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[mpu] attempt to make a generic configuration (spi/i2c)
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@gautierhattenberger
gautierhattenberger committed Mar 12, 2013
1 parent 9a5e4fd commit 6b63c45
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Showing 3 changed files with 65 additions and 59 deletions.
46 changes: 46 additions & 0 deletions sw/airborne/peripherals/mpu60X0.h
View file
Expand Up @@ -66,6 +66,8 @@ struct Mpu60x0Config {
bool_t i2c_bypass; ///< bypass mpu i2c
bool_t drdy_int_enable; ///< Enable Data Ready Interrupt
uint8_t clk_sel; ///< Clock select
enum Mpu60x0ConfStatus init_status; ///< init status
bool_t initialized; ///< config done flag
};

static inline void mpu60X0_set_default_config(struct Mpu60x0Config *c)
Expand All @@ -79,4 +81,48 @@ static inline void mpu60X0_set_default_config(struct Mpu60x0Config *c)
c->clk_sel = MPU60X0_DEFAULT_CLK_SEL;
}

/// Configuration function prototype
typedef void (*Mpu60x0ConfigSet)(void* mpu, uint8_t _reg, uint8_t _val);

/// Configuration sequence called once before normal use
static inline void mpu60x0_send_config(Mpu60x0ConfigSet mpu_set, void* mpu, struct Mpu60x0Config* config)
{
switch (config->init_status) {
case MPU60X0_CONF_SD:
mpu_set(mpu, MPU60X0_REG_SMPLRT_DIV, config->smplrt_div);
config->init_status++;
break;
case MPU60X0_CONF_CONFIG:
mpu_set(mpu, MPU60X0_REG_CONFIG, config->dlpf_cfg);
config->init_status++;
break;
case MPU60X0_CONF_GYRO:
mpu_set(mpu, MPU60X0_REG_GYRO_CONFIG, (config->gyro_range<<3));
config->init_status++;
break;
case MPU60X0_CONF_ACCEL:
mpu_set(mpu, MPU60X0_REG_ACCEL_CONFIG, (config->accel_range<<3));
config->init_status++;
break;
case MPU60X0_CONF_INT_PIN:
mpu_set(mpu, MPU60X0_REG_INT_PIN_CFG, (config->i2c_bypass<<1));
config->init_status++;
break;
case MPU60X0_CONF_INT_ENABLE:
mpu_set(mpu, MPU60X0_REG_INT_ENABLE, (config->drdy_int_enable<<0));
config->init_status++;
break;
case MPU60X0_CONF_PWR:
mpu_set(mpu, MPU60X0_REG_PWR_MGMT_1, ((config->config.clk_sel)|(0<<6));
config->init_status++;
break;
case MPU60X0_CONF_DONE:
config->initialized = TRUE;
break;
default:
break;
}
}


#endif // MPU60X0_H
74 changes: 18 additions & 56 deletions sw/airborne/peripherals/mpu60X0_spi.c
View file
Expand Up @@ -57,74 +57,35 @@ void mpu60x0_spi_init(struct Mpu60x0_Spi *mpu, struct spi_periph *spi_p, uint8_t
/* set default MPU60X0 config options */
mpu60x0_set_default_config(&(mpu->config));

mpu->initialized = FALSE;
mpu->data_available = FALSE;
mpu->init_status = MPU60X0_CONF_UNINIT;
mpu->config.initialized = FALSE;
mpu->config.init_status = MPU60X0_CONF_UNINIT;
}


static void mpu60x0_spi_write_to_reg(struct Mpu60x0_Spi *mpu, uint8_t _reg, uint8_t _val) {
mpu->spi_trans.output_length = 2;
mpu->spi_trans.input_length = 0;
mpu->tx_buf[0] = _reg;
mpu->tx_buf[1] = _val;
spi_submit(mpu->spi_p, &(mpu->spi_trans));
static void mpu60x0_spi_write_to_reg(void* mpu, uint8_t _reg, uint8_t _val) {
struct Mpu60x0_Spi* mpu_spi = (struct Mpu60x0_Spi*)(mpu);
mpu_spi->spi_trans.output_length = 2;
mpu_spi->spi_trans.input_length = 0;
mpu_spi->tx_buf[0] = _reg;
mpu_spi->tx_buf[1] = _val;
spi_submit(mpu_spi->spi_p, &(mpu_spi->spi_trans));
}

// Configuration function called once before normal use
static void mpu60x0_spi_send_config(struct Mpu60x0_Spi *mpu)
{
switch (mpu->init_status) {
case MPU60X0_CONF_SD:
mpu60x0_spi_write_to_reg(mpu, MPU60X0_REG_SMPLRT_DIV, mpu->config.smplrt_div);
mpu->init_status++;
break;
case MPU60X0_CONF_CONFIG:
mpu60x0_spi_write_to_reg(mpu, MPU60X0_REG_CONFIG, mpu->config.dlpf_cfg);
mpu->init_status++;
break;
case MPU60X0_CONF_GYRO:
mpu60x0_spi_write_to_reg(mpu, MPU60X0_REG_GYRO_CONFIG, (mpu->config.gyro_range<<3));
mpu->init_status++;
break;
case MPU60X0_CONF_ACCEL:
mpu60x0_spi_write_to_reg(mpu, MPU60X0_REG_ACCEL_CONFIG, (mpu->config.accel_range<<3));
mpu->init_status++;
break;
case MPU60X0_CONF_INT_PIN:
mpu60x0_spi_write_to_reg(mpu, MPU60X0_REG_INT_PIN_CFG, (mpu->config.i2c_bypass<<1));
mpu->init_status++;
break;
case MPU60X0_CONF_INT_ENABLE:
mpu60x0_spi_write_to_reg(mpu, MPU60X0_REG_INT_ENABLE, (mpu->config.drdy_int_enable<<0));
mpu->init_status++;
break;
case MPU60X0_CONF_PWR:
mpu60x0_spi_write_to_reg(mpu, MPU60X0_REG_PWR_MGMT_1, ((mpu->config.clk_sel)|(0<<6));
mpu->init_status++;
break;
case MPU60X0_CONF_DONE:
mpu->initialized = TRUE;
mpu->spi_trans.status = SPITransDone;
break;
default:
break;
}
}

void mpu60x0_spi_start_configure(struct Mpu60x0_Spi *mpu)
{
if (mpu->init_status == MPU60X0_CONF_UNINIT) {
mpu->init_status++;
if (mpu->config.init_status == MPU60X0_CONF_UNINIT) {
mpu->config.init_status++;
if (mpu->spi_trans.status == SPITransSuccess || mpu->spi_trans.status == SPITransDone) {
mpu60x0_spi_send_config(mpu);
mpu60x0_spi_send_config(mpu60x0_spi_write_to_reg, (void*)mpu, mpu->config);
}
}
}

void mpu60x0_spi_read(struct Mpu60x0_Spi *mpu)
{
if (mpu->initialized && mpu->spi_trans.status == SPITransDone) {
if (mpu->config.initialized && mpu->spi_trans.status == SPITransDone) {
mpu->spi_trans.output_length = 1;
mpu->spi_trans.input_length = 15; // FIXME external data
/* set read bit and multiple byte bit, then address */
Expand All @@ -137,7 +98,7 @@ void mpu60x0_spi_read(struct Mpu60x0_Spi *mpu)

void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu)
{
if (mpu->initialized) {
if (mpu->config.initialized) {
if (mpu->spi_trans.status == SPITransFailed) {
mpu->spi_trans.status = SPITransDone;
}
Expand All @@ -156,14 +117,15 @@ void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu)
mpu->spi_trans.status = SPITransDone;
}
}
else if (mpu->init_status != MPU60X0_CONF_UNINIT) { // Configuring but not yet initialized
else if (mpu->config.init_status != MPU60X0_CONF_UNINIT) { // Configuring but not yet initialized
switch (mpu->spi_trans.status) {
case SPITransFailed:
mpu->init_status--; // Retry config (TODO max retry)
mpu->config.init_status--; // Retry config (TODO max retry)
case SPITransSuccess:
case SPITransDone:
mpu->spi_trans.status = SPITransDone;
mpu60x0_spi_send_config(mpu);
mpu60x0_spi_send_config(mpu60x0_spi_write_to_reg, (void*)mpu, mpu->config);
if (mpu->config.initialized) mpu->spi_trans.status = SPITransDone;
break;
default:
break;
Expand Down
4 changes: 1 addition & 3 deletions sw/airborne/peripherals/mpu60X0_spi.h
View file
Expand Up @@ -43,8 +43,6 @@ struct Mpu60x0_Spi {
struct spi_transaction spi_trans;
volatile uint8_t tx_buf[MPU60X0_BUFFER_LEN]; // FIXME correct length
volatile uint8_t rx_buf[MPU60X0_BUFFER_LEN]; // FIXME idem
enum Mpu60x0ConfStatus init_status; ///< init status
bool_t initialized; ///< config done flag
volatile bool_t data_available; ///< data ready flag
union {
struct Int16Vect3 vect; ///< accel data vector in accel coordinate system
Expand All @@ -65,7 +63,7 @@ extern void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu);

/// convenience function: read or start configuration if not already initialized
static inline void mpu60x0_spi_periodic(struct Mpu60x0_Spi *mpu) {
if (mpu->initialized)
if (mpu->config.initialized)
mpu60x0_spi_read(mpu);
else
mpu60x0_spi_start_configure(mpu);
Expand Down

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