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Add IMU compatible for KakuteH7Mini (#23831)

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Co-authored-by: jamming <jianbing.pan@holybro.com>
This commit is contained in:
Julian Oes
2024-10-22 09:22:16 +13:00
committed by GitHub
parent 965d5b3b95
commit efbd01c3c2
3 changed files with 10 additions and 5 deletions
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boards/holybro/kakuteh7mini/default.px4board
+1
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@@ -14,6 +14,7 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_COMMON_LIGHT=y
boards/holybro/kakuteh7mini/init/rc.board_sensors
+6 -3
View File
@@ -2,11 +2,14 @@
#
# Holybro KakuteH7Mini specific board sensors init
#------------------------------------------------------------------------------
# v1.1=mpu6000 v1.3=bmi270 v1.5=icm42688p
board_adc start
if ! bmi270 -s -q start
if ! mpu6000 -R 6 -s -q start
then
icm42688p -R 0 -s start
if ! bmi270 -R 6 -s -q start
then
icm42688p -R 6 -s start
fi
fi
bmp280 -X start
boards/holybro/kakuteh7mini/src/spi.cpp
+3 -2
View File
@@ -43,9 +43,10 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
}),
initSPIBus(SPI::Bus::SPI4, {
//<V1.3s have the MPU series, latter ones have a BMI270
//<V1.1 have the mpu6000, v1.3 have a BMI270, v1.5 have a ICM42688P
initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
initSPIDevice(DRV_IMU_DEVTYPE_BMI270, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1})
initSPIDevice(DRV_IMU_DEVTYPE_BMI270, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1})
}),
};