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_spi_lsm6dsv16x.h"
  60 #include "drivers/accgyro/accgyro_mpu.h"
  61
  62 #include "pg/pg.h"
  63 #include "pg/gyrodev.h"
  64
  65 #ifndef MPU_ADDRESS
  66 #define MPU_ADDRESS             0x68
  67 #endif
  68
  69 // 1 MHz max SPI frequency during device detection
  70 #define MPU_MAX_SPI_DETECT_CLK_HZ 1000000
  71
  72 #define MPU_INQUIRY_MASK   0x7E
  73
  74 // Allow 100ms before attempting to access SPI bus
  75 #define GYRO_SPI_STARTUP_MS 100
  76
  77 // Need to see at least this many interrupts during initialisation to confirm EXTI connectivity
  78 #define GYRO_EXTI_DETECT_THRESHOLD 1000
  79
  80 #ifdef USE_I2C_GYRO
  81 static void mpu6050FindRevision(gyroDev_t *gyro)
  82 {
  83     // There is a map of revision contained in the android source tree which is quite comprehensive and may help to understand this code
  84     // See https://android.googlesource.com/kernel/msm.git/+/eaf36994a3992b8f918c18e4f7411e8b2320a35f/drivers/misc/mpu6050/mldl_cfg.c
  85
  86     // determine product ID and revision
  87     uint8_t readBuffer[6];
  88     bool ack = busReadRegisterBuffer(&gyro->dev, MPU_RA_XA_OFFS_H, readBuffer, 6);
  89     uint8_t revision = ((readBuffer[5] & 0x01) << 2) | ((readBuffer[3] & 0x01) << 1) | (readBuffer[1] & 0x01);
  90     if (ack && revision) {
  91         // Congrats, these parts are better
  92         if (revision == 1) {
  93             gyro->mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
  94         } else if (revision == 2) {
  95             gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
  96         } else if ((revision == 3) || (revision == 7)) {
  97             gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
  98         } else {
  99             failureMode(FAILURE_ACC_INCOMPATIBLE);
 100         }
 101     } else {
 102         uint8_t productId;
 103         ack = busReadRegisterBuffer(&gyro->dev, MPU_RA_PRODUCT_ID, &productId, 1);
 104         revision = productId & 0x0F;
 105         if (!ack || revision == 0) {
 106             failureMode(FAILURE_ACC_INCOMPATIBLE);
 107         } else if (revision == 4) {
 108             gyro->mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
 109         } else {
 110             gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
 111         }
 112     }
 113 }
 114 #endif
 115
 116 /*
 117  * Gyro interrupt service routine
 118  */
 119 #ifdef USE_SPI_GYRO
 120 // Called in ISR context
 121 // Gyro read has just completed
 122 busStatus_e mpuIntCallback(uint32_t arg)
 123 {
 124     gyroDev_t *gyro = (gyroDev_t *)arg;
 125     int32_t gyroDmaDuration = cmpTimeCycles(getCycleCounter(), gyro->gyroLastEXTI);
 126
 127     if (gyroDmaDuration > gyro->gyroDmaMaxDuration) {
 128         gyro->gyroDmaMaxDuration = gyroDmaDuration;
 129     }
 130
 131     gyro->dataReady = true;
 132
 133     return BUS_READY;
 134 }
 135
 136 static void mpuIntExtiHandler(extiCallbackRec_t *cb)
 137 {
 138     gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
 139
 140     // Ideally we'd use a timer to capture such information, but unfortunately the port used for EXTI interrupt does
 141     // not have an associated timer
 142     uint32_t nowCycles = getCycleCounter();
 143     int32_t gyroLastPeriod = cmpTimeCycles(nowCycles, gyro->gyroLastEXTI);
 144     // This detects the short (~79us) EXTI interval of an MPU6xxx gyro
 145     if ((gyro->gyroShortPeriod == 0) || (gyroLastPeriod < gyro->gyroShortPeriod)) {
 146         gyro->gyroSyncEXTI = gyro->gyroLastEXTI + gyro->gyroDmaMaxDuration;
 147     }
 148     gyro->gyroLastEXTI = nowCycles;
 149
 150     if (gyro->gyroModeSPI == GYRO_EXTI_INT_DMA) {
 151         spiSequence(&gyro->dev, gyro->segments);
 152     }
 153
 154     gyro->detectedEXTI++;
 155 }
 156 #else
 157 static void mpuIntExtiHandler(extiCallbackRec_t *cb)
 158 {
 159     gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
 160     gyro->dataReady = true;
 161 }
 162 #endif
 163
 164 static void mpuIntExtiInit(gyroDev_t *gyro)
 165 {
 166     if (gyro->mpuIntExtiTag == IO_TAG_NONE) {
 167         return;
 168     }
 169
 170     const IO_t mpuIntIO = IOGetByTag(gyro->mpuIntExtiTag);
 171
 172 #ifdef ENSURE_MPU_DATA_READY_IS_LOW
 173     uint8_t status = IORead(mpuIntIO);
 174     if (status) {
 175         return;
 176     }
 177 #endif
 178
 179     IOInit(mpuIntIO, OWNER_GYRO_EXTI, 0);
 180     EXTIHandlerInit(&gyro->exti, mpuIntExtiHandler);
 181     EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING, BETAFLIGHT_EXTI_TRIGGER_RISING);
 182     EXTIEnable(mpuIntIO);
 183 }
 184
 185 bool mpuAccRead(accDev_t *acc)
 186 {
 187     uint8_t data[6];
 188
 189     const bool ack = busReadRegisterBuffer(&acc->gyro->dev, acc->gyro->accDataReg, data, 6);
 190     if (!ack) {
 191         return false;
 192     }
 193
 194     acc->ADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
 195     acc->ADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
 196     acc->ADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
 197
 198     return true;
 199 }
 200
 201 bool mpuGyroRead(gyroDev_t *gyro)
 202 {
 203     uint8_t data[6];
 204
 205     const bool ack = busReadRegisterBuffer(&gyro->dev, gyro->gyroDataReg, data, 6);
 206     if (!ack) {
 207         return false;
 208     }
 209
 210     gyro->gyroADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
 211     gyro->gyroADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
 212     gyro->gyroADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
 213
 214     return true;
 215 }
 216
 217
 218 #ifdef USE_SPI_GYRO
 219 bool mpuAccReadSPI(accDev_t *acc)
 220 {
 221     switch (acc->gyro->gyroModeSPI) {
 222     case GYRO_EXTI_INT:
 223     case GYRO_EXTI_NO_INT:
 224     {
 225         acc->gyro->dev.txBuf[0] = acc->gyro->accDataReg | 0x80;
 226
 227         busSegment_t segments[] = {
 228                 {.u.buffers = {NULL, NULL}, 7, true, NULL},
 229                 {.u.link = {NULL, NULL}, 0, true, NULL},
 230         };
 231         segments[0].u.buffers.txData = acc->gyro->dev.txBuf;
 232         segments[0].u.buffers.rxData = &acc->gyro->dev.rxBuf[1];
 233
 234         spiSequence(&acc->gyro->dev, &segments[0]);
 235
 236         // Wait for completion
 237         spiWait(&acc->gyro->dev);
 238
 239         // Fall through
 240         FALLTHROUGH;
 241     }
 242
 243     case GYRO_EXTI_INT_DMA:
 244     {
 245         // If read was triggered in interrupt don't bother waiting. The worst that could happen is that we pick
 246         // up an old value.
 247
 248         // This data was read from the gyro, which is the same SPI device as the acc
 249         int16_t *accData = (int16_t *)acc->gyro->dev.rxBuf;
 250         acc->ADCRaw[X] = __builtin_bswap16(accData[1]);
 251         acc->ADCRaw[Y] = __builtin_bswap16(accData[2]);
 252         acc->ADCRaw[Z] = __builtin_bswap16(accData[3]);
 253         break;
 254     }
 255
 256     case GYRO_EXTI_INIT:
 257     default:
 258         break;
 259     }
 260
 261     return true;
 262 }
 263
 264 bool mpuGyroReadSPI(gyroDev_t *gyro)
 265 {
 266     int16_t *gyroData = (int16_t *)gyro->dev.rxBuf;
 267     switch (gyro->gyroModeSPI) {
 268     case GYRO_EXTI_INIT:
 269     {
 270         // Initialise the tx buffer to all 0xff
 271         memset(gyro->dev.txBuf, 0xff, 16);
 272
 273         // Check that minimum number of interrupts have been detected
 274
 275         // We need some offset from the gyro interrupts to ensure sampling after the interrupt
 276         gyro->gyroDmaMaxDuration = 5;
 277         if (gyro->detectedEXTI > GYRO_EXTI_DETECT_THRESHOLD) {
 278             if (spiUseDMA(&gyro->dev)) {
 279                 gyro->dev.callbackArg = (uint32_t)gyro;
 280                 gyro->dev.txBuf[0] = gyro->accDataReg | 0x80;
 281                 gyro->segments[0].len = gyro->gyroDataReg - gyro->accDataReg + sizeof(uint8_t) + 3 * sizeof(int16_t);
 282                 gyro->segments[0].callback = mpuIntCallback;
 283                 gyro->segments[0].u.buffers.txData = gyro->dev.txBuf;
 284                 gyro->segments[0].u.buffers.rxData = &gyro->dev.rxBuf[1];
 285                 gyro->segments[0].negateCS = true;
 286                 gyro->gyroModeSPI = GYRO_EXTI_INT_DMA;
 287             } else {
 288                 // Interrupts are present, but no DMA
 289                 gyro->gyroModeSPI = GYRO_EXTI_INT;
 290             }
 291         } else {
 292             gyro->gyroModeSPI = GYRO_EXTI_NO_INT;
 293         }
 294         break;
 295     }
 296
 297     case GYRO_EXTI_INT:
 298     case GYRO_EXTI_NO_INT:
 299     {
 300         gyro->dev.txBuf[0] = gyro->gyroDataReg | 0x80;
 301
 302         busSegment_t segments[] = {
 303                 {.u.buffers = {NULL, NULL}, 7, true, NULL},
 304                 {.u.link = {NULL, NULL}, 0, true, NULL},
 305         };
 306         segments[0].u.buffers.txData = gyro->dev.txBuf;
 307         segments[0].u.buffers.rxData = &gyro->dev.rxBuf[1];
 308
 309         spiSequence(&gyro->dev, &segments[0]);
 310
 311         // Wait for completion
 312         spiWait(&gyro->dev);
 313
 314         gyro->gyroADCRaw[X] = __builtin_bswap16(gyroData[1]);
 315         gyro->gyroADCRaw[Y] = __builtin_bswap16(gyroData[2]);
 316         gyro->gyroADCRaw[Z] = __builtin_bswap16(gyroData[3]);
 317         break;
 318     }
 319
 320     case GYRO_EXTI_INT_DMA:
 321     {
 322         // Acc and gyro data may not be continuous (MPU6xxx has temperature in between)
 323         const uint8_t gyroDataIndex = ((gyro->gyroDataReg - gyro->accDataReg) >> 1) + 1;
 324
 325         // If read was triggered in interrupt don't bother waiting. The worst that could happen is that we pick
 326         // up an old value.
 327         gyro->gyroADCRaw[X] = __builtin_bswap16(gyroData[gyroDataIndex]);
 328         gyro->gyroADCRaw[Y] = __builtin_bswap16(gyroData[gyroDataIndex + 1]);
 329         gyro->gyroADCRaw[Z] = __builtin_bswap16(gyroData[gyroDataIndex + 2]);
 330         break;
 331     }
 332
 333     default:
 334         break;
 335     }
 336
 337     return true;
 338 }
 339
 340 typedef uint8_t (*gyroSpiDetectFn_t)(const extDevice_t *dev);
 341
 342 static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
 343 #ifdef USE_ACCGYRO_LSM6DSV16X
 344     lsm6dsv16xSpiDetect,
 345 #endif
 346 #ifdef USE_GYRO_SPI_ICM20689
 347     icm20689SpiDetect,  // icm20689SpiDetect detects ICM20602 and ICM20689
 348 #endif
 349 #ifdef USE_GYRO_SPI_MPU6000
 350     mpu6000SpiDetect,
 351 #endif
 352 #ifdef USE_GYRO_SPI_MPU6500
 353     mpu6500SpiDetect,   // some targets using MPU_9250_SPI, ICM_20608_SPI or ICM_20602_SPI state sensor is MPU_65xx_SPI
 354 #endif
 355 #ifdef  USE_GYRO_SPI_MPU9250
 356     mpu9250SpiDetect,
 357 #endif
 358 #ifdef USE_ACCGYRO_LSM6DSO
 359     lsm6dsoDetect,
 360 #endif
 361 #ifdef USE_ACCGYRO_BMI160
 362     bmi160Detect,
 363 #endif
 364 #ifdef USE_ACCGYRO_BMI270
 365     bmi270Detect,
 366 #endif
 367 #if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
 368     icm426xxSpiDetect,
 369 #endif
 370 #ifdef USE_GYRO_SPI_ICM20649
 371     icm20649SpiDetect,
 372 #endif
 373 #ifdef USE_GYRO_L3GD20
 374     l3gd20Detect,
 375 #endif
 376     NULL // Avoid an empty array
 377 };
 378
 379 static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro, const gyroDeviceConfig_t *config)
 380 {
 381     if (!config->csnTag || !spiSetBusInstance(&gyro->dev, config->spiBus)) {
 382         return false;
 383     }
 384
 385     gyro->dev.busType_u.spi.csnPin = IOGetByTag(config->csnTag);
 386
 387     IOInit(gyro->dev.busType_u.spi.csnPin, OWNER_GYRO_CS, RESOURCE_INDEX(config->index));
 388     IOConfigGPIO(gyro->dev.busType_u.spi.csnPin, SPI_IO_CS_CFG);
 389     IOHi(gyro->dev.busType_u.spi.csnPin); // Ensure device is disabled, important when two devices are on the same bus.
 390
 391     // Allow 100ms before attempting to access gyro's SPI bus
 392     // Do this once here rather than in each detection routine to speed boot
 393     while (millis() < GYRO_SPI_STARTUP_MS);
 394
 395     // Set a slow SPI clock that all potential devices can handle during gyro detection
 396     spiSetClkDivisor(&gyro->dev, spiCalculateDivider(MPU_MAX_SPI_DETECT_CLK_HZ));
 397
 398     // It is hard to use hardware to optimize the detection loop here,
 399     // as hardware type and detection function name doesn't match.
 400     // May need a bitmap of hardware to detection function to do it right?
 401
 402     for (size_t index = 0 ; gyroSpiDetectFnTable[index] ; index++) {
 403         uint8_t sensor = (gyroSpiDetectFnTable[index])(&gyro->dev);
 404         if (sensor != MPU_NONE) {
 405             gyro->mpuDetectionResult.sensor = sensor;
 406             busDeviceRegister(&gyro->dev);
 407             return true;
 408         }
 409     }
 410
 411     // Detection failed, disable CS pin again
 412
 413     spiPreinitByTag(config->csnTag);
 414
 415     return false;
 416 }
 417 #endif
 418
 419 void mpuPreInit(const struct gyroDeviceConfig_s *config)
 420 {
 421 #ifdef USE_SPI_GYRO
 422     spiPreinitRegister(config->csnTag, IOCFG_IPU, 1);
 423 #else
 424     UNUSED(config);
 425 #endif
 426 }
 427
 428 bool mpuDetect(gyroDev_t *gyro, const gyroDeviceConfig_t *config)
 429 {
 430     static busDevice_t bus;
 431     gyro->dev.bus = &bus;
 432
 433     // MPU datasheet specifies 30ms.
 434     delay(35);
 435
 436     if (config->busType == BUS_TYPE_NONE) {
 437         return false;
 438     }
 439
 440     if (config->busType == BUS_TYPE_GYRO_AUTO) {
 441         gyro->dev.bus->busType = BUS_TYPE_I2C;
 442     } else {
 443         gyro->dev.bus->busType = config->busType;
 444     }
 445
 446 #ifdef USE_I2C_GYRO
 447     if (gyro->dev.bus->busType == BUS_TYPE_I2C) {
 448         gyro->dev.bus->busType_u.i2c.device = I2C_CFG_TO_DEV(config->i2cBus);
 449         gyro->dev.busType_u.i2c.address = config->i2cAddress ? config->i2cAddress : MPU_ADDRESS;
 450
 451         uint8_t sig = 0;
 452         bool ack = busReadRegisterBuffer(&gyro->dev, MPU_RA_WHO_AM_I, &sig, 1);
 453
 454         if (ack) {
 455             busDeviceRegister(&gyro->dev);
 456             // If an MPU3050 is connected sig will contain 0.
 457             uint8_t inquiryResult;
 458             ack = busReadRegisterBuffer(&gyro->dev, MPU_RA_WHO_AM_I_LEGACY, &inquiryResult, 1);
 459             inquiryResult &= MPU_INQUIRY_MASK;
 460             if (ack && inquiryResult == MPUx0x0_WHO_AM_I_CONST) {
 461                 gyro->mpuDetectionResult.sensor = MPU_3050;
 462                 return true;
 463             }
 464
 465             sig &= MPU_INQUIRY_MASK;
 466             if (sig == MPUx0x0_WHO_AM_I_CONST) {
 467                 gyro->mpuDetectionResult.sensor = MPU_60x0;
 468                 mpu6050FindRevision(gyro);
 469             } else if (sig == MPU6500_WHO_AM_I_CONST) {
 470                 gyro->mpuDetectionResult.sensor = MPU_65xx_I2C;
 471             }
 472             return true;
 473         }
 474     }
 475 #endif
 476
 477 #ifdef USE_SPI_GYRO
 478     gyro->dev.bus->busType = BUS_TYPE_SPI;
 479
 480     return detectSPISensorsAndUpdateDetectionResult(gyro, config);
 481 #else
 482     return false;
 483 #endif
 484 }
 485
 486 void mpuGyroInit(gyroDev_t *gyro)
 487 {
 488     gyro->accDataReg = MPU_RA_ACCEL_XOUT_H;
 489     gyro->gyroDataReg = MPU_RA_GYRO_XOUT_H;
 490     mpuIntExtiInit(gyro);
 491 }
 492
 493 uint8_t mpuGyroDLPF(gyroDev_t *gyro)
 494 {
 495     uint8_t ret = 0;
 496
 497     // If gyro is in 32KHz mode then the DLPF bits aren't used
 498     if (gyro->gyroRateKHz <= GYRO_RATE_8_kHz) {
 499         switch (gyro->hardware_lpf) {
 500 #ifdef USE_GYRO_DLPF_EXPERIMENTAL
 501             case GYRO_HARDWARE_LPF_EXPERIMENTAL:
 502                 // experimental mode not supported for MPU60x0 family
 503                 if ((gyro->gyroHardware != GYRO_MPU6050) && (gyro->gyroHardware != GYRO_MPU6000)) {
 504                     ret = 7;
 505                 } else {
 506                     ret = 0;
 507                 }
 508                 break;
 509 #endif
 510
 511             case GYRO_HARDWARE_LPF_NORMAL:
 512             default:
 513                 ret = 0;
 514                 break;
 515         }
 516     }
 517     return ret;
 518 }
 519
 520 #ifdef USE_GYRO_REGISTER_DUMP
 521 uint8_t mpuGyroReadRegister(const extDevice_t *dev, uint8_t reg)
 522 {
 523     uint8_t data;
 524     const bool ack = busReadRegisterBuffer(dev, reg, &data, 1);
 525     if (ack) {
 526         return data;
 527     } else {
 528         return 0;
 529     }
 530
 531 }
 532 #endif