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* Keep MPU_PWR low when the sensor is not in use * Deselect the sensor when not in use, in order to restore the I2C ping state * Explicitly control the MPU_INT pin * Don't shutdown the sensor when it's shut down * Remove explicit shutdown-related API extension. It is no longer required
664 lines
21 KiB
C
664 lines
21 KiB
C
/*
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* Copyright (c) 2014, Texas Instruments Incorporated - http://www.ti.com/
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
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* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
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* OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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/*---------------------------------------------------------------------------*/
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/**
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* \addtogroup sensortag-cc26xx-mpu
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* @{
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*
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* \file
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* Driver for the Sensortag-CC26XX Invensense MPU9250 motion processing unit
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*/
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/*---------------------------------------------------------------------------*/
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#include "contiki-conf.h"
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#include "lib/sensors.h"
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#include "mpu-9250-sensor.h"
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#include "sys/rtimer.h"
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#include "sensor-common.h"
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#include "board-i2c.h"
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#include "ti-lib.h"
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#include <stdint.h>
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#include <string.h>
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#include <stdio.h>
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#include <math.h>
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/*---------------------------------------------------------------------------*/
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#define DEBUG 0
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#if DEBUG
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#define PRINTF(...) printf(__VA_ARGS__)
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#else
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#define PRINTF(...)
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#endif
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/*---------------------------------------------------------------------------*/
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/* Sensor I2C address */
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#define SENSOR_I2C_ADDRESS 0x68
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#define SENSOR_MAG_I2_ADDRESS 0x0C
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/*---------------------------------------------------------------------------*/
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/* Registers */
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#define SELF_TEST_X_GYRO 0x00 /* R/W */
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#define SELF_TEST_Y_GYRO 0x01 /* R/W */
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#define SELF_TEST_Z_GYRO 0x02 /* R/W */
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#define SELF_TEST_X_ACCEL 0x0D /* R/W */
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#define SELF_TEST_Z_ACCEL 0x0E /* R/W */
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#define SELF_TEST_Y_ACCEL 0x0F /* R/W */
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/*---------------------------------------------------------------------------*/
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#define XG_OFFSET_H 0x13 /* R/W */
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#define XG_OFFSET_L 0x14 /* R/W */
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#define YG_OFFSET_H 0x15 /* R/W */
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#define YG_OFFSET_L 0x16 /* R/W */
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#define ZG_OFFSET_H 0x17 /* R/W */
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#define ZG_OFFSET_L 0x18 /* R/W */
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/*---------------------------------------------------------------------------*/
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#define SMPLRT_DIV 0x19 /* R/W */
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#define CONFIG 0x1A /* R/W */
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#define GYRO_CONFIG 0x1B /* R/W */
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#define ACCEL_CONFIG 0x1C /* R/W */
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#define ACCEL_CONFIG_2 0x1D /* R/W */
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#define LP_ACCEL_ODR 0x1E /* R/W */
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#define WOM_THR 0x1F /* R/W */
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#define FIFO_EN 0x23 /* R/W */
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/*---------------------------------------------------------------------------*/
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/*
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* Registers 0x24 - 0x36 are not applicable to the SensorTag HW configuration
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* (IC2 Master)
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*/
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#define INT_PIN_CFG 0x37 /* R/W */
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#define INT_ENABLE 0x38 /* R/W */
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#define INT_STATUS 0x3A /* R */
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#define ACCEL_XOUT_H 0x3B /* R */
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#define ACCEL_XOUT_L 0x3C /* R */
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#define ACCEL_YOUT_H 0x3D /* R */
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#define ACCEL_YOUT_L 0x3E /* R */
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#define ACCEL_ZOUT_H 0x3F /* R */
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#define ACCEL_ZOUT_L 0x40 /* R */
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#define TEMP_OUT_H 0x41 /* R */
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#define TEMP_OUT_L 0x42 /* R */
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#define GYRO_XOUT_H 0x43 /* R */
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#define GYRO_XOUT_L 0x44 /* R */
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#define GYRO_YOUT_H 0x45 /* R */
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#define GYRO_YOUT_L 0x46 /* R */
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#define GYRO_ZOUT_H 0x47 /* R */
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#define GYRO_ZOUT_L 0x48 /* R */
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/*---------------------------------------------------------------------------*/
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/*
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* Registers 0x49 - 0x60 are not applicable to the SensorTag HW configuration
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* (external sensor data)
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*
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* Registers 0x63 - 0x67 are not applicable to the SensorTag HW configuration
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* (I2C master)
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*/
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#define SIGNAL_PATH_RESET 0x68 /* R/W */
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#define ACCEL_INTEL_CTRL 0x69 /* R/W */
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#define USER_CTRL 0x6A /* R/W */
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#define PWR_MGMT_1 0x6B /* R/W */
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#define PWR_MGMT_2 0x6C /* R/W */
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#define FIFO_COUNT_H 0x72 /* R/W */
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#define FIFO_COUNT_L 0x73 /* R/W */
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#define FIFO_R_W 0x74 /* R/W */
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#define WHO_AM_I 0x75 /* R/W */
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/*---------------------------------------------------------------------------*/
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/* Masks is mpuConfig valiable */
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#define ACC_CONFIG_MASK 0x38
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#define GYRO_CONFIG_MASK 0x07
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/*---------------------------------------------------------------------------*/
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/* Values PWR_MGMT_1 */
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#define MPU_SLEEP 0x4F /* Sleep + stop all clocks */
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#define MPU_WAKE_UP 0x09 /* Disable temp. + intern osc */
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/*---------------------------------------------------------------------------*/
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/* Values PWR_MGMT_2 */
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#define ALL_AXES 0x3F
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#define GYRO_AXES 0x07
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#define ACC_AXES 0x38
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/*---------------------------------------------------------------------------*/
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/* Data sizes */
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#define DATA_SIZE 6
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/*---------------------------------------------------------------------------*/
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/* Output data rates */
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#define INV_LPA_0_3125HZ 0
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#define INV_LPA_0_625HZ 1
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#define INV_LPA_1_25HZ 2
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#define INV_LPA_2_5HZ 3
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#define INV_LPA_5HZ 4
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#define INV_LPA_10HZ 5
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#define INV_LPA_20HZ 6
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#define INV_LPA_40HZ 7
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#define INV_LPA_80HZ 8
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#define INV_LPA_160HZ 9
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#define INV_LPA_320HZ 10
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#define INV_LPA_640HZ 11
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#define INV_LPA_STOPPED 255
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/*---------------------------------------------------------------------------*/
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/* Bit values */
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#define BIT_ANY_RD_CLR 0x10
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#define BIT_RAW_RDY_EN 0x01
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#define BIT_WOM_EN 0x40
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#define BIT_LPA_CYCLE 0x20
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#define BIT_STBY_XA 0x20
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#define BIT_STBY_YA 0x10
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#define BIT_STBY_ZA 0x08
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#define BIT_STBY_XG 0x04
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#define BIT_STBY_YG 0x02
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#define BIT_STBY_ZG 0x01
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#define BIT_STBY_XYZA (BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA)
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#define BIT_STBY_XYZG (BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG)
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/*---------------------------------------------------------------------------*/
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/* User control register */
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#define BIT_ACTL 0x80
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#define BIT_LATCH_EN 0x20
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/*---------------------------------------------------------------------------*/
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/* INT Pin / Bypass Enable Configuration */
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#define BIT_AUX_IF_EN 0x20 /* I2C_MST_EN */
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#define BIT_BYPASS_EN 0x02
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/*---------------------------------------------------------------------------*/
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#define ACC_RANGE_INVALID -1
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#define ACC_RANGE_2G 0
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#define ACC_RANGE_4G 1
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#define ACC_RANGE_8G 2
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#define ACC_RANGE_16G 3
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#define MPU_AX_GYR_X 2
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#define MPU_AX_GYR_Y 1
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#define MPU_AX_GYR_Z 0
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#define MPU_AX_GYR 0x07
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#define MPU_AX_ACC_X 5
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#define MPU_AX_ACC_Y 4
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#define MPU_AX_ACC_Z 3
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#define MPU_AX_ACC 0x38
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#define MPU_AX_MAG 6
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/*---------------------------------------------------------------------------*/
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#define MPU_DATA_READY 0x01
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#define MPU_MOVEMENT 0x40
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/*---------------------------------------------------------------------------*/
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/* Sensor selection/deselection */
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#define SENSOR_SELECT() board_i2c_select(BOARD_I2C_INTERFACE_1, SENSOR_I2C_ADDRESS)
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#define SENSOR_DESELECT() board_i2c_deselect()
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/*---------------------------------------------------------------------------*/
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/* Delay */
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#define delay_ms(i) (ti_lib_cpu_delay(8000 * (i)))
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/*---------------------------------------------------------------------------*/
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static uint8_t mpu_config;
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static uint8_t acc_range;
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static uint8_t acc_range_reg;
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static uint8_t val;
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static uint8_t interrupt_status;
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/*---------------------------------------------------------------------------*/
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#define SENSOR_STATE_DISABLED 0
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#define SENSOR_STATE_BOOTING 1
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#define SENSOR_STATE_ENABLED 2
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static int state = SENSOR_STATE_DISABLED;
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static int elements = MPU_9250_SENSOR_TYPE_NONE;
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/*---------------------------------------------------------------------------*/
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/* 3 16-byte words for all sensor readings */
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#define SENSOR_DATA_BUF_SIZE 3
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static uint16_t sensor_value[SENSOR_DATA_BUF_SIZE];
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/*---------------------------------------------------------------------------*/
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/*
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* Wait SENSOR_BOOT_DELAY ticks for the sensor to boot and
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* SENSOR_STARTUP_DELAY for readings to be ready
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* Gyro is a little slower than Acc
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*/
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#define SENSOR_BOOT_DELAY 8
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#define SENSOR_STARTUP_DELAY 5
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static struct ctimer startup_timer;
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/*---------------------------------------------------------------------------*/
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/* Wait for the MPU to have data ready */
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rtimer_clock_t t0;
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/*
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* Wait timeout in rtimer ticks. This is just a random low number, since the
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* first time we read the sensor status, it should be ready to return data
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*/
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#define READING_WAIT_TIMEOUT 10
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Place the MPU in low power mode
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*/
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static void
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sensor_sleep(void)
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{
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SENSOR_SELECT();
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val = ALL_AXES;
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sensor_common_write_reg(PWR_MGMT_2, &val, 1);
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val = MPU_SLEEP;
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sensor_common_write_reg(PWR_MGMT_1, &val, 1);
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SENSOR_DESELECT();
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Exit low power mode
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*/
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static void
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sensor_wakeup(void)
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{
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SENSOR_SELECT();
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val = MPU_WAKE_UP;
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sensor_common_write_reg(PWR_MGMT_1, &val, 1);
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/* All axis initially disabled */
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val = ALL_AXES;
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sensor_common_write_reg(PWR_MGMT_2, &val, 1);
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mpu_config = 0;
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/* Restore the range */
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sensor_common_write_reg(ACCEL_CONFIG, &acc_range_reg, 1);
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/* Clear interrupts */
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sensor_common_read_reg(INT_STATUS, &val, 1);
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SENSOR_DESELECT();
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Select gyro and accelerometer axes
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*/
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static void
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select_axes(void)
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{
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val = ~mpu_config;
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SENSOR_SELECT();
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sensor_common_write_reg(PWR_MGMT_2, &val, 1);
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SENSOR_DESELECT();
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}
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/*---------------------------------------------------------------------------*/
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static void
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convert_to_le(uint8_t *data, uint8_t len)
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{
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int i;
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for(i = 0; i < len; i += 2) {
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uint8_t tmp;
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tmp = data[i];
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data[i] = data[i + 1];
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data[i + 1] = tmp;
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}
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Set the range of the accelerometer
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* \param new_range: ACC_RANGE_2G, ACC_RANGE_4G, ACC_RANGE_8G, ACC_RANGE_16G
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* \return true if the write to the sensor succeeded
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*/
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static bool
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acc_set_range(uint8_t new_range)
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{
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bool success;
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if(new_range == acc_range) {
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return true;
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}
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success = false;
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acc_range_reg = (new_range << 3);
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/* Apply the range */
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SENSOR_SELECT();
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success = sensor_common_write_reg(ACCEL_CONFIG, &acc_range_reg, 1);
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SENSOR_DESELECT();
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if(success) {
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acc_range = new_range;
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}
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return success;
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Check whether a data or wake on motion interrupt has occurred
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* \return Return the interrupt status
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*
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* This driver does not use interrupts, however this function allows us to
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* determine whether a new sensor reading is available
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*/
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static uint8_t
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int_status(void)
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{
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SENSOR_SELECT();
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sensor_common_read_reg(INT_STATUS, &interrupt_status, 1);
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SENSOR_DESELECT();
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return interrupt_status;
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Enable the MPU
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* \param axes: Gyro bitmap [0..2], X = 1, Y = 2, Z = 4. 0 = gyro off
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* Acc bitmap [3..5], X = 8, Y = 16, Z = 32. 0 = accelerometer off
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*/
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static void
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enable_sensor(uint16_t axes)
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{
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if(mpu_config == 0 && axes != 0) {
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/* Wake up the sensor if it was off */
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sensor_wakeup();
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}
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mpu_config = axes;
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if(mpu_config != 0) {
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/* Enable gyro + accelerometer readout */
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select_axes();
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delay_ms(10);
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} else if(mpu_config == 0) {
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sensor_sleep();
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}
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Read data from the accelerometer - X, Y, Z - 3 words
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* \return True if a valid reading could be taken, false otherwise
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*/
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static bool
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acc_read(uint16_t *data)
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{
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bool success;
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if(interrupt_status & BIT_RAW_RDY_EN) {
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/* Burst read of all accelerometer values */
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SENSOR_SELECT();
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success = sensor_common_read_reg(ACCEL_XOUT_H, (uint8_t *)data, DATA_SIZE);
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SENSOR_DESELECT();
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if(success) {
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convert_to_le((uint8_t *)data, DATA_SIZE);
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} else {
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sensor_common_set_error_data((uint8_t *)data, DATA_SIZE);
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}
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} else {
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/* Data not ready */
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success = false;
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}
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return success;
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Read data from the gyroscope - X, Y, Z - 3 words
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* \return True if a valid reading could be taken, false otherwise
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*/
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static bool
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gyro_read(uint16_t *data)
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{
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bool success;
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if(interrupt_status & BIT_RAW_RDY_EN) {
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/* Select this sensor */
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SENSOR_SELECT();
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/* Burst read of all gyroscope values */
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success = sensor_common_read_reg(GYRO_XOUT_H, (uint8_t *)data, DATA_SIZE);
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if(success) {
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convert_to_le((uint8_t *)data, DATA_SIZE);
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} else {
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sensor_common_set_error_data((uint8_t *)data, DATA_SIZE);
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}
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SENSOR_DESELECT();
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} else {
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success = false;
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}
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return success;
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Convert accelerometer raw reading to a value in G
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* \param raw_data The raw accelerometer reading
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* \return The converted value
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*/
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static float
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acc_convert(int16_t raw_data)
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{
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float v = 0;
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switch(acc_range) {
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case ACC_RANGE_2G:
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/* Calculate acceleration, unit G, range -2, +2 */
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v = (raw_data * 1.0) / (32768 / 2);
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break;
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case ACC_RANGE_4G:
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/* Calculate acceleration, unit G, range -4, +4 */
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v = (raw_data * 1.0) / (32768 / 4);
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break;
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case ACC_RANGE_8G:
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/* Calculate acceleration, unit G, range -8, +8 */
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v = (raw_data * 1.0) / (32768 / 8);
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break;
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case ACC_RANGE_16G:
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/* Calculate acceleration, unit G, range -16, +16 */
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v = (raw_data * 1.0) / (32768 / 16);
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break;
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default:
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v = 0;
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break;
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}
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return v;
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}
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/*---------------------------------------------------------------------------*/
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/**
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* \brief Convert gyro raw reading to a value in deg/sec
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* \param raw_data The raw accelerometer reading
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* \return The converted value
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*/
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static float
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gyro_convert(int16_t raw_data)
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{
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/* calculate rotation, unit deg/s, range -250, +250 */
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return (raw_data * 1.0) / (65536 / 500);
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}
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/*---------------------------------------------------------------------------*/
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static void
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notify_ready(void *not_used)
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{
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state = SENSOR_STATE_ENABLED;
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sensors_changed(&mpu_9250_sensor);
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static void
|
|
initialise(void *not_used)
|
|
{
|
|
/* Configure the accelerometer range */
|
|
if((elements & MPU_9250_SENSOR_TYPE_ACC) != 0) {
|
|
acc_set_range(MPU_9250_SENSOR_ACC_RANGE);
|
|
}
|
|
|
|
enable_sensor(elements & MPU_9250_SENSOR_TYPE_ALL);
|
|
|
|
ctimer_set(&startup_timer, SENSOR_STARTUP_DELAY, notify_ready, NULL);
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static void
|
|
power_up(void)
|
|
{
|
|
ti_lib_gpio_pin_write(BOARD_MPU_POWER, 1);
|
|
state = SENSOR_STATE_BOOTING;
|
|
|
|
ctimer_set(&startup_timer, SENSOR_BOOT_DELAY, initialise, NULL);
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
/**
|
|
* \brief Returns a reading from the sensor
|
|
* \param type MPU_9250_SENSOR_TYPE_ACC_[XYZ] or MPU_9250_SENSOR_TYPE_GYRO_[XYZ]
|
|
* \return centi-G (ACC) or centi-Deg/Sec (Gyro)
|
|
*/
|
|
static int
|
|
value(int type)
|
|
{
|
|
int rv;
|
|
float converted_val = 0;
|
|
|
|
if(state == SENSOR_STATE_DISABLED) {
|
|
PRINTF("MPU: Sensor Disabled\n");
|
|
return CC26XX_SENSOR_READING_ERROR;
|
|
}
|
|
|
|
memset(sensor_value, 0, sizeof(sensor_value));
|
|
|
|
if((type & MPU_9250_SENSOR_TYPE_ACC) != 0) {
|
|
t0 = RTIMER_NOW();
|
|
|
|
while(!int_status() &&
|
|
(RTIMER_CLOCK_LT(RTIMER_NOW(), t0 + READING_WAIT_TIMEOUT)));
|
|
|
|
rv = acc_read(sensor_value);
|
|
|
|
if(rv == 0) {
|
|
return CC26XX_SENSOR_READING_ERROR;
|
|
}
|
|
|
|
PRINTF("MPU: ACC = 0x%04x 0x%04x 0x%04x = ",
|
|
sensor_value[0], sensor_value[1], sensor_value[2]);
|
|
|
|
/* Convert */
|
|
if(type == MPU_9250_SENSOR_TYPE_ACC_X) {
|
|
converted_val = acc_convert(sensor_value[0]);
|
|
} else if(type == MPU_9250_SENSOR_TYPE_ACC_Y) {
|
|
converted_val = acc_convert(sensor_value[1]);
|
|
} else if(type == MPU_9250_SENSOR_TYPE_ACC_Z) {
|
|
converted_val = acc_convert(sensor_value[2]);
|
|
}
|
|
rv = (int)(converted_val * 100);
|
|
} else if((type & MPU_9250_SENSOR_TYPE_GYRO) != 0) {
|
|
t0 = RTIMER_NOW();
|
|
|
|
while(!int_status() &&
|
|
(RTIMER_CLOCK_LT(RTIMER_NOW(), t0 + READING_WAIT_TIMEOUT)));
|
|
|
|
rv = gyro_read(sensor_value);
|
|
|
|
if(rv == 0) {
|
|
return CC26XX_SENSOR_READING_ERROR;
|
|
}
|
|
|
|
PRINTF("MPU: Gyro = 0x%04x 0x%04x 0x%04x = ",
|
|
sensor_value[0], sensor_value[1], sensor_value[2]);
|
|
|
|
if(type == MPU_9250_SENSOR_TYPE_GYRO_X) {
|
|
converted_val = gyro_convert(sensor_value[0]);
|
|
} else if(type == MPU_9250_SENSOR_TYPE_GYRO_Y) {
|
|
converted_val = gyro_convert(sensor_value[1]);
|
|
} else if(type == MPU_9250_SENSOR_TYPE_GYRO_Z) {
|
|
converted_val = gyro_convert(sensor_value[2]);
|
|
}
|
|
rv = (int)(converted_val * 100);
|
|
} else {
|
|
PRINTF("MPU: Invalid type\n");
|
|
rv = CC26XX_SENSOR_READING_ERROR;
|
|
}
|
|
|
|
PRINTF("%ld\n", (long int)(converted_val * 100));
|
|
|
|
return rv;
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
/**
|
|
* \brief Configuration function for the MPU9250 sensor.
|
|
*
|
|
* \param type Activate, enable or disable the sensor. See below
|
|
* \param enable
|
|
*
|
|
* When type == SENSORS_HW_INIT we turn on the hardware
|
|
* When type == SENSORS_ACTIVE and enable==1 we enable the sensor
|
|
* When type == SENSORS_ACTIVE and enable==0 we disable the sensor
|
|
*/
|
|
static int
|
|
configure(int type, int enable)
|
|
{
|
|
switch(type) {
|
|
case SENSORS_HW_INIT:
|
|
ti_lib_rom_ioc_pin_type_gpio_input(BOARD_IOID_MPU_INT);
|
|
ti_lib_ioc_io_port_pull_set(BOARD_IOID_MPU_INT, IOC_IOPULL_DOWN);
|
|
ti_lib_ioc_io_hyst_set(BOARD_IOID_MPU_INT, IOC_HYST_ENABLE);
|
|
|
|
ti_lib_rom_ioc_pin_type_gpio_output(BOARD_IOID_MPU_POWER);
|
|
ti_lib_ioc_io_drv_strength_set(BOARD_IOID_MPU_POWER, IOC_CURRENT_4MA,
|
|
IOC_STRENGTH_MAX);
|
|
ti_lib_gpio_pin_clear(BOARD_MPU_POWER);
|
|
elements = MPU_9250_SENSOR_TYPE_NONE;
|
|
break;
|
|
case SENSORS_ACTIVE:
|
|
if(((enable & MPU_9250_SENSOR_TYPE_ACC) != 0) ||
|
|
((enable & MPU_9250_SENSOR_TYPE_GYRO) != 0)) {
|
|
PRINTF("MPU: Enabling\n");
|
|
elements = enable & MPU_9250_SENSOR_TYPE_ALL;
|
|
|
|
power_up();
|
|
|
|
state = SENSOR_STATE_BOOTING;
|
|
} else {
|
|
PRINTF("MPU: Disabling\n");
|
|
if(HWREG(GPIO_BASE + GPIO_O_DOUT31_0) & BOARD_MPU_POWER) {
|
|
/* Then check our state */
|
|
elements = MPU_9250_SENSOR_TYPE_NONE;
|
|
ctimer_stop(&startup_timer);
|
|
sensor_sleep();
|
|
while(ti_lib_i2c_master_busy(I2C0_BASE));
|
|
state = SENSOR_STATE_DISABLED;
|
|
ti_lib_gpio_pin_clear(BOARD_MPU_POWER);
|
|
}
|
|
}
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
return state;
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
/**
|
|
* \brief Returns the status of the sensor
|
|
* \param type SENSORS_ACTIVE or SENSORS_READY
|
|
* \return 1 if the sensor is enabled
|
|
*/
|
|
static int
|
|
status(int type)
|
|
{
|
|
switch(type) {
|
|
case SENSORS_ACTIVE:
|
|
case SENSORS_READY:
|
|
return state;
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
return SENSOR_STATE_DISABLED;
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
SENSORS_SENSOR(mpu_9250_sensor, "MPU9250", value, configure, status);
|
|
/*---------------------------------------------------------------------------*/
|
|
/** @} */
|