Darkages/SpotMicroESP32-Leika
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Better definitions for SPI port

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This commit is contained in:
Niklas Jensen
2025-12-26 13:59:28 +01:00
parent 7221418378
commit 6f3e254341
3 changed files with 12 additions and 8 deletions
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esp32/include/peripherals/imu.h
+4 -6
View File
@@ -5,7 +5,7 @@
#include <peripherals/sensor.hpp>
#if FT_ENABLED(USE_ICM20948)
#include "ICM_20948.h"
#include "ICM_20948.h"
#endif
#if FT_ENABLED(USE_MPU6050)
@@ -42,14 +42,12 @@ class IMU : public SensorBase<IMUAnglesMsg> {
#endif
#if FT_ENABLED(USE_ICM20948)
#if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
#define SPI_PORT SPI
#define CS_PIN 2
SPI_PORT.begin(41U, 19U, 20U, -1);
SPI_PORT.begin(SPI_SCK, SPI_MISO, SPI_MOSI, -1);
_imu = (ICM_20948_SPI*)_arg;
if (true || !_imu->isConnected()) { _imu->begin(CS_PIN, SPI_PORT); ESP_LOGI("IMU", "Beginning ICM20948 in SPI mode"); }
if (!_imu->isConnected()) { _imu->begin(ICM20948_SPI_CS, SPI_PORT); ESP_LOGI("IMU", "Beginning ICM20948 in SPI mode"); }
#else
_imu = (ICM_20948_I2C*)_arg;
if (true || !_imu->isConnected()) { _imu->begin(Wire, 1, 0xFF); ESP_LOGI("IMU", "Beginning ICM20948 in I2C mode"); }
if (!_imu->isConnected()) { _imu->begin(Wire, 1, 0xFF); ESP_LOGI("IMU", "Beginning ICM20948 in I2C mode"); }
#endif
if (_imu->status != ICM_20948_Stat_Ok){ ESP_LOGW("IMU", "Failed to start ICM20948: begin failed"); return false; }
esp32/include/peripherals/magnetometer.h
+3 -2
View File
@@ -15,11 +15,12 @@ class Magnetometer : public SensorBase<MagnetometerMsg> {
bool initialize(void* _arg) override {
#if FT_ENABLED(USE_ICM20948)
#if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
SPI_PORT.begin(SPI_SCK, SPI_MISO, SPI_MOSI, -1);
_mag = (ICM_20948_SPI*)_arg;
if (true || !_mag->isConnected()) { _mag->begin(CS_PIN, SPI_PORT); ESP_LOGI("Magnetometer", "Beginning ICM20948 in SPI mode"); }
if (!_mag->isConnected()) { _mag->begin(ICM20948_SPI_CS, SPI_PORT); ESP_LOGI("Magnetometer", "Beginning ICM20948 in SPI mode"); }
#else
_mag = (ICM_20948_I2C*)_arg;
if (true || !_mag->isConnected()) { _mag->begin(Wire, 1, 0xFF); ESP_LOGI("Magnetometer", "Beginning ICM20948 in I2C mode"); }
if (!_mag->isConnected()) { _mag->begin(Wire, 1, 0xFF); ESP_LOGI("Magnetometer", "Beginning ICM20948 in I2C mode"); }
#endif
if (_mag->status != ICM_20948_Stat_Ok){ return false; }
platformio.ini
+5
View File
@@ -55,6 +55,10 @@ build_flags =
-D USS_RIGHT_PIN=14
-D SDA_PIN=47
-D SCL_PIN=21
-D SPI_SCK=41
-D SPI_MISO=19
-D SPI_MOSI=20
-D ICM20948_SPI_CS=2 # Only needed if ICM20948 is in SPI mode
[env:seeed-xiao-esp32s3]
platform = espressif32
@@ -90,6 +94,7 @@ build_flags =
${factory_settings.build_flags}
${features.build_flags}
${build_settings.build_flags}
-D SPI_PORT=SPI # Define which spi port to use for external components
-D CORE_DEBUG_LEVEL=4
-D register=
-std=gnu++2a