From 42f873890e79da4aa0a59db792e617fc4cd24509 Mon Sep 17 00:00:00 2001 From: jamming Date: Fri, 11 Oct 2024 14:58:02 +0800 Subject: [PATCH] hwdef: Add icm42688 support for KakuteH7Mini --- libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Mini/hwdef.dat | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Mini/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Mini/hwdef.dat index 0c2d49296f146..434d61bdb3ea2 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Mini/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Mini/hwdef.dat @@ -136,6 +136,7 @@ DMA_NOSHARE SPI1* SPI4* # spi devices SPIDEV mpu6000 SPI4 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ +SPIDEV icm42688 SPI4 DEVID1 MPU6000_CS MODE3 2*MHZ 16*MHZ SPIDEV dataflash SPI1 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ @@ -146,8 +147,9 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_I2C_INTERNAL_MASK 0 define HAL_COMPASS_AUTO_ROT_DEFAULT 2 -# one IMU +# one IMU v1.1 mpu6000, v1.5 icm42688 IMU Invensense SPI:mpu6000 ROTATION_YAW_180 +IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90 # one BARO BARO BMP280 I2C:0:0x76