diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-14 09:08:52 +0200 |
---|---|---|
committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-14 09:08:52 +0200 |
commit | ebbdbac97b500075407bc051e38a8c602c202ac0 (patch) | |
tree | 05307960c7c74960d625cb83e0ad30a393bb8dd5 | |
parent | ab8d1b3b3bd7e945e2a4948be5d453266f2e4de7 (diff) | |
parent | 735f8ffa3d47bcdab1f85f8431928e1bdf3cccec (diff) | |
download | px4-firmware-ebbdbac97b500075407bc051e38a8c602c202ac0.tar.gz px4-firmware-ebbdbac97b500075407bc051e38a8c602c202ac0.tar.bz2 px4-firmware-ebbdbac97b500075407bc051e38a8c602c202ac0.zip |
Merge branch 'master' of github.com:PX4/Firmware
-rw-r--r-- | .gitignore | 1 | ||||
-rw-r--r-- | apps/drivers/device/device.h.orig | 430 | ||||
-rw-r--r-- | apps/drivers/device/spi.cpp | 3 | ||||
-rw-r--r-- | apps/drivers/mpu6000/Makefile | 42 | ||||
-rw-r--r-- | apps/drivers/mpu6000/mpu6000.cpp | 918 | ||||
-rw-r--r-- | apps/drivers/ms5611/ms5611.cpp | 20 | ||||
-rw-r--r-- | apps/px4/px4io/driver/px4io.cpp | 2 | ||||
-rw-r--r-- | nuttx/arch/arm/src/stm32/stm32_spi.c | 54 | ||||
-rw-r--r-- | nuttx/configs/px4fmu/nsh/appconfig | 3 | ||||
-rwxr-xr-x | nuttx/configs/px4fmu/nsh/defconfig | 8 |
10 files changed, 1020 insertions, 461 deletions
diff --git a/.gitignore b/.gitignore index 3da1c5c7a..8d468a56d 100644 --- a/.gitignore +++ b/.gitignore @@ -34,3 +34,4 @@ nuttx/nuttx.hex Firmware.sublime-workspace .DS_Store nsh_romfsimg.h +cscope.out diff --git a/apps/drivers/device/device.h.orig b/apps/drivers/device/device.h.orig deleted file mode 100644 index 5030666e1..000000000 --- a/apps/drivers/device/device.h.orig +++ /dev/null @@ -1,430 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file Definitions for the generic base classes in the device framework. - */ - -#ifndef _DEVICE_DEVICE_H -#define _DEVICE_DEVICE_H - -/* - * Includes here should only cover the needs of the framework definitions. - */ -#include <nuttx/config.h> - -#include <errno.h> -#include <stdbool.h> -#include <stddef.h> -#include <stdint.h> -#include <poll.h> - -#include <nuttx/fs/fs.h> - -/** - * Namespace encapsulating all device framework classes, functions and data. - */ -namespace device __EXPORT -{ - -/** - * Fundamental base class for all device drivers. - * - * This class handles the basic "being a driver" things, including - * interrupt registration and dispatch. - */ -class __EXPORT Device -{ -public: - /** - * Interrupt handler. - */ - virtual void interrupt(void *ctx); /**< interrupt handler */ - -protected: - const char *_name; /**< driver name */ - bool _debug_enabled; /**< if true, debug messages are printed */ - - /** - * Constructor - * - * @param name Driver name - * @param irq Interrupt assigned to the device. - */ - Device(const char *name, - int irq = 0); - ~Device(); - - /** - * Initialise the driver and make it ready for use. - * - * @return OK if the driver initialised OK. - */ - virtual int init(); - - /** - * Enable the device interrupt - */ - void interrupt_enable(); - - /** - * Disable the device interrupt - */ - void interrupt_disable(); - - /** - * Take the driver lock. - * - * Each driver instance has its own lock/semaphore. - * - * Note that we must loop as the wait may be interrupted by a signal. - */ - void lock() { - do {} while (sem_wait(&_lock) != 0); - } - - /** - * Release the driver lock. - */ - void unlock() { - sem_post(&_lock); - } - - /** - * Log a message. - * - * The message is prefixed with the driver name, and followed - * by a newline. - */ - void log(const char *fmt, ...); - - /** - * Print a debug message. - * - * The message is prefixed with the driver name, and followed - * by a newline. - */ - void debug(const char *fmt, ...); - -private: - int _irq; - bool _irq_attached; - sem_t _lock; - - /** disable copy construction for this and all subclasses */ - Device(const Device &); - - /** disable assignment for this and all subclasses */ - Device &operator = (const Device &); - - /** - * Register ourselves as a handler for an interrupt - * - * @param irq The interrupt to claim - * @return OK if the interrupt was registered - */ - int dev_register_interrupt(int irq); - - /** - * Unregister ourselves as a handler for any interrupt - */ - void dev_unregister_interrupt(); - - /** - * Interrupt dispatcher - * - * @param irq The interrupt that has been triggered. - * @param context Pointer to the interrupted context. - */ - static void dev_interrupt(int irq, void *context); -}; - -/** - * Abstract class for any character device - */ -class __EXPORT CDev : public Device -{ -public: - /** - * Constructor - * - * @param name Driver name - * @param devname Device node name - * @param irq Interrupt assigned to the device - */ - CDev(const char *name, const char *devname, int irq = 0); - - /** - * Destructor - */ - ~CDev(); - - virtual int init(); - - /** - * Handle an open of the device. - * - * This function is called for every open of the device. The default - * implementation maintains _open_count and always returns OK. - * - * @param filp Pointer to the NuttX file structure. - * @return OK if the open is allowed, -errno otherwise. - */ - virtual int open(struct file *filp); - - /** - * Handle a close of the device. - * - * This function is called for every close of the device. The default - * implementation maintains _open_count and returns OK as long as it is not zero. - * - * @param filp Pointer to the NuttX file structure. - * @return OK if the close was successful, -errno otherwise. - */ - virtual int close(struct file *filp); - - /** - * Perform a read from the device. - * - * The default implementation returns -ENOSYS. - * - * @param filp Pointer to the NuttX file structure. - * @param buffer Pointer to the buffer into which data should be placed. - * @param buflen The number of bytes to be read. - * @return The number of bytes read or -errno otherwise. - */ - virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); - - /** - * Perform a write to the device. - * - * The default implementation returns -ENOSYS. - * - * @param filp Pointer to the NuttX file structure. - * @param buffer Pointer to the buffer from which data should be read. - * @param buflen The number of bytes to be written. - * @return The number of bytes written or -errno otherwise. - */ - virtual ssize_t write(struct file *filp, const char *buffer, size_t buflen); - - /** - * Perform a logical seek operation on the device. - * - * The default implementation returns -ENOSYS. - * - * @param filp Pointer to the NuttX file structure. - * @param offset The new file position relative to whence. - * @param whence SEEK_OFS, SEEK_CUR or SEEK_END. - * @return The previous offset, or -errno otherwise. - */ - virtual off_t seek(struct file *filp, off_t offset, int whence); - - /** - * Perform an ioctl operation on the device. - * - * The default implementation handles DIOC_GETPRIV, and otherwise - * returns -ENOTTY. Subclasses should call the default implementation - * for any command they do not handle themselves. - * - * @param filp Pointer to the NuttX file structure. - * @param cmd The ioctl command value. - * @param arg The ioctl argument value. - * @return OK on success, or -errno otherwise. - */ - virtual int ioctl(struct file *filp, int cmd, unsigned long arg); - - /** - * Perform a poll setup/teardown operation. - * - * This is handled internally and should not normally be overridden. - * - * @param filp Pointer to the NuttX file structure. - * @param fds Poll descriptor being waited on. - * @param arg True if this is establishing a request, false if - * it is being torn down. - * @return OK on success, or -errno otherwise. - */ - virtual int poll(struct file *filp, struct pollfd *fds, bool setup); - -protected: - /** - * Check the current state of the device for poll events from the - * perspective of the file. - * - * This function is called by the default poll() implementation when - * a poll is set up to determine whether the poll should return immediately. - * - * The default implementation returns no events. - * - * @param filp The file that's interested. - * @return The current set of poll events. - */ - virtual pollevent_t poll_state(struct file *filp); - - /** - * Report new poll events. - * - * This function should be called anytime the state of the device changes - * in a fashion that might be interesting to a poll waiter. - * - * @param events The new event(s) being announced. - */ - virtual void poll_notify(pollevent_t events); - - /** - * Internal implementation of poll_notify. - * - * @param fds A poll waiter to notify. - * @param events The event(s) to send to the waiter. - */ - virtual void poll_notify_one(struct pollfd *fds, pollevent_t events); - - /** - * Notification of the first open. - * - * This function is called when the device open count transitions from zero - * to one. The driver lock is held for the duration of the call. - * - * The default implementation returns OK. - * - * @param filp Pointer to the NuttX file structure. - * @return OK if the open should proceed, -errno otherwise. - */ - virtual int open_first(struct file *filp); - - /** - * Notification of the last close. - * - * This function is called when the device open count transitions from - * one to zero. The driver lock is held for the duration of the call. - * - * The default implementation returns OK. - * - * @param filp Pointer to the NuttX file structure. - * @return OK if the open should return OK, -errno otherwise. - */ - virtual int close_last(struct file *filp); - -private: - static const unsigned _max_pollwaiters = 8; - - const char *_devname; /**< device node name */ - bool _registered; /**< true if device name was registered */ - unsigned _open_count; /**< number of successful opens */ - - struct pollfd *_pollset[_max_pollwaiters]; - - /** - * Store a pollwaiter in a slot where we can find it later. - * - * Expands the pollset as required. Must be called with the driver locked. - * - * @return OK, or -errno on error. - */ - int store_poll_waiter(struct pollfd *fds); - - /** - * Remove a poll waiter. - * - * @return OK, or -errno on error. - */ - int remove_poll_waiter(struct pollfd *fds); -}; - -/** - * Abstract class for character device accessed via PIO - */ -class __EXPORT PIO : public CDev -{ -public: - /** - * Constructor - * - * @param name Driver name - * @param devname Device node name - * @param base Base address of the device PIO area - * @param irq Interrupt assigned to the device (or zero if none) - */ - PIO(const char *name, - const char *devname, - uint32_t base, - int irq = 0); - ~PIO(); - - int init(); - -protected: - - /** - * Read a register - * - * @param offset Register offset in bytes from the base address. - */ - uint32_t reg(uint32_t offset) { - return *(volatile uint32_t *)(_base + offset); - } - - /** - * Write a register - * - * @param offset Register offset in bytes from the base address. - * @param value Value to write. - */ - void reg(uint32_t offset, uint32_t value) { - *(volatile uint32_t *)(_base + offset) = value; - } - - /** - * Modify a register - * - * Note that there is a risk of a race during the read/modify/write cycle - * that must be taken care of by the caller. - * - * @param offset Register offset in bytes from the base address. - * @param clearbits Bits to clear in the register - * @param setbits Bits to set in the register - */ - void modify(uint32_t offset, uint32_t clearbits, uint32_t setbits) { - uint32_t val = reg(offset); - val &= ~clearbits; - val |= setbits; - reg(offset, val); - } - -private: - uint32_t _base; -}; - -} // namespace device - -#endif /* _DEVICE_DEVICE_H */
\ No newline at end of file diff --git a/apps/drivers/device/spi.cpp b/apps/drivers/device/spi.cpp index d0647bef6..3ccdaae36 100644 --- a/apps/drivers/device/spi.cpp +++ b/apps/drivers/device/spi.cpp @@ -127,6 +127,7 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len) SPI_LOCK(_dev, true); SPI_SETFREQUENCY(_dev, _frequency); SPI_SETMODE(_dev, _mode); + SPI_SETBITS(_dev, 8); SPI_SELECT(_dev, _device, true); /* do the transfer */ @@ -139,4 +140,4 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len) return OK; } -} // namespace device
\ No newline at end of file +} // namespace device diff --git a/apps/drivers/mpu6000/Makefile b/apps/drivers/mpu6000/Makefile new file mode 100644 index 000000000..e03eef67d --- /dev/null +++ b/apps/drivers/mpu6000/Makefile @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Makefile to build the BMA180 driver. +# + +APPNAME = mpu6000 +PRIORITY = SCHED_PRIORITY_DEFAULT +STACKSIZE = 2048 + +include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp new file mode 100644 index 000000000..70e3e41c5 --- /dev/null +++ b/apps/drivers/mpu6000/mpu6000.cpp @@ -0,0 +1,918 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mpu6000.cpp + * + * Driver for the Invensense MPU6000 connected via SPI. + */ + +#include <nuttx/config.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdbool.h> +#include <stddef.h> +#include <semaphore.h> +#include <string.h> +#include <fcntl.h> +#include <poll.h> +#include <errno.h> +#include <stdio.h> +#include <math.h> +#include <unistd.h> + +#include <systemlib/perf_counter.h> + +#include <nuttx/arch.h> +#include <nuttx/clock.h> + +#include <arch/board/board.h> +#include <arch/board/up_hrt.h> + +#include <drivers/device/spi.h> +#include <drivers/drv_accel.h> +#include <drivers/drv_gyro.h> + +#define DIR_READ 0x80 +#define DIR_WRITE 0x00 + +// MPU 6000 registers +#define MPUREG_WHOAMI 0x75 +#define MPUREG_SMPLRT_DIV 0x19 +#define MPUREG_CONFIG 0x1A +#define MPUREG_GYRO_CONFIG 0x1B +#define MPUREG_ACCEL_CONFIG 0x1C +#define MPUREG_FIFO_EN 0x23 +#define MPUREG_INT_PIN_CFG 0x37 +#define MPUREG_INT_ENABLE 0x38 +#define MPUREG_INT_STATUS 0x3A +#define MPUREG_ACCEL_XOUT_H 0x3B +#define MPUREG_ACCEL_XOUT_L 0x3C +#define MPUREG_ACCEL_YOUT_H 0x3D +#define MPUREG_ACCEL_YOUT_L 0x3E +#define MPUREG_ACCEL_ZOUT_H 0x3F +#define MPUREG_ACCEL_ZOUT_L 0x40 +#define MPUREG_TEMP_OUT_H 0x41 +#define MPUREG_TEMP_OUT_L 0x42 +#define MPUREG_GYRO_XOUT_H 0x43 +#define MPUREG_GYRO_XOUT_L 0x44 +#define MPUREG_GYRO_YOUT_H 0x45 +#define MPUREG_GYRO_YOUT_L 0x46 +#define MPUREG_GYRO_ZOUT_H 0x47 +#define MPUREG_GYRO_ZOUT_L 0x48 +#define MPUREG_USER_CTRL 0x6A +#define MPUREG_PWR_MGMT_1 0x6B +#define MPUREG_PWR_MGMT_2 0x6C +#define MPUREG_FIFO_COUNTH 0x72 +#define MPUREG_FIFO_COUNTL 0x73 +#define MPUREG_FIFO_R_W 0x74 +#define MPUREG_PRODUCT_ID 0x0C + +// Configuration bits MPU 3000 and MPU 6000 (not revised)? +#define BIT_SLEEP 0x40 +#define BIT_H_RESET 0x80 +#define BITS_CLKSEL 0x07 +#define MPU_CLK_SEL_PLLGYROX 0x01 +#define MPU_CLK_SEL_PLLGYROZ 0x03 +#define MPU_EXT_SYNC_GYROX 0x02 +#define BITS_FS_250DPS 0x00 +#define BITS_FS_500DPS 0x08 +#define BITS_FS_1000DPS 0x10 +#define BITS_FS_2000DPS 0x18 +#define BITS_FS_MASK 0x18 +#define BITS_DLPF_CFG_256HZ_NOLPF2 0x00 +#define BITS_DLPF_CFG_188HZ 0x01 +#define BITS_DLPF_CFG_98HZ 0x02 +#define BITS_DLPF_CFG_42HZ 0x03 +#define BITS_DLPF_CFG_20HZ 0x04 +#define BITS_DLPF_CFG_10HZ 0x05 +#define BITS_DLPF_CFG_5HZ 0x06 +#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07 +#define BITS_DLPF_CFG_MASK 0x07 +#define BIT_INT_ANYRD_2CLEAR 0x10 +#define BIT_RAW_RDY_EN 0x01 +#define BIT_I2C_IF_DIS 0x10 +#define BIT_INT_STATUS_DATA 0x01 + +// Product ID Description for MPU6000 +// high 4 bits low 4 bits +// Product Name Product Revision +#define MPU6000ES_REV_C4 0x14 +#define MPU6000ES_REV_C5 0x15 +#define MPU6000ES_REV_D6 0x16 +#define MPU6000ES_REV_D7 0x17 +#define MPU6000ES_REV_D8 0x18 +#define MPU6000_REV_C4 0x54 +#define MPU6000_REV_C5 0x55 +#define MPU6000_REV_D6 0x56 +#define MPU6000_REV_D7 0x57 +#define MPU6000_REV_D8 0x58 +#define MPU6000_REV_D9 0x59 +#define MPU6000_REV_D10 0x5A + + +class MPU6000_gyro; + +class MPU6000 : public device::SPI +{ +public: + MPU6000(int bus, spi_dev_e device); + ~MPU6000(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + virtual int open_first(struct file *filp); + virtual int close_last(struct file *filp); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +protected: + virtual int probe(); + + friend class MPU6000_gyro; + + virtual ssize_t gyro_read(struct file *filp, char *buffer, size_t buflen); + virtual int gyro_ioctl(struct file *filp, int cmd, unsigned long arg); + +private: + MPU6000_gyro *_gyro; + uint8_t _product; /** product code */ + + struct hrt_call _call; + unsigned _call_interval; + + struct accel_report _accel_report; + struct accel_scale _accel_scale; + float _accel_range_scale; + int _accel_topic; + + struct gyro_report _gyro_report; + struct gyro_scale _gyro_scale; + float _gyro_range_scale; + int _gyro_topic; + + unsigned _reads; + perf_counter_t _sample_perf; + + /** + * Start automatic measurement. + */ + void start(); + + /** + * Stop automatic measurement. + */ + void stop(); + + /** + * Static trampoline from the hrt_call context; because we don't have a + * generic hrt wrapper yet. + * + * Called by the HRT in interrupt context at the specified rate if + * automatic polling is enabled. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void measure_trampoline(void *arg); + + /** + * Fetch measurements from the sensor and update the report ring. + */ + void measure(); + + /** + * Read a register from the MPU6000 + * + * @param The register to read. + * @return The value that was read. + */ + uint8_t read_reg(unsigned reg); + uint16_t read_reg16(unsigned reg); + + /** + * Write a register in the MPU6000 + * + * @param reg The register to write. + * @param value The new value to write. + */ + void write_reg(unsigned reg, uint8_t value); + + /** + * Modify a register in the MPU6000 + * + * Bits are cleared before bits are set. + * + * @param reg The register to modify. + * @param clearbits Bits in the register to clear. + * @param setbits Bits in the register to set. + */ + void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits); + + /** + * Set the MPU6000 measurement range. + * + * @param max_g The maximum G value the range must support. + * @return OK if the value can be supported, -ERANGE otherwise. + */ + int set_range(unsigned max_g); + + /** + * Swap a 16-bit value read from the MPU6000 to native byte order. + */ + uint16_t swap16(uint16_t val) { return (val >> 8) | (val << 8); } + +}; + +/** + * Helper class implementing the gyro driver node. + */ +class MPU6000_gyro : public device::CDev +{ +public: + MPU6000_gyro(MPU6000 *parent); + ~MPU6000_gyro(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + +protected: + friend class MPU6000; + + void parent_poll_notify(); +private: + MPU6000 *_parent; +}; + +/** driver 'main' command */ +extern "C" { __EXPORT int mpu6000_main(int argc, char *argv[]); } + +MPU6000::MPU6000(int bus, spi_dev_e device) : + SPI("MPU6000", ACCEL_DEVICE_PATH, bus, device, SPIDEV_MODE3, 10000000), + _gyro(new MPU6000_gyro(this)), + _product(0), + _call_interval(0), + _accel_range_scale(1.0f), + _accel_topic(-1), + _gyro_range_scale(1.0f), + _gyro_topic(-1), + _reads(0), + _sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")) +{ + // enable debug() calls + _debug_enabled = true; + + // default accel scale factors + _accel_scale.x_offset = 0; + _accel_scale.x_scale = 1.0f; + _accel_scale.y_offset = 0; + _accel_scale.y_scale = 1.0f; + _accel_scale.z_offset = 0; + _accel_scale.z_scale = 1.0f; + + // default gyro scale factors + _gyro_scale.x_offset = 0; + _gyro_scale.x_scale = 1.0f; + _gyro_scale.y_offset = 0; + _gyro_scale.y_scale = 1.0f; + _gyro_scale.z_offset = 0; + _gyro_scale.z_scale = 1.0f; + + memset(&_accel_report, 0, sizeof(_accel_report)); + memset(&_gyro_report, 0, sizeof(_gyro_report)); +} + +MPU6000::~MPU6000() +{ + /* make sure we are truly inactive */ + stop(); + + /* delete the gyro subdriver */ + delete _gyro; + + /* delete the perf counter */ + perf_free(_sample_perf); +} + +int +MPU6000::init() +{ + int ret; + + /* do SPI init (and probe) first */ + ret = SPI::init(); + + /* if probe/setup failed, bail now */ + if (ret != OK) { + debug("SPI setup failed"); + return ret; + } + + /* advertise sensor topics */ + _accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_report); + _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_gyro_report); + + // Chip reset + write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET); + up_udelay(10000); + + // Wake up device and select GyroZ clock (better performance) + write_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ); + up_udelay(1000); + + // Disable I2C bus (recommended on datasheet) + write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS); + up_udelay(1000); + + // SAMPLE RATE + write_reg(MPUREG_SMPLRT_DIV, 0x04); // Sample rate = 200Hz Fsample= 1Khz/(4+1) = 200Hz + usleep(1000); + + // FS & DLPF FS=2000¼/s, DLPF = 98Hz (low pass filter) + write_reg(MPUREG_CONFIG, BITS_DLPF_CFG_98HZ); + usleep(1000); + write_reg(MPUREG_GYRO_CONFIG,BITS_FS_2000DPS); // Gyro scale 2000¼/s + usleep(1000); + + // product-specific scaling + switch (_product) { + case MPU6000ES_REV_C4: + case MPU6000ES_REV_C5: + case MPU6000_REV_C4: + case MPU6000_REV_C5: + // Accel scale 8g (4096 LSB/g) + // Rev C has different scaling than rev D + write_reg(MPUREG_ACCEL_CONFIG, 1 << 3); + break; + + case MPU6000ES_REV_D6: + case MPU6000ES_REV_D7: + case MPU6000ES_REV_D8: + case MPU6000_REV_D6: + case MPU6000_REV_D7: + case MPU6000_REV_D8: + case MPU6000_REV_D9: + case MPU6000_REV_D10: + // Accel scale 8g (4096 LSB/g) + write_reg(MPUREG_ACCEL_CONFIG,2<<3); + break; + } + usleep(1000); + + // INT CFG => Interrupt on Data Ready + write_reg(MPUREG_INT_ENABLE,BIT_RAW_RDY_EN); // INT: Raw data ready + usleep(1000); + write_reg(MPUREG_INT_PIN_CFG,BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read + usleep(1000); + + // Oscillator set + // write_reg(MPUREG_PWR_MGMT_1,MPU_CLK_SEL_PLLGYROZ); + usleep(1000); + + + return ret; +} + +int +MPU6000::open_first(struct file *filp) +{ + /* reset to manual-poll mode */ + _call_interval = 0; + + /* XXX set default sampling/acquisition parameters */ + + return OK; +} + +int +MPU6000::close_last(struct file *filp) +{ + /* stop measurement */ + stop(); + + return OK; +} + +int +MPU6000::probe() +{ + + /* look for a product ID we recognise */ + _product = read_reg(MPUREG_PRODUCT_ID); + + // verify product revision + switch (_product) { + case MPU6000ES_REV_C4: + case MPU6000ES_REV_C5: + case MPU6000_REV_C4: + case MPU6000_REV_C5: + case MPU6000ES_REV_D6: + case MPU6000ES_REV_D7: + case MPU6000ES_REV_D8: + case MPU6000_REV_D6: + case MPU6000_REV_D7: + case MPU6000_REV_D8: + case MPU6000_REV_D9: + case MPU6000_REV_D10: + log("ID 0x%02x", _product); + return OK; + } + + debug("unexpected ID 0x%02x", _product); + return -EIO; +} + +ssize_t +MPU6000::read(struct file *filp, char *buffer, size_t buflen) +{ + int ret = 0; + + /* buffer must be large enough */ + if (buflen < sizeof(_accel_report)) + return -ENOSPC; + + /* if automatic measurement is not enabled */ + if (_call_interval == 0) + measure(); + + /* copy out the latest report */ + memcpy(buffer, &_accel_report, sizeof(_accel_report)); + ret = sizeof(_accel_report); + + return ret; +} + +ssize_t +MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen) +{ + int ret = 0; + + /* buffer must be large enough */ + if (buflen < sizeof(_gyro_report)) + return -ENOSPC; + + /* if automatic measurement is not enabled */ + if (_call_interval == 0) + measure(); + + /* copy out the latest report */ + memcpy(buffer, &_gyro_report, sizeof(_gyro_report)); + ret = sizeof(_gyro_report); + + return ret; +} + +int +MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case ACCELIOCSPOLLRATE: { + switch (arg) { + + /* switching to manual polling */ + case ACC_POLLRATE_MANUAL: + stop(); + _call_interval = 0; + return OK; + + /* external signalling not supported */ + case ACC_POLLRATE_EXTERNAL: + + /* zero would be bad */ + case 0: + return -EINVAL; + + /* adjust to a legal polling interval in Hz */ + default: { + /* do we need to start internal polling? */ + bool want_start = (_call_interval == 0); + + /* convert hz to hrt interval via microseconds */ + unsigned ticks = 1000000 / arg; + + /* check against maximum sane rate */ + if (ticks < 1000) + return -EINVAL; + + /* update interval for next measurement */ + /* XXX this is a bit shady, but no other way to adjust... */ + _call.period = _call_interval; + + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); + + return OK; + } + } + } + + case ACCELIOCSQUEUEDEPTH: + /* XXX not implemented */ + return -EINVAL; + + case ACCELIOCSLOWPASS: + /* XXX not implemented */ + return -EINVAL; + + case ACCELIORANGE: + /* XXX not implemented really */ + return set_range(arg); + + case ACCELIOCSSAMPLERATE: /* sensor sample rate is not (really) adjustable */ + case ACCELIOCSREPORTFORMAT: /* no alternate report formats */ + return -EINVAL; + + default: + /* give it to the superclass */ + return SPI::ioctl(filp, cmd, arg); + } +} + +int +MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case GYROIOCSPOLLRATE: + /* gyro and accel poll rates are shared */ + return ioctl(filp, ACCELIOCSPOLLRATE, arg); + + case GYROIOCSQUEUEDEPTH: + /* XXX not implemented */ + return -EINVAL; + + case GYROIOCSLOWPASS: + /* XXX not implemented */ + return -EINVAL; + + case GYROIOCSSCALE: + /* XXX not implemented really */ + return set_range(arg); + + case GYROIOCSSAMPLERATE: /* sensor sample rate is not (really) adjustable */ + case GYROIOCSREPORTFORMAT: /* no alternate report formats */ + return -EINVAL; + + default: + /* give it to the superclass */ + return SPI::ioctl(filp, cmd, arg); + } +} + +uint8_t +MPU6000::read_reg(unsigned reg) +{ + uint8_t cmd[2]; + + cmd[0] = reg | DIR_READ; + + transfer(cmd, cmd, sizeof(cmd)); + + return cmd[1]; +} + +uint16_t +MPU6000::read_reg16(unsigned reg) +{ + uint8_t cmd[3]; + + cmd[0] = reg | DIR_READ; + + transfer(cmd, cmd, sizeof(cmd)); + + return (uint16_t)(cmd[1] << 8) | cmd[2]; +} + +void +MPU6000::write_reg(unsigned reg, uint8_t value) +{ + uint8_t cmd[2]; + + cmd[0] = reg | DIR_WRITE; + cmd[1] = value; + + transfer(cmd, nullptr, sizeof(cmd)); +} + +void +MPU6000::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) +{ + uint8_t val; + + val = read_reg(reg); + val &= ~clearbits; + val |= setbits; + write_reg(reg, val); +} + +int +MPU6000::set_range(unsigned max_g) +{ +#if 0 + uint8_t rangebits; + float rangescale; + + if (max_g > 16) { + return -ERANGE; + + } else if (max_g > 8) { /* 16G */ + rangebits = OFFSET_LSB1_RANGE_16G; + rangescale = 1.98; + + } else if (max_g > 4) { /* 8G */ + rangebits = OFFSET_LSB1_RANGE_8G; + rangescale = 0.99; + + } else if (max_g > 3) { /* 4G */ + rangebits = OFFSET_LSB1_RANGE_4G; + rangescale = 0.5; + + } else if (max_g > 2) { /* 3G */ + rangebits = OFFSET_LSB1_RANGE_3G; + rangescale = 0.38; + + } else if (max_g > 1) { /* 2G */ + rangebits = OFFSET_LSB1_RANGE_2G; + rangescale = 0.25; + + } else { /* 1G */ + rangebits = OFFSET_LSB1_RANGE_1G; + rangescale = 0.13; + } + + /* adjust sensor configuration */ + modify_reg(ADDR_OFFSET_LSB1, OFFSET_LSB1_RANGE_MASK, rangebits); + _range_scale = rangescale; +#endif + return OK; +} + +void +MPU6000::start() +{ + /* make sure we are stopped first */ + stop(); + + /* start polling at the specified rate */ + hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&MPU6000::measure_trampoline, this); +} + +void +MPU6000::stop() +{ + hrt_cancel(&_call); +} + +void +MPU6000::measure_trampoline(void *arg) +{ + MPU6000 *dev = (MPU6000 *)arg; + + /* make another measurement */ + dev->measure(); +} + +void +MPU6000::measure() +{ +#pragma pack(push, 1) + /** + * Report conversation within the MPU6000, including command byte and + * interrupt status. + */ + struct Report { + uint8_t cmd; + uint8_t status; + uint16_t accel_x; + uint16_t accel_y; + uint16_t accel_z; + uint16_t temp; + uint16_t gyro_x; + uint16_t gyro_y; + uint16_t gyro_z; + } report; +#pragma pack(pop) + + /* start measuring */ + perf_begin(_sample_perf); + + /* + * Fetch the full set of measurements from the MPU6000 in one pass. + */ + report.cmd = DIR_READ | MPUREG_INT_STATUS; + transfer((uint8_t *)&report, (uint8_t *)&report, sizeof(report)); + + /* + * Adjust and scale results to mg. + */ + _gyro_report.timestamp = _accel_report.timestamp = hrt_absolute_time(); + + _accel_report.x = report.accel_x * _accel_range_scale; + _accel_report.y = report.accel_y * _accel_range_scale; + _accel_report.z = report.accel_z * _accel_range_scale; + + _gyro_report.x = report.gyro_x * _gyro_range_scale; + _gyro_report.y = report.gyro_y * _gyro_range_scale; + _gyro_report.z = report.gyro_z * _gyro_range_scale; + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + _gyro->parent_poll_notify(); + + /* and publish for subscribers */ + orb_publish(ORB_ID(sensor_accel), _accel_topic, &_accel_report); + orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &_gyro_report); + + /* stop measuring */ + perf_end(_sample_perf); +} + +void +MPU6000::print_info() +{ + printf("reads: %u\n", _reads); +} + +MPU6000_gyro::MPU6000_gyro(MPU6000 *parent) : + CDev("MPU6000_gyro", GYRO_DEVICE_PATH), + _parent(parent) +{ +} + +MPU6000_gyro::~MPU6000_gyro() +{ +} + +void +MPU6000_gyro::parent_poll_notify() +{ + poll_notify(POLLIN); +} + +ssize_t +MPU6000_gyro::read(struct file *filp, char *buffer, size_t buflen) +{ + return _parent->gyro_read(filp, buffer, buflen); +} + +int +MPU6000_gyro::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + return _parent->gyro_ioctl(filp, cmd, arg); +} + +/** + * Local functions in support of the shell command. + */ +namespace +{ + +MPU6000 *g_dev; + +/* + * XXX this should just be part of the generic sensors test... + */ + +int +test() +{ + int fd = -1; + struct accel_report report; + ssize_t sz; + const char *reason = "test OK"; + + do { + + /* get the driver */ + fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + reason = "can't open driver"; + break; + } + + /* do a simple demand read */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) { + reason = "immediate read failed"; + break; + } + + printf("single read\n"); + fflush(stdout); + printf("time: %lld\n", report.timestamp); + printf("x: %f\n", report.x); + printf("y: %f\n", report.y); + printf("z: %f\n", report.z); + + } while (0); + + printf("MPU6000: %s\n", reason); + + return OK; +} + +int +info() +{ + if (g_dev == nullptr) { + fprintf(stderr, "MPU6000: driver not running\n"); + return -ENOENT; + } + + printf("state @ %p\n", g_dev); + g_dev->print_info(); + + return OK; +} + + +} // namespace + +int +mpu6000_main(int argc, char *argv[]) +{ + /* + * Start/load the driver. + * + * XXX it would be nice to have a wrapper for this... + */ + if (!strcmp(argv[1], "start")) { + + if (g_dev != nullptr) { + fprintf(stderr, "MPU6000: already loaded\n"); + return -EBUSY; + } + + /* create the driver */ + g_dev = new MPU6000(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_MPU); + + if (g_dev == nullptr) { + fprintf(stderr, "MPU6000: driver alloc failed\n"); + return -ENOMEM; + } + + if (OK != g_dev->init()) { + fprintf(stderr, "MPU6000: driver init failed\n"); + usleep(100000); + delete g_dev; + g_dev = nullptr; + return -EIO; + } + return OK; + } + + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) + return test(); + + /* + * Print driver information. + */ + if (!strcmp(argv[1], "info")) + return info(); + + fprintf(stderr, "unrecognised command, try 'start', 'test' or 'info'\n"); + return -EINVAL; +} diff --git a/apps/drivers/ms5611/ms5611.cpp b/apps/drivers/ms5611/ms5611.cpp index 1f75ceb4b..6c6951d9b 100644 --- a/apps/drivers/ms5611/ms5611.cpp +++ b/apps/drivers/ms5611/ms5611.cpp @@ -58,6 +58,8 @@ #include <arch/board/up_hrt.h> +#include <systemlib/perf_counter.h> + #include <drivers/drv_baro.h> /** @@ -123,13 +125,15 @@ private: int32_t _dT; int64_t _temp64; - int _orbject; + int _baro_topic; unsigned _reads; unsigned _measure_errors; unsigned _read_errors; unsigned _buf_overflows; + perf_counter_t _sample_perf; + /** * Test whether the device supported by the driver is present at a * specific address. @@ -245,7 +249,8 @@ MS5611::MS5611(int bus) : _reads(0), _measure_errors(0), _read_errors(0), - _buf_overflows(0) + _buf_overflows(0), + _sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read")) { // enable debug() calls _debug_enabled = true; @@ -278,9 +283,9 @@ MS5611::init() /* if this fails (e.g. no object in the system) that's OK */ memset(&b, 0, sizeof(b)); - _orbject = orb_advertise(ORB_ID(sensor_baro), &b); + _baro_topic = orb_advertise(ORB_ID(sensor_baro), &b); - if (_orbject < 0) + if (_baro_topic < 0) debug("failed to create sensor_baro object"); } @@ -610,6 +615,8 @@ MS5611::collect() /* read the most recent measurement */ cmd = 0; + perf_begin(_sample_perf); + /* this should be fairly close to the end of the conversion, so the best approximation of the time */ _reports[_next_report].timestamp = hrt_absolute_time(); @@ -655,7 +662,7 @@ MS5611::collect() _reports[_next_report].altitude = (44330.0 * (1.0 - pow((press_int64 / 101325.0), 0.190295))); /* publish it */ - orb_publish(ORB_ID(sensor_baro), _orbject, &_reports[_next_report]); + orb_publish(ORB_ID(sensor_baro), _baro_topic, &_reports[_next_report]); /* post a report to the ring - note, not locked */ INCREMENT(_next_report, _num_reports); @@ -670,10 +677,11 @@ MS5611::collect() poll_notify(POLLIN); } - /* update the measurement state machine */ INCREMENT(_measure_phase, MS5611_MEASUREMENT_RATIO + 1); + perf_end(_sample_perf); + return OK; } diff --git a/apps/px4/px4io/driver/px4io.cpp b/apps/px4/px4io/driver/px4io.cpp index 3a3ff6407..fafec77f9 100644 --- a/apps/px4/px4io/driver/px4io.cpp +++ b/apps/px4/px4io/driver/px4io.cpp @@ -536,7 +536,7 @@ px4io_main(int argc, char *argv[]) case OK: break; case -ENOENT: - fprintf(stderr, "PX4IO firmware file '%s' not found\n", fn); + fprintf(stderr, "PX4IO firmware file not found\n"); break; case -EEXIST: case -EIO: diff --git a/nuttx/arch/arm/src/stm32/stm32_spi.c b/nuttx/arch/arm/src/stm32/stm32_spi.c index 06a994524..a65f1e1eb 100644 --- a/nuttx/arch/arm/src/stm32/stm32_spi.c +++ b/nuttx/arch/arm/src/stm32/stm32_spi.c @@ -1368,15 +1368,21 @@ FAR struct spi_dev_s *up_spiinitialize(int port) priv = &g_spi1dev; - /* Configure SPI1 pins: SCK, MISO, and MOSI */ + /* Only configure if the port is not already configured */ - stm32_configgpio(GPIO_SPI1_SCK); - stm32_configgpio(GPIO_SPI1_MISO); - stm32_configgpio(GPIO_SPI1_MOSI); + if (!(spi_getreg(priv, STM32_SPI_CR1_OFFSET) & SPI_CR1_SPE)) + { + + /* Configure SPI1 pins: SCK, MISO, and MOSI */ + + stm32_configgpio(GPIO_SPI1_SCK); + stm32_configgpio(GPIO_SPI1_MISO); + stm32_configgpio(GPIO_SPI1_MOSI); - /* Set up default configuration: Master, 8-bit, etc. */ + /* Set up default configuration: Master, 8-bit, etc. */ - spi_portinitialize(priv); + spi_portinitialize(priv); + } } else #endif @@ -1387,15 +1393,21 @@ FAR struct spi_dev_s *up_spiinitialize(int port) priv = &g_spi2dev; - /* Configure SPI2 pins: SCK, MISO, and MOSI */ + /* Only configure if the port is not already configured */ + + if (!(spi_getreg(priv, STM32_SPI_CR1_OFFSET) & SPI_CR1_SPE)) + { + + /* Configure SPI2 pins: SCK, MISO, and MOSI */ - stm32_configgpio(GPIO_SPI2_SCK); - stm32_configgpio(GPIO_SPI2_MISO); - stm32_configgpio(GPIO_SPI2_MOSI); + stm32_configgpio(GPIO_SPI2_SCK); + stm32_configgpio(GPIO_SPI2_MISO); + stm32_configgpio(GPIO_SPI2_MOSI); - /* Set up default configuration: Master, 8-bit, etc. */ + /* Set up default configuration: Master, 8-bit, etc. */ - spi_portinitialize(priv); + spi_portinitialize(priv); + } } else #endif @@ -1406,15 +1418,21 @@ FAR struct spi_dev_s *up_spiinitialize(int port) priv = &g_spi3dev; - /* Configure SPI3 pins: SCK, MISO, and MOSI */ + /* Only configure if the port is not already configured */ + + if (!(spi_getreg(priv, STM32_SPI_CR1_OFFSET) & SPI_CR1_SPE)) + { + + /* Configure SPI3 pins: SCK, MISO, and MOSI */ - stm32_configgpio(GPIO_SPI3_SCK); - stm32_configgpio(GPIO_SPI3_MISO); - stm32_configgpio(GPIO_SPI3_MOSI); + stm32_configgpio(GPIO_SPI3_SCK); + stm32_configgpio(GPIO_SPI3_MISO); + stm32_configgpio(GPIO_SPI3_MOSI); - /* Set up default configuration: Master, 8-bit, etc. */ + /* Set up default configuration: Master, 8-bit, etc. */ - spi_portinitialize(priv); + spi_portinitialize(priv); + } } #endif diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig index 84bfc653a..36db854e3 100644 --- a/nuttx/configs/px4fmu/nsh/appconfig +++ b/nuttx/configs/px4fmu/nsh/appconfig @@ -75,7 +75,8 @@ CONFIGURED_APPS += attitude_estimator_ekf # Communication and Drivers CONFIGURED_APPS += drivers/device -#CONFIGURED_APPS += drivers/ms5611 +CONFIGURED_APPS += drivers/ms5611 +CONFIGURED_APPS += drivers/mpu6000 CONFIGURED_APPS += px4/px4io/driver CONFIGURED_APPS += px4/fmu diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig index 58c9ca45c..a87ce7ffa 100755 --- a/nuttx/configs/px4fmu/nsh/defconfig +++ b/nuttx/configs/px4fmu/nsh/defconfig @@ -537,10 +537,10 @@ CONFIG_SEM_NNESTPRIO=8 CONFIG_FDCLONE_DISABLE=n CONFIG_FDCLONE_STDIO=y CONFIG_SDCLONE_DISABLE=y -CONFIG_SCHED_WORKQUEUE=n -CONFIG_SCHED_WORKPRIORITY=50 -CONFIG_SCHED_WORKPERIOD=(50*1000) -CONFIG_SCHED_WORKSTACKSIZE=1024 +CONFIG_SCHED_WORKQUEUE=y +CONFIG_SCHED_WORKPRIORITY=199 +CONFIG_SCHED_WORKPERIOD=(5*1000) +CONFIG_SCHED_WORKSTACKSIZE=2048 CONFIG_SIG_SIGWORK=4 CONFIG_SCHED_WAITPID=y CONFIG_SCHED_ATEXIT=n |