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AP_HAL_ChibiOS: add support for CubeOrangePlus BG edition
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@ -17,4 +17,7 @@ USB_PRODUCT 0x1058
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USB_STRING_MANUFACTURER "CubePilot"
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USB_STRING_PRODUCT "CubeOrange+-BL"
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# Unused chip select for ICM45686
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PG1 ICM45686_CS CS SPEED_VERYLOW
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APJ_BOARD_ID 1063
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@ -18,18 +18,27 @@ USB_PRODUCT 0x1058
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USB_STRING_MANUFACTURER "CubePilot"
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USB_STRING_PRODUCT "CubeOrange+"
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# Unused chip select for ICM45686
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PG1 ICM45686_CS CS SPEED_VERYLOW
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SPIDEV icm42688_ext2 SPI4 DEVID4 GYRO_EXT_CS MODE3 2*MHZ 8*MHZ
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APJ_BOARD_ID 1063
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undef CHECK_ICM42688_EXT
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undef CHECK_IMU0_PRESENT
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undef CHECK_IMU1_PRESENT
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undef IMU
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SPIDEV icm42688_ext SPI4 DEVID4 ACCEL_EXT_CS MODE3 2*MHZ 8*MHZ
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IMU Invensensev3 SPI:icm42688_ext ROTATION_YAW_90
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IMU Invensensev3 SPI:icm42688_ext2 ROTATION_PITCH_180_YAW_90
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IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180
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IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270
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CHECK_ICM42688_EXT2 spi_check_register("icm42688_ext2", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
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CHECK_ICM42688_EXT spi_check_register("icm42688_ext", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
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CHECK_IMU0_PRESENT $CHECK_ICM42688_EXT
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CHECK_IMU1_PRESENT $CHECK_ICM20948_EXT || $CHECK_ICM42688_EXT2
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