mRo ctrl zero updates

- add ICM20602 and ICM20648 data ready interrupts
 - enable Bosch BMI088 IMU
 - move HRT_TIMER to TIM3 (same timer as PPM channel)

boards/mro/ctrl-zero-f7/default.cmake

@@ -29,7 +29,7 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
-		#imu/bmi088
+		imu/bmi088
 		imu/mpu6000
 		imu/icm20948
 		irlock

boards/mro/ctrl-zero-f7/init/rc.board_sensors

@@ -11,8 +11,11 @@ mpu6000 -R 10 -s -T 20602 start
 # Internal ICM-20689
 #icm20689 -R 10 20689 start
 
-# Internal BMI088
+# Internal SPI bus BMI088 accel
-bmi088 start
+bmi088 -A -R 10 start
+
+# Internal SPI bus BMI088 gyro
+bmi088 -G -R 10 start
 
 # Interal DPS310 (barometer)
 dps310 start

boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig

@@ -215,7 +215,6 @@ CONFIG_UART4_RXDMA=y
 CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_RXDMA=y
 CONFIG_UART7_SERIAL_CONSOLE=y
 CONFIG_UART7_TXBUFSIZE=1500
 CONFIG_UART8_BAUD=57600

boards/mro/ctrl-zero-f7/src/board_config.h

@@ -81,6 +81,10 @@
 #define GPIO_SPI1_CS1_ICM20602	/* PC2 */	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
 #define GPIO_SPI1_CS2_ICM20948	/* PE15 */	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
 
+/*  Define the SPI1 Data Ready interrupts */
+#define GPIO_SPI1_DRDY1_ICM20602    /* PD15  */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
+#define GPIO_SPI1_DRDY2_ICM20948    /* PE12  */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN12)
+
 /* SPI 2 CS */
 #define GPIO_SPI2_CS1_FRAM	/* PD10 */	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
 #define GPIO_SPI2_CS2_BARO	/* PD7 */	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
@@ -253,7 +257,7 @@
 #define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
 
 /* High-resolution timer */
-#define HRT_TIMER               8  /* use timer8 for the HRT */
+#define HRT_TIMER               3  /* use timer3 for the HRT */
 #define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
 
 #define HRT_PPM_CHANNEL         /* T3C2 */  2  /* use capture/compare channel 1 */
@@ -328,10 +332,6 @@
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_SAFETY_SWITCH_IN,            \
-		GPIO_DRDY_BMI088_INT1_ACCEL,      \
-		GPIO_DRDY_BMI088_INT2_ACCEL,      \
-		GPIO_DRDY_BMI088_INT3_GYRO,       \
-		GPIO_DRDY_BMI088_INT4_GYRO,       \
 	}
 
 #define BOARD_ENABLE_CONSOLE_BUFFER

boards/mro/ctrl-zero-f7/src/spi.cpp

@@ -203,6 +203,9 @@ __EXPORT void board_spi_reset(int ms)
 	stm32_configgpio(_PIN_OFF(GPIO_SPI1_SCK));
 	stm32_configgpio(_PIN_OFF(GPIO_SPI1_MISO));
 	stm32_configgpio(_PIN_OFF(GPIO_SPI1_MOSI));
+	stm32_configgpio(_PIN_OFF(GPIO_SPI1_DRDY1_ICM20602));
+	stm32_configgpio(_PIN_OFF(GPIO_SPI1_DRDY2_ICM20948));
+
 
 	// SPI5
 	for (auto cs : spi5selects_gpio) {
@@ -242,6 +245,9 @@ __EXPORT void board_spi_reset(int ms)
 	stm32_configgpio(GPIO_SPI1_SCK);
 	stm32_configgpio(GPIO_SPI1_MISO);
 	stm32_configgpio(GPIO_SPI1_MOSI);
+	stm32_configgpio(GPIO_SPI1_DRDY1_ICM20602);
+	stm32_configgpio(GPIO_SPI1_DRDY2_ICM20948);
+
 
 	// SPI5
 	for (auto cs : spi5selects_gpio) {

src/drivers/imu/bmi088/bmi088_main.cpp

@@ -90,7 +90,11 @@ start(bool external_bus, enum Rotation rotation, enum sensor_type sensor)
 #endif
 
 		} else {
+#if defined(PX4_SPI_BUS_SENSORS3) && defined(PX4_SPIDEV_BMI088_ACC)
 			*g_dev_acc_ptr = new BMI088_accel(PX4_SPI_BUS_SENSORS3, path_accel, PX4_SPIDEV_BMI088_ACC, rotation);
+#elif defined(PX4_SPI_BUS_5) && defined(PX4_SPIDEV_BMI088_ACC)
+			*g_dev_acc_ptr = new BMI088_accel(PX4_SPI_BUS_5, path_accel, PX4_SPIDEV_BMI088_ACC, rotation);
+#endif
 		}
 
 		if (*g_dev_acc_ptr == nullptr) {
@@ -120,7 +124,11 @@ start(bool external_bus, enum Rotation rotation, enum sensor_type sensor)
 #endif
 
 		} else {
+#if defined(PX4_SPI_BUS_SENSORS3) && defined(PX4_SPIDEV_BMI088_GYR)
 			*g_dev_gyr_ptr = new BMI088_gyro(PX4_SPI_BUS_SENSORS3, path_gyro, PX4_SPIDEV_BMI088_GYR, rotation);
+#elif defined(PX4_SPI_BUS_5) && defined(PX4_SPIDEV_BMI088_GYR)
+			*g_dev_gyr_ptr = new BMI088_gyro(PX4_SPI_BUS_5, path_gyro, PX4_SPIDEV_BMI088_GYR, rotation);
+#endif
 		}
 
 		if (*g_dev_gyr_ptr == nullptr) {