| 1234567891011121314151617181920212223242526272829303132333435 |
- # hw definition file for processing by chibios_hwdef.py
- # for pixhawk1, based on fmuv3
- include ../fmuv3/hwdef.dat
- # define the IMU types to probe. You can list more IMUs than you
- # actually have. The syntax for IMU declarations is:
- # IMU DriverName DeviceDeclarations Arguments
- # the DriverName is the C++ name of the driver in AP_InertialSensor
- # the DeviceDeclarations are either SPI or I2C
- # for SPI the format is SPI:devicename where devicename comes from the
- # SPIDEV table above
- # for I2C the format is I2C:BusNum:BusAddr7bit, for example I2C:0:0x1e
- #
- # for fmuv3 we normally have two IMUs, one is a mpu6000 with a single SPI CS
- # line. The other is a LSM303D/L3GD20 which uses the LSM9DS0 driver,
- # and two SPIDEV endpoints, one for gyro, one for accel/mag
- IMU Invensense SPI:mpu6000 ROTATION_ROLL_180
- IMU LSM9DS0 SPI:lsm9ds0_g SPI:lsm9ds0_am ROTATION_ROLL_180 ROTATION_ROLL_180_YAW_270 ROTATION_PITCH_180
- # define the barometers to probe with BARO lines. These follow the
- # same format as IMU lines
- BARO MS56XX SPI:ms5611
- # probe for two mags.
- # note that the number of arguments and meanings for compass driver
- # declarations is driver dependent. The HMC5843 driver takes two
- # arguments, the first for whether the compass is external and the
- # second the orientation. The LSM303D driver doesn't take any arguments
- COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
- COMPASS LSM303D SPI:lsm9ds0_am ROTATION_NONE
- # also probe for external compasses
- define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
