From 8862e76284aba515db819e67a01e73e71ac0df1d Mon Sep 17 00:00:00 2001
From: davidaroyer <dave@aerotenna.com>
Date: Thu, 17 Aug 2017 17:41:28 -0500
Subject: [PATCH] AP_HAL: add support for Aerotenna OcPoC-Zynq hardware

---
 libraries/AP_HAL/AP_HAL_Boards.h |  2 ++
 libraries/AP_HAL/board/linux.h   | 14 ++++++++++++++
 2 files changed, 16 insertions(+)

diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index 9c663b959f..bea7ef13ea 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -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
diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h
index 81ab285f10..aa9efb77e5 100644
--- a/libraries/AP_HAL/board/linux.h
+++ b/libraries/AP_HAL/board/linux.h
@@ -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"