Add ICM-56686 IMU support

docs/Settings.md

@@ -92,6 +92,7 @@ Selection of acc hardware. See Wiki Sensor auto detect and hardware failure dete
 | ICM45686 |  |
 | ICM40609D |  |
 | FAKE |  |
+| ICM56686 |  |
 
 ---
 

src/main/CMakeLists.txt

@@ -91,6 +91,8 @@ main_sources(COMMON_SRC
     drivers/accgyro/accgyro_icm42605.h
     drivers/accgyro/accgyro_icm45686.c
     drivers/accgyro/accgyro_icm45686.h
+    drivers/accgyro/accgyro_icm56686.c
+    drivers/accgyro/accgyro_icm56686.h
     drivers/accgyro/accgyro_mpu.c
     drivers/accgyro/accgyro_mpu.h
     drivers/accgyro/accgyro_mpu6000.c

src/main/drivers/accgyro/accgyro_icm56686.h

@@ -0,0 +1,21 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it 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.
+ *
+ * INAV is distributed in the hope that it 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+bool icm56686AccDetect(accDev_t *acc);
+bool icm56686GyroDetect(gyroDev_t *gyro);

src/main/drivers/accgyro/accgyro_mpu.h

@@ -33,6 +33,7 @@
 #define ICM42688P_WHO_AM_I_CONST            (0x47)
 #define ICM45686_WHO_AM_I_CONST             (0xE9)
 #define ICM40609D_WHO_AM_I_CONST            (0x3B)
+#define ICM56686_WHO_AM_I_CONST             (0x08)
 
 
 // RA = Register Address

src/main/drivers/bus.h

@@ -87,6 +87,7 @@ typedef enum {
     DEVHW_LSM6D,
     DEVHW_ICM45686,
     DEVHW_ICM40609D,
+    DEVHW_ICM56686,
     /* Combined ACC/GYRO/MAG chips */
     DEVHW_MPU9250,
 

src/main/fc/cli.c

@@ -246,7 +246,7 @@ static const char *debugModeNames[DEBUG_COUNT] = {
 // sync with gyroSensor_e
 static const char *const gyroNames[] = {
     "NONE",     "AUTO",   "MPU6000",  "MPU6500", "MPU9250", "BMI160",
-    "ICM20689", "BMI088", "ICM42605", "BMI270",  "LSM6DXX", "ICM45686", "ICM40609D", "FAKE"};
+    "ICM20689", "BMI088", "ICM42605", "BMI270",  "LSM6DXX", "ICM45686", "ICM40609D", "FAKE", "ICM56686"};
 
 // sync this with sensors_e
 static const char * const sensorTypeNames[] = {

src/main/fc/settings.yaml

@@ -2,7 +2,7 @@ tables:
   - name: alignment
     values: ["DEFAULT", "CW0", "CW90", "CW180", "CW270", "CW0FLIP", "CW90FLIP", "CW180FLIP", "CW270FLIP"]
   - name: acc_hardware
-    values: ["NONE", "AUTO", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270","LSM6DXX", "ICM45686", "ICM40609D", "FAKE"]
+    values: ["NONE", "AUTO", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270","LSM6DXX", "ICM45686", "ICM40609D", "FAKE", "ICM56686"]
     enum: accelerationSensor_e
   - name: rangefinder_hardware
     values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C", "FAKE", "TERARANGER_EVO", "USD1_V0", "NRA"]

src/main/sensors/acceleration.c

@@ -47,6 +47,7 @@
 #include "drivers/accgyro/accgyro_icm42605.h"
 #include "drivers/accgyro/accgyro_icm45686.h"
 #include "drivers/accgyro/accgyro_icm40609d.h"
+#include "drivers/accgyro/accgyro_icm56686.h"
 #include "drivers/accgyro/accgyro_lsm6dxx.h"
 #include "drivers/accgyro/accgyro_fake.h"
 #include "drivers/sensor.h"
@@ -273,6 +274,18 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
         }
         FALLTHROUGH;
 #endif
+#ifdef USE_IMU_ICM56686
+    case ACC_ICM56686:
+        if (icm56686AccDetect(dev)) {
+            accHardware = ACC_ICM56686;
+            break;
+        }
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (accHardwareToUse != ACC_AUTODETECT) {
+            break;
+        }
+        FALLTHROUGH;
+#endif
 #ifdef USE_IMU_FAKE
     case ACC_FAKE:
         if (fakeAccDetect(dev)) {

src/main/sensors/acceleration.h

@@ -47,7 +47,10 @@ typedef enum {
     ACC_ICM45686,
     ACC_ICM40609D,
     ACC_FAKE,
-    ACC_MAX = ACC_FAKE
+    // New sensors go after ACC_FAKE: acc_hardware is persisted (and AUTO is
+    // replaced by the detected value), so existing values must not shift.
+    ACC_ICM56686,
+    ACC_MAX = ACC_ICM56686
 } accelerationSensor_e;
 
 typedef struct {

src/main/sensors/gyro.c

@@ -49,6 +49,7 @@
 #include "drivers/accgyro/accgyro_icm42605.h"
 #include "drivers/accgyro/accgyro_icm45686.h"
 #include "drivers/accgyro/accgyro_icm40609d.h"
+#include "drivers/accgyro/accgyro_icm56686.h"
 #include "drivers/accgyro/accgyro_lsm6dxx.h"
 #include "drivers/accgyro/accgyro_fake.h"
 #include "drivers/io.h"
@@ -268,6 +269,15 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev, gyroSensor_e gyroHard
         FALLTHROUGH;
 #endif
 
+#ifdef USE_IMU_ICM56686
+    case GYRO_ICM56686:
+        if (icm56686GyroDetect(dev)) {
+            gyroHardware = GYRO_ICM56686;
+            break;
+        }
+        FALLTHROUGH;
+#endif
+
 #ifdef USE_IMU_FAKE
     case GYRO_FAKE:
         if (fakeGyroDetect(dev)) {

src/main/sensors/gyro.h

@@ -45,7 +45,10 @@ typedef enum {
     GYRO_LSM6DXX,
     GYRO_ICM45686,
     GYRO_ICM40609D,
-    GYRO_FAKE
+    GYRO_FAKE,
+    // New sensors go after GYRO_FAKE to keep existing values (reported over
+    // MSP/blackbox) stable; keep in sync with accelerationSensor_e.
+    GYRO_ICM56686
 } gyroSensor_e;
 
 typedef enum {

src/main/target/common_hardware.c

@@ -86,6 +86,10 @@
         BUSDEV_REGISTER_SPI(busdev_icm45686,    DEVHW_ICM45686,     ICM45686_SPI_BUS,   ICM45686_CS_PIN,    NONE,  DEVFLAGS_NONE,  IMU_ICM45686_ALIGN);
     #endif
 
+    #if defined(USE_IMU_ICM56686)
+        BUSDEV_REGISTER_SPI(busdev_icm56686,    DEVHW_ICM56686,     ICM56686_SPI_BUS,   ICM56686_CS_PIN,    NONE,  DEVFLAGS_NONE,  IMU_ICM56686_ALIGN);
+    #endif
+
 #endif