diff options
63 files changed, 791 insertions, 468 deletions
diff --git a/Documentation/px4_block_diagram.odg b/Documentation/px4_block_diagram.odg Binary files differindex e66e1b1cd..845668442 100644 --- a/Documentation/px4_block_diagram.odg +++ b/Documentation/px4_block_diagram.odg diff --git a/NuttX b/NuttX -Subproject e4c914e261d2647e44d05222afa7aa3cc90d3c6 +Subproject 37cbc3e8ae6b75e9b7e79996d30fe8ed0beb970 diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS index 40b3500e0..4b9a9b68a 100644 --- a/ROMFS/px4fmu_test/init.d/rcS +++ b/ROMFS/px4fmu_test/init.d/rcS @@ -97,6 +97,13 @@ else set unit_test_failure_list "${unit_test_failure_list} commander_tests" fi +if uorb test +then +else + set unit_test_failure 1 + set unit_test_failure_list "${unit_test_failure_list} uorb_tests" +fi + if hmc5883 -I start then # This is an FMUv3 diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk index fa2c83262..af80cae8f 100644 --- a/makefiles/config_px4fmu-v2_test.mk +++ b/makefiles/config_px4fmu-v2_test.mk @@ -32,6 +32,7 @@ MODULES += systemcmds/tests MODULES += systemcmds/nshterm MODULES += systemcmds/mtd MODULES += systemcmds/ver +MODULES += systemcmds/top # # System commands diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig index a467fa605..539634e3d 100644 --- a/nuttx-configs/px4fmu-v1/nsh/defconfig +++ b/nuttx-configs/px4fmu-v1/nsh/defconfig @@ -92,7 +92,7 @@ CONFIG_ARCH_HAVE_MPU=y # # CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y -CONFIG_ARMV7M_STACKCHECK=y +CONFIG_ARMV7M_STACKCHECK=n CONFIG_SERIAL_TERMIOS=y # diff --git a/nuttx-configs/px4io-v1/nsh/defconfig b/nuttx-configs/px4io-v1/nsh/defconfig index 7c76be7ec..385b8d6a8 100755 --- a/nuttx-configs/px4io-v1/nsh/defconfig +++ b/nuttx-configs/px4io-v1/nsh/defconfig @@ -93,7 +93,7 @@ CONFIG_ARCH_DMA=y CONFIG_ARCH_MATH_H=y CONFIG_ARMV7M_CMNVECTOR=y -# CONFIG_ARMV7M_STACKCHECK is not set +CONFIG_ARMV7M_STACKCHECK=n # # JTAG Enable settings (by default JTAG-DP and SW-DP are disabled): diff --git a/nuttx-configs/px4io-v2/nsh/defconfig b/nuttx-configs/px4io-v2/nsh/defconfig index 02b51e3d7..a9b847794 100755 --- a/nuttx-configs/px4io-v2/nsh/defconfig +++ b/nuttx-configs/px4io-v2/nsh/defconfig @@ -89,7 +89,7 @@ CONFIG_ARCH_DMA=y CONFIG_ARCH_MATH_H=y CONFIG_ARMV7M_CMNVECTOR=y - +CONFIG_ARMV7M_STACKCHECK=n # # JTAG Enable settings (by default JTAG-DP and SW-DP are disabled): # diff --git a/src/drivers/ardrone_interface/ardrone_motor_control.c b/src/drivers/ardrone_interface/ardrone_motor_control.c index 4fa24275f..0f45b6536 100644 --- a/src/drivers/ardrone_interface/ardrone_motor_control.c +++ b/src/drivers/ardrone_interface/ardrone_motor_control.c @@ -339,7 +339,8 @@ int ardrone_write_motor_commands(int ardrone_fd, uint16_t motor1, uint16_t motor outputs.output[3] = motor4; static orb_advert_t pub = 0; if (pub == 0) { - pub = orb_advertise(ORB_ID_VEHICLE_CONTROLS, &outputs); + /* advertise to channel 0 / primary */ + pub = orb_advertise(ORB_ID(actuator_outputs), &outputs); } if (hrt_absolute_time() - last_motor_time > min_motor_interval) { @@ -350,7 +351,7 @@ int ardrone_write_motor_commands(int ardrone_fd, uint16_t motor1, uint16_t motor fsync(ardrone_fd); /* publish just written values */ - orb_publish(ORB_ID_VEHICLE_CONTROLS, pub, &outputs); + orb_publish(ORB_ID(actuator_outputs), pub, &outputs); if (ret == sizeof(buf)) { return OK; diff --git a/src/drivers/drv_accel.h b/src/drivers/drv_accel.h index 1f98d966b..1eca6155b 100644 --- a/src/drivers/drv_accel.h +++ b/src/drivers/drv_accel.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -81,9 +81,7 @@ struct accel_scale { /* * ObjDev tag for raw accelerometer data. */ -ORB_DECLARE(sensor_accel0); -ORB_DECLARE(sensor_accel1); -ORB_DECLARE(sensor_accel2); +ORB_DECLARE(sensor_accel); /* * ioctl() definitions diff --git a/src/drivers/drv_baro.h b/src/drivers/drv_baro.h index 3e28d3d3d..3d275d619 100644 --- a/src/drivers/drv_baro.h +++ b/src/drivers/drv_baro.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -63,9 +63,7 @@ struct baro_report { /* * ObjDev tag for raw barometer data. */ -ORB_DECLARE(sensor_baro0); -ORB_DECLARE(sensor_baro1); -ORB_DECLARE(sensor_baro2); +ORB_DECLARE(sensor_baro); /* * ioctl() definitions diff --git a/src/drivers/drv_blinkm.h b/src/drivers/drv_blinkm.h index 9c278f6c5..b757da545 100644 --- a/src/drivers/drv_blinkm.h +++ b/src/drivers/drv_blinkm.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/drivers/drv_gyro.h b/src/drivers/drv_gyro.h index 41b013a44..5e0334a18 100644 --- a/src/drivers/drv_gyro.h +++ b/src/drivers/drv_gyro.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -81,9 +81,7 @@ struct gyro_scale { /* * ObjDev tag for raw gyro data. */ -ORB_DECLARE(sensor_gyro0); -ORB_DECLARE(sensor_gyro1); -ORB_DECLARE(sensor_gyro2); +ORB_DECLARE(sensor_gyro); /* * ioctl() definitions diff --git a/src/drivers/drv_mag.h b/src/drivers/drv_mag.h index d341e8947..193c816e0 100644 --- a/src/drivers/drv_mag.h +++ b/src/drivers/drv_mag.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -41,7 +41,6 @@ #include <stdint.h> #include <sys/ioctl.h> -#include "drv_device.h" #include "drv_sensor.h" #include "drv_orb_dev.h" @@ -81,15 +80,8 @@ struct mag_scale { /* * ObjDev tag for raw magnetometer data. */ -ORB_DECLARE(sensor_mag0); -ORB_DECLARE(sensor_mag1); -ORB_DECLARE(sensor_mag2); +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/drv_orb_dev.h b/src/drivers/drv_orb_dev.h index 713618545..e0b16fa5c 100644 --- a/src/drivers/drv_orb_dev.h +++ b/src/drivers/drv_orb_dev.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,7 +35,9 @@ #define _DRV_UORB_H /** - * @file uORB published object driver. + * @file drv_orb_dev.h + * + * uORB published object driver. */ #include <sys/types.h> @@ -84,4 +86,7 @@ /** Get the global advertiser handle for the topic */ #define ORBIOCGADVERTISER _ORBIOC(13) +/** Get the priority for the topic */ +#define ORBIOCGPRIORITY _ORBIOC(14) + #endif /* _DRV_UORB_H */ diff --git a/src/drivers/drv_sensor.h b/src/drivers/drv_sensor.h index 5e4598de8..467dace08 100644 --- a/src/drivers/drv_sensor.h +++ b/src/drivers/drv_sensor.h @@ -43,6 +43,24 @@ #include <stdint.h> #include <sys/ioctl.h> +#include "drv_device.h" + +/** + * Sensor type definitions. + * + * Used to create a unique device id for redundant and combo sensors + */ + +#define DRV_MAG_DEVTYPE_HMC5883 0x01 +#define DRV_MAG_DEVTYPE_LSM303D 0x02 +#define DRV_ACC_DEVTYPE_LSM303D 0x11 +#define DRV_ACC_DEVTYPE_BMA180 0x12 +#define DRV_ACC_DEVTYPE_MPU6000 0x13 +#define DRV_GYR_DEVTYPE_MPU6000 0x21 +#define DRV_GYR_DEVTYPE_L3GD20 0x22 +#define DRV_RNG_DEVTYPE_MB12XX 0x31 +#define DRV_RNG_DEVTYPE_LL40LS 0x32 + /* * ioctl() definitions * diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp index 6ffa8252e..767ff5803 100644 --- a/src/drivers/hil/hil.cpp +++ b/src/drivers/hil/hil.cpp @@ -332,8 +332,9 @@ HIL::task_main() actuator_outputs_s outputs; memset(&outputs, 0, sizeof(outputs)); /* advertise the mixed control outputs */ - _t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), - &outputs); + int dummy; + _t_outputs = orb_advertise_multi(ORB_ID(actuator_outputs), + &outputs, &dummy, ORB_PRIO_LOW); pollfd fds[2]; fds[0].fd = _t_actuators; @@ -425,7 +426,7 @@ HIL::task_main() } /* and publish for anyone that cares to see */ - orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &outputs); + orb_publish(ORB_ID(actuator_outputs), _t_outputs, &outputs); } } diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index a06be72d9..b1605a5b0 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -69,7 +69,6 @@ #include <drivers/drv_device.h> #include <uORB/uORB.h> -#include <uORB/topics/subsystem_info.h> #include <float.h> #include <getopt.h> @@ -157,10 +156,9 @@ private: float _range_ga; bool _collect_phase; int _class_instance; + int _orb_class_instance; orb_advert_t _mag_topic; - orb_advert_t _subsystem_pub; - orb_id_t _mag_orb_id; perf_counter_t _sample_perf; perf_counter_t _comms_errors; @@ -348,9 +346,8 @@ HMC5883::HMC5883(device::Device *interface, const char *path, enum Rotation rota _range_ga(1.3f), _collect_phase(false), _class_instance(-1), + _orb_class_instance(-1), _mag_topic(-1), - _subsystem_pub(-1), - _mag_orb_id(nullptr), _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")), @@ -419,7 +416,6 @@ HMC5883::init() reset(); _class_instance = register_class_devname(MAG_DEVICE_PATH); - _mag_orb_id = ORB_ID_TRIPLE(sensor_mag, _class_instance); ret = OK; /* sensor is ok, but not calibrated */ @@ -850,6 +846,7 @@ HMC5883::collect() perf_begin(_sample_perf); struct mag_report new_report; + bool sensor_is_onboard = false; /* this should be fairly close to the end of the measurement, so the best approximation of the time */ new_report.timestamp = hrt_absolute_time(); @@ -902,7 +899,8 @@ HMC5883::collect() // XXX revisit for SPI part, might require a bus type IOCTL unsigned dummy; - if (!_interface->ioctl(MAGIOCGEXTERNAL, dummy)) { + sensor_is_onboard = !_interface->ioctl(MAGIOCGEXTERNAL, dummy); + if (sensor_is_onboard) { // convert onboard so it matches offboard for the // scaling below report.y = -report.y; @@ -925,9 +923,10 @@ HMC5883::collect() if (_mag_topic != -1) { /* publish it */ - orb_publish(_mag_orb_id, _mag_topic, &new_report); + orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report); } else { - _mag_topic = orb_advertise(_mag_orb_id, &new_report); + _mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &new_report, + &_orb_class_instance, (sensor_is_onboard) ? ORB_PRIO_HIGH : ORB_PRIO_MAX); if (_mag_topic < 0) debug("ADVERT FAIL"); @@ -1185,24 +1184,6 @@ int HMC5883::check_calibration() warnx("mag cal status changed %s%s", (scale_valid) ? "" : "scale invalid ", (offset_valid) ? "" : "offset invalid"); _calibrated = (offset_valid && scale_valid); - - - // XXX Change advertisement - - /* notify about state change */ - struct subsystem_info_s info = { - true, - true, - _calibrated, - SUBSYSTEM_TYPE_MAG}; - - if (!(_pub_blocked)) { - if (_subsystem_pub > 0) { - orb_publish(ORB_ID(subsystem_info), _subsystem_pub, &info); - } else { - _subsystem_pub = orb_advertise(ORB_ID(subsystem_info), &info); - } - } } /* return 0 if calibrated, 1 else */ diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index 08bc1fead..f583bced4 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,7 +33,7 @@ /** * @file l3gd20.cpp - * Driver for the ST L3GD20 MEMS gyro connected via SPI. + * Driver for the ST L3GD20 MEMS and L3GD20H mems gyros connected via SPI. * * Note: With the exception of the self-test feature, the ST L3G4200D is * also supported by this driver. @@ -179,6 +179,12 @@ static const int ERROR = -1; #define L3GD20_DEFAULT_FILTER_FREQ 30 #define L3GD20_TEMP_OFFSET_CELSIUS 40 +#ifdef PX4_SPI_BUS_EXT +#define EXTERNAL_BUS PX4_SPI_BUS_EXT +#else +#define EXTERNAL_BUS 0 +#endif + #ifndef SENSOR_BOARD_ROTATION_DEFAULT #define SENSOR_BOARD_ROTATION_DEFAULT SENSOR_BOARD_ROTATION_270_DEG #endif @@ -214,14 +220,14 @@ private: struct hrt_call _call; unsigned _call_interval; - + RingBuffer *_reports; struct gyro_scale _gyro_scale; float _gyro_range_scale; float _gyro_range_rad_s; orb_advert_t _gyro_topic; - orb_id_t _orb_id; + int _orb_class_instance; int _class_instance; unsigned _current_rate; @@ -274,6 +280,13 @@ private: void disable_i2c(); /** + * Get the internal / external state + * + * @return true if the sensor is not on the main MCU board + */ + bool is_external() { return (_bus == EXTERNAL_BUS); } + + /** * Static trampoline from the hrt_call context; because we don't have a * generic hrt wrapper yet. * @@ -391,7 +404,7 @@ L3GD20::L3GD20(int bus, const char* path, spi_dev_e device, enum Rotation rotati _gyro_range_scale(0.0f), _gyro_range_rad_s(0.0f), _gyro_topic(-1), - _orb_id(nullptr), + _orb_class_instance(-1), _class_instance(-1), _current_rate(0), _orientation(SENSOR_BOARD_ROTATION_DEFAULT), @@ -411,6 +424,8 @@ L3GD20::L3GD20(int bus, const char* path, spi_dev_e device, enum Rotation rotati // enable debug() calls _debug_enabled = true; + _device_id.devid_s.devtype = DRV_GYR_DEVTYPE_L3GD20; + // default scale factors _gyro_scale.x_offset = 0; _gyro_scale.x_scale = 1.0f; @@ -456,20 +471,6 @@ L3GD20::init() _class_instance = register_class_devname(GYRO_DEVICE_PATH); - switch (_class_instance) { - case CLASS_DEVICE_PRIMARY: - _orb_id = ORB_ID(sensor_gyro0); - break; - - case CLASS_DEVICE_SECONDARY: - _orb_id = ORB_ID(sensor_gyro1); - break; - - case CLASS_DEVICE_TERTIARY: - _orb_id = ORB_ID(sensor_gyro2); - break; - } - reset(); measure(); @@ -478,7 +479,8 @@ L3GD20::init() struct gyro_report grp; _reports->get(&grp); - _gyro_topic = orb_advertise(_orb_id, &grp); + _gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp, + &_orb_class_instance, (is_external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT); if (_gyro_topic < 0) { debug("failed to create sensor_gyro publication"); @@ -639,7 +641,7 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg) return -ENOMEM; } irqrestore(flags); - + return OK; } @@ -867,7 +869,7 @@ L3GD20::reset() disable_i2c(); /* set default configuration */ - write_checked_reg(ADDR_CTRL_REG1, + write_checked_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE); write_checked_reg(ADDR_CTRL_REG2, 0); /* disable high-pass filters */ write_checked_reg(ADDR_CTRL_REG3, 0x08); /* DRDY enable */ @@ -911,7 +913,7 @@ L3GD20::check_registers(void) if we get the wrong value then we know the SPI bus or sensor is very sick. We set _register_wait to 20 and wait until we have seen 20 good values in a row - before we consider the sensor to be OK again. + before we consider the sensor to be OK again. */ perf_count(_bad_registers); @@ -974,7 +976,7 @@ L3GD20::measure() we waited for DRDY, but did not see DRDY on all axes when we captured. That means a transfer error of some sort */ - perf_count(_errors); + perf_count(_errors); return; } #endif @@ -994,7 +996,7 @@ L3GD20::measure() */ report.timestamp = hrt_absolute_time(); report.error_count = perf_event_count(_bad_registers); - + switch (_orientation) { case SENSOR_BOARD_ROTATION_000_DEG: @@ -1050,7 +1052,7 @@ L3GD20::measure() /* publish for subscribers */ if (!(_pub_blocked)) { /* publish it */ - orb_publish(_orb_id, _gyro_topic, &report); + orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &report); } _read++; @@ -1072,7 +1074,7 @@ L3GD20::print_info() for (uint8_t i=0; i<L3GD20_NUM_CHECKED_REGISTERS; i++) { uint8_t v = read_reg(_checked_registers[i]); if (v != _checked_values[i]) { - ::printf("reg %02x:%02x should be %02x\n", + ::printf("reg %02x:%02x should be %02x\n", (unsigned)_checked_registers[i], (unsigned)v, (unsigned)_checked_values[i]); diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 57754e4c0..2a0bf522b 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2013-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -211,6 +211,12 @@ static const int ERROR = -1; #define LSM303D_ONE_G 9.80665f +#ifdef PX4_SPI_BUS_EXT +#define EXTERNAL_BUS PX4_SPI_BUS_EXT +#else +#define EXTERNAL_BUS 0 +#endif + extern "C" { __EXPORT int lsm303d_main(int argc, char *argv[]); } @@ -275,7 +281,7 @@ private: unsigned _mag_samplerate; orb_advert_t _accel_topic; - orb_id_t _accel_orb_id; + int _accel_orb_class_instance; int _accel_class_instance; unsigned _accel_read; @@ -295,7 +301,7 @@ private: enum Rotation _rotation; - // values used to + // values used to float _last_accel[3]; uint8_t _constant_accel_count; @@ -330,6 +336,13 @@ private: void disable_i2c(); /** + * Get the internal / external state + * + * @return true if the sensor is not on the main MCU board + */ + bool is_external() { return (_bus == EXTERNAL_BUS); } + + /** * Static trampoline from the hrt_call context; because we don't have a * generic hrt wrapper yet. * @@ -507,7 +520,7 @@ private: LSM303D *_parent; orb_advert_t _mag_topic; - orb_id_t _mag_orb_id; + int _mag_orb_class_instance; int _mag_class_instance; void measure(); @@ -539,7 +552,7 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rota _mag_range_scale(0.0f), _mag_samplerate(0), _accel_topic(-1), - _accel_orb_id(nullptr), + _accel_orb_class_instance(-1), _accel_class_instance(-1), _accel_read(0), _mag_read(0), @@ -556,11 +569,18 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rota _constant_accel_count(0), _checked_next(0) { - _device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LSM303D; + // enable debug() calls _debug_enabled = true; + _device_id.devid_s.devtype = DRV_ACC_DEVTYPE_LSM303D; + + /* Prime _mag with parents devid. */ + _mag->_device_id.devid = _device_id.devid; + _mag->_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LSM303D; + + // default scale factors _accel_scale.x_offset = 0.0f; _accel_scale.x_scale = 1.0f; @@ -618,7 +638,6 @@ LSM303D::init() if (_accel_reports == nullptr) goto out; - /* advertise accel topic */ _mag_reports = new RingBuffer(2, sizeof(mag_report)); if (_mag_reports == nullptr) @@ -641,26 +660,14 @@ LSM303D::init() _mag_reports->get(&mrp); /* measurement will have generated a report, publish */ - switch (_mag->_mag_class_instance) { - case CLASS_DEVICE_PRIMARY: - _mag->_mag_orb_id = ORB_ID(sensor_mag0); - break; - - case CLASS_DEVICE_SECONDARY: - _mag->_mag_orb_id = ORB_ID(sensor_mag1); - break; - - case CLASS_DEVICE_TERTIARY: - _mag->_mag_orb_id = ORB_ID(sensor_mag2); - break; - } - - _mag->_mag_topic = orb_advertise(_mag->_mag_orb_id, &mrp); + _mag->_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mrp, + &_mag->_mag_orb_class_instance, ORB_PRIO_LOW); if (_mag->_mag_topic < 0) { warnx("ADVERT ERR"); } + _accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH); /* advertise sensor topic, measure manually to initialize valid report */ @@ -668,21 +675,8 @@ LSM303D::init() _accel_reports->get(&arp); /* measurement will have generated a report, publish */ - switch (_accel_class_instance) { - case CLASS_DEVICE_PRIMARY: - _accel_orb_id = ORB_ID(sensor_accel0); - break; - - case CLASS_DEVICE_SECONDARY: - _accel_orb_id = ORB_ID(sensor_accel1); - break; - - case CLASS_DEVICE_TERTIARY: - _accel_orb_id = ORB_ID(sensor_accel2); - break; - } - - _accel_topic = orb_advertise(_accel_orb_id, &arp); + _accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp, + &_accel_orb_class_instance, (is_external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT); if (_accel_topic < 0) { warnx("ADVERT ERR"); @@ -712,7 +706,7 @@ LSM303D::reset() disable_i2c(); /* enable accel*/ - write_checked_reg(ADDR_CTRL_REG1, + write_checked_reg(ADDR_CTRL_REG1, REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE | REG1_RATE_800HZ_A); /* enable mag */ @@ -746,7 +740,7 @@ LSM303D::probe() /* verify that the device is attached and functioning */ bool success = (read_reg(ADDR_WHO_AM_I) == WHO_I_AM); - + if (success) { _checked_values[0] = WHO_I_AM; return OK; @@ -1019,7 +1013,7 @@ LSM303D::mag_ioctl(struct file *filp, int cmd, unsigned long arg) return SENSOR_POLLRATE_MANUAL; return 1000000 / _call_mag_interval; - + case SENSORIOCSQUEUEDEPTH: { /* lower bound is mandatory, upper bound is a sanity check */ if ((arg < 1) || (arg > 100)) @@ -1424,7 +1418,7 @@ LSM303D::check_registers(void) if we get the wrong value then we know the SPI bus or sensor is very sick. We set _register_wait to 20 and wait until we have seen 20 good values in a row - before we consider the sensor to be OK again. + before we consider the sensor to be OK again. */ perf_count(_bad_registers); @@ -1548,7 +1542,7 @@ LSM303D::measure() perf_count(_bad_values); _constant_accel_count = 0; } - + _last_accel[0] = x_in_new; _last_accel[1] = y_in_new; _last_accel[2] = z_in_new; @@ -1570,7 +1564,7 @@ LSM303D::measure() if (!(_pub_blocked)) { /* publish it */ - orb_publish(_accel_orb_id, _accel_topic, &accel_report); + orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report); } _accel_read++; @@ -1641,7 +1635,7 @@ LSM303D::mag_measure() if (!(_pub_blocked)) { /* publish it */ - orb_publish(_mag->_mag_orb_id, _mag->_mag_topic, &mag_report); + orb_publish(ORB_ID(sensor_mag), _mag->_mag_topic, &mag_report); } _mag_read++; @@ -1666,7 +1660,7 @@ LSM303D::print_info() for (uint8_t i=0; i<LSM303D_NUM_CHECKED_REGISTERS; i++) { uint8_t v = read_reg(_checked_registers[i]); if (v != _checked_values[i]) { - ::printf("reg %02x:%02x should be %02x\n", + ::printf("reg %02x:%02x should be %02x\n", (unsigned)_checked_registers[i], (unsigned)v, (unsigned)_checked_values[i]); @@ -1742,7 +1736,7 @@ LSM303D_mag::LSM303D_mag(LSM303D *parent) : CDev("LSM303D_mag", LSM303D_DEVICE_PATH_MAG), _parent(parent), _mag_topic(-1), - _mag_orb_id(nullptr), + _mag_orb_class_instance(-1), _mag_class_instance(-1) { } @@ -1783,7 +1777,13 @@ LSM303D_mag::read(struct file *filp, char *buffer, size_t buflen) int LSM303D_mag::ioctl(struct file *filp, int cmd, unsigned long arg) { - return _parent->mag_ioctl(filp, cmd, arg); + switch (cmd) { + case DEVIOCGDEVICEID: + return (int)CDev::ioctl(filp, cmd, arg); + break; + default: + return _parent->mag_ioctl(filp, cmd, arg); + } } void diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index a4505fe6f..1331744ae 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -457,8 +457,9 @@ MK::task_main() actuator_outputs_s outputs; memset(&outputs, 0, sizeof(outputs)); /* advertise the mixed control outputs */ - _t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), - &outputs); + int dummy; + _t_outputs = orb_advertise_multi(ORB_ID(actuator_outputs), + &outputs, &dummy, ORB_PRIO_HIGH); /* advertise the blctrl status */ esc_status_s esc; diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 2be758244..e322e8b3a 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -175,6 +175,12 @@ #define MPU6000_ONE_G 9.80665f +#ifdef PX4_SPI_BUS_EXT +#define EXTERNAL_BUS PX4_SPI_BUS_EXT +#else +#define EXTERNAL_BUS 0 +#endif + /* the MPU6000 can only handle high SPI bus speeds on the sensor and interrupt status registers. All other registers have a maximum 1MHz @@ -234,7 +240,7 @@ private: float _accel_range_scale; float _accel_range_m_s2; orb_advert_t _accel_topic; - orb_id_t _accel_orb_id; + int _accel_orb_class_instance; int _accel_class_instance; RingBuffer *_gyro_reports; @@ -361,6 +367,13 @@ private: uint16_t swap16(uint16_t val) { return (val >> 8) | (val << 8); } /** + * Get the internal / external state + * + * @return true if the sensor is not on the main MCU board + */ + bool is_external() { return (_bus == EXTERNAL_BUS); } + + /** * Measurement self test * * @return 0 on success, 1 on failure @@ -433,7 +446,7 @@ const uint8_t MPU6000::_checked_registers[MPU6000_NUM_CHECKED_REGISTERS] = { MPU MPUREG_INT_ENABLE, MPUREG_INT_PIN_CFG }; - + /** * Helper class implementing the gyro driver node. @@ -457,7 +470,7 @@ protected: private: MPU6000 *_parent; orb_advert_t _gyro_topic; - orb_id_t _gyro_orb_id; + int _gyro_orb_class_instance; int _gyro_class_instance; /* do not allow to copy this class due to pointer data members */ @@ -479,7 +492,7 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev _accel_range_scale(0.0f), _accel_range_m_s2(0.0f), _accel_topic(-1), - _accel_orb_id(nullptr), + _accel_orb_class_instance(-1), _accel_class_instance(-1), _gyro_reports(nullptr), _gyro_scale{}, @@ -510,6 +523,12 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev // disable debug() calls _debug_enabled = false; + _device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU6000; + + /* Prime _gyro with parents devid. */ + _gyro->_device_id.devid = _device_id.devid; + _gyro->_device_id.devid_s.devtype = DRV_GYR_DEVTYPE_MPU6000; + // default accel scale factors _accel_scale.x_offset = 0; _accel_scale.x_scale = 1.0f; @@ -596,6 +615,7 @@ MPU6000::init() _gyro_scale.z_offset = 0; _gyro_scale.z_scale = 1.0f; + /* do CDev init for the gyro device node, keep it optional */ ret = _gyro->init(); /* if probe/setup failed, bail now */ @@ -613,22 +633,8 @@ MPU6000::init() _accel_reports->get(&arp); /* measurement will have generated a report, publish */ - switch (_accel_class_instance) { - case CLASS_DEVICE_PRIMARY: - _accel_orb_id = ORB_ID(sensor_accel0); - break; - - case CLASS_DEVICE_SECONDARY: - _accel_orb_id = ORB_ID(sensor_accel1); - break; - - case CLASS_DEVICE_TERTIARY: - _accel_orb_id = ORB_ID(sensor_accel2); - break; - - } - - _accel_topic = orb_advertise(_accel_orb_id, &arp); + _accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp, + &_accel_orb_class_instance, (is_external()) ? ORB_PRIO_MAX : ORB_PRIO_HIGH); if (_accel_topic < 0) { warnx("ADVERT FAIL"); @@ -639,22 +645,8 @@ MPU6000::init() struct gyro_report grp; _gyro_reports->get(&grp); - switch (_gyro->_gyro_class_instance) { - case CLASS_DEVICE_PRIMARY: - _gyro->_gyro_orb_id = ORB_ID(sensor_gyro0); - break; - - case CLASS_DEVICE_SECONDARY: - _gyro->_gyro_orb_id = ORB_ID(sensor_gyro1); - break; - - case CLASS_DEVICE_TERTIARY: - _gyro->_gyro_orb_id = ORB_ID(sensor_gyro2); - break; - - } - - _gyro->_gyro_topic = orb_advertise(_gyro->_gyro_orb_id, &grp); + _gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp, + &_gyro->_gyro_orb_class_instance, (is_external()) ? ORB_PRIO_MAX : ORB_PRIO_HIGH); if (_gyro->_gyro_topic < 0) { warnx("ADVERT FAIL"); @@ -683,7 +675,7 @@ int MPU6000::reset() // for it to come out of sleep write_checked_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ); up_udelay(1000); - + // Disable I2C bus (recommended on datasheet) write_checked_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS); irqrestore(state); @@ -741,7 +733,7 @@ int MPU6000::reset() case MPU6000_REV_D9: case MPU6000_REV_D10: // default case to cope with new chip revisions, which - // presumably won't have the accel scaling bug + // presumably won't have the accel scaling bug default: // Accel scale 8g (4096 LSB/g) write_checked_reg(MPUREG_ACCEL_CONFIG, 2 << 3); @@ -819,7 +811,7 @@ MPU6000::_set_dlpf_filter(uint16_t frequency_hz) { uint8_t filter; - /* + /* choose next highest filter frequency available */ if (frequency_hz == 0) { @@ -921,7 +913,7 @@ MPU6000::gyro_self_test() if (self_test()) return 1; - /* + /* * Maximum deviation of 20 degrees, according to * http://www.invensense.com/mems/gyro/documents/PS-MPU-6000A-00v3.4.pdf * Section 6.1, initial ZRO tolerance @@ -982,7 +974,7 @@ MPU6000::factory_self_test() // gyro self test has to be done at 250DPS write_reg(MPUREG_GYRO_CONFIG, BITS_FS_250DPS); - struct MPUReport mpu_report; + struct MPUReport mpu_report; float accel_baseline[3]; float gyro_baseline[3]; float accel[3]; @@ -1012,10 +1004,10 @@ MPU6000::factory_self_test() } #if 1 - write_reg(MPUREG_GYRO_CONFIG, - BITS_FS_250DPS | - BITS_GYRO_ST_X | - BITS_GYRO_ST_Y | + write_reg(MPUREG_GYRO_CONFIG, + BITS_FS_250DPS | + BITS_GYRO_ST_X | + BITS_GYRO_ST_Y | BITS_GYRO_ST_Z); // accel 8g, self-test enabled all axes @@ -1085,7 +1077,7 @@ MPU6000::factory_self_test() ::printf("FAIL\n"); ret = -EIO; } - } + } for (uint8_t i=0; i<3; i++) { float diff = gyro[i]-gyro_baseline[i]; float err = 100*(diff - gyro_ftrim[i]) / gyro_ftrim[i]; @@ -1100,7 +1092,7 @@ MPU6000::factory_self_test() ::printf("FAIL\n"); ret = -EIO; } - } + } write_reg(MPUREG_GYRO_CONFIG, saved_gyro_config); write_reg(MPUREG_ACCEL_CONFIG, saved_accel_config); @@ -1247,14 +1239,14 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) /* lower bound is mandatory, upper bound is a sanity check */ if ((arg < 1) || (arg > 100)) return -EINVAL; - + irqstate_t flags = irqsave(); if (!_accel_reports->resize(arg)) { irqrestore(flags); return -ENOMEM; } irqrestore(flags); - + return OK; } @@ -1536,13 +1528,13 @@ MPU6000::check_registers(void) the data registers. */ uint8_t v; - if ((v=read_reg(_checked_registers[_checked_next], MPU6000_HIGH_BUS_SPEED)) != + if ((v=read_reg(_checked_registers[_checked_next], MPU6000_HIGH_BUS_SPEED)) != _checked_values[_checked_next]) { /* if we get the wrong value then we know the SPI bus or sensor is very sick. We set _register_wait to 20 and wait until we have seen 20 good values in a row - before we consider the sensor to be OK again. + before we consider the sensor to be OK again. */ perf_count(_bad_registers); @@ -1655,7 +1647,7 @@ MPU6000::measure() _register_wait--; return; } - + /* * Swap axes and negate y @@ -1716,7 +1708,7 @@ MPU6000::measure() float x_in_new = ((report.accel_x * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale; float y_in_new = ((report.accel_y * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale; float z_in_new = ((report.accel_z * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale; - + arb.x = _accel_filter_x.apply(x_in_new); arb.y = _accel_filter_y.apply(y_in_new); arb.z = _accel_filter_z.apply(z_in_new); @@ -1737,7 +1729,7 @@ MPU6000::measure() float x_gyro_in_new = ((report.gyro_x * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale; float y_gyro_in_new = ((report.gyro_y * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale; float z_gyro_in_new = ((report.gyro_z * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale; - + grb.x = _gyro_filter_x.apply(x_gyro_in_new); grb.y = _gyro_filter_y.apply(y_gyro_in_new); grb.z = _gyro_filter_z.apply(z_gyro_in_new); @@ -1763,12 +1755,12 @@ MPU6000::measure() perf_begin(_controller_latency_perf); perf_begin(_system_latency_perf); /* publish it */ - orb_publish(_accel_orb_id, _accel_topic, &arb); + orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb); } if (!(_pub_blocked)) { /* publish it */ - orb_publish(_gyro->_gyro_orb_id, _gyro->_gyro_topic, &grb); + orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb); } /* stop measuring */ @@ -1791,7 +1783,7 @@ MPU6000::print_info() for (uint8_t i=0; i<MPU6000_NUM_CHECKED_REGISTERS; i++) { uint8_t v = read_reg(_checked_registers[i], MPU6000_HIGH_BUS_SPEED); if (v != _checked_values[i]) { - ::printf("reg %02x:%02x should be %02x\n", + ::printf("reg %02x:%02x should be %02x\n", (unsigned)_checked_registers[i], (unsigned)v, (unsigned)_checked_values[i]); @@ -1818,7 +1810,7 @@ MPU6000_gyro::MPU6000_gyro(MPU6000 *parent, const char *path) : CDev("MPU6000_gyro", path), _parent(parent), _gyro_topic(-1), - _gyro_orb_id(nullptr), + _gyro_orb_class_instance(-1), _gyro_class_instance(-1) { } @@ -1863,7 +1855,14 @@ MPU6000_gyro::read(struct file *filp, char *buffer, size_t buflen) int MPU6000_gyro::ioctl(struct file *filp, int cmd, unsigned long arg) { - return _parent->gyro_ioctl(filp, cmd, arg); + + switch (cmd) { + case DEVIOCGDEVICEID: + return (int)CDev::ioctl(filp, cmd, arg); + break; + default: + return _parent->gyro_ioctl(filp, cmd, arg); + } } /** diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp index 0a793cbc9..75b1f65fd 100644 --- a/src/drivers/ms5611/ms5611.cpp +++ b/src/drivers/ms5611/ms5611.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -57,6 +57,7 @@ #include <nuttx/clock.h> #include <arch/board/board.h> +#include <board_config.h> #include <drivers/device/device.h> #include <drivers/drv_baro.h> @@ -134,8 +135,7 @@ protected: unsigned _msl_pressure; /* in Pa */ orb_advert_t _baro_topic; - orb_id_t _orb_id; - + int _orb_class_instance; int _class_instance; perf_counter_t _sample_perf; @@ -172,6 +172,13 @@ protected: void cycle(); /** + * Get the internal / external state + * + * @return true if the sensor is not on the main MCU board + */ + bool is_external() { return (_orb_class_instance == 0); /* XXX put this into the interface class */ } + + /** * Static trampoline from the workq context; because we don't have a * generic workq wrapper yet. * @@ -210,6 +217,7 @@ MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char* _SENS(0), _msl_pressure(101325), _baro_topic(-1), + _orb_class_instance(-1), _class_instance(-1), _sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read")), _measure_perf(perf_alloc(PC_ELAPSED, "ms5611_measure")), @@ -263,7 +271,6 @@ MS5611::init() /* register alternate interfaces if we have to */ _class_instance = register_class_devname(BARO_DEVICE_PATH); - _orb_id = ORB_ID_TRIPLE(sensor_baro, _class_instance); struct baro_report brp; /* do a first measurement cycle to populate reports with valid data */ @@ -303,7 +310,9 @@ MS5611::init() ret = OK; - _baro_topic = orb_advertise(_orb_id, &brp); + _baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &brp, + &_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT); + if (_baro_topic < 0) { warnx("failed to create sensor_baro publication"); @@ -725,7 +734,7 @@ MS5611::collect() /* publish it */ if (!(_pub_blocked)) { /* publish it */ - orb_publish(_orb_id, _baro_topic, &report); + orb_publish(ORB_ID(sensor_baro), _baro_topic, &report); } if (_reports->force(&report)) { diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index db6b34f99..8fcdc8023 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -145,7 +145,7 @@ private: int _control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; orb_id_t _control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; - orb_id_t _actuator_output_topic; + int _actuator_output_topic_instance; pollfd _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; unsigned _poll_fds_num; @@ -260,7 +260,7 @@ PX4FMU::PX4FMU() : _groups_required(0), _groups_subscribed(0), _control_subs{-1}, - _actuator_output_topic(nullptr), + _actuator_output_topic_instance(-1), _poll_fds_num(0), _pwm_limit{}, _failsafe_pwm{0}, @@ -331,8 +331,6 @@ PX4FMU::init() log("default PWM output device"); } - _actuator_output_topic = ORB_ID_DOUBLE(actuator_outputs_, _class_instance); - /* reset GPIOs */ gpio_reset(); @@ -683,10 +681,10 @@ PX4FMU::task_main() /* publish mixed control outputs */ if (_outputs_pub < 0) { - _outputs_pub = orb_advertise(_actuator_output_topic, &outputs); + _outputs_pub = orb_advertise_multi(ORB_ID(actuator_outputs), &outputs, &_actuator_output_topic_instance, ORB_PRIO_DEFAULT); } else { - orb_publish(_actuator_output_topic, _outputs_pub, &outputs); + orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &outputs); } } } diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 8ce548571..ae7f85b87 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1685,17 +1685,12 @@ PX4IO::io_publish_pwm_outputs() /* lazily advertise on first publication */ if (_to_outputs == 0) { - _to_outputs = orb_advertise((_primary_pwm_device ? - ORB_ID_VEHICLE_CONTROLS : - ORB_ID(actuator_outputs_1)), - &outputs); + int instance; + _to_outputs = orb_advertise_multi(ORB_ID(actuator_outputs), + &outputs, &instance, ORB_PRIO_MAX); } else { - orb_publish((_primary_pwm_device ? - ORB_ID_VEHICLE_CONTROLS : - ORB_ID(actuator_outputs_1)), - _to_outputs, - &outputs); + orb_publish(ORB_ID(actuator_outputs), _to_outputs, &outputs); } return OK; diff --git a/src/examples/matlab_csv_serial/matlab_csv_serial.c b/src/examples/matlab_csv_serial/matlab_csv_serial.c index a95f45d1a..145cf99cc 100644 --- a/src/examples/matlab_csv_serial/matlab_csv_serial.c +++ b/src/examples/matlab_csv_serial/matlab_csv_serial.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2014-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -190,10 +190,10 @@ int matlab_csv_serial_thread_main(int argc, char *argv[]) struct gyro_report gyro1; /* subscribe to parameter changes */ - int accel0_sub = orb_subscribe(ORB_ID(sensor_accel0)); - int accel1_sub = orb_subscribe(ORB_ID(sensor_accel1)); - int gyro0_sub = orb_subscribe(ORB_ID(sensor_gyro0)); - int gyro1_sub = orb_subscribe(ORB_ID(sensor_gyro1)); + int accel0_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 0); + int accel1_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 1); + int gyro0_sub = orb_subscribe_multi(ORB_ID(sensor_gyro), 0); + int gyro1_sub = orb_subscribe_multi(ORB_ID(sensor_gyro), 1); thread_running = true; @@ -224,10 +224,10 @@ int matlab_csv_serial_thread_main(int argc, char *argv[]) /* accel0 update available? */ if (fds[0].revents & POLLIN) { - orb_copy(ORB_ID(sensor_accel0), accel0_sub, &accel0); - orb_copy(ORB_ID(sensor_accel1), accel1_sub, &accel1); - orb_copy(ORB_ID(sensor_gyro0), gyro0_sub, &gyro0); - orb_copy(ORB_ID(sensor_gyro1), gyro1_sub, &gyro1); + orb_copy(ORB_ID(sensor_accel), accel0_sub, &accel0); + orb_copy(ORB_ID(sensor_accel), accel1_sub, &accel1); + orb_copy(ORB_ID(sensor_gyro), gyro0_sub, &gyro0); + orb_copy(ORB_ID(sensor_gyro), gyro1_sub, &gyro1); // write out on accel 0, but collect for all other sensors as they have updates dprintf(serial_fd, "%llu,%d,%d,%d,%d,%d,%d\n", accel0.timestamp, (int)accel0.x_raw, (int)accel0.y_raw, (int)accel0.z_raw, diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index d4cd97be6..13ab966ab 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -159,6 +159,7 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo int do_accel_calibration(int mavlink_fd) { int fd; + int32_t device_id; mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name); @@ -180,6 +181,9 @@ int do_accel_calibration(int mavlink_fd) /* reset all offsets to zero and all scales to one */ fd = open(ACCEL_DEVICE_PATH, 0); + + device_id = ioctl(fd, DEVIOCGDEVICEID, 0); + res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale); close(fd); @@ -226,6 +230,10 @@ int do_accel_calibration(int mavlink_fd) mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG); res = ERROR; } + + if (param_set(param_find("SENS_ACC_ID"), &(device_id))) { + res = ERROR; + } } if (res == OK) { diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp index 8ab14dd52..8410297ef 100644 --- a/src/modules/commander/gyro_calibration.cpp +++ b/src/modules/commander/gyro_calibration.cpp @@ -62,6 +62,7 @@ static const char *sensor_name = "gyro"; int do_gyro_calibration(int mavlink_fd) { + int32_t device_id; mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name); mavlink_log_info(mavlink_fd, "HOLD STILL"); @@ -81,6 +82,9 @@ int do_gyro_calibration(int mavlink_fd) /* reset all offsets to zero and all scales to one */ int fd = open(GYRO_DEVICE_PATH, 0); + + device_id = ioctl(fd, DEVIOCGDEVICEID, 0); + res = ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale); close(fd); @@ -95,7 +99,7 @@ int do_gyro_calibration(int mavlink_fd) unsigned poll_errcount = 0; /* subscribe to gyro sensor topic */ - int sub_sensor_gyro = orb_subscribe(ORB_ID(sensor_gyro0)); + int sub_sensor_gyro = orb_subscribe_multi(ORB_ID(sensor_gyro), 0); struct gyro_report gyro_report; while (calibration_counter < calibration_count) { @@ -107,7 +111,7 @@ int do_gyro_calibration(int mavlink_fd) int poll_ret = poll(fds, 1, 1000); if (poll_ret > 0) { - orb_copy(ORB_ID(sensor_gyro0), sub_sensor_gyro, &gyro_report); + orb_copy(ORB_ID(sensor_gyro), sub_sensor_gyro, &gyro_report); gyro_scale.x_offset += gyro_report.x; gyro_scale.y_offset += gyro_report.y; gyro_scale.z_offset += gyro_report.z; @@ -277,6 +281,9 @@ int do_gyro_calibration(int mavlink_fd) mavlink_log_critical(mavlink_fd, "ERROR: failed to set scale params"); res = ERROR; } + if (param_set(param_find("SENS_GYRO_ID"), &(device_id))) { + res = ERROR; + } } if (res == OK) { diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp index 53013fdb9..2afb9a440 100644 --- a/src/modules/commander/mag_calibration.cpp +++ b/src/modules/commander/mag_calibration.cpp @@ -149,7 +149,7 @@ int do_mag_calibration(int mavlink_fd) } if (res == OK) { - int sub_mag = orb_subscribe(ORB_ID(sensor_mag0)); + int sub_mag = orb_subscribe_multi(ORB_ID(sensor_mag), 0); if (sub_mag < 0) { mavlink_log_critical(mavlink_fd, "No mag found, abort"); @@ -179,7 +179,7 @@ int do_mag_calibration(int mavlink_fd) int poll_ret = poll(fds, 1, 1000); if (poll_ret > 0) { - orb_copy(ORB_ID(sensor_mag0), sub_mag, &mag); + orb_copy(ORB_ID(sensor_mag), sub_mag, &mag); x[calibration_counter] = mag.x; y[calibration_counter] = mag.y; diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index e33691b0c..38660b433 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -720,7 +720,7 @@ FixedwingEstimator::task_main() * do subscriptions */ _distance_sub = orb_subscribe(ORB_ID(sensor_range_finder)); - _baro_sub = orb_subscribe(ORB_ID(sensor_baro0)); + _baro_sub = orb_subscribe_multi(ORB_ID(sensor_baro), 0); _airspeed_sub = orb_subscribe(ORB_ID(airspeed)); _gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); @@ -1088,7 +1088,7 @@ FixedwingEstimator::task_main() if (baro_updated) { - orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro); + orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro); float baro_elapsed = (_baro.timestamp - baro_last) / 1e6f; baro_last = _baro.timestamp; @@ -1217,7 +1217,7 @@ FixedwingEstimator::task_main() initVelNED[2] = _gps.vel_d_m_s; // Set up height correctly - orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro); + orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro); _baro_ref_offset = _ekf->states[9]; // this should become zero in the local frame // init filtered gps and baro altitudes diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 88918333d..00c2080a0 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -554,7 +554,7 @@ FixedwingAttitudeControl::vehicle_accel_poll() orb_check(_accel_sub, &accel_updated); if (accel_updated) { - orb_copy(ORB_ID(sensor_accel0), _accel_sub, &_accel); + orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel); } } @@ -624,7 +624,7 @@ FixedwingAttitudeControl::task_main() */ _att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); _att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - _accel_sub = orb_subscribe(ORB_ID(sensor_accel0)); + _accel_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 0); _airspeed_sub = orb_subscribe(ORB_ID(airspeed)); _vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 676b65adc..6bd0c7bce 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -904,20 +904,20 @@ Mavlink::send_statustext(unsigned char severity, const char *string) mavlink_logbuffer_write(&_logbuffer, &logmsg); } -MavlinkOrbSubscription *Mavlink::add_orb_subscription(const orb_id_t topic) +MavlinkOrbSubscription *Mavlink::add_orb_subscription(const orb_id_t topic, int instance) { /* check if already subscribed to this topic */ MavlinkOrbSubscription *sub; LL_FOREACH(_subscriptions, sub) { - if (sub->get_topic() == topic) { + if (sub->get_topic() == topic && sub->get_instance() == instance) { /* already subscribed */ return sub; } } /* add new subscription */ - MavlinkOrbSubscription *sub_new = new MavlinkOrbSubscription(topic); + MavlinkOrbSubscription *sub_new = new MavlinkOrbSubscription(topic, instance); LL_APPEND(_subscriptions, sub_new); diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index ad5e5001b..baaa7bc13 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -171,7 +171,7 @@ public: void handle_message(const mavlink_message_t *msg); - MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic); + MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic, int instance=0); int get_instance_id(); diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 6642fb2ac..be7d91c65 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1342,14 +1342,7 @@ protected: _act_sub(nullptr), _act_time(0) { - orb_id_t act_topics[] = { - ORB_ID(actuator_outputs_0), - ORB_ID(actuator_outputs_1), - ORB_ID(actuator_outputs_2), - ORB_ID(actuator_outputs_3) - }; - - _act_sub = _mavlink->add_orb_subscription(act_topics[N]); + _act_sub = _mavlink->add_orb_subscription(ORB_ID(actuator_outputs), N); } void send(const hrt_abstime t) @@ -1424,7 +1417,7 @@ protected: _status_time(0), _pos_sp_triplet_sub(_mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet))), _pos_sp_triplet_time(0), - _act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_outputs_0))), + _act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_outputs))), _act_time(0) {} diff --git a/src/modules/mavlink/mavlink_orb_subscription.cpp b/src/modules/mavlink/mavlink_orb_subscription.cpp index 734f0903a..315776e29 100644 --- a/src/modules/mavlink/mavlink_orb_subscription.cpp +++ b/src/modules/mavlink/mavlink_orb_subscription.cpp @@ -46,10 +46,11 @@ #include "mavlink_orb_subscription.h" -MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic) : +MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic, int instance) : next(nullptr), _topic(topic), - _fd(orb_subscribe(_topic)), + _instance(instance), + _fd(orb_subscribe_multi(_topic, instance)), _published(false) { } @@ -65,6 +66,12 @@ MavlinkOrbSubscription::get_topic() const return _topic; } +int +MavlinkOrbSubscription::get_instance() const +{ + return _instance; +} + bool MavlinkOrbSubscription::update(uint64_t *time, void* data) { diff --git a/src/modules/mavlink/mavlink_orb_subscription.h b/src/modules/mavlink/mavlink_orb_subscription.h index 7af454df6..5394e5097 100644 --- a/src/modules/mavlink/mavlink_orb_subscription.h +++ b/src/modules/mavlink/mavlink_orb_subscription.h @@ -50,7 +50,7 @@ class MavlinkOrbSubscription public: MavlinkOrbSubscription *next; ///< pointer to next subscription in list - MavlinkOrbSubscription(const orb_id_t topic); + MavlinkOrbSubscription(const orb_id_t topic, int instance); ~MavlinkOrbSubscription(); /** @@ -77,9 +77,11 @@ public: */ bool is_published(); orb_id_t get_topic() const; + int get_instance() const; private: const orb_id_t _topic; ///< topic metadata + const int _instance; ///< get topic instance int _fd; ///< subscription handle bool _published; ///< topic was ever published diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index b1ba91cac..4d7b35f03 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -1043,10 +1043,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) gyro.temperature = imu.temperature; if (_gyro_pub < 0) { - _gyro_pub = orb_advertise(ORB_ID(sensor_gyro0), &gyro); + _gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &gyro); } else { - orb_publish(ORB_ID(sensor_gyro0), _gyro_pub, &gyro); + orb_publish(ORB_ID(sensor_gyro), _gyro_pub, &gyro); } } @@ -1065,10 +1065,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) accel.temperature = imu.temperature; if (_accel_pub < 0) { - _accel_pub = orb_advertise(ORB_ID(sensor_accel0), &accel); + _accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel); } else { - orb_publish(ORB_ID(sensor_accel0), _accel_pub, &accel); + orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel); } } @@ -1086,10 +1086,11 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) mag.z = imu.zmag; if (_mag_pub < 0) { - _mag_pub = orb_advertise(ORB_ID(sensor_mag0), &mag); + /* publish to the first mag topic */ + _mag_pub = orb_advertise(ORB_ID(sensor_mag), &mag); } else { - orb_publish(ORB_ID(sensor_mag0), _mag_pub, &mag); + orb_publish(ORB_ID(sensor_mag), _mag_pub, &mag); } } @@ -1104,10 +1105,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) baro.temperature = imu.temperature; if (_baro_pub < 0) { - _baro_pub = orb_advertise(ORB_ID(sensor_baro0), &baro); + _baro_pub = orb_advertise(ORB_ID(sensor_baro), &baro); } else { - orb_publish(ORB_ID(sensor_baro0), _baro_pub, &baro); + orb_publish(ORB_ID(sensor_baro), _baro_pub, &baro); } } @@ -1394,10 +1395,10 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) accel.temperature = 25.0f; if (_accel_pub < 0) { - _accel_pub = orb_advertise(ORB_ID(sensor_accel0), &accel); + _accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel); } else { - orb_publish(ORB_ID(sensor_accel0), _accel_pub, &accel); + orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel); } } diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index b87bebd0c..a94082d6f 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -39,6 +39,7 @@ * @author Thomas Gubler <thomasgubler@gmail.com> * @author Anton Babushkin <anton.babushkin@me.com> * @author Ban Siesta <bansiesta@gmail.com> + * @author Simon Wilks <simon@uaventure.com> */ #include <sys/types.h> @@ -68,6 +69,7 @@ Mission::Mission(Navigator *navigator, const char *name) : _param_takeoff_alt(this, "MIS_TAKEOFF_ALT", false), _param_dist_1wp(this, "MIS_DIST_1WP", false), _param_altmode(this, "MIS_ALTMODE", false), + _param_yawmode(this, "MIS_YAWMODE", false), _onboard_mission({0}), _offboard_mission({0}), _current_onboard_mission_index(-1), @@ -80,6 +82,7 @@ Mission::Mission(Navigator *navigator, const char *name) : _missionFeasiblityChecker(), _min_current_sp_distance_xy(FLT_MAX), _mission_item_previous_alt(NAN), + _on_arrival_yaw(NAN), _distance_current_previous(0.0f) { /* load initial params */ @@ -166,6 +169,13 @@ Mission::on_active() _navigator->set_can_loiter_at_sp(true); } } + + /* see if we need to update the current yaw heading for rotary wing types */ + if (_navigator->get_vstatus()->is_rotary_wing + && _param_yawmode.get() != MISSION_YAWMODE_NONE + && _mission_type != MISSION_TYPE_NONE) { + heading_sp_update(); + } } void @@ -275,7 +285,7 @@ Mission::check_dist_1wp() &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 || + 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 || @@ -362,7 +372,6 @@ Mission::set_mission_items() mavlink_log_critical(_navigator->get_mavlink_fd(), "offboard mission now running"); } _mission_type = MISSION_TYPE_OFFBOARD; - } else { /* no mission available or mission finished, switch to loiter */ if (_mission_type != MISSION_TYPE_NONE) { @@ -396,6 +405,10 @@ Mission::set_mission_items() return; } + if (pos_sp_triplet->current.valid) { + _on_arrival_yaw = _mission_item.yaw; + } + /* do takeoff on first waypoint for rotary wing vehicles */ if (_navigator->get_vstatus()->is_rotary_wing) { /* force takeoff if landed (additional protection) */ @@ -442,6 +455,7 @@ Mission::set_mission_items() _mission_item.nav_cmd = NAV_CMD_TAKEOFF; _mission_item.lat = _navigator->get_global_position()->lat; _mission_item.lon = _navigator->get_global_position()->lon; + _mission_item.yaw = NAN; _mission_item.altitude = takeoff_alt; _mission_item.altitude_is_relative = false; _mission_item.autocontinue = true; @@ -481,7 +495,6 @@ Mission::set_mission_items() if (read_mission_item(_mission_type == MISSION_TYPE_ONBOARD, false, &mission_item_next)) { /* got next mission item, update setpoint triplet */ mission_item_to_position_setpoint(&mission_item_next, &pos_sp_triplet->next); - } else { /* next mission item is not available */ pos_sp_triplet->next.valid = false; @@ -504,6 +517,59 @@ Mission::set_mission_items() } void +Mission::heading_sp_update() +{ + if (_takeoff) { + /* we don't want to be yawing during takeoff */ + return; + } + + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + + /* Don't change setpoint if last and current waypoint are not valid */ + if (!pos_sp_triplet->previous.valid || !pos_sp_triplet->current.valid || + !isfinite(_on_arrival_yaw)) { + return; + } + + /* Don't do FOH for landing and takeoff waypoints, the ground may be near + * and the FW controller has a custom landing logic */ + if (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_TAKEOFF) { + return; + } + + /* set yaw angle for the waypoint iff a loiter time has been specified */ + if (_waypoint_position_reached && _mission_item.time_inside > 0.0f) { + _mission_item.yaw = _on_arrival_yaw; + /* always keep the front of the rotary wing pointing to the next waypoint */ + } else if (_param_yawmode.get() == MISSION_YAWMODE_FRONT_TO_WAYPOINT) { + _mission_item.yaw = get_bearing_to_next_waypoint( + _navigator->get_global_position()->lat, + _navigator->get_global_position()->lon, + _mission_item.lat, + _mission_item.lon); + /* always keep the back of the rotary wing pointing towards home */ + } else if (_param_yawmode.get() == MISSION_YAWMODE_FRONT_TO_HOME) { + _mission_item.yaw = get_bearing_to_next_waypoint( + _navigator->get_global_position()->lat, + _navigator->get_global_position()->lon, + _navigator->get_home_position()->lat, + _navigator->get_home_position()->lon); + /* always keep the back of the rotary wing pointing towards home */ + } else if (_param_yawmode.get() == MISSION_YAWMODE_BACK_TO_HOME) { + _mission_item.yaw = _wrap_pi(get_bearing_to_next_waypoint( + _navigator->get_global_position()->lat, + _navigator->get_global_position()->lon, + _navigator->get_home_position()->lat, + _navigator->get_home_position()->lon) + M_PI_F); + } + + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + _navigator->set_position_setpoint_triplet_updated(); +} + + +void Mission::altitude_sp_foh_update() { struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h index a8a644b0f..e9f78e8fd 100644 --- a/src/modules/navigator/mission.h +++ b/src/modules/navigator/mission.h @@ -83,6 +83,13 @@ public: MISSION_ALTMODE_FOH = 1 }; + enum mission_yaw_mode { + MISSION_YAWMODE_NONE = 0, + MISSION_YAWMODE_FRONT_TO_WAYPOINT = 1, + MISSION_YAWMODE_FRONT_TO_HOME = 2, + MISSION_YAWMODE_BACK_TO_HOME = 3 + }; + private: /** * Update onboard mission topic @@ -111,6 +118,11 @@ private: void set_mission_items(); /** + * Updates the heading of the vehicle. Rotary wings only. + */ + void heading_sp_update(); + + /** * Updates the altitude sp to follow a foh */ void altitude_sp_foh_update(); @@ -155,6 +167,7 @@ private: control::BlockParamFloat _param_takeoff_alt; control::BlockParamFloat _param_dist_1wp; control::BlockParamInt _param_altmode; + control::BlockParamInt _param_yawmode; struct mission_s _onboard_mission; struct mission_s _offboard_mission; @@ -177,7 +190,8 @@ private: float _min_current_sp_distance_xy; /**< minimum distance which was achieved to the current waypoint */ float _mission_item_previous_alt; /**< holds the altitude of the previous mission item, - can be replaced by a full copy of the previous mission item if needed*/ + can be replaced by a full copy of the previous mission item if needed */ + float _on_arrival_yaw; /**< holds the yaw value that should be applied when the current waypoint is reached */ float _distance_current_previous; /**< distance from previous to current sp in pos_sp_triplet, only use if current and previous are valid */ }; diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index c936489d5..52ccebac9 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -134,6 +134,7 @@ MissionBlock::is_mission_item_reached() } } + /* Check if the waypoint and the requested yaw setpoint. */ if (_waypoint_position_reached && !_waypoint_yaw_reached) { /* TODO: removed takeoff, why? */ @@ -151,7 +152,7 @@ MissionBlock::is_mission_item_reached() } } - /* check if the current waypoint was reached */ + /* Once the waypoint and yaw setpoint have been reached we can start the loiter time countdown */ if (_waypoint_position_reached && _waypoint_yaw_reached) { if (_time_first_inside_orbit == 0) { diff --git a/src/modules/navigator/mission_params.c b/src/modules/navigator/mission_params.c index 04c01fe51..6310cf6de 100644 --- a/src/modules/navigator/mission_params.c +++ b/src/modules/navigator/mission_params.c @@ -95,3 +95,19 @@ PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 500); * @group Mission */ PARAM_DEFINE_INT32(MIS_ALTMODE, 0); + +/** + * Multirotor only. Yaw setpoint mode. + * + * 0: Set the yaw heading to the yaw value specified for the destination waypoint. + * 1: Maintain a yaw heading pointing towards the next waypoint. + * 2: Maintain a yaw heading that always points to the home location. + * 3: Maintain a yaw heading that always points away from the home location (ie: back always faces home). + * + * The values are defined in the enum mission_altitude_mode + * + * @min 0 + * @max 3 + * @group Mission + */ +PARAM_DEFINE_INT32(MIS_YAWMODE, 0); diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index ac08b0d23..8ac87b238 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1100,7 +1100,7 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); subs.att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); subs.rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); - subs.act_outputs_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS); + subs.act_outputs_sub = orb_subscribe(ORB_ID(actuator_outputs)); subs.act_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); subs.act_controls_1_sub = orb_subscribe(ORB_ID(actuator_controls_1)); subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); @@ -1477,7 +1477,7 @@ int sdlog2_thread_main(int argc, char *argv[]) } /* --- ACTUATOR OUTPUTS --- */ - if (copy_if_updated(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs)) { + if (copy_if_updated(ORB_ID(actuator_outputs), subs.act_outputs_sub, &buf.act_outputs)) { log_msg.msg_type = LOG_OUT0_MSG; memcpy(log_msg.body.log_OUT0.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT0.output)); LOGBUFFER_WRITE_AND_COUNT(OUT0); diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index bf5708e0b..67b7feef7 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -45,6 +45,13 @@ #include <systemlib/param/param.h> /** + * ID of the Gyro that the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(SENS_GYRO_ID, 0); + +/** * Gyro X-axis offset * * @min -10.0 @@ -153,6 +160,12 @@ PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 1.0f); */ PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 1.0f); +/** + * ID of the Accelerometer that the calibration is for. + * + * @group Sensor Calibration + */ +PARAM_DEFINE_INT32(SENS_ACC_ID, 0); /** * Accelerometer X-axis offset @@ -270,7 +283,7 @@ PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0); /** * PX4Flow board rotation * - * This parameter defines the rotation of the PX4FLOW board relative to the platform. + * This parameter defines the rotation of the PX4FLOW board relative to the platform. * Zero rotation is defined as Y on flow board pointing towards front of vehicle * Possible values are: * 0 = No rotation diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 82bb1eb8e..867d6c339 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1113,7 +1113,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw) if (accel_updated) { struct accel_report accel_report; - orb_copy(ORB_ID(sensor_accel0), _accel_sub, &accel_report); + orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report); math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z); vect = _board_rotation * vect; @@ -1134,7 +1134,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw) if (accel_updated) { struct accel_report accel_report; - orb_copy(ORB_ID(sensor_accel1), _accel_sub, &accel_report); + orb_copy(ORB_ID(sensor_accel), _accel1_sub, &accel_report); math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z); vect = _board_rotation * vect; @@ -1155,7 +1155,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw) if (accel_updated) { struct accel_report accel_report; - orb_copy(ORB_ID(sensor_accel2), _accel_sub, &accel_report); + orb_copy(ORB_ID(sensor_accel), _accel2_sub, &accel_report); math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z); vect = _board_rotation * vect; @@ -1181,7 +1181,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw) if (gyro_updated) { struct gyro_report gyro_report; - orb_copy(ORB_ID(sensor_gyro0), _gyro_sub, &gyro_report); + orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report); math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z); vect = _board_rotation * vect; @@ -1202,7 +1202,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw) if (gyro_updated) { struct gyro_report gyro_report; - orb_copy(ORB_ID(sensor_gyro1), _gyro1_sub, &gyro_report); + orb_copy(ORB_ID(sensor_gyro), _gyro1_sub, &gyro_report); math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z); vect = _board_rotation * vect; @@ -1223,7 +1223,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw) if (gyro_updated) { struct gyro_report gyro_report; - orb_copy(ORB_ID(sensor_gyro2), _gyro_sub, &gyro_report); + orb_copy(ORB_ID(sensor_gyro), _gyro2_sub, &gyro_report); math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z); vect = _board_rotation * vect; @@ -1249,7 +1249,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw) if (mag_updated) { struct mag_report mag_report; - orb_copy(ORB_ID(sensor_mag0), _mag_sub, &mag_report); + orb_copy(ORB_ID(sensor_mag), _mag_sub, &mag_report); math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z); @@ -1278,7 +1278,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw) if (mag_updated) { struct mag_report mag_report; - orb_copy(ORB_ID(sensor_mag1), _mag1_sub, &mag_report); + orb_copy(ORB_ID(sensor_mag), _mag1_sub, &mag_report); raw.magnetometer1_raw[0] = mag_report.x_raw; raw.magnetometer1_raw[1] = mag_report.y_raw; @@ -1292,7 +1292,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw) if (mag_updated) { struct mag_report mag_report; - orb_copy(ORB_ID(sensor_mag2), _mag2_sub, &mag_report); + orb_copy(ORB_ID(sensor_mag), _mag2_sub, &mag_report); raw.magnetometer2_raw[0] = mag_report.x_raw; raw.magnetometer2_raw[1] = mag_report.y_raw; @@ -1310,7 +1310,7 @@ Sensors::baro_poll(struct sensor_combined_s &raw) if (baro_updated) { - orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_barometer); + orb_copy(ORB_ID(sensor_baro), _baro_sub, &_barometer); raw.baro_pres_mbar = _barometer.pressure; // Pressure in mbar raw.baro_alt_meter = _barometer.altitude; // Altitude in meters @@ -1325,7 +1325,7 @@ Sensors::baro_poll(struct sensor_combined_s &raw) struct baro_report baro_report; - orb_copy(ORB_ID(sensor_baro1), _baro1_sub, &baro_report); + orb_copy(ORB_ID(sensor_baro), _baro1_sub, &baro_report); raw.baro1_pres_mbar = baro_report.pressure; // Pressure in mbar raw.baro1_alt_meter = baro_report.altitude; // Altitude in meters @@ -1943,18 +1943,18 @@ Sensors::task_main() /* * do subscriptions */ - _gyro_sub = orb_subscribe(ORB_ID(sensor_gyro0)); - _accel_sub = orb_subscribe(ORB_ID(sensor_accel0)); - _mag_sub = orb_subscribe(ORB_ID(sensor_mag0)); - _gyro1_sub = orb_subscribe(ORB_ID(sensor_gyro1)); - _accel1_sub = orb_subscribe(ORB_ID(sensor_accel1)); - _mag1_sub = orb_subscribe(ORB_ID(sensor_mag1)); - _gyro2_sub = orb_subscribe(ORB_ID(sensor_gyro2)); - _accel2_sub = orb_subscribe(ORB_ID(sensor_accel2)); - _mag2_sub = orb_subscribe(ORB_ID(sensor_mag2)); + _gyro_sub = orb_subscribe_multi(ORB_ID(sensor_gyro), 0); + _accel_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 0); + _mag_sub = orb_subscribe_multi(ORB_ID(sensor_mag), 0); + _gyro1_sub = orb_subscribe_multi(ORB_ID(sensor_gyro), 1); + _accel1_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 1); + _mag1_sub = orb_subscribe_multi(ORB_ID(sensor_mag), 1); + _gyro2_sub = orb_subscribe_multi(ORB_ID(sensor_gyro), 2); + _accel2_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 2); + _mag2_sub = orb_subscribe_multi(ORB_ID(sensor_mag), 2); _rc_sub = orb_subscribe(ORB_ID(input_rc)); - _baro_sub = orb_subscribe(ORB_ID(sensor_baro0)); - _baro1_sub = orb_subscribe(ORB_ID(sensor_baro1)); + _baro_sub = orb_subscribe_multi(ORB_ID(sensor_baro), 0); + _baro1_sub = orb_subscribe_multi(ORB_ID(sensor_baro), 1); _diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); _vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); diff --git a/src/modules/uORB/Publication.cpp b/src/modules/uORB/Publication.cpp index 41a866968..eb2d84726 100644 --- a/src/modules/uORB/Publication.cpp +++ b/src/modules/uORB/Publication.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/uORB/Publication.hpp b/src/modules/uORB/Publication.hpp index fd1ee4dec..8cbe51119 100644 --- a/src/modules/uORB/Publication.hpp +++ b/src/modules/uORB/Publication.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/uORB/Subscription.cpp b/src/modules/uORB/Subscription.cpp index fa0594c2e..db47218d9 100644 --- a/src/modules/uORB/Subscription.cpp +++ b/src/modules/uORB/Subscription.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/uORB/Subscription.hpp b/src/modules/uORB/Subscription.hpp index f82586285..12301ce96 100644 --- a/src/modules/uORB/Subscription.hpp +++ b/src/modules/uORB/Subscription.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/uORB/module.mk b/src/modules/uORB/module.mk index 9385ce253..71ad09130 100644 --- a/src/modules/uORB/module.mk +++ b/src/modules/uORB/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -37,8 +37,7 @@ MODULE_COMMAND = uorb -# XXX probably excessive, 2048 should be sufficient -MODULE_STACKSIZE = 4096 +MODULE_STACKSIZE = 2048 SRCS = uORB.cpp \ objects_common.cpp \ diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 204a114e1..f60aa8d86 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012-2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -46,24 +46,16 @@ #include <drivers/drv_orb_dev.h> #include <drivers/drv_mag.h> -ORB_DEFINE(sensor_mag0, struct mag_report); -ORB_DEFINE(sensor_mag1, struct mag_report); -ORB_DEFINE(sensor_mag2, struct mag_report); +ORB_DEFINE(sensor_mag, struct mag_report); #include <drivers/drv_accel.h> -ORB_DEFINE(sensor_accel0, struct accel_report); -ORB_DEFINE(sensor_accel1, struct accel_report); -ORB_DEFINE(sensor_accel2, struct accel_report); +ORB_DEFINE(sensor_accel, struct accel_report); #include <drivers/drv_gyro.h> -ORB_DEFINE(sensor_gyro0, struct gyro_report); -ORB_DEFINE(sensor_gyro1, struct gyro_report); -ORB_DEFINE(sensor_gyro2, struct gyro_report); +ORB_DEFINE(sensor_gyro, struct gyro_report); #include <drivers/drv_baro.h> -ORB_DEFINE(sensor_baro0, struct baro_report); -ORB_DEFINE(sensor_baro1, struct baro_report); -ORB_DEFINE(sensor_baro2, struct baro_report); +ORB_DEFINE(sensor_baro, struct baro_report); #include <drivers/drv_range_finder.h> ORB_DEFINE(sensor_range_finder, struct range_finder_report); @@ -212,10 +204,7 @@ ORB_DEFINE(actuator_controls_virtual_fw, struct actuator_controls_virtual_fw_s); ORB_DEFINE(actuator_armed, struct actuator_armed_s); #include "topics/actuator_outputs.h" -ORB_DEFINE(actuator_outputs_0, struct actuator_outputs_s); -ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s); -ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s); -ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s); +ORB_DEFINE(actuator_outputs, struct actuator_outputs_s); #include "topics/actuator_direct.h" ORB_DEFINE(actuator_direct, struct actuator_direct_s); diff --git a/src/modules/uORB/topics/actuator_outputs.h b/src/modules/uORB/topics/actuator_outputs.h index 446140423..c6fbaaed5 100644 --- a/src/modules/uORB/topics/actuator_outputs.h +++ b/src/modules/uORB/topics/actuator_outputs.h @@ -68,12 +68,6 @@ struct actuator_outputs_s { */ /* actuator output sets; this list can be expanded as more drivers emerge */ -ORB_DECLARE(actuator_outputs_0); -ORB_DECLARE(actuator_outputs_1); -ORB_DECLARE(actuator_outputs_2); -ORB_DECLARE(actuator_outputs_3); +ORB_DECLARE(actuator_outputs); -/* output sets with pre-defined applications */ -#define ORB_ID_VEHICLE_CONTROLS ORB_ID(actuator_outputs_0) - -#endif
\ No newline at end of file +#endif diff --git a/src/modules/uORB/uORB.cpp b/src/modules/uORB/uORB.cpp index 3373aac83..6f021459c 100644 --- a/src/modules/uORB/uORB.cpp +++ b/src/modules/uORB/uORB.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (Cc) 2012-2015 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -51,6 +51,7 @@ #include <stdio.h> #include <math.h> #include <unistd.h> +#include <systemlib/err.h> #include <nuttx/arch.h> #include <nuttx/wqueue.h> @@ -68,6 +69,7 @@ namespace { +/* internal use only */ static const unsigned orb_maxpath = 64; /* oddly, ERROR is not defined for c++ */ @@ -81,17 +83,30 @@ enum Flavor { PARAM }; +struct orb_advertdata { + const struct orb_metadata *meta; + int *instance; + int priority; +}; + int -node_mkpath(char *buf, Flavor f, const struct orb_metadata *meta) +node_mkpath(char *buf, Flavor f, const struct orb_metadata *meta, int *instance = nullptr) { unsigned len; - len = snprintf(buf, orb_maxpath, "/%s/%s", - (f == PUBSUB) ? "obj" : "param", - meta->o_name); + unsigned index = 0; + + if (instance != nullptr) { + index = *instance; + } + + len = snprintf(buf, orb_maxpath, "/%s/%s%d", + (f == PUBSUB) ? "obj" : "param", + meta->o_name, index); - if (len >= orb_maxpath) + if (len >= orb_maxpath) { return -ENAMETOOLONG; + } return OK; } @@ -104,7 +119,7 @@ node_mkpath(char *buf, Flavor f, const struct orb_metadata *meta) class ORBDevNode : public device::CDev { public: - ORBDevNode(const struct orb_metadata *meta, const char *name, const char *path); + ORBDevNode(const struct orb_metadata *meta, const char *name, const char *path, int priority); ~ORBDevNode(); virtual int open(struct file *filp); @@ -126,6 +141,7 @@ private: struct hrt_call update_call; /**< deferred wakeup call if update_period is nonzero */ void *poll_priv; /**< saved copy of fds->f_priv while poll is active */ bool update_reported; /**< true if we have reported the update via poll/check */ + int priority; /**< priority of publisher */ }; const struct orb_metadata *_meta; /**< object metadata information */ @@ -133,6 +149,7 @@ private: hrt_abstime _last_update; /**< time the object was last updated */ volatile unsigned _generation; /**< object generation count */ pid_t _publisher; /**< if nonzero, current publisher */ + const int _priority; /**< priority of topic */ SubscriberData *filp_to_sd(struct file *filp) { SubscriberData *sd = (SubscriberData *)(filp->f_priv); @@ -160,13 +177,14 @@ private: bool appears_updated(SubscriberData *sd); }; -ORBDevNode::ORBDevNode(const struct orb_metadata *meta, const char *name, const char *path) : +ORBDevNode::ORBDevNode(const struct orb_metadata *meta, const char *name, const char *path, int priority) : CDev(name, path), _meta(meta), _data(nullptr), _last_update(0), _generation(0), - _publisher(0) + _publisher(0), + _priority(priority) { // enable debug() calls _debug_enabled = true; @@ -176,6 +194,7 @@ ORBDevNode::~ORBDevNode() { if (_data != nullptr) delete[] _data; + } int @@ -225,6 +244,9 @@ ORBDevNode::open(struct file *filp) /* default to no pending update */ sd->generation = _generation; + /* set priority */ + sd->priority = _priority; + filp->f_priv = (void *)sd; ret = CDev::open(filp); @@ -283,6 +305,9 @@ ORBDevNode::read(struct file *filp, char *buffer, size_t buflen) /* track the last generation that the file has seen */ sd->generation = _generation; + /* set priority */ + sd->priority = _priority; + /* * Clear the flag that indicates that an update has been reported, as * we have just collected it. @@ -364,6 +389,10 @@ ORBDevNode::ioctl(struct file *filp, int cmd, unsigned long arg) *(uintptr_t *)arg = (uintptr_t)this; return OK; + case ORBIOCGPRIORITY: + *(int *)arg = sd->priority; + return OK; + default: /* give it to the superclass */ return CDev::ioctl(filp, cmd, arg); @@ -556,40 +585,85 @@ ORBDevMaster::ioctl(struct file *filp, int cmd, unsigned long arg) switch (cmd) { case ORBIOCADVERTISE: { - const struct orb_metadata *meta = (const struct orb_metadata *)arg; + const struct orb_advertdata *adv = (const struct orb_advertdata *)arg; + const struct orb_metadata *meta = adv->meta; const char *objname; + const char *devpath; char nodepath[orb_maxpath]; ORBDevNode *node; + /* set instance to zero - we could allow selective multi-pubs later based on value */ + if (adv->instance != nullptr) { + *(adv->instance) = 0; + } + /* construct a path to the node - this also checks the node name */ - ret = node_mkpath(nodepath, _flavor, meta); + ret = node_mkpath(nodepath, _flavor, meta, adv->instance); - if (ret != OK) + if (ret != OK) { return ret; + } - /* driver wants a permanent copy of the node name, so make one here */ - objname = strdup(meta->o_name); + /* ensure that only one advertiser runs through this critical section */ + lock(); + + ret = ERROR; + + /* try for topic groups */ + const unsigned max_group_tries = (adv->instance != nullptr) ? ORB_MULTI_MAX_INSTANCES : 1; + unsigned group_tries = 0; + do { + /* if path is modifyable change try index */ + if (adv->instance != nullptr) { + /* replace the number at the end of the string */ + nodepath[strlen(nodepath) - 1] = '0' + group_tries; + *(adv->instance) = group_tries; + } + + /* driver wants a permanent copy of the node name, so make one here */ + objname = strdup(meta->o_name); - if (objname == nullptr) - return -ENOMEM; + if (objname == nullptr) { + return -ENOMEM; + } - /* construct the new node */ - node = new ORBDevNode(meta, objname, nodepath); + /* driver wants a permanent copy of the path, so make one here */ + devpath = strdup(nodepath); - /* initialise the node - this may fail if e.g. a node with this name already exists */ - if (node != nullptr) + if (devpath == nullptr) { + return -ENOMEM; + } + + /* construct the new node */ + node = new ORBDevNode(meta, objname, devpath, adv->priority); + + /* if we didn't get a device, that's bad */ + if (node == nullptr) { + unlock(); + return -ENOMEM; + } + + /* initialise the node - this may fail if e.g. a node with this name already exists */ ret = node->init(); + + /* if init failed, discard the node and its name */ + if (ret != OK) { + delete node; + free((void *)objname); + free((void *)devpath); + } - /* if we didn't get a device, that's bad */ - if (node == nullptr) - return -ENOMEM; + group_tries++; - /* if init failed, discard the node and its name */ - if (ret != OK) { - delete node; - free((void *)objname); + } while (ret != OK && (group_tries < max_group_tries)); + + if (group_tries > max_group_tries) { + ret = -ENOMEM; } + /* the file handle for the driver has been created, unlock */ + unlock(); + return ret; } @@ -614,6 +688,7 @@ struct orb_test { }; ORB_DEFINE(orb_test, struct orb_test); +ORB_DEFINE(orb_multitest, struct orb_test); int test_fail(const char *fmt, ...) @@ -643,8 +718,6 @@ test_note(const char *fmt, ...) return OK; } -ORB_DECLARE(sensor_combined); - int test() { @@ -700,48 +773,65 @@ test() orb_unsubscribe(sfd); close(pfd); -#if 0 - /* this is a hacky test that exploits the sensors app to test rate-limiting */ + /* this routine tests the multi-topic support */ + test_note("try multi-topic support"); - sfd = orb_subscribe(ORB_ID(sensor_combined)); + int instance0; + int pfd0 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance0, ORB_PRIO_MAX); - hrt_abstime start, end; - unsigned count; + test_note("advertised"); + usleep(300000); - start = hrt_absolute_time(); - count = 0; + int instance1; + int pfd1 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance1, ORB_PRIO_MIN); - do { - orb_check(sfd, &updated); + if (instance0 != 0) + return test_fail("mult. id0: %d", instance0); - if (updated) { - orb_copy(ORB_ID(sensor_combined), sfd, nullptr); - count++; - } - } while (count < 100); + if (instance1 != 1) + return test_fail("mult. id1: %d", instance1); - end = hrt_absolute_time(); - test_note("full-speed, 100 updates in %llu", end - start); + t.val = 103; + if (OK != orb_publish(ORB_ID(orb_multitest), pfd0, &t)) + return test_fail("mult. pub0 fail"); - orb_set_interval(sfd, 10); + test_note("published"); + usleep(300000); - start = hrt_absolute_time(); - count = 0; + t.val = 203; + if (OK != orb_publish(ORB_ID(orb_multitest), pfd1, &t)) + return test_fail("mult. pub1 fail"); - do { - orb_check(sfd, &updated); + /* subscribe to both topics and ensure valid data is received */ + int sfd0 = orb_subscribe_multi(ORB_ID(orb_multitest), 0); - if (updated) { - orb_copy(ORB_ID(sensor_combined), sfd, nullptr); - count++; - } - } while (count < 100); + if (OK != orb_copy(ORB_ID(orb_multitest), sfd0, &t)) + return test_fail("sub #0 copy failed: %d", errno); - end = hrt_absolute_time(); - test_note("100Hz, 100 updates in %llu", end - start); + if (t.val != 103) + return test_fail("sub #0 val. mismatch: %d", t.val); - orb_unsubscribe(sfd); -#endif + int sfd1 = orb_subscribe_multi(ORB_ID(orb_multitest), 1); + + if (OK != orb_copy(ORB_ID(orb_multitest), sfd1, &t)) + return test_fail("sub #1 copy failed: %d", errno); + + if (t.val != 203) + return test_fail("sub #1 val. mismatch: %d", t.val); + + /* test priorities */ + int prio; + if (OK != orb_priority(sfd0, &prio)) + return test_fail("prio #0"); + + if (prio != ORB_PRIO_MAX) + return test_fail("prio: %d", prio); + + if (OK != orb_priority(sfd1, &prio)) + return test_fail("prio #1"); + + if (prio != ORB_PRIO_MIN) + return test_fail("prio: %d", prio); return test_note("PASS"); } @@ -771,7 +861,7 @@ uorb_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) { if (g_dev != nullptr) { - fprintf(stderr, "[uorb] already loaded\n"); + warnx("already loaded"); /* user wanted to start uorb, its already running, no error */ return 0; } @@ -780,18 +870,17 @@ uorb_main(int argc, char *argv[]) g_dev = new ORBDevMaster(PUBSUB); if (g_dev == nullptr) { - fprintf(stderr, "[uorb] driver alloc failed\n"); + warnx("driver alloc failed"); return -ENOMEM; } if (OK != g_dev->init()) { - fprintf(stderr, "[uorb] driver init failed\n"); + warnx("driver init failed"); delete g_dev; g_dev = nullptr; return -EIO; } - printf("[uorb] ready\n"); return OK; } @@ -807,8 +896,7 @@ uorb_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) return info(); - fprintf(stderr, "unrecognised command, try 'start', 'test' or 'status'\n"); - return -EINVAL; + errx(-EINVAL, "unrecognized command, try 'start', 'test' or 'status'"); } /* @@ -825,11 +913,14 @@ namespace * we tried to advertise. */ int -node_advertise(const struct orb_metadata *meta) +node_advertise(const struct orb_metadata *meta, int *instance = nullptr, int priority = ORB_PRIO_DEFAULT) { int fd = -1; int ret = ERROR; + /* fill advertiser data */ + const struct orb_advertdata adv = { meta, instance, priority }; + /* open the control device */ fd = open(TOPIC_MASTER_DEVICE_PATH, 0); @@ -837,11 +928,12 @@ node_advertise(const struct orb_metadata *meta) goto out; /* advertise the object */ - ret = ioctl(fd, ORBIOCADVERTISE, (unsigned long)(uintptr_t)meta); + ret = ioctl(fd, ORBIOCADVERTISE, (unsigned long)(uintptr_t)&adv); /* it's OK if it already exists */ - if ((OK != ret) && (EEXIST == errno)) + if ((OK != ret) && (EEXIST == errno)) { ret = OK; + } out: @@ -858,7 +950,7 @@ out: * advertisers. */ int -node_open(Flavor f, const struct orb_metadata *meta, const void *data, bool advertiser) +node_open(Flavor f, const struct orb_metadata *meta, const void *data, bool advertiser, int *instance = nullptr, int priority = ORB_PRIO_DEFAULT) { char path[orb_maxpath]; int fd, ret; @@ -883,7 +975,7 @@ node_open(Flavor f, const struct orb_metadata *meta, const void *data, bool adve /* * Generate the path to the node and try to open it. */ - ret = node_mkpath(path, f, meta); + ret = node_mkpath(path, f, meta, instance); if (ret != OK) { errno = -ret; @@ -893,15 +985,34 @@ node_open(Flavor f, const struct orb_metadata *meta, const void *data, bool adve /* open the path as either the advertiser or the subscriber */ fd = open(path, (advertiser) ? O_WRONLY : O_RDONLY); + /* if we want to advertise and the node existed, we have to re-try again */ + if ((fd >= 0) && (instance != nullptr) && (advertiser)) { + /* close the fd, we want a new one */ + close(fd); + /* the node_advertise call will automatically go for the next free entry */ + fd = -1; + } + /* we may need to advertise the node... */ if (fd < 0) { /* try to create the node */ - ret = node_advertise(meta); + ret = node_advertise(meta, instance, priority); + + if (ret == OK) { + /* update the path, as it might have been updated during the node_advertise call */ + ret = node_mkpath(path, f, meta, instance); + + if (ret != OK) { + errno = -ret; + return ERROR; + } + } /* on success, try the open again */ - if (ret == OK) + if (ret == OK) { fd = open(path, (advertiser) ? O_WRONLY : O_RDONLY); + } } if (fd < 0) { @@ -918,11 +1029,17 @@ node_open(Flavor f, const struct orb_metadata *meta, const void *data, bool adve orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data) { + return orb_advertise_multi(meta, data, nullptr, ORB_PRIO_DEFAULT); +} + +orb_advert_t +orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance, int priority) +{ int result, fd; orb_advert_t advertiser; /* open the node as an advertiser */ - fd = node_open(PUBSUB, meta, data, true); + fd = node_open(PUBSUB, meta, data, true, instance, priority); if (fd == ERROR) return ERROR; @@ -933,7 +1050,7 @@ orb_advertise(const struct orb_metadata *meta, const void *data) return ERROR; /* the advertiser must perform an initial publish to initialise the object */ - result= orb_publish(meta, advertiser, data); + result = orb_publish(meta, advertiser, data); if (result == ERROR) return ERROR; @@ -947,6 +1064,13 @@ orb_subscribe(const struct orb_metadata *meta) } int +orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance) +{ + int inst = instance; + return node_open(PUBSUB, meta, nullptr, false, &inst); +} + +int orb_unsubscribe(int handle) { return close(handle); @@ -989,6 +1113,12 @@ orb_stat(int handle, uint64_t *time) } int +orb_priority(int handle, int *priority) +{ + return ioctl(handle, ORBIOCGPRIORITY, (unsigned long)(uintptr_t)priority); +} + +int orb_set_interval(int handle, unsigned interval) { return ioctl(handle, ORBIOCSETINTERVAL, interval * 1000); diff --git a/src/modules/uORB/uORB.h b/src/modules/uORB/uORB.h index 672f8d8d1..b54f0322b 100644 --- a/src/modules/uORB/uORB.h +++ b/src/modules/uORB/uORB.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -57,27 +57,23 @@ struct orb_metadata { typedef const struct orb_metadata *orb_id_t; /** - * Generates a pointer to the uORB metadata structure for - * a given topic. - * - * The topic must have been declared previously in scope - * with ORB_DECLARE(). - * - * @param _name The name of the topic. + * Maximum number of multi topic instances */ -#define ORB_ID(_name) &__orb_##_name +#define ORB_MULTI_MAX_INSTANCES 3 /** - * Generates a pointer to the uORB metadata structure for - * a given topic. - * - * The topic must have been declared previously in scope - * with ORB_DECLARE(). - * - * @param _name The name of the topic. - * @param _count The class ID of the topic + * Topic priority. + * Relevant for multi-topics / topic groups */ -#define ORB_ID_DOUBLE(_name, _count) ((_count == CLASS_DEVICE_PRIMARY) ? &__orb_##_name##0 : &__orb_##_name##1) +enum ORB_PRIO { + ORB_PRIO_MIN = 0, + ORB_PRIO_VERY_LOW = 25, + ORB_PRIO_LOW = 50, + ORB_PRIO_DEFAULT = 75, + ORB_PRIO_HIGH = 100, + ORB_PRIO_VERY_HIGH = 125, + ORB_PRIO_MAX = 255 +}; /** * Generates a pointer to the uORB metadata structure for @@ -87,12 +83,8 @@ typedef const struct orb_metadata *orb_id_t; * with ORB_DECLARE(). * * @param _name The name of the topic. - * @param _count The class ID of the topic */ -#define ORB_ID_TRIPLE(_name, _count) \ - ((_count == CLASS_DEVICE_PRIMARY) ? &__orb_##_name##0 : \ - ((_count == CLASS_DEVICE_SECONDARY) ? &__orb_##_name##1 : \ - (((_count == CLASS_DEVICE_TERTIARY) ? &__orb_##_name##2 : 0)))) +#define ORB_ID(_name) &__orb_##_name /** * Declare (prototype) the uORB metadata for a topic. @@ -168,6 +160,34 @@ typedef intptr_t orb_advert_t; extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data) __EXPORT; /** + * Advertise as the publisher of a topic. + * + * This performs the initial advertisement of a topic; it creates the topic + * node in /obj if required and publishes the initial data. + * + * Any number of advertisers may publish to a topic; publications are atomic + * but co-ordination between publishers is not provided by the ORB. + * + * @param meta The uORB metadata (usually from the ORB_ID() macro) + * for the topic. + * @param data A pointer to the initial data to be published. + * For topics updated by interrupt handlers, the advertisement + * must be performed from non-interrupt context. + * @param instance Pointer to an integer which will yield the instance ID (0-based) + * of the publication. + * @param priority The priority of the instance. If a subscriber subscribes multiple + * instances, the priority allows the subscriber to prioritize the best + * data source as long as its available. + * @return ERROR on error, otherwise returns a handle + * that can be used to publish to the topic. + * If the topic in question is not known (due to an + * ORB_DEFINE with no corresponding ORB_DECLARE) + * this function will return -1 and set errno to ENOENT. + */ +extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance, int priority) __EXPORT; + + +/** * Publish new data to a topic. * * The data is atomically published to the topic and any waiting subscribers @@ -211,6 +231,37 @@ extern int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, con extern int orb_subscribe(const struct orb_metadata *meta) __EXPORT; /** + * Subscribe to a multi-instance of a topic. + * + * The returned value is a file descriptor that can be passed to poll() + * in order to wait for updates to a topic, as well as topic_read, + * orb_check and orb_stat. + * + * Subscription will succeed even if the topic has not been advertised; + * in this case the topic will have a timestamp of zero, it will never + * signal a poll() event, checking will always return false and it cannot + * be copied. When the topic is subsequently advertised, poll, check, + * stat and copy calls will react to the initial publication that is + * performed as part of the advertisement. + * + * Subscription will fail if the topic is not known to the system, i.e. + * there is nothing in the system that has declared the topic and thus it + * can never be published. + * + * @param meta The uORB metadata (usually from the ORB_ID() macro) + * for the topic. + * @param instance The instance of the topic. Instance 0 matches the + * topic of the orb_subscribe() call, higher indices + * are for topics created with orb_publish_multi(). + * @return ERROR on error, otherwise returns a handle + * that can be used to read and update the topic. + * If the topic in question is not known (due to an + * ORB_DEFINE_OPTIONAL with no corresponding ORB_DECLARE) + * this function will return -1 and set errno to ENOENT. + */ +extern int orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance) __EXPORT; + +/** * Unsubscribe from a topic. * * @param handle A handle returned from orb_subscribe. @@ -267,6 +318,18 @@ extern int orb_check(int handle, bool *updated) __EXPORT; extern int orb_stat(int handle, uint64_t *time) __EXPORT; /** + * Return the priority of the topic + * + * @param handle A handle returned from orb_subscribe. + * @param priority Returns the priority of this topic. This is only relevant for + * topics which are published by multiple publishers (e.g. mag0, mag1, etc.) + * and allows a subscriber to automatically pick the topic with the highest + * priority, independent of the startup order of the associated publishers. + * @return OK on success, ERROR otherwise with errno set accordingly. + */ +extern int orb_priority(int handle, int *priority) __EXPORT; + +/** * Set the minimum interval between which updates are seen for a subscription. * * If this interval is set, the subscriber will not see more than one update diff --git a/src/modules/uavcan/module.mk b/src/modules/uavcan/module.mk index 600cb47f3..4f63629a0 100644 --- a/src/modules/uavcan/module.mk +++ b/src/modules/uavcan/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2013 PX4 Development Team. All rights reserved. +# Copyright (c) 2013-2015 PX4 Development Team. All rights reserved. # Author: Pavel Kirienko <pavel.kirienko@gmail.com> # # Redistribution and use in source and binary forms, with or without diff --git a/src/modules/uavcan/sensors/baro.cpp b/src/modules/uavcan/sensors/baro.cpp index 8741ae20d..ad09dfcac 100644 --- a/src/modules/uavcan/sensors/baro.cpp +++ b/src/modules/uavcan/sensors/baro.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -38,15 +38,10 @@ #include "baro.hpp" #include <cmath> -static const orb_id_t BARO_TOPICS[2] = { - ORB_ID(sensor_baro0), - ORB_ID(sensor_baro1) -}; - const char *const UavcanBarometerBridge::NAME = "baro"; UavcanBarometerBridge::UavcanBarometerBridge(uavcan::INode& node) : -UavcanCDevSensorBridgeBase("uavcan_baro", "/dev/uavcan/baro", BARO_DEVICE_PATH, BARO_TOPICS), +UavcanCDevSensorBridgeBase("uavcan_baro", "/dev/uavcan/baro", BARO_DEVICE_PATH, ORB_ID(sensor_baro)), _sub_air_data(node) { } diff --git a/src/modules/uavcan/sensors/baro.hpp b/src/modules/uavcan/sensors/baro.hpp index 9d470219e..c7bbc5af8 100644 --- a/src/modules/uavcan/sensors/baro.hpp +++ b/src/modules/uavcan/sensors/baro.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/uavcan/sensors/gnss.cpp b/src/modules/uavcan/sensors/gnss.cpp index 571a6f1cd..3ae07367f 100644 --- a/src/modules/uavcan/sensors/gnss.cpp +++ b/src/modules/uavcan/sensors/gnss.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/uavcan/sensors/gnss.hpp b/src/modules/uavcan/sensors/gnss.hpp index 2111ff80b..96ff9404f 100644 --- a/src/modules/uavcan/sensors/gnss.hpp +++ b/src/modules/uavcan/sensors/gnss.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/modules/uavcan/sensors/mag.cpp index 35ebee542..ee278aaf5 100644 --- a/src/modules/uavcan/sensors/mag.cpp +++ b/src/modules/uavcan/sensors/mag.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -39,16 +39,10 @@ #include <systemlib/err.h> -static const orb_id_t MAG_TOPICS[3] = { - ORB_ID(sensor_mag0), - ORB_ID(sensor_mag1), - ORB_ID(sensor_mag2) -}; - const char *const UavcanMagnetometerBridge::NAME = "mag"; UavcanMagnetometerBridge::UavcanMagnetometerBridge(uavcan::INode& node) : -UavcanCDevSensorBridgeBase("uavcan_mag", "/dev/uavcan/mag", MAG_DEVICE_PATH, MAG_TOPICS), +UavcanCDevSensorBridgeBase("uavcan_mag", "/dev/uavcan/mag", MAG_DEVICE_PATH, ORB_ID(sensor_mag)), _sub_mag(node) { _device_id.devid_s.devtype = DRV_MAG_DEVTYPE_HMC5883; diff --git a/src/modules/uavcan/sensors/mag.hpp b/src/modules/uavcan/sensors/mag.hpp index 74077d883..db38aee1d 100644 --- a/src/modules/uavcan/sensors/mag.hpp +++ b/src/modules/uavcan/sensors/mag.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/uavcan/sensors/sensor_bridge.cpp b/src/modules/uavcan/sensors/sensor_bridge.cpp index 0999938fc..b37076444 100644 --- a/src/modules/uavcan/sensors/sensor_bridge.cpp +++ b/src/modules/uavcan/sensors/sensor_bridge.cpp @@ -62,7 +62,6 @@ UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase() (void)unregister_class_devname(_class_devname, _channels[i].class_instance); } } - delete [] _orb_topics; delete [] _channels; } @@ -116,11 +115,10 @@ void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report) } // Publish to the appropriate topic, abort on failure - channel->orb_id = _orb_topics[class_instance]; channel->node_id = node_id; channel->class_instance = class_instance; - channel->orb_advert = orb_advertise(channel->orb_id, report); + channel->orb_advert = orb_advertise_multi(_orb_topic, report, &channel->orb_instance, ORB_PRIO_HIGH); if (channel->orb_advert < 0) { log("ADVERTISE FAILED"); (void)unregister_class_devname(_class_devname, class_instance); @@ -132,7 +130,7 @@ void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report) } assert(channel != nullptr); - (void)orb_publish(channel->orb_id, channel->orb_advert, report); + (void)orb_publish(_orb_topic, channel->orb_advert, report); } unsigned UavcanCDevSensorBridgeBase::get_num_redundant_channels() const diff --git a/src/modules/uavcan/sensors/sensor_bridge.hpp b/src/modules/uavcan/sensors/sensor_bridge.hpp index e31960537..de130b078 100644 --- a/src/modules/uavcan/sensors/sensor_bridge.hpp +++ b/src/modules/uavcan/sensors/sensor_bridge.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -75,8 +75,7 @@ public: /** * Sensor bridge factory. - * Creates a bridge object by its ASCII name, e.g. "gnss", "mag". - * @return nullptr if such bridge can't be created. + * Creates all known sensor bridges and puts them in the linked list. */ static void make_all(uavcan::INode &node, List<IUavcanSensorBridge*> &list); }; @@ -90,28 +89,29 @@ class UavcanCDevSensorBridgeBase : public IUavcanSensorBridge, public device::CD struct Channel { int node_id = -1; - orb_id_t orb_id = nullptr; orb_advert_t orb_advert = -1; int class_instance = -1; + int orb_instance = -1; }; const unsigned _max_channels; const char *const _class_devname; - orb_id_t *const _orb_topics; + const orb_id_t _orb_topic; Channel *const _channels; bool _out_of_channels = false; protected: - template <unsigned MaxChannels> + static constexpr unsigned DEFAULT_MAX_CHANNELS = 5; // 640 KB ought to be enough for anybody + UavcanCDevSensorBridgeBase(const char *name, const char *devname, const char *class_devname, - const orb_id_t (&orb_topics)[MaxChannels]) : + const orb_id_t orb_topic_sensor, + const unsigned max_channels = DEFAULT_MAX_CHANNELS) : device::CDev(name, devname), - _max_channels(MaxChannels), + _max_channels(max_channels), _class_devname(class_devname), - _orb_topics(new orb_id_t[MaxChannels]), - _channels(new Channel[MaxChannels]) + _orb_topic(orb_topic_sensor), + _channels(new Channel[max_channels]) { - memcpy(_orb_topics, orb_topics, sizeof(orb_id_t) * MaxChannels); _device_id.devid_s.bus_type = DeviceBusType_UAVCAN; _device_id.devid_s.bus = 0; } diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c index 9f13edb18..f54342f06 100644 --- a/src/systemcmds/config/config.c +++ b/src/systemcmds/config/config.c @@ -81,7 +81,7 @@ config_main(int argc, char *argv[]) do_device(argc - 1, argv + 1); } } - + errx(1, "expected a device, try '/dev/gyro', '/dev/accel', '/dev/mag'"); } @@ -192,8 +192,12 @@ do_gyro(int argc, char *argv[]) int srate = ioctl(fd, GYROIOCGSAMPLERATE, 0); int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0); int range = ioctl(fd, GYROIOCGRANGE, 0); + int id = ioctl(fd, DEVIOCGDEVICEID,0); + int32_t calibration_id = 0; + + param_get(param_find("SENS_GYRO_ID"), &(calibration_id)); - warnx("gyro: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d dps", srate, prate, range); + warnx("gyro: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d dps", id, calibration_id, srate, prate, range); close(fd); } @@ -267,9 +271,10 @@ do_mag(int argc, char *argv[]) int range = ioctl(fd, MAGIOCGRANGE, 0); int id = ioctl(fd, DEVIOCGDEVICEID,0); int32_t calibration_id = 0; + param_get(param_find("SENS_MAG_ID"), &(calibration_id)); - warnx("mag: \n\tdevice id:\t%x\t(calibration is for device id %x)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d Ga", id, calibration_id, srate, prate, range); + warnx("mag: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d Ga", id, calibration_id, srate, prate, range); close(fd); } @@ -341,8 +346,12 @@ do_accel(int argc, char *argv[]) int srate = ioctl(fd, ACCELIOCGSAMPLERATE, 0); int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0); int range = ioctl(fd, ACCELIOCGRANGE, 0); + int id = ioctl(fd, DEVIOCGDEVICEID,0); + int32_t calibration_id = 0; + + param_get(param_find("SENS_ACC_ID"), &(calibration_id)); - warnx("accel: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d G", srate, prate, range); + warnx("accel: \n\tdevice id:\t0x%X\t(calibration is for device id 0x%X)\n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d G", id, calibration_id, srate, prate, range); close(fd); } diff --git a/src/systemcmds/preflight_check/preflight_check.c b/src/systemcmds/preflight_check/preflight_check.c index bbd90b961..3e1f76714 100644 --- a/src/systemcmds/preflight_check/preflight_check.c +++ b/src/systemcmds/preflight_check/preflight_check.c @@ -84,7 +84,7 @@ int preflight_check_main(int argc, char *argv[]) /* open text message output path */ int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); int ret; - int32_t mag_devid,mag_calibration_devid; + int32_t devid, calibration_devid; /* give the system some time to sample the sensors in the background */ usleep(150000); @@ -98,9 +98,9 @@ int preflight_check_main(int argc, char *argv[]) goto system_eval; } - mag_devid = ioctl(fd, DEVIOCGDEVICEID,0); - param_get(param_find("SENS_MAG_ID"), &(mag_calibration_devid)); - if (mag_devid != mag_calibration_devid){ + devid = ioctl(fd, DEVIOCGDEVICEID,0); + param_get(param_find("SENS_MAG_ID"), &(calibration_devid)); + if (devid != calibration_devid){ warnx("magnetometer calibration is for a different device - calibrate magnetometer first"); mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CAL ID"); system_ok = false; @@ -108,7 +108,7 @@ int preflight_check_main(int argc, char *argv[]) } ret = ioctl(fd, MAGIOCSELFTEST, 0); - + if (ret != OK) { warnx("magnetometer calibration missing or bad - calibrate magnetometer first"); mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CHECK/CAL"); @@ -120,8 +120,18 @@ int preflight_check_main(int argc, char *argv[]) close(fd); fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + + devid = ioctl(fd, DEVIOCGDEVICEID,0); + param_get(param_find("SENS_ACC_ID"), &(calibration_devid)); + if (devid != calibration_devid){ + warnx("accelerometer calibration is for a different device - calibrate accelerometer first"); + mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACC CAL ID"); + system_ok = false; + goto system_eval; + } + ret = ioctl(fd, ACCELIOCSELFTEST, 0); - + if (ret != OK) { warnx("accel self test failed"); mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL CHECK/CAL"); @@ -156,8 +166,18 @@ int preflight_check_main(int argc, char *argv[]) close(fd); fd = open(GYRO_DEVICE_PATH, 0); + + devid = ioctl(fd, DEVIOCGDEVICEID,0); + param_get(param_find("SENS_GYRO_ID"), &(calibration_devid)); + if (devid != calibration_devid){ + warnx("gyro calibration is for a different device - calibrate gyro first"); + mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CAL ID"); + system_ok = false; + goto system_eval; + } + ret = ioctl(fd, GYROIOCSELFTEST, 0); - + if (ret != OK) { warnx("gyro self test failed"); mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CHECK/CAL"); @@ -183,10 +203,10 @@ int preflight_check_main(int argc, char *argv[]) system_ok &= rc_ok; - + system_eval: - + if (system_ok) { /* all good, exit silently */ exit(0); |