From 7f4f9a5f5f6c4921453f3e0c98531bcb4e44d981 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Fri, 31 Jan 2014 22:44:05 +0100 Subject: ACRO mode implemented --- src/modules/commander/commander.cpp | 35 +++++++++++++++++++++++--- src/modules/commander/state_machine_helper.cpp | 4 +++ 2 files changed, 35 insertions(+), 4 deletions(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index c39833713..89294fc76 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -619,9 +619,10 @@ int commander_thread_main(int argc, char *argv[]) char *main_states_str[MAIN_STATE_MAX]; main_states_str[0] = "MANUAL"; - main_states_str[1] = "SEATBELT"; - main_states_str[2] = "EASY"; - main_states_str[3] = "AUTO"; + main_states_str[1] = "ACRO"; + main_states_str[2] = "SEATBELT"; + main_states_str[3] = "EASY"; + main_states_str[4] = "AUTO"; char *arming_states_str[ARMING_STATE_MAX]; arming_states_str[0] = "INIT"; @@ -1510,6 +1511,17 @@ check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_sta } else { status->mission_switch = MISSION_SWITCH_MISSION; } + + /* acro switch */ + if (!isfinite(sp_man->acro_switch)) { + status->acro_switch = ACRO_SWITCH_NONE; + + } else if (sp_man->acro_switch > STICK_ON_OFF_LIMIT) { + status->acro_switch = ACRO_SWITCH_ACRO; + + } else { + status->acro_switch = ACRO_SWITCH_NORMAL; + } } transition_result_t @@ -1520,7 +1532,11 @@ set_main_state_rc(struct vehicle_status_s *status) switch (status->mode_switch) { case MODE_SWITCH_MANUAL: - res = main_state_transition(status, MAIN_STATE_MANUAL); + if (status->acro_switch == ACRO_SWITCH_ACRO) { + res = main_state_transition(status, MAIN_STATE_ACRO); + } else { + res = main_state_transition(status, MAIN_STATE_MANUAL); + } // TRANSITION_DENIED is not possible here break; @@ -1600,6 +1616,17 @@ set_control_mode() control_mode.flag_control_velocity_enabled = false; break; + case MAIN_STATE_ACRO: + control_mode.flag_control_manual_enabled = true; + control_mode.flag_control_auto_enabled = false; + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = false; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = false; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + break; + case MAIN_STATE_SEATBELT: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 43d0e023e..fd966a068 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -230,6 +230,10 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta ret = TRANSITION_CHANGED; break; + case MAIN_STATE_ACRO: + ret = TRANSITION_CHANGED; + break; + case MAIN_STATE_SEATBELT: /* need at minimum altitude estimate */ -- cgit v1.2.3 From 2923bdf39fd6e424523f0b6b47bef3cabcdc0645 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sat, 1 Feb 2014 11:25:29 +0100 Subject: commander: allow disarming in ACRO without landing (as in MANUAL) --- src/modules/commander/commander.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 89294fc76..30f75b9fb 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1120,7 +1120,7 @@ int commander_thread_main(int argc, char *argv[]) * do it only for rotary wings */ if (status.is_rotary_wing && (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) && - (status.main_state == MAIN_STATE_MANUAL || status.condition_landed) && + (status.main_state == MAIN_STATE_MANUAL || status.main_state == MAIN_STATE_ACRO || status.condition_landed) && sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { -- cgit v1.2.3 From 3b2b270a40e0d8528339fe7cde5e0af91684fb97 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Tue, 4 Feb 2014 21:55:12 +0100 Subject: mavlink: custom mode ACRO added --- src/modules/commander/px4_custom_mode.h | 1 + src/modules/mavlink/mavlink.c | 3 +++ 2 files changed, 4 insertions(+) (limited to 'src/modules/commander') diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h index b60a7e0b9..d69ab3067 100644 --- a/src/modules/commander/px4_custom_mode.h +++ b/src/modules/commander/px4_custom_mode.h @@ -13,6 +13,7 @@ enum PX4_CUSTOM_MAIN_MODE { PX4_CUSTOM_MAIN_MODE_SEATBELT, PX4_CUSTOM_MAIN_MODE_EASY, PX4_CUSTOM_MAIN_MODE_AUTO, + PX4_CUSTOM_MAIN_MODE_ACRO, }; enum PX4_CUSTOM_SUB_MODE_AUTO { diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index 4d975066f..22465a3da 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -212,6 +212,9 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u if (v_status.main_state == MAIN_STATE_MANUAL) { *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (v_status.is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0); custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; + } else if (v_status.main_state == MAIN_STATE_ACRO) { + *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO; } else if (v_status.main_state == MAIN_STATE_SEATBELT) { *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT; -- cgit v1.2.3 From 7e621070ca0f002e2e1ccd863c31a24166ece0c2 Mon Sep 17 00:00:00 2001 From: TickTock- Date: Tue, 22 Apr 2014 18:23:27 -0700 Subject: renamed mission_switch to loiter_switch and assisted_switch to easy_switch --- src/modules/commander/commander.cpp | 10 +++++----- src/modules/sensors/sensor_params.c | 4 ++-- src/modules/sensors/sensors.cpp | 24 +++++++++++------------ src/modules/uORB/topics/manual_control_setpoint.h | 4 ++-- src/modules/uORB/topics/rc_channels.h | 4 ++-- 5 files changed, 23 insertions(+), 23 deletions(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index e7cf2b3fa..ee818d0f5 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1231,12 +1231,12 @@ int commander_thread_main(int argc, char *argv[]) } else { /* MISSION switch */ - if (sp_man.mission_switch == SWITCH_POS_ON) { + if (sp_man.loiter_switch == SWITCH_POS_ON) { /* stick is in LOITER position */ status.set_nav_state = NAV_STATE_LOITER; status.set_nav_state_timestamp = hrt_absolute_time(); - } else if (sp_man.mission_switch != SWITCH_POS_NONE) { + } else if (sp_man.loiter_switch != SWITCH_POS_NONE) { /* stick is in MISSION position */ status.set_nav_state = NAV_STATE_MISSION; status.set_nav_state_timestamp = hrt_absolute_time(); @@ -1296,7 +1296,7 @@ int commander_thread_main(int argc, char *argv[]) // TODO remove this hack /* flight termination in manual mode if assisted switch is on easy position */ - if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch == SWITCH_POS_ON) { + if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.easy_switch == SWITCH_POS_ON) { if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) { tune_positive(armed.armed); } @@ -1528,7 +1528,7 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin break; case SWITCH_POS_MIDDLE: // ASSISTED - if (sp_man->assisted_switch == SWITCH_POS_ON) { + if (sp_man->easy_switch == SWITCH_POS_ON) { res = main_state_transition(status, MAIN_STATE_EASY); if (res != TRANSITION_DENIED) { @@ -1545,7 +1545,7 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin break; // changed successfully or already in this mode } - if (sp_man->assisted_switch != SWITCH_POS_ON) { + if (sp_man->easy_switch != SWITCH_POS_ON) { print_reject_mode(status, "SEATBELT"); } diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index c04e176a1..a34f81923 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -620,7 +620,7 @@ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0); * @max 18 * @group Radio Calibration */ -PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0); +PARAM_DEFINE_INT32(RC_MAP_EASY_SW, 0); /** * Mission switch channel mapping. @@ -629,7 +629,7 @@ PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0); * @max 18 * @group Radio Calibration */ -PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0); +PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0); //PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0); diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 04b74a6f5..469fc5ca0 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -253,8 +253,8 @@ private: int rc_map_mode_sw; int rc_map_return_sw; - int rc_map_assisted_sw; - int rc_map_mission_sw; + int rc_map_easy_sw; + int rc_map_loiter_sw; // int rc_map_offboard_ctrl_mode_sw; @@ -296,8 +296,8 @@ private: param_t rc_map_mode_sw; param_t rc_map_return_sw; - param_t rc_map_assisted_sw; - param_t rc_map_mission_sw; + param_t rc_map_easy_sw; + param_t rc_map_loiter_sw; // param_t rc_map_offboard_ctrl_mode_sw; @@ -507,8 +507,8 @@ Sensors::Sensors() : _parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS"); /* optional mode switches, not mapped per default */ - _parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW"); - _parameter_handles.rc_map_mission_sw = param_find("RC_MAP_MISSIO_SW"); + _parameter_handles.rc_map_easy_sw = param_find("RC_MAP_EASY_SW"); + _parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW"); // _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW"); @@ -650,11 +650,11 @@ Sensors::parameters_update() warnx(paramerr); } - if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) { + if (param_get(_parameter_handles.rc_map_easy_sw, &(_parameters.rc_map_easy_sw)) != OK) { warnx(paramerr); } - if (param_get(_parameter_handles.rc_map_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) { + if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) { warnx(paramerr); } @@ -681,8 +681,8 @@ Sensors::parameters_update() _rc.function[MODE] = _parameters.rc_map_mode_sw - 1; _rc.function[RETURN] = _parameters.rc_map_return_sw - 1; - _rc.function[ASSISTED] = _parameters.rc_map_assisted_sw - 1; - _rc.function[MISSION] = _parameters.rc_map_mission_sw - 1; + _rc.function[EASY] = _parameters.rc_map_easy_sw - 1; + _rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1; _rc.function[FLAPS] = _parameters.rc_map_flaps - 1; @@ -1415,8 +1415,8 @@ Sensors::rc_poll() /* mode switches */ manual.mode_switch = get_rc_switch_position(MODE); - manual.assisted_switch = get_rc_switch_position(ASSISTED); - manual.mission_switch = get_rc_switch_position(MISSION); + manual.easy_switch = get_rc_switch_position(EASY); + manual.loiter_switch = get_rc_switch_position(LOITER); manual.return_switch = get_rc_switch_position(RETURN); /* publish manual_control_setpoint topic */ diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index 2b3a337b2..b6257e22a 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -78,8 +78,8 @@ struct manual_control_setpoint_s { switch_pos_t mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */ switch_pos_t return_switch; /**< land 2 position switch (mandatory): land, no effect */ - switch_pos_t assisted_switch; /**< assisted 2 position switch (optional): seatbelt, simple */ - switch_pos_t mission_switch; /**< mission 2 position switch (optional): mission, loiter */ + switch_pos_t easy_switch; /**< assisted 2 position switch (optional): seatbelt, simple */ + switch_pos_t loiter_switch; /**< mission 2 position switch (optional): mission, loiter */ }; /**< manual control inputs */ /** diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 3246a39dd..d99203ff6 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -64,8 +64,8 @@ enum RC_CHANNELS_FUNCTION { YAW = 3, MODE = 4, RETURN = 5, - ASSISTED = 6, - MISSION = 7, + EASY = 6, + LOITER = 7, OFFBOARD_MODE = 8, FLAPS = 9, AUX_1 = 10, -- cgit v1.2.3 From 831a7c4a833c68b1d418344e2f3aae2c80894b1a Mon Sep 17 00:00:00 2001 From: TickTock- Date: Tue, 22 Apr 2014 20:53:07 -0700 Subject: Added RC_MAP_FAILSAFE parameter for customizing failsafe channel. Default to THROTTLE --- src/modules/commander/commander.cpp | 2 +- src/modules/sensors/sensors.cpp | 51 +++++++++++++++++++++++++++---------- 2 files changed, 39 insertions(+), 14 deletions(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index ee818d0f5..43a4ed8ab 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1230,7 +1230,7 @@ int commander_thread_main(int argc, char *argv[]) status.set_nav_state_timestamp = hrt_absolute_time(); } else { - /* MISSION switch */ + /* LOITER switch */ if (sp_man.loiter_switch == SWITCH_POS_ON) { /* stick is in LOITER position */ status.set_nav_state = NAV_STATE_LOITER; diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 469fc5ca0..8b9aee795 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -175,7 +175,8 @@ private: /** * Get switch position for specified function. */ - switch_pos_t get_rc_switch_position(enum RC_CHANNELS_FUNCTION func); + switch_pos_t get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func); + switch_pos_t get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func); /** * Gather and publish RC input data. @@ -250,6 +251,7 @@ private: int rc_map_pitch; int rc_map_yaw; int rc_map_throttle; + int rc_map_failsafe; int rc_map_mode_sw; int rc_map_return_sw; @@ -293,6 +295,7 @@ private: param_t rc_map_pitch; param_t rc_map_yaw; param_t rc_map_throttle; + param_t rc_map_failsafe; param_t rc_map_mode_sw; param_t rc_map_return_sw; @@ -499,6 +502,7 @@ Sensors::Sensors() : _parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH"); _parameter_handles.rc_map_yaw = param_find("RC_MAP_YAW"); _parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE"); + _parameter_handles.rc_map_failsafe = param_find("RC_MAP_FAILSAFE"); /* mandatory mode switches, mapped to channel 5 and 6 per default */ _parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW"); @@ -642,6 +646,10 @@ Sensors::parameters_update() warnx(paramerr); } + if (param_get(_parameter_handles.rc_map_failsafe, &(_parameters.rc_map_failsafe)) != OK) { + warnx(paramerr); + } + if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) { warnx(paramerr); } @@ -1275,7 +1283,7 @@ Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max } switch_pos_t -Sensors::get_rc_switch_position(enum RC_CHANNELS_FUNCTION func) +Sensors::get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func) { if (_rc.function[func] >= 0) { float value = _rc.chan[_rc.function[func]].scaled; @@ -1294,6 +1302,23 @@ Sensors::get_rc_switch_position(enum RC_CHANNELS_FUNCTION func) } } +switch_pos_t +Sensors::get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func) +{ + if (_rc.function[func] >= 0) { + float value = _rc.chan[_rc.function[func]].scaled; + if (value > STICK_ON_OFF_LIMIT) { + return SWITCH_POS_ON; + + } else { + return SWITCH_POS_OFF; + } + + } else { + return SWITCH_POS_NONE; + } +} + void Sensors::rc_poll() { @@ -1318,13 +1343,13 @@ Sensors::rc_poll() /* signal looks good */ signal_lost = false; - /* check throttle failsafe */ - int8_t thr_ch = _rc.function[THROTTLE]; - if (_parameters.rc_fs_thr > 0 && thr_ch >= 0) { - /* throttle failsafe configured */ - if ((_parameters.rc_fs_thr < _parameters.min[thr_ch] && rc_input.values[thr_ch] < _parameters.rc_fs_thr) || - (_parameters.rc_fs_thr > _parameters.max[thr_ch] && rc_input.values[thr_ch] > _parameters.rc_fs_thr)) { - /* throttle failsafe triggered, signal is lost by receiver */ + /* check failsafe */ + int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe]; + if (_parameters.rc_fs_thr > 0 && fs_ch >= 0) { + /* failsafe configured */ + if ((_parameters.rc_fs_thr < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _parameters.rc_fs_thr) || + (_parameters.rc_fs_thr > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _parameters.rc_fs_thr)) { + /* failsafe triggered, signal is lost by receiver */ signal_lost = true; } } @@ -1414,10 +1439,10 @@ Sensors::rc_poll() manual.aux5 = get_rc_value(AUX_5, -1.0, 1.0); /* mode switches */ - manual.mode_switch = get_rc_switch_position(MODE); - manual.easy_switch = get_rc_switch_position(EASY); - manual.loiter_switch = get_rc_switch_position(LOITER); - manual.return_switch = get_rc_switch_position(RETURN); + manual.mode_switch = get_rc_sw3pos_position(MODE); + manual.easy_switch = get_rc_sw2pos_position(EASY); + manual.loiter_switch = get_rc_sw2pos_position(LOITER); + manual.return_switch = get_rc_sw2pos_position(RETURN); /* publish manual_control_setpoint topic */ if (_manual_control_pub > 0) { -- cgit v1.2.3 From 6a7b104c2baad7527d35736979ddd1352bf4119d Mon Sep 17 00:00:00 2001 From: TickTock- Date: Sun, 27 Apr 2014 13:12:28 -0700 Subject: compiles --- src/modules/commander/commander.cpp | 5 +--- src/modules/sensors/sensors.cpp | 34 +---------------------- src/modules/uORB/topics/manual_control_setpoint.h | 4 --- src/modules/uORB/topics/rc_channels.h | 4 --- 4 files changed, 2 insertions(+), 45 deletions(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index d5f05c991..50380107d 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1228,11 +1228,8 @@ int commander_thread_main(int argc, char *argv[]) status.set_nav_state_timestamp = hrt_absolute_time(); } else { -<<<<<<< HEAD + /* LOITER switch */ -======= - /* MISSION switch */ ->>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863 if (sp_man.loiter_switch == SWITCH_POS_ON) { /* stick is in LOITER position */ status.set_nav_state = NAV_STATE_LOITER; diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 9a750db12..6449c5283 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -255,11 +255,7 @@ private: int rc_map_mode_sw; int rc_map_return_sw; -<<<<<<< HEAD int rc_map_easy_sw; -======= - int rc_map_assisted_sw; ->>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863 int rc_map_loiter_sw; // int rc_map_offboard_ctrl_mode_sw; @@ -313,11 +309,7 @@ private: param_t rc_map_mode_sw; param_t rc_map_return_sw; -<<<<<<< HEAD param_t rc_map_easy_sw; -======= - param_t rc_map_assisted_sw; ->>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863 param_t rc_map_loiter_sw; // param_t rc_map_offboard_ctrl_mode_sw; @@ -534,11 +526,7 @@ Sensors::Sensors() : _parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS"); /* optional mode switches, not mapped per default */ -<<<<<<< HEAD _parameter_handles.rc_map_easy_sw = param_find("RC_MAP_EASY_SW"); -======= - _parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW"); ->>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863 _parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW"); // _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW"); @@ -679,7 +667,7 @@ Sensors::parameters_update() } if (param_get(_parameter_handles.rc_map_failsafe, &(_parameters.rc_map_failsafe)) != OK) { - warnx(paramerr); + warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) { @@ -690,21 +678,12 @@ Sensors::parameters_update() warnx("%s", paramerr); } -<<<<<<< HEAD if (param_get(_parameter_handles.rc_map_easy_sw, &(_parameters.rc_map_easy_sw)) != OK) { - warnx(paramerr); - } - - if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) { - warnx(paramerr); -======= - if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) { warnx("%s", paramerr); } if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) { warnx("%s", paramerr); ->>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863 } if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) { @@ -745,11 +724,7 @@ Sensors::parameters_update() _rc.function[MODE] = _parameters.rc_map_mode_sw - 1; _rc.function[RETURN] = _parameters.rc_map_return_sw - 1; -<<<<<<< HEAD _rc.function[EASY] = _parameters.rc_map_easy_sw - 1; -======= - _rc.function[ASSISTED] = _parameters.rc_map_assisted_sw - 1; ->>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863 _rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1; _rc.function[FLAPS] = _parameters.rc_map_flaps - 1; @@ -1502,17 +1477,10 @@ Sensors::rc_poll() manual.aux5 = get_rc_value(AUX_5, -1.0, 1.0); /* mode switches */ -<<<<<<< HEAD manual.mode_switch = get_rc_sw3pos_position(MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assisted_th, _parameters.rc_assisted_inv); manual.easy_switch = get_rc_sw2pos_position(EASY, _parameters.rc_easy_th, _parameters.rc_easy_inv); manual.return_switch = get_rc_sw2pos_position(RETURN, _parameters.rc_return_th, _parameters.rc_return_inv); manual.loiter_switch = get_rc_sw2pos_position(LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv); -======= - manual.mode_switch = get_rc_switch_position(MODE); - manual.assisted_switch = get_rc_switch_position(ASSISTED); - manual.loiter_switch = get_rc_switch_position(LOITER); - manual.return_switch = get_rc_switch_position(RETURN); ->>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863 /* publish manual_control_setpoint topic */ if (_manual_control_pub > 0) { diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index c61987df6..b6257e22a 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -78,11 +78,7 @@ struct manual_control_setpoint_s { switch_pos_t mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */ switch_pos_t return_switch; /**< land 2 position switch (mandatory): land, no effect */ -<<<<<<< HEAD switch_pos_t easy_switch; /**< assisted 2 position switch (optional): seatbelt, simple */ -======= - switch_pos_t assisted_switch; /**< assisted 2 position switch (optional): seatbelt, simple */ ->>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863 switch_pos_t loiter_switch; /**< mission 2 position switch (optional): mission, loiter */ }; /**< manual control inputs */ diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index df651e78d..d99203ff6 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -64,11 +64,7 @@ enum RC_CHANNELS_FUNCTION { YAW = 3, MODE = 4, RETURN = 5, -<<<<<<< HEAD EASY = 6, -======= - ASSISTED = 6, ->>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863 LOITER = 7, OFFBOARD_MODE = 8, FLAPS = 9, -- cgit v1.2.3 From 269800b48c31d78fec900b4beaf3f655a8c18730 Mon Sep 17 00:00:00 2001 From: TickTock- Date: Sun, 27 Apr 2014 14:06:00 -0700 Subject: renamed EASY to POSHOLD and SEATBELT to ALTHOLD --- src/drivers/blinkm/blinkm.cpp | 4 +- src/modules/commander/commander.cpp | 46 +++++++++++----------- .../commander_tests/state_machine_helper_test.cpp | 24 +++++------ src/modules/commander/px4_custom_mode.h | 4 +- src/modules/commander/state_machine_helper.cpp | 4 +- src/modules/fixedwing_backside/fixedwing.cpp | 4 +- .../fw_pos_control_l1/fw_pos_control_l1_main.cpp | 42 ++++++++++---------- src/modules/mavlink/mavlink_messages.cpp | 8 ++-- src/modules/mc_pos_control/mc_pos_control_params.c | 10 ++--- src/modules/segway/BlockSegwayController.cpp | 4 +- src/modules/sensors/sensor_params.c | 6 +-- src/modules/sensors/sensors.cpp | 26 ++++++------ src/modules/uORB/topics/manual_control_setpoint.h | 4 +- src/modules/uORB/topics/rc_channels.h | 2 +- src/modules/uORB/topics/vehicle_status.h | 4 +- 15 files changed, 96 insertions(+), 96 deletions(-) (limited to 'src/modules/commander') diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp index b75c2297f..aa9c64502 100644 --- a/src/drivers/blinkm/blinkm.cpp +++ b/src/drivers/blinkm/blinkm.cpp @@ -638,11 +638,11 @@ BlinkM::led() if(new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) { /* indicate main control state */ - if (vehicle_status_raw.main_state == MAIN_STATE_EASY) + if (vehicle_status_raw.main_state == MAIN_STATE_POSHOLD) led_color_4 = LED_GREEN; else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO) led_color_4 = LED_BLUE; - else if (vehicle_status_raw.main_state == MAIN_STATE_SEATBELT) + else if (vehicle_status_raw.main_state == MAIN_STATE_ALTHOLD) led_color_4 = LED_YELLOW; else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL) led_color_4 = LED_WHITE; diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 50380107d..a99456370 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -434,13 +434,13 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe /* MANUAL */ main_res = main_state_transition(status, MAIN_STATE_MANUAL); - } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_SEATBELT) { - /* SEATBELT */ - main_res = main_state_transition(status, MAIN_STATE_SEATBELT); + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTHOLD) { + /* ALTHOLD */ + main_res = main_state_transition(status, MAIN_STATE_ALTHOLD); - } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_EASY) { - /* EASY */ - main_res = main_state_transition(status, MAIN_STATE_EASY); + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSHOLD) { + /* POSHOLD */ + main_res = main_state_transition(status, MAIN_STATE_POSHOLD); } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) { /* AUTO */ @@ -455,8 +455,8 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) { if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) { - /* EASY */ - main_res = main_state_transition(status, MAIN_STATE_EASY); + /* POSHOLD */ + main_res = main_state_transition(status, MAIN_STATE_POSHOLD); } else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) { /* MANUAL */ @@ -628,8 +628,8 @@ int commander_thread_main(int argc, char *argv[]) char *main_states_str[MAIN_STATE_MAX]; main_states_str[0] = "MANUAL"; - main_states_str[1] = "SEATBELT"; - main_states_str[2] = "EASY"; + main_states_str[1] = "ALTHOLD"; + main_states_str[2] = "POSHOLD"; main_states_str[3] = "AUTO"; char *arming_states_str[ARMING_STATE_MAX]; @@ -1299,8 +1299,8 @@ int commander_thread_main(int argc, char *argv[]) } // TODO remove this hack - /* flight termination in manual mode if assisted switch is on easy position */ - if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.easy_switch == SWITCH_POS_ON) { + /* flight termination in manual mode if assisted switch is on poshold position */ + if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.poshold_switch == SWITCH_POS_ON) { if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) { tune_positive(armed.armed); } @@ -1557,25 +1557,25 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin break; case SWITCH_POS_MIDDLE: // ASSISTED - if (sp_man->easy_switch == SWITCH_POS_ON) { - res = main_state_transition(status, MAIN_STATE_EASY); + if (sp_man->poshold_switch == SWITCH_POS_ON) { + res = main_state_transition(status, MAIN_STATE_POSHOLD); if (res != TRANSITION_DENIED) { break; // changed successfully or already in this state } - // else fallback to SEATBELT - print_reject_mode(status, "EASY"); + // else fallback to ALTHOLD + print_reject_mode(status, "POSHOLD"); } - res = main_state_transition(status, MAIN_STATE_SEATBELT); + res = main_state_transition(status, MAIN_STATE_ALTHOLD); if (res != TRANSITION_DENIED) { break; // changed successfully or already in this mode } - if (sp_man->easy_switch != SWITCH_POS_ON) { - print_reject_mode(status, "SEATBELT"); + if (sp_man->poshold_switch != SWITCH_POS_ON) { + print_reject_mode(status, "ALTHOLD"); } // else fallback to MANUAL @@ -1590,9 +1590,9 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin break; // changed successfully or already in this state } - // else fallback to SEATBELT (EASY likely will not work too) + // else fallback to ALTHOLD (POSHOLD likely will not work too) print_reject_mode(status, "AUTO"); - res = main_state_transition(status, MAIN_STATE_SEATBELT); + res = main_state_transition(status, MAIN_STATE_ALTHOLD); if (res != TRANSITION_DENIED) { break; // changed successfully or already in this state @@ -1638,7 +1638,7 @@ set_control_mode() control_mode.flag_control_velocity_enabled = false; break; - case MAIN_STATE_SEATBELT: + case MAIN_STATE_ALTHOLD: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; control_mode.flag_control_rates_enabled = true; @@ -1649,7 +1649,7 @@ set_control_mode() control_mode.flag_control_velocity_enabled = false; break; - case MAIN_STATE_EASY: + case MAIN_STATE_POSHOLD: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; control_mode.flag_control_rates_enabled = true; diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp index 8a946543d..b440e561b 100644 --- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp +++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp @@ -317,34 +317,34 @@ bool StateMachineHelperTest::mainStateTransitionTest(void) TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); ut_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state); - // MANUAL to SEATBELT. + // MANUAL to ALTHOLD. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_altitude_valid = true; - new_main_state = MAIN_STATE_SEATBELT; - ut_assert("tranisition: manual to seatbelt", + new_main_state = MAIN_STATE_ALTHOLD; + ut_assert("tranisition: manual to althold", TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); - ut_assert("new state: seatbelt", MAIN_STATE_SEATBELT == current_state.main_state); + ut_assert("new state: althold", MAIN_STATE_ALTHOLD == current_state.main_state); - // MANUAL to SEATBELT, invalid local altitude. + // MANUAL to ALTHOLD, invalid local altitude. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_altitude_valid = false; - new_main_state = MAIN_STATE_SEATBELT; + new_main_state = MAIN_STATE_ALTHOLD; ut_assert("no transition: invalid local altitude", TRANSITION_DENIED == main_state_transition(¤t_state, new_main_state)); ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); - // MANUAL to EASY. + // MANUAL to POSHOLD. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_position_valid = true; - new_main_state = MAIN_STATE_EASY; - ut_assert("transition: manual to easy", + new_main_state = MAIN_STATE_POSHOLD; + ut_assert("transition: manual to poshold", TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); - ut_assert("current state: easy", MAIN_STATE_EASY == current_state.main_state); + ut_assert("current state: poshold", MAIN_STATE_POSHOLD == current_state.main_state); - // MANUAL to EASY, invalid local position. + // MANUAL to POSHOLD, invalid local position. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_position_valid = false; - new_main_state = MAIN_STATE_EASY; + new_main_state = MAIN_STATE_POSHOLD; ut_assert("no transition: invalid position", TRANSITION_DENIED == main_state_transition(¤t_state, new_main_state)); ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h index 2144d3460..962d2804c 100644 --- a/src/modules/commander/px4_custom_mode.h +++ b/src/modules/commander/px4_custom_mode.h @@ -12,8 +12,8 @@ enum PX4_CUSTOM_MAIN_MODE { PX4_CUSTOM_MAIN_MODE_MANUAL = 1, - PX4_CUSTOM_MAIN_MODE_SEATBELT, - PX4_CUSTOM_MAIN_MODE_EASY, + PX4_CUSTOM_MAIN_MODE_ALTHOLD, + PX4_CUSTOM_MAIN_MODE_POSHOLD, PX4_CUSTOM_MAIN_MODE_AUTO, }; diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index f09d586c7..21e36a87d 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -215,7 +215,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta ret = TRANSITION_CHANGED; break; - case MAIN_STATE_SEATBELT: + case MAIN_STATE_ALTHOLD: /* need at minimum altitude estimate */ if (!status->is_rotary_wing || @@ -226,7 +226,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta break; - case MAIN_STATE_EASY: + case MAIN_STATE_POSHOLD: /* need at minimum local position estimate */ if (status->condition_local_position_valid || diff --git a/src/modules/fixedwing_backside/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp index cfae07275..fafab9bfe 100644 --- a/src/modules/fixedwing_backside/fixedwing.cpp +++ b/src/modules/fixedwing_backside/fixedwing.cpp @@ -229,8 +229,8 @@ void BlockMultiModeBacksideAutopilot::update() _actuators.control[CH_RDR] = _manual.yaw; _actuators.control[CH_THR] = _manual.throttle; - } else if (_status.main_state == MAIN_STATE_SEATBELT || - _status.main_state == MAIN_STATE_EASY /* TODO, implement easy */) { + } else if (_status.main_state == MAIN_STATE_ALTHOLD || + _status.main_state == MAIN_STATE_POSHOLD /* TODO, implement easy */) { // calculate velocity, XXX should be airspeed, but using ground speed for now // for the purpose of control we will limit the velocity feedback between diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 7f13df785..d5a68e21f 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -153,7 +153,7 @@ private: bool _setpoint_valid; /**< flag if the position control setpoint is valid */ /** manual control states */ - float _seatbelt_hold_heading; /**< heading the system should hold in seatbelt mode */ + float _althold_hold_heading; /**< heading the system should hold in althold mode */ double _loiter_hold_lat; double _loiter_hold_lon; float _loiter_hold_alt; @@ -1051,16 +1051,16 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _att_sp.roll_reset_integral = true; } - } else if (0/* easy mode enabled */) { + } else if (0/* poshold mode enabled */) { - /** EASY FLIGHT **/ + /** POSHOLD FLIGHT **/ - if (0/* switched from another mode to easy */) { - _seatbelt_hold_heading = _att.yaw; + if (0/* switched from another mode to poshold */) { + _althold_hold_heading = _att.yaw; } - if (0/* easy on and manual control yaw non-zero */) { - _seatbelt_hold_heading = _att.yaw + _manual.yaw; + if (0/* poshold on and manual control yaw non-zero */) { + _althold_hold_heading = _att.yaw + _manual.yaw; } //XXX not used @@ -1073,39 +1073,39 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi // climb_out = true; // } - /* if in seatbelt mode, set airspeed based on manual control */ + /* if in althold mode, set airspeed based on manual control */ // XXX check if ground speed undershoot should be applied here - float seatbelt_airspeed = _parameters.airspeed_min + + float althold_airspeed = _parameters.airspeed_min + (_parameters.airspeed_max - _parameters.airspeed_min) * _manual.throttle; - _l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed); + _l1_control.navigate_heading(_althold_hold_heading, _att.yaw, ground_speed); _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f, - seatbelt_airspeed, + althold_airspeed, _airspeed.indicated_airspeed_m_s, eas2tas, false, _parameters.pitch_limit_min, _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, _parameters.pitch_limit_min, _parameters.pitch_limit_max); - } else if (0/* seatbelt mode enabled */) { + } else if (0/* althold mode enabled */) { - /** SEATBELT FLIGHT **/ + /** ALTHOLD FLIGHT **/ - if (0/* switched from another mode to seatbelt */) { - _seatbelt_hold_heading = _att.yaw; + if (0/* switched from another mode to althold */) { + _althold_hold_heading = _att.yaw; } - if (0/* seatbelt on and manual control yaw non-zero */) { - _seatbelt_hold_heading = _att.yaw + _manual.yaw; + if (0/* althold on and manual control yaw non-zero */) { + _althold_hold_heading = _att.yaw + _manual.yaw; } - /* if in seatbelt mode, set airspeed based on manual control */ + /* if in althold mode, set airspeed based on manual control */ // XXX check if ground speed undershoot should be applied here - float seatbelt_airspeed = _parameters.airspeed_min + + float althold_airspeed = _parameters.airspeed_min + (_parameters.airspeed_max - _parameters.airspeed_min) * _manual.throttle; @@ -1124,11 +1124,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi climb_out = true; } - _l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed); + _l1_control.navigate_heading(_althold_hold_heading, _att.yaw, ground_speed); _att_sp.roll_body = _manual.roll; _att_sp.yaw_body = _manual.yaw; _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f, - seatbelt_airspeed, + althold_airspeed, _airspeed.indicated_airspeed_m_s, eas2tas, climb_out, _parameters.pitch_limit_min, _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 678ce1645..108ef8ad4 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -124,13 +124,13 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0); custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; - } else if (status->main_state == MAIN_STATE_SEATBELT) { + } else if (status->main_state == MAIN_STATE_ALTHOLD) { *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; - custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTHOLD; - } else if (status->main_state == MAIN_STATE_EASY) { + } else if (status->main_state == MAIN_STATE_POSHOLD) { *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; - custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_EASY; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSHOLD; } else if (status->main_state == MAIN_STATE_AUTO) { *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index 104df4e59..015d8ad16 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -98,7 +98,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f); /** * Maximum vertical velocity * - * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (SEATBELT, EASY). + * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTHOLD, POSHOLD). * * @unit m/s * @min 0.0 @@ -109,7 +109,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f); /** * Vertical velocity feed forward * - * Feed forward weight for altitude control in stabilized modes (SEATBELT, EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + * Feed forward weight for altitude control in stabilized modes (ALTHOLD, POSHOLD). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. * * @min 0.0 * @max 1.0 @@ -154,7 +154,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f); /** * Maximum horizontal velocity * - * Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (EASY). + * Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSHOLD). * * @unit m/s * @min 0.0 @@ -165,7 +165,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f); /** * Horizontal velocity feed forward * - * Feed forward weight for position control in position control mode (EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + * Feed forward weight for position control in position control mode (POSHOLD). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. * * @min 0.0 * @max 1.0 @@ -176,7 +176,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f); /** * Maximum tilt angle in air * - * Limits maximum tilt in AUTO and EASY modes during flight. + * Limits maximum tilt in AUTO and POSHOLD modes during flight. * * @unit deg * @min 0.0 diff --git a/src/modules/segway/BlockSegwayController.cpp b/src/modules/segway/BlockSegwayController.cpp index 96a443c6e..2cb4fc900 100644 --- a/src/modules/segway/BlockSegwayController.cpp +++ b/src/modules/segway/BlockSegwayController.cpp @@ -35,8 +35,8 @@ void BlockSegwayController::update() { // handle autopilot modes if (_status.main_state == MAIN_STATE_AUTO || - _status.main_state == MAIN_STATE_SEATBELT || - _status.main_state == MAIN_STATE_EASY) { + _status.main_state == MAIN_STATE_ALTHOLD || + _status.main_state == MAIN_STATE_POSHOLD) { _actuators.control[0] = spdCmd; _actuators.control[1] = spdCmd; diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index dd6e21bdd..59bd99db7 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -605,7 +605,7 @@ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0); * @max 18 * @group Radio Calibration */ -PARAM_DEFINE_INT32(RC_MAP_EASY_SW, 0); +PARAM_DEFINE_INT32(RC_MAP_POSHLD_SW, 0); /** * Loiter switch channel mapping. @@ -703,7 +703,7 @@ PARAM_DEFINE_FLOAT(RC_ASSISTED_TH, 0.25f); PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f); /** - * Threshold for selecting easy mode + * Threshold for selecting poshold mode * * min:-1 * max:+1 @@ -716,7 +716,7 @@ PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f); * negative : true when channel Date: Mon, 28 Apr 2014 21:47:45 -0700 Subject: Replaces poshold/althold with posctrl/altctrl --- mavlink/include/mavlink/v1.0/autoquad/autoquad.h | 4 +- src/drivers/blinkm/blinkm.cpp | 4 +- src/modules/commander/commander.cpp | 46 +++++++++++----------- .../commander_tests/state_machine_helper_test.cpp | 24 +++++------ src/modules/commander/px4_custom_mode.h | 4 +- src/modules/commander/state_machine_helper.cpp | 4 +- src/modules/fixedwing_backside/fixedwing.cpp | 4 +- .../fw_pos_control_l1/fw_pos_control_l1_main.cpp | 42 ++++++++++---------- src/modules/mavlink/mavlink_messages.cpp | 8 ++-- src/modules/mc_pos_control/mc_pos_control_params.c | 10 ++--- src/modules/segway/BlockSegwayController.cpp | 4 +- src/modules/sensors/sensor_params.c | 6 +-- src/modules/sensors/sensors.cpp | 26 ++++++------ src/modules/uORB/topics/manual_control_setpoint.h | 2 +- src/modules/uORB/topics/rc_channels.h | 2 +- src/modules/uORB/topics/vehicle_status.h | 4 +- 16 files changed, 97 insertions(+), 97 deletions(-) (limited to 'src/modules/commander') diff --git a/mavlink/include/mavlink/v1.0/autoquad/autoquad.h b/mavlink/include/mavlink/v1.0/autoquad/autoquad.h index 93e868dc3..bd3fc66e7 100644 --- a/mavlink/include/mavlink/v1.0/autoquad/autoquad.h +++ b/mavlink/include/mavlink/v1.0/autoquad/autoquad.h @@ -40,8 +40,8 @@ enum AUTOQUAD_NAV_STATUS AQ_NAV_STATUS_INIT=0, /* System is initializing | */ AQ_NAV_STATUS_STANDBY=1, /* System is standing by, not active | */ AQ_NAV_STATUS_MANUAL=2, /* Stabilized, under full manual control | */ - AQ_NAV_STATUS_ALTHOLD=4, /* Altitude hold engaged | */ - AQ_NAV_STATUS_POSHOLD=8, /* Position hold engaged | */ + AQ_NAV_STATUS_ALTCTRL=4, /* Altitude hold engaged | */ + AQ_NAV_STATUS_POSCTRL=8, /* Position hold engaged | */ AQ_NAV_STATUS_DVH=16, /* Dynamic Velocity Hold is active | */ AQ_NAV_STATUS_MISSION=32, /* Autonomous mission execution mode | */ AQ_NAV_STATUS_CEILING_REACHED=67108864, /* Craft is at ceiling altitude | */ diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp index aa9c64502..974e20ca2 100644 --- a/src/drivers/blinkm/blinkm.cpp +++ b/src/drivers/blinkm/blinkm.cpp @@ -638,11 +638,11 @@ BlinkM::led() if(new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) { /* indicate main control state */ - if (vehicle_status_raw.main_state == MAIN_STATE_POSHOLD) + if (vehicle_status_raw.main_state == MAIN_STATE_POSCTRL) led_color_4 = LED_GREEN; else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO) led_color_4 = LED_BLUE; - else if (vehicle_status_raw.main_state == MAIN_STATE_ALTHOLD) + else if (vehicle_status_raw.main_state == MAIN_STATE_ALTCTRL) led_color_4 = LED_YELLOW; else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL) led_color_4 = LED_WHITE; diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index a99456370..be3e6d269 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -434,13 +434,13 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe /* MANUAL */ main_res = main_state_transition(status, MAIN_STATE_MANUAL); - } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTHOLD) { - /* ALTHOLD */ - main_res = main_state_transition(status, MAIN_STATE_ALTHOLD); + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTRL) { + /* ALTCTRL */ + main_res = main_state_transition(status, MAIN_STATE_ALTCTRL); - } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSHOLD) { - /* POSHOLD */ - main_res = main_state_transition(status, MAIN_STATE_POSHOLD); + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTRL) { + /* POSCTRL */ + main_res = main_state_transition(status, MAIN_STATE_POSCTRL); } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) { /* AUTO */ @@ -455,8 +455,8 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) { if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) { - /* POSHOLD */ - main_res = main_state_transition(status, MAIN_STATE_POSHOLD); + /* POSCTRL */ + main_res = main_state_transition(status, MAIN_STATE_POSCTRL); } else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) { /* MANUAL */ @@ -628,8 +628,8 @@ int commander_thread_main(int argc, char *argv[]) char *main_states_str[MAIN_STATE_MAX]; main_states_str[0] = "MANUAL"; - main_states_str[1] = "ALTHOLD"; - main_states_str[2] = "POSHOLD"; + main_states_str[1] = "ALTCTRL"; + main_states_str[2] = "POSCTRL"; main_states_str[3] = "AUTO"; char *arming_states_str[ARMING_STATE_MAX]; @@ -1299,8 +1299,8 @@ int commander_thread_main(int argc, char *argv[]) } // TODO remove this hack - /* flight termination in manual mode if assisted switch is on poshold position */ - if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.poshold_switch == SWITCH_POS_ON) { + /* flight termination in manual mode if assisted switch is on posctrl position */ + if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.posctrl_switch == SWITCH_POS_ON) { if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) { tune_positive(armed.armed); } @@ -1557,25 +1557,25 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin break; case SWITCH_POS_MIDDLE: // ASSISTED - if (sp_man->poshold_switch == SWITCH_POS_ON) { - res = main_state_transition(status, MAIN_STATE_POSHOLD); + if (sp_man->posctrl_switch == SWITCH_POS_ON) { + res = main_state_transition(status, MAIN_STATE_POSCTRL); if (res != TRANSITION_DENIED) { break; // changed successfully or already in this state } - // else fallback to ALTHOLD - print_reject_mode(status, "POSHOLD"); + // else fallback to ALTCTRL + print_reject_mode(status, "POSCTRL"); } - res = main_state_transition(status, MAIN_STATE_ALTHOLD); + res = main_state_transition(status, MAIN_STATE_ALTCTRL); if (res != TRANSITION_DENIED) { break; // changed successfully or already in this mode } - if (sp_man->poshold_switch != SWITCH_POS_ON) { - print_reject_mode(status, "ALTHOLD"); + if (sp_man->posctrl_switch != SWITCH_POS_ON) { + print_reject_mode(status, "ALTCTRL"); } // else fallback to MANUAL @@ -1590,9 +1590,9 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin break; // changed successfully or already in this state } - // else fallback to ALTHOLD (POSHOLD likely will not work too) + // else fallback to ALTCTRL (POSCTRL likely will not work too) print_reject_mode(status, "AUTO"); - res = main_state_transition(status, MAIN_STATE_ALTHOLD); + res = main_state_transition(status, MAIN_STATE_ALTCTRL); if (res != TRANSITION_DENIED) { break; // changed successfully or already in this state @@ -1638,7 +1638,7 @@ set_control_mode() control_mode.flag_control_velocity_enabled = false; break; - case MAIN_STATE_ALTHOLD: + case MAIN_STATE_ALTCTRL: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; control_mode.flag_control_rates_enabled = true; @@ -1649,7 +1649,7 @@ set_control_mode() control_mode.flag_control_velocity_enabled = false; break; - case MAIN_STATE_POSHOLD: + case MAIN_STATE_POSCTRL: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; control_mode.flag_control_rates_enabled = true; diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp index b440e561b..18586053b 100644 --- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp +++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp @@ -317,34 +317,34 @@ bool StateMachineHelperTest::mainStateTransitionTest(void) TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); ut_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state); - // MANUAL to ALTHOLD. + // MANUAL to ALTCTRL. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_altitude_valid = true; - new_main_state = MAIN_STATE_ALTHOLD; - ut_assert("tranisition: manual to althold", + new_main_state = MAIN_STATE_ALTCTRL; + ut_assert("tranisition: manual to altctrl", TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); - ut_assert("new state: althold", MAIN_STATE_ALTHOLD == current_state.main_state); + ut_assert("new state: altctrl", MAIN_STATE_ALTCTRL == current_state.main_state); - // MANUAL to ALTHOLD, invalid local altitude. + // MANUAL to ALTCTRL, invalid local altitude. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_altitude_valid = false; - new_main_state = MAIN_STATE_ALTHOLD; + new_main_state = MAIN_STATE_ALTCTRL; ut_assert("no transition: invalid local altitude", TRANSITION_DENIED == main_state_transition(¤t_state, new_main_state)); ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); - // MANUAL to POSHOLD. + // MANUAL to POSCTRL. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_position_valid = true; - new_main_state = MAIN_STATE_POSHOLD; - ut_assert("transition: manual to poshold", + new_main_state = MAIN_STATE_POSCTRL; + ut_assert("transition: manual to posctrl", TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); - ut_assert("current state: poshold", MAIN_STATE_POSHOLD == current_state.main_state); + ut_assert("current state: posctrl", MAIN_STATE_POSCTRL == current_state.main_state); - // MANUAL to POSHOLD, invalid local position. + // MANUAL to POSCTRL, invalid local position. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_position_valid = false; - new_main_state = MAIN_STATE_POSHOLD; + new_main_state = MAIN_STATE_POSCTRL; ut_assert("no transition: invalid position", TRANSITION_DENIED == main_state_transition(¤t_state, new_main_state)); ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h index 962d2804c..e6274fb89 100644 --- a/src/modules/commander/px4_custom_mode.h +++ b/src/modules/commander/px4_custom_mode.h @@ -12,8 +12,8 @@ enum PX4_CUSTOM_MAIN_MODE { PX4_CUSTOM_MAIN_MODE_MANUAL = 1, - PX4_CUSTOM_MAIN_MODE_ALTHOLD, - PX4_CUSTOM_MAIN_MODE_POSHOLD, + PX4_CUSTOM_MAIN_MODE_ALTCTRL, + PX4_CUSTOM_MAIN_MODE_POSCTRL, PX4_CUSTOM_MAIN_MODE_AUTO, }; diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 21e36a87d..3b6d95135 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -215,7 +215,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta ret = TRANSITION_CHANGED; break; - case MAIN_STATE_ALTHOLD: + case MAIN_STATE_ALTCTRL: /* need at minimum altitude estimate */ if (!status->is_rotary_wing || @@ -226,7 +226,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta break; - case MAIN_STATE_POSHOLD: + case MAIN_STATE_POSCTRL: /* need at minimum local position estimate */ if (status->condition_local_position_valid || diff --git a/src/modules/fixedwing_backside/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp index fafab9bfe..dc82ee475 100644 --- a/src/modules/fixedwing_backside/fixedwing.cpp +++ b/src/modules/fixedwing_backside/fixedwing.cpp @@ -229,8 +229,8 @@ void BlockMultiModeBacksideAutopilot::update() _actuators.control[CH_RDR] = _manual.yaw; _actuators.control[CH_THR] = _manual.throttle; - } else if (_status.main_state == MAIN_STATE_ALTHOLD || - _status.main_state == MAIN_STATE_POSHOLD /* TODO, implement easy */) { + } else if (_status.main_state == MAIN_STATE_ALTCTRL || + _status.main_state == MAIN_STATE_POSCTRL /* TODO, implement easy */) { // calculate velocity, XXX should be airspeed, but using ground speed for now // for the purpose of control we will limit the velocity feedback between diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index d5a68e21f..024dd98ec 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -153,7 +153,7 @@ private: bool _setpoint_valid; /**< flag if the position control setpoint is valid */ /** manual control states */ - float _althold_hold_heading; /**< heading the system should hold in althold mode */ + float _altctrl_hold_heading; /**< heading the system should hold in altctrl mode */ double _loiter_hold_lat; double _loiter_hold_lon; float _loiter_hold_alt; @@ -1051,16 +1051,16 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _att_sp.roll_reset_integral = true; } - } else if (0/* poshold mode enabled */) { + } else if (0/* posctrl mode enabled */) { - /** POSHOLD FLIGHT **/ + /** POSCTRL FLIGHT **/ - if (0/* switched from another mode to poshold */) { - _althold_hold_heading = _att.yaw; + if (0/* switched from another mode to posctrl */) { + _altctrl_hold_heading = _att.yaw; } - if (0/* poshold on and manual control yaw non-zero */) { - _althold_hold_heading = _att.yaw + _manual.yaw; + if (0/* posctrl on and manual control yaw non-zero */) { + _altctrl_hold_heading = _att.yaw + _manual.yaw; } //XXX not used @@ -1073,39 +1073,39 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi // climb_out = true; // } - /* if in althold mode, set airspeed based on manual control */ + /* if in altctrl mode, set airspeed based on manual control */ // XXX check if ground speed undershoot should be applied here - float althold_airspeed = _parameters.airspeed_min + + float altctrl_airspeed = _parameters.airspeed_min + (_parameters.airspeed_max - _parameters.airspeed_min) * _manual.throttle; - _l1_control.navigate_heading(_althold_hold_heading, _att.yaw, ground_speed); + _l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed); _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f, - althold_airspeed, + altctrl_airspeed, _airspeed.indicated_airspeed_m_s, eas2tas, false, _parameters.pitch_limit_min, _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, _parameters.pitch_limit_min, _parameters.pitch_limit_max); - } else if (0/* althold mode enabled */) { + } else if (0/* altctrl mode enabled */) { - /** ALTHOLD FLIGHT **/ + /** ALTCTRL FLIGHT **/ - if (0/* switched from another mode to althold */) { - _althold_hold_heading = _att.yaw; + if (0/* switched from another mode to altctrl */) { + _altctrl_hold_heading = _att.yaw; } - if (0/* althold on and manual control yaw non-zero */) { - _althold_hold_heading = _att.yaw + _manual.yaw; + if (0/* altctrl on and manual control yaw non-zero */) { + _altctrl_hold_heading = _att.yaw + _manual.yaw; } - /* if in althold mode, set airspeed based on manual control */ + /* if in altctrl mode, set airspeed based on manual control */ // XXX check if ground speed undershoot should be applied here - float althold_airspeed = _parameters.airspeed_min + + float altctrl_airspeed = _parameters.airspeed_min + (_parameters.airspeed_max - _parameters.airspeed_min) * _manual.throttle; @@ -1124,11 +1124,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi climb_out = true; } - _l1_control.navigate_heading(_althold_hold_heading, _att.yaw, ground_speed); + _l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed); _att_sp.roll_body = _manual.roll; _att_sp.yaw_body = _manual.yaw; _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f, - althold_airspeed, + altctrl_airspeed, _airspeed.indicated_airspeed_m_s, eas2tas, climb_out, _parameters.pitch_limit_min, _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 108ef8ad4..38a5433ff 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -124,13 +124,13 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0); custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; - } else if (status->main_state == MAIN_STATE_ALTHOLD) { + } else if (status->main_state == MAIN_STATE_ALTCTRL) { *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; - custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTHOLD; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTRL; - } else if (status->main_state == MAIN_STATE_POSHOLD) { + } else if (status->main_state == MAIN_STATE_POSCTRL) { *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; - custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSHOLD; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTRL; } else if (status->main_state == MAIN_STATE_AUTO) { *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index 015d8ad16..dacdd46f0 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -98,7 +98,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f); /** * Maximum vertical velocity * - * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTHOLD, POSHOLD). + * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL). * * @unit m/s * @min 0.0 @@ -109,7 +109,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f); /** * Vertical velocity feed forward * - * Feed forward weight for altitude control in stabilized modes (ALTHOLD, POSHOLD). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + * Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. * * @min 0.0 * @max 1.0 @@ -154,7 +154,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f); /** * Maximum horizontal velocity * - * Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSHOLD). + * Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). * * @unit m/s * @min 0.0 @@ -165,7 +165,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f); /** * Horizontal velocity feed forward * - * Feed forward weight for position control in position control mode (POSHOLD). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + * Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. * * @min 0.0 * @max 1.0 @@ -176,7 +176,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f); /** * Maximum tilt angle in air * - * Limits maximum tilt in AUTO and POSHOLD modes during flight. + * Limits maximum tilt in AUTO and POSCTRL modes during flight. * * @unit deg * @min 0.0 diff --git a/src/modules/segway/BlockSegwayController.cpp b/src/modules/segway/BlockSegwayController.cpp index 2cb4fc900..6d46db9bd 100644 --- a/src/modules/segway/BlockSegwayController.cpp +++ b/src/modules/segway/BlockSegwayController.cpp @@ -35,8 +35,8 @@ void BlockSegwayController::update() { // handle autopilot modes if (_status.main_state == MAIN_STATE_AUTO || - _status.main_state == MAIN_STATE_ALTHOLD || - _status.main_state == MAIN_STATE_POSHOLD) { + _status.main_state == MAIN_STATE_ALTCTRL || + _status.main_state == MAIN_STATE_POSCTRL) { _actuators.control[0] = spdCmd; _actuators.control[1] = spdCmd; diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 59bd99db7..02890b452 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -605,7 +605,7 @@ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0); * @max 18 * @group Radio Calibration */ -PARAM_DEFINE_INT32(RC_MAP_POSHLD_SW, 0); +PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0); /** * Loiter switch channel mapping. @@ -703,7 +703,7 @@ PARAM_DEFINE_FLOAT(RC_ASSISTED_TH, 0.25f); PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f); /** - * Threshold for selecting poshold mode + * Threshold for selecting posctrl mode * * min:-1 * max:+1 @@ -716,7 +716,7 @@ PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f); * negative : true when channel Date: Tue, 29 Apr 2014 20:51:04 -0700 Subject: shortened rc_assisted_th to rc_assist_th in case we add a dedicated switch mapping later --- src/modules/commander/commander.cpp | 6 +++--- src/modules/sensors/sensor_params.c | 4 ++-- src/modules/sensors/sensors.cpp | 16 ++++++++-------- 3 files changed, 13 insertions(+), 13 deletions(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index be3e6d269..ad15750c0 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1145,7 +1145,7 @@ int commander_thread_main(int argc, char *argv[]) /* arm/disarm by RC */ res = TRANSITION_NOT_CHANGED; - /* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSISTED mode and landed) -> disarm + /* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSIST mode and landed) -> disarm * do it only for rotary wings */ if (status.is_rotary_wing && (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) && @@ -1299,7 +1299,7 @@ int commander_thread_main(int argc, char *argv[]) } // TODO remove this hack - /* flight termination in manual mode if assisted switch is on posctrl position */ + /* flight termination in manual mode if assist switch is on posctrl position */ if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.posctrl_switch == SWITCH_POS_ON) { if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) { tune_positive(armed.armed); @@ -1556,7 +1556,7 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin // TRANSITION_DENIED is not possible here break; - case SWITCH_POS_MIDDLE: // ASSISTED + case SWITCH_POS_MIDDLE: // ASSIST if (sp_man->posctrl_switch == SWITCH_POS_ON) { res = main_state_transition(status, MAIN_STATE_POSCTRL); diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 02890b452..873fff872 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -671,7 +671,7 @@ PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); PARAM_DEFINE_INT32(RC_FAILS_THR, 0); /** - * Threshold for selecting assisted mode + * Threshold for selecting assist mode * * min:-1 * max:+1 @@ -684,7 +684,7 @@ PARAM_DEFINE_INT32(RC_FAILS_THR, 0); * negative : true when channel Date: Wed, 30 Apr 2014 15:33:47 +0200 Subject: commander: Stop mixing board support and high level code - just accept that non-mandatory leds may or may not be there --- src/modules/commander/commander_helper.cpp | 16 +++------------- 1 file changed, 3 insertions(+), 13 deletions(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index fe6c9bfaa..0fd3c9e9e 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -199,15 +199,9 @@ int led_init() } /* the blue LED is only available on FMUv1 but not FMUv2 */ -#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 - - if (ioctl(leds, LED_ON, LED_BLUE)) { - warnx("Blue LED: ioctl fail\n"); - return ERROR; - } - -#endif + (void)ioctl(leds, LED_ON, LED_BLUE); + /* we consider the amber led mandatory */ if (ioctl(leds, LED_ON, LED_AMBER)) { warnx("Amber LED: ioctl fail\n"); return ERROR; @@ -217,11 +211,7 @@ int led_init() rgbleds = open(RGBLED_DEVICE_PATH, 0); if (rgbleds == -1) { -#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 - errx(1, "Unable to open " RGBLED_DEVICE_PATH); -#else - warnx("No RGB LED found"); -#endif + warnx("No RGB LED found at " RGBLED_DEVICE_PATH); } return 0; -- cgit v1.2.3 From 1d6b9fae037422f4c61bdd7ee1a5ea0803a59726 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 6 May 2014 14:57:06 +0200 Subject: Fix in-air restarts, protect against an external MAVLink sender exploiting the restart mechanism --- src/drivers/px4io/px4io.cpp | 24 ++++++++++++++++++++---- src/modules/commander/commander.cpp | 5 +++++ src/modules/mavlink/mavlink_receiver.cpp | 6 ++++++ 3 files changed, 31 insertions(+), 4 deletions(-) (limited to 'src/modules/commander') diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 8458c2fdb..aec6dd3b7 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -683,6 +683,25 @@ PX4IO::init() /* send command to arm system via command API */ vehicle_command_s cmd; + /* send this to itself */ + param_t sys_id_param = param_find("MAV_SYS_ID"); + param_t comp_id_param = param_find("MAV_COMP_ID"); + + int32_t sys_id; + int32_t comp_id; + + if (param_get(sys_id_param, &sys_id)) { + errx(1, "PRM SYSID"); + } + + if (param_get(comp_id_param, &comp_id)) { + errx(1, "PRM CMPID"); + } + + cmd.target_system = sys_id; + cmd.target_component = comp_id; + cmd.source_system = sys_id; + cmd.source_component = comp_id; /* request arming */ cmd.param1 = 1.0f; cmd.param2 = 0; @@ -692,10 +711,7 @@ PX4IO::init() cmd.param6 = 0; cmd.param7 = 0; cmd.command = VEHICLE_CMD_COMPONENT_ARM_DISARM; - // cmd.target_system = status.system_id; - // cmd.target_component = status.component_id; - // cmd.source_system = status.system_id; - // cmd.source_component = status.component_id; + /* ask to confirm command */ cmd.confirmation = 1; diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 53ed34f46..141b371b3 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -484,6 +484,11 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) { mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", cmd->param1); } else { + + // Flick to inair restore first if this comes from an onboard system + if (cmd->source_system == status->system_id && cmd->source_component == status->component_id) { + status->arming_state = ARMING_STATE_IN_AIR_RESTORE; + } transition_result_t arming_res = arm_disarm(cmd->param1 != 0.0f, mavlink_fd, "arm/disarm component command"); if (arming_res == TRANSITION_DENIED) { mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd"); diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 7c93c1c00..64fc41838 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -217,6 +217,12 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg) _mavlink->_task_should_exit = true; } else { + + if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) { + warnx("ignoring CMD spoofed with same SYS/COMP ID"); + return; + } + struct vehicle_command_s vcmd; memset(&vcmd, 0, sizeof(vcmd)); -- cgit v1.2.3 From 32b84b9652b5636ba4a2a30caae6fffacb47f1d0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 6 May 2014 21:46:59 +0200 Subject: Much better failsafe reporting on failsafe state changes --- src/modules/commander/commander.cpp | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 141b371b3..99a644c9d 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1271,6 +1271,13 @@ int commander_thread_main(int argc, char *argv[]) if (res == TRANSITION_DENIED) { /* LAND not allowed, set TERMINATION state */ transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); + + if (res == TRANSITION_CHANGED) { + mavlink_log_critical(mavlink_fd, "#a FAILSAFE: TERMINATION"); + } + + } else if (res == TRANSITION_CHANGED) { + mavlink_log_critical(mavlink_fd, "#a FAILSAFE: LANDING"); } } @@ -1281,15 +1288,25 @@ int commander_thread_main(int argc, char *argv[]) if (!status.condition_landed) { /* vehicle is not landed, try to perform RTL */ res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL); + + if (res == TRANSITION_CHANGED) { + mavlink_log_critical(mavlink_fd, "#a FAILSAFE: RETURN TO LAND"); + } } if (res == TRANSITION_DENIED) { /* RTL not allowed (no global position estimate) or not wanted, try LAND */ res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); + if (res == TRANSITION_CHANGED) { + mavlink_log_critical(mavlink_fd, "#a FAILSAFE: LANDING"); + } + if (res == TRANSITION_DENIED) { /* LAND not allowed, set TERMINATION state */ res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); + } else if (res == TRANSITION_CHANGED) { + mavlink_log_critical(mavlink_fd, "#a FAILSAFE: TERMINATION"); } } } -- cgit v1.2.3 From 0c318f9ad7ab9471786a1f0fa29a599f65b5d549 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 7 May 2014 08:42:57 +0200 Subject: commander: Fix the position failsafe to a) use proper logic to determine if eph / epv are good or not (the previous logic was in some states not initialized) and b) add a hysteresis time - because the check as it was before had zero hysteresis time for a bad eph / epv value --- src/modules/commander/commander.cpp | 26 ++++++++++++++++++++------ 1 file changed, 20 insertions(+), 6 deletions(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 141b371b3..aa4e643dc 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -117,9 +117,10 @@ extern struct system_load_s system_load; #define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000 #define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) -#define POSITION_TIMEOUT 100000 /**< consider the local or global position estimate invalid after 100ms */ -#define RC_TIMEOUT 500000 -#define DIFFPRESS_TIMEOUT 2000000 +#define POSITION_TIMEOUT (600 * 1000) /**< consider the local or global position estimate invalid after 600ms */ +#define FAILSAFE_DEFAULT_TIMEOUT (3 * 1000 * 1000) /**< hysteresis time - the failsafe will trigger after 3 seconds in this state */ +#define RC_TIMEOUT 500000 +#define DIFFPRESS_TIMEOUT 2000000 #define PRINT_INTERVAL 5000000 #define PRINT_MODE_REJECT_INTERVAL 2000000 @@ -746,8 +747,9 @@ int commander_thread_main(int argc, char *argv[]) bool low_battery_voltage_actions_done = false; bool critical_battery_voltage_actions_done = false; - uint64_t last_idle_time = 0; - uint64_t start_time = 0; + hrt_abstime last_idle_time = 0; + hrt_abstime start_time = 0; + hrt_abstime last_auto_state_valid = 0; bool status_changed = true; bool param_init_forced = true; @@ -776,6 +778,9 @@ int commander_thread_main(int argc, char *argv[]) int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position)); struct vehicle_global_position_s global_position; memset(&global_position, 0, sizeof(global_position)); + /* Init EPH and EPV */ + global_position.eph = 1000.0f; + global_position.epv = 1000.0f; /* Subscribe to local position data */ int local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position)); @@ -938,11 +943,15 @@ int commander_thread_main(int argc, char *argv[]) if (status.condition_global_position_valid) { if (global_position.eph > eph_epv_threshold * 2.0f || global_position.epv > eph_epv_threshold * 2.0f) { eph_epv_good = false; + } else { + eph_epv_good = true; } } else { if (global_position.eph < eph_epv_threshold && global_position.epv < eph_epv_threshold) { eph_epv_good = true; + } else { + eph_epv_good = false; } } check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_epv_good, &(status.condition_global_position_valid), &status_changed); @@ -1264,7 +1273,12 @@ int commander_thread_main(int argc, char *argv[]) /* check if AUTO mode still allowed */ transition_result_t res = main_state_transition(&status, MAIN_STATE_AUTO); - if (res == TRANSITION_DENIED) { + if (res == TRANSITION_NOT_CHANGED) { + last_auto_state_valid = hrt_absolute_time(); + } + + /* still invalid state after the timeout interval, execute failsafe */ + if ((hrt_elapsed_time(&last_auto_state_valid) > FAILSAFE_DEFAULT_TIMEOUT) && (res == TRANSITION_DENIED)) { /* AUTO mode denied, don't try RTL, switch to failsafe state LAND */ res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); -- cgit v1.2.3 From 88b18bbad1be31cf31ff964c6cf6f3123948488d Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sun, 11 May 2014 13:35:05 +0200 Subject: ALTCTRL/POSCTRL renamed to ALTCTL/POSCTL --- src/drivers/blinkm/blinkm.cpp | 4 +- src/modules/commander/commander.cpp | 46 +++++++++++----------- .../commander_tests/state_machine_helper_test.cpp | 12 +++--- src/modules/commander/px4_custom_mode.h | 4 +- src/modules/commander/state_machine_helper.cpp | 4 +- src/modules/fixedwing_backside/fixedwing.cpp | 4 +- src/modules/mavlink/mavlink_messages.cpp | 8 ++-- src/modules/segway/BlockSegwayController.cpp | 4 +- src/modules/uORB/topics/manual_control_setpoint.h | 4 +- src/modules/uORB/topics/vehicle_status.h | 4 +- 10 files changed, 47 insertions(+), 47 deletions(-) (limited to 'src/modules/commander') diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp index 974e20ca2..c41d8f242 100644 --- a/src/drivers/blinkm/blinkm.cpp +++ b/src/drivers/blinkm/blinkm.cpp @@ -638,11 +638,11 @@ BlinkM::led() if(new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) { /* indicate main control state */ - if (vehicle_status_raw.main_state == MAIN_STATE_POSCTRL) + if (vehicle_status_raw.main_state == MAIN_STATE_POSCTL) led_color_4 = LED_GREEN; else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO) led_color_4 = LED_BLUE; - else if (vehicle_status_raw.main_state == MAIN_STATE_ALTCTRL) + else if (vehicle_status_raw.main_state == MAIN_STATE_ALTCTL) led_color_4 = LED_YELLOW; else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL) led_color_4 = LED_WHITE; diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index e5124a31f..8c7f6270d 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -435,13 +435,13 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe /* MANUAL */ main_res = main_state_transition(status, MAIN_STATE_MANUAL); - } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTRL) { - /* ALTCTRL */ - main_res = main_state_transition(status, MAIN_STATE_ALTCTRL); + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) { + /* ALTCTL */ + main_res = main_state_transition(status, MAIN_STATE_ALTCTL); - } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTRL) { - /* POSCTRL */ - main_res = main_state_transition(status, MAIN_STATE_POSCTRL); + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) { + /* POSCTL */ + main_res = main_state_transition(status, MAIN_STATE_POSCTL); } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) { /* AUTO */ @@ -456,8 +456,8 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) { if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) { - /* POSCTRL */ - main_res = main_state_transition(status, MAIN_STATE_POSCTRL); + /* POSCTL */ + main_res = main_state_transition(status, MAIN_STATE_POSCTL); } else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) { /* MANUAL */ @@ -634,8 +634,8 @@ int commander_thread_main(int argc, char *argv[]) char *main_states_str[MAIN_STATE_MAX]; main_states_str[0] = "MANUAL"; - main_states_str[1] = "ALTCTRL"; - main_states_str[2] = "POSCTRL"; + main_states_str[1] = "ALTCTL"; + main_states_str[2] = "POSCTL"; main_states_str[3] = "AUTO"; char *arming_states_str[ARMING_STATE_MAX]; @@ -1335,8 +1335,8 @@ int commander_thread_main(int argc, char *argv[]) } // TODO remove this hack - /* flight termination in manual mode if assist switch is on posctrl position */ - if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.posctrl_switch == SWITCH_POS_ON) { + /* flight termination in manual mode if assist switch is on POSCTL position */ + if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.posctl_switch == SWITCH_POS_ON) { if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) { tune_positive(armed.armed); } @@ -1593,25 +1593,25 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin break; case SWITCH_POS_MIDDLE: // ASSIST - if (sp_man->posctrl_switch == SWITCH_POS_ON) { - res = main_state_transition(status, MAIN_STATE_POSCTRL); + if (sp_man->posctl_switch == SWITCH_POS_ON) { + res = main_state_transition(status, MAIN_STATE_POSCTL); if (res != TRANSITION_DENIED) { break; // changed successfully or already in this state } - // else fallback to ALTCTRL - print_reject_mode(status, "POSCTRL"); + // else fallback to ALTCTL + print_reject_mode(status, "POSCTL"); } - res = main_state_transition(status, MAIN_STATE_ALTCTRL); + res = main_state_transition(status, MAIN_STATE_ALTCTL); if (res != TRANSITION_DENIED) { break; // changed successfully or already in this mode } - if (sp_man->posctrl_switch != SWITCH_POS_ON) { - print_reject_mode(status, "ALTCTRL"); + if (sp_man->posctl_switch != SWITCH_POS_ON) { + print_reject_mode(status, "ALTCTL"); } // else fallback to MANUAL @@ -1626,9 +1626,9 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin break; // changed successfully or already in this state } - // else fallback to ALTCTRL (POSCTRL likely will not work too) + // else fallback to ALTCTL (POSCTL likely will not work too) print_reject_mode(status, "AUTO"); - res = main_state_transition(status, MAIN_STATE_ALTCTRL); + res = main_state_transition(status, MAIN_STATE_ALTCTL); if (res != TRANSITION_DENIED) { break; // changed successfully or already in this state @@ -1674,7 +1674,7 @@ set_control_mode() control_mode.flag_control_velocity_enabled = false; break; - case MAIN_STATE_ALTCTRL: + case MAIN_STATE_ALTCTL: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; control_mode.flag_control_rates_enabled = true; @@ -1685,7 +1685,7 @@ set_control_mode() control_mode.flag_control_velocity_enabled = false; break; - case MAIN_STATE_POSCTRL: + case MAIN_STATE_POSCTL: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; control_mode.flag_control_rates_enabled = true; diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp index 18586053b..ee0d08391 100644 --- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp +++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp @@ -320,15 +320,15 @@ bool StateMachineHelperTest::mainStateTransitionTest(void) // MANUAL to ALTCTRL. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_altitude_valid = true; - new_main_state = MAIN_STATE_ALTCTRL; + new_main_state = MAIN_STATE_ALTCTL; ut_assert("tranisition: manual to altctrl", TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); - ut_assert("new state: altctrl", MAIN_STATE_ALTCTRL == current_state.main_state); + ut_assert("new state: altctrl", MAIN_STATE_ALTCTL == current_state.main_state); // MANUAL to ALTCTRL, invalid local altitude. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_altitude_valid = false; - new_main_state = MAIN_STATE_ALTCTRL; + new_main_state = MAIN_STATE_ALTCTL; ut_assert("no transition: invalid local altitude", TRANSITION_DENIED == main_state_transition(¤t_state, new_main_state)); ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); @@ -336,15 +336,15 @@ bool StateMachineHelperTest::mainStateTransitionTest(void) // MANUAL to POSCTRL. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_position_valid = true; - new_main_state = MAIN_STATE_POSCTRL; + new_main_state = MAIN_STATE_POSCTL; ut_assert("transition: manual to posctrl", TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); - ut_assert("current state: posctrl", MAIN_STATE_POSCTRL == current_state.main_state); + ut_assert("current state: posctrl", MAIN_STATE_POSCTL == current_state.main_state); // MANUAL to POSCTRL, invalid local position. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_position_valid = false; - new_main_state = MAIN_STATE_POSCTRL; + new_main_state = MAIN_STATE_POSCTL; ut_assert("no transition: invalid position", TRANSITION_DENIED == main_state_transition(¤t_state, new_main_state)); ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h index e6274fb89..a83c81850 100644 --- a/src/modules/commander/px4_custom_mode.h +++ b/src/modules/commander/px4_custom_mode.h @@ -12,8 +12,8 @@ enum PX4_CUSTOM_MAIN_MODE { PX4_CUSTOM_MAIN_MODE_MANUAL = 1, - PX4_CUSTOM_MAIN_MODE_ALTCTRL, - PX4_CUSTOM_MAIN_MODE_POSCTRL, + PX4_CUSTOM_MAIN_MODE_ALTCTL, + PX4_CUSTOM_MAIN_MODE_POSCTL, PX4_CUSTOM_MAIN_MODE_AUTO, }; diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 3b6d95135..97a214c33 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -215,7 +215,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta ret = TRANSITION_CHANGED; break; - case MAIN_STATE_ALTCTRL: + case MAIN_STATE_ALTCTL: /* need at minimum altitude estimate */ if (!status->is_rotary_wing || @@ -226,7 +226,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta break; - case MAIN_STATE_POSCTRL: + case MAIN_STATE_POSCTL: /* need at minimum local position estimate */ if (status->condition_local_position_valid || diff --git a/src/modules/fixedwing_backside/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp index 596e286a4..bbb39f20f 100644 --- a/src/modules/fixedwing_backside/fixedwing.cpp +++ b/src/modules/fixedwing_backside/fixedwing.cpp @@ -229,8 +229,8 @@ void BlockMultiModeBacksideAutopilot::update() _actuators.control[CH_RDR] = _manual.yaw; _actuators.control[CH_THR] = _manual.throttle; - } else if (_status.main_state == MAIN_STATE_ALTCTRL || - _status.main_state == MAIN_STATE_POSCTRL /* TODO, implement pos control */) { + } else if (_status.main_state == MAIN_STATE_ALTCTL || + _status.main_state == MAIN_STATE_POSCTL /* TODO, implement pos control */) { // calculate velocity, XXX should be airspeed, but using ground speed for now // for the purpose of control we will limit the velocity feedback between diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 9a7e636c3..b8879157e 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -124,13 +124,13 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0); custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; - } else if (status->main_state == MAIN_STATE_ALTCTRL) { + } else if (status->main_state == MAIN_STATE_ALTCTL) { *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; - custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTRL; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL; - } else if (status->main_state == MAIN_STATE_POSCTRL) { + } else if (status->main_state == MAIN_STATE_POSCTL) { *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; - custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTRL; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL; } else if (status->main_state == MAIN_STATE_AUTO) { *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; diff --git a/src/modules/segway/BlockSegwayController.cpp b/src/modules/segway/BlockSegwayController.cpp index 6d46db9bd..91230a37c 100644 --- a/src/modules/segway/BlockSegwayController.cpp +++ b/src/modules/segway/BlockSegwayController.cpp @@ -35,8 +35,8 @@ void BlockSegwayController::update() { // handle autopilot modes if (_status.main_state == MAIN_STATE_AUTO || - _status.main_state == MAIN_STATE_ALTCTRL || - _status.main_state == MAIN_STATE_POSCTRL) { + _status.main_state == MAIN_STATE_ALTCTL || + _status.main_state == MAIN_STATE_POSCTL) { _actuators.control[0] = spdCmd; _actuators.control[1] = spdCmd; diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index 727be9492..ac394786d 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -77,8 +77,8 @@ struct manual_control_setpoint_s { float aux5; /**< default function: payload drop */ switch_pos_t mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */ - switch_pos_t return_switch; /**< rturn to launch 2 position switch (mandatory): no effect, return */ - switch_pos_t posctrl_switch; /**< posctrl 2 position switch (optional): altctrl, posctrl */ + switch_pos_t return_switch; /**< rturn to launch 2 position switch (mandatory): normal, return */ + switch_pos_t posctl_switch; /**< posctrl 2 position switch (optional): altctl, posctl */ switch_pos_t loiter_switch; /**< mission 2 position switch (optional): mission, loiter */ }; /**< manual control inputs */ diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index f401140ae..f56355246 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -63,8 +63,8 @@ /* main state machine */ typedef enum { MAIN_STATE_MANUAL = 0, - MAIN_STATE_ALTCTRL, - MAIN_STATE_POSCTRL, + MAIN_STATE_ALTCTL, + MAIN_STATE_POSCTL, MAIN_STATE_AUTO, MAIN_STATE_MAX } main_state_t; -- cgit v1.2.3 From 349809f5353d70eb9d569a267165e0f1b2054e02 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sun, 11 May 2014 13:36:51 +0200 Subject: sensors, commander: code style fixed --- .../commander/accelerometer_calibration.cpp | 66 +++++---- src/modules/commander/airspeed_calibration.cpp | 6 +- src/modules/commander/commander.cpp | 157 +++++++++++++-------- src/modules/commander/commander_helper.cpp | 20 ++- src/modules/commander/gyro_calibration.cpp | 18 +-- src/modules/commander/mag_calibration.cpp | 31 ++-- src/modules/commander/state_machine_helper.cpp | 156 ++++++++++---------- src/modules/sensors/sensors.cpp | 102 ++++++++----- 8 files changed, 345 insertions(+), 211 deletions(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index 1cbdf9bf8..7180048ff 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -194,13 +194,13 @@ int do_accel_calibration(int mavlink_fd) int32_t board_rotation_int; param_get(board_rotation_h, &(board_rotation_int)); enum Rotation board_rotation_id = (enum Rotation)board_rotation_int; - math::Matrix<3,3> board_rotation; + math::Matrix<3, 3> board_rotation; get_rot_matrix(board_rotation_id, &board_rotation); - math::Matrix<3,3> board_rotation_t = board_rotation.transposed(); + math::Matrix<3, 3> board_rotation_t = board_rotation.transposed(); math::Vector<3> accel_offs_vec(&accel_offs[0]); - math::Vector<3> accel_offs_rotated = board_rotation_t * accel_offs_vec; - math::Matrix<3,3> accel_T_mat(&accel_T[0][0]); - math::Matrix<3,3> accel_T_rotated = board_rotation_t * accel_T_mat * board_rotation; + math::Vector<3> accel_offs_rotated = board_rotation_t *accel_offs_vec; + math::Matrix<3, 3> accel_T_mat(&accel_T[0][0]); + math::Matrix<3, 3> accel_T_rotated = board_rotation_t *accel_T_mat * board_rotation; accel_scale.x_offset = accel_offs_rotated(0); accel_scale.x_scale = accel_T_rotated(0, 0); @@ -277,11 +277,13 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float } } - if (old_done_count != done_count) + if (old_done_count != done_count) { mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 17 * done_count); + } - if (done) + if (done) { break; + } mavlink_log_info(mavlink_fd, "directions left: %s%s%s%s%s%s", (!data_collected[0]) ? "x+ " : "", @@ -380,11 +382,13 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) d = d * d; accel_disp[i] = accel_disp[i] * (1.0f - w); - if (d > still_thr2 * 8.0f) + if (d > still_thr2 * 8.0f) { d = still_thr2 * 8.0f; + } - if (d > accel_disp[i]) + if (d > accel_disp[i]) { accel_disp[i] = d; + } } /* still detector with hysteresis */ @@ -432,33 +436,39 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) if (fabsf(accel_ema[0] - CONSTANTS_ONE_G) < accel_err_thr && fabsf(accel_ema[1]) < accel_err_thr && - fabsf(accel_ema[2]) < accel_err_thr) - return 0; // [ g, 0, 0 ] + fabsf(accel_ema[2]) < accel_err_thr) { + return 0; // [ g, 0, 0 ] + } if (fabsf(accel_ema[0] + CONSTANTS_ONE_G) < accel_err_thr && fabsf(accel_ema[1]) < accel_err_thr && - fabsf(accel_ema[2]) < accel_err_thr) - return 1; // [ -g, 0, 0 ] + fabsf(accel_ema[2]) < accel_err_thr) { + return 1; // [ -g, 0, 0 ] + } if (fabsf(accel_ema[0]) < accel_err_thr && fabsf(accel_ema[1] - CONSTANTS_ONE_G) < accel_err_thr && - fabsf(accel_ema[2]) < accel_err_thr) - return 2; // [ 0, g, 0 ] + fabsf(accel_ema[2]) < accel_err_thr) { + return 2; // [ 0, g, 0 ] + } if (fabsf(accel_ema[0]) < accel_err_thr && fabsf(accel_ema[1] + CONSTANTS_ONE_G) < accel_err_thr && - fabsf(accel_ema[2]) < accel_err_thr) - return 3; // [ 0, -g, 0 ] + fabsf(accel_ema[2]) < accel_err_thr) { + return 3; // [ 0, -g, 0 ] + } if (fabsf(accel_ema[0]) < accel_err_thr && fabsf(accel_ema[1]) < accel_err_thr && - fabsf(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr) - return 4; // [ 0, 0, g ] + fabsf(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr) { + return 4; // [ 0, 0, g ] + } if (fabsf(accel_ema[0]) < accel_err_thr && fabsf(accel_ema[1]) < accel_err_thr && - fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr) - return 5; // [ 0, 0, -g ] + fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr) { + return 5; // [ 0, 0, -g ] + } mavlink_log_critical(mavlink_fd, "ERROR: invalid orientation"); @@ -485,8 +495,9 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp struct sensor_combined_s sensor; orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor); - for (int i = 0; i < 3; i++) + for (int i = 0; i < 3; i++) { accel_sum[i] += sensor.accelerometer_m_s2[i]; + } count++; @@ -495,8 +506,9 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp continue; } - if (errcount > samples_num / 10) + if (errcount > samples_num / 10) { return ERROR; + } } for (int i = 0; i < 3; i++) { @@ -512,8 +524,9 @@ int mat_invert3(float src[3][3], float dst[3][3]) src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) + src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]); - if (det == 0.0f) - return ERROR; // Singular matrix + if (det == 0.0f) { + return ERROR; // Singular matrix + } dst[0][0] = (src[1][1] * src[2][2] - src[1][2] * src[2][1]) / det; dst[1][0] = (src[1][2] * src[2][0] - src[1][0] * src[2][2]) / det; @@ -549,8 +562,9 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo /* calculate inverse matrix for A */ float mat_A_inv[3][3]; - if (mat_invert3(mat_A, mat_A_inv) != OK) + if (mat_invert3(mat_A, mat_A_inv) != OK) { return ERROR; + } /* copy results to accel_T */ for (int i = 0; i < 3; i++) { diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp index c8c7a42e7..5d21d89d0 100644 --- a/src/modules/commander/airspeed_calibration.cpp +++ b/src/modules/commander/airspeed_calibration.cpp @@ -82,12 +82,15 @@ int do_airspeed_calibration(int mavlink_fd) bool paramreset_successful = false; int fd = open(AIRSPEED_DEVICE_PATH, 0); + if (fd > 0) { if (OK == ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) { paramreset_successful = true; + } else { mavlink_log_critical(mavlink_fd, "airspeed offset zero failed"); } + close(fd); } @@ -112,8 +115,9 @@ int do_airspeed_calibration(int mavlink_fd) diff_pres_offset += diff_pres.differential_pressure_raw_pa; calibration_counter++; - if (calibration_counter % (calibration_count / 20) == 0) + if (calibration_counter % (calibration_count / 20) == 0) { mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 100) / calibration_count); + } } else if (poll_ret == 0) { /* any poll failure for 1s is a reason to abort */ diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 8c7f6270d..612393bc1 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -221,7 +221,7 @@ void print_status(); transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos); -transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char* armedBy); +transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy); /** * Loop that runs at a lower rate and priority for calibration and parameter tasks. @@ -233,8 +233,9 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul int commander_main(int argc, char *argv[]) { - if (argc < 1) + if (argc < 1) { usage("missing command"); + } if (!strcmp(argv[1], "start")) { @@ -261,8 +262,9 @@ int commander_main(int argc, char *argv[]) if (!strcmp(argv[1], "stop")) { - if (!thread_running) + if (!thread_running) { errx(0, "commander already stopped"); + } thread_should_exit = true; @@ -304,8 +306,9 @@ int commander_main(int argc, char *argv[]) void usage(const char *reason) { - if (reason) + if (reason) { fprintf(stderr, "%s\n", reason); + } fprintf(stderr, "usage: daemon {start|stop|status} [-p ]\n\n"); exit(1); @@ -364,20 +367,22 @@ void print_status() static orb_advert_t status_pub; -transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char* armedBy) +transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy) { - transition_result_t arming_res = TRANSITION_NOT_CHANGED; - - // Transition the armed state. By passing mavlink_fd to arming_state_transition it will - // output appropriate error messages if the state cannot transition. - arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd); - if (arming_res == TRANSITION_CHANGED && mavlink_fd) { - mavlink_log_info(mavlink_fd, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy); - } else if (arming_res == TRANSITION_DENIED) { - tune_negative(true); - } - - return arming_res; + transition_result_t arming_res = TRANSITION_NOT_CHANGED; + + // Transition the armed state. By passing mavlink_fd to arming_state_transition it will + // output appropriate error messages if the state cannot transition. + arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd); + + if (arming_res == TRANSITION_CHANGED && mavlink_fd) { + mavlink_log_info(mavlink_fd, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy); + + } else if (arming_res == TRANSITION_DENIED) { + tune_negative(true); + } + + return arming_res; } bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed, struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub) @@ -417,14 +422,16 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } } - if (hil_ret == OK) + if (hil_ret == OK) { ret = true; + } - // Transition the arming state - arming_res = arm_disarm(base_mode & MAV_MODE_FLAG_SAFETY_ARMED, mavlink_fd, "set mode command"); + // Transition the arming state + arming_res = arm_disarm(base_mode & MAV_MODE_FLAG_SAFETY_ARMED, mavlink_fd, "set mode command"); - if (arming_res == TRANSITION_CHANGED) + if (arming_res == TRANSITION_CHANGED) { ret = true; + } /* set main state */ transition_result_t main_res = TRANSITION_DENIED; @@ -466,8 +473,9 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } } - if (main_res == TRANSITION_CHANGED) + if (main_res == TRANSITION_CHANGED) { ret = true; + } if (arming_res != TRANSITION_DENIED && main_res != TRANSITION_DENIED) { result = VEHICLE_CMD_RESULT_ACCEPTED; @@ -480,24 +488,28 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } case VEHICLE_CMD_COMPONENT_ARM_DISARM: { - // Follow exactly what the mavlink spec says for values: 0.0f for disarm, 1.0f for arm. - // We use an float epsilon delta to test float equality. - if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) { + // Follow exactly what the mavlink spec says for values: 0.0f for disarm, 1.0f for arm. + // We use an float epsilon delta to test float equality. + if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) { mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", cmd->param1); - } else { - // Flick to inair restore first if this comes from an onboard system - if (cmd->source_system == status->system_id && cmd->source_component == status->component_id) { - status->arming_state = ARMING_STATE_IN_AIR_RESTORE; - } - transition_result_t arming_res = arm_disarm(cmd->param1 != 0.0f, mavlink_fd, "arm/disarm component command"); - if (arming_res == TRANSITION_DENIED) { - mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd"); - result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; - } else { - result = VEHICLE_CMD_RESULT_ACCEPTED; - } - } + } else { + + // Flick to inair restore first if this comes from an onboard system + if (cmd->source_system == status->system_id && cmd->source_component == status->component_id) { + status->arming_state = ARMING_STATE_IN_AIR_RESTORE; + } + + transition_result_t arming_res = arm_disarm(cmd->param1 != 0.0f, mavlink_fd, "arm/disarm component command"); + + if (arming_res == TRANSITION_DENIED) { + mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd"); + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + + } else { + result = VEHICLE_CMD_RESULT_ACCEPTED; + } + } } break; @@ -525,7 +537,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } break; - /* Flight termination */ + /* Flight termination */ case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command //XXX: to enable the parachute, a param needs to be set @@ -545,6 +557,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe case VEHICLE_CMD_DO_SET_HOME: { bool use_current = cmd->param1 > 0.5f; + if (use_current) { /* use current position */ if (status->condition_global_position_valid) { @@ -588,6 +601,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } } break; + case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: case VEHICLE_CMD_PREFLIGHT_CALIBRATION: case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: @@ -601,6 +615,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe answer_command(*cmd, VEHICLE_CMD_RESULT_UNSUPPORTED); break; } + if (result != VEHICLE_CMD_RESULT_UNSUPPORTED) { /* already warned about unsupported commands in "default" case */ answer_command(*cmd, result); @@ -883,6 +898,7 @@ int commander_thread_main(int argc, char *argv[]) /* re-check RC calibration */ rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd)); } + /* navigation parameters */ param_get(_param_takeoff_alt, &takeoff_alt); param_get(_param_enable_parachute, ¶chute_enabled); @@ -923,6 +939,7 @@ int commander_thread_main(int argc, char *argv[]) /* disarm if safety is now on and still armed */ if (status.hil_state == HIL_STATE_OFF && safety.safety_switch_available && !safety.safety_off && armed.armed) { arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); + if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)) { mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch"); } @@ -940,9 +957,11 @@ int commander_thread_main(int argc, char *argv[]) /* update condition_global_position_valid */ /* hysteresis for EPH/EPV */ bool eph_epv_good; + if (status.condition_global_position_valid) { if (global_position.eph > eph_epv_threshold * 2.0f || global_position.epv > eph_epv_threshold * 2.0f) { eph_epv_good = false; + } else { eph_epv_good = true; } @@ -950,17 +969,19 @@ int commander_thread_main(int argc, char *argv[]) } else { if (global_position.eph < eph_epv_threshold && global_position.epv < eph_epv_threshold) { eph_epv_good = true; + } else { eph_epv_good = false; } } + check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_epv_good, &(status.condition_global_position_valid), &status_changed); /* check if GPS fix is ok */ /* update home position */ if (!status.condition_home_position_valid && status.condition_global_position_valid && !armed.armed && - (global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) { + (global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) { home.lat = global_position.lat; home.lon = global_position.lon; @@ -995,6 +1016,7 @@ int commander_thread_main(int argc, char *argv[]) check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed); static bool published_condition_landed_fw = false; + if (status.is_rotary_wing && status.condition_local_altitude_valid) { if (status.condition_landed != local_position.landed) { status.condition_landed = local_position.landed; @@ -1008,6 +1030,7 @@ int commander_thread_main(int argc, char *argv[]) mavlink_log_critical(mavlink_fd, "#audio: IN AIR"); } } + } else { if (!published_condition_landed_fw) { status.condition_landed = false; // Fixedwing does not have a landing detector currently @@ -1077,8 +1100,9 @@ int commander_thread_main(int argc, char *argv[]) /* compute system load */ uint64_t interval_runtime = system_load.tasks[0].total_runtime - last_idle_time; - if (last_idle_time > 0) - status.load = 1.0f - ((float)interval_runtime / 1e6f); //system load is time spent in non-idle + if (last_idle_time > 0) { + status.load = 1.0f - ((float)interval_runtime / 1e6f); //system load is time spent in non-idle + } last_idle_time = system_load.tasks[0].total_runtime; @@ -1255,7 +1279,7 @@ int commander_thread_main(int argc, char *argv[]) status.set_nav_state_timestamp = hrt_absolute_time(); } else if ((sp_man.return_switch == SWITCH_POS_OFF || sp_man.return_switch == SWITCH_POS_MIDDLE) && - pos_sp_triplet.nav_state == NAV_STATE_RTL) { + pos_sp_triplet.nav_state == NAV_STATE_RTL) { /* RETURN switch is in normal mode, no MISSION switch mapped, interrupt if in RTL state */ status.set_nav_state = NAV_STATE_MISSION; status.set_nav_state_timestamp = hrt_absolute_time(); @@ -1320,6 +1344,7 @@ int commander_thread_main(int argc, char *argv[]) if (res == TRANSITION_DENIED) { /* LAND not allowed, set TERMINATION state */ res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); + } else if (res == TRANSITION_CHANGED) { mavlink_log_critical(mavlink_fd, "#a FAILSAFE: TERMINATION"); } @@ -1350,8 +1375,9 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); /* handle it */ - if (handle_command(&status, &safety, &cmd, &armed, &home, &global_position, &home_pub)) + if (handle_command(&status, &safety, &cmd, &armed, &home, &global_position, &home_pub)) { status_changed = true; + } } /* check which state machines for changes, clear "changed" flag */ @@ -1368,7 +1394,7 @@ int commander_thread_main(int argc, char *argv[]) /* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */ if (armed.armed && !was_armed && hrt_absolute_time() > start_time + 2000000 && status.condition_global_position_valid && - (global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) { + (global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) { // TODO remove code duplication home.lat = global_position.lat; @@ -1390,6 +1416,7 @@ int commander_thread_main(int argc, char *argv[]) status.condition_home_position_valid = true; } } + was_armed = armed.armed; if (main_state_changed) { @@ -1553,21 +1580,24 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a } else if (actuator_armed->ready_to_arm) { /* ready to arm, blink at 1Hz */ - if (leds_counter % 20 == 0) + if (leds_counter % 20 == 0) { led_toggle(LED_BLUE); + } } else { /* not ready to arm, blink at 10Hz */ - if (leds_counter % 2 == 0) + if (leds_counter % 2 == 0) { led_toggle(LED_BLUE); + } } #endif /* give system warnings on error LED, XXX maybe add memory usage warning too */ if (status->load > 0.95f) { - if (leds_counter % 2 == 0) + if (leds_counter % 2 == 0) { led_toggle(LED_AMBER); + } } else { led_off(LED_AMBER); @@ -1781,7 +1811,7 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul { switch (result) { case VEHICLE_CMD_RESULT_ACCEPTED: - tune_positive(true); + tune_positive(true); break; case VEHICLE_CMD_RESULT_DENIED: @@ -1831,8 +1861,9 @@ void *commander_low_prio_loop(void *arg) int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 200); /* timed out - periodic check for thread_should_exit, etc. */ - if (pret == 0) + if (pret == 0) { continue; + } /* this is undesirable but not much we can do - might want to flag unhappy status */ if (pret < 0) { @@ -1847,8 +1878,9 @@ void *commander_low_prio_loop(void *arg) if (cmd.command == VEHICLE_CMD_DO_SET_MODE || cmd.command == VEHICLE_CMD_COMPONENT_ARM_DISARM || cmd.command == VEHICLE_CMD_NAV_TAKEOFF || - cmd.command == VEHICLE_CMD_DO_SET_SERVO) + cmd.command == VEHICLE_CMD_DO_SET_SERVO) { continue; + } /* only handle low-priority commands here */ switch (cmd.command) { @@ -1926,6 +1958,7 @@ void *commander_low_prio_loop(void *arg) /* airspeed calibration */ answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); calib_ret = do_airspeed_calibration(mavlink_fd); + } else if ((int)(cmd.param4) == 0) { /* RC calibration ended - have we been in one worth confirming? */ if (status.rc_input_blocked) { @@ -1940,10 +1973,12 @@ void *commander_low_prio_loop(void *arg) } - if (calib_ret == OK) + if (calib_ret == OK) { tune_positive(true); - else + + } else { tune_negative(true); + } arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); @@ -1963,11 +1998,13 @@ void *commander_low_prio_loop(void *arg) mavlink_log_critical(mavlink_fd, "#audio: parameters load ERROR"); /* convenience as many parts of NuttX use negative errno */ - if (ret < 0) + if (ret < 0) { ret = -ret; + } - if (ret < 1000) + if (ret < 1000) { mavlink_log_critical(mavlink_fd, "#audio: %s", strerror(ret)); + } answer_command(cmd, VEHICLE_CMD_RESULT_FAILED); } @@ -1983,11 +2020,13 @@ void *commander_low_prio_loop(void *arg) mavlink_log_critical(mavlink_fd, "#audio: parameters save error"); /* convenience as many parts of NuttX use negative errno */ - if (ret < 0) + if (ret < 0) { ret = -ret; + } - if (ret < 1000) + if (ret < 1000) { mavlink_log_critical(mavlink_fd, "#audio: %s", strerror(ret)); + } answer_command(cmd, VEHICLE_CMD_RESULT_FAILED); } @@ -1997,8 +2036,8 @@ void *commander_low_prio_loop(void *arg) } case VEHICLE_CMD_START_RX_PAIR: - /* handled in the IO driver */ - break; + /* handled in the IO driver */ + break; default: /* don't answer on unsupported commands, it will be done in main loop */ diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index 0fd3c9e9e..86f77cdb8 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -113,17 +113,22 @@ void buzzer_deinit() close(buzzer); } -void set_tune(int tune) { +void set_tune(int tune) +{ unsigned int new_tune_duration = tune_durations[tune]; + /* don't interrupt currently playing non-repeating tune by repeating */ if (tune_end == 0 || new_tune_duration != 0 || hrt_absolute_time() > tune_end) { /* allow interrupting current non-repeating tune by the same tune */ if (tune != tune_current || new_tune_duration != 0) { ioctl(buzzer, TONE_SET_ALARM, tune); } + tune_current = tune; + if (new_tune_duration != 0) { tune_end = hrt_absolute_time() + new_tune_duration; + } else { tune_end = 0; } @@ -138,6 +143,7 @@ void tune_positive(bool use_buzzer) blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME; rgbled_set_color(RGBLED_COLOR_GREEN); rgbled_set_mode(RGBLED_MODE_BLINK_FAST); + if (use_buzzer) { set_tune(TONE_NOTIFY_POSITIVE_TUNE); } @@ -151,6 +157,7 @@ void tune_neutral(bool use_buzzer) blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME; rgbled_set_color(RGBLED_COLOR_WHITE); rgbled_set_mode(RGBLED_MODE_BLINK_FAST); + if (use_buzzer) { set_tune(TONE_NOTIFY_NEUTRAL_TUNE); } @@ -164,6 +171,7 @@ void tune_negative(bool use_buzzer) blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME; rgbled_set_color(RGBLED_COLOR_RED); rgbled_set_mode(RGBLED_MODE_BLINK_FAST); + if (use_buzzer) { set_tune(TONE_NOTIFY_NEGATIVE_TUNE); } @@ -244,22 +252,25 @@ int led_off(int led) void rgbled_set_color(rgbled_color_t color) { - if (rgbleds != -1) + if (rgbleds != -1) { ioctl(rgbleds, RGBLED_SET_COLOR, (unsigned long)color); + } } void rgbled_set_mode(rgbled_mode_t mode) { - if (rgbleds != -1) + if (rgbleds != -1) { ioctl(rgbleds, RGBLED_SET_MODE, (unsigned long)mode); + } } void rgbled_set_pattern(rgbled_pattern_t *pattern) { - if (rgbleds != -1) + if (rgbleds != -1) { ioctl(rgbleds, RGBLED_SET_PATTERN, (unsigned long)pattern); + } } float battery_remaining_estimate_voltage(float voltage, float discharged) @@ -299,6 +310,7 @@ float battery_remaining_estimate_voltage(float voltage, float discharged) if (bat_capacity > 0.0f) { /* if battery capacity is known, use discharged current for estimate, but don't show more than voltage estimate */ ret = fminf(remaining_voltage, 1.0f - discharged / bat_capacity); + } else { /* else use voltage */ ret = remaining_voltage; diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp index 30cd0d48d..cbc2844c1 100644 --- a/src/modules/commander/gyro_calibration.cpp +++ b/src/modules/commander/gyro_calibration.cpp @@ -110,8 +110,9 @@ int do_gyro_calibration(int mavlink_fd) gyro_scale.z_offset += gyro_report.z; calibration_counter++; - if (calibration_counter % (calibration_count / 20) == 0) + if (calibration_counter % (calibration_count / 20) == 0) { mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 100) / calibration_count); + } } else { poll_errcount++; @@ -163,8 +164,9 @@ int do_gyro_calibration(int mavlink_fd) /* apply new offsets */ fd = open(GYRO_DEVICE_PATH, 0); - if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale)) + if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale)) { warn("WARNING: failed to apply new offsets for gyro"); + } close(fd); @@ -178,9 +180,9 @@ int do_gyro_calibration(int mavlink_fd) float mag_last = -atan2f(raw.magnetometer_ga[1], raw.magnetometer_ga[0]); - if (mag_last > M_PI_F) mag_last -= 2 * M_PI_F; + if (mag_last > M_PI_F) { mag_last -= 2 * M_PI_F; } - if (mag_last < -M_PI_F) mag_last += 2 * M_PI_F; + if (mag_last < -M_PI_F) { mag_last += 2 * M_PI_F; } uint64_t last_time = hrt_absolute_time(); @@ -220,15 +222,15 @@ int do_gyro_calibration(int mavlink_fd) //float mag = -atan2f(magNav(1),magNav(0)); float mag = -atan2f(raw.magnetometer_ga[1], raw.magnetometer_ga[0]); - if (mag > M_PI_F) mag -= 2 * M_PI_F; + if (mag > M_PI_F) { mag -= 2 * M_PI_F; } - if (mag < -M_PI_F) mag += 2 * M_PI_F; + if (mag < -M_PI_F) { mag += 2 * M_PI_F; } float diff = mag - mag_last; - if (diff > M_PI_F) diff -= 2 * M_PI_F; + if (diff > M_PI_F) { diff -= 2 * M_PI_F; } - if (diff < -M_PI_F) diff += 2 * M_PI_F; + if (diff < -M_PI_F) { diff += 2 * M_PI_F; } baseline_integral += diff; mag_last = mag; diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp index 4ebf266f4..9296db6ed 100644 --- a/src/modules/commander/mag_calibration.cpp +++ b/src/modules/commander/mag_calibration.cpp @@ -124,6 +124,7 @@ int do_mag_calibration(int mavlink_fd) res = ERROR; return res; } + } else { /* exit */ return ERROR; @@ -163,8 +164,9 @@ int do_mag_calibration(int mavlink_fd) calibration_counter++; - if (calibration_counter % (calibration_maxcount / 20) == 0) + if (calibration_counter % (calibration_maxcount / 20) == 0) { mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 20 + (calibration_counter * 50) / calibration_maxcount); + } } else { poll_errcount++; @@ -198,14 +200,17 @@ int do_mag_calibration(int mavlink_fd) } } - if (x != NULL) + if (x != NULL) { free(x); + } - if (y != NULL) + if (y != NULL) { free(y); + } - if (z != NULL) + if (z != NULL) { free(z); + } if (res == OK) { /* apply calibration and set parameters */ @@ -234,23 +239,29 @@ int do_mag_calibration(int mavlink_fd) if (res == OK) { /* set parameters */ - if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) + if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) { res = ERROR; + } - if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) + if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) { res = ERROR; + } - if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) + if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) { res = ERROR; + } - if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) + if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) { res = ERROR; + } - if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) + if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) { res = ERROR; + } - if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) + if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) { res = ERROR; + } if (res != OK) { mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG); diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 97a214c33..abcf72717 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -75,38 +75,38 @@ static bool failsafe_state_changed = true; // though the transition is marked as true additional checks must be made. See arming_state_transition // code for those checks. static const bool arming_transitions[ARMING_STATE_MAX][ARMING_STATE_MAX] = { - // INIT, STANDBY, ARMED, ARMED_ERROR, STANDBY_ERROR, REBOOT, IN_AIR_RESTORE - { /* ARMING_STATE_INIT */ true, true, false, false, false, false, false }, - { /* ARMING_STATE_STANDBY */ true, true, true, true, false, false, false }, - { /* ARMING_STATE_ARMED */ false, true, true, false, false, false, true }, - { /* ARMING_STATE_ARMED_ERROR */ false, false, true, true, false, false, false }, - { /* ARMING_STATE_STANDBY_ERROR */ true, true, false, true, true, false, false }, - { /* ARMING_STATE_REBOOT */ true, true, false, false, true, true, true }, - { /* ARMING_STATE_IN_AIR_RESTORE */ false, false, false, false, false, false, false }, // NYI + // INIT, STANDBY, ARMED, ARMED_ERROR, STANDBY_ERROR, REBOOT, IN_AIR_RESTORE + { /* ARMING_STATE_INIT */ true, true, false, false, false, false, false }, + { /* ARMING_STATE_STANDBY */ true, true, true, true, false, false, false }, + { /* ARMING_STATE_ARMED */ false, true, true, false, false, false, true }, + { /* ARMING_STATE_ARMED_ERROR */ false, false, true, true, false, false, false }, + { /* ARMING_STATE_STANDBY_ERROR */ true, true, false, true, true, false, false }, + { /* ARMING_STATE_REBOOT */ true, true, false, false, true, true, true }, + { /* ARMING_STATE_IN_AIR_RESTORE */ false, false, false, false, false, false, false }, // NYI }; // You can index into the array with an arming_state_t in order to get it's textual representation -static const char* state_names[ARMING_STATE_MAX] = { - "ARMING_STATE_INIT", - "ARMING_STATE_STANDBY", - "ARMING_STATE_ARMED", - "ARMING_STATE_ARMED_ERROR", - "ARMING_STATE_STANDBY_ERROR", - "ARMING_STATE_REBOOT", - "ARMING_STATE_IN_AIR_RESTORE", +static const char *state_names[ARMING_STATE_MAX] = { + "ARMING_STATE_INIT", + "ARMING_STATE_STANDBY", + "ARMING_STATE_ARMED", + "ARMING_STATE_ARMED_ERROR", + "ARMING_STATE_STANDBY_ERROR", + "ARMING_STATE_REBOOT", + "ARMING_STATE_IN_AIR_RESTORE", }; transition_result_t arming_state_transition(struct vehicle_status_s *status, /// current vehicle status - const struct safety_s *safety, /// current safety settings - arming_state_t new_arming_state, /// arming state requested - struct actuator_armed_s *armed, /// current armed status - const int mavlink_fd) /// mavlink fd for error reporting, 0 for none + const struct safety_s *safety, /// current safety settings + arming_state_t new_arming_state, /// arming state requested + struct actuator_armed_s *armed, /// current armed status + const int mavlink_fd) /// mavlink fd for error reporting, 0 for none { - // Double check that our static arrays are still valid - ASSERT(ARMING_STATE_INIT == 0); - ASSERT(ARMING_STATE_IN_AIR_RESTORE == ARMING_STATE_MAX - 1); - + // Double check that our static arrays are still valid + ASSERT(ARMING_STATE_INIT == 0); + ASSERT(ARMING_STATE_IN_AIR_RESTORE == ARMING_STATE_MAX - 1); + /* * Perform an atomic state update */ @@ -117,63 +117,70 @@ arming_state_transition(struct vehicle_status_s *status, /// current /* only check transition if the new state is actually different from the current one */ if (new_arming_state == status->arming_state) { ret = TRANSITION_NOT_CHANGED; + } else { /* enforce lockdown in HIL */ if (status->hil_state == HIL_STATE_ON) { armed->lockdown = true; + } else { armed->lockdown = false; } - - // Check that we have a valid state transition - bool valid_transition = arming_transitions[new_arming_state][status->arming_state]; - if (valid_transition) { - // We have a good transition. Now perform any secondary validation. - if (new_arming_state == ARMING_STATE_ARMED) { - // Fail transition if we need safety switch press - // Allow if coming from in air restore - // Allow if HIL_STATE_ON - if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && status->hil_state == HIL_STATE_OFF && safety->safety_switch_available && !safety->safety_off) { - if (mavlink_fd) { - mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first."); - } - valid_transition = false; - } - } else if (new_arming_state == ARMING_STATE_STANDBY && status->arming_state == ARMING_STATE_ARMED_ERROR) { - new_arming_state = ARMING_STATE_STANDBY_ERROR; - } - } - - // HIL can always go to standby - if (status->hil_state == HIL_STATE_ON && new_arming_state == ARMING_STATE_STANDBY) { - valid_transition = true; - } - - /* Sensors need to be initialized for STANDBY state */ - if (new_arming_state == ARMING_STATE_STANDBY && !status->condition_system_sensors_initialized) { - valid_transition = false; - } - - // Finish up the state transition - if (valid_transition) { - armed->armed = new_arming_state == ARMING_STATE_ARMED || new_arming_state == ARMING_STATE_ARMED_ERROR; - armed->ready_to_arm = new_arming_state == ARMING_STATE_ARMED || new_arming_state == ARMING_STATE_STANDBY; - ret = TRANSITION_CHANGED; - status->arming_state = new_arming_state; - arming_state_changed = true; - } - } - + + // Check that we have a valid state transition + bool valid_transition = arming_transitions[new_arming_state][status->arming_state]; + + if (valid_transition) { + // We have a good transition. Now perform any secondary validation. + if (new_arming_state == ARMING_STATE_ARMED) { + // Fail transition if we need safety switch press + // Allow if coming from in air restore + // Allow if HIL_STATE_ON + if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && status->hil_state == HIL_STATE_OFF && safety->safety_switch_available && !safety->safety_off) { + if (mavlink_fd) { + mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first."); + } + + valid_transition = false; + } + + } else if (new_arming_state == ARMING_STATE_STANDBY && status->arming_state == ARMING_STATE_ARMED_ERROR) { + new_arming_state = ARMING_STATE_STANDBY_ERROR; + } + } + + // HIL can always go to standby + if (status->hil_state == HIL_STATE_ON && new_arming_state == ARMING_STATE_STANDBY) { + valid_transition = true; + } + + /* Sensors need to be initialized for STANDBY state */ + if (new_arming_state == ARMING_STATE_STANDBY && !status->condition_system_sensors_initialized) { + valid_transition = false; + } + + // Finish up the state transition + if (valid_transition) { + armed->armed = new_arming_state == ARMING_STATE_ARMED || new_arming_state == ARMING_STATE_ARMED_ERROR; + armed->ready_to_arm = new_arming_state == ARMING_STATE_ARMED || new_arming_state == ARMING_STATE_STANDBY; + ret = TRANSITION_CHANGED; + status->arming_state = new_arming_state; + arming_state_changed = true; + } + } + /* end of atomic state update */ irqrestore(flags); - if (ret == TRANSITION_DENIED) { - static const char* errMsg = "Invalid arming transition from %s to %s"; - if (mavlink_fd) { - mavlink_log_critical(mavlink_fd, errMsg, state_names[status->arming_state], state_names[new_arming_state]); - } - warnx(errMsg, state_names[status->arming_state], state_names[new_arming_state]); - } + if (ret == TRANSITION_DENIED) { + static const char *errMsg = "Invalid arming transition from %s to %s"; + + if (mavlink_fd) { + mavlink_log_critical(mavlink_fd, errMsg, state_names[status->arming_state], state_names[new_arming_state]); + } + + warnx(errMsg, state_names[status->arming_state], state_names[new_arming_state]); + } return ret; } @@ -320,6 +327,7 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s /* list directory */ DIR *d; d = opendir("/dev"); + if (d) { struct dirent *direntry; @@ -331,26 +339,32 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s if (!strncmp("tty", direntry->d_name, 3)) { continue; } + /* skip mtd devices */ if (!strncmp("mtd", direntry->d_name, 3)) { continue; } + /* skip ram devices */ if (!strncmp("ram", direntry->d_name, 3)) { continue; } + /* skip MMC devices */ if (!strncmp("mmc", direntry->d_name, 3)) { continue; } + /* skip mavlink */ if (!strcmp("mavlink", direntry->d_name)) { continue; } + /* skip console */ if (!strcmp("console", direntry->d_name)) { continue; } + /* skip null */ if (!strcmp("null", direntry->d_name)) { continue; diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index a02e8187d..c561d1c0a 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -220,8 +220,8 @@ private: struct differential_pressure_s _diff_pres; struct airspeed_s _airspeed; - math::Matrix<3,3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */ - math::Matrix<3,3> _external_mag_rotation; /**< rotation matrix for the orientation that an external mag is mounted */ + math::Matrix<3, 3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */ + math::Matrix<3, 3> _external_mag_rotation; /**< rotation matrix for the orientation that an external mag is mounted */ bool _mag_is_external; /**< true if the active mag is on an external board */ uint64_t _battery_discharged; /**< battery discharged current in mA*ms */ @@ -644,8 +644,9 @@ Sensors::parameters_update() } /* handle wrong values */ - if (!rc_valid) + if (!rc_valid) { warnx("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n"); + } const char *paramerr = "FAIL PARM LOAD"; @@ -701,19 +702,19 @@ Sensors::parameters_update() param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5)); param_get(_parameter_handles.rc_fails_thr, &(_parameters.rc_fails_thr)); param_get(_parameter_handles.rc_assist_th, &(_parameters.rc_assist_th)); - _parameters.rc_assist_inv = (_parameters.rc_assist_th<0); + _parameters.rc_assist_inv = (_parameters.rc_assist_th < 0); _parameters.rc_assist_th = fabs(_parameters.rc_assist_th); param_get(_parameter_handles.rc_auto_th, &(_parameters.rc_auto_th)); - _parameters.rc_auto_inv = (_parameters.rc_auto_th<0); + _parameters.rc_auto_inv = (_parameters.rc_auto_th < 0); _parameters.rc_auto_th = fabs(_parameters.rc_auto_th); param_get(_parameter_handles.rc_posctl_th, &(_parameters.rc_posctl_th)); - _parameters.rc_posctl_inv = (_parameters.rc_posctl_th<0); + _parameters.rc_posctl_inv = (_parameters.rc_posctl_th < 0); _parameters.rc_posctl_th = fabs(_parameters.rc_posctl_th); param_get(_parameter_handles.rc_return_th, &(_parameters.rc_return_th)); - _parameters.rc_return_inv = (_parameters.rc_return_th<0); + _parameters.rc_return_inv = (_parameters.rc_return_th < 0); _parameters.rc_return_th = fabs(_parameters.rc_return_th); param_get(_parameter_handles.rc_loiter_th, &(_parameters.rc_loiter_th)); - _parameters.rc_loiter_inv = (_parameters.rc_loiter_th<0); + _parameters.rc_loiter_inv = (_parameters.rc_loiter_th < 0); _parameters.rc_loiter_th = fabs(_parameters.rc_loiter_th); /* update RC function mappings */ @@ -843,12 +844,14 @@ Sensors::gyro_init() #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 /* set the gyro internal sampling rate up to at least 1000Hz */ - if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK) + if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK) { ioctl(fd, GYROIOCSSAMPLERATE, 800); + } /* set the driver to poll at 1000Hz */ - if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK) + if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK) { ioctl(fd, SENSORIOCSPOLLRATE, 800); + } #else @@ -903,12 +906,15 @@ Sensors::mag_init() ret = ioctl(fd, MAGIOCGEXTERNAL, 0); - if (ret < 0) + if (ret < 0) { errx(1, "FATAL: unknown if magnetometer is external or onboard"); - else if (ret == 1) + + } else if (ret == 1) { _mag_is_external = true; - else + + } else { _mag_is_external = false; + } close(fd); } @@ -1008,10 +1014,12 @@ Sensors::mag_poll(struct sensor_combined_s &raw) math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z); - if (_mag_is_external) + if (_mag_is_external) { vect = _external_mag_rotation * vect; - else + + } else { vect = _board_rotation * vect; + } raw.magnetometer_ga[0] = vect(0); raw.magnetometer_ga[1] = vect(1); @@ -1129,8 +1137,9 @@ Sensors::parameter_update_poll(bool forced) _parameters.gyro_scale[2], }; - if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) + if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) { warn("WARNING: failed to set scale / offsets for gyro"); + } close(fd); @@ -1144,8 +1153,9 @@ Sensors::parameter_update_poll(bool forced) _parameters.accel_scale[2], }; - if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) + if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) { warn("WARNING: failed to set scale / offsets for accel"); + } close(fd); @@ -1159,8 +1169,9 @@ Sensors::parameter_update_poll(bool forced) _parameters.mag_scale[2], }; - if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) + if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) { warn("WARNING: failed to set scale / offsets for mag"); + } close(fd); @@ -1174,8 +1185,10 @@ Sensors::parameter_update_poll(bool forced) 1.0f, }; - if (OK != ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) + if (OK != ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) { warn("WARNING: failed to set scale / offsets for airspeed sensor"); + } + close(fd); } @@ -1193,10 +1206,12 @@ void Sensors::adc_poll(struct sensor_combined_s &raw) { /* only read if publishing */ - if (!_publishing) + if (!_publishing) { return; + } hrt_abstime t = hrt_absolute_time(); + /* rate limit to 100 Hz */ if (t - _last_adc >= 10000) { /* make space for a maximum of twelve channels (to ensure reading all channels at once) */ @@ -1221,6 +1236,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw) if (voltage > BATT_V_IGNORE_THRESHOLD) { _battery_status.voltage_v = voltage; + /* one-time initialization of low-pass value to avoid long init delays */ if (_battery_status.voltage_filtered_v < BATT_V_IGNORE_THRESHOLD) { _battery_status.voltage_filtered_v = voltage; @@ -1239,19 +1255,24 @@ Sensors::adc_poll(struct sensor_combined_s &raw) /* handle current only if voltage is valid */ if (_battery_status.voltage_v > 0.0f) { float current = (buf_adc[i].am_data * _parameters.battery_current_scaling); + /* check measured current value */ if (current >= 0.0f) { _battery_status.timestamp = t; _battery_status.current_a = current; + if (_battery_current_timestamp != 0) { /* initialize discharged value */ - if (_battery_status.discharged_mah < 0.0f) + if (_battery_status.discharged_mah < 0.0f) { _battery_status.discharged_mah = 0.0f; + } + _battery_discharged += current * (t - _battery_current_timestamp); _battery_status.discharged_mah = ((float) _battery_discharged) / 3600000.0f; } } } + _battery_current_timestamp = t; } else if (ADC_AIRSPEED_VOLTAGE_CHANNEL == buf_adc[i].am_channel) { @@ -1284,7 +1305,9 @@ Sensors::adc_poll(struct sensor_combined_s &raw) } } } + _last_adc = t; + if (_battery_status.voltage_filtered_v > BATT_V_IGNORE_THRESHOLD) { /* announce the battery status if needed, just publish else */ if (_battery_pub > 0) { @@ -1303,6 +1326,7 @@ Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max { if (_rc.function[func] >= 0) { float value = _rc.chan[_rc.function[func]].scaled; + if (value < min_value) { return min_value; @@ -1312,6 +1336,7 @@ Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max } else { return value; } + } else { return 0.0f; } @@ -1322,6 +1347,7 @@ Sensors::get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, boo { if (_rc.function[func] >= 0) { float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f; + if (on_inv ? value < on_th : value > on_th) { return SWITCH_POS_ON; @@ -1342,6 +1368,7 @@ Sensors::get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, boo { if (_rc.function[func] >= 0) { float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f; + if (on_inv ? value < on_th : value > on_th) { return SWITCH_POS_ON; @@ -1380,13 +1407,15 @@ Sensors::rc_poll() /* check failsafe */ int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe]; // get channel mapped to throttle - if (_parameters.rc_map_failsafe>0){ // if not 0, use channel number instead of rc.function mapping + + if (_parameters.rc_map_failsafe > 0) { // if not 0, use channel number instead of rc.function mapping fs_ch = _parameters.rc_map_failsafe - 1; } + if (_parameters.rc_fails_thr > 0 && fs_ch >= 0) { /* failsafe configured */ if ((_parameters.rc_fails_thr < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _parameters.rc_fails_thr) || - (_parameters.rc_fails_thr > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _parameters.rc_fails_thr)) { + (_parameters.rc_fails_thr > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _parameters.rc_fails_thr)) { /* failsafe triggered, signal is lost by receiver */ signal_lost = true; } @@ -1395,8 +1424,9 @@ Sensors::rc_poll() unsigned channel_limit = rc_input.channel_count; - if (channel_limit > _rc_max_chan_count) + if (channel_limit > _rc_max_chan_count) { channel_limit = _rc_max_chan_count; + } /* read out and scale values from raw message even if signal is invalid */ for (unsigned int i = 0; i < channel_limit; i++) { @@ -1404,11 +1434,13 @@ Sensors::rc_poll() /* * 1) Constrain to min/max values, as later processing depends on bounds. */ - if (rc_input.values[i] < _parameters.min[i]) + if (rc_input.values[i] < _parameters.min[i]) { rc_input.values[i] = _parameters.min[i]; + } - if (rc_input.values[i] > _parameters.max[i]) + if (rc_input.values[i] > _parameters.max[i]) { rc_input.values[i] = _parameters.max[i]; + } /* * 2) Scale around the mid point differently for lower and upper range. @@ -1440,8 +1472,9 @@ Sensors::rc_poll() _rc.chan[i].scaled *= _parameters.rev[i]; /* handle any parameter-induced blowups */ - if (!isfinite(_rc.chan[i].scaled)) + if (!isfinite(_rc.chan[i].scaled)) { _rc.chan[i].scaled = 0.0f; + } } _rc.chan_count = rc_input.channel_count; @@ -1623,8 +1656,9 @@ Sensors::task_main() diff_pres_poll(raw); /* Inform other processes that new data is available to copy */ - if (_publishing) + if (_publishing) { orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw); + } /* Look for new r/c input data */ rc_poll(); @@ -1661,18 +1695,21 @@ Sensors::start() int sensors_main(int argc, char *argv[]) { - if (argc < 1) + if (argc < 1) { errx(1, "usage: sensors {start|stop|status}"); + } if (!strcmp(argv[1], "start")) { - if (sensors::g_sensors != nullptr) + if (sensors::g_sensors != nullptr) { errx(0, "already running"); + } sensors::g_sensors = new Sensors; - if (sensors::g_sensors == nullptr) + if (sensors::g_sensors == nullptr) { errx(1, "alloc failed"); + } if (OK != sensors::g_sensors->start()) { delete sensors::g_sensors; @@ -1684,8 +1721,9 @@ int sensors_main(int argc, char *argv[]) } if (!strcmp(argv[1], "stop")) { - if (sensors::g_sensors == nullptr) + if (sensors::g_sensors == nullptr) { errx(1, "not running"); + } delete sensors::g_sensors; sensors::g_sensors = nullptr; -- cgit v1.2.3 From dd04a70afa94980dc38a82c592dc61e062c3f853 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 11 May 2014 18:10:02 +0200 Subject: Reporting cleanup, use different variables for different state switching results to avoid being tripped on local / global name scope --- src/modules/commander/commander.cpp | 64 +++++++++++++------------------------ 1 file changed, 23 insertions(+), 41 deletions(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 612393bc1..22504642f 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1178,10 +1178,10 @@ int commander_thread_main(int argc, char *argv[]) status.rc_signal_lost = false; - transition_result_t res; // store all transitions results here + transition_result_t arming_res; // store all transitions results here /* arm/disarm by RC */ - res = TRANSITION_NOT_CHANGED; + arming_res = TRANSITION_NOT_CHANGED; /* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSIST mode and landed) -> disarm * do it only for rotary wings */ @@ -1193,7 +1193,7 @@ int commander_thread_main(int argc, char *argv[]) if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { /* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */ arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); - res = arming_state_transition(&status, &safety, new_arming_state, &armed); + arming_res = arming_state_transition(&status, &safety, new_arming_state, &armed); stick_off_counter = 0; } else { @@ -1215,7 +1215,7 @@ int commander_thread_main(int argc, char *argv[]) print_reject_arm("NOT ARMING: Switch to MANUAL mode first."); } else { - res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); + arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); } stick_on_counter = 0; @@ -1228,7 +1228,7 @@ int commander_thread_main(int argc, char *argv[]) stick_on_counter = 0; } - if (res == TRANSITION_CHANGED) { + if (arming_res == TRANSITION_CHANGED) { if (status.arming_state == ARMING_STATE_ARMED) { mavlink_log_info(mavlink_fd, "[cmd] ARMED by RC"); @@ -1236,24 +1236,24 @@ int commander_thread_main(int argc, char *argv[]) mavlink_log_info(mavlink_fd, "[cmd] DISARMED by RC"); } - } else if (res == TRANSITION_DENIED) { + } else if (arming_res == TRANSITION_DENIED) { /* DENIED here indicates bug in the commander */ mavlink_log_critical(mavlink_fd, "ERROR: arming state transition denied"); } if (status.failsafe_state != FAILSAFE_STATE_NORMAL) { /* recover from failsafe */ - transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL); + (void)failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL); } /* evaluate the main state machine according to mode switches */ - res = set_main_state_rc(&status, &sp_man); + transition_result_t main_res = set_main_state_rc(&status, &sp_man); /* play tune on mode change only if armed, blink LED always */ - if (res == TRANSITION_CHANGED) { + if (main_res == TRANSITION_CHANGED) { tune_positive(armed.armed); - } else if (res == TRANSITION_DENIED) { + } else if (main_res == TRANSITION_DENIED) { /* DENIED here indicates bug in the commander */ mavlink_log_critical(mavlink_fd, "ERROR: main state transition denied"); } @@ -1296,57 +1296,39 @@ int commander_thread_main(int argc, char *argv[]) if (armed.armed) { if (status.main_state == MAIN_STATE_AUTO) { /* check if AUTO mode still allowed */ - transition_result_t res = main_state_transition(&status, MAIN_STATE_AUTO); + transition_result_t auto_res = main_state_transition(&status, MAIN_STATE_AUTO); - if (res == TRANSITION_NOT_CHANGED) { + if (auto_res == TRANSITION_NOT_CHANGED) { last_auto_state_valid = hrt_absolute_time(); } /* still invalid state after the timeout interval, execute failsafe */ - if ((hrt_elapsed_time(&last_auto_state_valid) > FAILSAFE_DEFAULT_TIMEOUT) && (res == TRANSITION_DENIED)) { + if ((hrt_elapsed_time(&last_auto_state_valid) > FAILSAFE_DEFAULT_TIMEOUT) && (auto_res == TRANSITION_DENIED)) { /* AUTO mode denied, don't try RTL, switch to failsafe state LAND */ - res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); + auto_res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); - if (res == TRANSITION_DENIED) { + if (auto_res == TRANSITION_DENIED) { /* LAND not allowed, set TERMINATION state */ - transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); - - if (res == TRANSITION_CHANGED) { - mavlink_log_critical(mavlink_fd, "#a FAILSAFE: TERMINATION"); - } - - } else if (res == TRANSITION_CHANGED) { - mavlink_log_critical(mavlink_fd, "#a FAILSAFE: LANDING"); + (void)failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); } } } else { /* failsafe for manual modes */ - transition_result_t res = TRANSITION_DENIED; + transition_result_t manual_res = TRANSITION_DENIED; if (!status.condition_landed) { /* vehicle is not landed, try to perform RTL */ - res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL); - - if (res == TRANSITION_CHANGED) { - mavlink_log_critical(mavlink_fd, "#a FAILSAFE: RETURN TO LAND"); - } + manual_res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL); } - if (res == TRANSITION_DENIED) { + if (manual_res == TRANSITION_DENIED) { /* RTL not allowed (no global position estimate) or not wanted, try LAND */ - res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); - - if (res == TRANSITION_CHANGED) { - mavlink_log_critical(mavlink_fd, "#a FAILSAFE: LANDING"); - } + manual_res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND); - if (res == TRANSITION_DENIED) { + if (manual_res == TRANSITION_DENIED) { /* LAND not allowed, set TERMINATION state */ - res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); - - } else if (res == TRANSITION_CHANGED) { - mavlink_log_critical(mavlink_fd, "#a FAILSAFE: TERMINATION"); + (void)failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION); } } } @@ -1354,7 +1336,7 @@ int commander_thread_main(int argc, char *argv[]) } else { if (status.failsafe_state != FAILSAFE_STATE_NORMAL) { /* reset failsafe when disarmed */ - transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL); + (void)failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL); } } } -- cgit v1.2.3 From cde4c9addbe2e8ccd782c53daf519fcf9669626a Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 12 May 2014 09:21:27 +0200 Subject: commander: use new manual control setpoint variable names --- src/modules/commander/commander.cpp | 8 ++++---- src/modules/commander/rc_calibration.cpp | 6 +++--- 2 files changed, 7 insertions(+), 7 deletions(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index dfab9d4d6..fb644a8db 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -367,7 +367,7 @@ static orb_advert_t status_pub; transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char* armedBy) { transition_result_t arming_res = TRANSITION_NOT_CHANGED; - + // Transition the armed state. By passing mavlink_fd to arming_state_transition it will // output appropriate error messages if the state cannot transition. arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd); @@ -376,7 +376,7 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char* armed } else if (arming_res == TRANSITION_DENIED) { tune_negative(true); } - + return arming_res; } @@ -1164,7 +1164,7 @@ int commander_thread_main(int argc, char *argv[]) if (status.is_rotary_wing && (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) && (status.main_state == MAIN_STATE_MANUAL || status.condition_landed) && - sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < 0.1f) { + sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) { if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { /* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */ @@ -1182,7 +1182,7 @@ int commander_thread_main(int argc, char *argv[]) /* check if left stick is in lower right position and we're in MANUAL mode -> arm */ if (status.arming_state == ARMING_STATE_STANDBY && - sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < 0.1f) { + sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) { if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) { print_reject_arm("NOT ARMING: Press safety switch first."); diff --git a/src/modules/commander/rc_calibration.cpp b/src/modules/commander/rc_calibration.cpp index 41f3ca0aa..0776894fb 100644 --- a/src/modules/commander/rc_calibration.cpp +++ b/src/modules/commander/rc_calibration.cpp @@ -69,11 +69,11 @@ int do_trim_calibration(int mavlink_fd) orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp); /* set parameters */ - float p = sp.roll; + float p = sp.y; param_set(param_find("TRIM_ROLL"), &p); - p = sp.pitch; + p = sp.x; param_set(param_find("TRIM_PITCH"), &p); - p = sp.yaw; + p = sp.r; param_set(param_find("TRIM_YAW"), &p); /* store to permanent storage */ -- cgit v1.2.3 From e5508a1aa07fb4a0e76dfd077c5beaa114f21695 Mon Sep 17 00:00:00 2001 From: Ash Charles Date: Tue, 13 May 2014 09:41:41 -0700 Subject: Add Gumstix AeroCore device Based on the work of Andrew Smith [1], add board configuration and device drivers to support the Gumstix AeroCore (previously Aerodroid) board [2]. The AeroCore is an autopilot board based on a STM32F427 similar to the FMUv2. [1] https://github.com/smithandrewc/Firmware [2] https://store.gumstix.com/index.php/products/585/ Signed-off-by: Ash Charles --- Images/aerocore.prototype | 12 + makefiles/board_aerocore.mk | 11 + makefiles/config_aerocore_default.mk | 125 +++ nuttx-configs/aerocore/include/board.h | 263 +++++++ nuttx-configs/aerocore/include/nsh_romfsimg.h | 42 + nuttx-configs/aerocore/nsh/Make.defs | 179 +++++ nuttx-configs/aerocore/nsh/appconfig | 42 + nuttx-configs/aerocore/nsh/defconfig | 950 +++++++++++++++++++++++ nuttx-configs/aerocore/nsh/setenv.sh | 67 ++ nuttx-configs/aerocore/scripts/ld.script | 150 ++++ nuttx-configs/aerocore/src/Makefile | 84 ++ nuttx-configs/aerocore/src/empty.c | 4 + src/drivers/boards/aerocore/aerocore_init.c | 282 +++++++ src/drivers/boards/aerocore/aerocore_led.c | 121 +++ src/drivers/boards/aerocore/aerocore_pwm_servo.c | 117 +++ src/drivers/boards/aerocore/aerocore_spi.c | 183 +++++ src/drivers/boards/aerocore/board_config.h | 176 +++++ src/drivers/boards/aerocore/module.mk | 8 + src/drivers/boards/px4fmu-v1/board_config.h | 2 + src/drivers/boards/px4fmu-v2/board_config.h | 2 + src/drivers/drv_gpio.h | 10 +- src/drivers/drv_gps.h | 4 + src/drivers/gps/gps.cpp | 11 +- src/drivers/lsm303d/lsm303d.cpp | 2 +- src/drivers/ms5611/ms5611_spi.cpp | 2 +- src/drivers/px4fmu/fmu.cpp | 84 +- src/drivers/stm32/adc/adc.cpp | 4 + src/drivers/stm32/drv_hrt.c | 4 +- src/lib/version/version.h | 4 + src/modules/commander/commander_helper.cpp | 2 +- src/modules/sensors/sensor_params.c | 9 + src/modules/sensors/sensors.cpp | 10 +- src/systemcmds/mtd/mtd.c | 4 + 33 files changed, 2960 insertions(+), 10 deletions(-) create mode 100644 Images/aerocore.prototype create mode 100644 makefiles/board_aerocore.mk create mode 100644 makefiles/config_aerocore_default.mk create mode 100644 nuttx-configs/aerocore/include/board.h create mode 100644 nuttx-configs/aerocore/include/nsh_romfsimg.h create mode 100644 nuttx-configs/aerocore/nsh/Make.defs create mode 100644 nuttx-configs/aerocore/nsh/appconfig create mode 100644 nuttx-configs/aerocore/nsh/defconfig create mode 100755 nuttx-configs/aerocore/nsh/setenv.sh create mode 100644 nuttx-configs/aerocore/scripts/ld.script create mode 100644 nuttx-configs/aerocore/src/Makefile create mode 100644 nuttx-configs/aerocore/src/empty.c create mode 100644 src/drivers/boards/aerocore/aerocore_init.c create mode 100644 src/drivers/boards/aerocore/aerocore_led.c create mode 100644 src/drivers/boards/aerocore/aerocore_pwm_servo.c create mode 100644 src/drivers/boards/aerocore/aerocore_spi.c create mode 100644 src/drivers/boards/aerocore/board_config.h create mode 100644 src/drivers/boards/aerocore/module.mk (limited to 'src/modules/commander') diff --git a/Images/aerocore.prototype b/Images/aerocore.prototype new file mode 100644 index 000000000..8502a0864 --- /dev/null +++ b/Images/aerocore.prototype @@ -0,0 +1,12 @@ +{ + "board_id": 19, + "magic": "AeroCore", + "description": "Firmware for the Gumstix AeroCore board", + "image": "", + "build_time": 0, + "summary": "AEROCORE", + "version": "0.1", + "image_size": 0, + "git_identity": "", + "board_revision": 0 +} diff --git a/makefiles/board_aerocore.mk b/makefiles/board_aerocore.mk new file mode 100644 index 000000000..6f4b93266 --- /dev/null +++ b/makefiles/board_aerocore.mk @@ -0,0 +1,11 @@ +# +# Board-specific definitions for the Gumstix AeroCore +# + +# +# Configure the toolchain +# +CONFIG_ARCH = CORTEXM4F +CONFIG_BOARD = AEROCORE + +include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk diff --git a/makefiles/config_aerocore_default.mk b/makefiles/config_aerocore_default.mk new file mode 100644 index 000000000..e038500a6 --- /dev/null +++ b/makefiles/config_aerocore_default.mk @@ -0,0 +1,125 @@ +# +# Makefile for the AeroCore *default* configuration +# + +# +# Use the configuration's ROMFS. +# +ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common + +# +# Board support modules +# +MODULES += drivers/device +MODULES += drivers/stm32 +MODULES += drivers/stm32/adc +MODULES += drivers/stm32/tone_alarm +MODULES += drivers/led +MODULES += drivers/px4fmu +MODULES += drivers/boards/aerocore +MODULES += drivers/lsm303d +MODULES += drivers/l3gd20 +MODULES += drivers/ms5611 +MODULES += drivers/gps +MODULES += drivers/hil +MODULES += modules/sensors + +# +# System commands +# +MODULES += systemcmds/boardinfo +MODULES += systemcmds/mixer +MODULES += systemcmds/param +MODULES += systemcmds/perf +MODULES += systemcmds/preflight_check +MODULES += systemcmds/pwm +MODULES += systemcmds/esc_calib +MODULES += systemcmds/reboot +MODULES += systemcmds/top +MODULES += systemcmds/config +MODULES += systemcmds/nshterm +MODULES += systemcmds/mtd +MODULES += systemcmds/dumpfile + +# +# General system control +# +MODULES += modules/commander +MODULES += modules/navigator +MODULES += modules/mavlink + +# +# Estimation modules (EKF/ SO3 / other filters) +# +MODULES += modules/attitude_estimator_ekf +MODULES += modules/attitude_estimator_so3 +MODULES += modules/fw_att_pos_estimator +MODULES += modules/position_estimator_inav + +# +# Vehicle Control +# +MODULES += modules/fw_pos_control_l1 +MODULES += modules/fw_att_control +MODULES += modules/mc_att_control +MODULES += modules/mc_pos_control + +# +# Library modules +# +MODULES += modules/systemlib +MODULES += modules/systemlib/mixer +MODULES += modules/controllib +MODULES += modules/uORB +MODULES += modules/dataman + +# +# Libraries +# +LIBRARIES += lib/mathlib/CMSIS +MODULES += lib/mathlib +MODULES += lib/mathlib/math/filter +MODULES += lib/ecl +MODULES += lib/external_lgpl +MODULES += lib/geo +MODULES += lib/conversion +MODULES += lib/launchdetection + +# +# Demo apps +# +#MODULES += examples/math_demo +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/hello_sky +MODULES += examples/px4_simple_app + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/daemon +#MODULES += examples/px4_daemon_app + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/debug_values +#MODULES += examples/px4_mavlink_debug + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control +#MODULES += examples/fixedwing_control + +# Hardware test +#MODULES += examples/hwtest + +# +# Transitional support - add commands from the NuttX export archive. +# +# In general, these should move to modules over time. +# +# Each entry here is ... but we use a helper macro +# to make the table a bit more readable. +# +define _B + $(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4) +endef + +BUILTIN_COMMANDS := \ + $(call _B, hello, , 2048, hello_main) \ + $(call _B, i2c, , 2048, i2c_main) diff --git a/nuttx-configs/aerocore/include/board.h b/nuttx-configs/aerocore/include/board.h new file mode 100644 index 000000000..8705c1bc2 --- /dev/null +++ b/nuttx-configs/aerocore/include/board.h @@ -0,0 +1,263 @@ +/************************************************************************************ + * configs/aerocore/include/board.h + * include/arch/board/board.h + * + * Copyright (C) 2009 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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 __ARCH_BOARD_BOARD_H +#define __ARCH_BOARD_BOARD_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include +#ifndef __ASSEMBLY__ +# include +#endif + +#include + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/* Clocking *************************************************************************/ +/* The AeroCore uses a 24MHz crystal connected to the HSE. + * + * This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c: + * System Clock source : PLL (HSE) + * SYSCLK(Hz) : 168000000 Determined by PLL configuration + * HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE) + * AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE) + * APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1) + * APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2) + * HSE Frequency(Hz) : 24000000 (STM32_BOARD_XTAL) + * PLLM : 24 (STM32_PLLCFG_PLLM) + * PLLN : 336 (STM32_PLLCFG_PLLN) + * PLLP : 2 (STM32_PLLCFG_PLLP) + * PLLQ : 7 (STM32_PLLCFG_PPQ) + * Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK + * Flash Latency(WS) : 5 + * Prefetch Buffer : OFF + * Instruction cache : ON + * Data cache : ON + * Require 48MHz for USB OTG FS, : Enabled + * SDIO and RNG clock + */ + +/* HSI - 16 MHz RC factory-trimmed + * LSI - 32 KHz RC + * HSE - On-board crystal frequency is 24MHz + * LSE - not installed + */ + +#define STM32_BOARD_XTAL 24000000ul + +#define STM32_HSI_FREQUENCY 16000000ul +#define STM32_LSI_FREQUENCY 32000 +#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL + +/* Main PLL Configuration. + * + * PLL source is HSE + * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN + * = (24,000,000 / 24) * 336 + * = 336,000,000 + * SYSCLK = PLL_VCO / PLLP + * = 336,000,000 / 2 = 168,000,000 + * USB OTG FS, SDIO and RNG Clock + * = PLL_VCO / PLLQ + * = 48,000,000 + */ + +#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(24) +#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336) +#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2 +#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7) + +#define STM32_SYSCLK_FREQUENCY 168000000ul + +/* AHB clock (HCLK) is SYSCLK (168MHz) */ + +#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */ +#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY +#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ + +/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */ + +#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */ +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4) + +/* Timers driven from APB1 will be twice PCLK1 */ + +#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) + +/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */ + +#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ +#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* Timers driven from APB2 will be twice PCLK2 */ + +#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY) + +/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx + * otherwise frequency is 2xAPBx. + * Note: TIM1,8 are on APB2, others on APB1 + */ + +#define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY) +#define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY) + +/* Alternate function pin selections ************************************************/ + +/* + * UARTs. + */ +/* USART1 on PB[6,7]: GPS */ +#define GPIO_USART1_RX GPIO_USART1_RX_2 +#define GPIO_USART1_TX GPIO_USART1_TX_2 + +/* USART2 on PD[5,6]: J5 Breakout */ +#define GPIO_USART2_RX GPIO_USART2_RX_2 +#define GPIO_USART2_TX GPIO_USART2_TX_2 +#define GPIO_USART2_CTS 0 // unused +#define GPIO_USART2_RTS 0 // unused + +/* USART3 on PD[8,9]: to DuoVero UART2 */ +#define GPIO_USART3_RX GPIO_USART3_RX_3 +#define GPIO_USART3_TX GPIO_USART3_TX_3 +#define GPIO_USART3_CTS 0 // unused +#define GPIO_USART3_RTS 0 // unused + +/* UART7 on PE[78]: J7 Breakout */ +#define GPIO_UART7_RX GPIO_UART7_RX_1 +#define GPIO_UART7_TX GPIO_UART7_TX_1 + +/* + * UART8 on PE[0-1]: System Console on Port C of USB (J7) + * No alternate pin config +*/ + +/* USART[1,6] require a RX DMA configuration */ +#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2 +#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2 + +/* + * I2C + * + * The optional _GPIO configurations allow the I2C driver to manually + * reset the bus to clear stuck slaves. They match the pin configuration, + * but are normally-high GPIOs. + */ + +/* PB[10-11]: I2C2 is broken out on J9 header */ +#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 +#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 +#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10) +#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11) + +/* + * SPI + */ +/* PA[4-7] SPI1 broken out on J12 */ +#define GPIO_SPI1_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) /* should be GPIO_SPI1_NSS_2 but use as a GPIO */ +#define GPIO_SPI1_SCK (GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz) +#define GPIO_SPI1_MISO (GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz) +#define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz) + +/* PB[12-15]: SPI2 connected to DuoVero SPI1 */ +#define GPIO_SPI2_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9) /* should be GPIO_SPI2_NSS_2 but use as a GPIO */ +#define GPIO_SPI2_SCK (GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz) +#define GPIO_SPI2_MISO (GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz) +#define GPIO_SPI2_MOSI (GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz) + +/* PC[10-12]: SPI3 connected to onboard sensors */ +#define GPIO_SPI3_SCK (GPIO_SPI3_SCK_2|GPIO_SPEED_50MHz) +#define GPIO_SPI3_MISO (GPIO_SPI3_MISO_2|GPIO_SPEED_50MHz) +#define GPIO_SPI3_MOSI (GPIO_SPI3_MOSI_2|GPIO_SPEED_50MHz) + +/* PE[11-14]: SPI4 connected to FRAM */ +#define GPIO_SPI4_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN11) /* should be GPIO_SPI4_NSS_2 but use as a GPIO */ +#define GPIO_SPI4_SCK (GPIO_SPI4_SCK_2|GPIO_SPEED_50MHz) +#define GPIO_SPI4_MISO (GPIO_SPI4_MISO_2|GPIO_SPEED_50MHz) +#define GPIO_SPI4_MOSI (GPIO_SPI4_MOSI_2|GPIO_SPEED_50MHz) + +/************************************************************************************ + * Public Data + ************************************************************************************/ +#ifndef __ASSEMBLY__ + +#undef EXTERN +#if defined(__cplusplus) +#define EXTERN extern "C" +extern "C" { +#else +#define EXTERN extern +#endif + +/************************************************************************************ + * Public Function Prototypes + ************************************************************************************/ +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the intitialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +EXTERN void stm32_boardinitialize(void); + +#undef EXTERN +#if defined(__cplusplus) +} +#endif + +#endif /* __ASSEMBLY__ */ +#endif /* __ARCH_BOARD_BOARD_H */ diff --git a/nuttx-configs/aerocore/include/nsh_romfsimg.h b/nuttx-configs/aerocore/include/nsh_romfsimg.h new file mode 100644 index 000000000..15e4e7a8d --- /dev/null +++ b/nuttx-configs/aerocore/include/nsh_romfsimg.h @@ -0,0 +1,42 @@ +/**************************************************************************** + * + * Copyright (C) 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 + * 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 PX4 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. + * + ****************************************************************************/ + +/** + * nsh_romfsetc.h + * + * This file is a stub for 'make export' purposes; the actual ROMFS + * must be supplied by the library client. + */ + +extern unsigned char romfs_img[]; +extern unsigned int romfs_img_len; diff --git a/nuttx-configs/aerocore/nsh/Make.defs b/nuttx-configs/aerocore/nsh/Make.defs new file mode 100644 index 000000000..c7a1b71bb --- /dev/null +++ b/nuttx-configs/aerocore/nsh/Make.defs @@ -0,0 +1,179 @@ +############################################################################ +# configs/aerocore/nsh/Make.defs +# +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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. +# +############################################################################ + +include ${TOPDIR}/.config +include ${TOPDIR}/tools/Config.mk + +# +# We only support building with the ARM bare-metal toolchain from +# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS. +# +CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI + +include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs + +CC = $(CROSSDEV)gcc +CXX = $(CROSSDEV)g++ +CPP = $(CROSSDEV)gcc -E +LD = $(CROSSDEV)ld +AR = $(CROSSDEV)ar rcs +NM = $(CROSSDEV)nm +OBJCOPY = $(CROSSDEV)objcopy +OBJDUMP = $(CROSSDEV)objdump + +MAXOPTIMIZATION = -O3 +ARCHCPUFLAGS = -mcpu=cortex-m4 \ + -mthumb \ + -march=armv7e-m \ + -mfpu=fpv4-sp-d16 \ + -mfloat-abi=hard + + +# enable precise stack overflow tracking +INSTRUMENTATIONDEFINES = -finstrument-functions \ + -ffixed-r10 + +# pull in *just* libm from the toolchain ... this is grody +LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}" +EXTRA_LIBS += $(LIBM) + +# use our linker script +LDSCRIPT = ld.script + +ifeq ($(WINTOOL),y) + # Windows-native toolchains + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" + ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}" + ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}" +else + ifeq ($(PX4_WINTOOL),y) + # Windows-native toolchains (MSYS) + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) + else + # Linux/Cygwin-native toolchain + MKDEP = $(TOPDIR)/tools/mkdeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) + endif +endif + +# tool versions +ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'} +ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1} + +# optimisation flags +ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \ + -fno-strict-aliasing \ + -fno-strength-reduce \ + -fomit-frame-pointer \ + -funsafe-math-optimizations \ + -fno-builtin-printf \ + -ffunction-sections \ + -fdata-sections + +ifeq ("${CONFIG_DEBUG_SYMBOLS}","y") +ARCHOPTIMIZATION += -g +endif + +ARCHCFLAGS = -std=gnu99 +ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x +ARCHWARNINGS = -Wall \ + -Wextra \ + -Wdouble-promotion \ + -Wshadow \ + -Wfloat-equal \ + -Wframe-larger-than=1024 \ + -Wpointer-arith \ + -Wlogical-op \ + -Wmissing-declarations \ + -Wpacked \ + -Wno-unused-parameter +# -Wcast-qual - generates spurious noreturn attribute warnings, try again later +# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code +# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives + +ARCHCWARNINGS = $(ARCHWARNINGS) \ + -Wbad-function-cast \ + -Wstrict-prototypes \ + -Wold-style-declaration \ + -Wmissing-parameter-type \ + -Wmissing-prototypes \ + -Wnested-externs \ + -Wunsuffixed-float-constants +ARCHWARNINGSXX = $(ARCHWARNINGS) \ + -Wno-psabi +ARCHDEFINES = +ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10 + +# this seems to be the only way to add linker flags +EXTRA_LIBS += --warn-common \ + --gc-sections + +CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common +CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS) +CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe +CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS) +CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) +AFLAGS = $(CFLAGS) -D__ASSEMBLY__ + +NXFLATLDFLAGS1 = -r -d -warn-common +NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections +LDNXFLATFLAGS = -e main -s 2048 + +OBJEXT = .o +LIBEXT = .a +EXEEXT = + + +# produce partially-linked $1 from files in $2 +define PRELINK + @echo "PRELINK: $1" + $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1 +endef + +HOSTCC = gcc +HOSTINCLUDES = -I. +HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe +HOSTLDFLAGS = + diff --git a/nuttx-configs/aerocore/nsh/appconfig b/nuttx-configs/aerocore/nsh/appconfig new file mode 100644 index 000000000..2850dac06 --- /dev/null +++ b/nuttx-configs/aerocore/nsh/appconfig @@ -0,0 +1,42 @@ +############################################################################ +# configs/aerocore/nsh/appconfig +# +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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. +# +############################################################################ + +# Path to example in apps/examples containing the user_start entry point + +CONFIGURED_APPS += examples/nsh + +# The NSH application library +CONFIGURED_APPS += nshlib +CONFIGURED_APPS += system/readline diff --git a/nuttx-configs/aerocore/nsh/defconfig b/nuttx-configs/aerocore/nsh/defconfig new file mode 100644 index 000000000..8d0bae7b9 --- /dev/null +++ b/nuttx-configs/aerocore/nsh/defconfig @@ -0,0 +1,950 @@ +# +# Automatically generated file; DO NOT EDIT. +# Nuttx/ Configuration +# +CONFIG_NUTTX_NEWCONFIG=y + +# +# Build Setup +# +# CONFIG_EXPERIMENTAL is not set +CONFIG_HOST_LINUX=y +# CONFIG_HOST_OSX is not set +# CONFIG_HOST_WINDOWS is not set +# CONFIG_HOST_OTHER is not set + +# +# Build Configuration +# +CONFIG_APPS_DIR="../apps" +# CONFIG_BUILD_2PASS is not set + +# +# Binary Output Formats +# +# CONFIG_RRLOAD_BINARY is not set +# CONFIG_INTELHEX_BINARY is not set +# CONFIG_MOTOROLA_SREC is not set +CONFIG_RAW_BINARY=y + +# +# Customize Header Files +# +# CONFIG_ARCH_STDBOOL_H is not set +CONFIG_ARCH_MATH_H=y +# CONFIG_ARCH_FLOAT_H is not set +# CONFIG_ARCH_STDARG_H is not set + +# +# Debug Options +# +# CONFIG_DEBUG is not set +# CONFIG_DEBUG_SYMBOLS is not set + +# +# System Type +# +# CONFIG_ARCH_8051 is not set +CONFIG_ARCH_ARM=y +# CONFIG_ARCH_AVR is not set +# CONFIG_ARCH_HC is not set +# CONFIG_ARCH_MIPS is not set +# CONFIG_ARCH_RGMP is not set +# CONFIG_ARCH_SH is not set +# CONFIG_ARCH_SIM is not set +# CONFIG_ARCH_X86 is not set +# CONFIG_ARCH_Z16 is not set +# CONFIG_ARCH_Z80 is not set +CONFIG_ARCH="arm" + +# +# ARM Options +# +# CONFIG_ARCH_CHIP_C5471 is not set +# CONFIG_ARCH_CHIP_CALYPSO is not set +# CONFIG_ARCH_CHIP_DM320 is not set +# CONFIG_ARCH_CHIP_IMX is not set +# CONFIG_ARCH_CHIP_KINETIS is not set +# CONFIG_ARCH_CHIP_KL is not set +# CONFIG_ARCH_CHIP_LM is not set +# CONFIG_ARCH_CHIP_LPC17XX is not set +# CONFIG_ARCH_CHIP_LPC214X is not set +# CONFIG_ARCH_CHIP_LPC2378 is not set +# CONFIG_ARCH_CHIP_LPC31XX is not set +# CONFIG_ARCH_CHIP_LPC43XX is not set +# CONFIG_ARCH_CHIP_NUC1XX is not set +# CONFIG_ARCH_CHIP_SAM34 is not set +CONFIG_ARCH_CHIP_STM32=y +# CONFIG_ARCH_CHIP_STR71X is not set +CONFIG_ARCH_CORTEXM4=y +CONFIG_ARCH_FAMILY="armv7-m" +CONFIG_ARCH_CHIP="stm32" +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_ARCH_HAVE_CMNVECTOR=y +CONFIG_ARMV7M_CMNVECTOR=y +CONFIG_ARCH_HAVE_FPU=y +CONFIG_ARCH_FPU=y +CONFIG_ARCH_HAVE_MPU=y +# CONFIG_ARMV7M_MPU is not set + +# +# ARMV7M Configuration Options +# +# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set +# CONFIG_ARMV7M_TOOLCHAIN_CODEREDL is not set +# CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL is not set +CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y +CONFIG_ARMV7M_STACKCHECK=y +CONFIG_SERIAL_TERMIOS=y + +# +# STM32 Configuration Options +# +# CONFIG_ARCH_CHIP_STM32L151C6 is not set +# CONFIG_ARCH_CHIP_STM32L151C8 is not set +# CONFIG_ARCH_CHIP_STM32L151CB is not set +# CONFIG_ARCH_CHIP_STM32L151R6 is not set +# CONFIG_ARCH_CHIP_STM32L151R8 is not set +# CONFIG_ARCH_CHIP_STM32L151RB is not set +# CONFIG_ARCH_CHIP_STM32L151V6 is not set +# CONFIG_ARCH_CHIP_STM32L151V8 is not set +# CONFIG_ARCH_CHIP_STM32L151VB is not set +# CONFIG_ARCH_CHIP_STM32L152C6 is not set +# CONFIG_ARCH_CHIP_STM32L152C8 is not set +# CONFIG_ARCH_CHIP_STM32L152CB is not set +# CONFIG_ARCH_CHIP_STM32L152R6 is not set +# CONFIG_ARCH_CHIP_STM32L152R8 is not set +# CONFIG_ARCH_CHIP_STM32L152RB is not set +# CONFIG_ARCH_CHIP_STM32L152V6 is not set +# CONFIG_ARCH_CHIP_STM32L152V8 is not set +# CONFIG_ARCH_CHIP_STM32L152VB is not set +# CONFIG_ARCH_CHIP_STM32F100C8 is not set +# CONFIG_ARCH_CHIP_STM32F100CB is not set +# CONFIG_ARCH_CHIP_STM32F100R8 is not set +# CONFIG_ARCH_CHIP_STM32F100RB is not set +# CONFIG_ARCH_CHIP_STM32F100RC is not set +# CONFIG_ARCH_CHIP_STM32F100RD is not set +# CONFIG_ARCH_CHIP_STM32F100RE is not set +# CONFIG_ARCH_CHIP_STM32F100V8 is not set +# CONFIG_ARCH_CHIP_STM32F100VB is not set +# CONFIG_ARCH_CHIP_STM32F100VC is not set +# CONFIG_ARCH_CHIP_STM32F100VD is not set +# CONFIG_ARCH_CHIP_STM32F100VE is not set +# CONFIG_ARCH_CHIP_STM32F103C4 is not set +# CONFIG_ARCH_CHIP_STM32F103C8 is not set +# CONFIG_ARCH_CHIP_STM32F103RET6 is not set +# CONFIG_ARCH_CHIP_STM32F103VCT6 is not set +# CONFIG_ARCH_CHIP_STM32F103VET6 is not set +# CONFIG_ARCH_CHIP_STM32F103ZET6 is not set +# CONFIG_ARCH_CHIP_STM32F105VBT7 is not set +# CONFIG_ARCH_CHIP_STM32F107VC is not set +# CONFIG_ARCH_CHIP_STM32F207IG is not set +# CONFIG_ARCH_CHIP_STM32F302CB is not set +# CONFIG_ARCH_CHIP_STM32F302CC is not set +# CONFIG_ARCH_CHIP_STM32F302RB is not set +# CONFIG_ARCH_CHIP_STM32F302RC is not set +# CONFIG_ARCH_CHIP_STM32F302VB is not set +# CONFIG_ARCH_CHIP_STM32F302VC is not set +# CONFIG_ARCH_CHIP_STM32F303CB is not set +# CONFIG_ARCH_CHIP_STM32F303CC is not set +# CONFIG_ARCH_CHIP_STM32F303RB is not set +# CONFIG_ARCH_CHIP_STM32F303RC is not set +# CONFIG_ARCH_CHIP_STM32F303VB is not set +# CONFIG_ARCH_CHIP_STM32F303VC is not set +# CONFIG_ARCH_CHIP_STM32F405RG is not set +# CONFIG_ARCH_CHIP_STM32F405VG is not set +# CONFIG_ARCH_CHIP_STM32F405ZG is not set +# CONFIG_ARCH_CHIP_STM32F407VE is not set +# CONFIG_ARCH_CHIP_STM32F407VG is not set +# CONFIG_ARCH_CHIP_STM32F407ZE is not set +# CONFIG_ARCH_CHIP_STM32F407ZG is not set +# CONFIG_ARCH_CHIP_STM32F407IE is not set +# CONFIG_ARCH_CHIP_STM32F407IG is not set +CONFIG_ARCH_CHIP_STM32F427V=y +# CONFIG_ARCH_CHIP_STM32F427Z is not set +# CONFIG_ARCH_CHIP_STM32F427I is not set +# CONFIG_STM32_STM32L15XX is not set +# CONFIG_STM32_ENERGYLITE is not set +# CONFIG_STM32_STM32F10XX is not set +# CONFIG_STM32_VALUELINE is not set +# CONFIG_STM32_CONNECTIVITYLINE is not set +# CONFIG_STM32_PERFORMANCELINE is not set +# CONFIG_STM32_HIGHDENSITY is not set +# CONFIG_STM32_MEDIUMDENSITY is not set +# CONFIG_STM32_LOWDENSITY is not set +# CONFIG_STM32_STM32F20XX is not set +# CONFIG_STM32_STM32F30XX is not set +CONFIG_STM32_STM32F40XX=y +CONFIG_STM32_STM32F427=y +# CONFIG_STM32_DFU is not set + +# +# STM32 Peripheral Support +# +CONFIG_STM32_ADC1=y +# CONFIG_STM32_ADC2 is not set +# CONFIG_STM32_ADC3 is not set +CONFIG_STM32_BKPSRAM=y +# CONFIG_STM32_CAN1 is not set +# CONFIG_STM32_CAN2 is not set +CONFIG_STM32_CCMDATARAM=y +# CONFIG_STM32_CRC is not set +# CONFIG_STM32_CRYP is not set +CONFIG_STM32_DMA1=y +CONFIG_STM32_DMA2=y +# CONFIG_STM32_DAC1 is not set +# CONFIG_STM32_DAC2 is not set +# CONFIG_STM32_DCMI is not set +# CONFIG_STM32_ETHMAC is not set +# CONFIG_STM32_FSMC is not set +# CONFIG_STM32_HASH is not set +# CONFIG_STM32_I2C1 is not set +CONFIG_STM32_I2C2=y +# CONFIG_STM32_I2C3 is not set +# CONFIG_STM32_OTGFS is not set +# CONFIG_STM32_OTGHS is not set +CONFIG_STM32_PWR=y +# CONFIG_STM32_RNG is not set +# CONFIG_STM32_SDIO is not set +CONFIG_STM32_SPI1=y +CONFIG_STM32_SPI2=y +CONFIG_STM32_SPI3=y +CONFIG_STM32_SPI4=y +# CONFIG_STM32_SPI5 is not set +# CONFIG_STM32_SPI6 is not set +CONFIG_STM32_SYSCFG=y +CONFIG_STM32_TIM1=y +# CONFIG_STM32_TIM2 is not set +CONFIG_STM32_TIM3=y +CONFIG_STM32_TIM4=y +CONFIG_STM32_TIM5=y +# CONFIG_STM32_TIM6 is not set +# CONFIG_STM32_TIM7 is not set +# CONFIG_STM32_TIM8 is not set +CONFIG_STM32_TIM9=y +# CONFIG_STM32_TIM10 is not set +# CONFIG_STM32_TIM11 is not set +# CONFIG_STM32_TIM12 is not set +# CONFIG_STM32_TIM13 is not set +# CONFIG_STM32_TIM14 is not set +CONFIG_STM32_USART1=y +CONFIG_STM32_USART2=y +CONFIG_STM32_USART3=y +# CONFIG_STM32_UART4 is not set +# CONFIG_STM32_UART5 is not set +# CONFIG_STM32_USART6 is not set +CONFIG_STM32_UART7=y +CONFIG_STM32_UART8=y +# CONFIG_STM32_IWDG is not set +CONFIG_STM32_WWDG=y +CONFIG_STM32_ADC=y +CONFIG_STM32_SPI=y +CONFIG_STM32_I2C=y + +# +# Alternate Pin Mapping +# +CONFIG_STM32_FLASH_PREFETCH=y +# CONFIG_STM32_JTAG_DISABLE is not set +# CONFIG_STM32_JTAG_FULL_ENABLE is not set +# CONFIG_STM32_JTAG_NOJNTRST_ENABLE is not set +CONFIG_STM32_JTAG_SW_ENABLE=y +CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y +# CONFIG_STM32_FORCEPOWER is not set +# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set +# CONFIG_STM32_CCMEXCLUDE is not set +CONFIG_STM32_DMACAPABLE=y +# CONFIG_STM32_TIM1_PWM is not set +# CONFIG_STM32_TIM3_PWM is not set +# CONFIG_STM32_TIM4_PWM is not set +# CONFIG_STM32_TIM5_PWM is not set +# CONFIG_STM32_TIM9_PWM is not set +# CONFIG_STM32_TIM1_ADC is not set +# CONFIG_STM32_TIM3_ADC is not set +# CONFIG_STM32_TIM4_ADC is not set +# CONFIG_STM32_TIM5_ADC is not set +CONFIG_STM32_USART=y + +# +# U[S]ART Configuration +# +# CONFIG_USART1_RS485 is not set +CONFIG_USART1_RXDMA=y +# CONFIG_USART2_RS485 is not set +CONFIG_USART2_RXDMA=y +# CONFIG_USART3_RS485 is not set +CONFIG_USART3_RXDMA=y +# CONFIG_UART7_RS485 is not set +CONFIG_UART7_RXDMA=y +# CONFIG_UART8_RS485 is not set +CONFIG_UART8_RXDMA=y +CONFIG_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32_USART_SINGLEWIRE=y + +# +# SPI Configuration +# +# CONFIG_STM32_SPI_INTERRUPTS is not set +# CONFIG_STM32_SPI_DMA is not set + +# +# I2C Configuration +# +# CONFIG_STM32_I2C_DYNTIMEO is not set +CONFIG_STM32_I2CTIMEOSEC=0 +CONFIG_STM32_I2CTIMEOMS=10 +CONFIG_STM32_I2CTIMEOTICKS=500 +# CONFIG_STM32_I2C_DUTY16_9 is not set + +# +# USB Host Configuration +# + +# +# USB Device Configuration +# + +# +# External Memory Configuration +# + +# +# Architecture Options +# +# CONFIG_ARCH_NOINTC is not set +# CONFIG_ARCH_VECNOTIRQ is not set +CONFIG_ARCH_DMA=y +CONFIG_ARCH_IRQPRIO=y +# CONFIG_CUSTOM_STACK is not set +# CONFIG_ADDRENV is not set +CONFIG_ARCH_HAVE_VFORK=y +CONFIG_ARCH_STACKDUMP=y +# CONFIG_ENDIAN_BIG is not set +# CONFIG_ARCH_HAVE_RAMFUNCS is not set +CONFIG_ARCH_HAVE_RAMVECTORS=y +# CONFIG_ARCH_RAMVECTORS is not set + +# +# Board Settings +# +CONFIG_BOARD_LOOPSPERMSEC=16717 +# CONFIG_ARCH_CALIBRATION is not set +CONFIG_DRAM_START=0x20000000 +CONFIG_DRAM_SIZE=262144 +CONFIG_ARCH_HAVE_INTERRUPTSTACK=y +CONFIG_ARCH_INTERRUPTSTACK=4096 + +# +# Boot options +# +# CONFIG_BOOT_RUNFROMEXTSRAM is not set +CONFIG_BOOT_RUNFROMFLASH=y +# CONFIG_BOOT_RUNFROMISRAM is not set +# CONFIG_BOOT_RUNFROMSDRAM is not set +# CONFIG_BOOT_COPYTORAM is not set + +# +# Board Selection +# +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD="" + +# +# Common Board Options +# +CONFIG_NSH_MMCSDMINOR=0 + +# +# Board-Specific Options +# + +# +# RTOS Features +# +# CONFIG_BOARD_INITIALIZE is not set +CONFIG_MSEC_PER_TICK=1 +CONFIG_RR_INTERVAL=0 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_TASK_NAME_SIZE=24 +# CONFIG_SCHED_HAVE_PARENT is not set +# CONFIG_JULIAN_TIME is not set +CONFIG_START_YEAR=1970 +CONFIG_START_MONTH=1 +CONFIG_START_DAY=1 +CONFIG_DEV_CONSOLE=y +# CONFIG_MUTEX_TYPES is not set +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_SEM_PREALLOCHOLDERS=0 +CONFIG_SEM_NNESTPRIO=8 +# CONFIG_FDCLONE_DISABLE is not set +CONFIG_FDCLONE_STDIO=y +CONFIG_SDCLONE_DISABLE=y +CONFIG_SCHED_WAITPID=y +# CONFIG_SCHED_STARTHOOK is not set +CONFIG_SCHED_ATEXIT=y +CONFIG_SCHED_ATEXIT_MAX=1 +# CONFIG_SCHED_ONEXIT is not set +CONFIG_USER_ENTRYPOINT="nsh_main" +# CONFIG_DISABLE_OS_API is not set + +# +# Signal Numbers +# +CONFIG_SIG_SIGUSR1=1 +CONFIG_SIG_SIGUSR2=2 +CONFIG_SIG_SIGALARM=3 +CONFIG_SIG_SIGCONDTIMEDOUT=16 +CONFIG_SIG_SIGWORK=4 + +# +# Sizes of configurable things (0 disables) +# +CONFIG_MAX_TASKS=32 +CONFIG_MAX_TASK_ARGS=10 +CONFIG_NPTHREAD_KEYS=4 +CONFIG_NFILE_DESCRIPTORS=36 +CONFIG_NFILE_STREAMS=8 +CONFIG_NAME_MAX=32 +CONFIG_PREALLOC_MQ_MSGS=4 +CONFIG_MQ_MAXMSGSIZE=32 +CONFIG_MAX_WDOGPARMS=2 +CONFIG_PREALLOC_WDOGS=50 +CONFIG_PREALLOC_TIMERS=50 + +# +# Stack and heap information +# +CONFIG_IDLETHREAD_STACKSIZE=6000 +CONFIG_USERMAIN_STACKSIZE=4096 +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_PTHREAD_STACK_DEFAULT=2048 + +# +# Device Drivers +# +# CONFIG_DISABLE_POLL is not set +CONFIG_DEV_NULL=y +# CONFIG_DEV_ZERO is not set +# CONFIG_LOOP is not set +# CONFIG_RAMDISK is not set +# CONFIG_CAN is not set +# CONFIG_PWM is not set +CONFIG_I2C=y +# CONFIG_I2C_SLAVE is not set +CONFIG_I2C_TRANSFER=y +# CONFIG_I2C_WRITEREAD is not set +# CONFIG_I2C_POLLED is not set +# CONFIG_I2C_TRACE is not set +CONFIG_ARCH_HAVE_I2CRESET=y +CONFIG_I2C_RESET=y +CONFIG_SPI=y +# CONFIG_SPI_OWNBUS is not set +CONFIG_SPI_EXCHANGE=y +# CONFIG_SPI_CMDDATA is not set +# CONFIG_RTC is not set +CONFIG_WATCHDOG=y +# CONFIG_ANALOG is not set +# CONFIG_AUDIO_DEVICES is not set +# CONFIG_BCH is not set +# CONFIG_INPUT is not set +# CONFIG_LCD is not set +# CONFIG_MMCSD is not set +CONFIG_MTD=y + +# +# MTD Configuration +# +CONFIG_MTD_PARTITION=y +CONFIG_MTD_BYTE_WRITE=y + +# +# MTD Device Drivers +# +# CONFIG_RAMMTD is not set +# CONFIG_MTD_AT24XX is not set +# CONFIG_MTD_AT45DB is not set +# CONFIG_MTD_M25P is not set +# CONFIG_MTD_SMART is not set +CONFIG_MTD_RAMTRON=y +CONFIG_RAMTRON_FUJITSU=y +# CONFIG_MTD_SST25 is not set +# CONFIG_MTD_SST39FV is not set +# CONFIG_MTD_W25 is not set +CONFIG_PIPES=y +# CONFIG_PM is not set +# CONFIG_POWER is not set +# CONFIG_SENSORS is not set +CONFIG_SERIAL=y +# CONFIG_DEV_LOWCONSOLE is not set +# CONFIG_16550_UART is not set +CONFIG_ARCH_HAVE_UART7=y +CONFIG_ARCH_HAVE_UART8=y +CONFIG_ARCH_HAVE_USART1=y +CONFIG_ARCH_HAVE_USART2=y +CONFIG_ARCH_HAVE_USART3=y +CONFIG_MCU_SERIAL=y +CONFIG_STANDARD_SERIAL=y +CONFIG_SERIAL_NPOLLWAITERS=2 +# CONFIG_USART1_SERIAL_CONSOLE is not set +# CONFIG_USART2_SERIAL_CONSOLE is not set +# CONFIG_USART3_SERIAL_CONSOLE is not set +# CONFIG_UART7_SERIAL_CONSOLE is not set +CONFIG_UART8_SERIAL_CONSOLE=y +# CONFIG_NO_SERIAL_CONSOLE is not set + +# +# USART1 Configuration +# +CONFIG_USART1_RXBUFSIZE=512 +CONFIG_USART1_TXBUFSIZE=512 +CONFIG_USART1_BAUD=115200 +CONFIG_USART1_BITS=8 +CONFIG_USART1_PARITY=0 +CONFIG_USART1_2STOP=0 +# CONFIG_USART1_IFLOWCONTROL is not set +# CONFIG_USART1_OFLOWCONTROL is not set + +# +# USART2 Configuration +# +CONFIG_USART2_RXBUFSIZE=512 +CONFIG_USART2_TXBUFSIZE=512 +CONFIG_USART2_BAUD=115200 +CONFIG_USART2_BITS=8 +CONFIG_USART2_PARITY=0 +CONFIG_USART2_2STOP=0 +# CONFIG_USART2_IFLOWCONTROL is not set +# CONFIG_USART2_OFLOWCONTROL is not set + +# +# USART3 Configuration +# +CONFIG_USART3_RXBUFSIZE=512 +CONFIG_USART3_TXBUFSIZE=512 +CONFIG_USART3_BAUD=115200 +CONFIG_USART3_BITS=8 +CONFIG_USART3_PARITY=0 +CONFIG_USART3_2STOP=0 +# CONFIG_USART3_IFLOWCONTROL is not set +# CONFIG_USART3_OFLOWCONTROL is not set + +# +# UART7 Configuration +# +CONFIG_UART7_RXBUFSIZE=512 +CONFIG_UART7_TXBUFSIZE=512 +CONFIG_UART7_BAUD=115200 +CONFIG_UART7_BITS=8 +CONFIG_UART7_PARITY=0 +CONFIG_UART7_2STOP=0 +# CONFIG_UART7_IFLOWCONTROL is not set +# CONFIG_UART7_OFLOWCONTROL is not set + +# +# UART8 Configuration +# +CONFIG_UART8_RXBUFSIZE=512 +CONFIG_UART8_TXBUFSIZE=512 +CONFIG_UART8_BAUD=115200 +CONFIG_UART8_BITS=8 +CONFIG_UART8_PARITY=0 +CONFIG_UART8_2STOP=0 +# CONFIG_UART8_IFLOWCONTROL is not set +# CONFIG_UART8_OFLOWCONTROL is not set +# CONFIG_SERIAL_IFLOWCONTROL is not set +# CONFIG_SERIAL_OFLOWCONTROL is not set +# CONFIG_USBDEV is not set +# CONFIG_USBHOST is not set +# CONFIG_WIRELESS is not set + +# +# System Logging Device Options +# + +# +# System Logging +# +# CONFIG_RAMLOG is not set + +# +# Networking Support +# +# CONFIG_NET is not set + +# +# File Systems +# + +# +# File system configuration +# +# CONFIG_DISABLE_MOUNTPOINT is not set +# CONFIG_FS_RAMMAP is not set +CONFIG_FS_FAT=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FAT_MAXFNAME=32 +CONFIG_FS_FATTIME=y +CONFIG_FAT_DMAMEMORY=y +CONFIG_FS_NXFFS=y +CONFIG_NXFFS_PREALLOCATED=y +CONFIG_NXFFS_ERASEDSTATE=0xff +CONFIG_NXFFS_PACKTHRESHOLD=32 +CONFIG_NXFFS_MAXNAMLEN=32 +CONFIG_NXFFS_TAILTHRESHOLD=2048 +CONFIG_FS_ROMFS=y +# CONFIG_FS_SMARTFS is not set +CONFIG_FS_BINFS=y + +# +# System Logging +# +# CONFIG_SYSLOG_ENABLE is not set +# CONFIG_SYSLOG is not set + +# +# Graphics Support +# +# CONFIG_NX is not set + +# +# Memory Management +# +# CONFIG_MM_MULTIHEAP is not set +# CONFIG_MM_SMALL is not set +CONFIG_MM_REGIONS=2 +CONFIG_GRAN=y +# CONFIG_GRAN_SINGLE is not set +# CONFIG_GRAN_INTR is not set + +# +# Audio Support +# +# CONFIG_AUDIO is not set + +# +# Binary Formats +# +# CONFIG_BINFMT_DISABLE is not set +# CONFIG_BINFMT_EXEPATH is not set +# CONFIG_NXFLAT is not set +# CONFIG_ELF is not set +CONFIG_BUILTIN=y +# CONFIG_PIC is not set +# CONFIG_SYMTAB_ORDEREDBYNAME is not set + +# +# Library Routines +# + +# +# Standard C Library Options +# +CONFIG_STDIO_BUFFER_SIZE=32 +CONFIG_STDIO_LINEBUFFER=y +CONFIG_NUNGET_CHARS=2 +CONFIG_LIB_HOMEDIR="/" +# CONFIG_NOPRINTF_FIELDWIDTH is not set +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIB_RAND_ORDER=1 +# CONFIG_EOL_IS_CR is not set +# CONFIG_EOL_IS_LF is not set +# CONFIG_EOL_IS_BOTH_CRLF is not set +CONFIG_EOL_IS_EITHER_CRLF=y +# CONFIG_LIBC_EXECFUNCS is not set +CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=1024 +CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=2048 +CONFIG_LIBC_STRERROR=y +# CONFIG_LIBC_STRERROR_SHORT is not set +# CONFIG_LIBC_PERROR_STDOUT is not set +CONFIG_ARCH_LOWPUTC=y +CONFIG_LIB_SENDFILE_BUFSIZE=512 +# CONFIG_ARCH_ROMGETC is not set +CONFIG_ARCH_OPTIMIZED_FUNCTIONS=y +CONFIG_ARCH_MEMCPY=y +# CONFIG_ARCH_MEMCMP is not set +# CONFIG_ARCH_MEMMOVE is not set +# CONFIG_ARCH_MEMSET is not set +# CONFIG_MEMSET_OPTSPEED is not set +# CONFIG_ARCH_STRCHR is not set +# CONFIG_ARCH_STRCMP is not set +# CONFIG_ARCH_STRCPY is not set +# CONFIG_ARCH_STRNCPY is not set +# CONFIG_ARCH_STRLEN is not set +# CONFIG_ARCH_STRNLEN is not set +# CONFIG_ARCH_BZERO is not set + +# +# Non-standard Library Support +# +CONFIG_SCHED_WORKQUEUE=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_WORKPRIORITY=192 +CONFIG_SCHED_WORKPERIOD=5000 +CONFIG_SCHED_WORKSTACKSIZE=2000 +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKPERIOD=50000 +CONFIG_SCHED_LPWORKSTACKSIZE=2000 +# CONFIG_LIB_KBDCODEC is not set +# CONFIG_LIB_SLCDCODEC is not set + +# +# Basic CXX Support +# +CONFIG_C99_BOOL8=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +# CONFIG_CXX_NEWLONG is not set + +# +# uClibc++ Standard C++ Library +# +# CONFIG_UCLIBCXX is not set + +# +# Application Configuration +# + +# +# Built-In Applications +# +CONFIG_BUILTIN_PROXY_STACKSIZE=1024 + +# +# Examples +# +# CONFIG_EXAMPLES_BUTTONS is not set +# CONFIG_EXAMPLES_CAN is not set +# CONFIG_EXAMPLES_COMPOSITE is not set +# CONFIG_EXAMPLES_CXXTEST is not set +# CONFIG_EXAMPLES_DHCPD is not set +# CONFIG_EXAMPLES_ELF is not set +# CONFIG_EXAMPLES_FTPC is not set +# CONFIG_EXAMPLES_FTPD is not set +CONFIG_EXAMPLES_HELLO=y +# CONFIG_EXAMPLES_HELLOXX is not set +# CONFIG_EXAMPLES_JSON is not set +# CONFIG_EXAMPLES_HIDKBD is not set +# CONFIG_EXAMPLES_KEYPADTEST is not set +# CONFIG_EXAMPLES_IGMP is not set +# CONFIG_EXAMPLES_LCDRW is not set +# CONFIG_EXAMPLES_MM is not set +# CONFIG_EXAMPLES_MODBUS is not set +CONFIG_EXAMPLES_MOUNT=y +# CONFIG_EXAMPLES_MTDPART is not set +# CONFIG_EXAMPLES_NRF24L01TERM is not set +CONFIG_EXAMPLES_NSH=y +# CONFIG_EXAMPLES_NULL is not set +# CONFIG_EXAMPLES_NX is not set +# CONFIG_EXAMPLES_NXCONSOLE is not set +# CONFIG_EXAMPLES_NXFFS is not set +# CONFIG_EXAMPLES_NXFLAT is not set +# CONFIG_EXAMPLES_NXHELLO is not set +# CONFIG_EXAMPLES_NXIMAGE is not set +# CONFIG_EXAMPLES_NXLINES is not set +# CONFIG_EXAMPLES_NXTEXT is not set +# CONFIG_EXAMPLES_OSTEST is not set +# CONFIG_EXAMPLES_PASHELLO is not set +# CONFIG_EXAMPLES_PIPE is not set +# CONFIG_EXAMPLES_POSIXSPAWN is not set +# CONFIG_EXAMPLES_QENCODER is not set +# CONFIG_EXAMPLES_RGMP is not set +# CONFIG_EXAMPLES_ROMFS is not set +# CONFIG_EXAMPLES_SENDMAIL is not set +# CONFIG_EXAMPLES_SERLOOP is not set +# CONFIG_EXAMPLES_SLCD is not set +# CONFIG_EXAMPLES_SMART_TEST is not set +# CONFIG_EXAMPLES_SMART is not set +# CONFIG_EXAMPLES_TCPECHO is not set +# CONFIG_EXAMPLES_TELNETD is not set +# CONFIG_EXAMPLES_THTTPD is not set +# CONFIG_EXAMPLES_TIFF is not set +# CONFIG_EXAMPLES_TOUCHSCREEN is not set +# CONFIG_EXAMPLES_UDP is not set +# CONFIG_EXAMPLES_UIP is not set +# CONFIG_EXAMPLES_USBSERIAL is not set +# CONFIG_EXAMPLES_USBMSC is not set +# CONFIG_EXAMPLES_USBTERM is not set +# CONFIG_EXAMPLES_WATCHDOG is not set + +# +# Graphics Support +# +# CONFIG_TIFF is not set + +# +# Interpreters +# +# CONFIG_INTERPRETERS_FICL is not set +# CONFIG_INTERPRETERS_PCODE is not set + +# +# Network Utilities +# + +# +# Networking Utilities +# +# CONFIG_NETUTILS_CODECS is not set +# CONFIG_NETUTILS_DHCPC is not set +# CONFIG_NETUTILS_DHCPD is not set +# CONFIG_NETUTILS_FTPC is not set +# CONFIG_NETUTILS_FTPD is not set +# CONFIG_NETUTILS_JSON is not set +# CONFIG_NETUTILS_RESOLV is not set +# CONFIG_NETUTILS_SMTP is not set +# CONFIG_NETUTILS_TELNETD is not set +# CONFIG_NETUTILS_TFTPC is not set +# CONFIG_NETUTILS_THTTPD is not set +# CONFIG_NETUTILS_UIPLIB is not set +# CONFIG_NETUTILS_WEBCLIENT is not set + +# +# FreeModBus +# +# CONFIG_MODBUS is not set + +# +# NSH Library +# +CONFIG_NSH_LIBRARY=y +CONFIG_NSH_BUILTIN_APPS=y + +# +# Disable Individual commands +# +# CONFIG_NSH_DISABLE_CAT is not set +# CONFIG_NSH_DISABLE_CD is not set +# CONFIG_NSH_DISABLE_CP is not set +# CONFIG_NSH_DISABLE_DD is not set +# CONFIG_NSH_DISABLE_ECHO is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXIT is not set +# CONFIG_NSH_DISABLE_FREE is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_HELP is not set +# CONFIG_NSH_DISABLE_HEXDUMP is not set +# CONFIG_NSH_DISABLE_IFCONFIG is not set +# CONFIG_NSH_DISABLE_KILL is not set +# CONFIG_NSH_DISABLE_LOSETUP is not set +# CONFIG_NSH_DISABLE_LS is not set +# CONFIG_NSH_DISABLE_MB is not set +# CONFIG_NSH_DISABLE_MKDIR is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_MKFIFO is not set +# CONFIG_NSH_DISABLE_MKRD is not set +# CONFIG_NSH_DISABLE_MH is not set +# CONFIG_NSH_DISABLE_MOUNT is not set +# CONFIG_NSH_DISABLE_MW is not set +# CONFIG_NSH_DISABLE_NSFMOUNT is not set +# CONFIG_NSH_DISABLE_PS is not set +# CONFIG_NSH_DISABLE_PING is not set +# CONFIG_NSH_DISABLE_PUT is not set +# CONFIG_NSH_DISABLE_PWD is not set +# CONFIG_NSH_DISABLE_RM is not set +# CONFIG_NSH_DISABLE_RMDIR is not set +# CONFIG_NSH_DISABLE_SET is not set +# CONFIG_NSH_DISABLE_SH is not set +# CONFIG_NSH_DISABLE_SLEEP is not set +# CONFIG_NSH_DISABLE_TEST is not set +# CONFIG_NSH_DISABLE_UMOUNT is not set +# CONFIG_NSH_DISABLE_UNSET is not set +# CONFIG_NSH_DISABLE_USLEEP is not set +# CONFIG_NSH_DISABLE_WGET is not set +# CONFIG_NSH_DISABLE_XD is not set + +# +# Configure Command Options +# +# CONFIG_NSH_CMDOPT_DF_H is not set +CONFIG_NSH_CODECS_BUFSIZE=128 +CONFIG_NSH_FILEIOSIZE=512 +CONFIG_NSH_STRERROR=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=12 +CONFIG_NSH_NESTDEPTH=8 +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLEBG is not set +CONFIG_NSH_ROMFSETC=y +# CONFIG_NSH_ROMFSRC is not set +CONFIG_NSH_ROMFSMOUNTPT="/etc" +CONFIG_NSH_INITSCRIPT="init.d/rcS" +CONFIG_NSH_ROMFSDEVNO=0 +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_ARCHROMFS=y +CONFIG_NSH_FATDEVNO=1 +CONFIG_NSH_FATSECTSIZE=512 +CONFIG_NSH_FATNSECTORS=1024 +CONFIG_NSH_FATMOUNTPT="/tmp" +CONFIG_NSH_CONSOLE=y + +# +# USB Trace Support +# +# CONFIG_NSH_CONDEV is not set +CONFIG_NSH_ARCHINIT=y + +# +# NxWidgets/NxWM +# + +# +# System NSH Add-Ons +# + +# +# Custom Free Memory Command +# +# CONFIG_SYSTEM_FREE is not set + +# +# I2C tool +# +CONFIG_SYSTEM_I2CTOOL=y +CONFIG_I2CTOOL_MINBUS=0 +CONFIG_I2CTOOL_MAXBUS=3 +CONFIG_I2CTOOL_MINADDR=0x03 +CONFIG_I2CTOOL_MAXADDR=0x77 +CONFIG_I2CTOOL_MAXREGADDR=0xff +CONFIG_I2CTOOL_DEFFREQ=4000000 + +# +# FLASH Program Installation +# +# CONFIG_SYSTEM_INSTALL is not set + +# +# FLASH Erase-all Command +# +# CONFIG_SYSTEM_FLASH_ERASEALL is not set + +# +# readline() +# +CONFIG_SYSTEM_READLINE=y +CONFIG_READLINE_ECHO=y + +# +# Power Off +# +# CONFIG_SYSTEM_POWEROFF is not set + +# +# RAMTRON +# +# CONFIG_SYSTEM_RAMTRON is not set + +# +# SD Card +# +# CONFIG_SYSTEM_SDCARD is not set + +# +# Sysinfo +# +CONFIG_SYSTEM_SYSINFO=y + +# +# USB Monitor +# diff --git a/nuttx-configs/aerocore/nsh/setenv.sh b/nuttx-configs/aerocore/nsh/setenv.sh new file mode 100755 index 000000000..2327f38a1 --- /dev/null +++ b/nuttx-configs/aerocore/nsh/setenv.sh @@ -0,0 +1,67 @@ +#!/bin/bash +# configs/aerocore/nsh/setenv.sh +# +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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. +# + +if [ "$_" = "$0" ] ; then + echo "You must source this script, not run it!" 1>&2 + exit 1 +fi + +WD=`pwd` +if [ ! -x "setenv.sh" ]; then + echo "This script must be executed from the top-level NuttX build directory" + exit 1 +fi + +if [ -z "${PATH_ORIG}" ]; then + export PATH_ORIG="${PATH}" +fi + +# This the Cygwin path to the location where I installed the RIDE +# toolchain under windows. You will also have to edit this if you install +# the RIDE toolchain in any other location +#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin" + +# This the Cygwin path to the location where I installed the CodeSourcery +# toolchain under windows. You will also have to edit this if you install +# the CodeSourcery toolchain in any other location +export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin" + +# This the Cygwin path to the location where I build the buildroot +# toolchain. +#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin" + +# Add the path to the toolchain to the PATH varialble +export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}" + +echo "PATH : ${PATH}" diff --git a/nuttx-configs/aerocore/scripts/ld.script b/nuttx-configs/aerocore/scripts/ld.script new file mode 100644 index 000000000..968d3127f --- /dev/null +++ b/nuttx-configs/aerocore/scripts/ld.script @@ -0,0 +1,150 @@ +/**************************************************************************** + * configs/aerocore/common/ld.script + * + * Copyright (C) 2011 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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. + * + ****************************************************************************/ + +/* The STM32F427 has 2048Kb of FLASH beginning at address 0x0800:0000 and + * 256Kb of SRAM. SRAM is split up into three blocks: + * + * 1) 112Kb of SRAM beginning at address 0x2000:0000 + * 2) 16Kb of SRAM beginning at address 0x2001:c000 + * 3) 64Kb of SRAM beginning at address 0x2002:0000 + * 4) 64Kb of TCM SRAM beginning at address 0x1000:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + * + * The first 0x4000 of flash is reserved for the bootloader. + */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K + sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K + ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K +} + +OUTPUT_ARCH(arm) + +ENTRY(__start) /* treat __start as the anchor for dead code stripping */ +EXTERN(_vectors) /* force the vectors to be included in the output */ + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + /* + * This is a hack to make the newlib libm __errno() call + * use the NuttX get_errno_ptr() function. + */ + __errno = get_errno_ptr; + } > flash + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > flash + + /* + * Construction data for parameters. + */ + __param ALIGN(4): { + __param_start = ABSOLUTE(.); + KEEP(*(__param*)) + __param_end = ABSOLUTE(.); + } > flash + + .ARM.extab : { + *(.ARM.extab*) + } > flash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > flash + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > sram AT > flash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/nuttx-configs/aerocore/src/Makefile b/nuttx-configs/aerocore/src/Makefile new file mode 100644 index 000000000..859ba4ab2 --- /dev/null +++ b/nuttx-configs/aerocore/src/Makefile @@ -0,0 +1,84 @@ +############################################################################ +# configs/aerocore/src/Makefile +# +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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. +# +############################################################################ + +-include $(TOPDIR)/Make.defs + +CFLAGS += -I$(TOPDIR)/sched + +ASRCS = +AOBJS = $(ASRCS:.S=$(OBJEXT)) + +CSRCS = empty.c +COBJS = $(CSRCS:.c=$(OBJEXT)) + +SRCS = $(ASRCS) $(CSRCS) +OBJS = $(AOBJS) $(COBJS) + +ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src +ifeq ($(WINTOOL),y) + CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \ + -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \ + -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}" +else + CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m +endif + +all: libboard$(LIBEXT) + +$(AOBJS): %$(OBJEXT): %.S + $(call ASSEMBLE, $<, $@) + +$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c + $(call COMPILE, $<, $@) + +libboard$(LIBEXT): $(OBJS) + $(call ARCHIVE, $@, $(OBJS)) + +.depend: Makefile $(SRCS) + $(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep + $(Q) touch $@ + +depend: .depend + +clean: + $(call DELFILE, libboard$(LIBEXT)) + $(call CLEAN) + +distclean: clean + $(call DELFILE, Make.dep) + $(call DELFILE, .depend) + +-include Make.dep + diff --git a/nuttx-configs/aerocore/src/empty.c b/nuttx-configs/aerocore/src/empty.c new file mode 100644 index 000000000..ace900866 --- /dev/null +++ b/nuttx-configs/aerocore/src/empty.c @@ -0,0 +1,4 @@ +/* + * There are no source files here, but libboard.a can't be empty, so + * we have this empty source file to keep it company. + */ diff --git a/src/drivers/boards/aerocore/aerocore_init.c b/src/drivers/boards/aerocore/aerocore_init.c new file mode 100644 index 000000000..4e3ba2d7e --- /dev/null +++ b/src/drivers/boards/aerocore/aerocore_init.c @@ -0,0 +1,282 @@ +/**************************************************************************** + * + * Copyright (C) 2012 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 + * 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 PX4 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. + * + ****************************************************************************/ + +/** + * @file aerocore_init.c + * + * AeroCore-specific early startup code. This file implements the + * nsh_archinitialize() function that is called early by nsh during startup. + * + * Code here is run before the rcS script is invoked; it should start required + * subsystems and perform board-specific initialisation. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include "board_config.h" +#include + +#include + +#include +#include + +#include +#include + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +/* Configuration ************************************************************/ + +/* Debug ********************************************************************/ + +#ifdef CONFIG_CPP_HAVE_VARARGS +# ifdef CONFIG_DEBUG +# define message(...) lowsyslog(__VA_ARGS__) +# else +# define message(...) printf(__VA_ARGS__) +# endif +#else +# ifdef CONFIG_DEBUG +# define message lowsyslog +# else +# define message printf +# endif +#endif + +/**************************************************************************** + * Protected Functions + ****************************************************************************/ + +#if defined(CONFIG_FAT_DMAMEMORY) +# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY) +# error microSD DMA support requires CONFIG_GRAN +# endif + +static GRAN_HANDLE dma_allocator; + +/* + * The DMA heap size constrains the total number of things that can be + * ready to do DMA at a time. + * + * For example, FAT DMA depends on one sector-sized buffer per filesystem plus + * one sector-sized buffer per file. + * + * We use a fundamental alignment / granule size of 64B; this is sufficient + * to guarantee alignment for the largest STM32 DMA burst (16 beats x 32bits). + */ +static uint8_t g_dma_heap[8192] __attribute__((aligned(64))); +static perf_counter_t g_dma_perf; + +static void +dma_alloc_init(void) +{ + dma_allocator = gran_initialize(g_dma_heap, + sizeof(g_dma_heap), + 7, /* 128B granule - must be > alignment (XXX bug?) */ + 6); /* 64B alignment */ + if (dma_allocator == NULL) { + message("[boot] DMA allocator setup FAILED"); + } else { + g_dma_perf = perf_alloc(PC_COUNT, "DMA allocations"); + } +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/* + * DMA-aware allocator stubs for the FAT filesystem. + */ + +__EXPORT void *fat_dma_alloc(size_t size); +__EXPORT void fat_dma_free(FAR void *memory, size_t size); + +void * +fat_dma_alloc(size_t size) +{ + perf_count(g_dma_perf); + return gran_alloc(dma_allocator, size); +} + +void +fat_dma_free(FAR void *memory, size_t size) +{ + gran_free(dma_allocator, memory, size); +} + +#else + +# define dma_alloc_init() + +#endif + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the intitialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +__EXPORT void +stm32_boardinitialize(void) +{ + /* configure SPI interfaces */ + stm32_spiinitialize(); + + /* configure LEDs */ + up_ledinit(); +} + +/**************************************************************************** + * Name: nsh_archinitialize + * + * Description: + * Perform architecture specific initialization + * + ****************************************************************************/ + +static struct spi_dev_s *spi3; +static struct spi_dev_s *spi4; + +#include + +#ifdef __cplusplus +__EXPORT int matherr(struct __exception *e) +{ + return 1; +} +#else +__EXPORT int matherr(struct exception *e) +{ + return 1; +} +#endif + +__EXPORT int nsh_archinitialize(void) +{ + + /* configure ADC pins */ + stm32_configgpio(GPIO_ADC1_IN10); /* used by VBUS valid */ + stm32_configgpio(GPIO_ADC1_IN11); /* J1 breakout */ + stm32_configgpio(GPIO_ADC1_IN12); /* J1 breakout */ + stm32_configgpio(GPIO_ADC1_IN13); /* J1 breakout */ + + /* configure the high-resolution time/callout interface */ + hrt_init(); + + /* configure the DMA allocator */ + dma_alloc_init(); + + /* configure CPU load estimation */ +#ifdef CONFIG_SCHED_INSTRUMENTATION + cpuload_initialize_once(); +#endif + + /* set up the serial DMA polling */ + static struct hrt_call serial_dma_call; + struct timespec ts; + + /* + * Poll at 1ms intervals for received bytes that have not triggered + * a DMA event. + */ + ts.tv_sec = 0; + ts.tv_nsec = 1000000; + + hrt_call_every(&serial_dma_call, + ts_to_abstime(&ts), + ts_to_abstime(&ts), + (hrt_callout)stm32_serial_dma_poll, + NULL); + + /* initial LED state */ + drv_led_start(); + led_off(LED_AMBER); + + /* Configure Sensors on SPI bus #3 */ + spi3 = up_spiinitialize(3); + if (!spi3) { + message("[boot] FAILED to initialize SPI port 3\n"); + up_ledon(LED_AMBER); + return -ENODEV; + } + /* Default: 1MHz, 8 bits, Mode 3 */ + SPI_SETFREQUENCY(spi3, 10000000); + SPI_SETBITS(spi3, 8); + SPI_SETMODE(spi3, SPIDEV_MODE3); + SPI_SELECT(spi3, PX4_SPIDEV_GYRO, false); + SPI_SELECT(spi3, PX4_SPIDEV_ACCEL_MAG, false); + SPI_SELECT(spi3, PX4_SPIDEV_BARO, false); + up_udelay(20); + message("[boot] Initialized SPI port 3 (SENSORS)\n"); + + /* Configure FRAM on SPI bus #4 */ + spi4 = up_spiinitialize(4); + if (!spi4) { + message("[boot] FAILED to initialize SPI port 4\n"); + up_ledon(LED_AMBER); + return -ENODEV; + } + /* Default: ~10MHz, 8 bits, Mode 3 */ + SPI_SETFREQUENCY(spi4, 10 * 1000 * 1000); + SPI_SETBITS(spi4, 8); + SPI_SETMODE(spi4, SPIDEV_MODE0); + SPI_SELECT(spi4, SPIDEV_FLASH, false); + message("[boot] Initialized SPI port 4 (FRAM)\n"); + + return OK; +} diff --git a/src/drivers/boards/aerocore/aerocore_led.c b/src/drivers/boards/aerocore/aerocore_led.c new file mode 100644 index 000000000..e40d1730c --- /dev/null +++ b/src/drivers/boards/aerocore/aerocore_led.c @@ -0,0 +1,121 @@ +/**************************************************************************** + * + * Copyright (c) 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 + * 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 PX4 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. + * + ****************************************************************************/ + +/** + * @file aerocore_led.c + * + * AeroCore LED backend. + */ + +#include + +#include + +#include "stm32.h" +#include "board_config.h" + +#include + +/* + * Ideally we'd be able to get these from up_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(); +extern void led_on(int led); +extern void led_off(int led); +extern void led_toggle(int led); +__END_DECLS + +__EXPORT void led_init() +{ + stm32_configgpio(GPIO_LED0); + stm32_configgpio(GPIO_LED1); +} + +__EXPORT void led_on(int led) +{ + switch (led) { + case 0: + stm32_gpiowrite(GPIO_LED0, true); + break; + + case 1: + stm32_gpiowrite(GPIO_LED1, true); + break; + + default: + warnx("LED ID not recognized\n"); + } +} + +__EXPORT void led_off(int led) +{ + switch (led) { + case 0: + stm32_gpiowrite(GPIO_LED0, false); + break; + + case 1: + stm32_gpiowrite(GPIO_LED1, false); + break; + + default: + warnx("LED ID not recognized\n"); + } +} + +__EXPORT void led_toggle(int led) +{ + switch (led) { + case 0: + if (stm32_gpioread(GPIO_LED0)) + stm32_gpiowrite(GPIO_LED0, false); + else + stm32_gpiowrite(GPIO_LED0, true); + break; + + case 1: + if (stm32_gpioread(GPIO_LED1)) + stm32_gpiowrite(GPIO_LED1, false); + else + stm32_gpiowrite(GPIO_LED1, true); + break; + + default: + warnx("LED ID not recognized\n"); + } +} diff --git a/src/drivers/boards/aerocore/aerocore_pwm_servo.c b/src/drivers/boards/aerocore/aerocore_pwm_servo.c new file mode 100644 index 000000000..251eaff7b --- /dev/null +++ b/src/drivers/boards/aerocore/aerocore_pwm_servo.c @@ -0,0 +1,117 @@ +/**************************************************************************** + * + * Copyright (C) 2012 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 + * 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 PX4 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. + * + ****************************************************************************/ + +/* + * @file aerocore_pwm_servo.c + * + * Configuration data for the stm32 pwm_servo driver. + * + * Note that these arrays must always be fully-sized. + */ + +#include + +#include +#include +#include + +#include +#include + +#include "board_config.h" + +__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = { + { + .base = STM32_TIM1_BASE, + .clock_register = STM32_RCC_APB2ENR, + .clock_bit = RCC_APB2ENR_TIM1EN, + .clock_freq = STM32_APB2_TIM1_CLKIN + }, + { + .base = STM32_TIM3_BASE, + .clock_register = STM32_RCC_APB1ENR, + .clock_bit = RCC_APB1ENR_TIM3EN, + .clock_freq = STM32_APB1_TIM3_CLKIN + } +}; + +__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = { + { + .gpio = GPIO_TIM1_CH1OUT, + .timer_index = 0, + .timer_channel = 1, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM1_CH2OUT, + .timer_index = 0, + .timer_channel = 2, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM1_CH3OUT, + .timer_index = 0, + .timer_channel = 3, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM1_CH4OUT, + .timer_index = 0, + .timer_channel = 4, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM3_CH1OUT, + .timer_index = 1, + .timer_channel = 1, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM3_CH2OUT, + .timer_index = 1, + .timer_channel = 2, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM3_CH3OUT, + .timer_index = 1, + .timer_channel = 3, + .default_value = 1500, + }, + { + .gpio = GPIO_TIM3_CH4OUT, + .timer_index = 1, + .timer_channel = 4, + .default_value = 1500, + } +}; diff --git a/src/drivers/boards/aerocore/aerocore_spi.c b/src/drivers/boards/aerocore/aerocore_spi.c new file mode 100644 index 000000000..e329bd9d1 --- /dev/null +++ b/src/drivers/boards/aerocore/aerocore_spi.c @@ -0,0 +1,183 @@ +/**************************************************************************** + * + * Copyright (C) 2012 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 + * 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 PX4 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. + * + ****************************************************************************/ + +/** + * @file aerocore_spi.c + * + * Board-specific SPI functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include +#include +#include + +#include +#include + +#include +#include +#include +#include "board_config.h" + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the PX4FMU board. + * + ************************************************************************************/ + +__EXPORT void weak_function stm32_spiinitialize(void) +{ +#ifdef CONFIG_STM32_SPI1 + stm32_configgpio(GPIO_SPI1_NSS); + stm32_gpiowrite(GPIO_SPI1_NSS, 1); +#endif + +#ifdef CONFIG_STM32_SPI2 + stm32_configgpio(GPIO_SPI2_NSS); + stm32_gpiowrite(GPIO_SPI2_NSS, 1); +#endif + +#ifdef CONFIG_STM32_SPI3 + stm32_configgpio(GPIO_SPI_CS_GYRO); + stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG); + stm32_configgpio(GPIO_SPI_CS_BARO); + + /* De-activate all peripherals, + * required for some peripheral + * state machines + */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); + stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + + stm32_configgpio(GPIO_EXTI_GYRO_DRDY); + stm32_configgpio(GPIO_EXTI_MAG_DRDY); + stm32_configgpio(GPIO_EXTI_ACCEL_DRDY); +#endif + +#ifdef CONFIG_STM32_SPI4 + stm32_configgpio(GPIO_SPI4_NSS); + stm32_gpiowrite(GPIO_SPI4_NSS, 1); +#endif +} + +#ifdef CONFIG_STM32_SPI1 +__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* there is only one device broken-out so select it */ + stm32_gpiowrite(GPIO_SPI1_NSS, !selected); +} + +__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + return SPI_STATUS_PRESENT; +} +#endif + +#ifdef CONFIG_STM32_SPI2 +__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* there is only one device broken-out so select it */ + stm32_gpiowrite(GPIO_SPI2_NSS, !selected); +} + +__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + return SPI_STATUS_PRESENT; +} +#endif + +#ifdef CONFIG_STM32_SPI3 +__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* SPI select is active low, so write !selected to select the device */ + + switch (devid) { + case PX4_SPIDEV_GYRO: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); + stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + break; + + case PX4_SPIDEV_ACCEL_MAG: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected); + stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + break; + + case PX4_SPIDEV_BARO: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); + stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected); + break; + + default: + break; + } +} + +__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + return SPI_STATUS_PRESENT; +} +#endif + + +#ifdef CONFIG_STM32_SPI4 +__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* there can only be one device on this bus, so always select it */ + stm32_gpiowrite(GPIO_SPI4_NSS, !selected); +} + +__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + /* FRAM is always present */ + return SPI_STATUS_PRESENT; +} +#endif diff --git a/src/drivers/boards/aerocore/board_config.h b/src/drivers/boards/aerocore/board_config.h new file mode 100644 index 000000000..a3257f339 --- /dev/null +++ b/src/drivers/boards/aerocore/board_config.h @@ -0,0 +1,176 @@ +/**************************************************************************** + * + * Copyright (c) 2013, 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 + * 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 PX4 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. + * + ****************************************************************************/ + +/** + * @file board_config.h + * + * AeroCore internal definitions + */ + +#pragma once + +/**************************************************************************************************** + * Included Files + ****************************************************************************************************/ + +#include +#include +#include + +__BEGIN_DECLS + +/* these headers are not C++ safe */ +#include +#include + +#define UDID_START 0x1FFF7A10 + +/**************************************************************************************************** + * Definitions + ****************************************************************************************************/ + +/* LEDs */ +#define GPIO_LED0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN9) +#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN10) + +/* Gyro */ +#define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN0) + +/* Accel & Mag */ +#define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN1) +#define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN2) + +/* GPS */ +#define GPIO_GPS_NRESET (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5) +#define GPIO_GPS_TIMEPULSE (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTC|GPIO_PIN4) + +/* SPI3--Sensors */ +#define PX4_SPI_BUS_SENSORS 3 +#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2) +#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) +#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4) + +/* Nominal chip selects for devices on SPI bus #3 */ +#define PX4_SPIDEV_ACCEL_MAG 0 +#define PX4_SPIDEV_GYRO 1 +#define PX4_SPIDEV_BARO 2 + +/* User GPIOs broken out on J11 */ +#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0) +#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN1) +//#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0) +#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1) +#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2) +#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3) +#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN12) +#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13) +#define GPIO_GPIO8_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14) +#define GPIO_GPIO9_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN15) +#define GPIO_GPIO10_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) +#define GPIO_GPIO11_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8) + +#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0) +#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1) +//#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0) +#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1) +#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2) +#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3) +#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN12) +#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) +#define GPIO_GPIO8_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) +#define GPIO_GPIO9_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15) +#define GPIO_GPIO10_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5) +#define GPIO_GPIO11_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8) + +/* PWM + * + * Eight PWM outputs are configured. + * + * Pins: + * + * CH1 : PA8 : TIM1_CH1 + * CH2 : PA9 : TIM1_CH2 + * CH3 : PA10 : TIM1_CH3 + * CH4 : PA11 : TIM1_CH4 + * CH5 : PC6 : TIM3_CH1 + * CH6 : PC7 : TIM3_CH2 + * CH7 : PC8 : TIM3_CH3 + * CH8 : PC9 : TIM3_CH4 + */ +#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_1 +#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_1 +#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_1 +#define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_1 +#define GPIO_TIM3_CH1OUT GPIO_TIM3_CH1OUT_3 +#define GPIO_TIM3_CH2OUT GPIO_TIM3_CH2OUT_3 +#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_2 +#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_2 + +/* High-resolution timer */ +#define HRT_TIMER 8 /* use timer 8 for the HRT */ +#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */ + +/* Tone Alarm (no onboard speaker )*/ +#define TONE_ALARM_TIMER 2 /* timer 2 */ +#define TONE_ALARM_CHANNEL 1 /* channel 1 */ +#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0) +#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN0) + + +/**************************************************************************************************** + * Public Types + ****************************************************************************************************/ + +/**************************************************************************************************** + * Public data + ****************************************************************************************************/ + +#ifndef __ASSEMBLY__ + +/**************************************************************************************************** + * Public Functions + ****************************************************************************************************/ + +/**************************************************************************************************** + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the PX4FMU board. + * + ****************************************************************************************************/ + +extern void stm32_spiinitialize(void); + +#endif /* __ASSEMBLY__ */ + +__END_DECLS diff --git a/src/drivers/boards/aerocore/module.mk b/src/drivers/boards/aerocore/module.mk new file mode 100644 index 000000000..b53fe0a29 --- /dev/null +++ b/src/drivers/boards/aerocore/module.mk @@ -0,0 +1,8 @@ +# +# Board-specific startup code for the AeroCore +# + +SRCS = aerocore_init.c \ + aerocore_pwm_servo.c \ + aerocore_spi.c \ + aerocore_led.c diff --git a/src/drivers/boards/px4fmu-v1/board_config.h b/src/drivers/boards/px4fmu-v1/board_config.h index 02c26b5c0..58273f2d2 100644 --- a/src/drivers/boards/px4fmu-v1/board_config.h +++ b/src/drivers/boards/px4fmu-v1/board_config.h @@ -85,6 +85,8 @@ __BEGIN_DECLS #define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0) #define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) +#define PX4_SPI_BUS_SENSORS 1 + /* * Use these in place of the spi_dev_e enumeration to * select a specific SPI device on SPI1 diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h index 7cfca7656..c2de1bfba 100644 --- a/src/drivers/boards/px4fmu-v2/board_config.h +++ b/src/drivers/boards/px4fmu-v2/board_config.h @@ -107,6 +107,8 @@ __BEGIN_DECLS #define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10) #define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2) +#define PX4_SPI_BUS_SENSORS 1 + /* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */ #define PX4_SPIDEV_GYRO 1 #define PX4_SPIDEV_ACCEL_MAG 2 diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h index f60964c2b..5acd0d343 100644 --- a/src/drivers/drv_gpio.h +++ b/src/drivers/drv_gpio.h @@ -94,6 +94,14 @@ #endif +#ifdef CONFIG_ARCH_BOARD_AEROCORE +/* + * AeroCore GPIO numbers and configuration. + * + */ +# define PX4FMU_DEVICE_PATH "/dev/px4fmu" +#endif + #ifdef CONFIG_ARCH_BOARD_PX4IO_V1 /* no GPIO driver on the PX4IOv1 board */ #endif @@ -146,4 +154,4 @@ #define GPIO_SENSOR_RAIL_RESET GPIOC(13) -#endif /* _DRV_GPIO_H */ \ No newline at end of file +#endif /* _DRV_GPIO_H */ diff --git a/src/drivers/drv_gps.h b/src/drivers/drv_gps.h index 06e3535b3..96669a021 100644 --- a/src/drivers/drv_gps.h +++ b/src/drivers/drv_gps.h @@ -46,7 +46,11 @@ #include "drv_sensor.h" #include "drv_orb_dev.h" +#ifdef CONFIG_ARCH_BOARD_AEROCORE +#define GPS_DEFAULT_UART_PORT "/dev/ttyS0" +#else #define GPS_DEFAULT_UART_PORT "/dev/ttyS3" +#endif #define GPS_DEVICE_PATH "/dev/gps" diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index a902bdf2f..337705570 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -63,6 +63,8 @@ #include #include +#include + #include "ubx.h" #include "mtk.h" @@ -421,7 +423,14 @@ GPS::task_main() void GPS::cmd_reset() { - //XXX add reset? +#ifdef GPIO_GPS_NRESET + warnx("Toggling GPS reset pin"); + stm32_configgpio(GPIO_GPS_NRESET); + stm32_gpiowrite(GPIO_GPS_NRESET, 0); + usleep(100); + stm32_gpiowrite(GPIO_GPS_NRESET, 1); + warnx("Toggled GPS reset pin"); +#endif } void diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 4dee7649b..4ca8b5e42 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -1793,7 +1793,7 @@ start() errx(0, "already started"); /* create the driver */ - g_dev = new LSM303D(1 /* SPI dev 1 */, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG); + g_dev = new LSM303D(PX4_SPI_BUS_SENSORS, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG); if (g_dev == nullptr) { warnx("failed instantiating LSM303D obj"); diff --git a/src/drivers/ms5611/ms5611_spi.cpp b/src/drivers/ms5611/ms5611_spi.cpp index 26216e840..8759d16a1 100644 --- a/src/drivers/ms5611/ms5611_spi.cpp +++ b/src/drivers/ms5611/ms5611_spi.cpp @@ -117,7 +117,7 @@ private: device::Device * MS5611_spi_interface(ms5611::prom_u &prom_buf) { - return new MS5611_SPI(1 /* XXX MAGIC NUMBER */, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf); + return new MS5611_SPI(PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf); } MS5611_SPI::MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf) : diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 4d72ead9b..1b6b136eb 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -92,6 +92,7 @@ public: MODE_2PWM, MODE_4PWM, MODE_6PWM, + MODE_8PWM, }; PX4FMU(); virtual ~PX4FMU(); @@ -113,6 +114,9 @@ private: #if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) static const unsigned _max_actuators = 6; #endif +#if defined(CONFIG_ARCH_BOARD_AEROCORE) + static const unsigned _max_actuators = 8; +#endif Mode _mode; unsigned _pwm_default_rate; @@ -203,6 +207,21 @@ const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = { {GPIO_VDD_5V_HIPOWER_OC, 0, 0}, {GPIO_VDD_5V_PERIPH_OC, 0, 0}, #endif +#if defined(CONFIG_ARCH_BOARD_AEROCORE) + /* AeroCore breaks out User GPIOs on J11 */ + {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, + {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, +// {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, + {GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, + {GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, + {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, + {GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, 0}, + {GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, 0}, + {GPIO_GPIO8_INPUT, GPIO_GPIO8_OUTPUT, 0}, + {GPIO_GPIO9_INPUT, GPIO_GPIO9_OUTPUT, 0}, + {GPIO_GPIO10_INPUT, GPIO_GPIO10_OUTPUT, 0}, + {GPIO_GPIO11_INPUT, GPIO_GPIO11_OUTPUT, 0}, +#endif }; const unsigned PX4FMU::_ngpio = sizeof(PX4FMU::_gpio_tab) / sizeof(PX4FMU::_gpio_tab[0]); @@ -382,6 +401,20 @@ PX4FMU::set_mode(Mode mode) break; +#ifdef CONFIG_ARCH_BOARD_AEROCORE + case MODE_8PWM: // AeroCore PWMs as 8 PWM outs + debug("MODE_8PWM"); + /* default output rates */ + _pwm_default_rate = 50; + _pwm_alt_rate = 50; + _pwm_alt_rate_channels = 0; + + /* XXX magic numbers */ + up_pwm_servo_init(0xff); + set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate); + break; +#endif + case MODE_NONE: debug("MODE_NONE"); @@ -602,6 +635,9 @@ PX4FMU::task_main() num_outputs = 6; break; + case MODE_8PWM: + num_outputs = 8; + break; default: num_outputs = 0; break; @@ -757,6 +793,9 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg) case MODE_2PWM: case MODE_4PWM: case MODE_6PWM: +#ifdef CONFIG_ARCH_BOARD_AEROCORE + case MODE_8PWM: +#endif ret = pwm_ioctl(filp, cmd, arg); break; @@ -986,6 +1025,15 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) break; } +#ifdef CONFIG_ARCH_BOARD_AEROCORE + case PWM_SERVO_SET(7): + case PWM_SERVO_SET(6): + if (_mode < MODE_8PWM) { + ret = -EINVAL; + break; + } +#endif + case PWM_SERVO_SET(5): case PWM_SERVO_SET(4): if (_mode < MODE_6PWM) { @@ -1013,6 +1061,15 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) break; +#ifdef CONFIG_ARCH_BOARD_AEROCORE + case PWM_SERVO_GET(7): + case PWM_SERVO_GET(6): + if (_mode < MODE_8PWM) { + ret = -EINVAL; + break; + } +#endif + case PWM_SERVO_GET(5): case PWM_SERVO_GET(4): if (_mode < MODE_6PWM) { @@ -1040,12 +1097,22 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) case PWM_SERVO_GET_RATEGROUP(3): case PWM_SERVO_GET_RATEGROUP(4): case PWM_SERVO_GET_RATEGROUP(5): +#ifdef CONFIG_ARCH_BOARD_AEROCORE + case PWM_SERVO_GET_RATEGROUP(6): + case PWM_SERVO_GET_RATEGROUP(7): +#endif *(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0)); break; case PWM_SERVO_GET_COUNT: case MIXERIOCGETOUTPUTCOUNT: switch (_mode) { +#ifdef CONFIG_ARCH_BOARD_AEROCORE + case MODE_8PWM: + *(unsigned *)arg = 8; + break; +#endif + case MODE_6PWM: *(unsigned *)arg = 6; break; @@ -1091,6 +1158,11 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) set_mode(MODE_6PWM); break; #endif +#if defined(CONFIG_ARCH_BOARD_AEROCORE) + case 8: + set_mode(MODE_8PWM); + break; +#endif default: ret = -EINVAL; @@ -1181,10 +1253,17 @@ PX4FMU::write(file *filp, const char *buffer, size_t len) unsigned count = len / 2; uint16_t values[6]; +#ifdef CONFIG_ARCH_BOARD_AEROCORE + if (count > 8) { + // we have at most 8 outputs + count = 8; + } +#else if (count > 6) { // we have at most 6 outputs count = 6; } +#endif // allow for misaligned values memcpy(values, buffer, count * 2); @@ -1458,6 +1537,9 @@ fmu_new_mode(PortMode new_mode) #endif #if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) servo_mode = PX4FMU::MODE_6PWM; +#endif +#if defined(CONFIG_ARCH_BOARD_AEROCORE) + servo_mode = PX4FMU::MODE_8PWM; #endif break; @@ -1776,7 +1858,7 @@ fmu_main(int argc, char *argv[]) fprintf(stderr, "FMU: unrecognised command %s, try:\n", verb); #if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, test\n"); -#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) +#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_AEROCORE) fprintf(stderr, " mode_gpio, mode_pwm, test, sensor_reset [milliseconds]\n"); #endif exit(1); diff --git a/src/drivers/stm32/adc/adc.cpp b/src/drivers/stm32/adc/adc.cpp index 3a60d2cae..de13b8969 100644 --- a/src/drivers/stm32/adc/adc.cpp +++ b/src/drivers/stm32/adc/adc.cpp @@ -419,6 +419,10 @@ adc_main(int argc, char *argv[]) g_adc = new ADC((1 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15)); #endif +#ifdef CONFIG_ARCH_BOARD_AEROCORE + /* XXX this hardcodes the default channel set for AeroCore - should be configurable */ + g_adc = new ADC((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13)); +#endif if (g_adc == nullptr) errx(1, "couldn't allocate the ADC driver"); diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c index 5bb550279..281f918d7 100644 --- a/src/drivers/stm32/drv_hrt.c +++ b/src/drivers/stm32/drv_hrt.c @@ -141,7 +141,7 @@ # define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR # define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM10EN # define HRT_TIMER_VECTOR STM32_IRQ_TIM1UP -# define HRT_TIMER_CLOCK STM32_APB1_TIM10_CLKIN +# define HRT_TIMER_CLOCK STM32_APB2_TIM10_CLKIN # if CONFIG_STM32_TIM10 # error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=10 # endif @@ -150,7 +150,7 @@ # define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR # define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM11EN # define HRT_TIMER_VECTOR STM32_IRQ_TIM1TRGCOM -# define HRT_TIMER_CLOCK STM32_APB1_TIM11_CLKIN +# define HRT_TIMER_CLOCK STM32_APB2_TIM11_CLKIN # if CONFIG_STM32_TIM11 # error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=11 # endif diff --git a/src/lib/version/version.h b/src/lib/version/version.h index af733aaf0..d8ccb6774 100644 --- a/src/lib/version/version.h +++ b/src/lib/version/version.h @@ -59,4 +59,8 @@ #define HW_ARCH "PX4FMU_V2" #endif +#ifdef CONFIG_ARCH_BOARD_AEROCORE +#define HW_ARCH "AEROCORE" +#endif + #endif /* VERSION_H_ */ diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index 86f77cdb8..940a04aa1 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -206,7 +206,7 @@ int led_init() return ERROR; } - /* the blue LED is only available on FMUv1 but not FMUv2 */ + /* the blue LED is only available on FMUv1 & AeroCore but not FMUv2 */ (void)ioctl(leds, LED_ON, LED_BLUE); /* we consider the amber led mandatory */ diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 07be3560a..c021e1fde 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -488,6 +488,15 @@ PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000); * @group Battery Calibration */ PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f); +#elif CONFIG_ARCH_BOARD_AEROCORE +/** + * Scaling factor for battery voltage sensor on AeroCore. + * + * For R70 = 133K, R71 = 10K --> scale = 1.8 * 143 / (4096*10) = 0.0063 + * + * @group Battery Calibration + */ +PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0063f); #else /** * Scaling factor for battery voltage sensor on FMU v1. diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 18bf97f8d..d31016111 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -126,6 +126,12 @@ #define ADC_AIRSPEED_VOLTAGE_CHANNEL 15 #endif +#ifdef CONFIG_ARCH_BOARD_AEROCORE +#define ADC_BATTERY_VOLTAGE_CHANNEL 10 +#define ADC_BATTERY_CURRENT_CHANNEL -1 +#define ADC_AIRSPEED_VOLTAGE_CHANNEL -1 +#endif + #define BATT_V_LOWPASS 0.001f #define BATT_V_IGNORE_THRESHOLD 3.5f @@ -797,7 +803,7 @@ Sensors::accel_init() /* set the driver to poll at 1000Hz */ ioctl(fd, SENSORIOCSPOLLRATE, 1000); -#elif CONFIG_ARCH_BOARD_PX4FMU_V2 +#elif CONFIG_ARCH_BOARD_PX4FMU_V2 || CONFIG_ARCH_BOARD_AEROCORE /* set the accel internal sampling rate up to at leat 800Hz */ ioctl(fd, ACCELIOCSSAMPLERATE, 800); @@ -806,7 +812,7 @@ Sensors::accel_init() ioctl(fd, SENSORIOCSPOLLRATE, 800); #else -#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2 +#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1, CONFIG_ARCH_BOARD_PX4FMU_V2 or CONFIG_ARCH_BOARD_AEROCORE #endif diff --git a/src/systemcmds/mtd/mtd.c b/src/systemcmds/mtd/mtd.c index 0a88d40f3..a57eaafe7 100644 --- a/src/systemcmds/mtd/mtd.c +++ b/src/systemcmds/mtd/mtd.c @@ -160,7 +160,11 @@ static void ramtron_attach(void) { /* find the right spi */ +#ifdef CONFIG_ARCH_BOARD_AEROCORE + struct spi_dev_s *spi = up_spiinitialize(4); +#else struct spi_dev_s *spi = up_spiinitialize(2); +#endif /* this resets the spi bus, set correct bus speed again */ SPI_SETFREQUENCY(spi, 10 * 1000 * 1000); SPI_SETBITS(spi, 8); -- cgit v1.2.3 From 63905265ebccd3a2d7fd94d5cf4f2c02102481f3 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 13 May 2014 16:05:47 +0200 Subject: Save code size on commander, reduce stack size of starting tool (NOT OF THE APP ITSELF!) --- src/modules/commander/module.mk | 4 ++++ 1 file changed, 4 insertions(+) (limited to 'src/modules/commander') diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk index 554dfcb08..27ca5c182 100644 --- a/src/modules/commander/module.mk +++ b/src/modules/commander/module.mk @@ -47,3 +47,7 @@ SRCS = commander.cpp \ baro_calibration.cpp \ rc_calibration.cpp \ airspeed_calibration.cpp + +MODULE_STACKSIZE = 1200 + +MAXOPTIMIZATION = -Os -- cgit v1.2.3 From 531ba79e55e9ccf9396ee30f067c933b4ec9c649 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 14 May 2014 19:34:37 +0200 Subject: Reduce commander stack size mildly --- src/modules/commander/commander.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 17d3d3dcd..f92c7fc31 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -249,7 +249,7 @@ int commander_main(int argc, char *argv[]) daemon_task = task_spawn_cmd("commander", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 40, - 3000, + 2800, commander_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); -- cgit v1.2.3 From 8dc0a21a7ee83dea5b3a3ac719c6a9e64aff78f8 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 15 May 2014 07:14:58 +0200 Subject: mavlink, commander: Get back close to original stack sizes. Although tests came clean, we do not want to take any chances --- src/modules/commander/commander.cpp | 2 +- src/modules/mavlink/mavlink_main.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index f92c7fc31..17d3d3dcd 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -249,7 +249,7 @@ int commander_main(int argc, char *argv[]) daemon_task = task_spawn_cmd("commander", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 40, - 2800, + 3000, commander_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index d222f9edc..611a8b804 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -2193,7 +2193,7 @@ Mavlink::start(int argc, char *argv[]) task_spawn_cmd(buf, SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, - 1800, + 2000, (main_t)&Mavlink::start_helper, (const char **)argv); -- cgit v1.2.3 From 4bc06381a9b44e7da22f21c20082146ad5d29c1d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 15 May 2014 08:15:59 +0200 Subject: commander: Cleanup properly after out-of-mem error --- src/modules/commander/mag_calibration.cpp | 14 ++++++++++++++ 1 file changed, 14 insertions(+) (limited to 'src/modules/commander') diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp index 9296db6ed..388820511 100644 --- a/src/modules/commander/mag_calibration.cpp +++ b/src/modules/commander/mag_calibration.cpp @@ -121,6 +121,20 @@ int do_mag_calibration(int mavlink_fd) if (x == NULL || y == NULL || z == NULL) { mavlink_log_critical(mavlink_fd, "ERROR: out of memory"); + + /* clean up */ + if (x != NULL) { + free(x); + } + + if (y != NULL) { + free(y); + } + + if (z != NULL) { + free(z); + } + res = ERROR; return res; } -- cgit v1.2.3 From 1e13b5a02c4aab5b32f43b6bf2b3588674ee84ac Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 15 May 2014 09:02:31 +0200 Subject: commander: Reduce calibration count, minimally reduce stack sizes after careful inspection --- src/modules/commander/commander.cpp | 4 ++-- src/modules/commander/mag_calibration.cpp | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 17d3d3dcd..13da27dcd 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -249,7 +249,7 @@ int commander_main(int argc, char *argv[]) daemon_task = task_spawn_cmd("commander", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 40, - 3000, + 2950, commander_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); @@ -743,7 +743,7 @@ int commander_thread_main(int argc, char *argv[]) pthread_attr_t commander_low_prio_attr; pthread_attr_init(&commander_low_prio_attr); - pthread_attr_setstacksize(&commander_low_prio_attr, 2992); + pthread_attr_setstacksize(&commander_low_prio_attr, 2900); struct sched_param param; (void)pthread_attr_getschedparam(&commander_low_prio_attr, ¶m); diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp index 388820511..0ead22f77 100644 --- a/src/modules/commander/mag_calibration.cpp +++ b/src/modules/commander/mag_calibration.cpp @@ -72,7 +72,7 @@ int do_mag_calibration(int mavlink_fd) uint64_t calibration_interval = 45 * 1000 * 1000; /* maximum 500 values */ - const unsigned int calibration_maxcount = 500; + const unsigned int calibration_maxcount = 240; unsigned int calibration_counter; struct mag_scale mscale_null = { -- cgit v1.2.3 From 692e8f84a93a932986004d896554a70380ea11e9 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Fri, 16 May 2014 22:12:07 +0200 Subject: commander: don't require good EPH for local_position_valid, position_estimator_inav: estimate EPH/EPV and publish it in local position topic --- src/modules/commander/commander.cpp | 21 ++++++++++++++++++++- .../position_estimator_inav_main.c | 21 +++++++++++++++++---- src/modules/sdlog2/sdlog2.c | 10 ++++++++-- src/modules/sdlog2/sdlog2_messages.h | 7 ++++--- src/modules/uORB/topics/vehicle_local_position.h | 2 ++ 5 files changed, 51 insertions(+), 10 deletions(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 13da27dcd..e4ae357d7 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1012,7 +1012,26 @@ int commander_thread_main(int argc, char *argv[]) } /* update condition_local_position_valid and condition_local_altitude_valid */ - check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid && eph_epv_good, &(status.condition_local_position_valid), &status_changed); + /* hysteresis for EPH */ + bool local_eph_good; + + if (status.condition_global_position_valid) { + if (local_position.eph > eph_epv_threshold * 2.0f) { + local_eph_good = false; + + } else { + local_eph_good = true; + } + + } else { + if (local_position.eph < eph_epv_threshold) { + local_eph_good = true; + + } else { + local_eph_good = false; + } + } + check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid && local_eph_good, &(status.condition_local_position_valid), &status_changed); check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed); static bool published_condition_landed_fw = false; diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index d8d0ff37d..fdc3233e0 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -199,6 +199,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float y_est[3] = { 0.0f, 0.0f, 0.0f }; float z_est[3] = { 0.0f, 0.0f, 0.0f }; + float eph = 1.0; + float epv = 1.0; + float x_est_prev[3], y_est_prev[3], z_est_prev[3]; memset(x_est_prev, 0, sizeof(x_est_prev)); memset(y_est_prev, 0, sizeof(y_est_prev)); @@ -535,6 +538,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) flow_valid = true; + eph = fminf(eph, 0.1 / att.R[2][2] / flow_q * fmaxf(1.0f, flow_dist)); // under ideal conditions, on 1m distance assume EPH = 10cm + } else { w_flow = 0.0f; flow_valid = false; @@ -673,6 +678,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) corr_gps[2][1] = 0.0f; } + eph = fminf(eph, gps.eph_m); + epv = fminf(epv, gps.epv_m); + w_gps_xy = min_eph_epv / fmaxf(min_eph_epv, gps.eph_m); w_gps_z = min_eph_epv / fmaxf(min_eph_epv, gps.epv_m); } @@ -712,6 +720,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) dt = fmaxf(fminf(0.02, dt), 0.002); // constrain dt from 2 to 20 ms t_prev = t; + /* increase EPH/EPV on each step */ + eph *= 1.0 + dt; + epv += 0.005 * dt; // add 1m to EPV each 200s (baro drift) + /* use GPS if it's valid and reference position initialized */ bool use_gps_xy = ref_inited && gps_valid && params.w_xy_gps_p > MIN_VALID_W; bool use_gps_z = ref_inited && gps_valid && params.w_z_gps_p > MIN_VALID_W; @@ -723,7 +735,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) xy_src_time = t; } - bool can_estimate_xy = (t < xy_src_time + xy_src_timeout); + bool can_estimate_xy = eph < max_eph_epv * 1.5; bool dist_bottom_valid = (t < sonar_valid_time + sonar_valid_timeout); @@ -922,6 +934,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) local_pos.landed = landed; local_pos.yaw = att.yaw; local_pos.dist_bottom_valid = dist_bottom_valid; + local_pos.eph = eph; + local_pos.epv = epv; if (local_pos.dist_bottom_valid) { local_pos.dist_bottom = -z_est[0] - surface_offset; @@ -950,9 +964,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) global_pos.yaw = local_pos.yaw; - // TODO implement dead-reckoning - global_pos.eph = gps.eph_m; - global_pos.epv = gps.epv_m; + global_pos.eph = eph; + global_pos.epv = epv; if (vehicle_global_position_pub < 0) { vehicle_global_position_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos); diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 39f433eb5..70ce76806 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1119,10 +1119,16 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat * 1e7; log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon * 1e7; log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt; - log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0); - log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0); + log_msg.body.log_LPOS.pos_flags = (buf.local_pos.xy_valid ? 1 : 0) | + (buf.local_pos.z_valid ? 2 : 0) | + (buf.local_pos.v_xy_valid ? 4 : 0) | + (buf.local_pos.v_z_valid ? 8 : 0) | + (buf.local_pos.xy_global ? 16 : 0) | + (buf.local_pos.z_global ? 32 : 0); log_msg.body.log_LPOS.landed = buf.local_pos.landed; log_msg.body.log_LPOS.ground_dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0); + log_msg.body.log_LPOS.eph = buf.local_pos.eph; + log_msg.body.log_LPOS.epv = buf.local_pos.epv; LOGBUFFER_WRITE_AND_COUNT(LPOS); } diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 0c6188657..90025b9ff 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -109,10 +109,11 @@ struct log_LPOS_s { int32_t ref_lat; int32_t ref_lon; float ref_alt; - uint8_t xy_flags; - uint8_t z_flags; + uint8_t pos_flags; uint8_t landed; uint8_t ground_dist_flags; + float eph; + float epv; }; /* --- LPSP - LOCAL POSITION SETPOINT --- */ @@ -360,7 +361,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"), - LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,dist,distR,VX,VY,VZ,RLat,RLon,RAlt,XYFlg,ZFlg,LFlg,GFlg"), + LOG_FORMAT(LPOS, "ffffffffLLfBBBff", "X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,LFlg,GFlg,EPH,EPV"), LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"), LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"), LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h index a15303ea4..5d39c897d 100644 --- a/src/modules/uORB/topics/vehicle_local_position.h +++ b/src/modules/uORB/topics/vehicle_local_position.h @@ -83,6 +83,8 @@ struct vehicle_local_position_s { float dist_bottom_rate; /**< Distance to bottom surface (ground) change rate */ uint64_t surface_bottom_timestamp; /**< Time when new bottom surface found */ bool dist_bottom_valid; /**< true if distance to bottom surface is valid */ + float eph; + float epv; }; /** -- cgit v1.2.3 From 32ae2dd1d094f4554f5acdad8fb76ed9eb3ba1f0 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sat, 17 May 2014 11:00:14 +0200 Subject: commander: missed 'break' in 'switch' added --- src/modules/commander/commander.cpp | 1 + 1 file changed, 1 insertion(+) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 13da27dcd..504696ff9 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1710,6 +1710,7 @@ set_control_mode() case MAIN_STATE_AUTO: navigator_enabled = true; + break; default: break; -- cgit v1.2.3 From 559bfbb11cdac499cda8070c32e2b7e79b3b883e Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Tue, 20 May 2014 16:42:11 +0200 Subject: commander: allow disarm in ACRO mode --- src/modules/commander/commander.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 8336bcf32..45ef79d7c 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1192,7 +1192,7 @@ int commander_thread_main(int argc, char *argv[]) * do it only for rotary wings */ if (status.is_rotary_wing && (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) && - (status.main_state == MAIN_STATE_MANUAL || status.condition_landed) && + (status.main_state == MAIN_STATE_MANUAL || status.main_state == MAIN_STATE_ACRO || status.condition_landed) && sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) { if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { -- cgit v1.2.3 From 5f752cdb7cf6c74e34b3ac79b9220c70172791e3 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 23 May 2014 13:41:48 +0200 Subject: commander: Better audio indications on arming reject reasons --- src/modules/commander/commander.cpp | 6 +++--- src/modules/commander/state_machine_helper.cpp | 4 ++-- 2 files changed, 5 insertions(+), 5 deletions(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index c26200048..0463cf8f8 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1233,10 +1233,10 @@ int commander_thread_main(int argc, char *argv[]) sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) { if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) { - print_reject_arm("NOT ARMING: Press safety switch first."); + print_reject_arm("#audio: NOT ARMING: Press safety switch first."); } else if (status.main_state != MAIN_STATE_MANUAL) { - print_reject_arm("NOT ARMING: Switch to MANUAL mode first."); + print_reject_arm("#audio: NOT ARMING: Switch to MANUAL mode first."); } else { arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); @@ -1408,7 +1408,7 @@ int commander_thread_main(int argc, char *argv[]) home.alt = global_position.alt; warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt); - mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt); + mavlink_log_info(mavlink_fd, "#audio: home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt); /* announce new home position */ if (home_pub > 0) { diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index f1a353d5b..87309b238 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -138,7 +138,7 @@ arming_state_transition(struct vehicle_status_s *status, /// current // Allow if HIL_STATE_ON if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && status->hil_state == HIL_STATE_OFF && safety->safety_switch_available && !safety->safety_off) { if (mavlink_fd) { - mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first."); + mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch first."); } valid_transition = false; @@ -312,7 +312,7 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s case HIL_STATE_OFF: /* we're in HIL and unexpected things can happen if we disable HIL now */ - mavlink_log_critical(mavlink_fd, "Not switching off HIL (safety)"); + mavlink_log_critical(mavlink_fd, "#audio: Not switching off HIL (safety)"); valid_transition = false; break; -- cgit v1.2.3 From a359a1b9408c7e4827c7dcbf7c27bf76ea071662 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 23 May 2014 15:02:24 +0200 Subject: Fixed audio output to provide decent user feedback --- src/modules/commander/commander.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 0463cf8f8..5c0628a16 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1848,7 +1848,8 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul break; case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED: - mavlink_log_critical(mavlink_fd, "#audio: command temporarily rejected: %u", cmd.command); + /* this needs additional hints to the user - so let other messages pass and be spoken */ + mavlink_log_critical(mavlink_fd, "command temporarily rejected: %u", cmd.command); tune_negative(true); break; -- cgit v1.2.3