new InvenSense icm20948 driver on SPI with AK09916 mag

boards/mro/ctrl-zero-f7/default.cmake

@@ -31,7 +31,7 @@ px4_add_board(
 		#imu # all available imu drivers
 		imu/bmi088
 		imu/invensense/icm20602
-		imu/icm20948
+		imu/invensense/icm20948
 		irlock
 		lights/blinkm
 		lights/rgbled

boards/mro/ctrl-zero-f7/init/rc.board_sensors

@@ -12,8 +12,8 @@ icm20602 -s -R 4 start
 bmi088 -A -R 10 -s start
 bmi088 -G -R 10 -s start
 
-# Internal ICM-20948
-icm20948 -s -R 10 start
+# Internal ICM-20948 (with magnetometer)
+icm20948 -s -R 2 -M start
 
 # Interal DPS310 (barometer)
 dps310 -s start

boards/mro/ctrl-zero-f7/src/board_config.h

@@ -118,6 +118,7 @@
 #define BOARD_NUMBER_BRICKS             1
 
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
+#define GPIO_VDD_3V3_SENSORS_EN         /* PE3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
 
 
 /* Define True logic Power Control in arch agnostic form */
@@ -200,6 +201,7 @@
 		GPIO_CAN1_SILENT_S0,              \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
+		GPIO_VDD_3V3_SENSORS_EN,          \
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_SAFETY_SWITCH_IN,            \
 	}

boards/mro/ctrl-zero-f7/src/init.c

@@ -163,7 +163,7 @@ stm32_boardinitialize(void)
 	px4_gpio_init(gpio, arraySize(gpio));
 
 	/* configure SPI interfaces */
-	stm32_spiinitialize();
+	px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
 
 	/* configure USB interfaces */
 	stm32_usbinitialize();
@@ -198,11 +198,14 @@ stm32_boardinitialize(void)
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */
+	px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
 	board_control_spi_sensors_power(true, 0xffff);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	px4_platform_init();
 
+	stm32_spiinitialize();
+
 	/* configure the DMA allocator */
 	if (board_dma_alloc_init() < 0) {
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");

boards/mro/ctrl-zero-f7/src/spi.cpp

@@ -39,15 +39,15 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
-	}, {GPIO::PortE, GPIO::Pin3}),
+	}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
 		initSPIDevice(DRV_BARO_DEVTYPE_DPS310, SPI::CS{GPIO::PortD, GPIO::Pin7}),
 	}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}),
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}),
-	}, {GPIO::PortE, GPIO::Pin3}),
+	}),
 };
 
 static constexpr bool unused = validateSPIConfig(px4_spi_buses);

src/drivers/drv_sensor.h

@@ -61,7 +61,7 @@
 #define DRV_MAG_DEVTYPE_RM3100   0x07
 #define DRV_MAG_DEVTYPE_QMC5883  0x08
 #define DRV_MAG_DEVTYPE_AK09916  0x09
-#define DRV_IMU_DEVTYPE_ICM20948 0x0A
+
 #define DRV_MAG_DEVTYPE_IST8308  0x0B
 #define DRV_MAG_DEVTYPE_LIS2MDL  0x0C
 
@@ -79,6 +79,7 @@
 #define DRV_IMU_DEVTYPE_ICM20649 0x25
 #define DRV_IMU_DEVTYPE_ICM42688P 0x26
 #define DRV_IMU_DEVTYPE_ICM40609D 0x27
+#define DRV_IMU_DEVTYPE_ICM20948 0x28
 
 #define DRV_RNG_DEVTYPE_MB12XX   0x31
 #define DRV_RNG_DEVTYPE_LL40LS   0x32

src/drivers/imu/invensense/icm20948/AKM_AK09916_registers.hpp

@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file AKM_AK09916_registers.hpp
+ *
+ * Asahi Kasei Microdevices (AKM) AK09916 registers.
+ *
+ */
+
+#pragma once
+
+#include <cstdint>
+
+namespace AKM_AK09916
+{
+
+// TODO: move to a central header
+static constexpr uint8_t Bit0 = (1 << 0);
+static constexpr uint8_t Bit1 = (1 << 1);
+static constexpr uint8_t Bit2 = (1 << 2);
+static constexpr uint8_t Bit3 = (1 << 3);
+static constexpr uint8_t Bit4 = (1 << 4);
+static constexpr uint8_t Bit5 = (1 << 5);
+static constexpr uint8_t Bit6 = (1 << 6);
+static constexpr uint8_t Bit7 = (1 << 7);
+
+static constexpr uint32_t I2C_SPEED = 400 * 1000; // 400 kHz I2C serial interface
+static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0b0001100;
+
+static constexpr uint8_t WHOAMI = 0x09;
+
+enum class Register : uint8_t {
+	WIA   = 0x01,   // Device ID
+
+	ST1   = 0x10,   // Status 1
+	HXL   = 0x11,
+	HXH   = 0x12,
+	HYL   = 0x13,
+	HYH   = 0x14,
+	HZL   = 0x15,
+	HZH   = 0x16,
+
+	ST2   = 0x18,   // Status 2
+
+	CNTL2 = 0x31,   // Control 2
+	CNTL3 = 0x32,   // Control 3
+};
+
+// ST1
+enum ST1_BIT : uint8_t {
+	DOR  = Bit1,    // Data overrun
+	DRDY = Bit0,    // Data is ready
+};
+
+// ST2
+enum ST2_BIT : uint8_t {
+	BITM = Bit4, // Output bit setting (mirror)
+	HOFL = Bit3, // Magnetic sensor overflow
+};
+
+// CNTL2
+enum CNTL2_BIT : uint8_t {
+	MODE1 = Bit1,        // Continuous measurement mode 1 (10Hz)
+	MODE2 = Bit2,        // Continuous measurement mode 2 (20Hz)
+	MODE3 = Bit2 | Bit1, // Continuous measurement mode 3 (50Hz)
+	MODE4 = Bit3,        // Continuous measurement mode 4 (100Hz)
+};
+
+// CNTL3
+enum CNTL3_BIT : uint8_t {
+	SRST = Bit0,
+};
+
+} // namespace AKM_AK09916

src/drivers/imu/invensense/icm20948/CMakeLists.txt

@@ -0,0 +1,52 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__imu__icm20948
+	MAIN icm20948
+	COMPILE_FLAGS
+		-DDEBUG_BUILD
+		-O0
+	SRCS
+		AKM_AK09916_registers.hpp
+		ICM20948.cpp
+		ICM20948.hpp
+		ICM20948_AK09916.cpp
+		ICM20948_AK09916.hpp
+		icm20948_main.cpp
+		InvenSense_ICM20948_registers.hpp
+	DEPENDS
+		px4_work_queue
+		drivers_accelerometer
+		drivers_gyroscope
+		drivers_magnetometer
+	)