From 82e7659c315fbedff8f9902da9b33fe5bf68ced3 Mon Sep 17 00:00:00 2001 From: Thomas Watson Date: Wed, 12 Jun 2024 16:35:59 -0500 Subject: [PATCH] hwdef: CubeRedPrimary: ICM45686 as ICM20649 alternative Empirically what is present on Cube Reds built on/after 2024-04-14. --- .../AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat index 736fe23f51..5ae77242f3 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat @@ -98,7 +98,7 @@ PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 # SPI4 -PF5 ICM20649_CS CS +PF5 ICM_2_CS CS PC2 BARO_1_CS CS PE12 SPI4_SCK SPI4 PE5 SPI4_MISO SPI4 @@ -111,12 +111,15 @@ SPIDEV ms5611_0 SPI1 DEVID2 BARO_0_CS MODE3 20*MHZ 20*MHZ SPIDEV icm42688_1 SPI2 DEVID1 ICM42688_1_CS MODE3 2*MHZ 8*MHZ SPIDEV rm3100 SPI2 DEVID2 RM3100_CS MODE3 1*MHZ 1*MHZ -SPIDEV icm20649 SPI4 DEVID1 ICM20649_CS MODE3 4*MHZ 8*MHZ +SPIDEV icm20649 SPI4 DEVID1 ICM_2_CS MODE3 4*MHZ 8*MHZ +# alternative to icm20649 +SPIDEV icm45686 SPI4 DEVID1 ICM_2_CS MODE3 2*MHZ 8*MHZ SPIDEV ms5611_1 SPI4 DEVID2 BARO_1_CS MODE3 20*MHZ 20*MHZ IMU Invensensev3 SPI:icm42688_1 ROTATION_YAW_90 IMU Invensensev3 SPI:icm42688_0 ROTATION_PITCH_180_YAW_270 IMU Invensensev2 SPI:icm20649 ROTATION_PITCH_180 +IMU Invensensev3 SPI:icm45686 ROTATION_YAW_180 BARO MS56XX SPI:ms5611_0 BARO MS56XX SPI:ms5611_1 @@ -124,6 +127,7 @@ BARO MS56XX SPI:ms5611_1 COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_270 CHECK_ICM20649 spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649) +CHECK_ICM45686_2 spi_check_register("icm45686", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686) CHECK_ICM42688_0 spi_check_register("icm42688_0", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688) CHECK_ICM45686_0 spi_check_register("icm42688_0", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686) @@ -135,7 +139,7 @@ CHECK_MS5611_0 check_ms5611("ms5611_0") CHECK_MS5611_1 check_ms5611("ms5611_1") -CHECK_IMU0_PRESENT $CHECK_ICM20649 +CHECK_IMU0_PRESENT $CHECK_ICM20649 || $CHECK_ICM45686_2 CHECK_IMU1_PRESENT $CHECK_ICM42688_0 || $CHECK_ICM45686_0 CHECK_IMU2_PRESENT $CHECK_ICM42688_1 || $CHECK_ICM45686_1 CHECK_BARO0_PRESENT $CHECK_MS5611_0