Commit 95871258 authored by Daniel Friesel's avatar Daniel Friesel
Browse files

MPU9250: Add AEMR DFA driver functions and model

parent e5436cc5

include/driver/mpu9250.h

+9 −1
Original line number Diff line number Diff line
@@ -273,6 +273,7 @@ class MPU9250 { 
		void getAccel(float *g_x, float *g_y, float *g_z);

		void getGyro(float *dps_x, float *dps_y, float *dps_z);

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

		float getTemperature();

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

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

		void setGyroStandby(bool gyroStandby);
@@ -282,7 +283,14 @@ class MPU9250 { 
		void AGWakeup();

		void MagSleep();

		void MagWakeup();

		float getTemperature();



		// mpu9250.dfa

		void sleep();

		void standby();

		void lowPowerAccelOnly(unsigned char rate);

		void accelOnly();

		void gyroOnly();

		void magnetOnly();

};



extern MPU9250 mpu9250;

model/driver/mpu9250.dfa

0 → 100644
+48 −0
Original line number Diff line number Diff line 
codegen:

  instance: mpu9250

  includes: ['driver/i2c.h', 'driver/mpu9250.h']

  flags: ['drivers=mpu9250', 'arch_drivers=i2c']

  setup:

  - i2c.setup();



parameters:

- accel_odr



states:

- UNINITIALIZED

- SLEEP

- STANDBY

- LP_ACCEL

- ACCEL

- GYRO

- MAGNET

- NINEAXIS



transition:

  init:

    src: [UNINITIALIZED, SLEEP, STANDBY, LP_ACCEL, ACCEL, GYRO, MAGNET, NINEAXIS]

    dst: NINEAXIS

    set_param:

      accel_odr: 0

  sleep:

    src: [STANDBY, LP_ACCEL, ACCEL, GYRO, MAGNET, NINEAXIS]

    dst: SLEEP

  standby:

    src: [STANDBY, LP_ACCEL, ACCEL, GYRO, MAGNET, NINEAXIS]

    dst: SLEEP

  lowPowerAccelOnly:

    src: [SLEEP, STANDBY, NINEAXIS, ACCEL, GYRO, MAGNET]

    dst: LP_ACCEL

    arguments:

    - name: rate

      values: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]

      parameter: accel_odr

  accelOnly:

    src: [SLEEP, STANDBY, LP_ACCEL, GYRO, MAGNET, NINEAXIS]

    dst: ACCEL

  gyroOnly:

    src: [SLEEP, STANDBY, LP_ACCEL, ACCEL, MAGNET, NINEAXIS]

    dst: GYRO

  magnetOnly:

    src: [SLEEP, STANDBY, LP_ACCEL, ACCEL, GYRO, NINEAXIS]

    dst: MAGNET

src/driver/mpu9250.cc

+50 −0
Original line number Diff line number Diff line
@@ -216,4 +216,54 @@ void MPU9250::getRawMagnet(int *x, int *y, int *z) 
	}

}



// mpu9250.dfa



void MPU9250::sleep()

{

	AGSleep();

	MagSleep();

}



void MPU9250::standby()

{

	setGyroStandby(true);

	MagSleep();

	setAccelEnable(false, false, false);

}



void MPU9250::lowPowerAccelOnly(unsigned char rate)

{

	txbuf[0] = MPU9250_LP_ACCEL_ODR;

	txbuf[1] = rate & 0x0f;

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

	MagSleep();

	txbuf[0] = 107;

	txbuf[1] = 1<<5;

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

	setGyroEnable(false, false, false);

}



void MPU9250::accelOnly()

{

	gyroStandby = false;

	AGWakeup();

	MagSleep();

	setGyroEnable(false, false, false);

}



void MPU9250::gyroOnly()

{

	gyroStandby = false;

	AGWakeup();

	MagSleep();

	setAccelEnable(false, false, false);

}



void MPU9250::magnetOnly()

{

	gyroStandby = false;

	MagWakeup();

	AGSleep();

}



MPU9250 mpu9250;