From 37b85fd3cd63b5a796f441f61898c07f621fcbc2 Mon Sep 17 00:00:00 2001 From: Martin Evans Date: Mon, 17 Oct 2016 18:11:03 +0100 Subject: [PATCH] AP_HAL: Add Dark Linux board --- libraries/AP_HAL/AP_HAL_Boards.h | 1 + libraries/AP_HAL/board/linux.h | 15 +++++++++++++++ 2 files changed, 16 insertions(+) diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h index 612b783fe9..df0b874b76 100644 --- a/libraries/AP_HAL/AP_HAL_Boards.h +++ b/libraries/AP_HAL/AP_HAL_Boards.h @@ -34,6 +34,7 @@ #define HAL_BOARD_SUBTYPE_LINUX_NAVIO2 1013 #define HAL_BOARD_SUBTYPE_LINUX_DISCO 1014 #define HAL_BOARD_SUBTYPE_LINUX_AERO 1015 +#define HAL_BOARD_SUBTYPE_LINUX_DARK 1016 /* HAL PX4 sub-types, starting at 2000 */ #define HAL_BOARD_SUBTYPE_PX4_V1 2000 diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h index 8174ad05a6..36ec2a6643 100644 --- a/libraries/AP_HAL/board/linux.h +++ b/libraries/AP_HAL/board/linux.h @@ -284,6 +284,21 @@ #define HAL_COMPASS_DEFAULT HAL_COMPASS_AERO #define HAL_COMPASS_BMM150_I2C_BUS 2 #define HAL_COMPASS_BMM150_I2C_ADDR 0x12 +#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK +#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs" +#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain" +#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI +#define HAL_INS_MPU9250_NAME "mpu9250" +#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 +#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C +#define HAL_BARO_MS5611_I2C_BUS 1 +#define HAL_BARO_MS5611_I2C_ADDR 0x77 +#define HAL_BARO_MS5611_USE_TIMER false +#define HAL_GPIO_A_LED_PIN 24 +#define HAL_GPIO_B_LED_PIN 25 +#define HAL_GPIO_C_LED_PIN 16 +#define HAL_GPIO_LED_ON LOW +#define HAL_GPIO_LED_OFF HIGH #else #error "no Linux board subtype set" #endif