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hwdef: added support for Holybro6X-45686 #26040

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merged 2 commits into from Jan 23, 2024
Merged

hwdef: added support for Holybro6X-45686 #26040

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d22e75e
AP_BoardConfig: added detection of Holybro6X-45686
tridge Jan 21, 2024
6708f89
hwdef: added support for Holybro6X-45686
tridge Jan 21, 2024
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1 change: 1 addition & 0 deletions libraries/AP_BoardConfig/AP_BoardConfig.h
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Expand Up @@ -68,6 +68,7 @@ class AP_BoardConfig {
FMUV6_BOARD_HOLYBRO_6X = 40,
FMUV6_BOARD_CUAV_6X = 41,
FMUV6_BOARD_HOLYBRO_6X_REV6 = 42,
FMUV6_BOARD_HOLYBRO_6X_45686 = 43,
PX4_BOARD_OLDDRIVERS = 100,
};

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6 changes: 6 additions & 0 deletions libraries/AP_BoardConfig/board_drivers.cpp
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Expand Up @@ -107,6 +107,7 @@ void AP_BoardConfig::board_setup_drivers(void)
case PX4_BOARD_MINDPXV2:
case FMUV6_BOARD_HOLYBRO_6X:
case FMUV6_BOARD_HOLYBRO_6X_REV6:
case FMUV6_BOARD_HOLYBRO_6X_45686:
case FMUV6_BOARD_CUAV_6X:
break;
default:
Expand Down Expand Up @@ -499,6 +500,11 @@ void AP_BoardConfig::detect_fmuv6_variant()
state.board_type.set_and_notify(FMUV6_BOARD_CUAV_6X);
DEV_PRINTF("Detected CUAV 6X\n");
AP_Param::load_defaults_file("@ROMFS/param/CUAV_V6X_defaults.parm", false);
} else if (spi_check_register("icm45686-1", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686) &&
spi_check_register("icm45686-2", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686) &&
spi_check_register("icm45686-3", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)) {
state.board_type.set_and_notify(FMUV6_BOARD_HOLYBRO_6X_45686);
DEV_PRINTF("Detected Holybro 6X_45686\n");
} else if (spi_check_register("iim42652", INV3REG_WHOAMI, INV3_WHOAMI_IIM42652) &&
spi_check_register("icm45686", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)) {
state.board_type.set_and_notify(FMUV6_BOARD_HOLYBRO_6X_REV6);
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10 changes: 10 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
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Expand Up @@ -331,6 +331,11 @@ SPIDEV adis16470 SPI3 DEVID1 SP3_CS1 MODE3 1*MHZ 2*MHZ
SPIDEV iim42652 SPI2 DEVID1 SP2_CS1 MODE3 2*MHZ 8*MHZ
SPIDEV icm45686 SPI1 DEVID1 SP1_CS1 MODE3 2*MHZ 8*MHZ

# IMU devices for Holybro6X-45686 version
SPIDEV icm45686-3 SPI3 DEVID1 SP3_CS1 MODE3 2*MHZ 8*MHZ
SPIDEV icm45686-2 SPI2 DEVID1 SP2_CS1 MODE3 2*MHZ 8*MHZ
SPIDEV icm45686-1 SPI1 DEVID1 SP1_CS1 MODE3 2*MHZ 8*MHZ

# Holybro6X 3 IMUs
IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)
IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)
Expand All @@ -347,6 +352,11 @@ IMU ADIS1647x SPI:adis16470 ROTATION_ROLL_180 SP3_DRDY2 BOARD_MATCH(FMUV6_BOA
IMU Invensensev3 SPI:iim42652 ROTATION_ROLL_180_YAW_270 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV6)
IMU Invensensev3 SPI:icm45686 ROTATION_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV6)

# Holybro6X-45686 3 IMUs, the ones on SPI-2 and SPI-3 are isolated
IMU Invensensev3 SPI:icm45686-2 ROTATION_ROLL_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)
IMU Invensensev3 SPI:icm45686-3 ROTATION_ROLL_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)
IMU Invensensev3 SPI:icm45686-1 ROTATION_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)

define HAL_DEFAULT_INS_FAST_SAMPLE 7

# enable RAMTROM parameter storage
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