AP_HAL_ChibiOS: CubeRedPrimary: update config for icm45686

ArduPilot · Nov 17, 2024 · 0953c9d · 0953c9d
1 parent 7f4a209
commit 0953c9d
Showing 1 changed file with 7 additions and 4 deletions.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat
@@ -105,22 +105,25 @@ PE5    SPI4_MISO    SPI4
 PE6    SPI4_MOSI    SPI4
 
 # Sensors
-SPIDEV icm42688_0       SPI1 DEVID1  ICM42688_0_CS      MODE3  2*MHZ  8*MHZ
+SPIDEV icm42688_0       SPI1 DEVID1  ICM42688_0_CS      MODE3  2*MHZ  24*MHZ
 SPIDEV ms5611_0         SPI1 DEVID2  BARO_0_CS          MODE3 20*MHZ 20*MHZ
 
-SPIDEV icm42688_1       SPI2 DEVID1  ICM42688_1_CS      MODE3  2*MHZ  8*MHZ
+SPIDEV icm42688_1       SPI2 DEVID1  ICM42688_1_CS      MODE3  2*MHZ  24*MHZ
 SPIDEV rm3100           SPI2 DEVID2  RM3100_CS          MODE3  1*MHZ  1*MHZ
 
 SPIDEV icm20649         SPI4 DEVID1  ICM_2_CS           MODE3  4*MHZ  8*MHZ
 # alternative to icm20649
-SPIDEV icm45686         SPI4 DEVID1  ICM_2_CS           MODE3  2*MHZ  8*MHZ
+SPIDEV icm45686         SPI4 DEVID1  ICM_2_CS           MODE3  2*MHZ  24*MHZ
 SPIDEV ms5611_1         SPI4 DEVID2  BARO_1_CS          MODE3 20*MHZ 20*MHZ
 
 IMU Invensensev3 SPI:icm42688_1 ROTATION_YAW_90
 IMU Invensensev3 SPI:icm42688_0 ROTATION_PITCH_180_YAW_270
 IMU Invensensev2 SPI:icm20649 ROTATION_PITCH_180
 IMU Invensensev3 SPI:icm45686 ROTATION_YAW_180
 
+define HAL_INS_HIGHRES_SAMPLE 5
+define ICM45686_CLKIN 1
+
 BARO MS56XX SPI:ms5611_0
 BARO MS56XX SPI:ms5611_1
 
@@ -153,7 +156,7 @@ define HAL_CHIBIOS_ARCH_FMUV3 1
 define BOARD_TYPE_DEFAULT 3
 
 # MCO output
-PA8    RCC_MCO_1    OUTPUT LOW
+PA8    RCC_MCO_1    INPUT
 
 # I2C
 PF0    I2C2_SDA    I2C2