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ChibiOS: add icm42605 as substitution for icm20602

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mateksys 2021-09-04 22:10:13 +08:00 committed by Andrew Tridgell
parent 2da88263e6
commit 659286ee4f
2 changed files with 7 additions and 1 deletions
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1
libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef-bl.dat
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@ -49,3 +49,4 @@ PB12 MAX7456_CS CS
PE11 IMU2_CS CS PE11 IMU2_CS CS
PD4 EXT_CS1 CS PD4 EXT_CS1 CS
PE2 EXT_CS2 CS PE2 EXT_CS2 CS
PC13 IMU3_CS CS

7
libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat
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@ -55,6 +55,9 @@ PE12 SPI4_SCK SPI4
PE13 SPI4_MISO SPI4 PE13 SPI4_MISO SPI4
PE14 SPI4_MOSI SPI4 PE14 SPI4_MOSI SPI4
# add ICM42605 on SPI4 as a backup to replace ICM20602
PC13 IMU3_CS CS
# two I2C bus # two I2C bus
I2C_ORDER I2C2 I2C1 I2C_ORDER I2C2 I2C1
@ -180,6 +183,7 @@ define STORAGE_FLASH_PAGE 14
# spi devices # spi devices
SPIDEV mpu6000 SPI1 DEVID1 IMU1_CS MODE3 1*MHZ 4*MHZ SPIDEV mpu6000 SPI1 DEVID1 IMU1_CS MODE3 1*MHZ 4*MHZ
SPIDEV icm20602 SPI4 DEVID1 IMU2_CS MODE3 1*MHZ 4*MHZ SPIDEV icm20602 SPI4 DEVID1 IMU2_CS MODE3 1*MHZ 4*MHZ
SPIDEV icm42605 SPI4 DEVID1 IMU3_CS MODE3 2*MHZ 8*MHZ
SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
DMA_NOSHARE SPI1* SPI4* DMA_NOSHARE SPI1* SPI4*
@ -197,10 +201,11 @@ define HAL_COMPASS_AUTO_ROT_DEFAULT 2
# two IMUs. We put icm20602 first as we can sample accel at 4kHz # two IMUs. We put icm20602 first as we can sample accel at 4kHz
IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_270 IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_270
IMU Invensensev3 SPI:icm42605 ROTATION_YAW_270
IMU Invensense SPI:mpu6000 ROTATION_ROLL_180_YAW_270 IMU Invensense SPI:mpu6000 ROTATION_ROLL_180_YAW_270
define HAL_DEFAULT_INS_FAST_SAMPLE 1 define HAL_DEFAULT_INS_FAST_SAMPLE 1
# MS5611 integrated on I2C2 bus, multiple possible choices for external barometer # DPS310 integrated on I2C2 bus, multiple possible choices for external barometer
BARO MS56XX I2C:0:0x77 BARO MS56XX I2C:0:0x77
BARO DPS310 I2C:0:0x76 BARO DPS310 I2C:0:0x76
BARO BMP280 I2C:0:0x76 BARO BMP280 I2C:0:0x76