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Ark flow rev 3 with PAA3905"

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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
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boards/ark/can-flow/default.px4board
+2
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@@ -8,6 +8,8 @@ CONFIG_DRIVERS_BOOTLOADERS=y
CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=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_DRIVERS_OPTICAL_FLOW_PAW3902=y
CONFIG_BOARD_UAVCAN_INTERFACES=1 CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_DRIVERS_UAVCANNODE=y CONFIG_DRIVERS_UAVCANNODE=y
boards/ark/can-flow/init/rc.board_sensors
+9 -3
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@@ -6,12 +6,18 @@
param set-default IMU_GYRO_RATEMAX 1000 param set-default IMU_GYRO_RATEMAX 1000
# Internal SPI # 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 if ! icm42688p -R 0 -s start
then then
bmi088 -A -s -R 4 start if ! iim42652 -R 0 -s start
bmi088 -G -s -R 4 start then
bmi088 -A -s -R 4 start
bmi088 -G -s -R 4 start
fi
fi fi
afbrs50 start afbrs50 start
boards/ark/can-flow/src/spi.cpp
+2
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@@ -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_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_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_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_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, { initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin12}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}), initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin12}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.cpp
+11 -2
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); 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_module_version_t mv = Argus_GetModuleVersion(_hnd);
argus_laser_type_t lt = Argus_GetLaserType(_hnd);
switch (mv) { switch (mv) {
case AFBR_S50MV85G_V1: case AFBR_S50MV85G_V1:
@@ -167,11 +168,19 @@ int AFBRS50::init()
case AFBR_S50LV85D_V1: case AFBR_S50LV85D_V1:
_min_distance = 0.08f; _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_min_distance(_min_distance);
_px4_rangefinder.set_max_distance(_max_distance); _px4_rangefinder.set_max_distance(_max_distance);
_px4_rangefinder.set_fov(math::radians(6.f)); _px4_rangefinder.set_fov(math::radians(6.f));
PX4_INFO_RAW("AFBR-S50LV85D (v1)\n");
break; break;
case AFBR_S50MV68B_V1: case AFBR_S50MV68B_V1: