bool mpu6000SpiGyroDetect(const mpu6000Config_t *configToUse, gyro_t *gyro, uint16_t lpf)
{
mpu6000Config = configToUse;
if (!mpu6000SpiDetect()) {
return false;
}
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
mpu6000AccAndGyroInit();
uint8_t mpuLowPassFilter = BITS_DLPF_CFG_42HZ;
int16_t data[3];
// default lpf is 42Hz
if (lpf == 256)
mpuLowPassFilter = BITS_DLPF_CFG_256HZ;
else if (lpf >= 188)
mpuLowPassFilter = BITS_DLPF_CFG_188HZ;
else if (lpf >= 98)
mpuLowPassFilter = BITS_DLPF_CFG_98HZ;
else if (lpf >= 42)
mpuLowPassFilter = BITS_DLPF_CFG_42HZ;
else if (lpf >= 20)
mpuLowPassFilter = BITS_DLPF_CFG_20HZ;
else if (lpf >= 10)
mpuLowPassFilter = BITS_DLPF_CFG_10HZ;
else if (lpf > 0)
mpuLowPassFilter = BITS_DLPF_CFG_5HZ;
else
mpuLowPassFilter = BITS_DLPF_CFG_256HZ;
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
// Determine the new sample divider
mpu6000WriteRegister(MPU6000_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops());
delayMicroseconds(1);
// Accel and Gyro DLPF Setting
mpu6000WriteRegister(MPU6000_CONFIG, mpuLowPassFilter);
delayMicroseconds(1);
mpu6000SpiGyroRead(data);
if ((((int8_t)data[1]) == -1 && ((int8_t)data[0]) == -1) || spiGetErrorCounter(MPU6000_SPI_INSTANCE) != 0) {
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
return false;
}
gyro->init = mpu6000SpiGyroInit;
gyro->read = mpu6000SpiGyroRead;
gyro->intStatus = checkMPU6000DataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
//gyro->scale = (4.0f / 16.4f) * (M_PIf / 180.0f) * 0.000001f;
delay(100);
return true;
}
static void mpu6000AccAndGyroInit(uint8_t lpf) {
if (mpuSpi6000InitDone) {
return;
}
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_SLOW_CLOCK); //low speed for writing to slow registers
mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, BIT_H_RESET);
delay(50);
mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, BIT_H_RESET);
delay(50);
verifympu6000WriteRegister(MPU_RA_PWR_MGMT_1, 0x0B); //temp sensor disabled Z axis is timer
// Disable Primary I2C Interface
mpu6000WriteRegister(MPU_RA_USER_CTRL, BIT_I2C_IF_DIS|5);
verifympu6000WriteRegister(MPU_RA_PWR_MGMT_2, 0x00);
// Accel Sample Rate 1kHz
// Gyroscope Output Rate = 1kHz when the DLPF is enabled
verifympu6000WriteRegister(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops());
// Gyro +/- 1000 DPS Full Scale
verifympu6000WriteRegister(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
// Accel +/- 8 G Full Scale
verifympu6000WriteRegister(MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
verifympu6000WriteRegister(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR
#if defined(USE_MPU_DATA_READY_SIGNAL)
mpu6000WriteRegister(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN); //this resets register MPU_RA_PWR_MGMT_1 and won't read back correctly.
delayMicroseconds(100);
verifympu6000WriteRegister(MPU_RA_PWR_MGMT_1, 0x0B); //need to redo MPU_RA_PWR_MGMT_1
verifympu6000WriteRegister(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN); //should work correctly this time
#endif
// Accel and Gyro DLPF Setting
if (lpf == 4) {
verifympu6000WriteRegister(MPU6000_CONFIG, 1); //1KHz, 188DLPF
} else if (lpf < 4) {
verifympu6000WriteRegister(MPU6000_CONFIG, 7); //8KHz, Raw
} else if (lpf > 4) {
verifympu6000WriteRegister(MPU6000_CONFIG, 0); //8KHz, 256DLPF
}
// Clock Source PPL with Z axis gyro reference
verifympu6000WriteRegister(MPU_RA_PWR_MGMT_1, 0x09);
mpuSpi6000InitDone = true; //init done
}
static void mpu6000AccAndGyroInit(void) {
if (mpuSpi6000InitDone) {
return;
}
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
// Device Reset
mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, BIT_H_RESET);
delay(150);
mpu6000WriteRegister(MPU_RA_SIGNAL_PATH_RESET, BIT_GYRO | BIT_ACC | BIT_TEMP);
delay(150);
// Clock Source PPL with Z axis gyro reference
mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ);
delayMicroseconds(15);
// Disable Primary I2C Interface
mpu6000WriteRegister(MPU_RA_USER_CTRL, BIT_I2C_IF_DIS);
delayMicroseconds(15);
mpu6000WriteRegister(MPU_RA_PWR_MGMT_2, 0x00);
delayMicroseconds(15);
// Accel Sample Rate 1kHz
// Gyroscope Output Rate = 1kHz when the DLPF is enabled
mpu6000WriteRegister(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops());
delayMicroseconds(15);
// Gyro +/- 1000 DPS Full Scale
mpu6000WriteRegister(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
delayMicroseconds(15);
// Accel +/- 8 G Full Scale
mpu6000WriteRegister(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
delayMicroseconds(15);
mpu6000WriteRegister(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR
delayMicroseconds(15);
#ifdef USE_MPU_DATA_READY_SIGNAL
mpu6000WriteRegister(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
delayMicroseconds(15);
#endif
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_18MHZ_CLOCK_DIVIDER); // 18 MHz SPI clock
delayMicroseconds(1);
mpuSpi6000InitDone = true;
}
bool verifympu6000WriteRegister(uint8_t reg, uint8_t data) {
uint8_t in;
uint8_t attemptsRemaining = 20;
mpu6000WriteRegister(reg, data);
delayMicroseconds(100);
do {
mpu6000SlowReadRegister(reg, 1, &in);
if (in == data) {
return true;
} else {
mpu6000WriteRegister(reg, data);
delayMicroseconds(100);
}
} while (attemptsRemaining--);
return false;
}
void mpu6000AccAndGyroInit(void) {
if (mpuSpi6000InitDone) {
return;
}
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
// Device Reset
mpu6000WriteRegister(MPU6000_PWR_MGMT_1, BIT_H_RESET);
delay(150);
mpu6000WriteRegister(MPU6000_SIGNAL_PATH_RESET, BIT_GYRO | BIT_ACC | BIT_TEMP);
delay(150);
// Clock Source PPL with Z axis gyro reference
mpu6000WriteRegister(MPU6000_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ);
delayMicroseconds(1);
// Disable Primary I2C Interface
mpu6000WriteRegister(MPU6000_USER_CTRL, BIT_I2C_IF_DIS);
delayMicroseconds(1);
mpu6000WriteRegister(MPU6000_PWR_MGMT_2, 0x00);
delayMicroseconds(1);
// Accel Sample Rate 1kHz
// Gyroscope Output Rate = 1kHz when the DLPF is enabled
mpu6000WriteRegister(MPU6000_SMPLRT_DIV, 0x00);
delayMicroseconds(1);
// Accel +/- 8 G Full Scale
mpu6000WriteRegister(MPU6000_ACCEL_CONFIG, BITS_FS_8G);
delayMicroseconds(1);
// Gyro +/- 1000 DPS Full Scale
mpu6000WriteRegister(MPU6000_GYRO_CONFIG, BITS_FS_2000DPS);
delayMicroseconds(1);
#ifdef USE_MPU_DATA_READY_SIGNAL
// Set MPU Data Ready Signal
mpu6000WriteRegister(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
delayMicroseconds(1);
#endif
mpuSpi6000InitDone = true;
}
bool mpu6000SpiDetect(void)
{
uint8_t in;
uint8_t attemptsRemaining = 5;
#ifdef MPU6000_CS_PIN
mpuSpi6000CsPin = IOGetByTag(IO_TAG(MPU6000_CS_PIN));
#endif
IOInit(mpuSpi6000CsPin, OWNER_MPU, RESOURCE_SPI_CS, 0);
IOConfigGPIO(mpuSpi6000CsPin, SPI_IO_CS_CFG);
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON);
mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, BIT_H_RESET);
do {
delay(150);
mpu6000ReadRegister(MPU_RA_WHO_AM_I, 1, &in);
if (in == MPU6000_WHO_AM_I_CONST) {
break;
}
if (!attemptsRemaining) {
return false;
}
} while (attemptsRemaining--);
mpu6000ReadRegister(MPU_RA_PRODUCT_ID, 1, &in);
/* look for a product ID we recognise */
// verify product revision
switch (in) {
case MPU6000ES_REV_C4:
case MPU6000ES_REV_C5:
case MPU6000_REV_C4:
case MPU6000_REV_C5:
case MPU6000ES_REV_D6:
case MPU6000ES_REV_D7:
case MPU6000ES_REV_D8:
case MPU6000_REV_D6:
case MPU6000_REV_D7:
case MPU6000_REV_D8:
case MPU6000_REV_D9:
case MPU6000_REV_D10:
return true;
}
return false;
}
bool mpu6000SpiDetect(void)
{
uint8_t in;
uint8_t attemptsRemaining = 5;
if (mpuSpi6000InitDone) {
return true;
}
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
mpu6000WriteRegister(MPU6000_PWR_MGMT_1, BIT_H_RESET);
do {
delay(150);
mpu6000ReadRegister(MPU6000_WHOAMI, &in, 1);
if (in == MPU6000_WHO_AM_I_CONST) {
break;
}
if (!attemptsRemaining) {
return false;
}
} while (attemptsRemaining--);
mpu6000ReadRegister(MPU6000_PRODUCT_ID, &in, 1);
/* look for a product ID we recognise */
// verify product revision
switch (in) {
case MPU6000ES_REV_C4:
case MPU6000ES_REV_C5:
case MPU6000_REV_C4:
case MPU6000_REV_C5:
case MPU6000ES_REV_D6:
case MPU6000ES_REV_D7:
case MPU6000ES_REV_D8:
case MPU6000_REV_D6:
case MPU6000_REV_D7:
case MPU6000_REV_D8:
case MPU6000_REV_D9:
case MPU6000_REV_D10:
return true;
}
return false;
}
bool mpu6000SpiDetect(void)
{
uint8_t in;
uint8_t attemptsRemaining = 5;
spiSetDivisor(MPU6000_SPI_INSTANCE, LOW_SPEED_SPI);
mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, BIT_H_RESET);
return true;
do {
delay(150);
mpu6000ReadRegister(MPU_RA_WHO_AM_I, 1, &in);
if (in == MPU6000_WHO_AM_I_CONST) {
break;
}
if (!attemptsRemaining) {
return false;
}
} while (attemptsRemaining--);
mpu6000ReadRegister(MPU_RA_PRODUCT_ID, 1, &in);
/* look for a product ID we recognise */
// verify product revision
switch (in) {
case MPU6000ES_REV_C4:
case MPU6000ES_REV_C5:
case MPU6000_REV_C4:
case MPU6000_REV_C5:
case MPU6000ES_REV_D6:
case MPU6000ES_REV_D7:
case MPU6000ES_REV_D8:
case MPU6000_REV_D6:
case MPU6000_REV_D7:
case MPU6000_REV_D8:
case MPU6000_REV_D9:
case MPU6000_REV_D10:
return true;
}
return false;
}
void mpu6000SpiGyroInit(uint8_t lpf)
{
mpuIntExtiInit();
mpu6000AccAndGyroInit();
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
// Accel and Gyro DLPF Setting
mpu6000WriteRegister(MPU6000_CONFIG, lpf);
delayMicroseconds(1);
int16_t data[3];
mpuGyroRead(data);
if (((int8_t)data[1]) == -1 && ((int8_t)data[0]) == -1) {
failureMode(FAILURE_GYRO_INIT_FAILED);
}
}
void mpu6000SpiGyroInit(uint8_t lpf)
{
mpuIntExtiInit();
mpu6000AccAndGyroInit();
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
spiSetDivisor(MPU6000_SPI_INSTANCE, LOW_SPEED_SPI);
// Accel and Gyro DLPF Setting
mpu6000WriteRegister(MPU6000_CONFIG, lpf);
delayMicroseconds(1);
int16_t data[3];
mpuGyroRead(data);
if ((((int8_t)data[1]) == -1 && ((int8_t)data[0]) == -1) || spiGetErrorCounter(MPU6000_SPI_INSTANCE) != 0) {
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
failureMode(FAILURE_GYRO_INIT_FAILED);
}
}
void resetGyro (void) {
// Device Reset
mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, BIT_H_RESET);
delay(150);
}
bool mpu6000SpiGyroDetect(gyro_t *gyro, uint16_t lpf)
{
if (!mpu6000SpiDetect()) {
return false;
}
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
mpu6000AccAndGyroInit();
uint8_t mpuLowPassFilter = BITS_DLPF_CFG_42HZ;
int16_t data[3];
// default lpf is 42Hz
switch (lpf) {
case 256:
mpuLowPassFilter = BITS_DLPF_CFG_256HZ;
break;
case 188:
mpuLowPassFilter = BITS_DLPF_CFG_188HZ;
break;
case 98:
mpuLowPassFilter = BITS_DLPF_CFG_98HZ;
break;
default:
case 42:
mpuLowPassFilter = BITS_DLPF_CFG_42HZ;
break;
case 20:
mpuLowPassFilter = BITS_DLPF_CFG_20HZ;
break;
case 10:
mpuLowPassFilter = BITS_DLPF_CFG_10HZ;
break;
case 5:
mpuLowPassFilter = BITS_DLPF_CFG_5HZ;
break;
case 0:
mpuLowPassFilter = BITS_DLPF_CFG_2100HZ_NOLPF;
break;
}
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
// Accel and Gyro DLPF Setting
mpu6000WriteRegister(MPU6000_CONFIG, mpuLowPassFilter);
delayMicroseconds(1);
mpu6000SpiGyroRead(data);
if ((((int8_t)data[1]) == -1 && ((int8_t)data[0]) == -1) || spiGetErrorCounter(MPU6000_SPI_INSTANCE) != 0) {
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
return false;
}
gyro->init = mpu6000SpiGyroInit;
gyro->read = mpu6000SpiGyroRead;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
//gyro->scale = (4.0f / 16.4f) * (M_PIf / 180.0f) * 0.000001f;
delay(100);
return true;
}
