diff options
Diffstat (limited to 'src/drivers')
-rw-r--r-- | src/drivers/device/spi.cpp | 62 | ||||
-rw-r--r-- | src/drivers/device/spi.h | 2 | ||||
-rw-r--r-- | src/drivers/drv_px4flow.h | 16 | ||||
-rw-r--r-- | src/drivers/drv_range_finder.h | 9 | ||||
-rw-r--r-- | src/drivers/drv_rc_input.h | 9 | ||||
-rw-r--r-- | src/drivers/gps/gps.cpp | 4 | ||||
-rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 2 | ||||
-rw-r--r-- | src/drivers/px4io/px4io_uploader.cpp | 22 |
8 files changed, 85 insertions, 41 deletions
diff --git a/src/drivers/device/spi.cpp b/src/drivers/device/spi.cpp index 0b232e158..1ab1dc699 100644 --- a/src/drivers/device/spi.cpp +++ b/src/drivers/device/spi.cpp @@ -133,26 +133,44 @@ SPI::probe() int SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len) { - irqstate_t state; + int result; if ((send == nullptr) && (recv == nullptr)) return -EINVAL; + LockMode mode = up_interrupt_context() ? LOCK_NONE : locking_mode; + /* lock the bus as required */ - if (!up_interrupt_context()) { - switch (locking_mode) { - default: - case LOCK_PREEMPTION: - state = irqsave(); - break; - case LOCK_THREADS: - SPI_LOCK(_dev, true); - break; - case LOCK_NONE: - break; + switch (mode) { + default: + case LOCK_PREEMPTION: + { + irqstate_t state = irqsave(); + result = _transfer(send, recv, len); + irqrestore(state); } + break; + case LOCK_THREADS: + SPI_LOCK(_dev, true); + result = _transfer(send, recv, len); + SPI_LOCK(_dev, false); + break; + case LOCK_NONE: + result = _transfer(send, recv, len); + break; } + return result; +} +void +SPI::set_frequency(uint32_t frequency) +{ + _frequency = frequency; +} + +int +SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len) +{ SPI_SETFREQUENCY(_dev, _frequency); SPI_SETMODE(_dev, _mode); SPI_SETBITS(_dev, 8); @@ -164,27 +182,7 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len) /* and clean up */ SPI_SELECT(_dev, _device, false); - if (!up_interrupt_context()) { - switch (locking_mode) { - default: - case LOCK_PREEMPTION: - irqrestore(state); - break; - case LOCK_THREADS: - SPI_LOCK(_dev, false); - break; - case LOCK_NONE: - break; - } - } - return OK; } -void -SPI::set_frequency(uint32_t frequency) -{ - _frequency = frequency; -} - } // namespace device diff --git a/src/drivers/device/spi.h b/src/drivers/device/spi.h index 03986da1e..54849c8c3 100644 --- a/src/drivers/device/spi.h +++ b/src/drivers/device/spi.h @@ -131,6 +131,8 @@ private: protected: int _bus; + + int _transfer(uint8_t *send, uint8_t *recv, unsigned len); }; } // namespace device diff --git a/src/drivers/drv_px4flow.h b/src/drivers/drv_px4flow.h index bef02d54e..76ec55c3e 100644 --- a/src/drivers/drv_px4flow.h +++ b/src/drivers/drv_px4flow.h @@ -47,9 +47,17 @@ #define PX4FLOW_DEVICE_PATH "/dev/px4flow" /** + * @addtogroup topics + * @{ + */ + +/** * Optical flow in NED body frame in SI units. * * @see http://en.wikipedia.org/wiki/International_System_of_Units + * + * @warning If possible the usage of the raw flow and performing rotation-compensation + * using the autopilot angular rate estimate is recommended. */ struct px4flow_report { @@ -57,14 +65,18 @@ struct px4flow_report { 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 flow_comp_x_m; /**< speed over ground in meters per second, rotation-compensated */ + float flow_comp_y_m; /**< speed over ground in meters per second, 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 */ uint8_t sensor_id; /**< id of the sensor emitting the flow value */ }; +/** + * @} + */ + /* * ObjDev tag for px4flow data. */ diff --git a/src/drivers/drv_range_finder.h b/src/drivers/drv_range_finder.h index e45939b37..0f8362f58 100644 --- a/src/drivers/drv_range_finder.h +++ b/src/drivers/drv_range_finder.h @@ -51,6 +51,11 @@ enum RANGE_FINDER_TYPE { }; /** + * @addtogroup topics + * @{ + */ + +/** * range finder report structure. Reads from the device must be in multiples of this * structure. */ @@ -64,6 +69,10 @@ struct range_finder_report { uint8_t valid; /**< 1 == within sensor range, 0 = outside sensor range */ }; +/** + * @} + */ + /* * ObjDev tag for raw range finder data. */ diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h index 20763e265..47fa8fa59 100644 --- a/src/drivers/drv_rc_input.h +++ b/src/drivers/drv_rc_input.h @@ -68,6 +68,11 @@ #define RC_INPUT_RSSI_MAX 255 /** + * @addtogroup topics + * @{ + */ + +/** * Input signal type, value is a control position from zero to 100 * percent. */ @@ -141,6 +146,10 @@ struct rc_input_values { rc_input_t values[RC_INPUT_MAX_CHANNELS]; }; +/** + * @} + */ + /* * ObjDev tag for R/C inputs. */ diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 401b65dd4..34dd63086 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -127,7 +127,7 @@ private: /** * Try to configure the GPS, handle outgoing communication to the GPS */ - void config(); + void config(); /** * Trampoline to the worker task @@ -486,6 +486,8 @@ GPS::print_info() warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type, _report_gps_pos.satellites_used, (double)(hrt_absolute_time() - _report_gps_pos.timestamp_position) / 1000.0); warnx("lat: %d, lon: %d, alt: %d", _report_gps_pos.lat, _report_gps_pos.lon, _report_gps_pos.alt); + warnx("vel: %.2fm/s, %.2fm/s, %.2fm/s", (double)_report_gps_pos.vel_n_m_s, + (double)_report_gps_pos.vel_e_m_s, (double)_report_gps_pos.vel_d_m_s); warnx("eph: %.2fm, epv: %.2fm", (double)_report_gps_pos.eph, (double)_report_gps_pos.epv); warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate()); warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate()); diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 39cc32967..8cc1141aa 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -329,7 +329,7 @@ PX4FMU::init() _task = task_spawn_cmd("fmuservo", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, - 2048, + 1600, (main_t)&PX4FMU::task_main_trampoline, nullptr); diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp index 7b6361a7c..d134c0246 100644 --- a/src/drivers/px4io/px4io_uploader.cpp +++ b/src/drivers/px4io/px4io_uploader.cpp @@ -39,6 +39,7 @@ #include <nuttx/config.h> #include <sys/types.h> +#include <stdlib.h> #include <stdint.h> #include <stdbool.h> #include <assert.h> @@ -413,11 +414,17 @@ static int read_with_retry(int fd, void *buf, size_t n) int PX4IO_Uploader::program(size_t fw_size) { - uint8_t file_buf[PROG_MULTI_MAX]; + uint8_t *file_buf; ssize_t count; int ret; size_t sent = 0; + file_buf = (uint8_t *)malloc(PROG_MULTI_MAX); + if (!file_buf) { + log("Can't allocate program buffer"); + return -ENOMEM; + } + log("programming %u bytes...", (unsigned)fw_size); ret = lseek(_fw_fd, 0, SEEK_SET); @@ -425,8 +432,8 @@ PX4IO_Uploader::program(size_t fw_size) while (sent < fw_size) { /* get more bytes to program */ size_t n = fw_size - sent; - if (n > sizeof(file_buf)) { - n = sizeof(file_buf); + if (n > PROG_MULTI_MAX) { + n = PROG_MULTI_MAX; } count = read_with_retry(_fw_fd, file_buf, n); @@ -438,8 +445,10 @@ PX4IO_Uploader::program(size_t fw_size) (int)errno); } - if (count == 0) + if (count == 0) { + free(file_buf); return OK; + } sent += count; @@ -455,9 +464,12 @@ PX4IO_Uploader::program(size_t fw_size) ret = get_sync(1000); - if (ret != OK) + if (ret != OK) { + free(file_buf); return ret; + } } + free(file_buf); return OK; } |