mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_Linux: added Navio2 support
This commit is contained in:
parent
7187f26220
commit
a327a8779e
|
@ -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
|
||||
|
|
Loading…
Reference in New Issue