bool RTIMUSettings::discoverIMU(int& imuType, unsigned char& slaveAddress) { unsigned char result; unsigned char altResult; setI2CBus(m_I2CBus); if (!I2COpen()) { HAL_ERROR1("Failed to open I2C bus %d\n", m_I2CBus); return false; } if (I2CRead(MPU6050_ADDRESS0, MPU6050_WHO_AM_I, 1, &result, "")) { if (result == MPU6050_ID) { imuType = RTIMU_TYPE_MPU6050; slaveAddress = MPU6050_ADDRESS0; I2CClose(); HAL_INFO("Detected MPU6050 at standard address\n"); return true; } } if (I2CRead(MPU6050_ADDRESS1, MPU6050_WHO_AM_I, 1, &result, "")) { if (result == MPU6050_ID) { imuType = RTIMU_TYPE_MPU6050; slaveAddress = MPU6050_ADDRESS1; I2CClose(); HAL_INFO("Detected MPU6050 at option address\n"); return true; } } I2CClose(); HAL_ERROR("No IMU detected\n"); return false; }
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; }
bool RTIMUSettings::discoverIMU(int& imuType, unsigned char& slaveAddress) { unsigned char result; unsigned char altResult; setI2CBus(m_I2CBus); if (!I2COpen()) { HAL_ERROR1("Failed to open I2C bus %d\n", m_I2CBus); return false; } if (I2CRead(MPU9150_ADDRESS0, MPU9150_WHO_AM_I, 1, &result, "")) { if (result == MPU9150_ID) { imuType = RTIMU_TYPE_MPU9150; slaveAddress = MPU9150_ADDRESS0; I2CClose(); HAL_INFO("Detected MPU9150 at standard address\n"); return true; } } if (I2CRead(MPU9150_ADDRESS1, MPU9150_WHO_AM_I, 1, &result, "")) { if (result == MPU9150_ID) { imuType = RTIMU_TYPE_MPU9150; slaveAddress = MPU9150_ADDRESS1; I2CClose(); HAL_INFO("Detected MPU9150 at option address\n"); return true; } } if (I2CRead(L3GD20H_ADDRESS0, L3GD20H_WHO_AM_I, 1, &result, "")) { if (result == L3GD20H_ID) { imuType = RTIMU_TYPE_GD20HM303D; slaveAddress = L3GD20H_ADDRESS0; I2CClose(); HAL_INFO("Detected L3GD20H at standard address\n"); return true; } else if (result == LSM9DS0_GYRO_ID) { if (I2CRead(LSM9DS0_ACCELMAG_ADDRESS0, LSM9DS0_WHO_AM_I, 1, &altResult, "")) { if (altResult == LSM9DS0_ACCELMAG_ID) { imuType = RTIMU_TYPE_LSM9DS0; slaveAddress = LSM9DS0_GYRO_ADDRESS0; I2CClose(); HAL_INFO("Detected LSM9DS0 at standard address\n"); return true; } } } } if (I2CRead(L3GD20H_ADDRESS1, L3GD20H_WHO_AM_I, 1, &result, "")) { if (result == L3GD20H_ID) { imuType = RTIMU_TYPE_GD20HM303D; slaveAddress = L3GD20H_ADDRESS1; I2CClose(); HAL_INFO("Detected L3GD20H at option address\n"); return true; } else if (result == LSM9DS0_GYRO_ID) { if (I2CRead(LSM9DS0_ACCELMAG_ADDRESS1, LSM9DS0_WHO_AM_I, 1, &altResult, "")) { if (altResult == LSM9DS0_ACCELMAG_ID) { imuType = RTIMU_TYPE_LSM9DS0; slaveAddress = LSM9DS0_GYRO_ADDRESS1; I2CClose(); HAL_INFO("Detected LSM9DS0 at standard address\n"); return true; } } } } if (I2CRead(L3GD20_ADDRESS0, L3GD20_WHO_AM_I, 1, &result, "")) { if (result == L3GD20_ID) { imuType = RTIMU_TYPE_GD20M303DLHC; slaveAddress = L3GD20_ADDRESS0; I2CClose(); HAL_INFO("Detected L3GD20 at standard address\n"); return true; } } if (I2CRead(L3GD20_ADDRESS1, L3GD20_WHO_AM_I, 1, &result, "")) { if (result == L3GD20_ID) { imuType = RTIMU_TYPE_GD20M303DLHC; slaveAddress = L3GD20_ADDRESS1; I2CClose(); HAL_INFO("Detected L3GD20 at option address\n"); return true; } } I2CClose(); HAL_ERROR("No IMU detected\n"); return false; }