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Add support for ICM20789 #7477

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Add support for ICM20789 #7477

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d7f0c3f
AP_InertialSensor: added ICM-20789 support
tridge Mar 9, 2017
2f114fb
AP_Baro: implement ICM20789 barometer
tridge Mar 9, 2017
1cdb315
AP_Baro: do not take semaphore if HAL_INS_MPU60x0_NAME not set
peterbarker Jan 2, 2018
3ec70d5
AP_Baro: create BARO_ICM20789_DEBUG and use it
peterbarker Jan 2, 2018
ff26e29
AP_Baro: use HAL_SEMAPHORE_BLOCK_FOREVER
peterbarker Jan 2, 2018
5111cb5
AP_Baro: remove pointless destructor overrides
peterbarker Jan 2, 2018
8f5e1e7
AP_Baro: ICM20789: stop dev_icm being an instance variable
peterbarker Jan 2, 2018
0600359
AP_Baro: ICM20789: example fixes
peterbarker Jan 2, 2018
d45aede
AP_InertialSensor: remove clearing of BIT_USER_CTRL_I2C_MST_EN bit in…
peterbarker Jan 2, 2018
6e8c1c4
AP_InertialSensor: configure bypass for 20789 like we do for AK8963
peterbarker Jan 2, 2018
e305202
AP_InertialSensor: move Invensense register defines into separate file
peterbarker Jan 2, 2018
61196c3
AP_Baro: use Invensense defines when configuring ICM20789 IMU part
peterbarker Jan 2, 2018
8e88efd
AP_Baro: use ARRAY_SIZE instead of constant
peterbarker Jan 5, 2018
18e8374
AP_Baro: clarify comments
peterbarker Jan 5, 2018
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23 changes: 14 additions & 9 deletions libraries/AP_Baro/examples/ICM20789/ICM20789.cpp
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Expand Up @@ -13,7 +13,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();

static AP_HAL::OwnPtr<AP_HAL::Device> i2c_dev;
static AP_HAL::OwnPtr<AP_HAL::Device> spi_dev;
static AP_HAL::OwnPtr<AP_HAL::Device> lidar_dev;
static AP_HAL::OwnPtr<AP_HAL::Device> dev;
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I was expecting this to be removed, not just renamed.


// SPI registers
#define MPUREG_WHOAMI 0x75
Expand Down Expand Up @@ -215,7 +215,7 @@ static bool read_calibration_data(void)
// initialise baro on i2c
static void i2c_init(void)
{
if (!i2c_dev->get_semaphore()->take(0)) {
if (!i2c_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
AP_HAL::panic("Failed to get baro semaphore");
}

Expand All @@ -242,18 +242,18 @@ static void i2c_init(void)

i2c_dev->get_semaphore()->give();

printf("checking lidar\n");
if (!lidar_dev->get_semaphore()->take(0)) {
AP_HAL::panic("Failed to get lidar semaphore");
printf("checking baro\n");
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Baro? How is dev the baro?

if (!dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
AP_HAL::panic("Failed to get device semaphore");
}

uint8_t regs[3] = { 0xC0, 0xC1, 0xC2 };
for (uint8_t i=0; i<ARRAY_SIZE(regs); i++) {
uint8_t v = 0;
lidar_dev->read_registers(regs[i], &v, 1);
dev->read_registers(regs[i], &v, 1);
printf("0x%02x : 0x%02x\n", regs[i], v);
}
lidar_dev->get_semaphore()->give();
dev->get_semaphore()->give();
}

void setup()
Expand All @@ -267,19 +267,24 @@ void setup()
#ifdef HAL_INS_MPU60x0_NAME
spi_dev = std::move(hal.spi->get_device(HAL_INS_MPU60x0_NAME));

if (!spi_dev->get_semaphore()->take(0)) {
if (!spi_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
AP_HAL::panic("Failed to get spi semaphore");
}


i2c_dev = std::move(hal.i2c_mgr->get_device(1, 0x63));
lidar_dev = std::move(hal.i2c_mgr->get_device(1, 0x29));
dev = std::move(hal.i2c_mgr->get_device(1, 0x29));
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The i2c_dev uses an address that is defined the ICM20789 baro driver, the dev / lidar_dev uses an address that is supposedly the VL53L0X. So how are both baro?


while (true) {
spi_init();
i2c_init();
hal.scheduler->delay(1000);
}
#else
while (true) {
printf("HAL_INS_MPU60x0_NAME not defined for this board\n");
hal.scheduler->delay(1000);
}
#endif
}

Expand Down