Initialize default DMP for ICM20948

2025-12-26 23:33:10 +01:00
parent 90f561a62b
commit bc8145aca9
1 changed files with 2 additions and 0 deletions
@@ -42,11 +42,13 @@ class IMU : public SensorBase<IMUAnglesMsg> {
 #endif
 #if FT_ENABLED(USE_ICM20948)
    #if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
+        #define ICM_20948_USE_DMP // TODO: Move to features.ini
        SPI_PORT.begin(SPI_SCK, SPI_MISO, SPI_MOSI, -1); // TODO: Move to global spi start
        _imu = (ICM_20948_SPI*)_arg;
        #ifndef ICM20948_ALIVE
        #define ICM20948_ALIVE
        _imu->begin(ICM20948_SPI_CS, SPI_PORT); ESP_LOGI("IMU", "Beginning ICM20948 in SPI mode");
+        _imu->initializeDMP();
        #endif
    #else
        _imu = (ICM_20948_I2C*)_arg;