hwdef: support Holybro Pixhawk6X_Rev6

tridge · Oct 24, 2023 · 203f51d · 203f51d
1 parent ace732f
commit 203f51d
Showing 1 changed file with 31 additions and 20 deletions.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
@@ -121,30 +121,31 @@ PC3 ADC1_3V3 ADC1 SCALE(1)
 PA5 SPI1_SCK SPI1
 PB5 SPI1_MOSI SPI1
 PG9 SPI1_MISO SPI1
-PI9 IMU1_CS CS
+PI9 SP1_CS1 CS
 
 # SPI2 - ICM42688
 PI1 SPI2_SCK SPI2
 PI2 SPI2_MISO SPI2
 PI3 SPI2_MOSI SPI2
-PH5 ICM42688_CS CS
-PA10 ICM42688_DRDY INPUT
+PH5 SP2_CS1 CS
+PA10 SP2_DRDY2 INPUT
 
 # SPI3 - BMI088
 PB2  SPI3_MOSI SPI3
 PC10 SPI3_SCK  SPI3
 PC11 SPI3_MISO SPI3
-PI4 BMI088_A_CS CS
-PI8 BMI088_G_CS CS
-PI6 BMI088_DRDY_ACC INPUT
-PI7 BMI088_DRDY_GYR INPUT
-
-# SPI4 - BMM150
-PE12 SPI4_SCK SPI4
-PE13 SPI4_MISO SPI4
-PE14 SPI4_MOSI SPI4
-PF3  BMM150_DRDY INPUT
-PH15 BMM150_CS CS
+PI4 SP3_CS1 CS
+PI8 SP3_CS2 CS
+PI6 SP3_DRDY1 INPUT
+PI7 SP3_DRDY2 INPUT GPIO(93)
+define SP3_DRDY2 93
+
+# SPI4 - unused
+#PE12 SPI4_SCK SPI4
+#PE13 SPI4_MISO SPI4
+#PE14 SPI4_MOSI SPI4
+#PF3  SP4_DRDY1 INPUT
+PH15 SP4_CS1 CS
 
 # SPI5 - FRAM
 PF7  SPI5_SCK  SPI5
@@ -311,21 +312,26 @@ define HAL_HEATER_MAG_OFFSET_BMM150 AP_HAL::Device::make_bus_id(AP_HAL::Device::
 define HAL_HEATER_MAG_OFFSET {HAL_HEATER_MAG_OFFSET_RM3100, HAL_HEATER_MAG_OFFSET_BMM150}
 
 # IMU devices for Holybro6X
-SPIDEV bmi088_g SPI3 DEVID1  BMI088_G_CS  MODE3 10*MHZ 10*MHZ
-SPIDEV bmi088_a SPI3 DEVID2  BMI088_A_CS  MODE3 10*MHZ 10*MHZ
+SPIDEV bmi088_g SPI3 DEVID1  SP3_CS2  MODE3 10*MHZ 10*MHZ
+SPIDEV bmi088_a SPI3 DEVID2  SP3_CS1  MODE3 10*MHZ 10*MHZ
 # alternative to bmi088
-SPIDEV icm20649  SPI3 DEVID1  BMI088_A_CS MODE3  10*MHZ 10*MHZ
-SPIDEV icm42688  SPI2 DEVID1  ICM42688_CS MODE3  2*MHZ  8*MHZ
-SPIDEV icm42670  SPI1 DEVID1  IMU1_CS MODE3  2*MHZ  8*MHZ
+SPIDEV icm20649  SPI3 DEVID1  SP3_CS1 MODE3  10*MHZ 10*MHZ
+SPIDEV icm42688  SPI2 DEVID1  SP2_CS1 MODE3  2*MHZ  8*MHZ
+SPIDEV icm42670  SPI1 DEVID1  SP1_CS1 MODE3  2*MHZ  8*MHZ
 
 # IMU devices for CUAV-6X. The CUAV board has a BMI088, ICM20649 and
 # ICM42688 the ICM42688 and BMI088 are on the same SPI buses and CS
 # pins as the Holybro board, but the orientation of the BMI088 is
 # different. The ICM20649 is on a different bus
-SPIDEV icm20649_2 SPI1 DEVID1  IMU1_CS     MODE3  2*MHZ  8*MHZ
+SPIDEV icm20649_2 SPI1 DEVID1  SP1_CS1     MODE3  2*MHZ  8*MHZ
 
 SPIDEV ramtron   SPI5 DEVID1  FRAM_CS     MODE3  8*MHZ  8*MHZ
 
+# IMU devices for Holybro6X-Rev6
+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
+
 # 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)
@@ -337,6 +343,11 @@ IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_270 BOARD_MATCH(FMUV6_BOARD_
 IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180 BOARD_MATCH(FMUV6_BOARD_CUAV_6X)
 IMU Invensensev2 SPI:icm20649_2 ROTATION_ROLL_180       BOARD_MATCH(FMUV6_BOARD_CUAV_6X)
 
+# Holybro6X-Rev6 3 IMUs
+IMU ADIS1647x    SPI:adis16470 ROTATION_ROLL_180 SP3_DRDY2 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV6)
+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)
+
 define HAL_DEFAULT_INS_FAST_SAMPLE 7
 
 # enable RAMTROM parameter storage