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Merge remote-tracking branch 'emuflight/master' into 20230515_rebase_…
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…master_Peck07_20220726_BMI270_targets
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nerdCopter committed Oct 31, 2023
2 parents f870088 + 3fd882d commit 4103c04
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Showing 2 changed files with 15 additions and 2 deletions.
14 changes: 13 additions & 1 deletion src/main/drivers/accgyro/accgyro_spi_icm426xx.c
Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,11 @@
#define ICM426XX_BANK_SELECT3 0x03
#define ICM426XX_BANK_SELECT4 0x04

// Fix for stalls in gyro output. See https://github.com/ArduPilot/ardupilot/pull/25332 ; https://github.com/betaflight/betaflight/pull/13132
#define ICM426XX_INTF_CONFIG1 0x4D
#define ICM426XX_INTF_CONFIG1_AFSR_MASK 0xC0
#define ICM426XX_INTF_CONFIG1_AFSR_DISABLE 0x40

#define ICM426XX_RA_PWR_MGMT0 0x4E // User Bank 0
#define ICM426XX_PWR_MGMT0_ACCEL_MODE_LN (3 << 0)
#define ICM426XX_PWR_MGMT0_GYRO_MODE_LN (3 << 2)
Expand Down Expand Up @@ -284,13 +289,20 @@ void icm426xxGyroInit(gyroDev_t *gyro)

spiBusWriteRegister(&gyro->bus, ICM426XX_RA_INT_SOURCE0, ICM426XX_UI_DRDY_INT1_EN_ENABLED);

uint8_t intConfig1Value = spiReadRegMsk(&gyro->bus, ICM426XX_RA_INT_CONFIG1);
uint8_t intConfig1Value = spiBusReadRegister(&gyro->bus, ICM426XX_RA_INT_CONFIG1);
// Datasheet says: "User should change setting to 0 from default setting of 1, for proper INT1 and INT2 pin operation"
intConfig1Value &= ~(1 << ICM426XX_INT_ASYNC_RESET_BIT);
intConfig1Value |= (ICM426XX_INT_TPULSE_DURATION_8 | ICM426XX_INT_TDEASSERT_DISABLED);

spiBusWriteRegister(&gyro->bus, ICM426XX_RA_INT_CONFIG1, intConfig1Value);

// Disable AFSR to prevent stalls in gyro output
// ICM426XX_INTF_CONFIG1 location in user bank 0
uint8_t intfConfig1Value = spiBusReadRegister(&gyro->bus, ICM426XX_INTF_CONFIG1);
intfConfig1Value &= ~ICM426XX_INTF_CONFIG1_AFSR_MASK;
intfConfig1Value |= ICM426XX_INTF_CONFIG1_AFSR_DISABLE;
spiBusWriteRegister(&gyro->bus, ICM426XX_INTF_CONFIG1, intfConfig1Value);

// Turn on gyro and acc on again so ODR and FSR can be configured
turnGyroAccOn(gyro);

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3 changes: 2 additions & 1 deletion src/main/drivers/bus_spi.c
Original file line number Diff line number Diff line change
Expand Up @@ -273,7 +273,8 @@ uint16_t spiCalculateDivider(uint32_t freq)
return divisor;
}

// Wait for bus to become free, then read a byte of data where the register is ORed with 0x80
// Wait for bus to become free, then read a byte of data where the register is bitwise OR'ed with 0x80
// EmuFlight codebase is old. Bitwise or 0x80 is redundant here as spiBusReadRegister already contains such.
uint8_t spiReadRegMsk(const busDevice_t *bus, uint8_t reg)
{
return spiBusReadRegister(bus, reg | 0x80);
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