From 25cddbcbaabb4527941733023b474799a1f453cc Mon Sep 17 00:00:00 2001 From: raspilot Date: Tue, 18 Aug 2015 12:37:55 +1000 Subject: [PATCH] AP_HAL_Linux: added SPI support for raspilot --- libraries/AP_HAL_Linux/SPIDriver.cpp | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/libraries/AP_HAL_Linux/SPIDriver.cpp b/libraries/AP_HAL_Linux/SPIDriver.cpp index 1351d59832..aa43691d4c 100644 --- a/libraries/AP_HAL_Linux/SPIDriver.cpp +++ b/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];