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Modified hwdef and hwdef-bl to include CubeOrangePlus .dat files
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16 changes: 1 addition & 15 deletions
16
libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-ODID/hwdef-bl.dat
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| @@ -1,22 +1,8 @@ | ||
| # hw definition file for processing by chibios_hwdef.py | ||
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| # MCU class and specific type | ||
| MCU STM32H7xx STM32H757xx | ||
| define CORE_CM7 | ||
| define SMPS_PWR | ||
| include ../CubeOrangePlus/hwdef-bl.dat | ||
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| include ../CubeOrange/hwdef-bl.inc | ||
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| undef USB_STRING_PRODUCT | ||
| undef USB_STRING_MANUFACTURER | ||
| undef APJ_BOARD_ID | ||
| undef USB_PRODUCT | ||
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| # USB setup | ||
| USB_PRODUCT 0x1058 | ||
| USB_STRING_MANUFACTURER "CubePilot" | ||
| USB_STRING_PRODUCT "CubeOrange+-BL" | ||
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| APJ_BOARD_ID 11063 | ||
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| define AP_OPENDRONEID_ENABLED 1 |
100 changes: 1 addition & 99 deletions
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libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-ODID/hwdef.dat
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,105 +1,7 @@ | ||
| # hw definition file for processing by chibios_hwdef.py | ||
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| # MCU class and specific type | ||
| MCU STM32H7xx STM32H757xx | ||
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| define CORE_CM7 | ||
| define SMPS_PWR | ||
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| include ../CubeOrange/hwdef.inc | ||
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| undef USB_STRING_PRODUCT | ||
| undef USB_STRING_MANUFACTURER | ||
| include ../CubeOrangePlus/hwdef.dat | ||
| undef APJ_BOARD_ID | ||
| undef USB_PRODUCT | ||
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| # USB setup | ||
| USB_PRODUCT 0x1058 | ||
| USB_STRING_MANUFACTURER "CubePilot" | ||
| USB_STRING_PRODUCT "CubeOrange+" | ||
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| APJ_BOARD_ID 11063 | ||
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| undef CHECK_ICM20602_EXT | ||
| undef CHECK_IMU0_PRESENT | ||
| undef CHECK_IMU1_PRESENT | ||
| undef CHECK_IMU2_PRESENT | ||
| undef CHECK_ICM20649 | ||
| undef BOARD_VALIDATE | ||
| undef IMU | ||
| undef I2C_ORDER | ||
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| PF14 I2C4_SCL I2C4 | ||
| PF15 I2C4_SDA I2C4 | ||
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| define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE | ||
| 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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| PG1 ICM45686_CS CS | ||
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| #IMU 0 | ||
| SPIDEV icm42688_ext SPI4 DEVID4 ACCEL_EXT_CS MODE3 2*MHZ 8*MHZ | ||
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| #IMU 1 | ||
| SPIDEV icm42688_ext2 SPI4 DEVID5 GYRO_EXT_CS MODE3 2*MHZ 8*MHZ | ||
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| #IMU 2 | ||
| SPIDEV icm45686 SPI1 DEVID4 ICM45686_CS MODE0 2*MHZ 8*MHZ | ||
| SPIDEV icm20649 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ | ||
| SPIDEV icm45686_aux SPI1 DEVID4 ICM45686_CS MODE0 2*MHZ 8*MHZ | ||
| SPIDEV icm20948_aux SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ | ||
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| # INSTANCE:<num> keyword is used to denote the instance number of the sensor | ||
| # while probing. Probing is skipped if the instance number doesn't match the | ||
| # backend count. Its important the IMUs are listed in order of precedence globally | ||
| # (i.e. INSTANCE:0 IMUs are listed before INSTANCE:1 IMUs) and locally (i.e. IMUs | ||
| # 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 | ||
| IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180 INSTANCE:1 | ||
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| IMU Invensensev2 SPI:icm20649 ROTATION_YAW_270 INSTANCE:2 | ||
| IMU Invensensev3 SPI:icm45686 ROTATION_ROLL_180_YAW_135 INSTANCE:2 | ||
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| define ICM45686_CLKIN 1 | ||
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| # AUX:<devid> keyword is used to check for the presence of the sensor | ||
| # in the detected IMUs list. If the IMU with the given devid is found | ||
| # then we skip the probe for the sensor the second time. This is useful | ||
| # if you have multiple choices for IMU over same instance number, and still | ||
| # want to instantiate the sensor after main IMUs are detected. | ||
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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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| define INS_AUX_INSTANCES 2 | ||
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| CHECK_ICM20649 spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649) | ||
| 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) | ||
| 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) | ||
| CHECK_ICM42688_EXT spi_check_register("icm42688_ext", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688) | ||
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| CHECK_IMU0_PRESENT $CHECK_ICM45686 || $CHECK_ICM20649 | ||
| CHECK_IMU1_PRESENT $CHECK_ICM20948_EXT || $CHECK_ICM42688_EXT2 || $CHECK_ICM45686_EXT2 | ||
| CHECK_IMU2_PRESENT $CHECK_ICM42688_EXT || $CHECK_ICM45686_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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| # build ABIN for flash-from-bootloader support: | ||
| env BUILD_ABIN True | ||
| define HAL_INS_HIGHRES_SAMPLE 6 | ||
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| define AP_NETWORKING_BACKEND_PPP 1 | ||
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| define AP_OPENDRONEID_ENABLED 1 |