AP_InertialSensor: added support for raspilot

10 years ago · 1421cf600a
2 changed files with 7 additions and 1 deletions
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@ -512,6 +512,10 @@ AP_InertialSensor::_detect_backends(void)
				@@ -512,6 +512,10 @@ AP_InertialSensor::_detect_backends(void)
    _add_backend(AP_InertialSensor_LSM9DS0::detect(*this));
 #elif HAL_INS_DEFAULT == HAL_INS_L3G4200D
    _add_backend(AP_InertialSensor_L3G4200D::detect(*this));
+#elif HAL_INS_DEFAULT == HAL_INS_RASPILOT
+    //_add_backend(AP_InertialSensor_L3GD20::detect);
+    //_add_backend(AP_InertialSensor_LSM303D::detect);
+    _add_backend(AP_InertialSensor_MPU6000::detect_spi(*this));
 #else
    #error Unrecognised HAL_INS_TYPE setting
 #endif
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
@ -13,9 +13,11 @@ extern const AP_HAL::HAL& hal;
				@@ -13,9 +13,11 @@ extern const AP_HAL::HAL& hal;
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 #define MPU6000_DRDY_PIN 70
 #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
 #include <AP_HAL_Linux/GPIO.h>
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
 #define MPU6000_DRDY_PIN BBB_P8_14
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
+#define MPU6000_DRDY_PIN RPI_GPIO_24
 #endif
 #endif