From c3442d0143be9f247e89ab8498927fbc0f3b18c7 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 29 Oct 2021 14:54:48 +1100 Subject: [PATCH] hwdef: added alternative Durandal 20602 IMU --- libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat | 3 +++ 1 file changed, 3 insertions(+) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat index b04f41dc02..4182c52b17 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat @@ -245,6 +245,7 @@ SPIDEV icm20602 SPI1 DEVID2 ICM20602_CS MODE3 2*MHZ 8*MHZ SPIDEV bmi055_g SPI1 DEVID3 BMI055_G_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi055_a SPI1 DEVID4 BMI055_A_CS MODE3 10*MHZ 10*MHZ SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ +SPIDEV icm20602_2 SPI1 DEVID4 BMI055_G_CS MODE3 2*MHZ 8*MHZ # SPI5 external connections SPIDEV external1m0 SPI5 DEVID1 EXT1_CS1 MODE0 2*MHZ 2*MHZ @@ -275,6 +276,8 @@ IMU Invensense SPI:icm20689 ROTATION_NONE IMU BMI088 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90 # These are here for compatibility with pre-release boards IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90 +# alternative 20602 IMU for some variants +IMU Invensense SPI:icm20602_2 ROTATION_NONE define HAL_DEFAULT_INS_FAST_SAMPLE 7