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px4fmu-v4 uses MPU6000 driver for ICM-20609-G

This commit is contained in:
David Sidrane 2015-11-18 12:19:35 -10:00 committed by Lorenz Meier
parent 46c63da8be
commit 6df5aab064
4 changed files with 5 additions and 3 deletions
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4
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -84,8 +84,8 @@ else
then
fi
# Internal SPI bus try MPU6K on ICM-20608-G is rotated 180 deg roll, 270 deg yaw
if mpu6000 -R 14 start
# Internal SPI bus ICM-20608-G is rotated 180 deg roll, 270 deg yaw
if mpu6000 -R 14 -T 20608 start
then
fi
else

1
cmake/configs/nuttx_px4fmu-v4_default.cmake
View File

@ -14,6 +14,7 @@ set(config_module_list
drivers/px4fmu
drivers/boards/px4fmu-v4
drivers/rgbled
drivers/mpu6000
drivers/mpu9250
drivers/hmc5883
drivers/ms5611

1
src/drivers/boards/px4fmu-v4/board_config.h
View File

@ -127,6 +127,7 @@ __BEGIN_DECLS
#define PX4_SPIDEV_BARO 3
#define PX4_SPIDEV_MPU 4
#define PX4_SPIDEV_HMC 5
#define PX4_SPIDEV_ICM 6
/* I2C busses */
#define PX4_I2C_BUS_EXPANSION 1

2
src/drivers/boards/px4fmu-v4/px4fmu_spi.c
View File

@ -101,7 +101,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
/* SPI select is active low, so write !selected to select the device */
switch (devid) {
case PX4_SPIDEV_GYRO:
case PX4_SPIDEV_ICM:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
stm32_gpiowrite(GPIO_SPI_CS_HMC5983, 1);