fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add support for Omnibus F4 boards with ICM20608G IMUs

Browse Source 
One can use following command to compile:
make omnibus_f4sd_icm20608g

Co-Authored-By: berkercanatar <19846944+berkercanatar@users.noreply.github.com>
This commit is contained in:
Bulut Gözübüyük 2022-03-03 23:12:58 +03:00 committed by Beat Küng
parent 666cf2326d
commit 80c6ab7106
3 changed files with 9 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
boards/omnibus/f4sd/icm20608g.px4board Normal file
View File

@ -0,0 +1,3 @@
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=n
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20608G=y

6
boards/omnibus/f4sd/init/rc.board_sensors
View File

@ -8,7 +8,11 @@ board_adc start
if ! mpu6000 -R 6 -s start
then
# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
icm20602 -s -R 6 start
if ! icm20602 -s -R 6 start
then
# some clones of Omnibus F4 use the ICM-20608G (such as F4 PDB for Martian II FPV Drone)
icm20608g -s -R 6 start
fi
fi
bmp280 -s start

1
boards/omnibus/f4sd/src/spi.cpp
View File

@ -39,6 +39,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortA, GPIO::Pin4}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortA, GPIO::Pin4}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM20608G, SPI::CS{GPIO::PortA, GPIO::Pin4}),
}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortB, GPIO::Pin12})