fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Ark flow rev 3 with PAA3905"

Browse Source 
Add AFBR-S50LX85D
This commit is contained in:
alexklimaj 2022-08-26 11:19:57 -06:00 committed by Daniel Agar
parent 38d332a553
commit fdf4b668eb
4 changed files with 24 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
boards/ark/can-flow/default.px4board
View File

@ -8,6 +8,8 @@ CONFIG_DRIVERS_BOOTLOADERS=y
CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905=y
CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_DRIVERS_UAVCANNODE=y

12
boards/ark/can-flow/init/rc.board_sensors
View File

@ -6,12 +6,18 @@
param set-default IMU_GYRO_RATEMAX 1000
# Internal SPI
paw3902 -s start -Y 180
if ! paw3902 -s start -Y 180
then
paa3905 -s start -Y 180
fi
if ! icm42688p -R 0 -s start
then
bmi088 -A -s -R 4 start
bmi088 -G -s -R 4 start
if ! iim42652 -R 0 -s start
then
bmi088 -A -s -R 4 start
bmi088 -G -s -R 4 start
fi
fi
afbrs50 start

2
boards/ark/can-flow/src/spi.cpp
View File

@ -40,7 +40,9 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
initSPIDevice(DRV_FLOW_DEVTYPE_PAW3902, SPI::CS{GPIO::PortB, GPIO::Pin5}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
initSPIDevice(DRV_FLOW_DEVTYPE_PAA3905, SPI::CS{GPIO::PortB, GPIO::Pin5}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin12}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),

13
src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.cpp
View File

@ -148,6 +148,7 @@ int AFBRS50::init()
PX4_INFO_RAW("AFBR-S50 Chip ID: %u, API Version: %u v%d.%d.%d\n", (uint)id, (uint)value, a, b, c);
argus_module_version_t mv = Argus_GetModuleVersion(_hnd);
argus_laser_type_t lt = Argus_GetLaserType(_hnd);
switch (mv) {
case AFBR_S50MV85G_V1:
@ -167,11 +168,19 @@ int AFBRS50::init()
case AFBR_S50LV85D_V1:
_min_distance = 0.08f;
_max_distance = 30.f;
if (lt == LASER_H_V2X) {
_max_distance = 50.f;
PX4_INFO_RAW("AFBR-S50LX85D (v2)\n");
} else {
_max_distance = 30.f;
PX4_INFO_RAW("AFBR-S50LV85D (v1)\n");
}
_px4_rangefinder.set_min_distance(_min_distance);
_px4_rangefinder.set_max_distance(_max_distance);
_px4_rangefinder.set_fov(math::radians(6.f));
PX4_INFO_RAW("AFBR-S50LV85D (v1)\n");
break;
case AFBR_S50MV68B_V1: