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Add Gumstix AeroCore device

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Based on the work of Andrew Smith [1], add board configuration and device
drivers to support the Gumstix AeroCore (previously Aerodroid) board [2]. The
AeroCore is an autopilot board based on a STM32F427 similar to the FMUv2.

[1] https://github.com/smithandrewc/Firmware
[2] https://store.gumstix.com/index.php/products/585/

Signed-off-by: Ash Charles <ashcharles@gmail.com>
This commit is contained in:
Ash Charles
2014-05-13 09:41:41 -07:00
parent 178a3e8567
commit e5508a1aa0
33 changed files with 2960 additions and 10 deletions
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src/modules/commander/commander_helper.cpp
+1 -1
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@@ -206,7 +206,7 @@ int led_init()
return ERROR;
}
/* the blue LED is only available on FMUv1 but not FMUv2 */
/* the blue LED is only available on FMUv1 & AeroCore but not FMUv2 */
(void)ioctl(leds, LED_ON, LED_BLUE);
/* we consider the amber led mandatory */
src/modules/sensors/sensor_params.c
+9
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@@ -488,6 +488,15 @@ PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);
#elif CONFIG_ARCH_BOARD_AEROCORE
/**
* Scaling factor for battery voltage sensor on AeroCore.
*
* For R70 = 133K, R71 = 10K --> scale = 1.8 * 143 / (4096*10) = 0.0063
*
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0063f);
#else
/**
* Scaling factor for battery voltage sensor on FMU v1.
src/modules/sensors/sensors.cpp
+8 -2
View File
@@ -126,6 +126,12 @@
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 15
#endif
#ifdef CONFIG_ARCH_BOARD_AEROCORE
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
#define ADC_BATTERY_CURRENT_CHANNEL -1
#define ADC_AIRSPEED_VOLTAGE_CHANNEL -1
#endif
#define BATT_V_LOWPASS 0.001f
#define BATT_V_IGNORE_THRESHOLD 3.5f
@@ -797,7 +803,7 @@ Sensors::accel_init()
/* set the driver to poll at 1000Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 1000);
#elif CONFIG_ARCH_BOARD_PX4FMU_V2
#elif CONFIG_ARCH_BOARD_PX4FMU_V2 || CONFIG_ARCH_BOARD_AEROCORE
/* set the accel internal sampling rate up to at leat 800Hz */
ioctl(fd, ACCELIOCSSAMPLERATE, 800);
@@ -806,7 +812,7 @@ Sensors::accel_init()
ioctl(fd, SENSORIOCSPOLLRATE, 800);
#else
#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2
#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1, CONFIG_ARCH_BOARD_PX4FMU_V2 or CONFIG_ARCH_BOARD_AEROCORE
#endif