Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-25 17:25:20 +03:00
Code Issues Wiki Activity

Add support for Bosch BMI270 gyro/accelerometer sensor

Browse source
This commit is contained in:
Bruce Luckcuck 2020-01-17 18:08:43 -05:00
parent c29b125a59
commit 447cbac988
27 changed files with 26435 additions and 11 deletions
Download patch file Download diff file Expand all files Collapse all files

19
src/main/sensors/gyro.c
View file

@ -45,6 +45,7 @@
#include "drivers/accgyro/accgyro_mpu6050.h"
#include "drivers/accgyro/accgyro_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_bmi160.h"
#include "drivers/accgyro/accgyro_spi_bmi270.h"
#include "drivers/accgyro/accgyro_spi_icm20649.h"
#include "drivers/accgyro/accgyro_spi_icm20689.h"
#include "drivers/accgyro/accgyro_spi_icm20689.h"
@ -352,6 +353,15 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
FALLTHROUGH;
#endif
#ifdef USE_ACCGYRO_BMI270
case GYRO_BMI270:
if (bmi270SpiGyroDetect(dev)) {
gyroHardware = GYRO_BMI270;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_FAKE_GYRO
case GYRO_FAKE:
if (fakeGyroDetect(dev)) {
@ -376,7 +386,8 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
static void gyroPreInitSensor(const gyroDeviceConfig_t *config)
{
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) \
|| defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689)
|| defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) \
|| defined(USE_GYRO_SPI_ICM20689) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270)
mpuPreInit(config);
#else
UNUSED(config);
@ -386,7 +397,8 @@ static void gyroPreInitSensor(const gyroDeviceConfig_t *config)
static bool gyroDetectSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
{
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) \
|| defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_L3GD20)
|| defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) \
|| defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_L3GD20) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270)
bool gyroFound = mpuDetect(&gyroSensor->gyroDev, config);
@ -413,10 +425,10 @@ static void gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *c
gyroSensor->gyroDev.gyroAlign = config->alignment;
buildRotationMatrixFromAlignment(&config->customAlignment, &gyroSensor->gyroDev.rotationMatrix);
gyroSensor->gyroDev.mpuIntExtiTag = config->extiTag;
gyroSensor->gyroDev.hardware_lpf = gyroConfig()->gyro_hardware_lpf;
// The targetLooptime gets set later based on the active sensor's gyroSampleRateHz and pid_process_denom
gyroSensor->gyroDev.gyroSampleRateHz = gyroSetSampleRate(&gyroSensor->gyroDev);
gyroSensor->gyroDev.hardware_lpf = gyroConfig()->gyro_hardware_lpf;
gyroSensor->gyroDev.initFn(&gyroSensor->gyroDev);
// As new gyros are supported, be sure to add them below based on whether they are subject to the overflow/inversion bug
@ -430,6 +442,7 @@ static void gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *c
case GYRO_MPU3050:
case GYRO_L3GD20:
case GYRO_BMI160:
case GYRO_BMI270:
case GYRO_MPU6000:
case GYRO_MPU6500:
case GYRO_MPU9250: