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boards: matek h743 slim support v1 and v1.5 IMU variants

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- remove temp compensation to still fit into flash
This commit is contained in:
achim 2022-05-04 20:05:16 +02:00 committed by GitHub
parent 46fdc28cf8
commit bf8d759d3d
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 9 additions and 3 deletions
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3
boards/matek/h743-slim/default.px4board
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@ -14,6 +14,7 @@ CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
CONFIG_COMMON_LIGHT=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_COMMON_OPTICAL_FLOW=y
@ -51,7 +52,7 @@ CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
CONFIG_MODULES_GIMBAL=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

8
boards/matek/h743-slim/init/rc.board_sensors
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@ -5,8 +5,12 @@
board_adc start
# Internal SPI bus ICM-20602
icm20602 -R 12 -s start
# Internal SPI bus ICM-42605
if ! icm42605 -R 14 -s start
then
# internal SPI bus ICM-20602
icm20602 -R 12 -s start
fi
# Internal SPI bus MPU-6000
mpu6000 -R 12 -s start

1
boards/matek/h743-slim/src/spi.cpp
View File

@ -48,6 +48,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIConfigExternal(SPI::CS{GPIO::PortE, GPIO::Pin2}),
}),
initSPIBus(SPI::Bus::SPI4, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42605, SPI::CS{GPIO::PortC, GPIO::Pin13}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortE, GPIO::Pin11}),
}),
};