ICM-20689 Gyro
This commit is contained in:
parent
a21694b065
commit
57c24c6ee1
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@ -479,7 +479,7 @@ void createDefaultConfig(master_t *config)
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#ifdef STM32F10X
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#ifdef STM32F10X
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config->gyro_sync_denom = 8;
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config->gyro_sync_denom = 8;
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config->pid_process_denom = 1;
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config->pid_process_denom = 1;
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#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500)
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#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20689)
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config->gyro_sync_denom = 1;
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config->gyro_sync_denom = 1;
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config->pid_process_denom = 4;
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config->pid_process_denom = 4;
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#else
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#else
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@ -40,6 +40,7 @@
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#include "accgyro_mpu6500.h"
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#include "accgyro_mpu6500.h"
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#include "accgyro_spi_mpu6000.h"
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#include "accgyro_spi_mpu6000.h"
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#include "accgyro_spi_mpu6500.h"
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#include "accgyro_spi_mpu6500.h"
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#include "accgyro_spi_icm20689.h"
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#include "accgyro_spi_mpu9250.h"
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#include "accgyro_spi_mpu9250.h"
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#include "accgyro_mpu.h"
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#include "accgyro_mpu.h"
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@ -143,6 +144,16 @@ static bool detectSPISensorsAndUpdateDetectionResult(void)
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}
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}
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#endif
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#endif
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#ifdef USE_GYRO_SPI_ICM20689
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if (icm20689SpiDetect()) {
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mpuDetectionResult.sensor = ICM_20689_SPI;
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mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
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mpuConfiguration.read = icm20689ReadRegister;
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mpuConfiguration.write = icm20689WriteRegister;
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return true;
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}
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#endif
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#ifdef USE_GYRO_SPI_MPU6000
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#ifdef USE_GYRO_SPI_MPU6000
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if (mpu6000SpiDetect()) {
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if (mpu6000SpiDetect()) {
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mpuDetectionResult.sensor = MPU_60x0_SPI;
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mpuDetectionResult.sensor = MPU_60x0_SPI;
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@ -167,7 +167,8 @@ typedef enum {
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MPU_60x0_SPI,
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MPU_60x0_SPI,
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MPU_65xx_I2C,
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MPU_65xx_I2C,
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MPU_65xx_SPI,
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MPU_65xx_SPI,
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MPU_9250_SPI
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MPU_9250_SPI,
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ICM_20689_SPI
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} detectedMPUSensor_e;
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} detectedMPUSensor_e;
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typedef enum {
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typedef enum {
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@ -0,0 +1,166 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include "platform.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "system.h"
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#include "exti.h"
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#include "io.h"
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#include "bus_spi.h"
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#include "gpio.h"
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#include "gyro_sync.h"
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#include "sensor.h"
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#include "accgyro.h"
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#include "accgyro_mpu.h"
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#include "accgyro_spi_icm20689.h"
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#define DISABLE_ICM20689 IOHi(icmSpi20689CsPin)
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#define ENABLE_ICM20689 IOLo(icmSpi20689CsPin)
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static IO_t icmSpi20689CsPin = IO_NONE;
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bool icm20689WriteRegister(uint8_t reg, uint8_t data)
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{
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ENABLE_ICM20689;
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spiTransferByte(ICM20689_SPI_INSTANCE, reg);
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spiTransferByte(ICM20689_SPI_INSTANCE, data);
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DISABLE_ICM20689;
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return true;
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}
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bool icm20689ReadRegister(uint8_t reg, uint8_t length, uint8_t *data)
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{
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ENABLE_ICM20689;
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spiTransferByte(ICM20689_SPI_INSTANCE, reg | 0x80); // read transaction
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spiTransfer(ICM20689_SPI_INSTANCE, data, NULL, length);
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DISABLE_ICM20689;
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return true;
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}
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static void icm20689SpiInit(void)
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{
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static bool hardwareInitialised = false;
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if (hardwareInitialised) {
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return;
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}
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icmSpi20689CsPin = IOGetByTag(IO_TAG(ICM20689_CS_PIN));
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IOInit(icmSpi20689CsPin, OWNER_MPU, RESOURCE_SPI_CS, 0);
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IOConfigGPIO(icmSpi20689CsPin, SPI_IO_CS_CFG);
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spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_FAST);
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hardwareInitialised = true;
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}
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bool icm20689SpiDetect(void)
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{
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uint8_t tmp;
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icm20689SpiInit();
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icm20689ReadRegister(MPU_RA_WHO_AM_I, 1, &tmp);
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if (tmp == ICM20689_WHO_AM_I_CONST) {
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return true;
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}
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return false;
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}
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bool icm20689SpiAccDetect(acc_t *acc)
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{
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if (mpuDetectionResult.sensor != ICM_20689_SPI) {
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return false;
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}
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acc->init = icm20689AccInit;
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acc->read = mpuAccRead;
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return true;
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}
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bool icm20689SpiGyroDetect(gyro_t *gyro)
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{
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if (mpuDetectionResult.sensor != ICM_20689_SPI) {
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return false;
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}
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gyro->init = icm20689GyroInit;
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gyro->read = mpuGyroRead;
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gyro->intStatus = checkMPUDataReady;
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// 16.4 dps/lsb scalefactor
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gyro->scale = 1.0f / 16.4f;
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return true;
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}
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void icm20689AccInit(acc_t *acc)
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{
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mpuIntExtiInit();
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acc->acc_1G = 512 * 4;
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}
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void icm20689GyroInit(uint8_t lpf)
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{
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mpuIntExtiInit();
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spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON);
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mpuConfiguration.write(MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
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delay(100);
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mpuConfiguration.write(MPU_RA_SIGNAL_PATH_RESET, 0x03);
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delay(100);
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// mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0);
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// delay(100);
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mpuConfiguration.write(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
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delay(15);
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mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
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delay(15);
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mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
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delay(15);
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mpuConfiguration.write(MPU_RA_CONFIG, lpf);
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delay(15);
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mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); // Get Divider Drops
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delay(100);
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// Data ready interrupt configuration
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// mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR, BYPASS_EN
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mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0x10); // INT_ANYRD_2CLEAR, BYPASS_EN
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delay(15);
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#ifdef USE_MPU_DATA_READY_SIGNAL
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mpuConfiguration.write(MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable
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#endif
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spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_FAST);
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}
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@ -0,0 +1,34 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#define ICM20689_WHO_AM_I_CONST (0x98)
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#define ICM20689_BIT_RESET (0x80)
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bool icm20689AccDetect(acc_t *acc);
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bool icm20689GyroDetect(gyro_t *gyro);
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void icm20689AccInit(acc_t *acc);
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void icm20689GyroInit(uint8_t lpf);
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bool icm20689SpiDetect(void);
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bool icm20689SpiAccDetect(acc_t *acc);
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bool icm20689SpiGyroDetect(gyro_t *gyro);
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bool icm20689WriteRegister(uint8_t reg, uint8_t data);
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bool icm20689ReadRegister(uint8_t reg, uint8_t length, uint8_t *data);
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@ -180,7 +180,6 @@ bool mpu6000SpiDetect(void)
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}
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}
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} while (attemptsRemaining--);
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} while (attemptsRemaining--);
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mpu6000ReadRegister(MPU_RA_PRODUCT_ID, 1, &in);
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mpu6000ReadRegister(MPU_RA_PRODUCT_ID, 1, &in);
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/* look for a product ID we recognise */
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/* look for a product ID we recognise */
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@ -244,7 +243,6 @@ static void mpu6000AccAndGyroInit(void) {
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mpu6000WriteRegister(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
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mpu6000WriteRegister(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
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delayMicroseconds(15);
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delayMicroseconds(15);
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mpu6000WriteRegister(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR
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mpu6000WriteRegister(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR
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delayMicroseconds(15);
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delayMicroseconds(15);
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@ -239,9 +239,9 @@ static const char * const sensorTypeNames[] = {
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#define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
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#define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
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static const char * const sensorHardwareNames[4][12] = {
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static const char * const sensorHardwareNames[4][13] = {
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{ "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "FAKE", NULL },
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{ "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "ICM20689", "FAKE", NULL },
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{ "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "FAKE", NULL },
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{ "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "ICM20689", "FAKE", NULL },
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{ "", "None", "BMP085", "MS5611", "BMP280", NULL },
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{ "", "None", "BMP085", "MS5611", "BMP280", NULL },
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{ "", "None", "HMC5883", "AK8975", "AK8963", NULL }
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{ "", "None", "HMC5883", "AK8975", "AK8963", NULL }
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};
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};
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@ -451,6 +451,7 @@ static const char * const lookupTableAccHardware[] = {
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"MPU6000",
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"MPU6000",
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"MPU6500",
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"MPU6500",
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"MPU9250",
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"MPU9250",
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"ICM20689",
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"FAKE"
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"FAKE"
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};
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};
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@ -29,6 +29,7 @@ typedef enum {
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ACC_MPU6000,
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ACC_MPU6000,
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ACC_MPU6500,
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ACC_MPU6500,
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ACC_MPU9250,
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ACC_MPU9250,
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ACC_ICM20689,
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ACC_FAKE,
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ACC_FAKE,
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ACC_MAX = ACC_FAKE
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ACC_MAX = ACC_FAKE
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} accelerationSensor_e;
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} accelerationSensor_e;
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@ -27,6 +27,7 @@ typedef enum {
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GYRO_MPU6000,
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GYRO_MPU6000,
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GYRO_MPU6500,
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GYRO_MPU6500,
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GYRO_MPU9250,
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GYRO_MPU9250,
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GYRO_ICM20689,
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GYRO_FAKE,
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GYRO_FAKE,
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GYRO_MAX = GYRO_FAKE
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GYRO_MAX = GYRO_FAKE
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} gyroSensor_e;
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} gyroSensor_e;
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@ -255,6 +255,21 @@ bool detectGyro(void)
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}
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}
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#endif
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#endif
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; // fallthrough
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; // fallthrough
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case GYRO_ICM20689:
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#ifdef USE_GYRO_SPI_ICM20689
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if (icm20689SpiGyroDetect(&gyro))
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{
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gyroHardware = GYRO_ICM20689;
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#ifdef GYRO_ICM20689_ALIGN
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gyroAlign = GYRO_ICM20689_ALIGN;
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#endif
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break;
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}
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#endif
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; // fallthrough
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case GYRO_FAKE:
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case GYRO_FAKE:
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#ifdef USE_FAKE_GYRO
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#ifdef USE_FAKE_GYRO
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if (fakeGyroDetect(&gyro)) {
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if (fakeGyroDetect(&gyro)) {
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@ -398,6 +413,19 @@ retry:
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}
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}
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#endif
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#endif
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; // fallthrough
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; // fallthrough
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case ACC_ICM20689:
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#ifdef USE_ACC_SPI_ICM20689
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if (icm20689SpiAccDetect(&acc))
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{
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#ifdef ACC_ICM20689_ALIGN
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accAlign = ACC_ICM20689_ALIGN;
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#endif
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accHardware = ACC_ICM20689;
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break;
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}
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#endif
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; // fallthrough
|
||||||
case ACC_FAKE:
|
case ACC_FAKE:
|
||||||
#ifdef USE_FAKE_ACC
|
#ifdef USE_FAKE_ACC
|
||||||
if (fakeAccDetect(&acc)) {
|
if (fakeAccDetect(&acc)) {
|
||||||
|
@ -616,7 +644,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig,
|
||||||
memset(&acc, 0, sizeof(acc));
|
memset(&acc, 0, sizeof(acc));
|
||||||
memset(&gyro, 0, sizeof(gyro));
|
memset(&gyro, 0, sizeof(gyro));
|
||||||
|
|
||||||
#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)
|
#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_ICM20689)
|
||||||
|
|
||||||
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
|
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
|
||||||
|
|
||||||
|
|
|
@ -33,12 +33,18 @@
|
||||||
#define USE_MPU_DATA_READY_SIGNAL
|
#define USE_MPU_DATA_READY_SIGNAL
|
||||||
#define ENSURE_MPU_DATA_READY_IS_LOW
|
#define ENSURE_MPU_DATA_READY_IS_LOW
|
||||||
|
|
||||||
|
#define ICM20689_CS_PIN PA4
|
||||||
|
#define ICM20689_SPI_INSTANCE SPI1
|
||||||
|
|
||||||
#define MPU6000_CS_PIN PA4
|
#define MPU6000_CS_PIN PA4
|
||||||
#define MPU6000_SPI_INSTANCE SPI1
|
#define MPU6000_SPI_INSTANCE SPI1
|
||||||
#define MPU6500_CS_PIN PA4
|
#define MPU6500_CS_PIN PA4
|
||||||
#define MPU6500_SPI_INSTANCE SPI1
|
#define MPU6500_SPI_INSTANCE SPI1
|
||||||
|
|
||||||
#define GYRO
|
#define GYRO
|
||||||
|
#define USE_GYRO_SPI_ICM20689
|
||||||
|
#define GYRO_ICM20689_ALIGN CW180_DEG
|
||||||
|
|
||||||
#define USE_GYRO_SPI_MPU6000
|
#define USE_GYRO_SPI_MPU6000
|
||||||
#define GYRO_MPU6000_ALIGN CW180_DEG
|
#define GYRO_MPU6000_ALIGN CW180_DEG
|
||||||
#define USE_ACC_SPI_MPU6000
|
#define USE_ACC_SPI_MPU6000
|
||||||
|
@ -49,6 +55,9 @@
|
||||||
#define GYRO_MPU6500_ALIGN CW90_DEG
|
#define GYRO_MPU6500_ALIGN CW90_DEG
|
||||||
|
|
||||||
#define ACC
|
#define ACC
|
||||||
|
#define USE_ACC_SPI_ICM20689
|
||||||
|
#define ACC_ICM20689_ALIGN CW180_DEG
|
||||||
|
|
||||||
#define USE_ACC_MPU6500
|
#define USE_ACC_MPU6500
|
||||||
#define USE_ACC_SPI_MPU6500
|
#define USE_ACC_SPI_MPU6500
|
||||||
#define ACC_MPU6500_ALIGN CW90_DEG
|
#define ACC_MPU6500_ALIGN CW90_DEG
|
||||||
|
|
|
@ -8,6 +8,7 @@ TARGET_SRC = \
|
||||||
drivers/accgyro_spi_mpu6000.c \
|
drivers/accgyro_spi_mpu6000.c \
|
||||||
drivers/accgyro_mpu6500.c \
|
drivers/accgyro_mpu6500.c \
|
||||||
drivers/accgyro_spi_mpu6500.c \
|
drivers/accgyro_spi_mpu6500.c \
|
||||||
|
drivers/accgyro_spi_icm20689.c \
|
||||||
drivers/light_ws2811strip.c \
|
drivers/light_ws2811strip.c \
|
||||||
drivers/light_ws2811strip_stm32f30x.c \
|
drivers/light_ws2811strip_stm32f30x.c \
|
||||||
drivers/sonar_hcsr04.c \
|
drivers/sonar_hcsr04.c \
|
||||||
|
|
|
@ -40,6 +40,9 @@
|
||||||
#define USE_MPU_DATA_READY_SIGNAL
|
#define USE_MPU_DATA_READY_SIGNAL
|
||||||
#define ENSURE_MPU_DATA_READY_IS_LOW
|
#define ENSURE_MPU_DATA_READY_IS_LOW
|
||||||
|
|
||||||
|
#define ICM20689_CS_PIN PA4
|
||||||
|
#define ICM20689_SPI_INSTANCE SPI1
|
||||||
|
|
||||||
#define MPU6000_CS_PIN PA4
|
#define MPU6000_CS_PIN PA4
|
||||||
#define MPU6000_SPI_INSTANCE SPI1
|
#define MPU6000_SPI_INSTANCE SPI1
|
||||||
|
|
||||||
|
@ -47,6 +50,9 @@
|
||||||
#define MPU6500_SPI_INSTANCE SPI1
|
#define MPU6500_SPI_INSTANCE SPI1
|
||||||
|
|
||||||
#define GYRO
|
#define GYRO
|
||||||
|
#define USE_GYRO_SPI_ICM20689
|
||||||
|
#define GYRO_ICM20689_ALIGN CW180_DEG
|
||||||
|
|
||||||
#define USE_GYRO_SPI_MPU6000
|
#define USE_GYRO_SPI_MPU6000
|
||||||
#define GYRO_MPU6000_ALIGN CW180_DEG
|
#define GYRO_MPU6000_ALIGN CW180_DEG
|
||||||
|
|
||||||
|
@ -55,6 +61,9 @@
|
||||||
#define GYRO_MPU6500_ALIGN CW180_DEG
|
#define GYRO_MPU6500_ALIGN CW180_DEG
|
||||||
|
|
||||||
#define ACC
|
#define ACC
|
||||||
|
#define USE_ACC_SPI_ICM20689
|
||||||
|
#define ACC_ICM20689_ALIGN CW180_DEG
|
||||||
|
|
||||||
#define USE_ACC_SPI_MPU6000
|
#define USE_ACC_SPI_MPU6000
|
||||||
#define ACC_MPU6000_ALIGN CW180_DEG
|
#define ACC_MPU6000_ALIGN CW180_DEG
|
||||||
|
|
||||||
|
|
|
@ -5,6 +5,7 @@ TARGET_SRC = \
|
||||||
drivers/accgyro_spi_mpu6000.c \
|
drivers/accgyro_spi_mpu6000.c \
|
||||||
drivers/accgyro_spi_mpu6500.c \
|
drivers/accgyro_spi_mpu6500.c \
|
||||||
drivers/accgyro_mpu6500.c \
|
drivers/accgyro_mpu6500.c \
|
||||||
|
drivers/accgyro_spi_icm20689.c \
|
||||||
drivers/barometer_ms5611.c \
|
drivers/barometer_ms5611.c \
|
||||||
drivers/light_ws2811strip.c \
|
drivers/light_ws2811strip.c \
|
||||||
drivers/light_ws2811strip_stm32f4xx.c
|
drivers/light_ws2811strip_stm32f4xx.c
|
||||||
|
|
Loading…
Reference in New Issue