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BMI270 driver #19622

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merged 3 commits into from
Dec 30, 2021
Merged

BMI270 driver #19622

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5be231d
AP_InertialSensor: BMI270 driver
andyp1per Dec 28, 2021
2357526
AP_HAL_ChibiOS: add support BeastF7v2
andyp1per Dec 29, 2021
59b37cb
Tools: add BMI270 to decode_devid.py
andyp1per Dec 30, 2021
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1 change: 1 addition & 0 deletions Tools/scripts/decode_devid.py
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Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,7 @@ def num(s):
0x35 : "DEVTYPE_INS_ICM42605",
0x36 : "DEVTYPE_INS_ICM40605",
0x37 : "DEVTYPE_INS_IIM42652",
0x38 : "DEVTYPE_INS_BMI270",
}

baro_types = {
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12 changes: 8 additions & 4 deletions libraries/AP_HAL_ChibiOS/hwdef/BeastF7/hwdef.dat
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Expand Up @@ -37,8 +37,8 @@ PA12 OTG_FS_DP OTG1
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# SPI1 for MPU6000
PA4 MPU6000_CS CS
# SPI1 for BMI270
PA4 BMI270_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
Expand Down Expand Up @@ -112,7 +112,8 @@ STORAGE_FLASH_PAGE 1
define HAL_LOGGING_DATAFLASH_ENABLED 1

# spi devices
SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ
SPIDEV mpu6000 SPI1 DEVID1 BMI270_CS MODE3 1*MHZ 4*MHZ
SPIDEV bmi270 SPI1 DEVID1 BMI270_CS MODE3 10*MHZ 10*MHZ
SPIDEV dataflash SPI3 DEVID2 FLASH_CS MODE3 32*MHZ 32*MHZ
SPIDEV osd SPI4 DEVID4 AT7456E_CS MODE0 10*MHZ 10*MHZ

Expand All @@ -121,12 +122,15 @@ define ALLOW_ARM_NO_COMPASS
define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
define HAL_I2C_INTERNAL_MASK 0

# one IMU
# one IMU, v1 mpu6000 and v2 bmi270
IMU Invensense SPI:mpu6000 ROTATION_YAW_270
IMU BMI270 SPI:bmi270 ROTATION_ROLL_180_YAW_225
define HAL_DEFAULT_INS_FAST_SAMPLE 1

# one BARO
BARO BMP280 I2C:0:0x76
# v2 has no BARO
define HAL_BARO_ALLOW_INIT_NO_BARO 1

# setup for OSD
define OSD_ENABLED 1
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1 change: 1 addition & 0 deletions libraries/AP_InertialSensor/AP_InertialSensor.cpp
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Expand Up @@ -18,6 +18,7 @@

#include "AP_InertialSensor.h"
#include "AP_InertialSensor_BMI160.h"
#include "AP_InertialSensor_BMI270.h"
#include "AP_InertialSensor_Backend.h"
#include "AP_InertialSensor_L3G4200D.h"
#include "AP_InertialSensor_LSM9DS0.h"
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