Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-18 22:05:17 +03:00
Code Issues Wiki Activity

Add support for LSM6DSO gyro/acc

Browse source 
Also supports the LSM6DSOX variant which has the additional machine learning core (not used by Betaflight).
This commit is contained in:
Bruce Luckcuck 2020-04-08 17:18:40 -04:00
parent 97ad043f9e
commit 99a9543968
13 changed files with 403 additions and 5 deletions
Download patch file Download diff file Expand all files Collapse all files

15
src/main/sensors/gyro_init.c
View file

@ -46,6 +46,7 @@
#include "drivers/accgyro/accgyro_spi_icm20689.h"
#include "drivers/accgyro/accgyro_spi_icm20689.h"
#include "drivers/accgyro/accgyro_spi_icm42605.h"
#include "drivers/accgyro/accgyro_spi_lsm6dso.h"
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_mpu9250.h"
@ -312,6 +313,7 @@ void gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
case GYRO_MPU6000:
case GYRO_MPU6500:
case GYRO_MPU9250:
case GYRO_LSM6DSO:
gyroSensor->gyroDev.gyroHasOverflowProtection = true;
break;
@ -469,6 +471,15 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
FALLTHROUGH;
#endif
#ifdef USE_ACCGYRO_LSM6DSO
case GYRO_LSM6DSO:
if (lsm6dsoSpiGyroDetect(dev)) {
gyroHardware = GYRO_LSM6DSO;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_FAKE_GYRO
case GYRO_FAKE:
if (fakeGyroDetect(dev)) {
@ -494,7 +505,7 @@ static bool gyroDetectSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t
{
#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_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270)
|| defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_L3GD20) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) || defined(USE_ACCGYRO_LSM6DSO)
bool gyroFound = mpuDetect(&gyroSensor->gyroDev, config);
@ -519,7 +530,7 @@ 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_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270)
|| defined(USE_GYRO_SPI_ICM20689) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) || defined(USE_ACCGRYO_LSM6DSO)
mpuPreInit(config);
#else
UNUSED(config);