MPU6000.hpp

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/**
 * @file mpu6000.cpp
 *
 * Driver for the Invensense MPU6000, MPU6050, ICM20608, and ICM20602 connected via
 * SPI or I2C.
 *
 * When the device is on the SPI bus the hrt is used to provide thread of
 * execution to the driver.
 *
 * When the device is on the I2C bus a work queue is used provide thread of
 * execution to the driver.
 *
 * The I2C code is only included in the build if USE_I2C is defined by the
 * existance of any of PX4_I2C_MPU6050_ADDR, PX4_I2C_MPU6000_ADDR
 * PX4_I2C_ICM_20608_G_ADDR in the board_config.h file.
 *
 * The command line option -T 6000|20608|20602 (default 6000) selects between
 * MPU60x0, ICM20608G, or ICM20602G;
 *
 * @author Andrew Tridgell
 * @author Pat Hickey
 * @author David Sidrane
 */

#include <lib/conversion/rotation.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/drivers/device/i2c.h>
#include <lib/drivers/device/spi.h>
#include <lib/ecl/geo/geo.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/conversions.h>
#include <systemlib/px4_macros.h>


/*
  we set the timer interrupt to run a bit faster than the desired
  sample rate and then throw away duplicates by comparing
  accelerometer values. This time reduction is enough to cope with
  worst case timing jitter due to other timers

  I2C bus is running at 100 kHz Transaction time is 2.163ms
  I2C bus is running at 400 kHz (304 kHz actual) Transaction time
  is 583 us

 */

#pragma once

#if defined(PX4_I2C_MPU6050_ADDR) || \
    defined(PX4_I2C_MPU6000_ADDR) || \
    defined(PX4_I2C_ICM_20608_G_ADDR)
#  define USE_I2C
#endif

enum MPU_DEVICE_TYPE {
    MPU_DEVICE_TYPE_MPU6000 = 6000,
    MPU_DEVICE_TYPE_ICM20602 = 20602,
    MPU_DEVICE_TYPE_ICM20608 = 20608,
    MPU_DEVICE_TYPE_ICM20689 = 20689
};

#define DIR_READ            0x80
#define DIR_WRITE           0x00

// MPU 6000 registers
#define MPUREG_WHOAMI           0x75
#define MPUREG_SMPLRT_DIV       0x19
#define MPUREG_CONFIG           0x1A
#define MPUREG_GYRO_CONFIG      0x1B
#define MPUREG_ACCEL_CONFIG     0x1C
#define MPUREG_FIFO_EN          0x23
#define MPUREG_INT_PIN_CFG      0x37
#define MPUREG_INT_ENABLE       0x38
#define MPUREG_INT_STATUS       0x3A
#define MPUREG_ACCEL_XOUT_H     0x3B
#define MPUREG_ACCEL_XOUT_L     0x3C
#define MPUREG_ACCEL_YOUT_H     0x3D
#define MPUREG_ACCEL_YOUT_L     0x3E
#define MPUREG_ACCEL_ZOUT_H     0x3F
#define MPUREG_ACCEL_ZOUT_L     0x40
#define MPUREG_TEMP_OUT_H       0x41
#define MPUREG_TEMP_OUT_L       0x42
#define MPUREG_GYRO_XOUT_H      0x43
#define MPUREG_GYRO_XOUT_L      0x44
#define MPUREG_GYRO_YOUT_H      0x45
#define MPUREG_GYRO_YOUT_L      0x46
#define MPUREG_GYRO_ZOUT_H      0x47
#define MPUREG_GYRO_ZOUT_L      0x48
#define MPUREG_USER_CTRL        0x6A
#define MPUREG_PWR_MGMT_1       0x6B
#define MPUREG_PWR_MGMT_2       0x6C
#define MPUREG_FIFO_COUNTH      0x72
#define MPUREG_FIFO_COUNTL      0x73
#define MPUREG_FIFO_R_W         0x74
#define MPUREG_PRODUCT_ID       0x0C
#define MPUREG_TRIM1            0x0D
#define MPUREG_TRIM2            0x0E
#define MPUREG_TRIM3            0x0F
#define MPUREG_TRIM4            0x10
#define MPU_GYRO_DLPF_CFG_256HZ_NOLPF2  0x00  // delay: 0.98ms
#define MPU_GYRO_DLPF_CFG_188HZ 0x01  // delay: 1.9ms
#define MPU_GYRO_DLPF_CFG_98HZ      0x02  // delay: 2.8ms
#define MPU_GYRO_DLPF_CFG_42HZ      0x03  // delay: 4.8ms
#define MPU_GYRO_DLPF_CFG_20HZ      0x04  // delay: 8.3ms
#define MPU_GYRO_DLPF_CFG_10HZ      0x05  // delay: 13.4ms
#define MPU_GYRO_DLPF_CFG_5HZ       0x06  // delay: 18.6ms
#define MPU_GYRO_DLPF_CFG_2100HZ_NOLPF  0x07
#define MPU_DLPF_CFG_MASK       0x07

// Configuration bits MPU 3000 and MPU 6000 (not revised)?
#define BIT_SLEEP               0x40
#define BIT_H_RESET             0x80
#define BITS_CLKSEL             0x07
#define MPU_CLK_SEL_PLLGYROX    0x01
#define MPU_CLK_SEL_PLLGYROZ    0x03
#define MPU_EXT_SYNC_GYROX      0x02
#define BITS_GYRO_ST_X          0x80
#define BITS_GYRO_ST_Y          0x40
#define BITS_GYRO_ST_Z          0x20
#define BITS_FS_250DPS          0x00
#define BITS_FS_500DPS          0x08
#define BITS_FS_1000DPS         0x10
#define BITS_FS_2000DPS         0x18
#define BITS_FS_MASK            0x18
#define BIT_INT_ANYRD_2CLEAR    0x10
#define BIT_RAW_RDY_EN          0x01
#define BIT_I2C_IF_DIS          0x10
#define BIT_INT_STATUS_DATA     0x01

#define MPU_WHOAMI_6000         0x68
#define ICM_WHOAMI_20602        0x12
#define ICM_WHOAMI_20608        0xaf
#define ICM_WHOAMI_20689        0x98

// ICM2608 specific registers

#define ICMREG_ACCEL_CONFIG2        0x1D
#define ICM_ACC_DLPF_CFG_1046HZ_NOLPF   0x00
#define ICM_ACC_DLPF_CFG_218HZ      0x01
#define ICM_ACC_DLPF_CFG_99HZ       0x02
#define ICM_ACC_DLPF_CFG_44HZ       0x03
#define ICM_ACC_DLPF_CFG_21HZ       0x04
#define ICM_ACC_DLPF_CFG_10HZ       0x05
#define ICM_ACC_DLPF_CFG_5HZ        0x06
#define ICM_ACC_DLPF_CFG_420HZ      0x07
/* this is an undocumented register which
   if set incorrectly results in getting a 2.7m/s/s offset
   on the Y axis of the accelerometer
*/
#define MPUREG_ICM_UNDOC1       0x11
#define MPUREG_ICM_UNDOC1_VALUE 0xc9

// Product ID Description for ICM20602
// Read From device

#define ICM20602_REV_01     1
#define ICM20602_REV_02     2

// Product ID Description for ICM20608

#define ICM20608_REV_FF     0xff // In the past, was thought to be not returning a value. But seem repeatable.

// Product ID Description for ICM20689

#define ICM20689_REV_FE     0xfe
#define ICM20689_REV_03   0x03
#define ICM20689_REV_04   0x04

// Product ID Description for MPU6000
// high 4 bits  low 4 bits
// Product Name Product Revision
#define MPU6000ES_REV_C4        0x14
#define MPU6000ES_REV_C5        0x15
#define MPU6000ES_REV_D6        0x16
#define MPU6000ES_REV_D7        0x17
#define MPU6000ES_REV_D8        0x18
#define MPU6000_REV_C4          0x54
#define MPU6000_REV_C5          0x55
#define MPU6000_REV_D6          0x56
#define MPU6000_REV_D7          0x57
#define MPU6000_REV_D8          0x58
#define MPU6000_REV_D9          0x59
#define MPU6000_REV_D10         0x5A
#define MPU6050_REV_D8          0x28    // TODO:Need verification

#define MPU6000_ACCEL_DEFAULT_RANGE_G               16

#define MPU6000_GYRO_DEFAULT_RANGE_G                8
#define MPU6000_GYRO_DEFAULT_RATE                   1000


#define MPU6000_DEFAULT_ONCHIP_FILTER_FREQ          98

#pragma pack(push, 1)
/**
 * Report conversation within the MPU6000, including command byte and
 * interrupt status.
 */
struct MPUReport {
    uint8_t     cmd;
    uint8_t     status;
    uint8_t     accel_x[2];
    uint8_t     accel_y[2];
    uint8_t     accel_z[2];
    uint8_t     temp[2];
    uint8_t     gyro_x[2];
    uint8_t     gyro_y[2];
    uint8_t     gyro_z[2];
};
#pragma pack(pop)

#define MPU_MAX_READ_BUFFER_SIZE (sizeof(MPUReport) + 1)
#define MPU_MAX_WRITE_BUFFER_SIZE (2)
/*
  The MPU6000 can only handle high bus speeds on the sensor and
  interrupt status registers. All other registers have a maximum 1MHz
  Communication with all registers of the device is performed using either
  I2C at 400kHz or SPI at 1MHz. For applications requiring faster communications,
  the sensor and interrupt registers may be read using SPI at 20MHz
 */
#define MPU6000_LOW_BUS_SPEED               0
#define MPU6000_HIGH_BUS_SPEED              0x8000
#  define MPU6000_IS_HIGH_SPEED(r)          ((r) & MPU6000_HIGH_BUS_SPEED)
#  define MPU6000_REG(r)                    ((r) &~MPU6000_HIGH_BUS_SPEED)
#  define MPU6000_SET_SPEED(r, s)           ((r)|(s))
#  define MPU6000_HIGH_SPEED_OP(r)          MPU6000_SET_SPEED((r), MPU6000_HIGH_BUS_SPEED)
#  define MPU6000_LOW_SPEED_OP(r)           MPU6000_REG((r))

/* interface factories */
extern device::Device *MPU6000_SPI_interface(int bus, int device_type, bool external_bus);
extern device::Device *MPU6000_I2C_interface(int bus, int device_type, bool external_bus);
extern int MPU6000_probe(device::Device *dev, int device_type);

typedef device::Device *(*MPU6000_constructor)(int, int, bool);


#define MPU6000_TIMER_REDUCTION             200

enum MPU6000_BUS {
    MPU6000_BUS_ALL = 0,
    MPU6000_BUS_I2C_INTERNAL,
    MPU6000_BUS_I2C_EXTERNAL,
    MPU6000_BUS_SPI_INTERNAL1,
    MPU6000_BUS_SPI_INTERNAL2,
    MPU6000_BUS_SPI_EXTERNAL1,
    MPU6000_BUS_SPI_EXTERNAL2
};

class MPU6000 : public px4::ScheduledWorkItem
{
public:
    MPU6000(device::Device *interface, enum Rotation rotation, int device_type);

    virtual ~MPU6000();

    virtual int     init();

    /**
     * Diagnostics - print some basic information about the driver.
     */
    void            print_info();

    void            print_registers();

#ifndef CONSTRAINED_FLASH
    /**
     * Test behaviour against factory offsets
     *
     * @return 0 on success, 1 on failure
     */
    int             factory_self_test();
#endif

    // deliberately cause a sensor error
    void            test_error();

    /**
     * Start automatic measurement.
     */
    void            start();

    /**
     * Reset chip.
     *
     * Resets the chip and measurements ranges, but not scale and offset.
     */
    int         reset();

protected:
    device::Device          *_interface;

    virtual int     probe();

private:

    void Run() override;

    int             _device_type;
    uint8_t         _product{0};    /** product code */

    unsigned        _call_interval{1000};

    PX4Accelerometer    _px4_accel;
    PX4Gyroscope        _px4_gyro;

    unsigned        _sample_rate{1000};

    perf_counter_t      _sample_perf;
    perf_counter_t      _bad_transfers;
    perf_counter_t      _bad_registers;
    perf_counter_t      _reset_retries;
    perf_counter_t      _duplicates;

    uint8_t         _register_wait{0};
    uint64_t        _reset_wait{0};

    // this is used to support runtime checking of key
    // configuration registers to detect SPI bus errors and sensor
    // reset
    static constexpr int MPU6000_CHECKED_PRODUCT_ID_INDEX = 0;
    static constexpr int MPU6000_NUM_CHECKED_REGISTERS = 10;

    static constexpr uint8_t _checked_registers[MPU6000_NUM_CHECKED_REGISTERS] {
        MPUREG_PRODUCT_ID,
        MPUREG_PWR_MGMT_1,
        MPUREG_USER_CTRL,
        MPUREG_SMPLRT_DIV,
        MPUREG_CONFIG,
        MPUREG_GYRO_CONFIG,
        MPUREG_ACCEL_CONFIG,
        MPUREG_INT_ENABLE,
        MPUREG_INT_PIN_CFG,
        MPUREG_ICM_UNDOC1
    };

    uint8_t         _checked_values[MPU6000_NUM_CHECKED_REGISTERS];
    uint8_t         _checked_next{0};

    // use this to avoid processing measurements when in factory
    // self test
    volatile bool       _in_factory_test{false};

    // keep last accel reading for duplicate detection
    uint16_t        _last_accel[3] {};
    bool            _got_duplicate{false};

    /**
     * Stop automatic measurement.
     */
    void            stop();

    /**
     * is_icm_device
     */
    bool        is_icm_device() { return !is_mpu_device(); }
    /**
     * is_mpu_device
     */
    bool        is_mpu_device() { return _device_type == MPU_DEVICE_TYPE_MPU6000; }

    /**
     * Fetch measurements from the sensor and update the report buffers.
     */
    int         measure();

    /**
     * Read a register from the MPU6000
     *
     * @param       The register to read.
     * @return      The value that was read.
     */
    uint8_t         read_reg(unsigned reg, uint32_t speed = MPU6000_LOW_BUS_SPEED);
    uint16_t        read_reg16(unsigned reg);


    /**
     * Write a register in the MPU6000
     *
     * @param reg       The register to write.
     * @param value     The new value to write.
     */
    int             write_reg(unsigned reg, uint8_t value);

    /**
     * Modify a register in the MPU6000
     *
     * Bits are cleared before bits are set.
     *
     * @param reg       The register to modify.
     * @param clearbits Bits in the register to clear.
     * @param setbits   Bits in the register to set.
     */
    void            modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);

    /**
     * Write a register in the MPU6000, updating _checked_values
     *
     * @param reg       The register to write.
     * @param value     The new value to write.
     */
    void            write_checked_reg(unsigned reg, uint8_t value);

    /**
     * Set the MPU6000 measurement range.
     *
     * @param max_g     The maximum G value the range must support.
     * @return      OK if the value can be supported, -ERANGE otherwise.
     */
    int         set_accel_range(unsigned max_g);

    /*
      set low pass filter frequency
     */
    void            _set_dlpf_filter(uint16_t frequency_hz);
    void            _set_icm_acc_dlpf_filter(uint16_t frequency_hz);

    /*
      set sample rate (approximate) - 1kHz to 5Hz
    */
    void            _set_sample_rate(unsigned desired_sample_rate_hz);

    /*
      check that key registers still have the right value
     */
    void            check_registers(void);

    /* do not allow to copy this class due to pointer data members */
    MPU6000(const MPU6000 &);
    MPU6000 operator=(const MPU6000 &);

};