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Merge pull request #10693 from hydra/bf-icm42605-fixes-1

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ICM42605 fixes.
This commit is contained in:
Michael Keller 2021-04-28 02:34:52 +12:00
parent 4fd86eb4fc
commit f2e39e0ce2
3 changed files with 6 additions and 14 deletions
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16
src/main/drivers/accgyro/accgyro_spi_icm42605.c
View file

@ -177,7 +177,7 @@ typedef struct odrEntry_s {
uint8_t odr; // See GYRO_ODR in datasheet. uint8_t odr; // See GYRO_ODR in datasheet.
} odrEntry_t; } odrEntry_t;
odrEntry_t khzToSupportedODRMap[] = { static odrEntry_t icm42605PkhzToSupportedODRMap[] = {
{ 8, 3 }, { 8, 3 },
{ 4, 4 }, { 4, 4 },
{ 2, 5 }, { 2, 5 },
@ -199,9 +199,9 @@ void icm42605GyroInit(gyroDev_t *gyro)
if (gyro->gyroRateKHz) { if (gyro->gyroRateKHz) {
uint8_t gyroSyncDenominator = gyro->mpuDividerDrops + 1; // rebuild it in here, see gyro_sync.c uint8_t gyroSyncDenominator = gyro->mpuDividerDrops + 1; // rebuild it in here, see gyro_sync.c
uint8_t desiredODRKhz = 8 / gyroSyncDenominator; uint8_t desiredODRKhz = 8 / gyroSyncDenominator;
for (uint32_t i = 0; i < ARRAYLEN(khzToSupportedODRMap); i++) { for (uint32_t i = 0; i < ARRAYLEN(icm42605PkhzToSupportedODRMap); i++) {
if (khzToSupportedODRMap[i].khz == desiredODRKhz) { if (icm42605PkhzToSupportedODRMap[i].khz == desiredODRKhz) {
outputDataRate = khzToSupportedODRMap[i].odr; outputDataRate = icm42605PkhzToSupportedODRMap[i].odr;
supportedODRFound = true; supportedODRFound = true;
break; break;
} }
@ -213,22 +213,14 @@ void icm42605GyroInit(gyroDev_t *gyro)
gyro->gyroRateKHz = GYRO_RATE_1_kHz; gyro->gyroRateKHz = GYRO_RATE_1_kHz;
} }
uint8_t value;
STATIC_ASSERT(INV_FSR_2000DPS == 3, "INV_FSR_2000DPS must be 3 to generate correct value"); STATIC_ASSERT(INV_FSR_2000DPS == 3, "INV_FSR_2000DPS must be 3 to generate correct value");
spiBusWriteRegister(&gyro->bus, ICM42605_RA_GYRO_CONFIG0, (3 - INV_FSR_2000DPS) << 5 | (outputDataRate & 0x0F)); spiBusWriteRegister(&gyro->bus, ICM42605_RA_GYRO_CONFIG0, (3 - INV_FSR_2000DPS) << 5 | (outputDataRate & 0x0F));
delay(15); delay(15);
value = spiBusReadRegister(&gyro->bus, ICM42605_RA_GYRO_CONFIG0);
debug[1] = value;
STATIC_ASSERT(INV_FSR_16G == 3, "INV_FSR_16G must be 3 to generate correct value"); STATIC_ASSERT(INV_FSR_16G == 3, "INV_FSR_16G must be 3 to generate correct value");
spiBusWriteRegister(&gyro->bus, ICM42605_RA_ACCEL_CONFIG0, (3 - INV_FSR_16G) << 5 | (outputDataRate & 0x0F)); spiBusWriteRegister(&gyro->bus, ICM42605_RA_ACCEL_CONFIG0, (3 - INV_FSR_16G) << 5 | (outputDataRate & 0x0F));
delay(15); delay(15);
value = spiBusReadRegister(&gyro->bus, ICM42605_RA_ACCEL_CONFIG0);
debug[2] = value;
spiBusWriteRegister(&gyro->bus, ICM42605_RA_GYRO_ACCEL_CONFIG0, ICM42605_ACCEL_UI_FILT_BW_LOW_LATENCY | ICM42605_GYRO_UI_FILT_BW_LOW_LATENCY); spiBusWriteRegister(&gyro->bus, ICM42605_RA_GYRO_ACCEL_CONFIG0, ICM42605_ACCEL_UI_FILT_BW_LOW_LATENCY | ICM42605_GYRO_UI_FILT_BW_LOW_LATENCY);
spiBusWriteRegister(&gyro->bus, ICM42605_RA_INT_CONFIG, ICM42605_INT1_MODE_PULSED | ICM42605_INT1_DRIVE_CIRCUIT_PP | ICM42605_INT1_POLARITY_ACTIVE_HIGH); spiBusWriteRegister(&gyro->bus, ICM42605_RA_INT_CONFIG, ICM42605_INT1_MODE_PULSED | ICM42605_INT1_DRIVE_CIRCUIT_PP | ICM42605_INT1_POLARITY_ACTIVE_HIGH);

2
src/main/sensors/gyro_init.c
View file

@ -494,7 +494,7 @@ 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) \ #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_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_GYRO_SPI_ICM20689) || defined(USE_GYRO_L3GD20) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) || defined(USE_GYRO_SPI_ICM42605)
bool gyroFound = mpuDetect(&gyroSensor->gyroDev, config); bool gyroFound = mpuDetect(&gyroSensor->gyroDev, config);

2
src/main/target/common_post.h
View file

@ -235,7 +235,7 @@
#define USE_I2C_GYRO #define USE_I2C_GYRO
#endif #endif
#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) #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)
#define USE_SPI_GYRO #define USE_SPI_GYRO
#endif #endif