src/main/drivers/accgyro/accgyro_icm20689.c

   1 /*
   2  * This file is part of iNavFlight.
   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 #include "build/debug.h"
  27
  28 #include "common/axis.h"
  29 #include "common/maths.h"
  30
  31 #include "drivers/system.h"
  32 #include "drivers/time.h"
  33 #include "drivers/io.h"
  34 #include "drivers/bus.h"
  35
  36 #include "drivers/accgyro/accgyro.h"
  37 #include "drivers/accgyro/accgyro_mpu.h"
  38 #include "drivers/accgyro/accgyro_icm20689.h"
  39
  40 #if defined(USE_IMU_ICM20689)
  41
  42 static uint8_t icm20689DeviceDetect(const busDevice_t *busDev)
  43 {
  44     busSetSpeed(busDev, BUS_SPEED_INITIALIZATION);
  45
  46     busWrite(busDev, MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
  47
  48     uint8_t attemptsRemaining = 20;
  49     uint8_t in;
  50     do {
  51         delay(150);
  52         busRead(busDev, MPU_RA_WHO_AM_I, &in);
  53         switch (in) {
  54         case ICM20601_WHO_AM_I_CONST:
  55         case ICM20602_WHO_AM_I_CONST:
  56         case ICM20608G_WHO_AM_I_CONST:
  57         case ICM20689_WHO_AM_I_CONST:
  58             return true;
  59         }
  60     } while (attemptsRemaining--);
  61
  62     return false;
  63 }
  64
  65 static void icm20689AccInit(accDev_t *acc)
  66 {
  67     acc->acc_1G = 512 * 4;
  68 }
  69
  70 bool icm20689AccDetect(accDev_t *acc)
  71 {
  72     acc->busDev = busDeviceOpen(BUSTYPE_ANY, DEVHW_ICM20689, acc->imuSensorToUse);
  73     if (acc->busDev == NULL) {
  74         return false;
  75     }
  76
  77     mpuContextData_t * ctx = busDeviceGetScratchpadMemory(acc->busDev);
  78     if (ctx->chipMagicNumber != 0x50D1) {
  79         return false;
  80     }
  81
  82     acc->initFn = icm20689AccInit;
  83     acc->readFn = mpuAccReadScratchpad;
  84     acc->accAlign = acc->busDev->param;
  85
  86     return true;
  87 }
  88
  89 static void icm20689AccAndGyroInit(gyroDev_t *gyro)
  90 {
  91     busDevice_t * busDev = gyro->busDev;
  92     const gyroFilterAndRateConfig_t * config = mpuChooseGyroConfig(gyro->lpf, 1000000 / gyro->requestedSampleIntervalUs);
  93     gyro->sampleRateIntervalUs = 1000000 / config->gyroRateHz;
  94
  95     busSetSpeed(busDev, BUS_SPEED_INITIALIZATION);
  96
  97     busWrite(busDev, MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
  98     delay(100);
  99     busWrite(busDev, MPU_RA_SIGNAL_PATH_RESET, 0x03);
 100     delay(100);
 101     busWrite(busDev, MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
 102     delay(15);
 103     busWrite(busDev, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3); // XXX
 104     delay(15);
 105     busWrite(busDev, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
 106     delay(15);
 107     busWrite(busDev, MPU_RA_CONFIG, config->gyroConfigValues[0]);
 108     delay(15);
 109     busWrite(busDev, MPU_RA_SMPLRT_DIV, config->gyroConfigValues[1]); // Get Divider Drops
 110     delay(100);
 111
 112     // Switch SPI to fast speed
 113     busSetSpeed(busDev, BUS_SPEED_FAST);
 114 }
 115
 116 bool icm20689GyroDetect(gyroDev_t *gyro)
 117 {
 118     gyro->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_ICM20689, gyro->imuSensorToUse, OWNER_MPU);
 119     if (gyro->busDev == NULL) {
 120         return false;
 121     }
 122
 123     if (!icm20689DeviceDetect(gyro->busDev)) {
 124         busDeviceDeInit(gyro->busDev);
 125         return false;
 126     }
 127
 128     // Magic number for ACC detection to indicate that we have detected MPU6000 gyro
 129     mpuContextData_t * ctx = busDeviceGetScratchpadMemory(gyro->busDev);
 130     ctx->chipMagicNumber = 0x50D1;
 131
 132     gyro->initFn = icm20689AccAndGyroInit;
 133     gyro->readFn = mpuGyroReadScratchpad;
 134     gyro->intStatusFn = gyroCheckDataReady;
 135     gyro->temperatureFn = mpuTemperatureReadScratchpad;
 136     gyro->scale = 1.0f / 16.4f;     // 16.4 dps/lsb scalefactor
 137     gyro->gyroAlign = gyro->busDev->param;
 138
 139     return true;
 140 }
 141
 142 #endif