AP_HAL_VRBRAIN: updates to libraries for new boards

libraries/AP_HAL_VRBRAIN/AnalogIn.cpp

@@ -57,12 +57,16 @@ static const struct {
     {  0, 3.3f/4096 },
     { 10, 3.3f/4096 },
     { 11, 3.3f/4096 },
+#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
+    {  0, 3.3f/4096 },
+    { 10, 3.3f/4096 },
+    { 11, 3.3f/4096 },
 #elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
-#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
+    { 10, 3.3f/4096 },
+#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
     {  1, 3.3f/4096 },
     {  2, 3.3f/4096 },
     {  3, 3.3f/4096 },
-#endif
     { 10, 3.3f/4096 },
 #elif defined(CONFIG_ARCH_BOARD_VRHERO_V10)
     { 10, 3.3f/4096 },

libraries/AP_HAL_VRBRAIN/AnalogIn.h

@@ -22,9 +22,15 @@
 #elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
 #define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN     10
 #define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN     11
+#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
+#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN     10
+#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN     11
 #elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
 #define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN     10
 #define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN     -1
+#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
+#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN     10
+#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN     1
 #elif defined(CONFIG_ARCH_BOARD_VRHERO_V10)
 #define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN     10
 #define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN     11

libraries/AP_HAL_VRBRAIN/HAL_VRBRAIN_Class.cpp

@@ -68,12 +68,24 @@ static VRBRAINGPIO gpioDriver;
 #define UARTC_DEFAULT_DEVICE "/dev/ttyS2"
 #define UARTD_DEFAULT_DEVICE "/dev/null"
 #define UARTE_DEFAULT_DEVICE "/dev/ttyS1"
+#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
+#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
+#define UARTB_DEFAULT_DEVICE "/dev/ttyS0"
+#define UARTC_DEFAULT_DEVICE "/dev/ttyS2"
+#define UARTD_DEFAULT_DEVICE "/dev/null"
+#define UARTE_DEFAULT_DEVICE "/dev/ttyS1"
 #elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
 #define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
 #define UARTB_DEFAULT_DEVICE "/dev/ttyS0"
 #define UARTC_DEFAULT_DEVICE "/dev/ttyS2"
 #define UARTD_DEFAULT_DEVICE "/dev/null"
 #define UARTE_DEFAULT_DEVICE "/dev/null"
+#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
+#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
+#define UARTB_DEFAULT_DEVICE "/dev/ttyS0"
+#define UARTC_DEFAULT_DEVICE "/dev/ttyS2"
+#define UARTD_DEFAULT_DEVICE "/dev/null"
+#define UARTE_DEFAULT_DEVICE "/dev/null"
 #elif defined(CONFIG_ARCH_BOARD_VRHERO_V10)
 #define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
 #define UARTB_DEFAULT_DEVICE "/dev/ttyS1"

libraries/AP_HAL_VRBRAIN/Scheduler.cpp

@@ -262,8 +262,8 @@ void *VRBRAINScheduler::_timer_thread(void)
 
         if (vrbrain_ran_overtime && millis() - last_ran_overtime > 2000) {
             last_ran_overtime = millis();
-            printf("Overtime in task %d\n", (int)AP_Scheduler::current_task);
-            hal.console->printf("Overtime in task %d\n", (int)AP_Scheduler::current_task);
+//            printf("Overtime in task %d\n", (int)AP_Scheduler::current_task);
+//            hal.console->printf("Overtime in task %d\n", (int)AP_Scheduler::current_task);
         }
     }
     return NULL;

libraries/AP_HAL_VRBRAIN/Util.cpp

@@ -114,8 +114,12 @@ bool VRBRAINUtil::get_system_id(char buf[40])
     const char *board_type = "VRBRAINv50";
 #elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
     const char *board_type = "VRBRAINv51";
+#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
+    const char *board_type = "VRBRAINv52";
 #elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
     const char *board_type = "VRUBRAINv51";
+#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
+    const char *board_type = "VRUBRAINv52";
 #elif defined(CONFIG_ARCH_BOARD_VRHERO_V10)
     const char *board_type = "VRHEROv10";
 #endif