static void mpu9250AccAndGyroInit(uint8_t lpf) {
if (mpuSpi9250InitDone) {
return;
}
spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_SLOW_CLOCK); //low speed for writing to slow registers
mpu9250WriteRegister(MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);
delay(50);
verifympu9250WriteRegister(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
#if defined (REVONANO) || defined (SPARKY2) || defined(ALIENFLIGHTF4) || defined(BLUEJAYF4) || defined(VRCORE)
//mpu9250WriteRegister(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3 | FCB_8800_32); //Fchoice_b defaults to 00 which makes fchoice 11
verifympu9250WriteRegister(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3 | FCB_DISABLED); //Fchoice_b defaults to 00 which makes fchoice 11
if (lpf == 4) {
verifympu9250WriteRegister(MPU_RA_CONFIG, 1); //1KHz, 184DLPF
} else if (lpf < 4) {
verifympu9250WriteRegister(MPU_RA_CONFIG, 7); //8KHz, 3600DLPF
} else if (lpf > 4) {
verifympu9250WriteRegister(MPU_RA_CONFIG, 0); //8KHz, 250DLPF
}
verifympu9250WriteRegister(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); // Get Divider Drops
#else
verifympu9250WriteRegister(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3 | FCB_DISABLED); //Fchoice_b defaults to 00 which makes fchoice 11
if (lpf == 4) {
verifympu9250WriteRegister(MPU_RA_CONFIG, 1); //1KHz, 184DLPF
} else if (lpf < 4) {
verifympu9250WriteRegister(MPU_RA_CONFIG, 7); //8KHz, 3600DLPF
} else if (lpf > 4) {
verifympu9250WriteRegister(MPU_RA_CONFIG, 0); //8KHz, 250DLPF
}
verifympu9250WriteRegister(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); // Get Divider Drops
#endif
verifympu9250WriteRegister(MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
verifympu9250WriteRegister(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_ANYRD_2CLEAR, BYPASS_EN
#if defined(USE_MPU_DATA_READY_SIGNAL)
verifympu9250WriteRegister(MPU_RA_INT_ENABLE, 0x01); //this resets register MPU_RA_PWR_MGMT_1 and won't read back correctly.
#endif
mpuSpi9250InitDone = true; //init done
}
static void mpu6050GyroInit(uint16_t lpf)
{
bool ack;
mpuIntExtiInit();
uint8_t mpuLowPassFilter = determineMPULPF(lpf);
ack = mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
delay(100);
ack = mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
ack = mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
delay(15); //PLL Settling time when changing CLKSEL is max 10ms. Use 15ms to be sure
ack = mpuConfiguration.write(MPU_RA_CONFIG, mpuLowPassFilter); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
ack = mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
// ACC Init stuff.
// Accel scale 8g (4096 LSB/g)
ack = mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
ack = mpuConfiguration.write(MPU_RA_INT_PIN_CFG,
0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_PIN_CFG -- INT_LEVEL_HIGH, INT_OPEN_DIS, LATCH_INT_DIS, INT_RD_CLEAR_DIS, FSYNC_INT_LEVEL_HIGH, FSYNC_INT_DIS, I2C_BYPASS_EN, CLOCK_DIS
#ifdef USE_MPU_DATA_READY_SIGNAL
ack = mpuConfiguration.write(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
#endif
UNUSED(ack);
}
void mpu6500GyroInit(gyroDev_t *gyro)
{
mpuGyroInit(gyro);
gyro->mpuConfiguration.writeFn(MPU_RA_PWR_MGMT_1, MPU6500_BIT_RESET);
delay(100);
gyro->mpuConfiguration.writeFn(MPU_RA_SIGNAL_PATH_RESET, 0x07);
delay(100);
gyro->mpuConfiguration.writeFn(MPU_RA_PWR_MGMT_1, 0);
delay(100);
gyro->mpuConfiguration.writeFn(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
delay(15);
const uint8_t raGyroConfigData = gyro->gyroRateKHz > GYRO_RATE_8_kHz ? (INV_FSR_2000DPS << 3 | FCB_3600_32) : (INV_FSR_2000DPS << 3 | FCB_DISABLED);
gyro->mpuConfiguration.writeFn(MPU_RA_GYRO_CONFIG, raGyroConfigData);
delay(15);
gyro->mpuConfiguration.writeFn(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
delay(15);
gyro->mpuConfiguration.writeFn(MPU_RA_CONFIG, gyro->lpf);
delay(15);
gyro->mpuConfiguration.writeFn(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
delay(100);
// Data ready interrupt configuration
#ifdef USE_MPU9250_MAG
gyro->mpuConfiguration.writeFn(MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR | MPU6500_BIT_BYPASS_EN); // INT_ANYRD_2CLEAR, BYPASS_EN
#else
gyro->mpuConfiguration.writeFn(MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR); // INT_ANYRD_2CLEAR
#endif
delay(15);
#ifdef USE_MPU_DATA_READY_SIGNAL
gyro->mpuConfiguration.writeFn(MPU_RA_INT_ENABLE, MPU6500_BIT_RAW_RDY_EN); // RAW_RDY_EN interrupt enable
#endif
delay(15);
}
bool mpu6000SpiGyroDetect(const mpu6000Config_t *configToUse, gyro_t *gyro, uint16_t lpf)
{
mpu6000Config = configToUse;
if (!mpu6000SpiDetect()) {
return false;
}
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
mpu6000AccAndGyroInit();
uint8_t mpuLowPassFilter = BITS_DLPF_CFG_42HZ;
int16_t data[3];
// default lpf is 42Hz
if (lpf == 256)
mpuLowPassFilter = BITS_DLPF_CFG_256HZ;
else if (lpf >= 188)
mpuLowPassFilter = BITS_DLPF_CFG_188HZ;
else if (lpf >= 98)
mpuLowPassFilter = BITS_DLPF_CFG_98HZ;
else if (lpf >= 42)
mpuLowPassFilter = BITS_DLPF_CFG_42HZ;
else if (lpf >= 20)
mpuLowPassFilter = BITS_DLPF_CFG_20HZ;
else if (lpf >= 10)
mpuLowPassFilter = BITS_DLPF_CFG_10HZ;
else if (lpf > 0)
mpuLowPassFilter = BITS_DLPF_CFG_5HZ;
else
mpuLowPassFilter = BITS_DLPF_CFG_256HZ;
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
// Determine the new sample divider
mpu6000WriteRegister(MPU6000_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops());
delayMicroseconds(1);
// Accel and Gyro DLPF Setting
mpu6000WriteRegister(MPU6000_CONFIG, mpuLowPassFilter);
delayMicroseconds(1);
mpu6000SpiGyroRead(data);
if ((((int8_t)data[1]) == -1 && ((int8_t)data[0]) == -1) || spiGetErrorCounter(MPU6000_SPI_INSTANCE) != 0) {
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
return false;
}
gyro->init = mpu6000SpiGyroInit;
gyro->read = mpu6000SpiGyroRead;
gyro->intStatus = checkMPU6000DataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
//gyro->scale = (4.0f / 16.4f) * (M_PIf / 180.0f) * 0.000001f;
delay(100);
return true;
}
static void mpu6000AccAndGyroInit(uint8_t lpf) {
if (mpuSpi6000InitDone) {
return;
}
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_SLOW_CLOCK); //low speed for writing to slow registers
mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, BIT_H_RESET);
delay(50);
mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, BIT_H_RESET);
delay(50);
verifympu6000WriteRegister(MPU_RA_PWR_MGMT_1, 0x0B); //temp sensor disabled Z axis is timer
// Disable Primary I2C Interface
mpu6000WriteRegister(MPU_RA_USER_CTRL, BIT_I2C_IF_DIS|5);
verifympu6000WriteRegister(MPU_RA_PWR_MGMT_2, 0x00);
// Accel Sample Rate 1kHz
// Gyroscope Output Rate = 1kHz when the DLPF is enabled
verifympu6000WriteRegister(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops());
// Gyro +/- 1000 DPS Full Scale
verifympu6000WriteRegister(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
// Accel +/- 8 G Full Scale
verifympu6000WriteRegister(MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
verifympu6000WriteRegister(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR
#if defined(USE_MPU_DATA_READY_SIGNAL)
mpu6000WriteRegister(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN); //this resets register MPU_RA_PWR_MGMT_1 and won't read back correctly.
delayMicroseconds(100);
verifympu6000WriteRegister(MPU_RA_PWR_MGMT_1, 0x0B); //need to redo MPU_RA_PWR_MGMT_1
verifympu6000WriteRegister(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN); //should work correctly this time
#endif
// Accel and Gyro DLPF Setting
if (lpf == 4) {
verifympu6000WriteRegister(MPU6000_CONFIG, 1); //1KHz, 188DLPF
} else if (lpf < 4) {
verifympu6000WriteRegister(MPU6000_CONFIG, 7); //8KHz, Raw
} else if (lpf > 4) {
verifympu6000WriteRegister(MPU6000_CONFIG, 0); //8KHz, 256DLPF
}
// Clock Source PPL with Z axis gyro reference
verifympu6000WriteRegister(MPU_RA_PWR_MGMT_1, 0x09);
mpuSpi6000InitDone = true; //init done
}
static void mpu6000AccAndGyroInit(void) {
if (mpuSpi6000InitDone) {
return;
}
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
// Device Reset
mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, BIT_H_RESET);
delay(150);
mpu6000WriteRegister(MPU_RA_SIGNAL_PATH_RESET, BIT_GYRO | BIT_ACC | BIT_TEMP);
delay(150);
// Clock Source PPL with Z axis gyro reference
mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ);
delayMicroseconds(15);
// Disable Primary I2C Interface
mpu6000WriteRegister(MPU_RA_USER_CTRL, BIT_I2C_IF_DIS);
delayMicroseconds(15);
mpu6000WriteRegister(MPU_RA_PWR_MGMT_2, 0x00);
delayMicroseconds(15);
// Accel Sample Rate 1kHz
// Gyroscope Output Rate = 1kHz when the DLPF is enabled
mpu6000WriteRegister(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops());
delayMicroseconds(15);
// Gyro +/- 1000 DPS Full Scale
mpu6000WriteRegister(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
delayMicroseconds(15);
// Accel +/- 8 G Full Scale
mpu6000WriteRegister(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
delayMicroseconds(15);
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
delayMicroseconds(15);
#ifdef USE_MPU_DATA_READY_SIGNAL
mpu6000WriteRegister(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
delayMicroseconds(15);
#endif
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_18MHZ_CLOCK_DIVIDER); // 18 MHz SPI clock
delayMicroseconds(1);
mpuSpi6000InitDone = true;
}
void mpu6500GyroInit(uint8_t lpf)
{
mpuIntExtiInit();
#ifdef NAZE
// FIXME target specific code in driver code.
gpio_config_t gpio;
// MPU_INT output on rev5 hardware (PC13). rev4 was on PB13, conflicts with SPI devices
if (hse_value == 12000000) {
gpio.pin = Pin_13;
gpio.speed = Speed_2MHz;
gpio.mode = Mode_IN_FLOATING;
gpioInit(GPIOC, &gpio);
}
#endif
mpuIntExtiInit();
mpuConfiguration.write(MPU_RA_PWR_MGMT_1, MPU6500_BIT_RESET);
delay(100);
mpuConfiguration.write(MPU_RA_SIGNAL_PATH_RESET, 0x07);
delay(100);
mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0);
delay(100);
mpuConfiguration.write(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
delay(15);
mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
delay(15);
mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
delay(15);
mpuConfiguration.write(MPU_RA_CONFIG, lpf);
delay(15);
mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); // Get Divider Drops
delay(100);
// Data ready interrupt configuration
#ifdef USE_MPU9250_MAG
mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_ANYRD_2CLEAR, BYPASS_EN
#else
mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR, BYPASS_EN
#endif
delay(15);
#ifdef USE_MPU_DATA_READY_SIGNAL
mpuConfiguration.write(MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable
#endif
}
void icm20689GyroInit(gyroDev_t *gyro)
{
mpuGyroInit(gyro);
spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_INITIALIZATON);
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
delay(100);
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_SIGNAL_PATH_RESET, 0x03);
delay(100);
// gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_PWR_MGMT_1, 0);
// delay(100);
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
delay(15);
const uint8_t raGyroConfigData = gyro->gyroRateKHz > GYRO_RATE_8_kHz ? (INV_FSR_2000DPS << 3 | FCB_3600_32) : (INV_FSR_2000DPS << 3 | FCB_DISABLED);
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_GYRO_CONFIG, raGyroConfigData);
delay(15);
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
delay(15);
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_CONFIG, gyro->lpf);
delay(15);
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
delay(100);
// Data ready interrupt configuration
// gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR, BYPASS_EN
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_INT_PIN_CFG, 0x10); // INT_ANYRD_2CLEAR, BYPASS_EN
delay(15);
#ifdef USE_MPU_DATA_READY_SIGNAL
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable
#endif
spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_STANDARD);
}
