diff options
Diffstat (limited to 'src/drivers')
34 files changed, 375 insertions, 173 deletions
diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp index 293690d27..3a1e1b7b5 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; 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/board_config.h b/src/drivers/boards/px4io-v2/board_config.h index ef9bb5cad..10a93be0b 100644 --- a/src/drivers/boards/px4io-v2/board_config.h +++ b/src/drivers/boards/px4io-v2/board_config.h @@ -77,6 +77,7 @@ #define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14) #define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15) #define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13) +#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11) /* Safety switch button *******************************************************/ 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/boards/px4io-v2/px4iov2_init.c b/src/drivers/boards/px4io-v2/px4iov2_init.c index 9f8c0eeb2..5c3343ccc 100644 --- a/src/drivers/boards/px4io-v2/px4iov2_init.c +++ b/src/drivers/boards/px4io-v2/px4iov2_init.c @@ -108,6 +108,7 @@ __EXPORT void stm32_boardinitialize(void) stm32_configgpio(GPIO_LED1); stm32_configgpio(GPIO_LED2); stm32_configgpio(GPIO_LED3); + stm32_configgpio(GPIO_LED4); stm32_configgpio(GPIO_BTN_SAFETY); 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 f66ec7c95..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. */ @@ -213,6 +230,21 @@ ORB_DECLARE(output_pwm); /** make failsafe non-recoverable (termination) if it occurs */ #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) + +/** 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/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..81f767965 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; 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/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index cfae8761c..82fa5cc6e 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -176,6 +176,7 @@ static const int ERROR = -1; #define L3G4200D_DEFAULT_RATE 800 #define L3GD20_DEFAULT_RANGE_DPS 2000 #define L3GD20_DEFAULT_FILTER_FREQ 30 +#define L3GD20_TEMP_OFFSET_CELSIUS 40 #ifndef SENSOR_BOARD_ROTATION_DEFAULT #define SENSOR_BOARD_ROTATION_DEFAULT SENSOR_BOARD_ROTATION_270_DEG @@ -856,7 +857,7 @@ L3GD20::measure() #pragma pack(push, 1) struct { uint8_t cmd; - uint8_t temp; + int8_t temp; uint8_t status; int16_t x; int16_t y; @@ -930,6 +931,8 @@ L3GD20::measure() report.z_raw = raw_report.z; + report.temperature_raw = raw_report.temp; + report.x = ((report.x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale; report.y = ((report.y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale; report.z = ((report.z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale; @@ -938,6 +941,8 @@ L3GD20::measure() report.y = _gyro_filter_y.apply(report.y); report.z = _gyro_filter_z.apply(report.z); + report.temperature = L3GD20_TEMP_OFFSET_CELSIUS - raw_report.temp; + // apply user specified rotation rotate_3f(_rotation, report.x, report.y, report.z); @@ -1091,9 +1096,11 @@ test() warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x); warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y); warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z); + warnx("temp: \t%d\tC", (int)g_report.temperature); warnx("gyro x: \t%d\traw", (int)g_report.x_raw); warnx("gyro y: \t%d\traw", (int)g_report.y_raw); warnx("gyro z: \t%d\traw", (int)g_report.z_raw); + warnx("temp: \t%d\traw", (int)g_report.temperature_raw); warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s, (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f)); 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/ll40ls/ll40ls.cpp b/src/drivers/ll40ls/ll40ls.cpp index 8b156f7ba..6793acd81 100644 --- a/src/drivers/ll40ls/ll40ls.cpp +++ b/src/drivers/ll40ls/ll40ls.cpp @@ -73,15 +73,19 @@ /* Configuration Constants */ #define LL40LS_BUS PX4_I2C_BUS_EXPANSION -#define LL40LS_BASEADDR 0x42 /* 7-bit address */ +#define LL40LS_BASEADDR 0x62 /* 7-bit address */ +#define LL40LS_BASEADDR_OLD 0x42 /* previous 7-bit address */ #define LL40LS_DEVICE_PATH_INT "/dev/ll40ls_int" #define LL40LS_DEVICE_PATH_EXT "/dev/ll40ls_ext" /* LL40LS Registers addresses */ #define LL40LS_MEASURE_REG 0x00 /* Measure range register */ -#define LL40LS_MSRREG_ACQUIRE 0x04 /* Value to initiate a measurement, varies based on sensor revision */ +#define LL40LS_MSRREG_ACQUIRE 0x04 /* Value to initiate a measurement, varies based on sensor revision */ #define LL40LS_DISTHIGH_REG 0x8F /* High byte of distance register, auto increment */ +#define LL40LS_WHO_AM_I_REG 0x11 +#define LL40LS_WHO_AM_I_REG_VAL 0xCA +#define LL40LS_SIGNAL_STRENGTH_REG 0x5b /* Device limits */ #define LL40LS_MIN_DISTANCE (0.00f) @@ -117,6 +121,7 @@ public: protected: virtual int probe(); + virtual int read_reg(uint8_t reg, uint8_t &val); private: float _min_distance; @@ -210,7 +215,7 @@ LL40LS::LL40LS(int bus, const char *path, int address) : _bus(bus) { // up the retries since the device misses the first measure attempts - I2C::_retries = 3; + _retries = 3; // enable debug() calls _debug_enabled = false; @@ -278,8 +283,50 @@ out: } int +LL40LS::read_reg(uint8_t reg, uint8_t &val) +{ + return transfer(®, 1, &val, 1); +} + +int LL40LS::probe() { + // cope with both old and new I2C bus address + const uint8_t addresses[2] = {LL40LS_BASEADDR, LL40LS_BASEADDR_OLD}; + + // more retries for detection + _retries = 10; + + for (uint8_t i=0; i<sizeof(addresses); i++) { + uint8_t val=0, who_am_i=0; + + // set the I2C bus address + set_address(addresses[i]); + + if (read_reg(LL40LS_WHO_AM_I_REG, who_am_i) == OK && who_am_i == LL40LS_WHO_AM_I_REG_VAL) { + // it is responding correctly to a WHO_AM_I + goto ok; + } + + if (read_reg(LL40LS_SIGNAL_STRENGTH_REG, val) == OK && val != 0) { + // very likely to be a ll40ls. px4flow does not + // respond to this + goto ok; + } + + debug("WHO_AM_I byte mismatch 0x%02x should be 0x%02x val=0x%02x\n", + (unsigned)who_am_i, + LL40LS_WHO_AM_I_REG_VAL, + (unsigned)val); + } + + // not found on any address + return -EIO; + +ok: + _retries = 3; + + // start a measurement return measure(); } 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/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index b22bb2e07..a95e041a1 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -229,6 +229,7 @@ private: perf_counter_t _gyro_reads; perf_counter_t _sample_perf; perf_counter_t _bad_transfers; + perf_counter_t _good_transfers; math::LowPassFilter2p _accel_filter_x; math::LowPassFilter2p _accel_filter_y; @@ -404,6 +405,7 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev _gyro_reads(perf_alloc(PC_COUNT, "mpu6000_gyro_read")), _sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")), _bad_transfers(perf_alloc(PC_COUNT, "mpu6000_bad_transfers")), + _good_transfers(perf_alloc(PC_COUNT, "mpu6000_good_transfers")), _accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_y(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_z(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), @@ -456,6 +458,7 @@ MPU6000::~MPU6000() perf_free(_accel_reads); perf_free(_gyro_reads); perf_free(_bad_transfers); + perf_free(_good_transfers); } int @@ -1279,8 +1282,14 @@ MPU6000::measure() // all zero data - probably a SPI bus error perf_count(_bad_transfers); perf_end(_sample_perf); + // note that we don't call reset() here as a reset() + // costs 20ms with interrupts disabled. That means if + // the mpu6k does go bad it would cause a FMU failure, + // regardless of whether another sensor is available, return; } + + perf_count(_good_transfers); /* @@ -1399,6 +1408,8 @@ MPU6000::print_info() perf_print_counter(_sample_perf); perf_print_counter(_accel_reads); perf_print_counter(_gyro_reads); + perf_print_counter(_bad_transfers); + perf_print_counter(_good_transfers); _accel_reports->print_info("accel queue"); _gyro_reports->print_info("gyro queue"); } diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp index 60ad3c1af..804027b05 100644 --- a/src/drivers/px4flow/px4flow.cpp +++ b/src/drivers/px4flow/px4flow.cpp @@ -200,7 +200,7 @@ 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)); @@ -212,8 +212,9 @@ PX4FLOW::~PX4FLOW() stop(); /* free any existing reports */ - if (_reports != nullptr) + if (_reports != nullptr) { delete _reports; + } } int @@ -222,22 +223,25 @@ PX4FLOW::init() int ret = ERROR; /* do I2C init (and probe) first */ - if (I2C::init() != OK) + if (I2C::init() != OK) { goto out; + } /* allocate basic report buffers */ _reports = new RingBuffer(2, sizeof(struct optical_flow_s)); - if (_reports == nullptr) + 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?"); + if (_px4flow_topic < 0) { + warnx("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 */ @@ -249,6 +253,17 @@ out: int PX4FLOW::probe() { + uint8_t val[22]; + + // to be sure this is not a ll40ls Lidar (which can also be on + // 0x42) we check if a 22 byte transfer works from address + // 0. The ll40ls gives an error for that, whereas the flow + // happily returns some data + if (transfer(nullptr, 0, &val[0], 22) != OK) { + return -EIO; + } + + // that worked, so start a measurement cycle return measure(); } @@ -260,20 +275,20 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) case SENSORIOCSPOLLRATE: { switch (arg) { - /* switching to manual polling */ + /* switching to manual polling */ case SENSOR_POLLRATE_MANUAL: stop(); _measure_ticks = 0; return OK; - /* external signalling (DRDY) not supported */ + /* external signalling (DRDY) not supported */ case SENSOR_POLLRATE_EXTERNAL: - /* zero would be bad */ + /* zero would be bad */ case 0: return -EINVAL; - /* set default/max polling rate */ + /* set default/max polling rate */ case SENSOR_POLLRATE_MAX: case SENSOR_POLLRATE_DEFAULT: { /* do we need to start internal polling? */ @@ -283,13 +298,14 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) _measure_ticks = USEC2TICK(PX4FLOW_CONVERSION_INTERVAL); /* if we need to start the poll state machine, do it */ - if (want_start) + if (want_start) { start(); + } return OK; } - /* adjust to a legal polling interval in Hz */ + /* adjust to a legal polling interval in Hz */ default: { /* do we need to start internal polling? */ bool want_start = (_measure_ticks == 0); @@ -298,15 +314,17 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) unsigned ticks = USEC2TICK(1000000 / arg); /* check against maximum rate */ - if (ticks < USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)) + if (ticks < USEC2TICK(PX4FLOW_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) + if (want_start) { start(); + } return OK; } @@ -314,25 +332,29 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) } case SENSORIOCGPOLLRATE: - if (_measure_ticks == 0) + 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; + /* 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; + } - irqstate_t flags = irqsave(); - if (!_reports->resize(arg)) { irqrestore(flags); - return -ENOMEM; - } - irqrestore(flags); - return OK; - } + return OK; + } case SENSORIOCGQUEUEDEPTH: return _reports->size(); @@ -355,8 +377,9 @@ PX4FLOW::read(struct file *filp, char *buffer, size_t buflen) int ret = 0; /* buffer must be large enough */ - if (count < 1) + if (count < 1) { return -ENOSPC; + } /* if automatic measurement is enabled */ if (_measure_ticks > 0) { @@ -417,13 +440,11 @@ PX4FLOW::measure() uint8_t cmd = PX4FLOW_REG; ret = transfer(&cmd, 1, nullptr, 0); - if (OK != ret) - { + if (OK != ret) { perf_count(_comms_errors); - log("i2c::transfer returned %d", ret); - printf("i2c::transfer flow returned %d"); return ret; } + ret = OK; return ret; @@ -435,15 +456,14 @@ PX4FLOW::collect() 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[22] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; perf_begin(_sample_perf); ret = transfer(nullptr, 0, &val[0], 22); - if (ret < 0) - { - log("error reading from sensor: %d", ret); + if (ret < 0) { + debug("error reading from sensor: %d", ret); perf_count(_comms_errors); perf_end(_sample_perf); return ret; @@ -467,12 +487,12 @@ PX4FLOW::collect() 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.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(); @@ -509,11 +529,13 @@ PX4FLOW::start() true, true, true, - SUBSYSTEM_TYPE_OPTICALFLOW}; + SUBSYSTEM_TYPE_OPTICALFLOW + }; 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); } @@ -541,7 +563,7 @@ PX4FLOW::cycle() /* perform collection */ if (OK != collect()) { - log("collection error"); + debug("collection error"); /* restart the measurement state machine */ start(); return; @@ -567,8 +589,9 @@ PX4FLOW::cycle() } /* measurement phase */ - if (OK != measure()) - log("measure error"); + if (OK != measure()) { + debug("measure error"); + } /* next phase is collection */ _collect_phase = true; @@ -619,33 +642,37 @@ start() { int fd; - if (g_dev != nullptr) + if (g_dev != nullptr) { errx(1, "already started"); + } /* create the driver */ g_dev = new PX4FLOW(PX4FLOW_BUS); - if (g_dev == nullptr) + if (g_dev == nullptr) { goto fail; + } - if (OK != g_dev->init()) + if (OK != g_dev->init()) { goto fail; + } /* set the poll rate to default, starts automatic data collection */ fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY); - if (fd < 0) + if (fd < 0) { goto fail; + } - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0) + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0) { goto fail; + } exit(0); fail: - if (g_dev != nullptr) - { + if (g_dev != nullptr) { delete g_dev; g_dev = nullptr; } @@ -658,15 +685,14 @@ fail: */ void stop() { - if (g_dev != nullptr) - { + if (g_dev != nullptr) { delete g_dev; g_dev = nullptr; - } - else - { + + } else { errx(1, "driver not running"); } + exit(0); } @@ -684,14 +710,17 @@ test() int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY); - if (fd < 0) + if (fd < 0) { 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)); if (sz != sizeof(report)) - // err(1, "immediate read failed"); + { + warnx("immediate read failed"); + } warnx("single read"); warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m); @@ -700,8 +729,9 @@ test() /* start the sensor polling at 2Hz */ - if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { errx(1, "failed to set 2Hz poll rate"); + } /* read the sensor 5x and report each value */ for (unsigned i = 0; i < 5; i++) { @@ -712,14 +742,16 @@ test() fds.events = POLLIN; ret = poll(&fds, 1, 2000); - if (ret != 1) + 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)) + if (sz != sizeof(report)) { err(1, "periodic read failed"); + } warnx("periodic read %u", i); warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m); @@ -740,14 +772,17 @@ reset() { int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY); - if (fd < 0) + if (fd < 0) { err(1, "failed "); + } - if (ioctl(fd, SENSORIOCRESET, 0) < 0) + if (ioctl(fd, SENSORIOCRESET, 0) < 0) { err(1, "driver reset failed"); + } - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { err(1, "driver poll restart failed"); + } exit(0); } @@ -758,8 +793,9 @@ reset() void info() { - if (g_dev == nullptr) + if (g_dev == nullptr) { errx(1, "driver not running"); + } printf("state @ %p\n", g_dev); g_dev->print_info(); @@ -775,32 +811,37 @@ px4flow_main(int argc, char *argv[]) /* * Start/load the driver. */ - if (!strcmp(argv[1], "start")) + if (!strcmp(argv[1], "start")) { px4flow::start(); + } - /* - * Stop the driver - */ - if (!strcmp(argv[1], "stop")) - px4flow::stop(); + /* + * Stop the driver + */ + if (!strcmp(argv[1], "stop")) { + px4flow::stop(); + } /* * Test the driver/device. */ - if (!strcmp(argv[1], "test")) + if (!strcmp(argv[1], "test")) { px4flow::test(); + } /* * Reset the driver. */ - if (!strcmp(argv[1], "reset")) + if (!strcmp(argv[1], "reset")) { px4flow::reset(); + } /* * Print driver information. */ - if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) + if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) { px4flow::info(); + } errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); } diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 122a3cd17..3d3e1b0eb 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -829,6 +829,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) case PWM_SERVO_SET_ARM_OK: case PWM_SERVO_CLEAR_ARM_OK: case PWM_SERVO_SET_FORCE_SAFETY_OFF: + case PWM_SERVO_SET_FORCE_SAFETY_ON: // these are no-ops, as no safety switch break; 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 821eb52ff..6f02ba62c 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1250,30 +1250,43 @@ 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; + } - param_get(param_find("RC_MAP_MODE_SW"), &ichan); - - if ((ichan >= 0) && (ichan < (int)_max_rc_input)) + /* FLAPS */ + param_get(param_find("RC_MAP_FLAPS"), &ichan); + 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)) { + /* use out of normal bounds index to indicate special channel */ + input_map[ichan - 1] = PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH; + } /* * Iterate all possible RC inputs. @@ -1649,10 +1662,6 @@ 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(); @@ -2053,7 +2062,7 @@ 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"), @@ -2063,7 +2072,8 @@ 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", @@ -2276,6 +2286,11 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC); break; + case PWM_SERVO_SET_FORCE_SAFETY_ON: + /* force safety switch on */ + ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC); + break; + case PWM_SERVO_SET_FORCE_FAILSAFE: /* force failsafe mode instantly */ if (arg == 0) { @@ -2298,6 +2313,19 @@ 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 */ @@ -2559,6 +2587,42 @@ 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 >= _max_actuators) { + /* 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 |