src/main/drivers/accgyro/accgyro_mpu3050.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 // NOTE: This gyro is considered obsolete and may be removed in the future.
  22
  23 #include <stdbool.h>
  24 #include <stdint.h>
  25
  26 #include "platform.h"
  27
  28 #include "common/maths.h"
  29 #include "common/utils.h"
  30
  31 #include "drivers/bus_i2c.h"
  32 #include "drivers/exti.h"
  33 #include "drivers/sensor.h"
  34 #include "drivers/system.h"
  35 #include "drivers/time.h"
  36
  37 #include "accgyro.h"
  38 #include "accgyro_mpu.h"
  39 #include "accgyro_mpu3050.h"
  40
  41 // MPU3050, Standard address 0x68
  42 #define MPU3050_ADDRESS         0x68
  43
  44 // Bits
  45 #define MPU3050_FS_SEL_2000DPS  0x18
  46 #define MPU3050_DLPF_10HZ       0x05
  47 #define MPU3050_DLPF_20HZ       0x04
  48 #define MPU3050_DLPF_42HZ       0x03
  49 #define MPU3050_DLPF_98HZ       0x02
  50 #define MPU3050_DLPF_188HZ      0x01
  51 #define MPU3050_DLPF_256HZ      0x00
  52
  53 #define MPU3050_USER_RESET      0x01
  54 #define MPU3050_CLK_SEL_PLL_GX  0x01
  55
  56 static uint8_t mpu3050GetDLPF(uint8_t lpf)
  57 {
  58     uint8_t ret;
  59     if (lpf == GYRO_HARDWARE_LPF_1KHZ_SAMPLE) {
  60         ret = MPU3050_DLPF_188HZ;
  61     } else {
  62         ret = MPU3050_DLPF_256HZ;
  63     }
  64     return ret;
  65 }
  66
  67 static void mpu3050Init(gyroDev_t *gyro)
  68 {
  69     delay(25); // datasheet page 13 says 20ms. other stuff could have been running meanwhile. but we'll be safe
  70
  71     const bool ack = busWriteRegister(&gyro->bus, MPU3050_SMPLRT_DIV, 0);
  72     if (!ack) {
  73         failureMode(FAILURE_ACC_INIT);
  74     }
  75
  76     busWriteRegister(&gyro->bus, MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS | mpu3050GetDLPF(gyro->hardware_lpf));
  77     busWriteRegister(&gyro->bus, MPU3050_INT_CFG, 0);
  78     busWriteRegister(&gyro->bus, MPU3050_USER_CTRL, MPU3050_USER_RESET);
  79     busWriteRegister(&gyro->bus, MPU3050_PWR_MGM, MPU3050_CLK_SEL_PLL_GX);
  80 }
  81
  82 static bool mpu3050GyroRead(gyroDev_t *gyro)
  83 {
  84     uint8_t data[6];
  85
  86     const bool ack = busReadRegisterBuffer(&gyro->bus, MPU3050_GYRO_OUT, data, 6);
  87     if (!ack) {
  88         return false;
  89     }
  90
  91     gyro->gyroADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
  92     gyro->gyroADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
  93     gyro->gyroADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
  94
  95     return true;
  96 }
  97
  98 static bool mpu3050ReadTemperature(gyroDev_t *gyro, int16_t *tempData)
  99 {
 100     uint8_t buf[2];
 101     if (!busReadRegisterBuffer(&gyro->bus, MPU3050_TEMP_OUT, buf, 2)) {
 102         return false;
 103     }
 104
 105     *tempData = 35 + ((int32_t)(buf[0] << 8 | buf[1]) + 13200) / 280;
 106
 107     return true;
 108 }
 109
 110 bool mpu3050Detect(gyroDev_t *gyro)
 111 {
 112     if (gyro->mpuDetectionResult.sensor != MPU_3050) {
 113         return false;
 114     }
 115     gyro->initFn = mpu3050Init;
 116     gyro->readFn = mpu3050GyroRead;
 117     gyro->temperatureFn = mpu3050ReadTemperature;
 118
 119     // 16.4 dps/lsb scalefactor
 120     gyro->scale = 1.0f / 16.4f;
 121
 122     return true;
 123 }