ICM42605 sensor support (#9316)

ICM42605 sensor support

src/main/cli/settings.c

@@ -125,14 +125,14 @@
 // sync with accelerationSensor_e
 const char * const lookupTableAccHardware[] = {
     "AUTO", "NONE", "ADXL345", "MPU6050", "MMA8452", "BMA280", "LSM303DLHC",
-    "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689",
+    "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689", "ICM42605",
     "BMI160", "FAKE"
 };
 
-// sync with gyroSensor_e
+// sync with gyroHardware_e
 const char * const lookupTableGyroHardware[] = {
     "AUTO", "NONE", "MPU6050", "L3G4200D", "MPU3050", "L3GD20",
-    "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689",
+    "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689", "ICM42605",
     "BMI160", "FAKE"
 };
 

src/main/drivers/accgyro/accgyro.h

@@ -52,6 +52,7 @@ typedef enum {
     GYRO_ICM20608G,
     GYRO_ICM20649,
     GYRO_ICM20689,
+    GYRO_ICM42605,
     GYRO_BMI160,
     GYRO_FAKE
 } gyroHardware_e;

src/main/drivers/accgyro/accgyro_mpu.c

@@ -49,6 +49,7 @@
 #include "drivers/accgyro/accgyro_spi_bmi160.h"
 #include "drivers/accgyro/accgyro_spi_icm20649.h"
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
+#include "drivers/accgyro/accgyro_spi_icm42605.h"
 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
@@ -210,6 +211,9 @@ static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
 #ifdef USE_GYRO_SPI_ICM20689
     icm20689SpiDetect,  // icm20689SpiDetect detects ICM20602 and ICM20689
 #endif
+#ifdef USE_GYRO_SPI_ICM42605
+    icm42605SpiDetect,
+#endif
 #ifdef USE_ACCGYRO_BMI160
     bmi160Detect,
 #endif

src/main/drivers/accgyro/accgyro_mpu.h

@@ -45,6 +45,7 @@
 #define ICM20608G_WHO_AM_I_CONST            (0xAF)
 #define ICM20649_WHO_AM_I_CONST             (0xE1)
 #define ICM20689_WHO_AM_I_CONST             (0x98)
+#define ICM42605_WHO_AM_I_CONST             (0x42)
 
 // RA = Register Address
 
@@ -198,6 +199,7 @@ typedef enum {
     ICM_20608_SPI,
     ICM_20649_SPI,
     ICM_20689_SPI,
+    ICM_42605_SPI,
     BMI_160_SPI,
     L3GD20_SPI,
 } mpuSensor_e;

src/main/drivers/accgyro/accgyro_spi_icm42605.c

@@ -0,0 +1,283 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+ * Author: Dominic Clifton
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "platform.h"
+
+#include "common/axis.h"
+#include "common/maths.h"
+#include "build/debug.h"
+
+#include "drivers/accgyro/accgyro.h"
+#include "drivers/accgyro/accgyro_mpu.h"
+#include "drivers/accgyro/accgyro_spi_icm42605.h"
+#include "drivers/bus_spi.h"
+#include "drivers/exti.h"
+#include "drivers/io.h"
+#include "drivers/sensor.h"
+#include "drivers/time.h"
+
+#define ICM42605_RA_PWR_MGMT0                       0x4E
+
+#define ICM42605_PWR_MGMT0_ACCEL_MODE_LN            (3 << 0)
+#define ICM42605_PWR_MGMT0_GYRO_MODE_LN             (3 << 2)
+#define ICM42605_PWR_MGMT0_TEMP_DISABLE_OFF         (0 << 5)
+#define ICM42605_PWR_MGMT0_TEMP_DISABLE_ON          (1 << 5)
+
+#define ICM42605_RA_GYRO_CONFIG0                    0x4F
+#define ICM42605_RA_ACCEL_CONFIG0                   0x50
+
+#define ICM42605_RA_GYRO_ACCEL_CONFIG0              0x52
+
+#define ICM42605_ACCEL_UI_FILT_BW_LOW_LATENCY       (14 << 4)
+#define ICM42605_GYRO_UI_FILT_BW_LOW_LATENCY        (14 << 0)
+
+#define ICM42605_RA_GYRO_DATA_X1                    0x25
+#define ICM42605_RA_ACCEL_DATA_X1                   0x1F
+
+#define ICM42605_RA_INT_CONFIG                      0x14
+#define ICM42605_INT1_MODE_PULSED                   (0 << 2)
+#define ICM42605_INT1_MODE_LATCHED                  (1 << 2)
+#define ICM42605_INT1_DRIVE_CIRCUIT_OD              (0 << 1)
+#define ICM42605_INT1_DRIVE_CIRCUIT_PP              (1 << 1)
+#define ICM42605_INT1_POLARITY_ACTIVE_LOW           (0 << 0)
+#define ICM42605_INT1_POLARITY_ACTIVE_HIGH          (1 << 0)
+
+#define ICM42605_RA_INT_CONFIG0                     0x63
+#define ICM42605_UI_DRDY_INT_CLEAR_ON_SBR           ((0 << 5) || (0 << 4))
+#define ICM42605_UI_DRDY_INT_CLEAR_ON_SBR_DUPLICATE ((0 << 5) || (0 << 4)) // duplicate settings in datasheet, Rev 1.2.
+#define ICM42605_UI_DRDY_INT_CLEAR_ON_F1BR          ((1 << 5) || (0 << 4))
+#define ICM42605_UI_DRDY_INT_CLEAR_ON_SBR_AND_F1BR  ((1 << 5) || (1 << 4))
+
+#define ICM42605_RA_INT_CONFIG1                     0x64
+#define ICM42605_INT_ASYNC_RESET_BIT                4
+#define ICM42605_INT_TDEASSERT_DISABLE_BIT          5
+#define ICM42605_INT_TDEASSERT_ENABLED              (0 << ICM42605_INT_TDEASSERT_DISABLE_BIT)
+#define ICM42605_INT_TDEASSERT_DISABLED             (1 << ICM42605_INT_TDEASSERT_DISABLE_BIT)
+#define ICM42605_INT_TPULSE_DURATION_BIT            6
+#define ICM42605_INT_TPULSE_DURATION_100            (0 << ICM42605_INT_TPULSE_DURATION_BIT)
+#define ICM42605_INT_TPULSE_DURATION_8              (1 << ICM42605_INT_TPULSE_DURATION_BIT)
+
+
+#define ICM42605_RA_INT_SOURCE0                     0x65
+#define ICM42605_UI_DRDY_INT1_EN_DISABLED           (0 << 3)
+#define ICM42605_UI_DRDY_INT1_EN_ENABLED            (1 << 3)
+
+static void icm42605SpiInit(const busDevice_t *bus)
+{
+    static bool hardwareInitialised = false;
+
+    if (hardwareInitialised) {
+        return;
+    }
+
+
+    spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_STANDARD);
+
+    hardwareInitialised = true;
+}
+
+uint8_t icm42605SpiDetect(const busDevice_t *bus)
+{
+    icm42605SpiInit(bus);
+
+    spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_INITIALIZATION); //low speed
+
+    spiBusWriteRegister(bus, ICM42605_RA_PWR_MGMT0, 0x00);
+
+    uint8_t icmDetected = MPU_NONE;
+    uint8_t attemptsRemaining = 20;
+    do {
+        delay(150);
+        const uint8_t whoAmI = spiBusReadRegister(bus, MPU_RA_WHO_AM_I);
+        switch (whoAmI) {
+        case ICM42605_WHO_AM_I_CONST:
+            icmDetected = ICM_42605_SPI;
+            break;
+        default:
+            icmDetected = MPU_NONE;
+            break;
+        }
+        if (icmDetected != MPU_NONE) {
+            break;
+        }
+        if (!attemptsRemaining) {
+            return MPU_NONE;
+        }
+    } while (attemptsRemaining--);
+
+    spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_STANDARD);
+
+    return icmDetected;
+}
+
+void icm42605AccInit(accDev_t *acc)
+{
+    acc->acc_1G = 512 * 4;
+}
+
+bool icm42605AccRead(accDev_t *acc)
+{
+    uint8_t data[6];
+
+    const bool ack = busReadRegisterBuffer(&acc->bus, ICM42605_RA_ACCEL_DATA_X1, data, 6);
+    if (!ack) {
+        return false;
+    }
+
+    acc->ADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
+    acc->ADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
+    acc->ADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
+
+    return true;
+}
+bool icm42605SpiAccDetect(accDev_t *acc)
+{
+    switch (acc->mpuDetectionResult.sensor) {
+    case ICM_42605_SPI:
+        break;
+    default:
+        return false;
+    }
+
+    acc->initFn = icm42605AccInit;
+    acc->readFn = icm42605AccRead;
+
+    return true;
+}
+
+typedef struct odrEntry_s {
+    uint8_t khz;
+    uint8_t odr; // See GYRO_ODR in datasheet.
+} odrEntry_t;
+
+odrEntry_t khzToSupportedODRMap[] = {
+    { 8, 3 },
+    { 4, 4 },
+    { 2, 5 },
+    { 1, 6 },
+};
+
+void icm42605GyroInit(gyroDev_t *gyro)
+{
+    mpuGyroInit(gyro);
+
+    spiSetDivisor(gyro->bus.busdev_u.spi.instance, SPI_CLOCK_INITIALIZATION);
+
+    spiBusWriteRegister(&gyro->bus, ICM42605_RA_PWR_MGMT0, ICM42605_PWR_MGMT0_TEMP_DISABLE_OFF | ICM42605_PWR_MGMT0_ACCEL_MODE_LN | ICM42605_PWR_MGMT0_GYRO_MODE_LN);
+    delay(15);
+
+    uint8_t outputDataRate = 0;
+    bool supportedODRFound = false;
+
+    if (gyro->gyroRateKHz) {
+        uint8_t gyroSyncDenominator = gyro->mpuDividerDrops + 1; // rebuild it in here, see gyro_sync.c
+        uint8_t desiredODRKhz = 8 / gyroSyncDenominator;
+        for (uint32_t i = 0; i < ARRAYLEN(khzToSupportedODRMap); i++) {
+            if (khzToSupportedODRMap[i].khz == desiredODRKhz) {
+                outputDataRate = khzToSupportedODRMap[i].odr;
+                supportedODRFound = true;
+                break;
+            }
+        }
+    }
+
+    if (!supportedODRFound) {
+        outputDataRate = 6;
+        gyro->gyroRateKHz = GYRO_RATE_1_kHz;
+    }
+
+    uint8_t value;
+
+    STATIC_ASSERT(INV_FSR_2000DPS == 3, "INV_FSR_2000DPS must be 3 to generate correct value");
+    spiBusWriteRegister(&gyro->bus, ICM42605_RA_GYRO_CONFIG0, (3 - INV_FSR_2000DPS) << 5 | (outputDataRate & 0x0F));
+    delay(15);
+
+    value = spiBusReadRegister(&gyro->bus, ICM42605_RA_GYRO_CONFIG0);
+    debug[1] = value;
+
+    STATIC_ASSERT(INV_FSR_16G == 3, "INV_FSR_16G must be 3 to generate correct value");
+    spiBusWriteRegister(&gyro->bus, ICM42605_RA_ACCEL_CONFIG0, (3 - INV_FSR_16G) << 5 | (outputDataRate & 0x0F));
+    delay(15);
+
+    value = spiBusReadRegister(&gyro->bus, ICM42605_RA_ACCEL_CONFIG0);
+    debug[2] = value;
+
+    spiBusWriteRegister(&gyro->bus, ICM42605_RA_GYRO_ACCEL_CONFIG0, ICM42605_ACCEL_UI_FILT_BW_LOW_LATENCY | ICM42605_GYRO_UI_FILT_BW_LOW_LATENCY);
+
+    spiBusWriteRegister(&gyro->bus, ICM42605_RA_INT_CONFIG, ICM42605_INT1_MODE_PULSED | ICM42605_INT1_DRIVE_CIRCUIT_PP | ICM42605_INT1_POLARITY_ACTIVE_HIGH);
+    spiBusWriteRegister(&gyro->bus, ICM42605_RA_INT_CONFIG0, ICM42605_UI_DRDY_INT_CLEAR_ON_SBR);
+
+#ifdef USE_MPU_DATA_READY_SIGNAL
+    spiBusWriteRegister(&gyro->bus, ICM42605_RA_INT_SOURCE0, ICM42605_UI_DRDY_INT1_EN_ENABLED);
+
+    uint8_t intConfig1Value = spiBusReadRegister(&gyro->bus, ICM42605_RA_INT_CONFIG1);
+    // Datasheet says: "User should change setting to 0 from default setting of 1, for proper INT1 and INT2 pin operation"
+    intConfig1Value &= ~(1 << ICM42605_INT_ASYNC_RESET_BIT);
+    intConfig1Value |= (ICM42605_INT_TPULSE_DURATION_8 | ICM42605_INT_TDEASSERT_DISABLED);
+
+    spiBusWriteRegister(&gyro->bus, ICM42605_RA_INT_CONFIG1, intConfig1Value);
+#endif
+    //
+
+    spiSetDivisor(gyro->bus.busdev_u.spi.instance, SPI_CLOCK_STANDARD);
+}
+
+bool icm42605GyroReadSPI(gyroDev_t *gyro)
+{
+    static const uint8_t dataToSend[7] = {ICM42605_RA_GYRO_DATA_X1 | 0x80, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
+    uint8_t data[7];
+
+    const bool ack = spiBusTransfer(&gyro->bus, dataToSend, data, 7);
+    if (!ack) {
+        return false;
+    }
+
+    gyro->gyroADCRaw[X] = (int16_t)((data[1] << 8) | data[2]);
+    gyro->gyroADCRaw[Y] = (int16_t)((data[3] << 8) | data[4]);
+    gyro->gyroADCRaw[Z] = (int16_t)((data[5] << 8) | data[6]);
+
+    return true;
+}
+
+bool icm42605SpiGyroDetect(gyroDev_t *gyro)
+{
+    switch (gyro->mpuDetectionResult.sensor) {
+    case ICM_42605_SPI:
+        break;
+    default:
+        return false;
+    }
+
+    gyro->initFn = icm42605GyroInit;
+    gyro->readFn = icm42605GyroReadSPI;
+
+    // 16.4 dps/lsb scalefactor
+    gyro->scale = 1.0f / 16.4f;
+
+    return true;
+}

src/main/drivers/accgyro/accgyro_spi_icm42605.h

@@ -0,0 +1,34 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "drivers/bus.h"
+
+bool icm42605AccDetect(accDev_t *acc);
+bool icm42605GyroDetect(gyroDev_t *gyro);
+
+void icm42605AccInit(accDev_t *acc);
+void icm42605GyroInit(gyroDev_t *gyro);
+
+uint8_t icm42605SpiDetect(const busDevice_t *bus);
+
+bool icm42605SpiAccDetect(accDev_t *acc);
+bool icm42605SpiGyroDetect(gyroDev_t *gyro);

src/main/drivers/accgyro/accgyro_spi_mpu6500.c

@@ -69,6 +69,9 @@ uint8_t mpu6500SpiDetect(const busDevice_t *bus)
     case ICM20608G_WHO_AM_I_CONST:
         mpuDetected = ICM_20608_SPI;
         break;
+    case ICM42605_WHO_AM_I_CONST:
+        mpuDetected = ICM_42605_SPI;
+        break;
     default:
         mpuDetected = MPU_NONE;
     }

src/main/sensors/acceleration.c

@@ -45,6 +45,7 @@
 #include "drivers/accgyro/accgyro_spi_bmi160.h"
 #include "drivers/accgyro/accgyro_spi_icm20649.h"
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
+#include "drivers/accgyro/accgyro_spi_icm42605.h"
 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
@@ -273,6 +274,15 @@ retry:
         FALLTHROUGH;
 #endif
 
+#ifdef USE_ACC_SPI_ICM42605
+    case ACC_ICM42605:
+        if (icm42605SpiAccDetect(dev)) {
+            accHardware = ACC_ICM42605;
+            break;
+        }
+        FALLTHROUGH;
+#endif
+
 #ifdef USE_ACCGYRO_BMI160
     case ACC_BMI160:
         if (bmi160SpiAccDetect(dev)) {

src/main/sensors/acceleration.h

@@ -42,6 +42,7 @@ typedef enum {
     ACC_ICM20608G,
     ACC_ICM20649,
     ACC_ICM20689,
+    ACC_ICM42605,
     ACC_BMI160,
     ACC_FAKE
 } accelerationSensor_e;

src/main/sensors/gyro.c

@@ -47,6 +47,8 @@
 #include "drivers/accgyro/accgyro_spi_bmi160.h"
 #include "drivers/accgyro/accgyro_spi_icm20649.h"
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
+#include "drivers/accgyro/accgyro_spi_icm20689.h"
+#include "drivers/accgyro/accgyro_spi_icm42605.h"
 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
@@ -339,6 +341,15 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
         FALLTHROUGH;
 #endif
 
+#ifdef USE_GYRO_SPI_ICM42605
+    case GYRO_ICM42605:
+        if (icm42605SpiGyroDetect(dev)) {
+            gyroHardware = GYRO_ICM42605;
+            break;
+        }
+        FALLTHROUGH;
+#endif
+
 #ifdef USE_ACCGYRO_BMI160
     case GYRO_BMI160:
         if (bmi160SpiGyroDetect(dev)) {

src/main/target/NUCLEOH743/target.h

@@ -196,6 +196,8 @@
 #define USE_ACC_SPI_MPU6500
 #define USE_GYRO_SPI_MPU9250
 #define USE_ACC_SPI_MPU9250
+#define USE_GYRO_SPI_ICM42605
+#define USE_ACC_SPI_ICM42605
 
 #define GYRO_1_CS_PIN           PD15
 #define GYRO_1_SPI_INSTANCE     SPI1

src/main/target/NUCLEOH743/target.mk

@@ -23,6 +23,7 @@ TARGET_SRC = \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu9250.c \
+            drivers/accgyro/accgyro_spi_icm42605.c \
             drivers/accgyro/accgyro_mpu6050.c \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \