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supports MindPXv2 borad which is a product from AirMind.

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This commit is contained in:
Felix Hu
2016-03-30 19:45:39 +02:00
committed by Lorenz Meier
parent adab451013
commit bd580e09bf
49 changed files with 9941 additions and 49 deletions
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src/drivers/lsm303d/lsm303d.cpp
+21 -1
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@@ -1577,6 +1577,15 @@ LSM303D::measure()
accel_report.timestamp = hrt_absolute_time();
#if defined(CONFIG_ARCH_BOARD_MINDPX_V2)
int16_t tx = raw_accel_report.y;
int16_t ty = raw_accel_report.x;
int16_t tz = -raw_accel_report.z;
raw_accel_report.x = tx;
raw_accel_report.y = ty;
raw_accel_report.z = tz;
#endif
// use the temperature from the last mag reading
accel_report.temperature = _last_temperature;
@@ -1710,6 +1719,17 @@ LSM303D::mag_measure()
mag_report.timestamp = hrt_absolute_time();
#if defined(CONFIG_ARCH_BOARD_MINDPX_V2)
int16_t tx = raw_mag_report.y;
int16_t ty = raw_mag_report.x;
int16_t tz = -raw_mag_report.z;
raw_mag_report.x = tx;
raw_mag_report.y = ty;
raw_mag_report.z = tz;
#endif
mag_report.x_raw = raw_mag_report.x;
mag_report.y_raw = raw_mag_report.y;
mag_report.z_raw = raw_mag_report.z;
@@ -1946,7 +1966,7 @@ start(bool external_bus, enum Rotation rotation, unsigned range)
/* create the driver */
if (external_bus) {
#ifdef PX4_SPI_BUS_EXT
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_ACCEL_MAG)
g_dev = new LSM303D(PX4_SPI_BUS_EXT, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_EXT_ACCEL_MAG, rotation);
#else
errx(0, "External SPI not available");