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AP_HAL_ChibiOS: CUAV X7/Nora: use icm42688 instead of bmi088

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honglang 2021-06-03 00:37:08 +00:00 committed by Peter Barker
parent e8947dfb47
commit 847ce3b311
2 changed files with 9 additions and 0 deletions
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4
libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef.dat
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@ -70,6 +70,7 @@ PF2 RM3100_CS CS
PG6 ICM20689_CS CS SPEED_VERYLOW
PI12 ICM20649_CS CS SPEED_VERYLOW
PE15 ICM20689_BOARD_CS CS SPEED_VERYLOW
PA15 ICM42688_CS CS SPEED_VERYLOW
PF3 BMI088_A_CS CS
PF4 BMI088_G_CS CS
PF5 FRAM_CS CS SPEED_VERYLOW
@ -233,6 +234,8 @@ SPIDEV rm3100 SPI2 DEVID2 RM3100_CS MODE3 2*MHZ 8*MHZ
SPIDEV icm20649 SPI6 DEVID2 ICM20649_CS MODE3 2*MHZ 8*MHZ
SPIDEV icm20689_board SPI6 DEVID2 ICM20689_BOARD_CS MODE3 2*MHZ 8*MHZ
#Mount bmi088_a or icm42688 on SPI4
SPIDEV icm42688 SPI4 DEVID2 ICM42688_CS MODE3 2*MHZ 8*MHZ
# two baro
BARO MS56XX SPI:ms5611_imu
@ -241,6 +244,7 @@ BARO MS56XX SPI:ms5611_board
# three IMUs
IMU Invensense SPI:icm20689 ROTATION_NONE
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180_YAW_270
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270
IMU Invensensev2 SPI:icm20649 ROTATION_NONE
IMU Invensense SPI:icm20689_board ROTATION_NONE

5
libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef.dat
View File

@ -70,6 +70,7 @@ PF2 RM3100_CS CS
PG6 ICM20689_CS CS SPEED_VERYLOW
PE15 ICM20689_BOARD_CS CS SPEED_VERYLOW
PI12 ICM20649_CS CS SPEED_VERYLOW
PA15 ICM42688_CS CS SPEED_VERYLOW
PF3 BMI088_A_CS CS
PF4 BMI088_G_CS CS
PF5 FRAM_CS CS SPEED_VERYLOW
@ -236,6 +237,9 @@ SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
SPIDEV icm20649 SPI6 DEVID2 ICM20649_CS MODE3 2*MHZ 8*MHZ
SPIDEV icm20689_board SPI6 DEVID2 ICM20689_BOARD_CS MODE3 2*MHZ 8*MHZ
#Mount bmi088_a or icm42688 on SPI4
SPIDEV icm42688 SPI4 DEVID2 ICM42688_CS MODE3 2*MHZ 8*MHZ
# RM3100 may be on SPI1 or SPI2 (not both). Later board revisions
# have the RM3100 on SPI2, to leave SPI1 free for ADIS1647x
SPIDEV rm3100-1 SPI1 DEVID1 RM3100_CS MODE3 2*MHZ 8*MHZ
@ -249,6 +253,7 @@ BARO MS56XX SPI:ms5611_board
IMU ADIS1647x SPI:adis16470 ROTATION_PITCH_180_YAW_270 ADIS_DRDY_PIN
IMU Invensense SPI:icm20689 ROTATION_NONE
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180_YAW_270
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270
IMU Invensensev2 SPI:icm20649 ROTATION_NONE
IMU Invensense SPI:icm20689_board ROTATION_NONE