Add IIM42653 IMU support (#14095)

* drivers: accgyro: iim42653 IMU support

* reorder accgyro enums, update comment about IIM42653

* remove comma after VIRTUAL in enum

src/main/cli/settings.c

@@ -160,6 +160,7 @@ const char * const lookupTableAccHardware[] = {
     "BMI270",
     "LSM6DSO",
     "LSM6DSV16X",
+    "IIM42653",
     "VIRTUAL"
 };
 
@@ -183,6 +184,7 @@ const char * const lookupTableGyroHardware[] = {
     "BMI270",
     "LSM6DSO",
     "LSM6DSV16X",
+    "IIM42653",
     "VIRTUAL"
 };
 

src/main/drivers/accgyro/accgyro.h

@@ -61,6 +61,7 @@ typedef enum {
     GYRO_BMI270,
     GYRO_LSM6DSO,
     GYRO_LSM6DSV16X,
+    GYRO_IIM42653,
     GYRO_VIRTUAL
 } gyroHardware_e;
 

src/main/drivers/accgyro/accgyro_mpu.c

@@ -365,7 +365,7 @@ static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
 #ifdef USE_ACCGYRO_BMI270
     bmi270Detect,
 #endif
-#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
+#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
     icm426xxSpiDetect,
 #endif
 #ifdef USE_GYRO_SPI_ICM20649

src/main/drivers/accgyro/accgyro_mpu.h

@@ -45,6 +45,7 @@
 #define ICM20689_WHO_AM_I_CONST             (0x98)
 #define ICM42605_WHO_AM_I_CONST             (0x42)
 #define ICM42688P_WHO_AM_I_CONST            (0x47)
+#define IIM42653_WHO_AM_I_CONST             (0x56)
 #define LSM6DSV16X_WHO_AM_I_CONST           (0x70)
 
 // RA = Register Address
@@ -146,6 +147,7 @@ enum gyro_fsr_e {
     INV_FSR_500DPS,
     INV_FSR_1000DPS,
     INV_FSR_2000DPS,
+    INV_FSR_4000DPS,
     NUM_GYRO_FSR
 };
 
@@ -168,6 +170,7 @@ enum accel_fsr_e {
     INV_FSR_4G,
     INV_FSR_8G,
     INV_FSR_16G,
+    INV_FSR_32G,
     NUM_ACCEL_FSR
 };
 
@@ -201,6 +204,7 @@ typedef enum {
     ICM_20689_SPI,
     ICM_42605_SPI,
     ICM_42688P_SPI,
+    IIM_42653_SPI,
     BMI_160_SPI,
     BMI_270_SPI,
     LSM6DSO_SPI,

src/main/drivers/accgyro/accgyro_spi_icm426xx.c

@@ -28,7 +28,7 @@
 
 #include "platform.h"
 
-#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
+#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
 
 #include "common/axis.h"
 #include "common/utils.h"
@@ -269,6 +269,9 @@ uint8_t icm426xxSpiDetect(const extDevice_t *dev)
         case ICM42688P_WHO_AM_I_CONST:
             icmDetected = ICM_42688P_SPI;
             break;
+        case IIM42653_WHO_AM_I_CONST:
+            icmDetected = IIM_42653_SPI;
+            break;
         default:
             icmDetected = MPU_NONE;
             break;
@@ -286,15 +289,22 @@ uint8_t icm426xxSpiDetect(const extDevice_t *dev)
 
 void icm426xxAccInit(accDev_t *acc)
 {
-    acc->acc_1G = 512 * 4;
+    switch (acc->mpuDetectionResult.sensor) {
+    case IIM_42653_SPI:
+        acc->acc_1G = 512 * 2; // Accel scale 32g (1024 LSB/g)
+        break;
+    default:
+        acc->acc_1G = 512 * 4; // Accel scale 16g (2048 LSB/g)
+        break;
+    }
 }
 
 bool icm426xxSpiAccDetect(accDev_t *acc)
 {
     switch (acc->mpuDetectionResult.sensor) {
     case ICM_42605_SPI:
-        break;
     case ICM_42688P_SPI:
+    case IIM_42653_SPI:
         break;
     default:
         return false;
@@ -386,12 +396,12 @@ void icm426xxGyroInit(gyroDev_t *gyro)
         gyro->gyroRateKHz = GYRO_RATE_1_kHz;
     }
 
-    STATIC_ASSERT(INV_FSR_2000DPS == 3, "INV_FSR_2000DPS must be 3 to generate correct value");
+    // This sets the gyro/accel to the maximum FSR, depending on the chip
-    spiWriteReg(dev, ICM426XX_RA_GYRO_CONFIG0, (3 - INV_FSR_2000DPS) << 5 | (odrConfig & 0x0F));
+    // ICM42605, ICM_42688P: 2000DPS and 16G.
+    // IIM42653: 4000DPS and 32G
+    spiWriteReg(dev, ICM426XX_RA_GYRO_CONFIG0, (0 << 5) | (odrConfig & 0x0F));
     delay(15);
-
+    spiWriteReg(dev, ICM426XX_RA_ACCEL_CONFIG0, (0 << 5) | (odrConfig & 0x0F));
-    STATIC_ASSERT(INV_FSR_16G == 3, "INV_FSR_16G must be 3 to generate correct value");
-    spiWriteReg(dev, ICM426XX_RA_ACCEL_CONFIG0, (3 - INV_FSR_16G) << 5 | (odrConfig & 0x0F));
     delay(15);
 }
 
@@ -399,8 +409,11 @@ bool icm426xxSpiGyroDetect(gyroDev_t *gyro)
 {
     switch (gyro->mpuDetectionResult.sensor) {
     case ICM_42605_SPI:
-        break;
     case ICM_42688P_SPI:
+        gyro->scale = GYRO_SCALE_2000DPS;
+        break;
+    case IIM_42653_SPI:
+        gyro->scale = GYRO_SCALE_4000DPS;
         break;
     default:
         return false;
@@ -409,8 +422,6 @@ bool icm426xxSpiGyroDetect(gyroDev_t *gyro)
     gyro->initFn = icm426xxGyroInit;
     gyro->readFn = mpuGyroReadSPI;
 
-    gyro->scale = GYRO_SCALE_2000DPS;
-
     return true;
 }
 
@@ -430,6 +441,7 @@ static aafConfig_t getGyroAafConfig(const mpuSensor_e gyroModel, const aafConfig
         }
 
     case ICM_42688P_SPI:
+    case IIM_42653_SPI:
     default:
         switch (config) {
         case GYRO_HARDWARE_LPF_NORMAL:
@@ -448,4 +460,4 @@ static aafConfig_t getGyroAafConfig(const mpuSensor_e gyroModel, const aafConfig
     }
 }
 
-#endif // USE_GYRO_SPI_ICM42605 || USE_GYRO_SPI_ICM42688P
+#endif // USE_GYRO_SPI_ICM42605 || USE_GYRO_SPI_ICM42688P || USE_ACCGYRO_IIM42653

src/main/sensors/acceleration.h

@@ -50,6 +50,7 @@ typedef enum {
     ACC_BMI270,
     ACC_LSM6DSO,
     ACC_LSM6DSV16X,
+    ACC_IIM42653,
     ACC_VIRTUAL
 } accelerationSensor_e;
 

src/main/sensors/acceleration_init.c

@@ -216,9 +216,10 @@ retry:
         FALLTHROUGH;
 #endif
 
-#if defined(USE_ACC_SPI_ICM42605) || defined(USE_ACC_SPI_ICM42688P)
+#if defined(USE_ACC_SPI_ICM42605) || defined(USE_ACC_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
     case ACC_ICM42605:
     case ACC_ICM42688P:
+    case ACC_IIM42653:
         if (icm426xxSpiAccDetect(dev)) {
             switch (dev->mpuDetectionResult.sensor) {
             case ICM_42605_SPI:
@@ -227,6 +228,9 @@ retry:
             case ICM_42688P_SPI:
                 accHardware = ACC_ICM42688P;
                 break;
+            case IIM_42653_SPI:
+                accHardware = ACC_IIM42653;
+                break;
             default:
                 accHardware = ACC_NONE;
                 break;

src/main/sensors/gyro_init.c

@@ -314,6 +314,7 @@ void gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
     case GYRO_LSM6DSO:
     case GYRO_LSM6DSV16X:
     case GYRO_ICM42688P:
+    case GYRO_IIM42653:
     case GYRO_ICM42605:
         gyroSensor->gyroDev.gyroHasOverflowProtection = true;
         break;
@@ -427,9 +428,10 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
         FALLTHROUGH;
 #endif
 
-#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
+#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
     case GYRO_ICM42605:
     case GYRO_ICM42688P:
+    case GYRO_IIM42653:
         if (icm426xxSpiGyroDetect(dev)) {
             switch (dev->mpuDetectionResult.sensor) {
             case ICM_42605_SPI:
@@ -438,6 +440,9 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
             case ICM_42688P_SPI:
                 gyroHardware = GYRO_ICM42688P;
                 break;
+            case IIM_42653_SPI:
+                gyroHardware = GYRO_IIM42653;
+                break;
             default:
                 gyroHardware = GYRO_NONE;
                 break;

src/main/target/common_post.h

@@ -107,7 +107,8 @@
     && !defined(USE_ACC_SPI_MPU6000) \
     && !defined(USE_ACC_SPI_MPU6500) \
     && !defined(USE_ACC_SPI_MPU9250) \
-    && !defined(USE_VIRTUAL_ACC)
+    && !defined(USE_VIRTUAL_ACC) \
+    && !defined(USE_ACCGYRO_IIM42653)
 #error At least one USE_ACC device definition required
 #endif
 
@@ -126,7 +127,8 @@
     && !defined(USE_GYRO_SPI_MPU6000) \
     && !defined(USE_GYRO_SPI_MPU6500) \
     && !defined(USE_GYRO_SPI_MPU9250) \
-    && !defined(USE_VIRTUAL_GYRO)
+    && !defined(USE_VIRTUAL_GYRO) \
+    && !defined(USE_ACCGYRO_IIM42653)
 #error At least one USE_GYRO device definition required
 #endif
 
@@ -466,8 +468,8 @@
 
 // Generate USE_SPI_GYRO or USE_I2C_GYRO
 #if defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250) \
-    || defined(USE_GYRO_L3GD20) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI160) \
+    || defined(USE_GYRO_L3GD20) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653) \
-    || defined(USE_ACCGYRO_BMI270) || defined(USE_ACCGYRO_LSM6DSV16X) || defined(USE_ACCGYRO_LSM6DSO)
+    || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) || defined(USE_ACCGYRO_LSM6DSV16X) || defined(USE_ACCGYRO_LSM6DSO)
 #ifndef USE_SPI_GYRO
 #define USE_SPI_GYRO
 #endif

src/main/target/common_pre.h

@@ -114,6 +114,7 @@
 #define USE_ACCGYRO_BMI270
 #define USE_GYRO_SPI_ICM42605
 #define USE_GYRO_SPI_ICM42688P
+#define USE_ACCGYRO_IIM42653
 #define USE_ACC_SPI_ICM42605
 #define USE_ACC_SPI_ICM42688P
 #define USE_ACCGYRO_LSM6DSV16X