From 1b59aa176dd4e877486b8561cd032d89ae019796 Mon Sep 17 00:00:00 2001
From: Junichiro Sugihara <j-sugihara@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 21 Jun 2024 23:35:41 +0900
Subject: [PATCH] [Spinal][Imu] workaround to support spinalF7

---
 .../spinal/mcu_project/boards/stm32F7/Src/main.c           | 7 +++++--
 .../spinal/mcu_project/boards/stm32H7/Src/main.c           | 4 ----
 2 files changed, 5 insertions(+), 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
index 0f0b45c79..436a63f0a 100644
--- 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
index ebd86fa85..5821159b6 100644
--- 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);