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AP_InertialSensor: added IIM42653 support

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Jacob Dahl 2024-11-10 14:03:50 -09:00 committed by Peter Barker
parent 7e7f56df79
commit 8413ab2bf2
3 changed files with 15 additions and 0 deletions
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1
libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
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@ -136,6 +136,7 @@ public:
DEVTYPE_INS_ICM42670 = 0x3A, DEVTYPE_INS_ICM42670 = 0x3A,
DEVTYPE_INS_ICM45686 = 0x3B, DEVTYPE_INS_ICM45686 = 0x3B,
DEVTYPE_INS_SCHA63T = 0x3C, DEVTYPE_INS_SCHA63T = 0x3C,
DEVTYPE_INS_IIM42653 = 0x3D,
}; };
protected: protected:

13
libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp
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@ -136,6 +136,7 @@ extern const AP_HAL::HAL& hal;
#define INV3_ID_ICM42605 0x42 #define INV3_ID_ICM42605 0x42
#define INV3_ID_ICM42688 0x47 #define INV3_ID_ICM42688 0x47
#define INV3_ID_IIM42652 0x6f #define INV3_ID_IIM42652 0x6f
#define INV3_ID_IIM42653 0x56
#define INV3_ID_ICM42670 0x67 #define INV3_ID_ICM42670 0x67
#define INV3_ID_ICM45686 0xE9 #define INV3_ID_ICM45686 0xE9
@ -258,6 +259,12 @@ void AP_InertialSensor_Invensensev3::start()
devtype = DEVTYPE_INS_IIM42652; devtype = DEVTYPE_INS_IIM42652;
temp_sensitivity = 1.0 / 2.07; temp_sensitivity = 1.0 / 2.07;
break; break;
case Invensensev3_Type::IIM42653:
devtype = DEVTYPE_INS_IIM42653;
temp_sensitivity = 1.0 / 2.07;
gyro_scale = GYRO_SCALE_4000DPS;
accel_scale = ACCEL_SCALE_32G;
break;
case Invensensev3_Type::ICM42688: case Invensensev3_Type::ICM42688:
devtype = DEVTYPE_INS_ICM42688; devtype = DEVTYPE_INS_ICM42688;
temp_sensitivity = 1.0 / 2.07; temp_sensitivity = 1.0 / 2.07;
@ -294,6 +301,7 @@ void AP_InertialSensor_Invensensev3::start()
switch (inv3_type) { switch (inv3_type) {
case Invensensev3_Type::ICM42688: // HiRes 19bit case Invensensev3_Type::ICM42688: // HiRes 19bit
case Invensensev3_Type::IIM42652: // HiRes 19bit case Invensensev3_Type::IIM42652: // HiRes 19bit
case Invensensev3_Type::IIM42653: // HiRes 19bit
case Invensensev3_Type::ICM45686: // HiRes 20bit case Invensensev3_Type::ICM45686: // HiRes 20bit
highres_sampling = dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI; highres_sampling = dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI;
break; break;
@ -824,6 +832,7 @@ void AP_InertialSensor_Invensensev3::set_filter_and_scaling(void)
case Invensensev3_Type::ICM42688: case Invensensev3_Type::ICM42688:
case Invensensev3_Type::ICM42605: case Invensensev3_Type::ICM42605:
case Invensensev3_Type::IIM42652: case Invensensev3_Type::IIM42652:
case Invensensev3_Type::IIM42653:
case Invensensev3_Type::ICM42670: { case Invensensev3_Type::ICM42670: {
/* /*
fix for the "stuck gyro" issue, which affects all IxM42xxx fix for the "stuck gyro" issue, which affects all IxM42xxx
@ -967,6 +976,9 @@ bool AP_InertialSensor_Invensensev3::check_whoami(void)
case INV3_ID_IIM42652: case INV3_ID_IIM42652:
inv3_type = Invensensev3_Type::IIM42652; inv3_type = Invensensev3_Type::IIM42652;
return true; return true;
case INV3_ID_IIM42653:
inv3_type = Invensensev3_Type::IIM42653;
return true;
case INV3_ID_ICM42670: case INV3_ID_ICM42670:
inv3_type = Invensensev3_Type::ICM42670; inv3_type = Invensensev3_Type::ICM42670;
return true; return true;
@ -1042,6 +1054,7 @@ bool AP_InertialSensor_Invensensev3::hardware_init(void)
switch (inv3_type) { switch (inv3_type) {
case Invensensev3_Type::ICM45686: case Invensensev3_Type::ICM45686:
case Invensensev3_Type::ICM40609: case Invensensev3_Type::ICM40609:
case Invensensev3_Type::IIM42653:
_clip_limit = 29.5f * GRAVITY_MSS; _clip_limit = 29.5f * GRAVITY_MSS;
break; break;
case Invensensev3_Type::ICM42688: case Invensensev3_Type::ICM42688:

1
libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.h
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@ -37,6 +37,7 @@ public:
ICM42605, // No HiRes ICM42605, // No HiRes
ICM40605, // No HiRes ICM40605, // No HiRes
IIM42652, // HiRes 19bit IIM42652, // HiRes 19bit
IIM42653, // HiRes 19bit
ICM42670, // HiRes 19bit ICM42670, // HiRes 19bit
ICM45686 // HiRes 20bit ICM45686 // HiRes 20bit
}; };