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AP_BoardConfig: moved optional sensor startup out of AP_BoardConfig

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This commit is contained in:
Andrew Tridgell 2016-11-11 13:13:59 +11:00
parent 950fde477d
commit 08f770125e
2 changed files with 3 additions and 75 deletions
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6
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -46,6 +46,7 @@ public:
PX4_BOARD_PIXRACER = 4, PX4_BOARD_PIXRACER = 4,
PX4_BOARD_PHMINI = 5, PX4_BOARD_PHMINI = 5,
PX4_BOARD_PH2SLIM = 6, PX4_BOARD_PH2SLIM = 6,
PX4_BOARD_OLDDRIVERS = 100,
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN #if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
VRX_BOARD_BRAIN51 = 7, VRX_BOARD_BRAIN51 = 7,
@ -55,9 +56,6 @@ public:
VRX_BOARD_CORE10 = 11, VRX_BOARD_CORE10 = 11,
VRX_BOARD_BRAIN54 = 12, VRX_BOARD_BRAIN54 = 12,
#endif #endif
PX4_BOARD_TEST_V1 = 101,
PX4_BOARD_TEST_V2 = 102,
PX4_BOARD_TEST_V3 = 103
}; };
#endif #endif
@ -111,7 +109,6 @@ private:
void px4_start_common_sensors(void); void px4_start_common_sensors(void);
void px4_start_fmuv1_sensors(void); void px4_start_fmuv1_sensors(void);
void px4_start_fmuv2_sensors(void); void px4_start_fmuv2_sensors(void);
void px4_start_optional_sensors(void);
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN #if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
@ -122,7 +119,6 @@ private:
void vrx_start_ubrain52_sensors(void); void vrx_start_ubrain52_sensors(void);
void vrx_start_core10_sensors(void); void vrx_start_core10_sensors(void);
void vrx_start_brain54_sensors(void); void vrx_start_brain54_sensors(void);
void vrx_start_optional_sensors(void);
#endif #endif
#endif // HAL_BOARD_PX4 || HAL_BOARD_VRBRAIN #endif // HAL_BOARD_PX4 || HAL_BOARD_VRBRAIN

72
libraries/AP_BoardConfig/px4_drivers.cpp
View File

@ -45,10 +45,6 @@ extern "C" {
int l3gd20_main(int , char **); int l3gd20_main(int , char **);
int lsm303d_main(int , char **); int lsm303d_main(int , char **);
int hmc5883_main(int , char **); int hmc5883_main(int , char **);
int ll40ls_main(int, char **);
int trone_main(int, char **);
int mb12xx_main(int, char **);
int pwm_input_main(int, char **);
int uavcan_main(int, char **); int uavcan_main(int, char **);
int fmu_main(int, char **); int fmu_main(int, char **);
int px4io_main(int, char **); int px4io_main(int, char **);
@ -376,9 +372,6 @@ void AP_BoardConfig::px4_start_fmuv2_sensors(void)
if (have_FMUV3) { if (have_FMUV3) {
// on Pixhawk2 default IMU temperature to 60 // on Pixhawk2 default IMU temperature to 60
_imu_target_temperature.set_default(60); _imu_target_temperature.set_default(60);
px4.board_type.set_and_notify(PX4_BOARD_PIXHAWK2);
} else {
px4.board_type.set_and_notify(PX4_BOARD_PIXHAWK);
} }
printf("FMUv2 sensors started\n"); printf("FMUv2 sensors started\n");
@ -403,7 +396,6 @@ void AP_BoardConfig::px4_start_fmuv1_sensors(void)
} else { } else {
px4_sensor_error("mpu6000"); px4_sensor_error("mpu6000");
} }
px4.board_type.set_and_notify(PX4_BOARD_PX4V1);
#endif // CONFIG_ARCH_BOARD_PX4FMU_V1 #endif // CONFIG_ARCH_BOARD_PX4FMU_V1
} }
@ -426,32 +418,7 @@ void AP_BoardConfig::px4_start_common_sensors(void)
#endif #endif
} }
#endif // CONFIG_HAL_BOARD
/*
setup optional sensors
*/
void AP_BoardConfig::px4_start_optional_sensors(void)
{
if (px4_start_driver(ll40ls_main, "ll40ls", "-X start")) {
printf("Found external ll40ls sensor\n");
}
if (px4_start_driver(ll40ls_main, "ll40ls", "-I start")) {
printf("Found internal ll40ls sensor\n");
}
if (px4_start_driver(trone_main, "trone", "start")) {
printf("Found trone sensor\n");
}
if (px4_start_driver(mb12xx_main, "mb12xx", "start")) {
printf("Found mb12xx sensor\n");
}
#if !defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
if (px4_start_driver(pwm_input_main, "pwm_input", "start")) {
printf("started pwm_input driver\n");
}
#endif
}
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN #if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
void AP_BoardConfig::vrx_start_brain51_sensors(void) void AP_BoardConfig::vrx_start_brain51_sensors(void)
@ -556,31 +523,7 @@ void AP_BoardConfig::vrx_start_common_sensors(void)
} }
} }
#endif // CONFIG_HAL_BOARD
/*
setup optional sensors
*/
void AP_BoardConfig::vrx_start_optional_sensors(void)
{
if (px4_start_driver(ll40ls_main, "ll40ls", "-X start")) {
printf("Found external ll40ls sensor\n");
}
if (px4_start_driver(ll40ls_main, "ll40ls", "-I start")) {
printf("Found internal ll40ls sensor\n");
}
if (px4_start_driver(trone_main, "trone", "start")) {
printf("Found trone sensor\n");
}
if (px4_start_driver(mb12xx_main, "mb12xx", "start")) {
printf("Found mb12xx sensor\n");
}
if (px4_start_driver(pwm_input_main, "pwm_input", "start")) {
printf("started pwm_input driver\n");
}
}
#endif
void AP_BoardConfig::px4_setup_drivers(void) void AP_BoardConfig::px4_setup_drivers(void)
{ {
@ -623,8 +566,6 @@ void AP_BoardConfig::px4_setup_drivers(void)
px4_start_fmuv2_sensors(); px4_start_fmuv2_sensors();
break; break;
} }
px4_start_optional_sensors();
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
vrx_start_common_sensors(); vrx_start_common_sensors();
switch ((px4_board_type)px4.board_type.get()) { switch ((px4_board_type)px4.board_type.get()) {
@ -655,8 +596,6 @@ void AP_BoardConfig::px4_setup_drivers(void)
default: default:
break; break;
} }
vrx_start_optional_sensors();
#endif // HAL_BOARD_PX4 #endif // HAL_BOARD_PX4
px4_configured_board = (enum px4_board_type)px4.board_type.get(); px4_configured_board = (enum px4_board_type)px4.board_type.get();
@ -797,13 +736,6 @@ bool AP_BoardConfig::spi_check_register(const char *devname, uint8_t regnum, uin
*/ */
void AP_BoardConfig::px4_autodetect(void) void AP_BoardConfig::px4_autodetect(void)
{ {
if (px4.board_type == PX4_BOARD_TEST_V1 ||
px4.board_type == PX4_BOARD_TEST_V2 ||
px4.board_type == PX4_BOARD_TEST_V3) {
// these were old test values
px4.board_type.set(0);
}
if (px4.board_type != PX4_BOARD_AUTO) { if (px4.board_type != PX4_BOARD_AUTO) {
// user has chosen a board type // user has chosen a board type
return; return;