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drivers/imu/invensense: new ICM20948 driver on SPI with AK09916 mag

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This commit is contained in:
Daniel Agar
2020-05-22 00:09:30 -04:00
committed by GitHub
parent 504794eddc
commit 951969ba00
14 changed files with 1965 additions and 7 deletions
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boards/mro/ctrl-zero-f7/default.cmake
+1 -1
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@@ -31,7 +31,7 @@ px4_add_board(
#imu # all available imu drivers
imu/bmi088
imu/invensense/icm20602
imu/icm20948
imu/invensense/icm20948
irlock
lights/blinkm
lights/rgbled
boards/mro/ctrl-zero-f7/init/rc.board_sensors
+2 -2
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@@ -12,8 +12,8 @@ icm20602 -s -R 4 start
bmi088 -A -R 10 -s start
bmi088 -G -R 10 -s start
# Internal ICM-20948
icm20948 -s -R 10 start
# Internal ICM-20948 (with magnetometer)
icm20948 -s -R 2 -M start
# Interal DPS310 (barometer)
dps310 -s start
boards/mro/ctrl-zero-f7/src/board_config.h
+2
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@@ -118,6 +118,7 @@
#define BOARD_NUMBER_BRICKS 1
#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
#define GPIO_VDD_3V3_SENSORS_EN /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
/* Define True logic Power Control in arch agnostic form */
@@ -200,6 +201,7 @@
GPIO_CAN1_SILENT_S0, \
GPIO_nPOWER_IN_A, \
GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \
GPIO_VDD_3V3_SENSORS_EN, \
GPIO_TONE_ALARM_IDLE, \
GPIO_SAFETY_SWITCH_IN, \
}
boards/mro/ctrl-zero-f7/src/init.c
+4 -1
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@@ -163,7 +163,7 @@ stm32_boardinitialize(void)
px4_gpio_init(gpio, arraySize(gpio));
/* configure SPI interfaces */
stm32_spiinitialize();
px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
/* configure USB interfaces */
stm32_usbinitialize();
@@ -198,11 +198,14 @@ stm32_boardinitialize(void)
__EXPORT int board_app_initialize(uintptr_t arg)
{
/* Power on Interfaces */
px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
board_control_spi_sensors_power(true, 0xffff);
VDD_3V3_SPEKTRUM_POWER_EN(true);
px4_platform_init();
stm32_spiinitialize();
/* configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
boards/mro/ctrl-zero-f7/src/spi.cpp
+2 -2
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@@ -39,7 +39,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
}, {GPIO::PortE, GPIO::Pin3}),
}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
initSPIDevice(DRV_BARO_DEVTYPE_DPS310, SPI::CS{GPIO::PortD, GPIO::Pin7}),
@@ -47,7 +47,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}),
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}),
}, {GPIO::PortE, GPIO::Pin3}),
}),
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses);