mirror of
https://github.com/betaflight/betaflight.git
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d262c6e66c
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@86 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
1207 lines
46 KiB
C++
Executable file
1207 lines
46 KiB
C++
Executable file
// ************************************************************************************************************
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// board orientation and setup
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// ************************************************************************************************************
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//default board orientation
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#if !defined(ACC_ORIENTATION)
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#define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = X; accADC[PITCH] = Y; accADC[YAW] = Z;}
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#endif
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#if !defined(GYRO_ORIENTATION)
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#define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = X; gyroADC[PITCH] = Y; gyroADC[YAW] = Z;}
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#endif
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#if !defined(MAG_ORIENTATION)
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#define MAG_ORIENTATION(X, Y, Z) {magADC[ROLL] = X; magADC[PITCH] = Y; magADC[YAW] = Z;}
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#endif
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/*** I2C address ***/
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#if !defined(ADXL345_ADDRESS)
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#define ADXL345_ADDRESS 0x3A
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//#define ADXL345_ADDRESS 0xA6 //WARNING: Conflicts with a Wii Motion plus!
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#endif
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#if !defined(BMA180_ADDRESS)
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#define BMA180_ADDRESS 0x80
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//#define BMA180_ADDRESS 0x82
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#endif
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#if !defined(ITG3200_ADDRESS)
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#define ITG3200_ADDRESS 0XD0
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//#define ITG3200_ADDRESS 0XD2
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#endif
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#if !defined(MPU6050_ADDRESS)
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#define MPU6050_ADDRESS 0xD0 // address pin AD0 low (GND), default for FreeIMU v0.4 and InvenSense evaluation board
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//#define MPU6050_ADDRESS 0xD2 // address pin AD0 high (VCC)
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#endif
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#if !defined(MS561101BA_ADDRESS)
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#define MS561101BA_ADDRESS 0xEE //CBR=0 0xEE I2C address when pin CSB is connected to LOW (GND)
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//#define MS561101BA_ADDRESS 0xEF //CBR=1 0xEF I2C address when pin CSB is connected to HIGH (VCC)
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#endif
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//ITG3200 and ITG3205 Gyro LPF setting
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#if defined(ITG3200_LPF_256HZ) || defined(ITG3200_LPF_188HZ) || defined(ITG3200_LPF_98HZ) || defined(ITG3200_LPF_42HZ) || defined(ITG3200_LPF_20HZ) || defined(ITG3200_LPF_10HZ)
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#if defined(ITG3200_LPF_256HZ)
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#define ITG3200_SMPLRT_DIV 0 //8000Hz
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#define ITG3200_DLPF_CFG 0
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#endif
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#if defined(ITG3200_LPF_188HZ)
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#define ITG3200_SMPLRT_DIV 0 //1000Hz
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#define ITG3200_DLPF_CFG 1
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#endif
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#if defined(ITG3200_LPF_98HZ)
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#define ITG3200_SMPLRT_DIV 0
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#define ITG3200_DLPF_CFG 2
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#endif
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#if defined(ITG3200_LPF_42HZ)
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#define ITG3200_SMPLRT_DIV 0
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#define ITG3200_DLPF_CFG 3
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#endif
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#if defined(ITG3200_LPF_20HZ)
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#define ITG3200_SMPLRT_DIV 0
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#define ITG3200_DLPF_CFG 4
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#endif
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#if defined(ITG3200_LPF_10HZ)
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#define ITG3200_SMPLRT_DIV 0
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#define ITG3200_DLPF_CFG 5
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#endif
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#else
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//Default settings LPF 256Hz/8000Hz sample
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#define ITG3200_SMPLRT_DIV 0 //8000Hz
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#define ITG3200_DLPF_CFG 0
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#endif
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//MPU6050 Gyro LPF setting
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#if defined(MPU6050_LPF_256HZ) || defined(MPU6050_LPF_188HZ) || defined(MPU6050_LPF_98HZ) || defined(MPU6050_LPF_42HZ) || defined(MPU6050_LPF_20HZ) || defined(MPU6050_LPF_10HZ)
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#if defined(MPU6050_LPF_256HZ)
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#define MPU6050_SMPLRT_DIV 0 //8000Hz
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#define MPU6050_DLPF_CFG 0
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#endif
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#if defined(MPU6050_LPF_188HZ)
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#define MPU6050_SMPLRT_DIV 0 //1000Hz
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#define MPU6050_DLPF_CFG 1
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#endif
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#if defined(MPU6050_LPF_98HZ)
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#define MPU6050_SMPLRT_DIV 0
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#define MPU6050_DLPF_CFG 2
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#endif
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#if defined(MPU6050_LPF_42HZ)
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#define MPU6050_SMPLRT_DIV 0
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#define MPU6050_DLPF_CFG 3
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#endif
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#if defined(MPU6050_LPF_20HZ)
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#define MPU6050_SMPLRT_DIV 0
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#define MPU6050_DLPF_CFG 4
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#endif
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#if defined(MPU6050_LPF_10HZ)
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#define MPU6050_SMPLRT_DIV 0
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#define MPU6050_DLPF_CFG 5
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#endif
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#else
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//Default settings LPF 256Hz/8000Hz sample
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#define MPU6050_SMPLRT_DIV 0 //8000Hz
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#define MPU6050_DLPF_CFG 0
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#endif
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uint8_t rawADC[6];
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static uint32_t neutralizeTime = 0;
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// ************************************************************************************************************
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// I2C general functions
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// ************************************************************************************************************
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void i2c_init(void)
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{
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#if defined(INTERNAL_I2C_PULLUPS)
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I2C_PULLUPS_ENABLE
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#else
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I2C_PULLUPS_DISABLE
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#endif
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TWSR = 0; // no prescaler => prescaler = 1
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TWBR = ((16000000L / I2C_SPEED) - 16) / 2; // change the I2C clock rate
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TWCR = 1 << TWEN; // enable twi module, no interrupt
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}
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void i2c_rep_start(uint8_t address)
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{
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TWCR = (1 << TWINT) | (1 << TWSTA) | (1 << TWEN); // send REPEAT START condition
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waitTransmissionI2C(); // wait until transmission completed
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TWDR = address; // send device address
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TWCR = (1 << TWINT) | (1 << TWEN);
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waitTransmissionI2C(); // wail until transmission completed
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}
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void i2c_stop(void)
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{
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TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO);
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// while(TWCR & (1<<TWSTO)); // <- can produce a blocking state with some WMP clones
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}
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void i2c_write(uint8_t data)
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{
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TWDR = data; // send data to the previously addressed device
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TWCR = (1 << TWINT) | (1 << TWEN);
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waitTransmissionI2C();
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}
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uint8_t i2c_readAck()
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{
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TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA);
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waitTransmissionI2C();
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return TWDR;
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}
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uint8_t i2c_readNak(void)
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{
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TWCR = (1 << TWINT) | (1 << TWEN);
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waitTransmissionI2C();
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uint8_t r = TWDR;
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i2c_stop();
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return r;
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}
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void waitTransmissionI2C()
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{
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uint16_t count = 255;
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while (!(TWCR & (1 << TWINT))) {
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count--;
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if (count == 0) { //we are in a blocking state => we don't insist
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TWCR = 0; //and we force a reset on TWINT register
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neutralizeTime = micros(); //we take a timestamp here to neutralize the value during a short delay
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i2c_errors_count++;
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break;
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}
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}
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}
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void i2c_getSixRawADC(uint8_t add, uint8_t reg)
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{
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i2c_rep_start(add);
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i2c_write(reg); // Start multiple read at the reg register
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i2c_rep_start(add + 1); // I2C read direction => I2C address + 1
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for (uint8_t i = 0; i < 5; i++)
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rawADC[i] = i2c_readAck();
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rawADC[5] = i2c_readNak();
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}
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void i2c_writeReg(uint8_t add, uint8_t reg, uint8_t val)
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{
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i2c_rep_start(add + 0); // I2C write direction
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i2c_write(reg); // register selection
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i2c_write(val); // value to write in register
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i2c_stop();
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}
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uint8_t i2c_readReg(uint8_t add, uint8_t reg)
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{
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i2c_rep_start(add + 0); // I2C write direction
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i2c_write(reg); // register selection
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i2c_rep_start(add + 1); // I2C read direction
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return i2c_readNak(); // Read single register and return value
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}
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// ****************
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// GYRO common part
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// ****************
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void GYRO_Common()
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{
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static int16_t previousGyroADC[3] = { 0, 0, 0 };
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static int32_t g[3];
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uint8_t axis;
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if (calibratingG > 0) {
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for (axis = 0; axis < 3; axis++) {
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// Reset g[axis] at start of calibration
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if (calibratingG == 400)
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g[axis] = 0;
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// Sum up 400 readings
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g[axis] += gyroADC[axis];
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// Clear global variables for next reading
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gyroADC[axis] = 0;
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gyroZero[axis] = 0;
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if (calibratingG == 1) {
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gyroZero[axis] = g[axis] / 400;
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blinkLED(10, 15, 1 + 3 * nunchuk);
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}
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}
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calibratingG--;
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}
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for (axis = 0; axis < 3; axis++) {
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gyroADC[axis] -= gyroZero[axis];
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//anti gyro glitch, limit the variation between two consecutive readings
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gyroADC[axis] = constrain(gyroADC[axis], previousGyroADC[axis] - 800, previousGyroADC[axis] + 800);
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previousGyroADC[axis] = gyroADC[axis];
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}
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}
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// ****************
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// ACC common part
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// ****************
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void ACC_Common()
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{
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static int32_t a[3];
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if (calibratingA > 0) {
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for (uint8_t axis = 0; axis < 3; axis++) {
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// Reset a[axis] at start of calibration
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if (calibratingA == 400)
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a[axis] = 0;
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// Sum up 400 readings
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a[axis] += accADC[axis];
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// Clear global variables for next reading
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accADC[axis] = 0;
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accZero[axis] = 0;
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}
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// Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
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if (calibratingA == 1) {
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accZero[ROLL] = a[ROLL] / 400;
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accZero[PITCH] = a[PITCH] / 400;
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accZero[YAW] = a[YAW] / 400 - acc_1G; // for nunchuk 200=1G
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accTrim[ROLL] = 0;
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accTrim[PITCH] = 0;
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writeParams(); // write accZero in EEPROM
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}
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calibratingA--;
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}
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#if defined(InflightAccCalibration)
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static int32_t b[3];
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static int16_t accZero_saved[3] = { 0, 0, 0 };
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static int16_t accTrim_saved[2] = { 0, 0 };
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//Saving old zeropoints before measurement
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if (InflightcalibratingA == 50) {
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accZero_saved[ROLL] = accZero[ROLL];
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accZero_saved[PITCH] = accZero[PITCH];
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accZero_saved[YAW] = accZero[YAW];
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accTrim_saved[ROLL] = accTrim[ROLL];
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accTrim_saved[PITCH] = accTrim[PITCH];
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}
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if (InflightcalibratingA > 0) {
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for (uint8_t axis = 0; axis < 3; axis++) {
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// Reset a[axis] at start of calibration
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if (InflightcalibratingA == 50)
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b[axis] = 0;
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// Sum up 50 readings
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b[axis] += accADC[axis];
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// Clear global variables for next reading
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accADC[axis] = 0;
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accZero[axis] = 0;
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}
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//all values are measured
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if (InflightcalibratingA == 1) {
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AccInflightCalibrationMeasurementDone = 1;
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blinkLED(10, 10, 2); //buzzer for indicatiing the start inflight
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// recover saved values to maintain current flight behavior until new values are transferred
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accZero[ROLL] = accZero_saved[ROLL];
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accZero[PITCH] = accZero_saved[PITCH];
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accZero[YAW] = accZero_saved[YAW];
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accTrim[ROLL] = accTrim_saved[ROLL];
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accTrim[PITCH] = accTrim_saved[PITCH];
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}
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InflightcalibratingA--;
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}
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// Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
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if (AccInflightCalibrationSavetoEEProm == 1) { //the copter is landed, disarmed and the combo has been done again
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AccInflightCalibrationSavetoEEProm = 0;
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accZero[ROLL] = b[ROLL] / 50;
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accZero[PITCH] = b[PITCH] / 50;
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accZero[YAW] = b[YAW] / 50 - acc_1G; // for nunchuk 200=1G
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accTrim[ROLL] = 0;
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accTrim[PITCH] = 0;
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writeParams(); // write accZero in EEPROM
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}
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#endif
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accADC[ROLL] -= accZero[ROLL];
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accADC[PITCH] -= accZero[PITCH];
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accADC[YAW] -= accZero[YAW];
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}
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// ************************************************************************************************************
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// I2C Barometer BOSCH BMP085
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// ************************************************************************************************************
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// I2C adress: 0xEE (8bit) 0x77 (7bit)
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// principle:
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// 1) read the calibration register (only once at the initialization)
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// 2) read uncompensated temperature (not mandatory at every cycle)
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// 3) read uncompensated pressure
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// 4) raw temp + raw pressure => calculation of the adjusted pressure
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// the following code uses the maximum precision setting (oversampling setting 3)
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// ************************************************************************************************************
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#if defined(BMP085)
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#define BMP085_ADDRESS 0xEE
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static struct {
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// sensor registers from the BOSCH BMP085 datasheet
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int16_t ac1, ac2, ac3, b1, b2, mb, mc, md;
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uint16_t ac4, ac5, ac6;
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union {
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uint16_t val;
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uint8_t raw[2];
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} ut; //uncompensated T
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union {
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uint32_t val;
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uint8_t raw[4];
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} up; //uncompensated P
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uint8_t state;
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uint32_t deadline;
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} bmp085_ctx;
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#define OSS 3
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void i2c_BMP085_readCalibration()
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{
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delay(10);
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bmp085_ctx.ac1 = i2c_BMP085_readIntRegister(0xAA);
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bmp085_ctx.ac2 = i2c_BMP085_readIntRegister(0xAC);
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bmp085_ctx.ac3 = i2c_BMP085_readIntRegister(0xAE);
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bmp085_ctx.ac4 = i2c_BMP085_readIntRegister(0xB0);
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bmp085_ctx.ac5 = i2c_BMP085_readIntRegister(0xB2);
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bmp085_ctx.ac6 = i2c_BMP085_readIntRegister(0xB4);
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bmp085_ctx.b1 = i2c_BMP085_readIntRegister(0xB6);
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bmp085_ctx.b2 = i2c_BMP085_readIntRegister(0xB8);
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bmp085_ctx.mb = i2c_BMP085_readIntRegister(0xBA);
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bmp085_ctx.mc = i2c_BMP085_readIntRegister(0xBC);
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bmp085_ctx.md = i2c_BMP085_readIntRegister(0xBE);
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}
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void Baro_init()
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{
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delay(10);
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i2c_BMP085_readCalibration();
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i2c_BMP085_UT_Start();
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delay(5);
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i2c_BMP085_UT_Read();
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}
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// read a 16 bit register
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int16_t i2c_BMP085_readIntRegister(uint8_t r)
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{
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union {
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int16_t val;
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uint8_t raw[2];
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} data;
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i2c_rep_start(BMP085_ADDRESS + 0);
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i2c_write(r);
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i2c_rep_start(BMP085_ADDRESS + 1); //I2C read direction => 1
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data.raw[1] = i2c_readAck();
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data.raw[0] = i2c_readNak();
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return data.val;
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}
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// read uncompensated temperature value: send command first
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void i2c_BMP085_UT_Start()
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{
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i2c_writeReg(BMP085_ADDRESS, 0xf4, 0x2e);
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i2c_rep_start(BMP085_ADDRESS + 0);
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i2c_write(0xF6);
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i2c_stop();
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}
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// read uncompensated pressure value: send command first
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void i2c_BMP085_UP_Start()
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{
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i2c_writeReg(BMP085_ADDRESS, 0xf4, 0x34 + (OSS << 6)); // control register value for oversampling setting 3
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i2c_rep_start(BMP085_ADDRESS + 0); //I2C write direction => 0
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i2c_write(0xF6);
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i2c_stop();
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}
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// read uncompensated pressure value: read result bytes
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// the datasheet suggests a delay of 25.5 ms (oversampling settings 3) after the send command
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void i2c_BMP085_UP_Read()
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{
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i2c_rep_start(BMP085_ADDRESS + 1); //I2C read direction => 1
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bmp085_ctx.up.raw[2] = i2c_readAck();
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bmp085_ctx.up.raw[1] = i2c_readAck();
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bmp085_ctx.up.raw[0] = i2c_readNak();
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}
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// read uncompensated temperature value: read result bytes
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// the datasheet suggests a delay of 4.5 ms after the send command
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void i2c_BMP085_UT_Read()
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{
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i2c_rep_start(BMP085_ADDRESS + 1); //I2C read direction => 1
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bmp085_ctx.ut.raw[1] = i2c_readAck();
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bmp085_ctx.ut.raw[0] = i2c_readNak();
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}
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|
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void i2c_BMP085_Calculate()
|
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{
|
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int32_t x1, x2, x3, b3, b5, b6, p, tmp;
|
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uint32_t b4, b7;
|
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// Temperature calculations
|
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x1 = ((int32_t) bmp085_ctx.ut.val - bmp085_ctx.ac6) * bmp085_ctx.ac5 >> 15;
|
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x2 = ((int32_t) bmp085_ctx.mc << 11) / (x1 + bmp085_ctx.md);
|
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b5 = x1 + x2;
|
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// Pressure calculations
|
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b6 = b5 - 4000;
|
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x1 = (bmp085_ctx.b2 * (b6 * b6 >> 12)) >> 11;
|
|
x2 = bmp085_ctx.ac2 * b6 >> 11;
|
|
x3 = x1 + x2;
|
|
tmp = bmp085_ctx.ac1;
|
|
tmp = (tmp * 4 + x3) << OSS;
|
|
b3 = (tmp + 2) / 4;
|
|
x1 = bmp085_ctx.ac3 * b6 >> 13;
|
|
x2 = (bmp085_ctx.b1 * (b6 * b6 >> 12)) >> 16;
|
|
x3 = ((x1 + x2) + 2) >> 2;
|
|
b4 = (bmp085_ctx.ac4 * (uint32_t) (x3 + 32768)) >> 15;
|
|
b7 = ((uint32_t) (bmp085_ctx.up.val >> (8 - OSS)) - b3) * (50000 >> OSS);
|
|
p = b7 < 0x80000000 ? (b7 * 2) / b4 : (b7 / b4) * 2;
|
|
x1 = (p >> 8) * (p >> 8);
|
|
x1 = (x1 * 3038) >> 16;
|
|
x2 = (-7357 * p) >> 16;
|
|
pressure = p + ((x1 + x2 + 3791) >> 4);
|
|
}
|
|
|
|
void Baro_update()
|
|
{
|
|
if (currentTime < bmp085_ctx.deadline)
|
|
return;
|
|
bmp085_ctx.deadline = currentTime;
|
|
TWBR = ((16000000L / 400000L) - 16) / 2; // change the I2C clock rate to 400kHz, BMP085 is ok with this speed
|
|
switch (bmp085_ctx.state) {
|
|
case 0:
|
|
i2c_BMP085_UT_Start();
|
|
bmp085_ctx.state++;
|
|
bmp085_ctx.deadline += 4600;
|
|
break;
|
|
case 1:
|
|
i2c_BMP085_UT_Read();
|
|
bmp085_ctx.state++;
|
|
break;
|
|
case 2:
|
|
i2c_BMP085_UP_Start();
|
|
bmp085_ctx.state++;
|
|
bmp085_ctx.deadline += 26000;
|
|
break;
|
|
case 3:
|
|
i2c_BMP085_UP_Read();
|
|
i2c_BMP085_Calculate();
|
|
BaroAlt = (1.0f - pow(pressure / 101325.0f, 0.190295f)) * 443300.0f; //decimeter
|
|
bmp085_ctx.state = 0;
|
|
bmp085_ctx.deadline += 20000;
|
|
break;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
// ************************************************************************************************************
|
|
// I2C Barometer MS561101BA
|
|
// ************************************************************************************************************
|
|
// first contribution from Fabio
|
|
// modification from Alex (September 2011)
|
|
//
|
|
// specs are here: http://www.meas-spec.com/downloads/MS5611-01BA03.pdf
|
|
// useful info on pages 7 -> 12
|
|
#if defined(MS561101BA)
|
|
|
|
// registers of the device
|
|
#define MS561101BA_PRESSURE 0x40
|
|
#define MS561101BA_TEMPERATURE 0x50
|
|
#define MS561101BA_RESET 0x1E
|
|
|
|
// OSR (Over Sampling Ratio) constants
|
|
#define MS561101BA_OSR_256 0x00
|
|
#define MS561101BA_OSR_512 0x02
|
|
#define MS561101BA_OSR_1024 0x04
|
|
#define MS561101BA_OSR_2048 0x06
|
|
#define MS561101BA_OSR_4096 0x08
|
|
|
|
#define OSR MS561101BA_OSR_4096
|
|
|
|
static struct {
|
|
// sensor registers from the MS561101BA datasheet
|
|
uint16_t c[7];
|
|
union {
|
|
uint32_t val;
|
|
uint8_t raw[4];
|
|
} ut; //uncompensated T
|
|
union {
|
|
uint32_t val;
|
|
uint8_t raw[4];
|
|
} up; //uncompensated P
|
|
uint8_t state;
|
|
uint32_t deadline;
|
|
} ms561101ba_ctx;
|
|
|
|
void i2c_MS561101BA_reset()
|
|
{
|
|
i2c_writeReg(MS561101BA_ADDRESS, MS561101BA_RESET, 0);
|
|
}
|
|
|
|
void i2c_MS561101BA_readCalibration()
|
|
{
|
|
union {
|
|
uint16_t val;
|
|
uint8_t raw[2];
|
|
} data;
|
|
delay(10);
|
|
for (uint8_t i = 0; i < 6; i++) {
|
|
i2c_rep_start(MS561101BA_ADDRESS + 0);
|
|
i2c_write(0xA2 + 2 * i);
|
|
i2c_rep_start(MS561101BA_ADDRESS + 1); //I2C read direction => 1
|
|
data.raw[1] = i2c_readAck(); // read a 16 bit register
|
|
data.raw[0] = i2c_readNak();
|
|
ms561101ba_ctx.c[i + 1] = data.val;
|
|
}
|
|
}
|
|
|
|
void Baro_init()
|
|
{
|
|
delay(10);
|
|
i2c_MS561101BA_reset();
|
|
delay(100);
|
|
i2c_MS561101BA_readCalibration();
|
|
}
|
|
|
|
// read uncompensated temperature value: send command first
|
|
void i2c_MS561101BA_UT_Start()
|
|
{
|
|
i2c_rep_start(MS561101BA_ADDRESS + 0); // I2C write direction
|
|
i2c_write(MS561101BA_TEMPERATURE + OSR); // register selection
|
|
i2c_stop();
|
|
}
|
|
|
|
// read uncompensated pressure value: send command first
|
|
void i2c_MS561101BA_UP_Start()
|
|
{
|
|
i2c_rep_start(MS561101BA_ADDRESS + 0); // I2C write direction
|
|
i2c_write(MS561101BA_PRESSURE + OSR); // register selection
|
|
i2c_stop();
|
|
}
|
|
|
|
// read uncompensated pressure value: read result bytes
|
|
void i2c_MS561101BA_UP_Read()
|
|
{
|
|
i2c_rep_start(MS561101BA_ADDRESS + 0);
|
|
i2c_write(0);
|
|
i2c_rep_start(MS561101BA_ADDRESS + 1);
|
|
ms561101ba_ctx.up.raw[2] = i2c_readAck();
|
|
ms561101ba_ctx.up.raw[1] = i2c_readAck();
|
|
ms561101ba_ctx.up.raw[0] = i2c_readNak();
|
|
}
|
|
|
|
// read uncompensated temperature value: read result bytes
|
|
void i2c_MS561101BA_UT_Read()
|
|
{
|
|
i2c_rep_start(MS561101BA_ADDRESS + 0);
|
|
i2c_write(0);
|
|
i2c_rep_start(MS561101BA_ADDRESS + 1);
|
|
ms561101ba_ctx.ut.raw[2] = i2c_readAck();
|
|
ms561101ba_ctx.ut.raw[1] = i2c_readAck();
|
|
ms561101ba_ctx.ut.raw[0] = i2c_readNak();
|
|
}
|
|
|
|
void i2c_MS561101BA_Calculate()
|
|
{
|
|
int64_t dT = ms561101ba_ctx.ut.val - ((uint32_t) ms561101ba_ctx.c[5] << 8); //int32_t according to the spec, but int64_t here to avoid cast after
|
|
int64_t off = ((uint32_t) ms561101ba_ctx.c[2] << 16) + ((dT * ms561101ba_ctx.c[4]) >> 7);
|
|
int64_t sens = ((uint32_t) ms561101ba_ctx.c[1] << 15) + ((dT * ms561101ba_ctx.c[3]) >> 8);
|
|
pressure = (((ms561101ba_ctx.up.val * sens) >> 21) - off) >> 15;
|
|
}
|
|
|
|
void Baro_update()
|
|
{
|
|
if (currentTime < ms561101ba_ctx.deadline)
|
|
return;
|
|
ms561101ba_ctx.deadline = currentTime;
|
|
TWBR = ((16000000L / 400000L) - 16) / 2; // change the I2C clock rate to 400kHz, MS5611 is ok with this speed
|
|
switch (ms561101ba_ctx.state) {
|
|
case 0:
|
|
i2c_MS561101BA_UT_Start();
|
|
ms561101ba_ctx.state++;
|
|
ms561101ba_ctx.deadline += 15000; //according to the specs, the pause should be at least 8.22ms
|
|
break;
|
|
case 1:
|
|
i2c_MS561101BA_UT_Read();
|
|
ms561101ba_ctx.state++;
|
|
break;
|
|
case 2:
|
|
i2c_MS561101BA_UP_Start();
|
|
ms561101ba_ctx.state++;
|
|
ms561101ba_ctx.deadline += 15000; //according to the specs, the pause should be at least 8.22ms
|
|
break;
|
|
case 3:
|
|
i2c_MS561101BA_UP_Read();
|
|
i2c_MS561101BA_Calculate();
|
|
BaroAlt = (1.0f - pow(pressure / 101325.0f, 0.190295f)) * 443300.0f; //decimeter
|
|
ms561101ba_ctx.state = 0;
|
|
ms561101ba_ctx.deadline += 35000;
|
|
break;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
|
|
// ************************************************************************************************************
|
|
// I2C Accelerometer ADXL345
|
|
// ************************************************************************************************************
|
|
// I2C adress: 0x3A (8bit) 0x1D (7bit)
|
|
// Resolution: 10bit (Full range - 14bit, but this is autoscaling 10bit ADC to the range +- 16g)
|
|
// principle:
|
|
// 1) CS PIN must be linked to VCC to select the I2C mode
|
|
// 2) SD0 PIN must be linked to VCC to select the right I2C adress
|
|
// 3) bit b00000100 must be set on register 0x2D to read data (only once at the initialization)
|
|
// 4) bits b00001011 must be set on register 0x31 to select the data format (only once at the initialization)
|
|
// ************************************************************************************************************
|
|
#if defined(ADXL345)
|
|
void ACC_init()
|
|
{
|
|
delay(10);
|
|
i2c_writeReg(ADXL345_ADDRESS, 0x2D, 1 << 3); // register: Power CTRL -- value: Set measure bit 3 on
|
|
i2c_writeReg(ADXL345_ADDRESS, 0x31, 0x0B); // register: DATA_FORMAT -- value: Set bits 3(full range) and 1 0 on (+/- 16g-range)
|
|
i2c_writeReg(ADXL345_ADDRESS, 0x2C, 0x09); // register: BW_RATE -- value: rate=50hz, bw=20hz
|
|
acc_1G = 256;
|
|
}
|
|
|
|
void ACC_getADC()
|
|
{
|
|
TWBR = ((16000000L / 400000L) - 16) / 2; // change the I2C clock rate to 400kHz, ADXL435 is ok with this speed
|
|
i2c_getSixRawADC(ADXL345_ADDRESS, 0x32);
|
|
|
|
ACC_ORIENTATION(-((rawADC[3] << 8) | rawADC[2]), ((rawADC[1] << 8) | rawADC[0]), ((rawADC[5] << 8) | rawADC[4]));
|
|
ACC_Common();
|
|
}
|
|
#endif
|
|
|
|
// ************************************************************************************************************
|
|
// contribution initially from opie11 (rc-groups)
|
|
// adaptation from C2po (may 2011)
|
|
// contribution from ziss_dm (June 2011)
|
|
// contribution from ToLuSe (Jully 2011)
|
|
// contribution from Alex (December 2011)
|
|
// I2C Accelerometer BMA180
|
|
// ************************************************************************************************************
|
|
// I2C adress: 0x80 (8bit) 0x40 (7bit) (SDO connection to VCC)
|
|
// I2C adress: 0x82 (8bit) 0x41 (7bit) (SDO connection to VDDIO)
|
|
// Resolution: 14bit
|
|
//
|
|
// Control registers:
|
|
//
|
|
// 0x20 bw_tcs: | bw<3:0> | tcs<3:0> |
|
|
// | 150Hz | xxxxxxxx |
|
|
// 0x30 tco_z: | tco_z<5:0> | mode_config<1:0> |
|
|
// | xxxxxxxxxx | 00 |
|
|
// 0x35 offset_lsb1: | offset_x<3:0> | range<2:0> | smp_skip |
|
|
// | xxxxxxxxxxxxx | 8G: 101 | xxxxxxxx |
|
|
// ************************************************************************************************************
|
|
#if defined(BMA180)
|
|
void ACC_init()
|
|
{
|
|
delay(10);
|
|
//default range 2G: 1G = 4096 unit.
|
|
i2c_writeReg(BMA180_ADDRESS, 0x0D, 1 << 4); // register: ctrl_reg0 -- value: set bit ee_w to 1 to enable writing
|
|
delay(5);
|
|
uint8_t control = i2c_readReg(BMA180_ADDRESS, 0x20);
|
|
control = control & 0x0F; // save tcs register
|
|
control = control | (0x01 << 4); // register: bw_tcs reg: bits 4-7 to set bw -- value: set low pass filter to 20Hz
|
|
i2c_writeReg(BMA180_ADDRESS, 0x20, control);
|
|
delay(5);
|
|
control = i2c_readReg(BMA180_ADDRESS, 0x30);
|
|
control = control & 0xFC; // save tco_z register
|
|
control = control | 0x00; // set mode_config to 0
|
|
i2c_writeReg(BMA180_ADDRESS, 0x30, control);
|
|
delay(5);
|
|
control = i2c_readReg(BMA180_ADDRESS, 0x35);
|
|
control = control & 0xF1; // save offset_x and smp_skip register
|
|
control = control | (0x05 << 1); // set range to 8G
|
|
i2c_writeReg(BMA180_ADDRESS, 0x35, control);
|
|
delay(5);
|
|
acc_1G = 255;
|
|
}
|
|
|
|
void ACC_getADC()
|
|
{
|
|
TWBR = ((16000000L / 400000L) - 16) / 2; // Optional line. Sensor is good for it in the spec.
|
|
i2c_getSixRawADC(BMA180_ADDRESS, 0x02);
|
|
//usefull info is on the 14 bits [2-15] bits /4 => [0-13] bits /4 => 12 bit resolution
|
|
ACC_ORIENTATION(-((rawADC[1] << 8) | rawADC[0]) / 16, -((rawADC[3] << 8) | rawADC[2]) / 16, ((rawADC[5] << 8) | rawADC[4]) / 16);
|
|
ACC_Common();
|
|
}
|
|
#endif
|
|
|
|
// ************************************************************************************************************
|
|
// contribution from Point65 and mgros (rc-groups)
|
|
// contribution from ziss_dm (June 2011)
|
|
// contribution from ToLuSe (Jully 2011)
|
|
// I2C Accelerometer BMA020
|
|
// ************************************************************************************************************
|
|
// I2C adress: 0x70 (8bit)
|
|
// Resolution: 10bit
|
|
// Control registers:
|
|
//
|
|
// Datasheet: After power on reset or soft reset it is recommended to set the SPI4-bit to the correct value.
|
|
// 0x80 = SPI four-wire = Default setting
|
|
// | 0x15: | SPI4 | enable_adv_INT | new_data_INT | latch_INT | shadow_dis | wake_up_pause<1:0> | wake_up |
|
|
// | | 1 | 0 | 0 | 0 | 0 | 00 | 0 |
|
|
//
|
|
// | 0x14: | reserved <2:0> | range <1:0> | bandwith <2:0> |
|
|
// | | !!Calibration!! | 2g | 25Hz |
|
|
//
|
|
// ************************************************************************************************************
|
|
#if defined(BMA020)
|
|
void ACC_init()
|
|
{
|
|
i2c_writeReg(0x70, 0x15, 0x80); // set SPI4 bit
|
|
uint8_t control = i2c_readReg(0x70, 0x14);
|
|
control = control & 0xE0; // save bits 7,6,5
|
|
control = control | (0x02 << 3); // Range 8G (10)
|
|
control = control | 0x00; // Bandwidth 25 Hz 000
|
|
i2c_writeReg(0x70, 0x14, control);
|
|
acc_1G = 63;
|
|
}
|
|
|
|
void ACC_getADC()
|
|
{
|
|
TWBR = ((16000000L / 400000L) - 16) / 2;
|
|
i2c_getSixRawADC(0x70, 0x02);
|
|
ACC_ORIENTATION(((rawADC[1] << 8) | rawADC[0]) / 64, ((rawADC[3] << 8) | rawADC[2]) / 64, ((rawADC[5] << 8) | rawADC[4]) / 64);
|
|
ACC_Common();
|
|
}
|
|
#endif
|
|
|
|
// ************************************************************************************************************
|
|
// standalone I2C Nunchuk
|
|
// ************************************************************************************************************
|
|
#if defined(NUNCHACK)
|
|
void ACC_init()
|
|
{
|
|
i2c_writeReg(0xA4, 0xF0, 0x55);
|
|
i2c_writeReg(0xA4, 0xFB, 0x00);
|
|
delay(250);
|
|
acc_1G = 200;
|
|
}
|
|
|
|
void ACC_getADC()
|
|
{
|
|
TWBR = ((16000000L / I2C_SPEED) - 16) / 2; // change the I2C clock rate. !! you must check if the nunchuk is ok with this freq
|
|
i2c_getSixRawADC(0xA4, 0x00);
|
|
|
|
ACC_ORIENTATION(((rawADC[3] << 2) + ((rawADC[5] >> 4) & 0x2)), -((rawADC[2] << 2) + ((rawADC[5] >> 3) & 0x2)), (((rawADC[4] & 0xFE) << 2) + ((rawADC[5] >> 5) & 0x6)));
|
|
ACC_Common();
|
|
}
|
|
#endif
|
|
|
|
// ************************************************************************
|
|
// LIS3LV02 I2C Accelerometer
|
|
//contribution from adver (http://multiwii.com/forum/viewtopic.php?f=8&t=451)
|
|
// ************************************************************************
|
|
#if defined(LIS3LV02)
|
|
#define LIS3A 0x3A // I2C adress: 0x3A (8bit)
|
|
|
|
void i2c_ACC_init()
|
|
{
|
|
i2c_writeReg(LIS3A, 0x20, 0xD7); // CTRL_REG1 1101 0111 Pwr on, 160Hz
|
|
i2c_writeReg(LIS3A, 0x21, 0x50); // CTRL_REG2 0100 0000 Littl endian, 12 Bit, Boot
|
|
acc_1G = 256;
|
|
}
|
|
|
|
void i2c_ACC_getADC()
|
|
{
|
|
TWBR = ((16000000L / 400000L) - 16) / 2; // change the I2C clock rate to 400kHz
|
|
i2c_getSixRawADC(LIS3A, 0x28 + 0x80);
|
|
ACC_ORIENTATION((rawADC[3] << 8 | rawADC[2]) / 4, -(rawADC[1] << 8 | rawADC[0]) / 4, -(rawADC[5] << 8 | rawADC[4]) / 4);
|
|
ACC_Common();
|
|
}
|
|
#endif
|
|
|
|
// ************************************************************************************************************
|
|
// I2C Accelerometer LSM303DLx
|
|
// contribution from wektorx (http://www.multiwii.com/forum/viewtopic.php?f=8&t=863)
|
|
// ************************************************************************************************************
|
|
#if defined(LSM303DLx_ACC)
|
|
void ACC_init()
|
|
{
|
|
delay(10);
|
|
i2c_writeReg(0x30, 0x20, 0x27);
|
|
i2c_writeReg(0x30, 0x23, 0x30);
|
|
i2c_writeReg(0x30, 0x21, 0x00);
|
|
|
|
acc_1G = 256;
|
|
}
|
|
|
|
void ACC_getADC()
|
|
{
|
|
TWBR = ((16000000L / 400000L) - 16) / 2;
|
|
i2c_getSixRawADC(0x30, 0xA8);
|
|
|
|
ACC_ORIENTATION(-((rawADC[3] << 8) | rawADC[2]) / 16, ((rawADC[1] << 8) | rawADC[0]) / 16, ((rawADC[5] << 8) | rawADC[4]) / 16);
|
|
ACC_Common();
|
|
}
|
|
#endif
|
|
|
|
// ************************************************************************************************************
|
|
// ADC ACC
|
|
// ************************************************************************************************************
|
|
#if defined(ADCACC)
|
|
void ACC_init()
|
|
{
|
|
pinMode(A1, INPUT);
|
|
pinMode(A2, INPUT);
|
|
pinMode(A3, INPUT);
|
|
acc_1G = 75;
|
|
}
|
|
|
|
void ACC_getADC()
|
|
{
|
|
ACC_ORIENTATION(-analogRead(A1), -analogRead(A2), analogRead(A3));
|
|
ACC_Common();
|
|
}
|
|
#endif
|
|
|
|
// ************************************************************************************************************
|
|
// contribution from Ciskje
|
|
// I2C Gyroscope L3G4200D
|
|
// ************************************************************************************************************
|
|
#if defined(L3G4200D)
|
|
void Gyro_init()
|
|
{
|
|
delay(100);
|
|
i2c_writeReg(0XD2 + 0, 0x20, 0x8F); // CTRL_REG1 400Hz ODR, 20hz filter, run!
|
|
delay(5);
|
|
i2c_writeReg(0XD2 + 0, 0x24, 0x02); // CTRL_REG5 low pass filter enable
|
|
}
|
|
|
|
void Gyro_getADC()
|
|
{
|
|
TWBR = ((16000000L / 400000L) - 16) / 2; // change the I2C clock rate to 400kHz
|
|
i2c_getSixRawADC(0XD2, 0x80 | 0x28);
|
|
|
|
GYRO_ORIENTATION(((rawADC[1] << 8) | rawADC[0]) / 20, ((rawADC[3] << 8) | rawADC[2]) / 20, -((rawADC[5] << 8) | rawADC[4]) / 20);
|
|
GYRO_Common();
|
|
}
|
|
#endif
|
|
|
|
// ************************************************************************************************************
|
|
// I2C Gyroscope ITG3200
|
|
// ************************************************************************************************************
|
|
// I2C adress: 0xD2 (8bit) 0x69 (7bit)
|
|
// I2C adress: 0xD0 (8bit) 0x68 (7bit)
|
|
// principle:
|
|
// 1) VIO is connected to VDD
|
|
// 2) I2C adress is set to 0x69 (AD0 PIN connected to VDD)
|
|
// or 2) I2C adress is set to 0x68 (AD0 PIN connected to GND)
|
|
// 3) sample rate = 1000Hz ( 1kHz/(div+1) )
|
|
// ************************************************************************************************************
|
|
#if defined(ITG3200)
|
|
void Gyro_init()
|
|
{
|
|
delay(100);
|
|
i2c_writeReg(ITG3200_ADDRESS, 0x3E, 0x80); //register: Power Management -- value: reset device
|
|
// delay(5);
|
|
// i2c_writeReg(ITG3200_ADDRESS, 0x15, ITG3200_SMPLRT_DIV); //register: Sample Rate Divider -- default value = 0: OK
|
|
delay(5);
|
|
i2c_writeReg(ITG3200_ADDRESS, 0x16, 0x18 + ITG3200_DLPF_CFG); //register: DLPF_CFG - low pass filter configuration
|
|
delay(5);
|
|
i2c_writeReg(ITG3200_ADDRESS, 0x3E, 0x03); //register: Power Management -- value: PLL with Z Gyro reference
|
|
delay(100);
|
|
}
|
|
|
|
void Gyro_getADC()
|
|
{
|
|
TWBR = ((16000000L / 400000L) - 16) / 2; // change the I2C clock rate to 400kHz
|
|
i2c_getSixRawADC(ITG3200_ADDRESS, 0X1D);
|
|
GYRO_ORIENTATION(+(((rawADC[2] << 8) | rawADC[3]) / 4), // range: +/- 8192; +/- 2000 deg/sec
|
|
-(((rawADC[0] << 8) | rawADC[1]) / 4), -(((rawADC[4] << 8) | rawADC[5]) / 4));
|
|
GYRO_Common();
|
|
}
|
|
#endif
|
|
|
|
|
|
// ************************************************************************************************************
|
|
// I2C Compass common function
|
|
// ************************************************************************************************************
|
|
#if MAG
|
|
static float magCal[3] = { 1.0, 1.0, 1.0 }; // gain for each axis, populated at sensor init
|
|
static uint8_t magInit = 0;
|
|
|
|
void Mag_getADC()
|
|
{
|
|
static uint32_t t, tCal = 0;
|
|
static int16_t magZeroTempMin[3];
|
|
static int16_t magZeroTempMax[3];
|
|
uint8_t axis;
|
|
if (currentTime < t)
|
|
return; //each read is spaced by 100ms
|
|
t = currentTime + 100000;
|
|
TWBR = ((16000000L / 400000L) - 16) / 2; // change the I2C clock rate to 400kHz
|
|
Device_Mag_getADC();
|
|
if (calibratingM == 1) {
|
|
tCal = t;
|
|
for (axis = 0; axis < 3; axis++) {
|
|
magZero[axis] = 0;
|
|
magZeroTempMin[axis] = 0;
|
|
magZeroTempMax[axis] = 0;
|
|
}
|
|
calibratingM = 0;
|
|
}
|
|
magADC[ROLL] = magADC[ROLL] * magCal[ROLL];
|
|
magADC[PITCH] = magADC[PITCH] * magCal[PITCH];
|
|
magADC[YAW] = magADC[YAW] * magCal[YAW];
|
|
if (magInit) { // we apply offset only once mag calibration is done
|
|
magADC[ROLL] -= magZero[ROLL];
|
|
magADC[PITCH] -= magZero[PITCH];
|
|
magADC[YAW] -= magZero[YAW];
|
|
}
|
|
|
|
if (tCal != 0) {
|
|
if ((t - tCal) < 30000000) { // 30s: you have 30s to turn the multi in all directions
|
|
LEDPIN_TOGGLE;
|
|
for (axis = 0; axis < 3; axis++) {
|
|
if (magADC[axis] < magZeroTempMin[axis])
|
|
magZeroTempMin[axis] = magADC[axis];
|
|
if (magADC[axis] > magZeroTempMax[axis])
|
|
magZeroTempMax[axis] = magADC[axis];
|
|
}
|
|
} else {
|
|
tCal = 0;
|
|
for (axis = 0; axis < 3; axis++)
|
|
magZero[axis] = (magZeroTempMin[axis] + magZeroTempMax[axis]) / 2;
|
|
writeParams();
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
// ************************************************************************************************************
|
|
// I2C Compass HMC5843 & HMC5883
|
|
// ************************************************************************************************************
|
|
// I2C adress: 0x3C (8bit) 0x1E (7bit)
|
|
// ************************************************************************************************************
|
|
#if defined(HMC5843) || defined(HMC5883)
|
|
#define MAG_ADDRESS 0x3C
|
|
#define MAG_DATA_REGISTER 0x03
|
|
|
|
void Mag_init()
|
|
{
|
|
delay(100);
|
|
// force positiveBias
|
|
i2c_writeReg(MAG_ADDRESS, 0x00, 0x71); //Configuration Register A -- 0 11 100 01 num samples: 8 ; output rate: 15Hz ; positive bias
|
|
delay(50);
|
|
// set gains for calibration
|
|
i2c_writeReg(MAG_ADDRESS, 0x01, 0x60); //Configuration Register B -- 011 00000 configuration gain 2.5Ga
|
|
i2c_writeReg(MAG_ADDRESS, 0x02, 0x01); //Mode register -- 000000 01 single Conversion Mode
|
|
|
|
// read values from the compass - self test operation
|
|
// by placing the mode register into single-measurement mode (0x01), two data acquisition cycles will be made on each magnetic vector.
|
|
// The first acquisition values will be subtracted from the second acquisition, and the net measurement will be placed into the data output registers
|
|
delay(100);
|
|
getADC();
|
|
delay(10);
|
|
magCal[ROLL] = 1000.0 / magADC[ROLL];
|
|
magCal[PITCH] = 1000.0 / magADC[PITCH];
|
|
magCal[YAW] = -1000.0 / magADC[YAW];
|
|
|
|
// leave test mode
|
|
i2c_writeReg(MAG_ADDRESS, 0x00, 0x70); //Configuration Register A -- 0 11 100 00 num samples: 8 ; output rate: 15Hz ; normal measurement mode
|
|
i2c_writeReg(MAG_ADDRESS, 0x01, 0x20); //Configuration Register B -- 001 00000 configuration gain 1.3Ga
|
|
i2c_writeReg(MAG_ADDRESS, 0x02, 0x00); //Mode register -- 000000 00 continuous Conversion Mode
|
|
|
|
magInit = 1;
|
|
}
|
|
|
|
void getADC()
|
|
{
|
|
i2c_getSixRawADC(MAG_ADDRESS, MAG_DATA_REGISTER);
|
|
#if defined(HMC5843)
|
|
MAG_ORIENTATION(((rawADC[0] << 8) | rawADC[1]), ((rawADC[2] << 8) | rawADC[3]), -((rawADC[4] << 8) | rawADC[5]));
|
|
#endif
|
|
#if defined (HMC5883)
|
|
MAG_ORIENTATION(((rawADC[4] << 8) | rawADC[5]), -((rawADC[0] << 8) | rawADC[1]), -((rawADC[2] << 8) | rawADC[3]));
|
|
#endif
|
|
}
|
|
|
|
#if not defined(MPU6050_EN_I2C_BYPASS)
|
|
void Device_Mag_getADC()
|
|
{
|
|
getADC();
|
|
}
|
|
#endif
|
|
#endif
|
|
|
|
// ************************************************************************************************************
|
|
// I2C Compass AK8975 (Contribution by EOSBandi)
|
|
// ************************************************************************************************************
|
|
// I2C adress: 0x18 (8bit) 0x0C (7bit)
|
|
// ************************************************************************************************************
|
|
#if defined(AK8975)
|
|
#define MAG_ADDRESS 0x18
|
|
#define MAG_DATA_REGISTER 0x03
|
|
|
|
void Mag_init()
|
|
{
|
|
delay(100);
|
|
i2c_writeReg(MAG_ADDRESS, 0x0a, 0x01); //Start the first conversion
|
|
delay(100);
|
|
magInit = 1;
|
|
}
|
|
|
|
#if not defined(MPU6050_EN_I2C_BYPASS)
|
|
void Device_Mag_getADC()
|
|
{
|
|
i2c_getSixRawADC(MAG_ADDRESS, MAG_DATA_REGISTER);
|
|
MAG_ORIENTATION(((rawADC[3] << 8) | rawADC[2]), ((rawADC[1] << 8) | rawADC[0]), -((rawADC[5] << 8) | rawADC[4]));
|
|
//Start another meassurement
|
|
i2c_writeReg(MAG_ADDRESS, 0x0a, 0x01);
|
|
}
|
|
#endif
|
|
#endif
|
|
|
|
// ************************************************************************************************************
|
|
// I2C Gyroscope and Accelerometer MPU6050
|
|
// ************************************************************************************************************
|
|
#if defined(MPU6050)
|
|
|
|
void Gyro_init()
|
|
{
|
|
TWBR = ((16000000L / 400000L) - 16) / 2; // change the I2C clock rate to 400kHz
|
|
i2c_writeReg(MPU6050_ADDRESS, 0x6B, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
|
|
delay(5);
|
|
i2c_writeReg(MPU6050_ADDRESS, 0x19, 0x00); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
|
|
i2c_writeReg(MPU6050_ADDRESS, 0x1A, MPU6050_DLPF_CFG); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
|
|
i2c_writeReg(MPU6050_ADDRESS, 0x6B, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
|
|
i2c_writeReg(MPU6050_ADDRESS, 0x1B, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
|
|
// enable I2C bypass for AUX I2C
|
|
#if defined(MAG)
|
|
i2c_writeReg(MPU6050_ADDRESS, 0x6A, 0x00); //USER_CTRL -- DMP_EN=0 ; FIFO_EN=0 ; I2C_MST_EN=0 (I2C bypass mode) ; I2C_IF_DIS=0 ; FIFO_RESET=0 ; I2C_MST_RESET=0 ; SIG_COND_RESET=0
|
|
i2c_writeReg(MPU6050_ADDRESS, 0x37, 0x02); //INT_PIN_CFG -- INT_LEVEL=0 ; INT_OPEN=0 ; LATCH_INT_EN=0 ; INT_RD_CLEAR=0 ; FSYNC_INT_LEVEL=0 ; FSYNC_INT_EN=0 ; I2C_BYPASS_EN=1 ; CLKOUT_EN=0
|
|
#endif
|
|
}
|
|
|
|
void Gyro_getADC()
|
|
{
|
|
i2c_getSixRawADC(MPU6050_ADDRESS, 0x43);
|
|
GYRO_ORIENTATION(+(((rawADC[2] << 8) | rawADC[3]) / 4), // range: +/- 8192; +/- 2000 deg/sec
|
|
-(((rawADC[0] << 8) | rawADC[1]) / 4), -(((rawADC[4] << 8) | rawADC[5]) / 4));
|
|
GYRO_Common();
|
|
}
|
|
|
|
void ACC_init()
|
|
{
|
|
i2c_writeReg(MPU6050_ADDRESS, 0x1C, 0x10); //ACCEL_CONFIG -- AFS_SEL=2 (Full Scale = +/-8G) ; ACCELL_HPF=0 //note something is wrong in the spec.
|
|
//note: something seems to be wrong in the spec here. With AFS=2 1G = 4096 but according to my measurement: 1G=2048 (and 2048/8 = 256)
|
|
//confirmed here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1080&start=10#p7480
|
|
acc_1G = 255;
|
|
|
|
#if defined(MPU6050_EN_I2C_BYPASS)
|
|
//at this stage, the MAG is configured via the original MAG init function in I2C bypass mode
|
|
//now we configure MPU as a I2C Master device to handle the MAG via the I2C AUX port (done here for HMC5883)
|
|
i2c_writeReg(MPU6050_ADDRESS, 0x6A, 0 b00100000); //USER_CTRL -- DMP_EN=0 ; FIFO_EN=0 ; I2C_MST_EN=1 (I2C master mode) ; I2C_IF_DIS=0 ; FIFO_RESET=0 ; I2C_MST_RESET=0 ; SIG_COND_RESET=0
|
|
i2c_writeReg(MPU6050_ADDRESS, 0x37, 0x00); //INT_PIN_CFG -- INT_LEVEL=0 ; INT_OPEN=0 ; LATCH_INT_EN=0 ; INT_RD_CLEAR=0 ; FSYNC_INT_LEVEL=0 ; FSYNC_INT_EN=0 ; I2C_BYPASS_EN=0 ; CLKOUT_EN=0
|
|
i2c_writeReg(MPU6050_ADDRESS, 0x24, 0x0D); //I2C_MST_CTRL -- MULT_MST_EN=0 ; WAIT_FOR_ES=0 ; SLV_3_FIFO_EN=0 ; I2C_MST_P_NSR=0 ; I2C_MST_CLK=13 (I2C slave speed bus = 400kHz)
|
|
i2c_writeReg(MPU6050_ADDRESS, 0x25, 0x80 | (MAG_ADDRESS >> 1)); //I2C_SLV0_ADDR -- I2C_SLV4_RW=1 (read operation) ; I2C_SLV4_ADDR=MAG_ADDRESS
|
|
i2c_writeReg(MPU6050_ADDRESS, 0x26, MAG_DATA_REGISTER); //I2C_SLV0_REG -- 6 data bytes of MAG are stored in 6 registers. First register address is MAG_DATA_REGISTER
|
|
i2c_writeReg(MPU6050_ADDRESS, 0x27, 0x86); //I2C_SLV0_CTRL -- I2C_SLV0_EN=1 ; I2C_SLV0_BYTE_SW=0 ; I2C_SLV0_REG_DIS=0 ; I2C_SLV0_GRP=0 ; I2C_SLV0_LEN=3 (3x2 bytes)
|
|
#endif
|
|
}
|
|
|
|
void ACC_getADC()
|
|
{
|
|
i2c_getSixRawADC(MPU6050_ADDRESS, 0x3B);
|
|
ACC_ORIENTATION(-((rawADC[0] << 8) | rawADC[1]) / 8, -((rawADC[2] << 8) | rawADC[3]) / 8, ((rawADC[4] << 8) | rawADC[5]) / 8);
|
|
ACC_Common();
|
|
}
|
|
|
|
//The MAG acquisition function must be replaced because we now talk to the MPU device
|
|
#if defined(MPU6050_EN_I2C_BYPASS)
|
|
void Device_Mag_getADC()
|
|
{
|
|
i2c_getSixRawADC(MPU6050_ADDRESS, 0x49); //0x49 is the first memory room for EXT_SENS_DATA
|
|
#if defined(HMC5843)
|
|
MAG_ORIENTATION(((rawADC[0] << 8) | rawADC[1]), ((rawADC[2] << 8) | rawADC[3]), -((rawADC[4] << 8) | rawADC[5]));
|
|
#endif
|
|
#if defined (HMC5883)
|
|
MAG_ORIENTATION(((rawADC[4] << 8) | rawADC[5]), -((rawADC[0] << 8) | rawADC[1]), -((rawADC[2] << 8) | rawADC[3]));
|
|
#endif
|
|
#if defined (AK8975)
|
|
MAG_ORIENTATION(((rawADC[3] << 8) | rawADC[2]), ((rawADC[1] << 8) | rawADC[0]), -((rawADC[5] << 8) | rawADC[4]));
|
|
#endif
|
|
}
|
|
#endif
|
|
#endif
|
|
|
|
#if !GYRO
|
|
// ************************************************************************************************************
|
|
// I2C Wii Motion Plus + optional Nunchuk
|
|
// ************************************************************************************************************
|
|
// I2C adress 1: 0xA6 (8bit) 0x53 (7bit)
|
|
// I2C adress 2: 0xA4 (8bit) 0x52 (7bit)
|
|
// ************************************************************************************************************
|
|
void WMP_init()
|
|
{
|
|
delay(250);
|
|
i2c_writeReg(0xA6, 0xF0, 0x55); // Initialize Extension
|
|
delay(250);
|
|
i2c_writeReg(0xA6, 0xFE, 0x05); // Activate Nunchuck pass-through mode
|
|
delay(250);
|
|
|
|
// We need to set acc_1G for the Nunchuk beforehand; It's used in WMP_getRawADC() and ACC_Common()
|
|
// If a different accelerometer is used, it will be overwritten by its ACC_init() later.
|
|
acc_1G = 200;
|
|
acc_25deg = acc_1G * 0.423;
|
|
uint8_t numberAccRead = 0;
|
|
// Read from WMP 100 times, this should return alternating WMP and Nunchuk data
|
|
for (uint8_t i = 0; i < 100; i++) {
|
|
delay(4);
|
|
if (WMP_getRawADC() == 0)
|
|
numberAccRead++; // Count number of times we read from the Nunchuk extension
|
|
}
|
|
// If we got at least 25 Nunchuck reads, we assume the Nunchuk is present
|
|
if (numberAccRead > 25)
|
|
nunchuk = 1;
|
|
delay(10);
|
|
}
|
|
|
|
uint8_t WMP_getRawADC()
|
|
{
|
|
uint8_t axis;
|
|
TWBR = ((16000000L / I2C_SPEED) - 16) / 2; // change the I2C clock rate
|
|
i2c_getSixRawADC(0xA4, 0x00);
|
|
|
|
if (micros() < (neutralizeTime + NEUTRALIZE_DELAY)) { //we neutralize data in case of blocking+hard reset state
|
|
for (axis = 0; axis < 3; axis++) {
|
|
gyroADC[axis] = 0;
|
|
accADC[axis] = 0;
|
|
}
|
|
accADC[YAW] = acc_1G;
|
|
return 1;
|
|
}
|
|
// Wii Motion Plus Data
|
|
if ((rawADC[5] & 0x03) == 0x02) {
|
|
// Assemble 14bit data
|
|
gyroADC[ROLL] = -(((rawADC[5] >> 2) << 8) | rawADC[2]); //range: +/- 8192
|
|
gyroADC[PITCH] = -(((rawADC[4] >> 2) << 8) | rawADC[1]);
|
|
gyroADC[YAW] = -(((rawADC[3] >> 2) << 8) | rawADC[0]);
|
|
GYRO_Common();
|
|
// Check if slow bit is set and normalize to fast mode range
|
|
gyroADC[ROLL] = (rawADC[3] & 0x01) ? gyroADC[ROLL] / 5 : gyroADC[ROLL]; //the ratio 1/5 is not exactly the IDG600 or ISZ650 specification
|
|
gyroADC[PITCH] = (rawADC[4] & 0x02) >> 1 ? gyroADC[PITCH] / 5 : gyroADC[PITCH]; //we detect here the slow of fast mode WMP gyros values (see wiibrew for more details)
|
|
gyroADC[YAW] = (rawADC[3] & 0x02) >> 1 ? gyroADC[YAW] / 5 : gyroADC[YAW]; // this step must be done after zero compensation
|
|
return 1;
|
|
} else if ((rawADC[5] & 0x03) == 0x00) { // Nunchuk Data
|
|
ACC_ORIENTATION(((rawADC[3] << 2) | ((rawADC[5] >> 4) & 0x02)), -((rawADC[2] << 2) | ((rawADC[5] >> 3) & 0x02)), (((rawADC[4] >> 1) << 3) | ((rawADC[5] >> 5) & 0x06)));
|
|
ACC_Common();
|
|
return 0;
|
|
} else
|
|
return 2;
|
|
}
|
|
#endif
|
|
|
|
void initSensors()
|
|
{
|
|
delay(200);
|
|
POWERPIN_ON;
|
|
delay(100);
|
|
i2c_init();
|
|
delay(100);
|
|
if (GYRO)
|
|
Gyro_init();
|
|
else
|
|
WMP_init();
|
|
if (BARO)
|
|
Baro_init();
|
|
if (MAG)
|
|
Mag_init();
|
|
if (ACC) {
|
|
ACC_init();
|
|
acc_25deg = acc_1G * 0.423;
|
|
}
|
|
}
|