diff options
| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-05 10:02:07 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-05 10:02:07 +0100 |
| commit | 16b9f666e790a2b939f7890b39cc6e4cf2552165 (patch) | |
| tree | ee936b06d15e75e12b175f6786772781aff32cd8 | |
| parent | e16c4ff76e7eff2da88bcbef5d05dd4ba11e7203 (diff) | |
| parent | c3ed35f5cc8e2617e61747e904dbaa652d1cc2c8 (diff) | |
| download | px4-firmware-16b9f666e790a2b939f7890b39cc6e4cf2552165.tar.gz px4-firmware-16b9f666e790a2b939f7890b39cc6e4cf2552165.tar.bz2 px4-firmware-16b9f666e790a2b939f7890b39cc6e4cf2552165.zip | |
Merge remote-tracking branch 'upstream/master' into dev_ros
Conflicts:
src/lib/mathlib/math/Matrix.hpp
src/modules/mc_att_control/mc_att_control_main.cpp
src/modules/uORB/topics/vehicle_status.h
src/platforms/px4_includes.h
83 files changed, 3467 insertions, 1193 deletions
diff --git a/.gitignore b/.gitignore index 096acb5b3..35e843ba0 100644 --- a/.gitignore +++ b/.gitignore @@ -41,3 +41,4 @@ tags *.orig src/modules/uORB/topics/* Firmware.zip +unittests/build diff --git a/.travis.yml b/.travis.yml index e7dc6029c..b201d5130 100644 --- a/.travis.yml +++ b/.travis.yml @@ -10,7 +10,7 @@ before_script: # General toolchain dependencies - sudo apt-get install libc6:i386 libgcc1:i386 gcc-4.6-base:i386 libstdc++5:i386 libstdc++6:i386 - sudo apt-get install python-serial python-argparse - - sudo apt-get install flex bison libncurses5-dev autoconf texinfo build-essential libtool zlib1g-dev genromfs git wget + - sudo apt-get install flex bison libncurses5-dev autoconf texinfo build-essential libtool zlib1g-dev genromfs git wget cmake - pushd . - cd ~ - wget https://launchpadlibrarian.net/174121628/gcc-arm-none-eabi-4_7-2014q2-20140408-linux.tar.bz2 @@ -49,19 +49,19 @@ script: - zip Firmware.zip Images/*.px4 # We use an encrypted env variable to ensure this only executes when artifacts are uploaded. -after_script: - - echo "Branch $TRAVIS_BRANCH (pull request: $TRAVIS_PULL_REQUEST) ready for flight testing." >> $PX4_REPORT - - git log -n1 > $PX4_REPORT - - echo " " >> $PX4_REPORT - - echo "Files available at:" >> $PX4_REPORT - - echo "https://px4-travis.s3.amazonaws.com/PX4/Firmware/$TRAVIS_BUILD_NUMBER/$TRAVIS_BUILD_NUMBER.1/Firmware.zip" >> $PX4_REPORT - - echo "Description of desired tests is available at:" >> $PX4_REPORT - - echo "https://github.com/PX4/Firmware/pull/$TRAVIS_PULL_REQUEST" >> $PX4_REPORT - - echo " " >> $PX4_REPORT - - echo "Thanks for testing!" >> $PX4_REPORT - - echo " " >> $PX4_REPORT - - /usr/bin/mail -s "$SUBJECT ($TRAVIS_COMMIT)" "$PX4_EMAIL" < "$PX4_REPORT" - #- s3cmd put --acl-public --guess-mime-type --config=.s3cfg Firmware.zip s3://s3-website-us-east-1.amazonaws.com/#$TRAVIS_JOB_ID/ +#after_script: +# - echo "Branch $TRAVIS_BRANCH (pull request: $TRAVIS_PULL_REQUEST) ready for flight testing." >> $PX4_REPORT +# - git log -n1 > $PX4_REPORT +# - echo " " >> $PX4_REPORT +# - echo "Files available at:" >> $PX4_REPORT +# - echo "https://px4-travis.s3.amazonaws.com/PX4/Firmware/$TRAVIS_BUILD_NUMBER/$TRAVIS_BUILD_NUMBER.1/Firmware.zip" >> $PX4_REPORT +# - echo "Description of desired tests is available at:" >> $PX4_REPORT +# - echo "https://github.com/PX4/Firmware/pull/$TRAVIS_PULL_REQUEST" >> $PX4_REPORT +# - echo " " >> $PX4_REPORT +# - echo "Thanks for testing!" >> $PX4_REPORT +# - echo " " >> $PX4_REPORT +# - /usr/bin/mail -s "$SUBJECT ($TRAVIS_COMMIT)" "$PX4_EMAIL" < "$PX4_REPORT" +# - s3cmd put --acl-public --guess-mime-type --config=.s3cfg Firmware.zip s3://s3-website-us-east-1.amazonaws.com/#$TRAVIS_JOB_ID/ deploy: provider: releases diff --git a/Debug/NuttX b/Debug/NuttX index 4b9f4b5a1..20b579310 100644 --- a/Debug/NuttX +++ b/Debug/NuttX @@ -178,9 +178,10 @@ define showtaskstack printf "can't measure idle stack\n" else set $stack_free = 0 - while ($stack_free < $task->adj_stack_size) && *(uint8_t *)($task->stack_alloc_ptr + $stack_free) + while ($stack_free < $task->adj_stack_size) && ((uint32_t *)($task->stack_alloc_ptr))[$stack_free] == 0xffffffff set $stack_free = $stack_free + 1 end + set $stack_free = $stack_free * 4 printf" stack 0x%08x-0x%08x (%d) %d free\n", $task->stack_alloc_ptr, $task->adj_stack_ptr, $task->adj_stack_size, $stack_free end end @@ -278,4 +279,4 @@ define my_mem set $cursor = $cursor - 4 end end -end
\ No newline at end of file +end diff --git a/NuttX b/NuttX -Subproject 3c36467c0d5572431a09ae50013328a4693ee07 +Subproject 255dc96065ce1fdd7f0f56ca5afb6b6112abfc7 @@ -11,9 +11,13 @@ * [Fixed wing](http://px4.io/platforms/planes/start) * [VTOL](http://px4.io/platforms/vtol/start) * Binaries (always up-to-date from master): - * [Downloads](https://pixhawk.org/downloads) + * [Downloads](http://px4.io/downloads) * Mailing list: [Google Groups](http://groups.google.com/group/px4users) +### Users ### + +Please refer to the [user documentation](https://pixhawk.org/users/start) for flying drones with PX4. + ### Developers ### Contributing guide: @@ -25,7 +29,7 @@ http://px4.io/dev/ This repository contains code supporting these boards: * PX4FMUv1.x * PX4FMUv2.x - * AeroCore + * AeroCore (v1 and v2) ## NuttShell (NSH) ## diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults index fab2a7f18..e6de64054 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults @@ -10,7 +10,7 @@ then param set NAV_LAND_ALT 90 param set NAV_RTL_ALT 100 param set NAV_RTL_LAND_T -1 - param set NAV_ACCEPT_RAD 50 + param set NAV_ACC_RAD 50 param set FW_T_HRATE_P 0.01 param set FW_T_RLL2THR 15 param set FW_T_SRATE_P 0.01 diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults index 307a64c4d..24d9650a0 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -41,7 +41,9 @@ then param set PE_POSNE_NOISE 0.5 param set PE_POSD_NOISE 1.0 - param set NAV_ACCEPT_RAD 2.0 + param set NAV_ACC_RAD 2.0 + param set RTL_RETURN_ALT 30.0 + param set RTL_DESCEND_ALT 10.0 fi set PWM_RATE 400 diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 973db9017..ad84f44f5 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -52,6 +52,10 @@ then if lsm303d start then fi + + if ms5611 -X start + then + fi fi if meas_airspeed start diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index b3de8e590..2dfe11ce6 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -26,6 +26,8 @@ usleep 100000 mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10 usleep 100000 mavlink stream -d /dev/ttyACM0 -s LOCAL_POSITION_NED -r 30 +usleep 100000 +mavlink stream -d /dev/ttyACM0 -s MANUAL_CONTROL -r 5 # Exit shell to make it available to MAVLink exit diff --git a/ROMFS/px4fmu_common/mixers/README b/ROMFS/px4fmu_common/mixers/README.md index 60311232e..b766d05aa 100644 --- a/ROMFS/px4fmu_common/mixers/README +++ b/ROMFS/px4fmu_common/mixers/README.md @@ -1,61 +1,12 @@ -PX4 mixer definitions -===================== +## PX4 mixer definitions ## Files in this directory implement example mixers that can be used as a basis for customisation, or for general testing purposes. -Mixer basics ------------- +For a detailed description of the mixing architecture and examples see: +http://px4.io/dev/mixing -Mixers combine control values from various sources (control tasks, user inputs, -etc.) and produce output values suitable for controlling actuators; servos, -motors, switches and so on. - -An actuator derives its value from the combination of one or more control -values. Each of the control values is scaled according to the actuator's -configuration and then combined to produce the actuator value, which may then be -further scaled to suit the specific output type. - -Internally, all scaling is performed using floating point values. Inputs and -outputs are clamped to the range -1.0 to 1.0. - -control control control - | | | - v v v - scale scale scale - | | | - | v | - +-------> mix <------+ - | - scale - | - v - out - -Scaling -------- - -Basic scalers provide linear scaling of the input to the output. - -Each scaler allows the input value to be scaled independently for inputs -greater/less than zero. An offset can be applied to the output, and lower and -upper boundary constraints can be applied. Negative scaling factors cause the -output to be inverted (negative input produces positive output). - -Scaler pseudocode: - -if (input < 0) - output = (input * NEGATIVE_SCALE) + OFFSET -else - output = (input * POSITIVE_SCALE) + OFFSET - -if (output < LOWER_LIMIT) - output = LOWER_LIMIT -if (output > UPPER_LIMIT) - output = UPPER_LIMIT - -Syntax ------- +### Syntax ### Mixer definitions are text files; lines beginning with a single capital letter followed by a colon are significant. All other lines are ignored, meaning that @@ -65,6 +16,9 @@ Each file may define more than one mixer; the allocation of mixers to actuators is specific to the device reading the mixer definition, and the number of actuator outputs generated by a mixer is specific to the mixer. +For example: each simple or null mixer is assigned to outputs 1 to x +in the order they appear in the mixer file. + A mixer begins with a line of the form <tag>: <mixer arguments> @@ -72,8 +26,7 @@ A mixer begins with a line of the form The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a multirotor mixer, etc. -Null Mixer -.......... +#### Null Mixer #### A null mixer consumes no controls and generates a single actuator output whose value is always zero. Typically a null mixer is used as a placeholder in a @@ -83,8 +36,7 @@ The null mixer definition has the form: Z: -Simple Mixer -............ +#### Simple Mixer #### A simple mixer combines zero or more control inputs into a single actuator output. Inputs are scaled, and the mixing function sums the result before @@ -122,8 +74,7 @@ discussed above. Whilst the calculations are performed as floating-point operations, the values stored in the definition file are scaled by a factor of 10000; i.e. an offset of -0.5 is encoded as -5000. -Multirotor Mixer -................ +#### Multirotor Mixer #### The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust) into a set of actuator outputs intended to drive motor speed controllers. diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS index ef032de5c..40b3500e0 100644 --- a/ROMFS/px4fmu_test/init.d/rcS +++ b/ROMFS/px4fmu_test/init.d/rcS @@ -97,6 +97,26 @@ else set unit_test_failure_list "${unit_test_failure_list} commander_tests" fi +if hmc5883 -I start +then + # This is an FMUv3 + echo "FMUv3" + ms5611 start + mpu6000 -X start + mpu6000 start + lsm303d -X start + l3gd20 -X start + echo "EVALUATION ONLY SENSORS (not used in production)" + ms5611 -X start +else + # This is an FMUv1 or FMUv2 + echo "FMUv2 (or FMUv3 where 'hmc5883 -I start' failed)" + ms5611 start + mpu6000 start + lsm303d start + l3gd20 start +fi + if [ $unit_test_failure == 0 ] then echo diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk index 8367cf056..ef70d51f2 100644 --- a/makefiles/toolchain_gnu-arm-eabi.mk +++ b/makefiles/toolchain_gnu-arm-eabi.mk @@ -109,10 +109,10 @@ ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \ -fno-strict-aliasing \ -fno-strength-reduce \ -fomit-frame-pointer \ - -funsafe-math-optimizations \ - -fno-builtin-printf \ - -ffunction-sections \ - -fdata-sections + -funsafe-math-optimizations \ + -fno-builtin-printf \ + -ffunction-sections \ + -fdata-sections # enable precise stack overflow tracking # note - requires corresponding support in NuttX @@ -228,7 +228,7 @@ DEP_INCLUDES = $(subst .o,.d,$(OBJS)) define COMPILE @$(ECHO) "CC: $1" @$(MKDIR) -p $(dir $2) - $(Q) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2 + $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2 endef # Compile C++ source $1 to $2 @@ -237,7 +237,7 @@ endef define COMPILEXX @$(ECHO) "CXX: $1" @$(MKDIR) -p $(dir $2) - $(Q) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2 + $(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2 endef # Assemble $1 into $2 diff --git a/mavlink/include/mavlink/v1.0 b/mavlink/include/mavlink/v1.0 -Subproject ad5e5a645dec152419264ad32221f7c113ea5c3 +Subproject 42f1a37397335b3c4c96b0a41c73d85e80d54a6 diff --git a/msg/vehicle_status.msg b/msg/vehicle_status.msg index 21a088f12..18df3252f 100644 --- a/msg/vehicle_status.msg +++ b/msg/vehicle_status.msg @@ -96,6 +96,7 @@ int32 component_id # subsystem / component id, inspired by MAVLink's component bool is_rotary_wing # True if system is in rotary wing configuration, so for a VTOL this is only true while flying as a multicopter bool is_vtol # True if the system is VTOL capable +bool vtol_fw_permanent_stab # True if vtol should stabilize attitude for fw in manual mode bool condition_battery_voltage_valid bool condition_system_in_air_restore # true if we can restore in mid air diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig index 90dde6294..f9ab949e1 100644 --- a/nuttx-configs/px4fmu-v2/nsh/defconfig +++ b/nuttx-configs/px4fmu-v2/nsh/defconfig @@ -323,7 +323,7 @@ CONFIG_STM32_USART_SINGLEWIRE=y # # CONFIG_STM32_I2C_DYNTIMEO is not set CONFIG_STM32_I2CTIMEOSEC=0 -CONFIG_STM32_I2CTIMEOMS=1 +CONFIG_STM32_I2CTIMEOMS=10 # CONFIG_STM32_I2C_DUTY16_9 is not set # @@ -477,7 +477,9 @@ CONFIG_SPI=y # CONFIG_SPI_OWNBUS is not set CONFIG_SPI_EXCHANGE=y # CONFIG_SPI_CMDDATA is not set -# CONFIG_RTC is not set +CONFIG_RTC=y +CONFIG_RTC_DATETIME=y +CONFIG_RTC_HSECLOCK=y CONFIG_WATCHDOG=y # CONFIG_ANALOG is not set # CONFIG_AUDIO_DEVICES is not set diff --git a/src/drivers/batt_smbus/batt_smbus.cpp b/src/drivers/batt_smbus/batt_smbus.cpp new file mode 100644 index 000000000..2b5fef4d7 --- /dev/null +++ b/src/drivers/batt_smbus/batt_smbus.cpp @@ -0,0 +1,585 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2015 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 batt_smbus.cpp + * + * Driver for a battery monitor connected via SMBus (I2C). + * + * @author Randy Mackay <rmackay9@yahoo.com> + */ + +#include <nuttx/config.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdlib.h> +#include <stdbool.h> +#include <sched.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 <ctype.h> + +#include <nuttx/arch.h> +#include <nuttx/wqueue.h> +#include <nuttx/clock.h> + +#include <board_config.h> + +#include <systemlib/perf_counter.h> +#include <systemlib/err.h> +#include <systemlib/systemlib.h> + +#include <uORB/uORB.h> +#include <uORB/topics/subsystem_info.h> +#include <uORB/topics/battery_status.h> + +#include <float.h> + +#include <drivers/device/i2c.h> +#include <drivers/drv_hrt.h> +#include <drivers/drv_batt_smbus.h> +#include <drivers/device/ringbuffer.h> + +#define BATT_SMBUS_ADDR_MIN 0x08 ///< lowest possible address +#define BATT_SMBUS_ADDR_MAX 0x7F ///< highest possible address + +#define BATT_SMBUS_I2C_BUS PX4_I2C_BUS_EXPANSION +#define BATT_SMBUS_ADDR 0x0B ///< I2C address +#define BATT_SMBUS_TEMP 0x08 ///< temperature register +#define BATT_SMBUS_VOLTAGE 0x09 ///< voltage register +#define BATT_SMBUS_DESIGN_CAPACITY 0x18 ///< design capacity register +#define BATT_SMBUS_DESIGN_VOLTAGE 0x19 ///< design voltage register +#define BATT_SMBUS_SERIALNUM 0x1c ///< serial number register +#define BATT_SMBUS_MANUFACTURE_NAME 0x20 ///< manufacturer name +#define BATT_SMBUS_MANUFACTURE_INFO 0x25 ///< cell voltage register +#define BATT_SMBUS_CURRENT 0x2a ///< current register +#define BATT_SMBUS_MEASUREMENT_INTERVAL_MS (1000000 / 10) ///< time in microseconds, measure at 10hz + +#define BATT_SMBUS_PEC_POLYNOMIAL 0x07 ///< Polynomial for calculating PEC + +#ifndef CONFIG_SCHED_WORKQUEUE +# error This requires CONFIG_SCHED_WORKQUEUE. +#endif + +class BATT_SMBUS : public device::I2C +{ +public: + BATT_SMBUS(int bus = PX4_I2C_BUS_EXPANSION, uint16_t batt_smbus_addr = BATT_SMBUS_ADDR); + virtual ~BATT_SMBUS(); + + /** + * Initialize device + * + * Calls probe() to check for device on bus. + * + * @return 0 on success, error code on failure + */ + virtual int init(); + + /** + * Test device + * + * @return 0 on success, error code on failure + */ + virtual int test(); + + /** + * Search all possible slave addresses for a smart battery + */ + int search(); + +protected: + /** + * Check if the device can be contacted + */ + virtual int probe(); + +private: + + /** + * Start periodic reads from the battery + */ + void start(); + + /** + * Stop periodic reads from the battery + */ + void stop(); + + /** + * static function that is called by worker queue + */ + static void cycle_trampoline(void *arg); + + /** + * perform a read from the battery + */ + void cycle(); + + /** + * Read a word from specified register + */ + int read_reg(uint8_t reg, uint16_t &val); + + /** + * Read block from bus + * @return returns number of characters read if successful, zero if unsuccessful + */ + uint8_t read_block(uint8_t reg, uint8_t *data, uint8_t max_len, bool append_zero); + + /** + * Calculate PEC for a read or write from the battery + * @param buff is the data that was read or will be written + */ + uint8_t get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len) const; + + // internal variables + work_s _work; ///< work queue for scheduling reads + RingBuffer *_reports; ///< buffer of recorded voltages, currents + struct battery_status_s _last_report; ///< last published report, used for test() + orb_advert_t _batt_topic; ///< uORB battery topic + orb_id_t _batt_orb_id; ///< uORB battery topic ID +}; + +namespace +{ +BATT_SMBUS *g_batt_smbus; ///< device handle. For now, we only support one BATT_SMBUS device +} + +void batt_smbus_usage(); + +extern "C" __EXPORT int batt_smbus_main(int argc, char *argv[]); + +BATT_SMBUS::BATT_SMBUS(int bus, uint16_t batt_smbus_addr) : + I2C("batt_smbus", BATT_SMBUS_DEVICE_PATH, bus, batt_smbus_addr, 400000), + _work{}, + _reports(nullptr), + _batt_topic(-1), + _batt_orb_id(nullptr) +{ + // work_cancel in the dtor will explode if we don't do this... + memset(&_work, 0, sizeof(_work)); +} + +BATT_SMBUS::~BATT_SMBUS() +{ + // make sure we are truly inactive + stop(); + + if (_reports != nullptr) { + delete _reports; + } +} + +int +BATT_SMBUS::init() +{ + int ret = ENOTTY; + + // attempt to initialise I2C bus + ret = I2C::init(); + + if (ret != OK) { + errx(1, "failed to init I2C"); + return ret; + + } else { + // allocate basic report buffers + _reports = new RingBuffer(2, sizeof(struct battery_status_s)); + + if (_reports == nullptr) { + ret = ENOTTY; + + } else { + // start work queue + start(); + } + } + + // init orb id + _batt_orb_id = ORB_ID(battery_status); + + return ret; +} + +int +BATT_SMBUS::test() +{ + int sub = orb_subscribe(ORB_ID(battery_status)); + bool updated = false; + struct battery_status_s status; + uint64_t start_time = hrt_absolute_time(); + + // loop for 5 seconds + while ((hrt_absolute_time() - start_time) < 5000000) { + + // display new info that has arrived from the orb + orb_check(sub, &updated); + + if (updated) { + if (orb_copy(ORB_ID(battery_status), sub, &status) == OK) { + warnx("V=%4.2f C=%4.2f", status.voltage_v, status.current_a); + } + } + + // sleep for 0.05 seconds + usleep(50000); + } + + return OK; +} + +int +BATT_SMBUS::search() +{ + bool found_slave = false; + uint16_t tmp; + + // search through all valid SMBus addresses + for (uint8_t i = BATT_SMBUS_ADDR_MIN; i <= BATT_SMBUS_ADDR_MAX; i++) { + set_address(i); + + if (read_reg(BATT_SMBUS_VOLTAGE, tmp) == OK) { + warnx("battery found at 0x%x", (int)i); + found_slave = true; + } + + // short sleep + usleep(1); + } + + // display completion message + if (found_slave) { + warnx("Done."); + + } else { + warnx("No smart batteries found."); + } + + return OK; +} + +int +BATT_SMBUS::probe() +{ + // always return OK to ensure device starts + return OK; +} + +void +BATT_SMBUS::start() +{ + // reset the report ring and state machine + _reports->flush(); + + // schedule a cycle to start things + work_queue(HPWORK, &_work, (worker_t)&BATT_SMBUS::cycle_trampoline, this, 1); +} + +void +BATT_SMBUS::stop() +{ + work_cancel(HPWORK, &_work); +} + +void +BATT_SMBUS::cycle_trampoline(void *arg) +{ + BATT_SMBUS *dev = (BATT_SMBUS *)arg; + + dev->cycle(); +} + +void +BATT_SMBUS::cycle() +{ + // read data from sensor + struct battery_status_s new_report; + + // set time of reading + new_report.timestamp = hrt_absolute_time(); + + // read voltage + uint16_t tmp; + + if (read_reg(BATT_SMBUS_VOLTAGE, tmp) == OK) { + // initialise new_report + memset(&new_report, 0, sizeof(new_report)); + + // convert millivolts to volts + new_report.voltage_v = ((float)tmp) / 1000.0f; + + // read current + usleep(1); + uint8_t buff[4]; + + if (read_block(BATT_SMBUS_CURRENT, buff, 4, false) == 4) { + new_report.current_a = (float)((int32_t)((uint32_t)buff[3] << 24 | (uint32_t)buff[2] << 16 | (uint32_t)buff[1] << 8 | + (uint32_t)buff[0])) / 1000.0f; + } + + // publish to orb + if (_batt_topic != -1) { + orb_publish(_batt_orb_id, _batt_topic, &new_report); + + } else { + _batt_topic = orb_advertise(_batt_orb_id, &new_report); + + if (_batt_topic < 0) { + errx(1, "ADVERT FAIL"); + } + } + + // copy report for test() + _last_report = new_report; + + // post a report to the ring + _reports->force(&new_report); + + // notify anyone waiting for data + poll_notify(POLLIN); + } + + // schedule a fresh cycle call when the measurement is done + work_queue(HPWORK, &_work, (worker_t)&BATT_SMBUS::cycle_trampoline, this, + USEC2TICK(BATT_SMBUS_MEASUREMENT_INTERVAL_MS)); +} + +int +BATT_SMBUS::read_reg(uint8_t reg, uint16_t &val) +{ + uint8_t buff[3]; // 2 bytes of data + PEC + + // read from register + int ret = transfer(®, 1, buff, 3); + + if (ret == OK) { + // check PEC + uint8_t pec = get_PEC(reg, true, buff, 2); + + if (pec == buff[2]) { + val = (uint16_t)buff[1] << 8 | (uint16_t)buff[0]; + + } else { + ret = ENOTTY; + } + } + + // return success or failure + return ret; +} + +uint8_t +BATT_SMBUS::read_block(uint8_t reg, uint8_t *data, uint8_t max_len, bool append_zero) +{ + uint8_t buff[max_len + 2]; // buffer to hold results + + usleep(1); + + // read bytes including PEC + int ret = transfer(®, 1, buff, max_len + 2); + + // return zero on failure + if (ret != OK) { + return 0; + } + + // get length + uint8_t bufflen = buff[0]; + + // sanity check length returned by smbus + if (bufflen == 0 || bufflen > max_len) { + return 0; + } + + // check PEC + uint8_t pec = get_PEC(reg, true, buff, bufflen + 1); + + if (pec != buff[bufflen + 1]) { + // debug + warnx("CurrPEC:%x vs MyPec:%x", (int)buff[bufflen + 1], (int)pec); + return 0; + + } + + // copy data + memcpy(data, &buff[1], bufflen); + + // optionally add zero to end + if (append_zero) { + data[bufflen] = '\0'; + } + + // return success + return bufflen; +} + +uint8_t +BATT_SMBUS::get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len) const +{ + // exit immediately if no data + if (len <= 0) { + return 0; + } + + // prepare temp buffer for calcing crc + uint8_t tmp_buff[len + 3]; + tmp_buff[0] = (uint8_t)get_address() << 1; + tmp_buff[1] = cmd; + tmp_buff[2] = tmp_buff[0] | (uint8_t)reading; + memcpy(&tmp_buff[3], buff, len); + + // initialise crc to zero + uint8_t crc = 0; + uint8_t shift_reg = 0; + bool do_invert; + + // for each byte in the stream + for (uint8_t i = 0; i < sizeof(tmp_buff); i++) { + // load next data byte into the shift register + shift_reg = tmp_buff[i]; + + // for each bit in the current byte + for (uint8_t j = 0; j < 8; j++) { + do_invert = (crc ^ shift_reg) & 0x80; + crc <<= 1; + shift_reg <<= 1; + + if (do_invert) { + crc ^= BATT_SMBUS_PEC_POLYNOMIAL; + } + } + } + + // return result + return crc; +} + +///////////////////////// shell functions /////////////////////// + +void +batt_smbus_usage() +{ + warnx("missing command: try 'start', 'test', 'stop', 'search'"); + warnx("options:"); + warnx(" -b i2cbus (%d)", BATT_SMBUS_I2C_BUS); + warnx(" -a addr (0x%x)", BATT_SMBUS_ADDR); +} + +int +batt_smbus_main(int argc, char *argv[]) +{ + int i2cdevice = BATT_SMBUS_I2C_BUS; + int batt_smbusadr = BATT_SMBUS_ADDR; // 7bit address + + int ch; + + // jump over start/off/etc and look at options first + while ((ch = getopt(argc, argv, "a:b:")) != EOF) { + switch (ch) { + case 'a': + batt_smbusadr = strtol(optarg, NULL, 0); + break; + + case 'b': + i2cdevice = strtol(optarg, NULL, 0); + break; + + default: + batt_smbus_usage(); + exit(0); + } + } + + if (optind >= argc) { + batt_smbus_usage(); + exit(1); + } + + const char *verb = argv[optind]; + + if (!strcmp(verb, "start")) { + if (g_batt_smbus != nullptr) { + errx(1, "already started"); + + } else { + // create new global object + g_batt_smbus = new BATT_SMBUS(i2cdevice, batt_smbusadr); + + if (g_batt_smbus == nullptr) { + errx(1, "new failed"); + } + + if (OK != g_batt_smbus->init()) { + delete g_batt_smbus; + g_batt_smbus = nullptr; + errx(1, "init failed"); + } + } + + exit(0); + } + + // need the driver past this point + if (g_batt_smbus == nullptr) { + warnx("not started"); + batt_smbus_usage(); + exit(1); + } + + if (!strcmp(verb, "test")) { + g_batt_smbus->test(); + exit(0); + } + + if (!strcmp(verb, "stop")) { + delete g_batt_smbus; + g_batt_smbus = nullptr; + exit(0); + } + + if (!strcmp(verb, "search")) { + g_batt_smbus->search(); + exit(0); + } + + batt_smbus_usage(); + exit(0); +} diff --git a/src/drivers/batt_smbus/module.mk b/src/drivers/batt_smbus/module.mk new file mode 100644 index 000000000..b32ea6e55 --- /dev/null +++ b/src/drivers/batt_smbus/module.mk @@ -0,0 +1,8 @@ +# +# driver for SMBus smart batteries +# + +MODULE_COMMAND = batt_smbus +SRCS = batt_smbus.cpp + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/device/device.h b/src/drivers/device/device.h index 67aaa0aff..4d4bed835 100644 --- a/src/drivers/device/device.h +++ b/src/drivers/device/device.h @@ -445,6 +445,13 @@ protected: */ virtual int unregister_class_devname(const char *class_devname, unsigned class_instance); + /** + * Get the device name. + * + * @return the file system string of the device handle + */ + const char* get_devname() { return _devname; } + bool _pub_blocked; /**< true if publishing should be blocked */ private: diff --git a/src/drivers/device/i2c.h b/src/drivers/device/i2c.h index 705b398b0..8518596ea 100644 --- a/src/drivers/device/i2c.h +++ b/src/drivers/device/i2c.h @@ -58,7 +58,7 @@ public: /** * Get the address */ - int16_t get_address() { return _address; } + int16_t get_address() const { return _address; } protected: /** @@ -132,6 +132,7 @@ protected: */ void set_address(uint16_t address) { _address = address; + _device_id.devid_s.address = _address; } private: diff --git a/src/drivers/drv_baro.h b/src/drivers/drv_baro.h index 248b9a73d..3e28d3d3d 100644 --- a/src/drivers/drv_baro.h +++ b/src/drivers/drv_baro.h @@ -65,6 +65,7 @@ struct baro_report { */ ORB_DECLARE(sensor_baro0); ORB_DECLARE(sensor_baro1); +ORB_DECLARE(sensor_baro2); /* * ioctl() definitions diff --git a/src/drivers/drv_batt_smbus.h b/src/drivers/drv_batt_smbus.h new file mode 100644 index 000000000..ca130c84e --- /dev/null +++ b/src/drivers/drv_batt_smbus.h @@ -0,0 +1,47 @@ +/**************************************************************************** + * + * Copyright (C) 2012-2013 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 drv_batt_smbus.h + * + * SMBus battery monitor device API + */ + +#pragma once + +#include <stdint.h> +#include <sys/ioctl.h> +#include "drv_orb_dev.h" + +/* device path */ +#define BATT_SMBUS_DEVICE_PATH "/dev/batt_smbus" diff --git a/src/drivers/drv_px4flow.h b/src/drivers/drv_px4flow.h index ab640837b..5aed3f02b 100644 --- a/src/drivers/drv_px4flow.h +++ b/src/drivers/drv_px4flow.h @@ -32,7 +32,7 @@ ****************************************************************************/ /** - * @file Rangefinder driver interface. + * @file PX4Flow driver interface. */ #ifndef _DRV_PX4FLOW_H diff --git a/src/drivers/drv_sensor.h b/src/drivers/drv_sensor.h index 8e8b2c1b9..5e4598de8 100644 --- a/src/drivers/drv_sensor.h +++ b/src/drivers/drv_sensor.h @@ -82,8 +82,19 @@ #define SENSORIOCGQUEUEDEPTH _SENSORIOC(3) /** - * Reset the sensor to its default configuration. + * Reset the sensor to its default configuration */ #define SENSORIOCRESET _SENSORIOC(4) -#endif /* _DRV_SENSOR_H */
\ No newline at end of file +/** + * Set the sensor orientation + */ +#define SENSORIOCSROTATION _SENSORIOC(5) + +/** + * Get the sensor orientation + */ +#define SENSORIOCGROTATION _SENSORIOC(6) + +#endif /* _DRV_SENSOR_H */ + diff --git a/src/drivers/frsky_telemetry/frsky_data.c b/src/drivers/frsky_telemetry/frsky_data.c index dd9b90fb3..890fada16 100644 --- a/src/drivers/frsky_telemetry/frsky_data.c +++ b/src/drivers/frsky_telemetry/frsky_data.c @@ -223,7 +223,7 @@ void frsky_send_frame2(int uart) char lat_ns = 0, lon_ew = 0; int sec = 0; if (global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) { - time_t time_gps = global_pos.time_gps_usec / 1000000; + time_t time_gps = global_pos.time_utc_usec / 1000000ULL; struct tm *tm_gps = gmtime(&time_gps); course = (global_pos.yaw + M_PI_F) / M_PI_F * 180.0f; @@ -274,7 +274,7 @@ void frsky_send_frame3(int uart) orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos); /* send formatted frame */ - time_t time_gps = global_pos.time_gps_usec / 1000000; + time_t time_gps = global_pos.time_utc_usec / 1000000ULL; struct tm *tm_gps = gmtime(&time_gps); uint16_t hour_min = (tm_gps->tm_min << 8) | (tm_gps->tm_hour & 0xff); frsky_send_data(uart, FRSKY_ID_GPS_DAY_MONTH, tm_gps->tm_mday); diff --git a/src/drivers/gps/ashtech.cpp b/src/drivers/gps/ashtech.cpp index a2e292de2..a50767c22 100644 --- a/src/drivers/gps/ashtech.cpp +++ b/src/drivers/gps/ashtech.cpp @@ -38,7 +38,7 @@ ASHTECH::~ASHTECH() int ASHTECH::handle_message(int len) { char * endp; - + if (len < 7) { return 0; } int uiCalcComma = 0; @@ -99,8 +99,26 @@ int ASHTECH::handle_message(int len) timeinfo.tm_sec = int(ashtech_sec); time_t epoch = mktime(&timeinfo); - _gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this - _gps_position->time_gps_usec += (uint64_t)((ashtech_sec - int(ashtech_sec)) * 1e6); + if (epoch > GPS_EPOCH_SECS) { + uint64_t usecs = static_cast<uint64_t>((ashtech_sec - static_cast<uint64_t>(ashtech_sec))) * 1e6; + + // FMUv2+ boards have a hardware RTC, but GPS helps us to configure it + // and control its drift. Since we rely on the HRT for our monotonic + // clock, updating it from time to time is safe. + + timespec ts; + ts.tv_sec = epoch; + ts.tv_nsec = usecs * 1000; + if (clock_settime(CLOCK_REALTIME, &ts)) { + warn("failed setting clock"); + } + + _gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL; + _gps_position->time_utc_usec += usecs; + } else { + _gps_position->time_utc_usec = 0; + } + _gps_position->timestamp_time = hrt_absolute_time(); } @@ -611,8 +629,8 @@ void ASHTECH::decode_init(void) } -/* - * ashtech board configuration script +/* + * ashtech board configuration script */ const char comm[] = "$PASHS,POP,20\r\n"\ diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 47c907bd3..8d7176791 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -552,7 +552,7 @@ start(const char *uart_path, bool fake_gps, bool enable_sat_info) fd = open(GPS_DEVICE_PATH, O_RDONLY); if (fd < 0) { - errx(1, "Could not open device path: %s\n", GPS_DEVICE_PATH); + errx(1, "open: %s\n", GPS_DEVICE_PATH); goto fail; } @@ -565,7 +565,7 @@ fail: g_dev = nullptr; } - errx(1, "driver start failed"); + errx(1, "start failed"); } /** @@ -604,7 +604,7 @@ reset() err(1, "failed "); if (ioctl(fd, SENSORIOCRESET, 0) < 0) - err(1, "driver reset failed"); + err(1, "reset failed"); exit(0); } @@ -616,7 +616,7 @@ void info() { if (g_dev == nullptr) - errx(1, "driver not running"); + errx(1, "not running"); g_dev->print_info(); diff --git a/src/drivers/gps/gps_helper.cpp b/src/drivers/gps/gps_helper.cpp index 3b92f1bf4..05dfc99b7 100644 --- a/src/drivers/gps/gps_helper.cpp +++ b/src/drivers/gps/gps_helper.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 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 @@ -91,7 +91,7 @@ GPS_Helper::set_baudrate(const int &fd, unsigned baud) warnx("try baudrate: %d\n", speed); default: - warnx("ERROR: Unsupported baudrate: %d\n", baud); + warnx("ERR: baudrate: %d\n", baud); return -EINVAL; } @@ -109,20 +109,19 @@ GPS_Helper::set_baudrate(const int &fd, unsigned baud) /* set baud rate */ if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { - warnx("ERROR setting config: %d (cfsetispeed)\n", termios_state); + warnx("ERR: %d (cfsetispeed)\n", termios_state); return -1; } if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { - warnx("ERROR setting config: %d (cfsetospeed)\n", termios_state); + warnx("ERR: %d (cfsetospeed)\n", termios_state); return -1; } if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) { - warnx("ERROR setting baudrate (tcsetattr)\n"); + warnx("ERR: %d (tcsetattr)\n", termios_state); return -1; } - /* XXX if resetting the parser here, ensure it does exist (check for null pointer) */ return 0; } diff --git a/src/drivers/gps/gps_helper.h b/src/drivers/gps/gps_helper.h index 3623397b2..0ce05fcb5 100644 --- a/src/drivers/gps/gps_helper.h +++ b/src/drivers/gps/gps_helper.h @@ -43,6 +43,8 @@ #include <uORB/uORB.h> #include <uORB/topics/vehicle_gps_position.h> +#define GPS_EPOCH_SECS 1234567890ULL + class GPS_Helper { public: diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp index c4f4f7bec..c0c47073b 100644 --- a/src/drivers/gps/mtk.cpp +++ b/src/drivers/gps/mtk.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 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 @@ -73,39 +73,38 @@ MTK::configure(unsigned &baudrate) /* Write config messages, don't wait for an answer */ if (strlen(MTK_OUTPUT_5HZ) != write(_fd, MTK_OUTPUT_5HZ, strlen(MTK_OUTPUT_5HZ))) { - warnx("mtk: config write failed"); - return -1; + goto errout; } usleep(10000); if (strlen(MTK_SET_BINARY) != write(_fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY))) { - warnx("mtk: config write failed"); - return -1; + goto errout; } usleep(10000); if (strlen(SBAS_ON) != write(_fd, SBAS_ON, strlen(SBAS_ON))) { - warnx("mtk: config write failed"); - return -1; + goto errout; } usleep(10000); if (strlen(WAAS_ON) != write(_fd, WAAS_ON, strlen(WAAS_ON))) { - warnx("mtk: config write failed"); - return -1; + goto errout; } usleep(10000); if (strlen(MTK_NAVTHRES_OFF) != write(_fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF))) { - warnx("mtk: config write failed"); - return -1; + goto errout; } return 0; + +errout: + warnx("mtk: config write failed"); + return -1; } int @@ -222,7 +221,6 @@ MTK::parse_char(uint8_t b, gps_mtk_packet_t &packet) ret = 1; } else { - warnx("MTK Checksum invalid"); ret = -1; } @@ -282,8 +280,8 @@ MTK::handle_message(gps_mtk_packet_t &packet) timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3; time_t epoch = mktime(&timeinfo); - _gps_position->time_gps_usec = epoch * 1e6; //TODO: test this - _gps_position->time_gps_usec += timeinfo_conversion_temp * 1e3; + _gps_position->time_utc_usec = epoch * 1e6; //TODO: test this + _gps_position->time_utc_usec += timeinfo_conversion_temp * 1e3; _gps_position->timestamp_position = _gps_position->timestamp_time = hrt_absolute_time(); // Position and velocity update always at the same time diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index b0eb4ab66..e197059db 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013, 2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 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 @@ -748,17 +748,23 @@ UBX::payload_rx_done(void) timeinfo.tm_sec = _buf.payload_rx_nav_pvt.sec; time_t epoch = mktime(&timeinfo); -#ifndef CONFIG_RTC - //Since we lack a hardware RTC, set the system time clock based on GPS UTC - //TODO generalize this by moving into gps.cpp? - timespec ts; - ts.tv_sec = epoch; - ts.tv_nsec = _buf.payload_rx_nav_pvt.nano; - clock_settime(CLOCK_REALTIME, &ts); -#endif + if (epoch > GPS_EPOCH_SECS) { + // FMUv2+ boards have a hardware RTC, but GPS helps us to configure it + // and control its drift. Since we rely on the HRT for our monotonic + // clock, updating it from time to time is safe. + + timespec ts; + ts.tv_sec = epoch; + ts.tv_nsec = _buf.payload_rx_nav_pvt.nano; + if (clock_settime(CLOCK_REALTIME, &ts)) { + warn("failed setting clock"); + } - _gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this - _gps_position->time_gps_usec += (uint64_t)(_buf.payload_rx_nav_pvt.nano * 1e-3f); + _gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL; + _gps_position->time_utc_usec += _buf.payload_rx_nav_timeutc.nano / 1000; + } else { + _gps_position->time_utc_usec = 0; + } } _gps_position->timestamp_time = hrt_absolute_time(); @@ -808,7 +814,7 @@ UBX::payload_rx_done(void) UBX_TRACE_RXMSG("Rx NAV-TIMEUTC\n"); { - /* convert to unix timestamp */ + // convert to unix timestamp struct tm timeinfo; timeinfo.tm_year = _buf.payload_rx_nav_timeutc.year - 1900; timeinfo.tm_mon = _buf.payload_rx_nav_timeutc.month - 1; @@ -818,17 +824,25 @@ UBX::payload_rx_done(void) timeinfo.tm_sec = _buf.payload_rx_nav_timeutc.sec; time_t epoch = mktime(&timeinfo); -#ifndef CONFIG_RTC - //Since we lack a hardware RTC, set the system time clock based on GPS UTC - //TODO generalize this by moving into gps.cpp? - timespec ts; - ts.tv_sec = epoch; - ts.tv_nsec = _buf.payload_rx_nav_timeutc.nano; - clock_settime(CLOCK_REALTIME, &ts); -#endif + // only set the time if it makes sense + + if (epoch > GPS_EPOCH_SECS) { + // FMUv2+ boards have a hardware RTC, but GPS helps us to configure it + // and control its drift. Since we rely on the HRT for our monotonic + // clock, updating it from time to time is safe. + + timespec ts; + ts.tv_sec = epoch; + ts.tv_nsec = _buf.payload_rx_nav_timeutc.nano; + if (clock_settime(CLOCK_REALTIME, &ts)) { + warn("failed setting clock"); + } - _gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this - _gps_position->time_gps_usec += (uint64_t)(_buf.payload_rx_nav_timeutc.nano * 1e-3f); + _gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL; + _gps_position->time_utc_usec += _buf.payload_rx_nav_timeutc.nano / 1000; + } else { + _gps_position->time_utc_usec = 0; + } } _gps_position->timestamp_time = hrt_absolute_time(); diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index d4dbf3778..fe70bd37f 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 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 @@ -34,7 +34,7 @@ /** * @file hmc5883.cpp * - * Driver for the HMC5883 magnetometer connected via I2C. + * Driver for the HMC5883 / HMC5983 magnetometer connected via I2C or SPI. */ #include <nuttx/config.h> @@ -74,11 +74,12 @@ #include <getopt.h> #include <lib/conversion/rotation.h> +#include "hmc5883.h" + /* * HMC5883 internal constants and data structures. */ -#define HMC5883L_ADDRESS PX4_I2C_OBDEV_HMC5883 #define HMC5883L_DEVICE_PATH_INT "/dev/hmc5883_int" #define HMC5883L_DEVICE_PATH_EXT "/dev/hmc5883_ext" @@ -95,9 +96,6 @@ #define ADDR_DATA_OUT_Y_MSB 0x07 #define ADDR_DATA_OUT_Y_LSB 0x08 #define ADDR_STATUS 0x09 -#define ADDR_ID_A 0x0a -#define ADDR_ID_B 0x0b -#define ADDR_ID_C 0x0c /* modes not changeable outside of driver */ #define HMC5883L_MODE_NORMAL (0 << 0) /* default */ @@ -115,10 +113,11 @@ #define STATUS_REG_DATA_OUT_LOCK (1 << 1) /* page 16: set if data is only partially read, read device to reset */ #define STATUS_REG_DATA_READY (1 << 0) /* page 16: set if all axes have valid measurements */ -#define ID_A_WHO_AM_I 'H' -#define ID_B_WHO_AM_I '4' -#define ID_C_WHO_AM_I '3' - +enum HMC5883_BUS { + HMC5883_BUS_ALL, + HMC5883_BUS_INTERNAL, + HMC5883_BUS_EXTERNAL +}; /* oddly, ERROR is not defined for c++ */ #ifdef ERROR @@ -130,10 +129,10 @@ static const int ERROR = -1; # error This requires CONFIG_SCHED_WORKQUEUE. #endif -class HMC5883 : public device::I2C +class HMC5883 : public device::CDev { public: - HMC5883(int bus, const char *path, enum Rotation rotation); + HMC5883(device::Device *interface, const char *path, enum Rotation rotation); virtual ~HMC5883(); virtual int init(); @@ -147,7 +146,7 @@ public: void print_info(); protected: - virtual int probe(); + Device *_interface; private: work_s _work; @@ -174,7 +173,6 @@ private: bool _sensor_ok; /**< sensor was found and reports ok */ bool _calibrated; /**< the calibration is valid */ - int _bus; /**< the bus the device is connected to */ enum Rotation _rotation; struct mag_report _last_report; /**< used for info() */ @@ -183,15 +181,6 @@ private: uint8_t _conf_reg; /** - * Test whether the device supported by the driver is present at a - * specific address. - * - * @param address The I2C bus address to probe. - * @return True if the device is present. - */ - int probe_address(uint8_t address); - - /** * Initialise the automatic measurement state machine and start it. * * @note This function is called at open and error time. It might make sense @@ -349,8 +338,9 @@ private: extern "C" __EXPORT int hmc5883_main(int argc, char *argv[]); -HMC5883::HMC5883(int bus, const char *path, enum Rotation rotation) : - I2C("HMC5883", path, bus, HMC5883L_ADDRESS, 400000), +HMC5883::HMC5883(device::Device *interface, const char *path, enum Rotation rotation) : + CDev("HMC5883", path), + _interface(interface), _work{}, _measure_ticks(0), _reports(nullptr), @@ -369,7 +359,6 @@ HMC5883::HMC5883(int bus, const char *path, enum Rotation rotation) : _conf_errors(perf_alloc(PC_COUNT, "hmc5883_conf_errors")), _sensor_ok(false), _calibrated(false), - _bus(bus), _rotation(rotation), _last_report{0}, _range_bits(0), @@ -416,9 +405,11 @@ HMC5883::init() { int ret = ERROR; - /* do I2C init (and probe) first */ - if (I2C::init() != OK) + ret = CDev::init(); + if (ret != OK) { + debug("CDev init failed"); goto out; + } /* allocate basic report buffers */ _reports = new RingBuffer(2, sizeof(mag_report)); @@ -429,20 +420,7 @@ HMC5883::init() reset(); _class_instance = register_class_devname(MAG_DEVICE_PATH); - - switch (_class_instance) { - case CLASS_DEVICE_PRIMARY: - _mag_orb_id = ORB_ID(sensor_mag0); - break; - - case CLASS_DEVICE_SECONDARY: - _mag_orb_id = ORB_ID(sensor_mag1); - break; - - case CLASS_DEVICE_TERTIARY: - _mag_orb_id = ORB_ID(sensor_mag2); - break; - } + _mag_orb_id = ORB_ID_TRIPLE(sensor_mag, _class_instance); ret = OK; /* sensor is ok, but not calibrated */ @@ -559,30 +537,6 @@ void HMC5883::check_conf(void) } } -int -HMC5883::probe() -{ - uint8_t data[3] = {0, 0, 0}; - - _retries = 10; - - if (read_reg(ADDR_ID_A, data[0]) || - read_reg(ADDR_ID_B, data[1]) || - read_reg(ADDR_ID_C, data[2])) - debug("read_reg fail"); - - _retries = 2; - - if ((data[0] != ID_A_WHO_AM_I) || - (data[1] != ID_B_WHO_AM_I) || - (data[2] != ID_C_WHO_AM_I)) { - debug("ID byte mismatch (%02x,%02x,%02x)", data[0], data[1], data[2]); - return -EIO; - } - - return OK; -} - ssize_t HMC5883::read(struct file *filp, char *buffer, size_t buflen) { @@ -643,6 +597,8 @@ HMC5883::read(struct file *filp, char *buffer, size_t buflen) int HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg) { + unsigned dummy = arg; + switch (cmd) { case SENSORIOCSPOLLRATE: { switch (arg) { @@ -768,14 +724,12 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg) return check_calibration(); case MAGIOCGEXTERNAL: - if (_bus == PX4_I2C_BUS_EXPANSION) - return 1; - else - return 0; + debug("MAGIOCGEXTERNAL in main driver"); + return _interface->ioctl(cmd, dummy); default: /* give it to the superclass */ - return I2C::ioctl(filp, cmd, arg); + return CDev::ioctl(filp, cmd, arg); } } @@ -890,7 +844,6 @@ HMC5883::collect() } report; int ret; - uint8_t cmd; uint8_t check_counter; perf_begin(_sample_perf); @@ -908,8 +861,7 @@ HMC5883::collect() */ /* get measurements from the device */ - cmd = ADDR_DATA_OUT_X_MSB; - ret = transfer(&cmd, 1, (uint8_t *)&hmc_report, sizeof(hmc_report)); + ret = _interface->read(ADDR_DATA_OUT_X_MSB, (uint8_t *)&hmc_report, sizeof(hmc_report)); if (ret != OK) { perf_count(_comms_errors); @@ -946,14 +898,14 @@ HMC5883::collect() /* scale values for output */ -#ifdef PX4_I2C_BUS_ONBOARD - if (_bus == PX4_I2C_BUS_ONBOARD) { + // XXX revisit for SPI part, might require a bus type IOCTL + unsigned dummy; + if (!_interface->ioctl(MAGIOCGEXTERNAL, dummy)) { // convert onboard so it matches offboard for the // scaling below report.y = -report.y; report.x = -report.x; } -#endif /* the standard external mag by 3DR has x pointing to the * right, y pointing backwards, and z down, therefore switch x @@ -1291,15 +1243,17 @@ int HMC5883::set_excitement(unsigned enable) int HMC5883::write_reg(uint8_t reg, uint8_t val) { - uint8_t cmd[] = { reg, val }; - - return transfer(&cmd[0], 2, nullptr, 0); + uint8_t buf = val; + return _interface->write(reg, &buf, 1); } int HMC5883::read_reg(uint8_t reg, uint8_t &val) { - return transfer(®, 1, &val, 1); + uint8_t buf = val; + int ret = _interface->read(reg, &buf, 1); + val = buf; + return ret; } float @@ -1351,6 +1305,7 @@ void test(int bus); void reset(int bus); int info(int bus); int calibrate(int bus); +const char* get_path(int bus); void usage(); /** @@ -1360,43 +1315,99 @@ void usage(); * is either successfully up and running or failed to start. */ void -start(int bus, enum Rotation rotation) +start(int external_bus, enum Rotation rotation) { int fd; /* create the driver, attempt expansion bus first */ - if (bus == -1 || bus == PX4_I2C_BUS_EXPANSION) { - if (g_dev_ext != nullptr) - errx(0, "already started external"); - g_dev_ext = new HMC5883(PX4_I2C_BUS_EXPANSION, HMC5883L_DEVICE_PATH_EXT, rotation); - if (g_dev_ext != nullptr && OK != g_dev_ext->init()) { - delete g_dev_ext; - g_dev_ext = nullptr; + if (g_dev_ext != nullptr) { + warnx("already started external"); + } else if (external_bus == HMC5883_BUS_ALL || external_bus == HMC5883_BUS_EXTERNAL) { + + device::Device *interface = nullptr; + + /* create the driver, only attempt I2C for the external bus */ + if (interface == nullptr && (HMC5883_I2C_interface != nullptr)) { + interface = HMC5883_I2C_interface(PX4_I2C_BUS_EXPANSION); + + if (interface->init() != OK) { + delete interface; + interface = nullptr; + warnx("no device on I2C bus #%u", PX4_I2C_BUS_EXPANSION); + } + } + +#ifdef PX4_I2C_BUS_ONBOARD + if (interface == nullptr && (HMC5883_I2C_interface != nullptr)) { + interface = HMC5883_I2C_interface(PX4_I2C_BUS_ONBOARD); + + if (interface->init() != OK) { + delete interface; + interface = nullptr; + warnx("no device on I2C bus #%u", PX4_I2C_BUS_ONBOARD); + } + } +#endif + + /* interface will be null if init failed */ + if (interface != nullptr) { + + g_dev_ext = new HMC5883(interface, HMC5883L_DEVICE_PATH_EXT, rotation); + if (g_dev_ext != nullptr && OK != g_dev_ext->init()) { + delete g_dev_ext; + g_dev_ext = nullptr; + } + } } -#ifdef PX4_I2C_BUS_ONBOARD /* if this failed, attempt onboard sensor */ - if (bus == -1 || bus == PX4_I2C_BUS_ONBOARD) { - if (g_dev_int != nullptr) - errx(0, "already started internal"); - g_dev_int = new HMC5883(PX4_I2C_BUS_ONBOARD, HMC5883L_DEVICE_PATH_INT, rotation); - if (g_dev_int != nullptr && OK != g_dev_int->init()) { + if (g_dev_int != nullptr) { + warnx("already started internal"); + } else if (external_bus == HMC5883_BUS_ALL || external_bus == HMC5883_BUS_INTERNAL) { - /* tear down the failing onboard instance */ - delete g_dev_int; - g_dev_int = nullptr; + device::Device *interface = nullptr; - if (bus == PX4_I2C_BUS_ONBOARD) { - goto fail; - } + /* create the driver, try SPI first, fall back to I2C if unsuccessful */ +#ifdef PX4_SPIDEV_HMC + if (HMC5883_SPI_interface != nullptr) { + interface = HMC5883_SPI_interface(PX4_SPI_BUS_SENSORS); } - if (g_dev_int == nullptr && bus == PX4_I2C_BUS_ONBOARD) { +#endif + +#ifdef PX4_I2C_BUS_ONBOARD + /* this device is already connected as external if present above */ + if (interface == nullptr && (HMC5883_I2C_interface != nullptr)) { + interface = HMC5883_I2C_interface(PX4_I2C_BUS_ONBOARD); + } +#endif + if (interface == nullptr) { + warnx("no internal bus scanned"); goto fail; } + + if (interface->init() != OK) { + delete interface; + warnx("no device on internal bus"); + } else { + + g_dev_int = new HMC5883(interface, HMC5883L_DEVICE_PATH_INT, rotation); + if (g_dev_int != nullptr && OK != g_dev_int->init()) { + + /* tear down the failing onboard instance */ + delete g_dev_int; + g_dev_int = nullptr; + + if (external_bus == HMC5883_BUS_INTERNAL) { + goto fail; + } + } + if (g_dev_int == nullptr && external_bus == HMC5883_BUS_INTERNAL) { + goto fail; + } + } } -#endif if (g_dev_int == nullptr && g_dev_ext == nullptr) goto fail; @@ -1425,11 +1436,11 @@ start(int bus, enum Rotation rotation) exit(0); fail: - if (g_dev_int != nullptr && (bus == -1 || bus == PX4_I2C_BUS_ONBOARD)) { + if (g_dev_int != nullptr && (external_bus == HMC5883_BUS_ALL || external_bus == HMC5883_BUS_INTERNAL)) { delete g_dev_int; g_dev_int = nullptr; } - if (g_dev_ext != nullptr && (bus == -1 || bus == PX4_I2C_BUS_EXPANSION)) { + if (g_dev_ext != nullptr && (external_bus == HMC5883_BUS_ALL || external_bus == HMC5883_BUS_EXTERNAL)) { delete g_dev_ext; g_dev_ext = nullptr; } @@ -1448,7 +1459,7 @@ test(int bus) struct mag_report report; ssize_t sz; int ret; - const char *path = (bus==PX4_I2C_BUS_ONBOARD?HMC5883L_DEVICE_PATH_INT:HMC5883L_DEVICE_PATH_EXT); + const char *path = get_path(bus); int fd = open(path, O_RDONLY); @@ -1549,7 +1560,7 @@ test(int bus) int calibrate(int bus) { int ret; - const char *path = (bus==PX4_I2C_BUS_ONBOARD?HMC5883L_DEVICE_PATH_INT:HMC5883L_DEVICE_PATH_EXT); + const char *path = get_path(bus); int fd = open(path, O_RDONLY); @@ -1576,7 +1587,7 @@ int calibrate(int bus) void reset(int bus) { - const char *path = (bus==PX4_I2C_BUS_ONBOARD?HMC5883L_DEVICE_PATH_INT:HMC5883L_DEVICE_PATH_EXT); + const char *path = get_path(bus); int fd = open(path, O_RDONLY); @@ -1600,12 +1611,12 @@ info(int bus) { int ret = 1; - HMC5883 *g_dev = (bus == PX4_I2C_BUS_ONBOARD ? g_dev_int : g_dev_ext); + HMC5883 *g_dev = (bus == HMC5883_BUS_INTERNAL ? g_dev_int : g_dev_ext); if (g_dev == nullptr) { warnx("not running on bus %d", bus); } else { - warnx("running on bus: %d (%s)\n", bus, ((PX4_I2C_BUS_ONBOARD) ? "onboard" : "offboard")); + warnx("running on bus: %d (%s)\n", bus, ((HMC5883_BUS_INTERNAL) ? "onboard" : "offboard")); g_dev->print_info(); ret = 0; @@ -1614,6 +1625,12 @@ info(int bus) return ret; } +const char* +get_path(int bus) +{ + return ((bus == HMC5883_BUS_INTERNAL) ? HMC5883L_DEVICE_PATH_INT : HMC5883L_DEVICE_PATH_EXT); +} + void usage() { @@ -1622,7 +1639,7 @@ usage() warnx(" -R rotation"); warnx(" -C calibrate on start"); warnx(" -X only external bus"); -#ifdef PX4_I2C_BUS_ONBOARD +#if (PX4_I2C_BUS_ONBOARD || PX4_SPIDEV_HMC) warnx(" -I only internal bus"); #endif } @@ -1633,7 +1650,7 @@ int hmc5883_main(int argc, char *argv[]) { int ch; - int bus = -1; + int bus = HMC5883_BUS_ALL; enum Rotation rotation = ROTATION_NONE; bool calibrate = false; @@ -1642,13 +1659,13 @@ hmc5883_main(int argc, char *argv[]) case 'R': rotation = (enum Rotation)atoi(optarg); break; -#ifdef PX4_I2C_BUS_ONBOARD +#if (PX4_I2C_BUS_ONBOARD || PX4_SPIDEV_HMC) case 'I': - bus = PX4_I2C_BUS_ONBOARD; + bus = HMC5883_BUS_INTERNAL; break; #endif case 'X': - bus = PX4_I2C_BUS_EXPANSION; + bus = HMC5883_BUS_EXTERNAL; break; case 'C': calibrate = true; @@ -1692,13 +1709,13 @@ hmc5883_main(int argc, char *argv[]) * Print driver information. */ if (!strcmp(verb, "info") || !strcmp(verb, "status")) { - if (bus == -1) { + if (bus == HMC5883_BUS_ALL) { int ret = 0; - if (hmc5883::info(PX4_I2C_BUS_ONBOARD)) { + if (hmc5883::info(HMC5883_BUS_INTERNAL)) { ret = 1; } - if (hmc5883::info(PX4_I2C_BUS_EXPANSION)) { + if (hmc5883::info(HMC5883_BUS_EXTERNAL)) { ret = 1; } exit(ret); diff --git a/src/drivers/hmc5883/hmc5883.h b/src/drivers/hmc5883/hmc5883.h new file mode 100644 index 000000000..0eb773629 --- /dev/null +++ b/src/drivers/hmc5883/hmc5883.h @@ -0,0 +1,52 @@ +/**************************************************************************** + * + * Copyright (c) 2015 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 hmc5883.h + * + * Shared defines for the hmc5883 driver. + */ + +#pragma once + +#define ADDR_ID_A 0x0a +#define ADDR_ID_B 0x0b +#define ADDR_ID_C 0x0c + +#define ID_A_WHO_AM_I 'H' +#define ID_B_WHO_AM_I '4' +#define ID_C_WHO_AM_I '3' + +/* interface factories */ +extern device::Device *HMC5883_SPI_interface(int bus) weak_function; +extern device::Device *HMC5883_I2C_interface(int bus) weak_function; diff --git a/src/drivers/hmc5883/hmc5883_i2c.cpp b/src/drivers/hmc5883/hmc5883_i2c.cpp new file mode 100644 index 000000000..782ea62fe --- /dev/null +++ b/src/drivers/hmc5883/hmc5883_i2c.cpp @@ -0,0 +1,175 @@ +/**************************************************************************** + * + * Copyright (c) 2013-2015 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 HMC5883_I2C.cpp + * + * I2C interface for HMC5883 / HMC 5983 + */ + +/* XXX trim includes */ +#include <nuttx/config.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdbool.h> +#include <string.h> +#include <assert.h> +#include <debug.h> +#include <errno.h> +#include <unistd.h> + +#include <arch/board/board.h> + +#include <drivers/device/i2c.h> +#include <drivers/drv_mag.h> + +#include "hmc5883.h" + +#include "board_config.h" + +#ifdef PX4_I2C_OBDEV_HMC5883 + +#define HMC5883L_ADDRESS PX4_I2C_OBDEV_HMC5883 + +device::Device *HMC5883_I2C_interface(int bus); + +class HMC5883_I2C : public device::I2C +{ +public: + HMC5883_I2C(int bus); + virtual ~HMC5883_I2C(); + + virtual int init(); + virtual int read(unsigned address, void *data, unsigned count); + virtual int write(unsigned address, void *data, unsigned count); + + virtual int ioctl(unsigned operation, unsigned &arg); + +protected: + virtual int probe(); + +}; + +device::Device * +HMC5883_I2C_interface(int bus) +{ + return new HMC5883_I2C(bus); +} + +HMC5883_I2C::HMC5883_I2C(int bus) : + I2C("HMC5883_I2C", nullptr, bus, HMC5883L_ADDRESS, 400000) +{ +} + +HMC5883_I2C::~HMC5883_I2C() +{ +} + +int +HMC5883_I2C::init() +{ + /* this will call probe() */ + return I2C::init(); +} + +int +HMC5883_I2C::ioctl(unsigned operation, unsigned &arg) +{ + int ret; + + switch (operation) { + + case MAGIOCGEXTERNAL: + if (_bus == PX4_I2C_BUS_EXPANSION) { + return 1; + } else { + return 0; + } + + default: + ret = -EINVAL; + } + + return ret; +} + +int +HMC5883_I2C::probe() +{ + uint8_t data[3] = {0, 0, 0}; + + _retries = 10; + + if (read(ADDR_ID_A, &data[0], 1) || + read(ADDR_ID_B, &data[1], 1) || + read(ADDR_ID_C, &data[2], 1)) { + debug("read_reg fail"); + return -EIO; + } + + _retries = 2; + + if ((data[0] != ID_A_WHO_AM_I) || + (data[1] != ID_B_WHO_AM_I) || + (data[2] != ID_C_WHO_AM_I)) { + debug("ID byte mismatch (%02x,%02x,%02x)", data[0], data[1], data[2]); + return -EIO; + } + + return OK; +} + +int +HMC5883_I2C::write(unsigned address, void *data, unsigned count) +{ + uint8_t buf[32]; + + if (sizeof(buf) < (count + 1)) { + return -EIO; + } + + buf[0] = address; + memcpy(&buf[1], data, count); + + return transfer(&buf[0], count + 1, nullptr, 0); +} + +int +HMC5883_I2C::read(unsigned address, void *data, unsigned count) +{ + uint8_t cmd = address; + return transfer(&cmd, 1, (uint8_t *)data, count); +} + +#endif /* PX4_I2C_OBDEV_HMC5883 */ diff --git a/src/drivers/hmc5883/hmc5883_spi.cpp b/src/drivers/hmc5883/hmc5883_spi.cpp new file mode 100644 index 000000000..25a2f2b40 --- /dev/null +++ b/src/drivers/hmc5883/hmc5883_spi.cpp @@ -0,0 +1,189 @@ +/**************************************************************************** + * + * Copyright (c) 2013-2015 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 HMC5883_SPI.cpp + * + * SPI interface for HMC5983 + */ + +/* XXX trim includes */ +#include <nuttx/config.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdbool.h> +#include <string.h> +#include <assert.h> +#include <debug.h> +#include <errno.h> +#include <unistd.h> + +#include <arch/board/board.h> + +#include <drivers/device/spi.h> +#include <drivers/drv_mag.h> + +#include "hmc5883.h" +#include <board_config.h> + +#ifdef PX4_SPIDEV_HMC + +/* SPI protocol address bits */ +#define DIR_READ (1<<7) +#define DIR_WRITE (0<<7) +#define ADDR_INCREMENT (1<<6) + +#define HMC_MAX_SEND_LEN 4 +#define HMC_MAX_RCV_LEN 8 + +device::Device *HMC5883_SPI_interface(int bus); + +class HMC5883_SPI : public device::SPI +{ +public: + HMC5883_SPI(int bus, spi_dev_e device); + virtual ~HMC5883_SPI(); + + virtual int init(); + virtual int read(unsigned address, void *data, unsigned count); + virtual int write(unsigned address, void *data, unsigned count); + + virtual int ioctl(unsigned operation, unsigned &arg); + +}; + +device::Device * +HMC5883_SPI_interface(int bus) +{ + return new HMC5883_SPI(bus, (spi_dev_e)PX4_SPIDEV_HMC); +} + +HMC5883_SPI::HMC5883_SPI(int bus, spi_dev_e device) : + SPI("HMC5883_SPI", nullptr, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz */) +{ +} + +HMC5883_SPI::~HMC5883_SPI() +{ +} + +int +HMC5883_SPI::init() +{ + int ret; + + ret = SPI::init(); + if (ret != OK) { + debug("SPI init failed"); + return -EIO; + } + + // read WHO_AM_I value + uint8_t data[3] = {0, 0, 0}; + + if (read(ADDR_ID_A, &data[0], 1) || + read(ADDR_ID_B, &data[1], 1) || + read(ADDR_ID_C, &data[2], 1)) { + debug("read_reg fail"); + } + + if ((data[0] != ID_A_WHO_AM_I) || + (data[1] != ID_B_WHO_AM_I) || + (data[2] != ID_C_WHO_AM_I)) { + debug("ID byte mismatch (%02x,%02x,%02x)", data[0], data[1], data[2]); + return -EIO; + } + + return OK; +} + +int +HMC5883_SPI::ioctl(unsigned operation, unsigned &arg) +{ + int ret; + + switch (operation) { + + case MAGIOCGEXTERNAL: + +#ifdef PX4_SPI_BUS_EXT + if (_bus == PX4_SPI_BUS_EXT) { + return 1; + } else +#endif + { + return 0; + } + + default: + { + ret = -EINVAL; + } + } + + return ret; +} + +int +HMC5883_SPI::write(unsigned address, void *data, unsigned count) +{ + uint8_t buf[32]; + + if (sizeof(buf) < (count + 1)) { + return -EIO; + } + + buf[0] = address | DIR_WRITE; + memcpy(&buf[1], data, count); + + return transfer(&buf[0], &buf[0], count + 1); +} + +int +HMC5883_SPI::read(unsigned address, void *data, unsigned count) +{ + uint8_t buf[32]; + + if (sizeof(buf) < (count + 1)) { + return -EIO; + } + + buf[0] = address | DIR_READ | ADDR_INCREMENT; + + int ret = transfer(&buf[0], &buf[0], count + 1); + memcpy(data, &buf[1], count); + return ret; +} + +#endif /* PX4_SPIDEV_HMC */ diff --git a/src/drivers/hmc5883/module.mk b/src/drivers/hmc5883/module.mk index be2ee7276..d4028b511 100644 --- a/src/drivers/hmc5883/module.mk +++ b/src/drivers/hmc5883/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# Copyright (c) 2012-2015 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 @@ -37,7 +37,7 @@ MODULE_COMMAND = hmc5883 -SRCS = hmc5883.cpp +SRCS = hmc5883_i2c.cpp hmc5883_spi.cpp hmc5883.cpp MODULE_STACKSIZE = 1200 diff --git a/src/drivers/hott/hott_sensors/hott_sensors.cpp b/src/drivers/hott/hott_sensors/hott_sensors.cpp index 4b8e0c0b0..1aade450b 100644 --- a/src/drivers/hott/hott_sensors/hott_sensors.cpp +++ b/src/drivers/hott/hott_sensors/hott_sensors.cpp @@ -157,7 +157,7 @@ hott_sensors_thread_main(int argc, char *argv[]) /* enable UART, writes potentially an empty buffer, but multiplexing is disabled */ const int uart = open_uart(device); if (uart < 0) { - errx(1, "Failed opening HoTT UART, exiting."); + errx(1, "Open fail, exiting."); thread_running = false; } diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index 82fa5cc6e..08bc1fead 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -142,6 +142,7 @@ static const int ERROR = -1; #define ADDR_INT1_TSH_ZH 0x36 #define ADDR_INT1_TSH_ZL 0x37 #define ADDR_INT1_DURATION 0x38 +#define ADDR_LOW_ODR 0x39 /* Internal configuration values */ @@ -200,6 +201,12 @@ public: */ void print_info(); + // print register dump + void print_registers(); + + // trigger an error + void test_error(); + protected: virtual int probe(); @@ -225,6 +232,9 @@ private: perf_counter_t _sample_perf; perf_counter_t _reschedules; perf_counter_t _errors; + perf_counter_t _bad_registers; + + uint8_t _register_wait; math::LowPassFilter2p _gyro_filter_x; math::LowPassFilter2p _gyro_filter_y; @@ -235,6 +245,14 @@ private: enum Rotation _rotation; + // this is used to support runtime checking of key + // configuration registers to detect SPI bus errors and sensor + // reset +#define L3GD20_NUM_CHECKED_REGISTERS 8 + static const uint8_t _checked_registers[L3GD20_NUM_CHECKED_REGISTERS]; + uint8_t _checked_values[L3GD20_NUM_CHECKED_REGISTERS]; + uint8_t _checked_next; + /** * Start automatic measurement. */ @@ -267,6 +285,11 @@ private: static void measure_trampoline(void *arg); /** + * check key registers for correct values + */ + void check_registers(void); + + /** * Fetch measurements from the sensor and update the report ring. */ void measure(); @@ -299,6 +322,14 @@ private: void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits); /** + * Write a register in the L3GD20, updating _checked_values + * + * @param reg The register to write. + * @param value The new value to write. + */ + void write_checked_reg(unsigned reg, uint8_t value); + + /** * Set the L3GD20 measurement range. * * @param max_dps The measurement range is set to permit reading at least @@ -338,6 +369,19 @@ private: L3GD20 operator=(const L3GD20&); }; +/* + list of registers that will be checked in check_registers(). Note + that ADDR_WHO_AM_I must be first in the list. + */ +const uint8_t L3GD20::_checked_registers[L3GD20_NUM_CHECKED_REGISTERS] = { ADDR_WHO_AM_I, + ADDR_CTRL_REG1, + ADDR_CTRL_REG2, + ADDR_CTRL_REG3, + ADDR_CTRL_REG4, + ADDR_CTRL_REG5, + ADDR_FIFO_CTRL_REG, + ADDR_LOW_ODR }; + L3GD20::L3GD20(int bus, const char* path, spi_dev_e device, enum Rotation rotation) : SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within margins for L3GD20 */), _call{}, @@ -355,11 +399,14 @@ L3GD20::L3GD20(int bus, const char* path, spi_dev_e device, enum Rotation rotati _sample_perf(perf_alloc(PC_ELAPSED, "l3gd20_read")), _reschedules(perf_alloc(PC_COUNT, "l3gd20_reschedules")), _errors(perf_alloc(PC_COUNT, "l3gd20_errors")), + _bad_registers(perf_alloc(PC_COUNT, "l3gd20_bad_registers")), + _register_wait(0), _gyro_filter_x(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ), _gyro_filter_y(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ), _gyro_filter_z(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ), _is_l3g4200d(false), - _rotation(rotation) + _rotation(rotation), + _checked_next(0) { // enable debug() calls _debug_enabled = true; @@ -389,6 +436,7 @@ L3GD20::~L3GD20() perf_free(_sample_perf); perf_free(_reschedules); perf_free(_errors); + perf_free(_bad_registers); } int @@ -448,29 +496,27 @@ L3GD20::probe() (void)read_reg(ADDR_WHO_AM_I); bool success = false; + uint8_t v = 0; - /* verify that the device is attached and functioning, accept L3GD20 and L3GD20H */ - if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) { - + /* verify that the device is attached and functioning, accept + * L3GD20, L3GD20H and L3G4200D */ + if ((v=read_reg(ADDR_WHO_AM_I)) == WHO_I_AM) { _orientation = SENSOR_BOARD_ROTATION_DEFAULT; success = true; - } - - - if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM_H) { + } else if ((v=read_reg(ADDR_WHO_AM_I)) == WHO_I_AM_H) { _orientation = SENSOR_BOARD_ROTATION_180_DEG; success = true; - } - - /* Detect the L3G4200D used on AeroCore */ - if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM_L3G4200D) { + } else if ((v=read_reg(ADDR_WHO_AM_I)) == WHO_I_AM_L3G4200D) { + /* Detect the L3G4200D used on AeroCore */ _is_l3g4200d = true; _orientation = SENSOR_BOARD_ROTATION_DEFAULT; success = true; } - if (success) + if (success) { + _checked_values[0] = v; return OK; + } return -EIO; } @@ -673,6 +719,18 @@ L3GD20::write_reg(unsigned reg, uint8_t value) } void +L3GD20::write_checked_reg(unsigned reg, uint8_t value) +{ + write_reg(reg, value); + for (uint8_t i=0; i<L3GD20_NUM_CHECKED_REGISTERS; i++) { + if (reg == _checked_registers[i]) { + _checked_values[i] = value; + } + } +} + + +void L3GD20::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) { uint8_t val; @@ -680,7 +738,7 @@ L3GD20::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) val = read_reg(reg); val &= ~clearbits; val |= setbits; - write_reg(reg, val); + write_checked_reg(reg, val); } int @@ -714,7 +772,7 @@ L3GD20::set_range(unsigned max_dps) _gyro_range_rad_s = new_range / 180.0f * M_PI_F; _gyro_range_scale = new_range_scale_dps_digit / 180.0f * M_PI_F; - write_reg(ADDR_CTRL_REG4, bits); + write_checked_reg(ADDR_CTRL_REG4, bits); return OK; } @@ -750,7 +808,7 @@ L3GD20::set_samplerate(unsigned frequency) return -EINVAL; } - write_reg(ADDR_CTRL_REG1, bits); + write_checked_reg(ADDR_CTRL_REG1, bits); return OK; } @@ -791,6 +849,11 @@ L3GD20::disable_i2c(void) uint8_t a = read_reg(0x05); write_reg(0x05, (0x20 | a)); if (read_reg(0x05) == (a | 0x20)) { + // this sets the I2C_DIS bit on the + // L3GD20H. The l3gd20 datasheet doesn't + // mention this register, but it does seem to + // accept it. + write_checked_reg(ADDR_LOW_ODR, 0x08); return; } } @@ -804,18 +867,18 @@ L3GD20::reset() disable_i2c(); /* set default configuration */ - write_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE); - write_reg(ADDR_CTRL_REG2, 0); /* disable high-pass filters */ - write_reg(ADDR_CTRL_REG3, 0x08); /* DRDY enable */ - write_reg(ADDR_CTRL_REG4, REG4_BDU); - write_reg(ADDR_CTRL_REG5, 0); - - write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */ + write_checked_reg(ADDR_CTRL_REG1, + REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE); + write_checked_reg(ADDR_CTRL_REG2, 0); /* disable high-pass filters */ + write_checked_reg(ADDR_CTRL_REG3, 0x08); /* DRDY enable */ + write_checked_reg(ADDR_CTRL_REG4, REG4_BDU); + write_checked_reg(ADDR_CTRL_REG5, 0); + write_checked_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */ /* disable FIFO. This makes things simpler and ensures we * aren't getting stale data. It means we must run the hrt * callback fast enough to not miss data. */ - write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE); + write_checked_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE); set_samplerate(0); // 760Hz or 800Hz set_range(L3GD20_DEFAULT_RANGE_DPS); @@ -840,19 +903,35 @@ L3GD20::measure_trampoline(void *arg) #endif void -L3GD20::measure() +L3GD20::check_registers(void) { -#if L3GD20_USE_DRDY - // if the gyro doesn't have any data ready then re-schedule - // for 100 microseconds later. This ensures we don't double - // read a value and then miss the next value - if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_GYRO_DRDY) == 0) { - perf_count(_reschedules); - hrt_call_delay(&_call, 100); - return; - } -#endif + uint8_t v; + if ((v=read_reg(_checked_registers[_checked_next])) != _checked_values[_checked_next]) { + /* + if we get the wrong value then we know the SPI bus + or sensor is very sick. We set _register_wait to 20 + and wait until we have seen 20 good values in a row + before we consider the sensor to be OK again. + */ + perf_count(_bad_registers); + + /* + try to fix the bad register value. We only try to + fix one per loop to prevent a bad sensor hogging the + bus. We skip zero as that is the WHO_AM_I, which + is not writeable + */ + if (_checked_next != 0) { + write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]); + } + _register_wait = 20; + } + _checked_next = (_checked_next+1) % L3GD20_NUM_CHECKED_REGISTERS; +} +void +L3GD20::measure() +{ /* status register and data as read back from the device */ #pragma pack(push, 1) struct { @@ -870,6 +949,20 @@ L3GD20::measure() /* start the performance counter */ perf_begin(_sample_perf); + check_registers(); + +#if L3GD20_USE_DRDY + // if the gyro doesn't have any data ready then re-schedule + // for 100 microseconds later. This ensures we don't double + // read a value and then miss the next value + if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_GYRO_DRDY) == 0) { + perf_count(_reschedules); + hrt_call_delay(&_call, 100); + perf_end(_sample_perf); + return; + } +#endif + /* fetch data from the sensor */ memset(&raw_report, 0, sizeof(raw_report)); raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT; @@ -900,7 +993,7 @@ L3GD20::measure() * 74 from all measurements centers them around zero. */ report.timestamp = hrt_absolute_time(); - report.error_count = 0; // not recorded + report.error_count = perf_event_count(_bad_registers); switch (_orientation) { @@ -973,7 +1066,39 @@ L3GD20::print_info() perf_print_counter(_sample_perf); perf_print_counter(_reschedules); perf_print_counter(_errors); + perf_print_counter(_bad_registers); _reports->print_info("report queue"); + ::printf("checked_next: %u\n", _checked_next); + for (uint8_t i=0; i<L3GD20_NUM_CHECKED_REGISTERS; i++) { + uint8_t v = read_reg(_checked_registers[i]); + if (v != _checked_values[i]) { + ::printf("reg %02x:%02x should be %02x\n", + (unsigned)_checked_registers[i], + (unsigned)v, + (unsigned)_checked_values[i]); + } + } +} + +void +L3GD20::print_registers() +{ + printf("L3GD20 registers\n"); + for (uint8_t reg=0; reg<=0x40; reg++) { + uint8_t v = read_reg(reg); + printf("%02x:%02x ",(unsigned)reg, (unsigned)v); + if ((reg+1) % 16 == 0) { + printf("\n"); + } + } + printf("\n"); +} + +void +L3GD20::test_error() +{ + // trigger a deliberate error + write_reg(ADDR_CTRL_REG3, 0); } int @@ -1011,6 +1136,8 @@ void start(bool external_bus, enum Rotation rotation); void test(); void reset(); void info(); +void regdump(); +void test_error(); /** * Start the driver. @@ -1149,10 +1276,40 @@ info() exit(0); } +/** + * Dump the register information + */ +void +regdump(void) +{ + if (g_dev == nullptr) + errx(1, "driver not running"); + + printf("regdump @ %p\n", g_dev); + g_dev->print_registers(); + + exit(0); +} + +/** + * trigger an error + */ +void +test_error(void) +{ + if (g_dev == nullptr) + errx(1, "driver not running"); + + printf("regdump @ %p\n", g_dev); + g_dev->test_error(); + + exit(0); +} + void usage() { - warnx("missing command: try 'start', 'info', 'test', 'reset'"); + warnx("missing command: try 'start', 'info', 'test', 'reset', 'testerror' or 'regdump'"); warnx("options:"); warnx(" -X (external bus)"); warnx(" -R rotation"); @@ -1209,5 +1366,17 @@ l3gd20_main(int argc, char *argv[]) if (!strcmp(verb, "info")) l3gd20::info(); - errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); + /* + * Print register information. + */ + if (!strcmp(verb, "regdump")) + l3gd20::regdump(); + + /* + * trigger an error + */ + if (!strcmp(verb, "testerror")) + l3gd20::test_error(); + + errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'testerror' or 'regdump'"); } diff --git a/src/drivers/ll40ls/ll40ls.cpp b/src/drivers/ll40ls/ll40ls.cpp index 4676c6ad7..e68f24152 100644 --- a/src/drivers/ll40ls/ll40ls.cpp +++ b/src/drivers/ll40ls/ll40ls.cpp @@ -746,6 +746,9 @@ start(int bus) if (g_dev_ext != nullptr && OK != g_dev_ext->init()) { delete g_dev_ext; g_dev_ext = nullptr; + if (bus == PX4_I2C_BUS_EXPANSION) { + goto fail; + } } } diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 01c89192a..57754e4c0 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -77,10 +77,6 @@ #endif static const int ERROR = -1; -// enable this to debug the buggy lsm303d sensor in very early -// prototype pixhawk boards -#define CHECK_EXTREMES 0 - /* SPI protocol address bits */ #define DIR_READ (1<<7) #define DIR_WRITE (0<<7) @@ -242,14 +238,9 @@ public: void print_registers(); /** - * toggle logging - */ - void toggle_logging(); - - /** - * check for extreme accel values + * deliberately trigger an error */ - void check_extremes(const accel_report *arb); + void test_error(); protected: virtual int probe(); @@ -292,30 +283,30 @@ private: perf_counter_t _accel_sample_perf; perf_counter_t _mag_sample_perf; - perf_counter_t _reg1_resets; - perf_counter_t _reg7_resets; - perf_counter_t _extreme_values; perf_counter_t _accel_reschedules; + perf_counter_t _bad_registers; + perf_counter_t _bad_values; + + uint8_t _register_wait; math::LowPassFilter2p _accel_filter_x; math::LowPassFilter2p _accel_filter_y; math::LowPassFilter2p _accel_filter_z; - // expceted values of reg1 and reg7 to catch in-flight - // brownouts of the sensor - uint8_t _reg1_expected; - uint8_t _reg7_expected; - - // accel logging - int _accel_log_fd; - bool _accel_logging_enabled; - uint64_t _last_extreme_us; - uint64_t _last_log_us; - uint64_t _last_log_sync_us; - uint64_t _last_log_reg_us; - uint64_t _last_log_alarm_us; enum Rotation _rotation; + // values used to + float _last_accel[3]; + uint8_t _constant_accel_count; + + // this is used to support runtime checking of key + // configuration registers to detect SPI bus errors and sensor + // reset +#define LSM303D_NUM_CHECKED_REGISTERS 8 + static const uint8_t _checked_registers[LSM303D_NUM_CHECKED_REGISTERS]; + uint8_t _checked_values[LSM303D_NUM_CHECKED_REGISTERS]; + uint8_t _checked_next; + /** * Start automatic measurement. */ @@ -357,6 +348,11 @@ private: static void mag_measure_trampoline(void *arg); /** + * check key registers for correct values + */ + void check_registers(void); + + /** * Fetch accel measurements from the sensor and update the report ring. */ void measure(); @@ -408,6 +404,14 @@ private: void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits); /** + * Write a register in the LSM303D, updating _checked_values + * + * @param reg The register to write. + * @param value The new value to write. + */ + void write_checked_reg(unsigned reg, uint8_t value); + + /** * Set the LSM303D accel measurement range. * * @param max_g The measurement range of the accel is in g (9.81m/s^2) @@ -468,6 +472,19 @@ private: LSM303D operator=(const LSM303D&); }; +/* + list of registers that will be checked in check_registers(). Note + that ADDR_WHO_AM_I must be first in the list. + */ +const uint8_t LSM303D::_checked_registers[LSM303D_NUM_CHECKED_REGISTERS] = { ADDR_WHO_AM_I, + ADDR_CTRL_REG1, + ADDR_CTRL_REG2, + ADDR_CTRL_REG3, + ADDR_CTRL_REG4, + ADDR_CTRL_REG5, + ADDR_CTRL_REG6, + ADDR_CTRL_REG7 }; + /** * Helper class implementing the mag driver node. */ @@ -528,23 +545,16 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rota _mag_read(0), _accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_accel_read")), _mag_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_mag_read")), - _reg1_resets(perf_alloc(PC_COUNT, "lsm303d_reg1_resets")), - _reg7_resets(perf_alloc(PC_COUNT, "lsm303d_reg7_resets")), - _extreme_values(perf_alloc(PC_COUNT, "lsm303d_extremes")), _accel_reschedules(perf_alloc(PC_COUNT, "lsm303d_accel_resched")), + _bad_registers(perf_alloc(PC_COUNT, "lsm303d_bad_registers")), + _bad_values(perf_alloc(PC_COUNT, "lsm303d_bad_values")), + _register_wait(0), _accel_filter_x(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_y(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_z(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), - _reg1_expected(0), - _reg7_expected(0), - _accel_log_fd(-1), - _accel_logging_enabled(false), - _last_extreme_us(0), - _last_log_us(0), - _last_log_sync_us(0), - _last_log_reg_us(0), - _last_log_alarm_us(0), - _rotation(rotation) + _rotation(rotation), + _constant_accel_count(0), + _checked_next(0) { _device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LSM303D; @@ -586,9 +596,8 @@ LSM303D::~LSM303D() /* delete the perf counter */ perf_free(_accel_sample_perf); perf_free(_mag_sample_perf); - perf_free(_reg1_resets); - perf_free(_reg7_resets); - perf_free(_extreme_values); + perf_free(_bad_registers); + perf_free(_bad_values); perf_free(_accel_reschedules); } @@ -703,15 +712,14 @@ LSM303D::reset() disable_i2c(); /* enable accel*/ - _reg1_expected = REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE | REG1_RATE_800HZ_A; - write_reg(ADDR_CTRL_REG1, _reg1_expected); + write_checked_reg(ADDR_CTRL_REG1, + REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE | REG1_RATE_800HZ_A); /* enable mag */ - _reg7_expected = REG7_CONT_MODE_M; - write_reg(ADDR_CTRL_REG7, _reg7_expected); - write_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M); - write_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1 - write_reg(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2 + write_checked_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M); + write_checked_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M); + write_checked_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1 + write_checked_reg(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2 accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G); accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE); @@ -739,126 +747,12 @@ LSM303D::probe() /* verify that the device is attached and functioning */ bool success = (read_reg(ADDR_WHO_AM_I) == WHO_I_AM); - if (success) + if (success) { + _checked_values[0] = WHO_I_AM; return OK; - - return -EIO; -} - -#define ACCEL_LOGFILE "/fs/microsd/lsm303d.log" - -/** - check for extreme accelerometer values and log to a file on the SD card - */ -void -LSM303D::check_extremes(const accel_report *arb) -{ - const float extreme_threshold = 30; - static bool boot_ok = false; - bool is_extreme = (fabsf(arb->x) > extreme_threshold && - fabsf(arb->y) > extreme_threshold && - fabsf(arb->z) > extreme_threshold); - if (is_extreme) { - perf_count(_extreme_values); - // force accel logging on if we see extreme values - _accel_logging_enabled = true; - } else { - boot_ok = true; } - if (! _accel_logging_enabled) { - // logging has been disabled by user, close - if (_accel_log_fd != -1) { - ::close(_accel_log_fd); - _accel_log_fd = -1; - } - return; - } - if (_accel_log_fd == -1) { - // keep last 10 logs - ::unlink(ACCEL_LOGFILE ".9"); - for (uint8_t i=8; i>0; i--) { - uint8_t len = strlen(ACCEL_LOGFILE)+3; - char log1[len], log2[len]; - snprintf(log1, sizeof(log1), "%s.%u", ACCEL_LOGFILE, (unsigned)i); - snprintf(log2, sizeof(log2), "%s.%u", ACCEL_LOGFILE, (unsigned)(i+1)); - ::rename(log1, log2); - } - ::rename(ACCEL_LOGFILE, ACCEL_LOGFILE ".1"); - - // open the new logfile - _accel_log_fd = ::open(ACCEL_LOGFILE, O_WRONLY|O_CREAT|O_TRUNC, 0666); - if (_accel_log_fd == -1) { - return; - } - } - - uint64_t now = hrt_absolute_time(); - // log accels at 1Hz - if (_last_log_us == 0 || - now - _last_log_us > 1000*1000) { - _last_log_us = now; - ::dprintf(_accel_log_fd, "ARB %llu %.3f %.3f %.3f %d %d %d boot_ok=%u\r\n", - (unsigned long long)arb->timestamp, - (double)arb->x, (double)arb->y, (double)arb->z, - (int)arb->x_raw, - (int)arb->y_raw, - (int)arb->z_raw, - (unsigned)boot_ok); - } - - const uint8_t reglist[] = { ADDR_WHO_AM_I, 0x02, 0x15, ADDR_STATUS_A, ADDR_STATUS_M, ADDR_CTRL_REG0, ADDR_CTRL_REG1, - ADDR_CTRL_REG2, ADDR_CTRL_REG3, ADDR_CTRL_REG4, ADDR_CTRL_REG5, ADDR_CTRL_REG6, - ADDR_CTRL_REG7, ADDR_OUT_TEMP_L, ADDR_OUT_TEMP_H, ADDR_INT_CTRL_M, ADDR_INT_SRC_M, - ADDR_REFERENCE_X, ADDR_REFERENCE_Y, ADDR_REFERENCE_Z, ADDR_OUT_X_L_A, ADDR_OUT_X_H_A, - ADDR_OUT_Y_L_A, ADDR_OUT_Y_H_A, ADDR_OUT_Z_L_A, ADDR_OUT_Z_H_A, ADDR_FIFO_CTRL, - ADDR_FIFO_SRC, ADDR_IG_CFG1, ADDR_IG_SRC1, ADDR_IG_THS1, ADDR_IG_DUR1, ADDR_IG_CFG2, - ADDR_IG_SRC2, ADDR_IG_THS2, ADDR_IG_DUR2, ADDR_CLICK_CFG, ADDR_CLICK_SRC, - ADDR_CLICK_THS, ADDR_TIME_LIMIT, ADDR_TIME_LATENCY, ADDR_TIME_WINDOW, - ADDR_ACT_THS, ADDR_ACT_DUR, - ADDR_OUT_X_L_M, ADDR_OUT_X_H_M, - ADDR_OUT_Y_L_M, ADDR_OUT_Y_H_M, ADDR_OUT_Z_L_M, ADDR_OUT_Z_H_M, 0x02, 0x15, ADDR_WHO_AM_I}; - uint8_t regval[sizeof(reglist)]; - for (uint8_t i=0; i<sizeof(reglist); i++) { - regval[i] = read_reg(reglist[i]); - } - - // log registers at 10Hz when we have extreme values, or 0.5 Hz without - if (_last_log_reg_us == 0 || - (is_extreme && (now - _last_log_reg_us > 250*1000)) || - (now - _last_log_reg_us > 10*1000*1000)) { - _last_log_reg_us = now; - ::dprintf(_accel_log_fd, "XREG %llu", (unsigned long long)hrt_absolute_time()); - for (uint8_t i=0; i<sizeof(reglist); i++) { - ::dprintf(_accel_log_fd, " %02x:%02x", (unsigned)reglist[i], (unsigned)regval[i]); - } - ::dprintf(_accel_log_fd, "\n"); - } - - // fsync at 0.1Hz - if (now - _last_log_sync_us > 10*1000*1000) { - _last_log_sync_us = now; - ::fsync(_accel_log_fd); - } - - // play alarm every 10s if we have had an extreme value - if (perf_event_count(_extreme_values) != 0 && - (now - _last_log_alarm_us > 10*1000*1000)) { - _last_log_alarm_us = now; - int tfd = ::open(TONEALARM_DEVICE_PATH, 0); - if (tfd != -1) { - uint8_t tone = 3; - if (!is_extreme) { - tone = 3; - } else if (boot_ok) { - tone = 4; - } else { - tone = 5; - } - ::ioctl(tfd, TONE_SET_ALARM, tone); - ::close(tfd); - } - } + return -EIO; } ssize_t @@ -879,9 +773,6 @@ LSM303D::read(struct file *filp, char *buffer, size_t buflen) */ while (count--) { if (_accel_reports->get(arb)) { -#if CHECK_EXTREMES - check_extremes(arb); -#endif ret += sizeof(*arb); arb++; } @@ -1263,6 +1154,17 @@ LSM303D::write_reg(unsigned reg, uint8_t value) } void +LSM303D::write_checked_reg(unsigned reg, uint8_t value) +{ + write_reg(reg, value); + for (uint8_t i=0; i<LSM303D_NUM_CHECKED_REGISTERS; i++) { + if (reg == _checked_registers[i]) { + _checked_values[i] = value; + } + } +} + +void LSM303D::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) { uint8_t val; @@ -1270,7 +1172,7 @@ LSM303D::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) val = read_reg(reg); val &= ~clearbits; val |= setbits; - write_reg(reg, val); + write_checked_reg(reg, val); } int @@ -1439,7 +1341,6 @@ LSM303D::accel_set_samplerate(unsigned frequency) } modify_reg(ADDR_CTRL_REG1, clearbits, setbits); - _reg1_expected = (_reg1_expected & ~clearbits) | setbits; return OK; } @@ -1515,24 +1416,35 @@ LSM303D::mag_measure_trampoline(void *arg) } void -LSM303D::measure() +LSM303D::check_registers(void) { - // if the accel doesn't have any data ready then re-schedule - // for 100 microseconds later. This ensures we don't double - // read a value and then miss the next value. - // Note that DRDY is not available when the lsm303d is - // connected on the external bus - if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_ACCEL_DRDY) == 0) { - perf_count(_accel_reschedules); - hrt_call_delay(&_accel_call, 100); - return; - } - if (read_reg(ADDR_CTRL_REG1) != _reg1_expected) { - perf_count(_reg1_resets); - reset(); - return; - } + uint8_t v; + if ((v=read_reg(_checked_registers[_checked_next])) != _checked_values[_checked_next]) { + /* + if we get the wrong value then we know the SPI bus + or sensor is very sick. We set _register_wait to 20 + and wait until we have seen 20 good values in a row + before we consider the sensor to be OK again. + */ + perf_count(_bad_registers); + + /* + try to fix the bad register value. We only try to + fix one per loop to prevent a bad sensor hogging the + bus. We skip zero as that is the WHO_AM_I, which + is not writeable + */ + if (_checked_next != 0) { + write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]); + } + _register_wait = 20; + } + _checked_next = (_checked_next+1) % LSM303D_NUM_CHECKED_REGISTERS; +} +void +LSM303D::measure() +{ /* status register and data as read back from the device */ #pragma pack(push, 1) @@ -1550,6 +1462,30 @@ LSM303D::measure() /* start the performance counter */ perf_begin(_accel_sample_perf); + check_registers(); + + // if the accel doesn't have any data ready then re-schedule + // for 100 microseconds later. This ensures we don't double + // read a value and then miss the next value. + // Note that DRDY is not available when the lsm303d is + // connected on the external bus +#ifdef GPIO_EXTI_ACCEL_DRDY + if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_ACCEL_DRDY) == 0) { + perf_count(_accel_reschedules); + hrt_call_delay(&_accel_call, 100); + perf_end(_accel_sample_perf); + return; + } +#endif + + if (_register_wait != 0) { + // we are waiting for some good transfers before using + // the sensor again. + _register_wait--; + perf_end(_accel_sample_perf); + return; + } + /* fetch data from the sensor */ memset(&raw_accel_report, 0, sizeof(raw_accel_report)); raw_accel_report.cmd = ADDR_STATUS_A | DIR_READ | ADDR_INCREMENT; @@ -1572,7 +1508,12 @@ LSM303D::measure() accel_report.timestamp = hrt_absolute_time(); - accel_report.error_count = 0; // not reported + + // report the error count as the sum of the number of bad + // register reads and bad values. This allows the higher level + // code to decide if it should use this sensor based on + // whether it has had failures + accel_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values); accel_report.x_raw = raw_accel_report.x; accel_report.y_raw = raw_accel_report.y; @@ -1582,6 +1523,36 @@ LSM303D::measure() float y_in_new = ((accel_report.y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale; float z_in_new = ((accel_report.z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale; + /* + we have logs where the accelerometers get stuck at a fixed + large value. We want to detect this and mark the sensor as + being faulty + */ + if (fabsf(_last_accel[0] - x_in_new) < 0.001f && + fabsf(_last_accel[1] - y_in_new) < 0.001f && + fabsf(_last_accel[2] - z_in_new) < 0.001f && + fabsf(x_in_new) > 20 && + fabsf(y_in_new) > 20 && + fabsf(z_in_new) > 20) { + _constant_accel_count += 1; + } else { + _constant_accel_count = 0; + } + if (_constant_accel_count > 100) { + // we've had 100 constant accel readings with large + // values. The sensor is almost certainly dead. We + // will raise the error_count so that the top level + // flight code will know to avoid this sensor, but + // we'll still give the data so that it can be logged + // and viewed + perf_count(_bad_values); + _constant_accel_count = 0; + } + + _last_accel[0] = x_in_new; + _last_accel[1] = y_in_new; + _last_accel[2] = z_in_new; + accel_report.x = _accel_filter_x.apply(x_in_new); accel_report.y = _accel_filter_y.apply(y_in_new); accel_report.z = _accel_filter_z.apply(z_in_new); @@ -1611,12 +1582,6 @@ LSM303D::measure() void LSM303D::mag_measure() { - if (read_reg(ADDR_CTRL_REG7) != _reg7_expected) { - perf_count(_reg7_resets); - reset(); - return; - } - /* status register and data as read back from the device */ #pragma pack(push, 1) struct { @@ -1691,8 +1656,22 @@ LSM303D::print_info() printf("accel reads: %u\n", _accel_read); printf("mag reads: %u\n", _mag_read); perf_print_counter(_accel_sample_perf); + perf_print_counter(_mag_sample_perf); + perf_print_counter(_bad_registers); + perf_print_counter(_bad_values); + perf_print_counter(_accel_reschedules); _accel_reports->print_info("accel reports"); _mag_reports->print_info("mag reports"); + ::printf("checked_next: %u\n", _checked_next); + for (uint8_t i=0; i<LSM303D_NUM_CHECKED_REGISTERS; i++) { + uint8_t v = read_reg(_checked_registers[i]); + if (v != _checked_values[i]) { + ::printf("reg %02x:%02x should be %02x\n", + (unsigned)_checked_registers[i], + (unsigned)v, + (unsigned)_checked_values[i]); + } + } } void @@ -1750,20 +1729,13 @@ LSM303D::print_registers() for (uint8_t i=0; i<sizeof(regmap)/sizeof(regmap[0]); i++) { printf("0x%02x %s\n", read_reg(regmap[i].reg), regmap[i].name); } - printf("_reg1_expected=0x%02x\n", _reg1_expected); - printf("_reg7_expected=0x%02x\n", _reg7_expected); } void -LSM303D::toggle_logging() +LSM303D::test_error() { - if (! _accel_logging_enabled) { - _accel_logging_enabled = true; - printf("Started logging to %s\n", ACCEL_LOGFILE); - } else { - _accel_logging_enabled = false; - printf("Stopped logging\n"); - } + // trigger an error + write_reg(ADDR_CTRL_REG3, 0); } LSM303D_mag::LSM303D_mag(LSM303D *parent) : @@ -1839,8 +1811,8 @@ void test(); void reset(); void info(); void regdump(); -void logging(); void usage(); +void test_error(); /** * Start the driver. @@ -2047,15 +2019,15 @@ regdump() } /** - * toggle logging + * trigger an error */ void -logging() +test_error() { if (g_dev == nullptr) errx(1, "driver not running\n"); - g_dev->toggle_logging(); + g_dev->test_error(); exit(0); } @@ -2063,7 +2035,7 @@ logging() void usage() { - warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump', 'logging'"); + warnx("missing command: try 'start', 'info', 'test', 'reset', 'testerror' or 'regdump'"); warnx("options:"); warnx(" -X (external bus)"); warnx(" -R rotation"); @@ -2127,10 +2099,10 @@ lsm303d_main(int argc, char *argv[]) lsm303d::regdump(); /* - * dump device registers + * trigger an error */ - if (!strcmp(verb, "logging")) - lsm303d::logging(); + if (!strcmp(verb, "testerror")) + lsm303d::test_error(); - errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'logging' or 'regdump'"); + errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'testerror' or 'regdump'"); } diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index c9c27892f..6cac28a7d 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -113,6 +113,10 @@ #define MPUREG_FIFO_COUNTL 0x73 #define MPUREG_FIFO_R_W 0x74 #define MPUREG_PRODUCT_ID 0x0C +#define MPUREG_TRIM1 0x0D +#define MPUREG_TRIM2 0x0E +#define MPUREG_TRIM3 0x0F +#define MPUREG_TRIM4 0x10 // Configuration bits MPU 3000 and MPU 6000 (not revised)? #define BIT_SLEEP 0x40 @@ -121,6 +125,9 @@ #define MPU_CLK_SEL_PLLGYROX 0x01 #define MPU_CLK_SEL_PLLGYROZ 0x03 #define MPU_EXT_SYNC_GYROX 0x02 +#define BITS_GYRO_ST_X 0x80 +#define BITS_GYRO_ST_Y 0x40 +#define BITS_GYRO_ST_Z 0x20 #define BITS_FS_250DPS 0x00 #define BITS_FS_500DPS 0x08 #define BITS_FS_1000DPS 0x10 @@ -196,6 +203,16 @@ public: void print_registers(); + /** + * Test behaviour against factory offsets + * + * @return 0 on success, 1 on failure + */ + int factory_self_test(); + + // deliberately cause a sensor error + void test_error(); + protected: virtual int probe(); @@ -231,7 +248,12 @@ private: perf_counter_t _gyro_reads; perf_counter_t _sample_perf; perf_counter_t _bad_transfers; + perf_counter_t _bad_registers; perf_counter_t _good_transfers; + perf_counter_t _reset_retries; + + uint8_t _register_wait; + uint64_t _reset_wait; math::LowPassFilter2p _accel_filter_x; math::LowPassFilter2p _accel_filter_y; @@ -242,6 +264,18 @@ private: enum Rotation _rotation; + // this is used to support runtime checking of key + // configuration registers to detect SPI bus errors and sensor + // reset +#define MPU6000_NUM_CHECKED_REGISTERS 9 + static const uint8_t _checked_registers[MPU6000_NUM_CHECKED_REGISTERS]; + uint8_t _checked_values[MPU6000_NUM_CHECKED_REGISTERS]; + uint8_t _checked_next; + + // use this to avoid processing measurements when in factory + // self test + volatile bool _in_factory_test; + /** * Start automatic measurement. */ @@ -257,7 +291,7 @@ private: * * Resets the chip and measurements ranges, but not scale and offset. */ - void reset(); + int reset(); /** * Static trampoline from the hrt_call context; because we don't have a @@ -281,7 +315,7 @@ private: * @param The register to read. * @return The value that was read. */ - uint8_t read_reg(unsigned reg); + uint8_t read_reg(unsigned reg, uint32_t speed=MPU6000_LOW_BUS_SPEED); uint16_t read_reg16(unsigned reg); /** @@ -304,6 +338,14 @@ private: void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits); /** + * Write a register in the MPU6000, updating _checked_values + * + * @param reg The register to write. + * @param value The new value to write. + */ + void write_checked_reg(unsigned reg, uint8_t value); + + /** * Set the MPU6000 measurement range. * * @param max_g The maximum G value the range must support. @@ -347,11 +389,50 @@ private: */ void _set_sample_rate(uint16_t desired_sample_rate_hz); + /* + check that key registers still have the right value + */ + void check_registers(void); + /* do not allow to copy this class due to pointer data members */ MPU6000(const MPU6000&); MPU6000 operator=(const MPU6000&); + +#pragma pack(push, 1) + /** + * Report conversation within the MPU6000, including command byte and + * interrupt status. + */ + struct MPUReport { + uint8_t cmd; + uint8_t status; + uint8_t accel_x[2]; + uint8_t accel_y[2]; + uint8_t accel_z[2]; + uint8_t temp[2]; + uint8_t gyro_x[2]; + uint8_t gyro_y[2]; + uint8_t gyro_z[2]; + }; +#pragma pack(pop) }; +/* + list of registers that will be checked in check_registers(). Note + that MPUREG_PRODUCT_ID must be first in the list. + */ +const uint8_t MPU6000::_checked_registers[MPU6000_NUM_CHECKED_REGISTERS] = { MPUREG_PRODUCT_ID, + MPUREG_PWR_MGMT_1, + MPUREG_USER_CTRL, + MPUREG_SMPLRT_DIV, + MPUREG_CONFIG, + MPUREG_GYRO_CONFIG, + MPUREG_ACCEL_CONFIG, + MPUREG_INT_ENABLE, + MPUREG_INT_PIN_CFG }; + + + /** * Helper class implementing the gyro driver node. */ @@ -407,14 +488,20 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev _gyro_reads(perf_alloc(PC_COUNT, "mpu6000_gyro_read")), _sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")), _bad_transfers(perf_alloc(PC_COUNT, "mpu6000_bad_transfers")), + _bad_registers(perf_alloc(PC_COUNT, "mpu6000_bad_registers")), _good_transfers(perf_alloc(PC_COUNT, "mpu6000_good_transfers")), + _reset_retries(perf_alloc(PC_COUNT, "mpu6000_reset_retries")), + _register_wait(0), + _reset_wait(0), _accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_y(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_z(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _gyro_filter_x(MPU6000_GYRO_DEFAULT_RATE, MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ), _gyro_filter_y(MPU6000_GYRO_DEFAULT_RATE, MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ), _gyro_filter_z(MPU6000_GYRO_DEFAULT_RATE, MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ), - _rotation(rotation) + _rotation(rotation), + _checked_next(0), + _in_factory_test(false) { // disable debug() calls _debug_enabled = false; @@ -460,6 +547,7 @@ MPU6000::~MPU6000() perf_free(_accel_reads); perf_free(_gyro_reads); perf_free(_bad_transfers); + perf_free(_bad_registers); perf_free(_good_transfers); } @@ -486,7 +574,8 @@ MPU6000::init() if (_gyro_reports == nullptr) goto out; - reset(); + if (reset() != OK) + goto out; /* Initialize offsets and scales */ _accel_scale.x_offset = 0; @@ -571,27 +660,39 @@ out: return ret; } -void MPU6000::reset() +int MPU6000::reset() { // if the mpu6000 is initialised after the l3gd20 and lsm303d // then if we don't do an irqsave/irqrestore here the mpu6000 // frequenctly comes up in a bad state where all transfers // come as zero - irqstate_t state; - state = irqsave(); - - write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET); - up_udelay(10000); - - // Wake up device and select GyroZ clock. Note that the - // MPU6000 starts up in sleep mode, and it can take some time - // for it to come out of sleep - write_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ); - up_udelay(1000); + uint8_t tries = 5; + while (--tries != 0) { + irqstate_t state; + state = irqsave(); + + write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET); + up_udelay(10000); + + // Wake up device and select GyroZ clock. Note that the + // MPU6000 starts up in sleep mode, and it can take some time + // for it to come out of sleep + write_checked_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ); + up_udelay(1000); + + // Disable I2C bus (recommended on datasheet) + write_checked_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS); + irqrestore(state); - // Disable I2C bus (recommended on datasheet) - write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS); - irqrestore(state); + if (read_reg(MPUREG_PWR_MGMT_1) == MPU_CLK_SEL_PLLGYROZ) { + break; + } + perf_count(_reset_retries); + usleep(2000); + } + if (read_reg(MPUREG_PWR_MGMT_1) != MPU_CLK_SEL_PLLGYROZ) { + return -EIO; + } usleep(1000); @@ -605,7 +706,7 @@ void MPU6000::reset() _set_dlpf_filter(MPU6000_DEFAULT_ONCHIP_FILTER_FREQ); usleep(1000); // Gyro scale 2000 deg/s () - write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS); + write_checked_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS); usleep(1000); // correct gyro scale factors @@ -624,7 +725,7 @@ void MPU6000::reset() 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); + write_checked_reg(MPUREG_ACCEL_CONFIG, 1 << 3); break; case MPU6000ES_REV_D6: @@ -639,7 +740,7 @@ void MPU6000::reset() // presumably won't have the accel scaling bug default: // Accel scale 8g (4096 LSB/g) - write_reg(MPUREG_ACCEL_CONFIG, 2 << 3); + write_checked_reg(MPUREG_ACCEL_CONFIG, 2 << 3); break; } @@ -651,15 +752,16 @@ void MPU6000::reset() usleep(1000); // INT CFG => Interrupt on Data Ready - write_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN); // INT: Raw data ready + write_checked_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 + write_checked_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 OK; } int @@ -684,6 +786,7 @@ MPU6000::probe() case MPU6000_REV_D9: case MPU6000_REV_D10: debug("ID 0x%02x", _product); + _checked_values[0] = _product; return OK; } @@ -700,7 +803,7 @@ MPU6000::_set_sample_rate(uint16_t desired_sample_rate_hz) uint8_t div = 1000 / desired_sample_rate_hz; if(div>200) div=200; if(div<1) div=1; - write_reg(MPUREG_SMPLRT_DIV, div-1); + write_checked_reg(MPUREG_SMPLRT_DIV, div-1); _sample_rate = 1000 / div; } @@ -734,7 +837,7 @@ MPU6000::_set_dlpf_filter(uint16_t frequency_hz) } else { filter = BITS_DLPF_CFG_2100HZ_NOLPF; } - write_reg(MPUREG_CONFIG, filter); + write_checked_reg(MPUREG_CONFIG, filter); } ssize_t @@ -833,6 +936,173 @@ MPU6000::gyro_self_test() return 0; } + +/* + perform a self-test comparison to factory trim values. This takes + about 200ms and will return OK if the current values are within 14% + of the expected values (as per datasheet) + */ +int +MPU6000::factory_self_test() +{ + _in_factory_test = true; + uint8_t saved_gyro_config = read_reg(MPUREG_GYRO_CONFIG); + uint8_t saved_accel_config = read_reg(MPUREG_ACCEL_CONFIG); + const uint16_t repeats = 100; + int ret = OK; + + // gyro self test has to be done at 250DPS + write_reg(MPUREG_GYRO_CONFIG, BITS_FS_250DPS); + + struct MPUReport mpu_report; + float accel_baseline[3]; + float gyro_baseline[3]; + float accel[3]; + float gyro[3]; + float accel_ftrim[3]; + float gyro_ftrim[3]; + + // get baseline values without self-test enabled + set_frequency(MPU6000_HIGH_BUS_SPEED); + + memset(accel_baseline, 0, sizeof(accel_baseline)); + memset(gyro_baseline, 0, sizeof(gyro_baseline)); + memset(accel, 0, sizeof(accel)); + memset(gyro, 0, sizeof(gyro)); + + for (uint8_t i=0; i<repeats; i++) { + up_udelay(1000); + mpu_report.cmd = DIR_READ | MPUREG_INT_STATUS; + transfer((uint8_t *)&mpu_report, ((uint8_t *)&mpu_report), sizeof(mpu_report)); + + accel_baseline[0] += int16_t_from_bytes(mpu_report.accel_x); + accel_baseline[1] += int16_t_from_bytes(mpu_report.accel_y); + accel_baseline[2] += int16_t_from_bytes(mpu_report.accel_z); + gyro_baseline[0] += int16_t_from_bytes(mpu_report.gyro_x); + gyro_baseline[1] += int16_t_from_bytes(mpu_report.gyro_y); + gyro_baseline[2] += int16_t_from_bytes(mpu_report.gyro_z); + } + +#if 1 + write_reg(MPUREG_GYRO_CONFIG, + BITS_FS_250DPS | + BITS_GYRO_ST_X | + BITS_GYRO_ST_Y | + BITS_GYRO_ST_Z); + + // accel 8g, self-test enabled all axes + write_reg(MPUREG_ACCEL_CONFIG, saved_accel_config | 0xE0); +#endif + + up_udelay(20000); + + // get values with self-test enabled + set_frequency(MPU6000_HIGH_BUS_SPEED); + + + for (uint8_t i=0; i<repeats; i++) { + up_udelay(1000); + mpu_report.cmd = DIR_READ | MPUREG_INT_STATUS; + transfer((uint8_t *)&mpu_report, ((uint8_t *)&mpu_report), sizeof(mpu_report)); + accel[0] += int16_t_from_bytes(mpu_report.accel_x); + accel[1] += int16_t_from_bytes(mpu_report.accel_y); + accel[2] += int16_t_from_bytes(mpu_report.accel_z); + gyro[0] += int16_t_from_bytes(mpu_report.gyro_x); + gyro[1] += int16_t_from_bytes(mpu_report.gyro_y); + gyro[2] += int16_t_from_bytes(mpu_report.gyro_z); + } + + for (uint8_t i=0; i<3; i++) { + accel_baseline[i] /= repeats; + gyro_baseline[i] /= repeats; + accel[i] /= repeats; + gyro[i] /= repeats; + } + + // extract factory trim values + uint8_t trims[4]; + trims[0] = read_reg(MPUREG_TRIM1); + trims[1] = read_reg(MPUREG_TRIM2); + trims[2] = read_reg(MPUREG_TRIM3); + trims[3] = read_reg(MPUREG_TRIM4); + uint8_t atrim[3]; + uint8_t gtrim[3]; + + atrim[0] = ((trims[0]>>3)&0x1C) | ((trims[3]>>4)&0x03); + atrim[1] = ((trims[1]>>3)&0x1C) | ((trims[3]>>2)&0x03); + atrim[2] = ((trims[2]>>3)&0x1C) | ((trims[3]>>0)&0x03); + gtrim[0] = trims[0] & 0x1F; + gtrim[1] = trims[1] & 0x1F; + gtrim[2] = trims[2] & 0x1F; + + // convert factory trims to right units + for (uint8_t i=0; i<3; i++) { + accel_ftrim[i] = 4096 * 0.34f * powf(0.92f/0.34f, (atrim[i]-1)/30.0f); + gyro_ftrim[i] = 25 * 131.0f * powf(1.046f, gtrim[i]-1); + } + // Y gyro trim is negative + gyro_ftrim[1] *= -1; + + for (uint8_t i=0; i<3; i++) { + float diff = accel[i]-accel_baseline[i]; + float err = 100*(diff - accel_ftrim[i]) / accel_ftrim[i]; + ::printf("ACCEL[%u] baseline=%d accel=%d diff=%d ftrim=%d err=%d\n", + (unsigned)i, + (int)(1000*accel_baseline[i]), + (int)(1000*accel[i]), + (int)(1000*diff), + (int)(1000*accel_ftrim[i]), + (int)err); + if (fabsf(err) > 14) { + ::printf("FAIL\n"); + ret = -EIO; + } + } + for (uint8_t i=0; i<3; i++) { + float diff = gyro[i]-gyro_baseline[i]; + float err = 100*(diff - gyro_ftrim[i]) / gyro_ftrim[i]; + ::printf("GYRO[%u] baseline=%d gyro=%d diff=%d ftrim=%d err=%d\n", + (unsigned)i, + (int)(1000*gyro_baseline[i]), + (int)(1000*gyro[i]), + (int)(1000*(gyro[i]-gyro_baseline[i])), + (int)(1000*gyro_ftrim[i]), + (int)err); + if (fabsf(err) > 14) { + ::printf("FAIL\n"); + ret = -EIO; + } + } + + write_reg(MPUREG_GYRO_CONFIG, saved_gyro_config); + write_reg(MPUREG_ACCEL_CONFIG, saved_accel_config); + + _in_factory_test = false; + if (ret == OK) { + ::printf("PASSED\n"); + } + + return ret; +} + + +/* + deliberately trigger an error in the sensor to trigger recovery + */ +void +MPU6000::test_error() +{ + _in_factory_test = true; + // deliberately trigger an error. This was noticed during + // development as a handy way to test the reset logic + uint8_t data[16]; + memset(data, 0, sizeof(data)); + transfer(data, data, sizeof(data)); + ::printf("error triggered\n"); + print_registers(); + _in_factory_test = false; +} + ssize_t MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen) { @@ -874,8 +1144,7 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) switch (cmd) { case SENSORIOCRESET: - reset(); - return OK; + return reset(); case SENSORIOCSPOLLRATE: { switch (arg) { @@ -1094,12 +1363,12 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) } uint8_t -MPU6000::read_reg(unsigned reg) +MPU6000::read_reg(unsigned reg, uint32_t speed) { uint8_t cmd[2] = { (uint8_t)(reg | DIR_READ), 0}; // general register transfer at low clock speed - set_frequency(MPU6000_LOW_BUS_SPEED); + set_frequency(speed); transfer(cmd, cmd, sizeof(cmd)); @@ -1144,6 +1413,17 @@ MPU6000::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) write_reg(reg, val); } +void +MPU6000::write_checked_reg(unsigned reg, uint8_t value) +{ + write_reg(reg, value); + for (uint8_t i=0; i<MPU6000_NUM_CHECKED_REGISTERS; i++) { + if (reg == _checked_registers[i]) { + _checked_values[i] = value; + } + } +} + int MPU6000::set_range(unsigned max_g) { @@ -1216,26 +1496,71 @@ MPU6000::measure_trampoline(void *arg) } void +MPU6000::check_registers(void) +{ + /* + we read the register at full speed, even though it isn't + listed as a high speed register. The low speed requirement + for some registers seems to be a propgation delay + requirement for changing sensor configuration, which should + not apply to reading a single register. It is also a better + test of SPI bus health to read at the same speed as we read + the data registers. + */ + uint8_t v; + if ((v=read_reg(_checked_registers[_checked_next], MPU6000_HIGH_BUS_SPEED)) != + _checked_values[_checked_next]) { + /* + if we get the wrong value then we know the SPI bus + or sensor is very sick. We set _register_wait to 20 + and wait until we have seen 20 good values in a row + before we consider the sensor to be OK again. + */ + perf_count(_bad_registers); + + /* + try to fix the bad register value. We only try to + fix one per loop to prevent a bad sensor hogging the + bus. + */ + if (_register_wait == 0 || _checked_next == 0) { + // if the product_id is wrong then reset the + // sensor completely + write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET); + // after doing a reset we need to wait a long + // time before we do any other register writes + // or we will end up with the mpu6000 in a + // bizarre state where it has all correct + // register values but large offsets on the + // accel axes + _reset_wait = hrt_absolute_time() + 10000; + _checked_next = 0; + } else { + write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]); + // waiting 3ms between register writes seems + // to raise the chance of the sensor + // recovering considerably + _reset_wait = hrt_absolute_time() + 3000; + } + _register_wait = 20; + } + _checked_next = (_checked_next+1) % MPU6000_NUM_CHECKED_REGISTERS; +} + +void MPU6000::measure() { -#pragma pack(push, 1) - /** - * Report conversation within the MPU6000, including command byte and - * interrupt status. - */ - struct MPUReport { - uint8_t cmd; - uint8_t status; - uint8_t accel_x[2]; - uint8_t accel_y[2]; - uint8_t accel_z[2]; - uint8_t temp[2]; - uint8_t gyro_x[2]; - uint8_t gyro_y[2]; - uint8_t gyro_z[2]; - } mpu_report; -#pragma pack(pop) + if (_in_factory_test) { + // don't publish any data while in factory test mode + return; + } + + if (hrt_absolute_time() < _reset_wait) { + // we're waiting for a reset to complete + return; + } + struct MPUReport mpu_report; struct Report { int16_t accel_x; int16_t accel_y; @@ -1254,6 +1579,8 @@ MPU6000::measure() */ mpu_report.cmd = DIR_READ | MPUREG_INT_STATUS; + check_registers(); + // sensor transfer at high clock speed set_frequency(MPU6000_HIGH_BUS_SPEED); @@ -1292,6 +1619,14 @@ MPU6000::measure() } perf_count(_good_transfers); + + if (_register_wait != 0) { + // we are waiting for some good transfers before using + // the sensor again. We still increment + // _good_transfers, but don't return any data yet + _register_wait--; + return; + } /* @@ -1321,7 +1656,12 @@ MPU6000::measure() * Adjust and scale results to m/s^2. */ grb.timestamp = arb.timestamp = hrt_absolute_time(); - grb.error_count = arb.error_count = 0; // not reported + + // report the error count as the sum of the number of bad + // transfers and bad register reads. This allows the higher + // level code to decide if it should use this sensor based on + // whether it has had failures + grb.error_count = arb.error_count = perf_event_count(_bad_transfers) + perf_event_count(_bad_registers); /* * 1) Scale raw value to SI units using scaling from datasheet. @@ -1411,9 +1751,21 @@ MPU6000::print_info() perf_print_counter(_accel_reads); perf_print_counter(_gyro_reads); perf_print_counter(_bad_transfers); + perf_print_counter(_bad_registers); perf_print_counter(_good_transfers); + perf_print_counter(_reset_retries); _accel_reports->print_info("accel queue"); _gyro_reports->print_info("gyro queue"); + ::printf("checked_next: %u\n", _checked_next); + for (uint8_t i=0; i<MPU6000_NUM_CHECKED_REGISTERS; i++) { + uint8_t v = read_reg(_checked_registers[i], MPU6000_HIGH_BUS_SPEED); + if (v != _checked_values[i]) { + ::printf("reg %02x:%02x should be %02x\n", + (unsigned)_checked_registers[i], + (unsigned)v, + (unsigned)_checked_values[i]); + } + } } void @@ -1497,6 +1849,8 @@ void test(bool); void reset(bool); void info(bool); void regdump(bool); +void testerror(bool); +void factorytest(bool); void usage(); /** @@ -1688,10 +2042,40 @@ regdump(bool external_bus) exit(0); } +/** + * deliberately produce an error to test recovery + */ +void +testerror(bool external_bus) +{ + MPU6000 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int; + if (*g_dev_ptr == nullptr) + errx(1, "driver not running"); + + (*g_dev_ptr)->test_error(); + + exit(0); +} + +/** + * Dump the register information + */ +void +factorytest(bool external_bus) +{ + MPU6000 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int; + if (*g_dev_ptr == nullptr) + errx(1, "driver not running"); + + (*g_dev_ptr)->factory_self_test(); + + exit(0); +} + void usage() { - warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump'"); + warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump', 'factorytest', 'testerror'"); warnx("options:"); warnx(" -X (external bus)"); warnx(" -R rotation"); @@ -1754,5 +2138,11 @@ mpu6000_main(int argc, char *argv[]) if (!strcmp(verb, "regdump")) mpu6000::regdump(external_bus); - errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info' or 'regdump'"); + if (!strcmp(verb, "factorytest")) + mpu6000::factorytest(external_bus); + + if (!strcmp(verb, "testerror")) + mpu6000::testerror(external_bus); + + errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'regdump', 'factorytest' or 'testerror'"); } diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp index 889643d0d..0a793cbc9 100644 --- a/src/drivers/ms5611/ms5611.cpp +++ b/src/drivers/ms5611/ms5611.cpp @@ -91,12 +91,13 @@ static const int ERROR = -1; /* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */ #define MS5611_CONVERSION_INTERVAL 10000 /* microseconds */ #define MS5611_MEASUREMENT_RATIO 3 /* pressure measurements per temperature measurement */ -#define MS5611_BARO_DEVICE_PATH "/dev/ms5611" +#define MS5611_BARO_DEVICE_PATH_EXT "/dev/ms5611_ext" +#define MS5611_BARO_DEVICE_PATH_INT "/dev/ms5611_int" class MS5611 : public device::CDev { public: - MS5611(device::Device *interface, ms5611::prom_u &prom_buf); + MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char* path); ~MS5611(); virtual int init(); @@ -133,6 +134,7 @@ protected: unsigned _msl_pressure; /* in Pa */ orb_advert_t _baro_topic; + orb_id_t _orb_id; int _class_instance; @@ -195,8 +197,8 @@ protected: */ extern "C" __EXPORT int ms5611_main(int argc, char *argv[]); -MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) : - CDev("MS5611", MS5611_BARO_DEVICE_PATH), +MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char* path) : + CDev("MS5611", path), _interface(interface), _prom(prom_buf.s), _measure_ticks(0), @@ -224,7 +226,7 @@ MS5611::~MS5611() stop_cycle(); if (_class_instance != -1) - unregister_class_devname(MS5611_BARO_DEVICE_PATH, _class_instance); + unregister_class_devname(get_devname(), _class_instance); /* free any existing reports */ if (_reports != nullptr) @@ -261,6 +263,7 @@ MS5611::init() /* register alternate interfaces if we have to */ _class_instance = register_class_devname(BARO_DEVICE_PATH); + _orb_id = ORB_ID_TRIPLE(sensor_baro, _class_instance); struct baro_report brp; /* do a first measurement cycle to populate reports with valid data */ @@ -300,14 +303,7 @@ MS5611::init() ret = OK; - switch (_class_instance) { - case CLASS_DEVICE_PRIMARY: - _baro_topic = orb_advertise(ORB_ID(sensor_baro0), &brp); - break; - case CLASS_DEVICE_SECONDARY: - _baro_topic = orb_advertise(ORB_ID(sensor_baro1), &brp); - break; - } + _baro_topic = orb_advertise(_orb_id, &brp); if (_baro_topic < 0) { warnx("failed to create sensor_baro publication"); @@ -729,15 +725,7 @@ MS5611::collect() /* publish it */ if (!(_pub_blocked)) { /* publish it */ - switch (_class_instance) { - case CLASS_DEVICE_PRIMARY: - orb_publish(ORB_ID(sensor_baro0), _baro_topic, &report); - break; - - case CLASS_DEVICE_SECONDARY: - orb_publish(ORB_ID(sensor_baro1), _baro_topic, &report); - break; - } + orb_publish(_orb_id, _baro_topic, &report); } if (_reports->force(&report)) { @@ -787,13 +775,15 @@ MS5611::print_info() namespace ms5611 { -MS5611 *g_dev; +/* initialize explicitely for clarity */ +MS5611 *g_dev_ext = nullptr; +MS5611 *g_dev_int = nullptr; void start(bool external_bus); -void test(); -void reset(); +void test(bool external_bus); +void reset(bool external_bus); void info(); -void calibrate(unsigned altitude); +void calibrate(unsigned altitude, bool external_bus); void usage(); /** @@ -852,9 +842,13 @@ start(bool external_bus) int fd; prom_u prom_buf; - if (g_dev != nullptr) + if (external_bus && (g_dev_ext != nullptr)) { + /* if already started, the still command succeeded */ + errx(0, "ext already started"); + } else if (!external_bus && (g_dev_int != nullptr)) { /* if already started, the still command succeeded */ - errx(0, "already started"); + errx(0, "int already started"); + } device::Device *interface = nullptr; @@ -872,16 +866,35 @@ start(bool external_bus) errx(1, "interface init failed"); } - g_dev = new MS5611(interface, prom_buf); - if (g_dev == nullptr) { - delete interface; - errx(1, "failed to allocate driver"); + if (external_bus) { + g_dev_ext = new MS5611(interface, prom_buf, MS5611_BARO_DEVICE_PATH_EXT); + if (g_dev_ext == nullptr) { + delete interface; + errx(1, "failed to allocate driver"); + } + + if (g_dev_ext->init() != OK) + goto fail; + + fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY); + + } else { + + g_dev_int = new MS5611(interface, prom_buf, MS5611_BARO_DEVICE_PATH_INT); + if (g_dev_int == nullptr) { + delete interface; + errx(1, "failed to allocate driver"); + } + + if (g_dev_int->init() != OK) + goto fail; + + fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY); + } - if (g_dev->init() != OK) - goto fail; /* set the poll rate to default, starts automatic data collection */ - fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); + if (fd < 0) { warnx("can't open baro device"); goto fail; @@ -895,9 +908,14 @@ start(bool external_bus) fail: - if (g_dev != nullptr) { - delete g_dev; - g_dev = nullptr; + if (g_dev_int != nullptr) { + delete g_dev_int; + g_dev_int = nullptr; + } + + if (g_dev_ext != nullptr) { + delete g_dev_ext; + g_dev_ext = nullptr; } errx(1, "driver start failed"); @@ -909,16 +927,22 @@ fail: * and automatic modes. */ void -test() +test(bool external_bus) { struct baro_report report; ssize_t sz; int ret; - int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); + int fd; + + if (external_bus) { + fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY); + } else { + fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY); + } if (fd < 0) - err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", MS5611_BARO_DEVICE_PATH); + err(1, "open failed (try 'ms5611 start' if the driver is not running)"); /* do a simple demand read */ sz = read(fd, &report, sizeof(report)); @@ -972,9 +996,15 @@ test() * Reset the driver. */ void -reset() +reset(bool external_bus) { - int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); + int fd; + + if (external_bus) { + fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY); + } else { + fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY); + } if (fd < 0) err(1, "failed "); @@ -994,11 +1024,18 @@ reset() void info() { - if (g_dev == nullptr) + if (g_dev_ext == nullptr && g_dev_int == nullptr) errx(1, "driver not running"); - printf("state @ %p\n", g_dev); - g_dev->print_info(); + if (g_dev_ext) { + warnx("ext:"); + g_dev_ext->print_info(); + } + + if (g_dev_int) { + warnx("int:"); + g_dev_int->print_info(); + } exit(0); } @@ -1007,16 +1044,22 @@ info() * Calculate actual MSL pressure given current altitude */ void -calibrate(unsigned altitude) +calibrate(unsigned altitude, bool external_bus) { struct baro_report report; float pressure; float p1; - int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); + int fd; + + if (external_bus) { + fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY); + } else { + fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY); + } if (fd < 0) - err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", MS5611_BARO_DEVICE_PATH); + err(1, "open failed (try 'ms5611 start' if the driver is not running)"); /* start the sensor polling at max */ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX)) @@ -1101,6 +1144,12 @@ ms5611_main(int argc, char *argv[]) const char *verb = argv[optind]; + if (argc > optind+1) { + if (!strcmp(argv[optind+1], "-X")) { + external_bus = true; + } + } + /* * Start/load the driver. */ @@ -1111,13 +1160,13 @@ ms5611_main(int argc, char *argv[]) * Test the driver/device. */ if (!strcmp(verb, "test")) - ms5611::test(); + ms5611::test(external_bus); /* * Reset the driver. */ if (!strcmp(verb, "reset")) - ms5611::reset(); + ms5611::reset(external_bus); /* * Print driver information. @@ -1134,7 +1183,7 @@ ms5611_main(int argc, char *argv[]) long altitude = strtol(argv[optind+1], nullptr, 10); - ms5611::calibrate(altitude); + ms5611::calibrate(altitude, external_bus); } errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'"); diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp index 62308fc65..9c9c1b0f8 100644 --- a/src/drivers/px4flow/px4flow.cpp +++ b/src/drivers/px4flow/px4flow.cpp @@ -62,6 +62,8 @@ #include <systemlib/perf_counter.h> #include <systemlib/err.h> +#include <conversion/rotation.h> + #include <drivers/drv_hrt.h> #include <drivers/drv_px4flow.h> #include <drivers/device/ringbuffer.h> @@ -73,13 +75,14 @@ #include <board_config.h> /* Configuration Constants */ -#define I2C_FLOW_ADDRESS 0x42 //* 7-bit address. 8-bit address is 0x84 -//range 0x42 - 0x49 +#define I2C_FLOW_ADDRESS 0x42 ///< 7-bit address. 8-bit address is 0x84, range 0x42 - 0x49 /* PX4FLOW Registers addresses */ -#define PX4FLOW_REG 0x16 /* Measure Register 22*/ +#define PX4FLOW_REG 0x16 ///< Measure Register 22 + +#define PX4FLOW_CONVERSION_INTERVAL 20000 ///< in microseconds! 20000 = 50 Hz 100000 = 10Hz +#define PX4FLOW_I2C_MAX_BUS_SPEED 400000 ///< 400 KHz maximum speed -#define PX4FLOW_CONVERSION_INTERVAL 20000 //in microseconds! 20000 = 50 Hz 100000 = 10Hz /* oddly, ERROR is not defined for c++ */ #ifdef ERROR # undef ERROR @@ -125,7 +128,7 @@ struct i2c_integral_frame f_integral; class PX4FLOW: public device::I2C { public: - PX4FLOW(int bus, int address = I2C_FLOW_ADDRESS); + PX4FLOW(int bus, int address = I2C_FLOW_ADDRESS, enum Rotation rotation = (enum Rotation)0); virtual ~PX4FLOW(); virtual int init(); @@ -154,6 +157,8 @@ private: perf_counter_t _sample_perf; perf_counter_t _comms_errors; perf_counter_t _buffer_overflows; + + enum Rotation _sensor_rotation; /** * Test whether the device supported by the driver is present at a @@ -199,8 +204,8 @@ private: */ extern "C" __EXPORT int px4flow_main(int argc, char *argv[]); -PX4FLOW::PX4FLOW(int bus, int address) : - I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, 400000), //400khz +PX4FLOW::PX4FLOW(int bus, int address, enum Rotation rotation) : + I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, PX4FLOW_I2C_MAX_BUS_SPEED), /* 100-400 KHz */ _reports(nullptr), _sensor_ok(false), _measure_ticks(0), @@ -208,7 +213,8 @@ PX4FLOW::PX4FLOW(int bus, int address) : _px4flow_topic(-1), _sample_perf(perf_alloc(PC_ELAPSED, "px4flow_read")), _comms_errors(perf_alloc(PC_COUNT, "px4flow_comms_errors")), - _buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows")) + _buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows")), + _sensor_rotation(rotation) { // enable debug() calls _debug_enabled = false; @@ -361,6 +367,13 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) case SENSORIOCGQUEUEDEPTH: return _reports->size(); + case SENSORIOCSROTATION: + _sensor_rotation = (enum Rotation)arg; + return OK; + + case SENSORIOCGROTATION: + return _sensor_rotation; + case SENSORIOCRESET: /* XXX implement this */ return -EINVAL; @@ -535,6 +548,10 @@ PX4FLOW::collect() report.gyro_temperature = f_integral.gyro_temperature;//Temperature * 100 in centi-degrees Celsius report.sensor_id = 0; + + /* rotate measurements according to parameter */ + float zeroval = 0.0f; + rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval); if (_px4flow_topic < 0) { _px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report); diff --git a/src/include/mavlink/mavlink_log.h b/src/include/mavlink/mavlink_log.h index 6d56c546a..4962d029d 100644 --- a/src/include/mavlink/mavlink_log.h +++ b/src/include/mavlink/mavlink_log.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 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 @@ -35,7 +35,7 @@ * @file mavlink_log.h * MAVLink text logging. * - * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Lorenz Meier <lorenz@px4.io> */ #ifndef MAVLINK_LOG @@ -99,6 +99,38 @@ __EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...); */ #define mavlink_log_info(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_INFO, _text, ##__VA_ARGS__); +/** + * Send a mavlink emergency message and print to console. + * + * @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0); + * @param _text The text to log; + */ +#define mavlink_and_console_log_emergency(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, _text, ##__VA_ARGS__); \ + fprintf(stderr, "telem> "); \ + fprintf(stderr, _text, ##__VA_ARGS__); \ + fprintf(stderr, "\n"); + +/** + * Send a mavlink critical message and print to console. + * + * @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0); + * @param _text The text to log; + */ +#define mavlink_and_console_log_critical(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, _text, ##__VA_ARGS__); \ + fprintf(stderr, "telem> "); \ + fprintf(stderr, _text, ##__VA_ARGS__); \ + fprintf(stderr, "\n"); + +/** + * Send a mavlink emergency message and print to console. + * + * @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0); + * @param _text The text to log; + */ +#define mavlink_and_console_log_info(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_INFO, _text, ##__VA_ARGS__); \ + fprintf(stderr, "telem> "); \ + fprintf(stderr, _text, ##__VA_ARGS__); \ + fprintf(stderr, "\n"); struct mavlink_logmessage { char text[MAVLINK_LOG_MAXLEN + 1]; diff --git a/src/lib/mathlib/math/Matrix.hpp b/src/lib/mathlib/math/Matrix.hpp index ddadf707c..fc57d7964 100644 --- a/src/lib/mathlib/math/Matrix.hpp +++ b/src/lib/mathlib/math/Matrix.hpp @@ -199,8 +199,8 @@ public: Matrix<M, N> operator -(void) const { Matrix<M, N> res; - for (unsigned int i = 0; i < N; i++) - for (unsigned int j = 0; j < M; j++) { + for (unsigned int i = 0; i < M; i++) + for (unsigned int j = 0; j < N; j++) res.data[i][j] = -data[i][j]; } @@ -213,8 +213,8 @@ public: Matrix<M, N> operator +(const Matrix<M, N> &m) const { Matrix<M, N> res; - for (unsigned int i = 0; i < N; i++) - for (unsigned int j = 0; j < M; j++) { + for (unsigned int i = 0; i < M; i++) + for (unsigned int j = 0; j < N; j++) res.data[i][j] = data[i][j] + m.data[i][j]; } @@ -222,8 +222,8 @@ public: } Matrix<M, N> &operator +=(const Matrix<M, N> &m) { - for (unsigned int i = 0; i < N; i++) - for (unsigned int j = 0; j < M; j++) { + for (unsigned int i = 0; i < M; i++) + for (unsigned int j = 0; j < N; j++) data[i][j] += m.data[i][j]; } @@ -245,8 +245,8 @@ public: } Matrix<M, N> &operator -=(const Matrix<M, N> &m) { - for (unsigned int i = 0; i < N; i++) - for (unsigned int j = 0; j < M; j++) { + for (unsigned int i = 0; i < M; i++) + for (unsigned int j = 0; j < N; j++) data[i][j] -= m.data[i][j]; } diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index dc0594bf2..086f291f6 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1267,7 +1267,7 @@ int commander_thread_main(int argc, char *argv[]) if (updated) { /* vtol status changed */ orb_copy(ORB_ID(vtol_vehicle_status), vtol_vehicle_status_sub, &vtol_status); - + status.vtol_fw_permanent_stab = vtol_status.fw_permanent_stab; /* Make sure that this is only adjusted if vehicle realy is of type vtol*/ if (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR || VEHICLE_TYPE_VTOL_QUADROTOR) { status.is_rotary_wing = vtol_status.vtol_in_rw_mode; @@ -2246,8 +2246,8 @@ set_control_mode() case NAVIGATION_STATE_MANUAL: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; - control_mode.flag_control_rates_enabled = status.is_rotary_wing; - control_mode.flag_control_attitude_enabled = status.is_rotary_wing; + control_mode.flag_control_rates_enabled = (status.is_rotary_wing || status.vtol_fw_permanent_stab); + control_mode.flag_control_attitude_enabled = (status.is_rotary_wing || status.vtol_fw_permanent_stab); control_mode.flag_control_altitude_enabled = false; control_mode.flag_control_climb_rate_enabled = false; control_mode.flag_control_position_enabled = false; diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index c0b1bb404..968270847 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -1471,7 +1471,7 @@ FixedwingEstimator::task_main() map_projection_reproject(&_pos_ref, _local_pos.x, _local_pos.y, &est_lat, &est_lon); _global_pos.lat = est_lat; _global_pos.lon = est_lon; - _global_pos.time_gps_usec = _gps.time_gps_usec; + _global_pos.time_utc_usec = _gps.time_utc_usec; _global_pos.eph = _gps.eph; _global_pos.epv = _gps.epv; } diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index a0f74517c..00e8393bf 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -336,8 +336,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _actuators_0_pub(-1), _actuators_2_pub(-1), - _rates_sp_id(ORB_ID(vehicle_rates_setpoint)), - _actuators_id(ORB_ID(actuator_controls_0)), + _rates_sp_id(0), + _actuators_id(0), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "fw att control")), @@ -589,12 +589,14 @@ FixedwingAttitudeControl::vehicle_status_poll() if (vehicle_status_updated) { orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status); /* set correct uORB ID, depending on if vehicle is VTOL or not */ - if (_vehicle_status.is_vtol) { - _rates_sp_id = ORB_ID(fw_virtual_rates_setpoint); - _actuators_id = ORB_ID(actuator_controls_virtual_fw); - } else { - _rates_sp_id = ORB_ID(vehicle_rates_setpoint); - _actuators_id = ORB_ID(actuator_controls_0); + if (!_rates_sp_id) { + if (_vehicle_status.is_vtol) { + _rates_sp_id = ORB_ID(fw_virtual_rates_setpoint); + _actuators_id = ORB_ID(actuator_controls_virtual_fw); + } else { + _rates_sp_id = ORB_ID(vehicle_rates_setpoint); + _actuators_id = ORB_ID(actuator_controls_0); + } } } } @@ -720,22 +722,24 @@ FixedwingAttitudeControl::task_main() R.set(_att.R); R_adapted.set(_att.R); - //move z to x + /* move z to x */ R_adapted(0, 0) = R(0, 2); R_adapted(1, 0) = R(1, 2); R_adapted(2, 0) = R(2, 2); - //move x to z + + /* move x to z */ R_adapted(0, 2) = R(0, 0); R_adapted(1, 2) = R(1, 0); R_adapted(2, 2) = R(2, 0); - //change direction of pitch (convert to right handed system) + /* change direction of pitch (convert to right handed system) */ R_adapted(0, 0) = -R_adapted(0, 0); R_adapted(1, 0) = -R_adapted(1, 0); R_adapted(2, 0) = -R_adapted(2, 0); math::Vector<3> euler_angles; //adapted euler angles for fixed wing operation euler_angles = R_adapted.to_euler(); - //fill in new attitude data + + /* fill in new attitude data */ _att.roll = euler_angles(0); _att.pitch = euler_angles(1); _att.yaw = euler_angles(2); @@ -749,7 +753,7 @@ FixedwingAttitudeControl::task_main() PX4_R(_att.R, 2, 1) = R_adapted(2, 1); PX4_R(_att.R, 2, 2) = R_adapted(2, 2); - // lastly, roll- and yawspeed have to be swaped + /* lastly, roll- and yawspeed have to be swaped */ float helper = _att.rollspeed; _att.rollspeed = -_att.yawspeed; _att.yawspeed = helper; @@ -820,6 +824,7 @@ FixedwingAttitudeControl::task_main() float roll_sp = _parameters.rollsp_offset_rad; float pitch_sp = _parameters.pitchsp_offset_rad; + float yaw_manual = 0.0f; float throttle_sp = 0.0f; /* Read attitude setpoint from uorb if @@ -880,6 +885,8 @@ FixedwingAttitudeControl::task_main() + _parameters.rollsp_offset_rad; pitch_sp = -(_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch) + _parameters.pitchsp_offset_rad; + /* allow manual control of rudder deflection */ + yaw_manual = _manual.r; throttle_sp = _manual.z; _actuators.control[4] = _manual.flaps; @@ -979,6 +986,9 @@ FixedwingAttitudeControl::task_main() _pitch_ctrl.get_desired_rate(), _parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator); _actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw; + + /* add in manual rudder control */ + _actuators.control[2] += yaw_manual; if (!isfinite(yaw_u)) { _yaw_ctrl.reset_integrator(); perf_count(_nonfinite_output_perf); @@ -1018,7 +1028,7 @@ FixedwingAttitudeControl::task_main() if (_rate_sp_pub > 0) { /* publish the attitude rates setpoint */ orb_publish(_rates_sp_id, _rate_sp_pub, &_rates_sp); - } else { + } else if (_rates_sp_id) { /* advertise the attitude rates setpoint */ _rate_sp_pub = orb_advertise(_rates_sp_id, &_rates_sp); } @@ -1043,7 +1053,7 @@ FixedwingAttitudeControl::task_main() /* publish the actuator controls */ if (_actuators_0_pub > 0) { orb_publish(_actuators_id, _actuators_0_pub, &_actuators); - } else { + } else if (_actuators_id) { _actuators_0_pub= orb_advertise(_actuators_id, &_actuators); } diff --git a/src/modules/fw_att_control/module.mk b/src/modules/fw_att_control/module.mk index 89c6494c5..3661a171f 100644 --- a/src/modules/fw_att_control/module.mk +++ b/src/modules/fw_att_control/module.mk @@ -41,3 +41,5 @@ SRCS = fw_att_control_main.cpp \ fw_att_control_params.c MODULE_STACKSIZE = 1200 + +MAXOPTIMIZATION = -Os diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index f9a3681b3..dc031404d 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1419,6 +1419,8 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("DISTANCE_SENSOR", 10.0f); configure_stream("OPTICAL_FLOW_RAD", 10.0f); configure_stream("VFR_HUD", 10.0f); + configure_stream("SYSTEM_TIME", 1.0f); + configure_stream("TIMESYNC", 10.0f); break; default: diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 0f25c969d..6765100c7 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -342,6 +342,8 @@ private: MavlinkStreamStatustext(MavlinkStreamStatustext &); MavlinkStreamStatustext& operator = (const MavlinkStreamStatustext &); FILE *fp = nullptr; + unsigned write_err_count = 0; + static const unsigned write_err_threshold = 5; protected: explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink) @@ -370,10 +372,21 @@ protected: /* write log messages in first instance to disk */ if (_mavlink->get_instance_id() == 0) { if (fp) { - fputs(msg.text, fp); - fputs("\n", fp); - fsync(fileno(fp)); - } else { + if (EOF == fputs(msg.text, fp)) { + write_err_count++; + } else { + write_err_count = 0; + } + + if (write_err_count >= write_err_threshold) { + (void)fclose(fp); + fp = nullptr; + } else { + (void)fputs("\n", fp); + (void)fsync(fileno(fp)); + } + + } else if (write_err_count < write_err_threshold) { /* string to hold the path to the log */ char log_file_name[32] = ""; char log_file_path[64] = ""; @@ -389,6 +402,10 @@ protected: strftime(log_file_name, sizeof(log_file_name), "msgs_%Y_%m_%d_%H_%M_%S.txt", &tt); snprintf(log_file_path, sizeof(log_file_path), "/fs/microsd/%s", log_file_name); fp = fopen(log_file_path, "ab"); + + /* write first message */ + fputs(msg.text, fp); + fputs("\n", fp); } } } @@ -923,6 +940,92 @@ protected: } }; +class MavlinkStreamSystemTime : public MavlinkStream +{ +public: + const char *get_name() const { + return MavlinkStreamSystemTime::get_name_static(); + } + + static const char *get_name_static() { + return "SYSTEM_TIME"; + } + + uint8_t get_id() { + return MAVLINK_MSG_ID_SYSTEM_TIME; + } + + static MavlinkStream *new_instance(Mavlink *mavlink) { + return new MavlinkStreamSystemTime(mavlink); + } + + unsigned get_size() { + return MAVLINK_MSG_ID_SYSTEM_TIME_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + +private: + /* do not allow top copying this class */ + MavlinkStreamSystemTime(MavlinkStreamSystemTime &); + MavlinkStreamSystemTime &operator = (const MavlinkStreamSystemTime &); + +protected: + explicit MavlinkStreamSystemTime(Mavlink *mavlink) : MavlinkStream(mavlink) + {} + + void send(const hrt_abstime t) { + mavlink_system_time_t msg; + timespec tv; + + clock_gettime(CLOCK_REALTIME, &tv); + + msg.time_boot_ms = hrt_absolute_time() / 1000; + msg.time_unix_usec = (uint64_t)tv.tv_sec * 1000000 + tv.tv_nsec / 1000; + + _mavlink->send_message(MAVLINK_MSG_ID_SYSTEM_TIME, &msg); + } +}; + +class MavlinkStreamTimesync : public MavlinkStream +{ +public: + const char *get_name() const { + return MavlinkStreamTimesync::get_name_static(); + } + + static const char *get_name_static() { + return "TIMESYNC"; + } + + uint8_t get_id() { + return MAVLINK_MSG_ID_TIMESYNC; + } + + static MavlinkStream *new_instance(Mavlink *mavlink) { + return new MavlinkStreamTimesync(mavlink); + } + + unsigned get_size() { + return MAVLINK_MSG_ID_TIMESYNC_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + +private: + /* do not allow top copying this class */ + MavlinkStreamTimesync(MavlinkStreamTimesync &); + MavlinkStreamTimesync &operator = (const MavlinkStreamTimesync &); + +protected: + explicit MavlinkStreamTimesync(Mavlink *mavlink) : MavlinkStream(mavlink) + {} + + void send(const hrt_abstime t) { + mavlink_timesync_t msg; + + msg.tc1 = 0; + msg.ts1 = hrt_absolute_time() * 1000; // boot time in nanoseconds + + _mavlink->send_message(MAVLINK_MSG_ID_TIMESYNC, &msg); + } +}; class MavlinkStreamGlobalPositionInt : public MavlinkStream { @@ -2197,6 +2300,8 @@ StreamListItem *streams_list[] = { new StreamListItem(&MavlinkStreamAttitudeQuaternion::new_instance, &MavlinkStreamAttitudeQuaternion::get_name_static), new StreamListItem(&MavlinkStreamVFRHUD::new_instance, &MavlinkStreamVFRHUD::get_name_static), new StreamListItem(&MavlinkStreamGPSRawInt::new_instance, &MavlinkStreamGPSRawInt::get_name_static), + new StreamListItem(&MavlinkStreamSystemTime::new_instance, &MavlinkStreamSystemTime::get_name_static), + new StreamListItem(&MavlinkStreamTimesync::new_instance, &MavlinkStreamTimesync::get_name_static), new StreamListItem(&MavlinkStreamGlobalPositionInt::new_instance, &MavlinkStreamGlobalPositionInt::get_name_static), new StreamListItem(&MavlinkStreamLocalPositionNED::new_instance, &MavlinkStreamLocalPositionNED::get_name_static), new StreamListItem(&MavlinkStreamViconPositionEstimate::new_instance, &MavlinkStreamViconPositionEstimate::get_name_static), diff --git a/src/modules/mavlink/mavlink_parameters.cpp b/src/modules/mavlink/mavlink_parameters.cpp index cd5f53d88..e9858b73c 100644 --- a/src/modules/mavlink/mavlink_parameters.cpp +++ b/src/modules/mavlink/mavlink_parameters.cpp @@ -44,7 +44,9 @@ #include "mavlink_main.h" MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) : MavlinkStream(mavlink), - _send_all_index(-1) + _send_all_index(-1), + _rc_param_map_pub(-1), + _rc_param_map() { } @@ -135,6 +137,43 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg) break; } + case MAVLINK_MSG_ID_PARAM_MAP_RC: { + /* map a rc channel to a parameter */ + mavlink_param_map_rc_t map_rc; + mavlink_msg_param_map_rc_decode(msg, &map_rc); + + if (map_rc.target_system == mavlink_system.sysid && + (map_rc.target_component == mavlink_system.compid || + map_rc.target_component == MAV_COMP_ID_ALL)) { + + /* Copy values from msg to uorb using the parameter_rc_channel_index as index */ + size_t i = map_rc.parameter_rc_channel_index; + _rc_param_map.param_index[i] = map_rc.param_index; + strncpy(&(_rc_param_map.param_id[i][0]), map_rc.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); + /* enforce null termination */ + _rc_param_map.param_id[i][MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = '\0'; + _rc_param_map.scale[i] = map_rc.scale; + _rc_param_map.value0[i] = map_rc.param_value0; + _rc_param_map.value_min[i] = map_rc.param_value_min; + _rc_param_map.value_max[i] = map_rc.param_value_max; + if (map_rc.param_index == -2) { // -2 means unset map + _rc_param_map.valid[i] = false; + } else { + _rc_param_map.valid[i] = true; + } + _rc_param_map.timestamp = hrt_absolute_time(); + + if (_rc_param_map_pub < 0) { + _rc_param_map_pub = orb_advertise(ORB_ID(rc_parameter_map), &_rc_param_map); + + } else { + orb_publish(ORB_ID(rc_parameter_map), _rc_param_map_pub, &_rc_param_map); + } + + } + break; + } + default: break; } diff --git a/src/modules/mavlink/mavlink_parameters.h b/src/modules/mavlink/mavlink_parameters.h index 5576e6b84..b6736f212 100644 --- a/src/modules/mavlink/mavlink_parameters.h +++ b/src/modules/mavlink/mavlink_parameters.h @@ -44,6 +44,8 @@ #include "mavlink_bridge_header.h" #include "mavlink_stream.h" +#include <uORB/uORB.h> +#include <uORB/topics/rc_parameter_map.h> class MavlinkParametersManager : public MavlinkStream { @@ -112,4 +114,7 @@ protected: void send(const hrt_abstime t); void send_param(param_t param); + + orb_advert_t _rc_param_map_pub; + struct rc_parameter_map_s _rc_param_map; }; diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index cb55a25aa..ce3f2ae0e 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 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 @@ -68,6 +68,8 @@ #include <mathlib/mathlib.h> +#include <conversion/rotation.h> + #include <systemlib/param/param.h> #include <systemlib/systemlib.h> #include <systemlib/err.h> @@ -121,7 +123,9 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _old_timestamp(0), _hil_local_proj_inited(0), _hil_local_alt0(0.0f), - _hil_local_proj_ref{} + _hil_local_proj_ref{}, + _time_offset_avg_alpha(0.6), + _time_offset(0) { // make sure the FTP server is started @@ -188,6 +192,14 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) MavlinkFTP::get_server()->handle_message(_mavlink, msg); break; + case MAVLINK_MSG_ID_SYSTEM_TIME: + handle_message_system_time(msg); + break; + + case MAVLINK_MSG_ID_TIMESYNC: + handle_message_timesync(msg); + break; + default: break; } @@ -251,7 +263,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg) //check for MAVLINK terminate command if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) { /* This is the link shutdown command, terminate mavlink */ - warnx("terminated by remote command"); + warnx("terminated by remote"); fflush(stdout); usleep(50000); @@ -261,7 +273,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg) } else { if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) { - warnx("ignoring CMD spoofed with same SYS/COMP (%d/%d) ID", + warnx("ignoring CMD with same SYS/COMP (%d/%d) ID", mavlink_system.sysid, mavlink_system.compid); return; } @@ -307,7 +319,7 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg) //check for MAVLINK terminate command if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) { /* This is the link shutdown command, terminate mavlink */ - warnx("terminated by remote command"); + warnx("terminated by remote"); fflush(stdout); usleep(50000); @@ -317,7 +329,7 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg) } else { if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) { - warnx("ignoring CMD spoofed with same SYS/COMP (%d/%d) ID", + warnx("ignoring CMD with same SYS/COMP (%d/%d) ID", mavlink_system.sysid, mavlink_system.compid); return; } @@ -358,6 +370,9 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg) mavlink_optical_flow_rad_t flow; mavlink_msg_optical_flow_rad_decode(msg, &flow); + enum Rotation flow_rot; + param_get(param_find("SENS_FLOW_ROT"),&flow_rot); + struct optical_flow_s f; memset(&f, 0, sizeof(f)); @@ -374,6 +389,10 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg) f.sensor_id = flow.sensor_id; f.gyro_temperature = flow.temperature; + /* rotate measurements according to parameter */ + float zeroval = 0.0f; + rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval); + if (_flow_pub < 0) { _flow_pub = orb_advertise(ORB_ID(optical_flow), &f); @@ -689,7 +708,7 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg) // Use the component ID to identify the vision sensor vision_position.id = msg->compid; - vision_position.timestamp_boot = hrt_absolute_time(); + vision_position.timestamp_boot = to_hrt(pos.usec); // Synced time vision_position.timestamp_computer = pos.usec; vision_position.x = pos.x; vision_position.y = pos.y; @@ -861,7 +880,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) manual.r = man.r / 1000.0f; manual.z = man.z / 1000.0f; - warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", (double)manual.x, (double)manual.y, (double)manual.r, (double)manual.z); + // warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", (double)manual.x, (double)manual.y, (double)manual.r, (double)manual.z); if (_manual_pub < 0) { _manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual); @@ -919,6 +938,66 @@ MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg) } void +MavlinkReceiver::handle_message_system_time(mavlink_message_t *msg) +{ + mavlink_system_time_t time; + mavlink_msg_system_time_decode(msg, &time); + + timespec tv; + clock_gettime(CLOCK_REALTIME, &tv); + + // date -d @1234567890: Sat Feb 14 02:31:30 MSK 2009 + bool onb_unix_valid = tv.tv_sec > PX4_EPOCH_SECS; + bool ofb_unix_valid = time.time_unix_usec > PX4_EPOCH_SECS * 1000ULL; + + if (!onb_unix_valid && ofb_unix_valid) { + tv.tv_sec = time.time_unix_usec / 1000000ULL; + tv.tv_nsec = (time.time_unix_usec % 1000000ULL) * 1000ULL; + if(clock_settime(CLOCK_REALTIME, &tv)) { + warn("failed setting clock"); + } + else { + warnx("[timesync] UTC time synced."); + } + } + +} + +void +MavlinkReceiver::handle_message_timesync(mavlink_message_t *msg) +{ + mavlink_timesync_t tsync; + mavlink_msg_timesync_decode(msg, &tsync); + + uint64_t now_ns = hrt_absolute_time() * 1000LL ; + + if (tsync.tc1 == 0) { + + mavlink_timesync_t rsync; // return timestamped sync message + + rsync.tc1 = now_ns; + rsync.ts1 = tsync.ts1; + + _mavlink->send_message(MAVLINK_MSG_ID_TIMESYNC, &rsync); + + return; + + } else if (tsync.tc1 > 0) { + + int64_t offset_ns = (tsync.ts1 + now_ns - tsync.tc1*2)/2 ; + int64_t dt = _time_offset - offset_ns; + + if (dt > 10000000LL || dt < -10000000LL) { // 10 millisecond skew + _time_offset = offset_ns; + warnx("[timesync] Hard setting offset."); + } else { + smooth_time_offset(offset_ns); + } + } + +} + +void MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) { mavlink_hil_sensor_t imu; @@ -1110,7 +1189,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) /* print HIL sensors rate */ if ((timestamp - _old_timestamp) > 10000000) { - printf("receiving HIL sensors at %d hz\n", _hil_frames / 10); + // printf("receiving HIL sensors at %d hz\n", _hil_frames / 10); _old_timestamp = timestamp; _hil_frames = 0; } @@ -1128,7 +1207,7 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg) memset(&hil_gps, 0, sizeof(hil_gps)); hil_gps.timestamp_time = timestamp; - hil_gps.time_gps_usec = gps.time_usec; + hil_gps.time_utc_usec = gps.time_usec; hil_gps.timestamp_position = timestamp; hil_gps.lat = gps.lat; @@ -1385,6 +1464,23 @@ void MavlinkReceiver::print_status() } +uint64_t MavlinkReceiver::to_hrt(uint64_t usec) +{ + return usec - (_time_offset / 1000) ; +} + + +void MavlinkReceiver::smooth_time_offset(uint64_t offset_ns) +{ + /* alpha = 0.6 fixed for now. The closer alpha is to 1.0, + * the faster the moving average updates in response to + * new offset samples. + */ + + _time_offset = (_time_offset_avg_alpha * offset_ns) + (1.0 - _time_offset_avg_alpha) * _time_offset; +} + + void *MavlinkReceiver::start_helper(void *context) { MavlinkReceiver *rcv = new MavlinkReceiver((Mavlink *)context); diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index a057074a7..4afc9b372 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -75,6 +75,8 @@ #include "mavlink_ftp.h" +#define PX4_EPOCH_SECS 1234567890ULL + class Mavlink; class MavlinkReceiver @@ -124,12 +126,23 @@ private: void handle_message_manual_control(mavlink_message_t *msg); void handle_message_heartbeat(mavlink_message_t *msg); void handle_message_request_data_stream(mavlink_message_t *msg); + void handle_message_system_time(mavlink_message_t *msg); + void handle_message_timesync(mavlink_message_t *msg); void handle_message_hil_sensor(mavlink_message_t *msg); void handle_message_hil_gps(mavlink_message_t *msg); void handle_message_hil_state_quaternion(mavlink_message_t *msg); void *receive_thread(void *arg); + /** + * Convert remote nsec timestamp to local hrt time (usec) + */ + uint64_t to_hrt(uint64_t nsec); + /** + * Exponential moving average filter to smooth time offset + */ + void smooth_time_offset(uint64_t offset_ns); + mavlink_status_t status; struct vehicle_local_position_s hil_local_pos; struct vehicle_control_mode_s _control_mode; @@ -164,6 +177,8 @@ private: bool _hil_local_proj_inited; float _hil_local_alt0; struct map_projection_reference_s _hil_local_proj_ref; + double _time_offset_avg_alpha; + uint64_t _time_offset; /* do not allow copying this class */ MavlinkReceiver(const MavlinkReceiver&); diff --git a/src/modules/mavlink/mavlink_tests/module.mk b/src/modules/mavlink/mavlink_tests/module.mk index 1cc28cce1..b46d2bd35 100644 --- a/src/modules/mavlink/mavlink_tests/module.mk +++ b/src/modules/mavlink/mavlink_tests/module.mk @@ -47,4 +47,6 @@ MODULE_STACKSIZE = 5000 MAXOPTIMIZATION = -Os -EXTRACXXFLAGS = -Weffc++ -DMAVLINK_FTP_UNIT_TEST +EXTRACXXFLAGS = -Weffc++ -DMAVLINK_FTP_UNIT_TEST -Wno-attributes -Wno-packed + +EXTRACFLAGS = -Wno-packed diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c index 1f40e634e..5f8f8d02f 100644 --- a/src/modules/navigator/navigator_params.c +++ b/src/modules/navigator/navigator_params.c @@ -50,7 +50,8 @@ * Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only). * * @unit meters - * @min 0.0 + * @min 20 + * @max 200 * @group Mission */ PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f); @@ -61,10 +62,11 @@ PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f); * Default acceptance radius, overridden by acceptance radius of waypoint if set. * * @unit meters - * @min 1.0 + * @min 0.05 + * @max 200 * @group Mission */ -PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 25.0f); +PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 10.0f); /** * Set OBC mode for data link loss diff --git a/src/modules/navigator/rtl_params.c b/src/modules/navigator/rtl_params.c index bfe6ce7e1..1568233b0 100644 --- a/src/modules/navigator/rtl_params.c +++ b/src/modules/navigator/rtl_params.c @@ -53,7 +53,8 @@ * Default value of loiter radius after RTL (fixedwing only). * * @unit meters - * @min 0.0 + * @min 20 + * @max 200 * @group RTL */ PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 50.0f); @@ -65,10 +66,10 @@ PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 50.0f); * * @unit meters * @min 0 - * @max 1 + * @max 150 * @group RTL */ -PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 100); +PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60); /** @@ -78,7 +79,7 @@ PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 100); * Land (i.e. slowly descend) from this altitude if autolanding allowed. * * @unit meters - * @min 0 + * @min 2 * @max 100 * @group RTL */ @@ -92,7 +93,7 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 20); * * @unit seconds * @min -1 - * @max + * @max 300 * @group RTL */ PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f); diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 6fb87ae7e..38011a935 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -1167,7 +1167,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (local_pos.xy_global && local_pos.z_global) { /* publish global position */ global_pos.timestamp = t; - global_pos.time_gps_usec = gps.time_gps_usec; + global_pos.time_utc_usec = gps.time_utc_usec; double est_lat, est_lon; map_projection_reproject(&ref, local_pos.x, local_pos.y, &est_lat, &est_lon); diff --git a/src/modules/sdlog2/module.mk b/src/modules/sdlog2/module.mk index f1118000e..91a9611d4 100644 --- a/src/modules/sdlog2/module.mk +++ b/src/modules/sdlog2/module.mk @@ -46,5 +46,5 @@ MODULE_STACKSIZE = 1200 MAXOPTIMIZATION = -Os -EXTRACFLAGS = -Wframe-larger-than=1200 +EXTRACFLAGS = -Wframe-larger-than=1300 diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 0a8564da6..abc69a4b5 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 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 @@ -39,12 +39,14 @@ * * @author Lorenz Meier <lm@inf.ethz.ch> * @author Anton Babushkin <anton.babushkin@me.com> + * @author Ban Siesta <bansiesta@gmail.com> */ #include <nuttx/config.h> #include <sys/types.h> #include <sys/stat.h> #include <sys/prctl.h> +#include <sys/statfs.h> #include <fcntl.h> #include <errno.h> #include <unistd.h> @@ -57,6 +59,7 @@ #include <unistd.h> #include <drivers/drv_hrt.h> #include <math.h> +#include <time.h> #include <drivers/drv_range_finder.h> @@ -103,6 +106,8 @@ #include "sdlog2_format.h" #include "sdlog2_messages.h" +#define PX4_EPOCH_SECS 1234567890ULL + /** * Logging rate. * @@ -158,7 +163,9 @@ static const int MIN_BYTES_TO_WRITE = 512; static bool _extended_logging = false; -static const char *log_root = "/fs/microsd/log"; +#define MOUNTPOINT "/fs/microsd" +static const char *mountpoint = MOUNTPOINT; +static const char *log_root = MOUNTPOINT "/log"; static int mavlink_fd = -1; struct logbuffer_s lb; @@ -171,6 +178,7 @@ static char log_dir[32]; /* statistics counters */ static uint64_t start_time = 0; static unsigned long log_bytes_written = 0; +static unsigned long last_checked_bytes_written = 0; static unsigned long log_msgs_written = 0; static unsigned long log_msgs_skipped = 0; @@ -185,6 +193,9 @@ static bool log_name_timestamp = false; /* helper flag to track system state changes */ static bool flag_system_armed = false; +/* flag if warning about MicroSD card being almost full has already been sent */ +static bool space_warning_sent = false; + static pthread_t logwriter_pthread = 0; static pthread_attr_t logwriter_attr; @@ -244,6 +255,11 @@ static bool file_exist(const char *filename); static int file_copy(const char *file_old, const char *file_new); +/** + * Check if there is still free space available + */ +static int check_free_space(void); + static void handle_command(struct vehicle_command_s *cmd); static void handle_status(struct vehicle_status_s *cmd); @@ -338,13 +354,16 @@ int create_log_dir() uint16_t dir_number = 1; // start with dir sess001 int mkdir_ret; - if (log_name_timestamp && gps_time != 0) { - /* use GPS date for log dir naming: e.g. /fs/microsd/2014-01-19 */ - time_t gps_time_sec = gps_time / 1000000; - struct tm t; - gmtime_r(&gps_time_sec, &t); + struct timespec ts; + clock_gettime(CLOCK_REALTIME, &ts); + /* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.px4log */ + time_t utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9); + struct tm tt; + struct tm *ttp = gmtime_r(&utc_time_sec, &tt); + + if (log_name_timestamp && ttp && (utc_time_sec > PX4_EPOCH_SECS)) { int n = snprintf(log_dir, sizeof(log_dir), "%s/", log_root); - strftime(log_dir + n, sizeof(log_dir) - n, "%Y-%m-%d", &t); + strftime(log_dir + n, sizeof(log_dir) - n, "%Y-%m-%d", &tt); mkdir_ret = mkdir(log_dir, S_IRWXU | S_IRWXG | S_IRWXO); if (mkdir_ret == OK) { @@ -384,8 +403,7 @@ int create_log_dir() } /* print logging path, important to find log file later */ - warnx("log dir: %s", log_dir); - mavlink_log_info(mavlink_fd, "[sdlog2] log dir: %s", log_dir); + mavlink_and_console_log_info(mavlink_fd, "[sdlog2] log dir: %s", log_dir); return 0; } @@ -395,12 +413,16 @@ int open_log_file() char log_file_name[32] = ""; char log_file_path[64] = ""; - if (log_name_timestamp && gps_time != 0) { - /* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */ - time_t gps_time_sec = gps_time / 1000000; - struct tm t; - gmtime_r(&gps_time_sec, &t); - strftime(log_file_name, sizeof(log_file_name), "%H_%M_%S.bin", &t); + struct timespec ts; + clock_gettime(CLOCK_REALTIME, &ts); + /* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.px4log */ + time_t utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9); + struct tm tt; + struct tm *ttp = gmtime_r(&utc_time_sec, &tt); + + /* start logging if we have a valid time and the time is not in the past */ + if (log_name_timestamp && ttp && (utc_time_sec > PX4_EPOCH_SECS)) { + strftime(log_file_name, sizeof(log_file_name), "%H_%M_%S.px4log", &tt); snprintf(log_file_path, sizeof(log_file_path), "%s/%s", log_dir, log_file_name); } else { @@ -408,8 +430,8 @@ int open_log_file() /* look for the next file that does not exist */ while (file_number <= MAX_NO_LOGFILE) { - /* format log file path: e.g. /fs/microsd/sess001/log001.bin */ - snprintf(log_file_name, sizeof(log_file_name), "log%03u.bin", file_number); + /* format log file path: e.g. /fs/microsd/sess001/log001.px4log */ + snprintf(log_file_name, sizeof(log_file_name), "log%03u.px4log", file_number); snprintf(log_file_path, sizeof(log_file_path), "%s/%s", log_dir, log_file_name); if (!file_exist(log_file_path)) { @@ -421,7 +443,7 @@ int open_log_file() if (file_number > MAX_NO_LOGFILE) { /* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */ - mavlink_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE); + mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE); return -1; } } @@ -429,12 +451,10 @@ int open_log_file() int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC); if (fd < 0) { - warn("failed opening log: %s", log_file_name); - mavlink_log_critical(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name); + mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name); } else { - warnx("log file: %s", log_file_name); - mavlink_log_info(mavlink_fd, "[sdlog2] log file: %s", log_file_name); + mavlink_and_console_log_info(mavlink_fd, "[sdlog2] log file: %s", log_file_name); } return fd; @@ -446,12 +466,15 @@ int open_perf_file(const char* str) char log_file_name[32] = ""; char log_file_path[64] = ""; - if (log_name_timestamp && gps_time != 0) { - /* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */ - time_t gps_time_sec = gps_time / 1000000; - struct tm t; - gmtime_r(&gps_time_sec, &t); - strftime(log_file_name, sizeof(log_file_name), "perf%H_%M_%S.txt", &t); + struct timespec ts; + clock_gettime(CLOCK_REALTIME, &ts); + /* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.txt */ + time_t utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9); + struct tm tt; + struct tm *ttp = gmtime_r(&utc_time_sec, &tt); + + if (log_name_timestamp && ttp && (utc_time_sec > PX4_EPOCH_SECS)) { + strftime(log_file_name, sizeof(log_file_name), "perf%H_%M_%S.txt", &tt); snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name); } else { @@ -459,7 +482,7 @@ int open_perf_file(const char* str) /* look for the next file that does not exist */ while (file_number <= MAX_NO_LOGFILE) { - /* format log file path: e.g. /fs/microsd/sess001/log001.bin */ + /* format log file path: e.g. /fs/microsd/sess001/log001.txt */ snprintf(log_file_name, sizeof(log_file_name), "perf%03u.txt", file_number); snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name); @@ -472,7 +495,7 @@ int open_perf_file(const char* str) if (file_number > MAX_NO_LOGFILE) { /* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */ - mavlink_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE); + mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE); return -1; } } @@ -480,12 +503,8 @@ int open_perf_file(const char* str) int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC); if (fd < 0) { - warn("failed opening log: %s", log_file_name); - mavlink_log_critical(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name); + mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] failed opening: %s", log_file_name); - } else { - warnx("log file: %s", log_file_name); - mavlink_log_info(mavlink_fd, "[sdlog2] log file: %s", log_file_name); } return fd; @@ -547,6 +566,7 @@ static void *logwriter_thread(void *arg) pthread_mutex_unlock(&logbuffer_mutex); if (available > 0) { + /* do heavy IO here */ if (available > MAX_WRITE_CHUNK) { n = MAX_WRITE_CHUNK; @@ -584,6 +604,16 @@ static void *logwriter_thread(void *arg) if (++poll_count == 10) { fsync(log_fd); poll_count = 0; + + } + + if (log_bytes_written - last_checked_bytes_written > 20*1024*1024) { + /* check if space is available, if not stop everything */ + if (check_free_space() != OK) { + logwriter_should_exit = true; + main_thread_should_exit = true; + } + last_checked_bytes_written = log_bytes_written; } } @@ -598,15 +628,15 @@ static void *logwriter_thread(void *arg) void sdlog2_start_log() { - warnx("start logging"); - mavlink_log_info(mavlink_fd, "[sdlog2] start logging"); + mavlink_and_console_log_info(mavlink_fd, "[sdlog2] start logging"); /* create log dir if needed */ if (create_log_dir() != 0) { - mavlink_log_critical(mavlink_fd, "[sdlog2] error creating log dir"); - errx(1, "error creating log dir"); + mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] error creating log dir"); + exit(1); } + /* initialize statistics counter */ log_bytes_written = 0; start_time = hrt_absolute_time(); @@ -644,8 +674,7 @@ void sdlog2_start_log() void sdlog2_stop_log() { - warnx("stop logging"); - mavlink_log_info(mavlink_fd, "[sdlog2] stop logging"); + mavlink_and_console_log_info(mavlink_fd, "[sdlog2] stop logging"); logging_enabled = false; @@ -771,7 +800,7 @@ int sdlog2_thread_main(int argc, char *argv[]) mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); if (mavlink_fd < 0) { - warnx("failed to open MAVLink log stream, start mavlink app first"); + warnx("ERR: log stream, start mavlink app first"); } /* delay = 1 / rate (rate defined by -r option), default log rate: 50 Hz */ @@ -899,11 +928,17 @@ int sdlog2_thread_main(int argc, char *argv[]) } + + if (check_free_space() != OK) { + errx(1, "ERR: MicroSD almost full"); + } + + /* create log root dir */ int mkdir_ret = mkdir(log_root, S_IRWXU | S_IRWXG | S_IRWXO); if (mkdir_ret != 0 && errno != EEXIST) { - err(1, "failed creating log root dir: %s", log_root); + err(1, "ERR: failed creating log dir: %s", log_root); } /* copy conversion scripts */ @@ -1112,6 +1147,7 @@ int sdlog2_thread_main(int argc, char *argv[]) hrt_abstime magnetometer_timestamp = 0; hrt_abstime barometer_timestamp = 0; hrt_abstime differential_pressure_timestamp = 0; + hrt_abstime barometer1_timestamp = 0; hrt_abstime gyro1_timestamp = 0; hrt_abstime accelerometer1_timestamp = 0; hrt_abstime magnetometer1_timestamp = 0; @@ -1127,7 +1163,7 @@ int sdlog2_thread_main(int argc, char *argv[]) /* check GPS topic to get GPS time */ if (log_name_timestamp) { if (!orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) { - gps_time = buf_gps_pos.time_gps_usec; + gps_time = buf_gps_pos.time_utc_usec; } } @@ -1155,7 +1191,7 @@ int sdlog2_thread_main(int argc, char *argv[]) bool gps_pos_updated = copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos); if (gps_pos_updated && log_name_timestamp) { - gps_time = buf_gps_pos.time_gps_usec; + gps_time = buf_gps_pos.time_utc_usec; } if (!logging_enabled) { @@ -1185,7 +1221,7 @@ int sdlog2_thread_main(int argc, char *argv[]) if (gps_pos_updated) { log_msg.msg_type = LOG_GPS_MSG; - log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec; + log_msg.body.log_GPS.gps_time = buf_gps_pos.time_utc_usec; log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type; log_msg.body.log_GPS.eph = buf_gps_pos.eph; log_msg.body.log_GPS.epv = buf_gps_pos.epv; @@ -1257,6 +1293,7 @@ int sdlog2_thread_main(int argc, char *argv[]) bool write_IMU1 = false; bool write_IMU2 = false; bool write_SENS = false; + bool write_SENS1 = false; if (buf.sensor.timestamp != gyro_timestamp) { gyro_timestamp = buf.sensor.timestamp; @@ -1307,6 +1344,22 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(SENS); } + if (buf.sensor.baro1_timestamp != barometer1_timestamp) { + barometer1_timestamp = buf.sensor.baro1_timestamp; + write_SENS1 = true; + } + + if (write_SENS1) { + log_msg.msg_type = LOG_AIR1_MSG; + log_msg.body.log_SENS.baro_pres = buf.sensor.baro1_pres_mbar; + log_msg.body.log_SENS.baro_alt = buf.sensor.baro1_alt_meter; + log_msg.body.log_SENS.baro_temp = buf.sensor.baro1_temp_celcius; + log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure1_pa; + log_msg.body.log_SENS.diff_pres_filtered = buf.sensor.differential_pressure1_filtered_pa; + // XXX moving to AIR0-AIR2 instead of SENS + LOGBUFFER_WRITE_AND_COUNT(SENS); + } + if (buf.sensor.accelerometer1_timestamp != accelerometer1_timestamp) { accelerometer1_timestamp = buf.sensor.accelerometer1_timestamp; write_IMU1 = true; @@ -1737,8 +1790,6 @@ int sdlog2_thread_main(int argc, char *argv[]) free(lb.data); - warnx("exiting"); - thread_running = false; return 0; @@ -1771,7 +1822,7 @@ int file_copy(const char *file_old, const char *file_new) int ret = 0; if (source == NULL) { - warnx("failed opening input file to copy"); + warnx("ERR: open in"); return 1; } @@ -1779,7 +1830,7 @@ int file_copy(const char *file_old, const char *file_new) if (target == NULL) { fclose(source); - warnx("failed to open output file to copy"); + warnx("ERR: open out"); return 1; } @@ -1804,6 +1855,34 @@ int file_copy(const char *file_old, const char *file_new) return OK; } +int check_free_space() +{ + /* use statfs to determine the number of blocks left */ + FAR struct statfs statfs_buf; + if (statfs(mountpoint, &statfs_buf) != OK) { + errx(ERROR, "ERR: statfs"); + } + + /* use a threshold of 50 MiB */ + if (statfs_buf.f_bavail < (int)(50 * 1024 * 1024 / statfs_buf.f_bsize)) { + mavlink_and_console_log_critical(mavlink_fd, + "[sdlog2] no space on MicroSD: %u MiB", + (unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize) / (1024U * 1024U)); + /* we do not need a flag to remember that we sent this warning because we will exit anyway */ + return ERROR; + + /* use a threshold of 100 MiB to send a warning */ + } else if (!space_warning_sent && statfs_buf.f_bavail < (int)(100 * 1024 * 1024 / statfs_buf.f_bsize)) { + mavlink_and_console_log_critical(mavlink_fd, + "[sdlog2] space on MicroSD low: %u MiB", + (unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize) / (1024U * 1024U)); + /* we don't want to flood the user with warnings */ + space_warning_sent = true; + } + + return OK; +} + void handle_command(struct vehicle_command_s *cmd) { int param; diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 5b047f538..5941bfac0 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -424,6 +424,9 @@ struct log_ENCD_s { float vel1; }; +/* --- AIR SPEED SENSORS - DIFF. PRESSURE --- */ +#define LOG_AIR1_MSG 40 + /********** SYSTEM MESSAGES, ID > 0x80 **********/ /* --- TIME - TIME STAMP --- */ @@ -457,7 +460,8 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT_S(IMU, IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), LOG_FORMAT_S(IMU1, IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), LOG_FORMAT_S(IMU2, IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), - LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"), + LOG_FORMAT_S(SENS, SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"), + LOG_FORMAT_S(AIR1, SENS, "fffff", "BaroPa,BaroAlt,BaroTmp,DiffPres,DiffPresF"), LOG_FORMAT(LPOS, "ffffffffLLfBBBff", "X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,LFlg,GFlg,EPH,EPV"), LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"), LOG_FORMAT(GPS, "QBffLLfffffBHHH", "GPSTime,Fix,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog,nSat,SNR,N,J"), diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 229bfe3ce..a065541b9 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -262,6 +262,25 @@ PARAM_DEFINE_FLOAT(SENS_BARO_QNH, 1013.25f); PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0); /** + * PX4Flow board rotation + * + * This parameter defines the rotation of the PX4FLOW board relative to the platform. + * Zero rotation is defined as Y on flow board pointing towards front of vehicle + * Possible values are: + * 0 = No rotation + * 1 = Yaw 45° + * 2 = Yaw 90° + * 3 = Yaw 135° + * 4 = Yaw 180° + * 5 = Yaw 225° + * 6 = Yaw 270° + * 7 = Yaw 315° + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(SENS_FLOW_ROT, 0); + +/** * Board rotation Y (Pitch) offset * * This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user @@ -747,6 +766,41 @@ PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera roll */ */ PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); +/** + * Channel which changes a parameter + * + * Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. + * Set to 0 to deactivate * + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_MAP_PARAM1, 0); + +/** + * Channel which changes a parameter + * + * Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. + * Set to 0 to deactivate * + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_MAP_PARAM2, 0); + +/** + * Channel which changes a parameter + * + * Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. + * Set to 0 to deactivate * + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_MAP_PARAM3, 0); /** * Failsafe channel PWM threshold. diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index fca72c304..1ca9ecd8f 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -37,7 +37,7 @@ * * @author Lorenz Meier <lm@inf.ethz.ch> * @author Julian Oes <joes@student.ethz.ch> - * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Thomas Gubler <thomasgubler@gmail.com> */ #include <nuttx/config.h> @@ -63,6 +63,7 @@ #include <drivers/drv_rc_input.h> #include <drivers/drv_adc.h> #include <drivers/drv_airspeed.h> +#include <drivers/drv_px4flow.h> #include <systemlib/systemlib.h> #include <systemlib/param/param.h> @@ -82,6 +83,7 @@ #include <uORB/topics/battery_status.h> #include <uORB/topics/differential_pressure.h> #include <uORB/topics/airspeed.h> +#include <uORB/topics/rc_parameter_map.h> #define GYRO_HEALTH_COUNTER_LIMIT_ERROR 20 /* 40 ms downtime at 500 Hz update rate */ #define ACC_HEALTH_COUNTER_LIMIT_ERROR 20 /* 40 ms downtime at 500 Hz update rate */ @@ -191,6 +193,14 @@ private: uint8_t get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv); /** + * Update paramters from RC channels if the functionality is activated and the + * input has changed since the last update + * + * @param + */ + void set_params_from_rc(); + + /** * Gather and publish RC input data. */ void rc_poll(); @@ -216,10 +226,12 @@ private: int _mag2_sub; /**< raw mag2 data subscription */ int _rc_sub; /**< raw rc channels data subscription */ int _baro_sub; /**< raw baro data subscription */ + int _baro1_sub; /**< raw baro data subscription */ int _airspeed_sub; /**< airspeed subscription */ int _diff_pres_sub; /**< raw differential pressure subscription */ int _vcontrol_mode_sub; /**< vehicle control mode subscription */ int _params_sub; /**< notification of parameter updates */ + int _rc_parameter_map_sub; /**< rc parameter map subscription */ int _manual_control_sub; /**< notification of manual control updates */ orb_advert_t _sensor_pub; /**< combined sensor data topic */ @@ -237,6 +249,7 @@ private: struct baro_report _barometer; /**< barometer data */ struct differential_pressure_s _diff_pres; struct airspeed_s _airspeed; + struct rc_parameter_map_s _rc_parameter_map; math::Matrix<3, 3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */ math::Matrix<3, 3> _external_mag_rotation; /**< rotation matrix for the orientation that an external mag is mounted */ @@ -263,6 +276,7 @@ private: float diff_pres_analog_scale; int board_rotation; + int flow_rotation; int external_mag_rotation; float board_offset[3]; @@ -288,6 +302,8 @@ private: int rc_map_aux4; int rc_map_aux5; + int rc_map_param[RC_PARAM_MAP_NCHAN]; + int32_t rc_fails_thr; float rc_assist_th; float rc_auto_th; @@ -348,6 +364,12 @@ private: param_t rc_map_aux4; param_t rc_map_aux5; + param_t rc_map_param[RC_PARAM_MAP_NCHAN]; + param_t rc_param[RC_PARAM_MAP_NCHAN]; /**< param handles for the paramters which are bound + to a RC channel, equivalent float values in the + _parameters struct are not existing + because these parameters are never read. */ + param_t rc_fails_thr; param_t rc_assist_th; param_t rc_auto_th; @@ -361,6 +383,7 @@ private: param_t battery_current_scaling; param_t board_rotation; + param_t flow_rotation; param_t external_mag_rotation; param_t board_offset[3]; @@ -378,27 +401,27 @@ private: /** * Do accel-related initialisation. */ - void accel_init(); + int accel_init(); /** * Do gyro-related initialisation. */ - void gyro_init(); + int gyro_init(); /** * Do mag-related initialisation. */ - void mag_init(); + int mag_init(); /** * Do baro-related initialisation. */ - void baro_init(); + int baro_init(); /** * Do adc-related initialisation. */ - void adc_init(); + int adc_init(); /** * Poll the accelerometer for updated data. @@ -451,6 +474,11 @@ private: void parameter_update_poll(bool forced = false); /** + * Check for changes in rc_parameter_map + */ + void rc_parameter_map_poll(bool forced = false); + + /** * Poll the ADC and update readings to suit. * * @param raw Combined sensor data structure into which @@ -479,7 +507,7 @@ Sensors::Sensors() : _fd_adc(-1), _last_adc(0), - _task_should_exit(false), + _task_should_exit(true), _sensors_task(-1), _hil_enabled(false), _publishing(true), @@ -496,8 +524,10 @@ Sensors::Sensors() : _mag2_sub(-1), _rc_sub(-1), _baro_sub(-1), + _baro1_sub(-1), _vcontrol_mode_sub(-1), _params_sub(-1), + _rc_parameter_map_sub(-1), _manual_control_sub(-1), /* publications */ @@ -518,6 +548,7 @@ Sensors::Sensors() : { memset(&_rc, 0, sizeof(_rc)); memset(&_diff_pres, 0, sizeof(_diff_pres)); + memset(&_rc_parameter_map, 0, sizeof(_rc_parameter_map)); /* basic r/c parameters */ for (unsigned i = 0; i < _rc_max_chan_count; i++) { @@ -570,6 +601,13 @@ Sensors::Sensors() : _parameter_handles.rc_map_aux4 = param_find("RC_MAP_AUX4"); _parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5"); + /* RC to parameter mapping for changing parameters with RC */ + for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) { + char name[PARAM_ID_LEN]; + snprintf(name, PARAM_ID_LEN, "RC_MAP_PARAM%d", i + 1); // shifted by 1 because param name starts at 1 + _parameter_handles.rc_map_param[i] = param_find(name); + } + /* RC thresholds */ _parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR"); _parameter_handles.rc_assist_th = param_find("RC_ASSIST_TH"); @@ -614,6 +652,7 @@ Sensors::Sensors() : /* rotations */ _parameter_handles.board_rotation = param_find("SENS_BOARD_ROT"); + _parameter_handles.flow_rotation = param_find("SENS_FLOW_ROT"); _parameter_handles.external_mag_rotation = param_find("SENS_EXT_MAG_ROT"); /* rotation offsets */ @@ -747,6 +786,9 @@ Sensors::parameters_update() param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3)); param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4)); param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5)); + for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) { + param_get(_parameter_handles.rc_map_param[i], &(_parameters.rc_map_param[i])); + } param_get(_parameter_handles.rc_fails_thr, &(_parameters.rc_fails_thr)); param_get(_parameter_handles.rc_assist_th, &(_parameters.rc_assist_th)); _parameters.rc_assist_inv = (_parameters.rc_assist_th < 0); @@ -791,6 +833,10 @@ Sensors::parameters_update() _rc.function[RC_CHANNELS_FUNCTION_AUX_4] = _parameters.rc_map_aux4 - 1; _rc.function[RC_CHANNELS_FUNCTION_AUX_5] = _parameters.rc_map_aux5 - 1; + for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) { + _rc.function[PARAM_1 + i] = _parameters.rc_map_param[i] - 1; + } + /* gyro offsets */ param_get(_parameter_handles.gyro_offset[0], &(_parameters.gyro_offset[0])); param_get(_parameter_handles.gyro_offset[1], &(_parameters.gyro_offset[1])); @@ -831,8 +877,22 @@ Sensors::parameters_update() } param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation)); + param_get(_parameter_handles.flow_rotation, &(_parameters.flow_rotation)); param_get(_parameter_handles.external_mag_rotation, &(_parameters.external_mag_rotation)); + /* set px4flow rotation */ + int flowfd; + flowfd = open(PX4FLOW_DEVICE_PATH, 0); + if (flowfd >= 0) { + int flowret = ioctl(flowfd, SENSORIOCSROTATION, _parameters.flow_rotation); + if (flowret) { + warnx("flow rotation could not be set"); + close(flowfd); + return ERROR; + } + close(flowfd); + } + get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation); get_rot_matrix((enum Rotation)_parameters.external_mag_rotation, &_external_mag_rotation); @@ -850,26 +910,26 @@ Sensors::parameters_update() /* update barometer qnh setting */ param_get(_parameter_handles.baro_qnh, &(_parameters.baro_qnh)); - int fd; - fd = open(BARO_DEVICE_PATH, 0); - if (fd < 0) { - warn("%s", BARO_DEVICE_PATH); - errx(1, "FATAL: no barometer found"); + int barofd; + barofd = open(BARO_DEVICE_PATH, 0); + if (barofd < 0) { + warnx("ERROR: no barometer foundon %s", BARO_DEVICE_PATH); + return ERROR; } else { - int ret = ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)(_parameters.baro_qnh * 100)); - if (ret) { + int baroret = ioctl(barofd, BAROIOCSMSLPRESSURE, (unsigned long)(_parameters.baro_qnh * 100)); + if (baroret) { warnx("qnh could not be set"); - close(fd); + close(barofd); return ERROR; } - close(fd); + close(barofd); } return OK; } -void +int Sensors::accel_init() { int fd; @@ -877,8 +937,8 @@ Sensors::accel_init() fd = open(ACCEL_DEVICE_PATH, 0); if (fd < 0) { - warn("%s", ACCEL_DEVICE_PATH); - errx(1, "FATAL: no accelerometer found"); + warnx("FATAL: no accelerometer found: %s", ACCEL_DEVICE_PATH); + return ERROR; } else { @@ -907,9 +967,11 @@ Sensors::accel_init() close(fd); } + + return OK; } -void +int Sensors::gyro_init() { int fd; @@ -917,8 +979,8 @@ Sensors::gyro_init() fd = open(GYRO_DEVICE_PATH, 0); if (fd < 0) { - warn("%s", GYRO_DEVICE_PATH); - errx(1, "FATAL: no gyro found"); + warnx("FATAL: no gyro found: %s", GYRO_DEVICE_PATH); + return ERROR; } else { @@ -948,9 +1010,11 @@ Sensors::gyro_init() close(fd); } + + return OK; } -void +int Sensors::mag_init() { int fd; @@ -959,8 +1023,8 @@ Sensors::mag_init() fd = open(MAG_DEVICE_PATH, 0); if (fd < 0) { - warn("%s", MAG_DEVICE_PATH); - errx(1, "FATAL: no magnetometer found"); + warnx("FATAL: no magnetometer found: %s", MAG_DEVICE_PATH); + return ERROR; } /* try different mag sampling rates */ @@ -981,7 +1045,8 @@ Sensors::mag_init() ioctl(fd, SENSORIOCSPOLLRATE, 100); } else { - errx(1, "FATAL: mag sampling rate could not be set"); + warnx("FATAL: mag sampling rate could not be set"); + return ERROR; } } @@ -990,7 +1055,8 @@ Sensors::mag_init() ret = ioctl(fd, MAGIOCGEXTERNAL, 0); if (ret < 0) { - errx(1, "FATAL: unknown if magnetometer is external or onboard"); + warnx("FATAL: unknown if magnetometer is external or onboard"); + return ERROR; } else if (ret == 1) { _mag_is_external = true; @@ -1000,9 +1066,11 @@ Sensors::mag_init() } close(fd); + + return OK; } -void +int Sensors::baro_init() { int fd; @@ -1010,26 +1078,30 @@ Sensors::baro_init() fd = open(BARO_DEVICE_PATH, 0); if (fd < 0) { - warn("%s", BARO_DEVICE_PATH); - errx(1, "FATAL: No barometer found"); + warnx("FATAL: No barometer found: %s", BARO_DEVICE_PATH); + return ERROR; } /* set the driver to poll at 150Hz */ ioctl(fd, SENSORIOCSPOLLRATE, 150); close(fd); + + return OK; } -void +int Sensors::adc_init() { _fd_adc = open(ADC_DEVICE_PATH, O_RDONLY | O_NONBLOCK); if (_fd_adc < 0) { - warn(ADC_DEVICE_PATH); - warnx("FATAL: no ADC found"); + warnx("FATAL: no ADC found: %s", ADC_DEVICE_PATH); + return ERROR; } + + return OK; } void @@ -1200,6 +1272,34 @@ Sensors::mag_poll(struct sensor_combined_s &raw) raw.magnetometer_timestamp = mag_report.timestamp; } + + orb_check(_mag1_sub, &mag_updated); + + if (mag_updated) { + struct mag_report mag_report; + + orb_copy(ORB_ID(sensor_mag1), _mag1_sub, &mag_report); + + raw.magnetometer1_raw[0] = mag_report.x_raw; + raw.magnetometer1_raw[1] = mag_report.y_raw; + raw.magnetometer1_raw[2] = mag_report.z_raw; + + raw.magnetometer1_timestamp = mag_report.timestamp; + } + + orb_check(_mag2_sub, &mag_updated); + + if (mag_updated) { + struct mag_report mag_report; + + orb_copy(ORB_ID(sensor_mag2), _mag2_sub, &mag_report); + + raw.magnetometer2_raw[0] = mag_report.x_raw; + raw.magnetometer2_raw[1] = mag_report.y_raw; + raw.magnetometer2_raw[2] = mag_report.z_raw; + + raw.magnetometer2_timestamp = mag_report.timestamp; + } } void @@ -1218,6 +1318,21 @@ Sensors::baro_poll(struct sensor_combined_s &raw) raw.baro_timestamp = _barometer.timestamp; } + + orb_check(_baro1_sub, &baro_updated); + + if (baro_updated) { + + struct baro_report baro_report; + + orb_copy(ORB_ID(sensor_baro1), _baro1_sub, &baro_report); + + raw.baro1_pres_mbar = baro_report.pressure; // Pressure in mbar + raw.baro1_alt_meter = baro_report.altitude; // Altitude in meters + raw.baro1_temp_celcius = baro_report.temperature; // Temperature in degrees celcius + + raw.baro1_timestamp = baro_report.timestamp; + } } void @@ -1374,6 +1489,45 @@ Sensors::parameter_update_poll(bool forced) } void +Sensors::rc_parameter_map_poll(bool forced) +{ + bool map_updated; + orb_check(_rc_parameter_map_sub, &map_updated); + + if (map_updated) { + orb_copy(ORB_ID(rc_parameter_map), _rc_parameter_map_sub, &_rc_parameter_map); + /* update paramter handles to which the RC channels are mapped */ + for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) { + if (_rc.function[PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) { + /* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0) + * or no request to map this channel to a param has been sent via mavlink + */ + continue; + } + + /* Set the handle by index if the index is set, otherwise use the id */ + if (_rc_parameter_map.param_index[i] >= 0) { + _parameter_handles.rc_param[i] = param_for_index((unsigned)_rc_parameter_map.param_index[i]); + } else { + _parameter_handles.rc_param[i] = param_find(_rc_parameter_map.param_id[i]); + } + + } + warnx("rc to parameter map updated"); + for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) { + warnx("\ti %d param_id %s scale %.3f value0 %.3f, min %.3f, max %.3f", + i, + _rc_parameter_map.param_id[i], + (double)_rc_parameter_map.scale[i], + (double)_rc_parameter_map.value0[i], + (double)_rc_parameter_map.value_min[i], + (double)_rc_parameter_map.value_max[i] + ); + } + } +} + +void Sensors::adc_poll(struct sensor_combined_s &raw) { /* only read if publishing */ @@ -1552,6 +1706,31 @@ Sensors::get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv) } void +Sensors::set_params_from_rc() +{ + static float param_rc_values[RC_PARAM_MAP_NCHAN] = {}; + for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) { + if (_rc.function[PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) { + /* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0) + * or no request to map this channel to a param has been sent via mavlink + */ + continue; + } + + float rc_val = get_rc_value((enum RC_CHANNELS_FUNCTION)(PARAM_1 + i), -1.0, 1.0); + /* Check if the value has changed, + * maybe we need to introduce a more aggressive limit here */ + if (rc_val > param_rc_values[i] + FLT_EPSILON || rc_val < param_rc_values[i] - FLT_EPSILON) { + param_rc_values[i] = rc_val; + float param_val = math::constrain( + _rc_parameter_map.value0[i] + _rc_parameter_map.scale[i] * rc_val, + _rc_parameter_map.value_min[i], _rc_parameter_map.value_max[i]); + param_set(_parameter_handles.rc_param[i], ¶m_val); + } + } +} + +void Sensors::rc_poll() { bool rc_updated; @@ -1717,6 +1896,13 @@ Sensors::rc_poll() } else { _actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3); } + + /* Update parameters from RC Channels (tuning with RC) if activated */ + static hrt_abstime last_rc_to_param_map_time = 0; + if (hrt_elapsed_time(&last_rc_to_param_map_time) > 1e6) { + set_params_from_rc(); + last_rc_to_param_map_time = hrt_absolute_time(); + } } } } @@ -1732,11 +1918,27 @@ Sensors::task_main() { /* start individual sensors */ - accel_init(); - gyro_init(); - mag_init(); - baro_init(); - adc_init(); + int ret; + ret = accel_init(); + if (ret) { + goto exit_immediate; + } + ret = gyro_init(); + if (ret) { + goto exit_immediate; + } + ret = mag_init(); + if (ret) { + goto exit_immediate; + } + ret = baro_init(); + if (ret) { + goto exit_immediate; + } + ret = adc_init(); + if (ret) { + goto exit_immediate; + } /* * do subscriptions @@ -1752,9 +1954,11 @@ Sensors::task_main() _mag2_sub = orb_subscribe(ORB_ID(sensor_mag2)); _rc_sub = orb_subscribe(ORB_ID(input_rc)); _baro_sub = orb_subscribe(ORB_ID(sensor_baro0)); + _baro1_sub = orb_subscribe(ORB_ID(sensor_baro1)); _diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); _vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); + _rc_parameter_map_sub = orb_subscribe(ORB_ID(rc_parameter_map)); _manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); /* rate limit vehicle status updates to 5Hz */ @@ -1788,6 +1992,7 @@ Sensors::task_main() diff_pres_poll(raw); parameter_update_poll(true /* forced */); + rc_parameter_map_poll(true /* forced */); /* advertise the sensor_combined topic and make the initial publication */ _sensor_pub = orb_advertise(ORB_ID(sensor_combined), &raw); @@ -1799,6 +2004,8 @@ Sensors::task_main() fds[0].fd = _gyro_sub; fds[0].events = POLLIN; + _task_should_exit = false; + while (!_task_should_exit) { /* wait for up to 50ms for data */ @@ -1820,6 +2027,9 @@ Sensors::task_main() /* check parameters for updates */ parameter_update_poll(); + /* check rc parameter map for updates */ + rc_parameter_map_poll(); + /* the timestamp of the raw struct is updated by the gyro_poll() method */ /* copy most recent sensor data */ @@ -1846,8 +2056,9 @@ Sensors::task_main() warnx("[sensors] exiting."); +exit_immediate: _sensors_task = -1; - _exit(0); + _exit(ret); } int @@ -1863,9 +2074,13 @@ Sensors::start() (main_t)&Sensors::task_main_trampoline, nullptr); + /* wait until the task is up and running or has failed */ + while(_sensors_task > 0 && _task_should_exit) { + usleep(100); + } + if (_sensors_task < 0) { - warn("task start failed"); - return -errno; + return -ERROR; } return OK; diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index 24187c9bc..eb1aef6c1 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -78,89 +78,87 @@ float constrain(float val, float min, float max) */ const MultirotorMixer::Rotor _config_quad_x[] = { - { -0.707107, 0.707107, 1.00 }, - { 0.707107, -0.707107, 1.00 }, - { 0.707107, 0.707107, -1.00 }, - { -0.707107, -0.707107, -1.00 }, + { -0.707107, 0.707107, 1.000000 }, + { 0.707107, -0.707107, 1.000000 }, + { 0.707107, 0.707107, -1.000000 }, + { -0.707107, -0.707107, -1.000000 }, }; const MultirotorMixer::Rotor _config_quad_plus[] = { - { -1.000000, 0.000000, 1.00 }, - { 1.000000, 0.000000, 1.00 }, - { 0.000000, 1.000000, -1.00 }, - { -0.000000, -1.000000, -1.00 }, + { -1.000000, 0.000000, 1.000000 }, + { 1.000000, 0.000000, 1.000000 }, + { 0.000000, 1.000000, -1.000000 }, + { -0.000000, -1.000000, -1.000000 }, }; -//Add table for quad in V configuration, which is not generated by multi_tables! const MultirotorMixer::Rotor _config_quad_v[] = { - { -0.3223, 0.9466, 0.4242 }, - { 0.3223, -0.9466, 1.0000 }, - { 0.3223, 0.9466, -0.4242 }, - { -0.3223, -0.9466, -1.0000 }, + { -0.322266, 0.946649, 0.424200 }, + { 0.322266, 0.946649, 1.000000 }, + { 0.322266, 0.946649, -0.424200 }, + { -0.322266, 0.946649, -1.000000 }, }; const MultirotorMixer::Rotor _config_quad_wide[] = { - { -0.927184, 0.374607, 1.00 }, - { 0.777146, -0.629320, 1.00 }, - { 0.927184, 0.374607, -1.00 }, - { -0.777146, -0.629320, -1.00 }, + { -0.927184, 0.374607, 1.000000 }, + { 0.777146, -0.629320, 1.000000 }, + { 0.927184, 0.374607, -1.000000 }, + { -0.777146, -0.629320, -1.000000 }, }; const MultirotorMixer::Rotor _config_hex_x[] = { - { -1.000000, 0.000000, -1.00 }, - { 1.000000, 0.000000, 1.00 }, - { 0.500000, 0.866025, -1.00 }, - { -0.500000, -0.866025, 1.00 }, - { -0.500000, 0.866025, 1.00 }, - { 0.500000, -0.866025, -1.00 }, + { -1.000000, 0.000000, -1.000000 }, + { 1.000000, 0.000000, 1.000000 }, + { 0.500000, 0.866025, -1.000000 }, + { -0.500000, -0.866025, 1.000000 }, + { -0.500000, 0.866025, 1.000000 }, + { 0.500000, -0.866025, -1.000000 }, }; const MultirotorMixer::Rotor _config_hex_plus[] = { - { 0.000000, 1.000000, -1.00 }, - { -0.000000, -1.000000, 1.00 }, - { 0.866025, -0.500000, -1.00 }, - { -0.866025, 0.500000, 1.00 }, - { 0.866025, 0.500000, 1.00 }, - { -0.866025, -0.500000, -1.00 }, + { 0.000000, 1.000000, -1.000000 }, + { -0.000000, -1.000000, 1.000000 }, + { 0.866025, -0.500000, -1.000000 }, + { -0.866025, 0.500000, 1.000000 }, + { 0.866025, 0.500000, 1.000000 }, + { -0.866025, -0.500000, -1.000000 }, }; const MultirotorMixer::Rotor _config_hex_cox[] = { - { -0.866025, 0.500000, -1.00 }, - { -0.866025, 0.500000, 1.00 }, - { -0.000000, -1.000000, -1.00 }, - { -0.000000, -1.000000, 1.00 }, - { 0.866025, 0.500000, -1.00 }, - { 0.866025, 0.500000, 1.00 }, + { -0.866025, 0.500000, -1.000000 }, + { -0.866025, 0.500000, 1.000000 }, + { -0.000000, -1.000000, -1.000000 }, + { -0.000000, -1.000000, 1.000000 }, + { 0.866025, 0.500000, -1.000000 }, + { 0.866025, 0.500000, 1.000000 }, }; const MultirotorMixer::Rotor _config_octa_x[] = { - { -0.382683, 0.923880, -1.00 }, - { 0.382683, -0.923880, -1.00 }, - { -0.923880, 0.382683, 1.00 }, - { -0.382683, -0.923880, 1.00 }, - { 0.382683, 0.923880, 1.00 }, - { 0.923880, -0.382683, 1.00 }, - { 0.923880, 0.382683, -1.00 }, - { -0.923880, -0.382683, -1.00 }, + { -0.382683, 0.923880, -1.000000 }, + { 0.382683, -0.923880, -1.000000 }, + { -0.923880, 0.382683, 1.000000 }, + { -0.382683, -0.923880, 1.000000 }, + { 0.382683, 0.923880, 1.000000 }, + { 0.923880, -0.382683, 1.000000 }, + { 0.923880, 0.382683, -1.000000 }, + { -0.923880, -0.382683, -1.000000 }, }; const MultirotorMixer::Rotor _config_octa_plus[] = { - { 0.000000, 1.000000, -1.00 }, - { -0.000000, -1.000000, -1.00 }, - { -0.707107, 0.707107, 1.00 }, - { -0.707107, -0.707107, 1.00 }, - { 0.707107, 0.707107, 1.00 }, - { 0.707107, -0.707107, 1.00 }, - { 1.000000, 0.000000, -1.00 }, - { -1.000000, 0.000000, -1.00 }, + { 0.000000, 1.000000, -1.000000 }, + { -0.000000, -1.000000, -1.000000 }, + { -0.707107, 0.707107, 1.000000 }, + { -0.707107, -0.707107, 1.000000 }, + { 0.707107, 0.707107, 1.000000 }, + { 0.707107, -0.707107, 1.000000 }, + { 1.000000, 0.000000, -1.000000 }, + { -1.000000, 0.000000, -1.000000 }, }; const MultirotorMixer::Rotor _config_octa_cox[] = { - { -0.707107, 0.707107, 1.00 }, - { 0.707107, 0.707107, -1.00 }, - { 0.707107, -0.707107, 1.00 }, - { -0.707107, -0.707107, -1.00 }, - { 0.707107, 0.707107, 1.00 }, - { -0.707107, 0.707107, -1.00 }, - { -0.707107, -0.707107, 1.00 }, - { 0.707107, -0.707107, -1.00 }, + { -0.707107, 0.707107, 1.000000 }, + { 0.707107, 0.707107, -1.000000 }, + { 0.707107, -0.707107, 1.000000 }, + { -0.707107, -0.707107, -1.000000 }, + { 0.707107, 0.707107, 1.000000 }, + { -0.707107, 0.707107, -1.000000 }, + { -0.707107, -0.707107, 1.000000 }, + { 0.707107, -0.707107, -1.000000 }, }; -const MultirotorMixer::Rotor _config_duorotor[] = { - { -1.000000, 0.000000, 0.00 }, - { 1.000000, 0.000000, 0.00 }, +const MultirotorMixer::Rotor _config_twin_engine[] = { + { -1.000000, 0.000000, 0.000000 }, + { 1.000000, 0.000000, 0.000000 }, }; - const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = { &_config_quad_x[0], &_config_quad_plus[0], @@ -172,7 +170,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = { &_config_octa_x[0], &_config_octa_plus[0], &_config_octa_cox[0], - &_config_duorotor[0], + &_config_twin_engine[0], }; const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = { 4, /* quad_x */ diff --git a/src/modules/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables index 18c828578..bdb62f812 100755 --- a/src/modules/systemlib/mixer/multi_tables +++ b/src/modules/systemlib/mixer/multi_tables @@ -21,6 +21,12 @@ set quad_plus { 180 CW } +set quad_v { + 18.8 0.4242 + -18.8 1.0 + -18.8 -0.4242 + 18.8 -1.0 +} set quad_wide { 68 CCW @@ -89,11 +95,14 @@ set octa_cox { -135 CW } +set twin_engine { + 90 0.0 + -90 0.0 +} -set tables {quad_x quad_plus quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox} - +set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox twin_engine} -proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]} +proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %9.6f }," [rcos [expr $a + 90]] [rcos $a] [expr $d]]} foreach table $tables { puts [format "const MultirotorMixer::Rotor _config_%s\[\] = {" $table] @@ -101,9 +110,11 @@ foreach table $tables { upvar #0 $table angles foreach {angle dir} $angles { if {$dir == "CW"} { + set dd -1.0 + } elseif {$dir == "CCW"} { set dd 1.0 } else { - set dd -1.0 + set dd $dir } factors $angle $dd } diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 3d5755a46..293412455 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -63,6 +63,7 @@ ORB_DEFINE(sensor_gyro2, struct gyro_report); #include <drivers/drv_baro.h> ORB_DEFINE(sensor_baro0, struct baro_report); ORB_DEFINE(sensor_baro1, struct baro_report); +ORB_DEFINE(sensor_baro2, struct baro_report); #include <drivers/drv_range_finder.h> ORB_DEFINE(sensor_range_finder, struct range_finder_report); @@ -246,3 +247,6 @@ ORB_DEFINE(tecs_status, struct tecs_status_s); #include "topics/wind_estimate.h" ORB_DEFINE(wind_estimate, struct wind_estimate_s); + +#include "topics/rc_parameter_map.h" +ORB_DEFINE(rc_parameter_map, struct rc_parameter_map_s); diff --git a/src/modules/uORB/topics/rc_parameter_map.h b/src/modules/uORB/topics/rc_parameter_map.h new file mode 100644 index 000000000..6e68dc4b6 --- /dev/null +++ b/src/modules/uORB/topics/rc_parameter_map.h @@ -0,0 +1,76 @@ +/**************************************************************************** + * + * Copyright (C) 2014 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 rc_parameter_map.h + * Maps RC channels to parameters + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#ifndef TOPIC_RC_PARAMETER_MAP_H +#define TOPIC_RC_PARAMETER_MAP_H + +#include <stdint.h> +#include "../uORB.h" + +#define RC_PARAM_MAP_NCHAN 3 // This limit is also hardcoded in the enum RC_CHANNELS_FUNCTION in rc_channels.h +#define PARAM_ID_LEN 16 // corresponds to MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + +/** + * @addtogroup topics + * @{ + */ + +struct rc_parameter_map_s { + uint64_t timestamp; /**< time at which the map was updated */ + + bool valid[RC_PARAM_MAP_NCHAN]; /**< true for RC-Param channels which are mapped to a param */ + + int param_index[RC_PARAM_MAP_NCHAN]; /**< corresponding param index, this + this field is ignored if set to -1, in this case param_id will + be used*/ + char param_id[RC_PARAM_MAP_NCHAN][PARAM_ID_LEN + 1]; /**< corresponding param id, null terminated */ + float scale[RC_PARAM_MAP_NCHAN]; /** scale to map the RC input [-1, 1] to a parameter value */ + float value0[RC_PARAM_MAP_NCHAN]; /** inital value around which the parameter value is changed */ + float value_min[RC_PARAM_MAP_NCHAN]; /** minimal parameter value */ + float value_max[RC_PARAM_MAP_NCHAN]; /** minimal parameter value */ +}; + +/** + * @} + */ + +ORB_DECLARE(rc_parameter_map); + +#endif diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h index 06dfcdab3..583a39ded 100644 --- a/src/modules/uORB/topics/sensor_combined.h +++ b/src/modules/uORB/topics/sensor_combined.h @@ -122,15 +122,25 @@ struct sensor_combined_s { float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */ float baro_alt_meter; /**< Altitude, already temp. comp. */ float baro_temp_celcius; /**< Temperature in degrees celsius */ - float adc_voltage_v[10]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */ + uint64_t baro_timestamp; /**< Barometer timestamp */ + + float baro1_pres_mbar; /**< Barometric pressure, already temp. comp. */ + float baro1_alt_meter; /**< Altitude, already temp. comp. */ + float baro1_temp_celcius; /**< Temperature in degrees celsius */ + uint64_t baro1_timestamp; /**< Barometer timestamp */ + + float adc_voltage_v[10]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */ unsigned adc_mapping[10]; /**< Channel indices of each of these values */ float mcu_temp_celcius; /**< Internal temperature measurement of MCU */ - uint64_t baro_timestamp; /**< Barometer timestamp */ - float differential_pressure_pa; /**< Airspeed sensor differential pressure */ - uint64_t differential_pressure_timestamp; /**< Last measurement timestamp */ + float differential_pressure_pa; /**< Airspeed sensor differential pressure */ + uint64_t differential_pressure_timestamp; /**< Last measurement timestamp */ float differential_pressure_filtered_pa; /**< Low pass filtered airspeed sensor differential pressure reading */ + float differential_pressure1_pa; /**< Airspeed sensor differential pressure */ + uint64_t differential_pressure1_timestamp; /**< Last measurement timestamp */ + float differential_pressure1_filtered_pa; /**< Low pass filtered airspeed sensor differential pressure reading */ + }; /** diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index f7a432495..137c86dd5 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -62,7 +62,7 @@ */ struct vehicle_global_position_s { uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */ - uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ + uint64_t time_utc_usec; /**< GPS UTC timestamp in microseconds */ double lat; /**< Latitude in degrees */ double lon; /**< Longitude in degrees */ float alt; /**< Altitude AMSL in meters */ diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h index 7888a50f4..102914bbb 100644 --- a/src/modules/uORB/topics/vehicle_gps_position.h +++ b/src/modules/uORB/topics/vehicle_gps_position.h @@ -79,7 +79,7 @@ struct vehicle_gps_position_s { bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */ uint64_t timestamp_time; /**< Timestamp for time information */ - uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */ + uint64_t time_utc_usec; /**< Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */ uint8_t satellites_used; /**< Number of satellites used */ }; diff --git a/src/modules/uORB/topics/vtol_vehicle_status.h b/src/modules/uORB/topics/vtol_vehicle_status.h index 24ecca9fa..7b4e22bc8 100644 --- a/src/modules/uORB/topics/vtol_vehicle_status.h +++ b/src/modules/uORB/topics/vtol_vehicle_status.h @@ -54,6 +54,7 @@ struct vtol_vehicle_status_s { uint64_t timestamp; /**< Microseconds since system boot */ bool vtol_in_rw_mode; /*true: vtol vehicle is in rotating wing mode */ + bool fw_permanent_stab; /**< In fw mode stabilize attitude even if in manual mode*/ }; /** diff --git a/src/modules/uavcan/sensors/gnss.cpp b/src/modules/uavcan/sensors/gnss.cpp index a375db37f..571a6f1cd 100644 --- a/src/modules/uavcan/sensors/gnss.cpp +++ b/src/modules/uavcan/sensors/gnss.cpp @@ -159,7 +159,7 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca report.vel_ned_valid = true; report.timestamp_time = report.timestamp_position; - report.time_gps_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec(); // Convert to microseconds + report.time_utc_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec(); // Convert to microseconds report.satellites_used = msg.sats_used; diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index 9a80562f3..c72a85ecd 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -134,17 +134,21 @@ private: struct { param_t idle_pwm_mc; //pwm value for idle in mc mode param_t vtol_motor_count; + param_t vtol_fw_permanent_stab; // in fw mode stabilize attitude also in manual mode float mc_airspeed_min; // min airspeed in multicoper mode (including prop-wash) float mc_airspeed_trim; // trim airspeed in multicopter mode float mc_airspeed_max; // max airpseed in multicopter mode + float fw_pitch_trim; // trim for neutral elevon position in fw mode } _params; struct { param_t idle_pwm_mc; param_t vtol_motor_count; + param_t vtol_fw_permanent_stab; param_t mc_airspeed_min; param_t mc_airspeed_trim; param_t mc_airspeed_max; + param_t fw_pitch_trim; } _params_handles; perf_counter_t _loop_perf; /**< loop performance counter */ @@ -234,12 +238,15 @@ VtolAttitudeControl::VtolAttitudeControl() : _params.idle_pwm_mc = PWM_LOWEST_MIN; _params.vtol_motor_count = 0; + _params.vtol_fw_permanent_stab = 0; _params_handles.idle_pwm_mc = param_find("VT_IDLE_PWM_MC"); _params_handles.vtol_motor_count = param_find("VT_MOT_COUNT"); + _params_handles.vtol_fw_permanent_stab = param_find("VT_FW_PERM_STAB"); _params_handles.mc_airspeed_min = param_find("VT_MC_ARSPD_MIN"); _params_handles.mc_airspeed_max = param_find("VT_MC_ARSPD_MAX"); _params_handles.mc_airspeed_trim = param_find("VT_MC_ARSPD_TRIM"); + _params_handles.fw_pitch_trim = param_find("VT_FW_PITCH_TRIM"); /* fetch initial parameter values */ parameters_update(); @@ -411,6 +418,9 @@ VtolAttitudeControl::parameters_update() /* vtol motor count */ param_get(_params_handles.vtol_motor_count, &_params.vtol_motor_count); + /* vtol fw permanent stabilization */ + param_get(_params_handles.vtol_fw_permanent_stab, &_params.vtol_fw_permanent_stab); + /* vtol mc mode min airspeed */ param_get(_params_handles.mc_airspeed_min, &v); _params.mc_airspeed_min = v; @@ -423,6 +433,10 @@ VtolAttitudeControl::parameters_update() param_get(_params_handles.mc_airspeed_trim, &v); _params.mc_airspeed_trim = v; + /* vtol pitch trim for fw mode */ + param_get(_params_handles.fw_pitch_trim, &v); + _params.fw_pitch_trim = v; + return OK; } @@ -452,7 +466,7 @@ void VtolAttitudeControl::fill_fw_att_control_output() _actuators_out_0.control[3] = _actuators_fw_in.control[3]; /*controls for the elevons */ _actuators_out_1.control[0] = -_actuators_fw_in.control[0]; // roll elevon - _actuators_out_1.control[1] = _actuators_fw_in.control[1]; // pitch elevon + _actuators_out_1.control[1] = _actuators_fw_in.control[1] + _params.fw_pitch_trim; // pitch elevon // unused now but still logged _actuators_out_1.control[2] = _actuators_fw_in.control[2]; // yaw _actuators_out_1.control[3] = _actuators_fw_in.control[3]; // throttle @@ -597,6 +611,9 @@ void VtolAttitudeControl::task_main() parameters_update(); // initialize parameter cache + /* update vtol vehicle status*/ + _vtol_vehicle_status.fw_permanent_stab = _params.vtol_fw_permanent_stab == 1 ? true : false; + // make sure we start with idle in mc mode set_idle_mc(); flag_idle_mc = true; @@ -647,6 +664,8 @@ void VtolAttitudeControl::task_main() parameters_update(); } + _vtol_vehicle_status.fw_permanent_stab = _params.vtol_fw_permanent_stab == 1 ? true : false; + vehicle_control_mode_poll(); //Check for changes in vehicle control mode. vehicle_manual_poll(); //Check for changes in manual inputs. arming_status_poll(); //Check for arming status updates. diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c index e21bccb0c..d1d4697f3 100644 --- a/src/modules/vtol_att_control/vtol_att_control_params.c +++ b/src/modules/vtol_att_control/vtol_att_control_params.c @@ -86,3 +86,26 @@ PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MAX,30.0f); */ PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM,10.0f); +/** + * Permanent stabilization in fw mode + * + * If set to one this parameter will cause permanent attitude stabilization in fw mode. + * This parameter has been introduced for pure convenience sake. + * + * @min 0.0 + * @max 1.0 + * @group VTOL Attitude Control + */ +PARAM_DEFINE_INT32(VT_FW_PERM_STAB,0); + +/** + * Fixed wing pitch trim + * + * This parameter allows to adjust the neutral elevon position in fixed wing mode. + * + * @min -1 + * @max 1 + * @group VTOL Attitude Control + */ +PARAM_DEFINE_FLOAT(VT_FW_PITCH_TRIM,0.0f); + diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c index edeb5c624..ceaea35b6 100644 --- a/src/systemcmds/nshterm/nshterm.c +++ b/src/systemcmds/nshterm/nshterm.c @@ -66,20 +66,18 @@ nshterm_main(int argc, char *argv[]) int fd = -1; int armed_fd = orb_subscribe(ORB_ID(actuator_armed)); struct actuator_armed_s armed; - /* we assume the system does not provide arming status feedback */ - bool armed_updated = false; - /* try the first 30 seconds or if arming system is ready */ - while ((retries < 300) || armed_updated) { + /* try to bring up the console - stop doing so if the system gets armed */ + while (true) { /* abort if an arming topic is published and system is armed */ bool updated = false; - if (orb_check(armed_fd, &updated)) { + orb_check(armed_fd, &updated); + if (updated) { /* the system is now providing arming status feedback. * instead of timing out, we resort to abort bringing * up the terminal. */ - armed_updated = true; orb_copy(ORB_ID(actuator_armed), armed_fd, &armed); if (armed.armed) { @@ -92,6 +90,7 @@ nshterm_main(int argc, char *argv[]) /* which may not be ready immediately. */ fd = open(argv[1], O_RDWR); if (fd != -1) { + close(armed_fd); break; } usleep(100000); @@ -116,7 +115,7 @@ nshterm_main(int argc, char *argv[]) } /* Set ONLCR flag (which appends a CR for every LF) */ - uart_config.c_oflag |= (ONLCR | OPOST/* | OCRNL*/); + uart_config.c_oflag |= (ONLCR | OPOST); if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) { warnx("ERR set config %s\n", argv[1]); diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk index 6eed3922c..0dc333f0a 100644 --- a/src/systemcmds/tests/module.mk +++ b/src/systemcmds/tests/module.mk @@ -35,5 +35,5 @@ SRCS = test_adc.c \ test_mount.c \ test_mtd.c -EXTRACXXFLAGS = -Wframe-larger-than=2500 +EXTRACXXFLAGS = -Wframe-larger-than=2500 -Wno-float-equal -Wno-double-promotion diff --git a/src/systemcmds/tests/test_mathlib.cpp b/src/systemcmds/tests/test_mathlib.cpp index 70d173fc9..9fa52aaaa 100644 --- a/src/systemcmds/tests/test_mathlib.cpp +++ b/src/systemcmds/tests/test_mathlib.cpp @@ -54,6 +54,7 @@ using namespace math; int test_mathlib(int argc, char *argv[]) { + int rc = 0; warnx("testing mathlib"); { @@ -156,5 +157,53 @@ int test_mathlib(int argc, char *argv[]) TEST_OP("Matrix<10, 10> * Matrix<10, 10>", m1 * m2); } - return 0; + { + // test nonsymmetric +, -, +=, -= + + float data1[2][3] = {{1,2,3},{4,5,6}}; + float data2[2][3] = {{2,4,6},{8,10,12}}; + float data3[2][3] = {{3,6,9},{12,15,18}}; + + Matrix<2, 3> m1(data1); + Matrix<2, 3> m2(data2); + Matrix<2, 3> m3(data3); + + if (m1 + m2 != m3) { + warnx("Matrix<2, 3> + Matrix<2, 3> failed!"); + (m1 + m2).print(); + printf("!=\n"); + m3.print(); + rc = 1; + } + + if (m3 - m2 != m1) { + warnx("Matrix<2, 3> - Matrix<2, 3> failed!"); + (m3 - m2).print(); + printf("!=\n"); + m1.print(); + rc = 1; + } + + m1 += m2; + if (m1 != m3) { + warnx("Matrix<2, 3> += Matrix<2, 3> failed!"); + m1.print(); + printf("!=\n"); + m3.print(); + rc = 1; + } + + m1 -= m2; + Matrix<2, 3> m1_orig(data1); + if (m1 != m1_orig) { + warnx("Matrix<2, 3> -= Matrix<2, 3> failed!"); + m1.print(); + printf("!=\n"); + m1_orig.print(); + rc = 1; + } + + } + + return rc; } diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt new file mode 100644 index 000000000..d264ae8cd --- /dev/null +++ b/unittests/CMakeLists.txt @@ -0,0 +1,26 @@ +cmake_minimum_required(VERSION 2.8) +project(unittests) +enable_testing() + +set(GTEST_DIR gtest) +add_subdirectory(${GTEST_DIR}) +include_directories(${GTEST_DIR}/include) +include_directories(${CMAKE_SOURCE_DIR}) +include_directories(${CMAKE_SOURCE_DIR}/../src) +include_directories(${CMAKE_SOURCE_DIR}/../src/modules) +include_directories(${CMAKE_SOURCE_DIR}/../src/lib) + +add_definitions(-D__EXPORT=) + +function(add_gtest) + foreach(test_name ${ARGN}) + target_link_libraries(${test_name} gtest_main) + add_test(${test_name}Test ${test_name}) + endforeach() +endfunction() + + +# add each test +# todo: add mixer_test sbus2_test st24_test sf0x_test +add_executable(autodeclination_test autodeclination_test.cpp ${CMAKE_SOURCE_DIR}/../src/lib/geo_lookup/geo_mag_declination.c) +add_gtest(autodeclination_test) diff --git a/unittests/Makefile b/unittests/Makefile index e55411a75..5faa50bb5 100644 --- a/unittests/Makefile +++ b/unittests/Makefile @@ -40,7 +40,7 @@ gtest_main.a: gtest-all.o gtest_main.o $(AR) $(ARFLAGS) $@ $^ -all: sample_unittest mixer_test sbus2_test autodeclination_test st24_test sf0x_test +all: mixer_test sbus2_test st24_test sf0x_test MIXER_FILES=../src/systemcmds/tests/test_mixer.cpp \ ../src/systemcmds/tests/test_conv.cpp \ @@ -66,24 +66,6 @@ SF0X_FILES= \ sf0x_test.cpp \ ../src/drivers/sf0x/sf0x_parser.cpp -AUTODECLINATION_FILES= ../src/lib/geo_lookup/geo_mag_declination.c \ - hrt.cpp \ - autodeclination_test.cpp - -# Builds a sample test. A test should link with either gtest.a or -# gtest_main.a, depending on whether it defines its own main() -# function. -sample.o: sample.cc sample.h $(GTEST_HEADERS) - $(CC) $(CFLAGS) -c sample.cc - -sample_unittest.o: sample_unittest.cc \ - sample.h $(GTEST_HEADERS) - $(CC) $(CFLAGS) -c sample_unittest.cc - -sample_unittest: sample.o sample_unittest.o gtest_main.a - $(CC) $(CFLAGS) $^ -o $@ - - mixer_test: $(MIXER_FILES) $(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS) @@ -93,19 +75,19 @@ sbus2_test: $(SBUS2_FILES) sf0x_test: $(SF0X_FILES) $(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS) -autodeclination_test: $(SBUS2_FILES) - $(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS) - st24_test: $(ST24_FILES) $(CC) -o st24_test $(ST24_FILES) $(CFLAGS) -unittests: clean mixer_test sbus2_test sf0x_test autodeclination_test st24_test +cmake_gtests: + mkdir -p build + cd build && CC=gcc cmake .. && $(MAKE) && $(MAKE) test + +unittests: clean mixer_test sbus2_test sf0x_test st24_test cmake_gtests ./mixer_test ./sbus2_test ./sf0x_test - ./autodeclination_test ./st24_test .PHONY: clean clean: - rm -f gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest mixer_test sbus2_test autodeclination_test st24_test sf0x_test + rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest mixer_test sbus2_test st24_test sf0x_test build diff --git a/unittests/autodeclination_test.cpp b/unittests/autodeclination_test.cpp index 1bda6eb79..a27d5f100 100644 --- a/unittests/autodeclination_test.cpp +++ b/unittests/autodeclination_test.cpp @@ -1,52 +1,17 @@ - +#include <math.h> #include <stdio.h> #include <stdlib.h> -#include <unistd.h> #include <string.h> -#include <math.h> -#include <systemlib/mixer/mixer.h> -#include <systemlib/err.h> +#include <unistd.h> + #include <drivers/drv_hrt.h> -#include <px4iofirmware/px4io.h> -// #include "../../src/systemcmds/tests/tests.h" #include <geo/geo.h> +#include <px4iofirmware/px4io.h> +#include <systemlib/err.h> +#include <systemlib/mixer/mixer.h> -int main(int argc, char *argv[]) { - warnx("autodeclination test started"); - - char* latstr = 0; - char* lonstr = 0; - char* declstr = 0; - - if (argc < 4) { - warnx("Too few arguments. Using default lat / lon and declination"); - latstr = "47.0"; - lonstr = "8.0"; - declstr = "0.6"; - } else { - latstr = argv[1]; - lonstr = argv[2]; - declstr = argv[3]; - } - - char* p_end; - - float lat = strtod(latstr, &p_end); - float lon = strtod(lonstr, &p_end); - float decl_truth = strtod(declstr, &p_end); - - float declination = get_mag_declination(lat, lon); - - printf("lat: %f lon: %f, expected dec: %f, estimated dec: %f\n", lat, lon, declination, decl_truth); - - int ret = 0; - - // Fail if the declination differs by more than one degree - float decldiff = fabs(decl_truth - declination); - if (decldiff > 0.5f) { - warnx("declination differs more than 1 degree: difference: %12.8f", decldiff); - ret = 1; - } +#include "gtest/gtest.h" - return ret; +TEST(AutoDeclinationTest, AutoDeclination) { + ASSERT_NEAR(get_mag_declination(47.0, 8.0), 0.6, 0.5) << "declination differs more than 1 degree"; } diff --git a/unittests/sample.cc b/unittests/sample.cc deleted file mode 100644 index 3f0c838f2..000000000 --- a/unittests/sample.cc +++ /dev/null @@ -1,68 +0,0 @@ -// Copyright 2005, Google Inc. -// All rights reserved. -// -// Redistribution and use in source and binary forms, with or without -// modification, are permitted provided that the following conditions are -// met: -// -// * Redistributions of source code must retain the above copyright -// notice, this list of conditions and the following disclaimer. -// * 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. -// * Neither the name of Google Inc. 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. - -// A sample program demonstrating using Google C++ testing framework. -// -// Author: wan@google.com (Zhanyong Wan) - -#include "sample.h" - -// Returns n! (the factorial of n). For negative n, n! is defined to be 1. -int Factorial(int n) { - int result = 1; - for (int i = 1; i <= n; i++) { - result *= i; - } - - return result; -} - -// Returns true iff n is a prime number. -bool IsPrime(int n) { - // Trivial case 1: small numbers - if (n <= 1) return false; - - // Trivial case 2: even numbers - if (n % 2 == 0) return n == 2; - - // Now, we have that n is odd and n >= 3. - - // Try to divide n by every odd number i, starting from 3 - for (int i = 3; ; i += 2) { - // We only have to try i up to the squre root of n - if (i > n/i) break; - - // Now, we have i <= n/i < n. - // If n is divisible by i, n is not prime. - if (n % i == 0) return false; - } - - // n has no integer factor in the range (1, n), and thus is prime. - return true; -} diff --git a/unittests/sample.h b/unittests/sample.h deleted file mode 100644 index 3dfeb98c4..000000000 --- a/unittests/sample.h +++ /dev/null @@ -1,43 +0,0 @@ -// Copyright 2005, Google Inc. -// All rights reserved. -// -// Redistribution and use in source and binary forms, with or without -// modification, are permitted provided that the following conditions are -// met: -// -// * Redistributions of source code must retain the above copyright -// notice, this list of conditions and the following disclaimer. -// * 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. -// * Neither the name of Google Inc. 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. - -// A sample program demonstrating using Google C++ testing framework. -// -// Author: wan@google.com (Zhanyong Wan) - -#ifndef GTEST_SAMPLES_SAMPLE1_H_ -#define GTEST_SAMPLES_SAMPLE1_H_ - -// Returns n! (the factorial of n). For negative n, n! is defined to be 1. -int Factorial(int n); - -// Returns true iff n is a prime number. -bool IsPrime(int n); - -#endif // GTEST_SAMPLES_SAMPLE1_H_ diff --git a/unittests/sample_unittest.cc b/unittests/sample_unittest.cc deleted file mode 100644 index 8dc3f5c38..000000000 --- a/unittests/sample_unittest.cc +++ /dev/null @@ -1,153 +0,0 @@ -// Copyright 2005, Google Inc. -// All rights reserved. -// -// Redistribution and use in source and binary forms, with or without -// modification, are permitted provided that the following conditions are -// met: -// -// * Redistributions of source code must retain the above copyright -// notice, this list of conditions and the following disclaimer. -// * 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. -// * Neither the name of Google Inc. 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. - -// A sample program demonstrating using Google C++ testing framework. -// -// Author: wan@google.com (Zhanyong Wan) - - -// This sample shows how to write a simple unit test for a function, -// using Google C++ testing framework. -// -// Writing a unit test using Google C++ testing framework is easy as 1-2-3: - - -// Step 1. Include necessary header files such that the stuff your -// test logic needs is declared. -// -// Don't forget gtest.h, which declares the testing framework. - -#include <limits.h> -#include "sample.h" -#include "gtest/gtest.h" - - -// Step 2. Use the TEST macro to define your tests. -// -// TEST has two parameters: the test case name and the test name. -// After using the macro, you should define your test logic between a -// pair of braces. You can use a bunch of macros to indicate the -// success or failure of a test. EXPECT_TRUE and EXPECT_EQ are -// examples of such macros. For a complete list, see gtest.h. -// -// <TechnicalDetails> -// -// In Google Test, tests are grouped into test cases. This is how we -// keep test code organized. You should put logically related tests -// into the same test case. -// -// The test case name and the test name should both be valid C++ -// identifiers. And you should not use underscore (_) in the names. -// -// Google Test guarantees that each test you define is run exactly -// once, but it makes no guarantee on the order the tests are -// executed. Therefore, you should write your tests in such a way -// that their results don't depend on their order. -// -// </TechnicalDetails> - - -// Tests Factorial(). - -// Tests factorial of negative numbers. -TEST(FactorialTest, Negative) { - // This test is named "Negative", and belongs to the "FactorialTest" - // test case. - EXPECT_EQ(1, Factorial(-5)); - EXPECT_EQ(1, Factorial(-1)); - EXPECT_GT(Factorial(-10), 0); - - // <TechnicalDetails> - // - // EXPECT_EQ(expected, actual) is the same as - // - // EXPECT_TRUE((expected) == (actual)) - // - // except that it will print both the expected value and the actual - // value when the assertion fails. This is very helpful for - // debugging. Therefore in this case EXPECT_EQ is preferred. - // - // On the other hand, EXPECT_TRUE accepts any Boolean expression, - // and is thus more general. - // - // </TechnicalDetails> -} - -// Tests factorial of 0. -TEST(FactorialTest, Zero) { - EXPECT_EQ(1, Factorial(0)); -} - -// Tests factorial of positive numbers. -TEST(FactorialTest, Positive) { - EXPECT_EQ(1, Factorial(1)); - EXPECT_EQ(2, Factorial(2)); - EXPECT_EQ(6, Factorial(3)); - EXPECT_EQ(40320, Factorial(8)); -} - - -// Tests IsPrime() - -// Tests negative input. -TEST(IsPrimeTest, Negative) { - // This test belongs to the IsPrimeTest test case. - - EXPECT_FALSE(IsPrime(-1)); - EXPECT_FALSE(IsPrime(-2)); - EXPECT_FALSE(IsPrime(INT_MIN)); -} - -// Tests some trivial cases. -TEST(IsPrimeTest, Trivial) { - EXPECT_FALSE(IsPrime(0)); - EXPECT_FALSE(IsPrime(1)); - EXPECT_TRUE(IsPrime(2)); - EXPECT_TRUE(IsPrime(3)); -} - -// Tests positive input. -TEST(IsPrimeTest, Positive) { - EXPECT_FALSE(IsPrime(4)); - EXPECT_TRUE(IsPrime(5)); - EXPECT_FALSE(IsPrime(6)); - EXPECT_TRUE(IsPrime(23)); -} - -// Step 3. Call RUN_ALL_TESTS() in main(). -// -// We do this by linking in src/gtest_main.cc file, which consists of -// a main() function which calls RUN_ALL_TESTS() for us. -// -// This runs all the tests you've defined, prints the result, and -// returns 0 if successful, or 1 otherwise. -// -// Did you notice that we didn't register the tests? The -// RUN_ALL_TESTS() macro magically knows about all the tests we -// defined. Isn't this convenient? |