Add IMU_USE_SPI_ICM45686

[vidma]

for #35 #36

• ICM45686:
  • IMU works
  • check/implement acc_multiplier/gyro_multiplier apply accel/gyro scaling and fix axes directions vidma/madflight#2
  • fix IMU readings orientation (sign) consistency with Madflight "standards" verified
    • my test notes are in the PR apply accel/gyro scaling and fix axes directions vidma/madflight#2 @qqqlab
  • For now ICM45686 is a dependency to have a smaller PR. I'm not sure if it's a very good idea to copy-paste code from there, as there's many interdependent include/extern files there, but, as we need some bugfix patches there, already implemented "copy-paste" as separate PR
    • license ✅ : BSD 3-Clause License: Redistribution and use in source and binary forms, with or without
      modification, are permitted provided that the following conditions are met:
      • must retain the above copyright notice
      • Redistributions in binary form must reproduce the above copyright notice
    • bugfix: bugfix - infinite loop in ICM456xx::begin() tdk-invn-oss/motion.arduino.ICM45686#2
    • here's the changes to embed ICM45686 driver - quite ugly but it works - icm45686 with copy-pasted code vidma/madflight#1 @qqqlab wanna take a look separately before I merge it here?

[qqqlab]

Hey @vidma, that starts to look like something!

Please submit the MPU9250 fix as a separate PR, then we can get that one in already. Apparently WAI 0x73 is MPU9255 and 0x71 is MPU9250. Did you test with a MPU9255 ?

[vidma]

⚠️ FYI: "This library does NOT support multiple instances of ICM456xx."

[vidma]

@qqqlab ready for review.

• axes orientation and scaling seem to be alright now, see apply accel/gyro scaling and fix axes directions vidma/madflight#2
• to make it compile I'm using icm45686 with copy-pasted code vidma/madflight#1
  • or if using the original lib code, apply these "patches": vidma@8e7402f and bugfix - infinite loop in ICM456xx::begin() tdk-invn-oss/motion.arduino.ICM45686#2

[qqqlab]

Hi @vidma

Thanks for your hard work on this, I really appreciate it. It looks fine to me, and I'll merge it. But, as I don't have this sensor I can't test it... So ideally: fly it before we merge it :-)

Currently madflight is single IMU only, so lack of multiple instances is not an issue.

I would still prefer that you copy-paste the fixed TDK sources into this PR:

• To get rid of a dependency which all users of madflight will have to install, but which only applies for this particular sensor
• To prevent madflight code from breaking because of future TDK lib changes
• To move ahead without first waiting for your PR on the TDK lib to get approved
• To optionally trim down the pedometer, gesture, etc. crud which is not needed here