2018-06-05 23:23:46 -03:00
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# hw definition file for processing by chibios_hwdef.py
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# for The CUBE Black and the Cube Purple hardware
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# this is based on fmuv3, but with vendor specific USB IDs
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include ../fmuv3/hwdef.dat
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2021-11-29 01:17:56 -04:00
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define HAL_CHIBIOS_ARCH_CUBE 1
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2019-04-23 17:20:03 -03:00
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2019-09-27 17:58:51 -03:00
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env OPTIMIZE -O2
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2019-02-14 08:13:01 -04:00
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2018-06-05 23:23:46 -03:00
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# USB setup
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USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
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2018-07-04 08:18:23 -03:00
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USB_PRODUCT 0x1011
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2018-06-05 23:23:46 -03:00
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USB_STRING_MANUFACTURER "Hex/ProfiCNC"
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2018-08-09 03:25:44 -03:00
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# remap PB0/1 as ADC's
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undef PB0
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undef PB1
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PB0 PB0_ADC ADC1 SCALE(1)
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PB1 PB1_ADC ADC1 SCALE(1)
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2019-01-22 22:39:57 -04:00
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SPIDEV icm20948_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ
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SPIDEV icm20602_ext SPI4 DEVID3 GYRO_EXT_CS MODE3 4*MHZ 8*MHZ
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2019-05-29 22:16:32 -03:00
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2020-03-17 10:49:45 -03:00
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# Sensor Check alias for validating board type
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CHECK_MPU9250 spi_check_register("mpu9250", MPUREG_WHOAMI, MPU_WHOAMI_MPU9250)
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CHECK_MPU9250_EXT spi_check_register("mpu9250_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU9250)
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CHECK_ICM20602_EXT spi_check_register("icm20602_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)
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CHECK_LSM9DS0_EXT_G spi_check_register("lsm9ds0_ext_g", LSMREG_WHOAMI, LSM_WHOAMI_L3GD20)
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CHECK_LSM9DS0_EXT_AM spi_check_register("lsm9ds0_ext_am", LSMREG_WHOAMI, LSM_WHOAMI_LSM303D)
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CHECK_ICM20948_EXT spi_check_register("icm20948_ext", INV2REG_WHOAMI, INV2_WHOAMI_ICM20948)
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CHECK_MS5611 check_ms5611("ms5611")
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CHECK_MS5611_EXT check_ms5611("ms5611_ext")
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# Sensor Check Macros to be used for validating board type
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CHECK_IMU0_PRESENT $CHECK_MPU9250_EXT || $CHECK_ICM20602_EXT
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CHECK_IMU1_PRESENT ($CHECK_LSM9DS0_EXT_G && $CHECK_LSM9DS0_EXT_AM) || $CHECK_ICM20948_EXT
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CHECK_IMU2_PRESENT $CHECK_MPU9250
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CHECK_BARO0_PRESENT $CHECK_MS5611
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CHECK_BARO1_PRESENT $CHECK_MS5611_EXT
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BOARD_VALIDATE $CHECK_IMU0_PRESENT $CHECK_IMU1_PRESENT $CHECK_IMU2_PRESENT $CHECK_BARO0_PRESENT $CHECK_BARO1_PRESENT
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# also define the default board type
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define BOARD_TYPE_DEFAULT 3
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2020-12-23 22:02:11 -04:00
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# three IMUs, but allow for different variants. First two IMUs are
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2019-05-29 22:16:32 -03:00
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# isolated, 3rd isn't
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IMU Invensense SPI:mpu9250_ext ROTATION_PITCH_180
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# the 3 rotations for the LSM9DS0 driver are for the accel, the gyro
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2020-12-23 22:02:11 -04:00
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# and the H variant of the gyro
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2019-05-29 22:16:32 -03:00
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IMU LSM9DS0 SPI:lsm9ds0_ext_g SPI:lsm9ds0_ext_am ROTATION_ROLL_180_YAW_270 ROTATION_ROLL_180_YAW_90 ROTATION_ROLL_180_YAW_90
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# 3rd non-isolated IMU
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IMU Invensense SPI:mpu9250 ROTATION_YAW_270
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# alternative IMU set for newer cubes
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IMU Invensense SPI:icm20602_ext ROTATION_ROLL_180_YAW_270
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IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180
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IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270
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2019-07-10 20:11:47 -03:00
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define HAL_DEFAULT_INS_FAST_SAMPLE 5
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2019-05-29 22:16:32 -03:00
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# two baros
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BARO MS56XX SPI:ms5611_ext
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BARO MS56XX SPI:ms5611
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# two compasses. First is in the LSM303D
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COMPASS LSM303D SPI:lsm9ds0_ext_am ROTATION_YAW_270
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# 2nd compass is part of the 2nd invensense IMU
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COMPASS AK8963:probe_mpu9250 1 ROTATION_YAW_270
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# compass as part of ICM20948 on newer cubes
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COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90
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# also probe for external compasses
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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2019-06-08 19:42:18 -03:00
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# This defines an output pin which will default to output HIGH. It is
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# a pin that enables peripheral power on this board. It starts in the
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# off state, then is pulled low to enable peripherals in
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# peripheral_power_enable()
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undef PA8
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PA8 nVDD_5V_PERIPH_EN OUTPUT HIGH
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# This is the pin to enable the sensors rail. It can be used to power
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# cycle sensors to recover them in case there are problems with power on
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# timing affecting sensor stability. We pull it LOW on startup, which
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# means sensors off, then it is pulled HIGH in peripheral_power_enable()
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undef PE3
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PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
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2021-10-12 20:31:44 -03:00
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# if you want to enable parameter backup/restore then uncomment the following two lines
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# Note: this will use 16k more RAM, so ensure you have enough by looking at MEMINFO messages
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# in MAVLink2 or in PM message in logs
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# undef HAL_STORAGE_SIZE
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# define HAL_STORAGE_SIZE 32768
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2021-10-15 18:22:28 -03:00
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define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5
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2023-07-30 23:26:04 -03:00
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# default the 2nd interface to SLCAN
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define HAL_OTG2_PROTOCOL SerialProtocol_SLCAN
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2023-06-17 19:27:09 -03:00
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ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_dshot_highpolh.bin
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2023-06-21 18:43:21 -03:00
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ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_highpolh.bin
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# enable support for dshot on iomcu
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define HAL_WITH_IO_MCU_DSHOT 1
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