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Rover: added VRBRAIN #defines and #includes

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Emile Castelnuovo 2014-03-31 19:58:48 +02:00 committed by Andrew Tridgell
parent a111d174c1
commit c5620dfd39
6 changed files with 30 additions and 12 deletions
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9
APMrover2/APMrover2.pde
View File

@ -100,6 +100,7 @@
#include <AP_HAL_AVR.h> #include <AP_HAL_AVR.h>
#include <AP_HAL_AVR_SITL.h> #include <AP_HAL_AVR_SITL.h>
#include <AP_HAL_PX4.h> #include <AP_HAL_PX4.h>
#include <AP_HAL_VRBRAIN.h>
#include <AP_HAL_FLYMAPLE.h> #include <AP_HAL_FLYMAPLE.h>
#include <AP_HAL_Linux.h> #include <AP_HAL_Linux.h>
#include <AP_HAL_Empty.h> #include <AP_HAL_Empty.h>
@ -175,6 +176,8 @@ static DataFlash_File DataFlash("logs");
static DataFlash_File DataFlash("/fs/microsd/APM/LOGS"); static DataFlash_File DataFlash("/fs/microsd/APM/LOGS");
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
static DataFlash_File DataFlash("logs"); static DataFlash_File DataFlash("logs");
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
static DataFlash_File DataFlash("/fs/microsd/APM/LOGS");
#else #else
DataFlash_Empty DataFlash; DataFlash_Empty DataFlash;
#endif #endif
@ -206,6 +209,8 @@ static AP_ADC_ADS7844 adc;
#if CONFIG_COMPASS == AP_COMPASS_PX4 #if CONFIG_COMPASS == AP_COMPASS_PX4
static AP_Compass_PX4 compass; static AP_Compass_PX4 compass;
#elif CONFIG_COMPASS == AP_COMPASS_VRBRAIN
static AP_Compass_VRBRAIN compass;
#elif CONFIG_COMPASS == AP_COMPASS_HMC5843 #elif CONFIG_COMPASS == AP_COMPASS_HMC5843
static AP_Compass_HMC5843 compass; static AP_Compass_HMC5843 compass;
#elif CONFIG_COMPASS == AP_COMPASS_HIL #elif CONFIG_COMPASS == AP_COMPASS_HIL
@ -218,6 +223,8 @@ static AP_Compass_HIL compass;
AP_InertialSensor_MPU6000 ins; AP_InertialSensor_MPU6000 ins;
#elif CONFIG_INS_TYPE == CONFIG_INS_PX4 #elif CONFIG_INS_TYPE == CONFIG_INS_PX4
AP_InertialSensor_PX4 ins; AP_InertialSensor_PX4 ins;
#elif CONFIG_INS_TYPE == CONFIG_INS_VRBRAIN
AP_InertialSensor_VRBRAIN ins;
#elif CONFIG_INS_TYPE == CONFIG_INS_HIL #elif CONFIG_INS_TYPE == CONFIG_INS_HIL
AP_InertialSensor_HIL ins; AP_InertialSensor_HIL ins;
#elif CONFIG_INS_TYPE == CONFIG_INS_FLYMAPLE #elif CONFIG_INS_TYPE == CONFIG_INS_FLYMAPLE
@ -235,6 +242,8 @@ AP_InertialSensor_Oilpan ins( &adc );
static AP_Baro_BMP085 barometer; static AP_Baro_BMP085 barometer;
#elif CONFIG_BARO == AP_BARO_PX4 #elif CONFIG_BARO == AP_BARO_PX4
static AP_Baro_PX4 barometer; static AP_Baro_PX4 barometer;
#elif CONFIG_BARO == AP_BARO_VRBRAIN
static AP_Baro_VRBRAIN barometer;
#elif CONFIG_BARO == AP_BARO_HIL #elif CONFIG_BARO == AP_BARO_HIL
static AP_Baro_HIL barometer; static AP_Baro_HIL barometer;
#elif CONFIG_BARO == AP_BARO_MS5611 #elif CONFIG_BARO == AP_BARO_MS5611

12
APMrover2/Parameters.h
View File

@ -236,14 +236,14 @@ public:
RC_Channel_aux rc_6; RC_Channel_aux rc_6;
RC_Channel_aux rc_7; RC_Channel_aux rc_7;
RC_Channel_aux rc_8; RC_Channel_aux rc_8;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
RC_Channel_aux rc_9; RC_Channel_aux rc_9;
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
RC_Channel_aux rc_10; RC_Channel_aux rc_10;
RC_Channel_aux rc_11; RC_Channel_aux rc_11;
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
RC_Channel_aux rc_12; RC_Channel_aux rc_12;
RC_Channel_aux rc_13; RC_Channel_aux rc_13;
RC_Channel_aux rc_14; RC_Channel_aux rc_14;
@ -301,14 +301,14 @@ public:
rc_6(CH_6), rc_6(CH_6),
rc_7(CH_7), rc_7(CH_7),
rc_8(CH_8), rc_8(CH_8),
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
rc_9 (CH_9), rc_9 (CH_9),
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
rc_10 (CH_10), rc_10 (CH_10),
rc_11 (CH_11), rc_11 (CH_11),
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
rc_12 (CH_12), rc_12 (CH_12),
rc_13 (CH_13), rc_13 (CH_13),
rc_14 (CH_14), rc_14 (CH_14),

6
APMrover2/Parameters.pde
View File

@ -211,13 +211,13 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_8, "RC8_", RC_Channel_aux), GGROUP(rc_8, "RC8_", RC_Channel_aux),
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// @Group: RC9_ // @Group: RC9_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_9, "RC9_", RC_Channel_aux), GGROUP(rc_9, "RC9_", RC_Channel_aux),
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// @Group: RC10_ // @Group: RC10_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_10, "RC10_", RC_Channel_aux), GGROUP(rc_10, "RC10_", RC_Channel_aux),
@ -227,7 +227,7 @@ const AP_Param::Info var_info[] PROGMEM = {
GGROUP(rc_11, "RC11_", RC_Channel_aux), GGROUP(rc_11, "RC11_", RC_Channel_aux),
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// @Group: RC12_ // @Group: RC12_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_12, "RC12_", RC_Channel_aux), GGROUP(rc_12, "RC12_", RC_Channel_aux),

6
APMrover2/config.h
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@ -98,6 +98,12 @@
# define CONFIG_BARO AP_BARO_BMP085 # define CONFIG_BARO AP_BARO_BMP085
# define BATTERY_PIN_1 -1 # define BATTERY_PIN_1 -1
# define CURRENT_PIN_1 -1 # define CURRENT_PIN_1 -1
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
# define CONFIG_INS_TYPE CONFIG_INS_VRBRAIN
# define CONFIG_COMPASS AP_COMPASS_VRBRAIN
# define CONFIG_BARO AP_BARO_VRBRAIN
# define BATTERY_PIN_1 -1
# define CURRENT_PIN_1 -1
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////

3
APMrover2/defines.h
View File

@ -148,16 +148,19 @@ enum mode {
#define CONFIG_INS_PX4 4 #define CONFIG_INS_PX4 4
#define CONFIG_INS_FLYMAPLE 5 #define CONFIG_INS_FLYMAPLE 5
#define CONFIG_INS_L3G4200D 6 #define CONFIG_INS_L3G4200D 6
#define CONFIG_INS_VRBRAIN 7
// barometer driver types // barometer driver types
#define AP_BARO_BMP085 1 #define AP_BARO_BMP085 1
#define AP_BARO_MS5611 2 #define AP_BARO_MS5611 2
#define AP_BARO_PX4 3 #define AP_BARO_PX4 3
#define AP_BARO_HIL 4 #define AP_BARO_HIL 4
#define AP_BARO_VRBRAIN 5
// compass driver types // compass driver types
#define AP_COMPASS_HMC5843 1 #define AP_COMPASS_HMC5843 1
#define AP_COMPASS_PX4 2 #define AP_COMPASS_PX4 2
#define AP_COMPASS_HIL 3 #define AP_COMPASS_HIL 3
#define AP_COMPASS_VRBRAIN 4
#endif // _DEFINES_H #endif // _DEFINES_H

6
APMrover2/test.pde
View File

@ -16,7 +16,7 @@ static int8_t test_sonar(uint8_t argc, const Menu::arg *argv);
static int8_t test_mag(uint8_t argc, const Menu::arg *argv); static int8_t test_mag(uint8_t argc, const Menu::arg *argv);
static int8_t test_modeswitch(uint8_t argc, const Menu::arg *argv); static int8_t test_modeswitch(uint8_t argc, const Menu::arg *argv);
static int8_t test_logging(uint8_t argc, const Menu::arg *argv); static int8_t test_logging(uint8_t argc, const Menu::arg *argv);
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
static int8_t test_shell(uint8_t argc, const Menu::arg *argv); static int8_t test_shell(uint8_t argc, const Menu::arg *argv);
#endif #endif
@ -43,7 +43,7 @@ static const struct Menu::command test_menu_commands[] PROGMEM = {
{"sonartest", test_sonar}, {"sonartest", test_sonar},
{"compass", test_mag}, {"compass", test_mag},
{"logging", test_logging}, {"logging", test_logging},
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
{"shell", test_shell}, {"shell", test_shell},
#endif #endif
}; };
@ -519,7 +519,7 @@ test_sonar(uint8_t argc, const Menu::arg *argv)
return (0); return (0);
} }
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
/* /*
* run a debug shell * run a debug shell
*/ */