AP_HAL_ChibiOS: add support for swapping ICM42688 with ICM45686

yuri-rage · Dec 6, 2023 · 00a6563 · 00a6563
1 parent e34e9c6
commit 00a6563
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat
@@ -130,16 +130,18 @@ 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("icm42688_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("icm42688_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
@@ -67,9 +67,10 @@ BARO MS56XX SPI:ms5611
 IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270
 
 CHECK_ICM42688      spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
+CHECK_ICM45686      spi_check_register("icm42688", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)
 CHECK_MS5611        check_ms5611("ms5611")
 
-CHECK_IMU0_PRESENT      $CHECK_ICM42688
+CHECK_IMU0_PRESENT      $CHECK_ICM42688 || $CHECK_ICM45686
 CHECK_BARO0_PRESENT     $CHECK_MS5611
 
 BOARD_VALIDATE $CHECK_IMU0_PRESENT $CHECK_BARO0_PRESENT