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Add support for ICM-20649 acc/gyro

This commit is contained in:
Brian Balogh 2017-09-01 10:57:54 -04:00
parent 36133164e2
commit afec0258c7
10 changed files with 325 additions and 5 deletions
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17
src/main/drivers/accgyro/accgyro_mpu.c
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@ -44,6 +44,7 @@
#include "drivers/accgyro/accgyro_mpu6050.h"
#include "drivers/accgyro/accgyro_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_bmi160.h"
#include "drivers/accgyro/accgyro_spi_icm20649.h"
#include "drivers/accgyro/accgyro_spi_icm20689.h"
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
@ -289,6 +290,22 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
}
#endif
#ifdef USE_GYRO_SPI_ICM20649
#ifdef ICM20649_SPI_INSTANCE
spiBusSetInstance(&gyro->bus, ICM20649_SPI_INSTANCE);
#endif
#ifdef ICM20649_CS_PIN
gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM20649_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
#endif
sensor = icm20649SpiDetect(&gyro->bus);
if (sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = sensor;
gyro->mpuConfiguration.readFn = spiBusReadRegisterBuffer;
gyro->mpuConfiguration.writeFn = spiBusWriteRegister;
return true;
}
#endif
#ifdef USE_GYRO_SPI_ICM20689
#ifdef ICM20689_SPI_INSTANCE
spiBusSetInstance(&gyro->bus, ICM20689_SPI_INSTANCE);

5
src/main/drivers/accgyro/accgyro_mpu.h
View File

@ -23,7 +23,8 @@
//#define DEBUG_MPU_DATA_READY_INTERRUPT
#if defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
#if defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20649) \
|| defined(USE_GYRO_SPI_ICM20689)
#define GYRO_USES_SPI
#endif
@ -40,6 +41,7 @@
#define ICM20601_WHO_AM_I_CONST (0xAC)
#define ICM20602_WHO_AM_I_CONST (0x12)
#define ICM20608G_WHO_AM_I_CONST (0xAF)
#define ICM20649_WHO_AM_I_CONST (0xE1)
#define ICM20689_WHO_AM_I_CONST (0x98)
@ -189,6 +191,7 @@ typedef enum {
ICM_20601_SPI,
ICM_20602_SPI,
ICM_20608_SPI,
ICM_20649_SPI,
ICM_20689_SPI,
BMI_160_SPI,
} mpuSensor_e;

203
src/main/drivers/accgyro/accgyro_spi_icm20649.c Normal file
View File

@ -0,0 +1,203 @@
/*
* 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 "drivers/bus_spi.h"
#include "drivers/exti.h"
#include "drivers/gyro_sync.h"
#include "drivers/io.h"
#include "drivers/sensor.h"
#include "drivers/time.h"
#include "accgyro.h"
#include "accgyro_mpu.h"
#include "accgyro_spi_icm20649.h"
static bool use4kDps = true; // TODO: make these configurable for testing
static bool use30g = true;
static void icm20649SpiInit(const busDevice_t *bus)
{
static bool hardwareInitialised = false;
if (hardwareInitialised) {
return;
}
IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
IOHi(bus->busdev_u.spi.csnPin);
// all registers can be read/written at full speed (7MHz +-10%)
// TODO verify that this works at 9MHz and 10MHz on non F7
spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_STANDARD);
hardwareInitialised = true;
}
uint8_t icm20649SpiDetect(const busDevice_t *bus)
{
icm20649SpiInit(bus);
spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_STANDARD);
spiBusWriteRegister(bus, ICM20649_RA_REG_BANK_SEL, 0 << 4); // select bank 0 just to be safe
delay(15);
spiBusWriteRegister(bus, ICM20649_RA_PWR_MGMT_1, ICM20649_BIT_RESET);
uint8_t icmDetected = MPU_NONE;
uint8_t attemptsRemaining = 20;
do {
delay(150);
const uint8_t whoAmI = spiBusReadRegister(bus, ICM20649_RA_WHO_AM_I);
if (whoAmI == ICM20649_WHO_AM_I_CONST) {
icmDetected = ICM_20649_SPI;
} else {
icmDetected = MPU_NONE;
}
if (icmDetected != MPU_NONE) {
break;
}
if (!attemptsRemaining) {
return MPU_NONE;
}
} while (attemptsRemaining--);
return icmDetected;
}
void icm20649AccInit(accDev_t *acc)
{
// 2,048 LSB/g 16g
// 1,024 LSB/g 30g
acc->acc_1G = use30g ? 1024 : 2048;
spiSetDivisor(acc->bus.busdev_u.spi.instance, SPI_CLOCK_STANDARD);
acc->mpuConfiguration.writeFn(&acc->bus, ICM20649_RA_REG_BANK_SEL, 2 << 4); // config in bank 2
delay(15);
const uint8_t acc_fsr = use30g ? ICM20649_FSR_30G : ICM20649_FSR_16G;
acc->mpuConfiguration.writeFn(&acc->bus, ICM20649_RA_ACCEL_CONFIG, acc_fsr << 1);
delay(15);
acc->mpuConfiguration.writeFn(&acc->bus, ICM20649_RA_REG_BANK_SEL, 0 << 4); // back to bank 0
delay(15);
}
bool icm20649SpiAccDetect(accDev_t *acc)
{
if (acc->mpuDetectionResult.sensor != ICM_20649_SPI) {
return false;
}
acc->initFn = icm20649AccInit;
acc->readFn = icm20649AccRead;
return true;
}
void icm20649GyroInit(gyroDev_t *gyro)
{
mpuGyroInit(gyro);
spiSetDivisor(gyro->bus.busdev_u.spi.instance, SPI_CLOCK_STANDARD); // ensure proper speed
gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_REG_BANK_SEL, 0 << 4); // select bank 0 just to be safe
delay(15);
gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_PWR_MGMT_1, ICM20649_BIT_RESET);
delay(100);
gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_PWR_MGMT_1, INV_CLK_PLL);
delay(15);
gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_REG_BANK_SEL, 2 << 4); // config in bank 2
delay(15);
const uint8_t gyro_fsr = use4kDps ? ICM20649_FSR_4000DPS : ICM20649_FSR_2000DPS;
uint8_t raGyroConfigData = gyro->gyroRateKHz > GYRO_RATE_1_kHz ? 0 : 1; // deactivate GYRO_FCHOICE for sample rates over 1kHz (opposite of other invensense chips)
raGyroConfigData |= gyro_fsr << 1 | gyro->lpf << 3;
gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_GYRO_CONFIG_1, raGyroConfigData);
delay(15);
gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_GYRO_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
delay(100);
// Data ready interrupt configuration
// back to bank 0
gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_REG_BANK_SEL, 0 << 4);
delay(15);
gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_INT_PIN_CFG, 0x11); // INT_ANYRD_2CLEAR, BYPASS_EN
delay(15);
#ifdef USE_MPU_DATA_READY_SIGNAL
gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_INT_ENABLE_1, 0x01);
#endif
}
bool icm20649SpiGyroDetect(gyroDev_t *gyro)
{
if (gyro->mpuDetectionResult.sensor != ICM_20649_SPI)
return false;
gyro->initFn = icm20649GyroInit;
gyro->readFn = icm20649GyroReadSPI;
// 16.4 dps/lsb 2kDps
// 8.2 dps/lsb 4kDps
gyro->scale = 1.0f / (use4kDps ? 8.2f : 16.4f);
return true;
}
bool icm20649GyroReadSPI(gyroDev_t *gyro)
{
static const uint8_t dataToSend[7] = {ICM20649_RA_GYRO_XOUT_H | 0x80, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
uint8_t data[7];
const bool ack = spiBusTransfer(&gyro->bus, dataToSend, data, 7);
if (!ack) {
return false;
}
gyro->gyroADCRaw[X] = (int16_t)((data[1] << 8) | data[2]);
gyro->gyroADCRaw[Y] = (int16_t)((data[3] << 8) | data[4]);
gyro->gyroADCRaw[Z] = (int16_t)((data[5] << 8) | data[6]);
return true;
}
bool icm20649AccRead(accDev_t *acc)
{
uint8_t data[6];
const bool ack = acc->mpuConfiguration.readFn(&acc->bus, ICM20649_RA_ACCEL_XOUT_H, data, 6);
if (!ack) {
return false;
}
acc->ADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
acc->ADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
acc->ADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
return true;
}

64
src/main/drivers/accgyro/accgyro_spi_icm20649.h Normal file
View File

@ -0,0 +1,64 @@
/*
* 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
#include "drivers/bus.h"
#define ICM20649_BIT_RESET (0x80)
#define ICM20649_RA_REG_BANK_SEL 0x7F
// BANK 0
#define ICM20649_RA_WHO_AM_I 0x00
#define ICM20649_RA_PWR_MGMT_1 0x06
#define ICM20649_RA_PWR_MGMT_2 0x07
#define ICM20649_RA_INT_PIN_CFG 0x0F
#define ICM20649_RA_INT_ENABLE_1 0x11
#define ICM20649_RA_GYRO_XOUT_H 0x33
#define ICM20649_RA_ACCEL_XOUT_H 0x2D
// BANK 2
#define ICM20649_RA_GYRO_SMPLRT_DIV 0x00
#define ICM20649_RA_GYRO_CONFIG_1 0x01
#define ICM20649_RA_ACCEL_CONFIG 0x14
enum icm20649_gyro_fsr_e {
ICM20649_FSR_500DPS = 0,
ICM20649_FSR_1000DPS,
ICM20649_FSR_2000DPS,
ICM20649_FSR_4000DPS,
NUM_ICM20649_GYRO_FSR
};
enum icm20649_accel_fsr_e {
ICM20649_FSR_4G = 0,
ICM20649_FSR_8G,
ICM20649_FSR_16G,
ICM20649_FSR_30G,
NUM_ICM20649_ACCEL_FSR
};
void icm20649AccInit(accDev_t *acc);
void icm20649GyroInit(gyroDev_t *gyro);
uint8_t icm20649SpiDetect(const busDevice_t *bus);
bool icm20649SpiAccDetect(accDev_t *acc);
bool icm20649SpiGyroDetect(gyroDev_t *gyro);
bool icm20649GyroReadSPI(gyroDev_t *gyro);
bool icm20649AccRead(accDev_t *acc);

3
src/main/fc/fc_init.c
View File

@ -200,6 +200,9 @@ void spiPreInit(void)
#ifdef USE_GYRO_SPI_MPU9250
spiPreInitCs(IO_TAG(MPU9250_CS_PIN));
#endif
#ifdef USE_GYRO_SPI_ICM20649
spiPreInitCs(IO_TAG(ICM20649_CS_PIN));
#endif
#ifdef USE_GYRO_SPI_ICM20689
spiPreInitCs(IO_TAG(ICM20689_CS_PIN));
#endif

6
src/main/fc/settings.c
View File

@ -81,13 +81,15 @@
// sync with accelerationSensor_e
const char * const lookupTableAccHardware[] = {
"AUTO", "NONE", "ADXL345", "MPU6050", "MMA8452", "BMA280", "LSM303DLHC",
"MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608", "ICM20689", "BMI160", "FAKE"
"MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608", "ICM20649", "ICM20689",
"BMI160", "FAKE"
};
// sync with gyroSensor_e
const char * const lookupTableGyroHardware[] = {
"AUTO", "NONE", "MPU6050", "L3G4200D", "MPU3050", "L3GD20",
"MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20689", "BMI160", "FAKE"
"MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689",
"BMI160", "FAKE"
};
#if defined(USE_SENSOR_NAMES) || defined(BARO)

12
src/main/sensors/acceleration.c
View File

@ -45,6 +45,7 @@
#include "drivers/accgyro/accgyro_mpu6050.h"
#include "drivers/accgyro/accgyro_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_bmi160.h"
#include "drivers/accgyro/accgyro_spi_icm20649.h"
#include "drivers/accgyro/accgyro_spi_icm20689.h"
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
@ -243,6 +244,17 @@ retry:
}
break;
}
#endif
; // fallthrough
case ACC_ICM20649:
#ifdef USE_ACC_SPI_ICM20649
if (icm20649SpiAccDetect(dev)) {
accHardware = ACC_ICM20649;
#ifdef ACC_ICM20649_ALIGN
dev->accAlign = ACC_ICM20649_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case ACC_ICM20689:

1
src/main/sensors/acceleration.h
View File

@ -36,6 +36,7 @@ typedef enum {
ACC_ICM20601,
ACC_ICM20602,
ACC_ICM20608G,
ACC_ICM20649,
ACC_ICM20689,
ACC_BMI160,
ACC_FAKE

18
src/main/sensors/gyro.c
View File

@ -44,6 +44,7 @@
#include "drivers/accgyro/accgyro_mpu6050.h"
#include "drivers/accgyro/accgyro_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_bmi160.h"
#include "drivers/accgyro/accgyro_spi_icm20649.h"
#include "drivers/accgyro/accgyro_spi_icm20689.h"
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
@ -110,7 +111,8 @@ static void gyroInitSensorFilters(gyroSensor_t *gyroSensor);
#ifdef STM32F10X
#define GYRO_SYNC_DENOM_DEFAULT 8
#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20689)
#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) \
|| defined(USE_GYRO_SPI_ICM20689)
#define GYRO_SYNC_DENOM_DEFAULT 1
#else
#define GYRO_SYNC_DENOM_DEFAULT 4
@ -258,6 +260,17 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
}
#endif
#ifdef USE_GYRO_SPI_ICM20649
case GYRO_ICM20649:
if (icm20649SpiGyroDetect(dev)) {
gyroHardware = GYRO_ICM20649;
#ifdef GYRO_ICM20649_ALIGN
dev->gyroAlign = GYRO_ICM20649_ALIGN;
#endif
break;
}
#endif
#ifdef USE_GYRO_SPI_ICM20689
case GYRO_ICM20689:
if (icm20689SpiGyroDetect(dev)) {
@ -302,7 +315,8 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
static bool gyroInitSensor(gyroSensor_t *gyroSensor)
{
#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_ICM20601) || defined(USE_GYRO_SPI_ICM20689)
#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_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689)
#if defined(MPU_INT_EXTI)
gyroSensor->gyroDev.mpuIntExtiTag = IO_TAG(MPU_INT_EXTI);

1
src/main/sensors/gyro.h
View File

@ -35,6 +35,7 @@ typedef enum {
GYRO_ICM20601,
GYRO_ICM20602,
GYRO_ICM20608G,
GYRO_ICM20649,
GYRO_ICM20689,
GYRO_BMI160,
GYRO_FAKE