From aa87b2ef4dfa4009449b8ee4df595d40a51f4655 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 5 Oct 2023 16:55:12 +1300 Subject: [PATCH] cubepilot: fix 4. Orange+ variant There was a missing then, and missing SPI definitions. Signed-off-by: Julian Oes --- boards/cubepilot/cubeorangeplus/init/rc.board_sensors | 1 + boards/cubepilot/cubeorangeplus/src/spi.cpp | 2 ++ 2 files changed, 3 insertions(+) diff --git a/boards/cubepilot/cubeorangeplus/init/rc.board_sensors b/boards/cubepilot/cubeorangeplus/init/rc.board_sensors index d4a1052f92..2b08f29764 100644 --- a/boards/cubepilot/cubeorangeplus/init/rc.board_sensors +++ b/boards/cubepilot/cubeorangeplus/init/rc.board_sensors @@ -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 diff --git a/boards/cubepilot/cubeorangeplus/src/spi.cpp b/boards/cubepilot/cubeorangeplus/src/spi.cpp index fe5ca16172..b14c9c6bcb 100644 --- a/boards/cubepilot/cubeorangeplus/src/spi.cpp +++ b/boards/cubepilot/cubeorangeplus/src/spi.cpp @@ -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 }), };