From 9f5dee2ecf8bcd8c4e482f525998e90c8606b21a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Tue, 12 Jan 2021 14:11:40 +0100 Subject: [PATCH] v5x/v6x: update IMU sensors (remove ISM330DLC) --- boards/px4/fmu-v5x/base_phy_DP83848C.cmake | 2 +- boards/px4/fmu-v5x/default.cmake | 2 +- boards/px4/fmu-v5x/init/rc.board_sensors | 14 +++++++------- boards/px4/fmu-v5x/src/spi.cpp | 2 +- boards/px4/fmu-v6x/default.cmake | 1 - boards/px4/fmu-v6x/init/rc.board_sensors | 19 +++++++++---------- boards/px4/fmu-v6x/src/spi.cpp | 2 +- boards/px4/fmu-v6x/stackcheck.cmake | 1 - 8 files changed, 20 insertions(+), 23 deletions(-) diff --git a/boards/px4/fmu-v5x/base_phy_DP83848C.cmake b/boards/px4/fmu-v5x/base_phy_DP83848C.cmake index 29104025b2..5794d5b6ab 100644 --- a/boards/px4/fmu-v5x/base_phy_DP83848C.cmake +++ b/boards/px4/fmu-v5x/base_phy_DP83848C.cmake @@ -33,7 +33,7 @@ px4_add_board( imu/adis16497 imu/bosch/bmi088 imu/invensense/icm20602 - imu/st/ism330dlc + imu/invensense/icm42688p irlock lights/blinkm lights/rgbled diff --git a/boards/px4/fmu-v5x/default.cmake b/boards/px4/fmu-v5x/default.cmake index 6dd81ed58f..985a63bd73 100644 --- a/boards/px4/fmu-v5x/default.cmake +++ b/boards/px4/fmu-v5x/default.cmake @@ -34,7 +34,7 @@ px4_add_board( imu/adis16497 imu/bosch/bmi088 imu/invensense/icm20602 - imu/st/ism330dlc + imu/invensense/icm42688p irlock lights/blinkm lights/rgbled diff --git a/boards/px4/fmu-v5x/init/rc.board_sensors b/boards/px4/fmu-v5x/init/rc.board_sensors index cf55517f3f..8449a80dc9 100644 --- a/boards/px4/fmu-v5x/init/rc.board_sensors +++ b/boards/px4/fmu-v5x/init/rc.board_sensors @@ -8,17 +8,17 @@ board_adc start ina226 -X -b 1 -t 1 -k start ina226 -X -b 2 -t 2 -k start -# Internal SPI bus ICM-20602 -icm20602 -R 10 -s start - -# Internal SPI bus ISM300DLC -ism330dlc -s start - # Internal SPI BMI088 bmi088 -A -R 4 -s start bmi088 -G -R 4 -s start -# Possible internal compass +# Internal SPI bus ICM42688p +icm42688p -R 6 -s start + +# Internal SPI bus ICM-20602 (hard-mounted) +icm20602 -R 10 -s start + +# Internal magnetometer on I2c bmm150 -I start # Possible internal Baro diff --git a/boards/px4/fmu-v5x/src/spi.cpp b/boards/px4/fmu-v5x/src/spi.cpp index 989e479c15..74435c5867 100644 --- a/boards/px4/fmu-v5x/src/spi.cpp +++ b/boards/px4/fmu-v5x/src/spi.cpp @@ -40,7 +40,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), }, {GPIO::PortI, GPIO::Pin11}), initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ST_ISM330DLC, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}), + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}), }, {GPIO::PortD, GPIO::Pin15}), initSPIBus(SPI::Bus::SPI3, { initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), diff --git a/boards/px4/fmu-v6x/default.cmake b/boards/px4/fmu-v6x/default.cmake index 433b5ffaf0..2f0068b40e 100644 --- a/boards/px4/fmu-v6x/default.cmake +++ b/boards/px4/fmu-v6x/default.cmake @@ -34,7 +34,6 @@ px4_add_board( imu/adis16497 imu/bosch/bmi088 imu/invensense/icm20649 - imu/st/ism330dlc irlock lights/blinkm lights/rgbled diff --git a/boards/px4/fmu-v6x/init/rc.board_sensors b/boards/px4/fmu-v6x/init/rc.board_sensors index 79ef7b2ad0..d763b03898 100644 --- a/boards/px4/fmu-v6x/init/rc.board_sensors +++ b/boards/px4/fmu-v6x/init/rc.board_sensors @@ -2,29 +2,28 @@ # # PX4 FMUv6X specific board sensors init #------------------------------------------------------------------------------ - board_adc start # Start Digital power monitors ina226 -X -b 1 -t 1 -k start ina226 -X -b 2 -t 2 -k start -# Internal SPI bus ICM-20649 -icm20649 -R 2 -s start +# Internal SPI BMI088 +bmi088 -A -R 4 -s start +bmi088 -G -R 4 -s start -# Internal SPI bus ISM300DLC -ism330dlc -s start +# Internal SPI bus ICM42688p +icm42688p -R 6 -s start -# Internal SPI bus BMI088 accel/gyro -bmi088 -A -R 12 -s start -bmi088 -G -R 12 -s start +# Internal SPI bus ICM-20649 (hard-mounted) +icm20649 -R 2 -s start -# Possible internal compass +# Internal magnetometer on I2c bmm150 -I start # Possible internal Baro -bmp388 -I start bmp388 -I -a 0x77 start +bmp388 -I start # Baro on I2C3 ms5611 -X start diff --git a/boards/px4/fmu-v6x/src/spi.cpp b/boards/px4/fmu-v6x/src/spi.cpp index 84ccf10e02..5ec14e7326 100644 --- a/boards/px4/fmu-v6x/src/spi.cpp +++ b/boards/px4/fmu-v6x/src/spi.cpp @@ -40,7 +40,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}), }, {GPIO::PortI, GPIO::Pin11}), initSPIBus(SPI::Bus::SPI2, { - initSPIDevice(DRV_IMU_DEVTYPE_ST_ISM330DLC, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}), }, {GPIO::PortF, GPIO::Pin4}), initSPIBus(SPI::Bus::SPI3, { initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}), diff --git a/boards/px4/fmu-v6x/stackcheck.cmake b/boards/px4/fmu-v6x/stackcheck.cmake index 433b5ffaf0..2f0068b40e 100644 --- a/boards/px4/fmu-v6x/stackcheck.cmake +++ b/boards/px4/fmu-v6x/stackcheck.cmake @@ -34,7 +34,6 @@ px4_add_board( imu/adis16497 imu/bosch/bmi088 imu/invensense/icm20649 - imu/st/ism330dlc irlock lights/blinkm lights/rgbled