Merge pull request #9767 from etracer65/add_lsm6dso_support_flashsaving
This commit is contained in:
commit
d85b372ae7
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@ -224,6 +224,7 @@ SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
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drivers/accgyro/accgyro_mpu3050.c \
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drivers/accgyro/accgyro_spi_bmi160.c \
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drivers/accgyro/accgyro_spi_bmi270.c \
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drivers/accgyro/accgyro_spi_lsm6dso.c \
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drivers/accgyro_legacy/accgyro_adxl345.c \
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drivers/accgyro_legacy/accgyro_bma280.c \
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drivers/accgyro_legacy/accgyro_l3g4200d.c \
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@ -357,7 +358,8 @@ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
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drivers/accgyro/accgyro_spi_mpu6000.c \
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drivers/accgyro/accgyro_spi_mpu6500.c \
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drivers/accgyro/accgyro_spi_mpu9250.c \
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drivers/accgyro/accgyro_spi_icm20689.c
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drivers/accgyro/accgyro_spi_icm20689.c \
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drivers/accgyro/accgyro_spi_lsm6dso_init.c
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# F4 and F7 optimizations
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@ -129,14 +129,14 @@
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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", "ICM20608G", "ICM20649", "ICM20689", "ICM42605",
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"BMI160", "BMI270", "FAKE"
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"BMI160", "BMI270", "LSM6DSO", "FAKE"
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};
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// sync with gyroHardware_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", "ICM20649", "ICM20689", "ICM42605",
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"BMI160", "BMI270", "FAKE"
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"BMI160", "BMI270", "LSM6SDO", "FAKE"
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};
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#if defined(USE_SENSOR_NAMES) || defined(USE_BARO)
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@ -58,6 +58,7 @@ typedef enum {
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GYRO_ICM42605,
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GYRO_BMI160,
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GYRO_BMI270,
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GYRO_LSM6DSO,
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GYRO_FAKE
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} gyroHardware_e;
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@ -73,6 +74,7 @@ typedef enum {
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GYRO_RATE_1100_Hz,
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GYRO_RATE_3200_Hz,
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GYRO_RATE_6400_Hz,
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GYRO_RATE_6664_Hz,
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GYRO_RATE_8_kHz,
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GYRO_RATE_9_kHz,
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GYRO_RATE_32_kHz,
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@ -51,6 +51,7 @@
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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_icm42605.h"
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#include "drivers/accgyro/accgyro_spi_lsm6dso.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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#include "drivers/accgyro/accgyro_spi_mpu9250.h"
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@ -223,6 +224,9 @@ static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
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#endif
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#ifdef USE_GYRO_L3GD20
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l3gd20Detect,
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#endif
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#ifdef USE_ACCGYRO_LSM6DSO
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lsm6dsoDetect,
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#endif
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NULL // Avoid an empty array
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};
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@ -202,6 +202,7 @@ typedef enum {
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ICM_42605_SPI,
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BMI_160_SPI,
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BMI_270_SPI,
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LSM6DSO_SPI,
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L3GD20_SPI,
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} mpuSensor_e;
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@ -0,0 +1,90 @@
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/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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||||
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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||||
* See the 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
|
||||
* along with this software.
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*
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* 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 "platform.h"
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#ifdef USE_ACCGYRO_LSM6DSO
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#include "drivers/accgyro/accgyro.h"
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#include "drivers/accgyro/accgyro_spi_lsm6dso.h"
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#include "drivers/bus_spi.h"
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#include "drivers/exti.h"
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#include "drivers/io.h"
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#include "drivers/io_impl.h"
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#if defined(USE_GYRO_EXTI) && defined(USE_MPU_DATA_READY_SIGNAL)
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void lsm6dsoExtiHandler(extiCallbackRec_t *cb)
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{
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gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
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gyro->dataReady = true;
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}
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#endif
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bool lsm6dsoAccRead(accDev_t *acc)
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{
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enum {
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IDX_ACCEL_XOUT_L,
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IDX_ACCEL_XOUT_H,
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IDX_ACCEL_YOUT_L,
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IDX_ACCEL_YOUT_H,
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IDX_ACCEL_ZOUT_L,
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IDX_ACCEL_ZOUT_H,
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BUFFER_SIZE,
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};
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uint8_t lsm6dso_rx_buf[BUFFER_SIZE];
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const busDevice_t *busdev = &acc->bus;
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busReadRegisterBuffer(busdev, LSM6DSO_REG_OUTX_L_A, lsm6dso_rx_buf, BUFFER_SIZE);
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acc->ADCRaw[X] = (int16_t)((lsm6dso_rx_buf[IDX_ACCEL_XOUT_H] << 8) | lsm6dso_rx_buf[IDX_ACCEL_XOUT_L]);
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acc->ADCRaw[Y] = (int16_t)((lsm6dso_rx_buf[IDX_ACCEL_YOUT_H] << 8) | lsm6dso_rx_buf[IDX_ACCEL_YOUT_L]);
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acc->ADCRaw[Z] = (int16_t)((lsm6dso_rx_buf[IDX_ACCEL_ZOUT_H] << 8) | lsm6dso_rx_buf[IDX_ACCEL_ZOUT_L]);
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return true;
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}
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bool lsm6dsoGyroRead(gyroDev_t *gyro)
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{
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enum {
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IDX_GYRO_XOUT_L,
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IDX_GYRO_XOUT_H,
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IDX_GYRO_YOUT_L,
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IDX_GYRO_YOUT_H,
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IDX_GYRO_ZOUT_L,
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IDX_GYRO_ZOUT_H,
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BUFFER_SIZE,
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};
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uint8_t lsm6dso_rx_buf[BUFFER_SIZE];
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const busDevice_t *busdev = &gyro->bus;
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busReadRegisterBuffer(busdev, LSM6DSO_REG_OUTX_L_G, lsm6dso_rx_buf, BUFFER_SIZE);
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gyro->gyroADCRaw[X] = (int16_t)((lsm6dso_rx_buf[IDX_GYRO_XOUT_H] << 8) | lsm6dso_rx_buf[IDX_GYRO_XOUT_L]);
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gyro->gyroADCRaw[Y] = (int16_t)((lsm6dso_rx_buf[IDX_GYRO_YOUT_H] << 8) | lsm6dso_rx_buf[IDX_GYRO_YOUT_L]);
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gyro->gyroADCRaw[Z] = (int16_t)((lsm6dso_rx_buf[IDX_GYRO_ZOUT_H] << 8) | lsm6dso_rx_buf[IDX_GYRO_ZOUT_L]);
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return true;
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}
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#endif
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@ -0,0 +1,66 @@
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/*
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* This file is part of Cleanflight and Betaflight.
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||||
*
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||||
* Cleanflight and Betaflight are free software. You can redistribute
|
||||
* this software and/or modify this software 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 and Betaflight are distributed in the hope that they
|
||||
* 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 this software.
|
||||
*
|
||||
* If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
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#pragma once
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#include "drivers/bus.h"
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#include "drivers/exti.h"
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// LSM6DSO registers (not the complete list)
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typedef enum {
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LSM6DSO_REG_INT1_CTRL = 0x0D, // int pin 1 control
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LSM6DSO_REG_INT2_CTRL = 0x0E, // int pin 2 control
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LSM6DSO_REG_WHO_AM_I = 0x0F, // chip ID
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LSM6DSO_REG_CTRL1_XL = 0x10, // accelerometer control
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LSM6DSO_REG_CTRL2_G = 0x11, // gyro control
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LSM6DSO_REG_CTRL3_C = 0x12, // control register 3
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LSM6DSO_REG_CTRL4_C = 0x13, // control register 4
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LSM6DSO_REG_CTRL5_C = 0x14, // control register 5
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LSM6DSO_REG_CTRL6_C = 0x15, // control register 6
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LSM6DSO_REG_CTRL7_G = 0x16, // control register 7
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LSM6DSO_REG_CTRL8_XL = 0x17, // control register 8
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LSM6DSO_REG_CTRL9_XL = 0x18, // control register 9
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LSM6DSO_REG_CTRL10_C = 0x19, // control register 10
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LSM6DSO_REG_STATUS = 0x1E, // status register
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LSM6DSO_REG_OUT_TEMP_L = 0x20, // temperature LSB
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LSM6DSO_REG_OUT_TEMP_H = 0x21, // temperature MSB
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LSM6DSO_REG_OUTX_L_G = 0x22, // gyro X axis LSB
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LSM6DSO_REG_OUTX_H_G = 0x23, // gyro X axis MSB
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LSM6DSO_REG_OUTY_L_G = 0x24, // gyro Y axis LSB
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LSM6DSO_REG_OUTY_H_G = 0x25, // gyro Y axis MSB
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LSM6DSO_REG_OUTZ_L_G = 0x26, // gyro Z axis LSB
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LSM6DSO_REG_OUTZ_H_G = 0x27, // gyro Z axis MSB
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LSM6DSO_REG_OUTX_L_A = 0x28, // acc X axis LSB
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LSM6DSO_REG_OUTX_H_A = 0x29, // acc X axis MSB
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LSM6DSO_REG_OUTY_L_A = 0x2A, // acc Y axis LSB
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LSM6DSO_REG_OUTY_H_A = 0x2B, // acc Y axis MSB
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LSM6DSO_REG_OUTZ_L_A = 0x2C, // acc Z axis LSB
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LSM6DSO_REG_OUTZ_H_A = 0x2D, // acc Z axis MSB
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} lsm6dsoRegister_e;
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// Contained in accgyro_spi_lsm6dso_init.c which is size-optimized
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uint8_t lsm6dsoDetect(const busDevice_t *bus);
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bool lsm6dsoSpiAccDetect(accDev_t *acc);
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bool lsm6dsoSpiGyroDetect(gyroDev_t *gyro);
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// Contained in accgyro_spi_lsm6dso.c which is speed-optimized
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void lsm6dsoExtiHandler(extiCallbackRec_t *cb);
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bool lsm6dsoAccRead(accDev_t *acc);
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bool lsm6dsoGyroRead(gyroDev_t *gyro);
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@ -0,0 +1,203 @@
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/*
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* This file is part of Cleanflight and Betaflight.
|
||||
*
|
||||
* Cleanflight and Betaflight are free software. You can redistribute
|
||||
* this software and/or modify this software 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 and Betaflight are distributed in the hope that they
|
||||
* 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 this software.
|
||||
*
|
||||
* If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
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||||
#include <stdbool.h>
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#include <stdint.h>
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#include "platform.h"
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#ifdef USE_ACCGYRO_LSM6DSO
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#include "drivers/accgyro/accgyro.h"
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#include "drivers/accgyro/accgyro_spi_lsm6dso.h"
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#include "drivers/bus_spi.h"
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#include "drivers/exti.h"
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#include "drivers/io.h"
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#include "drivers/io_impl.h"
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#include "drivers/nvic.h"
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#include "drivers/sensor.h"
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#include "drivers/time.h"
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#define LSM6DSO_CHIP_ID 0x6C
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// LSM6DSO register configuration values
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typedef enum {
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LSM6DSO_VAL_INT1_CTRL = 0x02, // enable gyro data ready interrupt pin 1
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LSM6DSO_VAL_INT2_CTRL = 0x02, // enable gyro data ready interrupt pin 2
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LSM6DSO_VAL_CTRL1_XL_ODR833 = 0x07, // accelerometer 833hz output data rate (gyro/8)
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LSM6DSO_VAL_CTRL1_XL_ODR1667 = 0x08, // accelerometer 1666hz output data rate (gyro/4)
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LSM6DSO_VAL_CTRL1_XL_ODR3332 = 0x09, // accelerometer 3332hz output data rate (gyro/2)
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LSM6DSO_VAL_CTRL1_XL_ODR3333 = 0x0A, // accelerometer 6664hz output data rate (gyro/1)
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LSM6DSO_VAL_CTRL1_XL_8G = 0x03, // accelerometer 8G scale
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LSM6DSO_VAL_CTRL1_XL_16G = 0x01, // accelerometer 16G scale
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LSM6DSO_VAL_CTRL1_XL_LPF1 = 0x00, // accelerometer output from LPF1
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LSM6DSO_VAL_CTRL1_XL_LPF2 = 0x01, // accelerometer output from LPF2
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LSM6DSO_VAL_CTRL2_G_ODR6664 = 0x0A, // gyro 6664hz output data rate
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LSM6DSO_VAL_CTRL2_G_2000DPS = 0x03, // gyro 2000dps scale
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LSM6DSO_VAL_CTRL3_C_BDU = BIT(6), // (bit 6) output registers are not updated until MSB and LSB have been read (prevents MSB from being updated while burst reading LSB/MSB)
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LSM6DSO_VAL_CTRL3_C_H_LACTIVE = 0, // (bit 5) interrupt pins active high
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||||
LSM6DSO_VAL_CTRL3_C_PP_OD = 0, // (bit 4) interrupt pins push/pull
|
||||
LSM6DSO_VAL_CTRL3_C_SIM = 0, // (bit 3) SPI 4-wire interface mode
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||||
LSM6DSO_VAL_CTRL3_C_IF_INC = BIT(2), // (bit 2) auto-increment address for burst reads
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LSM6DSO_VAL_CTRL4_C_I2C_DISABLE = BIT(2), // (bit 2) disable I2C interface
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LSM6DSO_VAL_CTRL4_C_LPF1_SEL_G = BIT(1), // (bit 1) enable gyro LPF1
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LSM6DSO_VAL_CTRL6_C_XL_HM_MODE = 0, // (bit 4) enable accelerometer high performance mode
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LSM6DSO_VAL_CTRL6_C_FTYPE_335HZ = 0x00, // (bits 2:0) gyro LPF1 cutoff 335.5hz
|
||||
LSM6DSO_VAL_CTRL6_C_FTYPE_232HZ = 0x01, // (bits 2:0) gyro LPF1 cutoff 232.0hz
|
||||
LSM6DSO_VAL_CTRL6_C_FTYPE_171HZ = 0x02, // (bits 2:0) gyro LPF1 cutoff 171.1hz
|
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LSM6DSO_VAL_CTRL6_C_FTYPE_609HZ = 0x03, // (bits 2:0) gyro LPF1 cutoff 609.0hz
|
||||
LSM6DSO_VAL_CTRL9_XL_I3C_DISABLE = BIT(1),// (bit 1) disable I3C interface
|
||||
} lsm6dsoConfigValues_e;
|
||||
|
||||
// LSM6DSO register configuration bit masks
|
||||
typedef enum {
|
||||
LSM6DSO_MASK_CTRL3_C = 0x7C, // 0b01111100
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||||
LSM6DSO_MASK_CTRL3_C_RESET = BIT(0), // 0b00000001
|
||||
LSM6DSO_MASK_CTRL4_C = 0x06, // 0b00000110
|
||||
LSM6DSO_MASK_CTRL6_C = 0x17, // 0b00010111
|
||||
LSM6DSO_MASK_CTRL9_XL = 0x02, // 0b00000010
|
||||
} lsm6dsoConfigMasks_e;
|
||||
|
||||
uint8_t lsm6dsoDetect(const busDevice_t *bus)
|
||||
{
|
||||
uint8_t chipID = 0;
|
||||
spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_STANDARD);
|
||||
|
||||
if (busReadRegisterBuffer(bus, LSM6DSO_REG_WHO_AM_I, &chipID, 1)) {
|
||||
if (chipID == LSM6DSO_CHIP_ID) {
|
||||
return LSM6DSO_SPI;
|
||||
}
|
||||
}
|
||||
|
||||
return MPU_NONE;
|
||||
}
|
||||
|
||||
static void lsm6dsoWriteRegister(const busDevice_t *bus, lsm6dsoRegister_e registerID, uint8_t value, unsigned delayMs)
|
||||
{
|
||||
busWriteRegister(bus, registerID, value);
|
||||
if (delayMs) {
|
||||
delay(delayMs);
|
||||
}
|
||||
}
|
||||
|
||||
static void lsm6dsoWriteRegisterBits(const busDevice_t *bus, lsm6dsoRegister_e registerID, lsm6dsoConfigMasks_e mask, uint8_t value, unsigned delayMs)
|
||||
{
|
||||
uint8_t newValue;
|
||||
if (busReadRegisterBuffer(bus, registerID, &newValue, 1)) {
|
||||
delayMicroseconds(2);
|
||||
newValue = (newValue & ~mask) | value;
|
||||
lsm6dsoWriteRegister(bus, registerID, newValue, delayMs);
|
||||
}
|
||||
}
|
||||
|
||||
static void lsm6dsoConfig(const gyroDev_t *gyro)
|
||||
{
|
||||
const busDevice_t *bus = &gyro->bus;
|
||||
|
||||
// Reset the device (wait 100ms before continuing config)
|
||||
lsm6dsoWriteRegisterBits(bus, LSM6DSO_REG_CTRL3_C, LSM6DSO_MASK_CTRL3_C_RESET, BIT(0), 100);
|
||||
|
||||
// Configure interrupt pin 1 for gyro data ready only
|
||||
lsm6dsoWriteRegister(bus, LSM6DSO_REG_INT1_CTRL, LSM6DSO_VAL_INT1_CTRL, 1);
|
||||
|
||||
// Disable interrupt pin 2
|
||||
lsm6dsoWriteRegister(bus, LSM6DSO_REG_INT2_CTRL, LSM6DSO_VAL_INT2_CTRL, 1);
|
||||
|
||||
// Configure the accelerometer
|
||||
// 833hz ODR, 16G scale, use LPF1 output
|
||||
lsm6dsoWriteRegister(bus, LSM6DSO_REG_CTRL1_XL, (LSM6DSO_VAL_CTRL1_XL_ODR833 << 4) | (LSM6DSO_VAL_CTRL1_XL_16G << 2) | (LSM6DSO_VAL_CTRL1_XL_LPF1 << 1), 1);
|
||||
|
||||
// Configure the gyro
|
||||
// 6664hz ODR, 2000dps scale
|
||||
lsm6dsoWriteRegister(bus, LSM6DSO_REG_CTRL2_G, (LSM6DSO_VAL_CTRL2_G_ODR6664 << 4) | (LSM6DSO_VAL_CTRL2_G_2000DPS << 2), 1);
|
||||
|
||||
// Configure control register 3
|
||||
// latch LSB/MSB during reads; set interrupt pins active high; set interrupt pins push/pull; set 4-wire SPI; enable auto-increment burst reads
|
||||
lsm6dsoWriteRegisterBits(bus, LSM6DSO_REG_CTRL3_C, LSM6DSO_MASK_CTRL3_C, (LSM6DSO_VAL_CTRL3_C_BDU | LSM6DSO_VAL_CTRL3_C_H_LACTIVE | LSM6DSO_VAL_CTRL3_C_PP_OD | LSM6DSO_VAL_CTRL3_C_SIM | LSM6DSO_VAL_CTRL3_C_IF_INC), 1);
|
||||
|
||||
// Configure control register 4
|
||||
// enable accelerometer high performane mode; set gyro LPF1 cutoff to 335.5hz
|
||||
lsm6dsoWriteRegisterBits(bus, LSM6DSO_REG_CTRL4_C, LSM6DSO_MASK_CTRL4_C, (LSM6DSO_VAL_CTRL4_C_I2C_DISABLE | LSM6DSO_VAL_CTRL4_C_LPF1_SEL_G), 1);
|
||||
|
||||
// Configure control register 6
|
||||
// disable I2C interface; enable gyro LPF1
|
||||
lsm6dsoWriteRegisterBits(bus, LSM6DSO_REG_CTRL6_C, LSM6DSO_MASK_CTRL6_C, (LSM6DSO_VAL_CTRL6_C_XL_HM_MODE | LSM6DSO_VAL_CTRL6_C_FTYPE_335HZ), 1);
|
||||
|
||||
// Configure control register 9
|
||||
// disable I3C interface
|
||||
lsm6dsoWriteRegisterBits(bus, LSM6DSO_REG_CTRL9_XL, LSM6DSO_MASK_CTRL9_XL, LSM6DSO_VAL_CTRL9_XL_I3C_DISABLE, 1);
|
||||
}
|
||||
|
||||
#if defined(USE_GYRO_EXTI) && defined(USE_MPU_DATA_READY_SIGNAL)
|
||||
static void lsm6dsoIntExtiInit(gyroDev_t *gyro)
|
||||
{
|
||||
if (gyro->mpuIntExtiTag == IO_TAG_NONE) {
|
||||
return;
|
||||
}
|
||||
|
||||
IO_t mpuIntIO = IOGetByTag(gyro->mpuIntExtiTag);
|
||||
|
||||
IOInit(mpuIntIO, OWNER_GYRO_EXTI, 0);
|
||||
EXTIHandlerInit(&gyro->exti, lsm6dsoExtiHandler);
|
||||
EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING, BETAFLIGHT_EXTI_TRIGGER_RISING);
|
||||
EXTIEnable(mpuIntIO, true);
|
||||
}
|
||||
#endif
|
||||
|
||||
static void lsm6dsoSpiGyroInit(gyroDev_t *gyro)
|
||||
{
|
||||
lsm6dsoConfig(gyro);
|
||||
|
||||
#if defined(USE_GYRO_EXTI) && defined(USE_MPU_DATA_READY_SIGNAL)
|
||||
lsm6dsoIntExtiInit(gyro);
|
||||
#endif
|
||||
}
|
||||
|
||||
static void lsm6dsoSpiAccInit(accDev_t *acc)
|
||||
{
|
||||
// sensor is configured during gyro init
|
||||
acc->acc_1G = 512 * 4; // 16G sensor scale
|
||||
}
|
||||
|
||||
bool lsm6dsoSpiAccDetect(accDev_t *acc)
|
||||
{
|
||||
if (acc->mpuDetectionResult.sensor != LSM6DSO_SPI) {
|
||||
return false;
|
||||
}
|
||||
|
||||
acc->initFn = lsm6dsoSpiAccInit;
|
||||
acc->readFn = lsm6dsoAccRead;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool lsm6dsoSpiGyroDetect(gyroDev_t *gyro)
|
||||
{
|
||||
if (gyro->mpuDetectionResult.sensor != LSM6DSO_SPI) {
|
||||
return false;
|
||||
}
|
||||
|
||||
gyro->initFn = lsm6dsoSpiGyroInit;
|
||||
gyro->readFn = lsm6dsoGyroRead;
|
||||
gyro->scale = GYRO_SCALE_2000DPS;
|
||||
|
||||
return true;
|
||||
}
|
||||
#endif // USE_ACCGYRO_LSM6DSO
|
|
@ -77,6 +77,13 @@ uint16_t gyroSetSampleRate(gyroDev_t *gyro)
|
|||
gyroSampleRateHz = 9000;
|
||||
accSampleRateHz = 1125;
|
||||
break;
|
||||
#ifdef USE_ACCGYRO_LSM6DSO
|
||||
case LSM6DSO_SPI:
|
||||
gyro->gyroRateKHz = GYRO_RATE_6664_Hz;
|
||||
gyroSampleRateHz = 6664; // Yes, this is correct per the datasheet. Will effectively round to 150us and 6.67KHz.
|
||||
accSampleRateHz = 833;
|
||||
break;
|
||||
#endif
|
||||
default:
|
||||
gyro->gyroRateKHz = GYRO_RATE_8_kHz;
|
||||
gyroSampleRateHz = 8000;
|
||||
|
|
|
@ -47,6 +47,7 @@
|
|||
#include "drivers/accgyro/accgyro_spi_icm20649.h"
|
||||
#include "drivers/accgyro/accgyro_spi_icm20689.h"
|
||||
#include "drivers/accgyro/accgyro_spi_icm42605.h"
|
||||
#include "drivers/accgyro/accgyro_spi_lsm6dso.h"
|
||||
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
|
||||
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
|
||||
#include "drivers/accgyro/accgyro_spi_mpu9250.h"
|
||||
|
@ -303,6 +304,15 @@ retry:
|
|||
FALLTHROUGH;
|
||||
#endif
|
||||
|
||||
#ifdef USE_ACCGYRO_LSM6DSO
|
||||
case ACC_LSM6DSO:
|
||||
if (lsm6dsoSpiAccDetect(dev)) {
|
||||
accHardware = ACC_LSM6DSO;
|
||||
break;
|
||||
}
|
||||
FALLTHROUGH;
|
||||
#endif
|
||||
|
||||
#ifdef USE_FAKE_ACC
|
||||
case ACC_FAKE:
|
||||
if (fakeAccDetect(dev)) {
|
||||
|
|
|
@ -45,6 +45,7 @@ typedef enum {
|
|||
ACC_ICM42605,
|
||||
ACC_BMI160,
|
||||
ACC_BMI270,
|
||||
ACC_LSM6DSO,
|
||||
ACC_FAKE
|
||||
} accelerationSensor_e;
|
||||
|
||||
|
|
|
@ -46,6 +46,7 @@
|
|||
#include "drivers/accgyro/accgyro_spi_icm20689.h"
|
||||
#include "drivers/accgyro/accgyro_spi_icm20689.h"
|
||||
#include "drivers/accgyro/accgyro_spi_icm42605.h"
|
||||
#include "drivers/accgyro/accgyro_spi_lsm6dso.h"
|
||||
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
|
||||
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
|
||||
#include "drivers/accgyro/accgyro_spi_mpu9250.h"
|
||||
|
@ -312,6 +313,7 @@ void gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
|
|||
case GYRO_MPU6000:
|
||||
case GYRO_MPU6500:
|
||||
case GYRO_MPU9250:
|
||||
case GYRO_LSM6DSO:
|
||||
gyroSensor->gyroDev.gyroHasOverflowProtection = true;
|
||||
break;
|
||||
|
||||
|
@ -469,6 +471,15 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
|
|||
FALLTHROUGH;
|
||||
#endif
|
||||
|
||||
#ifdef USE_ACCGYRO_LSM6DSO
|
||||
case GYRO_LSM6DSO:
|
||||
if (lsm6dsoSpiGyroDetect(dev)) {
|
||||
gyroHardware = GYRO_LSM6DSO;
|
||||
break;
|
||||
}
|
||||
FALLTHROUGH;
|
||||
#endif
|
||||
|
||||
#ifdef USE_FAKE_GYRO
|
||||
case GYRO_FAKE:
|
||||
if (fakeGyroDetect(dev)) {
|
||||
|
@ -494,7 +505,7 @@ 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) \
|
||||
|| 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_ACCGYRO_LSM6DSO)
|
||||
|
||||
bool gyroFound = mpuDetect(&gyroSensor->gyroDev, config);
|
||||
|
||||
|
@ -519,7 +530,7 @@ static void gyroPreInitSensor(const gyroDeviceConfig_t *config)
|
|||
{
|
||||
#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) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270)
|
||||
|| defined(USE_GYRO_SPI_ICM20689) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) || defined(USE_ACCGRYO_LSM6DSO)
|
||||
mpuPreInit(config);
|
||||
#else
|
||||
UNUSED(config);
|
||||
|
|
|
@ -169,6 +169,7 @@
|
|||
#define USE_GYRO_SPI_MPU6500
|
||||
#define USE_ACC_SPI_ICM20689
|
||||
#define USE_GYRO_SPI_ICM20689
|
||||
#define USE_ACCGYRO_LSM6DSO
|
||||
|
||||
#define USE_MAG
|
||||
#define USE_MAG_DATA_READY_SIGNAL
|
||||
|
|
Loading…
Reference in New Issue