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ARK Flow rev 2 add icm42688p

This commit is contained in:
alexklimaj 2021-06-24 13:41:40 -06:00 committed by Daniel Agar
parent a67e66000e
commit 9d3e18dbe1
4 changed files with 9 additions and 2 deletions
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1
boards/ark/can-flow/debug.cmake
View File

@ -14,6 +14,7 @@ px4_add_board(
bootloaders
distance_sensor/broadcom/afbrs50
imu/bosch/bmi088
imu/invensense/icm42688p
optical_flow/paw3902
uavcannode
MODULES

1
boards/ark/can-flow/default.cmake
View File

@ -15,6 +15,7 @@ px4_add_board(
bootloaders
distance_sensor/broadcom/afbrs50
imu/bosch/bmi088
imu/invensense/icm42688p
optical_flow/paw3902
uavcannode
MODULES

8
boards/ark/can-flow/init/rc.board_sensors
View File

@ -5,7 +5,11 @@
# Internal SPI
paw3902 -s start -Y 180
bmi088 -A -s -R 4 start
bmi088 -G -s -R 4 start
if ! icm42688p -R 0 -s start
then
bmi088 -A -s -R 4 start
bmi088 -G -s -R 4 start
fi
afbrs50 start

1
boards/ark/can-flow/src/spi.cpp
View File

@ -39,6 +39,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
initSPIDevice(DRV_FLOW_DEVTYPE_PAW3902, SPI::CS{GPIO::PortB, GPIO::Pin5}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
}),
initSPIBus(SPI::Bus::SPI2, {