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cubepilot: fix 4. Orange+ variant

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There was a missing then, and missing SPI definitions.

Signed-off-by: Julian Oes <julian@oes.ch>
This commit is contained in:
Julian Oes
2023-10-06 08:02:03 +13:00
parent d61743412c
commit aa87b2ef4d
2 changed files with 3 additions and 0 deletions
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boards/cubepilot/cubeorangeplus/init/rc.board_sensors
+1
View File
@@ -16,6 +16,7 @@ board_adc start
ms5611 -s -b 4 start
if icm42688p -s -b 4 -R 10 -q start -c 15
then
if ! icm20948 -s -b 4 -R 10 -M -q start
then
icm42688p -s -b 4 -R 6 start -c 13
boards/cubepilot/cubeorangeplus/src/spi.cpp
+2
View File
@@ -49,7 +49,9 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI4, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin4}), // MPU_EXT_CS
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin15}), // ACCEL_EXT_CS
initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortC, GPIO::Pin15}), // ACCEL_EXT_CS
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}), // GYRO_EXT_CS
initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortC, GPIO::Pin13}), // GYRO_EXT_CS
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin14}), // BARO_EXT_CS
}),
};