bool RTIMUMPU9150::IMUInit()
{
unsigned char result;
m_firstTime = true;
#ifdef MPU9150_CACHE_MODE
m_cacheIn = m_cacheOut = m_cacheCount = 0;
#endif
// set validity flags
m_imuData.fusionPoseValid = false;
m_imuData.fusionQPoseValid = false;
m_imuData.gyroValid = true;
m_imuData.accelValid = true;
m_imuData.compassValid = true;
m_imuData.pressureValid = false;
m_imuData.temperatureValid = false;
m_imuData.humidityValid = false;
// configure IMU
m_slaveAddr = m_settings->m_I2CSlaveAddress;
setSampleRate(m_settings->m_MPU9150GyroAccelSampleRate);
setCompassRate(m_settings->m_MPU9150CompassSampleRate);
setLpf(m_settings->m_MPU9150GyroAccelLpf);
setGyroFsr(m_settings->m_MPU9150GyroFsr);
setAccelFsr(m_settings->m_MPU9150AccelFsr);
setCalibrationData();
// enable the I2C bus
if (!m_settings->HALOpen())
return false;
// reset the MPU9150
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_PWR_MGMT_1, 0x80, "Failed to initiate MPU9150 reset"))
return false;
m_settings->delayMs(100);
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_PWR_MGMT_1, 0x00, "Failed to stop MPU9150 reset"))
return false;
if (!m_settings->HALRead(m_slaveAddr, MPU9150_WHO_AM_I, 1, &result, "Failed to read MPU9150 id"))
return false;
if (result != MPU9150_ID) {
HAL_ERROR1("Incorrect MPU9150 id %d\n", result);
return false;
}
// now configure the various components
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_LPF_CONFIG, m_lpf, "Failed to set lpf"))
return false;
if (!setSampleRate())
return false;
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_GYRO_CONFIG, m_gyroFsr, "Failed to set gyro fsr"))
return false;
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_ACCEL_CONFIG, m_accelFsr, "Failed to set accel fsr"))
return false;
// now configure compass
if (!configureCompass())
return false;
// enable the sensors
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_PWR_MGMT_1, 1, "Failed to set pwr_mgmt_1"))
return false;
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_PWR_MGMT_2, 0, "Failed to set pwr_mgmt_2"))
return false;
// select the data to go into the FIFO and enable
if (!resetFifo())
return false;
gyroBiasInit();
HAL_INFO("MPU9150 init complete\n");
return true;
}
bool RTIMULSM9DS0::IMUInit()
{
unsigned char result;
#ifdef LSM9DS0_CACHE_MODE
m_firstTime = true;
m_cacheIn = m_cacheOut = m_cacheCount = 0;
#endif
// set validity flags
m_imuData.fusionPoseValid = false;
m_imuData.fusionQPoseValid = false;
m_imuData.gyroValid = true;
m_imuData.accelValid = true;
m_imuData.compassValid = true;
m_imuData.pressureValid = false;
m_imuData.temperatureValid = false;
m_imuData.humidityValid = false;
// configure IMU
m_gyroSlaveAddr = m_settings->m_I2CSlaveAddress;
if (m_gyroSlaveAddr == LSM9DS0_GYRO_ADDRESS0)
m_accelCompassSlaveAddr = LSM9DS0_ACCELMAG_ADDRESS0;
else
m_accelCompassSlaveAddr = LSM9DS0_ACCELMAG_ADDRESS1;
m_bus = m_settings->m_I2CBus;
setCalibrationData(m_settings->m_compassCalValid, m_settings->m_compassCalMin,
m_settings->m_compassCalMax);
// enable the I2C bus
setI2CBus(m_bus);
if (!I2COpen())
return false;
// Set up the gyro
if (!I2CWrite(m_gyroSlaveAddr, LSM9DS0_GYRO_CTRL5, 0x80, "Failed to boot LSM9DS0"))
return false;
if (!I2CRead(m_gyroSlaveAddr, LSM9DS0_GYRO_WHO_AM_I, 1, &result, "Failed to read LSM9DS0 gyro id"))
return false;
if (result != LSM9DS0_GYRO_ID) {
HAL_ERROR1("Incorrect LSM9DS0 gyro id %d\n", result);
return false;
}
if (!setGyroSampleRate())
return false;
if (!setGyroCTRL2())
return false;
if (!setGyroCTRL4())
return false;
// Set up the accel
if (!I2CRead(m_accelCompassSlaveAddr, LSM9DS0_WHO_AM_I, 1, &result, "Failed to read LSM9DS0 accel/mag id"))
return false;
if (result != LSM9DS0_ACCELMAG_ID) {
HAL_ERROR1("Incorrect LSM9DS0 accel/mag id %d\n", result);
return false;
}
if (!setAccelCTRL1())
return false;
if (!setAccelCTRL2())
return false;
if (!setCompassCTRL5())
return false;
if (!setCompassCTRL6())
return false;
if (!setCompassCTRL7())
return false;
#ifdef LSM9DS0_CACHE_MODE
// turn on gyro fifo
if (!I2CWrite(m_gyroSlaveAddr, LSM9DS0_GYRO_FIFO_CTRL, 0x3f, "Failed to set LSM9DS0 FIFO mode"))
return false;
#endif
if (!setGyroCTRL5())
return false;
gyroBiasInit();
HAL_INFO("LSM9DS0 init complete\n");
return true;
}
int RTIMUMPU9250::IMUInit()
{
unsigned char result;
unsigned char asa[3];
m_firstTime = true;
#ifdef MPU9250_CACHE_MODE
m_cacheIn = m_cacheOut = m_cacheCount = 0;
#endif
// configure IMU
m_slaveAddr = m_settings->m_I2CSlaveAddress;
setSampleRate(m_settings->m_MPU9250GyroAccelSampleRate);
setCompassRate(m_settings->m_MPU9250CompassSampleRate);
setGyroLpf(m_settings->m_MPU9250GyroLpf);
setAccelLpf(m_settings->m_MPU9250AccelLpf);
setGyroFsr(m_settings->m_MPU9250GyroFsr);
setAccelFsr(m_settings->m_MPU9250AccelFsr);
setCalibrationData();
// reset the MPU9250
if (!I2Cdev::writeByte(m_slaveAddr, MPU9250_PWR_MGMT_1, 0x80))
return -1;
delay(100);
if (!I2Cdev::writeByte(m_slaveAddr, MPU9250_PWR_MGMT_1, 0x00))
return -4;
if (!I2Cdev::readByte(m_slaveAddr, MPU9250_WHO_AM_I, &result))
return -5;
if (result != MPU9250_ID) {
return -6;
}
// now configure the various components
if (!setGyroConfig())
return -7;
if (!setAccelConfig())
return -8;
if (!setSampleRate())
return -9;
// now configure compass
if (!bypassOn())
return -11;
// get fuse ROM data
if (!I2Cdev::writeByte(AK8963_ADDRESS, AK8963_CNTL, 0)) {
bypassOff();
return -12;
}
if (!I2Cdev::writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x0f)) {
bypassOff();
return -13;
}
if (!I2Cdev::readBytes(AK8963_ADDRESS, AK8963_ASAX, 3, asa)) {
bypassOff();
return -14;
}
// convert asa to usable scale factor
m_compassAdjust[0] = ((float)asa[0] - 128.0) / 256.0 + 1.0f;
m_compassAdjust[1] = ((float)asa[1] - 128.0) / 256.0 + 1.0f;
m_compassAdjust[2] = ((float)asa[2] - 128.0) / 256.0 + 1.0f;
if (!I2Cdev::writeByte(AK8963_ADDRESS, AK8963_CNTL, 0)) {
bypassOff();
return -15;
}
if (!bypassOff())
return -16;
// now set up MPU9250 to talk to the compass chip
if (!I2Cdev::writeByte(m_slaveAddr, MPU9250_I2C_MST_CTRL, 0x40))
return -17;
if (!I2Cdev::writeByte(m_slaveAddr, MPU9250_I2C_SLV0_ADDR, 0x80 | AK8963_ADDRESS))
return -18;
if (!I2Cdev::writeByte(m_slaveAddr, MPU9250_I2C_SLV0_REG, AK8963_ST1))
return -19;
if (!I2Cdev::writeByte(m_slaveAddr, MPU9250_I2C_SLV0_CTRL, 0x88))
return -20;
if (!I2Cdev::writeByte(m_slaveAddr, MPU9250_I2C_SLV1_ADDR, AK8963_ADDRESS))
return -21;
if (!I2Cdev::writeByte(m_slaveAddr, MPU9250_I2C_SLV1_REG, AK8963_CNTL))
return -22;
if (!I2Cdev::writeByte(m_slaveAddr, MPU9250_I2C_SLV1_CTRL, 0x81))
return -23;
if (!I2Cdev::writeByte(m_slaveAddr, MPU9250_I2C_SLV1_DO, 0x1))
return -24;
if (!I2Cdev::writeByte(m_slaveAddr, MPU9250_I2C_MST_DELAY_CTRL, 0x3))
return -25;
if (!setCompassRate())
return -27;
// enable the sensors
if (!I2Cdev::writeByte(m_slaveAddr, MPU9250_PWR_MGMT_1, 1))
return -28;
if (!I2Cdev::writeByte(m_slaveAddr, MPU9250_PWR_MGMT_2, 0))
return -29;
// select the data to go into the FIFO and enable
if (!resetFifo())
return -30;
gyroBiasInit();
return 1;
}
bool RTIMUGD20HM303DLHC::IMUInit()
{
unsigned char result;
#ifdef GD20HM303DLHC_CACHE_MODE
m_firstTime = true;
m_cacheIn = m_cacheOut = m_cacheCount = 0;
#endif
// set validity flags
m_imuData.fusionPoseValid = false;
m_imuData.fusionQPoseValid = false;
m_imuData.gyroValid = true;
m_imuData.accelValid = true;
m_imuData.compassValid = true;
m_imuData.pressureValid = false;
m_imuData.temperatureValid = false;
m_imuData.humidityValid = false;
// configure IMU
m_gyroSlaveAddr = m_settings->m_I2CSlaveAddress;
m_accelSlaveAddr = LSM303DLHC_ACCEL_ADDRESS;
m_compassSlaveAddr = LSM303DLHC_COMPASS_ADDRESS;
setCalibrationData();
// enable the I2C bus
if (!m_settings->HALOpen())
return false;
// Set up the gyro
if (!m_settings->HALWrite(m_gyroSlaveAddr, L3GD20H_LOW_ODR, 0x04, "Failed to reset L3GD20H"))
return false;
if (!m_settings->HALWrite(m_gyroSlaveAddr, L3GD20H_CTRL5, 0x80, "Failed to boot L3GD20H"))
return false;
if (!m_settings->HALRead(m_gyroSlaveAddr, L3GD20H_WHO_AM_I, 1, &result, "Failed to read L3GD20H id"))
return false;
if (result != L3GD20H_ID) {
HAL_ERROR1("Incorrect L3GD20H id %d\n", result);
return false;
}
if (!setGyroSampleRate())
return false;
if (!setGyroCTRL2())
return false;
if (!setGyroCTRL4())
return false;
// Set up the accel
if (!setAccelCTRL1())
return false;
if (!setAccelCTRL4())
return false;
// Set up the compass
if (!setCompassCRA())
return false;
if (!setCompassCRB())
return false;
if (!setCompassCRM())
return false;
#ifdef GD20HM303DLHC_CACHE_MODE
// turn on gyro fifo
if (!m_settings->HALWrite(m_gyroSlaveAddr, L3GD20_FIFO_CTRL, 0x3f, "Failed to set L3GD20 FIFO mode"))
return false;
#endif
if (!setGyroCTRL5())
return false;
gyroBiasInit();
HAL_INFO("GD20HM303DLHC init complete\n");
return true;
}
int RTIMUGD20HM303DLHC::IMUInit()
{
unsigned char result;
// configure IMU
m_gyroSlaveAddr = m_settings->m_I2CSlaveAddress;
m_accelSlaveAddr = LSM303DLHC_ACCEL_ADDRESS;
m_compassSlaveAddr = LSM303DLHC_COMPASS_ADDRESS;
setCalibrationData();
// Set up the gyro
if (!I2CWrite(m_gyroSlaveAddr, L3GD20H_LOW_ODR, 0x04))
return -1;
if (!I2CWrite(m_gyroSlaveAddr, L3GD20H_CTRL5, 0x80))
return -2;
if (!I2CRead(m_gyroSlaveAddr, L3GD20H_WHO_AM_I, 1, &result))
return -3;
if (result != L3GD20H_ID) {
return -4;
}
if (!setGyroSampleRate())
return -5;
if (!setGyroCTRL2())
return -6;
if (!setGyroCTRL4())
return -7;
// Set up the accel
if (!setAccelCTRL1())
return -8;
if (!setAccelCTRL4())
return -9;
// Set up the compass
if (!setCompassCRA())
return -10;
if (!setCompassCRB())
return -11;
if (!setCompassCRM())
return -12;
if (!setGyroCTRL5())
return -13;
gyroBiasInit();
return true;
}
bool RTIMUMPU9255::IMUInit()
{
unsigned char result;
m_firstTime = true;
#ifdef MPU9255_CACHE_MODE
m_cacheIn = m_cacheOut = m_cacheCount = 0;
#endif
// set validity flags
m_imuData.fusionPoseValid = false;
m_imuData.fusionQPoseValid = false;
m_imuData.gyroValid = true;
m_imuData.accelValid = true;
m_imuData.compassValid = true;
m_imuData.motion = true;
m_imuData.IMUtemperatureValid = false;
m_imuData.IMUtemperature = 0.0;
m_imuData.humidityValid = false;
m_imuData.humidity = -1.0;
m_imuData.humidityTemperatureValid = false;
m_imuData.humidityTemperature = 0.0;
m_imuData.pressureValid = false;
m_imuData.pressure = 0.0;
m_imuData.pressureTemperatureValid = false;
m_imuData.pressureTemperature = 0.0;
// configure IMU
m_slaveAddr = m_settings->m_I2CSlaveAddress;
setSampleRate(m_settings->m_MPU9255GyroAccelSampleRate);
setCompassRate(m_settings->m_MPU9255CompassSampleRate);
setGyroLpf(m_settings->m_MPU9255GyroLpf);
setAccelLpf(m_settings->m_MPU9255AccelLpf);
setGyroFsr(m_settings->m_MPU9255GyroFsr);
setAccelFsr(m_settings->m_MPU9255AccelFsr);
setCalibrationData();
// enable the bus
if (!m_settings->HALOpen())
return false;
// reset the MPU9255
if (!m_settings->HALWrite(m_slaveAddr, MPU9255_PWR_MGMT_1, 0x80, "Failed to initiate MPU9255 reset"))
return false;
m_settings->delayMs(100);
if (!m_settings->HALWrite(m_slaveAddr, MPU9255_PWR_MGMT_1, 0x00, "Failed to stop MPU9255 reset"))
return false;
if (!m_settings->HALRead(m_slaveAddr, MPU9255_WHO_AM_I, 1, &result, "Failed to read MPU9255 id"))
return false;
if (result != MPU9255_ID) {
HAL_ERROR2("Incorrect %s id %d\n", IMUName(), result);
return false;
}
// now configure the various components
if (!setGyroConfig())
return false;
if (!setAccelConfig())
return false;
if (!setSampleRate())
return false;
if(!compassSetup()) {
return false;
}
if (!setCompassRate())
return false;
// enable the sensors
if (!m_settings->HALWrite(m_slaveAddr, MPU9255_PWR_MGMT_1, 1, "Failed to set pwr_mgmt_1"))
return false;
if (!m_settings->HALWrite(m_slaveAddr, MPU9255_PWR_MGMT_2, 0, "Failed to set pwr_mgmt_2"))
return false;
// select the data to go into the FIFO and enable
if (!resetFifo())
return false;
gyroBiasInit();
HAL_INFO1("%s init complete\n", IMUName());
return true;
}
bool RTIMUBMX055::IMUInit()
{
unsigned char result;
m_firstTime = true;
// set validity flags
m_imuData.fusionPoseValid = false;
m_imuData.fusionQPoseValid = false;
m_imuData.gyroValid = true;
m_imuData.accelValid = true;
m_imuData.compassValid = true;
m_imuData.pressureValid = false;
m_imuData.temperatureValid = false;
m_imuData.humidityValid = false;
// configure IMU
m_gyroSlaveAddr = m_settings->m_I2CSlaveAddress;
if (!m_settings->HALRead(m_gyroSlaveAddr, BMX055_GYRO_WHO_AM_I, 1, &result, "Failed to read BMX055 gyro id"))
return false;
if (result != BMX055_GYRO_ID) {
HAL_ERROR1("Incorrect BMX055 id %d\n", result);
return false;
}
// work out accel address
if (m_settings->HALRead(BMX055_ACCEL_ADDRESS0, BMX055_ACCEL_WHO_AM_I, 1, &result, "")) {
if (result == BMX055_ACCEL_ID) {
m_accelSlaveAddr = BMX055_ACCEL_ADDRESS0;
} else {
m_accelSlaveAddr = BMX055_ACCEL_ADDRESS1;
}
}
// work out mag address
int magAddr;
for (magAddr = BMX055_MAG_ADDRESS0; magAddr <= BMX055_MAG_ADDRESS3; magAddr++) {
// have to enable chip to get id...
m_settings->HALWrite(magAddr, BMX055_MAG_POWER, 1, "");
m_settings->delayMs(50);
if (m_settings->HALRead(magAddr, BMX055_MAG_WHO_AM_I, 1, &result, "")) {
if (result == BMX055_MAG_ID) {
m_magSlaveAddr = magAddr;
break;
}
}
}
if (magAddr > BMX055_MAG_ADDRESS3) {
HAL_ERROR("Failed to find BMX055 mag\n");
return false;
}
setCalibrationData();
// enable the I2C bus
if (!m_settings->HALOpen())
return false;
// Set up the gyro
if (!m_settings->HALWrite(m_gyroSlaveAddr, BMX055_GYRO_FIFO_CONFIG_1, 0x40, "Failed to set BMX055 FIFO config"))
return false;
if (!setGyroSampleRate())
return false;
if (!setGyroFSR())
return false;
gyroBiasInit();
// set up the accel
if (!setAccelSampleRate())
return false;
if (!setAccelFSR())
return false;
// set up the mag
magInitTrimRegisters();
setMagPreset();
HAL_INFO("BMX055 init complete\n");
return true;
}
bool RTIMULSM9DS1::IMUInit()
{
unsigned char result;
// set validity flags
m_imuData.fusionPoseValid = false;
m_imuData.fusionQPoseValid = false;
m_imuData.gyroValid = true;
m_imuData.accelValid = true;
m_imuData.compassValid = true;
m_imuData.motion = true;
m_imuData.IMUtemperatureValid = false;
m_imuData.IMUtemperature = 0.0;
m_imuData.humidityValid = false;
m_imuData.humidity = -1.0;
m_imuData.humidityTemperatureValid = false;
m_imuData.humidityTemperature = 0.0;
m_imuData.pressureValid = false;
m_imuData.pressure = 0.0;
m_imuData.pressureTemperatureValid = false;
m_imuData.pressureTemperature = 0.0;
// configure IMU
m_accelGyroSlaveAddr = m_settings->m_I2CSlaveAddress;
// work outmag address
if (m_settings->HALRead(LSM9DS1_MAG_ADDRESS0, LSM9DS1_MAG_WHO_AM_I, 1, &result, "")) {
if (result == LSM9DS1_MAG_ID) {
m_magSlaveAddr = LSM9DS1_MAG_ADDRESS0;
}
} else if (m_settings->HALRead(LSM9DS1_MAG_ADDRESS1, LSM9DS1_MAG_WHO_AM_I, 1, &result, "")) {
if (result == LSM9DS1_MAG_ID) {
m_magSlaveAddr = LSM9DS1_MAG_ADDRESS1;
}
} else if (m_settings->HALRead(LSM9DS1_MAG_ADDRESS2, LSM9DS1_MAG_WHO_AM_I, 1, &result, "")) {
if (result == LSM9DS1_MAG_ID) {
m_magSlaveAddr = LSM9DS1_MAG_ADDRESS2;
}
} else if (m_settings->HALRead(LSM9DS1_MAG_ADDRESS3, LSM9DS1_MAG_WHO_AM_I, 1, &result, "")) {
if (result == LSM9DS1_MAG_ID) {
m_magSlaveAddr = LSM9DS1_MAG_ADDRESS3;
}
}
setCalibrationData();
// enable the I2C bus
if (!m_settings->HALOpen())
return false;
// Set up the gyro/accel
if (!m_settings->HALWrite(m_accelGyroSlaveAddr, LSM9DS1_CTRL8, 0x80, "Failed to boot LSM9DS1"))
return false;
m_settings->delayMs(100);
if (!m_settings->HALRead(m_accelGyroSlaveAddr, LSM9DS1_WHO_AM_I, 1, &result, "Failed to read LSM9DS1 accel/gyro id"))
return false;
if (result != LSM9DS1_ID) {
HAL_ERROR1("Incorrect LSM9DS1 gyro id %d\n", result);
return false;
}
if (!setGyroSampleRate())
return false;
if (!setGyroCTRL3())
return false;
// Set up the mag
if (!m_settings->HALRead(m_magSlaveAddr, LSM9DS1_MAG_WHO_AM_I, 1, &result, "Failed to read LSM9DS1 accel/mag id"))
return false;
if (result != LSM9DS1_MAG_ID) {
HAL_ERROR1("Incorrect LSM9DS1 accel/mag id %d\n", result);
return false;
}
if (!setAccelCTRL6())
return false;
if (!setAccelCTRL7())
return false;
if (!setCompassCTRL1())
return false;
if (!setCompassCTRL2())
return false;
if (!setCompassCTRL3())
return false;
gyroBiasInit();
HAL_INFO("LSM9DS1 init complete\n");
return true;
}
int RTIMUGD20HM303D::IMUInit()
{
unsigned char result;
// configure IMU
m_gyroSlaveAddr = m_settings->m_I2CSlaveAddress;
if (m_gyroSlaveAddr == L3GD20H_ADDRESS0)
m_accelCompassSlaveAddr = LSM303D_ADDRESS0;
else
m_accelCompassSlaveAddr = LSM303D_ADDRESS1;
setCalibrationData();
// Set up the gyro
if (!I2CWrite(m_gyroSlaveAddr, L3GD20H_LOW_ODR, 0x04))
return -1;
if (!I2CWrite(m_gyroSlaveAddr, L3GD20H_CTRL5, 0x80))
return -2;
if (!I2CRead(m_gyroSlaveAddr, L3GD20H_WHO_AM_I, 1, &result))
return -3;
if (result != L3GD20H_ID) {
return -4;
}
if (!setGyroSampleRate())
return -5;
if (!setGyroCTRL2())
return -6;
if (!setGyroCTRL4())
return -7;
// Set up the accel/compass
if (!I2CRead(m_accelCompassSlaveAddr, LSM303D_WHO_AM_I, 1, &result))
return -8;
if (result != LSM303D_ID) {
return -9;
}
if (!setAccelCTRL1())
return -10;
if (!setAccelCTRL2())
return -11;
if (!setCompassCTRL5())
return -12;
if (!setCompassCTRL6())
return -13;
if (!setCompassCTRL7())
return -14;
if (!setGyroCTRL5())
return -16;
gyroBiasInit();
return true;
}
bool RTIMUMPU9150::IMUInit()
{
unsigned char result;
unsigned char asa[3];
m_firstTime = true;
#ifdef MPU9150_CACHE_MODE
m_cacheIn = m_cacheOut = m_cacheCount = 0;
#endif
// set validity flags
m_imuData.fusionPoseValid = false;
m_imuData.fusionQPoseValid = false;
m_imuData.gyroValid = true;
m_imuData.accelValid = true;
m_imuData.compassValid = true;
m_imuData.pressureValid = false;
m_imuData.temperatureValid = false;
m_imuData.humidityValid = false;
// configure IMU
m_slaveAddr = m_settings->m_I2CSlaveAddress;
setSampleRate(m_settings->m_MPU9150GyroAccelSampleRate);
setCompassRate(m_settings->m_MPU9150CompassSampleRate);
setLpf(m_settings->m_MPU9150GyroAccelLpf);
setGyroFsr(m_settings->m_MPU9150GyroFsr);
setAccelFsr(m_settings->m_MPU9150AccelFsr);
setCalibrationData();
// enable the I2C bus
if (!m_settings->HALOpen())
return false;
// reset the MPU9150
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_PWR_MGMT_1, 0x80, "Failed to initiate MPU9150 reset"))
return false;
m_settings->delayMs(100);
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_PWR_MGMT_1, 0x00, "Failed to stop MPU9150 reset"))
return false;
if (!m_settings->HALRead(m_slaveAddr, MPU9150_WHO_AM_I, 1, &result, "Failed to read MPU9150 id"))
return false;
if (result != MPU9150_ID) {
HAL_ERROR1("Incorrect MPU9150 id %d\n", result);
return false;
}
// now configure the various components
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_LPF_CONFIG, m_lpf, "Failed to set lpf"))
return false;
if (!setSampleRate())
return false;
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_GYRO_CONFIG, m_gyroFsr, "Failed to set gyro fsr"))
return false;
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_ACCEL_CONFIG, m_accelFsr, "Failed to set accel fsr"))
return false;
// now configure compass
bypassOn();
// get fuse ROM data
if (!m_settings->HALWrite(AK8975_ADDRESS, AK8975_CNTL, 0, "Failed to set compass in power down mode 1")) {
bypassOff();
return false;
}
if (!m_settings->HALWrite(AK8975_ADDRESS, AK8975_CNTL, 0x0f, "Failed to set compass in fuse ROM mode")) {
bypassOff();
return false;
}
if (!m_settings->HALRead(AK8975_ADDRESS, AK8975_ASAX, 3, asa, "Failed to read compass fuse ROM")) {
bypassOff();
return false;
}
// convert asa to usable scale factor
m_compassAdjust[0] = ((float)asa[0] - 128.0) / 256.0 + 1.0f;
m_compassAdjust[1] = ((float)asa[1] - 128.0) / 256.0 + 1.0f;
m_compassAdjust[2] = ((float)asa[2] - 128.0) / 256.0 + 1.0f;
if (!m_settings->HALWrite(AK8975_ADDRESS, AK8975_CNTL, 0, "Failed to set compass in power down mode 2")) {
bypassOff();
return false;
}
bypassOff();
// now set up MPU9150 to talk to the compass chip
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_I2C_MST_CTRL, 0x40, "Failed to set I2C master mode"))
return false;
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_I2C_SLV0_ADDR, 0x80 | AK8975_ADDRESS, "Failed to set slave 0 address"))
return false;
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_I2C_SLV0_REG, AK8975_ST1, "Failed to set slave 0 reg"))
return false;
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_I2C_SLV0_CTRL, 0x88, "Failed to set slave 0 ctrl"))
return false;
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_I2C_SLV1_ADDR, AK8975_ADDRESS, "Failed to set slave 1 address"))
return false;
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_I2C_SLV1_REG, AK8975_CNTL, "Failed to set slave 1 reg"))
return false;
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_I2C_SLV1_CTRL, 0x81, "Failed to set slave 1 ctrl"))
return false;
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_I2C_SLV1_DO, 0x1, "Failed to set slave 1 DO"))
return false;
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_I2C_MST_DELAY_CTRL, 0x3, "Failed to set mst delay"))
return false;
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_YG_OFFS_TC, 0x80, "Failed to set yg offs tc"))
return false;
if (!setCompassRate())
return false;
// enable the sensors
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_PWR_MGMT_1, 1, "Failed to set pwr_mgmt_1"))
return false;
if (!m_settings->HALWrite(m_slaveAddr, MPU9150_PWR_MGMT_2, 0, "Failed to set pwr_mgmt_2"))
return false;
// select the data to go into the FIFO and enable
if (!resetFifo())
return false;
gyroBiasInit();
HAL_INFO("MPU9150 init complete\n");
return true;
}
