Commit 386be478 authored by Daniel Friesel's avatar Daniel Friesel
Browse files

Add basic MPU9250 driver

parent 7fe93241

Makefile

+5 −0
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@@ -68,6 +68,11 @@ ifneq ($(findstring hdc1080,${drivers}), ) 
	COMMON_FLAGS += -DDRIVER_HDC1080

endif



ifneq ($(findstring mpu9250,${drivers}), )

	CXX_TARGETS += src/driver/mpu9250.cc

	COMMON_FLAGS += -DDRIVER_MPU9250

endif



ifneq ($(findstring mmsimple,${drivers}), )

	CXX_TARGETS += src/driver/mmsimple.cc

	COMMON_FLAGS += -DDRIVER_MMSIMPLE

include/driver/mpu9250.h

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#ifndef MPU9250_H

#define MPU9250_H



class MPU9250 {

	private:

		MPU9250(const MPU9250 &copy);

		unsigned char const address = 0x68;

		unsigned char txbuf[3];

		unsigned char rxbuf[8];

		signed int getWordReg(unsigned char const regBase);



	public:

		MPU9250() {}

		void init();

		int getAccelX() { return getWordReg(59); }

		int getAccelY() { return getWordReg(61); }

		int getAccelZ() { return getWordReg(63); }

		int getGyroX() { return getWordReg(67); }

		int getGyroY() { return getWordReg(69); }

		int getGyroZ() { return getWordReg(71); }

		void getMagnet(int *x, int *y, int *z);

		void setAccelEnable(bool x, bool y, bool z);

		void setGyroEnable(bool x, bool y, bool z);

		void setPower(bool sleep, bool gyroStandby);

		float getTemperature();

};



extern MPU9250 mpu9250;



#endif

src/app/i2cdetect/main.cc

+20 −0
Original line number Diff line number Diff line
@@ -28,6 +28,9 @@ 
#ifdef DRIVER_HDC1080

#include "driver/hdc1080.h"

#endif

#ifdef DRIVER_MPU9250

#include "driver/mpu9250.h"

#endif

#ifdef DRIVER_MMSIMPLE

#include "driver/mmsimple.h"

#endif
@@ -88,6 +91,20 @@ void loop(void) 
	kout << "HDC1080 temperature " << hdc1080.getTemp() << " degC" << endl;

	kout << "HDC1080 humidity " << hdc1080.getRH() << " %H" << endl;

#endif

#ifdef DRIVER_MPU9250

	int mx, my, mz;

	kout << "Temperature: " << mpu9250.getTemperature() << endl;

	kout << "Accel X " << mpu9250.getAccelX() << endl;

	kout << "Accel Y " << mpu9250.getAccelX() << endl;

	kout << "Accel Z " << mpu9250.getAccelX() << endl;

	kout << "Gyro X " << mpu9250.getGyroX() << endl;

	kout << "Gyro Y " << mpu9250.getGyroX() << endl;

	kout << "Gyro Z " << mpu9250.getGyroX() << endl;

	mpu9250.getMagnet(&mx, &my, &mz);

	kout << "Magnet X " << mx << endl;

	kout << "Magnet Y " << mx << endl;

	kout << "Magnet Z " << mx << endl;

#endif

#ifdef DRIVER_MAX44009

	kout.printf_float(max44009.getLux());

	kout << endl;
@@ -131,6 +148,9 @@ int main(void) 
		kout << "[!] invalid HDC1080 manufacturer ID: " << hex << hdc1080.getManufacturerID() << endl;

	}

#endif

#ifdef DRIVER_MPU9250

	mpu9250.init();

#endif



	for (unsigned char i = 0; i < sizeof(i2c_status)/sizeof(unsigned int); i++) {

		i2c_status[i] = 0;

src/driver/mpu9250.cc

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+114 −0
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#include "driver/mpu9250.h"

#include "arch.h"

#if defined(MULTIPASS_ARCH_HAS_I2C) && !defined(DRIVER_SOFTI2C)

#include "driver/i2c.h"

#else

#include "driver/soft_i2c.h"

#endif



void MPU9250::init()

{

	// reset to default

	txbuf[0] = 107;

	txbuf[1] = 0x80;

	i2c.xmit(address, 2, txbuf, 0, rxbuf);

	arch.delay_ms(1);



	// enable I2C passthrough to magnetometer

	txbuf[0] = 55;

	txbuf[1] = 1<<1;

	i2c.xmit(address, 2, txbuf, 0, rxbuf);



	// reset magnetometer

	txbuf[0] = 0x0b;

	txbuf[1] = 1;

	i2c.xmit(0x0c, 2, txbuf, 0, rxbuf);

	arch.delay_ms(1);



	// put magnetometer into continuous measurement mode

	txbuf[0] = 0x0a;

	txbuf[1] = 2;

	i2c.xmit(0x0c, 2, txbuf, 0, rxbuf);

}



void MPU9250::setGyroEnable(bool x, bool y, bool z)

{

	txbuf[0] = 108;

	i2c.xmit(address, 1, txbuf, 1, txbuf + 1); // not a typo



	txbuf[1] &= 0x07;



	if (!x) {

		txbuf[1] |= 4;

	}

	if (!y) {

		txbuf[1] |= 2;

	}

	if (!z) {

		txbuf[1] |= 1;

	}



	i2c.xmit(address, 2, txbuf, 0, rxbuf);

}



void MPU9250::setAccelEnable(bool x, bool y, bool z)

{

	txbuf[0] = 108;

	i2c.xmit(address, 1, txbuf, 1, txbuf + 1); // not a typo



	txbuf[1] &= 0xf8;



	if (!x) {

		txbuf[1] |= 1<<5;

	}

	if (!y) {

		txbuf[1] |= 1<<4;

	}

	if (!z) {

		txbuf[1] |= 1<<3;

	}



	i2c.xmit(address, 2, txbuf, 0, rxbuf);

}



void MPU9250::setPower(bool sleep, bool gyroStandby)

{

	txbuf[0] = 107;

	if (sleep) {

		txbuf[1] = 1<<6;

	}

	else if (gyroStandby) {

		txbuf[1] = 1<<4;

	}

	i2c.xmit(address, 2, txbuf, 0, rxbuf);

}



signed int MPU9250::getWordReg(unsigned char const regBase)

{

	txbuf[0] = regBase;

	i2c.xmit(address, 1, txbuf, 2, rxbuf);



	return ((signed int)rxbuf[0] << 8) + rxbuf[1];

}



float MPU9250::getTemperature()

{

	return (float)getWordReg(65) / 333.87 + 21;

}



void MPU9250::getMagnet(int *x, int *y, int *z)

{

	txbuf[0] = 0x02;

	i2c.xmit(0x0c, 0, txbuf, 8, rxbuf);



	if ((rxbuf[0] & 0x01) && !(rxbuf[7] & 0x08)) {

		*x = ((signed int)rxbuf[2] << 8) + rxbuf[1];

		*y = ((signed int)rxbuf[4] << 8) + rxbuf[3];

		*z = ((signed int)rxbuf[6] << 8) + rxbuf[5];

	}

	else {

		*x = *y = *z = 0;

	}

}



MPU9250 mpu9250;