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AP_BoardConfig: allow for BMI088 for Holybro 6X 

and tighten check on CUAV-X6 and Holybro-6X to check all 3 IMUs
This commit is contained in:
Andrew Tridgell 2022-07-19 15:21:18 +10:00
parent 6845f2e24d
commit 9911fd76f4
1 changed files with 11 additions and 3 deletions
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14
libraries/AP_BoardConfig/board_drivers.cpp
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@ -271,6 +271,7 @@ bool AP_BoardConfig::check_ms5611(const char* devname) {
#define INV3REG_WHOAMI 0x75
#define INV3_WHOAMI_ICM42688 0x47
#define INV3_WHOAMI_ICM42670 0x67
/*
validation of the board type
@ -489,17 +490,24 @@ void AP_BoardConfig::board_setup()
#ifdef HAL_CHIBIOS_ARCH_FMUV6
#define BMI088REG_CHIPID 0x00
#define CHIPID_BMI088_G 0x0F
/*
detect which FMUV6 variant we are running on
*/
void AP_BoardConfig::detect_fmuv6_variant()
{
if ((spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649) &&
spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688))) {
if (((spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649) ||
spi_check_register("bmi088_g", BMI088REG_CHIPID, CHIPID_BMI088_G)) && // alternative config
spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688) &&
spi_check_register("icm42670", INV3REG_WHOAMI, INV3_WHOAMI_ICM42670))) {
state.board_type.set_and_notify(FMUV6_BOARD_HOLYBRO_6X);
DEV_PRINTF("Detected Holybro 6X\n");
} else if ((spi_check_register_inv2("icm20649_2", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649) &&
spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688))) {
spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688) &&
spi_check_register("bmi088_g", BMI088REG_CHIPID, CHIPID_BMI088_G))) {
state.board_type.set_and_notify(FMUV6_BOARD_CUAV_6X);
DEV_PRINTF("Detected CUAV 6X\n");
}