diff options
150 files changed, 3250 insertions, 935 deletions
diff --git a/Debug/NuttX b/Debug/NuttX index d34e9f5b4..4b9f4b5a1 100644 --- a/Debug/NuttX +++ b/Debug/NuttX @@ -78,7 +78,7 @@ end ################################################################################ define showfiles - set $task = (struct _TCB *)$arg0 + set $task = (struct tcb_s *)$arg0 set $nfiles = sizeof((*(struct filelist*)0).fl_files) / sizeof(struct file) printf "%d files\n", $nfiles set $index = 0 @@ -102,7 +102,7 @@ end ################################################################################ define _showtask_oneline - set $task = (struct _TCB *)$arg0 + set $task = (struct tcb_s *)$arg0 printf " %p %.2d %.3d %s\n", $task, $task->pid, $task->sched_priority, $task->name end @@ -139,7 +139,7 @@ end # Print task registers for a NuttX v7em target with FPU enabled. # define _showtaskregs_v7em - set $task = (struct _TCB *)$arg0 + set $task = (struct tcb_s *)$arg0 set $regs = (uint32_t *)&($task->xcp.regs[0]) printf " r0: 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x\n", $regs[27], $regs[28], $regs[29], $regs[30], $regs[2], $regs[3], $regs[4], $regs[5] @@ -162,7 +162,7 @@ end define _showsemaphore printf "count %d ", $arg0->semcount if $arg0->holder.htcb != 0 - set $_task = (struct _TCB *)$arg0->holder.htcb + set $_task = (struct tcb_s *)$arg0->holder.htcb printf "held by %s", $_task->name end printf "\n" @@ -172,7 +172,7 @@ end # Print information about a task's stack usage # define showtaskstack - set $task = (struct _TCB *)$arg0 + set $task = (struct tcb_s *)$arg0 if $task == &g_idletcb printf "can't measure idle stack\n" @@ -189,7 +189,7 @@ end # Print details of a task # define showtask - set $task = (struct _TCB *)$arg0 + set $task = (struct tcb_s *)$arg0 printf "%p %.2d ", $task, $task->pid _showtaskstate $task @@ -204,7 +204,7 @@ define showtask if $task->task_state != TSTATE_TASK_RUNNING _showtaskregs_v7em $task else - _showcurrentregs_v7em + _showtaskregs_v7em $task end # XXX print registers here @@ -247,8 +247,10 @@ define showtasks _showtasklist &g_pendingtasks printf "RUNNABLE\n" _showtasklist &g_readytorun - printf "WAITING\n" + printf "WAITING for Semaphore\n" _showtasklist &g_waitingforsemaphore + printf "WAITING for Signal\n" + _showtasklist &g_waitingforsignal printf "INACTIVE\n" _showtasklist &g_inactivetasks end @@ -257,3 +259,23 @@ document showtasks . showtasks . Print a list of all tasks in the system, separated into their respective queues. end + +define my_mem + + set $start = $arg0 + set $end = $arg1 + set $cursor = $start + + if $start < $end + while $cursor != $end + set *$cursor = 0x0000 + set $cursor = $cursor + 4 + printf "0x%x of 0x%x\n",$cursor,$end + end + else + while $cursor != $end + set *$cursor = 0x0000 + set $cursor = $cursor - 4 + end + end +end
\ No newline at end of file diff --git a/Debug/Nuttx.py b/Debug/Nuttx.py index 7cc21b99f..cf86dd668 100644 --- a/Debug/Nuttx.py +++ b/Debug/Nuttx.py @@ -59,30 +59,42 @@ class NX_register_set(object): def __init__(self, xcpt_regs): if xcpt_regs is None: - self.regs['R0'] = long(gdb.parse_and_eval('$r0')) - self.regs['R1'] = long(gdb.parse_and_eval('$r1')) - self.regs['R2'] = long(gdb.parse_and_eval('$r2')) - self.regs['R3'] = long(gdb.parse_and_eval('$r3')) - self.regs['R4'] = long(gdb.parse_and_eval('$r4')) - self.regs['R5'] = long(gdb.parse_and_eval('$r5')) - self.regs['R6'] = long(gdb.parse_and_eval('$r6')) - self.regs['R7'] = long(gdb.parse_and_eval('$r7')) - self.regs['R8'] = long(gdb.parse_and_eval('$r8')) - self.regs['R9'] = long(gdb.parse_and_eval('$r9')) - self.regs['R10'] = long(gdb.parse_and_eval('$r10')) - self.regs['R11'] = long(gdb.parse_and_eval('$r11')) - self.regs['R12'] = long(gdb.parse_and_eval('$r12')) - self.regs['R13'] = long(gdb.parse_and_eval('$r13')) - self.regs['SP'] = long(gdb.parse_and_eval('$sp')) - self.regs['R14'] = long(gdb.parse_and_eval('$r14')) - self.regs['LR'] = long(gdb.parse_and_eval('$lr')) - self.regs['R15'] = long(gdb.parse_and_eval('$r15')) - self.regs['PC'] = long(gdb.parse_and_eval('$pc')) - self.regs['XPSR'] = long(gdb.parse_and_eval('$xpsr')) + self.regs['R0'] = self.mon_reg_call('r0') + self.regs['R1'] = self.mon_reg_call('r1') + self.regs['R2'] = self.mon_reg_call('r2') + self.regs['R3'] = self.mon_reg_call('r3') + self.regs['R4'] = self.mon_reg_call('r4') + self.regs['R5'] = self.mon_reg_call('r5') + self.regs['R6'] = self.mon_reg_call('r6') + self.regs['R7'] = self.mon_reg_call('r7') + self.regs['R8'] = self.mon_reg_call('r8') + self.regs['R9'] = self.mon_reg_call('r9') + self.regs['R10'] = self.mon_reg_call('r10') + self.regs['R11'] = self.mon_reg_call('r11') + self.regs['R12'] = self.mon_reg_call('r12') + self.regs['R13'] = self.mon_reg_call('r13') + self.regs['SP'] = self.mon_reg_call('sp') + self.regs['R14'] = self.mon_reg_call('r14') + self.regs['LR'] = self.mon_reg_call('lr') + self.regs['R15'] = self.mon_reg_call('r15') + self.regs['PC'] = self.mon_reg_call('pc') + self.regs['XPSR'] = self.mon_reg_call('xPSR') else: for key in self.v7em_regmap.keys(): self.regs[key] = int(xcpt_regs[self.v7em_regmap[key]]) + def mon_reg_call(self,register): + """ + register is the register as a string e.g. 'pc' + return integer containing the value of the register + """ + str_to_eval = "mon reg "+register + resp = gdb.execute(str_to_eval,to_string = True) + content = resp.split()[-1]; + try: + return int(content,16) + except: + return 0 @classmethod def with_xcpt_regs(cls, xcpt_regs): @@ -172,7 +184,7 @@ class NX_task(object): self.__dict__['stack_used'] = 0 else: stack_limit = self._tcb['adj_stack_size'] - for offset in range(0, stack_limit): + for offset in range(0, int(stack_limit)): if stack_base[offset] != 0xff: break self.__dict__['stack_used'] = stack_limit - offset @@ -187,7 +199,7 @@ class NX_task(object): def state(self): """return the name of the task's current state""" statenames = gdb.types.make_enum_dict(gdb.lookup_type('enum tstate_e')) - for name,value in statenames.iteritems(): + for name,value in statenames.items(): if value == self._tcb['task_state']: return name return 'UNKNOWN' @@ -196,16 +208,19 @@ class NX_task(object): def waiting_for(self): """return a description of what the task is waiting for, if it is waiting""" if self._state_is('TSTATE_WAIT_SEM'): - waitsem = self._tcb['waitsem'].dereference() - waitsem_holder = waitsem['holder'] - holder = NX_task.for_tcb(waitsem_holder['htcb']) - if holder is not None: - return '{}({})'.format(waitsem.address, holder.name) - else: - return '{}(<bad holder>)'.format(waitsem.address) + try: + waitsem = self._tcb['waitsem'].dereference() + waitsem_holder = waitsem['holder'] + holder = NX_task.for_tcb(waitsem_holder['htcb']) + if holder is not None: + return '{}({})'.format(waitsem.address, holder.name) + else: + return '{}(<bad holder>)'.format(waitsem.address) + except: + return 'EXCEPTION' if self._state_is('TSTATE_WAIT_SIG'): return 'signal' - return None + return "" @property def is_waiting(self): @@ -229,7 +244,7 @@ class NX_task(object): filearray = filelist['fl_files'] result = dict() for i in range(filearray.type.range()[0],filearray.type.range()[1]): - inode = long(filearray[i]['f_inode']) + inode = int(filearray[i]['f_inode']) if inode != 0: result[i] = inode return result @@ -253,7 +268,18 @@ class NX_task(object): def __str__(self): return "{}:{}".format(self.pid, self.name) - + + def showoff(self): + print("-------") + print(self.pid,end = ", ") + print(self.name,end = ", ") + print(self.state,end = ", ") + print(self.waiting_for,end = ", ") + print(self.stack_used,end = ", ") + print(self._tcb['adj_stack_size'],end = ", ") + print(self.file_descriptors) + print(self.registers) + def __format__(self, format_spec): return format_spec.format( pid = self.pid, @@ -265,7 +291,7 @@ class NX_task(object): file_descriptors = self.file_descriptors, registers = self.registers ) - + class NX_show_task (gdb.Command): """(NuttX) prints information about a task""" @@ -285,7 +311,7 @@ class NX_show_task (gdb.Command): my_fmt += ' R8 {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n' my_fmt += ' R12 {registers[PC]:#010x}\n' my_fmt += ' SP {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n' - print format(t, my_fmt) + print(format(t, my_fmt)) class NX_show_tasks (gdb.Command): """(NuttX) prints a list of tasks""" @@ -295,8 +321,10 @@ class NX_show_tasks (gdb.Command): def invoke(self, args, from_tty): tasks = NX_task.tasks() + print ('Number of tasks: ' + str(len(tasks))) for t in tasks: - print format(t, '{pid:<2} {name:<16} {state:<20} {stack_used:>4}/{stack_limit:<4}') + #t.showoff() + print(format(t, 'Task: {pid} {name} {state} {stack_used}/{stack_limit}')) NX_show_task() NX_show_tasks() @@ -306,15 +334,15 @@ class NX_show_heap (gdb.Command): def __init__(self): super(NX_show_heap, self).__init__('show heap', gdb.COMMAND_USER) - struct_mm_allocnode_s = gdb.lookup_type('struct mm_allocnode_s') - preceding_size = struct_mm_allocnode_s['preceding'].type.sizeof - if preceding_size == 2: + struct_mm_allocnode_s = gdb.lookup_type('struct mm_allocnode_s') + preceding_size = struct_mm_allocnode_s['preceding'].type.sizeof + if preceding_size == 2: self._allocflag = 0x8000 - elif preceding_size == 4: + elif preceding_size == 4: self._allocflag = 0x80000000 - else: - raise gdb.GdbError('invalid mm_allocnode_s.preceding size %u' % preceding_size) - self._allocnodesize = struct_mm_allocnode_s.sizeof + else: + raise gdb.GdbError('invalid mm_allocnode_s.preceding size %u' % preceding_size) + self._allocnodesize = struct_mm_allocnode_s.sizeof def _node_allocated(self, allocnode): if allocnode['preceding'] & self._allocflag: @@ -328,7 +356,7 @@ class NX_show_heap (gdb.Command): if region_start >= region_end: raise gdb.GdbError('heap region {} corrupt'.format(hex(region_start))) nodecount = region_end - region_start - print 'heap {} - {}'.format(region_start, region_end) + print ('heap {} - {}'.format(region_start, region_end)) cursor = 1 while cursor < nodecount: allocnode = region_start[cursor] @@ -336,8 +364,8 @@ class NX_show_heap (gdb.Command): state = '' else: state = '(free)' - print ' {} {} {}'.format(allocnode.address + self._allocnodesize, - self._node_size(allocnode), state) + print( ' {} {} {}'.format(allocnode.address + self._allocnodesize, + self._node_size(allocnode), state)) cursor += self._node_size(allocnode) / self._allocnodesize def invoke(self, args, from_tty): @@ -345,7 +373,7 @@ class NX_show_heap (gdb.Command): nregions = heap['mm_nregions'] region_starts = heap['mm_heapstart'] region_ends = heap['mm_heapend'] - print '{} heap(s)'.format(nregions) + print( '{} heap(s)'.format(nregions)) # walk the heaps for i in range(0, nregions): self._print_allocations(region_starts[i], region_ends[i]) @@ -370,6 +398,317 @@ class NX_show_interrupted_thread (gdb.Command): my_fmt += ' R8 {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n' my_fmt += ' R12 {registers[PC]:#010x}\n' my_fmt += ' SP {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n' - print format(registers, my_fmt) + print (format(registers, my_fmt)) NX_show_interrupted_thread() + +class NX_check_tcb(gdb.Command): + """ check the tcb of a task from a address """ + def __init__(self): + super(NX_check_tcb,self).__init__('show tcb', gdb.COMMAND_USER) + + def invoke(self,args,sth): + tasks = NX_task.tasks() + print("tcb int: ",int(args)) + print(tasks[int(args)]._tcb) + a =tasks[int(args)]._tcb['xcp']['regs'] + print("relevant registers:") + for reg in regmap: + hex_addr= hex(int(a[regmap[reg]])) + eval_string = 'info line *'+str(hex_addr) + print(reg,": ",hex_addr,) +NX_check_tcb() + +class NX_tcb(object): + def __init__(self): + pass + + def is_in(self,arg,list): + for i in list: + if arg == i: + return True; + return False + + def find_tcb_list(self,dq_entry_t): + tcb_list = [] + tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer()) + first_tcb = tcb_ptr.dereference() + tcb_list.append(first_tcb); + next_tcb = first_tcb['flink'].dereference() + while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]): + tcb_list.append(next_tcb); + old_tcb = next_tcb; + next_tcb = old_tcb['flink'].dereference() + + return [t for t in tcb_list if int(t['pid'])<2000] + + def getTCB(self): + list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks'] + tcb_list = []; + for l in list_of_listsnames: + li = gdb.lookup_global_symbol(l) + print(li) + cursor = li.value()['head'] + tcb_list = tcb_list + self.find_tcb_list(cursor) + +class NX_check_stack_order(gdb.Command): + """ Check the Stack order corresponding to the tasks """ + + def __init__(self): + super(NX_check_stack_order,self).__init__('show check_stack', gdb.COMMAND_USER) + + def is_in(self,arg,list): + for i in list: + if arg == i: + return True; + return False + + def find_tcb_list(self,dq_entry_t): + tcb_list = [] + tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer()) + first_tcb = tcb_ptr.dereference() + tcb_list.append(first_tcb); + next_tcb = first_tcb['flink'].dereference() + while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]): + tcb_list.append(next_tcb); + old_tcb = next_tcb; + next_tcb = old_tcb['flink'].dereference() + + return [t for t in tcb_list if int(t['pid'])<2000] + + def getTCB(self): + list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks'] + tcb_list = []; + for l in list_of_listsnames: + li = gdb.lookup_global_symbol(l) + cursor = li.value()['head'] + tcb_list = tcb_list + self.find_tcb_list(cursor) + return tcb_list + + def getSPfromTask(self,tcb): + regmap = NX_register_set.v7em_regmap + a =tcb['xcp']['regs'] + return int(a[regmap['SP']]) + + def find_closest(self,list,val): + tmp_list = [abs(i-val) for i in list] + tmp_min = min(tmp_list) + idx = tmp_list.index(tmp_min) + return idx,list[idx] + + def find_next_stack(self,address,_dict_in): + add_list = [] + name_list = [] + for key in _dict_in.keys(): + for i in range(3): + if _dict_in[key][i] < address: + add_list.append(_dict_in[key][i]) + if i == 2: # the last one is the processes stack pointer + name_list.append(self.check_name(key)+"_SP") + else: + name_list.append(self.check_name(key)) + + idx,new_address = self.find_closest(add_list,address) + return new_address,name_list[idx] + + def check_name(self,name): + if isinstance(name,(list)): + name = name[0]; + idx = name.find("\\") + newname = name[:idx] + + return newname + + def invoke(self,args,sth): + tcb = self.getTCB(); + stackadresses={}; + for t in tcb: + p = []; + #print(t.name,t._tcb['stack_alloc_ptr']) + p.append(int(t['stack_alloc_ptr'])) + p.append(int(t['adj_stack_ptr'])) + p.append(self.getSPfromTask(t)) + stackadresses[str(t['name'])] = p; + address = int("0x30000000",0) + print("stack address : process") + for i in range(len(stackadresses)*3): + address,name = self.find_next_stack(address,stackadresses) + print(hex(address),": ",name) + +NX_check_stack_order() + +class NX_run_debug_util(gdb.Command): + """ show the registers of a task corresponding to a tcb address""" + def __init__(self): + super(NX_run_debug_util,self).__init__('show regs', gdb.COMMAND_USER) + + def printRegisters(self,task): + regmap = NX_register_set.v7em_regmap + a =task._tcb['xcp']['regs'] + print("relevant registers in ",task.name,":") + for reg in regmap: + hex_addr= hex(int(a[regmap[reg]])) + eval_string = 'info line *'+str(hex_addr) + print(reg,": ",hex_addr,) + + def getPCfromTask(self,task): + regmap = NX_register_set.v7em_regmap + a =task._tcb['xcp']['regs'] + return hex(int(a[regmap['PC']])) + + def invoke(self,args,sth): + tasks = NX_task.tasks() + if args == '': + for t in tasks: + self.printRegisters(t) + eval_str = "list *"+str(self.getPCfromTask(t)) + print("this is the location in code where the current threads $pc is:") + gdb.execute(eval_str) + else: + tcb_nr = int(args); + print("tcb_nr = ",tcb_nr) + t = tasks[tcb_nr] + self.printRegisters(t) + eval_str = "list *"+str(self.getPCfromTask(t)) + print("this is the location in code where the current threads $pc is:") + gdb.execute(eval_str) + +NX_run_debug_util() + + +class NX_search_tcb(gdb.Command): + """ shot PID's of all running tasks """ + + def __init__(self): + super(NX_search_tcb,self).__init__('show alltcb', gdb.COMMAND_USER) + + def is_in(self,arg,list): + for i in list: + if arg == i: + return True; + return False + + def find_tcb_list(self,dq_entry_t): + tcb_list = [] + tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer()) + first_tcb = tcb_ptr.dereference() + tcb_list.append(first_tcb); + next_tcb = first_tcb['flink'].dereference() + while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]): + tcb_list.append(next_tcb); + old_tcb = next_tcb; + next_tcb = old_tcb['flink'].dereference() + + return [t for t in tcb_list if int(t['pid'])<2000] + + def invoke(self,args,sth): + list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks'] + tasks = []; + for l in list_of_listsnames: + li = gdb.lookup_global_symbol(l) + cursor = li.value()['head'] + tasks = tasks + self.find_tcb_list(cursor) + + # filter for tasks that are listed twice + tasks_filt = {} + for t in tasks: + pid = int(t['pid']); + if not pid in tasks_filt.keys(): + tasks_filt[pid] = t['name']; + print('{num_t} Tasks found:'.format(num_t = len(tasks_filt))) + for pid in tasks_filt.keys(): + print("PID: ",pid," ",tasks_filt[pid]) + +NX_search_tcb() + + +class NX_my_bt(gdb.Command): + """ 'fake' backtrace: backtrace the stack of a process and check every suspicious address for the list + arg: tcb_address$ + (can easily be found by typing 'showtask'). + """ + + def __init__(self): + super(NX_my_bt,self).__init__('show mybt', gdb.COMMAND_USER) + + def readmem(self,addr): + ''' + read memory at addr and return nr + ''' + str_to_eval = "x/x "+hex(addr) + resp = gdb.execute(str_to_eval,to_string = True) + idx = resp.find('\t') + return int(resp[idx:],16) + + def is_in_bounds(self,val): + lower_bound = int("08004000",16) + upper_bound = int("080ae0c0",16); + #print(lower_bound," ",val," ",upper_bound) + if val>lower_bound and val<upper_bound: + return True; + else: + return False; + def get_tcb_from_address(self,addr): + addr_value = gdb.Value(addr) + tcb_ptr = addr_value.cast(gdb.lookup_type('struct tcb_s').pointer()) + return tcb_ptr.dereference() + + def print_instruction_at(self,addr,stack_percentage): + gdb.write(str(round(stack_percentage,2))+":") + str_to_eval = "info line *"+hex(addr) + #gdb.execute(str_to_eval) + res = gdb.execute(str_to_eval,to_string = True) + # get information from results string: + words = res.split() + valid = False + if words[0] == 'No': + #no line info... + pass + else: + valid = True + line = int(words[1]) + idx = words[3].rfind("/"); #find first backslash + if idx>0: + name = words[3][idx+1:]; + path = words[3][:idx]; + else: + name = words[3]; + path = ""; + block = gdb.block_for_pc(addr) + func = block.function + if str(func) == "None": + func = block.superblock.function + + if valid: + print("Line: ",line," in ",path,"/",name,"in ",func) + return name,path,line,func + + + + + def invoke(self,args,sth): + addr_dec = int(args[2:],16) + _tcb = self.get_tcb_from_address(addr_dec) + print("found task with PID: ",_tcb["pid"]) + up_stack = int(_tcb['adj_stack_ptr']) + curr_sp = int(_tcb['xcp']['regs'][0]) #curr stack pointer + other_sp = int(_tcb['xcp']['regs'][8]) # other stack pointer + stacksize = int(_tcb['adj_stack_size']) # other stack pointer + + print("tasks current SP = ",hex(curr_sp),"stack max ptr is at ",hex(up_stack)) + + if curr_sp == up_stack: + sp = other_sp + else: + sp = curr_sp; + + while(sp < up_stack): + mem = self.readmem(sp) + #print(hex(sp)," : ",hex(mem)) + if self.is_in_bounds(mem): + # this is a potential instruction ptr + stack_percentage = (up_stack-sp)/stacksize + name,path,line,func = self.print_instruction_at(mem,stack_percentage) + sp = sp + 4; # jump up one word + +NX_my_bt() diff --git a/Documentation/versionfilter.sh b/Documentation/versionfilter.sh index a887d8bc4..a887d8bc4 100644..100755 --- a/Documentation/versionfilter.sh +++ b/Documentation/versionfilter.sh diff --git a/NuttX b/NuttX -Subproject 41fffa0df192e4a26d2325c7ac5d9b5d7ba0211 +Subproject ae4b05e2c51d07369b5d131052099ac346b0841 diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil index d114fe21a..4d6d350b8 100644 --- a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil +++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil @@ -1,14 +1,10 @@ #!nsh # -# HILStar / X-Plane -# -# Lorenz Meier <lm@inf.ethz.ch> +# HILStar +# <lorenz@px4.io> # sh /etc/init.d/rc.fw_defaults -echo "X Plane HIL starting.." - set HIL yes - set MIXER FMU_AERT diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery index b1aa8c00b..c8379e3a1 100644 --- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery @@ -2,7 +2,7 @@ # # Team Blacksheep Discovery Quadcopter # -# Anton Babushkin <anton.babushkin@me.com>, Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com> +# Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index 3f47390c1..0b422de7e 100644 --- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -2,7 +2,7 @@ # # 3DR Iris Quadcopter # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d index 6179855f6..a621de7ce 100644 --- a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d +++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d @@ -2,8 +2,7 @@ # # Steadidrone QU4D # -# Thomas Gubler <thomasgubler@gmail.com> -# Lorenz Meier <lm@inf.ethz.ch> +# Thomas Gubler <thomas@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil index 7a7a9542c..1c4f6803b 100644 --- a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil +++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil @@ -2,7 +2,7 @@ # # HIL Quadcopter X # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil index c47500c7a..0cbdd75be 100644 --- a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil +++ b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil @@ -2,7 +2,7 @@ # # HIL Quadcopter + # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil index 4e3e18326..fb440d2fc 100644 --- a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil +++ b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil @@ -2,13 +2,11 @@ # # HIL Rascal 110 (Flightgear) # -# Thomas Gubler <thomasgubler@gmail.com> +# Thomas Gubler <thomas@px4.io> # sh /etc/init.d/rc.fw_defaults -echo "HIL Rascal 110 starting.." - set HIL yes set MIXER FMU_AERT diff --git a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil index 941f5664a..00b97d675 100644 --- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil +++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil @@ -2,7 +2,7 @@ # # HIL Malolo 1 (Flightgear) # -# Thomas Gubler <thomasgubler@gmail.com> +# Thomas Gubler <thomas@px4.io> # sh /etc/init.d/rc.fw_defaults diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox index daa04a4de..e4d96fbd5 100644 --- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox +++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox @@ -2,12 +2,12 @@ # # Generic 10" Hexa coaxial geometry # -# Lorenz Meier <lm@inf.ethz.ch> +# Lorenz Meier <lorenz@px4.io> # sh /etc/init.d/rc.mc_defaults set MIXER FMU_hexa_cox -# We only can run one channel group with one rate, so set all 8 channels +# Need to set all 8 channels set PWM_OUTPUTS 12345678 diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox index 8703f5f2f..f820251ad 100644 --- a/ROMFS/px4fmu_common/init.d/12001_octo_cox +++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox @@ -2,7 +2,7 @@ # # Generic 10" Octo coaxial geometry # -# Lorenz Meier <lm@inf.ethz.ch> +# Lorenz Meier <lorenz@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/3030_io_camflyer index 83c470234..0f0cb3a89 100644 --- a/ROMFS/px4fmu_common/init.d/3030_io_camflyer +++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer @@ -3,3 +3,6 @@ sh /etc/init.d/rc.fw_defaults set MIXER FMU_Q +# Provide ESC a constant 1000 us pulse while disarmed +set PWM_OUTPUTS 4 +set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom index 53c48d8aa..a7749cba6 100644 --- a/ROMFS/px4fmu_common/init.d/3031_phantom +++ b/ROMFS/px4fmu_common/init.d/3031_phantom @@ -2,7 +2,7 @@ # # Phantom FPV Flying Wing # -# Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com> +# Simon Wilks <simon@px4.io> # sh /etc/init.d/rc.fw_defaults @@ -21,8 +21,6 @@ then param set FW_PR_P 0.03 param set FW_P_LIM_MAX 50 param set FW_P_LIM_MIN -50 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 param set FW_P_ROLLFF 1 param set FW_RR_FF 0.5 param set FW_RR_I 0.02 diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 index 7d0dc5bff..26c7c95e6 100644 --- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 +++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 @@ -2,7 +2,7 @@ # # Skywalker X5 Flying Wing # -# Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch> +# Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io> # sh /etc/init.d/rc.fw_defaults @@ -19,10 +19,6 @@ then param set FW_PR_I 0 param set FW_PR_IMAX 0.2 param set FW_PR_P 0.03 - param set FW_P_LIM_MAX 45 - param set FW_P_LIM_MIN -45 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 param set FW_P_ROLLFF 1 param set FW_RR_FF 0.3 param set FW_RR_I 0 diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing index f4dedef15..919eefb4a 100644 --- a/ROMFS/px4fmu_common/init.d/3033_wingwing +++ b/ROMFS/px4fmu_common/init.d/3033_wingwing @@ -2,7 +2,7 @@ # # Wing Wing (aka Z-84) Flying Wing # -# Simon Wilks <sjwilks@gmail.com> +# Simon Wilks <simon@px4.io> # sh /etc/init.d/rc.fw_defaults diff --git a/ROMFS/px4fmu_common/init.d/3034_fx79 b/ROMFS/px4fmu_common/init.d/3034_fx79 index f4bd18269..4a76ba6eb 100644 --- a/ROMFS/px4fmu_common/init.d/3034_fx79 +++ b/ROMFS/px4fmu_common/init.d/3034_fx79 @@ -2,7 +2,7 @@ # # FX-79 Buffalo Flying Wing # -# Simon Wilks <sjwilks@gmail.com> +# Simon Wilks <simon@px4.io> # sh /etc/init.d/rc.fw_defaults diff --git a/ROMFS/px4fmu_common/init.d/3035_viper b/ROMFS/px4fmu_common/init.d/3035_viper index f3b0e8418..0f5f5502a 100644 --- a/ROMFS/px4fmu_common/init.d/3035_viper +++ b/ROMFS/px4fmu_common/init.d/3035_viper @@ -2,7 +2,7 @@ # # Viper # -# Simon Wilks <sjwilks@gmail.com> +# Simon Wilks <simon@px4.io> # sh /etc/init.d/rc.fw_defaults diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha index 9a2150403..9bfd9d9ed 100644 --- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha +++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha @@ -1,8 +1,8 @@ #!nsh # -# TBS Caipirinha Flying Wing +# TBS Caipirinha # -# Thomas Gubler <thomasgubler@gmail.com> +# Thomas Gubler <thomas@px4.io> # sh /etc/init.d/rc.fw_defaults @@ -22,10 +22,6 @@ then param set FW_PR_I 0 param set FW_PR_IMAX 0.2 param set FW_PR_P 0.03 - param set FW_P_LIM_MAX 45 - param set FW_P_LIM_MIN -45 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 param set FW_P_ROLLFF 0 param set FW_RR_FF 0.3 param set FW_RR_I 0 diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x index 06c54a41d..8fe8961c5 100644 --- a/ROMFS/px4fmu_common/init.d/4001_quad_x +++ b/ROMFS/px4fmu_common/init.d/4001_quad_x @@ -2,7 +2,7 @@ # # Generic 10" Quad X geometry # -# Lorenz Meier <lm@inf.ethz.ch> +# Lorenz Meier <lorenz@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone index e6007db0e..0488e3928 100644 --- a/ROMFS/px4fmu_common/init.d/4008_ardrone +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone @@ -3,9 +3,6 @@ # ARDrone # -echo "[init] 4008_ardrone: PX4FMU on PX4IOAR carrier board" - -# Just use the default multicopter settings. sh /etc/init.d/rc.mc_defaults # diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330 index 282ab620d..f0cc05207 100644 --- a/ROMFS/px4fmu_common/init.d/4010_dji_f330 +++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330 @@ -1,8 +1,8 @@ #!nsh # -# DJI Flame Wheel F330 Quadcopter +# DJI Flame Wheel F330 # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/4001_quad_x diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450 index 517b4aa86..1ca716a6b 100644 --- a/ROMFS/px4fmu_common/init.d/4011_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450 @@ -1,8 +1,8 @@ #!nsh # -# DJI Flame Wheel F450 Quadcopter +# DJI Flame Wheel F450 # -# Lorenz Meier <lm@inf.ethz.ch> +# Lorenz Meier <lorenz@px4.io> # sh /etc/init.d/4001_quad_x diff --git a/ROMFS/px4fmu_common/init.d/4012_quad_x_can b/ROMFS/px4fmu_common/init.d/4012_quad_x_can index 8c5a4fbf2..5c4a6497a 100644 --- a/ROMFS/px4fmu_common/init.d/4012_quad_x_can +++ b/ROMFS/px4fmu_common/init.d/4012_quad_x_can @@ -2,7 +2,7 @@ # # F450-sized quadrotor with CAN # -# Lorenz Meier <lm@inf.ethz.ch> +# Pavel Kirienko <pavel@px4.io> # sh /etc/init.d/4001_quad_x diff --git a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb index 99ffd73a5..9fe310dde 100644 --- a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb +++ b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb @@ -3,7 +3,7 @@ # Hobbyking Micro Integrated PCB Quadcopter # with SimonK ESC firmware and Mystery A1510 motors # -# Thomas Gubler <thomasgubler@gmail.com> +# Thomas Gubler <thomas@px4.io> # echo "HK Micro PCB Quad" diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+ index 1fb25e5d8..5512aa738 100644 --- a/ROMFS/px4fmu_common/init.d/5001_quad_+ +++ b/ROMFS/px4fmu_common/init.d/5001_quad_+ @@ -2,7 +2,7 @@ # # Generic 10" Quad + geometry # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x index 34fc6523f..1043ad8ad 100644 --- a/ROMFS/px4fmu_common/init.d/6001_hexa_x +++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x @@ -2,12 +2,12 @@ # # Generic 10" Hexa X geometry # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults set MIXER FMU_hexa_x -# We only can run one channel group with one rate, so set all 8 channels +# Need to set all 8 channels set PWM_OUTPUTS 12345678 diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ index 235e376a6..84ab88883 100644 --- a/ROMFS/px4fmu_common/init.d/7001_hexa_+ +++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ @@ -2,12 +2,12 @@ # # Generic 10" Hexa + geometry # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults set MIXER FMU_hexa_+ -# We only can run one channel group with one rate, so set all 8 channels +# Need to set all 8 channels set PWM_OUTPUTS 12345678 diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x b/ROMFS/px4fmu_common/init.d/8001_octo_x index 769217dc7..74e304cd9 100644 --- a/ROMFS/px4fmu_common/init.d/8001_octo_x +++ b/ROMFS/px4fmu_common/init.d/8001_octo_x @@ -2,7 +2,7 @@ # # Generic 10" Octo X geometry # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+ b/ROMFS/px4fmu_common/init.d/9001_octo_+ index 28b074a54..f7c06c6c8 100644 --- a/ROMFS/px4fmu_common/init.d/9001_octo_+ +++ b/ROMFS/px4fmu_common/init.d/9001_octo_+ @@ -2,7 +2,7 @@ # # Generic 10" Octo + geometry # -# Anton Babushkin <anton.babushkin@me.com> +# Anton Babushkin <anton@px4.io> # sh /etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 78778d806..496a52c5f 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -1,5 +1,4 @@ # -# Check if auto-setup from one of the standard scripts is wanted # SYS_AUTOSTART = 0 means no autostart (default) # # AUTOSTART PARTITION: @@ -18,7 +17,7 @@ # 12000 .. 12999 Octo Cox # -# Simulation setups +# Simulation # if param compare SYS_AUTOSTART 901 @@ -53,7 +52,7 @@ then fi # -# Standard plane +# Plane # if param compare SYS_AUTOSTART 2100 100 diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index e44cd0953..41e0b149b 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -10,7 +10,7 @@ then # set MIXERSD /fs/microsd/etc/mixers/$MIXER.mix - #Use the mixer file from the SD-card if it exists + # Use the mixer file from the SD-card if it exists if [ -f $MIXERSD ] then set MIXER_FILE $MIXERSD @@ -54,7 +54,6 @@ then # if [ $PWM_RATE != none ] then - echo "[init] Set PWM rate: $PWM_RATE" pwm rate -c $PWM_OUTPUTS -r $PWM_RATE fi @@ -63,17 +62,14 @@ then # if [ $PWM_DISARMED != none ] then - echo "[init] Set PWM disarmed: $PWM_DISARMED" pwm disarmed -c $PWM_OUTPUTS -p $PWM_DISARMED fi if [ $PWM_MIN != none ] then - echo "[init] Set PWM min: $PWM_MIN" pwm min -c $PWM_OUTPUTS -p $PWM_MIN fi if [ $PWM_MAX != none ] then - echo "[init] Set PWM max: $PWM_MAX" pwm max -c $PWM_OUTPUTS -p $PWM_MAX fi fi diff --git a/ROMFS/px4fmu_common/init.d/rc.jig b/ROMFS/px4fmu_common/init.d/rc.jig deleted file mode 100644 index e2b5d8f30..000000000 --- a/ROMFS/px4fmu_common/init.d/rc.jig +++ /dev/null @@ -1,10 +0,0 @@ -#!nsh -# -# Test jig startup script -# - -echo "[testing] doing production test.." - -tests jig - -echo "[testing] testing done" diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 739df7ac0..fbac50cf7 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -54,7 +54,6 @@ then fi fi -# Start airspeed sensors if meas_airspeed start then echo "[init] Using MEAS airspeed sensor" @@ -68,16 +67,12 @@ else fi fi -# Check for flow sensor if px4flow start then fi # -# Start the sensor collection task. -# IMPORTANT: this also loads param offsets -# ALWAYS start this task before the -# preflight_check. +# Start sensors -> preflight_check # if sensors start then diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index ea04ece34..353f44877 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -137,9 +137,7 @@ then # if param compare SYS_AUTOCONFIG 1 then - # We can't be sure the defaults haven't changed, so - # if someone requests a re-configuration, we do it - # cleanly from scratch (except autostart / autoconfig) + # Wipe out params param reset_nostart set DO_AUTOCONFIG yes else @@ -202,12 +200,10 @@ then if px4io checkcrc $IO_FILE then - echo "[init] PX4IO CRC OK" echo "PX4IO CRC OK" >> $LOG_FILE set IO_PRESENT yes else - echo "[init] Trying to update" echo "PX4IO Trying to update" >> $LOG_FILE tone_alarm MLL32CP8MB @@ -217,18 +213,15 @@ then usleep 500000 if px4io checkcrc $IO_FILE then - echo "[init] PX4IO CRC OK, update successful" echo "PX4IO CRC OK after updating" >> $LOG_FILE tone_alarm MLL8CDE set IO_PRESENT yes else - echo "[init] ERROR: PX4IO update failed" echo "PX4IO update failed" >> $LOG_FILE tone_alarm $TUNE_OUT_ERROR fi else - echo "[init] ERROR: PX4IO update failed" echo "PX4IO update failed" >> $LOG_FILE tone_alarm $TUNE_OUT_ERROR fi @@ -281,16 +274,12 @@ then fi fi - # - # Start the datamanager (and do not abort boot if it fails) - # + # waypoint storage if dataman start then fi - # - # Start the Commander (needs to be this early for in-air-restarts) - # + # Needs to be this early for in-air-restarts commander start # @@ -312,7 +301,6 @@ then if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ] then - echo "[init] Use PX4IO PWM as primary output" if px4io start then echo "[init] PX4IO started" @@ -325,7 +313,6 @@ then if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ] then - echo "[init] Use FMU as primary output" if fmu mode_$FMU_MODE then echo "[init] FMU mode_$FMU_MODE started" @@ -349,7 +336,6 @@ then if [ $OUTPUT_MODE == mkblctrl ] then - echo "[init] Use MKBLCTRL as primary output" set MKBLCTRL_ARG "" if [ $MKBLCTRL_MODE == x ] then @@ -372,7 +358,6 @@ then if [ $OUTPUT_MODE == hil ] then - echo "[init] Use HIL as primary output" if hil mode_port2_pwm8 then echo "[init] HIL output started" @@ -391,7 +376,6 @@ then then if px4io start then - echo "[init] PX4IO started" sh /etc/init.d/rc.io else echo "[init] ERROR: PX4IO start failed" @@ -424,9 +408,6 @@ then fi fi - # - # MAVLink - # if [ $MAVLINK_FLAGS == default ] then # Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s @@ -454,15 +435,10 @@ then # Sensors, Logging, GPS # sh /etc/init.d/rc.sensors - - # - # Start logging in all modes, including HIL - # sh /etc/init.d/rc.logging if [ $GPS == yes ] then - echo "[init] Start GPS" if [ $GPS_FAKE == yes ] then echo "[init] Faking GPS" diff --git a/Tools/px_generate_xml.sh b/Tools/px_generate_xml.sh index 65f0c95da..65f0c95da 100644..100755 --- a/Tools/px_generate_xml.sh +++ b/Tools/px_generate_xml.sh diff --git a/Tools/px_mkfw.py b/Tools/px_mkfw.py index b598a65a1..c2da8a203 100755 --- a/Tools/px_mkfw.py +++ b/Tools/px_mkfw.py @@ -73,6 +73,7 @@ parser.add_argument("--version", action="store", help="set a version string") parser.add_argument("--summary", action="store", help="set a brief description") parser.add_argument("--description", action="store", help="set a longer description") parser.add_argument("--git_identity", action="store", help="the working directory to check for git identity") +parser.add_argument("--parameter_xml", action="store", help="the parameters.xml file") parser.add_argument("--image", action="store", help="the firmware image") args = parser.parse_args() @@ -101,6 +102,10 @@ if args.git_identity != None: p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout desc['git_identity'] = str(p.read().strip()) p.close() +if args.parameter_xml != None: + f = open(args.parameter_xml, "rb") + bytes = f.read() + desc['parameter_xml'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8') if args.image != None: f = open(args.image, "rb") bytes = f.read() diff --git a/Tools/px_update_wiki.sh b/Tools/px_update_wiki.sh index d66bb9e10..d66bb9e10 100644..100755 --- a/Tools/px_update_wiki.sh +++ b/Tools/px_update_wiki.sh diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py index d4e461226..3a4540ac0 100755 --- a/Tools/px_uploader.py +++ b/Tools/px_uploader.py @@ -458,7 +458,7 @@ if os.path.exists("/usr/sbin/ModemManager"): # 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, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'))) print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.") # Spin waiting for a device to show up diff --git a/Tools/upload.sh b/Tools/upload.sh new file mode 100755 index 000000000..c0dd65eba --- /dev/null +++ b/Tools/upload.sh @@ -0,0 +1,28 @@ +#!/bin/bash + +EXEDIR=`pwd` +BASEDIR=$(dirname $0) + +SYSTYPE=`uname -s` + +# +# Serial port defaults. +# +# XXX The uploader should be smarter than this. +# +if [ $SYSTYPE = "Darwin" ]; +then +SERIAL_PORTS="/dev/tty.usbmodemPX*,/dev/tty.usbmodem*" +fi + +if [ $SYSTYPE = "Linux" ]; +then +SERIAL_PORTS="/dev/serial/by-id/usb-3D_Robotics*" +fi + +if [ $SYSTYPE = "" ]; +then +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" +fi + +python $BASEDIR/px_uploader.py --port $SERIAL_PORTS $1
\ No newline at end of file diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 9fe16fbb6..18be47065 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -24,6 +24,8 @@ MODULES += drivers/l3gd20 MODULES += drivers/mpu6000 MODULES += drivers/hmc5883 MODULES += drivers/ms5611 +#MODULES += drivers/ll40ls +MODULES += drivers/trone #MODULES += drivers/mb12xx MODULES += drivers/gps MODULES += drivers/hil @@ -132,6 +134,9 @@ MODULES += lib/launchdetection # Hardware test #MODULES += examples/hwtest +# Generate parameter XML file +GEN_PARAM_XML = 1 + # # Transitional support - add commands from the NuttX export archive. # diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index d17dff5bb..df6b6d0c5 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -27,27 +27,22 @@ MODULES += drivers/l3gd20 MODULES += drivers/hmc5883 MODULES += drivers/ms5611 MODULES += drivers/mb12xx -MODULES += drivers/sf0x +# MODULES += drivers/sf0x MODULES += drivers/ll40ls +# MODULES += drivers/trone MODULES += drivers/gps MODULES += drivers/hil MODULES += drivers/hott/hott_telemetry MODULES += drivers/hott/hott_sensors -MODULES += drivers/blinkm +# MODULES += drivers/blinkm MODULES += drivers/airspeed MODULES += drivers/ets_airspeed MODULES += drivers/meas_airspeed MODULES += drivers/frsky_telemetry MODULES += modules/sensors MODULES += drivers/mkblctrl -MODULES += drivers/pca8574 MODULES += drivers/px4flow - -# Needs to be burned to the ground and re-written; for now, -# just don't build it. -#MODULES += drivers/mkblctrl - # # System commands # @@ -61,7 +56,6 @@ MODULES += systemcmds/pwm MODULES += systemcmds/esc_calib MODULES += systemcmds/reboot MODULES += systemcmds/top -MODULES += systemcmds/tests MODULES += systemcmds/config MODULES += systemcmds/nshterm MODULES += systemcmds/mtd @@ -81,10 +75,8 @@ MODULES += modules/uavcan # Estimation modules (EKF/ SO3 / other filters) # MODULES += modules/attitude_estimator_ekf -MODULES += modules/attitude_estimator_so3 MODULES += modules/ekf_att_pos_estimator MODULES += modules/position_estimator_inav -MODULES += examples/flow_position_estimator # # Vehicle Control @@ -101,12 +93,6 @@ MODULES += modules/mc_pos_control MODULES += modules/sdlog2 # -# Unit tests -# -#MODULES += modules/unit_test -#MODULES += modules/commander/commander_tests - -# # Library modules # MODULES += modules/systemlib @@ -139,7 +125,7 @@ MODULES += modules/bottle_drop #MODULES += examples/math_demo # Tutorial code from # https://pixhawk.ethz.ch/px4/dev/hello_sky -MODULES += examples/px4_simple_app +#MODULES += examples/px4_simple_app # Tutorial code from # https://pixhawk.ethz.ch/px4/dev/daemon @@ -156,6 +142,9 @@ MODULES += examples/px4_simple_app # Hardware test #MODULES += examples/hwtest +# Generate parameter XML file +GEN_PARAM_XML = 1 + # # Transitional support - add commands from the NuttX export archive. # diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk index 2f4d9d6a4..6f54b960c 100644 --- a/makefiles/config_px4fmu-v2_test.mk +++ b/makefiles/config_px4fmu-v2_test.mk @@ -50,6 +50,13 @@ MODULES += lib/mathlib/math/filter MODULES += lib/conversion # +# Modules to test-build, but not useful for test environment +# +MODULES += modules/attitude_estimator_so3 +MODULES += drivers/pca8574 +MODULES += examples/flow_position_estimator + +# # Libraries # LIBRARIES += lib/mathlib/CMSIS diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index 60602e76f..21e8739aa 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -467,6 +467,7 @@ endif PRODUCT_BUNDLE = $(WORK_DIR)firmware.px4 PRODUCT_BIN = $(WORK_DIR)firmware.bin PRODUCT_ELF = $(WORK_DIR)firmware.elf +PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml .PHONY: firmware firmware: $(PRODUCT_BUNDLE) @@ -497,9 +498,17 @@ $(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS) $(PRODUCT_BUNDLE): $(PRODUCT_BIN) @$(ECHO) %% Generating $@ +ifdef GEN_PARAM_XML + python $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --xml $(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \ --git_identity $(PX4_BASE) \ + --parameter_xml $(PRODUCT_PARAMXML) \ --image $< > $@ +else + $(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \ + --git_identity $(PX4_BASE) \ + --image $< > $@ +endif $(PRODUCT_BIN): $(PRODUCT_ELF) $(call SYM_TO_BIN,$<,$@) diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk index 71c7fb49f..84e5cd08a 100644 --- a/makefiles/toolchain_gnu-arm-eabi.mk +++ b/makefiles/toolchain_gnu-arm-eabi.mk @@ -50,11 +50,11 @@ OBJDUMP = $(CROSSDEV)objdump # Check if the right version of the toolchain is available # -CROSSDEV_VER_SUPPORTED = 4.7 +CROSSDEV_VER_SUPPORTED = 4.7.4 4.7.5 4.7.6 4.8.4 CROSSDEV_VER_FOUND = $(shell $(CC) -dumpversion) -ifeq (,$(findstring $(CROSSDEV_VER_SUPPORTED),$(CROSSDEV_VER_FOUND))) -$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of $(CROSSDEV_VER_SUPPORTED).x) +ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED))) +$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED)) endif diff --git a/mavlink/include/mavlink/v1.0 b/mavlink/include/mavlink/v1.0 -Subproject 90383fac84d031aef17989a1497c2473dfa6434 +Subproject ad5e5a645dec152419264ad32221f7c113ea5c3 diff --git a/nuttx-configs/px4fmu-v1/nsh/Make.defs b/nuttx-configs/px4fmu-v1/nsh/Make.defs index 7b2ea703a..e7318e519 100644 --- a/nuttx-configs/px4fmu-v1/nsh/Make.defs +++ b/nuttx-configs/px4fmu-v1/nsh/Make.defs @@ -53,7 +53,7 @@ NM = $(CROSSDEV)nm OBJCOPY = $(CROSSDEV)objcopy OBJDUMP = $(CROSSDEV)objdump -MAXOPTIMIZATION = -O3 +MAXOPTIMIZATION = -Os ARCHCPUFLAGS = -mcpu=cortex-m4 \ -mthumb \ -march=armv7e-m \ diff --git a/nuttx-configs/px4fmu-v2/nsh/Make.defs b/nuttx-configs/px4fmu-v2/nsh/Make.defs index e70320aaa..f3ce53b4a 100644 --- a/nuttx-configs/px4fmu-v2/nsh/Make.defs +++ b/nuttx-configs/px4fmu-v2/nsh/Make.defs @@ -53,7 +53,7 @@ NM = $(CROSSDEV)nm OBJCOPY = $(CROSSDEV)objcopy OBJDUMP = $(CROSSDEV)objdump -MAXOPTIMIZATION = -O3 +MAXOPTIMIZATION = -Os ARCHCPUFLAGS = -mcpu=cortex-m4 \ -mthumb \ -march=armv7e-m \ diff --git a/nuttx-configs/px4fmu-v2/scripts/ld.script b/nuttx-configs/px4fmu-v2/scripts/ld.script index 1be39fb87..bec896d1c 100644 --- a/nuttx-configs/px4fmu-v2/scripts/ld.script +++ b/nuttx-configs/px4fmu-v2/scripts/ld.script @@ -50,7 +50,8 @@ MEMORY { - flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K + /* disabled due to silicon errata flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K */ + flash (rx) : ORIGIN = 0x08004000, LENGTH = 1008K sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K } diff --git a/nuttx-configs/px4io-v1/nsh/Make.defs b/nuttx-configs/px4io-v1/nsh/Make.defs index 712631f47..7a0792ff6 100644 --- a/nuttx-configs/px4io-v1/nsh/Make.defs +++ b/nuttx-configs/px4io-v1/nsh/Make.defs @@ -53,7 +53,7 @@ NM = $(CROSSDEV)nm OBJCOPY = $(CROSSDEV)objcopy OBJDUMP = $(CROSSDEV)objdump -MAXOPTIMIZATION = -O3 +MAXOPTIMIZATION = -Os ARCHCPUFLAGS = -mcpu=cortex-m3 \ -mthumb \ -march=armv7-m diff --git a/nuttx-configs/px4io-v2/nsh/Make.defs b/nuttx-configs/px4io-v2/nsh/Make.defs index cd2d8eba3..1717464d2 100644 --- a/nuttx-configs/px4io-v2/nsh/Make.defs +++ b/nuttx-configs/px4io-v2/nsh/Make.defs @@ -53,15 +53,11 @@ NM = $(CROSSDEV)nm OBJCOPY = $(CROSSDEV)objcopy OBJDUMP = $(CROSSDEV)objdump -MAXOPTIMIZATION = -O3 +MAXOPTIMIZATION = -Os ARCHCPUFLAGS = -mcpu=cortex-m3 \ -mthumb \ -march=armv7-m -# enable precise stack overflow tracking -#INSTRUMENTATIONDEFINES = -finstrument-functions \ -# -ffixed-r10 - # use our linker script LDSCRIPT = ld.script diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp index 293690d27..6db6713c4 100644 --- a/src/drivers/airspeed/airspeed.cpp +++ b/src/drivers/airspeed/airspeed.cpp @@ -147,7 +147,7 @@ Airspeed::init() _airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp); if (_airspeed_pub < 0) - warnx("failed to create airspeed sensor object. uORB started?"); + warnx("uORB started?"); } ret = OK; @@ -159,13 +159,15 @@ out: int Airspeed::probe() { - /* on initial power up the device needs more than one retry - for detection. Once it is running then retries aren't - needed + /* on initial power up the device may need more than one retry + for detection. Once it is running the number of retries can + be reduced */ _retries = 4; int ret = measure(); - _retries = 0; + + // drop back to 2 retries once initialised + _retries = 2; return ret; } diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c index e5bb772b3..9d2c1441d 100644 --- a/src/drivers/ardrone_interface/ardrone_interface.c +++ b/src/drivers/ardrone_interface/ardrone_interface.c @@ -89,8 +89,8 @@ static void usage(const char *reason) { if (reason) - fprintf(stderr, "%s\n", reason); - fprintf(stderr, "usage: ardrone_interface {start|stop|status} [-d <UART>]\n\n"); + warnx("%s\n", reason); + warnx("usage: {start|stop|status} [-d <UART>]\n\n"); exit(1); } @@ -110,7 +110,7 @@ int ardrone_interface_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) { if (thread_running) { - printf("ardrone_interface already running\n"); + warnx("already running\n"); /* this is not an error */ exit(0); } @@ -132,9 +132,9 @@ int ardrone_interface_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { if (thread_running) { - printf("\tardrone_interface is running\n"); + warnx("running"); } else { - printf("\tardrone_interface not started\n"); + warnx("not started"); } exit(0); } @@ -158,7 +158,7 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin /* Back up the original uart configuration to restore it after exit */ if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { - fprintf(stderr, "[ardrone_interface] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state); + warnx("ERR: TCGETATTR %s: %d", uart_name, termios_state); close(uart); return -1; } @@ -171,14 +171,14 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin /* Set baud rate */ if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { - fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); + warnx("ERR: cfsetispeed %s: %d", uart_name, termios_state); close(uart); return -1; } if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { - fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name); + warnx("ERR: tcsetattr: %s", uart_name); close(uart); return -1; } @@ -192,9 +192,6 @@ int ardrone_interface_thread_main(int argc, char *argv[]) char *device = "/dev/ttyS1"; - /* welcome user */ - printf("[ardrone_interface] Control started, taking over motors\n"); - /* File descriptors */ int gpios; @@ -237,7 +234,7 @@ int ardrone_interface_thread_main(int argc, char *argv[]) struct termios uart_config_original; if (motor_test_mode) { - printf("[ardrone_interface] Motor test mode enabled, setting 10 %% thrust.\n"); + warnx("setting 10 %% thrust.\n"); } /* Led animation */ @@ -255,9 +252,6 @@ int ardrone_interface_thread_main(int argc, char *argv[]) int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); - printf("[ardrone_interface] Motors initialized - ready.\n"); - fflush(stdout); - /* enable UART, writes potentially an empty buffer, but multiplexing is disabled */ ardrone_write = ardrone_open_uart(device, &uart_config_original); @@ -265,7 +259,7 @@ int ardrone_interface_thread_main(int argc, char *argv[]) gpios = ar_multiplexing_init(); if (ardrone_write < 0) { - fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n"); + warnx("No UART, exiting."); thread_running = false; exit(ERROR); } @@ -273,7 +267,7 @@ int ardrone_interface_thread_main(int argc, char *argv[]) /* initialize motors */ if (OK != ar_init_motors(ardrone_write, gpios)) { close(ardrone_write); - fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n"); + warnx("motor init fail"); thread_running = false; exit(ERROR); } @@ -294,7 +288,7 @@ int ardrone_interface_thread_main(int argc, char *argv[]) gpios = ar_multiplexing_init(); if (ardrone_write < 0) { - fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n"); + warnx("write fail"); thread_running = false; exit(ERROR); } @@ -302,7 +296,7 @@ int ardrone_interface_thread_main(int argc, char *argv[]) /* initialize motors */ if (OK != ar_init_motors(ardrone_write, gpios)) { close(ardrone_write); - fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n"); + warnx("motor init fail"); thread_running = false; exit(ERROR); } @@ -378,11 +372,9 @@ int ardrone_interface_thread_main(int argc, char *argv[]) int termios_state; if ((termios_state = tcsetattr(ardrone_write, TCSANOW, &uart_config_original)) < 0) { - fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for (tcsetattr)\n"); + warnx("ERR: tcsetattr"); } - printf("[ardrone_interface] Restored original UART config, exiting..\n"); - /* close uarts */ close(ardrone_write); ar_multiplexing_deinit(gpios); diff --git a/src/drivers/ardrone_interface/ardrone_motor_control.c b/src/drivers/ardrone_interface/ardrone_motor_control.c index fc017dd58..4fa24275f 100644 --- a/src/drivers/ardrone_interface/ardrone_motor_control.c +++ b/src/drivers/ardrone_interface/ardrone_motor_control.c @@ -301,7 +301,7 @@ int ar_init_motors(int ardrone_uart, int gpios) ardrone_write_motor_commands(ardrone_uart, 0, 0, 0, 0); if (errcounter != 0) { - fprintf(stderr, "[ardrone_interface] init sequence incomplete, failed %d times", -errcounter); + warnx("Failed %d times", -errcounter); fflush(stdout); } return errcounter; diff --git a/src/drivers/boards/aerocore/module.mk b/src/drivers/boards/aerocore/module.mk index b53fe0a29..0a2d91009 100644 --- a/src/drivers/boards/aerocore/module.mk +++ b/src/drivers/boards/aerocore/module.mk @@ -6,3 +6,5 @@ SRCS = aerocore_init.c \ aerocore_pwm_servo.c \ aerocore_spi.c \ aerocore_led.c + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/boards/px4fmu-v1/module.mk b/src/drivers/boards/px4fmu-v1/module.mk index 66b776917..5e1a27d5a 100644 --- a/src/drivers/boards/px4fmu-v1/module.mk +++ b/src/drivers/boards/px4fmu-v1/module.mk @@ -8,3 +8,5 @@ SRCS = px4fmu_can.c \ px4fmu_spi.c \ px4fmu_usb.c \ px4fmu_led.c + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/boards/px4fmu-v2/module.mk b/src/drivers/boards/px4fmu-v2/module.mk index 99d37eeca..103232b0c 100644 --- a/src/drivers/boards/px4fmu-v2/module.mk +++ b/src/drivers/boards/px4fmu-v2/module.mk @@ -8,3 +8,5 @@ SRCS = px4fmu_can.c \ px4fmu_spi.c \ px4fmu_usb.c \ px4fmu2_led.c + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/boards/px4io-v1/module.mk b/src/drivers/boards/px4io-v1/module.mk index 2601a1c15..a7a14dd07 100644 --- a/src/drivers/boards/px4io-v1/module.mk +++ b/src/drivers/boards/px4io-v1/module.mk @@ -4,3 +4,5 @@ SRCS = px4io_init.c \ px4io_pwm_servo.c + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/boards/px4io-v2/module.mk b/src/drivers/boards/px4io-v2/module.mk index 85f94e8be..3f0e9a0b3 100644 --- a/src/drivers/boards/px4io-v2/module.mk +++ b/src/drivers/boards/px4io-v2/module.mk @@ -4,3 +4,5 @@ SRCS = px4iov2_init.c \ px4iov2_pwm_servo.c + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/device/device.h b/src/drivers/device/device.h index 9d684e394..67aaa0aff 100644 --- a/src/drivers/device/device.h +++ b/src/drivers/device/device.h @@ -130,7 +130,8 @@ public: enum DeviceBusType { DeviceBusType_UNKNOWN = 0, DeviceBusType_I2C = 1, - DeviceBusType_SPI = 2 + DeviceBusType_SPI = 2, + DeviceBusType_UAVCAN = 3, }; /* diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index 6873f24b6..b10c3e18a 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -117,6 +117,23 @@ struct pwm_output_values { unsigned channel_count; }; + +/** + * RC config values for a channel + * + * This allows for PX4IO_PAGE_RC_CONFIG values to be set without a + * param_get() dependency + */ +struct pwm_output_rc_config { + uint8_t channel; + uint16_t rc_min; + uint16_t rc_trim; + uint16_t rc_max; + uint16_t rc_dz; + uint16_t rc_assignment; + bool rc_reverse; +}; + /* * ORB tag for PWM outputs. */ @@ -214,7 +231,19 @@ ORB_DECLARE(output_pwm); #define PWM_SERVO_SET_TERMINATION_FAILSAFE _IOC(_PWM_SERVO_BASE, 25) /** force safety switch on (to enable use of safety switch) */ -#define PWM_SERVO_SET_FORCE_SAFETY_ON _IOC(_PWM_SERVO_BASE, 26) +#define PWM_SERVO_SET_FORCE_SAFETY_ON _IOC(_PWM_SERVO_BASE, 26) + +/** set RC config for a channel. This takes a pointer to pwm_output_rc_config */ +#define PWM_SERVO_SET_RC_CONFIG _IOC(_PWM_SERVO_BASE, 27) + +/** set the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */ +#define PWM_SERVO_SET_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 28) + +/** clear the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */ +#define PWM_SERVO_CLEAR_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 29) + +/** setup OVERRIDE_IMMEDIATE behaviour on FMU fail */ +#define PWM_SERVO_SET_OVERRIDE_IMMEDIATE _IOC(_PWM_SERVO_BASE, 30) /* * diff --git a/src/drivers/frsky_telemetry/frsky_telemetry.c b/src/drivers/frsky_telemetry/frsky_telemetry.c index 6e0839043..bccdf1190 100644 --- a/src/drivers/frsky_telemetry/frsky_telemetry.c +++ b/src/drivers/frsky_telemetry/frsky_telemetry.c @@ -84,7 +84,7 @@ static int frsky_open_uart(const char *uart_name, struct termios *uart_config_or /* Back up the original UART configuration to restore it after exit */ int termios_state; if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { - warnx("ERROR get termios config %s: %d\n", uart_name, termios_state); + warnx("ERR: tcgetattr%s: %d\n", uart_name, termios_state); close(uart); return -1; } @@ -100,13 +100,13 @@ static int frsky_open_uart(const char *uart_name, struct termios *uart_config_or static const speed_t speed = B9600; if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { - warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); + warnx("ERR: %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); close(uart); return -1; } if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { - warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name); + warnx("ERR: %s (tcsetattr)\n", uart_name); close(uart); return -1; } @@ -151,9 +151,6 @@ static int frsky_telemetry_thread_main(int argc, char *argv[]) } } - /* Print welcome text */ - warnx("FrSky telemetry interface starting..."); - /* Open UART */ struct termios uart_config_original; const int uart = frsky_open_uart(device_name, &uart_config_original); diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 5fb4b9ff8..47c907bd3 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -274,7 +274,6 @@ GPS::task_main_trampoline(void *arg) void GPS::task_main() { - log("starting"); /* open the serial port */ _serial_fd = ::open(_port, O_RDWR); diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp index f0dc0c651..9b5c8133b 100644 --- a/src/drivers/hil/hil.cpp +++ b/src/drivers/hil/hil.cpp @@ -442,8 +442,6 @@ HIL::task_main() /* make sure servos are off */ // up_pwm_servo_deinit(); - log("stopping"); - /* note - someone else is responsible for restoring the GPIO config */ /* tell the dtor that we are exiting */ diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index e4ecfa6b5..d4dbf3778 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -1049,11 +1049,9 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) * LSM/Ga, giving 1.16 and 1.08 */ float expected_cal[3] = { 1.16f, 1.08f, 1.08f }; - warnx("starting mag scale calibration"); - /* start the sensor polling at 50 Hz */ if (OK != ioctl(filp, SENSORIOCSPOLLRATE, 50)) { - warn("failed to set 2Hz poll rate"); + warn("FAILED: SENSORIOCSPOLLRATE 2Hz"); ret = 1; goto out; } @@ -1061,25 +1059,25 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) /* Set to 2.5 Gauss. We ask for 3 to get the right part of * the chained if statement above. */ if (OK != ioctl(filp, MAGIOCSRANGE, 3)) { - warnx("failed to set 2.5 Ga range"); + warnx("FAILED: MAGIOCSRANGE 3.3 Ga"); ret = 1; goto out; } if (OK != ioctl(filp, MAGIOCEXSTRAP, 1)) { - warnx("failed to enable sensor calibration mode"); + warnx("FAILED: MAGIOCEXSTRAP 1"); ret = 1; goto out; } if (OK != ioctl(filp, MAGIOCGSCALE, (long unsigned int)&mscale_previous)) { - warn("WARNING: failed to get scale / offsets for mag"); + warn("FAILED: MAGIOCGSCALE 1"); ret = 1; goto out; } if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_null)) { - warn("WARNING: failed to set null scale / offsets for mag"); + warn("FAILED: MAGIOCSSCALE 1"); ret = 1; goto out; } @@ -1094,7 +1092,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) ret = ::poll(&fds, 1, 2000); if (ret != 1) { - warn("timed out waiting for sensor data"); + warn("ERROR: TIMEOUT 1"); goto out; } @@ -1102,7 +1100,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) sz = ::read(fd, &report, sizeof(report)); if (sz != sizeof(report)) { - warn("periodic read failed"); + warn("ERROR: READ 1"); ret = -EIO; goto out; } @@ -1118,7 +1116,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) ret = ::poll(&fds, 1, 2000); if (ret != 1) { - warn("timed out waiting for sensor data"); + warn("ERROR: TIMEOUT 2"); goto out; } @@ -1126,7 +1124,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) sz = ::read(fd, &report, sizeof(report)); if (sz != sizeof(report)) { - warn("periodic read failed"); + warn("ERROR: READ 2"); ret = -EIO; goto out; } @@ -1142,33 +1140,19 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) sum_excited[1] += cal[1]; sum_excited[2] += cal[2]; } - - //warnx("periodic read %u", i); - //warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z); - //warnx("cal: %.6f %.6f %.6f", (double)cal[0], (double)cal[1], (double)cal[2]); } if (good_count < 5) { - warn("failed calibration"); ret = -EIO; goto out; } -#if 0 - warnx("measurement avg: %.6f %.6f %.6f", - (double)sum_excited[0]/good_count, - (double)sum_excited[1]/good_count, - (double)sum_excited[2]/good_count); -#endif - float scaling[3]; scaling[0] = sum_excited[0] / good_count; scaling[1] = sum_excited[1] / good_count; scaling[2] = sum_excited[2] / good_count; - warnx("axes scaling: %.6f %.6f %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]); - /* set scaling in device */ mscale_previous.x_scale = scaling[0]; mscale_previous.y_scale = scaling[1]; @@ -1179,29 +1163,26 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) out: if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) { - warn("failed to set new scale / offsets for mag"); + warn("FAILED: MAGIOCSSCALE 2"); } /* set back to normal mode */ /* Set to 1.1 Gauss */ if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) { - warnx("failed to set 1.1 Ga range"); + warnx("FAILED: MAGIOCSRANGE 1.1 Ga"); } if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) { - warnx("failed to disable sensor calibration mode"); + warnx("FAILED: MAGIOCEXSTRAP 0"); } if (ret == OK) { - if (!check_scale()) { - warnx("mag scale calibration successfully finished."); - } else { - warnx("mag scale calibration finished with invalid results."); + if (check_scale()) { + /* failed */ + warnx("FAILED: SCALE"); ret = ERROR; } - } else { - warnx("mag scale calibration failed."); } return ret; @@ -1368,7 +1349,7 @@ HMC5883 *g_dev_ext = nullptr; void start(int bus, enum Rotation rotation); void test(int bus); void reset(int bus); -void info(int bus); +int info(int bus); int calibrate(int bus); void usage(); @@ -1614,17 +1595,23 @@ reset(int bus) /** * Print a little info about the driver. */ -void +int info(int bus) { - HMC5883 *g_dev = (bus == PX4_I2C_BUS_ONBOARD?g_dev_int:g_dev_ext); - if (g_dev == nullptr) - errx(1, "driver not running"); + int ret = 1; - printf("state @ %p\n", g_dev); - g_dev->print_info(); + HMC5883 *g_dev = (bus == PX4_I2C_BUS_ONBOARD ? g_dev_int : g_dev_ext); + if (g_dev == nullptr) { + warnx("not running on bus %d", bus); + } else { - exit(0); + warnx("running on bus: %d (%s)\n", bus, ((PX4_I2C_BUS_ONBOARD) ? "onboard" : "offboard")); + + g_dev->print_info(); + ret = 0; + } + + return ret; } void @@ -1704,8 +1691,21 @@ hmc5883_main(int argc, char *argv[]) /* * Print driver information. */ - if (!strcmp(verb, "info") || !strcmp(verb, "status")) - hmc5883::info(bus); + if (!strcmp(verb, "info") || !strcmp(verb, "status")) { + if (bus == -1) { + int ret = 0; + if (hmc5883::info(PX4_I2C_BUS_ONBOARD)) { + ret = 1; + } + + if (hmc5883::info(PX4_I2C_BUS_EXPANSION)) { + ret = 1; + } + exit(ret); + } else { + exit(hmc5883::info(bus)); + } + } /* * Autocalibrate the scaling diff --git a/src/drivers/hmc5883/module.mk b/src/drivers/hmc5883/module.mk index 5daa01dc5..be2ee7276 100644 --- a/src/drivers/hmc5883/module.mk +++ b/src/drivers/hmc5883/module.mk @@ -42,3 +42,5 @@ SRCS = hmc5883.cpp MODULE_STACKSIZE = 1200 EXTRACXXFLAGS = -Weffc++ + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/hott/comms.cpp b/src/drivers/hott/comms.cpp index cb8bbba37..60a49b559 100644 --- a/src/drivers/hott/comms.cpp +++ b/src/drivers/hott/comms.cpp @@ -55,7 +55,7 @@ open_uart(const char *device) const int uart = open(device, O_RDWR | O_NOCTTY); if (uart < 0) { - err(1, "Error opening port: %s", device); + err(1, "ERR: opening %s", device); } /* Back up the original uart configuration to restore it after exit */ @@ -63,7 +63,7 @@ open_uart(const char *device) struct termios uart_config_original; if ((termios_state = tcgetattr(uart, &uart_config_original)) < 0) { close(uart); - err(1, "Error getting baudrate / termios config for %s: %d", device, termios_state); + err(1, "ERR: %s: %d", device, termios_state); } /* Fill the struct for the new configuration */ @@ -76,13 +76,13 @@ open_uart(const char *device) /* Set baud rate */ if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { close(uart); - err(1, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)", + err(1, "ERR: %s: %d (cfsetispeed, cfsetospeed)", device, termios_state); } if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { close(uart); - err(1, "Error setting baudrate / termios config for %s (tcsetattr)", device); + err(1, "ERR: %s (tcsetattr)", device); } /* Activate single wire mode */ diff --git a/src/drivers/hott/hott_sensors/hott_sensors.cpp b/src/drivers/hott/hott_sensors/hott_sensors.cpp index a3d3a3933..8ab9d8d55 100644 --- a/src/drivers/hott/hott_sensors/hott_sensors.cpp +++ b/src/drivers/hott/hott_sensors/hott_sensors.cpp @@ -204,7 +204,7 @@ hott_sensors_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) { if (thread_running) { - warnx("deamon already running"); + warnx("already running"); exit(0); } @@ -225,10 +225,10 @@ hott_sensors_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { if (thread_running) { - warnx("daemon is running"); + warnx("is running"); } else { - warnx("daemon not started"); + warnx("not started"); } exit(0); diff --git a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp index d293f9954..edbb14172 100644 --- a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp +++ b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp @@ -230,7 +230,7 @@ hott_telemetry_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) { if (thread_running) { - warnx("deamon already running"); + warnx("already running"); exit(0); } @@ -251,10 +251,10 @@ hott_telemetry_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { if (thread_running) { - warnx("daemon is running"); + warnx("is running"); } else { - warnx("daemon not started"); + warnx("not started"); } exit(0); diff --git a/src/drivers/l3gd20/module.mk b/src/drivers/l3gd20/module.mk index 5630e7aec..3d64d62be 100644 --- a/src/drivers/l3gd20/module.mk +++ b/src/drivers/l3gd20/module.mk @@ -8,3 +8,5 @@ SRCS = l3gd20.cpp MODULE_STACKSIZE = 1200 EXTRACXXFLAGS = -Weffc++ + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/lsm303d/module.mk b/src/drivers/lsm303d/module.mk index b4f3974f4..0421eb113 100644 --- a/src/drivers/lsm303d/module.mk +++ b/src/drivers/lsm303d/module.mk @@ -8,3 +8,5 @@ SRCS = lsm303d.cpp MODULE_STACKSIZE = 1200 EXTRACXXFLAGS = -Weffc++ + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index 1d9a463ad..ba46de379 100644 --- a/src/drivers/meas_airspeed/meas_airspeed.cpp +++ b/src/drivers/meas_airspeed/meas_airspeed.cpp @@ -519,7 +519,7 @@ test() ret = poll(&fds, 1, 2000); if (ret != 1) { - errx(1, "timed out waiting for sensor data"); + errx(1, "timed out"); } /* now go get it */ diff --git a/src/drivers/mpu6000/module.mk b/src/drivers/mpu6000/module.mk index 5b4893b12..da9fcc0fc 100644 --- a/src/drivers/mpu6000/module.mk +++ b/src/drivers/mpu6000/module.mk @@ -42,3 +42,5 @@ SRCS = mpu6000.cpp MODULE_STACKSIZE = 1200 EXTRACXXFLAGS = -Weffc++ + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp index 6c68636c6..09ec4bf96 100644 --- a/src/drivers/px4flow/px4flow.cpp +++ b/src/drivers/px4flow/px4flow.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -73,15 +73,13 @@ #include <board_config.h> /* Configuration Constants */ -#define PX4FLOW_BUS PX4_I2C_BUS_EXPANSION #define I2C_FLOW_ADDRESS 0x42 //* 7-bit address. 8-bit address is 0x84 //range 0x42 - 0x49 - -/* PX4FLOW Registers addresses */ -#define PX4FLOW_REG 0x00 /* Measure Register */ -#define PX4FLOW_CONVERSION_INTERVAL 8000 /* 8ms 125Hz */ +/* PX4FLOW Registers addresses */ +#define PX4FLOW_REG 0x16 /* Measure Register 22*/ +#define PX4FLOW_CONVERSION_INTERVAL 20000 //in microseconds! 20000 = 50 Hz 100000 = 10Hz /* oddly, ERROR is not defined for c++ */ #ifdef ERROR # undef ERROR @@ -92,28 +90,42 @@ static const int ERROR = -1; # error This requires CONFIG_SCHED_WORKQUEUE. #endif -//struct i2c_frame -//{ -// uint16_t frame_count; -// int16_t pixel_flow_x_sum; -// int16_t pixel_flow_y_sum; -// int16_t flow_comp_m_x; -// int16_t flow_comp_m_y; -// int16_t qual; -// int16_t gyro_x_rate; -// int16_t gyro_y_rate; -// int16_t gyro_z_rate; -// uint8_t gyro_range; -// uint8_t sonar_timestamp; -// int16_t ground_distance; -//}; -// -//struct i2c_frame f; - -class PX4FLOW : public device::I2C +struct i2c_frame { + uint16_t frame_count; + int16_t pixel_flow_x_sum; + int16_t pixel_flow_y_sum; + int16_t flow_comp_m_x; + int16_t flow_comp_m_y; + int16_t qual; + int16_t gyro_x_rate; + int16_t gyro_y_rate; + int16_t gyro_z_rate; + uint8_t gyro_range; + uint8_t sonar_timestamp; + int16_t ground_distance; +}; +struct i2c_frame f; + +typedef struct i2c_integral_frame { + uint16_t frame_count_since_last_readout; + int16_t pixel_flow_x_integral; + int16_t pixel_flow_y_integral; + int16_t gyro_x_rate_integral; + int16_t gyro_y_rate_integral; + int16_t gyro_z_rate_integral; + uint32_t integration_timespan; + uint32_t time_since_last_sonar_update; + uint16_t ground_distance; + int16_t gyro_temperature; + uint8_t qual; +} __attribute__((packed)); +struct i2c_integral_frame f_integral; + + +class PX4FLOW: public device::I2C { public: - PX4FLOW(int bus = PX4FLOW_BUS, int address = I2C_FLOW_ADDRESS); + PX4FLOW(int bus, int address = I2C_FLOW_ADDRESS); virtual ~PX4FLOW(); virtual int init(); @@ -122,8 +134,8 @@ public: virtual int ioctl(struct file *filp, int cmd, unsigned long arg); /** - * Diagnostics - print some basic information about the driver. - */ + * Diagnostics - print some basic information about the driver. + */ void print_info(); protected: @@ -144,42 +156,41 @@ private: 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. - */ + * 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. - */ + * 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. - */ + * Stop the automatic measurement state machine. + */ void stop(); /** - * Perform a poll cycle; collect from the previous measurement - * and start a new one. - */ + * 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); - + * 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); }; @@ -189,7 +200,7 @@ private: extern "C" __EXPORT int px4flow_main(int argc, char *argv[]); PX4FLOW::PX4FLOW(int bus, int address) : - I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, 400000),//400khz + I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, 400000), //400khz _reports(nullptr), _sensor_ok(false), _measure_ticks(0), @@ -200,7 +211,7 @@ PX4FLOW::PX4FLOW(int bus, int address) : _buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows")) { // enable debug() calls - _debug_enabled = true; + _debug_enabled = false; // work_cancel in the dtor will explode if we don't do this... memset(&_work, 0, sizeof(_work)); @@ -228,21 +239,12 @@ PX4FLOW::init() } /* allocate basic report buffers */ - _reports = new RingBuffer(2, sizeof(struct optical_flow_s)); + _reports = new RingBuffer(2, sizeof(optical_flow_s)); if (_reports == nullptr) { goto out; } - /* get a publish handle on the px4flow topic */ - struct optical_flow_s zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report); - - if (_px4flow_topic < 0) { - debug("failed to create px4flow object. Did you start uOrb?"); - } - ret = OK; /* sensor is ok, but we don't really know if it is within range */ _sensor_ok = true; @@ -410,9 +412,6 @@ PX4FLOW::read(struct file *filp, char *buffer, size_t buflen) break; } - /* wait for it to complete */ - usleep(PX4FLOW_CONVERSION_INTERVAL); - /* run the collection phase */ if (OK != collect()) { ret = -EIO; @@ -442,8 +441,7 @@ PX4FLOW::measure() if (OK != ret) { perf_count(_comms_errors); - log("i2c::transfer returned %d", ret); - printf("i2c::transfer flow returned %d"); + debug("i2c::transfer returned %d", ret); return ret; } @@ -455,52 +453,96 @@ PX4FLOW::measure() int PX4FLOW::collect() { - int ret = -EIO; + int ret = -EIO; /* read from the sensor */ - uint8_t val[22] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; + uint8_t val[47] = { 0 }; perf_begin(_sample_perf); - ret = transfer(nullptr, 0, &val[0], 22); + if (PX4FLOW_REG == 0x00) { + ret = transfer(nullptr, 0, &val[0], 47); // read 47 bytes (22+25 : frame1 + frame2) + } + + if (PX4FLOW_REG == 0x16) { + ret = transfer(nullptr, 0, &val[0], 25); // read 25 bytes (only frame2) + } if (ret < 0) { - log("error reading from sensor: %d", ret); + debug("error reading from sensor: %d", ret); perf_count(_comms_errors); perf_end(_sample_perf); return ret; } -// f.frame_count = val[1] << 8 | val[0]; -// f.pixel_flow_x_sum= val[3] << 8 | val[2]; -// f.pixel_flow_y_sum= val[5] << 8 | val[4]; -// f.flow_comp_m_x= val[7] << 8 | val[6]; -// f.flow_comp_m_y= val[9] << 8 | val[8]; -// f.qual= val[11] << 8 | val[10]; -// f.gyro_x_rate= val[13] << 8 | val[12]; -// f.gyro_y_rate= val[15] << 8 | val[14]; -// f.gyro_z_rate= val[17] << 8 | val[16]; -// f.gyro_range= val[18]; -// f.sonar_timestamp= val[19]; -// f.ground_distance= val[21] << 8 | val[20]; + if (PX4FLOW_REG == 0) { + f.frame_count = val[1] << 8 | val[0]; + f.pixel_flow_x_sum = val[3] << 8 | val[2]; + f.pixel_flow_y_sum = val[5] << 8 | val[4]; + f.flow_comp_m_x = val[7] << 8 | val[6]; + f.flow_comp_m_y = val[9] << 8 | val[8]; + f.qual = val[11] << 8 | val[10]; + f.gyro_x_rate = val[13] << 8 | val[12]; + f.gyro_y_rate = val[15] << 8 | val[14]; + f.gyro_z_rate = val[17] << 8 | val[16]; + f.gyro_range = val[18]; + f.sonar_timestamp = val[19]; + f.ground_distance = val[21] << 8 | val[20]; + + f_integral.frame_count_since_last_readout = val[23] << 8 | val[22]; + f_integral.pixel_flow_x_integral = val[25] << 8 | val[24]; + f_integral.pixel_flow_y_integral = val[27] << 8 | val[26]; + f_integral.gyro_x_rate_integral = val[29] << 8 | val[28]; + f_integral.gyro_y_rate_integral = val[31] << 8 | val[30]; + f_integral.gyro_z_rate_integral = val[33] << 8 | val[32]; + f_integral.integration_timespan = val[37] << 24 | val[36] << 16 + | val[35] << 8 | val[34]; + f_integral.time_since_last_sonar_update = val[41] << 24 | val[40] << 16 + | val[39] << 8 | val[38]; + f_integral.ground_distance = val[43] << 8 | val[42]; + f_integral.gyro_temperature = val[45] << 8 | val[44]; + f_integral.qual = val[46]; + } + + if (PX4FLOW_REG == 0x16) { + f_integral.frame_count_since_last_readout = val[1] << 8 | val[0]; + f_integral.pixel_flow_x_integral = val[3] << 8 | val[2]; + f_integral.pixel_flow_y_integral = val[5] << 8 | val[4]; + f_integral.gyro_x_rate_integral = val[7] << 8 | val[6]; + f_integral.gyro_y_rate_integral = val[9] << 8 | val[8]; + f_integral.gyro_z_rate_integral = val[11] << 8 | val[10]; + f_integral.integration_timespan = val[15] << 24 | val[14] << 16 | val[13] << 8 | val[12]; + f_integral.time_since_last_sonar_update = val[19] << 24 | val[18] << 16 | val[17] << 8 | val[16]; + f_integral.ground_distance = val[21] << 8 | val[20]; + f_integral.gyro_temperature = val[23] << 8 | val[22]; + f_integral.qual = val[24]; + } - int16_t flowcx = val[7] << 8 | val[6]; - int16_t flowcy = val[9] << 8 | val[8]; - int16_t gdist = val[21] << 8 | val[20]; struct optical_flow_s report; - report.flow_comp_x_m = float(flowcx) / 1000.0f; - report.flow_comp_y_m = float(flowcy) / 1000.0f; - report.flow_raw_x = val[3] << 8 | val[2]; - report.flow_raw_y = val[5] << 8 | val[4]; - report.ground_distance_m = float(gdist) / 1000.0f; - report.quality = val[10]; - report.sensor_id = 0; + report.timestamp = hrt_absolute_time(); + report.pixel_flow_x_integral = static_cast<float>(f_integral.pixel_flow_x_integral) / 10000.0f;//convert to radians + report.pixel_flow_y_integral = static_cast<float>(f_integral.pixel_flow_y_integral) / 10000.0f;//convert to radians + report.frame_count_since_last_readout = f_integral.frame_count_since_last_readout; + report.ground_distance_m = static_cast<float>(f_integral.ground_distance) / 1000.0f;//convert to meters + report.quality = f_integral.qual; //0:bad ; 255 max quality + report.gyro_x_rate_integral = static_cast<float>(f_integral.gyro_x_rate_integral) / 10000.0f; //convert to radians + report.gyro_y_rate_integral = static_cast<float>(f_integral.gyro_y_rate_integral) / 10000.0f; //convert to radians + report.gyro_z_rate_integral = static_cast<float>(f_integral.gyro_z_rate_integral) / 10000.0f; //convert to radians + report.integration_timespan = f_integral.integration_timespan; //microseconds + report.time_since_last_sonar_update = f_integral.time_since_last_sonar_update;//microseconds + report.gyro_temperature = f_integral.gyro_temperature;//Temperature * 100 in centi-degrees Celsius + report.sensor_id = 0; - /* publish it */ - orb_publish(ORB_ID(optical_flow), _px4flow_topic, &report); + if (_px4flow_topic < 0) { + _px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report); + + } else { + /* publish it */ + orb_publish(ORB_ID(optical_flow), _px4flow_topic, &report); + } /* post a report to the ring */ if (_reports->force(&report)) { @@ -560,50 +602,21 @@ PX4FLOW::cycle_trampoline(void *arg) void PX4FLOW::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(PX4FLOW_CONVERSION_INTERVAL)) { - - /* schedule a fresh cycle call when we are ready to measure again */ - work_queue(HPWORK, - &_work, - (worker_t)&PX4FLOW::cycle_trampoline, - this, - _measure_ticks - USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)); - - return; - } + if (OK != measure()) { + debug("measure error"); } - /* measurement phase */ - if (OK != measure()) { - log("measure error"); + /* perform collection */ + if (OK != collect()) { + debug("collection error"); + /* restart the measurement state machine */ + start(); + return; } - /* next phase is collection */ - _collect_phase = true; + work_queue(HPWORK, &_work, (worker_t)&PX4FLOW::cycle_trampoline, this, + _measure_ticks); - /* schedule a fresh cycle call when the measurement is done */ - work_queue(HPWORK, - &_work, - (worker_t)&PX4FLOW::cycle_trampoline, - this, - USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)); } void @@ -649,14 +662,41 @@ start() } /* create the driver */ - g_dev = new PX4FLOW(PX4FLOW_BUS); + g_dev = new PX4FLOW(PX4_I2C_BUS_EXPANSION); if (g_dev == nullptr) { goto fail; } if (OK != g_dev->init()) { - goto fail; + + #ifdef PX4_I2C_BUS_ESC + delete g_dev; + /* try 2nd bus */ + g_dev = new PX4FLOW(PX4_I2C_BUS_ESC); + + if (g_dev == nullptr) { + goto fail; + } + + if (OK != g_dev->init()) { + #endif + + delete g_dev; + /* try 3rd bus */ + g_dev = new PX4FLOW(PX4_I2C_BUS_ONBOARD); + + if (g_dev == nullptr) { + goto fail; + } + + if (OK != g_dev->init()) { + goto fail; + } + + #ifdef PX4_I2C_BUS_ESC + } + #endif } /* set the poll rate to default, starts automatic data collection */ @@ -685,7 +725,8 @@ fail: /** * Stop the driver */ -void stop() +void +stop() { if (g_dev != nullptr) { delete g_dev; @@ -716,6 +757,7 @@ test() err(1, "%s open failed (try 'px4flow start' if the driver is not running", PX4FLOW_DEVICE_PATH); } + /* do a simple demand read */ sz = read(fd, &report, sizeof(report)); @@ -725,18 +767,18 @@ test() } warnx("single read"); - warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m); - warnx("flowy: %0.2f m/s", (double)report.flow_comp_y_m); - warnx("time: %lld", report.timestamp); - + warnx("pixel_flow_x_integral: %i", f_integral.pixel_flow_x_integral); + warnx("pixel_flow_y_integral: %i", f_integral.pixel_flow_y_integral); + warnx("framecount_integral: %u", + f_integral.frame_count_since_last_readout); - /* start the sensor polling at 2Hz */ - if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { - errx(1, "failed to set 2Hz poll rate"); + /* start the sensor polling at 10Hz */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 10)) { + errx(1, "failed to set 10Hz poll rate"); } /* read the sensor 5x and report each value */ - for (unsigned i = 0; i < 5; i++) { + for (unsigned i = 0; i < 10; i++) { struct pollfd fds; /* wait for data to be ready */ @@ -756,9 +798,22 @@ test() } warnx("periodic read %u", i); - warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m); - warnx("flowy: %0.2f m/s", (double)report.flow_comp_y_m); - warnx("time: %lld", report.timestamp); + + warnx("framecount_total: %u", f.frame_count); + warnx("framecount_integral: %u", + f_integral.frame_count_since_last_readout); + warnx("pixel_flow_x_integral: %i", f_integral.pixel_flow_x_integral); + warnx("pixel_flow_y_integral: %i", f_integral.pixel_flow_y_integral); + warnx("gyro_x_rate_integral: %i", f_integral.gyro_x_rate_integral); + warnx("gyro_y_rate_integral: %i", f_integral.gyro_y_rate_integral); + warnx("gyro_z_rate_integral: %i", f_integral.gyro_z_rate_integral); + warnx("integration_timespan [us]: %u", f_integral.integration_timespan); + warnx("ground_distance: %0.2f m", + (double) f_integral.ground_distance / 1000); + warnx("time since last sonar update [us]: %i", + f_integral.time_since_last_sonar_update); + warnx("quality integration average : %i", f_integral.qual); + warnx("quality : %i", f.qual); } diff --git a/src/drivers/px4fmu/module.mk b/src/drivers/px4fmu/module.mk index a60f1a434..a06323a52 100644 --- a/src/drivers/px4fmu/module.mk +++ b/src/drivers/px4fmu/module.mk @@ -8,3 +8,5 @@ SRCS = fmu.cpp MODULE_STACKSIZE = 1200 EXTRACXXFLAGS = -Weffc++ + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/px4io/module.mk b/src/drivers/px4io/module.mk index 5b838fb75..924283356 100644 --- a/src/drivers/px4io/module.mk +++ b/src/drivers/px4io/module.mk @@ -48,3 +48,5 @@ INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/com MODULE_STACKSIZE = 1200 EXTRACXXFLAGS = -Weffc++ + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index fd9eb4170..58390ba4c 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -817,6 +817,11 @@ PX4IO::init() } + /* set safety to off if circuit breaker enabled */ + if (circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY)) { + (void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC); + } + /* try to claim the generic PWM output device node as well - it's OK if we fail at this */ ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this); @@ -1155,52 +1160,54 @@ PX4IO::io_set_arming_state() actuator_armed_s armed; ///< system armed state vehicle_control_mode_s control_mode; ///< vehicle_control_mode - orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed); - orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode); + int have_armed = orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed); + int have_control_mode = orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode); uint16_t set = 0; uint16_t clear = 0; - if (armed.armed) { - set |= PX4IO_P_SETUP_ARMING_FMU_ARMED; - - } else { - clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED; - } - - if (armed.lockdown && !_lockdown_override) { - set |= PX4IO_P_SETUP_ARMING_LOCKDOWN; - } else { - clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN; - } + if (have_armed == OK) { + if (armed.armed) { + set |= PX4IO_P_SETUP_ARMING_FMU_ARMED; + } else { + clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED; + } - /* Do not set failsafe if circuit breaker is enabled */ - if (armed.force_failsafe && !_cb_flighttermination) { - set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; - } else { - clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; - } + if (armed.lockdown && !_lockdown_override) { + set |= PX4IO_P_SETUP_ARMING_LOCKDOWN; + } else { + clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN; + } - // XXX this is for future support in the commander - // but can be removed if unneeded - // if (armed.termination_failsafe) { - // set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE; - // } else { - // clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE; - // } + /* Do not set failsafe if circuit breaker is enabled */ + if (armed.force_failsafe && !_cb_flighttermination) { + set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; + } else { + clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; + } - if (armed.ready_to_arm) { - set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; + // XXX this is for future support in the commander + // but can be removed if unneeded + // if (armed.termination_failsafe) { + // set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE; + // } else { + // clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE; + // } - } else { - clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; + if (armed.ready_to_arm) { + set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; + + } else { + clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; + } } - if (control_mode.flag_external_manual_override_ok) { - set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; - - } else { - clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; + if (have_control_mode == OK) { + if (control_mode.flag_external_manual_override_ok) { + set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; + } else { + clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; + } } return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set); @@ -1245,34 +1252,40 @@ PX4IO::io_set_rc_config() * for compatibility reasons with existing * autopilots / GCS'. */ - param_get(param_find("RC_MAP_ROLL"), &ichan); - if ((ichan >= 0) && (ichan < (int)_max_rc_input)) + /* ROLL */ + param_get(param_find("RC_MAP_ROLL"), &ichan); + if ((ichan > 0) && (ichan <= (int)_max_rc_input)) { input_map[ichan - 1] = 0; + } + /* PITCH */ param_get(param_find("RC_MAP_PITCH"), &ichan); - - if ((ichan >= 0) && (ichan < (int)_max_rc_input)) + if ((ichan > 0) && (ichan <= (int)_max_rc_input)) { input_map[ichan - 1] = 1; + } + /* YAW */ param_get(param_find("RC_MAP_YAW"), &ichan); - - if ((ichan >= 0) && (ichan < (int)_max_rc_input)) + if ((ichan > 0) && (ichan <= (int)_max_rc_input)) { input_map[ichan - 1] = 2; + } + /* THROTTLE */ param_get(param_find("RC_MAP_THROTTLE"), &ichan); - - if ((ichan >= 0) && (ichan < (int)_max_rc_input)) + if ((ichan > 0) && (ichan <= (int)_max_rc_input)) { input_map[ichan - 1] = 3; + } + /* FLAPS */ param_get(param_find("RC_MAP_FLAPS"), &ichan); - - if ((ichan >= 0) && (ichan < (int)_max_rc_input)) + if ((ichan > 0) && (ichan <= (int)_max_rc_input)) { input_map[ichan - 1] = 4; + } + /* MAIN MODE SWITCH */ param_get(param_find("RC_MAP_MODE_SW"), &ichan); - - if ((ichan >= 0) && (ichan < (int)_max_rc_input)) { + if ((ichan > 0) && (ichan <= (int)_max_rc_input)) { /* use out of normal bounds index to indicate special channel */ input_map[ichan - 1] = PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH; } @@ -1651,10 +1664,6 @@ PX4IO::io_publish_raw_rc() int PX4IO::io_publish_pwm_outputs() { - /* if no FMU comms(!) just don't publish */ - if (!(_status & PX4IO_P_STATUS_FLAGS_FMU_OK)) - return OK; - /* data we are going to fetch */ actuator_outputs_s outputs; outputs.timestamp = hrt_absolute_time(); @@ -2055,7 +2064,7 @@ PX4IO::print_status(bool extended_status) ((features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) ? " RSSI_ADC" : "") ); uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING); - printf("arming 0x%04x%s%s%s%s%s%s%s%s\n", + printf("arming 0x%04x%s%s%s%s%s%s%s%s%s%s\n", arming, ((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : " FMU_DISARMED"), ((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : " IO_ARM_DENIED"), @@ -2065,7 +2074,8 @@ PX4IO::print_status(bool extended_status) ((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : ""), ((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) ? " LOCKDOWN" : ""), ((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) ? " FORCE_FAILSAFE" : ""), - ((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : "") + ((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : ""), + ((arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) ? " OVERRIDE_IMMEDIATE" : "") ); #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 printf("rates 0x%04x default %u alt %u relays 0x%04x\n", @@ -2190,7 +2200,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) struct pwm_output_values* pwm = (struct pwm_output_values*)arg; if (pwm->channel_count > _max_actuators) /* fail with error */ - return E2BIG; + return -E2BIG; /* copy values to registers in IO */ ret = io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm->values, pwm->channel_count); @@ -2209,7 +2219,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) struct pwm_output_values* pwm = (struct pwm_output_values*)arg; if (pwm->channel_count > _max_actuators) /* fail with error */ - return E2BIG; + return -E2BIG; /* copy values to registers in IO */ ret = io_reg_set(PX4IO_PAGE_DISARMED_PWM, 0, pwm->values, pwm->channel_count); @@ -2228,7 +2238,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) struct pwm_output_values* pwm = (struct pwm_output_values*)arg; if (pwm->channel_count > _max_actuators) /* fail with error */ - return E2BIG; + return -E2BIG; /* copy values to registers in IO */ ret = io_reg_set(PX4IO_PAGE_CONTROL_MIN_PWM, 0, pwm->values, pwm->channel_count); @@ -2247,7 +2257,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) struct pwm_output_values* pwm = (struct pwm_output_values*)arg; if (pwm->channel_count > _max_actuators) /* fail with error */ - return E2BIG; + return -E2BIG; /* copy values to registers in IO */ ret = io_reg_set(PX4IO_PAGE_CONTROL_MAX_PWM, 0, pwm->values, pwm->channel_count); @@ -2305,6 +2315,19 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) } break; + case PWM_SERVO_SET_OVERRIDE_IMMEDIATE: + /* control whether override on FMU failure is + immediate or waits for override threshold on mode + switch */ + if (arg == 0) { + /* clear override immediate flag */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE, 0); + } else { + /* set override immediate flag */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE); + } + break; + case DSM_BIND_START: /* only allow DSM2, DSM-X and DSM-X with more than 7 channels */ @@ -2566,6 +2589,42 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) break; + case PWM_SERVO_SET_RC_CONFIG: { + /* enable setting of RC configuration without relying + on param_get() + */ + struct pwm_output_rc_config* config = (struct pwm_output_rc_config*)arg; + if (config->channel >= RC_INPUT_MAX_CHANNELS) { + /* fail with error */ + return -E2BIG; + } + + /* copy values to registers in IO */ + uint16_t regs[PX4IO_P_RC_CONFIG_STRIDE]; + uint16_t offset = config->channel * PX4IO_P_RC_CONFIG_STRIDE; + regs[PX4IO_P_RC_CONFIG_MIN] = config->rc_min; + regs[PX4IO_P_RC_CONFIG_CENTER] = config->rc_trim; + regs[PX4IO_P_RC_CONFIG_MAX] = config->rc_max; + regs[PX4IO_P_RC_CONFIG_DEADZONE] = config->rc_dz; + regs[PX4IO_P_RC_CONFIG_ASSIGNMENT] = config->rc_assignment; + regs[PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; + if (config->rc_reverse) { + regs[PX4IO_P_RC_CONFIG_OPTIONS] |= PX4IO_P_RC_CONFIG_OPTIONS_REVERSE; + } + ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE); + break; + } + + case PWM_SERVO_SET_OVERRIDE_OK: + /* set the 'OVERRIDE OK' bit */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK); + break; + + case PWM_SERVO_CLEAR_OVERRIDE_OK: + /* clear the 'OVERRIDE OK' bit */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0); + break; + default: /* see if the parent class can make any use of it */ ret = CDev::ioctl(filep, cmd, arg); diff --git a/src/drivers/stm32/adc/module.mk b/src/drivers/stm32/adc/module.mk index 48620feea..38ea490a0 100644 --- a/src/drivers/stm32/adc/module.mk +++ b/src/drivers/stm32/adc/module.mk @@ -40,3 +40,5 @@ MODULE_COMMAND = adc SRCS = adc.cpp INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/stm32/module.mk b/src/drivers/stm32/module.mk index bb751c7f6..54428e270 100644 --- a/src/drivers/stm32/module.mk +++ b/src/drivers/stm32/module.mk @@ -41,3 +41,5 @@ SRCS = drv_hrt.c \ drv_pwm_servo.c INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/stm32/tone_alarm/module.mk b/src/drivers/stm32/tone_alarm/module.mk index 827cf30b2..25a194ef6 100644 --- a/src/drivers/stm32/tone_alarm/module.mk +++ b/src/drivers/stm32/tone_alarm/module.mk @@ -40,3 +40,5 @@ MODULE_COMMAND = tone_alarm SRCS = tone_alarm.cpp INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/trone/module.mk b/src/drivers/trone/module.mk new file mode 100644 index 000000000..38499c6c3 --- /dev/null +++ b/src/drivers/trone/module.mk @@ -0,0 +1,44 @@ +############################################################################ +# +# Copyright (c) 2014 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Makefile to build the TeraRanger One range finder driver +# + +MODULE_COMMAND = trone + +SRCS = trone.cpp + +MODULE_STACKSIZE = 1200 + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/trone/trone.cpp b/src/drivers/trone/trone.cpp new file mode 100644 index 000000000..2f2f692a1 --- /dev/null +++ b/src/drivers/trone/trone.cpp @@ -0,0 +1,913 @@ +/**************************************************************************** + * + * 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 trone.cpp + * @author Luis Rodrigues + * + * Driver for the TeraRanger One range finders connected via I2C. + */ + +#include <nuttx/config.h> + +#include <drivers/device/i2c.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdlib.h> +#include <stdbool.h> +#include <semaphore.h> +#include <string.h> +#include <fcntl.h> +#include <poll.h> +#include <errno.h> +#include <stdio.h> +#include <math.h> +#include <unistd.h> + +#include <nuttx/arch.h> +#include <nuttx/wqueue.h> +#include <nuttx/clock.h> + +#include <systemlib/perf_counter.h> +#include <systemlib/err.h> + +#include <drivers/drv_hrt.h> +#include <drivers/drv_range_finder.h> +#include <drivers/device/ringbuffer.h> + +#include <uORB/uORB.h> +#include <uORB/topics/subsystem_info.h> + +#include <board_config.h> + +/* Configuration Constants */ +#define TRONE_BUS PX4_I2C_BUS_EXPANSION +#define TRONE_BASEADDR 0x30 /* 7-bit address */ +#define TRONE_DEVICE_PATH "/dev/trone" + +/* TRONE Registers addresses */ + +#define TRONE_MEASURE_REG 0x00 /* Measure range register */ + +/* Device limits */ +#define TRONE_MIN_DISTANCE (0.20f) +#define TRONE_MAX_DISTANCE (14.00f) + +#define TRONE_CONVERSION_INTERVAL 50000 /* 50ms */ + +/* 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 TRONE : public device::I2C +{ +public: + TRONE(int bus = TRONE_BUS, int address = TRONE_BASEADDR); + virtual ~TRONE(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +protected: + virtual int probe(); + +private: + float _min_distance; + float _max_distance; + work_s _work; + RingBuffer *_reports; + bool _sensor_ok; + int _measure_ticks; + bool _collect_phase; + int _class_instance; + + orb_advert_t _range_finder_topic; + + perf_counter_t _sample_perf; + perf_counter_t _comms_errors; + perf_counter_t _buffer_overflows; + + /** + * Test whether the device supported by the driver is present at a + * specific address. + * + * @param address The I2C bus address to probe. + * @return True if the device is present. + */ + int probe_address(uint8_t address); + + /** + * Initialise the automatic measurement state machine and start it. + * + * @note This function is called at open and error time. It might make sense + * to make it more aggressive about resetting the bus in case of errors. + */ + void start(); + + /** + * Stop the automatic measurement state machine. + */ + void stop(); + + /** + * Set the min and max distance thresholds if you want the end points of the sensors + * range to be brought in at all, otherwise it will use the defaults TRONE_MIN_DISTANCE + * and TRONE_MAX_DISTANCE + */ + void set_minimum_distance(float min); + void set_maximum_distance(float max); + float get_minimum_distance(); + float get_maximum_distance(); + + /** + * Perform a poll cycle; collect from the previous measurement + * and start a new one. + */ + void cycle(); + int measure(); + int collect(); + /** + * Static trampoline from the workq context; because we don't have a + * generic workq wrapper yet. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void cycle_trampoline(void *arg); + + +}; + +static const uint8_t crc_table[] = { + 0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, + 0x24, 0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, + 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9, + 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd, + 0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, + 0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, + 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe, + 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a, + 0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, + 0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, + 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80, + 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4, + 0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, + 0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, + 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10, + 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34, + 0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, + 0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, + 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7, + 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83, + 0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, + 0xfa, 0xfd, 0xf4, 0xf3 +}; + +uint8_t crc8(uint8_t *p, uint8_t len){ + uint16_t i; + uint16_t crc = 0x0; + + while (len--) { + i = (crc ^ *p++) & 0xFF; + crc = (crc_table[i] ^ (crc << 8)) & 0xFF; + } + + return crc & 0xFF; +} + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int trone_main(int argc, char *argv[]); + +TRONE::TRONE(int bus, int address) : + I2C("TRONE", TRONE_DEVICE_PATH, bus, address, 100000), + _min_distance(TRONE_MIN_DISTANCE), + _max_distance(TRONE_MAX_DISTANCE), + _reports(nullptr), + _sensor_ok(false), + _measure_ticks(0), + _collect_phase(false), + _class_instance(-1), + _range_finder_topic(-1), + _sample_perf(perf_alloc(PC_ELAPSED, "trone_read")), + _comms_errors(perf_alloc(PC_COUNT, "trone_comms_errors")), + _buffer_overflows(perf_alloc(PC_COUNT, "trone_buffer_overflows")) +{ + // up the retries since the device misses the first measure attempts + I2C::_retries = 3; + + // enable debug() calls + _debug_enabled = false; + + // work_cancel in the dtor will explode if we don't do this... + memset(&_work, 0, sizeof(_work)); +} + +TRONE::~TRONE() +{ + /* make sure we are truly inactive */ + stop(); + + /* free any existing reports */ + if (_reports != nullptr) { + delete _reports; + } + + if (_class_instance != -1) { + unregister_class_devname(RANGE_FINDER_DEVICE_PATH, _class_instance); + } + + // free perf counters + perf_free(_sample_perf); + perf_free(_comms_errors); + perf_free(_buffer_overflows); +} + +int +TRONE::init() +{ + int ret = ERROR; + + /* do I2C init (and probe) first */ + if (I2C::init() != OK) { + goto out; + } + + /* allocate basic report buffers */ + _reports = new RingBuffer(2, sizeof(range_finder_report)); + + if (_reports == nullptr) { + goto out; + } + + _class_instance = register_class_devname(RANGE_FINDER_DEVICE_PATH); + + if (_class_instance == CLASS_DEVICE_PRIMARY) { + /* get a publish handle on the range finder topic */ + struct range_finder_report rf_report; + measure(); + _reports->get(&rf_report); + _range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &rf_report); + + if (_range_finder_topic < 0) { + debug("failed to create sensor_range_finder object. Did you start uOrb?"); + } + } + + ret = OK; + /* sensor is ok, but we don't really know if it is within range */ + _sensor_ok = true; +out: + return ret; +} + +int +TRONE::probe() +{ + return measure(); +} + +void +TRONE::set_minimum_distance(float min) +{ + _min_distance = min; +} + +void +TRONE::set_maximum_distance(float max) +{ + _max_distance = max; +} + +float +TRONE::get_minimum_distance() +{ + return _min_distance; +} + +float +TRONE::get_maximum_distance() +{ + return _max_distance; +} + +int +TRONE::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(TRONE_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(TRONE_CONVERSION_INTERVAL)) { + return -EINVAL; + } + + /* update interval for next measurement */ + _measure_ticks = ticks; + + /* if we need to start the poll state machine, do it */ + if (want_start) { + start(); + } + + return OK; + } + } + } + + case SENSORIOCGPOLLRATE: + if (_measure_ticks == 0) { + return SENSOR_POLLRATE_MANUAL; + } + + return (1000 / _measure_ticks); + + case SENSORIOCSQUEUEDEPTH: { + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 1) || (arg > 100)) { + return -EINVAL; + } + + irqstate_t flags = irqsave(); + + if (!_reports->resize(arg)) { + irqrestore(flags); + return -ENOMEM; + } + + irqrestore(flags); + + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _reports->size(); + + case SENSORIOCRESET: + /* XXX implement this */ + return -EINVAL; + + case RANGEFINDERIOCSETMINIUMDISTANCE: { + set_minimum_distance(*(float *)arg); + return 0; + } + break; + + case RANGEFINDERIOCSETMAXIUMDISTANCE: { + set_maximum_distance(*(float *)arg); + return 0; + } + break; + + default: + /* give it to the superclass */ + return I2C::ioctl(filp, cmd, arg); + } +} + +ssize_t +TRONE::read(struct file *filp, char *buffer, size_t buflen) +{ + unsigned count = buflen / sizeof(struct range_finder_report); + struct range_finder_report *rbuf = reinterpret_cast<struct range_finder_report *>(buffer); + int ret = 0; + + /* buffer must be large enough */ + if (count < 1) { + return -ENOSPC; + } + + /* if automatic measurement is enabled */ + if (_measure_ticks > 0) { + + /* + * While there is space in the caller's buffer, and reports, copy them. + * Note that we may be pre-empted by the workq thread while we are doing this; + * we are careful to avoid racing with them. + */ + while (count--) { + if (_reports->get(rbuf)) { + ret += sizeof(*rbuf); + rbuf++; + } + } + + /* if there was no data, warn the caller */ + return ret ? ret : -EAGAIN; + } + + /* manual measurement - run one conversion */ + do { + _reports->flush(); + + /* trigger a measurement */ + if (OK != measure()) { + ret = -EIO; + break; + } + + /* wait for it to complete */ + usleep(TRONE_CONVERSION_INTERVAL); + + /* run the collection phase */ + if (OK != collect()) { + ret = -EIO; + break; + } + + /* state machine will have generated a report, copy it out */ + if (_reports->get(rbuf)) { + ret = sizeof(*rbuf); + } + + } while (0); + + return ret; +} + +int +TRONE::measure() +{ + int ret; + + /* + * Send the command to begin a measurement. + */ + const uint8_t cmd = TRONE_MEASURE_REG; + ret = transfer(&cmd, sizeof(cmd), nullptr, 0); + + if (OK != ret) { + perf_count(_comms_errors); + log("i2c::transfer returned %d", ret); + return ret; + } + + ret = OK; + + return ret; +} + +int +TRONE::collect() +{ + int ret = -EIO; + + /* read from the sensor */ + uint8_t val[3] = {0, 0, 0}; + + perf_begin(_sample_perf); + + ret = transfer(nullptr, 0, &val[0], 3); + + if (ret < 0) { + log("error reading from sensor: %d", ret); + perf_count(_comms_errors); + perf_end(_sample_perf); + return ret; + } + + uint16_t distance = (val[0] << 8) | val[1]; + float si_units = distance * 0.001f; /* mm to m */ + struct range_finder_report report; + + /* this should be fairly close to the end of the measurement, so the best approximation of the time */ + report.timestamp = hrt_absolute_time(); + report.error_count = perf_event_count(_comms_errors); + report.distance = si_units; + report.valid = crc8(val, 2) == val[2] && si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0; + + + /* publish it, if we are the primary */ + if (_range_finder_topic >= 0) { + orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report); + } + + if (_reports->force(&report)) { + perf_count(_buffer_overflows); + } + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + + ret = OK; + + perf_end(_sample_perf); + return ret; +} + +void +TRONE::start() +{ + /* reset the report ring and state machine */ + _collect_phase = false; + _reports->flush(); + + /* schedule a cycle to start things */ + work_queue(HPWORK, &_work, (worker_t)&TRONE::cycle_trampoline, this, 1); + + /* notify about state change */ + struct subsystem_info_s info = { + true, + true, + true, + SUBSYSTEM_TYPE_RANGEFINDER + }; + static orb_advert_t pub = -1; + + if (pub > 0) { + orb_publish(ORB_ID(subsystem_info), pub, &info); + + } else { + pub = orb_advertise(ORB_ID(subsystem_info), &info); + } +} + +void +TRONE::stop() +{ + work_cancel(HPWORK, &_work); +} + +void +TRONE::cycle_trampoline(void *arg) +{ + TRONE *dev = (TRONE *)arg; + + dev->cycle(); +} + +void +TRONE::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(TRONE_CONVERSION_INTERVAL)) { + + /* schedule a fresh cycle call when we are ready to measure again */ + work_queue(HPWORK, + &_work, + (worker_t)&TRONE::cycle_trampoline, + this, + _measure_ticks - USEC2TICK(TRONE_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)&TRONE::cycle_trampoline, + this, + USEC2TICK(TRONE_CONVERSION_INTERVAL)); +} + +void +TRONE::print_info() +{ + perf_print_counter(_sample_perf); + perf_print_counter(_comms_errors); + perf_print_counter(_buffer_overflows); + printf("poll interval: %u ticks\n", _measure_ticks); + _reports->print_info("report queue"); +} + +/** + * Local functions in support of the shell command. + */ +namespace trone +{ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +const int ERROR = -1; + +TRONE *g_dev; + +void start(); +void stop(); +void test(); +void reset(); +void info(); + +/** + * Start the driver. + */ +void +start() +{ + int fd; + + if (g_dev != nullptr) { + errx(1, "already started"); + } + + /* create the driver */ + g_dev = new TRONE(TRONE_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(TRONE_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + goto fail; + } + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { + goto fail; + } + + exit(0); + +fail: + + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Stop the driver + */ +void stop() +{ + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + + } else { + errx(1, "driver not running"); + } + + exit(0); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + struct range_finder_report report; + ssize_t sz; + int ret; + + int fd = open(TRONE_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + err(1, "%s open failed (try 'trone start' if the driver is not running", TRONE_DEVICE_PATH); + } + + /* do a simple demand read */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) { + err(1, "immediate read failed"); + } + + warnx("single read"); + warnx("measurement: %0.2f m", (double)report.distance); + warnx("time: %lld", report.timestamp); + + /* start the sensor polling at 2Hz */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { + errx(1, "failed to set 2Hz poll rate"); + } + + /* read the sensor 50x and report each value */ + for (unsigned i = 0; i < 50; 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("valid %u", report.valid); + warnx("measurement: %0.3f", (double)report.distance); + warnx("time: %lld", report.timestamp); + } + + /* reset the sensor polling to default rate */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) { + errx(1, "failed to set default poll rate"); + } + + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(TRONE_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + err(1, "failed "); + } + + if (ioctl(fd, SENSORIOCRESET, 0) < 0) { + err(1, "driver reset failed"); + } + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { + err(1, "driver poll restart failed"); + } + + exit(0); +} + +/** + * Print a little info about the driver. + */ +void +info() +{ + if (g_dev == nullptr) { + errx(1, "driver not running"); + } + + printf("state @ %p\n", g_dev); + g_dev->print_info(); + + exit(0); +} + +} // namespace + +int +trone_main(int argc, char *argv[]) +{ + /* + * Start/load the driver. + */ + if (!strcmp(argv[1], "start")) { + trone::start(); + } + + /* + * Stop the driver + */ + if (!strcmp(argv[1], "stop")) { + trone::stop(); + } + + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) { + trone::test(); + } + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) { + trone::reset(); + } + + /* + * Print driver information. + */ + if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) { + trone::info(); + } + + errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); +} diff --git a/src/examples/flow_position_estimator/flow_position_estimator_main.c b/src/examples/flow_position_estimator/flow_position_estimator_main.c index c775428ef..0b8c01f79 100644 --- a/src/examples/flow_position_estimator/flow_position_estimator_main.c +++ b/src/examples/flow_position_estimator/flow_position_estimator_main.c @@ -308,8 +308,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) if (vehicle_liftoff || params.debug) { /* copy flow */ - flow_speed[0] = flow.flow_comp_x_m; - flow_speed[1] = flow.flow_comp_y_m; + flow_speed[0] = flow.pixel_flow_x_integral / (flow.integration_timespan / 1e6f) * flow.ground_distance_m; + flow_speed[1] = flow.pixel_flow_y_integral / (flow.integration_timespan / 1e6f) * flow.ground_distance_m; flow_speed[2] = 0.0f; /* convert to bodyframe velocity */ diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp index 0ed210cf4..cfcc48b62 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -321,31 +321,29 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM ff_throttle = nomThr - STEdot_dem / _STEdot_min * nomThr; } - // Calculate PD + FF throttle + // Calculate PD + FF throttle and constrain to avoid blow-up of the integrator later _throttle_dem = (_STE_error + STEdot_error * _thrDamp) * K_STE2Thr + ff_throttle; + _throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf); // Rate limit PD + FF throttle // Calculate the throttle increment from the specified slew time if (fabsf(_throttle_slewrate) > 0.01f) { float thrRateIncr = _DT * (_THRmaxf - _THRminf) * _throttle_slewrate; - _throttle_dem = constrain(_throttle_dem, - _last_throttle_dem - thrRateIncr, - _last_throttle_dem + thrRateIncr); + _last_throttle_dem - thrRateIncr, + _last_throttle_dem + thrRateIncr); } // Ensure _last_throttle_dem is always initialized properly - // Also: The throttle_slewrate limit is only applied to throttle_dem, but does not limit the integrator!! _last_throttle_dem = _throttle_dem; - // Calculate integrator state upper and lower limits - // Set to a value thqat will allow 0.1 (10%) throttle saturation to allow for noise on the demand + // Set to a value that will allow 0.1 (10%) throttle saturation to allow for noise on the demand float integ_max = (_THRmaxf - _throttle_dem + 0.1f); float integ_min = (_THRminf - _throttle_dem - 0.1f); // Calculate integrator state, constraining state - // Set integrator to a max throttle value dduring climbout + // Set integrator to a max throttle value during climbout _integ6_state = _integ6_state + (_STE_error * _integGain) * _DT * K_STE2Thr; if (_climbOutDem) { diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 35dc39ec6..e2dbc30dd 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -206,10 +206,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds 0, 0, 1.f }; /**< init: identity matrix */ - // print text - printf("Extended Kalman Filter Attitude Estimator initialized..\n\n"); - fflush(stdout); - int overloadcounter = 19; /* Initialize filter */ diff --git a/src/modules/bottle_drop/bottle_drop.cpp b/src/modules/bottle_drop/bottle_drop.cpp index 31c9157e1..e0bcbc6e9 100644 --- a/src/modules/bottle_drop/bottle_drop.cpp +++ b/src/modules/bottle_drop/bottle_drop.cpp @@ -223,7 +223,7 @@ BottleDrop::start() _main_task = task_spawn_cmd("bottle_drop", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT + 15, - 2048, + 1500, (main_t)&BottleDrop::task_main_trampoline, nullptr); @@ -283,7 +283,6 @@ BottleDrop::drop() // force the door open if we have to if (_doors_opened == 0) { open_bay(); - warnx("bay not ready, forced open"); } while (hrt_elapsed_time(&_doors_opened) < 500 * 1000 && hrt_elapsed_time(&starttime) < 2000000) { @@ -723,16 +722,16 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd) if (cmd->param1 > 0.5f && cmd->param2 > 0.5f) { open_bay(); drop(); - mavlink_log_info(_mavlink_fd, "#audio: drop bottle"); + mavlink_log_critical(_mavlink_fd, "drop bottle"); } else if (cmd->param1 > 0.5f) { open_bay(); - mavlink_log_info(_mavlink_fd, "#audio: opening bay"); + mavlink_log_critical(_mavlink_fd, "opening bay"); } else { lock_release(); close_bay(); - mavlink_log_info(_mavlink_fd, "#audio: closing bay"); + mavlink_log_critical(_mavlink_fd, "closing bay"); } answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); @@ -743,12 +742,12 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd) switch ((int)(cmd->param1 + 0.5f)) { case 0: _drop_approval = false; - mavlink_log_info(_mavlink_fd, "#audio: got drop position, no approval"); + mavlink_log_critical(_mavlink_fd, "got drop position, no approval"); break; case 1: _drop_approval = true; - mavlink_log_info(_mavlink_fd, "#audio: got drop position and approval"); + mavlink_log_critical(_mavlink_fd, "got drop position and approval"); break; default: @@ -818,19 +817,19 @@ BottleDrop::answer_command(struct vehicle_command_s *cmd, enum VEHICLE_CMD_RESUL break; case VEHICLE_CMD_RESULT_DENIED: - mavlink_log_critical(_mavlink_fd, "#audio: command denied: %u", cmd->command); + mavlink_log_critical(_mavlink_fd, "command denied: %u", cmd->command); break; case VEHICLE_CMD_RESULT_FAILED: - mavlink_log_critical(_mavlink_fd, "#audio: command failed: %u", cmd->command); + mavlink_log_critical(_mavlink_fd, "command failed: %u", cmd->command); break; case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED: - mavlink_log_critical(_mavlink_fd, "#audio: command temporarily rejected: %u", cmd->command); + mavlink_log_critical(_mavlink_fd, "command temporarily rejected: %u", cmd->command); break; case VEHICLE_CMD_RESULT_UNSUPPORTED: - mavlink_log_critical(_mavlink_fd, "#audio: command unsupported: %u", cmd->command); + mavlink_log_critical(_mavlink_fd, "command unsupported: %u", cmd->command); break; default: diff --git a/src/modules/bottle_drop/module.mk b/src/modules/bottle_drop/module.mk index 6b18fff55..df9f5473b 100644 --- a/src/modules/bottle_drop/module.mk +++ b/src/modules/bottle_drop/module.mk @@ -39,3 +39,7 @@ MODULE_COMMAND = bottle_drop SRCS = bottle_drop.cpp \ bottle_drop_params.c + +MAXOPTIMIZATION = -Os + +MODULE_STACKSIZE = 1200 diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 46caddd46..c9c8d16b5 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -220,8 +220,6 @@ void control_status_leds(vehicle_status_s *status, const actuator_armed_s *actua void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed); -void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *status); - transition_result_t set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoint_s *sp_man); void set_control_mode(); @@ -312,12 +310,16 @@ int commander_main(int argc, char *argv[]) } if (!strcmp(argv[1], "arm")) { - arm_disarm(true, mavlink_fd, "command line"); + int mavlink_fd_local = open(MAVLINK_LOG_DEVICE, 0); + arm_disarm(true, mavlink_fd_local, "command line"); + close(mavlink_fd_local); exit(0); } if (!strcmp(argv[1], "disarm")) { - arm_disarm(false, mavlink_fd, "command line"); + int mavlink_fd_local = open(MAVLINK_LOG_DEVICE, 0); + arm_disarm(false, mavlink_fd_local, "command line"); + close(mavlink_fd_local); exit(0); } @@ -760,7 +762,10 @@ int commander_thread_main(int argc, char *argv[]) nav_states_str[NAVIGATION_STATE_AUTO_MISSION] = "AUTO_MISSION"; nav_states_str[NAVIGATION_STATE_AUTO_LOITER] = "AUTO_LOITER"; nav_states_str[NAVIGATION_STATE_AUTO_RTL] = "AUTO_RTL"; + nav_states_str[NAVIGATION_STATE_AUTO_RCRECOVER] = "AUTO_RCRECOVER"; nav_states_str[NAVIGATION_STATE_AUTO_RTGS] = "AUTO_RTGS"; + nav_states_str[NAVIGATION_STATE_AUTO_LANDENGFAIL] = "AUTO_LANDENGFAIL"; + nav_states_str[NAVIGATION_STATE_AUTO_LANDGPSFAIL] = "AUTO_LANDGPSFAIL"; nav_states_str[NAVIGATION_STATE_ACRO] = "ACRO"; nav_states_str[NAVIGATION_STATE_LAND] = "LAND"; nav_states_str[NAVIGATION_STATE_DESCEND] = "DESCEND"; @@ -1543,7 +1548,7 @@ int commander_thread_main(int argc, char *argv[]) } else { if (status.rc_signal_lost) { - mavlink_log_critical(mavlink_fd, "RC signal regained"); + mavlink_log_critical(mavlink_fd, "RC SIGNAL REGAINED after %llums",(hrt_absolute_time()-status.rc_signal_lost_timestamp)/1000); status_changed = true; } } @@ -1644,8 +1649,9 @@ int commander_thread_main(int argc, char *argv[]) } else { if (!status.rc_signal_lost) { - mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST"); + mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST (at t=%llums)",hrt_absolute_time()/1000); status.rc_signal_lost = true; + status.rc_signal_lost_timestamp=sp_man.timestamp; status_changed = true; } } @@ -1848,7 +1854,11 @@ int commander_thread_main(int argc, char *argv[]) if (status.failsafe != failsafe_old) { status_changed = true; - mavlink_log_info(mavlink_fd, "[cmd] failsafe state: %i", status.failsafe); + if (status.failsafe) { + mavlink_log_critical(mavlink_fd, "failsafe mode on"); + } else { + mavlink_log_critical(mavlink_fd, "failsafe mode off"); + } failsafe_old = status.failsafe; } @@ -2196,18 +2206,6 @@ set_control_mode() control_mode.flag_control_termination_enabled = false; break; - case NAVIGATION_STATE_ACRO: - control_mode.flag_control_manual_enabled = true; - control_mode.flag_control_auto_enabled = false; - control_mode.flag_control_rates_enabled = true; - control_mode.flag_control_attitude_enabled = false; - control_mode.flag_control_altitude_enabled = false; - control_mode.flag_control_climb_rate_enabled = false; - control_mode.flag_control_position_enabled = false; - control_mode.flag_control_velocity_enabled = false; - control_mode.flag_control_termination_enabled = false; - break; - case NAVIGATION_STATE_ALTCTL: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; @@ -2220,64 +2218,6 @@ set_control_mode() control_mode.flag_control_termination_enabled = false; break; - case NAVIGATION_STATE_OFFBOARD: - control_mode.flag_control_manual_enabled = false; - control_mode.flag_control_auto_enabled = false; - control_mode.flag_control_offboard_enabled = true; - - switch (sp_offboard.mode) { - case OFFBOARD_CONTROL_MODE_DIRECT_RATES: - control_mode.flag_control_rates_enabled = true; - control_mode.flag_control_attitude_enabled = false; - control_mode.flag_control_altitude_enabled = false; - control_mode.flag_control_climb_rate_enabled = false; - control_mode.flag_control_position_enabled = false; - control_mode.flag_control_velocity_enabled = false; - break; - - case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE: - control_mode.flag_control_rates_enabled = true; - control_mode.flag_control_attitude_enabled = true; - control_mode.flag_control_altitude_enabled = false; - control_mode.flag_control_climb_rate_enabled = false; - control_mode.flag_control_position_enabled = false; - control_mode.flag_control_velocity_enabled = false; - break; - - case OFFBOARD_CONTROL_MODE_DIRECT_FORCE: - control_mode.flag_control_rates_enabled = true; - control_mode.flag_control_attitude_enabled = false; - control_mode.flag_control_force_enabled = true; - control_mode.flag_control_altitude_enabled = false; - control_mode.flag_control_climb_rate_enabled = false; - control_mode.flag_control_position_enabled = false; - control_mode.flag_control_velocity_enabled = false; - break; - - case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED: - case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED: - case OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED: - case OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED: - control_mode.flag_control_rates_enabled = true; - control_mode.flag_control_attitude_enabled = true; - control_mode.flag_control_altitude_enabled = true; - control_mode.flag_control_climb_rate_enabled = true; - control_mode.flag_control_position_enabled = true; - control_mode.flag_control_velocity_enabled = true; - //XXX: the flags could depend on sp_offboard.ignore - break; - - default: - control_mode.flag_control_rates_enabled = false; - control_mode.flag_control_attitude_enabled = false; - control_mode.flag_control_altitude_enabled = false; - control_mode.flag_control_climb_rate_enabled = false; - control_mode.flag_control_position_enabled = false; - control_mode.flag_control_velocity_enabled = false; - } - - break; - case NAVIGATION_STATE_POSCTL: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; @@ -2293,6 +2233,7 @@ set_control_mode() case NAVIGATION_STATE_AUTO_MISSION: case NAVIGATION_STATE_AUTO_LOITER: case NAVIGATION_STATE_AUTO_RTL: + case NAVIGATION_STATE_AUTO_RCRECOVER: case NAVIGATION_STATE_AUTO_RTGS: case NAVIGATION_STATE_AUTO_LANDENGFAIL: control_mode.flag_control_manual_enabled = false; @@ -2318,6 +2259,19 @@ set_control_mode() control_mode.flag_control_termination_enabled = false; break; + case NAVIGATION_STATE_ACRO: + control_mode.flag_control_manual_enabled = true; + control_mode.flag_control_auto_enabled = false; + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = false; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = false; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + control_mode.flag_control_termination_enabled = false; + break; + + case NAVIGATION_STATE_LAND: control_mode.flag_control_manual_enabled = false; control_mode.flag_control_auto_enabled = true; @@ -2331,6 +2285,19 @@ set_control_mode() control_mode.flag_control_termination_enabled = false; break; + case NAVIGATION_STATE_DESCEND: + /* TODO: check if this makes sense */ + control_mode.flag_control_manual_enabled = false; + control_mode.flag_control_auto_enabled = true; + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = true; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = true; + control_mode.flag_control_termination_enabled = false; + break; + case NAVIGATION_STATE_TERMINATION: /* disable all controllers on termination */ control_mode.flag_control_manual_enabled = false; @@ -2344,6 +2311,63 @@ set_control_mode() control_mode.flag_control_termination_enabled = true; break; + case NAVIGATION_STATE_OFFBOARD: + control_mode.flag_control_manual_enabled = false; + control_mode.flag_control_auto_enabled = false; + control_mode.flag_control_offboard_enabled = true; + + switch (sp_offboard.mode) { + case OFFBOARD_CONTROL_MODE_DIRECT_RATES: + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = false; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = false; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + break; + + case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE: + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = true; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = false; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + break; + + case OFFBOARD_CONTROL_MODE_DIRECT_FORCE: + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = false; + control_mode.flag_control_force_enabled = true; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = false; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + break; + + case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED: + case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED: + case OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED: + case OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED: + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = true; + control_mode.flag_control_altitude_enabled = true; + control_mode.flag_control_climb_rate_enabled = true; + control_mode.flag_control_position_enabled = true; + control_mode.flag_control_velocity_enabled = true; + //XXX: the flags could depend on sp_offboard.ignore + break; + + default: + control_mode.flag_control_rates_enabled = false; + control_mode.flag_control_attitude_enabled = false; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = false; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + } + break; + default: break; } diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 9568752ae..465f9cdc5 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -444,7 +444,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, int status_pub, * Check failsafe and main status and set navigation status for navigator accordingly */ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished, - const bool stay_in_failsafe) + const bool stay_in_failsafe) { navigation_state_t nav_state_old = status->nav_state; @@ -497,11 +497,13 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en break; case MAIN_STATE_AUTO_MISSION: + /* go into failsafe * - if commanded to do so * - if we have an engine failure - * - if either the datalink is enabled and lost as well as RC is lost - * - if there is no datalink and the mission is finished */ + * - depending on datalink, RC and if the mission is finished */ + + /* first look at the commands */ if (status->engine_failure_cmd) { status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL; } else if (status->data_link_lost_cmd) { @@ -509,14 +511,17 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en } else if (status->gps_failure_cmd) { status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL; } else if (status->rc_signal_lost_cmd) { - status->nav_state = NAVIGATION_STATE_AUTO_RTGS; //XXX - /* Finished handling commands which have priority , now handle failures */ + status->nav_state = NAVIGATION_STATE_AUTO_RCRECOVER; + + /* finished handling commands which have priority, now handle failures */ } else if (status->gps_failure) { status->nav_state = NAVIGATION_STATE_AUTO_LANDGPSFAIL; } else if (status->engine_failure) { status->nav_state = NAVIGATION_STATE_AUTO_LANDENGFAIL; - } else if (((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) || - (!data_link_loss_enabled && status->rc_signal_lost && mission_finished)) { + + /* datalink loss enabled: + * check for datalink lost: this should always trigger RTGS */ + } else if (data_link_loss_enabled && status->data_link_lost) { status->failsafe = true; if (status->condition_global_position_valid && status->condition_home_position_valid) { @@ -529,12 +534,15 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en status->nav_state = NAVIGATION_STATE_TERMINATION; } - /* also go into failsafe if just datalink is lost */ - } else if (status->data_link_lost && data_link_loss_enabled) { + /* datalink loss disabled: + * check if both, RC and datalink are lost during the mission + * or RC is lost after the mission is finished: this should always trigger RCRECOVER */ + } else if (!data_link_loss_enabled && ((status->rc_signal_lost && status->data_link_lost) || + (status->rc_signal_lost && mission_finished))) { status->failsafe = true; if (status->condition_global_position_valid && status->condition_home_position_valid) { - status->nav_state = NAVIGATION_STATE_AUTO_RTGS; + status->nav_state = NAVIGATION_STATE_AUTO_RCRECOVER; } else if (status->condition_local_position_valid) { status->nav_state = NAVIGATION_STATE_LAND; } else if (status->condition_local_altitude_valid) { @@ -543,13 +551,8 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en status->nav_state = NAVIGATION_STATE_TERMINATION; } - /* don't bother if RC is lost and mission is not yet finished */ - } else if (status->rc_signal_lost && !stay_in_failsafe) { - - /* this mode is ok, we don't need RC for missions */ - status->nav_state = NAVIGATION_STATE_AUTO_MISSION; + /* stay where you are if you should stay in failsafe, otherwise everything is perfect */ } else if (!stay_in_failsafe){ - /* everything is perfect */ status->nav_state = NAVIGATION_STATE_AUTO_MISSION; } break; @@ -703,7 +706,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd) } if (fabsf(airspeed.indicated_airspeed_m_s > 6.0f)) { - mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION MISSING"); + mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE"); // XXX do not make this fatal yet } } diff --git a/src/modules/controllib/module.mk b/src/modules/controllib/module.mk index f0139a4b7..2860d1efc 100644 --- a/src/modules/controllib/module.mk +++ b/src/modules/controllib/module.mk @@ -39,3 +39,5 @@ SRCS = test_params.c \ block/BlockParam.cpp \ uorb/blocks.cpp \ blocks.cpp + +MAXOPTIMIZATION = -Os diff --git a/src/modules/dataman/dataman.c b/src/modules/dataman/dataman.c index b2355d4d8..705e54be3 100644 --- a/src/modules/dataman/dataman.c +++ b/src/modules/dataman/dataman.c @@ -629,9 +629,6 @@ task_main(int argc, char *argv[]) { work_q_item_t *work; - /* inform about start */ - warnx("Initializing.."); - /* Initialize global variables */ g_key_offsets[0] = 0; @@ -694,16 +691,15 @@ task_main(int argc, char *argv[]) if (sys_restart_val == DM_INIT_REASON_POWER_ON) { warnx("Power on restart"); _restart(DM_INIT_REASON_POWER_ON); - } - else if (sys_restart_val == DM_INIT_REASON_IN_FLIGHT) { + } else if (sys_restart_val == DM_INIT_REASON_IN_FLIGHT) { warnx("In flight restart"); _restart(DM_INIT_REASON_IN_FLIGHT); - } - else + } else { warnx("Unknown restart"); - } - else + } + } else { warnx("Unknown restart"); + } /* We use two file descriptors, one for the caller context and one for the worker thread */ /* They are actually the same but we need to some way to reject caller request while the */ diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index 685f5e12f..e7805daa9 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -613,8 +613,11 @@ FixedwingEstimator::check_filter_state() warn_index = max_warn_index; } - warnx("reset: %s", feedback[warn_index]); - mavlink_log_critical(_mavlink_fd, "[ekf check] %s", feedback[warn_index]); + // Do not warn about accel offset if we have no position updates + if (!(warn_index == 5 && _ekf->staticMode)) { + warnx("reset: %s", feedback[warn_index]); + mavlink_log_critical(_mavlink_fd, "[ekf check] %s", feedback[warn_index]); + } } struct estimator_status_report rep; @@ -1557,7 +1560,7 @@ FixedwingEstimator::start() _estimator_task = task_spawn_cmd("ekf_att_pos_estimator", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 40, - 5000, + 7500, (main_t)&FixedwingEstimator::task_main_trampoline, nullptr); diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index bec706bad..9afe74af1 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -78,11 +78,7 @@ PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1); mavlink_system_t mavlink_system = { 100, - 50, - MAV_TYPE_FIXED_WING, - 0, - 0, - 0 + 50 }; // System ID, 1-255, Component/Subsystem ID, 1-255 /* diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 6b4edff78..29b7ec7b7 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -167,8 +167,10 @@ Mavlink::Mavlink() : _param_initialized(false), _param_system_id(0), _param_component_id(0), - _param_system_type(0), + _param_system_type(MAV_TYPE_FIXED_WING), _param_use_hil_gps(0), + _param_forward_externalsp(0), + _system_type(0), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")), @@ -524,7 +526,7 @@ void Mavlink::mavlink_update_system(void) param_get(_param_system_type, &system_type); if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) { - mavlink_system.type = system_type; + _system_type = system_type; } int32_t use_hil_gps; @@ -755,7 +757,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg) pthread_mutex_lock(&_send_mutex); - int buf_free = get_free_tx_buf(); + unsigned buf_free = get_free_tx_buf(); uint8_t payload_len = mavlink_message_lengths[msgid]; unsigned packet_len = payload_len + MAVLINK_NUM_NON_PAYLOAD_BYTES; @@ -820,14 +822,14 @@ Mavlink::resend_message(mavlink_message_t *msg) pthread_mutex_lock(&_send_mutex); - int buf_free = get_free_tx_buf(); + unsigned buf_free = get_free_tx_buf(); _last_write_try_time = hrt_absolute_time(); unsigned packet_len = msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES; /* check if there is space in the buffer, let it overflow else */ - if (buf_free < TX_BUFFER_GAP) { + if ((buf_free < TX_BUFFER_GAP) || (buf_free < packet_len)) { /* no enough space in buffer to send */ count_txerr(); count_txerrbytes(packet_len); @@ -1403,7 +1405,7 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f); configure_stream("ATTITUDE_TARGET", 3.0f); configure_stream("DISTANCE_SENSOR", 0.5f); - configure_stream("OPTICAL_FLOW", 5.0f); + configure_stream("OPTICAL_FLOW_RAD", 5.0f); break; case MAVLINK_MODE_ONBOARD: @@ -1634,7 +1636,7 @@ Mavlink::start(int argc, char *argv[]) task_spawn_cmd(buf, SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, - 2900, + 2800, (main_t)&Mavlink::start_helper, (const char **)argv); diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 1f96e586b..ad5e5001b 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -265,6 +265,8 @@ public: struct mavlink_logbuffer *get_logbuffer() { return &_logbuffer; } + unsigned get_system_type() { return _system_type; } + protected: Mavlink *next; @@ -354,6 +356,8 @@ private: param_t _param_use_hil_gps; param_t _param_forward_externalsp; + unsigned _system_type; + perf_counter_t _loop_perf; /**< loop performance counter */ perf_counter_t _txerr_perf; /**< TX error counter */ diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index cccb698bf..a8f956ad0 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -302,7 +302,7 @@ protected: msg.base_mode = 0; msg.custom_mode = 0; get_mavlink_mode_state(&status, &pos_sp_triplet, &msg.system_status, &msg.base_mode, &msg.custom_mode); - msg.type = mavlink_system.type; + msg.type = _mavlink->get_system_type(); msg.autopilot = MAV_AUTOPILOT_PX4; msg.mavlink_version = 3; @@ -382,11 +382,11 @@ protected: clock_gettime(CLOCK_REALTIME, &ts); /* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */ time_t gps_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9); - struct tm t; - gmtime_r(&gps_time_sec, &t); + struct tm tt; + gmtime_r(&gps_time_sec, &tt); // XXX we do not want to interfere here with the SD log app - strftime(log_file_name, sizeof(log_file_name), "msgs_%Y_%m_%d_%H_%M_%S.txt", &t); + strftime(log_file_name, sizeof(log_file_name), "msgs_%Y_%m_%d_%H_%M_%S.txt", &tt); snprintf(log_file_path, sizeof(log_file_path), "/fs/microsd/%s", log_file_name); fp = fopen(log_file_path, "ab"); } @@ -1353,15 +1353,17 @@ protected: const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2; + unsigned system_type = _mavlink->get_system_type(); + /* scale outputs depending on system type */ - if (mavlink_system.type == MAV_TYPE_QUADROTOR || - mavlink_system.type == MAV_TYPE_HEXAROTOR || - mavlink_system.type == MAV_TYPE_OCTOROTOR) { + if (system_type == MAV_TYPE_QUADROTOR || + system_type == MAV_TYPE_HEXAROTOR || + system_type == MAV_TYPE_OCTOROTOR) { /* multirotors: set number of rotor outputs depending on type */ unsigned n; - switch (mavlink_system.type) { + switch (system_type) { case MAV_TYPE_QUADROTOR: n = 4; break; @@ -1717,7 +1719,53 @@ protected: msg.chan16_raw = (rc.channel_count > 15) ? rc.values[15] : UINT16_MAX; msg.chan17_raw = (rc.channel_count > 16) ? rc.values[16] : UINT16_MAX; msg.chan18_raw = (rc.channel_count > 17) ? rc.values[17] : UINT16_MAX; - msg.rssi = rc.rssi; + + /* RSSI has a max value of 100, and when Spektrum or S.BUS are + * available, the RSSI field is invalid, as they do not provide + * an RSSI measurement. Use an out of band magic value to signal + * these digital ports. XXX revise MAVLink spec to address this. + * One option would be to use the top bit to toggle between RSSI + * and input source mode. + * + * Full RSSI field: 0b 1 111 1111 + * + * ^ If bit is set, RSSI encodes type + RSSI + * + * ^ These three bits encode a total of 8 + * digital RC input types. + * 0: PPM, 1: SBUS, 2: Spektrum, 2: ST24 + * ^ These four bits encode a total of + * 16 RSSI levels. 15 = full, 0 = no signal + * + */ + + /* Initialize RSSI with the special mode level flag */ + msg.rssi = (1 << 7); + + /* Set RSSI */ + msg.rssi |= (rc.rssi <= 100) ? ((rc.rssi / 7) + 1) : 15; + + switch (rc.input_source) { + case RC_INPUT_SOURCE_PX4FMU_PPM: + /* fallthrough */ + case RC_INPUT_SOURCE_PX4IO_PPM: + msg.rssi |= (0 << 4); + break; + case RC_INPUT_SOURCE_PX4IO_SPEKTRUM: + msg.rssi |= (1 << 4); + break; + case RC_INPUT_SOURCE_PX4IO_SBUS: + msg.rssi |= (2 << 4); + break; + case RC_INPUT_SOURCE_PX4IO_ST24: + msg.rssi |= (3 << 4); + break; + } + + if (rc.rc_lost) { + /* RSSI is by definition zero */ + msg.rssi = 0; + } _mavlink->send_message(MAVLINK_MSG_ID_RC_CHANNELS, &msg); } @@ -1786,33 +1834,32 @@ protected: } }; - -class MavlinkStreamOpticalFlow : public MavlinkStream +class MavlinkStreamOpticalFlowRad : public MavlinkStream { public: const char *get_name() const { - return MavlinkStreamOpticalFlow::get_name_static(); + return MavlinkStreamOpticalFlowRad::get_name_static(); } static const char *get_name_static() { - return "OPTICAL_FLOW"; + return "OPTICAL_FLOW_RAD"; } uint8_t get_id() { - return MAVLINK_MSG_ID_OPTICAL_FLOW; + return MAVLINK_MSG_ID_OPTICAL_FLOW_RAD; } static MavlinkStream *new_instance(Mavlink *mavlink) { - return new MavlinkStreamOpticalFlow(mavlink); + return new MavlinkStreamOpticalFlowRad(mavlink); } unsigned get_size() { - return _flow_sub->is_published() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; + return _flow_sub->is_published() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; } private: @@ -1820,11 +1867,11 @@ private: uint64_t _flow_time; /* do not allow top copying this class */ - MavlinkStreamOpticalFlow(MavlinkStreamOpticalFlow &); - MavlinkStreamOpticalFlow& operator = (const MavlinkStreamOpticalFlow &); + MavlinkStreamOpticalFlowRad(MavlinkStreamOpticalFlowRad &); + MavlinkStreamOpticalFlowRad& operator = (const MavlinkStreamOpticalFlowRad &); protected: - explicit MavlinkStreamOpticalFlow(Mavlink *mavlink) : MavlinkStream(mavlink), + explicit MavlinkStreamOpticalFlowRad(Mavlink *mavlink) : MavlinkStream(mavlink), _flow_sub(_mavlink->add_orb_subscription(ORB_ID(optical_flow))), _flow_time(0) {} @@ -1834,18 +1881,23 @@ protected: struct optical_flow_s flow; if (_flow_sub->update(&_flow_time, &flow)) { - mavlink_optical_flow_t msg; + mavlink_optical_flow_rad_t msg; msg.time_usec = flow.timestamp; msg.sensor_id = flow.sensor_id; - msg.flow_x = flow.flow_raw_x; - msg.flow_y = flow.flow_raw_y; - msg.flow_comp_m_x = flow.flow_comp_x_m; - msg.flow_comp_m_y = flow.flow_comp_y_m; + msg.integrated_x = flow.pixel_flow_x_integral; + msg.integrated_y = flow.pixel_flow_y_integral; + msg.integrated_xgyro = flow.gyro_x_rate_integral; + msg.integrated_ygyro = flow.gyro_y_rate_integral; + msg.integrated_zgyro = flow.gyro_z_rate_integral; + msg.distance = flow.ground_distance_m; msg.quality = flow.quality; - msg.ground_distance = flow.ground_distance_m; + msg.integration_time_us = flow.integration_timespan; + msg.sensor_id = flow.sensor_id; + msg.time_delta_distance_us = flow.time_since_last_sonar_update; + msg.temperature = flow.gyro_temperature; - _mavlink->send_message(MAVLINK_MSG_ID_OPTICAL_FLOW, &msg); + _mavlink->send_message(MAVLINK_MSG_ID_OPTICAL_FLOW_RAD, &msg); } } }; @@ -2151,7 +2203,7 @@ StreamListItem *streams_list[] = { new StreamListItem(&MavlinkStreamAttitudeTarget::new_instance, &MavlinkStreamAttitudeTarget::get_name_static), new StreamListItem(&MavlinkStreamRCChannelsRaw::new_instance, &MavlinkStreamRCChannelsRaw::get_name_static), new StreamListItem(&MavlinkStreamManualControl::new_instance, &MavlinkStreamManualControl::get_name_static), - new StreamListItem(&MavlinkStreamOpticalFlow::new_instance, &MavlinkStreamOpticalFlow::get_name_static), + new StreamListItem(&MavlinkStreamOpticalFlowRad::new_instance, &MavlinkStreamOpticalFlowRad::get_name_static), new StreamListItem(&MavlinkStreamAttitudeControls::new_instance, &MavlinkStreamAttitudeControls::get_name_static), new StreamListItem(&MavlinkStreamNamedValueFloat::new_instance, &MavlinkStreamNamedValueFloat::get_name_static), new StreamListItem(&MavlinkStreamCameraCapture::new_instance, &MavlinkStreamCameraCapture::get_name_static), diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index bc092c7e9..e98d72afe 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -144,8 +144,8 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) handle_message_command_int(msg); break; - case MAVLINK_MSG_ID_OPTICAL_FLOW: - handle_message_optical_flow(msg); + case MAVLINK_MSG_ID_OPTICAL_FLOW_RAD: + handle_message_optical_flow_rad(msg); break; case MAVLINK_MSG_ID_SET_MODE: @@ -352,24 +352,27 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg) } void -MavlinkReceiver::handle_message_optical_flow(mavlink_message_t *msg) +MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg) { /* optical flow */ - mavlink_optical_flow_t flow; - mavlink_msg_optical_flow_decode(msg, &flow); + mavlink_optical_flow_rad_t flow; + mavlink_msg_optical_flow_rad_decode(msg, &flow); struct optical_flow_s f; memset(&f, 0, sizeof(f)); - f.timestamp = hrt_absolute_time(); - f.flow_timestamp = flow.time_usec; - f.flow_raw_x = flow.flow_x; - f.flow_raw_y = flow.flow_y; - f.flow_comp_x_m = flow.flow_comp_m_x; - f.flow_comp_y_m = flow.flow_comp_m_y; - f.ground_distance_m = flow.ground_distance; + f.timestamp = flow.time_usec; + f.integration_timespan = flow.integration_time_us; + f.pixel_flow_x_integral = flow.integrated_x; + f.pixel_flow_y_integral = flow.integrated_y; + f.gyro_x_rate_integral = flow.integrated_xgyro; + f.gyro_y_rate_integral = flow.integrated_ygyro; + f.gyro_z_rate_integral = flow.integrated_zgyro; + f.time_since_last_sonar_update = flow.time_delta_distance_us; + f.ground_distance_m = flow.distance; f.quality = flow.quality; f.sensor_id = flow.sensor_id; + f.gyro_temperature = flow.temperature; if (_flow_pub < 0) { _flow_pub = orb_advertise(ORB_ID(optical_flow), &f); @@ -389,13 +392,18 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg) struct optical_flow_s f; memset(&f, 0, sizeof(f)); - f.timestamp = hrt_absolute_time(); - f.flow_timestamp = flow.time_usec; - f.flow_raw_x = flow.integrated_x; - f.flow_raw_y = flow.integrated_y; + f.timestamp = hrt_absolute_time(); // XXX we rely on the system time for now and not flow.time_usec; + f.integration_timespan = flow.integration_time_us; + f.pixel_flow_x_integral = flow.integrated_x; + f.pixel_flow_y_integral = flow.integrated_y; + f.gyro_x_rate_integral = flow.integrated_xgyro; + f.gyro_y_rate_integral = flow.integrated_ygyro; + f.gyro_z_rate_integral = flow.integrated_zgyro; + f.time_since_last_sonar_update = flow.time_delta_distance_us; f.ground_distance_m = flow.distance; f.quality = flow.quality; f.sensor_id = flow.sensor_id; + f.gyro_temperature = flow.temperature; if (_flow_pub < 0) { _flow_pub = orb_advertise(ORB_ID(optical_flow), &f); @@ -538,12 +546,16 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t offboard_control_sp.ignore &= ~(1 << i); offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << i)); } + offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAW); - offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << 10)) << - OFB_IGN_BIT_YAW; + if (set_position_target_local_ned.type_mask & (1 << 10)) { + offboard_control_sp.ignore |= (1 << OFB_IGN_BIT_YAW); + } + offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAWRATE); - offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << 11)) << - OFB_IGN_BIT_YAWRATE; + if (set_position_target_local_ned.type_mask & (1 << 11)) { + offboard_control_sp.ignore |= (1 << OFB_IGN_BIT_YAWRATE); + } offboard_control_sp.timestamp = hrt_absolute_time(); diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index e5f2c6a73..a057074a7 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -112,7 +112,7 @@ private: void handle_message(mavlink_message_t *msg); void handle_message_command_long(mavlink_message_t *msg); void handle_message_command_int(mavlink_message_t *msg); - void handle_message_optical_flow(mavlink_message_t *msg); + void handle_message_optical_flow_rad(mavlink_message_t *msg); void handle_message_hil_optical_flow(mavlink_message_t *msg); void handle_message_set_mode(mavlink_message_t *msg); void handle_message_vicon_position_estimate(mavlink_message_t *msg); diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 19c10198c..81a13edb8 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -721,8 +721,6 @@ MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[]) void MulticopterAttitudeControl::task_main() { - warnx("started"); - fflush(stdout); /* * do subscriptions diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index d52138522..5918d6bc5 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -535,7 +535,7 @@ MulticopterPositionControl::reset_pos_sp() - _params.vel_ff(0) * _sp_move_rate(0)) / _params.pos_p(0); _pos_sp(1) = _pos(1) + (_vel(1) - _att_sp.R_body[1][2] * _att_sp.thrust / _params.vel_p(1) - _params.vel_ff(1) * _sp_move_rate(1)) / _params.pos_p(1); - mavlink_log_info(_mavlink_fd, "[mpc] reset pos sp: %.2f, %.2f", (double)_pos_sp(0), (double)_pos_sp(1)); + mavlink_log_info(_mavlink_fd, "[mpc] reset pos sp: %d, %d", (int)_pos_sp(0), (int)_pos_sp(1)); } } @@ -545,7 +545,7 @@ MulticopterPositionControl::reset_alt_sp() if (_reset_alt_sp) { _reset_alt_sp = false; _pos_sp(2) = _pos(2) + (_vel(2) - _params.vel_ff(2) * _sp_move_rate(2)) / _params.pos_p(2); - mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %.2f", -(double)_pos_sp(2)); + mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %d", -(int)_pos_sp(2)); } } @@ -857,10 +857,8 @@ MulticopterPositionControl::control_auto(float dt) void MulticopterPositionControl::task_main() { - warnx("started"); _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - mavlink_log_info(_mavlink_fd, "[mpc] started"); /* * do subscriptions diff --git a/src/modules/navigator/datalinkloss.cpp b/src/modules/navigator/datalinkloss.cpp index 66f1c8c73..e789fd10d 100644 --- a/src/modules/navigator/datalinkloss.cpp +++ b/src/modules/navigator/datalinkloss.cpp @@ -156,6 +156,7 @@ DataLinkLoss::set_dll_item() /* Request flight termination from the commander */ _navigator->get_mission_result()->flight_termination = true; _navigator->publish_mission_result(); + reset_mission_item_reached(); warnx("not switched to manual: request flight termination"); pos_sp_triplet->previous.valid = false; pos_sp_triplet->current.valid = false; @@ -188,6 +189,7 @@ DataLinkLoss::advance_dll() mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: too many DL losses, fly to airfield home"); _navigator->get_mission_result()->stay_in_failsafe = true; _navigator->publish_mission_result(); + reset_mission_item_reached(); _dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP; } else { if (!_param_skipcommshold.get()) { @@ -208,6 +210,7 @@ DataLinkLoss::advance_dll() _dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP; _navigator->get_mission_result()->stay_in_failsafe = true; _navigator->publish_mission_result(); + reset_mission_item_reached(); break; case DLL_STATE_FLYTOAIRFIELDHOMEWP: _dll_state = DLL_STATE_TERMINATE; @@ -215,6 +218,7 @@ DataLinkLoss::advance_dll() mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no manual control, terminating"); _navigator->get_mission_result()->stay_in_failsafe = true; _navigator->publish_mission_result(); + reset_mission_item_reached(); break; case DLL_STATE_TERMINATE: warnx("dll end"); diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 7fac69a61..0765e9b7c 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -371,7 +371,7 @@ Mission::set_mission_items() } else { /* no mission available or mission finished, switch to loiter */ if (_mission_type != MISSION_TYPE_NONE) { - mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished"); /* use last setpoint for loiter */ _navigator->set_can_loiter_at_sp(true); @@ -595,13 +595,15 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id); } - if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) { - /* mission item index out of bounds */ - return false; - } - - /* repeat several to get the mission item because we might have to follow multiple DO_JUMPS */ + /* Repeat this several times in case there are several DO JUMPS that we need to follow along, however, after + * 10 iterations we have to assume that the DO JUMPS are probably cycling and give up. */ for (int i = 0; i < 10; i++) { + + if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) { + /* mission item index out of bounds */ + return false; + } + const ssize_t len = sizeof(struct mission_item_s); /* read mission item to temp storage first to not overwrite current mission item if data damaged */ @@ -626,11 +628,12 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s if (is_current) { (mission_item_tmp.do_jump_current_count)++; /* save repeat count */ - if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_IN_FLIGHT_RESET, &mission_item_tmp, len) != len) { + if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_POWER_ON_RESET, + &mission_item_tmp, len) != len) { /* not supposed to happen unless the datamanager can't access the * dataman */ mavlink_log_critical(_navigator->get_mavlink_fd(), - "ERROR DO JUMP waypoint could not be written"); + "ERROR DO JUMP waypoint could not be written"); return false; } } @@ -639,8 +642,10 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_index_ptr = mission_item_tmp.do_jump_mission_index; } else { - mavlink_log_critical(_navigator->get_mavlink_fd(), - "DO JUMP repetitions completed"); + if (is_current) { + mavlink_log_critical(_navigator->get_mavlink_fd(), + "DO JUMP repetitions completed"); + } /* no more DO_JUMPS, therefore just try to continue with next mission item */ (*mission_index_ptr)++; } @@ -707,6 +712,7 @@ Mission::set_mission_item_reached() _navigator->get_mission_result()->reached = true; _navigator->get_mission_result()->seq_reached = _current_offboard_mission_index; _navigator->publish_mission_result(); + reset_mission_item_reached(); } void diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index d550dcc4c..9cd609955 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -205,6 +205,7 @@ private: bool _can_loiter_at_sp; /**< flags if current position SP can be used to loiter */ bool _pos_sp_triplet_updated; /**< flags if position SP triplet needs to be published */ + bool _pos_sp_triplet_published_invalid_once; /**< flags if position SP triplet has been published once to UORB */ control::BlockParamFloat _param_loiter_radius; /**< loiter radius for fixedwing */ control::BlockParamFloat _param_acceptance_radius; /**< acceptance for takeoff */ diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index a867dd0da..df620e5e7 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -137,6 +137,7 @@ Navigator::Navigator() : _gpsFailure(this, "GPSF"), _can_loiter_at_sp(false), _pos_sp_triplet_updated(false), + _pos_sp_triplet_published_invalid_once(false), _param_loiter_radius(this, "LOITER_RAD"), _param_acceptance_radius(this, "ACC_RAD"), _param_datalinkloss_obc(this, "DLL_OBC"), @@ -289,8 +290,9 @@ Navigator::task_main() navigation_capabilities_update(); params_update(); - /* rate limit position updates to 50 Hz */ + /* rate limit position and sensor updates to 50 Hz */ orb_set_interval(_global_pos_sub, 20); + orb_set_interval(_sensor_combined_sub, 20); hrt_abstime mavlink_open_time = 0; const hrt_abstime mavlink_open_interval = 500000; @@ -426,12 +428,15 @@ Navigator::task_main() _can_loiter_at_sp = false; break; case NAVIGATION_STATE_AUTO_MISSION: + _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_mission; break; case NAVIGATION_STATE_AUTO_LOITER: + _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_loiter; break; case NAVIGATION_STATE_AUTO_RCRECOVER: + _pos_sp_triplet_published_invalid_once = false; if (_param_rcloss_obc.get() != 0) { _navigation_mode = &_rcLoss; } else { @@ -439,11 +444,13 @@ Navigator::task_main() } break; case NAVIGATION_STATE_AUTO_RTL: - _navigation_mode = &_rtl; + _pos_sp_triplet_published_invalid_once = false; + _navigation_mode = &_rtl; break; case NAVIGATION_STATE_AUTO_RTGS: /* Use complex data link loss mode only when enabled via param * otherwise use rtl */ + _pos_sp_triplet_published_invalid_once = false; if (_param_datalinkloss_obc.get() != 0) { _navigation_mode = &_dataLinkLoss; } else { @@ -451,9 +458,11 @@ Navigator::task_main() } break; case NAVIGATION_STATE_AUTO_LANDENGFAIL: + _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_engineFailure; break; case NAVIGATION_STATE_AUTO_LANDGPSFAIL: + _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_gpsFailure; break; default: @@ -467,9 +476,9 @@ Navigator::task_main() _navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]); } - /* if nothing is running, set position setpoint triplet invalid */ - if (_navigation_mode == nullptr) { - // TODO publish empty sp only once + /* if nothing is running, set position setpoint triplet invalid once */ + if (_navigation_mode == nullptr && !_pos_sp_triplet_published_invalid_once) { + _pos_sp_triplet_published_invalid_once = true; _pos_sp_triplet.previous.valid = false; _pos_sp_triplet.current.valid = false; _pos_sp_triplet.next.valid = false; @@ -497,8 +506,8 @@ Navigator::start() /* start the task */ _navigator_task = task_spawn_cmd("navigator", SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 5, - 2000, + SCHED_PRIORITY_DEFAULT + 20, + 1800, (main_t)&Navigator::task_main_trampoline, nullptr); @@ -630,9 +639,6 @@ Navigator::publish_mission_result() /* advertise and publish */ _mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result); } - /* reset reached bool */ - _mission_result.reached = false; - _mission_result.finished = false; } void diff --git a/src/modules/navigator/rcloss.cpp b/src/modules/navigator/rcloss.cpp index 5564a1c42..42392e739 100644 --- a/src/modules/navigator/rcloss.cpp +++ b/src/modules/navigator/rcloss.cpp @@ -163,6 +163,7 @@ RCLoss::advance_rcl() _rcl_state = RCL_STATE_TERMINATE; _navigator->get_mission_result()->stay_in_failsafe = true; _navigator->publish_mission_result(); + reset_mission_item_reached(); } break; case RCL_STATE_LOITER: @@ -171,6 +172,7 @@ RCLoss::advance_rcl() mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RC not regained, terminating"); _navigator->get_mission_result()->stay_in_failsafe = true; _navigator->publish_mission_result(); + reset_mission_item_reached(); break; case RCL_STATE_TERMINATE: warnx("rcl end"); diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 81bbaa658..296919c04 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -161,7 +161,7 @@ int position_estimator_inav_main(int argc, char *argv[]) thread_should_exit = true; } else { - warnx("app not started"); + warnx("not started"); } exit(0); @@ -169,10 +169,10 @@ int position_estimator_inav_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { if (thread_running) { - warnx("app is running"); + warnx("is running"); } else { - warnx("app not started"); + warnx("not started"); } exit(0); @@ -210,10 +210,8 @@ static void write_debug_log(const char *msg, float dt, float x_est[2], float y_e ****************************************************************************/ int position_estimator_inav_thread_main(int argc, char *argv[]) { - warnx("started"); int mavlink_fd; mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - mavlink_log_info(mavlink_fd, "[inav] started"); float x_est[2] = { 0.0f, 0.0f }; // pos, vel float y_est[2] = { 0.0f, 0.0f }; // pos, vel @@ -298,7 +296,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float w_flow = 0.0f; float sonar_prev = 0.0f; - hrt_abstime flow_prev = 0; // time of last flow measurement + //hrt_abstime flow_prev = 0; // time of last flow measurement hrt_abstime sonar_time = 0; // time of last sonar measurement (not filtered) hrt_abstime sonar_valid_time = 0; // time of last sonar measurement used for correction (filtered) @@ -389,8 +387,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } else { wait_baro = false; baro_offset /= (float) baro_init_cnt; - warnx("baro offs: %.2f", (double)baro_offset); - mavlink_log_info(mavlink_fd, "[inav] baro offs: %.2f", (double)baro_offset); + warnx("baro offs: %d", (int)baro_offset); + mavlink_log_info(mavlink_fd, "[inav] baro offs: %d", (int)baro_offset); local_pos.z_valid = true; local_pos.v_z_valid = true; } @@ -491,8 +489,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(optical_flow), optical_flow_sub, &flow); /* calculate time from previous update */ - float flow_dt = flow_prev > 0 ? (flow.flow_timestamp - flow_prev) * 1e-6f : 0.1f; - flow_prev = flow.flow_timestamp; +// float flow_dt = flow_prev > 0 ? (flow.flow_timestamp - flow_prev) * 1e-6f : 0.1f; +// flow_prev = flow.flow_timestamp; if ((flow.ground_distance_m > 0.31f) && (flow.ground_distance_m < 4.0f) && @@ -520,7 +518,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) sonar_valid_time = t; sonar_valid = true; local_pos.surface_bottom_timestamp = t; - mavlink_log_info(mavlink_fd, "[inav] new surface level: %.2f", (double)surface_offset); + mavlink_log_info(mavlink_fd, "[inav] new surface level: %d", (int)surface_offset); } } else { @@ -550,8 +548,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* convert raw flow to angular flow (rad/s) */ float flow_ang[2]; - flow_ang[0] = flow.flow_raw_x * params.flow_k / 1000.0f / flow_dt; - flow_ang[1] = flow.flow_raw_y * params.flow_k / 1000.0f / flow_dt; + //todo check direction of x und y axis + flow_ang[0] = flow.pixel_flow_x_integral/(float)flow.integration_timespan*1000000.0f;//flow.flow_raw_x * params.flow_k / 1000.0f / flow_dt; + flow_ang[1] = flow.pixel_flow_y_integral/(float)flow.integration_timespan*1000000.0f;//flow.flow_raw_y * params.flow_k / 1000.0f / flow_dt; /* flow measurements vector */ float flow_m[3]; flow_m[0] = -flow_ang[0] * flow_dist; @@ -721,8 +720,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* initialize projection */ map_projection_init(&ref, lat, lon); - warnx("init ref: lat=%.7f, lon=%.7f, alt=%.2f", (double)lat, (double)lon, (double)alt); - mavlink_log_info(mavlink_fd, "[inav] init ref: %.7f, %.7f, %.2f", (double)lat, (double)lon, (double)alt); + // XXX replace this print + warnx("init ref: lat=%.7f, lon=%.7f, alt=%8.4f", (double)lat, (double)lon, (double)alt); + mavlink_log_info(mavlink_fd, "[inav] init ref: %.7f, %.7f, %8.4f", (double)lat, (double)lon, (double)alt); } } diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index ad60ee03e..58c9429b6 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -41,6 +41,7 @@ #include <stdbool.h> #include <drivers/drv_hrt.h> +#include <drivers/drv_rc_input.h> #include <systemlib/perf_counter.h> #include <systemlib/ppm_decode.h> #include <rc/st24.h> @@ -70,7 +71,6 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated) uint8_t *bytes; *dsm_updated = dsm_input(r_raw_rc_values, &temp_count, &n_bytes, &bytes); if (*dsm_updated) { - r_raw_rc_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM; r_raw_rc_count = temp_count & 0x7fff; if (temp_count & 0x8000) r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11; @@ -91,6 +91,7 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated) for (unsigned i = 0; i < n_bytes; i++) { /* set updated flag if one complete packet was parsed */ + st24_rssi = RC_INPUT_RSSI_MAX; *st24_updated |= (OK == st24_decode(bytes[i], &st24_rssi, &rx_count, &st24_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS)); } @@ -170,6 +171,12 @@ controls_tick() { perf_begin(c_gather_dsm); bool dsm_updated, st24_updated; (void)dsm_port_input(&rssi, &dsm_updated, &st24_updated); + if (dsm_updated) { + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM; + } + if (st24_updated) { + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_ST24; + } perf_end(c_gather_dsm); perf_begin(c_gather_sbus); @@ -417,6 +424,15 @@ controls_tick() { if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(rc_value_override) < RC_CHANNEL_LOW_THRESH)) override = true; + /* + if the FMU is dead then enable override if we have a + mixer and OVERRIDE_IMMEDIATE is set + */ + if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && + (r_setup_arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) && + (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) + override = true; + if (override) { r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE; diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index c0b8ac358..66f0969de 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -353,12 +353,16 @@ static unsigned mixer_text_length = 0; int mixer_handle_text(const void *buffer, size_t length) { - /* do not allow a mixer change while safety off */ - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) { + /* do not allow a mixer change while safety off and FMU armed */ + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) && + (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { return 1; } - /* abort if we're in the mixer */ + /* disable mixing, will be enabled once load is complete */ + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_MIXER_OK); + + /* abort if we're in the mixer - the caller is expected to retry */ if (in_mixer) { return 1; } @@ -367,17 +371,16 @@ mixer_handle_text(const void *buffer, size_t length) isr_debug(2, "mix txt %u", length); - if (length < sizeof(px4io_mixdata)) + if (length < sizeof(px4io_mixdata)) { return 0; + } - unsigned text_length = length - sizeof(px4io_mixdata); + unsigned text_length = length - sizeof(px4io_mixdata); switch (msg->action) { case F2I_MIXER_ACTION_RESET: isr_debug(2, "reset"); - /* FIRST mark the mixer as invalid */ - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK; /* THEN actually delete it */ mixer_group.reset(); mixer_text_length = 0; @@ -386,9 +389,6 @@ mixer_handle_text(const void *buffer, size_t length) case F2I_MIXER_ACTION_APPEND: isr_debug(2, "append %d", length); - /* disable mixing during the update */ - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK; - /* check for overflow - this would be really fatal */ if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) { r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK; diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 9b2e047cb..c7e9ae3eb 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -183,6 +183,7 @@ #define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 7) /* If set, the system operates normally, but won't actuate any servos */ #define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 8) /* If set, the system will always output the failsafe values */ #define PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 9) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */ +#define PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE (1 << 10) /* If set then on FMU failure override is immediate. Othewise it waits for the mode switch to go past the override thrshold */ #define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ #define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */ diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c index 30f32b38e..14ee9cb40 100644 --- a/src/modules/px4iofirmware/px4io.c +++ b/src/modules/px4iofirmware/px4io.c @@ -85,6 +85,9 @@ static volatile uint8_t msg_next_out, msg_next_in; #define NUM_MSG 2 static char msg[NUM_MSG][40]; +static void heartbeat_blink(void); +static void ring_blink(void); + /* * add a debug message to be printed on the console */ @@ -124,8 +127,64 @@ heartbeat_blink(void) { static bool heartbeat = false; LED_BLUE(heartbeat = !heartbeat); +} + +static void +ring_blink(void) +{ #ifdef GPIO_LED4 - LED_RING(heartbeat); + + if (/* IO armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) + /* and FMU is armed */ && (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { + LED_RING(1); + return; + } + + // XXX this led code does have + // intentionally a few magic numbers. + const unsigned max_brightness = 118; + + static unsigned counter = 0; + static unsigned brightness = max_brightness; + static unsigned brightness_counter = 0; + static unsigned on_counter = 0; + + if (brightness_counter < max_brightness) { + + bool on = ((on_counter * 100) / brightness_counter+1) <= ((brightness * 100) / max_brightness+1); + + // XXX once led is PWM driven, + // remove the ! in the line below + // to return to the proper breathe + // animation / pattern (currently inverted) + LED_RING(!on); + brightness_counter++; + + if (on) { + on_counter++; + } + + } else { + + if (counter >= 62) { + counter = 0; + } + + int n; + + if (counter < 32) { + n = counter; + + } else { + n = 62 - counter; + } + + brightness = (n * n) / 8; + brightness_counter = 0; + on_counter = 0; + counter++; + } + #endif } @@ -300,6 +359,8 @@ user_start(int argc, char *argv[]) heartbeat_blink(); } + ring_blink(); + check_reboot(); /* check for debug activity (default: none) */ diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index 8186e4c78..93a33490f 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -140,7 +140,7 @@ extern pwm_limit_t pwm_limit; #define LED_BLUE(_s) stm32_gpiowrite(GPIO_LED1, !(_s)) #define LED_AMBER(_s) stm32_gpiowrite(GPIO_LED2, !(_s)) #define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s)) -#define LED_RING(_s) stm32_gpiowrite(GPIO_LED4, !(_s)) +#define LED_RING(_s) stm32_gpiowrite(GPIO_LED4, (_s)) #ifdef CONFIG_ARCH_BOARD_PX4IO_V1 diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 49c2a9f56..f0c2cfd26 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -191,7 +191,8 @@ volatile uint16_t r_page_setup[] = PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED | \ PX4IO_P_SETUP_ARMING_LOCKDOWN | \ PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE | \ - PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) + PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE | \ + PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) #define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1) #define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1) @@ -406,11 +407,11 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num /* handle text going to the mixer parser */ case PX4IO_PAGE_MIXERLOAD: - if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || - (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { - return mixer_handle_text(values, num_values * sizeof(*values)); - } - break; + /* do not change the mixer if FMU is armed and IO's safety is off + * this state defines an active system. This check is done in the + * text handling function. + */ + return mixer_handle_text(values, num_values * sizeof(*values)); default: /* avoid offset wrap */ @@ -582,8 +583,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) break; case PX4IO_P_SETUP_REBOOT_BL: - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || - (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { + if (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) { // don't allow reboot while armed break; } @@ -629,10 +629,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_PAGE_RC_CONFIG: { /** - * do not allow a RC config change while outputs armed + * do not allow a RC config change while safety is off */ - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || - (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { + if (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) { break; } diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index 6ead38d61..d76ec55f0 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -57,6 +57,7 @@ #define SBUS_FLAGS_BYTE 23 #define SBUS_FAILSAFE_BIT 3 #define SBUS_FRAMELOST_BIT 2 +#define SBUS1_FRAME_DELAY 14000 /* Measured values with Futaba FX-30/R6108SB: @@ -80,6 +81,7 @@ static int sbus_fd = -1; static hrt_abstime last_rx_time; static hrt_abstime last_frame_time; +static hrt_abstime last_txframe_time = 0; static uint8_t frame[SBUS_FRAME_SIZE]; @@ -122,10 +124,42 @@ sbus_init(const char *device) void sbus1_output(uint16_t *values, uint16_t num_values) { - char a = 'A'; - write(sbus_fd, &a, 1); -} + uint8_t byteindex = 1; /*Data starts one byte into the sbus frame. */ + uint8_t offset = 0; + uint16_t value; + hrt_abstime now; + + now = hrt_absolute_time(); + + if ((now - last_txframe_time) > SBUS1_FRAME_DELAY) { + last_txframe_time = now; + uint8_t oframe[SBUS_FRAME_SIZE] = { 0x0f }; + + /* 16 is sbus number of servos/channels minus 2 single bit channels. + * currently ignoring single bit channels. */ + + for (unsigned i = 0; (i < num_values) && (i < 16); ++i) { + value = (uint16_t)(((values[i] - SBUS_SCALE_OFFSET) / SBUS_SCALE_FACTOR) + .5f); + + /*protect from out of bounds values and limit to 11 bits*/ + if (value > 0x07ff ) { + value = 0x07ff; + } + + while (offset >= 8) { + ++byteindex; + offset -= 8; + } + oframe[byteindex] |= (value << (offset)) & 0xff; + oframe[byteindex + 1] |= (value >> (8 - offset)) & 0xff; + oframe[byteindex + 2] |= (value >> (16 - offset)) & 0xff; + offset += 11; + } + + write(sbus_fd, oframe, SBUS_FRAME_SIZE); + } +} void sbus2_output(uint16_t *values, uint16_t num_values) { diff --git a/src/modules/sdlog2/module.mk b/src/modules/sdlog2/module.mk index a28d43e72..d4a00af39 100644 --- a/src/modules/sdlog2/module.mk +++ b/src/modules/sdlog2/module.mk @@ -43,3 +43,5 @@ SRCS = sdlog2.c \ logbuffer.c MODULE_STACKSIZE = 1200 + +MAXOPTIMIZATION = -Os diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index af580f1f7..0b6861d2a 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -496,6 +496,8 @@ static void *logwriter_thread(void *arg) /* set name */ prctl(PR_SET_NAME, "sdlog2_writer", 0); + perf_counter_t perf_write = perf_alloc(PC_ELAPSED, "sd write"); + int log_fd = open_log_file(); if (log_fd < 0) { @@ -553,7 +555,9 @@ static void *logwriter_thread(void *arg) n = available; } + perf_begin(perf_write); n = write(log_fd, read_ptr, n); + perf_end(perf_write); should_wait = (n == available) && !is_part; @@ -586,6 +590,9 @@ static void *logwriter_thread(void *arg) fsync(log_fd); close(log_fd); + /* free performance counter */ + perf_free(perf_write); + return NULL; } @@ -1511,11 +1518,14 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- FLOW --- */ if (copy_if_updated(ORB_ID(optical_flow), subs.flow_sub, &buf.flow)) { log_msg.msg_type = LOG_FLOW_MSG; - log_msg.body.log_FLOW.flow_raw_x = buf.flow.flow_raw_x; - log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_y; - log_msg.body.log_FLOW.flow_comp_x = buf.flow.flow_comp_x_m; - log_msg.body.log_FLOW.flow_comp_y = buf.flow.flow_comp_y_m; - log_msg.body.log_FLOW.distance = buf.flow.ground_distance_m; + log_msg.body.log_FLOW.ground_distance_m = buf.flow.ground_distance_m; + log_msg.body.log_FLOW.gyro_temperature = buf.flow.gyro_temperature; + log_msg.body.log_FLOW.gyro_x_rate_integral = buf.flow.gyro_x_rate_integral; + log_msg.body.log_FLOW.gyro_y_rate_integral = buf.flow.gyro_y_rate_integral; + log_msg.body.log_FLOW.gyro_z_rate_integral = buf.flow.gyro_z_rate_integral; + log_msg.body.log_FLOW.integration_timespan = buf.flow.integration_timespan; + log_msg.body.log_FLOW.pixel_flow_x_integral = buf.flow.pixel_flow_x_integral; + log_msg.body.log_FLOW.pixel_flow_y_integral = buf.flow.pixel_flow_y_integral; log_msg.body.log_FLOW.quality = buf.flow.quality; log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id; LOGBUFFER_WRITE_AND_COUNT(FLOW); diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index fa9bdacb8..30491036a 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -200,13 +200,19 @@ struct log_ARSP_s { /* --- FLOW - OPTICAL FLOW --- */ #define LOG_FLOW_MSG 15 struct log_FLOW_s { - int16_t flow_raw_x; - int16_t flow_raw_y; - float flow_comp_x; - float flow_comp_y; - float distance; - uint8_t quality; + uint64_t timestamp; uint8_t sensor_id; + float pixel_flow_x_integral; + float pixel_flow_y_integral; + float gyro_x_rate_integral; + float gyro_y_rate_integral; + float gyro_z_rate_integral; + float ground_distance_m; + uint32_t integration_timespan; + uint32_t time_since_last_sonar_update; + uint16_t frame_count_since_last_readout; + int16_t gyro_temperature; + uint8_t quality; }; /* --- GPOS - GLOBAL POSITION ESTIMATE --- */ diff --git a/src/modules/sensors/module.mk b/src/modules/sensors/module.mk index 5b1bc5e86..dfbba92d9 100644 --- a/src/modules/sensors/module.mk +++ b/src/modules/sensors/module.mk @@ -42,3 +42,5 @@ SRCS = sensors.cpp \ sensor_params.c MODULE_STACKSIZE = 1200 + +MAXOPTIMIZATION = -Os diff --git a/src/modules/systemlib/mcu_version.c b/src/modules/systemlib/mcu_version.c new file mode 100644 index 000000000..4bcf95784 --- /dev/null +++ b/src/modules/systemlib/mcu_version.c @@ -0,0 +1,109 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mcu_version.c + * + * Read out the microcontroller version from the board + * + * @author Lorenz Meier <lorenz@px4.io> + * + */ + +#include "mcu_version.h" + +#include <nuttx/config.h> + +#ifdef CONFIG_ARCH_CHIP_STM32 +#include <up_arch.h> + +#define DBGMCU_IDCODE 0xE0042000 + +#define STM32F40x_41x 0x413 +#define STM32F42x_43x 0x419 + +#define REVID_MASK 0xFFFF0000 +#define DEVID_MASK 0xFFF + +#endif + + + +int mcu_version(char* rev, char** revstr) +{ +#ifdef CONFIG_ARCH_CHIP_STM32 + uint32_t abc = getreg32(DBGMCU_IDCODE); + + int32_t chip_version = abc & DEVID_MASK; + enum MCU_REV revid = (abc & REVID_MASK) >> 16; + + switch (chip_version) { + case STM32F40x_41x: + *revstr = "STM32F40x"; + break; + case STM32F42x_43x: + *revstr = "STM32F42x"; + break; + default: + *revstr = "STM32F???"; + break; + } + + switch (revid) { + + case MCU_REV_STM32F4_REV_A: + *rev = 'A'; + break; + case MCU_REV_STM32F4_REV_Z: + *rev = 'Z'; + break; + case MCU_REV_STM32F4_REV_Y: + *rev = 'Y'; + break; + case MCU_REV_STM32F4_REV_1: + *rev = '1'; + break; + case MCU_REV_STM32F4_REV_3: + *rev = '3'; + break; + default: + *rev = '?'; + revid = -1; + break; + } + + return revid; +#else + return -1; +#endif +} diff --git a/src/modules/systemlib/mcu_version.h b/src/modules/systemlib/mcu_version.h new file mode 100644 index 000000000..1b3d0aba9 --- /dev/null +++ b/src/modules/systemlib/mcu_version.h @@ -0,0 +1,52 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +/* magic numbers from reference manual */ +enum MCU_REV { + MCU_REV_STM32F4_REV_A = 0x1000, + MCU_REV_STM32F4_REV_Z = 0x1001, + MCU_REV_STM32F4_REV_Y = 0x1003, + MCU_REV_STM32F4_REV_1 = 0x1007, + MCU_REV_STM32F4_REV_3 = 0x2001 +}; + +/** + * Reports the microcontroller version of the main CPU. + * + * @param rev The silicon revision character + * @param revstr The full chip name string + * @return The silicon revision / version number as integer + */ +__EXPORT int mcu_version(char* rev, char** revstr); diff --git a/src/modules/systemlib/mixer/mixer_load.c b/src/modules/systemlib/mixer/mixer_load.c index bf3428a50..0d629d610 100644 --- a/src/modules/systemlib/mixer/mixer_load.c +++ b/src/modules/systemlib/mixer/mixer_load.c @@ -91,6 +91,7 @@ int load_mixer_file(const char *fname, char *buf, unsigned maxlen) /* if the line is too long to fit in the buffer, bail */ if ((strlen(line) + strlen(buf) + 1) >= maxlen) { warnx("line too long"); + fclose(fp); return -1; } @@ -98,6 +99,7 @@ int load_mixer_file(const char *fname, char *buf, unsigned maxlen) strcat(buf, line); } + fclose(fp); return 0; } diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk index 147903aa0..fe8b7e75a 100644 --- a/src/modules/systemlib/module.mk +++ b/src/modules/systemlib/module.mk @@ -53,5 +53,7 @@ SRCS = err.c \ otp.c \ board_serial.c \ pwm_limit/pwm_limit.c \ - circuit_breaker.c + circuit_breaker.c \ + mcu_version.c +MAXOPTIMIZATION = -Os diff --git a/src/modules/uORB/Publication.cpp b/src/modules/uORB/Publication.cpp index cd0b30dd6..71757e1f4 100644 --- a/src/modules/uORB/Publication.cpp +++ b/src/modules/uORB/Publication.cpp @@ -46,6 +46,7 @@ #include "topics/vehicle_attitude_setpoint.h" #include "topics/vehicle_rates_setpoint.h" #include "topics/actuator_outputs.h" +#include "topics/actuator_direct.h" #include "topics/encoders.h" #include "topics/tecs_status.h" @@ -76,6 +77,7 @@ template class __EXPORT Publication<vehicle_global_velocity_setpoint_s>; template class __EXPORT Publication<vehicle_attitude_setpoint_s>; template class __EXPORT Publication<vehicle_rates_setpoint_s>; template class __EXPORT Publication<actuator_outputs_s>; +template class __EXPORT Publication<actuator_direct_s>; template class __EXPORT Publication<encoders_s>; template class __EXPORT Publication<tecs_status_s>; diff --git a/src/modules/uORB/module.mk b/src/modules/uORB/module.mk index 0c29101fe..9385ce253 100644 --- a/src/modules/uORB/module.mk +++ b/src/modules/uORB/module.mk @@ -44,3 +44,5 @@ SRCS = uORB.cpp \ objects_common.cpp \ Publication.cpp \ Subscription.cpp + +MAXOPTIMIZATION = -Os diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index b91a00c1e..49dfc7834 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -192,6 +192,9 @@ ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s); ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s); ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s); +#include "topics/actuator_direct.h" +ORB_DEFINE(actuator_direct, struct actuator_direct_s); + #include "topics/multirotor_motor_limits.h" ORB_DEFINE(multirotor_motor_limits, struct multirotor_motor_limits_s); diff --git a/src/modules/uORB/topics/actuator_direct.h b/src/modules/uORB/topics/actuator_direct.h new file mode 100644 index 000000000..5f9d0f56d --- /dev/null +++ b/src/modules/uORB/topics/actuator_direct.h @@ -0,0 +1,69 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/** + * @file actuator_direct.h + * + * Actuator direct values. + * + * Values published to this topic are the direct actuator values which + * should be passed to actuators, bypassing mixing + */ + +#ifndef TOPIC_ACTUATOR_DIRECT_H +#define TOPIC_ACTUATOR_DIRECT_H + +#include <stdint.h> +#include "../uORB.h" + +#define NUM_ACTUATORS_DIRECT 16 + +/** + * @addtogroup topics + * @{ + */ + +struct actuator_direct_s { + uint64_t timestamp; /**< timestamp in us since system boot */ + float values[NUM_ACTUATORS_DIRECT]; /**< actuator values, from -1 to 1 */ + unsigned nvalues; /**< number of valid values */ +}; + +/** + * @} + */ + +/* actuator direct ORB */ +ORB_DECLARE(actuator_direct); + +#endif // TOPIC_ACTUATOR_DIRECT_H diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index dde237adc..50b7bd9e5 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -47,7 +47,7 @@ * Switch position */ typedef enum { - SWITCH_POS_NONE = 0, /**< switch is not mapped */ + SWITCH_POS_NONE = 0, /**< switch is not mapped */ SWITCH_POS_ON, /**< switch activated (value = 1) */ SWITCH_POS_MIDDLE, /**< middle position (value = 0) */ SWITCH_POS_OFF /**< switch not activated (value = -1) */ @@ -93,13 +93,13 @@ struct manual_control_setpoint_s { float aux4; /**< default function: camera roll */ float aux5; /**< default function: payload drop */ - switch_pos_t mode_switch; /**< main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO */ - switch_pos_t return_switch; /**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */ - switch_pos_t posctl_switch; /**< position control 2 position switch (optional): _ALTCTL_, POSCTL */ - switch_pos_t loiter_switch; /**< loiter 2 position switch (optional): _MISSION_, LOITER */ - switch_pos_t acro_switch; /**< acro 2 position switch (optional): _MANUAL_, ACRO */ - switch_pos_t offboard_switch; /**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */ -}; /**< manual control inputs */ + switch_pos_t mode_switch; /**< main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO */ + switch_pos_t return_switch; /**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */ + switch_pos_t posctl_switch; /**< position control 2 position switch (optional): _ALTCTL_, POSCTL */ + switch_pos_t loiter_switch; /**< loiter 2 position switch (optional): _MISSION_, LOITER */ + switch_pos_t acro_switch; /**< acro 2 position switch (optional): _MANUAL_, ACRO */ + switch_pos_t offboard_switch; /**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */ +}; /** * @} diff --git a/src/modules/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h index 0196ae86b..d3dc46ee0 100644 --- a/src/modules/uORB/topics/optical_flow.h +++ b/src/modules/uORB/topics/optical_flow.h @@ -55,16 +55,22 @@ */ struct optical_flow_s { - uint64_t timestamp; /**< in microseconds since system start */ - - uint64_t flow_timestamp; /**< timestamp from flow sensor */ - int16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */ - int16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */ - float flow_comp_x_m; /**< speed over ground in meters, rotation-compensated */ - float flow_comp_y_m; /**< speed over ground in meters, rotation-compensated */ - float ground_distance_m; /**< Altitude / distance to ground in meters */ - uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */ + uint64_t timestamp; /**< in microseconds since system start */ uint8_t sensor_id; /**< id of the sensor emitting the flow value */ + float pixel_flow_x_integral; /**< accumulated optical flow in radians around x axis */ + float pixel_flow_y_integral; /**< accumulated optical flow in radians around y axis */ + float gyro_x_rate_integral; /**< accumulated gyro value in radians around x axis */ + float gyro_y_rate_integral; /**< accumulated gyro value in radians around y axis */ + float gyro_z_rate_integral; /**< accumulated gyro value in radians around z axis */ + float ground_distance_m; /**< Altitude / distance to ground in meters */ + uint32_t integration_timespan; /**<accumulation timespan in microseconds */ + uint32_t time_since_last_sonar_update;/**< time since last sonar update in microseconds */ + uint16_t frame_count_since_last_readout;/**< number of accumulated frames in timespan */ + int16_t gyro_temperature;/**< Temperature * 100 in centi-degrees Celsius */ + uint8_t quality; /**< Average of quality of accumulated frames, 0: bad quality, 255: maximum quality */ + + + }; diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index b14ae1edd..16916cc4d 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -34,6 +34,8 @@ /** * @file rc_channels.h * Definition of the rc_channels uORB topic. + * + * @deprecated DO NOT USE FOR NEW CODE */ #ifndef RC_CHANNELS_H_ @@ -63,10 +65,13 @@ enum RC_CHANNELS_FUNCTION { AUX_2, AUX_3, AUX_4, - AUX_5, - RC_CHANNELS_FUNCTION_MAX /**< Indicates the number of functions. There can be more functions than RC channels. */ + AUX_5 }; +// MAXIMUM FUNCTIONS IS != MAXIMUM RC INPUT CHANNELS + +#define RC_CHANNELS_FUNCTION_MAX 18 + /** * @addtogroup topics * @{ diff --git a/src/modules/uORB/topics/test_motor.h b/src/modules/uORB/topics/test_motor.h index 491096934..2dd90e69d 100644 --- a/src/modules/uORB/topics/test_motor.h +++ b/src/modules/uORB/topics/test_motor.h @@ -57,7 +57,7 @@ struct test_motor_s { uint64_t timestamp; /**< output timestamp in us since system boot */ unsigned motor_number; /**< number of motor to spin */ - float value; /**< output data, in natural output units */ + float value; /**< output power, range [0..1] */ }; /** diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index a1b2667e3..8ec9d98d6 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -108,7 +108,7 @@ typedef enum { NAVIGATION_STATE_AUTO_LANDGPSFAIL, /**< Auto land on gps failure (e.g. open loop loiter down) */ NAVIGATION_STATE_ACRO, /**< Acro mode */ NAVIGATION_STATE_LAND, /**< Land mode */ - NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */ + NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */ NAVIGATION_STATE_TERMINATION, /**< Termination mode */ NAVIGATION_STATE_OFFBOARD, NAVIGATION_STATE_MAX, @@ -201,6 +201,7 @@ struct vehicle_status_s { bool rc_signal_found_once; bool rc_signal_lost; /**< true if RC reception lost */ + uint64_t rc_signal_lost_timestamp; /**< Time at which the RC reception was lost */ bool rc_signal_lost_cmd; /**< true if RC lost mode is commanded */ bool rc_input_blocked; /**< set if RC input should be ignored */ diff --git a/src/modules/uavcan/actuators/esc.cpp b/src/modules/uavcan/actuators/esc.cpp index 1990651ef..9f682c7e1 100644 --- a/src/modules/uavcan/actuators/esc.cpp +++ b/src/modules/uavcan/actuators/esc.cpp @@ -40,6 +40,9 @@ #include "esc.hpp" #include <systemlib/err.h> + +#define MOTOR_BIT(x) (1<<(x)) + UavcanEscController::UavcanEscController(uavcan::INode &node) : _node(node), _uavcan_pub_raw_cmd(node), @@ -73,7 +76,9 @@ int UavcanEscController::init() void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs) { - if ((outputs == nullptr) || (num_outputs > uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize)) { + if ((outputs == nullptr) || + (num_outputs > uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize) || + (num_outputs > CONNECTED_ESC_MAX)) { perf_count(_perfcnt_invalid_input); return; } @@ -95,14 +100,18 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs) static const int cmd_max = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max(); - if (_armed) { - for (unsigned i = 0; i < num_outputs; i++) { - + for (unsigned i = 0; i < num_outputs; i++) { + if (_armed_mask & MOTOR_BIT(i)) { float scaled = (outputs[i] + 1.0F) * 0.5F * cmd_max; - if (scaled < 1.0F) { - scaled = 1.0F; // Since we're armed, we don't want to stop it completely - } - + // trim negative values back to 0. Previously + // we set this to 0.1, which meant motors kept + // spinning when armed, but that should be a + // policy decision for a specific vehicle + // type, as it is not appropriate for all + // types of vehicles (eg. fixed wing). + if (scaled < 0.0F) { + scaled = 0.0F; + } if (scaled > cmd_max) { scaled = cmd_max; perf_count(_perfcnt_scaling_error); @@ -111,6 +120,8 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs) msg.cmd.push_back(static_cast<int>(scaled)); _esc_status.esc[i].esc_setpoint_raw = abs(static_cast<int>(scaled)); + } else { + msg.cmd.push_back(static_cast<unsigned>(0)); } } @@ -121,9 +132,22 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs) (void)_uavcan_pub_raw_cmd.broadcast(msg); } -void UavcanEscController::arm_esc(bool arm) +void UavcanEscController::arm_all_escs(bool arm) +{ + if (arm) { + _armed_mask = -1; + } else { + _armed_mask = 0; + } +} + +void UavcanEscController::arm_single_esc(int num, bool arm) { - _armed = arm; + if (arm) { + _armed_mask = MOTOR_BIT(num); + } else { + _armed_mask = 0; + } } void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg) diff --git a/src/modules/uavcan/actuators/esc.hpp b/src/modules/uavcan/actuators/esc.hpp index f4a3877e6..12c035542 100644 --- a/src/modules/uavcan/actuators/esc.hpp +++ b/src/modules/uavcan/actuators/esc.hpp @@ -61,7 +61,8 @@ public: void update_outputs(float *outputs, unsigned num_outputs); - void arm_esc(bool arm); + void arm_all_escs(bool arm); + void arm_single_esc(int num, bool arm); private: /** @@ -99,6 +100,11 @@ private: uavcan::TimerEventForwarder<TimerCbBinder> _orb_timer; /* + * ESC states + */ + uint32_t _armed_mask = 0; + + /* * Perf counters */ perf_counter_t _perfcnt_invalid_input = perf_alloc(PC_COUNT, "uavcan_esc_invalid_input"); diff --git a/src/modules/uavcan/sensors/baro.cpp b/src/modules/uavcan/sensors/baro.cpp index 80c5e3828..8741ae20d 100644 --- a/src/modules/uavcan/sensors/baro.cpp +++ b/src/modules/uavcan/sensors/baro.cpp @@ -91,11 +91,7 @@ void UavcanBarometerBridge::air_data_sub_cb(const uavcan::ReceivedDataStructure< { auto report = ::baro_report(); - report.timestamp = msg.getUtcTimestamp().toUSec(); - if (report.timestamp == 0) { - report.timestamp = msg.getMonotonicTimestamp().toUSec(); - } - + report.timestamp = msg.getMonotonicTimestamp().toUSec(); report.temperature = msg.static_temperature; report.pressure = msg.static_pressure / 100.0F; // Convert to millibar diff --git a/src/modules/uavcan/sensors/gnss.cpp b/src/modules/uavcan/sensors/gnss.cpp index 24afe6aaf..a375db37f 100644 --- a/src/modules/uavcan/sensors/gnss.cpp +++ b/src/modules/uavcan/sensors/gnss.cpp @@ -92,7 +92,7 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca auto report = ::vehicle_gps_position_s(); - report.timestamp_position = hrt_absolute_time(); + report.timestamp_position = msg.getMonotonicTimestamp().toUSec(); report.lat = msg.latitude_deg_1e8 / 10; report.lon = msg.longitude_deg_1e8 / 10; report.alt = msg.height_msl_mm; diff --git a/src/modules/uavcan/sensors/gnss.hpp b/src/modules/uavcan/sensors/gnss.hpp index e8466b401..2111ff80b 100644 --- a/src/modules/uavcan/sensors/gnss.hpp +++ b/src/modules/uavcan/sensors/gnss.hpp @@ -43,8 +43,6 @@ #pragma once -#include <drivers/drv_hrt.h> - #include <uORB/uORB.h> #include <uORB/topics/vehicle_gps_position.h> diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/modules/uavcan/sensors/mag.cpp index 8e6a9a22f..35ebee542 100644 --- a/src/modules/uavcan/sensors/mag.cpp +++ b/src/modules/uavcan/sensors/mag.cpp @@ -37,6 +37,8 @@ #include "mag.hpp" +#include <systemlib/err.h> + static const orb_id_t MAG_TOPICS[3] = { ORB_ID(sensor_mag0), ORB_ID(sensor_mag1), @@ -49,6 +51,8 @@ UavcanMagnetometerBridge::UavcanMagnetometerBridge(uavcan::INode& node) : UavcanCDevSensorBridgeBase("uavcan_mag", "/dev/uavcan/mag", MAG_DEVICE_PATH, MAG_TOPICS), _sub_mag(node) { + _device_id.devid_s.devtype = DRV_MAG_DEVTYPE_HMC5883; + _scale.x_scale = 1.0F; _scale.y_scale = 1.0F; _scale.z_scale = 1.0F; @@ -69,9 +73,36 @@ int UavcanMagnetometerBridge::init() return 0; } +ssize_t UavcanMagnetometerBridge::read(struct file *filp, char *buffer, size_t buflen) +{ + static uint64_t last_read = 0; + struct mag_report *mag_buf = reinterpret_cast<struct mag_report *>(buffer); + + /* buffer must be large enough */ + unsigned count = buflen / sizeof(struct mag_report); + if (count < 1) { + return -ENOSPC; + } + + if (last_read < _report.timestamp) { + /* copy report */ + lock(); + *mag_buf = _report; + last_read = _report.timestamp; + unlock(); + return sizeof(struct mag_report); + } else { + /* no new data available, warn caller */ + return -EAGAIN; + } +} + int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg) { switch (cmd) { + case SENSORIOCSQUEUEDEPTH: { + return OK; // Pretend that this stuff is supported to keep APM happy + } case MAGIOCSSCALE: { std::memcpy(&_scale, reinterpret_cast<const void*>(arg), sizeof(_scale)); return 0; @@ -84,7 +115,7 @@ int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long ar return 0; // Nothing to do } case MAGIOCGEXTERNAL: { - return 0; // We don't want anyone to transform the coordinate frame, so we declare it onboard + return 1; // declare it external rise it's priority and to allow for correct orientation compensation } case MAGIOCSSAMPLERATE: { return 0; // Pretend that this stuff is supported to keep the sensor app happy @@ -106,18 +137,14 @@ int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long ar void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg) { - auto report = ::mag_report(); - - report.range_ga = 1.3F; // Arbitrary number, doesn't really mean anything - - report.timestamp = msg.getUtcTimestamp().toUSec(); - if (report.timestamp == 0) { - report.timestamp = msg.getMonotonicTimestamp().toUSec(); - } + lock(); + _report.range_ga = 1.3F; // Arbitrary number, doesn't really mean anything + _report.timestamp = msg.getMonotonicTimestamp().toUSec(); - report.x = (msg.magnetic_field[0] - _scale.x_offset) * _scale.x_scale; - report.y = (msg.magnetic_field[1] - _scale.y_offset) * _scale.y_scale; - report.z = (msg.magnetic_field[2] - _scale.z_offset) * _scale.z_scale; + _report.x = (msg.magnetic_field[0] - _scale.x_offset) * _scale.x_scale; + _report.y = (msg.magnetic_field[1] - _scale.y_offset) * _scale.y_scale; + _report.z = (msg.magnetic_field[2] - _scale.z_offset) * _scale.z_scale; + unlock(); - publish(msg.getSrcNodeID().get(), &report); + publish(msg.getSrcNodeID().get(), &_report); } diff --git a/src/modules/uavcan/sensors/mag.hpp b/src/modules/uavcan/sensors/mag.hpp index 6d413a8f7..74077d883 100644 --- a/src/modules/uavcan/sensors/mag.hpp +++ b/src/modules/uavcan/sensors/mag.hpp @@ -54,6 +54,7 @@ public: int init() override; private: + ssize_t read(struct file *filp, char *buffer, size_t buflen); int ioctl(struct file *filp, int cmd, unsigned long arg) override; void mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg); @@ -65,4 +66,5 @@ private: uavcan::Subscriber<uavcan::equipment::ahrs::Magnetometer, MagCbBinder> _sub_mag; mag_scale _scale = {}; + mag_report _report = {}; }; diff --git a/src/modules/uavcan/sensors/sensor_bridge.cpp b/src/modules/uavcan/sensors/sensor_bridge.cpp index 9608ce680..0999938fc 100644 --- a/src/modules/uavcan/sensors/sensor_bridge.cpp +++ b/src/modules/uavcan/sensors/sensor_bridge.cpp @@ -103,6 +103,9 @@ void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report) return; } + // update device id as we now know our device node_id + _device_id.devid_s.address = static_cast<uint8_t>(node_id); + // Ask the CDev helper which class instance we can take const int class_instance = register_class_devname(_class_devname); if (class_instance < 0 || class_instance >= int(_max_channels)) { diff --git a/src/modules/uavcan/sensors/sensor_bridge.hpp b/src/modules/uavcan/sensors/sensor_bridge.hpp index 1316f7ecc..e31960537 100644 --- a/src/modules/uavcan/sensors/sensor_bridge.hpp +++ b/src/modules/uavcan/sensors/sensor_bridge.hpp @@ -112,6 +112,8 @@ protected: _channels(new Channel[MaxChannels]) { memcpy(_orb_topics, orb_topics, sizeof(orb_id_t) * MaxChannels); + _device_id.devid_s.bus_type = DeviceBusType_UAVCAN; + _device_id.devid_s.bus = 0; } /** diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp index a8485ee44..8147a8b89 100644 --- a/src/modules/uavcan/uavcan_main.cpp +++ b/src/modules/uavcan/uavcan_main.cpp @@ -269,6 +269,24 @@ void UavcanNode::node_spin_once() } } +/* + add a fd to the list of polled events. This assumes you want + POLLIN for now. + */ +int UavcanNode::add_poll_fd(int fd) +{ + int ret = _poll_fds_num; + if (_poll_fds_num >= UAVCAN_NUM_POLL_FDS) { + errx(1, "uavcan: too many poll fds, exiting"); + } + _poll_fds[_poll_fds_num] = ::pollfd(); + _poll_fds[_poll_fds_num].fd = fd; + _poll_fds[_poll_fds_num].events = POLLIN; + _poll_fds_num += 1; + return ret; +} + + int UavcanNode::run() { (void)pthread_mutex_lock(&_node_mutex); @@ -279,9 +297,10 @@ int UavcanNode::run() _output_count = 2; _armed_sub = orb_subscribe(ORB_ID(actuator_armed)); + _test_motor_sub = orb_subscribe(ORB_ID(test_motor)); + _actuator_direct_sub = orb_subscribe(ORB_ID(actuator_direct)); - actuator_outputs_s outputs; - memset(&outputs, 0, sizeof(outputs)); + memset(&_outputs, 0, sizeof(_outputs)); const int busevent_fd = ::open(uavcan_stm32::BusEvent::DevName, 0); if (busevent_fd < 0) @@ -303,11 +322,15 @@ int UavcanNode::run() * the value returned from poll() to detect whether actuator control has timed out or not. * Instead, all ORB events need to be checked individually (see below). */ - _poll_fds_num = 0; - _poll_fds[_poll_fds_num] = ::pollfd(); - _poll_fds[_poll_fds_num].fd = busevent_fd; - _poll_fds[_poll_fds_num].events = POLLIN; - _poll_fds_num += 1; + add_poll_fd(busevent_fd); + + /* + * setup poll to look for actuator direct input if we are + * subscribed to the topic + */ + if (_actuator_direct_sub != -1) { + _actuator_direct_poll_fd_num = add_poll_fd(_actuator_direct_sub); + } while (!_task_should_exit) { // update actuator controls subscriptions if needed @@ -325,6 +348,8 @@ int UavcanNode::run() node_spin_once(); // Non-blocking + bool new_output = false; + // this would be bad... if (poll_ret < 0) { log("poll error %d", errno); @@ -332,67 +357,102 @@ int UavcanNode::run() } else { // get controls for required topics bool controls_updated = false; - unsigned poll_id = 1; for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { if (_control_subs[i] > 0) { - if (_poll_fds[poll_id].revents & POLLIN) { + if (_poll_fds[_poll_ids[i]].revents & POLLIN) { controls_updated = true; orb_copy(_control_topics[i], _control_subs[i], &_controls[i]); } - poll_id++; } } + /* + see if we have any direct actuator updates + */ + if (_actuator_direct_sub != -1 && + (_poll_fds[_actuator_direct_poll_fd_num].revents & POLLIN) && + orb_copy(ORB_ID(actuator_direct), _actuator_direct_sub, &_actuator_direct) == OK && + !_test_in_progress) { + if (_actuator_direct.nvalues > NUM_ACTUATOR_OUTPUTS) { + _actuator_direct.nvalues = NUM_ACTUATOR_OUTPUTS; + } + memcpy(&_outputs.output[0], &_actuator_direct.values[0], + _actuator_direct.nvalues*sizeof(float)); + _outputs.noutputs = _actuator_direct.nvalues; + new_output = true; + } + // can we mix? - if (controls_updated && (_mixers != nullptr)) { + if (_test_in_progress) { + memset(&_outputs, 0, sizeof(_outputs)); + if (_test_motor.motor_number < NUM_ACTUATOR_OUTPUTS) { + _outputs.output[_test_motor.motor_number] = _test_motor.value*2.0f-1.0f; + _outputs.noutputs = _test_motor.motor_number+1; + } + new_output = true; + } else if (controls_updated && (_mixers != nullptr)) { // XXX one output group has 8 outputs max, // but this driver could well serve multiple groups. unsigned num_outputs_max = 8; // Do mixing - outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs_max); - outputs.timestamp = hrt_absolute_time(); - - // iterate actuators - for (unsigned i = 0; i < outputs.noutputs; i++) { - // last resort: catch NaN, INF and out-of-band errors - if (!isfinite(outputs.output[i])) { - /* - * Value is NaN, INF or out of band - set to the minimum value. - * This will be clearly visible on the servo status and will limit the risk of accidentally - * spinning motors. It would be deadly in flight. - */ - outputs.output[i] = -1.0f; - } + _outputs.noutputs = _mixers->mix(&_outputs.output[0], num_outputs_max); - // limit outputs to valid range + new_output = true; + } + } - // never go below min - if (outputs.output[i] < -1.0f) { - outputs.output[i] = -1.0f; - } + if (new_output) { + // iterate actuators, checking for valid values + for (uint8_t i = 0; i < _outputs.noutputs; i++) { + // last resort: catch NaN, INF and out-of-band errors + if (!isfinite(_outputs.output[i])) { + /* + * Value is NaN, INF or out of band - set to the minimum value. + * This will be clearly visible on the servo status and will limit the risk of accidentally + * spinning motors. It would be deadly in flight. + */ + _outputs.output[i] = -1.0f; + } - // never go below max - if (outputs.output[i] > 1.0f) { - outputs.output[i] = 1.0f; - } + // never go below min + if (_outputs.output[i] < -1.0f) { + _outputs.output[i] = -1.0f; } - // Output to the bus - _esc_controller.update_outputs(outputs.output, outputs.noutputs); + // never go above max + if (_outputs.output[i] > 1.0f) { + _outputs.output[i] = 1.0f; + } } + // Output to the bus + _outputs.timestamp = hrt_absolute_time(); + _esc_controller.update_outputs(_outputs.output, _outputs.noutputs); } - // Check arming state + + // Check motor test state bool updated = false; + orb_check(_test_motor_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(test_motor), _test_motor_sub, &_test_motor); + + // Update the test status and check that we're not locked down + _test_in_progress = (_test_motor.value > 0); + _esc_controller.arm_single_esc(_test_motor.motor_number, _test_in_progress); + } + + // Check arming state orb_check(_armed_sub, &updated); if (updated) { orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed); - // Update the armed status and check that we're not locked down - bool set_armed = _armed.armed && !_armed.lockdown; + // Update the armed status and check that we're not locked down and motor + // test is not running + bool set_armed = _armed.armed && !_armed.lockdown && !_test_in_progress; arm_actuators(set_armed); } @@ -429,7 +489,7 @@ int UavcanNode::arm_actuators(bool arm) { _is_armed = arm; - _esc_controller.arm_esc(arm); + _esc_controller.arm_all_escs(arm); return OK; } @@ -440,7 +500,6 @@ UavcanNode::subscribe() uint32_t sub_groups = _groups_required & ~_groups_subscribed; uint32_t unsub_groups = _groups_subscribed & ~_groups_required; // the first fd used by CAN - _poll_fds_num = 1; for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { if (sub_groups & (1 << i)) { warnx("subscribe to actuator_controls_%d", i); @@ -453,9 +512,7 @@ UavcanNode::subscribe() } if (_control_subs[i] > 0) { - _poll_fds[_poll_fds_num].fd = _control_subs[i]; - _poll_fds[_poll_fds_num].events = POLLIN; - _poll_fds_num++; + _poll_ids[i] = add_poll_fd(_control_subs[i]); } } } @@ -553,6 +610,14 @@ UavcanNode::print_info() (unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num); printf("ESC mixer: %s\n", (_mixers == nullptr) ? "NONE" : "OK"); + if (_outputs.noutputs != 0) { + printf("ESC output: "); + for (uint8_t i=0; i<_outputs.noutputs; i++) { + printf("%d ", (int)(_outputs.output[i]*1000)); + } + printf("\n"); + } + // Sensor bridges auto br = _sensor_bridges.getHead(); while (br != nullptr) { @@ -571,7 +636,7 @@ UavcanNode::print_info() static void print_usage() { warnx("usage: \n" - "\tuavcan {start|status|stop}"); + "\tuavcan {start|status|stop|arm|disarm}"); } extern "C" __EXPORT int uavcan_main(int argc, char *argv[]); @@ -618,6 +683,16 @@ int uavcan_main(int argc, char *argv[]) ::exit(0); } + if (!std::strcmp(argv[1], "arm")) { + inst->arm_actuators(true); + ::exit(0); + } + + if (!std::strcmp(argv[1], "disarm")) { + inst->arm_actuators(false); + ::exit(0); + } + if (!std::strcmp(argv[1], "stop")) { delete inst; ::exit(0); diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp index be7db9741..98f2e5ad4 100644 --- a/src/modules/uavcan/uavcan_main.hpp +++ b/src/modules/uavcan/uavcan_main.hpp @@ -41,6 +41,8 @@ #include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_armed.h> +#include <uORB/topics/test_motor.h> +#include <uORB/topics/actuator_direct.h> #include "actuators/esc.hpp" #include "sensors/sensor_bridge.hpp" @@ -56,6 +58,9 @@ #define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN 4 #define UAVCAN_DEVICE_PATH "/dev/uavcan/esc" +// we add two to allow for actuator_direct and busevent +#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2) + /** * A UAVCAN node. */ @@ -96,6 +101,8 @@ private: int init(uavcan::NodeID node_id); void node_spin_once(); int run(); + int add_poll_fd(int fd); ///< add a fd to poll list, returning index into _poll_fds[] + int _task = -1; ///< handle to the OS task bool _task_should_exit = false; ///< flag to indicate to tear down the CAN driver @@ -103,6 +110,10 @@ private: actuator_armed_s _armed; ///< the arming request of the system bool _is_armed = false; ///< the arming status of the actuators on the bus + int _test_motor_sub = -1; ///< uORB subscription of the test_motor status + test_motor_s _test_motor; + bool _test_in_progress = false; + unsigned _output_count = 0; ///< number of actuators currently available static UavcanNode *_instance; ///< singleton pointer @@ -120,6 +131,15 @@ private: int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {}; actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {}; orb_id_t _control_topics[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {}; - pollfd _poll_fds[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN + 1] = {}; ///< +1 for /dev/uavcan/busevent + pollfd _poll_fds[UAVCAN_NUM_POLL_FDS] = {}; unsigned _poll_fds_num = 0; + + int _actuator_direct_sub = -1; ///< uORB subscription of the actuator_direct topic + uint8_t _actuator_direct_poll_fd_num; + actuator_direct_s _actuator_direct; + + actuator_outputs_s _outputs; + + // index into _poll_fds for each _control_subs handle + uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN]; }; diff --git a/src/systemcmds/motor_test/module.mk b/src/systemcmds/motor_test/module.mk index eb36d2ded..261428ef9 100644 --- a/src/systemcmds/motor_test/module.mk +++ b/src/systemcmds/motor_test/module.mk @@ -39,3 +39,5 @@ MODULE_COMMAND = motor_test SRCS = motor_test.c MODULE_STACKSIZE = 4096 + +MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/motor_test/motor_test.c b/src/systemcmds/motor_test/motor_test.c index 079f99674..77dc2f0d5 100644 --- a/src/systemcmds/motor_test/motor_test.c +++ b/src/systemcmds/motor_test/motor_test.c @@ -54,32 +54,35 @@ #include "systemlib/err.h" -__EXPORT int motor_test_main(int argc, char *argv[]); +__EXPORT int motor_test_main(int argc, char *argv[]); + static void motor_test(unsigned channel, float value); static void usage(const char *reason); +static orb_advert_t _test_motor_pub; + void motor_test(unsigned channel, float value) { - orb_advert_t _test_motor_pub; struct test_motor_s _test_motor; _test_motor.motor_number = channel; _test_motor.timestamp = hrt_absolute_time(); _test_motor.value = value; - if (_test_motor_pub > 0) { - /* publish armed state */ - orb_publish(ORB_ID(test_motor), _test_motor_pub, &_test_motor); - } else { - /* advertise and publish */ - _test_motor_pub = orb_advertise(ORB_ID(test_motor), &_test_motor); - } + if (_test_motor_pub > 0) { + /* publish test state */ + orb_publish(ORB_ID(test_motor), _test_motor_pub, &_test_motor); + } else { + /* advertise and publish */ + _test_motor_pub = orb_advertise(ORB_ID(test_motor), &_test_motor); + } } static void usage(const char *reason) { - if (reason != NULL) + if (reason != NULL) { warnx("%s", reason); + } errx(1, "usage:\n" @@ -90,8 +93,9 @@ static void usage(const char *reason) int motor_test_main(int argc, char *argv[]) { - unsigned long channel, lval; - float value; + unsigned long channel = 0; + unsigned long lval; + float value = 0.0f; int ch; if (argc != 5) { @@ -102,18 +106,18 @@ int motor_test_main(int argc, char *argv[]) switch (ch) { case 'm': - /* Read in channels supplied as one int and convert to mask: 1234 -> 0xF */ + /* Read in motor number */ channel = strtoul(optarg, NULL, 0); break; case 'p': - /* Read in custom low value */ + /* Read in power value */ lval = strtoul(optarg, NULL, 0); if (lval > 100) usage("value invalid"); - value = (float)lval/100.f; + value = ((float)lval)/100.f; break; default: usage(NULL); @@ -122,7 +126,7 @@ int motor_test_main(int argc, char *argv[]) motor_test(channel, value); - printf("motor %d set to %.2f\n", channel, value); + printf("motor %d set to %.2f\n", channel, (double)value); exit(0); } diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c index f06c49552..edeb5c624 100644 --- a/src/systemcmds/nshterm/nshterm.c +++ b/src/systemcmds/nshterm/nshterm.c @@ -51,6 +51,8 @@ #include <fcntl.h> #include <systemlib/err.h> +#include <uORB/topics/actuator_armed.h> + __EXPORT int nshterm_main(int argc, char *argv[]); int @@ -62,9 +64,30 @@ nshterm_main(int argc, char *argv[]) } unsigned retries = 0; int fd = -1; + int armed_fd = orb_subscribe(ORB_ID(actuator_armed)); + struct actuator_armed_s armed; + /* we assume the system does not provide arming status feedback */ + bool armed_updated = false; + + /* try the first 30 seconds or if arming system is ready */ + while ((retries < 300) || armed_updated) { + + /* abort if an arming topic is published and system is armed */ + bool updated = false; + if (orb_check(armed_fd, &updated)) { + /* the system is now providing arming status feedback. + * instead of timing out, we resort to abort bringing + * up the terminal. + */ + armed_updated = true; + orb_copy(ORB_ID(actuator_armed), armed_fd, &armed); + + if (armed.armed) { + /* this is not an error, but we are done */ + exit(0); + } + } - /* try the first 30 seconds */ - while (retries < 300) { /* the retries are to cope with the behaviour of /dev/ttyACM0 */ /* which may not be ready immediately. */ fd = open(argv[1], O_RDWR); diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c index 478c2a772..eeba89fa8 100644 --- a/src/systemcmds/pwm/pwm.c +++ b/src/systemcmds/pwm/pwm.c @@ -74,34 +74,34 @@ usage(const char *reason) "usage:\n" "pwm arm|disarm|rate|failsafe|disarmed|min|max|test|info ...\n" "\n" - " arm Arm output\n" - " disarm Disarm output\n" + "arm\t\t\t\tArm output\n" + "disarm\t\t\t\tDisarm output\n" "\n" - " rate ... Configure PWM rates\n" - " [-g <channel group>] Channel group that should update at the alternate rate\n" - " [-m <chanmask> ] Directly supply channel mask\n" - " [-a] Configure all outputs\n" - " -r <alt_rate> PWM rate (50 to 400 Hz)\n" + "rate ...\t\t\tConfigure PWM rates\n" + "\t[-g <channel group>]\t(e.g. 0,1,2)\n" + "\t[-m <channel mask> ]\t(e.g. 0xF)\n" + "\t[-a]\t\t\tConfigure all outputs\n" + "\t-r <alt_rate>\t\tPWM rate (50 to 400 Hz)\n" "\n" - " failsafe ... Configure failsafe PWM values\n" - " disarmed ... Configure disarmed PWM values\n" - " min ... Configure minimum PWM values\n" - " max ... Configure maximum PWM values\n" - " [-c <channels>] Supply channels (e.g. 1234)\n" - " [-m <chanmask> ] Directly supply channel mask (e.g. 0xF)\n" - " [-a] Configure all outputs\n" - " -p <pwm value> PWM value\n" + "failsafe ...\t\t\tFailsafe PWM\n" + "disarmed ...\t\t\tDisarmed PWM\n" + "min ...\t\t\t\tMinimum PWM\n" + "max ...\t\t\t\tMaximum PWM\n" + "\t[-c <channels>]\t\t(e.g. 1234)\n" + "\t[-m <channel mask> ]\t(e.g. 0xF)\n" + "\t[-a]\t\t\tConfigure all outputs\n" + "\t-p <pwm value>\t\tPWM value\n" "\n" - " test ... Directly set PWM values\n" - " [-c <channels>] Supply channels (e.g. 1234)\n" - " [-m <chanmask> ] Directly supply channel mask (e.g. 0xF)\n" - " [-a] Configure all outputs\n" - " -p <pwm value> PWM value\n" + "test ...\t\t\tDirectly set PWM\n" + "\t[-c <channels>]\t\t(e.g. 1234)\n" + "\t[-m <channel mask> ]\t(e.g. 0xF)\n" + "\t[-a]\t\t\tConfigure all outputs\n" + "\t-p <pwm value>\t\tPWM value\n" "\n" - " info Print information about the PWM device\n" + "info\t\t\t\tPrint information\n" "\n" - " -v Print verbose information\n" - " -d <device> PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n" + "\t-v\t\t\tVerbose\n" + "\t-d <dev>\t\t(default " PWM_OUTPUT_DEVICE_PATH ")\n" ); } @@ -123,7 +123,7 @@ pwm_main(int argc, char *argv[]) unsigned single_ch = 0; unsigned pwm_value = 0; - if (argc < 1) + if (argc < 2) usage(NULL); while ((ch = getopt(argc-1, &argv[1], "d:vc:g:m:ap:r:")) != EOF) { @@ -165,7 +165,7 @@ pwm_main(int argc, char *argv[]) /* Read in mask directly */ set_mask = strtoul(optarg, &ep, 0); if (*ep != '\0') - usage("bad set_mask value"); + usage("BAD set_mask VAL"); break; case 'a': @@ -176,12 +176,12 @@ pwm_main(int argc, char *argv[]) case 'p': pwm_value = strtoul(optarg, &ep, 0); if (*ep != '\0') - usage("bad PWM value provided"); + usage("BAD PWM VAL"); break; case 'r': alt_rate = strtoul(optarg, &ep, 0); if (*ep != '\0') - usage("bad alternative rate provided"); + usage("BAD rate VAL"); break; default: break; @@ -189,7 +189,7 @@ pwm_main(int argc, char *argv[]) } if (print_verbose && set_mask > 0) { - warnx("Chose channels: "); + warnx("Channels: "); printf(" "); for (unsigned i = 0; i<PWM_OUTPUT_MAX_CHANNELS; i++) { if (set_mask & 1<<i) @@ -364,7 +364,7 @@ pwm_main(int argc, char *argv[]) usage("no channels set"); } if (pwm_value == 0) - usage("no PWM value provided"); + usage("no PWM provided"); struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0}; @@ -383,7 +383,7 @@ pwm_main(int argc, char *argv[]) ret = ioctl(fd, PWM_SERVO_SET_FAILSAFE_PWM, (long unsigned int)&pwm_values); if (ret != OK) - errx(ret, "failed setting failsafe values"); + errx(ret, "BAD input VAL"); } exit(0); @@ -393,7 +393,7 @@ pwm_main(int argc, char *argv[]) usage("no channels set"); } if (pwm_value == 0) - usage("no PWM value provided"); + usage("no PWM provided"); /* get current servo values */ struct pwm_output_values last_spos; @@ -487,7 +487,7 @@ pwm_main(int argc, char *argv[]) steps_timing_index < sizeof(steps_timings_us) / sizeof(steps_timings_us[0]); steps_timing_index++ ) { - warnx("Sending step input with 0 to 100%% over a %u microseconds ramp", steps_timings_us[steps_timing_index]); + warnx("Step input (0 to 100%%) over %u us ramp", steps_timings_us[steps_timing_index]); while (1) { for (unsigned i = 0; i < servo_count; i++) { @@ -526,7 +526,7 @@ pwm_main(int argc, char *argv[]) err(1, "PWM_SERVO_SET(%d)", i); } } - warnx("Key pressed, user abort\n"); + warnx("User abort\n"); exit(0); } } @@ -675,7 +675,7 @@ pwm_main(int argc, char *argv[]) exit(0); } - usage("specify arm|disarm|rate|failsafe\n\t\tdisarmed|min|max|test|info|forcefail|terminatefail"); + usage(NULL); return 0; } diff --git a/src/systemcmds/reflect/module.mk b/src/systemcmds/reflect/module.mk new file mode 100644 index 000000000..973eb775d --- /dev/null +++ b/src/systemcmds/reflect/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2014 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Dump file utility +# + +MODULE_COMMAND = reflect +SRCS = reflect.c + +MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/reflect/reflect.c b/src/systemcmds/reflect/reflect.c new file mode 100644 index 000000000..6bb53c71a --- /dev/null +++ b/src/systemcmds/reflect/reflect.c @@ -0,0 +1,111 @@ +/**************************************************************************** + * + * Copyright (c) 2014 Andrew Tridgell. 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 reflect.c + * + * simple data reflector for load testing terminals (especially USB) + * + * @author Andrew Tridgell + */ + +#include <nuttx/config.h> +#include <unistd.h> +#include <stdio.h> +#include <string.h> +#include <stdlib.h> +#include <stdbool.h> +#include <assert.h> +#include <systemlib/err.h> + +__EXPORT int reflect_main(int argc, char *argv[]); + +// memory corruption checking +#define MAX_BLOCKS 1000 +static uint32_t nblocks; +struct block { + uint32_t v[256]; +}; +static struct block *blocks[MAX_BLOCKS]; + +#define VALUE(i) ((i*7) ^ 0xDEADBEEF) + +static void allocate_blocks(void) +{ + while (nblocks < MAX_BLOCKS) { + blocks[nblocks] = calloc(1, sizeof(struct block)); + if (blocks[nblocks] == NULL) { + break; + } + for (uint32_t i=0; i<sizeof(blocks[nblocks]->v)/sizeof(uint32_t); i++) { + blocks[nblocks]->v[i] = VALUE(i); + } + nblocks++; + } + printf("Allocated %u blocks\n", nblocks); +} + +static void check_blocks(void) +{ + for (uint32_t n=0; n<nblocks; n++) { + for (uint32_t i=0; i<sizeof(blocks[nblocks]->v)/sizeof(uint32_t); i++) { + assert(blocks[n]->v[i] == VALUE(i)); + } + } +} + +int +reflect_main(int argc, char *argv[]) +{ + uint32_t total = 0; + printf("Starting reflector\n"); + + allocate_blocks(); + + while (true) { + char buf[128]; + ssize_t n = read(0, buf, sizeof(buf)); + if (n < 0) { + break; + } + if (n > 0) { + write(1, buf, n); + } + total += n; + if (total > 1024000) { + check_blocks(); + total = 0; + } + } + return OK; +} diff --git a/src/systemcmds/ver/ver.c b/src/systemcmds/ver/ver.c index 9ae080ee2..2ead3e632 100644 --- a/src/systemcmds/ver/ver.c +++ b/src/systemcmds/ver/ver.c @@ -44,14 +44,16 @@ #include <string.h> #include <version/version.h> #include <systemlib/err.h> +#include <systemlib/mcu_version.h> -// string constants for version commands +/* string constants for version commands */ static const char sz_ver_hw_str[] = "hw"; static const char sz_ver_hwcmp_str[] = "hwcmp"; static const char sz_ver_git_str[] = "git"; static const char sz_ver_bdate_str[] = "bdate"; static const char sz_ver_gcc_str[] = "gcc"; static const char sz_ver_all_str[] = "all"; +static const char mcu_ver_str[] = "mcu"; static void usage(const char *reason) { @@ -59,55 +61,87 @@ static void usage(const char *reason) printf("%s\n", reason); } - printf("usage: ver {hw|hwcmp|git|bdate|gcc|all}\n\n"); + printf("usage: ver {hw|hwcmp|git|bdate|gcc|all|mcu}\n\n"); } __EXPORT int ver_main(int argc, char *argv[]); int ver_main(int argc, char *argv[]) { - int ret = 1; //defaults to an error + /* defaults to an error */ + int ret = 1; - // first check if there are at least 2 params + /* first check if there are at least 2 params */ if (argc >= 2) { if (argv[1] != NULL) { - if (!strncmp(argv[1], sz_ver_hw_str, sizeof(sz_ver_hw_str))) { - printf("%s\n", HW_ARCH); - ret = 0; - } else if (!strncmp(argv[1], sz_ver_hwcmp_str, sizeof(sz_ver_hwcmp_str))) { + if (!strncmp(argv[1], sz_ver_hwcmp_str, sizeof(sz_ver_hwcmp_str))) { if (argc >= 3 && argv[2] != NULL) { - // compare 3rd parameter with HW_ARCH string, in case of match, return 0 + /* compare 3rd parameter with HW_ARCH string, in case of match, return 0 */ ret = strncmp(HW_ARCH, argv[2], strlen(HW_ARCH)); if (ret == 0) { printf("ver hwcmp match: %s\n", HW_ARCH); } + return ret; } else { errx(1, "Not enough arguments, try 'ver hwcmp PX4FMU_V2'"); } + } - } else if (!strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) { - printf("%s\n", FW_GIT); - ret = 0; + /* check if we want to show all */ + bool show_all = !strncmp(argv[1], sz_ver_all_str, sizeof(sz_ver_all_str)); - } else if (!strncmp(argv[1], sz_ver_bdate_str, sizeof(sz_ver_bdate_str))) { - printf("%s %s\n", __DATE__, __TIME__); + if (show_all || !strncmp(argv[1], sz_ver_hw_str, sizeof(sz_ver_hw_str))) { + printf("HW arch: %s\n", HW_ARCH); ret = 0; - } else if (!strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) { - printf("%s\n", __VERSION__); + } + + if (show_all || !strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) { + printf("FW git-hash: %s\n", FW_GIT); ret = 0; - } else if (!strncmp(argv[1], sz_ver_all_str, sizeof(sz_ver_all_str))) { - printf("HW arch: %s\n", HW_ARCH); + } + + if (show_all || !strncmp(argv[1], sz_ver_bdate_str, sizeof(sz_ver_bdate_str))) { printf("Build datetime: %s %s\n", __DATE__, __TIME__); - printf("FW git-hash: %s\n", FW_GIT); - printf("GCC toolchain: %s\n", __VERSION__); ret = 0; - } else { + } + + if (show_all || !strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) { + printf("Toolchain: %s\n", __VERSION__); + ret = 0; + + } + + if (show_all || !strncmp(argv[1], mcu_ver_str, sizeof(mcu_ver_str))) { + + char rev; + char* revstr; + + int chip_version = mcu_version(&rev, &revstr); + + if (chip_version < 0) { + printf("UNKNOWN MCU\n"); + + } else { + printf("MCU: %s, rev. %c\n", revstr, rev); + + if (chip_version < MCU_REV_STM32F4_REV_3) { + printf("\nWARNING WARNING WARNING!\n" + "Revision %c has a silicon errata\n" + "This device can only utilize a maximum of 1MB flash safely!\n" + "http://px4.io/help/errata\n\n", rev); + } + } + + ret = 0; + } + + if (ret == 1) { errx(1, "unknown command.\n"); } |