First draft for BMI088 driver #200
Conversation
src/main/msp/msp.c
Outdated
| scale = 8; | ||
| } else if (acc.dev.acc_1G > 512 * 2) { | ||
| scale = 4; | ||
| } else if (acc.dev.acc_1G >= 512) { | ||
| scale = 2; | ||
| } else { | ||
| }else { |
| * | ||
| * If not, see <http://www.gnu.org/licenses/>. | ||
| */ | ||
|
|
There was a problem hiding this comment.
IS this driver going to Betaflight too? If so, then this copyright is ok.
If this is for Rotorflight only, then please use Rotorflight one.
There was a problem hiding this comment.
Intitially I planned to add the code to betaflight aswell, but I will add the RF copyright for now.
src/main/msp/msp.c
Outdated
| scale = 1; | ||
| } | ||
| #endif | ||
|
|
||
| for (int i = 0; i < 3; i++) { | ||
| #if defined(USE_ACC) | ||
| sbufWriteU16(dst, lrintf(acc.accADC[i] / scale)); | ||
| sbufWriteU16(dst, lrintf((int16_t)acc.accADC[i] / scale)); |
There was a problem hiding this comment.
Not sure what this is for. Can. you explain?
There was a problem hiding this comment.
this corssesponds to the change above, for getting the ACC scaling right in the configurator. In case that is not neededl, both changes are unnecessary. So for getting the scaling of ACC right in the configurator.
There was a problem hiding this comment.
I am not sure I am following. acc.accADC is a float. The scale variable used to be uint8_t, but you changed it to float. Why do you need to convert accADC to integer before dividing it by the scale?
There was a problem hiding this comment.
I would understand if the (int16_t) was before the lrintf() function
There was a problem hiding this comment.
You are right, don't know why I introduced that cast. Doesn't make sense like that in the end.
I changed the scaling to float, since the scaling with +-12G is not an integer anymore.
removed the unneressary cast, is anything else left to be done? |
BMI088 consists of an ACC and Gyro digital part which are tied to the same SPI bus but require separate CS lines.
This required some hacks, since the current architecture trears the IMU as one device/component. This PR tires to intorduce an andditional CS pin without braking support for the other IMUs.
Tested with custom hardware for BMI088 adn RF configurator.
Open tests: