mirror of https://github.com/ArduPilot/ardupilot
36 lines
1.5 KiB
Plaintext
36 lines
1.5 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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# for pixhawk1, based on fmuv3
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include ../fmuv3/hwdef.dat
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# define the IMU types to probe. You can list more IMUs than you
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# actually have. The syntax for IMU declarations is:
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# IMU DriverName DeviceDeclarations Arguments
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# the DriverName is the C++ name of the driver in AP_InertialSensor
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# the DeviceDeclarations are either SPI or I2C
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# for SPI the format is SPI:devicename where devicename comes from the
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# SPIDEV table above
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# for I2C the format is I2C:BusNum:BusAddr7bit, for example I2C:0:0x1e
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#
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# for fmuv3 we normally have two IMUs, one is a mpu6000 with a single SPI CS
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# line. The other is a LSM303D/L3GD20 which uses the LSM9DS0 driver,
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# and two SPIDEV endpoints, one for gyro, one for accel/mag
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IMU Invensense SPI:mpu6000 ROTATION_ROLL_180
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IMU LSM9DS0 SPI:lsm9ds0_g SPI:lsm9ds0_am ROTATION_ROLL_180 ROTATION_ROLL_180_YAW_270 ROTATION_PITCH_180
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# define the barometers to probe with BARO lines. These follow the
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# same format as IMU lines
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BARO MS56XX SPI:ms5611
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# probe for two mags.
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# note that the number of arguments and meanings for compass driver
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# declarations is driver dependent. The HMC5843 driver takes two
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# arguments, the first for whether the compass is external and the
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# second the orientation. The LSM303D driver doesn't take any arguments
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COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
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COMPASS LSM303D SPI:lsm9ds0_am ROTATION_NONE
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# also probe for external compasses
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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