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AP_HAL_ChibiOS: MambaH743 v2 with dual ICM42688

This commit is contained in:
Andy Piper 2022-12-31 12:51:26 +00:00 committed by Randy Mackay
parent 2e29f2664b
commit 6412c2cb8e
2 changed files with 6 additions and 1 deletions
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2
libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/README.md
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@ -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

5
libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef.dat
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@ -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