Cube Orange Plus ODID Bootloader (#5)

robotics-88 · Nov 14, 2023 · 819af0e · 819af0e
1 parent 5edaa6e
commit 819af0e
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Showing 7 changed files with 2,439 additions and 15 deletions.
diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt
@@ -242,3 +242,4 @@ AP_HW_SWBOOMBOARD_PERIPH             1403
 # OpenDroneID enabled boards. Use 10000 + the base board ID
 AP_HW_CubeOrange_ODID               10140
 AP_HW_Pixhawk6_ODID                 10053
+AP_HW_CubeOrangePlus_ODID           10063
diff --git a/Tools/bootloaders/CubeOrangePlus-ODID_bl.bin b/Tools/bootloaders/CubeOrangePlus-ODID_bl.bin
diff --git a/Tools/bootloaders/CubeOrangePlus-ODID_bl.hex b/Tools/bootloaders/CubeOrangePlus-ODID_bl.hex
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-ODID/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-ODID/defaults.parm
@@ -1,14 +1,8 @@
-# setup correct defaults for battery monitoring for cube power brick
-BATT2_CURR_PIN 4
-BATT2_VOLT_PIN 13
-BATT_AMP_PERVLT 39.877
-BATT_VOLT_MULT 12.02
-BATT2_AMP_PERVLT 39.877
-BATT2_VOLT_MULT 12.02
-# setup ADSB
-ADSB_TYPE 1
-SERIAL5_BAUD 57
-SERIAL5_PROTOCOL 1
+include ../CubeOrangePlus/defaults.parm
+
+# Enable CAN driver
+CAN_P1_DRIVER 1
+CAN_P2 DRIVER 1
 
 # enforce OpenDroneID. Note that we need to lock down key parameters
 # to ensure the integrity of the RemoteID system
@@ -18,6 +12,6 @@ DID_ENABLE 1 @READONLY
 # UAS ID, Type, and UA Type will be set to the value in the Basic ID message and DID_OPTIONS
 # will be set to 1.
 DID_OPTIONS 5 @READONLY
-DID_MAVPORT 2 @READONLY
-DID_CANDRIVER 0 @READONLY
+DID_MAVPORT -1 @READONLY
+DID_CANDRIVER 1 @READONLY
 AHRS_EKF_TYPE 3 @READONLY
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-ODID/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-ODID/hwdef-bl.dat
@@ -1,8 +1,12 @@
 include ../CubeOrangePlus/hwdef-bl.dat
 
+undef USB_STRING_PRODUCT
+undef APJ_BOARD_ID
+
 # use a different board ID, so vehicles with this installed are prevented from loading
 # the firmware without OpenDroneID enabled
-APJ_BOARD_ID 10141
+APJ_BOARD_ID 10063
+USB_STRING_PRODUCT "CubeOrange+ODID-BL"
 
 # enable and enforce OpenDroneID
 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
@@ -1,8 +1,12 @@
 include ../CubeOrangePlus/hwdef.dat
 
+undef USB_STRING_PRODUCT
+undef APJ_BOARD_ID
+
 # use a different board ID, so vehicles with this installed are prevented from loading
 # the firmware without OpenDroneID enabled
-APJ_BOARD_ID 10141
+APJ_BOARD_ID 10063
+USB_STRING_PRODUCT "CubeOrange+ODID"
 
 # enable and enforce OpenDroneID
 define AP_OPENDRONEID_ENABLED 1
diff --git a/upload.sh b/upload.sh
@@ -0,0 +1 @@
+./waf --targets bin/arducopter --upload