mirror of https://github.com/ArduPilot/ardupilot
AP_BoardConfig: remove reference to CONFIG_ARCH_BOARD_*
These are vestiges from when we ran both on ChibiOS and NuttX
This commit is contained in:
Peter Barker
Andrew Tridgell
parent
e52e64b11c
commit
336a6b0359
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@ -71,25 +71,8 @@ void AP_BoardConfig::board_init_debug()
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AP_BoardConfig::px4_board_type AP_BoardConfig::px4_configured_board;
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#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
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extern "C" {
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int fmu_main(int, char **);
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};
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#endif
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void AP_BoardConfig::board_setup_drivers(void)
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{
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#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
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/*
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this works around an issue with some FMUv4 hardware (eg. copies
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of the Pixracer) which have incorrect components leading to
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sensor brownout on boot
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*/
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if (px4_start_driver(fmu_main, "fmu", "sensor_reset 20")) {
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printf("FMUv4 sensor reset complete\n");
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}
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#endif
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if (state.board_type == PX4_BOARD_OLDDRIVERS) {
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printf("Old drivers no longer supported\n");
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state.board_type = PX4_BOARD_AUTO;
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@ -297,7 +280,7 @@ void AP_BoardConfig::validate_board_type(void)
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cook the IMUs if the user uses an old paramater file. We
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override the board type for that specific case
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*/
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#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(HAL_CHIBIOS_ARCH_FMUV3)
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#if defined(HAL_CHIBIOS_ARCH_FMUV3)
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if (state.board_type == PX4_BOARD_PIXHAWK &&
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(spi_check_register("mpu6000_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
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spi_check_register("mpu9250_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU9250) ||
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@ -309,7 +292,7 @@ void AP_BoardConfig::validate_board_type(void)
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// Pixhawk2 has LSM303D and MPUxxxx on external bus. If we
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// detect those, then force PIXHAWK2, even if the user has
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// configured for PIXHAWK1
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#if !defined(CONFIG_ARCH_BOARD_PX4FMU_V3) && !defined(HAL_CHIBIOS_ARCH_FMUV3)
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#if !defined(HAL_CHIBIOS_ARCH_FMUV3)
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// force user to load the right firmware
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config_error("Pixhawk2 requires FMUv3 firmware");
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#endif
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@ -317,10 +300,6 @@ void AP_BoardConfig::validate_board_type(void)
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DEV_PRINTF("Forced PIXHAWK2\n");
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}
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#endif
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#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4PRO)
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// Nothing to do for the moment
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#endif
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}
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/*
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@ -344,12 +323,7 @@ void AP_BoardConfig::board_autodetect(void)
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return;
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}
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#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
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// only one choice
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state.board_type.set(PX4_BOARD_PX4V1);
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DEV_PRINTF("Detected PX4v1\n");
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#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(HAL_CHIBIOS_ARCH_FMUV3)
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#if defined(HAL_CHIBIOS_ARCH_FMUV3)
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if ((spi_check_register("mpu6000_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
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spi_check_register("mpu6000_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
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spi_check_register("mpu9250_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
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@ -380,7 +354,7 @@ void AP_BoardConfig::board_autodetect(void)
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} else {
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config_error("Unable to detect board type");
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}
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#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4) || defined(HAL_CHIBIOS_ARCH_FMUV4)
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#elif defined(HAL_CHIBIOS_ARCH_FMUV4)
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// only one choice
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state.board_type.set_and_notify(PX4_BOARD_PIXRACER);
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DEV_PRINTF("Detected Pixracer\n");
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@ -388,38 +362,29 @@ void AP_BoardConfig::board_autodetect(void)
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// only one choice
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state.board_type.set_and_notify(PX4_BOARD_MINDPXV2);
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DEV_PRINTF("Detected MindPX-V2\n");
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#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4PRO) || defined(HAL_CHIBIOS_ARCH_FMUV4PRO)
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#elif defined(HAL_CHIBIOS_ARCH_FMUV4PRO)
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// only one choice
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state.board_type.set_and_notify(PX4_BOARD_PIXHAWK_PRO);
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DEV_PRINTF("Detected Pixhawk Pro\n");
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#elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
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state.board_type.set_and_notify(PX4_BOARD_AEROFC);
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DEV_PRINTF("Detected Aero FC\n");
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#elif defined(HAL_CHIBIOS_ARCH_FMUV5)
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state.board_type.set_and_notify(PX4_BOARD_FMUV5);
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DEV_PRINTF("Detected FMUv5\n");
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#elif defined(HAL_CHIBIOS_ARCH_FMUV6)
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state.board_type.set_and_notify(PX4_BOARD_FMUV5);
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DEV_PRINTF("Detected FMUv6\n");
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#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51) || defined(HAL_CHIBIOS_ARCH_BRAINV51)
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#elif defined(HAL_CHIBIOS_ARCH_BRAINV51)
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state.board_type.set_and_notify(VRX_BOARD_BRAIN51);
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DEV_PRINTF("Detected VR Brain 5.1\n");
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#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52) || defined(HAL_CHIBIOS_ARCH_BRAINV52)
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#elif defined(HAL_CHIBIOS_ARCH_BRAINV52)
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state.board_type.set_and_notify(VRX_BOARD_BRAIN52);
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DEV_PRINTF("Detected VR Brain 5.2\n");
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#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52E)
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state.board_type.set_and_notify(VRX_BOARD_BRAIN52E);
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DEV_PRINTF("Detected VR Brain 5.2E\n");
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#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51) || defined(HAL_CHIBIOS_ARCH_UBRAINV51)
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#elif defined(HAL_CHIBIOS_ARCH_UBRAINV51)
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state.board_type.set_and_notify(VRX_BOARD_UBRAIN51);
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DEV_PRINTF("Detected VR Micro Brain 5.1\n");
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#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
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state.board_type.set_and_notify(VRX_BOARD_UBRAIN52);
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DEV_PRINTF("Detected VR Micro Brain 5.2\n");
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#elif defined(CONFIG_ARCH_BOARD_VRCORE_V10) || defined(HAL_CHIBIOS_ARCH_COREV10)
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#elif defined(HAL_CHIBIOS_ARCH_COREV10)
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state.board_type.set_and_notify(VRX_BOARD_CORE10);
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DEV_PRINTF("Detected VR Core 1.0\n");
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#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V54) || defined(HAL_CHIBIOS_ARCH_BRAINV54)
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#elif defined(HAL_CHIBIOS_ARCH_BRAINV54)
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state.board_type.set_and_notify(VRX_BOARD_BRAIN54);
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DEV_PRINTF("Detected VR Brain 5.4\n");
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#endif
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