Add Bosch BMI088 gyro/acc driver (#200)

rotorflight · Dec 27, 2024 · c06de51 · c06de51
1 parent cdda4bc
commit c06de51
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Showing 20 changed files with 520 additions and 10 deletions.
diff --git a/make/source.mk b/make/source.mk
@@ -234,6 +234,7 @@ SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
             drivers/accgyro/accgyro_mpu3050.c \
             drivers/accgyro/accgyro_spi_bmi160.c \
             drivers/accgyro/accgyro_spi_bmi270.c \
+            drivers/accgyro/accgyro_spi_bmi088.c \
             drivers/accgyro/accgyro_spi_lsm6dso.c \
             drivers/accgyro_legacy/accgyro_adxl345.c \
             drivers/accgyro_legacy/accgyro_bma280.c \

diff --git a/src/main/cli/cli.c b/src/main/cli/cli.c
@@ -5097,6 +5097,7 @@ const cliResourceValue_t resourceTable[] = {
 #endif
     DEFW( OWNER_GYRO_EXTI,     PG_GYRO_DEVICE_CONFIG, gyroDeviceConfig_t, extiTag, MAX_GYRODEV_COUNT ),
     DEFW( OWNER_GYRO_CS,       PG_GYRO_DEVICE_CONFIG, gyroDeviceConfig_t, csnTag, MAX_GYRODEV_COUNT ),
+    DEFW( OWNER_ACC_CS,        PG_GYRO_DEVICE_CONFIG, gyroDeviceConfig_t, csnAccTag, MAX_GYRODEV_COUNT),
 #ifdef USE_USB_DETECT
     DEFS( OWNER_USB_DETECT,    PG_USB_CONFIG, usbDev_t, detectPin ),
 #endif

diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
@@ -137,14 +137,14 @@
 const char * const lookupTableAccHardware[] = {
     "AUTO", "NONE", "ADXL345", "MPU6050", "MMA8452", "BMA280", "LSM303DLHC",
     "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689", "ICM42605", "ICM42688P",
-    "BMI160", "BMI270", "LSM6DSO", "FAKE"
+    "BMI160", "BMI270", "LSM6DSO", "BMI088", "FAKE"
 };
 
 // sync with gyroHardware_e
 const char * const lookupTableGyroHardware[] = {
     "AUTO", "NONE", "MPU6050", "L3G4200D", "MPU3050", "L3GD20",
     "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689", "ICM42605", "ICM42688P",
-    "BMI160", "BMI270", "LSM6SDO", "FAKE"
+    "BMI160", "BMI270", "LSM6SDO", "BMI088", "FAKE"
 };
 
 #if defined(USE_SENSOR_NAMES) || defined(USE_BARO)

diff --git a/src/main/drivers/accgyro/accgyro.h b/src/main/drivers/accgyro/accgyro.h
@@ -59,6 +59,7 @@ typedef enum {
     GYRO_BMI160,
     GYRO_BMI270,
     GYRO_LSM6DSO,
+    GYRO_BMI088,
     GYRO_FAKE
 } gyroHardware_e;
 
@@ -75,6 +76,7 @@ typedef enum {
 typedef enum {
     GYRO_RATE_1_kHz,
     GYRO_RATE_1100_Hz,
+    GYRO_RATE_2000_Hz,
     GYRO_RATE_3200_Hz,
     GYRO_RATE_6400_Hz,
     GYRO_RATE_6664_Hz,
@@ -99,6 +101,7 @@ typedef struct gyroDev_s {
     sensorGyroReadDataFuncPtr temperatureFn;                  // read temperature if available
     extiCallbackRec_t exti;
     extDevice_t dev;
+    IO_t csnAccPin;
     float scale;                                             // scalefactor
     float gyroZero[XYZ_AXIS_COUNT];
     float gyroADC[XYZ_AXIS_COUNT];                           // gyro data after calibration and alignment
@@ -143,6 +146,7 @@ typedef struct accDev_s {
     sensor_align_e accAlign;
     bool dataReady;
     gyroDev_t *gyro;
+    extDevice_t dev;
     bool acc_high_fsr;
     char revisionCode;                                      // a revision code for the sensor, if known
     uint8_t filler[2];

diff --git a/src/main/drivers/accgyro/accgyro_mpu.c b/src/main/drivers/accgyro/accgyro_mpu.c
@@ -48,6 +48,7 @@
 #include "drivers/accgyro/accgyro_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_bmi160.h"
 #include "drivers/accgyro/accgyro_spi_bmi270.h"
+#include "drivers/accgyro/accgyro_spi_bmi088.h"
 #include "drivers/accgyro/accgyro_spi_icm20649.h"
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
 #include "drivers/accgyro/accgyro_spi_icm426xx.h"
@@ -360,6 +361,9 @@ static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
 #ifdef USE_ACCGYRO_BMI270
     bmi270Detect,
 #endif
+#ifdef USE_ACCGYRO_SPI_BMI088
+    bmi088SpiDetect,
+#endif
 #if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
     icm426xxSpiDetect,
 #endif
@@ -384,6 +388,14 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro, const gyro
     IOConfigGPIO(gyro->dev.busType_u.spi.csnPin, SPI_IO_CS_CFG);
     IOHi(gyro->dev.busType_u.spi.csnPin); // Ensure device is disabled, important when two devices are on the same bus.
 
+    // for BMI088 which has two CS pins
+    if(config->csnAccTag) {
+        gyro->csnAccPin = IOGetByTag(config->csnAccTag);
+        IOInit(gyro->csnAccPin, OWNER_ACC_CS, RESOURCE_INDEX(config->index));
+        IOConfigGPIO(gyro->csnAccPin, SPI_IO_CS_CFG);
+        IOHi(gyro->csnAccPin); // Ensure device is disabled, important when two devices are on the same bus.
+    }
+
     uint8_t sensor = MPU_NONE;
 
     // Allow 100ms before attempting to access gyro's SPI bus
@@ -409,6 +421,9 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro, const gyro
     // Detection failed, disable CS pin again
 
     spiPreinitByTag(config->csnTag);
+    if(config->csnAccTag) {
+        spiPreinitByTag(config->csnAccTag);
+    }
 
     return false;
 }

diff --git a/src/main/drivers/accgyro/accgyro_mpu.h b/src/main/drivers/accgyro/accgyro_mpu.h
@@ -204,6 +204,7 @@ typedef enum {
     BMI_270_SPI,
     LSM6DSO_SPI,
     L3GD20_SPI,
+    BMI_088_SPI
 } mpuSensor_e;
 
 typedef enum {