From 5672af4299102a45027ade938f0bd9c5f6381736 Mon Sep 17 00:00:00 2001
From: honglang <honglang@cuav.net>
Date: Wed, 2 Jun 2021 15:15:06 +0800
Subject: [PATCH] CUAV X7pro and Nora: use icm42688p instead of bmi088

---
 boards/cuav/nora/default.cmake          | 1 +
 boards/cuav/nora/init/rc.board_sensors  | 5 ++++-
 boards/cuav/nora/src/spi.cpp            | 1 +
 boards/cuav/x7pro/default.cmake         | 1 +
 boards/cuav/x7pro/init/rc.board_sensors | 5 ++++-
 boards/cuav/x7pro/src/spi.cpp           | 1 +
 6 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/boards/cuav/nora/default.cmake b/boards/cuav/nora/default.cmake
index 9e8ad80133..cdeb629762 100644
--- a/boards/cuav/nora/default.cmake
+++ b/boards/cuav/nora/default.cmake
@@ -35,6 +35,7 @@ px4_add_board(
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		imu/invensense/icm20948 # required for ak09916 mag
+		imu/invensense/icm42688p
 		irlock
 		lights # all available light drivers
 		lights/rgbled_pwm
diff --git a/boards/cuav/nora/init/rc.board_sensors b/boards/cuav/nora/init/rc.board_sensors
index efaae7a4c6..3692b725a8 100644
--- a/boards/cuav/nora/init/rc.board_sensors
+++ b/boards/cuav/nora/init/rc.board_sensors
@@ -12,7 +12,10 @@ rm3100 -s -b 2 start
 
 # SPI4
 bmi088 -s -b 4 -A -R 2 start
-bmi088 -s -b 4 -G -R 2 start
+if !bmi088 -s -b 4 -G -R 2 start
+then
+	icm42688p -R 2 -s start
+fi
 ms5611 -s -b 4 start
 
 # SPI6
diff --git a/boards/cuav/nora/src/spi.cpp b/boards/cuav/nora/src/spi.cpp
index 45890c4c1d..0aa6c50248 100644
--- a/boards/cuav/nora/src/spi.cpp
+++ b/boards/cuav/nora/src/spi.cpp
@@ -46,6 +46,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI4, {
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin3}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortG, GPIO::Pin10}),
 	}),
 	initSPIBusExternal(SPI::Bus::SPI5, {
diff --git a/boards/cuav/x7pro/default.cmake b/boards/cuav/x7pro/default.cmake
index 63ffab2d59..3306df91ce 100644
--- a/boards/cuav/x7pro/default.cmake
+++ b/boards/cuav/x7pro/default.cmake
@@ -36,6 +36,7 @@ px4_add_board(
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		imu/invensense/icm20948 # required for ak09916 mag
+		imu/invensense/icm42688p
 		irlock
 		lights # all available light drivers
 		lights/rgbled_pwm
diff --git a/boards/cuav/x7pro/init/rc.board_sensors b/boards/cuav/x7pro/init/rc.board_sensors
index 16e4de2060..31e9812ae1 100644
--- a/boards/cuav/x7pro/init/rc.board_sensors
+++ b/boards/cuav/x7pro/init/rc.board_sensors
@@ -15,7 +15,10 @@ rm3100 -s -b 2 start
 
 # SPI4
 bmi088 -s -b 4 -A -R 2 start
-bmi088 -s -b 4 -G -R 2 start
+if !bmi088 -s -b 4 -G -R 2 start
+then
+	icm42688p -R 2 -s start
+fi
 ms5611 -s -b 4 start
 
 # SPI6
diff --git a/boards/cuav/x7pro/src/spi.cpp b/boards/cuav/x7pro/src/spi.cpp
index 1fda7b8274..671ad8d1bc 100644
--- a/boards/cuav/x7pro/src/spi.cpp
+++ b/boards/cuav/x7pro/src/spi.cpp
@@ -47,6 +47,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI4, {
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin3}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortG, GPIO::Pin10}),
 	}),
 	initSPIBusExternal(SPI::Bus::SPI5, {