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-rw-r--r--src/drivers/ardrone_interface/ardrone_interface.c2
-rw-r--r--src/drivers/boards/px4fmu/px4fmu_init.c2
-rw-r--r--src/drivers/boards/px4fmu/px4fmu_internal.h2
-rw-r--r--src/drivers/boards/px4fmu/px4fmu_led.c2
-rw-r--r--src/drivers/boards/px4fmu/px4fmu_pwm_servo.c2
-rw-r--r--src/drivers/boards/px4fmu/px4fmu_spi.c2
-rw-r--r--src/drivers/boards/px4fmu/px4fmu_usb.c2
-rw-r--r--src/drivers/boards/px4io/px4io_init.c2
-rw-r--r--src/drivers/boards/px4io/px4io_internal.h2
-rw-r--r--src/drivers/boards/px4io/px4io_pwm_servo.c2
-rw-r--r--src/drivers/drv_gpio.h6
-rw-r--r--src/drivers/hil/hil.cpp2
-rw-r--r--src/drivers/hott_telemetry/hott_telemetry_main.c2
-rw-r--r--src/drivers/md25/md25_main.cpp2
-rw-r--r--src/drivers/mkblctrl/mkblctrl.cpp2
-rw-r--r--src/drivers/px4fmu/fmu.cpp2
-rw-r--r--src/drivers/px4io/uploader.cpp9
-rw-r--r--src/drivers/stm32/adc/adc.cpp2
-rw-r--r--src/drivers/stm32/drv_hrt.c6
-rw-r--r--src/drivers/stm32/drv_pwm_servo.c2
-rw-r--r--src/drivers/stm32/tone_alarm/tone_alarm.cpp2
21 files changed, 33 insertions, 24 deletions
diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c
index aeaf830de..735bdb41a 100644
--- a/src/drivers/ardrone_interface/ardrone_interface.c
+++ b/src/drivers/ardrone_interface/ardrone_interface.c
@@ -114,7 +114,7 @@ int ardrone_interface_main(int argc, char *argv[])
}
thread_should_exit = false;
- ardrone_interface_task = task_spawn("ardrone_interface",
+ ardrone_interface_task = task_spawn_cmd("ardrone_interface",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 15,
2048,
diff --git a/src/drivers/boards/px4fmu/px4fmu_init.c b/src/drivers/boards/px4fmu/px4fmu_init.c
index 69edc23ab..212a92cfa 100644
--- a/src/drivers/boards/px4fmu/px4fmu_init.c
+++ b/src/drivers/boards/px4fmu/px4fmu_init.c
@@ -58,7 +58,7 @@
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
-#include "stm32_internal.h"
+#include "stm32.h"
#include "px4fmu_internal.h"
#include "stm32_uart.h"
diff --git a/src/drivers/boards/px4fmu/px4fmu_internal.h b/src/drivers/boards/px4fmu/px4fmu_internal.h
index 671a58f8f..383a046ff 100644
--- a/src/drivers/boards/px4fmu/px4fmu_internal.h
+++ b/src/drivers/boards/px4fmu/px4fmu_internal.h
@@ -50,7 +50,7 @@
__BEGIN_DECLS
/* these headers are not C++ safe */
-#include <stm32_internal.h>
+#include <stm32.h>
/****************************************************************************************************
diff --git a/src/drivers/boards/px4fmu/px4fmu_led.c b/src/drivers/boards/px4fmu/px4fmu_led.c
index 34fd194c3..31b25984e 100644
--- a/src/drivers/boards/px4fmu/px4fmu_led.c
+++ b/src/drivers/boards/px4fmu/px4fmu_led.c
@@ -41,7 +41,7 @@
#include <stdbool.h>
-#include "stm32_internal.h"
+#include "stm32.h"
#include "px4fmu_internal.h"
#include <arch/board/board.h>
diff --git a/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c b/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c
index cb8918306..d85131dd8 100644
--- a/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c
+++ b/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c
@@ -46,7 +46,7 @@
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
-#include <stm32_internal.h>
+#include <stm32.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
diff --git a/src/drivers/boards/px4fmu/px4fmu_spi.c b/src/drivers/boards/px4fmu/px4fmu_spi.c
index b5d00eac0..e05ddecf3 100644
--- a/src/drivers/boards/px4fmu/px4fmu_spi.c
+++ b/src/drivers/boards/px4fmu/px4fmu_spi.c
@@ -52,7 +52,7 @@
#include "up_arch.h"
#include "chip.h"
-#include "stm32_internal.h"
+#include "stm32.h"
#include "px4fmu_internal.h"
/************************************************************************************
diff --git a/src/drivers/boards/px4fmu/px4fmu_usb.c b/src/drivers/boards/px4fmu/px4fmu_usb.c
index b0b669fbe..0be981c1e 100644
--- a/src/drivers/boards/px4fmu/px4fmu_usb.c
+++ b/src/drivers/boards/px4fmu/px4fmu_usb.c
@@ -52,7 +52,7 @@
#include <nuttx/usb/usbdev_trace.h>
#include "up_arch.h"
-#include "stm32_internal.h"
+#include "stm32.h"
#include "px4fmu_internal.h"
/************************************************************************************
diff --git a/src/drivers/boards/px4io/px4io_init.c b/src/drivers/boards/px4io/px4io_init.c
index d36353c6f..15c59e423 100644
--- a/src/drivers/boards/px4io/px4io_init.c
+++ b/src/drivers/boards/px4io/px4io_init.c
@@ -54,7 +54,7 @@
#include <nuttx/arch.h>
-#include "stm32_internal.h"
+#include "stm32.h"
#include "px4io_internal.h"
#include "stm32_uart.h"
diff --git a/src/drivers/boards/px4io/px4io_internal.h b/src/drivers/boards/px4io/px4io_internal.h
index eb2820bb7..6638e715e 100644
--- a/src/drivers/boards/px4io/px4io_internal.h
+++ b/src/drivers/boards/px4io/px4io_internal.h
@@ -47,7 +47,7 @@
#include <nuttx/compiler.h>
#include <stdint.h>
-#include <stm32_internal.h>
+#include <stm32.h>
/************************************************************************************
* Definitions
diff --git a/src/drivers/boards/px4io/px4io_pwm_servo.c b/src/drivers/boards/px4io/px4io_pwm_servo.c
index a2f73c429..6df470da6 100644
--- a/src/drivers/boards/px4io/px4io_pwm_servo.c
+++ b/src/drivers/boards/px4io/px4io_pwm_servo.c
@@ -46,7 +46,7 @@
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
-#include <stm32_internal.h>
+#include <stm32.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h
index 92d184326..7e3998fca 100644
--- a/src/drivers/drv_gpio.h
+++ b/src/drivers/drv_gpio.h
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -42,7 +42,7 @@
#include <sys/ioctl.h>
-#ifdef CONFIG_ARCH_BOARD_PX4FMU
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/*
* PX4FMU GPIO numbers.
*
@@ -67,7 +67,7 @@
#endif
-#ifdef CONFIG_ARCH_BOARD_PX4IO
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
/*
* PX4IO GPIO numbers.
*
diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp
index d9aa772d4..bd027ce0b 100644
--- a/src/drivers/hil/hil.cpp
+++ b/src/drivers/hil/hil.cpp
@@ -224,7 +224,7 @@ HIL::init()
// gpio_reset();
/* start the HIL interface task */
- _task = task_spawn("fmuhil",
+ _task = task_spawn_cmd("fmuhil",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2048,
diff --git a/src/drivers/hott_telemetry/hott_telemetry_main.c b/src/drivers/hott_telemetry/hott_telemetry_main.c
index 1d2bdd92e..4699ce5bf 100644
--- a/src/drivers/hott_telemetry/hott_telemetry_main.c
+++ b/src/drivers/hott_telemetry/hott_telemetry_main.c
@@ -271,7 +271,7 @@ hott_telemetry_main(int argc, char *argv[])
}
thread_should_exit = false;
- deamon_task = task_spawn(daemon_name,
+ deamon_task = task_spawn_cmd(daemon_name,
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40,
2048,
diff --git a/src/drivers/md25/md25_main.cpp b/src/drivers/md25/md25_main.cpp
index 80850e708..e62c46b0d 100644
--- a/src/drivers/md25/md25_main.cpp
+++ b/src/drivers/md25/md25_main.cpp
@@ -109,7 +109,7 @@ int md25_main(int argc, char *argv[])
}
thread_should_exit = false;
- deamon_task = task_spawn("md25",
+ deamon_task = task_spawn_cmd("md25",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10,
2048,
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index c67276f8a..b54b7aba1 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -313,7 +313,7 @@ MK::init(unsigned motors)
gpio_reset();
/* start the IO interface task */
- _task = task_spawn("mkblctrl",
+ _task = task_spawn_cmd("mkblctrl",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 20,
2048,
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index bf72892eb..5147ac500 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -239,7 +239,7 @@ PX4FMU::init()
gpio_reset();
/* start the IO interface task */
- _task = task_spawn("fmuservo",
+ _task = task_spawn_cmd("fmuservo",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2048,
diff --git a/src/drivers/px4io/uploader.cpp b/src/drivers/px4io/uploader.cpp
index 15524c3ae..9e3f041e3 100644
--- a/src/drivers/px4io/uploader.cpp
+++ b/src/drivers/px4io/uploader.cpp
@@ -49,6 +49,7 @@
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
+#include <termios.h>
#include <sys/stat.h>
#include "uploader.h"
@@ -121,6 +122,12 @@ PX4IO_Uploader::upload(const char *filenames[])
return -errno;
}
+ /* adjust line speed to match bootloader */
+ struct termios t;
+ tcgetattr(_io_fd, &t);
+ cfsetspeed(&t, 115200);
+ tcsetattr(_io_fd, TCSANOW, &t);
+
/* look for the bootloader */
ret = sync();
@@ -251,7 +258,7 @@ PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
int ret = ::poll(&fds[0], 1, timeout);
if (ret < 1) {
- log("poll timeout %d", ret);
+ //log("poll timeout %d", ret);
return -ETIMEDOUT;
}
diff --git a/src/drivers/stm32/adc/adc.cpp b/src/drivers/stm32/adc/adc.cpp
index 911def943..1020eb946 100644
--- a/src/drivers/stm32/adc/adc.cpp
+++ b/src/drivers/stm32/adc/adc.cpp
@@ -58,7 +58,7 @@
#include <drivers/drv_adc.h>
#include <arch/stm32/chip.h>
-#include <stm32_internal.h>
+#include <stm32.h>
#include <stm32_gpio.h>
#include <systemlib/err.h>
diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index fd63681e3..7ef3db970 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -66,7 +66,7 @@
#include "up_internal.h"
#include "up_arch.h"
-#include "stm32_internal.h"
+#include "stm32.h"
#include "stm32_gpio.h"
#include "stm32_tim.h"
@@ -278,8 +278,10 @@ static void hrt_call_invoke(void);
#ifdef CONFIG_HRT_PPM
/*
* If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it.
+ *
+ * Note that we assume that M3 means STM32F1 (since we don't really care about the F2).
*/
-# ifndef GTIM_CCER_CC1NP
+# ifdef CONFIG_ARCH_CORTEXM3
# define GTIM_CCER_CC1NP 0
# define GTIM_CCER_CC2NP 0
# define GTIM_CCER_CC3NP 0
diff --git a/src/drivers/stm32/drv_pwm_servo.c b/src/drivers/stm32/drv_pwm_servo.c
index c1efb8515..7b060412c 100644
--- a/src/drivers/stm32/drv_pwm_servo.c
+++ b/src/drivers/stm32/drv_pwm_servo.c
@@ -64,7 +64,7 @@
#include <up_internal.h>
#include <up_arch.h>
-#include <stm32_internal.h>
+#include <stm32.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
index ac5511e60..167ef30a8 100644
--- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp
+++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
@@ -111,7 +111,7 @@
#include <up_internal.h>
#include <up_arch.h>
-#include <stm32_internal.h>
+#include <stm32.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-19 20:10:54 +0000