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AP_BoardConfig: setup for fmuv6

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This commit is contained in:
Andrew Tridgell 2019-02-07 08:09:34 +11:00
parent c31ee1f71b
commit c0e6338d8a
2 changed files with 7 additions and 0 deletions
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3
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -5,11 +5,13 @@
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <AP_RTC/AP_RTC.h> #include <AP_RTC/AP_RTC.h>
#ifndef AP_FEATURE_BOARD_DETECT
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3) || defined(HAL_CHIBIOS_ARCH_FMUV4) || defined(HAL_CHIBIOS_ARCH_FMUV5) || defined(HAL_CHIBIOS_ARCH_MINDPXV2) || defined(HAL_CHIBIOS_ARCH_FMUV4PRO) || defined(HAL_CHIBIOS_ARCH_BRAINV51) || defined(HAL_CHIBIOS_ARCH_BRAINV52) || defined(HAL_CHIBIOS_ARCH_UBRAINV51) || defined(HAL_CHIBIOS_ARCH_COREV10) || defined(HAL_CHIBIOS_ARCH_BRAINV54) #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3) || defined(HAL_CHIBIOS_ARCH_FMUV4) || defined(HAL_CHIBIOS_ARCH_FMUV5) || defined(HAL_CHIBIOS_ARCH_MINDPXV2) || defined(HAL_CHIBIOS_ARCH_FMUV4PRO) || defined(HAL_CHIBIOS_ARCH_BRAINV51) || defined(HAL_CHIBIOS_ARCH_BRAINV52) || defined(HAL_CHIBIOS_ARCH_UBRAINV51) || defined(HAL_CHIBIOS_ARCH_COREV10) || defined(HAL_CHIBIOS_ARCH_BRAINV54)
#define AP_FEATURE_BOARD_DETECT 1 #define AP_FEATURE_BOARD_DETECT 1
#else #else
#define AP_FEATURE_BOARD_DETECT 0 #define AP_FEATURE_BOARD_DETECT 0
#endif #endif
#endif
#ifndef AP_FEATURE_RTSCTS #ifndef AP_FEATURE_RTSCTS
#define AP_FEATURE_RTSCTS 0 #define AP_FEATURE_RTSCTS 0
@ -88,6 +90,7 @@ public:
VRX_BOARD_CORE10 = 36, VRX_BOARD_CORE10 = 36,
VRX_BOARD_BRAIN54 = 38, VRX_BOARD_BRAIN54 = 38,
PX4_BOARD_OLDDRIVERS = 100, PX4_BOARD_OLDDRIVERS = 100,
PX4_BOARD_FMUV6 = 39,
}; };
// set default value for BRD_SAFETY_MASK // set default value for BRD_SAFETY_MASK

4
libraries/AP_BoardConfig/board_drivers.cpp
View File

@ -89,6 +89,7 @@ void AP_BoardConfig::board_setup_drivers(void)
case PX4_BOARD_PIXHAWK: case PX4_BOARD_PIXHAWK:
case PX4_BOARD_PIXHAWK2: case PX4_BOARD_PIXHAWK2:
case PX4_BOARD_FMUV5: case PX4_BOARD_FMUV5:
case PX4_BOARD_FMUV6:
case PX4_BOARD_SP01: case PX4_BOARD_SP01:
case PX4_BOARD_PIXRACER: case PX4_BOARD_PIXRACER:
case PX4_BOARD_PHMINI: case PX4_BOARD_PHMINI:
@ -251,6 +252,9 @@ void AP_BoardConfig::board_autodetect(void)
#elif defined(HAL_CHIBIOS_ARCH_FMUV5) #elif defined(HAL_CHIBIOS_ARCH_FMUV5)
state.board_type.set_and_notify(PX4_BOARD_FMUV5); state.board_type.set_and_notify(PX4_BOARD_FMUV5);
hal.console->printf("Detected FMUv5\n"); hal.console->printf("Detected FMUv5\n");
#elif defined(HAL_CHIBIOS_ARCH_FMUV6)
state.board_type.set_and_notify(PX4_BOARD_FMUV5);
hal.console->printf("Detected FMUv6\n");
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51) || defined(HAL_CHIBIOS_ARCH_BRAINV51) #elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51) || defined(HAL_CHIBIOS_ARCH_BRAINV51)
state.board_type.set_and_notify(VRX_BOARD_BRAIN51); state.board_type.set_and_notify(VRX_BOARD_BRAIN51);
hal.console->printf("Detected VR Brain 5.1\n"); hal.console->printf("Detected VR Brain 5.1\n");