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AP_BoardConfig: support the PHMINI as BRD_TYPE=5

This commit is contained in:
Andrew Tridgell 2016-08-03 18:35:46 +10:00
parent 61e15af3ca
commit 77bee322e9
2 changed files with 39 additions and 19 deletions
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1
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -82,6 +82,7 @@ private:
void px4_start_fmuv2_sensors(void);
void px4_start_fmuv4_sensors(void);
void px4_start_pixhawk2slim_sensors(void);
void px4_start_phmini_sensors(void);
void px4_start_optional_sensors(void);
#endif // HAL_BOARD_PX4 || HAL_BOARD_VRBRAIN

57
libraries/AP_BoardConfig/px4_drivers.cpp
View File

@ -72,6 +72,7 @@ extern "C" {
#define UAVCAN_IOCG_NODEID_INPROGRESS _UAVCAN_IOC(1) // query if node identification is in progress
#endif
/*
setup PWM pins
*/
@ -361,25 +362,12 @@ void AP_BoardConfig::px4_start_pixhawk2slim_sensors(void)
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");
if (px4_start_driver(mpu9250_main, "mpu9250", "-R 14 start")) {
printf("Found MPU9250 internal\n");
} else if (px4_start_driver(mpu6000_main, "mpu6000", "-R 14 -T 20608 start")) {
printf("Found ICM20608 internal\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");
}
px4_sensor_error("No MPU9250 or ICM20608");
}
// on Pixhawk2 default IMU temperature to 60
@ -389,6 +377,32 @@ void AP_BoardConfig::px4_start_pixhawk2slim_sensors(void)
#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
}
/*
setup sensors for PHMINI
*/
void AP_BoardConfig::px4_start_phmini_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
printf("Starting PHMINI sensors\n");
// ICM20608 on SPI
if (px4_start_driver(mpu6000_main, "mpu6000", "-S 2 -T 20608 start")) {
printf("Found ICM20608 internal\n");
} else {
px4_sensor_error("No ICM20608 found");
}
if (px4_start_driver(mpu9250_main, "mpu9250", "start")) {
printf("Found mpu9260\n");
} else {
px4_sensor_error("No MPU9250 found");
}
printf("PHMINI sensors started\n");
#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
}
/*
setup sensors for PX4v1
*/
@ -498,6 +512,11 @@ void AP_BoardConfig::px4_setup_drivers(void)
case PX4_BOARD_PH2SLIM:
px4_start_pixhawk2slim_sensors();
break;
case PX4_BOARD_PHMINI:
px4_start_phmini_sensors();
break;
case PX4_BOARD_AUTO:
default:
px4_start_fmuv1_sensors();
@ -521,7 +540,7 @@ void AP_BoardConfig::px4_sensor_error(const char *reason)
*/
while (true) {
printf("Sensor failure: %s\n", reason);
hal.console->printf("Sensor failure: %s\n", reason);
hal.console->printf("Check BRD_TYPE: %s\n", reason);
hal.scheduler->delay(3000);
}
}