DFV000 SW BU RAW

g-rahul · Dec 25, 2023 · 676e2bf · 676e2bf
1 parent fe4333f
commit 676e2bf
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Showing 10 changed files with 15 additions and 17 deletions.
diff --git a/boards/px4/extras/px4_fmu-v5_bootloader.bin b/boards/px4/extras/px4_fmu-v5_bootloader.bin
diff --git a/boards/px4/extras/px4_io-v2_default.bin b/boards/px4/extras/px4_io-v2_default.bin
diff --git a/boards/px4/fmu-v5/default.px4board b/boards/px4/fmu-v5/default.px4board
@@ -17,11 +17,8 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
-CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y

diff --git a/boards/px4/fmu-v5/extras/px4_fmu-v5_bootloader.bin b/boards/px4/fmu-v5/extras/px4_fmu-v5_bootloader.bin
diff --git a/boards/px4/fmu-v5/extras/px4_io-v2_default.bin b/boards/px4/fmu-v5/extras/px4_io-v2_default.bin
diff --git a/boards/px4/fmu-v5/init/rc.board_sensors b/boards/px4/fmu-v5/init/rc.board_sensors
@@ -11,21 +11,23 @@ then
 	icm42688p -s -R 2 -q start
 else
 	# Internal SPI bus ICM-20602
-	icm20602 -s -R 2 -q start
+	icm42670p -s -R 2 -q start
 fi
 
 # Internal SPI bus ICM-20689
-icm20689 -s -R 2 start
+#icm20689 -s -R 2 start
 
 # Internal SPI bus BMI055 accel/gyro
-bmi055 -A -R 2 -s start
-bmi055 -G -R 2 -s start
+bmi270 -s -R 2 -q start
+#bmi055 -A -R 2 -s start
+#bmi055 -G -R 2 -s start
 
 # Baro on internal SPI
 ms5611 -s start
 
 # internal compass
-ist8310 -I -R 10 start
+#ist8310 -I -R 10 start
+lis3mdl -I -R 10 start
 
 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
-ist8310 -X -b 1 -R 10 start
+#ist8310 -X -b 1 -R 10 start
diff --git a/boards/px4/fmu-v5/nuttx-config/include/board.h b/boards/px4/fmu-v5/nuttx-config/include/board.h
@@ -70,7 +70,7 @@
 #define STM32_LSI_FREQUENCY     32000
 #define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
 #define STM32_LSE_FREQUENCY     0
-
+#define STM32_HSEBYP_ENABLE     1
 /* Main PLL Configuration.
  *
  * PLL source is HSE = 16,000,000

diff --git a/boards/px4/fmu-v5/src/spi.cpp b/boards/px4/fmu-v5/src/spi.cpp
@@ -38,10 +38,8 @@
 constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
 	initSPIHWVersion(V500, {
 		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortF, GPIO::Pin3}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),
-			initSPIDevice(DRV_GYR_DEVTYPE_BMI055, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
-			initSPIDevice(DRV_ACC_DEVTYPE_BMI055, SPI::CS{GPIO::PortG, GPIO::Pin10}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
+			initSPIDevice(DRV_IMU_DEVTYPE_BMI270, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
 		}, {GPIO::PortE, GPIO::Pin3}),
 		initSPIBus(SPI::Bus::SPI2, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortF, GPIO::Pin5})

diff --git a/boards/px4/io-v2/nuttx-config/include/board.h b/boards/px4/io-v2/nuttx-config/include/board.h
@@ -57,7 +57,7 @@
 /* On-board crystal frequency is 24MHz (HSE) */
 
 #define STM32_BOARD_XTAL        24000000ul
-
+#define STM32_HSEBYP_ENABLE     1
 /* Use the HSE output as the system clock */
 
 #define STM32_SYSCLK_SW         RCC_CFGR_SW_HSE

diff --git a/boards/px4/io-v2/nuttx-config/nsh/defconfig b/boards/px4/io-v2/nuttx-config/nsh/defconfig
@@ -19,6 +19,7 @@ CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARD_LOOPSPERMSEC=2000
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_FDCLONE_DISABLE=y