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Enable SPI for icm20948

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This commit is contained in:
Niklas Jensen
2025-12-26 13:02:35 +01:00
parent 8da09d4959
commit c47d579fa2
4 changed files with 10 additions and 11 deletions
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esp32/include/peripherals/imu.h
+7 -8
View File
@@ -87,7 +87,10 @@ class IMU : public SensorBase<IMUAnglesMsg> {
_imu.setExtCrystalUse(true);
#endif
#if FT_ENABLED(USE_ICM20948)
#if USE_ICM20948_SPIMODE > 0
#if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
#define SPI_PORT SPI
#define CS_PIN 2
SPI_PORT.begin(41U, 19U, 20U, -1);
_imu = (ICM_20948_SPI*)_arg;
if (true || !_imu->isConnected()) { _imu->begin(CS_PIN, SPI_PORT); ESP_LOGI("IMU", "Beginning ICM20948 in SPI mode"); }
#else
@@ -95,16 +98,16 @@ class IMU : public SensorBase<IMUAnglesMsg> {
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; }
if (_imu->status != ICM_20948_Stat_Ok){ ESP_LOGW("IMU", "Failed to start ICM20948: begin failed"); return false; }
_imu->setSampleMode((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), ICM_20948_Sample_Mode_Continuous);
if (_imu->status != ICM_20948_Stat_Ok){ return false; }
if (_imu->status != ICM_20948_Stat_Ok){ ESP_LOGW("IMU", "Failed to start ICM20948: set sample failed"); return false; }
ICM_20948_fss_t myFSS;
myFSS.a = gpm2;
myFSS.g = dps250;
_imu->setFullScale((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myFSS);
if (_imu->status != ICM_20948_Stat_Ok){ return false; }
if (_imu->status != ICM_20948_Stat_Ok){ ESP_LOGW("IMU", "Failed to start ICM20948: set full scale failed"); return false; }
// TODO: Setup low pass filter config
_msg.success = true;
#endif
@@ -148,8 +151,6 @@ class IMU : public SensorBase<IMUAnglesMsg> {
#endif
#if FT_ENABLED(USE_ICM20948)
#if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
#define SPI_PORT SPI // TODO in periphearals_seetings.h
#define CS_PIN 2
ICM_20948_SPI _imu;
#else
//#define WIRE_PORT Wire
@@ -180,8 +181,6 @@ class IMU : public SensorBase<IMUAnglesMsg> {
#endif
#if FT_ENABLED(USE_ICM20948)
#if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
#define SPI_PORT SPI // TODO in periphearals_seetings.h
#define CS_PIN 2
ICM_20948_SPI* _imu;
#else
//#define WIRE_PORT Wire
esp32/include/peripherals/magnetometer.h
+1 -1
View File
@@ -41,7 +41,7 @@ class Magnetometer : public SensorBase<MagnetometerMsg> {
public:
bool initialize(void* _arg) override {
#if FT_ENABLED(USE_ICM20948)
#if USE_ICM20948_SPIMODE > 0
#if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
_mag = (ICM_20948_SPI*)_arg;
if (true || !_mag->isConnected()) { _mag->begin(CS_PIN, SPI_PORT); ESP_LOGI("Magnetometer", "Beginning ICM20948 in SPI mode"); }
#else