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Rover: added VRBRAIN #defines and #includes

master
Emile Castelnuovo 11 years ago committed by Andrew Tridgell
parent
a111d174c1
commit
c5620dfd39
6 changed files with 30 additions and 12 deletions
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  1. 9
      APMrover2/APMrover2.pde
  2. 12
      APMrover2/Parameters.h
  3. 6
      APMrover2/Parameters.pde
  4. 6
      APMrover2/config.h
  5. 3
      APMrover2/defines.h
  6. 6
      APMrover2/test.pde

9
APMrover2/APMrover2.pde
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@ -100,6 +100,7 @@ @@ -100,6 +100,7 @@
#include <AP_HAL_AVR.h>
#include <AP_HAL_AVR_SITL.h>
#include <AP_HAL_PX4.h>
#include <AP_HAL_VRBRAIN.h>
#include <AP_HAL_FLYMAPLE.h>
#include <AP_HAL_Linux.h>
#include <AP_HAL_Empty.h>
@ -175,6 +176,8 @@ static DataFlash_File DataFlash("logs"); @@ -175,6 +176,8 @@ static DataFlash_File DataFlash("logs");
static DataFlash_File DataFlash("/fs/microsd/APM/LOGS");
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
static DataFlash_File DataFlash("logs");
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
static DataFlash_File DataFlash("/fs/microsd/APM/LOGS");
#else
DataFlash_Empty DataFlash;
#endif
@ -206,6 +209,8 @@ static AP_ADC_ADS7844 adc; @@ -206,6 +209,8 @@ static AP_ADC_ADS7844 adc;
#if CONFIG_COMPASS == AP_COMPASS_PX4
static AP_Compass_PX4 compass;
#elif CONFIG_COMPASS == AP_COMPASS_VRBRAIN
static AP_Compass_VRBRAIN compass;
#elif CONFIG_COMPASS == AP_COMPASS_HMC5843
static AP_Compass_HMC5843 compass;
#elif CONFIG_COMPASS == AP_COMPASS_HIL
@ -218,6 +223,8 @@ static AP_Compass_HIL compass; @@ -218,6 +223,8 @@ static AP_Compass_HIL compass;
AP_InertialSensor_MPU6000 ins;
#elif CONFIG_INS_TYPE == CONFIG_INS_PX4
AP_InertialSensor_PX4 ins;
#elif CONFIG_INS_TYPE == CONFIG_INS_VRBRAIN
AP_InertialSensor_VRBRAIN ins;
#elif CONFIG_INS_TYPE == CONFIG_INS_HIL
AP_InertialSensor_HIL ins;
#elif CONFIG_INS_TYPE == CONFIG_INS_FLYMAPLE
@ -235,6 +242,8 @@ AP_InertialSensor_Oilpan ins( &adc ); @@ -235,6 +242,8 @@ AP_InertialSensor_Oilpan ins( &adc );
static AP_Baro_BMP085 barometer;
#elif CONFIG_BARO == AP_BARO_PX4
static AP_Baro_PX4 barometer;
#elif CONFIG_BARO == AP_BARO_VRBRAIN
static AP_Baro_VRBRAIN barometer;
#elif CONFIG_BARO == AP_BARO_HIL
static AP_Baro_HIL barometer;
#elif CONFIG_BARO == AP_BARO_MS5611

12
APMrover2/Parameters.h
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@ -236,14 +236,14 @@ public: @@ -236,14 +236,14 @@ public:
RC_Channel_aux rc_6;
RC_Channel_aux rc_7;
RC_Channel_aux rc_8;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
RC_Channel_aux rc_9;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
RC_Channel_aux rc_10;
RC_Channel_aux rc_11;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
RC_Channel_aux rc_12;
RC_Channel_aux rc_13;
RC_Channel_aux rc_14;
@ -301,14 +301,14 @@ public: @@ -301,14 +301,14 @@ public:
rc_6(CH_6),
rc_7(CH_7),
rc_8(CH_8),
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
rc_9 (CH_9),
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
rc_10 (CH_10),
rc_11 (CH_11),
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
rc_12 (CH_12),
rc_13 (CH_13),
rc_14 (CH_14),

6
APMrover2/Parameters.pde
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@ -211,13 +211,13 @@ const AP_Param::Info var_info[] PROGMEM = { @@ -211,13 +211,13 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_8, "RC8_", RC_Channel_aux),
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// @Group: RC9_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_9, "RC9_", RC_Channel_aux),
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// @Group: RC10_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_10, "RC10_", RC_Channel_aux),
@ -227,7 +227,7 @@ const AP_Param::Info var_info[] PROGMEM = { @@ -227,7 +227,7 @@ const AP_Param::Info var_info[] PROGMEM = {
GGROUP(rc_11, "RC11_", RC_Channel_aux),
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// @Group: RC12_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_12, "RC12_", RC_Channel_aux),

6
APMrover2/config.h
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@ -98,6 +98,12 @@ @@ -98,6 +98,12 @@
# define CONFIG_BARO AP_BARO_BMP085
# define BATTERY_PIN_1 -1
# define CURRENT_PIN_1 -1
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
# define CONFIG_INS_TYPE CONFIG_INS_VRBRAIN
# define CONFIG_COMPASS AP_COMPASS_VRBRAIN
# define CONFIG_BARO AP_BARO_VRBRAIN
# define BATTERY_PIN_1 -1
# define CURRENT_PIN_1 -1
#endif
//////////////////////////////////////////////////////////////////////////////

3
APMrover2/defines.h
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@ -148,16 +148,19 @@ enum mode { @@ -148,16 +148,19 @@ enum mode {
#define CONFIG_INS_PX4 4
#define CONFIG_INS_FLYMAPLE 5
#define CONFIG_INS_L3G4200D 6
#define CONFIG_INS_VRBRAIN 7
// barometer driver types
#define AP_BARO_BMP085 1
#define AP_BARO_MS5611 2
#define AP_BARO_PX4 3
#define AP_BARO_HIL 4
#define AP_BARO_VRBRAIN 5
// compass driver types
#define AP_COMPASS_HMC5843 1
#define AP_COMPASS_PX4 2
#define AP_COMPASS_HIL 3
#define AP_COMPASS_VRBRAIN 4
#endif // _DEFINES_H

6
APMrover2/test.pde
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@ -16,7 +16,7 @@ static int8_t test_sonar(uint8_t argc, const Menu::arg *argv); @@ -16,7 +16,7 @@ static int8_t test_sonar(uint8_t argc, const Menu::arg *argv);
static int8_t test_mag(uint8_t argc, const Menu::arg *argv);
static int8_t test_modeswitch(uint8_t argc, const Menu::arg *argv);
static int8_t test_logging(uint8_t argc, const Menu::arg *argv);
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
static int8_t test_shell(uint8_t argc, const Menu::arg *argv);
#endif
@ -43,7 +43,7 @@ static const struct Menu::command test_menu_commands[] PROGMEM = { @@ -43,7 +43,7 @@ static const struct Menu::command test_menu_commands[] PROGMEM = {
{"sonartest", test_sonar},
{"compass", test_mag},
{"logging", test_logging},
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
{"shell", test_shell},
#endif
};
@ -519,7 +519,7 @@ test_sonar(uint8_t argc, const Menu::arg *argv) @@ -519,7 +519,7 @@ test_sonar(uint8_t argc, const Menu::arg *argv)
return (0);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
/*
* run a debug shell
*/

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