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BoardConfig: add detection procedure for new sensor configurations

This commit is contained in:
Siddharth Purohit 2019-01-23 10:27:43 +08:00 committed by Andrew Tridgell
parent e800ae21ed
commit cf7e95eaba
1 changed files with 10 additions and 4 deletions
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14
libraries/AP_BoardConfig/board_drivers.cpp
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@ -155,6 +155,8 @@ bool AP_BoardConfig::spi_check_register(const char *devname, uint8_t regnum, uin
#define LSMREG_WHOAMI 0x0f
#define LSM_WHOAMI_LSM303D 0x49
#define INV2REG_WHOAMI 0x00
#define INV2_WHOAMI_ICM20948 0xEA
/*
validation of the board type
*/
@ -170,8 +172,10 @@ void AP_BoardConfig::validate_board_type(void)
(spi_check_register("mpu6000_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
spi_check_register("mpu9250_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU9250) ||
spi_check_register("icm20608", MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
spi_check_register("icm20608_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
spi_check_register("lsm9ds0_ext_am", LSMREG_WHOAMI, LSM_WHOAMI_LSM303D)) {
spi_check_register("icm20608_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602) ||
spi_check_register("icm20602_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
(spi_check_register("lsm9ds0_ext_am", LSMREG_WHOAMI, LSM_WHOAMI_LSM303D) ||
spi_check_register("icm20948_ext", INV2REG_WHOAMI, INV2_WHOAMI_ICM20948))) {
// Pixhawk2 has LSM303D and MPUxxxx on external bus. If we
// detect those, then force PIXHAWK2, even if the user has
// configured for PIXHAWK1
@ -211,8 +215,10 @@ void AP_BoardConfig::board_autodetect(void)
spi_check_register("mpu9250_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
spi_check_register("mpu9250_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU9250) ||
spi_check_register("icm20608_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
spi_check_register("icm20608_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
spi_check_register("lsm9ds0_ext_am", LSMREG_WHOAMI, LSM_WHOAMI_LSM303D)) {
spi_check_register("icm20608_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602) ||
spi_check_register("icm20602_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
(spi_check_register("lsm9ds0_ext_am", LSMREG_WHOAMI, LSM_WHOAMI_LSM303D) ||
spi_check_register("icm20948_ext", INV2REG_WHOAMI, INV2_WHOAMI_ICM20948))) {
// Pixhawk2 has LSM303D and MPUxxxx on external bus
state.board_type.set(PX4_BOARD_PIXHAWK2);
hal.console->printf("Detected PIXHAWK2\n");