Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_HAL_Linux: add Robsense PhenixPro Devkit Board support

Browse Source
This commit is contained in:
HeBin 2017-10-30 17:03:04 +08:00 committed by Lucas De Marchi
parent 895b5f34b8
commit 0e1ce2a7fd
6 changed files with 21 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
View File

@ -158,6 +158,8 @@ static RCInput_SoloLink rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
static RCInput_Navio2 rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
static RCInput_SBUS rcinDriver;
#else
static RCInput rcinDriver;
#endif
@ -210,6 +212,8 @@ static RCOutput_Sysfs rcoutDriver(0, 0, 14);
static ap::RCOutput_Tap rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
static RCOutput_Sysfs rcoutDriver(0, 0, 15);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
static RCOutput_Sysfs rcoutDriver(0, 0, 8);
#else
static Empty::RCOutput rcoutDriver;
#endif

3
libraries/AP_HAL_Linux/RCInput_SBUS.cpp
View File

@ -22,7 +22,8 @@
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
#include "RCInput_SBUS.h"
#include <stdio.h>
#include <fcntl.h>

5
libraries/AP_HAL_Linux/RCInput_SBUS.h
View File

@ -18,7 +18,8 @@
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
#include "RCInput.h"
@ -38,6 +39,8 @@ private:
const char *device_path = "/dev/uart-sbus";
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
const char *device_path = "/dev/ttyS2";
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
const char *device_path = "/dev/ttyPS0";
#else
const char *device_path = nullptr;
#endif

2
libraries/AP_HAL_Linux/RCOutput_Sysfs.cpp
View File

@ -45,6 +45,8 @@ void RCOutput_Sysfs::init()
for (uint8_t i = 0; i < _channel_count; i++) {
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
_pwm_channels[i] = new PWM_Sysfs_Bebop(_channel_base+i);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
_pwm_channels[i] = new PWM_Sysfs(_chip+i, 0);
#else
_pwm_channels[i] = new PWM_Sysfs(_chip, _channel_base+i);
#endif

7
libraries/AP_HAL_Linux/SPIDevice.cpp
View File

@ -129,6 +129,13 @@ SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("mpu60x0ext", 0, 2, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),
SPIDesc("ms5611", 0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL, 10*MHZ,10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("rst_g", 0, 0, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 10*MHZ),
SPIDesc("lis3mdl", 0, 1, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 10*MHZ),
SPIDesc("rst_a", 0, 2, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 10*MHZ),
SPIDesc("ms5611", 0, 3, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 10*MHZ),
};
#else
// empty device table
SPIDesc SPIDeviceManager::_device[] = {

2
libraries/AP_HAL_Linux/Storage.cpp
View File

@ -22,6 +22,8 @@ using namespace Linux;
// card for ArduCopter and ArduPlane
#if APM_BUILD_TYPE(APM_BUILD_Replay)
#define STORAGE_DIR "."
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
#define STORAGE_DIR "/mnt/APM"
#else
#define STORAGE_DIR HAL_BOARD_STORAGE_DIRECTORY
#endif