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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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16 changes: 3 additions & 13 deletions libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
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Expand Up @@ -486,14 +486,6 @@ void AP_InertialSensor_Invensense::start()
_register_write(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN);
hal.scheduler->delay(1);

// clear interrupt on any read, and hold the data ready pin high
// until we clear the interrupt
uint8_t v = _register_read(MPUREG_INT_PIN_CFG) | BIT_INT_RD_CLEAR | BIT_LATCH_INT_EN;
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You are removing more than you should here. Look at the initial commit on these lines, only the BIT_BYPASS_EN should be removed here (basically revert what was done there).

if (_mpu_type == Invensense_ICM20789) {
v &= BIT_BYPASS_EN;
}
_register_write(MPUREG_INT_PIN_CFG, v);

// now that we have initialised, we set the bus speed to high
_dev->set_speed(AP_HAL::Device::SPEED_HIGH);

Expand Down Expand Up @@ -937,11 +929,9 @@ bool AP_InertialSensor_Invensense::_hardware_init(void)
}

/* bus-dependent initialization */
if ((_dev->bus_type() == AP_HAL::Device::BUS_TYPE_I2C) && (_mpu_type == Invensense_MPU9250)) {
/* Enable I2C bypass to access internal AK8963 */
if (_mpu_type != Invensense_ICM20789) {
_register_write(MPUREG_INT_PIN_CFG, BIT_BYPASS_EN);
}
if ((_dev->bus_type() == AP_HAL::Device::BUS_TYPE_I2C) && (_mpu_type == Invensense_MPU9250 || _mpu_type == Invensense_ICM20789)) {
/* Enable I2C bypass to access internal device */
_register_write(MPUREG_INT_PIN_CFG, BIT_BYPASS_EN);
}


Expand Down