src/main/drivers/accgyro/accgyro_mma845x.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
  24 #include "platform.h"
  25
  26 #include "drivers/io.h"
  27 #include "drivers/bus_i2c.h"
  28
  29 #include "drivers/sensor.h"
  30 #include "accgyro.h"
  31 #include "accgyro_mma845x.h"
  32
  33 #ifndef MMA8452_I2C_INSTANCE
  34 #define MMA8452_I2C_INSTANCE I2CDEV_1
  35 #endif
  36
  37 // MMA8452QT, Standard address 0x1C
  38 // ACC_INT2 routed to PA5
  39
  40 #define MMA8452_ADDRESS     0x1C
  41
  42 #define MMA8452_DEVICE_SIGNATURE    0x2A
  43 #define MMA8451_DEVICE_SIGNATURE    0x1A
  44
  45 #define MMA8452_STATUS              0x00
  46 #define MMA8452_OUT_X_MSB           0x01
  47 #define MMA8452_WHO_AM_I            0x0D
  48 #define MMA8452_XYZ_DATA_CFG        0x0E
  49 #define MMA8452_HP_FILTER_CUTOFF    0x0F
  50 #define MMA8452_CTRL_REG1           0x2A
  51 #define MMA8452_CTRL_REG2           0x2B
  52 #define MMA8452_CTRL_REG3           0x2C
  53 #define MMA8452_CTRL_REG4           0x2D
  54 #define MMA8452_CTRL_REG5           0x2E
  55
  56 #define MMA8452_FS_RANGE_8G         0x02
  57 #define MMA8452_FS_RANGE_4G         0x01
  58 #define MMA8452_FS_RANGE_2G         0x00
  59
  60 #define MMA8452_HPF_CUTOFF_LV1      0x00
  61 #define MMA8452_HPF_CUTOFF_LV2      0x01
  62 #define MMA8452_HPF_CUTOFF_LV3      0x02
  63 #define MMA8452_HPF_CUTOFF_LV4      0x03
  64
  65 #define MMA8452_CTRL_REG2_B7_ST     0x80
  66 #define MMA8452_CTRL_REG2_B6_RST    0x40
  67 #define MMA8452_CTRL_REG2_B4_SMODS1 0x10
  68 #define MMA8452_CTRL_REG2_B3_SMODS0 0x08
  69 #define MMA8452_CTRL_REG2_B2_SLPE   0x04
  70 #define MMA8452_CTRL_REG2_B1_MODS1  0x02
  71 #define MMA8452_CTRL_REG2_B0_MODS0  0x01
  72
  73 #define MMA8452_CTRL_REG2_MODS_LP   0x03
  74 #define MMA8452_CTRL_REG2_MODS_HR   0x02
  75 #define MMA8452_CTRL_REG2_MODS_LNLP 0x01
  76 #define MMA8452_CTRL_REG2_MODS_NOR  0x00
  77
  78 #define MMA8452_CTRL_REG3_IPOL          0x02
  79 #define MMA8452_CTRL_REG4_INT_EN_DRDY   0x01
  80
  81 #define MMA8452_CTRL_REG1_LNOISE        0x04
  82 #define MMA8452_CTRL_REG1_ACTIVE        0x01
  83
  84 static uint8_t device_id;
  85
  86 static inline void mma8451ConfigureInterrupt(void)
  87 {
  88 #ifdef MMA8451_INT_PIN
  89     IOInit(IOGetByTag(IO_TAG(MMA8451_INT_PIN)), OWNER_MPU_EXTI, 0);
  90     // TODO - maybe pullup / pulldown ?
  91     IOConfigGPIO(IOGetByTag(IO_TAG(MMA8451_INT_PIN)), IOCFG_IN_FLOATING);
  92 #endif
  93
  94     i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG3, MMA8452_CTRL_REG3_IPOL); // Interrupt polarity (active HIGH)
  95     i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG4, MMA8452_CTRL_REG4_INT_EN_DRDY); // Enable DRDY interrupt (unused by this driver)
  96     i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG5, 0); // DRDY routed to INT2
  97 }
  98
  99 static void mma8452Init(accDev_t *acc)
 100 {
 101
 102     i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG1, 0); // Put device in standby to configure stuff
 103     i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_XYZ_DATA_CFG, MMA8452_FS_RANGE_8G);
 104     i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_HP_FILTER_CUTOFF, MMA8452_HPF_CUTOFF_LV4);
 105     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
 106
 107     mma8451ConfigureInterrupt();
 108
 109     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.
 110
 111     acc->acc_1G = 256;
 112 }
 113
 114 static bool mma8452Read(accDev_t *acc)
 115 {
 116     uint8_t buf[6];
 117
 118     if (!i2cRead(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_OUT_X_MSB, 6, buf)) {
 119         return false;
 120     }
 121
 122     acc->ADCRaw[0] = ((int16_t)((buf[0] << 8) | buf[1]) >> 2) / 4;
 123     acc->ADCRaw[1] = ((int16_t)((buf[2] << 8) | buf[3]) >> 2) / 4;
 124     acc->ADCRaw[2] = ((int16_t)((buf[4] << 8) | buf[5]) >> 2) / 4;
 125
 126     return true;
 127 }
 128
 129 bool mma8452Detect(accDev_t *acc)
 130 {
 131     uint8_t sig = 0;
 132     bool ack = i2cRead(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_WHO_AM_I, 1, &sig);
 133
 134     if (!ack || (sig != MMA8452_DEVICE_SIGNATURE && sig != MMA8451_DEVICE_SIGNATURE))
 135         return false;
 136
 137     acc->initFn = mma8452Init;
 138     acc->readFn = mma8452Read;
 139     device_id = sig;
 140     return true;
 141 }