From 49d08ba72a4de21d721377b3f872503ecd1aff8a Mon Sep 17 00:00:00 2001 From: Lucas De Marchi Date: Thu, 21 Jun 2018 16:40:22 -0700 Subject: [PATCH] Global: remove minlure Minlure is a port of ArduPilot to Minnow Board connected to daughter board. Very few of those were produced and nobody is flying with it. It served its purpose and all the the improvements to ArduPilot remain regardless of it not being supported anymore. Now it's just adding maintenance work with no clear benefit, so pull the plug. --- BUILD.md | 1 - Tools/ardupilotwaf/boards.py | 9 ----- .../AP_BattMonitor/AP_BattMonitor_Analog.h | 6 --- libraries/AP_Compass/AP_Compass.cpp | 12 ------ libraries/AP_HAL/AP_HAL_Boards.h | 1 - libraries/AP_HAL/board/linux.h | 24 ------------ libraries/AP_HAL_Linux/AnalogIn_IIO.h | 2 - libraries/AP_HAL_Linux/Flow_PX4.cpp | 3 +- libraries/AP_HAL_Linux/GPIO.h | 2 - libraries/AP_HAL_Linux/GPIO_Minnow.cpp | 37 ------------------- libraries/AP_HAL_Linux/GPIO_Minnow.h | 29 --------------- libraries/AP_HAL_Linux/HAL_Linux_Class.cpp | 18 ++------- .../AP_HAL_Linux/OpticalFlow_Onboard.cpp | 20 +--------- libraries/AP_HAL_Linux/SPIDevice.cpp | 4 -- libraries/AP_HAL_Linux/VideoIn.cpp | 3 +- .../benchmarks/benchmark_videoin.cpp | 3 +- .../AP_InertialSensor_Invensense.cpp | 2 - libraries/AP_Notify/AP_Notify.cpp | 3 -- .../AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp | 3 +- libraries/AP_OpticalFlow/OpticalFlow.cpp | 3 +- 20 files changed, 9 insertions(+), 176 deletions(-) delete mode 100644 libraries/AP_HAL_Linux/GPIO_Minnow.cpp delete mode 100644 libraries/AP_HAL_Linux/GPIO_Minnow.h diff --git a/BUILD.md b/BUILD.md index 19690a49b2..4551d272db 100644 --- a/BUILD.md +++ b/BUILD.md @@ -59,7 +59,6 @@ list some basic and more used commands as example. ```sh ./waf configure --board bebop --static # Bebop or Bebop2 ./waf configure --board edge # emlid edge - ./waf configure --board minilure # minilure linux flight controller ./waf configure --board navio2 # emlid navio2 ./waf configure --board px4-v1 # the very old two layer Pixhawk (almost none exist) ./waf configure --board px4-v2 # older Pixhawks that suffer from the 1MB flash limit issue diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py index 71d811c206..2765b0c31e 100644 --- a/Tools/ardupilotwaf/boards.py +++ b/Tools/ardupilotwaf/boards.py @@ -449,15 +449,6 @@ class linux(Board): # Avoid infinite recursion bld.options.upload = False -class minlure(linux): - def configure_env(self, cfg, env): - super(minlure, self).configure_env(cfg, env) - - env.DEFINES.update( - CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_MINLURE', - ) - - class erleboard(linux): toolchain = 'arm-linux-gnueabihf' diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Analog.h b/libraries/AP_BattMonitor/AP_BattMonitor_Analog.h index 685370d997..90c9886b0a 100644 --- a/libraries/AP_BattMonitor/AP_BattMonitor_Analog.h +++ b/libraries/AP_BattMonitor/AP_BattMonitor_Analog.h @@ -75,12 +75,6 @@ # define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f -#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE - # define AP_BATT_VOLT_PIN 2 - # define AP_BATT_CURR_PIN 3 - # define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f - # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f - #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2) # define AP_BATT_VOLT_PIN 2 # define AP_BATT_CURR_PIN 3 diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp index a046e2c12d..e096aa5cca 100644 --- a/libraries/AP_Compass/AP_Compass.cpp +++ b/libraries/AP_Compass/AP_Compass.cpp @@ -803,18 +803,6 @@ void Compass::_detect_backends(void) AP_Compass_AK8963::name, false); ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 1), AP_Compass_AK8963::name, true); -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE - ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe_mpu6000(*this), - AP_Compass_HMC5843::name, false); - ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, - Linux::I2CDeviceManager::from(hal.i2c_mgr)->get_device( - { /* UEFI with lpss set to ACPI */ - "platform/80860F41:05", - /* UEFI with lpss set to PCI */ - "pci0000:00/0000:00:18.6" }, - HAL_COMPASS_HMC5843_I2C_ADDR), - true), - AP_Compass_HMC5843::name, true); #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NAVIO2 ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m"), ROTATION_ROLL_180), AP_Compass_LSM9DS1::name, false); diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h index a467771518..f1b051d3fd 100644 --- a/libraries/AP_HAL/AP_HAL_Boards.h +++ b/libraries/AP_HAL/AP_HAL_Boards.h @@ -26,7 +26,6 @@ #define HAL_BOARD_SUBTYPE_LINUX_ZYNQ 1004 #define HAL_BOARD_SUBTYPE_LINUX_BBBMINI 1005 #define HAL_BOARD_SUBTYPE_LINUX_BEBOP 1006 -#define HAL_BOARD_SUBTYPE_LINUX_MINLURE 1008 #define HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 1009 #define HAL_BOARD_SUBTYPE_LINUX_BH 1010 #define HAL_BOARD_SUBTYPE_LINUX_PXFMINI 1012 diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h index e336b4d2b0..3b002ecbd8 100644 --- a/libraries/AP_HAL/board/linux.h +++ b/libraries/AP_HAL/board/linux.h @@ -118,30 +118,6 @@ #define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0 // the disco has challenges with its magnetic setup #define AP_COMPASS_OFFSETS_MAX_DEFAULT 2200 -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE -#define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI -#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_90 -#define HAL_INS_MPU60x0_NAME "mpu6000" -#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C -#define HAL_BARO_MS5611_I2C_BUS { "platform/80860F41:06", } -#define HAL_BARO_MS5611_I2C_ADDR 0x77 -/* Internal and external compasses */ -#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E -#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0" -#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320 -#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240 -#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64 -#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64 -#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240 -#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240 -#define HAL_OPTFLOW_ONBOARD_NBUFS 8 -#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4 -#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30 -#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000 -/* ELP-USBFHD01M-L21 - * focal length 2.1 mm, pixel size 3 um - * 240x240 crop rescaled to 64x64 */ -#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.1 / (3.0 * 2.0 * 240 / 64)) #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO #define HAL_GPIO_A_LED_PIN 0 #define HAL_GPIO_B_LED_PIN 1 diff --git a/libraries/AP_HAL_Linux/AnalogIn_IIO.h b/libraries/AP_HAL_Linux/AnalogIn_IIO.h index 0bce2085d4..945df747a8 100644 --- a/libraries/AP_HAL_Linux/AnalogIn_IIO.h +++ b/libraries/AP_HAL_Linux/AnalogIn_IIO.h @@ -18,8 +18,6 @@ #define IIO_VOLTAGE_SCALING 1.8/4095.0 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET #define IIO_VOLTAGE_SCALING 3.0*1.8/4095.0 -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE -#define IIO_VOLTAGE_SCALING 2.0 / 1000 #else #define IIO_VOLTAGE_SCALING 1.0 #endif diff --git a/libraries/AP_HAL_Linux/Flow_PX4.cpp b/libraries/AP_HAL_Linux/Flow_PX4.cpp index 6dadb0a352..e285763c4f 100644 --- a/libraries/AP_HAL_Linux/Flow_PX4.cpp +++ b/libraries/AP_HAL_Linux/Flow_PX4.cpp @@ -37,8 +37,7 @@ * ****************************************************************************/ #include -#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE +#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #include "Flow_PX4.h" #include diff --git a/libraries/AP_HAL_Linux/GPIO.h b/libraries/AP_HAL_Linux/GPIO.h index 5bbd5990d8..89e4b853ef 100644 --- a/libraries/AP_HAL_Linux/GPIO.h +++ b/libraries/AP_HAL_Linux/GPIO.h @@ -35,8 +35,6 @@ private: #include "GPIO_Navio2.h" #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE #include "GPIO_Edge.h" -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE -#include "GPIO_Minnow.h" #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #include "GPIO_Bebop.h" #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO diff --git a/libraries/AP_HAL_Linux/GPIO_Minnow.cpp b/libraries/AP_HAL_Linux/GPIO_Minnow.cpp deleted file mode 100644 index 0c4ed063d0..0000000000 --- a/libraries/AP_HAL_Linux/GPIO_Minnow.cpp +++ /dev/null @@ -1,37 +0,0 @@ -#include - -#include "GPIO_Minnow.h" - -#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE - -const unsigned Linux::GPIO_Sysfs::pin_table[] = { - [MINNOW_GPIO_SPI_CS] = 476, - [MINNOW_GPIO_SPI_MISO] = 477, - [MINNOW_GPIO_SPI_MOSI] = 478, - [MINNOW_GPIO_SPI_CLK] = 479, - [MINNOW_GPIO_I2C_SCL] = 499, - [MINNOW_GPIO_I2C_SDA] = 498, - [MINNOW_GPIO_UART2_TXD] = 485, - [MINNOW_GPIO_UART2_RXD] = 484, - [MINNOW_GPIO_S5_0] = 338, - [MINNOW_GPIO_S5_1] = 339, - [MINNOW_GPIO_S5_2] = 340, - [MINNOW_GPIO_UART1_TXD] = 481, - [MINNOW_GPIO_UART1_RXD] = 480, - [MINNOW_GPIO_UART1_CTS] = 483, - [MINNOW_GPIO_UART1_RTS] = 482, - [MINNOW_GPIO_I2S_CLK] = 472, - [MINNOW_GPIO_I2S_FRM] = 473, - [MINNOW_GPIO_I2S_DO] = 475, - [MINNOW_GPIO_I2S_DI] = 474, - [MINNOW_GPIO_PWM0] = 504, - [MINNOW_GPIO_PWM1] = 505, - [MINNOW_GPIO_IBL_8254] = 464, -}; - -const uint8_t Linux::GPIO_Sysfs::n_pins = _MINNOW_GPIO_MAX; - -static_assert(ARRAY_SIZE(Linux::GPIO_Sysfs::pin_table) == _MINNOW_GPIO_MAX, - "GPIO pin_table must have the same size of entries in enum gpio_minnow"); - -#endif diff --git a/libraries/AP_HAL_Linux/GPIO_Minnow.h b/libraries/AP_HAL_Linux/GPIO_Minnow.h deleted file mode 100644 index 502541c203..0000000000 --- a/libraries/AP_HAL_Linux/GPIO_Minnow.h +++ /dev/null @@ -1,29 +0,0 @@ -#pragma once - -#include "GPIO_Sysfs.h" - -enum gpio_minnow { - MINNOW_GPIO_SPI_CS, - MINNOW_GPIO_SPI_MISO, - MINNOW_GPIO_SPI_MOSI, - MINNOW_GPIO_SPI_CLK, - MINNOW_GPIO_I2C_SCL, - MINNOW_GPIO_I2C_SDA, - MINNOW_GPIO_UART2_TXD, - MINNOW_GPIO_UART2_RXD, - MINNOW_GPIO_S5_0, - MINNOW_GPIO_S5_1, - MINNOW_GPIO_S5_2, - MINNOW_GPIO_UART1_TXD, - MINNOW_GPIO_UART1_RXD, - MINNOW_GPIO_UART1_CTS, - MINNOW_GPIO_UART1_RTS, - MINNOW_GPIO_I2S_CLK, - MINNOW_GPIO_I2S_FRM, - MINNOW_GPIO_I2S_DO, - MINNOW_GPIO_I2S_DI, - MINNOW_GPIO_PWM0, - MINNOW_GPIO_PWM1, - MINNOW_GPIO_IBL_8254, - _MINNOW_GPIO_MAX, -}; diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp index 6958a961e0..a6d3bd9452 100644 --- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp +++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp @@ -87,8 +87,7 @@ static AnalogIn_ADS1115 analogIn; CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET || \ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE + CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET static AnalogIn_IIO analogIn; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE @@ -120,8 +119,7 @@ static GPIO_RPI gpioDriver; CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE static GPIO_Sysfs gpioDriver; -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE || \ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \ +#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO static GPIO_Sysfs gpioDriver; @@ -150,8 +148,6 @@ static RCInput_RPI rcinDriver; static RCInput_ZYNQ rcinDriver; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP static RCInput_UDP rcinDriver; -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE -static RCInput_UART rcinDriver("/dev/ttyS5"); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO static RCInput_Multi rcinDriver{2, new RCInput_SBUS, new RCInput_115200("/dev/uart-sumd")}; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO @@ -191,13 +187,6 @@ static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUINA static RCOutput_ZYNQ rcoutDriver; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP static RCOutput_Bebop rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_BEBOP_BLDC_I2C_BUS, HAL_RCOUT_BEBOP_BLDC_I2C_ADDR)); -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE -static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device( - { /* UEFI with lpss set to ACPI */ - "platform/80860F41:05", - /* UEFI with lpss set to PCI */ - "pci0000:00/0000:00:18.6" }, - PCA9685_PRIMARY_ADDRESS), false, 0, MINNOW_GPIO_S5_1); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO static RCOutput_Disco rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_DISCO_BLDC_I2C_BUS, HAL_RCOUT_DISCO_BLDC_I2C_ADDR)); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 @@ -214,8 +203,7 @@ static Empty::RCOutput rcoutDriver; static Scheduler schedulerInstance; -#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE +#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP static OpticalFlow_Onboard opticalFlow; #else static Empty::OpticalFlow opticalFlow; diff --git a/libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp b/libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp index 5d70e2c1ca..1c58a5223b 100644 --- a/libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp +++ b/libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp @@ -14,8 +14,7 @@ */ #include -#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE +#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #include "OpticalFlow_Onboard.h" #include @@ -92,23 +91,6 @@ void OpticalFlow_Onboard::init() AP_HAL::panic("OpticalFlow_Onboard: couldn't set subdev fmt\n"); } _format = V4L2_PIX_FMT_NV12; -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE - std::vector pixel_formats; - - _videoin->get_pixel_formats(&pixel_formats); - - for (uint32_t px_fmt : pixel_formats) { - if (px_fmt == V4L2_PIX_FMT_NV12 || px_fmt == V4L2_PIX_FMT_GREY) { - _format = px_fmt; - break; - } - - /* if V4L2_PIX_FMT_YUYV format is found we still iterate through - * the vector since the other formats need no conversions. */ - if (px_fmt == V4L2_PIX_FMT_YUYV) { - _format = px_fmt; - } - } #endif if (!_videoin->set_format(&_width, &_height, &_format, &_bytesperline, diff --git a/libraries/AP_HAL_Linux/SPIDevice.cpp b/libraries/AP_HAL_Linux/SPIDevice.cpp index d945bfff96..65d07454e3 100644 --- a/libraries/AP_HAL_Linux/SPIDevice.cpp +++ b/libraries/AP_HAL_Linux/SPIDevice.cpp @@ -75,10 +75,6 @@ SPIDesc SPIDeviceManager::_device[] = { SPIDesc("mpu6000", 2, 0, SPI_MODE_3, 8, BBB_P9_28, 500*1000, 20*MHZ), SPIDesc("mpu9250", 2, 0, SPI_MODE_3, 8, BBB_P9_23, 1*MHZ, 11*MHZ), }; -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE -SPIDesc SPIDeviceManager::_device[] = { - SPIDesc("mpu6000", 0, 0, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 15*MHZ) -}; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 SPIDesc SPIDeviceManager::_device[] = { SPIDesc("mpu9250", 0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ), diff --git a/libraries/AP_HAL_Linux/VideoIn.cpp b/libraries/AP_HAL_Linux/VideoIn.cpp index 4da23db801..1e251d7d4b 100644 --- a/libraries/AP_HAL_Linux/VideoIn.cpp +++ b/libraries/AP_HAL_Linux/VideoIn.cpp @@ -18,8 +18,7 @@ */ #include -#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE +#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #include "VideoIn.h" #include diff --git a/libraries/AP_HAL_Linux/benchmarks/benchmark_videoin.cpp b/libraries/AP_HAL_Linux/benchmarks/benchmark_videoin.cpp index 5f681b7b39..120e8eec61 100644 --- a/libraries/AP_HAL_Linux/benchmarks/benchmark_videoin.cpp +++ b/libraries/AP_HAL_Linux/benchmarks/benchmark_videoin.cpp @@ -1,8 +1,7 @@ #include #include -#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE +#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #include diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp index b4ea9b6876..ba7b3a8e91 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp @@ -31,8 +31,6 @@ extern const AP_HAL::HAL& hal; #include #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF #define INVENSENSE_DRDY_PIN BBB_P8_14 -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE -#define INVENSENSE_DRDY_PIN MINNOW_GPIO_I2S_CLK #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #define INVENSENSE_EXT_SYNC_ENABLE 1 #endif diff --git a/libraries/AP_Notify/AP_Notify.cpp b/libraries/AP_Notify/AP_Notify.cpp index 69d0b0a32b..e21fa51b5b 100644 --- a/libraries/AP_Notify/AP_Notify.cpp +++ b/libraries/AP_Notify/AP_Notify.cpp @@ -208,9 +208,6 @@ void AP_Notify::add_backends(void) ADD_BACKEND(new Buzzer()); ADD_BACKEND(new Display()); - #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE - ADD_BACKEND(new RCOutputRGBLedOff(15, 13, 14, 255)); - #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI ADD_BACKEND(new AP_BoardLED()); diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp index 0d1d9548b1..94e359d0e5 100644 --- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp +++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp @@ -19,8 +19,7 @@ #include "OpticalFlow.h" #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX &&\ - (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE) + CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #ifndef OPTICALFLOW_ONBOARD_DEBUG #define OPTICALFLOW_ONBOARD_DEBUG 0 diff --git a/libraries/AP_OpticalFlow/OpticalFlow.cpp b/libraries/AP_OpticalFlow/OpticalFlow.cpp index cba6862e78..d7491cf6dc 100644 --- a/libraries/AP_OpticalFlow/OpticalFlow.cpp +++ b/libraries/AP_OpticalFlow/OpticalFlow.cpp @@ -104,8 +104,7 @@ void OpticalFlow::init(void) } #elif CONFIG_HAL_BOARD == HAL_BOARD_SITL backend = new AP_OpticalFlow_SITL(*this); -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE +#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP backend = new AP_OpticalFlow_Onboard(*this); #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX backend = AP_OpticalFlow_PX4Flow::detect(*this);