2015-09-18 12:23:50 -07:00
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/*
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2018-04-21 16:22:46 -07:00
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* This file is part of Cleanflight and Betaflight.
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2015-09-18 12:23:50 -07:00
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*
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2018-04-25 03:58:00 -07:00
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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2018-04-21 16:22:46 -07:00
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* any later version.
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2015-09-18 12:23:50 -07:00
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*
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2018-04-21 16:22:46 -07:00
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* Cleanflight and Betaflight are distributed in the hope that they
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2018-04-25 03:58:00 -07:00
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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2018-04-21 16:22:46 -07:00
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* See the GNU General Public License for more details.
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2015-09-18 12:23:50 -07:00
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*
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* You should have received a copy of the GNU General Public License
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2018-04-25 03:58:00 -07:00
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* along with this software.
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*
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2018-04-21 16:22:46 -07:00
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* If not, see <http://www.gnu.org/licenses/>.
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2015-09-18 12:23:50 -07:00
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*/
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2018-04-25 03:58:00 -07:00
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2015-09-18 12:23:50 -07:00
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <string.h>
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#include "platform.h"
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2016-08-07 03:46:47 -07:00
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2017-01-05 04:22:49 -08:00
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#include "build/atomic.h"
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2016-08-07 03:46:47 -07:00
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#include "build/build_config.h"
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#include "build/debug.h"
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2015-09-18 12:23:50 -07:00
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#include "common/maths.h"
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2016-11-19 06:11:03 -08:00
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#include "common/utils.h"
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2015-09-18 12:23:50 -07:00
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2017-07-15 10:32:34 -07:00
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#include "drivers/bus.h"
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2017-05-26 04:31:41 -07:00
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#include "drivers/bus_i2c.h"
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2017-06-28 21:40:31 -07:00
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#include "drivers/bus_spi.h"
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2017-05-26 04:31:41 -07:00
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#include "drivers/exti.h"
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#include "drivers/io.h"
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2017-04-06 00:21:54 -07:00
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#include "drivers/nvic.h"
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2017-05-26 04:31:41 -07:00
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#include "drivers/sensor.h"
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2017-04-06 00:21:54 -07:00
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#include "drivers/system.h"
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2017-05-26 04:31:41 -07:00
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#include "drivers/time.h"
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2015-09-18 12:23:50 -07:00
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2017-08-30 00:50:40 -07:00
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#include "drivers/accgyro/accgyro.h"
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#include "drivers/accgyro/accgyro_mpu3050.h"
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#include "drivers/accgyro/accgyro_mpu6050.h"
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#include "drivers/accgyro/accgyro_mpu6500.h"
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#include "drivers/accgyro/accgyro_spi_bmi160.h"
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2017-09-01 07:57:54 -07:00
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#include "drivers/accgyro/accgyro_spi_icm20649.h"
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2017-08-30 00:50:40 -07:00
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#include "drivers/accgyro/accgyro_spi_icm20689.h"
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2019-07-10 04:14:47 -07:00
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#include "drivers/accgyro/accgyro_spi_icm42605.h"
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2017-08-30 00:50:40 -07:00
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#include "drivers/accgyro/accgyro_spi_mpu6000.h"
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#include "drivers/accgyro/accgyro_spi_mpu6500.h"
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#include "drivers/accgyro/accgyro_spi_mpu9250.h"
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2018-12-01 01:13:45 -08:00
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#include "drivers/accgyro/accgyro_spi_l3gd20.h"
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2017-08-30 00:50:40 -07:00
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#include "drivers/accgyro/accgyro_mpu.h"
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2015-09-18 12:23:50 -07:00
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2018-05-10 06:25:37 -07:00
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#include "pg/pg.h"
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#include "pg/gyrodev.h"
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2016-06-03 04:20:11 -07:00
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2017-03-05 12:16:37 -08:00
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#ifndef MPU_ADDRESS
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2015-09-19 06:17:19 -07:00
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#define MPU_ADDRESS 0x68
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2017-03-05 12:16:37 -08:00
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#endif
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2015-09-19 06:17:19 -07:00
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#define MPU_INQUIRY_MASK 0x7E
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2018-05-10 06:25:37 -07:00
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#ifdef USE_I2C_GYRO
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2016-12-17 16:16:23 -08:00
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static void mpu6050FindRevision(gyroDev_t *gyro)
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2015-09-19 06:17:19 -07:00
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{
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2015-09-18 12:23:50 -07:00
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// There is a map of revision contained in the android source tree which is quite comprehensive and may help to understand this code
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// See https://android.googlesource.com/kernel/msm.git/+/eaf36994a3992b8f918c18e4f7411e8b2320a35f/drivers/misc/mpu6050/mldl_cfg.c
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2017-11-09 23:27:35 -08:00
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// determine product ID and revision
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uint8_t readBuffer[6];
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bool ack = busReadRegisterBuffer(&gyro->bus, MPU_RA_XA_OFFS_H, readBuffer, 6);
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uint8_t revision = ((readBuffer[5] & 0x01) << 2) | ((readBuffer[3] & 0x01) << 1) | (readBuffer[1] & 0x01);
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if (ack && revision) {
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// Congrats, these parts are better
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2015-09-18 12:23:50 -07:00
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if (revision == 1) {
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2016-12-17 16:16:23 -08:00
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gyro->mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
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2015-09-18 12:23:50 -07:00
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} else if (revision == 2) {
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2016-12-17 16:16:23 -08:00
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gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
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2015-08-04 18:15:42 -07:00
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} else if ((revision == 3) || (revision == 7)) {
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2016-12-17 16:16:23 -08:00
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gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
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2015-09-18 12:23:50 -07:00
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} else {
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failureMode(FAILURE_ACC_INCOMPATIBLE);
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}
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} else {
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2017-11-09 23:27:35 -08:00
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uint8_t productId;
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ack = busReadRegisterBuffer(&gyro->bus, MPU_RA_PRODUCT_ID, &productId, 1);
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2015-09-18 12:23:50 -07:00
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revision = productId & 0x0F;
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2017-11-09 23:27:35 -08:00
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if (!ack || revision == 0) {
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2015-09-18 12:23:50 -07:00
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failureMode(FAILURE_ACC_INCOMPATIBLE);
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} else if (revision == 4) {
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2016-12-17 16:16:23 -08:00
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gyro->mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
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2015-09-18 12:23:50 -07:00
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} else {
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2016-12-17 16:16:23 -08:00
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gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
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2015-09-18 12:23:50 -07:00
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}
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}
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}
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2017-11-09 23:27:35 -08:00
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#endif
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2015-09-18 12:23:50 -07:00
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2016-11-19 06:11:03 -08:00
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/*
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* Gyro interrupt service routine
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*/
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2018-05-10 06:25:37 -07:00
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#ifdef USE_GYRO_EXTI
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2016-11-19 06:11:03 -08:00
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static void mpuIntExtiHandler(extiCallbackRec_t *cb)
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2016-06-02 05:23:52 -07:00
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{
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2017-01-05 04:22:49 -08:00
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#ifdef DEBUG_MPU_DATA_READY_INTERRUPT
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static uint32_t lastCalledAtUs = 0;
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const uint32_t nowUs = micros();
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debug[0] = (uint16_t)(nowUs - lastCalledAtUs);
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lastCalledAtUs = nowUs;
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#endif
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2016-12-11 04:17:30 -08:00
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gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
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2016-11-19 06:11:03 -08:00
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gyro->dataReady = true;
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2015-09-18 12:23:50 -07:00
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#ifdef DEBUG_MPU_DATA_READY_INTERRUPT
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2017-01-05 04:22:49 -08:00
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const uint32_t now2Us = micros();
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debug[1] = (uint16_t)(now2Us - nowUs);
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2015-09-18 12:23:50 -07:00
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#endif
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}
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2016-11-19 06:11:03 -08:00
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static void mpuIntExtiInit(gyroDev_t *gyro)
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2015-09-18 12:23:50 -07:00
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{
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2017-03-29 03:01:26 -07:00
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if (gyro->mpuIntExtiTag == IO_TAG_NONE) {
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2016-06-27 11:26:02 -07:00
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return;
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}
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2015-09-18 12:23:50 -07:00
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2017-03-29 03:01:26 -07:00
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const IO_t mpuIntIO = IOGetByTag(gyro->mpuIntExtiTag);
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2016-07-09 06:39:39 -07:00
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2015-09-18 12:23:50 -07:00
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#ifdef ENSURE_MPU_DATA_READY_IS_LOW
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2016-06-27 11:26:02 -07:00
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uint8_t status = IORead(mpuIntIO);
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if (status) {
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return;
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}
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2015-09-18 12:23:50 -07:00
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#endif
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2018-05-10 06:25:37 -07:00
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IOInit(mpuIntIO, OWNER_GYRO_EXTI, 0);
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2016-12-11 04:17:30 -08:00
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EXTIHandlerInit(&gyro->exti, mpuIntExtiHandler);
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2018-10-29 20:16:44 -07:00
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EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING, EXTI_TRIGGER_RISING);
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2018-03-03 14:49:36 -08:00
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EXTIEnable(mpuIntIO, true);
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2015-09-19 08:21:50 -07:00
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}
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2018-11-25 08:47:14 -08:00
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#endif // USE_GYRO_EXTI
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2015-09-19 08:21:50 -07:00
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2016-12-14 06:32:38 -08:00
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bool mpuAccRead(accDev_t *acc)
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2015-09-18 12:23:50 -07:00
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{
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2015-09-19 08:21:50 -07:00
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uint8_t data[6];
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2015-09-18 12:23:50 -07:00
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2017-11-09 23:27:35 -08:00
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const bool ack = busReadRegisterBuffer(&acc->bus, MPU_RA_ACCEL_XOUT_H, data, 6);
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2015-09-18 12:23:50 -07:00
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if (!ack) {
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return false;
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}
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2016-12-14 06:32:38 -08:00
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acc->ADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
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acc->ADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
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acc->ADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
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2015-09-18 12:23:50 -07:00
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return true;
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}
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2016-11-19 06:11:03 -08:00
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bool mpuGyroRead(gyroDev_t *gyro)
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2015-09-18 12:23:50 -07:00
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{
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2015-09-19 08:21:50 -07:00
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uint8_t data[6];
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2015-09-18 12:23:50 -07:00
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2017-11-09 23:27:35 -08:00
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const bool ack = busReadRegisterBuffer(&gyro->bus, MPU_RA_GYRO_XOUT_H, data, 6);
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2015-09-18 12:23:50 -07:00
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if (!ack) {
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return false;
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}
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2016-11-19 06:11:03 -08:00
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gyro->gyroADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
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gyro->gyroADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
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gyro->gyroADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
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2015-09-18 12:23:50 -07:00
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return true;
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}
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2015-10-07 08:12:54 -07:00
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2018-05-10 06:25:37 -07:00
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#ifdef USE_SPI_GYRO
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2017-07-01 09:26:45 -07:00
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bool mpuGyroReadSPI(gyroDev_t *gyro)
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{
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static const uint8_t dataToSend[7] = {MPU_RA_GYRO_XOUT_H | 0x80, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
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uint8_t data[7];
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2017-07-02 00:35:14 -07:00
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const bool ack = spiBusTransfer(&gyro->bus, dataToSend, data, 7);
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2017-07-01 09:26:45 -07:00
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if (!ack) {
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return false;
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}
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gyro->gyroADCRaw[X] = (int16_t)((data[1] << 8) | data[2]);
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gyro->gyroADCRaw[Y] = (int16_t)((data[3] << 8) | data[4]);
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gyro->gyroADCRaw[Z] = (int16_t)((data[5] << 8) | data[6]);
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return true;
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}
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2018-05-10 06:25:37 -07:00
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typedef uint8_t (*gyroSpiDetectFn_t)(const busDevice_t *bus);
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2018-03-03 14:29:31 -08:00
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2018-05-10 06:25:37 -07:00
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static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
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2017-01-25 10:16:05 -08:00
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#ifdef USE_GYRO_SPI_MPU6000
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2018-05-10 06:25:37 -07:00
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mpu6000SpiDetect,
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2017-03-07 01:01:16 -08:00
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#endif
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2017-01-25 10:16:05 -08:00
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#ifdef USE_GYRO_SPI_MPU6500
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2018-05-10 06:25:37 -07:00
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mpu6500SpiDetect, // some targets using MPU_9250_SPI, ICM_20608_SPI or ICM_20602_SPI state sensor is MPU_65xx_SPI
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2017-07-12 06:40:08 -07:00
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#endif
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2017-01-25 10:16:05 -08:00
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#ifdef USE_GYRO_SPI_MPU9250
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2018-05-10 06:25:37 -07:00
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mpu9250SpiDetect,
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2017-01-25 10:16:05 -08:00
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#endif
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2017-09-01 07:57:54 -07:00
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#ifdef USE_GYRO_SPI_ICM20649
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2018-05-10 06:25:37 -07:00
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icm20649SpiDetect,
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2017-09-01 07:57:54 -07:00
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#endif
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2017-01-25 10:16:05 -08:00
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#ifdef USE_GYRO_SPI_ICM20689
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2018-05-10 06:25:37 -07:00
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icm20689SpiDetect, // icm20689SpiDetect detects ICM20602 and ICM20689
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2017-07-12 06:40:08 -07:00
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#endif
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2019-07-10 04:14:47 -07:00
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#ifdef USE_GYRO_SPI_ICM42605
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icm42605SpiDetect,
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#endif
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2017-03-07 01:01:16 -08:00
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#ifdef USE_ACCGYRO_BMI160
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2018-05-10 06:25:37 -07:00
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bmi160Detect,
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2018-12-01 01:13:45 -08:00
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#endif
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#ifdef USE_GYRO_L3GD20
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l3gd20Detect,
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2017-07-12 06:40:08 -07:00
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#endif
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2018-05-10 06:25:37 -07:00
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NULL // Avoid an empty array
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};
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static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro, const gyroDeviceConfig_t *config)
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{
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2018-09-16 19:07:38 -07:00
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SPI_TypeDef *instance = spiInstanceByDevice(SPI_CFG_TO_DEV(config->spiBus));
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2019-04-02 04:41:06 -07:00
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if (!instance || !config->csnTag) {
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2018-09-15 11:09:45 -07:00
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return false;
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}
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2018-09-16 19:07:38 -07:00
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spiBusSetInstance(&gyro->bus, instance);
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2018-09-15 11:09:45 -07:00
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2018-05-10 06:25:37 -07:00
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gyro->bus.busdev_u.spi.csnPin = IOGetByTag(config->csnTag);
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IOInit(gyro->bus.busdev_u.spi.csnPin, OWNER_GYRO_CS, RESOURCE_INDEX(config->index));
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IOConfigGPIO(gyro->bus.busdev_u.spi.csnPin, SPI_IO_CS_CFG);
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IOHi(gyro->bus.busdev_u.spi.csnPin); // Ensure device is disabled, important when two devices are on the same bus.
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uint8_t sensor = MPU_NONE;
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// It is hard to use hardware to optimize the detection loop here,
|
|
|
|
// as hardware type and detection function name doesn't match.
|
|
|
|
// May need a bitmap of hardware to detection function to do it right?
|
|
|
|
|
|
|
|
for (size_t index = 0 ; gyroSpiDetectFnTable[index] ; index++) {
|
|
|
|
sensor = (gyroSpiDetectFnTable[index])(&gyro->bus);
|
|
|
|
if (sensor != MPU_NONE) {
|
|
|
|
gyro->mpuDetectionResult.sensor = sensor;
|
2019-04-10 11:16:23 -07:00
|
|
|
|
2018-05-10 06:25:37 -07:00
|
|
|
return true;
|
|
|
|
}
|
2017-01-25 10:16:05 -08:00
|
|
|
}
|
2018-05-10 06:25:37 -07:00
|
|
|
|
2019-04-10 11:16:23 -07:00
|
|
|
// Detection failed, disable CS pin again
|
|
|
|
|
2018-12-09 11:42:41 -08:00
|
|
|
spiPreinitByTag(config->csnTag);
|
2017-01-25 10:16:05 -08:00
|
|
|
|
2019-04-10 11:16:23 -07:00
|
|
|
return false;
|
2017-01-25 10:16:05 -08:00
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
2018-12-09 11:42:41 -08:00
|
|
|
void mpuPreInit(const struct gyroDeviceConfig_s *config)
|
|
|
|
{
|
|
|
|
#ifdef USE_SPI_GYRO
|
|
|
|
spiPreinitRegister(config->csnTag, IOCFG_IPU, 1);
|
|
|
|
#else
|
|
|
|
UNUSED(config);
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
|
2019-04-02 04:41:06 -07:00
|
|
|
bool mpuDetect(gyroDev_t *gyro, const gyroDeviceConfig_t *config)
|
2017-01-25 10:16:05 -08:00
|
|
|
{
|
|
|
|
// MPU datasheet specifies 30ms.
|
|
|
|
delay(35);
|
|
|
|
|
2018-05-10 06:25:37 -07:00
|
|
|
if (config->bustype == BUSTYPE_NONE) {
|
2019-04-02 04:41:06 -07:00
|
|
|
return false;
|
2018-05-10 06:25:37 -07:00
|
|
|
}
|
|
|
|
|
|
|
|
if (config->bustype == BUSTYPE_GYRO_AUTO) {
|
2018-03-03 14:29:31 -08:00
|
|
|
gyro->bus.bustype = BUSTYPE_I2C;
|
2018-05-10 06:25:37 -07:00
|
|
|
} else {
|
|
|
|
gyro->bus.bustype = config->bustype;
|
2017-01-25 10:16:05 -08:00
|
|
|
}
|
|
|
|
|
2018-05-10 06:25:37 -07:00
|
|
|
#ifdef USE_I2C_GYRO
|
2018-03-03 14:29:31 -08:00
|
|
|
if (gyro->bus.bustype == BUSTYPE_I2C) {
|
2019-02-07 10:07:56 -08:00
|
|
|
gyro->bus.busdev_u.i2c.device = I2C_CFG_TO_DEV(config->i2cBus);
|
2018-05-10 06:25:37 -07:00
|
|
|
gyro->bus.busdev_u.i2c.address = config->i2cAddress ? config->i2cAddress : MPU_ADDRESS;
|
2018-03-03 14:29:31 -08:00
|
|
|
|
|
|
|
uint8_t sig = 0;
|
|
|
|
bool ack = busReadRegisterBuffer(&gyro->bus, MPU_RA_WHO_AM_I, &sig, 1);
|
|
|
|
|
|
|
|
if (ack) {
|
|
|
|
// If an MPU3050 is connected sig will contain 0.
|
|
|
|
uint8_t inquiryResult;
|
|
|
|
ack = busReadRegisterBuffer(&gyro->bus, MPU_RA_WHO_AM_I_LEGACY, &inquiryResult, 1);
|
|
|
|
inquiryResult &= MPU_INQUIRY_MASK;
|
|
|
|
if (ack && inquiryResult == MPUx0x0_WHO_AM_I_CONST) {
|
|
|
|
gyro->mpuDetectionResult.sensor = MPU_3050;
|
2019-04-02 04:41:06 -07:00
|
|
|
return true;
|
2018-03-03 14:29:31 -08:00
|
|
|
}
|
|
|
|
|
|
|
|
sig &= MPU_INQUIRY_MASK;
|
|
|
|
if (sig == MPUx0x0_WHO_AM_I_CONST) {
|
|
|
|
gyro->mpuDetectionResult.sensor = MPU_60x0;
|
|
|
|
mpu6050FindRevision(gyro);
|
|
|
|
} else if (sig == MPU6500_WHO_AM_I_CONST) {
|
|
|
|
gyro->mpuDetectionResult.sensor = MPU_65xx_I2C;
|
|
|
|
}
|
2019-04-02 04:41:06 -07:00
|
|
|
return true;
|
2018-03-03 14:29:31 -08:00
|
|
|
}
|
2017-01-25 10:16:05 -08:00
|
|
|
}
|
2018-03-03 14:29:31 -08:00
|
|
|
#endif
|
2017-01-25 10:16:05 -08:00
|
|
|
|
2018-05-10 06:25:37 -07:00
|
|
|
#ifdef USE_SPI_GYRO
|
2018-03-03 14:29:31 -08:00
|
|
|
gyro->bus.bustype = BUSTYPE_SPI;
|
2019-04-02 04:41:06 -07:00
|
|
|
|
|
|
|
return detectSPISensorsAndUpdateDetectionResult(gyro, config);
|
|
|
|
#else
|
|
|
|
return false;
|
2017-11-09 23:27:35 -08:00
|
|
|
#endif
|
2017-01-25 10:16:05 -08:00
|
|
|
}
|
|
|
|
|
|
|
|
void mpuGyroInit(gyroDev_t *gyro)
|
|
|
|
{
|
2018-05-10 06:25:37 -07:00
|
|
|
#ifdef USE_GYRO_EXTI
|
2017-01-25 10:16:05 -08:00
|
|
|
mpuIntExtiInit(gyro);
|
2017-11-09 23:27:35 -08:00
|
|
|
#else
|
|
|
|
UNUSED(gyro);
|
|
|
|
#endif
|
2017-01-25 10:16:05 -08:00
|
|
|
}
|
2018-03-21 18:02:30 -07:00
|
|
|
|
|
|
|
uint8_t mpuGyroDLPF(gyroDev_t *gyro)
|
|
|
|
{
|
2018-08-22 06:42:08 -07:00
|
|
|
uint8_t ret = 0;
|
2019-02-11 18:15:44 -08:00
|
|
|
|
2018-08-22 06:42:08 -07:00
|
|
|
// If gyro is in 32KHz mode then the DLPF bits aren't used
|
|
|
|
if (gyro->gyroRateKHz <= GYRO_RATE_8_kHz) {
|
2018-03-21 18:02:30 -07:00
|
|
|
switch (gyro->hardware_lpf) {
|
2018-08-22 06:42:08 -07:00
|
|
|
#ifdef USE_GYRO_DLPF_EXPERIMENTAL
|
2018-03-21 18:02:30 -07:00
|
|
|
case GYRO_HARDWARE_LPF_EXPERIMENTAL:
|
2018-08-22 06:42:08 -07:00
|
|
|
// experimental mode not supported for MPU60x0 family
|
|
|
|
if ((gyro->gyroHardware != GYRO_MPU6050) && (gyro->gyroHardware != GYRO_MPU6000)) {
|
|
|
|
ret = 7;
|
2018-08-22 14:26:23 -07:00
|
|
|
} else {
|
|
|
|
ret = 0;
|
2018-08-22 06:42:08 -07:00
|
|
|
}
|
2018-03-21 18:02:30 -07:00
|
|
|
break;
|
2018-08-22 06:42:08 -07:00
|
|
|
#endif
|
2018-08-22 14:26:23 -07:00
|
|
|
|
2018-03-21 18:02:30 -07:00
|
|
|
case GYRO_HARDWARE_LPF_1KHZ_SAMPLE:
|
|
|
|
ret = 1;
|
|
|
|
break;
|
2019-02-11 18:15:44 -08:00
|
|
|
|
2018-08-22 14:26:23 -07:00
|
|
|
case GYRO_HARDWARE_LPF_NORMAL:
|
|
|
|
default:
|
|
|
|
ret = 0;
|
|
|
|
break;
|
2018-03-21 18:02:30 -07:00
|
|
|
}
|
|
|
|
}
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
#ifdef USE_GYRO_REGISTER_DUMP
|
|
|
|
uint8_t mpuGyroReadRegister(const busDevice_t *bus, uint8_t reg)
|
|
|
|
{
|
|
|
|
uint8_t data;
|
|
|
|
const bool ack = busReadRegisterBuffer(bus, reg, &data, 1);
|
|
|
|
if (ack) {
|
|
|
|
return data;
|
|
|
|
} else {
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
#endif
|