diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef-bl.dat index 94fb7aedd7..b89f6566b4 100755 --- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef-bl.dat @@ -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 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef.dat index a00ca7b817..9b10ac5bf6 100755 --- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef.dat @@ -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 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef-bl.dat index f5924c1821..6c9b886337 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef-bl.dat @@ -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 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef.dat index fd14c3f57d..7edff81435 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef.dat @@ -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