Mirrors_Framework/PX4-Autopilot
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ARKV6X add ADIS16507

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This commit is contained in:
alexklimaj
2023-04-21 16:03:39 -06:00
committed by Daniel Agar
parent d2ca763d23
commit 2cef8a03d4
3 changed files with 7 additions and 1 deletions
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boards/ark/fmu-v6x/default.px4board
+1
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@@ -17,6 +17,7 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_HEATER=y
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
CONFIG_COMMON_LIGHT=y
boards/ark/fmu-v6x/src/board_config.h
+1 -1
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@@ -125,6 +125,7 @@
/* SPI */
#define SPI6_nRESET_EXTERNAL1 /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
#define SPI6_RESET(on_true) px4_arch_gpiowrite(SPI6_nRESET_EXTERNAL1, !(on_true))
/* I2C busses */
@@ -309,7 +310,6 @@
#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
#define VDD_3V3_ETH_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_ETH_POWER_EN, (on_true))
/* Tone alarm output */
#define TONE_ALARM_TIMER 14 /* Timer 14 */
boards/ark/fmu-v6x/src/init.c
+5
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@@ -110,6 +110,7 @@ __EXPORT void board_peripheral_reset(int ms)
VDD_5V_PERIPH_EN(false);
board_control_spi_sensors_power(false, 0xffff);
VDD_3V3_SENSORS4_EN(false);
SPI6_RESET(true);
bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
/* Keep Spektum on to discharge rail*/
@@ -128,6 +129,8 @@ __EXPORT void board_peripheral_reset(int ms)
VDD_5V_HIPOWER_EN(true);
VDD_5V_PERIPH_EN(true);
/* Release SPI6 Reset */
SPI6_RESET(false);
}
/************************************************************************************
@@ -217,6 +220,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
VDD_3V3_SENSORS4_EN(true);
VDD_3V3_SPEKTRUM_POWER_EN(true);
SPI6_RESET(false);
/* Need hrt running before using the ADC */
px4_platform_init();