Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-31 18:47:21 +08:00
Code Issues Actions 20 Packages Projects Releases Wiki Activity

more px4fmu-v1 cleanup (#7981)

Browse Source
This commit is contained in:
Daniel Agar
2017-09-20 00:04:23 -04:00
committed by GitHub
parent 0780e430fd
commit 4e6ca271e7
12 changed files with 134 additions and 643 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/16001_helicopter
-2
View File
@@ -55,5 +55,3 @@ then
param set CBRK_IO_SAFETY 22027 param set CBRK_IO_SAFETY 22027
fi fi
set HIL no
ROMFS/px4fmu_common/init.d/4008_ardrone
-47
View File
@@ -1,47 +0,0 @@
#!nsh
#
# @name AR.Drone Frame
#
# @type Quadrotor x
# @class Copter
#
# @board px4fmu-v2 exclude
# @board px4fmu-v3 exclude
# @board px4fmu-v4 exclude
# @board px4fmu-v4pro exclude
# @board px4fmu-v5 exclude
# @board aerofc-v1 exclude
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
#
# Load default params for this platform
#
if [ $AUTOCNF == yes ]
then
# Set all params here, then disable autoconfig
param set MC_ROLL_P 6.0
param set MC_ROLLRATE_P 0.14
param set MC_ROLLRATE_I 0.1
param set MC_ROLLRATE_D 0.002
param set MC_PITCH_P 6.0
param set MC_PITCHRATE_P 0.14
param set MC_PITCHRATE_I 0.1
param set MC_PITCHRATE_D 0.002
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.8
param set BAT_V_DIV 34.32838
fi
set OUTPUT_MODE ardrone
set USE_IO no
set MIXER skip
# set MAV_TYPE because no specific mixer is set
set MAV_TYPE 2
ROMFS/px4fmu_common/init.d/rc.interface
+6 -4
View File
@@ -120,9 +120,6 @@ then
fi fi
fi fi
# This is a FMUv2+ thing
#MindPX has not aux mixer
if ver hwcmp MINDPX_V2 if ver hwcmp MINDPX_V2
then then
set MIXER_AUX none set MIXER_AUX none
@@ -138,6 +135,11 @@ then
set MIXER_AUX none set MIXER_AUX none
fi fi
if ver hwcmp PX4FMU_V4
then
set MIXER_AUX none
fi
if ver hwcmp PX4FMU_V5 if ver hwcmp PX4FMU_V5
then then
set MIXER_AUX none set MIXER_AUX none
@@ -168,7 +170,7 @@ then
if fmu mode_${AUX_MODE} $FMU_ARGS if fmu mode_${AUX_MODE} $FMU_ARGS
then then
# Append aux mixer to main device # Append aux mixer to main device
if [ $OUTPUT_MODE == hil ] if param compare SYS_HITL 1
then then
if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE} if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
then then
ROMFS/px4fmu_common/init.d/rcS
+35 -130
View File
@@ -41,9 +41,7 @@ mount -t procfs /proc
# #
# Start CDC/ACM serial driver # Start CDC/ACM serial driver
# #
if sercon sercon
then
fi
# #
# Default to auto-start mode. # Default to auto-start mode.
@@ -141,14 +139,8 @@ then
fi fi
# FMUv5 may have both PWM I2C RGB LED support # FMUv5 may have both PWM I2C RGB LED support
rgbled_pwm start rgbled_pwm start
# Currently unused, but might be useful down the road
#if pca8574 start
#then
#fi
# #
# Set AUTOCNF flag to use it in AUTOSTART scripts # Set AUTOCNF flag to use it in AUTOSTART scripts
# #
@@ -174,7 +166,6 @@ then
# #
# Set default values # Set default values
# #
set HIL no
set VEHICLE_TYPE none set VEHICLE_TYPE none
set MIXER none set MIXER none
set MIXER_AUX none set MIXER_AUX none
@@ -197,48 +188,32 @@ then
set FMU_ARGS "" set FMU_ARGS ""
set MAVLINK_F default set MAVLINK_F default
set MAVLINK_COMPANION_DEVICE /dev/ttyS2 set MAVLINK_COMPANION_DEVICE /dev/ttyS2
set EXIT_ON_END no
set MAV_TYPE none set MAV_TYPE none
set FAILSAFE none set FAILSAFE none
set USE_IO yes set USE_IO no
set LOGGER_BUF 16 set LOGGER_BUF 16
if param compare SYS_FMU_TASK 1
then
set FMU_ARGS "-t"
fi
if param compare SYS_HITL 1
then
# Enable HITL mode
set HIL yes
fi
#
# Set USE_IO flag
#
if param compare SYS_USE_IO 1
then
if ver hwcmp PX4FMU_V4 if ver hwcmp PX4FMU_V4
then then
set USE_IO no param set SYS_FMU_TASK 1
fi
if ver hwcmp PX4FMU_V4PRO
then
param set SYS_FMU_TASK 1
fi fi
if ver hwcmp PX4FMU_V5 if ver hwcmp PX4FMU_V5
then then
set USE_IO no param set SYS_FMU_TASK 1
set MAVLINK_COMPANION_DEVICE /dev/ttyS3 set MAVLINK_COMPANION_DEVICE /dev/ttyS3
fi
if ver hwcmp MINDPX_V2 set LOGGER_BUF 64
then param set SDLOG_MODE 2
set USE_IO no
fi fi
if ver hwcmp CRAZYFLIE if ver hwcmp CRAZYFLIE
then then
set USE_IO no
if param compare SYS_AUTOSTART 0 if param compare SYS_AUTOSTART 0
then then
param set SYS_AUTOSTART 4900 param set SYS_AUTOSTART 4900
@@ -246,19 +221,6 @@ then
fi fi
fi fi
if ver hwcmp AEROFC_V1
then
set USE_IO no
fi
if ver hwcmp AEROCORE2
then
set USE_IO no
fi
else
set USE_IO no
fi
if ver hwcmp AEROFC_V1 if ver hwcmp AEROFC_V1
then then
if param compare SYS_AUTOSTART 0 if param compare SYS_AUTOSTART 0
@@ -271,12 +233,24 @@ then
param set SYS_AUTOSTART 4070 param set SYS_AUTOSTART 4070
fi fi
#
# Set USE_IO flag
#
if param compare SYS_USE_IO 1
then
set USE_IO yes
fi
if param compare SYS_FMU_TASK 1
then
set FMU_ARGS "-t"
fi
# #
# Set parameters and env variables for selected AUTOSTART # Set parameters and env variables for selected AUTOSTART
# #
if param compare SYS_AUTOSTART 0 if param compare SYS_AUTOSTART 0
then then
ekf2 start
else else
sh /etc/init.d/rc.autostart sh /etc/init.d/rc.autostart
fi fi
@@ -295,25 +269,6 @@ then
fi fi
fi fi
#
# Wipe incompatible settings for boards not having two outputs
if ver hwcmp PX4FMU_V4
then
set MIXER_AUX none
param set SYS_FMU_TASK 1
fi
if ver hwcmp PX4FMU_V5
then
set MIXER_AUX none
param set SYS_FMU_TASK 1
fi
if ver hwcmp AEROFC_V1
then
set MIXER_AUX none
fi
# #
# Override parameters from user configuration file # Override parameters from user configuration file
# #
@@ -415,12 +370,6 @@ then
then then
# Need IO for output but it not present, disable output # Need IO for output but it not present, disable output
set OUTPUT_MODE none set OUTPUT_MODE none
fi
if [ $OUTPUT_MODE == ardrone ]
then
set FMU_MODE gpio_serial
fi fi
if [ $OUTPUT_MODE == tap_esc ] if [ $OUTPUT_MODE == tap_esc ]
@@ -428,13 +377,6 @@ then
set FMU_MODE rcin set FMU_MODE rcin
fi fi
if [ $HIL == yes ]
then
set OUTPUT_MODE hil
else
gps start
fi
set DATAMAN_OPT "" set DATAMAN_OPT ""
if ver hwcmp AEROFC_V1 if ver hwcmp AEROFC_V1
then then
@@ -453,37 +395,21 @@ then
# #
# Sensors System (start before Commander so Preflight checks are properly run) # Sensors System (start before Commander so Preflight checks are properly run)
# # commander Needs to be this early for in-air-restarts
if [ $HIL == yes ] if param compare SYS_HITL 1
then then
set OUTPUT_MODE hil
sensors start -h sensors start -h
else
sh /etc/init.d/rc.sensors
fi
unset HIL
# Needs to be this early for in-air-restarts
if [ $OUTPUT_MODE == hil ]
then
commander start --hil commander start --hil
else else
gps start
sh /etc/init.d/rc.sensors
commander start commander start
fi fi
if send_event start send_event start
then
fi
#
# Start CPU load monitor
#
load_mon start load_mon start
#
# Start primary output
#
set TTYS1_BUSY no
# #
# Check if UAVCAN is enabled, default to it for ESCs # Check if UAVCAN is enabled, default to it for ESCs
# #
@@ -540,7 +466,7 @@ then
fi fi
fi fi
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ] if [ $OUTPUT_MODE == fmu ]
then then
if fmu mode_$FMU_MODE $FMU_ARGS if fmu mode_$FMU_MODE $FMU_ARGS
then then
@@ -597,7 +523,7 @@ then
fi fi
fi fi
else else
if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ] if [ $OUTPUT_MODE != fmu ]
then then
if fmu mode_${FMU_MODE} $FMU_ARGS if fmu mode_${FMU_MODE} $FMU_ARGS
then then
@@ -612,15 +538,8 @@ then
if [ $MAVLINK_F == default ] if [ $MAVLINK_F == default ]
then then
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s # Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
if [ $TTYS1_BUSY == yes ]
then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
set MAVLINK_F "-r 1200 -d /dev/ttyS0"
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
else
set MAVLINK_F "-r 1200 -f" set MAVLINK_F "-r 1200 -f"
# Avoid using ttyS1 for MAVLink on FMUv4 # Avoid using ttyS1 for MAVLink on FMUv4
if ver hwcmp PX4FMU_V4 if ver hwcmp PX4FMU_V4
then then
@@ -633,7 +552,6 @@ then
then then
set MAVLINK_F "-r 1200 -d /dev/ttyS3" set MAVLINK_F "-r 1200 -d /dev/ttyS3"
fi fi
fi
if ver hwcmp CRAZYFLIE if ver hwcmp CRAZYFLIE
then then
@@ -764,6 +682,7 @@ then
if ver hwcmp AEROFC_V1 if ver hwcmp AEROFC_V1
then then
# don't start mavlink ttyACM0 on aerofc_v1
else else
# Start MAVLink # Start MAVLink
mavlink start -r 800000 -d /dev/ttyACM0 -m config -x mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
@@ -777,14 +696,6 @@ then
sdlog2 start -r 100 -a -b 9 -t sdlog2 start -r 100 -a -b 9 -t
else else
set LOGGER_ARGS "" set LOGGER_ARGS ""
#
# Adjust FMUv5 logging settings
#
if ver hwcmp PX4FMU_V5
then
set LOGGER_BUF 64
param set SDLOG_MODE 2
fi
if param compare SDLOG_MODE 1 if param compare SDLOG_MODE 1
then then
@@ -1024,6 +935,7 @@ then
if [ $VEHICLE_TYPE == none ] if [ $VEHICLE_TYPE == none ]
then then
echo "No autostart ID found" echo "No autostart ID found"
ekf2 start
fi fi
# Start any custom addons # Start any custom addons
@@ -1100,10 +1012,3 @@ unset TUNE_ERR
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running # Boot is complete, inform MAVLink app(s) that the system is now fully up and running
mavlink boot_complete mavlink boot_complete
if [ $EXIT_ON_END == yes ]
then
echo "NSH exit"
exit
fi
unset EXIT_ON_END
src/drivers/px4io/CMakeLists.txt
-1
View File
@@ -39,7 +39,6 @@ px4_add_module(
px4io.cpp px4io.cpp
px4io_uploader.cpp px4io_uploader.cpp
px4io_serial.cpp px4io_serial.cpp
px4io_i2c.cpp
DEPENDS DEPENDS
platforms__common platforms__common
) )
src/drivers/px4io/px4io.cpp
-8
View File
@@ -3066,14 +3066,6 @@ get_interface()
goto got; goto got;
} }
#ifdef PX4_I2C_OBDEV_PX4IO
interface = PX4IO_i2c_interface();
#endif
if (interface != nullptr) {
goto got;
}
errx(1, "cannot alloc interface"); errx(1, "cannot alloc interface");
got: got:
src/drivers/px4io/px4io_driver.h
-4
View File
@@ -41,10 +41,6 @@
#include <board_config.h> #include <board_config.h>
#ifdef PX4_I2C_OBDEV_PX4IO
device::Device *PX4IO_i2c_interface();
#endif
#ifdef PX4IO_SERIAL_BASE #ifdef PX4IO_SERIAL_BASE
device::Device *PX4IO_serial_interface(); device::Device *PX4IO_serial_interface();
#endif #endif
src/drivers/px4io/px4io_i2c.cpp
-177
View File
@@ -1,177 +0,0 @@
/****************************************************************************
*
* 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 px4io_i2c.cpp
*
* I2C interface for PX4IO
*/
/* XXX trim includes */
#include <px4_config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <assert.h>
#include <debug.h>
#include <errno.h>
#include <unistd.h>
#include <arch/board/board.h>
#include <board_config.h>
#include <drivers/device/i2c.h>
#include "px4io_driver.h"
#ifdef PX4_I2C_OBDEV_PX4IO
class PX4IO_I2C : public device::I2C
{
public:
PX4IO_I2C(int bus, uint8_t address);
virtual ~PX4IO_I2C();
virtual int init();
virtual int read(unsigned offset, void *data, unsigned count = 1);
virtual int write(unsigned address, void *data, unsigned count = 1);
virtual int ioctl(unsigned operation, unsigned &arg);
private:
};
device::Device
*PX4IO_i2c_interface()
{
return new PX4IO_I2C(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO);
}
PX4IO_I2C::PX4IO_I2C(int bus, uint8_t address) :
I2C("PX4IO_i2c", nullptr, bus, address, 400000)
{
_retries = 3;
}
PX4IO_I2C::~PX4IO_I2C()
{
}
int
PX4IO_I2C::init()
{
int ret;
ret = I2C::init();
if (ret != OK) {
goto out;
}
/* XXX really should do something more here */
out:
return 0;
}
int
PX4IO_I2C::ioctl(unsigned operation, unsigned &arg)
{
return 0;
}
int
PX4IO_I2C::write(unsigned address, void *data, unsigned count)
{
uint8_t page = address >> 8;
uint8_t offset = address & 0xff;
const uint16_t *values = reinterpret_cast<const uint16_t *>(data);
/* set up the transfer */
uint8_t addr[2] = {
page,
offset
};
i2c_msg_s msgv[2];
msgv[0].flags = 0;
msgv[0].buffer = addr;
msgv[0].length = 2;
msgv[1].flags = I2C_M_NORESTART;
msgv[1].buffer = (uint8_t *)values;
msgv[1].length = 2 * count;
int ret = transfer(msgv, 2);
if (ret == OK) {
ret = count;
}
return ret;
}
int
PX4IO_I2C::read(unsigned address, void *data, unsigned count)
{
uint8_t page = address >> 8;
uint8_t offset = address & 0xff;
const uint16_t *values = reinterpret_cast<const uint16_t *>(data);
/* set up the transfer */
uint8_t addr[2] = {
page,
offset
};
i2c_msg_s msgv[2];
msgv[0].flags = 0;
msgv[0].buffer = addr;
msgv[0].length = 2;
msgv[1].flags = I2C_M_READ;
msgv[1].buffer = (uint8_t *)values;
msgv[1].length = 2 * count;
int ret = transfer(msgv, 2);
if (ret == OK) {
ret = count;
}
return ret;
}
#endif /* PX4_I2C_OBDEV_PX4IO */
src/drivers/px4io/px4io_params.c
+71
View File
@@ -42,6 +42,19 @@
#include <px4_config.h> #include <px4_config.h>
#include <systemlib/param/param.h> #include <systemlib/param/param.h>
/**
* Set usage of IO board
*
* Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up.
*
* @boolean
* @min 0
* @max 1
* @reboot_required true
* @group System
*/
PARAM_DEFINE_INT32(SYS_USE_IO, 1);
/** /**
* Invert direction of main output channel 1 * Invert direction of main output channel 1
* *
@@ -235,3 +248,61 @@ PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM8, 0);
* @group PWM Outputs * @group PWM Outputs
*/ */
PARAM_DEFINE_INT32(PWM_SBUS_MODE, 0); PARAM_DEFINE_INT32(PWM_SBUS_MODE, 0);
/**
* PWM input channel that provides RSSI.
*
* 0: do not read RSSI from input channel
* 1-18: read RSSI from specified input channel
*
* Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.
*
* @min 0
* @max 18
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_CHAN, 0);
/**
* Max input value for RSSI reading.
*
* Only used if RC_RSSI_PWM_CHAN > 0
*
* @min 0
* @max 2000
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_MAX, 1000);
/**
* Min input value for RSSI reading.
*
* Only used if RC_RSSI_PWM_CHAN > 0
*
* @min 0
* @max 2000
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_MIN, 2000);
src/modules/sensors/rc_params.c
-60
View File
@@ -2089,7 +2089,6 @@ PARAM_DEFINE_FLOAT(RC_LOITER_TH, 0.5f);
*/ */
PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f); PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f);
/** /**
* Threshold for selecting offboard mode * Threshold for selecting offboard mode
* *
@@ -2108,7 +2107,6 @@ PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f);
*/ */
PARAM_DEFINE_FLOAT(RC_OFFB_TH, 0.5f); PARAM_DEFINE_FLOAT(RC_OFFB_TH, 0.5f);
/** /**
* Threshold for the kill switch * Threshold for the kill switch
* *
@@ -2217,64 +2215,6 @@ PARAM_DEFINE_FLOAT(RC_STAB_TH, 0.5f);
*/ */
PARAM_DEFINE_FLOAT(RC_MAN_TH, 0.5f); PARAM_DEFINE_FLOAT(RC_MAN_TH, 0.5f);
/**
* PWM input channel that provides RSSI.
*
* 0: do not read RSSI from input channel
* 1-18: read RSSI from specified input channel
*
* Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.
*
* @min 0
* @max 18
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_CHAN, 0);
/**
* Max input value for RSSI reading.
*
* Only used if RC_RSSI_PWM_CHAN > 0
*
* @min 0
* @max 2000
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_MAX, 1000);
/**
* Min input value for RSSI reading.
*
* Only used if RC_RSSI_PWM_CHAN > 0
*
* @min 0
* @max 2000
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_MIN, 2000);
/** /**
* Sample rate of the remote control values for the low pass filter on roll,pitch, yaw and throttle * Sample rate of the remote control values for the low pass filter on roll,pitch, yaw and throttle
* *
src/systemcmds/i2c/CMakeLists.txt
-42
View File
@@ -1,42 +0,0 @@
############################################################################
#
# Copyright (c) 2015 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.
#
############################################################################
px4_add_module(
MODULE systemcmds__i2c
MAIN i2c
COMPILE_FLAGS
SRCS
i2c.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/systemcmds/i2c/i2c.c
-146
View File
@@ -1,146 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* 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 i2c.c
*
* i2c hacking tool
*/
#include <px4_config.h>
#include <px4_log.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/mount.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <nuttx/i2c/i2c_master.h>
#include <board_config.h>
#include "systemlib/systemlib.h"
#ifndef PX4_I2C_BUS_ONBOARD
# error PX4_I2C_BUS_ONBOARD not defined, no device interface
#endif
#ifndef PX4_I2C_OBDEV_PX4IO
# error PX4_I2C_OBDEV_PX4IO not defined
#endif
__EXPORT int i2c_main(int argc, char *argv[]);
static int transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len);
static struct i2c_master_s *i2c;
int i2c_main(int argc, char *argv[])
{
/* find the right I2C */
i2c = px4_i2cbus_initialize(PX4_I2C_BUS_ONBOARD);
if (i2c == NULL) {
PX4_ERR("failed to locate I2C bus");
return 1;
}
usleep(100000);
uint8_t buf[] = { 0, 4};
int ret = transfer(PX4_I2C_OBDEV_PX4IO, buf, sizeof(buf), NULL, 0);
if (ret) {
PX4_ERR("send failed - %d", ret);
return 1;
}
uint32_t val;
ret = transfer(PX4_I2C_OBDEV_PX4IO, NULL, 0, (uint8_t *)&val, sizeof(val));
if (ret) {
PX4_ERR("recive failed - %d", ret);
return 1;
}
PX4_INFO("got 0x%08x", val);
return 0;
}
static int
transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
{
struct i2c_msg_s msgv[2];
unsigned msgs;
int ret;
// debug("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
msgs = 0;
if (send_len > 0) {
msgv[msgs].frequency = 400000;
msgv[msgs].addr = address;
msgv[msgs].flags = 0;
msgv[msgs].buffer = send;
msgv[msgs].length = send_len;
msgs++;
}
if (recv_len > 0) {
msgv[msgs].frequency = 400000;
msgv[msgs].addr = address;
msgv[msgs].flags = I2C_M_READ;
msgv[msgs].buffer = recv;
msgv[msgs].length = recv_len;
msgs++;
}
if (msgs == 0) {
return -1;
}
ret = I2C_TRANSFER(i2c, &msgv[0], msgs);
// reset the I2C bus to unwedge on error
if (ret != OK) {
up_i2creset(i2c);
}
return ret;
}