From 329c6ba6688cf344c5062dcc0238236a40a819f0 Mon Sep 17 00:00:00 2001 From: Ka Ru Date: Sun, 22 Oct 2023 19:50:57 +0200 Subject: [PATCH] AP_HAL: add can-zero board --- libraries/AP_HAL/AP_HAL_Boards.h | 1 + libraries/AP_HAL/board/linux.h | 17 ++++++++++++++++- 2 files changed, 17 insertions(+), 1 deletion(-) diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h index 7337e3dcbe..a6ef45740f 100644 --- a/libraries/AP_HAL/AP_HAL_Boards.h +++ b/libraries/AP_HAL/AP_HAL_Boards.h @@ -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 diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h index 5709bbeb0b..76cea1a112 100644 --- a/libraries/AP_HAL/board/linux.h +++ b/libraries/AP_HAL/board/linux.h @@ -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