src/main/drivers/accgyro/accgyro_spi_icm426xx.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 /*
  22  * Author: Dominic Clifton
  23  */
  24
  25 #include <stdbool.h>
  26 #include <stdint.h>
  27 #include <stdlib.h>
  28
  29 #include "platform.h"
  30
  31 #if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
  32
  33 #include "common/axis.h"
  34 #include "common/maths.h"
  35 #include "build/debug.h"
  36
  37 #include "drivers/accgyro/accgyro.h"
  38 #include "drivers/accgyro/accgyro_mpu.h"
  39 #include "drivers/accgyro/accgyro_spi_icm426xx.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"
  45
  46 // 24 MHz max SPI frequency
  47 #define ICM426XX_MAX_SPI_CLK_HZ 24000000
  48
  49 // 10 MHz max SPI frequency for intialisation
  50 #define ICM426XX_MAX_SPI_INIT_CLK_HZ 1000000
  51
  52 #define ICM426XX_RA_PWR_MGMT0                       0x4E
  53
  54 #define ICM426XX_PWR_MGMT0_ACCEL_MODE_LN            (3 << 0)
  55 #define ICM426XX_PWR_MGMT0_GYRO_MODE_LN             (3 << 2)
  56 #define ICM426XX_PWR_MGMT0_TEMP_DISABLE_OFF         (0 << 5)
  57 #define ICM426XX_PWR_MGMT0_TEMP_DISABLE_ON          (1 << 5)
  58
  59 #define ICM426XX_RA_GYRO_CONFIG0                    0x4F
  60 #define ICM426XX_RA_ACCEL_CONFIG0                   0x50
  61
  62 #define ICM426XX_RA_GYRO_ACCEL_CONFIG0              0x52
  63
  64 #define ICM426XX_ACCEL_UI_FILT_BW_LOW_LATENCY       (14 << 4)
  65 #define ICM426XX_GYRO_UI_FILT_BW_LOW_LATENCY        (14 << 0)
  66
  67 #define ICM426XX_RA_GYRO_DATA_X1                    0x25
  68 #define ICM426XX_RA_ACCEL_DATA_X1                   0x1F
  69
  70 #define ICM426XX_RA_INT_CONFIG                      0x14
  71 #define ICM426XX_INT1_MODE_PULSED                   (0 << 2)
  72 #define ICM426XX_INT1_MODE_LATCHED                  (1 << 2)
  73 #define ICM426XX_INT1_DRIVE_CIRCUIT_OD              (0 << 1)
  74 #define ICM426XX_INT1_DRIVE_CIRCUIT_PP              (1 << 1)
  75 #define ICM426XX_INT1_POLARITY_ACTIVE_LOW           (0 << 0)
  76 #define ICM426XX_INT1_POLARITY_ACTIVE_HIGH          (1 << 0)
  77
  78 #define ICM426XX_RA_INT_CONFIG0                     0x63
  79 #define ICM426XX_UI_DRDY_INT_CLEAR_ON_SBR           ((0 << 5) || (0 << 4))
  80 #define ICM426XX_UI_DRDY_INT_CLEAR_ON_SBR_DUPLICATE ((0 << 5) || (0 << 4)) // duplicate settings in datasheet, Rev 1.2.
  81 #define ICM426XX_UI_DRDY_INT_CLEAR_ON_F1BR          ((1 << 5) || (0 << 4))
  82 #define ICM426XX_UI_DRDY_INT_CLEAR_ON_SBR_AND_F1BR  ((1 << 5) || (1 << 4))
  83
  84 #define ICM426XX_RA_INT_CONFIG1                     0x64
  85 #define ICM426XX_INT_ASYNC_RESET_BIT                4
  86 #define ICM426XX_INT_TDEASSERT_DISABLE_BIT          5
  87 #define ICM426XX_INT_TDEASSERT_ENABLED              (0 << ICM426XX_INT_TDEASSERT_DISABLE_BIT)
  88 #define ICM426XX_INT_TDEASSERT_DISABLED             (1 << ICM426XX_INT_TDEASSERT_DISABLE_BIT)
  89 #define ICM426XX_INT_TPULSE_DURATION_BIT            6
  90 #define ICM426XX_INT_TPULSE_DURATION_100            (0 << ICM426XX_INT_TPULSE_DURATION_BIT)
  91 #define ICM426XX_INT_TPULSE_DURATION_8              (1 << ICM426XX_INT_TPULSE_DURATION_BIT)
  92
  93
  94 #define ICM426XX_RA_INT_SOURCE0                     0x65
  95 #define ICM426XX_UI_DRDY_INT1_EN_DISABLED           (0 << 3)
  96 #define ICM426XX_UI_DRDY_INT1_EN_ENABLED            (1 << 3)
  97
  98 static void icm426xxSpiInit(const extDevice_t *dev)
  99 {
 100     static bool hardwareInitialised = false;
 101
 102     if (hardwareInitialised) {
 103         return;
 104     }
 105
 106
 107     spiSetClkDivisor(dev, spiCalculateDivider(ICM426XX_MAX_SPI_CLK_HZ));
 108
 109     hardwareInitialised = true;
 110 }
 111
 112 uint8_t icm426xxSpiDetect(const extDevice_t *dev)
 113 {
 114     icm426xxSpiInit(dev);
 115
 116     spiSetClkDivisor(dev, spiCalculateDivider(ICM426XX_MAX_SPI_INIT_CLK_HZ));
 117
 118     spiWriteReg(dev, ICM426XX_RA_PWR_MGMT0, 0x00);
 119
 120     uint8_t icmDetected = MPU_NONE;
 121     uint8_t attemptsRemaining = 20;
 122     do {
 123         delay(150);
 124         const uint8_t whoAmI = spiReadRegMsk(dev, MPU_RA_WHO_AM_I);
 125         switch (whoAmI) {
 126         case ICM42605_WHO_AM_I_CONST:
 127             icmDetected = ICM_42605_SPI;
 128             break;
 129         case ICM42688P_WHO_AM_I_CONST:
 130             icmDetected = ICM_42688P_SPI;
 131             break;
 132         default:
 133             icmDetected = MPU_NONE;
 134             break;
 135         }
 136         if (icmDetected != MPU_NONE) {
 137             break;
 138         }
 139         if (!attemptsRemaining) {
 140             return MPU_NONE;
 141         }
 142     } while (attemptsRemaining--);
 143
 144     spiSetClkDivisor(dev, spiCalculateDivider(ICM426XX_MAX_SPI_CLK_HZ));
 145
 146     return icmDetected;
 147 }
 148
 149 void icm426xxAccInit(accDev_t *acc)
 150 {
 151     acc->acc_1G = 512 * 4;
 152 }
 153
 154 bool icm426xxSpiAccDetect(accDev_t *acc)
 155 {
 156     switch (acc->mpuDetectionResult.sensor) {
 157     case ICM_42605_SPI:
 158         break;
 159     case ICM_42688P_SPI:
 160         break;
 161     default:
 162         return false;
 163     }
 164
 165     acc->initFn = icm426xxAccInit;
 166     acc->readFn = mpuAccReadSPI;
 167
 168     return true;
 169 }
 170
 171 typedef struct odrEntry_s {
 172     uint8_t khz;
 173     uint8_t odr; // See GYRO_ODR in datasheet.
 174 } odrEntry_t;
 175
 176 static odrEntry_t icm426xxPkhzToSupportedODRMap[] = {
 177     { 8, 3 },
 178     { 4, 4 },
 179     { 2, 5 },
 180     { 1, 6 },
 181 };
 182
 183 void icm426xxGyroInit(gyroDev_t *gyro)
 184 {
 185     mpuGyroInit(gyro);
 186     gyro->accDataReg = ICM426XX_RA_ACCEL_DATA_X1;
 187     gyro->gyroDataReg = ICM426XX_RA_GYRO_DATA_X1;
 188
 189     spiSetClkDivisor(&gyro->dev, spiCalculateDivider(ICM426XX_MAX_SPI_INIT_CLK_HZ));
 190
 191     spiWriteReg(&gyro->dev, ICM426XX_RA_PWR_MGMT0, ICM426XX_PWR_MGMT0_TEMP_DISABLE_OFF | ICM426XX_PWR_MGMT0_ACCEL_MODE_LN | ICM426XX_PWR_MGMT0_GYRO_MODE_LN);
 192     delay(15);
 193
 194     uint8_t outputDataRate = 0;
 195     bool supportedODRFound = false;
 196
 197     if (gyro->gyroRateKHz) {
 198         uint8_t gyroSyncDenominator = gyro->mpuDividerDrops + 1; // rebuild it in here, see gyro_sync.c
 199         uint8_t desiredODRKhz = 8 / gyroSyncDenominator;
 200         for (uint32_t i = 0; i < ARRAYLEN(icm426xxPkhzToSupportedODRMap); i++) {
 201             if (icm426xxPkhzToSupportedODRMap[i].khz == desiredODRKhz) {
 202                 outputDataRate = icm426xxPkhzToSupportedODRMap[i].odr;
 203                 supportedODRFound = true;
 204                 break;
 205             }
 206         }
 207     }
 208
 209     if (!supportedODRFound) {
 210         outputDataRate = 6;
 211         gyro->gyroRateKHz = GYRO_RATE_1_kHz;
 212     }
 213
 214     STATIC_ASSERT(INV_FSR_2000DPS == 3, "INV_FSR_2000DPS must be 3 to generate correct value");
 215     spiWriteReg(&gyro->dev, ICM426XX_RA_GYRO_CONFIG0, (3 - INV_FSR_2000DPS) << 5 | (outputDataRate & 0x0F));
 216     delay(15);
 217
 218     STATIC_ASSERT(INV_FSR_16G == 3, "INV_FSR_16G must be 3 to generate correct value");
 219     spiWriteReg(&gyro->dev, ICM426XX_RA_ACCEL_CONFIG0, (3 - INV_FSR_16G) << 5 | (outputDataRate & 0x0F));
 220     delay(15);
 221
 222     spiWriteReg(&gyro->dev, ICM426XX_RA_GYRO_ACCEL_CONFIG0, ICM426XX_ACCEL_UI_FILT_BW_LOW_LATENCY | ICM426XX_GYRO_UI_FILT_BW_LOW_LATENCY);
 223
 224     spiWriteReg(&gyro->dev, ICM426XX_RA_INT_CONFIG, ICM426XX_INT1_MODE_PULSED | ICM426XX_INT1_DRIVE_CIRCUIT_PP | ICM426XX_INT1_POLARITY_ACTIVE_HIGH);
 225     spiWriteReg(&gyro->dev, ICM426XX_RA_INT_CONFIG0, ICM426XX_UI_DRDY_INT_CLEAR_ON_SBR);
 226
 227 #ifdef USE_MPU_DATA_READY_SIGNAL
 228     spiWriteReg(&gyro->dev, ICM426XX_RA_INT_SOURCE0, ICM426XX_UI_DRDY_INT1_EN_ENABLED);
 229
 230     uint8_t intConfig1Value = spiReadRegMsk(&gyro->dev, ICM426XX_RA_INT_CONFIG1);
 231     // Datasheet says: "User should change setting to 0 from default setting of 1, for proper INT1 and INT2 pin operation"
 232     intConfig1Value &= ~(1 << ICM426XX_INT_ASYNC_RESET_BIT);
 233     intConfig1Value |= (ICM426XX_INT_TPULSE_DURATION_8 | ICM426XX_INT_TDEASSERT_DISABLED);
 234
 235     spiWriteReg(&gyro->dev, ICM426XX_RA_INT_CONFIG1, intConfig1Value);
 236 #endif
 237     //
 238
 239     spiSetClkDivisor(&gyro->dev, spiCalculateDivider(ICM426XX_MAX_SPI_CLK_HZ));
 240 }
 241
 242 bool icm426xxSpiGyroDetect(gyroDev_t *gyro)
 243 {
 244     switch (gyro->mpuDetectionResult.sensor) {
 245     case ICM_42605_SPI:
 246         break;
 247     case ICM_42688P_SPI:
 248         break;
 249     default:
 250         return false;
 251     }
 252
 253     gyro->initFn = icm426xxGyroInit;
 254     gyro->readFn = mpuGyroReadSPI;
 255
 256     gyro->scale = GYRO_SCALE_2000DPS;
 257
 258     return true;
 259 }
 260 #endif