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drivers/mpu9150: adapt to new I2C api
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@aabadie @dylad
aabadie authored and dylad committed Jul 25, 2018
1 parent 2449655 commit 3ff4572
Showing 1 changed file with 47 additions and 53 deletions.
100 changes: 47 additions & 53 deletions drivers/mpu9150/mpu9150.c
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Original file line number Diff line number Diff line change
Expand Up @@ -64,19 +64,13 @@ int mpu9150_init(mpu9150_t *dev, const mpu9150_params_t *params)

dev->conf = DEFAULT_STATUS;

/* Initialize I2C interface */
if (i2c_init_master(DEV_I2C, I2C_SPEED_FAST)) {
DEBUG("[Error] I2C device not enabled\n");
return -1;
}

/* Acquire exclusive access */
i2c_acquire(DEV_I2C);

/* Reset MPU9150 registers and afterwards wake up the chip */
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_RESET);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_RESET, 0);
xtimer_usleep(MPU9150_RESET_SLEEP_US);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_WAKEUP);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_WAKEUP, 0);

/* Release the bus, it is acquired again inside each function */
i2c_release(DEV_I2C);
Expand All @@ -88,7 +82,7 @@ int mpu9150_init(mpu9150_t *dev, const mpu9150_params_t *params)

/* Disable interrupt generation */
i2c_acquire(DEV_I2C);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_INT_ENABLE_REG, REG_RESET);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_INT_ENABLE_REG, REG_RESET, 0);

/* Initialize magnetometer */
if (compass_init(dev)) {
Expand All @@ -100,10 +94,10 @@ int mpu9150_init(mpu9150_t *dev, const mpu9150_params_t *params)
mpu9150_set_compass_sample_rate(dev, 10);
/* Enable all sensors */
i2c_acquire(DEV_I2C);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_PLL);
i2c_read_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_2_REG, &temp);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_PLL, 0);
i2c_read_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_2_REG, &temp, 0);
temp &= ~(MPU9150_PWR_ACCEL | MPU9150_PWR_GYRO);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_2_REG, temp);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_2_REG, temp, 0);
i2c_release(DEV_I2C);
xtimer_usleep(MPU9150_PWR_CHANGE_SLEEP_US);

Expand All @@ -124,7 +118,7 @@ int mpu9150_set_accel_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf)
}

/* Read current power management 2 configuration */
i2c_read_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_2_REG, &pwr_2_setting);
i2c_read_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_2_REG, &pwr_2_setting, 0);
/* Prepare power register settings */
if (pwr_conf == MPU9150_SENSOR_PWR_ON) {
pwr_1_setting = MPU9150_PWR_WAKEUP;
Expand All @@ -137,10 +131,10 @@ int mpu9150_set_accel_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf)
/* Configure power management 1 register if needed */
if ((dev->conf.gyro_pwr == MPU9150_SENSOR_PWR_OFF)
&& (dev->conf.compass_pwr == MPU9150_SENSOR_PWR_OFF)) {
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_1_REG, pwr_1_setting);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_1_REG, pwr_1_setting, 0);
}
/* Enable/disable accelerometer standby in power management 2 register */
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_2_REG, pwr_2_setting);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_2_REG, pwr_2_setting, 0);

/* Release the bus */
i2c_release(DEV_I2C);
Expand All @@ -165,11 +159,11 @@ int mpu9150_set_gyro_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf)
}

/* Read current power management 2 configuration */
i2c_read_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_2_REG, &pwr_2_setting);
i2c_read_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_2_REG, &pwr_2_setting, 0);
/* Prepare power register settings */
if (pwr_conf == MPU9150_SENSOR_PWR_ON) {
/* Set clock to pll */
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_PLL);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_PLL, 0);
pwr_2_setting &= ~(MPU9150_PWR_GYRO);
}
else {
Expand All @@ -178,17 +172,17 @@ int mpu9150_set_gyro_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf)
&& (dev->conf.compass_pwr == MPU9150_SENSOR_PWR_OFF)) {
/* All sensors turned off, put the MPU-9150 to sleep */
i2c_write_reg(DEV_I2C, DEV_ADDR,
MPU9150_PWR_MGMT_1_REG, BIT_PWR_MGMT1_SLEEP);
MPU9150_PWR_MGMT_1_REG, BIT_PWR_MGMT1_SLEEP, 0);
}
else {
/* Reset clock to internal oscillator */
i2c_write_reg(DEV_I2C, DEV_ADDR,
MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_WAKEUP);
MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_WAKEUP, 0);
}
pwr_2_setting |= MPU9150_PWR_GYRO;
}
/* Enable/disable gyroscope standby in power management 2 register */
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_2_REG, pwr_2_setting);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_2_REG, pwr_2_setting, 0);

/* Release the bus */
i2c_release(DEV_I2C);
Expand All @@ -213,7 +207,7 @@ int mpu9150_set_compass_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf)
}

/* Read current user control configuration */
i2c_read_reg(DEV_I2C, DEV_ADDR, MPU9150_USER_CTRL_REG, &usr_ctrl_setting);
i2c_read_reg(DEV_I2C, DEV_ADDR, MPU9150_USER_CTRL_REG, &usr_ctrl_setting, 0);
/* Prepare power register settings */
if (pwr_conf == MPU9150_SENSOR_PWR_ON) {
pwr_1_setting = MPU9150_PWR_WAKEUP;
Expand All @@ -228,12 +222,12 @@ int mpu9150_set_compass_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf)
/* Configure power management 1 register if needed */
if ((dev->conf.gyro_pwr == MPU9150_SENSOR_PWR_OFF)
&& (dev->conf.accel_pwr == MPU9150_SENSOR_PWR_OFF)) {
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_1_REG, pwr_1_setting);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_PWR_MGMT_1_REG, pwr_1_setting, 0);
}
/* Configure mode writing by slave line 1 */
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE1_DATA_OUT_REG, s1_do_setting);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE1_DATA_OUT_REG, s1_do_setting, 0);
/* Enable/disable I2C master mode */
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_USER_CTRL_REG, usr_ctrl_setting);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_USER_CTRL_REG, usr_ctrl_setting, 0);

/* Release the bus */
i2c_release(DEV_I2C);
Expand Down Expand Up @@ -272,7 +266,7 @@ int mpu9150_read_gyro(const mpu9150_t *dev, mpu9150_results_t *output)
return -1;
}
/* Read raw data */
i2c_read_regs(DEV_I2C, DEV_ADDR, MPU9150_GYRO_START_REG, data, 6);
i2c_read_regs(DEV_I2C, DEV_ADDR, MPU9150_GYRO_START_REG, data, 6, 0);
/* Release the bus */
i2c_release(DEV_I2C);

Expand Down Expand Up @@ -315,7 +309,7 @@ int mpu9150_read_accel(const mpu9150_t *dev, mpu9150_results_t *output)
return -1;
}
/* Read raw data */
i2c_read_regs(DEV_I2C, DEV_ADDR, MPU9150_ACCEL_START_REG, data, 6);
i2c_read_regs(DEV_I2C, DEV_ADDR, MPU9150_ACCEL_START_REG, data, 6, 0);
/* Release the bus */
i2c_release(DEV_I2C);

Expand All @@ -339,7 +333,7 @@ int mpu9150_read_compass(const mpu9150_t *dev, mpu9150_results_t *output)
return -1;
}
/* Read raw data */
i2c_read_regs(DEV_I2C, DEV_ADDR, MPU9150_EXT_SENS_DATA_START_REG, data, 6);
i2c_read_regs(DEV_I2C, DEV_ADDR, MPU9150_EXT_SENS_DATA_START_REG, data, 6, 0);
/* Release the bus */
i2c_release(DEV_I2C);

Expand Down Expand Up @@ -373,7 +367,7 @@ int mpu9150_read_temperature(const mpu9150_t *dev, int32_t *output)
return -1;
}
/* Read raw temperature value */
i2c_read_regs(DEV_I2C, DEV_ADDR, MPU9150_TEMP_START_REG, data, 2);
i2c_read_regs(DEV_I2C, DEV_ADDR, MPU9150_TEMP_START_REG, data, 2, 0);
/* Release the bus */
i2c_release(DEV_I2C);

Expand All @@ -398,7 +392,7 @@ int mpu9150_set_gyro_fsr(mpu9150_t *dev, mpu9150_gyro_ranges_t fsr)
return -1;
}
i2c_write_reg(DEV_I2C, DEV_ADDR,
MPU9150_GYRO_CFG_REG, (fsr << 3));
MPU9150_GYRO_CFG_REG, (fsr << 3), 0);
i2c_release(DEV_I2C);
dev->conf.gyro_fsr = fsr;
break;
Expand All @@ -424,7 +418,7 @@ int mpu9150_set_accel_fsr(mpu9150_t *dev, mpu9150_accel_ranges_t fsr)
return -1;
}
i2c_write_reg(DEV_I2C, DEV_ADDR,
MPU9150_ACCEL_CFG_REG, (fsr << 3));
MPU9150_ACCEL_CFG_REG, (fsr << 3), 0);
i2c_release(DEV_I2C);
dev->conf.accel_fsr = fsr;
break;
Expand Down Expand Up @@ -452,7 +446,7 @@ int mpu9150_set_sample_rate(mpu9150_t *dev, uint16_t rate)
if (i2c_acquire(DEV_I2C)) {
return -1;
}
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_RATE_DIV_REG, divider);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_RATE_DIV_REG, divider, 0);

/* Store configured sample rate */
dev->conf.sample_rate = 1000 / (((uint16_t) divider) + 1);
Expand Down Expand Up @@ -482,7 +476,7 @@ int mpu9150_set_compass_sample_rate(mpu9150_t *dev, uint8_t rate)
if (i2c_acquire(DEV_I2C)) {
return -1;
}
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE4_CTRL_REG, divider);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE4_CTRL_REG, divider, 0);
i2c_release(DEV_I2C);

/* Store configured sample rate */
Expand All @@ -508,58 +502,58 @@ static int compass_init(mpu9150_t *dev)
conf_bypass(dev, 1);

/* Check whether compass answers correctly */
i2c_read_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_WHOAMI_REG, data);
i2c_read_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_WHOAMI_REG, data, 0);
if (data[0] != MPU9150_COMP_WHOAMI_ANSWER) {
DEBUG("[Error] Wrong answer from compass\n");
return -1;
}

/* Configure Power Down mode */
i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9150_COMP_POWER_DOWN);
i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9150_COMP_POWER_DOWN, 0);
xtimer_usleep(MPU9150_COMP_MODE_SLEEP_US);
/* Configure Fuse ROM access */
i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9150_COMP_FUSE_ROM);
i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9150_COMP_FUSE_ROM, 0);
xtimer_usleep(MPU9150_COMP_MODE_SLEEP_US);
/* Read sensitivity adjustment values from Fuse ROM */
i2c_read_regs(DEV_I2C, DEV_COMP_ADDR, COMPASS_ASAX_REG, data, 3);
i2c_read_regs(DEV_I2C, DEV_COMP_ADDR, COMPASS_ASAX_REG, data, 3, 0);
dev->conf.compass_x_adj = data[0];
dev->conf.compass_y_adj = data[1];
dev->conf.compass_z_adj = data[2];
/* Configure Power Down mode again */
i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9150_COMP_POWER_DOWN);
i2c_write_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_CNTL_REG, MPU9150_COMP_POWER_DOWN, 0);
xtimer_usleep(MPU9150_COMP_MODE_SLEEP_US);

/* Disable Bypass Mode to configure MPU as master to the compass */
conf_bypass(dev, 0);

/* Configure MPU9150 for single master mode */
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_I2C_MST_REG, BIT_WAIT_FOR_ES);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_I2C_MST_REG, BIT_WAIT_FOR_ES, 0);

/* Set up slave line 0 */
/* Slave line 0 reads the compass data */
i2c_write_reg(DEV_I2C, DEV_ADDR,
MPU9150_SLAVE0_ADDR_REG, (BIT_SLAVE_RW | DEV_COMP_ADDR));
MPU9150_SLAVE0_ADDR_REG, (BIT_SLAVE_RW | DEV_COMP_ADDR), 0);
/* Slave line 0 read starts at compass data register */
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE0_REG_REG, COMPASS_DATA_START_REG);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE0_REG_REG, COMPASS_DATA_START_REG, 0);
/* Enable slave line 0 and configure read length to 6 consecutive registers */
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE0_CTRL_REG, (BIT_SLAVE_EN | 0x06));
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE0_CTRL_REG, (BIT_SLAVE_EN | 0x06), 0);

/* Set up slave line 1 */
/* Slave line 1 writes to the compass */
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE1_ADDR_REG, DEV_COMP_ADDR);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE1_ADDR_REG, DEV_COMP_ADDR, 0);
/* Slave line 1 write starts at compass control register */
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE1_REG_REG, COMPASS_CNTL_REG);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE1_REG_REG, COMPASS_CNTL_REG, 0);
/* Enable slave line 1 and configure write length to 1 register */
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE1_CTRL_REG, (BIT_SLAVE_EN | 0x01));
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_SLAVE1_CTRL_REG, (BIT_SLAVE_EN | 0x01), 0);
/* Configure data which is written by slave line 1 to compass control */
i2c_write_reg(DEV_I2C, DEV_ADDR,
MPU9150_SLAVE1_DATA_OUT_REG, MPU9150_COMP_SINGLE_MEASURE);
MPU9150_SLAVE1_DATA_OUT_REG, MPU9150_COMP_SINGLE_MEASURE, 0);

/* Slave line 0 and 1 operate at each sample */
i2c_write_reg(DEV_I2C, DEV_ADDR,
MPU9150_I2C_DELAY_CTRL_REG, (BIT_SLV0_DELAY_EN | BIT_SLV1_DELAY_EN));
MPU9150_I2C_DELAY_CTRL_REG, (BIT_SLV0_DELAY_EN | BIT_SLV1_DELAY_EN), 0);
/* Set I2C bus to VDD */
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_YG_OFFS_TC_REG, BIT_I2C_MST_VDDIO);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_YG_OFFS_TC_REG, BIT_I2C_MST_VDDIO, 0);

return 0;
}
Expand All @@ -572,19 +566,19 @@ static int compass_init(mpu9150_t *dev)
static void conf_bypass(const mpu9150_t *dev, uint8_t bypass_enable)
{
uint8_t data;
i2c_read_reg(DEV_I2C, DEV_ADDR, MPU9150_USER_CTRL_REG, &data);
i2c_read_reg(DEV_I2C, DEV_ADDR, MPU9150_USER_CTRL_REG, &data, 0);

if (bypass_enable) {
data &= ~(BIT_I2C_MST_EN);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_USER_CTRL_REG, data);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_USER_CTRL_REG, data, 0);
xtimer_usleep(MPU9150_BYPASS_SLEEP_US);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_INT_PIN_CFG_REG, BIT_I2C_BYPASS_EN);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_INT_PIN_CFG_REG, BIT_I2C_BYPASS_EN, 0);
}
else {
data |= BIT_I2C_MST_EN;
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_USER_CTRL_REG, data);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_USER_CTRL_REG, data, 0);
xtimer_usleep(MPU9150_BYPASS_SLEEP_US);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_INT_PIN_CFG_REG, REG_RESET);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_INT_PIN_CFG_REG, REG_RESET, 0);
}
}

Expand Down Expand Up @@ -618,5 +612,5 @@ static void conf_lpf(const mpu9150_t *dev, uint16_t half_rate)
}

/* Write LPF setting to configuration register */
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_LPF_REG, lpf_setting);
i2c_write_reg(DEV_I2C, DEV_ADDR, MPU9150_LPF_REG, lpf_setting, 0);
}

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