Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-03 04:03:59 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_BoardConfig: switched to always using in-tree sensors

Browse Source
This commit is contained in:
Andrew Tridgell 2016-12-10 18:00:02 +11:00
parent da2638e424
commit 67b97b21db
3 changed files with 24 additions and 312 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_BoardConfig/AP_BoardConfig.cpp
View File

@ -120,7 +120,7 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("SERIAL_NUM", 5, AP_BoardConfig, vehicleSerialNumber, 0), AP_GROUPINFO("SERIAL_NUM", 5, AP_BoardConfig, vehicleSerialNumber, 0),
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && !defined(CONFIG_ARCH_BOARD_PX4FMU_V1) #if HAL_WITH_UAVCAN
// @Param: CAN_ENABLE // @Param: CAN_ENABLE
// @DisplayName: Enable use of UAVCAN devices // @DisplayName: Enable use of UAVCAN devices
// @Description: Enabling this option on a Pixhawk enables UAVCAN devices. Note that this uses about 25k of memory // @Description: Enabling this option on a Pixhawk enables UAVCAN devices. Note that this uses about 25k of memory

17
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -76,7 +76,7 @@ private:
AP_Int8 pwm_count; AP_Int8 pwm_count;
AP_Int8 safety_enable; AP_Int8 safety_enable;
AP_Int32 ignore_safety_channels; AP_Int32 ignore_safety_channels;
#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1 #if HAL_WITH_UAVCAN
AP_Int8 can_enable; AP_Int8 can_enable;
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
@ -106,21 +106,8 @@ private:
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
void px4_autodetect(void); void px4_autodetect(void);
void px4_start_common_sensors(void);
void px4_start_fmuv1_sensors(void);
void px4_start_fmuv2_sensors(void);
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
void vrx_start_common_sensors(void);
void vrx_start_brain51_sensors(void);
void vrx_start_brain52_sensors(void);
void vrx_start_ubrain51_sensors(void);
void vrx_start_ubrain52_sensors(void);
void vrx_start_core10_sensors(void);
void vrx_start_brain54_sensors(void);
#endif
#endif // HAL_BOARD_PX4 || HAL_BOARD_VRBRAIN #endif // HAL_BOARD_PX4 || HAL_BOARD_VRBRAIN
// target temperarure for IMU in Celsius, or -1 to disable // target temperarure for IMU in Celsius, or -1 to disable

317
libraries/AP_BoardConfig/px4_drivers.cpp
View File

@ -39,13 +39,9 @@ AP_BoardConfig::px4_board_type AP_BoardConfig::px4_configured_board;
declare driver main entry points declare driver main entry points
*/ */
extern "C" { extern "C" {
int mpu6000_main(int , char **); #if HAL_WITH_UAVCAN
int mpu9250_main(int , char **);
int ms5611_main(int , char **);
int l3gd20_main(int , char **);
int lsm303d_main(int , char **);
int hmc5883_main(int , char **);
int uavcan_main(int, char **); int uavcan_main(int, char **);
#endif
int fmu_main(int, char **); int fmu_main(int, char **);
int px4io_main(int, char **); int px4io_main(int, char **);
int adc_main(int, char **); int adc_main(int, char **);
@ -214,7 +210,7 @@ void AP_BoardConfig::px4_setup_sbus(void)
*/ */
void AP_BoardConfig::px4_setup_canbus(void) void AP_BoardConfig::px4_setup_canbus(void)
{ {
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && !defined(CONFIG_ARCH_BOARD_PX4FMU_V1) #if HAL_WITH_UAVCAN
if (px4.can_enable >= 1) { if (px4.can_enable >= 1) {
// give time for other drivers to fully start before we start // give time for other drivers to fully start before we start
// canbus. This prevents a race where a canbus mag comes up // canbus. This prevents a race where a canbus mag comes up
@ -292,239 +288,6 @@ bool AP_BoardConfig::px4_start_driver(main_fn_t main_function, const char *name,
return (status >> 8) == 0; return (status >> 8) == 0;
} }
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
/*
setup sensors for PX4v2
*/
void AP_BoardConfig::px4_start_fmuv2_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
bool have_FMUV3 = false;
printf("Starting FMUv2 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");
have_FMUV3 = true;
} else {
if (px4_start_driver(mpu9250_main, "mpu9250", "-X -R 4 start")) {
printf("Found MPU9250 external\n");
have_FMUV3 = true;
} else {
printf("No MPU6000 or MPU9250 external\n");
}
}
if (have_FMUV3) {
// external L3GD20 is rotated YAW_180 from standard
if (px4_start_driver(l3gd20_main, "l3gd20", "-X -R 4 start")) {
printf("l3gd20 external started OK\n");
} else {
px4_sensor_error("No l3gd20");
}
// external LSM303D is rotated YAW_270 from standard
if (px4_start_driver(lsm303d_main, "lsm303d", "-a 16 -X -R 6 start")) {
printf("lsm303d external started OK\n");
} else {
px4_sensor_error("No lsm303d");
}
// 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");
}
}
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -T -S -R 8 start")) {
printf("Found SPI hmc5883\n");
}
} else {
// not FMUV3 (ie. not a pixhawk2)
if (px4_start_driver(mpu6000_main, "mpu6000", "start")) {
printf("Found MPU6000\n");
} else {
if (px4_start_driver(mpu9250_main, "mpu9250", "start")) {
printf("Found MPU9250\n");
} else {
printf("No MPU6000 or MPU9250\n");
}
}
if (px4_start_driver(l3gd20_main, "l3gd20", "start")) {
printf("l3gd20 started OK\n");
} else {
px4_sensor_error("no l3gd20 found");
}
if (px4_start_driver(lsm303d_main, "lsm303d", "-a 16 start")) {
printf("lsm303d started OK\n");
} else {
px4_sensor_error("no lsm303d found");
}
}
if (have_FMUV3) {
// on Pixhawk2 default IMU temperature to 60
_imu_target_temperature.set_default(60);
}
printf("FMUv2 sensors started\n");
#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
}
/*
setup sensors for PX4v1
*/
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 -I start")) {
printf("Have internal hmc5883\n");
} else {
printf("No internal hmc5883\n");
}
if (px4_start_driver(mpu6000_main, "mpu6000", "start")) {
printf("mpu6000 started OK\n");
} else {
px4_sensor_error("mpu6000");
}
#endif // CONFIG_ARCH_BOARD_PX4FMU_V1
}
/*
setup common sensors
*/
void AP_BoardConfig::px4_start_common_sensors(void)
{
#ifndef CONFIG_ARCH_BOARD_PX4FMU_V4
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");
}
#endif
}
#endif // CONFIG_HAL_BOARD
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
void AP_BoardConfig::vrx_start_brain51_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -R 12 -I start")) {
printf("HMC5883 Internal GPS started OK\n");
} else {
printf("HMC5883 Internal GPS start failed\n");
}
if (px4_start_driver(mpu6000_main, "mpu6000", "-R 12 start")) {
printf("MPU6000 Internal started OK\n");
} else {
px4_sensor_error("MPU6000 Internal start failed");
}
#endif
}
void AP_BoardConfig::vrx_start_brain52_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -R 12 -I start")) {
printf("HMC5883 Internal GPS started OK\n");
} else {
printf("HMC5883 Internal GPS start failed\n");
}
if (px4_start_driver(mpu6000_main, "mpu6000", "-R 12 start")) {
printf("MPU6000 Internal started OK\n");
} else {
px4_sensor_error("MPU6000 Internal start failed");
}
#endif
}
void AP_BoardConfig::vrx_start_ubrain51_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
if (px4_start_driver(mpu6000_main, "mpu6000", "-R 12 start")) {
printf("MPU6000 Internal started OK\n");
} else {
px4_sensor_error("MPU6000 Internal start failed");
}
#endif
}
void AP_BoardConfig::vrx_start_ubrain52_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
if (px4_start_driver(mpu6000_main, "mpu6000", "-R 12 start")) {
printf("MPU6000 Internal started OK\n");
} else {
px4_sensor_error("MPU6000 Internal start failed");
}
#endif
}
void AP_BoardConfig::vrx_start_core10_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_VRCORE_V10)
if (px4_start_driver(mpu9250_main, "mpu9250", "-R 4 start")) {
printf("MPU9250 Internal started OK\n");
} else {
px4_sensor_error("MPU9250 Internal start failed");
}
#endif
}
void AP_BoardConfig::vrx_start_brain54_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V54)
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -R 12 -I start")) {
printf("HMC5883 Internal GPS started OK\n");
} else {
printf("HMC5883 Internal GPS start failed\n");
}
if (px4_start_driver(mpu6000_main, "mpu6000", "-R 12 start")) {
printf("MPU6000 Internal started OK\n");
} else {
px4_sensor_error("MPU6000 Internal start failed");
}
#endif
}
/*
setup common sensors
*/
void AP_BoardConfig::vrx_start_common_sensors(void)
{
if (px4_start_driver(ms5611_main, "ms5611", "-s start")) {
printf("MS5611 Internal started OK\n");
} else {
px4_sensor_error("MS5611 Internal start failed");
}
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -X start")) {
printf("HMC5883 External GPS started OK\n");
} else {
printf("HMC5883 External GPS start failed\n");
}
}
#endif // CONFIG_HAL_BOARD
void AP_BoardConfig::px4_setup_drivers(void) void AP_BoardConfig::px4_setup_drivers(void)
{ {
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4) #if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
@ -538,6 +301,11 @@ void AP_BoardConfig::px4_setup_drivers(void)
} }
#endif #endif
if (px4.board_type == PX4_BOARD_OLDDRIVERS) {
printf("Old drivers no longer supported\n");
px4.board_type = PX4_BOARD_AUTO;
}
// run board auto-detection // run board auto-detection
px4_autodetect(); px4_autodetect();
@ -546,63 +314,20 @@ void AP_BoardConfig::px4_setup_drivers(void)
_imu_target_temperature.set_default(60); _imu_target_temperature.set_default(60);
} }
if (px4.board_type == PX4_BOARD_PX4V1 ||
px4.board_type == PX4_BOARD_PHMINI ||
px4.board_type == PX4_BOARD_PH2SLIM ||
px4.board_type == PX4_BOARD_PIXRACER ||
px4.board_type == PX4_BOARD_PIXHAWK ||
px4.board_type == PX4_BOARD_PIXHAWK2) {
// use in-tree drivers
printf("Using in-tree drivers\n");
px4_configured_board = (enum px4_board_type)px4.board_type.get();
return;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
px4_start_common_sensors();
switch ((px4_board_type)px4.board_type.get()) {
case PX4_BOARD_AUTO:
default:
px4_start_fmuv1_sensors();
px4_start_fmuv2_sensors();
break;
}
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
vrx_start_common_sensors();
switch ((px4_board_type)px4.board_type.get()) {
case VRX_BOARD_BRAIN51:
vrx_start_brain51_sensors();
break;
case VRX_BOARD_BRAIN52:
vrx_start_brain52_sensors();
break;
case VRX_BOARD_UBRAIN51:
vrx_start_ubrain51_sensors();
break;
case VRX_BOARD_UBRAIN52:
vrx_start_ubrain52_sensors();
break;
case VRX_BOARD_CORE10:
vrx_start_core10_sensors();
break;
case VRX_BOARD_BRAIN54:
vrx_start_brain54_sensors();
break;
default:
break;
}
#endif // HAL_BOARD_PX4
px4_configured_board = (enum px4_board_type)px4.board_type.get(); px4_configured_board = (enum px4_board_type)px4.board_type.get();
// delay for 1 second to give time for drivers to initialise switch (px4_configured_board) {
hal.scheduler->delay(1000); case PX4_BOARD_PX4V1:
case PX4_BOARD_PIXHAWK:
case PX4_BOARD_PIXHAWK2:
case PX4_BOARD_PIXRACER:
case PX4_BOARD_PHMINI:
case PX4_BOARD_PH2SLIM:
break;
default:
px4_sensor_error("Unknown board type");
break;
}
} }
/* /*