AP_InertialSensor: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1

libraries/AP_HAL/AP_HAL_Boards.h

@@ -49,7 +49,6 @@
 #define HAL_BOARD_SUBTYPE_VRUBRAIN_V52   4004
 
 // InertialSensor driver types
-#define HAL_INS_OILPAN  1
 #define HAL_INS_MPU60XX_SPI 2
 #define HAL_INS_MPU60XX_I2C 3
 #define HAL_INS_HIL     4

libraries/AP_InertialSensor/AP_InertialSensor.cpp

@@ -500,8 +500,6 @@ AP_InertialSensor::_detect_backends(void)
     _add_backend(AP_InertialSensor_MPU6000::detect_i2c(*this, hal.i2c2, HAL_INS_MPU60XX_I2C_ADDR));
 #elif HAL_INS_DEFAULT == HAL_INS_PX4 || HAL_INS_DEFAULT == HAL_INS_VRBRAIN
     _add_backend(AP_InertialSensor_PX4::detect(*this));
-#elif HAL_INS_DEFAULT == HAL_INS_OILPAN
-    _add_backend(AP_InertialSensor_Oilpan::detect(*this));
 #elif HAL_INS_DEFAULT == HAL_INS_MPU9250
     _add_backend(AP_InertialSensor_MPU9250::detect(*this, hal.spi->device(AP_HAL::SPIDevice_MPU9250)));
 #elif HAL_INS_DEFAULT == HAL_INS_FLYMAPLE

libraries/AP_InertialSensor/AP_InertialSensor.h

@@ -381,7 +381,6 @@ private:
 #include "AP_InertialSensor_Backend.h"
 #include "AP_InertialSensor_MPU6000.h"
 #include "AP_InertialSensor_PX4.h"
-#include "AP_InertialSensor_Oilpan.h"
 #include "AP_InertialSensor_MPU9250.h"
 #include "AP_InertialSensor_L3G4200D.h"
 #include "AP_InertialSensor_Flymaple.h"

libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp

@@ -10,9 +10,7 @@ extern const AP_HAL::HAL& hal;
 // MPU6000 accelerometer scaling
 #define MPU6000_ACCEL_SCALE_1G    (GRAVITY_MSS / 4096.0f)
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-#define MPU6000_DRDY_PIN 70
-#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 #include <AP_HAL_Linux/GPIO.h>
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
 #define MPU6000_DRDY_PIN BBB_P8_14
@@ -808,7 +806,7 @@ bool AP_InertialSensor_MPU6000::_hardware_init(void)
         hal.scheduler->panic("MPU6000: Unable to get semaphore");
     }
 
-    // initially run the bus at low speed (500kHz on APM2)
+    // initially run the bus at low speed
     _bus->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_LOW);
 
     // Chip reset

libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp

@@ -514,7 +514,6 @@ bool AP_InertialSensor_MPU9250::_hardware_init(void)
     _register_write(MPUREG_INT_PIN_CFG, BIT_INT_RD_CLEAR | BIT_LATCH_INT_EN);
 
     // now that we have initialised, we set the SPI bus speed to high
-    // (8MHz on APM2)
     _spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_HIGH);
 
     _spi_sem->give();

libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp

@@ -1,128 +0,0 @@
-/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-#include <AP_HAL/AP_HAL.h>
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
-#include "AP_InertialSensor_Oilpan.h"
-#include <AP_ADC/AP_ADC.h>
-
-const extern AP_HAL::HAL& hal;
-
-// this driver assumes an AP_ADC object has been declared globally
-extern AP_ADC_ADS7844 apm1_adc;
-
-// ADC channel mappings on for the APM Oilpan
-// Sensors: GYROX, GYROY, GYROZ, ACCELX, ACCELY, ACCELZ
-const uint8_t AP_InertialSensor_Oilpan::_sensors[6] = { 1, 2, 0, 4, 5, 6 };
-
-// ADC result sign adjustment for sensors.
-const int8_t AP_InertialSensor_Oilpan::_sensor_signs[6] =
-{ 1, -1, -1, 1, -1, -1 };
-
-// Maximum possible value returned by an offset-corrected sensor channel
-const float AP_InertialSensor_Oilpan::_adc_constraint = 900;
-
-// ADC : Voltage reference 3.3v / 12bits(4096 steps) => 0.8mV/ADC step
-// ADXL335 Sensitivity(from datasheet) => 330mV/g,
-// 0.8mV/ADC step => 330/0.8 = 412
-// Tested value : 418
-
-// Oilpan accelerometer scaling & offsets
-#define OILPAN_ACCEL_SCALE_1G   (GRAVITY_MSS * 2.0f / (2465.0f - 1617.0f))
-#define OILPAN_RAW_ACCEL_OFFSET ((2465.0f + 1617.0f) * 0.5f)
-#define OILPAN_RAW_GYRO_OFFSET  1658.0f
-
-// IDG500 Sensitivity (from datasheet) => 2.0mV/degree/s,
-// 0.8mV/ADC step => 0.8/3.33 = 0.4
-// Tested values : 0.4026, ?, 0.4192
-const float AP_InertialSensor_Oilpan::_gyro_gain_x = radians(0.4f);
-const float AP_InertialSensor_Oilpan::_gyro_gain_y = radians(0.41f);
-const float AP_InertialSensor_Oilpan::_gyro_gain_z = radians(0.41f);
-
-/* ------ Public functions -------------------------------------------*/
-
-AP_InertialSensor_Oilpan::AP_InertialSensor_Oilpan(AP_InertialSensor &imu) : 
-    AP_InertialSensor_Backend(imu)
-{
-}
-
-/*
-  detect the sensor
- */
-AP_InertialSensor_Backend *AP_InertialSensor_Oilpan::detect(AP_InertialSensor &_imu)
-{
-    AP_InertialSensor_Oilpan *sensor = new AP_InertialSensor_Oilpan(_imu);
-    if (sensor == NULL) {
-        return NULL;
-    }
-    if (!sensor->_init_sensor()) {
-        delete sensor;
-        return NULL;
-    }
-
-    return sensor;
-}
-
-bool AP_InertialSensor_Oilpan::_init_sensor(void)
-{
-    apm1_adc.Init();
-
-    switch (_imu.get_sample_rate()) {
-    case AP_InertialSensor::RATE_50HZ:
-        _sample_threshold = 20;
-        break;
-    case AP_InertialSensor::RATE_100HZ:
-        _sample_threshold = 10;
-        break;
-    case AP_InertialSensor::RATE_200HZ:
-        _sample_threshold = 5;
-        break;
-    default:
-        // can't do this speed
-        return false;
-    }
-
-    _gyro_instance = _imu.register_gyro();
-    _accel_instance = _imu.register_accel();
-
-    _product_id = AP_PRODUCT_ID_APM1_2560;
-
-    return true;
-}
-
-/*
-  copy data from ADC to frontend
- */
-bool AP_InertialSensor_Oilpan::update()
-{
-    float adc_values[6];
-
-    apm1_adc.Ch6(_sensors, adc_values);
-
-    // copy gyros to frontend
-    Vector3f v;
-    v(_sensor_signs[0] * ( adc_values[0] - OILPAN_RAW_GYRO_OFFSET ) * _gyro_gain_x,
-      _sensor_signs[1] * ( adc_values[1] - OILPAN_RAW_GYRO_OFFSET ) * _gyro_gain_y,
-      _sensor_signs[2] * ( adc_values[2] - OILPAN_RAW_GYRO_OFFSET ) * _gyro_gain_z);
-    _rotate_and_correct_gyro(_gyro_instance, v);
-    _publish_gyro(_gyro_instance, v);
-
-    // copy accels to frontend
-    v(_sensor_signs[3] * (adc_values[3] - OILPAN_RAW_ACCEL_OFFSET),
-      _sensor_signs[4] * (adc_values[4] - OILPAN_RAW_ACCEL_OFFSET),
-      _sensor_signs[5] * (adc_values[5] - OILPAN_RAW_ACCEL_OFFSET));
-    v *= OILPAN_ACCEL_SCALE_1G;
-    _rotate_and_correct_accel(_accel_instance, v);
-    _publish_accel(_accel_instance, v);
-
-    return true;
-}
-
-// return true if a new sample is available
-bool AP_InertialSensor_Oilpan::_sample_available() const
-{
-    return apm1_adc.num_samples_available(_sensors) >= _sample_threshold;
-}
-
-#endif // CONFIG_HAL_BOARD
-

libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h

@@ -1,37 +0,0 @@
-/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-#ifndef __AP_INERTIAL_SENSOR_OILPAN_H__
-#define __AP_INERTIAL_SENSOR_OILPAN_H__
-
-#include <AP_HAL/AP_HAL.h>
-#include "AP_InertialSensor.h"
-
-class AP_InertialSensor_Oilpan : public AP_InertialSensor_Backend
-{
-public:
-    AP_InertialSensor_Oilpan(AP_InertialSensor &imu);
-
-    /* update accel and gyro state */
-    bool update();
-
-    bool gyro_sample_available(void) { return _sample_available(); }
-    bool accel_sample_available(void) { return _sample_available(); }
-
-    // detect the sensor
-    static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
-
-private:
-    bool                        _init_sensor(void);
-    bool            			_sample_available() const;
-    static const uint8_t        _sensors[6];
-    static const int8_t         _sensor_signs[6];
-    static const float          _gyro_gain_x;
-    static const float          _gyro_gain_y;
-    static const float          _gyro_gain_z;
-    static const float          _adc_constraint;
-    uint8_t                     _sample_threshold;
-    uint8_t                     _gyro_instance;
-    uint8_t                     _accel_instance;
-};
-
-#endif // __AP_INERTIAL_SENSOR_OILPAN_H__

libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp

@@ -13,10 +13,6 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 AP_InertialSensor ins;
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
-AP_ADC_ADS7844 apm1_adc;
-#endif
-
 static void display_offsets_and_scaling();
 static void run_test();
 static void run_calibration();
@@ -25,12 +21,6 @@ void setup(void)
 {
     hal.console->println("AP_InertialSensor startup...");
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
-    // we need to stop the barometer from holding the SPI bus
-    hal.gpio->pinMode(40, HAL_GPIO_OUTPUT);
-    hal.gpio->write(40, 1);
-#endif
-
     ins.init(AP_InertialSensor::RATE_100HZ);
 
     // display initial values