AP_HAL_ChibiOS: support configuration of highres IMUs on board subtypes

ArduPilot · Apr 15, 2024 · 5b5d31e · 5b5d31e
1 parent 5ec9eac
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diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
@@ -357,6 +357,8 @@ IMU Invensensev3 SPI:icm45686-2  ROTATION_ROLL_180  BOARD_MATCH(FMUV6_BOARD_HOLY
 IMU Invensensev3 SPI:icm45686-3  ROTATION_ROLL_180  BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)
 IMU Invensensev3 SPI:icm45686-1  ROTATION_YAW_90    BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)
 
+IMU_HIGHRES_SAMPLE 7 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)
+
 define HAL_DEFAULT_INS_FAST_SAMPLE 7
 
 # enable RAMTROM parameter storage

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -1675,6 +1675,14 @@ def write_IMU_config(self, f):
             if len(devlist) < 3:
                 f.write('#define INS_MAX_INSTANCES %u\n' % len(devlist))
             f.write('#define HAL_INS_PROBE_LIST %s\n\n' % ';'.join(devlist))
+            highres = self.get_config('IMU_HIGHRES_SAMPLE', required=False, aslist=True)
+            if highres is not None:
+                if highres[-1].startswith("BOARD_MATCH("):
+                    f.write('#define HAL_INS_HIGHRES_SAMPLE %s\n' % highres[0])
+                    f.write('#define HAL_INS_HIGHRES_SAMPLE_MASK (%s?HAL_INS_HIGHRES_SAMPLE:0)\n' % highres[-1])
+                else:
+                    f.write('#define HAL_INS_HIGHRES_SAMPLE %s\n' % highres[0])
+                    f.write('#define HAL_INS_HIGHRES_SAMPLE_MASK %s\n' % highres[0])
 
     def write_MAG_config(self, f):
         '''write MAG config defines'''