flight/pios/inc/pios_mpu6000.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup PIOS PIOS Core hardware abstraction layer
   4  * @{
   5  * @addtogroup PIOS_MPU6000 MPU6000 Functions
   6  * @brief Deals with the hardware interface to the 3-axis gyro
   7  * @{
   8  *
   9  * @file       PIOS_MPU6000.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  11  * @brief      MPU6000 3-axis gyro function headers
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  ******************************************************************************
  15  */
  16 /*
  17  * This program is free software; you can redistribute it and/or modify
  18  * it under the terms of the GNU General Public License as published by
  19  * the Free Software Foundation; either version 3 of the License, or
  20  * (at your option) any later version.
  21  *
  22  * This program is distributed in the hope that it will be useful, but
  23  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  24  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  25  * for more details.
  26  *
  27  * You should have received a copy of the GNU General Public License along
  28  * with this program; if not, write to the Free Software Foundation, Inc.,
  29  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  30  */
  31
  32 #ifndef PIOS_MPU6000_H
  33 #define PIOS_MPU6000_H
  34
  35 /* MPU6000 Addresses */
  36 #define PIOS_MPU6000_SMPLRT_DIV_REG           0X19
  37 #define PIOS_MPU6000_DLPF_CFG_REG             0X1A
  38 #define PIOS_MPU6000_GYRO_CFG_REG             0X1B
  39 #define PIOS_MPU6000_ACCEL_CFG_REG            0X1C
  40 #define PIOS_MPU6000_FIFO_EN_REG              0x23
  41 #define PIOS_MPU6000_INT_CFG_REG              0x37
  42 #define PIOS_MPU6000_INT_EN_REG               0x38
  43 #define PIOS_MPU6000_INT_STATUS_REG           0x3A
  44 #define PIOS_MPU6000_ACCEL_X_OUT_MSB          0x3B
  45 #define PIOS_MPU6000_ACCEL_X_OUT_LSB          0x3C
  46 #define PIOS_MPU6000_ACCEL_Y_OUT_MSB          0x3D
  47 #define PIOS_MPU6000_ACCEL_Y_OUT_LSB          0x3E
  48 #define PIOS_MPU6000_ACCEL_Z_OUT_MSB          0x3F
  49 #define PIOS_MPU6000_ACCEL_Z_OUT_LSB          0x40
  50 #define PIOS_MPU6000_TEMP_OUT_MSB             0x41
  51 #define PIOS_MPU6000_TEMP_OUT_LSB             0x42
  52 #define PIOS_MPU6000_GYRO_X_OUT_MSB           0x43
  53 #define PIOS_MPU6000_GYRO_X_OUT_LSB           0x44
  54 #define PIOS_MPU6000_GYRO_Y_OUT_MSB           0x45
  55 #define PIOS_MPU6000_GYRO_Y_OUT_LSB           0x46
  56 #define PIOS_MPU6000_GYRO_Z_OUT_MSB           0x47
  57 #define PIOS_MPU6000_GYRO_Z_OUT_LSB           0x48
  58 #define PIOS_MPU6000_USER_CTRL_REG            0x6A
  59 #define PIOS_MPU6000_PWR_MGMT_REG             0x6B
  60 #define PIOS_MPU6000_FIFO_CNT_MSB             0x72
  61 #define PIOS_MPU6000_FIFO_CNT_LSB             0x73
  62 #define PIOS_MPU6000_FIFO_REG                 0x74
  63 #define PIOS_MPU6000_WHOAMI                   0x75
  64
  65 /* FIFO enable for storing different values */
  66 #define PIOS_MPU6000_FIFO_TEMP_OUT            0x80
  67 #define PIOS_MPU6000_FIFO_GYRO_X_OUT          0x40
  68 #define PIOS_MPU6000_FIFO_GYRO_Y_OUT          0x20
  69 #define PIOS_MPU6000_FIFO_GYRO_Z_OUT          0x10
  70 #define PIOS_MPU6000_ACCEL_OUT                0x08
  71
  72 /* Interrupt Configuration */
  73 #define PIOS_MPU6000_INT_ACTL                 0x80
  74 #define PIOS_MPU6000_INT_OPEN                 0x40
  75 #define PIOS_MPU6000_INT_LATCH_EN             0x20
  76 #define PIOS_MPU6000_INT_CLR_ANYRD            0x10
  77
  78 #define PIOS_MPU6000_INTEN_OVERFLOW           0x10
  79 #define PIOS_MPU6000_INTEN_DATA_RDY           0x01
  80
  81 /* Interrupt status */
  82 #define PIOS_MPU6000_INT_STATUS_FIFO_FULL     0x80
  83 #define PIOS_MPU6000_INT_STATUS_FIFO_OVERFLOW 0x10
  84 #define PIOS_MPU6000_INT_STATUS_IMU_RDY       0X04
  85 #define PIOS_MPU6000_INT_STATUS_DATA_RDY      0X01
  86
  87 /* User control functionality */
  88 #define PIOS_MPU6000_USERCTL_FIFO_EN          0X40
  89 #define PIOS_MPU6000_USERCTL_I2C_MST_EN       0x20
  90 #define PIOS_MPU6000_USERCTL_DIS_I2C          0X10
  91 #define PIOS_MPU6000_USERCTL_FIFO_RST         0X04
  92 #define PIOS_MPU6000_USERCTL_SIG_COND         0X02
  93 #define PIOS_MPU6000_USERCTL_GYRO_RST         0X01
  94
  95 /* Power management and clock selection */
  96 #define PIOS_MPU6000_PWRMGMT_IMU_RST          0X80
  97 #define PIOS_MPU6000_PWRMGMT_INTERN_CLK       0X00
  98 #define PIOS_MPU6000_PWRMGMT_PLL_X_CLK        0X01
  99 #define PIOS_MPU6000_PWRMGMT_PLL_Y_CLK        0X02
 100 #define PIOS_MPU6000_PWRMGMT_PLL_Z_CLK        0X03
 101 #define PIOS_MPU6000_PWRMGMT_STOP_CLK         0X07
 102
 103 enum pios_mpu6000_range {
 104     PIOS_MPU6000_SCALE_250_DEG  = 0x00,
 105     PIOS_MPU6000_SCALE_500_DEG  = 0x08,
 106     PIOS_MPU6000_SCALE_1000_DEG = 0x10,
 107     PIOS_MPU6000_SCALE_2000_DEG = 0x18
 108 };
 109
 110 enum pios_mpu6000_filter {
 111     PIOS_MPU6000_LOWPASS_256_HZ = 0x00,
 112     PIOS_MPU6000_LOWPASS_188_HZ = 0x01,
 113     PIOS_MPU6000_LOWPASS_98_HZ  = 0x02,
 114     PIOS_MPU6000_LOWPASS_42_HZ  = 0x03,
 115     PIOS_MPU6000_LOWPASS_20_HZ  = 0x04,
 116     PIOS_MPU6000_LOWPASS_10_HZ  = 0x05,
 117     PIOS_MPU6000_LOWPASS_5_HZ   = 0x06
 118 };
 119
 120 enum pios_mpu6000_accel_range {
 121     PIOS_MPU6000_ACCEL_2G  = 0x00,
 122     PIOS_MPU6000_ACCEL_4G  = 0x08,
 123     PIOS_MPU6000_ACCEL_8G  = 0x10,
 124     PIOS_MPU6000_ACCEL_16G = 0x18
 125 };
 126
 127 enum pios_mpu6000_orientation { // clockwise rotation from board forward
 128     PIOS_MPU6000_TOP_0DEG   = 0x00,
 129     PIOS_MPU6000_TOP_90DEG  = 0x01,
 130     PIOS_MPU6000_TOP_180DEG = 0x02,
 131     PIOS_MPU6000_TOP_270DEG = 0x03
 132 };
 133
 134 struct pios_mpu6000_data {
 135     int16_t gyro_x;
 136     int16_t gyro_y;
 137     int16_t gyro_z;
 138 #if defined(PIOS_MPU6000_ACCEL)
 139     int16_t accel_x;
 140     int16_t accel_y;
 141     int16_t accel_z;
 142 #endif /* PIOS_MPU6000_ACCEL */
 143     int16_t temperature;
 144 };
 145
 146 struct pios_mpu6000_cfg {
 147     const struct pios_exti_cfg *exti_cfg; /* Pointer to the EXTI configuration */
 148
 149     uint8_t Fifo_store; /* FIFO storage of different readings (See datasheet page 31 for more details) */
 150
 151     /* Sample rate divider to use (See datasheet page 32 for more details).*/
 152     uint8_t Smpl_rate_div_no_dlp; /* used when no dlp is applied (fs=8KHz)*/
 153     uint8_t Smpl_rate_div_dlp; /* used when dlp is on (fs=1kHz)*/
 154     uint8_t interrupt_cfg; /* Interrupt configuration (See datasheet page 35 for more details) */
 155     uint8_t interrupt_en; /* Interrupt configuration (See datasheet page 35 for more details) */
 156     uint8_t User_ctl; /* User control settings (See datasheet page 41 for more details)  */
 157     uint8_t Pwr_mgmt_clk; /* Power management and clock selection (See datasheet page 32 for more details) */
 158     enum pios_mpu6000_accel_range accel_range;
 159     enum pios_mpu6000_range gyro_range;
 160     enum pios_mpu6000_filter filter;
 161     enum pios_mpu6000_orientation orientation;
 162 };
 163
 164 /* Public Functions */
 165 extern int32_t PIOS_MPU6000_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_mpu6000_cfg *new_cfg);
 166 extern int32_t PIOS_MPU6000_ConfigureRanges(enum pios_mpu6000_range gyroRange, enum pios_mpu6000_accel_range accelRange, enum pios_mpu6000_filter filterSetting);
 167 extern xQueueHandle PIOS_MPU6000_GetQueue();
 168 extern int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data *buffer);
 169 extern int32_t PIOS_MPU6000_ReadID();
 170 extern int32_t PIOS_MPU6000_Test();
 171 extern float PIOS_MPU6000_GetScale();
 172 extern float PIOS_MPU6000_GetAccelScale();
 173 extern bool PIOS_MPU6000_IRQHandler(void);
 174
 175 #endif /* PIOS_MPU6000_H */
 176
 177 /**
 178  * @}
 179  * @}
 180  */