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Merge pull request #7259 from iNavFlight/de_add_icm42605
Add support for ICM42605 and ICM42688P IMUs
This commit is contained in:
Konstantin Sharlaimov
GitHub
commit
dccdfdf1d3
15 changed files with 356 additions and 18 deletions
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@ -83,6 +83,8 @@ main_sources(COMMON_SRC
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drivers/accgyro/accgyro_fake.h
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drivers/accgyro/accgyro_icm20689.c
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drivers/accgyro/accgyro_icm20689.h
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drivers/accgyro/accgyro_icm42605.c
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drivers/accgyro/accgyro_icm42605.h
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drivers/accgyro/accgyro_l3g4200d.c
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drivers/accgyro/accgyro_l3g4200d.h
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drivers/accgyro/accgyro_l3gd20.c
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272
src/main/drivers/accgyro/accgyro_icm42605.c
Normal file
272
src/main/drivers/accgyro/accgyro_icm42605.c
Normal file
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@ -0,0 +1,272 @@
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/*
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* This file is part of INAV.
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*
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* INAV 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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* INAV is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with INAV. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include "platform.h"
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#include "build/debug.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "common/utils.h"
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#include "drivers/system.h"
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#include "drivers/time.h"
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#include "drivers/exti.h"
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#include "drivers/sensor.h"
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#include "drivers/accgyro/accgyro.h"
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#include "drivers/accgyro/accgyro_mpu.h"
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#include "drivers/accgyro/accgyro_icm42605.h"
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#if defined(USE_IMU_ICM42605)
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#define ICM42605_RA_PWR_MGMT0 0x4E
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#define ICM42605_PWR_MGMT0_ACCEL_MODE_LN (3 << 0)
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#define ICM42605_PWR_MGMT0_GYRO_MODE_LN (3 << 2)
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#define ICM42605_PWR_MGMT0_TEMP_DISABLE_OFF (0 << 5)
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#define ICM42605_PWR_MGMT0_TEMP_DISABLE_ON (1 << 5)
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#define ICM42605_RA_GYRO_CONFIG0 0x4F
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#define ICM42605_RA_ACCEL_CONFIG0 0x50
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#define ICM42605_RA_GYRO_ACCEL_CONFIG0 0x52
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#define ICM42605_ACCEL_UI_FILT_BW_LOW_LATENCY (14 << 4)
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#define ICM42605_GYRO_UI_FILT_BW_LOW_LATENCY (14 << 0)
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#define ICM42605_RA_GYRO_DATA_X1 0x25
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#define ICM42605_RA_ACCEL_DATA_X1 0x1F
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#define ICM42605_RA_INT_CONFIG 0x14
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#define ICM42605_INT1_MODE_PULSED (0 << 2)
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#define ICM42605_INT1_MODE_LATCHED (1 << 2)
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#define ICM42605_INT1_DRIVE_CIRCUIT_OD (0 << 1)
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#define ICM42605_INT1_DRIVE_CIRCUIT_PP (1 << 1)
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#define ICM42605_INT1_POLARITY_ACTIVE_LOW (0 << 0)
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#define ICM42605_INT1_POLARITY_ACTIVE_HIGH (1 << 0)
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#define ICM42605_RA_INT_CONFIG0 0x63
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#define ICM42605_UI_DRDY_INT_CLEAR_ON_SBR ((0 << 5) || (0 << 4))
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#define ICM42605_UI_DRDY_INT_CLEAR_ON_SBR_DUPLICATE ((0 << 5) || (0 << 4)) // duplicate settings in datasheet, Rev 1.2.
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#define ICM42605_UI_DRDY_INT_CLEAR_ON_F1BR ((1 << 5) || (0 << 4))
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#define ICM42605_UI_DRDY_INT_CLEAR_ON_SBR_AND_F1BR ((1 << 5) || (1 << 4))
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#define ICM42605_RA_INT_CONFIG1 0x64
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#define ICM42605_INT_ASYNC_RESET_BIT 4
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#define ICM42605_INT_TDEASSERT_DISABLE_BIT 5
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#define ICM42605_INT_TDEASSERT_ENABLED (0 << ICM42605_INT_TDEASSERT_DISABLE_BIT)
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#define ICM42605_INT_TDEASSERT_DISABLED (1 << ICM42605_INT_TDEASSERT_DISABLE_BIT)
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#define ICM42605_INT_TPULSE_DURATION_BIT 6
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#define ICM42605_INT_TPULSE_DURATION_100 (0 << ICM42605_INT_TPULSE_DURATION_BIT)
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#define ICM42605_INT_TPULSE_DURATION_8 (1 << ICM42605_INT_TPULSE_DURATION_BIT)
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#define ICM42605_RA_INT_SOURCE0 0x65
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#define ICM42605_UI_DRDY_INT1_EN_DISABLED (0 << 3)
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#define ICM42605_UI_DRDY_INT1_EN_ENABLED (1 << 3)
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static void icm42605AccInit(accDev_t *acc)
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{
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acc->acc_1G = 512 * 4;
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}
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static bool icm42605AccRead(accDev_t *acc)
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{
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uint8_t data[6];
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const bool ack = busReadBuf(acc->busDev, ICM42605_RA_ACCEL_DATA_X1, data, 6);
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if (!ack) {
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return false;
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}
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acc->ADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
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acc->ADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
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acc->ADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
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return true;
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}
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bool icm42605AccDetect(accDev_t *acc)
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{
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acc->busDev = busDeviceOpen(BUSTYPE_ANY, DEVHW_ICM42605, acc->imuSensorToUse);
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if (acc->busDev == NULL) {
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return false;
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}
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mpuContextData_t * ctx = busDeviceGetScratchpadMemory(acc->busDev);
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if (ctx->chipMagicNumber != 0x4265) {
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return false;
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}
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acc->initFn = icm42605AccInit;
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acc->readFn = icm42605AccRead;
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acc->accAlign = acc->busDev->param;
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return true;
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}
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static const gyroFilterAndRateConfig_t icm42605GyroConfigs[] = {
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/* DLPF ODR */
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{ GYRO_LPF_256HZ, 8000, { 6, 3 } }, /* 400 Hz LPF */
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{ GYRO_LPF_256HZ, 4000, { 5, 4 } }, /* 250 Hz LPF */
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{ GYRO_LPF_256HZ, 2000, { 3, 5 } }, /* 250 Hz LPF */
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{ GYRO_LPF_256HZ, 1000, { 1, 6 } }, /* 250 Hz LPF */
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{ GYRO_LPF_256HZ, 500, { 0, 15 } }, /* 250 Hz LPF */
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{ GYRO_LPF_188HZ, 1000, { 3, 6 } }, /* 125 HZ */
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{ GYRO_LPF_188HZ, 500, { 1, 15 } }, /* 125 HZ */
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{ GYRO_LPF_98HZ, 1000, { 4, 6 } }, /* 100 HZ*/
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{ GYRO_LPF_98HZ, 500, { 2, 15 } }, /* 100 HZ*/
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{ GYRO_LPF_42HZ, 1000, { 6, 6 } }, /* 50 HZ */
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{ GYRO_LPF_42HZ, 500, { 4, 15 } },
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{ GYRO_LPF_20HZ, 1000, { 7, 6 } }, /* 25 HZ */
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{ GYRO_LPF_20HZ, 500, { 6, 15 } },
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{ GYRO_LPF_10HZ, 1000, { 7, 6 } }, /* 25 HZ */
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{ GYRO_LPF_10HZ, 500, { 7, 15 } } /* 12.5 HZ */
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};
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static void icm42605AccAndGyroInit(gyroDev_t *gyro)
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{
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busDevice_t * dev = gyro->busDev;
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const gyroFilterAndRateConfig_t * config = chooseGyroConfig(gyro->lpf, 1000000 / gyro->requestedSampleIntervalUs,
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&icm42605GyroConfigs[0], ARRAYLEN(icm42605GyroConfigs));
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gyro->sampleRateIntervalUs = 1000000 / config->gyroRateHz;
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gyroIntExtiInit(gyro);
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busSetSpeed(dev, BUS_SPEED_INITIALIZATION);
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busWrite(dev, ICM42605_RA_PWR_MGMT0, ICM42605_PWR_MGMT0_TEMP_DISABLE_OFF | ICM42605_PWR_MGMT0_ACCEL_MODE_LN | ICM42605_PWR_MGMT0_GYRO_MODE_LN);
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delay(15);
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/* ODR and dynamic range */
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busWrite(dev, ICM42605_RA_GYRO_CONFIG0, (0x00) << 5 | (config->gyroConfigValues[1] & 0x0F)); /* 2000 deg/s */
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delay(15);
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busWrite(dev, ICM42605_RA_ACCEL_CONFIG0, (0x00) << 5 | (config->gyroConfigValues[1] & 0x0F)); /* 16 G deg/s */
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delay(15);
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/* LPF bandwidth */
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busWrite(dev, ICM42605_RA_GYRO_ACCEL_CONFIG0, (config->gyroConfigValues[1]) | (config->gyroConfigValues[1] << 4));
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delay(15);
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busWrite(dev, ICM42605_RA_INT_CONFIG, ICM42605_INT1_MODE_PULSED | ICM42605_INT1_DRIVE_CIRCUIT_PP | ICM42605_INT1_POLARITY_ACTIVE_HIGH);
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delay(15);
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busWrite(dev, ICM42605_RA_INT_CONFIG0, ICM42605_UI_DRDY_INT_CLEAR_ON_SBR);
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delay(100);
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#ifdef USE_MPU_DATA_READY_SIGNAL
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uint8_t intConfig1Value;
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busWrite(dev, ICM42605_RA_INT_SOURCE0, ICM42605_UI_DRDY_INT1_EN_ENABLED);
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// Datasheet says: "User should change setting to 0 from default setting of 1, for proper INT1 and INT2 pin operation"
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busRead(dev, ICM42605_RA_INT_CONFIG1, &intConfig1Value);
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intConfig1Value &= ~(1 << ICM42605_INT_ASYNC_RESET_BIT);
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intConfig1Value |= (ICM42605_INT_TPULSE_DURATION_8 | ICM42605_INT_TDEASSERT_DISABLED);
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busWrite(dev, ICM42605_RA_INT_CONFIG1, intConfig1Value);
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delay(15);
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#endif
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busSetSpeed(dev, BUS_SPEED_FAST);
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}
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static bool icm42605DeviceDetect(busDevice_t * dev)
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{
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uint8_t tmp;
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uint8_t attemptsRemaining = 5;
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busSetSpeed(dev, BUS_SPEED_INITIALIZATION);
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busWrite(dev, ICM42605_RA_PWR_MGMT0, 0x00);
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do {
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delay(150);
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busRead(dev, MPU_RA_WHO_AM_I, &tmp);
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switch (tmp) {
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/* ICM42605 and ICM42688P share the register structure*/
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case ICM42605_WHO_AM_I_CONST:
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case ICM42688P_WHO_AM_I_CONST:
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return true;
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default:
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// Retry detection
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break;
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}
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} while (attemptsRemaining--);
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return false;
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}
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static bool icm42605GyroRead(gyroDev_t *gyro)
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{
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uint8_t data[6];
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const bool ack = busReadBuf(gyro->busDev, ICM42605_RA_GYRO_DATA_X1, data, 6);
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if (!ack) {
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return false;
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}
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gyro->gyroADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
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gyro->gyroADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
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gyro->gyroADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
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return true;
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}
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bool icm42605GyroDetect(gyroDev_t *gyro)
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{
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gyro->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_ICM42605, gyro->imuSensorToUse, OWNER_MPU);
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if (gyro->busDev == NULL) {
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return false;
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}
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if (!icm42605DeviceDetect(gyro->busDev)) {
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busDeviceDeInit(gyro->busDev);
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return false;
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}
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// Magic number for ACC detection to indicate that we have detected icm42605 gyro
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mpuContextData_t * ctx = busDeviceGetScratchpadMemory(gyro->busDev);
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ctx->chipMagicNumber = 0x4265;
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gyro->initFn = icm42605AccAndGyroInit;
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gyro->readFn = icm42605GyroRead;
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gyro->intStatusFn = gyroCheckDataReady;
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gyro->temperatureFn = NULL;
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gyro->scale = 1.0f / 16.4f; // 16.4 dps/lsb scalefactor
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gyro->gyroAlign = gyro->busDev->param;
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return true;
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}
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#endif
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21
src/main/drivers/accgyro/accgyro_icm42605.h
Normal file
21
src/main/drivers/accgyro/accgyro_icm42605.h
Normal file
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@ -0,0 +1,21 @@
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/*
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* This file is part of INAV.
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*
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* INAV 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
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
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* INAV 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.
|
||||
*
|
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* You should have received a copy of the GNU General Public License
|
||||
* along with INAV. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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bool icm42605AccDetect(accDev_t *acc);
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bool icm42605GyroDetect(gyroDev_t *gyro);
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@ -35,6 +35,8 @@
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#define ICM20602_WHO_AM_I_CONST (0x12)
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#define ICM20608G_WHO_AM_I_CONST (0xAF)
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#define ICM20689_WHO_AM_I_CONST (0x98)
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#define ICM42605_WHO_AM_I_CONST (0x42)
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#define ICM42688P_WHO_AM_I_CONST (0x47)
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// RA = Register Address
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@ -94,6 +94,7 @@ typedef enum {
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DEVHW_BMI088_GYRO,
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DEVHW_BMI088_ACC,
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DEVHW_ICM20689,
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DEVHW_ICM42605,
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/* Combined ACC/GYRO/MAG chips */
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DEVHW_MPU9250,
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@ -164,7 +164,7 @@ static const char * const featureNames[] = {
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/* Sensor names (used in lookup tables for *_hardware settings and in status command output) */
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// sync with gyroSensor_e
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static const char * const gyroNames[] = { "NONE", "AUTO", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "FAKE"};
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static const char * const gyroNames[] = { "NONE", "AUTO", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "FAKE"};
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// sync this with sensors_e
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static const char * const sensorTypeNames[] = {
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|
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@ -4,7 +4,7 @@ tables:
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- name: gyro_lpf
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values: ["256HZ", "188HZ", "98HZ", "42HZ", "20HZ", "10HZ"]
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- name: acc_hardware
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values: ["NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "FAKE"]
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values: ["NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "FAKE"]
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enum: accelerationSensor_e
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- name: rangefinder_hardware
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values: ["NONE", "HCSR04", "SRF10", "INAV_I2C", "VL53L0X", "MSP", "UNUSED", "BENEWAKE", "VL53L1X", "US42"]
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@ -53,6 +53,7 @@ FILE_COMPILE_FOR_SPEED
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#include "drivers/accgyro/accgyro_bmi088.h"
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#include "drivers/accgyro/accgyro_bmi160.h"
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#include "drivers/accgyro/accgyro_icm20689.h"
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#include "drivers/accgyro/accgyro_icm42605.h"
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#include "drivers/accgyro/accgyro_fake.h"
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#include "drivers/sensor.h"
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@ -268,6 +269,19 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
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FALLTHROUGH;
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#endif
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#ifdef USE_IMU_ICM42605
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case ACC_ICM42605:
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if (icm42605AccDetect(dev)) {
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accHardware = ACC_ICM42605;
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break;
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}
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/* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
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if (accHardwareToUse != ACC_AUTODETECT) {
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break;
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}
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FALLTHROUGH;
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#endif
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#ifdef USE_IMU_FAKE
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case ACC_FAKE:
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|
|
|
|||
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|
@ -33,20 +33,21 @@
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||||
// Type of accelerometer used/detected
|
||||
typedef enum {
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ACC_NONE = 0,
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ACC_AUTODETECT = 1,
|
||||
ACC_ADXL345 = 2,
|
||||
ACC_MPU6050 = 3,
|
||||
ACC_MMA8452 = 4,
|
||||
ACC_BMA280 = 5,
|
||||
ACC_LSM303DLHC = 6,
|
||||
ACC_MPU6000 = 7,
|
||||
ACC_MPU6500 = 8,
|
||||
ACC_MPU9250 = 9,
|
||||
ACC_BMI160 = 10,
|
||||
ACC_ICM20689 = 11,
|
||||
ACC_BMI088 = 12,
|
||||
ACC_FAKE = 13,
|
||||
ACC_NONE = 0,
|
||||
ACC_AUTODETECT = 1,
|
||||
ACC_ADXL345 = 2,
|
||||
ACC_MPU6050 = 3,
|
||||
ACC_MMA8452 = 4,
|
||||
ACC_BMA280 = 5,
|
||||
ACC_LSM303DLHC = 6,
|
||||
ACC_MPU6000 = 7,
|
||||
ACC_MPU6500 = 8,
|
||||
ACC_MPU9250 = 9,
|
||||
ACC_BMI160 = 10,
|
||||
ACC_ICM20689 = 11,
|
||||
ACC_BMI088 = 12,
|
||||
ACC_ICM42605 = 13,
|
||||
ACC_FAKE,
|
||||
ACC_MAX = ACC_FAKE
|
||||
} accelerationSensor_e;
|
||||
|
||||
|
|
|
|||
|
|
@ -55,6 +55,7 @@ FILE_COMPILE_FOR_SPEED
|
|||
#include "drivers/accgyro/accgyro_bmi088.h"
|
||||
#include "drivers/accgyro/accgyro_bmi160.h"
|
||||
#include "drivers/accgyro/accgyro_icm20689.h"
|
||||
#include "drivers/accgyro/accgyro_icm42605.h"
|
||||
#include "drivers/accgyro/accgyro_fake.h"
|
||||
#include "drivers/io.h"
|
||||
|
||||
|
|
@ -247,6 +248,15 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev, gyroSensor_e gyroHard
|
|||
FALLTHROUGH;
|
||||
#endif
|
||||
|
||||
#ifdef USE_IMU_ICM42605
|
||||
case GYRO_ICM42605:
|
||||
if (icm42605GyroDetect(dev)) {
|
||||
gyroHardware = GYRO_ICM42605;
|
||||
break;
|
||||
}
|
||||
FALLTHROUGH;
|
||||
#endif
|
||||
|
||||
#ifdef USE_IMU_FAKE
|
||||
case GYRO_FAKE:
|
||||
if (fakeGyroDetect(dev)) {
|
||||
|
|
|
|||
|
|
@ -37,6 +37,7 @@ typedef enum {
|
|||
GYRO_BMI160,
|
||||
GYRO_ICM20689,
|
||||
GYRO_BMI088,
|
||||
GYRO_ICM42605,
|
||||
GYRO_FAKE
|
||||
} gyroSensor_e;
|
||||
|
||||
|
|
|
|||
|
|
@ -1 +1,2 @@
|
|||
target_stm32f765xi(MATEKF765)
|
||||
target_stm32f765xi(MATEKF765SE)
|
||||
|
|
|
|||
|
|
@ -29,6 +29,10 @@
|
|||
BUSDEV_REGISTER_SPI_TAG(busdev_imu0, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, MPU6000_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
|
||||
BUSDEV_REGISTER_SPI_TAG(busdev_imu1, DEVHW_MPU6500, MPU6500_SPI_BUS, MPU6500_CS_PIN, MPU6500_EXTI_PIN, 1, DEVFLAGS_NONE, IMU_MPU6500_ALIGN);
|
||||
|
||||
#if defined(MATEKF765SE)
|
||||
BUSDEV_REGISTER_SPI_TAG(busdev_imu3, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42605_CS_PIN, ICM42605_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
|
||||
#endif
|
||||
|
||||
const timerHardware_t timerHardware[] = {
|
||||
DEF_TIM(TIM2, CH1, PA0, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0), // S1 UP(1,7), D(1,5,3)
|
||||
DEF_TIM(TIM2, CH2, PA1, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0), // S2 UP(1,7), D(1,6,3)
|
||||
|
|
|
|||
|
|
@ -56,6 +56,13 @@
|
|||
#define MPU6500_CS_PIN PD7
|
||||
#define MPU6500_EXTI_PIN PD4
|
||||
|
||||
#if defined(MATEKF765SE)
|
||||
#define USE_IMU_ICM42605
|
||||
#define IMU_ICM42605_ALIGN CW0_DEG_FLIP
|
||||
#define ICM42605_SPI_BUS BUS_SPI4
|
||||
#define ICM42605_CS_PIN PE11
|
||||
#define ICM42605_EXTI_PIN PC13
|
||||
#endif
|
||||
|
||||
#define USE_EXTI
|
||||
#define USE_MPU_DATA_READY_SIGNAL
|
||||
|
|
@ -103,12 +110,10 @@
|
|||
#define MAX7456_CS_PIN PB12
|
||||
|
||||
// *************** SPI4 ******************************
|
||||
/*
|
||||
#define USE_SPI_DEVICE_4
|
||||
#define SPI4_SCK_PIN PE12
|
||||
#define SPI4_MISO_PIN PE13
|
||||
#define SPI4_MOSI_PIN PE14
|
||||
*/
|
||||
|
||||
// *************** UART *****************************
|
||||
#define USE_VCP
|
||||
|
|
|
|||
|
|
@ -73,6 +73,10 @@
|
|||
BUSDEV_REGISTER_SPI(busdev_icm20689, DEVHW_ICM20689, ICM20689_SPI_BUS, ICM20689_CS_PIN, GYRO_INT_EXTI, DEVFLAGS_NONE, IMU_ICM20689_ALIGN);
|
||||
#endif
|
||||
|
||||
#if defined(USE_IMU_ICM42605)
|
||||
BUSDEV_REGISTER_SPI(busdev_icm42605, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42605_CS_PIN, GYRO_INT_EXTI, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
|
||||
#endif
|
||||
|
||||
#if defined(USE_IMU_BMI160)
|
||||
#if defined(BMI160_SPI_BUS)
|
||||
BUSDEV_REGISTER_SPI(busdev_bmi160, DEVHW_BMI160, BMI160_SPI_BUS, BMI160_CS_PIN, GYRO_INT_EXTI, DEVFLAGS_NONE, IMU_BMI160_ALIGN);
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue