From b1acd6295b93c65da0c8dc965b1af07e59160ca5 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 31 Dec 2019 09:52:36 +1100 Subject: [PATCH] HAL_ChibiOS: cleanup cube IMUs and compasses don't probe for old sensor set --- .../AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc | 29 ++----------------- .../AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat | 29 ++----------------- 2 files changed, 4 insertions(+), 54 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc index cb5769d8d5..f7d85e8082 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc @@ -212,17 +212,8 @@ PE15 VDD_5V_PERIPH_nOC INPUT PULLUP SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ SPIDEV ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ -SPIDEV mpu6000 SPI1 DEVID4 MPU_CS MODE3 2*MHZ 8*MHZ -SPIDEV icm20608-am SPI1 DEVID2 ACCEL_EXT_CS MODE3 4*MHZ 8*MHZ -SPIDEV mpu9250 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ -SPIDEV mpu9250_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ SPIDEV icm20948 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ SPIDEV icm20948_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ -SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ -SPIDEV lsm9ds0_g SPI1 DEVID1 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ -SPIDEV lsm9ds0_am SPI1 DEVID2 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ -SPIDEV lsm9ds0_ext_g SPI4 DEVID4 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ -SPIDEV lsm9ds0_ext_am SPI4 DEVID3 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ SPIDEV icm20602_ext SPI4 DEVID4 GYRO_EXT_CS MODE3 4*MHZ 8*MHZ SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV external0m0 SPI4 DEVID5 MPU_EXT_CS MODE0 2*MHZ 2*MHZ @@ -231,18 +222,7 @@ SPIDEV external0m2 SPI4 DEVID5 MPU_EXT_CS MODE2 2*MHZ 2*MHZ SPIDEV external0m3 SPI4 DEVID5 MPU_EXT_CS MODE3 2*MHZ 2*MHZ SPIDEV pixartPC15 SPI4 DEVID13 ACCEL_EXT_CS MODE3 2*MHZ 2*MHZ -# three IMUs, but allow for different variants. First two IMUs are -# isolated, 3rd isn't -IMU Invensense SPI:mpu9250_ext ROTATION_PITCH_180 - -# the 3 rotations for the LSM9DS0 driver are for the accel, the gyro -# and the H variant of the gyro -IMU LSM9DS0 SPI:lsm9ds0_ext_g SPI:lsm9ds0_ext_am ROTATION_ROLL_180_YAW_270 ROTATION_ROLL_180_YAW_90 ROTATION_ROLL_180_YAW_90 - -# 3rd non-isolated IMU -IMU Invensense SPI:mpu9250 ROTATION_YAW_270 - -# alternative IMU set for newer cubes +# IMU set for newer cubes IMU Invensense SPI:icm20602_ext ROTATION_ROLL_180_YAW_270 IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180 IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270 @@ -270,12 +250,7 @@ define HAL_DEFAULT_INS_FAST_SAMPLE 7 BARO MS56XX SPI:ms5611_ext BARO MS56XX SPI:ms5611 -# two compasses. First is in the LSM303D -COMPASS LSM303D SPI:lsm9ds0_ext_am ROTATION_YAW_270 -# 2nd compass is part of the 2nd invensense IMU -COMPASS AK8963:probe_mpu9250 1 ROTATION_YAW_270 - -# compass as part of ICM20948 on newer cubes +# one internal compass COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90 # offset the internal compass for EM impact of the IMU heater diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat index afc44a107c..55ac0d221d 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat @@ -351,17 +351,8 @@ PE15 VDD_5V_PERIPH_nOC INPUT PULLUP SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ SPIDEV ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ -SPIDEV mpu6000 SPI1 DEVID4 MPU_CS MODE3 2*MHZ 8*MHZ -SPIDEV icm20608-am SPI1 DEVID2 ACCEL_EXT_CS MODE3 4*MHZ 8*MHZ -SPIDEV mpu9250 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ -SPIDEV mpu9250_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ SPIDEV icm20948 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ SPIDEV icm20948_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ -SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ -SPIDEV lsm9ds0_g SPI1 DEVID1 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ -SPIDEV lsm9ds0_am SPI1 DEVID2 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ -SPIDEV lsm9ds0_ext_g SPI4 DEVID4 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ -SPIDEV lsm9ds0_ext_am SPI4 DEVID3 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ SPIDEV icm20602_ext SPI4 DEVID4 GYRO_EXT_CS MODE3 4*MHZ 8*MHZ SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV external0m0 SPI4 DEVID5 MPU_EXT_CS MODE0 2*MHZ 2*MHZ @@ -382,18 +373,7 @@ SPIDEV pixartPC15 SPI4 DEVID13 ACCEL_EXT_CS MODE3 2*MHZ 2*MHZ #SPIDEV clock8 SPI4 DEVID5 MPU_EXT_CS MODE0 8*MHZ 8*MHZ # gives 5.5MHz #SPIDEV clock16 SPI4 DEVID5 MPU_EXT_CS MODE0 16*MHZ 16*MHZ # gives 10.6MHz -# three IMUs, but allow for different variants. First two IMUs are -# isolated, 3rd isn't -IMU Invensense SPI:mpu9250_ext ROTATION_PITCH_180 - -# the 3 rotations for the LSM9DS0 driver are for the accel, the gyro -# and the H variant of the gyro -IMU LSM9DS0 SPI:lsm9ds0_ext_g SPI:lsm9ds0_ext_am ROTATION_ROLL_180_YAW_270 ROTATION_ROLL_180_YAW_90 ROTATION_ROLL_180_YAW_90 - -# 3rd non-isolated IMU -IMU Invensense SPI:mpu9250 ROTATION_YAW_270 - -# alternative IMU set for newer cubes +#IMU set for newer cubes IMU Invensense SPI:icm20602_ext ROTATION_ROLL_180_YAW_270 IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180 IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270 @@ -404,12 +384,7 @@ define HAL_DEFAULT_INS_FAST_SAMPLE 5 BARO MS56XX SPI:ms5611_ext BARO MS56XX SPI:ms5611 -# two compasses. First is in the LSM303D -COMPASS LSM303D SPI:lsm9ds0_ext_am ROTATION_YAW_270 -# 2nd compass is part of the 2nd invensense IMU -COMPASS AK8963:probe_mpu9250 1 ROTATION_YAW_270 - -# compass as part of ICM20948 on newer cubes +# one compass COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90 # also probe for external compasses