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AP_InertialSensor: added support for ICM-20602

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treat the same as a 20608
This commit is contained in:
Andrew Tridgell 2017-03-02 11:52:03 +11:00
parent e7024d9203
commit 875274e761
2 changed files with 11 additions and 3 deletions
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13
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
View File

@ -14,7 +14,7 @@
*/ */
/* /*
driver for all supported Invensense IMUs, including MPU6000, MPU9250 driver for all supported Invensense IMUs, including MPU6000, MPU9250
and ICM-20608 ICM-20608 and ICM-20602
*/ */
#include <assert.h> #include <assert.h>
@ -218,6 +218,7 @@ extern const AP_HAL::HAL& hal;
// WHOAMI values // WHOAMI values
#define MPU_WHOAMI_6000 0x68 #define MPU_WHOAMI_6000 0x68
#define MPU_WHOAMI_20608 0xaf #define MPU_WHOAMI_20608 0xaf
#define MPU_WHOAMI_20602 0x12
#define MPU_WHOAMI_6500 0x70 #define MPU_WHOAMI_6500 0x70
#define MPU_WHOAMI_MPU9250 0x71 #define MPU_WHOAMI_MPU9250 0x71
#define MPU_WHOAMI_MPU9255 0x73 #define MPU_WHOAMI_MPU9255 0x73
@ -399,6 +400,7 @@ void AP_InertialSensor_Invensense::start()
case Invensense_MPU6000: case Invensense_MPU6000:
case Invensense_MPU6500: case Invensense_MPU6500:
case Invensense_ICM20608: case Invensense_ICM20608:
case Invensense_ICM20602:
default: default:
gdev = DEVTYPE_GYR_MPU6000; gdev = DEVTYPE_GYR_MPU6000;
adev = DEVTYPE_ACC_MPU6000; adev = DEVTYPE_ACC_MPU6000;
@ -438,7 +440,8 @@ void AP_InertialSensor_Invensense::start()
} }
hal.scheduler->delay(1); hal.scheduler->delay(1);
if (_mpu_type == Invensense_ICM20608) { if (_mpu_type == Invensense_ICM20608 ||
_mpu_type == Invensense_ICM20602) {
// this avoids a sensor bug, see description above // this avoids a sensor bug, see description above
_register_write(MPUREG_ICM_UNDOC1, MPUREG_ICM_UNDOC1_VALUE, true); _register_write(MPUREG_ICM_UNDOC1, MPUREG_ICM_UNDOC1_VALUE, true);
} }
@ -824,6 +827,9 @@ bool AP_InertialSensor_Invensense::_check_whoami(void)
case MPU_WHOAMI_20608: case MPU_WHOAMI_20608:
_mpu_type = Invensense_ICM20608; _mpu_type = Invensense_ICM20608;
return true; return true;
case MPU_WHOAMI_20602:
_mpu_type = Invensense_ICM20602;
return true;
} }
// not a value WHOAMI result // not a value WHOAMI result
return false; return false;
@ -904,7 +910,8 @@ bool AP_InertialSensor_Invensense::_hardware_init(void)
return false; return false;
} }
if (_mpu_type == Invensense_ICM20608) { if (_mpu_type == Invensense_ICM20608 ||
_mpu_type == Invensense_ICM20602) {
// this avoids a sensor bug, see description above // this avoids a sensor bug, see description above
_register_write(MPUREG_ICM_UNDOC1, MPUREG_ICM_UNDOC1_VALUE, true); _register_write(MPUREG_ICM_UNDOC1, MPUREG_ICM_UNDOC1_VALUE, true);
} }

1
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.h
View File

@ -61,6 +61,7 @@ public:
Invensense_MPU6500, Invensense_MPU6500,
Invensense_MPU9250, Invensense_MPU9250,
Invensense_ICM20608, Invensense_ICM20608,
Invensense_ICM20602,
}; };
private: private: