From 614a059819855f217b0a5ad111c549fccac06236 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 2 Jun 2019 17:39:07 +1000 Subject: [PATCH] HAL_ChibiOS: convert more boards to using new sensor config system --- .../AP_HAL_ChibiOS/hwdef/NucleoH743/hwdef.dat | 8 ++++---- .../hwdef/OmnibusNanoV6/hwdef.dat | 8 ++++---- .../hwdef/omnibusf4pro/hwdef.dat | 8 ++++---- .../AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef.dat | 11 ++++------- .../AP_HAL_ChibiOS/hwdef/revo-mini/hwdef.dat | 18 +++++++----------- .../AP_HAL_ChibiOS/hwdef/sparky2/hwdef.dat | 17 +++++++++-------- .../AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef.dat | 16 +++++++--------- 7 files changed, 39 insertions(+), 47 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/NucleoH743/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/NucleoH743/hwdef.dat index f791c2285e..e6b1acdaa2 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/NucleoH743/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/NucleoH743/hwdef.dat @@ -63,13 +63,13 @@ SPIDEV ms5611 SPI3 DEVID2 BARO_CS MODE3 8*MHZ 8*MHZ PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1) PA1 BATT_CURRENT_SENS ADC1 SCALE(1) -define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI - define ALLOW_ARM_NO_COMPASS define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE # probe for an invensense IMU -define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI -define HAL_INS_DEFAULT_ROTATION ROTATION_NONE +IMU Invensense SPI:mpu6000 ROTATION_NONE + +# and ms5611 baro +BARO MS56XX SPI:ms56xx # define HAL_DISABLE_DCACHE diff --git a/libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef.dat index 631b421cc8..41b30b2a75 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef.dat @@ -98,11 +98,11 @@ define HAL_LOGGING_DATAFLASH define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSNANOV6 -define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI -define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_90 +# one IMU +IMU Invensense SPI:mpu6000 ROTATION_YAW_90 -define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI -define HAL_BARO_BMP280_NAME "bmp280" +# one baro +BARO BMP280 SPI:bmp280 # no built-in compass, but probe the i2c bus for all possible # external compass types diff --git a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat index d58495db04..99c2051388 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat @@ -94,11 +94,11 @@ SPIDEV osd SPI3 DEVID4 OSD_CS MODE0 10*MHZ 10*MHZ define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSF4PRO -define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI -define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180 +# one IMU +IMU Invensense SPI:mpu6000 ROTATION_YAW_180 -define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI -define HAL_BARO_BMP280_NAME "bmp280" +# one baro +BARO BMP280 SPI:bmp280 # no built-in compass, but probe the i2c bus for all possible # external compass types diff --git a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef.dat index c26cdde324..4f68da1d4e 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef.dat @@ -116,14 +116,11 @@ SPIDEV dataflash SPI2 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ # enable logging to dataflash define HAL_LOGGING_DATAFLASH +# one IMU +IMU Invensense SPI:mpu6000 ROTATION_YAW_90 -define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI -# V6 needs 90 degree gyro alignment -define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_90 - -# Baro -define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI -define HAL_BARO_BMP280_NAME "bmp280" +# one baro +BARO BMP280 SPI:bmp280 # no built-in compass, but probe the i2c bus for all possible # external compass types diff --git a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef.dat index dd0c251994..0f86d231fd 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef.dat @@ -117,22 +117,18 @@ define STORAGE_FLASH_PAGE 2 # reserve 32k for bootloader and 32k for flash storage FLASH_RESERVE_START_KB 64 -define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI -define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180 +# one IMU +IMU Invensense SPI:mpu6000 ROTATION_YAW_90 -define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843 -define HAL_COMPASS_HMC5843_I2C_BUS 0 -define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E -define HAL_COMPASS_HMC5843_ROTATION ROTATION_YAW_270 -define HAL_COMPASS_AUTO_ROT_DEFAULT 2 - -define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C -define HAL_BARO_MS5611_I2C_BUS 0 -define HAL_BARO_MS5611_I2C_ADDR 0x77 +# one baro +BARO MS56XX I2C:0:0x77 # also allow for probing of external barometers define HAL_PROBE_EXTERNAL_I2C_BAROS +# look for internal I2C compass +COMPASS HMC5843 I2C:0:0x1E false ROTATION_YAW_270 + # SPI devices SPIDEV mpu6000 SPI1 DEVID1 MPU_CS MODE3 1*MHZ 8*MHZ SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/sparky2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/sparky2/hwdef.dat index 5874c3e923..72026e8417 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/sparky2/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/sparky2/hwdef.dat @@ -41,11 +41,6 @@ I2C_ORDER I2C1 PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 -# -------BARO------------- -define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C -define HAL_BARO_MS5611_I2C_BUS 0 -define HAL_BARO_MS5611_I2C_ADDR 0x77 - # ---------USB------------- PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 @@ -125,11 +120,17 @@ FLASH_SIZE_KB 1024 # reserve 16k for bootloader and 32k for flash storage FLASH_RESERVE_START_KB 64 -define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI -define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 +# one IMU +IMU Invensense SPI:mpu9250 ROTATION_NONE + +# one baro +BARO MS56XX I2C:0:0x77 + +# one compass in mpu9250 +COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE + define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_I2C_INTERNAL_MASK 0 -define HAL_COMPASS_AUTO_ROT_DEFAULT 2 # SPI devices SPIDEV mpu9250 SPI1 DEVID4 MPU_CS MODE3 1*MHZ 4*MHZ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef.dat index 9d3fafb521..00b1574751 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef.dat @@ -122,8 +122,13 @@ define STORAGE_FLASH_PAGE 2 # reserve 32k for bootloader and 32k for flash storage FLASH_RESERVE_START_KB 64 -define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI -define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270 +# one IMU +IMU Invensense SPI:mpu6000 ROTATION_YAW_270 + +# probe for a BMP085, but also look for other baros +BARO BMP085 I2C:0:0x77 +define HAL_PROBE_EXTERNAL_I2C_BAROS +define HAL_BARO_ALLOW_INIT_NO_BARO # no built-in compass, but probe the i2c bus for all possible # external compass types @@ -131,13 +136,6 @@ define ALLOW_ARM_NO_COMPASS define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_I2C_INTERNAL_MASK 1 -define HAL_COMPASS_AUTO_ROT_DEFAULT 2 - -define HAL_PROBE_EXTERNAL_I2C_BAROS -define HAL_BARO_ALLOW_INIT_NO_BARO -define HAL_BARO_DEFAULT HAL_BARO_BMP085 -define HAL_BARO_BMP085_BUS 0 -define HAL_BARO_BMP085_I2C_ADDR 0x77 # SPI devices SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ