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Code Issues Wiki Activity

Make ICM-426xx AAF configurable

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This commit is contained in:
KarateBrot 2022-10-03 19:28:49 +02:00
parent ce0a311268
commit 3a0aea85ab
1 changed files with 65 additions and 16 deletions
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81
src/main/drivers/accgyro/accgyro_spi_icm426xx.c
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@ -43,11 +43,12 @@
#include "drivers/sensor.h" #include "drivers/sensor.h"
#include "drivers/time.h" #include "drivers/time.h"
#include "sensors/gyro.h"
// 24 MHz max SPI frequency // 24 MHz max SPI frequency
#define ICM426XX_MAX_SPI_CLK_HZ 24000000 #define ICM426XX_MAX_SPI_CLK_HZ 24000000
#define ICM426XX_RA_PWR_MGMT0 0x4E #define ICM426XX_RA_PWR_MGMT0 0x4E
#define ICM426XX_PWR_MGMT0_ACCEL_MODE_LN (3 << 0) #define ICM426XX_PWR_MGMT0_ACCEL_MODE_LN (3 << 0)
#define ICM426XX_PWR_MGMT0_GYRO_MODE_LN (3 << 2) #define ICM426XX_PWR_MGMT0_GYRO_MODE_LN (3 << 2)
#define ICM426XX_PWR_MGMT0_TEMP_DISABLE_OFF (0 << 5) #define ICM426XX_PWR_MGMT0_TEMP_DISABLE_OFF (0 << 5)
@ -56,8 +57,23 @@
#define ICM426XX_RA_GYRO_CONFIG0 0x4F #define ICM426XX_RA_GYRO_CONFIG0 0x4F
#define ICM426XX_RA_ACCEL_CONFIG0 0x50 #define ICM426XX_RA_ACCEL_CONFIG0 0x50
#define ICM426XX_RA_GYRO_ACCEL_CONFIG0 0x52 #define ICM426XX_RA_GYRO_CONFIG_STATIC3 0x0C
#define ICM426XX_RA_GYRO_CONFIG_STATIC4 0x0D
#define ICM426XX_RA_GYRO_CONFIG_STATIC5 0x0E
#define ICM426XX_RA_ACCEL_CONFIG_STATIC2 0x03
#define ICM426XX_RA_ACCEL_CONFIG_STATIC3 0x04
#define ICM426XX_RA_ACCEL_CONFIG_STATIC4 0x05
#define ICM426XX_AAF_258HZ_DELT 6
#define ICM426XX_AAF_258HZ_BITSHIFT 10
#define ICM426XX_AAF_536HZ_DELT 12
#define ICM426XX_AAF_536HZ_BITSHIFT 8
#define ICM426XX_AAF_997HZ_DELT 21
#define ICM426XX_AAF_997HZ_BITSHIFT 6
#define ICM426XX_AAF_1962HZ_DELT 37
#define ICM426XX_AAF_1962HZ_BITSHIFT 4
#define ICM426XX_RA_GYRO_ACCEL_CONFIG0 0x52
#define ICM426XX_ACCEL_UI_FILT_BW_LOW_LATENCY (14 << 4) #define ICM426XX_ACCEL_UI_FILT_BW_LOW_LATENCY (14 << 4)
#define ICM426XX_GYRO_UI_FILT_BW_LOW_LATENCY (14 << 0) #define ICM426XX_GYRO_UI_FILT_BW_LOW_LATENCY (14 << 0)
@ -145,12 +161,12 @@ bool icm426xxSpiAccDetect(accDev_t *acc)
return true; return true;
} }
typedef struct odrEntry_s { typedef struct odrConfig_s {
uint8_t khz; uint8_t odr; // ODR: Output data rate (gyro sample rate in kHz)
uint8_t odr; // See GYRO_ODR in datasheet. uint8_t odr_idx; // See GYRO_ODR in datasheet
} odrEntry_t; } odrConfig_t;
static odrEntry_t icm426xxPkhzToSupportedODRMap[] = { static odrConfig_t odrConfigLUT[] = {
{ 8, 3 }, { 8, 3 },
{ 4, 4 }, { 4, 4 },
{ 2, 5 }, { 2, 5 },
@ -170,15 +186,15 @@ void icm426xxGyroInit(gyroDev_t *gyro)
spiWriteReg(dev, ICM426XX_RA_PWR_MGMT0, ICM426XX_PWR_MGMT0_TEMP_DISABLE_OFF | ICM426XX_PWR_MGMT0_ACCEL_MODE_LN | ICM426XX_PWR_MGMT0_GYRO_MODE_LN); spiWriteReg(dev, ICM426XX_RA_PWR_MGMT0, ICM426XX_PWR_MGMT0_TEMP_DISABLE_OFF | ICM426XX_PWR_MGMT0_ACCEL_MODE_LN | ICM426XX_PWR_MGMT0_GYRO_MODE_LN);
delay(15); delay(15);
uint8_t outputDataRate = 0; uint8_t odrIdx = 0;
bool supportedODRFound = false; bool supportedODRFound = false;
if (gyro->gyroRateKHz) { if (gyro->gyroRateKHz) {
uint8_t gyroSyncDenominator = gyro->mpuDividerDrops + 1; // rebuild it in here, see gyro_sync.c const uint8_t gyroSyncDenominator = gyro->mpuDividerDrops + 1; // rebuild it in here, see gyro_sync.c
uint8_t desiredODRKhz = 8 / gyroSyncDenominator; const uint8_t desiredODR = 8 / gyroSyncDenominator;
for (uint32_t i = 0; i < ARRAYLEN(icm426xxPkhzToSupportedODRMap); i++) { for (unsigned i = 0; i < ARRAYLEN(odrConfigLUT); i++) {
if (icm426xxPkhzToSupportedODRMap[i].khz == desiredODRKhz) { if (odrConfigLUT[i].odr == desiredODR) {
outputDataRate = icm426xxPkhzToSupportedODRMap[i].odr; odrIdx = odrConfigLUT[i].odr_idx;
supportedODRFound = true; supportedODRFound = true;
break; break;
} }
@ -186,18 +202,51 @@ void icm426xxGyroInit(gyroDev_t *gyro)
} }
if (!supportedODRFound) { if (!supportedODRFound) {
outputDataRate = 6; odrIdx = 6;
gyro->gyroRateKHz = GYRO_RATE_1_kHz; gyro->gyroRateKHz = GYRO_RATE_1_kHz;
} }
STATIC_ASSERT(INV_FSR_2000DPS == 3, "INV_FSR_2000DPS must be 3 to generate correct value"); STATIC_ASSERT(INV_FSR_2000DPS == 3, "INV_FSR_2000DPS must be 3 to generate correct value");
spiWriteReg(dev, ICM426XX_RA_GYRO_CONFIG0, (3 - INV_FSR_2000DPS) << 5 | (outputDataRate & 0x0F)); spiWriteReg(dev, ICM426XX_RA_GYRO_CONFIG0, (3 - INV_FSR_2000DPS) << 5 | (odrIdx & 0x0F));
delay(15); delay(15);
STATIC_ASSERT(INV_FSR_16G == 3, "INV_FSR_16G must be 3 to generate correct value"); STATIC_ASSERT(INV_FSR_16G == 3, "INV_FSR_16G must be 3 to generate correct value");
spiWriteReg(dev, ICM426XX_RA_ACCEL_CONFIG0, (3 - INV_FSR_16G) << 5 | (outputDataRate & 0x0F)); spiWriteReg(dev, ICM426XX_RA_ACCEL_CONFIG0, (3 - INV_FSR_16G) << 5 | (odrIdx & 0x0F));
delay(15); delay(15);
// Select desired AAF settings
uint8_t aafDelt = 0;
uint8_t aafBitshift = 0;
switch (gyroConfig()->gyro_hardware_lpf) {
case GYRO_HARDWARE_LPF_NORMAL: // 258 Hz
aafDelt = ICM426XX_AAF_258HZ_DELT;
aafBitshift = ICM426XX_AAF_258HZ_BITSHIFT;
break;
case GYRO_HARDWARE_LPF_OPTION_1: // 536 Hz
aafDelt = ICM426XX_AAF_536HZ_DELT;
aafBitshift = ICM426XX_AAF_536HZ_BITSHIFT;
break;
case GYRO_HARDWARE_LPF_OPTION_2: // 997 Hz
aafDelt = ICM426XX_AAF_997HZ_DELT;
aafBitshift = ICM426XX_AAF_997HZ_BITSHIFT;
break;
case GYRO_HARDWARE_LPF_EXPERIMENTAL: // 1962 Hz
aafDelt = ICM426XX_AAF_1962HZ_DELT;
aafBitshift = ICM426XX_AAF_1962HZ_BITSHIFT;
break;
}
// Configure gyro Anti-Alias Filter (see section 5.3 "ANTI-ALIAS FILTER")
spiWriteReg(dev, ICM426XX_RA_GYRO_CONFIG_STATIC3, aafDelt);
spiWriteReg(dev, ICM426XX_RA_GYRO_CONFIG_STATIC4, sq(aafDelt) & 0xFF);
spiWriteReg(dev, ICM426XX_RA_GYRO_CONFIG_STATIC5, (sq(aafDelt) >> 8) | (aafBitshift << 4));
// Configure acc Anti-Alias Filter for 1kHz sample rate (see tasks.c)
spiWriteReg(dev, ICM426XX_RA_ACCEL_CONFIG_STATIC2, ICM426XX_AAF_258HZ_DELT << 1);
spiWriteReg(dev, ICM426XX_RA_ACCEL_CONFIG_STATIC3, sq(ICM426XX_AAF_258HZ_DELT) & 0xFF);
spiWriteReg(dev, ICM426XX_RA_ACCEL_CONFIG_STATIC4, (sq(ICM426XX_AAF_258HZ_DELT) >> 8) | (ICM426XX_AAF_258HZ_BITSHIFT << 4));
// Configure gyro and acc UI Filters
spiWriteReg(dev, ICM426XX_RA_GYRO_ACCEL_CONFIG0, ICM426XX_ACCEL_UI_FILT_BW_LOW_LATENCY | ICM426XX_GYRO_UI_FILT_BW_LOW_LATENCY); spiWriteReg(dev, ICM426XX_RA_GYRO_ACCEL_CONFIG0, ICM426XX_ACCEL_UI_FILT_BW_LOW_LATENCY | ICM426XX_GYRO_UI_FILT_BW_LOW_LATENCY);
spiWriteReg(dev, ICM426XX_RA_INT_CONFIG, ICM426XX_INT1_MODE_PULSED | ICM426XX_INT1_DRIVE_CIRCUIT_PP | ICM426XX_INT1_POLARITY_ACTIVE_HIGH); spiWriteReg(dev, ICM426XX_RA_INT_CONFIG, ICM426XX_INT1_MODE_PULSED | ICM426XX_INT1_DRIVE_CIRCUIT_PP | ICM426XX_INT1_POLARITY_ACTIVE_HIGH);