From c44e4b95783acb2fcf26a94381cf306d61338b33 Mon Sep 17 00:00:00 2001 From: David Sidrane Date: Tue, 15 Oct 2019 03:17:43 +0800 Subject: [PATCH] imu/mpu6000: support ICM20689 rev 4 ID --- src/drivers/imu/mpu6000/MPU6000.cpp | 1 + src/drivers/imu/mpu6000/MPU6000.hpp | 3 ++- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/src/drivers/imu/mpu6000/MPU6000.cpp b/src/drivers/imu/mpu6000/MPU6000.cpp index 075ab4cb53..67cedb1738 100644 --- a/src/drivers/imu/mpu6000/MPU6000.cpp +++ b/src/drivers/imu/mpu6000/MPU6000.cpp @@ -261,6 +261,7 @@ MPU6000::probe() case ICM20608_REV_FF: case ICM20689_REV_FE: case ICM20689_REV_03: + case ICM20689_REV_04: case ICM20602_REV_01: case ICM20602_REV_02: case MPU6050_REV_D8: diff --git a/src/drivers/imu/mpu6000/MPU6000.hpp b/src/drivers/imu/mpu6000/MPU6000.hpp index ea2a412739..44228abcb4 100644 --- a/src/drivers/imu/mpu6000/MPU6000.hpp +++ b/src/drivers/imu/mpu6000/MPU6000.hpp @@ -218,7 +218,8 @@ enum MPU_DEVICE_TYPE { // Product ID Description for ICM20689 #define ICM20689_REV_FE 0xfe -#define ICM20689_REV_03 0x03 +#define ICM20689_REV_03 0x03 +#define ICM20689_REV_04 0x04 // Product ID Description for MPU6000 // high 4 bits low 4 bits