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chore(v16): add support for more IMU hardware #7482

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chore(v16): add support for more IMU hardware #7482

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2 changes: 2 additions & 0 deletions radio/src/drivers/icm42627.h
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,8 @@

#include "hal/imu.h"

#define ICM42627_I2C_BASE_ADDR 0x68

#define ICM42627_WHO_AM_I_REG 0x75
#define ICM42627_WHO_AM_I 0x20

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6 changes: 6 additions & 0 deletions radio/src/targets/horus/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -116,6 +116,8 @@ if (PCB STREQUAL X10)
set(AUX2_SERIAL OFF)
set(CSD203_SENSOR ON)
set(FLYSKY_GIMBAL ON)
add_definitions(-DIMU_ICM42627)
add_definitions(-DIMU_SC7U22)
if (BLUETOOTH)
set(AUX_SERIAL OFF)
endif()
Expand Down Expand Up @@ -296,6 +298,10 @@ add_library(board OBJECT EXCLUDE_FROM_ALL
)
set(FIRMWARE_SRC ${FIRMWARE_SRC} $<TARGET_OBJECTS:board>)

if(FLAVOUR STREQUAL v16)
target_sources(board PRIVATE drivers/sc7u22.cpp)
endif()

if(BLUETOOTH)
target_sources(board PRIVATE targets/common/arm/stm32/bluetooth_driver.cpp)
endif()
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32 changes: 26 additions & 6 deletions radio/src/targets/horus/board.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,8 @@
#include "csd203_sensor.h"
#endif

#if defined(IMU) && defined(IMU_I2C_BUS) && defined(IMU_I2C_ADDRESS)
#if defined(IMU) && defined(IMU_I2C_BUS) && \
(defined(RADIO_V16) || defined(IMU_I2C_ADDRESS))
#define HAS_IMU
#endif

Expand Down Expand Up @@ -137,21 +138,40 @@ void audioInit()
#include "stm32_i2c_driver.h"
#include "drivers/icm42627.h"
#include "drivers/lsm6ds.h"
#if defined(IMU_SC7U22)
#include "drivers/sc7u22.h"
#endif

#if defined(RADIO_V16)

static const etx_imu_t _imu_candidates[] = {
#if defined(IMU_ICM42627)
{ &imu_icm42627_driver, IMU_I2C_BUS, ICM42627_I2C_BASE_ADDR },
{ &imu_icm42627_driver, IMU_I2C_BUS, ICM42627_I2C_BASE_ADDR + 1 },
#endif
#if defined(IMU_SC7U22)
{ &imu_sc7u22_driver, IMU_I2C_BUS, SC7U22_I2C_BASE_ADDR },
{ &imu_sc7u22_driver, IMU_I2C_BUS, SC7U22_I2C_BASE_ADDR + 1 },
#endif
};

static void gyroInit()
{
#if defined(RADIO_V16)
const etx_imu_driver_t *driver = &imu_icm42627_driver;
gyroStart(imuDetect(_imu_candidates, DIM(_imu_candidates)));
}

#else
const etx_imu_driver_t *driver = &imu_lsm6ds_driver;
#endif

static void gyroInit()
{
const etx_imu_t candidates[] = {
{ driver, IMU_I2C_BUS, IMU_I2C_ADDRESS },
{ &imu_lsm6ds_driver, IMU_I2C_BUS, IMU_I2C_ADDRESS },
};

gyroStart(imuDetect(candidates, DIM(candidates)));
}

#endif
#endif

void boardInit()
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1 change: 0 additions & 1 deletion radio/src/targets/horus/hal.h
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Original file line number Diff line number Diff line change
Expand Up @@ -493,7 +493,6 @@
#define IMU_I2C_ADDRESS 0x6A
#elif defined(RADIO_V16)
#define IMU_I2C_BUS I2C_Bus_1
#define IMU_I2C_ADDRESS 0x69
#elif !defined(AUX_SERIAL) && defined(IMU_LSM6DS33)
#define IMU_I2C_BUS I2C_Bus_2
#define IMU_I2C_ADDRESS 0x6A
Expand Down