STM32F103C8驱动MPU6050姿态与tofsense报警（四）

通过上面mpu6050.c文件配置好数据下面通过两个文件获取欧拉角u8 mpu_dmp_get_data(float *pitch,float *roll,float *yaw)主要原理是利用mpu自带的dmp库实现 (具体是inv_mpu.h与inv_mpu.c实现）这两自文件主要是mpu6050公司提供的，不过公司针对采用MSP430的驱动(移植到STM32F1)

/*
$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_mpu_dmp_motion_driver.h"
#include "mpu6050.h"
#include "delay.h"
#include "usart.h"

#define MPU6050 //定义我们使用的传感器为MPU6050
#define MOTION_DRIVER_TARGET_MSP430 //定义驱动部分,采用MSP430的驱动(移植到STM32F1)

/* 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 MPU_Write_Len
#define i2c_read MPU_Read_Len
#define delay_ms delay_ms
#define get_ms mget_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 printf //打印信息
#define log_e printf //打印信息
/* labs is already defined by TI's toolchain. */
/* fabs is for doubles. fabsf is for floats. */
#define fabs fabsf
#define min(a,b) ((a #elif defined EMPL_TARGET_MSP430
#include "msp430.h"
#include "msp430_i2c.h"
#include "msp430_clock.h"
#include "msp430_interrupt.h"
#include "log.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 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) ((a #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 "twi.h"
#include "delay.h"
#include "sysclk.h"
#include "log.h"
#include "sensors_xplained.h"
#include "uc3l0_clock.h"
#define i2c_write(a, b, c, d) twi_write(a, b, d, c)
#define i2c_read(a, b, c, d) twi_read(a, b, d, c)
/* delay_ms is a function already defined in ASF. */
#define get_ms uc3l0_get_clock_ms
static inline int reg_int_cb(struct int_param_s *int_param)
{
sensor_board_irq_connect(int_param->pin, 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
#error Gyro driver is missing the system layer implementations.
#endif

#if !defined MPU6050 && !defined MPU9150 && !defined MPU6500 && !defined MPU9250
#error Which gyro are you using? Define MPUxxxx in your compiler options.
#endif

/* Time for some messy macro work. =]
* #define MPU9150
* is equivalent to..
* #define MPU6050
* #define AK8975_SECONDARY
*
* #define MPU9250
* is equivalent to..
* #define MPU6500
* #define AK8963_SECONDARY
*/
#if defined MPU9150
#ifndef MPU6050
#define MPU6050
#endif /* #ifndef MPU6050 */
#if defined AK8963_SECONDARY
#error "MPU9150 and AK8963_SECONDARY cannot both be defined."
#elif !defined AK8975_SECONDARY /* #if defined AK8963_SECONDARY */
#define AK8975_SECONDARY
#endif /* #if defined AK8963_SECONDARY */
#elif defined MPU9250 /* #if defined MPU9150 */
#ifndef MPU6500
#define MPU6500
#endif /* #ifndef MPU6500 */
#if defined AK8975_SECONDARY
#error "MPU9250 and AK8975_SECONDARY cannot both be defined."
#elif !defined AK8963_SECONDARY /* #if defined AK8975_SECONDARY */
#define AK8963_SECONDARY
#endif /* #if defined AK8975_SECONDARY */
#endif /* #if defined MPU9150 */

#if defined AK8975_SECONDARY || defined AK8963_SECONDARY
#define AK89xx_SECONDARY
#else
/* #warning "No compass = less profit for Invensense. Lame." */
#endif

static int set_int_enable(unsigned char enable);

/* Hardware registers needed by driver. */
struct gyro_reg_s {
unsigned char who_am_i;
unsigned char rate_div;
unsigned char lpf;
unsigned char prod_id;
unsigned char user_ctrl;
unsigned char fifo_en;
unsigned char gyro_cfg;
unsigned char accel_cfg;
// unsigned char accel_cfg2;
// unsigned char lp_accel_odr;
unsigned char motion_thr;
unsigned char motion_dur;
unsigned char fifo_count_h;
unsigned char fifo_r_w;
unsigned char raw_gyro;
unsigned char raw_accel;
unsigned char temp;
unsigned char int_enable;
unsigned char dmp_int_status;
unsigned char int_status;
// unsigned char accel_intel;
unsigned char pwr_mgmt_1;
unsigned char pwr_mgmt_2;
unsigned char int_pin_cfg;
unsigned char mem_r_w;
unsigned char accel_offs;
unsigned char i2c_mst;
unsigned char bank_sel;
unsigned char mem_start_addr;
unsigned char prgm_start_h;
#if defined AK89xx_SECONDARY
unsigned char s0_addr;
unsigned char s0_reg;
unsigned char s0_ctrl;
unsigned char s1_addr;
unsigned char s1_reg;
unsigned char s1_ctrl;
unsigned char s4_ctrl;
unsigned char s0_do;
unsigned char s1_do;
unsigned char i2c_delay_ctrl;
unsigned char raw_compass;
/* The I2C_MST_VDDIO bit is in this register. */
unsigned char yg_offs_tc;
#endif
};

/* Information specific to a particular device. */
struct hw_s {
unsigned char addr;
unsigned short max_fifo;
unsigned char num_reg;
unsigned short temp_sens;
short temp_offset;
unsigned short bank_size;
#if defined AK89xx_SECONDARY
unsigned short compass_fsr;
#endif
};

/* When entering motion interrupt mode, the driver keeps track of the
* previous state so that it can be restored at a later time.
* TODO: This is tacky. Fix it.
*/
struct motion_int_cache_s {
unsigned short gyro_fsr;
unsigned char accel_fsr;
unsigned short lpf;
unsigned short sample_rate;
unsigned char sensors_on;
unsigned char fifo_sensors;
unsigned char dmp_on;
};

/* Cached chip configuration data.
* TODO: A lot of these can be handled with a bitmask.
*/
struct chip_cfg_s {
/* Matches gyro_cfg >> 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 gyro_reg_s reg = {
0x75, //who_am_i
0x19, //rate_div
0x1A, //lpf
0x0C, //prod_id
0x6A, //user_ctrl
0x23, //fifo_en
0x1B, //gyro_cfg
0x1C, //accel_cfg
0x1F, // motion_thr
0x20, // motion_dur
0x72, // fifo_count_h
0x74, // fifo_r_w
0x43, // raw_gyro
0x3B, // raw_accel
0x41, // temp
0x38, // int_enable
0x39, // dmp_int_status
0x3A, // int_status
0x6B, // pwr_mgmt_1
0x6C, // pwr_mgmt_2
0x37, // int_pin_cfg
0x6F, // mem_r_w
0x06, // accel_offs
0x24, // i2c_mst
0x6D, // bank_sel
0x6E, // mem_start_addr
0x70 // prgm_start_h
};

//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 hw_s hw={
0x68,   //addr
1024,   //max_fifo
118,   //num_reg
340,   //temp_sens
-521,   //temp_offset
256   //bank_size
};

//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
//};
const struct test_s test={
32768/250,       //gyro_sens
32768/16,       //   accel_sens
0,               //   reg_rate_div
1,               //   reg_lpf
0,               //   reg_gyro_fsr
0x18,           //   reg_accel_fsr
50,               //   wait_ms
5,               //   packet_thresh
10.0f,           //   min_dps
105.0f,           //   max_dps
0.14f,           //   max_gyro_var
0.3f,       //   min_g
0.95f,       //   max_g
0.14f       //   max_accel_var
};

//static struct gyro_state_s st = {
// .reg = ®,
// .hw = &hw,
// .test = &test
//};
static struct gyro_state_s st={
®,
&hw,
{0},
&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(void)
{
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;
}
//
//添加的代码部分
//
//本程序只供学习使用，未经作者许可，不得用于其它任何用途
//ALIENTEK精英STM32开发板V3
//MPU6050 DMP 驱动代码
//正点原子@ALIENTEK
//技术论坛:www.openedv.com
//创建日期:2015/1/17
//版本：V1.0
//版权所有，盗版必究。
//Copyright(C) 广州市星翼电子科技有限公司 2009-2019
//All rights reserved
//

//q30格式,long转float时的除数.
#define q30 1073741824.0f

//陀螺仪方向设置
static signed char gyro_orientation[9] = { 1, 0, 0,
0, 1, 0,
0, 0, 1};
//MPU6050自测试
//返回值:0,正常
// 其他,失败
u8 run_self_test(void)
{
   int result;
   //char test_packet[4] = {0};
   long gyro[3], accel[3];
   result = mpu_run_self_test(gyro, accel);
   if (result == 0x3)
   {
       /* Test passed. We can trust the gyro data here, so let's push it down
       * to the DMP.
       */
       float sens;
       unsigned short accel_sens;
       mpu_get_gyro_sens(&sens);
       gyro[0] = (long)(gyro[0] * sens);
       gyro[1] = (long)(gyro[1] * sens);
       gyro[2] = (long)(gyro[2] * sens);
       dmp_set_gyro_bias(gyro);
       mpu_get_accel_sens(&accel_sens);
       accel[0] *= accel_sens;
       accel[1] *= accel_sens;
       accel[2] *= accel_sens;
       dmp_set_accel_bias(accel);
       return 0;
   }else return 1;
}
//陀螺仪方向控制
unsigned short inv_orientation_matrix_to_scalar(
const signed char *mtx)
{
unsigned short scalar;
/*
XYZ 010_001_000 Identity Matrix
XZY 001_010_000
YXZ 010_000_001
YZX 000_010_001
ZXY 001_000_010
ZYX 000_001_010
*/

scalar = inv_row_2_scale(mtx);
scalar |= inv_row_2_scale(mtx + 3) << 3;
scalar |= inv_row_2_scale(mtx + 6) << 6;

return scalar;
}
//方向转换
unsigned short inv_row_2_scale(const signed char *row)
{
unsigned short b;

if (row[0] > 0)
b = 0;
else if (row[0] < 0)
b = 4;
else if (row[1] > 0)
b = 1;
else if (row[1] < 0)
b = 5;
else if (row[2] > 0)
b = 2;
else if (row[2] < 0)
b = 6;
else
b = 7; // error
return b;
}
//空函数,未用到.
void mget_ms(unsigned long *time)
{

}
//mpu6050,dmp初始化
//返回值:0,正常
// 其他,失败
u8 mpu_dmp_init(void)
{
   u8 res=0;
   MPU_IIC_Init();    //初始化IIC总线
   if(mpu_init()==0)   //初始化MPU6050
   {
       res=mpu_set_sensors(INV_XYZ_GYRO|INV_XYZ_ACCEL);//设置所需要的传感器
       if(res)return 1;
       res=mpu_configure_fifo(INV_XYZ_GYRO|INV_XYZ_ACCEL);//设置FIFO
       if(res)return 2;
       res=mpu_set_sample_rate(DEFAULT_MPU_HZ);   //设置采样率
       if(res)return 3;
       res=dmp_load_motion_driver_firmware();       //加载dmp固件
       if(res)return 4;
       res=dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation));//设置陀螺仪方向
       if(res)return 5;
       res=dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT|DMP_FEATURE_TAP|   //设置dmp功能
       DMP_FEATURE_ANDROID_ORIENT|DMP_FEATURE_SEND_RAW_ACCEL|DMP_FEATURE_SEND_CAL_GYRO|
       DMP_FEATURE_GYRO_CAL);
       if(res)return 6;
       res=dmp_set_fifo_rate(DEFAULT_MPU_HZ);   //设置DMP输出速率(最大不超过200Hz)
       if(res)return 7;
       res=run_self_test();       //自检
       if(res)return 8;
       res=mpu_set_dmp_state(1);   //使能DMP
       if(res)return 9;
   }else return 10;
   return 0;
}
//得到dmp处理后的数据(注意,本函数需要比较多堆栈,局部变量有点多)
//pitch:俯仰角精度:0.1° 范围:-90.0° <---> +90.0°
//roll:横滚角精度:0.1° 范围:-180.0°<---> +180.0°
//yaw:航向角精度:0.1° 范围:-180.0°<---> +180.0°
//返回值:0,正常
// 其他,失败
u8 mpu_dmp_get_data(float *pitch,float *roll,float *yaw)
{
   float q0=1.0f,q1=0.0f,q2=0.0f,q3=0.0f;
   unsigned long sensor_timestamp;
   short gyro[3], accel[3], sensors;
   unsigned char more;
   long quat[4];
   if(dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors,&more))return 1;
   /* Gyro and accel data are written to the FIFO by the DMP in chip frame and hardware units.
   * This behavior is convenient because it keeps the gyro and accel outputs of dmp_read_fifo and mpu_read_fifo consistent.
   **/
   /*if (sensors & INV_XYZ_GYRO )
   send_packet(PACKET_TYPE_GYRO, gyro);
   if (sensors & INV_XYZ_ACCEL)
   send_packet(PACKET_TYPE_ACCEL, accel); */
   /* Unlike gyro and accel, quaternions are written to the FIFO in the body frame, q30.
   * The orientation is set by the scalar passed to dmp_set_orientation during initialization.
   **/
   if(sensors&INV_WXYZ_QUAT)
   {
       q0 = quat[0] / q30;   //q30格式转换为浮点数
       q1 = quat[1] / q30;
       q2 = quat[2] / q30;
       q3 = quat[3] / q30;
       //计算得到俯仰角/横滚角/航向角
       *pitch = asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3;   // pitch
       *roll = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3;   // roll
       *yaw = atan2(2*(q1*q2 + q0*q3),q0*q0+q1*q1-q2*q2-q3*q3) * 57.3;   //yaw
   }else return 2;
   return 0;
}

inv_mpu.h文件

#ifndef _INV_MPU_H_
#define _INV_MPU_H_
#include "stm32f10x.h"

//定义输出速度
#define DEFAULT_MPU_HZ (100) //100Hz

#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)

//移植官方MSP430 DMP驱动过来
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(void);
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));
//自行添加的一些函数
void mget_ms(unsigned long *time);
unsigned short inv_row_2_scale(const signed char *row);
unsigned short inv_orientation_matrix_to_scalar(const signed char *mtx);
u8 run_self_test(void);
u8 mpu_dmp_init(void);
u8 mpu_dmp_get_data(float *pitch,float *roll,float *yaw);

#endif /* #ifndef _INV_MPU_H_ */

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摘要：针对自然田间作物生长环境监测需求，设计实现了基于单片机的采集环境光照强度及温湿度的信息采集系统。系统采用光敏传感器、温度、湿度传感器分别对光照强度、温度、湿度采集，使用液晶屏显示数据，并通过蓝牙实时传输数据到手机进行监测。测试表明，系统可采集光照、温湿度三种数据，通过单片机设置和手机控制两种方式均可实现单片机调整温湿度上、下限阈值，实现了数据的实时监测。关键词：单片机；光照强度；温湿度；蓝牙
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基于单片机的储油罐液位无线监测系统电气_空空单片机毕业设计单片机嵌入式硬件毕设 51单片机
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