diff options
-rw-r--r-- | .gitignore | 7 | ||||
-rw-r--r-- | Makefile | 263 | ||||
-rw-r--r-- | ROMFS/.gitignore | 1 | ||||
-rw-r--r-- | ROMFS/Makefile | 124 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.FMU_quad_x (renamed from ROMFS/scripts/rc.FMU_quad_x) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.IO_QUAD (renamed from ROMFS/scripts/rc.IO_QUAD) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.PX4IO (renamed from ROMFS/scripts/rc.PX4IO) | 2 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.PX4IOAR (renamed from ROMFS/scripts/rc.PX4IOAR) | 2 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.boarddetect (renamed from ROMFS/scripts/rc.boarddetect) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.hil (renamed from ROMFS/scripts/rc.hil) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.jig (renamed from ROMFS/scripts/rc.jig) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.logging (renamed from ROMFS/scripts/rc.logging) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.sensors (renamed from ROMFS/scripts/rc.sensors) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.standalone (renamed from ROMFS/scripts/rc.standalone) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.usb (renamed from ROMFS/scripts/rc.usb) | 0 | ||||
-rwxr-xr-x | ROMFS/px4fmu_common/init.d/rcS (renamed from ROMFS/scripts/rcS) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/logging/logconv.m (renamed from ROMFS/logging/logconv.m) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_AERT.mix (renamed from ROMFS/mixers/FMU_AERT.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_AET.mix (renamed from ROMFS/mixers/FMU_AET.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_Q.mix (renamed from ROMFS/mixers/FMU_Q.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_RET.mix (renamed from ROMFS/mixers/FMU_RET.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_X5.mix (renamed from ROMFS/mixers/FMU_X5.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_delta.mix | 50 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_hex_+.mix (renamed from ROMFS/mixers/FMU_hex_+.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_hex_x.mix (renamed from ROMFS/mixers/FMU_hex_x.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_octo_+.mix (renamed from ROMFS/mixers/FMU_octo_+.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_octo_x.mix (renamed from ROMFS/mixers/FMU_octo_x.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_pass.mix (renamed from ROMFS/mixers/FMU_pass.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_quad_+.mix (renamed from ROMFS/mixers/FMU_quad_+.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_quad_v.mix (renamed from ROMFS/mixers/FMU_quad_v.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_quad_w.mix | 6 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_quad_x.mix (renamed from ROMFS/mixers/FMU_quad_x.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/README (renamed from ROMFS/mixers/README) | 0 | ||||
-rwxr-xr-x | Tools/px_uploader.py | 679 | ||||
-rw-r--r-- | apps/drivers/boards/px4fmu/Makefile | 41 | ||||
-rw-r--r-- | apps/drivers/boards/px4io/Makefile | 41 | ||||
-rw-r--r-- | apps/drivers/hil/Makefile | 42 | ||||
-rw-r--r-- | apps/drivers/l3gd20/Makefile | 42 | ||||
-rw-r--r-- | apps/drivers/mpu6000/Makefile | 42 | ||||
-rw-r--r-- | apps/drivers/stm32/adc/Makefile | 43 | ||||
-rw-r--r-- | apps/drivers/stm32/tone_alarm/Makefile | 43 | ||||
-rw-r--r-- | apps/examples/Makefile | 1 | ||||
-rw-r--r-- | apps/examples/control_demo/Makefile | 42 | ||||
-rw-r--r-- | apps/examples/math_demo/Makefile | 42 | ||||
-rw-r--r-- | apps/examples/px4_deamon_app/Makefile | 42 | ||||
-rw-r--r-- | apps/examples/px4_mavlink_debug/Makefile | 42 | ||||
-rw-r--r-- | apps/examples/px4_simple_app/Makefile | 42 | ||||
-rw-r--r-- | apps/fixedwing_att_control/Makefile | 45 | ||||
-rw-r--r-- | apps/fixedwing_pos_control/Makefile | 45 | ||||
-rw-r--r-- | apps/hott_telemetry/Makefile | 45 | ||||
-rw-r--r-- | apps/mavlink/.context | 0 | ||||
-rw-r--r-- | apps/mavlink/Makefile | 44 | ||||
-rw-r--r-- | apps/mavlink_onboard/Makefile | 44 | ||||
-rw-r--r-- | apps/mk/app.mk | 237 | ||||
-rwxr-xr-x | apps/multirotor_att_control/Makefile | 42 | ||||
-rw-r--r-- | apps/multirotor_pos_control/Makefile | 42 | ||||
-rw-r--r-- | apps/position_estimator/.context | 0 | ||||
-rw-r--r-- | apps/px4/tests/.context | 0 | ||||
-rw-r--r-- | apps/sensors/.context | 0 | ||||
-rw-r--r-- | apps/system/i2c/Makefile | 2 | ||||
-rw-r--r-- | apps/systemcmds/boardinfo/.context | 0 | ||||
-rw-r--r-- | apps/systemcmds/calibration/Makefile | 44 | ||||
-rwxr-xr-x | apps/systemcmds/calibration/calibration.c | 147 | ||||
-rwxr-xr-x | apps/systemcmds/calibration/channels_cal.c | 196 | ||||
-rwxr-xr-x | apps/systemcmds/calibration/range_cal.c | 224 | ||||
-rw-r--r-- | apps/systemcmds/calibration/servo_cal.c | 264 | ||||
-rw-r--r-- | apps/systemcmds/delay_test/delay_test.c | 160 | ||||
-rw-r--r-- | apps/systemcmds/eeprom/Makefile | 44 | ||||
-rw-r--r-- | apps/systemcmds/i2c/Makefile | 42 | ||||
-rw-r--r-- | apps/systemcmds/perf/.context | 0 | ||||
-rw-r--r-- | apps/systemcmds/preflight_check/Makefile | 44 | ||||
-rw-r--r-- | apps/systemcmds/pwm/Makefile | 42 | ||||
-rw-r--r-- | apps/systemcmds/reboot/.context | 0 | ||||
-rw-r--r-- | apps/systemcmds/top/.context | 0 | ||||
-rw-r--r-- | apps/systemcmds/top/Makefile | 44 | ||||
-rw-r--r-- | apps/uORB/.context | 0 | ||||
-rw-r--r-- | makefiles/board_px4fmu.mk | 10 | ||||
-rw-r--r-- | makefiles/board_px4io.mk | 10 | ||||
-rw-r--r-- | makefiles/config_px4fmu_default.mk | 124 | ||||
-rw-r--r-- | makefiles/config_px4io_default.mk | 10 | ||||
-rw-r--r-- | makefiles/firmware.mk | 443 | ||||
-rw-r--r-- | makefiles/module.mk | 230 | ||||
-rw-r--r-- | makefiles/nuttx.mk (renamed from apps/px4io/Makefile) | 58 | ||||
-rw-r--r-- | makefiles/setup.mk | 91 | ||||
-rw-r--r-- | makefiles/toolchain_gnu-arm-eabi.mk | 270 | ||||
-rw-r--r-- | makefiles/upload.mk | 44 | ||||
-rw-r--r-- | nuttx/arch/arm/src/stm32/stm32_otgfsdev.c | 1 | ||||
-rwxr-xr-x | nuttx/configs/px4fmu/include/board.h | 6 | ||||
-rw-r--r-- | nuttx/configs/px4fmu/include/nsh_romfsimg.h | 42 | ||||
-rw-r--r-- | nuttx/configs/px4fmu/nsh/appconfig | 93 | ||||
-rwxr-xr-x | nuttx/configs/px4fmu/nsh/defconfig | 6 | ||||
-rwxr-xr-x | nuttx/configs/px4io/include/board.h | 11 | ||||
-rw-r--r-- | nuttx/configs/px4io/io/appconfig | 8 | ||||
-rw-r--r-- | nuttx/libc/stdio/lib_libdtoa.c | 32 | ||||
-rw-r--r-- | nuttx/libc/stdio/lib_libvsprintf.c | 7 | ||||
-rw-r--r-- | platforms/empty.c | 3 | ||||
-rw-r--r-- | src/drivers/ardrone_interface/ardrone_interface.c (renamed from apps/ardrone_interface/ardrone_interface.c) | 0 | ||||
-rw-r--r-- | src/drivers/ardrone_interface/ardrone_motor_control.c (renamed from apps/ardrone_interface/ardrone_motor_control.c) | 0 | ||||
-rw-r--r-- | src/drivers/ardrone_interface/ardrone_motor_control.h (renamed from apps/ardrone_interface/ardrone_motor_control.h) | 0 | ||||
-rw-r--r-- | src/drivers/ardrone_interface/module.mk | 40 | ||||
-rw-r--r-- | src/drivers/blinkm/blinkm.cpp (renamed from apps/drivers/blinkm/blinkm.cpp) | 0 | ||||
-rw-r--r-- | src/drivers/blinkm/module.mk (renamed from apps/drivers/led/Makefile) | 8 | ||||
-rw-r--r-- | src/drivers/bma180/bma180.cpp (renamed from apps/drivers/bma180/bma180.cpp) | 0 | ||||
-rw-r--r-- | src/drivers/bma180/module.mk (renamed from apps/examples/kalman_demo/Makefile) | 8 | ||||
-rw-r--r-- | src/drivers/boards/px4fmu/module.mk | 10 | ||||
-rw-r--r-- | src/drivers/boards/px4fmu/px4fmu_can.c (renamed from apps/drivers/boards/px4fmu/px4fmu_can.c) | 5 | ||||
-rw-r--r-- | src/drivers/boards/px4fmu/px4fmu_init.c (renamed from apps/drivers/boards/px4fmu/px4fmu_init.c) | 60 | ||||
-rw-r--r-- | src/drivers/boards/px4fmu/px4fmu_internal.h (renamed from apps/drivers/boards/px4fmu/px4fmu_internal.h) | 7 | ||||
-rw-r--r-- | src/drivers/boards/px4fmu/px4fmu_led.c (renamed from apps/drivers/boards/px4fmu/px4fmu_led.c) | 28 | ||||
-rw-r--r-- | src/drivers/boards/px4fmu/px4fmu_pwm_servo.c (renamed from apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c) | 0 | ||||
-rw-r--r-- | src/drivers/boards/px4fmu/px4fmu_spi.c (renamed from apps/drivers/boards/px4fmu/px4fmu_spi.c) | 18 | ||||
-rw-r--r-- | src/drivers/boards/px4fmu/px4fmu_usb.c (renamed from apps/drivers/boards/px4fmu/px4fmu_usb.c) | 0 | ||||
-rw-r--r-- | src/drivers/boards/px4io/module.mk | 6 | ||||
-rw-r--r-- | src/drivers/boards/px4io/px4io_init.c (renamed from apps/drivers/boards/px4io/px4io_init.c) | 8 | ||||
-rw-r--r-- | src/drivers/boards/px4io/px4io_internal.h (renamed from apps/drivers/boards/px4io/px4io_internal.h) | 4 | ||||
-rw-r--r-- | src/drivers/boards/px4io/px4io_pwm_servo.c (renamed from apps/drivers/boards/px4io/px4io_pwm_servo.c) | 0 | ||||
-rw-r--r-- | src/drivers/device/cdev.cpp (renamed from apps/drivers/device/cdev.cpp) | 0 | ||||
-rw-r--r-- | src/drivers/device/device.cpp (renamed from apps/drivers/device/device.cpp) | 0 | ||||
-rw-r--r-- | src/drivers/device/device.h (renamed from apps/drivers/device/device.h) | 0 | ||||
-rw-r--r-- | src/drivers/device/i2c.cpp (renamed from apps/drivers/device/i2c.cpp) | 0 | ||||
-rw-r--r-- | src/drivers/device/i2c.h (renamed from apps/drivers/device/i2c.h) | 15 | ||||
-rw-r--r-- | src/drivers/device/module.mk | 42 | ||||
-rw-r--r-- | src/drivers/device/pio.cpp (renamed from apps/drivers/device/pio.cpp) | 0 | ||||
-rw-r--r-- | src/drivers/device/spi.cpp (renamed from apps/drivers/device/spi.cpp) | 0 | ||||
-rw-r--r-- | src/drivers/device/spi.h (renamed from apps/drivers/device/spi.h) | 0 | ||||
-rw-r--r-- | src/drivers/drv_accel.h (renamed from apps/drivers/drv_accel.h) | 0 | ||||
-rw-r--r-- | src/drivers/drv_adc.h (renamed from apps/drivers/drv_adc.h) | 0 | ||||
-rw-r--r-- | src/drivers/drv_airspeed.h | 61 | ||||
-rw-r--r-- | src/drivers/drv_baro.h (renamed from apps/drivers/drv_baro.h) | 0 | ||||
-rw-r--r-- | src/drivers/drv_blinkm.h (renamed from apps/drivers/drv_blinkm.h) | 0 | ||||
-rw-r--r-- | src/drivers/drv_gpio.h (renamed from apps/drivers/drv_gpio.h) | 0 | ||||
-rw-r--r-- | src/drivers/drv_gps.h (renamed from apps/drivers/drv_gps.h) | 0 | ||||
-rw-r--r-- | src/drivers/drv_gyro.h (renamed from apps/drivers/drv_gyro.h) | 0 | ||||
-rw-r--r-- | src/drivers/drv_hrt.h (renamed from apps/drivers/drv_hrt.h) | 0 | ||||
-rw-r--r-- | src/drivers/drv_led.h (renamed from apps/drivers/drv_led.h) | 0 | ||||
-rw-r--r-- | src/drivers/drv_mag.h (renamed from apps/drivers/drv_mag.h) | 0 | ||||
-rw-r--r-- | src/drivers/drv_mixer.h (renamed from apps/drivers/drv_mixer.h) | 0 | ||||
-rw-r--r-- | src/drivers/drv_orb_dev.h (renamed from apps/drivers/drv_orb_dev.h) | 2 | ||||
-rw-r--r-- | src/drivers/drv_pwm_output.h (renamed from apps/drivers/drv_pwm_output.h) | 0 | ||||
-rw-r--r-- | src/drivers/drv_range_finder.h (renamed from apps/drivers/drv_range_finder.h) | 0 | ||||
-rw-r--r-- | src/drivers/drv_rc_input.h (renamed from apps/drivers/drv_rc_input.h) | 0 | ||||
-rw-r--r-- | src/drivers/drv_sensor.h (renamed from apps/drivers/drv_sensor.h) | 0 | ||||
-rw-r--r-- | src/drivers/drv_tone_alarm.h (renamed from apps/drivers/drv_tone_alarm.h) | 0 | ||||
-rw-r--r-- | src/drivers/ets_airspeed/ets_airspeed.cpp | 832 | ||||
-rw-r--r-- | src/drivers/ets_airspeed/module.mk | 41 | ||||
-rw-r--r-- | src/drivers/gps/gps.cpp (renamed from apps/drivers/gps/gps.cpp) | 11 | ||||
-rw-r--r-- | src/drivers/gps/gps_helper.cpp (renamed from apps/drivers/gps/gps_helper.cpp) | 34 | ||||
-rw-r--r-- | src/drivers/gps/gps_helper.h (renamed from apps/drivers/gps/gps_helper.h) | 23 | ||||
-rw-r--r-- | src/drivers/gps/module.mk (renamed from apps/drivers/gps/Makefile) | 11 | ||||
-rw-r--r-- | src/drivers/gps/mtk.cpp (renamed from apps/drivers/gps/mtk.cpp) | 4 | ||||
-rw-r--r-- | src/drivers/gps/mtk.h (renamed from apps/drivers/gps/mtk.h) | 6 | ||||
-rw-r--r-- | src/drivers/gps/ubx.cpp (renamed from apps/drivers/gps/ubx.cpp) | 164 | ||||
-rw-r--r-- | src/drivers/gps/ubx.h (renamed from apps/drivers/gps/ubx.h) | 78 | ||||
-rw-r--r-- | src/drivers/hil/hil.cpp (renamed from apps/drivers/hil/hil.cpp) | 0 | ||||
-rw-r--r-- | src/drivers/hil/module.mk | 40 | ||||
-rw-r--r-- | src/drivers/hmc5883/hmc5883.cpp (renamed from apps/drivers/hmc5883/hmc5883.cpp) | 50 | ||||
-rw-r--r-- | src/drivers/hmc5883/module.mk | 43 | ||||
-rw-r--r-- | src/drivers/hott_telemetry/hott_telemetry_main.c (renamed from apps/hott_telemetry/hott_telemetry_main.c) | 12 | ||||
-rw-r--r-- | src/drivers/hott_telemetry/messages.c (renamed from apps/hott_telemetry/messages.c) | 18 | ||||
-rw-r--r-- | src/drivers/hott_telemetry/messages.h (renamed from apps/hott_telemetry/messages.h) | 5 | ||||
-rw-r--r-- | src/drivers/hott_telemetry/module.mk (renamed from apps/drivers/blinkm/Makefile) | 11 | ||||
-rw-r--r-- | src/drivers/l3gd20/l3gd20.cpp (renamed from apps/drivers/l3gd20/l3gd20.cpp) | 5 | ||||
-rw-r--r-- | src/drivers/l3gd20/module.mk | 6 | ||||
-rw-r--r-- | src/drivers/led/led.cpp (renamed from apps/drivers/led/led.cpp) | 21 | ||||
-rw-r--r-- | src/drivers/led/module.mk (renamed from apps/systemlib/mixer/Makefile) | 7 | ||||
-rw-r--r-- | src/drivers/mb12xx/mb12xx.cpp (renamed from apps/drivers/mb12xx/mb12xx.cpp) | 2 | ||||
-rw-r--r-- | src/drivers/mb12xx/module.mk (renamed from apps/drivers/mb12xx/Makefile) | 8 | ||||
-rw-r--r-- | src/drivers/md25/md25.cpp | 553 | ||||
-rw-r--r-- | src/drivers/md25/md25.hpp | 293 | ||||
-rw-r--r-- | src/drivers/md25/md25_main.cpp | 264 | ||||
-rw-r--r-- | src/drivers/md25/module.mk (renamed from apps/drivers/bma180/Makefile) | 12 | ||||
-rw-r--r-- | src/drivers/mkblctrl/mkblctrl.cpp (renamed from apps/drivers/mkblctrl/mkblctrl.cpp) | 0 | ||||
-rw-r--r-- | src/drivers/mkblctrl/module.mk (renamed from apps/drivers/mkblctrl/Makefile) | 10 | ||||
-rw-r--r-- | src/drivers/mpu6000/module.mk (renamed from apps/systemcmds/boardinfo/Makefile) | 13 | ||||
-rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp (renamed from apps/drivers/mpu6000/mpu6000.cpp) | 2 | ||||
-rw-r--r-- | src/drivers/ms5611/module.mk (renamed from apps/drivers/device/Makefile) | 8 | ||||
-rw-r--r-- | src/drivers/ms5611/ms5611.cpp (renamed from apps/drivers/ms5611/ms5611.cpp) | 0 | ||||
-rw-r--r-- | src/drivers/px4fmu/fmu.cpp (renamed from apps/drivers/px4fmu/fmu.cpp) | 0 | ||||
-rw-r--r-- | src/drivers/px4fmu/module.mk | 6 | ||||
-rw-r--r-- | src/drivers/px4io/module.mk (renamed from apps/drivers/px4io/Makefile) | 9 | ||||
-rw-r--r-- | src/drivers/px4io/px4io.cpp (renamed from apps/drivers/px4io/px4io.cpp) | 82 | ||||
-rw-r--r-- | src/drivers/px4io/uploader.cpp (renamed from apps/drivers/px4io/uploader.cpp) | 22 | ||||
-rw-r--r-- | src/drivers/px4io/uploader.h (renamed from apps/drivers/px4io/uploader.h) | 5 | ||||
-rw-r--r-- | src/drivers/stm32/adc/adc.cpp (renamed from apps/drivers/stm32/adc/adc.cpp) | 0 | ||||
-rw-r--r-- | src/drivers/stm32/adc/module.mk | 42 | ||||
-rw-r--r-- | src/drivers/stm32/drv_hrt.c (renamed from apps/drivers/stm32/drv_hrt.c) | 0 | ||||
-rw-r--r-- | src/drivers/stm32/drv_pwm_servo.c (renamed from apps/drivers/stm32/drv_pwm_servo.c) | 2 | ||||
-rw-r--r-- | src/drivers/stm32/drv_pwm_servo.h (renamed from apps/drivers/stm32/drv_pwm_servo.h) | 0 | ||||
-rw-r--r-- | src/drivers/stm32/module.mk (renamed from apps/drivers/stm32/Makefile) | 7 | ||||
-rw-r--r-- | src/drivers/stm32/tone_alarm/module.mk (renamed from apps/systemcmds/bl_update/Makefile) | 12 | ||||
-rw-r--r-- | src/drivers/stm32/tone_alarm/tone_alarm.cpp (renamed from apps/drivers/stm32/tone_alarm/tone_alarm.cpp) | 0 | ||||
-rw-r--r-- | src/examples/math_demo/math_demo.cpp (renamed from apps/examples/math_demo/math_demo.cpp) | 5 | ||||
-rw-r--r-- | src/examples/math_demo/module.mk (renamed from apps/drivers/ms5611/Makefile) | 11 | ||||
-rw-r--r-- | src/examples/px4_daemon_app/module.mk | 40 | ||||
-rw-r--r-- | src/examples/px4_daemon_app/px4_daemon_app.c (renamed from apps/examples/px4_deamon_app/px4_deamon_app.c) | 0 | ||||
-rw-r--r-- | src/examples/px4_mavlink_debug/module.mk | 40 | ||||
-rw-r--r-- | src/examples/px4_mavlink_debug/px4_mavlink_debug.c (renamed from apps/examples/px4_mavlink_debug/px4_mavlink_debug.c) | 0 | ||||
-rw-r--r-- | src/examples/px4_simple_app/module.mk | 40 | ||||
-rw-r--r-- | src/examples/px4_simple_app/px4_simple_app.c (renamed from apps/examples/px4_simple_app/px4_simple_app.c) | 0 | ||||
-rw-r--r-- | src/include/mavlink/mavlink_log.h (renamed from apps/mavlink/mavlink_log.h) | 0 | ||||
-rw-r--r-- | src/include/visibility.h (renamed from apps/systemlib/visibility.h) | 0 | ||||
-rw-r--r-- | src/modules/att_pos_estimator_ekf/KalmanNav.cpp (renamed from apps/examples/kalman_demo/KalmanNav.cpp) | 0 | ||||
-rw-r--r-- | src/modules/att_pos_estimator_ekf/KalmanNav.hpp (renamed from apps/examples/kalman_demo/KalmanNav.hpp) | 0 | ||||
-rw-r--r-- | src/modules/att_pos_estimator_ekf/kalman_main.cpp (renamed from apps/examples/kalman_demo/kalman_demo.cpp) | 4 | ||||
-rw-r--r-- | src/modules/att_pos_estimator_ekf/module.mk (renamed from apps/drivers/px4fmu/Makefile) | 15 | ||||
-rw-r--r-- | src/modules/att_pos_estimator_ekf/params.c (renamed from apps/examples/kalman_demo/params.c) | 0 | ||||
-rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp (renamed from apps/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp) | 1 | ||||
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-rw-r--r-- | src/modules/px4iofirmware/safety.c (renamed from apps/px4io/safety.c) | 0 | ||||
-rw-r--r-- | src/modules/px4iofirmware/sbus.c (renamed from apps/px4io/sbus.c) | 0 | ||||
-rw-r--r-- | src/modules/sdlog/module.mk (renamed from apps/sdlog/Makefile) | 10 | ||||
-rw-r--r-- | src/modules/sdlog/sdlog.c (renamed from apps/sdlog/sdlog.c) | 27 | ||||
-rw-r--r-- | src/modules/sdlog/sdlog_ringbuffer.c (renamed from apps/sdlog/sdlog_ringbuffer.c) | 0 | ||||
-rw-r--r-- | src/modules/sdlog/sdlog_ringbuffer.h (renamed from apps/sdlog/sdlog_ringbuffer.h) | 0 | ||||
-rw-r--r-- | src/modules/sensors/.context (renamed from apps/commander/.context) | 0 | ||||
-rw-r--r-- | src/modules/sensors/module.mk (renamed from apps/sensors/Makefile) | 13 | ||||
-rw-r--r-- | src/modules/sensors/sensor_params.c (renamed from apps/sensors/sensor_params.c) | 2 | ||||
-rw-r--r-- | src/modules/sensors/sensors.cpp (renamed from apps/sensors/sensors.cpp) | 91 | ||||
-rw-r--r-- | src/modules/systemlib/airspeed.c (renamed from apps/systemlib/airspeed.c) | 2 | ||||
-rw-r--r-- | src/modules/systemlib/airspeed.h (renamed from apps/systemlib/airspeed.h) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/bson/tinybson.c (renamed from apps/systemlib/bson/tinybson.c) | 2 | ||||
-rw-r--r-- | src/modules/systemlib/bson/tinybson.h (renamed from apps/systemlib/bson/tinybson.h) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/conversions.c (renamed from apps/systemlib/conversions.c) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/conversions.h (renamed from apps/systemlib/conversions.h) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/cpuload.c (renamed from apps/systemlib/cpuload.c) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/cpuload.h (renamed from apps/systemlib/cpuload.h) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/err.c (renamed from apps/systemlib/err.c) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/err.h (renamed from apps/systemlib/err.h) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/geo/geo.c (renamed from apps/systemlib/geo/geo.c) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/geo/geo.h (renamed from apps/systemlib/geo/geo.h) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/getopt_long.c (renamed from apps/systemlib/getopt_long.c) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/getopt_long.h (renamed from apps/systemlib/getopt_long.h) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/hx_stream.c (renamed from apps/systemlib/hx_stream.c) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/hx_stream.h (renamed from apps/systemlib/hx_stream.h) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/mixer/mixer.cpp (renamed from apps/systemlib/mixer/mixer.cpp) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/mixer/mixer.h (renamed from apps/systemlib/mixer/mixer.h) | 1 | ||||
-rw-r--r-- | src/modules/systemlib/mixer/mixer_group.cpp (renamed from apps/systemlib/mixer/mixer_group.cpp) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/mixer/mixer_multirotor.cpp (renamed from apps/systemlib/mixer/mixer_multirotor.cpp) | 11 | ||||
-rw-r--r-- | src/modules/systemlib/mixer/mixer_simple.cpp (renamed from apps/systemlib/mixer/mixer_simple.cpp) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/mixer/module.mk | 42 | ||||
-rwxr-xr-x | src/modules/systemlib/mixer/multi_tables (renamed from apps/systemlib/mixer/multi_tables) | 9 | ||||
-rw-r--r-- | src/modules/systemlib/module.mk (renamed from apps/systemlib/Makefile) | 18 | ||||
-rw-r--r-- | src/modules/systemlib/param/param.c (renamed from apps/systemlib/param/param.c) | 2 | ||||
-rw-r--r-- | src/modules/systemlib/param/param.h (renamed from apps/systemlib/param/param.h) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/perf_counter.c (renamed from apps/systemlib/perf_counter.c) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/perf_counter.h (renamed from apps/systemlib/perf_counter.h) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/pid/pid.c (renamed from apps/systemlib/pid/pid.c) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/pid/pid.h (renamed from apps/systemlib/pid/pid.h) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/ppm_decode.c (renamed from apps/systemlib/ppm_decode.c) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/ppm_decode.h (renamed from apps/systemlib/ppm_decode.h) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/scheduling_priorities.h (renamed from apps/systemlib/scheduling_priorities.h) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/systemlib.c (renamed from apps/systemlib/systemlib.c) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/systemlib.h (renamed from apps/systemlib/systemlib.h) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/up_cxxinitialize.c (renamed from apps/systemlib/up_cxxinitialize.c) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/uthash/doc/userguide.txt (renamed from apps/systemlib/uthash/doc/userguide.txt) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/uthash/doc/utarray.txt (renamed from apps/systemlib/uthash/doc/utarray.txt) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/uthash/doc/utlist.txt (renamed from apps/systemlib/uthash/doc/utlist.txt) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/uthash/doc/utstring.txt (renamed from apps/systemlib/uthash/doc/utstring.txt) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/uthash/utarray.h (renamed from apps/systemlib/uthash/utarray.h) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/uthash/uthash.h (renamed from apps/systemlib/uthash/uthash.h) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/uthash/utlist.h (renamed from apps/systemlib/uthash/utlist.h) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/uthash/utstring.h (renamed from apps/systemlib/uthash/utstring.h) | 0 | ||||
-rw-r--r-- | src/modules/systemlib/visibility.h (renamed from apps/systemcmds/calibration/calibration.h) | 48 | ||||
-rw-r--r-- | src/modules/test/foo.c | 4 | ||||
-rw-r--r-- | src/modules/test/module.mk | 4 | ||||
-rw-r--r-- | src/modules/uORB/module.mk (renamed from apps/uORB/Makefile) | 12 | ||||
-rw-r--r-- | src/modules/uORB/objects_common.cpp (renamed from apps/uORB/objects_common.cpp) | 3 | ||||
-rw-r--r-- | src/modules/uORB/topics/actuator_controls.h (renamed from apps/uORB/topics/actuator_controls.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/actuator_controls_effective.h (renamed from apps/uORB/topics/actuator_controls_effective.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/actuator_outputs.h (renamed from apps/uORB/topics/actuator_outputs.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/airspeed.h | 67 | ||||
-rw-r--r-- | src/modules/uORB/topics/battery_status.h (renamed from apps/uORB/topics/battery_status.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/debug_key_value.h (renamed from apps/uORB/topics/debug_key_value.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/differential_pressure.h (renamed from apps/uORB/topics/differential_pressure.h) | 14 | ||||
-rw-r--r-- | src/modules/uORB/topics/home_position.h (renamed from apps/uORB/topics/home_position.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/manual_control_setpoint.h (renamed from apps/uORB/topics/manual_control_setpoint.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/offboard_control_setpoint.h (renamed from apps/uORB/topics/offboard_control_setpoint.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/omnidirectional_flow.h (renamed from apps/uORB/topics/omnidirectional_flow.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/optical_flow.h (renamed from apps/uORB/topics/optical_flow.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/parameter_update.h (renamed from apps/uORB/topics/parameter_update.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/rc_channels.h (renamed from apps/uORB/topics/rc_channels.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/sensor_combined.h (renamed from apps/uORB/topics/sensor_combined.h) | 2 | ||||
-rw-r--r-- | src/modules/uORB/topics/subsystem_info.h (renamed from apps/uORB/topics/subsystem_info.h) | 0 | ||||
-rwxr-xr-x | src/modules/uORB/topics/vehicle_attitude.h (renamed from apps/uORB/topics/vehicle_attitude.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_attitude_setpoint.h (renamed from apps/uORB/topics/vehicle_attitude_setpoint.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_command.h (renamed from apps/uORB/topics/vehicle_command.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_global_position.h (renamed from apps/uORB/topics/vehicle_global_position.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_global_position_set_triplet.h (renamed from apps/uORB/topics/vehicle_global_position_set_triplet.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_global_position_setpoint.h (renamed from apps/uORB/topics/vehicle_global_position_setpoint.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_gps_position.h (renamed from apps/uORB/topics/vehicle_gps_position.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_local_position.h (renamed from apps/uORB/topics/vehicle_local_position.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_local_position_setpoint.h (renamed from apps/uORB/topics/vehicle_local_position_setpoint.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_rates_setpoint.h (renamed from apps/uORB/topics/vehicle_rates_setpoint.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_status.h (renamed from apps/uORB/topics/vehicle_status.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_vicon_position.h (renamed from apps/uORB/topics/vehicle_vicon_position.h) | 0 | ||||
-rw-r--r-- | src/modules/uORB/uORB.cpp (renamed from apps/uORB/uORB.cpp) | 0 | ||||
-rw-r--r-- | src/modules/uORB/uORB.h (renamed from apps/uORB/uORB.h) | 0 | ||||
-rw-r--r-- | src/systemcmds/bl_update/bl_update.c (renamed from apps/systemcmds/bl_update/bl_update.c) | 2 | ||||
-rw-r--r-- | src/systemcmds/bl_update/module.mk (renamed from apps/px4/tests/Makefile) | 11 | ||||
-rw-r--r-- | src/systemcmds/boardinfo/boardinfo.c (renamed from apps/systemcmds/boardinfo/boardinfo.c) | 2 | ||||
-rw-r--r-- | src/systemcmds/boardinfo/module.mk (renamed from apps/systemcmds/reboot/Makefile) | 11 | ||||
-rw-r--r-- | src/systemcmds/eeprom/24xxxx_mtd.c (renamed from apps/systemcmds/eeprom/24xxxx_mtd.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/eeprom/eeprom.c (renamed from apps/systemcmds/eeprom/eeprom.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/eeprom/module.mk | 39 | ||||
-rw-r--r-- | src/systemcmds/i2c/i2c.c (renamed from apps/systemcmds/i2c/i2c.c) | 2 | ||||
-rw-r--r-- | src/systemcmds/i2c/module.mk | 41 | ||||
-rw-r--r-- | src/systemcmds/mixer/mixer.c (renamed from apps/systemcmds/mixer/mixer.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/mixer/module.mk (renamed from apps/systemcmds/mixer/Makefile) | 9 | ||||
-rw-r--r-- | src/systemcmds/param/module.mk (renamed from apps/systemcmds/param/Makefile) | 10 | ||||
-rw-r--r-- | src/systemcmds/param/param.c (renamed from apps/systemcmds/param/param.c) | 20 | ||||
-rw-r--r-- | src/systemcmds/perf/module.mk (renamed from apps/systemcmds/perf/Makefile) | 9 | ||||
-rw-r--r-- | src/systemcmds/perf/perf.c (renamed from apps/systemcmds/perf/perf.c) | 2 | ||||
-rw-r--r-- | src/systemcmds/preflight_check/module.mk | 42 | ||||
-rw-r--r-- | src/systemcmds/preflight_check/preflight_check.c (renamed from apps/systemcmds/preflight_check/preflight_check.c) | 2 | ||||
-rw-r--r-- | src/systemcmds/pwm/module.mk | 41 | ||||
-rw-r--r-- | src/systemcmds/pwm/pwm.c (renamed from apps/systemcmds/pwm/pwm.c) | 19 | ||||
-rw-r--r-- | src/systemcmds/reboot/module.mk | 41 | ||||
-rw-r--r-- | src/systemcmds/reboot/reboot.c (renamed from apps/systemcmds/reboot/reboot.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/.context (renamed from apps/examples/cdcacm/.context) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/module.mk | 28 | ||||
-rw-r--r-- | src/systemcmds/tests/test_adc.c (renamed from apps/px4/tests/test_adc.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/test_bson.c (renamed from apps/px4/tests/test_bson.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/test_float.c (renamed from apps/px4/tests/test_float.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/test_gpio.c (renamed from apps/px4/tests/test_gpio.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/test_hott_telemetry.c (renamed from apps/px4/tests/test_hott_telemetry.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/test_hrt.c (renamed from apps/px4/tests/test_hrt.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/test_int.c (renamed from apps/px4/tests/test_int.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/test_jig_voltages.c (renamed from apps/px4/tests/test_jig_voltages.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/test_led.c (renamed from apps/px4/tests/test_led.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/test_sensors.c (renamed from apps/px4/tests/test_sensors.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/test_servo.c (renamed from apps/px4/tests/test_servo.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/test_sleep.c (renamed from apps/px4/tests/test_sleep.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/test_time.c (renamed from apps/px4/tests/test_time.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/test_uart_baudchange.c (renamed from apps/px4/tests/test_uart_baudchange.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/test_uart_console.c (renamed from apps/px4/tests/test_uart_console.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/test_uart_loopback.c (renamed from apps/px4/tests/test_uart_loopback.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/test_uart_send.c (renamed from apps/px4/tests/test_uart_send.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/tests.h (renamed from apps/px4/tests/tests.h) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/tests_file.c (renamed from apps/px4/tests/tests_file.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/tests_main.c (renamed from apps/px4/tests/tests_main.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/tests/tests_param.c (renamed from apps/px4/tests/tests_param.c) | 0 | ||||
-rw-r--r-- | src/systemcmds/top/module.mk (renamed from apps/systemcmds/delay_test/Makefile) | 12 | ||||
-rw-r--r-- | src/systemcmds/top/top.c (renamed from apps/systemcmds/top/top.c) | 0 |
800 files changed, 5873 insertions, 3718 deletions
diff --git a/.gitignore b/.gitignore index 8e9075ba4..de03b0a60 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,5 @@ .built +.context *.context *.bdat *.pdat @@ -43,7 +44,6 @@ nuttx/nuttx.hex .settings Firmware.sublime-workspace .DS_Store -nsh_romfsimg.h cscope.out .configX-e nuttx-export.zip @@ -55,3 +55,8 @@ mavlink/include/mavlink/v0.9/ core .gdbinit mkdeps +Archives +Build +!ROMFS/*/*.d +!ROMFS/*/*/*.d +!ROMFS/*/*/*/*.d @@ -1,43 +1,53 @@ # -# Top-level Makefile for building PX4 firmware images. -# -# -# Note that this is a transitional process; the eventual goal is for this -# project to slim down and simply generate PX4 link kits via the NuttX -# 'make export' mechanism. -# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. # # -# Some useful paths. +# Top-level Makefile for building PX4 firmware images. # -export PX4BASE = $(realpath $(dir $(lastword $(MAKEFILE_LIST)))) -export NUTTX_SRC = $(PX4BASE)/nuttx -export NUTTX_APPS = $(PX4BASE)/apps -export MAVLINK_SRC = $(PX4BASE)/mavlink -export ROMFS_SRC = $(PX4BASE)/ROMFS -export IMAGE_DIR = $(PX4BASE)/Images # -# Tools +# Get path and tool configuration # -MKFW = $(PX4BASE)/Tools/px_mkfw.py -UPLOADER = $(PX4BASE)/Tools/px_uploader.py +export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/ +include $(PX4_BASE)makefiles/setup.mk # -# What are we currently configured for? +# Canned firmware configurations that we build. # -CONFIGURED = $(PX4BASE)/.configured -ifneq ($(wildcard $(CONFIGURED)),) -export TARGET := $(shell cat $(CONFIGURED)) -endif +CONFIGS ?= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk)))) # -# What we will build +# Boards that we build NuttX export kits for. # -FIRMWARE_BUNDLE = $(IMAGE_DIR)/$(TARGET).px4 -FIRMWARE_BINARY = $(IMAGE_DIR)/$(TARGET).bin -FIRMWARE_PROTOTYPE = $(IMAGE_DIR)/$(TARGET).prototype +BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk)))) # # Debugging @@ -45,120 +55,151 @@ FIRMWARE_PROTOTYPE = $(IMAGE_DIR)/$(TARGET).prototype MQUIET = --no-print-directory #MQUIET = --print-directory -all: $(FIRMWARE_BUNDLE) +################################################################################ +# No user-serviceable parts below +################################################################################ # -# Generate a wrapped .px4 file from the built binary +# If the user has listed a config as a target, strip it out and override CONFIGS. # -$(FIRMWARE_BUNDLE): $(FIRMWARE_BINARY) $(MKFW) $(FIRMWARE_PROTOTYPE) - @echo Generating $@ - @$(MKFW) --prototype $(FIRMWARE_PROTOTYPE) \ - --git_identity $(PX4BASE) \ - --image $(FIRMWARE_BINARY) > $@ +FIRMWARE_GOAL = firmware +EXPLICIT_CONFIGS := $(filter $(CONFIGS),$(MAKECMDGOALS)) +ifneq ($(EXPLICIT_CONFIGS),) +CONFIGS := $(EXPLICIT_CONFIGS) +.PHONY: $(EXPLICIT_CONFIGS) +$(EXPLICIT_CONFIGS): all # -# Build the firmware binary. +# If the user has asked to upload, they must have also specified exactly one +# config. # -.PHONY: $(FIRMWARE_BINARY) -$(FIRMWARE_BINARY): setup_$(TARGET) configure-check - @echo Building $@ for $(TARGET) - @make -C $(NUTTX_SRC) -r $(MQUIET) all - @cp $(NUTTX_SRC)/nuttx.bin $@ +ifneq ($(filter upload,$(MAKECMDGOALS)),) +ifneq ($(words $(EXPLICIT_CONFIGS)),1) +$(error In order to upload, exactly one board config must be specified) +endif +FIRMWARE_GOAL = upload +.PHONY: upload +upload: + @: +endif +endif # -# The 'configure' targets select one particular firmware configuration -# and makes it current. +# Built products # -configure_px4fmu: - @echo Configuring for px4fmu - @make -C $(PX4BASE) distclean - @cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4fmu/nsh - @echo px4fmu > $(CONFIGURED) - -configure_px4io: - @echo Configuring for px4io - @make -C $(PX4BASE) distclean - @cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4io/io - @echo px4io > $(CONFIGURED) - -configure-check: -ifeq ($(wildcard $(CONFIGURED)),) - @echo - @echo "Not configured - use 'make configure_px4fmu' or 'make configure_px4io' first" - @echo - @exit 1 -endif +STAGED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4) +FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4) +all: $(STAGED_FIRMWARES) # -# Per-configuration additional targets +# Copy FIRMWARES into the image directory. # -.PHONY: px4fmu_setup -setup_px4fmu: - @echo Generating ROMFS - @make -C $(ROMFS_SRC) all - -setup_px4io: - -# fake target to make configure-check happy if TARGET is not set -setup_: +$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4 + @echo %% Copying $@ + $(Q) $(COPY) $< $@ # -# Firmware uploading. +# Generate FIRMWARES. # - -# serial port defaults by operating system. -SYSTYPE = $(shell uname) -ifeq ($(SYSTYPE),Darwin) -SERIAL_PORTS ?= "/dev/tty.usbmodemPX1,/dev/tty.usbmodemPX2,/dev/tty.usbmodemPX3,/dev/tty.usbmodemPX4,/dev/tty.usbmodem1,/dev/tty.usbmodem2,/dev/tty.usbmodem3,/dev/tty.usbmodem4" -endif -ifeq ($(SYSTYPE),Linux) -SERIAL_PORTS ?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0" -endif -ifeq ($(SERIAL_PORTS),) -SERIAL_PORTS = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0" -endif - -upload: $(FIRMWARE_BUNDLE) $(UPLOADER) - $(UPLOADER) --port $(SERIAL_PORTS) $(FIRMWARE_BUNDLE) +.PHONY: $(FIRMWARES) +$(BUILD_DIR)%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@) +$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/ +$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4: + @echo %%%% + @echo %%%% Building $(config) in $(work_dir) + @echo %%%% + $(Q) mkdir -p $(work_dir) + $(Q) make -r -C $(work_dir) \ + -f $(PX4_MK_DIR)firmware.mk \ + CONFIG=$(config) \ + WORK_DIR=$(work_dir) \ + $(FIRMWARE_GOAL) # -# JTAG firmware uploading with OpenOCD +# Build the NuttX export archives. # -ifeq ($(JTAGCONFIG),) -JTAGCONFIG=interface/olimex-jtag-tiny.cfg -endif - -upload-jtag-px4fmu: - @echo Attempting to flash PX4FMU board via JTAG - @openocd -f $(JTAGCONFIG) -f ../Bootloader/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown - -upload-jtag-px4io: all - @echo Attempting to flash PX4IO board via JTAG - @openocd -f $(JTAGCONFIG) -f ../Bootloader/stm32f1x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4io_bl.elf" -c "reset run" -c shutdown - +# Note that there are no explicit dependencies extended from these +# archives. If NuttX is updated, the user is expected to rebuild the +# archives/build area manually. Likewise, when the 'archives' target is +# invoked, all archives are always rebuilt. # -# Hacks and fixups +# XXX Should support fetching/unpacking from a separate directory to permit +# downloads of the prebuilt archives as well... # +# XXX PX4IO configuration name is bad - NuttX configs should probably all be "px4" +# +NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export) +.PHONY: archives +archives: $(NUTTX_ARCHIVES) -ifeq ($(SYSTYPE),Darwin) -# PATH inherited by Eclipse may not include toolchain install location -export PATH := $(PATH):/usr/local/bin +# We cannot build these parallel; note that we also force -j1 for the +# sub-make invocations. +ifneq ($(filter archives,$(MAKECMDGOALS)),) +.NOTPARALLEL: endif +$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@)) +$(ARCHIVE_DIR)%.export: configuration = $(if $(filter $(board),px4io),io,nsh) +$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS) + @echo %% Configuring NuttX for $(board) + $(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export) + $(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean + $(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration)) + @echo %% Exporting NuttX for $(board) + $(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) export + $(Q) mkdir -p $(dir $@) + $(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@ + # # Cleanup targets. 'clean' should remove all built products and force # a complete re-compilation, 'distclean' should remove everything # that's generated leaving only files that are in source control. # -.PHONY: clean upload-jtag-px4fmu +.PHONY: clean clean: - @make -C $(NUTTX_SRC) -r $(MQUIET) distclean - @make -C $(ROMFS_SRC) -r $(MQUIET) clean + $(Q) $(RMDIR) $(BUILD_DIR)*.build + $(Q) $(REMOVE) -f $(IMAGE_DIR)*.px4 .PHONY: distclean -distclean: - @rm -f $(CONFIGURED) - @make -C $(NUTTX_SRC) -r $(MQUIET) distclean - @make -C $(ROMFS_SRC) -r $(MQUIET) distclean - +distclean: clean + $(Q) $(REMOVE) -f $(ARCHIVE_DIR)*.export + $(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean + +# +# Print some help text +# +.PHONY: help +help: + @echo "" + @echo " PX4 firmware builder" + @echo " ====================" + @echo "" + @echo " Available targets:" + @echo " ------------------" + @echo "" + @echo " archives" + @echo " Build the NuttX RTOS archives that are used by the firmware build." + @echo "" + @echo " all" + @echo " Build all firmware configs: $(CONFIGS)" + @echo " A limited set of configs can be built with CONFIGS=<list-of-configs>" + @echo "" + @for config in $(CONFIGS); do \ + echo " $$config"; \ + echo " Build just the $$config firmware configuration."; \ + echo ""; \ + done + @echo " clean" + @echo " Remove all firmware build pieces." + @echo "" + @echo " distclean" + @echo " Remove all compilation products, including NuttX RTOS archives." + @echo "" + @echo " Common options:" + @echo " ---------------" + @echo "" + @echo " V=1" + @echo " If V is set, more verbose output is printed during the build. This can" + @echo " help when diagnosing issues with the build or toolchain." + @echo "" diff --git a/ROMFS/.gitignore b/ROMFS/.gitignore deleted file mode 100644 index 30d3d7fe5..000000000 --- a/ROMFS/.gitignore +++ /dev/null @@ -1 +0,0 @@ -/img diff --git a/ROMFS/Makefile b/ROMFS/Makefile deleted file mode 100644 index 5ff079a93..000000000 --- a/ROMFS/Makefile +++ /dev/null @@ -1,124 +0,0 @@ -# -# Makefile to generate a PX4FMU ROMFS image. -# -# In normal use, 'make install' will generate a new ROMFS header and place it -# into the px4fmu configuration in the appropriate location. -# - -# -# Directories of interest -# -SRCROOT ?= $(dir $(lastword $(MAKEFILE_LIST))) -BUILDROOT ?= $(SRCROOT)/img -ROMFS_HEADER ?= $(SRCROOT)/../nuttx/configs/px4fmu/include/nsh_romfsimg.h - -# -# List of files to install in the ROMFS, specified as <source>~<destination> -# -ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \ - $(SRCROOT)/scripts/rc.sensors~init.d/rc.sensors \ - $(SRCROOT)/scripts/rc.logging~init.d/rc.logging \ - $(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \ - $(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \ - $(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \ - $(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \ - $(SRCROOT)/scripts/rc.usb~init.d/rc.usb \ - $(SRCROOT)/scripts/rc.hil~init.d/rc.hil \ - $(SRCROOT)/scripts/rc.IO_QUAD~scripts/rc.IO_QUAD \ - $(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \ - $(SRCROOT)/mixers/FMU_Q.mix~mixers/FMU_Q.mix \ - $(SRCROOT)/mixers/FMU_X5.mix~mixers/FMU_X5.mix \ - $(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \ - $(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \ - $(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \ - $(SRCROOT)/mixers/FMU_quad_x.mix~mixers/FMU_quad_x.mix \ - $(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix \ - $(SRCROOT)/mixers/FMU_quad_v.mix~mixers/FMU_quad_v.mix \ - $(SRCROOT)/mixers/FMU_hex_x.mix~mixers/FMU_hex_x.mix \ - $(SRCROOT)/mixers/FMU_hex_+.mix~mixers/FMU_hex_+.mix \ - $(SRCROOT)/mixers/FMU_octo_x.mix~mixers/FMU_octo_x.mix \ - $(SRCROOT)/mixers/FMU_octo_+.mix~mixers/FMU_octo_+.mix \ - $(SRCROOT)/logging/logconv.m~logging/logconv.m - -# the EXTERNAL_SCRIPTS variable is used to add out of tree scripts -# to ROMFS. -ROMFS_FSSPEC += $(EXTERNAL_SCRIPTS) - -# -# Add the PX4IO firmware to the spec if someone has dropped it into the -# source directory, or otherwise specified its location. -# -# Normally this is only something you'd do when working on PX4IO; most -# users will upgrade with firmware off the microSD card. -# -PX4IO_FIRMWARE ?= $(SRCROOT)/px4io.bin -ifneq ($(wildcard $(PX4IO_FIRMWARE)),) -ROMFS_FSSPEC += $(PX4IO_FIRMWARE)~px4io.bin -endif - -################################################################################ -# No user-serviceable parts below -################################################################################ - -# -# Just the source files from the ROMFS spec, so that we can fail cleanly if they don't -# exist -# -ROMFS_SRCFILES = $(foreach spec,$(ROMFS_FSSPEC),$(firstword $(subst ~, ,$(spec)))) - -# -# Just the destination directories from the ROMFS spec -# -ROMFS_DIRS = $(sort $(dir $(foreach spec,$(ROMFS_FSSPEC),$(lastword $(subst ~, ,$(spec)))))) - - -# -# Intermediate products -# -ROMFS_IMG = $(BUILDROOT)/romfs.img -ROMFS_WORKDIR = $(BUILDROOT)/romfs - -# -# Convenience target for rebuilding the ROMFS header -# -all: $(ROMFS_HEADER) - -$(ROMFS_HEADER): $(ROMFS_IMG) $(dir $(ROMFS_HEADER)) - @echo Generating the ROMFS header... - @(cd $(dir $(ROMFS_IMG)) && xxd -i $(notdir $(ROMFS_IMG))) | sed -e 's/char/const char/' > $@ - -$(ROMFS_IMG): $(ROMFS_WORKDIR) - @echo Generating the ROMFS image... - @genromfs -f $@ -d $(ROMFS_WORKDIR) -V "NSHInitVol" - -$(ROMFS_WORKDIR): $(ROMFS_SRCFILES) - @echo Rebuilding the ROMFS work area... - @rm -rf $(ROMFS_WORKDIR) - @mkdir -p $(ROMFS_WORKDIR) - @for dir in $(ROMFS_DIRS) ; do mkdir -p $(ROMFS_WORKDIR)/$$dir; done - @for spec in $(ROMFS_FSSPEC) ; do \ - echo $$spec | sed -e 's%^.*~% %' ;\ - `echo "cp $$spec" | sed -e 's%~% $(ROMFS_WORKDIR)/%'` ;\ - done - -$(BUILDROOT): - @mkdir -p $(BUILDROOT) - -clean: - @rm -rf $(BUILDROOT) - -distclean: clean - @rm -f $(PX4IO_FIRMWARE) $(ROMFS_HEADER) - -.PHONY: all install clean distclean - -# -# Hacks and fixups -# -SYSTYPE = $(shell uname) - -ifeq ($(SYSTYPE),Darwin) -# PATH inherited by Eclipse may not include toolchain install location -export PATH := $(PATH):/usr/local/bin -endif - diff --git a/ROMFS/scripts/rc.FMU_quad_x b/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x index 8787443ea..8787443ea 100644 --- a/ROMFS/scripts/rc.FMU_quad_x +++ b/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x diff --git a/ROMFS/scripts/rc.IO_QUAD b/ROMFS/px4fmu_common/init.d/rc.IO_QUAD index 287cb0483..287cb0483 100644 --- a/ROMFS/scripts/rc.IO_QUAD +++ b/ROMFS/px4fmu_common/init.d/rc.IO_QUAD diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/px4fmu_common/init.d/rc.PX4IO index 625f23bdd..7ae4a5586 100644 --- a/ROMFS/scripts/rc.PX4IO +++ b/ROMFS/px4fmu_common/init.d/rc.PX4IO @@ -104,4 +104,4 @@ then blinkm systemstate else echo "no BlinkM found, OK." -fi
\ No newline at end of file +fi diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR index 6af91992e..ab29e21c7 100644 --- a/ROMFS/scripts/rc.PX4IOAR +++ b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR @@ -96,4 +96,4 @@ fi # echo "[init] startup done" -exit
\ No newline at end of file +exit diff --git a/ROMFS/scripts/rc.boarddetect b/ROMFS/px4fmu_common/init.d/rc.boarddetect index f233e51df..f233e51df 100644 --- a/ROMFS/scripts/rc.boarddetect +++ b/ROMFS/px4fmu_common/init.d/rc.boarddetect diff --git a/ROMFS/scripts/rc.hil b/ROMFS/px4fmu_common/init.d/rc.hil index 980b78edd..980b78edd 100644 --- a/ROMFS/scripts/rc.hil +++ b/ROMFS/px4fmu_common/init.d/rc.hil diff --git a/ROMFS/scripts/rc.jig b/ROMFS/px4fmu_common/init.d/rc.jig index e2b5d8f30..e2b5d8f30 100644 --- a/ROMFS/scripts/rc.jig +++ b/ROMFS/px4fmu_common/init.d/rc.jig diff --git a/ROMFS/scripts/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging index 09c2d00d1..09c2d00d1 100644 --- a/ROMFS/scripts/rc.logging +++ b/ROMFS/px4fmu_common/init.d/rc.logging diff --git a/ROMFS/scripts/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 42c2f52e9..42c2f52e9 100644 --- a/ROMFS/scripts/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors diff --git a/ROMFS/scripts/rc.standalone b/ROMFS/px4fmu_common/init.d/rc.standalone index 67e95215b..67e95215b 100644 --- a/ROMFS/scripts/rc.standalone +++ b/ROMFS/px4fmu_common/init.d/rc.standalone diff --git a/ROMFS/scripts/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index 31af3991a..31af3991a 100644 --- a/ROMFS/scripts/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb diff --git a/ROMFS/scripts/rcS b/ROMFS/px4fmu_common/init.d/rcS index c0a70f7dd..c0a70f7dd 100755 --- a/ROMFS/scripts/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS diff --git a/ROMFS/logging/logconv.m b/ROMFS/px4fmu_common/logging/logconv.m index 3750ddae2..3750ddae2 100644 --- a/ROMFS/logging/logconv.m +++ b/ROMFS/px4fmu_common/logging/logconv.m diff --git a/ROMFS/mixers/FMU_AERT.mix b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix index 75e82bb00..75e82bb00 100644 --- a/ROMFS/mixers/FMU_AERT.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix diff --git a/ROMFS/mixers/FMU_AET.mix b/ROMFS/px4fmu_common/mixers/FMU_AET.mix index 20cb88b91..20cb88b91 100644 --- a/ROMFS/mixers/FMU_AET.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_AET.mix diff --git a/ROMFS/mixers/FMU_Q.mix b/ROMFS/px4fmu_common/mixers/FMU_Q.mix index ebcb66b24..ebcb66b24 100644 --- a/ROMFS/mixers/FMU_Q.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_Q.mix diff --git a/ROMFS/mixers/FMU_RET.mix b/ROMFS/px4fmu_common/mixers/FMU_RET.mix index 95beb8927..95beb8927 100644 --- a/ROMFS/mixers/FMU_RET.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_RET.mix diff --git a/ROMFS/mixers/FMU_X5.mix b/ROMFS/px4fmu_common/mixers/FMU_X5.mix index 9f81e1dc3..9f81e1dc3 100644 --- a/ROMFS/mixers/FMU_X5.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_X5.mix diff --git a/ROMFS/px4fmu_common/mixers/FMU_delta.mix b/ROMFS/px4fmu_common/mixers/FMU_delta.mix new file mode 100644 index 000000000..981466704 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_delta.mix @@ -0,0 +1,50 @@ +Delta-wing mixer for PX4FMU +=========================== + +This file defines mixers suitable for controlling a delta wing aircraft using +PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU +servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is +assumed to be unused. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +See the README for more information on the scaler format. + +Elevon mixers +------------- +Three scalers total (output, roll, pitch). + +On the assumption that the two elevon servos are physically reversed, the pitch +input is inverted between the two servos. + +The scaling factor for roll inputs is adjusted to implement differential travel +for the elevons. + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 3000 5000 0 -10000 10000 +S: 0 1 5000 5000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 5000 3000 0 -10000 10000 +S: 0 1 -5000 -5000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + diff --git a/ROMFS/mixers/FMU_hex_+.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix index b5e38ce9e..b5e38ce9e 100644 --- a/ROMFS/mixers/FMU_hex_+.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix diff --git a/ROMFS/mixers/FMU_hex_x.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix index 8e8d122ad..8e8d122ad 100644 --- a/ROMFS/mixers/FMU_hex_x.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix diff --git a/ROMFS/mixers/FMU_octo_+.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix index 2cb70e814..2cb70e814 100644 --- a/ROMFS/mixers/FMU_octo_+.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix diff --git a/ROMFS/mixers/FMU_octo_x.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix index edc71f013..edc71f013 100644 --- a/ROMFS/mixers/FMU_octo_x.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix diff --git a/ROMFS/mixers/FMU_pass.mix b/ROMFS/px4fmu_common/mixers/FMU_pass.mix index e9a81f2bb..e9a81f2bb 100644 --- a/ROMFS/mixers/FMU_pass.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_pass.mix diff --git a/ROMFS/mixers/FMU_quad_+.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix index dfdf1d58e..dfdf1d58e 100644 --- a/ROMFS/mixers/FMU_quad_+.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix diff --git a/ROMFS/mixers/FMU_quad_v.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix index 2a4a0f341..2a4a0f341 100644 --- a/ROMFS/mixers/FMU_quad_v.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix new file mode 100644 index 000000000..81b4af30b --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix @@ -0,0 +1,6 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a quadrotor with a wide configuration. All controls are mixed 100%. + +R: 4w 10000 10000 10000 0 diff --git a/ROMFS/mixers/FMU_quad_x.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix index 12a3bee20..12a3bee20 100644 --- a/ROMFS/mixers/FMU_quad_x.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix diff --git a/ROMFS/mixers/README b/ROMFS/px4fmu_common/mixers/README index 6649c53c2..6649c53c2 100644 --- a/ROMFS/mixers/README +++ b/ROMFS/px4fmu_common/mixers/README diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py index cce388d71..d2ebf1698 100755 --- a/Tools/px_uploader.py +++ b/Tools/px_uploader.py @@ -41,20 +41,19 @@ # The uploader uses the following fields from the firmware file: # # image -# The firmware that will be uploaded. +# The firmware that will be uploaded. # image_size -# The size of the firmware in bytes. +# The size of the firmware in bytes. # board_id -# The board for which the firmware is intended. +# The board for which the firmware is intended. # board_revision -# Currently only used for informational purposes. +# Currently only used for informational purposes. # import sys import argparse import binascii import serial -import os import struct import json import zlib @@ -64,292 +63,294 @@ import array from sys import platform as _platform + class firmware(object): - '''Loads a firmware file''' - - desc = {} - image = bytes() - crctab = array.array('I', [ - 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, - 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, - 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, - 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, - 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, - 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59, - 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f, - 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, - 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433, - 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, - 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, - 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, - 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, - 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, - 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f, - 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, - 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, - 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, - 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, - 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, - 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, - 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, - 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, - 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, - 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713, - 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, - 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777, - 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, - 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, - 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, - 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, - 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d ]) - crcpad = bytearray('\xff\xff\xff\xff') - - def __init__(self, path): - - # read the file - f = open(path, "r") - self.desc = json.load(f) - f.close() - - self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image']))) - - # pad image to 4-byte length - while ((len(self.image) % 4) != 0): - self.image.append('\xff') - - def property(self, propname): - return self.desc[propname] - - def __crc32(self, bytes, state): - for byte in bytes: - index = (state ^ byte) & 0xff - state = self.crctab[index] ^ (state >> 8) - return state - - def crc(self, padlen): - state = self.__crc32(self.image, int(0)) - for i in range(len(self.image), (padlen - 1), 4): - state = self.__crc32(self.crcpad, state) - return state + '''Loads a firmware file''' + + desc = {} + image = bytes() + crctab = array.array('I', [ + 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, + 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, + 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, + 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, + 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, + 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59, + 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f, + 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, + 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433, + 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, + 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, + 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, + 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, + 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, + 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f, + 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, + 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, + 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, + 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, + 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, + 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, + 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, + 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, + 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, + 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713, + 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, + 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777, + 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, + 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, + 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, + 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, + 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d]) + crcpad = bytearray('\xff\xff\xff\xff') + + def __init__(self, path): + + # read the file + f = open(path, "r") + self.desc = json.load(f) + f.close() + + self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image']))) + + # pad image to 4-byte length + while ((len(self.image) % 4) != 0): + self.image.append('\xff') + + def property(self, propname): + return self.desc[propname] + + def __crc32(self, bytes, state): + for byte in bytes: + index = (state ^ byte) & 0xff + state = self.crctab[index] ^ (state >> 8) + return state + + def crc(self, padlen): + state = self.__crc32(self.image, int(0)) + for i in range(len(self.image), (padlen - 1), 4): + state = self.__crc32(self.crcpad, state) + return state + class uploader(object): - '''Uploads a firmware file to the PX FMU bootloader''' - - # protocol bytes - INSYNC = chr(0x12) - EOC = chr(0x20) - - # reply bytes - OK = chr(0x10) - FAILED = chr(0x11) - INVALID = chr(0x13) # rev3+ - - # command bytes - NOP = chr(0x00) # guaranteed to be discarded by the bootloader - GET_SYNC = chr(0x21) - GET_DEVICE = chr(0x22) - CHIP_ERASE = chr(0x23) - CHIP_VERIFY = chr(0x24) # rev2 only - PROG_MULTI = chr(0x27) - READ_MULTI = chr(0x28) # rev2 only - GET_CRC = chr(0x29) # rev3+ - REBOOT = chr(0x30) - - INFO_BL_REV = chr(1) # bootloader protocol revision - BL_REV_MIN = 2 # minimum supported bootloader protocol - BL_REV_MAX = 3 # maximum supported bootloader protocol - INFO_BOARD_ID = chr(2) # board type - INFO_BOARD_REV = chr(3) # board revision - INFO_FLASH_SIZE = chr(4) # max firmware size in bytes - - PROG_MULTI_MAX = 60 # protocol max is 255, must be multiple of 4 - READ_MULTI_MAX = 60 # protocol max is 255, something overflows with >= 64 - - def __init__(self, portname, baudrate): - # open the port, keep the default timeout short so we can poll quickly - self.port = serial.Serial(portname, baudrate, timeout=0.25) - - def close(self): - if self.port is not None: - self.port.close() - - def __send(self, c): -# print("send " + binascii.hexlify(c)) - self.port.write(str(c)) - - def __recv(self, count = 1): - c = self.port.read(count) - if len(c) < 1: - raise RuntimeError("timeout waiting for data") -# print("recv " + binascii.hexlify(c)) - return c - - def __recv_int(self): - raw = self.__recv(4) - val = struct.unpack("<I", raw) - return val[0] - - def __getSync(self): - self.port.flush() - c = self.__recv() - if c is not self.INSYNC: - raise RuntimeError("unexpected 0x%x instead of INSYNC" % ord(c)) - c = self.__recv() - if c == self.INVALID: - raise RuntimeError("bootloader reports INVALID OPERATION") - if c == self.FAILED: - raise RuntimeError("bootloader reports OPERATION FAILED") - if c != self.OK: - raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c)) - - # attempt to get back into sync with the bootloader - def __sync(self): - # send a stream of ignored bytes longer than the longest possible conversation - # that we might still have in progress -# self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2)) - self.port.flushInput() - self.__send(uploader.GET_SYNC - + uploader.EOC) - self.__getSync() - -# def __trySync(self): -# c = self.__recv() -# if (c != self.INSYNC): -# #print("unexpected 0x%x instead of INSYNC" % ord(c)) -# return False; -# c = self.__recv() -# if (c != self.OK): -# #print("unexpected 0x%x instead of OK" % ord(c)) -# return False -# return True - - # send the GET_DEVICE command and wait for an info parameter - def __getInfo(self, param): - self.__send(uploader.GET_DEVICE + param + uploader.EOC) - value = self.__recv_int() - self.__getSync() - return value - - # send the CHIP_ERASE command and wait for the bootloader to become ready - def __erase(self): - self.__send(uploader.CHIP_ERASE - + uploader.EOC) - # erase is very slow, give it 10s - deadline = time.time() + 10 - while time.time() < deadline: - try: - self.__getSync() - return - except RuntimeError as ex: - # we timed out, that's OK - continue - - raise RuntimeError("timed out waiting for erase") - - # send a PROG_MULTI command to write a collection of bytes - def __program_multi(self, data): - self.__send(uploader.PROG_MULTI - + chr(len(data))) - self.__send(data) - self.__send(uploader.EOC) - self.__getSync() - - # verify multiple bytes in flash - def __verify_multi(self, data): - self.__send(uploader.READ_MULTI - + chr(len(data)) - + uploader.EOC) - self.port.flush() - programmed = self.__recv(len(data)) - if programmed != data: - print(("got " + binascii.hexlify(programmed))) - print(("expect " + binascii.hexlify(data))) - return False - self.__getSync() - return True - - # send the reboot command - def __reboot(self): - self.__send(uploader.REBOOT - + uploader.EOC) - self.port.flush() - - # v3+ can report failure if the first word flash fails - if self.bl_rev >= 3: - self.__getSync() - - # split a sequence into a list of size-constrained pieces - def __split_len(self, seq, length): - return [seq[i:i+length] for i in range(0, len(seq), length)] - - # upload code - def __program(self, fw): - code = fw.image - groups = self.__split_len(code, uploader.PROG_MULTI_MAX) - for bytes in groups: - self.__program_multi(bytes) - - # verify code - def __verify_v2(self, fw): - self.__send(uploader.CHIP_VERIFY - + uploader.EOC) - self.__getSync() - code = fw.image - groups = self.__split_len(code, uploader.READ_MULTI_MAX) - for bytes in groups: - if (not self.__verify_multi(bytes)): - raise RuntimeError("Verification failed") - - def __verify_v3(self, fw): - expect_crc = fw.crc(self.fw_maxsize) - self.__send(uploader.GET_CRC - + uploader.EOC) - report_crc = self.__recv_int() - self.__getSync() - if report_crc != expect_crc: - print(("Expected 0x%x" % expect_crc)) - print(("Got 0x%x" % report_crc)) - raise RuntimeError("Program CRC failed") - - # get basic data about the board - def identify(self): - # make sure we are in sync before starting - self.__sync() - - # get the bootloader protocol ID first - self.bl_rev = self.__getInfo(uploader.INFO_BL_REV) - if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX): - print(("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV)) - raise RuntimeError("Bootloader protocol mismatch") - - self.board_type = self.__getInfo(uploader.INFO_BOARD_ID) - self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV) - self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE) - - # upload the firmware - def upload(self, fw): - # Make sure we are doing the right thing - if self.board_type != fw.property('board_id'): - raise RuntimeError("Firmware not suitable for this board (run 'make configure_px4fmu && make clean' or 'make configure_px4io && make clean' to reconfigure).") - if self.fw_maxsize < fw.property('image_size'): - raise RuntimeError("Firmware image is too large for this board") - - print("erase...") - self.__erase() - - print("program...") - self.__program(fw) - - print("verify...") - if self.bl_rev == 2: - self.__verify_v2(fw) - else: - self.__verify_v3(fw) - - print("done, rebooting.") - self.__reboot() - self.port.close() - + '''Uploads a firmware file to the PX FMU bootloader''' + + # protocol bytes + INSYNC = chr(0x12) + EOC = chr(0x20) + + # reply bytes + OK = chr(0x10) + FAILED = chr(0x11) + INVALID = chr(0x13) # rev3+ + + # command bytes + NOP = chr(0x00) # guaranteed to be discarded by the bootloader + GET_SYNC = chr(0x21) + GET_DEVICE = chr(0x22) + CHIP_ERASE = chr(0x23) + CHIP_VERIFY = chr(0x24) # rev2 only + PROG_MULTI = chr(0x27) + READ_MULTI = chr(0x28) # rev2 only + GET_CRC = chr(0x29) # rev3+ + REBOOT = chr(0x30) + + INFO_BL_REV = chr(1) # bootloader protocol revision + BL_REV_MIN = 2 # minimum supported bootloader protocol + BL_REV_MAX = 3 # maximum supported bootloader protocol + INFO_BOARD_ID = chr(2) # board type + INFO_BOARD_REV = chr(3) # board revision + INFO_FLASH_SIZE = chr(4) # max firmware size in bytes + + PROG_MULTI_MAX = 60 # protocol max is 255, must be multiple of 4 + READ_MULTI_MAX = 60 # protocol max is 255, something overflows with >= 64 + + def __init__(self, portname, baudrate): + # open the port, keep the default timeout short so we can poll quickly + self.port = serial.Serial(portname, baudrate, timeout=0.5) + + def close(self): + if self.port is not None: + self.port.close() + + def __send(self, c): +# print("send " + binascii.hexlify(c)) + self.port.write(str(c)) + + def __recv(self, count=1): + c = self.port.read(count) + if len(c) < 1: + raise RuntimeError("timeout waiting for data") +# print("recv " + binascii.hexlify(c)) + return c + + def __recv_int(self): + raw = self.__recv(4) + val = struct.unpack("<I", raw) + return val[0] + + def __getSync(self): + self.port.flush() + c = self.__recv() + if c is not self.INSYNC: + raise RuntimeError("unexpected 0x%x instead of INSYNC" % ord(c)) + c = self.__recv() + if c == self.INVALID: + raise RuntimeError("bootloader reports INVALID OPERATION") + if c == self.FAILED: + raise RuntimeError("bootloader reports OPERATION FAILED") + if c != self.OK: + raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c)) + + # attempt to get back into sync with the bootloader + def __sync(self): + # send a stream of ignored bytes longer than the longest possible conversation + # that we might still have in progress +# self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2)) + self.port.flushInput() + self.__send(uploader.GET_SYNC + + uploader.EOC) + self.__getSync() + +# def __trySync(self): +# c = self.__recv() +# if (c != self.INSYNC): +# #print("unexpected 0x%x instead of INSYNC" % ord(c)) +# return False; +# c = self.__recv() +# if (c != self.OK): +# #print("unexpected 0x%x instead of OK" % ord(c)) +# return False +# return True + + # send the GET_DEVICE command and wait for an info parameter + def __getInfo(self, param): + self.__send(uploader.GET_DEVICE + param + uploader.EOC) + value = self.__recv_int() + self.__getSync() + return value + + # send the CHIP_ERASE command and wait for the bootloader to become ready + def __erase(self): + self.__send(uploader.CHIP_ERASE + + uploader.EOC) + # erase is very slow, give it 20s + deadline = time.time() + 20 + while time.time() < deadline: + try: + self.__getSync() + return + except RuntimeError: + # we timed out, that's OK + continue + + raise RuntimeError("timed out waiting for erase") + + # send a PROG_MULTI command to write a collection of bytes + def __program_multi(self, data): + self.__send(uploader.PROG_MULTI + + chr(len(data))) + self.__send(data) + self.__send(uploader.EOC) + self.__getSync() + + # verify multiple bytes in flash + def __verify_multi(self, data): + self.__send(uploader.READ_MULTI + + chr(len(data)) + + uploader.EOC) + self.port.flush() + programmed = self.__recv(len(data)) + if programmed != data: + print("got " + binascii.hexlify(programmed)) + print("expect " + binascii.hexlify(data)) + return False + self.__getSync() + return True + + # send the reboot command + def __reboot(self): + self.__send(uploader.REBOOT + + uploader.EOC) + self.port.flush() + + # v3+ can report failure if the first word flash fails + if self.bl_rev >= 3: + self.__getSync() + + # split a sequence into a list of size-constrained pieces + def __split_len(self, seq, length): + return [seq[i:i+length] for i in range(0, len(seq), length)] + + # upload code + def __program(self, fw): + code = fw.image + groups = self.__split_len(code, uploader.PROG_MULTI_MAX) + for bytes in groups: + self.__program_multi(bytes) + + # verify code + def __verify_v2(self, fw): + self.__send(uploader.CHIP_VERIFY + + uploader.EOC) + self.__getSync() + code = fw.image + groups = self.__split_len(code, uploader.READ_MULTI_MAX) + for bytes in groups: + if (not self.__verify_multi(bytes)): + raise RuntimeError("Verification failed") + + def __verify_v3(self, fw): + expect_crc = fw.crc(self.fw_maxsize) + self.__send(uploader.GET_CRC + + uploader.EOC) + report_crc = self.__recv_int() + self.__getSync() + if report_crc != expect_crc: + print("Expected 0x%x" % expect_crc) + print("Got 0x%x" % report_crc) + raise RuntimeError("Program CRC failed") + + # get basic data about the board + def identify(self): + # make sure we are in sync before starting + self.__sync() + + # get the bootloader protocol ID first + self.bl_rev = self.__getInfo(uploader.INFO_BL_REV) + if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX): + print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV) + raise RuntimeError("Bootloader protocol mismatch") + + self.board_type = self.__getInfo(uploader.INFO_BOARD_ID) + self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV) + self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE) + + # upload the firmware + def upload(self, fw): + # Make sure we are doing the right thing + if self.board_type != fw.property('board_id'): + raise RuntimeError("Firmware not suitable for this board") + if self.fw_maxsize < fw.property('image_size'): + raise RuntimeError("Firmware image is too large for this board") + + print("erase...") + self.__erase() + + print("program...") + self.__program(fw) + + print("verify...") + if self.bl_rev == 2: + self.__verify_v2(fw) + else: + self.__verify_v3(fw) + + print("done, rebooting.") + self.__reboot() + self.port.close() + # Parse commandline arguments parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.") @@ -360,57 +361,57 @@ args = parser.parse_args() # Load the firmware file fw = firmware(args.firmware) -print(("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision')))) +print("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'))) # Spin waiting for a device to show up while True: - for port in args.port.split(","): - - #print("Trying %s" % port) - - # create an uploader attached to the port - try: - if "linux" in _platform: - # Linux, don't open Mac OS and Win ports - if not "COM" in port and not "tty.usb" in port: - up = uploader(port, args.baud) - elif "darwin" in _platform: - # OS X, don't open Windows and Linux ports - if not "COM" in port and not "ACM" in port: - up = uploader(port, args.baud) - elif "win" in _platform: - # Windows, don't open POSIX ports - if not "/" in port: - up = uploader(port, args.baud) - except: - # open failed, rate-limit our attempts - time.sleep(0.05) - - # and loop to the next port - continue - - # port is open, try talking to it - try: - # identify the bootloader - up.identify() - print(("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))) - - except: - # most probably a timeout talking to the port, no bootloader - continue - - try: - # ok, we have a bootloader, try flashing it - up.upload(fw) - - except RuntimeError as ex: - - # print the error - print(("ERROR: %s" % ex.args)) - - finally: - # always close the port - up.close() - - # we could loop here if we wanted to wait for more boards... - sys.exit(0) + for port in args.port.split(","): + + #print("Trying %s" % port) + + # create an uploader attached to the port + try: + if "linux" in _platform: + # Linux, don't open Mac OS and Win ports + if not "COM" in port and not "tty.usb" in port: + up = uploader(port, args.baud) + elif "darwin" in _platform: + # OS X, don't open Windows and Linux ports + if not "COM" in port and not "ACM" in port: + up = uploader(port, args.baud) + elif "win" in _platform: + # Windows, don't open POSIX ports + if not "/" in port: + up = uploader(port, args.baud) + except: + # open failed, rate-limit our attempts + time.sleep(0.05) + + # and loop to the next port + continue + + # port is open, try talking to it + try: + # identify the bootloader + up.identify() + print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port)) + + except: + # most probably a timeout talking to the port, no bootloader + continue + + try: + # ok, we have a bootloader, try flashing it + up.upload(fw) + + except RuntimeError as ex: + + # print the error + print("ERROR: %s" % ex.args) + + finally: + # always close the port + up.close() + + # we could loop here if we wanted to wait for more boards... + sys.exit(0) diff --git a/apps/drivers/boards/px4fmu/Makefile b/apps/drivers/boards/px4fmu/Makefile deleted file mode 100644 index 6b183d8d2..000000000 --- a/apps/drivers/boards/px4fmu/Makefile +++ /dev/null @@ -1,41 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Board-specific startup code for the PX4FMU -# - -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common -LIBNAME = brd_px4fmu - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/boards/px4io/Makefile b/apps/drivers/boards/px4io/Makefile deleted file mode 100644 index 85806fe6f..000000000 --- a/apps/drivers/boards/px4io/Makefile +++ /dev/null @@ -1,41 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Board-specific startup code for the PX4IO -# - -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common -LIBNAME = brd_px4io - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/hil/Makefile b/apps/drivers/hil/Makefile deleted file mode 100644 index 1fb6e37bc..000000000 --- a/apps/drivers/hil/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Interface driver for the PX4FMU board -# - -APPNAME = hil -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/l3gd20/Makefile b/apps/drivers/l3gd20/Makefile deleted file mode 100644 index 98e2d57c5..000000000 --- a/apps/drivers/l3gd20/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Makefile to build the L3GD20 driver. -# - -APPNAME = l3gd20 -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/mpu6000/Makefile b/apps/drivers/mpu6000/Makefile deleted file mode 100644 index 32df1bdae..000000000 --- a/apps/drivers/mpu6000/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Makefile to build the BMA180 driver. -# - -APPNAME = mpu6000 -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/stm32/adc/Makefile b/apps/drivers/stm32/adc/Makefile deleted file mode 100644 index 443bc0623..000000000 --- a/apps/drivers/stm32/adc/Makefile +++ /dev/null @@ -1,43 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# STM32 ADC driver -# - -APPNAME = adc -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/stm32/tone_alarm/Makefile b/apps/drivers/stm32/tone_alarm/Makefile deleted file mode 100644 index d2ddf9534..000000000 --- a/apps/drivers/stm32/tone_alarm/Makefile +++ /dev/null @@ -1,43 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Tone alarm driver -# - -APPNAME = tone_alarm -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common - -include $(APPDIR)/mk/app.mk diff --git a/apps/examples/Makefile b/apps/examples/Makefile index 201be955b..6b614b1aa 100644 --- a/apps/examples/Makefile +++ b/apps/examples/Makefile @@ -38,7 +38,6 @@ # Sub-directories SUBDIRS = adc can cdcacm nsh -SUBDIRS += math_demo control_demo kalman_demo px4_deamon_app #SUBDIRS = adc buttons can cdcacm composite cxxtest dhcpd discover elf ftpc #SUBDIRS += ftpd hello helloxx hidkbd igmp json keypadtest lcdrw mm modbus mount diff --git a/apps/examples/control_demo/Makefile b/apps/examples/control_demo/Makefile deleted file mode 100644 index 6e40e645f..000000000 --- a/apps/examples/control_demo/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Basic example application -# - -APPNAME = control_demo -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/examples/math_demo/Makefile b/apps/examples/math_demo/Makefile deleted file mode 100644 index a1105899a..000000000 --- a/apps/examples/math_demo/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Basic example application -# - -APPNAME = math_demo -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 8192 - -include $(APPDIR)/mk/app.mk diff --git a/apps/examples/px4_deamon_app/Makefile b/apps/examples/px4_deamon_app/Makefile deleted file mode 100644 index e4c169872..000000000 --- a/apps/examples/px4_deamon_app/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Basic example application -# - -APPNAME = px4_deamon_app -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/examples/px4_mavlink_debug/Makefile b/apps/examples/px4_mavlink_debug/Makefile deleted file mode 100644 index f59aef16f..000000000 --- a/apps/examples/px4_mavlink_debug/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Basic example application -# - -APPNAME = px4_mavlink_debug -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/examples/px4_simple_app/Makefile b/apps/examples/px4_simple_app/Makefile deleted file mode 100644 index 102f51fd4..000000000 --- a/apps/examples/px4_simple_app/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Basic example application -# - -APPNAME = px4_simple_app -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/fixedwing_att_control/Makefile b/apps/fixedwing_att_control/Makefile deleted file mode 100644 index 01465fa9e..000000000 --- a/apps/fixedwing_att_control/Makefile +++ /dev/null @@ -1,45 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Fixedwing Control application -# - -APPNAME = fixedwing_att_control -PRIORITY = SCHED_PRIORITY_MAX - 30 -STACKSIZE = 2048 - -INCLUDES = $(TOPDIR)/../mavlink/include/mavlink - -include $(APPDIR)/mk/app.mk - diff --git a/apps/fixedwing_pos_control/Makefile b/apps/fixedwing_pos_control/Makefile deleted file mode 100644 index bce391f49..000000000 --- a/apps/fixedwing_pos_control/Makefile +++ /dev/null @@ -1,45 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Fixedwing Control application -# - -APPNAME = fixedwing_pos_control -PRIORITY = SCHED_PRIORITY_MAX - 30 -STACKSIZE = 2048 - -INCLUDES = $(TOPDIR)/../mavlink/include/mavlink - -include $(APPDIR)/mk/app.mk - diff --git a/apps/hott_telemetry/Makefile b/apps/hott_telemetry/Makefile deleted file mode 100644 index 8d5faa3b7..000000000 --- a/apps/hott_telemetry/Makefile +++ /dev/null @@ -1,45 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Graupner HoTT Telemetry application. -# - -# The following line is required for accessing UARTs directly. -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common - -APPNAME = hott_telemetry -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/mavlink/.context b/apps/mavlink/.context deleted file mode 100644 index e69de29bb..000000000 --- a/apps/mavlink/.context +++ /dev/null diff --git a/apps/mavlink/Makefile b/apps/mavlink/Makefile deleted file mode 100644 index 8ddb69b71..000000000 --- a/apps/mavlink/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Mavlink Application -# - -APPNAME = mavlink -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -INCLUDES = $(TOPDIR)/../mavlink/include/mavlink - -include $(APPDIR)/mk/app.mk diff --git a/apps/mavlink_onboard/Makefile b/apps/mavlink_onboard/Makefile deleted file mode 100644 index 8b1cb9b2c..000000000 --- a/apps/mavlink_onboard/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Mavlink Application -# - -APPNAME = mavlink_onboard -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -INCLUDES = $(TOPDIR)/../mavlink/include/mavlink - -include $(APPDIR)/mk/app.mk diff --git a/apps/mk/app.mk b/apps/mk/app.mk deleted file mode 100644 index fa4a12cab..000000000 --- a/apps/mk/app.mk +++ /dev/null @@ -1,237 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Common Makefile for nsh command modules and utility libraries; should be -# included by the module-specific Makefile. -# -# To build an app that appears as an nsh external command, the caller -# must define: -# -# APPNAME - the name of the application, defaults to the name -# of the parent directory. -# -# If APPNAME is not defined, a utility library is built instead. The library -# name is normally automatically determined, but it can be overridden by -# setting: -# -# LIBNAME - the name of the library, defaults to the name of the -# directory -# -# The calling makefile may also set: -# -# ASRCS - list of assembly source files, defaults to all .S -# files in the directory -# -# CSRCS - list of C source files, defaults to all .c files -# in the directory -# -# CXXSRCS - list of C++ source files, defaults to all .cpp -# files in the directory -# -# INCLUDES - list of directories to be added to the include -# search path -# -# PRIORITY - thread priority for the command (defaults to -# SCHED_PRIORITY_DEFAULT) -# -# STACKSIZE - stack size for the command (defaults to -# CONFIG_PTHREAD_STACK_DEFAULT) -# -# Symbols in the module are private to the module unless deliberately exported -# using the __EXPORT tag, or DEFAULT_VISIBILITY is set -# - -############################################################################ -# No user-serviceable parts below -############################################################################ - - -############################################################################ -# Work out who included us so we can report decent errors -# -THIS_MAKEFILE := $(lastword $(MAKEFILE_LIST)) -ifeq ($(APP_MAKEFILE),) -APP_MAKEFILE := $(lastword $(filter-out $(THIS_MAKEFILE),$(MAKEFILE_LIST))) -endif - -############################################################################ -# Get configuration -# --include $(TOPDIR)/.config --include $(TOPDIR)/Make.defs -include $(APPDIR)/Make.defs - -############################################################################ -# Sanity-check the information we've been given and set any defaults -# -SRCDIR ?= $(dir $(APP_MAKEFILE)) -PRIORITY ?= SCHED_PRIORITY_DEFAULT -STACKSIZE ?= CONFIG_PTHREAD_STACK_DEFAULT - -INCLUDES += $(APPDIR) - -ASRCS ?= $(wildcard $(SRCDIR)/*.S) -CSRCS ?= $(wildcard $(SRCDIR)/*.c) -CHDRS ?= $(wildcard $(SRCDIR)/*.h) -CXXSRCS ?= $(wildcard $(SRCDIR)/*.cpp) -CXXHDRS ?= $(wildcard $(SRCDIR)/*.hpp) - -# if APPNAME is not set, this is a library -ifeq ($(APPNAME),) -LIBNAME ?= $(lastword $(subst /, ,$(realpath $(SRCDIR)))) -endif - -# there has to be a source file -ifeq ($(ASRCS)$(CSRCS)$(CXXSRCS),) -$(error $(realpath $(APP_MAKEFILE)): at least one of ASRCS, CSRCS or CXXSRCS must be set) -endif - -# check that C++ is configured if we have C++ source files and we are building -ifneq ($(CXXSRCS),) -ifneq ($(CONFIG_HAVE_CXX),y) -ifeq ($(MAKECMDGOALS),build) -$(error $(realpath $(APP_MAKEFILE)): cannot set CXXSRCS if CONFIG_HAVE_CXX not set in configuration) -endif -endif -endif - -############################################################################ -# Adjust compilation flags to implement EXPORT -# - -ifeq ($(DEFAULT_VISIBILITY),) -DEFAULT_VISIBILITY = hidden -else -DEFAULT_VISIBILITY = default -endif - -CFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(APPDIR)/systemlib/visibility.h -CXXFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(APPDIR)/systemlib/visibility.h - -############################################################################ -# Add extra include directories -# -CFLAGS += $(addprefix -I,$(INCLUDES)) -CXXFLAGS += $(addprefix -I,$(INCLUDES)) - -############################################################################ -# Things we are going to build -# - -SRCS = $(ASRCS) $(CSRCS) $(CXXSRCS) -AOBJS = $(patsubst %.S,%.o,$(ASRCS)) -COBJS = $(patsubst %.c,%.o,$(CSRCS)) -CXXOBJS = $(patsubst %.cpp,%.o,$(CXXSRCS)) -OBJS = $(AOBJS) $(COBJS) $(CXXOBJS) - -# Automatic depdendency generation -DEPS = $(OBJS:$(OBJEXT)=.d) -CFLAGS += -MD -CXXFLAGS += -MD - -# The prelinked object that we are ultimately going to build -ifneq ($(APPNAME),) -PRELINKOBJ = $(APPNAME).pre.o -else -PRELINKOBJ = $(LIBNAME).pre.o -endif - -# The archive the prelinked object will be linked into -# XXX does WINTOOL ever get set? -ifeq ($(WINTOOL),y) - INCDIROPT = -w - BIN = "$(shell cygpath -w $(APPDIR)/libapps$(LIBEXT))" -else - BIN = "$(APPDIR)/libapps$(LIBEXT)" -endif - -############################################################################ -# Rules for building things -# - -all: .built -.PHONY: clean depend distclean - -# -# Top-level build; add prelinked object to the apps archive -# -.built: $(PRELINKOBJ) - @$(call ARCHIVE, $(BIN), $(PRELINKOBJ)) - @touch $@ - -# -# Source dependencies -# -depend: - @exit 0 - -ifneq ($(APPNAME),) -# -# App registration -# -context: .context -.context: $(MAKEFILE_LIST) - $(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main) - @touch $@ -else -context: - @exit 0 -endif - -# -# Object files -# -$(PRELINKOBJ): $(OBJS) - $(call PRELINK, $@, $(OBJS)) - -$(AOBJS): %.o : %.S $(MAKEFILE_LIST) - $(call ASSEMBLE, $<, $@) - -$(COBJS): %.o : %.c $(MAKEFILE_LIST) - $(call COMPILE, $<, $@) - -$(CXXOBJS): %.o : %.cpp $(MAKEFILE_LIST) - $(call COMPILEXX, $<, $@) - -# -# Tidying up -# -clean: - @rm -f $(OBJS) $(DEPS) $(PRELINKOBJ) .built - $(call CLEAN) - -distclean: clean - @rm -f Make.dep .depend - --include $(DEPS) diff --git a/apps/multirotor_att_control/Makefile b/apps/multirotor_att_control/Makefile deleted file mode 100755 index 03cf33e43..000000000 --- a/apps/multirotor_att_control/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Makefile to build uORB -# - -APPNAME = multirotor_att_control -PRIORITY = SCHED_PRIORITY_MAX - 15 -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/multirotor_pos_control/Makefile b/apps/multirotor_pos_control/Makefile deleted file mode 100644 index c88c85435..000000000 --- a/apps/multirotor_pos_control/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Makefile to build multirotor position control -# - -APPNAME = multirotor_pos_control -PRIORITY = SCHED_PRIORITY_MAX - 25 -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/position_estimator/.context b/apps/position_estimator/.context deleted file mode 100644 index e69de29bb..000000000 --- a/apps/position_estimator/.context +++ /dev/null diff --git a/apps/px4/tests/.context b/apps/px4/tests/.context deleted file mode 100644 index e69de29bb..000000000 --- a/apps/px4/tests/.context +++ /dev/null diff --git a/apps/sensors/.context b/apps/sensors/.context deleted file mode 100644 index e69de29bb..000000000 --- a/apps/sensors/.context +++ /dev/null diff --git a/apps/system/i2c/Makefile b/apps/system/i2c/Makefile index c98e2c0e2..7f0e6005b 100644 --- a/apps/system/i2c/Makefile +++ b/apps/system/i2c/Makefile @@ -66,7 +66,7 @@ PRIORITY = SCHED_PRIORITY_DEFAULT STACKSIZE = 2048 MAXOPTIMIZATION = -Os -# Build targets +# Build Targets all: .built .PHONY: context .depend depend clean distclean diff --git a/apps/systemcmds/boardinfo/.context b/apps/systemcmds/boardinfo/.context deleted file mode 100644 index e69de29bb..000000000 --- a/apps/systemcmds/boardinfo/.context +++ /dev/null diff --git a/apps/systemcmds/calibration/Makefile b/apps/systemcmds/calibration/Makefile deleted file mode 100644 index a1735962e..000000000 --- a/apps/systemcmds/calibration/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Makefile to build the calibration tool -# - -APPNAME = calibration -PRIORITY = SCHED_PRIORITY_MAX - 1 -STACKSIZE = 4096 - -include $(APPDIR)/mk/app.mk - -MAXOPTIMIZATION = -Os diff --git a/apps/systemcmds/calibration/calibration.c b/apps/systemcmds/calibration/calibration.c deleted file mode 100755 index 7f8b9240f..000000000 --- a/apps/systemcmds/calibration/calibration.c +++ /dev/null @@ -1,147 +0,0 @@ -/**************************************************************************** - * calibration.c - * - * Copyright (C) 2012 Ivan Ovinnikov. All rights reserved. - * Authors: Nils Wenzler <wenzlern@ethz.ch> - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ -#include <stdio.h> -#include <stdlib.h> -#include <string.h> -#include "calibration.h" - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -static int calibrate_help(int argc, char *argv[]); -static int calibrate_all(int argc, char *argv[]); - -__EXPORT int calibration_main(int argc, char *argv[]); - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -struct { - const char *name; - int (* fn)(int argc, char *argv[]); - unsigned options; -#define OPT_NOHELP (1<<0) -#define OPT_NOALLTEST (1<<1) -} calibrates[] = { - {"range", range_cal, 0}, - {"servo", servo_cal, 0}, - {"all", calibrate_all, OPT_NOALLTEST}, - {"help", calibrate_help, OPT_NOALLTEST | OPT_NOHELP}, - {NULL, NULL} -}; - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - -static int -calibrate_help(int argc, char *argv[]) -{ - unsigned i; - - printf("Available calibration routines:\n"); - - for (i = 0; calibrates[i].name; i++) - printf(" %s\n", calibrates[i].name); - - return 0; -} - -static int -calibrate_all(int argc, char *argv[]) -{ - unsigned i; - char *args[2] = {"all", NULL}; - - printf("Running all calibration routines...\n\n"); - - for (i = 0; calibrates[i].name; i++) { - printf(" %s:\n", calibrates[i].name); - - if (calibrates[i].fn(1, args)) { - printf(" FAIL\n"); - - } else { - printf(" DONE\n"); - } - } - - return 0; -} - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -void press_enter(void) -{ - int c; - printf("Press CTRL+ENTER to continue... \n"); - fflush(stdout); - - do c = getchar(); while ((c != '\n') && (c != EOF)); -} - -/**************************************************************************** - * Name: calibrate_main - ****************************************************************************/ - -int calibration_main(int argc, char *argv[]) -{ - unsigned i; - - if (argc < 2) { - printf("calibration: missing name - 'calibration help' for a list of routines\n"); - return 1; - } - - for (i = 0; calibrates[i].name; i++) { - if (!strcmp(calibrates[i].name, argv[1])) - return calibrates[i].fn(argc - 1, argv + 1); - } - - printf("calibrate: no routines called '%s' - 'calibration help' for a list of routines\n", argv[1]); - return 1; -} diff --git a/apps/systemcmds/calibration/channels_cal.c b/apps/systemcmds/calibration/channels_cal.c deleted file mode 100755 index 575138b12..000000000 --- a/apps/systemcmds/calibration/channels_cal.c +++ /dev/null @@ -1,196 +0,0 @@ -/**************************************************************************** - * channels_cal.c - * - * Copyright (C) 2012 Nils Wenzler. All rights reserved. - * Authors: Nils Wenzler <wenzlern@ethz.ch> - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ -#include <stdio.h> -#include <string.h> -#include <stdlib.h> -#include "calibration.h" - -/**************************************************************************** - * Defines - ****************************************************************************/ -#define ABS(a) (((a) < 0) ? -(a) : (a)) -#define MIN(a,b) (((a)<(b))?(a):(b)) -#define MAX(a,b) (((a)>(b))?(a):(b)) - -/**************************************************************************** - * Private Data - ****************************************************************************/ -//Store the values here before writing them to global_data_rc_channels -uint16_t old_values[NR_CHANNELS]; -uint16_t cur_values[NR_CHANNELS]; -uint8_t function_map[NR_CHANNELS]; -char names[12][9]; - - - -/**************************************************************************** - * Private Functions - ****************************************************************************/ -void press_enter_2(void) -{ - int c; - printf("Press CTRL+ENTER to continue... \n"); - fflush(stdout); - - do c = getchar(); while ((c != '\n') && (c != EOF)); -} - -/**This gets all current values and writes them to min or max - */ -uint8_t get_val(uint16_t *buffer) -{ - if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { - uint8_t i; - - for (i = 0; i < NR_CHANNELS; i++) { - printf("Channel: %i\t RAW Value: %i: \n", i, global_data_rc_channels->chan[i].raw); - buffer[i] = global_data_rc_channels->chan[i].raw; - } - - global_data_unlock(&global_data_rc_channels->access_conf); - return 0; - - } else - return -1; -} - -void set_channel(void) -{ - static uint8_t j = 0; - uint8_t i; - - for (i = 0; i < NR_CHANNELS; i++) { - if (ABS(old_values - cur_values) > 50) { - function_map[j] = i; - strcpy(names[i], global_data_rc_channels->function_names[j]); - j++; - } - } -} - -void write_dat(void) -{ - global_data_lock(&global_data_rc_channels->access_conf); - uint8_t i; - - for (i = 0; i < NR_CHANNELS; i++) { - global_data_rc_channels->function[i] = function_map[i]; - strcpy(global_data_rc_channels->chan[i].name, names[i]); - - printf("Channel %i\t Function %s\n", i, - global_data_rc_channels->chan[i].name); - } - - global_data_unlock(&global_data_rc_channels->access_conf); -} - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ -int channels_cal(int argc, char *argv[]) -{ - - printf("This routine maps the input functions on the remote control\n"); - printf("to the corresponding function (Throttle, Roll,..)\n"); - printf("Always move the stick all the way\n"); - press_enter_2(); - - printf("Pull the THROTTLE stick down\n"); - press_enter_2(); - - while (get_val(old_values)); - - printf("Move the THROTTLE stick up\n "); - press_enter_2(); - - while (get_val(cur_values)); - - set_channel(); - - printf("Pull the PITCH stick down\n"); - press_enter_2(); - - while (get_val(old_values)); - - printf("Move the PITCH stick up\n "); - press_enter_2(); - - while (get_val(cur_values)); - - set_channel(); - - printf("Put the ROLL stick to the left\n"); - press_enter_2(); - - while (get_val(old_values)); - - printf("Put the ROLL stick to the right\n "); - press_enter_2(); - - while (get_val(cur_values)); - - set_channel(); - - printf("Put the YAW stick to the left\n"); - press_enter_2(); - - while (get_val(old_values)); - - printf("Put the YAW stick to the right\n "); - press_enter_2(); - - while (get_val(cur_values)); - - set_channel(); - - uint8_t k; - - for (k = 5; k < NR_CHANNELS; k++) { - function_map[k] = k; - strcpy(names[k], global_data_rc_channels->function_names[k]); - } - -//write the values to global_data_rc_channels - write_dat(); - - return 0; - -} - diff --git a/apps/systemcmds/calibration/range_cal.c b/apps/systemcmds/calibration/range_cal.c deleted file mode 100755 index 159a0d06b..000000000 --- a/apps/systemcmds/calibration/range_cal.c +++ /dev/null @@ -1,224 +0,0 @@ -/**************************************************************************** - * range_cal.c - * - * Copyright (C) 2012 Nils Wenzler. All rights reserved. - * Authors: Nils Wenzler <wenzlern@ethz.ch> - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ -#include <stdio.h> -#include <stdlib.h> -#include "calibration.h" - -/**************************************************************************** - * Defines - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ -//Store the values here before writing them to global_data_rc_channels -uint16_t max_values[NR_CHANNELS]; -uint16_t min_values[NR_CHANNELS]; -uint16_t mid_values[NR_CHANNELS]; - - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - -/**This sets the middle values - */ -uint8_t set_mid(void) -{ - if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { - uint8_t i; - - for (i = 0; i < NR_CHANNELS; i++) { - if (i == global_data_rc_channels->function[ROLL] || - i == global_data_rc_channels->function[YAW] || - i == global_data_rc_channels->function[PITCH]) { - - mid_values[i] = global_data_rc_channels->chan[i].raw; - - } else { - mid_values[i] = (max_values[i] + min_values[i]) / 2; - } - - } - - global_data_unlock(&global_data_rc_channels->access_conf); - return 0; - - } else - return -1; -} - -/**This gets all current values and writes them to min or max - */ -uint8_t get_value(void) -{ - if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { - uint8_t i; - - for (i = 0; i < NR_CHANNELS; i++) { - //see if the value is bigger or smaller than 1500 (roughly neutral) - //and write to the appropriate array - if (global_data_rc_channels->chan[i].raw != 0 && - global_data_rc_channels->chan[i].raw < 1500) { - min_values[i] = global_data_rc_channels->chan[i].raw; - - } else if (global_data_rc_channels->chan[i].raw != 0 && - global_data_rc_channels->chan[i].raw > 1500) { - max_values[i] = global_data_rc_channels->chan[i].raw; - - } else { - max_values[i] = 0; - min_values[i] = 0; - } - } - - global_data_unlock(&global_data_rc_channels->access_conf); - return 0; - - } else - return -1; -} - - -void write_data(void) -{ - // global_data_lock(&global_data_rc_channels->access_conf); - // uint8_t i; - // for(i=0; i < NR_CHANNELS; i++){ - // //Write the data to global_data_rc_channels (if not 0) - // if(mid_values[i]!=0 && min_values[i]!=0 && max_values[i]!=0){ - // global_data_rc_channels->chan[i].scaling_factor = - // 10000/((max_values[i] - min_values[i])/2); - // - // global_data_rc_channels->chan[i].mid = mid_values[i]; - // } - // - // printf("Channel %i\t Function %s \t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n", - // i, - // global_data_rc_channels->function_name[global_data_rc_channels->function[i]], - // min_values[i], max_values[i], - // global_data_rc_channels->chan[i].scaling_factor, - // global_data_rc_channels->chan[i].mid); - // } - // global_data_unlock(&global_data_rc_channels->access_conf); - - //Write to the Parameter storage - - global_data_parameter_storage->pm.param_values[PARAM_RC1_MIN] = min_values[0]; - global_data_parameter_storage->pm.param_values[PARAM_RC2_MIN] = min_values[1]; - global_data_parameter_storage->pm.param_values[PARAM_RC3_MIN] = min_values[2]; - global_data_parameter_storage->pm.param_values[PARAM_RC4_MIN] = min_values[3]; - global_data_parameter_storage->pm.param_values[PARAM_RC5_MIN] = min_values[4]; - global_data_parameter_storage->pm.param_values[PARAM_RC6_MIN] = min_values[5]; - global_data_parameter_storage->pm.param_values[PARAM_RC7_MIN] = min_values[6]; - global_data_parameter_storage->pm.param_values[PARAM_RC8_MIN] = min_values[7]; - - - global_data_parameter_storage->pm.param_values[PARAM_RC1_MAX] = max_values[0]; - global_data_parameter_storage->pm.param_values[PARAM_RC2_MAX] = max_values[1]; - global_data_parameter_storage->pm.param_values[PARAM_RC3_MAX] = max_values[2]; - global_data_parameter_storage->pm.param_values[PARAM_RC4_MAX] = max_values[3]; - global_data_parameter_storage->pm.param_values[PARAM_RC5_MAX] = max_values[4]; - global_data_parameter_storage->pm.param_values[PARAM_RC6_MAX] = max_values[5]; - global_data_parameter_storage->pm.param_values[PARAM_RC7_MAX] = max_values[6]; - global_data_parameter_storage->pm.param_values[PARAM_RC8_MAX] = max_values[7]; - - - global_data_parameter_storage->pm.param_values[PARAM_RC1_TRIM] = mid_values[0]; - global_data_parameter_storage->pm.param_values[PARAM_RC2_TRIM] = mid_values[1]; - global_data_parameter_storage->pm.param_values[PARAM_RC3_TRIM] = mid_values[2]; - global_data_parameter_storage->pm.param_values[PARAM_RC4_TRIM] = mid_values[3]; - global_data_parameter_storage->pm.param_values[PARAM_RC5_TRIM] = mid_values[4]; - global_data_parameter_storage->pm.param_values[PARAM_RC6_TRIM] = mid_values[5]; - global_data_parameter_storage->pm.param_values[PARAM_RC7_TRIM] = mid_values[6]; - global_data_parameter_storage->pm.param_values[PARAM_RC8_TRIM] = mid_values[7]; - - usleep(3e6); - uint8_t i; - - for (i = 0; i < NR_CHANNELS; i++) { - printf("Channel %i:\t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n", - i, - min_values[i], max_values[i], - global_data_rc_channels->chan[i].scaling_factor, - global_data_rc_channels->chan[i].mid); - } - - -} - -/**************************************************************************** - * Public Functions - ****************************************************************************/ -int range_cal(int argc, char *argv[]) -{ - - printf("The range calibration routine assumes you already did the channel\n"); - printf("assignment\n"); - printf("This routine chooses the minimum, maximum and middle\n"); - printf("value for each channel separatly. The ROLL, PITCH and YAW function\n"); - printf("get their middle value from the RC direct, for the rest it is\n"); - printf("calculated out of the min and max values.\n"); - press_enter(); - - printf("Hold both sticks in lower left corner and continue\n "); - press_enter(); - usleep(500000); - - while (get_value()); - - printf("Hold both sticks in upper right corner and continue\n"); - press_enter(); - usleep(500000); - - while (get_value()); - - printf("Set the trim to 0 and leave the sticks in the neutral position\n"); - press_enter(); - - //Loop until successfull - while (set_mid()); - - //write the values to global_data_rc_channels - write_data(); - - return 0; - -} - diff --git a/apps/systemcmds/calibration/servo_cal.c b/apps/systemcmds/calibration/servo_cal.c deleted file mode 100644 index 96b3045a9..000000000 --- a/apps/systemcmds/calibration/servo_cal.c +++ /dev/null @@ -1,264 +0,0 @@ -/**************************************************************************** - * servo_cal.c - * - * Copyright (C) 2012 Nils Wenzler. All rights reserved. - * Authors: Nils Wenzler <wenzlern@ethz.ch> - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ -#include <stdio.h> -#include <stdlib.h> -#include <arch/board/drv_pwm_servo.h> -#include <fcntl.h> -#include "calibration.h" - -/**************************************************************************** - * Defines - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ -//Store the values here before writing them to global_data_rc_channels -uint16_t max_values_servo[PWM_SERVO_MAX_CHANNELS]; -uint16_t min_values_servo[PWM_SERVO_MAX_CHANNELS]; -uint16_t mid_values_servo[PWM_SERVO_MAX_CHANNELS]; - -// Servo loop thread - -pthread_t servo_calib_thread; - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - -/**This sets the middle values - */ -uint8_t set_mid_s(void) -{ - if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { - uint8_t i; - - for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) { - if (i == global_data_rc_channels->function[ROLL] || - i == global_data_rc_channels->function[YAW] || - i == global_data_rc_channels->function[PITCH]) { - - mid_values_servo[i] = global_data_rc_channels->chan[i].raw; - - } else { - mid_values_servo[i] = (max_values_servo[i] + min_values_servo[i]) / 2; - } - - } - - global_data_unlock(&global_data_rc_channels->access_conf); - return 0; - - } else - return -1; -} - -/**This gets all current values and writes them to min or max - */ -uint8_t get_value_s(void) -{ - if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { - uint8_t i; - - for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) { - //see if the value is bigger or smaller than 1500 (roughly neutral) - //and write to the appropriate array - if (global_data_rc_channels->chan[i].raw != 0 && - global_data_rc_channels->chan[i].raw < 1500) { - min_values_servo[i] = global_data_rc_channels->chan[i].raw; - - } else if (global_data_rc_channels->chan[i].raw != 0 && - global_data_rc_channels->chan[i].raw > 1500) { - max_values_servo[i] = global_data_rc_channels->chan[i].raw; - - } else { - max_values_servo[i] = 0; - min_values_servo[i] = 0; - } - } - - global_data_unlock(&global_data_rc_channels->access_conf); - return 0; - - } else - return -1; -} - - -void write_data_s(void) -{ - // global_data_lock(&global_data_rc_channels->access_conf); - // uint8_t i; - // for(i=0; i < NR_CHANNELS; i++){ - // //Write the data to global_data_rc_channels (if not 0) - // if(mid_values_servo[i]!=0 && min_values_servo[i]!=0 && max_values_servo[i]!=0){ - // global_data_rc_channels->chan[i].scaling_factor = - // 10000/((max_values_servo[i] - min_values_servo[i])/2); - // - // global_data_rc_channels->chan[i].mid = mid_values_servo[i]; - // } - // - // printf("Channel %i\t Function %s \t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n", - // i, - // global_data_rc_channels->function_name[global_data_rc_channels->function[i]], - // min_values_servo[i], max_values_servo[i], - // global_data_rc_channels->chan[i].scaling_factor, - // global_data_rc_channels->chan[i].mid); - // } - // global_data_unlock(&global_data_rc_channels->access_conf); - - //Write to the Parameter storage - - - - global_data_lock(&global_data_parameter_storage->access_conf); - - global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MIN] = min_values_servo[0]; - global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MIN] = min_values_servo[1]; - global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MIN] = min_values_servo[2]; - global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MIN] = min_values_servo[3]; - - global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MAX] = max_values_servo[0]; - global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MAX] = max_values_servo[1]; - global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MAX] = max_values_servo[2]; - global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MAX] = max_values_servo[3]; - - global_data_parameter_storage->pm.param_values[PARAM_SERVO1_TRIM] = mid_values_servo[0]; - global_data_parameter_storage->pm.param_values[PARAM_SERVO2_TRIM] = mid_values_servo[1]; - global_data_parameter_storage->pm.param_values[PARAM_SERVO3_TRIM] = mid_values_servo[2]; - global_data_parameter_storage->pm.param_values[PARAM_SERVO4_TRIM] = mid_values_servo[3]; - - global_data_unlock(&global_data_parameter_storage->access_conf); - - usleep(3e6); - uint8_t i; - - for (i = 0; i < NR_CHANNELS; i++) { - printf("Channel %i:\t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n", - i, - min_values_servo[i], max_values_servo[i], - global_data_rc_channels->chan[i].scaling_factor, - global_data_rc_channels->chan[i].mid); - } - -} - -static void *servo_loop(void *arg) -{ - - // Set thread name - prctl(1, "calibration servo", getpid()); - - // initialize servos - int fd; - servo_position_t data[PWM_SERVO_MAX_CHANNELS]; - - fd = open("/dev/pwm_servo", O_RDWR); - - if (fd < 0) { - printf("failed opening /dev/pwm_servo\n"); - } - - ioctl(fd, PWM_SERVO_ARM, 0); - - while (1) { - int i; - - for (i = 0; i < 4; i++) { - data[i] = global_data_rc_channels->chan[global_data_rc_channels->function[THROTTLE]].raw; - } - - int result = write(fd, &data, sizeof(data)); - - if (result != sizeof(data)) { - printf("failed bulk-reading channel values\n"); - } - - // 5Hz loop - usleep(200000); - } - - return NULL; -} - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ -int servo_cal(int argc, char *argv[]) -{ - // pthread_attr_t servo_loop_attr; - // pthread_attr_init(&servo_loop_attr); - // pthread_attr_setstacksize(&servo_loop_attr, 1024); - pthread_create(&servo_calib_thread, NULL, servo_loop, NULL); - pthread_join(servo_calib_thread, NULL); - - printf("The servo calibration routine assumes you already did the channel\n"); - printf("assignment with 'calibration channels'\n"); - printf("This routine chooses the minimum, maximum and middle\n"); - printf("value for each channel separately. The ROLL, PITCH and YAW function\n"); - printf("get their middle value from the RC direct, for the rest it is\n"); - printf("calculated out of the min and max values.\n"); - press_enter(); - - printf("Hold both sticks in lower left corner and continue\n "); - press_enter(); - usleep(500000); - - while (get_value_s()); - - printf("Hold both sticks in upper right corner and continue\n"); - press_enter(); - usleep(500000); - - while (get_value_s()); - - printf("Set the trim to 0 and leave the sticks in the neutral position\n"); - press_enter(); - - //Loop until successfull - while (set_mid_s()); - - //write the values to global_data_rc_channels - write_data_s(); - - return 0; - -} - diff --git a/apps/systemcmds/delay_test/delay_test.c b/apps/systemcmds/delay_test/delay_test.c deleted file mode 100644 index 51cce38fc..000000000 --- a/apps/systemcmds/delay_test/delay_test.c +++ /dev/null @@ -1,160 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier <lm@inf.ethz.ch> - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file delay_test.c - * - * Simple but effective delay test using leds and a scope to measure - * communication delays end-to-end accurately. - * - * @author Lorenz Meier <lm@inf.ethz.ch> - */ - -#include <nuttx/config.h> -#include <unistd.h> -#include <stdlib.h> -#include <stdio.h> -#include <fcntl.h> -#include <errno.h> -#include <poll.h> -#include <string.h> - -#include <systemlib/err.h> - -#include <drivers/drv_led.h> -#include <drivers/drv_hrt.h> -#include <drivers/drv_tone_alarm.h> - -#include <uORB/topics/vehicle_vicon_position.h> -#include <uORB/topics/vehicle_command.h> - -__EXPORT int delay_test_main(int argc, char *argv[]); -static int led_on(int leds, int led); -static int led_off(int leds, int led); - -int delay_test_main(int argc, char *argv[]) -{ - bool vicon_msg = false; - bool command_msg = false; - - if (argc > 1 && !strcmp(argv[1], "--help")) { - warnx("usage: delay_test [vicon] [command]\n"); - exit(1); - } - - if (argc > 1 && !strcmp(argv[1], "vicon")) { - vicon_msg = true; - } - - if (argc > 1 && !strcmp(argv[1], "command")) { - command_msg = true; - } - - int buzzer = open("/dev/tone_alarm", O_WRONLY); - int leds = open(LED_DEVICE_PATH, 0); - - /* prepare use of amber led */ - led_off(leds, LED_AMBER); - - int topic; - - /* subscribe to topic */ - if (vicon_msg) { - topic = orb_subscribe(ORB_ID(vehicle_vicon_position)); - } else if (command_msg) { - topic = orb_subscribe(ORB_ID(vehicle_command)); - } else { - errx(1, "No topic selected for delay test, use --help for a list of topics."); - } - - const int testcount = 20; - - warnx("running %d iterations..\n", testcount); - - struct pollfd fds[1]; - fds[0].fd = topic; - fds[0].events = POLLIN; - - /* display and sound error */ - for (int i = 0; i < testcount; i++) - { - /* wait for topic */ - int ret = poll(&fds[0], 1, 2000); - - /* this would be bad... */ - if (ret < 0) { - warnx("poll error %d", errno); - usleep(1000000); - continue; - } - - /* do we have a topic update? */ - if (fds[0].revents & POLLIN) { - - /* copy object to disable poll ready state */ - if (vicon_msg) { - struct vehicle_vicon_position_s vicon_position; - orb_copy(ORB_ID(vehicle_vicon_position), topic, &vicon_position); - } else if (command_msg) { - struct vehicle_command_s vehicle_command; - orb_copy(ORB_ID(vehicle_command), topic, &vehicle_command); - } - - led_on(leds, LED_AMBER); - ioctl(buzzer, TONE_SET_ALARM, 4); - /* keep led on for 50 ms to make it barely visible */ - usleep(50000); - led_off(leds, LED_AMBER); - } - } - - /* stop alarm */ - ioctl(buzzer, TONE_SET_ALARM, 0); - - /* switch on leds */ - led_on(leds, LED_BLUE); - led_on(leds, LED_AMBER); - - exit(0); -} - -static int led_off(int leds, int led) -{ - return ioctl(leds, LED_OFF, led); -} - -static int led_on(int leds, int led) -{ - return ioctl(leds, LED_ON, led); -}
\ No newline at end of file diff --git a/apps/systemcmds/eeprom/Makefile b/apps/systemcmds/eeprom/Makefile deleted file mode 100644 index 79a05550e..000000000 --- a/apps/systemcmds/eeprom/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Build the eeprom tool. -# - -APPNAME = eeprom -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 - -include $(APPDIR)/mk/app.mk - -MAXOPTIMIZATION = -Os diff --git a/apps/systemcmds/i2c/Makefile b/apps/systemcmds/i2c/Makefile deleted file mode 100644 index 046e74757..000000000 --- a/apps/systemcmds/i2c/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Build the i2c test tool. -# - -APPNAME = i2c -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 - -include $(APPDIR)/mk/app.mk diff --git a/apps/systemcmds/perf/.context b/apps/systemcmds/perf/.context deleted file mode 100644 index e69de29bb..000000000 --- a/apps/systemcmds/perf/.context +++ /dev/null diff --git a/apps/systemcmds/preflight_check/Makefile b/apps/systemcmds/preflight_check/Makefile deleted file mode 100644 index 98aadaa86..000000000 --- a/apps/systemcmds/preflight_check/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Reboot command. -# - -APPNAME = preflight_check -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk - -MAXOPTIMIZATION = -Os diff --git a/apps/systemcmds/pwm/Makefile b/apps/systemcmds/pwm/Makefile deleted file mode 100644 index 5ab105ed1..000000000 --- a/apps/systemcmds/pwm/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Build the pwm tool. -# - -APPNAME = pwm -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 - -include $(APPDIR)/mk/app.mk diff --git a/apps/systemcmds/reboot/.context b/apps/systemcmds/reboot/.context deleted file mode 100644 index e69de29bb..000000000 --- a/apps/systemcmds/reboot/.context +++ /dev/null diff --git a/apps/systemcmds/top/.context b/apps/systemcmds/top/.context deleted file mode 100644 index e69de29bb..000000000 --- a/apps/systemcmds/top/.context +++ /dev/null diff --git a/apps/systemcmds/top/Makefile b/apps/systemcmds/top/Makefile deleted file mode 100644 index f58f9212e..000000000 --- a/apps/systemcmds/top/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# realtime system performance display -# - -APPNAME = top -PRIORITY = SCHED_PRIORITY_DEFAULT - 10 -STACKSIZE = 3000 - -include $(APPDIR)/mk/app.mk - -MAXOPTIMIZATION = -Os diff --git a/apps/uORB/.context b/apps/uORB/.context deleted file mode 100644 index e69de29bb..000000000 --- a/apps/uORB/.context +++ /dev/null diff --git a/makefiles/board_px4fmu.mk b/makefiles/board_px4fmu.mk new file mode 100644 index 000000000..837069644 --- /dev/null +++ b/makefiles/board_px4fmu.mk @@ -0,0 +1,10 @@ +# +# Board-specific definitions for the PX4FMU +# + +# +# Configure the toolchain +# +CONFIG_ARCH = CORTEXM4F + +include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk diff --git a/makefiles/board_px4io.mk b/makefiles/board_px4io.mk new file mode 100644 index 000000000..b0eb2dae7 --- /dev/null +++ b/makefiles/board_px4io.mk @@ -0,0 +1,10 @@ +# +# Board-specific definitions for the PX4IO +# + +# +# Configure the toolchain +# +CONFIG_ARCH = CORTEXM3 + +include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk new file mode 100644 index 000000000..441ac3aac --- /dev/null +++ b/makefiles/config_px4fmu_default.mk @@ -0,0 +1,124 @@ +# +# Makefile for the px4fmu_default configuration +# + +# +# Use the configuration's ROMFS. +# +ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common + +# +# Board support modules +# +MODULES += drivers/device +MODULES += drivers/stm32 +MODULES += drivers/stm32/adc +MODULES += drivers/stm32/tone_alarm +MODULES += drivers/led +MODULES += drivers/px4io +MODULES += drivers/px4fmu +MODULES += drivers/boards/px4fmu +MODULES += drivers/ardrone_interface +MODULES += drivers/l3gd20 +MODULES += drivers/bma180 +MODULES += drivers/mpu6000 +MODULES += drivers/hmc5883 +MODULES += drivers/ms5611 +MODULES += drivers/mb12xx +MODULES += drivers/gps +MODULES += drivers/hil +MODULES += drivers/hott_telemetry +MODULES += drivers/blinkm +MODULES += drivers/mkblctrl +MODULES += drivers/md25 +MODULES += drivers/ets_airspeed +MODULES += modules/sensors + +# +# System commands +# +MODULES += systemcmds/eeprom +MODULES += systemcmds/bl_update +MODULES += systemcmds/boardinfo +MODULES += systemcmds/i2c +MODULES += systemcmds/mixer +MODULES += systemcmds/param +MODULES += systemcmds/perf +MODULES += systemcmds/preflight_check +MODULES += systemcmds/pwm +MODULES += systemcmds/reboot +MODULES += systemcmds/top +MODULES += systemcmds/tests + +# +# General system control +# +MODULES += modules/commander +MODULES += modules/mavlink +MODULES += modules/mavlink_onboard +MODULES += modules/gpio_led + +# +# Estimation modules (EKF / other filters) +# +MODULES += modules/attitude_estimator_ekf +MODULES += modules/position_estimator_mc +MODULES += modules/position_estimator +MODULES += modules/att_pos_estimator_ekf + +# +# Vehicle Control +# +MODULES += modules/fixedwing_backside +MODULES += modules/fixedwing_att_control +MODULES += modules/fixedwing_pos_control +MODULES += modules/multirotor_att_control +MODULES += modules/multirotor_pos_control + +# +# Logging +# +MODULES += modules/sdlog + +# +# Libraries +# +MODULES += modules/systemlib +MODULES += modules/systemlib/mixer +MODULES += modules/mathlib +MODULES += modules/mathlib/CMSIS +MODULES += modules/controllib +MODULES += modules/uORB + +# +# Demo apps +# +#MODULES += examples/math_demo +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/hello_sky +#MODULES += examples/px4_simple_app + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/daemon +#MODULES += examples/px4_daemon_app + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/debug_values +#MODULES += examples/px4_mavlink_debug + +# +# Transitional support - add commands from the NuttX export archive. +# +# In general, these should move to modules over time. +# +# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro +# to make the table a bit more readable. +# +define _B + $(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4) +endef + +# command priority stack entrypoint +BUILTIN_COMMANDS := \ + $(call _B, sercon, , 2048, sercon_main ) \ + $(call _B, serdis, , 2048, serdis_main ) diff --git a/makefiles/config_px4io_default.mk b/makefiles/config_px4io_default.mk new file mode 100644 index 000000000..cf70391bc --- /dev/null +++ b/makefiles/config_px4io_default.mk @@ -0,0 +1,10 @@ +# +# Makefile for the px4io_default configuration +# + +# +# Board support modules +# +MODULES += drivers/stm32 +MODULES += drivers/boards/px4io +MODULES += modules/px4iofirmware
\ No newline at end of file diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk new file mode 100644 index 000000000..b63aa28d7 --- /dev/null +++ b/makefiles/firmware.mk @@ -0,0 +1,443 @@ +# +# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# + +# +# Generic Makefile for PX4 firmware images. +# +# Requires: +# +# BOARD +# Must be set to a board name known to the PX4 distribution (as +# we need a corresponding NuttX export archive to link with). +# +# Optional: +# +# MODULES +# Contains a list of module paths or path fragments used +# to find modules. The names listed here are searched in +# the following directories: +# <absolute path> +# $(MODULE_SEARCH_DIRS) +# WORK_DIR +# MODULE_SRC +# PX4_MODULE_SRC +# +# Application directories are expected to contain a module.mk +# file which provides build configuration for the module. See +# makefiles/module.mk for more details. +# +# BUILTIN_COMMANDS +# Contains a list of built-in commands not explicitly provided +# by modules / libraries. Each entry in this list is formatted +# as <command>.<priority>.<stacksize>.<entrypoint> +# +# PX4_BASE: +# Points to a PX4 distribution. Normally determined based on the +# path to this file. +# +# CONFIG: +# Used when searching for the configuration file, and available +# to module Makefiles to select optional features. +# If not set, CONFIG_FILE must be set and CONFIG will be derived +# automatically from it. +# +# CONFIG_FILE: +# If set, overrides the configuration file search logic. Sets +# CONFIG to the name of the configuration file, strips any +# leading config_ prefix and any suffix. e.g. config_board_foo.mk +# results in CONFIG being set to 'board_foo'. +# +# WORK_DIR: +# Sets the directory in which the firmware will be built. Defaults +# to the directory 'build' under the directory containing the +# parent Makefile. +# +# ROMFS_ROOT: +# If set to the path to a directory, a ROMFS image will be generated +# containing the files under the directory and linked into the final +# image. +# +# MODULE_SEARCH_DIRS: +# Extra directories to search first for MODULES before looking in the +# usual places. +# + +################################################################################ +# Paths and configuration +################################################################################ + +# +# Work out where this file is, so we can find other makefiles in the +# same directory. +# +# If PX4_BASE wasn't set previously, work out what it should be +# and set it here now. +# +MK_DIR ?= $(dir $(lastword $(MAKEFILE_LIST))) +ifeq ($(PX4_BASE),) +export PX4_BASE := $(abspath $(MK_DIR)/..) +endif +$(info % PX4_BASE = $(PX4_BASE)) +ifneq ($(words $(PX4_BASE)),1) +$(error Cannot build when the PX4_BASE path contains one or more space characters.) +endif + +# +# Set a default target so that included makefiles or errors here don't +# cause confusion. +# +# XXX We could do something cute here with $(DEFAULT_GOAL) if it's not one +# of the maintenance targets and set CONFIG based on it. +# +all: firmware + +# +# Get path and tool config +# +include $(MK_DIR)/setup.mk + +# +# Locate the configuration file +# +ifneq ($(CONFIG_FILE),) +CONFIG := $(subst config_,,$(basename $(notdir $(CONFIG_FILE)))) +else +CONFIG_FILE := $(wildcard $(PX4_MK_DIR)/config_$(CONFIG).mk) +endif +ifeq ($(CONFIG),) +$(error Missing configuration name or file (specify with CONFIG=<config>)) +endif +export CONFIG +include $(CONFIG_FILE) +$(info % CONFIG = $(CONFIG)) + +# +# Sanity-check the BOARD variable and then get the board config. +# If BOARD was not set by the configuration, extract it automatically. +# +# The board config in turn will fetch the toolchain configuration. +# +ifeq ($(BOARD),) +BOARD := $(firstword $(subst _, ,$(CONFIG))) +endif +BOARD_FILE := $(wildcard $(PX4_MK_DIR)/board_$(BOARD).mk) +ifeq ($(BOARD_FILE),) +$(error Config $(CONFIG) references board $(BOARD), but no board definition file found) +endif +export BOARD +include $(BOARD_FILE) +$(info % BOARD = $(BOARD)) + +# +# If WORK_DIR is not set, create a 'build' directory next to the +# parent Makefile. +# +PARENT_MAKEFILE := $(lastword $(filter-out $(lastword $(MAKEFILE_LIST)),$(MAKEFILE_LIST))) +ifeq ($(WORK_DIR),) +export WORK_DIR := $(dir $(PARENT_MAKEFILE))build/ +endif +$(info % WORK_DIR = $(WORK_DIR)) + +# +# Things that, if they change, might affect everything +# +GLOBAL_DEPS += $(MAKEFILE_LIST) + +# +# Extra things we should clean +# +EXTRA_CLEANS = + +################################################################################ +# Modules +################################################################################ + +# +# We don't actually know what a module is called; all we have is a path fragment +# that we can search for, and where we expect to find a module.mk file. +# +# As such, we replicate the successfully-found path inside WORK_DIR for the +# module's build products in order to keep modules separated from each other. +# +# XXX If this becomes unwieldy or breaks for other reasons, we will need to +# move to allocating directory names and keeping tabs on makefiles via +# the directory name. That will involve arithmetic (it'd probably be time +# for GMSL). + +# where to look for modules +MODULE_SEARCH_DIRS += $(WORK_DIR) $(MODULE_SRC) $(PX4_MODULE_SRC) + +# sort and unique the modules list +MODULES := $(sort $(MODULES)) + +# locate the first instance of a module by full path or by looking on the +# module search path +define MODULE_SEARCH + $(abspath $(firstword $(wildcard $(1)/module.mk) \ + $(foreach search_dir,$(MODULE_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/module.mk)) \ + MISSING_$1)) +endef + +# make a list of module makefiles and check that we found them all +MODULE_MKFILES := $(foreach module,$(MODULES),$(call MODULE_SEARCH,$(module))) +MISSING_MODULES := $(subst MISSING_,,$(filter MISSING_%,$(MODULE_MKFILES))) +ifneq ($(MISSING_MODULES),) +$(error Can't find module(s): $(MISSING_MODULES)) +endif + +# Make a list of the object files we expect to build from modules +# Note that this path will typically contain a double-slash at the WORK_DIR boundary; this must be +# preserved as it is used below to get the absolute path for the module.mk file correct. +# +MODULE_OBJS := $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module.pre.o) + +# rules to build module objects +.PHONY: $(MODULE_OBJS) +$(MODULE_OBJS): relpath = $(patsubst $(WORK_DIR)%,%,$@) +$(MODULE_OBJS): mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath)) +$(MODULE_OBJS): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER) + $(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \ + MODULE_WORK_DIR=$(dir $@) \ + MODULE_OBJ=$@ \ + MODULE_MK=$(mkfile) \ + MODULE_NAME=$(lastword $(subst /, ,$(@D))) \ + module + +# make a list of phony clean targets for modules +MODULE_CLEANS := $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)/clean) + +# rules to clean modules +.PHONY: $(MODULE_CLEANS) +$(MODULE_CLEANS): relpath = $(patsubst $(WORK_DIR)%,%,$@) +$(MODULE_CLEANS): mkfile = $(patsubst %clean,%module.mk,$(relpath)) +$(MODULE_CLEANS): + @$(ECHO) %% cleaning using $(mkfile) + $(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \ + MODULE_WORK_DIR=$(dir $@) \ + MODULE_MK=$(mkfile) \ + clean + +################################################################################ +# NuttX libraries and paths +################################################################################ + +include $(PX4_MK_DIR)/nuttx.mk + +################################################################################ +# ROMFS generation +################################################################################ + +ifneq ($(ROMFS_ROOT),) +ifeq ($(wildcard $(ROMFS_ROOT)),) +$(error ROMFS_ROOT specifies a directory that does not exist) +endif + +# +# Note that there is no support for more than one root directory or constructing +# a root from several templates. That would be a nice feature. +# + +# Add dependencies on anything in the ROMFS root +ROMFS_DEPS += $(wildcard \ + (ROMFS_ROOT)/* \ + (ROMFS_ROOT)/*/* \ + (ROMFS_ROOT)/*/*/* \ + (ROMFS_ROOT)/*/*/*/* \ + (ROMFS_ROOT)/*/*/*/*/* \ + (ROMFS_ROOT)/*/*/*/*/*/*) +ROMFS_IMG = $(WORK_DIR)romfs.img +ROMFS_CSRC = $(ROMFS_IMG:.img=.c) +ROMFS_OBJ = $(ROMFS_CSRC:.c=.o) +LIBS += $(ROMFS_OBJ) +LINK_DEPS += $(ROMFS_OBJ) + +# Turn the ROMFS image into an object file +$(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS) + $(call BIN_TO_OBJ,$<,$@,romfs_img) + +# Generate the ROMFS image from the root +$(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS) + @$(ECHO) "ROMFS: $@" + $(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol" + +EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG) + +endif + +################################################################################ +# Builtin command list generation +################################################################################ + +# +# Builtin commands can be generated by the configuration, in which case they +# must refer to commands that already exist, or indirectly generated by modules +# when they are built. +# +# The configuration supplies builtin command information in the BUILTIN_COMMANDS +# variable. Applications make empty files in $(WORK_DIR)/builtin_commands whose +# filename contains the same information. +# +# In each case, the command information consists of four fields separated with a +# period. These fields are the command's name, its thread priority, its stack size +# and the name of the function to call when starting the thread. +# +BUILTIN_CSRC = $(WORK_DIR)builtin_commands.c + +# command definitions from modules (may be empty at Makefile parsing time...) +MODULE_COMMANDS = $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*))) + +# We must have at least one pre-defined builtin command in order to generate +# any of this. +# +ifneq ($(BUILTIN_COMMANDS),) + +# (BUILTIN_PROTO,<cmdspec>,<outputfile>) +define BUILTIN_PROTO + $(ECHO) 'extern int $(word 4,$1)(int argc, char *argv[]);' >> $2; +endef + +# (BUILTIN_DEF,<cmdspec>,<outputfile>) +define BUILTIN_DEF + $(ECHO) ' {"$(word 1,$1)", $(word 2,$1), $(word 3,$1), $(word 4,$1)},' >> $2; +endef + +# Don't generate until modules have updated their command files +$(BUILTIN_CSRC): $(GLOBAL_DEPS) $(MODULE_OBJS) $(BUILTIN_COMMAND_FILES) + @$(ECHO) "CMDS: $@" + $(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@ + $(Q) $(ECHO) '#include <nuttx/config.h>' >> $@ + $(Q) $(ECHO) '#include <nuttx/binfmt/builtin.h>' >> $@ + $(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@)) + $(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@)) + $(Q) $(ECHO) 'const struct builtin_s g_builtins[] = {' >> $@ + $(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@)) + $(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@)) + $(Q) $(ECHO) ' {NULL, 0, 0, NULL}' >> $@ + $(Q) $(ECHO) '};' >> $@ + $(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS) $(MODULE_COMMANDS));' >> $@ + +SRCS += $(BUILTIN_CSRC) + +EXTRA_CLEANS += $(BUILTIN_CSRC) + +endif + +################################################################################ +# Default SRCS generation +################################################################################ + +# +# If there are no SRCS, the build will fail; in that case, generate an empty +# source file. +# +ifeq ($(SRCS),) +EMPTY_SRC = $(WORK_DIR)empty.c +$(EMPTY_SRC): + $(Q) $(ECHO) '/* this is an empty file */' > $@ + +SRCS += $(EMPTY_SRC) +endif + +################################################################################ +# Build rules +################################################################################ + +# +# What we're going to build. +# +PRODUCT_BUNDLE = $(WORK_DIR)firmware.px4 +PRODUCT_BIN = $(WORK_DIR)firmware.bin +PRODUCT_ELF = $(WORK_DIR)firmware.elf + +.PHONY: firmware +firmware: $(PRODUCT_BUNDLE) + +# +# Object files we will generate from sources +# +OBJS := $(foreach src,$(SRCS),$(WORK_DIR)$(src).o) + +# +# SRCS -> OBJS rules +# + +$(OBJS): $(GLOBAL_DEPS) + +$(filter %.c.o,$(OBJS)): $(WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS) + $(call COMPILE,$<,$@) + +$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS) + $(call COMPILEXX,$<,$@) + +$(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS) + $(call ASSEMBLE,$<,$@) + +# +# Built product rules +# + +$(PRODUCT_BUNDLE): $(PRODUCT_BIN) + @$(ECHO) %% Generating $@ + $(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \ + --git_identity $(PX4_BASE) \ + --image $< > $@ + +$(PRODUCT_BIN): $(PRODUCT_ELF) + $(call SYM_TO_BIN,$<,$@) + +$(PRODUCT_ELF): $(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES) + $(call LINK,$@,$(OBJS) $(MODULE_OBJS)) + +# +# Utility rules +# + +.PHONY: upload +upload: $(PRODUCT_BUNDLE) $(PRODUCT_BIN) + $(Q) $(MAKE) -f $(PX4_MK_DIR)/upload.mk \ + METHOD=serial \ + CONFIG=$(CONFIG) \ + BOARD=$(BOARD) \ + BUNDLE=$(PRODUCT_BUNDLE) \ + BIN=$(PRODUCT_BIN) + +.PHONY: clean +clean: $(MODULE_CLEANS) + @$(ECHO) %% cleaning + $(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_ELF) + $(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS) + $(Q) $(RMDIR) $(NUTTX_EXPORT_DIR) + + +# +# DEP_INCLUDES is defined by the toolchain include in terms of $(OBJS) +# +-include $(DEP_INCLUDES) diff --git a/makefiles/module.mk b/makefiles/module.mk new file mode 100644 index 000000000..0fe6f0ffe --- /dev/null +++ b/makefiles/module.mk @@ -0,0 +1,230 @@ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# + +# +# Framework makefile for PX4 modules +# +# This makefile is invoked by firmware.mk to build each of the modules +# that will subsequently be linked into the firmware image. +# +# Applications are built as prelinked objects with a limited set of exported +# symbols, as the global namespace is shared between all modules. Normally an +# module will just export one or more <command>_main functions. +# + +# +# Variables that can be set by the module's module.mk: +# +# +# SRCS (required) +# +# Lists the .c, cpp and .S files that should be compiled/assembled to +# produce the module. +# +# MODULE_COMMAND (optional) +# MODULE_ENTRYPOINT (optional if MODULE_COMMAND is set) +# MODULE_STACKSIZE (optional if MODULE_COMMAND is set) +# MODULE_PRIORITY (optional if MODULE_COMMAND is set) +# +# Defines a single builtin command exported by the module. +# MODULE_COMMAND must be unique for any configuration, but need not be the +# same as the module directory name. +# +# If MODULE_ENTRYPOINT is set, it names the function (which must be exported) +# that will be the entrypoint for the builtin command. It defaults to +# $(MODULE_COMMAND)_main. +# +# If MODULE_STACKSIZE is set, it is the size in bytes of the stack to be +# allocated for the builtin command. If it is not set, it defaults +# to CONFIG_PTHREAD_STACK_DEFAULT. +# +# If MODULE_PRIORITY is set, it is the thread priority for the builtin +# command. If it is not set, it defaults to SCHED_PRIORITY_DEFAULT. +# +# MODULE_COMMANDS (optional if MODULE_COMMAND is not set) +# +# Defines builtin commands exported by the module. Each word in +# the list should be formatted as: +# <command>.<priority>.<stacksize>.<entrypoint> +# +# INCLUDE_DIRS (optional, must be appended) +# +# The list of directories searched for include files. If non-standard +# includes (e.g. those from another module) are required, paths to search +# can be added here. +# +# DEFAULT_VISIBILITY (optional) +# +# If not set, global symbols defined in a module will not be visible +# outside the module. Symbols that should be globally visible must be +# marked __EXPORT. +# If set, global symbols defined in a module will be globally visible. +# + +# +# Variables visible to the module's module.mk: +# +# CONFIG +# BOARD +# MODULE_WORK_DIR +# MODULE_OBJ +# MODULE_MK +# Anything set in setup.mk, board_$(BOARD).mk and the toolchain file. +# Anything exported from config_$(CONFIG).mk +# + +################################################################################ +# No user-serviceable parts below. +################################################################################ + +ifeq ($(MODULE_MK),) +$(error No module makefile specified) +endif +$(info %% MODULE_MK = $(MODULE_MK)) + +# +# Get the board/toolchain config +# +include $(PX4_MK_DIR)/board_$(BOARD).mk + +# +# Get the module's config +# +include $(MODULE_MK) +MODULE_SRC := $(dir $(MODULE_MK)) +$(info % MODULE_NAME = $(MODULE_NAME)) +$(info % MODULE_SRC = $(MODULE_SRC)) +$(info % MODULE_OBJ = $(MODULE_OBJ)) +$(info % MODULE_WORK_DIR = $(MODULE_WORK_DIR)) + +# +# Things that, if they change, might affect everything +# +GLOBAL_DEPS += $(MAKEFILE_LIST) + +################################################################################ +# Builtin command definitions +################################################################################ + +ifneq ($(MODULE_COMMAND),) +MODULE_ENTRYPOINT ?= $(MODULE_COMMAND)_main +MODULE_STACKSIZE ?= CONFIG_PTHREAD_STACK_DEFAULT +MODULE_PRIORITY ?= SCHED_PRIORITY_DEFAULT +MODULE_COMMANDS += $(MODULE_COMMAND).$(MODULE_PRIORITY).$(MODULE_STACKSIZE).$(MODULE_ENTRYPOINT) +endif + +ifneq ($(MODULE_COMMANDS),) +MODULE_COMMAND_FILES := $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(MODULE_COMMANDS)) + +# Create the command files +# Ensure that there is only one entry for each command +# +.PHONY: $(MODULE_COMMAND_FILES) +$(MODULE_COMMAND_FILES): command = $(word 2,$(subst ., ,$(notdir $(@)))) +$(MODULE_COMMAND_FILES): exclude = $(dir $@)COMMAND.$(command).* +$(MODULE_COMMAND_FILES): $(GLOBAL_DEPS) + @$(REMOVE) -f $(exclude) + @$(MKDIR) -p $(dir $@) + @$(ECHO) "CMD: $(command)" + $(Q) $(TOUCH) $@ +endif + +################################################################################ +# Adjust compilation flags to implement EXPORT +################################################################################ + +ifeq ($(DEFAULT_VISIBILITY),) +DEFAULT_VISIBILITY = hidden +else +DEFAULT_VISIBILITY = default +endif + +CFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h +CXXFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h + +################################################################################ +# Build rules +################################################################################ + +# +# What we're going to build +# +module: $(MODULE_OBJ) $(MODULE_COMMAND_FILES) + +# +# Locate sources (allows relative source paths in module.mk) +# +define SRC_SEARCH + $(abspath $(firstword $(wildcard $1) $(wildcard $(MODULE_SRC)/$1) MISSING_$1)) +endef + +ABS_SRCS ?= $(foreach src,$(SRCS),$(call SRC_SEARCH,$(src))) +MISSING_SRCS := $(subst MISSING_,,$(filter MISSING_%,$(ABS_SRCS))) +ifneq ($(MISSING_SRCS),) +$(error $(MODULE_MK): missing in SRCS: $(MISSING_SRCS)) +endif +ifeq ($(ABS_SRCS),) +$(error $(MODULE_MK): nothing to compile in SRCS) +endif + +# +# Object files we will generate from sources +# +OBJS := $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o) + +# +# SRCS -> OBJS rules +# + +$(OBJS): $(GLOBAL_DEPS) + +$(filter %.c.o,$(OBJS)): $(MODULE_WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS) + $(call COMPILE,$<,$@) + +$(filter %.cpp.o,$(OBJS)): $(MODULE_WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS) + $(call COMPILEXX,$<,$@) + +$(filter %.S.o,$(OBJS)): $(MODULE_WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS) + $(call ASSEMBLE,$<,$@) + +# +# Built product rules +# + +$(MODULE_OBJ): $(OBJS) $(GLOBAL_DEPS) + $(call PRELINK,$@,$(OBJS)) + +# +# Utility rules +# + +clean: + $(Q) $(REMOVE) $(MODULE_PRELINK) $(OBJS) diff --git a/apps/px4io/Makefile b/makefiles/nuttx.mk index 0eb3ffcf7..346735a02 100644 --- a/apps/px4io/Makefile +++ b/makefiles/nuttx.mk @@ -1,4 +1,3 @@ -############################################################################ # # Copyright (C) 2012 PX4 Development Team. All rights reserved. # @@ -29,30 +28,51 @@ # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # -############################################################################ # -# Build the px4io application. +# Rules and definitions related to handling the NuttX export archives when +# building firmware. # # -# Note that we pull a couple of specific files from the systemlib, since -# we can't support it all. +# Check that the NuttX archive for the selected board is available. # -CSRCS = adc.c \ - controls.c \ - dsm.c \ - i2c.c \ - px4io.c \ - registers.c \ - safety.c \ - sbus.c \ - ../systemlib/hx_stream.c \ - ../systemlib/perf_counter.c \ - ../systemlib/up_cxxinitialize.c +NUTTX_ARCHIVE := $(wildcard $(ARCHIVE_DIR)$(BOARD).export) +ifeq ($(NUTTX_ARCHIVE),) +$(error The NuttX export archive for $(BOARD) is missing from $(ARCHIVE_DIR) - try 'make archives' in $(PX4_BASE)) +endif -CXXSRCS = mixer.cpp +# +# The NuttX config header should always be present in the NuttX archive, and +# if it changes, everything should be rebuilt. So, use it as the trigger to +# unpack the NuttX archive. +# +NUTTX_EXPORT_DIR = $(WORK_DIR)nuttx-export/ +NUTTX_CONFIG_HEADER = $(NUTTX_EXPORT_DIR)include/nuttx/config.h +$(info % NUTTX_EXPORT_DIR = $(NUTTX_EXPORT_DIR)) +$(info % NUTTX_CONFIG_HEADER = $(NUTTX_CONFIG_HEADER)) + + +GLOBAL_DEPS += $(NUTTX_CONFIG_HEADER) + +# +# Use the linker script from the NuttX export +# +LDSCRIPT += $(NUTTX_EXPORT_DIR)build/ld.script + +# +# Add directories from the NuttX export to the relevant search paths +# +INCLUDE_DIRS += $(NUTTX_EXPORT_DIR)include \ + $(NUTTX_EXPORT_DIR)arch/chip \ + $(NUTTX_EXPORT_DIR)arch/common -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common +LIB_DIRS += $(NUTTX_EXPORT_DIR)libs +LIBS += -lapps -lnuttx +LINK_DEPS += $(NUTTX_EXPORT_DIR)libs/libapps.a \ + $(NUTTX_EXPORT_DIR)libs/libnuttx.a -include $(APPDIR)/mk/app.mk +$(NUTTX_CONFIG_HEADER): $(NUTTX_ARCHIVE) + @$(ECHO) %% Unpacking $(NUTTX_ARCHIVE) + $(Q) $(UNZIP_CMD) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE) + $(Q) $(TOUCH) $@ diff --git a/makefiles/setup.mk b/makefiles/setup.mk new file mode 100644 index 000000000..111193093 --- /dev/null +++ b/makefiles/setup.mk @@ -0,0 +1,91 @@ +# +# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# + +# +# Path and tool setup +# + +# +# Some useful paths. +# +# Note that in general we always keep directory paths with the separator +# at the end, and join paths without explicit separators. This reduces +# the number of duplicate slashes we have lying around in paths, +# and is consistent with joining the results of $(dir) and $(notdir). +# +export PX4_INCLUDE_DIR = $(abspath $(PX4_BASE)/src/include)/ +export PX4_MODULE_SRC = $(abspath $(PX4_BASE)/src)/ +export PX4_MK_DIR = $(abspath $(PX4_BASE)/makefiles)/ +export NUTTX_SRC = $(abspath $(PX4_BASE)/nuttx)/ +export NUTTX_APP_SRC = $(abspath $(PX4_BASE)/apps)/ +export MAVLINK_SRC = $(abspath $(PX4_BASE)/mavlink)/ +export ROMFS_SRC = $(abspath $(PX4_BASE)/ROMFS)/ +export IMAGE_DIR = $(abspath $(PX4_BASE)/Images)/ +export BUILD_DIR = $(abspath $(PX4_BASE)/Build)/ +export ARCHIVE_DIR = $(abspath $(PX4_BASE)/Archives)/ + +# +# Default include paths +# +export INCLUDE_DIRS := $(PX4_MODULE_SRC) \ + $(PX4_MODULE_SRC)/modules/ \ + $(PX4_INCLUDE_DIR) + +# +# Tools +# +export MKFW = $(PX4_BASE)/Tools/px_mkfw.py +export UPLOADER = $(PX4_BASE)/Tools/px_uploader.py +export COPY = cp +export REMOVE = rm -f +export RMDIR = rm -rf +export GENROMFS = genromfs +export TOUCH = touch +export MKDIR = mkdir +export ECHO = echo +export UNZIP_CMD = unzip +export PYTHON = python +export OPENOCD = openocd + +# +# Host-specific paths, hacks and fixups +# +export SYSTYPE := $(shell uname -s) + +ifeq ($(SYSTYPE),Darwin) +# Eclipse may not have the toolchain on its path. +export PATH := $(PATH):/usr/local/bin +endif + +# +# Makefile debugging. +# +export Q := $(if $(V),,@) diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk new file mode 100644 index 000000000..0e651e53c --- /dev/null +++ b/makefiles/toolchain_gnu-arm-eabi.mk @@ -0,0 +1,270 @@ +# +# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# + +# +# Definitions for a generic GNU ARM-EABI toolchain +# + +#$(info TOOLCHAIN gnu-arm-eabi) + +# Toolchain commands. Normally only used inside this file. +# +CROSSDEV = arm-none-eabi- + +CC = $(CROSSDEV)gcc +CXX = $(CROSSDEV)g++ +CPP = $(CROSSDEV)gcc -E +LD = $(CROSSDEV)ld +AR = $(CROSSDEV)ar rcs +NM = $(CROSSDEV)nm +OBJCOPY = $(CROSSDEV)objcopy +OBJDUMP = $(CROSSDEV)objdump + +# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup + +MAXOPTIMIZATION = -O3 + +# Base CPU flags for each of the supported architectures. +# +ARCHCPUFLAGS_CORTEXM4F = -mcpu=cortex-m4 \ + -mthumb \ + -march=armv7e-m \ + -mfpu=fpv4-sp-d16 \ + -mfloat-abi=hard + +ARCHCPUFLAGS_CORTEXM4 = -mcpu=cortex-m4 \ + -mthumb \ + -march=armv7e-m \ + -mfloat-abi=soft + +ARCHCPUFLAGS_CORTEXM3 = -mcpu=cortex-m3 \ + -mthumb \ + -march=armv7-m \ + -mfloat-abi=soft + +# Pick the right set of flags for the architecture. +# +ARCHCPUFLAGS = $(ARCHCPUFLAGS_$(CONFIG_ARCH)) +ifeq ($(ARCHCPUFLAGS),) +$(error Must set CONFIG_ARCH to one of CORTEXM4F, CORTEXM4 or CORTEXM3) +endif + +# optimisation flags +# +ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \ + -g \ + -fno-strict-aliasing \ + -fno-strength-reduce \ + -fomit-frame-pointer \ + -funsafe-math-optimizations \ + -fno-builtin-printf \ + -ffunction-sections \ + -fdata-sections + +# enable precise stack overflow tracking +# note - requires corresponding support in NuttX +INSTRUMENTATIONDEFINES = -finstrument-functions \ + -ffixed-r10 +# Language-specific flags +# +ARCHCFLAGS = -std=gnu99 +ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x + +# Generic warnings +# +ARCHWARNINGS = -Wall \ + -Wextra \ + -Wdouble-promotion \ + -Wshadow \ + -Wfloat-equal \ + -Wframe-larger-than=1024 \ + -Wpointer-arith \ + -Wlogical-op \ + -Wmissing-declarations \ + -Wpacked \ + -Wno-unused-parameter +# -Wcast-qual - generates spurious noreturn attribute warnings, try again later +# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code +# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives + +# C-specific warnings +# +ARCHCWARNINGS = $(ARCHWARNINGS) \ + -Wbad-function-cast \ + -Wstrict-prototypes \ + -Wold-style-declaration \ + -Wmissing-parameter-type \ + -Wmissing-prototypes \ + -Wnested-externs \ + -Wunsuffixed-float-constants + +# C++-specific warnings +# +ARCHWARNINGSXX = $(ARCHWARNINGS) + +# pull in *just* libm from the toolchain ... this is grody +LIBM := $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a) +EXTRA_LIBS += $(LIBM) + +# Flags we pass to the C compiler +# +CFLAGS = $(ARCHCFLAGS) \ + $(ARCHCWARNINGS) \ + $(ARCHOPTIMIZATION) \ + $(ARCHCPUFLAGS) \ + $(ARCHINCLUDES) \ + $(INSTRUMENTATIONDEFINES) \ + $(ARCHDEFINES) \ + $(EXTRADEFINES) \ + $(EXTRACFLAGS) \ + -fno-common \ + $(addprefix -I,$(INCLUDE_DIRS)) + +# Flags we pass to the C++ compiler +# +CXXFLAGS = $(ARCHCXXFLAGS) \ + $(ARCHWARNINGSXX) \ + $(ARCHOPTIMIZATION) \ + $(ARCHCPUFLAGS) \ + $(ARCHXXINCLUDES) \ + $(INSTRUMENTATIONDEFINES) \ + $(ARCHDEFINES) \ + -DCONFIG_WCHAR_BUILTIN \ + $(EXTRADEFINES) \ + $(EXTRACXXFLAGS) \ + $(addprefix -I,$(INCLUDE_DIRS)) + +# Flags we pass to the assembler +# +AFLAGS = $(CFLAGS) -D__ASSEMBLY__ \ + $(EXTRADEFINES) \ + $(EXTRAAFLAGS) + +# Flags we pass to the linker +# +LDFLAGS += --warn-common \ + --gc-sections \ + $(EXTRALDFLAGS) \ + $(addprefix -T,$(LDSCRIPT)) \ + $(addprefix -L,$(LIB_DIRS)) + +# Compiler support library +# +LIBGCC := $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name) + +# Files that the final link depends on +# +LINK_DEPS += $(LDSCRIPT) + +# Files to include to get automated dependencies +# +DEP_INCLUDES = $(subst .o,.d,$(OBJS)) + +# Compile C source $1 to object $2 +# as a side-effect, generate a dependency file +# +define COMPILE + @$(ECHO) "CC: $1" + @$(MKDIR) -p $(dir $2) + $(Q) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2 +endef + +# Compile C++ source $1 to $2 +# as a side-effect, generate a dependency file +# +define COMPILEXX + @$(ECHO) "CXX: $1" + @$(MKDIR) -p $(dir $2) + $(Q) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2 +endef + +# Assemble $1 into $2 +# +define ASSEMBLE + @$(ECHO) "AS: $1" + @$(MKDIR) -p $(dir $2) + $(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2 +endef + +# Produce partially-linked $1 from files in $2 +# +define PRELINK + @$(ECHO) "PRELINK: $1" + @$(MKDIR) -p $(dir $1) + $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1 +endef + +# Update the archive $1 with the files in $2 +# +define ARCHIVE + @$(ECHO) "AR: $2" + @$(MKDIR) -p $(dir $1) + $(Q) $(AR) $1 $2 +endef + +# Link the objects in $2 into the binary $1 +# +define LINK + @$(ECHO) "LINK: $1" + @$(MKDIR) -p $(dir $1) + $(Q) $(LD) $(LDFLAGS) -o $1 --start-group $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group +endef + +# Convert $1 from a linked object to a raw binary in $2 +# +define SYM_TO_BIN + @$(ECHO) "BIN: $2" + @$(MKDIR) -p $(dir $2) + $(Q) $(OBJCOPY) -O binary $1 $2 +endef + +# Take the raw binary $1 and make it into an object file $2. +# The symbol $3 points to the beginning of the file, and $3_len +# gives its length. +# +# - compile an empty file to generate a suitable object file +# - relink the object and insert the binary file +# - edit symbol names to suit +# +define BIN_SYM_PREFIX + _binary_$(subst /,_,$(subst .,_,$1)) +endef +define BIN_TO_OBJ + @$(ECHO) "OBJ: $2" + @$(MKDIR) -p $(dir $2) + $(Q) $(ECHO) > $2.c + $(call COMPILE,$2.c,$2.c.o) + $(Q) $(LD) -r -o $2 $2.c.o -b binary $1 + $(Q) $(OBJCOPY) $2 \ + --redefine-sym $(call BIN_SYM_PREFIX,$1)_start=$3 \ + --redefine-sym $(call BIN_SYM_PREFIX,$1)_size=$3_len \ + --strip-symbol $(call BIN_SYM_PREFIX,$1)_end +endef diff --git a/makefiles/upload.mk b/makefiles/upload.mk new file mode 100644 index 000000000..5ef92728f --- /dev/null +++ b/makefiles/upload.mk @@ -0,0 +1,44 @@ +# +# Rules and tools for uploading firmware to various PX4 boards. +# + +UPLOADER = $(PX4_BASE)/Tools/px_uploader.py + +SYSTYPE := $(shell uname -s) + +# +# Serial port defaults. +# +# XXX The uploader should be smarter than this. +# +ifeq ($(SYSTYPE),Darwin) +SERIAL_PORTS ?= "/dev/tty.usbmodemPX1,/dev/tty.usbmodemPX2,/dev/tty.usbmodemPX3,/dev/tty.usbmodemPX4,/dev/tty.usbmodem1,/dev/tty.usbmodem2,/dev/tty.usbmodem3,/dev/tty.usbmodem4" +endif +ifeq ($(SYSTYPE),Linux) +SERIAL_PORTS ?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0" +endif +ifeq ($(SERIAL_PORTS),) +SERIAL_PORTS = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0" +endif + +.PHONY: all upload-$(METHOD)-$(BOARD) +all: upload-$(METHOD)-$(BOARD) + +upload-serial-px4fmu: $(BUNDLE) $(UPLOADER) + $(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE) + +upload-serial-px4fmuv2: $(BUNDLE) $(UPLOADER) + $(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE) + +# +# JTAG firmware uploading with OpenOCD +# +JTAGCONFIG ?= interface/olimex-jtag-tiny.cfg + +upload-jtag-px4fmu: all + @$(ECHO) Attempting to flash PX4FMU board via JTAG + $(Q) $(OPENOCD) -f $(JTAGCONFIG) -f ../Bootloader/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown + +upload-jtag-px4io: all + @$(ECHO) Attempting to flash PX4IO board via JTAG + $(Q) $(OPENOCD) -f $(JTAGCONFIG) -f ../Bootloader/stm32f1x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4io_bl.elf" -c "reset run" -c shutdown diff --git a/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c b/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c index 2c9ae4cac..0fcd463e0 100644 --- a/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c +++ b/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c @@ -1512,7 +1512,6 @@ static inline void stm32_ep0out_receive(FAR struct stm32_ep_s *privep, int bcnt) DEBUGASSERT(privep && privep->ep.priv); priv = (FAR struct stm32_usbdev_s *)privep->ep.priv; - DEBUGASSERT(priv->ep0state == EP0STATE_SETUP_OUT); ullvdbg("EP0: bcnt=%d\n", bcnt); usbtrace(TRACE_READ(EP0), bcnt); diff --git a/nuttx/configs/px4fmu/include/board.h b/nuttx/configs/px4fmu/include/board.h index 0bc0b3021..294b6c398 100755 --- a/nuttx/configs/px4fmu/include/board.h +++ b/nuttx/configs/px4fmu/include/board.h @@ -308,6 +308,10 @@ #define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 #define GPIO_SPI1_SCK GPIO_SPI1_SCK_1 +#define GPIO_SPI2_MISO GPIO_SPI2_MISO_2 +#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_2 +#define GPIO_SPI2_SCK GPIO_SPI2_SCK_2 + #define GPIO_SPI3_MISO GPIO_SPI3_MISO_2 #define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_1 #define GPIO_SPI3_SCK GPIO_SPI3_SCK_2 @@ -321,6 +325,8 @@ #define PX4_SPIDEV_ACCEL 2 #define PX4_SPIDEV_MPU 3 +#define PX4_SPIDEV_ACCEL_MAG 2 // external for anti vibration test + /* * Tone alarm output */ diff --git a/nuttx/configs/px4fmu/include/nsh_romfsimg.h b/nuttx/configs/px4fmu/include/nsh_romfsimg.h new file mode 100644 index 000000000..15e4e7a8d --- /dev/null +++ b/nuttx/configs/px4fmu/include/nsh_romfsimg.h @@ -0,0 +1,42 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * nsh_romfsetc.h + * + * This file is a stub for 'make export' purposes; the actual ROMFS + * must be supplied by the library client. + */ + +extern unsigned char romfs_img[]; +extern unsigned int romfs_img_len; diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig index e0ad9fb1a..0e18aa8ef 100644 --- a/nuttx/configs/px4fmu/nsh/appconfig +++ b/nuttx/configs/px4fmu/nsh/appconfig @@ -41,99 +41,6 @@ CONFIGURED_APPS += examples/nsh CONFIGURED_APPS += nshlib CONFIGURED_APPS += system/readline -# System library - utility functions -CONFIGURED_APPS += systemlib -CONFIGURED_APPS += systemlib/mixer - -# Math library -ifneq ($(CONFIG_APM),y) -CONFIGURED_APPS += mathlib -CONFIGURED_APPS += mathlib/CMSIS -CONFIGURED_APPS += examples/math_demo -endif - -# Control library -ifneq ($(CONFIG_APM),y) -CONFIGURED_APPS += controllib -CONFIGURED_APPS += examples/control_demo -CONFIGURED_APPS += examples/kalman_demo -endif - -# System utility commands -CONFIGURED_APPS += systemcmds/reboot -CONFIGURED_APPS += systemcmds/perf -CONFIGURED_APPS += systemcmds/top -CONFIGURED_APPS += systemcmds/boardinfo -CONFIGURED_APPS += systemcmds/mixer -CONFIGURED_APPS += systemcmds/eeprom -CONFIGURED_APPS += systemcmds/param -CONFIGURED_APPS += systemcmds/pwm -CONFIGURED_APPS += systemcmds/bl_update -CONFIGURED_APPS += systemcmds/preflight_check -CONFIGURED_APPS += systemcmds/delay_test - -# Tutorial code from -# https://pixhawk.ethz.ch/px4/dev/hello_sky -# CONFIGURED_APPS += examples/px4_simple_app - -# Tutorial code from -# https://pixhawk.ethz.ch/px4/dev/deamon -# CONFIGURED_APPS += examples/px4_deamon_app - -# Tutorial code from -# https://pixhawk.ethz.ch/px4/dev/debug_values -# CONFIGURED_APPS += examples/px4_mavlink_debug - -# Shared object broker; required by many parts of the system. -CONFIGURED_APPS += uORB - -CONFIGURED_APPS += mavlink -CONFIGURED_APPS += mavlink_onboard -CONFIGURED_APPS += commander -CONFIGURED_APPS += sdlog -CONFIGURED_APPS += sensors - -ifneq ($(CONFIG_APM),y) -CONFIGURED_APPS += ardrone_interface -CONFIGURED_APPS += multirotor_att_control -CONFIGURED_APPS += multirotor_pos_control -CONFIGURED_APPS += position_estimator_mc -CONFIGURED_APPS += fixedwing_att_control -CONFIGURED_APPS += fixedwing_pos_control -CONFIGURED_APPS += position_estimator -CONFIGURED_APPS += attitude_estimator_ekf -CONFIGURED_APPS += hott_telemetry -CONFIGURED_APPS += gpio_led -endif - -# Hacking tools -#CONFIGURED_APPS += system/i2c -CONFIGURED_APPS += systemcmds/i2c - -# Communication and Drivers -CONFIGURED_APPS += drivers/boards/px4fmu -CONFIGURED_APPS += drivers/device -CONFIGURED_APPS += drivers/ms5611 -CONFIGURED_APPS += drivers/hmc5883 -CONFIGURED_APPS += drivers/mpu6000 -CONFIGURED_APPS += drivers/bma180 -CONFIGURED_APPS += drivers/l3gd20 -CONFIGURED_APPS += drivers/px4io -CONFIGURED_APPS += drivers/stm32 -CONFIGURED_APPS += drivers/led -CONFIGURED_APPS += drivers/blinkm -CONFIGURED_APPS += drivers/stm32/tone_alarm -CONFIGURED_APPS += drivers/stm32/adc -CONFIGURED_APPS += drivers/px4fmu -CONFIGURED_APPS += drivers/mkblctrl -CONFIGURED_APPS += drivers/hil -CONFIGURED_APPS += drivers/gps -CONFIGURED_APPS += drivers/mb12xx - -# Testing stuff -CONFIGURED_APPS += px4/sensors_bringup -CONFIGURED_APPS += px4/tests - ifeq ($(CONFIG_CAN),y) #CONFIGURED_APPS += examples/can endif diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig index 130886aac..02e224302 100755 --- a/nuttx/configs/px4fmu/nsh/defconfig +++ b/nuttx/configs/px4fmu/nsh/defconfig @@ -85,7 +85,7 @@ CONFIG_ARCH_FPU=y CONFIG_ARCH_INTERRUPTSTACK=n CONFIG_ARCH_STACKDUMP=y CONFIG_ARCH_BOOTLOADER=n -CONFIG_ARCH_LEDS=y +CONFIG_ARCH_LEDS=n CONFIG_ARCH_BUTTONS=n CONFIG_ARCH_CALIBRATION=n CONFIG_ARCH_DMA=y @@ -647,10 +647,14 @@ CONFIG_DISABLE_POLL=n # CONFIG_LIBC_FIXEDPRECISION - Sets 7 digits after dot for printing: # 5.1234567 # CONFIG_HAVE_LONG_LONG - Enabled printf("%llu) +# CONFIG_LIBC_STRERR - allow printing of error text +# CONFIG_LIBC_STRERR_SHORT - allow printing of short error text # CONFIG_NOPRINTF_FIELDWIDTH=n CONFIG_LIBC_FLOATINGPOINT=y CONFIG_HAVE_LONG_LONG=y +CONFIG_LIBC_STRERROR=n +CONFIG_LIBC_STRERROR_SHORT=n # # Allow for architecture optimized implementations diff --git a/nuttx/configs/px4io/include/board.h b/nuttx/configs/px4io/include/board.h index d941985b4..fcbc93620 100755 --- a/nuttx/configs/px4io/include/board.h +++ b/nuttx/configs/px4io/include/board.h @@ -100,12 +100,19 @@ * Some of the USART pins are not available; override the GPIO * definitions with an invalid pin configuration. */ +#undef GPIO_USART2_CTS #define GPIO_USART2_CTS 0xffffffff +#undef GPIO_USART2_RTS #define GPIO_USART2_RTS 0xffffffff +#undef GPIO_USART2_CK #define GPIO_USART2_CK 0xffffffff +#undef GPIO_USART3_TX #define GPIO_USART3_TX 0xffffffff +#undef GPIO_USART3_CK #define GPIO_USART3_CK 0xffffffff +#undef GPIO_USART3_CTS #define GPIO_USART3_CTS 0xffffffff +#undef GPIO_USART3_RTS #define GPIO_USART3_RTS 0xffffffff /* @@ -156,6 +163,10 @@ extern "C" { ************************************************************************************/ EXTERN void stm32_boardinitialize(void); + +#if defined(__cplusplus) +} +#endif #endif /* __ASSEMBLY__ */ #endif /* __ARCH_BOARD_BOARD_H */ diff --git a/nuttx/configs/px4io/io/appconfig b/nuttx/configs/px4io/io/appconfig index 628607a51..48a41bcdb 100644 --- a/nuttx/configs/px4io/io/appconfig +++ b/nuttx/configs/px4io/io/appconfig @@ -30,11 +30,3 @@ # POSSIBILITY OF SUCH DAMAGE. # ############################################################################ - -CONFIGURED_APPS += drivers/boards/px4io -CONFIGURED_APPS += drivers/stm32 - -CONFIGURED_APPS += px4io - -# Mixer library from systemlib -CONFIGURED_APPS += systemlib/mixer diff --git a/nuttx/libc/stdio/lib_libdtoa.c b/nuttx/libc/stdio/lib_libdtoa.c index 29f61fd76..395a55b61 100644 --- a/nuttx/libc/stdio/lib_libdtoa.c +++ b/nuttx/libc/stdio/lib_libdtoa.c @@ -43,6 +43,7 @@ /**************************************************************************** * Included Files ****************************************************************************/ +#include <math.h> /**************************************************************************** * Pre-processor Definitions @@ -104,6 +105,13 @@ static void zeroes(FAR struct lib_outstream_s *obj, int nzeroes) * Private Functions ****************************************************************************/ +static void lib_dtoa_string(FAR struct lib_outstream_s *obj, const char *str) +{ + while (*str) { + obj->put(obj, *str++); + } +} + /**************************************************************************** * Name: lib_dtoa * @@ -137,9 +145,23 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec, int nchars; /* Number of characters to print */ int dsgn; /* Unused sign indicator */ int i; + bool done_decimal_point = false; + + /* special handling for NaN and Infinity */ + if (isnan(value)) { + lib_dtoa_string(obj, "NaN"); + return; + } + if (isinf(value)) { + if (value < 0.0d) { + obj->put(obj, '-'); + } + lib_dtoa_string(obj, "Infinity"); + return; + } /* Non-zero... positive or negative */ - + if (value < 0) { value = -value; @@ -178,6 +200,7 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec, if (prec > 0 || IS_ALTFORM(flags)) { obj->put(obj, '.'); + done_decimal_point = true; /* Always print at least one digit to the right of the decimal point. */ @@ -203,6 +226,7 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec, /* Print the decimal point */ obj->put(obj, '.'); + done_decimal_point = true; /* Print any leading zeros to the right of the decimal point */ @@ -249,6 +273,7 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec, /* Print the decimal point */ obj->put(obj, '.'); + done_decimal_point = true; /* Always print at least one digit to the right of the decimal * point. @@ -285,8 +310,9 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec, } /* Finally, print any trailing zeroes */ - - zeroes(obj, prec); + if (done_decimal_point) { + zeroes(obj, prec); + } /* Is this memory supposed to be freed or not? */ diff --git a/nuttx/libc/stdio/lib_libvsprintf.c b/nuttx/libc/stdio/lib_libvsprintf.c index 9a391610d..2cc7950f7 100644 --- a/nuttx/libc/stdio/lib_libvsprintf.c +++ b/nuttx/libc/stdio/lib_libvsprintf.c @@ -1215,7 +1215,7 @@ int lib_vsprintf(FAR struct lib_outstream_s *obj, FAR const char *src, va_list a fmt = FMT_RJUST; width = 0; #ifdef CONFIG_LIBC_FLOATINGPOINT - trunc = 0; + trunc = 6; #endif #endif @@ -1245,6 +1245,11 @@ int lib_vsprintf(FAR struct lib_outstream_s *obj, FAR const char *src, va_list a { #ifndef CONFIG_NOPRINTF_FIELDWIDTH fmt = FMT_RJUST0; +#ifdef CONFIG_LIBC_FLOATINGPOINT + if (IS_HASDOT(flags)) { + trunc = 0; + } +#endif #endif } #if 0 diff --git a/platforms/empty.c b/platforms/empty.c new file mode 100644 index 000000000..139531354 --- /dev/null +++ b/platforms/empty.c @@ -0,0 +1,3 @@ +/* + * This is an empty C source file, used when building default firmware configurations. + */ diff --git a/apps/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c index aeaf830de..aeaf830de 100644 --- a/apps/ardrone_interface/ardrone_interface.c +++ b/src/drivers/ardrone_interface/ardrone_interface.c diff --git a/apps/ardrone_interface/ardrone_motor_control.c b/src/drivers/ardrone_interface/ardrone_motor_control.c index f15c74a22..f15c74a22 100644 --- a/apps/ardrone_interface/ardrone_motor_control.c +++ b/src/drivers/ardrone_interface/ardrone_motor_control.c diff --git a/apps/ardrone_interface/ardrone_motor_control.h b/src/drivers/ardrone_interface/ardrone_motor_control.h index 78b603b63..78b603b63 100644 --- a/apps/ardrone_interface/ardrone_motor_control.h +++ b/src/drivers/ardrone_interface/ardrone_motor_control.h diff --git a/src/drivers/ardrone_interface/module.mk b/src/drivers/ardrone_interface/module.mk new file mode 100644 index 000000000..058bd1397 --- /dev/null +++ b/src/drivers/ardrone_interface/module.mk @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# AR.Drone motor driver +# + +MODULE_COMMAND = ardrone_interface +SRCS = ardrone_interface.c \ + ardrone_motor_control.c diff --git a/apps/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp index 3fabfd9a5..3fabfd9a5 100644 --- a/apps/drivers/blinkm/blinkm.cpp +++ b/src/drivers/blinkm/blinkm.cpp diff --git a/apps/drivers/led/Makefile b/src/drivers/blinkm/module.mk index 7de188259..b48b90f3f 100644 --- a/apps/drivers/led/Makefile +++ b/src/drivers/blinkm/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,7 +32,9 @@ ############################################################################ # -# Makefile to build the LED driver. +# BlinkM I2C LED driver # -include $(APPDIR)/mk/app.mk +MODULE_COMMAND = blinkm + +SRCS = blinkm.cpp diff --git a/apps/drivers/bma180/bma180.cpp b/src/drivers/bma180/bma180.cpp index 4409a8a9c..4409a8a9c 100644 --- a/apps/drivers/bma180/bma180.cpp +++ b/src/drivers/bma180/bma180.cpp diff --git a/apps/examples/kalman_demo/Makefile b/src/drivers/bma180/module.mk index 6c592d645..4c60ee082 100644 --- a/apps/examples/kalman_demo/Makefile +++ b/src/drivers/bma180/module.mk @@ -32,11 +32,9 @@ ############################################################################ # -# Full attitude / position Extended Kalman Filter +# Makefile to build the BMA180 driver. # -APPNAME = kalman_demo -PRIORITY = SCHED_PRIORITY_MAX - 30 -STACKSIZE = 2048 +MODULE_COMMAND = bma180 -include $(APPDIR)/mk/app.mk +SRCS = bma180.cpp diff --git a/src/drivers/boards/px4fmu/module.mk b/src/drivers/boards/px4fmu/module.mk new file mode 100644 index 000000000..66b776917 --- /dev/null +++ b/src/drivers/boards/px4fmu/module.mk @@ -0,0 +1,10 @@ +# +# Board-specific startup code for the PX4FMU +# + +SRCS = px4fmu_can.c \ + px4fmu_init.c \ + px4fmu_pwm_servo.c \ + px4fmu_spi.c \ + px4fmu_usb.c \ + px4fmu_led.c diff --git a/apps/drivers/boards/px4fmu/px4fmu_can.c b/src/drivers/boards/px4fmu/px4fmu_can.c index 0d0b5fcd3..187689ff9 100644 --- a/apps/drivers/boards/px4fmu/px4fmu_can.c +++ b/src/drivers/boards/px4fmu/px4fmu_can.c @@ -37,7 +37,6 @@ * Board-specific CAN functions. */ - /************************************************************************************ * Included Files ************************************************************************************/ @@ -57,6 +56,8 @@ #include "stm32_can.h" #include "px4fmu_internal.h" +#ifdef CONFIG_CAN + /************************************************************************************ * Pre-processor Definitions ************************************************************************************/ @@ -139,3 +140,5 @@ int can_devinit(void) return OK; } + +#endif diff --git a/apps/drivers/boards/px4fmu/px4fmu_init.c b/src/drivers/boards/px4fmu/px4fmu_init.c index 9960c6bbd..69edc23ab 100644 --- a/apps/drivers/boards/px4fmu/px4fmu_init.c +++ b/src/drivers/boards/px4fmu/px4fmu_init.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -91,6 +91,19 @@ # endif #endif +/* + * Ideally we'd be able to get these from up_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(); +extern void led_on(int led); +extern void led_off(int led); +__END_DECLS + /**************************************************************************** * Protected Functions ****************************************************************************/ @@ -114,7 +127,7 @@ __EXPORT void stm32_boardinitialize(void) /* configure SPI interfaces */ stm32_spiinitialize(); - /* configure LEDs */ + /* configure LEDs (empty call to NuttX' ledinit) */ up_ledinit(); } @@ -127,6 +140,7 @@ __EXPORT void stm32_boardinitialize(void) ****************************************************************************/ static struct spi_dev_s *spi1; +static struct spi_dev_s *spi2; static struct spi_dev_s *spi3; #include <math.h> @@ -147,6 +161,11 @@ __EXPORT int nsh_archinitialize(void) { int result; + /* configure always-on ADC pins */ + stm32_configgpio(GPIO_ADC1_IN10); + stm32_configgpio(GPIO_ADC1_IN11); + /* IN12 and IN13 further below */ + /* configure the high-resolution time/callout interface */ hrt_init(); @@ -172,11 +191,11 @@ __EXPORT int nsh_archinitialize(void) (hrt_callout)stm32_serial_dma_poll, NULL); - // initial LED state + /* initial LED state */ drv_led_start(); - up_ledoff(LED_BLUE); - up_ledoff(LED_AMBER); - up_ledon(LED_BLUE); + led_off(LED_AMBER); + led_on(LED_BLUE); + /* Configure SPI-based devices */ @@ -188,7 +207,7 @@ __EXPORT int nsh_archinitialize(void) return -ENODEV; } - // Default SPI1 to 1MHz and de-assert the known chip selects. + /* Default SPI1 to 1MHz and de-assert the known chip selects. */ SPI_SETFREQUENCY(spi1, 10000000); SPI_SETBITS(spi1, 8); SPI_SETMODE(spi1, SPIDEV_MODE3); @@ -199,6 +218,28 @@ __EXPORT int nsh_archinitialize(void) message("[boot] Successfully initialized SPI port 1\r\n"); + /* + * If SPI2 is enabled in the defconfig, we loose some ADC pins as chip selects. + * Keep the SPI2 init optional and conditionally initialize the ADC pins + */ + spi2 = up_spiinitialize(2); + + if (!spi2) { + message("[boot] Enabling IN12/13 instead of SPI2\n"); + /* no SPI2, use pins for ADC */ + stm32_configgpio(GPIO_ADC1_IN12); + stm32_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards + } else { + /* Default SPI2 to 1MHz and de-assert the known chip selects. */ + SPI_SETFREQUENCY(spi2, 10000000); + SPI_SETBITS(spi2, 8); + SPI_SETMODE(spi2, SPIDEV_MODE3); + SPI_SELECT(spi2, PX4_SPIDEV_GYRO, false); + SPI_SELECT(spi2, PX4_SPIDEV_ACCEL_MAG, false); + + message("[boot] Initialized SPI port2 (ADC IN12/13 blocked)\n"); + } + /* Get the SPI port for the microSD slot */ message("[boot] Initializing SPI port 3\n"); @@ -223,10 +264,5 @@ __EXPORT int nsh_archinitialize(void) message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n"); - stm32_configgpio(GPIO_ADC1_IN10); - stm32_configgpio(GPIO_ADC1_IN11); - stm32_configgpio(GPIO_ADC1_IN12); - stm32_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards - return OK; } diff --git a/apps/drivers/boards/px4fmu/px4fmu_internal.h b/src/drivers/boards/px4fmu/px4fmu_internal.h index 6550fdf3d..671a58f8f 100644 --- a/apps/drivers/boards/px4fmu/px4fmu_internal.h +++ b/src/drivers/boards/px4fmu/px4fmu_internal.h @@ -58,9 +58,9 @@ __BEGIN_DECLS ****************************************************************************************************/ /* Configuration ************************************************************************************/ -#ifdef CONFIG_STM32_SPI2 -# error "SPI2 is not supported on this board" -#endif +//#ifdef CONFIG_STM32_SPI2 +//# error "SPI2 is not supported on this board" +//#endif #if defined(CONFIG_STM32_CAN1) # warning "CAN1 is not supported on this board" @@ -77,6 +77,7 @@ __BEGIN_DECLS // XXX MPU6000 DRDY? /* SPI chip selects */ + #define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14) #define GPIO_SPI_CS_ACCEL (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) #define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0) diff --git a/apps/drivers/boards/px4fmu/px4fmu_led.c b/src/drivers/boards/px4fmu/px4fmu_led.c index fd1e159aa..34fd194c3 100644 --- a/apps/drivers/boards/px4fmu/px4fmu_led.c +++ b/src/drivers/boards/px4fmu/px4fmu_led.c @@ -39,19 +39,27 @@ #include <nuttx/config.h> -#include <stdint.h> #include <stdbool.h> -#include <debug.h> -#include <arch/board/board.h> - -#include "chip.h" -#include "up_arch.h" -#include "up_internal.h" #include "stm32_internal.h" #include "px4fmu_internal.h" -__EXPORT void up_ledinit() +#include <arch/board/board.h> + +/* + * Ideally we'd be able to get these from up_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(); +extern void led_on(int led); +extern void led_off(int led); +__END_DECLS + +__EXPORT void led_init() { /* Configure LED1-2 GPIOs for output */ @@ -59,7 +67,7 @@ __EXPORT void up_ledinit() stm32_configgpio(GPIO_LED2); } -__EXPORT void up_ledon(int led) +__EXPORT void led_on(int led) { if (led == 0) { @@ -73,7 +81,7 @@ __EXPORT void up_ledon(int led) } } -__EXPORT void up_ledoff(int led) +__EXPORT void led_off(int led) { if (led == 0) { diff --git a/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c b/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c index cb8918306..cb8918306 100644 --- a/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c +++ b/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c diff --git a/apps/drivers/boards/px4fmu/px4fmu_spi.c b/src/drivers/boards/px4fmu/px4fmu_spi.c index 7a02eaeb7..b5d00eac0 100644 --- a/apps/drivers/boards/px4fmu/px4fmu_spi.c +++ b/src/drivers/boards/px4fmu/px4fmu_spi.c @@ -121,6 +121,24 @@ __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devi return SPI_STATUS_PRESENT; } +__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* SPI select is active low, so write !selected to select the device */ + + switch (devid) { + break; + + default: + break; + + } +} + +__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + return SPI_STATUS_PRESENT; +} + __EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) { diff --git a/apps/drivers/boards/px4fmu/px4fmu_usb.c b/src/drivers/boards/px4fmu/px4fmu_usb.c index b0b669fbe..b0b669fbe 100644 --- a/apps/drivers/boards/px4fmu/px4fmu_usb.c +++ b/src/drivers/boards/px4fmu/px4fmu_usb.c diff --git a/src/drivers/boards/px4io/module.mk b/src/drivers/boards/px4io/module.mk new file mode 100644 index 000000000..2601a1c15 --- /dev/null +++ b/src/drivers/boards/px4io/module.mk @@ -0,0 +1,6 @@ +# +# Board-specific startup code for the PX4IO +# + +SRCS = px4io_init.c \ + px4io_pwm_servo.c diff --git a/apps/drivers/boards/px4io/px4io_init.c b/src/drivers/boards/px4io/px4io_init.c index 14e8dc13a..d36353c6f 100644 --- a/apps/drivers/boards/px4io/px4io_init.c +++ b/src/drivers/boards/px4io/px4io_init.c @@ -86,9 +86,17 @@ __EXPORT void stm32_boardinitialize(void) stm32_configgpio(GPIO_SERVO_PWR_EN); stm32_configgpio(GPIO_RELAY1_EN); stm32_configgpio(GPIO_RELAY2_EN); + + /* turn off - all leds are active low */ + stm32_gpiowrite(GPIO_LED1, true); + stm32_gpiowrite(GPIO_LED2, true); + stm32_gpiowrite(GPIO_LED3, true); + + /* LED config */ stm32_configgpio(GPIO_LED1); stm32_configgpio(GPIO_LED2); stm32_configgpio(GPIO_LED3); + stm32_configgpio(GPIO_ACC_OC_DETECT); stm32_configgpio(GPIO_SERVO_OC_DETECT); stm32_configgpio(GPIO_BTN_SAFETY); diff --git a/apps/drivers/boards/px4io/px4io_internal.h b/src/drivers/boards/px4io/px4io_internal.h index 44bb98513..eb2820bb7 100644 --- a/apps/drivers/boards/px4io/px4io_internal.h +++ b/src/drivers/boards/px4io/px4io_internal.h @@ -32,7 +32,9 @@ ****************************************************************************/ /** - * @file PX4IO hardware definitions. + * @file px4io_internal.h + * + * PX4IO hardware definitions. */ #pragma once diff --git a/apps/drivers/boards/px4io/px4io_pwm_servo.c b/src/drivers/boards/px4io/px4io_pwm_servo.c index a2f73c429..a2f73c429 100644 --- a/apps/drivers/boards/px4io/px4io_pwm_servo.c +++ b/src/drivers/boards/px4io/px4io_pwm_servo.c diff --git a/apps/drivers/device/cdev.cpp b/src/drivers/device/cdev.cpp index 422321850..422321850 100644 --- a/apps/drivers/device/cdev.cpp +++ b/src/drivers/device/cdev.cpp diff --git a/apps/drivers/device/device.cpp b/src/drivers/device/device.cpp index 04a5222c3..04a5222c3 100644 --- a/apps/drivers/device/device.cpp +++ b/src/drivers/device/device.cpp diff --git a/apps/drivers/device/device.h b/src/drivers/device/device.h index 7d375aab9..7d375aab9 100644 --- a/apps/drivers/device/device.h +++ b/src/drivers/device/device.h diff --git a/apps/drivers/device/i2c.cpp b/src/drivers/device/i2c.cpp index a416801eb..a416801eb 100644 --- a/apps/drivers/device/i2c.cpp +++ b/src/drivers/device/i2c.cpp diff --git a/apps/drivers/device/i2c.h b/src/drivers/device/i2c.h index 66c34dd7c..b4a9cdd53 100644 --- a/apps/drivers/device/i2c.h +++ b/src/drivers/device/i2c.h @@ -53,6 +53,15 @@ namespace device __EXPORT class __EXPORT I2C : public CDev { +public: + + /** + * Get the address + */ + uint16_t get_address() { + return _address; + } + protected: /** * The number of times a read or write operation will be retried on @@ -61,6 +70,11 @@ protected: unsigned _retries; /** + * The I2C bus number the device is attached to. + */ + int _bus; + + /** * @ Constructor * * @param name Driver name @@ -123,7 +137,6 @@ protected: } private: - int _bus; uint16_t _address; uint32_t _frequency; struct i2c_dev_s *_dev; diff --git a/src/drivers/device/module.mk b/src/drivers/device/module.mk new file mode 100644 index 000000000..8c716d9cd --- /dev/null +++ b/src/drivers/device/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Build the device driver framework. +# + +SRCS = cdev.cpp \ + device.cpp \ + i2c.cpp \ + pio.cpp \ + spi.cpp diff --git a/apps/drivers/device/pio.cpp b/src/drivers/device/pio.cpp index f3a805a5e..f3a805a5e 100644 --- a/apps/drivers/device/pio.cpp +++ b/src/drivers/device/pio.cpp diff --git a/apps/drivers/device/spi.cpp b/src/drivers/device/spi.cpp index 8fffd60cb..8fffd60cb 100644 --- a/apps/drivers/device/spi.cpp +++ b/src/drivers/device/spi.cpp diff --git a/apps/drivers/device/spi.h b/src/drivers/device/spi.h index d2d01efb3..d2d01efb3 100644 --- a/apps/drivers/device/spi.h +++ b/src/drivers/device/spi.h diff --git a/apps/drivers/drv_accel.h b/src/drivers/drv_accel.h index 794de584b..794de584b 100644 --- a/apps/drivers/drv_accel.h +++ b/src/drivers/drv_accel.h diff --git a/apps/drivers/drv_adc.h b/src/drivers/drv_adc.h index 8ec6d1233..8ec6d1233 100644 --- a/apps/drivers/drv_adc.h +++ b/src/drivers/drv_adc.h diff --git a/src/drivers/drv_airspeed.h b/src/drivers/drv_airspeed.h new file mode 100644 index 000000000..bffc35c62 --- /dev/null +++ b/src/drivers/drv_airspeed.h @@ -0,0 +1,61 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Airspeed driver interface. + * @author Simon Wilks + */ + +#ifndef _DRV_AIRSPEED_H +#define _DRV_AIRSPEED_H + +#include <stdint.h> +#include <sys/ioctl.h> + +#include "drv_sensor.h" +#include "drv_orb_dev.h" + +#define AIRSPEED_DEVICE_PATH "/dev/airspeed" + +/* + * ioctl() definitions + * + * Airspeed drivers also implement the generic sensor driver + * interfaces from drv_sensor.h + */ + +#define _AIRSPEEDIOCBASE (0x7700) +#define __AIRSPEEDIOC(_n) (_IOC(_AIRSPEEDIOCBASE, _n)) + + +#endif /* _DRV_AIRSPEED_H */ diff --git a/apps/drivers/drv_baro.h b/src/drivers/drv_baro.h index 176f798c0..176f798c0 100644 --- a/apps/drivers/drv_baro.h +++ b/src/drivers/drv_baro.h diff --git a/apps/drivers/drv_blinkm.h b/src/drivers/drv_blinkm.h index 9c278f6c5..9c278f6c5 100644 --- a/apps/drivers/drv_blinkm.h +++ b/src/drivers/drv_blinkm.h diff --git a/apps/drivers/drv_gpio.h b/src/drivers/drv_gpio.h index 92d184326..92d184326 100644 --- a/apps/drivers/drv_gpio.h +++ b/src/drivers/drv_gpio.h diff --git a/apps/drivers/drv_gps.h b/src/drivers/drv_gps.h index 1dda8ef0b..1dda8ef0b 100644 --- a/apps/drivers/drv_gps.h +++ b/src/drivers/drv_gps.h diff --git a/apps/drivers/drv_gyro.h b/src/drivers/drv_gyro.h index 1d0fef6fc..1d0fef6fc 100644 --- a/apps/drivers/drv_gyro.h +++ b/src/drivers/drv_gyro.h diff --git a/apps/drivers/drv_hrt.h b/src/drivers/drv_hrt.h index 8a99eeca7..8a99eeca7 100644 --- a/apps/drivers/drv_hrt.h +++ b/src/drivers/drv_hrt.h diff --git a/apps/drivers/drv_led.h b/src/drivers/drv_led.h index 21044f620..21044f620 100644 --- a/apps/drivers/drv_led.h +++ b/src/drivers/drv_led.h diff --git a/apps/drivers/drv_mag.h b/src/drivers/drv_mag.h index 9aab995a1..9aab995a1 100644 --- a/apps/drivers/drv_mag.h +++ b/src/drivers/drv_mag.h diff --git a/apps/drivers/drv_mixer.h b/src/drivers/drv_mixer.h index 9f43015d9..9f43015d9 100644 --- a/apps/drivers/drv_mixer.h +++ b/src/drivers/drv_mixer.h diff --git a/apps/drivers/drv_orb_dev.h b/src/drivers/drv_orb_dev.h index 8495780d5..713618545 100644 --- a/apps/drivers/drv_orb_dev.h +++ b/src/drivers/drv_orb_dev.h @@ -43,7 +43,7 @@ #include <stdint.h> /* XXX for ORB_DECLARE used in many drivers */ -#include "../uORB/uORB.h" +#include "../modules/uORB/uORB.h" /* * ioctl() definitions diff --git a/apps/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index 07831f20c..07831f20c 100644 --- a/apps/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h diff --git a/apps/drivers/drv_range_finder.h b/src/drivers/drv_range_finder.h index 03a82ec5d..03a82ec5d 100644 --- a/apps/drivers/drv_range_finder.h +++ b/src/drivers/drv_range_finder.h diff --git a/apps/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h index 4decc324e..4decc324e 100644 --- a/apps/drivers/drv_rc_input.h +++ b/src/drivers/drv_rc_input.h diff --git a/apps/drivers/drv_sensor.h b/src/drivers/drv_sensor.h index 3a89cab9d..3a89cab9d 100644 --- a/apps/drivers/drv_sensor.h +++ b/src/drivers/drv_sensor.h diff --git a/apps/drivers/drv_tone_alarm.h b/src/drivers/drv_tone_alarm.h index 0c6afc64c..0c6afc64c 100644 --- a/apps/drivers/drv_tone_alarm.h +++ b/src/drivers/drv_tone_alarm.h diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp new file mode 100644 index 000000000..e50395e47 --- /dev/null +++ b/src/drivers/ets_airspeed/ets_airspeed.cpp @@ -0,0 +1,832 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file ets_airspeed.cpp + * @author Simon Wilks + * + * Driver for the Eagle Tree Airspeed V3 connected via I2C. + */ + +#include <nuttx/config.h> + +#include <drivers/device/i2c.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdlib.h> +#include <stdbool.h> +#include <semaphore.h> +#include <string.h> +#include <fcntl.h> +#include <poll.h> +#include <errno.h> +#include <stdio.h> +#include <math.h> +#include <unistd.h> + +#include <nuttx/arch.h> +#include <nuttx/wqueue.h> +#include <nuttx/clock.h> + +#include <arch/board/board.h> + +#include <systemlib/airspeed.h> +#include <systemlib/err.h> +#include <systemlib/param/param.h> +#include <systemlib/perf_counter.h> + +#include <drivers/drv_airspeed.h> +#include <drivers/drv_hrt.h> + +#include <uORB/uORB.h> +#include <uORB/topics/differential_pressure.h> +#include <uORB/topics/subsystem_info.h> + +/* Default I2C bus */ +#define PX4_I2C_BUS_DEFAULT PX4_I2C_BUS_EXPANSION + +/* I2C bus address */ +#define I2C_ADDRESS 0x75 /* 7-bit address. 8-bit address is 0xEA */ + +/* Register address */ +#define READ_CMD 0x07 /* Read the data */ + +/** + * The Eagle Tree Airspeed V3 cannot provide accurate reading below speeds of 15km/h. + */ +#define MIN_ACCURATE_DIFF_PRES_PA 12 + +/* Measurement rate is 100Hz */ +#define CONVERSION_INTERVAL (1000000 / 100) /* microseconds */ + +/* Oddly, ERROR is not defined for C++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +#ifndef CONFIG_SCHED_WORKQUEUE +# error This requires CONFIG_SCHED_WORKQUEUE. +#endif + +class ETSAirspeed : public device::I2C +{ +public: + ETSAirspeed(int bus, int address = I2C_ADDRESS); + virtual ~ETSAirspeed(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +protected: + virtual int probe(); + +private: + work_s _work; + unsigned _num_reports; + volatile unsigned _next_report; + volatile unsigned _oldest_report; + differential_pressure_s *_reports; + bool _sensor_ok; + int _measure_ticks; + bool _collect_phase; + int _diff_pres_offset; + + orb_advert_t _airspeed_pub; + + perf_counter_t _sample_perf; + perf_counter_t _comms_errors; + perf_counter_t _buffer_overflows; + + + /** + * Test whether the device supported by the driver is present at a + * specific address. + * + * @param address The I2C bus address to probe. + * @return True if the device is present. + */ + int probe_address(uint8_t address); + + /** + * Initialise the automatic measurement state machine and start it. + * + * @note This function is called at open and error time. It might make sense + * to make it more aggressive about resetting the bus in case of errors. + */ + void start(); + + /** + * Stop the automatic measurement state machine. + */ + void stop(); + + /** + * Perform a poll cycle; collect from the previous measurement + * and start a new one. + */ + void cycle(); + int measure(); + int collect(); + + /** + * Static trampoline from the workq context; because we don't have a + * generic workq wrapper yet. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void cycle_trampoline(void *arg); + + +}; + +/* helper macro for handling report buffer indices */ +#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int ets_airspeed_main(int argc, char *argv[]); + +ETSAirspeed::ETSAirspeed(int bus, int address) : + I2C("ETSAirspeed", AIRSPEED_DEVICE_PATH, bus, address, 100000), + _num_reports(0), + _next_report(0), + _oldest_report(0), + _reports(nullptr), + _sensor_ok(false), + _measure_ticks(0), + _collect_phase(false), + _diff_pres_offset(0), + _airspeed_pub(-1), + _sample_perf(perf_alloc(PC_ELAPSED, "ets_airspeed_read")), + _comms_errors(perf_alloc(PC_COUNT, "ets_airspeed_comms_errors")), + _buffer_overflows(perf_alloc(PC_COUNT, "ets_airspeed_buffer_overflows")) +{ + // enable debug() calls + _debug_enabled = true; + + // work_cancel in the dtor will explode if we don't do this... + memset(&_work, 0, sizeof(_work)); +} + +ETSAirspeed::~ETSAirspeed() +{ + /* make sure we are truly inactive */ + stop(); + + /* free any existing reports */ + if (_reports != nullptr) + delete[] _reports; +} + +int +ETSAirspeed::init() +{ + int ret = ERROR; + + /* do I2C init (and probe) first */ + if (I2C::init() != OK) + goto out; + + /* allocate basic report buffers */ + _num_reports = 2; + _reports = new struct differential_pressure_s[_num_reports]; + for (unsigned i = 0; i < _num_reports; i++) + _reports[i].max_differential_pressure_pa = 0; + + if (_reports == nullptr) + goto out; + + _oldest_report = _next_report = 0; + + /* get a publish handle on the airspeed topic */ + memset(&_reports[0], 0, sizeof(_reports[0])); + _airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &_reports[0]); + + if (_airspeed_pub < 0) + debug("failed to create airspeed sensor object. Did you start uOrb?"); + + ret = OK; + /* sensor is ok, but we don't really know if it is within range */ + _sensor_ok = true; +out: + return ret; +} + +int +ETSAirspeed::probe() +{ + return measure(); +} + +int +ETSAirspeed::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case SENSORIOCSPOLLRATE: { + switch (arg) { + + /* switching to manual polling */ + case SENSOR_POLLRATE_MANUAL: + stop(); + _measure_ticks = 0; + return OK; + + /* external signalling (DRDY) not supported */ + case SENSOR_POLLRATE_EXTERNAL: + + /* zero would be bad */ + case 0: + return -EINVAL; + + /* set default/max polling rate */ + case SENSOR_POLLRATE_MAX: + case SENSOR_POLLRATE_DEFAULT: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* set interval for next measurement to minimum legal value */ + _measure_ticks = USEC2TICK(CONVERSION_INTERVAL); + + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); + + return OK; + } + + /* adjust to a legal polling interval in Hz */ + default: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* convert hz to tick interval via microseconds */ + unsigned ticks = USEC2TICK(1000000 / arg); + + /* check against maximum rate */ + if (ticks < USEC2TICK(CONVERSION_INTERVAL)) + return -EINVAL; + + /* update interval for next measurement */ + _measure_ticks = ticks; + + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); + + return OK; + } + } + } + + case SENSORIOCGPOLLRATE: + if (_measure_ticks == 0) + return SENSOR_POLLRATE_MANUAL; + + return (1000 / _measure_ticks); + + case SENSORIOCSQUEUEDEPTH: { + /* add one to account for the sentinel in the ring */ + arg++; + + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 2) || (arg > 100)) + return -EINVAL; + + /* allocate new buffer */ + struct differential_pressure_s *buf = new struct differential_pressure_s[arg]; + + if (nullptr == buf) + return -ENOMEM; + + /* reset the measurement state machine with the new buffer, free the old */ + stop(); + delete[] _reports; + _num_reports = arg; + _reports = buf; + start(); + + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _num_reports - 1; + + case SENSORIOCRESET: + /* XXX implement this */ + return -EINVAL; + + default: + /* give it to the superclass */ + return I2C::ioctl(filp, cmd, arg); + } +} + +ssize_t +ETSAirspeed::read(struct file *filp, char *buffer, size_t buflen) +{ + unsigned count = buflen / sizeof(struct differential_pressure_s); + int ret = 0; + + /* buffer must be large enough */ + if (count < 1) + return -ENOSPC; + + /* if automatic measurement is enabled */ + if (_measure_ticks > 0) { + + /* + * While there is space in the caller's buffer, and reports, copy them. + * Note that we may be pre-empted by the workq thread while we are doing this; + * we are careful to avoid racing with them. + */ + while (count--) { + if (_oldest_report != _next_report) { + memcpy(buffer, _reports + _oldest_report, sizeof(*_reports)); + ret += sizeof(_reports[0]); + INCREMENT(_oldest_report, _num_reports); + } + } + + /* if there was no data, warn the caller */ + return ret ? ret : -EAGAIN; + } + + /* manual measurement - run one conversion */ + /* XXX really it'd be nice to lock against other readers here */ + do { + _oldest_report = _next_report = 0; + + /* trigger a measurement */ + if (OK != measure()) { + ret = -EIO; + break; + } + + /* wait for it to complete */ + usleep(CONVERSION_INTERVAL); + + /* run the collection phase */ + if (OK != collect()) { + ret = -EIO; + break; + } + + /* state machine will have generated a report, copy it out */ + memcpy(buffer, _reports, sizeof(*_reports)); + ret = sizeof(*_reports); + + } while (0); + + return ret; +} + +int +ETSAirspeed::measure() +{ + int ret; + + /* + * Send the command to begin a measurement. + */ + uint8_t cmd = READ_CMD; + ret = transfer(&cmd, 1, nullptr, 0); + + if (OK != ret) + { + perf_count(_comms_errors); + log("i2c::transfer returned %d", ret); + return ret; + } + ret = OK; + + return ret; +} + +int +ETSAirspeed::collect() +{ + int ret = -EIO; + + /* read from the sensor */ + uint8_t val[2] = {0, 0}; + + perf_begin(_sample_perf); + + ret = transfer(nullptr, 0, &val[0], 2); + + if (ret < 0) { + log("error reading from sensor: %d", ret); + return ret; + } + + uint16_t diff_pres_pa = val[1] << 8 | val[0]; + + param_get(param_find("SENS_DPRES_OFF"), &_diff_pres_offset); + + if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) { + diff_pres_pa = 0; + } else { + diff_pres_pa -= _diff_pres_offset; + } + + // XXX we may want to smooth out the readings to remove noise. + + _reports[_next_report].timestamp = hrt_absolute_time(); + _reports[_next_report].differential_pressure_pa = diff_pres_pa; + + // Track maximum differential pressure measured (so we can work out top speed). + if (diff_pres_pa > _reports[_next_report].max_differential_pressure_pa) { + _reports[_next_report].max_differential_pressure_pa = diff_pres_pa; + } + + /* announce the airspeed if needed, just publish else */ + orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &_reports[_next_report]); + + /* post a report to the ring - note, not locked */ + INCREMENT(_next_report, _num_reports); + + /* if we are running up against the oldest report, toss it */ + if (_next_report == _oldest_report) { + perf_count(_buffer_overflows); + INCREMENT(_oldest_report, _num_reports); + } + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + + ret = OK; + + perf_end(_sample_perf); + + return ret; +} + +void +ETSAirspeed::start() +{ + /* reset the report ring and state machine */ + _collect_phase = false; + _oldest_report = _next_report = 0; + + /* schedule a cycle to start things */ + work_queue(HPWORK, &_work, (worker_t)&ETSAirspeed::cycle_trampoline, this, 1); + + /* notify about state change */ + struct subsystem_info_s info = { + true, + true, + true, + SUBSYSTEM_TYPE_DIFFPRESSURE}; + static orb_advert_t pub = -1; + + if (pub > 0) { + orb_publish(ORB_ID(subsystem_info), pub, &info); + } else { + pub = orb_advertise(ORB_ID(subsystem_info), &info); + } +} + +void +ETSAirspeed::stop() +{ + work_cancel(HPWORK, &_work); +} + +void +ETSAirspeed::cycle_trampoline(void *arg) +{ + ETSAirspeed *dev = (ETSAirspeed *)arg; + + dev->cycle(); +} + +void +ETSAirspeed::cycle() +{ + /* collection phase? */ + if (_collect_phase) { + + /* perform collection */ + if (OK != collect()) { + log("collection error"); + /* restart the measurement state machine */ + start(); + return; + } + + /* next phase is measurement */ + _collect_phase = false; + + /* + * Is there a collect->measure gap? + */ + if (_measure_ticks > USEC2TICK(CONVERSION_INTERVAL)) { + + /* schedule a fresh cycle call when we are ready to measure again */ + work_queue(HPWORK, + &_work, + (worker_t)&ETSAirspeed::cycle_trampoline, + this, + _measure_ticks - USEC2TICK(CONVERSION_INTERVAL)); + + return; + } + } + + /* measurement phase */ + if (OK != measure()) + log("measure error"); + + /* next phase is collection */ + _collect_phase = true; + + /* schedule a fresh cycle call when the measurement is done */ + work_queue(HPWORK, + &_work, + (worker_t)&ETSAirspeed::cycle_trampoline, + this, + USEC2TICK(CONVERSION_INTERVAL)); +} + +void +ETSAirspeed::print_info() +{ + perf_print_counter(_sample_perf); + perf_print_counter(_comms_errors); + perf_print_counter(_buffer_overflows); + printf("poll interval: %u ticks\n", _measure_ticks); + printf("report queue: %u (%u/%u @ %p)\n", + _num_reports, _oldest_report, _next_report, _reports); +} + +/** + * Local functions in support of the shell command. + */ +namespace ets_airspeed +{ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +const int ERROR = -1; + +ETSAirspeed *g_dev; + +void start(int i2c_bus); +void stop(); +void test(); +void reset(); +void info(); + +/** + * Start the driver. + */ +void +start(int i2c_bus) +{ + int fd; + + if (g_dev != nullptr) + errx(1, "already started"); + + /* create the driver */ + g_dev = new ETSAirspeed(i2c_bus); + + if (g_dev == nullptr) + goto fail; + + if (OK != g_dev->init()) + goto fail; + + /* set the poll rate to default, starts automatic data collection */ + fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + goto fail; + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + goto fail; + + exit(0); + +fail: + + if (g_dev != nullptr) + { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Stop the driver + */ +void +stop() +{ + if (g_dev != nullptr) + { + delete g_dev; + g_dev = nullptr; + } + else + { + errx(1, "driver not running"); + } + exit(0); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + struct differential_pressure_s report; + ssize_t sz; + int ret; + + int fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "%s open failed (try 'ets_airspeed start' if the driver is not running", AIRSPEED_DEVICE_PATH); + + /* do a simple demand read */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) + err(1, "immediate read failed"); + + warnx("single read"); + warnx("diff pressure: %d pa", report.differential_pressure_pa); + + /* start the sensor polling at 2Hz */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) + errx(1, "failed to set 2Hz poll rate"); + + /* read the sensor 5x and report each value */ + for (unsigned i = 0; i < 5; i++) { + struct pollfd fds; + + /* wait for data to be ready */ + fds.fd = fd; + fds.events = POLLIN; + ret = poll(&fds, 1, 2000); + + if (ret != 1) + errx(1, "timed out waiting for sensor data"); + + /* now go get it */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) + err(1, "periodic read failed"); + + warnx("periodic read %u", i); + warnx("diff pressure: %d pa", report.differential_pressure_pa); + } + + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "failed "); + + if (ioctl(fd, SENSORIOCRESET, 0) < 0) + err(1, "driver reset failed"); + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + err(1, "driver poll restart failed"); + + exit(0); +} + +/** + * Print a little info about the driver. + */ +void +info() +{ + if (g_dev == nullptr) + errx(1, "driver not running"); + + printf("state @ %p\n", g_dev); + g_dev->print_info(); + + exit(0); +} + +} // namespace + + +static void +ets_airspeed_usage() +{ + fprintf(stderr, "usage: ets_airspeed [options] command\n"); + fprintf(stderr, "options:\n"); + fprintf(stderr, "\t-b --bus i2cbus (%d)\n", PX4_I2C_BUS_DEFAULT); + fprintf(stderr, "command:\n"); + fprintf(stderr, "\tstart|stop|reset|test|info\n"); +} + +int +ets_airspeed_main(int argc, char *argv[]) +{ + int i2c_bus = PX4_I2C_BUS_DEFAULT; + + int i; + for (i = 1; i < argc; i++) { + if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) { + if (argc > i + 1) { + i2c_bus = atoi(argv[i + 1]); + } + } + } + + /* + * Start/load the driver. + */ + if (!strcmp(argv[1], "start")) + ets_airspeed::start(i2c_bus); + + /* + * Stop the driver + */ + if (!strcmp(argv[1], "stop")) + ets_airspeed::stop(); + + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) + ets_airspeed::test(); + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) + ets_airspeed::reset(); + + /* + * Print driver information. + */ + if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) + ets_airspeed::info(); + + ets_airspeed_usage(); + exit(0); +} diff --git a/src/drivers/ets_airspeed/module.mk b/src/drivers/ets_airspeed/module.mk new file mode 100644 index 000000000..cb5d3b1ed --- /dev/null +++ b/src/drivers/ets_airspeed/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Makefile to build the Eagle Tree Airspeed V3 driver. +# + +MODULE_COMMAND = ets_airspeed +MODULE_STACKSIZE = 1024 + +SRCS = ets_airspeed.cpp diff --git a/apps/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index e35bdb944..38835418b 100644 --- a/apps/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -285,6 +285,10 @@ GPS::task_main() unlock(); if (_Helper->configure(_baudrate) == 0) { unlock(); + + // GPS is obviously detected successfully, reset statistics + _Helper->reset_update_rates(); + while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) { // lock(); /* opportunistic publishing - else invalid data would end up on the bus */ @@ -301,6 +305,8 @@ GPS::task_main() _rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f); last_rate_measurement = hrt_absolute_time(); last_rate_count = 0; + _Helper->store_update_rates(); + _Helper->reset_update_rates(); } if (!_healthy) { @@ -372,7 +378,10 @@ GPS::print_info() warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type, (double)((float)(hrt_absolute_time() - _report.timestamp_position) / 1000000.0f)); warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt); - warnx("update rate: %6.2f Hz", (double)_rate); + warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate()); + warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate()); + warnx("rate publication:\t%6.2f Hz", (double)_rate); + } usleep(100000); diff --git a/apps/drivers/gps/gps_helper.cpp b/src/drivers/gps/gps_helper.cpp index 9c1fad569..ba86d370a 100644 --- a/apps/drivers/gps/gps_helper.cpp +++ b/src/drivers/gps/gps_helper.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Copyright (C) 2012,2013 PX4 Development Team. All rights reserved. * Author: Thomas Gubler <thomasgubler@student.ethz.ch> * Julian Oes <joes@student.ethz.ch> * @@ -36,9 +36,39 @@ #include <termios.h> #include <errno.h> #include <systemlib/err.h> +#include <drivers/drv_hrt.h> #include "gps_helper.h" -/* @file gps_helper.cpp */ +/** + * @file gps_helper.cpp + */ + +float +GPS_Helper::get_position_update_rate() +{ + return _rate_lat_lon; +} + +float +GPS_Helper::get_velocity_update_rate() +{ + return _rate_vel; +} + +float +GPS_Helper::reset_update_rates() +{ + _rate_count_vel = 0; + _rate_count_lat_lon = 0; + _interval_rate_start = hrt_absolute_time(); +} + +float +GPS_Helper::store_update_rates() +{ + _rate_vel = _rate_count_vel / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f); + _rate_lat_lon = _rate_count_lat_lon / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f); +} int GPS_Helper::set_baudrate(const int &fd, unsigned baud) diff --git a/apps/drivers/gps/gps_helper.h b/src/drivers/gps/gps_helper.h index f3d3bc40b..defc1a074 100644 --- a/apps/drivers/gps/gps_helper.h +++ b/src/drivers/gps/gps_helper.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * Author: Thomas Gubler <thomasgubler@student.ethz.ch> * Julian Oes <joes@student.ethz.ch> * @@ -33,7 +33,9 @@ * ****************************************************************************/ -/* @file gps_helper.h */ +/** + * @file gps_helper.h + */ #ifndef GPS_HELPER_H #define GPS_HELPER_H @@ -44,9 +46,22 @@ class GPS_Helper { public: - virtual int configure(unsigned &baud) = 0; + virtual int configure(unsigned &baud) = 0; virtual int receive(unsigned timeout) = 0; - int set_baudrate(const int &fd, unsigned baud); + int set_baudrate(const int &fd, unsigned baud); + float get_position_update_rate(); + float get_velocity_update_rate(); + float reset_update_rates(); + float store_update_rates(); + +protected: + uint8_t _rate_count_lat_lon; + uint8_t _rate_count_vel; + + float _rate_lat_lon; + float _rate_vel; + + uint64_t _interval_rate_start; }; #endif /* GPS_HELPER_H */ diff --git a/apps/drivers/gps/Makefile b/src/drivers/gps/module.mk index 3859a88a5..097db2abf 100644 --- a/apps/drivers/gps/Makefile +++ b/src/drivers/gps/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,8 +35,9 @@ # GPS driver # -APPNAME = gps -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = gps -include $(APPDIR)/mk/app.mk +SRCS = gps.cpp \ + gps_helper.cpp \ + mtk.cpp \ + ubx.cpp diff --git a/apps/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp index 4762bd503..62941d74b 100644 --- a/apps/drivers/gps/mtk.cpp +++ b/src/drivers/gps/mtk.cpp @@ -263,6 +263,10 @@ MTK::handle_message(gps_mtk_packet_t &packet) _gps_position->time_gps_usec += timeinfo_conversion_temp * 1e3; _gps_position->timestamp_position = _gps_position->timestamp_time = hrt_absolute_time(); + // Position and velocity update always at the same time + _rate_count_vel++; + _rate_count_lat_lon++; + return; } diff --git a/apps/drivers/gps/mtk.h b/src/drivers/gps/mtk.h index d4e390b01..b5cfbf0a6 100644 --- a/apps/drivers/gps/mtk.h +++ b/src/drivers/gps/mtk.h @@ -87,14 +87,14 @@ class MTK : public GPS_Helper public: MTK(const int &fd, struct vehicle_gps_position_s *gps_position); ~MTK(); - int receive(unsigned timeout); - int configure(unsigned &baudrate); + int receive(unsigned timeout); + int configure(unsigned &baudrate); private: /** * Parse the binary MTK packet */ - int parse_char(uint8_t b, gps_mtk_packet_t &packet); + int parse_char(uint8_t b, gps_mtk_packet_t &packet); /** * Handle the package once it has arrived diff --git a/apps/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index c150f5271..b3093b0f6 100644 --- a/apps/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -60,7 +60,8 @@ UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position) : _fd(fd), _gps_position(gps_position), -_waiting_for_ack(false) +_waiting_for_ack(false), +_disable_cmd_counter(0) { decode_init(); } @@ -139,12 +140,12 @@ UBX::configure(unsigned &baudrate) cfg_rate_packet.clsID = UBX_CLASS_CFG; cfg_rate_packet.msgID = UBX_MESSAGE_CFG_RATE; cfg_rate_packet.length = UBX_CFG_RATE_LENGTH; - cfg_rate_packet.measRate = UBX_CFG_RATE_PAYLOAD_MEASRATE; + cfg_rate_packet.measRate = UBX_CFG_RATE_PAYLOAD_MEASINTERVAL; cfg_rate_packet.navRate = UBX_CFG_RATE_PAYLOAD_NAVRATE; cfg_rate_packet.timeRef = UBX_CFG_RATE_PAYLOAD_TIMEREF; send_config_packet(_fd, (uint8_t*)&cfg_rate_packet, sizeof(cfg_rate_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { + if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { /* try next baudrate */ continue; } @@ -164,74 +165,41 @@ UBX::configure(unsigned &baudrate) cfg_nav5_packet.fixMode = UBX_CFG_NAV5_PAYLOAD_FIXMODE; send_config_packet(_fd, (uint8_t*)&cfg_nav5_packet, sizeof(cfg_nav5_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { - /* try next baudrate */ - continue; - } - - type_gps_bin_cfg_msg_packet_t cfg_msg_packet; - memset(&cfg_msg_packet, 0, sizeof(cfg_msg_packet)); - - _clsID_needed = UBX_CLASS_CFG; - _msgID_needed = UBX_MESSAGE_CFG_MSG; - - cfg_msg_packet.clsID = UBX_CLASS_CFG; - cfg_msg_packet.msgID = UBX_MESSAGE_CFG_MSG; - cfg_msg_packet.length = UBX_CFG_MSG_LENGTH; - /* Choose fast 5Hz rate for all messages except SVINFO which is big and not important */ - cfg_msg_packet.rate[1] = UBX_CFG_MSG_PAYLOAD_RATE1_5HZ; - - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_POSLLH; - - send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { - /* try next baudrate */ - continue; - } - - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC; - - send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { - /* try next baudrate */ - continue; - } - - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO; - /* For satelites info 1Hz is enough */ - cfg_msg_packet.rate[1] = UBX_CFG_MSG_PAYLOAD_RATE1_1HZ; - - send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { - /* try next baudrate */ - continue; - } - - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SOL; - - send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { + if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { /* try next baudrate */ continue; } - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_VELNED; - - send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { - /* try next baudrate */ - continue; - } -// cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; -// cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP; - -// cfg_msg_packet.msgClass_payload = UBX_CLASS_RXM; -// cfg_msg_packet.msgID_payload = UBX_MESSAGE_RXM_SVSI; + configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_POSLLH, + UBX_CFG_MSG_PAYLOAD_RATE1_5HZ); + /* insist of receiving the ACK for this packet */ + // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) + // continue; + configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_TIMEUTC, + 1); + // /* insist of receiving the ACK for this packet */ + // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) + // continue; + configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SOL, + 1); + // /* insist of receiving the ACK for this packet */ + // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) + // continue; + configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_VELNED, + 1); + // /* insist of receiving the ACK for this packet */ + // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) + // continue; + // configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_DOP, + // 0); + // /* insist of receiving the ACK for this packet */ + // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) + // continue; + configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, + 0); + // /* insist of receiving the ACK for this packet */ + // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) + // continue; _waiting_for_ack = false; return 0; @@ -240,6 +208,15 @@ UBX::configure(unsigned &baudrate) } int +UBX::wait_for_ack(unsigned timeout) +{ + _waiting_for_ack = true; + int ret = receive(timeout); + _waiting_for_ack = false; + return ret; +} + +int UBX::receive(unsigned timeout) { /* poll descriptor */ @@ -498,6 +475,8 @@ UBX::handle_message() _gps_position->eph_m = (float)packet->hAcc * 1e-3f; // from mm to m _gps_position->epv_m = (float)packet->vAcc * 1e-3f; // from mm to m + _rate_count_lat_lon++; + /* Add timestamp to finish the report */ _gps_position->timestamp_position = hrt_absolute_time(); /* only return 1 when new position is available */ @@ -653,6 +632,8 @@ UBX::handle_message() _gps_position->c_variance_rad = (float)packet->cAcc * M_DEG_TO_RAD_F * 1e-5f; _gps_position->vel_ned_valid = true; _gps_position->timestamp_velocity = hrt_absolute_time(); + + _rate_count_vel++; } break; @@ -693,6 +674,12 @@ UBX::handle_message() default: //we don't know the message warnx("UBX: Unknown message received: %d-%d\n",_message_class,_message_id); + if (_disable_cmd_counter++ == 0) { + // Don't attempt for every message to disable, some might not be disabled */ + warnx("Disabling message 0x%02x 0x%02x", (unsigned)_message_class, (unsigned)_message_id); + configure_message_rate(_message_class, _message_id, 0); + } + return ret; ret = -1; break; } @@ -737,6 +724,25 @@ UBX::add_checksum_to_message(uint8_t* message, const unsigned length) } void +UBX::add_checksum(uint8_t* message, const unsigned length, uint8_t &ck_a, uint8_t &ck_b) +{ + for (unsigned i = 0; i < length; i++) { + ck_a = ck_a + message[i]; + ck_b = ck_b + ck_a; + } +} + +void +UBX::configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate) +{ + struct ubx_cfg_msg_rate msg; + msg.msg_class = msg_class; + msg.msg_id = msg_id; + msg.rate = rate; + send_message(CFG, UBX_MESSAGE_CFG_MSG, &msg, sizeof(msg)); +} + +void UBX::send_config_packet(const int &fd, uint8_t *packet, const unsigned length) { ssize_t ret = 0; @@ -753,3 +759,27 @@ UBX::send_config_packet(const int &fd, uint8_t *packet, const unsigned length) if (ret != (int)length + (int)sizeof(sync_bytes)) // XXX is there a neater way to get rid of the unsigned signed warning? warnx("ubx: config write fail"); } + +void +UBX::send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint8_t size) +{ + struct ubx_header header; + uint8_t ck_a=0, ck_b=0; + header.sync1 = UBX_SYNC1; + header.sync2 = UBX_SYNC2; + header.msg_class = msg_class; + header.msg_id = msg_id; + header.length = size; + + add_checksum((uint8_t *)&header.msg_class, sizeof(header)-2, ck_a, ck_b); + add_checksum((uint8_t *)msg, size, ck_a, ck_b); + + // Configure receive check + _clsID_needed = msg_class; + _msgID_needed = msg_id; + + write(_fd, (const char *)&header, sizeof(header)); + write(_fd, (const char *)msg, size); + write(_fd, (const char *)&ck_a, 1); + write(_fd, (const char *)&ck_b, 1); +} diff --git a/apps/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index e3dd1c7ea..5a433642c 100644 --- a/apps/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -65,26 +65,27 @@ #define UBX_MESSAGE_CFG_RATE 0x08 #define UBX_CFG_PRT_LENGTH 20 -#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01 /**< UART1 */ -#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */ -#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400 /**< always choose 38400 as GPS baudrate */ -#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01 /**< UBX in */ -#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01 /**< UBX out */ +#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01 /**< UART1 */ +#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */ +#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400 /**< always choose 38400 as GPS baudrate */ +#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01 /**< UBX in */ +#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01 /**< UBX out */ #define UBX_CFG_RATE_LENGTH 6 -#define UBX_CFG_RATE_PAYLOAD_MEASRATE 200 /**< 200ms for 5Hz */ +#define UBX_CFG_RATE_PAYLOAD_MEASINTERVAL 200 /**< 200ms for 5Hz */ #define UBX_CFG_RATE_PAYLOAD_NAVRATE 1 /**< cannot be changed */ #define UBX_CFG_RATE_PAYLOAD_TIMEREF 0 /**< 0: UTC, 1: GPS time */ #define UBX_CFG_NAV5_LENGTH 36 -#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0001 /**< only update dynamic model and fix mode */ +#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0005 /**< XXX only update dynamic model and fix mode */ #define UBX_CFG_NAV5_PAYLOAD_DYNMODEL 7 /**< 0: portable, 2: stationary, 3: pedestrian, 4: automotive, 5: sea, 6: airborne <1g, 7: airborne <2g, 8: airborne <4g */ -#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2 /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */ +#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2 /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */ #define UBX_CFG_MSG_LENGTH 8 #define UBX_CFG_MSG_PAYLOAD_RATE1_5HZ 0x01 /**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ #define UBX_CFG_MSG_PAYLOAD_RATE1_1HZ 0x05 /**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ +#define UBX_CFG_MSG_PAYLOAD_RATE1_05HZ 10 #define UBX_MAX_PAYLOAD_LENGTH 500 @@ -92,6 +93,14 @@ /** the structures of the binary packets */ #pragma pack(push, 1) +struct ubx_header { + uint8_t sync1; + uint8_t sync2; + uint8_t msg_class; + uint8_t msg_id; + uint16_t length; +}; + typedef struct { uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ int32_t lon; /**< Longitude * 1e-7, deg */ @@ -274,11 +283,17 @@ typedef struct { uint16_t length; uint8_t msgClass_payload; uint8_t msgID_payload; - uint8_t rate[6]; + uint8_t rate; uint8_t ck_a; uint8_t ck_b; } type_gps_bin_cfg_msg_packet_t; +struct ubx_cfg_msg_rate { + uint8_t msg_class; + uint8_t msg_id; + uint8_t rate; +}; + // END the structures of the binary packets // ************ @@ -341,55 +356,64 @@ class UBX : public GPS_Helper public: UBX(const int &fd, struct vehicle_gps_position_s *gps_position); ~UBX(); - int receive(unsigned timeout); - int configure(unsigned &baudrate); + int receive(unsigned timeout); + int configure(unsigned &baudrate); private: /** * Parse the binary MTK packet */ - int parse_char(uint8_t b); + int parse_char(uint8_t b); /** * Handle the package once it has arrived */ - int handle_message(void); + int handle_message(void); /** * Reset the parse state machine for a fresh start */ - void decode_init(void); + void decode_init(void); /** * While parsing add every byte (except the sync bytes) to the checksum */ - void add_byte_to_checksum(uint8_t); + void add_byte_to_checksum(uint8_t); /** * Add the two checksum bytes to an outgoing message */ - void add_checksum_to_message(uint8_t* message, const unsigned length); + void add_checksum_to_message(uint8_t* message, const unsigned length); /** * Helper to send a config packet */ - void send_config_packet(const int &fd, uint8_t *packet, const unsigned length); + void send_config_packet(const int &fd, uint8_t *packet, const unsigned length); + + void configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate); + + void send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint8_t size); + + void add_checksum(uint8_t* message, const unsigned length, uint8_t &ck_a, uint8_t &ck_b); + + int wait_for_ack(unsigned timeout); - int _fd; + int _fd; struct vehicle_gps_position_s *_gps_position; ubx_config_state_t _config_state; - bool _waiting_for_ack; - uint8_t _clsID_needed; - uint8_t _msgID_needed; + bool _waiting_for_ack; + uint8_t _clsID_needed; + uint8_t _msgID_needed; ubx_decode_state_t _decode_state; - uint8_t _rx_buffer[RECV_BUFFER_SIZE]; - unsigned _rx_count; - uint8_t _rx_ck_a; - uint8_t _rx_ck_b; - ubx_message_class_t _message_class; + uint8_t _rx_buffer[RECV_BUFFER_SIZE]; + unsigned _rx_count; + uint8_t _rx_ck_a; + uint8_t _rx_ck_b; + ubx_message_class_t _message_class; ubx_message_id_t _message_id; - unsigned _payload_size; + unsigned _payload_size; + uint8_t _disable_cmd_counter; }; #endif /* UBX_H_ */ diff --git a/apps/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp index d9aa772d4..d9aa772d4 100644 --- a/apps/drivers/hil/hil.cpp +++ b/src/drivers/hil/hil.cpp diff --git a/src/drivers/hil/module.mk b/src/drivers/hil/module.mk new file mode 100644 index 000000000..f8895f5d5 --- /dev/null +++ b/src/drivers/hil/module.mk @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Hardware in the Loop (HIL) simulation actuator output bank +# + +MODULE_COMMAND = hil + +SRCS = hil.cpp diff --git a/apps/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index 8ab568282..78eda327c 100644 --- a/apps/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -75,7 +75,6 @@ * HMC5883 internal constants and data structures. */ -#define HMC5883L_BUS PX4_I2C_BUS_ONBOARD #define HMC5883L_ADDRESS PX4_I2C_OBDEV_HMC5883 /* Max measurement rate is 160Hz */ @@ -842,12 +841,25 @@ HMC5883::collect() * 74 from all measurements centers them around zero. */ - /* to align the sensor axes with the board, x and y need to be flipped */ - _reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale; - /* flip axes and negate value for y */ - _reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale; - /* z remains z */ - _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; +#ifdef PX4_I2C_BUS_ONBOARD + if (_bus == PX4_I2C_BUS_ONBOARD) { + /* to align the sensor axes with the board, x and y need to be flipped */ + _reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale; + /* flip axes and negate value for y */ + _reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale; + /* z remains z */ + _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; + } else { +#endif + /* XXX axis assignment of external sensor is yet unknown */ + _reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale; + /* flip axes and negate value for y */ + _reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale; + /* z remains z */ + _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; +#ifdef PX4_I2C_BUS_ONBOARD + } +#endif /* publish it */ orb_publish(ORB_ID(sensor_mag), _mag_topic, &_reports[_next_report]); @@ -1211,15 +1223,27 @@ start() if (g_dev != nullptr) errx(1, "already started"); - /* create the driver */ - g_dev = new HMC5883(HMC5883L_BUS); + /* create the driver, attempt expansion bus first */ + g_dev = new HMC5883(PX4_I2C_BUS_EXPANSION); + if (g_dev != nullptr && OK != g_dev->init()) { + delete g_dev; + g_dev = nullptr; + } + + +#ifdef PX4_I2C_BUS_ONBOARD + /* if this failed, attempt onboard sensor */ + if (g_dev == nullptr) { + g_dev = new HMC5883(PX4_I2C_BUS_ONBOARD); + if (g_dev != nullptr && OK != g_dev->init()) { + goto fail; + } + } +#endif if (g_dev == nullptr) goto fail; - if (OK != g_dev->init()) - goto fail; - /* set the poll rate to default, starts automatic data collection */ fd = open(MAG_DEVICE_PATH, O_RDONLY); diff --git a/src/drivers/hmc5883/module.mk b/src/drivers/hmc5883/module.mk new file mode 100644 index 000000000..07377556d --- /dev/null +++ b/src/drivers/hmc5883/module.mk @@ -0,0 +1,43 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# HMC5883 driver +# + +MODULE_COMMAND = hmc5883 + +# XXX seems excessive, check if 2048 is sufficient +MODULE_STACKSIZE = 4096 + +SRCS = hmc5883.cpp diff --git a/apps/hott_telemetry/hott_telemetry_main.c b/src/drivers/hott_telemetry/hott_telemetry_main.c index 31c9247aa..a13a6ef58 100644 --- a/apps/hott_telemetry/hott_telemetry_main.c +++ b/src/drivers/hott_telemetry/hott_telemetry_main.c @@ -1,7 +1,7 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Simon Wilks <sjwilks@gmail.com> + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: Simon Wilks <sjwilks@gmail.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,6 +34,7 @@ /** * @file hott_telemetry_main.c + * @author Simon Wilks <sjwilks@gmail.com> * * Graupner HoTT Telemetry implementation. * @@ -41,7 +42,6 @@ * a data packet can be returned if necessary. * * TODO: Add support for at least the vario and GPS sensor data. - * */ #include <fcntl.h> @@ -57,12 +57,6 @@ #include "messages.h" -/* The following are equired for UART direct manipulation. */ -#include <arch/board/board.h> -#include "up_arch.h" -#include "chip.h" -#include "stm32_internal.h" - static int thread_should_exit = false; /**< Deamon exit flag */ static int thread_running = false; /**< Deamon status flag */ static int deamon_task; /**< Handle of deamon task / thread */ diff --git a/apps/hott_telemetry/messages.c b/src/drivers/hott_telemetry/messages.c index 8bfb99773..f0f32d244 100644 --- a/apps/hott_telemetry/messages.c +++ b/src/drivers/hott_telemetry/messages.c @@ -1,7 +1,7 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Simon Wilks <sjwilks@gmail.com> + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: Simon Wilks <sjwilks@gmail.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,7 +34,7 @@ /** * @file messages.c - * + * @author Simon Wilks <sjwilks@gmail.com> */ #include "messages.h" @@ -42,9 +42,11 @@ #include <string.h> #include <systemlib/systemlib.h> #include <unistd.h> +#include <uORB/topics/airspeed.h> #include <uORB/topics/battery_status.h> #include <uORB/topics/sensor_combined.h> +static int airspeed_sub = -1; static int battery_sub = -1; static int sensor_sub = -1; @@ -52,6 +54,7 @@ void messages_init(void) { battery_sub = orb_subscribe(ORB_ID(battery_status)); sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); + airspeed_sub = orb_subscribe(ORB_ID(airspeed)); } void build_eam_response(uint8_t *buffer, int *size) @@ -81,6 +84,15 @@ void build_eam_response(uint8_t *buffer, int *size) msg.altitude_L = (uint8_t)alt & 0xff; msg.altitude_H = (uint8_t)(alt >> 8) & 0xff; + /* get a local copy of the current sensor values */ + struct airspeed_s airspeed; + memset(&airspeed, 0, sizeof(airspeed)); + orb_copy(ORB_ID(airspeed), airspeed_sub, &airspeed); + + uint16_t speed = (uint16_t)(airspeed.indicated_airspeed_m_s * 3.6); + msg.speed_L = (uint8_t)speed & 0xff; + msg.speed_H = (uint8_t)(speed >> 8) & 0xff; + msg.stop = STOP_BYTE; memcpy(buffer, &msg, *size); diff --git a/apps/hott_telemetry/messages.h b/src/drivers/hott_telemetry/messages.h index 44001e04f..dd38075fa 100644 --- a/apps/hott_telemetry/messages.h +++ b/src/drivers/hott_telemetry/messages.h @@ -1,7 +1,7 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Simon Wilks <sjwilks@gmail.com> + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: Simon Wilks <sjwilks@gmail.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,6 +34,7 @@ /** * @file messages.h + * @author Simon Wilks <sjwilks@gmail.com> * * Graupner HoTT Telemetry message generation. * diff --git a/apps/drivers/blinkm/Makefile b/src/drivers/hott_telemetry/module.mk index 5a623693d..def1d59e9 100644 --- a/apps/drivers/blinkm/Makefile +++ b/src/drivers/hott_telemetry/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,11 +32,10 @@ ############################################################################ # -# BlinkM I2C LED driver +# Graupner HoTT Telemetry application. # -APPNAME = blinkm -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = hott_telemetry -include $(APPDIR)/mk/app.mk +SRCS = hott_telemetry_main.c \ + messages.c diff --git a/apps/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index c7f433dd4..98098c83b 100644 --- a/apps/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -32,7 +32,8 @@ ****************************************************************************/ /** - * @file Driver for the ST L3GD20 MEMS gyro connected via SPI. + * @file l3gd20.cpp + * Driver for the ST L3GD20 MEMS gyro connected via SPI. */ #include <nuttx/config.h> diff --git a/src/drivers/l3gd20/module.mk b/src/drivers/l3gd20/module.mk new file mode 100644 index 000000000..23e77e871 --- /dev/null +++ b/src/drivers/l3gd20/module.mk @@ -0,0 +1,6 @@ +# +# LSM303D accel/mag driver +# + +MODULE_COMMAND = l3gd20 +SRCS = l3gd20.cpp diff --git a/apps/drivers/led/led.cpp b/src/drivers/led/led.cpp index c7c45525e..04b565358 100644 --- a/apps/drivers/led/led.cpp +++ b/src/drivers/led/led.cpp @@ -41,12 +41,17 @@ #include <drivers/device/device.h> #include <drivers/drv_led.h> -/* Ideally we'd be able to get these from up_internal.h */ -//#include <up_internal.h> +/* + * Ideally we'd be able to get these from up_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ __BEGIN_DECLS -extern void up_ledinit(); -extern void up_ledon(int led); -extern void up_ledoff(int led); +extern void led_init(); +extern void led_on(int led); +extern void led_off(int led); __END_DECLS class LED : device::CDev @@ -74,7 +79,7 @@ int LED::init() { CDev::init(); - up_ledinit(); + led_init(); return 0; } @@ -86,11 +91,11 @@ LED::ioctl(struct file *filp, int cmd, unsigned long arg) switch (cmd) { case LED_ON: - up_ledon(arg); + led_on(arg); break; case LED_OFF: - up_ledoff(arg); + led_off(arg); break; default: diff --git a/apps/systemlib/mixer/Makefile b/src/drivers/led/module.mk index f8b02f194..777f3e442 100644 --- a/apps/systemlib/mixer/Makefile +++ b/src/drivers/led/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,8 +32,7 @@ ############################################################################ # -# mixer library +# Build the LED driver. # -LIBNAME = mixerlib -include $(APPDIR)/mk/app.mk +SRCS = led.cpp diff --git a/apps/drivers/mb12xx/mb12xx.cpp b/src/drivers/mb12xx/mb12xx.cpp index 9d0f6bddc..397686e8b 100644 --- a/apps/drivers/mb12xx/mb12xx.cpp +++ b/src/drivers/mb12xx/mb12xx.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/apps/drivers/mb12xx/Makefile b/src/drivers/mb12xx/module.mk index 0d2405787..4e00ada02 100644 --- a/apps/drivers/mb12xx/Makefile +++ b/src/drivers/mb12xx/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2013 PX4 Development Team. All rights reserved. +# Copyright (c) 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,8 +35,6 @@ # Makefile to build the Maxbotix Sonar driver. # -APPNAME = mb12xx -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = mb12xx -include $(APPDIR)/mk/app.mk +SRCS = mb12xx.cpp diff --git a/src/drivers/md25/md25.cpp b/src/drivers/md25/md25.cpp new file mode 100644 index 000000000..71932ad65 --- /dev/null +++ b/src/drivers/md25/md25.cpp @@ -0,0 +1,553 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file md25.cpp + * + * Driver for MD25 I2C Motor Driver + * + * references: + * http://www.robot-electronics.co.uk/htm/md25tech.htm + * http://www.robot-electronics.co.uk/files/rpi_md25.c + * + */ + +#include "md25.hpp" +#include <poll.h> +#include <stdio.h> + +#include <systemlib/err.h> +#include <arch/board/board.h> + +// registers +enum { + // RW: read/write + // R: read + REG_SPEED1_RW = 0, + REG_SPEED2_RW, + REG_ENC1A_R, + REG_ENC1B_R, + REG_ENC1C_R, + REG_ENC1D_R, + REG_ENC2A_R, + REG_ENC2B_R, + REG_ENC2C_R, + REG_ENC2D_R, + REG_BATTERY_VOLTS_R, + REG_MOTOR1_CURRENT_R, + REG_MOTOR2_CURRENT_R, + REG_SW_VERSION_R, + REG_ACCEL_RATE_RW, + REG_MODE_RW, + REG_COMMAND_RW, +}; + +MD25::MD25(const char *deviceName, int bus, + uint16_t address, uint32_t speed) : + I2C("MD25", deviceName, bus, address, speed), + _controlPoll(), + _actuators(NULL, ORB_ID(actuator_controls_0), 20), + _version(0), + _motor1Speed(0), + _motor2Speed(0), + _revolutions1(0), + _revolutions2(0), + _batteryVoltage(0), + _motor1Current(0), + _motor2Current(0), + _motorAccel(0), + _mode(MODE_UNSIGNED_SPEED), + _command(CMD_RESET_ENCODERS) +{ + // setup control polling + _controlPoll.fd = _actuators.getHandle(); + _controlPoll.events = POLLIN; + + // if initialization fails raise an error, unless + // probing + int ret = I2C::init(); + + if (ret != OK) { + warnc(ret, "I2C::init failed for bus: %d address: %d\n", bus, address); + } + + // setup default settings, reset encoders + setMotor1Speed(0); + setMotor2Speed(0); + resetEncoders(); + _setMode(MD25::MODE_UNSIGNED_SPEED); + setSpeedRegulation(true); + setTimeout(true); +} + +MD25::~MD25() +{ +} + +int MD25::readData() +{ + uint8_t sendBuf[1]; + sendBuf[0] = REG_SPEED1_RW; + uint8_t recvBuf[17]; + int ret = transfer(sendBuf, sizeof(sendBuf), + recvBuf, sizeof(recvBuf)); + + if (ret == OK) { + _version = recvBuf[REG_SW_VERSION_R]; + _motor1Speed = _uint8ToNorm(recvBuf[REG_SPEED1_RW]); + _motor2Speed = _uint8ToNorm(recvBuf[REG_SPEED2_RW]); + _revolutions1 = -int32_t((recvBuf[REG_ENC1A_R] << 24) + + (recvBuf[REG_ENC1B_R] << 16) + + (recvBuf[REG_ENC1C_R] << 8) + + recvBuf[REG_ENC1D_R]) / 360.0; + _revolutions2 = -int32_t((recvBuf[REG_ENC2A_R] << 24) + + (recvBuf[REG_ENC2B_R] << 16) + + (recvBuf[REG_ENC2C_R] << 8) + + recvBuf[REG_ENC2D_R]) / 360.0; + _batteryVoltage = recvBuf[REG_BATTERY_VOLTS_R] / 10.0; + _motor1Current = recvBuf[REG_MOTOR1_CURRENT_R] / 10.0; + _motor2Current = recvBuf[REG_MOTOR2_CURRENT_R] / 10.0; + _motorAccel = recvBuf[REG_ACCEL_RATE_RW]; + _mode = e_mode(recvBuf[REG_MODE_RW]); + _command = e_cmd(recvBuf[REG_COMMAND_RW]); + } + + return ret; +} + +void MD25::status(char *string, size_t n) +{ + snprintf(string, n, + "version:\t%10d\n" \ + "motor 1 speed:\t%10.2f\n" \ + "motor 2 speed:\t%10.2f\n" \ + "revolutions 1:\t%10.2f\n" \ + "revolutions 2:\t%10.2f\n" \ + "battery volts :\t%10.2f\n" \ + "motor 1 current :\t%10.2f\n" \ + "motor 2 current :\t%10.2f\n" \ + "motor accel :\t%10d\n" \ + "mode :\t%10d\n" \ + "command :\t%10d\n", + getVersion(), + double(getMotor1Speed()), + double(getMotor2Speed()), + double(getRevolutions1()), + double(getRevolutions2()), + double(getBatteryVolts()), + double(getMotor1Current()), + double(getMotor2Current()), + getMotorAccel(), + getMode(), + getCommand()); +} + +uint8_t MD25::getVersion() +{ + return _version; +} + +float MD25::getMotor1Speed() +{ + return _motor1Speed; +} + +float MD25::getMotor2Speed() +{ + return _motor2Speed; +} + +float MD25::getRevolutions1() +{ + return _revolutions1; +} + +float MD25::getRevolutions2() +{ + return _revolutions2; +} + +float MD25::getBatteryVolts() +{ + return _batteryVoltage; +} + +float MD25::getMotor1Current() +{ + return _motor1Current; +} +float MD25::getMotor2Current() +{ + return _motor2Current; +} + +uint8_t MD25::getMotorAccel() +{ + return _motorAccel; +} + +MD25::e_mode MD25::getMode() +{ + return _mode; +} + +MD25::e_cmd MD25::getCommand() +{ + return _command; +} + +int MD25::resetEncoders() +{ + return _writeUint8(REG_COMMAND_RW, + CMD_RESET_ENCODERS); +} + +int MD25::_setMode(e_mode mode) +{ + return _writeUint8(REG_MODE_RW, + mode); +} + +int MD25::setSpeedRegulation(bool enable) +{ + if (enable) { + return _writeUint8(REG_COMMAND_RW, + CMD_ENABLE_SPEED_REGULATION); + + } else { + return _writeUint8(REG_COMMAND_RW, + CMD_DISABLE_SPEED_REGULATION); + } +} + +int MD25::setTimeout(bool enable) +{ + if (enable) { + return _writeUint8(REG_COMMAND_RW, + CMD_ENABLE_TIMEOUT); + + } else { + return _writeUint8(REG_COMMAND_RW, + CMD_DISABLE_TIMEOUT); + } +} + +int MD25::setDeviceAddress(uint8_t address) +{ + uint8_t sendBuf[1]; + sendBuf[0] = CMD_CHANGE_I2C_SEQ_0; + int ret = OK; + ret = transfer(sendBuf, sizeof(sendBuf), + nullptr, 0); + + if (ret != OK) { + warnc(ret, "MD25::setDeviceAddress"); + return ret; + } + + usleep(5000); + sendBuf[0] = CMD_CHANGE_I2C_SEQ_1; + ret = transfer(sendBuf, sizeof(sendBuf), + nullptr, 0); + + if (ret != OK) { + warnc(ret, "MD25::setDeviceAddress"); + return ret; + } + + usleep(5000); + sendBuf[0] = CMD_CHANGE_I2C_SEQ_2; + ret = transfer(sendBuf, sizeof(sendBuf), + nullptr, 0); + + if (ret != OK) { + warnc(ret, "MD25::setDeviceAddress"); + return ret; + } + + return OK; +} + +int MD25::setMotor1Speed(float value) +{ + return _writeUint8(REG_SPEED1_RW, + _normToUint8(value)); +} + +int MD25::setMotor2Speed(float value) +{ + return _writeUint8(REG_SPEED2_RW, + _normToUint8(value)); +} + +void MD25::update() +{ + // wait for an actuator publication, + // check for exit condition every second + // note "::poll" is required to distinguish global + // poll from member function for driver + if (::poll(&_controlPoll, 1, 1000) < 0) return; // poll error + + // if new data, send to motors + if (_actuators.updated()) { + _actuators.update(); + setMotor1Speed(_actuators.control[CH_SPEED_LEFT]); + setMotor2Speed(_actuators.control[CH_SPEED_RIGHT]); + } +} + +int MD25::probe() +{ + uint8_t goodAddress = 0; + bool found = false; + int ret = OK; + + // try initial address first, if good, then done + if (readData() == OK) return ret; + + // try all other addresses + uint8_t testAddress = 0; + + //printf("searching for MD25 address\n"); + while (true) { + set_address(testAddress); + ret = readData(); + + if (ret == OK && !found) { + //printf("device found at address: 0x%X\n", testAddress); + if (!found) { + found = true; + goodAddress = testAddress; + } + } + + if (testAddress > 254) { + break; + } + + testAddress++; + } + + if (found) { + set_address(goodAddress); + return OK; + + } else { + set_address(0); + return ret; + } +} + +int MD25::search() +{ + uint8_t goodAddress = 0; + bool found = false; + int ret = OK; + // try all other addresses + uint8_t testAddress = 0; + + //printf("searching for MD25 address\n"); + while (true) { + set_address(testAddress); + ret = readData(); + + if (ret == OK && !found) { + printf("device found at address: 0x%X\n", testAddress); + + if (!found) { + found = true; + goodAddress = testAddress; + } + } + + if (testAddress > 254) { + break; + } + + testAddress++; + } + + if (found) { + set_address(goodAddress); + return OK; + + } else { + set_address(0); + return ret; + } +} + +int MD25::_writeUint8(uint8_t reg, uint8_t value) +{ + uint8_t sendBuf[2]; + sendBuf[0] = reg; + sendBuf[1] = value; + return transfer(sendBuf, sizeof(sendBuf), + nullptr, 0); +} + +int MD25::_writeInt8(uint8_t reg, int8_t value) +{ + uint8_t sendBuf[2]; + sendBuf[0] = reg; + sendBuf[1] = value; + return transfer(sendBuf, sizeof(sendBuf), + nullptr, 0); +} + +float MD25::_uint8ToNorm(uint8_t value) +{ + // TODO, should go from 0 to 255 + // possibly should handle this differently + return (value - 128) / 127.0; +} + +uint8_t MD25::_normToUint8(float value) +{ + if (value > 1) value = 1; + + if (value < -1) value = -1; + + // TODO, should go from 0 to 255 + // possibly should handle this differently + return 127 * value + 128; +} + +int md25Test(const char *deviceName, uint8_t bus, uint8_t address) +{ + printf("md25 test: starting\n"); + + // setup + MD25 md25("/dev/md25", bus, address); + + // print status + char buf[200]; + md25.status(buf, sizeof(buf)); + printf("%s\n", buf); + + // setup for test + md25.setSpeedRegulation(true); + md25.setTimeout(true); + float dt = 0.1; + float speed = 0.2; + float t = 0; + + // motor 1 test + printf("md25 test: spinning motor 1 forward for 1 rev at 0.1 speed\n"); + t = 0; + + while (true) { + t += dt; + md25.setMotor1Speed(speed); + md25.readData(); + usleep(1000000 * dt); + + if (md25.getRevolutions1() > 1) { + printf("finished 1 revolution fwd\n"); + break; + } + + if (t > 2.0f) break; + } + + md25.setMotor1Speed(0); + printf("revolution of wheel 1: %8.4f\n", double(md25.getRevolutions1())); + md25.resetEncoders(); + + t = 0; + + while (true) { + t += dt; + md25.setMotor1Speed(-speed); + md25.readData(); + usleep(1000000 * dt); + + if (md25.getRevolutions1() < -1) { + printf("finished 1 revolution rev\n"); + break; + } + + if (t > 2.0f) break; + } + + md25.setMotor1Speed(0); + printf("revolution of wheel 1: %8.4f\n", double(md25.getRevolutions1())); + md25.resetEncoders(); + + // motor 2 test + printf("md25 test: spinning motor 2 forward for 1 rev at 0.1 speed\n"); + t = 0; + + while (true) { + t += dt; + md25.setMotor2Speed(speed); + md25.readData(); + usleep(1000000 * dt); + + if (md25.getRevolutions2() > 1) { + printf("finished 1 revolution fwd\n"); + break; + } + + if (t > 2.0f) break; + } + + md25.setMotor2Speed(0); + printf("revolution of wheel 2: %8.4f\n", double(md25.getRevolutions2())); + md25.resetEncoders(); + + t = 0; + + while (true) { + t += dt; + md25.setMotor2Speed(-speed); + md25.readData(); + usleep(1000000 * dt); + + if (md25.getRevolutions2() < -1) { + printf("finished 1 revolution rev\n"); + break; + } + + if (t > 2.0f) break; + } + + md25.setMotor2Speed(0); + printf("revolution of wheel 2: %8.4f\n", double(md25.getRevolutions2())); + md25.resetEncoders(); + + printf("Test complete\n"); + return 0; +} + +// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78 diff --git a/src/drivers/md25/md25.hpp b/src/drivers/md25/md25.hpp new file mode 100644 index 000000000..e77511b16 --- /dev/null +++ b/src/drivers/md25/md25.hpp @@ -0,0 +1,293 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file md25.cpp + * + * Driver for MD25 I2C Motor Driver + * + * references: + * http://www.robot-electronics.co.uk/htm/md25tech.htm + * http://www.robot-electronics.co.uk/files/rpi_md25.c + * + */ + +#pragma once + +#include <poll.h> +#include <stdio.h> +#include <controllib/block/UOrbSubscription.hpp> +#include <uORB/topics/actuator_controls.h> +#include <drivers/device/i2c.h> + +/** + * This is a driver for the MD25 motor controller utilizing the I2C interface. + */ +class MD25 : public device::I2C +{ +public: + + /** + * modes + * + * NOTE: this driver assumes we are always + * in mode 0! + * + * seprate speed mode: + * motor speed1 = speed1 + * motor speed2 = speed2 + * turn speed mode: + * motor speed1 = speed1 + speed2 + * motor speed2 = speed2 - speed2 + * unsigned: + * full rev (0), stop(128), full fwd (255) + * signed: + * full rev (-127), stop(0), full fwd (128) + * + * modes numbers: + * 0 : unsigned separate (default) + * 1 : signed separate + * 2 : unsigned turn + * 3 : signed turn + */ + enum e_mode { + MODE_UNSIGNED_SPEED = 0, + MODE_SIGNED_SPEED, + MODE_UNSIGNED_SPEED_TURN, + MODE_SIGNED_SPEED_TURN, + }; + + /** commands */ + enum e_cmd { + CMD_RESET_ENCODERS = 32, + CMD_DISABLE_SPEED_REGULATION = 48, + CMD_ENABLE_SPEED_REGULATION = 49, + CMD_DISABLE_TIMEOUT = 50, + CMD_ENABLE_TIMEOUT = 51, + CMD_CHANGE_I2C_SEQ_0 = 160, + CMD_CHANGE_I2C_SEQ_1 = 170, + CMD_CHANGE_I2C_SEQ_2 = 165, + }; + + /** control channels */ + enum e_channels { + CH_SPEED_LEFT = 0, + CH_SPEED_RIGHT + }; + + /** + * constructor + * @param deviceName the name of the device e.g. "/dev/md25" + * @param bus the I2C bus + * @param address the adddress on the I2C bus + * @param speed the speed of the I2C communication + */ + MD25(const char *deviceName, + int bus, + uint16_t address, + uint32_t speed = 100000); + + /** + * deconstructor + */ + virtual ~MD25(); + + /** + * @return software version + */ + uint8_t getVersion(); + + /** + * @return speed of motor, normalized (-1, 1) + */ + float getMotor1Speed(); + + /** + * @return speed of motor 2, normalized (-1, 1) + */ + float getMotor2Speed(); + + /** + * @return number of rotations since reset + */ + float getRevolutions1(); + + /** + * @return number of rotations since reset + */ + float getRevolutions2(); + + /** + * @return battery voltage, volts + */ + float getBatteryVolts(); + + /** + * @return motor 1 current, amps + */ + float getMotor1Current(); + + /** + * @return motor 2 current, amps + */ + float getMotor2Current(); + + /** + * @return the motor acceleration + * controls motor speed change (1-10) + * accel rate | time for full fwd. to full rev. + * 1 | 6.375 s + * 2 | 1.6 s + * 3 | 0.675 s + * 5(default) | 1.275 s + * 10 | 0.65 s + */ + uint8_t getMotorAccel(); + + /** + * @return motor output mode + * */ + e_mode getMode(); + + /** + * @return current command register value + */ + e_cmd getCommand(); + + /** + * resets the encoders + * @return non-zero -> error + * */ + int resetEncoders(); + + /** + * enable/disable speed regulation + * @return non-zero -> error + */ + int setSpeedRegulation(bool enable); + + /** + * set the timeout for the motors + * enable/disable timeout (motor stop) + * after 2 sec of no i2c messages + * @return non-zero -> error + */ + int setTimeout(bool enable); + + /** + * sets the device address + * can only be done with one MD25 + * on the bus + * @return non-zero -> error + */ + int setDeviceAddress(uint8_t address); + + /** + * set motor 1 speed + * @param normSpeed normalize speed between -1 and 1 + * @return non-zero -> error + */ + int setMotor1Speed(float normSpeed); + + /** + * set motor 2 speed + * @param normSpeed normalize speed between -1 and 1 + * @return non-zero -> error + */ + int setMotor2Speed(float normSpeed); + + /** + * main update loop that updates MD25 motor + * speeds based on actuator publication + */ + void update(); + + /** + * probe for device + */ + virtual int probe(); + + /** + * search for device + */ + int search(); + + /** + * read data from i2c + */ + int readData(); + + /** + * print status + */ + void status(char *string, size_t n); + +private: + /** poll structure for control packets */ + struct pollfd _controlPoll; + + /** actuator controls subscription */ + control::UOrbSubscription<actuator_controls_s> _actuators; + + // local copy of data from i2c device + uint8_t _version; + float _motor1Speed; + float _motor2Speed; + float _revolutions1; + float _revolutions2; + float _batteryVoltage; + float _motor1Current; + float _motor2Current; + uint8_t _motorAccel; + e_mode _mode; + e_cmd _command; + + // private methods + int _writeUint8(uint8_t reg, uint8_t value); + int _writeInt8(uint8_t reg, int8_t value); + float _uint8ToNorm(uint8_t value); + uint8_t _normToUint8(float value); + + /** + * set motor control mode, + * this driver assumed we are always in mode 0 + * so we don't let the user change the mode + * @return non-zero -> error + */ + int _setMode(e_mode); +}; + +// unit testing +int md25Test(const char *deviceName, uint8_t bus, uint8_t address); + +// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78 diff --git a/src/drivers/md25/md25_main.cpp b/src/drivers/md25/md25_main.cpp new file mode 100644 index 000000000..80850e708 --- /dev/null +++ b/src/drivers/md25/md25_main.cpp @@ -0,0 +1,264 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + + +/** + * @ file md25.cpp + * + * Driver for MD25 I2C Motor Driver + * + * references: + * http://www.robot-electronics.co.uk/htm/md25tech.htm + * http://www.robot-electronics.co.uk/files/rpi_md25.c + * + */ + +#include <nuttx/config.h> +#include <unistd.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <math.h> + +#include <systemlib/systemlib.h> +#include <systemlib/param/param.h> + +#include <arch/board/board.h> +#include "md25.hpp" + +static bool thread_should_exit = false; /**< Deamon exit flag */ +static bool thread_running = false; /**< Deamon status flag */ +static int deamon_task; /**< Handle of deamon task / thread */ + +/** + * Deamon management function. + */ +extern "C" __EXPORT int md25_main(int argc, char *argv[]); + +/** + * Mainloop of deamon. + */ +int md25_thread_main(int argc, char *argv[]); + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + + fprintf(stderr, "usage: md25 {start|stop|status|search|test|change_address}\n\n"); + exit(1); +} + +/** + * The deamon app only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_create(). + */ +int md25_main(int argc, char *argv[]) +{ + + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("md25 already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + deamon_task = task_spawn("md25", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 10, + 2048, + md25_thread_main, + (const char **)argv); + exit(0); + } + + if (!strcmp(argv[1], "test")) { + + if (argc < 4) { + printf("usage: md25 test bus address\n"); + exit(0); + } + + const char *deviceName = "/dev/md25"; + + uint8_t bus = strtoul(argv[2], nullptr, 0); + + uint8_t address = strtoul(argv[3], nullptr, 0); + + md25Test(deviceName, bus, address); + + exit(0); + } + + if (!strcmp(argv[1], "probe")) { + if (argc < 4) { + printf("usage: md25 probe bus address\n"); + exit(0); + } + + const char *deviceName = "/dev/md25"; + + uint8_t bus = strtoul(argv[2], nullptr, 0); + + uint8_t address = strtoul(argv[3], nullptr, 0); + + MD25 md25(deviceName, bus, address); + + int ret = md25.probe(); + + if (ret == OK) { + printf("MD25 found on bus %d at address 0x%X\n", bus, md25.get_address()); + + } else { + printf("MD25 not found on bus %d\n", bus); + } + + exit(0); + } + + if (!strcmp(argv[1], "search")) { + if (argc < 3) { + printf("usage: md25 search bus\n"); + exit(0); + } + + const char *deviceName = "/dev/md25"; + + uint8_t bus = strtoul(argv[2], nullptr, 0); + + uint8_t address = strtoul(argv[3], nullptr, 0); + + MD25 md25(deviceName, bus, address); + + md25.search(); + + exit(0); + } + + if (!strcmp(argv[1], "change_address")) { + if (argc < 5) { + printf("usage: md25 change_address bus old_address new_address\n"); + exit(0); + } + + const char *deviceName = "/dev/md25"; + + uint8_t bus = strtoul(argv[2], nullptr, 0); + + uint8_t old_address = strtoul(argv[3], nullptr, 0); + + uint8_t new_address = strtoul(argv[4], nullptr, 0); + + MD25 md25(deviceName, bus, old_address); + + int ret = md25.setDeviceAddress(new_address); + + if (ret == OK) { + printf("MD25 new address set to 0x%X\n", new_address); + + } else { + printf("MD25 failed to set address to 0x%X\n", new_address); + } + + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + printf("\tmd25 app is running\n"); + + } else { + printf("\tmd25 app not started\n"); + } + + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +int md25_thread_main(int argc, char *argv[]) +{ + printf("[MD25] starting\n"); + + if (argc < 5) { + // extra md25 in arg list since this is a thread + printf("usage: md25 start bus address\n"); + exit(0); + } + + const char *deviceName = "/dev/md25"; + + uint8_t bus = strtoul(argv[3], nullptr, 0); + + uint8_t address = strtoul(argv[4], nullptr, 0); + + // start + MD25 md25("/dev/md25", bus, address); + + thread_running = true; + + // loop + while (!thread_should_exit) { + md25.update(); + } + + // exit + printf("[MD25] exiting.\n"); + thread_running = false; + return 0; +} + +// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78 diff --git a/apps/drivers/bma180/Makefile b/src/drivers/md25/module.mk index cc01b629e..13821a6b5 100644 --- a/apps/drivers/bma180/Makefile +++ b/src/drivers/md25/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,11 +32,11 @@ ############################################################################ # -# Makefile to build the BMA180 driver. +# MD25 I2C Based Motor Controller +# http://www.robot-electronics.co.uk/htm/md25tech.htm # -APPNAME = bma180 -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = md25 -include $(APPDIR)/mk/app.mk +SRCS = md25.cpp \ + md25_main.cpp diff --git a/apps/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index 3a735e26f..3a735e26f 100644 --- a/apps/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp diff --git a/apps/drivers/mkblctrl/Makefile b/src/drivers/mkblctrl/module.mk index b3be2c468..3ac263b00 100644 --- a/apps/drivers/mkblctrl/Makefile +++ b/src/drivers/mkblctrl/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012,2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,10 +35,8 @@ # Interface driver for the Mikrokopter BLCtrl # -APPNAME = mkblctrl -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = mkblctrl -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common +SRCS = mkblctrl.cpp -include $(APPDIR)/mk/app.mk +INCLUDE_DIRS += $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common diff --git a/apps/systemcmds/boardinfo/Makefile b/src/drivers/mpu6000/module.mk index 6f1be149c..c7d9cd3ef 100644 --- a/apps/systemcmds/boardinfo/Makefile +++ b/src/drivers/mpu6000/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,13 +32,12 @@ ############################################################################ # -# Build the boardinfo tool. +# Makefile to build the MPU6000 driver. # -APPNAME = boardinfo -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = mpu6000 -include $(APPDIR)/mk/app.mk +# XXX seems excessive, check if 2048 is not sufficient +MODULE_STACKSIZE = 4096 -MAXOPTIMIZATION = -Os +SRCS = mpu6000.cpp diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index ce7062046..df1958186 100644 --- a/apps/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/apps/drivers/device/Makefile b/src/drivers/ms5611/module.mk index f7b1fff88..3c4b0f093 100644 --- a/apps/drivers/device/Makefile +++ b/src/drivers/ms5611/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,7 +32,9 @@ ############################################################################ # -# Build the device driver framework. +# MS5611 driver # -include $(APPDIR)/mk/app.mk +MODULE_COMMAND = ms5611 + +SRCS = ms5611.cpp diff --git a/apps/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp index 59ab5936e..59ab5936e 100644 --- a/apps/drivers/ms5611/ms5611.cpp +++ b/src/drivers/ms5611/ms5611.cpp diff --git a/apps/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 761a23c42..761a23c42 100644 --- a/apps/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp diff --git a/src/drivers/px4fmu/module.mk b/src/drivers/px4fmu/module.mk new file mode 100644 index 000000000..05bc7a5b3 --- /dev/null +++ b/src/drivers/px4fmu/module.mk @@ -0,0 +1,6 @@ +# +# Interface driver for the PX4FMU board +# + +MODULE_COMMAND = fmu +SRCS = fmu.cpp diff --git a/apps/drivers/px4io/Makefile b/src/drivers/px4io/module.mk index cbd942546..328e5a684 100644 --- a/apps/drivers/px4io/Makefile +++ b/src/drivers/px4io/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,8 +35,7 @@ # Interface driver for the PX4IO board. # -APPNAME = px4io -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = px4io -include $(APPDIR)/mk/app.mk +SRCS = px4io.cpp \ + uploader.cpp diff --git a/apps/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 4f6938a14..b4703839b 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012,2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -80,11 +80,11 @@ #include <uORB/topics/rc_channels.h> #include <uORB/topics/battery_status.h> #include <uORB/topics/parameter_update.h> +#include <debug.h> -#include <px4io/protocol.h> #include <mavlink/mavlink_log.h> #include "uploader.h" -#include <debug.h> +#include <modules/px4iofirmware/protocol.h> #define PX4IO_SET_DEBUG _IOC(0xff00, 0) #define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1) @@ -109,6 +109,14 @@ public: int set_update_rate(int rate); /** + * Set the battery current scaling and bias + * + * @param amp_per_volt + * @param amp_bias + */ + void set_battery_current_scaling(float amp_per_volt, float amp_bias); + + /** * Print the current status of IO */ void print_status(); @@ -151,6 +159,10 @@ private: bool _primary_pwm_device; ///< true if we are the default PWM output + float _battery_amp_per_volt; + float _battery_amp_bias; + float _battery_mamphour_total; + uint64_t _battery_last_timestamp; /** * Trampoline to the worker task @@ -314,6 +326,10 @@ PX4IO::PX4IO() : _to_actuators_effective(0), _to_outputs(0), _to_battery(0), + _battery_amp_per_volt(90.0f/5.0f), // this matches the 3DR current sensor + _battery_amp_bias(0), + _battery_mamphour_total(0), + _battery_last_timestamp(0), _primary_pwm_device(false) { /* we need this potentially before it could be set in task_main */ @@ -884,11 +900,22 @@ PX4IO::io_get_status() /* voltage is scaled to mV */ battery_status.voltage_v = regs[2] / 1000.0f; - /* current scaling should be to cA in order to avoid limiting at 65A */ - battery_status.current_a = regs[3] / 100.f; + /* + regs[3] contains the raw ADC count, as 12 bit ADC + value, with full range being 3.3v + */ + battery_status.current_a = regs[3] * (3.3f/4096.0f) * _battery_amp_per_volt; + battery_status.current_a += _battery_amp_bias; - /* this requires integration over time - not currently implemented */ - battery_status.discharged_mah = -1.0f; + /* + integrate battery over time to get total mAh used + */ + if (_battery_last_timestamp != 0) { + _battery_mamphour_total += battery_status.current_a * + (battery_status.timestamp - _battery_last_timestamp) * 1.0e-3f / 3600; + } + battery_status.discharged_mah = _battery_mamphour_total; + _battery_last_timestamp = battery_status.timestamp; /* lazily publish the battery voltage */ if (_to_battery > 0) { @@ -1245,9 +1272,14 @@ PX4IO::print_status() ((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST) ? " FMU_LOST" : ""), ((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : ""), ((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) ? " PWM_ERROR" : "")); - printf("vbatt %u ibatt %u\n", - io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT), - io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT)); + printf("vbatt %u ibatt %u vbatt scale %u\n", + io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT), + io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT), + io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE)); + printf("amp_per_volt %.3f amp_offset %.3f mAhDischarged %.3f\n", + _battery_amp_per_volt, + _battery_amp_bias, + _battery_mamphour_total); printf("actuators"); for (unsigned i = 0; i < _max_actuators; i++) printf(" %u", io_reg_get(PX4IO_PAGE_ACTUATORS, i)); @@ -1288,10 +1320,6 @@ PX4IO::print_status() io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE), io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE), io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS)); - printf("vbatt scale %u ibatt scale %u ibatt bias %u\n", - io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE), - io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_SCALE), - io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_BIAS)); printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG)); printf("controls"); for (unsigned i = 0; i < _max_controls; i++) @@ -1336,11 +1364,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) case PWM_SERVO_SET_UPDATE_RATE: /* set the requested alternate rate */ - if ((arg >= 50) && (arg <= 400)) { /* TODO: we could go higher for e.g. TurboPWM */ - ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg); - } else { - ret = -EINVAL; - } + ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg); break; case PWM_SERVO_SELECT_UPDATE_RATE: { @@ -1525,6 +1549,12 @@ PX4IO::set_update_rate(int rate) return 0; } +void +PX4IO::set_battery_current_scaling(float amp_per_volt, float amp_bias) +{ + _battery_amp_per_volt = amp_per_volt; + _battery_amp_bias = amp_bias; +} extern "C" __EXPORT int px4io_main(int argc, char *argv[]); @@ -1662,6 +1692,18 @@ px4io_main(int argc, char *argv[]) exit(0); } + if (!strcmp(argv[1], "current")) { + if (g_dev != nullptr) { + if ((argc > 3)) { + g_dev->set_battery_current_scaling(atof(argv[2]), atof(argv[3])); + } else { + errx(1, "missing argument (apm_per_volt, amp_offset)"); + return 1; + } + } + exit(0); + } + if (!strcmp(argv[1], "recovery")) { if (g_dev != nullptr) { @@ -1789,5 +1831,5 @@ px4io_main(int argc, char *argv[]) monitor(); out: - errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit' or 'update'"); + errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit', 'current' or 'update'"); } diff --git a/apps/drivers/px4io/uploader.cpp b/src/drivers/px4io/uploader.cpp index abf59216a..15524c3ae 100644 --- a/apps/drivers/px4io/uploader.cpp +++ b/src/drivers/px4io/uploader.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -32,7 +32,8 @@ ****************************************************************************/ /** - * @file Firmware uploader for PX4IO + * @file uploader.cpp + * Firmware uploader for PX4IO */ #include <nuttx/config.h> @@ -126,6 +127,8 @@ PX4IO_Uploader::upload(const char *filenames[]) if (ret != OK) { /* this is immediately fatal */ log("bootloader not responding"); + close(_io_fd); + _io_fd = -1; return -EIO; } @@ -144,18 +147,25 @@ PX4IO_Uploader::upload(const char *filenames[]) if (filename == NULL) { log("no firmware found"); + close(_io_fd); + _io_fd = -1; return -ENOENT; } struct stat st; if (stat(filename, &st) != 0) { log("Failed to stat %s - %d\n", filename, (int)errno); + close(_io_fd); + _io_fd = -1; return -errno; } fw_size = st.st_size; - if (_fw_fd == -1) + if (_fw_fd == -1) { + close(_io_fd); + _io_fd = -1; return -ENOENT; + } /* do the usual program thing - allow for failure */ for (unsigned retries = 0; retries < 1; retries++) { @@ -166,6 +176,8 @@ PX4IO_Uploader::upload(const char *filenames[]) if (ret != OK) { /* this is immediately fatal */ log("bootloader not responding"); + close(_io_fd); + _io_fd = -1; return -EIO; } } @@ -177,6 +189,8 @@ PX4IO_Uploader::upload(const char *filenames[]) log("found bootloader revision: %d", bl_rev); } else { log("found unsupported bootloader revision %d, exiting", bl_rev); + close(_io_fd); + _io_fd = -1; return OK; } } @@ -220,6 +234,8 @@ PX4IO_Uploader::upload(const char *filenames[]) } close(_fw_fd); + close(_io_fd); + _io_fd = -1; return ret; } diff --git a/apps/drivers/px4io/uploader.h b/src/drivers/px4io/uploader.h index f983d1981..135202dd1 100644 --- a/apps/drivers/px4io/uploader.h +++ b/src/drivers/px4io/uploader.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -32,7 +32,8 @@ ****************************************************************************/ /** - * @file Firmware uploader for PX4IO + * @file uploader.h + * Firmware uploader definitions for PX4IO. */ #ifndef _PX4IO_UPLOADER_H diff --git a/apps/drivers/stm32/adc/adc.cpp b/src/drivers/stm32/adc/adc.cpp index 911def943..911def943 100644 --- a/apps/drivers/stm32/adc/adc.cpp +++ b/src/drivers/stm32/adc/adc.cpp diff --git a/src/drivers/stm32/adc/module.mk b/src/drivers/stm32/adc/module.mk new file mode 100644 index 000000000..48620feea --- /dev/null +++ b/src/drivers/stm32/adc/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# STM32 ADC driver +# + +MODULE_COMMAND = adc + +SRCS = adc.cpp + +INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common diff --git a/apps/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c index cec0c49ff..cec0c49ff 100644 --- a/apps/drivers/stm32/drv_hrt.c +++ b/src/drivers/stm32/drv_hrt.c diff --git a/apps/drivers/stm32/drv_pwm_servo.c b/src/drivers/stm32/drv_pwm_servo.c index d7316e1f7..c1efb8515 100644 --- a/apps/drivers/stm32/drv_pwm_servo.c +++ b/src/drivers/stm32/drv_pwm_servo.c @@ -290,6 +290,8 @@ up_pwm_servo_set_rate(unsigned rate) { for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++) up_pwm_servo_set_rate_group_update(i, rate); + + return 0; } uint32_t diff --git a/apps/drivers/stm32/drv_pwm_servo.h b/src/drivers/stm32/drv_pwm_servo.h index 5dd4cf70c..5dd4cf70c 100644 --- a/apps/drivers/stm32/drv_pwm_servo.h +++ b/src/drivers/stm32/drv_pwm_servo.h diff --git a/apps/drivers/stm32/Makefile b/src/drivers/stm32/module.mk index 4ad57f413..bb751c7f6 100644 --- a/apps/drivers/stm32/Makefile +++ b/src/drivers/stm32/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -37,6 +37,7 @@ # Modules in this directory are compiled for all STM32 targets. # -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common +SRCS = drv_hrt.c \ + drv_pwm_servo.c -include $(APPDIR)/mk/app.mk +INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common diff --git a/apps/systemcmds/bl_update/Makefile b/src/drivers/stm32/tone_alarm/module.mk index d05493577..827cf30b2 100644 --- a/apps/systemcmds/bl_update/Makefile +++ b/src/drivers/stm32/tone_alarm/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,13 +32,11 @@ ############################################################################ # -# Build the eeprom tool. +# Tone alarm driver # -APPNAME = bl_update -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 +MODULE_COMMAND = tone_alarm -include $(APPDIR)/mk/app.mk +SRCS = tone_alarm.cpp -MAXOPTIMIZATION = -Os +INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common diff --git a/apps/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp index ac5511e60..ac5511e60 100644 --- a/apps/drivers/stm32/tone_alarm/tone_alarm.cpp +++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp diff --git a/apps/examples/math_demo/math_demo.cpp b/src/examples/math_demo/math_demo.cpp index a9c556748..36d3c2e84 100644 --- a/apps/examples/math_demo/math_demo.cpp +++ b/src/examples/math_demo/math_demo.cpp @@ -1,7 +1,7 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Example User <mail@example.com> + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: James Goppert * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,6 +34,7 @@ /** * @file math_demo.cpp + * @author James Goppert * Demonstration of math library */ diff --git a/apps/drivers/ms5611/Makefile b/src/examples/math_demo/module.mk index d8e67cba2..deba13fd0 100644 --- a/apps/drivers/ms5611/Makefile +++ b/src/examples/math_demo/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,11 +32,10 @@ ############################################################################ # -# MS5611 driver +# Mathlib / operations demo application # -APPNAME = ms5611 -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = math_demo +MODULE_STACKSIZE = 12000 -include $(APPDIR)/mk/app.mk +SRCS = math_demo.cpp diff --git a/src/examples/px4_daemon_app/module.mk b/src/examples/px4_daemon_app/module.mk new file mode 100644 index 000000000..d23c19b75 --- /dev/null +++ b/src/examples/px4_daemon_app/module.mk @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Daemon application +# + +MODULE_COMMAND = px4_daemon_app + +SRCS = px4_daemon_app.c diff --git a/apps/examples/px4_deamon_app/px4_deamon_app.c b/src/examples/px4_daemon_app/px4_daemon_app.c index a5d847777..a5d847777 100644 --- a/apps/examples/px4_deamon_app/px4_deamon_app.c +++ b/src/examples/px4_daemon_app/px4_daemon_app.c diff --git a/src/examples/px4_mavlink_debug/module.mk b/src/examples/px4_mavlink_debug/module.mk new file mode 100644 index 000000000..3d400fdbf --- /dev/null +++ b/src/examples/px4_mavlink_debug/module.mk @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Basic example application +# + +MODULE_COMMAND = px4_mavlink_debug + +SRCS = px4_mavlink_debug.c
\ No newline at end of file diff --git a/apps/examples/px4_mavlink_debug/px4_mavlink_debug.c b/src/examples/px4_mavlink_debug/px4_mavlink_debug.c index aa1eb5ed8..aa1eb5ed8 100644 --- a/apps/examples/px4_mavlink_debug/px4_mavlink_debug.c +++ b/src/examples/px4_mavlink_debug/px4_mavlink_debug.c diff --git a/src/examples/px4_simple_app/module.mk b/src/examples/px4_simple_app/module.mk new file mode 100644 index 000000000..2c102fa50 --- /dev/null +++ b/src/examples/px4_simple_app/module.mk @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Basic example application +# + +MODULE_COMMAND = px4_simple_app + +SRCS = px4_simple_app.c diff --git a/apps/examples/px4_simple_app/px4_simple_app.c b/src/examples/px4_simple_app/px4_simple_app.c index 7f655964d..7f655964d 100644 --- a/apps/examples/px4_simple_app/px4_simple_app.c +++ b/src/examples/px4_simple_app/px4_simple_app.c diff --git a/apps/mavlink/mavlink_log.h b/src/include/mavlink/mavlink_log.h index 233a76cb3..233a76cb3 100644 --- a/apps/mavlink/mavlink_log.h +++ b/src/include/mavlink/mavlink_log.h diff --git a/apps/systemlib/visibility.h b/src/include/visibility.h index 2c6adc062..2c6adc062 100644 --- a/apps/systemlib/visibility.h +++ b/src/include/visibility.h diff --git a/apps/examples/kalman_demo/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp index 4ef150da1..4ef150da1 100644 --- a/apps/examples/kalman_demo/KalmanNav.cpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp diff --git a/apps/examples/kalman_demo/KalmanNav.hpp b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp index c2bf18115..c2bf18115 100644 --- a/apps/examples/kalman_demo/KalmanNav.hpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp diff --git a/apps/examples/kalman_demo/kalman_demo.cpp b/src/modules/att_pos_estimator_ekf/kalman_main.cpp index 581b68b01..aebe3d1fe 100644 --- a/apps/examples/kalman_demo/kalman_demo.cpp +++ b/src/modules/att_pos_estimator_ekf/kalman_main.cpp @@ -55,7 +55,7 @@ static int deamon_task; /**< Handle of deamon task / thread */ /** * Deamon management function. */ -extern "C" __EXPORT int kalman_demo_main(int argc, char *argv[]); +extern "C" __EXPORT int att_pos_estimator_ekf_main(int argc, char *argv[]); /** * Mainloop of deamon. @@ -85,7 +85,7 @@ usage(const char *reason) * The actual stack size should be set in the call * to task_create(). */ -int kalman_demo_main(int argc, char *argv[]) +int att_pos_estimator_ekf_main(int argc, char *argv[]) { if (argc < 1) diff --git a/apps/drivers/px4fmu/Makefile b/src/modules/att_pos_estimator_ekf/module.mk index 7f7c2a732..21b7c9166 100644 --- a/apps/drivers/px4fmu/Makefile +++ b/src/modules/att_pos_estimator_ekf/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,13 +32,14 @@ ############################################################################ # -# Interface driver for the PX4FMU board +# Full attitude / position Extended Kalman Filter # -APPNAME = fmu -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = att_pos_estimator_ekf -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common +# XXX this might be intended for the spawned deamon, validate +MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30" -include $(APPDIR)/mk/app.mk +SRCS = kalman_main.cpp \ + KalmanNav.cpp \ + params.c diff --git a/apps/examples/kalman_demo/params.c b/src/modules/att_pos_estimator_ekf/params.c index 50642f067..50642f067 100644 --- a/apps/examples/kalman_demo/params.c +++ b/src/modules/att_pos_estimator_ekf/params.c diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 1a50dde0f..8e18c3c9a 100755 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -46,7 +46,6 @@ #include <stdbool.h> #include <poll.h> #include <fcntl.h> -#include <v1.0/common/mavlink.h> #include <float.h> #include <nuttx/sched.h> #include <sys/prctl.h> diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 7d3812abd..7d3812abd 100755 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h index 09817d58e..09817d58e 100755 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c index 9e97ad11a..9e97ad11a 100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h index afa63c1a9..afa63c1a9 100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c index 7d620d7fa..7d620d7fa 100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h index 8b599be66..8b599be66 100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c index 7f9727419..7f9727419 100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h index da84a5024..da84a5024 100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h index 30fd1e75e..30fd1e75e 100755 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h diff --git a/apps/attitude_estimator_ekf/codegen/cross.c b/src/modules/attitude_estimator_ekf/codegen/cross.c index 84ada9002..84ada9002 100755 --- a/apps/attitude_estimator_ekf/codegen/cross.c +++ b/src/modules/attitude_estimator_ekf/codegen/cross.c diff --git a/apps/attitude_estimator_ekf/codegen/cross.h b/src/modules/attitude_estimator_ekf/codegen/cross.h index e727f0684..e727f0684 100755 --- a/apps/attitude_estimator_ekf/codegen/cross.h +++ b/src/modules/attitude_estimator_ekf/codegen/cross.h diff --git a/apps/attitude_estimator_ekf/codegen/eye.c b/src/modules/attitude_estimator_ekf/codegen/eye.c index b89ab58ef..b89ab58ef 100755 --- a/apps/attitude_estimator_ekf/codegen/eye.c +++ b/src/modules/attitude_estimator_ekf/codegen/eye.c diff --git a/apps/attitude_estimator_ekf/codegen/eye.h b/src/modules/attitude_estimator_ekf/codegen/eye.h index 94fbe7671..94fbe7671 100755 --- a/apps/attitude_estimator_ekf/codegen/eye.h +++ b/src/modules/attitude_estimator_ekf/codegen/eye.h diff --git a/apps/attitude_estimator_ekf/codegen/mrdivide.c b/src/modules/attitude_estimator_ekf/codegen/mrdivide.c index a810f22e4..a810f22e4 100755 --- a/apps/attitude_estimator_ekf/codegen/mrdivide.c +++ b/src/modules/attitude_estimator_ekf/codegen/mrdivide.c diff --git a/apps/attitude_estimator_ekf/codegen/mrdivide.h b/src/modules/attitude_estimator_ekf/codegen/mrdivide.h index 2d3b0d51f..2d3b0d51f 100755 --- a/apps/attitude_estimator_ekf/codegen/mrdivide.h +++ b/src/modules/attitude_estimator_ekf/codegen/mrdivide.h diff --git a/apps/attitude_estimator_ekf/codegen/norm.c b/src/modules/attitude_estimator_ekf/codegen/norm.c index 0c418cc7b..0c418cc7b 100755 --- a/apps/attitude_estimator_ekf/codegen/norm.c +++ b/src/modules/attitude_estimator_ekf/codegen/norm.c diff --git a/apps/attitude_estimator_ekf/codegen/norm.h b/src/modules/attitude_estimator_ekf/codegen/norm.h index 60cf77b57..60cf77b57 100755 --- a/apps/attitude_estimator_ekf/codegen/norm.h +++ b/src/modules/attitude_estimator_ekf/codegen/norm.h diff --git a/apps/attitude_estimator_ekf/codegen/rdivide.c b/src/modules/attitude_estimator_ekf/codegen/rdivide.c index d035dae5e..d035dae5e 100755 --- a/apps/attitude_estimator_ekf/codegen/rdivide.c +++ b/src/modules/attitude_estimator_ekf/codegen/rdivide.c diff --git a/apps/attitude_estimator_ekf/codegen/rdivide.h b/src/modules/attitude_estimator_ekf/codegen/rdivide.h index 4bbebebe2..4bbebebe2 100755 --- a/apps/attitude_estimator_ekf/codegen/rdivide.h +++ b/src/modules/attitude_estimator_ekf/codegen/rdivide.h diff --git a/apps/attitude_estimator_ekf/codegen/rtGetInf.c b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.c index 34164d104..34164d104 100755 --- a/apps/attitude_estimator_ekf/codegen/rtGetInf.c +++ b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.c diff --git a/apps/attitude_estimator_ekf/codegen/rtGetInf.h b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.h index 145373cd0..145373cd0 100755 --- a/apps/attitude_estimator_ekf/codegen/rtGetInf.h +++ b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.h diff --git a/apps/attitude_estimator_ekf/codegen/rtGetNaN.c b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.c index d84ca9573..d84ca9573 100755 --- a/apps/attitude_estimator_ekf/codegen/rtGetNaN.c +++ b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.c diff --git a/apps/attitude_estimator_ekf/codegen/rtGetNaN.h b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.h index 65fdaa96f..65fdaa96f 100755 --- a/apps/attitude_estimator_ekf/codegen/rtGetNaN.h +++ b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.h diff --git a/apps/attitude_estimator_ekf/codegen/rt_defines.h b/src/modules/attitude_estimator_ekf/codegen/rt_defines.h index 356498363..356498363 100755 --- a/apps/attitude_estimator_ekf/codegen/rt_defines.h +++ b/src/modules/attitude_estimator_ekf/codegen/rt_defines.h diff --git a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.c index 303d1d9d2..303d1d9d2 100755 --- a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c +++ b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.c diff --git a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.h index bd56b30d9..bd56b30d9 100755 --- a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h +++ b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.h diff --git a/apps/attitude_estimator_ekf/codegen/rtwtypes.h b/src/modules/attitude_estimator_ekf/codegen/rtwtypes.h index 9a5c96267..9a5c96267 100755 --- a/apps/attitude_estimator_ekf/codegen/rtwtypes.h +++ b/src/modules/attitude_estimator_ekf/codegen/rtwtypes.h diff --git a/apps/attitude_estimator_ekf/Makefile b/src/modules/attitude_estimator_ekf/module.mk index 46a54c660..d98647f99 100755..100644 --- a/apps/attitude_estimator_ekf/Makefile +++ b/src/modules/attitude_estimator_ekf/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -31,13 +31,14 @@ # ############################################################################ -APPNAME = attitude_estimator_ekf -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +# +# Attitude estimator (Extended Kalman Filter) +# -CXXSRCS = attitude_estimator_ekf_main.cpp +MODULE_COMMAND = attitude_estimator_ekf -CSRCS = attitude_estimator_ekf_params.c \ +SRCS = attitude_estimator_ekf_main.cpp \ + attitude_estimator_ekf_params.c \ codegen/eye.c \ codegen/attitudeKalmanfilter.c \ codegen/mrdivide.c \ @@ -48,10 +49,4 @@ CSRCS = attitude_estimator_ekf_params.c \ codegen/rtGetInf.c \ codegen/rtGetNaN.c \ codegen/norm.c \ - codegen/cross.c - - -# XXX this is *horribly* broken -INCLUDES += $(TOPDIR)/../mavlink/include/mavlink - -include $(APPDIR)/mk/app.mk + codegen/cross.c diff --git a/apps/commander/accelerometer_calibration.c b/src/modules/commander/accelerometer_calibration.c index d79dd93dd..d79dd93dd 100644 --- a/apps/commander/accelerometer_calibration.c +++ b/src/modules/commander/accelerometer_calibration.c diff --git a/apps/commander/accelerometer_calibration.h b/src/modules/commander/accelerometer_calibration.h index a11cf93d3..a11cf93d3 100644 --- a/apps/commander/accelerometer_calibration.h +++ b/src/modules/commander/accelerometer_calibration.h diff --git a/apps/commander/calibration_routines.c b/src/modules/commander/calibration_routines.c index a26938637..a26938637 100644 --- a/apps/commander/calibration_routines.c +++ b/src/modules/commander/calibration_routines.c diff --git a/apps/commander/calibration_routines.h b/src/modules/commander/calibration_routines.h index e3e7fbafd..e3e7fbafd 100644 --- a/apps/commander/calibration_routines.h +++ b/src/modules/commander/calibration_routines.h diff --git a/apps/commander/commander.c b/src/modules/commander/commander.c index 0f18d6cef..01ab9e3d9 100644 --- a/apps/commander/commander.c +++ b/src/modules/commander/commander.c @@ -676,22 +676,22 @@ void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status) const int calibration_count = 2500; - int sub_differential_pressure = orb_subscribe(ORB_ID(differential_pressure)); - struct differential_pressure_s differential_pressure; + int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); + struct differential_pressure_s diff_pres; int calibration_counter = 0; - float airspeed_offset = 0.0f; + float diff_pres_offset = 0.0f; while (calibration_counter < calibration_count) { /* wait blocking for new data */ - struct pollfd fds[1] = { { .fd = sub_differential_pressure, .events = POLLIN } }; + struct pollfd fds[1] = { { .fd = diff_pres_sub, .events = POLLIN } }; int poll_ret = poll(fds, 1, 1000); if (poll_ret) { - orb_copy(ORB_ID(differential_pressure), sub_differential_pressure, &differential_pressure); - airspeed_offset += differential_pressure.voltage; + orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); + diff_pres_offset += diff_pres.differential_pressure_pa; calibration_counter++; } else if (poll_ret == 0) { @@ -701,11 +701,11 @@ void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status) } } - airspeed_offset = airspeed_offset / calibration_count; + diff_pres_offset = diff_pres_offset / calibration_count; - if (isfinite(airspeed_offset)) { + if (isfinite(diff_pres_offset)) { - if (param_set(param_find("SENS_VAIR_OFF"), &(airspeed_offset))) { + if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) { mavlink_log_critical(mavlink_fd, "Setting offs failed!"); } @@ -735,7 +735,7 @@ void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status) status->flag_preflight_airspeed_calibration = false; state_machine_publish(status_pub, status, mavlink_fd); - close(sub_differential_pressure); + close(diff_pres_sub); } @@ -1356,10 +1356,10 @@ int commander_thread_main(int argc, char *argv[]) struct sensor_combined_s sensors; memset(&sensors, 0, sizeof(sensors)); - int differential_pressure_sub = orb_subscribe(ORB_ID(differential_pressure)); - struct differential_pressure_s differential_pressure; - memset(&differential_pressure, 0, sizeof(differential_pressure)); - uint64_t last_differential_pressure_time = 0; + int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); + struct differential_pressure_s diff_pres; + memset(&diff_pres, 0, sizeof(diff_pres)); + uint64_t last_diff_pres_time = 0; /* Subscribe to command topic */ int cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); @@ -1414,11 +1414,11 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors); } - orb_check(differential_pressure_sub, &new_data); + orb_check(diff_pres_sub, &new_data); if (new_data) { - orb_copy(ORB_ID(differential_pressure), differential_pressure_sub, &differential_pressure); - last_differential_pressure_time = differential_pressure.timestamp; + orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); + last_diff_pres_time = diff_pres.timestamp; } orb_check(cmd_sub, &new_data); @@ -1633,7 +1633,7 @@ int commander_thread_main(int argc, char *argv[]) } /* Check for valid airspeed/differential pressure measurements */ - if (hrt_absolute_time() - last_differential_pressure_time < 2000000) { + if (hrt_absolute_time() - last_diff_pres_time < 2000000) { current_status.flag_airspeed_valid = true; } else { diff --git a/apps/commander/commander.h b/src/modules/commander/commander.h index 04b4e72ab..04b4e72ab 100644 --- a/apps/commander/commander.h +++ b/src/modules/commander/commander.h diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk new file mode 100644 index 000000000..fe44e955a --- /dev/null +++ b/src/modules/commander/module.mk @@ -0,0 +1,43 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Main system state machine +# + +MODULE_COMMAND = commander +SRCS = commander.c \ + state_machine_helper.c \ + calibration_routines.c \ + accelerometer_calibration.c + diff --git a/apps/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c index bea388a10..bea388a10 100644 --- a/apps/commander/state_machine_helper.c +++ b/src/modules/commander/state_machine_helper.c diff --git a/apps/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index 2f2ccc729..2f2ccc729 100644 --- a/apps/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h diff --git a/apps/controllib/block/Block.cpp b/src/modules/controllib/block/Block.cpp index 5994d2315..5994d2315 100644 --- a/apps/controllib/block/Block.cpp +++ b/src/modules/controllib/block/Block.cpp diff --git a/apps/controllib/block/Block.hpp b/src/modules/controllib/block/Block.hpp index 258701f27..258701f27 100644 --- a/apps/controllib/block/Block.hpp +++ b/src/modules/controllib/block/Block.hpp diff --git a/apps/controllib/block/BlockParam.cpp b/src/modules/controllib/block/BlockParam.cpp index fd12e365d..fd12e365d 100644 --- a/apps/controllib/block/BlockParam.cpp +++ b/src/modules/controllib/block/BlockParam.cpp diff --git a/apps/controllib/block/BlockParam.hpp b/src/modules/controllib/block/BlockParam.hpp index 58a9bfc0d..58a9bfc0d 100644 --- a/apps/controllib/block/BlockParam.hpp +++ b/src/modules/controllib/block/BlockParam.hpp diff --git a/apps/controllib/block/List.hpp b/src/modules/controllib/block/List.hpp index 96b0b94d1..96b0b94d1 100644 --- a/apps/controllib/block/List.hpp +++ b/src/modules/controllib/block/List.hpp diff --git a/apps/controllib/block/UOrbPublication.cpp b/src/modules/controllib/block/UOrbPublication.cpp index f69b39d90..f69b39d90 100644 --- a/apps/controllib/block/UOrbPublication.cpp +++ b/src/modules/controllib/block/UOrbPublication.cpp diff --git a/apps/controllib/block/UOrbPublication.hpp b/src/modules/controllib/block/UOrbPublication.hpp index a36f4429f..a36f4429f 100644 --- a/apps/controllib/block/UOrbPublication.hpp +++ b/src/modules/controllib/block/UOrbPublication.hpp diff --git a/apps/controllib/block/UOrbSubscription.cpp b/src/modules/controllib/block/UOrbSubscription.cpp index 022cadd24..022cadd24 100644 --- a/apps/controllib/block/UOrbSubscription.cpp +++ b/src/modules/controllib/block/UOrbSubscription.cpp diff --git a/apps/controllib/block/UOrbSubscription.hpp b/src/modules/controllib/block/UOrbSubscription.hpp index 22cc2e114..22cc2e114 100644 --- a/apps/controllib/block/UOrbSubscription.hpp +++ b/src/modules/controllib/block/UOrbSubscription.hpp diff --git a/apps/controllib/blocks.cpp b/src/modules/controllib/blocks.cpp index c6c374300..c6c374300 100644 --- a/apps/controllib/blocks.cpp +++ b/src/modules/controllib/blocks.cpp diff --git a/apps/controllib/blocks.hpp b/src/modules/controllib/blocks.hpp index 7a785d12e..7a785d12e 100644 --- a/apps/controllib/blocks.hpp +++ b/src/modules/controllib/blocks.hpp diff --git a/apps/controllib/fixedwing.cpp b/src/modules/controllib/fixedwing.cpp index 6309a1225..7be38015c 100644 --- a/apps/controllib/fixedwing.cpp +++ b/src/modules/controllib/fixedwing.cpp @@ -156,9 +156,9 @@ BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *par _theLimit(this, "THE"), _vLimit(this, "V"), - // altitude/roc hold + // altitude/climb rate hold _h2Thr(this, "H2THR"), - _roc2Thr(this, "ROC2THR"), + _cr2Thr(this, "CR2THR"), // guidance block _guide(this, ""), @@ -170,7 +170,7 @@ BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *par _trimV(this, "TRIM_V"), /* FWB_ specific trim velocity (full name : FWB_TRIM_V) */ _vCmd(this, "V_CMD"), - _rocMax(this, "ROC_MAX"), + _crMax(this, "CR_MAX"), _attPoll(), _lastPosCmd(), _timeStamp(0) @@ -301,8 +301,8 @@ void BlockMultiModeBacksideAutopilot::update() // pitch channel -> rate of climb // TODO, might want to put a gain on this, otherwise commanding // from +1 -> -1 m/s for rate of climb - //float dThrottle = _roc2Thr.update( - //_rocMax.get()*_manual.pitch - _pos.vz); + //float dThrottle = _cr2Thr.update( + //_crMax.get()*_manual.pitch - _pos.vz); // roll channel -> bank angle float phiCmd = _phiLimit.update(_manual.roll * _phiLimit.getMax()); diff --git a/apps/controllib/fixedwing.hpp b/src/modules/controllib/fixedwing.hpp index c908ea237..53d0cf893 100644 --- a/apps/controllib/fixedwing.hpp +++ b/src/modules/controllib/fixedwing.hpp @@ -311,9 +311,9 @@ private: BlockLimit _theLimit; BlockLimit _vLimit; - // altitude/ roc hold + // altitude/ climb rate hold BlockPID _h2Thr; - BlockPID _roc2Thr; + BlockPID _cr2Thr; // guidance BlockWaypointGuidance _guide; @@ -325,7 +325,7 @@ private: BlockParam<float> _trimThr; BlockParam<float> _trimV; BlockParam<float> _vCmd; - BlockParam<float> _rocMax; + BlockParam<float> _crMax; struct pollfd _attPoll; vehicle_global_position_setpoint_s _lastPosCmd; diff --git a/apps/controllib/Makefile b/src/modules/controllib/module.mk index 6749b805f..13d1069c7 100644 --- a/apps/controllib/Makefile +++ b/src/modules/controllib/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -34,13 +34,10 @@ # # Control library # -CSRCS = test_params.c - -CXXSRCS = block/Block.cpp \ +SRCS = test_params.c \ + block/Block.cpp \ block/BlockParam.cpp \ block/UOrbPublication.cpp \ block/UOrbSubscription.cpp \ blocks.cpp \ fixedwing.cpp - -include $(APPDIR)/mk/app.mk diff --git a/apps/controllib/test_params.c b/src/modules/controllib/test_params.c index 7c609cad3..7c609cad3 100644 --- a/apps/controllib/test_params.c +++ b/src/modules/controllib/test_params.c diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c index b012448a2..769b8b0a8 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c @@ -35,7 +35,6 @@ * @file fixedwing_att_control_rate.c * Implementation of a fixed wing attitude controller. */ -#include <fixedwing_att_control_att.h> #include <nuttx/config.h> #include <stdio.h> @@ -59,7 +58,7 @@ #include <systemlib/geo/geo.h> #include <systemlib/systemlib.h> - +#include "fixedwing_att_control_att.h" struct fw_att_control_params { diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.h b/src/modules/fixedwing_att_control/fixedwing_att_control_att.h index 600e35b89..600e35b89 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.h +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_att.h diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c index aa9db6d52..58477632b 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_main.c +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c @@ -65,8 +65,9 @@ #include <systemlib/geo/geo.h> #include <systemlib/perf_counter.h> #include <systemlib/systemlib.h> -#include <fixedwing_att_control_rate.h> -#include <fixedwing_att_control_att.h> + +#include "fixedwing_att_control_rate.h" +#include "fixedwing_att_control_att.h" /* Prototypes */ /** diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c index ba5b593e2..4eccc118c 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c @@ -33,11 +33,11 @@ ****************************************************************************/ /** * @file fixedwing_att_control_rate.c + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * * Implementation of a fixed wing attitude controller. * - * @author Thomas Gubler <thomasgubler@student.ethz.ch> */ -#include <fixedwing_att_control_rate.h> #include <nuttx/config.h> #include <stdio.h> @@ -61,6 +61,8 @@ #include <systemlib/geo/geo.h> #include <systemlib/systemlib.h> +#include "fixedwing_att_control_rate.h" + /* * Controller parameters, accessible via MAVLink * diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.h b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h index 500e3e197..500e3e197 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.h +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h diff --git a/src/modules/fixedwing_att_control/module.mk b/src/modules/fixedwing_att_control/module.mk new file mode 100644 index 000000000..fd1a8724a --- /dev/null +++ b/src/modules/fixedwing_att_control/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Fixedwing Attitude Control application +# + +MODULE_COMMAND = fixedwing_att_control + +SRCS = fixedwing_att_control_main.c \ + fixedwing_att_control_att.c \ + fixedwing_att_control_rate.c diff --git a/apps/examples/control_demo/control_demo.cpp b/src/modules/fixedwing_backside/fixedwing_backside_main.cpp index e609f2f4b..e21990c92 100644 --- a/apps/examples/control_demo/control_demo.cpp +++ b/src/modules/fixedwing_backside/fixedwing_backside_main.cpp @@ -1,7 +1,7 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Example User <mail@example.com> + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: James Goppert * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,8 +33,10 @@ ****************************************************************************/ /** - * @file control_demo.cpp - * Demonstration of control library + * @file fixedwing_backside_main.cpp + * @author James Goppert + * + * Fixedwing backside controller using control library */ #include <nuttx/config.h> @@ -55,7 +57,7 @@ static int deamon_task; /**< Handle of deamon task / thread */ /** * Deamon management function. */ -extern "C" __EXPORT int control_demo_main(int argc, char *argv[]); +extern "C" __EXPORT int fixedwing_backside_main(int argc, char *argv[]); /** * Mainloop of deamon. @@ -90,7 +92,7 @@ usage(const char *reason) * The actual stack size should be set in the call * to task_create(). */ -int control_demo_main(int argc, char *argv[]) +int fixedwing_backside_main(int argc, char *argv[]) { if (argc < 1) diff --git a/src/modules/fixedwing_backside/module.mk b/src/modules/fixedwing_backside/module.mk new file mode 100644 index 000000000..a9233288b --- /dev/null +++ b/src/modules/fixedwing_backside/module.mk @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Fixedwing backside controller +# + +MODULE_COMMAND = fixedwing_backside + +SRCS = fixedwing_backside_main.cpp diff --git a/apps/examples/control_demo/params.c b/src/modules/fixedwing_backside/params.c index cce38c3ec..db30af416 100644 --- a/apps/examples/control_demo/params.c +++ b/src/modules/fixedwing_backside/params.c @@ -59,14 +59,14 @@ PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f); // maximum commanded velocity // rate of climb // this is what rate of climb is commanded (in m/s) // when the pitch stick is fully defelcted in simple mode -PARAM_DEFINE_FLOAT(FWB_ROC_MAX, 1.0f); +PARAM_DEFINE_FLOAT(FWB_CR_MAX, 1.0f); -// rate of climb -> thr -PARAM_DEFINE_FLOAT(FWB_ROC2THR_P, 0.01f); // rate of climb to throttle PID -PARAM_DEFINE_FLOAT(FWB_ROC2THR_I, 0.0f); -PARAM_DEFINE_FLOAT(FWB_ROC2THR_D, 0.0f); -PARAM_DEFINE_FLOAT(FWB_ROC2THR_D_LP, 0.0f); -PARAM_DEFINE_FLOAT(FWB_ROC2THR_I_MAX, 0.0f); +// climb rate -> thr +PARAM_DEFINE_FLOAT(FWB_CR2THR_P, 0.01f); // rate of climb to throttle PID +PARAM_DEFINE_FLOAT(FWB_CR2THR_I, 0.0f); +PARAM_DEFINE_FLOAT(FWB_CR2THR_D, 0.0f); +PARAM_DEFINE_FLOAT(FWB_CR2THR_D_LP, 0.0f); +PARAM_DEFINE_FLOAT(FWB_CR2THR_I_MAX, 0.0f); PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f); // trim throttle (0,1) PARAM_DEFINE_FLOAT(FWB_TRIM_V, 12.0f); // trim velocity, m/s diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c index 71c78f5b8..71c78f5b8 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c diff --git a/apps/drivers/hmc5883/Makefile b/src/modules/fixedwing_pos_control/module.mk index 4d7cb4e7b..b976377e9 100644 --- a/apps/drivers/hmc5883/Makefile +++ b/src/modules/fixedwing_pos_control/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,11 +32,9 @@ ############################################################################ # -# HMC5883 driver +# Fixedwing PositionControl application # -APPNAME = hmc5883 -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 +MODULE_COMMAND = fixedwing_pos_control -include $(APPDIR)/mk/app.mk +SRCS = fixedwing_pos_control_main.c diff --git a/apps/gpio_led/gpio_led_main.c b/src/modules/gpio_led/gpio_led.c index 64ede01c3..b9b066d24 100644 --- a/apps/gpio_led/gpio_led_main.c +++ b/src/modules/gpio_led/gpio_led.c @@ -35,7 +35,7 @@ /** * @file gpio_led.c * - * Drive status LED via GPIO. + * Status LED via GPIO driver. * * @author Anton Babushkin <anton.babushkin@me.com> */ @@ -53,7 +53,6 @@ #include <poll.h> #include <drivers/drv_gpio.h> - struct gpio_led_s { struct work_s work; diff --git a/apps/gpio_led/Makefile b/src/modules/gpio_led/module.mk index e9dc219ea..3b8553489 100644 --- a/apps/gpio_led/Makefile +++ b/src/modules/gpio_led/module.mk @@ -32,11 +32,8 @@ ############################################################################ # -# Makefile to build gpio_led +# Status LED via GPIO driver # -APPNAME = gpio_led -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk +MODULE_COMMAND = gpio_led +SRCS = gpio_led.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c index 7070274da..7070274da 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c index 6d6a4b6d8..6d6a4b6d8 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c index d9e3e7aa3..d9e3e7aa3 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c index 258ecef2c..258ecef2c 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c index 0961dd1db..0961dd1db 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c index 788b2ebb2..788b2ebb2 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c index c5b18711d..c5b18711d 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c index 5407c006f..5407c006f 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c index 6f7fbcebf..6f7fbcebf 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c index 24611a05f..24611a05f 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c index 5e4031338..5e4031338 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c index ddf2d0c24..ddf2d0c24 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c index 88a458b40..88a458b40 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c index 99d44a4ba..99d44a4ba 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c index 37ec8e25e..37ec8e25e 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c index 14ee23ea6..14ee23ea6 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c index 4f4d423ac..4f4d423ac 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c index 21d58d1a4..21d58d1a4 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c index fc28c3621..fc28c3621 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c index 601fb7393..601fb7393 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c index 4bdf06ee8..4bdf06ee8 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c index f8158f066..f8158f066 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c index 8b03ee372..8b03ee372 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c index 56643816f..56643816f 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c index b77144a3e..b77144a3e 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c index 9e79202fe..9e79202fe 100644 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c index 8e9b50e72..8e9b50e72 100644 --- 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8f39acd9d..8f39acd9d 100644 --- a/apps/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h +++ b/src/modules/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h diff --git a/apps/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h b/src/modules/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h index 181b7e433..181b7e433 100644 --- a/apps/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h +++ b/src/modules/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h diff --git a/apps/mathlib/CMSIS/Include/arm_common_tables.h b/src/modules/mathlib/CMSIS/Include/arm_common_tables.h index 5fd6ff4af..5fd6ff4af 100644 --- a/apps/mathlib/CMSIS/Include/arm_common_tables.h +++ b/src/modules/mathlib/CMSIS/Include/arm_common_tables.h diff --git a/apps/mathlib/CMSIS/Include/arm_math.h b/src/modules/mathlib/CMSIS/Include/arm_math.h index f224d3eb0..f224d3eb0 100644 --- a/apps/mathlib/CMSIS/Include/arm_math.h +++ b/src/modules/mathlib/CMSIS/Include/arm_math.h diff --git a/apps/mathlib/CMSIS/Include/core_cm3.h b/src/modules/mathlib/CMSIS/Include/core_cm3.h index 733d6be53..733d6be53 100644 --- a/apps/mathlib/CMSIS/Include/core_cm3.h +++ b/src/modules/mathlib/CMSIS/Include/core_cm3.h diff --git a/apps/mathlib/CMSIS/Include/core_cm4.h b/src/modules/mathlib/CMSIS/Include/core_cm4.h index 5f3b7d619..5f3b7d619 100644 --- a/apps/mathlib/CMSIS/Include/core_cm4.h +++ b/src/modules/mathlib/CMSIS/Include/core_cm4.h diff --git a/apps/mathlib/CMSIS/Include/core_cm4_simd.h b/src/modules/mathlib/CMSIS/Include/core_cm4_simd.h index b5140073f..b5140073f 100644 --- a/apps/mathlib/CMSIS/Include/core_cm4_simd.h +++ b/src/modules/mathlib/CMSIS/Include/core_cm4_simd.h diff --git a/apps/mathlib/CMSIS/Include/core_cmFunc.h b/src/modules/mathlib/CMSIS/Include/core_cmFunc.h index adb07b5d3..adb07b5d3 100644 --- a/apps/mathlib/CMSIS/Include/core_cmFunc.h +++ b/src/modules/mathlib/CMSIS/Include/core_cmFunc.h diff --git a/apps/mathlib/CMSIS/Include/core_cmInstr.h b/src/modules/mathlib/CMSIS/Include/core_cmInstr.h index 624c175fd..624c175fd 100644 --- a/apps/mathlib/CMSIS/Include/core_cmInstr.h +++ b/src/modules/mathlib/CMSIS/Include/core_cmInstr.h diff --git a/apps/mathlib/CMSIS/Makefile b/src/modules/mathlib/CMSIS/module.mk index 9e28518bc..c676f3261 100644 --- a/apps/mathlib/CMSIS/Makefile +++ b/src/modules/mathlib/CMSIS/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -38,10 +38,10 @@ # # Find sources # -DSPLIB_SRCDIR := $(dir $(lastword $(MAKEFILE_LIST))) -CSRCS := $(wildcard $(DSPLIB_SRCDIR)/DSP_Lib/Source/*/*.c) +DSPLIB_SRCDIR := $(PX4_MODULE_SRC)/modules/mathlib/CMSIS +ABS_SRCS := $(wildcard $(DSPLIB_SRCDIR)/DSP_Lib/Source/*/*.c) -INCLUDES += $(DSPLIB_SRCDIR)/Include \ +INCLUDE_DIRS += $(DSPLIB_SRCDIR)/Include \ $(DSPLIB_SRCDIR)/Device/ARM/ARMCM4/Include \ $(DSPLIB_SRCDIR)/Device/ARM/ARMCM3/Include @@ -57,5 +57,3 @@ EXTRADEFINES += -Wno-unsuffixed-float-constants \ # have anything we can use to mark exported symbols. # DEFAULT_VISIBILITY = YES - -include $(APPDIR)/mk/app.mk diff --git a/apps/mathlib/math/Dcm.cpp b/src/modules/mathlib/math/Dcm.cpp index df0f09b20..c3742e288 100644 --- a/apps/mathlib/math/Dcm.cpp +++ b/src/modules/mathlib/math/Dcm.cpp @@ -37,7 +37,7 @@ * math direction cosine matrix */ -#include "math/test/test.hpp" +#include <mathlib/math/test/test.hpp> #include "Dcm.hpp" #include "Quaternion.hpp" diff --git a/apps/mathlib/math/Dcm.hpp b/src/modules/mathlib/math/Dcm.hpp index 28d840b10..28d840b10 100644 --- a/apps/mathlib/math/Dcm.hpp +++ b/src/modules/mathlib/math/Dcm.hpp diff --git a/apps/mathlib/math/EulerAngles.cpp b/src/modules/mathlib/math/EulerAngles.cpp index 2e96fef4c..e733d23bb 100644 --- a/apps/mathlib/math/EulerAngles.cpp +++ b/src/modules/mathlib/math/EulerAngles.cpp @@ -37,7 +37,7 @@ * math vector */ -#include "math/test/test.hpp" +#include "test/test.hpp" #include "EulerAngles.hpp" #include "Quaternion.hpp" diff --git a/apps/mathlib/math/EulerAngles.hpp b/src/modules/mathlib/math/EulerAngles.hpp index 399eecfa7..399eecfa7 100644 --- a/apps/mathlib/math/EulerAngles.hpp +++ b/src/modules/mathlib/math/EulerAngles.hpp diff --git a/apps/mathlib/math/Matrix.cpp b/src/modules/mathlib/math/Matrix.cpp index 981732370..ebd1aeda3 100644 --- a/apps/mathlib/math/Matrix.cpp +++ b/src/modules/mathlib/math/Matrix.cpp @@ -37,7 +37,7 @@ * matrix code */ -#include "math/test/test.hpp" +#include "test/test.hpp" #include <math.h> #include "Matrix.hpp" diff --git a/apps/mathlib/math/Matrix.hpp b/src/modules/mathlib/math/Matrix.hpp index f19db15ec..f19db15ec 100644 --- a/apps/mathlib/math/Matrix.hpp +++ b/src/modules/mathlib/math/Matrix.hpp diff --git a/apps/mathlib/math/Quaternion.cpp b/src/modules/mathlib/math/Quaternion.cpp index 78481b286..02fec4ca6 100644 --- a/apps/mathlib/math/Quaternion.cpp +++ b/src/modules/mathlib/math/Quaternion.cpp @@ -37,7 +37,7 @@ * math vector */ -#include "math/test/test.hpp" +#include "test/test.hpp" #include "Quaternion.hpp" diff --git a/apps/mathlib/math/Quaternion.hpp b/src/modules/mathlib/math/Quaternion.hpp index 4b4e959d8..4b4e959d8 100644 --- a/apps/mathlib/math/Quaternion.hpp +++ b/src/modules/mathlib/math/Quaternion.hpp diff --git a/apps/mathlib/math/Vector.cpp b/src/modules/mathlib/math/Vector.cpp index d58e719db..35158a396 100644 --- a/apps/mathlib/math/Vector.cpp +++ b/src/modules/mathlib/math/Vector.cpp @@ -37,7 +37,7 @@ * math vector */ -#include "math/test/test.hpp" +#include "test/test.hpp" #include "Vector.hpp" diff --git a/apps/mathlib/math/Vector.hpp b/src/modules/mathlib/math/Vector.hpp index 73de793d5..73de793d5 100644 --- a/apps/mathlib/math/Vector.hpp +++ b/src/modules/mathlib/math/Vector.hpp diff --git a/apps/mathlib/math/Vector3.cpp b/src/modules/mathlib/math/Vector3.cpp index 9c57506da..61fcc442f 100644 --- a/apps/mathlib/math/Vector3.cpp +++ b/src/modules/mathlib/math/Vector3.cpp @@ -37,7 +37,7 @@ * math vector */ -#include "math/test/test.hpp" +#include "test/test.hpp" #include "Vector3.hpp" diff --git a/apps/mathlib/math/Vector3.hpp b/src/modules/mathlib/math/Vector3.hpp index 8c36ac134..8c36ac134 100644 --- a/apps/mathlib/math/Vector3.hpp +++ b/src/modules/mathlib/math/Vector3.hpp diff --git a/apps/mathlib/math/arm/Matrix.cpp b/src/modules/mathlib/math/arm/Matrix.cpp index 21661622a..21661622a 100644 --- a/apps/mathlib/math/arm/Matrix.cpp +++ b/src/modules/mathlib/math/arm/Matrix.cpp diff --git a/apps/mathlib/math/arm/Matrix.hpp b/src/modules/mathlib/math/arm/Matrix.hpp index 715fd3a5e..715fd3a5e 100644 --- a/apps/mathlib/math/arm/Matrix.hpp +++ b/src/modules/mathlib/math/arm/Matrix.hpp diff --git a/apps/mathlib/math/arm/Vector.cpp b/src/modules/mathlib/math/arm/Vector.cpp index 7ea6496bb..7ea6496bb 100644 --- a/apps/mathlib/math/arm/Vector.cpp +++ b/src/modules/mathlib/math/arm/Vector.cpp diff --git a/apps/mathlib/math/arm/Vector.hpp b/src/modules/mathlib/math/arm/Vector.hpp index 58d51107d..58d51107d 100644 --- a/apps/mathlib/math/arm/Vector.hpp +++ b/src/modules/mathlib/math/arm/Vector.hpp diff --git a/apps/mathlib/math/generic/Matrix.cpp b/src/modules/mathlib/math/generic/Matrix.cpp index 21661622a..21661622a 100644 --- a/apps/mathlib/math/generic/Matrix.cpp +++ b/src/modules/mathlib/math/generic/Matrix.cpp diff --git a/apps/mathlib/math/generic/Matrix.hpp b/src/modules/mathlib/math/generic/Matrix.hpp index 5601a3447..5601a3447 100644 --- a/apps/mathlib/math/generic/Matrix.hpp +++ b/src/modules/mathlib/math/generic/Matrix.hpp diff --git a/apps/mathlib/math/generic/Vector.cpp b/src/modules/mathlib/math/generic/Vector.cpp index 7ea6496bb..7ea6496bb 100644 --- a/apps/mathlib/math/generic/Vector.cpp +++ b/src/modules/mathlib/math/generic/Vector.cpp diff --git a/apps/mathlib/math/generic/Vector.hpp b/src/modules/mathlib/math/generic/Vector.hpp index 1a7363779..1a7363779 100644 --- a/apps/mathlib/math/generic/Vector.hpp +++ b/src/modules/mathlib/math/generic/Vector.hpp diff --git a/apps/mathlib/math/nasa_rotation_def.pdf b/src/modules/mathlib/math/nasa_rotation_def.pdf Binary files differindex eb67a4bfc..eb67a4bfc 100644 --- a/apps/mathlib/math/nasa_rotation_def.pdf +++ b/src/modules/mathlib/math/nasa_rotation_def.pdf diff --git a/apps/mathlib/math/test/test.cpp b/src/modules/mathlib/math/test/test.cpp index f5db76d70..2fa2f7e7c 100644 --- a/apps/mathlib/math/test/test.cpp +++ b/src/modules/mathlib/math/test/test.cpp @@ -39,6 +39,7 @@ #include <stdio.h> #include <math.h> +#include <stdlib.h> #include "test.hpp" diff --git a/apps/mathlib/math/test/test.hpp b/src/modules/mathlib/math/test/test.hpp index 841c42144..2027bb827 100644 --- a/apps/mathlib/math/test/test.hpp +++ b/src/modules/mathlib/math/test/test.hpp @@ -39,9 +39,9 @@ #pragma once -#include <assert.h> -#include <time.h> -#include <stdlib.h> +//#include <assert.h> +//#include <time.h> +//#include <stdlib.h> bool equal(float a, float b, float eps = 1e-5); void float2SigExp( diff --git a/apps/mathlib/math/test_math.sce b/src/modules/mathlib/math/test_math.sce index c3fba4729..c3fba4729 100644 --- a/apps/mathlib/math/test_math.sce +++ b/src/modules/mathlib/math/test_math.sce diff --git a/apps/mathlib/mathlib.h b/src/modules/mathlib/mathlib.h index b919d53db..b919d53db 100644 --- a/apps/mathlib/mathlib.h +++ b/src/modules/mathlib/mathlib.h diff --git a/apps/mathlib/Makefile b/src/modules/mathlib/module.mk index 7eebd6ae0..bcdb2afe5 100644 --- a/apps/mathlib/Makefile +++ b/src/modules/mathlib/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -34,7 +34,7 @@ # # Math library # -CXXSRCS = math/test/test.cpp \ +SRCS = math/test/test.cpp \ math/Vector.cpp \ math/Vector3.cpp \ math/EulerAngles.cpp \ @@ -50,13 +50,11 @@ APP_MAKEFILE := $(lastword $(MAKEFILE_LIST)) -include $(TOPDIR)/.config ifeq ($(CONFIG_ARCH_CORTEXM4)$(CONFIG_ARCH_FPU),yy) -INCLUDES += math/arm -CXXSRCS += math/arm/Vector.cpp \ +INCLUDE_DIRS += math/arm +SRCS += math/arm/Vector.cpp \ math/arm/Matrix.cpp else -INCLUDES += math/generic -CXXSRCS += math/generic/Vector.cpp \ - math/generic/Matrix.cpp +#INCLUDE_DIRS += math/generic +#SRCS += math/generic/Vector.cpp \ +# math/generic/Matrix.cpp endif - -include $(APPDIR)/mk/app.mk diff --git a/apps/mavlink/.gitignore b/src/modules/mavlink/.gitignore index a02827195..a02827195 100644 --- a/apps/mavlink/.gitignore +++ b/src/modules/mavlink/.gitignore diff --git a/apps/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index 644b779af..de78cd139 100644 --- a/apps/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -64,9 +64,9 @@ #include <systemlib/param/param.h> #include <systemlib/systemlib.h> #include <systemlib/err.h> +#include <mavlink/mavlink_log.h> #include "waypoints.h" -#include "mavlink_log.h" #include "orb_topics.h" #include "missionlib.h" #include "mavlink_hil.h" diff --git a/apps/mavlink/mavlink_bridge_header.h b/src/modules/mavlink/mavlink_bridge_header.h index 270ec1727..0010bb341 100644 --- a/apps/mavlink/mavlink_bridge_header.h +++ b/src/modules/mavlink/mavlink_bridge_header.h @@ -51,7 +51,7 @@ #define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer #define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status -#include "v1.0/mavlink_types.h" +#include <v1.0/mavlink_types.h> #include <unistd.h> diff --git a/apps/mavlink/mavlink_hil.h b/src/modules/mavlink/mavlink_hil.h index 8c7a5b514..8c7a5b514 100644 --- a/apps/mavlink/mavlink_hil.h +++ b/src/modules/mavlink/mavlink_hil.h diff --git a/apps/mavlink/mavlink_log.c b/src/modules/mavlink/mavlink_log.c index ed65fb883..fa974dc0b 100644 --- a/apps/mavlink/mavlink_log.c +++ b/src/modules/mavlink/mavlink_log.c @@ -42,7 +42,7 @@ #include <string.h> #include <stdlib.h> -#include "mavlink_log.h" +#include <mavlink/mavlink_log.h> void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size) { diff --git a/apps/mavlink/mavlink_parameters.c b/src/modules/mavlink/mavlink_parameters.c index 819f3441b..819f3441b 100644 --- a/apps/mavlink/mavlink_parameters.c +++ b/src/modules/mavlink/mavlink_parameters.c diff --git a/apps/mavlink/mavlink_parameters.h b/src/modules/mavlink/mavlink_parameters.h index b1e38bcc8..b1e38bcc8 100644 --- a/apps/mavlink/mavlink_parameters.h +++ b/src/modules/mavlink/mavlink_parameters.h diff --git a/apps/mavlink/mavlink_receiver.c b/src/modules/mavlink/mavlink_receiver.c index 22c2fcdad..a42612f9e 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/src/modules/mavlink/mavlink_receiver.c @@ -64,9 +64,9 @@ #include <systemlib/param/param.h> #include <systemlib/systemlib.h> +#include <mavlink/mavlink_log.h> #include "waypoints.h" -#include "mavlink_log.h" #include "orb_topics.h" #include "missionlib.h" #include "mavlink_hil.h" @@ -308,82 +308,6 @@ handle_message(mavlink_message_t *msg) uint64_t timestamp = hrt_absolute_time(); - /* TODO, set ground_press/ temp during calib */ - static const float ground_press = 1013.25f; // mbar - static const float ground_tempC = 21.0f; - static const float ground_alt = 0.0f; - static const float T0 = 273.15; - static const float R = 287.05f; - static const float g = 9.806f; - - if (msg->msgid == MAVLINK_MSG_ID_RAW_IMU) { - - mavlink_raw_imu_t imu; - mavlink_msg_raw_imu_decode(msg, &imu); - - /* packet counter */ - static uint16_t hil_counter = 0; - static uint16_t hil_frames = 0; - static uint64_t old_timestamp = 0; - - /* sensors general */ - hil_sensors.timestamp = imu.time_usec; - - /* hil gyro */ - static const float mrad2rad = 1.0e-3f; - hil_sensors.gyro_counter = hil_counter; - hil_sensors.gyro_raw[0] = imu.xgyro; - hil_sensors.gyro_raw[1] = imu.ygyro; - hil_sensors.gyro_raw[2] = imu.zgyro; - hil_sensors.gyro_rad_s[0] = imu.xgyro * mrad2rad; - hil_sensors.gyro_rad_s[1] = imu.ygyro * mrad2rad; - hil_sensors.gyro_rad_s[2] = imu.zgyro * mrad2rad; - - /* accelerometer */ - hil_sensors.accelerometer_counter = hil_counter; - static const float mg2ms2 = 9.8f / 1000.0f; - hil_sensors.accelerometer_raw[0] = imu.xacc; - hil_sensors.accelerometer_raw[1] = imu.yacc; - hil_sensors.accelerometer_raw[2] = imu.zacc; - hil_sensors.accelerometer_m_s2[0] = mg2ms2 * imu.xacc; - hil_sensors.accelerometer_m_s2[1] = mg2ms2 * imu.yacc; - hil_sensors.accelerometer_m_s2[2] = mg2ms2 * imu.zacc; - hil_sensors.accelerometer_mode = 0; // TODO what is this? - hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16 - - /* adc */ - hil_sensors.adc_voltage_v[0] = 0; - hil_sensors.adc_voltage_v[1] = 0; - hil_sensors.adc_voltage_v[2] = 0; - - /* magnetometer */ - float mga2ga = 1.0e-3f; - hil_sensors.magnetometer_counter = hil_counter; - hil_sensors.magnetometer_raw[0] = imu.xmag; - hil_sensors.magnetometer_raw[1] = imu.ymag; - hil_sensors.magnetometer_raw[2] = imu.zmag; - hil_sensors.magnetometer_ga[0] = imu.xmag * mga2ga; - hil_sensors.magnetometer_ga[1] = imu.ymag * mga2ga; - hil_sensors.magnetometer_ga[2] = imu.zmag * mga2ga; - hil_sensors.magnetometer_range_ga = 32.7f; // int16 - hil_sensors.magnetometer_mode = 0; // TODO what is this - hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f; - - /* publish */ - orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors); - - // increment counters - hil_counter += 1 ; - hil_frames += 1 ; - - // output - if ((timestamp - old_timestamp) > 10000000) { - printf("receiving hil imu at %d hz\n", hil_frames/10); - old_timestamp = timestamp; - hil_frames = 0; - } - } - if (msg->msgid == MAVLINK_MSG_ID_HIGHRES_IMU) { mavlink_highres_imu_t imu; @@ -437,13 +361,9 @@ handle_message(mavlink_message_t *msg) hil_sensors.magnetometer_mode = 0; // TODO what is this hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f; + /* baro */ hil_sensors.baro_pres_mbar = imu.abs_pressure; - - float tempC = imu.temperature; - float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f; - float h = ground_alt + (R / g) * tempAvgK * logf(ground_press / imu.abs_pressure); - - hil_sensors.baro_alt_meter = h; + hil_sensors.baro_alt_meter = imu.pressure_alt; hil_sensors.baro_temp_celcius = imu.temperature; hil_sensors.gyro_counter = hil_counter; @@ -516,44 +436,6 @@ handle_message(mavlink_message_t *msg) } } - if (msg->msgid == MAVLINK_MSG_ID_RAW_PRESSURE) { - - mavlink_raw_pressure_t press; - mavlink_msg_raw_pressure_decode(msg, &press); - - /* packet counter */ - static uint16_t hil_counter = 0; - static uint16_t hil_frames = 0; - static uint64_t old_timestamp = 0; - - /* sensors general */ - hil_sensors.timestamp = press.time_usec; - - /* baro */ - - float tempC = press.temperature / 100.0f; - float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f; - float h = ground_alt + (R / g) * tempAvgK * logf(ground_press / press.press_abs); - hil_sensors.baro_counter = hil_counter; - hil_sensors.baro_pres_mbar = press.press_abs; - hil_sensors.baro_alt_meter = h; - hil_sensors.baro_temp_celcius = tempC; - - /* publish */ - orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors); - - // increment counters - hil_counter += 1 ; - hil_frames += 1 ; - - // output - if ((timestamp - old_timestamp) > 10000000) { - printf("receiving hil pressure at %d hz\n", hil_frames/10); - old_timestamp = timestamp; - hil_frames = 0; - } - } - if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) { mavlink_hil_state_t hil_state; diff --git a/apps/mavlink/missionlib.c b/src/modules/mavlink/missionlib.c index 8064febc4..d369e05ff 100644 --- a/apps/mavlink/missionlib.c +++ b/src/modules/mavlink/missionlib.c @@ -62,9 +62,9 @@ #include <systemlib/param/param.h> #include <systemlib/systemlib.h> +#include <mavlink/mavlink_log.h> #include "waypoints.h" -#include "mavlink_log.h" #include "orb_topics.h" #include "missionlib.h" #include "mavlink_hil.h" diff --git a/apps/mavlink/missionlib.h b/src/modules/mavlink/missionlib.h index c2ca735b3..c2ca735b3 100644 --- a/apps/mavlink/missionlib.h +++ b/src/modules/mavlink/missionlib.h diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk new file mode 100644 index 000000000..cbf08aeb2 --- /dev/null +++ b/src/modules/mavlink/module.mk @@ -0,0 +1,47 @@ +############################################################################ +# +# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# MAVLink protocol to uORB interface process +# + +MODULE_COMMAND = mavlink +SRCS += mavlink.c \ + missionlib.c \ + mavlink_parameters.c \ + mavlink_log.c \ + mavlink_receiver.c \ + orb_listener.c \ + waypoints.c + +INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink diff --git a/apps/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index 5f15facf8..295cd5e28 100644 --- a/apps/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -56,8 +56,9 @@ #include <stdlib.h> #include <poll.h> +#include <mavlink/mavlink_log.h> + #include "waypoints.h" -#include "mavlink_log.h" #include "orb_topics.h" #include "missionlib.h" #include "mavlink_hil.h" diff --git a/apps/mavlink/orb_topics.h b/src/modules/mavlink/orb_topics.h index d61cd43dc..d61cd43dc 100644 --- a/apps/mavlink/orb_topics.h +++ b/src/modules/mavlink/orb_topics.h diff --git a/apps/mavlink/util.h b/src/modules/mavlink/util.h index a4ff06a88..a4ff06a88 100644 --- a/apps/mavlink/util.h +++ b/src/modules/mavlink/util.h diff --git a/apps/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c index a131b143b..a131b143b 100644 --- a/apps/mavlink/waypoints.c +++ b/src/modules/mavlink/waypoints.c diff --git a/apps/mavlink/waypoints.h b/src/modules/mavlink/waypoints.h index c32ab32e5..c32ab32e5 100644 --- a/apps/mavlink/waypoints.h +++ b/src/modules/mavlink/waypoints.h diff --git a/apps/mavlink_onboard/mavlink.c b/src/modules/mavlink_onboard/mavlink.c index 5a2685560..5a2685560 100644 --- a/apps/mavlink_onboard/mavlink.c +++ b/src/modules/mavlink_onboard/mavlink.c diff --git a/apps/mavlink_onboard/mavlink_bridge_header.h b/src/modules/mavlink_onboard/mavlink_bridge_header.h index bf7c5354c..3ad3bb617 100644 --- a/apps/mavlink_onboard/mavlink_bridge_header.h +++ b/src/modules/mavlink_onboard/mavlink_bridge_header.h @@ -51,7 +51,7 @@ #define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer #define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status -#include "v1.0/mavlink_types.h" +#include <v1.0/mavlink_types.h> #include <unistd.h> diff --git a/apps/mavlink_onboard/mavlink_receiver.c b/src/modules/mavlink_onboard/mavlink_receiver.c index 0acbea675..0acbea675 100644 --- a/apps/mavlink_onboard/mavlink_receiver.c +++ b/src/modules/mavlink_onboard/mavlink_receiver.c diff --git a/apps/commander/Makefile b/src/modules/mavlink_onboard/module.mk index d12697274..a7a4980fa 100644 --- a/apps/commander/Makefile +++ b/src/modules/mavlink_onboard/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,14 +32,11 @@ ############################################################################ # -# Commander application +# MAVLink protocol to uORB interface process (XXX hack for onboard use) # -APPNAME = commander -PRIORITY = SCHED_PRIORITY_MAX - 30 -STACKSIZE = 2048 - -INCLUDES = $(TOPDIR)/../mavlink/include/mavlink - -include $(APPDIR)/mk/app.mk +MODULE_COMMAND = mavlink_onboard +SRCS = mavlink.c \ + mavlink_receiver.c +INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink diff --git a/apps/mavlink_onboard/orb_topics.h b/src/modules/mavlink_onboard/orb_topics.h index f18f56243..f18f56243 100644 --- a/apps/mavlink_onboard/orb_topics.h +++ b/src/modules/mavlink_onboard/orb_topics.h diff --git a/apps/mavlink_onboard/util.h b/src/modules/mavlink_onboard/util.h index 38a4db372..38a4db372 100644 --- a/apps/mavlink_onboard/util.h +++ b/src/modules/mavlink_onboard/util.h diff --git a/src/modules/multirotor_att_control/module.mk b/src/modules/multirotor_att_control/module.mk new file mode 100755 index 000000000..7569e1c7e --- /dev/null +++ b/src/modules/multirotor_att_control/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Build multirotor attitude controller +# + +MODULE_COMMAND = multirotor_att_control + +SRCS = multirotor_att_control_main.c \ + multirotor_attitude_control.c \ + multirotor_rate_control.c diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c index d94c0a69c..d94c0a69c 100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c index 76dbb36d3..76dbb36d3 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c diff --git a/apps/multirotor_att_control/multirotor_attitude_control.h b/src/modules/multirotor_att_control/multirotor_attitude_control.h index 2cf83e443..2cf83e443 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.h +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.h diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index deba1ac03..deba1ac03 100644 --- a/apps/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c diff --git a/apps/multirotor_att_control/multirotor_rate_control.h b/src/modules/multirotor_att_control/multirotor_rate_control.h index 03dec317a..03dec317a 100644 --- a/apps/multirotor_att_control/multirotor_rate_control.h +++ b/src/modules/multirotor_att_control/multirotor_rate_control.h diff --git a/apps/ardrone_interface/Makefile b/src/modules/multirotor_pos_control/module.mk index fea96082f..d04847745 100644 --- a/apps/ardrone_interface/Makefile +++ b/src/modules/multirotor_pos_control/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,11 +32,10 @@ ############################################################################ # -# Makefile to build ardrone interface +# Build multirotor position control # -APPNAME = ardrone_interface -PRIORITY = SCHED_PRIORITY_MAX - 15 -STACKSIZE = 2048 +MODULE_COMMAND = multirotor_pos_control -include $(APPDIR)/mk/app.mk +SRCS = multirotor_pos_control.c \ + multirotor_pos_control_params.c diff --git a/apps/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c index 7b8d83aa8..7b8d83aa8 100644 --- a/apps/multirotor_pos_control/multirotor_pos_control.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c diff --git a/apps/multirotor_pos_control/multirotor_pos_control_params.c b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c index 6b73dc405..6b73dc405 100644 --- a/apps/multirotor_pos_control/multirotor_pos_control_params.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c diff --git a/apps/multirotor_pos_control/multirotor_pos_control_params.h b/src/modules/multirotor_pos_control/multirotor_pos_control_params.h index 274f6c22a..274f6c22a 100644 --- a/apps/multirotor_pos_control/multirotor_pos_control_params.h +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.h diff --git a/apps/multirotor_pos_control/position_control.c b/src/modules/multirotor_pos_control/position_control.c index 9c53a5bf6..9c53a5bf6 100644 --- a/apps/multirotor_pos_control/position_control.c +++ b/src/modules/multirotor_pos_control/position_control.c diff --git a/apps/multirotor_pos_control/position_control.h b/src/modules/multirotor_pos_control/position_control.h index 2144ebc34..2144ebc34 100644 --- a/apps/multirotor_pos_control/position_control.h +++ b/src/modules/multirotor_pos_control/position_control.h diff --git a/apps/position_estimator/Makefile b/src/modules/position_estimator/module.mk index cc5072152..f64095d9d 100644 --- a/apps/position_estimator/Makefile +++ b/src/modules/position_estimator/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,10 +35,10 @@ # Makefile to build the position estimator # -APPNAME = position_estimator -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 +MODULE_COMMAND = position_estimator -CSRCS = position_estimator_main.c +# XXX this should be converted to a deamon, its a pretty bad example app +MODULE_PRIORITY = SCHED_PRIORITY_DEFAULT +MODULE_STACKSIZE = 4096 -include $(APPDIR)/mk/app.mk +SRCS = position_estimator_main.c diff --git a/apps/position_estimator/position_estimator_main.c b/src/modules/position_estimator/position_estimator_main.c index e84945299..e84945299 100644 --- a/apps/position_estimator/position_estimator_main.c +++ b/src/modules/position_estimator/position_estimator_main.c diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c index 977565b8e..977565b8e 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe1.c +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h index 2f5330563..2f5330563 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe1.h +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c index 6627f76e9..6627f76e9 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe1_initialize.c +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h index a77eb5712..a77eb5712 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe1_initialize.h +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c index a65536f79..a65536f79 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe1_terminate.c +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h index 100c7f76c..100c7f76c 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe1_terminate.h +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h index d4b2c2d61..d4b2c2d61 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe1_types.h +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c index 11b999064..11b999064 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe2.c +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h index 30170ae22..30170ae22 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe2.h +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c index de5a1d8aa..de5a1d8aa 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe2_initialize.c +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h index 3d507ff31..3d507ff31 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe2_initialize.h +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c index 0757c878c..0757c878c 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe2_terminate.c +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h index 23995020b..23995020b 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe2_terminate.h +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h index f7a04d908..f7a04d908 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe2_types.h +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c index 9efe2ea7a..9efe2ea7a 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe3.c +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h index 9bbffbbb3..9bbffbbb3 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe3.h +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_data.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c index 8f2275c13..8f2275c13 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe3_data.c +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_data.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h index 952eb7b89..952eb7b89 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe3_data.h +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c index b87d604c4..b87d604c4 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe3_initialize.c +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h index 9dee90f9e..9dee90f9e 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe3_initialize.h +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c index b00858205..b00858205 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe3_terminate.c +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h index 69cc85c76..69cc85c76 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe3_terminate.h +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h index f36ea4557..f36ea4557 100755 --- a/apps/position_estimator_mc/codegen/kalman_dlqe3_types.h +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c index 5139848bc..5139848bc 100755 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D.c +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h index 205c8eb4e..205c8eb4e 100755 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D.h +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c index 4c535618a..4c535618a 100755 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h index 94cbe2ce6..94cbe2ce6 100755 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c index aa89f8a9d..aa89f8a9d 100755 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h index 8d358a9a3..8d358a9a3 100755 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c index 20ed2edbb..20ed2edbb 100755 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h index 5eb5807a0..5eb5807a0 100755 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h index 43e5f016c..43e5f016c 100755 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c index 5bd87c390..5bd87c390 100755 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h index 44bce472f..44bce472f 100755 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c index 41e11936f..41e11936f 100755 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h index e84ea01bc..e84ea01bc 100755 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h index 4b473f56f..4b473f56f 100755 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_types.h +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h diff --git a/apps/position_estimator_mc/codegen/randn.c b/src/modules/position_estimator_mc/codegen/randn.c index 51aef7b76..51aef7b76 100755 --- a/apps/position_estimator_mc/codegen/randn.c +++ b/src/modules/position_estimator_mc/codegen/randn.c diff --git a/apps/position_estimator_mc/codegen/randn.h b/src/modules/position_estimator_mc/codegen/randn.h index 8a2aa9277..8a2aa9277 100755 --- a/apps/position_estimator_mc/codegen/randn.h +++ b/src/modules/position_estimator_mc/codegen/randn.h diff --git a/apps/position_estimator_mc/codegen/rtGetInf.c b/src/modules/position_estimator_mc/codegen/rtGetInf.c index c6fa7884e..c6fa7884e 100755 --- a/apps/position_estimator_mc/codegen/rtGetInf.c +++ b/src/modules/position_estimator_mc/codegen/rtGetInf.c diff --git a/apps/position_estimator_mc/codegen/rtGetInf.h b/src/modules/position_estimator_mc/codegen/rtGetInf.h index e7b2a2d1c..e7b2a2d1c 100755 --- a/apps/position_estimator_mc/codegen/rtGetInf.h +++ b/src/modules/position_estimator_mc/codegen/rtGetInf.h diff --git a/apps/position_estimator_mc/codegen/rtGetNaN.c b/src/modules/position_estimator_mc/codegen/rtGetNaN.c index 552770149..552770149 100755 --- a/apps/position_estimator_mc/codegen/rtGetNaN.c +++ b/src/modules/position_estimator_mc/codegen/rtGetNaN.c diff --git a/apps/position_estimator_mc/codegen/rtGetNaN.h b/src/modules/position_estimator_mc/codegen/rtGetNaN.h index 5acdd9790..5acdd9790 100755 --- a/apps/position_estimator_mc/codegen/rtGetNaN.h +++ b/src/modules/position_estimator_mc/codegen/rtGetNaN.h diff --git a/apps/position_estimator_mc/codegen/rt_nonfinite.c b/src/modules/position_estimator_mc/codegen/rt_nonfinite.c index de121c4a0..de121c4a0 100755 --- a/apps/position_estimator_mc/codegen/rt_nonfinite.c +++ b/src/modules/position_estimator_mc/codegen/rt_nonfinite.c diff --git a/apps/position_estimator_mc/codegen/rt_nonfinite.h b/src/modules/position_estimator_mc/codegen/rt_nonfinite.h index 3bbcfd087..3bbcfd087 100755 --- a/apps/position_estimator_mc/codegen/rt_nonfinite.h +++ b/src/modules/position_estimator_mc/codegen/rt_nonfinite.h diff --git a/apps/position_estimator_mc/codegen/rtwtypes.h b/src/modules/position_estimator_mc/codegen/rtwtypes.h index 8916e8572..8916e8572 100755 --- a/apps/position_estimator_mc/codegen/rtwtypes.h +++ b/src/modules/position_estimator_mc/codegen/rtwtypes.h diff --git a/apps/position_estimator_mc/kalman_dlqe1.m b/src/modules/position_estimator_mc/kalman_dlqe1.m index ff939d029..ff939d029 100755 --- a/apps/position_estimator_mc/kalman_dlqe1.m +++ b/src/modules/position_estimator_mc/kalman_dlqe1.m diff --git a/apps/position_estimator_mc/kalman_dlqe2.m b/src/modules/position_estimator_mc/kalman_dlqe2.m index 2a50164ef..2a50164ef 100755 --- a/apps/position_estimator_mc/kalman_dlqe2.m +++ b/src/modules/position_estimator_mc/kalman_dlqe2.m diff --git a/apps/position_estimator_mc/kalman_dlqe3.m b/src/modules/position_estimator_mc/kalman_dlqe3.m index 4c6421b7f..4c6421b7f 100755 --- a/apps/position_estimator_mc/kalman_dlqe3.m +++ b/src/modules/position_estimator_mc/kalman_dlqe3.m diff --git a/apps/position_estimator_mc/Makefile b/src/modules/position_estimator_mc/module.mk index 8f1100158..40b135ea4 100644 --- a/apps/position_estimator_mc/Makefile +++ b/src/modules/position_estimator_mc/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,11 +35,9 @@ # Makefile to build the position estimator # -APPNAME = position_estimator_mc -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 +MODULE_COMMAND = position_estimator_mc -CSRCS = position_estimator_mc_main.c \ +SRCS = position_estimator_mc_main.c \ position_estimator_mc_params.c \ codegen/positionKalmanFilter1D_initialize.c \ codegen/positionKalmanFilter1D_terminate.c \ @@ -60,5 +58,3 @@ CSRCS = position_estimator_mc_main.c \ codegen/kalman_dlqe3_terminate.c \ codegen/kalman_dlqe3_data.c \ codegen/randn.c - -include $(APPDIR)/mk/app.mk diff --git a/apps/position_estimator_mc/positionKalmanFilter1D.m b/src/modules/position_estimator_mc/positionKalmanFilter1D.m index 144ff8c7c..144ff8c7c 100755 --- a/apps/position_estimator_mc/positionKalmanFilter1D.m +++ b/src/modules/position_estimator_mc/positionKalmanFilter1D.m diff --git a/apps/position_estimator_mc/positionKalmanFilter1D_dT.m b/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m index f94cce1fb..f94cce1fb 100755 --- a/apps/position_estimator_mc/positionKalmanFilter1D_dT.m +++ b/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m diff --git a/apps/position_estimator_mc/position_estimator_mc_main.c b/src/modules/position_estimator_mc/position_estimator_mc_main.c index 10dee3f22..10dee3f22 100755 --- a/apps/position_estimator_mc/position_estimator_mc_main.c +++ b/src/modules/position_estimator_mc/position_estimator_mc_main.c diff --git a/apps/position_estimator_mc/position_estimator_mc_params.c b/src/modules/position_estimator_mc/position_estimator_mc_params.c index 72e5bc73b..72e5bc73b 100755 --- a/apps/position_estimator_mc/position_estimator_mc_params.c +++ b/src/modules/position_estimator_mc/position_estimator_mc_params.c diff --git a/apps/position_estimator_mc/position_estimator_mc_params.h b/src/modules/position_estimator_mc/position_estimator_mc_params.h index c4c95f7b4..c4c95f7b4 100755 --- a/apps/position_estimator_mc/position_estimator_mc_params.h +++ b/src/modules/position_estimator_mc/position_estimator_mc_params.h diff --git a/apps/px4io/adc.c b/src/modules/px4iofirmware/adc.c index 670b8d635..f744698be 100644 --- a/apps/px4io/adc.c +++ b/src/modules/px4iofirmware/adc.c @@ -135,6 +135,9 @@ adc_init(void) return 0; } +/* + return one measurement, or 0xffff on error + */ uint16_t adc_measure(unsigned channel) { @@ -154,9 +157,10 @@ adc_measure(unsigned channel) while (!(rSR & ADC_SR_EOC)) { /* never spin forever - this will give a bogus result though */ - if (hrt_elapsed_time(&now) > 1000) { + if (hrt_elapsed_time(&now) > 100) { debug("adc timeout"); - break; + perf_end(adc_perf); + return 0xffff; } } @@ -165,4 +169,4 @@ adc_measure(unsigned channel) perf_end(adc_perf); return result; -}
\ No newline at end of file +} diff --git a/apps/px4io/controls.c b/src/modules/px4iofirmware/controls.c index dc36f6c93..dc36f6c93 100644 --- a/apps/px4io/controls.c +++ b/src/modules/px4iofirmware/controls.c diff --git a/apps/px4io/dsm.c b/src/modules/px4iofirmware/dsm.c index ea35e5513..ea35e5513 100644 --- a/apps/px4io/dsm.c +++ b/src/modules/px4iofirmware/dsm.c diff --git a/apps/px4io/i2c.c b/src/modules/px4iofirmware/i2c.c index 4485daa5b..4485daa5b 100644 --- a/apps/px4io/i2c.c +++ b/src/modules/px4iofirmware/i2c.c diff --git a/apps/px4io/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index f38593d2a..f38593d2a 100644 --- a/apps/px4io/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk new file mode 100644 index 000000000..6379366f4 --- /dev/null +++ b/src/modules/px4iofirmware/module.mk @@ -0,0 +1,19 @@ + + +SRCS = adc.c \ + controls.c \ + dsm.c \ + i2c.c \ + px4io.c \ + registers.c \ + safety.c \ + sbus.c \ + ../systemlib/up_cxxinitialize.c \ + ../systemlib/hx_stream.c \ + ../systemlib/perf_counter.c \ + mixer.cpp \ + ../systemlib/mixer/mixer.cpp \ + ../systemlib/mixer/mixer_group.cpp \ + ../systemlib/mixer/mixer_multirotor.cpp \ + ../systemlib/mixer/mixer_simple.cpp \ +
\ No newline at end of file diff --git a/apps/px4io/protocol.h b/src/modules/px4iofirmware/protocol.h index 8d8b7e941..b80551a07 100644 --- a/apps/px4io/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -115,7 +115,7 @@ #define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */ #define PX4IO_P_STATUS_VBATT 4 /* battery voltage in mV */ -#define PX4IO_P_STATUS_IBATT 5 /* battery current in cA */ +#define PX4IO_P_STATUS_IBATT 5 /* battery current (raw ADC) */ /* array of post-mix actuator outputs, -10000..10000 */ #define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ @@ -155,8 +155,6 @@ #define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */ #define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */ #define PX4IO_P_SETUP_VBATT_SCALE 6 /* battery voltage correction factor (float) */ -#define PX4IO_P_SETUP_IBATT_SCALE 7 /* battery current scaling factor (float) */ -#define PX4IO_P_SETUP_IBATT_BIAS 8 /* battery current bias value */ #define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ /* autopilot control values, -10000..10000 */ diff --git a/apps/px4io/px4io.c b/src/modules/px4iofirmware/px4io.c index 9de37e118..bc8dfc116 100644 --- a/apps/px4io/px4io.c +++ b/src/modules/px4iofirmware/px4io.c @@ -64,8 +64,10 @@ struct sys_state_s system_state; static struct hrt_call serial_dma_call; +#ifdef CONFIG_STM32_I2C1 /* store i2c reset count XXX this should be a register, together with other error counters */ volatile uint32_t i2c_loop_resets = 0; +#endif /* * a set of debug buffers to allow us to send debug information from ISRs @@ -133,7 +135,9 @@ user_start(int argc, char *argv[]) * Poll at 1ms intervals for received bytes that have not triggered * a DMA event. */ +#ifdef CONFIG_ARCH_DMA hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL); +#endif /* print some startup info */ lowsyslog("\nPX4IO: starting\n"); @@ -155,8 +159,10 @@ user_start(int argc, char *argv[]) /* initialise the control inputs */ controls_init(); +#ifdef CONFIG_STM32_I2C1 /* start the i2c handler */ i2c_init(); +#endif /* add a performance counter for mixing */ perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix"); diff --git a/apps/px4io/px4io.h b/src/modules/px4iofirmware/px4io.h index 202e9d9d9..272cdb7bf 100644 --- a/apps/px4io/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -124,10 +124,18 @@ extern struct sys_state_s system_state; #define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s)) #define POWER_SERVO(_s) stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s)) -#define POWER_ACC1(_s) stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s)) -#define POWER_ACC2(_s) stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s)) -#define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s)) -#define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s)) +#ifdef GPIO_ACC1_PWR_EN + #define POWER_ACC1(_s) stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s)) +#endif +#ifdef GPIO_ACC2_PWR_EN + #define POWER_ACC2(_s) stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s)) +#endif +#ifdef GPIO_RELAY1_EN + #define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s)) +#endif +#ifdef GPIO_RELAY2_EN + #define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s)) +#endif #define OVERCURRENT_ACC (!stm32_gpioread(GPIO_ACC_OC_DETECT)) #define OVERCURRENT_SERVO (!stm32_gpioread(GPIO_SERVO_OC_DETECT)) @@ -148,10 +156,12 @@ extern void mixer_handle_text(const void *buffer, size_t length); */ extern void safety_init(void); +#ifdef CONFIG_STM32_I2C1 /** * FMU communications */ extern void i2c_init(void); +#endif /** * Register space @@ -183,6 +193,7 @@ extern volatile uint8_t debug_level; /* send a debug message to the console */ extern void isr_debug(uint8_t level, const char *fmt, ...); +#ifdef CONFIG_STM32_I2C1 void i2c_dump(void); void i2c_reset(void); - +#endif diff --git a/apps/px4io/registers.c b/src/modules/px4iofirmware/registers.c index 6c09def9e..4f3addfea 100644 --- a/apps/px4io/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -138,8 +138,6 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_PWM_ALTRATE] = 200, [PX4IO_P_SETUP_RELAYS] = 0, [PX4IO_P_SETUP_VBATT_SCALE] = 10000, - [PX4IO_P_SETUP_IBATT_SCALE] = 0, - [PX4IO_P_SETUP_IBATT_BIAS] = 0, [PX4IO_P_SETUP_SET_DEBUG] = 0, }; @@ -508,20 +506,27 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val * Intercept corrected for best results @ 12V. */ unsigned counts = adc_measure(ADC_VBATT); - unsigned mV = (4150 + (counts * 46)) / 10 - 200; - unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000; + if (counts != 0xffff) { + unsigned mV = (4150 + (counts * 46)) / 10 - 200; + unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000; - r_page_status[PX4IO_P_STATUS_VBATT] = corrected; + r_page_status[PX4IO_P_STATUS_VBATT] = corrected; + } } /* PX4IO_P_STATUS_IBATT */ { - unsigned counts = adc_measure(ADC_VBATT); - unsigned scaled = (counts * r_page_setup[PX4IO_P_SETUP_IBATT_SCALE]) / 10000; - int corrected = scaled + REG_TO_SIGNED(r_page_setup[PX4IO_P_SETUP_IBATT_BIAS]); - if (corrected < 0) - corrected = 0; - r_page_status[PX4IO_P_STATUS_IBATT] = corrected; + /* + note that we have no idea what sort of + current sensor is attached, so we just + return the raw 12 bit ADC value and let the + FMU sort it out, with user selectable + configuration for their sensor + */ + unsigned counts = adc_measure(ADC_IN5); + if (counts != 0xffff) { + r_page_status[PX4IO_P_STATUS_IBATT] = counts; + } } SELECT_PAGE(r_page_status); diff --git a/apps/px4io/safety.c b/src/modules/px4iofirmware/safety.c index 5495d5ae1..5495d5ae1 100644 --- a/apps/px4io/safety.c +++ b/src/modules/px4iofirmware/safety.c diff --git a/apps/px4io/sbus.c b/src/modules/px4iofirmware/sbus.c index 073ddeaba..073ddeaba 100644 --- a/apps/px4io/sbus.c +++ b/src/modules/px4iofirmware/sbus.c diff --git a/apps/sdlog/Makefile b/src/modules/sdlog/module.mk index 225b14a32..89da2d827 100644 --- a/apps/sdlog/Makefile +++ b/src/modules/sdlog/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,9 +35,9 @@ # sdlog Application # -APPNAME = sdlog +MODULE_COMMAND = sdlog # The main thread only buffers to RAM, needs a high priority -PRIORITY = SCHED_PRIORITY_MAX - 30 -STACKSIZE = 2048 +MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30" -include $(APPDIR)/mk/app.mk +SRCS = sdlog.c \ + sdlog_ringbuffer.c diff --git a/apps/sdlog/sdlog.c b/src/modules/sdlog/sdlog.c index df8745d9f..84a9eb6ac 100644 --- a/apps/sdlog/sdlog.c +++ b/src/modules/sdlog/sdlog.c @@ -71,6 +71,7 @@ #include <uORB/topics/optical_flow.h> #include <uORB/topics/battery_status.h> #include <uORB/topics/differential_pressure.h> +#include <uORB/topics/airspeed.h> #include <systemlib/systemlib.h> @@ -443,7 +444,8 @@ int sdlog_thread_main(int argc, char *argv[]) struct vehicle_vicon_position_s vicon_pos; struct optical_flow_s flow; struct battery_status_s batt; - struct differential_pressure_s diff_pressure; + struct differential_pressure_s diff_pres; + struct airspeed_s airspeed; } buf; memset(&buf, 0, sizeof(buf)); @@ -461,7 +463,8 @@ int sdlog_thread_main(int argc, char *argv[]) int vicon_pos_sub; int flow_sub; int batt_sub; - int diff_pressure_sub; + int diff_pres_sub; + int airspeed_sub; } subs; /* --- MANAGEMENT - LOGGING COMMAND --- */ @@ -558,11 +561,18 @@ int sdlog_thread_main(int argc, char *argv[]) /* --- DIFFERENTIAL PRESSURE --- */ /* subscribe to ORB for flow measurements */ - subs.diff_pressure_sub = orb_subscribe(ORB_ID(differential_pressure)); - fds[fdsc_count].fd = subs.diff_pressure_sub; + subs.diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); + fds[fdsc_count].fd = subs.diff_pres_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; + /* --- AIRSPEED --- */ + /* subscribe to ORB for airspeed */ + subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); + fds[fdsc_count].fd = subs.airspeed_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + /* WARNING: If you get the error message below, * then the number of registered messages (fdsc) * differs from the number of messages in the above list. @@ -654,7 +664,8 @@ int sdlog_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att); orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos); orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow); - orb_copy(ORB_ID(differential_pressure), subs.diff_pressure_sub, &buf.diff_pressure); + orb_copy(ORB_ID(differential_pressure), subs.diff_pres_sub, &buf.diff_pres); + orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed); orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt); /* if skipping is on or logging is disabled, ignore */ @@ -691,9 +702,9 @@ int sdlog_thread_main(int argc, char *argv[]) .vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw}, .control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]}, .flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality}, - .diff_pressure = buf.diff_pressure.differential_pressure_mbar, - .ind_airspeed = buf.diff_pressure.indicated_airspeed_m_s, - .true_airspeed = buf.diff_pressure.true_airspeed_m_s + .diff_pressure = buf.diff_pres.differential_pressure_pa, + .ind_airspeed = buf.airspeed.indicated_airspeed_m_s, + .true_airspeed = buf.airspeed.true_airspeed_m_s }; /* put into buffer for later IO */ diff --git a/apps/sdlog/sdlog_ringbuffer.c b/src/modules/sdlog/sdlog_ringbuffer.c index d7c8a4759..d7c8a4759 100644 --- a/apps/sdlog/sdlog_ringbuffer.c +++ b/src/modules/sdlog/sdlog_ringbuffer.c diff --git a/apps/sdlog/sdlog_ringbuffer.h b/src/modules/sdlog/sdlog_ringbuffer.h index b65916459..b65916459 100644 --- a/apps/sdlog/sdlog_ringbuffer.h +++ b/src/modules/sdlog/sdlog_ringbuffer.h diff --git a/apps/commander/.context b/src/modules/sensors/.context index e69de29bb..e69de29bb 100644 --- a/apps/commander/.context +++ b/src/modules/sensors/.context diff --git a/apps/sensors/Makefile b/src/modules/sensors/module.mk index 526fb0164..ebbc580e1 100644 --- a/apps/sensors/Makefile +++ b/src/modules/sensors/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,11 +35,8 @@ # Makefile to build the sensor data collector # -APPNAME = sensors -PRIORITY = SCHED_PRIORITY_MAX-5 -STACKSIZE = 4096 +MODULE_COMMAND = sensors +MODULE_PRIORITY = "SCHED_PRIORITY_MAX-5" -CXXSRCS = sensors.cpp -CSRCS = sensor_params.c - -include $(APPDIR)/mk/app.mk +SRCS = sensors.cpp \ + sensor_params.c diff --git a/apps/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index c850e3a1e..230060148 100644 --- a/apps/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -64,7 +64,7 @@ PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f); -PARAM_DEFINE_FLOAT(SENS_VAIR_OFF, 2.5f); +PARAM_DEFINE_INT32(SENS_DPRES_OFF, 1667); PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f); PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f); diff --git a/apps/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 1f3f7707e..6b6aeedee 100644 --- a/apps/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -77,6 +77,7 @@ #include <uORB/topics/parameter_update.h> #include <uORB/topics/battery_status.h> #include <uORB/topics/differential_pressure.h> +#include <uORB/topics/airspeed.h> #define GYRO_HEALTH_COUNTER_LIMIT_ERROR 20 /* 40 ms downtime at 500 Hz update rate */ #define ACC_HEALTH_COUNTER_LIMIT_ERROR 20 /* 40 ms downtime at 500 Hz update rate */ @@ -98,6 +99,12 @@ #define BAT_VOL_LOWPASS_2 0.01f #define VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS 3.5f +/** + * HACK - true temperature is much less than indicated temperature in baro, + * subtract 5 degrees in an attempt to account for the electrical upheating of the PCB + */ +#define PCB_TEMP_ESTIMATE_DEG 5.0f + #define PPM_INPUT_TIMEOUT_INTERVAL 50000 /**< 50 ms timeout / 20 Hz */ #define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg) @@ -156,6 +163,8 @@ private: int _mag_sub; /**< raw mag data subscription */ int _rc_sub; /**< raw rc channels data subscription */ int _baro_sub; /**< raw baro data subscription */ + int _airspeed_sub; /**< airspeed subscription */ + int _diff_pres_sub; /**< raw differential pressure subscription */ int _vstatus_sub; /**< vehicle status subscription */ int _params_sub; /**< notification of parameter updates */ int _manual_control_sub; /**< notification of manual control updates */ @@ -165,13 +174,15 @@ private: orb_advert_t _rc_pub; /**< raw r/c control topic */ orb_advert_t _battery_pub; /**< battery status */ orb_advert_t _airspeed_pub; /**< airspeed */ + orb_advert_t _diff_pres_pub; /**< differential_pressure */ perf_counter_t _loop_perf; /**< loop performance counter */ struct rc_channels_s _rc; /**< r/c channel data */ struct battery_status_s _battery_status; /**< battery status */ struct baro_report _barometer; /**< barometer data */ - struct differential_pressure_s _differential_pressure; + struct differential_pressure_s _diff_pres; + struct airspeed_s _airspeed; struct { float min[_rc_max_chan_count]; @@ -187,7 +198,7 @@ private: float mag_scale[3]; float accel_offset[3]; float accel_scale[3]; - float airspeed_offset; + int diff_pres_offset_pa; int rc_type; @@ -236,7 +247,7 @@ private: param_t accel_scale[3]; param_t mag_offset[3]; param_t mag_scale[3]; - param_t airspeed_offset; + param_t diff_pres_offset_pa; param_t rc_map_roll; param_t rc_map_pitch; @@ -331,6 +342,14 @@ private: void baro_poll(struct sensor_combined_s &raw); /** + * Poll the differential pressure sensor for updated data. + * + * @param raw Combined sensor data structure into which + * data should be returned. + */ + void diff_pres_poll(struct sensor_combined_s &raw); + + /** * Check for changes in vehicle status. */ void vehicle_status_poll(); @@ -372,7 +391,9 @@ Sensors *g_sensors; } Sensors::Sensors() : +#ifdef CONFIG_HRT_PPM _ppm_last_valid(0), +#endif _fd_adc(-1), _last_adc(0), @@ -398,6 +419,7 @@ Sensors::Sensors() : _rc_pub(-1), _battery_pub(-1), _airspeed_pub(-1), + _diff_pres_pub(-1), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")) @@ -482,8 +504,8 @@ Sensors::Sensors() : _parameter_handles.mag_scale[1] = param_find("SENS_MAG_YSCALE"); _parameter_handles.mag_scale[2] = param_find("SENS_MAG_ZSCALE"); - /*Airspeed offset */ - _parameter_handles.airspeed_offset = param_find("SENS_VAIR_OFF"); + /* Differential pressure offset */ + _parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF"); _parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING"); @@ -693,7 +715,7 @@ Sensors::parameters_update() param_get(_parameter_handles.mag_scale[2], &(_parameters.mag_scale[2])); /* Airspeed offset */ - param_get(_parameter_handles.airspeed_offset, &(_parameters.airspeed_offset)); + param_get(_parameter_handles.diff_pres_offset_pa, &(_parameters.diff_pres_offset_pa)); /* scaling of ADC ticks to battery voltage */ if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) { @@ -888,6 +910,32 @@ Sensors::baro_poll(struct sensor_combined_s &raw) } void +Sensors::diff_pres_poll(struct sensor_combined_s &raw) +{ + bool updated; + orb_check(_diff_pres_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres); + + raw.differential_pressure_pa = _diff_pres.differential_pressure_pa; + raw.differential_pressure_counter++; + + _airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_pa); + _airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar*1e2f, + raw.baro_pres_mbar*1e2f, raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG); + + /* announce the airspeed if needed, just publish else */ + if (_airspeed_pub > 0) { + orb_publish(ORB_ID(airspeed), _airspeed_pub, &_airspeed); + + } else { + _airspeed_pub = orb_advertise(ORB_ID(airspeed), &_airspeed); + } + } +} + +void Sensors::vehicle_status_poll() { struct vehicle_status_s vstatus; @@ -1045,31 +1093,18 @@ Sensors::adc_poll(struct sensor_combined_s &raw) */ if (voltage > 0.4f) { - float diff_pres_pa = (voltage - _parameters.airspeed_offset) * 1000.0f; //for MPXV7002DP sensor - - float airspeed_true = calc_true_airspeed(diff_pres_pa + _barometer.pressure*1e2f, - _barometer.pressure*1e2f, _barometer.temperature - 5.0f); //factor 1e2 for conversion from mBar to Pa - // XXX HACK - true temperature is much less than indicated temperature in baro, - // subtract 5 degrees in an attempt to account for the electrical upheating of the PCB + float diff_pres_pa = voltage * 1000.0f - _parameters.diff_pres_offset_pa; //for MPXV7002DP sensor - float airspeed_indicated = calc_indicated_airspeed(diff_pres_pa); - - //printf("voltage: %.4f, diff_pres_pa %.4f, baro press %.4f Pa, v_ind %.4f, v_true %.4f\n", (double)voltage, (double)diff_pres_pa, (double)_barometer.pressure*1e2f, (double)airspeed_indicated, (double)airspeed_true); - - _differential_pressure.timestamp = hrt_absolute_time(); - _differential_pressure.static_pressure_mbar = _barometer.pressure; - _differential_pressure.differential_pressure_mbar = diff_pres_pa*1e-2f; - _differential_pressure.temperature_celcius = _barometer.temperature; - _differential_pressure.indicated_airspeed_m_s = airspeed_indicated; - _differential_pressure.true_airspeed_m_s = airspeed_true; - _differential_pressure.voltage = voltage; + _diff_pres.timestamp = hrt_absolute_time(); + _diff_pres.differential_pressure_pa = diff_pres_pa; + _diff_pres.voltage = voltage; /* announce the airspeed if needed, just publish else */ - if (_airspeed_pub > 0) { - orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &_differential_pressure); + if (_diff_pres_pub > 0) { + orb_publish(ORB_ID(differential_pressure), _diff_pres_pub, &_diff_pres); } else { - _airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &_differential_pressure); + _diff_pres_pub = orb_advertise(ORB_ID(differential_pressure), &_diff_pres); } } } @@ -1308,6 +1343,7 @@ Sensors::task_main() _mag_sub = orb_subscribe(ORB_ID(sensor_mag)); _rc_sub = orb_subscribe(ORB_ID(input_rc)); _baro_sub = orb_subscribe(ORB_ID(sensor_baro)); + _diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); _manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); @@ -1334,6 +1370,7 @@ Sensors::task_main() gyro_poll(raw); mag_poll(raw); baro_poll(raw); + diff_pres_poll(raw); parameter_update_poll(true /* forced */); @@ -1382,6 +1419,8 @@ Sensors::task_main() /* check battery voltage */ adc_poll(raw); + diff_pres_poll(raw); + /* Inform other processes that new data is available to copy */ if (_publishing) orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw); diff --git a/apps/systemlib/airspeed.c b/src/modules/systemlib/airspeed.c index 264287b10..15bb833a9 100644 --- a/apps/systemlib/airspeed.c +++ b/src/modules/systemlib/airspeed.c @@ -97,7 +97,7 @@ float calc_true_airspeed(float total_pressure, float static_pressure, float temp float density = get_air_density(static_pressure, temperature_celsius); if (density < 0.0001f || !isfinite(density)) { density = CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C; - printf("[airspeed] Invalid air density, using density at sea level\n"); +// printf("[airspeed] Invalid air density, using density at sea level\n"); } float pressure_difference = total_pressure - static_pressure; diff --git a/apps/systemlib/airspeed.h b/src/modules/systemlib/airspeed.h index def53f0c1..def53f0c1 100644 --- a/apps/systemlib/airspeed.h +++ b/src/modules/systemlib/airspeed.h diff --git a/apps/systemlib/bson/tinybson.c b/src/modules/systemlib/bson/tinybson.c index 321466f87..8aca6a25d 100644 --- a/apps/systemlib/bson/tinybson.c +++ b/src/modules/systemlib/bson/tinybson.c @@ -40,7 +40,7 @@ #include <unistd.h> #include <string.h> #include <stdlib.h> -#include <err.h> +#include <systemlib/err.h> #include "tinybson.h" diff --git a/apps/systemlib/bson/tinybson.h b/src/modules/systemlib/bson/tinybson.h index 666f8191a..666f8191a 100644 --- a/apps/systemlib/bson/tinybson.h +++ b/src/modules/systemlib/bson/tinybson.h diff --git a/apps/systemlib/conversions.c b/src/modules/systemlib/conversions.c index ac94252c5..ac94252c5 100644 --- a/apps/systemlib/conversions.c +++ b/src/modules/systemlib/conversions.c diff --git a/apps/systemlib/conversions.h b/src/modules/systemlib/conversions.h index 5d485b01f..5d485b01f 100644 --- a/apps/systemlib/conversions.h +++ b/src/modules/systemlib/conversions.h diff --git a/apps/systemlib/cpuload.c b/src/modules/systemlib/cpuload.c index 20b711fa6..20b711fa6 100644 --- a/apps/systemlib/cpuload.c +++ b/src/modules/systemlib/cpuload.c diff --git a/apps/systemlib/cpuload.h b/src/modules/systemlib/cpuload.h index a97047ea8..a97047ea8 100644 --- a/apps/systemlib/cpuload.h +++ b/src/modules/systemlib/cpuload.h diff --git a/apps/systemlib/err.c b/src/modules/systemlib/err.c index daf17ef8b..daf17ef8b 100644 --- a/apps/systemlib/err.c +++ b/src/modules/systemlib/err.c diff --git a/apps/systemlib/err.h b/src/modules/systemlib/err.h index ca13d6265..ca13d6265 100644 --- a/apps/systemlib/err.h +++ b/src/modules/systemlib/err.h diff --git a/apps/systemlib/geo/geo.c b/src/modules/systemlib/geo/geo.c index 6746e8ff3..6746e8ff3 100644 --- a/apps/systemlib/geo/geo.c +++ b/src/modules/systemlib/geo/geo.c diff --git a/apps/systemlib/geo/geo.h b/src/modules/systemlib/geo/geo.h index 0c0b5c533..0c0b5c533 100644 --- a/apps/systemlib/geo/geo.h +++ b/src/modules/systemlib/geo/geo.h diff --git a/apps/systemlib/getopt_long.c b/src/modules/systemlib/getopt_long.c index 27c38635f..27c38635f 100644 --- a/apps/systemlib/getopt_long.c +++ b/src/modules/systemlib/getopt_long.c diff --git a/apps/systemlib/getopt_long.h b/src/modules/systemlib/getopt_long.h index 61e8e76f3..61e8e76f3 100644 --- a/apps/systemlib/getopt_long.h +++ b/src/modules/systemlib/getopt_long.h diff --git a/apps/systemlib/hx_stream.c b/src/modules/systemlib/hx_stream.c index 8d77f14a8..8d77f14a8 100644 --- a/apps/systemlib/hx_stream.c +++ b/src/modules/systemlib/hx_stream.c diff --git a/apps/systemlib/hx_stream.h b/src/modules/systemlib/hx_stream.h index 128689953..128689953 100644 --- a/apps/systemlib/hx_stream.h +++ b/src/modules/systemlib/hx_stream.h diff --git a/apps/systemlib/mixer/mixer.cpp b/src/modules/systemlib/mixer/mixer.cpp index df0dfe838..df0dfe838 100644 --- a/apps/systemlib/mixer/mixer.cpp +++ b/src/modules/systemlib/mixer/mixer.cpp diff --git a/apps/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h index 40d37fce2..bbfa130a9 100644 --- a/apps/systemlib/mixer/mixer.h +++ b/src/modules/systemlib/mixer/mixer.h @@ -419,6 +419,7 @@ public: QUAD_X = 0, /**< quad in X configuration */ QUAD_PLUS, /**< quad in + configuration */ QUAD_V, /**< quad in V configuration */ + QUAD_WIDE, /**< quad in wide configuration */ HEX_X, /**< hex in X configuration */ HEX_PLUS, /**< hex in + configuration */ OCTA_X, diff --git a/apps/systemlib/mixer/mixer_group.cpp b/src/modules/systemlib/mixer/mixer_group.cpp index 1dbc512cd..1dbc512cd 100644 --- a/apps/systemlib/mixer/mixer_group.cpp +++ b/src/modules/systemlib/mixer/mixer_group.cpp diff --git a/apps/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index d79811c0f..8ded0b05c 100644 --- a/apps/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -88,6 +88,12 @@ const MultirotorMixer::Rotor _config_quad_v[] = { { 0.927184, 0.374607, -1.00 }, { -0.694658, -0.719340, -1.00 }, }; +const MultirotorMixer::Rotor _config_quad_wide[] = { + { -0.927184, 0.374607, 1.00 }, + { 0.777146, -0.629320, 1.00 }, + { 0.927184, 0.374607, -1.00 }, + { -0.777146, -0.629320, -1.00 }, +}; const MultirotorMixer::Rotor _config_hex_x[] = { { -1.000000, 0.000000, -1.00 }, { 1.000000, 0.000000, 1.00 }, @@ -128,6 +134,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOME &_config_quad_x[0], &_config_quad_plus[0], &_config_quad_v[0], + &_config_quad_wide[0], &_config_hex_x[0], &_config_hex_plus[0], &_config_octa_x[0], @@ -137,6 +144,7 @@ const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = { 4, /* quad_x */ 4, /* quad_plus */ 4, /* quad_v */ + 4, /* quad_wide */ 6, /* hex_x */ 6, /* hex_plus */ 8, /* octa_x */ @@ -195,6 +203,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl } else if (!strcmp(geomname, "4v")) { geometry = MultirotorMixer::QUAD_V; + } else if (!strcmp(geomname, "4w")) { + geometry = MultirotorMixer::QUAD_WIDE; + } else if (!strcmp(geomname, "6+")) { geometry = MultirotorMixer::HEX_PLUS; diff --git a/apps/systemlib/mixer/mixer_simple.cpp b/src/modules/systemlib/mixer/mixer_simple.cpp index 07dc5f37f..07dc5f37f 100644 --- a/apps/systemlib/mixer/mixer_simple.cpp +++ b/src/modules/systemlib/mixer/mixer_simple.cpp diff --git a/src/modules/systemlib/mixer/module.mk b/src/modules/systemlib/mixer/module.mk new file mode 100644 index 000000000..4d45e1c50 --- /dev/null +++ b/src/modules/systemlib/mixer/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# mixer library +# +LIBNAME = mixerlib + +SRCS = mixer.cpp \ + mixer_group.cpp \ + mixer_multirotor.cpp \ + mixer_simple.cpp diff --git a/apps/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables index 19a8239a6..683c63040 100755 --- a/apps/systemlib/mixer/multi_tables +++ b/src/modules/systemlib/mixer/multi_tables @@ -27,6 +27,13 @@ set quad_v { 136 CW } +set quad_wide { + 68 CCW + -129 CCW + -68 CW + 129 CW +} + set hex_x { 90 CW -90 CCW @@ -67,7 +74,7 @@ set octa_plus { 90 CW } -set tables {quad_x quad_plus quad_v hex_x hex_plus octa_x octa_plus} +set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus octa_x octa_plus} proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]} diff --git a/apps/systemlib/Makefile b/src/modules/systemlib/module.mk index 8240dbe43..fd0289c9a 100644 --- a/apps/systemlib/Makefile +++ b/src/modules/systemlib/module.mk @@ -35,7 +35,7 @@ # System utility library # -CSRCS = err.c \ +SRCS = err.c \ hx_stream.c \ perf_counter.c \ param/param.c \ @@ -44,17 +44,7 @@ CSRCS = err.c \ cpuload.c \ getopt_long.c \ up_cxxinitialize.c \ - airspeed.c - -# ppm_decode.c \ - -# -# XXX this really should be a CONFIG_* test -# -ifeq ($(TARGET),px4fmu) -CSRCS += systemlib.c \ pid/pid.c \ - geo/geo.c -endif - -include $(APPDIR)/mk/app.mk + geo/geo.c \ + systemlib.c \ + airspeed.c diff --git a/apps/systemlib/param/param.c b/src/modules/systemlib/param/param.c index 8073570d1..69a9bdf9b 100644 --- a/apps/systemlib/param/param.c +++ b/src/modules/systemlib/param/param.c @@ -46,7 +46,7 @@ #include <stdbool.h> #include <fcntl.h> #include <unistd.h> -#include <err.h> +#include <systemlib/err.h> #include <errno.h> #include <sys/stat.h> diff --git a/apps/systemlib/param/param.h b/src/modules/systemlib/param/param.h index 084cd931a..084cd931a 100644 --- a/apps/systemlib/param/param.h +++ b/src/modules/systemlib/param/param.h diff --git a/apps/systemlib/perf_counter.c b/src/modules/systemlib/perf_counter.c index 879f4715a..879f4715a 100644 --- a/apps/systemlib/perf_counter.c +++ b/src/modules/systemlib/perf_counter.c diff --git a/apps/systemlib/perf_counter.h b/src/modules/systemlib/perf_counter.h index 5c2cb15b2..5c2cb15b2 100644 --- a/apps/systemlib/perf_counter.h +++ b/src/modules/systemlib/perf_counter.h diff --git a/apps/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c index 49315cdc9..49315cdc9 100644 --- a/apps/systemlib/pid/pid.c +++ b/src/modules/systemlib/pid/pid.c diff --git a/apps/systemlib/pid/pid.h b/src/modules/systemlib/pid/pid.h index 64d668867..64d668867 100644 --- a/apps/systemlib/pid/pid.h +++ b/src/modules/systemlib/pid/pid.h diff --git a/apps/systemlib/ppm_decode.c b/src/modules/systemlib/ppm_decode.c index a5d2f738d..a5d2f738d 100644 --- a/apps/systemlib/ppm_decode.c +++ b/src/modules/systemlib/ppm_decode.c diff --git a/apps/systemlib/ppm_decode.h b/src/modules/systemlib/ppm_decode.h index 6c5e15345..6c5e15345 100644 --- a/apps/systemlib/ppm_decode.h +++ b/src/modules/systemlib/ppm_decode.h diff --git a/apps/systemlib/scheduling_priorities.h b/src/modules/systemlib/scheduling_priorities.h index be1dbfcd8..be1dbfcd8 100644 --- a/apps/systemlib/scheduling_priorities.h +++ b/src/modules/systemlib/scheduling_priorities.h diff --git a/apps/systemlib/systemlib.c b/src/modules/systemlib/systemlib.c index afb7eca29..afb7eca29 100644 --- a/apps/systemlib/systemlib.c +++ b/src/modules/systemlib/systemlib.c diff --git a/apps/systemlib/systemlib.h b/src/modules/systemlib/systemlib.h index 2c53c648b..2c53c648b 100644 --- a/apps/systemlib/systemlib.h +++ b/src/modules/systemlib/systemlib.h diff --git a/apps/systemlib/up_cxxinitialize.c b/src/modules/systemlib/up_cxxinitialize.c index c78f29570..c78f29570 100644 --- a/apps/systemlib/up_cxxinitialize.c +++ b/src/modules/systemlib/up_cxxinitialize.c diff --git a/apps/systemlib/uthash/doc/userguide.txt b/src/modules/systemlib/uthash/doc/userguide.txt index 3e65a52fc..3e65a52fc 100644 --- a/apps/systemlib/uthash/doc/userguide.txt +++ b/src/modules/systemlib/uthash/doc/userguide.txt diff --git a/apps/systemlib/uthash/doc/utarray.txt b/src/modules/systemlib/uthash/doc/utarray.txt index 37830f124..37830f124 100644 --- a/apps/systemlib/uthash/doc/utarray.txt +++ b/src/modules/systemlib/uthash/doc/utarray.txt diff --git a/apps/systemlib/uthash/doc/utlist.txt b/src/modules/systemlib/uthash/doc/utlist.txt index fbf961c27..fbf961c27 100644 --- a/apps/systemlib/uthash/doc/utlist.txt +++ b/src/modules/systemlib/uthash/doc/utlist.txt diff --git a/apps/systemlib/uthash/doc/utstring.txt b/src/modules/systemlib/uthash/doc/utstring.txt index abfdcd107..abfdcd107 100644 --- a/apps/systemlib/uthash/doc/utstring.txt +++ b/src/modules/systemlib/uthash/doc/utstring.txt diff --git a/apps/systemlib/uthash/utarray.h b/src/modules/systemlib/uthash/utarray.h index 4ffb630bf..4ffb630bf 100644 --- a/apps/systemlib/uthash/utarray.h +++ b/src/modules/systemlib/uthash/utarray.h diff --git a/apps/systemlib/uthash/uthash.h b/src/modules/systemlib/uthash/uthash.h index 9f83fc34f..9f83fc34f 100644 --- a/apps/systemlib/uthash/uthash.h +++ b/src/modules/systemlib/uthash/uthash.h diff --git a/apps/systemlib/uthash/utlist.h b/src/modules/systemlib/uthash/utlist.h index 1578acad2..1578acad2 100644 --- a/apps/systemlib/uthash/utlist.h +++ b/src/modules/systemlib/uthash/utlist.h diff --git a/apps/systemlib/uthash/utstring.h b/src/modules/systemlib/uthash/utstring.h index a181ad778..a181ad778 100644 --- a/apps/systemlib/uthash/utstring.h +++ b/src/modules/systemlib/uthash/utstring.h diff --git a/apps/systemcmds/calibration/calibration.h b/src/modules/systemlib/visibility.h index 028853ec8..2c6adc062 100644 --- a/apps/systemcmds/calibration/calibration.h +++ b/src/modules/systemlib/visibility.h @@ -31,30 +31,32 @@ * ****************************************************************************/ -#ifndef _CALIBRATION_H -#define _CALIBRATION_H - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -/**************************************************************************** - * Definitions - ****************************************************************************/ - -/**************************************************************************** - * Public Types - ****************************************************************************/ +/** + * @file visibility.h + * + * Definitions controlling symbol naming and visibility. + * + * This file is normally included automatically by the build system. + */ -/**************************************************************************** - * Public Variables - ****************************************************************************/ +#ifndef __SYSTEMLIB_VISIBILITY_H +#define __SYSTEMLIB_VISIBILITY_H -/**************************************************************************** - * Public Function Prototypes - ****************************************************************************/ - -extern int range_cal(int argc, char *argv[]); -extern int servo_cal(int argc, char *argv[]); +#ifdef __EXPORT +# undef __EXPORT +#endif +#define __EXPORT __attribute__ ((visibility ("default"))) +#ifdef __PRIVATE +# undef __PRIVATE +#endif +#define __PRIVATE __attribute__ ((visibility ("hidden"))) + +#ifdef __cplusplus +# define __BEGIN_DECLS extern "C" { +# define __END_DECLS } +#else +# define __BEGIN_DECLS +# define __END_DECLS #endif +#endif
\ No newline at end of file diff --git a/src/modules/test/foo.c b/src/modules/test/foo.c new file mode 100644 index 000000000..ff6af031f --- /dev/null +++ b/src/modules/test/foo.c @@ -0,0 +1,4 @@ +int test_main(void) +{ + return 0; +}
\ No newline at end of file diff --git a/src/modules/test/module.mk b/src/modules/test/module.mk new file mode 100644 index 000000000..abf80eedf --- /dev/null +++ b/src/modules/test/module.mk @@ -0,0 +1,4 @@ + +MODULE_NAME = test +SRCS = foo.c + diff --git a/apps/uORB/Makefile b/src/modules/uORB/module.mk index 64ba52e9c..5ec31ab01 100644 --- a/apps/uORB/Makefile +++ b/src/modules/uORB/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,8 +35,10 @@ # Makefile to build uORB # -APPNAME = uorb -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 +MODULE_COMMAND = uorb -include $(APPDIR)/mk/app.mk +# XXX probably excessive, 2048 should be sufficient +MODULE_STACKSIZE = 4096 + +SRCS = uORB.cpp \ + objects_common.cpp diff --git a/apps/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 136375140..4197f6fb2 100644 --- a/apps/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -122,6 +122,9 @@ ORB_DEFINE(optical_flow, struct optical_flow_s); #include "topics/omnidirectional_flow.h" ORB_DEFINE(omnidirectional_flow, struct omnidirectional_flow_s); +#include "topics/airspeed.h" +ORB_DEFINE(airspeed, struct airspeed_s); + #include "topics/differential_pressure.h" ORB_DEFINE(differential_pressure, struct differential_pressure_s); diff --git a/apps/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h index 0b50a29ac..0b50a29ac 100644 --- a/apps/uORB/topics/actuator_controls.h +++ b/src/modules/uORB/topics/actuator_controls.h diff --git a/apps/uORB/topics/actuator_controls_effective.h b/src/modules/uORB/topics/actuator_controls_effective.h index 088c4fc8f..088c4fc8f 100644 --- a/apps/uORB/topics/actuator_controls_effective.h +++ b/src/modules/uORB/topics/actuator_controls_effective.h diff --git a/apps/uORB/topics/actuator_outputs.h b/src/modules/uORB/topics/actuator_outputs.h index bbe429073..bbe429073 100644 --- a/apps/uORB/topics/actuator_outputs.h +++ b/src/modules/uORB/topics/actuator_outputs.h diff --git a/src/modules/uORB/topics/airspeed.h b/src/modules/uORB/topics/airspeed.h new file mode 100644 index 000000000..a3da3758f --- /dev/null +++ b/src/modules/uORB/topics/airspeed.h @@ -0,0 +1,67 @@ +/**************************************************************************** + * + * Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file airspeed.h + * + * Definition of airspeed topic + */ + +#ifndef TOPIC_AIRSPEED_H_ +#define TOPIC_AIRSPEED_H_ + +#include "../uORB.h" +#include <stdint.h> + +/** + * @addtogroup topics + * @{ + */ + +/** + * Airspeed + */ +struct airspeed_s { + uint64_t timestamp; /**< microseconds since system boot, needed to integrate */ + float indicated_airspeed_m_s; /**< indicated airspeed in meters per second, -1 if unknown */ + float true_airspeed_m_s; /**< true airspeed in meters per second, -1 if unknown */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(airspeed); + +#endif diff --git a/apps/uORB/topics/battery_status.h b/src/modules/uORB/topics/battery_status.h index c40d0d4e5..c40d0d4e5 100644 --- a/apps/uORB/topics/battery_status.h +++ b/src/modules/uORB/topics/battery_status.h diff --git a/apps/uORB/topics/debug_key_value.h b/src/modules/uORB/topics/debug_key_value.h index a9d1b83fd..a9d1b83fd 100644 --- a/apps/uORB/topics/debug_key_value.h +++ b/src/modules/uORB/topics/debug_key_value.h diff --git a/apps/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h index d5e4bf37e..8ce85213b 100644 --- a/apps/uORB/topics/differential_pressure.h +++ b/src/modules/uORB/topics/differential_pressure.h @@ -49,16 +49,14 @@ */ /** - * Differential pressure and airspeed + * Differential pressure. */ struct differential_pressure_s { - uint64_t timestamp; /**< microseconds since system boot, needed to integrate */ - float static_pressure_mbar; /**< Static / environment pressure */ - float differential_pressure_mbar; /**< Differential pressure reading */ - float temperature_celcius; /**< ambient temperature in celcius, -1 if unknown */ - float indicated_airspeed_m_s; /**< indicated airspeed in meters per second, -1 if unknown */ - float true_airspeed_m_s; /**< true airspeed in meters per second, -1 if unknown */ - float voltage; /**< Voltage from the airspeed sensor (voltage divider already compensated) */ + uint64_t timestamp; /**< microseconds since system boot, needed to integrate */ + uint16_t differential_pressure_pa; /**< Differential pressure reading */ + uint16_t max_differential_pressure_pa; /**< Maximum differential pressure reading */ + float voltage; /**< Voltage from analog airspeed sensors (voltage divider already compensated) */ + }; /** diff --git a/apps/uORB/topics/home_position.h b/src/modules/uORB/topics/home_position.h index 7e1b82a0f..7e1b82a0f 100644 --- a/apps/uORB/topics/home_position.h +++ b/src/modules/uORB/topics/home_position.h diff --git a/apps/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index 261a8a4ad..261a8a4ad 100644 --- a/apps/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h diff --git a/apps/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h index 2e895c59c..2e895c59c 100644 --- a/apps/uORB/topics/offboard_control_setpoint.h +++ b/src/modules/uORB/topics/offboard_control_setpoint.h diff --git a/apps/uORB/topics/omnidirectional_flow.h b/src/modules/uORB/topics/omnidirectional_flow.h index 8f4be3b3f..8f4be3b3f 100644 --- a/apps/uORB/topics/omnidirectional_flow.h +++ b/src/modules/uORB/topics/omnidirectional_flow.h diff --git a/apps/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h index c854f0079..c854f0079 100644 --- a/apps/uORB/topics/optical_flow.h +++ b/src/modules/uORB/topics/optical_flow.h diff --git a/apps/uORB/topics/parameter_update.h b/src/modules/uORB/topics/parameter_update.h index 300e895c7..300e895c7 100644 --- a/apps/uORB/topics/parameter_update.h +++ b/src/modules/uORB/topics/parameter_update.h diff --git a/apps/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 9dd54df91..9dd54df91 100644 --- a/apps/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h diff --git a/apps/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h index 961ee8b4a..9a76b5182 100644 --- a/apps/uORB/topics/sensor_combined.h +++ b/src/modules/uORB/topics/sensor_combined.h @@ -103,6 +103,8 @@ struct sensor_combined_s { float mcu_temp_celcius; /**< Internal temperature measurement of MCU */ uint32_t baro_counter; /**< Number of raw baro measurements taken */ + float differential_pressure_pa; /**< Airspeed sensor differential pressure */ + uint32_t differential_pressure_counter; /**< Number of raw differential pressure measurements taken */ }; /** diff --git a/apps/uORB/topics/subsystem_info.h b/src/modules/uORB/topics/subsystem_info.h index c415e832e..c415e832e 100644 --- a/apps/uORB/topics/subsystem_info.h +++ b/src/modules/uORB/topics/subsystem_info.h diff --git a/apps/uORB/topics/vehicle_attitude.h b/src/modules/uORB/topics/vehicle_attitude.h index c31c81d0c..c31c81d0c 100755 --- a/apps/uORB/topics/vehicle_attitude.h +++ b/src/modules/uORB/topics/vehicle_attitude.h diff --git a/apps/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h index a7cda34a8..a7cda34a8 100644 --- a/apps/uORB/topics/vehicle_attitude_setpoint.h +++ b/src/modules/uORB/topics/vehicle_attitude_setpoint.h diff --git a/apps/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h index fac571659..fac571659 100644 --- a/apps/uORB/topics/vehicle_command.h +++ b/src/modules/uORB/topics/vehicle_command.h diff --git a/apps/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index f036c7223..f036c7223 100644 --- a/apps/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h diff --git a/apps/uORB/topics/vehicle_global_position_set_triplet.h b/src/modules/uORB/topics/vehicle_global_position_set_triplet.h index 318abba89..318abba89 100644 --- a/apps/uORB/topics/vehicle_global_position_set_triplet.h +++ b/src/modules/uORB/topics/vehicle_global_position_set_triplet.h diff --git a/apps/uORB/topics/vehicle_global_position_setpoint.h b/src/modules/uORB/topics/vehicle_global_position_setpoint.h index eec6a8229..eec6a8229 100644 --- a/apps/uORB/topics/vehicle_global_position_setpoint.h +++ b/src/modules/uORB/topics/vehicle_global_position_setpoint.h diff --git a/apps/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h index 0a7fb4e9d..0a7fb4e9d 100644 --- a/apps/uORB/topics/vehicle_gps_position.h +++ b/src/modules/uORB/topics/vehicle_gps_position.h diff --git a/apps/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h index 76eddeacd..76eddeacd 100644 --- a/apps/uORB/topics/vehicle_local_position.h +++ b/src/modules/uORB/topics/vehicle_local_position.h diff --git a/apps/uORB/topics/vehicle_local_position_setpoint.h b/src/modules/uORB/topics/vehicle_local_position_setpoint.h index d24d81e3a..d24d81e3a 100644 --- a/apps/uORB/topics/vehicle_local_position_setpoint.h +++ b/src/modules/uORB/topics/vehicle_local_position_setpoint.h diff --git a/apps/uORB/topics/vehicle_rates_setpoint.h b/src/modules/uORB/topics/vehicle_rates_setpoint.h index 46e62c4b7..46e62c4b7 100644 --- a/apps/uORB/topics/vehicle_rates_setpoint.h +++ b/src/modules/uORB/topics/vehicle_rates_setpoint.h diff --git a/apps/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index c7c1048f6..c7c1048f6 100644 --- a/apps/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h diff --git a/apps/uORB/topics/vehicle_vicon_position.h b/src/modules/uORB/topics/vehicle_vicon_position.h index 0822fa89a..0822fa89a 100644 --- a/apps/uORB/topics/vehicle_vicon_position.h +++ b/src/modules/uORB/topics/vehicle_vicon_position.h diff --git a/apps/uORB/uORB.cpp b/src/modules/uORB/uORB.cpp index 7abbf42ae..7abbf42ae 100644 --- a/apps/uORB/uORB.cpp +++ b/src/modules/uORB/uORB.cpp diff --git a/apps/uORB/uORB.h b/src/modules/uORB/uORB.h index 82ff46ad2..82ff46ad2 100644 --- a/apps/uORB/uORB.h +++ b/src/modules/uORB/uORB.h diff --git a/apps/systemcmds/bl_update/bl_update.c b/src/systemcmds/bl_update/bl_update.c index 45715b791..0569d89f5 100644 --- a/apps/systemcmds/bl_update/bl_update.c +++ b/src/systemcmds/bl_update/bl_update.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/apps/px4/tests/Makefile b/src/systemcmds/bl_update/module.mk index 34f058be4..e8eea045e 100644 --- a/apps/px4/tests/Makefile +++ b/src/systemcmds/bl_update/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,13 +32,12 @@ ############################################################################ # -# Makefile to build assorted test cases +# Bootloader updater (flashes the FMU USB bootloader software) # -APPNAME = tests -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 12000 +MODULE_COMMAND = bl_update +SRCS = bl_update.c -include $(APPDIR)/mk/app.mk +MODULE_STACKSIZE = 4096 MAXOPTIMIZATION = -Os diff --git a/apps/systemcmds/boardinfo/boardinfo.c b/src/systemcmds/boardinfo/boardinfo.c index fb8b07ef4..3ff5a066c 100644 --- a/apps/systemcmds/boardinfo/boardinfo.c +++ b/src/systemcmds/boardinfo/boardinfo.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/apps/systemcmds/reboot/Makefile b/src/systemcmds/boardinfo/module.mk index 15dd19982..6851d229b 100644 --- a/apps/systemcmds/reboot/Makefile +++ b/src/systemcmds/boardinfo/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,13 +32,10 @@ ############################################################################ # -# Reboot command. +# Information about FMU and IO boards connected # -APPNAME = reboot -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk +MODULE_COMMAND = boardinfo +SRCS = boardinfo.c MAXOPTIMIZATION = -Os diff --git a/apps/systemcmds/eeprom/24xxxx_mtd.c b/src/systemcmds/eeprom/24xxxx_mtd.c index e34be44e3..e34be44e3 100644 --- a/apps/systemcmds/eeprom/24xxxx_mtd.c +++ b/src/systemcmds/eeprom/24xxxx_mtd.c diff --git a/apps/systemcmds/eeprom/eeprom.c b/src/systemcmds/eeprom/eeprom.c index 49da51358..49da51358 100644 --- a/apps/systemcmds/eeprom/eeprom.c +++ b/src/systemcmds/eeprom/eeprom.c diff --git a/src/systemcmds/eeprom/module.mk b/src/systemcmds/eeprom/module.mk new file mode 100644 index 000000000..07f3945be --- /dev/null +++ b/src/systemcmds/eeprom/module.mk @@ -0,0 +1,39 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# EEPROM file system driver +# + +MODULE_COMMAND = eeprom +SRCS = 24xxxx_mtd.c eeprom.c diff --git a/apps/systemcmds/i2c/i2c.c b/src/systemcmds/i2c/i2c.c index e1babdc12..4da238039 100644 --- a/apps/systemcmds/i2c/i2c.c +++ b/src/systemcmds/i2c/i2c.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * Author: Lorenz Meier <lm@inf.ethz.ch> * * Redistribution and use in source and binary forms, with or without diff --git a/src/systemcmds/i2c/module.mk b/src/systemcmds/i2c/module.mk new file mode 100644 index 000000000..ab2357c7d --- /dev/null +++ b/src/systemcmds/i2c/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Build the i2c test tool. +# + +MODULE_COMMAND = i2c +SRCS = i2c.c + +MAXOPTIMIZATION = -Os diff --git a/apps/systemcmds/mixer/mixer.c b/src/systemcmds/mixer/mixer.c index 55c4f0836..55c4f0836 100644 --- a/apps/systemcmds/mixer/mixer.c +++ b/src/systemcmds/mixer/mixer.c diff --git a/apps/systemcmds/mixer/Makefile b/src/systemcmds/mixer/module.mk index 3d8ac38cb..d5a3f9f77 100644 --- a/apps/systemcmds/mixer/Makefile +++ b/src/systemcmds/mixer/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,10 +35,9 @@ # Build the mixer tool. # -APPNAME = mixer -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 +MODULE_COMMAND = mixer +SRCS = mixer.c -include $(APPDIR)/mk/app.mk +MODULE_STACKSIZE = 4096 MAXOPTIMIZATION = -Os diff --git a/apps/systemcmds/param/Makefile b/src/systemcmds/param/module.mk index f19cadbb6..63f15ad28 100644 --- a/apps/systemcmds/param/Makefile +++ b/src/systemcmds/param/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,10 +35,10 @@ # Build the parameters tool. # -APPNAME = param -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 +MODULE_COMMAND = param +SRCS = param.c -include $(APPDIR)/mk/app.mk +MODULE_STACKSIZE = 4096 MAXOPTIMIZATION = -Os + diff --git a/apps/systemcmds/param/param.c b/src/systemcmds/param/param.c index 56f5317e3..60e61d07b 100644 --- a/apps/systemcmds/param/param.c +++ b/src/systemcmds/param/param.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * Author: Lorenz Meier <lm@inf.ethz.ch> * * Redistribution and use in source and binary forms, with or without @@ -34,6 +34,7 @@ /** * @file param.c + * @author Lorenz Meier <lm@inf.ethz.ch> * * Parameter tool. */ @@ -262,7 +263,7 @@ do_set(const char* name, const char* val) switch (param_type(param)) { case PARAM_TYPE_INT32: if (!param_get(param, &i)) { - printf("old: %d", i); + printf("curr: %d", i); /* convert string */ char* end; @@ -276,14 +277,13 @@ do_set(const char* name, const char* val) case PARAM_TYPE_FLOAT: if (!param_get(param, &f)) { - printf("float values are not yet supported."); - // printf("old: %4.4f", (double)f); - - // /* convert string */ - // char* end; - // f = strtof(val,&end); - // param_set(param, &f); - // printf(" -> new: %4.4f\n", f); + printf("curr: %4.4f", (double)f); + + /* convert string */ + char* end; + f = strtod(val,&end); + param_set(param, &f); + printf(" -> new: %f\n", f); } diff --git a/apps/systemcmds/perf/Makefile b/src/systemcmds/perf/module.mk index f8bab41b6..77952842b 100644 --- a/apps/systemcmds/perf/Makefile +++ b/src/systemcmds/perf/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,10 +35,7 @@ # perf_counter reporting tool # -APPNAME = perf -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk +MODULE_COMMAND = perf +SRCS = perf.c MAXOPTIMIZATION = -Os diff --git a/apps/systemcmds/perf/perf.c b/src/systemcmds/perf/perf.c index 64443d019..b69ea597b 100644 --- a/apps/systemcmds/perf/perf.c +++ b/src/systemcmds/perf/perf.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/systemcmds/preflight_check/module.mk b/src/systemcmds/preflight_check/module.mk new file mode 100644 index 000000000..7c3c88783 --- /dev/null +++ b/src/systemcmds/preflight_check/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Pre-flight check. Locks down system for a few systems with blinking leds +# and buzzer if the sensors do not report an OK status. +# + +MODULE_COMMAND = preflight_check +SRCS = preflight_check.c + +MAXOPTIMIZATION = -Os diff --git a/apps/systemcmds/preflight_check/preflight_check.c b/src/systemcmds/preflight_check/preflight_check.c index 9ac6f0b5e..42256be61 100644 --- a/apps/systemcmds/preflight_check/preflight_check.c +++ b/src/systemcmds/preflight_check/preflight_check.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * Author: @author Lorenz Meier <lm@inf.ethz.ch> * * Redistribution and use in source and binary forms, with or without diff --git a/src/systemcmds/pwm/module.mk b/src/systemcmds/pwm/module.mk new file mode 100644 index 000000000..4a23bba90 --- /dev/null +++ b/src/systemcmds/pwm/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Build the pwm tool. +# + +MODULE_COMMAND = pwm +SRCS = pwm.c + +MODULE_STACKSIZE = 4096 diff --git a/apps/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c index de7a53199..ff733df52 100644 --- a/apps/systemcmds/pwm/pwm.c +++ b/src/systemcmds/pwm/pwm.c @@ -71,13 +71,14 @@ usage(const char *reason) warnx("%s", reason); errx(1, "usage:\n" - "pwm [-v] [-d <device>] [-u <alt_rate>] [-c <channel group>] [arm|disarm] [<channel_value> ...]\n" + "pwm [-v] [-d <device>] [-u <alt_rate>] [-c <channel group>] [-m chanmask ] [arm|disarm] [<channel_value> ...]\n" " -v Print information about the PWM device\n" " <device> PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n" " <alt_rate> PWM update rate for channels in <alt_channel_mask>\n" " <channel_group> Channel group that should update at the alternate rate (may be specified more than once)\n" " arm | disarm Arm or disarm the ouptut\n" " <channel_value>... PWM output values in microseconds to assign to the PWM outputs\n" + " <chanmask> Directly supply alt rate channel mask (debug use only)\n" "\n" "When -c is specified, any channel groups not listed with -c will update at the default rate.\n" ); @@ -96,11 +97,12 @@ pwm_main(int argc, char *argv[]) int ret; char *ep; unsigned group; + int32_t set_mask = -1; if (argc < 2) usage(NULL); - while ((ch = getopt(argc, argv, "c:d:u:v")) != EOF) { + while ((ch = getopt(argc, argv, "c:d:u:vm:")) != EOF) { switch (ch) { case 'c': group = strtoul(optarg, &ep, 0); @@ -120,6 +122,12 @@ pwm_main(int argc, char *argv[]) usage("bad alt_rate value"); break; + case 'm': + set_mask = strtol(optarg, &ep, 0); + if (*ep != '\0') + usage("bad set_mask value"); + break; + case 'v': print_info = true; break; @@ -143,6 +151,13 @@ pwm_main(int argc, char *argv[]) err(1, "PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)"); } + /* directly supplied channel mask */ + if (set_mask != -1) { + ret = ioctl(fd, PWM_SERVO_SELECT_UPDATE_RATE, set_mask); + if (ret != OK) + err(1, "PWM_SERVO_SELECT_UPDATE_RATE"); + } + /* assign alternate rate to channel groups */ if (alt_channels_set) { uint32_t mask = 0; diff --git a/src/systemcmds/reboot/module.mk b/src/systemcmds/reboot/module.mk new file mode 100644 index 000000000..19f64af54 --- /dev/null +++ b/src/systemcmds/reboot/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# reboot command. +# + +MODULE_COMMAND = reboot +SRCS = reboot.c + +MAXOPTIMIZATION = -Os diff --git a/apps/systemcmds/reboot/reboot.c b/src/systemcmds/reboot/reboot.c index 47d3cd948..47d3cd948 100644 --- a/apps/systemcmds/reboot/reboot.c +++ b/src/systemcmds/reboot/reboot.c diff --git a/apps/examples/cdcacm/.context b/src/systemcmds/tests/.context index e69de29bb..e69de29bb 100644 --- a/apps/examples/cdcacm/.context +++ b/src/systemcmds/tests/.context diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk new file mode 100644 index 000000000..754d3a0da --- /dev/null +++ b/src/systemcmds/tests/module.mk @@ -0,0 +1,28 @@ +# +# Assorted tests and the like +# + +MODULE_COMMAND = tests +MODULE_STACKSIZE = 12000 +MAXOPTIMIZATION = -Os + +SRCS = test_adc.c \ + test_bson.c \ + test_float.c \ + test_gpio.c \ + test_hott_telemetry.c \ + test_hrt.c \ + test_int.c \ + test_jig_voltages.c \ + test_led.c \ + test_sensors.c \ + test_servo.c \ + test_sleep.c \ + test_time.c \ + test_uart_baudchange.c \ + test_uart_console.c \ + test_uart_loopback.c \ + test_uart_send.c \ + tests_file.c \ + tests_main.c \ + tests_param.c diff --git a/apps/px4/tests/test_adc.c b/src/systemcmds/tests/test_adc.c index 030ac6e23..030ac6e23 100644 --- a/apps/px4/tests/test_adc.c +++ b/src/systemcmds/tests/test_adc.c diff --git a/apps/px4/tests/test_bson.c b/src/systemcmds/tests/test_bson.c index 6130fe763..6130fe763 100644 --- a/apps/px4/tests/test_bson.c +++ b/src/systemcmds/tests/test_bson.c diff --git a/apps/px4/tests/test_float.c b/src/systemcmds/tests/test_float.c index 4921c9bbb..4921c9bbb 100644 --- a/apps/px4/tests/test_float.c +++ b/src/systemcmds/tests/test_float.c diff --git a/apps/px4/tests/test_gpio.c b/src/systemcmds/tests/test_gpio.c index ab536d956..ab536d956 100644 --- a/apps/px4/tests/test_gpio.c +++ b/src/systemcmds/tests/test_gpio.c diff --git a/apps/px4/tests/test_hott_telemetry.c b/src/systemcmds/tests/test_hott_telemetry.c index 270dc3857..270dc3857 100644 --- a/apps/px4/tests/test_hott_telemetry.c +++ b/src/systemcmds/tests/test_hott_telemetry.c diff --git a/apps/px4/tests/test_hrt.c b/src/systemcmds/tests/test_hrt.c index f21dd115b..f21dd115b 100644 --- a/apps/px4/tests/test_hrt.c +++ b/src/systemcmds/tests/test_hrt.c diff --git a/apps/px4/tests/test_int.c b/src/systemcmds/tests/test_int.c index c59cee7b7..c59cee7b7 100644 --- a/apps/px4/tests/test_int.c +++ b/src/systemcmds/tests/test_int.c diff --git a/apps/px4/tests/test_jig_voltages.c b/src/systemcmds/tests/test_jig_voltages.c index 10c93b264..10c93b264 100644 --- a/apps/px4/tests/test_jig_voltages.c +++ b/src/systemcmds/tests/test_jig_voltages.c diff --git a/apps/px4/tests/test_led.c b/src/systemcmds/tests/test_led.c index 6e3efc668..6e3efc668 100644 --- a/apps/px4/tests/test_led.c +++ b/src/systemcmds/tests/test_led.c diff --git a/apps/px4/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c index 14503276c..14503276c 100644 --- a/apps/px4/tests/test_sensors.c +++ b/src/systemcmds/tests/test_sensors.c diff --git a/apps/px4/tests/test_servo.c b/src/systemcmds/tests/test_servo.c index f95760ca8..f95760ca8 100644 --- a/apps/px4/tests/test_servo.c +++ b/src/systemcmds/tests/test_servo.c diff --git a/apps/px4/tests/test_sleep.c b/src/systemcmds/tests/test_sleep.c index ae682b542..ae682b542 100644 --- a/apps/px4/tests/test_sleep.c +++ b/src/systemcmds/tests/test_sleep.c diff --git a/apps/px4/tests/test_time.c b/src/systemcmds/tests/test_time.c index 8a164f3fc..8a164f3fc 100644 --- a/apps/px4/tests/test_time.c +++ b/src/systemcmds/tests/test_time.c diff --git a/apps/px4/tests/test_uart_baudchange.c b/src/systemcmds/tests/test_uart_baudchange.c index 609a65c62..609a65c62 100644 --- a/apps/px4/tests/test_uart_baudchange.c +++ b/src/systemcmds/tests/test_uart_baudchange.c diff --git a/apps/px4/tests/test_uart_console.c b/src/systemcmds/tests/test_uart_console.c index f8582b52f..f8582b52f 100644 --- a/apps/px4/tests/test_uart_console.c +++ b/src/systemcmds/tests/test_uart_console.c diff --git a/apps/px4/tests/test_uart_loopback.c b/src/systemcmds/tests/test_uart_loopback.c index 3be152004..3be152004 100644 --- a/apps/px4/tests/test_uart_loopback.c +++ b/src/systemcmds/tests/test_uart_loopback.c diff --git a/apps/px4/tests/test_uart_send.c b/src/systemcmds/tests/test_uart_send.c index 7e1e8d307..7e1e8d307 100644 --- a/apps/px4/tests/test_uart_send.c +++ b/src/systemcmds/tests/test_uart_send.c diff --git a/apps/px4/tests/tests.h b/src/systemcmds/tests/tests.h index c02ea6808..c02ea6808 100644 --- a/apps/px4/tests/tests.h +++ b/src/systemcmds/tests/tests.h diff --git a/apps/px4/tests/tests_file.c b/src/systemcmds/tests/tests_file.c index 6f75b9812..6f75b9812 100644 --- a/apps/px4/tests/tests_file.c +++ b/src/systemcmds/tests/tests_file.c diff --git a/apps/px4/tests/tests_main.c b/src/systemcmds/tests/tests_main.c index 9f8c5c9ea..9f8c5c9ea 100644 --- a/apps/px4/tests/tests_main.c +++ b/src/systemcmds/tests/tests_main.c diff --git a/apps/px4/tests/tests_param.c b/src/systemcmds/tests/tests_param.c index 13f17bc43..13f17bc43 100644 --- a/apps/px4/tests/tests_param.c +++ b/src/systemcmds/tests/tests_param.c diff --git a/apps/systemcmds/delay_test/Makefile b/src/systemcmds/top/module.mk index e54cf2f4e..9239aafc3 100644 --- a/apps/systemcmds/delay_test/Makefile +++ b/src/systemcmds/top/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -32,13 +32,13 @@ ############################################################################ # -# Delay test +# Build top memory / cpu status tool. # -APPNAME = delay_test -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 +MODULE_COMMAND = top +SRCS = top.c -include $(APPDIR)/mk/app.mk +MODULE_STACKSIZE = 3000 MAXOPTIMIZATION = -Os + diff --git a/apps/systemcmds/top/top.c b/src/systemcmds/top/top.c index 59d2bc8f1..59d2bc8f1 100644 --- a/apps/systemcmds/top/top.c +++ b/src/systemcmds/top/top.c |