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AP_HAL_ChibiOS:add icm42688p as substitution

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mateksys 2022-04-09 11:17:44 +08:00 committed by Randy Mackay
parent 7b7eea4c84
commit d51dd75ba0
1 changed files with 8 additions and 2 deletions
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10
libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat
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@ -181,11 +181,13 @@ define HAL_STORAGE_SIZE 16384
STORAGE_FLASH_PAGE 14
# spi devices
SPIDEV icm42688 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 8*MHZ
SPIDEV mpu6000 SPI1 DEVID1 IMU1_CS MODE3 1*MHZ 4*MHZ
SPIDEV icm20602 SPI4 DEVID1 IMU2_CS MODE3 1*MHZ 4*MHZ
SPIDEV icm42605 SPI4 DEVID1 IMU3_CS MODE3 2*MHZ 8*MHZ
SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
DMA_NOSHARE SPI1* SPI4*
# SPI3 external connections
@ -198,9 +200,13 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
# two IMUs. We put icm20602 first as we can sample accel at 4kHz
IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_270
# two IMUs
# H743-V1, ICM20602, MPU6000
# H743-V1.5/V2, ICM42605, MPU6000
# H743-V3, ICM42688P, ICM42605
IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180
IMU Invensensev3 SPI:icm42605 ROTATION_YAW_270
IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_270
IMU Invensense SPI:mpu6000 ROTATION_ROLL_180_YAW_270
define HAL_DEFAULT_INS_FAST_SAMPLE 1