diff --git a/src/main/config/config.c b/src/main/config/config.c
index fac719dd4..451dcf28d 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -410,7 +410,7 @@ void createDefaultConfig(master_t *config)
#ifdef STM32F10X
config->gyro_sync_denom = 8;
config->pid_process_denom = 1;
-#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500)
+#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20689)
config->gyro_sync_denom = 1;
config->pid_process_denom = 4;
#else
diff --git a/src/main/drivers/accgyro_mpu.c b/src/main/drivers/accgyro_mpu.c
index b8d7d176a..6bf8b3f1d 100644
--- a/src/main/drivers/accgyro_mpu.c
+++ b/src/main/drivers/accgyro_mpu.c
@@ -41,6 +41,7 @@
#include "accgyro_mpu6500.h"
#include "accgyro_spi_mpu6000.h"
#include "accgyro_spi_mpu6500.h"
+#include "accgyro_spi_icm20689.h"
#include "accgyro_spi_mpu9250.h"
#include "accgyro_mpu.h"
@@ -144,6 +145,16 @@ static bool detectSPISensorsAndUpdateDetectionResult(void)
}
#endif
+#ifdef USE_GYRO_SPI_ICM20689
+ if (icm20689SpiDetect()) {
+ mpuDetectionResult.sensor = ICM_20689_SPI;
+ mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
+ mpuConfiguration.read = icm20689ReadRegister;
+ mpuConfiguration.write = icm20689WriteRegister;
+ return true;
+ }
+#endif
+
#ifdef USE_GYRO_SPI_MPU6000
if (mpu6000SpiDetect()) {
mpuDetectionResult.sensor = MPU_60x0_SPI;
diff --git a/src/main/drivers/accgyro_mpu.h b/src/main/drivers/accgyro_mpu.h
index 0b70ebb14..71f8d6cfd 100644
--- a/src/main/drivers/accgyro_mpu.h
+++ b/src/main/drivers/accgyro_mpu.h
@@ -168,7 +168,8 @@ typedef enum {
MPU_60x0_SPI,
MPU_65xx_I2C,
MPU_65xx_SPI,
- MPU_9250_SPI
+ MPU_9250_SPI,
+ ICM_20689_SPI
} detectedMPUSensor_e;
typedef enum {
diff --git a/src/main/drivers/accgyro_spi_icm20689.c b/src/main/drivers/accgyro_spi_icm20689.c
new file mode 100644
index 000000000..93d205cdd
--- /dev/null
+++ b/src/main/drivers/accgyro_spi_icm20689.c
@@ -0,0 +1,166 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * 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 .
+ */
+
+#include
+#include
+#include
+
+#include "platform.h"
+
+#include "common/axis.h"
+#include "common/maths.h"
+
+#include "system.h"
+#include "exti.h"
+#include "io.h"
+#include "bus_spi.h"
+#include "gpio.h"
+#include "gyro_sync.h"
+
+#include "sensor.h"
+#include "accgyro.h"
+#include "accgyro_mpu.h"
+#include "accgyro_spi_icm20689.h"
+
+#define DISABLE_ICM20689 IOHi(icmSpi20689CsPin)
+#define ENABLE_ICM20689 IOLo(icmSpi20689CsPin)
+
+static IO_t icmSpi20689CsPin = IO_NONE;
+
+bool icm20689WriteRegister(uint8_t reg, uint8_t data)
+{
+ ENABLE_ICM20689;
+ spiTransferByte(ICM20689_SPI_INSTANCE, reg);
+ spiTransferByte(ICM20689_SPI_INSTANCE, data);
+ DISABLE_ICM20689;
+
+ return true;
+}
+
+bool icm20689ReadRegister(uint8_t reg, uint8_t length, uint8_t *data)
+{
+ ENABLE_ICM20689;
+ spiTransferByte(ICM20689_SPI_INSTANCE, reg | 0x80); // read transaction
+ spiTransfer(ICM20689_SPI_INSTANCE, data, NULL, length);
+ DISABLE_ICM20689;
+
+ return true;
+}
+
+static void icm20689SpiInit(void)
+{
+ static bool hardwareInitialised = false;
+
+ if (hardwareInitialised) {
+ return;
+ }
+
+ icmSpi20689CsPin = IOGetByTag(IO_TAG(ICM20689_CS_PIN));
+ IOInit(icmSpi20689CsPin, OWNER_MPU, RESOURCE_SPI_CS, 0);
+ IOConfigGPIO(icmSpi20689CsPin, SPI_IO_CS_CFG);
+
+ spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_FAST);
+
+ hardwareInitialised = true;
+}
+
+bool icm20689SpiDetect(void)
+{
+ uint8_t tmp;
+
+ icm20689SpiInit();
+
+ icm20689ReadRegister(MPU_RA_WHO_AM_I, 1, &tmp);
+
+ if (tmp == ICM20689_WHO_AM_I_CONST) {
+ return true;
+ }
+
+ return false;
+}
+
+bool icm20689SpiAccDetect(acc_t *acc)
+{
+ if (mpuDetectionResult.sensor != ICM_20689_SPI) {
+ return false;
+ }
+
+ acc->init = icm20689AccInit;
+ acc->read = mpuAccRead;
+
+ return true;
+}
+
+bool icm20689SpiGyroDetect(gyro_t *gyro)
+{
+ if (mpuDetectionResult.sensor != ICM_20689_SPI) {
+ return false;
+ }
+
+ gyro->init = icm20689GyroInit;
+ gyro->read = mpuGyroRead;
+ gyro->intStatus = checkMPUDataReady;
+
+ // 16.4 dps/lsb scalefactor
+ gyro->scale = 1.0f / 16.4f;
+
+ return true;
+}
+
+void icm20689AccInit(acc_t *acc)
+{
+ mpuIntExtiInit();
+
+ acc->acc_1G = 512 * 4;
+}
+
+void icm20689GyroInit(uint8_t lpf)
+{
+ mpuIntExtiInit();
+
+ spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON);
+
+ mpuConfiguration.write(MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
+ delay(100);
+ mpuConfiguration.write(MPU_RA_SIGNAL_PATH_RESET, 0x03);
+ delay(100);
+// mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0);
+// delay(100);
+ mpuConfiguration.write(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
+ delay(15);
+ mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
+ delay(15);
+ mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
+ delay(15);
+ mpuConfiguration.write(MPU_RA_CONFIG, lpf);
+ delay(15);
+ mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); // Get Divider Drops
+ delay(100);
+
+ // Data ready interrupt configuration
+// 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
+ mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0x10); // INT_ANYRD_2CLEAR, BYPASS_EN
+
+ delay(15);
+
+#ifdef USE_MPU_DATA_READY_SIGNAL
+ mpuConfiguration.write(MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable
+#endif
+
+ spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_FAST);
+
+}
diff --git a/src/main/drivers/accgyro_spi_icm20689.h b/src/main/drivers/accgyro_spi_icm20689.h
new file mode 100644
index 000000000..a87114cb7
--- /dev/null
+++ b/src/main/drivers/accgyro_spi_icm20689.h
@@ -0,0 +1,34 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * 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 .
+ */
+#pragma once
+
+#define ICM20689_WHO_AM_I_CONST (0x98)
+#define ICM20689_BIT_RESET (0x80)
+
+bool icm20689AccDetect(acc_t *acc);
+bool icm20689GyroDetect(gyro_t *gyro);
+
+void icm20689AccInit(acc_t *acc);
+void icm20689GyroInit(uint8_t lpf);
+
+bool icm20689SpiDetect(void);
+
+bool icm20689SpiAccDetect(acc_t *acc);
+bool icm20689SpiGyroDetect(gyro_t *gyro);
+
+bool icm20689WriteRegister(uint8_t reg, uint8_t data);
+bool icm20689ReadRegister(uint8_t reg, uint8_t length, uint8_t *data);
\ No newline at end of file
diff --git a/src/main/drivers/accgyro_spi_mpu6000.c b/src/main/drivers/accgyro_spi_mpu6000.c
index 6522a282f..faf6fba1a 100644
--- a/src/main/drivers/accgyro_spi_mpu6000.c
+++ b/src/main/drivers/accgyro_spi_mpu6000.c
@@ -180,7 +180,6 @@ bool mpu6000SpiDetect(void)
}
} while (attemptsRemaining--);
-
mpu6000ReadRegister(MPU_RA_PRODUCT_ID, 1, &in);
/* look for a product ID we recognise */
@@ -244,7 +243,6 @@ static void mpu6000AccAndGyroInit(void)
mpu6000WriteRegister(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
delayMicroseconds(15);
-
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
delayMicroseconds(15);
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index e4efae4f6..dc3af5b56 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -242,9 +242,9 @@ static const char * const sensorTypeNames[] = {
#define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
-static const char * const sensorHardwareNames[4][12] = {
- { "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "FAKE", NULL },
- { "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "FAKE", NULL },
+static const char * const sensorHardwareNames[4][13] = {
+ { "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "ICM20689", "FAKE", NULL },
+ { "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "ICM20689", "FAKE", NULL },
{ "", "None", "BMP085", "MS5611", "BMP280", NULL },
{ "", "None", "HMC5883", "AK8975", "AK8963", NULL }
};
@@ -454,6 +454,7 @@ static const char * const lookupTableAccHardware[] = {
"MPU6000",
"MPU6500",
"MPU9250",
+ "ICM20689",
"FAKE"
};
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index 4630faa3b..b7a63ecbc 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -28,7 +28,8 @@ typedef enum {
ACC_LSM303DLHC = 6,
ACC_MPU6000 = 7,
ACC_MPU6500 = 8,
- ACC_FAKE = 9,
+ ACC_ICM20689 = 9,
+ ACC_FAKE = 10,
ACC_MAX = ACC_FAKE
} accelerationSensor_e;
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index bae1805e5..4e6122fd5 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -27,6 +27,7 @@ typedef enum {
GYRO_MPU6000,
GYRO_MPU6500,
GYRO_MPU9250,
+ GYRO_ICM20689,
GYRO_FAKE,
GYRO_MAX = GYRO_FAKE
} gyroSensor_e;
diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
index 3775824d6..0def4b52c 100755
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@@ -255,6 +255,21 @@ bool detectGyro(void)
}
#endif
; // fallthrough
+
+ case GYRO_ICM20689:
+#ifdef USE_GYRO_SPI_ICM20689
+ if (icm20689SpiGyroDetect(&gyro))
+ {
+ gyroHardware = GYRO_ICM20689;
+#ifdef GYRO_ICM20689_ALIGN
+ gyroAlign = GYRO_ICM20689_ALIGN;
+#endif
+
+ break;
+ }
+#endif
+ ; // fallthrough
+
case GYRO_FAKE:
#ifdef USE_FAKE_GYRO
if (fakeGyroDetect(&gyro)) {
@@ -382,6 +397,19 @@ retry:
accHardware = ACC_MPU6500;
break;
}
+#endif
+ ; // fallthrough
+ case ACC_ICM20689:
+#ifdef USE_ACC_SPI_ICM20689
+
+ if (icm20689SpiAccDetect(&acc))
+ {
+#ifdef ACC_ICM20689_ALIGN
+ accAlign = ACC_ICM20689_ALIGN;
+#endif
+ accHardware = ACC_ICM20689;
+ break;
+ }
#endif
; // fallthrough
case ACC_FAKE:
@@ -604,7 +632,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig,
memset(&acc, 0, sizeof(acc));
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();
diff --git a/src/main/target/FURYF3/target.h b/src/main/target/FURYF3/target.h
index 1cc93b6f2..4b32eb79c 100644
--- a/src/main/target/FURYF3/target.h
+++ b/src/main/target/FURYF3/target.h
@@ -33,12 +33,18 @@
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
+#define ICM20689_CS_PIN PA4
+#define ICM20689_SPI_INSTANCE SPI1
+
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define MPU6500_CS_PIN PA4
#define MPU6500_SPI_INSTANCE SPI1
#define GYRO
+#define USE_GYRO_SPI_ICM20689
+#define GYRO_ICM20689_ALIGN CW180_DEG
+
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW180_DEG
#define USE_ACC_SPI_MPU6000
@@ -49,6 +55,9 @@
#define GYRO_MPU6500_ALIGN CW90_DEG
#define ACC
+#define USE_ACC_SPI_ICM20689
+#define ACC_ICM20689_ALIGN CW180_DEG
+
#define USE_ACC_MPU6500
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW90_DEG
diff --git a/src/main/target/FURYF3/target.mk b/src/main/target/FURYF3/target.mk
index 2f1639e86..7f295bcb0 100644
--- a/src/main/target/FURYF3/target.mk
+++ b/src/main/target/FURYF3/target.mk
@@ -8,6 +8,7 @@ TARGET_SRC = \
drivers/accgyro_spi_mpu6000.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
+ drivers/accgyro_spi_icm20689.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/sonar_hcsr04.c \
diff --git a/src/main/target/FURYF4/target.h b/src/main/target/FURYF4/target.h
index 2ccc49f73..e8735e8c3 100644
--- a/src/main/target/FURYF4/target.h
+++ b/src/main/target/FURYF4/target.h
@@ -37,12 +37,19 @@
#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready (mag disabled)
#define USE_MPU_DATA_READY_SIGNAL
+#define ICM20689_CS_PIN PA4
+#define ICM20689_SPI_INSTANCE SPI1
+
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define MPU6500_CS_PIN PA4
#define MPU6500_SPI_INSTANCE SPI1
+#define GYRO
+#define USE_GYRO_SPI_ICM20689
+#define GYRO_ICM20689_ALIGN CW180_DEG
+
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW180_DEG
#define USE_ACC_SPI_MPU6000
@@ -52,6 +59,13 @@
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW180_DEG
+#define ACC
+#define USE_ACC_SPI_ICM20689
+#define ACC_ICM20689_ALIGN CW180_DEG
+
+#define USE_ACC_SPI_MPU6000
+#define ACC_MPU6000_ALIGN CW180_DEG
+
#define USE_ACC_MPU6500
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW180_DEG
diff --git a/src/main/target/FURYF4/target.mk b/src/main/target/FURYF4/target.mk
index 80793c721..3a821d825 100644
--- a/src/main/target/FURYF4/target.mk
+++ b/src/main/target/FURYF4/target.mk
@@ -5,6 +5,7 @@ TARGET_SRC = \
drivers/accgyro_spi_mpu6000.c \
drivers/accgyro_spi_mpu6500.c \
drivers/accgyro_mpu6500.c \
+ drivers/accgyro_spi_icm20689.c \
drivers/barometer_ms5611.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f4xx.c