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AP_HAL_Linux: added SPI support for raspilot

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raspilot 2015-08-18 12:37:55 +10:00 committed by Andrew Tridgell
parent 7d329205ec
commit 25cddbcbaa
1 changed files with 10 additions and 0 deletions
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10
libraries/AP_HAL_Linux/SPIDriver.cpp
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@ -46,6 +46,16 @@ LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[] = {
LinuxSPIDeviceDriver(2, 0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
LinuxSPIDeviceDriver(2, 1, AP_HAL::SPIDevice_MS5611, SPI_MODE_3, 8, SPI_CS_KERNEL, 10*MHZ,10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[] = {
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_MPU6000, SPI_MODE_3, 8, RPI_GPIO_25, 1*MHZ, 8*MHZ),
LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_MS5611, SPI_MODE_3, 8, RPI_GPIO_23, 1*MHZ, 8*MHZ),
LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_L3GD20, SPI_MODE_3, 8, RPI_GPIO_12, 1*MHZ, 8*MHZ),
LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_LSM303D, SPI_MODE_3, 8, RPI_GPIO_22, 1*MHZ, 8*MHZ),
LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_Dataflash, SPI_MODE_3, 8, RPI_GPIO_5, 1*MHZ, 8*MHZ),
LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_RASPIO, SPI_MODE_3, 8, RPI_GPIO_7, 8*MHZ, 8*MHZ),
};
#else
// empty device table
LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[0];