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AP_HAL: convert HAL_Linux to use HAL_INS_PROBE_LIST 

makes for much simpler addition of new boards, especially with more
than one IMU
This commit is contained in:
Andrew Tridgell 2019-08-27 19:23:20 +10:00
parent d7abd636ac
commit 96180018fb
1 changed files with 28 additions and 54 deletions
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82
libraries/AP_HAL/board/linux.h
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@ -7,6 +7,11 @@
#define HAL_STORAGE_SIZE 16384
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
// make sensor selection clearer
#define PROBE_IMU_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.i2c_mgr->get_device(bus, addr),##args))
#define PROBE_IMU_SPI(driver, devname, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname),##args))
#define PROBE_IMU_SPI2(driver, devname1, devname2, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname1),hal.spi->get_device(devname2),##args))
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
#define HAL_BOARD_LOG_DIRECTORY "logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
@ -15,13 +20,11 @@
#define HAL_BARO_DEFAULT HAL_BARO_HIL
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
#define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_270
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_ROLL_180_YAW_270)
#else
#define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_90
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_ROLL_180_YAW_90)
#endif
#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_BARO_MS5611_NAME "ms5611"
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
@ -36,10 +39,7 @@
#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
#define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"
#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
#define HAL_INS_MPU60x0_I2C_BUS 2
#define HAL_INS_MPU60x0_I2C_ADDR 0x68
#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_YAW_270)
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
#define HAL_COMPASS_AK8963_I2C_BUS 1
#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
@ -80,10 +80,7 @@
#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
#define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"
#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
#define HAL_INS_DEFAULT_ROTATION ROTATION_PITCH_180_YAW_90
#define HAL_INS_MPU60x0_I2C_BUS 2
#define HAL_INS_MPU60x0_I2C_ADDR 0x68
#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_PITCH_180_YAW_90)
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
#define HAL_COMPASS_AK8963_I2C_BUS 1
#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
@ -127,9 +124,7 @@
#define HAL_GPIO_C_LED_PIN 2
#define HAL_GPIO_LED_ON HIGH
#define HAL_GPIO_LED_OFF LOW
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
#define HAL_BARO_MS5611_I2C_BUS 1
#define HAL_BARO_MS5611_I2C_ADDR 0x77
@ -139,9 +134,7 @@
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
#define HAL_HAVE_SERVO_VOLTAGE 1
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_INS_LSM9DS1_NAME "lsm9ds1"
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
#define HAL_BARO_MS5611_I2C_BUS 1
@ -151,9 +144,7 @@
#define HAL_COMPASS_HMC5843_I2C_BUS 1
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_YAW_270)
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_BARO_MS5611_NAME "ms5611"
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
@ -171,9 +162,7 @@
#define HAL_BARO_DEFAULT HAL_BARO_HIL
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_BARO_MS5611_NAME "ms5611"
#define HAL_COMPASS_DEFAULT HAL_COMPASS_OCPOC_ZYNQ
@ -188,10 +177,9 @@
#define HAL_GPIO_LED_ON LOW
#define HAL_GPIO_LED_OFF HIGH
#define HAL_BUZZER_PIN 11
#define HAL_INS_DEFAULT HAL_INS_BBBMINI
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_INS_MPU9250_NAME_EXT "mpu9250ext"
#define HAL_INS_PROBE1 PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu9250ext", ROTATION_NONE)
#define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_BARO_MS5611_NAME "ms5611"
#define HAL_COMPASS_DEFAULT HAL_COMPASS_BBBMINI
@ -206,10 +194,7 @@
#define HAL_GPIO_B_LED_PIN 67
#define HAL_GPIO_LED_ON HIGH
#define HAL_GPIO_LED_OFF LOW
#define HAL_INS_DEFAULT HAL_INS_MPU9250_I2C
#define HAL_INS_MPU9250_I2C_BUS 2
#define HAL_INS_MPU9250_I2C_ADDR 0x68
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_NONE)
#define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
#define HAL_BARO_BMP280_BUS 2
#define HAL_BARO_BMP280_I2C_ADDR 0x76
@ -229,9 +214,7 @@
#define HAL_GPIO_LED_ON HIGH
#define HAL_GPIO_LED_OFF LOW
#define HAL_BUZZER_PIN 28
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI
#define HAL_BARO_BMP280_NAME "bmp280"
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
@ -245,10 +228,9 @@
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
#define HAL_BARO_MS5611_I2C_BUS 1
#define HAL_BARO_MS5611_I2C_ADDR 0x77
#define HAL_INS_DEFAULT HAL_INS_BH
#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_INS_MPU60x0_I2C_BUS 1
#define HAL_INS_MPU60x0_I2C_ADDR 0x69
#define HAL_INS_PROBE1 PROBE_IMU_I2C(Invensense, 1, 0x69, ROTATION_NONE)
#define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
#define HAL_COMPASS_DEFAULT HAL_COMPASS_BH
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 1
@ -262,9 +244,7 @@
#define HAL_RCOUT_RGBLED_GREEN 14
#define HAL_RCOUT_RGBLED_BLUE 15
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_YAW_270)
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_BARO_MS5611_NAME "ms5611"
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
@ -277,7 +257,7 @@
#define HAL_GPIO_LED_ON LOW
#define HAL_GPIO_LED_OFF HIGH
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
#define HAL_INS_DEFAULT HAL_INS_AERO
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(BMI160, "bmi160")
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
#define HAL_BARO_MS5611_I2C_BUS 2
#define HAL_BARO_MS5611_I2C_ADDR 0x76
@ -291,9 +271,7 @@
#define HAL_RCOUTPUT_TAP_DEVICE "/dev/ttyS1"
#define HAL_WITH_UAVCAN 1
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
#define HAL_BARO_MS5611_I2C_BUS 1
@ -308,9 +286,9 @@
#define HAL_BOARD_LOG_DIRECTORY "/edge/ardupilot/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/edge/ardupilot/terrain"
#define HAL_BOARD_STORAGE_DIRECTORY "/edge/ardupilot"
#define HAL_INS_DEFAULT HAL_INS_EDGE
#define HAL_INS_MPU60x0_NAME "mpu60x0"
#define HAL_INS_MPU60x0_NAME_EXT "mpu60x0ext"
#define HAL_INS_PROBE1 PROBE_IMU_SPI(Invensense, "mpu60x0", ROTATION_YAW_90)
#define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu60x0ext", ROTATION_YAW_90)
#define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_BARO_MS5611_NAME "ms5611"
#define HAL_COMPASS_HMC5843_I2C_BUS 1
@ -330,11 +308,7 @@
#define HAL_GPS_TYPE_DEFAULT 9
#define HAL_CAN_DRIVER_DEFAULT 1
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
#define HAL_INS_DEFAULT HAL_INS_RST
#define HAL_INS_DEFAULT_G_ROTATION ROTATION_ROLL_180_YAW_90
#define HAL_INS_DEFAULT_A_ROTATION ROTATION_ROLL_180_YAW_90
#define HAL_INS_RST_G_NAME "rst_g" //gyro
#define HAL_INS_RST_A_NAME "rst_a" //accel
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI2(Invensense, "rst_g", "rst_a", ROTATION_ROLL_180_YAW_90, ROTATION_ROLL_180_YAW_90)
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_BARO_MS5611_NAME "ms5611"
#define HAL_COMPASS_DEFAULT HAL_COMPASS_LIS3MDL