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AP_BoardConfig: cope with bad config of pixhawk2

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don't allow FMUv2 firmware on cube, and force temperature if incorrect
This commit is contained in:
Andrew Tridgell 2017-05-22 11:30:30 +10:00 committed by Randy Mackay
parent ae209ed2b5
commit 0ce9b9ded4
2 changed files with 37 additions and 0 deletions
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1
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -141,6 +141,7 @@ private:
void px4_setup_px4io(void);
void px4_tone_alarm(const char *tone_string);
bool spi_check_register(const char *devname, uint8_t regnum, uint8_t value, uint8_t read_flag = 0x80);
void validate_board_type(void);
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
void px4_autodetect(void);

36
libraries/AP_BoardConfig/px4_drivers.cpp
View File

@ -300,6 +300,11 @@ void AP_BoardConfig::px4_setup_drivers(void)
if (px4.board_type == PX4_BOARD_PH2SLIM ||
px4.board_type == PX4_BOARD_PIXHAWK2) {
_imu_target_temperature.set_default(60);
if (_imu_target_temperature.get() < 0) {
// don't allow a value of -1 on the cube, or it could cook
// the IMU
_imu_target_temperature.set(60);
}
}
px4_configured_board = (enum px4_board_type)px4.board_type.get();
@ -452,12 +457,43 @@ bool AP_BoardConfig::spi_check_register(const char *devname, uint8_t regnum, uin
#define LSMREG_WHOAMI 0x0f
#define LSM_WHOAMI_LSM303D 0x49
/*
validation of the board type
*/
void AP_BoardConfig::validate_board_type(void)
{
/* some boards can be damaged by the user setting the wrong board
type. The key one is the cube which has a heater which can
cook the IMUs if the user uses an old paramater file. We
override the board type for that specific case
*/
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
if (px4.board_type == PX4_BOARD_PIXHAWK &&
(spi_check_register(HAL_INS_MPU60x0_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
spi_check_register(HAL_INS_MPU9250_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU9250) ||
spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
spi_check_register(HAL_INS_LSM9DS0_EXT_A_NAME, LSMREG_WHOAMI, LSM_WHOAMI_LSM303D)) {
// Pixhawk2 has LSM303D and MPUxxxx on external bus. If we
// detect those, then force PIXHAWK2, even if the user has
// configured for PIXHAWK1
#if !defined(CONFIG_ARCH_BOARD_PX4FMU_V3)
// force user to load the right firmware
sensor_config_error("Pixhawk2 requires FMUv3 firmware");
#endif
px4.board_type.set(PX4_BOARD_PIXHAWK2);
hal.console->printf("Forced PIXHAWK2\n");
}
#endif
}
/*
auto-detect board type
*/
void AP_BoardConfig::px4_autodetect(void)
{
if (px4.board_type != PX4_BOARD_AUTO) {
validate_board_type();
// user has chosen a board type
return;
}