diff options
| -rw-r--r-- | include/driver/mpu9250.h | 10 | ||||
| -rw-r--r-- | model/driver/mpu9250.dfa | 48 | ||||
| -rw-r--r-- | src/driver/mpu9250.cc | 50 |
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; |