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AP_InertialSensor: added support for raspilot

This commit is contained in:
raspilot 2015-08-18 12:10:05 +10:00 committed by Andrew Tridgell
parent 309e75f9ac
commit 1421cf600a
2 changed files with 7 additions and 1 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -512,6 +512,10 @@ AP_InertialSensor::_detect_backends(void)
_add_backend(AP_InertialSensor_LSM9DS0::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_L3G4200D
_add_backend(AP_InertialSensor_L3G4200D::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_RASPILOT
//_add_backend(AP_InertialSensor_L3GD20::detect);
//_add_backend(AP_InertialSensor_LSM303D::detect);
_add_backend(AP_InertialSensor_MPU6000::detect_spi(*this));
#else
#error Unrecognised HAL_INS_TYPE setting
#endif

4
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
View File

@ -13,9 +13,11 @@ extern const AP_HAL::HAL& hal;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
#define MPU6000_DRDY_PIN 70
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
#include <AP_HAL_Linux/GPIO.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
#define MPU6000_DRDY_PIN BBB_P8_14
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
#define MPU6000_DRDY_PIN RPI_GPIO_24
#endif
#endif