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-rw-r--r--include/driver/mpu9250.h10
-rw-r--r--model/driver/mpu9250.dfa48
-rw-r--r--src/driver/mpu9250.cc50
3 files changed, 107 insertions, 1 deletions
diff --git a/include/driver/mpu9250.h b/include/driver/mpu9250.h
index 3ebcb17..914a9e0 100644
--- a/include/driver/mpu9250.h
+++ b/include/driver/mpu9250.h
@@ -273,6 +273,7 @@ class MPU9250 {
void getAccel(float *g_x, float *g_y, float *g_z);
void getGyro(float *dps_x, float *dps_y, float *dps_z);
void getMagnet(int *x, int *y, int *z);
+ float getTemperature();
void setAccelEnable(bool x, bool y, bool z);
void setGyroEnable(bool x, bool y, bool z);
void setGyroStandby(bool gyroStandby);
@@ -282,7 +283,14 @@ class MPU9250 {
void AGWakeup();
void MagSleep();
void MagWakeup();
- float getTemperature();
+
+ // mpu9250.dfa
+ void sleep();
+ void standby();
+ void lowPowerAccelOnly(unsigned char rate);
+ void accelOnly();
+ void gyroOnly();
+ void magnetOnly();
};
extern MPU9250 mpu9250;
diff --git a/model/driver/mpu9250.dfa b/model/driver/mpu9250.dfa
new file mode 100644
index 0000000..b1cc381
--- /dev/null
+++ b/model/driver/mpu9250.dfa
@@ -0,0 +1,48 @@
+codegen:
+ instance: mpu9250
+ includes: ['driver/i2c.h', 'driver/mpu9250.h']
+ flags: ['drivers=mpu9250', 'arch_drivers=i2c']
+ setup:
+ - i2c.setup();
+
+parameters:
+- accel_odr
+
+states:
+- UNINITIALIZED
+- SLEEP
+- STANDBY
+- LP_ACCEL
+- ACCEL
+- GYRO
+- MAGNET
+- NINEAXIS
+
+transition:
+ init:
+ src: [UNINITIALIZED, SLEEP, STANDBY, LP_ACCEL, ACCEL, GYRO, MAGNET, NINEAXIS]
+ dst: NINEAXIS
+ set_param:
+ accel_odr: 0
+ sleep:
+ src: [STANDBY, LP_ACCEL, ACCEL, GYRO, MAGNET, NINEAXIS]
+ dst: SLEEP
+ standby:
+ src: [STANDBY, LP_ACCEL, ACCEL, GYRO, MAGNET, NINEAXIS]
+ dst: SLEEP
+ lowPowerAccelOnly:
+ src: [SLEEP, STANDBY, NINEAXIS, ACCEL, GYRO, MAGNET]
+ dst: LP_ACCEL
+ arguments:
+ - name: rate
+ values: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
+ parameter: accel_odr
+ accelOnly:
+ src: [SLEEP, STANDBY, LP_ACCEL, GYRO, MAGNET, NINEAXIS]
+ dst: ACCEL
+ gyroOnly:
+ src: [SLEEP, STANDBY, LP_ACCEL, ACCEL, MAGNET, NINEAXIS]
+ dst: GYRO
+ magnetOnly:
+ src: [SLEEP, STANDBY, LP_ACCEL, ACCEL, GYRO, NINEAXIS]
+ dst: MAGNET
diff --git a/src/driver/mpu9250.cc b/src/driver/mpu9250.cc
index 1c6e02c..e8f407e 100644
--- a/src/driver/mpu9250.cc
+++ b/src/driver/mpu9250.cc
@@ -216,4 +216,54 @@ void MPU9250::getRawMagnet(int *x, int *y, int *z)
}
}
+// mpu9250.dfa
+
+void MPU9250::sleep()
+{
+ AGSleep();
+ MagSleep();
+}
+
+void MPU9250::standby()
+{
+ setGyroStandby(true);
+ MagSleep();
+ setAccelEnable(false, false, false);
+}
+
+void MPU9250::lowPowerAccelOnly(unsigned char rate)
+{
+ txbuf[0] = MPU9250_LP_ACCEL_ODR;
+ txbuf[1] = rate & 0x0f;
+ i2c.xmit(address, 2, txbuf, 0, rxbuf);
+ MagSleep();
+ txbuf[0] = 107;
+ txbuf[1] = 1<<5;
+ i2c.xmit(address, 2, txbuf, 0, rxbuf);
+ setGyroEnable(false, false, false);
+}
+
+void MPU9250::accelOnly()
+{
+ gyroStandby = false;
+ AGWakeup();
+ MagSleep();
+ setGyroEnable(false, false, false);
+}
+
+void MPU9250::gyroOnly()
+{
+ gyroStandby = false;
+ AGWakeup();
+ MagSleep();
+ setAccelEnable(false, false, false);
+}
+
+void MPU9250::magnetOnly()
+{
+ gyroStandby = false;
+ MagWakeup();
+ AGSleep();
+}
+
MPU9250 mpu9250;