From 207dffba88f298a5bf5e2f8caf484cf601e0b190 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 1 Nov 2019 07:57:14 +1100 Subject: [PATCH] HAL_ChibiOS: moved compass support for f103-GPS not needed for other builds --- libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat | 7 +++++++ libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.dat | 1 - 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat index a37c450e3d..5f45c4e7d8 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat @@ -5,6 +5,13 @@ define HAL_CAN_DEFAULT_NODE_ID 117 define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_gps" +# added rm3100 mag on SPI +SPIDEV rm3100 SPI1 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ +COMPASS RM3100 SPI:rm3100 false ROTATION_NONE + +# and support all external compass types +define HAL_PROBE_EXTERNAL_I2C_COMPASSES + # GPS+MAG define HAL_PERIPH_ENABLE_GPS define HAL_PERIPH_ENABLE_MAG diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.dat index 0808449f38..6fc2a1fef1 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.dat @@ -124,7 +124,6 @@ define HAL_DEVICE_THREAD_STACK 256 define AP_PARAM_MAX_EMBEDDED_PARAM 0 -define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_I2C_INTERNAL_MASK 0 # disable dual GPS and GPS blending to save flash space