From d90b05f685e402735f9a99073c90d53f6e798a6a Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 30 May 2019 12:01:42 +1000 Subject: [PATCH] HAL_ChibiOS: convert all fmuv5 boards to sensor config system --- libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat index 576ee55f5e..f54a27a0fc 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat @@ -243,6 +243,24 @@ 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 +# up to 3 IMUs +IMU Invensense SPI:icm20689 ROTATION_NONE +IMU Invensense SPI:icm20602 ROTATION_NONE +# 3rd could be BMMI055 or BMI088 +IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90 +IMU BMI088 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90 + +define HAL_DEFAULT_INS_FAST_SAMPLE 1 + +# probe external I2C compasses plus some internal IST8310 +# we also probe some external IST8310 with a non-standard orientation +define HAL_PROBE_EXTERNAL_I2C_COMPASSES +COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_ROLL_180_YAW_90 +COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_ROLL_180_YAW_90 + +# one baro +BARO MS56XX SPI:ms5611 + # microSD support PC8 SDMMC_D0 SDMMC1 PC9 SDMMC_D1 SDMMC1