HAL_ChibiOS: convert Pixracer to use new sensor config

6 years ago · 5eb488303c
2 changed files with 22 additions and 2 deletions
--- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4-beta/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv4-beta/hwdef.dat
@ -11,5 +11,9 @@ PB13 SPI2_SCK SPI2
				@@ -11,5 +11,9 @@ PB13 SPI2_SCK SPI2
 # note that PC13 (SBUS invert) is active low on this board

 # baro is on main sensors bus
-define HAL_BARO_MS5611_SPI_INT_NAME "ms5611_int2"
-SPIDEV ms5611_int2  SPI1 DEVID3  BARO_CS    MODE3  20*MHZ  20*MHZ
+undef BARO
+SPIDEV ms5611_int2 SPI1 DEVID3  BARO_CS    MODE3  20*MHZ  20*MHZ
+BARO MS56XX SPI:ms5611_int2
+
+
+
--- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat
@ -219,3 +219,19 @@ define HAL_SERIAL5_BAUD 921600
				@@ -219,3 +219,19 @@ define HAL_SERIAL5_BAUD 921600
 # 6 PWM available by default
 define BOARD_PWM_COUNT_DEFAULT 6

+
+# two IMUs
+IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90
+IMU Invensense SPI:mpu9250 ROTATION_ROLL_180_YAW_90
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+
+# 2 compasses. R15 has LIS3MDL instead of HMC5843
+COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
+COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
+COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_90
+
+# also probe all types of external I2C compasses
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+# one barometer
+BARO MS56XX SPI:ms5611_int