ardupilot/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack/hwdef.dat

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# hw definition file for processing by chibios_hwdef.py
# for The CUBE Black and the Cube Purple hardware
# this is based on fmuv3, but with vendor specific USB IDs
include ../fmuv3/hwdef.dat
define HAL_CHIBIOS_ARCH_CUBEBLACK 1
env OPTIMIZE -O2
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# USB setup
USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
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USB_PRODUCT 0x1011
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USB_STRING_MANUFACTURER "Hex/ProfiCNC"
USB_STRING_PRODUCT "CubeBlack"
USB_STRING_SERIAL "%SERIAL%"
# remap PB0/1 as ADC's
undef PB0
undef PB1
PB0 PB0_ADC ADC1 SCALE(1)
PB1 PB1_ADC ADC1 SCALE(1)
SPIDEV icm20948_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ
SPIDEV icm20602_ext SPI4 DEVID3 GYRO_EXT_CS MODE3 4*MHZ 8*MHZ
# Sensor Check alias for validating board type
CHECK_MPU9250 spi_check_register("mpu9250", MPUREG_WHOAMI, MPU_WHOAMI_MPU9250)
CHECK_MPU9250_EXT spi_check_register("mpu9250_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU9250)
CHECK_ICM20602_EXT spi_check_register("icm20602_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)
CHECK_LSM9DS0_EXT_G spi_check_register("lsm9ds0_ext_g", LSMREG_WHOAMI, LSM_WHOAMI_L3GD20)
CHECK_LSM9DS0_EXT_AM spi_check_register("lsm9ds0_ext_am", LSMREG_WHOAMI, LSM_WHOAMI_LSM303D)
CHECK_ICM20948_EXT spi_check_register("icm20948_ext", INV2REG_WHOAMI, INV2_WHOAMI_ICM20948)
CHECK_MS5611 check_ms5611("ms5611")
CHECK_MS5611_EXT check_ms5611("ms5611_ext")
# Sensor Check Macros to be used for validating board type
CHECK_IMU0_PRESENT $CHECK_MPU9250_EXT || $CHECK_ICM20602_EXT
CHECK_IMU1_PRESENT ($CHECK_LSM9DS0_EXT_G && $CHECK_LSM9DS0_EXT_AM) || $CHECK_ICM20948_EXT
CHECK_IMU2_PRESENT $CHECK_MPU9250
CHECK_BARO0_PRESENT $CHECK_MS5611
CHECK_BARO1_PRESENT $CHECK_MS5611_EXT
BOARD_VALIDATE $CHECK_IMU0_PRESENT $CHECK_IMU1_PRESENT $CHECK_IMU2_PRESENT $CHECK_BARO0_PRESENT $CHECK_BARO1_PRESENT
# also define the default board type
define BOARD_TYPE_DEFAULT 3
# three IMUs, but allow for different varients. First two IMUs are
# isolated, 3rd isn't
IMU Invensense SPI:mpu9250_ext ROTATION_PITCH_180
# the 3 rotations for the LSM9DS0 driver are for the accel, the gyro
# and the H varient of the gyro
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
# 3rd non-isolated IMU
IMU Invensense SPI:mpu9250 ROTATION_YAW_270
# alternative IMU set for newer cubes
IMU Invensense SPI:icm20602_ext ROTATION_ROLL_180_YAW_270
IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180
IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270
define HAL_DEFAULT_INS_FAST_SAMPLE 5
# two baros
BARO MS56XX SPI:ms5611_ext
BARO MS56XX SPI:ms5611
# two compasses. First is in the LSM303D
COMPASS LSM303D SPI:lsm9ds0_ext_am ROTATION_YAW_270
# 2nd compass is part of the 2nd invensense IMU
COMPASS AK8963:probe_mpu9250 1 ROTATION_YAW_270
# compass as part of ICM20948 on newer cubes
COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90
# also probe for external compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
# This defines an output pin which will default to output HIGH. It is
# a pin that enables peripheral power on this board. It starts in the
# off state, then is pulled low to enable peripherals in
# peripheral_power_enable()
undef PA8
PA8 nVDD_5V_PERIPH_EN OUTPUT HIGH
# This is the pin to enable the sensors rail. It can be used to power
# cycle sensors to recover them in case there are problems with power on
# timing affecting sensor stability. We pull it LOW on startup, which
# means sensors off, then it is pulled HIGH in peripheral_power_enable()
undef PE3
PE3 VDD_3V3_SENSORS_EN OUTPUT LOW