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- # hw definition file for processing by chibios_hwdef.py
- # for The CUBE Black and the Cube Purple hardware in a 3DR Solo
- # this is based on the CubeBlack hwdef, with Solo's required parameter defaults
- # do not use this hwdef with any configuration other than a 3DR Solo with a stock or black cube running Copter 3.7.
- include ../fmuv3/hwdef.dat
- env OPTIMIZE -O2
- 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
- # pull Solo's default parameters from /Tools/Frame_params
- # these are parameters the Solo requires for proper operation that are differnet from the 3.7 standard defaults.
- env DEFAULT_PARAMETERS 'Tools/Frame_params/Solo_Copter-3.7_BlackCube.param'
- # 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 1
- # 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
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