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This commit is contained in:
Oleg Kalachev
2026-08-10 01:18:29 +03:00
parent 93b3077fa7
commit 58ea75d335
1 changed files with 5 additions and 2 deletions
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flix/imu.ino
+5 -2
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@@ -11,7 +11,7 @@
#include "util.h" #include "util.h"
IMU *imu; IMU *imu;
int imuModel = -1; int imuModel = -1; // 1 - MPU9250, 2 - ICM20948, 3 - MPU6050, 4 - ICM40609D
int imuBus = 0; // 0 - SPI, 1 - I2C int imuBus = 0; // 0 - SPI, 1 - I2C
int imuSckPin = SCK, imuMisoPin = MISO, imuMosiPin = MOSI, imuCsPin = SS, imuIntPin = -1; int imuSckPin = SCK, imuMisoPin = MISO, imuMosiPin = MOSI, imuCsPin = SS, imuIntPin = -1;
int imuSdaPin = SDA, imuSclPin = SCL; int imuSdaPin = SDA, imuSclPin = SCL;
@@ -29,15 +29,18 @@ LowPassFilter<Vector> gyroBiasFilter(0.001);
void setupIMU() { void setupIMU() {
print("Setup IMU\n"); print("Setup IMU\n");
free(imu); free(imu);
if (imuModel == 3) imuBus = 1; // MPU6050 is I2C only
if (imuBus == 0) { if (imuBus == 0) {
// SPI connection // SPI connection
SPI.begin(imuSckPin, imuMisoPin, imuMosiPin); // SPI connection SPI.begin(imuSckPin, imuMisoPin, imuMosiPin);
imu = IMU::create(imuModel, SPI, imuCsPin, imuIntPin); imu = IMU::create(imuModel, SPI, imuCsPin, imuIntPin);
} else { } else {
// I2C connection // I2C connection
Wire.setPins(imuSdaPin, imuSclPin); Wire.setPins(imuSdaPin, imuSclPin);
imu = IMU::create(imuModel, Wire, imuIntPin); imu = IMU::create(imuModel, Wire, imuIntPin);
} }
imu->begin(); imu->begin();
configureIMU(); configureIMU();
} }