Add IMU compatible for KakuteH7Mini (#23831)

Co-authored-by: jamming <[email protected]>
PX4 · Oct 21, 2024 · efbd01c · efbd01c
1 parent 965d5b3
commit efbd01c
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Showing 3 changed files with 10 additions and 5 deletions.
diff --git a/boards/holybro/kakuteh7mini/default.px4board b/boards/holybro/kakuteh7mini/default.px4board
@@ -14,6 +14,7 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y

diff --git a/boards/holybro/kakuteh7mini/init/rc.board_sensors b/boards/holybro/kakuteh7mini/init/rc.board_sensors
@@ -2,11 +2,14 @@
 #
 # Holybro KakuteH7Mini specific board sensors init
 #------------------------------------------------------------------------------
+# v1.1=mpu6000   v1.3=bmi270   v1.5=icm42688p
 board_adc start
-
-if ! bmi270 -s -q start
+if ! mpu6000 -R 6 -s -q start
 then
-	icm42688p -R 0 -s start
+  if ! bmi270 -R 6 -s -q start
+  then
+	icm42688p -R 6 -s start
+  fi
 fi
 
 bmp280 -X start
diff --git a/boards/holybro/kakuteh7mini/src/spi.cpp b/boards/holybro/kakuteh7mini/src/spi.cpp
@@ -43,9 +43,10 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
 	}),
 	initSPIBus(SPI::Bus::SPI4, {
-		//<V1.3s have the MPU series, latter ones have a BMI270
+		//<V1.1 have the mpu6000, v1.3 have a BMI270, v1.5 have a ICM42688P
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
-		initSPIDevice(DRV_IMU_DEVTYPE_BMI270, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1})
+		initSPIDevice(DRV_IMU_DEVTYPE_BMI270, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1})
 	}),
 };