Mirrors_Framework/PX4-Autopilot
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refactor ms5611: use driver base class

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Also: remove device type auto-detection as it will not work with
together with the new SPI board config (which specifies a specific
device type)
This commit is contained in:
Beat Küng
2020-02-26 14:56:30 +01:00
committed by Daniel Agar
parent 22a38453ab
commit dbb53044ce
19 changed files with 144 additions and 298 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/intel/aerofc-v1/init/rc.board_sensors
+8 -2
View File
@@ -5,7 +5,10 @@
aerofc_adc start
ms5611 -T 0 start
if ! ms5611 -T 5607 start
then
ms5611 start
fi
mpu9250 -s -R 14 start
# Possible external compasses
@@ -16,4 +19,7 @@ ist8310 -I -R 4 start
ll40ls start i2c -a
# Internal SPI (auto detect ms5611 or ms5607)
ms5611 -T 0 -s start
if ! ms5611 -T 5607 -s start
then
ms5611 -s start
fi
boards/px4/fmu-v2/init/rc.board_sensors
+4 -6
View File
@@ -16,11 +16,12 @@ hmc5883 -C -T -I -R 4 start
# Internal SPI bus ICM-20608-G
mpu6000 -s -T 20608 start
# External SPI
ms5611 -S start
# Internal SPI (auto detect ms5611 or ms5607)
ms5611 -T 0 -s start
if ! ms5611 -T 5607 -s start
then
ms5611 -s start
fi
set BOARD_FMUV3 0
@@ -67,9 +68,6 @@ then
# sensor heating is available, but we disable it for now
param set SENS_EN_THERMAL 0
# External SPI
ms5611 -S start
# external L3GD20H is rotated 180 degrees yaw
l3gd20 -X -R 4 start
boards/px4/fmu-v2/src/spi.cpp
+2
View File
@@ -43,6 +43,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
initSPIDevice(DRV_ACC_DEVTYPE_LSM303D, SPI::CS{GPIO::PortC, GPIO::Pin15}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5607, SPI::CS{GPIO::PortD, GPIO::Pin7}),
}, {GPIO::PortE, GPIO::Pin3}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})
@@ -59,6 +60,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
initSPIDevice(DRV_MAG_DEVTYPE_HMC5883, SPI::CS{GPIO::PortC, GPIO::Pin1}), // HMC5983
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5607, SPI::CS{GPIO::PortD, GPIO::Pin7}),
}, {GPIO::PortE, GPIO::Pin3}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})
boards/px4/fmu-v3/init/rc.board_sensors
+4 -6
View File
@@ -17,11 +17,12 @@ hmc5883 -C -T -I -R 4 start
# Internal SPI bus ICM-20608-G
mpu6000 -s -T 20608 start
# External SPI
ms5611 -S start
# Internal SPI (auto detect ms5611 or ms5607)
ms5611 -T 0 -s start
if ! ms5611 -T 5607 -s start
then
ms5611 -s start
fi
set BOARD_FMUV3 0
@@ -75,9 +76,6 @@ then
ak09916 -X -R 6 start
fi
# External SPI
ms5611 -S start
# external L3GD20H is rotated 180 degrees yaw
l3gd20 -X -R 4 start
boards/px4/fmu-v3/src/spi.cpp
+2
View File
@@ -43,6 +43,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
initSPIDevice(DRV_ACC_DEVTYPE_LSM303D, SPI::CS{GPIO::PortC, GPIO::Pin15}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5607, SPI::CS{GPIO::PortD, GPIO::Pin7}),
}, {GPIO::PortE, GPIO::Pin3}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})
@@ -59,6 +60,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
initSPIDevice(DRV_MAG_DEVTYPE_HMC5883, SPI::CS{GPIO::PortC, GPIO::Pin1}), // HMC5983
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5607, SPI::CS{GPIO::PortD, GPIO::Pin7}),
}, {GPIO::PortE, GPIO::Pin3}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})
boards/uvify/core/init/rc.board_extras
+4 -1
View File
@@ -14,5 +14,8 @@ then
# It does not start EKF2 in the beginning which is strange behaviour. but 3 seconds hack.
# We intentionally put this initialization to here for delayed initialization.
sleep 4
ms5611 -T 0 -X start
if ! ms5611 -T 5607 -X start
then
ms5611 -X start
fi
fi
boards/uvify/core/init/rc.board_sensors
+4 -1
View File
@@ -6,7 +6,10 @@
adc start
# Internal SPI
ms5611 -T 0 -s start
if ! ms5611 -T 5607 -s start
then
ms5611 -s start
fi
# Draco-R
if param compare SYS_AUTOSTART 6002
boards/uvify/core/src/spi.cpp
+1
View File
@@ -45,6 +45,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5607, SPI::CS{GPIO::PortD, GPIO::Pin7}),
}),
initSPIBusExternal(SPI::Bus::SPI4, {
SPI::CS{GPIO::PortA, GPIO::Pin8},