ICM-20689 Gyro

src/main/config/config.c

@@ -479,7 +479,7 @@ void createDefaultConfig(master_t *config)
 #ifdef STM32F10X
     config->gyro_sync_denom = 8;
     config->pid_process_denom = 1;
-#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500)
+#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500)  || defined(USE_GYRO_SPI_ICM20689)
     config->gyro_sync_denom = 1;
     config->pid_process_denom = 4;
 #else

src/main/drivers/accgyro_mpu.c

@@ -40,6 +40,7 @@
 #include "accgyro_mpu6500.h"
 #include "accgyro_spi_mpu6000.h"
 #include "accgyro_spi_mpu6500.h"
+#include "accgyro_spi_icm20689.h"
 #include "accgyro_spi_mpu9250.h"
 #include "accgyro_mpu.h"
 
@@ -143,6 +144,16 @@ static bool detectSPISensorsAndUpdateDetectionResult(void)
     }
 #endif
 
+#ifdef USE_GYRO_SPI_ICM20689
+    if (icm20689SpiDetect()) {
+        mpuDetectionResult.sensor = ICM_20689_SPI;
+        mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
+        mpuConfiguration.read = icm20689ReadRegister;
+        mpuConfiguration.write = icm20689WriteRegister;
+        return true;
+    }
+#endif
+
 #ifdef USE_GYRO_SPI_MPU6000
     if (mpu6000SpiDetect()) {
         mpuDetectionResult.sensor = MPU_60x0_SPI;

src/main/drivers/accgyro_mpu.h

@@ -167,7 +167,8 @@ typedef enum {
     MPU_60x0_SPI,
     MPU_65xx_I2C,
     MPU_65xx_SPI,
-    MPU_9250_SPI
+    MPU_9250_SPI,
+    ICM_20689_SPI
 } detectedMPUSensor_e;
 
 typedef enum {

src/main/drivers/accgyro_spi_icm20689.c

@@ -0,0 +1,166 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it 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 is distributed in the hope that it 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "platform.h"
+
+#include "common/axis.h"
+#include "common/maths.h"
+
+#include "system.h"
+#include "exti.h"
+#include "io.h"
+#include "bus_spi.h"
+#include "gpio.h"
+#include "gyro_sync.h"
+
+#include "sensor.h"
+#include "accgyro.h"
+#include "accgyro_mpu.h"
+#include "accgyro_spi_icm20689.h"
+
+#define DISABLE_ICM20689       IOHi(icmSpi20689CsPin)
+#define ENABLE_ICM20689        IOLo(icmSpi20689CsPin)
+
+static IO_t icmSpi20689CsPin = IO_NONE;
+
+bool icm20689WriteRegister(uint8_t reg, uint8_t data)
+{
+    ENABLE_ICM20689;
+    spiTransferByte(ICM20689_SPI_INSTANCE, reg);
+    spiTransferByte(ICM20689_SPI_INSTANCE, data);
+    DISABLE_ICM20689;
+
+    return true;
+}
+
+bool icm20689ReadRegister(uint8_t reg, uint8_t length, uint8_t *data)
+{
+    ENABLE_ICM20689;
+    spiTransferByte(ICM20689_SPI_INSTANCE, reg | 0x80); // read transaction
+    spiTransfer(ICM20689_SPI_INSTANCE, data, NULL, length);
+    DISABLE_ICM20689;
+
+    return true;
+}
+
+static void icm20689SpiInit(void)
+{
+    static bool hardwareInitialised = false;
+
+    if (hardwareInitialised) {
+        return;
+    }
+
+    icmSpi20689CsPin = IOGetByTag(IO_TAG(ICM20689_CS_PIN));
+    IOInit(icmSpi20689CsPin, OWNER_MPU, RESOURCE_SPI_CS, 0);
+    IOConfigGPIO(icmSpi20689CsPin, SPI_IO_CS_CFG);
+
+    spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_FAST);
+
+    hardwareInitialised = true;
+}
+
+bool icm20689SpiDetect(void)
+{
+    uint8_t tmp;
+
+    icm20689SpiInit();
+
+    icm20689ReadRegister(MPU_RA_WHO_AM_I, 1, &tmp);
+
+    if (tmp == ICM20689_WHO_AM_I_CONST) {
+        return true;
+    }
+
+    return false;
+}
+
+bool icm20689SpiAccDetect(acc_t *acc)
+{
+    if (mpuDetectionResult.sensor != ICM_20689_SPI) {
+        return false;
+    }
+
+    acc->init = icm20689AccInit;
+    acc->read = mpuAccRead;
+
+    return true;
+}
+
+bool icm20689SpiGyroDetect(gyro_t *gyro)
+{
+    if (mpuDetectionResult.sensor != ICM_20689_SPI) {
+        return false;
+    }
+
+    gyro->init = icm20689GyroInit;
+    gyro->read = mpuGyroRead;
+    gyro->intStatus = checkMPUDataReady;
+
+    // 16.4 dps/lsb scalefactor
+    gyro->scale = 1.0f / 16.4f;
+
+    return true;
+}
+
+void icm20689AccInit(acc_t *acc)
+{
+    mpuIntExtiInit();
+
+    acc->acc_1G = 512 * 4;
+}
+
+void icm20689GyroInit(uint8_t lpf)
+{
+    mpuIntExtiInit();
+    
+    spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON);
+
+    mpuConfiguration.write(MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
+    delay(100);
+    mpuConfiguration.write(MPU_RA_SIGNAL_PATH_RESET, 0x03);
+    delay(100);
+//    mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0);
+//    delay(100);
+    mpuConfiguration.write(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
+    delay(15);
+    mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
+    delay(15);
+    mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
+    delay(15);
+    mpuConfiguration.write(MPU_RA_CONFIG, lpf);
+    delay(15);
+    mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); // Get Divider Drops
+    delay(100);
+
+    // Data ready interrupt configuration
+//    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, 0x10);  // INT_ANYRD_2CLEAR, BYPASS_EN
+
+    delay(15);
+    
+#ifdef USE_MPU_DATA_READY_SIGNAL
+    mpuConfiguration.write(MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable
+#endif
+
+    spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_FAST);
+
+}

src/main/drivers/accgyro_spi_icm20689.h

@@ -0,0 +1,34 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it 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 is distributed in the hope that it 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#define ICM20689_WHO_AM_I_CONST             (0x98)
+#define ICM20689_BIT_RESET                  (0x80)
+
+bool icm20689AccDetect(acc_t *acc);
+bool icm20689GyroDetect(gyro_t *gyro);
+
+void icm20689AccInit(acc_t *acc);
+void icm20689GyroInit(uint8_t lpf);
+
+bool icm20689SpiDetect(void);
+
+bool icm20689SpiAccDetect(acc_t *acc);
+bool icm20689SpiGyroDetect(gyro_t *gyro);
+
+bool icm20689WriteRegister(uint8_t reg, uint8_t data);
+bool icm20689ReadRegister(uint8_t reg, uint8_t length, uint8_t *data);

src/main/drivers/accgyro_spi_mpu6000.c

@@ -180,7 +180,6 @@ bool mpu6000SpiDetect(void)
         }
     } while (attemptsRemaining--);
 
-
     mpu6000ReadRegister(MPU_RA_PRODUCT_ID, 1, &in);
 
     /* look for a product ID we recognise */
@@ -244,7 +243,6 @@ static void mpu6000AccAndGyroInit(void) {
     mpu6000WriteRegister(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
     delayMicroseconds(15);
 
-
     mpu6000WriteRegister(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0);  // INT_ANYRD_2CLEAR
     delayMicroseconds(15);
 

src/main/io/serial_cli.c

@@ -239,9 +239,9 @@ static const char * const sensorTypeNames[] = {
 
 #define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
 
-static const char * const sensorHardwareNames[4][12] = {
-    { "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "FAKE", NULL },
-    { "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "FAKE", NULL },
+static const char * const sensorHardwareNames[4][13] = {
+    { "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "ICM20689", "FAKE", NULL },
+    { "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "ICM20689", "FAKE", NULL },
     { "", "None", "BMP085", "MS5611", "BMP280", NULL },
     { "", "None", "HMC5883", "AK8975", "AK8963", NULL }
 };
@@ -451,6 +451,7 @@ static const char * const lookupTableAccHardware[] = {
     "MPU6000",
     "MPU6500",
     "MPU9250",
+    "ICM20689",
     "FAKE"
 };
 

src/main/sensors/acceleration.h

@@ -29,6 +29,7 @@ typedef enum {
     ACC_MPU6000,
     ACC_MPU6500,
     ACC_MPU9250,
+    ACC_ICM20689,
     ACC_FAKE,
     ACC_MAX = ACC_FAKE
 } accelerationSensor_e;

src/main/sensors/gyro.h

@@ -27,6 +27,7 @@ typedef enum {
     GYRO_MPU6000,
     GYRO_MPU6500,
     GYRO_MPU9250,
+    GYRO_ICM20689,
     GYRO_FAKE,
     GYRO_MAX = GYRO_FAKE
 } gyroSensor_e;

src/main/sensors/initialisation.c

@@ -255,6 +255,21 @@ bool detectGyro(void)
         }
 #endif
         ; // fallthrough
+        
+        case GYRO_ICM20689:
+#ifdef USE_GYRO_SPI_ICM20689
+            if (icm20689SpiGyroDetect(&gyro))
+            {
+                gyroHardware = GYRO_ICM20689;
+#ifdef GYRO_ICM20689_ALIGN
+                gyroAlign = GYRO_ICM20689_ALIGN;
+#endif
+
+                break;
+            }
+#endif
+            ; // fallthrough
+
         case GYRO_FAKE:
 #ifdef USE_FAKE_GYRO
             if (fakeGyroDetect(&gyro)) {
@@ -398,6 +413,19 @@ retry:
         }
 #endif
         ; // fallthrough
+        case ACC_ICM20689:
+#ifdef USE_ACC_SPI_ICM20689
+
+            if (icm20689SpiAccDetect(&acc))
+            {
+#ifdef ACC_ICM20689_ALIGN
+                accAlign = ACC_ICM20689_ALIGN;
+#endif
+                accHardware = ACC_ICM20689;
+                break;
+            }
+#endif
+            ; // fallthrough
         case ACC_FAKE:
 #ifdef USE_FAKE_ACC
             if (fakeAccDetect(&acc)) {
@@ -616,7 +644,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig,
     memset(&acc, 0, sizeof(acc));
     memset(&gyro, 0, sizeof(gyro));
 
-#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250)
+#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
 
     const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
 

src/main/target/FURYF3/target.h

@@ -33,12 +33,18 @@
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
+#define ICM20689_CS_PIN          PA4
+#define ICM20689_SPI_INSTANCE    SPI1
+
 #define MPU6000_CS_PIN          PA4
 #define MPU6000_SPI_INSTANCE    SPI1
 #define MPU6500_CS_PIN          PA4
 #define MPU6500_SPI_INSTANCE    SPI1
 
 #define GYRO
+#define USE_GYRO_SPI_ICM20689
+#define GYRO_ICM20689_ALIGN      CW180_DEG
+
 #define USE_GYRO_SPI_MPU6000
 #define GYRO_MPU6000_ALIGN      CW180_DEG
 #define USE_ACC_SPI_MPU6000
@@ -49,6 +55,9 @@
 #define GYRO_MPU6500_ALIGN      CW90_DEG
 
 #define ACC
+#define USE_ACC_SPI_ICM20689
+#define ACC_ICM20689_ALIGN       CW180_DEG
+
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
 #define ACC_MPU6500_ALIGN       CW90_DEG

src/main/target/FURYF3/target.mk

@@ -8,6 +8,7 @@ TARGET_SRC = \
             drivers/accgyro_spi_mpu6000.c \
             drivers/accgyro_mpu6500.c \
             drivers/accgyro_spi_mpu6500.c \
+            drivers/accgyro_spi_icm20689.c \
             drivers/light_ws2811strip.c \
             drivers/light_ws2811strip_stm32f30x.c \
             drivers/sonar_hcsr04.c \

src/main/target/FURYF4/target.h

@@ -40,6 +40,9 @@
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
+#define ICM20689_CS_PIN          PA4
+#define ICM20689_SPI_INSTANCE    SPI1
+
 #define MPU6000_CS_PIN          PA4
 #define MPU6000_SPI_INSTANCE    SPI1
 
@@ -47,6 +50,9 @@
 #define MPU6500_SPI_INSTANCE    SPI1
 
 #define GYRO
+#define USE_GYRO_SPI_ICM20689
+#define GYRO_ICM20689_ALIGN      CW180_DEG
+
 #define USE_GYRO_SPI_MPU6000
 #define GYRO_MPU6000_ALIGN      CW180_DEG
 
@@ -55,6 +61,9 @@
 #define GYRO_MPU6500_ALIGN      CW180_DEG
 
 #define ACC
+#define USE_ACC_SPI_ICM20689
+#define ACC_ICM20689_ALIGN       CW180_DEG
+
 #define USE_ACC_SPI_MPU6000
 #define ACC_MPU6000_ALIGN       CW180_DEG
 

src/main/target/FURYF4/target.mk

@@ -5,6 +5,7 @@ TARGET_SRC = \
             drivers/accgyro_spi_mpu6000.c \
             drivers/accgyro_spi_mpu6500.c \
             drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_icm20689.c \
             drivers/barometer_ms5611.c \
             drivers/light_ws2811strip.c \
             drivers/light_ws2811strip_stm32f4xx.c