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35 lines
1.5 KiB
35 lines
1.5 KiB
# 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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