forked from Archive/PX4-Autopilot
Added build specific sensor initialization.
This commit is contained in:
jwilson
Julian Oes
parent
75fad09263
commit
ebfcf32323
|
|
@ -30,6 +30,15 @@
|
|||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
set(SENSORS_SRCS sensors.cpp)
|
||||
if (${OS} STREQUAL "qurt")
|
||||
list(APPEND SENSORS_SRCS
|
||||
sensors_init_qurt.cpp)
|
||||
elseif(${OS} STREQUAL "nuttx")
|
||||
list(APPEND SENSORS_SRCS
|
||||
sensors_init_nuttx.cpp)
|
||||
endif()
|
||||
|
||||
px4_add_module(
|
||||
MODULE modules__sensors
|
||||
MAIN sensors
|
||||
|
|
@ -39,7 +48,7 @@ px4_add_module(
|
|||
-Wno-type-limits
|
||||
-O3
|
||||
SRCS
|
||||
sensors.cpp
|
||||
${SENSORS_SRCS}
|
||||
DEPENDS
|
||||
platforms__common
|
||||
)
|
||||
|
|
|
|||
|
|
@ -105,6 +105,9 @@
|
|||
|
||||
using namespace DriverFramework;
|
||||
|
||||
/* Platform specific sensor initialization function. */
|
||||
extern int sensors_init(void);
|
||||
|
||||
/**
|
||||
* Analog layout:
|
||||
* FMU:
|
||||
|
|
@ -2098,33 +2101,39 @@ Sensors::task_main()
|
|||
/* start individual sensors */
|
||||
int ret = 0;
|
||||
|
||||
do { /* create a scope to handle exit with break */
|
||||
#ifndef __PX4_QURT
|
||||
// TODO: needs fixes for QURT.
|
||||
ret = accel_init();
|
||||
|
||||
if (ret) { break; }
|
||||
// TODO-JYW: TESTING-TESTING:
|
||||
ret = sensors_init();
|
||||
|
||||
ret = gyro_init();
|
||||
|
||||
if (ret) { break; }
|
||||
|
||||
ret = mag_init();
|
||||
|
||||
if (ret) { break; }
|
||||
|
||||
ret = baro_init();
|
||||
|
||||
if (ret) { break; }
|
||||
|
||||
ret = adc_init();
|
||||
|
||||
if (ret) { break; }
|
||||
|
||||
#endif
|
||||
|
||||
break;
|
||||
} while (0);
|
||||
///*
|
||||
// * QURT devices do not yet use DriverFramework based drivers, which is required for
|
||||
// * the following initialization sequence to work correctly.
|
||||
// */
|
||||
//#ifndef __PX4_QURT
|
||||
// do { /* create a scope to handle exit with break */
|
||||
// ret = accel_init();
|
||||
//
|
||||
// if (ret) { break; }
|
||||
//
|
||||
// ret = gyro_init();
|
||||
//
|
||||
// if (ret) { break; }
|
||||
//
|
||||
// ret = mag_init();
|
||||
//
|
||||
// if (ret) { break; }
|
||||
//
|
||||
// ret = baro_init();
|
||||
//
|
||||
// if (ret) { break; }
|
||||
//
|
||||
// ret = adc_init();
|
||||
//
|
||||
// if (ret) { break; }
|
||||
//
|
||||
// break;
|
||||
// } while (0);
|
||||
//#endif
|
||||
|
||||
if (ret) {
|
||||
warnx("sensor initialization failed");
|
||||
|
|
|
|||
|
|
@ -0,0 +1,71 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015 James Wilson. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file sensors_init_nuttx.cpp
|
||||
*
|
||||
* Sensor initialization code, used only in Nuttx platform builds.
|
||||
*
|
||||
* @author James Wilson <jywilson99@hotmail.com>
|
||||
*/
|
||||
|
||||
int
|
||||
sensors_init(void)
|
||||
{
|
||||
int ret;
|
||||
|
||||
ret = accel_init();
|
||||
|
||||
if (ret) { return ret; }
|
||||
|
||||
ret = gyro_init();
|
||||
|
||||
if (ret) { return ret; }
|
||||
|
||||
ret = mag_init();
|
||||
|
||||
if (ret) { return ret; }
|
||||
|
||||
ret = baro_init();
|
||||
|
||||
if (ret) { return ret; }
|
||||
|
||||
ret = adc_init();
|
||||
|
||||
if (ret) { return ret; }
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,48 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015 James Wilson. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file sensors_init_qurt.cpp
|
||||
*
|
||||
* Sensor initialization code, used only in QuRT platform builds.
|
||||
*
|
||||
* @author James Wilson <jywilson99@hotmail.com>
|
||||
*/
|
||||
|
||||
int
|
||||
sensors_init(void)
|
||||
{
|
||||
// Sensor initialization is performed automatically when the QuRT sensor drivers
|
||||
// are loaded.
|
||||
return 0;
|
||||
}
|
||||
Loading…
Reference in New Issue