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[IMU Driver]: Add CRT to BMI270 (#31) 

* add crt for bmi270

* remove 6500 to fix cli lock issue
This commit is contained in:
Hugo Chiang 2023-02-22 22:09:28 +08:00 committed by GitHub
parent 0e7c8764ba
commit 9fed0c3c4b
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 125 additions and 50 deletions
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163
src/main/drivers/accgyro/accgyro_spi_bmi270.c
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@ -76,7 +76,9 @@ typedef enum {
BMI270_REG_FIFO_LENGTH_MSB = 0x25, BMI270_REG_FIFO_LENGTH_MSB = 0x25,
BMI270_REG_FIFO_DATA = 0x26, BMI270_REG_FIFO_DATA = 0x26,
BMI270_REG_FEAT_PAGE = 0x2F, BMI270_REG_FEAT_PAGE = 0x2F,
BMI270_REG_FEATURES_0_GYR_GAIN_STATUS = 0x38,
BMI270_REG_FEATURES_0_GYR_CAS = 0x3C, BMI270_REG_FEATURES_0_GYR_CAS = 0x3C,
BMI270_REG_FEATURES_1_G_TRIG_1 = 0x32,
BMI270_REG_FEATURES_1_GEN_SET_1 = 0x34, BMI270_REG_FEATURES_1_GEN_SET_1 = 0x34,
BMI270_REG_ACC_CONF = 0x40, BMI270_REG_ACC_CONF = 0x40,
BMI270_REG_ACC_RANGE = 0x41, BMI270_REG_ACC_RANGE = 0x41,
@ -97,6 +99,7 @@ typedef enum {
BMI270_REG_INT_MAP_DATA = 0x58, BMI270_REG_INT_MAP_DATA = 0x58,
BMI270_REG_INIT_CTRL = 0x59, BMI270_REG_INIT_CTRL = 0x59,
BMI270_REG_INIT_DATA = 0x5E, BMI270_REG_INIT_DATA = 0x5E,
BMI270_REG_GYR_CRT_CONF = 0x69,
BMI270_REG_IF_CONF = 0x6B, BMI270_REG_IF_CONF = 0x6B,
BMI270_REG_ACC_SELF_TEST = 0x6D, BMI270_REG_ACC_SELF_TEST = 0x6D,
BMI270_REG_GYR_SELF_TEST_AXES = 0x6E, BMI270_REG_GYR_SELF_TEST_AXES = 0x6E,
@ -108,46 +111,64 @@ typedef enum {
// BMI270 register configuration values // BMI270 register configuration values
typedef enum { typedef enum {
BMI270_VAL_CMD_G_TRIGGER = 0x02,
BMI270_VAL_CMD_SOFTRESET = 0xB6, BMI270_VAL_CMD_SOFTRESET = 0xB6,
BMI270_VAL_CMD_FIFOFLUSH = 0xB0, BMI270_VAL_CMD_FIFOFLUSH = 0xB0,
BMI270_VAL_PWR_CTRL_DISABLE_ALL = 0x00, // disable all sensors BMI270_VAL_PWR_CTRL_DISABLE_ALL = 0x00, // disable all sensors
BMI270_VAL_PWR_CTRL = 0x0E, // enable gyro, acc and temp sensors BMI270_VAL_PWR_CTRL = 0x0E, // enable gyro, acc and temp sensors
BMI270_VAL_PWR_CONF = 0x02, // disable advanced power save, enable FIFO self-wake BMI270_VAL_PWR_CTRL_ACC_ENABLE = BIT(2), // bit 2, enable acc
BMI270_VAL_PAGE_0 = 0x00, // select page 0 BMI270_VAL_PWR_CTRL_ACC_DISABLE = 0x00, // bit 2, disable gyro
BMI270_VAL_PAGE_1 = 0x01, // select page 1 BMI270_VAL_PWR_CONF_ADV_POWER_SAVE_DISABLE = 0x00, // disable ADV PS
BMI270_VAL_ACC_CONF_ODR800 = 0x0B, // set acc sample rate to 800hz BMI270_VAL_PWR_CONF_ADV_POWER_SAVE_ENABLE = BIT(0), // enable ADV PS
BMI270_VAL_ACC_CONF_ODR1600 = 0x0C, // set acc sample rate to 1600hz BMI270_VAL_PWR_CONF = 0x02, // disable advanced power save, enable FIFO self-wake
BMI270_VAL_ACC_CONF_BWP = 0x01, // set acc filter in osr2 mode BMI270_VAL_PAGE_0 = 0x00, // select page 0
BMI270_VAL_ACC_CONF_HP = 0x01, // set acc in high performance mode BMI270_VAL_PAGE_1 = 0x01, // select page 1
BMI270_VAL_ACC_RANGE_8G = 0x02, // set acc to 8G full scale BMI270_VAL_ACC_CONF_ODR800 = 0x0B, // set acc sample rate to 800hz
BMI270_VAL_ACC_RANGE_16G = 0x03, // set acc to 16G full scale BMI270_VAL_ACC_CONF_ODR1600 = 0x0C, // set acc sample rate to 1600hz
BMI270_VAL_GYRO_CONF_ODR3200 = 0x0D, // set gyro sample rate to 3200hz BMI270_VAL_ACC_CONF_BWP = 0x01, // set acc filter in osr2 mode
BMI270_VAL_GYRO_CONF_BWP_OSR4 = 0x00, // set gyro filter in OSR4 mode BMI270_VAL_ACC_CONF_HP = 0x01, // set acc in high performance mode
BMI270_VAL_GYRO_CONF_BWP_OSR2 = 0x01, // set gyro filter in OSR2 mode BMI270_VAL_ACC_RANGE_8G = 0x02, // set acc to 8G full scale
BMI270_VAL_GYRO_CONF_BWP_NORM = 0x02, // set gyro filter in normal mode BMI270_VAL_ACC_RANGE_16G = 0x03, // set acc to 16G full scale
BMI270_VAL_GYRO_CONF_NOISE_PERF = 0x01, // set gyro in high performance noise mode BMI270_VAL_GYRO_CONF_ODR3200 = 0x0D, // set gyro sample rate to 3200hz
BMI270_VAL_GYRO_CONF_FILTER_PERF = 0x01, // set gyro in high performance filter mode BMI270_VAL_GYRO_CONF_BWP_OSR4 = 0x00, // set gyro filter in OSR4 mode
BMI270_VAL_GYRO_CONF_BWP_OSR2 = 0x01, // set gyro filter in OSR2 mode
BMI270_VAL_GYRO_CONF_BWP_NORM = 0x02, // set gyro filter in normal mode
BMI270_VAL_GYRO_CONF_NOISE_PERF = 0x01, // set gyro in high performance noise mode
BMI270_VAL_GYRO_CONF_FILTER_PERF = 0x01, // set gyro in high performance filter mode
BMI270_VAL_GYRO_RANGE_2000DPS = 0x08, // set gyro to 2000dps full scale BMI270_VAL_GYRO_RANGE_2000DPS = 0x08, // set gyro to 2000dps full scale
// for some reason you have to enable the ois_range bit (bit 3) for 2000dps as well // for some reason you have to enable the ois_range bit (bit 3) for 2000dps as well
// or else the gyro scale will be 250dps when in prefiltered FIFO mode (not documented in datasheet!) // or else the gyro scale will be 250dps when in prefiltered FIFO mode (not documented in datasheet!)
BMI270_VAL_INT_MAP_DATA_DRDY_INT1 = 0x04,// enable the data ready interrupt pin 1 BMI270_VAL_INT_MAP_DATA_DRDY_INT1 = 0x04, // enable the data ready interrupt pin 1
BMI270_VAL_INT_MAP_FIFO_WM_INT1 = 0x02, // enable the FIFO watermark interrupt pin 1 BMI270_VAL_INT_MAP_FIFO_WM_INT1 = 0x02, // enable the FIFO watermark interrupt pin 1
BMI270_VAL_INT1_IO_CTRL_PINMODE = 0x0A, // active high, push-pull, output enabled, input disabled BMI270_VAL_INT1_IO_CTRL_PINMODE = 0x0A, // active high, push-pull, output enabled, input disabled
BMI270_VAL_IF_CONF_SET_INTERFACE = 0x00, // spi 4-wire mode, disable OIS, disable AUX BMI270_VAL_IF_CONF_SET_INTERFACE = 0x00, // spi 4-wire mode, disable OIS, disable AUX
BMI270_VAL_FIFO_CONFIG_0 = 0x00, // don't stop when full, disable sensortime frame BMI270_VAL_FIFO_CONFIG_0 = 0x00, // don't stop when full, disable sensortime frame
BMI270_VAL_FIFO_CONFIG_1 = 0x80, // only gyro data in FIFO, use headerless mode BMI270_VAL_FIFO_CONFIG_1 = 0x80, // only gyro data in FIFO, use headerless mode
BMI270_VAL_FIFO_DOWNS = 0x00, // select unfiltered gyro data with no downsampling (6.4KHz samples) BMI270_VAL_FIFO_DOWNS = 0x00, // select unfiltered gyro data with no downsampling (6.4KHz samples)
BMI270_VAL_FIFO_WTM_0 = 0x06, // set the FIFO watermark level to 1 gyro sample (6 bytes) BMI270_VAL_FIFO_WTM_0 = 0x06, // set the FIFO watermark level to 1 gyro sample (6 bytes)
BMI270_VAL_FIFO_WTM_1 = 0x00, // FIFO watermark MSB BMI270_VAL_FIFO_WTM_1 = 0x00, // FIFO watermark MSB
BMI270_VAL_GEN_SET_1 = 0x0200, // bit 9, enable self offset correction (IOC part 1) BMI270_VAL_GEN_SET_1 = 0x0200, // bit 9, enable self offset correction (IOC part 1)
BMI270_VAL_OFFSET_6 = 0xC0, // Enable sensitivity error compensation and gyro offset compensation (IOC part2) BMI270_VAL_OFFSET_6 = 0xC0, // Enable sensitivity error compensation and gyro offset compensation (IOC part2)
BMI270_VAL_OFFSET_6_GYR_GAIN_EN_ENABLE = BIT(7), // bit 7, enable gyro gain compensation
BMI270_VAL_GYR_CRT_CONF_CRT_RUNNING = BIT(2), // bit 7, enable gyro crt
BMI270_VAL_FEATURES_1_G_TRIG_1_SELECT_CRT = 0x0100, // bit 8, CRT will be executed
BMI270_VAL_FEATURES_1_G_TRIG_1_SELECT_GYR_BIST=0x0000, // bit 8, gyro built-in self-test will be executed
BMI270_VAL_FEATURES_1_G_TRIG_1_BLOCK_UNLOCK = 0x0000,// bit 9, do not block further G_TRIGGER commands
BMI270_VAL_FEATURES_1_G_TRIG_1_BLOCK_BLOCK = 0x0200, // bit 9, block further G_TRIGGER commands
} bmi270ConfigValues_e; } bmi270ConfigValues_e;
typedef enum { typedef enum {
BMI270_MASK_FEATURES_1_GEN_SET_1 = 0x0200, BMI270_MASK_FEATURES_1_GEN_SET_1 = 0x0200,
BMI270_MASK_OFFSET_6 = 0xC0, BMI270_MASK_OFFSET_6 = 0xC0,
BMI270_MASK_OFFSET_6_GYR_GAIN_ENABLE = 0x80, // bit 7, enable gyro gain compensation
BMI270_MASK_PWR_ADV_POWER_SAVE = 0x01, // bit 0, enable advanced power save
BMI270_MASK_PWR_CTRL_ACC_ENABLE = 0x04, // bit 2, enable acc
BMI270_MASK_GYR_CRT_CONF_CRT_RUNNING = 0x04, // bit 2, gyro CRT running
BMI270_MASK_G_TRIG_1_SELECT = 0x0100, // bit 8, select feature that should be executed
BMI270_MASK_G_TRIG_1_BLOCK = 0x0200, // bit 9, block feature with next G_TRIGGER CMD
BMI270_MASK_GYR_GAIN_STATUS_G_TRIG_STATUS = 0x38 // bit[5:3]
} bmi270ConfigMasks_e; } bmi270ConfigMasks_e;
// Need to see at least this many interrupts during initialisation to confirm EXTI connectivity // Need to see at least this many interrupts during initialisation to confirm EXTI connectivity
@ -196,7 +217,7 @@ static void bmi270RegisterWriteBits(const extDevice_t *dev, bmi270Register_e reg
static void bmi270RegisterWrite16(const extDevice_t *dev, bmi270Register_e registerId, uint16_t data, unsigned delayMs) static void bmi270RegisterWrite16(const extDevice_t *dev, bmi270Register_e registerId, uint16_t data, unsigned delayMs)
{ {
uint8_t buf[2] = { uint8_t buf[2] = {
(uint8_t)(data & 0x00FF), // LSB first since address is auto-incremented (uint8_t)(data & 0x00FF),
(uint8_t)(data >> 8) (uint8_t)(data >> 8)
}; };
spiWriteRegBuf(dev, registerId, buf, 2); spiWriteRegBuf(dev, registerId, buf, 2);
@ -246,6 +267,71 @@ static void bmi270UploadConfig(const extDevice_t *dev)
bmi270RegisterWrite(dev, BMI270_REG_INIT_CTRL, 1, 1); bmi270RegisterWrite(dev, BMI270_REG_INIT_CTRL, 1, 1);
} }
static void bmi270EnableIOC(const extDevice_t *dev)
{
// Configure the feature register page to page 1
bmi270RegisterWrite(dev, BMI270_REG_FEAT_PAGE, BMI270_VAL_PAGE_1, 1);
// Enable self offset correction
bmi270RegisterWriteBits16(dev, BMI270_REG_FEATURES_1_GEN_SET_1, BMI270_MASK_FEATURES_1_GEN_SET_1, BMI270_VAL_GEN_SET_1, 1);
// Enable IOC
bmi270RegisterWriteBits(dev, BMI270_REG_OFFSET_6, BMI270_MASK_OFFSET_6, 0x40, 1);
// Configure the feature register page to page 0
bmi270RegisterWrite(dev, BMI270_REG_FEAT_PAGE, BMI270_VAL_PAGE_0, 1);
}
static void bmi270PerformCRT(const extDevice_t *dev)
{
// disable advance power save mode
bmi270RegisterWriteBits(dev, BMI270_REG_PWR_CONF, BMI270_MASK_PWR_ADV_POWER_SAVE, BMI270_VAL_PWR_CONF_ADV_POWER_SAVE_DISABLE, 10);
// enable gyro gain compensation, set OFFSET_6.gain_comp_en = 1
bmi270RegisterWriteBits(dev, BMI270_REG_OFFSET_6, BMI270_MASK_OFFSET_6_GYR_GAIN_ENABLE, BMI270_VAL_OFFSET_6_GYR_GAIN_EN_ENABLE, 10);
// enable acc, set pwr_ctrl.acc_en = 1
bmi270RegisterWriteBits(dev, BMI270_REG_PWR_CTRL, BMI270_MASK_PWR_CTRL_ACC_ENABLE, BMI270_VAL_PWR_CTRL_ACC_ENABLE, 10);
// set GYR_CRT_CONF.crt_running = 0b1
bmi270RegisterWriteBits(dev, BMI270_REG_GYR_CRT_CONF, BMI270_MASK_GYR_CRT_CONF_CRT_RUNNING, BMI270_VAL_GYR_CRT_CONF_CRT_RUNNING, 10);
// set page to 1
bmi270RegisterWrite(dev, BMI270_REG_FEAT_PAGE, BMI270_VAL_PAGE_1, 10);
// set G_TRIG_1.select =1
bmi270RegisterWriteBits16(dev, BMI270_REG_FEATURES_1_G_TRIG_1, BMI270_MASK_G_TRIG_1_SELECT, BMI270_VAL_FEATURES_1_G_TRIG_1_SELECT_CRT, 10);
// set G_TRIG_1.block = 0
// bmi270RegisterWriteBits16(dev, BMI270_REG_FEATURES_1_G_TRIG_1, BMI270_MASK_G_TRIG_1_BLOCK, BMI270_VAL_FEATURES_1_G_TRIG_1_BLOCK_UNLOCK, 1);
// send g_trigger command to CMD reg
bmi270RegisterWrite(dev, BMI270_REG_CMD, BMI270_VAL_CMD_G_TRIGGER, 5000);
// read GYR_CRT_CONF.crt_running and check if it is 0
uint8_t bmiCheck = bmi270RegisterRead(dev, BMI270_REG_GYR_CRT_CONF);
// if not, wait for 2 seconds and check again max time for 5
uint8_t checkCount = 0;
while ((bmiCheck!=0x00) && (checkCount++ < 5)) {
bmiCheck = bmi270RegisterRead(dev, BMI270_REG_GYR_CRT_CONF);
delay(1000);
if (bmiCheck == 0x00) {
break;
}
}
delay(100);
// set page to 0
bmi270RegisterWrite(dev, BMI270_REG_FEAT_PAGE, BMI270_VAL_PAGE_0, 1);
// read GYR_GAIN_STATUS.g_trig_status
uint16_t bmiStatus = bmi270RegisterRead16(dev, BMI270_REG_FEATURES_0_GYR_GAIN_STATUS);
if (bmiStatus == 0x0000){
delay(10);
}
}
static uint8_t getBmiOsrMode() static uint8_t getBmiOsrMode()
{ {
switch(gyroConfig()->gyro_hardware_lpf) { switch(gyroConfig()->gyro_hardware_lpf) {
@ -282,6 +368,8 @@ static void bmi270Config(gyroDev_t *gyro)
bmi270UploadConfig(dev); bmi270UploadConfig(dev);
bmi270PerformCRT(dev);
// Disable all sensors // Disable all sensors
bmi270RegisterWrite(dev, BMI270_REG_PWR_CTRL, BMI270_VAL_PWR_CTRL_DISABLE_ALL, 1); bmi270RegisterWrite(dev, BMI270_REG_PWR_CTRL, BMI270_VAL_PWR_CTRL_DISABLE_ALL, 1);
@ -328,17 +416,8 @@ static void bmi270Config(gyroDev_t *gyro)
// Enable the gyro, accelerometer and temperature sensor - disable aux interface // Enable the gyro, accelerometer and temperature sensor - disable aux interface
bmi270RegisterWrite(dev, BMI270_REG_PWR_CTRL, BMI270_VAL_PWR_CTRL, 1); bmi270RegisterWrite(dev, BMI270_REG_PWR_CTRL, BMI270_VAL_PWR_CTRL, 1);
// Configure the feature register page to page 1
bmi270RegisterWrite(dev, BMI270_REG_FEAT_PAGE, BMI270_VAL_PAGE_1, 1);
// Enable self offset correction
bmi270RegisterWriteBits16(dev, BMI270_REG_FEATURES_1_GEN_SET_1, BMI270_MASK_FEATURES_1_GEN_SET_1, BMI270_VAL_GEN_SET_1, 1);
// Enable IOC // Enable IOC
bmi270RegisterWriteBits(dev, BMI270_REG_OFFSET_6, BMI270_MASK_OFFSET_6, 0x40, 1); bmi270EnableIOC(dev);
// Configure the feature register page to page 0
bmi270RegisterWrite(dev, BMI270_REG_FEAT_PAGE, BMI270_VAL_PAGE_0, 1);
// Flush the FIFO // Flush the FIFO
if (fifoMode) { if (fifoMode) {

4
src/main/target/NEUTRONRCF435MINI/target.h
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@ -86,8 +86,8 @@
#define USE_GYRO #define USE_GYRO
#define USE_GYRO_SPI_MPU6500 //debug only // #define USE_GYRO_SPI_MPU6500 //debug only
#define USE_ACC_SPI_MPU6500 //debug only // #define USE_ACC_SPI_MPU6500 //debug only
#define USE_GYRO_SPI_ICM42688P #define USE_GYRO_SPI_ICM42688P
#define USE_ACCGYRO_BMI270 #define USE_ACCGYRO_BMI270
#define USE_ACCGYRO_LSM6DSO #define USE_ACCGYRO_LSM6DSO

2
src/main/target/NEUTRONRCF435MINI/target.mk
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@ -5,9 +5,7 @@ CUSTOM_DEFAULTS_EXTENDED = yes
FEATURES += VCP ONBOARDFLASH FEATURES += VCP ONBOARDFLASH
TARGET_SRC = \ TARGET_SRC = \
drivers/accgyro/accgyro_mpu6500.c \
drivers/accgyro/accgyro_spi_mpu6000.c \ drivers/accgyro/accgyro_spi_mpu6000.c \
drivers/accgyro/accgyro_spi_mpu6500.c\
drivers/accgyro/accgyro_spi_icm426xx.c\ drivers/accgyro/accgyro_spi_icm426xx.c\
drivers/barometer/barometer_bmp280.c \ drivers/barometer/barometer_bmp280.c \
drivers/barometer/barometer_dps310.c\ drivers/barometer/barometer_dps310.c\

4
src/main/target/NEUTRONRCF435SE/target.h
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@ -89,8 +89,8 @@
#define USE_GYRO #define USE_GYRO
#define USE_GYRO_SPI_MPU6500 //debug only // #define USE_GYRO_SPI_MPU6500 //debug only
#define USE_ACC_SPI_MPU6500 //debug only // #define USE_ACC_SPI_MPU6500 //debug only
#define USE_GYRO_SPI_ICM42688P #define USE_GYRO_SPI_ICM42688P
#define USE_ACCGYRO_BMI270 #define USE_ACCGYRO_BMI270
#define USE_ACCGYRO_LSM6DSL #define USE_ACCGYRO_LSM6DSL

2
src/main/target/NEUTRONRCF435SE/target.mk
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@ -5,9 +5,7 @@ CUSTOM_DEFAULTS_EXTENDED = yes
FEATURES += VCP ONBOARDFLASH FEATURES += VCP ONBOARDFLASH
TARGET_SRC = \ TARGET_SRC = \
drivers/accgyro/accgyro_mpu6500.c \
drivers/accgyro/accgyro_spi_mpu6000.c \ drivers/accgyro/accgyro_spi_mpu6000.c \
drivers/accgyro/accgyro_spi_mpu6500.c\
drivers/accgyro/accgyro_spi_icm426xx.c\ drivers/accgyro/accgyro_spi_icm426xx.c\
drivers/barometer/barometer_bmp280.c \ drivers/barometer/barometer_bmp280.c \
drivers/barometer/barometer_dps310.c\ drivers/barometer/barometer_dps310.c\