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AP_HAL: add support for Aerotenna OcPoC-Zynq hardware

This commit is contained in:
davidaroyer 2017-08-17 17:41:28 -05:00 committed by Lucas De Marchi
parent bde8252359
commit 8862e76284
2 changed files with 16 additions and 0 deletions
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2
libraries/AP_HAL/AP_HAL_Boards.h
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@ -37,6 +37,7 @@
#define HAL_BOARD_SUBTYPE_LINUX_DARK 1016
#define HAL_BOARD_SUBTYPE_LINUX_URUS 1017
#define HAL_BOARD_SUBTYPE_LINUX_BLUE 1018
#define HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ 1019
/* HAL PX4 sub-types, starting at 2000 */
#define HAL_BOARD_SUBTYPE_PX4_V1 2000
@ -105,6 +106,7 @@
#define HAL_COMPASS_NAVIO2 14
#define HAL_COMPASS_NAVIO 15
#define HAL_COMPASS_AERO 16
#define HAL_COMPASS_OCPOC_ZYNQ 17
/* Heat Types */
#define HAL_LINUX_HEAT_PWM 1

14
libraries/AP_HAL/board/linux.h
View File

@ -211,6 +211,20 @@
#define HAL_INS_DEFAULT HAL_INS_HIL
#define HAL_BARO_DEFAULT HAL_BARO_HIL
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
#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_DEFAULT_ROTATION ROTATION_NONE
#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_BARO_MS5611_NAME "ms5611"
#define HAL_COMPASS_DEFAULT HAL_COMPASS_OCPOC_ZYNQ
#define OCPOC_DEFAULT_RCIN_SBUS 1
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 4
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#define AP_COMPASS_OFFSETS_MAX_DEFAULT 1000
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"