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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.
This commit is contained in:
Lucas De Marchi 2018-06-21 16:40:22 -07:00
parent d31e85e738
commit 49d08ba72a
20 changed files with 9 additions and 176 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
BUILD.md
View File

@ -59,7 +59,6 @@ list some basic and more used commands as example.
```sh ```sh
./waf configure --board bebop --static # Bebop or Bebop2 ./waf configure --board bebop --static # Bebop or Bebop2
./waf configure --board edge # emlid edge ./waf configure --board edge # emlid edge
./waf configure --board minilure # minilure linux flight controller
./waf configure --board navio2 # emlid navio2 ./waf configure --board navio2 # emlid navio2
./waf configure --board px4-v1 # the very old two layer Pixhawk (almost none exist) ./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 ./waf configure --board px4-v2 # older Pixhawks that suffer from the 1MB flash limit issue

9
Tools/ardupilotwaf/boards.py
View File

@ -449,15 +449,6 @@ class linux(Board):
# Avoid infinite recursion # Avoid infinite recursion
bld.options.upload = False 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): class erleboard(linux):
toolchain = 'arm-linux-gnueabihf' toolchain = 'arm-linux-gnueabihf'

6
libraries/AP_BattMonitor/AP_BattMonitor_Analog.h
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@ -75,12 +75,6 @@
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f # define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f # 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) #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_VOLT_PIN 2
# define AP_BATT_CURR_PIN 3 # define AP_BATT_CURR_PIN 3

12
libraries/AP_Compass/AP_Compass.cpp
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@ -803,18 +803,6 @@ void Compass::_detect_backends(void)
AP_Compass_AK8963::name, false); AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 1), ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 1),
AP_Compass_AK8963::name, true); 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 #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), ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m"), ROTATION_ROLL_180),
AP_Compass_LSM9DS1::name, false); AP_Compass_LSM9DS1::name, false);

1
libraries/AP_HAL/AP_HAL_Boards.h
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@ -26,7 +26,6 @@
#define HAL_BOARD_SUBTYPE_LINUX_ZYNQ 1004 #define HAL_BOARD_SUBTYPE_LINUX_ZYNQ 1004
#define HAL_BOARD_SUBTYPE_LINUX_BBBMINI 1005 #define HAL_BOARD_SUBTYPE_LINUX_BBBMINI 1005
#define HAL_BOARD_SUBTYPE_LINUX_BEBOP 1006 #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_ERLEBRAIN2 1009
#define HAL_BOARD_SUBTYPE_LINUX_BH 1010 #define HAL_BOARD_SUBTYPE_LINUX_BH 1010
#define HAL_BOARD_SUBTYPE_LINUX_PXFMINI 1012 #define HAL_BOARD_SUBTYPE_LINUX_PXFMINI 1012

24
libraries/AP_HAL/board/linux.h
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@ -118,30 +118,6 @@
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0 #define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
// the disco has challenges with its magnetic setup // the disco has challenges with its magnetic setup
#define AP_COMPASS_OFFSETS_MAX_DEFAULT 2200 #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 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
#define HAL_GPIO_A_LED_PIN 0 #define HAL_GPIO_A_LED_PIN 0
#define HAL_GPIO_B_LED_PIN 1 #define HAL_GPIO_B_LED_PIN 1

2
libraries/AP_HAL_Linux/AnalogIn_IIO.h
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@ -18,8 +18,6 @@
#define IIO_VOLTAGE_SCALING 1.8/4095.0 #define IIO_VOLTAGE_SCALING 1.8/4095.0
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
#define IIO_VOLTAGE_SCALING 3.0*1.8/4095.0 #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 #else
#define IIO_VOLTAGE_SCALING 1.0 #define IIO_VOLTAGE_SCALING 1.0
#endif #endif

3
libraries/AP_HAL_Linux/Flow_PX4.cpp
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@ -37,8 +37,7 @@
* *
****************************************************************************/ ****************************************************************************/
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
#include "Flow_PX4.h" #include "Flow_PX4.h"
#include <cmath> #include <cmath>

2
libraries/AP_HAL_Linux/GPIO.h
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@ -35,8 +35,6 @@ private:
#include "GPIO_Navio2.h" #include "GPIO_Navio2.h"
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
#include "GPIO_Edge.h" #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 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
#include "GPIO_Bebop.h" #include "GPIO_Bebop.h"
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO

37
libraries/AP_HAL_Linux/GPIO_Minnow.cpp
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@ -1,37 +0,0 @@
#include <AP_Common/AP_Common.h>
#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

29
libraries/AP_HAL_Linux/GPIO_Minnow.h
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@ -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,
};

18
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
View File

@ -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_ERLEBOARD || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \ 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_BLUE || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
static AnalogIn_IIO analogIn; static AnalogIn_IIO analogIn;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \ #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE 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_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
static GPIO_Sysfs gpioDriver; static GPIO_Sysfs gpioDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE || \ #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
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_DISCO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
static GPIO_Sysfs gpioDriver; static GPIO_Sysfs gpioDriver;
@ -150,8 +148,6 @@ static RCInput_RPI rcinDriver;
static RCInput_ZYNQ rcinDriver; static RCInput_ZYNQ rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
static RCInput_UDP rcinDriver; 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 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
static RCInput_Multi rcinDriver{2, new RCInput_SBUS, new RCInput_115200("/dev/uart-sumd")}; static RCInput_Multi rcinDriver{2, new RCInput_SBUS, new RCInput_115200("/dev/uart-sumd")};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO #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; static RCOutput_ZYNQ rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #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)); 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 #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)); 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 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
@ -214,8 +203,7 @@ static Empty::RCOutput rcoutDriver;
static Scheduler schedulerInstance; static Scheduler schedulerInstance;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
static OpticalFlow_Onboard opticalFlow; static OpticalFlow_Onboard opticalFlow;
#else #else
static Empty::OpticalFlow opticalFlow; static Empty::OpticalFlow opticalFlow;

20
libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp
View File

@ -14,8 +14,7 @@
*/ */
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
#include "OpticalFlow_Onboard.h" #include "OpticalFlow_Onboard.h"
#include <fcntl.h> #include <fcntl.h>
@ -92,23 +91,6 @@ void OpticalFlow_Onboard::init()
AP_HAL::panic("OpticalFlow_Onboard: couldn't set subdev fmt\n"); AP_HAL::panic("OpticalFlow_Onboard: couldn't set subdev fmt\n");
} }
_format = V4L2_PIX_FMT_NV12; _format = V4L2_PIX_FMT_NV12;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
std::vector<uint32_t> 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 #endif
if (!_videoin->set_format(&_width, &_height, &_format, &_bytesperline, if (!_videoin->set_format(&_width, &_height, &_format, &_bytesperline,

4
libraries/AP_HAL_Linux/SPIDevice.cpp
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@ -75,10 +75,6 @@ SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("mpu6000", 2, 0, SPI_MODE_3, 8, BBB_P9_28, 500*1000, 20*MHZ), 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), 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 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
SPIDesc SPIDeviceManager::_device[] = { SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("mpu9250", 0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ), SPIDesc("mpu9250", 0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),

3
libraries/AP_HAL_Linux/VideoIn.cpp
View File

@ -18,8 +18,7 @@
*/ */
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
#include "VideoIn.h" #include "VideoIn.h"
#include <errno.h> #include <errno.h>

3
libraries/AP_HAL_Linux/benchmarks/benchmark_videoin.cpp
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@ -1,8 +1,7 @@
#include <AP_gbenchmark.h> #include <AP_gbenchmark.h>
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
#include <AP_HAL_Linux/VideoIn.h> #include <AP_HAL_Linux/VideoIn.h>

2
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
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@ -31,8 +31,6 @@ extern const AP_HAL::HAL& hal;
#include <AP_HAL_Linux/GPIO.h> #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 #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 #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 #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 #define INVENSENSE_EXT_SYNC_ENABLE 1
#endif #endif

3
libraries/AP_Notify/AP_Notify.cpp
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@ -208,9 +208,6 @@ void AP_Notify::add_backends(void)
ADD_BACKEND(new Buzzer()); ADD_BACKEND(new Buzzer());
ADD_BACKEND(new Display()); 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 || \ #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
ADD_BACKEND(new AP_BoardLED()); ADD_BACKEND(new AP_BoardLED());

3
libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp
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@ -19,8 +19,7 @@
#include "OpticalFlow.h" #include "OpticalFlow.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX &&\ #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX &&\
(CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE)
#ifndef OPTICALFLOW_ONBOARD_DEBUG #ifndef OPTICALFLOW_ONBOARD_DEBUG
#define OPTICALFLOW_ONBOARD_DEBUG 0 #define OPTICALFLOW_ONBOARD_DEBUG 0

3
libraries/AP_OpticalFlow/OpticalFlow.cpp
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@ -104,8 +104,7 @@ void OpticalFlow::init(void)
} }
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL #elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
backend = new AP_OpticalFlow_SITL(*this); backend = new AP_OpticalFlow_SITL(*this);
#elif 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_MINLURE
backend = new AP_OpticalFlow_Onboard(*this); backend = new AP_OpticalFlow_Onboard(*this);
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
backend = AP_OpticalFlow_PX4Flow::detect(*this); backend = AP_OpticalFlow_PX4Flow::detect(*this);