mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 18:13:34 +08:00
Andrei Korigodskii
eeb9c5256a
IMUs were replaced in V3 with 2x ICM42688P. This configuration should work with all revisions of Matek F743 Slim board, including V1, V1.5 and interim variant of V3 (ICM42688P + ICM42605). Signed-off-by: Andrei Korigodskii <akorigod@gmail.com>
67 lines
2.8 KiB
C++
67 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <px4_arch/spi_hw_description.h>
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#include <drivers/drv_sensor.h>
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#include <nuttx/spi/spi.h>
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constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
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initSPIBus(SPI::Bus::SPI1, {
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// Matek H743 Slim V1.0 and V1.5
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initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
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// Matek H743 Slim V3
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initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
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}),
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initSPIBus(SPI::Bus::SPI2, {
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initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
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}),
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initSPIBusExternal(SPI::Bus::SPI3, {
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initSPIConfigExternal(SPI::CS{GPIO::PortD, GPIO::Pin4}),
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initSPIConfigExternal(SPI::CS{GPIO::PortE, GPIO::Pin2}),
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}),
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initSPIBus(SPI::Bus::SPI4, {
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// Matek H743 Slim V1.0
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initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortE, GPIO::Pin11}),
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// Matek H743 Slim V1.5
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initSPIDevice(DRV_IMU_DEVTYPE_ICM42605, SPI::CS{GPIO::PortC, GPIO::Pin13}),
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// Matek H743 Slim V3
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initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}),
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}),
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};
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static constexpr bool unused = validateSPIConfig(px4_spi_buses);
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