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Merge pull request #10706 from hydra/bf-icm42688p-support

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ICM42688-P Acc/Gyro sensor support
This commit is contained in:
J Blackman 2021-09-06 14:27:32 +10:00 • committed by GitHub
commit cdd1b76060
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20 changed files with 353 additions and 309 deletions
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21
src/main/sensors/gyro_init.c
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@ -45,7 +45,7 @@
#include "drivers/accgyro/accgyro_spi_icm20649.h"
#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_icm426xx.h"
#include "drivers/accgyro/accgyro_spi_lsm6dso.h"
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
@ -439,10 +439,21 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
FALLTHROUGH;
#endif
#ifdef USE_GYRO_SPI_ICM42605
#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
case GYRO_ICM42605:
if (icm42605SpiGyroDetect(dev)) {
gyroHardware = GYRO_ICM42605;
case GYRO_ICM42688P:
if (icm426xxSpiGyroDetect(dev)) {
switch (dev->mpuDetectionResult.sensor) {
case ICM_42605_SPI:
gyroHardware = GYRO_ICM42605;
break;
case ICM_42688P_SPI:
gyroHardware = GYRO_ICM42688P;
break;
default:
gyroHardware = GYRO_NONE;
break;
}
break;
}
FALLTHROUGH;
@ -500,7 +511,7 @@ 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_ACCGYRO_LSM6DSO) || defined(USE_GYRO_SPI_ICM42605)
|| defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_L3GD20) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) || defined(USE_ACCGYRO_LSM6DSO) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
bool gyroFound = mpuDetect(&gyroSensor->gyroDev, config);