Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-13 11:29:58 +03:00
Code Issues Wiki Activity

Implementation of the ICM456xx gyroscope driver (#14348)

Browse source 
* 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 2025-05-26 13:00:41 +03:00 • committed by GitHub
parent 62be38297c
commit b389c2000d
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
13 changed files with 740 additions and 3 deletions
Download patch file Download diff file Expand all files Collapse all files

21
src/main/sensors/acceleration_init.c
View file

@ -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)) {