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Early stages of magnetometer from ICM20948

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This commit is contained in:
Niklas Jensen
2025-11-29 19:44:41 +01:00
parent 0d379a8013
commit 5481a598d9
4 changed files with 76 additions and 25 deletions
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esp32/include/peripherals/imu.h
+3 -4
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@@ -89,10 +89,11 @@ class IMU : public SensorBase<IMUAnglesMsg> {
#if FT_ENABLED(USE_ICM20948)
#if USE_ICM20948_SPIMODE > 0
_imu = (ICM_20948_SPI*)_arg;
_imu->begin(CS_PIN, SPI_PORT);
if (true || !_imu->isConnected()) { _imu->begin(CS_PIN, SPI_PORT); ESP_LOGI("IMU", "Beginning ICM20948 in SPI mode"); }
#else
_imu = (ICM_20948_I2C*)_arg;
_imu->begin(Wire, 1, 0xFF);
if (true || !_imu->isConnected()) { _imu->begin(Wire, 1, 0xFF); ESP_LOGI("IMU", "Beginning ICM20948 in I2C mode"); }
#endif
if (_imu->status != ICM_20948_Stat_Ok){ return false; }
@@ -105,8 +106,6 @@ class IMU : public SensorBase<IMUAnglesMsg> {
_imu->setFullScale((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myFSS);
if (_imu->status != ICM_20948_Stat_Ok){ return false; }
// TODO: Setup low pass filter config
_imu->startupMagnetometer();
if (_imu->status != ICM_20948_Stat_Ok){ return false; }
#endif
return true;
}