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AP_BoardConfig: support LSM6DSV on Pixhawk6X 45686 layout

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Allow each of the three IMU slots to detect either ICM45686 or a
supported LSM6DSV-family device.
This commit is contained in:
Brown
2026-09-15 16:59:33 +10:00
committed by Peter Barker
parent 7e631ecc71
commit 1a203c3391
2 changed files with 31 additions and 3 deletions
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libraries/AP_BoardConfig/AP_BoardConfig.h
+2
View File
@@ -281,6 +281,8 @@ private:
void validate_board_type(void);
void board_autodetect(void);
void detect_fmuv6_variant(void);
bool probe_lsm6dsv_family(const char *devname);
bool probe_holybro_6x_imu_slot(const char *icm_devname, const char *lsm6_devname);
bool check_ms5611(const char* devname);
#endif // AP_FEATURE_BOARD_DETECT
libraries/AP_BoardConfig/board_drivers.cpp
+29 -3
View File
@@ -247,6 +247,10 @@ bool AP_BoardConfig::check_ms5611(const char* devname) {
#define INV3_WHOAMI_ICM45686 0xE9
#define INV3_WHOAMI_IIM42652 0x6f
#define LSM6REG_WHOAMI 0x0F
#define LSM6_WHOAMI_LSM6DSV 0x70 // shared by LSM6DSV16X and LSM6DSV32X
#define LSM6_WHOAMI_LSM6DSK320X 0x75
/*
validation of the board type
*/
@@ -455,6 +459,28 @@ void AP_BoardConfig::board_setup()
#define BMI088REG_CHIPID 0x00
#define CHIPID_BMI088_G 0x0F
bool AP_BoardConfig::probe_lsm6dsv_family(const char *devname)
{
static const uint8_t lsm6dsv_whoami[] {
LSM6_WHOAMI_LSM6DSV,
LSM6_WHOAMI_LSM6DSK320X,
};
for (uint8_t i = 0; i < ARRAY_SIZE(lsm6dsv_whoami); i++) {
if (spi_check_register(devname, LSM6REG_WHOAMI, lsm6dsv_whoami[i])) {
return true;
}
}
return false;
}
bool AP_BoardConfig::probe_holybro_6x_imu_slot(const char *icm_devname, const char *lsm6_devname)
{
return spi_check_register(icm_devname, INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686) ||
probe_lsm6dsv_family(lsm6_devname);
}
/*
detect which FMUV6 variant we are running on
*/
@@ -472,9 +498,9 @@ void AP_BoardConfig::detect_fmuv6_variant()
state.board_type.set_and_notify(FMUV6_BOARD_CUAV_6X);
DEV_PRINTF("Detected CUAV 6X\n");
AP_Param::load_defaults_file("@ROMFS/param/CUAV_V6X_defaults.parm", false);
} else if (spi_check_register("icm45686-1", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686) &&
spi_check_register("icm45686-2", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686) &&
spi_check_register("icm45686-3", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)) {
} else if (probe_holybro_6x_imu_slot("icm45686-1", "lsm6dsv-1") &&
probe_holybro_6x_imu_slot("icm45686-2", "lsm6dsv-2") &&
probe_holybro_6x_imu_slot("icm45686-3", "lsm6dsv-3")) {
state.board_type.set_and_notify(FMUV6_BOARD_HOLYBRO_6X_45686);
DEV_PRINTF("Detected Holybro 6X_45686\n");
} else if (spi_check_register("iim42652", INV3REG_WHOAMI, INV3_WHOAMI_IIM42652) &&