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_icm20649.h"
  51 #include "drivers/accgyro/accgyro_spi_icm20689.h"
  52 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
  53 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
  54 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
  55 #include "drivers/accgyro/accgyro_mpu.h"
  56
  57
  58 mpuResetFnPtr mpuResetFn;
  59
  60 #ifndef MPU_I2C_INSTANCE
  61 #define MPU_I2C_INSTANCE I2C_DEVICE
  62 #endif
  63
  64 #ifndef MPU_ADDRESS
  65 #define MPU_ADDRESS             0x68
  66 #endif
  67
  68 #define MPU_INQUIRY_MASK   0x7E
  69
  70 #ifdef USE_I2C
  71 static void mpu6050FindRevision(gyroDev_t *gyro)
  72 {
  73     // There is a map of revision contained in the android source tree which is quite comprehensive and may help to understand this code
  74     // See https://android.googlesource.com/kernel/msm.git/+/eaf36994a3992b8f918c18e4f7411e8b2320a35f/drivers/misc/mpu6050/mldl_cfg.c
  75
  76     // determine product ID and revision
  77     uint8_t readBuffer[6];
  78     bool ack = busReadRegisterBuffer(&gyro->bus, MPU_RA_XA_OFFS_H, readBuffer, 6);
  79     uint8_t revision = ((readBuffer[5] & 0x01) << 2) | ((readBuffer[3] & 0x01) << 1) | (readBuffer[1] & 0x01);
  80     if (ack && revision) {
  81         // Congrats, these parts are better
  82         if (revision == 1) {
  83             gyro->mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
  84         } else if (revision == 2) {
  85             gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
  86         } else if ((revision == 3) || (revision == 7)) {
  87             gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
  88         } else {
  89             failureMode(FAILURE_ACC_INCOMPATIBLE);
  90         }
  91     } else {
  92         uint8_t productId;
  93         ack = busReadRegisterBuffer(&gyro->bus, MPU_RA_PRODUCT_ID, &productId, 1);
  94         revision = productId & 0x0F;
  95         if (!ack || revision == 0) {
  96             failureMode(FAILURE_ACC_INCOMPATIBLE);
  97         } else if (revision == 4) {
  98             gyro->mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
  99         } else {
 100             gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
 101         }
 102     }
 103 }
 104 #endif
 105
 106 /*
 107  * Gyro interrupt service routine
 108  */
 109 #if defined(MPU_INT_EXTI)
 110 static void mpuIntExtiHandler(extiCallbackRec_t *cb)
 111 {
 112 #ifdef DEBUG_MPU_DATA_READY_INTERRUPT
 113     static uint32_t lastCalledAtUs = 0;
 114     const uint32_t nowUs = micros();
 115     debug[0] = (uint16_t)(nowUs - lastCalledAtUs);
 116     lastCalledAtUs = nowUs;
 117 #endif
 118     gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
 119     gyro->dataReady = true;
 120 #ifdef DEBUG_MPU_DATA_READY_INTERRUPT
 121     const uint32_t now2Us = micros();
 122     debug[1] = (uint16_t)(now2Us - nowUs);
 123 #endif
 124 }
 125
 126 static void mpuIntExtiInit(gyroDev_t *gyro)
 127 {
 128     if (gyro->mpuIntExtiTag == IO_TAG_NONE) {
 129         return;
 130     }
 131
 132     const IO_t mpuIntIO = IOGetByTag(gyro->mpuIntExtiTag);
 133
 134 #ifdef ENSURE_MPU_DATA_READY_IS_LOW
 135     uint8_t status = IORead(mpuIntIO);
 136     if (status) {
 137         return;
 138     }
 139 #endif
 140
 141 #if defined (STM32F7)
 142     IOInit(mpuIntIO, OWNER_MPU_EXTI, 0);
 143     EXTIHandlerInit(&gyro->exti, mpuIntExtiHandler);
 144     EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IO_CONFIG(GPIO_MODE_INPUT,0,GPIO_NOPULL));   // TODO - maybe pullup / pulldown ?
 145 #else
 146     IOInit(mpuIntIO, OWNER_MPU_EXTI, 0);
 147     IOConfigGPIO(mpuIntIO, IOCFG_IN_FLOATING);   // TODO - maybe pullup / pulldown ?
 148
 149     EXTIHandlerInit(&gyro->exti, mpuIntExtiHandler);
 150     EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, EXTI_Trigger_Rising);
 151 #endif
 152     EXTIEnable(mpuIntIO, true);
 153 }
 154 #endif // MPU_INT_EXTI
 155
 156 bool mpuAccRead(accDev_t *acc)
 157 {
 158     uint8_t data[6];
 159
 160     const bool ack = busReadRegisterBuffer(&acc->bus, MPU_RA_ACCEL_XOUT_H, data, 6);
 161     if (!ack) {
 162         return false;
 163     }
 164
 165     acc->ADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
 166     acc->ADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
 167     acc->ADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
 168
 169     return true;
 170 }
 171
 172 bool mpuGyroRead(gyroDev_t *gyro)
 173 {
 174     uint8_t data[6];
 175
 176     const bool ack = busReadRegisterBuffer(&gyro->bus, MPU_RA_GYRO_XOUT_H, data, 6);
 177     if (!ack) {
 178         return false;
 179     }
 180
 181     gyro->gyroADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
 182     gyro->gyroADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
 183     gyro->gyroADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
 184
 185     return true;
 186 }
 187
 188 bool mpuGyroReadSPI(gyroDev_t *gyro)
 189 {
 190     static const uint8_t dataToSend[7] = {MPU_RA_GYRO_XOUT_H | 0x80, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
 191     uint8_t data[7];
 192
 193     const bool ack = spiBusTransfer(&gyro->bus, dataToSend, data, 7);
 194     if (!ack) {
 195         return false;
 196     }
 197
 198     gyro->gyroADCRaw[X] = (int16_t)((data[1] << 8) | data[2]);
 199     gyro->gyroADCRaw[Y] = (int16_t)((data[3] << 8) | data[4]);
 200     gyro->gyroADCRaw[Z] = (int16_t)((data[5] << 8) | data[6]);
 201
 202     return true;
 203 }
 204
 205 #ifdef USE_SPI
 206 static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
 207 {
 208     UNUSED(gyro); // since there are FCs which have gyro on I2C but other devices on SPI
 209
 210     uint8_t sensor = MPU_NONE;
 211     UNUSED(sensor);
 212
 213     // note, when USE_DUAL_GYRO is enabled the gyro->bus must already be initialised.
 214
 215 #ifdef USE_GYRO_SPI_MPU6000
 216 #ifndef USE_DUAL_GYRO
 217     spiBusSetInstance(&gyro->bus, MPU6000_SPI_INSTANCE);
 218 #endif
 219 #ifdef MPU6000_CS_PIN
 220     gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU6000_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
 221 #endif
 222     sensor = mpu6000SpiDetect(&gyro->bus);
 223     if (sensor != MPU_NONE) {
 224         gyro->mpuDetectionResult.sensor = sensor;
 225         return true;
 226     }
 227 #endif
 228
 229 #ifdef USE_GYRO_SPI_MPU6500
 230 #ifndef USE_DUAL_GYRO
 231     spiBusSetInstance(&gyro->bus, MPU6500_SPI_INSTANCE);
 232 #endif
 233 #ifdef MPU6500_CS_PIN
 234     gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU6500_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
 235 #endif
 236     sensor = mpu6500SpiDetect(&gyro->bus);
 237     // some targets using MPU_9250_SPI, ICM_20608_SPI or ICM_20602_SPI state sensor is MPU_65xx_SPI
 238     if (sensor != MPU_NONE) {
 239         gyro->mpuDetectionResult.sensor = sensor;
 240         return true;
 241     }
 242 #endif
 243
 244 #ifdef  USE_GYRO_SPI_MPU9250
 245 #ifndef USE_DUAL_GYRO
 246     spiBusSetInstance(&gyro->bus, MPU9250_SPI_INSTANCE);
 247 #endif
 248 #ifdef MPU9250_CS_PIN
 249     gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU9250_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
 250 #endif
 251     sensor = mpu9250SpiDetect(&gyro->bus);
 252     if (sensor != MPU_NONE) {
 253         gyro->mpuDetectionResult.sensor = sensor;
 254         gyro->mpuConfiguration.resetFn = mpu9250SpiResetGyro;
 255         return true;
 256     }
 257 #endif
 258
 259 #ifdef USE_GYRO_SPI_ICM20649
 260 #ifdef ICM20649_SPI_INSTANCE
 261     spiBusSetInstance(&gyro->bus, ICM20649_SPI_INSTANCE);
 262 #endif
 263 #ifdef ICM20649_CS_PIN
 264     gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM20649_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
 265 #endif
 266     sensor = icm20649SpiDetect(&gyro->bus);
 267     if (sensor != MPU_NONE) {
 268         gyro->mpuDetectionResult.sensor = sensor;
 269         return true;
 270     }
 271 #endif
 272
 273 #ifdef USE_GYRO_SPI_ICM20689
 274 #ifndef USE_DUAL_GYRO
 275     spiBusSetInstance(&gyro->bus, ICM20689_SPI_INSTANCE);
 276 #endif
 277 #ifdef ICM20689_CS_PIN
 278     gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM20689_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
 279 #endif
 280     sensor = icm20689SpiDetect(&gyro->bus);
 281     // icm20689SpiDetect detects ICM20602 and ICM20689
 282     if (sensor != MPU_NONE) {
 283         gyro->mpuDetectionResult.sensor = sensor;
 284         return true;
 285     }
 286 #endif
 287
 288 #ifdef USE_ACCGYRO_BMI160
 289 #ifndef USE_DUAL_GYRO
 290     spiBusSetInstance(&gyro->bus, BMI160_SPI_INSTANCE);
 291 #endif
 292 #ifdef BMI160_CS_PIN
 293     gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(BMI160_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
 294 #endif
 295     sensor = bmi160Detect(&gyro->bus);
 296     if (sensor != MPU_NONE) {
 297         gyro->mpuDetectionResult.sensor = sensor;
 298         return true;
 299     }
 300 #endif
 301
 302     return false;
 303 }
 304 #endif
 305
 306 void mpuDetect(gyroDev_t *gyro)
 307 {
 308     // MPU datasheet specifies 30ms.
 309     delay(35);
 310
 311 #ifdef USE_I2C
 312     if (gyro->bus.bustype == BUSTYPE_NONE) {
 313         // if no bustype is selected try I2C first.
 314         gyro->bus.bustype = BUSTYPE_I2C;
 315     }
 316
 317     if (gyro->bus.bustype == BUSTYPE_I2C) {
 318         gyro->bus.busdev_u.i2c.device = MPU_I2C_INSTANCE;
 319         gyro->bus.busdev_u.i2c.address = MPU_ADDRESS;
 320
 321         uint8_t sig = 0;
 322         bool ack = busReadRegisterBuffer(&gyro->bus, MPU_RA_WHO_AM_I, &sig, 1);
 323
 324         if (ack) {
 325             // If an MPU3050 is connected sig will contain 0.
 326             uint8_t inquiryResult;
 327             ack = busReadRegisterBuffer(&gyro->bus, MPU_RA_WHO_AM_I_LEGACY, &inquiryResult, 1);
 328             inquiryResult &= MPU_INQUIRY_MASK;
 329             if (ack && inquiryResult == MPUx0x0_WHO_AM_I_CONST) {
 330                 gyro->mpuDetectionResult.sensor = MPU_3050;
 331                 return;
 332             }
 333
 334             sig &= MPU_INQUIRY_MASK;
 335             if (sig == MPUx0x0_WHO_AM_I_CONST) {
 336                 gyro->mpuDetectionResult.sensor = MPU_60x0;
 337                 mpu6050FindRevision(gyro);
 338             } else if (sig == MPU6500_WHO_AM_I_CONST) {
 339                 gyro->mpuDetectionResult.sensor = MPU_65xx_I2C;
 340             }
 341             return;
 342         }
 343     }
 344 #endif
 345
 346 #ifdef USE_SPI
 347     gyro->bus.bustype = BUSTYPE_SPI;
 348     detectSPISensorsAndUpdateDetectionResult(gyro);
 349 #endif
 350 }
 351
 352 void mpuGyroInit(gyroDev_t *gyro)
 353 {
 354 #ifdef MPU_INT_EXTI
 355     mpuIntExtiInit(gyro);
 356 #else
 357     UNUSED(gyro);
 358 #endif
 359 }
 360
 361 uint8_t mpuGyroDLPF(gyroDev_t *gyro)
 362 {
 363     uint8_t ret;
 364     if (gyro->gyroRateKHz > GYRO_RATE_8_kHz) {
 365         ret = 0;  // If gyro is in 32KHz mode then the DLPF bits aren't used - set to 0
 366     } else {
 367         switch (gyro->hardware_lpf) {
 368             case GYRO_HARDWARE_LPF_NORMAL:
 369                 ret = 0;
 370                 break;
 371             case GYRO_HARDWARE_LPF_EXPERIMENTAL:
 372                 ret = 7;
 373                 break;
 374             case GYRO_HARDWARE_LPF_1KHZ_SAMPLE:
 375                 ret = 1;
 376                 break;
 377             default:
 378                 ret = 0;
 379                 break;
 380         }
 381     }
 382     return ret;
 383 }
 384
 385 uint8_t mpuGyroFCHOICE(gyroDev_t *gyro)
 386 {
 387     if (gyro->gyroRateKHz > GYRO_RATE_8_kHz) {
 388         if (gyro->hardware_32khz_lpf == GYRO_32KHZ_HARDWARE_LPF_EXPERIMENTAL) {
 389             return FCB_8800_32;
 390         } else {
 391             return FCB_3600_32;
 392         }
 393     } else {
 394         return FCB_DISABLED;  // Not in 32KHz mode, set FCHOICE to select 8KHz sampling
 395     }
 396 }
 397
 398 #ifdef USE_GYRO_REGISTER_DUMP
 399 uint8_t mpuGyroReadRegister(const busDevice_t *bus, uint8_t reg)
 400 {
 401     uint8_t data;
 402     const bool ack = busReadRegisterBuffer(bus, reg, &data, 1);
 403     if (ack) {
 404         return data;
 405     } else {
 406         return 0;
 407     }
 408
 409 }
 410 #endif