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omnibus: enable SPI dma + use new ICM-20602 driver (disabled DLPF)

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Beat Küng
2020-02-24 08:09:46 +01:00
committed by Daniel Agar
parent d386591d0c
commit 77b854b7c3
5 changed files with 10 additions and 3 deletions
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boards/omnibus/f4sd/default.cmake
+1
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@@ -22,6 +22,7 @@ px4_add_board(
#heater #heater
#imu # all available imu drivers #imu # all available imu drivers
imu/mpu6000 imu/mpu6000
imu/invensense/icm20602
#irlock #irlock
#lights/blinkm #lights/blinkm
lights/rgbled lights/rgbled
boards/omnibus/f4sd/init/rc.board_sensors
+2 -1
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@@ -8,7 +8,8 @@ adc start
if ! mpu6000 -R 12 -s start if ! mpu6000 -R 12 -s start
then then
# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602 # some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
mpu6000 -R 12 -T 20602 -s start icm20602 -R 6 start
#mpu6000 -R 12 -T 20602 -s start
fi fi
# Possible external compasses # Possible external compasses
boards/omnibus/f4sd/nuttx-config/include/board.h
+4 -1
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@@ -207,12 +207,15 @@
* is we set aside more DMA channels/streams. * is we set aside more DMA channels/streams.
* *
* SDIO DMA * SDIO DMA
*   DMAMAP_SDIO_1 = Channel 4, Stream 3 <- may later be used by SPI DMA *   DMAMAP_SDIO_1 = Channel 4, Stream 3
*   DMAMAP_SDIO_2 = Channel 4, Stream 6 *   DMAMAP_SDIO_2 = Channel 4, Stream 6
*/ */
#define DMAMAP_SDIO DMAMAP_SDIO_1 #define DMAMAP_SDIO DMAMAP_SDIO_1
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2
/* LED definitions ******************************************************************/ /* LED definitions ******************************************************************/
/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any /* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
* way. The following definitions are used to access individual LEDs. * way. The following definitions are used to access individual LEDs.
boards/omnibus/f4sd/nuttx-config/nsh/defconfig
+2
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@@ -165,8 +165,10 @@ CONFIG_STM32_SDIO_CARD=y
CONFIG_STM32_SERIALBRK_BSDCOMPAT=y CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
CONFIG_STM32_SERIAL_DISABLE_REORDERING=y CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32_SPI1=y CONFIG_STM32_SPI1=y
CONFIG_STM32_SPI1_DMA=y
CONFIG_STM32_SPI2=y CONFIG_STM32_SPI2=y
CONFIG_STM32_SPI3=y CONFIG_STM32_SPI3=y
CONFIG_STM32_SPI_DMA=y
CONFIG_STM32_TIM1=y CONFIG_STM32_TIM1=y
CONFIG_STM32_TIM5=y CONFIG_STM32_TIM5=y
CONFIG_STM32_UART4=y CONFIG_STM32_UART4=y
boards/omnibus/f4sd/src/board_config.h
+1 -1
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@@ -228,7 +228,7 @@
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS #define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
/* This board provides a DMA pool and APIs */ /* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120 #define BOARD_DMA_ALLOC_POOL_SIZE (5120 + 1008) // 5120 fat + 1008 spi
#define BOARD_HAS_ON_RESET 1 #define BOARD_HAS_ON_RESET 1