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AP_BoardConfig: added BRD_TYPE 

this allows for PH2SLIM support with BRD_TYPE=6
This commit is contained in:
Andrew Tridgell 2016-08-03 17:56:04 +10:00
parent 7c5171e9b9
commit 61e15af3ca
3 changed files with 96 additions and 32 deletions
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11
libraries/AP_BoardConfig/AP_BoardConfig.cpp
View File

@ -125,7 +125,16 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
// @Units: degreesC
AP_GROUPINFO("IMU_TARGTEMP", 8, AP_BoardConfig, _imu_target_temperature, HAL_IMU_TEMP_DEFAULT),
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
// @Param: TYPE
// @DisplayName: Board type
// @Description: This allows selection of a PX4 board type. If set to zero then the board type is auto-detected
// @Values: 0:AUTO,1:PX4V1,2:Pixhawk,3:Pixhawk2,4:Pixracer,5:PixhawkMini,6:Pixhawk2Slim
// @RebootRequired: True
AP_GROUPINFO("TYPE", 9, AP_BoardConfig, px4.board_type, PX4_BOARD_AUTO),
#endif
AP_GROUPEND
};

23
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -36,18 +36,22 @@ public:
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
// public method to start a driver
static bool px4_start_driver(main_fn_t main_function, const char *name, const char *arguments);
// valid types for BRD_TYPE
enum px4_board_type {
PX4_BOARD_AUTO = 0,
PX4_BOARD_PX4V1 = 1,
PX4_BOARD_PIXHAWK = 2,
PX4_BOARD_PIXHAWK2 = 3,
PX4_BOARD_PIXRACER = 4,
PX4_BOARD_PHMINI = 5,
PX4_BOARD_PH2SLIM = 6,
};
#endif
private:
AP_Int16 vehicleSerialNumber;
enum px4_board_type {
PX4_BOARD_PX4V1,
PX4_BOARD_PIXHAWK,
PX4_BOARD_PIXHAWK2,
PX4_BOARD_PIXRACER
};
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
struct {
AP_Int8 pwm_count;
@ -61,7 +65,7 @@ private:
AP_Int8 ser2_rtscts;
AP_Int8 sbus_out_rate;
#endif
enum px4_board_type board_type;
AP_Int8 board_type;
} px4;
void px4_drivers_start(void);
void px4_setup(void);
@ -77,6 +81,7 @@ private:
void px4_start_fmuv1_sensors(void);
void px4_start_fmuv2_sensors(void);
void px4_start_fmuv4_sensors(void);
void px4_start_pixhawk2slim_sensors(void);
void px4_start_optional_sensors(void);
#endif // HAL_BOARD_PX4 || HAL_BOARD_VRBRAIN

94
libraries/AP_BoardConfig/px4_drivers.cpp
View File

@ -22,6 +22,7 @@
#include "AP_BoardConfig.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include <GCS_MAVLink/GCS.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
@ -267,11 +268,6 @@ void AP_BoardConfig::px4_start_fmuv2_sensors(void)
bool have_FMUV3 = false;
printf("Starting FMUv2 sensors\n");
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -T -X start")) {
printf("Have external hmc5883\n");
} else {
printf("No external hmc5883\n");
}
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -T -I -R 4 start")) {
printf("Have internal hmc5883\n");
} else {
@ -342,12 +338,57 @@ void AP_BoardConfig::px4_start_fmuv2_sensors(void)
if (have_FMUV3) {
// on Pixhawk2 default IMU temperature to 60
_imu_target_temperature.set_default(60);
px4.board_type.set_and_notify(PX4_BOARD_PIXHAWK2);
} else {
px4.board_type.set_and_notify(PX4_BOARD_PIXHAWK);
}
printf("FMUv2 sensors started\n");
#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
}
/*
setup sensors for Pixhawk2-slim
*/
void AP_BoardConfig::px4_start_pixhawk2slim_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
printf("Starting PH2SLIM sensors\n");
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -T -I -R 4 start")) {
printf("Have internal hmc5883\n");
} else {
printf("No internal hmc5883\n");
}
// external MPU6000 is rotated YAW_180 from standard
if (px4_start_driver(mpu6000_main, "mpu6000", "-X -R 4 start")) {
printf("Found MPU6000 external\n");
} else {
if (px4_start_driver(mpu9250_main, "mpu9250", "-X -R 4 start")) {
printf("Found MPU9250 external\n");
} else {
printf("No MPU6000 or MPU9250 external\n");
}
}
// internal MPU6000 is rotated ROLL_180_YAW_270 from standard
if (px4_start_driver(mpu6000_main, "mpu6000", "-R 14 start")) {
printf("Found MPU6000 internal\n");
} else {
if (px4_start_driver(mpu9250_main, "mpu9250", "-R 14 start")) {
printf("Found MPU9250 internal\n");
} else {
px4_sensor_error("No MPU6000 or MPU9250");
}
}
// on Pixhawk2 default IMU temperature to 60
_imu_target_temperature.set_default(60);
printf("PH2SLIM sensors started\n");
#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
}
/*
setup sensors for PX4v1
*/
@ -355,12 +396,7 @@ void AP_BoardConfig::px4_start_fmuv1_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
printf("Starting FMUv1 sensors\n");
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -T -X start")) {
printf("Have external hmc5883\n");
} else {
printf("No external hmc5883\n");
}
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -T -I start")) {
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -T -I start")) {
printf("Have internal hmc5883\n");
} else {
printf("No internal hmc5883\n");
@ -375,6 +411,7 @@ void AP_BoardConfig::px4_start_fmuv1_sensors(void)
} else {
printf("No l3gd20\n");
}
px4.board_type.set_and_notify(PX4_BOARD_PX4V1);
#endif // CONFIG_ARCH_BOARD_PX4FMU_V1
}
@ -385,11 +422,6 @@ void AP_BoardConfig::px4_start_fmuv4_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
printf("Starting FMUv4 sensors\n");
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -T -X start")) {
printf("Have external hmc5883\n");
} else {
printf("No external hmc5883\n");
}
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -T -S -R 2 start")) {
printf("Have SPI hmc5883\n");
} else {
@ -403,6 +435,7 @@ void AP_BoardConfig::px4_start_fmuv4_sensors(void)
if (px4_start_driver(mpu9250_main, "mpu9250", "-R 2 start")) {
printf("Found mpu9250 internal\n");
}
px4.board_type.set_and_notify(PX4_BOARD_PIXRACER);
#endif // CONFIG_ARCH_BOARD_PX4FMU_V4
}
@ -411,12 +444,16 @@ void AP_BoardConfig::px4_start_fmuv4_sensors(void)
*/
void AP_BoardConfig::px4_start_common_sensors(void)
{
printf("Starting APM sensors\n");
if (px4_start_driver(ms5611_main, "ms5611", "start")) {
printf("ms5611 started OK\n");
} else {
px4_sensor_error("no ms5611 found");
}
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -T -X start")) {
printf("Have external hmc5883\n");
} else {
printf("No external hmc5883\n");
}
}
@ -457,9 +494,17 @@ void AP_BoardConfig::px4_start_optional_sensors(void)
void AP_BoardConfig::px4_setup_drivers(void)
{
px4_start_common_sensors();
px4_start_fmuv1_sensors();
px4_start_fmuv2_sensors();
px4_start_fmuv4_sensors();
switch ((px4_board_type)px4.board_type.get()) {
case PX4_BOARD_PH2SLIM:
px4_start_pixhawk2slim_sensors();
break;
case PX4_BOARD_AUTO:
default:
px4_start_fmuv1_sensors();
px4_start_fmuv2_sensors();
px4_start_fmuv4_sensors();
break;
}
px4_start_optional_sensors();
}
@ -468,11 +513,16 @@ void AP_BoardConfig::px4_setup_drivers(void)
*/
void AP_BoardConfig::px4_sensor_error(const char *reason)
{
/*
to give the user the opportunity to connect to USB we keep
repeating the error. The mavlink delay callback is initialised
before this, so the user can change parameters (and in
particular BRD_TYPE if needed)
*/
while (true) {
printf("Sensor failure: %s\n", reason);
hal.console->printf("Sensor failure: %s\n", reason);
// need to force LED red
hal.scheduler->delay(1000);
hal.scheduler->delay(3000);
}
}