AP_InertialSensor: added whoami for prototype 20789

7 years ago · b33c815e96
2 changed files with 2 additions and 0 deletions
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
@ -701,6 +701,7 @@ bool AP_InertialSensor_Invensense::_check_whoami(void)
				@@ -701,6 +701,7 @@ bool AP_InertialSensor_Invensense::_check_whoami(void)
        _mpu_type = Invensense_ICM20602;
        return true;
    case MPU_WHOAMI_ICM20789:
+    case MPU_WHOAMI_ICM20789_R1:
        _mpu_type = Invensense_ICM20789;
        return true;
    }
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense_registers.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense_registers.h
@ -173,6 +173,7 @@
				@@ -173,6 +173,7 @@
 #define MPU_WHOAMI_MPU9250      0x71
 #define MPU_WHOAMI_MPU9255      0x73
 #define MPU_WHOAMI_ICM20789     0x03
+#define MPU_WHOAMI_ICM20789_R1  0x02

 #define BIT_READ_FLAG                           0x80
 #define BIT_I2C_SLVX_EN                         0x80