src/main/drivers/accgyro_spi_mpu6000.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
  19 /*
  20  * Authors:
  21  * Dominic Clifton - Cleanflight implementation
  22  * John Ihlein - Initial FF32 code
  23 */
  24
  25 #include <stdbool.h>
  26 #include <stdint.h>
  27 #include <stdlib.h>
  28
  29 #include "platform.h"
  30
  31 #include "common/axis.h"
  32 #include "common/maths.h"
  33
  34 #include "system.h"
  35 #include "gpio.h"
  36 #include "exti.h"
  37 #include "bus_spi.h"
  38
  39 #include "sensor.h"
  40 #include "accgyro.h"
  41 #include "accgyro_mpu.h"
  42 #include "accgyro_spi_mpu6000.h"
  43
  44 static void mpu6000AccAndGyroInit(void);
  45
  46 extern uint8_t mpuLowPassFilter;
  47
  48 static bool mpuSpi6000InitDone = false;
  49
  50 // Bits
  51 #define BIT_SLEEP                                   0x40
  52 #define BIT_H_RESET                                 0x80
  53 #define BITS_CLKSEL                                 0x07
  54 #define MPU_CLK_SEL_PLLGYROX        0x01
  55 #define MPU_CLK_SEL_PLLGYROZ        0x03
  56 #define MPU_EXT_SYNC_GYROX                  0x02
  57 #define BITS_FS_250DPS              0x00
  58 #define BITS_FS_500DPS              0x08
  59 #define BITS_FS_1000DPS             0x10
  60 #define BITS_FS_2000DPS             0x18
  61 #define BITS_FS_2G                  0x00
  62 #define BITS_FS_4G                  0x08
  63 #define BITS_FS_8G                  0x10
  64 #define BITS_FS_16G                 0x18
  65 #define BITS_FS_MASK                0x18
  66 #define BITS_DLPF_CFG_256HZ         0x00
  67 #define BITS_DLPF_CFG_188HZ         0x01
  68 #define BITS_DLPF_CFG_98HZ          0x02
  69 #define BITS_DLPF_CFG_42HZ          0x03
  70 #define BITS_DLPF_CFG_20HZ          0x04
  71 #define BITS_DLPF_CFG_10HZ          0x05
  72 #define BITS_DLPF_CFG_5HZ           0x06
  73 #define BITS_DLPF_CFG_2100HZ_NOLPF  0x07
  74 #define BITS_DLPF_CFG_MASK          0x07
  75 #define BIT_INT_ANYRD_2CLEAR        0x10
  76 #define BIT_RAW_RDY_EN                      0x01
  77 #define BIT_I2C_IF_DIS              0x10
  78 #define BIT_INT_STATUS_DATA                 0x01
  79 #define BIT_GYRO                    3
  80 #define BIT_ACC                     2
  81 #define BIT_TEMP                    1
  82
  83 // Product ID Description for MPU6000
  84 // high 4 bits low 4 bits
  85 // Product Name Product Revision
  86 #define MPU6000ES_REV_C4 0x14
  87 #define MPU6000ES_REV_C5 0x15
  88 #define MPU6000ES_REV_D6 0x16
  89 #define MPU6000ES_REV_D7 0x17
  90 #define MPU6000ES_REV_D8 0x18
  91 #define MPU6000_REV_C4 0x54
  92 #define MPU6000_REV_C5 0x55
  93 #define MPU6000_REV_D6 0x56
  94 #define MPU6000_REV_D7 0x57
  95 #define MPU6000_REV_D8 0x58
  96 #define MPU6000_REV_D9 0x59
  97 #define MPU6000_REV_D10 0x5A
  98
  99 #define DISABLE_MPU6000       GPIO_SetBits(MPU6000_CS_GPIO,   MPU6000_CS_PIN)
 100 #define ENABLE_MPU6000        GPIO_ResetBits(MPU6000_CS_GPIO, MPU6000_CS_PIN)
 101
 102
 103 bool mpu6000WriteRegister(uint8_t reg, uint8_t data)
 104 {
 105     ENABLE_MPU6000;
 106     spiTransferByte(MPU6000_SPI_INSTANCE, reg);
 107     spiTransferByte(MPU6000_SPI_INSTANCE, data);
 108     DISABLE_MPU6000;
 109
 110     return true;
 111 }
 112
 113 bool mpu6000ReadRegister(uint8_t reg, uint8_t length, uint8_t *data)
 114 {
 115     ENABLE_MPU6000;
 116     spiTransferByte(MPU6000_SPI_INSTANCE, reg | 0x80); // read transaction
 117     spiTransfer(MPU6000_SPI_INSTANCE, data, NULL, length);
 118     DISABLE_MPU6000;
 119
 120     return true;
 121 }
 122
 123 void mpu6000SpiGyroInit(uint16_t lpf)
 124 {
 125     mpuIntExtiInit();
 126
 127     uint8_t mpuLowPassFilter = determineMPULPF(lpf);
 128
 129     mpu6000AccAndGyroInit();
 130
 131     spiResetErrorCounter(MPU6000_SPI_INSTANCE);
 132
 133     spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
 134
 135     // Accel and Gyro DLPF Setting
 136     mpu6000WriteRegister(MPU6000_CONFIG, mpuLowPassFilter);
 137     delayMicroseconds(1);
 138
 139     int16_t data[3];
 140     mpuGyroRead(data);
 141
 142     if ((((int8_t)data[1]) == -1 && ((int8_t)data[0]) == -1) || spiGetErrorCounter(MPU6000_SPI_INSTANCE) != 0) {
 143         spiResetErrorCounter(MPU6000_SPI_INSTANCE);
 144         failureMode(FAILURE_GYRO_INIT_FAILED);
 145     }
 146 }
 147
 148 void mpu6000SpiAccInit(void)
 149 {
 150     mpuIntExtiInit();
 151
 152     acc_1G = 512 * 8;
 153 }
 154
 155 bool mpu6000SpiDetect(void)
 156 {
 157     uint8_t in;
 158     uint8_t attemptsRemaining = 5;
 159
 160     spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
 161
 162     mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, BIT_H_RESET);
 163
 164     do {
 165         delay(150);
 166
 167         mpu6000ReadRegister(MPU_RA_WHO_AM_I, 1, &in);
 168         if (in == MPU6000_WHO_AM_I_CONST) {
 169             break;
 170         }
 171         if (!attemptsRemaining) {
 172             return false;
 173         }
 174     } while (attemptsRemaining--);
 175
 176
 177     mpu6000ReadRegister(MPU_RA_PRODUCT_ID, 1, &in);
 178
 179     /* look for a product ID we recognise */
 180
 181     // verify product revision
 182     switch (in) {
 183         case MPU6000ES_REV_C4:
 184         case MPU6000ES_REV_C5:
 185         case MPU6000_REV_C4:
 186         case MPU6000_REV_C5:
 187         case MPU6000ES_REV_D6:
 188         case MPU6000ES_REV_D7:
 189         case MPU6000ES_REV_D8:
 190         case MPU6000_REV_D6:
 191         case MPU6000_REV_D7:
 192         case MPU6000_REV_D8:
 193         case MPU6000_REV_D9:
 194         case MPU6000_REV_D10:
 195             return true;
 196     }
 197
 198     return false;
 199 }
 200
 201 static void mpu6000AccAndGyroInit(void) {
 202
 203     if (mpuSpi6000InitDone) {
 204         return;
 205     }
 206
 207     spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
 208
 209     // Device Reset
 210     mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, BIT_H_RESET);
 211     delay(150);
 212
 213     mpu6000WriteRegister(MPU_RA_SIGNAL_PATH_RESET, BIT_GYRO | BIT_ACC | BIT_TEMP);
 214     delay(150);
 215
 216     // Clock Source PPL with Z axis gyro reference
 217     mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ);
 218     delayMicroseconds(1);
 219
 220     // Disable Primary I2C Interface
 221     mpu6000WriteRegister(MPU_RA_USER_CTRL, BIT_I2C_IF_DIS);
 222     delayMicroseconds(1);
 223
 224     mpu6000WriteRegister(MPU_RA_PWR_MGMT_2, 0x00);
 225     delayMicroseconds(1);
 226
 227     // Accel Sample Rate 1kHz
 228     // Gyroscope Output Rate =  1kHz when the DLPF is enabled
 229     mpu6000WriteRegister(MPU_RA_SMPLRT_DIV, 0x00);
 230     delayMicroseconds(1);
 231
 232     // Gyro +/- 1000 DPS Full Scale
 233     mpu6000WriteRegister(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
 234     delayMicroseconds(1);
 235
 236     // Accel +/- 8 G Full Scale
 237     mpu6000WriteRegister(MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
 238     delayMicroseconds(1);
 239
 240
 241     mpu6000WriteRegister(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0);  // INT_ANYRD_2CLEAR
 242     delayMicroseconds(1);
 243
 244 #ifdef USE_MPU_DATA_READY_SIGNAL
 245     mpu6000WriteRegister(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
 246     delayMicroseconds(1);
 247 #endif
 248
 249     spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_18MHZ_CLOCK_DIVIDER);  // 18 MHz SPI clock
 250
 251     mpuSpi6000InitDone = true;
 252 }
 253
 254 bool mpu6000SpiAccDetect(acc_t *acc)
 255 {
 256     if (mpuDetectionResult.sensor != MPU_60x0_SPI) {
 257         return false;
 258     }
 259
 260     acc->init = mpu6000SpiAccInit;
 261     acc->read = mpuAccRead;
 262
 263     return true;
 264 }
 265
 266 bool mpu6000SpiGyroDetect(gyro_t *gyro)
 267 {
 268     if (mpuDetectionResult.sensor != MPU_60x0_SPI) {
 269         return false;
 270     }
 271
 272     gyro->init = mpu6000SpiGyroInit;
 273     gyro->read = mpuGyroRead;
 274
 275     // 16.4 dps/lsb scalefactor
 276     gyro->scale = 1.0f / 16.4f;
 277
 278     return true;
 279 }