added support of icm45686 sensor

Author: Yuri-Sharapov

src/main/CMakeLists.txt

@@ -87,6 +87,8 @@ main_sources(COMMON_SRC
     drivers/accgyro/accgyro_icm20689.h
     drivers/accgyro/accgyro_icm42605.c
     drivers/accgyro/accgyro_icm42605.h
+    drivers/accgyro/accgyro_icm45686.c
+    drivers/accgyro/accgyro_icm45686.h
     drivers/accgyro/accgyro_mpu.c
     drivers/accgyro/accgyro_mpu.h
     drivers/accgyro/accgyro_mpu6000.c

src/main/drivers/accgyro/accgyro_icm45686.c

@@ -0,0 +1,22 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+
+bool icm45686AccDetect(accDev_t *acc);
+bool icm45686GyroDetect(gyroDev_t *gyro);

src/main/drivers/accgyro/accgyro_icm45686.h

@@ -30,6 +30,7 @@
 #define ICM20689_WHO_AM_I_CONST             (0x98)
 #define ICM42605_WHO_AM_I_CONST             (0x42)
 #define ICM42688P_WHO_AM_I_CONST            (0x47)
+#define ICM45686_WHO_AM_I_CONST             (0xE9)
 
 
 // RA = Register Address
@@ -181,4 +182,4 @@ const gyroFilterAndRateConfig_t * mpuChooseGyroConfig(uint8_t desiredLpf, uint16
 bool mpuGyroRead(struct gyroDev_s *gyro);
 bool mpuGyroReadScratchpad(struct gyroDev_s *gyro);
 bool mpuAccReadScratchpad(struct accDev_s *acc);
-bool mpuTemperatureReadScratchpad(struct gyroDev_s *gyro, int16_t * data);
+bool mpuTemperatureReadScratchpad(struct gyroDev_s *gyro, int16_t * data);

src/main/drivers/accgyro/accgyro_mpu.h

@@ -85,6 +85,7 @@ typedef enum {
     DEVHW_ICM42605,
     DEVHW_BMI270,
     DEVHW_LSM6D,
+    DEVHW_ICM45686,
     /* Combined ACC/GYRO/MAG chips */
     DEVHW_MPU9250,
 
@@ -330,4 +331,4 @@ bool busWrite(const busDevice_t * busdev, uint8_t reg, uint8_t data);
 bool busTransfer(const busDevice_t * dev, uint8_t * rxBuf, const uint8_t * txBuf, int length);
 bool busTransferMultiple(const busDevice_t * dev, busTransferDescriptor_t * buffers, int count);
 
-bool busIsBusy(const busDevice_t * dev);
+bool busIsBusy(const busDevice_t * dev);

src/main/drivers/bus.h

@@ -227,7 +227,7 @@ static const char *debugModeNames[DEBUG_COUNT] = {
 // sync with gyroSensor_e
 static const char *const gyroNames[] = {
     "NONE",     "AUTO",   "MPU6000",  "MPU6500", "MPU9250", "BMI160",
-    "ICM20689", "BMI088", "ICM42605", "BMI270",  "LSM6DXX", "FAKE"};
+    "ICM20689", "BMI088", "ICM42605", "BMI270",  "LSM6DXX", "ICM45686", "FAKE"};
 
 // sync this with sensors_e
 static const char * const sensorTypeNames[] = {

src/main/fc/cli.c

@@ -2,7 +2,7 @@ tables:
   - name: alignment
     values: ["DEFAULT", "CW0", "CW90", "CW180", "CW270", "CW0FLIP", "CW90FLIP", "CW180FLIP", "CW270FLIP"]
   - name: acc_hardware
-    values: ["NONE", "AUTO", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270","LSM6DXX",  "FAKE"]
+    values: ["NONE", "AUTO", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270","LSM6DXX", ICM45686, "FAKE"]
     enum: accelerationSensor_e
   - name: rangefinder_hardware
     values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C", "FAKE", "TERARANGER_EVO", "USD1_V0", "NRA"]

src/main/fc/settings.yaml

@@ -45,6 +45,7 @@
 #include "drivers/accgyro/accgyro_bmi270.h"
 #include "drivers/accgyro/accgyro_icm20689.h"
 #include "drivers/accgyro/accgyro_icm42605.h"
+#include "drivers/accgyro/accgyro_icm45686.h"
 #include "drivers/accgyro/accgyro_lsm6dxx.h"
 #include "drivers/accgyro/accgyro_fake.h"
 #include "drivers/sensor.h"
@@ -247,6 +248,18 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
         }
         FALLTHROUGH;
 #endif
+#ifdef USE_IMU_ICM45686
+    case ACC_ICM45686:
+        if (icm45686AccDetect(dev)) {
+            accHardware = ACC_ICM45686;
+            break;
+        }
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (accHardwareToUse != ACC_AUTODETECT) {
+            break;
+        }
+        FALLTHROUGH;
+#endif
 #ifdef USE_IMU_FAKE
     case ACC_FAKE:
         if (fakeAccDetect(dev)) {
@@ -696,4 +709,4 @@ void accInitFilters(void)
 bool accIsHealthy(void)
 {
     return true;
-}
+}

src/main/sensors/acceleration.c

@@ -44,6 +44,7 @@ typedef enum {
     ACC_ICM42605,
     ACC_BMI270,
     ACC_LSM6DXX,
+    ACC_ICM45686,
     ACC_FAKE,
     ACC_MAX = ACC_FAKE
 } accelerationSensor_e;
@@ -97,4 +98,4 @@ void accSetCalibrationValues(void);
 void accInitFilters(void);
 bool accIsHealthy(void);
 bool accGetCalibrationAxisStatus(int axis);
-uint8_t accGetCalibrationAxisFlags(void);
+uint8_t accGetCalibrationAxisFlags(void);

src/main/sensors/acceleration.h

@@ -47,6 +47,7 @@
 #include "drivers/accgyro/accgyro_bmi270.h"
 #include "drivers/accgyro/accgyro_icm20689.h"
 #include "drivers/accgyro/accgyro_icm42605.h"
+#include "drivers/accgyro/accgyro_icm45686.h"
 #include "drivers/accgyro/accgyro_lsm6dxx.h"
 #include "drivers/accgyro/accgyro_fake.h"
 #include "drivers/io.h"
@@ -228,6 +229,15 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev, gyroSensor_e gyroHard
         FALLTHROUGH;
 #endif
 
+#ifdef USE_IMU_ICM45686
+    case GYRO_ICM45686:
+        if (icm45686GyroDetect(dev)) {
+            gyroHardware = GYRO_ICM45686;
+            break;
+        }
+        FALLTHROUGH;
+#endif
+
 #ifdef USE_IMU_FAKE
     case GYRO_FAKE:
         if (fakeGyroDetect(dev)) {
@@ -609,4 +619,4 @@ void gyroUpdateDynamicLpf(float cutoffFreq) {
 float averageAbsGyroRates(void)
 {
     return (fabsf(gyro.gyroADCf[ROLL]) + fabsf(gyro.gyroADCf[PITCH]) + fabsf(gyro.gyroADCf[YAW])) / 3.0f;
-}
+}