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AP_BoardConfig: added get_board_type() for PX4 

used to decide what drivers to start
This commit is contained in:
Andrew Tridgell 2016-11-03 11:40:21 +11:00
parent e91b1318fb
commit ce174489c3
2 changed files with 25 additions and 0 deletions
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12
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -55,11 +55,20 @@ public:
VRX_BOARD_CORE10 = 11,
VRX_BOARD_BRAIN54 = 12,
#endif
PX4_BOARD_TEST_V1 = 101,
PX4_BOARD_TEST_V2 = 102,
PX4_BOARD_TEST_V4 = 104,
};
#endif
// set default value for BRD_SAFETY_MASK
void set_default_safety_ignore_mask(uint16_t mask);
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
static enum px4_board_type get_board_type(void) {
return px4_configured_board;
}
#endif
private:
AP_Int16 vehicleSerialNumber;
@ -79,6 +88,9 @@ private:
#endif
AP_Int8 board_type;
} px4;
static enum px4_board_type px4_configured_board;
void px4_drivers_start(void);
void px4_setup(void);
void px4_setup_pwm(void);

13
libraries/AP_BoardConfig/px4_drivers.cpp
View File

@ -33,6 +33,8 @@
extern const AP_HAL::HAL& hal;
AP_BoardConfig::px4_board_type AP_BoardConfig::px4_configured_board;
/*
declare driver main entry points
*/
@ -692,6 +694,15 @@ void AP_BoardConfig::vrx_start_optional_sensors(void)
void AP_BoardConfig::px4_setup_drivers(void)
{
if (px4.board_type == PX4_BOARD_TEST_V1 ||
px4.board_type == PX4_BOARD_TEST_V2 ||
px4.board_type == PX4_BOARD_TEST_V4) {
// use in-tree drivers
printf("Using in-tree drivers\n");
px4_configured_board = (enum px4_board_type)px4.board_type.get();
return;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
px4_start_common_sensors();
switch ((px4_board_type)px4.board_type.get()) {
@ -746,6 +757,8 @@ void AP_BoardConfig::px4_setup_drivers(void)
#endif // HAL_BOARD_PX4
px4_configured_board = (enum px4_board_type)px4.board_type.get();
// delay for 1 second to give time for drivers to initialise
hal.scheduler->delay(1000);
}