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Added support for BMI160 gyro
This commit is contained in:
Martin Budden
parent
cc2fc2c559
commit
dbfc355097
8 changed files with 563 additions and 6 deletions
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@ -37,6 +37,7 @@
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typedef enum {
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GYRO_RATE_1_kHz,
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GYRO_RATE_3200_Hz,
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GYRO_RATE_8_kHz,
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GYRO_RATE_32_kHz,
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} gyroRateKHz_e;
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458
src/main/drivers/accgyro_spi_bmi160.c
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458
src/main/drivers/accgyro_spi_bmi160.c
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@ -0,0 +1,458 @@
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/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_BMI160 BMI160 Functions
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* @brief Hardware functions to deal with the 6DOF gyro / accel sensor
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* @{
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*
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* @file pios_bmi160.c
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* @author dRonin, http://dRonin.org/, Copyright (C) 2016
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* @brief BMI160 Gyro / Accel Sensor Routines
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* @see The GNU Public License (GPL) Version 3
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******************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*
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* Additional note on redistribution: The copyright and license notices above
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* must be maintained in each individual source file that is a derivative work
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* of this source file; otherwise redistribution is prohibited.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include "platform.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "system.h"
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#include "io.h"
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#include "exti.h"
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#include "nvic.h"
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#include "bus_spi.h"
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#include "gyro_sync.h"
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#include "sensor.h"
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#include "accgyro.h"
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#include "accgyro_spi_bmi160.h"
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#include "config/config_eeprom.h"
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#include "config/config_profile.h"
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#include "config/config_master.h"
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#include "fc/runtime_config.h"
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#ifdef USE_ACCGYRO_BMI160
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/* BMI160 Registers */
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#define BMI160_REG_CHIPID 0x00
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#define BMI160_REG_PMU_STAT 0x03
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#define BMI160_REG_GYR_DATA_X_LSB 0x0C
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#define BMI160_REG_ACC_DATA_X_LSB 0x12
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#define BMI160_REG_STATUS 0x1B
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#define BMI160_REG_TEMPERATURE_0 0x20
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#define BMI160_REG_ACC_CONF 0x40
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#define BMI160_REG_ACC_RANGE 0x41
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#define BMI160_REG_GYR_CONF 0x42
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#define BMI160_REG_GYR_RANGE 0x43
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#define BMI160_REG_INT_EN1 0x51
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#define BMI160_REG_INT_OUT_CTRL 0x53
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#define BMI160_REG_INT_MAP1 0x56
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#define BMI160_REG_FOC_CONF 0x69
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#define BMI160_REG_CONF 0x6A
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#define BMI160_REG_OFFSET_0 0x77
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#define BMI160_REG_CMD 0x7E
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/* Register values */
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#define BMI160_PMU_CMD_PMU_ACC_NORMAL 0x11
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#define BMI160_PMU_CMD_PMU_GYR_NORMAL 0x15
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#define BMI160_INT_EN1_DRDY 0x10
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#define BMI160_INT_OUT_CTRL_INT1_CONFIG 0x0A
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#define BMI160_REG_INT_MAP1_INT1_DRDY 0x80
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#define BMI160_CMD_START_FOC 0x03
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#define BMI160_CMD_PROG_NVM 0xA0
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#define BMI160_REG_STATUS_NVM_RDY 0x10
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#define BMI160_REG_STATUS_FOC_RDY 0x08
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#define BMI160_REG_CONF_NVM_PROG_EN 0x02
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///* Global Variables */
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static volatile bool BMI160InitDone = false;
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static volatile bool BMI160Detected = false;
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static volatile bool bmi160DataReady = false;
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static volatile bool bmi160ExtiInitDone = false;
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//! Private functions
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static int32_t BMI160_Config();
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static int32_t BMI160_do_foc();
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static uint8_t BMI160_ReadReg(uint8_t reg);
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static int32_t BMI160_WriteReg(uint8_t reg, uint8_t data);
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static IO_t bmi160CsPin = IO_NONE;
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#define DISABLE_BMI160 IOHi(bmi160CsPin)
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#define ENABLE_BMI160 IOLo(bmi160CsPin)
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bool BMI160_Detect()
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{
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if (BMI160Detected)
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return true;
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bmi160CsPin = IOGetByTag(IO_TAG(BMI160_CS_PIN));
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IOInit(bmi160CsPin, OWNER_MPU_CS, 0);
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IOConfigGPIO(bmi160CsPin, SPI_IO_CS_CFG);
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spiSetDivisor(BMI160_SPI_INSTANCE, BMI160_SPI_DIVISOR);
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/* Read this address to acticate SPI (see p. 84) */
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BMI160_ReadReg(0x7F);
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delay(10); // Give SPI some time to start up
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/* Check the chip ID */
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if (BMI160_ReadReg(BMI160_REG_CHIPID) != 0xd1){
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return false;
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}
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BMI160Detected = true;
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return true;
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}
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/**
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* @brief Initialize the BMI160 6-axis sensor.
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* @return 0 for success, -1 for failure to allocate, -10 for failure to get irq
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*/
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static void BMI160_Init()
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{
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if (BMI160InitDone || !BMI160Detected)
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return;
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/* Configure the BMI160 Sensor */
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if (BMI160_Config() != 0){
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return;
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}
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bool do_foc = false;
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/* Perform fast offset compensation if requested */
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if (do_foc) {
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BMI160_do_foc();
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}
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BMI160InitDone = true;
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}
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/**
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* @brief Configure the sensor
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*/
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static int32_t BMI160_Config()
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{
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// Set normal power mode for gyro and accelerometer
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if (BMI160_WriteReg(BMI160_REG_CMD, BMI160_PMU_CMD_PMU_GYR_NORMAL) != 0){
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return -1;
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}
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delay(100); // can take up to 80ms
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if (BMI160_WriteReg(BMI160_REG_CMD, BMI160_PMU_CMD_PMU_ACC_NORMAL) != 0){
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return -2;
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}
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delay(5); // can take up to 3.8ms
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// Verify that normal power mode was entered
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uint8_t pmu_status = BMI160_ReadReg(BMI160_REG_PMU_STAT);
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if ((pmu_status & 0x3C) != 0x14){
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return -3;
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}
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// Set odr and ranges
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// Set acc_us = 0 acc_bwp = 0b010 so only the first filter stage is used
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if (BMI160_WriteReg(BMI160_REG_ACC_CONF, 0x20 | BMI160_ODR_800_Hz) != 0){
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return -3;
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}
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delay(1);
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// Set gyr_bwp = 0b010 so only the first filter stage is used
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if (BMI160_WriteReg(BMI160_REG_GYR_CONF, 0x20 | BMI160_ODR_3200_Hz) != 0){
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return -4;
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}
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delay(1);
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if (BMI160_WriteReg(BMI160_REG_ACC_RANGE, BMI160_RANGE_8G) != 0){
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return -5;
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}
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delay(1);
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if (BMI160_WriteReg(BMI160_REG_GYR_RANGE, BMI160_RANGE_2000DPS) != 0){
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return -6;
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}
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delay(1);
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// Enable offset compensation
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uint8_t val = BMI160_ReadReg(BMI160_REG_OFFSET_0);
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if (BMI160_WriteReg(BMI160_REG_OFFSET_0, val | 0xC0) != 0){
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return -7;
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}
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// Enable data ready interrupt
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if (BMI160_WriteReg(BMI160_REG_INT_EN1, BMI160_INT_EN1_DRDY) != 0){
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return -8;
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}
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delay(1);
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// Enable INT1 pin
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if (BMI160_WriteReg(BMI160_REG_INT_OUT_CTRL, BMI160_INT_OUT_CTRL_INT1_CONFIG) != 0){
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return -9;
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}
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delay(1);
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// Map data ready interrupt to INT1 pin
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if (BMI160_WriteReg(BMI160_REG_INT_MAP1, BMI160_REG_INT_MAP1_INT1_DRDY) != 0){
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return -10;
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}
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delay(1);
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return 0;
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}
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static int32_t BMI160_do_foc()
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{
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// assume sensor is mounted on top
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uint8_t val = 0x7D;;
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if (BMI160_WriteReg(BMI160_REG_FOC_CONF, val) != 0) {
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return -1;
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}
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// Start FOC
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if (BMI160_WriteReg(BMI160_REG_CMD, BMI160_CMD_START_FOC) != 0) {
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return -2;
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}
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// Wait for FOC to complete
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for (int i=0; i<50; i++) {
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val = BMI160_ReadReg(BMI160_REG_STATUS);
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if (val & BMI160_REG_STATUS_FOC_RDY) {
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break;
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}
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delay(10);
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}
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if (!(val & BMI160_REG_STATUS_FOC_RDY)) {
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return -3;
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}
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// Program NVM
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val = BMI160_ReadReg(BMI160_REG_CONF);
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if (BMI160_WriteReg(BMI160_REG_CONF, val | BMI160_REG_CONF_NVM_PROG_EN) != 0) {
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return -4;
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}
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if (BMI160_WriteReg(BMI160_REG_CMD, BMI160_CMD_PROG_NVM) != 0) {
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return -5;
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}
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// Wait for NVM programming to complete
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for (int i=0; i<50; i++) {
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val = BMI160_ReadReg(BMI160_REG_STATUS);
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if (val & BMI160_REG_STATUS_NVM_RDY) {
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break;
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}
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delay(10);
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}
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if (!(val & BMI160_REG_STATUS_NVM_RDY)) {
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return -6;
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}
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return 0;
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}
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/**
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* @brief Read a register from BMI160
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* @returns The register value
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* @param reg[in] Register address to be read
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*/
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static uint8_t BMI160_ReadReg(uint8_t reg)
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{
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uint8_t data;
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ENABLE_BMI160;
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spiTransferByte(BMI160_SPI_INSTANCE, 0x80 | reg); // request byte
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spiTransfer(BMI160_SPI_INSTANCE, &data, NULL, 1); // receive response
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DISABLE_BMI160;
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return data;
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}
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/**
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* @brief Writes one byte to the BMI160 register
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* \param[in] reg Register address
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* \param[in] data Byte to write
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* @returns 0 when success
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*/
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static int32_t BMI160_WriteReg(uint8_t reg, uint8_t data)
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{
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ENABLE_BMI160;
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spiTransferByte(BMI160_SPI_INSTANCE, 0x7f & reg);
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spiTransferByte(BMI160_SPI_INSTANCE, data);
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DISABLE_BMI160;
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return 0;
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}
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extiCallbackRec_t bmi160IntCallbackRec;
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void bmi160ExtiHandler(extiCallbackRec_t *cb)
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{
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gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
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gyro->dataReady = true;
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}
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static void bmi160IntExtiInit(gyroDev_t *gyro)
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{
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static bool bmi160ExtiInitDone = false;
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if (bmi160ExtiInitDone) {
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return;
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}
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IO_t mpuIntIO = IOGetByTag(IO_TAG(BMI160_INT_EXTI));
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IOInit(mpuIntIO, OWNER_MPU_EXTI, 0);
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IOConfigGPIO(mpuIntIO, IOCFG_IN_FLOATING); // TODO - maybe pullup / pulldown ?
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EXTIHandlerInit(&gyro->exti, bmi160ExtiHandler);
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EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, EXTI_Trigger_Rising);
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EXTIEnable(mpuIntIO, true);
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bmi160ExtiInitDone = true;
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}
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bool bmi160AccRead(accDev_t *acc)
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{
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enum {
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IDX_REG = 0,
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IDX_ACCEL_XOUT_L,
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IDX_ACCEL_XOUT_H,
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IDX_ACCEL_YOUT_L,
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IDX_ACCEL_YOUT_H,
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IDX_ACCEL_ZOUT_L,
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IDX_ACCEL_ZOUT_H,
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BUFFER_SIZE,
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};
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uint8_t bmi160_rec_buf[BUFFER_SIZE];
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uint8_t bmi160_tx_buf[BUFFER_SIZE] = {BMI160_REG_ACC_DATA_X_LSB | 0x80, 0, 0, 0, 0, 0, 0};
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ENABLE_BMI160;
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spiTransfer(BMI160_SPI_INSTANCE, bmi160_rec_buf, bmi160_tx_buf, BUFFER_SIZE); // receive response
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DISABLE_BMI160;
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acc->ADCRaw[X] = (int16_t)((bmi160_rec_buf[IDX_ACCEL_XOUT_H] << 8) | bmi160_rec_buf[IDX_ACCEL_XOUT_L]);
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acc->ADCRaw[Y] = (int16_t)((bmi160_rec_buf[IDX_ACCEL_YOUT_H] << 8) | bmi160_rec_buf[IDX_ACCEL_YOUT_L]);
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acc->ADCRaw[Z] = (int16_t)((bmi160_rec_buf[IDX_ACCEL_ZOUT_H] << 8) | bmi160_rec_buf[IDX_ACCEL_ZOUT_L]);
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return true;
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}
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bool bmi160GyroRead(gyroDev_t *gyro)
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{
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enum {
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IDX_REG = 0,
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IDX_GYRO_XOUT_L,
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IDX_GYRO_XOUT_H,
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IDX_GYRO_YOUT_L,
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IDX_GYRO_YOUT_H,
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IDX_GYRO_ZOUT_L,
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IDX_GYRO_ZOUT_H,
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BUFFER_SIZE,
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};
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uint8_t bmi160_rec_buf[BUFFER_SIZE];
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uint8_t bmi160_tx_buf[BUFFER_SIZE] = {BMI160_REG_GYR_DATA_X_LSB | 0x80, 0, 0, 0, 0, 0, 0};
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ENABLE_BMI160;
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spiTransfer(BMI160_SPI_INSTANCE, bmi160_rec_buf, bmi160_tx_buf, BUFFER_SIZE); // receive response
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DISABLE_BMI160;
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gyro->gyroADCRaw[X] = (int16_t)((bmi160_rec_buf[IDX_GYRO_XOUT_H] << 8) | bmi160_rec_buf[IDX_GYRO_XOUT_L]);
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gyro->gyroADCRaw[Y] = (int16_t)((bmi160_rec_buf[IDX_GYRO_YOUT_H] << 8) | bmi160_rec_buf[IDX_GYRO_YOUT_L]);
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gyro->gyroADCRaw[Z] = (int16_t)((bmi160_rec_buf[IDX_GYRO_ZOUT_H] << 8) | bmi160_rec_buf[IDX_GYRO_ZOUT_L]);
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return true;
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}
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bool checkBMI160DataReady(gyroDev_t* gyro)
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{
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bool ret;
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if (gyro->dataReady) {
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ret = true;
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gyro->dataReady= false;
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} else {
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ret = false;
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}
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return ret;
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}
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void bmi160SpiGyroInit(gyroDev_t *gyro)
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{
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BMI160_Init();
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bmi160IntExtiInit(gyro);
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}
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void bmi160SpiAccInit(accDev_t *acc)
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{
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BMI160_Init();
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acc->acc_1G = 512 * 8;
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}
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bool bmi160SpiAccDetect(accDev_t *acc)
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{
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if (!BMI160_Detect()) {
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return false;
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}
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acc->init = bmi160SpiAccInit;
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acc->read = bmi160AccRead;
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return true;
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}
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bool bmi160SpiGyroDetect(gyroDev_t *gyro)
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{
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if (!BMI160_Detect()) {
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return false;
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}
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gyro->init = bmi160SpiGyroInit;
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gyro->read = bmi160GyroRead;
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gyro->intStatus = checkBMI160DataReady;
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gyro->scale = 1.0f / 16.4f;
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return true;
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}
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#endif // USE_ACCGYRO_BMI160
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70
src/main/drivers/accgyro_spi_bmi160.h
Normal file
70
src/main/drivers/accgyro_spi_bmi160.h
Normal file
|
|
@ -0,0 +1,70 @@
|
|||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_BMI160 BMI160 Functions
|
||||
* @brief Hardware functions to deal with the 6DOF gyro / accel sensor
|
||||
* @{
|
||||
*
|
||||
* @file pios_bmi160.c
|
||||
* @author dRonin, http://dRonin.org/, Copyright (C) 2016
|
||||
* @brief BMI160 Gyro / Accel Sensor Routines
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
******************************************************************************/
|
||||
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*
|
||||
* Additional note on redistribution: The copyright and license notices above
|
||||
* must be maintained in each individual source file that is a derivative work
|
||||
* of this source file; otherwise redistribution is prohibited.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
enum pios_bmi160_orientation { // clockwise rotation from board forward
|
||||
PIOS_BMI160_TOP_0DEG,
|
||||
PIOS_BMI160_TOP_90DEG,
|
||||
PIOS_BMI160_TOP_180DEG,
|
||||
PIOS_BMI160_TOP_270DEG,
|
||||
PIOS_BMI160_BOTTOM_0DEG,
|
||||
PIOS_BMI160_BOTTOM_90DEG,
|
||||
PIOS_BMI160_BOTTOM_180DEG,
|
||||
PIOS_BMI160_BOTTOM_270DEG,
|
||||
};
|
||||
|
||||
enum bmi160_odr {
|
||||
BMI160_ODR_800_Hz = 0x0B,
|
||||
BMI160_ODR_1600_Hz = 0x0C,
|
||||
BMI160_ODR_3200_Hz = 0x0D,
|
||||
};
|
||||
|
||||
enum bmi160_acc_range {
|
||||
BMI160_RANGE_2G = 0x03,
|
||||
BMI160_RANGE_4G = 0x05,
|
||||
BMI160_RANGE_8G = 0x08,
|
||||
BMI160_RANGE_16G = 0x0C,
|
||||
};
|
||||
|
||||
enum bmi160_gyro_range {
|
||||
BMI160_RANGE_125DPS = 0x04,
|
||||
BMI160_RANGE_250DPS = 0x03,
|
||||
BMI160_RANGE_500DPS = 0x02,
|
||||
BMI160_RANGE_1000DPS = 0x01,
|
||||
BMI160_RANGE_2000DPS = 0x00,
|
||||
};
|
||||
|
||||
bool bmi160SpiAccDetect(accDev_t *acc);
|
||||
bool bmi160SpiGyroDetect(gyroDev_t *gyro);
|
||||
|
|
@ -31,8 +31,13 @@ uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenomin
|
|||
gyro->gyroRateKHz = GYRO_RATE_32_kHz;
|
||||
gyroSamplePeriod = 31.5f;
|
||||
} else {
|
||||
#ifdef USE_ACCGYRO_BMI160
|
||||
gyro->gyroRateKHz = GYRO_RATE_3200_Hz;
|
||||
gyroSamplePeriod = 312.0f;
|
||||
#else
|
||||
gyro->gyroRateKHz = GYRO_RATE_8_kHz;
|
||||
gyroSamplePeriod = 125.0f;
|
||||
#endif
|
||||
}
|
||||
} else {
|
||||
gyro->gyroRateKHz = GYRO_RATE_1_kHz;
|
||||
|
|
|
|||
|
|
@ -43,6 +43,7 @@
|
|||
#include "drivers/accgyro_mpu3050.h"
|
||||
#include "drivers/accgyro_mpu6050.h"
|
||||
#include "drivers/accgyro_mpu6500.h"
|
||||
#include "drivers/accgyro_spi_bmi160.h"
|
||||
#include "drivers/accgyro_spi_icm20689.h"
|
||||
#include "drivers/accgyro_spi_mpu6000.h"
|
||||
#include "drivers/accgyro_spi_mpu6500.h"
|
||||
|
|
@ -251,13 +252,22 @@ retry:
|
|||
; // fallthrough
|
||||
case ACC_ICM20689:
|
||||
#ifdef USE_ACC_SPI_ICM20689
|
||||
|
||||
if (icm20689SpiAccDetect(dev))
|
||||
{
|
||||
if (icm20689SpiAccDetect(dev)) {
|
||||
accHardware = ACC_ICM20689;
|
||||
#ifdef ACC_ICM20689_ALIGN
|
||||
dev->accAlign = ACC_ICM20689_ALIGN;
|
||||
#endif
|
||||
accHardware = ACC_ICM20689;
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
; // fallthrough
|
||||
case ACC_BMI160:
|
||||
#ifdef USE_ACCGYRO_BMI160
|
||||
if (bmi160SpiAccDetect(dev)) {
|
||||
accHardware = ACC_BMI160;
|
||||
#ifdef ACC_BMI160_ALIGN
|
||||
dev->accAlign = ACC_BMI160_ALIGN;
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -36,6 +36,7 @@ typedef enum {
|
|||
ACC_MPU9250,
|
||||
ACC_ICM20608G,
|
||||
ACC_ICM20602,
|
||||
ACC_BMI160,
|
||||
ACC_FAKE
|
||||
} accelerationSensor_e;
|
||||
|
||||
|
|
|
|||
|
|
@ -43,6 +43,7 @@
|
|||
#include "drivers/accgyro_mpu3050.h"
|
||||
#include "drivers/accgyro_mpu6050.h"
|
||||
#include "drivers/accgyro_mpu6500.h"
|
||||
#include "drivers/accgyro_spi_bmi160.h"
|
||||
#include "drivers/accgyro_spi_icm20689.h"
|
||||
#include "drivers/accgyro_spi_mpu6000.h"
|
||||
#include "drivers/accgyro_spi_mpu6500.h"
|
||||
|
|
@ -239,8 +240,7 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
|
|||
|
||||
#ifdef USE_GYRO_SPI_ICM20689
|
||||
case GYRO_ICM20689:
|
||||
if (icm20689SpiGyroDetect(dev))
|
||||
{
|
||||
if (icm20689SpiGyroDetect(dev)) {
|
||||
gyroHardware = GYRO_ICM20689;
|
||||
#ifdef GYRO_ICM20689_ALIGN
|
||||
dev->gyroAlign = GYRO_ICM20689_ALIGN;
|
||||
|
|
@ -249,6 +249,17 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
|
|||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_ACCGYRO_BMI160
|
||||
case GYRO_BMI160:
|
||||
if (bmi160SpiGyroDetect(dev)) {
|
||||
gyroHardware = GYRO_BMI160;
|
||||
#ifdef GYRO_BMI160_ALIGN
|
||||
dev->gyroAlign = GYRO_BMI160_ALIGN;
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_FAKE_GYRO
|
||||
case GYRO_FAKE:
|
||||
if (fakeGyroDetect(dev)) {
|
||||
|
|
|
|||
|
|
@ -34,6 +34,7 @@ typedef enum {
|
|||
GYRO_ICM20689,
|
||||
GYRO_ICM20608G,
|
||||
GYRO_ICM20602,
|
||||
GYRO_BMI160,
|
||||
GYRO_FAKE
|
||||
} gyroSensor_e;
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue