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ardupilot/libraries/AP_BoardConfig/board_drivers.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* AP_BoardConfig - driver loading and setup
*/
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include <hal.h>
#endif
#include "AP_BoardConfig.h"
#include <GCS_MAVLink/GCS.h>
#include <AP_Math/crc.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal;
/*
init safety state
*/
void AP_BoardConfig::board_init_safety()
{
bool force_safety_off = (state.safety_enable.get() == 0);
if (!force_safety_off && hal.util->was_watchdog_safety_off()) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Forcing safety off for watchdog\n");
force_safety_off = true;
}
if (force_safety_off) {
hal.rcout->force_safety_off();
// wait until safety has been turned off
uint8_t count = 20;
while (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_ARMED && count--) {
hal.scheduler->delay(20);
}
}
}
/*
init debug pins. We set debug pins as input if BRD_OPTIONS bit for debug enable is not set
this prevents possible ESD issues on the debug pins
*/
void AP_BoardConfig::board_init_debug()
{
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_DEBUG_BUILD)
if ((_options & BOARD_OPTION_DEBUG_ENABLE) == 0) {
#ifdef HAL_GPIO_PIN_JTCK_SWCLK
palSetLineMode(HAL_GPIO_PIN_JTCK_SWCLK, PAL_MODE_INPUT);
#endif
#ifdef HAL_GPIO_PIN_JTMS_SWDIO
palSetLineMode(HAL_GPIO_PIN_JTMS_SWDIO, PAL_MODE_INPUT);
#endif
}
#endif // HAL_BUILD_AP_PERIPH && HAL_DEBUG_BUILD
}
#if AP_FEATURE_BOARD_DETECT
AP_BoardConfig::px4_board_type AP_BoardConfig::px4_configured_board;
void AP_BoardConfig::board_setup_drivers(void)
{
if (state.board_type == PX4_BOARD_OLDDRIVERS) {
printf("Old drivers no longer supported\n");
state.board_type.set(PX4_BOARD_AUTO);
}
// run board auto-detection
board_autodetect();
px4_configured_board = (enum px4_board_type)state.board_type.get();
switch (px4_configured_board) {
case PX4_BOARD_PX4V1:
case PX4_BOARD_PIXHAWK:
case PX4_BOARD_PIXHAWK2:
case PX4_BOARD_FMUV5:
case PX4_BOARD_FMUV6:
case PX4_BOARD_SP01:
case PX4_BOARD_PIXRACER:
case PX4_BOARD_PHMINI:
case PX4_BOARD_AUAV21:
case PX4_BOARD_PH2SLIM:
case VRX_BOARD_BRAIN51:
case VRX_BOARD_BRAIN52:
case VRX_BOARD_BRAIN52E:
case VRX_BOARD_UBRAIN51:
case VRX_BOARD_UBRAIN52:
case VRX_BOARD_CORE10:
case VRX_BOARD_BRAIN54:
case PX4_BOARD_AEROFC:
case PX4_BOARD_PIXHAWK_PRO:
case PX4_BOARD_PCNC1:
case PX4_BOARD_MINDPXV2:
case FMUV6_BOARD_HOLYBRO_6X:
case FMUV6_BOARD_HOLYBRO_6X_REV6:
case FMUV6_BOARD_HOLYBRO_6X_45686:
case FMUV6_BOARD_CUAV_6X:
break;
default:
config_error("Unknown board type");
break;
}
}
#define SPI_PROBE_DEBUG 0
/*
check a SPI device for a register value
*/
bool AP_BoardConfig::spi_check_register(const char *devname, uint8_t regnum, uint8_t value, uint8_t read_flag)
{
auto dev = hal.spi->get_device(devname);
if (!dev) {
#if SPI_PROBE_DEBUG
hal.console->printf("%s: no device\n", devname);
#endif
return false;
}
dev->set_read_flag(read_flag);
WITH_SEMAPHORE(dev->get_semaphore());
dev->set_speed(AP_HAL::Device::SPEED_LOW);
uint8_t v;
if (!dev->read_registers(regnum, &v, 1)) {
#if SPI_PROBE_DEBUG
hal.console->printf("%s: reg %02x read fail\n", devname, (unsigned)regnum);
#endif
return false;
}
#if SPI_PROBE_DEBUG
hal.console->printf("%s: reg %02x expected:%02x got:%02x\n", devname, (unsigned)regnum, (unsigned)value, (unsigned)v);
#endif
return v == value;
}
#define INV2REG_BANK_SEL 0x7F
/*
check a SPI device for a register value
*/
bool AP_BoardConfig::spi_check_register_inv2(const char *devname, uint8_t regnum, uint8_t value, uint8_t read_flag)
{
auto dev = hal.spi->get_device(devname);
if (!dev) {
#if SPI_PROBE_DEBUG
hal.console->printf("%s: no device\n", devname);
#endif
return false;
}
dev->set_read_flag(read_flag);
WITH_SEMAPHORE(dev->get_semaphore());
dev->set_speed(AP_HAL::Device::SPEED_LOW);
uint8_t v;
// select bank 0 for who am i
dev->write_register(INV2REG_BANK_SEL, 0, false);
if (!dev->read_registers(regnum, &v, 1)) {
#if SPI_PROBE_DEBUG
hal.console->printf("%s: reg %02x read fail\n", devname, (unsigned)regnum);
#endif
return false;
}
#if SPI_PROBE_DEBUG
hal.console->printf("%s: reg %02x expected:%02x got:%02x\n", devname, (unsigned)regnum, (unsigned)value, (unsigned)v);
#endif
return v == value;
}
#if defined(HAL_VALIDATE_BOARD)
bool AP_BoardConfig::check_ms5611(const char* devname) {
auto dev = hal.spi->get_device(devname);
if (!dev) {
#if SPI_PROBE_DEBUG
hal.console->printf("%s: no device\n", devname);
#endif
return false;
}
AP_HAL::Semaphore *dev_sem = dev->get_semaphore();
if (!dev_sem) {
return false;
}
WITH_SEMAPHORE(dev_sem);
static const uint8_t CMD_MS56XX_RESET = 0x1E;
static const uint8_t CMD_MS56XX_PROM = 0xA0;
dev->transfer(&CMD_MS56XX_RESET, 1, nullptr, 0);
hal.scheduler->delay(4);
uint16_t prom[8];
bool all_zero = true;
for (uint8_t i = 0; i < 8; i++) {
const uint8_t reg = CMD_MS56XX_PROM + (i << 1);
uint8_t val[2];
if (!dev->transfer(&reg, 1, val, sizeof(val))) {
#if SPI_PROBE_DEBUG
hal.console->printf("%s: transfer fail\n", devname);
#endif
return false;
}
prom[i] = (val[0] << 8) | val[1];
if (prom[i] != 0) {
all_zero = false;
}
}
uint16_t crc_read = prom[7]&0xf;
prom[7] &= 0xff00;
if (crc_read != crc_crc4(prom) || all_zero) {
#if SPI_PROBE_DEBUG
hal.console->printf("%s: crc fail\n", devname);
#endif
return false;
}
#if SPI_PROBE_DEBUG
hal.console->printf("%s: found successfully\n", devname);
#endif
return true;
}
#endif // HAL_VALIDATE_BOARD
#define MPUREG_WHOAMI 0x75
#define MPU_WHOAMI_MPU60X0 0x68
#define MPU_WHOAMI_MPU9250 0x71
#define MPU_WHOAMI_ICM20608 0xaf
#define MPU_WHOAMI_ICM20602 0x12
#define LSMREG_WHOAMI 0x0f
#define LSM_WHOAMI_LSM303D 0x49
#define LSM_WHOAMI_L3GD20 0xd4
#define INV2REG_WHOAMI 0x00
#define INV2_WHOAMI_ICM20948 0xEA
#define INV2_WHOAMI_ICM20649 0xE1
#define INV3REG_WHOAMI 0x75
#define INV3REG_456_WHOAMI 0x72
#define INV3_WHOAMI_ICM42688 0x47
#define INV3_WHOAMI_ICM42670 0x67
#define INV3_WHOAMI_ICM45686 0xE9
#define INV3_WHOAMI_IIM42652 0x6f
/*
validation of the board type
*/
void AP_BoardConfig::validate_board_type(void)
{
/* some boards can be damaged by the user setting the wrong board
type. The key one is the cube which has a heater which can
cook the IMUs if the user uses an old paramater file. We
override the board type for that specific case
*/
#if defined(HAL_CHIBIOS_ARCH_FMUV3)
if (state.board_type == PX4_BOARD_PIXHAWK &&
(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("icm20602_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
(spi_check_register("lsm9ds0_ext_am", LSMREG_WHOAMI, LSM_WHOAMI_LSM303D) ||
spi_check_register_inv2("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
#if !defined(HAL_CHIBIOS_ARCH_FMUV3)
// force user to load the right firmware
config_error("Pixhawk2 requires FMUv3 firmware");
#endif
state.board_type.set(PX4_BOARD_PIXHAWK2);
DEV_PRINTF("Forced PIXHAWK2\n");
}
#endif
}
/*
auto-detect board type
*/
void AP_BoardConfig::board_autodetect(void)
{
#if defined(HAL_VALIDATE_BOARD)
if((_options & SKIP_BOARD_VALIDATION) == 0) {
const char* errored_check = HAL_VALIDATE_BOARD;
if (errored_check == nullptr) {
return;
} else {
config_error("Board Validation %s Failed", errored_check);
return;
}
}
#endif
if (state.board_type != PX4_BOARD_AUTO) {
validate_board_type();
// user has chosen a board type
return;
}
#if defined(HAL_CHIBIOS_ARCH_FMUV3)
if ((spi_check_register("mpu6000_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
spi_check_register("mpu6000_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
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("icm20602_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
(spi_check_register("lsm9ds0_ext_am", LSMREG_WHOAMI, LSM_WHOAMI_LSM303D) ||
spi_check_register_inv2("icm20948_ext", INV2REG_WHOAMI, INV2_WHOAMI_ICM20948))) {
// Pixhawk2 has LSM303D and MPUxxxx on external bus
state.board_type.set(PX4_BOARD_PIXHAWK2);
DEV_PRINTF("Detected PIXHAWK2\n");
} else if ((spi_check_register("icm20608-am", MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
spi_check_register("icm20608-am", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
spi_check_register("mpu9250", MPUREG_WHOAMI, MPU_WHOAMI_MPU9250)) {
// PHMINI has an ICM20608 and MPU9250 on sensor bus
state.board_type.set(PX4_BOARD_PHMINI);
DEV_PRINTF("Detected PixhawkMini\n");
} else if (spi_check_register("lsm9ds0_am", LSMREG_WHOAMI, LSM_WHOAMI_LSM303D) &&
(spi_check_register("mpu6000", MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
spi_check_register("icm20608", MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
spi_check_register("icm20608", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602) ||
spi_check_register("mpu9250", MPUREG_WHOAMI, MPU_WHOAMI_MPU9250))) {
// classic or upgraded Pixhawk1
state.board_type.set(PX4_BOARD_PIXHAWK);
DEV_PRINTF("Detected Pixhawk\n");
} else {
config_error("Unable to detect board type");
}
#elif defined(HAL_CHIBIOS_ARCH_FMUV4)
// only one choice
state.board_type.set_and_notify(PX4_BOARD_PIXRACER);
DEV_PRINTF("Detected Pixracer\n");
#elif defined(HAL_CHIBIOS_ARCH_MINDPXV2)
// only one choice
state.board_type.set_and_notify(PX4_BOARD_MINDPXV2);
DEV_PRINTF("Detected MindPX-V2\n");
#elif defined(HAL_CHIBIOS_ARCH_FMUV4PRO)
// only one choice
state.board_type.set_and_notify(PX4_BOARD_PIXHAWK_PRO);
DEV_PRINTF("Detected Pixhawk Pro\n");
#elif defined(HAL_CHIBIOS_ARCH_FMUV5)
state.board_type.set_and_notify(PX4_BOARD_FMUV5);
DEV_PRINTF("Detected FMUv5\n");
#elif defined(HAL_CHIBIOS_ARCH_FMUV6)
detect_fmuv6_variant();
#elif defined(HAL_CHIBIOS_ARCH_BRAINV51)
state.board_type.set_and_notify(VRX_BOARD_BRAIN51);
DEV_PRINTF("Detected VR Brain 5.1\n");
#elif defined(HAL_CHIBIOS_ARCH_BRAINV52)
state.board_type.set_and_notify(VRX_BOARD_BRAIN52);
DEV_PRINTF("Detected VR Brain 5.2\n");
#elif defined(HAL_CHIBIOS_ARCH_UBRAINV51)
state.board_type.set_and_notify(VRX_BOARD_UBRAIN51);
DEV_PRINTF("Detected VR Micro Brain 5.1\n");
#elif defined(HAL_CHIBIOS_ARCH_COREV10)
state.board_type.set_and_notify(VRX_BOARD_CORE10);
DEV_PRINTF("Detected VR Core 1.0\n");
#elif defined(HAL_CHIBIOS_ARCH_BRAINV54)
state.board_type.set_and_notify(VRX_BOARD_BRAIN54);
DEV_PRINTF("Detected VR Brain 5.4\n");
#endif
}
#endif // AP_FEATURE_BOARD_DETECT
/*
setup flow control on UARTs
*/
void AP_BoardConfig::board_setup_uart()
{
#if AP_FEATURE_RTSCTS
#ifdef HAL_HAVE_RTSCTS_SERIAL1
if (hal.serial(1) != nullptr) {
hal.serial(1)->set_flow_control((AP_HAL::UARTDriver::flow_control)state.ser_rtscts[1].get());
}
#endif
#ifdef HAL_HAVE_RTSCTS_SERIAL2
if (hal.serial(2) != nullptr) {
hal.serial(2)->set_flow_control((AP_HAL::UARTDriver::flow_control)state.ser_rtscts[2].get());
}
#endif
#ifdef HAL_HAVE_RTSCTS_SERIAL3
if (hal.serial(3) != nullptr) {
hal.serial(3)->set_flow_control((AP_HAL::UARTDriver::flow_control)state.ser_rtscts[3].get());
}
#endif
#ifdef HAL_HAVE_RTSCTS_SERIAL4
if (hal.serial(4) != nullptr) {
hal.serial(4)->set_flow_control((AP_HAL::UARTDriver::flow_control)state.ser_rtscts[4].get());
}
#endif
#ifdef HAL_HAVE_RTSCTS_SERIAL5
if (hal.serial(5) != nullptr) {
hal.serial(5)->set_flow_control((AP_HAL::UARTDriver::flow_control)state.ser_rtscts[5].get());
}
#endif
#endif
}
/*
setup SBUS
*/
void AP_BoardConfig::board_setup_sbus(void)
{
#if AP_FEATURE_SBUS_OUT
if (state.sbus_out_rate.get() >= 1) {
static const struct {
uint8_t value;
uint16_t rate;
} rates[] = {
{ 1, 50 },
{ 2, 75 },
{ 3, 100 },
{ 4, 150 },
{ 5, 200 },
{ 6, 250 },
{ 7, 300 }
};
uint16_t rate = 300;
for (uint8_t i=0; i<ARRAY_SIZE(rates); i++) {
if (rates[i].value == state.sbus_out_rate) {
rate = rates[i].rate;
}
}
if (!hal.rcout->enable_px4io_sbus_out(rate)) {
hal.console->printf("Failed to enable SBUS out\n");
}
}
#endif
}
/*
setup peripherals and drivers
*/
void AP_BoardConfig::board_setup()
{
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
// init needs to be done after boardconfig is read so parameters are set
hal.gpio->init();
hal.rcin->init();
hal.rcout->init();
#endif
#ifdef HAL_GPIO_PWM_VOLT_PIN
if (_pwm_volt_sel == 0) {
hal.gpio->write(HAL_GPIO_PWM_VOLT_PIN, HAL_GPIO_PWM_VOLT_3v3); //set pin for 3.3V PWM Output
} else if (_pwm_volt_sel == 1) {
hal.gpio->write(HAL_GPIO_PWM_VOLT_PIN, !HAL_GPIO_PWM_VOLT_3v3); //set pin for 5V PWM Output
}
#endif
board_setup_uart();
board_setup_sbus();
#if AP_FEATURE_BOARD_DETECT
board_setup_drivers();
#endif
}
#ifdef HAL_CHIBIOS_ARCH_FMUV6
#define BMI088REG_CHIPID 0x00
#define CHIPID_BMI088_G 0x0F
/*
detect which FMUV6 variant we are running on
*/
void AP_BoardConfig::detect_fmuv6_variant()
{
if (((spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649) ||
spi_check_register("bmi088_g", BMI088REG_CHIPID, CHIPID_BMI088_G)) && // alternative config
spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688) &&
spi_check_register("icm42670", INV3REG_WHOAMI, INV3_WHOAMI_ICM42670))) {
state.board_type.set_and_notify(FMUV6_BOARD_HOLYBRO_6X);
DEV_PRINTF("Detected Holybro 6X\n");
} else if ((spi_check_register_inv2("icm20649_2", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649) &&
spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688) &&
spi_check_register("bmi088_g", BMI088REG_CHIPID, CHIPID_BMI088_G))) {
state.board_type.set_and_notify(FMUV6_BOARD_CUAV_6X);
DEV_PRINTF("Detected CUAV 6X\n");
AP_Param::load_defaults_file("@ROMFS/param/CUAV_V6X_defaults.parm", false);
} else if (spi_check_register("icm45686-1", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686) &&
spi_check_register("icm45686-2", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686) &&
spi_check_register("icm45686-3", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)) {
state.board_type.set_and_notify(FMUV6_BOARD_HOLYBRO_6X_45686);
DEV_PRINTF("Detected Holybro 6X_45686\n");
} else if (spi_check_register("iim42652", INV3REG_WHOAMI, INV3_WHOAMI_IIM42652) &&
spi_check_register("icm45686", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)) {
state.board_type.set_and_notify(FMUV6_BOARD_HOLYBRO_6X_REV6);
DEV_PRINTF("Detected Holybro 6X_Rev6\n");
}
}
#endif
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