Improve MPU power-cycling logic:
* Keep MPU_PWR low when the sensor is not in use * Deselect the sensor when not in use, in order to restore the I2C ping state * Explicitly control the MPU_INT pin * Don't shutdown the sensor when it's shut down * Remove explicit shutdown-related API extension. It is no longer required
This commit is contained in:
George Oikonomou
parent
eb5b11a85a
commit
6e7d52b5df
3 changed files with 37 additions and 60 deletions
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@ -74,7 +74,8 @@ shutdown_handler(uint8_t mode)
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SENSORS_DEACTIVATE(opt_3001_sensor);
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SENSORS_DEACTIVATE(tmp_007_sensor);
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SENSORS_DEACTIVATE(hdc_1000_sensor);
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mpu_9250_sensor.configure(MPU_9250_SENSOR_SHUTDOWN, 0);
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SENSORS_DEACTIVATE(mpu_9250_sensor);
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ti_lib_gpio_pin_clear(BOARD_MPU_POWER);
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}
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/* In all cases, stop the I2C */
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@ -212,12 +212,12 @@ static uint8_t acc_range_reg;
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static uint8_t val;
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static uint8_t interrupt_status;
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/*---------------------------------------------------------------------------*/
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#define SENSOR_STATUS_DISABLED 0
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#define SENSOR_STATUS_BOOTING 1
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#define SENSOR_STATUS_ENABLED 2
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#define SENSOR_STATE_DISABLED 0
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#define SENSOR_STATE_BOOTING 1
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#define SENSOR_STATE_ENABLED 2
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static int enabled = SENSOR_STATUS_DISABLED;
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static int elements;
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static int state = SENSOR_STATE_DISABLED;
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static int elements = MPU_9250_SENSOR_TYPE_NONE;
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/*---------------------------------------------------------------------------*/
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/* 3 16-byte words for all sensor readings */
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#define SENSOR_DATA_BUF_SIZE 3
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@ -289,7 +289,9 @@ static void
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select_axes(void)
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{
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val = ~mpu_config;
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SENSOR_SELECT();
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sensor_common_write_reg(PWR_MGMT_2, &val, 1);
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SENSOR_DESELECT();
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}
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/*---------------------------------------------------------------------------*/
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static void
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@ -334,37 +336,6 @@ acc_set_range(uint8_t new_range)
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return success;
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Initialise the MPU
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* \return True if success
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*/
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static bool
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init_sensor(void)
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{
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bool ret;
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interrupt_status = false;
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acc_range = ACC_RANGE_INVALID;
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mpu_config = 0; /* All axes off */
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/* Device reset */
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val = 0x80;
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SENSOR_SELECT();
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ret = sensor_common_write_reg(PWR_MGMT_1, &val, 1);
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SENSOR_DESELECT();
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if(ret) {
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delay_ms(200);
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/* Initial configuration */
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acc_set_range(ACC_RANGE_8G);
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/* Power save */
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sensor_sleep();
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}
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return ret;
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Check whether a data or wake on motion interrupt has occurred
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* \return Return the interrupt status
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@ -450,13 +421,13 @@ gyro_read(uint16_t *data)
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/* Burst read of all gyroscope values */
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success = sensor_common_read_reg(GYRO_XOUT_H, (uint8_t *)data, DATA_SIZE);
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SENSOR_DESELECT();
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if(success) {
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convert_to_le((uint8_t *)data, DATA_SIZE);
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} else {
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sensor_common_set_error_data((uint8_t *)data, DATA_SIZE);
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}
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SENSOR_DESELECT();
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} else {
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success = false;
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}
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@ -514,15 +485,13 @@ gyro_convert(int16_t raw_data)
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static void
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notify_ready(void *not_used)
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{
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enabled = SENSOR_STATUS_ENABLED;
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state = SENSOR_STATE_ENABLED;
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sensors_changed(&mpu_9250_sensor);
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}
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/*---------------------------------------------------------------------------*/
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static void
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initialise(void *not_used)
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{
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init_sensor();
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/* Configure the accelerometer range */
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if((elements & MPU_9250_SENSOR_TYPE_ACC) != 0) {
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acc_set_range(MPU_9250_SENSOR_ACC_RANGE);
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@ -537,7 +506,7 @@ static void
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power_up(void)
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{
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ti_lib_gpio_pin_write(BOARD_MPU_POWER, 1);
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enabled = SENSOR_STATUS_BOOTING;
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state = SENSOR_STATE_BOOTING;
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ctimer_set(&startup_timer, SENSOR_BOOT_DELAY, initialise, NULL);
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}
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@ -553,7 +522,7 @@ value(int type)
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int rv;
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float converted_val = 0;
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if(enabled == SENSOR_STATUS_DISABLED) {
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if(state == SENSOR_STATE_DISABLED) {
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PRINTF("MPU: Sensor Disabled\n");
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return CC26XX_SENSOR_READING_ERROR;
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}
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@ -632,33 +601,42 @@ configure(int type, int enable)
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{
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switch(type) {
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case SENSORS_HW_INIT:
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ti_lib_rom_ioc_pin_type_gpio_input(BOARD_IOID_MPU_INT);
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ti_lib_ioc_io_port_pull_set(BOARD_IOID_MPU_INT, IOC_IOPULL_DOWN);
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ti_lib_ioc_io_hyst_set(BOARD_IOID_MPU_INT, IOC_HYST_ENABLE);
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ti_lib_rom_ioc_pin_type_gpio_output(BOARD_IOID_MPU_POWER);
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ti_lib_ioc_io_drv_strength_set(BOARD_IOID_MPU_POWER, IOC_CURRENT_4MA,
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IOC_STRENGTH_MAX);
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ti_lib_gpio_pin_clear(BOARD_MPU_POWER);
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elements = MPU_9250_SENSOR_TYPE_NONE;
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break;
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case SENSORS_ACTIVE:
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if((enable & MPU_9250_SENSOR_TYPE_ACC) != 0 ||
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(enable & MPU_9250_SENSOR_TYPE_GYRO) != 0) {
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if(((enable & MPU_9250_SENSOR_TYPE_ACC) != 0) ||
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((enable & MPU_9250_SENSOR_TYPE_GYRO) != 0)) {
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PRINTF("MPU: Enabling\n");
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elements = enable & MPU_9250_SENSOR_TYPE_ALL;
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power_up();
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enabled = SENSOR_STATUS_BOOTING;
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state = SENSOR_STATE_BOOTING;
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} else {
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PRINTF("MPU: Disabling\n");
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ctimer_stop(&startup_timer);
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elements = MPU_9250_SENSOR_TYPE_NONE;
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enable_sensor(0);
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while(ti_lib_i2c_master_busy(I2C0_BASE));
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enabled = SENSOR_STATUS_DISABLED;
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if(HWREG(GPIO_BASE + GPIO_O_DOUT31_0) & BOARD_MPU_POWER) {
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/* Then check our state */
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elements = MPU_9250_SENSOR_TYPE_NONE;
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ctimer_stop(&startup_timer);
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sensor_sleep();
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while(ti_lib_i2c_master_busy(I2C0_BASE));
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state = SENSOR_STATE_DISABLED;
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ti_lib_gpio_pin_clear(BOARD_MPU_POWER);
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}
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}
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break;
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case MPU_9250_SENSOR_SHUTDOWN:
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ti_lib_gpio_pin_write(BOARD_MPU_POWER, 0);
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break;
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default:
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break;
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}
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return enabled;
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return state;
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}
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/*---------------------------------------------------------------------------*/
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/**
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@ -672,12 +650,12 @@ status(int type)
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switch(type) {
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case SENSORS_ACTIVE:
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case SENSORS_READY:
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return enabled;
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return state;
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break;
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default:
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break;
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}
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return SENSOR_STATUS_DISABLED;
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return SENSOR_STATE_DISABLED;
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}
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/*---------------------------------------------------------------------------*/
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SENSORS_SENSOR(mpu_9250_sensor, "MPU9250", value, configure, status);
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@ -86,8 +86,6 @@
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#define MPU_9250_SENSOR_TYPE_NONE 0
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#define MPU_9250_SENSOR_TYPE_ALL (MPU_9250_SENSOR_TYPE_ACC | \
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MPU_9250_SENSOR_TYPE_GYRO)
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#define MPU_9250_SENSOR_SHUTDOWN 0xFF
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/*---------------------------------------------------------------------------*/
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/* Accelerometer range */
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#define MPU_9250_SENSOR_ACC_RANGE_2G 0
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