From 4085ae3ddfbbf10c8ccbd3dccd43452c40a1fe40 Mon Sep 17 00:00:00 2001 From: Yuval Adam Date: Fri, 13 Mar 2015 12:24:52 +0200 Subject: Add bootloader, nfclib and sensorlib --- sensorlib/mpu9150.c | 1180 +++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 1180 insertions(+) create mode 100644 sensorlib/mpu9150.c (limited to 'sensorlib/mpu9150.c') diff --git a/sensorlib/mpu9150.c b/sensorlib/mpu9150.c new file mode 100644 index 0000000..a1515e2 --- /dev/null +++ b/sensorlib/mpu9150.c @@ -0,0 +1,1180 @@ +//***************************************************************************** +// +// mpu9150.c - Driver for the MPU9150 accelerometer, gyroscope, and +// magnetometer. +// +// Copyright (c) 2013-2014 Texas Instruments Incorporated. All rights reserved. +// Software License Agreement +// +// Texas Instruments (TI) is supplying this software for use solely and +// exclusively on TI's microcontroller products. The software is owned by +// TI and/or its suppliers, and is protected under applicable copyright +// laws. You may not combine this software with "viral" open-source +// software in order to form a larger program. +// +// THIS SOFTWARE IS PROVIDED "AS IS" AND WITH ALL FAULTS. +// NO WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT +// NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +// A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. TI SHALL NOT, UNDER ANY +// CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR CONSEQUENTIAL +// DAMAGES, FOR ANY REASON WHATSOEVER. +// +// This is part of revision 2.1.0.12573 of the Tiva Firmware Development Package. +// +//***************************************************************************** + +#include +#include "sensorlib/hw_ak8975.h" +#include "sensorlib/hw_mpu9150.h" +#include "sensorlib/i2cm_drv.h" +#include "sensorlib/ak8975.h" +#include "sensorlib/mpu9150.h" + +//***************************************************************************** +// +//! \addtogroup mpu9150_api +//! @{ +// +//***************************************************************************** + +//***************************************************************************** +// +// The states of the MPU9150 state machine. +// +//***************************************************************************** +#define MPU9150_STATE_IDLE 0 // State machine is idle +#define MPU9150_STATE_LAST 1 // Last step in a sequence +#define MPU9150_STATE_READ 2 // Waiting for read +#define MPU9150_STATE_WRITE 3 // Waiting for write +#define MPU9150_STATE_RMW 4 // Waiting for read modify write +#define MPU9150_STATE_INIT_RESET \ + 5 // reset request issued. +#define MPU9150_STATE_INIT_RESET_WAIT \ + 6 // polling wait for reset complete +#define MPU9150_STATE_INIT_PWR_MGMT \ + 7 // wake up the device. +#define MPU9150_STATE_INIT_USER_CTRL \ + 8 // init user control +#define MPU9150_STATE_INIT_SAMPLE_RATE_CFG \ + 9 // init the sensors and filters +#define MPU9150_STATE_INIT_I2C_SLAVE_DLY \ + 10 // set the ak8975 polling delay +#define MPU9150_STATE_INIT_I2C_SLAVE_0 \ + 11 // config ak8975 automatic read +#define MPU9150_STATE_RD_DATA 12 // Waiting for data read + +//***************************************************************************** +// +// The factors used to convert the acceleration readings from the MPU9150 into +// floating point values in meters per second squared. +// +// Values are obtained by taking the g conversion factors from the data sheet +// and multiplying by 9.81 (1 g = 9.81 m/s^2). +// +//***************************************************************************** +static const float g_fMPU9150AccelFactors[] = +{ + 0.0005985482, // Range = +/- 2 g (16384 lsb/g) + 0.0011970964, // Range = +/- 4 g (8192 lsb/g) + 0.0023941928, // Range = +/- 8 g (4096 lsb/g) + 0.0047883855 // Range = +/- 16 g (2048 lsb/g) +}; + +//***************************************************************************** +// +// The factors used to convert the acceleration readings from the MPU9150 into +// floating point values in radians per second. +// +// Values are obtained by taking the degree per second conversion factors +// from the data sheet and then converting to radians per sec (1 degree = +// 0.0174532925 radians). +// +//***************************************************************************** +static const float g_fMPU9150GyroFactors[] = +{ + 1.3323124e-4, // Range = +/- 250 dps (131.0) + 2.6646248e-4, // Range = +/- 500 dps (65.5) + 5.3211258e-4, // Range = +/- 1000 dps (32.8) + 0.0010642252 // Range = +/- 2000 dps (16.4) +}; + +//***************************************************************************** +// +// Converting sensor data to tesla (0.3 uT per LSB) +// +//***************************************************************************** +#define CONVERT_TO_TESLA 0.0000003 + +//***************************************************************************** +// +// The callback function that is called when I2C transations to/from the +// MPU9150 have completed. +// +//***************************************************************************** +static void +MPU9150Callback(void *pvCallbackData, uint_fast8_t ui8Status) +{ + tMPU9150 *psInst; + + // + // Convert the instance data into a pointer to a tMPU9150 structure. + // + psInst = pvCallbackData; + + // + // If the I2C master driver encountered a failure, force the state machine + // to the idle state (which will also result in a callback to propagate the + // error). Except in the case that we are in the reset wait state and the + // error is an address NACK. This error is handled by the reset wait + // state. + // + if((ui8Status != I2CM_STATUS_SUCCESS) && + !((ui8Status == I2CM_STATUS_ADDR_NACK) && + (psInst->ui8State == MPU9150_STATE_INIT_RESET_WAIT))) + { + psInst->ui8State = MPU9150_STATE_IDLE; + } + + // + // Determine the current state of the MPU9150 state machine. + // + switch(psInst->ui8State) + { + // + // All states that trivially transition to IDLE, and all unknown + // states. + // + case MPU9150_STATE_READ: + case MPU9150_STATE_LAST: + case MPU9150_STATE_RD_DATA: + default: + { + // + // The state machine is now idle. + // + psInst->ui8State = MPU9150_STATE_IDLE; + + // + // Done. + // + break; + } + + // + // MPU9150 Device reset was issued + // + case MPU9150_STATE_INIT_RESET: + { + // + // Issue a read of the status register to confirm reset is done. + // + psInst->uCommand.pui8Buffer[0] = MPU9150_O_PWR_MGMT_1; + I2CMRead(psInst->psI2CInst, psInst->ui8Addr, + psInst->uCommand.pui8Buffer, 1, psInst->pui8Data, 1, + MPU9150Callback, psInst); + + psInst->ui8State = MPU9150_STATE_INIT_RESET_WAIT; + break; + } + + // + // Status register was read, check if reset is done before proceeding. + // + case MPU9150_STATE_INIT_RESET_WAIT: + { + // + // Check the value read back from status to determine if device + // is still in reset or if it is ready. Reset state for this + // register is 0x40, which has sleep bit set. Device may also + // respond with an address NACK during very early stages of the + // its internal reset. Keep polling until we verify device is + // ready. + // + if((psInst->pui8Data[0] != MPU9150_PWR_MGMT_1_SLEEP) || + (ui8Status == I2CM_STATUS_ADDR_NACK)) + { + // + // Device still in reset so begin polling this register. + // + psInst->uCommand.pui8Buffer[0] = MPU9150_O_PWR_MGMT_1; + I2CMRead(psInst->psI2CInst, psInst->ui8Addr, + psInst->uCommand.pui8Buffer, 1, psInst->pui8Data, 1, + MPU9150Callback, psInst); + + // + // Intentionally stay in this state to create polling effect. + // + } + else + { + // + // Device is out of reset, bring it out of sleep mode. + // + psInst->uCommand.pui8Buffer[0] = MPU9150_O_PWR_MGMT_1; + psInst->uCommand.pui8Buffer[1] = MPU9150_PWR_MGMT_1_CLKSEL_XG; + I2CMWrite(psInst->psI2CInst, psInst->ui8Addr, + psInst->uCommand.pui8Buffer, 2, MPU9150Callback, + psInst); + + // + // Update state to show we are modifing user control and + // power management 1 regs. + // + psInst->ui8State = MPU9150_STATE_INIT_PWR_MGMT; + } + break; + } + + // + // Reset complete now take device out of sleep mode. + // + case MPU9150_STATE_INIT_PWR_MGMT: + { + psInst->uCommand.pui8Buffer[0] = MPU9150_O_USER_CTRL; + psInst->uCommand.pui8Buffer[1] = MPU9150_USER_CTRL_I2C_MST_EN; + I2CMWrite(psInst->psI2CInst, psInst->ui8Addr, + psInst->uCommand.pui8Buffer, 2, MPU9150Callback, + psInst); + + // + // Update state to show we are modifing user control and + // power management 1 regs. + // + psInst->ui8State = MPU9150_STATE_INIT_USER_CTRL; + + break; + } + + // + // Change to power mode complete, device is ready for configuration. + // + case MPU9150_STATE_INIT_USER_CTRL: + { + // + // Load index 0 with the sample rate register number. + // + psInst->uCommand.pui8Buffer[0] = MPU9150_O_SMPLRT_DIV; + + // + // Set sample rate to 50 hertz. 1000 hz / (1 + 19) + // + psInst->uCommand.pui8Buffer[1] = 19; + + I2CMWrite(psInst->psI2CInst, psInst->ui8Addr, + psInst->uCommand.pui8Buffer, 2, MPU9150Callback, psInst); + + // + // update state to show are in process of configuring sensors. + // + psInst->ui8State = MPU9150_STATE_INIT_SAMPLE_RATE_CFG; + break; + } + + // + // Sensor configuration is complete. + // + case MPU9150_STATE_INIT_SAMPLE_RATE_CFG: + { + // + // Write the I2C Master delay control so we only sample the AK + // every 5th time that we sample accel/gyro. Delay Count itself + // handled in next state. + // + psInst->uCommand.pui8Buffer[0] = MPU9150_O_I2C_MST_DELAY_CTRL; + psInst->uCommand.pui8Buffer[1] = + (MPU9150_I2C_MST_DELAY_CTRL_I2C_SLV0_DLY_EN | + MPU9150_I2C_MST_DELAY_CTRL_I2C_SLV4_DLY_EN); + I2CMWrite(psInst->psI2CInst, psInst->ui8Addr, + psInst->uCommand.pui8Buffer, 2, MPU9150Callback, psInst); + + // + // Update state to show we are configuring i2c slave delay between + // slave events. Slave 0 and Slave 4 transaction only occur every + // 5th sample cycle. + // + psInst->ui8State = MPU9150_STATE_INIT_I2C_SLAVE_DLY; + break; + } + + // + // Master slave delay configuration complete. + // + case MPU9150_STATE_INIT_I2C_SLAVE_DLY: + { + // + // Write the configuration for I2C master control clock 400khz + // and wait for external sensor before asserting data ready + // + psInst->uCommand.pui8Buffer[0] = MPU9150_O_I2C_MST_CTRL; + psInst->uCommand.pui8Buffer[1] = + (MPU9150_I2C_MST_CTRL_I2C_MST_CLK_400 | + MPU9150_I2C_MST_CTRL_WAIT_FOR_ES); + + // + // Configure I2C Slave 0 for read of AK8975 (I2C Address 0x0C) + // Start at AK8975 register status 1 + // Read 8 bytes and enable this slave transaction + // + psInst->uCommand.pui8Buffer[2] = MPU9150_I2C_SLV0_ADDR_RW | 0x0C; + psInst->uCommand.pui8Buffer[3] = AK8975_O_ST1; + psInst->uCommand.pui8Buffer[4] = MPU9150_I2C_SLV0_CTRL_EN | 0x08; + I2CMWrite(psInst->psI2CInst, psInst->ui8Addr, + psInst->uCommand.pui8Buffer, 5, MPU9150Callback, psInst); + + // + // Update state. Now in process of configuring slave 0. + // + psInst->ui8State = MPU9150_STATE_INIT_I2C_SLAVE_0; + break; + } + + // + // I2C slave 0 init complete. + // + case MPU9150_STATE_INIT_I2C_SLAVE_0: + { + // + // Write the configuration for I2C Slave 4 transaction to AK8975 + // 0x0c is the AK8975 address on i2c bus. + // we want to write the control register with the value for a + // starting a single measurement. + // + psInst->uCommand.pui8Buffer[0] = MPU9150_O_I2C_SLV4_ADDR; + psInst->uCommand.pui8Buffer[1] = 0x0C; + psInst->uCommand.pui8Buffer[2] = AK8975_O_CNTL; + psInst->uCommand.pui8Buffer[3] = AK8975_CNTL_MODE_SINGLE; + + // + // Enable the SLV4 transaction and set the master delay to + // 0x04 + 1. This means the slave transactions with delay enabled + // will run every fifth accel/gyro sample. + // + psInst->uCommand.pui8Buffer[4] = MPU9150_I2C_SLV4_CTRL_EN | 0x04; + I2CMWrite(psInst->psI2CInst, psInst->ui8Addr, + psInst->uCommand.pui8Buffer, 5, MPU9150Callback, psInst); + + // + // Update state. Now in the final init state. + // + psInst->ui8State = MPU9150_STATE_LAST; + break; + } + + // + // A write just completed + // + case MPU9150_STATE_WRITE: + { + // + // Set the accelerometer and gyroscope ranges to the new values. + // If the register was not modified, the values will be the same so + // this has no effect. + // + psInst->ui8AccelAfsSel = psInst->ui8NewAccelAfsSel; + psInst->ui8GyroFsSel = psInst->ui8NewGyroFsSel; + + // + // The state machine is now idle. + // + psInst->ui8State = MPU9150_STATE_IDLE; + + // + // Done. + // + break; + } + + // + // A read-modify-write just completed + // + case MPU9150_STATE_RMW: + { + // + // See if the PWR_MGMT_1 register was just modified. + // + if(psInst->uCommand.sReadModifyWriteState.pui8Buffer[0] == + MPU9150_O_PWR_MGMT_1) + { + // + // See if a soft reset has been issued. + // + if(psInst->uCommand.sReadModifyWriteState.pui8Buffer[1] & + MPU9150_PWR_MGMT_1_DEVICE_RESET) + { + // + // Default range setting is +/- 2 g + // + psInst->ui8AccelAfsSel = 0; + psInst->ui8NewAccelAfsSel = 0; + + // + // Default range setting is +/- 250 degrees/s + // + psInst->ui8GyroFsSel = 0; + psInst->ui8NewGyroFsSel = 0; + } + } + + // + // See if the GYRO_CONFIG register was just modified. + // + if(psInst->uCommand.sReadModifyWriteState.pui8Buffer[0] == + MPU9150_O_GYRO_CONFIG) + { + // + // Extract the FS_SEL from the GYRO_CONFIG register value. + // + psInst->ui8GyroFsSel = + ((psInst->uCommand.sReadModifyWriteState.pui8Buffer[1] & + MPU9150_GYRO_CONFIG_FS_SEL_M) >> + MPU9150_GYRO_CONFIG_FS_SEL_S); + } + + // + // See if the ACCEL_CONFIG register was just modified. + // + if(psInst->uCommand.sReadModifyWriteState.pui8Buffer[0] == + MPU9150_O_ACCEL_CONFIG) + { + // + // Extract the FS_SEL from the ACCEL_CONFIG register value. + // + psInst->ui8AccelAfsSel = + ((psInst->uCommand.sReadModifyWriteState.pui8Buffer[1] & + MPU9150_ACCEL_CONFIG_AFS_SEL_M) >> + MPU9150_ACCEL_CONFIG_AFS_SEL_S); + } + + // + // The state machine is now idle. + // + psInst->ui8State = MPU9150_STATE_IDLE; + + // + // Done. + // + break; + } + } + + // + // See if the state machine is now idle and there is a callback function. + // + if((psInst->ui8State == MPU9150_STATE_IDLE) && psInst->pfnCallback) + { + // + // Call the application-supplied callback function. + // + psInst->pfnCallback(psInst->pvCallbackData, ui8Status); + } +} + +//***************************************************************************** +// +//! Initializes the MPU9150 driver. +//! +//! \param psInst is a pointer to the MPU9150 instance data. +//! \param psI2CInst is a pointer to the I2C master driver instance data. +//! \param ui8I2CAddr is the I2C address of the MPU9150 device. +//! \param pfnCallback is the function to be called when the initialization has +//! completed (can be \b NULL if a callback is not required). +//! \param pvCallbackData is a pointer that is passed to the callback function. +//! +//! This function initializes the MPU9150 driver, preparing it for operation. +//! +//! \return Returns 1 if the MPU9150 driver was successfully initialized and 0 +//! if it was not. +// +//***************************************************************************** +uint_fast8_t +MPU9150Init(tMPU9150 *psInst, tI2CMInstance *psI2CInst, + uint_fast8_t ui8I2CAddr, tSensorCallback *pfnCallback, + void *pvCallbackData) +{ + // + // Initialize the MPU9150 instance structure. + // + psInst->psI2CInst = psI2CInst; + psInst->ui8Addr = ui8I2CAddr; + + // + // Save the callback information. + // + psInst->pfnCallback = pfnCallback; + psInst->pvCallbackData = pvCallbackData; + + // + // Default range setting is +/- 2 g + // + psInst->ui8AccelAfsSel = (MPU9150_ACCEL_CONFIG_AFS_SEL_2G >> + MPU9150_ACCEL_CONFIG_AFS_SEL_S); + psInst->ui8NewAccelAfsSel = (MPU9150_ACCEL_CONFIG_AFS_SEL_2G >> + MPU9150_ACCEL_CONFIG_AFS_SEL_S); + + // + // Default range setting is +/- 250 degrees/s + // + psInst->ui8GyroFsSel = (MPU9150_GYRO_CONFIG_FS_SEL_250 >> + MPU9150_GYRO_CONFIG_FS_SEL_S); + psInst->ui8NewGyroFsSel = (MPU9150_GYRO_CONFIG_FS_SEL_250 >> + MPU9150_GYRO_CONFIG_FS_SEL_S); + + // + // Set the state to show we are initiating a reset. + // + psInst->ui8State = MPU9150_STATE_INIT_RESET; + + // + // Load the buffer with command to perform device reset + // + psInst->uCommand.pui8Buffer[0] = MPU9150_O_PWR_MGMT_1; + psInst->uCommand.pui8Buffer[1] = MPU9150_PWR_MGMT_1_DEVICE_RESET; + if(I2CMWrite(psInst->psI2CInst, psInst->ui8Addr, + psInst->uCommand.pui8Buffer, 2, MPU9150Callback, psInst) == 0) + { + psInst->ui8State = MPU9150_STATE_IDLE; + return(0); + } + + // + // Success + // + return(1); +} + +//***************************************************************************** +// +//! Returns the pointer to the tAK8975 object +//! +//! \param psInst is a pointer to the MPU9150 instance data. +//! +//! The MPU9150 contains in internal AK8975 magnetometer. To access data from +//! that sensor, application should use this function to get a pointer to the +//! tAK8975 object, and then use the AK8975 APIs. +//! +//! \return Returns the pointer to the tAK8975 object +// +//***************************************************************************** +tAK8975 * +MPU9150MagnetoInstGet(tMPU9150 *psInst) +{ + return(&(psInst->sAK8975Inst)); +} + +//***************************************************************************** +// +//! Reads data from MPU9150 registers. +//! +//! \param psInst is a pointer to the MPU9150 instance data. +//! \param ui8Reg is the first register to read. +//! \param pui8Data is a pointer to the location to store the data that is +//! read. +//! \param ui16Count is the number of data bytes to read. +//! \param pfnCallback is the function to be called when the data has been read +//! (can be \b NULL if a callback is not required). +//! \param pvCallbackData is a pointer that is passed to the callback function. +//! +//! This function reads a sequence of data values from consecutive registers in +//! the MPU9150. +//! +//! \return Returns 1 if the write was successfully started and 0 if it was +//! not. +// +//***************************************************************************** +uint_fast8_t +MPU9150Read(tMPU9150 *psInst, uint_fast8_t ui8Reg, uint8_t *pui8Data, + uint_fast16_t ui16Count, tSensorCallback *pfnCallback, + void *pvCallbackData) +{ + // + // Return a failure if the MPU9150 driver is not idle (in other words, + // there is already an outstanding request to the MPU9150). + // + if(psInst->ui8State != MPU9150_STATE_IDLE) + { + return(0); + } + + // + // Save the callback information. + // + psInst->pfnCallback = pfnCallback; + psInst->pvCallbackData = pvCallbackData; + + // + // Move the state machine to the wait for read state. + // + psInst->ui8State = MPU9150_STATE_READ; + + // + // Read the requested registers from the MPU9150. + // + psInst->uCommand.pui8Buffer[0] = ui8Reg; + if(I2CMRead(psInst->psI2CInst, psInst->ui8Addr, + psInst->uCommand.pui8Buffer, 1, pui8Data, ui16Count, + MPU9150Callback, psInst) == 0) + { + // + // The I2C write failed, so move to the idle state and return a + // failure. + // + psInst->ui8State = MPU9150_STATE_IDLE; + return(0); + } + + // + // Success. + // + return(1); +} + +//***************************************************************************** +// +//! Writes data to MPU9150 registers. +//! +//! \param psInst is a pointer to the MPU9150 instance data. +//! \param ui8Reg is the first register to write. +//! \param pui8Data is a pointer to the data to write. +//! \param ui16Count is the number of data bytes to write. +//! \param pfnCallback is the function to be called when the data has been +//! written (can be \b NULL if a callback is not required). +//! \param pvCallbackData is a pointer that is passed to the callback function. +//! +//! This function writes a sequence of data values to consecutive registers in +//! the MPU9150. The first byte of the \e pui8Data buffer contains the value +//! to be written into the \e ui8Reg register, the second value contains the +//! data to be written into the next register, and so on. +//! +//! \return Returns 1 if the write was successfully started and 0 if it was +//! not. +// +//***************************************************************************** +uint_fast8_t +MPU9150Write(tMPU9150 *psInst, uint_fast8_t ui8Reg, const uint8_t *pui8Data, + uint_fast16_t ui16Count, tSensorCallback *pfnCallback, + void *pvCallbackData) +{ + // + // Return a failure if the MPU9150 driver is not idle (in other words, + // there is already an outstanding request to the MPU9150). + // + if(psInst->ui8State != MPU9150_STATE_IDLE) + { + return(0); + } + + // + // Save the callback information. + // + psInst->pfnCallback = pfnCallback; + psInst->pvCallbackData = pvCallbackData; + + // + // See if the PWR_MGMT_1 register is being written. + // + if((ui8Reg <= MPU9150_O_PWR_MGMT_1) && + ((ui8Reg + ui16Count) > MPU9150_O_PWR_MGMT_1)) + { + // + // See if a soft reset is being requested. + // + if(pui8Data[ui8Reg - MPU9150_O_PWR_MGMT_1] & + MPU9150_PWR_MGMT_1_DEVICE_RESET) + { + // + // Default range setting is +/- 2 g. + // + psInst->ui8NewAccelAfsSel = 0; + + // + // Default range setting is +/- 250 degrees/s. + // + psInst->ui8NewGyroFsSel = 0; + } + } + + // + // See if the GYRO_CONFIG register is being written. + // + if((ui8Reg <= MPU9150_O_GYRO_CONFIG) && + ((ui8Reg + ui16Count) > MPU9150_O_GYRO_CONFIG)) + { + // + // Extract the FS_SEL from the GYRO_CONFIG register value. + // + psInst->ui8NewGyroFsSel = ((pui8Data[ui8Reg - MPU9150_O_GYRO_CONFIG] & + MPU9150_GYRO_CONFIG_FS_SEL_M) >> + MPU9150_GYRO_CONFIG_FS_SEL_S); + } + + // + // See if the ACCEL_CONFIG register is being written. + // + if((ui8Reg <= MPU9150_O_ACCEL_CONFIG) && + ((ui8Reg + ui16Count) > MPU9150_O_ACCEL_CONFIG)) + { + // + // Extract the AFS_SEL from the ACCEL_CONFIG register value. + // + psInst->ui8NewAccelAfsSel = + ((pui8Data[ui8Reg - MPU9150_O_ACCEL_CONFIG] & + MPU9150_ACCEL_CONFIG_AFS_SEL_M) >> + MPU9150_ACCEL_CONFIG_AFS_SEL_S); + } + + // + // Move the state machine to the wait for write state. + // + psInst->ui8State = MPU9150_STATE_WRITE; + + // + // Write the requested registers to the MPU9150. + // + if(I2CMWrite8(&(psInst->uCommand.sWriteState), psInst->psI2CInst, + psInst->ui8Addr, ui8Reg, pui8Data, ui16Count, + MPU9150Callback, psInst) == 0) + { + // + // The I2C write failed, so move to the idle state and return a + // failure. + // + psInst->ui8State = MPU9150_STATE_IDLE; + return(0); + } + + // + // Success. + // + return(1); +} + +//***************************************************************************** +// +//! Performs a read-modify-write of a MPU9150 register. +//! +//! \param psInst is a pointer to the MPU9150 instance data. +//! \param ui8Reg is the register to modify. +//! \param ui8Mask is the bit mask that is ANDed with the current register +//! value. +//! \param ui8Value is the bit mask that is ORed with the result of the AND +//! operation. +//! \param pfnCallback is the function to be called when the data has been +//! changed (can be \b NULL if a callback is not required). +//! \param pvCallbackData is a pointer that is passed to the callback function. +//! +//! This function changes the value of a register in the MPU9150 via a +//! read-modify-write operation, allowing one of the fields to be changed +//! without disturbing the other fields. The \e ui8Reg register is read, ANDed +//! with \e ui8Mask, ORed with \e ui8Value, and then written back to the +//! MPU9150. +//! +//! \return Returns 1 if the read-modify-write was successfully started and 0 +//! if it was not. +// +//***************************************************************************** +uint_fast8_t +MPU9150ReadModifyWrite(tMPU9150 *psInst, uint_fast8_t ui8Reg, + uint_fast8_t ui8Mask, uint_fast8_t ui8Value, + tSensorCallback *pfnCallback, void *pvCallbackData) +{ + // + // Return a failure if the MPU9150 driver is not idle (in other words, + // there is already an outstanding request to the MPU9150). + // + if(psInst->ui8State != MPU9150_STATE_IDLE) + { + return(0); + } + + // + // Save the callback information. + // + psInst->pfnCallback = pfnCallback; + psInst->pvCallbackData = pvCallbackData; + + // + // Move the state machine to the wait for read-modify-write state. + // + psInst->ui8State = MPU9150_STATE_RMW; + + // + // Submit the read-modify-write request to the MPU9150. + // + if(I2CMReadModifyWrite8(&(psInst->uCommand.sReadModifyWriteState), + psInst->psI2CInst, psInst->ui8Addr, ui8Reg, + ui8Mask, ui8Value, MPU9150Callback, psInst) == 0) + { + // + // The I2C read-modify-write failed, so move to the idle state and + // return a failure. + // + psInst->ui8State = MPU9150_STATE_IDLE; + return(0); + } + + // + // Success. + // + return(1); +} + +//***************************************************************************** +// +//! Reads the accelerometer and gyroscope data from the MPU9150 and the +//! magnetometer data from the on-chip aK8975. +//! +//! \param psInst is a pointer to the MPU9150 instance data. +//! \param pfnCallback is the function to be called when the data has been read +//! (can be \b NULL if a callback is not required). +//! \param pvCallbackData is a pointer that is passed to the callback function. +//! +//! This function initiates a read of the MPU9150 data registers. When the +//! read has completed (as indicated by calling the callback function), the new +//! readings can be obtained via: +//! +//! - MPU9150DataAccelGetRaw() +//! - MPU9150DataAccelGetFloat() +//! - MPU9150DataGyroGetRaw() +//! - MPU9150DataGyroGetFloat() +//! - MPU9150DataMagnetoGetRaw() +//! - MPU9150DataMagnetoGetFloat() +//! +//! \return Returns 1 if the read was successfully started and 0 if it was not. +// +//***************************************************************************** +uint_fast8_t +MPU9150DataRead(tMPU9150 *psInst, tSensorCallback *pfnCallback, + void *pvCallbackData) +{ + // + // Return a failure if the MPU9150 driver is not idle (in other words, + // there is already an outstanding request to the MPU9150). + // + if(psInst->ui8State != MPU9150_STATE_IDLE) + { + return(0); + } + + // + // Save the callback information. + // + psInst->pfnCallback = pfnCallback; + psInst->pvCallbackData = pvCallbackData; + + // + // Move the state machine to the wait for data read state. + // + psInst->ui8State = MPU9150_STATE_RD_DATA; + + // + // Read the data registers from the MPU9150. + // + // (ACCEL_XOUT_H(0x3B) -> GYRO_ZOUT_L(0x48) = 14 bytes + // Grab Ext Sens Data as well for another 8 bytes. ST1 + Mag Data + ST2 + // + psInst->uCommand.pui8Buffer[0] = MPU9150_O_ACCEL_XOUT_H; + if(I2CMRead(psInst->psI2CInst, psInst->ui8Addr, + psInst->uCommand.pui8Buffer, 1, psInst->pui8Data, 22, + MPU9150Callback, psInst) == 0) + { + // + // The I2C read failed, so move to the idle state and return a failure. + // + psInst->ui8State = MPU9150_STATE_IDLE; + return(0); + } + + // + // Success. + // + return(1); +} + +//***************************************************************************** +// +//! Gets the raw accelerometer data from the most recent data read. +//! +//! \param psInst is a pointer to the MPU9150 instance data. +//! \param pui16AccelX is a pointer to the value into which the raw X-axis +//! accelerometer data is stored. +//! \param pui16AccelY is a pointer to the value into which the raw Y-axis +//! accelerometer data is stored. +//! \param pui16AccelZ is a pointer to the value into which the raw Z-axis +//! accelerometer data is stored. +//! +//! This function returns the raw accelerometer data from the most recent data +//! read. The data is not manipulated in any way by the driver. If any of the +//! output data pointers are \b NULL, the corresponding data is not provided. +//! +//! \return None. +// +//***************************************************************************** +void +MPU9150DataAccelGetRaw(tMPU9150 *psInst, uint_fast16_t *pui16AccelX, + uint_fast16_t *pui16AccelY, uint_fast16_t *pui16AccelZ) +{ + // + // Return the raw accelerometer values. + // + if(pui16AccelX) + { + *pui16AccelX = (psInst->pui8Data[0] << 8) | psInst->pui8Data[1]; + } + if(pui16AccelY) + { + *pui16AccelY = (psInst->pui8Data[2] << 8) | psInst->pui8Data[3]; + } + if(pui16AccelZ) + { + *pui16AccelZ = (psInst->pui8Data[4] << 8) | psInst->pui8Data[5]; + } +} + +//***************************************************************************** +// +//! Gets the accelerometer data from the most recent data read. +//! +//! \param psInst is a pointer to the MPU9150 instance data. +//! \param pfAccelX is a pointer to the value into which the X-axis +//! accelerometer data is stored. +//! \param pfAccelY is a pointer to the value into which the Y-axis +//! accelerometer data is stored. +//! \param pfAccelZ is a pointer to the value into which the Z-axis +//! accelerometer data is stored. +//! +//! This function returns the accelerometer data from the most recent data +//! read, converted into meters per second squared (m/s^2). If any of the +//! output data pointers are \b NULL, the corresponding data is not provided. +//! +//! \return None. +// +//***************************************************************************** +void +MPU9150DataAccelGetFloat(tMPU9150 *psInst, float *pfAccelX, float *pfAccelY, + float *pfAccelZ) +{ + float fFactor; + + // + // Get the acceleration conversion factor for the current data format. + // + fFactor = g_fMPU9150AccelFactors[psInst->ui8AccelAfsSel]; + + // + // Convert the accelerometer values into m/sec^2 + // + if(pfAccelX) + { + *pfAccelX = ((float)(int16_t)((psInst->pui8Data[0] << 8) | + psInst->pui8Data[1]) * fFactor); + } + if(pfAccelY) + { + *pfAccelY = ((float)(int16_t)((psInst->pui8Data[2] << 8) | + psInst->pui8Data[3]) * fFactor); + } + if(pfAccelZ) + { + *pfAccelZ = ((float)(int16_t)((psInst->pui8Data[4] << 8) | + psInst->pui8Data[5]) * fFactor); + } +} + +//***************************************************************************** +// +//! Gets the raw gyroscope data from the most recent data read. +//! +//! \param psInst is a pointer to the MPU9150 instance data. +//! \param pui16GyroX is a pointer to the value into which the raw X-axis +//! gyroscope data is stored. +//! \param pui16GyroY is a pointer to the value into which the raw Y-axis +//! gyroscope data is stored. +//! \param pui16GyroZ is a pointer to the value into which the raw Z-axis +//! gyroscope data is stored. +//! +//! This function returns the raw gyroscope data from the most recent data +//! read. The data is not manipulated in any way by the driver. If any of the +//! output data pointers are \b NULL, the corresponding data is not provided. +//! +//! \return None. +// +//***************************************************************************** +void +MPU9150DataGyroGetRaw(tMPU9150 *psInst, uint_fast16_t *pui16GyroX, + uint_fast16_t *pui16GyroY, uint_fast16_t *pui16GyroZ) +{ + // + // Return the raw gyroscope values. + // + if(pui16GyroX) + { + *pui16GyroX = (psInst->pui8Data[8] << 8) | psInst->pui8Data[9]; + } + if(pui16GyroY) + { + *pui16GyroY = (psInst->pui8Data[10] << 8) | psInst->pui8Data[11]; + } + if(pui16GyroZ) + { + *pui16GyroZ = (psInst->pui8Data[12] << 8) | psInst->pui8Data[13]; + } +} + +//***************************************************************************** +// +//! Gets the gyroscope data from the most recent data read. +//! +//! \param psInst is a pointer to the MPU9150 instance data. +//! \param pfGyroX is a pointer to the value into which the X-axis +//! gyroscope data is stored. +//! \param pfGyroY is a pointer to the value into which the Y-axis +//! gyroscope data is stored. +//! \param pfGyroZ is a pointer to the value into which the Z-axis +//! gyroscope data is stored. +//! +//! This function returns the gyroscope data from the most recent data read, +//! converted into radians per second. If any of the output data pointers are +//! \b NULL, the corresponding data is not provided. +//! +//! \return None. +// +//***************************************************************************** +void +MPU9150DataGyroGetFloat(tMPU9150 *psInst, float *pfGyroX, float *pfGyroY, + float *pfGyroZ) +{ + float fFactor; + int16_t i16Temp; + + // + // Get the gyroscope conversion factor for the current data format. + // + fFactor = g_fMPU9150GyroFactors[psInst->ui8GyroFsSel]; + + // + // Convert the gyroscope values into rad/sec + // + if(pfGyroX) + { + i16Temp = (int16_t)psInst->pui8Data[8]; + i16Temp <<= 8; + i16Temp += psInst->pui8Data[9]; + *pfGyroX = (float)i16Temp; + *pfGyroX *= fFactor; + } + if(pfGyroY) + { + i16Temp = (int16_t)psInst->pui8Data[10]; + i16Temp <<= 8; + i16Temp += psInst->pui8Data[11]; + *pfGyroY = (float)i16Temp; + *pfGyroY *= fFactor; + } + if(pfGyroZ) + { + i16Temp = (int16_t)psInst->pui8Data[12]; + i16Temp <<= 8; + i16Temp += psInst->pui8Data[13]; + *pfGyroZ = (float)i16Temp; + *pfGyroZ *= fFactor; + } +} + +//***************************************************************************** +// +//! Gets the raw magnetometer data from the most recent data read. +//! +//! \param psInst is a pointer to the MPU9150 instance data. +//! \param pui16MagnetoX is a pointer to the value into which the raw X-axis +//! magnetometer data is stored. +//! \param pui16MagnetoY is a pointer to the value into which the raw Y-axis +//! magnetometer data is stored. +//! \param pui16MagnetoZ is a pointer to the value into which the raw Z-axis +//! magnetometer data is stored. +//! +//! This function returns the raw magnetometer data from the most recent data +//! read. The data is not manipulated in any way by the driver. If any of the +//! output data pointers are \b NULL, the corresponding data is not provided. +//! +//! \return None. +// +//***************************************************************************** +void +MPU9150DataMagnetoGetRaw(tMPU9150 *psInst, uint_fast16_t *pui16MagnetoX, + uint_fast16_t *pui16MagnetoY, + uint_fast16_t *pui16MagnetoZ) +{ + uint8_t *pui8ExtSensData; + + pui8ExtSensData = &(psInst->pui8Data[14]); + + // + // Return the raw magnetometer values. + // + if(pui16MagnetoX) + { + *pui16MagnetoX = (pui8ExtSensData[2] << 8) | pui8ExtSensData[1]; + } + if(pui16MagnetoY) + { + *pui16MagnetoY = (pui8ExtSensData[4] << 8) | pui8ExtSensData[3]; + } + if(pui16MagnetoZ) + { + *pui16MagnetoZ = (pui8ExtSensData[6] << 8) | pui8ExtSensData[5]; + } +} + +//***************************************************************************** +// +//! Gets the magnetometer data from the most recent data read. +//! +//! \param psInst is a pointer to the MPU9150 instance data. +//! \param pfMagnetoX is a pointer to the value into which the X-axis +//! magnetometer data is stored. +//! \param pfMagnetoY is a pointer to the value into which the Y-axis +//! magnetometer data is stored. +//! \param pfMagnetoZ is a pointer to the value into which the Z-axis +//! magnetometer data is stored. +//! +//! This function returns the magnetometer data from the most recent data read, +//! converted into tesla. If any of the output data pointers are +//! \b NULL, the corresponding data is not provided. +//! +//! \return None. +// +//***************************************************************************** +void +MPU9150DataMagnetoGetFloat(tMPU9150 *psInst, float *pfMagnetoX, + float *pfMagnetoY, float *pfMagnetoZ) +{ + int16_t *pi16Data; + + pi16Data = (int16_t *)(psInst->pui8Data + 15); + + // + // Convert the magnetometer values into floating-point tesla values. + // + if(pfMagnetoX) + { + *pfMagnetoX = (float)pi16Data[0]; + *pfMagnetoX *= CONVERT_TO_TESLA; + } + if(pfMagnetoY) + { + *pfMagnetoY = (float)pi16Data[1]; + *pfMagnetoY *= CONVERT_TO_TESLA; + } + if(pfMagnetoZ) + { + *pfMagnetoZ = (float)pi16Data[2]; + *pfMagnetoZ *= CONVERT_TO_TESLA; + } +} + +//***************************************************************************** +// +// Close the Doxygen group. +//! @} +// +//***************************************************************************** -- cgit v1.3.1