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_mpu.h"
  60
  61 #include "pg/pg.h"
  62 #include "pg/gyrodev.h"
  63
  64 #ifndef MPU_ADDRESS
  65 #define MPU_ADDRESS             0x68
  66 #endif
  67
  68 #define MPU_INQUIRY_MASK   0x7E
  69
  70 // Need to see at least this many interrupts during initialisation to confirm EXTI connectivity
  71 #define GYRO_EXTI_DETECT_THRESHOLD 1000
  72
  73 #ifdef USE_I2C_GYRO
  74 static void mpu6050FindRevision(gyroDev_t *gyro)
  75 {
  76     // There is a map of revision contained in the android source tree which is quite comprehensive and may help to understand this code
  77     // See https://android.googlesource.com/kernel/msm.git/+/eaf36994a3992b8f918c18e4f7411e8b2320a35f/drivers/misc/mpu6050/mldl_cfg.c
  78
  79     // determine product ID and revision
  80     uint8_t readBuffer[6];
  81     bool ack = busReadRegisterBuffer(&gyro->dev, MPU_RA_XA_OFFS_H, readBuffer, 6);
  82     uint8_t revision = ((readBuffer[5] & 0x01) << 2) | ((readBuffer[3] & 0x01) << 1) | (readBuffer[1] & 0x01);
  83     if (ack && revision) {
  84         // Congrats, these parts are better
  85         if (revision == 1) {
  86             gyro->mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
  87         } else if (revision == 2) {
  88             gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
  89         } else if ((revision == 3) || (revision == 7)) {
  90             gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
  91         } else {
  92             failureMode(FAILURE_ACC_INCOMPATIBLE);
  93         }
  94     } else {
  95         uint8_t productId;
  96         ack = busReadRegisterBuffer(&gyro->dev, MPU_RA_PRODUCT_ID, &productId, 1);
  97         revision = productId & 0x0F;
  98         if (!ack || revision == 0) {
  99             failureMode(FAILURE_ACC_INCOMPATIBLE);
 100         } else if (revision == 4) {
 101             gyro->mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
 102         } else {
 103             gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
 104         }
 105     }
 106 }
 107 #endif
 108
 109 /*
 110  * Gyro interrupt service routine
 111  */
 112 #ifdef USE_GYRO_EXTI
 113 #ifdef USE_SPI_GYRO
 114 // Called in ISR context
 115 // Gyro read has just completed
 116 busStatus_e mpuIntcallback(uint32_t arg)
 117 {
 118     gyroDev_t *gyro = (gyroDev_t *)arg;
 119     int32_t gyroDmaDuration = cmpTimeCycles(getCycleCounter(), gyro->gyroLastEXTI);
 120
 121     if (gyroDmaDuration > gyro->gyroDmaMaxDuration) {
 122         gyro->gyroDmaMaxDuration = gyroDmaDuration;
 123     }
 124
 125     gyro->dataReady = true;
 126
 127     return BUS_READY;
 128 }
 129
 130 static void mpuIntExtiHandler(extiCallbackRec_t *cb)
 131 {
 132     gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
 133
 134     // Ideally we'd use a time to capture such information, but unfortunately the port used for EXTI interrupt does
 135     // not have an associated timer
 136     uint32_t nowCycles = getCycleCounter();
 137     int32_t gyroLastPeriod = cmpTimeCycles(nowCycles, gyro->gyroLastEXTI);
 138     // This detects the short (~79us) EXTI interval of an MPU6xxx gyro
 139     if ((gyro->gyroShortPeriod == 0) || (gyroLastPeriod < gyro->gyroShortPeriod)) {
 140         gyro->gyroSyncEXTI = gyro->gyroLastEXTI + gyro->gyroDmaMaxDuration;
 141     }
 142     gyro->gyroLastEXTI = nowCycles;
 143
 144     if (gyro->gyroModeSPI == GYRO_EXTI_INT_DMA) {
 145         spiSequence(&gyro->dev, gyro->segments);
 146     }
 147
 148     gyro->detectedEXTI++;
 149 }
 150 #else
 151 static void mpuIntExtiHandler(extiCallbackRec_t *cb)
 152 {
 153     gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
 154     gyro->dataReady = true;
 155 }
 156 #endif
 157
 158 static void mpuIntExtiInit(gyroDev_t *gyro)
 159 {
 160     if (gyro->mpuIntExtiTag == IO_TAG_NONE) {
 161         return;
 162     }
 163
 164     const IO_t mpuIntIO = IOGetByTag(gyro->mpuIntExtiTag);
 165
 166 #ifdef ENSURE_MPU_DATA_READY_IS_LOW
 167     uint8_t status = IORead(mpuIntIO);
 168     if (status) {
 169         return;
 170     }
 171 #endif
 172
 173     IOInit(mpuIntIO, OWNER_GYRO_EXTI, 0);
 174     EXTIHandlerInit(&gyro->exti, mpuIntExtiHandler);
 175     EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING, BETAFLIGHT_EXTI_TRIGGER_RISING);
 176     EXTIEnable(mpuIntIO, true);
 177 }
 178 #endif // USE_GYRO_EXTI
 179
 180 bool mpuAccRead(accDev_t *acc)
 181 {
 182     uint8_t data[6];
 183
 184     const bool ack = busReadRegisterBuffer(&acc->gyro->dev, acc->gyro->accDataReg, data, 6);
 185     if (!ack) {
 186         return false;
 187     }
 188
 189     acc->ADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
 190     acc->ADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
 191     acc->ADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
 192
 193     return true;
 194 }
 195
 196 bool mpuGyroRead(gyroDev_t *gyro)
 197 {
 198     uint8_t data[6];
 199
 200     const bool ack = busReadRegisterBuffer(&gyro->dev, gyro->gyroDataReg, data, 6);
 201     if (!ack) {
 202         return false;
 203     }
 204
 205     gyro->gyroADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
 206     gyro->gyroADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
 207     gyro->gyroADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
 208
 209     return true;
 210 }
 211
 212
 213 #ifdef USE_SPI_GYRO
 214 bool mpuAccReadSPI(accDev_t *acc)
 215 {
 216     switch (acc->gyro->gyroModeSPI) {
 217     case GYRO_EXTI_INT:
 218     case GYRO_EXTI_NO_INT:
 219     {
 220         acc->gyro->dev.txBuf[0] = MPU_RA_ACCEL_XOUT_H | 0x80;
 221
 222         busSegment_t segments[] = {
 223                 {.u.buffers = {NULL, NULL}, 7, true, NULL},
 224                 {.u.buffers = {NULL, NULL}, 0, true, NULL},
 225         };
 226         segments[0].u.buffers.txData = acc->gyro->dev.txBuf;
 227         segments[0].u.buffers.rxData = &acc->gyro->dev.rxBuf[1];
 228
 229         spiSequence(&acc->gyro->dev, &segments[0]);
 230
 231         // Wait for completion
 232         spiWait(&acc->gyro->dev);
 233
 234         // Fall through
 235         FALLTHROUGH;
 236     }
 237
 238     case GYRO_EXTI_INT_DMA:
 239     {
 240         // If read was triggered in interrupt don't bother waiting. The worst that could happen is that we pick
 241         // up an old value.
 242
 243         // This data was read from the gyro, which is the same SPI device as the acc
 244         uint16_t *accData = (uint16_t *)acc->gyro->dev.rxBuf;
 245         acc->ADCRaw[X] = __builtin_bswap16(accData[1]);
 246         acc->ADCRaw[Y] = __builtin_bswap16(accData[2]);
 247         acc->ADCRaw[Z] = __builtin_bswap16(accData[3]);
 248         break;
 249     }
 250
 251     case GYRO_EXTI_INIT:
 252     default:
 253         break;
 254     }
 255
 256     return true;
 257 }
 258
 259 bool mpuGyroReadSPI(gyroDev_t *gyro)
 260 {
 261     uint16_t *gyroData = (uint16_t *)gyro->dev.rxBuf;
 262     switch (gyro->gyroModeSPI) {
 263     case GYRO_EXTI_INIT:
 264     {
 265         // Initialise the tx buffer to all 0xff
 266         memset(gyro->dev.txBuf, 0xff, 16);
 267 #ifdef USE_GYRO_EXTI
 268         // Check that minimum number of interrupts have been detected
 269
 270         // We need some offset from the gyro interrupts to ensure sampling after the interrupt
 271         gyro->gyroDmaMaxDuration = 5;
 272         if (gyro->detectedEXTI > GYRO_EXTI_DETECT_THRESHOLD) {
 273             if (spiUseDMA(&gyro->dev)) {
 274                 gyro->dev.callbackArg = (uint32_t)gyro;
 275                 gyro->dev.txBuf[0] = gyro->accDataReg | 0x80;
 276                 gyro->segments[0].len = gyro->gyroDataReg - gyro->accDataReg + 7;
 277                 gyro->segments[0].callback = mpuIntcallback;
 278                 gyro->segments[0].u.buffers.txData = gyro->dev.txBuf;
 279                 gyro->segments[0].u.buffers.rxData = &gyro->dev.rxBuf[1];
 280                 gyro->segments[0].negateCS = true;
 281                 gyro->gyroModeSPI = GYRO_EXTI_INT_DMA;
 282             } else {
 283                 // Interrupts are present, but no DMA
 284                 gyro->gyroModeSPI = GYRO_EXTI_INT;
 285             }
 286         } else
 287 #endif
 288         {
 289             gyro->gyroModeSPI = GYRO_EXTI_NO_INT;
 290         }
 291         break;
 292     }
 293
 294     case GYRO_EXTI_INT:
 295     case GYRO_EXTI_NO_INT:
 296     {
 297         gyro->dev.txBuf[0] = MPU_RA_GYRO_XOUT_H | 0x80;
 298
 299         busSegment_t segments[] = {
 300                 {.u.buffers = {NULL, NULL}, 7, true, NULL},
 301                 {.u.buffers = {NULL, NULL}, 0, true, NULL},
 302         };
 303         segments[0].u.buffers.txData = gyro->dev.txBuf;
 304         segments[0].u.buffers.rxData = &gyro->dev.rxBuf[1];
 305
 306         spiSequence(&gyro->dev, &segments[0]);
 307
 308         // Wait for completion
 309         spiWait(&gyro->dev);
 310
 311         gyro->gyroADCRaw[X] = __builtin_bswap16(gyroData[1]);
 312         gyro->gyroADCRaw[Y] = __builtin_bswap16(gyroData[2]);
 313         gyro->gyroADCRaw[Z] = __builtin_bswap16(gyroData[3]);
 314         break;
 315     }
 316
 317     case GYRO_EXTI_INT_DMA:
 318     {
 319         // Acc and gyro data may not be continuous (MPU6xxx has temperature in between)
 320         const uint8_t gyroDataIndex = ((gyro->gyroDataReg - gyro->accDataReg) >> 1) + 1;
 321
 322         // If read was triggered in interrupt don't bother waiting. The worst that could happen is that we pick
 323         // up an old value.
 324         gyro->gyroADCRaw[X] = __builtin_bswap16(gyroData[gyroDataIndex]);
 325         gyro->gyroADCRaw[Y] = __builtin_bswap16(gyroData[gyroDataIndex + 1]);
 326         gyro->gyroADCRaw[Z] = __builtin_bswap16(gyroData[gyroDataIndex + 2]);
 327         break;
 328     }
 329
 330     default:
 331         break;
 332     }
 333
 334     return true;
 335 }
 336
 337 typedef uint8_t (*gyroSpiDetectFn_t)(const extDevice_t *dev);
 338
 339 static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
 340 #ifdef USE_GYRO_SPI_MPU6000
 341     mpu6000SpiDetect,
 342 #endif
 343 #ifdef USE_GYRO_SPI_MPU6500
 344     mpu6500SpiDetect,   // some targets using MPU_9250_SPI, ICM_20608_SPI or ICM_20602_SPI state sensor is MPU_65xx_SPI
 345 #endif
 346 #ifdef  USE_GYRO_SPI_MPU9250
 347     mpu9250SpiDetect,
 348 #endif
 349 #ifdef USE_GYRO_SPI_ICM20689
 350     icm20689SpiDetect,  // icm20689SpiDetect detects ICM20602 and ICM20689
 351 #endif
 352 #ifdef USE_ACCGYRO_LSM6DSO
 353     lsm6dsoDetect,
 354 #endif
 355 #ifdef USE_ACCGYRO_BMI160
 356     bmi160Detect,
 357 #endif
 358 #ifdef USE_ACCGYRO_BMI270
 359     bmi270Detect,
 360 #endif
 361 #if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
 362     icm426xxSpiDetect,
 363 #endif
 364 #ifdef USE_GYRO_SPI_ICM20649
 365     icm20649SpiDetect,
 366 #endif
 367 #ifdef USE_GYRO_L3GD20
 368     l3gd20Detect,
 369 #endif
 370     NULL // Avoid an empty array
 371 };
 372
 373 static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro, const gyroDeviceConfig_t *config)
 374 {
 375     if (!config->csnTag || !spiSetBusInstance(&gyro->dev, config->spiBus)) {
 376         return false;
 377     }
 378
 379     gyro->dev.busType_u.spi.csnPin = IOGetByTag(config->csnTag);
 380
 381     IOInit(gyro->dev.busType_u.spi.csnPin, OWNER_GYRO_CS, RESOURCE_INDEX(config->index));
 382     IOConfigGPIO(gyro->dev.busType_u.spi.csnPin, SPI_IO_CS_CFG);
 383     IOHi(gyro->dev.busType_u.spi.csnPin); // Ensure device is disabled, important when two devices are on the same bus.
 384
 385     uint8_t sensor = MPU_NONE;
 386
 387     // It is hard to use hardware to optimize the detection loop here,
 388     // as hardware type and detection function name doesn't match.
 389     // May need a bitmap of hardware to detection function to do it right?
 390
 391     for (size_t index = 0 ; gyroSpiDetectFnTable[index] ; index++) {
 392         sensor = (gyroSpiDetectFnTable[index])(&gyro->dev);
 393         if (sensor != MPU_NONE) {
 394             gyro->mpuDetectionResult.sensor = sensor;
 395             busDeviceRegister(&gyro->dev);
 396             return true;
 397         }
 398     }
 399
 400     // Detection failed, disable CS pin again
 401
 402     spiPreinitByTag(config->csnTag);
 403
 404     return false;
 405 }
 406 #endif
 407
 408 void mpuPreInit(const struct gyroDeviceConfig_s *config)
 409 {
 410 #ifdef USE_SPI_GYRO
 411     spiPreinitRegister(config->csnTag, IOCFG_IPU, 1);
 412 #else
 413     UNUSED(config);
 414 #endif
 415 }
 416
 417 bool mpuDetect(gyroDev_t *gyro, const gyroDeviceConfig_t *config)
 418 {
 419     static busDevice_t bus;
 420     gyro->dev.bus = &bus;
 421
 422     // MPU datasheet specifies 30ms.
 423     delay(35);
 424
 425     if (config->busType == BUS_TYPE_NONE) {
 426         return false;
 427     }
 428
 429     if (config->busType == BUS_TYPE_GYRO_AUTO) {
 430         gyro->dev.bus->busType = BUS_TYPE_I2C;
 431     } else {
 432         gyro->dev.bus->busType = config->busType;
 433     }
 434
 435 #ifdef USE_I2C_GYRO
 436     if (gyro->dev.bus->busType == BUS_TYPE_I2C) {
 437         gyro->dev.bus->busType_u.i2c.device = I2C_CFG_TO_DEV(config->i2cBus);
 438         gyro->dev.busType_u.i2c.address = config->i2cAddress ? config->i2cAddress : MPU_ADDRESS;
 439
 440         uint8_t sig = 0;
 441         bool ack = busReadRegisterBuffer(&gyro->dev, MPU_RA_WHO_AM_I, &sig, 1);
 442
 443         if (ack) {
 444             busDeviceRegister(&gyro->dev);
 445             // If an MPU3050 is connected sig will contain 0.
 446             uint8_t inquiryResult;
 447             ack = busReadRegisterBuffer(&gyro->dev, MPU_RA_WHO_AM_I_LEGACY, &inquiryResult, 1);
 448             inquiryResult &= MPU_INQUIRY_MASK;
 449             if (ack && inquiryResult == MPUx0x0_WHO_AM_I_CONST) {
 450                 gyro->mpuDetectionResult.sensor = MPU_3050;
 451                 return true;
 452             }
 453
 454             sig &= MPU_INQUIRY_MASK;
 455             if (sig == MPUx0x0_WHO_AM_I_CONST) {
 456                 gyro->mpuDetectionResult.sensor = MPU_60x0;
 457                 mpu6050FindRevision(gyro);
 458             } else if (sig == MPU6500_WHO_AM_I_CONST) {
 459                 gyro->mpuDetectionResult.sensor = MPU_65xx_I2C;
 460             }
 461             return true;
 462         }
 463     }
 464 #endif
 465
 466 #ifdef USE_SPI_GYRO
 467     gyro->dev.bus->busType = BUS_TYPE_SPI;
 468
 469     return detectSPISensorsAndUpdateDetectionResult(gyro, config);
 470 #else
 471     return false;
 472 #endif
 473 }
 474
 475 void mpuGyroInit(gyroDev_t *gyro)
 476 {
 477     gyro->accDataReg = MPU_RA_ACCEL_XOUT_H;
 478     gyro->gyroDataReg = MPU_RA_GYRO_XOUT_H;
 479 #ifdef USE_GYRO_EXTI
 480     mpuIntExtiInit(gyro);
 481 #else
 482     UNUSED(gyro);
 483 #endif
 484 }
 485
 486 uint8_t mpuGyroDLPF(gyroDev_t *gyro)
 487 {
 488     uint8_t ret = 0;
 489
 490     // If gyro is in 32KHz mode then the DLPF bits aren't used
 491     if (gyro->gyroRateKHz <= GYRO_RATE_8_kHz) {
 492         switch (gyro->hardware_lpf) {
 493 #ifdef USE_GYRO_DLPF_EXPERIMENTAL
 494             case GYRO_HARDWARE_LPF_EXPERIMENTAL:
 495                 // experimental mode not supported for MPU60x0 family
 496                 if ((gyro->gyroHardware != GYRO_MPU6050) && (gyro->gyroHardware != GYRO_MPU6000)) {
 497                     ret = 7;
 498                 } else {
 499                     ret = 0;
 500                 }
 501                 break;
 502 #endif
 503
 504             case GYRO_HARDWARE_LPF_NORMAL:
 505             default:
 506                 ret = 0;
 507                 break;
 508         }
 509     }
 510     return ret;
 511 }
 512
 513 #ifdef USE_GYRO_REGISTER_DUMP
 514 uint8_t mpuGyroReadRegister(const extDevice_t *dev, uint8_t reg)
 515 {
 516     uint8_t data;
 517     const bool ack = busReadRegisterBuffer(dev, reg, &data, 1);
 518     if (ack) {
 519         return data;
 520     } else {
 521         return 0;
 522     }
 523
 524 }
 525 #endif