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HAL_ChibiOS: added sensor config for cube varients

master
Andrew Tridgell 6 years ago
parent
c36d76c213
commit
82b171582e
5 changed files with 148 additions and 0 deletions
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  1. 32
      libraries/AP_HAL_ChibiOS/hwdef/CubeBlack/hwdef.dat
  2. 33
      libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat
  3. 17
      libraries/AP_HAL_ChibiOS/hwdef/CubePurple/hwdef.dat
  4. 33
      libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat
  5. 33
      libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat

32
libraries/AP_HAL_ChibiOS/hwdef/CubeBlack/hwdef.dat
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@ -23,3 +23,35 @@ PB1 PB1_ADC ADC1 SCALE(1) @@ -23,3 +23,35 @@ 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
# 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

33
libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat
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@ -232,6 +232,39 @@ SPIDEV external0m2 SPI4 DEVID5 MPU_EXT_CS MODE2 2*MHZ 2*MHZ @@ -232,6 +232,39 @@ SPIDEV external0m2 SPI4 DEVID5 MPU_EXT_CS MODE2 2*MHZ 2*MHZ
SPIDEV external0m3 SPI4 DEVID5 MPU_EXT_CS MODE3 2*MHZ 2*MHZ
SPIDEV pixartPC15 SPI4 DEVID13 ACCEL_EXT_CS MODE3 2*MHZ 2*MHZ
# 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
define HAL_CHIBIOS_ARCH_FMUV3 1
define BOARD_TYPE_DEFAULT 3

17
libraries/AP_HAL_ChibiOS/hwdef/CubePurple/hwdef.dat
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@ -16,3 +16,20 @@ undef PB0 @@ -16,3 +16,20 @@ undef PB0
undef PB1
PB0 PB0_ADC ADC1 SCALE(1)
PB1 PB1_ADC ADC1 SCALE(1)
# one non-isolated IMU
IMU Invensense SPI:mpu9250 ROTATION_YAW_270
# alterative newer IMU
IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270
define HAL_DEFAULT_INS_FAST_SAMPLE 1
# one baros
BARO MS56XX SPI:ms5611
# compass as part of the ICM20948
COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90
# also probe for external compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES

33
libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat
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@ -13,3 +13,36 @@ SPIDEV icm20602_ext SPI4 DEVID3 GYRO_EXT_CS MODE3 4*MHZ 8*MHZ @@ -13,3 +13,36 @@ 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

33
libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat
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@ -395,6 +395,39 @@ SPIDEV pixartPC15 SPI4 DEVID13 ACCEL_EXT_CS MODE3 2*MHZ 2*MHZ @@ -395,6 +395,39 @@ SPIDEV pixartPC15 SPI4 DEVID13 ACCEL_EXT_CS MODE3 2*MHZ 2*MHZ
#SPIDEV clock8 SPI4 DEVID5 MPU_EXT_CS MODE0 8*MHZ 8*MHZ # gives 5.5MHz
#SPIDEV clock16 SPI4 DEVID5 MPU_EXT_CS MODE0 16*MHZ 16*MHZ # gives 10.6MHz
# 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
# this adds a C define which sets up the ArduPilot architecture
# define. Any line starting with 'define' is copied literally as
# a #define in the hwdef.h header

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