drivers/imu: new Murata SCH16T IMU driver (#22914)

---------

Co-authored-by: alexklimaj <[email protected]>

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -138,6 +138,12 @@ then
 	adis16507 -S start
 fi
 
+# SCH16T spi external IMU
+if param compare -s SENS_EN_SCH16T 1
+then
+	sch16t -S start
+fi
+
 # Eagle Tree airspeed sensor external I2C
 if param compare -s SENS_EN_ETSASPD 1
 then

boards/ark/fmu-v6x/default.px4board

@@ -20,6 +20,7 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
+CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y

src/drivers/drv_sensor.h

@@ -133,6 +133,8 @@
 #define DRV_IMU_DEVTYPE_ADIS16477	0x59
 #define DRV_IMU_DEVTYPE_ADIS16507	0x5A
 
+#define DRV_IMU_DEVTYPE_SCH16T		0x5B
+
 #define DRV_BARO_DEVTYPE_MPC2520	0x5F
 #define DRV_BARO_DEVTYPE_LPS22HB	0x60
 

src/drivers/imu/Kconfig

@@ -8,6 +8,7 @@ menu "IMU"
         select DRIVERS_IMU_ANALOG_DEVICES_ADIS16470
         select DRIVERS_IMU_BOSCH_BMI055
         select DRIVERS_IMU_BOSCH_BMI088
+        select DRIVERS_IMU_MURATA_SCH16T
         select DRIVERS_IMU_NXP_FXAS21002C
         select DRIVERS_IMU_NXP_FXOS8701CQ
         select DRIVERS_IMU_INVENSENSE_ICM20602

src/drivers/imu/murata/Kconfig

@@ -0,0 +1,3 @@
+menu "Murata"
+rsource "*/Kconfig"
+endmenu #Murata

src/drivers/imu/murata/sch16t/CMakeLists.txt

@@ -0,0 +1,47 @@
+############################################################################
+#
+#   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE drivers__imu__murata__sch16t
+	MAIN sch16t
+	COMPILE_FLAGS
+	SRCS
+		SCH16T.cpp
+		SCH16T.hpp
+		sch16t_main.cpp
+		Murata_SCH16T_registers.hpp
+	DEPENDS
+		drivers_accelerometer
+		drivers_gyroscope
+		px4_work_queue
+	)

src/drivers/imu/murata/sch16t/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_IMU_MURATA_SCH16T
+	bool "SCH16T"
+	default n
+	---help---
+		Enable support for murata SCH16T

src/drivers/imu/murata/sch16t/Murata_SCH16T_registers.hpp

@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <cstdint>
+
+namespace Murata_SCH16T
+{
+static constexpr uint32_t SPI_SPEED = 5 * 1000 * 1000;  	// 5 MHz SPI serial interface
+static constexpr uint32_t SAMPLE_INTERVAL_US = 678;     	// 1500 Hz -- decimation factor 8, F_PRIM/16, 1.475 kHz
+static constexpr uint16_t EOI = (1 << 1); 			// End of Initialization
+static constexpr uint16_t EN_SENSOR = (1 << 0); 		// Enable RATE and ACC measurement
+static constexpr uint16_t DRY_DRV_EN = (1 << 5); 		// Enables Data ready function
+static constexpr uint16_t FILTER_BYPASS = (0b111); 		// Bypass filter
+static constexpr uint16_t RATE_300DPS_1475HZ = 0b0'001'001'011'011'011; // Gyro XYZ range 300 deg/s @ 1475Hz
+static constexpr uint16_t ACC12_8G_1475HZ = 0b0'001'001'011'011'011;  // Acc XYZ range 8 G and 1475 update rate
+static constexpr uint16_t ACC3_26G = (0b000 << 0);
+static constexpr uint16_t SPI_SOFT_RESET = (0b1010);
+
+// Data registers
+#define RATE_X1         0x01 // 20 bit
+#define RATE_Y1         0x02 // 20 bit
+#define RATE_Z1         0x03 // 20 bit
+#define ACC_X1          0x04 // 20 bit
+#define ACC_Y1          0x05 // 20 bit
+#define ACC_Z1          0x06 // 20 bit
+#define ACC_X3          0x07 // 20 bit
+#define ACC_Y3          0x08 // 20 bit
+#define ACC_Z3          0x09 // 20 bit
+#define RATE_X2         0x0A // 20 bit
+#define RATE_Y2         0x0B // 20 bit
+#define RATE_Z2         0x0C // 20 bit
+#define ACC_X2          0x0D // 20 bit
+#define ACC_Y2          0x0E // 20 bit
+#define ACC_Z2          0x0F // 20 bit
+#define TEMP            0x10 // 16 bit
+// Status registers
+#define STAT_SUM        0x14 // 16 bit
+#define STAT_SUM_SAT    0x15 // 16 bit
+#define STAT_COM        0x16 // 16 bit
+#define STAT_RATE_COM   0x17 // 16 bit
+#define STAT_RATE_X     0x18 // 16 bit
+#define STAT_RATE_Y     0x19 // 16 bit
+#define STAT_RATE_Z     0x1A // 16 bit
+#define STAT_ACC_X      0x1B // 16 bit
+#define STAT_ACC_Y      0x1C // 16 bit
+#define STAT_ACC_Z      0x1D // 16 bit
+// Control registers
+#define CTRL_FILT_RATE  0x25 // 9 bit
+#define CTRL_FILT_ACC12 0x26 // 9 bit
+#define CTRL_FILT_ACC3  0x27 // 9 bit
+#define CTRL_RATE       0x28 // 15 bit
+#define CTRL_ACC12      0x29 // 15 bit
+#define CTRL_ACC3       0x2A // 3 bit
+#define CTRL_USER_IF    0x33 // 16 bit
+#define CTRL_ST         0x34 // 13 bit
+#define CTRL_MODE       0x35 // 4 bit
+#define CTRL_RESET      0x36 // 4 bit
+// Misc registers
+#define ASIC_ID         0x3B // 12 bit
+#define COMP_ID         0x3C // 16 bit
+#define SN_ID1          0x3D // 16 bit
+#define SN_ID2          0x3E // 16 bit
+#define SN_ID3          0x3F // 16 bit
+
+// STAT_SUM_SAT bits
+#define STAT_SUM_SAT_RSVD    (1 << 15)
+#define STAT_SUM_SAT_RATE_X1 (1 << 14)
+#define STAT_SUM_SAT_RATE_Y1 (1 << 13)
+#define STAT_SUM_SAT_RATE_Z1 (1 << 12)
+#define STAT_SUM_SAT_ACC_X1  (1 << 11)
+#define STAT_SUM_SAT_ACC_Y1  (1 << 10)
+#define STAT_SUM_SAT_ACC_Z1  (1 << 9)
+#define STAT_SUM_SAT_ACC_X3  (1 << 8)
+#define STAT_SUM_SAT_ACC_Y3  (1 << 7)
+#define STAT_SUM_SAT_ACC_Z3  (1 << 6)
+#define STAT_SUM_SAT_RATE_X2 (1 << 5)
+#define STAT_SUM_SAT_RATE_Y2 (1 << 4)
+#define STAT_SUM_SAT_RATE_Z2 (1 << 3)
+#define STAT_SUM_SAT_ACC_X2  (1 << 2)
+#define STAT_SUM_SAT_ACC_Y2  (1 << 1)
+#define STAT_SUM_SAT_ACC_Z2  (1 << 0)
+
+} // namespace Murata_SCH16T