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AP_BoardConfig: remove reference to CONFIG_ARCH_BOARD_* #21056

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merged 1 commit into from Jun 28, 2022
Merged

AP_BoardConfig: remove reference to CONFIG_ARCH_BOARD_* #21056

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55 changes: 10 additions & 45 deletions libraries/AP_BoardConfig/board_drivers.cpp
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Expand Up @@ -71,25 +71,8 @@ void AP_BoardConfig::board_init_debug()

AP_BoardConfig::px4_board_type AP_BoardConfig::px4_configured_board;

#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
extern "C" {
int fmu_main(int, char **);
};
#endif

void AP_BoardConfig::board_setup_drivers(void)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
/*
this works around an issue with some FMUv4 hardware (eg. copies
of the Pixracer) which have incorrect components leading to
sensor brownout on boot
*/
if (px4_start_driver(fmu_main, "fmu", "sensor_reset 20")) {
printf("FMUv4 sensor reset complete\n");
}
#endif

if (state.board_type == PX4_BOARD_OLDDRIVERS) {
printf("Old drivers no longer supported\n");
state.board_type = PX4_BOARD_AUTO;
Expand Down Expand Up @@ -297,7 +280,7 @@ void AP_BoardConfig::validate_board_type(void)
cook the IMUs if the user uses an old paramater file. We
override the board type for that specific case
*/
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(HAL_CHIBIOS_ARCH_FMUV3)
#if defined(HAL_CHIBIOS_ARCH_FMUV3)
if (state.board_type == PX4_BOARD_PIXHAWK &&
(spi_check_register("mpu6000_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
spi_check_register("mpu9250_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU9250) ||
Expand All @@ -309,18 +292,14 @@ void AP_BoardConfig::validate_board_type(void)
// Pixhawk2 has LSM303D and MPUxxxx on external bus. If we
// detect those, then force PIXHAWK2, even if the user has
// configured for PIXHAWK1
#if !defined(CONFIG_ARCH_BOARD_PX4FMU_V3) && !defined(HAL_CHIBIOS_ARCH_FMUV3)
#if !defined(HAL_CHIBIOS_ARCH_FMUV3)
// force user to load the right firmware
config_error("Pixhawk2 requires FMUv3 firmware");
#endif
state.board_type.set(PX4_BOARD_PIXHAWK2);
DEV_PRINTF("Forced PIXHAWK2\n");
}
#endif

#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4PRO)
// Nothing to do for the moment
#endif
}

/*
Expand All @@ -344,12 +323,7 @@ void AP_BoardConfig::board_autodetect(void)
return;
}

#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
// only one choice
state.board_type.set(PX4_BOARD_PX4V1);
DEV_PRINTF("Detected PX4v1\n");

#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(HAL_CHIBIOS_ARCH_FMUV3)
#if defined(HAL_CHIBIOS_ARCH_FMUV3)
if ((spi_check_register("mpu6000_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
spi_check_register("mpu6000_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
spi_check_register("mpu9250_ext", MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
Expand Down Expand Up @@ -380,46 +354,37 @@ void AP_BoardConfig::board_autodetect(void)
} else {
config_error("Unable to detect board type");
}
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4) || defined(HAL_CHIBIOS_ARCH_FMUV4)
#elif defined(HAL_CHIBIOS_ARCH_FMUV4)
// only one choice
state.board_type.set_and_notify(PX4_BOARD_PIXRACER);
DEV_PRINTF("Detected Pixracer\n");
#elif defined(HAL_CHIBIOS_ARCH_MINDPXV2)
// only one choice
state.board_type.set_and_notify(PX4_BOARD_MINDPXV2);
DEV_PRINTF("Detected MindPX-V2\n");
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4PRO) || defined(HAL_CHIBIOS_ARCH_FMUV4PRO)
#elif defined(HAL_CHIBIOS_ARCH_FMUV4PRO)
// only one choice
state.board_type.set_and_notify(PX4_BOARD_PIXHAWK_PRO);
DEV_PRINTF("Detected Pixhawk Pro\n");
#elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
state.board_type.set_and_notify(PX4_BOARD_AEROFC);
DEV_PRINTF("Detected Aero FC\n");
#elif defined(HAL_CHIBIOS_ARCH_FMUV5)
state.board_type.set_and_notify(PX4_BOARD_FMUV5);
DEV_PRINTF("Detected FMUv5\n");
#elif defined(HAL_CHIBIOS_ARCH_FMUV6)
state.board_type.set_and_notify(PX4_BOARD_FMUV5);
DEV_PRINTF("Detected FMUv6\n");
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51) || defined(HAL_CHIBIOS_ARCH_BRAINV51)
#elif defined(HAL_CHIBIOS_ARCH_BRAINV51)
state.board_type.set_and_notify(VRX_BOARD_BRAIN51);
DEV_PRINTF("Detected VR Brain 5.1\n");
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52) || defined(HAL_CHIBIOS_ARCH_BRAINV52)
#elif defined(HAL_CHIBIOS_ARCH_BRAINV52)
state.board_type.set_and_notify(VRX_BOARD_BRAIN52);
DEV_PRINTF("Detected VR Brain 5.2\n");
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52E)
state.board_type.set_and_notify(VRX_BOARD_BRAIN52E);
DEV_PRINTF("Detected VR Brain 5.2E\n");
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51) || defined(HAL_CHIBIOS_ARCH_UBRAINV51)
#elif defined(HAL_CHIBIOS_ARCH_UBRAINV51)
state.board_type.set_and_notify(VRX_BOARD_UBRAIN51);
DEV_PRINTF("Detected VR Micro Brain 5.1\n");
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
state.board_type.set_and_notify(VRX_BOARD_UBRAIN52);
DEV_PRINTF("Detected VR Micro Brain 5.2\n");
#elif defined(CONFIG_ARCH_BOARD_VRCORE_V10) || defined(HAL_CHIBIOS_ARCH_COREV10)
#elif defined(HAL_CHIBIOS_ARCH_COREV10)
state.board_type.set_and_notify(VRX_BOARD_CORE10);
DEV_PRINTF("Detected VR Core 1.0\n");
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V54) || defined(HAL_CHIBIOS_ARCH_BRAINV54)
#elif defined(HAL_CHIBIOS_ARCH_BRAINV54)
state.board_type.set_and_notify(VRX_BOARD_BRAIN54);
DEV_PRINTF("Detected VR Brain 5.4\n");
#endif
Expand Down