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drivers/imu/bosch: new BMI085 driver

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- very similar to the BMI088 with minor differences in accel range
This commit is contained in:
Daniel Agar
2022-07-14 18:20:13 -04:00
parent 077547f31e
commit c71cc5b815
15 changed files with 1983 additions and 6 deletions
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boards/mro/pixracerpro/default.px4board
+4 -3
View File
@@ -13,6 +13,7 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_BOSCH_BMI085=y
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
@@ -38,6 +39,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
CONFIG_MODULES_BATTERY_STATUS=y
CONFIG_MODULES_CAMERA_FEEDBACK=y
CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_EKF2=y
CONFIG_MODULES_ESC_BATTERY=y
@@ -46,6 +48,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL_L1=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_GYRO_FFT=y
CONFIG_MODULES_LAND_DETECTOR=y
@@ -61,7 +64,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -70,10 +72,9 @@ CONFIG_MODULES_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y
boards/mro/pixracerpro/init/rc.board_sensors
+8 -2
View File
@@ -8,8 +8,14 @@ board_adc start
icm20602 -s -b 1 -R 8 start
# Internal SPI bus BMI088 accel & gyro
bmi088 -A -s -b 5 -R 8 start
bmi088 -G -s -b 5 -R 8 start
if bmi088 -A -s -b 5 -R 8 start
then
bmi088 -G -s -b 5 -R 8 start
else
# otherwise try BMI085
bmi085 -A -s -b 5 -R 8 start
bmi085 -G -s -b 5 -R 8 start
fi
# Internal ICM-20948 (with magnetometer)
icm20948 -s -b 1 -R 8 -M start
boards/mro/pixracerpro/src/spi.cpp
+2
View File
@@ -47,6 +47,8 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}),
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}),
initSPIDevice(DRV_GYR_DEVTYPE_BMI085, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}),
initSPIDevice(DRV_ACC_DEVTYPE_BMI085, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}),
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortG, GPIO::Pin9}),