new Bosch BMI055 IMU driver using FIFOs and DRDY

- accel & gyro FIFOs enabled - FIFO watermark on data ready interrupt - sensor side filtering completely disabled - gyro now respects `IMU_GYRO_RATEMAX` (up to 2 kHz) - saves a few % cpu (at default rate)
2026-05-22 01:12:31 +00:00 · 2020-05-29 16:58:02 -04:00
parent daf75e40eb
commit e819f99064
28 changed files with 1656 additions and 1569 deletions
--- a/boards/nxp/fmurt1062-v1/default.cmake
+++ b/boards/nxp/fmurt1062-v1/default.cmake
@@ -29,7 +29,7 @@ px4_add_board(
 		#imu/adis16477
 		#imu/adis16497
 		#imu # all available imu drivers
-		imu/bmi055
+		imu/bosch/bmi055
 		imu/mpu6000
 		irlock
 		lights/blinkm
--- a/boards/nxp/fmurt1062-v1/init/rc.board_sensors
+++ b/boards/nxp/fmurt1062-v1/init/rc.board_sensors
@@ -24,8 +24,8 @@ icm20602 -R 2 -s start
 icm20689 -R 2 -s start

 # Internal SPI bus BMI055 accel/gyro
-bmi055 -A -R 10 -s start
-bmi055 -G -R 10 -s start
+bmi055 -A -R 2 -s start
+bmi055 -G -R 2 -s start

 # internal compass
 ist8310 -I start
--- a/boards/px4/fmu-v5/critmonitor.cmake
+++ b/boards/px4/fmu-v5/critmonitor.cmake
@@ -30,7 +30,7 @@ px4_add_board(
 		imu/adis16448
 		imu/adis16477
 		imu/adis16497
-		imu/bmi055
+		imu/bosch/bmi055
 		imu/invensense/icm20602
 		imu/invensense/icm20689
 		#imu/mpu6000 # legacy icm20602/icm20689 driver
--- a/boards/px4/fmu-v5/default.cmake
+++ b/boards/px4/fmu-v5/default.cmake
@@ -30,7 +30,7 @@ px4_add_board(
 		imu/adis16448
 		imu/adis16477
 		imu/adis16497
-		imu/bmi055
+		imu/bosch/bmi055
 		imu/invensense/icm20602
 		imu/invensense/icm20689
 		#imu/mpu6000 # legacy icm20602/icm20689 driver
--- a/boards/px4/fmu-v5/fixedwing.cmake
+++ b/boards/px4/fmu-v5/fixedwing.cmake
@@ -27,7 +27,7 @@ px4_add_board(
 		imu/adis16477
 		imu/adis16497
 		#imu # all available imu drivers
-		imu/bmi055
+		imu/bosch/bmi055
 		imu/invensense/icm20602
 		imu/invensense/icm20689
 		#imu/mpu6000 # legacy icm20602/icm20689 driver
--- a/boards/px4/fmu-v5/init/rc.board_sensors
+++ b/boards/px4/fmu-v5/init/rc.board_sensors
@@ -12,8 +12,8 @@ icm20602 -s -R 2 start
 icm20689 -s -R 2 start

 # Internal SPI bus BMI055 accel/gyro
-bmi055 -A -R 10 -s start
-bmi055 -G -R 10 -s start
+bmi055 -A -R 2 -s start
+bmi055 -G -R 2 -s start

 # internal compass
 ist8310 -I start
--- a/boards/px4/fmu-v5/irqmonitor.cmake
+++ b/boards/px4/fmu-v5/irqmonitor.cmake
@@ -30,7 +30,7 @@ px4_add_board(
 		imu/adis16448
 		imu/adis16477
 		imu/adis16497
-		imu/bmi055
+		imu/bosch/bmi055
 		imu/invensense/icm20602
 		imu/invensense/icm20689
 		#imu/mpu6000 # legacy icm20602/icm20689 driver
--- a/boards/px4/fmu-v5/multicopter.cmake
+++ b/boards/px4/fmu-v5/multicopter.cmake
@@ -28,7 +28,7 @@ px4_add_board(
 		imu/adis16477
 		imu/adis16497
 		#imu # all available imu drivers
-		imu/bmi055
+		imu/bosch/bmi055
 		imu/invensense/icm20602
 		imu/invensense/icm20689
 		#imu/mpu6000 # legacy icm20602/icm20689 driver
--- a/boards/px4/fmu-v5/optimized.cmake
+++ b/boards/px4/fmu-v5/optimized.cmake
@@ -30,7 +30,7 @@ px4_add_board(
 		dshot
 		gps
 		#imu # all available imu drivers
-		imu/bmi055
+		imu/bosch/bmi055
 		imu/invensense/icm20602
 		imu/invensense/icm20689
 		#imu/mpu6000 # legacy icm20602/icm20689 driver
--- a/boards/px4/fmu-v5/rover.cmake
+++ b/boards/px4/fmu-v5/rover.cmake
@@ -25,7 +25,7 @@ px4_add_board(
 		imu/adis16448
 		imu/adis16477
 		imu/adis16497
-		imu/bmi055
+		imu/bosch/bmi055
 		imu/invensense/icm20602
 		imu/invensense/icm20689
 		#imu/mpu6000 # legacy icm20602/icm20689 driver
--- a/boards/px4/fmu-v5/rtps.cmake
+++ b/boards/px4/fmu-v5/rtps.cmake
@@ -30,7 +30,7 @@ px4_add_board(
 		imu/adis16448
 		imu/adis16477
 		imu/adis16497
-		imu/bmi055
+		imu/bosch/bmi055
 		imu/invensense/icm20602
 		imu/invensense/icm20689
 		#imu/mpu6000 # legacy icm20602/icm20689 driver
--- a/boards/px4/fmu-v5/stackcheck.cmake
+++ b/boards/px4/fmu-v5/stackcheck.cmake
@@ -31,7 +31,7 @@ px4_add_board(
 		#imu/adis16448
 		#imu/adis16477
 		#imu/adis16497
-		#imu/bmi055
+		#imu/bosch/bmi055
 		#imu/invensense/icm20602
 		imu/invensense/icm20689
 		#imu/mpu6000 # legacy icm20602/icm20689 driver