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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-13 00:25:00 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-13 00:25:00 +0200 |
commit | 5c21f61e7ecea7fab236eb0fed3bac512ca79ea8 (patch) | |
tree | 59c90382d217965e68ae83ada7df56b94e1baf90 /src | |
parent | 9c63aba9a72083afe1e5f818c6559760c5b6b1cc (diff) | |
parent | cdfbe9bcc41a6e8e8b2a6f95bd69283ee5176966 (diff) | |
download | px4-firmware-5c21f61e7ecea7fab236eb0fed3bac512ca79ea8.tar.gz px4-firmware-5c21f61e7ecea7fab236eb0fed3bac512ca79ea8.tar.bz2 px4-firmware-5c21f61e7ecea7fab236eb0fed3bac512ca79ea8.zip |
Merge branch 'master' of github.com:PX4/Firmware into ekf_init
Diffstat (limited to 'src')
64 files changed, 3243 insertions, 1216 deletions
diff --git a/src/drivers/ardrone_interface/module.mk b/src/drivers/ardrone_interface/module.mk index d8e6c76c6..285db1351 100644 --- a/src/drivers/ardrone_interface/module.mk +++ b/src/drivers/ardrone_interface/module.mk @@ -39,3 +39,5 @@ MODULE_COMMAND = ardrone_interface SRCS = ardrone_interface.c \ ardrone_motor_control.c MODULE_STACKSIZE = 1200 + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/blinkm/module.mk b/src/drivers/blinkm/module.mk index b48b90f3f..c90673317 100644 --- a/src/drivers/blinkm/module.mk +++ b/src/drivers/blinkm/module.mk @@ -38,3 +38,5 @@ MODULE_COMMAND = blinkm SRCS = blinkm.cpp + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/boards/px4fmu-v1/board_config.h b/src/drivers/boards/px4fmu-v1/board_config.h index c944007a5..a70a6240c 100644 --- a/src/drivers/boards/px4fmu-v1/board_config.h +++ b/src/drivers/boards/px4fmu-v1/board_config.h @@ -86,7 +86,6 @@ __BEGIN_DECLS #define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) #define PX4_SPI_BUS_SENSORS 1 -#define PX4_SPI_BUS_EXT 2 /* * Use these in place of the spi_dev_e enumeration to diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h index 36eb7bec4..0190a5b5b 100644 --- a/src/drivers/boards/px4fmu-v2/board_config.h +++ b/src/drivers/boards/px4fmu-v2/board_config.h @@ -108,6 +108,8 @@ __BEGIN_DECLS #define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2) #define GPIO_SPI_CS_EXT0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4) #define GPIO_SPI_CS_EXT1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14) +#define GPIO_SPI_CS_EXT2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) +#define GPIO_SPI_CS_EXT3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) #define PX4_SPI_BUS_SENSORS 1 #define PX4_SPI_BUS_EXT 4 @@ -121,10 +123,19 @@ __BEGIN_DECLS /* External bus */ #define PX4_SPIDEV_EXT0 1 #define PX4_SPIDEV_EXT1 2 +#define PX4_SPIDEV_EXT2 3 +#define PX4_SPIDEV_EXT3 4 + +/* FMUv3 SPI on external bus */ +#define PX4_SPIDEV_EXT_MPU PX4_SPIDEV_EXT0 +#define PX4_SPIDEV_EXT_BARO PX4_SPIDEV_EXT1 +#define PX4_SPIDEV_EXT_ACCEL_MAG PX4_SPIDEV_EXT2 +#define PX4_SPIDEV_EXT_GYRO PX4_SPIDEV_EXT3 /* I2C busses */ #define PX4_I2C_BUS_EXPANSION 1 -#define PX4_I2C_BUS_LED 2 +#define PX4_I2C_BUS_ONBOARD 2 +#define PX4_I2C_BUS_LED PX4_I2C_BUS_ONBOARD /* Devices on the onboard bus. * diff --git a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c index 01dbd6e77..8c37d31a7 100644 --- a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c +++ b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c @@ -98,8 +98,12 @@ __EXPORT void weak_function stm32_spiinitialize(void) #ifdef CONFIG_STM32_SPI4 stm32_configgpio(GPIO_SPI_CS_EXT0); stm32_configgpio(GPIO_SPI_CS_EXT1); + stm32_configgpio(GPIO_SPI_CS_EXT2); + stm32_configgpio(GPIO_SPI_CS_EXT3); stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1); stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1); + stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1); + stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1); #endif } @@ -174,12 +178,32 @@ __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, /* Making sure the other peripherals are not selected */ stm32_gpiowrite(GPIO_SPI_CS_EXT0, !selected); stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1); + stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1); + stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1); break; case PX4_SPIDEV_EXT1: /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1); stm32_gpiowrite(GPIO_SPI_CS_EXT1, !selected); + stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1); + stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1); + break; + + case PX4_SPIDEV_EXT2: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1); + stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1); + stm32_gpiowrite(GPIO_SPI_CS_EXT2, !selected); + stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1); + break; + + case PX4_SPIDEV_EXT3: + /* Making sure the other peripherals are not selected */ stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1); + stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1); + stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1); + stm32_gpiowrite(GPIO_SPI_CS_EXT3, !selected); break; default: diff --git a/src/drivers/device/cdev.cpp b/src/drivers/device/cdev.cpp index 6e2ebb1f7..39fb89501 100644 --- a/src/drivers/device/cdev.cpp +++ b/src/drivers/device/cdev.cpp @@ -268,6 +268,13 @@ CDev::ioctl(struct file *filp, int cmd, unsigned long arg) break; } + /* try the superclass. The different ioctl() function form + * means we need to copy arg */ + unsigned arg2 = arg; + int ret = Device::ioctl(cmd, arg2); + if (ret != -ENODEV) + return ret; + return -ENOTTY; } diff --git a/src/drivers/device/device.cpp b/src/drivers/device/device.cpp index 683455149..f1f777dce 100644 --- a/src/drivers/device/device.cpp +++ b/src/drivers/device/device.cpp @@ -42,6 +42,7 @@ #include <nuttx/arch.h> #include <stdio.h> #include <unistd.h> +#include <drivers/drv_device.h> namespace device { @@ -93,6 +94,13 @@ Device::Device(const char *name, _irq_attached(false) { sem_init(&_lock, 0, 1); + + /* setup a default device ID. When bus_type is UNKNOWN the + other fields are invalid */ + _device_id.devid_s.bus_type = DeviceBusType_UNKNOWN; + _device_id.devid_s.bus = 0; + _device_id.devid_s.address = 0; + _device_id.devid_s.devtype = 0; } Device::~Device() @@ -238,6 +246,10 @@ Device::write(unsigned offset, void *data, unsigned count) int Device::ioctl(unsigned operation, unsigned &arg) { + switch (operation) { + case DEVIOCGDEVICEID: + return (int)_device_id.devid; + } return -ENODEV; } diff --git a/src/drivers/device/device.h b/src/drivers/device/device.h index d99f22922..7df234cab 100644 --- a/src/drivers/device/device.h +++ b/src/drivers/device/device.h @@ -124,9 +124,37 @@ public: */ virtual int ioctl(unsigned operation, unsigned &arg); + /* + device bus types for DEVID + */ + enum DeviceBusType { + DeviceBusType_UNKNOWN = 0, + DeviceBusType_I2C = 1, + DeviceBusType_SPI = 2 + }; + + /* + broken out device elements. The bitfields are used to keep + the overall value small enough to fit in a float accurately, + which makes it possible to transport over the MAVLink + parameter protocol without loss of information. + */ + struct DeviceStructure { + enum DeviceBusType bus_type:3; + uint8_t bus:5; // which instance of the bus type + uint8_t address; // address on the bus (eg. I2C address) + uint8_t devtype; // device class specific device type + }; + + union DeviceId { + struct DeviceStructure devid_s; + uint32_t devid; + }; + protected: const char *_name; /**< driver name */ bool _debug_enabled; /**< if true, debug messages are printed */ + union DeviceId _device_id; /**< device identifier information */ /** * Constructor diff --git a/src/drivers/device/i2c.cpp b/src/drivers/device/i2c.cpp index a416801eb..286778c01 100644 --- a/src/drivers/device/i2c.cpp +++ b/src/drivers/device/i2c.cpp @@ -62,6 +62,12 @@ I2C::I2C(const char *name, _frequency(frequency), _dev(nullptr) { + // fill in _device_id fields for a I2C device + _device_id.devid_s.bus_type = DeviceBusType_I2C; + _device_id.devid_s.bus = bus; + _device_id.devid_s.address = address; + // devtype needs to be filled in by the driver + _device_id.devid_s.devtype = 0; } I2C::~I2C() @@ -201,4 +207,4 @@ I2C::transfer(i2c_msg_s *msgv, unsigned msgs) return ret; } -} // namespace device
\ No newline at end of file +} // namespace device diff --git a/src/drivers/device/spi.cpp b/src/drivers/device/spi.cpp index 57cef34d2..200acac05 100644 --- a/src/drivers/device/spi.cpp +++ b/src/drivers/device/spi.cpp @@ -69,12 +69,18 @@ SPI::SPI(const char *name, // protected locking_mode(LOCK_PREEMPTION), // private - _bus(bus), _device(device), _mode(mode), _frequency(frequency), - _dev(nullptr) + _dev(nullptr), + _bus(bus) { + // fill in _device_id fields for a SPI device + _device_id.devid_s.bus_type = DeviceBusType_SPI; + _device_id.devid_s.bus = bus; + _device_id.devid_s.address = (uint8_t)device; + // devtype needs to be filled in by the driver + _device_id.devid_s.devtype = 0; } SPI::~SPI() diff --git a/src/drivers/device/spi.h b/src/drivers/device/spi.h index 8e943b3f2..54849c8c3 100644 --- a/src/drivers/device/spi.h +++ b/src/drivers/device/spi.h @@ -124,12 +124,14 @@ protected: LockMode locking_mode; /**< selected locking mode */ private: - int _bus; enum spi_dev_e _device; enum spi_mode_e _mode; uint32_t _frequency; struct spi_dev_s *_dev; +protected: + int _bus; + int _transfer(uint8_t *send, uint8_t *recv, unsigned len); }; diff --git a/src/drivers/drv_device.h b/src/drivers/drv_device.h index b310beb74..19d55cef3 100644 --- a/src/drivers/drv_device.h +++ b/src/drivers/drv_device.h @@ -59,4 +59,11 @@ /** check publication block status */ #define DEVIOCGPUBBLOCK _DEVICEIOC(1) +/** + * Return device ID, to enable matching of configuration parameters + * (such as compass offsets) to specific sensors + */ +#define DEVIOCGDEVICEID _DEVICEIOC(2) + + #endif /* _DRV_DEVICE_H */ diff --git a/src/drivers/drv_mag.h b/src/drivers/drv_mag.h index 06107bd3d..a259ac9c0 100644 --- a/src/drivers/drv_mag.h +++ b/src/drivers/drv_mag.h @@ -81,6 +81,13 @@ struct mag_scale { */ ORB_DECLARE(sensor_mag); + +/* + * mag device types, for _device_id + */ +#define DRV_MAG_DEVTYPE_HMC5883 1 +#define DRV_MAG_DEVTYPE_LSM303D 2 + /* * ioctl() definitions */ diff --git a/src/drivers/frsky_telemetry/module.mk b/src/drivers/frsky_telemetry/module.mk index 9a49589ee..78ad6f67e 100644 --- a/src/drivers/frsky_telemetry/module.mk +++ b/src/drivers/frsky_telemetry/module.mk @@ -41,3 +41,5 @@ SRCS = frsky_data.c \ frsky_telemetry.c MODULE_STACKSIZE = 1200 + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/gps/module.mk b/src/drivers/gps/module.mk index eb382c4b2..b00818424 100644 --- a/src/drivers/gps/module.mk +++ b/src/drivers/gps/module.mk @@ -43,3 +43,5 @@ SRCS = gps.cpp \ ubx.cpp MODULE_STACKSIZE = 1200 + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index b7b368a5e..4aef43102 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -71,13 +71,16 @@ #include <uORB/topics/subsystem_info.h> #include <float.h> +#include <getopt.h> +#include <lib/conversion/rotation.h> /* * HMC5883 internal constants and data structures. */ #define HMC5883L_ADDRESS PX4_I2C_OBDEV_HMC5883 -#define HMC5883L_DEVICE_PATH "/dev/hmc5883" +#define HMC5883L_DEVICE_PATH_INT "/dev/hmc5883_int" +#define HMC5883L_DEVICE_PATH_EXT "/dev/hmc5883_ext" /* Max measurement rate is 160Hz, however with 160 it will be set to 166 Hz, therefore workaround using 150 */ #define HMC5883_CONVERSION_INTERVAL (1000000 / 150) /* microseconds */ @@ -130,7 +133,7 @@ static const int ERROR = -1; class HMC5883 : public device::I2C { public: - HMC5883(int bus); + HMC5883(int bus, const char *path, enum Rotation rotation); virtual ~HMC5883(); virtual int init(); @@ -163,15 +166,21 @@ private: perf_counter_t _sample_perf; perf_counter_t _comms_errors; perf_counter_t _buffer_overflows; + perf_counter_t _range_errors; + perf_counter_t _conf_errors; /* status reporting */ 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() */ + uint8_t _range_bits; + uint8_t _conf_reg; + /** * Test whether the device supported by the driver is present at a * specific address. @@ -230,6 +239,23 @@ private: int set_range(unsigned range); /** + * check the sensor range. + * + * checks that the range of the sensor is correctly set, to + * cope with communication errors causing the range to change + */ + void check_range(void); + + /** + * check the sensor configuration. + * + * checks that the config of the sensor is correctly set, to + * cope with communication errors causing the configuration to + * change + */ + void check_conf(void); + + /** * Perform a poll cycle; collect from the previous measurement * and start a new one. * @@ -319,8 +345,8 @@ private: extern "C" __EXPORT int hmc5883_main(int argc, char *argv[]); -HMC5883::HMC5883(int bus) : - I2C("HMC5883", HMC5883L_DEVICE_PATH, bus, HMC5883L_ADDRESS, 400000), +HMC5883::HMC5883(int bus, const char *path, enum Rotation rotation) : + I2C("HMC5883", path, bus, HMC5883L_ADDRESS, 400000), _measure_ticks(0), _reports(nullptr), _range_scale(0), /* default range scale from counts to gauss */ @@ -332,10 +358,18 @@ HMC5883::HMC5883(int bus) : _sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")), _comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")), _buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows")), + _range_errors(perf_alloc(PC_COUNT, "hmc5883_range_errors")), + _conf_errors(perf_alloc(PC_COUNT, "hmc5883_conf_errors")), _sensor_ok(false), _calibrated(false), - _bus(bus) + _bus(bus), + _rotation(rotation), + _last_report{0}, + _range_bits(0), + _conf_reg(0) { + _device_id.devid_s.devtype = DRV_MAG_DEVTYPE_HMC5883; + // enable debug() calls _debug_enabled = false; @@ -366,6 +400,8 @@ HMC5883::~HMC5883() perf_free(_sample_perf); perf_free(_comms_errors); perf_free(_buffer_overflows); + perf_free(_range_errors); + perf_free(_conf_errors); } int @@ -396,45 +432,43 @@ out: int HMC5883::set_range(unsigned range) { - uint8_t range_bits; - if (range < 1) { - range_bits = 0x00; + _range_bits = 0x00; _range_scale = 1.0f / 1370.0f; _range_ga = 0.88f; } else if (range <= 1) { - range_bits = 0x01; + _range_bits = 0x01; _range_scale = 1.0f / 1090.0f; _range_ga = 1.3f; } else if (range <= 2) { - range_bits = 0x02; + _range_bits = 0x02; _range_scale = 1.0f / 820.0f; _range_ga = 1.9f; } else if (range <= 3) { - range_bits = 0x03; + _range_bits = 0x03; _range_scale = 1.0f / 660.0f; _range_ga = 2.5f; } else if (range <= 4) { - range_bits = 0x04; + _range_bits = 0x04; _range_scale = 1.0f / 440.0f; _range_ga = 4.0f; } else if (range <= 4.7f) { - range_bits = 0x05; + _range_bits = 0x05; _range_scale = 1.0f / 390.0f; _range_ga = 4.7f; } else if (range <= 5.6f) { - range_bits = 0x06; + _range_bits = 0x06; _range_scale = 1.0f / 330.0f; _range_ga = 5.6f; } else { - range_bits = 0x07; + _range_bits = 0x07; _range_scale = 1.0f / 230.0f; _range_ga = 8.1f; } @@ -444,7 +478,7 @@ int HMC5883::set_range(unsigned range) /* * Send the command to set the range */ - ret = write_reg(ADDR_CONF_B, (range_bits << 5)); + ret = write_reg(ADDR_CONF_B, (_range_bits << 5)); if (OK != ret) perf_count(_comms_errors); @@ -455,7 +489,53 @@ int HMC5883::set_range(unsigned range) if (OK != ret) perf_count(_comms_errors); - return !(range_bits_in == (range_bits << 5)); + return !(range_bits_in == (_range_bits << 5)); +} + +/** + check that the range register has the right value. This is done + periodically to cope with I2C bus noise causing the range of the + compass changing. + */ +void HMC5883::check_range(void) +{ + int ret; + + uint8_t range_bits_in; + ret = read_reg(ADDR_CONF_B, range_bits_in); + if (OK != ret) { + perf_count(_comms_errors); + return; + } + if (range_bits_in != (_range_bits<<5)) { + perf_count(_range_errors); + ret = write_reg(ADDR_CONF_B, (_range_bits << 5)); + if (OK != ret) + perf_count(_comms_errors); + } +} + +/** + check that the configuration register has the right value. This is + done periodically to cope with I2C bus noise causing the + configuration of the compass to change. + */ +void HMC5883::check_conf(void) +{ + int ret; + + uint8_t conf_reg_in; + ret = read_reg(ADDR_CONF_A, conf_reg_in); + if (OK != ret) { + perf_count(_comms_errors); + return; + } + if (conf_reg_in != _conf_reg) { + perf_count(_conf_errors); + ret = write_reg(ADDR_CONF_A, _conf_reg); + if (OK != ret) + perf_count(_comms_errors); + } } int @@ -789,7 +869,7 @@ HMC5883::collect() } report; int ret = -EIO; uint8_t cmd; - + uint8_t check_counter; perf_begin(_sample_perf); struct mag_report new_report; @@ -862,6 +942,9 @@ HMC5883::collect() /* z remains z */ new_report.z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; + // apply user specified rotation + rotate_3f(_rotation, new_report.x, new_report.y, new_report.z); + if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { if (_mag_topic != -1) { @@ -885,6 +968,21 @@ HMC5883::collect() /* notify anyone waiting for data */ poll_notify(POLLIN); + /* + periodically check the range register and configuration + registers. With a bad I2C cable it is possible for the + registers to become corrupt, leading to bad readings. It + doesn't happen often, but given the poor cables some + vehicles have it is worth checking for. + */ + check_counter = perf_event_count(_sample_perf) % 256; + if (check_counter == 0) { + check_range(); + } + if (check_counter == 128) { + check_conf(); + } + ret = OK; out: @@ -1158,25 +1256,24 @@ int HMC5883::set_excitement(unsigned enable) { int ret; /* arm the excitement strap */ - uint8_t conf_reg; - ret = read_reg(ADDR_CONF_A, conf_reg); + ret = read_reg(ADDR_CONF_A, _conf_reg); if (OK != ret) perf_count(_comms_errors); if (((int)enable) < 0) { - conf_reg |= 0x01; + _conf_reg |= 0x01; } else if (enable > 0) { - conf_reg |= 0x02; + _conf_reg |= 0x02; } else { - conf_reg &= ~0x03; + _conf_reg &= ~0x03; } - // ::printf("set_excitement enable=%d regA=0x%x\n", (int)enable, (unsigned)conf_reg); + // ::printf("set_excitement enable=%d regA=0x%x\n", (int)enable, (unsigned)_conf_reg); - ret = write_reg(ADDR_CONF_A, conf_reg); + ret = write_reg(ADDR_CONF_A, _conf_reg); if (OK != ret) perf_count(_comms_errors); @@ -1186,7 +1283,7 @@ int HMC5883::set_excitement(unsigned enable) //print_info(); - return !(conf_reg == conf_reg_ret); + return !(_conf_reg == conf_reg_ret); } int @@ -1244,63 +1341,87 @@ namespace hmc5883 #endif const int ERROR = -1; -HMC5883 *g_dev; +HMC5883 *g_dev_int; +HMC5883 *g_dev_ext; -void start(); -void test(); -void reset(); -void info(); -int calibrate(); +void start(int bus, enum Rotation rotation); +void test(int bus); +void reset(int bus); +void info(int bus); +int calibrate(int bus); +void usage(); /** * Start the driver. */ void -start() +start(int bus, enum Rotation rotation) { int fd; - if (g_dev != nullptr) - /* if already started, the still command succeeded */ - errx(0, "already started"); - /* create the driver, attempt expansion bus first */ - g_dev = new HMC5883(PX4_I2C_BUS_EXPANSION); - if (g_dev != nullptr && OK != g_dev->init()) { - delete g_dev; - g_dev = nullptr; + 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; + } } #ifdef PX4_I2C_BUS_ONBOARD /* if this failed, attempt onboard sensor */ - if (g_dev == nullptr) { - g_dev = new HMC5883(PX4_I2C_BUS_ONBOARD); - if (g_dev != nullptr && OK != g_dev->init()) { + 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 (bus == PX4_I2C_BUS_ONBOARD) { + goto fail; + } + } + if (g_dev_int == nullptr && bus == PX4_I2C_BUS_ONBOARD) { goto fail; } } #endif - if (g_dev == nullptr) + if (g_dev_int == nullptr && g_dev_ext == nullptr) goto fail; /* set the poll rate to default, starts automatic data collection */ - fd = open(HMC5883L_DEVICE_PATH, O_RDONLY); + if (g_dev_int != nullptr) { + fd = open(HMC5883L_DEVICE_PATH_INT, O_RDONLY); + if (fd < 0) + goto fail; - if (fd < 0) - goto fail; + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + goto fail; + close(fd); + } - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) - goto fail; + if (g_dev_ext != nullptr) { + fd = open(HMC5883L_DEVICE_PATH_EXT, O_RDONLY); + if (fd < 0) + goto fail; + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + goto fail; + close(fd); + } exit(0); fail: - - if (g_dev != nullptr) { - delete g_dev; - g_dev = nullptr; + if (g_dev_int != nullptr && (bus == -1 || bus == PX4_I2C_BUS_ONBOARD)) { + delete g_dev_int; + g_dev_int = nullptr; + } + if (g_dev_ext != nullptr && (bus == -1 || bus == PX4_I2C_BUS_EXPANSION)) { + delete g_dev_ext; + g_dev_ext = nullptr; } errx(1, "driver start failed"); @@ -1312,16 +1433,17 @@ fail: * and automatic modes. */ void -test() +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); - int fd = open(HMC5883L_DEVICE_PATH, O_RDONLY); + int fd = open(path, O_RDONLY); if (fd < 0) - err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", HMC5883L_DEVICE_PATH); + err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", path); /* do a simple demand read */ sz = read(fd, &report, sizeof(report)); @@ -1414,14 +1536,15 @@ test() * configuration register A back to 00 (Normal Measurement Mode), e.g. 0x10. * Using the self test method described above, the user can scale sensor */ -int calibrate() +int calibrate(int bus) { int ret; + const char *path = (bus==PX4_I2C_BUS_ONBOARD?HMC5883L_DEVICE_PATH_INT:HMC5883L_DEVICE_PATH_EXT); - int fd = open(HMC5883L_DEVICE_PATH, O_RDONLY); + int fd = open(path, O_RDONLY); if (fd < 0) - err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", HMC5883L_DEVICE_PATH); + err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", path); if (OK != (ret = ioctl(fd, MAGIOCCALIBRATE, fd))) { warnx("failed to enable sensor calibration mode"); @@ -1441,9 +1564,11 @@ int calibrate() * Reset the driver. */ void -reset() +reset(int bus) { - int fd = open(HMC5883L_DEVICE_PATH, O_RDONLY); + const char *path = (bus==PX4_I2C_BUS_ONBOARD?HMC5883L_DEVICE_PATH_INT:HMC5883L_DEVICE_PATH_EXT); + + int fd = open(path, O_RDONLY); if (fd < 0) err(1, "failed "); @@ -1461,8 +1586,9 @@ reset() * Print a little info about the driver. */ void -info() +info(int bus) { + HMC5883 *g_dev = (bus == PX4_I2C_BUS_ONBOARD?g_dev_int:g_dev_ext); if (g_dev == nullptr) errx(1, "driver not running"); @@ -1472,40 +1598,91 @@ info() exit(0); } +void +usage() +{ + warnx("missing command: try 'start', 'info', 'test', 'reset', 'info', 'calibrate'"); + warnx("options:"); + warnx(" -R rotation"); + warnx(" -C calibrate on start"); + warnx(" -X only external bus"); +#ifdef PX4_I2C_BUS_ONBOARD + warnx(" -I only internal bus"); +#endif +} + } // namespace int hmc5883_main(int argc, char *argv[]) { + int ch; + int bus = -1; + enum Rotation rotation = ROTATION_NONE; + bool calibrate = false; + + while ((ch = getopt(argc, argv, "XIR:C")) != EOF) { + switch (ch) { + case 'R': + rotation = (enum Rotation)atoi(optarg); + break; +#ifdef PX4_I2C_BUS_ONBOARD + case 'I': + bus = PX4_I2C_BUS_ONBOARD; + break; +#endif + case 'X': + bus = PX4_I2C_BUS_EXPANSION; + break; + case 'C': + calibrate = true; + break; + default: + hmc5883::usage(); + exit(0); + } + } + + const char *verb = argv[optind]; + /* * Start/load the driver. */ - if (!strcmp(argv[1], "start")) - hmc5883::start(); + if (!strcmp(verb, "start")) { + hmc5883::start(bus, rotation); + if (calibrate) { + if (hmc5883::calibrate(bus) == 0) { + errx(0, "calibration successful"); + + } else { + errx(1, "calibration failed"); + } + } + } /* * Test the driver/device. */ - if (!strcmp(argv[1], "test")) - hmc5883::test(); + if (!strcmp(verb, "test")) + hmc5883::test(bus); /* * Reset the driver. */ - if (!strcmp(argv[1], "reset")) - hmc5883::reset(); + if (!strcmp(verb, "reset")) + hmc5883::reset(bus); /* * Print driver information. */ - if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) - hmc5883::info(); + if (!strcmp(verb, "info") || !strcmp(verb, "status")) + hmc5883::info(bus); /* * Autocalibrate the scaling */ - if (!strcmp(argv[1], "calibrate")) { - if (hmc5883::calibrate() == 0) { + if (!strcmp(verb, "calibrate")) { + if (hmc5883::calibrate(bus) == 0) { errx(0, "calibration successful"); } else { diff --git a/src/drivers/hott/hott_sensors/module.mk b/src/drivers/hott/hott_sensors/module.mk index b5f5762ba..47aea6caf 100644 --- a/src/drivers/hott/hott_sensors/module.mk +++ b/src/drivers/hott/hott_sensors/module.mk @@ -40,3 +40,5 @@ MODULE_COMMAND = hott_sensors SRCS = hott_sensors.cpp \ ../messages.cpp \ ../comms.cpp + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/hott/hott_telemetry/module.mk b/src/drivers/hott/hott_telemetry/module.mk index b19cbd14c..cd7bdbc85 100644 --- a/src/drivers/hott/hott_telemetry/module.mk +++ b/src/drivers/hott/hott_telemetry/module.mk @@ -40,3 +40,5 @@ MODULE_COMMAND = hott_telemetry SRCS = hott_telemetry.cpp \ ../messages.cpp \ ../comms.cpp + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index 37e72388b..64d1a7e55 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -54,6 +54,7 @@ #include <stdio.h> #include <math.h> #include <unistd.h> +#include <getopt.h> #include <systemlib/perf_counter.h> #include <systemlib/err.h> @@ -68,6 +69,7 @@ #include <board_config.h> #include <mathlib/math/filter/LowPassFilter2p.hpp> +#include <lib/conversion/rotation.h> #define L3GD20_DEVICE_PATH "/dev/l3gd20" @@ -184,7 +186,7 @@ extern "C" { __EXPORT int l3gd20_main(int argc, char *argv[]); } class L3GD20 : public device::SPI { public: - L3GD20(int bus, const char* path, spi_dev_e device); + L3GD20(int bus, const char* path, spi_dev_e device, enum Rotation rotation); virtual ~L3GD20(); virtual int init(); @@ -229,6 +231,8 @@ private: /* true if an L3G4200D is detected */ bool _is_l3g4200d; + enum Rotation _rotation; + /** * Start automatic measurement. */ @@ -328,7 +332,7 @@ private: int self_test(); }; -L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) : +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_interval(0), _reports(nullptr), @@ -345,7 +349,8 @@ L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) : _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) + _is_l3g4200d(false), + _rotation(rotation) { // enable debug() calls _debug_enabled = true; @@ -821,7 +826,7 @@ L3GD20::measure() // 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 (stm32_gpioread(GPIO_EXTI_GYRO_DRDY) == 0) { + if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_GYRO_DRDY) == 0) { perf_count(_reschedules); hrt_call_delay(&_call, 100); return; @@ -914,6 +919,9 @@ L3GD20::measure() report.y = _gyro_filter_y.apply(report.y); report.z = _gyro_filter_z.apply(report.z); + // apply user specified rotation + rotate_3f(_rotation, report.x, report.y, report.z); + report.scaling = _gyro_range_scale; report.range_rad_s = _gyro_range_rad_s; @@ -974,7 +982,8 @@ namespace l3gd20 L3GD20 *g_dev; -void start(); +void usage(); +void start(bool external_bus, enum Rotation rotation); void test(); void reset(); void info(); @@ -983,7 +992,7 @@ void info(); * Start the driver. */ void -start() +start(bool external_bus, enum Rotation rotation) { int fd; @@ -991,7 +1000,15 @@ start() errx(0, "already started"); /* create the driver */ - g_dev = new L3GD20(PX4_SPI_BUS_SENSORS, L3GD20_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO); + if (external_bus) { +#ifdef PX4_SPI_BUS_EXT + g_dev = new L3GD20(PX4_SPI_BUS_EXT, L3GD20_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_EXT_GYRO, rotation); +#else + errx(0, "External SPI not available"); +#endif + } else { + g_dev = new L3GD20(PX4_SPI_BUS_SENSORS, L3GD20_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO, rotation); + } if (g_dev == nullptr) goto fail; @@ -1103,35 +1120,64 @@ info() exit(0); } +void +usage() +{ + warnx("missing command: try 'start', 'info', 'test', 'reset'"); + warnx("options:"); + warnx(" -X (external bus)"); + warnx(" -R rotation"); +} } // namespace int l3gd20_main(int argc, char *argv[]) { + bool external_bus = false; + int ch; + enum Rotation rotation = ROTATION_NONE; + + /* jump over start/off/etc and look at options first */ + while ((ch = getopt(argc, argv, "XR:")) != EOF) { + switch (ch) { + case 'X': + external_bus = true; + break; + case 'R': + rotation = (enum Rotation)atoi(optarg); + break; + default: + l3gd20::usage(); + exit(0); + } + } + + const char *verb = argv[optind]; + /* * Start/load the driver. */ - if (!strcmp(argv[1], "start")) - l3gd20::start(); + if (!strcmp(verb, "start")) + l3gd20::start(external_bus, rotation); /* * Test the driver/device. */ - if (!strcmp(argv[1], "test")) + if (!strcmp(verb, "test")) l3gd20::test(); /* * Reset the driver. */ - if (!strcmp(argv[1], "reset")) + if (!strcmp(verb, "reset")) l3gd20::reset(); /* * Print driver information. */ - if (!strcmp(argv[1], "info")) + if (!strcmp(verb, "info")) l3gd20::info(); errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); diff --git a/src/drivers/ll40ls/ll40ls.cpp b/src/drivers/ll40ls/ll40ls.cpp new file mode 100644 index 000000000..a69e6ee55 --- /dev/null +++ b/src/drivers/ll40ls/ll40ls.cpp @@ -0,0 +1,882 @@ +/**************************************************************************** + * + * Copyright (c) 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 ll40ls.cpp + * @author Allyson Kreft + * + * Driver for the PulsedLight Lidar-Lite range finders connected via I2C. + */ + +#include <nuttx/config.h> + +#include <drivers/device/i2c.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdlib.h> +#include <stdbool.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 <nuttx/arch.h> +#include <nuttx/wqueue.h> +#include <nuttx/clock.h> + +#include <systemlib/perf_counter.h> +#include <systemlib/err.h> + +#include <drivers/drv_hrt.h> +#include <drivers/drv_range_finder.h> +#include <drivers/device/ringbuffer.h> + +#include <uORB/uORB.h> +#include <uORB/topics/subsystem_info.h> + +#include <board_config.h> + +/* Configuration Constants */ +#define LL40LS_BUS PX4_I2C_BUS_EXPANSION +#define LL40LS_BASEADDR 0x42 /* 7-bit address */ +#define LL40LS_DEVICE_PATH "/dev/ll40ls" + +/* LL40LS Registers addresses */ + +#define LL40LS_MEASURE_REG 0x00 /* Measure range register */ +#define LL40LS_MSRREG_ACQUIRE 0x04 /* Value to initiate a measurement, varies based on sensor revision */ +#define LL40LS_DISTHIGH_REG 0x8F /* High byte of distance register, auto increment */ + +/* Device limits */ +#define LL40LS_MIN_DISTANCE (0.00f) +#define LL40LS_MAX_DISTANCE (14.00f) + +#define LL40LS_CONVERSION_INTERVAL 100000 /* 100ms */ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +#ifndef CONFIG_SCHED_WORKQUEUE +# error This requires CONFIG_SCHED_WORKQUEUE. +#endif + +class LL40LS : public device::I2C +{ +public: + LL40LS(int bus = LL40LS_BUS, int address = LL40LS_BASEADDR); + virtual ~LL40LS(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +protected: + virtual int probe(); + +private: + float _min_distance; + float _max_distance; + work_s _work; + RingBuffer *_reports; + bool _sensor_ok; + int _measure_ticks; + bool _collect_phase; + int _class_instance; + + orb_advert_t _range_finder_topic; + + perf_counter_t _sample_perf; + perf_counter_t _comms_errors; + perf_counter_t _buffer_overflows; + + /** + * 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 + * to make it more aggressive about resetting the bus in case of errors. + */ + void start(); + + /** + * Stop the automatic measurement state machine. + */ + void stop(); + + /** + * Set the min and max distance thresholds if you want the end points of the sensors + * range to be brought in at all, otherwise it will use the defaults LL40LS_MIN_DISTANCE + * and LL40LS_MAX_DISTANCE + */ + void set_minimum_distance(float min); + void set_maximum_distance(float max); + float get_minimum_distance(); + float get_maximum_distance(); + + /** + * Perform a poll cycle; collect from the previous measurement + * and start a new one. + */ + void cycle(); + int measure(); + int collect(); + /** + * Static trampoline from the workq context; because we don't have a + * generic workq wrapper yet. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void cycle_trampoline(void *arg); + + +}; + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int ll40ls_main(int argc, char *argv[]); + +LL40LS::LL40LS(int bus, int address) : + I2C("LL40LS", LL40LS_DEVICE_PATH, bus, address, 100000), + _min_distance(LL40LS_MIN_DISTANCE), + _max_distance(LL40LS_MAX_DISTANCE), + _reports(nullptr), + _sensor_ok(false), + _measure_ticks(0), + _collect_phase(false), + _class_instance(-1), + _range_finder_topic(-1), + _sample_perf(perf_alloc(PC_ELAPSED, "ll40ls_read")), + _comms_errors(perf_alloc(PC_COUNT, "ll40ls_comms_errors")), + _buffer_overflows(perf_alloc(PC_COUNT, "ll40ls_buffer_overflows")) +{ + // up the retries since the device misses the first measure attempts + I2C::_retries = 3; + + // enable debug() calls + _debug_enabled = false; + + // work_cancel in the dtor will explode if we don't do this... + memset(&_work, 0, sizeof(_work)); +} + +LL40LS::~LL40LS() +{ + /* make sure we are truly inactive */ + stop(); + + /* free any existing reports */ + if (_reports != nullptr) { + delete _reports; + } + + if (_class_instance != -1) { + unregister_class_devname(RANGE_FINDER_DEVICE_PATH, _class_instance); + } + + // free perf counters + perf_free(_sample_perf); + perf_free(_comms_errors); + perf_free(_buffer_overflows); +} + +int +LL40LS::init() +{ + int ret = ERROR; + + /* do I2C init (and probe) first */ + if (I2C::init() != OK) { + goto out; + } + + /* allocate basic report buffers */ + _reports = new RingBuffer(2, sizeof(range_finder_report)); + + if (_reports == nullptr) { + goto out; + } + + _class_instance = register_class_devname(RANGE_FINDER_DEVICE_PATH); + + if (_class_instance == CLASS_DEVICE_PRIMARY) { + /* get a publish handle on the range finder topic */ + struct range_finder_report rf_report; + measure(); + _reports->get(&rf_report); + _range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &rf_report); + + if (_range_finder_topic < 0) { + debug("failed to create sensor_range_finder object. Did you start uOrb?"); + } + } + + ret = OK; + /* sensor is ok, but we don't really know if it is within range */ + _sensor_ok = true; +out: + return ret; +} + +int +LL40LS::probe() +{ + return measure(); +} + +void +LL40LS::set_minimum_distance(float min) +{ + _min_distance = min; +} + +void +LL40LS::set_maximum_distance(float max) +{ + _max_distance = max; +} + +float +LL40LS::get_minimum_distance() +{ + return _min_distance; +} + +float +LL40LS::get_maximum_distance() +{ + return _max_distance; +} + +int +LL40LS::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case SENSORIOCSPOLLRATE: { + switch (arg) { + + /* switching to manual polling */ + case SENSOR_POLLRATE_MANUAL: + stop(); + _measure_ticks = 0; + return OK; + + /* external signalling (DRDY) not supported */ + case SENSOR_POLLRATE_EXTERNAL: + + /* zero would be bad */ + case 0: + return -EINVAL; + + /* set default/max polling rate */ + case SENSOR_POLLRATE_MAX: + case SENSOR_POLLRATE_DEFAULT: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* set interval for next measurement to minimum legal value */ + _measure_ticks = USEC2TICK(LL40LS_CONVERSION_INTERVAL); + + /* if we need to start the poll state machine, do it */ + if (want_start) { + start(); + } + + return OK; + } + + /* adjust to a legal polling interval in Hz */ + default: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* convert hz to tick interval via microseconds */ + unsigned ticks = USEC2TICK(1000000 / arg); + + /* check against maximum rate */ + if (ticks < USEC2TICK(LL40LS_CONVERSION_INTERVAL)) { + return -EINVAL; + } + + /* update interval for next measurement */ + _measure_ticks = ticks; + + /* if we need to start the poll state machine, do it */ + if (want_start) { + start(); + } + + return OK; + } + } + } + + case SENSORIOCGPOLLRATE: + if (_measure_ticks == 0) { + return SENSOR_POLLRATE_MANUAL; + } + + return (1000 / _measure_ticks); + + case SENSORIOCSQUEUEDEPTH: { + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 1) || (arg > 100)) { + return -EINVAL; + } + + irqstate_t flags = irqsave(); + + if (!_reports->resize(arg)) { + irqrestore(flags); + return -ENOMEM; + } + + irqrestore(flags); + + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _reports->size(); + + case SENSORIOCRESET: + /* XXX implement this */ + return -EINVAL; + + case RANGEFINDERIOCSETMINIUMDISTANCE: { + set_minimum_distance(*(float *)arg); + return 0; + } + break; + + case RANGEFINDERIOCSETMAXIUMDISTANCE: { + set_maximum_distance(*(float *)arg); + return 0; + } + break; + + default: + /* give it to the superclass */ + return I2C::ioctl(filp, cmd, arg); + } +} + +ssize_t +LL40LS::read(struct file *filp, char *buffer, size_t buflen) +{ + unsigned count = buflen / sizeof(struct range_finder_report); + struct range_finder_report *rbuf = reinterpret_cast<struct range_finder_report *>(buffer); + int ret = 0; + + /* buffer must be large enough */ + if (count < 1) { + return -ENOSPC; + } + + /* if automatic measurement is enabled */ + if (_measure_ticks > 0) { + + /* + * While there is space in the caller's buffer, and reports, copy them. + * Note that we may be pre-empted by the workq thread while we are doing this; + * we are careful to avoid racing with them. + */ + while (count--) { + if (_reports->get(rbuf)) { + ret += sizeof(*rbuf); + rbuf++; + } + } + + /* if there was no data, warn the caller */ + return ret ? ret : -EAGAIN; + } + + /* manual measurement - run one conversion */ + do { + _reports->flush(); + + /* trigger a measurement */ + if (OK != measure()) { + ret = -EIO; + break; + } + + /* wait for it to complete */ + usleep(LL40LS_CONVERSION_INTERVAL); + + /* run the collection phase */ + if (OK != collect()) { + ret = -EIO; + break; + } + + /* state machine will have generated a report, copy it out */ + if (_reports->get(rbuf)) { + ret = sizeof(*rbuf); + } + + } while (0); + + return ret; +} + +int +LL40LS::measure() +{ + int ret; + + /* + * Send the command to begin a measurement. + */ + const uint8_t cmd[2] = { LL40LS_MEASURE_REG, LL40LS_MSRREG_ACQUIRE }; + ret = transfer(cmd, sizeof(cmd), nullptr, 0); + + if (OK != ret) { + perf_count(_comms_errors); + log("i2c::transfer returned %d", ret); + return ret; + } + + ret = OK; + + return ret; +} + +int +LL40LS::collect() +{ + int ret = -EIO; + + /* read from the sensor */ + uint8_t val[2] = {0, 0}; + + perf_begin(_sample_perf); + + // read the high and low byte distance registers + uint8_t distance_reg = LL40LS_DISTHIGH_REG; + ret = transfer(&distance_reg, 1, &val[0], sizeof(val)); + + if (ret < 0) { + log("error reading from sensor: %d", ret); + perf_count(_comms_errors); + perf_end(_sample_perf); + return ret; + } + + uint16_t distance = (val[0] << 8) | val[1]; + float si_units = distance * 0.01f; /* cm to m */ + struct range_finder_report report; + + /* this should be fairly close to the end of the measurement, so the best approximation of the time */ + report.timestamp = hrt_absolute_time(); + report.error_count = perf_event_count(_comms_errors); + report.distance = si_units; + if (si_units > get_minimum_distance() && si_units < get_maximum_distance()) { + report.valid = 1; + } + else { + report.valid = 0; + } + + /* publish it, if we are the primary */ + if (_range_finder_topic >= 0) { + orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report); + } + + if (_reports->force(&report)) { + perf_count(_buffer_overflows); + } + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + + ret = OK; + + perf_end(_sample_perf); + return ret; +} + +void +LL40LS::start() +{ + /* reset the report ring and state machine */ + _collect_phase = false; + _reports->flush(); + + /* schedule a cycle to start things */ + work_queue(HPWORK, &_work, (worker_t)&LL40LS::cycle_trampoline, this, 1); + + /* notify about state change */ + struct subsystem_info_s info = { + true, + true, + true, + SUBSYSTEM_TYPE_RANGEFINDER + }; + static orb_advert_t pub = -1; + + if (pub > 0) { + orb_publish(ORB_ID(subsystem_info), pub, &info); + + } else { + pub = orb_advertise(ORB_ID(subsystem_info), &info); + } +} + +void +LL40LS::stop() +{ + work_cancel(HPWORK, &_work); +} + +void +LL40LS::cycle_trampoline(void *arg) +{ + LL40LS *dev = (LL40LS *)arg; + + dev->cycle(); +} + +void +LL40LS::cycle() +{ + /* collection phase? */ + if (_collect_phase) { + + /* perform collection */ + if (OK != collect()) { + log("collection error"); + /* restart the measurement state machine */ + start(); + return; + } + + /* next phase is measurement */ + _collect_phase = false; + + /* + * Is there a collect->measure gap? + */ + if (_measure_ticks > USEC2TICK(LL40LS_CONVERSION_INTERVAL)) { + + /* schedule a fresh cycle call when we are ready to measure again */ + work_queue(HPWORK, + &_work, + (worker_t)&LL40LS::cycle_trampoline, + this, + _measure_ticks - USEC2TICK(LL40LS_CONVERSION_INTERVAL)); + + return; + } + } + + /* measurement phase */ + if (OK != measure()) { + log("measure error"); + } + + /* next phase is collection */ + _collect_phase = true; + + /* schedule a fresh cycle call when the measurement is done */ + work_queue(HPWORK, + &_work, + (worker_t)&LL40LS::cycle_trampoline, + this, + USEC2TICK(LL40LS_CONVERSION_INTERVAL)); +} + +void +LL40LS::print_info() +{ + perf_print_counter(_sample_perf); + perf_print_counter(_comms_errors); + perf_print_counter(_buffer_overflows); + printf("poll interval: %u ticks\n", _measure_ticks); + _reports->print_info("report queue"); +} + +/** + * Local functions in support of the shell command. + */ +namespace ll40ls +{ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +const int ERROR = -1; + +LL40LS *g_dev; + +void start(); +void stop(); +void test(); +void reset(); +void info(); + +/** + * Start the driver. + */ +void +start() +{ + int fd; + + if (g_dev != nullptr) { + errx(1, "already started"); + } + + /* create the driver */ + g_dev = new LL40LS(LL40LS_BUS); + + if (g_dev == nullptr) { + goto fail; + } + + if (OK != g_dev->init()) { + goto fail; + } + + /* set the poll rate to default, starts automatic data collection */ + fd = open(LL40LS_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + goto fail; + } + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { + goto fail; + } + + exit(0); + +fail: + + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Stop the driver + */ +void stop() +{ + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + + } else { + errx(1, "driver not running"); + } + + exit(0); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + struct range_finder_report report; + ssize_t sz; + int ret; + + int fd = open(LL40LS_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + err(1, "%s open failed (try 'll40ls start' if the driver is not running", LL40LS_DEVICE_PATH); + } + + /* do a simple demand read */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) { + err(1, "immediate read failed"); + } + + warnx("single read"); + warnx("measurement: %0.2f m", (double)report.distance); + warnx("time: %lld", report.timestamp); + + /* start the sensor polling at 2Hz */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { + errx(1, "failed to set 2Hz poll rate"); + } + + /* read the sensor 5x and report each value */ + for (unsigned i = 0; i < 5; i++) { + struct pollfd fds; + + /* wait for data to be ready */ + fds.fd = fd; + fds.events = POLLIN; + ret = poll(&fds, 1, 2000); + + if (ret != 1) { + errx(1, "timed out waiting for sensor data"); + } + + /* now go get it */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) { + err(1, "periodic read failed"); + } + + warnx("periodic read %u", i); + warnx("measurement: %0.3f", (double)report.distance); + warnx("time: %lld", report.timestamp); + } + + /* reset the sensor polling to default rate */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) { + errx(1, "failed to set default poll rate"); + } + + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(LL40LS_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + err(1, "failed "); + } + + if (ioctl(fd, SENSORIOCRESET, 0) < 0) { + err(1, "driver reset failed"); + } + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { + err(1, "driver poll restart failed"); + } + + exit(0); +} + +/** + * Print a little info about the driver. + */ +void +info() +{ + if (g_dev == nullptr) { + errx(1, "driver not running"); + } + + printf("state @ %p\n", g_dev); + g_dev->print_info(); + + exit(0); +} + +} // namespace + +int +ll40ls_main(int argc, char *argv[]) +{ + /* + * Start/load the driver. + */ + if (!strcmp(argv[1], "start")) { + ll40ls::start(); + } + + /* + * Stop the driver + */ + if (!strcmp(argv[1], "stop")) { + ll40ls::stop(); + } + + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) { + ll40ls::test(); + } + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) { + ll40ls::reset(); + } + + /* + * Print driver information. + */ + if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) { + ll40ls::info(); + } + + errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); +} diff --git a/src/drivers/ll40ls/module.mk b/src/drivers/ll40ls/module.mk new file mode 100644 index 000000000..fb627afee --- /dev/null +++ b/src/drivers/ll40ls/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 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. +# +############################################################################ + +# +# Makefile to build the PulsedLight Lidar-Lite driver. +# + +MODULE_COMMAND = ll40ls + +SRCS = ll40ls.cpp + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 8bf76dcc3..45e775055 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -52,6 +52,7 @@ #include <stdio.h> #include <math.h> #include <unistd.h> +#include <getopt.h> #include <systemlib/perf_counter.h> #include <systemlib/err.h> @@ -68,6 +69,7 @@ #include <board_config.h> #include <mathlib/math/filter/LowPassFilter2p.hpp> +#include <lib/conversion/rotation.h> /* oddly, ERROR is not defined for c++ */ #ifdef ERROR @@ -75,12 +77,17 @@ #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) #define ADDR_INCREMENT (1<<6) #define LSM303D_DEVICE_PATH_ACCEL "/dev/lsm303d_accel" +#define LSM303D_DEVICE_PATH_ACCEL_EXT "/dev/lsm303d_accel_ext" #define LSM303D_DEVICE_PATH_MAG "/dev/lsm303d_mag" /* register addresses: A: accel, M: mag, T: temp */ @@ -216,7 +223,7 @@ class LSM303D_mag; class LSM303D : public device::SPI { public: - LSM303D(int bus, const char* path, spi_dev_e device); + LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rotation); virtual ~LSM303D(); virtual int init(); @@ -305,7 +312,8 @@ private: uint64_t _last_log_us; uint64_t _last_log_sync_us; uint64_t _last_log_reg_us; - uint64_t _last_log_alarm_us; + uint64_t _last_log_alarm_us; + enum Rotation _rotation; /** * Start automatic measurement. @@ -485,7 +493,7 @@ private: }; -LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) : +LSM303D::LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rotation) : SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within safety margins for LSM303D */), _mag(new LSM303D_mag(this)), _call_accel_interval(0), @@ -519,8 +527,11 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) : _last_log_us(0), _last_log_sync_us(0), _last_log_reg_us(0), - _last_log_alarm_us(0) + _last_log_alarm_us(0), + _rotation(rotation) { + _device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LSM303D; + // enable debug() calls _debug_enabled = true; @@ -830,7 +841,9 @@ 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++; } @@ -1533,6 +1546,9 @@ LSM303D::measure() accel_report.y = _accel_filter_y.apply(y_in_new); accel_report.z = _accel_filter_z.apply(z_in_new); + // apply user specified rotation + rotate_3f(_rotation, accel_report.x, accel_report.y, accel_report.z); + accel_report.scaling = _accel_range_scale; accel_report.range_m_s2 = _accel_range_m_s2; @@ -1609,6 +1625,9 @@ LSM303D::mag_measure() mag_report.scaling = _mag_range_scale; mag_report.range_ga = (float)_mag_range_ga; + // apply user specified rotation + rotate_3f(_rotation, mag_report.x, mag_report.y, mag_report.z); + _mag_reports->force(&mag_report); /* XXX please check this poll_notify, is it the right one? */ @@ -1774,26 +1793,34 @@ namespace lsm303d LSM303D *g_dev; -void start(); +void start(bool external_bus, enum Rotation rotation); void test(); void reset(); void info(); void regdump(); void logging(); +void usage(); /** * Start the driver. */ void -start() +start(bool external_bus, enum Rotation rotation) { int fd, fd_mag; - if (g_dev != nullptr) errx(0, "already started"); /* create the driver */ - g_dev = new LSM303D(PX4_SPI_BUS_SENSORS, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG); + if (external_bus) { + #ifdef PX4_SPI_BUS_EXT + g_dev = new LSM303D(PX4_SPI_BUS_EXT, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_EXT_ACCEL_MAG, rotation); + #else + errx(0, "External SPI not available"); + #endif + } else { + g_dev = new LSM303D(PX4_SPI_BUS_SENSORS, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG, rotation); + } if (g_dev == nullptr) { warnx("failed instantiating LSM303D obj"); @@ -1989,47 +2016,76 @@ logging() exit(0); } +void +usage() +{ + warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump', 'logging'"); + warnx("options:"); + warnx(" -X (external bus)"); + warnx(" -R rotation"); +} } // namespace int lsm303d_main(int argc, char *argv[]) { + bool external_bus = false; + int ch; + enum Rotation rotation = ROTATION_NONE; + + /* jump over start/off/etc and look at options first */ + while ((ch = getopt(argc, argv, "XR:")) != EOF) { + switch (ch) { + case 'X': + external_bus = true; + break; + case 'R': + rotation = (enum Rotation)atoi(optarg); + break; + default: + lsm303d::usage(); + exit(0); + } + } + + const char *verb = argv[optind]; + /* * Start/load the driver. */ - if (!strcmp(argv[1], "start")) - lsm303d::start(); + if (!strcmp(verb, "start")) + lsm303d::start(external_bus, rotation); /* * Test the driver/device. */ - if (!strcmp(argv[1], "test")) + if (!strcmp(verb, "test")) lsm303d::test(); /* * Reset the driver. */ - if (!strcmp(argv[1], "reset")) + if (!strcmp(verb, "reset")) lsm303d::reset(); /* * Print driver information. */ - if (!strcmp(argv[1], "info")) + if (!strcmp(verb, "info")) lsm303d::info(); /* * dump device registers */ - if (!strcmp(argv[1], "regdump")) + if (!strcmp(verb, "regdump")) lsm303d::regdump(); /* * dump device registers */ - if (!strcmp(argv[1], "logging")) + if (!strcmp(verb, "logging")) lsm303d::logging(); errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'logging' or 'regdump'"); diff --git a/src/drivers/mb12xx/mb12xx.cpp b/src/drivers/mb12xx/mb12xx.cpp index 5adb8cf69..beb6c8e35 100644 --- a/src/drivers/mb12xx/mb12xx.cpp +++ b/src/drivers/mb12xx/mb12xx.cpp @@ -74,6 +74,7 @@ /* Configuration Constants */ #define MB12XX_BUS PX4_I2C_BUS_EXPANSION #define MB12XX_BASEADDR 0x70 /* 7-bit address. 8-bit address is 0xE0 */ +#define MB12XX_DEVICE_PATH "/dev/mb12xx" /* MB12xx Registers addresses */ @@ -124,6 +125,7 @@ private: bool _sensor_ok; int _measure_ticks; bool _collect_phase; + int _class_instance; orb_advert_t _range_finder_topic; @@ -187,13 +189,14 @@ private: extern "C" __EXPORT int mb12xx_main(int argc, char *argv[]); MB12XX::MB12XX(int bus, int address) : - I2C("MB12xx", RANGE_FINDER_DEVICE_PATH, bus, address, 100000), + I2C("MB12xx", MB12XX_DEVICE_PATH, bus, address, 100000), _min_distance(MB12XX_MIN_DISTANCE), _max_distance(MB12XX_MAX_DISTANCE), _reports(nullptr), _sensor_ok(false), _measure_ticks(0), _collect_phase(false), + _class_instance(-1), _range_finder_topic(-1), _sample_perf(perf_alloc(PC_ELAPSED, "mb12xx_read")), _comms_errors(perf_alloc(PC_COUNT, "mb12xx_comms_errors")), @@ -215,6 +218,15 @@ MB12XX::~MB12XX() if (_reports != nullptr) { delete _reports; } + + if (_class_instance != -1) { + unregister_class_devname(RANGE_FINDER_DEVICE_PATH, _class_instance); + } + + // free perf counters + perf_free(_sample_perf); + perf_free(_comms_errors); + perf_free(_buffer_overflows); } int @@ -234,13 +246,18 @@ MB12XX::init() goto out; } - /* get a publish handle on the range finder topic */ - struct range_finder_report zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report); + _class_instance = register_class_devname(RANGE_FINDER_DEVICE_PATH); - if (_range_finder_topic < 0) { - debug("failed to create sensor_range_finder object. Did you start uOrb?"); + if (_class_instance == CLASS_DEVICE_PRIMARY) { + /* get a publish handle on the range finder topic */ + struct range_finder_report rf_report; + measure(); + _reports->get(&rf_report); + _range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &rf_report); + + if (_range_finder_topic < 0) { + debug("failed to create sensor_range_finder object. Did you start uOrb?"); + } } ret = OK; @@ -505,8 +522,10 @@ MB12XX::collect() report.distance = si_units; report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0; - /* publish it */ - orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report); + /* publish it, if we are the primary */ + if (_range_finder_topic >= 0) { + orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report); + } if (_reports->force(&report)) { perf_count(_buffer_overflows); @@ -665,7 +684,7 @@ start() } /* set the poll rate to default, starts automatic data collection */ - fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY); + fd = open(MB12XX_DEVICE_PATH, O_RDONLY); if (fd < 0) { goto fail; @@ -715,10 +734,10 @@ test() ssize_t sz; int ret; - int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY); + int fd = open(MB12XX_DEVICE_PATH, O_RDONLY); if (fd < 0) { - err(1, "%s open failed (try 'mb12xx start' if the driver is not running", RANGE_FINDER_DEVICE_PATH); + err(1, "%s open failed (try 'mb12xx start' if the driver is not running", MB12XX_DEVICE_PATH); } /* do a simple demand read */ @@ -776,7 +795,7 @@ test() void reset() { - int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY); + int fd = open(MB12XX_DEVICE_PATH, O_RDONLY); if (fd < 0) { err(1, "failed "); diff --git a/src/drivers/mb12xx/module.mk b/src/drivers/mb12xx/module.mk index 4e00ada02..d751e93e4 100644 --- a/src/drivers/mb12xx/module.mk +++ b/src/drivers/mb12xx/module.mk @@ -38,3 +38,5 @@ MODULE_COMMAND = mb12xx SRCS = mb12xx.cpp + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/mkblctrl/module.mk b/src/drivers/mkblctrl/module.mk index 3ac263b00..6daa14aa5 100644 --- a/src/drivers/mkblctrl/module.mk +++ b/src/drivers/mkblctrl/module.mk @@ -37,6 +37,8 @@ MODULE_COMMAND = mkblctrl -SRCS = mkblctrl.cpp +SRCS = mkblctrl.cpp INCLUDE_DIRS += $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 0edec3d0e..1b3a96a0d 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -55,6 +55,7 @@ #include <stdio.h> #include <math.h> #include <unistd.h> +#include <getopt.h> #include <systemlib/perf_counter.h> #include <systemlib/err.h> @@ -71,12 +72,15 @@ #include <drivers/drv_accel.h> #include <drivers/drv_gyro.h> #include <mathlib/math/filter/LowPassFilter2p.hpp> +#include <lib/conversion/rotation.h> #define DIR_READ 0x80 #define DIR_WRITE 0x00 #define MPU_DEVICE_PATH_ACCEL "/dev/mpu6000_accel" #define MPU_DEVICE_PATH_GYRO "/dev/mpu6000_gyro" +#define MPU_DEVICE_PATH_ACCEL_EXT "/dev/mpu6000_accel_ext" +#define MPU_DEVICE_PATH_GYRO_EXT "/dev/mpu6000_gyro_ext" // MPU 6000 registers #define MPUREG_WHOAMI 0x75 @@ -177,7 +181,7 @@ class MPU6000_gyro; class MPU6000 : public device::SPI { public: - MPU6000(int bus, spi_dev_e device); + MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev_e device, enum Rotation rotation); virtual ~MPU6000(); virtual int init(); @@ -232,6 +236,8 @@ private: math::LowPassFilter2p _gyro_filter_y; math::LowPassFilter2p _gyro_filter_z; + enum Rotation _rotation; + /** * Start automatic measurement. */ @@ -345,7 +351,7 @@ private: class MPU6000_gyro : public device::CDev { public: - MPU6000_gyro(MPU6000 *parent); + MPU6000_gyro(MPU6000 *parent, const char *path); ~MPU6000_gyro(); virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); @@ -368,9 +374,9 @@ private: /** driver 'main' command */ extern "C" { __EXPORT int mpu6000_main(int argc, char *argv[]); } -MPU6000::MPU6000(int bus, spi_dev_e device) : - SPI("MPU6000", MPU_DEVICE_PATH_ACCEL, bus, device, SPIDEV_MODE3, MPU6000_LOW_BUS_SPEED), - _gyro(new MPU6000_gyro(this)), +MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev_e device, enum Rotation rotation) : + SPI("MPU6000", path_accel, bus, device, SPIDEV_MODE3, MPU6000_LOW_BUS_SPEED), + _gyro(new MPU6000_gyro(this, path_gyro)), _product(0), _call_interval(0), _accel_reports(nullptr), @@ -391,7 +397,8 @@ MPU6000::MPU6000(int bus, spi_dev_e device) : _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) + _gyro_filter_z(MPU6000_GYRO_DEFAULT_RATE, MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ), + _rotation(rotation) { // disable debug() calls _debug_enabled = false; @@ -666,7 +673,9 @@ MPU6000::_set_dlpf_filter(uint16_t frequency_hz) /* choose next highest filter frequency available */ - if (frequency_hz <= 5) { + if (frequency_hz == 0) { + filter = BITS_DLPF_CFG_2100HZ_NOLPF; + } else if (frequency_hz <= 5) { filter = BITS_DLPF_CFG_5HZ; } else if (frequency_hz <= 10) { filter = BITS_DLPF_CFG_10HZ; @@ -922,10 +931,11 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) return _accel_filter_x.get_cutoff_freq(); case ACCELIOCSLOWPASS: - - // XXX decide on relationship of both filters - // i.e. disable the on-chip filter - //_set_dlpf_filter((uint16_t)arg); + if (arg == 0) { + // allow disabling of on-chip filter using + // zero as desired filter frequency + _set_dlpf_filter(0); + } _accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg); _accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg); _accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg); @@ -1009,8 +1019,11 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) _gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg); _gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg); _gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg); - // XXX check relation to the internal lowpass - //_set_dlpf_filter((uint16_t)arg); + if (arg == 0) { + // allow disabling of on-chip filter using 0 + // as desired frequency + _set_dlpf_filter(0); + } return OK; case GYROIOCSSCALE: @@ -1295,6 +1308,9 @@ MPU6000::measure() arb.y = _accel_filter_y.apply(y_in_new); arb.z = _accel_filter_z.apply(z_in_new); + // apply user specified rotation + rotate_3f(_rotation, arb.x, arb.y, arb.z); + arb.scaling = _accel_range_scale; arb.range_m_s2 = _accel_range_m_s2; @@ -1313,6 +1329,9 @@ MPU6000::measure() grb.y = _gyro_filter_y.apply(y_gyro_in_new); grb.z = _gyro_filter_z.apply(z_gyro_in_new); + // apply user specified rotation + rotate_3f(_rotation, grb.x, grb.y, grb.z); + grb.scaling = _gyro_range_scale; grb.range_rad_s = _gyro_range_rad_s; @@ -1350,8 +1369,8 @@ MPU6000::print_info() _gyro_reports->print_info("gyro queue"); } -MPU6000_gyro::MPU6000_gyro(MPU6000 *parent) : - CDev("MPU6000_gyro", MPU_DEVICE_PATH_GYRO), +MPU6000_gyro::MPU6000_gyro(MPU6000 *parent, const char *path) : + CDev("MPU6000_gyro", path), _parent(parent), _gyro_topic(-1), _gyro_class_instance(-1) @@ -1407,36 +1426,49 @@ MPU6000_gyro::ioctl(struct file *filp, int cmd, unsigned long arg) namespace mpu6000 { -MPU6000 *g_dev; +MPU6000 *g_dev_int; // on internal bus +MPU6000 *g_dev_ext; // on external bus -void start(); -void test(); -void reset(); -void info(); +void start(bool, enum Rotation); +void test(bool); +void reset(bool); +void info(bool); +void usage(); /** * Start the driver. */ void -start() +start(bool external_bus, enum Rotation rotation) { int fd; + MPU6000 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int; + const char *path_accel = external_bus?MPU_DEVICE_PATH_ACCEL_EXT:MPU_DEVICE_PATH_ACCEL; + const char *path_gyro = external_bus?MPU_DEVICE_PATH_GYRO_EXT:MPU_DEVICE_PATH_GYRO; - if (g_dev != nullptr) + if (*g_dev_ptr != nullptr) /* if already started, the still command succeeded */ errx(0, "already started"); /* create the driver */ - g_dev = new MPU6000(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_MPU); + if (external_bus) { +#ifdef PX4_SPI_BUS_EXT + *g_dev_ptr = new MPU6000(PX4_SPI_BUS_EXT, path_accel, path_gyro, (spi_dev_e)PX4_SPIDEV_EXT_MPU, rotation); +#else + errx(0, "External SPI not available"); +#endif + } else { + *g_dev_ptr = new MPU6000(PX4_SPI_BUS_SENSORS, path_accel, path_gyro, (spi_dev_e)PX4_SPIDEV_MPU, rotation); + } - if (g_dev == nullptr) + if (*g_dev_ptr == nullptr) goto fail; - if (OK != g_dev->init()) + if (OK != (*g_dev_ptr)->init()) goto fail; /* set the poll rate to default, starts automatic data collection */ - fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY); + fd = open(path_accel, O_RDONLY); if (fd < 0) goto fail; @@ -1449,9 +1481,9 @@ start() exit(0); fail: - if (g_dev != nullptr) { - delete g_dev; - g_dev = nullptr; + if (*g_dev_ptr != nullptr) { + delete (*g_dev_ptr); + *g_dev_ptr = nullptr; } errx(1, "driver start failed"); @@ -1463,24 +1495,26 @@ fail: * and automatic modes. */ void -test() +test(bool external_bus) { + const char *path_accel = external_bus?MPU_DEVICE_PATH_ACCEL_EXT:MPU_DEVICE_PATH_ACCEL; + const char *path_gyro = external_bus?MPU_DEVICE_PATH_GYRO_EXT:MPU_DEVICE_PATH_GYRO; accel_report a_report; gyro_report g_report; ssize_t sz; /* get the driver */ - int fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY); + int fd = open(path_accel, O_RDONLY); if (fd < 0) err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)", - MPU_DEVICE_PATH_ACCEL); + path_accel); /* get the driver */ - int fd_gyro = open(MPU_DEVICE_PATH_GYRO, O_RDONLY); + int fd_gyro = open(path_gyro, O_RDONLY); if (fd_gyro < 0) - err(1, "%s open failed", MPU_DEVICE_PATH_GYRO); + err(1, "%s open failed", path_gyro); /* reset to manual polling */ if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) @@ -1528,7 +1562,7 @@ test() /* XXX add poll-rate tests here too */ - reset(); + reset(external_bus); errx(0, "PASS"); } @@ -1536,9 +1570,10 @@ test() * Reset the driver. */ void -reset() +reset(bool external_bus) { - int fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY); + const char *path_accel = external_bus?MPU_DEVICE_PATH_ACCEL_EXT:MPU_DEVICE_PATH_ACCEL; + int fd = open(path_accel, O_RDONLY); if (fd < 0) err(1, "failed "); @@ -1558,47 +1593,77 @@ reset() * Print a little info about the driver. */ void -info() +info(bool external_bus) { - if (g_dev == nullptr) + MPU6000 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int; + if (*g_dev_ptr == nullptr) errx(1, "driver not running"); - printf("state @ %p\n", g_dev); - g_dev->print_info(); + printf("state @ %p\n", *g_dev_ptr); + (*g_dev_ptr)->print_info(); exit(0); } +void +usage() +{ + warnx("missing command: try 'start', 'info', 'test', 'reset'"); + warnx("options:"); + warnx(" -X (external bus)"); + warnx(" -R rotation"); +} } // namespace int mpu6000_main(int argc, char *argv[]) { + bool external_bus = false; + int ch; + enum Rotation rotation = ROTATION_NONE; + + /* jump over start/off/etc and look at options first */ + while ((ch = getopt(argc, argv, "XR:")) != EOF) { + switch (ch) { + case 'X': + external_bus = true; + break; + case 'R': + rotation = (enum Rotation)atoi(optarg); + break; + default: + mpu6000::usage(); + exit(0); + } + } + + const char *verb = argv[optind]; + /* * Start/load the driver. */ - if (!strcmp(argv[1], "start")) - mpu6000::start(); + if (!strcmp(verb, "start")) + mpu6000::start(external_bus, rotation); /* * Test the driver/device. */ - if (!strcmp(argv[1], "test")) - mpu6000::test(); + if (!strcmp(verb, "test")) + mpu6000::test(external_bus); /* * Reset the driver. */ - if (!strcmp(argv[1], "reset")) - mpu6000::reset(); + if (!strcmp(verb, "reset")) + mpu6000::reset(external_bus); /* * Print driver information. */ - if (!strcmp(argv[1], "info")) - mpu6000::info(); + if (!strcmp(verb, "info")) + mpu6000::info(external_bus); errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); } diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp index 1ce93aeea..fe669b5f5 100644 --- a/src/drivers/ms5611/ms5611.cpp +++ b/src/drivers/ms5611/ms5611.cpp @@ -50,6 +50,7 @@ #include <stdio.h> #include <math.h> #include <unistd.h> +#include <getopt.h> #include <nuttx/arch.h> #include <nuttx/wqueue.h> @@ -775,11 +776,12 @@ namespace ms5611 MS5611 *g_dev; -void start(); +void start(bool external_bus); void test(); void reset(); void info(); void calibrate(unsigned altitude); +void usage(); /** * MS5611 crc4 cribbed from the datasheet @@ -832,7 +834,7 @@ crc4(uint16_t *n_prom) * Start the driver. */ void -start() +start(bool external_bus) { int fd; prom_u prom_buf; @@ -845,7 +847,7 @@ start() /* create the driver, try SPI first, fall back to I2C if unsuccessful */ if (MS5611_spi_interface != nullptr) - interface = MS5611_spi_interface(prom_buf); + interface = MS5611_spi_interface(prom_buf, external_bus); if (interface == nullptr && (MS5611_i2c_interface != nullptr)) interface = MS5611_i2c_interface(prom_buf); @@ -1056,43 +1058,68 @@ calibrate(unsigned altitude) exit(0); } +void +usage() +{ + warnx("missing command: try 'start', 'info', 'test', 'test2', 'reset', 'calibrate'"); + warnx("options:"); + warnx(" -X (external bus)"); +} + } // namespace int ms5611_main(int argc, char *argv[]) { + bool external_bus = false; + int ch; + + /* jump over start/off/etc and look at options first */ + while ((ch = getopt(argc, argv, "X")) != EOF) { + switch (ch) { + case 'X': + external_bus = true; + break; + default: + ms5611::usage(); + exit(0); + } + } + + const char *verb = argv[optind]; + /* * Start/load the driver. */ - if (!strcmp(argv[1], "start")) - ms5611::start(); + if (!strcmp(verb, "start")) + ms5611::start(external_bus); /* * Test the driver/device. */ - if (!strcmp(argv[1], "test")) + if (!strcmp(verb, "test")) ms5611::test(); /* * Reset the driver. */ - if (!strcmp(argv[1], "reset")) + if (!strcmp(verb, "reset")) ms5611::reset(); /* * Print driver information. */ - if (!strcmp(argv[1], "info")) + if (!strcmp(verb, "info")) ms5611::info(); /* * Perform MSL pressure calibration given an altitude in metres */ - if (!strcmp(argv[1], "calibrate")) { + if (!strcmp(verb, "calibrate")) { if (argc < 2) errx(1, "missing altitude"); - long altitude = strtol(argv[2], nullptr, 10); + long altitude = strtol(argv[optind+1], nullptr, 10); ms5611::calibrate(altitude); } diff --git a/src/drivers/ms5611/ms5611.h b/src/drivers/ms5611/ms5611.h index 76fb84de8..f0b3fd61d 100644 --- a/src/drivers/ms5611/ms5611.h +++ b/src/drivers/ms5611/ms5611.h @@ -80,6 +80,6 @@ extern bool crc4(uint16_t *n_prom); } /* namespace */ /* interface factories */ -extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf) weak_function; +extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus) weak_function; extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf) weak_function; diff --git a/src/drivers/ms5611/ms5611_spi.cpp b/src/drivers/ms5611/ms5611_spi.cpp index 8759d16a1..5234ce8d6 100644 --- a/src/drivers/ms5611/ms5611_spi.cpp +++ b/src/drivers/ms5611/ms5611_spi.cpp @@ -62,7 +62,7 @@ #ifdef PX4_SPIDEV_BARO -device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf); +device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus); class MS5611_SPI : public device::SPI { @@ -115,9 +115,17 @@ private: }; device::Device * -MS5611_spi_interface(ms5611::prom_u &prom_buf) +MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus) { - return new MS5611_SPI(PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf); + if (external_bus) { + #ifdef PX4_SPI_BUS_EXT + return new MS5611_SPI(PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_BARO, prom_buf); + #else + return nullptr; + #endif + } else { + return new MS5611_SPI(PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf); + } } MS5611_SPI::MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf) : diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index d103935ae..8cc1141aa 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -1784,7 +1784,7 @@ fmu_main(int argc, char *argv[]) } if (!strcmp(verb, "id")) { - char id[12]; + uint8_t id[12]; (void)get_board_serial(id); errx(0, "Board serial:\n %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X", diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 24da4c68b..7d78b0d27 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1383,7 +1383,7 @@ void PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt) { /* only publish if battery has a valid minimum voltage */ - if (vbatt <= 3300) { + if (vbatt <= 4900) { return; } diff --git a/src/drivers/px4io/px4io_i2c.cpp b/src/drivers/px4io/px4io_i2c.cpp index 19776c40a..c57ddf65b 100644..100755 --- a/src/drivers/px4io/px4io_i2c.cpp +++ b/src/drivers/px4io/px4io_i2c.cpp @@ -79,7 +79,7 @@ device::Device } PX4IO_I2C::PX4IO_I2C(int bus, uint8_t address) : - I2C("PX4IO_i2c", nullptr, bus, address, 320000) + I2C("PX4IO_i2c", nullptr, bus, address, 400000) { _retries = 3; } diff --git a/src/drivers/sf0x/module.mk b/src/drivers/sf0x/module.mk index dc93a90e7..dc2c66d56 100644 --- a/src/drivers/sf0x/module.mk +++ b/src/drivers/sf0x/module.mk @@ -38,3 +38,5 @@ MODULE_COMMAND = sf0x SRCS = sf0x.cpp + +MAXOPTIMIZATION = -Os diff --git a/src/lib/conversion/rotation.cpp b/src/lib/conversion/rotation.cpp index 614877b18..e17715733 100644 --- a/src/lib/conversion/rotation.cpp +++ b/src/lib/conversion/rotation.cpp @@ -49,3 +49,145 @@ get_rot_matrix(enum Rotation rot, math::Matrix<3,3> *rot_matrix) rot_matrix->from_euler(roll, pitch, yaw); } + +#define HALF_SQRT_2 0.70710678118654757f + +__EXPORT void +rotate_3f(enum Rotation rot, float &x, float &y, float &z) +{ + float tmp; + switch (rot) { + case ROTATION_NONE: + case ROTATION_MAX: + return; + case ROTATION_YAW_45: { + tmp = HALF_SQRT_2*(x - y); + y = HALF_SQRT_2*(x + y); + x = tmp; + return; + } + case ROTATION_YAW_90: { + tmp = x; x = -y; y = tmp; + return; + } + case ROTATION_YAW_135: { + tmp = -HALF_SQRT_2*(x + y); + y = HALF_SQRT_2*(x - y); + x = tmp; + return; + } + case ROTATION_YAW_180: + x = -x; y = -y; + return; + case ROTATION_YAW_225: { + tmp = HALF_SQRT_2*(y - x); + y = -HALF_SQRT_2*(x + y); + x = tmp; + return; + } + case ROTATION_YAW_270: { + tmp = x; x = y; y = -tmp; + return; + } + case ROTATION_YAW_315: { + tmp = HALF_SQRT_2*(x + y); + y = HALF_SQRT_2*(y - x); + x = tmp; + return; + } + case ROTATION_ROLL_180: { + y = -y; z = -z; + return; + } + case ROTATION_ROLL_180_YAW_45: { + tmp = HALF_SQRT_2*(x + y); + y = HALF_SQRT_2*(x - y); + x = tmp; z = -z; + return; + } + case ROTATION_ROLL_180_YAW_90: { + tmp = x; x = y; y = tmp; z = -z; + return; + } + case ROTATION_ROLL_180_YAW_135: { + tmp = HALF_SQRT_2*(y - x); + y = HALF_SQRT_2*(y + x); + x = tmp; z = -z; + return; + } + case ROTATION_PITCH_180: { + x = -x; z = -z; + return; + } + case ROTATION_ROLL_180_YAW_225: { + tmp = -HALF_SQRT_2*(x + y); + y = HALF_SQRT_2*(y - x); + x = tmp; z = -z; + return; + } + case ROTATION_ROLL_180_YAW_270: { + tmp = x; x = -y; y = -tmp; z = -z; + return; + } + case ROTATION_ROLL_180_YAW_315: { + tmp = HALF_SQRT_2*(x - y); + y = -HALF_SQRT_2*(x + y); + x = tmp; z = -z; + return; + } + case ROTATION_ROLL_90: { + tmp = z; z = y; y = -tmp; + return; + } + case ROTATION_ROLL_90_YAW_45: { + tmp = z; z = y; y = -tmp; + tmp = HALF_SQRT_2*(x - y); + y = HALF_SQRT_2*(x + y); + x = tmp; + return; + } + case ROTATION_ROLL_90_YAW_90: { + tmp = z; z = y; y = -tmp; + tmp = x; x = -y; y = tmp; + return; + } + case ROTATION_ROLL_90_YAW_135: { + tmp = z; z = y; y = -tmp; + tmp = -HALF_SQRT_2*(x + y); + y = HALF_SQRT_2*(x - y); + x = tmp; + return; + } + case ROTATION_ROLL_270: { + tmp = z; z = -y; y = tmp; + return; + } + case ROTATION_ROLL_270_YAW_45: { + tmp = z; z = -y; y = tmp; + tmp = HALF_SQRT_2*(x - y); + y = HALF_SQRT_2*(x + y); + x = tmp; + return; + } + case ROTATION_ROLL_270_YAW_90: { + tmp = z; z = -y; y = tmp; + tmp = x; x = -y; y = tmp; + return; + } + case ROTATION_ROLL_270_YAW_135: { + tmp = z; z = -y; y = tmp; + tmp = -HALF_SQRT_2*(x + y); + y = HALF_SQRT_2*(x - y); + x = tmp; + return; + } + case ROTATION_PITCH_90: { + tmp = z; z = -x; x = tmp; + return; + } + case ROTATION_PITCH_270: { + tmp = z; z = x; x = -tmp; + return; + } + } +} diff --git a/src/lib/conversion/rotation.h b/src/lib/conversion/rotation.h index 0c56494c5..5187b448f 100644 --- a/src/lib/conversion/rotation.h +++ b/src/lib/conversion/rotation.h @@ -118,4 +118,12 @@ const rot_lookup_t rot_lookup[] = { __EXPORT void get_rot_matrix(enum Rotation rot, math::Matrix<3,3> *rot_matrix); + +/** + * rotate a 3 element float vector in-place + */ +__EXPORT void +rotate_3f(enum Rotation rot, float &x, float &y, float &z); + + #endif /* ROTATION_H_ */ diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 18761665a..e14dff197 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -78,6 +78,7 @@ #include <uORB/topics/differential_pressure.h> #include <uORB/topics/safety.h> #include <uORB/topics/system_power.h> +#include <uORB/topics/mission.h> #include <uORB/topics/mission_result.h> #include <uORB/topics/telemetry_status.h> @@ -92,6 +93,7 @@ #include <systemlib/cpuload.h> #include <systemlib/rc_check.h> #include <systemlib/state_table.h> +#include <dataman/dataman.h> #include "px4_custom_mode.h" #include "commander_helper.h" @@ -733,6 +735,11 @@ int commander_thread_main(int argc, char *argv[]) /* publish initial state */ status_pub = orb_advertise(ORB_ID(vehicle_status), &status); + if (status_pub < 0) { + warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n"); + warnx("exiting."); + exit(ERROR); + } /* armed topic */ orb_advert_t armed_pub; @@ -750,10 +757,27 @@ int commander_thread_main(int argc, char *argv[]) struct home_position_s home; memset(&home, 0, sizeof(home)); - if (status_pub < 0) { - warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n"); - warnx("exiting."); - exit(ERROR); + /* init mission state, do it here to allow navigator to use stored mission even if mavlink failed to start */ + orb_advert_t mission_pub = -1; + mission_s mission; + if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) { + if (mission.dataman_id >= 0 && mission.dataman_id <= 1) { + warnx("loaded mission state: dataman_id=%d, count=%u, current=%d", mission.dataman_id, mission.count, mission.current_seq); + mavlink_log_info(mavlink_fd, "[cmd] dataman_id=%d, count=%u, current=%d", + mission.dataman_id, mission.count, mission.current_seq); + } else { + warnx("reading mission state failed"); + mavlink_log_info(mavlink_fd, "[cmd] reading mission state failed"); + + /* initialize mission state in dataman */ + mission.dataman_id = 0; + mission.count = 0; + mission.current_seq = 0; + dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission, sizeof(mission_s)); + } + + mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission); + orb_publish(ORB_ID(offboard_mission), mission_pub, &mission); } mavlink_log_info(mavlink_fd, "[cmd] started"); @@ -1494,7 +1518,7 @@ int commander_thread_main(int argc, char *argv[]) /* now set navigation state according to failsafe and main state */ bool nav_state_changed = set_nav_state(&status, (bool)datalink_loss_enabled, - mission_result.mission_finished); + mission_result.finished); // TODO handle mode changes by commands if (main_state_changed) { @@ -1598,6 +1622,7 @@ int commander_thread_main(int argc, char *argv[]) close(diff_pres_sub); close(param_changed_sub); close(battery_sub); + close(mission_pub); thread_running = false; diff --git a/src/modules/dataman/dataman.c b/src/modules/dataman/dataman.c index 406293bda..ca1fe9bbb 100644 --- a/src/modules/dataman/dataman.c +++ b/src/modules/dataman/dataman.c @@ -62,6 +62,8 @@ __EXPORT int dataman_main(int argc, char *argv[]); __EXPORT ssize_t dm_read(dm_item_t item, unsigned char index, void *buffer, size_t buflen); __EXPORT ssize_t dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const void *buffer, size_t buflen); __EXPORT int dm_clear(dm_item_t item); +__EXPORT void dm_lock(dm_item_t item); +__EXPORT void dm_unlock(dm_item_t item); __EXPORT int dm_restart(dm_reset_reason restart_type); /** Types of function calls supported by the worker task */ @@ -114,12 +116,17 @@ static const unsigned g_per_item_max_index[DM_KEY_NUM_KEYS] = { DM_KEY_FENCE_POINTS_MAX, DM_KEY_WAYPOINTS_OFFBOARD_0_MAX, DM_KEY_WAYPOINTS_OFFBOARD_1_MAX, - DM_KEY_WAYPOINTS_ONBOARD_MAX + DM_KEY_WAYPOINTS_ONBOARD_MAX, + DM_KEY_MISSION_STATE_MAX }; /* Table of offset for index 0 of each item type */ static unsigned int g_key_offsets[DM_KEY_NUM_KEYS]; +/* Item type lock mutexes */ +static sem_t *g_item_locks[DM_KEY_NUM_KEYS]; +static sem_t g_sys_state_mutex; + /* The data manager store file handle and file name */ static int g_fd = -1, g_task_fd = -1; static const char *k_data_manager_device_path = "/fs/microsd/dataman"; @@ -139,22 +146,22 @@ static work_q_t g_work_q; /* pending work items. To be consumed by worker thread sem_t g_work_queued_sema; /* To notify worker thread a work item has been queued */ sem_t g_init_sema; -static bool g_task_should_exit; /**< if true, dataman task should exit */ +static bool g_task_should_exit; /**< if true, dataman task should exit */ #define DM_SECTOR_HDR_SIZE 4 /* data manager per item header overhead */ static const unsigned k_sector_size = DM_MAX_DATA_SIZE + DM_SECTOR_HDR_SIZE; /* total item sorage space */ static void init_q(work_q_t *q) { - sq_init(&(q->q)); /* Initialize the NuttX queue structure */ + sq_init(&(q->q)); /* Initialize the NuttX queue structure */ sem_init(&(q->mutex), 1, 1); /* Queue is initially unlocked */ - q->size = q->max_size = 0; /* Queue is initially empty */ + q->size = q->max_size = 0; /* Queue is initially empty */ } static inline void destroy_q(work_q_t *q) { - sem_destroy(&(q->mutex)); /* Destroy the queue lock */ + sem_destroy(&(q->mutex)); /* Destroy the queue lock */ } static inline void @@ -318,7 +325,9 @@ _write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const v buffer[1] = persistence; buffer[2] = 0; buffer[3] = 0; - memcpy(buffer + DM_SECTOR_HDR_SIZE, buf, count); + if (count > 0) { + memcpy(buffer + DM_SECTOR_HDR_SIZE, buf, count); + } count += DM_SECTOR_HDR_SIZE; len = -1; @@ -568,6 +577,32 @@ dm_clear(dm_item_t item) return enqueue_work_item_and_wait_for_result(work); } +__EXPORT void +dm_lock(dm_item_t item) +{ + /* Make sure data manager has been started and is not shutting down */ + if ((g_fd < 0) || g_task_should_exit) + return; + if (item >= DM_KEY_NUM_KEYS) + return; + if (g_item_locks[item]) { + sem_wait(g_item_locks[item]); + } +} + +__EXPORT void +dm_unlock(dm_item_t item) +{ + /* Make sure data manager has been started and is not shutting down */ + if ((g_fd < 0) || g_task_should_exit) + return; + if (item >= DM_KEY_NUM_KEYS) + return; + if (g_item_locks[item]) { + sem_post(g_item_locks[item]); + } +} + /* Tell the data manager about the type of the last reset */ __EXPORT int dm_restart(dm_reset_reason reason) @@ -608,6 +643,12 @@ task_main(int argc, char *argv[]) for (unsigned i = 0; i < dm_number_of_funcs; i++) g_func_counts[i] = 0; + /* Initialize the item type locks, for now only DM_KEY_MISSION_STATE supports locking */ + sem_init(&g_sys_state_mutex, 1, 1); /* Initially unlocked */ + for (unsigned i = 0; i < DM_KEY_NUM_KEYS; i++) + g_item_locks[i] = NULL; + g_item_locks[DM_KEY_MISSION_STATE] = &g_sys_state_mutex; + g_task_should_exit = false; init_q(&g_work_q); @@ -743,6 +784,7 @@ task_main(int argc, char *argv[]) destroy_q(&g_work_q); destroy_q(&g_free_q); sem_destroy(&g_work_queued_sema); + sem_destroy(&g_sys_state_mutex); return 0; } diff --git a/src/modules/dataman/dataman.h b/src/modules/dataman/dataman.h index 1dfb26f73..d625bf985 100644 --- a/src/modules/dataman/dataman.h +++ b/src/modules/dataman/dataman.h @@ -53,16 +53,20 @@ extern "C" { DM_KEY_WAYPOINTS_OFFBOARD_0, /* Mission way point coordinates sent over mavlink */ DM_KEY_WAYPOINTS_OFFBOARD_1, /* (alernate between 0 and 1) */ DM_KEY_WAYPOINTS_ONBOARD, /* Mission way point coordinates generated onboard */ + DM_KEY_MISSION_STATE, /* Persistent mission state */ DM_KEY_NUM_KEYS /* Total number of item types defined */ } dm_item_t; + #define DM_KEY_WAYPOINTS_OFFBOARD(_id) (_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1) + /** The maximum number of instances for each item type */ enum { DM_KEY_SAFE_POINTS_MAX = 8, DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES, DM_KEY_WAYPOINTS_OFFBOARD_0_MAX = NUM_MISSIONS_SUPPORTED, DM_KEY_WAYPOINTS_OFFBOARD_1_MAX = NUM_MISSIONS_SUPPORTED, - DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED + DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED, + DM_KEY_MISSION_STATE_MAX = 1 }; /** Data persistence levels */ @@ -101,6 +105,18 @@ extern "C" { size_t buflen /* Length in bytes of data to retrieve */ ); + /** Lock all items of this type */ + __EXPORT void + dm_lock( + dm_item_t item /* The item type to clear */ + ); + + /** Unlock all items of this type */ + __EXPORT void + dm_unlock( + dm_item_t item /* The item type to clear */ + ); + /** Erase all items of this type */ __EXPORT int dm_clear( diff --git a/src/modules/ekf_att_pos_estimator/InertialNav b/src/modules/ekf_att_pos_estimator/InertialNav new file mode 160000 +Subproject 8b65d755b8c4834f90a323172c25d91c45068e2 diff --git a/src/modules/fw_att_control/module.mk b/src/modules/fw_att_control/module.mk index 1e600757e..89c6494c5 100644 --- a/src/modules/fw_att_control/module.mk +++ b/src/modules/fw_att_control/module.mk @@ -39,3 +39,5 @@ MODULE_COMMAND = fw_att_control SRCS = fw_att_control_main.cpp \ fw_att_control_params.c + +MODULE_STACKSIZE = 1200 diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 3d6c62434..98ccd09a5 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -1445,7 +1445,7 @@ FixedwingPositionControl::start() _control_task = task_spawn_cmd("fw_pos_control_l1", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 3500, + 2000, (main_t)&FixedwingPositionControl::task_main_trampoline, nullptr); diff --git a/src/modules/fw_pos_control_l1/module.mk b/src/modules/fw_pos_control_l1/module.mk index af155fe08..15b575b50 100644 --- a/src/modules/fw_pos_control_l1/module.mk +++ b/src/modules/fw_pos_control_l1/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2013 PX4 Development Team. All rights reserved. +# Copyright (c) 2013, 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 @@ -43,3 +43,5 @@ SRCS = fw_pos_control_l1_main.cpp \ mtecs/mTecs.cpp \ mtecs/limitoverride.cpp \ mtecs/mTecs_params.c + +MODULE_STACKSIZE = 1200 diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 8dfa32ce8..cd0581af4 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -18,7 +18,6 @@ * * 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, @@ -73,8 +72,6 @@ #include <mavlink/mavlink_log.h> #include <uORB/topics/parameter_update.h> -#include <uORB/topics/mission.h> -#include <uORB/topics/mission_result.h> #include "mavlink_bridge_header.h" #include "mavlink_main.h" @@ -109,6 +106,8 @@ static struct file_operations fops; */ extern "C" __EXPORT int mavlink_main(int argc, char *argv[]); +extern mavlink_system_t mavlink_system; + static uint64_t last_write_success_times[6] = {0}; static uint64_t last_write_try_times[6] = {0}; @@ -209,9 +208,6 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length last_write_success_times[(unsigned)channel] = last_write_try_times[(unsigned)channel]; } } - - - } static void usage(void); @@ -230,7 +226,9 @@ Mavlink::Mavlink() : _main_loop_delay(1000), _subscriptions(nullptr), _streams(nullptr), + _mission_manager(nullptr), _mission_pub(-1), + _mission_result_sub(-1), _mode(MAVLINK_MODE_NORMAL), _total_counter(0), _verbose(false), @@ -253,8 +251,6 @@ Mavlink::Mavlink() : _loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")), _txerr_perf(perf_alloc(PC_COUNT, "mavlink_txe")) { - _wpm = &_wpm_s; - mission.count = 0; fops.ioctl = (int (*)(file *, int, long unsigned int))&mavlink_dev_ioctl; _instance_id = Mavlink::instance_count(); @@ -439,7 +435,7 @@ Mavlink::instance_exists(const char *device_name, Mavlink *self) } void -Mavlink::forward_message(mavlink_message_t *msg, Mavlink *self) +Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self) { Mavlink *inst; @@ -496,6 +492,7 @@ Mavlink::mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg) // printf("logmsg: %s\n", txt); struct mavlink_logmessage msg; strncpy(msg.text, txt, sizeof(msg.text)); + msg.severity = (unsigned char)cmd; Mavlink *inst; LL_FOREACH(_mavlink_instances, inst) { @@ -515,7 +512,6 @@ Mavlink::mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg) void Mavlink::mavlink_update_system(void) { - if (!_param_initialized) { _param_system_id = param_find("MAV_SYS_ID"); _param_component_id = param_find("MAV_COMP_ID"); @@ -729,9 +725,32 @@ Mavlink::set_hil_enabled(bool hil_enabled) return ret; } -extern mavlink_system_t mavlink_system; +void +Mavlink::send_message(const mavlink_message_t *msg) +{ + uint8_t buf[MAVLINK_MAX_PACKET_LEN]; + + uint16_t len = mavlink_msg_to_send_buffer(buf, msg); + mavlink_send_uart_bytes(_channel, buf, len); +} + +void +Mavlink::handle_message(const mavlink_message_t *msg) +{ + /* handle packet with mission manager */ + _mission_manager->handle_message(msg); -int Mavlink::mavlink_pm_queued_send() + /* handle packet with parameter component */ + mavlink_pm_message_handler(_channel, msg); + + if (get_forwarding_on()) { + /* forward any messages to other mavlink instances */ + Mavlink::forward_message(msg, this); + } +} + +int +Mavlink::mavlink_pm_queued_send() { if (_mavlink_param_queue_index < param_count()) { mavlink_pm_send_param(param_for_index(_mavlink_param_queue_index)); @@ -808,7 +827,7 @@ int Mavlink::mavlink_pm_send_param(param_t param) mavlink_type, param_count(), param_get_index(param)); - mavlink_missionlib_send_message(&tx_msg); + send_message(&tx_msg); return OK; } @@ -822,7 +841,7 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav (req.target_component == mavlink_system.compid || req.target_component == MAV_COMP_ID_ALL)) { /* Start sending parameters */ mavlink_pm_start_queued_send(); - mavlink_missionlib_send_gcs_string("[mavlink pm] sending list"); + send_statustext_info("[pm] sending list"); } } break; @@ -846,7 +865,7 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav if (param == PARAM_INVALID) { char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN]; sprintf(buf, "[pm] unknown: %s", name); - mavlink_missionlib_send_gcs_string(buf); + send_statustext_info(buf); } else { /* set and send parameter */ @@ -882,653 +901,29 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav } } -void Mavlink::publish_mission() -{ - /* Initialize mission publication if necessary */ - if (_mission_pub < 0) { - _mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission); - - } else { - orb_publish(ORB_ID(offboard_mission), _mission_pub, &mission); - } -} - -int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item) -{ - /* only support global waypoints for now */ - switch (mavlink_mission_item->frame) { - case MAV_FRAME_GLOBAL: - mission_item->lat = (double)mavlink_mission_item->x; - mission_item->lon = (double)mavlink_mission_item->y; - mission_item->altitude = mavlink_mission_item->z; - mission_item->altitude_is_relative = false; - break; - - case MAV_FRAME_GLOBAL_RELATIVE_ALT: - mission_item->lat = (double)mavlink_mission_item->x; - mission_item->lon = (double)mavlink_mission_item->y; - mission_item->altitude = mavlink_mission_item->z; - mission_item->altitude_is_relative = true; - break; - - case MAV_FRAME_LOCAL_NED: - case MAV_FRAME_LOCAL_ENU: - return MAV_MISSION_UNSUPPORTED_FRAME; - - case MAV_FRAME_MISSION: - default: - return MAV_MISSION_ERROR; - } - - switch (mavlink_mission_item->command) { - case MAV_CMD_NAV_TAKEOFF: - mission_item->pitch_min = mavlink_mission_item->param1; - break; - case MAV_CMD_DO_JUMP: - mission_item->do_jump_mission_index = mavlink_mission_item->param1; - mission_item->do_jump_current_count = 0; - mission_item->do_jump_repeat_count = mavlink_mission_item->param2; - break; - default: - mission_item->acceptance_radius = mavlink_mission_item->param2; - mission_item->time_inside = mavlink_mission_item->param1; - break; - } - - mission_item->yaw = _wrap_pi(mavlink_mission_item->param4 * M_DEG_TO_RAD_F); - mission_item->loiter_radius = fabsf(mavlink_mission_item->param3); - mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */ - mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command; - - mission_item->autocontinue = mavlink_mission_item->autocontinue; - // mission_item->index = mavlink_mission_item->seq; - mission_item->origin = ORIGIN_MAVLINK; - - /* reset DO_JUMP count */ - mission_item->do_jump_current_count = 0; - - return OK; -} - -int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item) -{ - if (mission_item->altitude_is_relative) { - mavlink_mission_item->frame = MAV_FRAME_GLOBAL; - - } else { - mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; - } - - switch (mission_item->nav_cmd) { - case NAV_CMD_TAKEOFF: - mavlink_mission_item->param1 = mission_item->pitch_min; - break; - - case NAV_CMD_DO_JUMP: - mavlink_mission_item->param1 = mission_item->do_jump_mission_index; - mavlink_mission_item->param2 = mission_item->do_jump_repeat_count; - break; - - default: - mavlink_mission_item->param2 = mission_item->acceptance_radius; - mavlink_mission_item->param1 = mission_item->time_inside; - break; - } - - mavlink_mission_item->x = (float)mission_item->lat; - mavlink_mission_item->y = (float)mission_item->lon; - mavlink_mission_item->z = mission_item->altitude; - - mavlink_mission_item->param4 = mission_item->yaw * M_RAD_TO_DEG_F; - mavlink_mission_item->param3 = mission_item->loiter_radius * (float)mission_item->loiter_direction; - mavlink_mission_item->command = mission_item->nav_cmd; - mavlink_mission_item->autocontinue = mission_item->autocontinue; - // mavlink_mission_item->seq = mission_item->index; - - return OK; -} - -void Mavlink::mavlink_wpm_init(mavlink_wpm_storage *state) -{ - state->size = 0; - state->max_size = MAVLINK_WPM_MAX_WP_COUNT; - state->current_state = MAVLINK_WPM_STATE_IDLE; - state->current_partner_sysid = 0; - state->current_partner_compid = 0; - state->timestamp_lastaction = 0; - state->timestamp_last_send_setpoint = 0; - state->timestamp_last_send_request = 0; - state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT; - state->current_dataman_id = 0; -} - -/* - * @brief Sends an waypoint ack message - */ -void Mavlink::mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type) -{ - mavlink_message_t msg; - mavlink_mission_ack_t wpa; - - wpa.target_system = sysid; - wpa.target_component = compid; - wpa.type = type; - - mavlink_msg_mission_ack_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpa); - mavlink_missionlib_send_message(&msg); - - if (_verbose) { warnx("Sent waypoint ack (%u) to ID %u", wpa.type, wpa.target_system); } -} - -/* - * @brief Broadcasts the new target waypoint and directs the MAV to fly there - * - * This function broadcasts its new active waypoint sequence number and - * sends a message to the controller, advising it to fly to the coordinates - * of the waypoint with a given orientation - * - * @param seq The waypoint sequence number the MAV should fly to. - */ -void Mavlink::mavlink_wpm_send_waypoint_current(uint16_t seq) -{ - if (seq < _wpm->size) { - mavlink_message_t msg; - mavlink_mission_current_t wpc; - - wpc.seq = seq; - - mavlink_msg_mission_current_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc); - mavlink_missionlib_send_message(&msg); - - } else if (seq == 0 && _wpm->size == 0) { - - /* don't broadcast if no WPs */ - - } else { - mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds"); - } -} - -void Mavlink::mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count) -{ - mavlink_message_t msg; - mavlink_mission_count_t wpc; - - wpc.target_system = sysid; - wpc.target_component = compid; - wpc.count = mission.count; - - mavlink_msg_mission_count_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc); - mavlink_missionlib_send_message(&msg); - - if (_verbose) { warnx("Sent waypoint count (%u) to ID %u", wpc.count, wpc.target_system); } -} - -void Mavlink::mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq) -{ - - struct mission_item_s mission_item; - ssize_t len = sizeof(struct mission_item_s); - - dm_item_t dm_current; - - if (_wpm->current_dataman_id == 0) { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; - - } else { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; - } - - if (dm_read(dm_current, seq, &mission_item, len) == len) { - - /* create mission_item_s from mavlink_mission_item_t */ - mavlink_mission_item_t wp; - map_mission_item_to_mavlink_mission_item(&mission_item, &wp); - - mavlink_message_t msg; - wp.target_system = sysid; - wp.target_component = compid; - wp.seq = seq; - mavlink_msg_mission_item_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp); - mavlink_missionlib_send_message(&msg); - - if (_verbose) { warnx("Sent waypoint %u to ID %u", wp.seq, wp.target_system); } - - } else { - mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); - mavlink_missionlib_send_gcs_string("#audio: Unable to read from micro SD"); - - if (_verbose) { warnx("ERROR: could not read WP%u", seq); } - } -} - -void Mavlink::mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq) -{ - if (seq < _wpm->max_size) { - mavlink_message_t msg; - mavlink_mission_request_t wpr; - wpr.target_system = sysid; - wpr.target_component = compid; - wpr.seq = seq; - mavlink_msg_mission_request_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpr); - mavlink_missionlib_send_message(&msg); - _wpm->timestamp_last_send_request = hrt_absolute_time(); - - if (_verbose) { warnx("Sent waypoint request %u to ID %u", wpr.seq, wpr.target_system); } - - } else { - mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity"); - } -} - -/* - * @brief emits a message that a waypoint reached - * - * This function broadcasts a message that a waypoint is reached. - * - * @param seq The waypoint sequence number the MAV has reached. - */ -void Mavlink::mavlink_wpm_send_waypoint_reached(uint16_t seq) -{ - mavlink_message_t msg; - mavlink_mission_item_reached_t wp_reached; - - wp_reached.seq = seq; - - mavlink_msg_mission_item_reached_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp_reached); - mavlink_missionlib_send_message(&msg); - - if (_verbose) { warnx("Sent waypoint %u reached message", wp_reached.seq); } -} - -void Mavlink::mavlink_waypoint_eventloop(uint64_t now) +int +Mavlink::send_statustext_info(const char *string) { - /* check for timed-out operations */ - if (now - _wpm->timestamp_lastaction > _wpm->timeout && _wpm->current_state != MAVLINK_WPM_STATE_IDLE) { - - mavlink_missionlib_send_gcs_string("Operation timeout"); - - _wpm->current_state = MAVLINK_WPM_STATE_IDLE; - _wpm->current_partner_sysid = 0; - _wpm->current_partner_compid = 0; - - } else if (now - _wpm->timestamp_last_send_request > 500000 && _wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { - /* try to get WP again after short timeout */ - mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id); - } + return send_statustext(MAVLINK_IOC_SEND_TEXT_INFO, string); } - -void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) +int +Mavlink::send_statustext_critical(const char *string) { - uint64_t now = hrt_absolute_time(); - - switch (msg->msgid) { - - case MAVLINK_MSG_ID_MISSION_ACK: { - mavlink_mission_ack_t wpa; - mavlink_msg_mission_ack_decode(msg, &wpa); - - if ((msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid) && (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/)) { - _wpm->timestamp_lastaction = now; - - if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || _wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { - if (_wpm->current_wp_id == _wpm->size - 1) { - - _wpm->current_state = MAVLINK_WPM_STATE_IDLE; - _wpm->current_wp_id = 0; - } - } - - } else { - mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch"); - } - - break; - } - - case MAVLINK_MSG_ID_MISSION_SET_CURRENT: { - mavlink_mission_set_current_t wpc; - mavlink_msg_mission_set_current_decode(msg, &wpc); - - if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) { - _wpm->timestamp_lastaction = now; - - if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) { - if (wpc.seq < _wpm->size) { - - mission.current_index = wpc.seq; - publish_mission(); - - /* don't answer yet, wait for the navigator to respond, then publish the mission_result */ -// mavlink_wpm_send_waypoint_current(wpc.seq); - - } else { - mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); - } - - } else { - mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy"); - } - } - - break; - } - - case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: { - mavlink_mission_request_list_t wprl; - mavlink_msg_mission_request_list_decode(msg, &wprl); - - if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) { - _wpm->timestamp_lastaction = now; - - if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE || _wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { - if (_wpm->size > 0) { - - _wpm->current_state = MAVLINK_WPM_STATE_SENDLIST; - _wpm->current_wp_id = 0; - _wpm->current_partner_sysid = msg->sysid; - _wpm->current_partner_compid = msg->compid; - - } else { - if (_verbose) { warnx("No waypoints send"); } - } - - _wpm->current_count = _wpm->size; - mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, _wpm->current_count); - - } else { - mavlink_missionlib_send_gcs_string("IGN REQUEST LIST: Busy"); - } - } - - break; - } - - case MAVLINK_MSG_ID_MISSION_REQUEST: { - mavlink_mission_request_t wpr; - mavlink_msg_mission_request_decode(msg, &wpr); - - if (msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) { - _wpm->timestamp_lastaction = now; - - if (wpr.seq >= _wpm->size) { - - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list"); - - break; - } - - /* - * Ensure that we are in the correct state and that the first request has id 0 - * and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint) - */ - if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { - - if (wpr.seq == 0) { - if (_verbose) { warnx("Got ITEM_REQUEST of waypoint %u from %u changing to STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); } - - _wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; - - } else { - mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); - - break; - } - - } else if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { - - if (wpr.seq == _wpm->current_wp_id) { - - if (_verbose) { warnx("Got ITEM_REQUEST of waypoint %u (again) from %u staying in STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); } - - } else if (wpr.seq == _wpm->current_wp_id + 1) { - - if (_verbose) { warnx("Got ITEM_REQUEST of waypoint %u from %u staying in STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); } - - } else { - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); - - break; - } - - } else { - - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); - - break; - } - - _wpm->current_wp_id = wpr.seq; - _wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; - - if (wpr.seq < _wpm->size) { - - mavlink_wpm_send_waypoint(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id); - - } else { - mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); - - mavlink_missionlib_send_gcs_string("ERROR: Waypoint out of bounds"); - } - - - } else { - //we we're target but already communicating with someone else - if ((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid)) { - - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); - - if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.", msg->sysid, _wpm->current_partner_sysid); } - } - } - - break; - } - - case MAVLINK_MSG_ID_MISSION_COUNT: { - mavlink_mission_count_t wpc; - mavlink_msg_mission_count_decode(msg, &wpc); - - if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) { - _wpm->timestamp_lastaction = now; - - if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) { - - if (wpc.count > NUM_MISSIONS_SUPPORTED) { - if (_verbose) { warnx("Too many waypoints: %d, supported: %d", wpc.count, NUM_MISSIONS_SUPPORTED); } - - mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_NO_SPACE); - break; - } - - if (wpc.count == 0) { - mavlink_missionlib_send_gcs_string("WP COUNT 0"); - - break; - } - - _wpm->current_state = MAVLINK_WPM_STATE_GETLIST; - _wpm->current_wp_id = 0; - _wpm->current_partner_sysid = msg->sysid; - _wpm->current_partner_compid = msg->compid; - _wpm->current_count = wpc.count; - - mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id); - - } else if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { - - if (_wpm->current_wp_id == 0) { - mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); - - } else { - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy with WP"); - } - - } else { - mavlink_missionlib_send_gcs_string("IGN MISSION_COUNT CMD: Busy"); - } - } - } - break; - - case MAVLINK_MSG_ID_MISSION_ITEM: { - mavlink_mission_item_t wp; - mavlink_msg_mission_item_decode(msg, &wp); - - if (wp.target_system == mavlink_system.sysid && wp.target_component == _mavlink_wpm_comp_id) { - - _wpm->timestamp_lastaction = now; - - /* - * ensure that we are in the correct state and that the first waypoint has id 0 - * and the following waypoints have the correct ids - */ - - if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { - - if (wp.seq != 0) { - mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP not 0"); - break; - } - - } else if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { - - if (wp.seq >= _wpm->current_count) { - mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP out of bounds"); - break; - } - - if (wp.seq != _wpm->current_wp_id) { - mavlink_missionlib_send_gcs_string("IGN: waypoint ID mismatch"); - mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id); - break; - } - } - - _wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS; - - struct mission_item_s mission_item; - - int ret = map_mavlink_mission_item_to_mission_item(&wp, &mission_item); - - if (ret != OK) { - mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, ret); - _wpm->current_state = MAVLINK_WPM_STATE_IDLE; - break; - } - - ssize_t len = sizeof(struct mission_item_s); - - dm_item_t dm_next; - - if (_wpm->current_dataman_id == 0) { - dm_next = DM_KEY_WAYPOINTS_OFFBOARD_1; - mission.dataman_id = 1; - - } else { - dm_next = DM_KEY_WAYPOINTS_OFFBOARD_0; - mission.dataman_id = 0; - } - - if (dm_write(dm_next, wp.seq, DM_PERSIST_IN_FLIGHT_RESET, &mission_item, len) != len) { - mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); - mavlink_missionlib_send_gcs_string("#audio: Unable to write on micro SD"); - _wpm->current_state = MAVLINK_WPM_STATE_IDLE; - break; - } - -// if (wp.current) { -// warnx("current is: %d", wp.seq); -// mission.current_index = wp.seq; -// } - // XXX ignore current set - mission.current_index = -1; - - _wpm->current_wp_id = wp.seq + 1; - - if (_wpm->current_wp_id == _wpm->current_count && _wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { - - if (_verbose) { warnx("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE", _wpm->current_count); } - - mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ACCEPTED); - - mission.count = _wpm->current_count; - - publish_mission(); - - _wpm->current_dataman_id = mission.dataman_id; - _wpm->size = _wpm->current_count; - - _wpm->current_state = MAVLINK_WPM_STATE_IDLE; - - } else { - mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id); - } - } - - break; - } - - case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: { - mavlink_mission_clear_all_t wpca; - mavlink_msg_mission_clear_all_decode(msg, &wpca); - - if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) { - - if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) { - _wpm->timestamp_lastaction = now; - - _wpm->size = 0; - - /* prepare mission topic */ - mission.dataman_id = -1; - mission.count = 0; - mission.current_index = -1; - publish_mission(); - - if (dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_0) == OK && dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_1) == OK) { - mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ACCEPTED); - - } else { - mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); - } - - - } else { - mavlink_missionlib_send_gcs_string("IGN WP CLEAR CMD: Busy"); - - if (_verbose) { warnx("IGN WP CLEAR CMD: Busy"); } - } - } - - break; - } - - default: { - /* other messages might should get caught by mavlink and others */ - break; - } - } + return send_statustext(MAVLINK_IOC_SEND_TEXT_CRITICAL, string); } -void -Mavlink::mavlink_missionlib_send_message(mavlink_message_t *msg) +int +Mavlink::send_statustext_emergency(const char *string) { - uint8_t buf[MAVLINK_MAX_PACKET_LEN]; - - uint16_t len = mavlink_msg_to_send_buffer(buf, msg); - mavlink_send_uart_bytes(_channel, buf, len); + return send_statustext(MAVLINK_IOC_SEND_TEXT_EMERGENCY, string); } - - int -Mavlink::mavlink_missionlib_send_gcs_string(const char *string) +Mavlink::send_statustext(unsigned severity, const char *string) { const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN; mavlink_statustext_t statustext; - statustext.severity = MAV_SEVERITY_INFO; int i = 0; @@ -1546,11 +941,24 @@ Mavlink::mavlink_missionlib_send_gcs_string(const char *string) /* Enforce null termination */ statustext.text[i] = '\0'; + /* Map severity */ + switch (severity) { + case MAVLINK_IOC_SEND_TEXT_INFO: + statustext.severity = MAV_SEVERITY_INFO; + break; + case MAVLINK_IOC_SEND_TEXT_CRITICAL: + statustext.severity = MAV_SEVERITY_CRITICAL; + break; + case MAVLINK_IOC_SEND_TEXT_EMERGENCY: + statustext.severity = MAV_SEVERITY_EMERGENCY; + break; + } + mavlink_msg_statustext_send(_channel, statustext.severity, statustext.text); return OK; } else { - return 1; + return ERROR; } } @@ -1702,7 +1110,7 @@ Mavlink::message_buffer_is_empty() bool -Mavlink::message_buffer_write(void *ptr, int size) +Mavlink::message_buffer_write(const void *ptr, int size) { // bytes available to write int available = _message_buffer.read_ptr - _message_buffer.write_ptr - 1; @@ -1769,7 +1177,7 @@ Mavlink::message_buffer_mark_read(int n) } void -Mavlink::pass_message(mavlink_message_t *msg) +Mavlink::pass_message(const mavlink_message_t *msg) { if (_passing_on) { /* size is 8 bytes plus variable payload */ @@ -1780,7 +1188,11 @@ Mavlink::pass_message(mavlink_message_t *msg) } } - +float +Mavlink::get_rate_mult() +{ + return _datarate / 1000.0f; +} int Mavlink::task_main(int argc, char *argv[]) @@ -1902,8 +1314,6 @@ Mavlink::task_main(int argc, char *argv[]) break; } - _mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER; - warnx("data rate: %d Bytes/s, port: %s, baud: %d", _datarate, _device_name, _baudrate); /* flush stdout in case MAVLink is about to take it over */ @@ -1948,12 +1358,11 @@ Mavlink::task_main(int argc, char *argv[]) /* start the MAVLink receiver */ _receive_thread = MavlinkReceiver::receive_start(this); - /* initialize waypoint manager */ - mavlink_wpm_init(_wpm); + _mission_result_sub = orb_subscribe(ORB_ID(mission_result)); - int mission_result_sub = orb_subscribe(ORB_ID(mission_result)); - struct mission_result_s mission_result; - memset(&mission_result, 0, sizeof(mission_result)); + /* create mission manager */ + _mission_manager = new MavlinkMissionManager(this); + _mission_manager->set_verbose(_verbose); _task_running = true; @@ -1968,7 +1377,7 @@ Mavlink::task_main(int argc, char *argv[]) MavlinkCommandsStream commands_stream(this, _channel); /* add default streams depending on mode and intervals depending on datarate */ - float rate_mult = _datarate / 1000.0f; + float rate_mult = get_rate_mult(); configure_stream("HEARTBEAT", 1.0f); @@ -2003,7 +1412,6 @@ Mavlink::task_main(int argc, char *argv[]) /* don't send parameters on startup without request */ _mavlink_param_queue_index = param_count(); - MavlinkRateLimiter slow_rate_limiter(2000000.0f / rate_mult); MavlinkRateLimiter fast_rate_limiter(30000.0f / rate_mult); /* set main loop delay depending on data rate to minimize CPU overhead */ @@ -2057,36 +1465,16 @@ Mavlink::task_main(int argc, char *argv[]) stream->update(t); } - bool updated; - orb_check(mission_result_sub, &updated); - - if (updated) { - orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result); - - if (_verbose) { warnx("Got mission result: new current: %d", mission_result.index_current_mission); } - - if (mission_result.mission_reached) { - mavlink_wpm_send_waypoint_reached((uint16_t)mission_result.mission_index_reached); - } - - mavlink_wpm_send_waypoint_current((uint16_t)mission_result.index_current_mission); - - } else { - if (slow_rate_limiter.check(t)) { - mavlink_wpm_send_waypoint_current((uint16_t)mission_result.index_current_mission); - } - } - if (fast_rate_limiter.check(t)) { mavlink_pm_queued_send(); - mavlink_waypoint_eventloop(hrt_absolute_time()); + _mission_manager->eventloop(); if (!mavlink_logbuffer_is_empty(&_logbuffer)) { struct mavlink_logmessage msg; int lb_ret = mavlink_logbuffer_read(&_logbuffer, &msg); if (lb_ret == OK) { - mavlink_missionlib_send_gcs_string(msg.text); + send_statustext(msg.severity, msg.text); } } } @@ -2138,11 +1526,11 @@ Mavlink::task_main(int argc, char *argv[]) } } - - perf_end(_loop_perf); } + delete _mission_manager; + delete _subscribe_to_stream; _subscribe_to_stream = nullptr; diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index f94036a17..acfc8b90e 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -50,53 +50,13 @@ #include <uORB/uORB.h> #include <uORB/topics/mission.h> +#include <uORB/topics/mission_result.h> #include "mavlink_bridge_header.h" #include "mavlink_orb_subscription.h" #include "mavlink_stream.h" #include "mavlink_messages.h" - -// FIXME XXX - TO BE MOVED TO XML -enum MAVLINK_WPM_STATES { - MAVLINK_WPM_STATE_IDLE = 0, - MAVLINK_WPM_STATE_SENDLIST, - MAVLINK_WPM_STATE_SENDLIST_SENDWPS, - MAVLINK_WPM_STATE_GETLIST, - MAVLINK_WPM_STATE_GETLIST_GETWPS, - MAVLINK_WPM_STATE_GETLIST_GOTALL, - MAVLINK_WPM_STATE_ENUM_END -}; - -enum MAVLINK_WPM_CODES { - MAVLINK_WPM_CODE_OK = 0, - MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED, - MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED, - MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS, - MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED, - MAVLINK_WPM_CODE_ENUM_END -}; - - -#define MAVLINK_WPM_MAX_WP_COUNT 255 -#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds -#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint -#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000 - - -struct mavlink_wpm_storage { - uint16_t size; - uint16_t max_size; - enum MAVLINK_WPM_STATES current_state; - int16_t current_wp_id; ///< Waypoint in current transmission - uint16_t current_count; - uint8_t current_partner_sysid; - uint8_t current_partner_compid; - uint64_t timestamp_lastaction; - uint64_t timestamp_last_send_setpoint; - uint64_t timestamp_last_send_request; - uint32_t timeout; - int current_dataman_id; -}; +#include "mavlink_mission.h" class Mavlink @@ -139,7 +99,7 @@ public: static bool instance_exists(const char *device_name, Mavlink *self); - static void forward_message(mavlink_message_t *msg, Mavlink *self); + static void forward_message(const mavlink_message_t *msg, Mavlink *self); static int get_uart_fd(unsigned index); @@ -178,11 +138,6 @@ public: bool get_forwarding_on() { return _forwarding_on; } - /** - * Handle waypoint related messages. - */ - void mavlink_wpm_message_handler(const mavlink_message_t *msg); - static int start_helper(int argc, char *argv[]); /** @@ -202,7 +157,11 @@ public: */ int set_hil_enabled(bool hil_enabled); - MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic); + void send_message(const mavlink_message_t *msg); + + void handle_message(const mavlink_message_t *msg); + + MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic); int get_instance_id(); @@ -215,14 +174,43 @@ public: mavlink_channel_t get_channel(); - void configure_stream_threadsafe(const char *stream_name, float rate); + void configure_stream_threadsafe(const char *stream_name, float rate); bool _task_should_exit; /**< if true, mavlink task should exit */ int get_mavlink_fd() { return _mavlink_fd; } - MavlinkStream * get_streams() const { return _streams; } + /** + * Send a status text with loglevel INFO + * + * @param string the message to send (will be capped by mavlink max string length) + */ + int send_statustext_info(const char *string); + /** + * Send a status text with loglevel CRITICAL + * + * @param string the message to send (will be capped by mavlink max string length) + */ + int send_statustext_critical(const char *string); + + /** + * Send a status text with loglevel EMERGENCY + * + * @param string the message to send (will be capped by mavlink max string length) + */ + int send_statustext_emergency(const char *string); + + /** + * Send a status text with loglevel + * + * @param string the message to send (will be capped by mavlink max string length) + * @param severity the log level, one of + */ + int send_statustext(unsigned severity, const char *string); + MavlinkStream * get_streams() const { return _streams; } + + float get_rate_mult(); /* Functions for waiting to start transmission until message received. */ void set_has_received_messages(bool received_messages) { _received_messages = received_messages; } @@ -231,15 +219,15 @@ public: bool get_wait_to_transmit() { return _wait_to_transmit; } bool should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); } - bool message_buffer_write(void *ptr, int size); + bool message_buffer_write(const void *ptr, int size); - void lockMessageBufferMutex(void) { pthread_mutex_lock(&_message_buffer_mutex); } - void unlockMessageBufferMutex(void) { pthread_mutex_unlock(&_message_buffer_mutex); } + void lockMessageBufferMutex(void) { pthread_mutex_lock(&_message_buffer_mutex); } + void unlockMessageBufferMutex(void) { pthread_mutex_unlock(&_message_buffer_mutex); } /** * Count a transmision error */ - void count_txerr(); + void count_txerr(); protected: Mavlink *next; @@ -262,22 +250,19 @@ private: MavlinkOrbSubscription *_subscriptions; MavlinkStream *_streams; - orb_advert_t _mission_pub; - struct mission_s mission; - MAVLINK_MODE _mode; + MavlinkMissionManager *_mission_manager; + + orb_advert_t _mission_pub; + int _mission_result_sub; + MAVLINK_MODE _mode; - uint8_t _mavlink_wpm_comp_id; - mavlink_channel_t _channel; + mavlink_channel_t _channel; struct mavlink_logbuffer _logbuffer; unsigned int _total_counter; pthread_t _receive_thread; - /* Allocate storage space for waypoints */ - mavlink_wpm_storage _wpm_s; - mavlink_wpm_storage *_wpm; - bool _verbose; bool _forwarding_on; bool _passing_on; @@ -363,21 +348,6 @@ private: void mavlink_update_system(); - void mavlink_waypoint_eventloop(uint64_t now); - void mavlink_wpm_send_waypoint_reached(uint16_t seq); - void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq); - void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq); - void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count); - void mavlink_wpm_send_waypoint_current(uint16_t seq); - void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type); - void mavlink_wpm_init(mavlink_wpm_storage *state); - int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item); - int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item); - void publish_mission(); - - void mavlink_missionlib_send_message(mavlink_message_t *msg); - int mavlink_missionlib_send_gcs_string(const char *string); - int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); int configure_stream(const char *stream_name, const float rate); @@ -394,7 +364,7 @@ private: void message_buffer_mark_read(int n); - void pass_message(mavlink_message_t *msg); + void pass_message(const mavlink_message_t *msg); static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg); @@ -402,5 +372,4 @@ private: * Main mavlink task. */ int task_main(int argc, char *argv[]); - }; diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index c7ad605c5..7c864f127 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -170,6 +170,8 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set break; case NAVIGATION_STATE_LAND: + /* fallthrough */ + case NAVIGATION_STATE_DESCEND: *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; @@ -190,6 +192,17 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; break; + case NAVIGATION_STATE_OFFBOARD: + *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED + | MAV_MODE_FLAG_STABILIZE_ENABLED + | MAV_MODE_FLAG_GUIDED_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD; + break; + + case NAVIGATION_STATE_MAX: + /* this is an unused case, ignore */ + break; + } *mavlink_custom_mode = custom_mode.data; diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp new file mode 100644 index 000000000..068774c47 --- /dev/null +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -0,0 +1,828 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2014 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 mavlink_mission.cpp + * MAVLink mission manager implementation. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> + */ + +#include "mavlink_mission.h" +#include "mavlink_main.h" + +#include <math.h> +#include <lib/geo/geo.h> +#include <systemlib/err.h> +#include <drivers/drv_hrt.h> + +#include <dataman/dataman.h> +#include <uORB/topics/mission.h> +#include <uORB/topics/mission_result.h> + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + + +MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : + _mavlink(mavlink), + _state(MAVLINK_WPM_STATE_IDLE), + _time_last_recv(0), + _time_last_sent(0), + _action_timeout(MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT), + _retry_timeout(MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT), + _max_count(DM_KEY_WAYPOINTS_OFFBOARD_0_MAX), + _dataman_id(0), + _count(0), + _current_seq(0), + _transfer_dataman_id(0), + _transfer_count(0), + _transfer_seq(0), + _transfer_current_seq(0), + _transfer_partner_sysid(0), + _transfer_partner_compid(0), + _offboard_mission_sub(-1), + _mission_result_sub(-1), + _offboard_mission_pub(-1), + _slow_rate_limiter(2000000.0f / mavlink->get_rate_mult()), + _verbose(false), + _channel(mavlink->get_channel()), + _comp_id(MAV_COMP_ID_MISSIONPLANNER) +{ + _offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission)); + _mission_result_sub = orb_subscribe(ORB_ID(mission_result)); + + init_offboard_mission(); +} + +MavlinkMissionManager::~MavlinkMissionManager() +{ + close(_offboard_mission_pub); + close(_mission_result_sub); +} + +void +MavlinkMissionManager::init_offboard_mission() +{ + mission_s mission_state; + if (dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s)) == sizeof(mission_s)) { + _dataman_id = mission_state.dataman_id; + _count = mission_state.count; + _current_seq = mission_state.current_seq; + + warnx("offboard mission init: dataman_id=%d, count=%u, current_seq=%d", _dataman_id, _count, _current_seq); + + } else { + _dataman_id = 0; + _count = 0; + _current_seq = 0; + warnx("offboard mission init: ERROR, reading mission state failed"); + } +} + +/** + * Write new mission state to dataman and publish offboard_mission topic to notify navigator about changes. + */ +int +MavlinkMissionManager::update_active_mission(int dataman_id, unsigned count, int seq) +{ + struct mission_s mission; + + mission.dataman_id = dataman_id; + mission.count = count; + mission.current_seq = seq; + + /* update mission state in dataman */ + int res = dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission, sizeof(mission_s)); + + if (res == sizeof(mission_s)) { + /* update active mission state */ + _dataman_id = dataman_id; + _count = count; + _current_seq = seq; + + /* mission state saved successfully, publish offboard_mission topic */ + if (_offboard_mission_pub < 0) { + _offboard_mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission); + + } else { + orb_publish(ORB_ID(offboard_mission), _offboard_mission_pub, &mission); + } + + return OK; + + } else { + warnx("ERROR: can't save mission state"); + _mavlink->send_statustext(MAV_SEVERITY_CRITICAL, "ERROR: can't save mission state"); + + return ERROR; + } +} + +void +MavlinkMissionManager::send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t type) +{ + mavlink_message_t msg; + mavlink_mission_ack_t wpa; + + wpa.target_system = sysid; + wpa.target_component = compid; + wpa.type = type; + + mavlink_msg_mission_ack_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wpa); + _mavlink->send_message(&msg); + + if (_verbose) { warnx("WPM: Send MISSION_ACK type %u to ID %u", wpa.type, wpa.target_system); } +} + + +void +MavlinkMissionManager::send_mission_current(uint16_t seq) +{ + if (seq < _count) { + mavlink_message_t msg; + mavlink_mission_current_t wpc; + + wpc.seq = seq; + + mavlink_msg_mission_current_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wpc); + _mavlink->send_message(&msg); + + } else if (seq == 0 && _count == 0) { + /* don't broadcast if no WPs */ + + } else { + if (_verbose) { warnx("WPM: Send MISSION_CURRENT ERROR: seq %u out of bounds", seq); } + + _mavlink->send_statustext_critical("ERROR: wp index out of bounds"); + } +} + + +void +MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count) +{ + _time_last_sent = hrt_absolute_time(); + + mavlink_message_t msg; + mavlink_mission_count_t wpc; + + wpc.target_system = sysid; + wpc.target_component = compid; + wpc.count = _count; + + mavlink_msg_mission_count_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wpc); + _mavlink->send_message(&msg); + + if (_verbose) { warnx("WPM: Send MISSION_COUNT %u to ID %u", wpc.count, wpc.target_system); } +} + + +void +MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq) +{ + dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_dataman_id); + struct mission_item_s mission_item; + + if (dm_read(dm_item, seq, &mission_item, sizeof(struct mission_item_s)) == sizeof(struct mission_item_s)) { + _time_last_sent = hrt_absolute_time(); + + /* create mission_item_s from mavlink_mission_item_t */ + mavlink_mission_item_t wp; + format_mavlink_mission_item(&mission_item, &wp); + + mavlink_message_t msg; + wp.target_system = sysid; + wp.target_component = compid; + wp.seq = seq; + wp.current = (_current_seq == seq) ? 1 : 0; + mavlink_msg_mission_item_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wp); + _mavlink->send_message(&msg); + + if (_verbose) { warnx("WPM: Send MISSION_ITEM seq %u to ID %u", wp.seq, wp.target_system); } + + } else { + send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); + _mavlink->send_statustext_critical("Unable to read from micro SD"); + + if (_verbose) { warnx("WPM: Send MISSION_ITEM ERROR: could not read seq %u from dataman ID %i", seq, _dataman_id); } + } +} + + +void +MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint16_t seq) +{ + if (seq < _max_count) { + _time_last_sent = hrt_absolute_time(); + + mavlink_message_t msg; + mavlink_mission_request_t wpr; + wpr.target_system = sysid; + wpr.target_component = compid; + wpr.seq = seq; + mavlink_msg_mission_request_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wpr); + _mavlink->send_message(&msg); + + if (_verbose) { warnx("WPM: Send MISSION_REQUEST seq %u to ID %u", wpr.seq, wpr.target_system); } + + } else { + _mavlink->send_statustext_critical("ERROR: Waypoint index exceeds list capacity"); + + if (_verbose) { warnx("WPM: Send MISSION_REQUEST ERROR: seq %u exceeds list capacity", seq); } + } +} + + +void +MavlinkMissionManager::send_mission_item_reached(uint16_t seq) +{ + mavlink_message_t msg; + mavlink_mission_item_reached_t wp_reached; + + wp_reached.seq = seq; + + mavlink_msg_mission_item_reached_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wp_reached); + _mavlink->send_message(&msg); + + if (_verbose) { warnx("WPM: Send MISSION_ITEM_REACHED reached_seq %u", wp_reached.seq); } +} + + +void +MavlinkMissionManager::eventloop() +{ + hrt_abstime now = hrt_absolute_time(); + + bool updated = false; + orb_check(_mission_result_sub, &updated); + + if (updated) { + mission_result_s mission_result; + orb_copy(ORB_ID(mission_result), _mission_result_sub, &mission_result); + + _current_seq = mission_result.seq_current; + + if (_verbose) { warnx("WPM: got mission result, new current_seq: %d", _current_seq); } + + if (mission_result.reached) { + send_mission_item_reached((uint16_t)mission_result.seq_reached); + } + + send_mission_current(_current_seq); + + } else { + if (_slow_rate_limiter.check(now)) { + send_mission_current(_current_seq); + } + } + + /* check for timed-out operations */ + if (_state != MAVLINK_WPM_STATE_IDLE && hrt_elapsed_time(&_time_last_recv) > _action_timeout) { + _mavlink->send_statustext_critical("Operation timeout"); + + if (_verbose) { warnx("WPM: Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _state); } + + _state = MAVLINK_WPM_STATE_IDLE; + + } else if (_state == MAVLINK_WPM_STATE_GETLIST && hrt_elapsed_time(&_time_last_sent) > _retry_timeout) { + /* try to request item again after timeout */ + send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq); + + } else if (_state == MAVLINK_WPM_STATE_SENDLIST && hrt_elapsed_time(&_time_last_sent) > _retry_timeout) { + if (_transfer_seq == 0) { + /* try to send items count again after timeout */ + send_mission_count(_transfer_partner_sysid, _transfer_partner_compid, _transfer_count); + + } else { + /* try to send item again after timeout */ + send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq - 1); + } + } +} + + +void +MavlinkMissionManager::handle_message(const mavlink_message_t *msg) +{ + switch (msg->msgid) { + case MAVLINK_MSG_ID_MISSION_ACK: + handle_mission_ack(msg); + break; + + case MAVLINK_MSG_ID_MISSION_SET_CURRENT: + handle_mission_set_current(msg); + break; + + case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: + handle_mission_request_list(msg); + break; + + case MAVLINK_MSG_ID_MISSION_REQUEST: + handle_mission_request(msg); + break; + + case MAVLINK_MSG_ID_MISSION_COUNT: + handle_mission_count(msg); + break; + + case MAVLINK_MSG_ID_MISSION_ITEM: + handle_mission_item(msg); + break; + + case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: + handle_mission_clear_all(msg); + break; + + default: + break; + } +} + + +void +MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg) +{ + mavlink_mission_ack_t wpa; + mavlink_msg_mission_ack_decode(msg, &wpa); + + if (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/) { + if ((msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid)) { + if (_state == MAVLINK_WPM_STATE_SENDLIST) { + _time_last_recv = hrt_absolute_time(); + + if (_transfer_seq == _count) { + if (_verbose) { warnx("WPM: MISSION_ACK OK all items sent, switch to state IDLE"); } + + } else { + _mavlink->send_statustext_critical("WPM: ERR: not all items sent -> IDLE"); + + if (_verbose) { warnx("WPM: MISSION_ACK ERROR: not all items sent, switch to state IDLE anyway"); } + } + + _state = MAVLINK_WPM_STATE_IDLE; + } + + } else { + _mavlink->send_statustext_critical("REJ. WP CMD: partner id mismatch"); + + if (_verbose) { warnx("WPM: MISSION_ACK ERROR: rejected, partner ID mismatch"); } + } + } +} + + +void +MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg) +{ + mavlink_mission_set_current_t wpc; + mavlink_msg_mission_set_current_decode(msg, &wpc); + + if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) { + if (_state == MAVLINK_WPM_STATE_IDLE) { + _time_last_recv = hrt_absolute_time(); + + if (wpc.seq < _count) { + if (update_active_mission(_dataman_id, _count, wpc.seq) == OK) { + if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d OK", wpc.seq); } + + } else { + if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d ERROR", wpc.seq); } + + _mavlink->send_statustext_critical("WPM: WP CURR CMD: Error setting ID"); + } + + } else { + if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d ERROR: not in list", wpc.seq); } + + _mavlink->send_statustext_critical("WPM: WP CURR CMD: Not in list"); + } + + } else { + if (_verbose) { warnx("WPM: MISSION_SET_CURRENT ERROR: busy"); } + + _mavlink->send_statustext_critical("WPM: IGN WP CURR CMD: Busy"); + } + } +} + + +void +MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg) +{ + mavlink_mission_request_list_t wprl; + mavlink_msg_mission_request_list_decode(msg, &wprl); + + if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) { + if (_state == MAVLINK_WPM_STATE_IDLE || _state == MAVLINK_WPM_STATE_SENDLIST) { + _time_last_recv = hrt_absolute_time(); + + if (_count > 0) { + _state = MAVLINK_WPM_STATE_SENDLIST; + _transfer_seq = 0; + _transfer_count = _count; + _transfer_partner_sysid = msg->sysid; + _transfer_partner_compid = msg->compid; + + if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST OK, %u mission items to send", _transfer_count); } + + } else { + if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST OK nothing to send, mission is empty"); } + + _mavlink->send_statustext_info("WPM: mission is empty"); + } + + send_mission_count(msg->sysid, msg->compid, _count); + + } else { + if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST ERROR: busy"); } + + _mavlink->send_statustext_critical("IGN REQUEST LIST: Busy"); + } + } +} + + +void +MavlinkMissionManager::handle_mission_request(const mavlink_message_t *msg) +{ + mavlink_mission_request_t wpr; + mavlink_msg_mission_request_decode(msg, &wpr); + + if (wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) { + if (msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid) { + if (_state == MAVLINK_WPM_STATE_SENDLIST) { + _time_last_recv = hrt_absolute_time(); + + /* _transfer_seq contains sequence of expected request */ + if (wpr.seq == _transfer_seq && _transfer_seq < _transfer_count) { + if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST seq %u from ID %u", wpr.seq, msg->sysid); } + + _transfer_seq++; + + } else if (wpr.seq == _transfer_seq - 1) { + if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST seq %u from ID %u (again)", wpr.seq, msg->sysid); } + + } else { + if (_transfer_seq > 0 && _transfer_seq < _transfer_count) { + if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, must be %i or %i", wpr.seq, msg->sysid, _transfer_seq - 1, _transfer_seq); } + + } else if (_transfer_seq <= 0) { + if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq); } + + } else { + if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq - 1); } + } + + _state = MAVLINK_WPM_STATE_IDLE; + + send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); + _mavlink->send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected"); + return; + } + + /* double check bounds in case of items count changed */ + if (wpr.seq < _count) { + send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, wpr.seq); + + } else { + if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u out of bound [%u, %u]", (unsigned)wpr.seq, (unsigned)wpr.seq, (unsigned)_count - 1); } + + _state = MAVLINK_WPM_STATE_IDLE; + + send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); + _mavlink->send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected"); + } + + } else if (_state == MAVLINK_WPM_STATE_IDLE) { + if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: no transfer"); } + + _mavlink->send_statustext_critical("IGN MISSION_ITEM_REQUEST: No active transfer"); + + } else { + if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: busy (state %d).", _state); } + + _mavlink->send_statustext_critical("WPM: REJ. CMD: Busy"); + } + + } else { + _mavlink->send_statustext_critical("WPM: REJ. CMD: partner id mismatch"); + + if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: rejected, partner ID mismatch"); } + } + } +} + + +void +MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg) +{ + mavlink_mission_count_t wpc; + mavlink_msg_mission_count_decode(msg, &wpc); + + if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) { + if (_state == MAVLINK_WPM_STATE_IDLE) { + _time_last_recv = hrt_absolute_time(); + + if (wpc.count > _max_count) { + if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: too many waypoints (%d), supported: %d", wpc.count, _max_count); } + + send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_NO_SPACE); + return; + } + + if (wpc.count == 0) { + if (_verbose) { warnx("WPM: MISSION_COUNT 0, clearing waypoints list and staying in state MAVLINK_WPM_STATE_IDLE"); } + + /* alternate dataman ID anyway to let navigator know about changes */ + update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0); + _mavlink->send_statustext_info("WPM: COUNT 0: CLEAR MISSION"); + + // TODO send ACK? + return; + } + + if (_verbose) { warnx("WPM: MISSION_COUNT %u from ID %u, changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); } + + _state = MAVLINK_WPM_STATE_GETLIST; + _transfer_seq = 0; + _transfer_partner_sysid = msg->sysid; + _transfer_partner_compid = msg->compid; + _transfer_count = wpc.count; + _transfer_dataman_id = _dataman_id == 0 ? 1 : 0; // use inactive storage for transmission + _transfer_current_seq = -1; + + } else if (_state == MAVLINK_WPM_STATE_GETLIST) { + _time_last_recv = hrt_absolute_time(); + + if (_transfer_seq == 0) { + /* looks like our MISSION_REQUEST was lost, try again */ + if (_verbose) { warnx("WPM: MISSION_COUNT %u from ID %u (again)", wpc.count, msg->sysid); } + + _mavlink->send_statustext_info("WP CMD OK TRY AGAIN"); + + } else { + if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, already receiving seq %u", _transfer_seq); } + + _mavlink->send_statustext_critical("WPM: REJ. CMD: Busy"); + return; + } + + } else { + if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, state %i", _state); } + + _mavlink->send_statustext_critical("WPM: IGN MISSION_COUNT: Busy"); + return; + } + + send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq); + } +} + + +void +MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg) +{ + mavlink_mission_item_t wp; + mavlink_msg_mission_item_decode(msg, &wp); + + if (wp.target_system == mavlink_system.sysid && wp.target_component == _comp_id) { + if (_state == MAVLINK_WPM_STATE_GETLIST) { + _time_last_recv = hrt_absolute_time(); + + if (wp.seq != _transfer_seq) { + if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u was not the expected %u", wp.seq, _transfer_seq); } + + /* don't send request here, it will be performed in eventloop after timeout */ + return; + } + + } else if (_state == MAVLINK_WPM_STATE_IDLE) { + if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: no transfer"); } + + _mavlink->send_statustext_critical("IGN MISSION_ITEM: No transfer"); + return; + + } else { + if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: busy, state %i", _state); } + + _mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy"); + return; + } + + struct mission_item_s mission_item; + int ret = parse_mavlink_mission_item(&wp, &mission_item); + + if (ret != OK) { + if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq); } + + _mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy"); + + send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, ret); + _state = MAVLINK_WPM_STATE_IDLE; + return; + } + + dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_transfer_dataman_id); + + if (dm_write(dm_item, wp.seq, DM_PERSIST_POWER_ON_RESET, &mission_item, sizeof(struct mission_item_s)) != sizeof(struct mission_item_s)) { + if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: error writing seq %u to dataman ID %i", wp.seq, _transfer_dataman_id); } + + send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); + _mavlink->send_statustext_critical("Unable to write on micro SD"); + _state = MAVLINK_WPM_STATE_IDLE; + return; + } + + /* waypoint marked as current */ + if (wp.current) { + _transfer_current_seq = wp.seq; + } + + if (_verbose) { warnx("WPM: MISSION_ITEM seq %u received", wp.seq); } + + _transfer_seq = wp.seq + 1; + + if (_transfer_seq == _transfer_count) { + /* got all new mission items successfully */ + if (_verbose) { warnx("WPM: MISSION_ITEM got all %u items, current_seq=%u, changing state to MAVLINK_WPM_STATE_IDLE", _transfer_count, _transfer_current_seq); } + + _mavlink->send_statustext_info("WPM: Transfer complete."); + + _state = MAVLINK_WPM_STATE_IDLE; + + if (update_active_mission(_transfer_dataman_id, _transfer_count, _transfer_current_seq) == OK) { + send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED); + + } else { + send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); + } + + } else { + /* request next item */ + send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq); + } + } +} + + +void +MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg) +{ + mavlink_mission_clear_all_t wpca; + mavlink_msg_mission_clear_all_decode(msg, &wpca); + + if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) { + + if (_state == MAVLINK_WPM_STATE_IDLE) { + /* don't touch mission items storage itself, but only items count in mission state */ + _time_last_recv = hrt_absolute_time(); + + if (update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0) == OK) { + if (_verbose) { warnx("WPM: CLEAR_ALL OK"); } + send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED); + + } else { + send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); + } + + } else { + _mavlink->send_statustext_critical("WPM: IGN CLEAR CMD: Busy"); + + if (_verbose) { warnx("WPM: CLEAR_ALL IGNORED: busy"); } + } + } +} + +int +MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item) +{ + /* only support global waypoints for now */ + switch (mavlink_mission_item->frame) { + case MAV_FRAME_GLOBAL: + mission_item->lat = (double)mavlink_mission_item->x; + mission_item->lon = (double)mavlink_mission_item->y; + mission_item->altitude = mavlink_mission_item->z; + mission_item->altitude_is_relative = false; + break; + + case MAV_FRAME_GLOBAL_RELATIVE_ALT: + mission_item->lat = (double)mavlink_mission_item->x; + mission_item->lon = (double)mavlink_mission_item->y; + mission_item->altitude = mavlink_mission_item->z; + mission_item->altitude_is_relative = true; + break; + + case MAV_FRAME_LOCAL_NED: + case MAV_FRAME_LOCAL_ENU: + return MAV_MISSION_UNSUPPORTED_FRAME; + + case MAV_FRAME_MISSION: + default: + return MAV_MISSION_ERROR; + } + + switch (mavlink_mission_item->command) { + case MAV_CMD_NAV_TAKEOFF: + mission_item->pitch_min = mavlink_mission_item->param1; + break; + case MAV_CMD_DO_JUMP: + mission_item->do_jump_mission_index = mavlink_mission_item->param1; + mission_item->do_jump_current_count = 0; + mission_item->do_jump_repeat_count = mavlink_mission_item->param2; + break; + default: + mission_item->acceptance_radius = mavlink_mission_item->param2; + mission_item->time_inside = mavlink_mission_item->param1; + break; + } + + mission_item->yaw = _wrap_pi(mavlink_mission_item->param4 * M_DEG_TO_RAD_F); + mission_item->loiter_radius = fabsf(mavlink_mission_item->param3); + mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */ + mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command; + + mission_item->autocontinue = mavlink_mission_item->autocontinue; + // mission_item->index = mavlink_mission_item->seq; + mission_item->origin = ORIGIN_MAVLINK; + + /* reset DO_JUMP count */ + mission_item->do_jump_current_count = 0; + + return MAV_MISSION_ACCEPTED; +} + + +int +MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item) +{ + if (mission_item->altitude_is_relative) { + mavlink_mission_item->frame = MAV_FRAME_GLOBAL; + + } else { + mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; + } + + switch (mission_item->nav_cmd) { + case NAV_CMD_TAKEOFF: + mavlink_mission_item->param1 = mission_item->pitch_min; + break; + + case NAV_CMD_DO_JUMP: + mavlink_mission_item->param1 = mission_item->do_jump_mission_index; + mavlink_mission_item->param2 = mission_item->do_jump_repeat_count; + break; + + default: + mavlink_mission_item->param2 = mission_item->acceptance_radius; + mavlink_mission_item->param1 = mission_item->time_inside; + break; + } + + mavlink_mission_item->x = (float)mission_item->lat; + mavlink_mission_item->y = (float)mission_item->lon; + mavlink_mission_item->z = mission_item->altitude; + + mavlink_mission_item->param4 = mission_item->yaw * M_RAD_TO_DEG_F; + mavlink_mission_item->param3 = mission_item->loiter_radius * (float)mission_item->loiter_direction; + mavlink_mission_item->command = mission_item->nav_cmd; + mavlink_mission_item->autocontinue = mission_item->autocontinue; + // mavlink_mission_item->seq = mission_item->index; + + return OK; +} diff --git a/src/modules/mavlink/mavlink_mission.h b/src/modules/mavlink/mavlink_mission.h new file mode 100644 index 000000000..f63c32f24 --- /dev/null +++ b/src/modules/mavlink/mavlink_mission.h @@ -0,0 +1,177 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2014 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 mavlink_mission.h + * MAVLink mission manager interface definition. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> + */ + +#pragma once + +#include "mavlink_bridge_header.h" +#include "mavlink_rate_limiter.h" +#include <uORB/uORB.h> + +// FIXME XXX - TO BE MOVED TO XML +enum MAVLINK_WPM_STATES { + MAVLINK_WPM_STATE_IDLE = 0, + MAVLINK_WPM_STATE_SENDLIST, + MAVLINK_WPM_STATE_GETLIST, + MAVLINK_WPM_STATE_ENUM_END +}; + +enum MAVLINK_WPM_CODES { + MAVLINK_WPM_CODE_OK = 0, + MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED, + MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED, + MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS, + MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED, + MAVLINK_WPM_CODE_ENUM_END +}; + +#define MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication action timeout in useconds +#define MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT 500000 ///< Protocol communication retry timeout in useconds + +class Mavlink; + +class MavlinkMissionManager { +public: + MavlinkMissionManager(Mavlink *parent); + + ~MavlinkMissionManager(); + + void init_offboard_mission(); + + int update_active_mission(int dataman_id, unsigned count, int seq); + + void send_message(mavlink_message_t *msg); + + /** + * @brief Sends an waypoint ack message + */ + void send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t type); + + /** + * @brief Broadcasts the new target waypoint and directs the MAV to fly there + * + * This function broadcasts its new active waypoint sequence number and + * sends a message to the controller, advising it to fly to the coordinates + * of the waypoint with a given orientation + * + * @param seq The waypoint sequence number the MAV should fly to. + */ + void send_mission_current(uint16_t seq); + + void send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count); + + void send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq); + + void send_mission_request(uint8_t sysid, uint8_t compid, uint16_t seq); + + /** + * @brief emits a message that a waypoint reached + * + * This function broadcasts a message that a waypoint is reached. + * + * @param seq The waypoint sequence number the MAV has reached. + */ + void send_mission_item_reached(uint16_t seq); + + void eventloop(); + + void handle_message(const mavlink_message_t *msg); + + void handle_mission_ack(const mavlink_message_t *msg); + + void handle_mission_set_current(const mavlink_message_t *msg); + + void handle_mission_request_list(const mavlink_message_t *msg); + + void handle_mission_request(const mavlink_message_t *msg); + + void handle_mission_count(const mavlink_message_t *msg); + + void handle_mission_item(const mavlink_message_t *msg); + + void handle_mission_clear_all(const mavlink_message_t *msg); + + /** + * Parse mavlink MISSION_ITEM message to get mission_item_s. + */ + int parse_mavlink_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item); + + /** + * Format mission_item_s as mavlink MISSION_ITEM message. + */ + int format_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item); + + void set_verbose(bool v) { _verbose = v; } + +private: + Mavlink* _mavlink; + + enum MAVLINK_WPM_STATES _state; ///< Current state + + uint64_t _time_last_recv; + uint64_t _time_last_sent; + + uint32_t _action_timeout; + uint32_t _retry_timeout; + unsigned _max_count; ///< Maximum number of mission items + + int _dataman_id; ///< Dataman storage ID for active mission + unsigned _count; ///< Count of items in active mission + int _current_seq; ///< Current item sequence in active mission + + int _transfer_dataman_id; ///< Dataman storage ID for current transmission + unsigned _transfer_count; ///< Items count in current transmission + unsigned _transfer_seq; ///< Item sequence in current transmission + unsigned _transfer_current_seq; ///< Current item ID for current transmission (-1 means not initialized) + unsigned _transfer_partner_sysid; ///< Partner system ID for current transmission + unsigned _transfer_partner_compid; ///< Partner component ID for current transmission + + int _offboard_mission_sub; + int _mission_result_sub; + orb_advert_t _offboard_mission_pub; + + MavlinkRateLimiter _slow_rate_limiter; + + bool _verbose; + + mavlink_channel_t _channel; + uint8_t _comp_id; +}; diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 484886682..99ec98ee9 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -79,7 +79,6 @@ __BEGIN_DECLS #include "mavlink_bridge_header.h" #include "mavlink_receiver.h" #include "mavlink_main.h" -#include "util.h" __END_DECLS @@ -952,16 +951,8 @@ MavlinkReceiver::receive_thread(void *arg) /* handle generic messages and commands */ handle_message(&msg); - /* handle packet with waypoint component */ - _mavlink->mavlink_wpm_message_handler(&msg); - - /* handle packet with parameter component */ - _mavlink->mavlink_pm_message_handler(_mavlink->get_channel(), &msg); - - if (_mavlink->get_forwarding_on()) { - /* forward any messages to other mavlink instances */ - Mavlink::forward_message(&msg, _mavlink); - } + /* handle packet with parent object */ + _mavlink->handle_message(&msg); } } } diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index 65ef884a2..8d38b9973 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -105,8 +105,6 @@ public: static void *start_helper(void *context); private: - perf_counter_t _loop_perf; /**< loop performance counter */ - Mavlink *_mavlink; void handle_message(mavlink_message_t *msg); diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk index a4d8bfbfb..d49bbb7f7 100644 --- a/src/modules/mavlink/module.mk +++ b/src/modules/mavlink/module.mk @@ -39,6 +39,7 @@ MODULE_COMMAND = mavlink SRCS += mavlink_main.cpp \ mavlink.c \ mavlink_receiver.cpp \ + mavlink_mission.cpp \ mavlink_orb_subscription.cpp \ mavlink_messages.cpp \ mavlink_stream.cpp \ diff --git a/src/modules/mavlink/util.h b/src/modules/mavlink/util.h deleted file mode 100644 index 5ca9a085d..000000000 --- a/src/modules/mavlink/util.h +++ /dev/null @@ -1,53 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2014 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 util.h - * Utility and helper functions and data. - */ - -#pragma once - -/** MAVLink communications channel */ -extern uint8_t chan; - -/** Shutdown marker */ -extern volatile bool thread_should_exit; - -/** Waypoint storage */ -extern mavlink_wpm_storage *wpm; - -/** - * Translate the custom state into standard mavlink modes and state. - */ -extern void get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode); diff --git a/src/modules/mavlink/waypoints.h b/src/modules/mavlink/waypoints.h deleted file mode 100644 index 532eff7aa..000000000 --- a/src/modules/mavlink/waypoints.h +++ /dev/null @@ -1,111 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2009-2014 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 waypoints.h - * MAVLink waypoint protocol definition (BSD-relicensed). - * - * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch> - * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> - */ - -#ifndef WAYPOINTS_H_ -#define WAYPOINTS_H_ - -/* This assumes you have the mavlink headers on your include path - or in the same folder as this source file */ - -#include <v1.0/mavlink_types.h> -#include "mavlink_bridge_header.h" -#include <stdbool.h> -#include <uORB/topics/mission.h> - -enum MAVLINK_WPM_STATES { - MAVLINK_WPM_STATE_IDLE = 0, - MAVLINK_WPM_STATE_SENDLIST, - MAVLINK_WPM_STATE_SENDLIST_SENDWPS, - MAVLINK_WPM_STATE_GETLIST, - MAVLINK_WPM_STATE_GETLIST_GETWPS, - MAVLINK_WPM_STATE_GETLIST_GOTALL, - MAVLINK_WPM_STATE_ENUM_END -}; - -enum MAVLINK_WPM_CODES { - MAVLINK_WPM_CODE_OK = 0, - MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED, - MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED, - MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS, - MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED, - MAVLINK_WPM_CODE_ENUM_END -}; - - -#define MAVLINK_WPM_MAX_WP_COUNT 255 -#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds -#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint -#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000 - - -struct mavlink_wpm_storage { - uint16_t size; - uint16_t max_size; - enum MAVLINK_WPM_STATES current_state; - int16_t current_wp_id; ///< Waypoint in current transmission - uint16_t current_count; - uint8_t current_partner_sysid; - uint8_t current_partner_compid; - uint64_t timestamp_lastaction; - uint64_t timestamp_last_send_setpoint; - uint32_t timeout; - int current_dataman_id; -}; - -typedef struct mavlink_wpm_storage mavlink_wpm_storage; - -int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item); -int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item); - - -void mavlink_wpm_init(mavlink_wpm_storage *state); -void mavlink_waypoint_eventloop(uint64_t now); -void mavlink_wpm_message_handler(const mavlink_message_t *msg); - -extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, - float param2, float param3, float param4, float param5_lat_x, - float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command); - -static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN]; - -#endif /* WAYPOINTS_H_ */ diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index d39ca6cf9..ba766cd10 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -61,6 +61,7 @@ Mission::Mission(Navigator *navigator, const char *name) : MissionBlock(navigator, name), _param_onboard_enabled(this, "ONBOARD_EN"), _param_takeoff_alt(this, "TAKEOFF_ALT"), + _param_dist_1wp(this, "DIST_1WP"), _onboard_mission({0}), _offboard_mission({0}), _current_onboard_mission_index(-1), @@ -69,13 +70,12 @@ Mission::Mission(Navigator *navigator, const char *name) : _takeoff(false), _mission_result_pub(-1), _mission_result({0}), - _mission_type(MISSION_TYPE_NONE) + _mission_type(MISSION_TYPE_NONE), + _inited(false), + _dist_1wp_ok(false) { /* load initial params */ updateParams(); - - /* set initial mission items */ - on_inactive(); } Mission::~Mission() @@ -85,16 +85,25 @@ Mission::~Mission() void Mission::on_inactive() { - /* check anyway if missions have changed so that feedback to groundstation is given */ - bool onboard_updated; - orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated); - if (onboard_updated) { - update_onboard_mission(); - } + if (_inited) { + /* check if missions have changed so that feedback to ground station is given */ + bool onboard_updated = false; + orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated); + if (onboard_updated) { + update_onboard_mission(); + } - bool offboard_updated; - orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated); - if (offboard_updated) { + bool offboard_updated = false; + orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated); + if (offboard_updated) { + update_offboard_mission(); + } + + } else { + /* read mission topics on initialization */ + _inited = true; + + update_onboard_mission(); update_offboard_mission(); } @@ -113,13 +122,13 @@ void Mission::on_active() { /* check if anything has changed */ - bool onboard_updated; + bool onboard_updated = false; orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated); if (onboard_updated) { update_onboard_mission(); } - bool offboard_updated; + bool offboard_updated = false; orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated); if (offboard_updated) { update_offboard_mission(); @@ -148,9 +157,9 @@ Mission::update_onboard_mission() { if (orb_copy(ORB_ID(onboard_mission), _navigator->get_onboard_mission_sub(), &_onboard_mission) == OK) { /* accept the current index set by the onboard mission if it is within bounds */ - if (_onboard_mission.current_index >=0 - && _onboard_mission.current_index < (int)_onboard_mission.count) { - _current_onboard_mission_index = _onboard_mission.current_index; + if (_onboard_mission.current_seq >=0 + && _onboard_mission.current_seq < (int)_onboard_mission.count) { + _current_onboard_mission_index = _onboard_mission.current_seq; } else { /* if less WPs available, reset to first WP */ if (_current_onboard_mission_index >= (int)_onboard_mission.count) { @@ -164,7 +173,7 @@ Mission::update_onboard_mission() } else { _onboard_mission.count = 0; - _onboard_mission.current_index = 0; + _onboard_mission.current_seq = 0; _current_onboard_mission_index = 0; } } @@ -173,14 +182,12 @@ void Mission::update_offboard_mission() { if (orb_copy(ORB_ID(offboard_mission), _navigator->get_offboard_mission_sub(), &_offboard_mission) == OK) { - + warnx("offboard mission updated: dataman_id=%d, count=%d, current_seq=%d", _offboard_mission.dataman_id, _offboard_mission.count, _offboard_mission.current_seq); /* determine current index */ - if (_offboard_mission.current_index >= 0 - && _offboard_mission.current_index < (int)_offboard_mission.count) { - _current_offboard_mission_index = _offboard_mission.current_index; - + if (_offboard_mission.current_seq >= 0 && _offboard_mission.current_seq < (int)_offboard_mission.count) { + _current_offboard_mission_index = _offboard_mission.current_seq; } else { - /* if less WPs available, reset to first WP */ + /* if less items available, reset to first item */ if (_current_offboard_mission_index >= (int)_offboard_mission.count) { _current_offboard_mission_index = 0; @@ -193,23 +200,16 @@ Mission::update_offboard_mission() /* Check mission feasibility, for now do not handle the return value, * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */ - dm_item_t dm_current; + dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id); - if (_offboard_mission.dataman_id == 0) { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; - - } else { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; - } - - missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing, dm_current, - (size_t)_offboard_mission.count, - _navigator->get_geofence(), - _navigator->get_home_position()->alt); + missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing, + dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(), + _navigator->get_home_position()->alt); } else { + warnx("offboard mission update failed"); _offboard_mission.count = 0; - _offboard_mission.current_index = 0; + _offboard_mission.current_seq = 0; _current_offboard_mission_index = 0; } @@ -240,6 +240,69 @@ Mission::advance_mission() } } +bool +Mission::check_dist_1wp() +{ + if (_dist_1wp_ok) { + /* always return true after at least one successful check */ + return true; + } + + /* check if first waypoint is not too far from home */ + if (_param_dist_1wp.get() > 0.0f) { + if (_navigator->get_vstatus()->condition_home_position_valid) { + struct mission_item_s mission_item; + + /* find first waypoint (with lat/lon) item in datamanager */ + for (unsigned i = 0; i < _offboard_mission.count; i++) { + if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id), i, + &mission_item, sizeof(mission_item_s)) == sizeof(mission_item_s)) { + + /* check only items with valid lat/lon */ + if ( mission_item.nav_cmd == NAV_CMD_WAYPOINT || + mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || + mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || + mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED || + mission_item.nav_cmd == NAV_CMD_TAKEOFF || + mission_item.nav_cmd == NAV_CMD_PATHPLANNING) { + + /* check distance from home to item */ + float dist_to_1wp = get_distance_to_next_waypoint( + mission_item.lat, mission_item.lon, + _navigator->get_home_position()->lat, _navigator->get_home_position()->lon); + + if (dist_to_1wp < _param_dist_1wp.get()) { + _dist_1wp_ok = true; + return true; + + } else { + /* item is too far from home */ + mavlink_log_critical(_navigator->get_mavlink_fd(), "Waypoint too far: %d m,[MIS_DIST_1WP=%d]", (int)dist_to_1wp, (int)_param_dist_1wp.get()); + return false; + } + } + + } else { + /* error reading, mission is invalid */ + mavlink_log_info(_navigator->get_mavlink_fd(), "error reading offboard mission"); + return false; + } + } + + /* no waypoints found in mission, then we will not fly far away */ + _dist_1wp_ok = true; + return true; + + } else { + mavlink_log_info(_navigator->get_mavlink_fd(), "no home position"); + return false; + } + + } else { + return true; + } +} + void Mission::set_mission_items() { @@ -260,7 +323,7 @@ Mission::set_mission_items() _mission_type = MISSION_TYPE_ONBOARD; /* try setting offboard mission item */ - } else if (read_mission_item(false, true, &_mission_item)) { + } else if (check_dist_1wp() && read_mission_item(false, true, &_mission_item)) { /* if mission type changed, notify */ if (_mission_type != MISSION_TYPE_OFFBOARD) { mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: offboard mission running"); @@ -401,12 +464,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s mission = &_offboard_mission; - if (_offboard_mission.dataman_id == 0) { - dm_item = DM_KEY_WAYPOINTS_OFFBOARD_0; - - } else { - dm_item = DM_KEY_WAYPOINTS_OFFBOARD_1; - } + dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id); } if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) { @@ -473,11 +531,54 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s } void +Mission::save_offboard_mission_state() +{ + mission_s mission_state; + + /* lock MISSION_STATE item */ + dm_lock(DM_KEY_MISSION_STATE); + + /* read current state */ + int read_res = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s)); + + if (read_res == sizeof(mission_s)) { + /* data read successfully, check dataman ID and items count */ + if (mission_state.dataman_id == _offboard_mission.dataman_id && mission_state.count == _offboard_mission.count) { + /* navigator may modify only sequence, write modified state only if it changed */ + if (mission_state.current_seq != _current_offboard_mission_index) { + if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state, sizeof(mission_s)) != sizeof(mission_s)) { + warnx("ERROR: can't save mission state"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "ERROR: can't save mission state"); + } + } + } + + } else { + /* invalid data, this must not happen and indicates error in offboard_mission publisher */ + mission_state.dataman_id = _offboard_mission.dataman_id; + mission_state.count = _offboard_mission.count; + mission_state.current_seq = _current_offboard_mission_index; + + warnx("ERROR: invalid mission state"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "ERROR: invalid mission state"); + + /* write modified state only if changed */ + if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state, sizeof(mission_s)) != sizeof(mission_s)) { + warnx("ERROR: can't save mission state"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "ERROR: can't save mission state"); + } + } + + /* unlock MISSION_STATE item */ + dm_unlock(DM_KEY_MISSION_STATE); +} + +void Mission::report_mission_item_reached() { if (_mission_type == MISSION_TYPE_OFFBOARD) { - _mission_result.mission_reached = true; - _mission_result.mission_index_reached = _current_offboard_mission_index; + _mission_result.reached = true; + _mission_result.seq_reached = _current_offboard_mission_index; } publish_mission_result(); } @@ -485,14 +586,17 @@ Mission::report_mission_item_reached() void Mission::report_current_offboard_mission_item() { - _mission_result.index_current_mission = _current_offboard_mission_index; + warnx("current offboard mission index: %d", _current_offboard_mission_index); + _mission_result.seq_current = _current_offboard_mission_index; publish_mission_result(); + + save_offboard_mission_state(); } void Mission::report_mission_finished() { - _mission_result.mission_finished = true; + _mission_result.finished = true; publish_mission_result(); } @@ -509,6 +613,6 @@ Mission::publish_mission_result() _mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result); } /* reset reached bool */ - _mission_result.mission_reached = false; - _mission_result.mission_finished = false; + _mission_result.reached = false; + _mission_result.finished = false; } diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h index d4808b6f4..4da6a1155 100644 --- a/src/modules/navigator/mission.h +++ b/src/modules/navigator/mission.h @@ -92,6 +92,12 @@ private: void advance_mission(); /** + * Check distance to first waypoint (with lat/lon) + * @return true only if it's not too far from home (< MIS_DIST_1WP) + */ + bool check_dist_1wp(); + + /** * Set new mission items */ void set_mission_items(); @@ -103,6 +109,11 @@ private: bool read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_item); /** + * Save current offboard mission state to dataman + */ + void save_offboard_mission_state(); + + /** * Report that a mission item has been reached */ void report_mission_item_reached(); @@ -122,8 +133,9 @@ private: */ void publish_mission_result(); - control::BlockParamFloat _param_onboard_enabled; + control::BlockParamInt _param_onboard_enabled; control::BlockParamFloat _param_takeoff_alt; + control::BlockParamFloat _param_dist_1wp; struct mission_s _onboard_mission; struct mission_s _offboard_mission; @@ -142,6 +154,9 @@ private: MISSION_TYPE_OFFBOARD } _mission_type; + bool _inited; + bool _dist_1wp_ok; + MissionFeasibilityChecker missionFeasiblityChecker; /**< class that checks if a mission is feasible */ }; diff --git a/src/modules/navigator/mission_params.c b/src/modules/navigator/mission_params.c index 8692328db..881caa24e 100644 --- a/src/modules/navigator/mission_params.c +++ b/src/modules/navigator/mission_params.c @@ -58,12 +58,27 @@ */ PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 10.0f); - /** - * Enable onboard mission + * Enable persistent onboard mission storage + * + * When enabled, missions that have been uploaded by the GCS are stored + * and reloaded after reboot persistently. * * @min 0 * @max 1 * @group Mission */ -PARAM_DEFINE_INT32(MIS_ONBOARD_EN, 0); +PARAM_DEFINE_INT32(MIS_ONBOARD_EN, 1); + +/** + * Maximal horizontal distance from home to first waypoint + * + * Failsafe check to prevent running mission stored from previous flight at a new takeoff location. + * Set a value of zero or less to disable. The mission will not be started if the current + * waypoint is more distant than MIS_DIS_1WP from the current position. + * + * @min 0 + * @max 250 + * @group Mission + */ +PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 175); diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 6e2d906e6..c40e52a0d 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -133,7 +133,7 @@ #endif #define BATT_V_LOWPASS 0.001f -#define BATT_V_IGNORE_THRESHOLD 3.5f +#define BATT_V_IGNORE_THRESHOLD 4.8f /** * HACK - true temperature is much less than indicated temperature in baro, diff --git a/src/modules/systemlib/board_serial.c b/src/modules/systemlib/board_serial.c index ad8c2bf83..182fd15c6 100644 --- a/src/modules/systemlib/board_serial.c +++ b/src/modules/systemlib/board_serial.c @@ -44,11 +44,11 @@ #include "board_config.h" #include "board_serial.h" -int get_board_serial(char *serialid) +int get_board_serial(uint8_t *serialid) { - const volatile unsigned *udid_ptr = (const unsigned *)UDID_START; + const volatile uint32_t *udid_ptr = (const uint32_t *)UDID_START; union udid id; - val_read((unsigned *)&id, udid_ptr, sizeof(id)); + val_read((uint32_t *)&id, udid_ptr, sizeof(id)); /* Copy the serial from the chips non-write memory and swap endianess */ @@ -57,4 +57,4 @@ int get_board_serial(char *serialid) serialid[8] = id.data[11]; serialid[9] = id.data[10]; serialid[10] = id.data[9]; serialid[11] = id.data[8]; return 0; -}
\ No newline at end of file +} diff --git a/src/modules/systemlib/board_serial.h b/src/modules/systemlib/board_serial.h index b14bb4376..873d9657b 100644 --- a/src/modules/systemlib/board_serial.h +++ b/src/modules/systemlib/board_serial.h @@ -44,6 +44,6 @@ __BEGIN_DECLS -__EXPORT int get_board_serial(char *serialid); +__EXPORT int get_board_serial(uint8_t *serialid); __END_DECLS diff --git a/src/modules/systemlib/otp.h b/src/modules/systemlib/otp.h index f10e129d8..273b064f0 100644 --- a/src/modules/systemlib/otp.h +++ b/src/modules/systemlib/otp.h @@ -125,7 +125,7 @@ struct otp_lock { #pragma pack(push, 1) union udid { uint32_t serial[3]; - char data[12]; + uint8_t data[12]; }; #pragma pack(pop) diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index d9dd61df1..e4b72f87c 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.h @@ -98,11 +98,15 @@ struct mission_item_s { unsigned do_jump_current_count; /**< count how many times the jump has been done */ }; +/** + * This topic used to notify navigator about mission changes, mission itself and new mission state + * must be stored in dataman before publication. + */ struct mission_s { - int dataman_id; /**< default -1, there are two offboard storage places in the dataman: 0 or 1 */ - unsigned count; /**< count of the missions stored in the datamanager */ - int current_index; /**< default -1, start at the one changed latest */ + int dataman_id; /**< default 0, there are two offboard storage places in the dataman: 0 or 1 */ + unsigned count; /**< count of the missions stored in the dataman */ + int current_seq; /**< default -1, start at the one changed latest */ }; /** diff --git a/src/modules/uORB/topics/mission_result.h b/src/modules/uORB/topics/mission_result.h index ad654a9ff..beb797e62 100644 --- a/src/modules/uORB/topics/mission_result.h +++ b/src/modules/uORB/topics/mission_result.h @@ -53,10 +53,10 @@ struct mission_result_s { - bool mission_reached; /**< true if mission has been reached */ - unsigned mission_index_reached; /**< index of the mission which has been reached */ - unsigned index_current_mission; /**< index of the current mission */ - bool mission_finished; /**< true if mission has been completed */ + unsigned seq_reached; /**< Sequence of the mission item which has been reached */ + unsigned seq_current; /**< Sequence of the current mission item */ + bool reached; /**< true if mission has been reached */ + bool finished; /**< true if mission has been completed */ }; /** diff --git a/src/systemcmds/mtd/24xxxx_mtd.c b/src/systemcmds/mtd/24xxxx_mtd.c index 72200f418..991363797 100644 --- a/src/systemcmds/mtd/24xxxx_mtd.c +++ b/src/systemcmds/mtd/24xxxx_mtd.c @@ -161,6 +161,7 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg); void at24c_test(void); +int at24c_nuke(void); /************************************************************************************ * Private Data diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c index 28e1b108b..e110335e7 100644 --- a/src/systemcmds/param/param.c +++ b/src/systemcmds/param/param.c @@ -63,7 +63,7 @@ static void do_import(const char* param_file_name); static void do_show(const char* search_string); static void do_show_print(void *arg, param_t param); static void do_set(const char* name, const char* val, bool fail_on_not_found); -static void do_compare(const char* name, const char* vals[], unsigned comparisons); +static void do_compare(const char* name, char* vals[], unsigned comparisons); static void do_reset(void); static void do_reset_nostart(void); @@ -351,7 +351,7 @@ do_set(const char* name, const char* val, bool fail_on_not_found) } static void -do_compare(const char* name, const char* vals[], unsigned comparisons) +do_compare(const char* name, char* vals[], unsigned comparisons) { int32_t i; float f; diff --git a/src/systemcmds/tests/test_bson.c b/src/systemcmds/tests/test_bson.c index 6130fe763..12d598df4 100644 --- a/src/systemcmds/tests/test_bson.c +++ b/src/systemcmds/tests/test_bson.c @@ -40,6 +40,7 @@ #include <stdio.h> #include <string.h> #include <stdlib.h> +#include <math.h> #include <systemlib/err.h> #include <systemlib/bson/tinybson.h> @@ -123,7 +124,7 @@ decode_callback(bson_decoder_t decoder, void *private, bson_node_t node) warnx("FAIL: decoder: double1 type %d, expected %d", node->type, BSON_DOUBLE); return 1; } - if (node->d != sample_double) { + if (fabs(node->d - sample_double) > 1e-12) { warnx("FAIL: decoder: double1 value %f, expected %f", node->d, sample_double); return 1; } |