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AP_HAL_VRBRAIN: updates to libraries for new boards

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This commit is contained in:
Emile Castelnuovo 2014-12-30 11:30:31 +01:00 committed by Andrew Tridgell
parent a0673b56f9
commit 92e0bc3a2f
5 changed files with 30 additions and 4 deletions
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8
libraries/AP_HAL_VRBRAIN/AnalogIn.cpp
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@ -57,12 +57,16 @@ static const struct {
{ 0, 3.3f/4096 },
{ 10, 3.3f/4096 },
{ 11, 3.3f/4096 },
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
{ 0, 3.3f/4096 },
{ 10, 3.3f/4096 },
{ 11, 3.3f/4096 },
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
{ 10, 3.3f/4096 },
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
{ 1, 3.3f/4096 },
{ 2, 3.3f/4096 },
{ 3, 3.3f/4096 },
#endif
{ 10, 3.3f/4096 },
#elif defined(CONFIG_ARCH_BOARD_VRHERO_V10)
{ 10, 3.3f/4096 },

6
libraries/AP_HAL_VRBRAIN/AnalogIn.h
View File

@ -22,9 +22,15 @@
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN 10
#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN 11
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN 10
#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN 11
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN 10
#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN -1
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN 10
#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN 1
#elif defined(CONFIG_ARCH_BOARD_VRHERO_V10)
#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN 10
#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN 11

12
libraries/AP_HAL_VRBRAIN/HAL_VRBRAIN_Class.cpp
View File

@ -68,12 +68,24 @@ static VRBRAINGPIO gpioDriver;
#define UARTC_DEFAULT_DEVICE "/dev/ttyS2"
#define UARTD_DEFAULT_DEVICE "/dev/null"
#define UARTE_DEFAULT_DEVICE "/dev/ttyS1"
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
#define UARTB_DEFAULT_DEVICE "/dev/ttyS0"
#define UARTC_DEFAULT_DEVICE "/dev/ttyS2"
#define UARTD_DEFAULT_DEVICE "/dev/null"
#define UARTE_DEFAULT_DEVICE "/dev/ttyS1"
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
#define UARTB_DEFAULT_DEVICE "/dev/ttyS0"
#define UARTC_DEFAULT_DEVICE "/dev/ttyS2"
#define UARTD_DEFAULT_DEVICE "/dev/null"
#define UARTE_DEFAULT_DEVICE "/dev/null"
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
#define UARTB_DEFAULT_DEVICE "/dev/ttyS0"
#define UARTC_DEFAULT_DEVICE "/dev/ttyS2"
#define UARTD_DEFAULT_DEVICE "/dev/null"
#define UARTE_DEFAULT_DEVICE "/dev/null"
#elif defined(CONFIG_ARCH_BOARD_VRHERO_V10)
#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
#define UARTB_DEFAULT_DEVICE "/dev/ttyS1"

4
libraries/AP_HAL_VRBRAIN/Scheduler.cpp
View File

@ -262,8 +262,8 @@ void *VRBRAINScheduler::_timer_thread(void)
if (vrbrain_ran_overtime && millis() - last_ran_overtime > 2000) {
last_ran_overtime = millis();
printf("Overtime in task %d\n", (int)AP_Scheduler::current_task);
hal.console->printf("Overtime in task %d\n", (int)AP_Scheduler::current_task);
// printf("Overtime in task %d\n", (int)AP_Scheduler::current_task);
// hal.console->printf("Overtime in task %d\n", (int)AP_Scheduler::current_task);
}
}
return NULL;

4
libraries/AP_HAL_VRBRAIN/Util.cpp
View File

@ -114,8 +114,12 @@ bool VRBRAINUtil::get_system_id(char buf[40])
const char *board_type = "VRBRAINv50";
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
const char *board_type = "VRBRAINv51";
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
const char *board_type = "VRBRAINv52";
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
const char *board_type = "VRUBRAINv51";
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
const char *board_type = "VRUBRAINv52";
#elif defined(CONFIG_ARCH_BOARD_VRHERO_V10)
const char *board_type = "VRHEROv10";
#endif