2022-03-20 05:17:54 -03:00
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# hw definition file for processing by chibios_hwdef.py
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2022-05-31 02:20:59 -03:00
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# MCU class and specific type
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MCU STM32H7xx STM32H757xx
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define CORE_CM7
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define SMPS_PWR
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include ../CubeOrange/hwdef.inc
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2022-03-20 05:17:54 -03:00
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undef USB_STRING_PRODUCT
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undef USB_STRING_MANUFACTURER
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undef APJ_BOARD_ID
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undef USB_PRODUCT
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# USB setup
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USB_PRODUCT 0x1058
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USB_STRING_MANUFACTURER "CubePilot"
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USB_STRING_PRODUCT "CubeOrange+"
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APJ_BOARD_ID 1063
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2022-09-26 23:15:11 -03:00
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undef CHECK_ICM20602_EXT
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2022-03-20 05:17:54 -03:00
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undef CHECK_IMU0_PRESENT
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2022-10-21 04:04:41 -03:00
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undef CHECK_IMU1_PRESENT
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undef CHECK_IMU2_PRESENT
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undef CHECK_ICM20649
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undef BOARD_VALIDATE
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2022-03-20 05:17:54 -03:00
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undef IMU
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2022-10-25 20:16:49 -03:00
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undef I2C_ORDER
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PF14 I2C4_SCL I2C4
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PF15 I2C4_SDA I2C4
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define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE
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define HAL_I2C_INTERNAL_MASK 4
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I2C_ORDER I2C2 I2C1 I2C4
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COMPASS AK09916 I2C:2:0x0C false ROTATION_ROLL_180_YAW_225
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2022-03-20 05:17:54 -03:00
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2022-10-21 04:04:41 -03:00
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PG1 ICM45686_CS CS
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#IMU 0
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2022-03-20 05:17:54 -03:00
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SPIDEV icm42688_ext SPI4 DEVID4 ACCEL_EXT_CS MODE3 2*MHZ 8*MHZ
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2022-10-21 04:04:41 -03:00
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#IMU 1
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2023-03-22 02:45:51 -03:00
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SPIDEV icm42688_ext2 SPI4 DEVID5 GYRO_EXT_CS MODE3 2*MHZ 8*MHZ
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2022-10-21 04:04:41 -03:00
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#IMU 2
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2023-10-13 01:26:56 -03:00
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SPIDEV icm45686 SPI1 DEVID4 ICM45686_CS MODE0 2*MHZ 8*MHZ
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2022-10-21 04:04:41 -03:00
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SPIDEV icm20649 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ
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2023-10-13 01:26:56 -03:00
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SPIDEV icm45686_aux SPI1 DEVID4 ICM45686_CS MODE0 2*MHZ 8*MHZ
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2023-02-17 02:17:28 -04:00
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SPIDEV icm20948_aux SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ
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2022-10-21 04:04:41 -03:00
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# INSTANCE:<num> keyword is used to denote the instance number of the sensor
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# while probing. Probing is skipped if the instance number doesn't match the
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# backend count. Its important the IMUs are listed in order of precedence globally
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# (i.e. INSTANCE:0 IMUs are listed before INSTANCE:1 IMUs) and locally (i.e. IMUs
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# on the same bus are listed in order of detection precedence)
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IMU Invensensev3 SPI:icm42688_ext ROTATION_YAW_90 INSTANCE:0
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IMU Invensensev3 SPI:icm42688_ext2 ROTATION_PITCH_180_YAW_90 INSTANCE:1
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IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180 INSTANCE:1
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IMU Invensensev2 SPI:icm20649 ROTATION_YAW_270 INSTANCE:2
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2023-02-15 00:54:52 -04:00
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IMU Invensensev3 SPI:icm45686 ROTATION_ROLL_180_YAW_135 INSTANCE:2
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2022-10-21 04:04:41 -03:00
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2022-11-16 14:53:13 -04:00
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define ICM45686_CLKIN 1
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2023-03-22 02:45:51 -03:00
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# AUX:<devid> keyword is used to check for the presence of the sensor
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# in the detected IMUs list. If the IMU with the given devid is found
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# then we skip the probe for the sensor the second time. This is useful
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# if you have multiple choices for IMU over same instance number, and still
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# want to instantiate the sensor after main IMUs are detected.
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2023-02-17 02:17:28 -04:00
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2023-03-22 02:45:51 -03:00
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IMU Invensensev2 SPI:icm20948_aux ROTATION_PITCH_180 AUX:2883874
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IMU Invensensev3 SPI:icm45686_aux ROTATION_ROLL_180_YAW_135 AUX:3867658
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2023-02-17 02:17:28 -04:00
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define INS_AUX_INSTANCES 2
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2022-10-21 04:04:41 -03:00
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CHECK_ICM20649 spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649)
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CHECK_ICM45686 spi_check_register_inv2("icm45686", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)
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CHECK_ICM42688_EXT2 spi_check_register("icm42688_ext2", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
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CHECK_ICM45686_EXT2 spi_check_register("icm42688_ext2", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)
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CHECK_ICM45686_EXT spi_check_register("icm42688_ext", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)
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CHECK_ICM42688_EXT spi_check_register("icm42688_ext", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
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2022-03-20 05:17:54 -03:00
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2022-10-21 04:04:41 -03:00
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CHECK_IMU0_PRESENT $CHECK_ICM45686 || $CHECK_ICM20649
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CHECK_IMU1_PRESENT $CHECK_ICM20948_EXT || $CHECK_ICM42688_EXT2 || $CHECK_ICM45686_EXT2
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CHECK_IMU2_PRESENT $CHECK_ICM42688_EXT || $CHECK_ICM45686_EXT
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2022-03-20 05:17:54 -03:00
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2022-10-21 04:04:41 -03:00
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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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2023-10-04 19:57:51 -03:00
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# build ABIN for flash-from-bootloader support:
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env BUILD_ABIN True
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2023-10-07 04:45:53 -03:00
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define HAL_INS_HIGHRES_SAMPLE 6
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