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BMI270 Support - FIFO config file 328 bytes #930

Merged
merged 42 commits into from
Nov 1, 2023
Merged

BMI270 Support - FIFO config file 328 bytes #930

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d9d8b1c
BMI270 - WIP - failing - incl IFRC_IFLIGHT_F745_AIO_V2 for testing
nerdCopter Jun 20, 2023
c9167b8
bmi270 - add IFLIGHT_F745_AIO_V2
nerdCopter Aug 11, 2022
19489bc
bmi270 - fix my obvious mistakes
nerdCopter Aug 11, 2022
c750038
bmi270 - align ifrcf745aiov2 target
nerdCopter Aug 11, 2022
4c3276c
BMI270 should compile on IFLIGHT_F745_AIO_V2 target
Peck07 May 15, 2023
f3e3165
add BMI270 support to BETAFPVF411 target
Peck07 May 15, 2023
973509c
Delete accgyro_spi_bmi270.c.newww
Peck07 May 15, 2023
16a057f
change to OSD4 by default
Peck07 May 15, 2023
3ebab76
put back a working getBmiOsrMode function (discussed with nerdCopter)
Peck07 May 15, 2023
7b238f1
LPF_EXPERIMENTAL should give back OSR2
Peck07 May 15, 2023
41bd0d2
unneeded files cleanup and file move; target path change
nerdCopter May 15, 2023
3cdc841
reorganize gyroRateKHz with switch/case; add bmi270 3.2 KHz
nerdCopter May 15, 2023
26b4b03
bmi270 - more file cleanup
nerdCopter May 15, 2023
b389500
bmi270 - switch/case - samplingTime
nerdCopter May 15, 2023
4a34f0d
bmi270 targets - really not sure about this CS_PIN stuff
nerdCopter May 15, 2023
ffbef9c
BMI270 - FOXEERF745_AIO (V2)
nerdCopter May 17, 2023
44e6c32
BMI270 - NBD_INFINITYAIOV2PRO
nerdCopter May 18, 2023
1600ac9
added SkystarsF7 target updates
BeauBrewski May 25, 2023
2740f8c
fix FLYWOOF411_5IN1_AIO align
nerdCopter Jun 20, 2023
0fd54a0
BMI270 - gyro/pid denom default 1
nerdCopter Jun 6, 2023
97f660e
BMI270 - GYRO_HARDWARE_LPF_EXPERIMENTAL 3
nerdCopter Jun 13, 2023
6ea948f
BMI270 - deduplicate spiCalculateDivider in bus_spi.h
nerdCopter Jun 21, 2023
f28be02
BMI270 - remove OWNER_GYRO_EXTI from resource.h to fix breakage
nerdCopter Jun 21, 2023
11b769b
BMI270 - gyro_hardware_lpf options (USE_GYRO_DLPF_EXPERIMENTAL)
nerdCopter Jun 22, 2023
4db3460
BMI270 - replace OWNER_GYRO_EXTI with OWNER_MPU_EXTI
nerdCopter Jun 27, 2023
f4ccac9
BMI270 - fix NBD_INFINITYAIOV2PRO dual-gyro defines
nerdCopter Jul 11, 2023
c29b87f
Merge remote-tracking branch 'origin/master' into 20230620_rebase_PR8…
nerdCopter Jul 13, 2023
98e549f
fix IFLIGHT_F745_AIO_V2 .mk
nerdCopter Jul 19, 2023
945016f
BMI270 - add bmi gyros to accgyro_mpu.h ifdef
nerdCopter Aug 23, 2023
206f7cd
BMI270 - fix detect
nerdCopter Aug 28, 2023
95d5bcb
BMI270 - ensure over
nerdCopter Sep 27, 2023
21b0b52
BMI270 - move bmi270_maximum_fifo_config_file constant
nerdCopter Sep 27, 2023
0d9ca6c
Merge remote-tracking branch 'emuflight/master' into 20230620_rebase_…
nerdCopter Sep 27, 2023
aaf935d
BMI270 - remove extraneous fifo.c file inclusions
nerdCopter Sep 27, 2023
aa3daa8
BMI270 - comment spiCalculateDivider
nerdCopter Sep 28, 2023
dc51cc9
BMI270 - sync targets
nerdCopter Sep 28, 2023
726e2a5
Merge remote-tracking branch 'emuflight/master' into 20230620_rebase_…
nerdCopter Oct 11, 2023
7c83158
Merge remote-tracking branch 'emuflight/master' into 20230620_rebase_…
nerdCopter Oct 25, 2023
f6f4fa4
Merge remote-tracking branch 'emuflight/master' into 20230620_rebase_…
nerdCopter Oct 27, 2023
78d1ce6
Merge remote-tracking branch 'emuflight/master' into 20230620_rebase_…
nerdCopter Oct 31, 2023
b5ac87a
BMI270 - remove targets and targets modification from this PR
nerdCopter Oct 31, 2023
dd6f3c3
BMI270 - emptyline cleanup
nerdCopter Oct 31, 2023
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1 change: 1 addition & 0 deletions make/source.mk
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Original file line number Diff line number Diff line change
Expand Up @@ -198,6 +198,7 @@ SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
drivers/accgyro/accgyro_mpu6050.c \
drivers/accgyro/accgyro_mpu6500.c \
drivers/accgyro/accgyro_spi_bmi160.c \
drivers/accgyro/accgyro_spi_bmi270.c \
drivers/accgyro/accgyro_spi_icm20689.c \
drivers/accgyro/accgyro_spi_mpu6000.c \
drivers/accgyro/accgyro_spi_mpu6500.c \
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5 changes: 4 additions & 1 deletion src/main/drivers/accgyro/accgyro.h
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Expand Up @@ -33,14 +33,17 @@
#include <pthread.h>
#endif

#define GYRO_SCALE_2000DPS (2000.0f / (1 << 15)) // 16.384 dps/lsb scalefactor for 2000dps sensors
#define GYRO_SCALE_4000DPS (4000.0f / (1 << 15)) // 8.192 dps/lsb scalefactor for 4000dps sensor

#ifndef MPU_I2C_INSTANCE
#define MPU_I2C_INSTANCE I2C_DEVICE
#endif

#define GYRO_HARDWARE_LPF_NORMAL 0
#define GYRO_HARDWARE_LPF_1KHZ_SAMPLE 2

#if defined(USE_GYRO_SPI_ICM42688P)
#if defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI270)
#define GYRO_HARDWARE_LPF_EXPERIMENTAL 3
#else
#define GYRO_HARDWARE_LPF_EXPERIMENTAL 1
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14 changes: 14 additions & 0 deletions src/main/drivers/accgyro/accgyro_mpu.c
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Expand Up @@ -53,6 +53,7 @@
#include "drivers/accgyro/accgyro_mpu6050.h"
#include "drivers/accgyro/accgyro_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_bmi160.h"
#include "drivers/accgyro/accgyro_spi_bmi270.h"
#include "drivers/accgyro/accgyro_spi_icm20649.h"
#include "drivers/accgyro/accgyro_spi_icm20689.h"
#include "drivers/accgyro/accgyro_spi_icm426xx.h"
Expand Down Expand Up @@ -404,6 +405,19 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro) {
gyro->mpuDetectionResult.sensor = sensor;
return true;
}
#endif
#ifdef USE_ACCGYRO_BMI270
#ifndef USE_DUAL_GYRO
spiBusSetInstance(&gyro->bus, BMI270_SPI_INSTANCE);
#endif
#ifdef BMI270_CS_PIN
gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(BMI270_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
#endif
sensor = bmi270Detect(&gyro->bus);
if (sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = sensor;
return true;
}
#endif
return false;
}
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3 changes: 2 additions & 1 deletion src/main/drivers/accgyro/accgyro_mpu.h
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Expand Up @@ -29,7 +29,7 @@
//#define DEBUG_MPU_DATA_READY_INTERRUPT

#if defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20649) \
|| defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
|| defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270)
#define GYRO_USES_SPI
#endif

Expand Down Expand Up @@ -219,6 +219,7 @@ typedef enum {
ICM_42605_SPI,
ICM_42688P_SPI,
BMI_160_SPI,
BMI_270_SPI,
IMUF_9001_SPI,
} mpuSensor_e;

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