AP_HAL_ChibiOS: add icm45686 detection on CubeRed

bugobliterator · Nov 23, 2023 · 6c4a800 · 6c4a800
1 parent 4fd54dc
commit 6c4a800
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Showing 2 changed files with 18 additions and 5 deletions.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat
@@ -105,16 +105,24 @@ PE6    SPI4_MOSI    SPI4
 
 # Sensors
 SPIDEV icm42688_0       SPI1 DEVID1  ICM42688_0_CS      MODE3  2*MHZ  8*MHZ
+SPIDEV icm45686_0       SPI1 DEVID1  ICM42688_0_CS      MODE3  2*MHZ  8*MHZ
+
 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 icm45686_1       SPI2 DEVID1  ICM42688_1_CS      MODE3  2*MHZ  8*MHZ
+
 SPIDEV rm3100           SPI2 DEVID2  RM3100_CS          MODE3  2*MHZ  8*MHZ
 
 SPIDEV icm20649         SPI4 DEVID1  ICM20649_CS        MODE3  4*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 Invensensev3 SPI:icm42688_1 ROTATION_YAW_90 INSTANCE:0
+IMU Invensensev3 SPI:icm45686_1 ROTATION_YAW_90 INSTANCE:0
+
+IMU Invensensev3 SPI:icm42688_0 ROTATION_PITCH_180_YAW_270 INSTANCE:1
+IMU Invensensev3 SPI:icm45686_0 ROTATION_PITCH_180_YAW_270 INSTANCE:1
+
 IMU Invensensev2 SPI:icm20649 ROTATION_PITCH_180
 
 BARO MS56XX SPI:ms5611_0
@@ -125,16 +133,18 @@ COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_270
 CHECK_ICM20649        spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649)
 
 CHECK_ICM42688_0      spi_check_register("icm42688_0", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
+CHECK_ICM45686_0      spi_check_register("icm45686_0", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)
 
 CHECK_ICM42688_1      spi_check_register("icm42688_1", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
+CHECK_ICM45686_1      spi_check_register("icm45686_1", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)
 
 CHECK_MS5611_0        check_ms5611("ms5611_0")
 CHECK_MS5611_1        check_ms5611("ms5611_1")
 
 
 CHECK_IMU0_PRESENT      $CHECK_ICM20649
-CHECK_IMU1_PRESENT      $CHECK_ICM42688_0
-CHECK_IMU2_PRESENT      $CHECK_ICM42688_1
+CHECK_IMU1_PRESENT      $CHECK_ICM42688_0 || $CHECK_ICM45686_0
+CHECK_IMU2_PRESENT      $CHECK_ICM42688_1 || $CHECK_ICM45686_1
 CHECK_BARO0_PRESENT     $CHECK_MS5611_0
 CHECK_BARO1_PRESENT     $CHECK_MS5611_1
 

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedSecondary/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedSecondary/hwdef.dat
@@ -61,12 +61,15 @@ PE2 SPI4_SCK SPI4
 
 # Sensors
 SPIDEV icm42688       SPI2 DEVID1  ICM_CS      MODE3  2*MHZ  8*MHZ
+SPIDEV icm45686       SPI2 DEVID2  ICM_CS      MODE3  2*MHZ  8*MHZ
 SPIDEV ms5611         SPI4 DEVID2  BARO_CS     MODE3 20*MHZ 20*MHZ
 
 BARO MS56XX SPI:ms5611
-IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270
+IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270 INSTANCE:0
+IMU Invensensev3 SPI:icm45686 ROTATION_PITCH_180_YAW_270 INSTANCE:1
 
 CHECK_ICM42688      spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
+CHECK_ICM45686      spi_check_register("icm45686", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)
 CHECK_MS5611        check_ms5611("ms5611")
 
 CHECK_IMU0_PRESENT      $CHECK_ICM42688