Mirrors_Framework/PX4-Autopilot
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Ark flow rev 3 with PAA3905"

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Add AFBR-S50LX85D
This commit is contained in:
alexklimaj
2022-08-26 11:19:57 -06:00
committed by Daniel Agar
parent 38d332a553
commit fdf4b668eb
4 changed files with 24 additions and 5 deletions
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boards/ark/can-flow/default.px4board
+2
View File
@@ -8,6 +8,8 @@ CONFIG_DRIVERS_BOOTLOADERS=y
CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905=y
CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_DRIVERS_UAVCANNODE=y
boards/ark/can-flow/init/rc.board_sensors
+9 -3
View File
@@ -6,12 +6,18 @@
param set-default IMU_GYRO_RATEMAX 1000
# Internal SPI
paw3902 -s start -Y 180
if ! paw3902 -s start -Y 180
then
paa3905 -s start -Y 180
fi
if ! icm42688p -R 0 -s start
then
bmi088 -A -s -R 4 start
bmi088 -G -s -R 4 start
if ! iim42652 -R 0 -s start
then
bmi088 -A -s -R 4 start
bmi088 -G -s -R 4 start
fi
fi
afbrs50 start
boards/ark/can-flow/src/spi.cpp
+2
View File
@@ -40,7 +40,9 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
initSPIDevice(DRV_FLOW_DEVTYPE_PAW3902, SPI::CS{GPIO::PortB, GPIO::Pin5}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
initSPIDevice(DRV_FLOW_DEVTYPE_PAA3905, SPI::CS{GPIO::PortB, GPIO::Pin5}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin12}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),