uint16_t AP_InertialSensor_MPU6000::_init_sensor( Sample_rate sample_rate )
{
if (_initialised) return _mpu6000_product_id;
_initialised = true;
_spi = hal.spi->device(AP_HAL::SPIDevice_MPU6000);
_spi_sem = _spi->get_semaphore();
/* Pin 70 defined especially to hook
up PE6 to the hal.gpio abstraction.
(It is not a valid pin under Arduino.) */
_drdy_pin = hal.gpio->channel(70);
hal.scheduler->suspend_timer_procs();
uint8_t tries = 0;
do {
bool success = _hardware_init(sample_rate);
if (success) {
hal.scheduler->delay(5+2);
if (!_spi_sem->take(100)) {
hal.scheduler->panic(PSTR("MPU6000: Unable to get semaphore"));
}
if (_data_ready()) {
_spi_sem->give();
break;
} else {
hal.console->println_P(
PSTR("MPU6000 startup failed: no data ready"));
}
_spi_sem->give();
}
if (tries++ > 5) {
hal.scheduler->panic(PSTR("PANIC: failed to boot MPU6000 5 times"));
}
} while (1);
hal.scheduler->resume_timer_procs();
/* read the first lot of data.
* _read_data_transaction requires the spi semaphore to be taken by
* its caller. */
_last_sample_time_micros = hal.scheduler->micros();
hal.scheduler->delay(10);
if (_spi_sem->take(100)) {
_read_data_transaction();
_spi_sem->give();
}
// start the timer process to read samples
hal.scheduler->register_timer_process(AP_HAL_MEMBERPROC(&AP_InertialSensor_MPU6000::_poll_data));
#if MPU6000_DEBUG
_dump_registers();
#endif
return _mpu6000_product_id;
}
/*
initialise the sensor
*/
bool AP_InertialSensor_MPU9250::_init_sensor(void)
{
_spi = hal.spi->device(AP_HAL::SPIDevice_MPU9250);
_spi_sem = _spi->get_semaphore();
// we need to suspend timers to prevent other SPI drivers grabbing
// the bus while we do the long initialisation
hal.scheduler->suspend_timer_procs();
uint8_t whoami = _register_read(MPUREG_WHOAMI);
if (whoami != 0x71) {
// TODO: we should probably accept multiple chip
// revisions. This is the one on the PXF
hal.console->printf("MPU9250: unexpected WHOAMI 0x%x\n", (unsigned)whoami);
return false;
}
uint8_t tries = 0;
do {
bool success = _hardware_init();
if (success) {
hal.scheduler->delay(10);
if (!_spi_sem->take(100)) {
hal.console->printf("MPU9250: Unable to get semaphore");
return false;
}
uint8_t status = _register_read(MPUREG_INT_STATUS);
if ((status & BIT_RAW_RDY_INT) != 0) {
_spi_sem->give();
break;
}
_spi_sem->give();
}
if (tries++ > 5) {
return false;
}
} while (1);
hal.scheduler->resume_timer_procs();
_gyro_instance = _imu.register_gyro();
_accel_instance = _imu.register_accel();
_product_id = AP_PRODUCT_ID_MPU9250;
// start the timer process to read samples
hal.scheduler->register_timer_process(AP_HAL_MEMBERPROC(&AP_InertialSensor_MPU9250::_poll_data));
#if MPU9250_DEBUG
_dump_registers();
#endif
return true;
}
/*
initialise the sensor
*/
bool AP_InertialSensor_MPU6000::_init_sensor(void)
{
_spi = hal.spi->device(AP_HAL::SPIDevice_MPU6000);
_spi_sem = _spi->get_semaphore();
#ifdef MPU6000_DRDY_PIN
_drdy_pin = hal.gpio->channel(MPU6000_DRDY_PIN);
_drdy_pin->mode(HAL_GPIO_INPUT);
#endif
hal.scheduler->suspend_timer_procs();
uint8_t tries = 0;
do {
bool success = _hardware_init();
if (success) {
hal.scheduler->delay(5+2);
if (!_spi_sem->take(100)) {
return false;
}
if (_data_ready()) {
_spi_sem->give();
break;
} else {
return false;
}
_spi_sem->give();
}
if (tries++ > 5) {
hal.console->print_P(PSTR("failed to boot MPU6000 5 times"));
return false;
}
} while (1);
// grab the used instances
_gyro_instance = _imu.register_gyro();
_accel_instance = _imu.register_accel();
hal.scheduler->resume_timer_procs();
// start the timer process to read samples
hal.scheduler->register_timer_process(AP_HAL_MEMBERPROC(&AP_InertialSensor_MPU6000::_poll_data));
#if MPU6000_DEBUG
_dump_registers();
#endif
return true;
}
uint16_t AP_InertialSensor_L3GD20::_init_sensor( Sample_rate sample_rate )
{
if (_initialised) return _L3GD20_product_id;
_initialised = true;
_spi = hal.spi->device(AP_HAL::SPIDevice_L3GD20);
_spi_sem = _spi->get_semaphore();
#ifdef L3GD20_DRDY_PIN
_drdy_pin = hal.gpio->channel(L3GD20_DRDY_PIN);
_drdy_pin->mode(HAL_GPIO_INPUT);
#endif
hal.scheduler->suspend_timer_procs();
// Test WHOAMI
uint8_t whoami = _register_read(ADDR_WHO_AM_I);
if (whoami != WHO_I_AM) {
// TODO: we should probably accept multiple chip
// revisions. This is the one on the PXF
hal.console->printf("L3GD20: unexpected WHOAMI 0x%x\n", (unsigned)whoami);
hal.scheduler->panic(PSTR("L3GD20: bad WHOAMI"));
}
uint8_t tries = 0;
do {
bool success = _hardware_init(sample_rate);
if (success) {
hal.scheduler->delay(5+2);
if (!_spi_sem->take(100)) {
hal.scheduler->panic(PSTR("L3GD20: Unable to get semaphore"));
}
if (_data_ready()) {
_spi_sem->give();
break;
} else {
hal.console->println_P(
PSTR("L3GD20 startup failed: no data ready"));
}
_spi_sem->give();
}
if (tries++ > 5) {
hal.scheduler->panic(PSTR("PANIC: failed to boot L3GD20 5 times"));
}
} while (1);
hal.scheduler->resume_timer_procs();
/* read the first lot of data.
* _read_data_transaction requires the spi semaphore to be taken by
* its caller. */
_last_sample_time_micros = hal.scheduler->micros();
hal.scheduler->delay(10);
if (_spi_sem->take(100)) {
_read_data_transaction();
_spi_sem->give();
}
// start the timer process to read samples
hal.scheduler->register_timer_process(AP_HAL_MEMBERPROC(&AP_InertialSensor_L3GD20::_poll_data));
#if L3GD20_DEBUG
_dump_registers();
#endif
return _L3GD20_product_id;
}
uint16_t AP_InertialSensor_LSM9DS0::_init_sensor( AP_InertialSensor::Sample_rate sample_rate)
{
if (_initialised) return _lsm9ds0_product_id;
_initialised = true;
_spi = hal.spi->device(AP_HAL::SPIDevice_LSM9DS0_AM);
_spi_sem = _spi->get_semaphore();
_drdy_pin_a = hal.gpio->channel(BBB_P8_8);
_drdy_pin_m = hal.gpio->channel(BBB_P8_10);
_drdy_pin_g = hal.gpio->channel(BBB_P8_34);
// For some reason configuring the pins as an inputs make the driver fail
// _drdy_pin_a->mode(GPIO_IN);
// _drdy_pin_m->mode(GPIO_IN);
// _drdy_pin_g->mode(GPIO_IN);
hal.scheduler->suspend_timer_procs();
uint8_t tries = 0;
do {
bool success = _hardware_init(sample_rate);
if (success) {
hal.scheduler->delay(5+2);
if (!_spi_sem->take(100)) {
hal.scheduler->panic(PSTR("LSM9DS0: Unable to get semaphore"));
}
if (_data_ready()) {
_spi_sem->give();
break;
} else {
hal.console->println_P(
PSTR("LSM9DS0 startup failed: no data ready"));
}
_spi_sem->give();
}
if (tries++ > 5) {
hal.scheduler->panic(PSTR("PANIC: failed to boot LSM9DS0 5 times"));
}
} while (1);
hal.scheduler->resume_timer_procs();
/* read the first lot of data.
* _read_data_transaction requires the spi semaphore to be taken by
* its caller. */
_last_sample_time_micros = hal.scheduler->micros();
hal.scheduler->delay(10);
if (_spi_sem->take(100)) {
_read_data_transaction_g();
_read_data_transaction_xm();
_spi_sem->give();
}
// start the timer process to read samples
hal.scheduler->register_timer_process(AP_HAL_MEMBERPROC(&AP_InertialSensor_LSM9DS0::_poll_data));
#if LSM9DS0_DEBUG
_dump_registers();
#endif
return _lsm9ds0_product_id;
}
/*
initialise the sensor
*/
uint16_t AP_InertialSensor_MPU9250::_init_sensor( Sample_rate sample_rate )
{
if (_initialised) return _mpu9250_product_id;
_initialised = true;
_spi = hal.spi->device(AP_HAL::SPIDevice_MPU9250);
_spi_sem = _spi->get_semaphore();
// we need to suspend timers to prevent other SPI drivers grabbing
// the bus while we do the long initialisation
hal.scheduler->suspend_timer_procs();
uint8_t whoami = _register_read(MPUREG_WHOAMI);
if (whoami != 0x71) {
// TODO: we should probably accept multiple chip
// revisions. This is the one on the PXF
hal.console->printf("MPU9250: unexpected WHOAMI 0x%x\n", (unsigned)whoami);
hal.scheduler->panic("MPU9250: bad WHOAMI");
}
uint8_t tries = 0;
do {
bool success = _hardware_init(sample_rate);
if (success) {
hal.scheduler->delay(10);
if (!_spi_sem->take(100)) {
hal.scheduler->panic(PSTR("MPU9250: Unable to get semaphore"));
}
uint8_t status = _register_read(MPUREG_INT_STATUS);
if ((status & BIT_RAW_RDY_INT) != 0) {
_spi_sem->give();
break;
} else {
hal.console->println_P(
PSTR("MPU9250 startup failed: no data ready"));
}
_spi_sem->give();
}
if (tries++ > 5) {
hal.scheduler->panic(PSTR("PANIC: failed to boot MPU9250 5 times"));
}
} while (1);
hal.scheduler->resume_timer_procs();
/* read the first lot of data.
* _read_data_transaction requires the spi semaphore to be taken by
* its caller. */
hal.scheduler->delay(10);
if (_spi_sem->take(100)) {
_read_data_transaction();
_spi_sem->give();
}
// start the timer process to read samples
hal.scheduler->register_timer_process(AP_HAL_MEMBERPROC(&AP_InertialSensor_MPU9250::_poll_data));
#if MPU9250_DEBUG
_dump_registers();
#endif
return _mpu9250_product_id;
}
