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hwdef: CubeRedPrimary: ICM45686 as ICM20649 alternative #27292

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Jun 18, 2024
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hwdef: CubeRedPrimary: ICM45686 as ICM20649 alternative #27292

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10 changes: 7 additions & 3 deletions libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat
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Original file line number Diff line number Diff line change
Expand Up @@ -98,7 +98,7 @@ PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

# SPI4
PF5 ICM20649_CS CS
PF5 ICM_2_CS CS
PC2 BARO_1_CS CS
PE12 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
Expand All @@ -111,19 +111,23 @@ SPIDEV ms5611_0 SPI1 DEVID2 BARO_0_CS MODE3 20*MHZ 20*MHZ
SPIDEV icm42688_1 SPI2 DEVID1 ICM42688_1_CS MODE3 2*MHZ 8*MHZ
SPIDEV rm3100 SPI2 DEVID2 RM3100_CS MODE3 1*MHZ 1*MHZ

SPIDEV icm20649 SPI4 DEVID1 ICM20649_CS MODE3 4*MHZ 8*MHZ
SPIDEV icm20649 SPI4 DEVID1 ICM_2_CS MODE3 4*MHZ 8*MHZ
# alternative to icm20649
SPIDEV icm45686 SPI4 DEVID1 ICM_2_CS MODE3 2*MHZ 8*MHZ
SPIDEV ms5611_1 SPI4 DEVID2 BARO_1_CS MODE3 20*MHZ 20*MHZ

IMU Invensensev3 SPI:icm42688_1 ROTATION_YAW_90
IMU Invensensev3 SPI:icm42688_0 ROTATION_PITCH_180_YAW_270
IMU Invensensev2 SPI:icm20649 ROTATION_PITCH_180
IMU Invensensev3 SPI:icm45686 ROTATION_YAW_180

BARO MS56XX SPI:ms5611_0
BARO MS56XX SPI:ms5611_1

COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_270

CHECK_ICM20649 spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649)
CHECK_ICM45686_2 spi_check_register("icm45686", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)

CHECK_ICM42688_0 spi_check_register("icm42688_0", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
CHECK_ICM45686_0 spi_check_register("icm42688_0", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)
Expand All @@ -135,7 +139,7 @@ CHECK_MS5611_0 check_ms5611("ms5611_0")
CHECK_MS5611_1 check_ms5611("ms5611_1")


CHECK_IMU0_PRESENT $CHECK_ICM20649
CHECK_IMU0_PRESENT $CHECK_ICM20649 || $CHECK_ICM45686_2
CHECK_IMU1_PRESENT $CHECK_ICM42688_0 || $CHECK_ICM45686_0
CHECK_IMU2_PRESENT $CHECK_ICM42688_1 || $CHECK_ICM45686_1
CHECK_BARO0_PRESENT $CHECK_MS5611_0
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