From db4f1a14739a9ffa2a93357c9e7fa67444b05320 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 12 Apr 2020 09:18:13 +1000 Subject: [PATCH] HAL_ChibiOS: enable ADIS16470 on SPI1 --- libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef.dat | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef.dat index b598fcb215..d202e02b5b 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef.dat @@ -223,7 +223,7 @@ PJ4 VDD_5V_PERIPH_OC INPUT PULLUP PB10 nSPI5_RESET_EXTERNAL1 OUTPUT HIGH # SPI devices -SPIDEV rm3100 SPI1 DEVID1 RM3100_CS MODE3 2*MHZ 8*MHZ +SPIDEV adis16470 SPI1 DEVID2 ADIS16470_CS MODE3 1*MHZ 2*MHZ SPIDEV icm20689 SPI1 DEVID2 ICM20689_CS MODE3 2*MHZ 8*MHZ SPIDEV bmi088_a SPI4 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi088_g SPI4 DEVID3 BMI088_G_CS MODE3 10*MHZ 10*MHZ @@ -232,11 +232,17 @@ SPIDEV ms5611_board SPI6 DEVID1 MS5611_BOARD_CS MODE3 20*MHZ 20*MHZ SPIDEV icm20649 SPI6 DEVID2 ICM20649_CS MODE3 2*MHZ 8*MHZ SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ +# RM3100 may be on SPI1 or SPI2 (not both). Later board revisions +# have the RM3100 on SPI2, to leave SPI1 free for ADIS1647x +SPIDEV rm3100-1 SPI1 DEVID1 RM3100_CS MODE3 2*MHZ 8*MHZ +SPIDEV rm3100-2 SPI2 DEVID2 RM3100_CS MODE3 2*MHZ 8*MHZ + # two baro BARO MS56XX SPI:ms5611_imu BARO MS56XX SPI:ms5611_board -# three IMUs +# three IMUs, only one of ICM20689 and ADIS16470 will be included +IMU ADIS1647x SPI:adis16470 ROTATION_PITCH_180_YAW_270 IMU Invensense SPI:icm20689 ROTATION_NONE IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180_YAW_270 IMU Invensensev2 SPI:icm20649 ROTATION_NONE @@ -249,8 +255,10 @@ 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 -COMPASS RM3100 SPI:rm3100 false ROTATION_NONE - +# probe for RM3100 on SPI1 or SPI2 +COMPASS RM3100 SPI:rm3100-1 false ROTATION_NONE +COMPASS RM3100 SPI:rm3100-2 false ROTATION_NONE + # microSD support PC8 SDMMC1_D0 SDMMC1