Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_BoardConfig: startup core peripherals for PX4

This commit is contained in:
Andrew Tridgell 2016-11-03 13:16:44 +11:00
parent 84f93439ca
commit 7e803df221
2 changed files with 41 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -100,6 +100,7 @@ private:
void px4_setup_sbus(void);
void px4_setup_canbus(void);
void px4_setup_drivers(void);
void px4_setup_peripherals(void);
void px4_sensor_error(const char *reason);
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4

40
libraries/AP_BoardConfig/px4_drivers.cpp
View File

@ -51,6 +51,8 @@ extern "C" {
int pwm_input_main(int, char **);
int uavcan_main(int, char **);
int fmu_main(int, char **);
int px4io_main(int, char **);
int adc_main(int, char **);
};
@ -739,6 +741,43 @@ void AP_BoardConfig::px4_setup_drivers(void)
hal.scheduler->delay(1000);
}
/*
setup required peripherals like adc, rcinput and rcoutput
*/
void AP_BoardConfig::px4_setup_peripherals(void)
{
// always start adc
if (px4_start_driver(adc_main, "adc", "start")) {
hal.analogin->init();
printf("ADC started OK\n");
} else {
px4_sensor_error("no ADC found");
}
#ifndef CONFIG_ARCH_BOARD_PX4FMU_V4
if (px4_start_driver(px4io_main, "px4io", "start norc")) {
printf("px4io started OK\n");
} else {
px4_sensor_error("px4io start failed found");
}
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
const char *fmu_mode = "mode_serial";
#else
const char *fmu_mode = "mode_pwm4";
#endif
if (px4_start_driver(fmu_main, "fmu", fmu_mode)) {
printf("fmu %s started OK\n", fmu_mode);
} else {
px4_sensor_error("fmu start failed");
}
hal.gpio->init();
hal.rcin->init();
hal.rcout->init();
}
/*
fail startup of a required sensor
*/
@ -762,6 +801,7 @@ void AP_BoardConfig::px4_sensor_error(const char *reason)
*/
void AP_BoardConfig::px4_setup()
{
px4_setup_peripherals();
px4_setup_pwm();
px4_setup_safety();
px4_setup_uart();