Update modalai fcv2 board support for 1.14 #21653
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,131 @@ | ||
| #include <px4_platform_common/module.h> | ||
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| #include "chip.h" | ||
| #include "stm32_gpio.h" | ||
| #include "board_config.h" | ||
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| #include <nuttx/board.h> | ||
| #include <arch/board/board.h> | ||
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| // v2 | ||
| #ifdef CONFIG_ARCH_CHIP_STM32H753II // chip on M0087 | ||
| #include "modalai_fc-v2.h" | ||
| #define MODALAI_FC_V2 1 | ||
| #else | ||
| #include "modalai_fc-v1.h" | ||
| #endif | ||
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| __EXPORT int modalai_main(int argc, char *argv[]); | ||
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| int modalai_main(int argc, char *argv[]) | ||
| { | ||
| int hw_rev = board_get_hw_revision(); | ||
| int hw_ver = board_get_hw_version(); | ||
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| eHW_TYPE hw_type = eHwNone; | ||
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| #ifdef MODALAI_FC_V2 | ||
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| if (hw_rev == 0 && hw_ver == 3) { // (should be hw_rev == 1 && hw_ver == 3) eventually... | ||
| hw_type = eM0087; | ||
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| } else if (hw_rev == 0 && hw_ver == 3) { | ||
| hw_type = eM0079; | ||
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| } else { | ||
| return -1; | ||
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| } | ||
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| #else | ||
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| if (hw_rev == 6 && hw_ver == 0) { | ||
| hw_type = eM0018; | ||
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| } else if (hw_rev == 0 && hw_ver == 1) { | ||
| hw_type = eM0019; | ||
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| } else if (hw_rev == 0 && hw_ver == 2) { | ||
| hw_type = eM0051; | ||
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| } else { | ||
| return -1; | ||
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| } | ||
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| #endif | ||
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| if (argc <= 1) { | ||
| #ifdef MODALAI_FC_V2 | ||
| modalai_print_usage_v2(); | ||
| #else | ||
| modalai_print_usage_v1(); | ||
| #endif | ||
| return 1; | ||
| } | ||
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| if (!strcmp(argv[1], "led")) { | ||
| #ifdef MODALAI_FC_V2 | ||
| return modalai_led_test_v2(); | ||
| #else | ||
| return modalai_led_test_v1(); | ||
| #endif | ||
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| } else if (!strcmp(argv[1], "con")) { | ||
| if (argc <= 2) { | ||
| PRINT_MODULE_USAGE_COMMAND("con"); | ||
| PRINT_MODULE_USAGE_ARG("<1,4,5,6,7,9,10,12,13>", "Connector ID", false); | ||
| PRINT_MODULE_USAGE_ARG("<uint>", "Pin Number", false); | ||
| PRINT_MODULE_USAGE_ARG("0 | 1", "<output state> (defaults to 0)", false); | ||
| return 1; | ||
| } | ||
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| uint8_t con = 0; | ||
| uint8_t pin = 0; | ||
| bool state = false; | ||
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| if (argc > 2) { | ||
| con = atoi(argv[2]); | ||
| } | ||
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| if (argc > 3) { | ||
| pin = atoi(argv[3]); | ||
| } | ||
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| if (argc > 4) { | ||
| state = atoi(argv[4]); | ||
| } | ||
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| #ifdef MODALAI_FC_V2 | ||
| return modalai_con_gpio_test_v2(con, pin, state); | ||
| #else | ||
| return modalai_con_gpio_test_v1(con, pin, state); | ||
| #endif | ||
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| } else if (!strcmp(argv[1], "buzz")) { | ||
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| #ifdef MODALAI_FC_V2 | ||
| return modalai_buzz_test_v2(hw_type); | ||
| #else | ||
| return modalai_buzz_test_v1(hw_type); | ||
| #endif | ||
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| } else if (!strcmp(argv[1], "detect")) { | ||
| #ifdef MODALAI_FC_V2 | ||
| modalai_hw_detect_v2(hw_type); | ||
| #else | ||
| modalai_hw_detect_v1(hw_type); | ||
| #endif | ||
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| return 0; | ||
| } | ||
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| #ifdef MODALAI_FC_V2 | ||
| modalai_print_usage_v2(); | ||
| #else | ||
| modalai_print_usage_v1(); | ||
| #endif | ||
| return -EINVAL; | ||
| } |
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I would try to keep uavcan by default, there's actually a fair amount of usage and it's growing. I can suggest other modules to skip if flash is the issue.
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Yes, I need to remove some things so that it fits in flash. UAVCAN takes up a lot of room. But if you have other choices that are better I would love to hear them.
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Added those back in and removed local position estimator and attitude estimator Q