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Enable BMI055 for FMUv5 and improve console handling

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This commit is contained in:
Lorenz Meier
2017-04-24 10:38:39 +02:00
parent 53bb6c6822
commit 3affe67c96
4 changed files with 10 additions and 6 deletions
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cmake/configs/nuttx_px4fmu-v5_default.cmake
+1
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@@ -13,6 +13,7 @@ set(config_module_list
drivers/airspeed drivers/airspeed
drivers/blinkm drivers/blinkm
drivers/bma180 drivers/bma180
drivers/bmi055
drivers/bmi160 drivers/bmi160
drivers/bmp280 drivers/bmp280
drivers/boards/px4fmu-v5 drivers/boards/px4fmu-v5
src/drivers/bmi055/CMakeLists.txt
-1
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@@ -35,7 +35,6 @@ px4_add_module(
MAIN bmi055 MAIN bmi055
STACK_MAIN 1200 STACK_MAIN 1200
COMPILE_FLAGS COMPILE_FLAGS
-Weffc++
SRCS SRCS
bmi055_accel.cpp bmi055_accel.cpp
bmi055_gyro.cpp bmi055_gyro.cpp
src/drivers/bmi055/bmi055_main.cpp
+6 -2
View File
@@ -1,3 +1,5 @@
#include <px4_config.h>
#include <platforms/px4_getopt.h>
#include "bmi055.hpp" #include "bmi055.hpp"
/** driver 'main' command */ /** driver 'main' command */
@@ -526,9 +528,11 @@ bmi055_main(int argc, char *argv[])
int ch; int ch;
enum Rotation rotation = ROTATION_NONE; enum Rotation rotation = ROTATION_NONE;
enum sensor_type sensor = BMI055_NONE; enum sensor_type sensor = BMI055_NONE;
int myoptind = 1;
const char *myoptarg = NULL;
/* jump over start/off/etc and look at options first */ /* jump over start/off/etc and look at options first */
while ((ch = getopt(argc, argv, "XR:AG")) != EOF) { while ((ch = px4_getopt(argc, argv, "XR:AG", &myoptind, &myoptarg)) != EOF) {
switch (ch) { switch (ch) {
case 'X': case 'X':
external_bus = true; external_bus = true;
@@ -552,7 +556,7 @@ bmi055_main(int argc, char *argv[])
} }
} }
const char *verb = argv[optind]; const char *verb = argv[myoptind];
if (sensor == BMI055_NONE) { if (sensor == BMI055_NONE) {
bmi055::usage(); bmi055::usage();
src/drivers/boards/px4fmu-v5/board_config.h
+3 -3
View File
@@ -133,12 +133,12 @@ __BEGIN_DECLS
#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,0) #define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,0)
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,1) #define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,1)
#define PX4_SPIDEV_BMI055_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,2) #define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,2)
#define PX4_SPIDEV_BMI055_ACCEL PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,3) #define PX4_SPIDEV_BMI055_ACC PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,3)
#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI_CS_ICM20689, GPIO_SPI_CS_ICM20602, GPIO_SPI_CS_BMI055_GYR, GPIO_SPI_CS_BMI055_ACC} #define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI_CS_ICM20689, GPIO_SPI_CS_ICM20602, GPIO_SPI_CS_BMI055_GYR, GPIO_SPI_CS_BMI055_ACC}
#define PX4_SENSORS_BUS_FIRST_CS PX4_SPIDEV_ICM_20689 #define PX4_SENSORS_BUS_FIRST_CS PX4_SPIDEV_ICM_20689
#define PX4_SENSORS_BUS_LAST_CS PX4_SPIDEV_BMI055_ACCEL #define PX4_SENSORS_BUS_LAST_CS PX4_SPIDEV_BMI055_ACC
#define PX4_SPIDEV_MEMORY PX4_MK_SPI_SEL(PX4_SPI_BUS_MEMORY,0) #define PX4_SPIDEV_MEMORY PX4_MK_SPI_SEL(PX4_SPI_BUS_MEMORY,0)
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI_CS_MEMORY} #define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI_CS_MEMORY}