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boards: sensor config for CubeOrange+

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Signed-off-by: Julian Oes <julian@oes.ch>
This commit is contained in:
Julian Oes
2023-03-13 22:53:56 -04:00
committed by Daniel Agar
parent 63dc6b5bc9
commit bee4fe9470
3 changed files with 23 additions and 5 deletions
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boards/cubepilot/cubeorangeplus/default.px4board
+1
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@@ -19,6 +19,7 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
CONFIG_DRIVERS_IRLOCK=y
CONFIG_COMMON_LIGHT=y
CONFIG_COMMON_MAGNETOMETER=y
boards/cubepilot/cubeorangeplus/init/rc.board_sensors
+20 -5
View File
@@ -4,12 +4,27 @@
#------------------------------------------------------------------------------
board_adc start
# SPI4
# Variants
# 1. Isolated {ICM42688p, ICM20948(with mag)}, body-fixed {ICM20649}
# 2. Isolated {ICM42688p, ICM42688p}, body-fixed {ICM20649, ICM45686, AK09918}
# 3. Isolated {ICM42688p, ICM42688p}, body-fixed {ICM45686, AK09918}
# SPI4 is isolated, SPI1 is body-fixed
# SPI4, isolated
ms5611 -s -b 4 start
icm42688p -s -b 4 -R 10 start
icm20948 -s -b 4 -R 10 -M start
# SPI1
icm42688p -s -b 4 -R 10 start -c 15
if ! icm20948 -s -b 4 -R 10 -M -q start
then
icm42688p -s -b 4 -R 6 start -c 13
fi
# SPI1, body-fixed
if ! icm45686 -s -b 1 -R 3 -q start
then
icm20649 -s -b 1 start
fi
ms5611 -s -b 1 start
icm20649 -s -b 1 start
boards/cubepilot/cubeorangeplus/src/spi.cpp
+2
View File
@@ -38,6 +38,7 @@
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}), // MPU_CS, MPU_DRDY
initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortG, GPIO::Pin1}), // ICM45686_CS
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}), // BARO_CS
}),
@@ -48,6 +49,7 @@ 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_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}), // GYRO_EXT_CS
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin14}), // BARO_EXT_CS
}),
};