mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: add replacement IMU detection on CubeOrangePlus
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@ -22,14 +22,49 @@ APJ_BOARD_ID 1063
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undef CHECK_ICM20602_EXT
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undef CHECK_IMU0_PRESENT
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undef CHECK_IMU1_PRESENT
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undef CHECK_IMU2_PRESENT
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undef CHECK_ICM20649
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undef BOARD_VALIDATE
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undef IMU
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PG1 ICM45686_CS CS
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#IMU 0
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SPIDEV icm42688_ext SPI4 DEVID4 ACCEL_EXT_CS MODE3 2*MHZ 8*MHZ
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IMU Invensensev3 SPI:icm42688_ext ROTATION_YAW_90
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IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180
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IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270
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#IMU 1
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SPIDEV icm42688_ext2 SPI4 DEVID4 GYRO_EXT_CS MODE3 2*MHZ 8*MHZ
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#IMU 2
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SPIDEV icm45686 SPI1 DEVID4 ICM45686_CS MODE1 2*MHZ 8*MHZ
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SPIDEV icm20649 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ
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# INSTANCE:<num> keyword is used to denote the instance number of the sensor
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# while probing. Probing is skipped if the instance number doesn't match the
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# backend count. Its important the IMUs are listed in order of precedence globally
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# (i.e. INSTANCE:0 IMUs are listed before INSTANCE:1 IMUs) and locally (i.e. IMUs
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# on the same bus are listed in order of detection precedence)
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IMU Invensensev3 SPI:icm42688_ext ROTATION_YAW_90 INSTANCE:0
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IMU Invensensev3 SPI:icm42688_ext2 ROTATION_PITCH_180_YAW_90 INSTANCE:1
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IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180 INSTANCE:1
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IMU Invensensev3 SPI:icm45686 ROTATION_ROLL_180_YAW_135 INSTANCE:2
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IMU Invensensev2 SPI:icm20649 ROTATION_YAW_270 INSTANCE:2
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CHECK_ICM20649 spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649)
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CHECK_ICM45686 spi_check_register_inv2("icm45686", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)
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CHECK_ICM42688_EXT2 spi_check_register("icm42688_ext2", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
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CHECK_ICM45686_EXT2 spi_check_register("icm42688_ext2", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)
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CHECK_ICM45686_EXT spi_check_register("icm42688_ext", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)
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CHECK_ICM42688_EXT spi_check_register("icm42688_ext", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
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CHECK_IMU0_PRESENT $CHECK_ICM42688_EXT
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CHECK_IMU0_PRESENT $CHECK_ICM45686 || $CHECK_ICM20649
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CHECK_IMU1_PRESENT $CHECK_ICM20948_EXT || $CHECK_ICM42688_EXT2 || $CHECK_ICM45686_EXT2
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CHECK_IMU2_PRESENT $CHECK_ICM42688_EXT || $CHECK_ICM45686_EXT
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BOARD_VALIDATE $CHECK_IMU0_PRESENT $CHECK_IMU1_PRESENT $CHECK_IMU2_PRESENT $CHECK_BARO0_PRESENT $CHECK_BARO1_PRESENT
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