hwdef: setup Holybro Pixhawk6X for IIM46234

tridge · Aug 11, 2023 · 1f129b3 · 1f129b3
1 parent d7fe6b4
commit 1f129b3
Showing 1 changed file with 8 additions and 6 deletions.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
@@ -135,9 +135,9 @@ PB2  SPI3_MOSI SPI3
 PC10 SPI3_SCK  SPI3
 PC11 SPI3_MISO SPI3
 PI4 BMI088_A_CS CS
-PI8 BMI088_G_CS CS
+PI8 BMI088_G_CS OUTPUT HIGH
 PI6 BMI088_DRDY_ACC INPUT
-PI7 BMI088_DRDY_GYR INPUT
+PI7 BMI088_DRDY_GYR INPUT GPIO(60)
 
 # SPI4 - BMM150
 PE12 SPI4_SCK SPI4
@@ -173,7 +173,7 @@ PH9  TIM12_CH2 TIM12 PWM(8) GPIO(57) NODMA
 
 # GPIOs
 PE11 FMU_CAP1 INPUT GPIO(58)
-PC0 NFC_GPIO INPUT GPIO(60)
+PC0 NFC_GPIO INPUT
 
 
 # CAN bus
@@ -311,10 +311,11 @@ define HAL_HEATER_MAG_OFFSET_BMM150 AP_HAL::Device::make_bus_id(AP_HAL::Device::
 define HAL_HEATER_MAG_OFFSET {HAL_HEATER_MAG_OFFSET_RM3100, HAL_HEATER_MAG_OFFSET_BMM150}
 
 # IMU devices for Holybro6X
-SPIDEV bmi088_g SPI3 DEVID1  BMI088_G_CS  MODE3 10*MHZ 10*MHZ
-SPIDEV bmi088_a SPI3 DEVID2  BMI088_A_CS  MODE3 10*MHZ 10*MHZ
+#SPIDEV bmi088_g SPI3 DEVID1  BMI088_G_CS  MODE3 10*MHZ 10*MHZ
+#SPIDEV bmi088_a SPI3 DEVID2  BMI088_A_CS  MODE3 10*MHZ 10*MHZ
 # alternative to bmi088
 SPIDEV icm20649  SPI3 DEVID1  BMI088_A_CS MODE3  10*MHZ 10*MHZ
+SPIDEV iim46234  SPI3 DEVID1  BMI088_A_CS MODE3  12*MHZ 12*MHZ
 SPIDEV icm42688  SPI2 DEVID1  ICM42688_CS MODE3  2*MHZ  8*MHZ
 SPIDEV icm42670  SPI1 DEVID1  IMU1_CS MODE3  2*MHZ  8*MHZ
 
@@ -327,8 +328,9 @@ SPIDEV icm20649_2 SPI1 DEVID1  IMU1_CS     MODE3  2*MHZ  8*MHZ
 SPIDEV ramtron   SPI5 DEVID1  FRAM_CS     MODE3  8*MHZ  8*MHZ
 
 # Holybro6X 3 IMUs
-IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)
+IMU Invensensev3 SPI:icm42688 ROTATION_YAW_270 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)
 IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)
+IMU IIM4623x     SPI:iim46234 ROTATION_PITCH_180
 IMU Invensensev2 SPI:icm20649 ROTATION_YAW_180          BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X) # alternative to BMI088
 IMU Invensensev3 SPI:icm42670 ROTATION_YAW_90           BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)