From e054d1fff754d83599969bced91e8f137223669a Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 23 Apr 2017 18:20:16 +0200 Subject: [PATCH] FMUv5: Start BMI055 in correct rotation --- ROMFS/px4fmu_common/init.d/rc.sensors | 10 +++++++--- src/drivers/boards/px4fmu-v4/px4fmu_spi.c | 14 ++++++-------- 2 files changed, 13 insertions(+), 11 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 98963d99b2..c65cad2d24 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -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 diff --git a/src/drivers/boards/px4fmu-v4/px4fmu_spi.c b/src/drivers/boards/px4fmu-v4/px4fmu_spi.c index 89b3a1d54d..7cc719a23d 100644 --- a/src/drivers/boards/px4fmu-v4/px4fmu_spi.c +++ b/src/drivers/boards/px4fmu-v4/px4fmu_spi.c @@ -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);