Merge pull request #599 from sugihara-16/PR/feature/spinal/imu/icm20948

[Spinal][IMU] developing a interface for ICM20948
jsk-ros-pkg · Jun 25, 2024 · 4b56854 · 4b56854
2 parents d0be362 + 0d95e29
commit 4b56854
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diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/Src/main.c b/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/Src/main.c
@@ -42,7 +42,8 @@
 /* Sensors */
 #if IMU_FLAG
 #include "sensors/imu/imu_ros_cmd.h"
-#include "sensors/imu/imu_mpu9250.h"
+#include "sensors/imu/drivers/mpu9250/imu_mpu9250.h"
+#include "sensors/imu/drivers/icm20948/icm_20948.h"
 #endif
 
 #if BARO_FLAG
@@ -98,8 +99,10 @@ bool start_processing_flag_ = false; //to prevent systick_callback starting  bef
 
 ros::NodeHandle nh_;
 
-#if IMU_FLAG
+#if IMU_MPU
 IMUOnboard imu_;
+#elif IMU_ICM
+ICM20948 imu_;
 #endif
 
 #if BARO_FLAG

diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/main.h b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/main.h
@@ -86,6 +86,8 @@ void Error_Handler(void);
 #define RMII_TXD1_GPIO_Port GPIOB
 #define IMUCS_Pin GPIO_PIN_6
 #define IMUCS_GPIO_Port GPIOB
+#define SPI1_CS_Pin GPIO_PIN_7
+#define SPI1_CS_GPIO_Port GPIOB
 #define BAROCS_Pin GPIO_PIN_1
 #define BAROCS_GPIO_Port GPIOE
 /* USER CODE BEGIN Private defines */

diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/.cproject b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/.cproject
@@ -25,7 +25,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.1560105099" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv5-d16" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.451674053" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1123785686" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.785140283" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32H743VITx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../../Drivers/CMSIS/Include | ../../Middlewares/Third_Party/LwIP/src/include/lwip/priv | ../../Middlewares/Third_Party/LwIP/src/include/netif/ppp | ../../Middlewares/Third_Party/LwIP/src/include/lwip/apps | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/net | ../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../../Middlewares/Third_Party/LwIP/src/include/lwip | ../../Middlewares/Third_Party/LwIP/src/include/lwip/prot | ../../Drivers/STM32H7xx_HAL_Driver/Inc | ../../Middlewares/Third_Party/LwIP/src/include/compat/stdc | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix | ../../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../../Middlewares/Third_Party/LwIP/system/arch | ../../Middlewares/Third_Party/FreeRTOS/Source/include | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys | ../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../../Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../../Middlewares/Third_Party/LwIP/system | ../../Middlewares/Third_Party/LwIP/src/include | ../../Middlewares/Third_Party/LwIP/src/include/netif | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa | ../../Drivers/BSP/Components/lan8742 ||  ||  || USE_HAL_DRIVER | STM32H743xx ||  ||  ||  ||  || ${workspace_loc:/${ProjName}/STM32H743VITX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.785140283" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32H743VITx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../../Drivers/CMSIS/Include | ../../Middlewares/Third_Party/LwIP/src/include/lwip/priv | ../../Middlewares/Third_Party/LwIP/src/include/netif/ppp | ../../Middlewares/Third_Party/LwIP/src/include/lwip/apps | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/net | ../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../../Middlewares/Third_Party/LwIP/src/include/lwip | ../../Middlewares/Third_Party/LwIP/src/include/lwip/prot | ../../Drivers/STM32H7xx_HAL_Driver/Inc | ../../Middlewares/Third_Party/LwIP/src/include/compat/stdc | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix | ../../Drivers/BSP/Components/lan8742 | ../../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../../Middlewares/Third_Party/LwIP/system/arch | ../../Middlewares/Third_Party/FreeRTOS/Source/include | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys | ../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../../Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../../Middlewares/Third_Party/LwIP/system | ../../Middlewares/Third_Party/LwIP/src/include | ../../Middlewares/Third_Party/LwIP/src/include/netif | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa ||  ||  || USE_HAL_DRIVER | STM32H743xx ||  ||  ||  ||  || ${workspace_loc:/${ProjName}/STM32H743VITX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.1808345384" name="Toolchain" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32.9-2020-q2-update" valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1732425603" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/spinal}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.530361035" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
@@ -209,7 +209,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.619623993" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv5-d16" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.579314840" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1946193872" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.15398046" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32H743VITx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../../Drivers/CMSIS/Include | ../../Middlewares/Third_Party/LwIP/src/include/lwip/priv | ../../Middlewares/Third_Party/LwIP/src/include/netif/ppp | ../../Middlewares/Third_Party/LwIP/src/include/lwip/apps | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/net | ../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../../Middlewares/Third_Party/LwIP/src/include/lwip | ../../Middlewares/Third_Party/LwIP/src/include/lwip/prot | ../../Drivers/STM32H7xx_HAL_Driver/Inc | ../../Middlewares/Third_Party/LwIP/src/include/compat/stdc | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix | ../../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../../Middlewares/Third_Party/LwIP/system/arch | ../../Middlewares/Third_Party/FreeRTOS/Source/include | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys | ../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../../Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../../Middlewares/Third_Party/LwIP/system | ../../Middlewares/Third_Party/LwIP/src/include | ../../Middlewares/Third_Party/LwIP/src/include/netif | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa | ../../Drivers/BSP/Components/lan8742 ||  ||  || USE_HAL_DRIVER | STM32H743xx ||  ||  ||  ||  || ${workspace_loc:/${ProjName}/STM32H743VITX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.15398046" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32H743VITx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../../Drivers/CMSIS/Include | ../../Middlewares/Third_Party/LwIP/src/include/lwip/priv | ../../Middlewares/Third_Party/LwIP/src/include/netif/ppp | ../../Middlewares/Third_Party/LwIP/src/include/lwip/apps | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/net | ../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../../Middlewares/Third_Party/LwIP/src/include/lwip | ../../Middlewares/Third_Party/LwIP/src/include/lwip/prot | ../../Drivers/STM32H7xx_HAL_Driver/Inc | ../../Middlewares/Third_Party/LwIP/src/include/compat/stdc | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix | ../../Drivers/BSP/Components/lan8742 | ../../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../../Middlewares/Third_Party/LwIP/system/arch | ../../Middlewares/Third_Party/FreeRTOS/Source/include | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys | ../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../../Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../../Middlewares/Third_Party/LwIP/system | ../../Middlewares/Third_Party/LwIP/src/include | ../../Middlewares/Third_Party/LwIP/src/include/netif | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa ||  ||  || USE_HAL_DRIVER | STM32H743xx ||  ||  ||  ||  || ${workspace_loc:/${ProjName}/STM32H743VITX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.2052134197" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/spinal}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.843691260" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1567965632" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
@@ -341,4 +341,5 @@
 			<autodiscovery enabled="false" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
 	</storageModule>
+	<storageModule moduleId="refreshScope"/>
 </cproject>
diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c
@@ -35,7 +35,8 @@
 #include <spinal/Imu.h>
 
 #include "flashmemory/flashmemory.h"
-#include "sensors/imu/imu_mpu9250.h"
+#include "sensors/imu/drivers/mpu9250/imu_mpu9250.h"
+#include "sensors/imu/drivers/icm20948/icm_20948.h"
 #include "sensors/imu/imu_ros_cmd.h"
 #include "sensors/baro/baro_ms5611.h"
 #include "sensors/gps/gps_ublox.h"
@@ -100,7 +101,11 @@ osMailQId canMsgMailHandle;
 ros::NodeHandle nh_;
 
 /* sensor instances */
+#if IMU_MPU
 IMUOnboard imu_;
+#elif IMU_ICM
+ICM20948 imu_;
+#endif
 Baro baro_;
 GPS gps_;
 BatteryStatus battery_status_;
@@ -293,7 +298,7 @@ int main(void)
 
   /* Create the thread(s) */
   /* definition and creation of coreTask */
-  osThreadDef(coreTask, coreTaskFunc, osPriorityRealtime, 0, 512);
+  osThreadDef(coreTask, coreTaskFunc, osPriorityRealtime, 0, 1024);
   coreTaskHandle = osThreadCreate(osThread(coreTask), NULL);
 
   /* definition and creation of rosSpinTask */
@@ -650,10 +655,10 @@ static void MX_SPI1_Init(void)
   hspi1.Init.Mode = SPI_MODE_MASTER;
   hspi1.Init.Direction = SPI_DIRECTION_2LINES;
   hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
-  hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
-  hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
+  hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;
+  hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
   hspi1.Init.NSS = SPI_NSS_SOFT;
-  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256;
+  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
   hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
   hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
   hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
@@ -981,7 +986,7 @@ static void MX_GPIO_Init(void)
   HAL_GPIO_WritePin(GPIOE, LED0_Pin|LED1_Pin|LED2_Pin|BAROCS_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(IMUCS_GPIO_Port, IMUCS_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOB, IMUCS_Pin|SPI1_CS_Pin, GPIO_PIN_SET);
 
   /*Configure GPIO pins : LED0_Pin LED1_Pin LED2_Pin */
   GPIO_InitStruct.Pin = LED0_Pin|LED1_Pin|LED2_Pin;
@@ -997,6 +1002,13 @@ static void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
   HAL_GPIO_Init(IMUCS_GPIO_Port, &GPIO_InitStruct);
 
+  /*Configure GPIO pin : SPI1_CS_Pin */
+  GPIO_InitStruct.Pin = SPI1_CS_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+  HAL_GPIO_Init(SPI1_CS_GPIO_Port, &GPIO_InitStruct);
+
   /*Configure GPIO pin : BAROCS_Pin */
   GPIO_InitStruct.Pin = BAROCS_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@@ -1055,7 +1067,6 @@ void coreTaskFunc(void const * argument)
 #if NERVE_COMM
       Spine::send();
 #endif
-
       imu_.update();
       baro_.update();
       gps_.update();

diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/spinal.ioc b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/spinal.ioc
@@ -123,7 +123,7 @@ FREERTOS.BinarySemaphores01=coreTaskSem,Dynamic,NULL;uartTxSem,Dynamic,NULL
 FREERTOS.FootprintOK=true
 FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE,FootprintOK,configUSE_TIMERS,configTIMER_TASK_PRIORITY,Timers01,BinarySemaphores01,Mutexes01
 FREERTOS.Mutexes01=rosPubMutex,Dynamic,NULL;flightControlMutex,Dynamic,NULL
-FREERTOS.Tasks01=coreTask,3,512,coreTaskFunc,Default,NULL,Dynamic,NULL,NULL;rosSpinTask,0,256,rosSpinTaskFunc,Default,NULL,Dynamic,NULL,NULL;idleTask,-3,128,idleTaskFunc,Default,NULL,Dynamic,NULL,NULL;rosPublish,-1,128,rosPublishTask,Default,NULL,Dynamic,NULL,NULL;voltage,-2,256,voltageTask,Default,NULL,Dynamic,NULL,NULL;canRx,3,256,canRxTask,As weak,NULL,Dynamic,NULL,NULL
+FREERTOS.Tasks01=coreTask,3,1024,coreTaskFunc,Default,NULL,Dynamic,NULL,NULL;rosSpinTask,0,256,rosSpinTaskFunc,Default,NULL,Dynamic,NULL,NULL;idleTask,-3,128,idleTaskFunc,Default,NULL,Dynamic,NULL,NULL;rosPublish,-1,128,rosPublishTask,Default,NULL,Dynamic,NULL,NULL;voltage,-2,256,voltageTask,Default,NULL,Dynamic,NULL,NULL;canRx,3,256,canRxTask,As weak,NULL,Dynamic,NULL,NULL
 FREERTOS.Timers01=coreTaskTimer,coreTaskEvokeCb,osTimerPeriodic,Default,NULL,Dynamic,NULL
 FREERTOS.configTIMER_TASK_PRIORITY=6
 FREERTOS.configTOTAL_HEAP_SIZE=25600
@@ -211,21 +211,22 @@ Mcu.Pin35=PB3 (JTDO/TRACESWO)
 Mcu.Pin36=PB4 (NJTRST)
 Mcu.Pin37=PB5
 Mcu.Pin38=PB6
-Mcu.Pin39=PB8
+Mcu.Pin39=PB7
 Mcu.Pin4=PH1-OSC_OUT (PH1)
-Mcu.Pin40=PB9
-Mcu.Pin41=PE1
-Mcu.Pin42=VP_FREERTOS_VS_CMSIS_V1
-Mcu.Pin43=VP_LWIP_VS_Enabled
-Mcu.Pin44=VP_SYS_VS_tim12
-Mcu.Pin45=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin46=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin40=PB8
+Mcu.Pin41=PB9
+Mcu.Pin42=PE1
+Mcu.Pin43=VP_FREERTOS_VS_CMSIS_V1
+Mcu.Pin44=VP_LWIP_VS_Enabled
+Mcu.Pin45=VP_SYS_VS_tim12
+Mcu.Pin46=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin47=VP_TIM4_VS_ClockSourceINT
 Mcu.Pin5=PC1
 Mcu.Pin6=PA1
 Mcu.Pin7=PA2
 Mcu.Pin8=PA3
 Mcu.Pin9=PA4
-Mcu.PinsNb=47
+Mcu.PinsNb=48
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32H743VITx
@@ -322,12 +323,19 @@ PB5.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
 PB5.Locked=true
 PB5.Mode=Full_Duplex_Master
 PB5.Signal=SPI1_MOSI
-PB6.GPIOParameters=GPIO_Speed,GPIO_FM6,GPIO_Label
+PB6.GPIOParameters=GPIO_Speed,GPIO_FM6,PinState,GPIO_Label
 PB6.GPIO_FM6=__NULL
 PB6.GPIO_Label=IMUCS
 PB6.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
 PB6.Locked=true
+PB6.PinState=GPIO_PIN_SET
 PB6.Signal=GPIO_Output
+PB7.GPIOParameters=GPIO_Speed,PinState,GPIO_Label
+PB7.GPIO_Label=SPI1_CS
+PB7.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
+PB7.Locked=true
+PB7.PinState=GPIO_PIN_SET
+PB7.Signal=GPIO_Output
 PB8.Locked=true
 PB8.Mode=I2C
 PB8.Signal=I2C1_SCL
@@ -536,11 +544,13 @@ SH.S_TIM4_CH3.0=TIM4_CH3,PWM Generation3 CH3
 SH.S_TIM4_CH3.ConfNb=1
 SH.S_TIM4_CH4.0=TIM4_CH4,PWM Generation4 CH4
 SH.S_TIM4_CH4.ConfNb=1
-SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_256
-SPI1.CalculateBaudRate=781.25 KBits/s
+SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_32
+SPI1.CLKPhase=SPI_PHASE_2EDGE
+SPI1.CLKPolarity=SPI_POLARITY_HIGH
+SPI1.CalculateBaudRate=6.25 MBits/s
 SPI1.DataSize=SPI_DATASIZE_8BIT
 SPI1.Direction=SPI_DIRECTION_2LINES
-SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,DataSize
+SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,DataSize,CLKPolarity,CLKPhase
 SPI1.Mode=SPI_MODE_MASTER
 SPI1.VirtualType=VM_MASTER
 TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1

diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/config.h b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/config.h
@@ -36,6 +36,8 @@
 //2.1 Sensors
 //2.1.1 IMU Sensor
 #define IMU_FLAG 1
+#define IMU_MPU 0
+#define IMU_ICM 1
 //2.1.2 Barometer Sensor
 #define BARO_FLAG 1
 //2.1.3 GPS Sensor