mirror of https://github.com/ArduPilot/ardupilot
purple: added configuration logic for APM1 versus purple hardware
This abstracts the names for LED on/off (due to the different wiring of LEDs on APM1 and purple), and adds the needed config defines for the two hardware types
This commit is contained in:
Pat Hickey
parent
910a94fcbe
commit
1fc57f06b6
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@ -34,6 +34,26 @@
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// APM HARDWARE
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//
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#ifndef CONFIG_APM_HARDWARE
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# define CONFIG_APM_HARDWARE APM_HARDWARE_APM1
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// PURPLE HARDWARE DEFAULTS
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//
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_PURPLE
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# define CONFIG_IMU_TYPE CONFIG_IMU_MPU6000
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# define CONFIG_PUSHBUTTON DISABLED
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# define CONFIG_RELAY DISABLED
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# define MAG_ORIENTATION ROTATION_NONE
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// FRAME_CONFIG
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@ -45,6 +65,30 @@
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# define FRAME_ORIENTATION PLUS_FRAME
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// IMU Selection
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//
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#ifndef CONFIG_IMU_TYPE
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# define CONFIG_IMU_TYPE CONFIG_IMU_OILPAN
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#endif
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#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
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# ifndef CONFIG_MPU6000_CHIP_SELECT_PIN
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# define CONFIG_MPU6000_CHIP_SELECT_PIN 53
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# endif
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// ADC Enable - used to eliminate for systems which don't have ADC.
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//
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#ifndef CONFIG_ADC
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# if CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN
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# define CONFIG_ADC ENABLED
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# else
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# define CONFIG_ADC DISABLED
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# endif
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// PWM control
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@ -53,6 +97,38 @@
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# define INSTANT_PWM DISABLED
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#endif
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// LED and IO Pins
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//
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
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# define A_LED_PIN 37
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# define B_LED_PIN 36
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# define C_LED_PIN 35
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# define LED_ON HIGH
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# define LED_OFF LOW
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# define SLIDE_SWITCH_PIN 40
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# define PUSHBUTTON_PIN 41
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#elif CONFIG_APM_HARDWARE == APM_HARDWARE_PURPLE
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# define A_LED_PIN 27
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# define B_LED_PIN 26
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# define C_LED_PIN 25
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# define LED_ON LOW
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# define LED_OFF HIGH
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# define SLIDE_SWITCH_PIN (-1)
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# define PUSHBUTTON_PIN (-1)
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# define CLI_SLIDER_ENABLED DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Pushbutton & Relay
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//
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#ifndef CONFIG_PUSHBUTTON
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# define CONFIG_PUSHBUTTON ENABLED
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#endif
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#ifndef CONFIG_RELAY
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# define CONFIG_RELAY ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Sonar
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@ -62,10 +138,52 @@
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# define SONAR_PORT AP_RANGEFINDER_PITOT_TUBE
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#endif
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#ifndef CONFIG_SONAR_SOURCE
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ADC
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#endif
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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC && CONFIG_ADC == DISABLED
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# warning Cannot use ADC for CONFIG_SONAR_SOURCE, becaude CONFIG_ADC is DISABLED
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# warning Defaulting CONFIG_SONAR_SOURCE to ANALOG_PIN
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# undef CONFIG_SONAR_SOURCE
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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#endif
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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
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# ifndef CONFIG_SONAR_SOURCE_ADC_CHANNEL
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# define CONFIG_SONAR_SOURCE_ADC_CHANNEL 7
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# endif
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#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
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# ifndef CONFIG_SONAR_SOURCE_ANALOG_PIN
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# define CONFIG_SONAR_SOURCE_ANALOG_PIN AN4
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# endif
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#else
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# warning Invalid value for CONFIG_SONAR_SOURCE, disabling sonar
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# undef SONAR_ENABLED
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# define SONAR_ENABLED DISABLED
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#endif
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#ifndef SONAR_TYPE
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# define SONAR_TYPE MAX_SONAR_XL
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#endif
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// It seems that MAX_SONAR_XL depends on an ADC. For systems without an
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// ADC, we need to disable the sonar
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#if SONAR_TYPE == MAX_SONAR_XL
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# if CONFIG_ADC == DISABLED
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# if defined(CONFIG_SONAR)
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# warning "MAX_SONAR_XL requires a valid ADC. This system does not have an ADC enabled."
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# undef CONFIG_SONAR
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# endif
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# define CONFIG_SONAR DISABLED
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# endif
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#endif
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#ifndef CONFIG_SONAR
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# define CONFIG_SONAR ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Acrobatics
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//
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@ -333,14 +333,6 @@ enum gcs_severity {
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// sonar
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//#define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters
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// Hardware Parameters
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#define SLIDE_SWITCH_PIN 40
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#define PUSHBUTTON_PIN 41
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#define A_LED_PIN 37 //36 = B, 37 = A, 35 = C
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#define B_LED_PIN 36
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#define C_LED_PIN 35
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// RADIANS
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#define RADX100 0.000174533
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