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chore(v16): add support for more IMU hardware #7482

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a92a939
The gyroscope of V16 has been enhanced with multi-chip dynamic loadin…
helloradiosky Jun 23, 2026
c64e010
refactor(horus): make IMU detection chip-define driven, not handset-s…
pfeerick Jun 23, 2026
9cb5a9f
refactor(horus): unconditionally build sc7u22 IMU driver like other I…
pfeerick Jun 24, 2026
f4a517d
fix(horus): correct ICM42627 register sequencing and I2C probe retries
pfeerick Jun 25, 2026
68e1bb5
fix(horus): restore register bank 0 on GYRO_STATIC2 write failure
pfeerick Jun 25, 2026
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57 changes: 35 additions & 22 deletions radio/src/drivers/icm42627.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,8 +31,9 @@ static etx_i2c_bus_t s_i2c_bus;
static uint16_t s_i2c_addr;

static constexpr uint32_t RESET_DELAY_MS = 150;
static constexpr uint32_t READY_TIMEOUT_MS = 200;
static constexpr uint32_t POWER_DELAY_MS = 20;
static constexpr uint32_t READY_TIMEOUT_MS = 500;
static constexpr uint32_t POWER_ON_SETTLE_US = 200;
static constexpr uint32_t GYRO_STARTUP_DELAY_MS = 45;
static constexpr uint32_t CONFIG_DELAY_MS = 1;
static constexpr uint8_t BURST_READ_LEN = 14;

Expand Down Expand Up @@ -75,7 +76,10 @@ static int gyro42627Init(etx_i2c_bus_t bus, uint16_t addr)
return -1;
}

if (i2c_dev_ready(s_i2c_bus, s_i2c_addr) < 0) {
// The chip can take longer than a couple of quick retries to start
// acknowledging on I2C after power-up, so give the initial probe the
// same generous retry window used after a soft reset below.
if (wait_for_device_ready(READY_TIMEOUT_MS) < 0) {
TRACE("ICM42627: device did not acknowledge on I2C");
return -1;
}
Expand Down Expand Up @@ -103,17 +107,28 @@ static int gyro42627Init(etx_i2c_bus_t bus, uint16_t addr)
return -1;
}

if (write_cmd(ICM42627_PWR_MGMT0_REG, ICM42627_PWR_STAGE1) < 0) {
TRACE("ICM42627: failed to write PWR_MGMT0 stage 1");
// Per datasheet section 12.6 ("Register Values Modification"), registers
// other than ODR/FSR/mode selects must only be changed while the
// accel/gyro are off. Configure the signal path here, while PWR_MGMT0
// still has gyro and accel powered down, then power them on last.
if (write_cmd(ICM42627_BANK_SEL_REG, ICM42627_BANK1) < 0) {
TRACE("ICM42627: failed to select register bank 1");
return -1;
}
delay_ms(POWER_DELAY_MS);
delay_ms(CONFIG_DELAY_MS);

if (write_cmd(ICM42627_PWR_MGMT0_REG, ICM42627_PWR_STAGE2) < 0) {
TRACE("ICM42627: failed to write PWR_MGMT0 stage 2");
if (write_cmd(ICM42627_GYRO_STATIC2_REG, ICM42627_GYRO_STATIC2) < 0) {
TRACE("ICM42627: failed to write GYRO_STATIC2");
write_cmd(ICM42627_BANK_SEL_REG, ICM42627_BANK0);
return -1;
}
Comment thread
pfeerick marked this conversation as resolved.
delay_ms(CONFIG_DELAY_MS);

if (write_cmd(ICM42627_BANK_SEL_REG, ICM42627_BANK0) < 0) {
TRACE("ICM42627: failed to restore register bank 0");
return -1;
}
delay_ms(POWER_DELAY_MS);
delay_ms(CONFIG_DELAY_MS);

if (write_cmd(ICM42627_GYRO_CONFIG0_REG, ICM42627_GYRO_CONFIG) < 0) {
TRACE("ICM42627: failed to write GYRO_CONFIG0");
Expand Down Expand Up @@ -145,25 +160,23 @@ static int gyro42627Init(etx_i2c_bus_t bus, uint16_t addr)
}
delay_ms(CONFIG_DELAY_MS);

if (write_cmd(ICM42627_BANK_SEL_REG, ICM42627_BANK1) < 0) {
TRACE("ICM42627: failed to select register bank 1");
return -1;
}
delay_ms(CONFIG_DELAY_MS);

if (write_cmd(ICM42627_GYRO_STATIC2_REG, ICM42627_GYRO_STATIC2) < 0) {
TRACE("ICM42627: failed to write GYRO_STATIC2");
// Power on gyro and accel in Low Noise mode last, now that the signal
// path is fully configured. The datasheet requires no register writes
// for 200us after an OFF -> mode transition, and the gyro must be kept
// on for at least 45ms before its output is valid.
if (write_cmd(ICM42627_PWR_MGMT0_REG, ICM42627_PWR_STAGE1) < 0) {
TRACE("ICM42627: failed to write PWR_MGMT0 stage 1");
return -1;
}
delay_ms(CONFIG_DELAY_MS);
delay_us(POWER_ON_SETTLE_US);

if (write_cmd(ICM42627_BANK_SEL_REG, ICM42627_BANK0) < 0) {
TRACE("ICM42627: failed to restore register bank 0");
if (write_cmd(ICM42627_PWR_MGMT0_REG, ICM42627_PWR_STAGE2) < 0) {
TRACE("ICM42627: failed to write PWR_MGMT0 stage 2");
return -1;
}
delay_ms(CONFIG_DELAY_MS);
delay_ms(GYRO_STARTUP_DELAY_MS);

// Re-read WHO_AM_I after reset and banked configuration to catch a device
// Re-read WHO_AM_I after reset and configuration to catch a device
// that stopped responding even though the initial probe succeeded.
if (read_cmd(ICM42627_WHO_AM_I_REG, &who_am_i) < 0 ||
who_am_i != ICM42627_WHO_AM_I) {
Expand Down
2 changes: 2 additions & 0 deletions radio/src/drivers/icm42627.h
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,8 @@

#include "hal/imu.h"

#define ICM42627_I2C_BASE_ADDR 0x68

#define ICM42627_WHO_AM_I_REG 0x75
#define ICM42627_WHO_AM_I 0x20

Expand Down
3 changes: 3 additions & 0 deletions radio/src/targets/horus/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -116,6 +116,8 @@ if (PCB STREQUAL X10)
set(AUX2_SERIAL OFF)
set(CSD203_SENSOR ON)
set(FLYSKY_GIMBAL ON)
add_definitions(-DIMU_ICM42627)
add_definitions(-DIMU_SC7U22)
if (BLUETOOTH)
set(AUX_SERIAL OFF)
endif()
Expand Down Expand Up @@ -285,6 +287,7 @@ add_library(board OBJECT EXCLUDE_FROM_ALL
targets/common/arm/stm32/heartbeat_driver.cpp
drivers/lsm6ds.cpp
drivers/icm42627.cpp
drivers/sc7u22.cpp
targets/common/arm/stm32/mixer_scheduler_driver.cpp
targets/common/arm/stm32/module_timer_driver.cpp
targets/common/arm/stm32/sticks_pwm_driver.cpp
Expand Down
47 changes: 31 additions & 16 deletions radio/src/targets/horus/board.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,8 +52,22 @@
#include "csd203_sensor.h"
#endif

#if defined(IMU) && defined(IMU_I2C_BUS) && defined(IMU_I2C_ADDRESS)
#if defined(IMU) && defined(IMU_I2C_BUS) && \
(defined(IMU_I2C_ADDRESS) || defined(IMU_ICM42627) || \
defined(IMU_SC7U22) || defined(IMU_LSM6DS33))
Comment thread
pfeerick marked this conversation as resolved.
#define HAS_IMU
#include "gyro.h"
#include "stm32_i2c_driver.h"
#if defined(IMU_ICM42627)
#include "drivers/icm42627.h"
#endif
#if defined(IMU_SC7U22)
#include "drivers/sc7u22.h"
#endif
#if defined(IMU_LSM6DS33) || \
(!defined(IMU_ICM42627) && !defined(IMU_SC7U22) && defined(IMU_I2C_ADDRESS))
#include "drivers/lsm6ds.h"
#endif
#endif

HardwareOptions hardwareOptions;
Expand Down Expand Up @@ -133,25 +147,26 @@ void audioInit()
#endif

#if defined(HAS_IMU)
#include "gyro.h"
#include "stm32_i2c_driver.h"
#include "drivers/icm42627.h"
#include "drivers/lsm6ds.h"
static const etx_imu_t _imu_candidates[] = {
#if defined(IMU_ICM42627)
{ &imu_icm42627_driver, IMU_I2C_BUS, ICM42627_I2C_BASE_ADDR },
{ &imu_icm42627_driver, IMU_I2C_BUS, ICM42627_I2C_BASE_ADDR + 1 },
#endif
#if defined(IMU_SC7U22)
{ &imu_sc7u22_driver, IMU_I2C_BUS, SC7U22_I2C_BASE_ADDR },
{ &imu_sc7u22_driver, IMU_I2C_BUS, SC7U22_I2C_BASE_ADDR + 1 },
#endif
#if defined(IMU_LSM6DS33) || \
(!defined(IMU_ICM42627) && !defined(IMU_SC7U22) && defined(IMU_I2C_ADDRESS))
{ &imu_lsm6ds_driver, IMU_I2C_BUS, IMU_I2C_ADDRESS },
#endif
};

static void gyroInit()
{
#if defined(RADIO_V16)
const etx_imu_driver_t *driver = &imu_icm42627_driver;
#else
const etx_imu_driver_t *driver = &imu_lsm6ds_driver;
#endif

const etx_imu_t candidates[] = {
{ driver, IMU_I2C_BUS, IMU_I2C_ADDRESS },
};

gyroStart(imuDetect(candidates, DIM(candidates)));
gyroStart(imuDetect(_imu_candidates, DIM(_imu_candidates)));
}

#endif

void boardInit()
Expand Down
1 change: 0 additions & 1 deletion radio/src/targets/horus/hal.h
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Original file line number Diff line number Diff line change
Expand Up @@ -466,7 +466,6 @@
#define IMU_I2C_ADDRESS 0x6A
#elif defined(RADIO_V16)
#define IMU_I2C_BUS I2C_Bus_1
#define IMU_I2C_ADDRESS 0x69
#elif !defined(AUX_SERIAL) && defined(IMU_LSM6DS33)
#define IMU_I2C_BUS I2C_Bus_2
#define IMU_I2C_ADDRESS 0x6A
Expand Down