boards: matek h743 slim support v1 and v1.5 IMU variants

- remove temp compensation to still fit into flash
PX4 · May 4, 2022 · bf8d759 · bf8d759
1 parent 46fdc28
commit bf8d759
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Showing 3 changed files with 9 additions and 3 deletions.
diff --git a/boards/matek/h743-slim/default.px4board b/boards/matek/h743-slim/default.px4board
@@ -14,6 +14,7 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
@@ -51,7 +52,7 @@ CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_GIMBAL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y

diff --git a/boards/matek/h743-slim/init/rc.board_sensors b/boards/matek/h743-slim/init/rc.board_sensors
@@ -5,8 +5,12 @@
 
 board_adc start
 
-# Internal SPI bus ICM-20602
-icm20602 -R 12 -s start
+# Internal SPI bus ICM-42605
+if ! icm42605 -R 14 -s start
+then
+	# internal SPI bus ICM-20602
+	icm20602 -R 12 -s start
+fi
 
 # Internal SPI bus MPU-6000
 mpu6000 -R 12 -s start

diff --git a/boards/matek/h743-slim/src/spi.cpp b/boards/matek/h743-slim/src/spi.cpp
@@ -48,6 +48,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 		initSPIConfigExternal(SPI::CS{GPIO::PortE, GPIO::Pin2}),
 	}),
 	initSPIBus(SPI::Bus::SPI4, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42605, SPI::CS{GPIO::PortC, GPIO::Pin13}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortE, GPIO::Pin11}),
 	}),
 };