Darkages/SpotMicroESP32-Leika
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Better definitions for SPI port

Browse Source
This commit is contained in:
Niklas Jensen
2025-12-26 13:59:28 +01:00
parent c47d579fa2
commit 741e9e7f3f
3 changed files with 12 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
esp32/include/peripherals/imu.h
+4 -6
View File
@@ -7,7 +7,7 @@
#include <utils/math_utils.h>
#if FT_ENABLED(USE_ICM20948)
#include "ICM_20948.h"
#include "ICM_20948.h"
#endif
#if FT_ENABLED(USE_MPU6050)
@@ -88,14 +88,12 @@ 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; }