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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-30 11:03:45 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-30 11:03:45 +0200 |
commit | d14891554e269714834360eb52242f8d66e1e6f9 (patch) | |
tree | dd9d4d20f541faa3be6220d18d47bb5a147f3661 /src | |
parent | dad76c56c63a358ec2c4ea2248ef617843b48bab (diff) | |
parent | db527ee88139ef470007f82675b57ec313cdc495 (diff) | |
download | px4-firmware-d14891554e269714834360eb52242f8d66e1e6f9.tar.gz px4-firmware-d14891554e269714834360eb52242f8d66e1e6f9.tar.bz2 px4-firmware-d14891554e269714834360eb52242f8d66e1e6f9.zip |
Merge branch 'config' of github.com:PX4/Firmware
Diffstat (limited to 'src')
-rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp | 44 | ||||
-rw-r--r-- | src/modules/commander/commander.c | 10 | ||||
-rw-r--r-- | src/systemcmds/config/config.c | 200 | ||||
-rw-r--r-- | src/systemcmds/config/module.mk | 44 |
4 files changed, 282 insertions, 16 deletions
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 8d9054a38..1fd6cb17e 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,6 +35,9 @@ * @file mpu6000.cpp * * Driver for the Invensense MPU6000 connected via SPI. + * + * @author Andrew Tridgell + * @author Pat Hickey */ #include <nuttx/config.h> @@ -191,6 +194,7 @@ private: orb_advert_t _gyro_topic; unsigned _reads; + unsigned _sample_rate; perf_counter_t _sample_perf; /** @@ -314,6 +318,7 @@ MPU6000::MPU6000(int bus, spi_dev_e device) : _gyro_range_rad_s(0.0f), _gyro_topic(-1), _reads(0), + _sample_rate(500), _sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")) { // disable debug() calls @@ -366,10 +371,6 @@ MPU6000::init() return ret; } - /* advertise sensor topics */ - _accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_report); - _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_gyro_report); - // Chip reset write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET); up_udelay(10000); @@ -384,7 +385,7 @@ MPU6000::init() // SAMPLE RATE //write_reg(MPUREG_SMPLRT_DIV, 0x04); // Sample rate = 200Hz Fsample= 1Khz/(4+1) = 200Hz - _set_sample_rate(200); // default sample rate = 200Hz + _set_sample_rate(_sample_rate); // default sample rate = 200Hz usleep(1000); // FS & DLPF FS=2000 deg/s, DLPF = 20Hz (low pass filter) @@ -463,10 +464,18 @@ MPU6000::init() /* do CDev init for the gyro device node, keep it optional */ int gyro_ret = _gyro->init(); + /* ensure we got real values to share */ + measure(); + if (gyro_ret != OK) { _gyro_topic = -1; + } else { + _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_gyro_report); } + /* advertise sensor topics */ + _accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_report); + return ret; } @@ -509,6 +518,7 @@ MPU6000::_set_sample_rate(uint16_t desired_sample_rate_hz) if(div>200) div=200; if(div<1) div=1; write_reg(MPUREG_SMPLRT_DIV, div-1); + _sample_rate = 1000 / div; } /* @@ -660,8 +670,10 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) return -EINVAL; - case ACCELIOCSSAMPLERATE: case ACCELIOCGSAMPLERATE: + return _sample_rate; + + case ACCELIOCSSAMPLERATE: _set_sample_rate(arg); return OK; @@ -689,12 +701,13 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) return OK; case ACCELIOCSRANGE: - case ACCELIOCGRANGE: /* XXX not implemented */ // XXX change these two values on set: // _accel_range_scale = (9.81f / 4096.0f); - // _accel_range_rad_s = 8.0f * 9.81f; + // _accel_range_m_s2 = 8.0f * 9.81f; return -EINVAL; + case ACCELIOCGRANGE: + return _accel_range_m_s2; case ACCELIOCSELFTEST: return self_test(); @@ -718,10 +731,12 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) case SENSORIOCRESET: return ioctl(filp, cmd, arg); - case GYROIOCSSAMPLERATE: case GYROIOCGSAMPLERATE: - _set_sample_rate(arg); - return OK; + return _sample_rate; + + case GYROIOCSSAMPLERATE: + _set_sample_rate(arg); + return OK; case GYROIOCSLOWPASS: case GYROIOCGLOWPASS: @@ -739,12 +754,13 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) return OK; case GYROIOCSRANGE: - case GYROIOCGRANGE: /* XXX not implemented */ // XXX change these two values on set: // _gyro_range_scale = xx - // _gyro_range_m_s2 = xx + // _gyro_range_rad_s = xx return -EINVAL; + case GYROIOCGRANGE: + return _gyro_range_rad_s; case GYROIOCSELFTEST: return self_test(); diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c index 8e5e36712..e9d1f3954 100644 --- a/src/modules/commander/commander.c +++ b/src/modules/commander/commander.c @@ -587,6 +587,8 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status) close(fd); + int errcount = 0; + while (calibration_counter < calibration_count) { /* wait blocking for new data */ @@ -602,8 +604,12 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status) calibration_counter++; } else if (poll_ret == 0) { - /* any poll failure for 1s is a reason to abort */ - mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry"); + errcount++; + } + + if (errcount > 1000) { + /* any persisting poll error is a reason to abort */ + mavlink_log_info(mavlink_fd, "permanent gyro error, aborted."); return; } } diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c new file mode 100644 index 000000000..2dad2261b --- /dev/null +++ b/src/systemcmds/config/config.c @@ -0,0 +1,200 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier <lm@inf.ethz.ch> + * + * 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 config.c + * @author Lorenz Meier <lm@inf.ethz.ch> + * + * config tool. + */ + +#include <nuttx/config.h> + +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <stdbool.h> +#include <unistd.h> +#include <fcntl.h> +#include <sys/stat.h> + +#include <arch/board/board.h> + +#include <drivers/drv_gyro.h> +#include <drivers/drv_accel.h> +#include <drivers/drv_mag.h> + +#include "systemlib/systemlib.h" +#include "systemlib/err.h" + +__EXPORT int config_main(int argc, char *argv[]); + +static void do_gyro(int argc, char *argv[]); +static void do_accel(int argc, char *argv[]); +static void do_mag(int argc, char *argv[]); + +int +config_main(int argc, char *argv[]) +{ + if (argc >= 2) { + if (!strcmp(argv[1], "gyro")) { + if (argc >= 3) { + do_gyro(argc - 2, argv + 2); + } else { + errx(1, "not enough parameters."); + } + } + + if (!strcmp(argv[1], "accel")) { + if (argc >= 3) { + do_accel(argc - 2, argv + 2); + } else { + errx(1, "not enough parameters."); + } + } + + if (!strcmp(argv[1], "mag")) { + if (argc >= 3) { + do_mag(argc - 2, argv + 2); + } else { + errx(1, "not enough parameters."); + } + } + } + + errx(1, "expected a command, try 'gyro', 'accel', 'mag'"); +} + +static void +do_gyro(int argc, char *argv[]) +{ + int fd; + + fd = open(GYRO_DEVICE_PATH, 0); + + if (fd < 0) { + warn("%s", GYRO_DEVICE_PATH); + errx(1, "FATAL: no gyro found"); + + } else { + + if (argc >= 2) { + + char* end; + int i = strtol(argv[1],&end,10); + + if (!strcmp(argv[0], "sampling")) { + + /* set the accel internal sampling rate up to at leat i Hz */ + ioctl(fd, GYROIOCSSAMPLERATE, i); + + } else if (!strcmp(argv[0], "rate")) { + + /* set the driver to poll at i Hz */ + ioctl(fd, SENSORIOCSPOLLRATE, i); + } else if (!strcmp(argv[0], "range")) { + + /* set the range to i dps */ + ioctl(fd, GYROIOCSRANGE, i); + } + + } else if (!(argc > 0 && !strcmp(argv[0], "info"))) { + warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2000' to set measurement range to 2000 dps\n\t"); + } + + int srate = ioctl(fd, GYROIOCGSAMPLERATE, 0); + int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0); + int range = ioctl(fd, GYROIOCGRANGE, 0); + + warnx("gyro: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d dps", srate, prate, range); + + close(fd); + } + + exit(0); +} + +static void +do_mag(int argc, char *argv[]) +{ + exit(0); +} + +static void +do_accel(int argc, char *argv[]) +{ + int fd; + + fd = open(ACCEL_DEVICE_PATH, 0); + + if (fd < 0) { + warn("%s", ACCEL_DEVICE_PATH); + errx(1, "FATAL: no accelerometer found"); + + } else { + + if (argc >= 2) { + + char* end; + int i = strtol(argv[1],&end,10); + + if (!strcmp(argv[0], "sampling")) { + + /* set the accel internal sampling rate up to at leat i Hz */ + ioctl(fd, ACCELIOCSSAMPLERATE, i); + + } else if (!strcmp(argv[0], "rate")) { + + /* set the driver to poll at i Hz */ + ioctl(fd, SENSORIOCSPOLLRATE, i); + } else if (!strcmp(argv[0], "range")) { + + /* set the range to i dps */ + ioctl(fd, ACCELIOCSRANGE, i); + } + } else if (!(argc > 0 && !strcmp(argv[0], "info"))) { + warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2' to set measurement range to 2 G\n\t"); + } + + int srate = ioctl(fd, ACCELIOCGSAMPLERATE, 0); + int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0); + int range = ioctl(fd, ACCELIOCGRANGE, 0); + + warnx("accel: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d m/s", srate, prate, range); + + close(fd); + } + + exit(0); +} diff --git a/src/systemcmds/config/module.mk b/src/systemcmds/config/module.mk new file mode 100644 index 000000000..0a75810b0 --- /dev/null +++ b/src/systemcmds/config/module.mk @@ -0,0 +1,44 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Build the config tool. +# + +MODULE_COMMAND = config +SRCS = config.c + +MODULE_STACKSIZE = 4096 + +MAXOPTIMIZATION = -Os + |