boards: ga1 add ICM45686 IMU support (#27281)

boards/accton-godwit/ga1/default.px4board

@@ -25,6 +25,7 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y

boards/accton-godwit/ga1/init/rc.board_sensors

@@ -73,6 +73,10 @@ bmi088 -G -R 4 -s start
 icm42688p -R 6 -s -b 2 start
 icm42688p -R 14 -s -b 1 start
 
+# Internal SPI bus ICM45686
+icm45686 -R 6 -s -b 2 start
+icm45686 -R 14 -s -b 1 start
+
 # Internal magnetometer on I2c
 rm3100 -I -b 4 start
 

boards/accton-godwit/ga1/src/spi.cpp

@@ -38,9 +38,11 @@
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 	}, {GPIO::PortI, GPIO::Pin11}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 	}, {GPIO::PortF, GPIO::Pin4}),
 	initSPIBus(SPI::Bus::SPI3, {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),