Merge pull request #992 from blckmn/mpu6500_driver_updates

Some minor updates to the SPI MPU6500 driver to disable i2c interface

src/main/drivers/accgyro_mpu6500.c

@@ -73,19 +73,6 @@ void mpu6500GyroInit(uint8_t lpf)
 {
     mpuIntExtiInit();
 
-#ifdef NAZE
-    // FIXME target specific code in driver code.
-
-    gpio_config_t gpio;
-    // MPU_INT output on rev5 hardware (PC13). rev4 was on PB13, conflicts with SPI devices
-    if (hse_value == 12000000) {
-        gpio.pin = Pin_13;
-        gpio.speed = Speed_2MHz;
-        gpio.mode = Mode_IN_FLOATING;
-        gpioInit(GPIOC, &gpio);
-    }
-#endif
-
     mpuConfiguration.write(MPU_RA_PWR_MGMT_1, MPU6500_BIT_RESET);
     delay(100);
     mpuConfiguration.write(MPU_RA_SIGNAL_PATH_RESET, 0x07);
@@ -105,11 +92,14 @@ void mpu6500GyroInit(uint8_t lpf)
 
     // Data ready interrupt configuration
 #ifdef USE_MPU9250_MAG
-    mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0);  // INT_ANYRD_2CLEAR, BYPASS_EN
+    mpuConfiguration.write(MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR | MPU6500_BIT_BYPASS_EN);  // INT_ANYRD_2CLEAR, BYPASS_EN
 #else
-    mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0);  // INT_ANYRD_2CLEAR, BYPASS_EN
+    mpuConfiguration.write(MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR);  // INT_ANYRD_2CLEAR
 #endif
+    delay(15);
+    
 #ifdef USE_MPU_DATA_READY_SIGNAL
-    mpuConfiguration.write(MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable
+    mpuConfiguration.write(MPU_RA_INT_ENABLE, MPU6500_BIT_RAW_RDY_EN); // RAW_RDY_EN interrupt enable
 #endif
+    delay(15);
 }

src/main/drivers/accgyro_mpu6500.h

@@ -20,6 +20,10 @@
 #define ICM20608G_WHO_AM_I_CONST            (0xAF)
 
 #define MPU6500_BIT_RESET                   (0x80)
+#define MPU6500_BIT_INT_ANYRD_2CLEAR        (1 << 4)
+#define MPU6500_BIT_BYPASS_EN               (1 << 0)
+#define MPU6500_BIT_I2C_IF_DIS              (1 << 4)
+#define MPU6500_BIT_RAW_RDY_EN              (0x01)
 
 #pragma once
 

src/main/drivers/accgyro_spi_mpu6000.c

@@ -205,8 +205,8 @@ bool mpu6000SpiDetect(void)
     return false;
 }
 
-static void mpu6000AccAndGyroInit(void) {
-
+static void mpu6000AccAndGyroInit(void) 
+{
     if (mpuSpi6000InitDone) {
         return;
     }

src/main/drivers/accgyro_spi_mpu6500.c

@@ -91,13 +91,33 @@ bool mpu6500SpiDetect(void)
     return false;
 }
 
+void mpu6500SpiAccInit(acc_t *acc)
+{
+    mpu6500AccInit(acc);
+}
+
+void mpu6500SpiGyroInit(uint8_t lpf)
+{
+    spiSetDivisor(MPU6500_SPI_INSTANCE, SPI_CLOCK_SLOW);
+    delayMicroseconds(1);
+    
+    mpu6500GyroInit(lpf);
+    
+    // Disable Primary I2C Interface
+    mpu6500WriteRegister(MPU_RA_USER_CTRL, MPU6500_BIT_I2C_IF_DIS);
+    delay(100);
+    
+    spiSetDivisor(MPU6500_SPI_INSTANCE, SPI_CLOCK_FAST);
+    delayMicroseconds(1);
+}
+
 bool mpu6500SpiAccDetect(acc_t *acc)
 {
     if (mpuDetectionResult.sensor != MPU_65xx_SPI) {
         return false;
     }
 
-    acc->init = mpu6500AccInit;
+    acc->init = mpu6500SpiAccInit;
     acc->read = mpuAccRead;
 
     return true;
@@ -109,7 +129,7 @@ bool mpu6500SpiGyroDetect(gyro_t *gyro)
         return false;
     }
 
-    gyro->init = mpu6500GyroInit;
+    gyro->init = mpu6500SpiGyroInit;
     gyro->read = mpuGyroRead;
     gyro->intStatus = checkMPUDataReady;
 

src/main/drivers/accgyro_spi_mpu6500.h

@@ -19,6 +19,9 @@
 
 bool mpu6500SpiDetect(void);
 
+void mpu6500SpiAccInit(acc_t *acc); 
+void mpu6500SpiGyroInit(uint8_t lpf);
+
 bool mpu6500SpiAccDetect(acc_t *acc);
 bool mpu6500SpiGyroDetect(gyro_t *gyro);
 

src/main/target/BLUEJAYF4/target.h

@@ -43,7 +43,6 @@
 // MPU6500 interrupt
 //#define DEBUG_MPU_DATA_READY_INTERRUPT
 #define USE_MPU_DATA_READY_SIGNAL
-#define ENSURE_MPU_DATA_READY_IS_LOW
 //#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
 #define MPU_INT_EXTI PC5
 #define MPU6500_CS_PIN          PC4