AP_HAL_Linux: added SPI support for raspilot

libraries/AP_HAL_Linux/SPIDriver.cpp

@@ -46,6 +46,16 @@ LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[] = {
     LinuxSPIDeviceDriver(2, 0, AP_HAL::SPIDevice_MPU9250,    SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 20*MHZ),
     LinuxSPIDeviceDriver(2, 1, AP_HAL::SPIDevice_MS5611,     SPI_MODE_3, 8, SPI_CS_KERNEL,  10*MHZ,10*MHZ),
 };
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
+LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[] = {
+    /* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
+    LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_MPU6000, SPI_MODE_3, 8, RPI_GPIO_25,  1*MHZ, 8*MHZ),
+    LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_MS5611,  SPI_MODE_3, 8, RPI_GPIO_23,  1*MHZ, 8*MHZ),
+    LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_L3GD20,  SPI_MODE_3, 8, RPI_GPIO_12,  1*MHZ, 8*MHZ),
+    LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_LSM303D, SPI_MODE_3, 8, RPI_GPIO_22,  1*MHZ, 8*MHZ),
+    LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_Dataflash, SPI_MODE_3, 8, RPI_GPIO_5,  1*MHZ, 8*MHZ),
+    LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_RASPIO, SPI_MODE_3, 8, RPI_GPIO_7,  8*MHZ, 8*MHZ),
+};
 #else
 // empty device table
 LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[0];