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AP_HAL: add PilotPi support

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Adds "pilotpi" board to support https://docs.px4.io/main/en/flight_controller/raspberry_pi_pilotpi.html
This commit is contained in:
Daniel Hiepler 2024-09-28 09:00:50 +02:00
parent 28acecbeaa
commit 230bb84343
2 changed files with 20 additions and 0 deletions
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1
libraries/AP_HAL/AP_HAL_Boards.h
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@ -44,6 +44,7 @@
#define HAL_BOARD_SUBTYPE_LINUX_VNAV 1024
#define HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 1025
#define HAL_BOARD_SUBTYPE_LINUX_CANZERO 1026
#define HAL_BOARD_SUBTYPE_LINUX_PILOTPI 1027
/* HAL CHIBIOS sub-types, starting at 5000

19
libraries/AP_HAL/board/linux.h
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@ -300,6 +300,25 @@
#define HAL_BOARD_TERRAIN_DIRECTORY "/home/pi/ardupilot/terrain"
#define HAL_BOARD_STORAGE_DIRECTORY "/home/pi/ardupilot"
#define HAL_DEFAULT_INS_FAST_SAMPLE 0
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
/*
PilotPi HAT support
website: https://blog.rctoysky.com/?p=690
schematic/layout: https://github.com/SalimTerryLi/PilotPi_PCB/
PX4 page: https://docs.px4.io/main/en/flight_controller/raspberry_pi_pilotpi.html
*/
#define HAL_BOARD_STORAGE_DIRECTORY "/home/ardupilot/ardupilot/storage"
#define HAL_BOARD_LOG_DIRECTORY "/home/ardupilot/ardupilot/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/home/ardupilot/ardupilot/terrain"
#define HAL_PARAM_DEFAULTS_PATH "/home/ardupilot/ardupilot/default.parm"
// We don't want any probing on the internal buses
#define HAL_LINUX_I2C_INTERNAL_BUS_MASK 0
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
// address of MS5611 is 0b1110110 | 0bCx with C = inverted CSB pins
#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0b1110110 | 0b0, AP_Baro_MS56XX::BARO_MS5611)
#define HAL_MAG_PROBE PROBE_MAG_I2C(IST8310, 1, 0x0f, false, ROTATION_YAW_180)
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensensev3, "icm42605", ROTATION_PITCH_180)
#define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor::Type::ANALOG_VOLTAGE_ONLY
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
//#define HAL_BARO_ALLOW_INIT_NO_BARO