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Add support for IIM42652 (#14424)

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This commit is contained in:
Mark Haslinghuis 2025-06-11 01:47:01 +02:00 • committed by GitHub
parent 1b1648d135
commit ec91238cd8
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GPG key ID: B5690EEEBB952194
9 changed files with 36 additions and 11 deletions
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2
src/main/cli/settings.c
View file

@ -164,6 +164,7 @@ const char * const lookupTableAccHardware[] = {
"ICM45605",
"ICM45686",
"ICM40609D",
"IIM42652",
"VIRTUAL"
};
@ -191,6 +192,7 @@ const char * const lookupTableGyroHardware[] = {
"ICM45605",
"ICM45686",
"ICM40609D",
"IIM42652",
"VIRTUAL"
};

1
src/main/drivers/accgyro/accgyro.h
View file

@ -65,6 +65,7 @@ typedef enum {
GYRO_ICM45605,
GYRO_ICM45686,
GYRO_ICM40609D,
GYRO_IIM42652,
GYRO_VIRTUAL
} gyroHardware_e;

2
src/main/drivers/accgyro/accgyro_mpu.h
View file

@ -47,6 +47,7 @@
#define ICM42688P_WHO_AM_I_CONST (0x47)
#define ICM45686_WHO_AM_I_CONST (0xE9)
#define ICM45605_WHO_AM_I_CONST (0xE5)
#define IIM42652_WHO_AM_I_CONST (0x6F)
#define IIM42653_WHO_AM_I_CONST (0x56)
#define LSM6DSV16X_WHO_AM_I_CONST (0x70)
#define ICM40609_WHO_AM_I_CONST (0x3B)
@ -207,6 +208,7 @@ typedef enum {
ICM_20689_SPI,
ICM_42605_SPI,
ICM_42688P_SPI,
IIM_42652_SPI,
IIM_42653_SPI,
BMI_160_SPI,
BMI_270_SPI,

13
src/main/drivers/accgyro/accgyro_spi_icm426xx.c
View file

@ -28,7 +28,7 @@
#include "platform.h"
#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42652) || defined(USE_ACCGYRO_IIM42653)
#include "common/axis.h"
#include "common/utils.h"
@ -284,6 +284,9 @@ uint8_t icm426xxSpiDetect(const extDevice_t *dev)
case ICM42688P_WHO_AM_I_CONST:
icmDetected = ICM_42688P_SPI;
break;
case IIM42652_WHO_AM_I_CONST:
icmDetected = IIM_42652_SPI;
break;
case IIM42653_WHO_AM_I_CONST:
icmDetected = IIM_42653_SPI;
break;
@ -306,6 +309,7 @@ void icm426xxAccInit(accDev_t *acc)
{
switch (acc->mpuDetectionResult.sensor) {
case IIM_42653_SPI:
case IIM_42652_SPI:
acc->acc_1G = 512 * 2; // Accel scale 32g (1024 LSB/g)
break;
default:
@ -319,6 +323,7 @@ bool icm426xxSpiAccDetect(accDev_t *acc)
switch (acc->mpuDetectionResult.sensor) {
case ICM_42605_SPI:
case ICM_42688P_SPI:
case IIM_42652_SPI:
case IIM_42653_SPI:
break;
default:
@ -427,6 +432,7 @@ bool icm426xxSpiGyroDetect(gyroDev_t *gyro)
case ICM_42688P_SPI:
gyro->scale = GYRO_SCALE_2000DPS;
break;
case IIM_42652_SPI:
case IIM_42653_SPI:
gyro->scale = GYRO_SCALE_4000DPS;
break;
@ -444,6 +450,8 @@ static aafConfig_t getGyroAafConfig(const mpuSensor_e gyroModel, const aafConfig
{
switch (gyroModel){
case ICM_42605_SPI:
case IIM_42652_SPI:
case IIM_42653_SPI:
switch (config) {
case GYRO_HARDWARE_LPF_NORMAL:
return aafLUT42605[AAF_CONFIG_258HZ];
@ -456,7 +464,6 @@ static aafConfig_t getGyroAafConfig(const mpuSensor_e gyroModel, const aafConfig
}
case ICM_42688P_SPI:
case IIM_42653_SPI:
default:
switch (config) {
case GYRO_HARDWARE_LPF_NORMAL:
@ -475,4 +482,4 @@ static aafConfig_t getGyroAafConfig(const mpuSensor_e gyroModel, const aafConfig
}
}
#endif // USE_GYRO_SPI_ICM42605 || USE_GYRO_SPI_ICM42688P || USE_ACCGYRO_IIM42653
#endif // USE_GYRO_SPI_ICM42605 || USE_GYRO_SPI_ICM42688P || USE_ACCGYRO_IIM42652 || USE_ACCGYRO_IIM42653

1
src/main/sensors/acceleration.h
View file

@ -54,6 +54,7 @@ typedef enum {
ACC_ICM45605,
ACC_ICM45686,
ACC_ICM40609D,
ACC_IIM42652,
ACC_VIRTUAL
} accelerationSensor_e;

6
src/main/sensors/acceleration_init.c
View file

@ -218,9 +218,10 @@ retry:
FALLTHROUGH;
#endif
#if defined(USE_ACC_SPI_ICM42605) || defined(USE_ACC_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
#if defined(USE_ACC_SPI_ICM42605) || defined(USE_ACC_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42652) || defined(USE_ACCGYRO_IIM42653)
case ACC_ICM42605:
case ACC_ICM42688P:
case ACC_IIM42652:
case ACC_IIM42653:
if (icm426xxSpiAccDetect(dev)) {
switch (dev->mpuDetectionResult.sensor) {
@ -230,6 +231,9 @@ retry:
case ICM_42688P_SPI:
accHardware = ACC_ICM42688P;
break;
case IIM_42652_SPI:
accHardware = ACC_IIM42652;
break;
case IIM_42653_SPI:
accHardware = ACC_IIM42653;
break;

7
src/main/sensors/gyro_init.c
View file

@ -318,6 +318,7 @@ void gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
case GYRO_LSM6DSO:
case GYRO_LSM6DSV16X:
case GYRO_ICM42688P:
case GYRO_IIM42652:
case GYRO_IIM42653:
case GYRO_ICM42605:
case GYRO_ICM45686:
@ -434,9 +435,10 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
FALLTHROUGH;
#endif
#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42652) || defined(USE_ACCGYRO_IIM42653)
case GYRO_ICM42605:
case GYRO_ICM42688P:
case GYRO_IIM42652:
case GYRO_IIM42653:
if (icm426xxSpiGyroDetect(dev)) {
switch (dev->mpuDetectionResult.sensor) {
@ -446,6 +448,9 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
case ICM_42688P_SPI:
gyroHardware = GYRO_ICM42688P;
break;
case IIM_42652_SPI:
gyroHardware = GYRO_IIM42652;
break;
case IIM_42653_SPI:
gyroHardware = GYRO_IIM42653;
break;

14
src/main/target/common_post.h
View file

@ -110,8 +110,9 @@
&& !defined(USE_ACC_SPI_MPU6000) \
&& !defined(USE_ACC_SPI_MPU6500) \
&& !defined(USE_ACC_SPI_MPU9250) \
&& !defined(USE_VIRTUAL_ACC) \
&& !defined(USE_ACCGYRO_IIM42653)
&& !defined(USE_ACCGYRO_IIM42652) \
&& !defined(USE_ACCGYRO_IIM42653) \
&& !defined(USE_VIRTUAL_ACC)
#error At least one USE_ACC device definition required
#endif
@ -133,8 +134,9 @@
&& !defined(USE_GYRO_SPI_MPU6000) \
&& !defined(USE_GYRO_SPI_MPU6500) \
&& !defined(USE_GYRO_SPI_MPU9250) \
&& !defined(USE_VIRTUAL_GYRO) \
&& !defined(USE_ACCGYRO_IIM42653)
&& !defined(USE_ACCGYRO_IIM42652) \
&& !defined(USE_ACCGYRO_IIM42653) \
&& !defined(USE_VIRTUAL_GYRO)
#error At least one USE_GYRO device definition required
#endif
@ -472,11 +474,11 @@
#define USE_GYRO_SPI_MPU6500
#endif
// Generate USE_SPI_GYRO or USE_I2C_GYRO
// Generate USE_SPI_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_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) || defined(USE_ACCGYRO_ICM40609D)
|| defined(USE_ACCGYRO_LSM6DSV16X) || defined(USE_ACCGYRO_LSM6DSO) || defined(USE_ACCGYRO_ICM40609D) || defined(USE_ACCGYRO_IIM42652)
#ifndef USE_SPI_GYRO
#define USE_SPI_GYRO
#endif

1
src/main/target/common_pre.h
View file

@ -116,6 +116,7 @@
#define USE_GYRO_SPI_ICM42688P
#define USE_ACCGYRO_ICM45686
#define USE_ACCGYRO_ICM45605
#define USE_ACCGYRO_IIM42652
#define USE_ACCGYRO_IIM42653
#define USE_ACC_SPI_ICM42605
#define USE_ACC_SPI_ICM42688P