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deprecate df_bmp280_wrapper and replace with in tree bmp280

Browse Source 
- deprecate DriverFramework bmp280 driver (df_bmp280_wrapper)
 - update beaglebone blue and snapdragon flight eagle boards to use in tree bmp280
 - update posix (really just linux) and qurt I2C wrappers
 - tested on beaglebone blue
This commit is contained in:
Daniel Agar
2020-01-05 13:33:12 -05:00
committed by GitHub
parent 1da7209fe1
commit aaf5670e7d
37 changed files with 227 additions and 777 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/atlflight/eagle/default.cmake
+11 -11
View File
@@ -44,7 +44,6 @@ px4_add_board(
LABEL default
#TESTING
TOOLCHAIN arm-linux-gnueabihf
DRIVERS
#barometer # all available barometer drivers
batt_smbus
@@ -53,17 +52,14 @@ px4_add_board(
distance_sensor # all available distance sensor drivers
gps
#imu # all available imu drivers
lights/rgbled
#lights/rgbled
linux_sbus
#magnetometer # all available magnetometer drivers
pwm_out_sim
qshell/posix
#telemetry # all available telemetry drivers
MODULES
muorb/krait
muorb/test
airspeed_selector
attitude_estimator_q
camera_feedback
commander
@@ -72,7 +68,6 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
rover_pos_control
land_detector
landing_target_estimator
load_mon
@@ -80,17 +75,19 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
mc_rate_control
#micrortps_bridge
muorb/krait
muorb/test
navigator
rc_update
rover_pos_control
sensors
#sih
simulator
vmount
vtol_att_control
airspeed_selector
SYSTEMCMDS
#bl_update
#config
@@ -100,6 +97,7 @@ px4_add_board(
led_control
mixer
motor_ramp
motor_test
#mtd
#nshterm
param
@@ -114,12 +112,14 @@ px4_add_board(
tune_control
ver
work_queue
EXAMPLES
#bottle_drop # OBC challenge
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hello
#hwtest # Hardware test
#matlab_csv_serial
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#uuv_example_app
)
boards/atlflight/eagle/qurt-default.cmake
+16 -14
View File
@@ -43,46 +43,48 @@ px4_add_board(
VENDOR atlflight
MODEL eagle
LABEL qurt-default
DRIVERS
barometer/bmp280
gps
imu/mpu9250
magnetometer/hmc5883
spektrum_rc
qshell/qurt
snapdragon_pwm_out
spektrum_rc
DF_DRIVERS
mpu9250
bmp280
hmc5883
trone
isl29501
ltc2946
mpu9250
trone
MODULES
muorb/adsp
airspeed_selector
attitude_estimator_q
commander
ekf2
fw_att_control
fw_pos_control_l1
rover_pos_control
land_detector
landing_target_estimator
local_position_estimator
mc_att_control
mc_rate_control
mc_pos_control
mc_rate_control
muorb/adsp
rc_update
rover_pos_control
sensors
#sih
vmount
vtol_att_control
airspeed_selector
SYSTEMCMDS
led_control
mixer
#motor_ramp
motor_test
param
perf
#pwm
#topic_listener
ver
work_queue
)
boards/atlflight/eagle/src/CMakeLists.txt
+2 -1
View File
@@ -32,5 +32,6 @@
############################################################################
add_library(drivers_board
sitl_led.c
board_config.h
init.c
)
boards/atlflight/eagle/src/board_config.h
+8 -8
View File
@@ -34,7 +34,7 @@
/**
* @file board_config.h
*
* SITL internal definitions
* EAGLE internal definitions
*/
#pragma once
@@ -45,16 +45,16 @@
#define BOARD_HAS_NO_RESET
#define BOARD_HAS_NO_BOOTLOADER
#define BOARD_NUMBER_BRICKS 0
/*
* I2C busses
*/
#define PX4_I2C_BUS_ESC 1
#define PX4_SIM_BUS_TEST 2
#define PX4_I2C_BUS_EXPANSION 3
#define PX4_I2C_BUS_LED 3
#define PX4_NUMBER_I2C_BUSES 3
#define PX4_I2C_BUS_EXPANSION1 2 // I2C2: J9 / GPS
#define PX4_I2C_BUS_EXPANSION 3 // I2C3: J14 / Power
#define PX4_I2C_BUS_EXPANSION2 9 // I2C9: J15 / Radio Receiver / Sensors
#define PX4_NUMBER_I2C_BUSES 3
#define PX4_I2C_OBDEV_BMP280 0x76
// SPI
#define PX4_SPI_BUS_SENSORS 1
boards/atlflight/eagle/src/init.c
View File
boards/atlflight/eagle/src/sitl_led.c
-82
View File
@@ -1,82 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. 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 sitl_led.c
*
* sitl LED backend.
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <stdbool.h>
#include <systemlib/px4_macros.h>
__BEGIN_DECLS
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
__END_DECLS
static bool _led_state[] = { false, false, false, false };
__EXPORT void led_init()
{
PX4_DEBUG("LED_INIT");
}
__EXPORT void led_on(int led)
{
if ((unsigned int)led < arraySize(_led_state)) {
PX4_DEBUG("LED%d_ON", led);
_led_state[led] = true;
}
}
__EXPORT void led_off(int led)
{
if ((unsigned int)led < arraySize(_led_state)) {
PX4_DEBUG("LED%d_OFF", led);
_led_state[led] = false;
}
}
__EXPORT void led_toggle(int led)
{
if ((unsigned int)led < arraySize(_led_state)) {
_led_state[led] = !_led_state[led];
PX4_DEBUG("LED%d_TOGGLE: %s", led, _led_state[led] ? "ON" : "OFF");
}
}
boards/atlflight/excelsior/default.cmake
+19 -20
View File
@@ -42,9 +42,8 @@ px4_add_board(
VENDOR atlflight
MODEL excelsior
LABEL default
TESTING
#TESTING
TOOLCHAIN arm-oemllib32-linux-gnueabi
DRIVERS
#barometer # all available barometer drivers
batt_smbus
@@ -53,17 +52,14 @@ px4_add_board(
distance_sensor # all available distance sensor drivers
gps
#imu # all available imu drivers
lights/rgbled
#lights/rgbled
linux_sbus
#magnetometer # all available magnetometer drivers
pwm_out_sim
qshell/posix
#telemetry # all available telemetry drivers
MODULES
muorb/krait
muorb/test
airspeed_selector
attitude_estimator_q
camera_feedback
commander
@@ -72,7 +68,6 @@ px4_add_board(
events
fw_att_control
fw_pos_control_l1
rover_pos_control
land_detector
landing_target_estimator
load_mon
@@ -80,17 +75,19 @@ px4_add_board(
logger
mavlink
mc_att_control
mc_rate_control
mc_pos_control
mc_rate_control
#micrortps_bridge
muorb/krait
muorb/test
navigator
rc_update
rover_pos_control
sensors
sih
#sih
simulator
vmount
vtol_att_control
airspeed_selector
SYSTEMCMDS
#bl_update
#config
@@ -100,6 +97,7 @@ px4_add_board(
led_control
mixer
motor_ramp
motor_test
#mtd
#nshterm
param
@@ -108,19 +106,20 @@ px4_add_board(
reboot
sd_bench
shutdown
tests # tests and test runner
#tests # tests and test runner
top
topic_listener
tune_control
ver
work_queue
EXAMPLES
bottle_drop # OBC challenge
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
#bottle_drop # OBC challenge
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
#hello
#hwtest # Hardware test
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
#matlab_csv_serial
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app
#uuv_example_app
)
boards/atlflight/excelsior/qurt-default.cmake
+17 -14
View File
@@ -43,45 +43,48 @@ px4_add_board(
VENDOR atlflight
MODEL excelsior
LABEL qurt-default
DRIVERS
barometer/bmp280
gps
imu/mpu9250
spektrum_rc
magnetometer/hmc5883
qshell/qurt
snapdragon_pwm_out
spektrum_rc
DF_DRIVERS
mpu9250
bmp280
hmc5883
trone
isl29501
ltc2946
mpu9250
trone
MODULES
muorb/adsp
airspeed_selector
attitude_estimator_q
commander
ekf2
fw_att_control
fw_pos_control_l1
rover_pos_control
land_detector
landing_target_estimator
local_position_estimator
mc_att_control
mc_rate_control
mc_pos_control
mc_rate_control
muorb/adsp
rc_update
rover_pos_control
sensors
sih
vmount
vtol_att_control
airspeed_selector
SYSTEMCMDS
led_control
mixer
#motor_ramp
motor_test
param
perf
#pwm
#topic_listener
ver
work_queue
)
boards/atlflight/excelsior/src/CMakeLists.txt
+37
View File
@@ -0,0 +1,37 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. 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.
#
############################################################################
add_library(drivers_board
board_config.h
init.c
)
boards/atlflight/excelsior/src/board_config.h
+20 -3
View File
@@ -39,9 +39,26 @@
#pragma once
#define BOARD_BATTERY1_V_DIV (10.177939394f)
#define BOARD_BATTERY1_A_PER_V (15.391030303f)
#define BOARD_OVERRIDE_UUID "EAGLEID000000000" // must be of length 16
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_EAGLE
#define BOARD_HAS_NO_RESET
#define BOARD_HAS_NO_BOOTLOADER
/*
* I2C busses
*/
#define PX4_I2C_BUS_EXPANSION1 2 // I2C2: J9 / GPS
#define PX4_I2C_BUS_EXPANSION 3 // I2C3: J14 / Power
#define PX4_I2C_BUS_EXPANSION2 9 // I2C9: J15 / Radio Receiver / Sensors
#define PX4_NUMBER_I2C_BUSES 3
#define PX4_I2C_OBDEV_BMP280 0x76
// SPI
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
#include <system_config.h>
#include <px4_platform_common/board_common.h>
boards/atlflight/excelsior/src/init.c
View File
boards/beaglebone/blue/cross.cmake
-1
View File
@@ -25,7 +25,6 @@ px4_add_board(
pwm_out_sim
#telemetry # all available telemetry drivers
DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
bmp280
mpu9250
MODULES
airspeed_selector
boards/beaglebone/blue/native.cmake
-1
View File
@@ -23,7 +23,6 @@ px4_add_board(
pwm_out_sim
#telemetry # all available telemetry drivers
DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
bmp280
mpu9250
MODULES
airspeed_selector
boards/beaglebone/blue/src/board_config.h
+7 -23
View File
@@ -60,8 +60,13 @@
/*
* I2C busses
*/
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_NUMBER_I2C_BUSES 1
#define PX4_I2C_BUS_EXPANSION 1 // i2c-1: pins P9 17,18
#define PX4_I2C_BUS_ONBOARD 2 // i2c-2: pins P9 19,20 - bmp280, mpu9250
#define PX4_NUMBER_I2C_BUSES 2
#define PX4_I2C_OBDEV_MPU9250 0x68
#define PX4_I2C_OBDEV_BMP280 0x76
#include <system_config.h>
#include <px4_platform_common/board_common.h>
@@ -82,8 +87,6 @@ void rc_cleaning(void);
#define rc_i2c_unlock_bus rc_i2c_release_bus
#define rc_i2c_get_lock rc_i2c_get_in_use_state
#define rc_bmp_init rc_initialize_barometer
#define rc_adc_read_raw rc_adc_raw
#define rc_servo_send_pulse_us rc_send_servo_pulse_us
@@ -94,25 +97,6 @@ void rc_cleaning(void);
#define rc_filter_prefill_outputs rc_prefill_filter_outputs
#define rc_filter_butterworth_lowpass rc_butterworth_lowpass
/**
* struct to hold the data retreived during one read of the barometer.
*/
typedef struct rc_bmp_data_t {
float temp_c; ///< temperature in degrees celcius
float alt_m; ///< altitude in meters
float pressure_pa; ///< current pressure in pascals
} rc_bmp_data_t;
#ifdef __cplusplus
extern "C" {
#endif
int rc_bmp_read(rc_bmp_data_t *data);
#ifdef __cplusplus
}
#endif
#endif
#endif // BOARD_CONFIG_H
boards/beaglebone/blue/src/init.cpp
-14
View File
@@ -138,17 +138,3 @@ void rc_cleaning(void)
#endif
#endif
}
#ifdef __RC_V0_3
int rc_bmp_read(rc_bmp_data_t *data)
{
int rtn = rc_read_barometer();
data->temp_c = rc_bmp_get_temperature();
data->alt_m = rc_bmp_get_altitude_m();
data->pressure_pa = rc_bmp_get_pressure_pa();
return rtn;
}
#endif