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InvenSense ICM20602 and ICM20608-G: new standalone optimized drivers

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- uses the FIFO and SPI DMA to transfer full raw data (8 kHz gyro, 4 kHz accel)
 - new sensor messages for better visibility
   - sensor_{accel, gyro}_fifo: full raw data for optional logging and analysis
   - sensor_{accel, gyro}_status: metadata, clipping, etc
 - currently not enabled by default
This commit is contained in:
Daniel Agar
2019-12-03 23:21:32 -05:00
committed by GitHub
parent 2badea316f
commit 709961ec8c
26 changed files with 1895 additions and 114 deletions
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msg/sensor_accel_status.msg
+1 -4
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@@ -7,12 +7,9 @@ float32 temperature
uint8 rotation
# clipping per axis?
uint64[3] clipping
uint64[3] clipping # clipping per axis
uint16 measure_rate
uint16 sample_rate
float32 full_scale_range
float32 high_frequency_vibration # high frequency vibration level in the IMU delta angle data (rad)
msg/sensor_gyro_status.msg
+1 -6
View File
@@ -7,14 +7,9 @@ float32 temperature
uint8 rotation
# clipping per axis?
uint64[3] clipping
uint64[3] clipping # clipping per axis
uint16 measure_rate
uint16 sample_rate
float32 full_scale_range
float32 coning_vibration # Level of coning vibration in the IMU delta angles (rad^2)
float32 high_frequency_vibration # high frequency vibration level in the IMU delta angle data (rad)