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Add support external clock for gyro ICM42688P (#13912)

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cvetaevvitaliy 2024-10-23 22:49:18 +03:00 • committed by GitHub
parent 866191dfad
commit 715c1671a8
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6 changed files with 105 additions and 9 deletions
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18
src/main/pg/gyrodev.c
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@ -50,6 +50,14 @@
#define GYRO_2_EXTI_PIN NONE
#endif
#ifndef GYRO_1_CLKIN_PIN
#define GYRO_1_CLKIN_PIN NONE
#endif
#ifndef GYRO_2_CLKIN_PIN
#define GYRO_2_CLKIN_PIN NONE
#endif
#ifdef MPU_ADDRESS
#define GYRO_I2C_ADDRESS MPU_ADDRESS
#else
@ -68,7 +76,7 @@
#endif
#if defined(USE_SPI_GYRO) && (defined(GYRO_1_SPI_INSTANCE) || defined(GYRO_2_SPI_INSTANCE))
static void gyroResetSpiDeviceConfig(gyroDeviceConfig_t *devconf, SPI_TypeDef *instance, ioTag_t csnTag, ioTag_t extiTag, uint8_t alignment, sensorAlignment_t customAlignment)
static void gyroResetSpiDeviceConfig(gyroDeviceConfig_t *devconf, SPI_TypeDef *instance, ioTag_t csnTag, ioTag_t extiTag, ioTag_t clkInTag, uint8_t alignment, sensorAlignment_t customAlignment)
{
devconf->busType = BUS_TYPE_SPI;
devconf->spiBus = SPI_DEV_TO_CFG(spiDeviceByInstance(instance));
@ -76,6 +84,7 @@ static void gyroResetSpiDeviceConfig(gyroDeviceConfig_t *devconf, SPI_TypeDef *i
devconf->extiTag = extiTag;
devconf->alignment = alignment;
devconf->customAlignment = customAlignment;
devconf->clkIn = clkInTag;
}
#endif
@ -91,7 +100,7 @@ static void gyroResetI2cDeviceConfig(gyroDeviceConfig_t *devconf, I2CDevice i2cb
}
#endif
PG_REGISTER_ARRAY_WITH_RESET_FN(gyroDeviceConfig_t, MAX_GYRODEV_COUNT, gyroDeviceConfig, PG_GYRO_DEVICE_CONFIG, 0);
PG_REGISTER_ARRAY_WITH_RESET_FN(gyroDeviceConfig_t, MAX_GYRODEV_COUNT, gyroDeviceConfig, PG_GYRO_DEVICE_CONFIG, 1);
void pgResetFn_gyroDeviceConfig(gyroDeviceConfig_t *devconf)
{
@ -106,7 +115,7 @@ void pgResetFn_gyroDeviceConfig(gyroDeviceConfig_t *devconf)
// All multi-gyro boards use SPI based gyros.
#ifdef USE_SPI_GYRO
#ifdef GYRO_1_SPI_INSTANCE
gyroResetSpiDeviceConfig(&devconf[0], GYRO_1_SPI_INSTANCE, IO_TAG(GYRO_1_CS_PIN), IO_TAG(GYRO_1_EXTI_PIN), GYRO_1_ALIGN, customAlignment1);
gyroResetSpiDeviceConfig(&devconf[0], GYRO_1_SPI_INSTANCE, IO_TAG(GYRO_1_CS_PIN), IO_TAG(GYRO_1_EXTI_PIN), IO_TAG(GYRO_1_CLKIN_PIN), GYRO_1_ALIGN, customAlignment1);
#else
devconf[0].busType = BUS_TYPE_NONE;
#endif
@ -120,7 +129,8 @@ void pgResetFn_gyroDeviceConfig(gyroDeviceConfig_t *devconf)
#endif // GYRO_2_CUSTOM_ALIGN
#ifdef GYRO_2_SPI_INSTANCE
gyroResetSpiDeviceConfig(&devconf[1], GYRO_2_SPI_INSTANCE, IO_TAG(GYRO_2_CS_PIN), IO_TAG(GYRO_2_EXTI_PIN), GYRO_2_ALIGN, customAlignment2);
// TODO: CLKIN gyro 2 on separate pin is not supported yet. need to implement it
gyroResetSpiDeviceConfig(&devconf[1], GYRO_2_SPI_INSTANCE, IO_TAG(GYRO_2_CS_PIN), IO_TAG(GYRO_2_EXTI_PIN), IO_TAG(GYRO_2_CLKIN_PIN), GYRO_2_ALIGN, customAlignment2);
#else
devconf[1].busType = BUS_TYPE_NONE;
#endif