AHRS i2c address settings

[rush0815]

Hi community,

I have made a new compact AHRS module for stratux. The first prototypes have just arrived. But unfortunately I have routed the PCB so that the ICM20948 has got the alternative address. Stratux detects at the moment:
BMP280 @ 0x66
ICM20948 @ 0x76

Baro is working, even it is on 0x69. But the ICM on 0x76 does not work at the moment.

So my question is in which file are the addresses of the sensors placed. I looked in /sensors folder in /stratux/main/sensors.go but I could not find the addresses.
I found the register defines for WHO_AM_I's but that is not what I am looking for.

I want to adapt the sensor addresses to get my modules working.

[VirusPilot]

Any chance that you could share some pictures from your module?

[rush0815]

sure!

Its pretty straight forward. BMP280, V-Reg for the ICM-20948 and a levelshifter.

[rush0815]

After a few more investigations on the I2c functions I found out:

1. https://github.com/b3nn0/stratux/blob/master/main/sensors.go#L177 - Line 179

• changing the address on that line stratux recognize the IMU correctly as expected.

What I am missing now is the actual data reading/writing part since there is also the address hardcoded. I found:

https://github.com/b3nn0/goflying/blob/c0701d10ae2f8b38acbe2f7b0242eb8e1432fbfe/mpu9250/dmp_constants.go#L16

For me it looks a little bit confusing to mix up two IMUs in one single file and name it like one of the IMUs part number.
This is the only line I could find that refers to a IMUs slave addresss. But I could not find any reference/include from the actual stratux project to that file.

Can someone who is more into that project point me in the right direction or give me a short description about the dependencies please?

[b3nn0]

Yes. stratux/main/sensors.go is only for identifying what chips we have. The actual work is done by the goflying library, so you are at the correct place.
If you create a working pull request, I'm happy to merge it.
Yes, the code, especially in this area is not the cleanest - it's basically unchanged from original Stratux. But I'm not really using that feature, so I personally don't bother too much. I'm happy to merge PRs that improve things though.

EDIT: Note that the stratux_master branch of goflying is used for Stratux.

[rush0815]

Basically, I would like to have it flexible so that it does not matter which address the sensors have. basically i want to have an auto detection feature for the possible sensors.

[wadoadi]

Out of interest will you be selling these once they are supported?Sent from my mobile deviceOn 13 Oct 2023, at 12:13 pm, rush0815 ***@***.***> wrote: Basically, I would like to have it flexible so that it does not matter which address the sensors have. basically i want to have an auto detection feature for the possible sensors. —Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

[rush0815]

Well, if there is enough interest, why not?

Do you want one?

[wadoadi]

No reason not too, I was considering doing one but wanted to put the SDRs on board too…Yes possible depending on the price I would a couple.ThanksAdrianSent from my mobile deviceOn 13 Oct 2023, at 1:35 pm, rush0815 ***@***.***> wrote: Well, if there is enough interest, why not? Do you want one? —Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you commented.Message ID: ***@***.***>

[rush0815]

How did you plan to move the SDRs on the PCB? Just mount two USB connectors onto a HAT to get better mechanical stability ( hopefully) ?

[wadoadi]

No was going to look at the possibility of a an i2c interface. But decided against it! Sent from my mobile deviceOn 13 Oct 2023, at 3:19 pm, rush0815 ***@***.***> wrote: How did you plan to move the SDRs on the PCB? Just mount two USB connectors onto a HAT to get better mechanical stability ( hopefully) ? —Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you commented.Message ID: ***@***.***>

[wadoadi]

Sorry for using this method of communications… @rush0815 would you mind dropping me a direct message to ***@***.*** ***@***.***> I have been trying to find another way to contact you! Thanks Adrian From: Adrian ***@***.***> Sent: 13 October 2023 16:26 To: b3nn0/stratux ***@***.***> Cc: b3nn0/stratux ***@***.***>; Comment ***@***.***> Subject: Re: [b3nn0/stratux] AHRS i2c address settings (Discussion #250) No was going to look at the possibility of a an i2c interface. But decided against it! Sent from my mobile ***@***.*** could you drop me a direct email ***@***.*** ***@***.***> ? Thanks Adrian On 13 Oct 2023, at 3:19 pm, rush0815 ***@***.*** ***@***.***> > wrote:  How did you plan to move the SDRs on the PCB? Just mount two USB connectors onto a HAT to get better mechanical stability ( hopefully) ? — Reply to this email directly, <#250 (reply in thread)> view it on GitHub, or <https://github.com/notifications/unsubscribe-auth/ACWLQ3OBV2NWFM6IWEABX2DX7FEXHANCNFSM6AAAAAA55537F4> unsubscribe. You are receiving this because you commented. <https://github.com/notifications/beacon/ACWLQ3PL5OP6QLAMIHOOAY3X7FEXHA5CNFSM6AAAAAA55537F6WGG33NNVSW45C7OR4XAZNRIRUXGY3VONZWS33OINXW23LFNZ2KUY3PNVWWK3TUL5UWJTQAN3752.gif> Message ID: < ***@***.***> ***@***.***>