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boards: CUAV Nora fix BMI088 orientation

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Daniel Agar 2021-01-17 23:19:18 -05:00 committed by GitHub
parent 1ec10bfcc6
commit e4d223f098
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2 changed files with 9 additions and 8 deletions
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16
boards/cuav/nora/init/rc.board_sensors
View File

@ -4,16 +4,18 @@
#------------------------------------------------------------------------------
board_adc start
# SPI1 (internal)
rm3100 -s start
icm20689 -s -R 2 start
# SPI1
icm20689 -s -b 1 -R 2 start
# SPI4 (internal)
bmi088 -A -s -R 10 start
bmi088 -G -s -R 10 start
# SPI2
rm3100 -s -b 2 start
# SPI4
bmi088 -s -b 4 -A -R 2 start
bmi088 -s -b 4 -G -R 2 start
ms5611 -s -b 4 start
# SPI6 (internal)
# SPI6
icm20649 -s -b 6 -R 2 start
ms5611 -s -b 6 start

1
boards/cuav/nora/src/spi.cpp
View File

@ -37,7 +37,6 @@
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin7}), // ADIS16470
initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortG, GPIO::Pin6}, SPI::DRDY{GPIO::PortJ, GPIO::Pin0}),
}, {GPIO::PortE, GPIO::Pin3}),
initSPIBus(SPI::Bus::SPI2, {