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

Initialize default DMP for ICM20948

Browse Source
This commit is contained in:
Niklas Jensen
2025-12-26 23:33:10 +01:00
parent 90f561a62b
commit bc8145aca9
1 changed files with 2 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
esp32/include/peripherals/imu.h
+2
View File
@@ -42,11 +42,13 @@ class IMU : public SensorBase<IMUAnglesMsg> {
#endif #endif
#if FT_ENABLED(USE_ICM20948) #if FT_ENABLED(USE_ICM20948)
#if FT_ENABLED(USE_ICM20948_SPIMODE) > 0 #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 SPI_PORT.begin(SPI_SCK, SPI_MISO, SPI_MOSI, -1); // TODO: Move to global spi start
_imu = (ICM_20948_SPI*)_arg; _imu = (ICM_20948_SPI*)_arg;
#ifndef ICM20948_ALIVE #ifndef ICM20948_ALIVE
#define ICM20948_ALIVE #define ICM20948_ALIVE
_imu->begin(ICM20948_SPI_CS, SPI_PORT); ESP_LOGI("IMU", "Beginning ICM20948 in SPI mode"); _imu->begin(ICM20948_SPI_CS, SPI_PORT); ESP_LOGI("IMU", "Beginning ICM20948 in SPI mode");
_imu->initializeDMP();
#endif #endif
#else #else
_imu = (ICM_20948_I2C*)_arg; _imu = (ICM_20948_I2C*)_arg;