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InvenSense ICM-42688-P IMU driver

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This is a new InvenSense sensor with max output data rate of 32 kHz (both accel & gyro), on board anti-aliasing filter, optional higher resolution output (18 bit accel, 19 bit gyro), and clock sync.
This commit is contained in:
Daniel Agar
2020-03-20 13:01:02 -04:00
committed by GitHub
parent 240aad1aef
commit 46e5364580
10 changed files with 1299 additions and 10 deletions
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boards/modalai/fc-v1/src/board_config.h
+5 -6
View File
@@ -135,8 +135,8 @@
#define GPIO_SPI2_nCS1_ICM_42688 /* PH5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
/* Define the SPI2 Data Ready interrupts */
#define GPIO_SPI2_DRDY1_ICM_42688 /* PH12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTH|GPIO_PIN12)
#define GPIO_SPI2_DRDY1_ICM_42688 /* PH12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTH|GPIO_PIN12) // IMU_2_INT -> PH12
#define GPIO_SPI2_DRDY2_ICM_42688 /* PA0 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTA|GPIO_PIN0) // IMU_2_FSYNC <- PA0/TIM5_CH1
/* SPI2 off */
@@ -144,8 +144,6 @@
#define GPIO_SPI2_MISO_OFF _PIN_OFF(GPIO_SPI2_MISO)
#define GPIO_SPI2_MOSI_OFF _PIN_OFF(GPIO_SPI2_MOSI)
#define GPIO_DRDY_OFF_SPI2_DRDY1_ICM_42688 _PIN_OFF(GPIO_SPI2_DRDY1_ICM_42688)
/* SPI 5 CS */
#define GPIO_SPI5_nCS1_FRAM /* PG7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN7)
@@ -162,7 +160,8 @@
/* Define the SPI6 Data Ready interrupts */
#define GPIO_DRDY_OFF_SPI6_DRDY1_BMI088 _PIN_OFF(GPIO_SPI6_DRDY1_BMI088_INT1_ACCEL)#define GPIO_DRDY_OFF_SPI6_DRDY2_BMI088 _PIN_OFF(GPIO_SPI6_DRDY2_BMI088_INT3_GYRO)
#define GPIO_DRDY_OFF_SPI6_DRDY1_BMI088 _PIN_OFF(GPIO_SPI6_DRDY1_BMI088_INT1_ACCEL)
#define GPIO_DRDY_OFF_SPI6_DRDY2_BMI088 _PIN_OFF(GPIO_SPI6_DRDY2_BMI088_INT3_GYRO)
/* SPI6 off */
@@ -186,7 +185,7 @@
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20602)
#define PX4_SENSORS1_BUS_CS_GPIO {GPIO_SPI1_nCS1_ICM20602}
#define PX4_SPIDEV_ICM_42688 PX4_MK_SPI_SEL(0,DRV_DEVTYPE_UNUSED)
#define PX4_SPIDEV_ICM_42688 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM42688P)
#define PX4_SENSORS2_BUS_CS_GPIO {GPIO_SPI2_nCS1_ICM_42688}
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
boards/modalai/fc-v1/src/spi.cpp
+1 -2
View File
@@ -40,8 +40,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}),
initSPIBus(SPI::Bus::SPI2, {
// ICM-42688
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}),
}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})