src/main/drivers/accgyro/accgyro_spi_mpu6500.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 "common/axis.h"
  27 #include "common/maths.h"
  28
  29 #include "drivers/bus_spi.h"
  30 #include "drivers/exti.h"
  31 #include "drivers/io.h"
  32 #include "drivers/sensor.h"
  33 #include "drivers/time.h"
  34
  35 #include "accgyro.h"
  36 #include "accgyro_mpu.h"
  37 #include "accgyro_mpu6500.h"
  38 #include "accgyro_spi_mpu6500.h"
  39
  40 // 1 MHz max SPI frequency for initialisation
  41 #define MPU6500_MAX_SPI_INIT_CLK_HZ 1000000
  42 // 20 MHz max SPI frequency
  43 #define MPU6500_MAX_SPI_CLK_HZ 20000000
  44
  45 #define BIT_SLEEP                   0x40
  46
  47 static void mpu6500SpiInit(const extDevice_t *dev)
  48 {
  49
  50     spiSetClkDivisor(dev, spiCalculateDivider(MPU6500_MAX_SPI_CLK_HZ));
  51 }
  52
  53 uint8_t mpu6500SpiDetect(const extDevice_t *dev)
  54 {
  55     mpu6500SpiInit(dev);
  56
  57     const uint8_t whoAmI = spiReadRegMsk(dev, MPU_RA_WHO_AM_I);
  58
  59     uint8_t mpuDetected = MPU_NONE;
  60     switch (whoAmI) {
  61     case MPU6500_WHO_AM_I_CONST:
  62         mpuDetected = MPU_65xx_SPI;
  63         break;
  64     case MPU9250_WHO_AM_I_CONST:
  65     case MPU9255_WHO_AM_I_CONST:
  66         mpuDetected = MPU_9250_SPI;
  67         break;
  68     case ICM20601_WHO_AM_I_CONST:
  69         mpuDetected = ICM_20601_SPI;
  70         break;
  71     case ICM20602_WHO_AM_I_CONST:
  72         mpuDetected = ICM_20602_SPI;
  73         break;
  74     case ICM20608G_WHO_AM_I_CONST:
  75         mpuDetected = ICM_20608_SPI;
  76         break;
  77     case ICM42605_WHO_AM_I_CONST:
  78         mpuDetected = ICM_42605_SPI;
  79         break;
  80     case ICM42688P_WHO_AM_I_CONST:
  81         mpuDetected = ICM_42688P_SPI;
  82         break;
  83     default:
  84         mpuDetected = MPU_NONE;
  85     }
  86     return mpuDetected;
  87 }
  88
  89 void mpu6500SpiAccInit(accDev_t *acc)
  90 {
  91     mpu6500AccInit(acc);
  92 }
  93
  94 void mpu6500SpiGyroInit(gyroDev_t *gyro)
  95 {
  96     spiSetClkDivisor(&gyro->dev, spiCalculateDivider(MPU6500_MAX_SPI_INIT_CLK_HZ));
  97     delayMicroseconds(1);
  98
  99     mpu6500GyroInit(gyro);
 100
 101     // Disable Primary I2C Interface
 102     spiWriteReg(&gyro->dev, MPU_RA_USER_CTRL, MPU6500_BIT_I2C_IF_DIS);
 103     delay(100);
 104
 105     spiSetClkDivisor(&gyro->dev, spiCalculateDivider(MPU6500_MAX_SPI_CLK_HZ));
 106     delayMicroseconds(1);
 107 }
 108
 109 bool mpu6500SpiAccDetect(accDev_t *acc)
 110 {
 111     // MPU6500 is used as a equivalent of other accelerometers by some flight controllers
 112     switch (acc->mpuDetectionResult.sensor) {
 113     case MPU_65xx_SPI:
 114     case MPU_9250_SPI:
 115     case ICM_20608_SPI:
 116     case ICM_20602_SPI:
 117     case ICM_20601_SPI:
 118         break;
 119     default:
 120         return false;
 121     }
 122
 123     acc->initFn = mpu6500SpiAccInit;
 124     acc->readFn = mpuAccReadSPI;
 125
 126     return true;
 127 }
 128
 129 bool mpu6500SpiGyroDetect(gyroDev_t *gyro)
 130 {
 131     // MPU6500 is used as a equivalent of other gyros by some flight controllers
 132     switch (gyro->mpuDetectionResult.sensor) {
 133     case MPU_65xx_SPI:
 134     case MPU_9250_SPI:
 135     case ICM_20608_SPI:
 136     case ICM_20602_SPI:
 137         gyro->scale = GYRO_SCALE_2000DPS;
 138         break;
 139     case ICM_20601_SPI:
 140         gyro->scale = (gyro->gyro_high_fsr ? GYRO_SCALE_4000DPS : GYRO_SCALE_2000DPS);
 141         break;
 142     default:
 143         return false;
 144     }
 145
 146     gyro->initFn = mpu6500SpiGyroInit;
 147     gyro->readFn = mpuGyroReadSPI;
 148
 149     return true;
 150 }