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 #ifdef USE_GYRO_MPU3050
  29
  30 #include "common/maths.h"
  31 #include "common/utils.h"
  32
  33 #include "drivers/bus_i2c.h"
  34 #include "drivers/exti.h"
  35 #include "drivers/sensor.h"
  36 #include "drivers/system.h"
  37 #include "drivers/time.h"
  38
  39 #include "accgyro.h"
  40 #include "accgyro_mpu.h"
  41 #include "accgyro_mpu3050.h"
  42
  43 // MPU3050, Standard address 0x68
  44 #define MPU3050_ADDRESS         0x68
  45
  46 // Bits
  47 #define MPU3050_FS_SEL_2000DPS  0x18
  48 #define MPU3050_DLPF_10HZ       0x05
  49 #define MPU3050_DLPF_20HZ       0x04
  50 #define MPU3050_DLPF_42HZ       0x03
  51 #define MPU3050_DLPF_98HZ       0x02
  52 #define MPU3050_DLPF_188HZ      0x01
  53 #define MPU3050_DLPF_256HZ      0x00
  54
  55 #define MPU3050_USER_RESET      0x01
  56 #define MPU3050_CLK_SEL_PLL_GX  0x01
  57
  58 static void mpu3050Init(gyroDev_t *gyro)
  59 {
  60     delay(25); // datasheet page 13 says 20ms. other stuff could have been running meanwhile. but we'll be safe
  61
  62     const bool ack = busWriteRegister(&gyro->bus, MPU3050_SMPLRT_DIV, 0);
  63     if (!ack) {
  64         failureMode(FAILURE_ACC_INIT);
  65     }
  66
  67     busWriteRegister(&gyro->bus, MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS | MPU3050_DLPF_256HZ);
  68     busWriteRegister(&gyro->bus, MPU3050_INT_CFG, 0);
  69     busWriteRegister(&gyro->bus, MPU3050_USER_CTRL, MPU3050_USER_RESET);
  70     busWriteRegister(&gyro->bus, MPU3050_PWR_MGM, MPU3050_CLK_SEL_PLL_GX);
  71 }
  72
  73 static bool mpu3050GyroRead(gyroDev_t *gyro)
  74 {
  75     uint8_t data[6];
  76
  77     const bool ack = busReadRegisterBuffer(&gyro->bus, MPU3050_GYRO_OUT, data, 6);
  78     if (!ack) {
  79         return false;
  80     }
  81
  82     gyro->gyroADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
  83     gyro->gyroADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
  84     gyro->gyroADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
  85
  86     return true;
  87 }
  88
  89 static bool mpu3050ReadTemperature(gyroDev_t *gyro, int16_t *tempData)
  90 {
  91     uint8_t buf[2];
  92     if (!busReadRegisterBuffer(&gyro->bus, MPU3050_TEMP_OUT, buf, 2)) {
  93         return false;
  94     }
  95
  96     *tempData = 35 + ((int32_t)(buf[0] << 8 | buf[1]) + 13200) / 280;
  97
  98     return true;
  99 }
 100
 101 bool mpu3050Detect(gyroDev_t *gyro)
 102 {
 103     if (gyro->mpuDetectionResult.sensor != MPU_3050) {
 104         return false;
 105     }
 106     gyro->initFn = mpu3050Init;
 107     gyro->readFn = mpu3050GyroRead;
 108     gyro->temperatureFn = mpu3050ReadTemperature;
 109
 110     gyro->scale = GYRO_SCALE_2000DPS;
 111
 112     return true;
 113 }
 114 #endif