TIM10_CH1 is used for temperature sensing and is not mapped in dev board c for now
INT1_Accel and INT1_Gyro is not mapped in dev board c
IMU is using SPI1 and thus we need to enable SPI1 in menuconfig.
Under board/robomaster/devc/nuttx-config/include/board.h we also need to define SPI1_CLK, SPI1_MOSI and SPI_MISO pins
CS1_Accel and CS1_Gyro is defined under board/robomaster/devc/src/spi.cpp
initSPIBus first argument indicate which SPI we are using
second argument takes in a list of initSPIDevice
first argument is the device type, which can be selected from src/drivers/drv_sensor.h
second argument is the CS pin to use
Default.cmake config:
Enable imu/bosch/bmi088 under drivers
Enable topic_listener under systemcmds
Reading the IMU data:
Run uorb start
Run bmi088 -A/G -s -b 1 start (A for accel, G for gyro)
Default.cmake config:
Reading the IMU data:
uorb startbmi088 -A/G -s -b 1 start(A for accel, G for gyro)uorb statuslistener <topic title>