReadBuf(busDev, MPU_RA_ACCEL_XOUT_H, ctx->accRaw, 6 + 2 + 6);
  79     return ctx->lastReadStatus;
  80 }
  81
  82 bool mpuGyroReadScratchpad(gyroDev_t *gyro)
  83 {
  84     busDevice_t * busDev = gyro->busDev;
  85     mpuContextData_t * ctx = busDeviceGetScratchpadMemory(busDev);
  86
  87     if (mpuUpdateSensorContext(busDev, ctx)) {
  88         gyro->gyroADCRaw[X] = (float) int16_val_big_endian(ctx->gyroRaw, 0);
  89         gyro->gyroADCRaw[Y] = (float) int16_val_big_endian(ctx->gyroRaw, 1);
  90         gyro->gyroADCRaw[Z] = (float) int16_val_big_endian(ctx->gyroRaw, 2);
  91         return true;
  92     }
  93
  94     return false;
  95 }
  96
  97 bool mpuAccReadScratchpad(accDev_t *acc)
  98 {
  99     mpuContextData_t * ctx = busDeviceGetScratchpadMemory(acc->busDev);
 100
 101     if (ctx->lastReadStatus) {
 102         acc->ADCRaw[X] = (float) int16_val_big_endian(ctx->accRaw, 0);
 103         acc->ADCRaw[Y] = (float) int16_val_big_endian(ctx->accRaw, 1);
 104         acc->ADCRaw[Z] = (float) int16_val_big_endian(ctx->accRaw, 2);
 105         return true;
 106     }
 107
 108     return false;
 109 }
 110
 111 bool mpuTemperatureReadScratchpad(gyroDev_t *gyro, int16_t * data)
 112 {
 113     mpuContextData_t * ctx = busDeviceGetScratchpadMemory(gyro->busDev);
 114
 115     if (ctx->lastReadStatus) {
 116         // Convert to degC*10: degC = raw / 340 + 36.53
 117         *data = int16_val_big_endian(ctx->tempRaw, 0) / 34 + 365;
 118         return true;
 119     }
 120
 121     return false;
 122 }