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FMUv5: Start BMI055 in correct rotation

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This commit is contained in:
Lorenz Meier
2017-04-24 10:38:39 +02:00
parent 145513ff28
commit e054d1fff7
2 changed files with 13 additions and 11 deletions
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ROMFS/px4fmu_common/init.d/rc.sensors
+7 -3
View File
@@ -377,9 +377,13 @@ then
then
fi
# Internal SPI bus BMI055
# Place holder Need BMI055 Support added
if bmi055 -R 2 start
# Internal SPI bus BMI055 accel
if bmi055 -A -R 10 start
then
fi
# Internal SPI bus BMI055 gyro
if bmi055 -G -R 10 start
then
fi
src/drivers/boards/px4fmu-v4/px4fmu_spi.c
+6 -8
View File
@@ -251,9 +251,9 @@ __EXPORT void board_spi_reset(int ms)
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_HMC5983, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_MS5611, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_ICM_2060X, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_BMI160, 0); // BMI160
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_BMI055_ACC, 0); // BMI055 ACC
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_BMI055_GYR, 0); // BMI055 GYRO
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_BMI160, 0); // BMI160
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_BMI055_ACC, 0); // BMI055 ACC
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_BMI055_GYR, 0); // BMI055 GYRO
stm32_configgpio(GPIO_SPI1_SCK_OFF);
stm32_configgpio(GPIO_SPI1_MISO_OFF);
@@ -264,11 +264,9 @@ __EXPORT void board_spi_reset(int ms)
stm32_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
stm32_configgpio(GPIO_DRDY_OFF_MPU9250);
stm32_configgpio(GPIO_DRDY_OFF_HMC5983);
stm32_configgpio(GPIO_DRDY_OFF_ICM_2060X);
stm32_gpiowrite(GPIO_DRDY_OFF_MPU9250, 0);
stm32_gpiowrite(GPIO_DRDY_OFF_HMC5983, 0);
stm32_gpiowrite(GPIO_DRDY_OFF_ICM_2060X, 0);
/* set the sensor rail off */
@@ -293,9 +291,9 @@ __EXPORT void board_spi_reset(int ms)
px4_arch_configgpio(GPIO_SPI_CS_HMC5983);
px4_arch_configgpio(GPIO_SPI_CS_MS5611);
px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X);
px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI160); // BMI160
px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI055_ACC); // BMI055 ACC
px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI055_GYR); // BMI055 GYRO
px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI160); // BMI160
px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI055_ACC); // BMI055 ACC
px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI055_GYR); // BMI055 GYRO
stm32_configgpio(GPIO_SPI1_SCK);
stm32_configgpio(GPIO_SPI1_MISO);