HAL_ChibiOS: convert some more boards to new IMU specifiers

6 years ago · 0667747506
3 changed files with 6 additions and 6 deletions
--- a/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat
@ -86,6 +86,10 @@ PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
				@@ -86,6 +86,10 @@ PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
 
 PC5 RSSI_ADC ADC1

+# setup two IMUs
+IMU Invensense SPI:mpu6000 ROTATION_NONE
+IMU Invensense SPI:mpu6500 ROTATION_YAW_90
+
 # USART1
 PA10 USART1_RX USART1
 PA9  USART1_TX USART1
--- a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412-rev1/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412-rev1/hwdef.dat
@ -112,8 +112,7 @@ FLASH_RESERVE_START_KB 48
				@@ -112,8 +112,7 @@ FLASH_RESERVE_START_KB 48

 define HAL_CHIBIOS_ARCH_F412 1

-define HAL_INS_DEFAULT HAL_INS_ICM20789_SPI
-define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
+IMU Invensense SPI:icm20789 ROTATION_NONE

 # radio IRQ is on GPIO(100)
 define HAL_GPIO_RADIO_IRQ 100
--- a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412/hwdef.dat
@ -102,10 +102,7 @@ FLASH_RESERVE_START_KB 48
				@@ -102,10 +102,7 @@ FLASH_RESERVE_START_KB 48

 define HAL_CHIBIOS_ARCH_F412 1

-define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
-define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
-define HAL_INS_MPU60x0_I2C_BUS 1
-define HAL_INS_MPU60x0_I2C_ADDR 0x68
+IMU Invensense I2C:1:0x68 ROTATION_NONE

 # radio IRQ is on GPIO(100)
 define HAL_GPIO_RADIO_IRQ 100