src/main/drivers/accgyro/accgyro_mpu.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23 #include <stdlib.h>
  24 #include <string.h>
  25
  26 #include "platform.h"
  27
  28 #include "build/atomic.h"
  29 #include "build/build_config.h"
  30 #include "build/debug.h"
  31
  32 #include "common/maths.h"
  33 #include "common/utils.h"
  34
  35 #include "drivers/bus.h"
  36 #include "drivers/bus_i2c.h"
  37 #include "drivers/bus_spi.h"
  38 #include "drivers/exti.h"
  39 #include "drivers/io.h"
  40 #include "drivers/nvic.h"
  41 #include "drivers/sensor.h"
  42 #include "drivers/system.h"
  43 #include "drivers/time.h"
  44
  45 #include "drivers/accgyro/accgyro.h"
  46 #include "drivers/accgyro/accgyro_mpu3050.h"
  47 #include "drivers/accgyro/accgyro_mpu6050.h"
  48 #include "drivers/accgyro/accgyro_mpu6500.h"
  49 #include "drivers/accgyro/accgyro_spi_bmi160.h"
  50 #include "drivers/accgyro/accgyro_spi_bmi270.h"
  51 #include "drivers/accgyro/accgyro_spi_icm20649.h"
  52 #include "drivers/accgyro/accgyro_spi_icm20689.h"
  53 #include "drivers/accgyro/accgyro_spi_icm426xx.h"
  54 #include "drivers/accgyro/accgyro_spi_lsm6dso.h"
  55 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
  56 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
  57 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
  58 #include "drivers/accgyro/accgyro_spi_l3gd20.h"
  59 #include "drivers/accgyro/accgyro_mpu.h"
  60
  61 #include "pg/pg.h"
  62 #include "pg/gyrodev.h"
  63
  64 #ifndef MPU_ADDRESS
  65 #define MPU_ADDRESS             0x68
  66 #endif
  67
  68 // 1 MHz max SPI frequency during device detection
  69 #define MPU_MAX_SPI_DETECT_CLK_HZ 1000000
  70
  71 #define MPU_INQUIRY_MASK   0x7E
  72
  73 // Allow 100ms before attempting to access SPI bus
  74 #define GYRO_SPI_STARTUP_MS 100
  75
  76 // Need to see at least this many interrupts during initialisation to confirm EXTI connectivity
  77 #define GYRO_EXTI_DETECT_THRESHOLD 1000
  78
  79 #ifdef USE_I2C_GYRO
  80 static void mpu6050FindRevision(gyroDev_t *gyro)
  81 {
  82     // There is a map of revision contained in the android source tree which is quite comprehensive and may help to understand this code
  83     // See https://android.googlesource.com/kernel/msm.git/+/eaf36994a3992b8f918c18e4f7411e8b2320a35f/drivers/misc/mpu6050/mldl_cfg.c
  84
  85     // determine product ID and revision
  86     uint8_t readBuffer[6];
  87     bool ack = busReadRegisterBuffer(&gyro->dev, MPU_RA_XA_OFFS_H, readBuffer, 6);
  88     uint8_t revision = ((readBuffer[5] & 0x01) << 2) | ((readBuffer[3] & 0x01) << 1) | (readBuffer[1] & 0x01);
  89     if (ack && revision) {
  90         // Congrats, these parts are better
  91         if (revision == 1) {
  92             gyro->mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
  93         } else if (revision == 2) {
  94             gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
  95         } else if ((revision == 3) || (revision == 7)) {
  96             gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
  97         } else {
  98             failureMode(FAILURE_ACC_INCOMPATIBLE);
  99         }
 100     } else {
 101         uint8_t productId;
 102         ack = busReadRegisterBuffer(&gyro->dev, MPU_RA_PRODUCT_ID, &productId, 1);
 103         revision = productId & 0x0F;
 104         if (!ack || revision == 0) {
 105             failureMode(FAILURE_ACC_INCOMPATIBLE);
 106         } else if (revision == 4) {
 107             gyro->mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
 108         } else {
 109             gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
 110         }
 111     }
 112 }
 113 #endif
 114
 115 /*
 116  * Gyro interrupt service routine
 117  */
 118 #ifdef USE_SPI_GYRO
 119 // Called in ISR context
 120 // Gyro read has just completed
 121 busStatus_e mpuIntcallback(uint32_t arg)
 122 {
 123     gyroDev_t *gyro = (gyroDev_t *)arg;
 124     int32_t gyroDmaDuration = cmpTimeCycles(getCycleCounter(), gyro->gyroLastEXTI);
 125
 126     if (gyroDmaDuration > gyro->gyroDmaMaxDuration) {
 127         gyro->gyroDmaMaxDuration = gyroDmaDuration;
 128     }
 129
 130     gyro->dataReady = true;
 131
 132     return BUS_READY;
 133 }
 134
 135 static void mpuIntExtiHandler(extiCallbackRec_t *cb)
 136 {
 137     gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
 138
 139     // Ideally we'd use a timer to capture such information, but unfortunately the port used for EXTI interrupt does
 140     // not have an associated timer
 141     uint32_t nowCycles = getCycleCounter();
 142     int32_t gyroLastPeriod = cmpTimeCycles(nowCycles, gyro->gyroLastEXTI);
 143     // This detects the short (~79us) EXTI interval of an MPU6xxx gyro
 144     if ((gyro->gyroShortPeriod == 0) || (gyroLastPeriod < gyro->gyroShortPeriod)) {
 145         gyro->gyroSyncEXTI = gyro->gyroLastEXTI + gyro->gyroDmaMaxDuration;
 146     }
 147     gyro->gyroLastEXTI = nowCycles;
 148
 149     if (gyro->gyroModeSPI == GYRO_EXTI_INT_DMA) {
 150         spiSequence(&gyro->dev, gyro->segments);
 151     }
 152
 153     gyro->detectedEXTI++;
 154 }
 155 #else
 156 static void mpuIntExtiHandler(extiCallbackRec_t *cb)
 157 {
 158     gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
 159     gyro->dataReady = true;
 160 }
 161 #endif
 162
 163 static void mpuIntExtiInit(gyroDev_t *gyro)
 164 {
 165     if (gyro->mpuIntExtiTag == IO_TAG_NONE) {
 166         return;
 167     }
 168
 169     const IO_t mpuIntIO = IOGetByTag(gyro->mpuIntExtiTag);
 170
 171 #ifdef ENSURE_MPU_DATA_READY_IS_LOW
 172     uint8_t status = IORead(mpuIntIO);
 173     if (status) {
 174         return;
 175     }
 176 #endif
 177
 178     IOInit(mpuIntIO, OWNER_GYRO_EXTI, 0);
 179     EXTIHandlerInit(&gyro->exti, mpuIntExtiHandler);
 180     EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING, BETAFLIGHT_EXTI_TRIGGER_RISING);
 181     EXTIEnable(mpuIntIO);
 182 }
 183
 184 bool mpuAccRead(accDev_t *acc)
 185 {
 186     uint8_t data[6];
 187
 188     const bool ack = busReadRegisterBuffer(&acc->gyro->dev, acc->gyro->accDataReg, data, 6);
 189     if (!ack) {
 190         return false;
 191     }
 192
 193     acc->ADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
 194     acc->ADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
 195     acc->ADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
 196
 197     return true;
 198 }
 199
 200 bool mpuGyroRead(gyroDev_t *gyro)
 201 {
 202     uint8_t data[6];
 203
 204     const bool ack = busReadRegisterBuffer(&gyro->dev, gyro->gyroDataReg, data, 6);
 205     if (!ack) {
 206         return false;
 207     }
 208
 209     gyro->gyroADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
 210     gyro->gyroADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
 211     gyro->gyroADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
 212
 213     return true;
 214 }
 215
 216
 217 #ifdef USE_SPI_GYRO
 218 bool mpuAccReadSPI(accDev_t *acc)
 219 {
 220     switch (acc->gyro->gyroModeSPI) {
 221     case GYRO_EXTI_INT:
 222     case GYRO_EXTI_NO_INT:
 223     {
 224         acc->gyro->dev.txBuf[0] = acc->gyro->accDataReg | 0x80;
 225
 226         busSegment_t segments[] = {
 227                 {.u.buffers = {NULL, NULL}, 7, true, NULL},
 228                 {.u.link = {NULL, NULL}, 0, true, NULL},
 229         };
 230         segments[0].u.buffers.txData = acc->gyro->dev.txBuf;
 231         segments[0].u.buffers.rxData = &acc->gyro->dev.rxBuf[1];
 232
 233         spiSequence(&acc->gyro->dev, &segments[0]);
 234
 235         // Wait for completion
 236         spiWait(&acc->gyro->dev);
 237
 238         // Fall through
 239         FALLTHROUGH;
 240     }
 241
 242     case GYRO_EXTI_INT_DMA:
 243     {
 244         // If read was triggered in interrupt don't bother waiting. The worst that could happen is that we pick
 245         // up an old value.
 246
 247         // This data was read from the gyro, which is the same SPI device as the acc
 248         int16_t *accData = (int16_t *)acc->gyro->dev.rxBuf;
 249         acc->ADCRaw[X] = __builtin_bswap16(accData[1]);
 250         acc->ADCRaw[Y] = __builtin_bswap16(accData[2]);
 251         acc->ADCRaw[Z] = __builtin_bswap16(accData[3]);
 252         break;
 253     }
 254
 255     case GYRO_EXTI_INIT:
 256     default:
 257         break;
 258     }
 259
 260     return true;
 261 }
 262
 263 bool mpuGyroReadSPI(gyroDev_t *gyro)
 264 {
 265     int16_t *gyroData = (int16_t *)gyro->dev.rxBuf;
 266     switch (gyro->gyroModeSPI) {
 267     case GYRO_EXTI_INIT:
 268     {
 269         // Initialise the tx buffer to all 0xff
 270         memset(gyro->dev.txBuf, 0xff, 16);
 271
 272         // Check that minimum number of interrupts have been detected
 273
 274         // We need some offset from the gyro interrupts to ensure sampling after the interrupt
 275         gyro->gyroDmaMaxDuration = 5;
 276         if (gyro->detectedEXTI > GYRO_EXTI_DETECT_THRESHOLD) {
 277             if (spiUseDMA(&gyro->dev)) {
 278                 gyro->dev.callbackArg = (uint32_t)gyro;
 279                 gyro->dev.txBuf[0] = gyro->accDataReg | 0x80;
 280                 gyro->segments[0].len = gyro->gyroDataReg - gyro->accDataReg + 7;
 281                 gyro->segments[0].callback = mpuIntcallback;
 282                 gyro->segments[0].u.buffers.txData = gyro->dev.txBuf;
 283                 gyro->segments[0].u.buffers.rxData = &gyro->dev.rxBuf[1];
 284                 gyro->segments[0].negateCS = true;
 285                 gyro->gyroModeSPI = GYRO_EXTI_INT_DMA;
 286             } else {
 287                 // Interrupts are present, but no DMA
 288                 gyro->gyroModeSPI = GYRO_EXTI_INT;
 289             }
 290         } else {
 291             gyro->gyroModeSPI = GYRO_EXTI_NO_INT;
 292         }
 293         break;
 294     }
 295
 296     case GYRO_EXTI_INT:
 297     case GYRO_EXTI_NO_INT:
 298     {
 299         gyro->dev.txBuf[0] = gyro->gyroDataReg | 0x80;
 300
 301         busSegment_t segments[] = {
 302                 {.u.buffers = {NULL, NULL}, 7, true, NULL},
 303                 {.u.link = {NULL, NULL}, 0, true, NULL},
 304         };
 305         segments[0].u.buffers.txData = gyro->dev.txBuf;
 306         segments[0].u.buffers.rxData = &gyro->dev.rxBuf[1];
 307
 308         spiSequence(&gyro->dev, &segments[0]);
 309
 310         // Wait for completion
 311         spiWait(&gyro->dev);
 312
 313         gyro->gyroADCRaw[X] = __builtin_bswap16(gyroData[1]);
 314         gyro->gyroADCRaw[Y] = __builtin_bswap16(gyroData[2]);
 315         gyro->gyroADCRaw[Z] = __builtin_bswap16(gyroData[3]);
 316         break;
 317     }
 318
 319     case GYRO_EXTI_INT_DMA:
 320     {
 321         // Acc and gyro data may not be continuous (MPU6xxx has temperature in between)
 322         const uint8_t gyroDataIndex = ((gyro->gyroDataReg - gyro->accDataReg) >> 1) + 1;
 323
 324         // If read was triggered in interrupt don't bother waiting. The worst that could happen is that we pick
 325         // up an old value.
 326         gyro->gyroADCRaw[X] = __builtin_bswap16(gyroData[gyroDataIndex]);
 327         gyro->gyroADCRaw[Y] = __builtin_bswap16(gyroData[gyroDataIndex + 1]);
 328         gyro->gyroADCRaw[Z] = __builtin_bswap16(gyroData[gyroDataIndex + 2]);
 329         break;
 330     }
 331
 332     default:
 333         break;
 334     }
 335
 336     return true;
 337 }
 338
 339 typedef uint8_t (*gyroSpiDetectFn_t)(const extDevice_t *dev);
 340
 341 static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
 342 #ifdef USE_GYRO_SPI_MPU6000
 343     mpu6000SpiDetect,
 344 #endif
 345 #ifdef USE_GYRO_SPI_MPU6500
 346     mpu6500SpiDetect,   // some targets using MPU_9250_SPI, ICM_20608_SPI or ICM_20602_SPI state sensor is MPU_65xx_SPI
 347 #endif
 348 #ifdef  USE_GYRO_SPI_MPU9250
 349     mpu9250SpiDetect,
 350 #endif
 351 #ifdef USE_GYRO_SPI_ICM20689
 352     icm20689SpiDetect,  // icm20689SpiDetect detects ICM20602 and ICM20689
 353 #endif
 354 #ifdef USE_ACCGYRO_LSM6DSO
 355     lsm6dsoDetect,
 356 #endif
 357 #ifdef USE_ACCGYRO_BMI160
 358     bmi160Detect,
 359 #endif
 360 #ifdef USE_ACCGYRO_BMI270
 361     bmi270Detect,
 362 #endif
 363 #if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
 364     icm426xxSpiDetect,
 365 #endif
 366 #ifdef USE_GYRO_SPI_ICM20649
 367     icm20649SpiDetect,
 368 #endif
 369 #ifdef USE_GYRO_L3GD20
 370     l3gd20Detect,
 371 #endif
 372     NULL // Avoid an empty array
 373 };
 374
 375 static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro, const gyroDeviceConfig_t *config)
 376 {
 377     if (!config->csnTag || !spiSetBusInstance(&gyro->dev, config->spiBus)) {
 378         return false;
 379     }
 380
 381     gyro->dev.busType_u.spi.csnPin = IOGetByTag(config->csnTag);
 382
 383     IOInit(gyro->dev.busType_u.spi.csnPin, OWNER_GYRO_CS, RESOURCE_INDEX(config->index));
 384     IOConfigGPIO(gyro->dev.busType_u.spi.csnPin, SPI_IO_CS_CFG);
 385     IOHi(gyro->dev.busType_u.spi.csnPin); // Ensure device is disabled, important when two devices are on the same bus.
 386
 387     uint8_t sensor = MPU_NONE;
 388
 389     // Allow 100ms before attempting to access gyro's SPI bus
 390     // Do this once here rather than in each detection routine to speed boot
 391     while (millis() < GYRO_SPI_STARTUP_MS);
 392
 393     // Set a slow SPI clock that all potential devices can handle during gyro detection
 394     spiSetClkDivisor(&gyro->dev, spiCalculateDivider(MPU_MAX_SPI_DETECT_CLK_HZ));
 395
 396     // It is hard to use hardware to optimize the detection loop here,
 397     // as hardware type and detection function name doesn't match.
 398     // May need a bitmap of hardware to detection function to do it right?
 399
 400     for (size_t index = 0 ; gyroSpiDetectFnTable[index] ; index++) {
 401         sensor = (gyroSpiDetectFnTable[index])(&gyro->dev);
 402         if (sensor != MPU_NONE) {
 403             gyro->mpuDetectionResult.sensor = sensor;
 404             busDeviceRegister(&gyro->dev);
 405             return true;
 406         }
 407     }
 408
 409     // Detection failed, disable CS pin again
 410
 411     spiPreinitByTag(config->csnTag);
 412
 413     return false;
 414 }
 415 #endif
 416
 417 void mpuPreInit(const struct gyroDeviceConfig_s *config)
 418 {
 419 #ifdef USE_SPI_GYRO
 420     spiPreinitRegister(config->csnTag, IOCFG_IPU, 1);
 421 #else
 422     UNUSED(config);
 423 #endif
 424 }
 425
 426 bool mpuDetect(gyroDev_t *gyro, const gyroDeviceConfig_t *config)
 427 {
 428     static busDevice_t bus;
 429     gyro->dev.bus = &bus;
 430
 431     // MPU datasheet specifies 30ms.
 432     delay(35);
 433
 434     if (config->busType == BUS_TYPE_NONE) {
 435         return false;
 436     }
 437
 438     if (config->busType == BUS_TYPE_GYRO_AUTO) {
 439         gyro->dev.bus->busType = BUS_TYPE_I2C;
 440     } else {
 441         gyro->dev.bus->busType = config->busType;
 442     }
 443
 444 #ifdef USE_I2C_GYRO
 445     if (gyro->dev.bus->busType == BUS_TYPE_I2C) {
 446         gyro->dev.bus->busType_u.i2c.device = I2C_CFG_TO_DEV(config->i2cBus);
 447         gyro->dev.busType_u.i2c.address = config->i2cAddress ? config->i2cAddress : MPU_ADDRESS;
 448
 449         uint8_t sig = 0;
 450         bool ack = busReadRegisterBuffer(&gyro->dev, MPU_RA_WHO_AM_I, &sig, 1);
 451
 452         if (ack) {
 453             busDeviceRegister(&gyro->dev);
 454             // If an MPU3050 is connected sig will contain 0.
 455             uint8_t inquiryResult;
 456             ack = busReadRegisterBuffer(&gyro->dev, MPU_RA_WHO_AM_I_LEGACY, &inquiryResult, 1);
 457             inquiryResult &= MPU_INQUIRY_MASK;
 458             if (ack && inquiryResult == MPUx0x0_WHO_AM_I_CONST) {
 459                 gyro->mpuDetectionResult.sensor = MPU_3050;
 460                 return true;
 461             }
 462
 463             sig &= MPU_INQUIRY_MASK;
 464             if (sig == MPUx0x0_WHO_AM_I_CONST) {
 465                 gyro->mpuDetectionResult.sensor = MPU_60x0;
 466                 mpu6050FindRevision(gyro);
 467             } else if (sig == MPU6500_WHO_AM_I_CONST) {
 468                 gyro->mpuDetectionResult.sensor = MPU_65xx_I2C;
 469             }
 470             return true;
 471         }
 472     }
 473 #endif
 474
 475 #ifdef USE_SPI_GYRO
 476     gyro->dev.bus->busType = BUS_TYPE_SPI;
 477
 478     return detectSPISensorsAndUpdateDetectionResult(gyro, config);
 479 #else
 480     return false;
 481 #endif
 482 }
 483
 484 void mpuGyroInit(gyroDev_t *gyro)
 485 {
 486     gyro->accDataReg = MPU_RA_ACCEL_XOUT_H;
 487     gyro->gyroDataReg = MPU_RA_GYRO_XOUT_H;
 488     mpuIntExtiInit(gyro);
 489 }
 490
 491 uint8_t mpuGyroDLPF(gyroDev_t *gyro)
 492 {
 493     uint8_t ret = 0;
 494
 495     // If gyro is in 32KHz mode then the DLPF bits aren't used
 496     if (gyro->gyroRateKHz <= GYRO_RATE_8_kHz) {
 497         switch (gyro->hardware_lpf) {
 498 #ifdef USE_GYRO_DLPF_EXPERIMENTAL
 499             case GYRO_HARDWARE_LPF_EXPERIMENTAL:
 500                 // experimental mode not supported for MPU60x0 family
 501                 if ((gyro->gyroHardware != GYRO_MPU6050) && (gyro->gyroHardware != GYRO_MPU6000)) {
 502                     ret = 7;
 503                 } else {
 504                     ret = 0;
 505                 }
 506                 break;
 507 #endif
 508
 509             case GYRO_HARDWARE_LPF_NORMAL:
 510             default:
 511                 ret = 0;
 512                 break;
 513         }
 514     }
 515     return ret;
 516 }
 517
 518 #ifdef USE_GYRO_REGISTER_DUMP
 519 uint8_t mpuGyroReadRegister(const extDevice_t *dev, uint8_t reg)
 520 {
 521     uint8_t data;
 522     const bool ack = busReadRegisterBuffer(dev, reg, &data, 1);
 523     if (ack) {
 524         return data;
 525     } else {
 526         return 0;
 527     }
 528
 529 }
 530 #endif