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AP_BoardConfig: run validation test if declared under hwdef

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bugobliterator 2020-03-17 19:18:50 +05:30 committed by Andrew Tridgell
parent 1ba036169f
commit 8a77ddf8c6
2 changed files with 9 additions and 31 deletions
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1
libraries/AP_BoardConfig/AP_BoardConfig.h
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@ -204,7 +204,6 @@ private:
void board_setup_drivers(void);
bool spi_check_register(const char *devname, uint8_t regnum, uint8_t value, uint8_t read_flag = 0x80);
void validate_board_type(void);
void check_cubeblack(void);
void board_autodetect(void);
#endif // AP_FEATURE_BOARD_DETECT

39
libraries/AP_BoardConfig/board_drivers.cpp
View File

@ -152,7 +152,6 @@ bool AP_BoardConfig::spi_check_register(const char *devname, uint8_t regnum, uin
return v == value;
}
#if defined(HAL_CHIBIOS_ARCH_CUBEBLACK)
static bool check_ms5611(const char* devname) {
auto dev = hal.spi->get_device(devname);
if (!dev) {
@ -211,7 +210,6 @@ static bool check_ms5611(const char* devname) {
return true;
}
#endif
#define MPUREG_WHOAMI 0x75
#define MPU_WHOAMI_MPU60X0 0x68
@ -225,6 +223,7 @@ static bool check_ms5611(const char* devname) {
#define INV2REG_WHOAMI 0x00
#define INV2_WHOAMI_ICM20948 0xEA
#define INV2_WHOAMI_ICM20649 0xE1
/*
validation of the board type
@ -262,39 +261,19 @@ void AP_BoardConfig::validate_board_type(void)
#endif
}
void AP_BoardConfig::check_cubeblack(void)
{
#if defined(HAL_CHIBIOS_ARCH_CUBEBLACK)
if (state.board_type != PX4_BOARD_PIXHAWK2) {
state.board_type.set(PX4_BOARD_PIXHAWK2);
}
bool success = true;
if (!spi_check_register("mpu9250", MPUREG_WHOAMI, MPU_WHOAMI_MPU9250)) { success = false; }
if (!spi_check_register("mpu9250_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU9250) &&
!spi_check_register("icm20602_ext", MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) { success = false; }
if (!(spi_check_register("lsm9ds0_ext_g", LSMREG_WHOAMI, LSM_WHOAMI_L3GD20) &&
spi_check_register("lsm9ds0_ext_am", LSMREG_WHOAMI, LSM_WHOAMI_LSM303D)) &&
!spi_check_register("icm20948_ext", INV2REG_WHOAMI, INV2_WHOAMI_ICM20948)) { success = false; }
if (!check_ms5611("ms5611")) { success = false; }
if (!check_ms5611("ms5611_ext")) { success = false; }
if (!success) {
config_error("Failed to init CubeBlack - sensor mismatch");
}
#endif
}
/*
auto-detect board type
*/
void AP_BoardConfig::board_autodetect(void)
{
#if defined(HAL_CHIBIOS_ARCH_CUBEBLACK)
check_cubeblack();
return;
#if defined(HAL_VALIDATE_BOARD)
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) {