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Added missing conditional compilation control for FMUV4

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This commit is contained in:
David Sidrane
2015-11-18 13:58:57 -10:00
committed by Lorenz Meier
parent 6df5aab064
commit 731daec744
2 changed files with 104 additions and 6 deletions
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src/drivers/px4fmu/fmu.cpp
+103 -5
View File
@@ -1277,7 +1277,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
set_mode(MODE_4PWM);
break;
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
case 6:
set_mode(MODE_6PWM);
@@ -1490,6 +1490,79 @@ PX4FMU::sensor_reset(int ms)
// stm32_configgpio(GPIO_ACCEL_DRDY);
// stm32_configgpio(GPIO_EXTI_MPU_DRDY);
#endif
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
if (ms < 1) {
ms = 1;
}
/* disable SPI bus */
stm32_configgpio(GPIO_SPI_CS_OFF_MPU9250);
stm32_configgpio(GPIO_SPI_CS_OFF_HMC5983);
stm32_configgpio(GPIO_SPI_CS_OFF_MS5611);
stm32_configgpio(GPIO_SPI_CS_OFF_ICM_20608_G);
stm32_gpiowrite(GPIO_SPI_CS_OFF_MPU9250, 0);
stm32_gpiowrite(GPIO_SPI_CS_OFF_HMC5983, 0);
stm32_gpiowrite(GPIO_SPI_CS_OFF_MS5611, 0);
stm32_gpiowrite(GPIO_SPI_CS_OFF_ICM_20608_G, 0);
stm32_configgpio(GPIO_SPI1_SCK_OFF);
stm32_configgpio(GPIO_SPI1_MISO_OFF);
stm32_configgpio(GPIO_SPI1_MOSI_OFF);
stm32_gpiowrite(GPIO_SPI1_SCK_OFF, 0);
stm32_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
stm32_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
stm32_configgpio(GPIO_DRDY_OFF_MPU9250);
stm32_configgpio(GPIO_DRDY_OFF_HMC5983);
stm32_configgpio(GPIO_DRDY_OFF_ICM_20608_G);
stm32_gpiowrite(GPIO_DRDY_OFF_MPU9250, 0);
stm32_gpiowrite(GPIO_DRDY_OFF_HMC5983, 0);
stm32_gpiowrite(GPIO_DRDY_OFF_ICM_20608_G, 0);
/* set the sensor rail off */
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
warnx("reset done, %d ms", ms);
/* re-enable power */
/* switch the sensor rail back on */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
/* reconfigure the SPI pins */
#ifdef CONFIG_STM32_SPI1
stm32_configgpio(GPIO_SPI_CS_MPU9250);
stm32_configgpio(GPIO_SPI_CS_HMC5983);
stm32_configgpio(GPIO_SPI_CS_MS5611);
stm32_configgpio(GPIO_SPI_CS_ICM_20608_G);
/* De-activate all peripherals,
* required for some peripheral
* state machines
*/
stm32_gpiowrite(GPIO_SPI_CS_OFF_MPU9250, 1);
stm32_gpiowrite(GPIO_SPI_CS_OFF_HMC5983, 1);
stm32_gpiowrite(GPIO_SPI_CS_OFF_MS5611, 1);
stm32_gpiowrite(GPIO_SPI_CS_OFF_ICM_20608_G, 1);
// // XXX bring up the EXTI pins again
// stm32_configgpio(GPIO_GYRO_DRDY);
// stm32_configgpio(GPIO_MAG_DRDY);
// stm32_configgpio(GPIO_ACCEL_DRDY);
// stm32_configgpio(GPIO_EXTI_MPU_DRDY);
#endif
#endif
}
@@ -1516,6 +1589,31 @@ PX4FMU::peripheral_reset(int ms)
/* switch the peripheral rail back on */
stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 0);
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
if (ms < 1) {
ms = 10;
}
/* set the peripheral rails off */
stm32_configgpio(GPIO_PERIPH_3V3_EN);
stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 0);
bool last = stm32_gpioread(GPIO_SPEKTRUM_POWER);
/* Keep Spektum on to discharge rail*/
stm32_gpiowrite(GPIO_SPEKTRUM_POWER, 1);
/* wait for the peripheral rail to reach GND */
usleep(ms * 1000);
warnx("reset done, %d ms", ms);
/* re-enable power */
/* switch the peripheral rail back on */
stm32_gpiowrite(GPIO_SPEKTRUM_POWER, last);
stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 1);
#endif
}
void
@@ -1707,7 +1805,7 @@ fmu_new_mode(PortMode new_mode)
/* select 4-pin PWM mode */
servo_mode = PX4FMU::MODE_4PWM;
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
servo_mode = PX4FMU::MODE_6PWM;
#endif
#if defined(CONFIG_ARCH_BOARD_AEROCORE)
@@ -1715,7 +1813,7 @@ fmu_new_mode(PortMode new_mode)
#endif
break;
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
case PORT_PWM4:
/* select 4-pin PWM mode */
@@ -2023,7 +2121,7 @@ fmu_main(int argc, char *argv[])
} else if (!strcmp(verb, "mode_pwm")) {
new_mode = PORT_FULL_PWM;
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
} else if (!strcmp(verb, "mode_pwm4")) {
new_mode = PORT_PWM4;
@@ -2112,7 +2210,7 @@ fmu_main(int argc, char *argv[])
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
fprintf(stderr,
" mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, test, fake, sensor_reset, id\n");
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_AEROCORE)
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4) || defined(CONFIG_ARCH_BOARD_AEROCORE)
fprintf(stderr, " mode_gpio, mode_pwm, mode_pwm4, test, sensor_reset [milliseconds], i2c <bus> <hz>\n");
#endif
exit(1);
src/platforms/posix/drivers/airspeedsim/meas_airspeed_sim.cpp
+1 -1
View File
@@ -291,7 +291,7 @@ MEASAirspeedSim::cycle()
void
MEASAirspeedSim::voltage_correction(float &diff_press_pa, float &temperature)
{
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
if (_t_system_power == -1) {
_t_system_power = orb_subscribe(ORB_ID(system_power));