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RPi: just use RPI instead of RPI2.

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The reason for this change is that RPi2 and RPi3 are compatible, and
hopefully all differences coming up can be resolved without ifdefs but
at runtime.
This commit is contained in:
Julian Oes
2016-07-14 17:34:41 +02:00
parent 2bf40efe8b
commit fa614a3cc1
14 changed files with 31 additions and 58 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/accelerometer_calibration.cpp
+4 -4
View File
@@ -175,7 +175,7 @@ typedef struct {
int do_accel_calibration(orb_advert_t *mavlink_log_pub)
{
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI2)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI)
int fd;
#endif
@@ -195,7 +195,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
/* reset all sensors */
for (unsigned s = 0; s < max_accel_sens; s++) {
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI2)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI)
sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, s);
/* reset all offsets to zero and all scales to one */
fd = px4_open(str, 0);
@@ -329,7 +329,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
return ERROR;
}
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI2)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI)
sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, i);
fd = px4_open(str, 0);
@@ -419,7 +419,7 @@ calibrate_return do_accel_calibration_measurements(orb_advert_t *mavlink_log_pub
break;
}
#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_RPI2)
#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_RPI)
// For QURT respectively the driver framework, we need to get the device ID by copying one report.
struct accel_report accel_report;
orb_copy(ORB_ID(sensor_accel), worker_data.subs[i], &accel_report);
src/modules/commander/gyro_calibration.cpp
+3 -3
View File
@@ -185,7 +185,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
// Reset all offsets to 0 and scales to 1
(void)memcpy(&worker_data.gyro_scale[s], &gyro_scale_zero, sizeof(gyro_scale_zero));
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI2)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI)
sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
int fd = px4_open(str, 0);
if (fd >= 0) {
@@ -238,7 +238,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
for (unsigned s = 0; s < gyro_count; s++) {
worker_data.gyro_sensor_sub[s] = orb_subscribe_multi(ORB_ID(sensor_gyro), s);
#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_RPI2)
#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_RPI)
// For QURT respectively the driver framework, we need to get the device ID by copying one report.
struct gyro_report gyro_report;
orb_copy(ORB_ID(sensor_gyro), worker_data.gyro_sensor_sub[s], &gyro_report);
@@ -336,7 +336,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
(void)sprintf(str, "CAL_GYRO%u_ID", s);
failed |= (OK != param_set_no_notification(param_find(str), &(worker_data.device_id[s])));
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI2)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI)
/* apply new scaling and offsets */
(void)sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
int fd = px4_open(str, 0);
src/modules/commander/mag_calibration.cpp
+6 -6
View File
@@ -124,7 +124,7 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
_last_mag_progress = 0;
for (unsigned cur_mag = 0; cur_mag < max_mags; cur_mag++) {
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
// Reset mag id to mag not available
(void)sprintf(str, "CAL_MAG%u_ID", cur_mag);
result = param_set_no_notification(param_find(str), &(device_ids[cur_mag]));
@@ -166,7 +166,7 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
#endif
/* for calibration, commander will run on apps, so orb messages are used to get info from dsp */
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
// Attempt to open mag
(void)sprintf(str, "%s%u", MAG_BASE_DEVICE_PATH, cur_mag);
int fd = px4_open(str, O_RDONLY);
@@ -508,7 +508,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
// Mag in this slot is available
worker_data.sub_mag[cur_mag] = orb_subscribe_multi(ORB_ID(sensor_mag), cur_mag);
#if defined(__PX4_QURT) || defined(__PX4_POSIX_RPI2)
#if defined(__PX4_QURT) || defined(__PX4_POSIX_RPI)
// For QURT respectively the driver framework, we need to get the device ID by copying one report.
struct mag_report mag_report;
orb_copy(ORB_ID(sensor_mag), worker_data.sub_mag[cur_mag], &mag_report);
@@ -664,7 +664,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
for (unsigned cur_mag=0; cur_mag<max_mags; cur_mag++) {
if (device_ids[cur_mag] != 0) {
struct mag_calibration_s mscale;
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
int fd_mag = -1;
// Set new scale
@@ -688,7 +688,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
mscale.y_offset = sphere_y[cur_mag];
mscale.z_offset = sphere_z[cur_mag];
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
if (px4_ioctl(fd_mag, MAGIOCSSCALE, (long unsigned int)&mscale) != OK) {
calibration_log_critical(mavlink_log_pub, CAL_ERROR_APPLY_CAL_MSG, cur_mag);
result = calibrate_return_error;
@@ -696,7 +696,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
#endif
}
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
// Mag device no longer needed
if (fd_mag >= 0) {
px4_close(fd_mag);
src/modules/sensors/sensors.cpp
+5 -5
View File
@@ -1017,7 +1017,7 @@ Sensors::parameters_update()
DevHandle h_baro;
DevMgr::getHandle(BARO0_DEVICE_PATH, h_baro);
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
// TODO: this needs fixing for QURT and Raspberry Pi
if (!h_baro.isValid()) {
@@ -1671,7 +1671,7 @@ Sensors::parameter_update_poll(bool forced)
bool
Sensors::apply_gyro_calibration(DevHandle &h, const struct gyro_calibration_s *gcal, const int device_id)
{
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
/* On most systems, we can just use the IOCTL call to set the calibration params. */
return !h.ioctl(GYROIOCSSCALE, (long unsigned int)gcal);
@@ -1685,7 +1685,7 @@ Sensors::apply_gyro_calibration(DevHandle &h, const struct gyro_calibration_s *g
bool
Sensors::apply_accel_calibration(DevHandle &h, const struct accel_calibration_s *acal, const int device_id)
{
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
/* On most systems, we can just use the IOCTL call to set the calibration params. */
return !h.ioctl(ACCELIOCSSCALE, (long unsigned int)acal);
@@ -1699,7 +1699,7 @@ Sensors::apply_accel_calibration(DevHandle &h, const struct accel_calibration_s
bool
Sensors::apply_mag_calibration(DevHandle &h, const struct mag_calibration_s *mcal, const int device_id)
{
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
/* On most systems, we can just use the IOCTL call to set the calibration params. */
return !h.ioctl(MAGIOCSSCALE, (long unsigned int)mcal);
@@ -2253,7 +2253,7 @@ Sensors::task_main()
/* This calls a sensors_init which can have different implementations on NuttX, POSIX, QURT. */
ret = sensors_init();
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
// TODO: move adc_init into the sensors_init call.
ret = ret || adc_init();
#endif
src/modules/sensors/sensors_init.cpp
+1 -1
View File
@@ -52,7 +52,7 @@
using namespace DriverFramework;
#if defined(__PX4_QURT) || defined(__PX4_POSIX_RPI2)
#if defined(__PX4_QURT) || defined(__PX4_POSIX_RPI)
// Sensor initialization is performed automatically when the QuRT sensor drivers
// are loaded.