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

# 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_CUBE 1

env OPTIMIZE -O2

# USB setup
USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
USB_PRODUCT 0x1011
USB_STRING_MANUFACTURER "Hex/ProfiCNC"

# 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 variants. 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 variant 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

# if you want to enable parameter backup/restore then uncomment the following two lines
# Note: this will use 16k more RAM, so ensure you have enough by looking at MEMINFO messages
# in MAVLink2 or in PM message in logs
# undef HAL_STORAGE_SIZE
# define HAL_STORAGE_SIZE 32768


define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5