/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software 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 and Betaflight are distributed in the hope that they
* 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 this software.
*
* If not, see .
*/
#include
#include
#include
#include
#include "platform.h"
#include "build/atomic.h"
#include "build/build_config.h"
#include "build/debug.h"
#include "common/maths.h"
#include "common/utils.h"
#include "drivers/bus.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_spi.h"
#include "drivers/exti.h"
#include "drivers/io.h"
#include "drivers/nvic.h"
#include "drivers/sensor.h"
#include "drivers/system.h"
#include "drivers/time.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_mpu3050.h"
#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"
#include "drivers/accgyro/accgyro_spi_mpu9250.h"
#include "drivers/accgyro/accgyro_mpu.h"
#ifndef MPU_I2C_INSTANCE
#define MPU_I2C_INSTANCE I2C_DEVICE
#endif
#ifndef MPU_ADDRESS
#define MPU_ADDRESS 0x68
#endif
#define MPU_INQUIRY_MASK 0x7E
#ifdef USE_I2C
static void mpu6050FindRevision(gyroDev_t *gyro)
{
// There is a map of revision contained in the android source tree which is quite comprehensive and may help to understand this code
// See https://android.googlesource.com/kernel/msm.git/+/eaf36994a3992b8f918c18e4f7411e8b2320a35f/drivers/misc/mpu6050/mldl_cfg.c
// determine product ID and revision
uint8_t readBuffer[6];
bool ack = busReadRegisterBuffer(&gyro->bus, MPU_RA_XA_OFFS_H, readBuffer, 6);
uint8_t revision = ((readBuffer[5] & 0x01) << 2) | ((readBuffer[3] & 0x01) << 1) | (readBuffer[1] & 0x01);
if (ack && revision) {
// Congrats, these parts are better
if (revision == 1) {
gyro->mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
} else if (revision == 2) {
gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
} else if ((revision == 3) || (revision == 7)) {
gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
} else {
failureMode(FAILURE_ACC_INCOMPATIBLE);
}
} else {
uint8_t productId;
ack = busReadRegisterBuffer(&gyro->bus, MPU_RA_PRODUCT_ID, &productId, 1);
revision = productId & 0x0F;
if (!ack || revision == 0) {
failureMode(FAILURE_ACC_INCOMPATIBLE);
} else if (revision == 4) {
gyro->mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
} else {
gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
}
}
}
#endif
/*
* Gyro interrupt service routine
*/
#if defined(MPU_INT_EXTI)
static void mpuIntExtiHandler(extiCallbackRec_t *cb)
{
#ifdef DEBUG_MPU_DATA_READY_INTERRUPT
static uint32_t lastCalledAtUs = 0;
const uint32_t nowUs = micros();
debug[0] = (uint16_t)(nowUs - lastCalledAtUs);
lastCalledAtUs = nowUs;
#endif
gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
gyro->dataReady = true;
#ifdef DEBUG_MPU_DATA_READY_INTERRUPT
const uint32_t now2Us = micros();
debug[1] = (uint16_t)(now2Us - nowUs);
#endif
}
static void mpuIntExtiInit(gyroDev_t *gyro)
{
if (gyro->mpuIntExtiTag == IO_TAG_NONE) {
return;
}
const IO_t mpuIntIO = IOGetByTag(gyro->mpuIntExtiTag);
#ifdef ENSURE_MPU_DATA_READY_IS_LOW
uint8_t status = IORead(mpuIntIO);
if (status) {
return;
}
#endif
#if defined (STM32F7)
IOInit(mpuIntIO, OWNER_MPU_EXTI, 0);
EXTIHandlerInit(&gyro->exti, mpuIntExtiHandler);
EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IO_CONFIG(GPIO_MODE_INPUT,0,GPIO_NOPULL)); // TODO - maybe pullup / pulldown ?
#else
IOInit(mpuIntIO, OWNER_MPU_EXTI, 0);
IOConfigGPIO(mpuIntIO, IOCFG_IN_FLOATING); // TODO - maybe pullup / pulldown ?
EXTIHandlerInit(&gyro->exti, mpuIntExtiHandler);
EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, EXTI_Trigger_Rising);
#endif
EXTIEnable(mpuIntIO, true);
}
#endif // MPU_INT_EXTI
bool mpuAccRead(accDev_t *acc)
{
uint8_t data[6];
const bool ack = busReadRegisterBuffer(&acc->bus, MPU_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;
}
bool mpuGyroRead(gyroDev_t *gyro)
{
uint8_t data[6];
const bool ack = busReadRegisterBuffer(&gyro->bus, MPU_RA_GYRO_XOUT_H, data, 6);
if (!ack) {
return false;
}
gyro->gyroADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
gyro->gyroADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
gyro->gyroADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
return true;
}
bool mpuGyroReadSPI(gyroDev_t *gyro)
{
static const uint8_t dataToSend[7] = {MPU_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;
}
#ifdef USE_SPI
static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
{
UNUSED(gyro); // since there are FCs which have gyro on I2C but other devices on SPI
uint8_t sensor = MPU_NONE;
UNUSED(sensor);
// note, when USE_DUAL_GYRO is enabled the gyro->bus must already be initialised.
#ifdef USE_GYRO_SPI_MPU6000
#ifndef USE_DUAL_GYRO
spiBusSetInstance(&gyro->bus, MPU6000_SPI_INSTANCE);
#endif
#ifdef MPU6000_CS_PIN
gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU6000_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
#endif
sensor = mpu6000SpiDetect(&gyro->bus);
if (sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = sensor;
return true;
}
#endif
#ifdef USE_GYRO_SPI_MPU6500
#ifndef USE_DUAL_GYRO
spiBusSetInstance(&gyro->bus, MPU6500_SPI_INSTANCE);
#endif
#ifdef MPU6500_CS_PIN
gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU6500_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
#endif
sensor = mpu6500SpiDetect(&gyro->bus);
// some targets using MPU_9250_SPI, ICM_20608_SPI or ICM_20602_SPI state sensor is MPU_65xx_SPI
if (sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = sensor;
return true;
}
#endif
#ifdef USE_GYRO_SPI_MPU9250
#ifndef USE_DUAL_GYRO
spiBusSetInstance(&gyro->bus, MPU9250_SPI_INSTANCE);
#endif
#ifdef MPU9250_CS_PIN
gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU9250_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
#endif
sensor = mpu9250SpiDetect(&gyro->bus);
if (sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = sensor;
return true;
}
#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;
return true;
}
#endif
#ifdef USE_GYRO_SPI_ICM20689
#ifndef USE_DUAL_GYRO
spiBusSetInstance(&gyro->bus, ICM20689_SPI_INSTANCE);
#endif
#ifdef ICM20689_CS_PIN
gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM20689_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
#endif
sensor = icm20689SpiDetect(&gyro->bus);
// icm20689SpiDetect detects ICM20602 and ICM20689
if (sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = sensor;
return true;
}
#endif
#ifdef USE_ACCGYRO_BMI160
#ifndef USE_DUAL_GYRO
spiBusSetInstance(&gyro->bus, BMI160_SPI_INSTANCE);
#endif
#ifdef BMI160_CS_PIN
gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(BMI160_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
#endif
sensor = bmi160Detect(&gyro->bus);
if (sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = sensor;
return true;
}
#endif
return false;
}
#endif
void mpuDetect(gyroDev_t *gyro)
{
// MPU datasheet specifies 30ms.
delay(35);
#ifdef USE_I2C
if (gyro->bus.bustype == BUSTYPE_NONE) {
// if no bustype is selected try I2C first.
gyro->bus.bustype = BUSTYPE_I2C;
}
if (gyro->bus.bustype == BUSTYPE_I2C) {
gyro->bus.busdev_u.i2c.device = MPU_I2C_INSTANCE;
gyro->bus.busdev_u.i2c.address = MPU_ADDRESS;
uint8_t sig = 0;
bool ack = busReadRegisterBuffer(&gyro->bus, MPU_RA_WHO_AM_I, &sig, 1);
if (ack) {
// If an MPU3050 is connected sig will contain 0.
uint8_t inquiryResult;
ack = busReadRegisterBuffer(&gyro->bus, MPU_RA_WHO_AM_I_LEGACY, &inquiryResult, 1);
inquiryResult &= MPU_INQUIRY_MASK;
if (ack && inquiryResult == MPUx0x0_WHO_AM_I_CONST) {
gyro->mpuDetectionResult.sensor = MPU_3050;
return;
}
sig &= MPU_INQUIRY_MASK;
if (sig == MPUx0x0_WHO_AM_I_CONST) {
gyro->mpuDetectionResult.sensor = MPU_60x0;
mpu6050FindRevision(gyro);
} else if (sig == MPU6500_WHO_AM_I_CONST) {
gyro->mpuDetectionResult.sensor = MPU_65xx_I2C;
}
return;
}
}
#endif
#ifdef USE_SPI
gyro->bus.bustype = BUSTYPE_SPI;
detectSPISensorsAndUpdateDetectionResult(gyro);
#endif
}
void mpuGyroInit(gyroDev_t *gyro)
{
#ifdef MPU_INT_EXTI
mpuIntExtiInit(gyro);
#else
UNUSED(gyro);
#endif
}
uint8_t mpuGyroDLPF(gyroDev_t *gyro)
{
uint8_t ret = 0;
// If gyro is in 32KHz mode then the DLPF bits aren't used
if (gyro->gyroRateKHz <= GYRO_RATE_8_kHz) {
switch (gyro->hardware_lpf) {
#ifdef USE_GYRO_DLPF_EXPERIMENTAL
case GYRO_HARDWARE_LPF_EXPERIMENTAL:
// experimental mode not supported for MPU60x0 family
if ((gyro->gyroHardware != GYRO_MPU6050) && (gyro->gyroHardware != GYRO_MPU6000)) {
ret = 7;
} else {
ret = 0;
}
break;
#endif
case GYRO_HARDWARE_LPF_1KHZ_SAMPLE:
ret = 1;
break;
case GYRO_HARDWARE_LPF_NORMAL:
default:
ret = 0;
break;
}
}
return ret;
}
uint8_t mpuGyroFCHOICE(gyroDev_t *gyro)
{
if (gyro->gyroRateKHz > GYRO_RATE_8_kHz) {
#ifdef USE_GYRO_DLPF_EXPERIMENTAL
if (gyro->hardware_32khz_lpf == GYRO_32KHZ_HARDWARE_LPF_EXPERIMENTAL) {
return FCB_8800_32;
} else {
return FCB_3600_32;
}
#else
return FCB_3600_32;
#endif
} else {
return FCB_DISABLED; // Not in 32KHz mode, set FCHOICE to select 8KHz sampling
}
}
#ifdef USE_GYRO_REGISTER_DUMP
uint8_t mpuGyroReadRegister(const busDevice_t *bus, uint8_t reg)
{
uint8_t data;
const bool ack = busReadRegisterBuffer(bus, reg, &data, 1);
if (ack) {
return data;
} else {
return 0;
}
}
#endif