src/main/drivers/accgyro_mma845x.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20
  21 #include "platform.h"
  22
  23 #include "system.h"
  24 #include "io.h"
  25 #include "bus_i2c.h"
  26
  27 #include "sensor.h"
  28 #include "accgyro.h"
  29 #include "accgyro_mma845x.h"
  30
  31 #ifndef MMA8452_I2C_INSTANCE
  32 #define MMA8452_I2C_INSTANCE I2CDEV_1
  33 #endif
  34
  35 // MMA8452QT, Standard address 0x1C
  36 // ACC_INT2 routed to PA5
  37
  38 #define MMA8452_ADDRESS     0x1C
  39
  40 #define MMA8452_DEVICE_SIGNATURE    0x2A
  41 #define MMA8451_DEVICE_SIGNATURE    0x1A
  42
  43 #define MMA8452_STATUS              0x00
  44 #define MMA8452_OUT_X_MSB           0x01
  45 #define MMA8452_WHO_AM_I            0x0D
  46 #define MMA8452_XYZ_DATA_CFG        0x0E
  47 #define MMA8452_HP_FILTER_CUTOFF    0x0F
  48 #define MMA8452_CTRL_REG1           0x2A
  49 #define MMA8452_CTRL_REG2           0x2B
  50 #define MMA8452_CTRL_REG3           0x2C
  51 #define MMA8452_CTRL_REG4           0x2D
  52 #define MMA8452_CTRL_REG5           0x2E
  53
  54 #define MMA8452_FS_RANGE_8G         0x02
  55 #define MMA8452_FS_RANGE_4G         0x01
  56 #define MMA8452_FS_RANGE_2G         0x00
  57
  58 #define MMA8452_HPF_CUTOFF_LV1      0x00
  59 #define MMA8452_HPF_CUTOFF_LV2      0x01
  60 #define MMA8452_HPF_CUTOFF_LV3      0x02
  61 #define MMA8452_HPF_CUTOFF_LV4      0x03
  62
  63 #define MMA8452_CTRL_REG2_B7_ST     0x80
  64 #define MMA8452_CTRL_REG2_B6_RST    0x40
  65 #define MMA8452_CTRL_REG2_B4_SMODS1 0x10
  66 #define MMA8452_CTRL_REG2_B3_SMODS0 0x08
  67 #define MMA8452_CTRL_REG2_B2_SLPE   0x04
  68 #define MMA8452_CTRL_REG2_B1_MODS1  0x02
  69 #define MMA8452_CTRL_REG2_B0_MODS0  0x01
  70
  71 #define MMA8452_CTRL_REG2_MODS_LP   0x03
  72 #define MMA8452_CTRL_REG2_MODS_HR   0x02
  73 #define MMA8452_CTRL_REG2_MODS_LNLP 0x01
  74 #define MMA8452_CTRL_REG2_MODS_NOR  0x00
  75
  76 #define MMA8452_CTRL_REG3_IPOL          0x02
  77 #define MMA8452_CTRL_REG4_INT_EN_DRDY   0x01
  78
  79 #define MMA8452_CTRL_REG1_LNOISE        0x04
  80 #define MMA8452_CTRL_REG1_ACTIVE        0x01
  81
  82 static uint8_t device_id;
  83
  84 static inline void mma8451ConfigureInterrupt(void)
  85 {
  86 #ifdef MMA8451_INT_PIN
  87     IOInit(IOGetByTag(IO_TAG(MMA8451_INT_PIN)), OWNER_MPU_EXTI, 0);
  88     // TODO - maybe pullup / pulldown ?
  89     IOConfigGPIO(IOGetByTag(IO_TAG(MMA8451_INT_PIN)), IOCFG_IN_FLOATING);
  90 #endif
  91
  92     i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG3, MMA8452_CTRL_REG3_IPOL); // Interrupt polarity (active HIGH)
  93     i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG4, MMA8452_CTRL_REG4_INT_EN_DRDY); // Enable DRDY interrupt (unused by this driver)
  94     i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG5, 0); // DRDY routed to INT2
  95 }
  96
  97 static void mma8452Init(accDev_t *acc)
  98 {
  99
 100     i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG1, 0); // Put device in standby to configure stuff
 101     i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_XYZ_DATA_CFG, MMA8452_FS_RANGE_8G);
 102     i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_HP_FILTER_CUTOFF, MMA8452_HPF_CUTOFF_LV4);
 103     i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG2, MMA8452_CTRL_REG2_MODS_HR | MMA8452_CTRL_REG2_MODS_HR << 3); // High resolution measurement in both sleep and active modes
 104
 105     mma8451ConfigureInterrupt();
 106
 107     i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG1, MMA8452_CTRL_REG1_LNOISE | MMA8452_CTRL_REG1_ACTIVE); // Turn on measurements, low noise at max scale mode, Data Rate 800Hz. LNoise mode makes range +-4G.
 108
 109     acc->acc_1G = 256;
 110 }
 111
 112 static bool mma8452Read(accDev_t *acc)
 113 {
 114     uint8_t buf[6];
 115
 116     if (!i2cRead(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_OUT_X_MSB, 6, buf)) {
 117         return false;
 118     }
 119
 120     acc->ADCRaw[0] = ((int16_t)((buf[0] << 8) | buf[1]) >> 2) / 4;
 121     acc->ADCRaw[1] = ((int16_t)((buf[2] << 8) | buf[3]) >> 2) / 4;
 122     acc->ADCRaw[2] = ((int16_t)((buf[4] << 8) | buf[5]) >> 2) / 4;
 123
 124     return true;
 125 }
 126
 127 bool mma8452Detect(accDev_t *acc)
 128 {
 129     uint8_t sig = 0;
 130     bool ack = i2cRead(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_WHO_AM_I, 1, &sig);
 131
 132     if (!ack || (sig != MMA8452_DEVICE_SIGNATURE && sig != MMA8451_DEVICE_SIGNATURE))
 133         return false;
 134
 135     acc->init = mma8452Init;
 136     acc->read = mma8452Read;
 137     device_id = sig;
 138     return true;
 139 }