Accelerometer ISM330DHCX on Nucleo-IKS02A1 #28947
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| # board ID for firmware load | ||
| APJ_BOARD_ID 139 | ||
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| # the nucleo seems to have trouble with flashing the last sector? |
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| # the nucleo seems to have trouble with flashing the last sector? |
| define STM32_HSE_BYPASS | ||
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| # board ID for firmware load | ||
| APJ_BOARD_ID 139 |
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This probably deserves a separate board ID; this new firmware is not going to boot on a board without the IMU available... you can reserve another id in board_types.txt (above 1000)
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| # hw definition file for processing by chibios_hwdef.py | |||
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This should include the hwdef.dat from the board this is derived from, undef APJ_BOARD_ID and set that alone.
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| # hw definition file for processing by chibios_hwdef.py | |||
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This should be includiong a base hwdef.dat from somewhere and only updating/overriding what it needs to.
| PE9 TIM1_CH1 TIM1 PWM(1) GPIO(60) | ||
| PE11 TIM1_CH2 TIM1 PWM(2) GPIO(64) | ||
| PB1 TIM3_CH4 TIM3 PWM(3) GPIO(47) | ||
| PC8 TIM3_CH3 TIM3 PWM(4) GPIO(98) |
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This looks like it does a little more than act as a test-bed :-)
| Vector3f accel = Vector3f(accbuf[0], -accbuf[1], -accbuf[2]); | ||
| // Adjust for chip scaling to get m/s/s | ||
| //accel *= ISM330DHCX_ACCELEROMETER_SCALE_M_S; | ||
| float scale = 9.8f/4096.0f; |
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| float scale = 9.8f/4096.0f; | |
| const float scale = 9.8f/4096.0f; |
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| } | ||
| if (status & 0x02) { | ||
| int16_t girobuf[3]; |
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| int16_t girobuf[3]; | |
| int16_t gyrobuf[3]; |
| if (status & 0x02) { | ||
| int16_t girobuf[3]; | ||
| if (_dev->read_registers(ISM330DHCX_ADDR_OUTX_L_G, (uint8_t *)girobuf, sizeof(girobuf))) { | ||
| Vector3f gyro = Vector3f(girobuf[0], -girobuf[1], -girobuf[2]); |
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| Vector3f gyro = Vector3f(girobuf[0], -girobuf[1], -girobuf[2]); | |
| Vector3f gyro{girobuf[0], -girobuf[1], -girobuf[2]}; |
| float _gyro_scale = ISM330DHCX_GYRO_SCALE_R_S; | ||
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| gyro *= _gyro_scale; |
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| float _gyro_scale = ISM330DHCX_GYRO_SCALE_R_S; | |
| gyro *= _gyro_scale; | |
| gyro *= ISM330DHCX_GYRO_SCALE_R_S; |
| #include <AP_HAL/AP_HAL.h> | ||
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| #include <AP_HAL/I2CDevice.h> | ||
| #include <Filter/Filter.h> |
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| #include <Filter/Filter.h> |
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What testing has this driver had? We have previously chosen not to support sensors as their results were too poor for flight - if you have some flight logs with a comparison IMU it would be nice to see them. |
Nucleo-H743ZI with installed X-Nucleo-IKS02A1 extension board. Driver for Accelerometer and Gyro ISM330DHCX