icm20948 i2c passthrough driver for ak09916 magnetometer (Here+ GPS/compass)

- include icm20948 on most boards by default - create more test variants for default boards near flash limit (cuav_nora_test, cuav_x7pro_test, holybro_durandal-v1_test)
2026-05-21 09:22:18 +00:00 · 2021-04-04 21:18:16 -04:00
parent c6a0161047
commit ad934b4911
57 changed files with 1076 additions and 98 deletions
--- a/boards/holybro/durandal-v1/default.cmake
+++ b/boards/holybro/durandal-v1/default.cmake
@@ -9,7 +9,6 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
 	IO px4_io-v2_default
-	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
@@ -33,7 +32,8 @@ px4_add_board(
 		imu/analog_devices/adis16448
 		imu/bosch/bmi088
 		imu/invensense/icm20689
-		irlock
+		imu/invensense/icm20948 # required for ak09916 mag
+		#irlock
 		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
@@ -48,7 +48,6 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
-		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -83,8 +82,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -110,7 +109,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-#		tests # tests and test runner
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -120,15 +119,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		hello
-		hwtest # Hardware test
+		#fake_gyro
+		#fake_magnetometer
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hello
+		#hwtest # Hardware test
 		#matlab_csv_serial
-		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		rover_steering_control # Rover example app
-		uuv_example_app
-		work_item
+		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		#rover_steering_control # Rover example app
+		#uuv_example_app
+		#work_item
 	)
--- a/boards/holybro/durandal-v1/test.cmake
+++ b/boards/holybro/durandal-v1/test.cmake
@@ -0,0 +1,135 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR holybro
+	MODEL durandal-v1
+	LABEL test
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	BUILD_BOOTLOADER
+	IO px4_io-v2_default
+	TESTING
+	UAVCAN_INTERFACES 2
+	SERIAL_PORTS
+		GPS1:/dev/ttyS0
+		TEL1:/dev/ttyS1
+		TEL2:/dev/ttyS2
+		TEL3:/dev/ttyS4
+		TEL4:/dev/ttyS3
+	DRIVERS
+		#adc/ads1115
+		adc/board_adc
+		barometer # all available barometer drivers
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		dshot
+		gps
+		heater
+		#imu # all available imu drivers
+		#imu/analog_devices/adis16448
+		imu/bosch/bmi088
+		imu/invensense/icm20689
+		imu/invensense/icm20948 # required for ak09916 mag
+		#irlock
+		lights # all available light drivers
+		magnetometer # all available magnetometer drivers
+		optical_flow # all available optical flow drivers
+		#osd
+		#pca9685
+		#pca9685_pwm_out
+		power_monitor/ina226
+		#protocol_splitter
+		pwm_out_sim
+		pwm_out
+		px4io
+		#roboclaw
+		#rpm
+		telemetry # all available telemetry drivers
+		test_ppm
+		tone_alarm
+		uavcan
+	MODULES
+		airspeed_selector
+		#attitude_estimator_q
+		battery_status
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		#esc_battery
+		events
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		gyro_calibration
+		gyro_fft
+		land_detector
+		landing_target_estimator
+		load_mon
+		#local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
+		navigator
+		rc_update
+		#rover_pos_control
+		sensors
+		#sih
+		#temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		bl_update
+		dmesg
+		dumpfile
+		esc_calib
+		gpio
+		hardfault_log
+		i2cdetect
+		led_control
+		mft
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		#reflect
+		sd_bench
+		serial_test
+		system_time
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		uorb
+		usb_connected
+		ver
+		work_queue
+	EXAMPLES
+		fake_gps
+		#fake_gyro
+		#fake_magnetometer
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hello
+		#hwtest # Hardware test
+		#matlab_csv_serial
+		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		#rover_steering_control # Rover example app
+		#uuv_example_app
+		#work_item
+	)
--- a/boards/holybro/pix32v5/default.cmake
+++ b/boards/holybro/pix32v5/default.cmake
@@ -33,6 +33,7 @@ px4_add_board(
 		imu/bosch/bmi055
 		imu/invensense/icm20602
 		imu/invensense/icm20689
+		imu/invensense/icm20948 # required for ak09916 mag
 		irlock
 		lights # all available light drivers
 		lights/rgbled_pwm