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Implementation of the ICM456xx gyroscope driver (#14348)
* add support ICM-45686, ICM45605 gyros Co-authored-by: Mark Haslinghuis <mark@numloq.nl> Co-authored-by: Mark Haslinghuis <mark@numloq.nl> * update PR issue * change IMU order * fix register AAF for Accel, update comments, configure LPF from config * change IMU order * fix access to IPREG_TOP1 registers, update define INT1_CONFIG2 * add read Gyro&Acc via SPI DMA * coderabbitai bot suggestion Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> * fix buf len * codestyle Co-authored-by: Mark Haslinghuis <mark@numloq.nl> * coderabbitai bot suggestion: SPI transfer, Inconsistent accelerometer scale setting * refactor read spi * update PR issue * revert "attempts remaining" for gyro detect * resolve issue Co-authored-by: Petr Ledvina <ledvinap@gmail.com> --------- Co-authored-by: Mark Haslinghuis <mark@numloq.nl> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
This commit is contained in:
cvetaevvitaliy
GitHub
parent
62be38297c
commit
b389c2000d
13 changed files with 740 additions and 3 deletions
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@ -298,6 +298,7 @@ COMMON_SRC += \
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drivers/accgyro/accgyro_spi_icm20649.c \
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drivers/accgyro/accgyro_spi_icm20689.c \
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drivers/accgyro/accgyro_spi_icm426xx.c \
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drivers/accgyro/accgyro_spi_icm456xx.c \
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drivers/accgyro/accgyro_spi_l3gd20.c \
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drivers/accgyro/accgyro_spi_lsm6dso.c \
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drivers/accgyro/accgyro_spi_lsm6dso_init.c \
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@ -161,6 +161,8 @@ const char * const lookupTableAccHardware[] = {
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"LSM6DSO",
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"LSM6DSV16X",
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"IIM42653",
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"ICM45605",
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"ICM45686",
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"VIRTUAL"
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};
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@ -185,6 +187,8 @@ const char * const lookupTableGyroHardware[] = {
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"LSM6DSO",
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"LSM6DSV16X",
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"IIM42653",
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"ICM45605",
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"ICM45686",
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"VIRTUAL"
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};
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@ -62,6 +62,8 @@ typedef enum {
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GYRO_LSM6DSO,
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GYRO_LSM6DSV16X,
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GYRO_IIM42653,
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GYRO_ICM45605,
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GYRO_ICM45686,
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GYRO_VIRTUAL
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} gyroHardware_e;
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@ -50,6 +50,7 @@
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#include "drivers/accgyro/accgyro_spi_icm20649.h"
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#include "drivers/accgyro/accgyro_spi_icm20689.h"
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#include "drivers/accgyro/accgyro_spi_icm426xx.h"
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#include "drivers/accgyro/accgyro_spi_icm456xx.h"
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#include "drivers/accgyro/accgyro_spi_lsm6dso.h"
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#include "drivers/accgyro/accgyro_spi_mpu6000.h"
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#include "drivers/accgyro/accgyro_spi_mpu6500.h"
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@ -371,6 +372,9 @@ static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
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#ifdef USE_GYRO_SPI_ICM20649
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icm20649SpiDetect,
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#endif
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#if defined(USE_ACCGYRO_ICM45686) || defined(USE_ACCGYRO_ICM45605)
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icm456xxSpiDetect,
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#endif
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#ifdef USE_GYRO_L3GD20
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l3gd20Detect,
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#endif
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@ -45,6 +45,8 @@
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#define ICM20689_WHO_AM_I_CONST (0x98)
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#define ICM42605_WHO_AM_I_CONST (0x42)
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#define ICM42688P_WHO_AM_I_CONST (0x47)
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#define ICM45686_WHO_AM_I_CONST (0xE9)
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#define ICM45605_WHO_AM_I_CONST (0xE5)
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#define IIM42653_WHO_AM_I_CONST (0x56)
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#define LSM6DSV16X_WHO_AM_I_CONST (0x70)
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@ -209,7 +211,9 @@ typedef enum {
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BMI_270_SPI,
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LSM6DSO_SPI,
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L3GD20_SPI,
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LSM6DSV16X_SPI
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LSM6DSV16X_SPI,
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ICM_45605_SPI,
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ICM_45686_SPI,
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} mpuSensor_e;
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typedef enum {
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630
src/main/drivers/accgyro/accgyro_spi_icm456xx.c
Normal file
630
src/main/drivers/accgyro/accgyro_spi_icm456xx.c
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@ -0,0 +1,630 @@
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/*
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* This file is part of Betaflight.
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*
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* Betaflight is free software. You can redistribute this software
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* and/or modify this software under the terms of the GNU General
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* Public License as published by the Free Software Foundation,
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* either version 3 of the License, or (at your option) any later
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* version.
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*
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* Betaflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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*
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public
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* License along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <string.h>
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#include "platform.h"
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#if defined(USE_ACCGYRO_ICM45686) || defined(USE_ACCGYRO_ICM45605)
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#include "common/axis.h"
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#include "common/utils.h"
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#include "build/debug.h"
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#include "drivers/accgyro/accgyro.h"
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#include "drivers/accgyro/accgyro_mpu.h"
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#include "drivers/accgyro/accgyro_spi_icm456xx.h"
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#include "drivers/bus_spi.h"
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#include "drivers/exti.h"
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#include "drivers/io.h"
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#include "drivers/pwm_output.h"
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#include "drivers/sensor.h"
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#include "drivers/time.h"
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#include "drivers/system.h"
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#include "fc/runtime_config.h"
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#include "sensors/gyro.h"
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#include "pg/gyrodev.h"
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/*
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reference: https://github.com/tdk-invn-oss/motion.mcu.icm45686.driver
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Datasheet: https://invensense.tdk.com/wp-content/uploads/documentation/DS-000577_ICM-45686.pdf
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Datasheet: https://invensense.tdk.com/wp-content/uploads/documentation/DS-000576_ICM-45605.pdf
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Note: ICM456xx has two modes of operation: Low-Power Mode Low-Noise Mode
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Note: Now implemented only UI Interface with Low-Noise Mode
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The following diagram shows the signal path for each mode:
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The cut-off frequency of the filters is determined by the ODR setting.
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Low-Noise Mode
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+------+ +--------------+ +-------------+ +--------------+ +------------------+
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| ADC |---->| Anti-Alias |--->| Interpolator|--->| LPF |--->| Sensor Registers |---> UI Interface
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| | | Filter (AAF) | | | +->| & ODR Select | | |
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+--|---+ +--------------+ +-------------+ | +--------------+ +------------------+
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| |
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| Low-Power Mode |
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| +--------------+ |
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|-------->| Notch Filter |--------------------|
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| | |
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| +--------------+
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+--|---+ +--------------+ +------+ +------+ +------------------+
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| ADC | --------> | Notch Filter | ---> | HPF | ---> | LPF | ---> | Sensor Registers | ---> AUX1 Interface
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| | | | | | | | | |
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+------+ +--------------+ +------+ +------+ +------------------+
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The AUX1 interface default configuration can be checked by read only register IOC_PAD_SCENARIO through host interface.
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By default, AUX1 interface is enabled, and default interface for AUX1 is SPI3W or I3CSM.
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In Low-Noise Mode, the ADC output is sent through an Anti-Alias Filter (AAF). The AAF is an FIR filter with fixed
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coefficients (not user configurable). The AAF can be enabled or disabled by the user using GYRO_SRC_CTRL and
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ACCEL_SRC_CTRL.
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The AUX1 signal path includes a Notch Filter. The notch filter is not user programmable. The usage of the notch
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filter in the auxiliary path is recommended for sharper roll-off and for the cases where user is asynchronously
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sampling the auxiliary interface data output at integer multiples of 1 kHz rate. The notch filter may be bypassed
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using GYRO_OIS_M6_BYP.
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The notch filter is followed by an HPF on the AUX1 signal path. HPF cut-off frequency can be selected using
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GYRO_OIS_HPFBW_SEL and ACCEL_OIS_HPFBW_SEL. HPF can be bypassed using GYRO_OIS_HPF1_BYP and
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ACCEL_OIS_HPF1_BYP.
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The HPF is followed by LPF on the AUX1 signal path. The AUX1 LPF BW is set by register bit field
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GYRO_OIS_LPF1BW_SEL and ACCEL_OIS_LPF1BW_SEL for gyroscope and accelerometer respectively. This is
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followed by Full Scale Range (FSR) selection based on user configurable settings for register fields
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GYRO_AUX1_FS_SEL and ACCEL_AUX1_FS_SEL. AUX1 output is fixed at 6.4kHz ODR.
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*/
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#define ICM456XX_REG_BANK_SEL 0x75
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#define ICM456XX_BANK_0 0x00
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#define ICM456XX_BANK_1 0x01
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// Register map Bank 0
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#define ICM456XX_WHO_AM_REGISTER 0x72
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#define ICM456XX_REG_MISC2 0x7F
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#define ICM456XX_INT1_CONFIG0 0x16
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#define ICM456XX_INT1_CONFIG2 0x18
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#define ICM456XX_INT1_STATUS0 0x19
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#define ICM456XX_INT1_STATUS1 0x1A
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#define ICM456XX_GYRO_CONFIG0 0x1C
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#define ICM456XX_ACCEL_CONFIG0 0x1B
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#define ICM456XX_PWR_MGMT0 0x10
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// Register map IPREG_TOP1
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#define ICM456XX_RA_SREG_CTRL 0xA267 // To access register in IPREG_TOP1, add base address 0xA200 + offset
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// SREG_CTRL - 0x67
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#define ICM456XX_SREG_DATA_ENDIAN_SEL_LITTLE (0 << 1)
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#define ICM456XX_SREG_DATA_ENDIAN_SEL_BIG (1 << 1) // not working set SREG_CTRL regiser
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// MGMT0 - 0x10 - Gyro
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#define ICM456XX_GYRO_MODE_OFF (0x00 << 2)
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#define ICM456XX_GYRO_MODE_STANDBY (0x01 << 2)
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#define ICM456XX_GYRO_MODE_LP (0x02 << 2) // Low Power Mode
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#define ICM456XX_GYRO_MODE_LN (0x03 << 2) // Low Noise Mode
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// MGMT0 - 0x10 - Accel
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#define ICM456XX_ACCEL_MODE_OFF (0x00)
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#define ICM456XX_ACCEL_MODE_OFF2 (0x01)
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#define ICM456XX_ACCEL_MODE_LP (0x02) // Low Power Mode
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#define ICM456XX_ACCEL_MODE_LN (0x03) // Low Noise Mode
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// INT1_CONFIG0 - 0x16
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#define ICM456XX_INT1_STATUS_EN_RESET_DONE (1 << 7)
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#define ICM456XX_INT1_STATUS_EN_AUX1_AGC_RDY (1 << 6)
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#define ICM456XX_INT1_STATUS_EN_AP_AGC_RDY (1 << 5)
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#define ICM456XX_INT1_STATUS_EN_AP_FSYNC (1 << 4)
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#define ICM456XX_INT1_STATUS_EN_AUX1_DRDY (1 << 3)
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#define ICM456XX_INT1_STATUS_EN_DRDY (1 << 2)
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#define ICM456XX_INT1_STATUS_EN_FIFO_THS (1 << 1)
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#define ICM456XX_INT1_STATUS_EN_FIFO_FULL (1 << 0)
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// INT1_CONFIG2 - 0x18
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#define ICM456XX_INT1_DRIVE_CIRCUIT_PP (0 << 2)
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#define ICM456XX_INT1_DRIVE_CIRCUIT_OD (1 << 2)
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#define ICM456XX_INT1_MODE_PULSED (0 << 1)
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#define ICM456XX_INT1_MODE_LATCHED (1 << 1)
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#define ICM456XX_INT1_POLARITY_ACTIVE_LOW (0 << 0)
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#define ICM456XX_INT1_POLARITY_ACTIVE_HIGH (1 << 0)
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// INT1_STATUS0 - 0x19
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#define ICM456XX_INT1_STATUS_RESET_DONE (1 << 7)
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#define ICM456XX_INT1_STATUS_AUX1_AGC_RDY (1 << 6)
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#define ICM456XX_INT1_STATUS_AP_AGC_RDY (1 << 5)
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#define ICM456XX_INT1_STATUS_AP_FSYNC (1 << 4)
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#define ICM456XX_INT1_STATUS_AUX1_DRDY (1 << 3)
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#define ICM456XX_INT1_STATUS_DRDY (1 << 2)
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#define ICM456XX_INT1_STATUS_FIFO_THS (1 << 1)
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#define ICM456XX_INT1_STATUS_FIFO_FULL (1 << 0)
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// REG_MISC2 - 0x7F
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#define ICM456XX_SOFT_RESET (1 << 1)
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#define ICM456XX_RESET_TIMEOUT_US 20000 // 20 ms
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#define ICM456XX_ACCEL_DATA_X1_UI 0x00
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#define ICM456XX_GYRO_DATA_X1_UI 0x06
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// ACCEL_CONFIG0 - 0x1B
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#define ICM456XX_ACCEL_FS_SEL_32G (0x00 << 4)
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#define ICM456XX_ACCEL_FS_SEL_16G (0x01 << 4)
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#define ICM456XX_ACCEL_FS_SEL_8G (0x02 << 4)
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#define ICM456XX_ACCEL_FS_SEL_4G (0x03 << 4)
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#define ICM456XX_ACCEL_FS_SEL_2G (0x04 << 4)
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// ACCEL_CONFIG0 - 0x1B
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#define ICM456XX_ACCEL_ODR_6K4_LN 0x03
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#define ICM456XX_ACCEL_ODR_3K2_LN 0x04
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#define ICM456XX_ACCEL_ODR_1K6_LN 0x05
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#define ICM456XX_ACCEL_ODR_800_LN 0x06
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#define ICM456XX_ACCEL_ODR_400_LP_LN 0x07
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#define ICM456XX_ACCEL_ODR_200_LP_LN 0x08
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#define ICM456XX_ACCEL_ODR_100_LP_LN 0x09
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#define ICM456XX_ACCEL_ODR_50_LP_LN 0x0A
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#define ICM456XX_ACCEL_ODR_25_LP_LN 0x0B
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#define ICM456XX_ACCEL_ODR_12_5_LP_LN 0x0C
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#define ICM456XX_ACCEL_ODR_6_25_LP 0x0D
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#define ICM456XX_ACCEL_ODR_3_125_LP 0x0E
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#define ICM456XX_ACCEL_ODR_1_5625_LP 0x0F
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// GYRO_CONFIG0 - 0x1C
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#define ICM456XX_GYRO_FS_SEL_4000DPS (0x00 << 4)
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#define ICM456XX_GYRO_FS_SEL_2000DPS (0x01 << 4)
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#define ICM456XX_GYRO_FS_SEL_1000DPS (0x02 << 4)
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#define ICM456XX_GYRO_FS_SEL_500DPS (0x03 << 4)
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#define ICM456XX_GYRO_FS_SEL_250DPS (0x04 << 4)
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#define ICM456XX_GYRO_FS_SEL_125DPS (0x05 << 4)
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#define ICM456XX_GYRO_FS_SEL_62_5DPS (0x06 << 4)
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#define ICM456XX_GYRO_FS_SEL_31_25DPS (0x07 << 4)
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#define ICM456XX_GYRO_FS_SEL_15_625DPS (0x08 << 4)
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// GYRO_CONFIG0 - 0x1C
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#define ICM456XX_GYRO_ODR_6K4_LN 0x03
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#define ICM456XX_GYRO_ODR_3K2_LN 0x04
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#define ICM456XX_GYRO_ODR_1K6_LN 0x05
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#define ICM456XX_GYRO_ODR_800_LN 0x06
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#define ICM456XX_GYRO_ODR_400_LP_LN 0x07
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#define ICM456XX_GYRO_ODR_200_LP_LN 0x08
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#define ICM456XX_GYRO_ODR_100_LP_LN 0x09
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#define ICM456XX_GYRO_ODR_50_LP_LN 0x0A
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#define ICM456XX_GYRO_ODR_25_LP_LN 0x0B
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#define ICM456XX_GYRO_ODR_12_5_LP_LN 0x0C
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#define ICM456XX_GYRO_ODR_6_25_LP 0x0D
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#define ICM456XX_GYRO_ODR_3_125_LP 0x0E
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#define ICM456XX_GYRO_ODR_1_5625_LP 0x0F
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// Accel IPREG_SYS2_REG_123 - 0x7B
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#define ICM456XX_SRC_CTRL_AAF_ENABLE_BIT (1 << 0) // Anti-Alias Filter - AAF
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#define ICM456XX_SRC_CTRL_INTERP_ENABLE_BIT (1 << 1) // Interpolator
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// IPREG_SYS2_REG_123 - 0x7B
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#define ICM456XX_ACCEL_SRC_CTRL_IREG_ADDR 0xA57B // To access register in IPREG_SYS2, add base address 0xA500 + offset
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// IPREG_SYS1_REG_166 - 0xA6
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#define ICM456XX_GYRO_SRC_CTRL_IREG_ADDR 0xA4A6 // To access register in IPREG_SYS1, add base address 0xA400 + offset
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// HOST INDIRECT ACCESS REGISTER (IREG)
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#define ICM456XX_REG_IREG_ADDR_15_8 0x7C
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#define ICM456XX_REG_IREG_ADDR_7_0 0x7D
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#define ICM456XX_REG_IREG_DATA 0x7E
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// IPREG_SYS1_REG_172 - 0xAC
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#define ICM456XX_GYRO_UI_LPF_CFG_IREG_ADDR 0xA4AC // To access register in IPREG_SYS1, add base address 0xA400 + offset
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// LPF UI - 0xAC PREG_SYS1_REG_172 (bits 2:0)
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#define ICM456XX_GYRO_UI_LPFBW_BYPASS 0x00
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#define ICM456XX_GYRO_UI_LPFBW_ODR_DIV_4 0x01 // 1600 Hz ODR = 6400 Hz:
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#define ICM456XX_GYRO_UI_LPFBW_ODR_DIV_8 0x02 // 800 Hz ODR = 6400 Hz:
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#define ICM456XX_GYRO_UI_LPFBW_ODR_DIV_16 0x03 // 400 Hz ODR = 6400 Hz:
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#define ICM456XX_GYRO_UI_LPFBW_ODR_DIV_32 0x04 // 200 Hz ODR = 6400 Hz
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#define ICM456XX_GYRO_UI_LPFBW_ODR_DIV_64 0x05 // 100 Hz ODR = 6400 Hz
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#define ICM456XX_GYRO_UI_LPFBW_ODR_DIV_128 0x06 // 50 Hz ODR = 6400 Hz
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// IPREG_SYS2_REG_131 - 0x83
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#define ICM456XX_ACCEL_UI_LPF_CFG_IREG_ADDR 0xA583 // To access register in IPREG_SYS2, add base address 0xA500 + offset
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|
||||
// Accel UI path LPF - 0x83 IPREG_SYS2_REG_131 (bits 2:0)
|
||||
#define ICM456XX_ACCEL_UI_LPFBW_BYPASS 0x00
|
||||
#define ICM456XX_ACCEL_UI_LPFBW_ODR_DIV_4 0x01 // 400 Hz ODR = 1600 Hz:
|
||||
#define ICM456XX_ACCEL_UI_LPFBW_ODR_DIV_8 0x02 // 200 Hz ODR = 1600 Hz:
|
||||
#define ICM456XX_ACCEL_UI_LPFBW_ODR_DIV_16 0x03 // 100 Hz ODR = 1600 Hz:
|
||||
#define ICM456XX_ACCEL_UI_LPFBW_ODR_DIV_32 0x04 // 50 Hz ODR = 1600 Hz
|
||||
#define ICM456XX_ACCEL_UI_LPFBW_ODR_DIV_64 0x05 // 25 Hz ODR = 1600 Hz
|
||||
#define ICM456XX_ACCEL_UI_LPFBW_ODR_DIV_128 0x06 // 12.5 Hz ODR = 1600 Hz
|
||||
|
||||
|
||||
#ifndef ICM456XX_CLOCK
|
||||
// Default: 24 MHz max SPI frequency
|
||||
#define ICM456XX_MAX_SPI_CLK_HZ 24000000
|
||||
#else
|
||||
#define ICM456XX_MAX_SPI_CLK_HZ ICM456XX_CLOCK
|
||||
#endif
|
||||
|
||||
#define HZ_TO_US(hz) ((int32_t)((1000 * 1000) / (hz)))
|
||||
|
||||
#define ICM456XX_BIT_IREG_DONE (1 << 0)
|
||||
|
||||
#define ICM456XX_DATA_LENGTH 6 // 3 axes * 2 bytes per axis
|
||||
#define ICM456XX_SPI_BUFFER_SIZE (1 + ICM456XX_DATA_LENGTH) // 1 byte register + 6 bytes data
|
||||
|
||||
static uint8_t getGyroLpfConfig(const gyroHardwareLpf_e hardwareLpf)
|
||||
{
|
||||
switch (hardwareLpf) {
|
||||
case GYRO_HARDWARE_LPF_NORMAL:
|
||||
return ICM456XX_GYRO_UI_LPFBW_ODR_DIV_32;
|
||||
case GYRO_HARDWARE_LPF_OPTION_1:
|
||||
return ICM456XX_GYRO_UI_LPFBW_ODR_DIV_16;
|
||||
case GYRO_HARDWARE_LPF_OPTION_2:
|
||||
return ICM456XX_GYRO_UI_LPFBW_ODR_DIV_8;
|
||||
#ifdef USE_GYRO_DLPF_EXPERIMENTAL
|
||||
case GYRO_HARDWARE_LPF_EXPERIMENTAL:
|
||||
return ICM456XX_GYRO_UI_LPFBW_ODR_DIV_4;
|
||||
#endif
|
||||
default:
|
||||
return ICM456XX_GYRO_UI_LPFBW_BYPASS;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function follows the IREG WRITE procedure (Section 14.1-14.4 of the datasheet)
|
||||
* using indirect addressing via IREG_ADDR_15_8, IREG_ADDR_7_0, and IREG_DATA registers.
|
||||
* After writing, an internal operation transfers the data to the target IREG address.
|
||||
* Ensures compliance with the required minimum time gap and checks the IREG_DONE bit.
|
||||
*
|
||||
* @param dev Pointer to the SPI device structure.
|
||||
* @param reg 16-bit internal IREG register address.
|
||||
* @param value Value to be written to the register.
|
||||
* @return true if the write was successful
|
||||
*/
|
||||
static bool icm456xx_write_ireg(const extDevice_t *dev, uint16_t reg, uint8_t value)
|
||||
{
|
||||
if (ARMING_FLAG(ARMED)) {
|
||||
return false; // IREG write not allowed when armed
|
||||
}
|
||||
|
||||
const uint8_t msb = (reg >> 8) & 0xFF;
|
||||
const uint8_t lsb = reg & 0xFF;
|
||||
|
||||
spiWriteReg(dev, ICM456XX_REG_IREG_ADDR_15_8, msb);
|
||||
spiWriteReg(dev, ICM456XX_REG_IREG_ADDR_7_0, lsb);
|
||||
spiWriteReg(dev, ICM456XX_REG_IREG_DATA, value);
|
||||
|
||||
// Check IREG_DONE (bit 0 of REG_MISC2 = 0x7F)
|
||||
for (int i = 0; i < 100; i++) {
|
||||
const uint8_t misc2 = spiReadRegMsk(dev, ICM456XX_REG_MISC2);
|
||||
if (misc2 & ICM456XX_BIT_IREG_DONE) {
|
||||
return true;
|
||||
}
|
||||
delayMicroseconds(10);
|
||||
}
|
||||
|
||||
return false; // timeout
|
||||
}
|
||||
|
||||
static inline void icm456xx_enableAAFandInterpolator(const extDevice_t *dev, uint16_t reg, bool enableAAF, bool enableInterp)
|
||||
{
|
||||
const uint8_t value = (enableAAF ? ICM456XX_SRC_CTRL_AAF_ENABLE_BIT : 0)
|
||||
| (enableInterp ? ICM456XX_SRC_CTRL_INTERP_ENABLE_BIT : 0);
|
||||
icm456xx_write_ireg(dev, reg, value);
|
||||
}
|
||||
|
||||
static bool icm456xx_configureLPF(const extDevice_t *dev, uint16_t reg, uint8_t lpfDiv)
|
||||
{
|
||||
if (lpfDiv > 0x07) {
|
||||
return false;
|
||||
}
|
||||
|
||||
return icm456xx_write_ireg(dev, reg, lpfDiv & 0x07);
|
||||
}
|
||||
|
||||
static void icm456xx_enableSensors(const extDevice_t *dev, bool enable)
|
||||
{
|
||||
uint8_t value = enable
|
||||
? (ICM456XX_GYRO_MODE_LN | ICM456XX_ACCEL_MODE_LN)
|
||||
: (ICM456XX_GYRO_MODE_OFF | ICM456XX_ACCEL_MODE_OFF);
|
||||
|
||||
spiWriteReg(dev, ICM456XX_PWR_MGMT0, value);
|
||||
}
|
||||
|
||||
void icm456xxAccInit(accDev_t *acc)
|
||||
{
|
||||
const extDevice_t *dev = &acc->gyro->dev;
|
||||
|
||||
spiWriteReg(dev, ICM456XX_REG_BANK_SEL, ICM456XX_BANK_0);
|
||||
|
||||
switch (acc->mpuDetectionResult.sensor) {
|
||||
case ICM_45686_SPI:
|
||||
acc->acc_1G = 1024; // 32g scale = 1024 LSB/g
|
||||
acc->gyro->accSampleRateHz = 1600;
|
||||
spiWriteReg(dev, ICM456XX_ACCEL_CONFIG0, ICM456XX_ACCEL_FS_SEL_32G | ICM456XX_ACCEL_ODR_1K6_LN);
|
||||
break;
|
||||
case ICM_45605_SPI:
|
||||
default:
|
||||
acc->acc_1G = 2048; // 16g scale = 2048 LSB/g
|
||||
acc->gyro->accSampleRateHz = 1600;
|
||||
spiWriteReg(dev, ICM456XX_ACCEL_CONFIG0, ICM456XX_ACCEL_FS_SEL_16G | ICM456XX_ACCEL_ODR_1K6_LN);
|
||||
break;
|
||||
}
|
||||
|
||||
// Enable Anti-Alias (AAF) Filter and Interpolator for Accel
|
||||
icm456xx_enableAAFandInterpolator(dev, ICM456XX_ACCEL_SRC_CTRL_IREG_ADDR, true, true);
|
||||
|
||||
// Set the Accel UI LPF bandwidth cut-off
|
||||
icm456xx_configureLPF(dev, ICM456XX_ACCEL_UI_LPF_CFG_IREG_ADDR, ICM456XX_ACCEL_UI_LPFBW_ODR_DIV_8);
|
||||
}
|
||||
|
||||
void icm456xxGyroInit(gyroDev_t *gyro)
|
||||
{
|
||||
const extDevice_t *dev = &gyro->dev;
|
||||
|
||||
spiSetClkDivisor(dev, spiCalculateDivider(ICM456XX_MAX_SPI_CLK_HZ));
|
||||
|
||||
mpuGyroInit(gyro);
|
||||
|
||||
spiWriteReg(dev, ICM456XX_REG_BANK_SEL, ICM456XX_BANK_0);
|
||||
|
||||
icm456xx_enableSensors(dev, true);
|
||||
|
||||
// Enable Anti-Alias (AAF) Filter and Interpolator for Gyro
|
||||
icm456xx_enableAAFandInterpolator(dev, ICM456XX_GYRO_SRC_CTRL_IREG_ADDR, true, true);
|
||||
|
||||
// Set the Gyro UI LPF bandwidth cut-off
|
||||
icm456xx_configureLPF(dev, ICM456XX_GYRO_UI_LPF_CFG_IREG_ADDR, getGyroLpfConfig(gyroConfig()->gyro_hardware_lpf));
|
||||
|
||||
switch (gyro->mpuDetectionResult.sensor) {
|
||||
case ICM_45686_SPI:
|
||||
case ICM_45605_SPI:
|
||||
default:
|
||||
gyro->scale = GYRO_SCALE_2000DPS;
|
||||
gyro->gyroRateKHz = GYRO_RATE_6400_Hz;
|
||||
gyro->gyroSampleRateHz = 6400;
|
||||
spiWriteReg(dev, ICM456XX_GYRO_CONFIG0, ICM456XX_GYRO_FS_SEL_2000DPS | ICM456XX_GYRO_ODR_6K4_LN);
|
||||
break;
|
||||
}
|
||||
|
||||
gyro->gyroShortPeriod = clockMicrosToCycles(HZ_TO_US(gyro->gyroSampleRateHz));
|
||||
|
||||
spiWriteReg(dev, ICM456XX_INT1_CONFIG2, ICM456XX_INT1_MODE_PULSED | ICM456XX_INT1_DRIVE_CIRCUIT_PP |
|
||||
ICM456XX_INT1_POLARITY_ACTIVE_HIGH);
|
||||
|
||||
spiWriteReg(dev, ICM456XX_INT1_CONFIG0, ICM456XX_INT1_STATUS_EN_DRDY);
|
||||
|
||||
}
|
||||
|
||||
uint8_t icm456xxSpiDetect(const extDevice_t *dev)
|
||||
{
|
||||
uint8_t icmDetected = MPU_NONE;
|
||||
uint8_t attemptsRemaining = 20;
|
||||
uint32_t waited_us = 0;
|
||||
|
||||
spiWriteReg(dev, ICM456XX_REG_BANK_SEL, ICM456XX_BANK_0);
|
||||
|
||||
// Soft reset
|
||||
spiWriteReg(dev, ICM456XX_REG_MISC2, ICM456XX_SOFT_RESET);
|
||||
|
||||
// Wait for reset to complete (bit 1 of REG_MISC2 becomes 0)
|
||||
while ((spiReadRegMsk(dev, ICM456XX_REG_MISC2) & ICM456XX_SOFT_RESET) != 0) {
|
||||
delayMicroseconds(10);
|
||||
waited_us += 10;
|
||||
|
||||
if (waited_us >= ICM456XX_RESET_TIMEOUT_US) {
|
||||
return MPU_NONE;
|
||||
}
|
||||
}
|
||||
|
||||
do {
|
||||
const uint8_t whoAmI = spiReadRegMsk(dev, ICM456XX_WHO_AM_REGISTER);
|
||||
switch (whoAmI) {
|
||||
case ICM45686_WHO_AM_I_CONST:
|
||||
icmDetected = ICM_45686_SPI;
|
||||
break;
|
||||
case ICM45605_WHO_AM_I_CONST:
|
||||
icmDetected = ICM_45605_SPI;
|
||||
break;
|
||||
default:
|
||||
icmDetected = MPU_NONE;
|
||||
break;
|
||||
}
|
||||
|
||||
} while (icmDetected == MPU_NONE && attemptsRemaining--);
|
||||
|
||||
return icmDetected;
|
||||
|
||||
}
|
||||
|
||||
bool icm456xxAccReadSPI(accDev_t *acc)
|
||||
{
|
||||
switch (acc->gyro->gyroModeSPI) {
|
||||
case GYRO_EXTI_INT:
|
||||
case GYRO_EXTI_NO_INT:
|
||||
{
|
||||
#ifdef USE_DMA
|
||||
if (spiUseDMA(&acc->gyro->dev)) {
|
||||
acc->gyro->dev.txBuf[0] = ICM456XX_ACCEL_DATA_X1_UI | 0x80;
|
||||
|
||||
busSegment_t segments[] = {
|
||||
{.u.buffers = {NULL, NULL}, ICM456XX_SPI_BUFFER_SIZE, true, NULL},
|
||||
{.u.link = {NULL, NULL}, 0, true, NULL},
|
||||
};
|
||||
memset(&acc->gyro->dev.txBuf[1], 0xFF, 6);
|
||||
segments[0].u.buffers.txData = acc->gyro->dev.txBuf;
|
||||
segments[0].u.buffers.rxData = &acc->gyro->dev.rxBuf[1];
|
||||
spiSequence(&acc->gyro->dev, &segments[0]);
|
||||
|
||||
// Wait for completion
|
||||
spiWait(&acc->gyro->dev);
|
||||
|
||||
} else
|
||||
#else
|
||||
{
|
||||
// Interrupts are present, but no DMA. Non-DMA read
|
||||
uint8_t raw[ICM456XX_DATA_LENGTH];
|
||||
const bool ack = spiReadRegMskBufRB(&acc->gyro->dev, ICM456XX_ACCEL_DATA_X1_UI, raw, ICM456XX_DATA_LENGTH);
|
||||
if (!ack) {
|
||||
return false;
|
||||
}
|
||||
|
||||
acc->ADCRaw[X] = (int16_t)((raw[1] << 8) | raw[0]);
|
||||
acc->ADCRaw[Y] = (int16_t)((raw[3] << 8) | raw[2]);
|
||||
acc->ADCRaw[Z] = (int16_t)((raw[5] << 8) | raw[4]);
|
||||
|
||||
}
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
case GYRO_EXTI_INT_DMA:
|
||||
{
|
||||
// If read was triggered in interrupt don't bother waiting. The worst that could happen is that we pick
|
||||
// up an old value.
|
||||
|
||||
// This data was read from the gyro, which is the same SPI device as the acc
|
||||
acc->ADCRaw[X] = (int16_t)((acc->gyro->dev.rxBuf[2] << 8) | acc->gyro->dev.rxBuf[1]);
|
||||
acc->ADCRaw[Y] = (int16_t)((acc->gyro->dev.rxBuf[4] << 8) | acc->gyro->dev.rxBuf[3]);
|
||||
acc->ADCRaw[Z] = (int16_t)((acc->gyro->dev.rxBuf[6] << 8) | acc->gyro->dev.rxBuf[5]);
|
||||
break;
|
||||
}
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool icm456xxSpiAccDetect(accDev_t *acc)
|
||||
{
|
||||
switch (acc->mpuDetectionResult.sensor) {
|
||||
case ICM_45686_SPI:
|
||||
case ICM_45605_SPI:
|
||||
acc->initFn = icm456xxAccInit;
|
||||
acc->readFn = icm456xxAccReadSPI;
|
||||
break;
|
||||
default:
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool icm456xxGyroReadSPI(gyroDev_t *gyro)
|
||||
{
|
||||
switch (gyro->gyroModeSPI) {
|
||||
case GYRO_EXTI_INIT:
|
||||
{
|
||||
// Initialise the tx buffer to all 0xff
|
||||
memset(gyro->dev.txBuf, 0xff, ICM456XX_SPI_BUFFER_SIZE);
|
||||
|
||||
gyro->gyroDmaMaxDuration = 0; // INT gyroscope always calls that data is ready. We can read immediately
|
||||
#ifdef USE_DMA
|
||||
if (spiUseDMA(&gyro->dev)) {
|
||||
gyro->dev.callbackArg = (uint32_t)gyro;
|
||||
gyro->dev.txBuf[0] = ICM456XX_GYRO_DATA_X1_UI | 0x80;
|
||||
gyro->segments[0].len = ICM456XX_SPI_BUFFER_SIZE;
|
||||
gyro->segments[0].callback = mpuIntCallback;
|
||||
gyro->segments[0].u.buffers.txData = gyro->dev.txBuf;
|
||||
gyro->segments[0].u.buffers.rxData = gyro->dev.rxBuf;
|
||||
gyro->segments[0].negateCS = true;
|
||||
gyro->gyroModeSPI = GYRO_EXTI_INT_DMA;
|
||||
} else
|
||||
#endif
|
||||
{
|
||||
// Interrupts are present, but no DMA. Non-DMA read
|
||||
uint8_t raw[ICM456XX_DATA_LENGTH];
|
||||
const bool ack = spiReadRegMskBufRB(&gyro->dev, ICM456XX_GYRO_DATA_X1_UI, raw, ICM456XX_DATA_LENGTH);
|
||||
if (!ack) {
|
||||
return false;
|
||||
}
|
||||
|
||||
gyro->gyroADCRaw[X] = (int16_t)((raw[1] << 8) | raw[0]);
|
||||
gyro->gyroADCRaw[Y] = (int16_t)((raw[3] << 8) | raw[2]);
|
||||
gyro->gyroADCRaw[Z] = (int16_t)((raw[5] << 8) | raw[4]);
|
||||
gyro->gyroModeSPI = GYRO_EXTI_INT;
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
case GYRO_EXTI_NO_INT:
|
||||
{
|
||||
gyro->dev.txBuf[0] = ICM456XX_GYRO_DATA_X1_UI | 0x80;
|
||||
|
||||
busSegment_t segments[] = {
|
||||
{.u.buffers = {NULL, NULL}, ICM456XX_SPI_BUFFER_SIZE, true, NULL},
|
||||
{.u.link = {NULL, NULL}, 0, true, NULL},
|
||||
};
|
||||
memset(&gyro->dev.txBuf[1], 0xFF, 6);
|
||||
segments[0].u.buffers.txData = gyro->dev.txBuf;
|
||||
segments[0].u.buffers.rxData = gyro->dev.rxBuf;
|
||||
|
||||
spiSequence(&gyro->dev, &segments[0]);
|
||||
|
||||
// Wait for completion
|
||||
spiWait(&gyro->dev);
|
||||
|
||||
gyro->gyroADCRaw[X] = (int16_t)((gyro->dev.rxBuf[2] << 8) | gyro->dev.rxBuf[1]);
|
||||
gyro->gyroADCRaw[Y] = (int16_t)((gyro->dev.rxBuf[4] << 8) | gyro->dev.rxBuf[3]);
|
||||
gyro->gyroADCRaw[Z] = (int16_t)((gyro->dev.rxBuf[6] << 8) | gyro->dev.rxBuf[5]);
|
||||
break;
|
||||
}
|
||||
|
||||
case GYRO_EXTI_INT_DMA:
|
||||
{
|
||||
|
||||
// If read was triggered in interrupt don't bother waiting. The worst that could happen is that we pick
|
||||
// up an old value.
|
||||
gyro->gyroADCRaw[X] = (int16_t)((gyro->dev.rxBuf[2] << 8) | gyro->dev.rxBuf[1]);
|
||||
gyro->gyroADCRaw[Y] = (int16_t)((gyro->dev.rxBuf[4] << 8) | gyro->dev.rxBuf[3]);
|
||||
gyro->gyroADCRaw[Z] = (int16_t)((gyro->dev.rxBuf[6] << 8) | gyro->dev.rxBuf[5]);
|
||||
break;
|
||||
}
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
bool icm456xxSpiGyroDetect(gyroDev_t *gyro)
|
||||
{
|
||||
switch (gyro->mpuDetectionResult.sensor) {
|
||||
case ICM_45686_SPI:
|
||||
case ICM_45605_SPI:
|
||||
gyro->initFn = icm456xxGyroInit;
|
||||
gyro->readFn = icm456xxGyroReadSPI;
|
||||
break;
|
||||
default:
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
#endif // USE_ACCGYRO_ICM45686 || USE_ACCGYRO_ICM45605
|
||||
32
src/main/drivers/accgyro/accgyro_spi_icm456xx.h
Normal file
32
src/main/drivers/accgyro/accgyro_spi_icm456xx.h
Normal file
|
|
@ -0,0 +1,32 @@
|
|||
/*
|
||||
* This file is part of Betaflight.
|
||||
*
|
||||
* Betaflight is free software. You can redistribute this software
|
||||
* and/or modify this software under the terms of the GNU General
|
||||
* Public License as published by the Free Software Foundation,
|
||||
* either version 3 of the License, or (at your option) any later
|
||||
* version.
|
||||
*
|
||||
* Betaflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
||||
*
|
||||
* See the GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public
|
||||
* License along with this software.
|
||||
*
|
||||
* If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "drivers/bus.h"
|
||||
|
||||
void icm456xxAccInit(accDev_t *acc);
|
||||
void icm456xxGyroInit(gyroDev_t *gyro);
|
||||
|
||||
uint8_t icm456xxSpiDetect(const extDevice_t *dev);
|
||||
|
||||
bool icm456xxSpiAccDetect(accDev_t *acc);
|
||||
bool icm456xxSpiGyroDetect(gyroDev_t *gyro);
|
||||
|
|
@ -83,6 +83,12 @@ uint16_t gyroSetSampleRate(gyroDev_t *gyro)
|
|||
accSampleRateHz = 833;
|
||||
break;
|
||||
#endif
|
||||
case ICM_45686_SPI:
|
||||
case ICM_45605_SPI:
|
||||
gyro->gyroRateKHz = GYRO_RATE_6400_Hz;
|
||||
gyroSampleRateHz = 6400;
|
||||
accSampleRateHz = 1600;
|
||||
break;
|
||||
default:
|
||||
gyro->gyroRateKHz = GYRO_RATE_8_kHz;
|
||||
gyroSampleRateHz = 8000;
|
||||
|
|
|
|||
|
|
@ -51,6 +51,8 @@ typedef enum {
|
|||
ACC_LSM6DSO,
|
||||
ACC_LSM6DSV16X,
|
||||
ACC_IIM42653,
|
||||
ACC_ICM45605,
|
||||
ACC_ICM45686,
|
||||
ACC_VIRTUAL
|
||||
} accelerationSensor_e;
|
||||
|
||||
|
|
|
|||
|
|
@ -47,6 +47,7 @@
|
|||
#include "drivers/accgyro/accgyro_spi_icm20649.h"
|
||||
#include "drivers/accgyro/accgyro_spi_icm20689.h"
|
||||
#include "drivers/accgyro/accgyro_spi_icm426xx.h"
|
||||
#include "drivers/accgyro/accgyro_spi_icm456xx.h"
|
||||
|
||||
#include "drivers/accgyro/accgyro_spi_lsm6dso.h"
|
||||
#include "drivers/accgyro/accgyro_spi_lsm6dsv16x.h"
|
||||
|
|
@ -240,6 +241,26 @@ retry:
|
|||
FALLTHROUGH;
|
||||
#endif
|
||||
|
||||
#if defined(USE_ACCGYRO_ICM45686) || defined(USE_ACCGYRO_ICM45605)
|
||||
case ACC_ICM45686:
|
||||
case ACC_ICM45605:
|
||||
if (icm456xxSpiAccDetect(dev)) {
|
||||
switch (dev->mpuDetectionResult.sensor) {
|
||||
case ICM_45686_SPI:
|
||||
accHardware = ACC_ICM45686;
|
||||
break;
|
||||
case ICM_45605_SPI:
|
||||
accHardware = ACC_ICM45605;
|
||||
break;
|
||||
default:
|
||||
accHardware = ACC_NONE;
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
FALLTHROUGH;
|
||||
#endif
|
||||
|
||||
#ifdef USE_ACCGYRO_BMI160
|
||||
case ACC_BMI160:
|
||||
if (bmi160SpiAccDetect(dev)) {
|
||||
|
|
|
|||
|
|
@ -47,6 +47,7 @@
|
|||
#include "drivers/accgyro/accgyro_spi_icm20649.h"
|
||||
#include "drivers/accgyro/accgyro_spi_icm20689.h"
|
||||
#include "drivers/accgyro/accgyro_spi_icm426xx.h"
|
||||
#include "drivers/accgyro/accgyro_spi_icm456xx.h"
|
||||
|
||||
#include "drivers/accgyro/accgyro_spi_l3gd20.h"
|
||||
#include "drivers/accgyro/accgyro_spi_lsm6dso.h"
|
||||
|
|
@ -318,6 +319,8 @@ void gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
|
|||
case GYRO_ICM42688P:
|
||||
case GYRO_IIM42653:
|
||||
case GYRO_ICM42605:
|
||||
case GYRO_ICM45686:
|
||||
case GYRO_ICM45605:
|
||||
gyroSensor->gyroDev.gyroHasOverflowProtection = true;
|
||||
break;
|
||||
|
||||
|
|
@ -454,6 +457,27 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
|
|||
FALLTHROUGH;
|
||||
#endif
|
||||
|
||||
#if defined(USE_ACCGYRO_ICM45686) || defined(USE_ACCGYRO_ICM45605)
|
||||
case GYRO_ICM45686:
|
||||
case GYRO_ICM45605:
|
||||
if (icm456xxSpiGyroDetect(dev)) {
|
||||
switch (dev->mpuDetectionResult.sensor) {
|
||||
case ICM_45686_SPI:
|
||||
gyroHardware = GYRO_ICM45686;
|
||||
break;
|
||||
case ICM_45605_SPI:
|
||||
gyroHardware = GYRO_ICM45605;
|
||||
break;
|
||||
|
||||
default:
|
||||
gyroHardware = GYRO_NONE;
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
FALLTHROUGH;
|
||||
#endif
|
||||
|
||||
#ifdef USE_ACCGYRO_BMI160
|
||||
case GYRO_BMI160:
|
||||
if (bmi160SpiGyroDetect(dev)) {
|
||||
|
|
|
|||
|
|
@ -102,6 +102,8 @@
|
|||
&& !defined(USE_ACC_SPI_ICM20689) \
|
||||
&& !defined(USE_ACC_SPI_ICM42605) \
|
||||
&& !defined(USE_ACC_SPI_ICM42688P) \
|
||||
&& !defined(USE_ACCGYRO_ICM45686) \
|
||||
&& !defined(USE_ACCGYRO_ICM45605) \
|
||||
&& !defined(USE_ACCGYRO_LSM6DSO) \
|
||||
&& !defined(USE_ACCGYRO_LSM6DSV16X) \
|
||||
&& !defined(USE_ACC_SPI_MPU6000) \
|
||||
|
|
@ -122,6 +124,8 @@
|
|||
&& !defined(USE_GYRO_SPI_ICM20689) \
|
||||
&& !defined(USE_GYRO_SPI_ICM42605) \
|
||||
&& !defined(USE_GYRO_SPI_ICM42688P) \
|
||||
&& !defined(USE_ACCGYRO_ICM45686) \
|
||||
&& !defined(USE_ACCGYRO_ICM45605) \
|
||||
&& !defined(USE_ACCGYRO_LSM6DSO) \
|
||||
&& !defined(USE_ACCGYRO_LSM6DSV16X) \
|
||||
&& !defined(USE_GYRO_SPI_MPU6000) \
|
||||
|
|
@ -468,8 +472,9 @@
|
|||
|
||||
// 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_IIM42653) \
|
||||
|| 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_ICM45686) \
|
||||
|| defined(USE_ACCGYRO_ICM45605) || 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
|
||||
|
|
|
|||
|
|
@ -114,6 +114,8 @@
|
|||
#define USE_ACCGYRO_BMI270
|
||||
#define USE_GYRO_SPI_ICM42605
|
||||
#define USE_GYRO_SPI_ICM42688P
|
||||
#define USE_ACCGYRO_ICM45686
|
||||
#define USE_ACCGYRO_ICM45605
|
||||
#define USE_ACCGYRO_IIM42653
|
||||
#define USE_ACC_SPI_ICM42605
|
||||
#define USE_ACC_SPI_ICM42688P
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue