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AP_HAL: add Edge support

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Georgii Staroselskii 2017-10-19 12:53:36 +03:00 committed by Lucas De Marchi
parent 62cb2b6845
commit 2dd68243a2
3 changed files with 16 additions and 0 deletions
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2
libraries/AP_HAL/AP_HAL_Boards.h
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@ -36,6 +36,7 @@
#define HAL_BOARD_SUBTYPE_LINUX_DARK 1016
#define HAL_BOARD_SUBTYPE_LINUX_BLUE 1018
#define HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ 1019
#define HAL_BOARD_SUBTYPE_LINUX_EDGE 1020
/* HAL PX4 sub-types, starting at 2000 */
#define HAL_BOARD_SUBTYPE_PX4_V1 2000
@ -71,6 +72,7 @@
#define HAL_INS_BBBMINI 17
#define HAL_INS_AERO 18
#define HAL_INS_MPU6500 19
#define HAL_INS_EDGE 20
/* Barometer driver types */
#define HAL_BARO_BMP085 1

12
libraries/AP_HAL/board/linux.h
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@ -332,6 +332,18 @@
#define HAL_GPIO_C_LED_PIN 16
#define HAL_GPIO_LED_ON LOW
#define HAL_GPIO_LED_OFF HIGH
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
#define HAL_BOARD_LOG_DIRECTORY "/var/lib/ardupilot/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/lib/ardupilot/terrain"
#define HAL_INS_DEFAULT HAL_INS_EDGE
#define HAL_INS_MPU60x0_NAME "mpu60x0"
#define HAL_INS_MPU60x0_NAME_EXT "mpu60x0ext"
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_BARO_MS5611_NAME "ms5611"
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 1
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#else
#error "no Linux board subtype set"
#endif

2
libraries/AP_HAL_Linux/Storage.cpp
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@ -22,6 +22,8 @@ using namespace Linux;
// card for ArduCopter and ArduPlane
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
#define STORAGE_DIR "/data/ftp/internal_000/ardupilot"
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
#define STORAGE_DIR "/var/lib/ardupilot"
#elif APM_BUILD_TYPE(APM_BUILD_Replay)
#define STORAGE_DIR "."
#else