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hwdef: add mpu6000 to support ReaperF745 V4 FC

This commit is contained in:
Eric 2024-07-28 14:25:53 -07:00 committed by Peter Barker
parent 77ba7cf04d
commit a1a4c63881
1 changed files with 3 additions and 1 deletions
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4
libraries/AP_HAL_ChibiOS/hwdef/ReaperF745/hwdef.dat
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@ -121,6 +121,7 @@ define HAL_LOGGING_DATAFLASH_ENABLED 1
# spi devices bmi270(v2) icm42688 (v3) # spi devices bmi270(v2) icm42688 (v3)
SPIDEV bmi270 SPI3 DEVID1 GYRO_CS MODE3 1*MHZ 4*MHZ SPIDEV bmi270 SPI3 DEVID1 GYRO_CS MODE3 1*MHZ 4*MHZ
SPIDEV icm42688 SPI3 DEVID1 GYRO_CS MODE3 2*MHZ 8*MHZ SPIDEV icm42688 SPI3 DEVID1 GYRO_CS MODE3 2*MHZ 8*MHZ
SPIDEV mpu6000 SPI3 DEVID1 GYRO_CS MODE3 1*MHZ 4*MHZ
SPIDEV dataflash SPI4 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ SPIDEV dataflash SPI4 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
SPIDEV osd SPI1 DEVID1 AT7456E_CS MODE0 10*MHZ 10*MHZ SPIDEV osd SPI1 DEVID1 AT7456E_CS MODE0 10*MHZ 10*MHZ
@ -129,9 +130,10 @@ define ALLOW_ARM_NO_COMPASS
define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0 define HAL_I2C_INTERNAL_MASK 0
# one IMU: bmi270 or icm42688 # one IMU: bmi270 or icm42688 or mpu6000
IMU BMI270 SPI:bmi270 ROTATION_ROLL_180 IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_90 IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_90
IMU Invensense SPI:mpu6000 ROTATION_YAW_90
define HAL_DEFAULT_INS_FAST_SAMPLE 1 define HAL_DEFAULT_INS_FAST_SAMPLE 1