zrzk
/
ardupilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

AP_BoardConfig: added support for ICM-20602 detection

mission-4.1.18
Andrew Tridgell 8 years ago
parent
875274e761
commit
ce978595cd
1 changed files with 6 additions and 2 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 8
      libraries/AP_BoardConfig/px4_drivers.cpp

8
libraries/AP_BoardConfig/px4_drivers.cpp
Unescape View File

@ -454,6 +454,7 @@ bool AP_BoardConfig::spi_check_register(const char *devname, uint8_t regnum, uin @@ -454,6 +454,7 @@ bool AP_BoardConfig::spi_check_register(const char *devname, uint8_t regnum, uin
#define MPU_WHOAMI_MPU60X0 0x68
#define MPU_WHOAMI_MPU9250 0x71
#define MPU_WHOAMI_ICM20608 0xaf
#define MPU_WHOAMI_ICM20602 0x12
#define LSMREG_WHOAMI 0x0f
#define LSM_WHOAMI_LSM303D 0x49
@ -476,12 +477,14 @@ void AP_BoardConfig::px4_autodetect(void) @@ -476,12 +477,14 @@ void AP_BoardConfig::px4_autodetect(void)
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
if ((spi_check_register(HAL_INS_MPU60x0_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
spi_check_register(HAL_INS_MPU9250_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU9250) ||
spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608)) &&
spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
spi_check_register(HAL_INS_LSM9DS0_EXT_A_NAME, LSMREG_WHOAMI, LSM_WHOAMI_LSM303D)) {
// Pixhawk2 has LSM303D and MPUxxxx on external bus
px4.board_type.set(PX4_BOARD_PIXHAWK2);
hal.console->printf("Detected PIXHAWK2\n");
} else if (spi_check_register(HAL_INS_ICM20608_AM_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) &&
} else if ((spi_check_register(HAL_INS_ICM20608_AM_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
spi_check_register(HAL_INS_ICM20608_AM_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
spi_check_register(HAL_INS_MPU9250_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU9250)) {
// PHMINI has an ICM20608 and MPU9250 on sensor bus
px4.board_type.set(PX4_BOARD_PHMINI);
@ -489,6 +492,7 @@ void AP_BoardConfig::px4_autodetect(void) @@ -489,6 +492,7 @@ void AP_BoardConfig::px4_autodetect(void)
} else if (spi_check_register(HAL_INS_LSM9DS0_A_NAME, LSMREG_WHOAMI, LSM_WHOAMI_LSM303D) &&
(spi_check_register(HAL_INS_MPU60x0_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
spi_check_register(HAL_INS_ICM20608_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
spi_check_register(HAL_INS_ICM20608_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20602) ||
spi_check_register(HAL_INS_MPU9250_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU9250))) {
// classic or upgraded Pixhawk1
px4.board_type.set(PX4_BOARD_PIXHAWK);

Write Preview
Loading…
Cancel
Save