From bf860ee41f5b23e216aa4c1dbd4d7d189c5b11f9 Mon Sep 17 00:00:00 2001
From: Staroselskii Georgii <gosha371@gmail.com>
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 7e3be1d78..7c62a191f 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 e8cfd18a9..685bca98e 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 144ebe60f..8aa9cf256 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
--
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