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

STMicro LSM6DSV16X IMU support (#13046)

Browse source 
Add support for LSM6DSV16X
This commit is contained in:
Steve Evans 2023-12-04 01:19:48 +00:00 • committed by GitHub
parent 010a71820a
commit e126f1c4a4
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
10 changed files with 1151 additions and 7 deletions
Download patch file Download diff file Expand all files Collapse all files

16
src/main/sensors/gyro_init.c
View file

@ -49,6 +49,7 @@
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_mpu9250.h"
#include "drivers/accgyro/accgyro_spi_lsm6dsv16x.h"
#ifdef USE_GYRO_L3GD20
#include "drivers/accgyro/accgyro_spi_l3gd20.h"
@ -75,7 +76,7 @@
!defined(USE_GYRO_MPU6500) && !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_BMI270) && \
!defined(USE_ACCGYRO_LSM6DSO) && !defined(USE_VIRTUAL_GYRO)
!defined(USE_ACCGYRO_LSM6DSV16X) && !defined(USE_ACCGYRO_LSM6DSO) && !defined(USE_VIRTUAL_GYRO)
#error At least one USE_GYRO device definition required
#endif
@ -327,6 +328,7 @@ void gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
case GYRO_MPU6500:
case GYRO_MPU9250:
case GYRO_LSM6DSO:
case GYRO_LSM6DSV16X:
gyroSensor->gyroDev.gyroHasOverflowProtection = true;
break;
@ -504,6 +506,15 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
FALLTHROUGH;
#endif
#ifdef USE_ACCGYRO_LSM6DSV16X
case GYRO_LSM6DSV16X:
if (lsm6dsv16xSpiGyroDetect(dev)) {
gyroHardware = GYRO_LSM6DSV16X;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_VIRTUAL_GYRO
case GYRO_VIRTUAL:
if (virtualGyroDetect(dev)) {
@ -529,7 +540,8 @@ 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_ICM42688P)
|| 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) || defined(USE_ACCGYRO_LSM6DSV16X)
bool gyroFound = mpuDetect(&gyroSensor->gyroDev, config);