From 6412c2cb8ec37b322ab76aa8e82b01ce2d5f401a Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Sat, 31 Dec 2022 12:51:26 +0000 Subject: [PATCH] AP_HAL_ChibiOS: MambaH743 v2 with dual ICM42688 --- libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/README.md | 2 +- libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef.dat | 5 +++++ 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/README.md b/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/README.md index 088c62e100..3d91e0b468 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/README.md +++ b/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/README.md @@ -5,7 +5,7 @@ The MambaH743v4 is a flight controller produced by [Diatone](https://www.diatone ## Features - MCU - STM32H743 32-bit processor running at 480 MHz - - IMU - Dual MPU6000 (Version A) or BMI270 (Version B) + - IMU - Dual MPU6000 (Version A) or BMI270 (Version B) or Dual ICM42688 (v2) - Barometer - DPS280 - OSD - AT7456E - Onboard Flash: 1GBit diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef.dat index 6b05730a1f..e1fa3d42f0 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef.dat @@ -160,6 +160,9 @@ SPIDEV bmi270 SPI1 DEVID2 MPU6000_CS MODE3 1*MHZ 10*MHZ # Clock is 100Mh SPIDEV mpu6000_2 SPI4 DEVID4 MPU6000_2_CS MODE3 1*MHZ 4*MHZ SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 104*MHZ 104*MHZ SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ +# v2 board has dual ICM42688 +SPIDEV icm42688 SPI1 DEVID1 MPU6000_CS MODE3 2*MHZ 16*MHZ +SPIDEV icm42688_2 SPI4 DEVID4 MPU6000_2_CS MODE3 2*MHZ 16*MHZ # no built-in compass, but probe the i2c bus for all possible # external compass types @@ -173,6 +176,8 @@ define HAL_DEFAULT_INS_FAST_SAMPLE 3 IMU Invensense SPI:mpu6000 ROTATION_YAW_90 IMU Invensense SPI:mpu6000_2 ROTATION_YAW_180 IMU BMI270 SPI:bmi270 ROTATION_PITCH_180 +IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180 +IMU Invensensev3 SPI:icm42688_2 ROTATION_ROLL_180_YAW_270 define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_W25N01GV