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AP_HAL_ChibiOS: allow instantiation of upto 5 IMUs on CubeOrangePlus

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bugobliterator 2023-02-17 17:17:28 +11:00 committed by Andrew Tridgell
parent 4e93e99fe5
commit f3dc4216d2
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/hwdef.dat
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@ -50,6 +50,8 @@ SPIDEV icm42688_ext2 SPI4 DEVID4 GYRO_EXT_CS MODE3 2*MHZ 8*MHZ
#IMU 2
SPIDEV icm45686 SPI1 DEVID4 ICM45686_CS MODE1 2*MHZ 8*MHZ
SPIDEV icm20649 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ
SPIDEV icm45686_aux SPI1 DEVID4 ICM45686_CS MODE1 2*MHZ 8*MHZ
SPIDEV icm20948_aux SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ
# INSTANCE:<num> keyword is used to denote the instance number of the sensor
# while probing. Probing is skipped if the instance number doesn't match the
@ -67,6 +69,12 @@ IMU Invensensev3 SPI:icm45686 ROTATION_ROLL_180_YAW_135 INSTANCE:2
define ICM45686_CLKIN 1
IMU Invensensev2 SPI:icm20948_aux ROTATION_PITCH_180
IMU Invensensev3 SPI:icm45686_aux ROTATION_ROLL_180_YAW_135
define INS_AUX_INSTANCES 2
CHECK_ICM20649 spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649)
CHECK_ICM45686 spi_check_register_inv2("icm45686", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)