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AP_InertialSensor: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1

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This commit is contained in:
Lucas De Marchi 2015-11-03 11:46:29 -02:00 committed by Andrew Tridgell
parent cf8203c08b
commit 3142f21363
8 changed files with 2 additions and 184 deletions
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1
libraries/AP_HAL/AP_HAL_Boards.h
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@ -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

2
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -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

1
libraries/AP_InertialSensor/AP_InertialSensor.h
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@ -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"

6
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -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
#define MPU6000_DRDY_PIN 70
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#if 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

1
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
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@ -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();

128
libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
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@ -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

37
libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h
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@ -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__

10
libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp
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@ -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