From bf860ee41f5b23e216aa4c1dbd4d7d189c5b11f9 Mon Sep 17 00:00:00 2001 From: Staroselskii Georgii Date: Wed, 5 Nov 2014 16:10:53 +0300 Subject: [PATCH] AP_HAL_Linux: Ublox SPI stub --- libraries/AP_HAL/AP_HAL_Namespace.h | 3 ++- libraries/AP_HAL_Linux/SPIDriver.cpp | 1 + libraries/AP_HAL_Linux/SPIDriver.h | 2 +- 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/libraries/AP_HAL/AP_HAL_Namespace.h b/libraries/AP_HAL/AP_HAL_Namespace.h index 7e3be1d78d..7c62a191f7 100644 --- a/libraries/AP_HAL/AP_HAL_Namespace.h +++ b/libraries/AP_HAL/AP_HAL_Namespace.h @@ -57,7 +57,8 @@ namespace AP_HAL { SPIDevice_L3GD20 = 7, SPIDevice_LSM303D = 8, SPIDevice_LSM9DS0_AM = 9, - SPIDevice_LSM9DS0_G = 10 + SPIDevice_LSM9DS0_G = 10, + SPIDevice_Ublox = 11 }; } diff --git a/libraries/AP_HAL_Linux/SPIDriver.cpp b/libraries/AP_HAL_Linux/SPIDriver.cpp index e8cfd18a99..685bca98e4 100644 --- a/libraries/AP_HAL_Linux/SPIDriver.cpp +++ b/libraries/AP_HAL_Linux/SPIDriver.cpp @@ -35,6 +35,7 @@ LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[LINUX_SPI_DEVICE_NUM_DEVICES LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[LINUX_SPI_DEVICE_NUM_DEVICES] = { /* MPU9250 is restricted to 1MHz for non-data and interrupt registers */ LinuxSPIDeviceDriver(0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_3, 8, RPI_GPIO_7, 1*MHZ, 16*MHZ), + LinuxSPIDeviceDriver(0, AP_HAL::SPIDevice_Ublox, SPI_MODE_0, 8, RPI_GPIO_8, 1*MHZ, 4*MHZ), }; #else // empty device table diff --git a/libraries/AP_HAL_Linux/SPIDriver.h b/libraries/AP_HAL_Linux/SPIDriver.h index 144ebe60f7..8aa9cf2562 100644 --- a/libraries/AP_HAL_Linux/SPIDriver.h +++ b/libraries/AP_HAL_Linux/SPIDriver.h @@ -8,7 +8,7 @@ #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE #define LINUX_SPI_DEVICE_NUM_DEVICES 6 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO -#define LINUX_SPI_DEVICE_NUM_DEVICES 1 +#define LINUX_SPI_DEVICE_NUM_DEVICES 2 #else #define LINUX_SPI_DEVICE_NUM_DEVICES 0 #endif