mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-04 21:23:57 +08:00
Merge branch 'master' of https://github.com/PX4/Firmware into fw_control
This commit is contained in:
Thomas Gubler
@@ -1,7 +1,7 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* 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
|
||||
@@ -35,6 +35,8 @@
|
||||
/**
|
||||
* @file mavlink_receiver.c
|
||||
* MAVLink protocol message receive and dispatch
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*/
|
||||
|
||||
/* XXX trim includes */
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* 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
|
||||
@@ -35,6 +35,8 @@
|
||||
/**
|
||||
* @file orb_listener.c
|
||||
* Monitors ORB topics and sends update messages as appropriate.
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*/
|
||||
|
||||
// XXX trim includes
|
||||
|
||||
@@ -32,8 +32,10 @@
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* @file Implementation of AR.Drone 1.0 / 2.0 control interface
|
||||
/**
|
||||
* @file multirotor_pos_control.c
|
||||
*
|
||||
* Skeleton for multirotor position controller
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
+53
-116
@@ -1,7 +1,6 @@
|
||||
/****************************************************************************
|
||||
* px4/sensors/test_gpio.c
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* 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
|
||||
@@ -13,7 +12,7 @@
|
||||
* 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
|
||||
* 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.
|
||||
*
|
||||
@@ -32,9 +31,10 @@
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
/**
|
||||
* @file test_adc.c
|
||||
* Test for the analog to digital converter.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/arch.h>
|
||||
@@ -54,91 +54,46 @@
|
||||
|
||||
#include <nuttx/analog/adc.h>
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: test_gpio
|
||||
****************************************************************************/
|
||||
|
||||
int test_adc(int argc, char *argv[])
|
||||
{
|
||||
int fd0;
|
||||
int fd0 = 0;
|
||||
int ret = 0;
|
||||
//struct adc_msg_s sample[4],sample2[4],sample3[4],sample4[4],sample5[4],sample6[4],sample7[4],sample8[4],sample9[4];
|
||||
|
||||
#pragma pack(push,1)
|
||||
struct adc_msg4_s {
|
||||
uint8_t am_channel1; /* The 8-bit ADC Channel */
|
||||
int32_t am_data1; /* ADC convert result (4 bytes) */
|
||||
uint8_t am_channel2; /* The 8-bit ADC Channel */
|
||||
int32_t am_data2; /* ADC convert result (4 bytes) */
|
||||
uint8_t am_channel3; /* The 8-bit ADC Channel */
|
||||
int32_t am_data3; /* ADC convert result (4 bytes) */
|
||||
uint8_t am_channel4; /* The 8-bit ADC Channel */
|
||||
int32_t am_data4; /* ADC convert result (4 bytes) */
|
||||
} __attribute__((__packed__));;
|
||||
uint8_t am_channel1; /**< The 8-bit ADC Channel 1 */
|
||||
int32_t am_data1; /**< ADC convert result 1 (4 bytes) */
|
||||
uint8_t am_channel2; /**< The 8-bit ADC Channel 2 */
|
||||
int32_t am_data2; /**< ADC convert result 2 (4 bytes) */
|
||||
uint8_t am_channel3; /**< The 8-bit ADC Channel 3 */
|
||||
int32_t am_data3; /**< ADC convert result 3 (4 bytes) */
|
||||
uint8_t am_channel4; /**< The 8-bit ADC Channel 4 */
|
||||
int32_t am_data4; /**< ADC convert result 4 (4 bytes) */
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
struct adc_msg4_s sample1[4], sample2[4];
|
||||
struct adc_msg4_s sample1;
|
||||
|
||||
size_t readsize;
|
||||
ssize_t nbytes, nbytes2;
|
||||
int i;
|
||||
ssize_t nbytes;
|
||||
int j;
|
||||
int errval;
|
||||
|
||||
for (j = 0; j < 1; j++) {
|
||||
char name[11];
|
||||
sprintf(name, "/dev/adc%d", j);
|
||||
fd0 = open(name, O_RDONLY | O_NONBLOCK);
|
||||
fd0 = open("/dev/adc0", O_RDONLY | O_NONBLOCK);
|
||||
|
||||
if (fd0 < 0) {
|
||||
printf("ADC: %s open fail\n", name);
|
||||
return ERROR;
|
||||
if (fd0 <= 0) {
|
||||
message("/dev/adc0 open fail: %d\n", errno);
|
||||
return ERROR;
|
||||
|
||||
} else {
|
||||
printf("Opened %s successfully\n", name);
|
||||
}
|
||||
} else {
|
||||
message("opened /dev/adc0 successfully\n");
|
||||
}
|
||||
usleep(10000);
|
||||
|
||||
/* first adc read round */
|
||||
readsize = 4 * sizeof(struct adc_msg_s);
|
||||
up_udelay(10000);//microseconds
|
||||
nbytes = read(fd0, sample1, readsize);
|
||||
up_udelay(10000);//microseconds
|
||||
nbytes2 = read(fd0, sample2, readsize);
|
||||
// nbytes2 = read(fd0, sample3, readsize);
|
||||
// nbytes2 = read(fd0, sample4, readsize);
|
||||
// nbytes2 = read(fd0, sample5, readsize);
|
||||
// nbytes2 = read(fd0, sample6, readsize);
|
||||
// nbytes2 = read(fd0, sample7, readsize);
|
||||
// nbytes2 = read(fd0, sample8, readsize);
|
||||
//nbytes2 = read(fd0, sample9, readsize);
|
||||
for (j = 0; j < 10; j++) {
|
||||
|
||||
/* sleep 20 milliseconds */
|
||||
usleep(20000);
|
||||
nbytes = read(fd0, &sample1, sizeof(sample1));
|
||||
|
||||
/* Handle unexpected return values */
|
||||
|
||||
@@ -146,62 +101,44 @@ int test_adc(int argc, char *argv[])
|
||||
errval = errno;
|
||||
|
||||
if (errval != EINTR) {
|
||||
message("read %s failed: %d\n",
|
||||
name, errval);
|
||||
message("reading /dev/adc0 failed: %d\n", errval);
|
||||
errval = 3;
|
||||
goto errout_with_dev;
|
||||
}
|
||||
|
||||
message("\tInterrupted read...\n");
|
||||
message("\tinterrupted read..\n");
|
||||
|
||||
} else if (nbytes == 0) {
|
||||
message("\tNo data read, Ignoring\n");
|
||||
message("\tno data read, ignoring.\n");
|
||||
ret = ERROR;
|
||||
}
|
||||
|
||||
/* Print the sample data on successful return */
|
||||
|
||||
else {
|
||||
int nsamples = nbytes / sizeof(struct adc_msg_s);
|
||||
|
||||
if (nsamples * sizeof(struct adc_msg_s) != nbytes) {
|
||||
message("\tread size=%d is not a multiple of sample size=%d, Ignoring\n",
|
||||
nbytes, sizeof(struct adc_msg_s));
|
||||
if (nbytes != sizeof(sample1)) {
|
||||
message("\tsample 1 size %d is not matching struct size %d, ignoring\n",
|
||||
nbytes, sizeof(sample1));
|
||||
ret = ERROR;
|
||||
|
||||
} else {
|
||||
message("Sample:");
|
||||
|
||||
for (i = 0; i < 1 ; i++) {
|
||||
message("%d: channel: %d value: %d\n",
|
||||
i, sample1[i].am_channel1, sample1[i].am_data1);
|
||||
message("Sample:");
|
||||
message("%d: channel: %d value: %d\n",
|
||||
i, sample1[i].am_channel2, sample1[i].am_data2);
|
||||
message("Sample:");
|
||||
message("%d: channel: %d value: %d\n",
|
||||
i, sample1[i].am_channel3, sample1[i].am_data3);
|
||||
message("Sample:");
|
||||
message("%d: channel: %d value: %d\n",
|
||||
i, sample1[i].am_channel4, sample1[i].am_data4);
|
||||
message("Sample:");
|
||||
message("%d: channel: %d value: %d\n",
|
||||
i + 1, sample2[i].am_channel1, sample2[i].am_data1);
|
||||
message("Sample:");
|
||||
message("%d: channel: %d value: %d\n",
|
||||
i + 1, sample2[i].am_channel2, sample2[i].am_data2);
|
||||
message("Sample:");
|
||||
message("%d: channel: %d value: %d\n",
|
||||
i + 1, sample2[i].am_channel3, sample2[i].am_data3);
|
||||
message("Sample:");
|
||||
message("%d: channel: %d value: %d\n",
|
||||
i + 1, sample2[i].am_channel4, sample2[i].am_data4);
|
||||
// message("%d: channel: %d value: %d\n",
|
||||
// i, sample9[i].am_channel, sample9[i].am_data);
|
||||
}
|
||||
message("CYCLE %d:\n", j);
|
||||
|
||||
message("channel: %d value: %d\n",
|
||||
(int)sample1.am_channel1, sample1.am_data1);
|
||||
message("channel: %d value: %d",
|
||||
(int)sample1.am_channel2, sample1.am_data2);
|
||||
message("channel: %d value: %d",
|
||||
(int)sample1.am_channel3, sample1.am_data3);
|
||||
message("channel: %d value: %d",
|
||||
(int)sample1.am_channel4, sample1.am_data4);
|
||||
}
|
||||
}
|
||||
fflush(stdout);
|
||||
}
|
||||
|
||||
printf("\t ADC test successful.\n");
|
||||
message("\t ADC test successful.");
|
||||
|
||||
errout_with_dev:
|
||||
|
||||
|
||||
+130
-11
@@ -1,7 +1,7 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* 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
|
||||
@@ -36,7 +36,7 @@
|
||||
* @file test_sensors.c
|
||||
* Tests the onboard sensors.
|
||||
*
|
||||
* The sensors app must not be running when performing this test.
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
@@ -56,7 +56,10 @@
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
#include <drivers/drv_gyro.h>
|
||||
#include <drivers/drv_accel.h>
|
||||
#include <drivers/drv_mag.h>
|
||||
#include <drivers/drv_baro.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
@@ -70,8 +73,10 @@
|
||||
* Private Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
//static int lis331(int argc, char *argv[]);
|
||||
static int mpu6000(int argc, char *argv[]);
|
||||
static int accel(int argc, char *argv[]);
|
||||
static int gyro(int argc, char *argv[]);
|
||||
static int mag(int argc, char *argv[]);
|
||||
static int baro(int argc, char *argv[]);
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
@@ -82,7 +87,10 @@ struct {
|
||||
const char *path;
|
||||
int (* test)(int argc, char *argv[]);
|
||||
} sensors[] = {
|
||||
{"mpu6000", "/dev/accel", mpu6000},
|
||||
{"accel", "/dev/accel", accel},
|
||||
{"gyro", "/dev/gyro", gyro},
|
||||
{"mag", "/dev/mag", mag},
|
||||
{"baro", "/dev/baro", baro},
|
||||
{NULL, NULL, NULL}
|
||||
};
|
||||
|
||||
@@ -95,9 +103,9 @@ struct {
|
||||
****************************************************************************/
|
||||
|
||||
static int
|
||||
mpu6000(int argc, char *argv[])
|
||||
accel(int argc, char *argv[])
|
||||
{
|
||||
printf("\tMPU-6000: test start\n");
|
||||
printf("\tACCEL: test start\n");
|
||||
fflush(stdout);
|
||||
|
||||
int fd;
|
||||
@@ -107,7 +115,7 @@ mpu6000(int argc, char *argv[])
|
||||
fd = open("/dev/accel", O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
printf("\tMPU-6000: open fail, run <mpu6000 start> first.\n");
|
||||
printf("\tACCEL: open fail, run <mpu6000 start> or <lsm303 start> or <bma180 start> first.\n");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
@@ -118,11 +126,11 @@ mpu6000(int argc, char *argv[])
|
||||
ret = read(fd, &buf, sizeof(buf));
|
||||
|
||||
if (ret < 3) {
|
||||
printf("\tMPU-6000: read1 fail (%d)\n", ret);
|
||||
printf("\tACCEL: read1 fail (%d)\n", ret);
|
||||
return ERROR;
|
||||
|
||||
} else {
|
||||
printf("\tMPU-6000 values: acc: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);//\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
|
||||
printf("\tACCEL values: acc: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
|
||||
}
|
||||
|
||||
// /* wait at least 10ms, sensor should have data after no more than 2ms */
|
||||
@@ -141,7 +149,118 @@ mpu6000(int argc, char *argv[])
|
||||
/* XXX more tests here */
|
||||
|
||||
/* Let user know everything is ok */
|
||||
printf("\tOK: MPU-6000 passed all tests successfully\n");
|
||||
printf("\tOK: ACCEL passed all tests successfully\n");
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
static int
|
||||
gyro(int argc, char *argv[])
|
||||
{
|
||||
printf("\tGYRO: test start\n");
|
||||
fflush(stdout);
|
||||
|
||||
int fd;
|
||||
struct gyro_report buf;
|
||||
int ret;
|
||||
|
||||
fd = open("/dev/gyro", O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
printf("\tGYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* wait at least 5 ms, sensor should have data after that */
|
||||
usleep(5000);
|
||||
|
||||
/* read data - expect samples */
|
||||
ret = read(fd, &buf, sizeof(buf));
|
||||
|
||||
if (ret < 3) {
|
||||
printf("\tGYRO: read fail (%d)\n", ret);
|
||||
return ERROR;
|
||||
|
||||
} else {
|
||||
printf("\tGYRO values: rates: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
|
||||
}
|
||||
|
||||
/* Let user know everything is ok */
|
||||
printf("\tOK: GYRO passed all tests successfully\n");
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
static int
|
||||
mag(int argc, char *argv[])
|
||||
{
|
||||
printf("\tMAG: test start\n");
|
||||
fflush(stdout);
|
||||
|
||||
int fd;
|
||||
struct mag_report buf;
|
||||
int ret;
|
||||
|
||||
fd = open("/dev/mag", O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
printf("\tMAG: open fail, run <hmc5883 start> or <lsm303 start> first.\n");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* wait at least 5 ms, sensor should have data after that */
|
||||
usleep(5000);
|
||||
|
||||
/* read data - expect samples */
|
||||
ret = read(fd, &buf, sizeof(buf));
|
||||
|
||||
if (ret < 3) {
|
||||
printf("\tMAG: read fail (%d)\n", ret);
|
||||
return ERROR;
|
||||
|
||||
} else {
|
||||
printf("\tMAG values: mag. field: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
|
||||
}
|
||||
|
||||
/* Let user know everything is ok */
|
||||
printf("\tOK: MAG passed all tests successfully\n");
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
static int
|
||||
baro(int argc, char *argv[])
|
||||
{
|
||||
printf("\tBARO: test start\n");
|
||||
fflush(stdout);
|
||||
|
||||
int fd;
|
||||
struct baro_report buf;
|
||||
int ret;
|
||||
|
||||
fd = open("/dev/baro", O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
printf("\tBARO: open fail, run <ms5611 start> or <lps331 start> first.\n");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* wait at least 5 ms, sensor should have data after that */
|
||||
usleep(5000);
|
||||
|
||||
/* read data - expect samples */
|
||||
ret = read(fd, &buf, sizeof(buf));
|
||||
|
||||
if (ret < 3) {
|
||||
printf("\tBARO: read fail (%d)\n", ret);
|
||||
return ERROR;
|
||||
|
||||
} else {
|
||||
printf("\tBARO values: pressure: %8.4f mbar\taltitude: %8.4f m\ttemperature: %8.4f deg Celsius\n", (double)buf.pressure, (double)buf.altitude, (double)buf.temperature);
|
||||
}
|
||||
|
||||
/* Let user know everything is ok */
|
||||
printf("\tOK: BARO passed all tests successfully\n");
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -34,9 +34,9 @@
|
||||
|
||||
/**
|
||||
* @file sensors.cpp
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* Sensor readout process.
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
@@ -1,9 +1,9 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <joes@student.ethz.ch>
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||
* Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* Julian Oes <joes@student.ethz.ch>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -37,6 +37,10 @@
|
||||
/**
|
||||
* @file subsystem_info.h
|
||||
* Definition of the subsystem info topic.
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <joes@student.ethz.ch>
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_SUBSYSTEM_INFO_H_
|
||||
|
||||
Reference in New Issue
Block a user