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atbetaflight/src/main/drivers/accgyro/accgyro_mpu.c

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/*
* 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 <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#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_bmi270.h"
#include "drivers/accgyro/accgyro_spi_icm20649.h"
#include "drivers/accgyro/accgyro_spi_icm20689.h"
#include "drivers/accgyro/accgyro_spi_icm426xx.h"
#include "drivers/accgyro/accgyro_spi_lsm6ds3.h"
#include "drivers/accgyro/accgyro_spi_lsm6dso.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_spi_l3gd20.h"
#include "drivers/accgyro/accgyro_mpu.h"
#include "pg/pg.h"
#include "pg/gyrodev.h"
#ifndef MPU_ADDRESS
#define MPU_ADDRESS 0x68
#endif
// 1 MHz max SPI frequency during device detection
#define MPU_MAX_SPI_DETECT_CLK_HZ 1000000
#define MPU_INQUIRY_MASK 0x7E
// Allow 100ms before attempting to access SPI bus
#define GYRO_SPI_STARTUP_MS 100
// Need to see at least this many interrupts during initialisation to confirm EXTI connectivity
#define GYRO_EXTI_DETECT_THRESHOLD 1000
#ifdef USE_I2C_GYRO
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->dev, 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->dev, 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
*/
#ifdef USE_GYRO_EXTI
#ifdef USE_SPI_GYRO
// Called in ISR context
// Gyro read has just completed
busStatus_e mpuIntcallback(uint32_t arg)
{
gyroDev_t *gyro = (gyroDev_t *)arg;
int32_t gyroDmaDuration = cmpTimeCycles(getCycleCounter(), gyro->gyroLastEXTI);
if (gyroDmaDuration > gyro->gyroDmaMaxDuration) {
gyro->gyroDmaMaxDuration = gyroDmaDuration;
}
gyro->dataReady = true;
return BUS_READY;
}
static void mpuIntExtiHandler(extiCallbackRec_t *cb)
{
gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
// Ideally we'd use a timer to capture such information, but unfortunately the port used for EXTI interrupt does
// not have an associated timer
uint32_t nowCycles = getCycleCounter();
int32_t gyroLastPeriod = cmpTimeCycles(nowCycles, gyro->gyroLastEXTI);
// This detects the short (~79us) EXTI interval of an MPU6xxx gyro
if ((gyro->gyroShortPeriod == 0) || (gyroLastPeriod < gyro->gyroShortPeriod)) {
gyro->gyroSyncEXTI = gyro->gyroLastEXTI + gyro->gyroDmaMaxDuration;
}
gyro->gyroLastEXTI = nowCycles;
if (gyro->gyroModeSPI == GYRO_EXTI_INT_DMA) {
spiSequence(&gyro->dev, gyro->segments);
}
gyro->detectedEXTI++;
}
#else
static void mpuIntExtiHandler(extiCallbackRec_t *cb)
{
gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
gyro->dataReady = true;
}
#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
IOInit(mpuIntIO, OWNER_GYRO_EXTI, 0);
EXTIHandlerInit(&gyro->exti, mpuIntExtiHandler);
EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING, BETAFLIGHT_EXTI_TRIGGER_RISING);
EXTIEnable(mpuIntIO);
}
#endif // USE_GYRO_EXTI
bool mpuAccRead(accDev_t *acc)
{
uint8_t data[6];
const bool ack = busReadRegisterBuffer(&acc->gyro->dev, acc->gyro->accDataReg, 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->dev, gyro->gyroDataReg, 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;
}
#ifdef USE_SPI_GYRO
bool mpuAccReadSPI(accDev_t *acc)
{
switch (acc->gyro->gyroModeSPI) {
case GYRO_EXTI_INT:
case GYRO_EXTI_NO_INT:
{
acc->gyro->dev.txBuf[0] = acc->gyro->accDataReg | 0x80;
busSegment_t segments[] = {
{.u.buffers = {NULL, NULL}, 7, true, NULL},
{.u.link = {NULL, NULL}, 0, true, NULL},
};
segments[0].u.buffers.txData = acc->gyro->dev.txBuf;
segments[0].u.buffers.rxData = &acc->gyro->dev.rxBuf[1];
spiSequence(&acc->gyro->dev, &segments[0]);
// Wait for completion
spiWait(&acc->gyro->dev);
// Fall through
FALLTHROUGH;
}
case GYRO_EXTI_INT_DMA:
{
// If read was triggered in interrupt don't bother waiting. The worst that could happen is that we pick
// up an old value.
// This data was read from the gyro, which is the same SPI device as the acc
uint16_t *accData = (uint16_t *)acc->gyro->dev.rxBuf;
acc->ADCRaw[X] = __builtin_bswap16(accData[1]);
acc->ADCRaw[Y] = __builtin_bswap16(accData[2]);
acc->ADCRaw[Z] = __builtin_bswap16(accData[3]);
break;
}
case GYRO_EXTI_INIT:
default:
break;
}
return true;
}
bool mpuGyroReadSPI(gyroDev_t *gyro)
{
uint16_t *gyroData = (uint16_t *)gyro->dev.rxBuf;
switch (gyro->gyroModeSPI) {
case GYRO_EXTI_INIT:
{
// Initialise the tx buffer to all 0xff
memset(gyro->dev.txBuf, 0xff, 16);
#ifdef USE_GYRO_EXTI
// Check that minimum number of interrupts have been detected
// We need some offset from the gyro interrupts to ensure sampling after the interrupt
gyro->gyroDmaMaxDuration = 5;
if (gyro->detectedEXTI > GYRO_EXTI_DETECT_THRESHOLD) {
if (spiUseDMA(&gyro->dev)) {
gyro->dev.callbackArg = (uint32_t)gyro;
gyro->dev.txBuf[0] = gyro->accDataReg | 0x80;
gyro->segments[0].len = gyro->gyroDataReg - gyro->accDataReg + 7;
gyro->segments[0].callback = mpuIntcallback;
gyro->segments[0].u.buffers.txData = gyro->dev.txBuf;
gyro->segments[0].u.buffers.rxData = &gyro->dev.rxBuf[1];
gyro->segments[0].negateCS = true;
gyro->gyroModeSPI = GYRO_EXTI_INT_DMA;
} else {
// Interrupts are present, but no DMA
gyro->gyroModeSPI = GYRO_EXTI_INT;
}
} else
#endif
{
gyro->gyroModeSPI = GYRO_EXTI_NO_INT;
}
break;
}
case GYRO_EXTI_INT:
case GYRO_EXTI_NO_INT:
{
gyro->dev.txBuf[0] = gyro->gyroDataReg | 0x80;
busSegment_t segments[] = {
{.u.buffers = {NULL, NULL}, 7, true, NULL},
{.u.link = {NULL, NULL}, 0, true, NULL},
};
segments[0].u.buffers.txData = gyro->dev.txBuf;
segments[0].u.buffers.rxData = &gyro->dev.rxBuf[1];
spiSequence(&gyro->dev, &segments[0]);
// Wait for completion
spiWait(&gyro->dev);
gyro->gyroADCRaw[X] = __builtin_bswap16(gyroData[1]);
gyro->gyroADCRaw[Y] = __builtin_bswap16(gyroData[2]);
gyro->gyroADCRaw[Z] = __builtin_bswap16(gyroData[3]);
break;
}
case GYRO_EXTI_INT_DMA:
{
// Acc and gyro data may not be continuous (MPU6xxx has temperature in between)
const uint8_t gyroDataIndex = ((gyro->gyroDataReg - gyro->accDataReg) >> 1) + 1;
// If read was triggered in interrupt don't bother waiting. The worst that could happen is that we pick
// up an old value.
gyro->gyroADCRaw[X] = __builtin_bswap16(gyroData[gyroDataIndex]);
gyro->gyroADCRaw[Y] = __builtin_bswap16(gyroData[gyroDataIndex + 1]);
gyro->gyroADCRaw[Z] = __builtin_bswap16(gyroData[gyroDataIndex + 2]);
break;
}
default:
break;
}
return true;
}
typedef uint8_t (*gyroSpiDetectFn_t)(const extDevice_t *dev);
static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
#ifdef USE_GYRO_SPI_MPU6000
mpu6000SpiDetect,
#endif
#ifdef USE_GYRO_SPI_MPU6500
mpu6500SpiDetect, // some targets using MPU_9250_SPI, ICM_20608_SPI or ICM_20602_SPI state sensor is MPU_65xx_SPI
#endif
#ifdef USE_GYRO_SPI_MPU9250
mpu9250SpiDetect,
#endif
#ifdef USE_GYRO_SPI_ICM20689
icm20689SpiDetect, // icm20689SpiDetect detects ICM20602 and ICM20689
#endif
#ifdef USE_ACCGYRO_LSM6DS3
lsm6ds3Detect,
#endif
#ifdef USE_ACCGYRO_LSM6DSO
lsm6dsoDetect,
#endif
#ifdef USE_ACCGYRO_BMI160
bmi160Detect,
#endif
#ifdef USE_ACCGYRO_BMI270
bmi270Detect,
#endif
#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
icm426xxSpiDetect,
#endif
#ifdef USE_GYRO_SPI_ICM20649
icm20649SpiDetect,
#endif
#ifdef USE_GYRO_L3GD20
l3gd20Detect,
#endif
NULL // Avoid an empty array
};
static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro, const gyroDeviceConfig_t *config)
{
if (!config->csnTag || !spiSetBusInstance(&gyro->dev, config->spiBus)) {
return false;
}
gyro->dev.busType_u.spi.csnPin = IOGetByTag(config->csnTag);
IOInit(gyro->dev.busType_u.spi.csnPin, OWNER_GYRO_CS, RESOURCE_INDEX(config->index));
IOConfigGPIO(gyro->dev.busType_u.spi.csnPin, SPI_IO_CS_CFG);
IOHi(gyro->dev.busType_u.spi.csnPin); // Ensure device is disabled, important when two devices are on the same bus.
uint8_t sensor = MPU_NONE;
// Allow 100ms before attempting to access gyro's SPI bus
// Do this once here rather than in each detection routine to speed boot
while (millis() < GYRO_SPI_STARTUP_MS);
// Set a slow SPI clock that all potential devices can handle during gyro detection
spiSetClkDivisor(&gyro->dev, spiCalculateDivider(MPU_MAX_SPI_DETECT_CLK_HZ));
// It is hard to use hardware to optimize the detection loop here,
// as hardware type and detection function name doesn't match.
// May need a bitmap of hardware to detection function to do it right?
for (size_t index = 0 ; gyroSpiDetectFnTable[index] ; index++) {
sensor = (gyroSpiDetectFnTable[index])(&gyro->dev);
if (sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = sensor;
busDeviceRegister(&gyro->dev);
return true;
}
}
// Detection failed, disable CS pin again
spiPreinitByTag(config->csnTag);
return false;
}
#endif
void mpuPreInit(const struct gyroDeviceConfig_s *config)
{
#ifdef USE_SPI_GYRO
spiPreinitRegister(config->csnTag, IOCFG_IPU, 1);
#else
UNUSED(config);
#endif
}
bool mpuDetect(gyroDev_t *gyro, const gyroDeviceConfig_t *config)
{
static busDevice_t bus;
gyro->dev.bus = &bus;
// MPU datasheet specifies 30ms.
delay(35);
if (config->busType == BUS_TYPE_NONE) {
return false;
}
if (config->busType == BUS_TYPE_GYRO_AUTO) {
gyro->dev.bus->busType = BUS_TYPE_I2C;
} else {
gyro->dev.bus->busType = config->busType;
}
#ifdef USE_I2C_GYRO
if (gyro->dev.bus->busType == BUS_TYPE_I2C) {
gyro->dev.bus->busType_u.i2c.device = I2C_CFG_TO_DEV(config->i2cBus);
gyro->dev.busType_u.i2c.address = config->i2cAddress ? config->i2cAddress : MPU_ADDRESS;
uint8_t sig = 0;
bool ack = busReadRegisterBuffer(&gyro->dev, MPU_RA_WHO_AM_I, &sig, 1);
if (ack) {
busDeviceRegister(&gyro->dev);
// If an MPU3050 is connected sig will contain 0.
uint8_t inquiryResult;
ack = busReadRegisterBuffer(&gyro->dev, 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 true;
}
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 true;
}
}
#endif
#ifdef USE_SPI_GYRO
gyro->dev.bus->busType = BUS_TYPE_SPI;
return detectSPISensorsAndUpdateDetectionResult(gyro, config);
#else
return false;
#endif
}
void mpuGyroInit(gyroDev_t *gyro)
{
gyro->accDataReg = MPU_RA_ACCEL_XOUT_H;
gyro->gyroDataReg = MPU_RA_GYRO_XOUT_H;
#ifdef USE_GYRO_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_NORMAL:
default:
ret = 0;
break;
}
}
return ret;
}
#ifdef USE_GYRO_REGISTER_DUMP
uint8_t mpuGyroReadRegister(const extDevice_t *dev, uint8_t reg)
{
uint8_t data;
const bool ack = busReadRegisterBuffer(dev, reg, &data, 1);
if (ack) {
return data;
} else {
return 0;
}
}
#endif
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