ARK Flow rev 2 add icm42688p

PX4 · Jun 25, 2021 · 9d3e18d · 9d3e18d
1 parent a67e660
commit 9d3e18d
Show file tree

Hide file tree

Showing 4 changed files with 9 additions and 2 deletions.
diff --git a/boards/ark/can-flow/debug.cmake b/boards/ark/can-flow/debug.cmake
@@ -14,6 +14,7 @@ px4_add_board(
 		bootloaders
 		distance_sensor/broadcom/afbrs50
 		imu/bosch/bmi088
+		imu/invensense/icm42688p
 		optical_flow/paw3902
 		uavcannode
 	MODULES

diff --git a/boards/ark/can-flow/default.cmake b/boards/ark/can-flow/default.cmake
@@ -15,6 +15,7 @@ px4_add_board(
 		bootloaders
 		distance_sensor/broadcom/afbrs50
 		imu/bosch/bmi088
+		imu/invensense/icm42688p
 		optical_flow/paw3902
 		uavcannode
 	MODULES

diff --git a/boards/ark/can-flow/init/rc.board_sensors b/boards/ark/can-flow/init/rc.board_sensors
@@ -5,7 +5,11 @@
 
 # Internal SPI
 paw3902 -s start -Y 180
-bmi088 -A -s -R 4 start
-bmi088 -G -s -R 4 start
+
+if ! icm42688p -R 0 -s start
+then
+	bmi088 -A -s -R 4 start
+	bmi088 -G -s -R 4 start
+fi
 
 afbrs50 start
diff --git a/boards/ark/can-flow/src/spi.cpp b/boards/ark/can-flow/src/spi.cpp
@@ -39,6 +39,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
 		initSPIDevice(DRV_FLOW_DEVTYPE_PAW3902, SPI::CS{GPIO::PortB, GPIO::Pin5}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
 	}),
 	initSPIBus(SPI::Bus::SPI2, {