2 * This file is part of Cleanflight and Betaflight.
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)
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.
15 * You should have received a copy of the GNU General Public License
16 * along with this software.
18 * If not, see <http://www.gnu.org/licenses/>.
22 * Author: Dominic Clifton
31 #ifdef USE_GYRO_SPI_ICM42688P
33 #include "common/axis.h"
34 #include "common/maths.h"
35 #include "build/debug.h"
37 #include "drivers/accgyro/accgyro.h"
38 #include "drivers/accgyro/accgyro_mpu.h"
39 #include "drivers/accgyro/accgyro_spi_icm42688p.h"
40 #include "drivers/bus_spi.h"
41 #include "drivers/exti.h"
42 #include "drivers/io.h"
43 #include "drivers/sensor.h"
44 #include "drivers/time.h"
46 // 24 MHz max SPI frequency
47 #define ICM42688P_MAX_SPI_CLK_HZ 24000000
49 // 10 MHz max SPI frequency for intialisation
50 #define ICM42688P_MAX_SPI_INIT_CLK_HZ 1000000
52 #define ICM42688P_RA_PWR_MGMT0 0x4E
54 #define ICM42688P_PWR_MGMT0_ACCEL_MODE_LN (3 << 0)
55 #define ICM42688P_PWR_MGMT0_GYRO_MODE_LN (3 << 2)
56 #define ICM42688P_PWR_MGMT0_TEMP_DISABLE_OFF (0 << 5)
57 #define ICM42688P_PWR_MGMT0_TEMP_DISABLE_ON (1 << 5)
59 #define ICM42688P_RA_GYRO_CONFIG0 0x4F
60 #define ICM42688P_RA_ACCEL_CONFIG0 0x50
62 #define ICM42688P_RA_GYRO_ACCEL_CONFIG0 0x52
64 #define ICM42688P_ACCEL_UI_FILT_BW_LOW_LATENCY (14 << 4)
65 #define ICM42688P_GYRO_UI_FILT_BW_LOW_LATENCY (14 << 0)
67 #define ICM42688P_RA_GYRO_DATA_X1 0x25
68 #define ICM42688P_RA_ACCEL_DATA_X1 0x1F
70 #define ICM42688P_RA_INT_CONFIG 0x14
71 #define ICM42688P_INT1_MODE_PULSED (0 << 2)
72 #define ICM42688P_INT1_MODE_LATCHED (1 << 2)
73 #define ICM42688P_INT1_DRIVE_CIRCUIT_OD (0 << 1)
74 #define ICM42688P_INT1_DRIVE_CIRCUIT_PP (1 << 1)
75 #define ICM42688P_INT1_POLARITY_ACTIVE_LOW (0 << 0)
76 #define ICM42688P_INT1_POLARITY_ACTIVE_HIGH (1 << 0)
78 #define ICM42688P_RA_INT_CONFIG0 0x63
79 #define ICM42688P_UI_DRDY_INT_CLEAR_ON_SBR ((0 << 5) || (0 << 4))
80 #define ICM42688P_UI_DRDY_INT_CLEAR_ON_SBR_DUPLICATE ((0 << 5) || (1 << 4)) // duplicate settings in datasheet, Rev 1.3.
81 #define ICM42688P_UI_DRDY_INT_CLEAR_ON_F1BR ((1 << 5) || (0 << 4))
82 #define ICM42688P_UI_DRDY_INT_CLEAR_ON_SBR_AND_F1BR ((1 << 5) || (1 << 4))
84 #define ICM42688P_RA_INT_CONFIG1 0x64
85 #define ICM42688P_INT_ASYNC_RESET_BIT 4
86 #define ICM42688P_INT_TDEASSERT_DISABLE_BIT 5
87 #define ICM42688P_INT_TDEASSERT_ENABLED (0 << ICM42688P_INT_TDEASSERT_DISABLE_BIT)
88 #define ICM42688P_INT_TDEASSERT_DISABLED (1 << ICM42688P_INT_TDEASSERT_DISABLE_BIT)
89 #define ICM42688P_INT_TPULSE_DURATION_BIT 6
90 #define ICM42688P_INT_TPULSE_DURATION_100 (0 << ICM42688P_INT_TPULSE_DURATION_BIT)
91 #define ICM42688P_INT_TPULSE_DURATION_8 (1 << ICM42688P_INT_TPULSE_DURATION_BIT)
94 #define ICM42688P_RA_INT_SOURCE0 0x65
95 #define ICM42688P_UI_DRDY_INT1_EN_DISABLED (0 << 3)
96 #define ICM42688P_UI_DRDY_INT1_EN_ENABLED (1 << 3)
98 static void icm42688PSpiInit(const extDevice_t
*dev
)
100 static bool hardwareInitialised
= false;
102 if (hardwareInitialised
) {
107 spiSetClkDivisor(dev
, spiCalculateDivider(ICM42688P_MAX_SPI_CLK_HZ
));
109 hardwareInitialised
= true;
112 uint8_t icm42688PSpiDetect(const extDevice_t
*dev
)
114 icm42688PSpiInit(dev
);
116 spiSetClkDivisor(dev
, spiCalculateDivider(ICM42688P_MAX_SPI_INIT_CLK_HZ
));
118 spiWriteReg(dev
, ICM42688P_RA_PWR_MGMT0
, 0x00);
120 uint8_t icmDetected
= MPU_NONE
;
121 uint8_t attemptsRemaining
= 20;
124 const uint8_t whoAmI
= spiReadRegMsk(dev
, MPU_RA_WHO_AM_I
);
126 case ICM42605_WHO_AM_I_CONST
:
127 icmDetected
= ICM_42605_SPI
;
129 case ICM42688P_WHO_AM_I_CONST
:
130 icmDetected
= ICM_42688P_SPI
;
133 icmDetected
= MPU_NONE
;
136 if (icmDetected
!= MPU_NONE
) {
139 if (!attemptsRemaining
) {
142 } while (attemptsRemaining
--);
144 spiSetClkDivisor(dev
, spiCalculateDivider(ICM42688P_MAX_SPI_CLK_HZ
));
149 void icm42688PAccInit(accDev_t
*acc
)
151 acc
->acc_1G
= 512 * 4;
154 bool icm42688PAccRead(accDev_t
*acc
)
158 const bool ack
= busReadRegisterBuffer(&acc
->gyro
->dev
, ICM42688P_RA_ACCEL_DATA_X1
, data
, 6);
163 acc
->ADCRaw
[X
] = (int16_t)((data
[0] << 8) | data
[1]);
164 acc
->ADCRaw
[Y
] = (int16_t)((data
[2] << 8) | data
[3]);
165 acc
->ADCRaw
[Z
] = (int16_t)((data
[4] << 8) | data
[5]);
169 bool icm42688PSpiAccDetect(accDev_t
*acc
)
171 switch (acc
->mpuDetectionResult
.sensor
) {
178 acc
->initFn
= icm42688PAccInit
;
179 acc
->readFn
= icm42688PAccRead
;
184 typedef struct odrEntry_s
{
186 uint8_t odr
; // See GYRO_ODR in datasheet.
189 static odrEntry_t icm42688PkhzToSupportedODRMap
[] = {
196 void icm42688PGyroInit(gyroDev_t
*gyro
)
200 spiSetClkDivisor(&gyro
->dev
, spiCalculateDivider(ICM42688P_MAX_SPI_INIT_CLK_HZ
));
202 spiWriteReg(&gyro
->dev
, ICM42688P_RA_PWR_MGMT0
, ICM42688P_PWR_MGMT0_TEMP_DISABLE_OFF
| ICM42688P_PWR_MGMT0_ACCEL_MODE_LN
| ICM42688P_PWR_MGMT0_GYRO_MODE_LN
);
205 uint8_t outputDataRate
= 0;
206 bool supportedODRFound
= false;
208 if (gyro
->gyroRateKHz
) {
209 uint8_t gyroSyncDenominator
= gyro
->mpuDividerDrops
+ 1; // rebuild it in here, see gyro_sync.c
210 uint8_t desiredODRKhz
= 8 / gyroSyncDenominator
;
211 for (uint32_t i
= 0; i
< ARRAYLEN(icm42688PkhzToSupportedODRMap
); i
++) {
212 if (icm42688PkhzToSupportedODRMap
[i
].khz
== desiredODRKhz
) {
213 outputDataRate
= icm42688PkhzToSupportedODRMap
[i
].odr
;
214 supportedODRFound
= true;
220 if (!supportedODRFound
) {
222 gyro
->gyroRateKHz
= GYRO_RATE_1_kHz
;
225 STATIC_ASSERT(INV_FSR_2000DPS
== 3, "INV_FSR_2000DPS must be 3 to generate correct value");
226 spiWriteReg(&gyro
->dev
, ICM42688P_RA_GYRO_CONFIG0
, (3 - INV_FSR_2000DPS
) << 5 | (outputDataRate
& 0x0F));
229 STATIC_ASSERT(INV_FSR_16G
== 3, "INV_FSR_16G must be 3 to generate correct value");
230 spiWriteReg(&gyro
->dev
, ICM42688P_RA_ACCEL_CONFIG0
, (3 - INV_FSR_16G
) << 5 | (outputDataRate
& 0x0F));
233 spiWriteReg(&gyro
->dev
, ICM42688P_RA_GYRO_ACCEL_CONFIG0
, ICM42688P_ACCEL_UI_FILT_BW_LOW_LATENCY
| ICM42688P_GYRO_UI_FILT_BW_LOW_LATENCY
);
235 spiWriteReg(&gyro
->dev
, ICM42688P_RA_INT_CONFIG
, ICM42688P_INT1_MODE_PULSED
| ICM42688P_INT1_DRIVE_CIRCUIT_PP
| ICM42688P_INT1_POLARITY_ACTIVE_HIGH
);
236 spiWriteReg(&gyro
->dev
, ICM42688P_RA_INT_CONFIG0
, ICM42688P_UI_DRDY_INT_CLEAR_ON_SBR
);
238 #ifdef USE_MPU_DATA_READY_SIGNAL
239 spiWriteReg(&gyro
->dev
, ICM42688P_RA_INT_SOURCE0
, ICM42688P_UI_DRDY_INT1_EN_ENABLED
);
241 uint8_t intConfig1Value
= spiReadRegMsk(&gyro
->dev
, ICM42688P_RA_INT_CONFIG1
);
242 // Datasheet says: "User should change setting to 0 from default setting of 1, for proper INT1 and INT2 pin operation"
243 intConfig1Value
&= ~(1 << ICM42688P_INT_ASYNC_RESET_BIT
);
244 intConfig1Value
|= (ICM42688P_INT_TPULSE_DURATION_8
| ICM42688P_INT_TDEASSERT_DISABLED
);
246 spiWriteReg(&gyro
->dev
, ICM42688P_RA_INT_CONFIG1
, intConfig1Value
);
250 spiSetClkDivisor(&gyro
->dev
, spiCalculateDivider(ICM42688P_MAX_SPI_CLK_HZ
));
253 bool icm42688PGyroReadSPI(gyroDev_t
*gyro
)
255 STATIC_DMA_DATA_AUTO
uint8_t dataToSend
[7] = {ICM42688P_RA_GYRO_DATA_X1
| 0x80, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
256 STATIC_DMA_DATA_AUTO
uint8_t data
[7];
258 const bool ack
= spiReadWriteBufRB(&gyro
->dev
, dataToSend
, data
, 7);
263 gyro
->gyroADCRaw
[X
] = (int16_t)((data
[1] << 8) | data
[2]);
264 gyro
->gyroADCRaw
[Y
] = (int16_t)((data
[3] << 8) | data
[4]);
265 gyro
->gyroADCRaw
[Z
] = (int16_t)((data
[5] << 8) | data
[6]);
270 bool icm42688PSpiGyroDetect(gyroDev_t
*gyro
)
272 switch (gyro
->mpuDetectionResult
.sensor
) {
279 gyro
->initFn
= icm42688PGyroInit
;
280 gyro
->readFn
= icm42688PGyroReadSPI
;
282 gyro
->scale
= GYRO_SCALE_2000DPS
;