Merged origin/master into pubsub_cleanup

8 files changed, 249 insertions, 11 deletions

diff --git a/Tools/px4params/.gitignore b/Tools/px4params/.gitignore
index 73cf39575..5d0378b4a 100644
--- a/Tools/px4params/.gitignore
+++ b/Tools/px4params/.gitignore
@@ -1,2 +1,3 @@
 parameters.wiki
-parameters.xml
\ No newline at end of file
+parameters.xml
+cookies.txt
\ No newline at end of file
diff --git a/Tools/px4params/dokuwikiout.py b/Tools/px4params/dokuwikiout.py
index 4d40a6201..c5cf65ea6 100644
--- a/Tools/px4params/dokuwikiout.py
+++ b/Tools/px4params/dokuwikiout.py
@@ -1,10 +1,24 @@
 import output
+from xml.sax.saxutils import escape
 
 class DokuWikiOutput(output.Output):
     def Generate(self, groups):
-        result = ""
+        pre_text = """<?xml version='1.0'?>
+            <methodCall>
+              <methodName>wiki.putPage</methodName>
+                  <params>
+              <param> 
+                <value>
+                  <string>:firmware:parameters</string>
+                </value>
+              </param> 
+                  <param> 
+                <value>
+                  <string>"""
+        result = "====== Parameter Reference ======\nThis list is auto-generated every few minutes and contains the most recent parameter names and default values."
         for group in groups:
             result += "==== %s ====\n\n" % group.GetName()
+            result += "|< 100% 20% 20% 10% 10% 10% 30%>|\n"
             result += "^ Name            ^ Description    ^ Min    ^ Max    ^ Default   ^ Comment    ^\n"
             for param in group.GetParams():
                 code = param.GetFieldValue("code")
@@ -13,25 +27,36 @@ class DokuWikiOutput(output.Output):
                 result += "| %s   | %s  " % (code, name)
                 min_val = param.GetFieldValue("min")
                 if min_val is not None:
-                    result += "| %s  " % min_val
+                    result += " | %s  " % min_val
                 else:
-                    result += "|"
+                    result += " | "
                 max_val = param.GetFieldValue("max")
                 if max_val is not None:
-                    result += "| %s  " % max_val
+                    result += " | %s  " % max_val
                 else:
-                    result += "|"
+                    result += " | "
                 def_val = param.GetFieldValue("default")
                 if def_val is not None:
                     result += "| %s  " % def_val
                 else:
-                    result += "|"
+                    result += " | "
                 long_desc = param.GetFieldValue("long_desc")
                 if long_desc is not None:
                     long_desc = long_desc.replace("\n", "")
                     result += "| %s  " % long_desc
                 else:
-                    result += "|"
-                result += "|\n"
+                    result += " | "
+                result += " |\n"
             result += "\n"
-        return result
+        post_text = """</string>
+        </value>
+      </param> 
+           <param> 
+        <value>
+            <name>sum</name>
+            <string>Updated parameters automagically from code.</string>
+        </value>
+      </param> 
+    </params> 
+    </methodCall>"""
+        return pre_text + escape(result) + post_text
diff --git a/Tools/px4params/xmlrpc.sh b/Tools/px4params/xmlrpc.sh
new file mode 100644
index 000000000..36c52ff71
--- /dev/null
+++ b/Tools/px4params/xmlrpc.sh
@@ -0,0 +1,5 @@
+python px_process_params.py
+
+rm cookies.txt
+curl --cookie cookies.txt --cookie-jar cookies.txt --user-agent Mozilla/4.0 --data "u=$XMLRPCUSER&p=$XMLRPCPASS" https://pixhawk.org/start?do=login
+curl -k --cookie cookies.txt -H "Content-Type: application/xml" -X POST --data-binary @parameters.wiki "https://pixhawk.org/lib/exe/xmlrpc.php"
diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py
index cce5e5e54..23dc48450 100755
--- a/Tools/px_uploader.py
+++ b/Tools/px_uploader.py
@@ -50,6 +50,9 @@
 #       Currently only used for informational purposes.
 #
 
+# for python2.7 compatibility
+from __future__ import print_function
+
 import sys
 import argparse
 import binascii
@@ -154,6 +157,8 @@ class uploader(object):
         PROG_MULTI      = b'\x27'
         READ_MULTI      = b'\x28'     # rev2 only
         GET_CRC         = b'\x29'     # rev3+
+        GET_OTP         = b'\x2a'     # rev4+  , get a word from OTP area
+        GET_SN          = b'\x2b'     # rev4+  , get a word from SN area
         REBOOT          = b'\x30'
         
         INFO_BL_REV     = b'\x01'        # bootloader protocol revision
@@ -175,6 +180,8 @@ class uploader(object):
         def __init__(self, portname, baudrate):
                 # open the port, keep the default timeout short so we can poll quickly
                 self.port = serial.Serial(portname, baudrate, timeout=0.5)
+                self.otp = b''
+                self.sn = b''
 
         def close(self):
                 if self.port is not None:
@@ -237,6 +244,22 @@ class uploader(object):
                 self.__getSync()
                 return value
 
+        # send the GET_OTP command and wait for an info parameter
+        def __getOTP(self, param):
+                t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array.
+                self.__send(uploader.GET_OTP + t + uploader.EOC)
+                value = self.__recv(4)
+                self.__getSync()
+                return value
+
+        # send the GET_OTP command and wait for an info parameter
+        def __getSN(self, param):
+                t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array.
+                self.__send(uploader.GET_SN + t + uploader.EOC)
+                value = self.__recv(4)
+                self.__getSync()
+                return value
+
         # send the CHIP_ERASE command and wait for the bootloader to become ready
         def __erase(self):
                 self.__send(uploader.CHIP_ERASE
@@ -353,6 +376,31 @@ class uploader(object):
                 if self.fw_maxsize < fw.property('image_size'):
                         raise RuntimeError("Firmware image is too large for this board")
 
+                # OTP added in v4:
+                if self.bl_rev > 3:
+                    for byte in range(0,32*6,4):
+                        x = self.__getOTP(byte)
+                        self.otp  = self.otp + x
+                        print(binascii.hexlify(x).decode('utf-8') + ' ', end='')
+                    # see src/modules/systemlib/otp.h in px4 code:
+                    self.otp_id = self.otp[0:4]
+                    self.otp_idtype = self.otp[4:5]
+                    self.otp_vid = self.otp[8:4:-1]
+                    self.otp_pid = self.otp[12:8:-1]
+                    self.otp_coa = self.otp[32:160]
+                    # show user:
+                    print("type: " + self.otp_id.decode('utf-8'))
+                    print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('utf-8'))
+                    print("vid: " + binascii.hexlify(self.otp_vid).decode('utf-8'))
+                    print("pid: "+ binascii.hexlify(self.otp_pid).decode('utf-8'))
+                    print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('utf-8'))
+                    print("sn: ", end='')
+                    for byte in range(0,12,4):
+                        x = self.__getSN(byte)
+                        x = x[::-1]  # reverse the bytes
+                        self.sn  = self.sn + x
+                        print(binascii.hexlify(x).decode('utf-8'), end='') # show user
+                    print('')
                 print("erase...")
                 self.__erase()
 
diff --git a/Tools/tests-host/Makefile b/Tools/tests-host/Makefile
index 97410ff47..7ab1454f0 100644
--- a/Tools/tests-host/Makefile
+++ b/Tools/tests-host/Makefile
@@ -10,11 +10,13 @@ LIBS=-lm
 #_DEPS = test.h
 #DEPS = $(patsubst %,$(IDIR)/%,$(_DEPS))
 
-_OBJ = mixer_test.o test_mixer.o mixer_simple.o mixer_multirotor.o mixer.o mixer_group.o mixer_load.o
+_OBJ = mixer_test.o test_mixer.o mixer_simple.o mixer_multirotor.o \
+	mixer.o mixer_group.o mixer_load.o test_conv.o pwm_limit.o hrt.o
 OBJ = $(patsubst %,$(ODIR)/%,$(_OBJ))
 
 #$(DEPS)
 $(ODIR)/%.o: %.cpp
+	mkdir -p obj
 	$(CC) -c -o $@ $< $(CFLAGS)
 
 $(ODIR)/%.o: ../../src/systemcmds/tests/%.cpp
@@ -26,6 +28,12 @@ $(ODIR)/%.o: ../../src/modules/systemlib/%.cpp
 $(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.cpp
 	$(CC) -c -o $@ $< $(CFLAGS)
 
+$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.cpp
+	$(CC) -c -o $@ $< $(CFLAGS)
+
+$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.c
+	$(CC) -c -o $@ $< $(CFLAGS)
+
 $(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.c
 	$(CC) -c -o $@ $< $(CFLAGS)
 
diff --git a/Tools/tests-host/hrt.cpp b/Tools/tests-host/hrt.cpp
new file mode 100644
index 000000000..01b5958b7
--- /dev/null
+++ b/Tools/tests-host/hrt.cpp
@@ -0,0 +1,16 @@
+#include <sys/time.h>
+#include <inttypes.h>
+#include <drivers/drv_hrt.h>
+#include <stdio.h>
+
+hrt_abstime hrt_absolute_time() {
+    struct timeval te; 
+    gettimeofday(&te, NULL); // get current time
+    hrt_abstime us = static_cast<uint64_t>(te.tv_sec) * 1e6 + te.tv_usec; // caculate us
+    return us;
+}
+
+hrt_abstime hrt_elapsed_time(const volatile hrt_abstime *then) {
+	// not thread safe
+    return hrt_absolute_time() - *then;
+}
diff --git a/Tools/tests-host/mixer_test.cpp b/Tools/tests-host/mixer_test.cpp
index 042322aad..e311617f9 100644
--- a/Tools/tests-host/mixer_test.cpp
+++ b/Tools/tests-host/mixer_test.cpp
@@ -9,4 +9,6 @@ int main(int argc, char *argv[]) {
 				 "../../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
 
 	test_mixer(3, args);
+
+	test_conv(1, args);
 }
\ No newline at end of file
diff --git a/Tools/tests-host/queue.h b/Tools/tests-host/queue.h
new file mode 100644
index 000000000..0fdb170db
--- /dev/null
+++ b/Tools/tests-host/queue.h
@@ -0,0 +1,133 @@
+/************************************************************************
+ * include/queue.h
+ *
+ *   Copyright (C) 2007-2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 NuttX 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.
+ *
+ ************************************************************************/
+
+#ifndef __INCLUDE_QUEUE_H
+#define __INCLUDE_QUEUE_H
+
+#ifndef FAR
+#define FAR
+#endif
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <sys/types.h>
+
+/************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************/
+
+#define sq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0)
+#define dq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0)
+
+#define sq_next(p) ((p)->flink)
+#define dq_next(p) ((p)->flink)
+#define dq_prev(p) ((p)->blink)
+
+#define sq_empty(q) ((q)->head == NULL)
+#define dq_empty(q) ((q)->head == NULL)
+
+#define sq_peek(q)  ((q)->head)
+#define dq_peek(q)  ((q)->head)
+
+/************************************************************************
+ * Global Type Declarations
+ ************************************************************************/
+
+struct sq_entry_s
+{
+  FAR struct sq_entry_s *flink;
+};
+typedef struct sq_entry_s sq_entry_t;
+
+struct dq_entry_s
+{
+  FAR struct dq_entry_s *flink;
+  FAR struct dq_entry_s *blink;
+};
+typedef struct dq_entry_s dq_entry_t;
+
+struct sq_queue_s
+{
+  FAR sq_entry_t *head;
+  FAR sq_entry_t *tail;
+};
+typedef struct sq_queue_s  sq_queue_t;
+
+struct dq_queue_s
+{
+  FAR dq_entry_t *head;
+  FAR dq_entry_t *tail;
+};
+typedef struct dq_queue_s dq_queue_t;
+
+/************************************************************************
+ * Global Function Prototypes
+ ************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C" {
+#else
+#define EXTERN extern
+#endif
+
+EXTERN void  sq_addfirst(FAR sq_entry_t *node, sq_queue_t *queue);
+EXTERN void  dq_addfirst(FAR dq_entry_t *node, dq_queue_t *queue);
+EXTERN void  sq_addlast(FAR sq_entry_t *node, sq_queue_t *queue);
+EXTERN void  dq_addlast(FAR dq_entry_t *node, dq_queue_t *queue);
+EXTERN void  sq_addafter(FAR sq_entry_t *prev, FAR sq_entry_t *node,
+                         sq_queue_t *queue);
+EXTERN void  dq_addafter(FAR dq_entry_t *prev, FAR dq_entry_t *node,
+                         dq_queue_t *queue);
+EXTERN void  dq_addbefore(FAR dq_entry_t *next, FAR dq_entry_t *node,
+                          dq_queue_t *queue);
+
+EXTERN FAR sq_entry_t *sq_remafter(FAR sq_entry_t *node, sq_queue_t *queue);
+EXTERN void            sq_rem(FAR sq_entry_t *node, sq_queue_t *queue);
+EXTERN void            dq_rem(FAR dq_entry_t *node, dq_queue_t *queue);
+EXTERN FAR sq_entry_t *sq_remlast(sq_queue_t *queue);
+EXTERN FAR dq_entry_t *dq_remlast(dq_queue_t *queue);
+EXTERN FAR sq_entry_t *sq_remfirst(sq_queue_t *queue);
+EXTERN FAR dq_entry_t *dq_remfirst(dq_queue_t *queue);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __INCLUDE_QUEUE_H_ */
+