boards: airmind mindpx-v2 switch to new mpu6000 and mpu6500 drivers

boards/airmind/mindpx-v2/default.cmake

@@ -27,9 +27,8 @@ px4_add_board(
 		#imu # all available imu drivers
 		imu/l3gd20
 		imu/lsm303d
+		imu/invensense/mpu6000
 		imu/invensense/mpu6500
-		imu/mpu6000
-		imu/mpu9250
 		irlock
 		lights/blinkm
 		lights/rgbled

boards/airmind/mindpx-v2/init/rc.board_sensors

@@ -13,9 +13,8 @@ qmc5883 -X start
 hmc5883 -T -I -R 12 start
 qmc5883 -I -R 12 start
 
-# mpu6500 -s R 2 start # new driver in testing
-mpu6000 -s -R 8 start
-mpu9250 -s -R 8 start
+mpu6000 -s -R 2 start
+mpu6500 -s -R 2 start
 lsm303d -s -R 10 start
 l3gd20 -s -R 14 start
 

boards/airmind/mindpx-v2/nuttx-config/include/board_dma_map.h

@@ -69,7 +69,7 @@
 |            |                  |                  |                  |                  |                  |                  |                  |   TIM8_TRIG      |
 |            |                  |                  |                  |                  |                  |                  |                  |   TIM8_COM       |
 |            |                  |                  |                  |                  |                  |                  |                  |                  |
-| Usage      | SPI1_RX_1        | USART6_RX_1      | USART1_RX_1      | SPI1_TX_1        |                  |                  | SDIO             |                  |
+| Usage      | SPI4_RX_1        | USART6_RX_1      | USART1_RX_1      |                  | SPI4_TX_2        |                  | SDIO             |                  |
  */
 
 // DMA1 Channel/Stream Selections
@@ -78,10 +78,10 @@
 
 //  DMA2 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_1   // DMA2, Stream 0, Channel 3    (SPI sensors RX)
+#define DMACHAN_SPI4_RX    DMAMAP_SPI4_RX_1   // DMA2, Stream 0, Channel 4    (SPI sensors RX)
 #define DMAMAP_USART6_RX   DMAMAP_USART6_RX_1 // DMA2, Stream 1, Channel 4
 #define DMAMAP_USART1_RX   DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4
-#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 3, Channel 3    (SPI sensors TX)
-//      AVAILABLE                             // DMA2, Stream 4
+//      AVAILABLE                             // DMA2, Stream 3
+#define DMACHAN_SPI4_TX    DMAMAP_SPI4_TX_2   // DMA2, Stream 4, Channel 5    (SPI sensors TX)
 //      AVAILABLE                             // DMA2, Stream 5, Channel 6
 #define DMAMAP_SDIO        DMAMAP_SDIO_2      // DMA2, Stream 6, Channel 4

boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig

@@ -187,10 +187,10 @@ CONFIG_STM32_SDIO_CARD=y
 CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_SPI1=y
-CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=1024
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI4=y
+CONFIG_STM32_SPI4_DMA=y
+CONFIG_STM32_SPI4_DMA_BUFFER=1024
 CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_SPI_DMATHRESHOLD=8
 CONFIG_STM32_TIM10=y

boards/airmind/mindpx-v2/src/spi.cpp

@@ -46,8 +46,8 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 		initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortB, GPIO::Pin2}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
 		initSPIDevice(DRV_ACC_DEVTYPE_LSM303D, SPI::CS{GPIO::PortD, GPIO::Pin11}),
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin15}),
-		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortC, GPIO::Pin0}),
-		initSPIDevice(DRV_IMU_DEVTYPE_MPU6500, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortC, GPIO::Pin0}),
+		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin10}),
+		initSPIDevice(DRV_IMU_DEVTYPE_MPU6500, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin10}),
 	}),
 };