diff --git a/src/consts.h b/src/consts.h index a6640879a..ac2414d84 100644 --- a/src/consts.h +++ b/src/consts.h @@ -42,6 +42,7 @@ enum class ImuID { LSM6DSV, LSM6DSO, LSM6DSR, + BMI220, Empty = 255 }; @@ -62,6 +63,7 @@ enum class ImuID { #define IMU_LSM6DSO SoftFusionLSM6DSO #define IMU_LSM6DSR SoftFusionLSM6DSR #define IMU_MPU6050_SF SoftFusionMPU6050 +#define IMU_BMI220 SoftFusionBMI220 #define IMU_DEV_RESERVED 250 // Reserved, should not be used in any release firmware diff --git a/src/sensors/SensorManager.cpp b/src/sensors/SensorManager.cpp index 1c1dc9cc7..f4596b19c 100644 --- a/src/sensors/SensorManager.cpp +++ b/src/sensors/SensorManager.cpp @@ -38,6 +38,7 @@ #include "softfusion/drivers/lsm6dso.h" #include "softfusion/drivers/lsm6dsr.h" #include "softfusion/drivers/mpu6050.h" +#include "softfusion/drivers/bmi220.h" #include "softfusion/i2cimpl.h" @@ -56,6 +57,7 @@ namespace SlimeVR using SoftFusionLSM6DSO = SoftFusionSensor; using SoftFusionLSM6DSR = SoftFusionSensor; using SoftFusionMPU6050 = SoftFusionSensor; + using SoftFusionBMI220 = SoftFusionSensor; // TODO Make it more generic in the future and move another place (abstract sensor interface) void SensorManager::swapI2C(uint8_t sclPin, uint8_t sdaPin) diff --git a/src/sensors/sensor.cpp b/src/sensors/sensor.cpp index deaccfc96..9c5b3fbd7 100644 --- a/src/sensors/sensor.cpp +++ b/src/sensors/sensor.cpp @@ -109,6 +109,8 @@ const char * getIMUNameByType(ImuID imuType) { return "LSM6DSO"; case ImuID::LSM6DSR: return "LSM6DSR"; + case ImuID::BMI220: + return "BMI220"; case ImuID::Unknown: case ImuID::Empty: return "UNKNOWN"; diff --git a/src/sensors/softfusion/drivers/bmi220.h b/src/sensors/softfusion/drivers/bmi220.h new file mode 100644 index 000000000..4a4f6f25f --- /dev/null +++ b/src/sensors/softfusion/drivers/bmi220.h @@ -0,0 +1,419 @@ +/* + SlimeVR Code is placed under the MIT license + Copyright (c) 2024 Tailsy13 & SlimeVR Contributors + + Permission is hereby granted, free of charge, to any person obtaining a copy + of this software and associated documentation files (the "Software"), to deal + in the Software without restriction, including without limitation the rights + to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + THE SOFTWARE. +*/ + +#pragma once + +#include +#include +#include +#include +#include "bmi220fw.h" + +namespace SlimeVR::Sensors::SoftFusion::Drivers +{ + +// Driver uses acceleration range at 16g +// and gyroscope range at 1000dps +// Gyroscope ODR = 400Hz, accel ODR = 100Hz +// Timestamps reading are not used + +template +struct BMI220 +{ + static constexpr uint8_t Address = 0x68; + static constexpr auto Name = "BMI220"; + static constexpr auto Type = ImuID::BMI220; + + static constexpr float GyrTs=1.0/400.0; + static constexpr float AccTs=1.0/100.0; + + static constexpr float MagTs=1.0/100; + + static constexpr float GyroSensitivity = 32.768f; + static constexpr float AccelSensitivity = 2048.0f; + + struct MotionlessCalibrationData + { + bool valid; + uint8_t x, y, z; + }; + + I2CImpl i2c; + SlimeVR::Logging::Logger &logger; + int8_t zxFactor; + BMI220(I2CImpl i2c, SlimeVR::Logging::Logger &logger) + : i2c(i2c), logger(logger), zxFactor(0) {} + + struct Regs { + struct WhoAmI { + static constexpr uint8_t reg = 0x00; + static constexpr uint8_t value = 0x26; + }; + static constexpr uint8_t TempData = 0x22; + + struct Cmd { + static constexpr uint8_t reg = 0x7e; + static constexpr uint8_t valueSwReset = 0xb6; + static constexpr uint8_t valueFifoFlush = 0xb0; + static constexpr uint8_t valueGTrigger = 0x02; + }; + + struct PwrConf { + static constexpr uint8_t reg = 0x7c; + static constexpr uint8_t valueNoPowerSaving = 0x0; + static constexpr uint8_t valueFifoSelfWakeup = 0x2; + }; + + struct PwrCtrl { + static constexpr uint8_t reg = 0x7d; + static constexpr uint8_t valueOff = 0x0; + static constexpr uint8_t valueGyrAccTempOn = 0b1110; // aux off + static constexpr uint8_t valueAccOn = 0b0100; // aux, gyr, temp off + }; + + struct InitCtrl { + static constexpr uint8_t reg = 0x59; + static constexpr uint8_t valueStartInit = 0x00; + static constexpr uint8_t valueEndInit = 0x01; + }; + + static constexpr uint8_t InitAddr = 0x5b; + static constexpr uint8_t InitData = 0x5e; + + struct InternalStatus { + static constexpr uint8_t reg = 0x21; + static constexpr uint8_t initializedBit = 0x01; + }; + + struct GyrConf { + static constexpr uint8_t reg = 0x42; + + static constexpr uint8_t rate25Hz = 6; + static constexpr uint8_t rate50Hz = 7; + static constexpr uint8_t rate100Hz = 8; + static constexpr uint8_t rate200Hz = 9; + static constexpr uint8_t rate400Hz = 10; + static constexpr uint8_t rate800Hz = 11; + static constexpr uint8_t rate1600Hz = 12; + static constexpr uint8_t rate3200Hz = 13; + + static constexpr uint8_t DLPFModeOsr4 = 0 << 4; + static constexpr uint8_t DLPFModeOsr2 = 1 << 4; + static constexpr uint8_t DLPFModeNorm = 2 << 4; + + static constexpr uint8_t noisePerfMode = 1 << 6; + static constexpr uint8_t filterHighPerfMode = 1 << 7; + + static constexpr uint8_t value = rate400Hz | DLPFModeNorm | noisePerfMode | filterHighPerfMode; + }; + + struct GyrRange { + static constexpr uint8_t reg = 0x43; + + static constexpr uint8_t range125dps = 4; + static constexpr uint8_t range250dps = 3; + static constexpr uint8_t range500dps = 2; + static constexpr uint8_t range1000dps = 1; + static constexpr uint8_t range2000dps = 0; + + static constexpr uint8_t value = range1000dps; + }; + + struct AccConf { + static constexpr uint8_t reg = 0x40; + + static constexpr uint8_t rate0_78Hz = 1; + static constexpr uint8_t rate1_5Hz = 2; + static constexpr uint8_t rate3_1Hz = 3; + static constexpr uint8_t rate6_25Hz = 4; + static constexpr uint8_t rate12_5Hz = 5; + static constexpr uint8_t rate25Hz = 6; + static constexpr uint8_t rate50Hz = 7; + static constexpr uint8_t rate100Hz = 8; + static constexpr uint8_t rate200Hz = 9; + static constexpr uint8_t rate400Hz = 10; + static constexpr uint8_t rate800Hz = 11; + static constexpr uint8_t rate1600Hz = 12; + + static constexpr uint8_t DLPFModeAvg1 = 0 << 4; + static constexpr uint8_t DLPFModeAvg2 = 1 << 4; + static constexpr uint8_t DLPFModeAvg4 = 2 << 4; + static constexpr uint8_t DLPFModeAvg8 = 3 << 4; + + static constexpr uint8_t filterHighPerfMode = 1 << 7; + + static constexpr uint8_t value = rate100Hz | DLPFModeAvg4 | filterHighPerfMode; + }; + + struct AccRange { + static constexpr uint8_t reg = 0x41; + + static constexpr uint8_t range2G = 0; + static constexpr uint8_t range4G = 1; + static constexpr uint8_t range8G = 2; + static constexpr uint8_t range16G = 3; + + static constexpr uint8_t value = range16G; + }; + + struct FifoConfig0 { + static constexpr uint8_t reg = 0x48; + static constexpr uint8_t value = 0x01; // fifo_stop_on_full=1, fifo_time_en=0 + }; + + struct FifoConfig1 { + static constexpr uint8_t reg = 0x49; + static constexpr uint8_t value = (1 << 4) | (1 << 6) | (1 << 7); // header en, acc en, gyr en + }; + + struct GyrCrtConf { + static constexpr uint8_t reg = 0x69; + static constexpr uint8_t valueRunning = (1 << 2); // crt_running = 1 + static constexpr uint8_t valueStopped = 0x0; // crt_running = 0 + }; + + struct GTrig1 { // on feature page 1! + static constexpr uint8_t reg = 0x32; + static constexpr uint16_t valueTriggerCRT = (1 << 8); // select=crt + }; + + struct GyrGainStatus { // on feature page 0! + static constexpr uint8_t reg = 0x38; + static constexpr uint8_t statusOffset = 3; + }; + + struct Offset6 { // on feature page 0! + static constexpr uint8_t reg = 0x77; + static constexpr uint8_t value = (1 << 7); // gyr_gain_en = 1 + }; + + static constexpr uint8_t FeatPage = 0x2f; + + static constexpr uint8_t GyrUserGain = 0x78; // undocumented reg, got from official bmi220 driver + + static constexpr uint8_t FifoCount = 0x24; + static constexpr uint8_t FifoData = 0x26; + static constexpr uint8_t RaGyrCas = 0x3c; // on feature page 0! + }; + + struct Fifo { + static constexpr uint8_t ModeMask = 0b11000000; + static constexpr uint8_t SkipFrame = 0b01000000; + static constexpr uint8_t DataFrame = 0b10000000; + + static constexpr uint8_t GyrDataBit = 0b00001000; + static constexpr uint8_t AccelDataBit = 0b00000100; + }; + + bool restartAndInit() { + // perform initialization step + i2c.writeReg(Regs::Cmd::reg, Regs::Cmd::valueSwReset); + delay(12); + // disable power saving + i2c.writeReg(Regs::PwrConf::reg, Regs::PwrConf::valueNoPowerSaving); + delay(1); + + // firmware upload + i2c.writeReg(Regs::InitCtrl::reg, Regs::InitCtrl::valueStartInit); + for (uint16_t pos=0; pos> 1; // convert current position to words + const uint16_t position = (pos_words & 0x0F) | ((pos_words << 4) & 0xff00); + i2c.writeReg16(Regs::InitAddr, position); + // write actual payload chunk + const uint16_t burstWrite = std::min(sizeof(bmi220_firmware) - pos, I2CImpl::MaxTransactionLength); + i2c.writeBytes(Regs::InitData, burstWrite, const_cast(bmi220_firmware + pos)); + pos += burstWrite; + } + i2c.writeReg(Regs::InitCtrl::reg, Regs::InitCtrl::valueEndInit); + delay(140); + + // leave fifo_self_wakeup enabled + i2c.writeReg(Regs::PwrConf::reg, Regs::PwrConf::valueFifoSelfWakeup); + // check if IMU initialized correctly + if (!(i2c.readReg(Regs::InternalStatus::reg) & Regs::InternalStatus::initializedBit)) + { + // firmware upload fail or sensor not initialized + return false; + } + + // read zx factor used to reduce gyro cross-sensitivity error + const uint8_t zx_factor_reg = i2c.readReg(Regs::RaGyrCas); + const uint8_t sign_byte = (zx_factor_reg << 1) & 0x80; + zxFactor = static_cast(zx_factor_reg | sign_byte); + return true; + } + + void setNormalConfig(MotionlessCalibrationData &gyroSensitivity) + { + i2c.writeReg(Regs::GyrConf::reg, Regs::GyrConf::value); + i2c.writeReg(Regs::GyrRange::reg, Regs::GyrRange::value); + + i2c.writeReg(Regs::AccConf::reg, Regs::AccConf::value); + i2c.writeReg(Regs::AccRange::reg, Regs::AccRange::value); + + if (gyroSensitivity.valid) + { + i2c.writeReg(Regs::Offset6::reg, Regs::Offset6::value); + i2c.writeBytes(Regs::GyrUserGain, 3, &gyroSensitivity.x); + } + + i2c.writeReg(Regs::PwrCtrl::reg, Regs::PwrCtrl::valueGyrAccTempOn); + delay(100); // power up delay + i2c.writeReg(Regs::FifoConfig0::reg, Regs::FifoConfig0::value); + i2c.writeReg(Regs::FifoConfig1::reg, Regs::FifoConfig1::value); + + delay(4); + i2c.writeReg(Regs::Cmd::reg, Regs::Cmd::valueFifoFlush); + delay(2); + } + + bool initialize(MotionlessCalibrationData &gyroSensitivity) + { + if (!restartAndInit()) { + return false; + } + + setNormalConfig(gyroSensitivity); + + return true; + } + + void motionlessCalibration(MotionlessCalibrationData &gyroSensitivity) + { + // perfrom gyroscope motionless sensitivity calibration (CRT) + // need to start from clean state according to spec + restartAndInit(); + // only Accel ON + i2c.writeReg(Regs::PwrCtrl::reg, Regs::PwrCtrl::valueAccOn); + delay(100); + i2c.writeReg(Regs::GyrCrtConf::reg, Regs::GyrCrtConf::valueRunning); + i2c.writeReg(Regs::FeatPage, 1); + i2c.writeReg16(Regs::GTrig1::reg, Regs::GTrig1::valueTriggerCRT); + i2c.writeReg(Regs::Cmd::reg, Regs::Cmd::valueGTrigger); + delay(200); + + while(i2c.readReg(Regs::GyrCrtConf::reg) == Regs::GyrCrtConf::valueRunning) { + logger.info("CRT running. Do not move tracker!"); + delay(200); + } + + i2c.writeReg(Regs::FeatPage, 0); + + uint8_t status = i2c.readReg(Regs::GyrGainStatus::reg) >> Regs::GyrGainStatus::statusOffset; + // turn gyroscope back on + i2c.writeReg(Regs::PwrCtrl::reg, Regs::PwrCtrl::valueGyrAccTempOn); + delay(100); + + if (status != 0) { + logger.error("CRT failed with status 0x%x. Recalibrate again to enable CRT.", status); + if (status == 0x03) { + logger.error("Reason: tracker was moved during CRT!"); + } + } + else { + std::array crt_values; + i2c.readBytes(Regs::GyrUserGain, crt_values.size(), crt_values.data()); + logger.debug("CRT finished successfully, result 0x%x, 0x%x, 0x%x", crt_values[0], crt_values[1], crt_values[2]); + gyroSensitivity.valid = true; + gyroSensitivity.x = crt_values[0]; + gyroSensitivity.y = crt_values[1]; + gyroSensitivity.z = crt_values[2]; + } + + setNormalConfig(gyroSensitivity); + } + + float getDirectTemp() const + { + // middle value is 23 degrees C (0x0000) + // temperature per step from -41 + 1/2^9 degrees C (0x8001) to 87 - 1/2^9 degrees C (0x7FFF) + constexpr float TempStep = 128. / 65535; + const auto value = static_cast(i2c.readReg16(Regs::TempData)); + return static_cast(value) * TempStep + 23.0f; + } + + using FifoBuffer = std::array; + FifoBuffer read_buffer; + + template + inline T getFromFifo(uint32_t &position, FifoBuffer& fifo) { + T to_ret; + std::memcpy(&to_ret, &fifo[position], sizeof(T)); + position += sizeof(T); + return to_ret; + } + + template + void bulkRead(AccelCall &&processAccelSample, GyroCall &&processGyroSample) { + const auto fifo_bytes = i2c.readReg16(Regs::FifoCount); + + const auto bytes_to_read = std::min(static_cast(read_buffer.size()), + static_cast(fifo_bytes)); + i2c.readBytes(Regs::FifoData, bytes_to_read, read_buffer.data()); + + for (uint32_t i=0u; i(i, read_buffer); + if ((header & Fifo::ModeMask) == Fifo::SkipFrame && (i - bytes_to_read) >= 1) { + getFromFifo(i, read_buffer); // skip 1 byte + } + else if ((header & Fifo::ModeMask) == Fifo::DataFrame) { + const uint8_t required_length = + (((header & Fifo::GyrDataBit) >> Fifo::GyrDataBit) + + ((header & Fifo::AccelDataBit) >> Fifo::AccelDataBit)) * 6; + if (i - bytes_to_read < required_length) { + // incomplete frame, will be re-read next time + break; + } + if (header & Fifo::GyrDataBit) { + int16_t gyro[3]; + gyro[0] = getFromFifo(i, read_buffer); + gyro[1] = getFromFifo(i, read_buffer); + gyro[2] = getFromFifo(i, read_buffer); + using ShortLimit = std::numeric_limits; + // apply zx factor, todo: this awful line should be simplified and validated + gyro[0] = std::clamp(static_cast(gyro[0]) - static_cast((static_cast(zxFactor) * gyro[2]) / 512), + static_cast(ShortLimit::min()), static_cast(ShortLimit::max())); + processGyroSample(gyro, GyrTs); + } + + if (header & Fifo::AccelDataBit) { + int16_t accel[3]; + accel[0] = getFromFifo(i, read_buffer); + accel[1] = getFromFifo(i, read_buffer); + accel[2] = getFromFifo(i, read_buffer); + processAccelSample(accel, AccTs); + } + } + } + } + +}; + +} // namespace \ No newline at end of file diff --git a/src/sensors/softfusion/drivers/bmi220fw.h b/src/sensors/softfusion/drivers/bmi220fw.h new file mode 100644 index 000000000..61b148eae --- /dev/null +++ b/src/sensors/softfusion/drivers/bmi220fw.h @@ -0,0 +1,729 @@ +/** +* Firmware extracted from BMI270 library. +* https://github.com/coreboot/chrome-ec/blob/main/third_party/bmi220/accelgyro_bmi220_config_tbin.h +* +* Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +*/ + +#include + +namespace SlimeVR::Sensors::SoftFusion::Drivers +{ + +const uint8_t bmi220_firmware[] = { + 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xb6, 0xb0, 0xc8, 0x2e, 0x00, 0x2e, + 0x80, 0x2e, 0xee, 0x00, 0x80, 0x2e, 0x6a, 0x01, 0x80, 0x2e, 0xad, 0x01, + 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x01, 0xb0, 0x50, 0x32, 0x21, 0x2e, + 0x59, 0xf5, 0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0xea, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x3e, 0x21, 0x01, 0x00, 0x22, 0x00, 0x7f, 0x00, + 0x00, 0x0c, 0xff, 0x0f, 0xbc, 0x00, 0x85, 0x33, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 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