dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

commander : simplify platform defines

This commit is contained in:
Mohammed Kabir 2017-05-25 23:22:20 +02:00 committed by Lorenz Meier
parent 49890c61f5
commit ed5cf9f729
3 changed files with 16 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
src/modules/commander/accelerometer_calibration.cpp
View File

@ -171,7 +171,7 @@ typedef struct {
int do_accel_calibration(orb_advert_t *mavlink_log_pub) int do_accel_calibration(orb_advert_t *mavlink_log_pub)
{ {
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) #ifdef __PX4_NUTTX
int fd; int fd;
#endif #endif
@ -191,7 +191,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
/* reset all sensors */ /* reset all sensors */
for (unsigned s = 0; s < max_accel_sens; s++) { for (unsigned s = 0; s < max_accel_sens; s++) {
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) #ifdef __PX4_NUTTX
sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, s); sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, s);
/* reset all offsets to zero and all scales to one */ /* reset all offsets to zero and all scales to one */
fd = px4_open(str, 0); fd = px4_open(str, 0);
@ -387,7 +387,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
return PX4_ERROR; return PX4_ERROR;
} }
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) #ifdef __PX4_NUTTX
sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, uorb_index); sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, uorb_index);
fd = px4_open(str, 0); fd = px4_open(str, 0);
@ -482,7 +482,7 @@ calibrate_return do_accel_calibration_measurements(orb_advert_t *mavlink_log_pub
struct accel_report report = {}; struct accel_report report = {};
orb_copy(ORB_ID(sensor_accel), worker_data.subs[cur_accel], &report); orb_copy(ORB_ID(sensor_accel), worker_data.subs[cur_accel], &report);
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) #ifdef __PX4_NUTTX
// For NuttX, we get the UNIQUE device ID from the sensor driver via an IOCTL // For NuttX, we get the UNIQUE device ID from the sensor driver via an IOCTL
// and match it up with the one from the uORB subscription, because the // and match it up with the one from the uORB subscription, because the
@ -497,7 +497,7 @@ calibrate_return do_accel_calibration_measurements(orb_advert_t *mavlink_log_pub
orb_unsubscribe(worker_data.subs[cur_accel]); orb_unsubscribe(worker_data.subs[cur_accel]);
} }
#elif defined(__PX4_QURT) || defined(__PX4_POSIX_RPI) || defined(__PX4_POSIX_BEBOP) #else
// For the DriverFramework drivers, we fill device ID (this is the first time) by copying one report. // For the DriverFramework drivers, we fill device ID (this is the first time) by copying one report.
device_id[cur_accel] = report.device_id; device_id[cur_accel] = report.device_id;

8
src/modules/commander/gyro_calibration.cpp
View File

@ -243,7 +243,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
// Reset all offsets to 0 and scales to 1 // Reset all offsets to 0 and scales to 1
(void)memcpy(&worker_data.gyro_scale[s], &gyro_scale_zero, sizeof(gyro_scale_zero)); (void)memcpy(&worker_data.gyro_scale[s], &gyro_scale_zero, sizeof(gyro_scale_zero));
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) #ifdef __PX4_NUTTX
sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s); sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
int fd = px4_open(str, 0); int fd = px4_open(str, 0);
if (fd >= 0) { if (fd >= 0) {
@ -310,7 +310,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
struct gyro_report report; struct gyro_report report;
orb_copy(ORB_ID(sensor_gyro), worker_data.gyro_sensor_sub[cur_gyro], &report); orb_copy(ORB_ID(sensor_gyro), worker_data.gyro_sensor_sub[cur_gyro], &report);
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) #ifdef __PX4_NUTTX
// For NuttX, we get the UNIQUE device ID from the sensor driver via an IOCTL // For NuttX, we get the UNIQUE device ID from the sensor driver via an IOCTL
// and match it up with the one from the uORB subscription, because the // and match it up with the one from the uORB subscription, because the
@ -323,7 +323,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
orb_unsubscribe(worker_data.gyro_sensor_sub[cur_gyro]); orb_unsubscribe(worker_data.gyro_sensor_sub[cur_gyro]);
} }
#elif defined(__PX4_QURT) || defined(__PX4_POSIX_RPI) || defined(__PX4_POSIX_BEBOP) #else
// For the DriverFramework drivers, we fill device ID (this is the first time) by copying one report. // For the DriverFramework drivers, we fill device ID (this is the first time) by copying one report.
worker_data.device_id[cur_gyro] = report.device_id; worker_data.device_id[cur_gyro] = report.device_id;
@ -473,7 +473,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
(void)sprintf(str, "CAL_GYRO%u_ID", uorb_index); (void)sprintf(str, "CAL_GYRO%u_ID", uorb_index);
failed |= (PX4_OK != param_set_no_notification(param_find(str), &(worker_data.device_id[uorb_index]))); failed |= (PX4_OK != param_set_no_notification(param_find(str), &(worker_data.device_id[uorb_index])));
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) #ifdef __PX4_NUTTX
/* apply new scaling and offsets */ /* apply new scaling and offsets */
(void)sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, uorb_index); (void)sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, uorb_index);
int fd = px4_open(str, 0); int fd = px4_open(str, 0);

15
src/modules/commander/mag_calibration.cpp
View File

@ -138,7 +138,7 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
_last_mag_progress = 0; _last_mag_progress = 0;
for (unsigned cur_mag = 0; cur_mag < max_mags; cur_mag++) { for (unsigned cur_mag = 0; cur_mag < max_mags; cur_mag++) {
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) #ifdef __PX4_NUTTX
// Reset mag id to mag not available // Reset mag id to mag not available
(void)sprintf(str, "CAL_MAG%u_ID", cur_mag); (void)sprintf(str, "CAL_MAG%u_ID", cur_mag);
result = param_set_no_notification(param_find(str), &(device_ids[cur_mag])); result = param_set_no_notification(param_find(str), &(device_ids[cur_mag]));
@ -193,8 +193,7 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
#endif #endif
/* for calibration, commander will run on apps, so orb messages are used to get info from dsp */ #ifdef __PX4_NUTTX
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
// Attempt to open mag // Attempt to open mag
(void)sprintf(str, "%s%u", MAG_BASE_DEVICE_PATH, cur_mag); (void)sprintf(str, "%s%u", MAG_BASE_DEVICE_PATH, cur_mag);
int fd = px4_open(str, O_RDONLY); int fd = px4_open(str, O_RDONLY);
@ -598,7 +597,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
struct mag_report report; struct mag_report report;
orb_copy(ORB_ID(sensor_mag), worker_data.sub_mag[cur_mag], &report); orb_copy(ORB_ID(sensor_mag), worker_data.sub_mag[cur_mag], &report);
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) #ifdef __PX4_NUTTX
// For NuttX, we get the UNIQUE device ID from the sensor driver via an IOCTL // For NuttX, we get the UNIQUE device ID from the sensor driver via an IOCTL
// and match it up with the one from the uORB subscription, because the // and match it up with the one from the uORB subscription, because the
@ -611,7 +610,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
orb_unsubscribe(worker_data.sub_mag[cur_mag]); orb_unsubscribe(worker_data.sub_mag[cur_mag]);
} }
#elif defined(__PX4_QURT) || defined(__PX4_POSIX_RPI) || defined(__PX4_POSIX_BEBOP) #else
// For the DriverFramework drivers, we fill device ID (this is the first time) by copying one report. // For the DriverFramework drivers, we fill device ID (this is the first time) by copying one report.
device_ids[cur_mag] = report.device_id; device_ids[cur_mag] = report.device_id;
@ -792,7 +791,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
mscale.y_scale = 1.0; mscale.y_scale = 1.0;
mscale.z_scale = 1.0; mscale.z_scale = 1.0;
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) #ifdef __PX4_NUTTX
int fd_mag = -1; int fd_mag = -1;
// Set new scale // Set new scale
@ -821,7 +820,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
mscale.y_scale = diag_y[cur_mag]; mscale.y_scale = diag_y[cur_mag];
mscale.z_scale = diag_z[cur_mag]; mscale.z_scale = diag_z[cur_mag];
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) #ifdef __PX4_NUTTX
if (px4_ioctl(fd_mag, MAGIOCSSCALE, (long unsigned int)&mscale) != PX4_OK) { if (px4_ioctl(fd_mag, MAGIOCSSCALE, (long unsigned int)&mscale) != PX4_OK) {
calibration_log_critical(mavlink_log_pub, CAL_ERROR_APPLY_CAL_MSG, cur_mag); calibration_log_critical(mavlink_log_pub, CAL_ERROR_APPLY_CAL_MSG, cur_mag);
@ -831,7 +830,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
#endif #endif
} }
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) #ifdef __PX4_NUTTX
// Mag device no longer needed // Mag device no longer needed
if (fd_mag >= 0) { if (fd_mag >= 0) {