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nuttx/drivers/sensors/mpu9250.c

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drivers/sensors: add support of InvenSense MPU-9250 sensor
2023-04-07 14:22:42 +02:00
/****************************************************************************
* drivers/sensors/mpu9250.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <errno.h>
#include <math.h>
#include <stdio.h>
#include <debug.h>
#include <string.h>
#include <limits.h>
#include <nuttx/mutex.h>
#include <nuttx/signal.h>
#include <nuttx/compiler.h>
#include <nuttx/kmalloc.h>
#include <nuttx/kthread.h>
#ifdef CONFIG_MPU9250_SPI
#include <nuttx/spi/spi.h>
#else
#include <nuttx/i2c/i2c_master.h>
#endif
#include <nuttx/fs/fs.h>
#include <nuttx/sensors/mpu9250.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define MPU9250_AKM_DEV_ID 0x48 /* Magnetometer device ID */
#define MIN(x, y) (x) > (y) ? (y) : (x)
/* 16bit mode: 0.15uTesla/LSB, 100 uTesla == 1 Gauss */
#define MAG_RAW_TO_GAUSS (0.15f / 100.0f)
/****************************************************************************
* Private Types
****************************************************************************/
enum mpu9250_idx_e
{
MPU9250_ACCEL_IDX = 0,
MPU9250_GYRO_IDX,
MPU9250_MAG_IDX,
MPU9250_MAX_IDX
};
enum mpu9250_regaddr_e
{
SELF_TEST_G_X = 0x00,
SELF_TEST_G_Y = 0x01,
SELF_TEST_G_Z = 0x02,
SELF_TEST_A_X = 0x0d,
SELF_TEST_A_Y = 0x0e,
SELF_TEST_A_Z = 0x0f,
XG_OFFSETH = 0x13,
XG_OFFSETL = 0x14,
YG_OFFSETH = 0x15,
YG_OFFSETL = 0x16,
ZG_OFFSETH = 0x17,
ZG_OFFSETL = 0x18,
SMPLRT_DIV = 0x19,
/* _SHIFT : number of empty bits to the right of the field
* _WIDTH : width of the field, in bits
*
* single-bit fields don't have _SHIFT or _mask
*/
MPU9250_CONFIG = 0x1a,
CONFIG_EXT_SYNC_SET_SHIFT = 3,
CONFIG_EXT_SYNC_SET_WIDTH = 3,
CONFIG_DLPF_CFG_SHIFT = 0,
CONFIG_DLPF_CFG_WIDTH = 3,
GYRO_CONFIG = 0x1b,
GYRO_CONFIG_XG_ST = BIT(7),
GYRO_CONFIG_YG_ST = BIT(6),
GYRO_CONFIG_ZG_ST = BIT(5),
GYRO_CONFIG_FS_SEL_SHIFT = 3,
GYRO_CONFIG_FS_SEL_WIDTH = 2,
ACCEL_CONFIG = 0x1c,
ACCEL_CONFIG_XA_ST = BIT(7),
ACCEL_CONFIG_YA_ST = BIT(6),
ACCEL_CONFIG_ZA_ST = BIT(5),
ACCEL_CONFIG_AFS_SEL_SHIFT = 3,
ACCEL_CONFIG_AFS_SEL_WIDTH = 2,
ACCEL_CONFIG2 = 0x1d,
ACCEL_CONFIG2_FCHOICE_B = BIT(3),
CONFIG2_A_DLPF_CFG_SHIFT = 0,
CONFIG2_A_DLPF_CFG_WIDTH = 3,
LPACCEL_ODR = 0x1e,
WOM_THR = 0x1f,
FIFO_EN = 0x23,
BITS_FIFO_ENABLE_TEMP_OUT = BIT(7),
BITS_FIFO_ENABLE_GYRO_XOUT = BIT(6),
BITS_FIFO_ENABLE_GYRO_YOUT = BIT(5),
BITS_FIFO_ENABLE_GYRO_ZOUT = BIT(4),
BITS_FIFO_ENABLE_ACCEL = BIT(3),
BITS_FIFO_ENABLE_SLV2 = BIT(2),
BITS_FIFO_ENABLE_SLV1 = BIT(1),
BITS_FIFO_ENABLE_SLV0 = BIT(0),
I2C_MST_CTRL = 0x24,
I2C_SLV0_ADDR = 0x25,
I2C_SLV0_REG = 0x26,
I2C_SLV0_CTRL = 0x27,
BITS_I2C_SLV0_EN = BIT(7),
BITS_I2C_SLV0_READ_8BYTES = BIT(3),
I2C_SLV1_ADDR = 0x28,
I2C_SLV1_REG = 0x29,
I2C_SLV1_CTRL = 0x2a,
BITS_I2C_SLV1_EN = BIT(7),
I2C_SLV2_ADDR = 0x2b,
I2C_SLV2_REG = 0x2c,
I2C_SLV2_CTRL = 0x2d,
BITS_I2C_SLV2_EN = BIT(7),
I2C_SLV3_ADDR = 0x2e,
I2C_SLV3_REG = 0x2f,
I2C_SLV3_CTRL = 0x30,
I2C_SLV4_ADDR = 0x31,
I2C_SLV4_REG = 0x32,
I2C_SLV4_DO = 0x33,
I2C_SLV4_CTRL = 0x34,
BITS_I2C_SLV4_EN = BIT(7),
BITS_I2C_SLV4_DONE = BIT(6),
I2C_SLV4_DI = 0x35, /* RO */
I2C_MST_STATUS = 0x36, /* RO */
INT_PIN_CFG = 0x37,
INT_PIN_CFG_INT_ACTL = BIT(7),
INT_PIN_CFG_INT_OPEN = BIT(6),
INT_PIN_CFG_LATCH_INT_EN = BIT(5),
INT_PIN_CFG_INT_RD_CLEAR = BIT(4),
INT_PIN_CFG_FSYNC_INT_LEVEL = BIT(3),
INT_PIN_CFG_FSYNC_INT_EN = BIT(2),
INT_PIN_CFG_I2C_BYPASS_EN = BIT(1),
INT_ENABLE = 0x38,
INT_STATUS = 0x3a, /* RO */
ACCEL_XOUT_H = 0x3b, /* RO */
ACCEL_XOUT_L = 0x3c, /* RO */
ACCEL_YOUT_H = 0x3d, /* RO */
ACCEL_YOUT_L = 0x3e, /* RO */
ACCEL_ZOUT_H = 0x3f, /* RO */
ACCEL_ZOUT_L = 0x40, /* RO */
TEMP_OUT_H = 0x41, /* RO */
TEMP_OUT_L = 0x42, /* RO */
GYRO_XOUT_H = 0x43, /* RO */
GYRO_XOUT_L = 0x44, /* RO */
GYRO_YOUT_H = 0x45, /* RO */
GYRO_YOUT_L = 0x46, /* RO */
GYRO_ZOUT_H = 0x47, /* RO */
GYRO_ZOUT_L = 0x48, /* RO */
EXT_SENS_DATA_00 = 0x49, /* RO */
EXT_SENS_DATA_01 = 0x4a, /* RO */
EXT_SENS_DATA_02 = 0x4b, /* RO */
EXT_SENS_DATA_03 = 0x4c, /* RO */
EXT_SENS_DATA_04 = 0x4d, /* RO */
EXT_SENS_DATA_05 = 0x4e, /* RO */
EXT_SENS_DATA_06 = 0x4f, /* RO */
EXT_SENS_DATA_07 = 0x50, /* RO */
EXT_SENS_DATA_08 = 0x51, /* RO */
EXT_SENS_DATA_09 = 0x52, /* RO */
EXT_SENS_DATA_10 = 0x53, /* RO */
EXT_SENS_DATA_11 = 0x54, /* RO */
EXT_SENS_DATA_12 = 0x55, /* RO */
EXT_SENS_DATA_13 = 0x56, /* RO */
EXT_SENS_DATA_14 = 0x57, /* RO */
EXT_SENS_DATA_15 = 0x58, /* RO */
EXT_SENS_DATA_16 = 0x59, /* RO */
EXT_SENS_DATA_17 = 0x5a, /* RO */
EXT_SENS_DATA_18 = 0x5b, /* RO */
EXT_SENS_DATA_19 = 0x5c, /* RO */
EXT_SENS_DATA_20 = 0x5d, /* RO */
EXT_SENS_DATA_21 = 0x5e, /* RO */
EXT_SENS_DATA_22 = 0x5f, /* RO */
EXT_SENS_DATA_23 = 0x60, /* RO */
I2C_SLV0_DO = 0x63,
I2C_SLV1_DO = 0x64,
I2C_SLV2_DO = 0x65,
I2C_SLV3_DO = 0x66,
I2C_MST_DELAY_CTRL = 0x67,
BITS_SLV4_DLY_EN = BIT(4),
BITS_SLV3_DLY_EN = BIT(3),
BITS_SLV2_DLY_EN = BIT(2),
BITS_SLV1_DLY_EN = BIT(1),
BITS_SLV0_DLY_EN = BIT(0),
SIGNAL_PATH_RESET = 0x68,
SIGNAL_PATH_RESET_GYRO_RESET = BIT(2),
SIGNAL_PATH_RESET_ACCEL_RESET = BIT(1),
SIGNAL_PATH_RESET_TEMP_RESET = BIT(0),
SIGNAL_PATH_RESET_ALL_RESET = BIT(3) - 1,
MOT_DETECT_CTRL = 0x69,
USER_CTRL = 0x6a,
USER_CTRL_FIFO_EN = BIT(6),
USER_CTRL_I2C_MST_EN = BIT(5),
USER_CTRL_I2C_IF_DIS = BIT(4),
USER_CTRL_FIFO_RST = BIT(2),
USER_CTRL_I2C_MST_RST = BIT(1),
USER_CTRL_SIG_COND_RST = BIT(0),
PWR_MGMT_1 = 0x6b, /* Reset: 0x40 */
PWR_MGMT_1_DEVICE_RESET = BIT(7),
PWR_MGMT_1_SLEEP = BIT(6),
PWR_MGMT_1_CYCLE = BIT(5),
PWR_MGMT_1_GYRO_STANDBY = BIT(4),
PWR_MGMT_1_PD_PTAT = BIT(3),
PWR_MGMT_1_CLK_SEL_SHIFT = 0,
PWR_MGMT_1_CLK_SEL_WIDTH = 3,
PWR_MGMT_2 = 0x6c,
FIFO_COUNTH = 0x72,
FIFO_COUNTL = 0x73,
FIFO_R_W = 0x74,
WHO_AM_I = 0x75, /* RO reset: 0x68 */
XA_OFFSETH = 0x77,
XA_OFFSETL = 0x78,
YA_OFFSETH = 0x7a,
YA_OFFSETL = 0x7b,
ZA_OFFSETH = 0x7d,
ZA_OFFSETL = 0x7e,
/* Magnetometer device address */
MPU9250_AK8963_I2C_ADDR = 0x0c,
MPU9250_AK8963_I2C_READ = 0x80,
MPU9250_AK8963_I2C_WRITE = 0x00,
/* AK8963 Magnetometer Register Addresses */
MPU9250_MAG_REG_WIA = 0x00,
MPU9250_MAG_REG_ST1 = 0x02,
MPU9250_MAG_REG_DATA = 0x03,
MPU9250_MAG_REG_HXL = 0x03,
MPU9250_MAG_REG_ST2 = 0x09,
MPU9250_MAG_REG_CNTL1 = 0x0a,
MPU9250_MAG_REG_CNTL2 = 0x0b,
MPU9250_MAG_REG_ASAX = 0x10,
MPU9250_MAG_REG_ASAY = 0x11,
MPU9250_MAG_REG_ASAZ = 0x12,
/* Bit definitions for the magnetometer registers */
BIT_MAG_CNTL1_MODE_POWER_DOWN = 0x0,
BIT_MAG_CNTL1_MODE_SINGLE_MEASURE_MODE = 0x1,
BIT_MAG_CNTL1_MODE_CONTINUOUS_MEASURE_MODE_1 = 0x2,
BIT_MAG_CNTL1_MODE_CONTINUOUS_MEASURE_MODE_2 = 0x6,
BIT_MAG_CNTL1_FUSE_ROM_ACCESS_MODE = 0xf,
BIT_MAG_CNTL1_16_BITS = 0x10,
BIT_MAG_HOFL = 0x08,
BIT_MAG_CNTL2_SOFT_RESET = 0x01,
};
/* Describes the mpu9250 sensor register file. This structure reflects
* the underlying hardware, so don't change it!
*/
#pragma pack(push, 1)
struct sensor_data_s
{
uint16_t x_accel;
uint16_t y_accel;
uint16_t z_accel;
uint16_t temp;
uint16_t x_gyro;
uint16_t y_gyro;
uint16_t z_gyro;
char mag_st1; /* 14 mag ST1 (1B) */
int16_t x_mag; /* 15-16 (2B) */
int16_t y_mag; /* 17-18 (2B) */
int16_t z_mag; /* 19-20 (2B) */
char mag_st2; /* 21 mag ST2 (1B) */
};
#pragma pack(pop)
struct mpu9250_sensor_s
{
struct sensor_lowerhalf_s lower;
uint64_t last_update;
bool enabled;
float scale;
float adj[3];
unsigned long interval;
FAR void *dev; /* The pointer to common device data of mpu9250 */
};
/* Used by the driver to manage the device */
struct mpu9250_dev_s
{
struct mpu9250_sensor_s priv[MPU9250_MAX_IDX];
struct mpu9250_config_s config; /* board-specific information */
sem_t run; /* Locks sensor thread */
mutex_t lock; /* mutex for this structure */
};
/****************************************************************************
* Private Function Function Prototypes
****************************************************************************/
/* Sensor methods */
static int mpu9250_set_interval(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep,
FAR unsigned long *period_us);
static int mpu9250_activate(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep, bool enable);
static int mpu9250_control(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep,
int cmd, unsigned long arg);
static inline int mpu9250_write_gyro_range(FAR struct mpu9250_dev_s *dev,
uint8_t fs_sel);
static void mpu9250_gyro_scale(FAR struct mpu9250_sensor_s *priv,
enum gyro_config_bit scale);
static inline int mpu9250_write_accel_range(FAR struct mpu9250_dev_s *dev,
uint8_t afs_sel);
static void mpu9250_accel_scale(FAR struct mpu9250_sensor_s *priv,
enum accel_config_bit scale);
static int ak8963_initialize(FAR struct mpu9250_dev_s *dev,
int measure_freq);
static int read_ak8963_reg(FAR struct mpu9250_dev_s *dev,
enum mpu9250_regaddr_e reg, uint8_t *val);
static int write_ak8963_reg(FAR struct mpu9250_dev_s *dev,
enum mpu9250_regaddr_e reg, uint8_t val);
static int get_mag_adjustment(FAR struct mpu9250_dev_s *dev);
/****************************************************************************
* Private Data
****************************************************************************/
static const struct sensor_ops_s g_mpu9250_ops =
{
NULL, /* open */
NULL, /* close */
mpu9250_activate, /* activate */
mpu9250_set_interval, /* set_interval */
NULL, /* batch */
NULL, /* fetch */
NULL, /* selftest */
NULL, /* set_calibvalue */
NULL, /* calibrate */
mpu9250_control /* control */
};
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: mpu9250_activate
*
* Description: Activate the sensor.
*
* Return:
* OK - on success
****************************************************************************/
static int mpu9250_activate(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep, bool enable)
{
FAR struct mpu9250_sensor_s *priv = (FAR struct mpu9250_sensor_s *)lower;
FAR struct mpu9250_dev_s *dev = (FAR struct mpu9250_dev_s *)(priv->dev);
bool start_thread = false;
if (enable)
{
if (!priv->enabled)
{
start_thread = true;
priv->last_update = sensor_get_timestamp();
}
}
priv->enabled = enable;
if (start_thread)
{
/* Wake up the thread */
nxsem_post(&dev->run);
}
return OK;
}
/****************************************************************************
* Name: mpu9250_set_interval
*
* Description: Set data output interval of sensor.
*
* Return:
* OK - on success
****************************************************************************/
static int mpu9250_set_interval(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep,
FAR unsigned long *interval)
{
FAR struct mpu9250_sensor_s *priv = (FAR struct mpu9250_sensor_s *)lower;
priv->interval = *interval;
return 0;
}
/****************************************************************************
* Name: mpu9250_control
*
* Description: Interface function of struct sensor_ops_s.
*
* Return:
* OK - on success
****************************************************************************/
static int mpu9250_control(FAR struct sensor_lowerhalf_s *lower,
FAR struct file *filep,
int cmd, unsigned long arg)
{
FAR struct mpu9250_sensor_s *priv = (FAR struct mpu9250_sensor_s *)lower;
FAR struct mpu9250_dev_s *dev = (FAR struct mpu9250_dev_s *)(priv->dev);
int ret;
switch (cmd)
{
/* Set full scale command */
case SNIOC_SET_SCALE_XL:
{
switch (priv->lower.type)
{
/* Set gyroscope full scale */
case SENSOR_TYPE_GYROSCOPE:
{
ret = mpu9250_write_gyro_range(dev, (uint8_t)arg);
mpu9250_gyro_scale(priv, (enum gyro_config_bit)arg);
}
break;
/* Set accelerometer full scale */
case SENSOR_TYPE_ACCELEROMETER:
{
ret = mpu9250_write_accel_range(dev, (uint8_t)arg);
mpu9250_accel_scale(priv, (enum accel_config_bit)arg);
}
break;
default:
snerr("ERROR: Unrecognized type: %d\n", priv->lower.type);
ret = -ENOTTY;
break;
}
}
break;
default:
snerr("ERROR: Unrecognized cmd: %d\n", cmd);
ret = -ENOTTY;
break;
}
return ret;
}
/****************************************************************************
* Name: mpu9250_accel_scale
*
* Description: Set scale of accelerometer.
*
* AFS_SEL | Full Scale Range | LSB Sensitivity
* --------+------------------+----------------
* 0 | +/- 2g | 16384 LSB/mg
* 1 | +/- 4g | 8192 LSB/mg
* 2 | +/- 8g | 4096 LSB/mg
* 3 | +/- 16g | 2048 LSB/mg
****************************************************************************/
static void mpu9250_accel_scale(FAR struct mpu9250_sensor_s *priv,
enum accel_config_bit scale)
{
switch (scale)
{
case ACCEL_FS_SEL_2G:
priv->scale = CONSTANTS_ONE_G / 16384.f;
break;
case ACCEL_FS_SEL_4G:
priv->scale = CONSTANTS_ONE_G / 8192.f;
break;
case ACCEL_FS_SEL_8G:
priv->scale = CONSTANTS_ONE_G / 4096.f;
break;
case ACCEL_FS_SEL_16G:
priv->scale = CONSTANTS_ONE_G / 2048.f;
break;
default:
break;
}
}
/****************************************************************************
* Name: mpu9250_gyro_scale
*
* Description: Set scale of accelerometer.
*
* FS_SEL | Full Scale Range | LSB Sensitivity
* -------+--------------------+----------------
* 0 | +/- 250 degrees/s | 131 LSB/deg/s
* 1 | +/- 500 degrees/s | 65.5 LSB/deg/s
* 2 | +/- 1000 degrees/s | 32.8 LSB/deg/s
* 3 | +/- 2000 degrees/s | 16.4 LSB/deg/s
****************************************************************************/
static void mpu9250_gyro_scale(FAR struct mpu9250_sensor_s *priv,
enum gyro_config_bit scale)
{
switch (scale)
{
case GYRO_FS_SEL_250_DPS:
priv->scale = (M_PI / 180.0f) * 250.f / 32768.f;
break;
case GYRO_FS_SEL_500_DPS:
priv->scale = (M_PI / 180.0f) * 500.f / 32768.f;
break;
case GYRO_FS_SEL_1000_DPS:
priv->scale = (M_PI / 180.0f) * 1000.f / 32768.f;
break;
case GYRO_FS_SEL_2000_DPS:
priv->scale = (M_PI / 180.0f) * 2000.f / 32768.f;
break;
default:
break;
}
}
/* NOTE :
*
* In all of the following code, functions named with a double leading
* underscore '_' must be invoked ONLY if the mpu9250_dev_s lock is
* already held. Failure to do this might cause the transaction to get
* interrupted, which will likely confuse the data you get back.
*
* The mpu9250_dev_s lock is NOT the same thing as, i.e. the SPI master
* interface lock: the latter protects the bus interface hardware
* (which may have other SPI devices attached), the former protects
* the chip and its associated data.
*/
#ifdef CONFIG_MPU9250_SPI
/* mpu9250_read_reg(), but for spi-connected devices. See that function
* for documentation.
*/
static int mpu9250_read_reg_spi(FAR struct mpu9250_dev_s *dev,
enum mpu9250_regaddr_e reg_addr,
FAR uint8_t *buf, uint8_t len)
{
FAR struct spi_dev_s *spi = dev->config.spi;
int id = dev->config.spi_devid;
int ret;
/* We'll probably return the number of bytes asked for. */
ret = len;
/* Grab and configure the SPI master device: always mode 0, 20MHz if it's a
* data register, 1MHz otherwise (per datasheet).
*/
SPI_LOCK(spi, true);
SPI_SETMODE(spi, SPIDEV_MODE0);
if ((reg_addr >= ACCEL_XOUT_H) && ((reg_addr + len) <= I2C_SLV0_DO))
{
SPI_SETFREQUENCY(spi, 20000000);
}
else
{
SPI_SETFREQUENCY(spi, 1000000);
}
/* Select the chip. */
SPI_SELECT(spi, id, true);
/* Send the read request. */
SPI_SEND(spi, reg_addr | MPU_REG_READ);
/* Clock in the data. */
while (0 != len--)
{
*buf++ = (uint8_t) (SPI_SEND(spi, 0xff));
}
/* Deselect the chip, release the SPI master. */
SPI_SELECT(spi, id, false);
SPI_LOCK(spi, false);
return ret;
}
/* mpu9250_write_reg(), but for SPI connections. */
static int mpu9250_write_reg_spi(FAR struct mpu9250_dev_s *dev,
enum mpu9250_regaddr_e reg_addr,
FAR const uint8_t * buf, uint8_t len)
{
FAR struct spi_dev_s *spi = dev->config.spi;
int id = dev->config.spi_devid;
int ret;
/* Hopefully, we'll return all the bytes they're asking for. */
ret = len;
/* Grab and configure the SPI master device. */
SPI_LOCK(spi, true);
SPI_SETMODE(spi, SPIDEV_MODE0);
SPI_SETFREQUENCY(spi, 1000000);
/* Select the chip. */
SPI_SELECT(spi, id, true);
/* Send the write request. */
SPI_SEND(spi, reg_addr | MPU_REG_WRITE);
/* Send the data. */
while (0 != len--)
{
SPI_SEND(spi, *buf++);
}
/* Release the chip and SPI master. */
SPI_SELECT(spi, id, false);
SPI_LOCK(spi, false);
return ret;
}
#else
/* mpu9250_read_reg(), but for i2c-connected devices. */
static int mpu9250_read_reg_i2c(FAR struct mpu9250_dev_s *dev,
uint8_t reg_addr,
FAR uint8_t *buf, uint8_t len)
{
int ret;
struct i2c_msg_s msg[2];
msg[0].frequency = CONFIG_MPU9250_I2C_FREQ;
msg[0].addr = dev->config.addr;
msg[0].flags = I2C_M_NOSTOP;
msg[0].buffer = &reg_addr;
msg[0].length = 1;
msg[1].frequency = CONFIG_MPU9250_I2C_FREQ;
msg[1].addr = dev->config.addr;
msg[1].flags = I2C_M_READ;
msg[1].buffer = buf;
msg[1].length = len;
ret = I2C_TRANSFER(dev->config.i2c, msg, 2);
if (ret < 0)
{
snerr("ERROR: I2C_TRANSFER(read) failed: %d\n", ret);
return ret;
}
return OK;
}
/* mpu9250_write_reg(), but for I2C connections. */
static int mpu9250_write_reg_i2c(FAR struct mpu9250_dev_s *dev,
uint8_t reg_addr,
FAR const uint8_t *buf, uint8_t len)
{
int ret;
struct i2c_msg_s msg[2];
msg[0].frequency = CONFIG_MPU9250_I2C_FREQ;
msg[0].addr = dev->config.addr;
msg[0].flags = I2C_M_NOSTOP;
msg[0].buffer = &reg_addr;
msg[0].length = 1;
msg[1].frequency = CONFIG_MPU9250_I2C_FREQ;
msg[1].addr = dev->config.addr;
msg[1].flags = I2C_M_NOSTART;
msg[1].buffer = (FAR uint8_t *)buf;
msg[1].length = len;
ret = I2C_TRANSFER(dev->config.i2c, msg, 2);
if (ret < 0)
{
snerr("ERROR: I2C_TRANSFER(write) failed: %d\n", ret);
return ret;
}
return OK;
}
#endif /* CONFIG_MPU9250_SPI */
/* mpu9250_read_reg()
*
* Reads a block of @len byte-wide registers, starting at @reg_addr,
* from the device connected to @dev. Bytes are returned in @buf,
* which must have a capacity of at least @len bytes.
*
* Note: The caller must hold @dev->lock before calling this function.
*
* Returns number of bytes read, or a negative errno.
*/
static inline int mpu9250_read_reg(FAR struct mpu9250_dev_s *dev,
enum mpu9250_regaddr_e reg_addr,
FAR uint8_t *buf, uint8_t len)
{
#ifdef CONFIG_MPU9250_SPI
/* If we're wired to SPI, use that function. */
if (dev->config.spi != NULL)
{
return mpu9250_read_reg_spi(dev, reg_addr, buf, len);
}
#else
/* If we're wired to I2C, use that function. */
if (dev->config.i2c != NULL)
{
return mpu9250_read_reg_i2c(dev, reg_addr, buf, len);
}
#endif
/* If we get this far, it's because we can't "find" our device. */
return -ENODEV;
}
/* mpu9250_write_reg()
*
* Writes a block of @len byte-wide registers, starting at @reg_addr,
* using the values in @buf to the device connected to @dev. Register
* values are taken in numerical order from @buf, i.e.:
*
* buf[0] -> register[@reg_addr]
* buf[1] -> register[@reg_addr + 1]
* ...
*
* Note: The caller must hold @dev->lock before calling this function.
*
* Returns number of bytes written, or a negative errno.
*/
static inline int mpu9250_write_reg(FAR struct mpu9250_dev_s *dev,
enum mpu9250_regaddr_e reg_addr,
FAR const uint8_t *buf, uint8_t len)
{
#ifdef CONFIG_MPU9250_SPI
/* If we're connected to SPI, use that function. */
if (dev->config.spi != NULL)
{
return mpu9250_write_reg_spi(dev, reg_addr, buf, len);
}
#else
if (dev->config.i2c != NULL)
{
return mpu9250_write_reg_i2c(dev, reg_addr, buf, len);
}
#endif
/* If we get this far, it's because we can't "find" our device. */
return -ENODEV;
}
/****************************************************************************
* mpu9250_write_reg_verify
*
* Description:
* write a 8-bit register value by address
* read back a 8-bit register value by address to verify
*
* Returns number of bytes read, or a negative errno.
****************************************************************************/
static int mpu9250_write_reg_verify(FAR struct mpu9250_dev_s *dev,
enum mpu9250_regaddr_e reg_addr,
uint8_t val, uint8_t mask)
{
int ret;
uint8_t b;
int retry = 5;
bool err;
while (retry)
{
err = false;
--retry;
ret = mpu9250_write_reg(dev, reg_addr, &val, sizeof(val));
if (ret < 0)
{
err = true;
continue;
}
ret = mpu9250_read_reg(dev, reg_addr, &b, sizeof(b));
if (ret < 0)
{
err = true;
continue;
}
if ((b & mask) != val)
{
continue;
}
else
{
return 0;
}
}
if (err)
{
snerr("write_reg_verify failed at reg %d. Error %d.", reg_addr, ret);
}
else
{
snerr("write_reg_verify failed at reg %d. %d!=%d", reg_addr, val, b);
}
return ret;
}
/****************************************************************************
* mpu9250_modify_reg()
*
* Description:
* Modify a 8-bit register value by address
* mpu9250_modify_reg(d,v,m,a) defined as:
* mpu9250_write_reg(d,(mpu9250_read_reg(d,a) & ~(m)) | ((v) & (m)), (a))
*
* Note: The caller must hold @dev->lock before calling this function.
*
* Returns number of bytes written, or a negative errno.
****************************************************************************/
static inline int mpu9250_modify_reg(FAR struct mpu9250_dev_s *dev,
enum mpu9250_regaddr_e reg_addr,
uint8_t clearbits, uint8_t setbits)
{
uint8_t buf = 0xff;
mpu9250_read_reg(dev, reg_addr, &buf, sizeof(buf));
buf = (buf & ~clearbits) | (setbits & clearbits);
return mpu9250_write_reg(dev, reg_addr, &buf, sizeof(buf));
}
/****************************************************************************
* mpu9250_read_imu()
*
* Reads the whole IMU data file from @dev in one uninterrupted pass,
* placing the sampled values into @buf. This function is the only way
* to guarantee that the measured values are sampled as closely-spaced
* in time as the hardware permits, which is almost always what you
* want.
****************************************************************************/
static inline int mpu9250_read_imu(FAR struct mpu9250_dev_s *dev,
FAR struct sensor_data_s *buf)
{
return mpu9250_read_reg(dev, ACCEL_XOUT_H, (uint8_t *) buf, sizeof(*buf));
}
/* mpu9250_read_pwr_mgmt_1()
*
* Returns the value of the PWR_MGMT_1 register from @dev.
*/
static inline uint8_t mpu9250_read_pwr_mgmt_1(FAR struct mpu9250_dev_s *dev)
{
uint8_t buf = 0xff;
mpu9250_read_reg(dev, PWR_MGMT_1, &buf, sizeof(buf));
return buf;
}
static inline int mpu9250_write_signal_reset(FAR struct mpu9250_dev_s *dev,
uint8_t val)
{
return mpu9250_write_reg(dev, SIGNAL_PATH_RESET, &val, sizeof(val));
}
static inline int mpu9250_write_int_pin_cfg(FAR struct mpu9250_dev_s *dev,
uint8_t val)
{
return mpu9250_write_reg(dev, INT_PIN_CFG, &val, sizeof(val));
}
static inline int mpu9250_write_pwr_mgmt_1(FAR struct mpu9250_dev_s *dev,
uint8_t val)
{
return mpu9250_write_reg(dev, PWR_MGMT_1, &val, sizeof(val));
}
static inline int mpu9250_write_pwr_mgmt_2(FAR struct mpu9250_dev_s *dev,
uint8_t val)
{
return mpu9250_write_reg(dev, PWR_MGMT_2, &val, sizeof(val));
}
static inline int mpu9250_write_user_ctrl(FAR struct mpu9250_dev_s *dev,
uint8_t val)
{
return mpu9250_write_reg(dev, USER_CTRL, &val, sizeof(val));
}
static inline int mpu9250_write_fifo_en(FAR struct mpu9250_dev_s *dev,
uint8_t val)
{
return mpu9250_write_reg(dev, FIFO_EN, &val, sizeof(val));
}
/****************************************************************************
* mpu9250_write_gyro_range() :
*
* Sets the @fs_sel bit in GYRO_CONFIG to the value provided. Per the
* datasheet, the meaning of @fs_sel is as follows:
*
* GYRO_CONFIG(0x1b) : XG_ST YG_ST ZG_ST FS_SEL1 FS_SEL0 x x x
*
* XG_ST, YG_ST, ZG_ST : self-test (unsupported in this driver)
* 1 -> activate self-test on X, Y, and/or Z gyros
*
* FS_SEL[10] : full-scale range select
* 0 -> ± 250 deg/sec
* 1 -> ± 500 deg/sec
* 2 -> ± 1000 deg/sec
* 3 -> ± 2000 deg/sec
****************************************************************************/
static inline int mpu9250_write_gyro_range(FAR struct mpu9250_dev_s *dev,
uint8_t fs_sel)
{
uint8_t val = TO_BITFIELD(GYRO_CONFIG_FS_SEL, fs_sel);
return mpu9250_write_reg(dev, GYRO_CONFIG, &val, sizeof(val));
}
/****************************************************************************
* mpu9250_write_accel_range() :
*
* Sets the @afs_sel bit in ACCEL_CONFIG to the value provided. Per
* the datasheet, the meaning of @afs_sel is as follows:
*
* ACCEL_CONFIG(0x1c) : XA_ST YA_ST ZA_ST AFS_SEL1 AFS_SEL0 x x x
*
* XA_ST, YA_ST, ZA_ST : self-test (unsupported in this driver)
* 1 -> activate self-test on X, Y, and/or Z accelerometers
*
* AFS_SEL[10] : full-scale range select
* 0 -> ± 2 g
* 1 -> ± 4 g
* 2 -> ± 8 g
* 3 -> ± 16 g
****************************************************************************/
static inline int mpu9250_write_accel_range(FAR struct mpu9250_dev_s *dev,
uint8_t afs_sel)
{
uint8_t val = TO_BITFIELD(ACCEL_CONFIG_AFS_SEL, afs_sel);
return mpu9250_write_reg(dev, ACCEL_CONFIG, &val, sizeof(val));
}
/****************************************************************************
* CONFIG (0x1a) : x x EXT_SYNC_SET[2..0] DLPF_CFG[2..0]
*
* EXT_SYNC_SET : frame sync bit position
* DLPF_CFG : digital low-pass filter bandwidth
****************************************************************************/
static inline int mpu9250_write_config(FAR struct mpu9250_dev_s *dev,
uint8_t ext_sync_set, uint8_t dlpf_cfg)
{
uint8_t val = TO_BITFIELD(CONFIG_EXT_SYNC_SET, ext_sync_set) |
TO_BITFIELD(CONFIG_DLPF_CFG, dlpf_cfg);
return mpu9250_write_reg(dev, MPU9250_CONFIG, &val, sizeof(val));
}
/****************************************************************************
* CONFIG2 (0x1d) : x x accel_fchoice_b A_DLPF_CFG[2..0]
*
* accel_fchoice_b : he inverted version of accel_fchoice
* A_DLPF_CFG : Accelerometer low pass filter setting
****************************************************************************/
static inline int mpu9250_write_config2(FAR struct mpu9250_dev_s *dev,
uint8_t acce_fchoice_b,
uint8_t a_dlpf_cfg)
{
uint8_t val = acce_fchoice_b | TO_BITFIELD(CONFIG2_A_DLPF_CFG, a_dlpf_cfg);
return mpu9250_write_reg(dev, ACCEL_CONFIG2, &val, sizeof(val));
}
/****************************************************************************
* Name: mpu9250_initialize
*
* Description: Initialize IMU and AK8963 magnetometer inside the MPU9250
*
* Parameter:
* dev - Internal private lower half driver instance
*
* Return:
* OK - on success
****************************************************************************/
static int mpu9250_initialize(FAR struct mpu9250_dev_s *dev)
{
int ret = OK;
#ifdef CONFIG_MPU9250_SPI
if (dev->config.spi == NULL)
{
return -EINVAL;
}
#else
if (dev->config.i2c == NULL)
{
return -EINVAL;
}
#endif
nxmutex_lock(&dev->lock);
/* Awaken chip, issue hardware reset */
ret = mpu9250_write_pwr_mgmt_1(dev, PWR_MGMT_1_DEVICE_RESET);
if (ret < 0)
{
snerr("mpu9250 write_pwr_mgmt_1 error!\n");
goto errout;
}
/* Wait for reset cycle to finish (note: per the datasheet, we don't need
* to hold NSS for this)
*/
do
{
nxsig_usleep(50000); /* usecs (arbitrary) */
}
while (mpu9250_read_pwr_mgmt_1(dev) & PWR_MGMT_1_DEVICE_RESET);
/* Reset signal paths */
ret = mpu9250_write_signal_reset(dev, SIGNAL_PATH_RESET_ALL_RESET);
if (ret < 0)
{
snerr("mpu9250 write_signal_path_reset error!\n");
goto errout;
}
nxsig_usleep(1000);
/* Disable SLEEP, use PLL with z-axis clock source */
ret = mpu9250_write_pwr_mgmt_1(dev, 3);
if (ret < 0)
{
snerr("mpu9250 write_pwr_mgmt_1 error!\n");
goto errout;
}
nxsig_usleep(1000);
/* Disable low-power mode, enable all gyros and accelerometers */
ret = mpu9250_write_pwr_mgmt_2(dev, 0);
if (ret < 0)
{
snerr("mpu9250 write_pwr_mgmt_2 error!\n");
goto errout;
}
nxsig_usleep(1000);
/* clear first, and separate *_RST from *_EN */
ret = mpu9250_write_user_ctrl(dev, 0);
if (ret < 0)
{
snerr("mpu9250 write_user_ctrl error!\n");
goto errout;
}
nxsig_usleep(1000);
ret = mpu9250_write_fifo_en(dev, 0);
if (ret < 0)
{
snerr("mpu9250 write_fifo_en error!\n");
goto errout;
}
nxsig_usleep(1000);
/* Reset I2C Master module. */
ret = mpu9250_write_user_ctrl(dev, USER_CTRL_FIFO_RST |
USER_CTRL_I2C_MST_RST |
USER_CTRL_SIG_COND_RST);
if (ret < 0)
{
snerr("mpu9250 write_user_ctrl error!\n");
goto errout;
}
nxsig_usleep(1000);
/* Disable i2c if we're on spi. */
#ifdef CONFIG_MPU9250_SPI
if (dev->config.spi)
{
ret = mpu9250_write_user_ctrl(dev, USER_CTRL_I2C_MST_EN |
USER_CTRL_I2C_IF_DIS);
}
#else
if (dev->config.i2c)
{
ret = mpu9250_write_user_ctrl(dev, USER_CTRL_I2C_MST_EN);
}
#endif
if (ret < 0)
{
snerr("mpu9250 write_user_ctrl error!\n");
goto errout;
}
nxsig_usleep(1000);
/* default No FSYNC, set accel LPF at 184 Hz, gyro LPF at 188 Hz in
* menuconfig
*/
ret = mpu9250_write_config(dev, CONFIG_MPU9250_EXT_SYNC_SET,
CONFIG_MPU9250_DLPF_CFG);
if (ret < 0)
{
snerr("mpu9250 write_config error!\n");
goto errout;
}
nxsig_usleep(1000);
/* default ± 1000 deg/sec in menuconfig */
ret = mpu9250_write_gyro_range(dev, CONFIG_MPU9250_GYRO_FS_SEL);
if (ret < 0)
{
snerr("mpu9250 write_gyro_range error!\n");
goto errout;
}
nxsig_usleep(1000);
/* default ± 8g in menuconfig */
ret = mpu9250_write_accel_range(dev, CONFIG_MPU9250_ACCEL_AFS_SEL);
if (ret < 0)
{
snerr("mpu9250 write_accel_range error!\n");
goto errout;
}
nxsig_usleep(1000);
/* Accelerometer low pass filter setting */
ret = mpu9250_write_config2(dev, CONFIG_MPU9250_ACCEL_FCHOICE_B,
CONFIG_MPU9250_A_DLPF_CFG);
if (ret < 0)
{
snerr("mpu9250 write_config2 error!\n");
goto errout;
}
nxsig_usleep(1000);
/* clear INT on any read (we aren't using that pin right now) */
ret = mpu9250_write_int_pin_cfg(dev, INT_PIN_CFG_INT_RD_CLEAR);
if (ret < 0)
{
snerr("mpu9250 write int pin cfg error!\n");
goto errout;
}
nxsig_usleep(1000);
/* Initialize ak8963 magnetometer inside the IMU */
ret = ak8963_initialize(dev, CONFIG_MPU9250_MEASURE_FREQ);
if (ret < 0)
{
snerr("ak8963 initialize error!\n");
goto errout;
}
errout:
nxmutex_unlock(&dev->lock);
return ret;
}
/****************************************************************************
* Name: ak8963_initialize
*
* Description: Initialize AK8963 magnetometer inside the IMU
*
* Parameter:
* dev - Internal private lower half driver instance
* measure_freq - Data output_rate_in_hz
*
* Return:
* OK - on success
****************************************************************************/
static int ak8963_initialize(FAR struct mpu9250_dev_s *dev,
int measure_freq)
{
uint8_t val = 0;
int ret = 0;
/* Enable the IMU extended I2C master. */
ret = mpu9250_modify_reg(dev, USER_CTRL, USER_CTRL_I2C_MST_EN,
USER_CTRL_I2C_MST_EN);
if (ret < 0)
{
snerr("MPU9250 I2C master bus enable failed: %d\n", ret);
return ret;
}
/* Configure the IMU as an I2C master at 400 KHz. */
val = 0x0d;
ret = mpu9250_write_reg(dev, I2C_MST_CTRL, &val, sizeof(val));
if (ret < 0)
{
snerr("MPU9250 I2C master bus clock set failed: %d\n", ret);
return ret;
}
nxsig_usleep(1000);
/* First set power-down mode */
val = BIT_MAG_CNTL2_SOFT_RESET;
ret = mpu9250_write_reg(dev, MPU9250_MAG_REG_CNTL2, &val, sizeof(val));
if (ret < 0)
{
snerr("MPU9250 soft reset failed: %d\n", ret);
/* Reset i2c master */
mpu9250_modify_reg(dev, USER_CTRL, USER_CTRL_I2C_MST_RST,
USER_CTRL_I2C_MST_RST);
return ret;
}
nxsig_usleep(1000);
/* get mag version ID */
ret = read_ak8963_reg(dev, MPU9250_MAG_REG_WIA, &val);
if (ret < 0)
{
snerr("error reading mag whoami reg: %d", ret);
return ret;
}
/* Detect mag presence by reading whoami register */
if (val != MPU9250_AKM_DEV_ID)
{
snerr("wrong mag ID %u (expected %u)", val, MPU9250_AKM_DEV_ID);
return -1;
}
/* Get mag calibraion data from Fuse ROM */
ret = get_mag_adjustment(dev);
if (ret < 0)
{
snerr("Unable to read mag sensitivity adjustment");
return ret;
}
/* Power on and configure the mag in 100Hz measurement mode */
ret = write_ak8963_reg(dev, MPU9250_MAG_REG_CNTL1, BIT_MAG_CNTL1_16_BITS |
BIT_MAG_CNTL1_MODE_CONTINUOUS_MEASURE_MODE_2);
if (ret < 0)
{
snerr("Unable to configure the magnetometer mode.");
return ret;
}
nxsig_usleep(1000);
/* Slave 0 provides ST1, mag data, and ST2 data in a bulk transfer of
* 8 bytes of data. Use the address of ST1 in SLV0_REG as the beginning
* register of the 8 byte bulk transfer.
*/
val = MPU9250_AK8963_I2C_ADDR | MPU9250_AK8963_I2C_READ;
ret = mpu9250_write_reg(dev, I2C_SLV0_ADDR, &val, sizeof(val));
if (ret < 0)
{
snerr("MPU9250 I2C slave 0 address configuration failed.");
return ret;
}
val = MPU9250_MAG_REG_ST1;
ret = mpu9250_write_reg(dev, I2C_SLV0_REG, &val, sizeof(val));
if (ret < 0)
{
snerr("MPU9250 I2C slave 0 register configuration failed.");
return ret;
}
val = BITS_I2C_SLV0_EN | BITS_I2C_SLV0_READ_8BYTES;
ret = mpu9250_write_reg(dev, I2C_SLV0_CTRL, &val, sizeof(val));
if (ret < 0)
{
snerr("MPU9250 I2C slave 0 control configuration failed.");
return ret;
}
nxsig_usleep(1000);
/* Enable reading of the mag every n samples, dividing down from the
* output data rate provided by the caller.
*/
val = measure_freq / 100;
ret = mpu9250_write_reg(dev, I2C_SLV4_CTRL, &val, sizeof(val));
if (ret < 0)
{
snerr("Unable to configure I2C delay from given output data rate.");
return ret;
}
nxsig_usleep(1000);
/* Enable delayed I2C transfers for the mag on Slave 0 registers. */
val = BITS_SLV0_DLY_EN;
ret = mpu9250_write_reg(dev, I2C_MST_DELAY_CTRL, &val, sizeof(val));
if (ret < 0)
{
snerr("Unable to enable the I2C delay on slave 0.");
return ret;
}
nxsig_usleep(1000);
return 0;
}
/****************************************************************************
* Name: get_mag_adjustment
*
* Description: Get mag calibraion data from Fuse ROM
*
* Parameter:
* dev - Internal private lower half driver instance
*
* Return:
* OK - on success
****************************************************************************/
static int get_mag_adjustment(FAR struct mpu9250_dev_s *dev)
{
FAR struct mpu9250_sensor_s *priv = &dev->priv[MPU9250_MAG_IDX];
int ret = 0;
uint8_t asa;
int i = 0;
/* First set power-down mode */
ret = write_ak8963_reg(dev, MPU9250_MAG_REG_CNTL1,
BIT_MAG_CNTL1_MODE_POWER_DOWN);
if (ret < 0)
{
return ret;
}
nxsig_usleep(10000);
/* Enable FUSE ROM, since the sensitivity adjustment data is stored in
* compass registers 0x10, 0x11 and 0x12 which is only accessible in Fuse
* access mode.
*/
ret = write_ak8963_reg(dev, MPU9250_MAG_REG_CNTL1, BIT_MAG_CNTL1_16_BITS |
BIT_MAG_CNTL1_FUSE_ROM_ACCESS_MODE);
if (ret < 0)
{
return ret;
}
nxsig_usleep(10000);
/* Get compass calibration register 0x10, 0x11, 0x12 store into context */
for (i = 0; i < 3; ++i)
{
ret = read_ak8963_reg(dev, MPU9250_MAG_REG_ASAX + i, &asa);
if (ret < 0)
{
return ret;
}
/* H_adj = H * ((ASA-128)*0.5/128 + 1)
* = H * ((ASA-128) / 256 + 1)
* H is the raw compass reading.
*/
priv->adj[i] = (((float)asa - 128.0f) / 256.0f) + 1.0f;
}
/* Leave in a power-down mode */
ret = write_ak8963_reg(dev, MPU9250_MAG_REG_CNTL1,
BIT_MAG_CNTL1_MODE_POWER_DOWN);
if (ret < 0)
{
return ret;
}
nxsig_usleep(10000);
return 0;
}
/****************************************************************************
* Name: read_ak8963_reg
*
* Description: Read register of AK8963 by extended I2C bus
*
* Parameter:
* dev - Internal private lower half driver instance
* reg - register address of AK8963
* val - Point to the data read from AK8963
*
* Return:
* OK - on success
****************************************************************************/
static int read_ak8963_reg(FAR struct mpu9250_dev_s *dev,
enum mpu9250_regaddr_e reg, FAR uint8_t *val)
{
int ret = 0;
uint8_t b = 0;
int loop_ctrl = 1000; /* wait up to 1000 * 1ms for completion */
/* Read operation on the mag using the slave 4 registers */
ret = mpu9250_write_reg_verify(dev, I2C_SLV4_ADDR, MPU9250_AK8963_I2C_ADDR
| MPU9250_AK8963_I2C_READ, 0xff);
if (ret < 0)
{
return ret;
}
/* Set the mag register to read from */
ret = mpu9250_write_reg_verify(dev, I2C_SLV4_REG, reg, 0xff);
if (ret < 0)
{
return ret;
}
/* Read the existing value of the SLV4 control register */
ret = mpu9250_read_reg(dev, I2C_SLV4_CTRL, &b, sizeof(b));
if (ret < 0)
{
return ret;
}
/* Set the I2C_SLV4_EN bit in I2C_SL4_CTRL register without overwriting
* other bits. Enable data transfer, a read transfer as configured above.
*/
b |= BITS_I2C_SLV4_EN;
/* Trigger the data transfer */
ret = mpu9250_write_reg(dev, I2C_SLV4_CTRL, &b, sizeof(b));
if (ret < 0)
{
return ret;
}
/* Continuously check I2C_MST_STATUS register value for the completion
* of I2C transfer until timeout
*/
do
{
nxsig_usleep(1000);
ret = mpu9250_read_reg(dev, I2C_MST_STATUS, &b, sizeof(b));
if (ret < 0)
{
return ret;
}
}
while (((b & BITS_I2C_SLV4_DONE) == 0x00) && (--loop_ctrl));
if (loop_ctrl == 0)
{
snerr("I2C transfer timed out");
return -1;
}
/* Read the value received from the mag */
ret = mpu9250_read_reg(dev, I2C_SLV4_DI, val, sizeof(*val));
if (ret < 0)
{
return ret;
}
return 0;
}
/****************************************************************************
* Name: write_ak8963_reg
*
* Description: Write register of AK8963 by extended I2C bus
*
* Parameter:
* dev - Internal private lower half driver instance
* reg - register address of AK8963
* val - 8bit data will be write into AK8963 register
*
* Return:
* OK - on success
****************************************************************************/
static int write_ak8963_reg(FAR struct mpu9250_dev_s *dev,
enum mpu9250_regaddr_e reg, uint8_t val)
{
int ret = 0;
uint8_t b = 0;
int loop_ctrl = 1000; /* wait up to 1000 * 1ms for completion */
/* Configure a write operation to the mag using Slave 4 */
ret = mpu9250_write_reg_verify(dev, I2C_SLV4_ADDR,
MPU9250_AK8963_I2C_ADDR, 0xff);
if (ret < 0)
{
return ret;
}
/* Set the mag register address to write to using Slave 4 */
ret = mpu9250_write_reg_verify(dev, I2C_SLV4_REG, reg, 0xff);
if (ret < 0)
{
return ret;
}
/* Set the value to write in the I2C_SLV4_DO register */
ret = mpu9250_write_reg_verify(dev, I2C_SLV4_DO, val, 0xff);
if (ret < 0)
{
return ret;
}
/* Read the current value of the Slave 4 control register */
ret = mpu9250_read_reg(dev, I2C_SLV4_CTRL, &b, sizeof(b));
if (ret < 0)
{
return ret;
}
/* Set I2C_SLV4_EN bit in I2C_SL4_CTRL register without overwriting other
* bits.
*/
b |= BITS_I2C_SLV4_EN;
/* Trigger the data transfer from the byte now stored in the SLV4_DO
* register.
*/
ret = mpu9250_write_reg(dev, I2C_SLV4_CTRL, &b, sizeof(b));
if (ret < 0)
{
return ret;
}
/* Continuously check I2C_MST_STATUS regsiter value for the completion
* of I2C transfer until timeout.
*/
do
{
nxsig_usleep(1000);
ret = mpu9250_read_reg(dev, I2C_MST_STATUS, &b, sizeof(b));
if (ret < 0)
{
return ret;
}
}
while (((b & BITS_I2C_SLV4_DONE) == 0x00) && (--loop_ctrl));
if (loop_ctrl == 0)
{
snerr("I2C transfer to mag timed out");
return -1;
}
return 0;
}
/****************************************************************************
* Name: swap16
*
* Description: swap H and L byte of a 16bit Data
*
* Parameter:
* val - Big endian Data
*
* Return:
* do nothing if Big endian, swap H and L byte if little endian
****************************************************************************/
static uint16_t swap16(uint16_t val)
{
#ifdef CONFIG_ENDIAN_BIG
return val;
#else
return (val >> 8) | (val << 8);
#endif
}
/****************************************************************************
* Name: mpu9250_accel_data
*
* Description: get and push accel data from struct sensor_data_s
*
* Parameter:
* priv - Internal private lower half driver instance
* buf - Point to struct sensor_data_s
*
* Return:
* OK - on success
****************************************************************************/
static void mpu9250_accel_data(FAR struct mpu9250_sensor_s *priv,
FAR struct sensor_data_s *buf)
{
FAR struct sensor_lowerhalf_s *lower = &priv->lower;
uint64_t now = sensor_get_timestamp();
struct sensor_accel accel;
if (!priv->enabled || now - priv->last_update < priv->interval)
{
return;
}
priv->last_update = now;
accel.timestamp = now;
accel.x = (int16_t)swap16(buf->x_accel) * priv->scale;
accel.y = (int16_t)swap16(buf->y_accel) * priv->scale;
accel.z = (int16_t)swap16(buf->z_accel) * priv->scale;
accel.temperature = swap16(buf->temp) / 333.87f + 21.0f;
lower->push_event(lower->priv, &accel, sizeof(accel));
sninfo("Accel: %.3fm/s^2 %.3fm/s^2 %.3fm/s^2, t:%.1f\n",
accel.x, accel.y, accel.z, accel.temperature);
}
/****************************************************************************
* Name: mpu9250_gyro_data
*
* Description: get and push gyro data from struct sensor_data_s
*
* Parameter:
* priv - Internal private lower half driver instance
* buf - Point to struct sensor_data_s
*
* Return:
* OK - on success
****************************************************************************/
static void mpu9250_gyro_data(FAR struct mpu9250_sensor_s *priv,
FAR struct sensor_data_s *buf)
{
FAR struct sensor_lowerhalf_s *lower = &priv->lower;
uint64_t now = sensor_get_timestamp();
struct sensor_gyro gyro;
if (!priv->enabled || now - priv->last_update < priv->interval)
{
return;
}
priv->last_update = now;
gyro.timestamp = now;
gyro.x = (int16_t)swap16(buf->x_gyro) * priv->scale;
gyro.y = (int16_t)swap16(buf->y_gyro) * priv->scale;
gyro.z = (int16_t)swap16(buf->z_gyro) * priv->scale;
gyro.temperature = swap16(buf->temp) / 333.87f + 21.0f;
lower->push_event(lower->priv, &gyro, sizeof(gyro));
sninfo("Gyro: %.3frad/s %.3frad/s %.3frad/s, t:%.1f\n",
gyro.x, gyro.y, gyro.z, gyro.temperature);
}
/****************************************************************************
* Name: mpu9250_mag_data
*
* Description: get and push magnetometer data from struct sensor_data_s
*
* Parameter:
* priv - Internal private lower half driver instance
* buf - Point to struct sensor_data_s
*
* Return:
* OK - on success
****************************************************************************/
static void mpu9250_mag_data(FAR struct mpu9250_sensor_s *priv,
FAR struct sensor_data_s *buf)
{
FAR struct sensor_lowerhalf_s *lower = &priv->lower;
uint64_t now = sensor_get_timestamp();
struct sensor_mag mag;
float temp_mag_x;
if (!priv->enabled || now - priv->last_update < priv->interval)
{
return;
}
priv->last_update = now;
mag.timestamp = now;
mag.x = (int16_t)buf->x_mag * priv->adj[0] * priv->scale;
mag.y = (int16_t)buf->y_mag * priv->adj[1] * priv->scale;
mag.z = (int16_t)buf->z_mag * priv->adj[2] * priv->scale;
/* Swap magnetometer x and y axis, and invert z because internal mag in
* MPU9250 has a different orientation.
* Magnetometer X axis = Gyro and Accel Y axis
* Magnetometer Y axis = Gyro and Accel X axis
* Magnetometer Z axis = -Gyro and Accel Z axis
*/
temp_mag_x = mag.x;
mag.x = mag.y;
mag.y = temp_mag_x;
mag.z = -mag.z;
mag.temperature = swap16(buf->temp) / 333.87f + 21.0f;
lower->push_event(lower->priv, &mag, sizeof(mag));
sninfo("Mag: %.3fuT %.3fuT %.3fuT, t:%.1f\n",
mag.x, mag.y, mag.z, mag.temperature);
}
/****************************************************************************
* Name: mpu9250_thread
*
* Description: Thread for performing interval measurement cycle and data
* read.
*
* Parameter:
* argc - Number opf arguments
* argv - Pointer to argument list
****************************************************************************/
static int mpu9250_thread(int argc, FAR char **argv)
{
FAR struct mpu9250_dev_s *dev = (FAR struct mpu9250_dev_s *)
((uintptr_t)strtoul(argv[1], NULL, 0));
FAR struct mpu9250_sensor_s *accel = &dev->priv[MPU9250_ACCEL_IDX];
FAR struct mpu9250_sensor_s *gyro = &dev->priv[MPU9250_GYRO_IDX];
FAR struct mpu9250_sensor_s *mag = &dev->priv[MPU9250_MAG_IDX];
struct sensor_data_s buf; /* temporary buffer (for read(), etc.) */
unsigned long min_interval;
int ret;
while (true)
{
if ((!accel->enabled) && (!gyro->enabled) && (!mag->enabled))
{
/* Waiting to be woken up */
ret = nxsem_wait(&dev->run);
if (ret < 0)
{
continue;
}
}
/* Returns a snapshot of the accelerometer, temperature, and gyro
* registers.
*
* Note: the chip uses traditional, twos-complement notation, i.e. "0"
* is encoded as 0, and full-scale-negative is 0x8000, and
* full-scale-positive is 0x7fff. If we read the registers
* sequentially and directly into memory (as we do), the measurements
* from each sensor are captured as big endian words.
*/
ret = mpu9250_read_imu(dev, &buf);
if (ret < 0)
{
continue;
}
mpu9250_accel_data(accel, &buf);
mpu9250_gyro_data(gyro, &buf);
mpu9250_mag_data(mag, &buf);
/* Sleeping thread before fetching the next sensor data */
min_interval = MIN(accel->interval, gyro->interval);
min_interval = MIN(min_interval, mag->interval);
nxsig_usleep(min_interval);
}
return OK;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: mpu9250_register
*
* Description:
* Registers the mpu9250 character device
*
* Input Parameters:
* devno - Instance number for driver
* config - Configuration information
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int mpu9250_register(int devno, FAR struct mpu9250_config_s *config)
{
FAR struct mpu9250_dev_s *dev;
FAR struct mpu9250_sensor_s *tmp;
FAR char *argv[2];
char arg1[32];
int ret;
/* Without config info, we can't do anything. */
if (config == NULL)
{
return -EINVAL;
}
/* Initialize the device structure. */
dev = (FAR struct mpu9250_dev_s *)kmm_malloc(sizeof(struct mpu9250_dev_s));
if (dev == NULL)
{
snerr("ERROR: Failed to allocate mpu9250 device instance\n");
return -ENOMEM;
}
memset(dev, 0, sizeof(*dev));
nxmutex_init(&dev->lock);
/* Keep a copy of the config structure, in case the caller discards
* theirs.
*/
dev->config = *config;
/* Accelerometer register */
tmp = &dev->priv[MPU9250_ACCEL_IDX];
tmp->lower.ops = &g_mpu9250_ops;
tmp->lower.type = SENSOR_TYPE_ACCELEROMETER;
tmp->lower.nbuffer = 1;
tmp->dev = dev;
tmp->interval = 1000000 / CONFIG_MPU9250_MEASURE_FREQ;
tmp->enabled = true;
ret = sensor_register(&tmp->lower, devno);
if (ret < 0)
{
goto accel_err;
}
mpu9250_accel_scale(tmp, CONFIG_MPU9250_ACCEL_AFS_SEL);
/* Gyroscope register */
tmp = &dev->priv[MPU9250_GYRO_IDX];
tmp->lower.ops = &g_mpu9250_ops;
tmp->lower.type = SENSOR_TYPE_GYROSCOPE;
tmp->lower.nbuffer = 1;
tmp->dev = dev;
tmp->interval = 1000000 / CONFIG_MPU9250_MEASURE_FREQ;
tmp->enabled = false;
ret = sensor_register(&tmp->lower, devno);
if (ret < 0)
{
goto gyro_err;
}
mpu9250_gyro_scale(tmp, CONFIG_MPU9250_GYRO_FS_SEL);
/* Magnetic register */
tmp = &dev->priv[MPU9250_MAG_IDX];
tmp->lower.ops = &g_mpu9250_ops;
tmp->lower.type = SENSOR_TYPE_MAGNETIC_FIELD;
tmp->lower.nbuffer = 1;
tmp->dev = dev;
tmp->interval = 1000000 / CONFIG_MPU9250_MEASURE_FREQ;
ret = sensor_register(&tmp->lower, devno);
tmp->enabled = false;
if (ret < 0)
{
goto mag_err;
}
tmp->scale = MAG_RAW_TO_GAUSS;
/* Reset the chip, to give it an initial configuration. */
ret = mpu9250_initialize(dev);
if (ret < 0)
{
snerr("ERROR: Failed to configure mpu9250: %d\n", ret);
nxmutex_destroy(&dev->lock);
kmm_free(dev);
return ret;
}
/* Create thread for polling sensor data */
snprintf(arg1, 16, "0x%" PRIxPTR, (uintptr_t)dev);
argv[0] = arg1;
argv[1] = NULL;
ret = kthread_create("mpu9250_thread", SCHED_PRIORITY_DEFAULT,
CONFIG_MPU9250_THREAD_STACKSIZE,
mpu9250_thread, argv);
if (ret < 0)
{
goto thr_err;
}
return ret;
thr_err:
sensor_unregister(&dev->priv[MPU9250_MAG_IDX].lower, devno);
mag_err:
sensor_unregister(&dev->priv[MPU9250_GYRO_IDX].lower, devno);
gyro_err:
sensor_unregister(&dev->priv[MPU9250_ACCEL_IDX].lower, devno);
accel_err:
kmm_free(dev);
return ret;
}
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