initial BMI270 support - NORMAL config file 8192 bytes

make/source.mk

@@ -198,6 +198,7 @@ SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
             drivers/accgyro/accgyro_mpu6050.c \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/accgyro/accgyro_spi_bmi160.c \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/accgyro/accgyro_spi_icm20689.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \

src/main/drivers/accgyro/accgyro.h

@@ -33,14 +33,17 @@
 #include <pthread.h>
 #endif
 
+#define GYRO_SCALE_2000DPS (2000.0f / (1 << 15))   // 16.384 dps/lsb scalefactor for 2000dps sensors
+#define GYRO_SCALE_4000DPS (4000.0f / (1 << 15))   //  8.192 dps/lsb scalefactor for 4000dps sensor
+
 #ifndef MPU_I2C_INSTANCE
 #define MPU_I2C_INSTANCE I2C_DEVICE
 #endif
 
 #define GYRO_HARDWARE_LPF_NORMAL       0
 #define GYRO_HARDWARE_LPF_1KHZ_SAMPLE  2
 
-#if defined(USE_GYRO_SPI_ICM42688P)
+#if defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI270)
 #define GYRO_HARDWARE_LPF_EXPERIMENTAL 3
 #else
 #define GYRO_HARDWARE_LPF_EXPERIMENTAL 1

src/main/drivers/accgyro/accgyro_mpu.c

@@ -53,6 +53,7 @@
 #include "drivers/accgyro/accgyro_mpu6050.h"
 #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_icm20649.h"
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
 #include "drivers/accgyro/accgyro_spi_icm426xx.h"
@@ -404,6 +405,19 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro) {
         gyro->mpuDetectionResult.sensor = sensor;
         return true;
     }
+#endif
+#ifdef USE_ACCGYRO_BMI270
+#ifndef USE_DUAL_GYRO
+    spiBusSetInstance(&gyro->bus, BMI270_SPI_INSTANCE);
+#endif
+#ifdef BMI270_CS_PIN
+    gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(BMI270_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
+#endif
+    sensor = bmi270Detect(&gyro->bus);
+    if (sensor != MPU_NONE) {
+        gyro->mpuDetectionResult.sensor = sensor;
+        return true;
+    }
 #endif
     return false;
 }

src/main/drivers/accgyro/accgyro_mpu.h

@@ -29,7 +29,7 @@
 //#define DEBUG_MPU_DATA_READY_INTERRUPT
 
 #if defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) ||  defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20649) \
- || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
+ || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270)
 #define GYRO_USES_SPI
 #endif
 
@@ -219,6 +219,7 @@ typedef enum {
     ICM_42605_SPI,
     ICM_42688P_SPI,
     BMI_160_SPI,
+    BMI_270_SPI,
     IMUF_9001_SPI,
 } mpuSensor_e;
 

src/main/drivers/accgyro/accgyro_spi_bmi270.h

@@ -0,0 +1,28 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "drivers/bus.h"
+
+uint8_t bmi270Detect(const busDevice_t *bus);
+bool bmi270SpiAccDetect(accDev_t *acc);
+bool bmi270SpiGyroDetect(gyroDev_t *gyro);
+uint8_t bmi270InterruptStatus(gyroDev_t *gyro);

src/main/drivers/accgyro/gyro_sync.c

@@ -53,16 +53,26 @@ uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenomin
     }
     gyro->mpuDividerDrops = gyroSyncDenominator - 1;
     gyro->gyroRateKHz = lpfNoneOr256 ? GYRO_RATE_8_kHz : GYRO_RATE_1_kHz;
-    //20649 is a weird gyro
-    if (gyro->mpuDetectionResult.sensor == ICM_20649_SPI) {
-        gyro->gyroRateKHz = lpfNoneOr256 ? GYRO_RATE_9_kHz : GYRO_RATE_1100_Hz;
-    } else if (gyro->mpuDetectionResult.sensor == BMI_160_SPI && lpfNoneOr256) {
-        //brainFPV is also a weird gyro
-        gyro->gyroRateKHz = GYRO_RATE_3200_Hz;
-    } else if (gyro_use_32khz) {
-        //use full 32k
-        gyro->gyroRateKHz = GYRO_RATE_32_kHz;
+
+
+
+    switch (gyro->mpuDetectionResult.sensor) {
+        case ICM_20649_SPI:  //20649 is a weird gyro
+            gyro->gyroRateKHz = lpfNoneOr256 ? GYRO_RATE_9_kHz : GYRO_RATE_1100_Hz;
+            break;
+        case BMI_160_SPI:    //brainFPV is also a weird gyro
+            if (lpfNoneOr256) { gyro->gyroRateKHz = GYRO_RATE_3200_Hz; }
+            break;
+        case BMI_270_SPI:    //bmi270
+            gyro->gyroRateKHz = GYRO_RATE_3200_Hz;
+            break;
+        default:
+            if (gyro_use_32khz) {
+                //use full 32k
+                gyro->gyroRateKHz = GYRO_RATE_32_kHz;
+            }
     }
+
     // return the targetLooptime (expected cycleTime)
     return (uint32_t)(gyroSyncDenominator * gyro->gyroRateKHz);
 }

src/main/drivers/bus_spi.c

@@ -252,6 +252,7 @@ void spiBusSetInstance(busDevice_t *bus, SPI_TypeDef *instance) {
     bus->busdev_u.spi.instance = instance;
 }
 
+// icm42688p and bmi270 porting
 uint16_t spiCalculateDivider(uint32_t freq)
 {
 #if defined(STM32F4) || defined(STM32G4) || defined(STM32F7)

src/main/fc/config.c

@@ -434,6 +434,7 @@ void validateAndFixGyroConfig(void) {
         samplingTime = 1.0f / 9000.0f;
         break;
     case BMI_160_SPI:
+    case BMI_270_SPI:
         samplingTime = 0.0003125f;
         break;
     default:

src/main/flight/pid.c

@@ -86,7 +86,7 @@ PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 2);
 
 #ifdef STM32F10X
 #define PID_PROCESS_DENOM_DEFAULT 1
-#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
+#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270)
 #define PID_PROCESS_DENOM_DEFAULT 1
 #else
 #define PID_PROCESS_DENOM_DEFAULT 2

src/main/interface/settings.c

@@ -109,13 +109,13 @@
 const char * const lookupTableAccHardware[] = {
     "AUTO", "NONE", "ADXL345", "MPU6050", "MMA8452", "BMA280", "LSM303DLHC",
     "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689",
-    "ICM42605", "ICM42688P", "BMI160", "ACC_IMUF9001", "FAKE"
+    "ICM42605", "ICM42688P", "BMI160", "BMI270", "ACC_IMUF9001", "FAKE"
 };
 // sync with gyroSensor_e
 const char * const lookupTableGyroHardware[] = {
     "AUTO", "NONE", "MPU6050", "L3G4200D", "MPU3050", "L3GD20",
     "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689",
-    "ICM42605", "ICM42688P", "BMI160", "GYRO_IMUF9001", "FAKE"
+    "ICM42605", "ICM42688P", "BMI160", "BMI270", "GYRO_IMUF9001", "FAKE"
 };
 
 #if defined(USE_SENSOR_NAMES) || defined(USE_BARO)
@@ -252,10 +252,10 @@ static const char * const lookupTableRxSpi[] = {
 
 static const char * const lookupTableGyroHardwareLpf[] = {
     "NORMAL",
-#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
+#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI270)
     "OPTION1",
     "OPTION2",
-#if defined(USE_GYRO_SPI_ICM42688P) && defined(USE_GYRO_DLPF_EXPERIMENTAL) // will need bmi270 logic as well
+#if ( defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI270) ) && defined(USE_GYRO_DLPF_EXPERIMENTAL) // icm42688p & bmi270 experimental
     "EXPERIMENTAL",
 #endif
 #else

src/main/pg/bus_spi.c

@@ -100,6 +100,9 @@ ioTag_t preinitIPUList[SPI_PREINIT_IPU_COUNT] = {
 #ifdef BMI160_CS_PIN
     IO_TAG(BMI160_CS_PIN),
 #endif
+#ifdef BMI270_CS_PIN
+    IO_TAG(BMI270_CS_PIN),
+#endif
 #ifdef L3GD20_CS_PIN
     IO_TAG(L3GD20_CS_PIN),
 #endif

src/main/sensors/acceleration.c

@@ -43,6 +43,7 @@
 #include "drivers/accgyro/accgyro_mpu6050.h"
 #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_icm20649.h"
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
 #include "drivers/accgyro/accgyro_spi_icm426xx.h"
@@ -299,6 +300,18 @@ bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse) {
         }
         FALLTHROUGH;
 #endif
+
+#ifdef USE_ACCGYRO_BMI270
+    case ACC_BMI270:
+        if (bmi270SpiAccDetect(dev)) {
+            accHardware = ACC_BMI270;
+#ifdef ACC_BMI270_ALIGN
+            dev->accAlign = ACC_BMI270_ALIGN;
+#endif
+            break;
+        }
+        FALLTHROUGH;
+#endif
 #if defined(USE_ACC_SPI_ICM42605) || defined(USE_ACC_SPI_ICM42688P)
     case ACC_ICM42605:
     case ACC_ICM42688P:

src/main/sensors/acceleration.h

@@ -50,6 +50,7 @@ typedef enum {
     ACC_ICM42605,
     ACC_ICM42688P,
     ACC_BMI160,
+    ACC_BMI270,
     ACC_IMUF9001,
     ACC_FAKE
 } accelerationSensor_e;

src/main/sensors/gyro.c

@@ -44,6 +44,7 @@
 #include "drivers/accgyro/accgyro_mpu6050.h"
 #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_icm20649.h"
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
 #include "drivers/accgyro/accgyro_spi_icm426xx.h"
@@ -211,7 +212,7 @@ static void gyroInitLowpassFilterLpf(gyroSensor_t *gyroSensor, int slot, int typ
 #ifdef STM32F10X
 #define GYRO_SYNC_DENOM_DEFAULT 8
 #elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) \
-   || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
+   || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270)
 #define GYRO_SYNC_DENOM_DEFAULT 1
 #else
 #define GYRO_SYNC_DENOM_DEFAULT 3
@@ -537,6 +538,17 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev) {
         }
         FALLTHROUGH;
 #endif
+#ifdef USE_ACCGYRO_BMI270
+    case GYRO_BMI270:
+        if (bmi270SpiGyroDetect(dev)) {
+            gyroHardware = GYRO_BMI270;
+#ifdef GYRO_BMI270_ALIGN
+            dev->gyroAlign = GYRO_BMI270_ALIGN;
+#endif
+            break;
+        }
+        FALLTHROUGH;
+#endif
 #ifdef USE_GYRO_IMUF9001
     case GYRO_IMUF9001:
         if (imufSpiGyroDetect(dev)) {
@@ -566,7 +578,7 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev) {
 static bool gyroInitSensor(gyroSensor_t *gyroSensor) {
     gyroSensor->gyroDev.gyro_high_fsr = gyroConfig()->gyro_high_fsr;
 #if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) \
- || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_GYRO_IMUF9001) || defined(USE_ACCGYRO_BMI160)
+ || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_GYRO_IMUF9001) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270)
     mpuDetect(&gyroSensor->gyroDev);
     mpuResetFn = gyroSensor->gyroDev.mpuConfiguration.resetFn; // must be set after mpuDetect
 #endif
@@ -611,6 +623,7 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor) {
     case GYRO_MPU3050:
     case GYRO_L3GD20:
     case GYRO_BMI160:
+    case GYRO_BMI270:
     case GYRO_MPU6000:
     case GYRO_MPU6500:
     case GYRO_MPU9250:

src/main/sensors/gyro.h

@@ -56,6 +56,7 @@ typedef enum {
     GYRO_ICM42605,
     GYRO_ICM42688P,
     GYRO_BMI160,
+    GYRO_BMI270,
     GYRO_IMUF9001,
     GYRO_FAKE
 } gyroSensor_e;

src/main/target/BETAFPVF411/target.h

@@ -34,6 +34,13 @@
 #define USE_SPI
 #define USE_SPI_DEVICE_1
 
+#define USE_SPI_GYRO	
+#define USE_ACCGYRO_BMI270
+#define BMI270_CS_PIN           PA4
+#define BMI270_SPI_INSTANCE     SPI1
+#define ACC_BMI270_ALIGN        CW90_DEG
+#define GYRO_BMI270_ALIGN       CW90_DEG
+
 #define SPI1_SCK_PIN            PA5
 #define SPI1_MISO_PIN           PA6
 #define SPI1_MOSI_PIN           PA7

src/main/target/BETAFPVF411/target.mk

@@ -4,6 +4,7 @@ FEATURES       = VCP ONBOARDFLASH
 TARGET_SRC = \
             drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \

src/main/target/FLYWOOF411_5IN1_AIO/target.mk

@@ -3,22 +3,23 @@ F411_TARGETS    += $(TARGET)
 FEATURES        += VCP
 
 TARGET_SRC = \
-						drivers/accgyro/accgyro_mpu.c \
-						drivers/accgyro/accgyro_spi_mpu6000.c \
-						drivers/accgyro/accgyro_spi_icm20689.c \
-						drivers/accgyro/accgyro_spi_icm426xx.c \
-						drivers/barometer/barometer_bmp085.c \
-						drivers/barometer/barometer_bmp280.c \
-						drivers/barometer/barometer_ms5611.c \
-						drivers/compass/compass_hmc5883l.c \
+            drivers/accgyro/accgyro_mpu.c \
+            drivers/accgyro/accgyro_spi_bmi270.c \
+            drivers/accgyro/accgyro_spi_icm20689.c \
+            drivers/accgyro/accgyro_spi_icm426xx.c \
+            drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/barometer/barometer_bmp085.c \
+            drivers/barometer/barometer_bmp280.c \
+            drivers/barometer/barometer_ms5611.c \
+            drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/max7456.c \
             drivers/rx/rx_cc2500.c \
-						rx/cc2500_common.c \
+            rx/cc2500_common.c \
             rx/cc2500_frsky_shared.c \
             rx/cc2500_frsky_d.c \
-						rx/cc2500_frsky_x.c \
-						rx/cc2500_redpine.c \
+            rx/cc2500_frsky_x.c \
+            rx/cc2500_redpine.c \
             rx/cc2500_sfhss.c\
             drivers/rx/rx_a7105.c \
-						drivers/light_ws2811strip.c
+            drivers/light_ws2811strip.c

src/main/target/FOXEERF745_AIO/target.h

@@ -21,7 +21,12 @@
  #pragma once
 
  #define TARGET_BOARD_IDENTIFIER "FOXE"
+
+ #if defined(FOXEERF745_AIO_V2)
+ #define USBD_PRODUCT_STRING "FOXEERF745_AIO_V2"
+ #else
  #define USBD_PRODUCT_STRING "FOXEERF745_AIO"
+ #endif
 
  #define LED0_PIN   PC13
 
@@ -55,6 +60,16 @@
  //#define MAG_HMC5883_ALIGN CW270_DEG_FLIP
  //#define MAG_ALIGN CW180_DEG  //not sure if this command will work or if should be more specific to mag
 
+ #if defined(FOXEERF745_AIO_V2)
+ //BMI270
+ #define USE_SPI_GYRO
+ #define USE_ACCGYRO_BMI270
+ #define BMI270_CS_PIN           PA15
+ #define BMI270_SPI_INSTANCE     SPI3
+ #define ACC_BMI270_ALIGN        CW180_DEG
+ #define GYRO_BMI270_ALIGN       CW180_DEG
+ #endif
+
  #define USE_BARO
  #define USE_BARO_BMP280
  #define BARO_I2C_INSTANCE           (I2CDEV_1)

src/main/target/FOXEERF745_AIO/target.mk

@@ -2,11 +2,12 @@ F7X5XG_TARGETS += $(TARGET)
 FEATURES       += VCP ONBOARDFLASH
 
 TARGET_SRC = \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
-						drivers/accgyro/accgyro_mpu.c \
+            drivers/accgyro/accgyro_mpu.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
-					  drivers/compass/compass_lis3mdl.c \
+            drivers/compass/compass_lis3mdl.c \
             drivers/light_ws2811strip.c \
             drivers/max7456.c