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AP_HAL_Linux: added Navio2 support

This commit is contained in:
Staroselskii Georgii 2016-01-20 16:14:48 +03:00 committed by Lucas De Marchi
parent 7187f26220
commit a327a8779e
1 changed files with 11 additions and 0 deletions
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11
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
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@ -17,6 +17,7 @@
using namespace Linux;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
@ -29,6 +30,7 @@ static Util utilInstance;
// 3 serial ports on Linux for now
static UARTDriver uartADriver(true);
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
static SPIUARTDriver uartBDriver;
#else
@ -82,6 +84,8 @@ static Empty::AnalogIn analogIn;
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
static AnalogIn_IIO analogIn;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
static AnalogIn_Navio2 analogIn;
#else
static AnalogIn analogIn;
#endif
@ -104,6 +108,7 @@ static GPIO_BBB gpioDriver;
use the RPI gpio driver on Navio
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
@ -137,6 +142,8 @@ static RCInput_UDP rcinDriver;
static RCInput_UART rcinDriver("/dev/ttyS2");
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
static RCInput_DSM rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
static RCInput_Navio2 rcinDriver;
#else
static RCInput rcinDriver;
#endif
@ -156,6 +163,8 @@ static RCOutput_AioPRU rcoutDriver;
static RCOutput_PCA9685 rcoutDriver(PCA9685_PRIMARY_ADDRESS, true, 3, RPI_GPIO_27);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
static RCOutput_PCA9685 rcoutDriver(PCA9685_QUATENARY_ADDRESS, false, 0, RPI_GPIO_4);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
static RCOutput_PCA9685 rcoutDriver(PCA9685_PRIMARY_ADDRESS, true, 3, RPI_GPIO_27);
/*
use the STM32 based RCOutput driver on Raspilot
*/
@ -169,6 +178,8 @@ static RCOutput_Bebop rcoutDriver;
static RCOutput_PCA9685 rcoutDriver(PCA9685_PRIMARY_ADDRESS, false, 0, MINNOW_GPIO_S5_1);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
static RCOutput_QFLIGHT rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
static RCOutput_Sysfs rcoutDriver(0, 14);
#else
static Empty::RCOutput rcoutDriver;
#endif