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hwdef: support Holybro Pixhawk6X_Rev6

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This commit is contained in:
Andrew Tridgell 2023-10-24 14:52:16 +11:00
parent 6173726846
commit cd3eab3c5d
1 changed files with 30 additions and 19 deletions
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49
libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
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@ -121,30 +121,31 @@ PC3 ADC1_3V3 ADC1 SCALE(1)
PA5 SPI1_SCK SPI1 PA5 SPI1_SCK SPI1
PB5 SPI1_MOSI SPI1 PB5 SPI1_MOSI SPI1
PG9 SPI1_MISO SPI1 PG9 SPI1_MISO SPI1
PI9 IMU1_CS CS PI9 SP1_CS1 CS
# SPI2 - ICM42688 # SPI2 - ICM42688
PI1 SPI2_SCK SPI2 PI1 SPI2_SCK SPI2
PI2 SPI2_MISO SPI2 PI2 SPI2_MISO SPI2
PI3 SPI2_MOSI SPI2 PI3 SPI2_MOSI SPI2
PH5 ICM42688_CS CS PH5 SP2_CS1 CS
PA10 ICM42688_DRDY INPUT PA10 SP2_DRDY2 INPUT
# SPI3 - BMI088 # SPI3 - BMI088
PB2 SPI3_MOSI SPI3 PB2 SPI3_MOSI SPI3
PC10 SPI3_SCK SPI3 PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3 PC11 SPI3_MISO SPI3
PI4 BMI088_A_CS CS PI4 SP3_CS1 CS
PI8 BMI088_G_CS CS PI8 SP3_CS2 CS
PI6 BMI088_DRDY_ACC INPUT PI6 SP3_DRDY1 INPUT
PI7 BMI088_DRDY_GYR INPUT PI7 SP3_DRDY2 INPUT GPIO(93)
define SP3_DRDY2 93
# SPI4 - BMM150 # SPI4 - unused
PE12 SPI4_SCK SPI4 #PE12 SPI4_SCK SPI4
PE13 SPI4_MISO SPI4 #PE13 SPI4_MISO SPI4
PE14 SPI4_MOSI SPI4 #PE14 SPI4_MOSI SPI4
PF3 BMM150_DRDY INPUT #PF3 SP4_DRDY1 INPUT
PH15 BMM150_CS CS PH15 SP4_CS1 CS
# SPI5 - FRAM # SPI5 - FRAM
PF7 SPI5_SCK SPI5 PF7 SPI5_SCK SPI5
@ -311,21 +312,26 @@ define HAL_HEATER_MAG_OFFSET_BMM150 AP_HAL::Device::make_bus_id(AP_HAL::Device::
define HAL_HEATER_MAG_OFFSET {HAL_HEATER_MAG_OFFSET_RM3100, HAL_HEATER_MAG_OFFSET_BMM150} define HAL_HEATER_MAG_OFFSET {HAL_HEATER_MAG_OFFSET_RM3100, HAL_HEATER_MAG_OFFSET_BMM150}
# IMU devices for Holybro6X # IMU devices for Holybro6X
SPIDEV bmi088_g SPI3 DEVID1 BMI088_G_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi088_g SPI3 DEVID1 SP3_CS2 MODE3 10*MHZ 10*MHZ
SPIDEV bmi088_a SPI3 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi088_a SPI3 DEVID2 SP3_CS1 MODE3 10*MHZ 10*MHZ
# alternative to bmi088 # alternative to bmi088
SPIDEV icm20649 SPI3 DEVID1 BMI088_A_CS MODE3 10*MHZ 10*MHZ SPIDEV icm20649 SPI3 DEVID1 SP3_CS1 MODE3 10*MHZ 10*MHZ
SPIDEV icm42688 SPI2 DEVID1 ICM42688_CS MODE3 2*MHZ 8*MHZ SPIDEV icm42688 SPI2 DEVID1 SP2_CS1 MODE3 2*MHZ 8*MHZ
SPIDEV icm42670 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ SPIDEV icm42670 SPI1 DEVID1 SP1_CS1 MODE3 2*MHZ 8*MHZ
# IMU devices for CUAV-6X. The CUAV board has a BMI088, ICM20649 and # IMU devices for CUAV-6X. The CUAV board has a BMI088, ICM20649 and
# ICM42688 the ICM42688 and BMI088 are on the same SPI buses and CS # ICM42688 the ICM42688 and BMI088 are on the same SPI buses and CS
# pins as the Holybro board, but the orientation of the BMI088 is # pins as the Holybro board, but the orientation of the BMI088 is
# different. The ICM20649 is on a different bus # different. The ICM20649 is on a different bus
SPIDEV icm20649_2 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ SPIDEV icm20649_2 SPI1 DEVID1 SP1_CS1 MODE3 2*MHZ 8*MHZ
SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
# IMU devices for Holybro6X-Rev6
SPIDEV adis16470 SPI3 DEVID1 SP3_CS1 MODE3 1*MHZ 2*MHZ
SPIDEV iim42652 SPI2 DEVID1 SP2_CS1 MODE3 2*MHZ 8*MHZ
SPIDEV icm45686 SPI1 DEVID1 SP1_CS1 MODE3 2*MHZ 8*MHZ
# Holybro6X 3 IMUs # Holybro6X 3 IMUs
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X) IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X) IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)
@ -337,6 +343,11 @@ IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_270 BOARD_MATCH(FMUV6_BOARD_
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180 BOARD_MATCH(FMUV6_BOARD_CUAV_6X) IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180 BOARD_MATCH(FMUV6_BOARD_CUAV_6X)
IMU Invensensev2 SPI:icm20649_2 ROTATION_ROLL_180 BOARD_MATCH(FMUV6_BOARD_CUAV_6X) IMU Invensensev2 SPI:icm20649_2 ROTATION_ROLL_180 BOARD_MATCH(FMUV6_BOARD_CUAV_6X)
# Holybro6X-Rev6 3 IMUs
IMU ADIS1647x SPI:adis16470 ROTATION_ROLL_180 SP3_DRDY2 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV6)
IMU Invensensev3 SPI:iim42652 ROTATION_ROLL_180_YAW_270 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV6)
IMU Invensensev3 SPI:icm45686 ROTATION_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV6)
define HAL_DEFAULT_INS_FAST_SAMPLE 7 define HAL_DEFAULT_INS_FAST_SAMPLE 7
# enable RAMTROM parameter storage # enable RAMTROM parameter storage