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Fix ICM20689 initialisation

This commit is contained in:
Steve Evans 2022-05-05 12:28:02 +01:00
parent 25330d3c93
commit 3af0ee7a73
5 changed files with 78 additions and 29 deletions
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7
src/main/drivers/accgyro/accgyro_mpu.c
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@ -67,6 +67,9 @@
#define MPU_INQUIRY_MASK 0x7E
// Allow 100ms before attempting to access SPI bus
#define GYRO_SPI_STARTUP_MS 100
// Need to see at least this many interrupts during initialisation to confirm EXTI connectivity
#define GYRO_EXTI_DETECT_THRESHOLD 1000
@ -384,6 +387,10 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro, const gyro
uint8_t sensor = MPU_NONE;
// Allow 100ms before attempting to access gyro's SPI bus
// Do this once here rather than in each detection routine to speed boot
while (millis() < GYRO_SPI_STARTUP_MS);
// 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?

81
src/main/drivers/accgyro/accgyro_spi_icm20689.c
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@ -36,14 +36,52 @@
#include "drivers/sensor.h"
#include "drivers/time.h"
// 10 MHz max SPI frequency
#define ICM20689_MAX_SPI_CLK_HZ 10000000
#define ICM20689_MAX_SPI_CLK_HZ 8000000
// 10 MHz max SPI frequency for intialisation
#define ICM20689_MAX_SPI_INIT_CLK_HZ 1000000
// Register 0x37 - INT_PIN_CFG / Pin Bypass Enable Configuration
#define ICM20689_INT_ANYRD_2CLEAR 0x10
// Register 0x68 - SIGNAL_PATH_RESET / Pin Bypass Enable Configuration
#define ICM20689_ACCEL_RST 0x02
#define ICM20689_TEMP_RST 0x01
// Register 0x6a - USER_CTRL / User Control
#define ICM20689_I2C_IF_DIS 0x10
// Register 0x6b - PWR_MGMT_1 / Power Management 1
#define ICM20689_BIT_RESET 0x80
/* Allow CLKSEL setting time to settle when PLL is selected
*
* Not specified in the ICM-20689 datasheet, but in the ICM-20690 datasheet,
*
* https://invensense.tdk.com/wp-content/uploads/2016/10/DS-000178-ICM-20690-v1.0.pdf
*
* says (section 10.11) that the clock selection takes ~20us to settle. Testing
* has shown that 60us is required, so double to allow a margin
*/
#define ICM20689_CLKSEL_SETTLE_US 120
/* Not specified in the ICM-20689 datasheet, but in the MPU-6000 datasheet,
*
* https://invensense.tdk.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf
*
* says (section 4.28) suggest a delay of 100ms after a reset
*/
#define ICM20689_RESET_DELAY_MS 100
/* Not specified in the ICM-20689 datasheet, but in the MPU-6000 datasheet,
*
* https://invensense.tdk.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf
*
* says (section 4.28) suggest a delay of 100ms after a path reset
*/
#define ICM20689_PATH_RESET_DELAY_MS 100
static void icm20689SpiInit(const extDevice_t *dev)
{
static bool hardwareInitialised = false;
@ -52,7 +90,6 @@ static void icm20689SpiInit(const extDevice_t *dev)
return;
}
spiSetClkDivisor(dev, spiCalculateDivider(ICM20689_MAX_SPI_CLK_HZ));
hardwareInitialised = true;
@ -64,13 +101,12 @@ uint8_t icm20689SpiDetect(const extDevice_t *dev)
spiSetClkDivisor(dev, spiCalculateDivider(ICM20689_MAX_SPI_INIT_CLK_HZ));
// Note that the following reset is being done repeatedly by each MPU6000
// compatible device being probed
// reset the device configuration
spiWriteReg(dev, MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
delay(100);
// reset the device signal paths
spiWriteReg(dev, MPU_RA_SIGNAL_PATH_RESET, 0x03);
delay(100);
delay(ICM20689_RESET_DELAY_MS);
uint8_t icmDetected;
@ -91,11 +127,21 @@ uint8_t icm20689SpiDetect(const extDevice_t *dev)
break;
default:
icmDetected = MPU_NONE;
break;
return icmDetected;
}
// We now know the device is recognised so it's safe to perform device
// specific register accesses
spiSetClkDivisor(dev, spiCalculateDivider(ICM20689_MAX_SPI_CLK_HZ));
// Disable Primary I2C Interface
spiWriteReg(dev, MPU_RA_USER_CTRL, ICM20689_I2C_IF_DIS);
// Reset the device signal paths
spiWriteReg(dev, MPU_RA_SIGNAL_PATH_RESET, ICM20689_ACCEL_RST | ICM20689_TEMP_RST);
delay(ICM20689_PATH_RESET_DELAY_MS);
return icmDetected;
}
@ -129,24 +175,17 @@ void icm20689GyroInit(gyroDev_t *gyro)
// Device was already reset during detection so proceed with configuration
spiWriteReg(&gyro->dev, MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
delay(15);
delayMicroseconds(ICM20689_CLKSEL_SETTLE_US);
spiWriteReg(&gyro->dev, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
delay(15);
spiWriteReg(&gyro->dev, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
delay(15);
spiWriteReg(&gyro->dev, MPU_RA_CONFIG, mpuGyroDLPF(gyro));
delay(15);
spiWriteReg(&gyro->dev, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops); // Get Divider Drops
delay(100);
spiWriteReg(&gyro->dev, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops);
// Data ready interrupt configuration
// spiWriteReg(&gyro->dev, 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
spiWriteReg(&gyro->dev, MPU_RA_INT_PIN_CFG, 0x10); // INT_ANYRD_2CLEAR, BYPASS_EN
delay(15);
spiWriteReg(&gyro->dev, MPU_RA_INT_PIN_CFG, ICM20689_INT_ANYRD_2CLEAR);
#ifdef USE_MPU_DATA_READY_SIGNAL
spiWriteReg(&gyro->dev, MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable
spiWriteReg(&gyro->dev, MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
#endif
spiSetClkDivisor(&gyro->dev, spiCalculateDivider(ICM20689_MAX_SPI_CLK_HZ));

2
src/main/drivers/accgyro/accgyro_spi_icm20689.h
View File

@ -22,8 +22,6 @@
#include "drivers/bus.h"
#define ICM20689_BIT_RESET (0x80)
bool icm20689AccDetect(accDev_t *acc);
bool icm20689GyroDetect(gyroDev_t *gyro);

11
src/main/drivers/accgyro/accgyro_spi_mpu6000.c
View File

@ -138,10 +138,6 @@ uint8_t mpu6000SpiDetect(const extDevice_t *dev)
spiWriteReg(dev, MPU_RA_PWR_MGMT_1, BIT_H_RESET);
delay(100); // datasheet specifies a 100ms delay after reset
// reset the device signal paths
spiWriteReg(dev, MPU_RA_SIGNAL_PATH_RESET, BIT_GYRO | BIT_ACC | BIT_TEMP);
delay(100); // datasheet specifies a 100ms delay after signal path reset
const uint8_t whoAmI = spiReadRegMsk(dev, MPU_RA_WHO_AM_I);
delayMicroseconds(1); // Ensure CS high time is met which is violated on H7 without this delay
@ -168,9 +164,14 @@ uint8_t mpu6000SpiDetect(const extDevice_t *dev)
case MPU6000_REV_D10:
detectedSensor = MPU_60x0_SPI;
}
spiSetClkDivisor(dev, spiCalculateDivider(MPU6000_MAX_SPI_CLK_HZ));
// reset the device signal paths
spiWriteReg(dev, MPU_RA_SIGNAL_PATH_RESET, BIT_GYRO | BIT_ACC | BIT_TEMP);
delay(100); // datasheet specifies a 100ms delay after signal path reset
}
spiSetClkDivisor(dev, spiCalculateDivider(MPU6000_MAX_SPI_CLK_HZ));
return detectedSensor;
}

6
src/main/drivers/accgyro/accgyro_spi_mpu6500.c
View File

@ -47,7 +47,7 @@
static void mpu6500SpiInit(const extDevice_t *dev)
{
spiSetClkDivisor(dev, spiCalculateDivider(MPU6500_MAX_SPI_CLK_HZ));
spiSetClkDivisor(dev, spiCalculateDivider(MPU6500_MAX_SPI_INIT_CLK_HZ));
}
uint8_t mpu6500SpiDetect(const extDevice_t *dev)
@ -82,7 +82,11 @@ uint8_t mpu6500SpiDetect(const extDevice_t *dev)
break;
default:
mpuDetected = MPU_NONE;
return mpuDetected;
}
spiSetClkDivisor(dev, spiCalculateDivider(MPU6500_MAX_SPI_CLK_HZ));
return mpuDetected;
}