Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-27 18:27:05 +08:00
Code Issues Actions 30 Packages Projects Releases Wiki Activity

drivers/imu/bosch/bmi088: Add BMI090L accel ID

Browse Source
This commit is contained in:
AlexKlimaj
2021-01-19 13:49:53 -07:00
committed by GitHub
parent d22eef9396
commit 386b56fbce
2 changed files with 10 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp
+8 -2
View File
@@ -99,7 +99,13 @@ int BMI088_Accelerometer::probe()
const uint8_t ACC_CHIP_ID = RegisterRead(Register::ACC_CHIP_ID); const uint8_t ACC_CHIP_ID = RegisterRead(Register::ACC_CHIP_ID);
if (ACC_CHIP_ID != ID) { if (ACC_CHIP_ID == ID_088) {
DEVICE_DEBUG("BMI088 Accel");
} else if (ACC_CHIP_ID == ID_090L) {
DEVICE_DEBUG("BMI090L Accel");
} else {
DEVICE_DEBUG("unexpected ACC_CHIP_ID 0x%02x", ACC_CHIP_ID); DEVICE_DEBUG("unexpected ACC_CHIP_ID 0x%02x", ACC_CHIP_ID);
return PX4_ERROR; return PX4_ERROR;
} }
@@ -122,7 +128,7 @@ void BMI088_Accelerometer::RunImpl()
break; break;
case STATE::WAIT_FOR_RESET: case STATE::WAIT_FOR_RESET:
if (RegisterRead(Register::ACC_CHIP_ID) == ID) { if ((RegisterRead(Register::ACC_CHIP_ID) == ID_088) || (RegisterRead(Register::ACC_CHIP_ID) == ID_090L)) {
// ACC_PWR_CONF: Power on sensor // ACC_PWR_CONF: Power on sensor
RegisterWrite(Register::ACC_PWR_CONF, 0); RegisterWrite(Register::ACC_PWR_CONF, 0);
src/drivers/imu/bosch/bmi088/Bosch_BMI088_Accelerometer_Registers.hpp
+2 -1
View File
@@ -49,7 +49,8 @@ static constexpr uint8_t Bit7 = (1 << 7);
static constexpr uint32_t SPI_SPEED = 10 * 1000 * 1000; // 10MHz SPI serial interface static constexpr uint32_t SPI_SPEED = 10 * 1000 * 1000; // 10MHz SPI serial interface
static constexpr uint8_t DIR_READ = 0x80; static constexpr uint8_t DIR_READ = 0x80;
static constexpr uint8_t ID = 0x1E; static constexpr uint8_t ID_088 = 0x1E;
static constexpr uint8_t ID_090L = 0x1A;
enum class Register : uint8_t { enum class Register : uint8_t {
ACC_CHIP_ID = 0x00, ACC_CHIP_ID = 0x00,