src/main/drivers/accgyro/accgyro_spi_icm20689.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
  25 #include "platform.h"
  26
  27 #include "common/axis.h"
  28 #include "common/maths.h"
  29
  30 #include "drivers/accgyro/accgyro.h"
  31 #include "drivers/accgyro/accgyro_mpu.h"
  32 #include "drivers/accgyro/accgyro_spi_icm20689.h"
  33 #include "drivers/bus_spi.h"
  34 #include "drivers/exti.h"
  35 #include "drivers/io.h"
  36 #include "drivers/sensor.h"
  37 #include "drivers/time.h"
  38
  39 // 10 MHz max SPI frequency
  40 #define ICM20689_MAX_SPI_CLK_HZ 8000000
  41
  42 // Register 0x37 - INT_PIN_CFG / Pin Bypass Enable Configuration
  43 #define ICM20689_INT_ANYRD_2CLEAR   0x10
  44
  45 // Register 0x68 - SIGNAL_PATH_RESET / Pin Bypass Enable Configuration
  46 #define ICM20689_ACCEL_RST          0x02
  47 #define ICM20689_TEMP_RST           0x01
  48
  49 // Register 0x6a - USER_CTRL / User Control
  50 #define ICM20689_I2C_IF_DIS         0x10
  51
  52 // Register 0x6b - PWR_MGMT_1 / Power Management 1
  53 #define ICM20689_BIT_RESET          0x80
  54
  55 /* Allow CLKSEL setting time to settle when PLL is selected
  56  *
  57  * Not specified in the ICM-20689 datasheet, but in the ICM-20690 datasheet,
  58  *
  59  * https://invensense.tdk.com/wp-content/uploads/2016/10/DS-000178-ICM-20690-v1.0.pdf
  60  *
  61  * says (section 10.11) that the clock selection takes ~20us to settle. Testing
  62  * has shown that 60us is required, so double to allow a margin
  63  */
  64 #define ICM20689_CLKSEL_SETTLE_US   120
  65
  66 /* Not specified in the ICM-20689 datasheet, but in the MPU-6000 datasheet,
  67  *
  68  * https://invensense.tdk.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf
  69  *
  70  * says (section 4.28) suggest a delay of 100ms after a reset
  71  */
  72 #define ICM20689_RESET_DELAY_MS     100
  73
  74 /* Not specified in the ICM-20689 datasheet, but in the MPU-6000 datasheet,
  75  *
  76  * https://invensense.tdk.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf
  77  *
  78  * says (section 4.28) suggest a delay of 100ms after a path reset
  79  */
  80 #define ICM20689_PATH_RESET_DELAY_MS 100
  81
  82 uint8_t icm20689SpiDetect(const extDevice_t *dev)
  83 {
  84     // Note that the following reset is being done repeatedly by each MPU6000
  85     // compatible device being probed
  86
  87     // reset the device configuration
  88     spiWriteReg(dev, MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
  89     delay(ICM20689_RESET_DELAY_MS);
  90
  91     uint8_t icmDetected;
  92
  93     const uint8_t whoAmI = spiReadRegMsk(dev, MPU_RA_WHO_AM_I);
  94
  95     switch (whoAmI) {
  96     case ICM20601_WHO_AM_I_CONST:
  97         icmDetected = ICM_20601_SPI;
  98         break;
  99     case ICM20602_WHO_AM_I_CONST:
 100         icmDetected = ICM_20602_SPI;
 101         break;
 102     case ICM20608G_WHO_AM_I_CONST:
 103         icmDetected = ICM_20608_SPI;
 104         break;
 105     case ICM20689_WHO_AM_I_CONST:
 106         icmDetected = ICM_20689_SPI;
 107         break;
 108     default:
 109         icmDetected = MPU_NONE;
 110         return icmDetected;
 111     }
 112
 113     // We now know the device is recognised so it's safe to perform device
 114     // specific register accesses
 115
 116     // Disable Primary I2C Interface
 117     spiWriteReg(dev, MPU_RA_USER_CTRL, ICM20689_I2C_IF_DIS);
 118
 119     // Reset the device signal paths
 120     spiWriteReg(dev, MPU_RA_SIGNAL_PATH_RESET, ICM20689_ACCEL_RST | ICM20689_TEMP_RST);
 121
 122     delay(ICM20689_PATH_RESET_DELAY_MS);
 123
 124     return icmDetected;
 125 }
 126
 127 void icm20689AccInit(accDev_t *acc)
 128 {
 129     acc->acc_1G = 512 * 4;
 130 }
 131
 132 bool icm20689SpiAccDetect(accDev_t *acc)
 133 {
 134     switch (acc->mpuDetectionResult.sensor) {
 135     case ICM_20602_SPI:
 136     case ICM_20689_SPI:
 137         break;
 138     default:
 139         return false;
 140     }
 141
 142     acc->initFn = icm20689AccInit;
 143     acc->readFn = mpuAccReadSPI;
 144
 145     return true;
 146 }
 147
 148 void icm20689GyroInit(gyroDev_t *gyro)
 149 {
 150     extDevice_t *dev = &gyro->dev;
 151
 152     spiSetClkDivisor(dev, spiCalculateDivider(ICM20689_MAX_SPI_CLK_HZ));
 153
 154     mpuGyroInit(gyro);
 155
 156     // Device was already reset during detection so proceed with configuration
 157
 158     spiWriteReg(dev, MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
 159     delayMicroseconds(ICM20689_CLKSEL_SETTLE_US);
 160     spiWriteReg(dev, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
 161     spiWriteReg(dev, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
 162     spiWriteReg(dev, MPU_RA_CONFIG, mpuGyroDLPF(gyro));
 163     spiWriteReg(dev, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops);
 164
 165     // Data ready interrupt configuration
 166     spiWriteReg(dev, MPU_RA_INT_PIN_CFG, ICM20689_INT_ANYRD_2CLEAR);
 167
 168     spiWriteReg(dev, MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
 169 }
 170
 171 bool icm20689SpiGyroDetect(gyroDev_t *gyro)
 172 {
 173     switch (gyro->mpuDetectionResult.sensor) {
 174     case ICM_20601_SPI:
 175     case ICM_20602_SPI:
 176     case ICM_20608_SPI:
 177     case ICM_20689_SPI:
 178         break;
 179     default:
 180         return false;
 181     }
 182
 183     gyro->initFn = icm20689GyroInit;
 184     gyro->readFn = mpuGyroReadSPI;
 185
 186     gyro->scale = GYRO_SCALE_2000DPS;
 187
 188     return true;
 189 }