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AP_InertialSensor: added whoami for prototype 20789

This commit is contained in:
Andrew Tridgell 2018-01-31 19:10:46 +11:00
parent 58dfca8ccd
commit b33c815e96
2 changed files with 2 additions and 0 deletions
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1
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
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@ -701,6 +701,7 @@ bool AP_InertialSensor_Invensense::_check_whoami(void)
_mpu_type = Invensense_ICM20602;
return true;
case MPU_WHOAMI_ICM20789:
case MPU_WHOAMI_ICM20789_R1:
_mpu_type = Invensense_ICM20789;
return true;
}

1
libraries/AP_InertialSensor/AP_InertialSensor_Invensense_registers.h
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@ -173,6 +173,7 @@
#define MPU_WHOAMI_MPU9250 0x71
#define MPU_WHOAMI_MPU9255 0x73
#define MPU_WHOAMI_ICM20789 0x03
#define MPU_WHOAMI_ICM20789_R1 0x02
#define BIT_READ_FLAG 0x80
#define BIT_I2C_SLVX_EN 0x80