Merge pull request #4039 from brianlbalogh/betaflight-icm20649
Add ICM-20649 Support
This commit is contained in:
commit
b4459b721e
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@ -44,6 +44,7 @@
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#include "drivers/accgyro/accgyro_mpu6050.h"
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#include "drivers/accgyro/accgyro_mpu6500.h"
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#include "drivers/accgyro/accgyro_spi_bmi160.h"
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#include "drivers/accgyro/accgyro_spi_icm20649.h"
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#include "drivers/accgyro/accgyro_spi_icm20689.h"
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#include "drivers/accgyro/accgyro_spi_mpu6000.h"
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#include "drivers/accgyro/accgyro_spi_mpu6500.h"
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@ -289,6 +290,22 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
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}
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#endif
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#ifdef USE_GYRO_SPI_ICM20649
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#ifdef ICM20649_SPI_INSTANCE
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spiBusSetInstance(&gyro->bus, ICM20649_SPI_INSTANCE);
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#endif
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#ifdef ICM20649_CS_PIN
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gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM20649_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
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#endif
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sensor = icm20649SpiDetect(&gyro->bus);
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if (sensor != MPU_NONE) {
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gyro->mpuDetectionResult.sensor = sensor;
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gyro->mpuConfiguration.readFn = spiBusReadRegisterBuffer;
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gyro->mpuConfiguration.writeFn = spiBusWriteRegister;
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return true;
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}
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#endif
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#ifdef USE_GYRO_SPI_ICM20689
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#ifdef ICM20689_SPI_INSTANCE
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spiBusSetInstance(&gyro->bus, ICM20689_SPI_INSTANCE);
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@ -23,7 +23,8 @@
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//#define DEBUG_MPU_DATA_READY_INTERRUPT
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#if defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
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#if defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20649) \
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|| defined(USE_GYRO_SPI_ICM20689)
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#define GYRO_USES_SPI
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#endif
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@ -40,6 +41,7 @@
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#define ICM20601_WHO_AM_I_CONST (0xAC)
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#define ICM20602_WHO_AM_I_CONST (0x12)
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#define ICM20608G_WHO_AM_I_CONST (0xAF)
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#define ICM20649_WHO_AM_I_CONST (0xE1)
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#define ICM20689_WHO_AM_I_CONST (0x98)
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@ -189,6 +191,7 @@ typedef enum {
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ICM_20601_SPI,
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ICM_20602_SPI,
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ICM_20608_SPI,
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ICM_20649_SPI,
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ICM_20689_SPI,
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BMI_160_SPI,
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} mpuSensor_e;
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@ -0,0 +1,203 @@
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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 "drivers/bus_spi.h"
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#include "drivers/exti.h"
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#include "drivers/gyro_sync.h"
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#include "drivers/io.h"
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#include "drivers/sensor.h"
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#include "drivers/time.h"
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#include "accgyro.h"
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#include "accgyro_mpu.h"
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#include "accgyro_spi_icm20649.h"
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static bool use4kDps = true; // TODO: make these configurable for testing
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static bool use30g = true;
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static void icm20649SpiInit(const busDevice_t *bus)
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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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IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
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IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
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IOHi(bus->busdev_u.spi.csnPin);
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// all registers can be read/written at full speed (7MHz +-10%)
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// TODO verify that this works at 9MHz and 10MHz on non F7
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spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_STANDARD);
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hardwareInitialised = true;
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}
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uint8_t icm20649SpiDetect(const busDevice_t *bus)
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{
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icm20649SpiInit(bus);
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spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_STANDARD);
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spiBusWriteRegister(bus, ICM20649_RA_REG_BANK_SEL, 0 << 4); // select bank 0 just to be safe
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delay(15);
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spiBusWriteRegister(bus, ICM20649_RA_PWR_MGMT_1, ICM20649_BIT_RESET);
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uint8_t icmDetected = MPU_NONE;
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uint8_t attemptsRemaining = 20;
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do {
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delay(150);
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const uint8_t whoAmI = spiBusReadRegister(bus, ICM20649_RA_WHO_AM_I);
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if (whoAmI == ICM20649_WHO_AM_I_CONST) {
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icmDetected = ICM_20649_SPI;
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} else {
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icmDetected = MPU_NONE;
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}
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if (icmDetected != MPU_NONE) {
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break;
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}
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if (!attemptsRemaining) {
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return MPU_NONE;
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}
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} while (attemptsRemaining--);
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return icmDetected;
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}
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void icm20649AccInit(accDev_t *acc)
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{
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// 2,048 LSB/g 16g
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// 1,024 LSB/g 30g
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acc->acc_1G = use30g ? 1024 : 2048;
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spiSetDivisor(acc->bus.busdev_u.spi.instance, SPI_CLOCK_STANDARD);
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acc->mpuConfiguration.writeFn(&acc->bus, ICM20649_RA_REG_BANK_SEL, 2 << 4); // config in bank 2
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delay(15);
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const uint8_t acc_fsr = use30g ? ICM20649_FSR_30G : ICM20649_FSR_16G;
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acc->mpuConfiguration.writeFn(&acc->bus, ICM20649_RA_ACCEL_CONFIG, acc_fsr << 1);
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delay(15);
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acc->mpuConfiguration.writeFn(&acc->bus, ICM20649_RA_REG_BANK_SEL, 0 << 4); // back to bank 0
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delay(15);
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}
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bool icm20649SpiAccDetect(accDev_t *acc)
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{
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if (acc->mpuDetectionResult.sensor != ICM_20649_SPI) {
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return false;
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}
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acc->initFn = icm20649AccInit;
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acc->readFn = icm20649AccRead;
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return true;
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}
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void icm20649GyroInit(gyroDev_t *gyro)
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{
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mpuGyroInit(gyro);
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spiSetDivisor(gyro->bus.busdev_u.spi.instance, SPI_CLOCK_STANDARD); // ensure proper speed
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gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_REG_BANK_SEL, 0 << 4); // select bank 0 just to be safe
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delay(15);
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gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_PWR_MGMT_1, ICM20649_BIT_RESET);
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delay(100);
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gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_PWR_MGMT_1, INV_CLK_PLL);
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delay(15);
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gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_REG_BANK_SEL, 2 << 4); // config in bank 2
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delay(15);
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const uint8_t gyro_fsr = use4kDps ? ICM20649_FSR_4000DPS : ICM20649_FSR_2000DPS;
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uint8_t raGyroConfigData = gyro->gyroRateKHz > GYRO_RATE_1_kHz ? 0 : 1; // deactivate GYRO_FCHOICE for sample rates over 1kHz (opposite of other invensense chips)
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raGyroConfigData |= gyro_fsr << 1 | gyro->lpf << 3;
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gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_GYRO_CONFIG_1, raGyroConfigData);
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delay(15);
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gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_GYRO_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
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delay(100);
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// Data ready interrupt configuration
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// back to bank 0
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gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_REG_BANK_SEL, 0 << 4);
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delay(15);
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gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_INT_PIN_CFG, 0x11); // 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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gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_INT_ENABLE_1, 0x01);
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#endif
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}
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bool icm20649SpiGyroDetect(gyroDev_t *gyro)
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{
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if (gyro->mpuDetectionResult.sensor != ICM_20649_SPI)
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return false;
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gyro->initFn = icm20649GyroInit;
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gyro->readFn = icm20649GyroReadSPI;
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// 16.4 dps/lsb 2kDps
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// 8.2 dps/lsb 4kDps
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gyro->scale = 1.0f / (use4kDps ? 8.2f : 16.4f);
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return true;
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}
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bool icm20649GyroReadSPI(gyroDev_t *gyro)
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{
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static const uint8_t dataToSend[7] = {ICM20649_RA_GYRO_XOUT_H | 0x80, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
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uint8_t data[7];
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const bool ack = spiBusTransfer(&gyro->bus, dataToSend, data, 7);
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if (!ack) {
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return false;
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}
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gyro->gyroADCRaw[X] = (int16_t)((data[1] << 8) | data[2]);
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gyro->gyroADCRaw[Y] = (int16_t)((data[3] << 8) | data[4]);
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gyro->gyroADCRaw[Z] = (int16_t)((data[5] << 8) | data[6]);
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return true;
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}
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bool icm20649AccRead(accDev_t *acc)
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{
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uint8_t data[6];
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const bool ack = acc->mpuConfiguration.readFn(&acc->bus, ICM20649_RA_ACCEL_XOUT_H, data, 6);
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if (!ack) {
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return false;
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}
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acc->ADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
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acc->ADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
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acc->ADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
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return true;
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}
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@ -0,0 +1,64 @@
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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
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* 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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#include "drivers/bus.h"
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#define ICM20649_BIT_RESET (0x80)
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#define ICM20649_RA_REG_BANK_SEL 0x7F
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// BANK 0
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#define ICM20649_RA_WHO_AM_I 0x00
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#define ICM20649_RA_PWR_MGMT_1 0x06
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#define ICM20649_RA_PWR_MGMT_2 0x07
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#define ICM20649_RA_INT_PIN_CFG 0x0F
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#define ICM20649_RA_INT_ENABLE_1 0x11
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#define ICM20649_RA_GYRO_XOUT_H 0x33
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#define ICM20649_RA_ACCEL_XOUT_H 0x2D
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// BANK 2
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#define ICM20649_RA_GYRO_SMPLRT_DIV 0x00
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#define ICM20649_RA_GYRO_CONFIG_1 0x01
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#define ICM20649_RA_ACCEL_CONFIG 0x14
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enum icm20649_gyro_fsr_e {
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ICM20649_FSR_500DPS = 0,
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ICM20649_FSR_1000DPS,
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ICM20649_FSR_2000DPS,
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ICM20649_FSR_4000DPS,
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NUM_ICM20649_GYRO_FSR
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};
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enum icm20649_accel_fsr_e {
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ICM20649_FSR_4G = 0,
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ICM20649_FSR_8G,
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ICM20649_FSR_16G,
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ICM20649_FSR_30G,
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NUM_ICM20649_ACCEL_FSR
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};
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void icm20649AccInit(accDev_t *acc);
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void icm20649GyroInit(gyroDev_t *gyro);
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uint8_t icm20649SpiDetect(const busDevice_t *bus);
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bool icm20649SpiAccDetect(accDev_t *acc);
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bool icm20649SpiGyroDetect(gyroDev_t *gyro);
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bool icm20649GyroReadSPI(gyroDev_t *gyro);
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bool icm20649AccRead(accDev_t *acc);
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@ -200,6 +200,9 @@ void spiPreInit(void)
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#ifdef USE_GYRO_SPI_MPU9250
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spiPreInitCs(IO_TAG(MPU9250_CS_PIN));
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#endif
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#ifdef USE_GYRO_SPI_ICM20649
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spiPreInitCs(IO_TAG(ICM20649_CS_PIN));
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#endif
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#ifdef USE_GYRO_SPI_ICM20689
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spiPreInitCs(IO_TAG(ICM20689_CS_PIN));
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#endif
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|
|
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@ -750,8 +750,10 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
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if (acc.dev.acc_1G > 512*4) {
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scale = 8;
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} else if (acc.dev.acc_1G >= 512) {
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} else if (acc.dev.acc_1G > 512*2) {
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scale = 4;
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} else if (acc.dev.acc_1G >= 512) {
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scale = 2;
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} else {
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scale = 1;
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}
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|
|
|
@ -81,13 +81,15 @@
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// sync with accelerationSensor_e
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const char * const lookupTableAccHardware[] = {
|
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"AUTO", "NONE", "ADXL345", "MPU6050", "MMA8452", "BMA280", "LSM303DLHC",
|
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"MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608", "ICM20689", "BMI160", "FAKE"
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"MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608", "ICM20649", "ICM20689",
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"BMI160", "FAKE"
|
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};
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||||
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// sync with gyroSensor_e
|
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const char * const lookupTableGyroHardware[] = {
|
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"AUTO", "NONE", "MPU6050", "L3G4200D", "MPU3050", "L3GD20",
|
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"MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20689", "BMI160", "FAKE"
|
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"MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689",
|
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"BMI160", "FAKE"
|
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};
|
||||
|
||||
#if defined(USE_SENSOR_NAMES) || defined(BARO)
|
||||
|
|
|
@ -45,6 +45,7 @@
|
|||
#include "drivers/accgyro/accgyro_mpu6050.h"
|
||||
#include "drivers/accgyro/accgyro_mpu6500.h"
|
||||
#include "drivers/accgyro/accgyro_spi_bmi160.h"
|
||||
#include "drivers/accgyro/accgyro_spi_icm20649.h"
|
||||
#include "drivers/accgyro/accgyro_spi_icm20689.h"
|
||||
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
|
||||
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
|
||||
|
@ -243,6 +244,17 @@ retry:
|
|||
}
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
; // fallthrough
|
||||
case ACC_ICM20649:
|
||||
#ifdef USE_ACC_SPI_ICM20649
|
||||
if (icm20649SpiAccDetect(dev)) {
|
||||
accHardware = ACC_ICM20649;
|
||||
#ifdef ACC_ICM20649_ALIGN
|
||||
dev->accAlign = ACC_ICM20649_ALIGN;
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
; // fallthrough
|
||||
case ACC_ICM20689:
|
||||
|
|
|
@ -36,6 +36,7 @@ typedef enum {
|
|||
ACC_ICM20601,
|
||||
ACC_ICM20602,
|
||||
ACC_ICM20608G,
|
||||
ACC_ICM20649,
|
||||
ACC_ICM20689,
|
||||
ACC_BMI160,
|
||||
ACC_FAKE
|
||||
|
|
|
@ -44,6 +44,7 @@
|
|||
#include "drivers/accgyro/accgyro_mpu6050.h"
|
||||
#include "drivers/accgyro/accgyro_mpu6500.h"
|
||||
#include "drivers/accgyro/accgyro_spi_bmi160.h"
|
||||
#include "drivers/accgyro/accgyro_spi_icm20649.h"
|
||||
#include "drivers/accgyro/accgyro_spi_icm20689.h"
|
||||
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
|
||||
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
|
||||
|
@ -110,7 +111,8 @@ static void gyroInitSensorFilters(gyroSensor_t *gyroSensor);
|
|||
|
||||
#ifdef STM32F10X
|
||||
#define GYRO_SYNC_DENOM_DEFAULT 8
|
||||
#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20689)
|
||||
#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) \
|
||||
|| defined(USE_GYRO_SPI_ICM20689)
|
||||
#define GYRO_SYNC_DENOM_DEFAULT 1
|
||||
#else
|
||||
#define GYRO_SYNC_DENOM_DEFAULT 4
|
||||
|
@ -258,6 +260,17 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
|
|||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_GYRO_SPI_ICM20649
|
||||
case GYRO_ICM20649:
|
||||
if (icm20649SpiGyroDetect(dev)) {
|
||||
gyroHardware = GYRO_ICM20649;
|
||||
#ifdef GYRO_ICM20649_ALIGN
|
||||
dev->gyroAlign = GYRO_ICM20649_ALIGN;
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_GYRO_SPI_ICM20689
|
||||
case GYRO_ICM20689:
|
||||
if (icm20689SpiGyroDetect(dev)) {
|
||||
|
@ -302,7 +315,8 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
|
|||
|
||||
static bool gyroInitSensor(gyroSensor_t *gyroSensor)
|
||||
{
|
||||
#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_ICM20689)
|
||||
#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)
|
||||
|
||||
#if defined(MPU_INT_EXTI)
|
||||
gyroSensor->gyroDev.mpuIntExtiTag = IO_TAG(MPU_INT_EXTI);
|
||||
|
|
|
@ -35,6 +35,7 @@ typedef enum {
|
|||
GYRO_ICM20601,
|
||||
GYRO_ICM20602,
|
||||
GYRO_ICM20608G,
|
||||
GYRO_ICM20649,
|
||||
GYRO_ICM20689,
|
||||
GYRO_BMI160,
|
||||
GYRO_FAKE
|
||||
|
|
Loading…
Reference in New Issue