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AP_BoardConfig: called board_setup() even without autodetect 

we need to init hal.rcou and hal.gpio
This commit is contained in:
Andrew Tridgell 2018-01-08 10:29:53 +11:00
parent b48b436923
commit 82cc36d6d0
3 changed files with 56 additions and 53 deletions
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2
libraries/AP_BoardConfig/AP_BoardConfig.cpp
View File

@ -179,9 +179,7 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
void AP_BoardConfig::init()
{
#if AP_FEATURE_BOARD_DETECT
board_setup();
#endif
#if HAL_HAVE_IMU_HEATER
// let the HAL know the target temperature. We pass a pointer as

7
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -141,12 +141,9 @@ private:
void px4_setup_peripherals(void);
#endif
void board_setup(void);
void board_init_safety(void);
void board_setup_safety_mask(void);
void board_setup_uart(void);
void board_setup_sbus(void);
void board_setup_drivers(void);
bool spi_check_register(const char *devname, uint8_t regnum, uint8_t value, uint8_t read_flag = 0x80);
void validate_board_type(void);
@ -154,6 +151,10 @@ private:
#endif // AP_FEATURE_BOARD_DETECT
void board_setup_uart(void);
void board_setup_sbus(void);
void board_setup(void);
static bool _in_sensor_config_error;
// target temperarure for IMU in Celsius, or -1 to disable

100
libraries/AP_BoardConfig/board_drivers.cpp
View File

@ -20,24 +20,11 @@
#include "AP_BoardConfig.h"
#include <stdio.h>
#if AP_FEATURE_BOARD_DETECT
extern const AP_HAL::HAL& hal;
AP_BoardConfig::px4_board_type AP_BoardConfig::px4_configured_board;
#if AP_FEATURE_BOARD_DETECT
/*
setup flow control on UARTs
*/
void AP_BoardConfig::board_setup_uart()
{
#if AP_FEATURE_RTSCTS
hal.uartC->set_flow_control((AP_HAL::UARTDriver::flow_control)state.ser1_rtscts.get());
if (hal.uartD != nullptr) {
hal.uartD->set_flow_control((AP_HAL::UARTDriver::flow_control)state.ser2_rtscts.get());
}
#endif
}
AP_BoardConfig::px4_board_type AP_BoardConfig::px4_configured_board;
/*
init safety state
@ -57,38 +44,6 @@ void AP_BoardConfig::board_init_safety()
#endif
}
/*
setup SBUS
*/
void AP_BoardConfig::board_setup_sbus(void)
{
#if AP_FEATURE_SBUS_OUT
if (state.sbus_out_rate.get() >= 1) {
static const struct {
uint8_t value;
uint16_t rate;
} rates[] = {
{ 1, 50 },
{ 2, 75 },
{ 3, 100 },
{ 4, 150 },
{ 5, 200 },
{ 6, 250 },
{ 7, 300 }
};
uint16_t rate = 300;
for (uint8_t i=0; i<ARRAY_SIZE(rates); i++) {
if (rates[i].value == state.sbus_out_rate) {
rate = rates[i].rate;
}
}
if (!hal.rcout->enable_px4io_sbus_out(rate)) {
hal.console->printf("Failed to enable SBUS out\n");
}
}
#endif
}
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
extern "C" {
int fmu_main(int, char **);
@ -269,6 +224,54 @@ void AP_BoardConfig::board_autodetect(void)
}
#endif // AP_FEATURE_BOARD_DETECT
/*
setup flow control on UARTs
*/
void AP_BoardConfig::board_setup_uart()
{
#if AP_FEATURE_RTSCTS
hal.uartC->set_flow_control((AP_HAL::UARTDriver::flow_control)state.ser1_rtscts.get());
if (hal.uartD != nullptr) {
hal.uartD->set_flow_control((AP_HAL::UARTDriver::flow_control)state.ser2_rtscts.get());
}
#endif
}
/*
setup SBUS
*/
void AP_BoardConfig::board_setup_sbus(void)
{
#if AP_FEATURE_SBUS_OUT
if (state.sbus_out_rate.get() >= 1) {
static const struct {
uint8_t value;
uint16_t rate;
} rates[] = {
{ 1, 50 },
{ 2, 75 },
{ 3, 100 },
{ 4, 150 },
{ 5, 200 },
{ 6, 250 },
{ 7, 300 }
};
uint16_t rate = 300;
for (uint8_t i=0; i<ARRAY_SIZE(rates); i++) {
if (rates[i].value == state.sbus_out_rate) {
rate = rates[i].rate;
}
}
if (!hal.rcout->enable_px4io_sbus_out(rate)) {
hal.console->printf("Failed to enable SBUS out\n");
}
}
#endif
}
/*
setup peripherals and drivers
*/
@ -286,7 +289,8 @@ void AP_BoardConfig::board_setup()
#endif
board_setup_uart();
board_setup_sbus();
#if AP_FEATURE_BOARD_DETECT
board_setup_drivers();
#endif
}
#endif // HAL_BOARD_PX4