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-rw-r--r--nuttx-configs/px4fmu-v1/nsh/defconfig2
-rw-r--r--nuttx-configs/px4fmu-v2/nsh/defconfig14
-rw-r--r--src/drivers/meas_airspeed/meas_airspeed.cpp4
-rw-r--r--src/drivers/ms5611/ms5611.cpp6
-rw-r--r--src/modules/px4iofirmware/dsm.c6
-rw-r--r--src/modules/px4iofirmware/px4io.c21
-rw-r--r--src/modules/px4iofirmware/px4io.h4
-rw-r--r--src/modules/px4iofirmware/registers.c15
-rw-r--r--src/systemcmds/tests/test_file.c50
9 files changed, 102 insertions, 20 deletions
diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig
index e43b9c18e..e60120b49 100644
--- a/nuttx-configs/px4fmu-v1/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v1/nsh/defconfig
@@ -566,7 +566,7 @@ CONFIG_CDCACM_NWRREQS=4
CONFIG_CDCACM_NRDREQS=4
CONFIG_CDCACM_BULKIN_REQLEN=96
CONFIG_CDCACM_RXBUFSIZE=512
-CONFIG_CDCACM_TXBUFSIZE=512
+CONFIG_CDCACM_TXBUFSIZE=2048
CONFIG_CDCACM_VENDORID=0x26ac
CONFIG_CDCACM_PRODUCTID=0x0010
CONFIG_CDCACM_VENDORSTR="3D Robotics"
diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig
index bc2395af5..c0ed11a62 100644
--- a/nuttx-configs/px4fmu-v2/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v2/nsh/defconfig
@@ -295,7 +295,7 @@ CONFIG_STM32_USART=y
# U[S]ART Configuration
#
# CONFIG_USART1_RS485 is not set
-# CONFIG_USART1_RXDMA is not set
+CONFIG_USART1_RXDMA=y
# CONFIG_USART2_RS485 is not set
CONFIG_USART2_RXDMA=y
# CONFIG_USART3_RS485 is not set
@@ -304,7 +304,7 @@ CONFIG_USART3_RXDMA=y
CONFIG_UART4_RXDMA=y
CONFIG_UART5_RXDMA=y
# CONFIG_USART6_RS485 is not set
-# CONFIG_USART6_RXDMA is not set
+CONFIG_USART6_RXDMA=y
# CONFIG_UART7_RS485 is not set
# CONFIG_UART7_RXDMA is not set
# CONFIG_UART8_RS485 is not set
@@ -582,8 +582,8 @@ CONFIG_USART3_OFLOWCONTROL=y
#
# UART4 Configuration
#
-CONFIG_UART4_RXBUFSIZE=128
-CONFIG_UART4_TXBUFSIZE=128
+CONFIG_UART4_RXBUFSIZE=512
+CONFIG_UART4_TXBUFSIZE=512
CONFIG_UART4_BAUD=57600
CONFIG_UART4_BITS=8
CONFIG_UART4_PARITY=0
@@ -594,8 +594,8 @@ CONFIG_UART4_2STOP=0
#
# USART6 Configuration
#
-CONFIG_USART6_RXBUFSIZE=256
-CONFIG_USART6_TXBUFSIZE=256
+CONFIG_USART6_RXBUFSIZE=512
+CONFIG_USART6_TXBUFSIZE=512
CONFIG_USART6_BAUD=57600
CONFIG_USART6_BITS=8
CONFIG_USART6_PARITY=0
@@ -662,7 +662,7 @@ CONFIG_CDCACM_NWRREQS=4
CONFIG_CDCACM_NRDREQS=4
CONFIG_CDCACM_BULKIN_REQLEN=96
CONFIG_CDCACM_RXBUFSIZE=512
-CONFIG_CDCACM_TXBUFSIZE=512
+CONFIG_CDCACM_TXBUFSIZE=2048
CONFIG_CDCACM_VENDORID=0x26ac
CONFIG_CDCACM_PRODUCTID=0x0011
CONFIG_CDCACM_VENDORSTR="3D Robotics"
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp
index 3cd6d6720..a95c4576b 100644
--- a/src/drivers/meas_airspeed/meas_airspeed.cpp
+++ b/src/drivers/meas_airspeed/meas_airspeed.cpp
@@ -198,7 +198,9 @@ MEASAirspeed::collect()
// uint16_t diff_press_pa = abs(dp_raw - (16384 / 2.0f));
const float P_min = -1.0f;
const float P_max = 1.0f;
- float diff_press_pa = math::max(0.0f, fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f) - _diff_pres_offset);
+ float diff_press_pa = fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f) - _diff_pres_offset;
+ if (diff_press_pa < 0.0f)
+ diff_press_pa = 0.0f;
struct differential_pressure_s report;
diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp
index 87788824a..6326cf7fc 100644
--- a/src/drivers/ms5611/ms5611.cpp
+++ b/src/drivers/ms5611/ms5611.cpp
@@ -124,6 +124,8 @@ protected:
int32_t _TEMP;
int64_t _OFF;
int64_t _SENS;
+ float _P;
+ float _T;
/* altitude conversion calibration */
unsigned _msl_pressure; /* in kPa */
@@ -623,6 +625,8 @@ MS5611::collect()
/* pressure calculation, result in Pa */
int32_t P = (((raw * _SENS) >> 21) - _OFF) >> 15;
+ _P = P * 0.01f;
+ _T = _TEMP * 0.01f;
/* generate a new report */
report.temperature = _TEMP / 100.0f;
@@ -695,6 +699,8 @@ MS5611::print_info()
printf("TEMP: %d\n", _TEMP);
printf("SENS: %lld\n", _SENS);
printf("OFF: %lld\n", _OFF);
+ printf("P: %.3f\n", _P);
+ printf("T: %.3f\n", _T);
printf("MSL pressure: %10.4f\n", (double)(_msl_pressure / 100.f));
printf("factory_setup %u\n", _prom.factory_setup);
diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c
index 4d306d6d0..60eda2319 100644
--- a/src/modules/px4iofirmware/dsm.c
+++ b/src/modules/px4iofirmware/dsm.c
@@ -203,6 +203,12 @@ dsm_guess_format(bool reset)
int
dsm_init(const char *device)
{
+
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
+ // enable power on DSM connector
+ POWER_SPEKTRUM(true);
+#endif
+
if (dsm_fd < 0)
dsm_fd = open(device, O_RDONLY | O_NONBLOCK);
diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c
index 745bd5705..0b8c4a6a8 100644
--- a/src/modules/px4iofirmware/px4io.c
+++ b/src/modules/px4iofirmware/px4io.c
@@ -125,6 +125,25 @@ heartbeat_blink(void)
LED_BLUE(heartbeat = !heartbeat);
}
+static uint64_t reboot_time;
+
+/**
+ schedule a reboot in time_delta_usec microseconds
+ */
+void schedule_reboot(uint32_t time_delta_usec)
+{
+ reboot_time = hrt_absolute_time() + time_delta_usec;
+}
+
+/**
+ check for a scheduled reboot
+ */
+static void check_reboot(void)
+{
+ if (reboot_time != 0 && hrt_absolute_time() > reboot_time) {
+ up_systemreset();
+ }
+}
static void
calculate_fw_crc(void)
@@ -249,6 +268,8 @@ user_start(int argc, char *argv[])
heartbeat_blink();
}
+ check_reboot();
+
#if 0
/* check for debug activity */
show_debug_messages();
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index dea04a663..a0daa97ea 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -220,3 +220,7 @@ extern volatile uint8_t debug_level;
/** send a debug message to the console */
extern void isr_debug(uint8_t level, const char *fmt, ...);
+
+/** schedule a reboot */
+extern void schedule_reboot(uint32_t time_delta_usec);
+
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 0358725db..ad4473073 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -518,16 +518,11 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
// check the magic value
if (value != PX4IO_REBOOT_BL_MAGIC)
break;
-
- // note that we don't set BL_WAIT_MAGIC in
- // BKP_DR1 as that is not necessary given the
- // timing of the forceupdate command. The
- // bootloader on px4io waits for enough time
- // anyway, and this method works with older
- // bootloader versions (tested with both
- // revision 3 and revision 4).
-
- up_systemreset();
+
+ // we schedule a reboot rather than rebooting
+ // immediately to allow the IO board to ACK
+ // the reboot command
+ schedule_reboot(100000);
break;
case PX4IO_P_SETUP_DSM:
diff --git a/src/systemcmds/tests/test_file.c b/src/systemcmds/tests/test_file.c
index 798724cf1..cdb0b0337 100644
--- a/src/systemcmds/tests/test_file.c
+++ b/src/systemcmds/tests/test_file.c
@@ -38,6 +38,7 @@
*/
#include <sys/stat.h>
+#include <poll.h>
#include <dirent.h>
#include <stdio.h>
#include <stddef.h>
@@ -51,6 +52,38 @@
#include "tests.h"
+int check_user_abort();
+
+int check_user_abort() {
+ /* check if user wants to abort */
+ char c;
+
+ struct pollfd fds;
+ int ret;
+ fds.fd = 0; /* stdin */
+ fds.events = POLLIN;
+ ret = poll(&fds, 1, 0);
+
+ if (ret > 0) {
+
+ read(0, &c, 1);
+
+ switch (c) {
+ case 0x03: // ctrl-c
+ case 0x1b: // esc
+ case 'c':
+ case 'q':
+ {
+ warnx("Test aborted.");
+ return OK;
+ /* not reached */
+ }
+ }
+ }
+
+ return 1;
+}
+
int
test_file(int argc, char *argv[])
{
@@ -108,6 +141,9 @@ test_file(int argc, char *argv[])
fsync(fd);
//perf_end(wperf);
+ if (!check_user_abort())
+ return OK;
+
}
end = hrt_absolute_time();
@@ -142,6 +178,9 @@ test_file(int argc, char *argv[])
errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
}
+ if (!check_user_abort())
+ return OK;
+
}
/*
@@ -152,7 +191,7 @@ test_file(int argc, char *argv[])
int ret = unlink("/fs/microsd/testfile");
fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
- warnx("testing aligned writes - please wait..");
+ warnx("testing aligned writes - please wait.. (CTRL^C to abort)");
start = hrt_absolute_time();
for (unsigned i = 0; i < iterations; i++) {
@@ -162,6 +201,9 @@ test_file(int argc, char *argv[])
err(1, "WRITE ERROR!");
}
+ if (!check_user_abort())
+ return OK;
+
}
fsync(fd);
@@ -190,6 +232,9 @@ test_file(int argc, char *argv[])
align_read_ok = false;
break;
}
+
+ if (!check_user_abort())
+ return OK;
}
if (!align_read_ok) {
@@ -228,6 +273,9 @@ test_file(int argc, char *argv[])
if (unalign_read_err_count > 10)
break;
}
+
+ if (!check_user_abort())
+ return OK;
}
if (!unalign_read_ok) {
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-04 22:26:30 +0000