hwdef: support CUAV-6X and Holybro-6X with same firmware

libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef-bl.dat

@@ -7,11 +7,6 @@ MCU STM32H7xx STM32H743xx
 # crystal frequency
 OSCILLATOR_HZ 16000000
 
-# USB setup
-USB_VENDOR 0x3162 # ONLY FOR USE BY Holybro
-USB_PRODUCT 0x0053
-USB_STRING_MANUFACTURER "Holybro"
-
 # board ID for firmware load
 APJ_BOARD_ID 53
 

libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat

@@ -10,14 +10,13 @@ OSCILLATOR_HZ 16000000
 # ChibiOS system timer
 STM32_ST_USE_TIMER 2
 
-# USB setup
-USB_VENDOR 0x3162 # ONLY FOR USE BY Holybro
-USB_PRODUCT 0x0053
-USB_STRING_MANUFACTURER "Holybro"
-
 # board ID for firmware load
 APJ_BOARD_ID 53
 
+# enable board sub-type detection for FMUV6
+define HAL_CHIBIOS_ARCH_FMUV6 1
+define AP_FEATURE_BOARD_DETECT 1
+
 FLASH_RESERVE_START_KB 128
 
 # to be compatible with the px4 bootloader we need
@@ -268,7 +267,8 @@ define HAL_GPIO_LED_ON 0
 
 # ID pins
 PG0 HW_VER_REV_DRIVE OUTPUT LOW
-# PH3 HW_VER_SENS ADC1 SCALE(1)
+# PH3 HW_VER_SENS ADC3 SCALE(1)
+# PH4 HW_REV_SENS ADC3 SCALE(1)
 
 # PWM output for buzzer
 PF9 TIM14_CH1 TIM14 GPIO(77) ALARM
@@ -276,28 +276,49 @@ PF9 TIM14_CH1 TIM14 GPIO(77) ALARM
 # RC input
 PI5 TIM8_CH1 TIM8 RCININT PULLDOWN LOW
 
-# barometers
+# barometers (Holybro 6X)
 BARO BMP388 I2C:2:0x76
 BARO BMP388 I2C:0:0x77
 
+# barometers (CUAV 6X)
+BARO ICP201XX I2C:0:0x64
+BARO ICP201XX I2C:2:0x63
+
 # compass
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+# builtin compass on Holybro 6X
 COMPASS BMM150 I2C:0:0x10 false ROTATION_NONE
 
-# SPI devices
+# builtin compass on CUAV 6X
+COMPASS RM3100 I2C:0:0x20 false ROTATION_PITCH_180
+
+# IMU devices for Holybro6X
 SPIDEV bmi088_g SPI3 DEVID1  BMI088_G_CS  MODE3 10*MHZ 10*MHZ
 SPIDEV bmi088_a SPI3 DEVID2  BMI088_A_CS  MODE3 10*MHZ 10*MHZ
 # alternative to bmi088
 SPIDEV icm20649  SPI3 DEVID1  BMI088_A_CS MODE3  10*MHZ 10*MHZ
 SPIDEV icm42688  SPI2 DEVID1  ICM42688_CS MODE3  2*MHZ  8*MHZ
 SPIDEV imu_spi1  SPI1 DEVID1  IMU1_CS MODE3  2*MHZ  8*MHZ
+
+# IMU devices for CUAV-6X. The CUAV board has a BMI088, ICM20649 and
+# ICM42688 the ICM42688 and BMI088 are on the same SPI buses and CS
+# pins as the Holybro board, but the orientation of the BMI088 is
+# different. The ICM20649 is on a different bus
+SPIDEV icm20649_2 SPI1 DEVID1  IMU1_CS     MODE3  2*MHZ  8*MHZ
+
 SPIDEV ramtron   SPI5 DEVID1  FRAM_CS     MODE3  8*MHZ  8*MHZ
 
-# 3 IMUs
-IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
-IMU Invensensev2 SPI:icm20649 ROTATION_YAW_180 # alternative to BMI088
-IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90
-IMU Invensensev3 SPI:imu_spi1 ROTATION_PITCH_180_YAW_90
+# Holybro6X 3 IMUs
+IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)
+IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE      BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)
+IMU Invensensev2 SPI:icm20649 ROTATION_YAW_180          BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X) # alternative to BMI088
+IMU Invensensev3 SPI:imu_spi1 ROTATION_PITCH_180_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)
+
+# CUAV-6X 3 IMUs
+IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_270 BOARD_MATCH(FMUV6_BOARD_CUAV_6X)
+IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180 BOARD_MATCH(FMUV6_BOARD_CUAV_6X)
+IMU Invensensev2 SPI:icm20649_2 ROTATION_ROLL_180       BOARD_MATCH(FMUV6_BOARD_CUAV_6X)
 
 define HAL_DEFAULT_INS_FAST_SAMPLE 7