support berry imuv4

seandepagnier · Jun 8, 2021 · c69d190 · c69d190
1 parent 19018e1
commit c69d190
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Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/RTIMULib/IMUDrivers/RTIMUDefs.h b/RTIMULib/IMUDrivers/RTIMUDefs.h
@@ -1276,6 +1276,7 @@
 #define LSM6DS33_ADDRESS0           0x6a
 #define LSM6DS33_ADDRESS1           0x6b
 #define LSM6DS33_ID                 0x69
+#define LSM6DSL_ID                  0x6a
 #define ISM330DHCX_ID               0x6b
 
 //  LSM6DS33 Register map

diff --git a/RTIMULib/IMUDrivers/RTIMULSM6DS33LIS3MDL.cpp b/RTIMULib/IMUDrivers/RTIMULSM6DS33LIS3MDL.cpp
@@ -81,7 +81,7 @@ bool RTIMULSM6DS33LIS3MDL::IMUInit()
     if (!m_settings->HALRead(m_accelGyroSlaveAddr, LSM6DS33_WHO_AM_I, 1, &m_imuid, "Failed to read LSM6DS33 accel/gyro id"))
         return false;
 
-    if (m_imuid != LSM6DS33_ID && m_imuid != ISM330DHCX_ID) {
+    if (m_imuid != LSM6DS33_ID && m_imuid != LSM6DSL_ID && m_imuid != ISM330DHCX_ID) {
         HAL_ERROR1("Incorrect LSM6DS33 accel/gyro id %d\n", result);
         return false;
     }