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switch bmi270 to normal driver

This commit is contained in:
Hugo Chiang 2022-12-01 10:30:01 +08:00 committed by Hugo Chiang
parent 67b2ccb6a6
commit 1887ae79de
6 changed files with 20 additions and 19 deletions
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2
lib/main/BoschSensortec/BMI270-Sensor-API/betaflight_info.txt
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@ -6,4 +6,4 @@ Library download location:
Version:
2.63.1
The only file that is compiled as part of Betaflight is bmi270_maximum_fifo.c. This file contains the device microcode that must be uploaded during initialization.
The only file that is compiled as part of Betaflight is bmi270.c. This file contains the device microcode that must be uploaded during initialization.

29
src/main/drivers/accgyro/accgyro_spi_bmi270.c
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@ -45,14 +45,15 @@
#define BMI270_FIFO_FRAME_SIZE 6
#define BMI270_CONFIG_SIZE 328
#define BMI270_CONFIG_SIZE 8192
// Declaration for the device config (microcode) that must be uploaded to the sensor
extern const uint8_t bmi270_maximum_fifo_config_file[BMI270_CONFIG_SIZE];
extern const uint8_t bmi270_config_file[BMI270_CONFIG_SIZE];
#define BMI270_CHIP_ID 0x24
#define BMI270_GYRO_CAS_SIGN_BIT_MASK 0x0040
#define BMI270_GYRO_CAS_MASK 0x7F
#define BMI270_GYRO_CAS_SIGN_BIT_MASK 0x40
// BMI270 registers (not the complete list)
typedef enum {
@ -159,9 +160,9 @@ static void bmi270RegisterWrite(const extDevice_t *dev, bmi270Register_e registe
}
}
static int16_t bmi270GetGyroCas(int16_t gyroCasRaw)
static int16_t bmi270GetGyroCas(uint8_t gyroCasRaw)
{
if (gyroCasRaw & BMI270_GYRO_CAS_SIGN_BIT_MASK ){
if (gyroCasRaw & BMI270_GYRO_CAS_SIGN_BIT_MASK) {
return (int16_t)(((int16_t)gyroCasRaw) - 128);
} else {
return (int16_t)(gyroCasRaw);
@ -196,7 +197,7 @@ static void bmi270UploadConfig(const extDevice_t *dev)
bmi270RegisterWrite(dev, BMI270_REG_INIT_CTRL, 0, 1);
// Transfer the config file
spiWriteRegBuf(dev, BMI270_REG_INIT_DATA, (uint8_t *)bmi270_maximum_fifo_config_file, sizeof(bmi270_maximum_fifo_config_file));
spiWriteRegBuf(dev, BMI270_REG_INIT_DATA, (uint8_t *)bmi270_config_file, sizeof(bmi270_config_file));
delay(10);
bmi270RegisterWrite(dev, BMI270_REG_INIT_CTRL, 1, 1);
@ -445,19 +446,19 @@ static bool bmi270GyroReadRegister(gyroDev_t *gyro)
spiWait(&gyro->dev);
// GYRO_CAS rading
gyro->dev.txBuf[9] = BMI270_REG_FEATURES_C | 0x80;
gyro->dev.txBuf[8] = BMI270_REG_FEATURES_C | 0x80;
busSegment_t segmentsCas[] = {
{.u.buffers = {NULL, NULL}, 4, true, NULL},
{.u.link = {NULL, NULL}, 0, true, NULL},
};
segmentsCas[0].u.buffers.txData = &gyro->dev.txBuf[9];
segmentsCas[0].u.buffers.rxData = &gyro->dev.rxBuf[9];
segmentsCas[0].u.buffers.txData = &gyro->dev.txBuf[8];
segmentsCas[0].u.buffers.rxData = &gyro->dev.rxBuf[8];
spiSequence(&gyro->dev, &segmentsCas[0]);
// Wait for completion
spiWait(&gyro->dev);
int16_t cas = bmi270GetGyroCas((int16_t)(gyroData[5]));
int16_t cas = bmi270GetGyroCas(segmentsCas[0].u.buffers.rxData[3] & BMI270_GYRO_CAS_MASK);
gyro->gyroADCRaw[X] = gyroData[1] - (cas * gyroData[3] / 512);
gyro->gyroADCRaw[Y] = gyroData[2];
gyro->gyroADCRaw[Z] = gyroData[3];
@ -468,19 +469,19 @@ static bool bmi270GyroReadRegister(gyroDev_t *gyro)
case GYRO_EXTI_INT_DMA:
{
// GYRO_CAS rading
gyro->dev.txBuf[15] = BMI270_REG_FEATURES_C | 0x80;
gyro->dev.txBuf[14] = BMI270_REG_FEATURES_C | 0x80;
busSegment_t segmentsCas[] = {
{.u.buffers = {NULL, NULL}, 4, true, NULL},
{.u.link = {NULL, NULL}, 0, true, NULL},
};
segmentsCas[0].u.buffers.txData = &gyro->dev.txBuf[15];
segmentsCas[0].u.buffers.rxData = &gyro->dev.rxBuf[15];
segmentsCas[0].u.buffers.txData = &gyro->dev.txBuf[14];
segmentsCas[0].u.buffers.rxData = &gyro->dev.rxBuf[14];
spiSequence(&gyro->dev, &segmentsCas[0]);
// Wait for completion
spiWait(&gyro->dev);
int16_t cas = bmi270GetGyroCas((int16_t)(gyroData[8]));
int16_t cas = bmi270GetGyroCas(segmentsCas[0].u.buffers.rxData[3] & BMI270_GYRO_CAS_MASK);
gyro->gyroADCRaw[X] = gyroData[4] - (cas * gyroData[6] / 512);
gyro->gyroADCRaw[Y] = gyroData[5];
gyro->gyroADCRaw[Z] = gyroData[6];

2
src/main/target/AT32F403ADEV/target.mk
View File

@ -5,7 +5,7 @@ FEATURES += VCP SDCARD_SPI ONBOARDFLASH
TARGET_SRC = \
$(addprefix drivers/accgyro/,$(notdir $(wildcard $(SRC_DIR)/drivers/accgyro/*.c))) \
$(ROOT)/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_maximum_fifo.c \
$(ROOT)/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.c \
$(addprefix drivers/barometer/,$(notdir $(wildcard $(SRC_DIR)/drivers/barometer/*.c))) \
$(addprefix drivers/compass/,$(notdir $(wildcard $(SRC_DIR)/drivers/compass/*.c))) \
drivers/max7456.c \

2
src/main/target/EMSRPROTO2/target.mk
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@ -8,7 +8,7 @@ TARGET_SRC = \
drivers/barometer/barometer_bmp280.c \
drivers/compass/compass_hmc5883l.c\
drivers/compass/compass_qmc5883l.c\
$(ROOT)/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_maximum_fifo.c \
$(ROOT)/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.c \
drivers/accgyro/accgyro_spi_bmi270.c\
drivers/accgyro/accgyro_spi_lsm6dso_init.c \
drivers/accgyro/accgyro_spi_lsm6dso.c \

2
src/main/target/EMSRPROTO3/target.mk
View File

@ -8,7 +8,7 @@ TARGET_SRC = \
drivers/barometer/barometer_bmp280.c \
drivers/compass/compass_hmc5883l.c\
drivers/compass/compass_qmc5883l.c\
$(ROOT)/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_maximum_fifo.c \
$(ROOT)/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.c \
drivers/accgyro/accgyro_spi_bmi270.c\
drivers/max7456.c \

2
src/main/target/NEUTRONRCF435AIO/target.mk
View File

@ -13,7 +13,7 @@ TARGET_SRC = \
drivers/barometer/barometer_dps310.c\
drivers/compass/compass_hmc5883l.c\
drivers/compass/compass_qmc5883l.c\
$(ROOT)/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270_maximum_fifo.c \
$(ROOT)/lib/main/BoschSensortec/BMI270-Sensor-API/bmi270.c \
drivers/accgyro/accgyro_spi_bmi270.c\
drivers/accgyro/accgyro_spi_lsm6dso_init.c \
drivers/accgyro/accgyro_spi_lsm6dso.c \