diff options
Diffstat (limited to 'Tools')
-rw-r--r-- | Tools/px4params/.gitignore | 3 | ||||
-rw-r--r-- | Tools/px4params/dokuwikiout.py | 43 | ||||
-rw-r--r-- | Tools/px4params/xmlrpc.sh | 5 | ||||
-rwxr-xr-x | Tools/px_uploader.py | 48 | ||||
-rw-r--r-- | Tools/tests-host/Makefile | 10 | ||||
-rw-r--r-- | Tools/tests-host/hrt.cpp | 16 | ||||
-rw-r--r-- | Tools/tests-host/mixer_test.cpp | 2 | ||||
-rw-r--r-- | Tools/tests-host/queue.h | 133 |
8 files changed, 249 insertions, 11 deletions
diff --git a/Tools/px4params/.gitignore b/Tools/px4params/.gitignore index 73cf39575..5d0378b4a 100644 --- a/Tools/px4params/.gitignore +++ b/Tools/px4params/.gitignore @@ -1,2 +1,3 @@ parameters.wiki -parameters.xml
\ No newline at end of file +parameters.xml +cookies.txt
\ No newline at end of file diff --git a/Tools/px4params/dokuwikiout.py b/Tools/px4params/dokuwikiout.py index 4d40a6201..c5cf65ea6 100644 --- a/Tools/px4params/dokuwikiout.py +++ b/Tools/px4params/dokuwikiout.py @@ -1,10 +1,24 @@ import output +from xml.sax.saxutils import escape class DokuWikiOutput(output.Output): def Generate(self, groups): - result = "" + pre_text = """<?xml version='1.0'?> + <methodCall> + <methodName>wiki.putPage</methodName> + <params> + <param> + <value> + <string>:firmware:parameters</string> + </value> + </param> + <param> + <value> + <string>""" + result = "====== Parameter Reference ======\nThis list is auto-generated every few minutes and contains the most recent parameter names and default values." for group in groups: result += "==== %s ====\n\n" % group.GetName() + result += "|< 100% 20% 20% 10% 10% 10% 30%>|\n" result += "^ Name ^ Description ^ Min ^ Max ^ Default ^ Comment ^\n" for param in group.GetParams(): code = param.GetFieldValue("code") @@ -13,25 +27,36 @@ class DokuWikiOutput(output.Output): result += "| %s | %s " % (code, name) min_val = param.GetFieldValue("min") if min_val is not None: - result += "| %s " % min_val + result += " | %s " % min_val else: - result += "|" + result += " | " max_val = param.GetFieldValue("max") if max_val is not None: - result += "| %s " % max_val + result += " | %s " % max_val else: - result += "|" + result += " | " def_val = param.GetFieldValue("default") if def_val is not None: result += "| %s " % def_val else: - result += "|" + result += " | " long_desc = param.GetFieldValue("long_desc") if long_desc is not None: long_desc = long_desc.replace("\n", "") result += "| %s " % long_desc else: - result += "|" - result += "|\n" + result += " | " + result += " |\n" result += "\n" - return result + post_text = """</string> + </value> + </param> + <param> + <value> + <name>sum</name> + <string>Updated parameters automagically from code.</string> + </value> + </param> + </params> + </methodCall>""" + return pre_text + escape(result) + post_text diff --git a/Tools/px4params/xmlrpc.sh b/Tools/px4params/xmlrpc.sh new file mode 100644 index 000000000..36c52ff71 --- /dev/null +++ b/Tools/px4params/xmlrpc.sh @@ -0,0 +1,5 @@ +python px_process_params.py + +rm cookies.txt +curl --cookie cookies.txt --cookie-jar cookies.txt --user-agent Mozilla/4.0 --data "u=$XMLRPCUSER&p=$XMLRPCPASS" https://pixhawk.org/start?do=login +curl -k --cookie cookies.txt -H "Content-Type: application/xml" -X POST --data-binary @parameters.wiki "https://pixhawk.org/lib/exe/xmlrpc.php" diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py index cce5e5e54..23dc48450 100755 --- a/Tools/px_uploader.py +++ b/Tools/px_uploader.py @@ -50,6 +50,9 @@ # Currently only used for informational purposes. # +# for python2.7 compatibility +from __future__ import print_function + import sys import argparse import binascii @@ -154,6 +157,8 @@ class uploader(object): PROG_MULTI = b'\x27' READ_MULTI = b'\x28' # rev2 only GET_CRC = b'\x29' # rev3+ + GET_OTP = b'\x2a' # rev4+ , get a word from OTP area + GET_SN = b'\x2b' # rev4+ , get a word from SN area REBOOT = b'\x30' INFO_BL_REV = b'\x01' # bootloader protocol revision @@ -175,6 +180,8 @@ class uploader(object): def __init__(self, portname, baudrate): # open the port, keep the default timeout short so we can poll quickly self.port = serial.Serial(portname, baudrate, timeout=0.5) + self.otp = b'' + self.sn = b'' def close(self): if self.port is not None: @@ -237,6 +244,22 @@ class uploader(object): self.__getSync() return value + # send the GET_OTP command and wait for an info parameter + def __getOTP(self, param): + t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array. + self.__send(uploader.GET_OTP + t + uploader.EOC) + value = self.__recv(4) + self.__getSync() + return value + + # send the GET_OTP command and wait for an info parameter + def __getSN(self, param): + t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array. + self.__send(uploader.GET_SN + t + uploader.EOC) + value = self.__recv(4) + self.__getSync() + return value + # send the CHIP_ERASE command and wait for the bootloader to become ready def __erase(self): self.__send(uploader.CHIP_ERASE @@ -353,6 +376,31 @@ class uploader(object): if self.fw_maxsize < fw.property('image_size'): raise RuntimeError("Firmware image is too large for this board") + # OTP added in v4: + if self.bl_rev > 3: + for byte in range(0,32*6,4): + x = self.__getOTP(byte) + self.otp = self.otp + x + print(binascii.hexlify(x).decode('utf-8') + ' ', end='') + # see src/modules/systemlib/otp.h in px4 code: + self.otp_id = self.otp[0:4] + self.otp_idtype = self.otp[4:5] + self.otp_vid = self.otp[8:4:-1] + self.otp_pid = self.otp[12:8:-1] + self.otp_coa = self.otp[32:160] + # show user: + print("type: " + self.otp_id.decode('utf-8')) + print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('utf-8')) + print("vid: " + binascii.hexlify(self.otp_vid).decode('utf-8')) + print("pid: "+ binascii.hexlify(self.otp_pid).decode('utf-8')) + print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('utf-8')) + print("sn: ", end='') + for byte in range(0,12,4): + x = self.__getSN(byte) + x = x[::-1] # reverse the bytes + self.sn = self.sn + x + print(binascii.hexlify(x).decode('utf-8'), end='') # show user + print('') print("erase...") self.__erase() diff --git a/Tools/tests-host/Makefile b/Tools/tests-host/Makefile index 97410ff47..7ab1454f0 100644 --- a/Tools/tests-host/Makefile +++ b/Tools/tests-host/Makefile @@ -10,11 +10,13 @@ LIBS=-lm #_DEPS = test.h #DEPS = $(patsubst %,$(IDIR)/%,$(_DEPS)) -_OBJ = mixer_test.o test_mixer.o mixer_simple.o mixer_multirotor.o mixer.o mixer_group.o mixer_load.o +_OBJ = mixer_test.o test_mixer.o mixer_simple.o mixer_multirotor.o \ + mixer.o mixer_group.o mixer_load.o test_conv.o pwm_limit.o hrt.o OBJ = $(patsubst %,$(ODIR)/%,$(_OBJ)) #$(DEPS) $(ODIR)/%.o: %.cpp + mkdir -p obj $(CC) -c -o $@ $< $(CFLAGS) $(ODIR)/%.o: ../../src/systemcmds/tests/%.cpp @@ -26,6 +28,12 @@ $(ODIR)/%.o: ../../src/modules/systemlib/%.cpp $(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.cpp $(CC) -c -o $@ $< $(CFLAGS) +$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.cpp + $(CC) -c -o $@ $< $(CFLAGS) + +$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.c + $(CC) -c -o $@ $< $(CFLAGS) + $(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.c $(CC) -c -o $@ $< $(CFLAGS) diff --git a/Tools/tests-host/hrt.cpp b/Tools/tests-host/hrt.cpp new file mode 100644 index 000000000..01b5958b7 --- /dev/null +++ b/Tools/tests-host/hrt.cpp @@ -0,0 +1,16 @@ +#include <sys/time.h> +#include <inttypes.h> +#include <drivers/drv_hrt.h> +#include <stdio.h> + +hrt_abstime hrt_absolute_time() { + struct timeval te; + gettimeofday(&te, NULL); // get current time + hrt_abstime us = static_cast<uint64_t>(te.tv_sec) * 1e6 + te.tv_usec; // caculate us + return us; +} + +hrt_abstime hrt_elapsed_time(const volatile hrt_abstime *then) { + // not thread safe + return hrt_absolute_time() - *then; +} diff --git a/Tools/tests-host/mixer_test.cpp b/Tools/tests-host/mixer_test.cpp index 042322aad..e311617f9 100644 --- a/Tools/tests-host/mixer_test.cpp +++ b/Tools/tests-host/mixer_test.cpp @@ -9,4 +9,6 @@ int main(int argc, char *argv[]) { "../../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"}; test_mixer(3, args); + + test_conv(1, args); }
\ No newline at end of file diff --git a/Tools/tests-host/queue.h b/Tools/tests-host/queue.h new file mode 100644 index 000000000..0fdb170db --- /dev/null +++ b/Tools/tests-host/queue.h @@ -0,0 +1,133 @@ +/************************************************************************ + * include/queue.h + * + * Copyright (C) 2007-2009 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <gnutt@nuttx.org> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ************************************************************************/ + +#ifndef __INCLUDE_QUEUE_H +#define __INCLUDE_QUEUE_H + +#ifndef FAR +#define FAR +#endif + +/************************************************************************ + * Included Files + ************************************************************************/ + +#include <sys/types.h> + +/************************************************************************ + * Pre-processor Definitions + ************************************************************************/ + +#define sq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0) +#define dq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0) + +#define sq_next(p) ((p)->flink) +#define dq_next(p) ((p)->flink) +#define dq_prev(p) ((p)->blink) + +#define sq_empty(q) ((q)->head == NULL) +#define dq_empty(q) ((q)->head == NULL) + +#define sq_peek(q) ((q)->head) +#define dq_peek(q) ((q)->head) + +/************************************************************************ + * Global Type Declarations + ************************************************************************/ + +struct sq_entry_s +{ + FAR struct sq_entry_s *flink; +}; +typedef struct sq_entry_s sq_entry_t; + +struct dq_entry_s +{ + FAR struct dq_entry_s *flink; + FAR struct dq_entry_s *blink; +}; +typedef struct dq_entry_s dq_entry_t; + +struct sq_queue_s +{ + FAR sq_entry_t *head; + FAR sq_entry_t *tail; +}; +typedef struct sq_queue_s sq_queue_t; + +struct dq_queue_s +{ + FAR dq_entry_t *head; + FAR dq_entry_t *tail; +}; +typedef struct dq_queue_s dq_queue_t; + +/************************************************************************ + * Global Function Prototypes + ************************************************************************/ + +#ifdef __cplusplus +#define EXTERN extern "C" +extern "C" { +#else +#define EXTERN extern +#endif + +EXTERN void sq_addfirst(FAR sq_entry_t *node, sq_queue_t *queue); +EXTERN void dq_addfirst(FAR dq_entry_t *node, dq_queue_t *queue); +EXTERN void sq_addlast(FAR sq_entry_t *node, sq_queue_t *queue); +EXTERN void dq_addlast(FAR dq_entry_t *node, dq_queue_t *queue); +EXTERN void sq_addafter(FAR sq_entry_t *prev, FAR sq_entry_t *node, + sq_queue_t *queue); +EXTERN void dq_addafter(FAR dq_entry_t *prev, FAR dq_entry_t *node, + dq_queue_t *queue); +EXTERN void dq_addbefore(FAR dq_entry_t *next, FAR dq_entry_t *node, + dq_queue_t *queue); + +EXTERN FAR sq_entry_t *sq_remafter(FAR sq_entry_t *node, sq_queue_t *queue); +EXTERN void sq_rem(FAR sq_entry_t *node, sq_queue_t *queue); +EXTERN void dq_rem(FAR dq_entry_t *node, dq_queue_t *queue); +EXTERN FAR sq_entry_t *sq_remlast(sq_queue_t *queue); +EXTERN FAR dq_entry_t *dq_remlast(dq_queue_t *queue); +EXTERN FAR sq_entry_t *sq_remfirst(sq_queue_t *queue); +EXTERN FAR dq_entry_t *dq_remfirst(dq_queue_t *queue); + +#undef EXTERN +#ifdef __cplusplus +} +#endif + +#endif /* __INCLUDE_QUEUE_H_ */ + |