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ARK SCH16T driver updated for new Murata modules #24029

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ARK SCH16T driver updated for new Murata modules #24029

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009e162
Added the ranges for the new ARK Murata IMUs and added the logic to t…
patrikpordi Nov 22, 2024
45bddf1
Ran make format
patrikpordi Nov 22, 2024
ff62651
Merge branch 'main' into ark/sch16t
AlexKlimaj Dec 16, 2024
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37 changes: 33 additions & 4 deletions src/drivers/imu/murata/sch16t/SCH16T.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -108,9 +108,28 @@ int SCH16T::probe()
PX4_INFO("COMP_ID:\t 0x%0x", comp_id);
PX4_INFO("ASIC_ID:\t 0x%0x", asic_id);

bool success = asic_id == 0x21 && comp_id == 0x23;
// Determine chip version based on COMP_ID and ASIC_ID

return success ? PX4_OK : PX4_ERROR;
if (asic_id == 0x21 && comp_id == 0x23) {
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For actually storing the detected version I would do all of this in the configure() (after the reset) where it actually matters.

_detected_version = ChipVersion::REV_1;

} else if ((asic_id == 0x20 && comp_id == 0x17) || (asic_id == 0x21 && comp_id == 0x24)) {
// ASIC_ID = 0x20, COMP_ID = 0x17 is a B13 variant of REV_2
// ASIC_ID = 0x21, COMP_ID = 0x24 is a B10 variant of REV_2
_detected_version = ChipVersion::REV_2;

} else {
_detected_version = ChipVersion::UNKNOWN;
PX4_ERR("Unsupported COMP_ID and ASIC_ID combination");
PX4_ERR("COMP_ID: 0x%04X, ASIC_ID: 0x%04X", comp_id, asic_id);
return PX4_ERROR;
}

// Log the detected version
PX4_INFO("Detected Chip Version: %d", static_cast<int>(_detected_version));

// Return success
return PX4_OK;
}

void SCH16T::Reset()
Expand Down Expand Up @@ -375,8 +394,18 @@ void SCH16T::ConfigurationFromParameters()
acc12_ctrl.bits.DYN_ACC_XYZ2 = ACC12_RANGE_80;
acc3_ctrl.bits.DYN_ACC_XYZ3 = ACC3_RANGE_260;

_px4_gyro.set_range(math::radians(327.5f)); // 327.5 °/sec
_px4_gyro.set_scale(math::radians(1.f / 1600.f)); // 1600 LSB/(°/sec)
// Set the range and scale for the sensors based on the detected chip version
if (_detected_version == ChipVersion::REV_1) {
_px4_gyro.set_range(math::radians(327.5f)); // 327.5 °/sec
_px4_gyro.set_scale(math::radians(1.f / 1600.f)); // 1600 LSB/(°/sec)
PX4_INFO("Configured gyro for VERSION_1");

} else {
_px4_gyro.set_range(math::radians(5000.f)); // 5000 °/sec
_px4_gyro.set_scale(math::radians(1.f / 100.f)); // 100 LSB/(°/sec)
PX4_INFO("Configured gyro for VERSION_2");
}

_px4_accel.set_range(163.4f); // 163.4 m/s2
_px4_accel.set_scale(1.f / 3200.f); // 3200 LSB/(m/s2)

Expand Down
7 changes: 7 additions & 0 deletions src/drivers/imu/murata/sch16t/SCH16T.hpp
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Expand Up @@ -87,6 +87,13 @@ class SCH16T : public device::SPI, public I2CSPIDriver<SCH16T>, public ModulePar
uint16_t value;
};

enum class ChipVersion {
UNKNOWN = 0,
REV_1 = 1, // ASIC_ID = 0x21, COMP_ID = 0x23
REV_2 = 2 // ASIC_ID = 0x20, COMP_ID = 0x17
};
ChipVersion _detected_version = ChipVersion::UNKNOWN;

int probe() override;
void exit_and_cleanup() override;

Expand Down
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