Merge branch 'master' of github.com:PX4/Firmware into calibration

ROMFS/scripts/rcS

@@ -20,6 +20,11 @@
 set MODE autostart
 set USB autoconnect
 
+#
+# Start playing the startup tune
+#
+tone_alarm start
+
 #
 # Try to mount the microSD card.
 #
@@ -31,9 +36,6 @@ else
 	echo "[init] no microSD card found"
 fi
 
-usleep 500
-
-
 #
 # Look for an init script on the microSD card.
 #

apps/commander/commander.c

@@ -57,8 +57,8 @@
 #include <string.h>
 #include <arch/board/drv_led.h>
 #include <arch/board/up_hrt.h>
-#include <arch/board/drv_tone_alarm.h>
 #include <arch/board/up_hrt.h>
+#include <drivers/drv_tone_alarm.h>
 #include "state_machine_helper.h"
 #include "systemlib/systemlib.h"
 #include <math.h>

apps/drivers/drv_tone_alarm.h

@@ -63,8 +63,6 @@
 #define _TONE_ALARM_BASE	0x7400
 #define TONE_SET_ALARM		_IOC(_TONE_ALARM_BASE, 1)
 
-extern int	tone_alarm_init(void);
-
 /* structure describing one note in a tone pattern */
 struct tone_note {
 	uint8_t		pitch;
@@ -127,4 +125,4 @@ enum tone_pitch {
 	TONE_NOTE_MAX
 };
 
-#endif /* DRV_TONE_ALARM_H_ */
+#endif /* DRV_TONE_ALARM_H_ */

apps/drivers/stm32/tone_alarm/Makefile

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Tone alarm driver
+#
+
+APPNAME		 = tone_alarm
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 2048
+INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
+
+include $(APPDIR)/mk/app.mk

apps/px4/tests/test_hrt.c

@@ -51,7 +51,7 @@
 
 #include <arch/board/board.h>
 #include <arch/board/up_hrt.h>
-#include <arch/board/drv_tone_alarm.h>
+#include <drivers/drv_tone_alarm.h>
 
 #include <nuttx/spi.h>
 

nuttx/configs/px4fmu/include/rcS.template

@@ -1,39 +0,0 @@
-#echo "---------------------------"
-# Start apps
-echo "init: Starting applications.."
-echo "---------------------------"
-# WARNING:
-# ttyS0 is ALWAYS the NSH UART
-# ttyS1..SN are enumerated according to HW
-# uart indices (ttyS1 is the first UART NOT
-# configured for NSH, e.g. UART2)
-# ttyS0: UART1
-# ttyS1: UART2
-# ttyS2: UART5
-# ttyS3: UART6
-uorb start
-mavlink -d /dev/ttyS0 -b 57600 &
-echo "Trying to mount microSD card to /fs/microsd.."
-if mount -t vfat /dev/mmcsd0 /fs/microsd
-then
-echo "Successfully mounted SD card."
-else
-echo "FAILED mounting SD card."
-fi
-commander &
-sensors &
-attitude_estimator_bm &
-#position_estimator &
-ardrone_control -d /dev/ttyS1 -m attitude &
-gps -d /dev/ttyS3 -m all &
-#sdlog &
-#fixedwing_control &
-echo "---------------------------"
-echo "init: All applications started"
-echo "INIT DONE, RUNNING SYSTEM.."
-
-
-# WARNING! USE EXIT ONLY ON AR.DRONE
-# NO NSH COMMANDS CAN BE USED AFTER
-
-exit

nuttx/configs/px4fmu/nsh/appconfig

@@ -93,6 +93,7 @@ CONFIGURED_APPS += drivers/hmc5883
 CONFIGURED_APPS += drivers/mpu6000
 CONFIGURED_APPS += drivers/bma180
 CONFIGURED_APPS += drivers/l3gd20
+CONFIGURED_APPS += drivers/stm32/tone_alarm
 CONFIGURED_APPS	+= px4/px4io/driver
 CONFIGURED_APPS += px4/fmu
 

nuttx/configs/px4fmu/src/Makefile

@@ -43,7 +43,7 @@ AOBJS		= $(ASRCS:.S=$(OBJEXT))
 CSRCS		= up_boot.c up_leds.c up_spi.c up_hrt.c \
 		  drv_gpio.c \
 		  drv_led.c drv_eeprom.c \
-		  drv_tone_alarm.c up_pwm_servo.c up_usbdev.c \
+		  up_pwm_servo.c up_usbdev.c \
 		  up_cpuload.c
 
 ifeq ($(CONFIG_NSH_ARCHINIT),y)

nuttx/configs/px4fmu/src/up_nsh.c

@@ -58,7 +58,6 @@
 
 #include <arch/board/up_hrt.h>
 #include <arch/board/up_cpuload.h>
-#include <arch/board/drv_tone_alarm.h>
 #include <arch/board/up_adc.h>
 #include <arch/board/board.h>
 #include <arch/board/drv_led.h>
@@ -277,10 +276,5 @@ int nsh_archinitialize(void)
   }
 #endif
 
-    /* configure the tone generator */
-#ifdef CONFIG_TONE_ALARM
-  tone_alarm_init();
-#endif
-
   return OK;
 }