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ICM20689 conversion

This commit is contained in:
Martin Budden 2017-06-29 07:45:20 +01:00
parent 79589f99ca
commit aedfa1e49c
3 changed files with 10 additions and 35 deletions
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5
src/main/drivers/accgyro/accgyro_mpu.c
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@ -276,12 +276,13 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
#endif #endif
#ifdef USE_GYRO_SPI_ICM20689 #ifdef USE_GYRO_SPI_ICM20689
gyro->bus.spi.instance = ICM20689_SPI_INSTANCE;
gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM20689_CS_PIN)) : gyro->bus.spi.csnPin; gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM20689_CS_PIN)) : gyro->bus.spi.csnPin;
if (icm20689SpiDetect(&gyro->bus)) { if (icm20689SpiDetect(&gyro->bus)) {
gyro->mpuDetectionResult.sensor = ICM_20689_SPI; gyro->mpuDetectionResult.sensor = ICM_20689_SPI;
gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H; gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
gyro->mpuConfiguration.readFn = icm20689SpiReadRegister; gyro->mpuConfiguration.readFn = spiReadRegister;
gyro->mpuConfiguration.writeFn = icm20689SpiWriteRegister; gyro->mpuConfiguration.writeFn = spiWriteRegister;
return true; return true;
} }
#endif #endif

37
src/main/drivers/accgyro/accgyro_spi_icm20689.c
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@ -36,29 +36,6 @@
#include "accgyro_mpu.h" #include "accgyro_mpu.h"
#include "accgyro_spi_icm20689.h" #include "accgyro_spi_icm20689.h"
#define DISABLE_ICM20689(spiCsnPin) IOHi(spiCsnPin)
#define ENABLE_ICM20689(spiCsnPin) IOLo(spiCsnPin)
bool icm20689SpiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data)
{
ENABLE_ICM20689(bus->spi.csnPin);
spiTransferByte(ICM20689_SPI_INSTANCE, reg);
spiTransferByte(ICM20689_SPI_INSTANCE, data);
DISABLE_ICM20689(bus->spi.csnPin);
return true;
}
bool icm20689SpiReadRegister(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data)
{
ENABLE_ICM20689(bus->spi.csnPin);
spiTransferByte(ICM20689_SPI_INSTANCE, reg | 0x80); // read transaction
spiTransfer(ICM20689_SPI_INSTANCE, data, NULL, length);
DISABLE_ICM20689(bus->spi.csnPin);
return true;
}
static void icm20689SpiInit(const busDevice_t *bus) static void icm20689SpiInit(const busDevice_t *bus)
{ {
static bool hardwareInitialised = false; static bool hardwareInitialised = false;
@ -71,7 +48,7 @@ static void icm20689SpiInit(const busDevice_t *bus)
IOConfigGPIO(bus->spi.csnPin, SPI_IO_CS_CFG); IOConfigGPIO(bus->spi.csnPin, SPI_IO_CS_CFG);
IOHi(bus->spi.csnPin); IOHi(bus->spi.csnPin);
spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_STANDARD); spiSetDivisor(bus->spi.instance, SPI_CLOCK_STANDARD);
hardwareInitialised = true; hardwareInitialised = true;
} }
@ -83,14 +60,14 @@ bool icm20689SpiDetect(const busDevice_t *bus)
icm20689SpiInit(bus); icm20689SpiInit(bus);
spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON); //low speed spiSetDivisor(bus->spi.instance, SPI_CLOCK_INITIALIZATON); //low speed
icm20689SpiWriteRegister(bus, MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET); spiWriteRegister(bus, MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
do { do {
delay(150); delay(150);
icm20689SpiReadRegister(bus, MPU_RA_WHO_AM_I, 1, &tmp); spiReadRegister(bus, MPU_RA_WHO_AM_I, 1, &tmp);
if (tmp == ICM20689_WHO_AM_I_CONST) { if (tmp == ICM20689_WHO_AM_I_CONST) {
break; break;
} }
@ -99,7 +76,7 @@ bool icm20689SpiDetect(const busDevice_t *bus)
} }
} while (attemptsRemaining--); } while (attemptsRemaining--);
spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_STANDARD); spiSetDivisor(bus->spi.instance, SPI_CLOCK_STANDARD);
return true; return true;
@ -126,7 +103,7 @@ void icm20689GyroInit(gyroDev_t *gyro)
{ {
mpuGyroInit(gyro); mpuGyroInit(gyro);
spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON); spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_INITIALIZATON);
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET); gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
delay(100); delay(100);
@ -156,7 +133,7 @@ void icm20689GyroInit(gyroDev_t *gyro)
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable
#endif #endif
spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_STANDARD); spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_STANDARD);
} }
bool icm20689SpiGyroDetect(gyroDev_t *gyro) bool icm20689SpiGyroDetect(gyroDev_t *gyro)

3
src/main/drivers/accgyro/accgyro_spi_icm20689.h
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@ -31,6 +31,3 @@ bool icm20689SpiDetect(const busDevice_t *bus);
bool icm20689SpiAccDetect(accDev_t *acc); bool icm20689SpiAccDetect(accDev_t *acc);
bool icm20689SpiGyroDetect(gyroDev_t *gyro); bool icm20689SpiGyroDetect(gyroDev_t *gyro);
bool icm20689SpiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data);
bool icm20689SpiReadRegister(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data);