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Add HY-SRF05 ultrasonic sensor driver

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* nxp_fmuk66-e: Use srf05 distance sensor
 * nxp_fmuk66-v3: Use srf05 distance sensor
This commit is contained in:
David Sidrane
2020-11-08 10:25:58 -08:00
committed by GitHub
parent c60743b306
commit defa437b88
13 changed files with 484 additions and 14 deletions
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1
boards/nxp/fmuk66-e/default.cmake
View File

@@ -22,6 +22,7 @@ px4_add_board(
camera_trigger
differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
distance_sensor/srf05 # Specific driver
gps
#heater
#imu # all available imu drivers

7
boards/nxp/fmuk66-e/src/board_config.h
View File

@@ -269,8 +269,11 @@ __END_DECLS
*/
// todo:Design this!
#define DIRECT_PWM_OUTPUT_CHANNELS 10
#define DIRECT_INPUT_TIMER_CHANNELS 10
#define DIRECT_PWM_OUTPUT_CHANNELS 8
#define DIRECT_INPUT_TIMER_CHANNELS 8
#define GPIO_ULTRASOUND_TRIGGER /* PTD0 */ (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN0)
#define GPIO_ULTRASOUND_ECHO /* PTA10 */ (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTA | PIN10)
/* Power supply control and monitoring GPIOs */
// None

3
boards/nxp/fmuk66-e/src/init.c
View File

@@ -120,9 +120,6 @@ void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
px4_arch_configgpio(io_timer_channel_get_gpio_output(6)); // Echo trigger pin
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(7)));
if (status >= 0) {
up_mdelay(6);
}

4
boards/nxp/fmuk66-e/src/timer_config.cpp
View File

@@ -66,8 +66,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel7}, {GPIO::PortD, GPIO::Pin7}),
initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel6}, {GPIO::PortE, GPIO::Pin11}),
initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel7}, {GPIO::PortE, GPIO::Pin12}),
initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
// initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
// initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
};
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =

1
boards/nxp/fmuk66-v3/default.cmake
View File

@@ -22,6 +22,7 @@ px4_add_board(
camera_trigger
differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
distance_sensor/srf05 # Specific driver
gps
#heater
#imu # all available imu drivers

7
boards/nxp/fmuk66-v3/src/board_config.h
View File

@@ -273,8 +273,11 @@ __END_DECLS
*/
// todo:Design this!
#define DIRECT_PWM_OUTPUT_CHANNELS 8
#define DIRECT_INPUT_TIMER_CHANNELS 8
#define DIRECT_PWM_OUTPUT_CHANNELS 6
#define DIRECT_INPUT_TIMER_CHANNELS 6
#define GPIO_ULTRASOUND_TRIGGER /* PTD0 */ (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN0)
#define GPIO_ULTRASOUND_ECHO /* PTA10 */ (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTA | PIN10)
/* Power supply control and monitoring GPIOs */
// None

3
boards/nxp/fmuk66-v3/src/init.c
View File

@@ -120,9 +120,6 @@ void board_on_reset(int status)
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}
px4_arch_configgpio(io_timer_channel_get_gpio_output(6)); // Echo trigger pin
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(7)));
if (status >= 0) {
up_mdelay(6);
}

4
boards/nxp/fmuk66-v3/src/timer_config.cpp
View File

@@ -64,8 +64,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel5}, {GPIO::PortD, GPIO::Pin5}),
initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel6}, {GPIO::PortE, GPIO::Pin11}),
initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel7}, {GPIO::PortE, GPIO::Pin12}),
initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
// initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
// initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
};
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =