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HAL_Linux: initial support for Disco

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This commit is contained in:
Andrew Tridgell 2016-06-07 08:16:25 +10:00
parent e407caaa41
commit aaaa6d38c7
11 changed files with 23 additions and 15 deletions
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2
libraries/AP_HAL_Linux/CameraSensor_Mt9v117.cpp
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@ -407,7 +407,7 @@ void CameraSensor_Mt9v117::_init_sensor()
id = _read_reg16(CHIP_ID); id = _read_reg16(CHIP_ID);
if (id != MT9V117_CHIP_ID) { if (id != MT9V117_CHIP_ID) {
AP_HAL::panic("Mt9v117: bad chip id\n"); AP_HAL::panic("Mt9v117: bad chip id 0x%04x\n", id);
} }
_soft_reset(); _soft_reset();
_apply_patch(); _apply_patch();

2
libraries/AP_HAL_Linux/GPIO.h
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@ -25,6 +25,6 @@ private:
#include "GPIO_RPI.h" #include "GPIO_RPI.h"
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
#include "GPIO_Minnow.h" #include "GPIO_Minnow.h"
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
#include "GPIO_Bebop.h" #include "GPIO_Bebop.h"
#endif #endif

2
libraries/AP_HAL_Linux/GPIO_Bebop.cpp
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@ -2,7 +2,7 @@
#include "GPIO_Bebop.h" #include "GPIO_Bebop.h"
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
const unsigned Linux::GPIO_Sysfs::pin_table[] = { const unsigned Linux::GPIO_Sysfs::pin_table[] = {
[BEBOP_GPIO_CAMV_NRST] = 129, [BEBOP_GPIO_CAMV_NRST] = 129,

16
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
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@ -45,7 +45,7 @@ static UARTDriver uartFDriver(false);
static I2CDeviceManager i2c_mgr_instance; static I2CDeviceManager i2c_mgr_instance;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
static I2CDriver i2cDriver0(0); static I2CDriver i2cDriver0(0);
static I2CDriver i2cDriver1(1); static I2CDriver i2cDriver1(1);
static I2CDriver i2cDriver2(2); static I2CDriver i2cDriver2(2);
@ -113,7 +113,9 @@ static GPIO_BBB gpioDriver;
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
static GPIO_RPI gpioDriver; static GPIO_RPI gpioDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
static GPIO_Sysfs gpioDriver; static GPIO_Sysfs gpioDriver;
#else #else
static Empty::GPIO gpioDriver; static Empty::GPIO gpioDriver;
@ -135,7 +137,8 @@ static RCInput_RPI rcinDriver;
static RCInput_Raspilot rcinDriver; static RCInput_Raspilot rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
static RCInput_ZYNQ rcinDriver; static RCInput_ZYNQ rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
static RCInput_UDP rcinDriver; static RCInput_UDP rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
static RCInput_UART rcinDriver("/dev/ttyS2"); static RCInput_UART rcinDriver("/dev/ttyS2");
@ -169,7 +172,8 @@ static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUATE
static RCOutput_Raspilot rcoutDriver; static RCOutput_Raspilot rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
static RCOutput_ZYNQ rcoutDriver; static RCOutput_ZYNQ rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
static RCOutput_Bebop rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_BEBOP_BLDC_I2C_BUS, HAL_RCOUT_BEBOP_BLDC_I2C_ADDR)); static RCOutput_Bebop rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_BEBOP_BLDC_I2C_BUS, HAL_RCOUT_BEBOP_BLDC_I2C_ADDR));
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(i2c_devpaths, PCA9685_PRIMARY_ADDRESS), false, 0, MINNOW_GPIO_S5_1); static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(i2c_devpaths, PCA9685_PRIMARY_ADDRESS), false, 0, MINNOW_GPIO_S5_1);
@ -200,7 +204,7 @@ HAL_Linux::HAL_Linux() :
&uartEDriver, &uartEDriver,
&uartFDriver, &uartFDriver,
&i2c_mgr_instance, &i2c_mgr_instance,
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
&i2cDriver0, &i2cDriver0,
&i2cDriver1, &i2cDriver1,
&i2cDriver2, &i2cDriver2,
@ -330,7 +334,7 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
scheduler->init(); scheduler->init();
gpio->init(); gpio->init();
i2c->begin(); i2c->begin();
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
i2c1->begin(); i2c1->begin();
i2c2->begin(); i2c2->begin();
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE

2
libraries/AP_HAL_Linux/Heat_Pwm.cpp
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@ -16,7 +16,7 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
#include <cmath> #include <cmath>
#include <fcntl.h> #include <fcntl.h>
#include <linux/limits.h> #include <linux/limits.h>

6
libraries/AP_HAL_Linux/RCOutput_Bebop.cpp
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@ -1,6 +1,6 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
#include "RCOutput_Bebop.h" #include "RCOutput_Bebop.h"
#include <errno.h> #include <errno.h>
@ -176,7 +176,7 @@ int RCOutput_Bebop::read_obs_data(BebopBLDC_ObsData &obs)
_dev->get_semaphore()->give(); _dev->get_semaphore()->give();
if (data.checksum != _checksum((uint8_t *)&data, sizeof(data) - 1)) { if (data.checksum != _checksum((uint8_t *)&data, sizeof(data) - 1)) {
hal.console->printf("RCOutput_Bebop: bad checksum in obs data"); return -EBUSY;
} }
/* fill obs class */ /* fill obs class */
@ -425,6 +425,8 @@ void RCOutput_Bebop::_run_rcout()
_max_rpm = BEBOP_BLDC_MAX_RPM_1; _max_rpm = BEBOP_BLDC_MAX_RPM_1;
} else if (hw_version == UTIL_HARDWARE_BEBOP2) { } else if (hw_version == UTIL_HARDWARE_BEBOP2) {
_max_rpm = BEBOP_BLDC_MAX_RPM_2; _max_rpm = BEBOP_BLDC_MAX_RPM_2;
} else if (hw_version == UTIL_HARDWARE_DISCO) {
_max_rpm = BEBOP_BLDC_MAX_RPM_2;
} else if (hw_version < 0) { } else if (hw_version < 0) {
AP_HAL::panic("failed to get hw version %s", strerror(hw_version)); AP_HAL::panic("failed to get hw version %s", strerror(hw_version));
} else { } else {

2
libraries/AP_HAL_Linux/SPIDriver.cpp
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@ -75,7 +75,7 @@ SPIDeviceDriver SPIDeviceManager::_device[] = {
SPIDeviceDriver("mpu9250", 0, 0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_0, 8, RPI_GPIO_7, 1*MHZ, 20*MHZ), SPIDeviceDriver("mpu9250", 0, 0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_0, 8, RPI_GPIO_7, 1*MHZ, 20*MHZ),
SPIDeviceDriver("ublox", 0, 0, AP_HAL::SPIDevice_Ublox, SPI_MODE_0, 8, RPI_GPIO_8, 250*KHZ, 5*MHZ), SPIDeviceDriver("ublox", 0, 0, AP_HAL::SPIDevice_Ublox, SPI_MODE_0, 8, RPI_GPIO_8, 250*KHZ, 5*MHZ),
}; };
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
SPIDeviceDriver SPIDeviceManager::_device[] = { SPIDeviceDriver SPIDeviceManager::_device[] = {
SPIDeviceDriver("bebop", 1, 0, AP_HAL::SPIDevice_Bebop, SPI_MODE_0, 8, SPI_CS_KERNEL, 320*KHZ, 320*KHZ), SPIDeviceDriver("bebop", 1, 0, AP_HAL::SPIDevice_Bebop, SPI_MODE_0, 8, SPI_CS_KERNEL, 320*KHZ, 320*KHZ),
}; };

2
libraries/AP_HAL_Linux/Scheduler.cpp
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@ -185,7 +185,7 @@ void Scheduler::register_timer_process(AP_HAL::MemberProc proc)
bool Scheduler::register_timer_process(AP_HAL::MemberProc proc, bool Scheduler::register_timer_process(AP_HAL::MemberProc proc,
uint8_t freq_div) uint8_t freq_div)
{ {
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
if (freq_div > 1) { if (freq_div > 1) {
return _register_timesliced_proc(proc, freq_div); return _register_timesliced_proc(proc, freq_div);
} }

2
libraries/AP_HAL_Linux/Storage.cpp
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@ -20,7 +20,7 @@ using namespace Linux;
// name the storage file after the sketch so you can use the same board // name the storage file after the sketch so you can use the same board
// card for ArduCopter and ArduPlane // card for ArduCopter and ArduPlane
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
#define STORAGE_DIR "/data/ftp/internal_000/APM" #define STORAGE_DIR "/data/ftp/internal_000/APM"
#elif APM_BUILD_TYPE(APM_BUILD_Replay) #elif APM_BUILD_TYPE(APM_BUILD_Replay)
#define STORAGE_DIR "." #define STORAGE_DIR "."

1
libraries/AP_HAL_Linux/Util.cpp
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@ -178,6 +178,7 @@ const char *Linux::Util::_hw_names[UTIL_NUM_HARDWARES] = {
[UTIL_HARDWARE_RPI2] = "BCM2709", [UTIL_HARDWARE_RPI2] = "BCM2709",
[UTIL_HARDWARE_BEBOP] = "Mykonos3 board", [UTIL_HARDWARE_BEBOP] = "Mykonos3 board",
[UTIL_HARDWARE_BEBOP2] = "Milos board", [UTIL_HARDWARE_BEBOP2] = "Milos board",
[UTIL_HARDWARE_DISCO] = "Evinrude board",
}; };
#define MAX_SIZE_LINE 50 #define MAX_SIZE_LINE 50

1
libraries/AP_HAL_Linux/Util.h
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@ -13,6 +13,7 @@ enum hw_type {
UTIL_HARDWARE_RPI2, UTIL_HARDWARE_RPI2,
UTIL_HARDWARE_BEBOP, UTIL_HARDWARE_BEBOP,
UTIL_HARDWARE_BEBOP2, UTIL_HARDWARE_BEBOP2,
UTIL_HARDWARE_DISCO,
UTIL_NUM_HARDWARES, UTIL_NUM_HARDWARES,
}; };