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AP_HAL: BBBmini rework for dual MPU9250 and external HMC5843 compass

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This commit is contained in:
mirkix 2016-04-24 10:25:36 +02:00 committed by Lucas De Marchi
parent c3a6a56ebb
commit b381045d5e
1 changed files with 5 additions and 2 deletions
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7
libraries/AP_HAL/AP_HAL_Boards.h
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@ -68,6 +68,7 @@
#define HAL_INS_BH 14
#define HAL_INS_QFLIGHT 15
#define HAL_INS_QURT 16
#define HAL_INS_BBBMINI 17
// barometer driver types
#define HAL_BARO_BMP085 1
@ -94,6 +95,7 @@
#define HAL_COMPASS_BH 10
#define HAL_COMPASS_QFLIGHT 11
#define HAL_COMPASS_QURT 12
#define HAL_COMPASS_BBBMINI 13
// Heat Types
#define HAL_LINUX_HEAT_PWM 1
@ -347,11 +349,12 @@
#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"
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
#define HAL_INS_DEFAULT HAL_INS_BBBMINI
#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_INS_MPU9250_NAME_EXT "mpu9250ext"
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_BARO_MS5611_NAME "ms5611"
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
#define HAL_COMPASS_DEFAULT HAL_COMPASS_BBBMINI
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 2
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E