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boards: CUAV Nora/X7Pro ICM20649 on SPI6 bus will be replaced by ICM20689

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This commit is contained in:
CUAVcaijie
2021-05-19 06:49:25 +08:00
committed by GitHub
parent 10f33cdd35
commit ffe9f8a942
4 changed files with 10 additions and 2 deletions
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boards/cuav/nora/init/rc.board_sensors
+4 -1
View File
@@ -16,7 +16,10 @@ bmi088 -s -b 4 -G -R 2 start
ms5611 -s -b 4 start
# SPI6
icm20649 -s -b 6 -R 2 start
if ! icm20649 -s -b 6 -R 2 start
then
icm20689 -s -b 6 -R 2 start
fi
ms5611 -s -b 6 start
# External compass on GPS1/I2C1: standard CUAV GPS/compass puck (with lights, safety button, and buzzer)
boards/cuav/nora/src/spi.cpp
+1
View File
@@ -55,6 +55,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
}),
initSPIBus(SPI::Bus::SPI6, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin12}, SPI::DRDY{GPIO::PortH, GPIO::Pin5}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortH, GPIO::Pin5}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortI, GPIO::Pin8}),
}),
};
boards/cuav/x7pro/init/rc.board_sensors
+4 -1
View File
@@ -19,7 +19,10 @@ bmi088 -s -b 4 -G -R 2 start
ms5611 -s -b 4 start
# SPI6
icm20649 -s -b 6 -R 2 start
if ! icm20649 -s -b 6 -R 2 start
then
icm20689 -s -b 6 -R 2 start
fi
ms5611 -s -b 6 start
# External compass on GPS1/I2C1: standard CUAV GPS/compass puck (with lights, safety button, and buzzer)
boards/cuav/x7pro/src/spi.cpp
+1
View File
@@ -56,6 +56,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
}),
initSPIBus(SPI::Bus::SPI6, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin12}, SPI::DRDY{GPIO::PortH, GPIO::Pin5}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortH, GPIO::Pin5}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortI, GPIO::Pin8}),
}),
};