How to add new IMU?

[and-sh]

I an making accgyro_.c and accgyro_.h based on the existing ones.
What should I do next to add they to firmware?

[sensei-hacker]

I may be misinterpreting your question, by are you familiar with a "pull request"?

https://github.com/iNavFlight/inav/blob/3f872024fe3a1d54ecc4002d1575983fc10542a1/docs/development/Development.md#using-git-and-github

[and-sh]

This will never happen, because I am the only one with such a gyroscope (icm45686). I think such a request has already been made. I have almost figured out how to make a driver and want to connect it to the system. In extreme cases, I can simply replace any already connected driver with my own, but this is a bit crooked.

[sensei-hacker]

Then I'm not really clear on what exactly you're asking. You can see where the existing drivers are an how they are used. Presumably you modeled your icm45686 code after an existing one. For example you can see how the ICM20689 driver works:

nav$ grep -Hinr ICM20689 src/ | egrep -v target


src/main/fc/cli.c:225:    "ICM20689", "BMI088", "ICM42605", "BMI270",  "LSM6DXX", "FAKE"};
src/main/fc/settings.yaml:5:    values: ["NONE", "AUTO", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270","LSM6DXX",  "FAKE"]

src/main/drivers/accgyro/accgyro_mpu.h:30:#define ICM20689_WHO_AM_I_CONST             (0x98)

src/main/drivers/accgyro/accgyro_mpu6500.c:121:            case ICM20689_WHO_AM_I_CONST:

src/main/drivers/accgyro/accgyro_icm20689.h:25:#define ICM20689_BIT_RESET                  (0x80)
src/main/drivers/accgyro/accgyro_icm20689.h:27:bool icm20689AccDetect(accDev_t *acc);
src/main/drivers/accgyro/accgyro_icm20689.h:28:bool icm20689GyroDetect(gyroDev_t *gyro);
src/main/drivers/accgyro/accgyro_icm20689.c:38:#include "drivers/accgyro/accgyro_icm20689.h"
src/main/drivers/accgyro/accgyro_icm20689.c:40:#if defined(USE_IMU_ICM20689)
src/main/drivers/accgyro/accgyro_icm20689.c:42:static uint8_t icm20689DeviceDetect(const busDevice_t *busDev)
src/main/drivers/accgyro/accgyro_icm20689.c:46:    busWrite(busDev, MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
src/main/drivers/accgyro/accgyro_icm20689.c:57:        case ICM20689_WHO_AM_I_CONST:
src/main/drivers/accgyro/accgyro_icm20689.c:65:static void icm20689AccInit(accDev_t *acc)
src/main/drivers/accgyro/accgyro_icm20689.c:70:bool icm20689AccDetect(accDev_t *acc)
src/main/drivers/accgyro/accgyro_icm20689.c:72:    acc->busDev = busDeviceOpen(BUSTYPE_ANY, DEVHW_ICM20689, acc->imuSensorToUse);

src/main/drivers/accgyro/accgyro_icm20689.c:82:    acc->initFn = icm20689AccInit;
src/main/drivers/accgyro/accgyro_icm20689.c:89:static void icm20689AccAndGyroInit(gyroDev_t *gyro)
src/main/drivers/accgyro/accgyro_icm20689.c:97:    busWrite(busDev, MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
src/main/drivers/accgyro/accgyro_icm20689.c:116:bool icm20689GyroDetect(gyroDev_t *gyro)
src/main/drivers/accgyro/accgyro_icm20689.c:118:    gyro->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_ICM20689, gyro->imuSensorToUse, OWNER_MPU);

src/main/drivers/accgyro/accgyro_icm20689.c:123:    if (!icm20689DeviceDetect(gyro->busDev)) {
src/main/drivers/accgyro/accgyro_icm20689.c:132:    gyro->initFn = icm20689AccAndGyroInit;

src/main/drivers/bus.h:84:    DEVHW_ICM20689,

src/main/sensors/acceleration.c:46:#include "drivers/accgyro/accgyro_icm20689.h"
src/main/sensors/acceleration.c:199:#ifdef USE_IMU_ICM20689
src/main/sensors/acceleration.c:200:    case ACC_ICM20689:
src/main/sensors/acceleration.c:201:        if (icm20689AccDetect(dev)) {
src/main/sensors/acceleration.c:202:            accHardware = ACC_ICM20689;

src/main/sensors/gyro.c:48:#include "drivers/accgyro/accgyro_icm20689.h"
src/main/sensors/gyro.c:195:#ifdef USE_IMU_ICM20689
src/main/sensors/gyro.c:196:    case GYRO_ICM20689:
src/main/sensors/gyro.c:197:        if (icm20689GyroDetect(dev)) {
src/main/sensors/gyro.c:198:            gyroHardware = GYRO_ICM20689;

src/main/sensors/acceleration.h:42:    ACC_ICM20689,

src/main/sensors/gyro.h:41:    GYRO_ICM20689,

src/main/CMakeLists.txt:86:    drivers/accgyro/accgyro_icm20689.c
src/main/CMakeLists.txt:87:    drivers/accgyro/accgyro_icm20689.h

[and-sh]

Thank you. This is answer. In fact, the instruction is contained in the code.

One more question: Gyro loop is always 4kHz. Is accelerometer loop the same?

[sensei-hacker]

Yeah there is just the loop, which runs at 2K.
Fixed Wing used to run at 1K.

[and-sh]

Thank you
So I can gain a little in noise if I average the accelerometer for each gyro reading and output the average value on request.

[and-sh]

There are jokers working at TDK.