Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-24 17:48:35 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_BoardConfig: allow for BMI088 for Holybro 6X

Browse Source 
and tighten check on CUAV-X6 and Holybro-6X to check all 3 IMUs
This commit is contained in:
Andrew Tridgell 2022-08-02 07:58:14 +10:00 committed by Randy Mackay
parent b51a406529
commit fdd72ba8ea
1 changed files with 30 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
libraries/AP_BoardConfig/board_drivers.cpp
View File

@ -283,6 +283,11 @@ bool AP_BoardConfig::check_ms5611(const char* devname) {
#define INV2_WHOAMI_ICM20948 0xEA
#define INV2_WHOAMI_ICM20649 0xE1
#define INV3REG_WHOAMI 0x75
#define INV3_WHOAMI_ICM42688 0x47
#define INV3_WHOAMI_ICM42670 0x67
/*
validation of the board type
*/
@ -517,3 +522,28 @@ void AP_BoardConfig::board_setup()
#endif
}
#ifdef HAL_CHIBIOS_ARCH_FMUV6
#define BMI088REG_CHIPID 0x00
#define CHIPID_BMI088_G 0x0F
/*
detect which FMUV6 variant we are running on
*/
void AP_BoardConfig::detect_fmuv6_variant()
{
if (((spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649) ||
spi_check_register("bmi088_g", BMI088REG_CHIPID, CHIPID_BMI088_G)) && // alternative config
spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688) &&
spi_check_register("icm42670", INV3REG_WHOAMI, INV3_WHOAMI_ICM42670))) {
state.board_type.set_and_notify(FMUV6_BOARD_HOLYBRO_6X);
DEV_PRINTF("Detected Holybro 6X\n");
} else if ((spi_check_register_inv2("icm20649_2", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649) &&
spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688) &&
spi_check_register("bmi088_g", BMI088REG_CHIPID, CHIPID_BMI088_G))) {
state.board_type.set_and_notify(FMUV6_BOARD_CUAV_6X);
DEV_PRINTF("Detected CUAV 6X\n");
}
}
#endif