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HAL_ChibiOS: CUAV ICM20649 on SPI6 bus replaced by ICM20689 

alternative IMUs for Nora and X7
This commit is contained in:
CUAVcaijie 2021-05-18 11:51:22 +00:00 committed by Andrew Tridgell
parent 94b56b9eac
commit 0ff38e1379
4 changed files with 16 additions and 3 deletions
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1
libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef-bl.dat
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@ -52,6 +52,7 @@ PF10 ADIS16470_CS CS
PF2 RM3100_CS CS
PG6 ICM20689_CS CS SPEED_VERYLOW
PI12 ICM20649_CS CS SPEED_VERYLOW
PE15 ICM20689_BOARD_CS CS SPEED_VERYLOW
PF3 BMI088_A_CS CS
PF4 BMI088_G_CS CS
PF5 FRAM_CS CS SPEED_VERYLOW

8
libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef.dat
View File

@ -69,6 +69,7 @@ PF10 ADIS16470_CS CS
PF2 RM3100_CS CS
PG6 ICM20689_CS CS SPEED_VERYLOW
PI12 ICM20649_CS CS SPEED_VERYLOW
PE15 ICM20689_BOARD_CS CS SPEED_VERYLOW
PF3 BMI088_A_CS CS
PF4 BMI088_G_CS CS
PF5 FRAM_CS CS SPEED_VERYLOW
@ -225,10 +226,14 @@ SPIDEV bmi088_a SPI4 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ
SPIDEV bmi088_g SPI4 DEVID3 BMI088_G_CS MODE3 10*MHZ 10*MHZ
SPIDEV ms5611_imu SPI4 DEVID1 MS5611_IMU_CS MODE3 20*MHZ 20*MHZ
SPIDEV ms5611_board SPI6 DEVID1 MS5611_BOARD_CS MODE3 20*MHZ 20*MHZ
SPIDEV icm20649 SPI6 DEVID2 ICM20649_CS MODE3 2*MHZ 8*MHZ
SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
SPIDEV rm3100 SPI2 DEVID2 RM3100_CS MODE3 2*MHZ 8*MHZ
#Mount icm20649 or icm20689 on SPI6
SPIDEV icm20649 SPI6 DEVID2 ICM20649_CS MODE3 2*MHZ 8*MHZ
SPIDEV icm20689_board SPI6 DEVID2 ICM20689_BOARD_CS MODE3 2*MHZ 8*MHZ
# two baro
BARO MS56XX SPI:ms5611_imu
BARO MS56XX SPI:ms5611_board
@ -237,6 +242,7 @@ BARO MS56XX SPI:ms5611_board
IMU Invensense SPI:icm20689 ROTATION_NONE
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180_YAW_270
IMU Invensensev2 SPI:icm20649 ROTATION_NONE
IMU Invensense SPI:icm20689_board ROTATION_NONE
define HAL_DEFAULT_INS_FAST_SAMPLE 5

1
libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef-bl.dat
View File

@ -52,6 +52,7 @@ PF10 ADIS16470_CS CS
PF2 RM3100_CS CS
PG6 ICM20689_CS CS SPEED_VERYLOW
PI12 ICM20649_CS CS SPEED_VERYLOW
PE15 ICM20689_BOARD_CS CS SPEED_VERYLOW
PF3 BMI088_A_CS CS
PF4 BMI088_G_CS CS
PF5 FRAM_CS CS SPEED_VERYLOW

9
libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef.dat
View File

@ -68,6 +68,7 @@ PA7 SPI6_MOSI SPI6
PF10 ADIS16470_CS CS
PF2 RM3100_CS CS
PG6 ICM20689_CS CS SPEED_VERYLOW
PE15 ICM20689_BOARD_CS CS SPEED_VERYLOW
PI12 ICM20649_CS CS SPEED_VERYLOW
PF3 BMI088_A_CS CS
PF4 BMI088_G_CS CS
@ -229,8 +230,11 @@ SPIDEV bmi088_a SPI4 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ
SPIDEV bmi088_g SPI4 DEVID3 BMI088_G_CS MODE3 10*MHZ 10*MHZ
SPIDEV ms5611_imu SPI4 DEVID1 MS5611_IMU_CS MODE3 20*MHZ 20*MHZ
SPIDEV ms5611_board SPI6 DEVID1 MS5611_BOARD_CS MODE3 20*MHZ 20*MHZ
SPIDEV icm20649 SPI6 DEVID2 ICM20649_CS MODE3 2*MHZ 8*MHZ
SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
#Mount icm20649 or icm20689 on SPI6
SPIDEV icm20649 SPI6 DEVID2 ICM20649_CS MODE3 2*MHZ 8*MHZ
SPIDEV icm20689_board SPI6 DEVID2 ICM20689_BOARD_CS MODE3 2*MHZ 8*MHZ
# RM3100 may be on SPI1 or SPI2 (not both). Later board revisions
# have the RM3100 on SPI2, to leave SPI1 free for ADIS1647x
@ -246,6 +250,7 @@ IMU ADIS1647x SPI:adis16470 ROTATION_PITCH_180_YAW_270 ADIS_DRDY_PIN
IMU Invensense SPI:icm20689 ROTATION_NONE
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180_YAW_270
IMU Invensensev2 SPI:icm20649 ROTATION_NONE
IMU Invensense SPI:icm20689_board ROTATION_NONE
define HAL_DEFAULT_INS_FAST_SAMPLE 5