RCOutput_Bebop: Increase max_rpm on Bebop 2

Bebop 2 can go as high as 12200 rpm. Use get_hw_arm32 method to see
if we are on a bebop or bebop 2

libraries/AP_HAL_Linux/RCOutput_Bebop.cpp

@@ -11,6 +11,7 @@
 #include <sys/mman.h>
 #include <pthread.h>
 #include "RCOutput_Bebop.h"
+#include "Util.h"
 
 /* BEBOP BLDC motor controller address and registers description */
 #define BEBOP_BLDC_I2C_ADDR 0x08
@@ -51,7 +52,9 @@ struct bldc_obs_data {
 #define BEBOP_BLDC_MIN_PERIOD_US 1100
 #define BEBOP_BLDC_MAX_PERIOD_US 1900
 #define BEBOP_BLDC_MIN_RPM 3000
-#define BEBOP_BLDC_MAX_RPM 11000
+/* the max rpm speed is different on Bebop 2 */
+#define BEBOP_BLDC_MAX_RPM_1 11000
+#define BEBOP_BLDC_MAX_RPM_2 12200
 
 /* Priority of the thread controlling the BLDC via i2c
  * set to 14, which is the same as the UART 
@@ -226,7 +229,7 @@ uint16_t RCOutput_Bebop::_period_us_to_rpm(uint16_t period_us)
     float period_us_fl = period_us;
 
     float rpm_fl = (period_us_fl - _min_pwm)/(_max_pwm - _min_pwm) *
-                    (BEBOP_BLDC_MAX_RPM - BEBOP_BLDC_MIN_RPM) + BEBOP_BLDC_MIN_RPM;
+                    (_max_rpm - BEBOP_BLDC_MIN_RPM) + BEBOP_BLDC_MIN_RPM;
 
     return (uint16_t)rpm_fl;
 }
@@ -370,6 +373,7 @@ void RCOutput_Bebop::_run_rcout()
     uint8_t bebop_bldc_channels[BEBOP_BLDC_MOTORS_NUM];
     uint8_t bebop_bldc_right_front, bebop_bldc_left_front,
             bebop_bldc_left_back, bebop_bldc_right_back;
+    int hw_version;
 
     memset(current_period_us, 0, sizeof(current_period_us));
 
@@ -398,6 +402,17 @@ void RCOutput_Bebop::_run_rcout()
     bebop_bldc_channels[2] = bebop_bldc_left_front;
     bebop_bldc_channels[3] = bebop_bldc_right_back;
 
+    hw_version = Util::from(hal.util)->get_hw_arm32();
+    if (hw_version == UTIL_HARDWARE_BEBOP) {
+        _max_rpm = BEBOP_BLDC_MAX_RPM_1;
+    } else if (hw_version == UTIL_HARDWARE_BEBOP2) {
+        _max_rpm = BEBOP_BLDC_MAX_RPM_2;
+    } else if (hw_version < 0) {
+        AP_HAL::panic("failed to get hw version %s", strerror(hw_version));
+    } else {
+        AP_HAL::panic("unsupported hw version %d", hw_version);
+    }
+
     while (true) {
         pthread_mutex_lock(&_mutex);
         ret = clock_gettime(CLOCK_MONOTONIC, &ts);

libraries/AP_HAL_Linux/RCOutput_Bebop.h

@@ -89,6 +89,7 @@ private:
     uint16_t _max_pwm;
     uint8_t  _state;
     bool     _corking = false;
+    uint16_t _max_rpm;
 
     uint8_t _checksum(uint8_t *data, unsigned int len);
     void _start_prop();