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Add IIM42653 IMU support (#14095)

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* drivers: accgyro: iim42653 IMU support

* reorder accgyro enums, update comment about IIM42653

* remove comma after VIRTUAL in enum
This commit is contained in:
Jacob Dahl 2025-01-14 12:11:25 -09:00 • committed by GitHub
parent 4a6e3bbe06
commit 7a44f1bdce
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GPG key ID: B5690EEEBB952194
10 changed files with 51 additions and 19 deletions
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2
src/main/cli/settings.c
View file

@ -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"
};

1
src/main/drivers/accgyro/accgyro.h
View file

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

2
src/main/drivers/accgyro/accgyro_mpu.c
View file

@ -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

4
src/main/drivers/accgyro/accgyro_mpu.h
View file

@ -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,

36
src/main/drivers/accgyro/accgyro_spi_icm426xx.c
View file

@ -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");
spiWriteReg(dev, ICM426XX_RA_GYRO_CONFIG0, (3 - INV_FSR_2000DPS) << 5 | (odrConfig & 0x0F));
// This sets the gyro/accel to the maximum FSR, depending on the chip
// ICM42605, ICM_42688P: 2000DPS and 16G.
// IIM42653: 4000DPS and 32G
spiWriteReg(dev, ICM426XX_RA_GYRO_CONFIG0, (0 << 5) | (odrConfig & 0x0F));
delay(15);
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));
spiWriteReg(dev, ICM426XX_RA_ACCEL_CONFIG0, (0 << 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

1
src/main/sensors/acceleration.h
View file

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

6
src/main/sensors/acceleration_init.c
View file

@ -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;

7
src/main/sensors/gyro_init.c
View file

@ -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;

10
src/main/target/common_post.h
View file

@ -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_ACCGYRO_BMI270) || defined(USE_ACCGYRO_LSM6DSV16X) || defined(USE_ACCGYRO_LSM6DSO)
|| defined(USE_GYRO_L3GD20) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653) \
|| 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

1
src/main/target/common_pre.h
View file

@ -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