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v5x/v6x: update IMU sensors (remove ISM330DLC)

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This commit is contained in:
Beat Küng
2021-01-12 14:11:40 +01:00
committed by Daniel Agar
parent 48f125f150
commit 9f5dee2ecf
8 changed files with 21 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
boards/px4/fmu-v5x/base_phy_DP83848C.cmake
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@@ -33,7 +33,7 @@ px4_add_board(
imu/adis16497 imu/adis16497
imu/bosch/bmi088 imu/bosch/bmi088
imu/invensense/icm20602 imu/invensense/icm20602
imu/st/ism330dlc imu/invensense/icm42688p
irlock irlock
lights/blinkm lights/blinkm
lights/rgbled lights/rgbled

2
boards/px4/fmu-v5x/default.cmake
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@@ -34,7 +34,7 @@ px4_add_board(
imu/adis16497 imu/adis16497
imu/bosch/bmi088 imu/bosch/bmi088
imu/invensense/icm20602 imu/invensense/icm20602
imu/st/ism330dlc imu/invensense/icm42688p
irlock irlock
lights/blinkm lights/blinkm
lights/rgbled lights/rgbled

14
boards/px4/fmu-v5x/init/rc.board_sensors
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@@ -8,17 +8,17 @@ board_adc start
ina226 -X -b 1 -t 1 -k start ina226 -X -b 1 -t 1 -k start
ina226 -X -b 2 -t 2 -k start ina226 -X -b 2 -t 2 -k start
# Internal SPI bus ICM-20602
icm20602 -R 10 -s start
# Internal SPI bus ISM300DLC
ism330dlc -s start
# Internal SPI BMI088 # Internal SPI BMI088
bmi088 -A -R 4 -s start bmi088 -A -R 4 -s start
bmi088 -G -R 4 -s start bmi088 -G -R 4 -s start
# Possible internal compass # Internal SPI bus ICM42688p
icm42688p -R 6 -s start
# Internal SPI bus ICM-20602 (hard-mounted)
icm20602 -R 10 -s start
# Internal magnetometer on I2c
bmm150 -I start bmm150 -I start
# Possible internal Baro # Possible internal Baro

2
boards/px4/fmu-v5x/src/spi.cpp
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@@ -40,7 +40,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}), }, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, { initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_ST_ISM330DLC, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}), initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}),
}, {GPIO::PortD, GPIO::Pin15}), }, {GPIO::PortD, GPIO::Pin15}),
initSPIBus(SPI::Bus::SPI3, { initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),

1
boards/px4/fmu-v6x/default.cmake
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@@ -34,7 +34,6 @@ px4_add_board(
imu/adis16497 imu/adis16497
imu/bosch/bmi088 imu/bosch/bmi088
imu/invensense/icm20649 imu/invensense/icm20649
imu/st/ism330dlc
irlock irlock
lights/blinkm lights/blinkm
lights/rgbled lights/rgbled

21
boards/px4/fmu-v6x/init/rc.board_sensors
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@@ -2,29 +2,28 @@
# #
# PX4 FMUv6X specific board sensors init # PX4 FMUv6X specific board sensors init
#------------------------------------------------------------------------------ #------------------------------------------------------------------------------
board_adc start board_adc start
# Start Digital power monitors # Start Digital power monitors
ina226 -X -b 1 -t 1 -k start ina226 -X -b 1 -t 1 -k start
ina226 -X -b 2 -t 2 -k start ina226 -X -b 2 -t 2 -k start
# Internal SPI bus ICM-20649 # Internal SPI BMI088
bmi088 -A -R 4 -s start
bmi088 -G -R 4 -s start
# Internal SPI bus ICM42688p
icm42688p -R 6 -s start
# Internal SPI bus ICM-20649 (hard-mounted)
icm20649 -R 2 -s start icm20649 -R 2 -s start
# Internal SPI bus ISM300DLC # Internal magnetometer on I2c
ism330dlc -s start
# Internal SPI bus BMI088 accel/gyro
bmi088 -A -R 12 -s start
bmi088 -G -R 12 -s start
# Possible internal compass
bmm150 -I start bmm150 -I start
# Possible internal Baro # Possible internal Baro
bmp388 -I start
bmp388 -I -a 0x77 start bmp388 -I -a 0x77 start
bmp388 -I start
# Baro on I2C3 # Baro on I2C3
ms5611 -X start ms5611 -X start

2
boards/px4/fmu-v6x/src/spi.cpp
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@@ -40,7 +40,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}), }, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, { initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_ST_ISM330DLC, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}), }, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, { initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),

1
boards/px4/fmu-v6x/stackcheck.cmake
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@@ -34,7 +34,6 @@ px4_add_board(
imu/adis16497 imu/adis16497
imu/bosch/bmi088 imu/bosch/bmi088
imu/invensense/icm20649 imu/invensense/icm20649
imu/st/ism330dlc
irlock irlock
lights/blinkm lights/blinkm
lights/rgbled lights/rgbled