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AP_InertialSensor: Added BMI085 support

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Fixed styling for 61125e2

Remove whitespace l202

Removed else
This commit is contained in:
Leonardo Garcia 2022-03-22 02:22:17 -07:00 committed by Peter Barker
parent 7c4d0ad9f4
commit 0eb6ae365a
4 changed files with 25 additions and 9 deletions
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1
Tools/scripts/decode_devid.py
View File

@ -97,6 +97,7 @@ imu_types = {
0x36 : "DEVTYPE_INS_ICM40605",
0x37 : "DEVTYPE_INS_IIM42652",
0x38 : "DEVTYPE_INS_BMI270",
0x39 : "DEVTYPE_INS_BMI085",
}
baro_types = {

31
libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp
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@ -28,8 +28,8 @@
#define REGA_STATUS 0x03
#define REGA_X_LSB 0x12
#define REGA_INT_STATUS_1 0x1D
#define REGA_TEMP_LSB 0x22
#define REGA_TEMP_MSB 0x23
#define REGA_TEMP_MSB 0x22
#define REGA_TEMP_LSB 0x23
#define REGA_CONF 0x40
#define REGA_RANGE 0x41
#define REGA_PWR_CONF 0x7C
@ -97,7 +97,7 @@ AP_InertialSensor_BMI088::probe(AP_InertialSensor &imu,
void AP_InertialSensor_BMI088::start()
{
if (!_imu.register_accel(accel_instance, ACCEL_BACKEND_SAMPLE_RATE, dev_accel->get_bus_id_devtype(DEVTYPE_INS_BMI088)) ||
if (!_imu.register_accel(accel_instance, ACCEL_BACKEND_SAMPLE_RATE, dev_accel->get_bus_id_devtype(_accel_devtype)) ||
!_imu.register_gyro(gyro_instance, GYRO_BACKEND_SAMPLE_RATE, dev_gyro->get_bus_id_devtype(DEVTYPE_INS_BMI088))) {
return;
}
@ -161,7 +161,7 @@ static const struct {
{ REGA_PWR_CONF, 0 },
{ REGA_PWR_CTRL, 0x04 },
// setup FIFO for streaming X,Y,Z
{ REGA_FIFO_CONFIG0, 0x00 },
{ REGA_FIFO_CONFIG0, 0x02 },
{ REGA_FIFO_CONFIG1, 0x50 },
};
@ -200,15 +200,28 @@ bool AP_InertialSensor_BMI088::accel_init()
// dummy ready on accel ChipID to init accel (see section 3 of datasheet)
read_accel_registers(REGA_CHIPID, &v, 1);
if (!read_accel_registers(REGA_CHIPID, &v, 1) || v != 0x1E) {
if (!read_accel_registers(REGA_CHIPID, &v, 1)) {
return false;
}
if (!setup_accel_config()) {
hal.console->printf("BMI088: delaying accel config\n");
switch (v) {
case 0x1E:
_accel_devtype = DEVTYPE_INS_BMI088;
hal.console->printf("BMI088: Found device\n");
break;
case 0x1F:
_accel_devtype = DEVTYPE_INS_BMI085;
hal.console->printf("BMI085: Found device\n");
break;
default:
return false;
}
hal.console->printf("BMI088: found accel\n");
if (!setup_accel_config()) {
hal.console->printf("BMI08x: delaying accel config\n");
}
hal.console->printf("BMI08x: found accel\n");
return true;
}
@ -353,7 +366,7 @@ void AP_InertialSensor_BMI088::read_fifo_accel(void)
if (temperature_counter++ == 100) {
temperature_counter = 0;
uint8_t tbuf[2];
if (!read_accel_registers(REGA_TEMP_LSB, tbuf, 2)) {
if (!read_accel_registers(REGA_TEMP_MSB, tbuf, 2)) {
_inc_accel_error_count(accel_instance);
} else {
uint16_t temp_uint11 = (tbuf[0]<<3) | (tbuf[1]>>5);

1
libraries/AP_InertialSensor/AP_InertialSensor_BMI088.h
View File

@ -81,6 +81,7 @@ private:
uint8_t gyro_instance;
enum Rotation rotation;
uint8_t temperature_counter;
enum DevTypes _accel_devtype;
bool done_accel_config;
uint32_t accel_config_count;

1
libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
View File

@ -121,6 +121,7 @@ public:
DEVTYPE_INS_ICM40605 = 0x36,
DEVTYPE_INS_IIM42652 = 0x37,
DEVTYPE_BMI270 = 0x38,
DEVTYPE_INS_BMI085 = 0x39,
};
protected: