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CUAV X7pro and Nora: use icm42688p instead of bmi088

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This commit is contained in:
honglang
2021-06-02 15:15:06 +08:00
committed by Daniel Agar
parent 1b67187770
commit 5672af4299
6 changed files with 12 additions and 2 deletions
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1
boards/cuav/nora/default.cmake
View File

@@ -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

5
boards/cuav/nora/init/rc.board_sensors
View File

@@ -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

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

@@ -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, {

1
boards/cuav/x7pro/default.cmake
View File

@@ -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

5
boards/cuav/x7pro/init/rc.board_sensors
View File

@@ -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

1
boards/cuav/x7pro/src/spi.cpp
View File

@@ -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, {