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_spi_lsm6dsv16x.h"
  60 #include "drivers/accgyro/accgyro_mpu.h"
  61
  62 #include "pg/pg.h"
  63 #include "pg/gyrodev.h"
  64
  65 #ifndef MPU_ADDRESS
  66 #define MPU_ADDRESS             0x68
  67 #endif
  68
  69 // 1 MHz max SPI frequency during device detection
  70 #define MPU_MAX_SPI_DETECT_CLK_HZ 1000000
  71
  72 #define MPU_INQUIRY_MASK   0x7E
  73
  74 // Allow 100ms before attempting to access SPI bus
  75 #define GYRO_SPI_STARTUP_MS 100
  76
  77 // Need to see at least this many interrupts during initialisation to confirm EXTI connectivity
  78 #define GYRO_EXTI_DETECT_THRESHOLD 1000
  79
  80 #ifdef USE_I2C_GYRO
  81 static void mpu6050FindRevision(gyroDev_t *gyro)
  82 {
  83     // There is a map of revision contained in the android source tree which is quite comprehensive and may help to understand this code
  84     // See https://android.googlesource.com/kernel/msm.git/+/eaf36994a3992b8f918c18e4f7411e8b2320a35f/drivers/misc/mpu6050/mldl_cfg.c
  85
  86     // determine product ID and revision
  87     uint8_t readBuffer[6];
  88     bool ack = busReadRegisterBuffer(&gyro->dev, MPU_RA_XA_OFFS_H, readBuffer, 6);
  89     uint8_t revision = ((readBuffer[5] & 0x01) << 2) | ((readBuffer[3] & 0x01) << 1) | (readBuffer[1] & 0x01);
  90     if (ack && revision) {
  91         // Congrats, these parts are better
  92         if (revision == 1) {
  93             gyro->mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
  94         } else if (revision == 2) {
  95             gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
  96         } else if ((revision == 3) || (revision == 7)) {
  97             gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
  98         } else {
  99             failureMode(FAILURE_ACC_INCOMPATIBLE);
 100         }
 101     } else {
 102         uint8_t productId;
 103         ack = busReadRegisterBuffer(&gyro->dev, MPU_RA_PRODUCT_ID, &productId, 1);
 104         revision = productId & 0x0F;
 105         if (!ack || revision == 0) {
 106             failureMode(FAILURE_ACC_INCOMPATIBLE);
 107         } else if (revision == 4) {
 108             gyro->mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
 109         } else {
 110             gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
 111         }
 112     }
 113 }
 114 #endif
 115
 116 /*
 117  * Gyro interrupt service routine
 118  */
 119 #ifdef USE_SPI_GYRO
 120 // Called in ISR context
 121 // Gyro read has just completed
 122 busStatus_e mpuIntCallback(uint32_t arg)
 123 {
 124     gyroDev_t *gyro = (gyroDev_t *)arg;
 125     int32_t gyroDmaDuration = cmpTimeCycles(getCycleCounter(), gyro->gyroLastEXTI);
 126
 127     if (gyroDmaDuration > gyro->gyroDmaMaxDuration) {
 128         gyro->gyroDmaMaxDuration = gyroDmaDuration;
 129     }
 130
 131     gyro->dataReady = true;
 132
 133     return BUS_READY;
 134 }
 135
 136 static void mpuIntExtiHandler(extiCallbackRec_t *cb)
 137 {
 138     gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
 139
 140     // Ideally we'd use a timer to capture such information, but unfortunately the port used for EXTI interrupt does
 141     // not have an associated timer
 142     uint32_t nowCycles = getCycleCounter();
 143     int32_t gyroLastPeriod = cmpTimeCycles(nowCycles, gyro->gyroLastEXTI);
 144     // This detects the short (~79us) EXTI interval of an MPU6xxx gyro
 145     if ((gyro->gyroShortPeriod == 0) || (gyroLastPeriod < gyro->gyroShortPeriod)) {
 146         gyro->gyroSyncEXTI = gyro->gyroLastEXTI + gyro->gyroDmaMaxDuration;
 147     }
 148     gyro->gyroLastEXTI = nowCycles;
 149
 150     if (gyro->gyroModeSPI == GYRO_EXTI_INT_DMA) {
 151         spiSequence(&gyro->dev, gyro->segments);
 152     }
 153
 154     gyro->detectedEXTI++;
 155 }
 156 #else
 157 static void mpuIntExtiHandler(extiCallbackRec_t *cb)
 158 {
 159     gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
 160     gyro->dataReady = true;
 161 }
 162 #endif
 163
 164 static void mpuIntExtiInit(gyroDev_t *gyro)
 165 {
 166     if (gyro->mpuIntExtiTag == IO_TAG_NONE) {
 167         return;
 168     }
 169
 170     const IO_t mpuIntIO = IOGetByTag(gyro->mpuIntExtiTag);
 171
 172 #ifdef ENSURE_MPU_DATA_READY_IS_LOW
 173     uint8_t status = IORead(mpuIntIO);
 174     if (status) {
 175         return;
 176     }
 177 #endif
 178
 179     IOInit(mpuIntIO, OWNER_GYRO_EXTI, 0);
 180     EXTIHandlerInit(&gyro->exti, mpuIntExtiHandler);
 181     EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING, BETAFLIGHT_EXTI_TRIGGER_RISING);
 182     EXTIEnable(mpuIntIO);
 183 }
 184
 185 bool mpuAccRead(accDev_t *acc)
 186 {
 187     uint8_t data[6];
 188
 189     const bool ack = busReadRegisterBuffer(&acc->gyro->dev, acc->gyro->accDataReg, data, 6);
 190     if (!ack) {
 191         return false;
 192     }
 193
 194     acc->ADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
 195     acc->ADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
 196     acc->ADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
 197
 198     return true;
 199 }
 200
 201 bool mpuGyroRead(gyroDev_t *gyro)
 202 {
 203     uint8_t data[6];
 204
 205     const bool ack = busReadRegisterBuffer(&gyro->dev, gyro->gyroDataReg, data, 6);
 206     if (!ack) {
 207         return false;
 208     }
 209
 210     gyro->gyroADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
 211     gyro->gyroADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
 212     gyro->gyroADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
 213
 214     return true;
 215 }
 216
 217 #ifdef USE_SPI_GYRO
 218 bool mpuAccReadSPI(accDev_t *acc)
 219 {
 220     switch (acc->gyro->gyroModeSPI) {
 221     case GYRO_EXTI_INT:
 222     case GYRO_EXTI_NO_INT:
 223     {
 224         acc->gyro->dev.txBuf[0] = acc->gyro->accDataReg | 0x80;
 225
 226         busSegment_t segments[] = {
 227                 {.u.buffers = {NULL, NULL}, 7, true, NULL},
 228                 {.u.link = {NULL, NULL}, 0, true, NULL},
 229         };
 230         segments[0].u.buffers.txData = acc->gyro->dev.txBuf;
 231         segments[0].u.buffers.rxData = &acc->gyro->dev.rxBuf[1];
 232
 233         spiSequence(&acc->gyro->dev, &segments[0]);
 234
 235         // Wait for completion
 236         spiWait(&acc->gyro->dev);
 237
 238         // Fall through
 239         FALLTHROUGH;
 240     }
 241
 242     case GYRO_EXTI_INT_DMA:
 243     {
 244         // If read was triggered in interrupt don't bother waiting. The worst that could happen is that we pick
 245         // up an old value.
 246
 247         // This data was read from the gyro, which is the same SPI device as the acc
 248         int16_t *accData = (int16_t *)acc->gyro->dev.rxBuf;
 249         acc->ADCRaw[X] = __builtin_bswap16(accData[1]);
 250         acc->ADCRaw[Y] = __builtin_bswap16(accData[2]);
 251         acc->ADCRaw[Z] = __builtin_bswap16(accData[3]);
 252         break;
 253     }
 254
 255     case GYRO_EXTI_INIT:
 256     default:
 257         break;
 258     }
 259
 260     return true;
 261 }
 262
 263 bool mpuGyroReadSPI(gyroDev_t *gyro)
 264 {
 265     int16_t *gyroData = (int16_t *)gyro->dev.rxBuf;
 266     switch (gyro->gyroModeSPI) {
 267     case GYRO_EXTI_INIT:
 268     {
 269         // Initialise the tx buffer to all 0xff
 270         memset(gyro->dev.txBuf, 0xff, 16);
 271
 272         // Check that minimum number of interrupts have been detected
 273
 274         // We need some offset from the gyro interrupts to ensure sampling after the interrupt
 275         gyro->gyroDmaMaxDuration = 5;
 276         if (gyro->detectedEXTI > GYRO_EXTI_DETECT_THRESHOLD) {
 277             if (spiUseDMA(&gyro->dev)) {
 278                 gyro->dev.callbackArg = (uint32_t)gyro;
 279                 gyro->dev.txBuf[0] = gyro->accDataReg | 0x80;
 280                 gyro->segments[0].len = gyro->gyroDataReg - gyro->accDataReg + sizeof(uint8_t) + 3 * sizeof(int16_t);
 281                 gyro->segments[0].callback = mpuIntCallback;
 282                 gyro->segments[0].u.buffers.txData = gyro->dev.txBuf;
 283                 gyro->segments[0].u.buffers.rxData = &gyro->dev.rxBuf[1];
 284                 gyro->segments[0].negateCS = true;
 285                 gyro->gyroModeSPI = GYRO_EXTI_INT_DMA;
 286             } else {
 287                 // Interrupts are present, but no DMA
 288                 gyro->gyroModeSPI = GYRO_EXTI_INT;
 289             }
 290         } else {
 291             gyro->gyroModeSPI = GYRO_EXTI_NO_INT;
 292         }
 293         break;
 294     }
 295
 296     case GYRO_EXTI_INT:
 297     case GYRO_EXTI_NO_INT:
 298     {
 299         gyro->dev.txBuf[0] = gyro->gyroDataReg | 0x80;
 300
 301         busSegment_t segments[] = {
 302                 {.u.buffers = {NULL, NULL}, 7, true, NULL},
 303                 {.u.link = {NULL, NULL}, 0, true, NULL},
 304         };
 305         segments[0].u.buffers.txData = gyro->dev.txBuf;
 306         segments[0].u.buffers.rxData = &gyro->dev.rxBuf[1];
 307
 308         spiSequence(&gyro->dev, &segments[0]);
 309
 310         // Wait for completion
 311         spiWait(&gyro->dev);
 312
 313         gyro->gyroADCRaw[X] = __builtin_bswap16(gyroData[1]);
 314         gyro->gyroADCRaw[Y] = __builtin_bswap16(gyroData[2]);
 315         gyro->gyroADCRaw[Z] = __builtin_bswap16(gyroData[3]);
 316         break;
 317     }
 318
 319     case GYRO_EXTI_INT_DMA:
 320     {
 321         // Acc and gyro data may not be continuous (MPU6xxx has temperature in between)
 322         const uint8_t gyroDataIndex = ((gyro->gyroDataReg - gyro->accDataReg) >> 1) + 1;
 323
 324         // If read was triggered in interrupt don't bother waiting. The worst that could happen is that we pick
 325         // up an old value.
 326         gyro->gyroADCRaw[X] = __builtin_bswap16(gyroData[gyroDataIndex]);
 327         gyro->gyroADCRaw[Y] = __builtin_bswap16(gyroData[gyroDataIndex + 1]);
 328         gyro->gyroADCRaw[Z] = __builtin_bswap16(gyroData[gyroDataIndex + 2]);
 329         break;
 330     }
 331
 332     default:
 333         break;
 334     }
 335
 336     return true;
 337 }
 338
 339 typedef uint8_t (*gyroSpiDetectFn_t)(const extDevice_t *dev);
 340
 341 static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
 342 #ifdef USE_ACCGYRO_LSM6DSV16X
 343     lsm6dsv16xSpiDetect,
 344 #endif
 345 #ifdef USE_GYRO_SPI_ICM20689
 346     icm20689SpiDetect,  // icm20689SpiDetect detects ICM20602 and ICM20689
 347 #endif
 348 #ifdef USE_GYRO_SPI_MPU6000
 349     mpu6000SpiDetect,
 350 #endif
 351 #ifdef USE_GYRO_SPI_MPU6500
 352     mpu6500SpiDetect,   // some targets using MPU_9250_SPI, ICM_20608_SPI or ICM_20602_SPI state sensor is MPU_65xx_SPI
 353 #endif
 354 #ifdef  USE_GYRO_SPI_MPU9250
 355     mpu9250SpiDetect,
 356 #endif
 357 #ifdef USE_ACCGYRO_LSM6DSO
 358     lsm6dsoDetect,
 359 #endif
 360 #ifdef USE_ACCGYRO_BMI160
 361     bmi160Detect,
 362 #endif
 363 #ifdef USE_ACCGYRO_BMI270
 364     bmi270Detect,
 365 #endif
 366 #if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
 367     icm426xxSpiDetect,
 368 #endif
 369 #ifdef USE_GYRO_SPI_ICM20649
 370     icm20649SpiDetect,
 371 #endif
 372 #ifdef USE_GYRO_L3GD20
 373     l3gd20Detect,
 374 #endif
 375     NULL // Avoid an empty array
 376 };
 377
 378 static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro, const gyroDeviceConfig_t *config)
 379 {
 380     if (!config->csnTag || !spiSetBusInstance(&gyro->dev, config->spiBus)) {
 381         return false;
 382     }
 383
 384     gyro->dev.busType_u.spi.csnPin = IOGetByTag(config->csnTag);
 385
 386     IOInit(gyro->dev.busType_u.spi.csnPin, OWNER_GYRO_CS, RESOURCE_INDEX(config->index));
 387     IOConfigGPIO(gyro->dev.busType_u.spi.csnPin, SPI_IO_CS_CFG);
 388     IOHi(gyro->dev.busType_u.spi.csnPin); // Ensure device is disabled, important when two devices are on the same bus.
 389
 390     // Allow 100ms before attempting to access gyro's SPI bus
 391     // Do this once here rather than in each detection routine to speed boot
 392     while (millis() < GYRO_SPI_STARTUP_MS);
 393
 394     // Set a slow SPI clock that all potential devices can handle during gyro detection
 395     spiSetClkDivisor(&gyro->dev, spiCalculateDivider(MPU_MAX_SPI_DETECT_CLK_HZ));
 396
 397     // It is hard to use hardware to optimize the detection loop here,
 398     // as hardware type and detection function name doesn't match.
 399     // May need a bitmap of hardware to detection function to do it right?
 400
 401     for (size_t index = 0 ; gyroSpiDetectFnTable[index] ; index++) {
 402         uint8_t sensor = (gyroSpiDetectFnTable[index])(&gyro->dev);
 403         if (sensor != MPU_NONE) {
 404             gyro->mpuDetectionResult.sensor = sensor;
 405             busDeviceRegister(&gyro->dev);
 406             return true;
 407         }
 408     }
 409
 410     // Detection failed, disable CS pin again
 411
 412     spiPreinitByTag(config->csnTag);
 413
 414     return false;
 415 }
 416 #endif
 417
 418 void mpuPreInit(const struct gyroDeviceConfig_s *config)
 419 {
 420 #ifdef USE_SPI_GYRO
 421     spiPreinitRegister(config->csnTag, IOCFG_IPU, 1);
 422 #else
 423     UNUSED(config);
 424 #endif
 425 }
 426
 427 bool mpuDetect(gyroDev_t *gyro, const gyroDeviceConfig_t *config)
 428 {
 429     static busDevice_t bus;
 430     gyro->dev.bus = &bus;
 431
 432     // MPU datasheet specifies 30ms.
 433     delay(35);
 434
 435     if (config->busType == BUS_TYPE_NONE) {
 436         return false;
 437     }
 438
 439     if (config->busType == BUS_TYPE_GYRO_AUTO) {
 440         gyro->dev.bus->busType = BUS_TYPE_I2C;
 441     } else {
 442         gyro->dev.bus->busType = config->busType;
 443     }
 444
 445 #ifdef USE_I2C_GYRO
 446     if (gyro->dev.bus->busType == BUS_TYPE_I2C) {
 447         gyro->dev.bus->busType_u.i2c.device = I2C_CFG_TO_DEV(config->i2cBus);
 448         gyro->dev.busType_u.i2c.address = config->i2cAddress ? config->i2cAddress : MPU_ADDRESS;
 449
 450         uint8_t sig = 0;
 451         bool ack = busReadRegisterBuffer(&gyro->dev, MPU_RA_WHO_AM_I, &sig, 1);
 452
 453         if (ack) {
 454             busDeviceRegister(&gyro->dev);
 455             // If an MPU3050 is connected sig will contain 0.
 456             uint8_t inquiryResult;
 457             ack = busReadRegisterBuffer(&gyro->dev, MPU_RA_WHO_AM_I_LEGACY, &inquiryResult, 1);
 458             inquiryResult &= MPU_INQUIRY_MASK;
 459             if (ack && inquiryResult == MPUx0x0_WHO_AM_I_CONST) {
 460                 gyro->mpuDetectionResult.sensor = MPU_3050;
 461                 return true;
 462             }
 463
 464             sig &= MPU_INQUIRY_MASK;
 465             if (sig == MPUx0x0_WHO_AM_I_CONST) {
 466                 gyro->mpuDetectionResult.sensor = MPU_60x0;
 467                 mpu6050FindRevision(gyro);
 468             } else if (sig == MPU6500_WHO_AM_I_CONST) {
 469                 gyro->mpuDetectionResult.sensor = MPU_65xx_I2C;
 470             }
 471             return true;
 472         }
 473     }
 474 #endif
 475
 476 #ifdef USE_SPI_GYRO
 477     gyro->dev.bus->busType = BUS_TYPE_SPI;
 478
 479     return detectSPISensorsAndUpdateDetectionResult(gyro, config);
 480 #else
 481     return false;
 482 #endif
 483 }
 484
 485 void mpuGyroInit(gyroDev_t *gyro)
 486 {
 487     gyro->accDataReg = MPU_RA_ACCEL_XOUT_H;
 488     gyro->gyroDataReg = MPU_RA_GYRO_XOUT_H;
 489     mpuIntExtiInit(gyro);
 490 }
 491
 492 uint8_t mpuGyroDLPF(gyroDev_t *gyro)
 493 {
 494     uint8_t ret = 0;
 495
 496     // If gyro is in 32KHz mode then the DLPF bits aren't used
 497     if (gyro->gyroRateKHz <= GYRO_RATE_8_kHz) {
 498         switch (gyro->hardware_lpf) {
 499 #ifdef USE_GYRO_DLPF_EXPERIMENTAL
 500             case GYRO_HARDWARE_LPF_EXPERIMENTAL:
 501                 // experimental mode not supported for MPU60x0 family
 502                 if ((gyro->gyroHardware != GYRO_MPU6050) && (gyro->gyroHardware != GYRO_MPU6000)) {
 503                     ret = 7;
 504                 } else {
 505                     ret = 0;
 506                 }
 507                 break;
 508 #endif
 509
 510             case GYRO_HARDWARE_LPF_NORMAL:
 511             default:
 512                 ret = 0;
 513                 break;
 514         }
 515     }
 516     return ret;
 517 }
 518
 519 #ifdef USE_GYRO_REGISTER_DUMP
 520 uint8_t mpuGyroReadRegister(const extDevice_t *dev, uint8_t reg)
 521 {
 522     uint8_t data;
 523     const bool ack = busReadRegisterBuffer(dev, reg, &data, 1);
 524     if (ack) {
 525         return data;
 526     } else {
 527         return 0;
 528     }
 529
 530 }
 531 #endif