[Spinal][Imu] workaround to support spinalF7

sugihara-16 · Jun 21, 2024 · 1b59aa1 · 1b59aa1
1 parent b06b03f
commit 1b59aa1
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Showing 2 changed files with 5 additions and 6 deletions.
diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/Src/main.c b/aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/Src/main.c
@@ -42,7 +42,8 @@
 /* Sensors */
 #if IMU_FLAG
 #include "sensors/imu/imu_ros_cmd.h"
-#include "sensors/imu/imu_mpu9250.h"
+#include "sensors/imu/drivers/mpu9250/imu_mpu9250.h"
+#include "sensors/imu/drivers/icm20948/icm_20948.h"
 #endif
 
 #if BARO_FLAG
@@ -98,8 +99,10 @@ bool start_processing_flag_ = false; //to prevent systick_callback starting  bef
 
 ros::NodeHandle nh_;
 
-#if IMU_FLAG
+#if IMU_MPU
 IMUOnboard imu_;
+#elif IMU_ICM
+ICM20948 imu_;
 #endif
 
 #if BARO_FLAG

diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c
@@ -233,11 +233,7 @@ int main(void)
   FlashMemory::read();
 #endif
 
-#if IMU_MPU
-  imu_.init(&hspi1, &hi2c3, &nh_, IMUCS_GPIO_Port, IMUCS_Pin, LED0_GPIO_Port, LED0_Pin);
-#elif IMU_ICM
   imu_.init(&hspi1, &hi2c3, &nh_, IMUCS_GPIO_Port, IMUCS_Pin, LED0_GPIO_Port, LED0_Pin);
-#endif
   IMU_ROS_CMD::init(&nh_);
   IMU_ROS_CMD::addImu(&imu_);
   baro_.init(&hi2c1, &nh_, BAROCS_GPIO_Port, BAROCS_Pin);