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Moved all system commands to the new world

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This commit is contained in:
Lorenz Meier
2013-04-27 11:30:41 +02:00
parent 51badab96d
commit 574e765321
34 changed files with 131 additions and 1048 deletions
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apps/systemcmds/boardinfo/.context
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apps/systemcmds/calibration/Makefile
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############################################################################
#
# 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.
#
############################################################################
#
# Makefile to build the calibration tool
#
APPNAME = calibration
PRIORITY = SCHED_PRIORITY_MAX - 1
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
apps/systemcmds/calibration/calibration.c
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/****************************************************************************
* calibration.c
*
* Copyright (C) 2012 Ivan Ovinnikov. All rights reserved.
* Authors: Nils Wenzler <wenzlern@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 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "calibration.h"
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static int calibrate_help(int argc, char *argv[]);
static int calibrate_all(int argc, char *argv[]);
__EXPORT int calibration_main(int argc, char *argv[]);
/****************************************************************************
* Private Data
****************************************************************************/
struct {
const char *name;
int (* fn)(int argc, char *argv[]);
unsigned options;
#define OPT_NOHELP (1<<0)
#define OPT_NOALLTEST (1<<1)
} calibrates[] = {
{"range", range_cal, 0},
{"servo", servo_cal, 0},
{"all", calibrate_all, OPT_NOALLTEST},
{"help", calibrate_help, OPT_NOALLTEST | OPT_NOHELP},
{NULL, NULL}
};
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
static int
calibrate_help(int argc, char *argv[])
{
unsigned i;
printf("Available calibration routines:\n");
for (i = 0; calibrates[i].name; i++)
printf(" %s\n", calibrates[i].name);
return 0;
}
static int
calibrate_all(int argc, char *argv[])
{
unsigned i;
char *args[2] = {"all", NULL};
printf("Running all calibration routines...\n\n");
for (i = 0; calibrates[i].name; i++) {
printf(" %s:\n", calibrates[i].name);
if (calibrates[i].fn(1, args)) {
printf(" FAIL\n");
} else {
printf(" DONE\n");
}
}
return 0;
}
/****************************************************************************
* Public Functions
****************************************************************************/
void press_enter(void)
{
int c;
printf("Press CTRL+ENTER to continue... \n");
fflush(stdout);
do c = getchar(); while ((c != '\n') && (c != EOF));
}
/****************************************************************************
* Name: calibrate_main
****************************************************************************/
int calibration_main(int argc, char *argv[])
{
unsigned i;
if (argc < 2) {
printf("calibration: missing name - 'calibration help' for a list of routines\n");
return 1;
}
for (i = 0; calibrates[i].name; i++) {
if (!strcmp(calibrates[i].name, argv[1]))
return calibrates[i].fn(argc - 1, argv + 1);
}
printf("calibrate: no routines called '%s' - 'calibration help' for a list of routines\n", argv[1]);
return 1;
}
apps/systemcmds/calibration/calibration.h
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/****************************************************************************
*
* 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.
*
****************************************************************************/
#ifndef _CALIBRATION_H
#define _CALIBRATION_H
/****************************************************************************
* Included Files
****************************************************************************/
/****************************************************************************
* Definitions
****************************************************************************/
/****************************************************************************
* Public Types
****************************************************************************/
/****************************************************************************
* Public Variables
****************************************************************************/
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
extern int range_cal(int argc, char *argv[]);
extern int servo_cal(int argc, char *argv[]);
#endif
apps/systemcmds/calibration/channels_cal.c
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/****************************************************************************
* channels_cal.c
*
* Copyright (C) 2012 Nils Wenzler. All rights reserved.
* Authors: Nils Wenzler <wenzlern@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 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include "calibration.h"
/****************************************************************************
* Defines
****************************************************************************/
#define ABS(a) (((a) < 0) ? -(a) : (a))
#define MIN(a,b) (((a)<(b))?(a):(b))
#define MAX(a,b) (((a)>(b))?(a):(b))
/****************************************************************************
* Private Data
****************************************************************************/
//Store the values here before writing them to global_data_rc_channels
uint16_t old_values[NR_CHANNELS];
uint16_t cur_values[NR_CHANNELS];
uint8_t function_map[NR_CHANNELS];
char names[12][9];
/****************************************************************************
* Private Functions
****************************************************************************/
void press_enter_2(void)
{
int c;
printf("Press CTRL+ENTER to continue... \n");
fflush(stdout);
do c = getchar(); while ((c != '\n') && (c != EOF));
}
/**This gets all current values and writes them to min or max
*/
uint8_t get_val(uint16_t *buffer)
{
if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
uint8_t i;
for (i = 0; i < NR_CHANNELS; i++) {
printf("Channel: %i\t RAW Value: %i: \n", i, global_data_rc_channels->chan[i].raw);
buffer[i] = global_data_rc_channels->chan[i].raw;
}
global_data_unlock(&global_data_rc_channels->access_conf);
return 0;
} else
return -1;
}
void set_channel(void)
{
static uint8_t j = 0;
uint8_t i;
for (i = 0; i < NR_CHANNELS; i++) {
if (ABS(old_values - cur_values) > 50) {
function_map[j] = i;
strcpy(names[i], global_data_rc_channels->function_names[j]);
j++;
}
}
}
void write_dat(void)
{
global_data_lock(&global_data_rc_channels->access_conf);
uint8_t i;
for (i = 0; i < NR_CHANNELS; i++) {
global_data_rc_channels->function[i] = function_map[i];
strcpy(global_data_rc_channels->chan[i].name, names[i]);
printf("Channel %i\t Function %s\n", i,
global_data_rc_channels->chan[i].name);
}
global_data_unlock(&global_data_rc_channels->access_conf);
}
/****************************************************************************
* Public Functions
****************************************************************************/
int channels_cal(int argc, char *argv[])
{
printf("This routine maps the input functions on the remote control\n");
printf("to the corresponding function (Throttle, Roll,..)\n");
printf("Always move the stick all the way\n");
press_enter_2();
printf("Pull the THROTTLE stick down\n");
press_enter_2();
while (get_val(old_values));
printf("Move the THROTTLE stick up\n ");
press_enter_2();
while (get_val(cur_values));
set_channel();
printf("Pull the PITCH stick down\n");
press_enter_2();
while (get_val(old_values));
printf("Move the PITCH stick up\n ");
press_enter_2();
while (get_val(cur_values));
set_channel();
printf("Put the ROLL stick to the left\n");
press_enter_2();
while (get_val(old_values));
printf("Put the ROLL stick to the right\n ");
press_enter_2();
while (get_val(cur_values));
set_channel();
printf("Put the YAW stick to the left\n");
press_enter_2();
while (get_val(old_values));
printf("Put the YAW stick to the right\n ");
press_enter_2();
while (get_val(cur_values));
set_channel();
uint8_t k;
for (k = 5; k < NR_CHANNELS; k++) {
function_map[k] = k;
strcpy(names[k], global_data_rc_channels->function_names[k]);
}
//write the values to global_data_rc_channels
write_dat();
return 0;
}
apps/systemcmds/calibration/range_cal.c
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/****************************************************************************
* range_cal.c
*
* Copyright (C) 2012 Nils Wenzler. All rights reserved.
* Authors: Nils Wenzler <wenzlern@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 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include "calibration.h"
/****************************************************************************
* Defines
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
//Store the values here before writing them to global_data_rc_channels
uint16_t max_values[NR_CHANNELS];
uint16_t min_values[NR_CHANNELS];
uint16_t mid_values[NR_CHANNELS];
/****************************************************************************
* Private Functions
****************************************************************************/
/**This sets the middle values
*/
uint8_t set_mid(void)
{
if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
uint8_t i;
for (i = 0; i < NR_CHANNELS; i++) {
if (i == global_data_rc_channels->function[ROLL] ||
i == global_data_rc_channels->function[YAW] ||
i == global_data_rc_channels->function[PITCH]) {
mid_values[i] = global_data_rc_channels->chan[i].raw;
} else {
mid_values[i] = (max_values[i] + min_values[i]) / 2;
}
}
global_data_unlock(&global_data_rc_channels->access_conf);
return 0;
} else
return -1;
}
/**This gets all current values and writes them to min or max
*/
uint8_t get_value(void)
{
if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
uint8_t i;
for (i = 0; i < NR_CHANNELS; i++) {
//see if the value is bigger or smaller than 1500 (roughly neutral)
//and write to the appropriate array
if (global_data_rc_channels->chan[i].raw != 0 &&
global_data_rc_channels->chan[i].raw < 1500) {
min_values[i] = global_data_rc_channels->chan[i].raw;
} else if (global_data_rc_channels->chan[i].raw != 0 &&
global_data_rc_channels->chan[i].raw > 1500) {
max_values[i] = global_data_rc_channels->chan[i].raw;
} else {
max_values[i] = 0;
min_values[i] = 0;
}
}
global_data_unlock(&global_data_rc_channels->access_conf);
return 0;
} else
return -1;
}
void write_data(void)
{
// global_data_lock(&global_data_rc_channels->access_conf);
// uint8_t i;
// for(i=0; i < NR_CHANNELS; i++){
// //Write the data to global_data_rc_channels (if not 0)
// if(mid_values[i]!=0 && min_values[i]!=0 && max_values[i]!=0){
// global_data_rc_channels->chan[i].scaling_factor =
// 10000/((max_values[i] - min_values[i])/2);
//
// global_data_rc_channels->chan[i].mid = mid_values[i];
// }
//
// printf("Channel %i\t Function %s \t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
// i,
// global_data_rc_channels->function_name[global_data_rc_channels->function[i]],
// min_values[i], max_values[i],
// global_data_rc_channels->chan[i].scaling_factor,
// global_data_rc_channels->chan[i].mid);
// }
// global_data_unlock(&global_data_rc_channels->access_conf);
//Write to the Parameter storage
global_data_parameter_storage->pm.param_values[PARAM_RC1_MIN] = min_values[0];
global_data_parameter_storage->pm.param_values[PARAM_RC2_MIN] = min_values[1];
global_data_parameter_storage->pm.param_values[PARAM_RC3_MIN] = min_values[2];
global_data_parameter_storage->pm.param_values[PARAM_RC4_MIN] = min_values[3];
global_data_parameter_storage->pm.param_values[PARAM_RC5_MIN] = min_values[4];
global_data_parameter_storage->pm.param_values[PARAM_RC6_MIN] = min_values[5];
global_data_parameter_storage->pm.param_values[PARAM_RC7_MIN] = min_values[6];
global_data_parameter_storage->pm.param_values[PARAM_RC8_MIN] = min_values[7];
global_data_parameter_storage->pm.param_values[PARAM_RC1_MAX] = max_values[0];
global_data_parameter_storage->pm.param_values[PARAM_RC2_MAX] = max_values[1];
global_data_parameter_storage->pm.param_values[PARAM_RC3_MAX] = max_values[2];
global_data_parameter_storage->pm.param_values[PARAM_RC4_MAX] = max_values[3];
global_data_parameter_storage->pm.param_values[PARAM_RC5_MAX] = max_values[4];
global_data_parameter_storage->pm.param_values[PARAM_RC6_MAX] = max_values[5];
global_data_parameter_storage->pm.param_values[PARAM_RC7_MAX] = max_values[6];
global_data_parameter_storage->pm.param_values[PARAM_RC8_MAX] = max_values[7];
global_data_parameter_storage->pm.param_values[PARAM_RC1_TRIM] = mid_values[0];
global_data_parameter_storage->pm.param_values[PARAM_RC2_TRIM] = mid_values[1];
global_data_parameter_storage->pm.param_values[PARAM_RC3_TRIM] = mid_values[2];
global_data_parameter_storage->pm.param_values[PARAM_RC4_TRIM] = mid_values[3];
global_data_parameter_storage->pm.param_values[PARAM_RC5_TRIM] = mid_values[4];
global_data_parameter_storage->pm.param_values[PARAM_RC6_TRIM] = mid_values[5];
global_data_parameter_storage->pm.param_values[PARAM_RC7_TRIM] = mid_values[6];
global_data_parameter_storage->pm.param_values[PARAM_RC8_TRIM] = mid_values[7];
usleep(3e6);
uint8_t i;
for (i = 0; i < NR_CHANNELS; i++) {
printf("Channel %i:\t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
i,
min_values[i], max_values[i],
global_data_rc_channels->chan[i].scaling_factor,
global_data_rc_channels->chan[i].mid);
}
}
/****************************************************************************
* Public Functions
****************************************************************************/
int range_cal(int argc, char *argv[])
{
printf("The range calibration routine assumes you already did the channel\n");
printf("assignment\n");
printf("This routine chooses the minimum, maximum and middle\n");
printf("value for each channel separatly. The ROLL, PITCH and YAW function\n");
printf("get their middle value from the RC direct, for the rest it is\n");
printf("calculated out of the min and max values.\n");
press_enter();
printf("Hold both sticks in lower left corner and continue\n ");
press_enter();
usleep(500000);
while (get_value());
printf("Hold both sticks in upper right corner and continue\n");
press_enter();
usleep(500000);
while (get_value());
printf("Set the trim to 0 and leave the sticks in the neutral position\n");
press_enter();
//Loop until successfull
while (set_mid());
//write the values to global_data_rc_channels
write_data();
return 0;
}
apps/systemcmds/calibration/servo_cal.c
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/****************************************************************************
* servo_cal.c
*
* Copyright (C) 2012 Nils Wenzler. All rights reserved.
* Authors: Nils Wenzler <wenzlern@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 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include <arch/board/drv_pwm_servo.h>
#include <fcntl.h>
#include "calibration.h"
/****************************************************************************
* Defines
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
//Store the values here before writing them to global_data_rc_channels
uint16_t max_values_servo[PWM_SERVO_MAX_CHANNELS];
uint16_t min_values_servo[PWM_SERVO_MAX_CHANNELS];
uint16_t mid_values_servo[PWM_SERVO_MAX_CHANNELS];
// Servo loop thread
pthread_t servo_calib_thread;
/****************************************************************************
* Private Functions
****************************************************************************/
/**This sets the middle values
*/
uint8_t set_mid_s(void)
{
if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
uint8_t i;
for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
if (i == global_data_rc_channels->function[ROLL] ||
i == global_data_rc_channels->function[YAW] ||
i == global_data_rc_channels->function[PITCH]) {
mid_values_servo[i] = global_data_rc_channels->chan[i].raw;
} else {
mid_values_servo[i] = (max_values_servo[i] + min_values_servo[i]) / 2;
}
}
global_data_unlock(&global_data_rc_channels->access_conf);
return 0;
} else
return -1;
}
/**This gets all current values and writes them to min or max
*/
uint8_t get_value_s(void)
{
if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
uint8_t i;
for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
//see if the value is bigger or smaller than 1500 (roughly neutral)
//and write to the appropriate array
if (global_data_rc_channels->chan[i].raw != 0 &&
global_data_rc_channels->chan[i].raw < 1500) {
min_values_servo[i] = global_data_rc_channels->chan[i].raw;
} else if (global_data_rc_channels->chan[i].raw != 0 &&
global_data_rc_channels->chan[i].raw > 1500) {
max_values_servo[i] = global_data_rc_channels->chan[i].raw;
} else {
max_values_servo[i] = 0;
min_values_servo[i] = 0;
}
}
global_data_unlock(&global_data_rc_channels->access_conf);
return 0;
} else
return -1;
}
void write_data_s(void)
{
// global_data_lock(&global_data_rc_channels->access_conf);
// uint8_t i;
// for(i=0; i < NR_CHANNELS; i++){
// //Write the data to global_data_rc_channels (if not 0)
// if(mid_values_servo[i]!=0 && min_values_servo[i]!=0 && max_values_servo[i]!=0){
// global_data_rc_channels->chan[i].scaling_factor =
// 10000/((max_values_servo[i] - min_values_servo[i])/2);
//
// global_data_rc_channels->chan[i].mid = mid_values_servo[i];
// }
//
// printf("Channel %i\t Function %s \t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
// i,
// global_data_rc_channels->function_name[global_data_rc_channels->function[i]],
// min_values_servo[i], max_values_servo[i],
// global_data_rc_channels->chan[i].scaling_factor,
// global_data_rc_channels->chan[i].mid);
// }
// global_data_unlock(&global_data_rc_channels->access_conf);
//Write to the Parameter storage
global_data_lock(&global_data_parameter_storage->access_conf);
global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MIN] = min_values_servo[0];
global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MIN] = min_values_servo[1];
global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MIN] = min_values_servo[2];
global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MIN] = min_values_servo[3];
global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MAX] = max_values_servo[0];
global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MAX] = max_values_servo[1];
global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MAX] = max_values_servo[2];
global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MAX] = max_values_servo[3];
global_data_parameter_storage->pm.param_values[PARAM_SERVO1_TRIM] = mid_values_servo[0];
global_data_parameter_storage->pm.param_values[PARAM_SERVO2_TRIM] = mid_values_servo[1];
global_data_parameter_storage->pm.param_values[PARAM_SERVO3_TRIM] = mid_values_servo[2];
global_data_parameter_storage->pm.param_values[PARAM_SERVO4_TRIM] = mid_values_servo[3];
global_data_unlock(&global_data_parameter_storage->access_conf);
usleep(3e6);
uint8_t i;
for (i = 0; i < NR_CHANNELS; i++) {
printf("Channel %i:\t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
i,
min_values_servo[i], max_values_servo[i],
global_data_rc_channels->chan[i].scaling_factor,
global_data_rc_channels->chan[i].mid);
}
}
static void *servo_loop(void *arg)
{
// Set thread name
prctl(1, "calibration servo", getpid());
// initialize servos
int fd;
servo_position_t data[PWM_SERVO_MAX_CHANNELS];
fd = open("/dev/pwm_servo", O_RDWR);
if (fd < 0) {
printf("failed opening /dev/pwm_servo\n");
}
ioctl(fd, PWM_SERVO_ARM, 0);
while (1) {
int i;
for (i = 0; i < 4; i++) {
data[i] = global_data_rc_channels->chan[global_data_rc_channels->function[THROTTLE]].raw;
}
int result = write(fd, &data, sizeof(data));
if (result != sizeof(data)) {
printf("failed bulk-reading channel values\n");
}
// 5Hz loop
usleep(200000);
}
return NULL;
}
/****************************************************************************
* Public Functions
****************************************************************************/
int servo_cal(int argc, char *argv[])
{
// pthread_attr_t servo_loop_attr;
// pthread_attr_init(&servo_loop_attr);
// pthread_attr_setstacksize(&servo_loop_attr, 1024);
pthread_create(&servo_calib_thread, NULL, servo_loop, NULL);
pthread_join(servo_calib_thread, NULL);
printf("The servo calibration routine assumes you already did the channel\n");
printf("assignment with 'calibration channels'\n");
printf("This routine chooses the minimum, maximum and middle\n");
printf("value for each channel separately. The ROLL, PITCH and YAW function\n");
printf("get their middle value from the RC direct, for the rest it is\n");
printf("calculated out of the min and max values.\n");
press_enter();
printf("Hold both sticks in lower left corner and continue\n ");
press_enter();
usleep(500000);
while (get_value_s());
printf("Hold both sticks in upper right corner and continue\n");
press_enter();
usleep(500000);
while (get_value_s());
printf("Set the trim to 0 and leave the sticks in the neutral position\n");
press_enter();
//Loop until successfull
while (set_mid_s());
//write the values to global_data_rc_channels
write_data_s();
return 0;
}
apps/systemcmds/perf/.context
View File
apps/systemcmds/reboot/.context
View File
apps/systemcmds/top/.context
View File
apps/systemcmds/top/Makefile
-44
View File
@@ -1,44 +0,0 @@
############################################################################
#
# 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.
#
############################################################################
#
# realtime system performance display
#
APPNAME = top
PRIORITY = SCHED_PRIORITY_DEFAULT - 10
STACKSIZE = 3000
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os
makefiles/config_px4fmu_default.mk
+11 -11
View File
@@ -16,9 +16,19 @@ MODULES += drivers/l3gd20
MODULES += drivers/ardrone_interface MODULES += drivers/ardrone_interface
# #
# System utilities # System commands
# #
MODULES += systemcmds/eeprom MODULES += systemcmds/eeprom
MODULES += systemcmds/bl_update
MODULES += systemcmds/boardinfo
MODULES += systemcmds/i2c
MODULES += systemcmds/mixer
MODULES += systemcmds/param
MODULES += systemcmds/perf
MODULES += systemcmds/preflight_check
MODULES += systemcmds/pwm
MODULES += systemcmds/reboot
MODULES += systemcmds/top
MODULES += systemcmds/tests MODULES += systemcmds/tests
# #
@@ -48,12 +58,9 @@ endef
# command priority stack entrypoint # command priority stack entrypoint
BUILTIN_COMMANDS := \ BUILTIN_COMMANDS := \
$(call _B, adc, , 2048, adc_main ) \ $(call _B, adc, , 2048, adc_main ) \
$(call _B, bl_update, , 4096, bl_update_main ) \
$(call _B, blinkm, , 2048, blinkm_main ) \ $(call _B, blinkm, , 2048, blinkm_main ) \
$(call _B, bma180, , 2048, bma180_main ) \ $(call _B, bma180, , 2048, bma180_main ) \
$(call _B, boardinfo, , 2048, boardinfo_main ) \
$(call _B, control_demo, , 2048, control_demo_main ) \ $(call _B, control_demo, , 2048, control_demo_main ) \
$(call _B, delay_test, , 2048, delay_test_main ) \
$(call _B, fixedwing_att_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_att_control_main ) \ $(call _B, fixedwing_att_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_att_control_main ) \
$(call _B, fixedwing_pos_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_pos_control_main ) \ $(call _B, fixedwing_pos_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_pos_control_main ) \
$(call _B, gps, , 2048, gps_main ) \ $(call _B, gps, , 2048, gps_main ) \
@@ -62,22 +69,15 @@ BUILTIN_COMMANDS := \
$(call _B, hott_telemetry, , 2048, hott_telemetry_main ) \ $(call _B, hott_telemetry, , 2048, hott_telemetry_main ) \
$(call _B, kalman_demo, SCHED_PRIORITY_MAX-30, 2048, kalman_demo_main ) \ $(call _B, kalman_demo, SCHED_PRIORITY_MAX-30, 2048, kalman_demo_main ) \
$(call _B, math_demo, , 8192, math_demo_main ) \ $(call _B, math_demo, , 8192, math_demo_main ) \
$(call _B, mixer, , 4096, mixer_main ) \
$(call _B, mpu6000, , 4096, mpu6000_main ) \ $(call _B, mpu6000, , 4096, mpu6000_main ) \
$(call _B, ms5611, , 2048, ms5611_main ) \ $(call _B, ms5611, , 2048, ms5611_main ) \
$(call _B, multirotor_att_control, SCHED_PRIORITY_MAX-15, 2048, multirotor_att_control_main) \ $(call _B, multirotor_att_control, SCHED_PRIORITY_MAX-15, 2048, multirotor_att_control_main) \
$(call _B, multirotor_pos_control, SCHED_PRIORITY_MAX-25, 2048, multirotor_pos_control_main) \ $(call _B, multirotor_pos_control, SCHED_PRIORITY_MAX-25, 2048, multirotor_pos_control_main) \
$(call _B, param, , 4096, param_main ) \
$(call _B, perf, , 2048, perf_main ) \
$(call _B, position_estimator, , 4096, position_estimator_main ) \ $(call _B, position_estimator, , 4096, position_estimator_main ) \
$(call _B, preflight_check, , 2048, preflight_check_main ) \
$(call _B, px4io, , 2048, px4io_main ) \ $(call _B, px4io, , 2048, px4io_main ) \
$(call _B, reboot, , 2048, reboot_main ) \
$(call _B, sdlog, SCHED_PRIORITY_MAX-30, 2048, sdlog_main ) \ $(call _B, sdlog, SCHED_PRIORITY_MAX-30, 2048, sdlog_main ) \
$(call _B, sensors, SCHED_PRIORITY_MAX-5, 4096, sensors_main ) \ $(call _B, sensors, SCHED_PRIORITY_MAX-5, 4096, sensors_main ) \
$(call _B, sercon, , 2048, sercon_main ) \ $(call _B, sercon, , 2048, sercon_main ) \
$(call _B, serdis, , 2048, serdis_main ) \ $(call _B, serdis, , 2048, serdis_main ) \
$(call _B, tone_alarm, , 2048, tone_alarm_main ) \ $(call _B, tone_alarm, , 2048, tone_alarm_main ) \
$(call _B, top, SCHED_PRIORITY_DEFAULT-10, 3000, top_main ) \
$(call _B, param, SCHED_PRIORITY_DEFAULT-10, 2048, param_main ) \
$(call _B, uorb, , 4096, uorb_main ) $(call _B, uorb, , 4096, uorb_main )
src/modules/mavlink_onboard/module.mk
+1 -1
View File
@@ -37,6 +37,6 @@
MODULE_COMMAND = mavlink_onboard MODULE_COMMAND = mavlink_onboard
SRCS = mavlink.c \ SRCS = mavlink.c \
mavlink_receiver.c mavlink_receiver.c
INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink
apps/systemcmds/bl_update/bl_update.c → src/systemcmds/bl_update/bl_update.c
+1 -1
View File
@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
apps/systemcmds/bl_update/Makefile → src/systemcmds/bl_update/module.mk
+5 -6
View File
@@ -1,6 +1,6 @@
############################################################################ ############################################################################
# #
# Copyright (C) 2012 PX4 Development Team. All rights reserved. # Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
# #
# Redistribution and use in source and binary forms, with or without # Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions # modification, are permitted provided that the following conditions
@@ -32,13 +32,12 @@
############################################################################ ############################################################################
# #
# Build the eeprom tool. # Bootloader updater (flashes the FMU USB bootloader software)
# #
APPNAME = bl_update MODULE_COMMAND = bl_update
PRIORITY = SCHED_PRIORITY_DEFAULT SRCS = bl_update.c
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk MODULE_STACKSIZE = 4096
MAXOPTIMIZATION = -Os MAXOPTIMIZATION = -Os
apps/systemcmds/boardinfo/boardinfo.c → src/systemcmds/boardinfo/boardinfo.c
+1 -1
View File
@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
apps/systemcmds/preflight_check/Makefile → src/systemcmds/boardinfo/module.mk
+4 -7
View File
@@ -1,6 +1,6 @@
############################################################################ ############################################################################
# #
# Copyright (C) 2012 PX4 Development Team. All rights reserved. # Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
# #
# Redistribution and use in source and binary forms, with or without # Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions # modification, are permitted provided that the following conditions
@@ -32,13 +32,10 @@
############################################################################ ############################################################################
# #
# Reboot command. # Information about FMU and IO boards connected
# #
APPNAME = preflight_check MODULE_COMMAND = boardinfo
PRIORITY = SCHED_PRIORITY_DEFAULT SRCS = boardinfo.c
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os MAXOPTIMIZATION = -Os
src/systemcmds/eeprom/module.mk
+33
View File
@@ -1,3 +1,36 @@
############################################################################
#
# Copyright (c) 2012, 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.
#
############################################################################
# #
# EEPROM file system driver # EEPROM file system driver
# #
apps/systemcmds/i2c/i2c.c → src/systemcmds/i2c/i2c.c
+1 -1
View File
@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* 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 * Redistribution and use in source and binary forms, with or without
apps/systemcmds/i2c/Makefile → src/systemcmds/i2c/module.mk
+4 -5
View File
@@ -1,6 +1,6 @@
############################################################################ ############################################################################
# #
# Copyright (C) 2012 PX4 Development Team. All rights reserved. # Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
# #
# Redistribution and use in source and binary forms, with or without # Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions # modification, are permitted provided that the following conditions
@@ -35,8 +35,7 @@
# Build the i2c test tool. # Build the i2c test tool.
# #
APPNAME = i2c MODULE_COMMAND = i2c
PRIORITY = SCHED_PRIORITY_DEFAULT SRCS = i2c.c
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk MAXOPTIMIZATION = -Os
apps/systemcmds/mixer/mixer.c → src/systemcmds/mixer/mixer.c
View File
apps/systemcmds/mixer/Makefile → src/systemcmds/mixer/module.mk
+4 -5
View File
@@ -1,6 +1,6 @@
############################################################################ ############################################################################
# #
# Copyright (C) 2012 PX4 Development Team. All rights reserved. # Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
# #
# Redistribution and use in source and binary forms, with or without # Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions # modification, are permitted provided that the following conditions
@@ -35,10 +35,9 @@
# Build the mixer tool. # Build the mixer tool.
# #
APPNAME = mixer MODULE_COMMAND = mixer
PRIORITY = SCHED_PRIORITY_DEFAULT SRCS = mixer.c
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk MODULE_STACKSIZE = 4096
MAXOPTIMIZATION = -Os MAXOPTIMIZATION = -Os
apps/systemcmds/param/Makefile → src/systemcmds/param/module.mk
+5 -5
View File
@@ -1,6 +1,6 @@
############################################################################ ############################################################################
# #
# Copyright (C) 2012 PX4 Development Team. All rights reserved. # Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
# #
# Redistribution and use in source and binary forms, with or without # Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions # modification, are permitted provided that the following conditions
@@ -35,10 +35,10 @@
# Build the parameters tool. # Build the parameters tool.
# #
APPNAME = param MODULE_COMMAND = param
PRIORITY = SCHED_PRIORITY_DEFAULT SRCS = param.c
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk MODULE_STACKSIZE = 4096
MAXOPTIMIZATION = -Os MAXOPTIMIZATION = -Os
apps/systemcmds/param/param.c → src/systemcmds/param/param.c
View File
apps/systemcmds/perf/Makefile → src/systemcmds/perf/module.mk
+3 -6
View File
@@ -1,6 +1,6 @@
############################################################################ ############################################################################
# #
# Copyright (C) 2012 PX4 Development Team. All rights reserved. # Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
# #
# Redistribution and use in source and binary forms, with or without # Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions # modification, are permitted provided that the following conditions
@@ -35,10 +35,7 @@
# perf_counter reporting tool # perf_counter reporting tool
# #
APPNAME = perf MODULE_COMMAND = perf
PRIORITY = SCHED_PRIORITY_DEFAULT SRCS = perf.c
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os MAXOPTIMIZATION = -Os
apps/systemcmds/perf/perf.c → src/systemcmds/perf/perf.c
+1 -1
View File
@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
apps/systemcmds/boardinfo/Makefile → src/systemcmds/preflight_check/module.mk
+5 -7
View File
@@ -1,6 +1,6 @@
############################################################################ ############################################################################
# #
# Copyright (C) 2012 PX4 Development Team. All rights reserved. # Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
# #
# Redistribution and use in source and binary forms, with or without # Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions # modification, are permitted provided that the following conditions
@@ -32,13 +32,11 @@
############################################################################ ############################################################################
# #
# Build the boardinfo tool. # Pre-flight check. Locks down system for a few systems with blinking leds
# and buzzer if the sensors do not report an OK status.
# #
APPNAME = boardinfo MODULE_COMMAND = preflight_check
PRIORITY = SCHED_PRIORITY_DEFAULT SRCS = preflight_check.c
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os MAXOPTIMIZATION = -Os
apps/systemcmds/preflight_check/preflight_check.c → src/systemcmds/preflight_check/preflight_check.c
+1 -1
View File
@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch> * Author: @author Lorenz Meier <lm@inf.ethz.ch>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
apps/systemcmds/pwm/Makefile → src/systemcmds/pwm/module.mk
+4 -5
View File
@@ -1,6 +1,6 @@
############################################################################ ############################################################################
# #
# Copyright (C) 2012 PX4 Development Team. All rights reserved. # Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
# #
# Redistribution and use in source and binary forms, with or without # Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions # modification, are permitted provided that the following conditions
@@ -35,8 +35,7 @@
# Build the pwm tool. # Build the pwm tool.
# #
APPNAME = pwm MODULE_COMMAND = pwm
PRIORITY = SCHED_PRIORITY_DEFAULT SRCS = pwm.c
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk MODULE_STACKSIZE = 4096
apps/systemcmds/pwm/pwm.c → src/systemcmds/pwm/pwm.c
View File
src/systemcmds/reboot/module.mk
+41
View File
@@ -0,0 +1,41 @@
############################################################################
#
# Copyright (c) 2012, 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.
#
############################################################################
#
# reboot command.
#
MODULE_COMMAND = reboot
SRCS = reboot.c
MAXOPTIMIZATION = -Os
apps/systemcmds/reboot/reboot.c → src/systemcmds/reboot/reboot.c
View File
apps/systemcmds/reboot/Makefile → src/systemcmds/top/module.mk
+6 -6
View File
@@ -1,6 +1,6 @@
############################################################################ ############################################################################
# #
# Copyright (C) 2012 PX4 Development Team. All rights reserved. # Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
# #
# Redistribution and use in source and binary forms, with or without # Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions # modification, are permitted provided that the following conditions
@@ -32,13 +32,13 @@
############################################################################ ############################################################################
# #
# Reboot command. # Build top memory / cpu status tool.
# #
APPNAME = reboot MODULE_COMMAND = top
PRIORITY = SCHED_PRIORITY_DEFAULT SRCS = top.c
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk MODULE_STACKSIZE = 3000
MAXOPTIMIZATION = -Os MAXOPTIMIZATION = -Os
apps/systemcmds/top/top.c → src/systemcmds/top/top.c
View File