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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2019-04-23 17:20:03 -03:00
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define HAL_CHIBIOS_ARCH_CUBEBLACK 1
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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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USB_STRING_PRODUCT "CubeBlack"
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USB_STRING_SERIAL "%SERIAL%"
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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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# three IMUs, but allow for different varients. First two IMUs are
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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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# and the H varient of the gyro
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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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