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new Bosch BMI088 IMU driver using FIFOs and DRDY

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This commit is contained in:
Daniel Agar
2020-06-04 16:16:40 -04:00
parent b6ec00c079
commit 13e34b32e6
30 changed files with 1801 additions and 1739 deletions
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2
boards/px4/fmu-v5x/base_phy_DP83848C.cmake
View File

@@ -31,7 +31,7 @@ px4_add_board(
imu/adis16448
imu/adis16477
imu/adis16497
imu/bmi088
imu/bosch/bmi088
imu/invensense/icm20602
imu/st/ism330dlc
irlock

2
boards/px4/fmu-v5x/default.cmake
View File

@@ -31,7 +31,7 @@ px4_add_board(
imu/adis16448
imu/adis16477
imu/adis16497
imu/bmi088
imu/bosch/bmi088
imu/invensense/icm20602
imu/st/ism330dlc
irlock

6
boards/px4/fmu-v5x/init/rc.board_sensors
View File

@@ -15,9 +15,9 @@ icm20602 -R 2 -s start
# Internal SPI bus ISM300DLC
ism330dlc -s start
# Internal SPI bus BMI088 accel/gyro
bmi088 -A -R 12 -s start
bmi088 -G -R 12 -s start
# Internal SPI BMI088
bmi088 -A -R 4 -s start
bmi088 -G -R 4 -s start
# Possible internal compass
bmm150 -I start

2
boards/px4/fmu-v5x/src/spi.cpp
View File

@@ -44,7 +44,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
}, {GPIO::PortD, GPIO::Pin15}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices