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AP_BoardConfig: added support for ICM-20602 detection

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This commit is contained in:
Andrew Tridgell 2017-03-02 11:52:18 +11:00
parent 875274e761
commit ce978595cd
1 changed files with 6 additions and 2 deletions
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8
libraries/AP_BoardConfig/px4_drivers.cpp
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@ -454,6 +454,7 @@ bool AP_BoardConfig::spi_check_register(const char *devname, uint8_t regnum, uin
#define MPU_WHOAMI_MPU60X0 0x68
#define MPU_WHOAMI_MPU9250 0x71
#define MPU_WHOAMI_ICM20608 0xaf
#define MPU_WHOAMI_ICM20602 0x12
#define LSMREG_WHOAMI 0x0f
#define LSM_WHOAMI_LSM303D 0x49
@ -476,12 +477,14 @@ void AP_BoardConfig::px4_autodetect(void)
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
if ((spi_check_register(HAL_INS_MPU60x0_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
spi_check_register(HAL_INS_MPU9250_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU9250) ||
spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608)) &&
spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
spi_check_register(HAL_INS_LSM9DS0_EXT_A_NAME, LSMREG_WHOAMI, LSM_WHOAMI_LSM303D)) {
// Pixhawk2 has LSM303D and MPUxxxx on external bus
px4.board_type.set(PX4_BOARD_PIXHAWK2);
hal.console->printf("Detected PIXHAWK2\n");
} else if (spi_check_register(HAL_INS_ICM20608_AM_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) &&
} else if ((spi_check_register(HAL_INS_ICM20608_AM_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
spi_check_register(HAL_INS_ICM20608_AM_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
spi_check_register(HAL_INS_MPU9250_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU9250)) {
// PHMINI has an ICM20608 and MPU9250 on sensor bus
px4.board_type.set(PX4_BOARD_PHMINI);
@ -489,6 +492,7 @@ void AP_BoardConfig::px4_autodetect(void)
} else if (spi_check_register(HAL_INS_LSM9DS0_A_NAME, LSMREG_WHOAMI, LSM_WHOAMI_LSM303D) &&
(spi_check_register(HAL_INS_MPU60x0_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
spi_check_register(HAL_INS_ICM20608_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
spi_check_register(HAL_INS_ICM20608_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20602) ||
spi_check_register(HAL_INS_MPU9250_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU9250))) {
// classic or upgraded Pixhawk1
px4.board_type.set(PX4_BOARD_PIXHAWK);