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boards: airmind mindpx-v2 switch to new mpu6000 and mpu6500 drivers

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This commit is contained in:
Daniel Agar
2020-03-31 13:21:24 -04:00
parent 2b82b471c1
commit 39b47e63b5
5 changed files with 11 additions and 13 deletions
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3
boards/airmind/mindpx-v2/default.cmake
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@@ -27,9 +27,8 @@ px4_add_board(
#imu # all available imu drivers
imu/l3gd20
imu/lsm303d
imu/invensense/mpu6000
imu/invensense/mpu6500
imu/mpu6000
imu/mpu9250
irlock
lights/blinkm
lights/rgbled

5
boards/airmind/mindpx-v2/init/rc.board_sensors
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@@ -13,9 +13,8 @@ qmc5883 -X start
hmc5883 -T -I -R 12 start
qmc5883 -I -R 12 start
# mpu6500 -s R 2 start # new driver in testing
mpu6000 -s -R 8 start
mpu9250 -s -R 8 start
mpu6000 -s -R 2 start
mpu6500 -s -R 2 start
lsm303d -s -R 10 start
l3gd20 -s -R 14 start

8
boards/airmind/mindpx-v2/nuttx-config/include/board_dma_map.h
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@@ -69,7 +69,7 @@
| | | | | | | | | TIM8_TRIG |
| | | | | | | | | TIM8_COM |
| | | | | | | | | |
| Usage | SPI1_RX_1 | USART6_RX_1 | USART1_RX_1 | SPI1_TX_1 | | | SDIO | |
| Usage | SPI4_RX_1 | USART6_RX_1 | USART1_RX_1 | | SPI4_TX_2 | | SDIO | |
*/
// DMA1 Channel/Stream Selections
@@ -78,10 +78,10 @@
// DMA2 Channel/Stream Selections
//--------------------------------------------//---------------------------//----------------
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1 // DMA2, Stream 0, Channel 3 (SPI sensors RX)
#define DMACHAN_SPI4_RX DMAMAP_SPI4_RX_1 // DMA2, Stream 0, Channel 4 (SPI sensors RX)
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_1 // DMA2, Stream 1, Channel 4
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1 // DMA2, Stream 3, Channel 3 (SPI sensors TX)
// AVAILABLE // DMA2, Stream 4
// AVAILABLE // DMA2, Stream 3
#define DMACHAN_SPI4_TX DMAMAP_SPI4_TX_2 // DMA2, Stream 4, Channel 5 (SPI sensors TX)
// AVAILABLE // DMA2, Stream 5, Channel 6
#define DMAMAP_SDIO DMAMAP_SDIO_2 // DMA2, Stream 6, Channel 4

4
boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig
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@@ -187,10 +187,10 @@ CONFIG_STM32_SDIO_CARD=y
CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32_SPI1=y
CONFIG_STM32_SPI1_DMA=y
CONFIG_STM32_SPI1_DMA_BUFFER=1024
CONFIG_STM32_SPI2=y
CONFIG_STM32_SPI4=y
CONFIG_STM32_SPI4_DMA=y
CONFIG_STM32_SPI4_DMA_BUFFER=1024
CONFIG_STM32_SPI_DMA=y
CONFIG_STM32_SPI_DMATHRESHOLD=8
CONFIG_STM32_TIM10=y

4
boards/airmind/mindpx-v2/src/spi.cpp
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@@ -46,8 +46,8 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortB, GPIO::Pin2}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
initSPIDevice(DRV_ACC_DEVTYPE_LSM303D, SPI::CS{GPIO::PortD, GPIO::Pin11}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin15}),
initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortC, GPIO::Pin0}),
initSPIDevice(DRV_IMU_DEVTYPE_MPU6500, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortC, GPIO::Pin0}),
initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin10}),
initSPIDevice(DRV_IMU_DEVTYPE_MPU6500, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin10}),
}),
};