AP_HAL_Linux: BBBMINI uses /dev/i2c-2

10 years ago · e6363ea95d
1 changed files with 4 additions and 0 deletions
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@ -25,7 +25,11 @@ static LinuxUARTDriver uartCDriver(false);
				@@ -25,7 +25,11 @@ static LinuxUARTDriver uartCDriver(false);
 static LinuxUARTDriver uartEDriver(false);

 static LinuxSemaphore  i2cSemaphore;
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
+static LinuxI2CDriver  i2cDriver(&i2cSemaphore, "/dev/i2c-2");
+#else
 static LinuxI2CDriver  i2cDriver(&i2cSemaphore, "/dev/i2c-1");
+#endif
 static LinuxSPIDeviceManager spiDeviceManager;
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
 static NavioAnalogIn analogIn;