Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-23 14:47:44 +08:00
Code Issues Actions 16 Packages Projects Releases Wiki Activity

ARK SCH16T driver updated for new Murata modules (#24029)

Browse Source 
* Added the ranges for the new ARK Murata IMUs and added the logic to the driver to handle it

* Ran make format

* sch16t fix COMP_ID

* Revert "sch16t fix COMP_ID"

This reverts commit 38bf02bc86.

* sch16t add production k10 id

* Added B13 as REV_1

---------

Co-authored-by: Alex Klimaj <alex@arkelectron.com>
This commit is contained in:
Patrik Dominik Pordi
2025-07-23 01:16:13 -06:00
committed by GitHub
parent 4e3d090d1a
commit ce57153ce5
2 changed files with 42 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/imu/murata/sch16t/SCH16T.cpp
+35 -4
View File
@@ -108,9 +108,30 @@ int SCH16T::probe()
PX4_INFO("COMP_ID:\t 0x%0x", comp_id);
PX4_INFO("ASIC_ID:\t 0x%0x", asic_id);
bool success = asic_id == 0x21 && comp_id == 0x23;
// Determine chip version based on COMP_ID and ASIC_ID
return success ? PX4_OK : PX4_ERROR;
if ((asic_id == 0x21 && comp_id == 0x23) || (asic_id == 0x20 && comp_id == 0x17)) {
// ASIC_ID = 0x21, COMP_ID = 0x23 is a K01 variant of REV_1
// ASIC_ID = 0x20, COMP_ID = 0x17 is a B13 variant of REV_1
_detected_version = ChipVersion::REV_1;
} else if ((asic_id == 0x21 && comp_id == 0x24) || (asic_id == 0x21 && comp_id == 0x21)) {
// ASIC_ID = 0x21, COMP_ID = 0x24 is a B10 variant of REV_2
// ASIC_ID = 0x21, COMP_ID = 0x21 is a production K10 variant of REV_2
_detected_version = ChipVersion::REV_2;
} else {
_detected_version = ChipVersion::UNKNOWN;
PX4_ERR("Unsupported COMP_ID and ASIC_ID combination");
PX4_ERR("COMP_ID: 0x%04X, ASIC_ID: 0x%04X", comp_id, asic_id);
return PX4_ERROR;
}
// Log the detected version
PX4_INFO("Detected Chip Version: %d", static_cast<int>(_detected_version));
// Return success
return PX4_OK;
}
void SCH16T::Reset()
@@ -375,8 +396,18 @@ void SCH16T::ConfigurationFromParameters()
acc12_ctrl.bits.DYN_ACC_XYZ2 = ACC12_RANGE_80;
acc3_ctrl.bits.DYN_ACC_XYZ3 = ACC3_RANGE_260;
_px4_gyro.set_range(math::radians(327.5f)); // 327.5 °/sec
_px4_gyro.set_scale(math::radians(1.f / 1600.f)); // 1600 LSB/(°/sec)
// Set the range and scale for the sensors based on the detected chip version
if (_detected_version == ChipVersion::REV_1) {
_px4_gyro.set_range(math::radians(327.5f)); // 327.5 °/sec
_px4_gyro.set_scale(math::radians(1.f / 1600.f)); // 1600 LSB/(°/sec)
PX4_INFO("Configured gyro for VERSION_1");
} else {
_px4_gyro.set_range(math::radians(5000.f)); // 5000 °/sec
_px4_gyro.set_scale(math::radians(1.f / 100.f)); // 100 LSB/(°/sec)
PX4_INFO("Configured gyro for VERSION_2");
}
_px4_accel.set_range(163.4f); // 163.4 m/s2
_px4_accel.set_scale(1.f / 3200.f); // 3200 LSB/(m/s2)
src/drivers/imu/murata/sch16t/SCH16T.hpp
+7
View File
@@ -87,6 +87,13 @@ private:
uint16_t value;
};
enum class ChipVersion {
UNKNOWN = 0,
REV_1 = 1, // ASIC_ID = 0x21, COMP_ID = 0x23
REV_2 = 2 // ASIC_ID = 0x20, COMP_ID = 0x17
};
ChipVersion _detected_version = ChipVersion::UNKNOWN;
int probe() override;
void exit_and_cleanup() override;