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-rw-r--r--src/drivers/boards/px4fmu-v1/board_config.h1
-rw-r--r--src/drivers/boards/px4fmu-v2/board_config.h2
-rw-r--r--src/drivers/boards/px4fmu-v2/px4fmu2_init.c15
-rw-r--r--src/drivers/hott/hott_sensors/hott_sensors.cpp2
-rw-r--r--src/drivers/hott/hott_telemetry/hott_telemetry.cpp2
-rw-r--r--src/drivers/px4fmu/fmu.cpp29
-rw-r--r--src/drivers/px4io/px4io.cpp116
7 files changed, 105 insertions, 62 deletions
diff --git a/src/drivers/boards/px4fmu-v1/board_config.h b/src/drivers/boards/px4fmu-v1/board_config.h
index 6f7166284..02c26b5c0 100644
--- a/src/drivers/boards/px4fmu-v1/board_config.h
+++ b/src/drivers/boards/px4fmu-v1/board_config.h
@@ -60,6 +60,7 @@ __BEGIN_DECLS
/* PX4IO connection configuration */
#define PX4IO_SERIAL_DEVICE "/dev/ttyS2"
+#define UDID_START 0x1FFF7A10
//#ifdef CONFIG_STM32_SPI2
//# error "SPI2 is not supported on this board"
diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h
index a19ed9d24..4972e6914 100644
--- a/src/drivers/boards/px4fmu-v2/board_config.h
+++ b/src/drivers/boards/px4fmu-v2/board_config.h
@@ -52,6 +52,8 @@ __BEGIN_DECLS
/* these headers are not C++ safe */
#include <stm32.h>
#include <arch/board/board.h>
+
+#define UDID_START 0x1FFF7A10
/****************************************************************************************************
* Definitions
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
index 269ec238e..71414d62c 100644
--- a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
@@ -282,7 +282,7 @@ __EXPORT int nsh_archinitialize(void)
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20);
- message("[boot] Successfully initialized SPI port 1\n");
+ message("[boot] Initialized SPI port 1 (SENSORS)\n");
/* Get the SPI port for the FRAM */
@@ -294,20 +294,23 @@ __EXPORT int nsh_archinitialize(void)
return -ENODEV;
}
- /* Default SPI2 to 37.5 MHz (F4 max) and de-assert the known chip selects. */
- SPI_SETFREQUENCY(spi2, 375000000);
+ /* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
+ * and de-assert the known chip selects. */
+
+ // XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
+ SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
SPI_SELECT(spi2, SPIDEV_FLASH, false);
- message("[boot] Successfully initialized SPI port 2\n");
+ message("[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");
#ifdef CONFIG_MMCSD
/* First, get an instance of the SDIO interface */
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
if (!sdio) {
- message("nsh_archinitialize: Failed to initialize SDIO slot %d\n",
+ message("[boot] Failed to initialize SDIO slot %d\n",
CONFIG_NSH_MMCSDSLOTNO);
return -ENODEV;
}
@@ -315,7 +318,7 @@ __EXPORT int nsh_archinitialize(void)
/* Now bind the SDIO interface to the MMC/SD driver */
int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
if (ret != OK) {
- message("nsh_archinitialize: Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+ message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
diff --git a/src/drivers/hott/hott_sensors/hott_sensors.cpp b/src/drivers/hott/hott_sensors/hott_sensors.cpp
index e322c6349..a3d3a3933 100644
--- a/src/drivers/hott/hott_sensors/hott_sensors.cpp
+++ b/src/drivers/hott/hott_sensors/hott_sensors.cpp
@@ -211,7 +211,7 @@ hott_sensors_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = task_spawn_cmd(daemon_name,
SCHED_DEFAULT,
- SCHED_PRIORITY_MAX - 40,
+ SCHED_PRIORITY_DEFAULT,
1024,
hott_sensors_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
diff --git a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
index 042d9f816..d293f9954 100644
--- a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
+++ b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
@@ -237,7 +237,7 @@ hott_telemetry_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = task_spawn_cmd(daemon_name,
SCHED_DEFAULT,
- SCHED_PRIORITY_MAX - 40,
+ SCHED_PRIORITY_DEFAULT,
2048,
hott_telemetry_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index b878d29bc..b28d318d7 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -65,6 +65,7 @@
#include <systemlib/err.h>
#include <systemlib/mixer/mixer.h>
#include <systemlib/pwm_limit/pwm_limit.h>
+#include <systemlib/board_serial.h>
#include <drivers/drv_mixer.h>
#include <drivers/drv_rc_input.h>
@@ -224,10 +225,10 @@ PX4FMU::PX4FMU() :
_armed(false),
_pwm_on(false),
_mixers(nullptr),
- _failsafe_pwm( {0}),
- _disarmed_pwm( {0}),
- _num_failsafe_set(0),
- _num_disarmed_set(0)
+ _failsafe_pwm({0}),
+ _disarmed_pwm({0}),
+ _num_failsafe_set(0),
+ _num_disarmed_set(0)
{
for (unsigned i = 0; i < _max_actuators; i++) {
_min_pwm[i] = PWM_DEFAULT_MIN;
@@ -575,7 +576,7 @@ PX4FMU::task_main()
if (i >= outputs.noutputs ||
!isfinite(outputs.output[i]) ||
outputs.output[i] < -1.0f ||
- outputs.output[i] > 1.0f) {
+ outputs.output[i] > 1.0f) {
/*
* 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
@@ -933,7 +934,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
}
- /* FALLTHROUGH */
+ /* FALLTHROUGH */
case PWM_SERVO_SET(3):
case PWM_SERVO_SET(2):
if (_mode < MODE_4PWM) {
@@ -941,7 +942,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
}
- /* FALLTHROUGH */
+ /* FALLTHROUGH */
case PWM_SERVO_SET(1):
case PWM_SERVO_SET(0):
if (arg <= 2100) {
@@ -960,7 +961,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
}
- /* FALLTHROUGH */
+ /* FALLTHROUGH */
case PWM_SERVO_GET(3):
case PWM_SERVO_GET(2):
if (_mode < MODE_4PWM) {
@@ -968,7 +969,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
}
- /* FALLTHROUGH */
+ /* FALLTHROUGH */
case PWM_SERVO_GET(1):
case PWM_SERVO_GET(0):
*(servo_position_t *)arg = up_pwm_servo_get(cmd - PWM_SERVO_GET(0));
@@ -1591,6 +1592,15 @@ fmu_main(int argc, char *argv[])
errx(0, "FMU driver stopped");
}
+ if (!strcmp(verb, "id")) {
+ char id[12];
+ (void)get_board_serial(id);
+
+ errx(0, "Board serial:\n %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X",
+ (unsigned)id[0], (unsigned)id[1], (unsigned)id[2], (unsigned)id[3], (unsigned)id[4], (unsigned)id[5],
+ (unsigned)id[6], (unsigned)id[7], (unsigned)id[8], (unsigned)id[9], (unsigned)id[10], (unsigned)id[11]);
+ }
+
if (fmu_start() != OK)
errx(1, "failed to start the FMU driver");
@@ -1647,6 +1657,7 @@ fmu_main(int argc, char *argv[])
sensor_reset(0);
warnx("resettet default time");
}
+
exit(0);
}
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index cbdd5acc4..0ca35d2f2 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2012-2014 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
@@ -35,7 +35,7 @@
* @file px4io.cpp
* Driver for the PX4IO board.
*
- * PX4IO is connected via I2C.
+ * PX4IO is connected via I2C or DMA enabled high-speed UART.
*/
#include <nuttx/config.h>
@@ -1690,6 +1690,9 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2);
+ if (ret)
+ return ret;
+
retries--;
log("mixer sent");
@@ -2420,6 +2423,69 @@ detect(int argc, char *argv[])
}
void
+checkcrc(int argc, char *argv[])
+{
+ bool keep_running = false;
+
+ if (g_dev == nullptr) {
+ /* allocate the interface */
+ device::Device *interface = get_interface();
+
+ /* create the driver - it will set g_dev */
+ (void)new PX4IO(interface);
+
+ if (g_dev == nullptr)
+ errx(1, "driver alloc failed");
+ } else {
+ /* its already running, don't kill the driver */
+ keep_running = true;
+ }
+
+ /*
+ check IO CRC against CRC of a file
+ */
+ if (argc < 2) {
+ printf("usage: px4io checkcrc filename\n");
+ exit(1);
+ }
+ int fd = open(argv[1], O_RDONLY);
+ if (fd == -1) {
+ printf("open of %s failed - %d\n", argv[1], errno);
+ exit(1);
+ }
+ const uint32_t app_size_max = 0xf000;
+ uint32_t fw_crc = 0;
+ uint32_t nbytes = 0;
+ while (true) {
+ uint8_t buf[16];
+ int n = read(fd, buf, sizeof(buf));
+ if (n <= 0) break;
+ fw_crc = crc32part(buf, n, fw_crc);
+ nbytes += n;
+ }
+ close(fd);
+ while (nbytes < app_size_max) {
+ uint8_t b = 0xff;
+ fw_crc = crc32part(&b, 1, fw_crc);
+ nbytes++;
+ }
+
+ int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc);
+
+ if (!keep_running) {
+ delete g_dev;
+ g_dev = nullptr;
+ }
+
+ if (ret != OK) {
+ printf("check CRC failed - %d\n", ret);
+ exit(1);
+ }
+ printf("CRCs match\n");
+ exit(0);
+}
+
+void
bind(int argc, char *argv[])
{
int pulses;
@@ -2613,6 +2679,9 @@ px4io_main(int argc, char *argv[])
if (!strcmp(argv[1], "detect"))
detect(argc - 1, argv + 1);
+ if (!strcmp(argv[1], "checkcrc"))
+ checkcrc(argc - 1, argv + 1);
+
if (!strcmp(argv[1], "update")) {
if (g_dev != nullptr) {
@@ -2798,49 +2867,6 @@ px4io_main(int argc, char *argv[])
exit(0);
}
- if (!strcmp(argv[1], "checkcrc")) {
- /*
- check IO CRC against CRC of a file
- */
- if (argc <= 2) {
- printf("usage: px4io checkcrc filename\n");
- exit(1);
- }
- if (g_dev == nullptr) {
- printf("px4io is not started\n");
- exit(1);
- }
- int fd = open(argv[2], O_RDONLY);
- if (fd == -1) {
- printf("open of %s failed - %d\n", argv[2], errno);
- exit(1);
- }
- const uint32_t app_size_max = 0xf000;
- uint32_t fw_crc = 0;
- uint32_t nbytes = 0;
- while (true) {
- uint8_t buf[16];
- int n = read(fd, buf, sizeof(buf));
- if (n <= 0) break;
- fw_crc = crc32part(buf, n, fw_crc);
- nbytes += n;
- }
- close(fd);
- while (nbytes < app_size_max) {
- uint8_t b = 0xff;
- fw_crc = crc32part(&b, 1, fw_crc);
- nbytes++;
- }
-
- int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc);
- if (ret != OK) {
- printf("check CRC failed - %d\n", ret);
- exit(1);
- }
- printf("CRCs match\n");
- exit(0);
- }
-
if (!strcmp(argv[1], "rx_dsm") ||
!strcmp(argv[1], "rx_dsm_10bit") ||
!strcmp(argv[1], "rx_dsm_11bit") ||
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-15 18:54:24 +0000