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Added terminal command to read internal imu type

This commit is contained in:
Benjamin Vedder 2022-10-30 14:05:04 +01:00
parent f359fc75cd
commit 3dbd21820e
1 changed files with 19 additions and 0 deletions
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19
imu/imu.c
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@ -47,6 +47,7 @@ static imu_config m_settings;
static systime_t init_time;
static bool imu_ready;
static Biquad acc_x_biquad, acc_y_biquad, acc_z_biquad;
static char *m_imu_type_internal = "Unknown";
// Private functions
static void imu_read_callback(float *accel, float *gyro, float *mag);
@ -54,6 +55,7 @@ static int8_t user_i2c_read(uint8_t dev_addr, uint8_t reg_addr, uint8_t *data, u
static int8_t user_i2c_write(uint8_t dev_addr, uint8_t reg_addr, uint8_t *data, uint16_t len);
static int8_t user_spi_read(uint8_t dev_id, uint8_t reg_addr, uint8_t *data, uint16_t len);
static int8_t user_spi_write(uint8_t dev_id, uint8_t reg_addr, uint8_t *data, uint16_t len);
static void terminal_imu_type_internal(int argc, const char **argv);
void imu_init(imu_config *set) {
m_settings = *set;
@ -74,21 +76,25 @@ void imu_init(imu_config *set) {
#ifdef MPU9X50_SDA_GPIO
imu_init_mpu9x50(MPU9X50_SDA_GPIO, MPU9X50_SDA_PIN,
MPU9X50_SCL_GPIO, MPU9X50_SCL_PIN);
m_imu_type_internal = "MPU9X50";
#endif
#ifdef ICM20948_SDA_GPIO
imu_init_icm20948(ICM20948_SDA_GPIO, ICM20948_SDA_PIN,
ICM20948_SCL_GPIO, ICM20948_SCL_PIN, ICM20948_AD0_VAL);
m_imu_type_internal = "ICM20948";
#endif
#ifdef BMI160_SDA_GPIO
imu_init_bmi160_i2c(BMI160_SDA_GPIO, BMI160_SDA_PIN,
BMI160_SCL_GPIO, BMI160_SCL_PIN);
m_imu_type_internal = "BMI160";
#endif
#ifdef LSM6DS3_SDA_GPIO
imu_init_lsm6ds3(LSM6DS3_SDA_GPIO, LSM6DS3_SDA_PIN,
LSM6DS3_SCL_GPIO, LSM6DS3_SCL_PIN);
m_imu_type_internal = "LSM6DS3";
#endif
// SPI not implemented yet, use as I2C
@ -99,6 +105,7 @@ void imu_init(imu_config *set) {
palClearPad(LSM6DS3_MISO_GPIO, LSM6DS3_MISO_PIN);
imu_init_lsm6ds3(LSM6DS3_MOSI_GPIO, LSM6DS3_MOSI_PIN,
LSM6DS3_SCK_GPIO, LSM6DS3_SCK_PIN);
m_imu_type_internal = "LSM6DS3";
#endif
#ifdef BMI160_SPI_PORT_NSS
@ -107,6 +114,7 @@ void imu_init(imu_config *set) {
BMI160_SPI_PORT_SCK, BMI160_SPI_PIN_SCK,
BMI160_SPI_PORT_MOSI, BMI160_SPI_PIN_MOSI,
BMI160_SPI_PORT_MISO, BMI160_SPI_PIN_MISO);
m_imu_type_internal = "BMI160_SPI";
#endif
} else if (set->type == IMU_TYPE_EXTERNAL_MPU9X50) {
imu_init_mpu9x50(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
@ -139,6 +147,12 @@ void imu_init(imu_config *set) {
fc = m_settings.accel_lowpass_filter_z / m_settings.sample_rate_hz;
biquad_config(&acc_z_biquad, BQ_LOWPASS, fc);
}
terminal_register_command_callback(
"imu_type_internal",
"Print internal IMU type",
0,
terminal_imu_type_internal);
}
void imu_reset_orientation(void) {
@ -635,3 +649,8 @@ static int8_t user_spi_write(uint8_t dev_id, uint8_t reg_addr, uint8_t *data, ui
return rslt;
}
static void terminal_imu_type_internal(int argc, const char **argv) {
(void)argc;(void)argv;
commands_printf(m_imu_type_internal);
}