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AP_HAL_ChibiOS: add support for initialising extra sensors as AUX

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This commit is contained in:
bugobliterator 2023-03-22 16:45:51 +11:00 committed by Andrew Tridgell
parent 6eaa05960f
commit f88db74356
2 changed files with 18 additions and 4 deletions
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12
libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/hwdef.dat
View File

@ -45,7 +45,7 @@ PG1 ICM45686_CS CS
SPIDEV icm42688_ext SPI4 DEVID4 ACCEL_EXT_CS MODE3 2*MHZ 8*MHZ
#IMU 1
SPIDEV icm42688_ext2 SPI4 DEVID4 GYRO_EXT_CS MODE3 2*MHZ 8*MHZ
SPIDEV icm42688_ext2 SPI4 DEVID5 GYRO_EXT_CS MODE3 2*MHZ 8*MHZ
#IMU 2
SPIDEV icm45686 SPI1 DEVID4 ICM45686_CS MODE1 2*MHZ 8*MHZ
@ -69,9 +69,15 @@ IMU Invensensev3 SPI:icm45686 ROTATION_ROLL_180_YAW_135 INSTANCE:2
define ICM45686_CLKIN 1
IMU Invensensev2 SPI:icm20948_aux ROTATION_PITCH_180
# AUX:<devid> keyword is used to check for the presence of the sensor
# in the detected IMUs list. If the IMU with the given devid is found
# then we skip the probe for the sensor the second time. This is useful
# if you have multiple choices for IMU over same instance number, and still
# want to instantiate the sensor after main IMUs are detected.
IMU Invensensev3 SPI:icm45686_aux ROTATION_ROLL_180_YAW_135
IMU Invensensev2 SPI:icm20948_aux ROTATION_PITCH_180 AUX:2883874
IMU Invensensev3 SPI:icm45686_aux ROTATION_ROLL_180_YAW_135 AUX:3867658
define INS_AUX_INSTANCES 2

10
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -1524,9 +1524,13 @@ def write_IMU_config(f):
driver = dev[0]
# get instance number if mentioned
instance = -1
aux_devid = -1
if dev[-1].startswith("INSTANCE:"):
instance = int(dev[-1][9:])
dev = dev[:-1]
if dev[-1].startswith("AUX:"):
aux_devid = int(dev[-1][4:])
dev = dev[:-1]
for i in range(1, len(dev)):
if dev[i].startswith("SPI:"):
dev[i] = parse_spi_device(dev[i])
@ -1534,7 +1538,11 @@ def write_IMU_config(f):
(wrapper, dev[i]) = parse_i2c_device(dev[i])
n = len(devlist)+1
devlist.append('HAL_INS_PROBE%u' % n)
if instance != -1:
if aux_devid != -1:
f.write(
'#define HAL_INS_PROBE%u %s ADD_BACKEND_AUX(AP_InertialSensor_%s::probe(*this,%s),%d)\n'
% (n, wrapper, driver, ','.join(dev[1:]), aux_devid))
elif instance != -1:
f.write(
'#define HAL_INS_PROBE%u %s ADD_BACKEND_INSTANCE(AP_InertialSensor_%s::probe(*this,%s),%d)\n'
% (n, wrapper, driver, ','.join(dev[1:]), instance))