From a116f5a636196549d0d91074763277ca252de770 Mon Sep 17 00:00:00 2001 From: Andrzej Kapolka Date: Tue, 9 Jul 2013 17:28:23 -0700 Subject: [PATCH] Use InvenSense code to handle the rather complicated business of talking the sensor into giving us the compass reading. We're getting it now, but I still have to figure out how to incorporate it. --- cmake/modules/FindMotionDriver.cmake | 44 + interface/CMakeLists.txt | 8 +- .../external/MotionDriver/CMakeLists.txt | 14 + interface/external/MotionDriver/License.txt | 218 ++ .../external/MotionDriver/include/dmpKey.h | 494 +++ .../external/MotionDriver/include/dmpmap.h | 264 ++ .../external/MotionDriver/include/inv_mpu.h | 127 + .../include/inv_mpu_dmp_motion_driver.h | 97 + .../external/MotionDriver/include/inv_tty.h | 22 + .../MotionDriver/lib/UNIX/libMotionDriver.a | Bin 0 -> 61870 bytes interface/external/MotionDriver/src/inv_mpu.c | 2798 +++++++++++++++++ .../src/inv_mpu_dmp_motion_driver.c | 1373 ++++++++ interface/external/MotionDriver/src/inv_tty.c | 88 + interface/src/SerialInterface.cpp | 118 +- interface/src/SerialInterface.h | 4 +- 15 files changed, 5603 insertions(+), 66 deletions(-) create mode 100644 cmake/modules/FindMotionDriver.cmake create mode 100644 interface/external/MotionDriver/CMakeLists.txt create mode 100644 interface/external/MotionDriver/License.txt create mode 100644 interface/external/MotionDriver/include/dmpKey.h create mode 100644 interface/external/MotionDriver/include/dmpmap.h create mode 100644 interface/external/MotionDriver/include/inv_mpu.h create mode 100644 interface/external/MotionDriver/include/inv_mpu_dmp_motion_driver.h create mode 100644 interface/external/MotionDriver/include/inv_tty.h create mode 100644 interface/external/MotionDriver/lib/UNIX/libMotionDriver.a create mode 100644 interface/external/MotionDriver/src/inv_mpu.c create mode 100644 interface/external/MotionDriver/src/inv_mpu_dmp_motion_driver.c create mode 100644 interface/external/MotionDriver/src/inv_tty.c diff --git a/cmake/modules/FindMotionDriver.cmake b/cmake/modules/FindMotionDriver.cmake new file mode 100644 index 0000000000..b24511161b --- /dev/null +++ b/cmake/modules/FindMotionDriver.cmake @@ -0,0 +1,44 @@ +# Try to find the MotionDriver library to access the InvenSense gyros +# +# You must provide a MOTIONDRIVER_ROOT_DIR which contains lib and include directories +# +# Once done this will define +# +# MOTIONDRIVER_FOUND - system found MotionDriver +# MOTIONDRIVER_INCLUDE_DIRS - the MotionDriver include directory +# MOTIONDRIVER_LIBRARIES - Link this to use MotionDriver +# +# Created on 7/9/2013 by Andrzej Kapolka +# Copyright (c) 2013 High Fidelity +# + +if (MOTIONDRIVER_LIBRARIES AND MOTIONDRIVER_INCLUDE_DIRS) + # in cache already + set(MOTIONDRIVER_FOUND TRUE) +else (MOTIONDRIVER_LIBRARIES AND MOTIONDRIVER_INCLUDE_DIRS) + find_path(MOTIONDRIVER_INCLUDE_DIRS inv_mpu.h ${MOTIONDRIVER_ROOT_DIR}/include) + + if (APPLE) + find_library(MOTIONDRIVER_LIBRARIES libMotionDriver.a ${MOTIONDRIVER_ROOT_DIR}/lib/MacOS/) + elseif (UNIX) + find_library(MOTIONDRIVER_LIBRARIES libMotionDriver.a ${MOTIONDRIVER_ROOT_DIR}/lib/UNIX/) + endif () + + if (MOTIONDRIVER_INCLUDE_DIRS AND MOTIONDRIVER_LIBRARIES) + set(MOTIONDRIVER_FOUND TRUE) + endif (MOTIONDRIVER_INCLUDE_DIRS AND MOTIONDRIVER_LIBRARIES) + + if (MOTIONDRIVER_FOUND) + if (NOT MOTIONDRIVER_FIND_QUIETLY) + message(STATUS "Found MotionDriver: ${MOTIONDRIVER_LIBRARIES}") + endif (NOT MOTIONDRIVER_FIND_QUIETLY) + else (MOTIONDRIVER_FOUND) + if (MOTIONDRIVER_FIND_REQUIRED) + message(FATAL_ERROR "Could not find MotionDriver") + endif (MOTIONDRIVER_FIND_REQUIRED) + endif (MOTIONDRIVER_FOUND) + + # show the MOTIONDRIVER_INCLUDE_DIRS and MOTIONDRIVER_LIBRARIES variables only in the advanced view + mark_as_advanced(MOTIONDRIVER_INCLUDE_DIRS MOTIONDRIVER_LIBRARIES) + +endif (MOTIONDRIVER_LIBRARIES AND MOTIONDRIVER_INCLUDE_DIRS) diff --git a/interface/CMakeLists.txt b/interface/CMakeLists.txt index cccb9b96b0..345a307b9b 100755 --- a/interface/CMakeLists.txt +++ b/interface/CMakeLists.txt @@ -10,6 +10,7 @@ project(${TARGET_NAME}) set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/../cmake/modules/") set(LIBOVR_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/LibOVR) set(LEAP_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/Leap) +set(MOTIONDRIVER_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/MotionDriver) set(PORTAUDIO_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/PortAudio) set(OPENCV_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/OpenCV) set(UVCCAMERACONTROL_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/UVCCameraControl) @@ -92,10 +93,11 @@ link_hifi_library(audio ${TARGET_NAME} ${ROOT_DIR}) find_package(GLM REQUIRED) find_package(LibOVR) find_package(Leap) +find_package(MotionDriver) find_package(OpenCV) -find_package(ZLIB) -find_package(UVCCameraControl) find_package(OpenNI) +find_package(UVCCameraControl) +find_package(ZLIB) # let the source know that we have OpenNI/NITE for Kinect if (OPENNI_FOUND) @@ -118,6 +120,7 @@ include_directories( ${GLM_INCLUDE_DIRS} ${LIBOVR_INCLUDE_DIRS} ${LEAP_INCLUDE_DIRS} + ${MOTIONDRIVER_INCLUDE_DIRS} ${OPENCV_INCLUDE_DIRS} ) @@ -125,6 +128,7 @@ SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -isystem ${OPENCV_INCLUDE_DIRS}") target_link_libraries( ${TARGET_NAME} ${QT_LIBRARIES} + ${MOTIONDRIVER_LIBRARIES} ${OPENCV_LIBRARIES} ${ZLIB_LIBRARIES} fervor diff --git a/interface/external/MotionDriver/CMakeLists.txt b/interface/external/MotionDriver/CMakeLists.txt new file mode 100644 index 0000000000..521f3f8096 --- /dev/null +++ b/interface/external/MotionDriver/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 2.8) + +set(TARGET_NAME MotionDriver) +project(${TARGET_NAME}) + +# let the library know which device we're using +add_definitions(-DMPU9150) + +# grab the implemenation and header files +file(GLOB MOTION_DRIVER_SRCS include/*.h src/*.c) + +include_directories(include) + +add_library(${TARGET_NAME} ${MOTION_DRIVER_SRCS}) diff --git a/interface/external/MotionDriver/License.txt b/interface/external/MotionDriver/License.txt new file mode 100644 index 0000000000..ed2e2e1f24 --- /dev/null +++ b/interface/external/MotionDriver/License.txt @@ -0,0 +1,218 @@ +SOFTWARE LICENSE AGREEMENT + +Unless you and InvenSense Corporation ("InvenSense") execute a separate written +software license agreement governing use of the accompanying software, this +software is licensed to you under the terms of this Software License +Agreement ("Agreement"). + +ANY USE, REPRODUCTION OR DISTRIBUTION OF THE SOFTWARE CONSTITUTES YOUR +ACCEPTANCE OF THIS AGREEMENT. + +1. DEFINITIONS. + +1.1. "InvenSense Product" means any of the proprietary integrated circuit +product(s) sold by InvenSense with which the Software was designed to be used, +or their successors. + +1.2. "Licensee" means you or if you are accepting on behalf of an entity +then the entity and its affiliates exercising rights under, and complying +with all of the terms of this Agreement. + +1.3. "Software" shall mean that software made available by InvenSense to +Licensee in binary code form with this Agreement. + +2. LICENSE GRANT; OWNERSHIP + +2.1. License Grants. Subject to the terms and conditions of this Agreement, +InvenSense hereby grants to Licensee a non-exclusive, non-transferable, +royalty-free license (i) to use and integrate the Software in conjunction +with any other software; and (ii) to reproduce and distribute the Software +complete, unmodified and only for use with a InvenSense Product. + +2.2. Restriction on Modification. 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Licensee hereby acknowledges that its breach of this +Agreement would cause irreparable harm and significant injury to InvenSense +that may be difficult to ascertain and that a remedy at law would be +inadequate. Accordingly, Licensee agrees that InvenSense shall have the right +to seek and obtain immediate injunctive relief to enforce obligations under +the Agreement in addition to any other rights and remedies it may have. + +7.6. Waiver. The waiver of, or failure to enforce, any breach or default +hereunder shall not constitute the waiver of any other or subsequent breach +or default. + +7.7. Entire Agreement. This Agreement sets forth the entire Agreement +between the parties and supersedes any and all prior proposals, agreements +and representations between them, whether written or oral concerning the +Software. This Agreement may be changed only by mutual agreement of the +parties in writing. + + diff --git a/interface/external/MotionDriver/include/dmpKey.h b/interface/external/MotionDriver/include/dmpKey.h new file mode 100644 index 0000000000..72f95d69d4 --- /dev/null +++ b/interface/external/MotionDriver/include/dmpKey.h @@ -0,0 +1,494 @@ +/* + $License: + Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. + $ + */ +#ifndef DMPKEY_H__ +#define DMPKEY_H__ + +#define KEY_CFG_25 (0) +#define KEY_CFG_24 (KEY_CFG_25 + 1) +#define KEY_CFG_26 (KEY_CFG_24 + 1) +#define KEY_CFG_27 (KEY_CFG_26 + 1) +#define KEY_CFG_21 (KEY_CFG_27 + 1) +#define KEY_CFG_20 (KEY_CFG_21 + 1) +#define KEY_CFG_TAP4 (KEY_CFG_20 + 1) +#define KEY_CFG_TAP5 (KEY_CFG_TAP4 + 1) +#define KEY_CFG_TAP6 (KEY_CFG_TAP5 + 1) +#define KEY_CFG_TAP7 (KEY_CFG_TAP6 + 1) +#define KEY_CFG_TAP0 (KEY_CFG_TAP7 + 1) +#define KEY_CFG_TAP1 (KEY_CFG_TAP0 + 1) +#define KEY_CFG_TAP2 (KEY_CFG_TAP1 + 1) +#define KEY_CFG_TAP3 (KEY_CFG_TAP2 + 1) +#define KEY_CFG_TAP_QUANTIZE (KEY_CFG_TAP3 + 1) +#define KEY_CFG_TAP_JERK (KEY_CFG_TAP_QUANTIZE + 1) +#define KEY_CFG_DR_INT (KEY_CFG_TAP_JERK + 1) +#define KEY_CFG_AUTH (KEY_CFG_DR_INT + 1) +#define KEY_CFG_TAP_SAVE_ACCB (KEY_CFG_AUTH + 1) +#define KEY_CFG_TAP_CLEAR_STICKY (KEY_CFG_TAP_SAVE_ACCB + 1) +#define KEY_CFG_FIFO_ON_EVENT (KEY_CFG_TAP_CLEAR_STICKY + 1) +#define KEY_FCFG_ACCEL_INPUT (KEY_CFG_FIFO_ON_EVENT + 1) +#define KEY_FCFG_ACCEL_INIT (KEY_FCFG_ACCEL_INPUT + 1) +#define KEY_CFG_23 (KEY_FCFG_ACCEL_INIT + 1) +#define KEY_FCFG_1 (KEY_CFG_23 + 1) +#define KEY_FCFG_3 (KEY_FCFG_1 + 1) +#define KEY_FCFG_2 (KEY_FCFG_3 + 1) +#define KEY_CFG_3D (KEY_FCFG_2 + 1) +#define KEY_CFG_3B (KEY_CFG_3D + 1) +#define KEY_CFG_3C (KEY_CFG_3B + 1) +#define KEY_FCFG_5 (KEY_CFG_3C + 1) +#define KEY_FCFG_4 (KEY_FCFG_5 + 1) +#define KEY_FCFG_7 (KEY_FCFG_4 + 1) +#define KEY_FCFG_FSCALE (KEY_FCFG_7 + 1) +#define KEY_FCFG_AZ (KEY_FCFG_FSCALE + 1) +#define KEY_FCFG_6 (KEY_FCFG_AZ + 1) +#define KEY_FCFG_LSB4 (KEY_FCFG_6 + 1) +#define KEY_CFG_12 (KEY_FCFG_LSB4 + 1) +#define KEY_CFG_14 (KEY_CFG_12 + 1) +#define KEY_CFG_15 (KEY_CFG_14 + 1) +#define KEY_CFG_16 (KEY_CFG_15 + 1) +#define KEY_CFG_18 (KEY_CFG_16 + 1) +#define KEY_CFG_6 (KEY_CFG_18 + 1) +#define KEY_CFG_7 (KEY_CFG_6 + 1) +#define KEY_CFG_4 (KEY_CFG_7 + 1) +#define KEY_CFG_5 (KEY_CFG_4 + 1) +#define KEY_CFG_2 (KEY_CFG_5 + 1) +#define KEY_CFG_3 (KEY_CFG_2 + 1) +#define KEY_CFG_1 (KEY_CFG_3 + 1) +#define KEY_CFG_EXTERNAL (KEY_CFG_1 + 1) +#define KEY_CFG_8 (KEY_CFG_EXTERNAL + 1) +#define KEY_CFG_9 (KEY_CFG_8 + 1) +#define KEY_CFG_ORIENT_3 (KEY_CFG_9 + 1) +#define KEY_CFG_ORIENT_2 (KEY_CFG_ORIENT_3 + 1) +#define KEY_CFG_ORIENT_1 (KEY_CFG_ORIENT_2 + 1) +#define KEY_CFG_GYRO_SOURCE (KEY_CFG_ORIENT_1 + 1) +#define KEY_CFG_ORIENT_IRQ_1 (KEY_CFG_GYRO_SOURCE + 1) +#define KEY_CFG_ORIENT_IRQ_2 (KEY_CFG_ORIENT_IRQ_1 + 1) +#define KEY_CFG_ORIENT_IRQ_3 (KEY_CFG_ORIENT_IRQ_2 + 1) +#define KEY_FCFG_MAG_VAL (KEY_CFG_ORIENT_IRQ_3 + 1) +#define KEY_FCFG_MAG_MOV (KEY_FCFG_MAG_VAL + 1) +#define KEY_CFG_LP_QUAT (KEY_FCFG_MAG_MOV + 1) + +/* MPU6050 keys */ +#define KEY_CFG_ACCEL_FILTER (KEY_CFG_LP_QUAT + 1) +#define KEY_CFG_MOTION_BIAS (KEY_CFG_ACCEL_FILTER + 1) +#define KEY_TEMPLABEL (KEY_CFG_MOTION_BIAS + 1) + +#define KEY_D_0_22 (KEY_TEMPLABEL + 1) +#define KEY_D_0_24 (KEY_D_0_22 + 1) +#define KEY_D_0_36 (KEY_D_0_24 + 1) +#define KEY_D_0_52 (KEY_D_0_36 + 1) +#define KEY_D_0_96 (KEY_D_0_52 + 1) +#define KEY_D_0_104 (KEY_D_0_96 + 1) +#define KEY_D_0_108 (KEY_D_0_104 + 1) +#define KEY_D_0_163 (KEY_D_0_108 + 1) +#define KEY_D_0_188 (KEY_D_0_163 + 1) +#define KEY_D_0_192 (KEY_D_0_188 + 1) +#define KEY_D_0_224 (KEY_D_0_192 + 1) +#define KEY_D_0_228 (KEY_D_0_224 + 1) +#define KEY_D_0_232 (KEY_D_0_228 + 1) +#define KEY_D_0_236 (KEY_D_0_232 + 1) + +#define KEY_DMP_PREVPTAT (KEY_D_0_236 + 1) +#define KEY_D_1_2 (KEY_DMP_PREVPTAT + 1) +#define KEY_D_1_4 (KEY_D_1_2 + 1) +#define KEY_D_1_8 (KEY_D_1_4 + 1) +#define KEY_D_1_10 (KEY_D_1_8 + 1) +#define KEY_D_1_24 (KEY_D_1_10 + 1) +#define KEY_D_1_28 (KEY_D_1_24 + 1) +#define KEY_D_1_36 (KEY_D_1_28 + 1) +#define KEY_D_1_40 (KEY_D_1_36 + 1) +#define KEY_D_1_44 (KEY_D_1_40 + 1) +#define KEY_D_1_72 (KEY_D_1_44 + 1) +#define KEY_D_1_74 (KEY_D_1_72 + 1) +#define KEY_D_1_79 (KEY_D_1_74 + 1) +#define KEY_D_1_88 (KEY_D_1_79 + 1) +#define KEY_D_1_90 (KEY_D_1_88 + 1) +#define KEY_D_1_92 (KEY_D_1_90 + 1) +#define KEY_D_1_96 (KEY_D_1_92 + 1) +#define KEY_D_1_98 (KEY_D_1_96 + 1) +#define KEY_D_1_100 (KEY_D_1_98 + 1) +#define KEY_D_1_106 (KEY_D_1_100 + 1) +#define KEY_D_1_108 (KEY_D_1_106 + 1) +#define KEY_D_1_112 (KEY_D_1_108 + 1) +#define KEY_D_1_128 (KEY_D_1_112 + 1) +#define KEY_D_1_152 (KEY_D_1_128 + 1) +#define KEY_D_1_160 (KEY_D_1_152 + 1) +#define KEY_D_1_168 (KEY_D_1_160 + 1) +#define KEY_D_1_175 (KEY_D_1_168 + 1) +#define KEY_D_1_176 (KEY_D_1_175 + 1) +#define KEY_D_1_178 (KEY_D_1_176 + 1) +#define KEY_D_1_179 (KEY_D_1_178 + 1) +#define KEY_D_1_218 (KEY_D_1_179 + 1) +#define KEY_D_1_232 (KEY_D_1_218 + 1) +#define KEY_D_1_236 (KEY_D_1_232 + 1) +#define KEY_D_1_240 (KEY_D_1_236 + 1) +#define KEY_D_1_244 (KEY_D_1_240 + 1) +#define KEY_D_1_250 (KEY_D_1_244 + 1) +#define KEY_D_1_252 (KEY_D_1_250 + 1) +#define KEY_D_2_12 (KEY_D_1_252 + 1) +#define KEY_D_2_96 (KEY_D_2_12 + 1) +#define KEY_D_2_108 (KEY_D_2_96 + 1) +#define KEY_D_2_208 (KEY_D_2_108 + 1) +#define KEY_FLICK_MSG (KEY_D_2_208 + 1) +#define KEY_FLICK_COUNTER (KEY_FLICK_MSG + 1) +#define KEY_FLICK_LOWER (KEY_FLICK_COUNTER + 1) +#define KEY_CFG_FLICK_IN (KEY_FLICK_LOWER + 1) +#define KEY_FLICK_UPPER (KEY_CFG_FLICK_IN + 1) +#define KEY_CGNOTICE_INTR (KEY_FLICK_UPPER + 1) +#define KEY_D_2_224 (KEY_CGNOTICE_INTR + 1) +#define KEY_D_2_244 (KEY_D_2_224 + 1) +#define KEY_D_2_248 (KEY_D_2_244 + 1) +#define KEY_D_2_252 (KEY_D_2_248 + 1) + +#define KEY_D_GYRO_BIAS_X (KEY_D_2_252 + 1) +#define KEY_D_GYRO_BIAS_Y (KEY_D_GYRO_BIAS_X + 1) +#define KEY_D_GYRO_BIAS_Z (KEY_D_GYRO_BIAS_Y + 1) +#define KEY_D_ACC_BIAS_X (KEY_D_GYRO_BIAS_Z + 1) +#define KEY_D_ACC_BIAS_Y (KEY_D_ACC_BIAS_X + 1) +#define KEY_D_ACC_BIAS_Z (KEY_D_ACC_BIAS_Y + 1) +#define KEY_D_GYRO_ENABLE (KEY_D_ACC_BIAS_Z + 1) +#define KEY_D_ACCEL_ENABLE (KEY_D_GYRO_ENABLE + 1) +#define KEY_D_QUAT_ENABLE (KEY_D_ACCEL_ENABLE +1) +#define KEY_D_OUTPUT_ENABLE (KEY_D_QUAT_ENABLE + 1) +#define KEY_D_CR_TIME_G (KEY_D_OUTPUT_ENABLE + 1) +#define KEY_D_CR_TIME_A (KEY_D_CR_TIME_G + 1) +#define KEY_D_CR_TIME_Q (KEY_D_CR_TIME_A + 1) +#define KEY_D_CS_TAX (KEY_D_CR_TIME_Q + 1) +#define KEY_D_CS_TAY (KEY_D_CS_TAX + 1) +#define KEY_D_CS_TAZ (KEY_D_CS_TAY + 1) +#define KEY_D_CS_TGX (KEY_D_CS_TAZ + 1) +#define KEY_D_CS_TGY (KEY_D_CS_TGX + 1) +#define KEY_D_CS_TGZ (KEY_D_CS_TGY + 1) +#define KEY_D_CS_TQ0 (KEY_D_CS_TGZ + 1) +#define KEY_D_CS_TQ1 (KEY_D_CS_TQ0 + 1) +#define KEY_D_CS_TQ2 (KEY_D_CS_TQ1 + 1) +#define KEY_D_CS_TQ3 (KEY_D_CS_TQ2 + 1) + +/* Compass keys */ +#define KEY_CPASS_BIAS_X (KEY_D_CS_TQ3 + 1) +#define KEY_CPASS_BIAS_Y (KEY_CPASS_BIAS_X + 1) +#define KEY_CPASS_BIAS_Z (KEY_CPASS_BIAS_Y + 1) +#define KEY_CPASS_MTX_00 (KEY_CPASS_BIAS_Z + 1) +#define KEY_CPASS_MTX_01 (KEY_CPASS_MTX_00 + 1) +#define KEY_CPASS_MTX_02 (KEY_CPASS_MTX_01 + 1) +#define KEY_CPASS_MTX_10 (KEY_CPASS_MTX_02 + 1) +#define KEY_CPASS_MTX_11 (KEY_CPASS_MTX_10 + 1) +#define KEY_CPASS_MTX_12 (KEY_CPASS_MTX_11 + 1) +#define KEY_CPASS_MTX_20 (KEY_CPASS_MTX_12 + 1) +#define KEY_CPASS_MTX_21 (KEY_CPASS_MTX_20 + 1) +#define KEY_CPASS_MTX_22 (KEY_CPASS_MTX_21 + 1) + +/* Gesture Keys */ +#define KEY_DMP_TAPW_MIN (KEY_CPASS_MTX_22 + 1) +#define KEY_DMP_TAP_THR_X (KEY_DMP_TAPW_MIN + 1) +#define KEY_DMP_TAP_THR_Y (KEY_DMP_TAP_THR_X + 1) +#define KEY_DMP_TAP_THR_Z (KEY_DMP_TAP_THR_Y + 1) +#define KEY_DMP_SH_TH_Y (KEY_DMP_TAP_THR_Z + 1) +#define KEY_DMP_SH_TH_X (KEY_DMP_SH_TH_Y + 1) +#define KEY_DMP_SH_TH_Z (KEY_DMP_SH_TH_X + 1) +#define KEY_DMP_ORIENT (KEY_DMP_SH_TH_Z + 1) +#define KEY_D_ACT0 (KEY_DMP_ORIENT + 1) +#define KEY_D_ACSX (KEY_D_ACT0 + 1) +#define KEY_D_ACSY (KEY_D_ACSX + 1) +#define KEY_D_ACSZ (KEY_D_ACSY + 1) + +#define KEY_X_GRT_Y_TMP (KEY_D_ACSZ + 1) +#define KEY_SKIP_X_GRT_Y_TMP (KEY_X_GRT_Y_TMP + 1) +#define KEY_SKIP_END_COMPARE (KEY_SKIP_X_GRT_Y_TMP + 1) +#define KEY_END_COMPARE_Y_X_TMP2 (KEY_SKIP_END_COMPARE + 1) +#define KEY_CFG_ANDROID_ORIENT_INT (KEY_END_COMPARE_Y_X_TMP2 + 1) +#define KEY_NO_ORIENT_INTERRUPT (KEY_CFG_ANDROID_ORIENT_INT + 1) +#define KEY_END_COMPARE_Y_X_TMP (KEY_NO_ORIENT_INTERRUPT + 1) +#define KEY_END_ORIENT_1 (KEY_END_COMPARE_Y_X_TMP + 1) +#define KEY_END_COMPARE_Y_X (KEY_END_ORIENT_1 + 1) +#define KEY_END_ORIENT (KEY_END_COMPARE_Y_X + 1) +#define KEY_X_GRT_Y (KEY_END_ORIENT + 1) +#define KEY_NOT_TIME_MINUS_1 (KEY_X_GRT_Y + 1) +#define KEY_END_COMPARE_Y_X_TMP3 (KEY_NOT_TIME_MINUS_1 + 1) +#define KEY_X_GRT_Y_TMP2 (KEY_END_COMPARE_Y_X_TMP3 + 1) + +/* Authenticate Keys */ +#define KEY_D_AUTH_OUT (KEY_X_GRT_Y_TMP2 + 1) +#define KEY_D_AUTH_IN (KEY_D_AUTH_OUT + 1) +#define KEY_D_AUTH_A (KEY_D_AUTH_IN + 1) +#define KEY_D_AUTH_B (KEY_D_AUTH_A + 1) + +/* Pedometer standalone only keys */ +#define KEY_D_PEDSTD_BP_B (KEY_D_AUTH_B + 1) +#define KEY_D_PEDSTD_HP_A (KEY_D_PEDSTD_BP_B + 1) +#define KEY_D_PEDSTD_HP_B (KEY_D_PEDSTD_HP_A + 1) +#define KEY_D_PEDSTD_BP_A4 (KEY_D_PEDSTD_HP_B + 1) +#define KEY_D_PEDSTD_BP_A3 (KEY_D_PEDSTD_BP_A4 + 1) +#define KEY_D_PEDSTD_BP_A2 (KEY_D_PEDSTD_BP_A3 + 1) +#define KEY_D_PEDSTD_BP_A1 (KEY_D_PEDSTD_BP_A2 + 1) +#define KEY_D_PEDSTD_INT_THRSH (KEY_D_PEDSTD_BP_A1 + 1) +#define KEY_D_PEDSTD_CLIP (KEY_D_PEDSTD_INT_THRSH + 1) +#define KEY_D_PEDSTD_SB (KEY_D_PEDSTD_CLIP + 1) +#define KEY_D_PEDSTD_SB_TIME (KEY_D_PEDSTD_SB + 1) +#define KEY_D_PEDSTD_PEAKTHRSH (KEY_D_PEDSTD_SB_TIME + 1) +#define KEY_D_PEDSTD_TIML (KEY_D_PEDSTD_PEAKTHRSH + 1) +#define KEY_D_PEDSTD_TIMH (KEY_D_PEDSTD_TIML + 1) +#define KEY_D_PEDSTD_PEAK (KEY_D_PEDSTD_TIMH + 1) +#define KEY_D_PEDSTD_TIMECTR (KEY_D_PEDSTD_PEAK + 1) +#define KEY_D_PEDSTD_STEPCTR (KEY_D_PEDSTD_TIMECTR + 1) +#define KEY_D_PEDSTD_WALKTIME (KEY_D_PEDSTD_STEPCTR + 1) +#define KEY_D_PEDSTD_DECI (KEY_D_PEDSTD_WALKTIME + 1) + +/*Host Based No Motion*/ +#define KEY_D_HOST_NO_MOT (KEY_D_PEDSTD_DECI + 1) + +/* EIS keys */ +#define KEY_P_EIS_FIFO_FOOTER (KEY_D_HOST_NO_MOT + 1) +#define KEY_P_EIS_FIFO_YSHIFT (KEY_P_EIS_FIFO_FOOTER + 1) +#define KEY_P_EIS_DATA_RATE (KEY_P_EIS_FIFO_YSHIFT + 1) +#define KEY_P_EIS_FIFO_XSHIFT (KEY_P_EIS_DATA_RATE + 1) +#define KEY_P_EIS_FIFO_SYNC (KEY_P_EIS_FIFO_XSHIFT + 1) +#define KEY_P_EIS_FIFO_ZSHIFT (KEY_P_EIS_FIFO_SYNC + 1) +#define KEY_P_EIS_FIFO_READY (KEY_P_EIS_FIFO_ZSHIFT + 1) +#define KEY_DMP_FOOTER (KEY_P_EIS_FIFO_READY + 1) +#define KEY_DMP_INTX_HC (KEY_DMP_FOOTER + 1) +#define KEY_DMP_INTX_PH (KEY_DMP_INTX_HC + 1) +#define KEY_DMP_INTX_SH (KEY_DMP_INTX_PH + 1) +#define KEY_DMP_AINV_SH (KEY_DMP_INTX_SH + 1) +#define KEY_DMP_A_INV_XH (KEY_DMP_AINV_SH + 1) +#define KEY_DMP_AINV_PH (KEY_DMP_A_INV_XH + 1) +#define KEY_DMP_CTHX_H (KEY_DMP_AINV_PH + 1) +#define KEY_DMP_CTHY_H (KEY_DMP_CTHX_H + 1) +#define KEY_DMP_CTHZ_H (KEY_DMP_CTHY_H + 1) +#define KEY_DMP_NCTHX_H (KEY_DMP_CTHZ_H + 1) +#define KEY_DMP_NCTHY_H (KEY_DMP_NCTHX_H + 1) +#define KEY_DMP_NCTHZ_H (KEY_DMP_NCTHY_H + 1) +#define KEY_DMP_CTSQ_XH (KEY_DMP_NCTHZ_H + 1) +#define KEY_DMP_CTSQ_YH (KEY_DMP_CTSQ_XH + 1) +#define KEY_DMP_CTSQ_ZH (KEY_DMP_CTSQ_YH + 1) +#define KEY_DMP_INTX_H (KEY_DMP_CTSQ_ZH + 1) +#define KEY_DMP_INTY_H (KEY_DMP_INTX_H + 1) +#define KEY_DMP_INTZ_H (KEY_DMP_INTY_H + 1) +//#define KEY_DMP_HPX_H (KEY_DMP_INTZ_H + 1) +//#define KEY_DMP_HPY_H (KEY_DMP_HPX_H + 1) +//#define KEY_DMP_HPZ_H (KEY_DMP_HPY_H + 1) + +/* Stream keys */ +#define KEY_STREAM_P_GYRO_Z (KEY_DMP_INTZ_H + 1) +#define KEY_STREAM_P_GYRO_Y (KEY_STREAM_P_GYRO_Z + 1) +#define KEY_STREAM_P_GYRO_X (KEY_STREAM_P_GYRO_Y + 1) +#define KEY_STREAM_P_TEMP (KEY_STREAM_P_GYRO_X + 1) +#define KEY_STREAM_P_AUX_Y (KEY_STREAM_P_TEMP + 1) +#define KEY_STREAM_P_AUX_X (KEY_STREAM_P_AUX_Y + 1) +#define KEY_STREAM_P_AUX_Z (KEY_STREAM_P_AUX_X + 1) +#define KEY_STREAM_P_ACCEL_Y (KEY_STREAM_P_AUX_Z + 1) +#define KEY_STREAM_P_ACCEL_X (KEY_STREAM_P_ACCEL_Y + 1) +#define KEY_STREAM_P_FOOTER (KEY_STREAM_P_ACCEL_X + 1) +#define KEY_STREAM_P_ACCEL_Z (KEY_STREAM_P_FOOTER + 1) + +#define NUM_KEYS (KEY_STREAM_P_ACCEL_Z + 1) + +typedef struct { + unsigned short key; + unsigned short addr; +} tKeyLabel; + +#define DINA0A 0x0a +#define DINA22 0x22 +#define DINA42 0x42 +#define DINA5A 0x5a + +#define DINA06 0x06 +#define DINA0E 0x0e +#define DINA16 0x16 +#define DINA1E 0x1e +#define DINA26 0x26 +#define DINA2E 0x2e +#define DINA36 0x36 +#define DINA3E 0x3e +#define DINA46 0x46 +#define DINA4E 0x4e +#define DINA56 0x56 +#define DINA5E 0x5e +#define DINA66 0x66 +#define DINA6E 0x6e +#define DINA76 0x76 +#define DINA7E 0x7e + +#define DINA00 0x00 +#define DINA08 0x08 +#define DINA10 0x10 +#define DINA18 0x18 +#define DINA20 0x20 +#define DINA28 0x28 +#define DINA30 0x30 +#define DINA38 0x38 +#define DINA40 0x40 +#define DINA48 0x48 +#define DINA50 0x50 +#define DINA58 0x58 +#define DINA60 0x60 +#define DINA68 0x68 +#define DINA70 0x70 +#define DINA78 0x78 + +#define DINA04 0x04 +#define DINA0C 0x0c +#define DINA14 0x14 +#define DINA1C 0x1C +#define DINA24 0x24 +#define DINA2C 0x2c +#define DINA34 0x34 +#define DINA3C 0x3c +#define DINA44 0x44 +#define DINA4C 0x4c +#define DINA54 0x54 +#define DINA5C 0x5c +#define DINA64 0x64 +#define DINA6C 0x6c +#define DINA74 0x74 +#define DINA7C 0x7c + +#define DINA01 0x01 +#define DINA09 0x09 +#define DINA11 0x11 +#define DINA19 0x19 +#define DINA21 0x21 +#define DINA29 0x29 +#define DINA31 0x31 +#define DINA39 0x39 +#define DINA41 0x41 +#define DINA49 0x49 +#define DINA51 0x51 +#define DINA59 0x59 +#define DINA61 0x61 +#define DINA69 0x69 +#define DINA71 0x71 +#define DINA79 0x79 + +#define DINA25 0x25 +#define DINA2D 0x2d +#define DINA35 0x35 +#define DINA3D 0x3d +#define DINA4D 0x4d +#define DINA55 0x55 +#define DINA5D 0x5D +#define DINA6D 0x6d +#define DINA75 0x75 +#define DINA7D 0x7d + +#define DINADC 0xdc +#define DINAF2 0xf2 +#define DINAAB 0xab +#define DINAAA 0xaa +#define DINAF1 0xf1 +#define DINADF 0xdf +#define DINADA 0xda +#define DINAB1 0xb1 +#define DINAB9 0xb9 +#define DINAF3 0xf3 +#define DINA8B 0x8b +#define DINAA3 0xa3 +#define DINA91 0x91 +#define DINAB6 0xb6 +#define DINAB4 0xb4 + + +#define DINC00 0x00 +#define DINC01 0x01 +#define DINC02 0x02 +#define DINC03 0x03 +#define DINC08 0x08 +#define DINC09 0x09 +#define DINC0A 0x0a +#define DINC0B 0x0b +#define DINC10 0x10 +#define DINC11 0x11 +#define DINC12 0x12 +#define DINC13 0x13 +#define DINC18 0x18 +#define DINC19 0x19 +#define DINC1A 0x1a +#define DINC1B 0x1b + +#define DINC20 0x20 +#define DINC21 0x21 +#define DINC22 0x22 +#define DINC23 0x23 +#define DINC28 0x28 +#define DINC29 0x29 +#define DINC2A 0x2a +#define DINC2B 0x2b +#define DINC30 0x30 +#define DINC31 0x31 +#define DINC32 0x32 +#define DINC33 0x33 +#define DINC38 0x38 +#define DINC39 0x39 +#define DINC3A 0x3a +#define DINC3B 0x3b + +#define DINC40 0x40 +#define DINC41 0x41 +#define DINC42 0x42 +#define DINC43 0x43 +#define DINC48 0x48 +#define DINC49 0x49 +#define DINC4A 0x4a +#define DINC4B 0x4b +#define DINC50 0x50 +#define DINC51 0x51 +#define DINC52 0x52 +#define DINC53 0x53 +#define DINC58 0x58 +#define DINC59 0x59 +#define DINC5A 0x5a +#define DINC5B 0x5b + +#define DINC60 0x60 +#define DINC61 0x61 +#define DINC62 0x62 +#define DINC63 0x63 +#define DINC68 0x68 +#define DINC69 0x69 +#define DINC6A 0x6a +#define DINC6B 0x6b +#define DINC70 0x70 +#define DINC71 0x71 +#define DINC72 0x72 +#define DINC73 0x73 +#define DINC78 0x78 +#define DINC79 0x79 +#define DINC7A 0x7a +#define DINC7B 0x7b + +#define DIND40 0x40 + + +#define DINA80 0x80 +#define DINA90 0x90 +#define DINAA0 0xa0 +#define DINAC9 0xc9 +#define DINACB 0xcb +#define DINACD 0xcd +#define DINACF 0xcf +#define DINAC8 0xc8 +#define DINACA 0xca +#define DINACC 0xcc +#define DINACE 0xce +#define DINAD8 0xd8 +#define DINADD 0xdd +#define DINAF8 0xf0 +#define DINAFE 0xfe + +#define DINBF8 0xf8 +#define DINAC0 0xb0 +#define DINAC1 0xb1 +#define DINAC2 0xb4 +#define DINAC3 0xb5 +#define DINAC4 0xb8 +#define DINAC5 0xb9 +#define DINBC0 0xc0 +#define DINBC2 0xc2 +#define DINBC4 0xc4 +#define DINBC6 0xc6 + + + +#endif // DMPKEY_H__ diff --git a/interface/external/MotionDriver/include/dmpmap.h b/interface/external/MotionDriver/include/dmpmap.h new file mode 100644 index 0000000000..f63e140398 --- /dev/null +++ b/interface/external/MotionDriver/include/dmpmap.h @@ -0,0 +1,264 @@ +/* + $License: + Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. + $ + */ +#ifndef DMPMAP_H +#define DMPMAP_H + +#ifdef __cplusplus +extern "C" +{ +#endif + +#define DMP_PTAT 0 +#define DMP_XGYR 2 +#define DMP_YGYR 4 +#define DMP_ZGYR 6 +#define DMP_XACC 8 +#define DMP_YACC 10 +#define DMP_ZACC 12 +#define DMP_ADC1 14 +#define DMP_ADC2 16 +#define DMP_ADC3 18 +#define DMP_BIASUNC 20 +#define DMP_FIFORT 22 +#define DMP_INVGSFH 24 +#define DMP_INVGSFL 26 +#define DMP_1H 28 +#define DMP_1L 30 +#define DMP_BLPFSTCH 32 +#define DMP_BLPFSTCL 34 +#define DMP_BLPFSXH 36 +#define DMP_BLPFSXL 38 +#define DMP_BLPFSYH 40 +#define DMP_BLPFSYL 42 +#define DMP_BLPFSZH 44 +#define DMP_BLPFSZL 46 +#define DMP_BLPFMTC 48 +#define DMP_SMC 50 +#define DMP_BLPFMXH 52 +#define DMP_BLPFMXL 54 +#define DMP_BLPFMYH 56 +#define DMP_BLPFMYL 58 +#define DMP_BLPFMZH 60 +#define DMP_BLPFMZL 62 +#define DMP_BLPFC 64 +#define DMP_SMCTH 66 +#define DMP_0H2 68 +#define DMP_0L2 70 +#define DMP_BERR2H 72 +#define DMP_BERR2L 74 +#define DMP_BERR2NH 76 +#define DMP_SMCINC 78 +#define DMP_ANGVBXH 80 +#define DMP_ANGVBXL 82 +#define DMP_ANGVBYH 84 +#define DMP_ANGVBYL 86 +#define DMP_ANGVBZH 88 +#define DMP_ANGVBZL 90 +#define DMP_BERR1H 92 +#define DMP_BERR1L 94 +#define DMP_ATCH 96 +#define DMP_BIASUNCSF 98 +#define DMP_ACT2H 100 +#define DMP_ACT2L 102 +#define DMP_GSFH 104 +#define DMP_GSFL 106 +#define DMP_GH 108 +#define DMP_GL 110 +#define DMP_0_5H 112 +#define DMP_0_5L 114 +#define DMP_0_0H 116 +#define DMP_0_0L 118 +#define DMP_1_0H 120 +#define DMP_1_0L 122 +#define DMP_1_5H 124 +#define DMP_1_5L 126 +#define DMP_TMP1AH 128 +#define DMP_TMP1AL 130 +#define DMP_TMP2AH 132 +#define DMP_TMP2AL 134 +#define DMP_TMP3AH 136 +#define DMP_TMP3AL 138 +#define DMP_TMP4AH 140 +#define DMP_TMP4AL 142 +#define DMP_XACCW 144 +#define DMP_TMP5 146 +#define DMP_XACCB 148 +#define DMP_TMP8 150 +#define DMP_YACCB 152 +#define DMP_TMP9 154 +#define DMP_ZACCB 156 +#define DMP_TMP10 158 +#define DMP_DZH 160 +#define DMP_DZL 162 +#define DMP_XGCH 164 +#define DMP_XGCL 166 +#define DMP_YGCH 168 +#define DMP_YGCL 170 +#define DMP_ZGCH 172 +#define DMP_ZGCL 174 +#define DMP_YACCW 176 +#define DMP_TMP7 178 +#define DMP_AFB1H 180 +#define DMP_AFB1L 182 +#define DMP_AFB2H 184 +#define DMP_AFB2L 186 +#define DMP_MAGFBH 188 +#define DMP_MAGFBL 190 +#define DMP_QT1H 192 +#define DMP_QT1L 194 +#define DMP_QT2H 196 +#define DMP_QT2L 198 +#define DMP_QT3H 200 +#define DMP_QT3L 202 +#define DMP_QT4H 204 +#define DMP_QT4L 206 +#define DMP_CTRL1H 208 +#define DMP_CTRL1L 210 +#define DMP_CTRL2H 212 +#define DMP_CTRL2L 214 +#define DMP_CTRL3H 216 +#define DMP_CTRL3L 218 +#define DMP_CTRL4H 220 +#define DMP_CTRL4L 222 +#define DMP_CTRLS1 224 +#define DMP_CTRLSF1 226 +#define DMP_CTRLS2 228 +#define DMP_CTRLSF2 230 +#define DMP_CTRLS3 232 +#define DMP_CTRLSFNLL 234 +#define DMP_CTRLS4 236 +#define DMP_CTRLSFNL2 238 +#define DMP_CTRLSFNL 240 +#define DMP_TMP30 242 +#define DMP_CTRLSFJT 244 +#define DMP_TMP31 246 +#define DMP_TMP11 248 +#define DMP_CTRLSF2_2 250 +#define DMP_TMP12 252 +#define DMP_CTRLSF1_2 254 +#define DMP_PREVPTAT 256 +#define DMP_ACCZB 258 +#define DMP_ACCXB 264 +#define DMP_ACCYB 266 +#define DMP_1HB 272 +#define DMP_1LB 274 +#define DMP_0H 276 +#define DMP_0L 278 +#define DMP_ASR22H 280 +#define DMP_ASR22L 282 +#define DMP_ASR6H 284 +#define DMP_ASR6L 286 +#define DMP_TMP13 288 +#define DMP_TMP14 290 +#define DMP_FINTXH 292 +#define DMP_FINTXL 294 +#define DMP_FINTYH 296 +#define DMP_FINTYL 298 +#define DMP_FINTZH 300 +#define DMP_FINTZL 302 +#define DMP_TMP1BH 304 +#define DMP_TMP1BL 306 +#define DMP_TMP2BH 308 +#define DMP_TMP2BL 310 +#define DMP_TMP3BH 312 +#define DMP_TMP3BL 314 +#define DMP_TMP4BH 316 +#define DMP_TMP4BL 318 +#define DMP_STXG 320 +#define DMP_ZCTXG 322 +#define DMP_STYG 324 +#define DMP_ZCTYG 326 +#define DMP_STZG 328 +#define DMP_ZCTZG 330 +#define DMP_CTRLSFJT2 332 +#define DMP_CTRLSFJTCNT 334 +#define DMP_PVXG 336 +#define DMP_TMP15 338 +#define DMP_PVYG 340 +#define DMP_TMP16 342 +#define DMP_PVZG 344 +#define DMP_TMP17 346 +#define DMP_MNMFLAGH 352 +#define DMP_MNMFLAGL 354 +#define DMP_MNMTMH 356 +#define DMP_MNMTML 358 +#define DMP_MNMTMTHRH 360 +#define DMP_MNMTMTHRL 362 +#define DMP_MNMTHRH 364 +#define DMP_MNMTHRL 366 +#define DMP_ACCQD4H 368 +#define DMP_ACCQD4L 370 +#define DMP_ACCQD5H 372 +#define DMP_ACCQD5L 374 +#define DMP_ACCQD6H 376 +#define DMP_ACCQD6L 378 +#define DMP_ACCQD7H 380 +#define DMP_ACCQD7L 382 +#define DMP_ACCQD0H 384 +#define DMP_ACCQD0L 386 +#define DMP_ACCQD1H 388 +#define DMP_ACCQD1L 390 +#define DMP_ACCQD2H 392 +#define DMP_ACCQD2L 394 +#define DMP_ACCQD3H 396 +#define DMP_ACCQD3L 398 +#define DMP_XN2H 400 +#define DMP_XN2L 402 +#define DMP_XN1H 404 +#define DMP_XN1L 406 +#define DMP_YN2H 408 +#define DMP_YN2L 410 +#define DMP_YN1H 412 +#define DMP_YN1L 414 +#define DMP_YH 416 +#define DMP_YL 418 +#define DMP_B0H 420 +#define DMP_B0L 422 +#define DMP_A1H 424 +#define DMP_A1L 426 +#define DMP_A2H 428 +#define DMP_A2L 430 +#define DMP_SEM1 432 +#define DMP_FIFOCNT 434 +#define DMP_SH_TH_X 436 +#define DMP_PACKET 438 +#define DMP_SH_TH_Y 440 +#define DMP_FOOTER 442 +#define DMP_SH_TH_Z 444 +#define DMP_TEMP29 448 +#define DMP_TEMP30 450 +#define DMP_XACCB_PRE 452 +#define DMP_XACCB_PREL 454 +#define DMP_YACCB_PRE 456 +#define DMP_YACCB_PREL 458 +#define DMP_ZACCB_PRE 460 +#define DMP_ZACCB_PREL 462 +#define DMP_TMP22 464 +#define DMP_TAP_TIMER 466 +#define DMP_TAP_THX 468 +#define DMP_TAP_THY 472 +#define DMP_TAP_THZ 476 +#define DMP_TAPW_MIN 478 +#define DMP_TMP25 480 +#define DMP_TMP26 482 +#define DMP_TMP27 484 +#define DMP_TMP28 486 +#define DMP_ORIENT 488 +#define DMP_THRSH 490 +#define DMP_ENDIANH 492 +#define DMP_ENDIANL 494 +#define DMP_BLPFNMTCH 496 +#define DMP_BLPFNMTCL 498 +#define DMP_BLPFNMXH 500 +#define DMP_BLPFNMXL 502 +#define DMP_BLPFNMYH 504 +#define DMP_BLPFNMYL 506 +#define DMP_BLPFNMZH 508 +#define DMP_BLPFNMZL 510 +#ifdef __cplusplus +} +#endif +#endif // DMPMAP_H diff --git a/interface/external/MotionDriver/include/inv_mpu.h b/interface/external/MotionDriver/include/inv_mpu.h new file mode 100644 index 0000000000..9610124f04 --- /dev/null +++ b/interface/external/MotionDriver/include/inv_mpu.h @@ -0,0 +1,127 @@ +/* + $License: + Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. + See included License.txt for License information. + $ + */ +/** + * @addtogroup DRIVERS Sensor Driver Layer + * @brief Hardware drivers to communicate with sensors via I2C. + * + * @{ + * @file inv_mpu.h + * @brief An I2C-based driver for Invensense gyroscopes. + * @details This driver currently works for the following devices: + * MPU6050 + * MPU6500 + * MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus) + * MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus) + */ + +#ifndef _INV_MPU_H_ +#define _INV_MPU_H_ + +#define INV_X_GYRO (0x40) +#define INV_Y_GYRO (0x20) +#define INV_Z_GYRO (0x10) +#define INV_XYZ_GYRO (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO) +#define INV_XYZ_ACCEL (0x08) +#define INV_XYZ_COMPASS (0x01) + +struct int_param_s { +#if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430 + void (*cb)(void); + unsigned short pin; + unsigned char lp_exit; + unsigned char active_low; +#elif defined EMPL_TARGET_UC3L0 + unsigned long pin; + void (*cb)(volatile void*); + void *arg; +#endif +}; + +#define MPU_INT_STATUS_DATA_READY (0x0001) +#define MPU_INT_STATUS_DMP (0x0002) +#define MPU_INT_STATUS_PLL_READY (0x0004) +#define MPU_INT_STATUS_I2C_MST (0x0008) +#define MPU_INT_STATUS_FIFO_OVERFLOW (0x0010) +#define MPU_INT_STATUS_ZMOT (0x0020) +#define MPU_INT_STATUS_MOT (0x0040) +#define MPU_INT_STATUS_FREE_FALL (0x0080) +#define MPU_INT_STATUS_DMP_0 (0x0100) +#define MPU_INT_STATUS_DMP_1 (0x0200) +#define MPU_INT_STATUS_DMP_2 (0x0400) +#define MPU_INT_STATUS_DMP_3 (0x0800) +#define MPU_INT_STATUS_DMP_4 (0x1000) +#define MPU_INT_STATUS_DMP_5 (0x2000) + +/* Set up APIs */ +int mpu_init(struct int_param_s *int_param); +int mpu_init_slave(void); +int mpu_set_bypass(unsigned char bypass_on); + +/* Configuration APIs */ +int mpu_lp_accel_mode(unsigned char rate); +int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time, + unsigned char lpa_freq); +int mpu_set_int_level(unsigned char active_low); +int mpu_set_int_latched(unsigned char enable); + +int mpu_set_dmp_state(unsigned char enable); +int mpu_get_dmp_state(unsigned char *enabled); + +int mpu_get_lpf(unsigned short *lpf); +int mpu_set_lpf(unsigned short lpf); + +int mpu_get_gyro_fsr(unsigned short *fsr); +int mpu_set_gyro_fsr(unsigned short fsr); + +int mpu_get_accel_fsr(unsigned char *fsr); +int mpu_set_accel_fsr(unsigned char fsr); + +int mpu_get_compass_fsr(unsigned short *fsr); + +int mpu_get_gyro_sens(float *sens); +int mpu_get_accel_sens(unsigned short *sens); + +int mpu_get_sample_rate(unsigned short *rate); +int mpu_set_sample_rate(unsigned short rate); +int mpu_get_compass_sample_rate(unsigned short *rate); +int mpu_set_compass_sample_rate(unsigned short rate); + +int mpu_get_fifo_config(unsigned char *sensors); +int mpu_configure_fifo(unsigned char sensors); + +int mpu_get_power_state(unsigned char *power_on); +int mpu_set_sensors(unsigned char sensors); + +int mpu_set_accel_bias(const long *accel_bias); + +/* Data getter/setter APIs */ +int mpu_get_gyro_reg(short *data, unsigned long *timestamp); +int mpu_get_accel_reg(short *data, unsigned long *timestamp); +int mpu_get_compass_reg(short *data, unsigned long *timestamp); +int mpu_get_temperature(long *data, unsigned long *timestamp); + +int mpu_get_int_status(short *status); +int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp, + unsigned char *sensors, unsigned char *more); +int mpu_read_fifo_stream(unsigned short length, unsigned char *data, + unsigned char *more); +int mpu_reset_fifo(void); + +int mpu_write_mem(unsigned short mem_addr, unsigned short length, + unsigned char *data); +int mpu_read_mem(unsigned short mem_addr, unsigned short length, + unsigned char *data); +int mpu_load_firmware(unsigned short length, const unsigned char *firmware, + unsigned short start_addr, unsigned short sample_rate); + +int mpu_reg_dump(void); +int mpu_read_reg(unsigned char reg, unsigned char *data); +int mpu_run_self_test(long *gyro, long *accel); +int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char)); + +#endif /* #ifndef _INV_MPU_H_ */ + diff --git a/interface/external/MotionDriver/include/inv_mpu_dmp_motion_driver.h b/interface/external/MotionDriver/include/inv_mpu_dmp_motion_driver.h new file mode 100644 index 0000000000..b0afea6caf --- /dev/null +++ b/interface/external/MotionDriver/include/inv_mpu_dmp_motion_driver.h @@ -0,0 +1,97 @@ +/* + $License: + Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. + See included License.txt for License information. + $ + */ +/** + * @addtogroup DRIVERS Sensor Driver Layer + * @brief Hardware drivers to communicate with sensors via I2C. + * + * @{ + * @file inv_mpu_dmp_motion_driver.h + * @brief DMP image and interface functions. + * @details All functions are preceded by the dmp_ prefix to + * differentiate among MPL and general driver function calls. + */ +#ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ +#define _INV_MPU_DMP_MOTION_DRIVER_H_ + +#define TAP_X (0x01) +#define TAP_Y (0x02) +#define TAP_Z (0x04) +#define TAP_XYZ (0x07) + +#define TAP_X_UP (0x01) +#define TAP_X_DOWN (0x02) +#define TAP_Y_UP (0x03) +#define TAP_Y_DOWN (0x04) +#define TAP_Z_UP (0x05) +#define TAP_Z_DOWN (0x06) + +#define ANDROID_ORIENT_PORTRAIT (0x00) +#define ANDROID_ORIENT_LANDSCAPE (0x01) +#define ANDROID_ORIENT_REVERSE_PORTRAIT (0x02) +#define ANDROID_ORIENT_REVERSE_LANDSCAPE (0x03) + +#define DMP_INT_GESTURE (0x01) +#define DMP_INT_CONTINUOUS (0x02) + +#define DMP_FEATURE_TAP (0x001) +#define DMP_FEATURE_ANDROID_ORIENT (0x002) +#define DMP_FEATURE_LP_QUAT (0x004) +#define DMP_FEATURE_PEDOMETER (0x008) +#define DMP_FEATURE_6X_LP_QUAT (0x010) +#define DMP_FEATURE_GYRO_CAL (0x020) +#define DMP_FEATURE_SEND_RAW_ACCEL (0x040) +#define DMP_FEATURE_SEND_RAW_GYRO (0x080) +#define DMP_FEATURE_SEND_CAL_GYRO (0x100) + +#define INV_WXYZ_QUAT (0x100) + +/* Set up functions. */ +int dmp_load_motion_driver_firmware(void); +int dmp_set_fifo_rate(unsigned short rate); +int dmp_get_fifo_rate(unsigned short *rate); +int dmp_enable_feature(unsigned short mask); +int dmp_get_enabled_features(unsigned short *mask); +int dmp_set_interrupt_mode(unsigned char mode); +int dmp_set_orientation(unsigned short orient); +int dmp_set_gyro_bias(long *bias); +int dmp_set_accel_bias(long *bias); + +/* Tap functions. */ +int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char)); +int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh); +int dmp_set_tap_axes(unsigned char axis); +int dmp_set_tap_count(unsigned char min_taps); +int dmp_set_tap_time(unsigned short time); +int dmp_set_tap_time_multi(unsigned short time); +int dmp_set_shake_reject_thresh(long sf, unsigned short thresh); +int dmp_set_shake_reject_time(unsigned short time); +int dmp_set_shake_reject_timeout(unsigned short time); + +/* Android orientation functions. */ +int dmp_register_android_orient_cb(void (*func)(unsigned char)); + +/* LP quaternion functions. */ +int dmp_enable_lp_quat(unsigned char enable); +int dmp_enable_6x_lp_quat(unsigned char enable); + +/* Pedometer functions. */ +int dmp_get_pedometer_step_count(unsigned long *count); +int dmp_set_pedometer_step_count(unsigned long count); +int dmp_get_pedometer_walk_time(unsigned long *time); +int dmp_set_pedometer_walk_time(unsigned long time); + +/* DMP gyro calibration functions. */ +int dmp_enable_gyro_cal(unsigned char enable); + +/* Read function. This function should be called whenever the MPU interrupt is + * detected. + */ +int dmp_read_fifo(short *gyro, short *accel, long *quat, + unsigned long *timestamp, short *sensors, unsigned char *more); + +#endif /* #ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ */ + diff --git a/interface/external/MotionDriver/include/inv_tty.h b/interface/external/MotionDriver/include/inv_tty.h new file mode 100644 index 0000000000..d92ece2017 --- /dev/null +++ b/interface/external/MotionDriver/include/inv_tty.h @@ -0,0 +1,22 @@ +// +// inv_tty.h +// interface +// +// Created by Andrzej Kapolka on 7/9/13. +// Copyright (c) 2013 High Fidelity, Inc. All rights reserved. +// + +#ifndef __interface__inv_tty__ +#define __interface__inv_tty__ + +void tty_set_file_descriptor(int file_descriptor); + +int tty_i2c_write(unsigned char slave_addr, unsigned char reg_addr, unsigned char length, unsigned char const *data); + +int tty_i2c_read(unsigned char slave_addr, unsigned char reg_addr, unsigned char length, unsigned char *data); + +void tty_delay_ms(unsigned long num_ms); + +void tty_get_ms(unsigned long *count); + +#endif /* defined(__interface__inv_tty__) */ diff --git a/interface/external/MotionDriver/lib/UNIX/libMotionDriver.a b/interface/external/MotionDriver/lib/UNIX/libMotionDriver.a new file mode 100644 index 0000000000000000000000000000000000000000..4915e9910be513af4bd2e5e0a02d55684dd0ff2c GIT binary patch literal 61870 zcmd^o33yaR_HT6(AYkMMMFrQm{=q>6aY5Xoa-BO4C@yiCaV7-PfsENqIxK3&Kqt~| zjN%@Z8IicOh!7Dwfc~We*olf`gE-R(Ou7ZsK<5qV1f+vVzwgwobMNU&H;Xgxz3;tO 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+++ b/interface/external/MotionDriver/src/inv_mpu.c @@ -0,0 +1,2798 @@ +/* + $License: + Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. + See included License.txt for License information. + $ + */ +/** + * @addtogroup DRIVERS Sensor Driver Layer + * @brief Hardware drivers to communicate with sensors via I2C. + * + * @{ + * @file inv_mpu.c + * @brief An I2C-based driver for Invensense gyroscopes. + * @details This driver currently works for the following devices: + * MPU6050 + * MPU6500 + * MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus) + * MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus) + */ +#include +#include +#include +#include +#include +#include "inv_mpu.h" +#include "inv_tty.h" + +/* The following functions must be defined for this platform: + * i2c_write(unsigned char slave_addr, unsigned char reg_addr, + * unsigned char length, unsigned char const *data) + * i2c_read(unsigned char slave_addr, unsigned char reg_addr, + * unsigned char length, unsigned char *data) + * delay_ms(unsigned long num_ms) + * get_ms(unsigned long *count) + * reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin) + * labs(long x) + * fabsf(float x) + * min(int a, int b) + */ +#if defined MOTION_DRIVER_TARGET_MSP430 +#include "msp430.h" +#include "msp430_i2c.h" +#include "msp430_clock.h" +#include "msp430_interrupt.h" +#define i2c_write msp430_i2c_write +#define i2c_read msp430_i2c_read +#define delay_ms msp430_delay_ms +#define get_ms msp430_get_clock_ms +static inline int reg_int_cb(struct int_param_s *int_param) +{ + return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit, + int_param->active_low); +} +#define log_i(...) do {} while (0) +#define log_e(...) do {} while (0) +/* labs is already defined by TI's toolchain. */ +/* fabs is for doubles. fabsf is for floats. */ +#define fabs fabsf +#define min(a,b) ((acb, int_param->pin, int_param->lp_exit, + int_param->active_low); +} +#define log_i MPL_LOGI +#define log_e MPL_LOGE +/* labs is already defined by TI's toolchain. */ +/* fabs is for doubles. fabsf is for floats. */ +#define fabs fabsf +#define min(a,b) ((apin, int_param->cb, int_param->arg); + return 0; +} +#define log_i MPL_LOGI +#define log_e MPL_LOGE +/* UC3 is a 32-bit processor, so abs and labs are equivalent. */ +#define labs abs +#define fabs(x) (((x)>0)?(x):-(x)) +#else +#define i2c_write tty_i2c_write +#define i2c_read tty_i2c_read +#define delay_ms tty_delay_ms +#define get_ms tty_get_ms +#define min(a,b) ((a> 3 & 0x03 */ + unsigned char gyro_fsr; + /* Matches accel_cfg >> 3 & 0x03 */ + unsigned char accel_fsr; + /* Enabled sensors. Uses same masks as fifo_en, NOT pwr_mgmt_2. */ + unsigned char sensors; + /* Matches config register. */ + unsigned char lpf; + unsigned char clk_src; + /* Sample rate, NOT rate divider. */ + unsigned short sample_rate; + /* Matches fifo_en register. */ + unsigned char fifo_enable; + /* Matches int enable register. */ + unsigned char int_enable; + /* 1 if devices on auxiliary I2C bus appear on the primary. */ + unsigned char bypass_mode; + /* 1 if half-sensitivity. + * NOTE: This doesn't belong here, but everything else in hw_s is const, + * and this allows us to save some precious RAM. + */ + unsigned char accel_half; + /* 1 if device in low-power accel-only mode. */ + unsigned char lp_accel_mode; + /* 1 if interrupts are only triggered on motion events. */ + unsigned char int_motion_only; + struct motion_int_cache_s cache; + /* 1 for active low interrupts. */ + unsigned char active_low_int; + /* 1 for latched interrupts. */ + unsigned char latched_int; + /* 1 if DMP is enabled. */ + unsigned char dmp_on; + /* Ensures that DMP will only be loaded once. */ + unsigned char dmp_loaded; + /* Sampling rate used when DMP is enabled. */ + unsigned short dmp_sample_rate; +#ifdef AK89xx_SECONDARY + /* Compass sample rate. */ + unsigned short compass_sample_rate; + unsigned char compass_addr; + short mag_sens_adj[3]; +#endif +}; + +/* Information for self-test. */ +struct test_s { + unsigned long gyro_sens; + unsigned long accel_sens; + unsigned char reg_rate_div; + unsigned char reg_lpf; + unsigned char reg_gyro_fsr; + unsigned char reg_accel_fsr; + unsigned short wait_ms; + unsigned char packet_thresh; + float min_dps; + float max_dps; + float max_gyro_var; + float min_g; + float max_g; + float max_accel_var; +}; + +/* Gyro driver state variables. */ +struct gyro_state_s { + const struct gyro_reg_s *reg; + const struct hw_s *hw; + struct chip_cfg_s chip_cfg; + const struct test_s *test; +}; + +/* Filter configurations. */ +enum lpf_e { + INV_FILTER_256HZ_NOLPF2 = 0, + INV_FILTER_188HZ, + INV_FILTER_98HZ, + INV_FILTER_42HZ, + INV_FILTER_20HZ, + INV_FILTER_10HZ, + INV_FILTER_5HZ, + INV_FILTER_2100HZ_NOLPF, + NUM_FILTER +}; + +/* Full scale ranges. */ +enum gyro_fsr_e { + INV_FSR_250DPS = 0, + INV_FSR_500DPS, + INV_FSR_1000DPS, + INV_FSR_2000DPS, + NUM_GYRO_FSR +}; + +/* Full scale ranges. */ +enum accel_fsr_e { + INV_FSR_2G = 0, + INV_FSR_4G, + INV_FSR_8G, + INV_FSR_16G, + NUM_ACCEL_FSR +}; + +/* Clock sources. */ +enum clock_sel_e { + INV_CLK_INTERNAL = 0, + INV_CLK_PLL, + NUM_CLK +}; + +/* Low-power accel wakeup rates. */ +enum lp_accel_rate_e { +#if defined MPU6050 + INV_LPA_1_25HZ, + INV_LPA_5HZ, + INV_LPA_20HZ, + INV_LPA_40HZ +#elif defined MPU6500 + INV_LPA_0_3125HZ, + INV_LPA_0_625HZ, + INV_LPA_1_25HZ, + INV_LPA_2_5HZ, + INV_LPA_5HZ, + INV_LPA_10HZ, + INV_LPA_20HZ, + INV_LPA_40HZ, + INV_LPA_80HZ, + INV_LPA_160HZ, + INV_LPA_320HZ, + INV_LPA_640HZ +#endif +}; + +#define BIT_I2C_MST_VDDIO (0x80) +#define BIT_FIFO_EN (0x40) +#define BIT_DMP_EN (0x80) +#define BIT_FIFO_RST (0x04) +#define BIT_DMP_RST (0x08) +#define BIT_FIFO_OVERFLOW (0x10) +#define BIT_DATA_RDY_EN (0x01) +#define BIT_DMP_INT_EN (0x02) +#define BIT_MOT_INT_EN (0x40) +#define BITS_FSR (0x18) +#define BITS_LPF (0x07) +#define BITS_HPF (0x07) +#define BITS_CLK (0x07) +#define BIT_FIFO_SIZE_1024 (0x40) +#define BIT_FIFO_SIZE_2048 (0x80) +#define BIT_FIFO_SIZE_4096 (0xC0) +#define BIT_RESET (0x80) +#define BIT_SLEEP (0x40) +#define BIT_S0_DELAY_EN (0x01) +#define BIT_S2_DELAY_EN (0x04) +#define BITS_SLAVE_LENGTH (0x0F) +#define BIT_SLAVE_BYTE_SW (0x40) +#define BIT_SLAVE_GROUP (0x10) +#define BIT_SLAVE_EN (0x80) +#define BIT_I2C_READ (0x80) +#define BITS_I2C_MASTER_DLY (0x1F) +#define BIT_AUX_IF_EN (0x20) +#define BIT_ACTL (0x80) +#define BIT_LATCH_EN (0x20) +#define BIT_ANY_RD_CLR (0x10) +#define BIT_BYPASS_EN (0x02) +#define BITS_WOM_EN (0xC0) +#define BIT_LPA_CYCLE (0x20) +#define BIT_STBY_XA (0x20) +#define BIT_STBY_YA (0x10) +#define BIT_STBY_ZA (0x08) +#define BIT_STBY_XG (0x04) +#define BIT_STBY_YG (0x02) +#define BIT_STBY_ZG (0x01) +#define BIT_STBY_XYZA (BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA) +#define BIT_STBY_XYZG (BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG) + +#if defined AK8975_SECONDARY +#define SUPPORTS_AK89xx_HIGH_SENS (0x00) +#define AK89xx_FSR (9830) +#elif defined AK8963_SECONDARY +#define SUPPORTS_AK89xx_HIGH_SENS (0x10) +#define AK89xx_FSR (4915) +#endif + +#ifdef AK89xx_SECONDARY +#define AKM_REG_WHOAMI (0x00) + +#define AKM_REG_ST1 (0x02) +#define AKM_REG_HXL (0x03) +#define AKM_REG_ST2 (0x09) + +#define AKM_REG_CNTL (0x0A) +#define AKM_REG_ASTC (0x0C) +#define AKM_REG_ASAX (0x10) +#define AKM_REG_ASAY (0x11) +#define AKM_REG_ASAZ (0x12) + +#define AKM_DATA_READY (0x01) +#define AKM_DATA_OVERRUN (0x02) +#define AKM_OVERFLOW (0x80) +#define AKM_DATA_ERROR (0x40) + +#define AKM_BIT_SELF_TEST (0x40) + +#define AKM_POWER_DOWN (0x00 | SUPPORTS_AK89xx_HIGH_SENS) +#define AKM_SINGLE_MEASUREMENT (0x01 | SUPPORTS_AK89xx_HIGH_SENS) +#define AKM_FUSE_ROM_ACCESS (0x0F | SUPPORTS_AK89xx_HIGH_SENS) +#define AKM_MODE_SELF_TEST (0x08 | SUPPORTS_AK89xx_HIGH_SENS) + +#define AKM_WHOAMI (0x48) +#endif + +#if defined MPU6050 +const struct gyro_reg_s reg = { + .who_am_i = 0x75, + .rate_div = 0x19, + .lpf = 0x1A, + .prod_id = 0x0C, + .user_ctrl = 0x6A, + .fifo_en = 0x23, + .gyro_cfg = 0x1B, + .accel_cfg = 0x1C, + .motion_thr = 0x1F, + .motion_dur = 0x20, + .fifo_count_h = 0x72, + .fifo_r_w = 0x74, + .raw_gyro = 0x43, + .raw_accel = 0x3B, + .temp = 0x41, + .int_enable = 0x38, + .dmp_int_status = 0x39, + .int_status = 0x3A, + .pwr_mgmt_1 = 0x6B, + .pwr_mgmt_2 = 0x6C, + .int_pin_cfg = 0x37, + .mem_r_w = 0x6F, + .accel_offs = 0x06, + .i2c_mst = 0x24, + .bank_sel = 0x6D, + .mem_start_addr = 0x6E, + .prgm_start_h = 0x70 +#ifdef AK89xx_SECONDARY + ,.raw_compass = 0x49, + .yg_offs_tc = 0x01, + .s0_addr = 0x25, + .s0_reg = 0x26, + .s0_ctrl = 0x27, + .s1_addr = 0x28, + .s1_reg = 0x29, + .s1_ctrl = 0x2A, + .s4_ctrl = 0x34, + .s0_do = 0x63, + .s1_do = 0x64, + .i2c_delay_ctrl = 0x67 +#endif +}; +const struct hw_s hw = { + .addr = 0x68, + .max_fifo = 1024, + .num_reg = 118, + .temp_sens = 340, + .temp_offset = -521, + .bank_size = 256 +#if defined AK89xx_SECONDARY + ,.compass_fsr = AK89xx_FSR +#endif +}; + +const struct test_s test = { + .gyro_sens = 32768/250, + .accel_sens = 32768/16, + .reg_rate_div = 0, /* 1kHz. */ + .reg_lpf = 1, /* 188Hz. */ + .reg_gyro_fsr = 0, /* 250dps. */ + .reg_accel_fsr = 0x18, /* 16g. */ + .wait_ms = 50, + .packet_thresh = 5, /* 5% */ + .min_dps = 10.f, + .max_dps = 105.f, + .max_gyro_var = 0.14f, + .min_g = 0.3f, + .max_g = 0.95f, + .max_accel_var = 0.14f +}; + +static struct gyro_state_s st = { + .reg = ®, + .hw = &hw, + .test = &test +}; +#elif defined MPU6500 +const struct gyro_reg_s reg = { + .who_am_i = 0x75, + .rate_div = 0x19, + .lpf = 0x1A, + .prod_id = 0x0C, + .user_ctrl = 0x6A, + .fifo_en = 0x23, + .gyro_cfg = 0x1B, + .accel_cfg = 0x1C, + .accel_cfg2 = 0x1D, + .lp_accel_odr = 0x1E, + .motion_thr = 0x1F, + .motion_dur = 0x20, + .fifo_count_h = 0x72, + .fifo_r_w = 0x74, + .raw_gyro = 0x43, + .raw_accel = 0x3B, + .temp = 0x41, + .int_enable = 0x38, + .dmp_int_status = 0x39, + .int_status = 0x3A, + .accel_intel = 0x69, + .pwr_mgmt_1 = 0x6B, + .pwr_mgmt_2 = 0x6C, + .int_pin_cfg = 0x37, + .mem_r_w = 0x6F, + .accel_offs = 0x77, + .i2c_mst = 0x24, + .bank_sel = 0x6D, + .mem_start_addr = 0x6E, + .prgm_start_h = 0x70 +#ifdef AK89xx_SECONDARY + ,.raw_compass = 0x49, + .s0_addr = 0x25, + .s0_reg = 0x26, + .s0_ctrl = 0x27, + .s1_addr = 0x28, + .s1_reg = 0x29, + .s1_ctrl = 0x2A, + .s4_ctrl = 0x34, + .s0_do = 0x63, + .s1_do = 0x64, + .i2c_delay_ctrl = 0x67 +#endif +}; +const struct hw_s hw = { + .addr = 0x68, + .max_fifo = 1024, + .num_reg = 128, + .temp_sens = 321, + .temp_offset = 0, + .bank_size = 256 +#if defined AK89xx_SECONDARY + ,.compass_fsr = AK89xx_FSR +#endif +}; + +const struct test_s test = { + .gyro_sens = 32768/250, + .accel_sens = 32768/16, + .reg_rate_div = 0, /* 1kHz. */ + .reg_lpf = 1, /* 188Hz. */ + .reg_gyro_fsr = 0, /* 250dps. */ + .reg_accel_fsr = 0x18, /* 16g. */ + .wait_ms = 50, + .packet_thresh = 5, /* 5% */ + .min_dps = 10.f, + .max_dps = 105.f, + .max_gyro_var = 0.14f, + .min_g = 0.3f, + .max_g = 0.95f, + .max_accel_var = 0.14f +}; + +static struct gyro_state_s st = { + .reg = ®, + .hw = &hw, + .test = &test +}; +#endif + +#define MAX_PACKET_LENGTH (12) + +#ifdef AK89xx_SECONDARY +static int setup_compass(void); +#define MAX_COMPASS_SAMPLE_RATE (100) +#endif + +/** + * @brief Enable/disable data ready interrupt. + * If the DMP is on, the DMP interrupt is enabled. Otherwise, the data ready + * interrupt is used. + * @param[in] enable 1 to enable interrupt. + * @return 0 if successful. + */ +static int set_int_enable(unsigned char enable) +{ + unsigned char tmp; + + if (st.chip_cfg.dmp_on) { + if (enable) + tmp = BIT_DMP_INT_EN; + else + tmp = 0x00; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp)) + return -1; + st.chip_cfg.int_enable = tmp; + } else { + if (!st.chip_cfg.sensors) + return -1; + if (enable && st.chip_cfg.int_enable) + return 0; + if (enable) + tmp = BIT_DATA_RDY_EN; + else + tmp = 0x00; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp)) + return -1; + st.chip_cfg.int_enable = tmp; + } + return 0; +} + +/** + * @brief Register dump for testing. + * @return 0 if successful. + */ +int mpu_reg_dump(void) +{ + unsigned char ii; + unsigned char data; + + for (ii = 0; ii < st.hw->num_reg; ii++) { + if (ii == st.reg->fifo_r_w || ii == st.reg->mem_r_w) + continue; + if (i2c_read(st.hw->addr, ii, 1, &data)) + return -1; + log_i("%#5x: %#5x\r\n", ii, data); + } + return 0; +} + +/** + * @brief Read from a single register. + * NOTE: The memory and FIFO read/write registers cannot be accessed. + * @param[in] reg Register address. + * @param[out] data Register data. + * @return 0 if successful. + */ +int mpu_read_reg(unsigned char reg, unsigned char *data) +{ + if (reg == st.reg->fifo_r_w || reg == st.reg->mem_r_w) + return -1; + if (reg >= st.hw->num_reg) + return -1; + return i2c_read(st.hw->addr, reg, 1, data); +} + +/** + * @brief Initialize hardware. + * Initial configuration:\n + * Gyro FSR: +/- 2000DPS\n + * Accel FSR +/- 2G\n + * DLPF: 42Hz\n + * FIFO rate: 50Hz\n + * Clock source: Gyro PLL\n + * FIFO: Disabled.\n + * Data ready interrupt: Disabled, active low, unlatched. + * @param[in] int_param Platform-specific parameters to interrupt API. + * @return 0 if successful. + */ +int mpu_init(struct int_param_s *int_param) +{ + unsigned char data[6], rev; + + /* Reset device. */ + data[0] = BIT_RESET; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data)) + return -1; + delay_ms(100); + + /* Wake up chip. */ + data[0] = 0x00; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data)) + return -1; + +#if defined MPU6050 + /* Check product revision. */ + if (i2c_read(st.hw->addr, st.reg->accel_offs, 6, data)) + return -1; + rev = ((data[5] & 0x01) << 2) | ((data[3] & 0x01) << 1) | + (data[1] & 0x01); + + if (rev) { + /* Congrats, these parts are better. */ + if (rev == 1) + st.chip_cfg.accel_half = 1; + else if (rev == 2) + st.chip_cfg.accel_half = 0; + else { + log_e("Unsupported software product rev %d.\n", rev); + return -1; + } + } else { + if (i2c_read(st.hw->addr, st.reg->prod_id, 1, data)) + return -1; + rev = data[0] & 0x0F; + if (!rev) { + log_e("Product ID read as 0 indicates device is either " + "incompatible or an MPU3050.\n"); + return -1; + } else if (rev == 4) { + log_i("Half sensitivity part found.\n"); + st.chip_cfg.accel_half = 1; + } else + st.chip_cfg.accel_half = 0; + } +#elif defined MPU6500 +#define MPU6500_MEM_REV_ADDR (0x17) + if (mpu_read_mem(MPU6500_MEM_REV_ADDR, 1, &rev)) + return -1; + if (rev == 0x1) + st.chip_cfg.accel_half = 0; + else { + log_e("Unsupported software product rev %d.\n", rev); + return -1; + } + + /* MPU6500 shares 4kB of memory between the DMP and the FIFO. Since the + * first 3kB are needed by the DMP, we'll use the last 1kB for the FIFO. + */ + data[0] = BIT_FIFO_SIZE_1024 | 0x8; + if (i2c_write(st.hw->addr, st.reg->accel_cfg2, 1, data)) + return -1; +#endif + + /* Set to invalid values to ensure no I2C writes are skipped. */ + st.chip_cfg.sensors = 0xFF; + st.chip_cfg.gyro_fsr = 0xFF; + st.chip_cfg.accel_fsr = 0xFF; + st.chip_cfg.lpf = 0xFF; + st.chip_cfg.sample_rate = 0xFFFF; + st.chip_cfg.fifo_enable = 0xFF; + st.chip_cfg.bypass_mode = 0xFF; +#ifdef AK89xx_SECONDARY + st.chip_cfg.compass_sample_rate = 0xFFFF; +#endif + /* mpu_set_sensors always preserves this setting. */ + st.chip_cfg.clk_src = INV_CLK_PLL; + /* Handled in next call to mpu_set_bypass. */ + st.chip_cfg.active_low_int = 1; + st.chip_cfg.latched_int = 0; + st.chip_cfg.int_motion_only = 0; + st.chip_cfg.lp_accel_mode = 0; + memset(&st.chip_cfg.cache, 0, sizeof(st.chip_cfg.cache)); + st.chip_cfg.dmp_on = 0; + st.chip_cfg.dmp_loaded = 0; + st.chip_cfg.dmp_sample_rate = 0; + + if (mpu_set_gyro_fsr(2000)) + return -1; + if (mpu_set_accel_fsr(2)) + return -1; + if (mpu_set_lpf(42)) + return -1; + if (mpu_set_sample_rate(50)) + return -1; + if (mpu_configure_fifo(0)) + return -1; + + if (int_param) + reg_int_cb(int_param); + +#ifdef AK89xx_SECONDARY + setup_compass(); + if (mpu_set_compass_sample_rate(10)) + return -1; +#else + /* Already disabled by setup_compass. */ + if (mpu_set_bypass(0)) + return -1; +#endif + + mpu_set_sensors(0); + return 0; +} + +/** + * @brief Enter low-power accel-only mode. + * In low-power accel mode, the chip goes to sleep and only wakes up to sample + * the accelerometer at one of the following frequencies: + * \n MPU6050: 1.25Hz, 5Hz, 20Hz, 40Hz + * \n MPU6500: 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz + * \n If the requested rate is not one listed above, the device will be set to + * the next highest rate. Requesting a rate above the maximum supported + * frequency will result in an error. + * \n To select a fractional wake-up frequency, round down the value passed to + * @e rate. + * @param[in] rate Minimum sampling rate, or zero to disable LP + * accel mode. + * @return 0 if successful. + */ +int mpu_lp_accel_mode(unsigned char rate) +{ + unsigned char tmp[2]; + + if (rate > 40) + return -1; + + if (!rate) { + mpu_set_int_latched(0); + tmp[0] = 0; + tmp[1] = BIT_STBY_XYZG; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp)) + return -1; + st.chip_cfg.lp_accel_mode = 0; + return 0; + } + /* For LP accel, we automatically configure the hardware to produce latched + * interrupts. In LP accel mode, the hardware cycles into sleep mode before + * it gets a chance to deassert the interrupt pin; therefore, we shift this + * responsibility over to the MCU. + * + * Any register read will clear the interrupt. + */ + mpu_set_int_latched(1); +#if defined MPU6050 + tmp[0] = BIT_LPA_CYCLE; + if (rate == 1) { + tmp[1] = INV_LPA_1_25HZ; + mpu_set_lpf(5); + } else if (rate <= 5) { + tmp[1] = INV_LPA_5HZ; + mpu_set_lpf(5); + } else if (rate <= 20) { + tmp[1] = INV_LPA_20HZ; + mpu_set_lpf(10); + } else { + tmp[1] = INV_LPA_40HZ; + mpu_set_lpf(20); + } + tmp[1] = (tmp[1] << 6) | BIT_STBY_XYZG; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp)) + return -1; +#elif defined MPU6500 + /* Set wake frequency. */ + if (rate == 1) + tmp[0] = INV_LPA_1_25HZ; + else if (rate == 2) + tmp[0] = INV_LPA_2_5HZ; + else if (rate <= 5) + tmp[0] = INV_LPA_5HZ; + else if (rate <= 10) + tmp[0] = INV_LPA_10HZ; + else if (rate <= 20) + tmp[0] = INV_LPA_20HZ; + else if (rate <= 40) + tmp[0] = INV_LPA_40HZ; + else if (rate <= 80) + tmp[0] = INV_LPA_80HZ; + else if (rate <= 160) + tmp[0] = INV_LPA_160HZ; + else if (rate <= 320) + tmp[0] = INV_LPA_320HZ; + else + tmp[0] = INV_LPA_640HZ; + if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, tmp)) + return -1; + tmp[0] = BIT_LPA_CYCLE; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, tmp)) + return -1; +#endif + st.chip_cfg.sensors = INV_XYZ_ACCEL; + st.chip_cfg.clk_src = 0; + st.chip_cfg.lp_accel_mode = 1; + mpu_configure_fifo(0); + + return 0; +} + +/** + * @brief Read raw gyro data directly from the registers. + * @param[out] data Raw data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. Null if not needed. + * @return 0 if successful. + */ +int mpu_get_gyro_reg(short *data, unsigned long *timestamp) +{ + unsigned char tmp[6]; + + if (!(st.chip_cfg.sensors & INV_XYZ_GYRO)) + return -1; + + if (i2c_read(st.hw->addr, st.reg->raw_gyro, 6, tmp)) + return -1; + data[0] = (tmp[0] << 8) | tmp[1]; + data[1] = (tmp[2] << 8) | tmp[3]; + data[2] = (tmp[4] << 8) | tmp[5]; + if (timestamp) + get_ms(timestamp); + return 0; +} + +/** + * @brief Read raw accel data directly from the registers. + * @param[out] data Raw data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. Null if not needed. + * @return 0 if successful. + */ +int mpu_get_accel_reg(short *data, unsigned long *timestamp) +{ + unsigned char tmp[6]; + + if (!(st.chip_cfg.sensors & INV_XYZ_ACCEL)) + return -1; + + if (i2c_read(st.hw->addr, st.reg->raw_accel, 6, tmp)) + return -1; + data[0] = (tmp[0] << 8) | tmp[1]; + data[1] = (tmp[2] << 8) | tmp[3]; + data[2] = (tmp[4] << 8) | tmp[5]; + if (timestamp) + get_ms(timestamp); + return 0; +} + +/** + * @brief Read temperature data directly from the registers. + * @param[out] data Data in q16 format. + * @param[out] timestamp Timestamp in milliseconds. Null if not needed. + * @return 0 if successful. + */ +int mpu_get_temperature(long *data, unsigned long *timestamp) +{ + unsigned char tmp[2]; + short raw; + + if (!(st.chip_cfg.sensors)) + return -1; + + if (i2c_read(st.hw->addr, st.reg->temp, 2, tmp)) + return -1; + raw = (tmp[0] << 8) | tmp[1]; + if (timestamp) + get_ms(timestamp); + + data[0] = (long)((35 + ((raw - (float)st.hw->temp_offset) / st.hw->temp_sens)) * 65536L); + return 0; +} + +/** + * @brief Push biases to the accel bias registers. + * This function expects biases relative to the current sensor output, and + * these biases will be added to the factory-supplied values. + * @param[in] accel_bias New biases. + * @return 0 if successful. + */ +int mpu_set_accel_bias(const long *accel_bias) +{ + unsigned char data[6]; + short accel_hw[3]; + short got_accel[3]; + short fg[3]; + + if (!accel_bias) + return -1; + if (!accel_bias[0] && !accel_bias[1] && !accel_bias[2]) + return 0; + + if (i2c_read(st.hw->addr, 3, 3, data)) + return -1; + fg[0] = ((data[0] >> 4) + 8) & 0xf; + fg[1] = ((data[1] >> 4) + 8) & 0xf; + fg[2] = ((data[2] >> 4) + 8) & 0xf; + + accel_hw[0] = (short)(accel_bias[0] * 2 / (64 + fg[0])); + accel_hw[1] = (short)(accel_bias[1] * 2 / (64 + fg[1])); + accel_hw[2] = (short)(accel_bias[2] * 2 / (64 + fg[2])); + + if (i2c_read(st.hw->addr, 0x06, 6, data)) + return -1; + + got_accel[0] = ((short)data[0] << 8) | data[1]; + got_accel[1] = ((short)data[2] << 8) | data[3]; + got_accel[2] = ((short)data[4] << 8) | data[5]; + + accel_hw[0] += got_accel[0]; + accel_hw[1] += got_accel[1]; + accel_hw[2] += got_accel[2]; + + data[0] = (accel_hw[0] >> 8) & 0xff; + data[1] = (accel_hw[0]) & 0xff; + data[2] = (accel_hw[1] >> 8) & 0xff; + data[3] = (accel_hw[1]) & 0xff; + data[4] = (accel_hw[2] >> 8) & 0xff; + data[5] = (accel_hw[2]) & 0xff; + + if (i2c_write(st.hw->addr, 0x06, 6, data)) + return -1; + return 0; +} + +/** + * @brief Reset FIFO read/write pointers. + * @return 0 if successful. + */ +int mpu_reset_fifo(void) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + data = 0; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + + if (st.chip_cfg.dmp_on) { + data = BIT_FIFO_RST | BIT_DMP_RST; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + delay_ms(50); + data = BIT_DMP_EN | BIT_FIFO_EN; + if (st.chip_cfg.sensors & INV_XYZ_COMPASS) + data |= BIT_AUX_IF_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + if (st.chip_cfg.int_enable) + data = BIT_DMP_INT_EN; + else + data = 0; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data)) + return -1; + data = 0; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data)) + return -1; + } else { + data = BIT_FIFO_RST; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + if (st.chip_cfg.bypass_mode || !(st.chip_cfg.sensors & INV_XYZ_COMPASS)) + data = BIT_FIFO_EN; + else + data = BIT_FIFO_EN | BIT_AUX_IF_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + delay_ms(50); + if (st.chip_cfg.int_enable) + data = BIT_DATA_RDY_EN; + else + data = 0; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &st.chip_cfg.fifo_enable)) + return -1; + } + return 0; +} + +/** + * @brief Get the gyro full-scale range. + * @param[out] fsr Current full-scale range. + * @return 0 if successful. + */ +int mpu_get_gyro_fsr(unsigned short *fsr) +{ + switch (st.chip_cfg.gyro_fsr) { + case INV_FSR_250DPS: + fsr[0] = 250; + break; + case INV_FSR_500DPS: + fsr[0] = 500; + break; + case INV_FSR_1000DPS: + fsr[0] = 1000; + break; + case INV_FSR_2000DPS: + fsr[0] = 2000; + break; + default: + fsr[0] = 0; + break; + } + return 0; +} + +/** + * @brief Set the gyro full-scale range. + * @param[in] fsr Desired full-scale range. + * @return 0 if successful. + */ +int mpu_set_gyro_fsr(unsigned short fsr) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + switch (fsr) { + case 250: + data = INV_FSR_250DPS << 3; + break; + case 500: + data = INV_FSR_500DPS << 3; + break; + case 1000: + data = INV_FSR_1000DPS << 3; + break; + case 2000: + data = INV_FSR_2000DPS << 3; + break; + default: + return -1; + } + + if (st.chip_cfg.gyro_fsr == (data >> 3)) + return 0; + if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, &data)) + return -1; + st.chip_cfg.gyro_fsr = data >> 3; + return 0; +} + +/** + * @brief Get the accel full-scale range. + * @param[out] fsr Current full-scale range. + * @return 0 if successful. + */ +int mpu_get_accel_fsr(unsigned char *fsr) +{ + switch (st.chip_cfg.accel_fsr) { + case INV_FSR_2G: + fsr[0] = 2; + break; + case INV_FSR_4G: + fsr[0] = 4; + break; + case INV_FSR_8G: + fsr[0] = 8; + break; + case INV_FSR_16G: + fsr[0] = 16; + break; + default: + return -1; + } + if (st.chip_cfg.accel_half) + fsr[0] <<= 1; + return 0; +} + +/** + * @brief Set the accel full-scale range. + * @param[in] fsr Desired full-scale range. + * @return 0 if successful. + */ +int mpu_set_accel_fsr(unsigned char fsr) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + switch (fsr) { + case 2: + data = INV_FSR_2G << 3; + break; + case 4: + data = INV_FSR_4G << 3; + break; + case 8: + data = INV_FSR_8G << 3; + break; + case 16: + data = INV_FSR_16G << 3; + break; + default: + return -1; + } + + if (st.chip_cfg.accel_fsr == (data >> 3)) + return 0; + if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, &data)) + return -1; + st.chip_cfg.accel_fsr = data >> 3; + return 0; +} + +/** + * @brief Get the current DLPF setting. + * @param[out] lpf Current LPF setting. + * 0 if successful. + */ +int mpu_get_lpf(unsigned short *lpf) +{ + switch (st.chip_cfg.lpf) { + case INV_FILTER_188HZ: + lpf[0] = 188; + break; + case INV_FILTER_98HZ: + lpf[0] = 98; + break; + case INV_FILTER_42HZ: + lpf[0] = 42; + break; + case INV_FILTER_20HZ: + lpf[0] = 20; + break; + case INV_FILTER_10HZ: + lpf[0] = 10; + break; + case INV_FILTER_5HZ: + lpf[0] = 5; + break; + case INV_FILTER_256HZ_NOLPF2: + case INV_FILTER_2100HZ_NOLPF: + default: + lpf[0] = 0; + break; + } + return 0; +} + +/** + * @brief Set digital low pass filter. + * The following LPF settings are supported: 188, 98, 42, 20, 10, 5. + * @param[in] lpf Desired LPF setting. + * @return 0 if successful. + */ +int mpu_set_lpf(unsigned short lpf) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + if (lpf >= 188) + data = INV_FILTER_188HZ; + else if (lpf >= 98) + data = INV_FILTER_98HZ; + else if (lpf >= 42) + data = INV_FILTER_42HZ; + else if (lpf >= 20) + data = INV_FILTER_20HZ; + else if (lpf >= 10) + data = INV_FILTER_10HZ; + else + data = INV_FILTER_5HZ; + + if (st.chip_cfg.lpf == data) + return 0; + if (i2c_write(st.hw->addr, st.reg->lpf, 1, &data)) + return -1; + st.chip_cfg.lpf = data; + return 0; +} + +/** + * @brief Get sampling rate. + * @param[out] rate Current sampling rate (Hz). + * @return 0 if successful. + */ +int mpu_get_sample_rate(unsigned short *rate) +{ + if (st.chip_cfg.dmp_on) + return -1; + else + rate[0] = st.chip_cfg.sample_rate; + return 0; +} + +/** + * @brief Set sampling rate. + * Sampling rate must be between 4Hz and 1kHz. + * @param[in] rate Desired sampling rate (Hz). + * @return 0 if successful. + */ +int mpu_set_sample_rate(unsigned short rate) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + if (st.chip_cfg.dmp_on) + return -1; + else { + if (st.chip_cfg.lp_accel_mode) { + if (rate && (rate <= 40)) { + /* Just stay in low-power accel mode. */ + mpu_lp_accel_mode(rate); + return 0; + } + /* Requested rate exceeds the allowed frequencies in LP accel mode, + * switch back to full-power mode. + */ + mpu_lp_accel_mode(0); + } + if (rate < 4) + rate = 4; + else if (rate > 1000) + rate = 1000; + + data = 1000 / rate - 1; + if (i2c_write(st.hw->addr, st.reg->rate_div, 1, &data)) + return -1; + + st.chip_cfg.sample_rate = 1000 / (1 + data); + +#ifdef AK89xx_SECONDARY + mpu_set_compass_sample_rate(min(st.chip_cfg.compass_sample_rate, MAX_COMPASS_SAMPLE_RATE)); +#endif + + /* Automatically set LPF to 1/2 sampling rate. */ + mpu_set_lpf(st.chip_cfg.sample_rate >> 1); + return 0; + } +} + +/** + * @brief Get compass sampling rate. + * @param[out] rate Current compass sampling rate (Hz). + * @return 0 if successful. + */ +int mpu_get_compass_sample_rate(unsigned short *rate) +{ +#ifdef AK89xx_SECONDARY + rate[0] = st.chip_cfg.compass_sample_rate; + return 0; +#else + rate[0] = 0; + return -1; +#endif +} + +/** + * @brief Set compass sampling rate. + * The compass on the auxiliary I2C bus is read by the MPU hardware at a + * maximum of 100Hz. The actual rate can be set to a fraction of the gyro + * sampling rate. + * + * \n WARNING: The new rate may be different than what was requested. Call + * mpu_get_compass_sample_rate to check the actual setting. + * @param[in] rate Desired compass sampling rate (Hz). + * @return 0 if successful. + */ +int mpu_set_compass_sample_rate(unsigned short rate) +{ +#ifdef AK89xx_SECONDARY + unsigned char div; + if (!rate || rate > st.chip_cfg.sample_rate || rate > MAX_COMPASS_SAMPLE_RATE) + return -1; + + div = st.chip_cfg.sample_rate / rate - 1; + if (i2c_write(st.hw->addr, st.reg->s4_ctrl, 1, &div)) + return -1; + st.chip_cfg.compass_sample_rate = st.chip_cfg.sample_rate / (div + 1); + return 0; +#else + return -1; +#endif +} + +/** + * @brief Get gyro sensitivity scale factor. + * @param[out] sens Conversion from hardware units to dps. + * @return 0 if successful. + */ +int mpu_get_gyro_sens(float *sens) +{ + switch (st.chip_cfg.gyro_fsr) { + case INV_FSR_250DPS: + sens[0] = 131.f; + break; + case INV_FSR_500DPS: + sens[0] = 65.5f; + break; + case INV_FSR_1000DPS: + sens[0] = 32.8f; + break; + case INV_FSR_2000DPS: + sens[0] = 16.4f; + break; + default: + return -1; + } + return 0; +} + +/** + * @brief Get accel sensitivity scale factor. + * @param[out] sens Conversion from hardware units to g's. + * @return 0 if successful. + */ +int mpu_get_accel_sens(unsigned short *sens) +{ + switch (st.chip_cfg.accel_fsr) { + case INV_FSR_2G: + sens[0] = 16384; + break; + case INV_FSR_4G: + sens[0] = 8092; + break; + case INV_FSR_8G: + sens[0] = 4096; + break; + case INV_FSR_16G: + sens[0] = 2048; + break; + default: + return -1; + } + if (st.chip_cfg.accel_half) + sens[0] >>= 1; + return 0; +} + +/** + * @brief Get current FIFO configuration. + * @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * @param[out] sensors Mask of sensors in FIFO. + * @return 0 if successful. + */ +int mpu_get_fifo_config(unsigned char *sensors) +{ + sensors[0] = st.chip_cfg.fifo_enable; + return 0; +} + +/** + * @brief Select which sensors are pushed to FIFO. + * @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * @param[in] sensors Mask of sensors to push to FIFO. + * @return 0 if successful. + */ +int mpu_configure_fifo(unsigned char sensors) +{ + unsigned char prev; + int result = 0; + + /* Compass data isn't going into the FIFO. Stop trying. */ + sensors &= ~INV_XYZ_COMPASS; + + if (st.chip_cfg.dmp_on) + return 0; + else { + if (!(st.chip_cfg.sensors)) + return -1; + prev = st.chip_cfg.fifo_enable; + st.chip_cfg.fifo_enable = sensors & st.chip_cfg.sensors; + if (st.chip_cfg.fifo_enable != sensors) + /* You're not getting what you asked for. Some sensors are + * asleep. + */ + result = -1; + else + result = 0; + if (sensors || st.chip_cfg.lp_accel_mode) + set_int_enable(1); + else + set_int_enable(0); + if (sensors) { + if (mpu_reset_fifo()) { + st.chip_cfg.fifo_enable = prev; + return -1; + } + } + } + + return result; +} + +/** + * @brief Get current power state. + * @param[in] power_on 1 if turned on, 0 if suspended. + * @return 0 if successful. + */ +int mpu_get_power_state(unsigned char *power_on) +{ + if (st.chip_cfg.sensors) + power_on[0] = 1; + else + power_on[0] = 0; + return 0; +} + +/** + * @brief Turn specific sensors on/off. + * @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * \n INV_XYZ_COMPASS + * @param[in] sensors Mask of sensors to wake. + * @return 0 if successful. + */ +int mpu_set_sensors(unsigned char sensors) +{ + unsigned char data; +#ifdef AK89xx_SECONDARY + unsigned char user_ctrl; +#endif + + if (sensors & INV_XYZ_GYRO) + data = INV_CLK_PLL; + else if (sensors) + data = 0; + else + data = BIT_SLEEP; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &data)) { + st.chip_cfg.sensors = 0; + return -1; + } + st.chip_cfg.clk_src = data & ~BIT_SLEEP; + + data = 0; + if (!(sensors & INV_X_GYRO)) + data |= BIT_STBY_XG; + if (!(sensors & INV_Y_GYRO)) + data |= BIT_STBY_YG; + if (!(sensors & INV_Z_GYRO)) + data |= BIT_STBY_ZG; + if (!(sensors & INV_XYZ_ACCEL)) + data |= BIT_STBY_XYZA; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_2, 1, &data)) { + st.chip_cfg.sensors = 0; + return -1; + } + + if (sensors && (sensors != INV_XYZ_ACCEL)) + /* Latched interrupts only used in LP accel mode. */ + mpu_set_int_latched(0); + +#ifdef AK89xx_SECONDARY +#ifdef AK89xx_BYPASS + if (sensors & INV_XYZ_COMPASS) + mpu_set_bypass(1); + else + mpu_set_bypass(0); +#else + if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl)) + return -1; + /* Handle AKM power management. */ + if (sensors & INV_XYZ_COMPASS) { + data = AKM_SINGLE_MEASUREMENT; + user_ctrl |= BIT_AUX_IF_EN; + } else { + data = AKM_POWER_DOWN; + user_ctrl &= ~BIT_AUX_IF_EN; + } + if (st.chip_cfg.dmp_on) + user_ctrl |= BIT_DMP_EN; + else + user_ctrl &= ~BIT_DMP_EN; + if (i2c_write(st.hw->addr, st.reg->s1_do, 1, &data)) + return -1; + /* Enable/disable I2C master mode. */ + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl)) + return -1; +#endif +#endif + + st.chip_cfg.sensors = sensors; + st.chip_cfg.lp_accel_mode = 0; + delay_ms(50); + return 0; +} + +/** + * @brief Read the MPU interrupt status registers. + * @param[out] status Mask of interrupt bits. + * @return 0 if successful. + */ +int mpu_get_int_status(short *status) +{ + unsigned char tmp[2]; + if (!st.chip_cfg.sensors) + return -1; + if (i2c_read(st.hw->addr, st.reg->dmp_int_status, 2, tmp)) + return -1; + status[0] = (tmp[0] << 8) | tmp[1]; + return 0; +} + +/** + * @brief Get one packet from the FIFO. + * If @e sensors does not contain a particular sensor, disregard the data + * returned to that pointer. + * \n @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * \n If the FIFO has no new data, @e sensors will be zero. + * \n If the FIFO is disabled, @e sensors will be zero and this function will + * return a non-zero error code. + * @param[out] gyro Gyro data in hardware units. + * @param[out] accel Accel data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. + * @param[out] sensors Mask of sensors read from FIFO. + * @param[out] more Number of remaining packets. + * @return 0 if successful. + */ +int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp, + unsigned char *sensors, unsigned char *more) +{ + /* Assumes maximum packet size is gyro (6) + accel (6). */ + unsigned char data[MAX_PACKET_LENGTH]; + unsigned char packet_size = 0; + unsigned short fifo_count, index = 0; + + if (st.chip_cfg.dmp_on) + return -1; + + sensors[0] = 0; + if (!st.chip_cfg.sensors) + return -1; + if (!st.chip_cfg.fifo_enable) + return -1; + + if (st.chip_cfg.fifo_enable & INV_X_GYRO) + packet_size += 2; + if (st.chip_cfg.fifo_enable & INV_Y_GYRO) + packet_size += 2; + if (st.chip_cfg.fifo_enable & INV_Z_GYRO) + packet_size += 2; + if (st.chip_cfg.fifo_enable & INV_XYZ_ACCEL) + packet_size += 6; + + if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data)) + return -1; + fifo_count = (data[0] << 8) | data[1]; + if (fifo_count < packet_size) + return 0; +// log_i("FIFO count: %hd\n", fifo_count); + if (fifo_count > (st.hw->max_fifo >> 1)) { + /* FIFO is 50% full, better check overflow bit. */ + if (i2c_read(st.hw->addr, st.reg->int_status, 1, data)) + return -1; + if (data[0] & BIT_FIFO_OVERFLOW) { + mpu_reset_fifo(); + return -2; + } + } + get_ms((unsigned long*)timestamp); + + if (i2c_read(st.hw->addr, st.reg->fifo_r_w, packet_size, data)) + return -1; + more[0] = fifo_count / packet_size - 1; + sensors[0] = 0; + + if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_XYZ_ACCEL) { + accel[0] = (data[index+0] << 8) | data[index+1]; + accel[1] = (data[index+2] << 8) | data[index+3]; + accel[2] = (data[index+4] << 8) | data[index+5]; + sensors[0] |= INV_XYZ_ACCEL; + index += 6; + } + if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_X_GYRO) { + gyro[0] = (data[index+0] << 8) | data[index+1]; + sensors[0] |= INV_X_GYRO; + index += 2; + } + if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Y_GYRO) { + gyro[1] = (data[index+0] << 8) | data[index+1]; + sensors[0] |= INV_Y_GYRO; + index += 2; + } + if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Z_GYRO) { + gyro[2] = (data[index+0] << 8) | data[index+1]; + sensors[0] |= INV_Z_GYRO; + index += 2; + } + + return 0; +} + +/** + * @brief Get one unparsed packet from the FIFO. + * This function should be used if the packet is to be parsed elsewhere. + * @param[in] length Length of one FIFO packet. + * @param[in] data FIFO packet. + * @param[in] more Number of remaining packets. + */ +int mpu_read_fifo_stream(unsigned short length, unsigned char *data, + unsigned char *more) +{ + unsigned char tmp[2]; + unsigned short fifo_count; + if (!st.chip_cfg.dmp_on) + return -1; + if (!st.chip_cfg.sensors) + return -1; + + if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, tmp)) + return -1; + fifo_count = (tmp[0] << 8) | tmp[1]; + if (fifo_count < length) { + more[0] = 0; + return -1; + } + if (fifo_count > (st.hw->max_fifo >> 1)) { + /* FIFO is 50% full, better check overflow bit. */ + if (i2c_read(st.hw->addr, st.reg->int_status, 1, tmp)) + return -1; + if (tmp[0] & BIT_FIFO_OVERFLOW) { + mpu_reset_fifo(); + return -2; + } + } + + if (i2c_read(st.hw->addr, st.reg->fifo_r_w, length, data)) + return -1; + more[0] = fifo_count / length - 1; + return 0; +} + +/** + * @brief Set device to bypass mode. + * @param[in] bypass_on 1 to enable bypass mode. + * @return 0 if successful. + */ +int mpu_set_bypass(unsigned char bypass_on) +{ + unsigned char tmp; + + if (st.chip_cfg.bypass_mode == bypass_on) + return 0; + + if (bypass_on) { + if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp)) + return -1; + tmp &= ~BIT_AUX_IF_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp)) + return -1; + delay_ms(3); + tmp = BIT_BYPASS_EN; + if (st.chip_cfg.active_low_int) + tmp |= BIT_ACTL; + if (st.chip_cfg.latched_int) + tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR; + if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp)) + return -1; + } else { + /* Enable I2C master mode if compass is being used. */ + if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp)) + return -1; + if (st.chip_cfg.sensors & INV_XYZ_COMPASS) + tmp |= BIT_AUX_IF_EN; + else + tmp &= ~BIT_AUX_IF_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp)) + return -1; + delay_ms(3); + if (st.chip_cfg.active_low_int) + tmp = BIT_ACTL; + else + tmp = 0; + if (st.chip_cfg.latched_int) + tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR; + if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp)) + return -1; + } + st.chip_cfg.bypass_mode = bypass_on; + return 0; +} + +/** + * @brief Set interrupt level. + * @param[in] active_low 1 for active low, 0 for active high. + * @return 0 if successful. + */ +int mpu_set_int_level(unsigned char active_low) +{ + st.chip_cfg.active_low_int = active_low; + return 0; +} + +/** + * @brief Enable latched interrupts. + * Any MPU register will clear the interrupt. + * @param[in] enable 1 to enable, 0 to disable. + * @return 0 if successful. + */ +int mpu_set_int_latched(unsigned char enable) +{ + unsigned char tmp; + if (st.chip_cfg.latched_int == enable) + return 0; + + if (enable) + tmp = BIT_LATCH_EN | BIT_ANY_RD_CLR; + else + tmp = 0; + if (st.chip_cfg.bypass_mode) + tmp |= BIT_BYPASS_EN; + if (st.chip_cfg.active_low_int) + tmp |= BIT_ACTL; + if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp)) + return -1; + st.chip_cfg.latched_int = enable; + return 0; +} + +#ifdef MPU6050 +static int get_accel_prod_shift(float *st_shift) +{ + unsigned char tmp[4], shift_code[3], ii; + + if (i2c_read(st.hw->addr, 0x0D, 4, tmp)) + return 0x07; + + shift_code[0] = ((tmp[0] & 0xE0) >> 3) | ((tmp[3] & 0x30) >> 4); + shift_code[1] = ((tmp[1] & 0xE0) >> 3) | ((tmp[3] & 0x0C) >> 2); + shift_code[2] = ((tmp[2] & 0xE0) >> 3) | (tmp[3] & 0x03); + for (ii = 0; ii < 3; ii++) { + if (!shift_code[ii]) { + st_shift[ii] = 0.f; + continue; + } + /* Equivalent to.. + * st_shift[ii] = 0.34f * powf(0.92f/0.34f, (shift_code[ii]-1) / 30.f) + */ + st_shift[ii] = 0.34f; + while (--shift_code[ii]) + st_shift[ii] *= 1.034f; + } + return 0; +} + +static int accel_self_test(long *bias_regular, long *bias_st) +{ + int jj, result = 0; + float st_shift[3], st_shift_cust, st_shift_var; + + get_accel_prod_shift(st_shift); + for(jj = 0; jj < 3; jj++) { + st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f; + if (st_shift[jj]) { + st_shift_var = st_shift_cust / st_shift[jj] - 1.f; + if (fabs(st_shift_var) > test.max_accel_var) + result |= 1 << jj; + } else if ((st_shift_cust < test.min_g) || + (st_shift_cust > test.max_g)) + result |= 1 << jj; + } + + return result; +} + +static int gyro_self_test(long *bias_regular, long *bias_st) +{ + int jj, result = 0; + unsigned char tmp[3]; + float st_shift, st_shift_cust, st_shift_var; + + if (i2c_read(st.hw->addr, 0x0D, 3, tmp)) + return 0x07; + + tmp[0] &= 0x1F; + tmp[1] &= 0x1F; + tmp[2] &= 0x1F; + + for (jj = 0; jj < 3; jj++) { + st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f; + if (tmp[jj]) { + st_shift = 3275.f / test.gyro_sens; + while (--tmp[jj]) + st_shift *= 1.046f; + st_shift_var = st_shift_cust / st_shift - 1.f; + if (fabs(st_shift_var) > test.max_gyro_var) + result |= 1 << jj; + } else if ((st_shift_cust < test.min_dps) || + (st_shift_cust > test.max_dps)) + result |= 1 << jj; + } + return result; +} + +#ifdef AK89xx_SECONDARY +static int compass_self_test(void) +{ + unsigned char tmp[6]; + unsigned char tries = 10; + int result = 0x07; + short data; + + mpu_set_bypass(1); + + tmp[0] = AKM_POWER_DOWN; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp)) + return 0x07; + tmp[0] = AKM_BIT_SELF_TEST; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp)) + goto AKM_restore; + tmp[0] = AKM_MODE_SELF_TEST; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp)) + goto AKM_restore; + + do { + delay_ms(10); + if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 1, tmp)) + goto AKM_restore; + if (tmp[0] & AKM_DATA_READY) + break; + } while (tries--); + if (!(tmp[0] & AKM_DATA_READY)) + goto AKM_restore; + + if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_HXL, 6, tmp)) + goto AKM_restore; + + result = 0; + data = (short)(tmp[1] << 8) | tmp[0]; + if ((data > 100) || (data < -100)) + result |= 0x01; + data = (short)(tmp[3] << 8) | tmp[2]; + if ((data > 100) || (data < -100)) + result |= 0x02; + data = (short)(tmp[5] << 8) | tmp[4]; + if ((data > -300) || (data < -1000)) + result |= 0x04; + +AKM_restore: + tmp[0] = 0 | SUPPORTS_AK89xx_HIGH_SENS; + i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp); + tmp[0] = SUPPORTS_AK89xx_HIGH_SENS; + i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp); + mpu_set_bypass(0); + return result; +} +#endif +#endif + +static int get_st_biases(long *gyro, long *accel, unsigned char hw_test) +{ + unsigned char data[MAX_PACKET_LENGTH]; + unsigned char packet_count, ii; + unsigned short fifo_count; + + data[0] = 0x01; + data[1] = 0; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, data)) + return -1; + delay_ms(200); + data[0] = 0; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data)) + return -1; + data[0] = BIT_FIFO_RST | BIT_DMP_RST; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data)) + return -1; + delay_ms(15); + data[0] = st.test->reg_lpf; + if (i2c_write(st.hw->addr, st.reg->lpf, 1, data)) + return -1; + data[0] = st.test->reg_rate_div; + if (i2c_write(st.hw->addr, st.reg->rate_div, 1, data)) + return -1; + if (hw_test) + data[0] = st.test->reg_gyro_fsr | 0xE0; + else + data[0] = st.test->reg_gyro_fsr; + if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, data)) + return -1; + + if (hw_test) + data[0] = st.test->reg_accel_fsr | 0xE0; + else + data[0] = test.reg_accel_fsr; + if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, data)) + return -1; + if (hw_test) + delay_ms(200); + + /* Fill FIFO for test.wait_ms milliseconds. */ + data[0] = BIT_FIFO_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data)) + return -1; + + data[0] = INV_XYZ_GYRO | INV_XYZ_ACCEL; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data)) + return -1; + delay_ms(test.wait_ms); + data[0] = 0; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data)) + return -1; + + if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data)) + return -1; + + fifo_count = (data[0] << 8) | data[1]; + packet_count = fifo_count / MAX_PACKET_LENGTH; + gyro[0] = gyro[1] = gyro[2] = 0; + accel[0] = accel[1] = accel[2] = 0; + + for (ii = 0; ii < packet_count; ii++) { + short accel_cur[3], gyro_cur[3]; + if (i2c_read(st.hw->addr, st.reg->fifo_r_w, MAX_PACKET_LENGTH, data)) + return -1; + accel_cur[0] = ((short)data[0] << 8) | data[1]; + accel_cur[1] = ((short)data[2] << 8) | data[3]; + accel_cur[2] = ((short)data[4] << 8) | data[5]; + accel[0] += (long)accel_cur[0]; + accel[1] += (long)accel_cur[1]; + accel[2] += (long)accel_cur[2]; + gyro_cur[0] = (((short)data[6] << 8) | data[7]); + gyro_cur[1] = (((short)data[8] << 8) | data[9]); + gyro_cur[2] = (((short)data[10] << 8) | data[11]); + gyro[0] += (long)gyro_cur[0]; + gyro[1] += (long)gyro_cur[1]; + gyro[2] += (long)gyro_cur[2]; + } +#ifdef EMPL_NO_64BIT + gyro[0] = (long)(((float)gyro[0]*65536.f) / test.gyro_sens / packet_count); + gyro[1] = (long)(((float)gyro[1]*65536.f) / test.gyro_sens / packet_count); + gyro[2] = (long)(((float)gyro[2]*65536.f) / test.gyro_sens / packet_count); + if (has_accel) { + accel[0] = (long)(((float)accel[0]*65536.f) / test.accel_sens / + packet_count); + accel[1] = (long)(((float)accel[1]*65536.f) / test.accel_sens / + packet_count); + accel[2] = (long)(((float)accel[2]*65536.f) / test.accel_sens / + packet_count); + /* Don't remove gravity! */ + accel[2] -= 65536L; + } +#else + gyro[0] = (long)(((long long)gyro[0]<<16) / test.gyro_sens / packet_count); + gyro[1] = (long)(((long long)gyro[1]<<16) / test.gyro_sens / packet_count); + gyro[2] = (long)(((long long)gyro[2]<<16) / test.gyro_sens / packet_count); + accel[0] = (long)(((long long)accel[0]<<16) / test.accel_sens / + packet_count); + accel[1] = (long)(((long long)accel[1]<<16) / test.accel_sens / + packet_count); + accel[2] = (long)(((long long)accel[2]<<16) / test.accel_sens / + packet_count); + /* Don't remove gravity! */ + if (accel[2] > 0L) + accel[2] -= 65536L; + else + accel[2] += 65536L; +#endif + + return 0; +} + +/** + * @brief Trigger gyro/accel/compass self-test. + * On success/error, the self-test returns a mask representing the sensor(s) + * that failed. For each bit, a one (1) represents a "pass" case; conversely, + * a zero (0) indicates a failure. + * + * \n The mask is defined as follows: + * \n Bit 0: Gyro. + * \n Bit 1: Accel. + * \n Bit 2: Compass. + * + * \n Currently, the hardware self-test is unsupported for MPU6500. However, + * this function can still be used to obtain the accel and gyro biases. + * + * \n This function must be called with the device either face-up or face-down + * (z-axis is parallel to gravity). + * @param[out] gyro Gyro biases in q16 format. + * @param[out] accel Accel biases (if applicable) in q16 format. + * @return Result mask (see above). + */ +int mpu_run_self_test(long *gyro, long *accel) +{ +#ifdef MPU6050 + const unsigned char tries = 2; + long gyro_st[3], accel_st[3]; + unsigned char accel_result, gyro_result; +#ifdef AK89xx_SECONDARY + unsigned char compass_result; +#endif + int ii; +#endif + int result; + unsigned char accel_fsr, fifo_sensors, sensors_on; + unsigned short gyro_fsr, sample_rate, lpf; + unsigned char dmp_was_on; + + if (st.chip_cfg.dmp_on) { + mpu_set_dmp_state(0); + dmp_was_on = 1; + } else + dmp_was_on = 0; + + /* Get initial settings. */ + mpu_get_gyro_fsr(&gyro_fsr); + mpu_get_accel_fsr(&accel_fsr); + mpu_get_lpf(&lpf); + mpu_get_sample_rate(&sample_rate); + sensors_on = st.chip_cfg.sensors; + mpu_get_fifo_config(&fifo_sensors); + + /* For older chips, the self-test will be different. */ +#if defined MPU6050 + for (ii = 0; ii < tries; ii++) + if (!get_st_biases(gyro, accel, 0)) + break; + if (ii == tries) { + /* If we reach this point, we most likely encountered an I2C error. + * We'll just report an error for all three sensors. + */ + result = 0; + goto restore; + } + for (ii = 0; ii < tries; ii++) + if (!get_st_biases(gyro_st, accel_st, 1)) + break; + if (ii == tries) { + /* Again, probably an I2C error. */ + result = 0; + goto restore; + } + accel_result = accel_self_test(accel, accel_st); + gyro_result = gyro_self_test(gyro, gyro_st); + + result = 0; + if (!gyro_result) + result |= 0x01; + if (!accel_result) + result |= 0x02; + +#ifdef AK89xx_SECONDARY + compass_result = compass_self_test(); + if (!compass_result) + result |= 0x04; +#endif +restore: +#elif defined MPU6500 + /* For now, this function will return a "pass" result for all three sensors + * for compatibility with current test applications. + */ + get_st_biases(gyro, accel, 0); + result = 0x7; +#endif + /* Set to invalid values to ensure no I2C writes are skipped. */ + st.chip_cfg.gyro_fsr = 0xFF; + st.chip_cfg.accel_fsr = 0xFF; + st.chip_cfg.lpf = 0xFF; + st.chip_cfg.sample_rate = 0xFFFF; + st.chip_cfg.sensors = 0xFF; + st.chip_cfg.fifo_enable = 0xFF; + st.chip_cfg.clk_src = INV_CLK_PLL; + mpu_set_gyro_fsr(gyro_fsr); + mpu_set_accel_fsr(accel_fsr); + mpu_set_lpf(lpf); + mpu_set_sample_rate(sample_rate); + mpu_set_sensors(sensors_on); + mpu_configure_fifo(fifo_sensors); + + if (dmp_was_on) + mpu_set_dmp_state(1); + + return result; +} + +/** + * @brief Write to the DMP memory. + * This function prevents I2C writes past the bank boundaries. The DMP memory + * is only accessible when the chip is awake. + * @param[in] mem_addr Memory location (bank << 8 | start address) + * @param[in] length Number of bytes to write. + * @param[in] data Bytes to write to memory. + * @return 0 if successful. + */ +int mpu_write_mem(unsigned short mem_addr, unsigned short length, + unsigned char *data) +{ + unsigned char tmp[2]; + + if (!data) + return -1; + if (!st.chip_cfg.sensors) + return -1; + + tmp[0] = (unsigned char)(mem_addr >> 8); + tmp[1] = (unsigned char)(mem_addr & 0xFF); + + /* Check bank boundaries. */ + if (tmp[1] + length > st.hw->bank_size) + return -1; + + if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp)) + return -1; + if (i2c_write(st.hw->addr, st.reg->mem_r_w, length, data)) + return -1; + return 0; +} + +/** + * @brief Read from the DMP memory. + * This function prevents I2C reads past the bank boundaries. The DMP memory + * is only accessible when the chip is awake. + * @param[in] mem_addr Memory location (bank << 8 | start address) + * @param[in] length Number of bytes to read. + * @param[out] data Bytes read from memory. + * @return 0 if successful. + */ +int mpu_read_mem(unsigned short mem_addr, unsigned short length, + unsigned char *data) +{ + unsigned char tmp[2]; + + if (!data) + return -1; + if (!st.chip_cfg.sensors) + return -1; + + tmp[0] = (unsigned char)(mem_addr >> 8); + tmp[1] = (unsigned char)(mem_addr & 0xFF); + + /* Check bank boundaries. */ + if (tmp[1] + length > st.hw->bank_size) + return -1; + + if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp)) + return -1; + if (i2c_read(st.hw->addr, st.reg->mem_r_w, length, data)) + return -1; + return 0; +} + +/** + * @brief Load and verify DMP image. + * @param[in] length Length of DMP image. + * @param[in] firmware DMP code. + * @param[in] start_addr Starting address of DMP code memory. + * @param[in] sample_rate Fixed sampling rate used when DMP is enabled. + * @return 0 if successful. + */ +int mpu_load_firmware(unsigned short length, const unsigned char *firmware, + unsigned short start_addr, unsigned short sample_rate) +{ + unsigned short ii; + unsigned short this_write; + /* Must divide evenly into st.hw->bank_size to avoid bank crossings. */ +#define LOAD_CHUNK (16) + unsigned char cur[LOAD_CHUNK], tmp[2]; + + if (st.chip_cfg.dmp_loaded) + /* DMP should only be loaded once. */ + return -1; + + if (!firmware) + return -1; + for (ii = 0; ii < length; ii += this_write) { + this_write = min(LOAD_CHUNK, length - ii); + if (mpu_write_mem(ii, this_write, (unsigned char*)&firmware[ii])) + return -1; + if (mpu_read_mem(ii, this_write, cur)) + return -1; + if (memcmp(firmware+ii, cur, this_write)) + return -2; + } + + /* Set program start address. */ + tmp[0] = start_addr >> 8; + tmp[1] = start_addr & 0xFF; + if (i2c_write(st.hw->addr, st.reg->prgm_start_h, 2, tmp)) + return -1; + + st.chip_cfg.dmp_loaded = 1; + st.chip_cfg.dmp_sample_rate = sample_rate; + return 0; +} + +/** + * @brief Enable/disable DMP support. + * @param[in] enable 1 to turn on the DMP. + * @return 0 if successful. + */ +int mpu_set_dmp_state(unsigned char enable) +{ + unsigned char tmp; + if (st.chip_cfg.dmp_on == enable) + return 0; + + if (enable) { + if (!st.chip_cfg.dmp_loaded) + return -1; + /* Disable data ready interrupt. */ + set_int_enable(0); + /* Disable bypass mode. */ + mpu_set_bypass(0); + /* Keep constant sample rate, FIFO rate controlled by DMP. */ + mpu_set_sample_rate(st.chip_cfg.dmp_sample_rate); + /* Remove FIFO elements. */ + tmp = 0; + i2c_write(st.hw->addr, 0x23, 1, &tmp); + st.chip_cfg.dmp_on = 1; + /* Enable DMP interrupt. */ + set_int_enable(1); + mpu_reset_fifo(); + } else { + /* Disable DMP interrupt. */ + set_int_enable(0); + /* Restore FIFO settings. */ + tmp = st.chip_cfg.fifo_enable; + i2c_write(st.hw->addr, 0x23, 1, &tmp); + st.chip_cfg.dmp_on = 0; + mpu_reset_fifo(); + } + return 0; +} + +/** + * @brief Get DMP state. + * @param[out] enabled 1 if enabled. + * @return 0 if successful. + */ +int mpu_get_dmp_state(unsigned char *enabled) +{ + enabled[0] = st.chip_cfg.dmp_on; + return 0; +} + + +/* This initialization is similar to the one in ak8975.c. */ +int setup_compass(void) +{ +#ifdef AK89xx_SECONDARY + unsigned char data[4], akm_addr; + + mpu_set_bypass(1); + + /* Find compass. Possible addresses range from 0x0C to 0x0F. */ + for (akm_addr = 0x0C; akm_addr <= 0x0F; akm_addr++) { + int result; + result = i2c_read(akm_addr, AKM_REG_WHOAMI, 1, data); + if (!result && (data[0] == AKM_WHOAMI)) + break; + } + + if (akm_addr > 0x0F) { + /* TODO: Handle this case in all compass-related functions. */ + log_e("Compass not found.\n"); + return -1; + } + + st.chip_cfg.compass_addr = akm_addr; + + data[0] = AKM_POWER_DOWN; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data)) + return -1; + delay_ms(1); + + data[0] = AKM_FUSE_ROM_ACCESS; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data)) + return -1; + delay_ms(1); + + /* Get sensitivity adjustment data from fuse ROM. */ + if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ASAX, 3, data)) + return -1; + st.chip_cfg.mag_sens_adj[0] = (long)data[0] + 128; + st.chip_cfg.mag_sens_adj[1] = (long)data[1] + 128; + st.chip_cfg.mag_sens_adj[2] = (long)data[2] + 128; + + data[0] = AKM_POWER_DOWN; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data)) + return -1; + delay_ms(1); + + mpu_set_bypass(0); + + /* Set up master mode, master clock, and ES bit. */ + data[0] = 0x40; + if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data)) + return -1; + + /* Slave 0 reads from AKM data registers. */ + data[0] = BIT_I2C_READ | st.chip_cfg.compass_addr; + if (i2c_write(st.hw->addr, st.reg->s0_addr, 1, data)) + return -1; + + /* Compass reads start at this register. */ + data[0] = AKM_REG_ST1; + if (i2c_write(st.hw->addr, st.reg->s0_reg, 1, data)) + return -1; + + /* Enable slave 0, 8-byte reads. */ + data[0] = BIT_SLAVE_EN | 8; + if (i2c_write(st.hw->addr, st.reg->s0_ctrl, 1, data)) + return -1; + + /* Slave 1 changes AKM measurement mode. */ + data[0] = st.chip_cfg.compass_addr; + if (i2c_write(st.hw->addr, st.reg->s1_addr, 1, data)) + return -1; + + /* AKM measurement mode register. */ + data[0] = AKM_REG_CNTL; + if (i2c_write(st.hw->addr, st.reg->s1_reg, 1, data)) + return -1; + + /* Enable slave 1, 1-byte writes. */ + data[0] = BIT_SLAVE_EN | 1; + if (i2c_write(st.hw->addr, st.reg->s1_ctrl, 1, data)) + return -1; + + /* Set slave 1 data. */ + data[0] = AKM_SINGLE_MEASUREMENT; + if (i2c_write(st.hw->addr, st.reg->s1_do, 1, data)) + return -1; + + /* Trigger slave 0 and slave 1 actions at each sample. */ + data[0] = 0x03; + if (i2c_write(st.hw->addr, st.reg->i2c_delay_ctrl, 1, data)) + return -1; + +#ifdef MPU9150 + /* For the MPU9150, the auxiliary I2C bus needs to be set to VDD. */ + data[0] = BIT_I2C_MST_VDDIO; + if (i2c_write(st.hw->addr, st.reg->yg_offs_tc, 1, data)) + return -1; +#endif + + return 0; +#else + return -1; +#endif +} + +/** + * @brief Read raw compass data. + * @param[out] data Raw data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. Null if not needed. + * @return 0 if successful. + */ +int mpu_get_compass_reg(short *data, unsigned long *timestamp) +{ +#ifdef AK89xx_SECONDARY + unsigned char tmp[9]; + + if (!(st.chip_cfg.sensors & INV_XYZ_COMPASS)) + return -1; + +#ifdef AK89xx_BYPASS + if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 8, tmp)) + return -1; + tmp[8] = AKM_SINGLE_MEASUREMENT; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp+8)) + return -1; +#else + if (i2c_read(st.hw->addr, st.reg->raw_compass, 8, tmp)) + return -1; +#endif + +#if defined AK8975_SECONDARY + /* AK8975 doesn't have the overrun error bit. */ + if (!(tmp[0] & AKM_DATA_READY)) + return -2; + if ((tmp[7] & AKM_OVERFLOW) || (tmp[7] & AKM_DATA_ERROR)) + return -3; +#elif defined AK8963_SECONDARY + /* AK8963 doesn't have the data read error bit. */ + if (!(tmp[0] & AKM_DATA_READY) || (tmp[0] & AKM_DATA_OVERRUN)) + return -2; + if (tmp[7] & AKM_OVERFLOW) + return -3; +#endif + data[0] = (tmp[2] << 8) | tmp[1]; + data[1] = (tmp[4] << 8) | tmp[3]; + data[2] = (tmp[6] << 8) | tmp[5]; + + data[0] = ((long)data[0] * st.chip_cfg.mag_sens_adj[0]) >> 8; + data[1] = ((long)data[1] * st.chip_cfg.mag_sens_adj[1]) >> 8; + data[2] = ((long)data[2] * st.chip_cfg.mag_sens_adj[2]) >> 8; + + if (timestamp) + get_ms(timestamp); + return 0; +#else + return -1; +#endif +} + +/** + * @brief Get the compass full-scale range. + * @param[out] fsr Current full-scale range. + * @return 0 if successful. + */ +int mpu_get_compass_fsr(unsigned short *fsr) +{ +#ifdef AK89xx_SECONDARY + fsr[0] = st.hw->compass_fsr; + return 0; +#else + return -1; +#endif +} + +/** + * @brief Enters LP accel motion interrupt mode. + * The behavior of this feature is very different between the MPU6050 and the + * MPU6500. Each chip's version of this feature is explained below. + * + * \n MPU6050: + * \n When this mode is first enabled, the hardware captures a single accel + * sample, and subsequent samples are compared with this one to determine if + * the device is in motion. Therefore, whenever this "locked" sample needs to + * be changed, this function must be called again. + * + * \n The hardware motion threshold can be between 32mg and 8160mg in 32mg + * increments. + * + * \n Low-power accel mode supports the following frequencies: + * \n 1.25Hz, 5Hz, 20Hz, 40Hz + * + * \n MPU6500: + * \n Unlike the MPU6050 version, the hardware does not "lock in" a reference + * sample. The hardware monitors the accel data and detects any large change + * over a short period of time. + * + * \n The hardware motion threshold can be between 4mg and 1020mg in 4mg + * increments. + * + * \n MPU6500 Low-power accel mode supports the following frequencies: + * \n 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz + * + * \n\n NOTES: + * \n The driver will round down @e thresh to the nearest supported value if + * an unsupported threshold is selected. + * \n To select a fractional wake-up frequency, round down the value passed to + * @e lpa_freq. + * \n The MPU6500 does not support a delay parameter. If this function is used + * for the MPU6500, the value passed to @e time will be ignored. + * \n To disable this mode, set @e lpa_freq to zero. The driver will restore + * the previous configuration. + * + * @param[in] thresh Motion threshold in mg. + * @param[in] time Duration in milliseconds that the accel data must + * exceed @e thresh before motion is reported. + * @param[in] lpa_freq Minimum sampling rate, or zero to disable. + * @return 0 if successful. + */ +int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time, + unsigned char lpa_freq) +{ + unsigned char data[3]; + + if (lpa_freq) { + unsigned char thresh_hw; + +#if defined MPU6050 + /* TODO: Make these const/#defines. */ + /* 1LSb = 32mg. */ + if (thresh > 8160) + thresh_hw = 255; + else if (thresh < 32) + thresh_hw = 1; + else + thresh_hw = thresh >> 5; +#elif defined MPU6500 + /* 1LSb = 4mg. */ + if (thresh > 1020) + thresh_hw = 255; + else if (thresh < 4) + thresh_hw = 1; + else + thresh_hw = thresh >> 2; +#endif + + if (!time) + /* Minimum duration must be 1ms. */ + time = 1; + +#if defined MPU6050 + if (lpa_freq > 40) +#elif defined MPU6500 + if (lpa_freq > 640) +#endif + /* At this point, the chip has not been re-configured, so the + * function can safely exit. + */ + return -1; + + if (!st.chip_cfg.int_motion_only) { + /* Store current settings for later. */ + if (st.chip_cfg.dmp_on) { + mpu_set_dmp_state(0); + st.chip_cfg.cache.dmp_on = 1; + } else + st.chip_cfg.cache.dmp_on = 0; + mpu_get_gyro_fsr(&st.chip_cfg.cache.gyro_fsr); + mpu_get_accel_fsr(&st.chip_cfg.cache.accel_fsr); + mpu_get_lpf(&st.chip_cfg.cache.lpf); + mpu_get_sample_rate(&st.chip_cfg.cache.sample_rate); + st.chip_cfg.cache.sensors_on = st.chip_cfg.sensors; + mpu_get_fifo_config(&st.chip_cfg.cache.fifo_sensors); + } + +#ifdef MPU6050 + /* Disable hardware interrupts for now. */ + set_int_enable(0); + + /* Enter full-power accel-only mode. */ + mpu_lp_accel_mode(0); + + /* Override current LPF (and HPF) settings to obtain a valid accel + * reading. + */ + data[0] = INV_FILTER_256HZ_NOLPF2; + if (i2c_write(st.hw->addr, st.reg->lpf, 1, data)) + return -1; + + /* NOTE: Digital high pass filter should be configured here. Since this + * driver doesn't modify those bits anywhere, they should already be + * cleared by default. + */ + + /* Configure the device to send motion interrupts. */ + /* Enable motion interrupt. */ + data[0] = BIT_MOT_INT_EN; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data)) + goto lp_int_restore; + + /* Set motion interrupt parameters. */ + data[0] = thresh_hw; + data[1] = time; + if (i2c_write(st.hw->addr, st.reg->motion_thr, 2, data)) + goto lp_int_restore; + + /* Force hardware to "lock" current accel sample. */ + delay_ms(5); + data[0] = (st.chip_cfg.accel_fsr << 3) | BITS_HPF; + if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, data)) + goto lp_int_restore; + + /* Set up LP accel mode. */ + data[0] = BIT_LPA_CYCLE; + if (lpa_freq == 1) + data[1] = INV_LPA_1_25HZ; + else if (lpa_freq <= 5) + data[1] = INV_LPA_5HZ; + else if (lpa_freq <= 20) + data[1] = INV_LPA_20HZ; + else + data[1] = INV_LPA_40HZ; + data[1] = (data[1] << 6) | BIT_STBY_XYZG; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, data)) + goto lp_int_restore; + + st.chip_cfg.int_motion_only = 1; + return 0; +#elif defined MPU6500 + /* Disable hardware interrupts. */ + set_int_enable(0); + + /* Enter full-power accel-only mode, no FIFO/DMP. */ + data[0] = 0; + data[1] = 0; + data[2] = BIT_STBY_XYZG; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 3, data)) + goto lp_int_restore; + + /* Set motion threshold. */ + data[0] = thresh_hw; + if (i2c_write(st.hw->addr, st.reg->motion_thr, 1, data)) + goto lp_int_restore; + + /* Set wake frequency. */ + if (lpa_freq == 1) + data[0] = INV_LPA_1_25HZ; + else if (lpa_freq == 2) + data[0] = INV_LPA_2_5HZ; + else if (lpa_freq <= 5) + data[0] = INV_LPA_5HZ; + else if (lpa_freq <= 10) + data[0] = INV_LPA_10HZ; + else if (lpa_freq <= 20) + data[0] = INV_LPA_20HZ; + else if (lpa_freq <= 40) + data[0] = INV_LPA_40HZ; + else if (lpa_freq <= 80) + data[0] = INV_LPA_80HZ; + else if (lpa_freq <= 160) + data[0] = INV_LPA_160HZ; + else if (lpa_freq <= 320) + data[0] = INV_LPA_320HZ; + else + data[0] = INV_LPA_640HZ; + if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, data)) + goto lp_int_restore; + + /* Enable motion interrupt (MPU6500 version). */ + data[0] = BITS_WOM_EN; + if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data)) + goto lp_int_restore; + + /* Enable cycle mode. */ + data[0] = BIT_LPA_CYCLE; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data)) + goto lp_int_restore; + + /* Enable interrupt. */ + data[0] = BIT_MOT_INT_EN; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data)) + goto lp_int_restore; + + st.chip_cfg.int_motion_only = 1; + return 0; +#endif + } else { + /* Don't "restore" the previous state if no state has been saved. */ + int ii; + char *cache_ptr = (char*)&st.chip_cfg.cache; + for (ii = 0; ii < sizeof(st.chip_cfg.cache); ii++) { + if (cache_ptr[ii] != 0) + goto lp_int_restore; + } + /* If we reach this point, motion interrupt mode hasn't been used yet. */ + return -1; + } +lp_int_restore: + /* Set to invalid values to ensure no I2C writes are skipped. */ + st.chip_cfg.gyro_fsr = 0xFF; + st.chip_cfg.accel_fsr = 0xFF; + st.chip_cfg.lpf = 0xFF; + st.chip_cfg.sample_rate = 0xFFFF; + st.chip_cfg.sensors = 0xFF; + st.chip_cfg.fifo_enable = 0xFF; + st.chip_cfg.clk_src = INV_CLK_PLL; + mpu_set_sensors(st.chip_cfg.cache.sensors_on); + mpu_set_gyro_fsr(st.chip_cfg.cache.gyro_fsr); + mpu_set_accel_fsr(st.chip_cfg.cache.accel_fsr); + mpu_set_lpf(st.chip_cfg.cache.lpf); + mpu_set_sample_rate(st.chip_cfg.cache.sample_rate); + mpu_configure_fifo(st.chip_cfg.cache.fifo_sensors); + + if (st.chip_cfg.cache.dmp_on) + mpu_set_dmp_state(1); + +#ifdef MPU6500 + /* Disable motion interrupt (MPU6500 version). */ + data[0] = 0; + if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data)) + goto lp_int_restore; +#endif + + st.chip_cfg.int_motion_only = 0; + return 0; +} + +/** + * @} + */ + diff --git a/interface/external/MotionDriver/src/inv_mpu_dmp_motion_driver.c b/interface/external/MotionDriver/src/inv_mpu_dmp_motion_driver.c new file mode 100644 index 0000000000..db71b4b74c --- /dev/null +++ b/interface/external/MotionDriver/src/inv_mpu_dmp_motion_driver.c @@ -0,0 +1,1373 @@ +/* + $License: + Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. + See included License.txt for License information. + $ + */ +/** + * @addtogroup DRIVERS Sensor Driver Layer + * @brief Hardware drivers to communicate with sensors via I2C. + * + * @{ + * @file inv_mpu_dmp_motion_driver.c + * @brief DMP image and interface functions. + * @details All functions are preceded by the dmp_ prefix to + * differentiate among MPL and general driver function calls. + */ +#include +#include +#include +#include +#include +#include "inv_mpu.h" +#include "inv_mpu_dmp_motion_driver.h" +#include "dmpKey.h" +#include "dmpmap.h" +#include "inv_tty.h" + +/* The following functions must be defined for this platform: + * i2c_write(unsigned char slave_addr, unsigned char reg_addr, + * unsigned char length, unsigned char const *data) + * i2c_read(unsigned char slave_addr, unsigned char reg_addr, + * unsigned char length, unsigned char *data) + * delay_ms(unsigned long num_ms) + * get_ms(unsigned long *count) + */ +#if defined MOTION_DRIVER_TARGET_MSP430 +#include "msp430.h" +#include "msp430_clock.h" +#define delay_ms msp430_delay_ms +#define get_ms msp430_get_clock_ms +#define log_i(...) do {} while (0) +#define log_e(...) do {} while (0) + +#elif defined EMPL_TARGET_MSP430 +#include "msp430.h" +#include "msp430_clock.h" +#include "log.h" +#define delay_ms msp430_delay_ms +#define get_ms msp430_get_clock_ms +#define log_i MPL_LOGI +#define log_e MPL_LOGE + +#elif defined EMPL_TARGET_UC3L0 +/* Instead of using the standard TWI driver from the ASF library, we're using + * a TWI driver that follows the slave address + register address convention. + */ +#include "delay.h" +#include "sysclk.h" +#include "log.h" +#include "uc3l0_clock.h" +/* delay_ms is a function already defined in ASF. */ +#define get_ms uc3l0_get_clock_ms +#define log_i MPL_LOGI +#define log_e MPL_LOGE + +#else +#define i2c_write tty_i2c_write +#define i2c_read tty_i2c_read +#define delay_ms tty_delay_ms +#define get_ms tty_get_clock_ms +#endif + +/* These defines are copied from dmpDefaultMPU6050.c in the general MPL + * releases. These defines may change for each DMP image, so be sure to modify + * these values when switching to a new image. + */ +#define CFG_LP_QUAT (2712) +#define END_ORIENT_TEMP (1866) +#define CFG_27 (2742) +#define CFG_20 (2224) +#define CFG_23 (2745) +#define CFG_FIFO_ON_EVENT (2690) +#define END_PREDICTION_UPDATE (1761) +#define CGNOTICE_INTR (2620) +#define X_GRT_Y_TMP (1358) +#define CFG_DR_INT (1029) +#define CFG_AUTH (1035) +#define UPDATE_PROP_ROT (1835) +#define END_COMPARE_Y_X_TMP2 (1455) +#define SKIP_X_GRT_Y_TMP (1359) +#define SKIP_END_COMPARE (1435) +#define FCFG_3 (1088) +#define FCFG_2 (1066) +#define FCFG_1 (1062) +#define END_COMPARE_Y_X_TMP3 (1434) +#define FCFG_7 (1073) +#define FCFG_6 (1106) +#define FLAT_STATE_END (1713) +#define SWING_END_4 (1616) +#define SWING_END_2 (1565) +#define SWING_END_3 (1587) +#define SWING_END_1 (1550) +#define CFG_8 (2718) +#define CFG_15 (2727) +#define CFG_16 (2746) +#define CFG_EXT_GYRO_BIAS (1189) +#define END_COMPARE_Y_X_TMP (1407) +#define DO_NOT_UPDATE_PROP_ROT (1839) +#define CFG_7 (1205) +#define FLAT_STATE_END_TEMP (1683) +#define END_COMPARE_Y_X (1484) +#define SKIP_SWING_END_1 (1551) +#define SKIP_SWING_END_3 (1588) +#define SKIP_SWING_END_2 (1566) +#define TILTG75_START (1672) +#define CFG_6 (2753) +#define TILTL75_END (1669) +#define END_ORIENT (1884) +#define CFG_FLICK_IN (2573) +#define TILTL75_START (1643) +#define CFG_MOTION_BIAS (1208) +#define X_GRT_Y (1408) +#define TEMPLABEL (2324) +#define CFG_ANDROID_ORIENT_INT (1853) +#define CFG_GYRO_RAW_DATA (2722) +#define X_GRT_Y_TMP2 (1379) + +#define D_0_22 (22+512) +#define D_0_24 (24+512) + +#define D_0_36 (36) +#define D_0_52 (52) +#define D_0_96 (96) +#define D_0_104 (104) +#define D_0_108 (108) +#define D_0_163 (163) +#define D_0_188 (188) +#define D_0_192 (192) +#define D_0_224 (224) +#define D_0_228 (228) +#define D_0_232 (232) +#define D_0_236 (236) + +#define D_1_2 (256 + 2) +#define D_1_4 (256 + 4) +#define D_1_8 (256 + 8) +#define D_1_10 (256 + 10) +#define D_1_24 (256 + 24) +#define D_1_28 (256 + 28) +#define D_1_36 (256 + 36) +#define D_1_40 (256 + 40) +#define D_1_44 (256 + 44) +#define D_1_72 (256 + 72) +#define D_1_74 (256 + 74) +#define D_1_79 (256 + 79) +#define D_1_88 (256 + 88) +#define D_1_90 (256 + 90) +#define D_1_92 (256 + 92) +#define D_1_96 (256 + 96) +#define D_1_98 (256 + 98) +#define D_1_106 (256 + 106) +#define D_1_108 (256 + 108) +#define D_1_112 (256 + 112) +#define D_1_128 (256 + 144) +#define D_1_152 (256 + 12) +#define D_1_160 (256 + 160) +#define D_1_176 (256 + 176) +#define D_1_178 (256 + 178) +#define D_1_218 (256 + 218) +#define D_1_232 (256 + 232) +#define D_1_236 (256 + 236) +#define D_1_240 (256 + 240) +#define D_1_244 (256 + 244) +#define D_1_250 (256 + 250) +#define D_1_252 (256 + 252) +#define D_2_12 (512 + 12) +#define D_2_96 (512 + 96) +#define D_2_108 (512 + 108) +#define D_2_208 (512 + 208) +#define D_2_224 (512 + 224) +#define D_2_236 (512 + 236) +#define D_2_244 (512 + 244) +#define D_2_248 (512 + 248) +#define D_2_252 (512 + 252) + +#define CPASS_BIAS_X (35 * 16 + 4) +#define CPASS_BIAS_Y (35 * 16 + 8) +#define CPASS_BIAS_Z (35 * 16 + 12) +#define CPASS_MTX_00 (36 * 16) +#define CPASS_MTX_01 (36 * 16 + 4) +#define CPASS_MTX_02 (36 * 16 + 8) +#define CPASS_MTX_10 (36 * 16 + 12) +#define CPASS_MTX_11 (37 * 16) +#define CPASS_MTX_12 (37 * 16 + 4) +#define CPASS_MTX_20 (37 * 16 + 8) +#define CPASS_MTX_21 (37 * 16 + 12) +#define CPASS_MTX_22 (43 * 16 + 12) +#define D_EXT_GYRO_BIAS_X (61 * 16) +#define D_EXT_GYRO_BIAS_Y (61 * 16) + 4 +#define D_EXT_GYRO_BIAS_Z (61 * 16) + 8 +#define D_ACT0 (40 * 16) +#define D_ACSX (40 * 16 + 4) +#define D_ACSY (40 * 16 + 8) +#define D_ACSZ (40 * 16 + 12) + +#define FLICK_MSG (45 * 16 + 4) +#define FLICK_COUNTER (45 * 16 + 8) +#define FLICK_LOWER (45 * 16 + 12) +#define FLICK_UPPER (46 * 16 + 12) + +#define D_AUTH_OUT (992) +#define D_AUTH_IN (996) +#define D_AUTH_A (1000) +#define D_AUTH_B (1004) + +#define D_PEDSTD_BP_B (768 + 0x1C) +#define D_PEDSTD_HP_A (768 + 0x78) +#define D_PEDSTD_HP_B (768 + 0x7C) +#define D_PEDSTD_BP_A4 (768 + 0x40) +#define D_PEDSTD_BP_A3 (768 + 0x44) +#define D_PEDSTD_BP_A2 (768 + 0x48) +#define D_PEDSTD_BP_A1 (768 + 0x4C) +#define D_PEDSTD_INT_THRSH (768 + 0x68) +#define D_PEDSTD_CLIP (768 + 0x6C) +#define D_PEDSTD_SB (768 + 0x28) +#define D_PEDSTD_SB_TIME (768 + 0x2C) +#define D_PEDSTD_PEAKTHRSH (768 + 0x98) +#define D_PEDSTD_TIML (768 + 0x2A) +#define D_PEDSTD_TIMH (768 + 0x2E) +#define D_PEDSTD_PEAK (768 + 0X94) +#define D_PEDSTD_STEPCTR (768 + 0x60) +#define D_PEDSTD_TIMECTR (964) +#define D_PEDSTD_DECI (768 + 0xA0) + +#define D_HOST_NO_MOT (976) +#define D_ACCEL_BIAS (660) + +#define D_ORIENT_GAP (76) + +#define D_TILT0_H (48) +#define D_TILT0_L (50) +#define D_TILT1_H (52) +#define D_TILT1_L (54) +#define D_TILT2_H (56) +#define D_TILT2_L (58) +#define D_TILT3_H (60) +#define D_TILT3_L (62) + +#define DMP_CODE_SIZE (3062) + +static const unsigned char dmp_memory[DMP_CODE_SIZE] = { + /* bank # 0 */ + 0x00, 0x00, 0x70, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00, + 0x00, 0x65, 0x00, 0x54, 0xff, 0xef, 0x00, 0x00, 0xfa, 0x80, 0x00, 0x0b, 0x12, 0x82, 0x00, 0x01, + 0x03, 0x0c, 0x30, 0xc3, 0x0e, 0x8c, 0x8c, 0xe9, 0x14, 0xd5, 0x40, 0x02, 0x13, 0x71, 0x0f, 0x8e, + 0x38, 0x83, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83, 0x25, 0x8e, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83, + 0xff, 0xff, 0xff, 0xff, 0x0f, 0xfe, 0xa9, 0xd6, 0x24, 0x00, 0x04, 0x00, 0x1a, 0x82, 0x79, 0xa1, + 0x00, 0x00, 0x00, 0x3c, 0xff, 0xff, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x38, 0x83, 0x6f, 0xa2, + 0x00, 0x3e, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xca, 0xe3, 0x09, 0x3e, 0x80, 0x00, 0x00, + 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, + 0x00, 0x0c, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x6e, 0x00, 0x00, 0x06, 0x92, 0x0a, 0x16, 0xc0, 0xdf, + 0xff, 0xff, 0x02, 0x56, 0xfd, 0x8c, 0xd3, 0x77, 0xff, 0xe1, 0xc4, 0x96, 0xe0, 0xc5, 0xbe, 0xaa, + 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0x0b, 0x2b, 0x00, 0x00, 0x16, 0x57, 0x00, 0x00, 0x03, 0x59, + 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0xfa, 0x00, 0x02, 0x6c, 0x1d, 0x00, 0x00, 0x00, 0x00, + 0x3f, 0xff, 0xdf, 0xeb, 0x00, 0x3e, 0xb3, 0xb6, 0x00, 0x0d, 0x22, 0x78, 0x00, 0x00, 0x2f, 0x3c, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x42, 0xb5, 0x00, 0x00, 0x39, 0xa2, 0x00, 0x00, 0xb3, 0x65, + 0xd9, 0x0e, 0x9f, 0xc9, 0x1d, 0xcf, 0x4c, 0x34, 0x30, 0x00, 0x00, 0x00, 0x50, 0x00, 0x00, 0x00, + 0x3b, 0xb6, 0x7a, 0xe8, 0x00, 0x64, 0x00, 0x00, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + /* bank # 1 */ + 0x10, 0x00, 0x00, 0x00, 0x10, 0x00, 0xfa, 0x92, 0x10, 0x00, 0x22, 0x5e, 0x00, 0x0d, 0x22, 0x9f, + 0x00, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0xff, 0x46, 0x00, 0x00, 0x63, 0xd4, 0x00, 0x00, + 0x10, 0x00, 0x00, 0x00, 0x04, 0xd6, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00, + 0x00, 0x00, 0x10, 0x72, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x06, 0x00, 0x02, 0x00, 0x05, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x64, 0x00, 0x20, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x03, 0x00, + 0x00, 0x00, 0x00, 0x32, 0xf8, 0x98, 0x00, 0x00, 0xff, 0x65, 0x00, 0x00, 0x83, 0x0f, 0x00, 0x00, + 0xff, 0x9b, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, + 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x02, 0x00, 0x00, + 0x00, 0x01, 0xfb, 0x83, 0x00, 0x68, 0x00, 0x00, 0x00, 0xd9, 0xfc, 0x00, 0x7c, 0xf1, 0xff, 0x83, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x64, 0x03, 0xe8, 0x00, 0x64, 0x00, 0x28, + 0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x00, 0x16, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, + 0x00, 0x00, 0x10, 0x00, 0x00, 0x2f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xf4, 0x00, 0x00, 0x10, 0x00, + /* bank # 2 */ + 0x00, 0x28, 0x00, 0x00, 0xff, 0xff, 0x45, 0x81, 0xff, 0xff, 0xfa, 0x72, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x00, 0x05, 0x00, 0x05, 0xba, 0xc6, 0x00, 0x47, 0x78, 0xa2, + 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14, + 0x00, 0x00, 0x25, 0x4d, 0x00, 0x2f, 0x70, 0x6d, 0x00, 0x00, 0x05, 0xae, 0x00, 0x0c, 0x02, 0xd0, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x64, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x0e, + 0x00, 0x00, 0x0a, 0xc7, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x32, 0xff, 0xff, 0xff, 0x9c, + 0x00, 0x00, 0x0b, 0x2b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x64, + 0xff, 0xe5, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + /* bank # 3 */ + 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x24, 0x26, 0xd3, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x10, 0x00, 0x96, 0x00, 0x3c, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x0c, 0x0a, 0x4e, 0x68, 0xcd, 0xcf, 0x77, 0x09, 0x50, 0x16, 0x67, 0x59, 0xc6, 0x19, 0xce, 0x82, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xd7, 0x84, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc7, 0x93, 0x8f, 0x9d, 0x1e, 0x1b, 0x1c, 0x19, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x18, 0x85, 0x00, 0x00, 0x40, 0x00, + 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x67, 0x7d, 0xdf, 0x7e, 0x72, 0x90, 0x2e, 0x55, 0x4c, 0xf6, 0xe6, 0x88, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + + /* bank # 4 */ + 0xd8, 0xdc, 0xb4, 0xb8, 0xb0, 0xd8, 0xb9, 0xab, 0xf3, 0xf8, 0xfa, 0xb3, 0xb7, 0xbb, 0x8e, 0x9e, + 0xae, 0xf1, 0x32, 0xf5, 0x1b, 0xf1, 0xb4, 0xb8, 0xb0, 0x80, 0x97, 0xf1, 0xa9, 0xdf, 0xdf, 0xdf, + 0xaa, 0xdf, 0xdf, 0xdf, 0xf2, 0xaa, 0xc5, 0xcd, 0xc7, 0xa9, 0x0c, 0xc9, 0x2c, 0x97, 0xf1, 0xa9, + 0x89, 0x26, 0x46, 0x66, 0xb2, 0x89, 0x99, 0xa9, 0x2d, 0x55, 0x7d, 0xb0, 0xb0, 0x8a, 0xa8, 0x96, + 0x36, 0x56, 0x76, 0xf1, 0xba, 0xa3, 0xb4, 0xb2, 0x80, 0xc0, 0xb8, 0xa8, 0x97, 0x11, 0xb2, 0x83, + 0x98, 0xba, 0xa3, 0xf0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xb2, 0xb9, 0xb4, 0x98, 0x83, 0xf1, + 0xa3, 0x29, 0x55, 0x7d, 0xba, 0xb5, 0xb1, 0xa3, 0x83, 0x93, 0xf0, 0x00, 0x28, 0x50, 0xf5, 0xb2, + 0xb6, 0xaa, 0x83, 0x93, 0x28, 0x54, 0x7c, 0xf1, 0xb9, 0xa3, 0x82, 0x93, 0x61, 0xba, 0xa2, 0xda, + 0xde, 0xdf, 0xdb, 0x81, 0x9a, 0xb9, 0xae, 0xf5, 0x60, 0x68, 0x70, 0xf1, 0xda, 0xba, 0xa2, 0xdf, + 0xd9, 0xba, 0xa2, 0xfa, 0xb9, 0xa3, 0x82, 0x92, 0xdb, 0x31, 0xba, 0xa2, 0xd9, 0xba, 0xa2, 0xf8, + 0xdf, 0x85, 0xa4, 0xd0, 0xc1, 0xbb, 0xad, 0x83, 0xc2, 0xc5, 0xc7, 0xb8, 0xa2, 0xdf, 0xdf, 0xdf, + 0xba, 0xa0, 0xdf, 0xdf, 0xdf, 0xd8, 0xd8, 0xf1, 0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35, + 0x5d, 0xb2, 0xb6, 0xba, 0xaf, 0x8c, 0x96, 0x19, 0x8f, 0x9f, 0xa7, 0x0e, 0x16, 0x1e, 0xb4, 0x9a, + 0xb8, 0xaa, 0x87, 0x2c, 0x54, 0x7c, 0xba, 0xa4, 0xb0, 0x8a, 0xb6, 0x91, 0x32, 0x56, 0x76, 0xb2, + 0x84, 0x94, 0xa4, 0xc8, 0x08, 0xcd, 0xd8, 0xb8, 0xb4, 0xb0, 0xf1, 0x99, 0x82, 0xa8, 0x2d, 0x55, + 0x7d, 0x98, 0xa8, 0x0e, 0x16, 0x1e, 0xa2, 0x2c, 0x54, 0x7c, 0x92, 0xa4, 0xf0, 0x2c, 0x50, 0x78, + /* bank # 5 */ + 0xf1, 0x84, 0xa8, 0x98, 0xc4, 0xcd, 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0xc5, + 0xc7, 0xa3, 0x92, 0x83, 0xf6, 0x28, 0xad, 0xde, 0xd9, 0xf8, 0xd8, 0xa3, 0x50, 0xad, 0xd9, 0xf8, + 0xd8, 0xa3, 0x78, 0xad, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa1, 0xda, 0xde, 0xc3, 0xc5, 0xc7, + 0xd8, 0xa1, 0x81, 0x94, 0xf8, 0x18, 0xf2, 0xb0, 0x89, 0xac, 0xc3, 0xc5, 0xc7, 0xf1, 0xd8, 0xb8, + /* bank # 9 */ + 0xb4, 0xb0, 0x97, 0x86, 0xa8, 0x31, 0x9b, 0x06, 0x99, 0x07, 0xab, 0x97, 0x28, 0x88, 0x9b, 0xf0, + 0x0c, 0x20, 0x14, 0x40, 0xb0, 0xb4, 0xb8, 0xf0, 0xa8, 0x8a, 0x9a, 0x28, 0x50, 0x78, 0xb7, 0x9b, + 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xf1, 0xbb, 0xab, + 0x88, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0xb3, 0x8b, 0xb8, 0xa8, 0x04, 0x28, 0x50, 0x78, 0xf1, 0xb0, + 0x88, 0xb4, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xbb, 0xab, 0xb3, 0x8b, 0x02, 0x26, 0x46, 0x66, 0xb0, + 0xb8, 0xf0, 0x8a, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x8b, 0x29, 0x51, 0x79, 0x8a, 0x24, 0x70, 0x59, + 0x8b, 0x20, 0x58, 0x71, 0x8a, 0x44, 0x69, 0x38, 0x8b, 0x39, 0x40, 0x68, 0x8a, 0x64, 0x48, 0x31, + 0x8b, 0x30, 0x49, 0x60, 0x88, 0xf1, 0xac, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0x8c, 0xa8, 0x04, 0x28, + 0x50, 0x78, 0xf1, 0x88, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xac, 0x8c, 0x02, 0x26, 0x46, 0x66, 0xf0, + 0x89, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xa9, + 0x88, 0x09, 0x20, 0x59, 0x70, 0xab, 0x11, 0x38, 0x40, 0x69, 0xa8, 0x19, 0x31, 0x48, 0x60, 0x8c, + 0xa8, 0x3c, 0x41, 0x5c, 0x20, 0x7c, 0x00, 0xf1, 0x87, 0x98, 0x19, 0x86, 0xa8, 0x6e, 0x76, 0x7e, + 0xa9, 0x99, 0x88, 0x2d, 0x55, 0x7d, 0xd8, 0xb1, 0xb5, 0xb9, 0xa3, 0xdf, 0xdf, 0xdf, 0xae, 0xd0, + 0xdf, 0xaa, 0xd0, 0xde, 0xf2, 0xab, 0xf8, 0xf9, 0xd9, 0xb0, 0x87, 0xc4, 0xaa, 0xf1, 0xdf, 0xdf, + 0xbb, 0xaf, 0xdf, 0xdf, 0xb9, 0xd8, 0xb1, 0xf1, 0xa3, 0x97, 0x8e, 0x60, 0xdf, 0xb0, 0x84, 0xf2, + 0xc8, 0xf8, 0xf9, 0xd9, 0xde, 0xd8, 0x93, 0x85, 0xf1, 0x4a, 0xb1, 0x83, 0xa3, 0x08, 0xb5, 0x83, + /* bank # 10 */ + 0x9a, 0x08, 0x10, 0xb7, 0x9f, 0x10, 0xd8, 0xf1, 0xb0, 0xba, 0xae, 0xb0, 0x8a, 0xc2, 0xb2, 0xb6, + 0x8e, 0x9e, 0xf1, 0xfb, 0xd9, 0xf4, 0x1d, 0xd8, 0xf9, 0xd9, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad, + 0x61, 0xd9, 0xae, 0xfb, 0xd8, 0xf4, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad, 0x19, 0xd9, 0xae, 0xfb, + 0xdf, 0xd8, 0xf4, 0x16, 0xf1, 0xd8, 0xf8, 0xad, 0x8d, 0x61, 0xd9, 0xf4, 0xf4, 0xac, 0xf5, 0x9c, + 0x9c, 0x8d, 0xdf, 0x2b, 0xba, 0xb6, 0xae, 0xfa, 0xf8, 0xf4, 0x0b, 0xd8, 0xf1, 0xae, 0xd0, 0xf8, + 0xad, 0x51, 0xda, 0xae, 0xfa, 0xf8, 0xf1, 0xd8, 0xb9, 0xb1, 0xb6, 0xa3, 0x83, 0x9c, 0x08, 0xb9, + 0xb1, 0x83, 0x9a, 0xb5, 0xaa, 0xc0, 0xfd, 0x30, 0x83, 0xb7, 0x9f, 0x10, 0xb5, 0x8b, 0x93, 0xf2, + 0x02, 0x02, 0xd1, 0xab, 0xda, 0xde, 0xd8, 0xf1, 0xb0, 0x80, 0xba, 0xab, 0xc0, 0xc3, 0xb2, 0x84, + 0xc1, 0xc3, 0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9, 0xab, 0xde, 0xb0, + 0x87, 0x9c, 0xb9, 0xa3, 0xdd, 0xf1, 0xb3, 0x8b, 0x8b, 0x8b, 0x8b, 0x8b, 0xb0, 0x87, 0xa3, 0xa3, + 0xa3, 0xa3, 0xb2, 0x8b, 0xb6, 0x9b, 0xf2, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, + 0xa3, 0xf1, 0xb0, 0x87, 0xb5, 0x9a, 0xa3, 0xf3, 0x9b, 0xa3, 0xa3, 0xdc, 0xba, 0xac, 0xdf, 0xb9, + 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, + 0xd8, 0xd8, 0xd8, 0xbb, 0xb3, 0xb7, 0xf1, 0xaa, 0xf9, 0xda, 0xff, 0xd9, 0x80, 0x9a, 0xaa, 0x28, + 0xb4, 0x80, 0x98, 0xa7, 0x20, 0xb7, 0x97, 0x87, 0xa8, 0x66, 0x88, 0xf0, 0x79, 0x51, 0xf1, 0x90, + 0x2c, 0x87, 0x0c, 0xa7, 0x81, 0x97, 0x62, 0x93, 0xf0, 0x71, 0x71, 0x60, 0x85, 0x94, 0x01, 0x29, + /* bank # 11 */ + 0x51, 0x79, 0x90, 0xa5, 0xf1, 0x28, 0x4c, 0x6c, 0x87, 0x0c, 0x95, 0x18, 0x85, 0x78, 0xa3, 0x83, + 0x90, 0x28, 0x4c, 0x6c, 0x88, 0x6c, 0xd8, 0xf3, 0xa2, 0x82, 0x00, 0xf2, 0x10, 0xa8, 0x92, 0x19, + 0x80, 0xa2, 0xf2, 0xd9, 0x26, 0xd8, 0xf1, 0x88, 0xa8, 0x4d, 0xd9, 0x48, 0xd8, 0x96, 0xa8, 0x39, + 0x80, 0xd9, 0x3c, 0xd8, 0x95, 0x80, 0xa8, 0x39, 0xa6, 0x86, 0x98, 0xd9, 0x2c, 0xda, 0x87, 0xa7, + 0x2c, 0xd8, 0xa8, 0x89, 0x95, 0x19, 0xa9, 0x80, 0xd9, 0x38, 0xd8, 0xa8, 0x89, 0x39, 0xa9, 0x80, + 0xda, 0x3c, 0xd8, 0xa8, 0x2e, 0xa8, 0x39, 0x90, 0xd9, 0x0c, 0xd8, 0xa8, 0x95, 0x31, 0x98, 0xd9, + 0x0c, 0xd8, 0xa8, 0x09, 0xd9, 0xff, 0xd8, 0x01, 0xda, 0xff, 0xd8, 0x95, 0x39, 0xa9, 0xda, 0x26, + 0xff, 0xd8, 0x90, 0xa8, 0x0d, 0x89, 0x99, 0xa8, 0x10, 0x80, 0x98, 0x21, 0xda, 0x2e, 0xd8, 0x89, + 0x99, 0xa8, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x86, 0x96, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, + 0x87, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x82, 0x92, 0xf3, 0x41, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, + 0xa8, 0x82, 0xf3, 0x19, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0x82, 0xac, 0xf3, 0xc0, 0xa2, 0x80, 0x22, + 0xf1, 0xa6, 0x2e, 0xa7, 0x2e, 0xa9, 0x22, 0x98, 0xa8, 0x29, 0xda, 0xac, 0xde, 0xff, 0xd8, 0xa2, + 0xf2, 0x2a, 0xf1, 0xa9, 0x2e, 0x82, 0x92, 0xa8, 0xf2, 0x31, 0x80, 0xa6, 0x96, 0xf1, 0xd9, 0x00, + 0xac, 0x8c, 0x9c, 0x0c, 0x30, 0xac, 0xde, 0xd0, 0xde, 0xff, 0xd8, 0x8c, 0x9c, 0xac, 0xd0, 0x10, + 0xac, 0xde, 0x80, 0x92, 0xa2, 0xf2, 0x4c, 0x82, 0xa8, 0xf1, 0xca, 0xf2, 0x35, 0xf1, 0x96, 0x88, + 0xa6, 0xd9, 0x00, 0xd8, 0xf1, 0xff +}; + +static const unsigned short sStartAddress = 0x0400; + +/* END OF SECTION COPIED FROM dmpDefaultMPU6050.c */ + +#define INT_SRC_TAP (0x01) +#define INT_SRC_ANDROID_ORIENT (0x08) + +#define DMP_FEATURE_SEND_ANY_GYRO (DMP_FEATURE_SEND_RAW_GYRO | \ + DMP_FEATURE_SEND_CAL_GYRO) + +#define MAX_PACKET_LENGTH (32) + +#define DMP_SAMPLE_RATE (200) +#define GYRO_SF (46850825LL * 200 / DMP_SAMPLE_RATE) + +#define FIFO_CORRUPTION_CHECK +#ifdef FIFO_CORRUPTION_CHECK +#define QUAT_ERROR_THRESH (1L<<24) +#define QUAT_MAG_SQ_NORMALIZED (1L<<28) +#define QUAT_MAG_SQ_MIN (QUAT_MAG_SQ_NORMALIZED - QUAT_ERROR_THRESH) +#define QUAT_MAG_SQ_MAX (QUAT_MAG_SQ_NORMALIZED + QUAT_ERROR_THRESH) +#endif + +struct dmp_s { + void (*tap_cb)(unsigned char count, unsigned char direction); + void (*android_orient_cb)(unsigned char orientation); + unsigned short orient; + unsigned short feature_mask; + unsigned short fifo_rate; + unsigned char packet_length; +}; + +static struct dmp_s dmp = { + .tap_cb = NULL, + .android_orient_cb = NULL, + .orient = 0, + .feature_mask = 0, + .fifo_rate = 0, + .packet_length = 0 +}; + +/** + * @brief Load the DMP with this image. + * @return 0 if successful. + */ +int dmp_load_motion_driver_firmware(void) +{ + return mpu_load_firmware(DMP_CODE_SIZE, dmp_memory, sStartAddress, + DMP_SAMPLE_RATE); +} + +/** + * @brief Push gyro and accel orientation to the DMP. + * The orientation is represented here as the output of + * @e inv_orientation_matrix_to_scalar. + * @param[in] orient Gyro and accel orientation in body frame. + * @return 0 if successful. + */ +int dmp_set_orientation(unsigned short orient) +{ + unsigned char gyro_regs[3], accel_regs[3]; + const unsigned char gyro_axes[3] = {DINA4C, DINACD, DINA6C}; + const unsigned char accel_axes[3] = {DINA0C, DINAC9, DINA2C}; + const unsigned char gyro_sign[3] = {DINA36, DINA56, DINA76}; + const unsigned char accel_sign[3] = {DINA26, DINA46, DINA66}; + + gyro_regs[0] = gyro_axes[orient & 3]; + gyro_regs[1] = gyro_axes[(orient >> 3) & 3]; + gyro_regs[2] = gyro_axes[(orient >> 6) & 3]; + accel_regs[0] = accel_axes[orient & 3]; + accel_regs[1] = accel_axes[(orient >> 3) & 3]; + accel_regs[2] = accel_axes[(orient >> 6) & 3]; + + /* Chip-to-body, axes only. */ + if (mpu_write_mem(FCFG_1, 3, gyro_regs)) + return -1; + if (mpu_write_mem(FCFG_2, 3, accel_regs)) + return -1; + + memcpy(gyro_regs, gyro_sign, 3); + memcpy(accel_regs, accel_sign, 3); + if (orient & 4) { + gyro_regs[0] |= 1; + accel_regs[0] |= 1; + } + if (orient & 0x20) { + gyro_regs[1] |= 1; + accel_regs[1] |= 1; + } + if (orient & 0x100) { + gyro_regs[2] |= 1; + accel_regs[2] |= 1; + } + + /* Chip-to-body, sign only. */ + if (mpu_write_mem(FCFG_3, 3, gyro_regs)) + return -1; + if (mpu_write_mem(FCFG_7, 3, accel_regs)) + return -1; + dmp.orient = orient; + return 0; +} + +/** + * @brief Push gyro biases to the DMP. + * Because the gyro integration is handled in the DMP, any gyro biases + * calculated by the MPL should be pushed down to DMP memory to remove + * 3-axis quaternion drift. + * \n NOTE: If the DMP-based gyro calibration is enabled, the DMP will + * overwrite the biases written to this location once a new one is computed. + * @param[in] bias Gyro biases in q16. + * @return 0 if successful. + */ +int dmp_set_gyro_bias(long *bias) +{ + long gyro_bias_body[3]; + unsigned char regs[4]; + + gyro_bias_body[0] = bias[dmp.orient & 3]; + if (dmp.orient & 4) + gyro_bias_body[0] *= -1; + gyro_bias_body[1] = bias[(dmp.orient >> 3) & 3]; + if (dmp.orient & 0x20) + gyro_bias_body[1] *= -1; + gyro_bias_body[2] = bias[(dmp.orient >> 6) & 3]; + if (dmp.orient & 0x100) + gyro_bias_body[2] *= -1; + +#ifdef EMPL_NO_64BIT + gyro_bias_body[0] = (long)(((float)gyro_bias_body[0] * GYRO_SF) / 1073741824.f); + gyro_bias_body[1] = (long)(((float)gyro_bias_body[1] * GYRO_SF) / 1073741824.f); + gyro_bias_body[2] = (long)(((float)gyro_bias_body[2] * GYRO_SF) / 1073741824.f); +#else + gyro_bias_body[0] = (long)(((long long)gyro_bias_body[0] * GYRO_SF) >> 30); + gyro_bias_body[1] = (long)(((long long)gyro_bias_body[1] * GYRO_SF) >> 30); + gyro_bias_body[2] = (long)(((long long)gyro_bias_body[2] * GYRO_SF) >> 30); +#endif + + regs[0] = (unsigned char)((gyro_bias_body[0] >> 24) & 0xFF); + regs[1] = (unsigned char)((gyro_bias_body[0] >> 16) & 0xFF); + regs[2] = (unsigned char)((gyro_bias_body[0] >> 8) & 0xFF); + regs[3] = (unsigned char)(gyro_bias_body[0] & 0xFF); + if (mpu_write_mem(D_EXT_GYRO_BIAS_X, 4, regs)) + return -1; + + regs[0] = (unsigned char)((gyro_bias_body[1] >> 24) & 0xFF); + regs[1] = (unsigned char)((gyro_bias_body[1] >> 16) & 0xFF); + regs[2] = (unsigned char)((gyro_bias_body[1] >> 8) & 0xFF); + regs[3] = (unsigned char)(gyro_bias_body[1] & 0xFF); + if (mpu_write_mem(D_EXT_GYRO_BIAS_Y, 4, regs)) + return -1; + + regs[0] = (unsigned char)((gyro_bias_body[2] >> 24) & 0xFF); + regs[1] = (unsigned char)((gyro_bias_body[2] >> 16) & 0xFF); + regs[2] = (unsigned char)((gyro_bias_body[2] >> 8) & 0xFF); + regs[3] = (unsigned char)(gyro_bias_body[2] & 0xFF); + return mpu_write_mem(D_EXT_GYRO_BIAS_Z, 4, regs); +} + +/** + * @brief Push accel biases to the DMP. + * These biases will be removed from the DMP 6-axis quaternion. + * @param[in] bias Accel biases in q16. + * @return 0 if successful. + */ +int dmp_set_accel_bias(long *bias) +{ + long accel_bias_body[3]; + unsigned char regs[12]; + long long accel_sf; + unsigned short accel_sens; + + mpu_get_accel_sens(&accel_sens); + accel_sf = (long long)accel_sens << 15; + __no_operation(); + + accel_bias_body[0] = bias[dmp.orient & 3]; + if (dmp.orient & 4) + accel_bias_body[0] *= -1; + accel_bias_body[1] = bias[(dmp.orient >> 3) & 3]; + if (dmp.orient & 0x20) + accel_bias_body[1] *= -1; + accel_bias_body[2] = bias[(dmp.orient >> 6) & 3]; + if (dmp.orient & 0x100) + accel_bias_body[2] *= -1; + +#ifdef EMPL_NO_64BIT + accel_bias_body[0] = (long)(((float)accel_bias_body[0] * accel_sf) / 1073741824.f); + accel_bias_body[1] = (long)(((float)accel_bias_body[1] * accel_sf) / 1073741824.f); + accel_bias_body[2] = (long)(((float)accel_bias_body[2] * accel_sf) / 1073741824.f); +#else + accel_bias_body[0] = (long)(((long long)accel_bias_body[0] * accel_sf) >> 30); + accel_bias_body[1] = (long)(((long long)accel_bias_body[1] * accel_sf) >> 30); + accel_bias_body[2] = (long)(((long long)accel_bias_body[2] * accel_sf) >> 30); +#endif + + regs[0] = (unsigned char)((accel_bias_body[0] >> 24) & 0xFF); + regs[1] = (unsigned char)((accel_bias_body[0] >> 16) & 0xFF); + regs[2] = (unsigned char)((accel_bias_body[0] >> 8) & 0xFF); + regs[3] = (unsigned char)(accel_bias_body[0] & 0xFF); + regs[4] = (unsigned char)((accel_bias_body[1] >> 24) & 0xFF); + regs[5] = (unsigned char)((accel_bias_body[1] >> 16) & 0xFF); + regs[6] = (unsigned char)((accel_bias_body[1] >> 8) & 0xFF); + regs[7] = (unsigned char)(accel_bias_body[1] & 0xFF); + regs[8] = (unsigned char)((accel_bias_body[2] >> 24) & 0xFF); + regs[9] = (unsigned char)((accel_bias_body[2] >> 16) & 0xFF); + regs[10] = (unsigned char)((accel_bias_body[2] >> 8) & 0xFF); + regs[11] = (unsigned char)(accel_bias_body[2] & 0xFF); + return mpu_write_mem(D_ACCEL_BIAS, 12, regs); +} + +/** + * @brief Set DMP output rate. + * Only used when DMP is on. + * @param[in] rate Desired fifo rate (Hz). + * @return 0 if successful. + */ +int dmp_set_fifo_rate(unsigned short rate) +{ + const unsigned char regs_end[12] = {DINAFE, DINAF2, DINAAB, + 0xc4, DINAAA, DINAF1, DINADF, DINADF, 0xBB, 0xAF, DINADF, DINADF}; + unsigned short div; + unsigned char tmp[8]; + + if (rate > DMP_SAMPLE_RATE) + return -1; + div = DMP_SAMPLE_RATE / rate - 1; + tmp[0] = (unsigned char)((div >> 8) & 0xFF); + tmp[1] = (unsigned char)(div & 0xFF); + if (mpu_write_mem(D_0_22, 2, tmp)) + return -1; + if (mpu_write_mem(CFG_6, 12, (unsigned char*)regs_end)) + return -1; + + dmp.fifo_rate = rate; + return 0; +} + +/** + * @brief Get DMP output rate. + * @param[out] rate Current fifo rate (Hz). + * @return 0 if successful. + */ +int dmp_get_fifo_rate(unsigned short *rate) +{ + rate[0] = dmp.fifo_rate; + return 0; +} + +/** + * @brief Set tap threshold for a specific axis. + * @param[in] axis 1, 2, and 4 for XYZ accel, respectively. + * @param[in] thresh Tap threshold, in mg/ms. + * @return 0 if successful. + */ +int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh) +{ + unsigned char tmp[4], accel_fsr; + float scaled_thresh; + unsigned short dmp_thresh, dmp_thresh_2; + if (!(axis & TAP_XYZ) || thresh > 1600) + return -1; + + scaled_thresh = (float)thresh / DMP_SAMPLE_RATE; + + mpu_get_accel_fsr(&accel_fsr); + switch (accel_fsr) { + case 2: + dmp_thresh = (unsigned short)(scaled_thresh * 16384); + /* dmp_thresh * 0.75 */ + dmp_thresh_2 = (unsigned short)(scaled_thresh * 12288); + break; + case 4: + dmp_thresh = (unsigned short)(scaled_thresh * 8192); + /* dmp_thresh * 0.75 */ + dmp_thresh_2 = (unsigned short)(scaled_thresh * 6144); + break; + case 8: + dmp_thresh = (unsigned short)(scaled_thresh * 4096); + /* dmp_thresh * 0.75 */ + dmp_thresh_2 = (unsigned short)(scaled_thresh * 3072); + break; + case 16: + dmp_thresh = (unsigned short)(scaled_thresh * 2048); + /* dmp_thresh * 0.75 */ + dmp_thresh_2 = (unsigned short)(scaled_thresh * 1536); + break; + default: + return -1; + } + tmp[0] = (unsigned char)(dmp_thresh >> 8); + tmp[1] = (unsigned char)(dmp_thresh & 0xFF); + tmp[2] = (unsigned char)(dmp_thresh_2 >> 8); + tmp[3] = (unsigned char)(dmp_thresh_2 & 0xFF); + + if (axis & TAP_X) { + if (mpu_write_mem(DMP_TAP_THX, 2, tmp)) + return -1; + if (mpu_write_mem(D_1_36, 2, tmp+2)) + return -1; + } + if (axis & TAP_Y) { + if (mpu_write_mem(DMP_TAP_THY, 2, tmp)) + return -1; + if (mpu_write_mem(D_1_40, 2, tmp+2)) + return -1; + } + if (axis & TAP_Z) { + if (mpu_write_mem(DMP_TAP_THZ, 2, tmp)) + return -1; + if (mpu_write_mem(D_1_44, 2, tmp+2)) + return -1; + } + return 0; +} + +/** + * @brief Set which axes will register a tap. + * @param[in] axis 1, 2, and 4 for XYZ, respectively. + * @return 0 if successful. + */ +int dmp_set_tap_axes(unsigned char axis) +{ + unsigned char tmp = 0; + + if (axis & TAP_X) + tmp |= 0x30; + if (axis & TAP_Y) + tmp |= 0x0C; + if (axis & TAP_Z) + tmp |= 0x03; + return mpu_write_mem(D_1_72, 1, &tmp); +} + +/** + * @brief Set minimum number of taps needed for an interrupt. + * @param[in] min_taps Minimum consecutive taps (1-4). + * @return 0 if successful. + */ +int dmp_set_tap_count(unsigned char min_taps) +{ + unsigned char tmp; + + if (min_taps < 1) + min_taps = 1; + else if (min_taps > 4) + min_taps = 4; + + tmp = min_taps - 1; + return mpu_write_mem(D_1_79, 1, &tmp); +} + +/** + * @brief Set length between valid taps. + * @param[in] time Milliseconds between taps. + * @return 0 if successful. + */ +int dmp_set_tap_time(unsigned short time) +{ + unsigned short dmp_time; + unsigned char tmp[2]; + + dmp_time = time / (1000 / DMP_SAMPLE_RATE); + tmp[0] = (unsigned char)(dmp_time >> 8); + tmp[1] = (unsigned char)(dmp_time & 0xFF); + return mpu_write_mem(DMP_TAPW_MIN, 2, tmp); +} + +/** + * @brief Set max time between taps to register as a multi-tap. + * @param[in] time Max milliseconds between taps. + * @return 0 if successful. + */ +int dmp_set_tap_time_multi(unsigned short time) +{ + unsigned short dmp_time; + unsigned char tmp[2]; + + dmp_time = time / (1000 / DMP_SAMPLE_RATE); + tmp[0] = (unsigned char)(dmp_time >> 8); + tmp[1] = (unsigned char)(dmp_time & 0xFF); + return mpu_write_mem(D_1_218, 2, tmp); +} + +/** + * @brief Set shake rejection threshold. + * If the DMP detects a gyro sample larger than @e thresh, taps are rejected. + * @param[in] sf Gyro scale factor. + * @param[in] thresh Gyro threshold in dps. + * @return 0 if successful. + */ +int dmp_set_shake_reject_thresh(long sf, unsigned short thresh) +{ + unsigned char tmp[4]; + long thresh_scaled = sf / 1000 * thresh; + tmp[0] = (unsigned char)(((long)thresh_scaled >> 24) & 0xFF); + tmp[1] = (unsigned char)(((long)thresh_scaled >> 16) & 0xFF); + tmp[2] = (unsigned char)(((long)thresh_scaled >> 8) & 0xFF); + tmp[3] = (unsigned char)((long)thresh_scaled & 0xFF); + return mpu_write_mem(D_1_92, 4, tmp); +} + +/** + * @brief Set shake rejection time. + * Sets the length of time that the gyro must be outside of the threshold set + * by @e gyro_set_shake_reject_thresh before taps are rejected. A mandatory + * 60 ms is added to this parameter. + * @param[in] time Time in milliseconds. + * @return 0 if successful. + */ +int dmp_set_shake_reject_time(unsigned short time) +{ + unsigned char tmp[2]; + + time /= (1000 / DMP_SAMPLE_RATE); + tmp[0] = time >> 8; + tmp[1] = time & 0xFF; + return mpu_write_mem(D_1_90,2,tmp); +} + +/** + * @brief Set shake rejection timeout. + * Sets the length of time after a shake rejection that the gyro must stay + * inside of the threshold before taps can be detected again. A mandatory + * 60 ms is added to this parameter. + * @param[in] time Time in milliseconds. + * @return 0 if successful. + */ +int dmp_set_shake_reject_timeout(unsigned short time) +{ + unsigned char tmp[2]; + + time /= (1000 / DMP_SAMPLE_RATE); + tmp[0] = time >> 8; + tmp[1] = time & 0xFF; + return mpu_write_mem(D_1_88,2,tmp); +} + +/** + * @brief Get current step count. + * @param[out] count Number of steps detected. + * @return 0 if successful. + */ +int dmp_get_pedometer_step_count(unsigned long *count) +{ + unsigned char tmp[4]; + if (!count) + return -1; + + if (mpu_read_mem(D_PEDSTD_STEPCTR, 4, tmp)) + return -1; + + count[0] = ((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) | + ((unsigned long)tmp[2] << 8) | tmp[3]; + return 0; +} + +/** + * @brief Overwrite current step count. + * WARNING: This function writes to DMP memory and could potentially encounter + * a race condition if called while the pedometer is enabled. + * @param[in] count New step count. + * @return 0 if successful. + */ +int dmp_set_pedometer_step_count(unsigned long count) +{ + unsigned char tmp[4]; + + tmp[0] = (unsigned char)((count >> 24) & 0xFF); + tmp[1] = (unsigned char)((count >> 16) & 0xFF); + tmp[2] = (unsigned char)((count >> 8) & 0xFF); + tmp[3] = (unsigned char)(count & 0xFF); + return mpu_write_mem(D_PEDSTD_STEPCTR, 4, tmp); +} + +/** + * @brief Get duration of walking time. + * @param[in] time Walk time in milliseconds. + * @return 0 if successful. + */ +int dmp_get_pedometer_walk_time(unsigned long *time) +{ + unsigned char tmp[4]; + if (!time) + return -1; + + if (mpu_read_mem(D_PEDSTD_TIMECTR, 4, tmp)) + return -1; + + time[0] = (((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) | + ((unsigned long)tmp[2] << 8) | tmp[3]) * 20; + return 0; +} + +/** + * @brief Overwrite current walk time. + * WARNING: This function writes to DMP memory and could potentially encounter + * a race condition if called while the pedometer is enabled. + * @param[in] time New walk time in milliseconds. + */ +int dmp_set_pedometer_walk_time(unsigned long time) +{ + unsigned char tmp[4]; + + time /= 20; + + tmp[0] = (unsigned char)((time >> 24) & 0xFF); + tmp[1] = (unsigned char)((time >> 16) & 0xFF); + tmp[2] = (unsigned char)((time >> 8) & 0xFF); + tmp[3] = (unsigned char)(time & 0xFF); + return mpu_write_mem(D_PEDSTD_TIMECTR, 4, tmp); +} + +/** + * @brief Enable DMP features. + * The following \#define's are used in the input mask: + * \n DMP_FEATURE_TAP + * \n DMP_FEATURE_ANDROID_ORIENT + * \n DMP_FEATURE_LP_QUAT + * \n DMP_FEATURE_6X_LP_QUAT + * \n DMP_FEATURE_GYRO_CAL + * \n DMP_FEATURE_SEND_RAW_ACCEL + * \n DMP_FEATURE_SEND_RAW_GYRO + * \n NOTE: DMP_FEATURE_LP_QUAT and DMP_FEATURE_6X_LP_QUAT are mutually + * exclusive. + * \n NOTE: DMP_FEATURE_SEND_RAW_GYRO and DMP_FEATURE_SEND_CAL_GYRO are also + * mutually exclusive. + * @param[in] mask Mask of features to enable. + * @return 0 if successful. + */ +int dmp_enable_feature(unsigned short mask) +{ + unsigned char tmp[10]; + + /* TODO: All of these settings can probably be integrated into the default + * DMP image. + */ + /* Set integration scale factor. */ + tmp[0] = (unsigned char)((GYRO_SF >> 24) & 0xFF); + tmp[1] = (unsigned char)((GYRO_SF >> 16) & 0xFF); + tmp[2] = (unsigned char)((GYRO_SF >> 8) & 0xFF); + tmp[3] = (unsigned char)(GYRO_SF & 0xFF); + mpu_write_mem(D_0_104, 4, tmp); + + /* Send sensor data to the FIFO. */ + tmp[0] = 0xA3; + if (mask & DMP_FEATURE_SEND_RAW_ACCEL) { + tmp[1] = 0xC0; + tmp[2] = 0xC8; + tmp[3] = 0xC2; + } else { + tmp[1] = 0xA3; + tmp[2] = 0xA3; + tmp[3] = 0xA3; + } + if (mask & DMP_FEATURE_SEND_ANY_GYRO) { + tmp[4] = 0xC4; + tmp[5] = 0xCC; + tmp[6] = 0xC6; + } else { + tmp[4] = 0xA3; + tmp[5] = 0xA3; + tmp[6] = 0xA3; + } + tmp[7] = 0xA3; + tmp[8] = 0xA3; + tmp[9] = 0xA3; + mpu_write_mem(CFG_15,10,tmp); + + /* Send gesture data to the FIFO. */ + if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT)) + tmp[0] = DINA20; + else + tmp[0] = 0xD8; + mpu_write_mem(CFG_27,1,tmp); + + if (mask & DMP_FEATURE_GYRO_CAL) + dmp_enable_gyro_cal(1); + else + dmp_enable_gyro_cal(0); + + if (mask & DMP_FEATURE_SEND_ANY_GYRO) { + if (mask & DMP_FEATURE_SEND_CAL_GYRO) { + tmp[0] = 0xB2; + tmp[1] = 0x8B; + tmp[2] = 0xB6; + tmp[3] = 0x9B; + } else { + tmp[0] = DINAC0; + tmp[1] = DINA80; + tmp[2] = DINAC2; + tmp[3] = DINA90; + } + mpu_write_mem(CFG_GYRO_RAW_DATA, 4, tmp); + } + + if (mask & DMP_FEATURE_TAP) { + /* Enable tap. */ + tmp[0] = 0xF8; + mpu_write_mem(CFG_20, 1, tmp); + dmp_set_tap_thresh(TAP_XYZ, 250); + dmp_set_tap_axes(TAP_XYZ); + dmp_set_tap_count(1); + dmp_set_tap_time(100); + dmp_set_tap_time_multi(500); + + dmp_set_shake_reject_thresh(GYRO_SF, 200); + dmp_set_shake_reject_time(40); + dmp_set_shake_reject_timeout(10); + } else { + tmp[0] = 0xD8; + mpu_write_mem(CFG_20, 1, tmp); + } + + if (mask & DMP_FEATURE_ANDROID_ORIENT) { + tmp[0] = 0xD9; + } else + tmp[0] = 0xD8; + mpu_write_mem(CFG_ANDROID_ORIENT_INT, 1, tmp); + + if (mask & DMP_FEATURE_LP_QUAT) + dmp_enable_lp_quat(1); + else + dmp_enable_lp_quat(0); + + if (mask & DMP_FEATURE_6X_LP_QUAT) + dmp_enable_6x_lp_quat(1); + else + dmp_enable_6x_lp_quat(0); + + /* Pedometer is always enabled. */ + dmp.feature_mask = mask | DMP_FEATURE_PEDOMETER; + mpu_reset_fifo(); + + dmp.packet_length = 0; + if (mask & DMP_FEATURE_SEND_RAW_ACCEL) + dmp.packet_length += 6; + if (mask & DMP_FEATURE_SEND_ANY_GYRO) + dmp.packet_length += 6; + if (mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) + dmp.packet_length += 16; + if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT)) + dmp.packet_length += 4; + + return 0; +} + +/** + * @brief Get list of currently enabled DMP features. + * @param[out] Mask of enabled features. + * @return 0 if successful. + */ +int dmp_get_enabled_features(unsigned short *mask) +{ + mask[0] = dmp.feature_mask; + return 0; +} + +/** + * @brief Calibrate the gyro data in the DMP. + * After eight seconds of no motion, the DMP will compute gyro biases and + * subtract them from the quaternion output. If @e dmp_enable_feature is + * called with @e DMP_FEATURE_SEND_CAL_GYRO, the biases will also be + * subtracted from the gyro output. + * @param[in] enable 1 to enable gyro calibration. + * @return 0 if successful. + */ +int dmp_enable_gyro_cal(unsigned char enable) +{ + if (enable) { + unsigned char regs[9] = {0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35, 0x5d}; + return mpu_write_mem(CFG_MOTION_BIAS, 9, regs); + } else { + unsigned char regs[9] = {0xb8, 0xaa, 0xaa, 0xaa, 0xb0, 0x88, 0xc3, 0xc5, 0xc7}; + return mpu_write_mem(CFG_MOTION_BIAS, 9, regs); + } +} + +/** + * @brief Generate 3-axis quaternions from the DMP. + * In this driver, the 3-axis and 6-axis DMP quaternion features are mutually + * exclusive. + * @param[in] enable 1 to enable 3-axis quaternion. + * @return 0 if successful. + */ +int dmp_enable_lp_quat(unsigned char enable) +{ + unsigned char regs[4]; + if (enable) { + regs[0] = DINBC0; + regs[1] = DINBC2; + regs[2] = DINBC4; + regs[3] = DINBC6; + } + else + memset(regs, 0x8B, 4); + + mpu_write_mem(CFG_LP_QUAT, 4, regs); + + return mpu_reset_fifo(); +} + +/** + * @brief Generate 6-axis quaternions from the DMP. + * In this driver, the 3-axis and 6-axis DMP quaternion features are mutually + * exclusive. + * @param[in] enable 1 to enable 6-axis quaternion. + * @return 0 if successful. + */ +int dmp_enable_6x_lp_quat(unsigned char enable) +{ + unsigned char regs[4]; + if (enable) { + regs[0] = DINA20; + regs[1] = DINA28; + regs[2] = DINA30; + regs[3] = DINA38; + } else + memset(regs, 0xA3, 4); + + mpu_write_mem(CFG_8, 4, regs); + + return mpu_reset_fifo(); +} + +/** + * @brief Decode the four-byte gesture data and execute any callbacks. + * @param[in] gesture Gesture data from DMP packet. + * @return 0 if successful. + */ +static int decode_gesture(unsigned char *gesture) +{ + unsigned char tap, android_orient; + + android_orient = gesture[3] & 0xC0; + tap = 0x3F & gesture[3]; + + if (gesture[1] & INT_SRC_TAP) { + unsigned char direction, count; + direction = tap >> 3; + count = (tap % 8) + 1; + if (dmp.tap_cb) + dmp.tap_cb(direction, count); + } + + if (gesture[1] & INT_SRC_ANDROID_ORIENT) { + if (dmp.android_orient_cb) + dmp.android_orient_cb(android_orient >> 6); + } + + return 0; +} + +/** + * @brief Specify when a DMP interrupt should occur. + * A DMP interrupt can be configured to trigger on either of the two + * conditions below: + * \n a. One FIFO period has elapsed (set by @e mpu_set_sample_rate). + * \n b. A tap event has been detected. + * @param[in] mode DMP_INT_GESTURE or DMP_INT_CONTINUOUS. + * @return 0 if successful. + */ +int dmp_set_interrupt_mode(unsigned char mode) +{ + const unsigned char regs_continuous[11] = + {0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9}; + const unsigned char regs_gesture[11] = + {0xda, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0xda, 0xb4, 0xda}; + + switch (mode) { + case DMP_INT_CONTINUOUS: + return mpu_write_mem(CFG_FIFO_ON_EVENT, 11, + (unsigned char*)regs_continuous); + case DMP_INT_GESTURE: + return mpu_write_mem(CFG_FIFO_ON_EVENT, 11, + (unsigned char*)regs_gesture); + default: + return -1; + } +} + +/** + * @brief Get one packet from the FIFO. + * If @e sensors does not contain a particular sensor, disregard the data + * returned to that pointer. + * \n @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * \n INV_WXYZ_QUAT + * \n If the FIFO has no new data, @e sensors will be zero. + * \n If the FIFO is disabled, @e sensors will be zero and this function will + * return a non-zero error code. + * @param[out] gyro Gyro data in hardware units. + * @param[out] accel Accel data in hardware units. + * @param[out] quat 3-axis quaternion data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. + * @param[out] sensors Mask of sensors read from FIFO. + * @param[out] more Number of remaining packets. + * @return 0 if successful. + */ +int dmp_read_fifo(short *gyro, short *accel, long *quat, + unsigned long *timestamp, short *sensors, unsigned char *more) +{ + unsigned char fifo_data[MAX_PACKET_LENGTH]; + unsigned char ii = 0; + + /* TODO: sensors[0] only changes when dmp_enable_feature is called. We can + * cache this value and save some cycles. + */ + sensors[0] = 0; + + /* Get a packet. */ + if (mpu_read_fifo_stream(dmp.packet_length, fifo_data, more)) + return -1; + + /* Parse DMP packet. */ + if (dmp.feature_mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) { +#ifdef FIFO_CORRUPTION_CHECK + long quat_q14[4], quat_mag_sq; +#endif + quat[0] = ((long)fifo_data[0] << 24) | ((long)fifo_data[1] << 16) | + ((long)fifo_data[2] << 8) | fifo_data[3]; + quat[1] = ((long)fifo_data[4] << 24) | ((long)fifo_data[5] << 16) | + ((long)fifo_data[6] << 8) | fifo_data[7]; + quat[2] = ((long)fifo_data[8] << 24) | ((long)fifo_data[9] << 16) | + ((long)fifo_data[10] << 8) | fifo_data[11]; + quat[3] = ((long)fifo_data[12] << 24) | ((long)fifo_data[13] << 16) | + ((long)fifo_data[14] << 8) | fifo_data[15]; + ii += 16; +#ifdef FIFO_CORRUPTION_CHECK + /* We can detect a corrupted FIFO by monitoring the quaternion data and + * ensuring that the magnitude is always normalized to one. This + * shouldn't happen in normal operation, but if an I2C error occurs, + * the FIFO reads might become misaligned. + * + * Let's start by scaling down the quaternion data to avoid long long + * math. + */ + quat_q14[0] = quat[0] >> 16; + quat_q14[1] = quat[1] >> 16; + quat_q14[2] = quat[2] >> 16; + quat_q14[3] = quat[3] >> 16; + quat_mag_sq = quat_q14[0] * quat_q14[0] + quat_q14[1] * quat_q14[1] + + quat_q14[2] * quat_q14[2] + quat_q14[3] * quat_q14[3]; + if ((quat_mag_sq < QUAT_MAG_SQ_MIN) || + (quat_mag_sq > QUAT_MAG_SQ_MAX)) { + /* Quaternion is outside of the acceptable threshold. */ + mpu_reset_fifo(); + sensors[0] = 0; + return -1; + } + sensors[0] |= INV_WXYZ_QUAT; +#endif + } + + if (dmp.feature_mask & DMP_FEATURE_SEND_RAW_ACCEL) { + accel[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1]; + accel[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3]; + accel[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5]; + ii += 6; + sensors[0] |= INV_XYZ_ACCEL; + } + + if (dmp.feature_mask & DMP_FEATURE_SEND_ANY_GYRO) { + gyro[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1]; + gyro[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3]; + gyro[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5]; + ii += 6; + sensors[0] |= INV_XYZ_GYRO; + } + + /* Gesture data is at the end of the DMP packet. Parse it and call + * the gesture callbacks (if registered). + */ + if (dmp.feature_mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT)) + decode_gesture(fifo_data + ii); + + get_ms(timestamp); + return 0; +} + +/** + * @brief Register a function to be executed on a tap event. + * The tap direction is represented by one of the following: + * \n TAP_X_UP + * \n TAP_X_DOWN + * \n TAP_Y_UP + * \n TAP_Y_DOWN + * \n TAP_Z_UP + * \n TAP_Z_DOWN + * @param[in] func Callback function. + * @return 0 if successful. + */ +int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char)) +{ + dmp.tap_cb = func; + return 0; +} + +/** + * @brief Register a function to be executed on a android orientation event. + * @param[in] func Callback function. + * @return 0 if successful. + */ +int dmp_register_android_orient_cb(void (*func)(unsigned char)) +{ + dmp.android_orient_cb = func; + return 0; +} + +/** + * @} + */ + diff --git a/interface/external/MotionDriver/src/inv_tty.c b/interface/external/MotionDriver/src/inv_tty.c new file mode 100644 index 0000000000..62f4e86660 --- /dev/null +++ b/interface/external/MotionDriver/src/inv_tty.c @@ -0,0 +1,88 @@ +// +// inv_tty.c +// interface +// +// Created by Andrzej Kapolka on 7/9/13. +// Copyright (c) 2013 High Fidelity, Inc. All rights reserved. + +#include +#include + +#include "inv_tty.h" + +// the file descriptor of the tty +static int ttyFileDescriptor; + +void tty_set_file_descriptor(int file_descriptor) { + ttyFileDescriptor = file_descriptor; +} + +static char to_hex_digit(unsigned char value) { + return (value < 10) ? '0' + value : 'A' + (value - 10); +} + +static unsigned char from_hex_digit(char digit) { + return (digit < 'A') ? digit - '0' : (digit - 'A') + 10; +} + +static void write_byte(unsigned char value) { + char chars[] = { to_hex_digit(value / 16), to_hex_digit(value % 16) }; + write(ttyFileDescriptor, chars, 2); +} + +static unsigned char read_byte() { + char chars[2]; + read(ttyFileDescriptor, chars, 2); + return from_hex_digit(chars[0]) * 16 + from_hex_digit(chars[1]); +} + +int tty_i2c_write(unsigned char slave_addr, unsigned char reg_addr, unsigned char length, unsigned char const *data) { + write(ttyFileDescriptor, "WR", 2); + write_byte(slave_addr); + write_byte(reg_addr); + int i; + for (i = 0; i < length; i++) { + write_byte(data[i]); + } + write(ttyFileDescriptor, "\n", 1); + + char response[8]; + read(ttyFileDescriptor, response, 8); + + return 0; +} + +int tty_i2c_read(unsigned char slave_addr, unsigned char reg_addr, unsigned char length, unsigned char *data) { + write(ttyFileDescriptor, "RD", 2); + write_byte(slave_addr); + write_byte(reg_addr); + write_byte(length); + write(ttyFileDescriptor, "\n", 1); + + char prefix[6]; + read(ttyFileDescriptor, prefix, 6); + int i; + for (i = 0; i < length; i++) { + data[i] = read_byte(); + } + + char suffix[2]; + read(ttyFileDescriptor, suffix, 2); + + return 0; +} + +void tty_delay_ms(unsigned long num_ms) { + struct timespec required, remaining; + required.tv_sec = 0; + const long NANOSECONDS_PER_MILLISECOND = 1000000; + required.tv_nsec = num_ms * NANOSECONDS_PER_MILLISECOND; + nanosleep(&required, &remaining); +} + +void tty_get_ms(unsigned long *count) { + struct timespec time; + clock_gettime(CLOCK_REALTIME, &time); + const long NANOSECONDS_PER_SECOND = 1000000000; + *count = time.tv_sec * NANOSECONDS_PER_SECOND + time.tv_nsec; +} diff --git a/interface/src/SerialInterface.cpp b/interface/src/SerialInterface.cpp index 7158cb84b6..38bf43f461 100644 --- a/interface/src/SerialInterface.cpp +++ b/interface/src/SerialInterface.cpp @@ -5,7 +5,7 @@ // Read interface data from the gyros/accelerometer Invensense board using the SerialUSB // -#ifdef __APPLE__ +#ifndef _WIN32 #include #include #include @@ -15,6 +15,11 @@ #include +extern "C" { + #include + #include +} + #include #include "Application.h" @@ -23,25 +28,31 @@ #include "Webcam.h" const short NO_READ_MAXIMUM_MSECS = 3000; -const int GRAVITY_SAMPLES = 60; // Use the first few samples to baseline values -const int SENSOR_FUSION_SAMPLES = 20; +const int GRAVITY_NORTH_SAMPLES = 60; // Use the first few samples to baseline values +const int ACCELERATION_SENSOR_FUSION_SAMPLES = 20; +const int COMPASS_SENSOR_FUSION_SAMPLES = 200; const int LONG_TERM_RATE_SAMPLES = 1000; const bool USING_INVENSENSE_MPU9150 = 1; void SerialInterface::pair() { -#ifdef __APPLE__ +#ifndef _WIN32 // look for a matching gyro setup DIR *devDir; struct dirent *entry; int matchStatus; regex_t regex; - // for now this only works on OS X, where the usb serial shows up as /dev/tty.usb* + // for now this only works on OS X, where the usb serial shows up as /dev/tty.usb*, + // and (possibly just Ubuntu) Linux, where it shows up as /dev/ttyACM* if((devDir = opendir("/dev"))) { while((entry = readdir(devDir))) { +#ifdef __APPLE__ regcomp(®ex, "tty\\.usb", REG_EXTENDED|REG_NOSUB); +#else + regcomp(®ex, "ttyACM", REG_EXTENDED|REG_NOSUB); +#endif matchStatus = regexec(®ex, entry->d_name, (size_t) 0, NULL, 0); if (matchStatus == 0) { char *serialPortname = new char[100]; @@ -60,7 +71,7 @@ void SerialInterface::pair() { // connect to the serial port void SerialInterface::initializePort(char* portname) { -#ifdef __APPLE__ +#ifndef _WIN32 _serialDescriptor = open(portname, O_RDWR | O_NOCTTY | O_NDELAY); printLog("Opening SerialUSB %s: ", portname); @@ -87,22 +98,14 @@ void SerialInterface::initializePort(char* portname) { int currentFlags = fcntl(_serialDescriptor, F_GETFL); fcntl(_serialDescriptor, F_SETFL, currentFlags & ~O_NONBLOCK); - // there are extra commands to send to the invensense when it fires up - - // this takes it out of SLEEP - write(_serialDescriptor, "WR686B01\n", 9); - - // delay after the wakeup - usleep(10000); + tty_set_file_descriptor(_serialDescriptor); + mpu_init(0); + mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL | INV_XYZ_COMPASS); // this disables streaming so there's no garbage data on reads write(_serialDescriptor, "SD\n", 3); - - // delay after disabling streaming - usleep(10000); - - // flush whatever was produced by the last two commands - tcflush(_serialDescriptor, TCIOFLUSH); + char result[4]; + read(_serialDescriptor, result, 4); } printLog("Connected.\n"); @@ -187,56 +190,43 @@ void SerialInterface::renderLevels(int width, int height) { } } -void convertHexToInt(unsigned char* sourceBuffer, int& destinationInt) { - unsigned int byte[2]; - - for(int i = 0; i < 2; i++) { - sscanf((char*) sourceBuffer + 2 * i, "%2x", &byte[i]); - } - - int16_t result = (byte[0] << 8); - result += byte[1]; - - destinationInt = result; -} void SerialInterface::readData(float deltaTime) { -#ifdef __APPLE__ +#ifndef _WIN32 int initialSamples = totalSamples; if (USING_INVENSENSE_MPU9150) { - unsigned char sensorBuffer[36]; - + // ask the invensense for raw gyro data - write(_serialDescriptor, "RD683B0E\n", 9); - read(_serialDescriptor, sensorBuffer, 36); - - int accelXRate, accelYRate, accelZRate; - - convertHexToInt(sensorBuffer + 6, accelZRate); - convertHexToInt(sensorBuffer + 10, accelYRate); - convertHexToInt(sensorBuffer + 14, accelXRate); + short accelData[3]; + int r1 = mpu_get_accel_reg(accelData, 0); const float LSB_TO_METERS_PER_SECOND2 = 1.f / 16384.f * GRAVITY_EARTH; // From MPU-9150 register map, with setting on // highest resolution = +/- 2G - _lastAcceleration = glm::vec3(-accelXRate, -accelYRate, -accelZRate) * LSB_TO_METERS_PER_SECOND2; - - + _lastAcceleration = glm::vec3(-accelData[2], -accelData[1], -accelData[0]) * LSB_TO_METERS_PER_SECOND2; + int rollRate, yawRate, pitchRate; - convertHexToInt(sensorBuffer + 22, rollRate); - convertHexToInt(sensorBuffer + 26, yawRate); - convertHexToInt(sensorBuffer + 30, pitchRate); + short gyroData[3]; + int r2 = mpu_get_gyro_reg(gyroData, 0); // Convert the integer rates to floats const float LSB_TO_DEGREES_PER_SECOND = 1.f / 16.4f; // From MPU-9150 register map, 2000 deg/sec. glm::vec3 rotationRates; - rotationRates[0] = ((float) -pitchRate) * LSB_TO_DEGREES_PER_SECOND; - rotationRates[1] = ((float) -yawRate) * LSB_TO_DEGREES_PER_SECOND; - rotationRates[2] = ((float) -rollRate) * LSB_TO_DEGREES_PER_SECOND; - + rotationRates[0] = ((float) -gyroData[2]) * LSB_TO_DEGREES_PER_SECOND; + rotationRates[1] = ((float) -gyroData[1]) * LSB_TO_DEGREES_PER_SECOND; + rotationRates[2] = ((float) -gyroData[0]) * LSB_TO_DEGREES_PER_SECOND; + + short compassData[3]; + int r3 = mpu_get_compass_reg(compassData, 0); + + // Convert integer values to floats + _lastCompassHeading = glm::normalize(glm::vec3(compassData[2], compassData[1], compassData[0])); + + printLog("%d %d %d %d %d %d\n", compassData[2], compassData[1], compassData[0], r1, r2, r3); + // update and subtract the long term average _averageRotationRates = (1.f - 1.f/(float)LONG_TERM_RATE_SAMPLES) * _averageRotationRates + 1.f/(float)LONG_TERM_RATE_SAMPLES * rotationRates; @@ -251,7 +241,7 @@ void SerialInterface::readData(float deltaTime) { glm::quat(glm::radians(deltaTime * _lastRotationRates)); // Update acceleration estimate: first, subtract gravity as rotated into current frame - _estimatedAcceleration = (totalSamples < GRAVITY_SAMPLES) ? glm::vec3() : + _estimatedAcceleration = (totalSamples < GRAVITY_NORTH_SAMPLES) ? glm::vec3() : _lastAcceleration - glm::inverse(estimatedRotation) * _gravity; // update and subtract the long term average @@ -320,22 +310,24 @@ void SerialInterface::readData(float deltaTime) { // Accumulate a set of initial baseline readings for setting gravity if (totalSamples == 0) { _gravity = _lastAcceleration; + _north = _lastCompassHeading; } else { - if (totalSamples < GRAVITY_SAMPLES) { - _gravity = (1.f - 1.f/(float)GRAVITY_SAMPLES) * _gravity + - 1.f/(float)GRAVITY_SAMPLES * _lastAcceleration; + if (totalSamples < GRAVITY_NORTH_SAMPLES) { + float smoothing = 1.0f / GRAVITY_NORTH_SAMPLES; + _gravity = glm::mix(_gravity, _lastAcceleration, smoothing); + _north = glm::mix(_north, _lastCompassHeading, smoothing); + } else { // Use gravity reading to do sensor fusion on the pitch and roll estimation estimatedRotation = safeMix(estimatedRotation, rotationBetween(estimatedRotation * _lastAcceleration, _gravity) * estimatedRotation, - 1.0f / SENSOR_FUSION_SAMPLES); + 1.0f / ACCELERATION_SENSOR_FUSION_SAMPLES); - // Without a compass heading, always decay estimated Yaw slightly - const float YAW_DECAY = 0.999f; - glm::vec3 forward = estimatedRotation * glm::vec3(0.0f, 0.0f, -1.0f); - estimatedRotation = safeMix(glm::angleAxis(glm::degrees(atan2f(forward.x, -forward.z)), - glm::vec3(0.0f, 1.0f, 0.0f)) * estimatedRotation, estimatedRotation, YAW_DECAY); + // Same deal with the compass heading + estimatedRotation = safeMix(estimatedRotation, + rotationBetween(estimatedRotation * _lastCompassHeading, _north) * estimatedRotation, + 1.0f / COMPASS_SENSOR_FUSION_SAMPLES); } } @@ -371,7 +363,7 @@ void SerialInterface::resetAverages() { } void SerialInterface::resetSerial() { -#ifdef __APPLE__ +#ifndef _WIN32 resetAverages(); _active = false; gettimeofday(&lastGoodRead, NULL); diff --git a/interface/src/SerialInterface.h b/interface/src/SerialInterface.h index bbe246ba92..46012a3866 100644 --- a/interface/src/SerialInterface.h +++ b/interface/src/SerialInterface.h @@ -13,7 +13,7 @@ #include "Log.h" // These includes are for serial port reading/writing -#ifdef __APPLE__ +#ifndef _WIN32 #include #include #include @@ -69,6 +69,7 @@ private: int totalSamples; timeval lastGoodRead; glm::vec3 _gravity; + glm::vec3 _north; glm::vec3 _averageRotationRates; glm::vec3 _averageAcceleration; glm::vec3 _estimatedRotation; @@ -77,6 +78,7 @@ private: glm::vec3 _estimatedAcceleration; glm::vec3 _lastAcceleration; glm::vec3 _lastRotationRates; + glm::vec3 _lastCompassHeading; glm::mat3 _angularVelocityToLinearAccel; glm::mat3 _angularAccelToLinearAccel;