src/main/drivers/accgyro_mma845x.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20
  21 #include "platform.h"
  22
  23 #include "system.h"
  24 #include "gpio.h"
  25 #include "bus_i2c.h"
  26
  27 #include "sensor.h"
  28 #include "accgyro.h"
  29 #include "accgyro_mma845x.h"
  30
  31 // MMA8452QT, Standard address 0x1C
  32 // ACC_INT2 routed to PA5
  33
  34 #define MMA8452_ADDRESS     0x1C
  35
  36 #define MMA8452_DEVICE_SIGNATURE    0x2A
  37 #define MMA8451_DEVICE_SIGNATURE    0x1A
  38
  39 #define MMA8452_STATUS              0x00
  40 #define MMA8452_OUT_X_MSB           0x01
  41 #define MMA8452_WHO_AM_I            0x0D
  42 #define MMA8452_XYZ_DATA_CFG        0x0E
  43 #define MMA8452_HP_FILTER_CUTOFF    0x0F
  44 #define MMA8452_CTRL_REG1           0x2A
  45 #define MMA8452_CTRL_REG2           0x2B
  46 #define MMA8452_CTRL_REG3           0x2C
  47 #define MMA8452_CTRL_REG4           0x2D
  48 #define MMA8452_CTRL_REG5           0x2E
  49
  50 #define MMA8452_FS_RANGE_8G         0x02
  51 #define MMA8452_FS_RANGE_4G         0x01
  52 #define MMA8452_FS_RANGE_2G         0x00
  53
  54 #define MMA8452_HPF_CUTOFF_LV1      0x00
  55 #define MMA8452_HPF_CUTOFF_LV2      0x01
  56 #define MMA8452_HPF_CUTOFF_LV3      0x02
  57 #define MMA8452_HPF_CUTOFF_LV4      0x03
  58
  59 #define MMA8452_CTRL_REG2_B7_ST     0x80
  60 #define MMA8452_CTRL_REG2_B6_RST    0x40
  61 #define MMA8452_CTRL_REG2_B4_SMODS1 0x10
  62 #define MMA8452_CTRL_REG2_B3_SMODS0 0x08
  63 #define MMA8452_CTRL_REG2_B2_SLPE   0x04
  64 #define MMA8452_CTRL_REG2_B1_MODS1  0x02
  65 #define MMA8452_CTRL_REG2_B0_MODS0  0x01
  66
  67 #define MMA8452_CTRL_REG2_MODS_LP   0x03
  68 #define MMA8452_CTRL_REG2_MODS_HR   0x02
  69 #define MMA8452_CTRL_REG2_MODS_LNLP 0x01
  70 #define MMA8452_CTRL_REG2_MODS_NOR  0x00
  71
  72 #define MMA8452_CTRL_REG3_IPOL          0x02
  73 #define MMA8452_CTRL_REG4_INT_EN_DRDY   0x01
  74
  75 #define MMA8452_CTRL_REG1_LNOISE        0x04
  76 #define MMA8452_CTRL_REG1_ACTIVE        0x01
  77
  78 static uint8_t device_id;
  79
  80 static void mma8452Init(void);
  81 static bool mma8452Read(int16_t *accelData);
  82
  83 bool mma8452Detect(acc_t *acc)
  84 {
  85     bool ack = false;
  86     uint8_t sig = 0;
  87
  88     ack = i2cRead(MMA8452_ADDRESS, MMA8452_WHO_AM_I, 1, &sig);
  89     if (!ack || (sig != MMA8452_DEVICE_SIGNATURE && sig != MMA8451_DEVICE_SIGNATURE))
  90         return false;
  91
  92     acc->init = mma8452Init;
  93     acc->read = mma8452Read;
  94     device_id = sig;
  95     return true;
  96 }
  97
  98 static inline void mma8451ConfigureInterrupt(void)
  99 {
 100 #ifdef NAZE
 101     // PA5 - ACC_INT2 output on NAZE rev3/4 hardware
 102     // NAZE rev.5 hardware has PA5 (ADC1_IN5) on breakout pad on bottom of board
 103     // OLIMEXINO - The PA5 pin is wired up to LED1, if you need to use an mma8452 on an Olimexino use a different pin and provide support in code.
 104
 105     gpio_config_t gpio;
 106
 107     RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
 108
 109     gpio.pin = Pin_5;
 110     gpio.speed = Speed_2MHz;
 111     gpio.mode = Mode_IN_FLOATING;
 112     gpioInit(GPIOA, &gpio);
 113 #endif
 114
 115     i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG3, MMA8452_CTRL_REG3_IPOL); // Interrupt polarity (active HIGH)
 116     i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG4, MMA8452_CTRL_REG4_INT_EN_DRDY); // Enable DRDY interrupt (unused by this driver)
 117     i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG5, 0); // DRDY routed to INT2
 118 }
 119
 120 static void mma8452Init(void)
 121 {
 122
 123     i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG1, 0); // Put device in standby to configure stuff
 124     i2cWrite(MMA8452_ADDRESS, MMA8452_XYZ_DATA_CFG, MMA8452_FS_RANGE_8G);
 125     i2cWrite(MMA8452_ADDRESS, MMA8452_HP_FILTER_CUTOFF, MMA8452_HPF_CUTOFF_LV4);
 126     i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG2, MMA8452_CTRL_REG2_MODS_HR | MMA8452_CTRL_REG2_MODS_HR << 3); // High resolution measurement in both sleep and active modes
 127
 128     mma8451ConfigureInterrupt();
 129
 130     i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG1, MMA8452_CTRL_REG1_LNOISE | MMA8452_CTRL_REG1_ACTIVE); // Turn on measurements, low noise at max scale mode, Data Rate 800Hz. LNoise mode makes range +-4G.
 131
 132     acc_1G = 256;
 133 }
 134
 135 static bool mma8452Read(int16_t *accelData)
 136 {
 137     uint8_t buf[6];
 138
 139     if (!i2cRead(MMA8452_ADDRESS, MMA8452_OUT_X_MSB, 6, buf)) {
 140         return false;
 141     }
 142
 143     accelData[0] = ((int16_t)((buf[0] << 8) | buf[1]) >> 2) / 4;
 144     accelData[1] = ((int16_t)((buf[2] << 8) | buf[3]) >> 2) / 4;
 145     accelData[2] = ((int16_t)((buf[4] << 8) | buf[5]) >> 2) / 4;
 146
 147     return true;
 148 }