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AP_HAL_ChibiOS:modify hwdef for V3 of ReaperF745

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Henry Wurzburg 2022-12-17 18:53:22 -06:00 committed by Andrew Tridgell
parent 8686589cc0
commit 2c5b85c9c5
1 changed files with 7 additions and 4 deletions
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11
libraries/AP_HAL_ChibiOS/hwdef/ReaperF745v2/hwdef.dat
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@ -50,7 +50,7 @@ PA7 SPI1_MOSI SPI1
#PB15 SPI2_MOSI SPI2
# SPI3 for Gyro
PA15 BMI270_CS CS
PA15 GYRO_CS CS
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3
@ -118,8 +118,9 @@ STORAGE_FLASH_PAGE 1
# enable logging to dataflash
define HAL_LOGGING_DATAFLASH_ENABLED 1
# spi devices
SPIDEV bmi270 SPI3 DEVID1 BMI270_CS MODE3 1*MHZ 4*MHZ
# spi devices bmi270(v2) icm42688 (v3)
SPIDEV bmi270 SPI3 DEVID1 GYRO_CS MODE3 1*MHZ 4*MHZ
SPIDEV icm42688 SPI3 DEVID1 GYRO_CS MODE3 2*MHZ 8*MHZ
SPIDEV dataflash SPI4 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
SPIDEV osd SPI1 DEVID1 AT7456E_CS MODE0 10*MHZ 10*MHZ
@ -127,8 +128,10 @@ SPIDEV osd SPI1 DEVID1 AT7456E_CS MODE0 10*MHZ 10*MHZ
define ALLOW_ARM_NO_COMPASS
define HAL_I2C_INTERNAL_MASK 0
# one IMU bmi270
# one IMU: bmi270 or icm42688
IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_90
define HAL_DEFAULT_INS_FAST_SAMPLE 1
# no BARO