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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/features.ini
+1 -1
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@@ -14,7 +14,7 @@ build_flags =
-D USE_BMP180=0 -D USE_BMP180=0
-D USE_MPU6050=0 -D USE_MPU6050=0
-D USE_ICM20948=1 -D USE_ICM20948=1
-D USE_ICM20948_SPIMODE=0 -D USE_ICM20948_SPIMODE=1
-D USE_WS2812=1 -D USE_WS2812=1
-D USE_BNO055=0 -D USE_BNO055=0
-D USE_USS=0 -D USE_USS=0
esp32/include/peripherals/imu.h
+7 -8
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@@ -87,7 +87,10 @@ class IMU : public SensorBase<IMUAnglesMsg> {
_imu.setExtCrystalUse(true); _imu.setExtCrystalUse(true);
#endif #endif
#if FT_ENABLED(USE_ICM20948) #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; _imu = (ICM_20948_SPI*)_arg;
if (true || !_imu->isConnected()) { _imu->begin(CS_PIN, SPI_PORT); ESP_LOGI("IMU", "Beginning ICM20948 in SPI mode"); } if (true || !_imu->isConnected()) { _imu->begin(CS_PIN, SPI_PORT); ESP_LOGI("IMU", "Beginning ICM20948 in SPI mode"); }
#else #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"); } if (true || !_imu->isConnected()) { _imu->begin(Wire, 1, 0xFF); ESP_LOGI("IMU", "Beginning ICM20948 in I2C mode"); }
#endif #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); _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; ICM_20948_fss_t myFSS;
myFSS.a = gpm2; myFSS.a = gpm2;
myFSS.g = dps250; myFSS.g = dps250;
_imu->setFullScale((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myFSS); _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 // TODO: Setup low pass filter config
_msg.success = true; _msg.success = true;
#endif #endif
@@ -148,8 +151,6 @@ 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 SPI_PORT SPI // TODO in periphearals_seetings.h
#define CS_PIN 2
ICM_20948_SPI _imu; ICM_20948_SPI _imu;
#else #else
//#define WIRE_PORT Wire //#define WIRE_PORT Wire
@@ -180,8 +181,6 @@ 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 SPI_PORT SPI // TODO in periphearals_seetings.h
#define CS_PIN 2
ICM_20948_SPI* _imu; ICM_20948_SPI* _imu;
#else #else
//#define WIRE_PORT Wire //#define WIRE_PORT Wire
esp32/include/peripherals/magnetometer.h
+1 -1
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@@ -41,7 +41,7 @@ class Magnetometer : public SensorBase<MagnetometerMsg> {
public: public:
bool initialize(void* _arg) override { bool initialize(void* _arg) override {
#if FT_ENABLED(USE_ICM20948) #if FT_ENABLED(USE_ICM20948)
#if USE_ICM20948_SPIMODE > 0 #if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
_mag = (ICM_20948_SPI*)_arg; _mag = (ICM_20948_SPI*)_arg;
if (true || !_mag->isConnected()) { _mag->begin(CS_PIN, SPI_PORT); ESP_LOGI("Magnetometer", "Beginning ICM20948 in SPI mode"); } if (true || !_mag->isConnected()) { _mag->begin(CS_PIN, SPI_PORT); ESP_LOGI("Magnetometer", "Beginning ICM20948 in SPI mode"); }
#else #else
esp32/src/peripherals/peripherals.cpp
+1 -1
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@@ -16,7 +16,7 @@ void Peripherals::begin() {
updatePins(); updatePins();
#if FT_ENABLED(USE_ICM20948) #if FT_ENABLED(USE_ICM20948)
#if USE_ICM20948_SPIMODE > 0 #if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
ICM_20948_SPI* icm20948 = new ICM_20948_SPI; ICM_20948_SPI* icm20948 = new ICM_20948_SPI;
#else #else
ICM_20948_I2C* icm20948 = new ICM_20948_I2C; ICM_20948_I2C* icm20948 = new ICM_20948_I2C;