fly316/PX4-Autopilot
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supports MindPXv2 borad which is a product from AirMind.

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This commit is contained in:
Felix Hu
2016-03-30 19:45:39 +02:00
committed by Lorenz Meier
parent adab451013
commit bd580e09bf
49 changed files with 9941 additions and 49 deletions
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src/drivers/px4fmu/fmu.cpp
+116 -5
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@@ -321,6 +321,22 @@ const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
{GPIO_GPIO10_INPUT, GPIO_GPIO10_OUTPUT, 0},
{GPIO_GPIO11_INPUT, GPIO_GPIO11_OUTPUT, 0},
#endif
#if defined(CONFIG_ARCH_BOARD_MINDPX_V2)
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0},
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0},
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0},
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0},
{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, 0},
{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, 0},
{GPIO_GPIO8_INPUT, GPIO_GPIO8_OUTPUT, 0},
{GPIO_GPIO9_INPUT, GPIO_GPIO9_OUTPUT, 0},
{GPIO_GPIO10_INPUT, GPIO_GPIO10_OUTPUT, 0},
{GPIO_GPIO11_INPUT, GPIO_GPIO11_OUTPUT, 0},
{GPIO_GPIO12_INPUT, GPIO_GPIO12_OUTPUT, 0},
{0, 0, 0},
#endif
};
const unsigned PX4FMU::_ngpio = sizeof(PX4FMU::_gpio_tab) / sizeof(PX4FMU::_gpio_tab[0]);
@@ -1859,7 +1875,8 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
set_mode(MODE_4PWM);
break;
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4) \
|| defined(CONFIG_ARCH_BOARD_MINDPX_V2)
case 6:
set_mode(MODE_6PWM);
@@ -2181,6 +2198,89 @@ PX4FMU::sensor_reset(int ms)
// stm32_configgpio(GPIO_ACCEL_DRDY);
// stm32_configgpio(GPIO_EXTI_MPU_DRDY);
#endif
#endif
#if defined(CONFIG_ARCH_BOARD_MINDPX_V2)
if (ms < 1) {
ms = 1;
}
/* disable SPI bus */
stm32_configgpio(GPIO_SPI_CS_GYRO_OFF);
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF);
stm32_configgpio(GPIO_SPI_CS_BARO_OFF);
// stm32_configgpio(GPIO_SPI_CS_FRAM_OFF);
stm32_configgpio(GPIO_SPI_CS_MPU_OFF);
stm32_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0);
stm32_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
// stm32_gpiowrite(GPIO_SPI_CS_FRAM_OFF,0);
stm32_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0);
stm32_configgpio(GPIO_SPI4_SCK_OFF);
stm32_configgpio(GPIO_SPI4_MISO_OFF);
stm32_configgpio(GPIO_SPI4_MOSI_OFF);
stm32_gpiowrite(GPIO_SPI4_SCK_OFF, 0);
stm32_gpiowrite(GPIO_SPI4_MISO_OFF, 0);
stm32_gpiowrite(GPIO_SPI4_MOSI_OFF, 0);
stm32_configgpio(GPIO_GYRO_DRDY_OFF);
stm32_configgpio(GPIO_MAG_DRDY_OFF);
stm32_configgpio(GPIO_ACCEL_DRDY_OFF);
stm32_configgpio(GPIO_EXTI_MPU_DRDY_OFF);
stm32_gpiowrite(GPIO_GYRO_DRDY_OFF, 0);
stm32_gpiowrite(GPIO_MAG_DRDY_OFF, 0);
stm32_gpiowrite(GPIO_ACCEL_DRDY_OFF, 0);
stm32_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 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_SPI4
stm32_configgpio(GPIO_SPI_CS_GYRO);
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
stm32_configgpio(GPIO_SPI_CS_BARO);
// stm32_configgpio(GPIO_SPI_CS_FRAM);
stm32_configgpio(GPIO_SPI_CS_MPU);
/* De-activate all peripherals,
* required for some peripheral
* state machines
*/
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
stm32_configgpio(GPIO_SPI4_SCK);
stm32_configgpio(GPIO_SPI4_MISO);
stm32_configgpio(GPIO_SPI4_MOSI);
// // XXX bring up the EXTI pins again
// stm32_configgpio(GPIO_GYRO_DRDY);
// stm32_configgpio(GPIO_MAG_DRDY);
// stm32_configgpio(GPIO_ACCEL_DRDY);
#endif
#endif
}
@@ -2232,6 +2332,13 @@ PX4FMU::peripheral_reset(int ms)
stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, last);
stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 1);
#endif
#if defined(CONFIG_ARCH_BOARD_MINDPX_V2)
if (ms < 1) {
ms = 10;
}
#endif
}
void
@@ -2574,7 +2681,8 @@ fmu_new_mode(PortMode new_mode)
/* select 4-pin PWM mode */
servo_mode = PX4FMU::MODE_4PWM;
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4) \
|| defined(CONFIG_ARCH_BOARD_MINDPX_V2)
servo_mode = PX4FMU::MODE_6PWM;
#endif
#if defined(CONFIG_ARCH_BOARD_AEROCORE)
@@ -2582,7 +2690,8 @@ fmu_new_mode(PortMode new_mode)
#endif
break;
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4) \
|| defined(CONFIG_ARCH_BOARD_MINDPX_V2)
case PORT_PWM4:
/* select 4-pin PWM mode */
@@ -3015,7 +3124,8 @@ fmu_main(int argc, char *argv[])
} else if (!strcmp(verb, "mode_pwm")) {
new_mode = PORT_FULL_PWM;
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4) \
|| defined(CONFIG_ARCH_BOARD_MINDPX_V2)
} else if (!strcmp(verb, "mode_pwm4")) {
new_mode = PORT_PWM4;
@@ -3106,7 +3216,8 @@ 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_PX4FMU_V4) || defined(CONFIG_ARCH_BOARD_AEROCORE)
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4) || defined(CONFIG_ARCH_BOARD_AEROCORE) \
|| defined(CONFIG_ARCH_BOARD_MINDPX_V2)
fprintf(stderr, " mode_gpio, mode_pwm, mode_pwm4, test, sensor_reset [milliseconds], i2c <bus> <hz>\n");
#endif
exit(1);