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drivers: mpu9150: use xtimer

dev/timer
Kaspar Schleiser 8 years ago
parent
commit
cbd7d42e06
  1. 4
      Makefile.dep
  2. 22
      drivers/mpu9150/mpu9150.c

4
Makefile.dep

@ -350,3 +350,7 @@ endif
ifneq (,$(filter lm75a,$(USEMODULE)))
USEMODULE += xtimer
endif
ifneq (,$(filter mpu9150,$(USEMODULE)))
USEMODULE += xtimer
endif

22
drivers/mpu9150/mpu9150.c

@ -21,7 +21,7 @@
#include "mpu9150.h"
#include "mpu9150-regs.h"
#include "periph/i2c.h"
#include "hwtimer.h"
#include "xtimer.h"
#define ENABLE_DEBUG (0)
#include "debug.h"
@ -73,7 +73,7 @@ int mpu9150_init(mpu9150_t *dev, i2c_t i2c, mpu9150_hw_addr_t hw_addr,
/* Reset MPU9150 registers and afterwards wake up the chip */
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_RESET);
hwtimer_wait(HWTIMER_TICKS(MPU9150_RESET_SLEEP_US));
xtimer_usleep(MPU9150_RESET_SLEEP_US);
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_WAKEUP);
/* Release the bus, it is acquired again inside each function */
@ -103,7 +103,7 @@ int mpu9150_init(mpu9150_t *dev, i2c_t i2c, mpu9150_hw_addr_t hw_addr,
temp &= ~(MPU9150_PWR_ACCEL | MPU9150_PWR_GYRO);
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_2_REG, temp);
i2c_release(dev->i2c_dev);
hwtimer_wait(HWTIMER_TICKS(MPU9150_PWR_CHANGE_SLEEP_US));
xtimer_usleep(MPU9150_PWR_CHANGE_SLEEP_US);
return 0;
}
@ -144,7 +144,7 @@ int mpu9150_set_accel_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf)
i2c_release(dev->i2c_dev);
dev->conf.accel_pwr = pwr_conf;
hwtimer_wait(HWTIMER_TICKS(MPU9150_PWR_CHANGE_SLEEP_US));
xtimer_usleep(MPU9150_PWR_CHANGE_SLEEP_US);
return 0;
}
@ -192,7 +192,7 @@ int mpu9150_set_gyro_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf)
i2c_release(dev->i2c_dev);
dev->conf.gyro_pwr = pwr_conf;
hwtimer_wait(HWTIMER_TICKS(MPU9150_PWR_CHANGE_SLEEP_US));
xtimer_usleep(MPU9150_PWR_CHANGE_SLEEP_US);
return 0;
}
@ -237,7 +237,7 @@ int mpu9150_set_compass_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf)
i2c_release(dev->i2c_dev);
dev->conf.compass_pwr = pwr_conf;
hwtimer_wait(HWTIMER_TICKS(MPU9150_PWR_CHANGE_SLEEP_US));
xtimer_usleep(MPU9150_PWR_CHANGE_SLEEP_US);
return 0;
}
@ -514,10 +514,10 @@ static int compass_init(mpu9150_t *dev)
/* Configure Power Down mode */
i2c_write_reg(dev->i2c_dev, dev->comp_addr, COMPASS_CNTL_REG, MPU9150_COMP_POWER_DOWN);
hwtimer_wait(HWTIMER_TICKS(MPU9150_COMP_MODE_SLEEP_US));
xtimer_usleep(MPU9150_COMP_MODE_SLEEP_US);
/* Configure Fuse ROM access */
i2c_write_reg(dev->i2c_dev, dev->comp_addr, COMPASS_CNTL_REG, MPU9150_COMP_FUSE_ROM);
hwtimer_wait(HWTIMER_TICKS(MPU9150_COMP_MODE_SLEEP_US));
xtimer_usleep(MPU9150_COMP_MODE_SLEEP_US);
/* Read sensitivity adjustment values from Fuse ROM */
i2c_read_regs(dev->i2c_dev, dev->comp_addr, COMPASS_ASAX_REG, data, 3);
dev->conf.compass_x_adj = data[0];
@ -525,7 +525,7 @@ static int compass_init(mpu9150_t *dev)
dev->conf.compass_z_adj = data[2];
/* Configure Power Down mode again */
i2c_write_reg(dev->i2c_dev, dev->comp_addr, COMPASS_CNTL_REG, MPU9150_COMP_POWER_DOWN);
hwtimer_wait(HWTIMER_TICKS(MPU9150_COMP_MODE_SLEEP_US));
xtimer_usleep(MPU9150_COMP_MODE_SLEEP_US);
/* Disable Bypass Mode to configure MPU as master to the compass */
conf_bypass(dev, 0);
@ -575,13 +575,13 @@ static void conf_bypass(mpu9150_t *dev, uint8_t bypass_enable)
if (bypass_enable) {
data &= ~(BIT_I2C_MST_EN);
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_USER_CTRL_REG, data);
hwtimer_wait(HWTIMER_TICKS(MPU9150_BYPASS_SLEEP_US));
xtimer_usleep(MPU9150_BYPASS_SLEEP_US);
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_INT_PIN_CFG_REG, BIT_I2C_BYPASS_EN);
}
else {
data |= BIT_I2C_MST_EN;
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_USER_CTRL_REG, data);
hwtimer_wait(HWTIMER_TICKS(MPU9150_BYPASS_SLEEP_US));
xtimer_usleep(MPU9150_BYPASS_SLEEP_US);
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_INT_PIN_CFG_REG, REG_RESET);
}
}

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