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boards: add support for Matek H743 Slim V3 

IMUs were replaced in V3 with 2x ICM42688P. This configuration should
work with all revisions of Matek F743 Slim board, including V1, V1.5
and interim variant of V3 (ICM42688P + ICM42605).

Signed-off-by: Andrei Korigodskii <akorigod@gmail.com>
This commit is contained in:
Andrei Korigodskii 2023-10-13 04:23:29 +03:00 committed by Daniel Agar
parent 9676af2fe6
commit eeb9c5256a
3 changed files with 28 additions and 7 deletions
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1
boards/matek/h743-slim/default.px4board
View File

@ -12,6 +12,7 @@ CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_COMMON_OPTICAL_FLOW=y

22
boards/matek/h743-slim/init/rc.board_sensors
View File

@ -5,15 +5,25 @@
board_adc start
# Internal SPI bus ICM-42605
if ! icm42605 -R 14 -s start
# Different board versions have different IMUs, so we try all known options
# Internal SPI bus ICM-42688P (SPI1) on V3 board, PITCH180 orientation
if ! icm42688p -s -b 1 -R 12 start
then
# internal SPI bus ICM-20602
icm20602 -R 12 -s start
# Internal SPI bus MPU-6000 on V1.0 and V1.5 boards
mpu6000 -s -b 1 -R 12 start
fi
# Internal SPI bus MPU-6000
mpu6000 -R 12 -s start
# Internal SPI bus ICM-42688P (SPI4) on V3 board, PITCH180_YAW90 orientation
if ! icm42688p -s -b 4 -R 26 start
then
# Internal SPI bus ICM-42605 on V1.5 board, ROTATION_ROLL_180_YAW_270 orientation
if ! icm42605 -s -b 4 -R 14 start
then
# Internal SPI bus ICM-20602 on V1.0 board, PITCH180 orientation
icm20602 -s -b 4 -R 12 start
fi
fi
# Internal baro
dps310 -I start -a 118

12
boards/matek/h743-slim/src/spi.cpp
View File

@ -38,7 +38,11 @@
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI1, {
// Matek H743 Slim V1.0 and V1.5
initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
// Matek H743 Slim V3
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
@ -48,8 +52,14 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIConfigExternal(SPI::CS{GPIO::PortE, GPIO::Pin2}),
}),
initSPIBus(SPI::Bus::SPI4, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42605, SPI::CS{GPIO::PortC, GPIO::Pin13}),
// Matek H743 Slim V1.0
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortE, GPIO::Pin11}),
// Matek H743 Slim V1.5
initSPIDevice(DRV_IMU_DEVTYPE_ICM42605, SPI::CS{GPIO::PortC, GPIO::Pin13}),
// Matek H743 Slim V3
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}),
}),
};