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osd-contiki/platform/srf06-cc26xx/sensortag/mpu-9250-sensor.c

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/*
* Copyright (c) 2014, Texas Instruments Incorporated - http://www.ti.com/
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
* OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/*---------------------------------------------------------------------------*/
/**
* \addtogroup sensortag-cc26xx-mpu
* @{
*
* \file
* Driver for the Sensortag Invensense MPU9250 motion processing unit
*/
/*---------------------------------------------------------------------------*/
#include "contiki-conf.h"
#include "lib/sensors.h"
#include "mpu-9250-sensor.h"
#include "sys/rtimer.h"
#include "sensor-common.h"
#include "board-i2c.h"
#include "ti-lib.h"
#include <stdint.h>
#include <string.h>
#include <stdio.h>
#include <math.h>
/*---------------------------------------------------------------------------*/
#define DEBUG 0
#if DEBUG
#define PRINTF(...) printf(__VA_ARGS__)
#else
#define PRINTF(...)
#endif
/*---------------------------------------------------------------------------*/
/* Sensor I2C address */
#define SENSOR_I2C_ADDRESS 0x68
#define SENSOR_MAG_I2_ADDRESS 0x0C
/*---------------------------------------------------------------------------*/
/* Registers */
#define SELF_TEST_X_GYRO 0x00 /* R/W */
#define SELF_TEST_Y_GYRO 0x01 /* R/W */
#define SELF_TEST_Z_GYRO 0x02 /* R/W */
#define SELF_TEST_X_ACCEL 0x0D /* R/W */
#define SELF_TEST_Z_ACCEL 0x0E /* R/W */
#define SELF_TEST_Y_ACCEL 0x0F /* R/W */
/*---------------------------------------------------------------------------*/
#define XG_OFFSET_H 0x13 /* R/W */
#define XG_OFFSET_L 0x14 /* R/W */
#define YG_OFFSET_H 0x15 /* R/W */
#define YG_OFFSET_L 0x16 /* R/W */
#define ZG_OFFSET_H 0x17 /* R/W */
#define ZG_OFFSET_L 0x18 /* R/W */
/*---------------------------------------------------------------------------*/
#define SMPLRT_DIV 0x19 /* R/W */
#define CONFIG 0x1A /* R/W */
#define GYRO_CONFIG 0x1B /* R/W */
#define ACCEL_CONFIG 0x1C /* R/W */
#define ACCEL_CONFIG_2 0x1D /* R/W */
#define LP_ACCEL_ODR 0x1E /* R/W */
#define WOM_THR 0x1F /* R/W */
#define FIFO_EN 0x23 /* R/W */
/*---------------------------------------------------------------------------*/
/*
* Registers 0x24 - 0x36 are not applicable to the SensorTag HW configuration
* (IC2 Master)
*/
#define INT_PIN_CFG 0x37 /* R/W */
#define INT_ENABLE 0x38 /* R/W */
#define INT_STATUS 0x3A /* R */
#define ACCEL_XOUT_H 0x3B /* R */
#define ACCEL_XOUT_L 0x3C /* R */
#define ACCEL_YOUT_H 0x3D /* R */
#define ACCEL_YOUT_L 0x3E /* R */
#define ACCEL_ZOUT_H 0x3F /* R */
#define ACCEL_ZOUT_L 0x40 /* R */
#define TEMP_OUT_H 0x41 /* R */
#define TEMP_OUT_L 0x42 /* R */
#define GYRO_XOUT_H 0x43 /* R */
#define GYRO_XOUT_L 0x44 /* R */
#define GYRO_YOUT_H 0x45 /* R */
#define GYRO_YOUT_L 0x46 /* R */
#define GYRO_ZOUT_H 0x47 /* R */
#define GYRO_ZOUT_L 0x48 /* R */
/*---------------------------------------------------------------------------*/
/*
* Registers 0x49 - 0x60 are not applicable to the SensorTag HW configuration
* (external sensor data)
*
* Registers 0x63 - 0x67 are not applicable to the SensorTag HW configuration
* (I2C master)
*/
#define SIGNAL_PATH_RESET 0x68 /* R/W */
#define ACCEL_INTEL_CTRL 0x69 /* R/W */
#define USER_CTRL 0x6A /* R/W */
#define PWR_MGMT_1 0x6B /* R/W */
#define PWR_MGMT_2 0x6C /* R/W */
#define FIFO_COUNT_H 0x72 /* R/W */
#define FIFO_COUNT_L 0x73 /* R/W */
#define FIFO_R_W 0x74 /* R/W */
#define WHO_AM_I 0x75 /* R/W */
/*---------------------------------------------------------------------------*/
/* Masks is mpuConfig valiable */
#define ACC_CONFIG_MASK 0x38
#define GYRO_CONFIG_MASK 0x07
/*---------------------------------------------------------------------------*/
/* Values PWR_MGMT_1 */
#define MPU_SLEEP 0x4F /* Sleep + stop all clocks */
#define MPU_WAKE_UP 0x09 /* Disable temp. + intern osc */
/*---------------------------------------------------------------------------*/
/* Values PWR_MGMT_2 */
#define ALL_AXES 0x3F
#define GYRO_AXES 0x07
#define ACC_AXES 0x38
/*---------------------------------------------------------------------------*/
/* Data sizes */
#define DATA_SIZE 6
/*---------------------------------------------------------------------------*/
/* Output data rates */
#define INV_LPA_0_3125HZ 0
#define INV_LPA_0_625HZ 1
#define INV_LPA_1_25HZ 2
#define INV_LPA_2_5HZ 3
#define INV_LPA_5HZ 4
#define INV_LPA_10HZ 5
#define INV_LPA_20HZ 6
#define INV_LPA_40HZ 7
#define INV_LPA_80HZ 8
#define INV_LPA_160HZ 9
#define INV_LPA_320HZ 10
#define INV_LPA_640HZ 11
#define INV_LPA_STOPPED 255
/*---------------------------------------------------------------------------*/
/* Bit values */
#define BIT_ANY_RD_CLR 0x10
#define BIT_RAW_RDY_EN 0x01
#define BIT_WOM_EN 0x40
#define BIT_LPA_CYCLE 0x20
#define BIT_STBY_XA 0x20
#define BIT_STBY_YA 0x10
#define BIT_STBY_ZA 0x08
#define BIT_STBY_XG 0x04
#define BIT_STBY_YG 0x02
#define BIT_STBY_ZG 0x01
#define BIT_STBY_XYZA (BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA)
#define BIT_STBY_XYZG (BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG)
/*---------------------------------------------------------------------------*/
/* User control register */
#define BIT_ACTL 0x80
#define BIT_LATCH_EN 0x20
/*---------------------------------------------------------------------------*/
/* INT Pin / Bypass Enable Configuration */
#define BIT_AUX_IF_EN 0x20 /* I2C_MST_EN */
#define BIT_BYPASS_EN 0x02
/*---------------------------------------------------------------------------*/
#define ACC_RANGE_INVALID -1
#define ACC_RANGE_2G 0
#define ACC_RANGE_4G 1
#define ACC_RANGE_8G 2
#define ACC_RANGE_16G 3
#define MPU_AX_GYR_X 2
#define MPU_AX_GYR_Y 1
#define MPU_AX_GYR_Z 0
#define MPU_AX_GYR 0x07
#define MPU_AX_ACC_X 5
#define MPU_AX_ACC_Y 4
#define MPU_AX_ACC_Z 3
#define MPU_AX_ACC 0x38
#define MPU_AX_MAG 6
/*---------------------------------------------------------------------------*/
#define MPU_DATA_READY 0x01
#define MPU_MOVEMENT 0x40
/*---------------------------------------------------------------------------*/
/* Sensor selection/deselection */
#define SENSOR_SELECT() board_i2c_select(BOARD_I2C_INTERFACE_1, SENSOR_I2C_ADDRESS)
#define SENSOR_DESELECT() board_i2c_deselect()
/*---------------------------------------------------------------------------*/
/* Delay */
#define delay_ms(i) (ti_lib_cpu_delay(8000 * (i)))
/*---------------------------------------------------------------------------*/
static uint8_t mpu_config;
static uint8_t acc_range;
static uint8_t acc_range_reg;
static uint8_t val;
static uint8_t interrupt_status;
/*---------------------------------------------------------------------------*/
#define SENSOR_STATE_DISABLED 0
#define SENSOR_STATE_BOOTING 1
#define SENSOR_STATE_ENABLED 2
static int state = SENSOR_STATE_DISABLED;
static int elements = MPU_9250_SENSOR_TYPE_NONE;
/*---------------------------------------------------------------------------*/
/* 3 16-byte words for all sensor readings */
#define SENSOR_DATA_BUF_SIZE 3
static uint16_t sensor_value[SENSOR_DATA_BUF_SIZE];
/*---------------------------------------------------------------------------*/
/*
* Wait SENSOR_BOOT_DELAY ticks for the sensor to boot and
* SENSOR_STARTUP_DELAY for readings to be ready
* Gyro is a little slower than Acc
*/
#define SENSOR_BOOT_DELAY 8
#define SENSOR_STARTUP_DELAY 5
static struct ctimer startup_timer;
/*---------------------------------------------------------------------------*/
/* Wait for the MPU to have data ready */
rtimer_clock_t t0;
/*
* Wait timeout in rtimer ticks. This is just a random low number, since the
* first time we read the sensor status, it should be ready to return data
*/
#define READING_WAIT_TIMEOUT 10
/*---------------------------------------------------------------------------*/
/**
* \brief Place the MPU in low power mode
*/
static void
sensor_sleep(void)
{
SENSOR_SELECT();
val = ALL_AXES;
sensor_common_write_reg(PWR_MGMT_2, &val, 1);
val = MPU_SLEEP;
sensor_common_write_reg(PWR_MGMT_1, &val, 1);
SENSOR_DESELECT();
}
/*---------------------------------------------------------------------------*/
/**
* \brief Exit low power mode
*/
static void
sensor_wakeup(void)
{
SENSOR_SELECT();
val = MPU_WAKE_UP;
sensor_common_write_reg(PWR_MGMT_1, &val, 1);
/* All axis initially disabled */
val = ALL_AXES;
sensor_common_write_reg(PWR_MGMT_2, &val, 1);
mpu_config = 0;
/* Restore the range */
sensor_common_write_reg(ACCEL_CONFIG, &acc_range_reg, 1);
/* Clear interrupts */
sensor_common_read_reg(INT_STATUS, &val, 1);
SENSOR_DESELECT();
}
/*---------------------------------------------------------------------------*/
/**
* \brief Select gyro and accelerometer axes
*/
static void
select_axes(void)
{
val = ~mpu_config;
SENSOR_SELECT();
sensor_common_write_reg(PWR_MGMT_2, &val, 1);
SENSOR_DESELECT();
}
/*---------------------------------------------------------------------------*/
static void
convert_to_le(uint8_t *data, uint8_t len)
{
int i;
for(i = 0; i < len; i += 2) {
uint8_t tmp;
tmp = data[i];
data[i] = data[i + 1];
data[i + 1] = tmp;
}
}
/*---------------------------------------------------------------------------*/
/**
* \brief Set the range of the accelerometer
* \param new_range: ACC_RANGE_2G, ACC_RANGE_4G, ACC_RANGE_8G, ACC_RANGE_16G
* \return true if the write to the sensor succeeded
*/
static bool
acc_set_range(uint8_t new_range)
{
bool success;
if(new_range == acc_range) {
return true;
}
success = false;
acc_range_reg = (new_range << 3);
/* Apply the range */
SENSOR_SELECT();
success = sensor_common_write_reg(ACCEL_CONFIG, &acc_range_reg, 1);
SENSOR_DESELECT();
if(success) {
acc_range = new_range;
}
return success;
}
/*---------------------------------------------------------------------------*/
/**
* \brief Check whether a data or wake on motion interrupt has occurred
* \return Return the interrupt status
*
* This driver does not use interrupts, however this function allows us to
* determine whether a new sensor reading is available
*/
static uint8_t
int_status(void)
{
SENSOR_SELECT();
sensor_common_read_reg(INT_STATUS, &interrupt_status, 1);
SENSOR_DESELECT();
return interrupt_status;
}
/*---------------------------------------------------------------------------*/
/**
* \brief Enable the MPU
* \param axes: Gyro bitmap [0..2], X = 1, Y = 2, Z = 4. 0 = gyro off
* Acc bitmap [3..5], X = 8, Y = 16, Z = 32. 0 = accelerometer off
*/
static void
enable_sensor(uint16_t axes)
{
if(mpu_config == 0 && axes != 0) {
/* Wake up the sensor if it was off */
sensor_wakeup();
}
mpu_config = axes;
if(mpu_config != 0) {
/* Enable gyro + accelerometer readout */
select_axes();
delay_ms(10);
} else if(mpu_config == 0) {
sensor_sleep();
}
}
/*---------------------------------------------------------------------------*/
/**
* \brief Read data from the accelerometer - X, Y, Z - 3 words
* \return True if a valid reading could be taken, false otherwise
*/
static bool
acc_read(uint16_t *data)
{
bool success;
if(interrupt_status & BIT_RAW_RDY_EN) {
/* Burst read of all accelerometer values */
SENSOR_SELECT();
success = sensor_common_read_reg(ACCEL_XOUT_H, (uint8_t *)data, DATA_SIZE);
SENSOR_DESELECT();
if(success) {
convert_to_le((uint8_t *)data, DATA_SIZE);
} else {
sensor_common_set_error_data((uint8_t *)data, DATA_SIZE);
}
} else {
/* Data not ready */
success = false;
}
return success;
}
/*---------------------------------------------------------------------------*/
/**
* \brief Read data from the gyroscope - X, Y, Z - 3 words
* \return True if a valid reading could be taken, false otherwise
*/
static bool
gyro_read(uint16_t *data)
{
bool success;
if(interrupt_status & BIT_RAW_RDY_EN) {
/* Select this sensor */
SENSOR_SELECT();
/* Burst read of all gyroscope values */
success = sensor_common_read_reg(GYRO_XOUT_H, (uint8_t *)data, DATA_SIZE);
if(success) {
convert_to_le((uint8_t *)data, DATA_SIZE);
} else {
sensor_common_set_error_data((uint8_t *)data, DATA_SIZE);
}
SENSOR_DESELECT();
} else {
success = false;
}
return success;
}
/*---------------------------------------------------------------------------*/
/**
* \brief Convert accelerometer raw reading to a value in G
* \param raw_data The raw accelerometer reading
* \return The converted value
*/
static float
acc_convert(int16_t raw_data)
{
float v = 0;
switch(acc_range) {
case ACC_RANGE_2G:
/* Calculate acceleration, unit G, range -2, +2 */
v = (raw_data * 1.0) / (32768 / 2);
break;
case ACC_RANGE_4G:
/* Calculate acceleration, unit G, range -4, +4 */
v = (raw_data * 1.0) / (32768 / 4);
break;
case ACC_RANGE_8G:
/* Calculate acceleration, unit G, range -8, +8 */
v = (raw_data * 1.0) / (32768 / 8);
break;
case ACC_RANGE_16G:
/* Calculate acceleration, unit G, range -16, +16 */
v = (raw_data * 1.0) / (32768 / 16);
break;
default:
v = 0;
break;
}
return v;
}
/*---------------------------------------------------------------------------*/
/**
* \brief Convert gyro raw reading to a value in deg/sec
* \param raw_data The raw accelerometer reading
* \return The converted value
*/
static float
gyro_convert(int16_t raw_data)
{
/* calculate rotation, unit deg/s, range -250, +250 */
return (raw_data * 1.0) / (65536 / 500);
}
/*---------------------------------------------------------------------------*/
static void
notify_ready(void *not_used)
{
state = SENSOR_STATE_ENABLED;
sensors_changed(&mpu_9250_sensor);
}
/*---------------------------------------------------------------------------*/
static void
initialise(void *not_used)
{
/* Configure the accelerometer range */
if((elements & MPU_9250_SENSOR_TYPE_ACC) != 0) {
acc_set_range(MPU_9250_SENSOR_ACC_RANGE);
}
enable_sensor(elements & MPU_9250_SENSOR_TYPE_ALL);
ctimer_set(&startup_timer, SENSOR_STARTUP_DELAY, notify_ready, NULL);
}
/*---------------------------------------------------------------------------*/
static void
power_up(void)
{
ti_lib_gpio_set_dio(BOARD_IOID_MPU_POWER);
state = SENSOR_STATE_BOOTING;
ctimer_set(&startup_timer, SENSOR_BOOT_DELAY, initialise, NULL);
}
/*---------------------------------------------------------------------------*/
/**
* \brief Returns a reading from the sensor
* \param type MPU_9250_SENSOR_TYPE_ACC_[XYZ] or MPU_9250_SENSOR_TYPE_GYRO_[XYZ]
* \return centi-G (ACC) or centi-Deg/Sec (Gyro)
*/
static int
value(int type)
{
int rv;
float converted_val = 0;
if(state == SENSOR_STATE_DISABLED) {
PRINTF("MPU: Sensor Disabled\n");
return CC26XX_SENSOR_READING_ERROR;
}
memset(sensor_value, 0, sizeof(sensor_value));
if((type & MPU_9250_SENSOR_TYPE_ACC) != 0) {
t0 = RTIMER_NOW();
while(!int_status() &&
(RTIMER_CLOCK_LT(RTIMER_NOW(), t0 + READING_WAIT_TIMEOUT)));
rv = acc_read(sensor_value);
if(rv == 0) {
return CC26XX_SENSOR_READING_ERROR;
}
PRINTF("MPU: ACC = 0x%04x 0x%04x 0x%04x = ",
sensor_value[0], sensor_value[1], sensor_value[2]);
/* Convert */
if(type == MPU_9250_SENSOR_TYPE_ACC_X) {
converted_val = acc_convert(sensor_value[0]);
} else if(type == MPU_9250_SENSOR_TYPE_ACC_Y) {
converted_val = acc_convert(sensor_value[1]);
} else if(type == MPU_9250_SENSOR_TYPE_ACC_Z) {
converted_val = acc_convert(sensor_value[2]);
}
rv = (int)(converted_val * 100);
} else if((type & MPU_9250_SENSOR_TYPE_GYRO) != 0) {
t0 = RTIMER_NOW();
while(!int_status() &&
(RTIMER_CLOCK_LT(RTIMER_NOW(), t0 + READING_WAIT_TIMEOUT)));
rv = gyro_read(sensor_value);
if(rv == 0) {
return CC26XX_SENSOR_READING_ERROR;
}
PRINTF("MPU: Gyro = 0x%04x 0x%04x 0x%04x = ",
sensor_value[0], sensor_value[1], sensor_value[2]);
if(type == MPU_9250_SENSOR_TYPE_GYRO_X) {
converted_val = gyro_convert(sensor_value[0]);
} else if(type == MPU_9250_SENSOR_TYPE_GYRO_Y) {
converted_val = gyro_convert(sensor_value[1]);
} else if(type == MPU_9250_SENSOR_TYPE_GYRO_Z) {
converted_val = gyro_convert(sensor_value[2]);
}
rv = (int)(converted_val * 100);
} else {
PRINTF("MPU: Invalid type\n");
rv = CC26XX_SENSOR_READING_ERROR;
}
PRINTF("%ld\n", (long int)(converted_val * 100));
return rv;
}
/*---------------------------------------------------------------------------*/
/**
* \brief Configuration function for the MPU9250 sensor.
*
* \param type Activate, enable or disable the sensor. See below
* \param enable
*
* When type == SENSORS_HW_INIT we turn on the hardware
* When type == SENSORS_ACTIVE and enable==1 we enable the sensor
* When type == SENSORS_ACTIVE and enable==0 we disable the sensor
*/
static int
configure(int type, int enable)
{
switch(type) {
case SENSORS_HW_INIT:
ti_lib_rom_ioc_pin_type_gpio_input(BOARD_IOID_MPU_INT);
ti_lib_ioc_io_port_pull_set(BOARD_IOID_MPU_INT, IOC_IOPULL_DOWN);
ti_lib_ioc_io_hyst_set(BOARD_IOID_MPU_INT, IOC_HYST_ENABLE);
ti_lib_rom_ioc_pin_type_gpio_output(BOARD_IOID_MPU_POWER);
ti_lib_ioc_io_drv_strength_set(BOARD_IOID_MPU_POWER, IOC_CURRENT_4MA,
IOC_STRENGTH_MAX);
ti_lib_gpio_clear_dio(BOARD_IOID_MPU_POWER);
elements = MPU_9250_SENSOR_TYPE_NONE;
break;
case SENSORS_ACTIVE:
if(((enable & MPU_9250_SENSOR_TYPE_ACC) != 0) ||
((enable & MPU_9250_SENSOR_TYPE_GYRO) != 0)) {
PRINTF("MPU: Enabling\n");
elements = enable & MPU_9250_SENSOR_TYPE_ALL;
power_up();
state = SENSOR_STATE_BOOTING;
} else {
PRINTF("MPU: Disabling\n");
if(HWREG(GPIO_BASE + GPIO_O_DOUT31_0) & BOARD_MPU_POWER) {
/* Then check our state */
elements = MPU_9250_SENSOR_TYPE_NONE;
ctimer_stop(&startup_timer);
sensor_sleep();
while(ti_lib_i2c_master_busy(I2C0_BASE));
state = SENSOR_STATE_DISABLED;
ti_lib_gpio_clear_dio(BOARD_IOID_MPU_POWER);
}
}
break;
default:
break;
}
return state;
}
/*---------------------------------------------------------------------------*/
/**
* \brief Returns the status of the sensor
* \param type SENSORS_ACTIVE or SENSORS_READY
* \return 1 if the sensor is enabled
*/
static int
status(int type)
{
switch(type) {
case SENSORS_ACTIVE:
case SENSORS_READY:
return state;
break;
default:
break;
}
return SENSOR_STATE_DISABLED;
}
/*---------------------------------------------------------------------------*/
SENSORS_SENSOR(mpu_9250_sensor, "MPU9250", value, configure, status);
/*---------------------------------------------------------------------------*/
/** @} */
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