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IMU ICM42688 Driver #63
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Created cpp and header files for the ICM42688. Code has been structured from the tested code found at https://github.com/UWARG/efs-kitchen-sinks/blob/main/icm42688.zip
- Implemented a constructor to take in SPI_HANDLE, GPIO PORT, and CS_PIN - Moved some methods to private for abstraction - Used new defines to reduce magic numbers
Altered cmakelist to support compilation
antholuo
approved these changes
Oct 31, 2024
Drivers/imu/inc/icm42688.hpp
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| //Variables used in gyro calibration | ||
| float gyro_scale = 0; | ||
| uint8_t current_fssel = 0; |
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I have renamed it in the latest commit
Drivers/imu/src/icm42688.cpp
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| void ICM42688::calibrate() { | ||
| //Set at a lower range (more resolution since IMU not moving) | ||
| const uint8_t current_fssel = gyroFS; | ||
| setGyroFS(0x03); //Set to 250 dps |
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magic number 0x03. Should this be a #define or constexpr?
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Ah thanks, you're right; I changed it to be a #define in the latest commit.
IMU Driver restructured with a virtual class header file, actual driver header file, and driver code. Implemented code to calibrate, read, and process data from a 6-axis IMU
HardyYu
reviewed
Nov 6, 2024
Modified member variable names to align with the WARG naming convention
Created cpp and header files for the ICM42688. Code has been structured from the tested code found at https://github.com/UWARG/efs-kitchen-sinks/blob/main/icm42688.zip IMU Driver has been restructured with a virtual class header file, actual driver header file, and driver code. - Implemented a constructor to take in SPI_HANDLE, GPIO PORT, and CS_PIN - Implemented code to calibrate, read, and process data from the 6-axis IMU - Altered cmakelist to support compilation
HardyYu
approved these changes
Nov 9, 2024
…ropilot-3.5 into IMU-ICM42688-Driver
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Description
What was completed, changed, or updated?
The ICM Driver (previously created, tested, and stored in https://github.com/UWARG/efs-kitchen-sinks/blob/main/icm42688.zip) has been restructured into a virtual class header file, the actual driver header file, and the driver code. Refer to this original PR for comments: #62
Why was this done (if applicable)?
This was done to leave the option for the flight controller to initiate a different imu hardware driver or run a mock imu class for unit test purposes
Testing
What manual tests were used to validate the code?
Functionality was validated with the original code on an STM board, where accelerometer and gyroscope data were successfully read from the IMU. The accuracy of accelerometer data was determined by testing for a 1g reading on each axis. The accuracy of gyroscope data was determined by temporarily implementing sensor fusion to obtain angles, from which the angles were validated.
Note: Testing for the code in this PR has not been done; only for the code in kitchensinks
What unit tests were used to validate the code?
N/A
Documentation
Milestone number and name:
M3
Link to Asana task:
https://app.asana.com/0/1203458353737758/1204645027312230
Link to Confluence documentation:
N/A