From 145e4d05f589d666040dcb925807b88aa7a30052 Mon Sep 17 00:00:00 2001 From: bryon Date: Thu, 14 Nov 2024 15:56:52 -0500 Subject: [PATCH] Modified hwdef and hwdef-bl to include CubeOrangePlus .dat files --- .../hwdef/CubeOrangePlus-ODID/hwdef-bl.dat | 16 +-- .../hwdef/CubeOrangePlus-ODID/hwdef.dat | 100 +----------------- 2 files changed, 2 insertions(+), 114 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-ODID/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-ODID/hwdef-bl.dat index b5d9c6961f3ed2..3b6b34ce947fa2 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-ODID/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-ODID/hwdef-bl.dat @@ -1,22 +1,8 @@ # hw definition file for processing by chibios_hwdef.py -# MCU class and specific type -MCU STM32H7xx STM32H757xx -define CORE_CM7 -define SMPS_PWR +include ../CubeOrangePlus/hwdef-bl.dat -include ../CubeOrange/hwdef-bl.inc - -undef USB_STRING_PRODUCT -undef USB_STRING_MANUFACTURER undef APJ_BOARD_ID -undef USB_PRODUCT - -# USB setup -USB_PRODUCT 0x1058 -USB_STRING_MANUFACTURER "CubePilot" -USB_STRING_PRODUCT "CubeOrange+-BL" - APJ_BOARD_ID 11063 define AP_OPENDRONEID_ENABLED 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-ODID/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-ODID/hwdef.dat index e694f07eb0e3fb..39188dfb1f31ce 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-ODID/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-ODID/hwdef.dat @@ -1,105 +1,7 @@ # hw definition file for processing by chibios_hwdef.py -# MCU class and specific type -MCU STM32H7xx STM32H757xx - -define CORE_CM7 -define SMPS_PWR - -include ../CubeOrange/hwdef.inc - -undef USB_STRING_PRODUCT -undef USB_STRING_MANUFACTURER +include ../CubeOrangePlus/hwdef.dat undef APJ_BOARD_ID -undef USB_PRODUCT - -# USB setup -USB_PRODUCT 0x1058 -USB_STRING_MANUFACTURER "CubePilot" -USB_STRING_PRODUCT "CubeOrange+" - APJ_BOARD_ID 11063 -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 - -PF14 I2C4_SCL I2C4 -PF15 I2C4_SDA I2C4 - -define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE -define HAL_I2C_INTERNAL_MASK 4 - -I2C_ORDER I2C2 I2C1 I2C4 - -COMPASS AK09916 I2C:2:0x0C false ROTATION_ROLL_180_YAW_225 - -PG1 ICM45686_CS CS - -#IMU 0 -SPIDEV icm42688_ext SPI4 DEVID4 ACCEL_EXT_CS MODE3 2*MHZ 8*MHZ - -#IMU 1 -SPIDEV icm42688_ext2 SPI4 DEVID5 GYRO_EXT_CS MODE3 2*MHZ 8*MHZ - -#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 - -# INSTANCE: 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) - -IMU Invensensev3 SPI:icm42688_ext ROTATION_YAW_90 INSTANCE:0 - -IMU Invensensev3 SPI:icm42688_ext2 ROTATION_PITCH_180_YAW_90 INSTANCE:1 -IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180 INSTANCE:1 - -IMU Invensensev2 SPI:icm20649 ROTATION_YAW_270 INSTANCE:2 -IMU Invensensev3 SPI:icm45686 ROTATION_ROLL_180_YAW_135 INSTANCE:2 - -define ICM45686_CLKIN 1 - -# AUX: 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. - -IMU Invensensev2 SPI:icm20948_aux ROTATION_PITCH_180 AUX:2883874 - -IMU Invensensev3 SPI:icm45686_aux ROTATION_ROLL_180_YAW_135 AUX:3867658 - -define INS_AUX_INSTANCES 2 - -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) - -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) - -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) - -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 - -BOARD_VALIDATE $CHECK_IMU0_PRESENT $CHECK_IMU1_PRESENT $CHECK_IMU2_PRESENT $CHECK_BARO0_PRESENT $CHECK_BARO1_PRESENT - -# build ABIN for flash-from-bootloader support: -env BUILD_ABIN True -define HAL_INS_HIGHRES_SAMPLE 6 - -define AP_NETWORKING_BACKEND_PPP 1 - define AP_OPENDRONEID_ENABLED 1