From d51dd75ba070b543e8bc8507bb2f62fd06a53ad7 Mon Sep 17 00:00:00 2001 From: mateksys Date: Sat, 9 Apr 2022 11:17:44 +0800 Subject: [PATCH] AP_HAL_ChibiOS:add icm42688p as substitution --- libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat index 6f930300db..9be823f088 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat @@ -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