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AP_HAL: add can-zero board

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Ka Ru 2023-10-22 19:50:57 +02:00 committed by Lucas De Marchi
parent ce177a3637
commit 329c6ba668
2 changed files with 17 additions and 1 deletions
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1
libraries/AP_HAL/AP_HAL_Boards.h
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@ -42,6 +42,7 @@
#define HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR 1023
#define HAL_BOARD_SUBTYPE_LINUX_VNAV 1024
#define HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 1025
#define HAL_BOARD_SUBTYPE_LINUX_CANZERO 1026
/* HAL CHIBIOS sub-types, starting at 5000

17
libraries/AP_HAL/board/linux.h
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@ -286,7 +286,22 @@
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
#define HAL_MAG_PROBE_LIST PROBE_MAG_SPI(LIS3MDL, lis3mdl, false, ROTATION_ROLL_180_YAW_90)
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 0
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#define HAL_NUM_CAN_IFACES 1
#define HAL_CAN_DRIVER_DEFAULT 1
#define HAL_GPIO_A_LED_PIN 22
#define HAL_GPIO_B_LED_PIN 27
#define HAL_GPIO_C_LED_PIN 6
#define HAL_GPIO_LED_ON 0
#define HAL_GPIO_LED_OFF 1
#define HAL_BOARD_LOG_DIRECTORY "/home/pi/ardupilot/logs"
#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_OBAL_V1
//#define HAL_BARO_ALLOW_INIT_NO_BARO