mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-08 02:17:07 +08:00
Merge branch 'master' of github.com:PX4/Firmware into pca8574
This commit is contained in:
Lorenz Meier
@@ -37,3 +37,5 @@ mavlink/include/mavlink/v0.9/
|
||||
tags
|
||||
.tags_sorted_by_file
|
||||
.pydevproject
|
||||
.ropeproject
|
||||
*.orig
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,12 @@
|
||||
{
|
||||
"board_id": 19,
|
||||
"magic": "AeroCore",
|
||||
"description": "Firmware for the Gumstix AeroCore board",
|
||||
"image": "",
|
||||
"build_time": 0,
|
||||
"summary": "AEROCORE",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@@ -18,9 +18,9 @@ then
|
||||
param set MC_PITCHRATE_P 0.13
|
||||
param set MC_PITCHRATE_I 0.0
|
||||
param set MC_PITCHRATE_D 0.004
|
||||
param set MC_YAW_P 0.5
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.0
|
||||
param set MC_YAW_P 2.5
|
||||
param set MC_YAWRATE_P 0.25
|
||||
param set MC_YAWRATE_I 0.25
|
||||
param set MC_YAWRATE_D 0.0
|
||||
|
||||
param set BAT_V_SCALING 0.00989
|
||||
|
||||
@@ -0,0 +1,35 @@
|
||||
#!nsh
|
||||
#
|
||||
# Steadidrone QU4D
|
||||
#
|
||||
# Thomas Gubler <thomasgubler@gmail.com>
|
||||
# Lorenz Meier <lm@inf.ethz.ch>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
if [ $DO_AUTOCONFIG == yes ]
|
||||
then
|
||||
# TODO tune roll/pitch separately
|
||||
param set MC_ROLL_P 7.0
|
||||
param set MC_ROLLRATE_P 0.13
|
||||
param set MC_ROLLRATE_I 0.0
|
||||
param set MC_ROLLRATE_D 0.004
|
||||
param set MC_PITCH_P 7.0
|
||||
param set MC_PITCHRATE_P 0.13
|
||||
param set MC_PITCHRATE_I 0.0
|
||||
param set MC_PITCHRATE_D 0.004
|
||||
param set MC_YAW_P 0.5
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.0
|
||||
param set MC_YAWRATE_D 0.0
|
||||
|
||||
param set BAT_N_CELLS 4
|
||||
fi
|
||||
|
||||
set MIXER FMU_quad_w
|
||||
|
||||
set PWM_MIN 1210
|
||||
set PWM_MAX 2100
|
||||
|
||||
set PWM_OUTPUTS 1234
|
||||
@@ -1,7 +1,5 @@
|
||||
#!nsh
|
||||
#
|
||||
# UNTESTED UNTESTED!
|
||||
#
|
||||
# Generic 10" Hexa coaxial geometry
|
||||
#
|
||||
# Lorenz Meier <lm@inf.ethz.ch>
|
||||
|
||||
@@ -5,4 +5,4 @@
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
set MIXER FMU_RET
|
||||
set MIXER easystar
|
||||
|
||||
@@ -14,19 +14,20 @@ sh /etc/init.d/rc.mc_defaults
|
||||
if [ $DO_AUTOCONFIG == yes ]
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
param set MC_ROLL_P 5.0
|
||||
param set MC_ROLLRATE_P 0.13
|
||||
param set MC_ROLLRATE_I 0.0
|
||||
param set MC_ROLLRATE_D 0.0
|
||||
param set MC_PITCH_P 5.0
|
||||
param set MC_PITCHRATE_P 0.13
|
||||
param set MC_PITCHRATE_I 0.0
|
||||
param set MC_PITCHRATE_D 0.0
|
||||
param set MC_YAW_P 1.0
|
||||
param set MC_YAWRATE_P 0.15
|
||||
param set MC_YAWRATE_I 0.0
|
||||
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 0.15
|
||||
param set MC_YAW_FF 0.8
|
||||
|
||||
param set BAT_V_SCALING 0.00838095238
|
||||
fi
|
||||
|
||||
|
||||
@@ -195,6 +195,11 @@ then
|
||||
sh /etc/init.d/10016_3dr_iris
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 10017
|
||||
then
|
||||
sh /etc/init.d/10017_steadidrone_qu4d
|
||||
fi
|
||||
|
||||
#
|
||||
# Hexa Coaxial
|
||||
#
|
||||
|
||||
@@ -6,7 +6,7 @@
|
||||
#
|
||||
# Start the attitude and position estimator
|
||||
#
|
||||
fw_att_pos_estimator start
|
||||
ekf_att_pos_estimator start
|
||||
|
||||
#
|
||||
# Start attitude controller
|
||||
|
||||
@@ -11,6 +11,4 @@ then
|
||||
param set NAV_RTL_ALT 100
|
||||
param set NAV_RTL_LAND_T -1
|
||||
param set NAV_ACCEPT_RAD 50
|
||||
param set RC_SCALE_ROLL 1
|
||||
param set RC_SCALE_PITCH 1
|
||||
fi
|
||||
@@ -11,7 +11,7 @@ px4io recovery
|
||||
# Adjust PX4IO update rate limit
|
||||
#
|
||||
set PX4IO_LIMIT 400
|
||||
if hw_ver compare PX4FMU_V1
|
||||
if ver hwcmp PX4FMU_V1
|
||||
then
|
||||
set PX4IO_LIMIT 200
|
||||
fi
|
||||
|
||||
@@ -5,12 +5,12 @@
|
||||
|
||||
if [ -d /fs/microsd ]
|
||||
then
|
||||
if hw_ver compare PX4FMU_V1
|
||||
if ver hwcmp PX4FMU_V1
|
||||
then
|
||||
echo "Start sdlog2 at 50Hz"
|
||||
sdlog2 start -r 50 -a -b 8 -t
|
||||
sdlog2 start -r 50 -a -b 4 -t
|
||||
else
|
||||
echo "Start sdlog2 at 200Hz"
|
||||
sdlog2 start -r 200 -a -b 16 -t
|
||||
sdlog2 start -r 200 -a -b 22 -t
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -5,6 +5,7 @@
|
||||
#
|
||||
|
||||
attitude_estimator_ekf start
|
||||
#ekf_att_pos_estimator start
|
||||
position_estimator_inav start
|
||||
|
||||
mc_att_control start
|
||||
|
||||
@@ -32,9 +32,15 @@ then
|
||||
param set MPC_Z_VEL_D 0.0
|
||||
param set MPC_Z_VEL_MAX 3
|
||||
param set MPC_Z_FF 0.5
|
||||
param set MPC_TILT_MAX 1.0
|
||||
param set MPC_TILTMAX_AIR 45.0
|
||||
param set MPC_TILTMAX_LND 15.0
|
||||
param set MPC_LAND_SPEED 1.0
|
||||
param set MPC_LAND_TILT 0.3
|
||||
|
||||
param set PE_VELNE_NOISE 0.5
|
||||
param set PE_VELNE_NOISE 0.7
|
||||
param set PE_POSNE_NOISE 0.5
|
||||
param set PE_POSD_NOISE 1.0
|
||||
|
||||
fi
|
||||
|
||||
set PWM_RATE 400
|
||||
|
||||
@@ -22,7 +22,7 @@ then
|
||||
echo "[init] Using L3GD20(H)"
|
||||
fi
|
||||
|
||||
if hw_ver compare PX4FMU_V2
|
||||
if ver hwcmp PX4FMU_V2
|
||||
then
|
||||
if lsm303d start
|
||||
then
|
||||
|
||||
@@ -3,16 +3,20 @@
|
||||
# USB MAVLink start
|
||||
#
|
||||
|
||||
echo "Starting MAVLink on this USB console"
|
||||
|
||||
mavlink start -r 10000 -d /dev/ttyACM0
|
||||
# Enable a number of interesting streams we want via USB
|
||||
mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30
|
||||
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 10
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
|
||||
usleep 100000
|
||||
|
||||
# Exit shell to make it available to MAVLink
|
||||
exit
|
||||
|
||||
@@ -248,7 +248,7 @@ then
|
||||
echo "[init] ERROR: PX4IO not found, disabling output"
|
||||
|
||||
# Avoid using ttyS0 for MAVLink on FMUv1
|
||||
if hw_ver compare PX4FMU_V1
|
||||
if ver hwcmp PX4FMU_V1
|
||||
then
|
||||
set FMU_MODE serial
|
||||
fi
|
||||
@@ -262,7 +262,7 @@ then
|
||||
if [ $HIL == yes ]
|
||||
then
|
||||
set OUTPUT_MODE hil
|
||||
if hw_ver compare PX4FMU_V1
|
||||
if ver hwcmp PX4FMU_V1
|
||||
then
|
||||
set FMU_MODE serial
|
||||
fi
|
||||
@@ -308,7 +308,7 @@ then
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
|
||||
if hw_ver compare PX4FMU_V1
|
||||
if ver hwcmp PX4FMU_V1
|
||||
then
|
||||
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
|
||||
then
|
||||
@@ -383,7 +383,7 @@ then
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
|
||||
if hw_ver compare PX4FMU_V1
|
||||
if ver hwcmp PX4FMU_V1
|
||||
then
|
||||
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
|
||||
then
|
||||
@@ -419,16 +419,6 @@ then
|
||||
|
||||
mavlink start $MAVLINK_FLAGS
|
||||
|
||||
#
|
||||
# Start the datamanager
|
||||
#
|
||||
dataman start
|
||||
|
||||
#
|
||||
# Start the navigator
|
||||
#
|
||||
navigator start
|
||||
|
||||
#
|
||||
# Sensors, Logging, GPS
|
||||
#
|
||||
@@ -550,6 +540,16 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the datamanager
|
||||
#
|
||||
dataman start
|
||||
|
||||
#
|
||||
# Start the navigator
|
||||
#
|
||||
navigator start
|
||||
|
||||
#
|
||||
# Generic setup (autostart ID not found)
|
||||
#
|
||||
|
||||
@@ -0,0 +1,154 @@
|
||||
PX4 mixer definitions
|
||||
=====================
|
||||
|
||||
Files in this directory implement example mixers that can be used as a basis
|
||||
for customisation, or for general testing purposes.
|
||||
|
||||
Mixer basics
|
||||
------------
|
||||
|
||||
Mixers combine control values from various sources (control tasks, user inputs,
|
||||
etc.) and produce output values suitable for controlling actuators; servos,
|
||||
motors, switches and so on.
|
||||
|
||||
An actuator derives its value from the combination of one or more control
|
||||
values. Each of the control values is scaled according to the actuator's
|
||||
configuration and then combined to produce the actuator value, which may then be
|
||||
further scaled to suit the specific output type.
|
||||
|
||||
Internally, all scaling is performed using floating point values. Inputs and
|
||||
outputs are clamped to the range -1.0 to 1.0.
|
||||
|
||||
control control control
|
||||
| | |
|
||||
v v v
|
||||
scale scale scale
|
||||
| | |
|
||||
| v |
|
||||
+-------> mix <------+
|
||||
|
|
||||
scale
|
||||
|
|
||||
v
|
||||
out
|
||||
|
||||
Scaling
|
||||
-------
|
||||
|
||||
Basic scalers provide linear scaling of the input to the output.
|
||||
|
||||
Each scaler allows the input value to be scaled independently for inputs
|
||||
greater/less than zero. An offset can be applied to the output, and lower and
|
||||
upper boundary constraints can be applied. Negative scaling factors cause the
|
||||
output to be inverted (negative input produces positive output).
|
||||
|
||||
Scaler pseudocode:
|
||||
|
||||
if (input < 0)
|
||||
output = (input * NEGATIVE_SCALE) + OFFSET
|
||||
else
|
||||
output = (input * POSITIVE_SCALE) + OFFSET
|
||||
|
||||
if (output < LOWER_LIMIT)
|
||||
output = LOWER_LIMIT
|
||||
if (output > UPPER_LIMIT)
|
||||
output = UPPER_LIMIT
|
||||
|
||||
Syntax
|
||||
------
|
||||
|
||||
Mixer definitions are text files; lines beginning with a single capital letter
|
||||
followed by a colon are significant. All other lines are ignored, meaning that
|
||||
explanatory text can be freely mixed with the definitions.
|
||||
|
||||
Each file may define more than one mixer; the allocation of mixers to actuators
|
||||
is specific to the device reading the mixer definition, and the number of
|
||||
actuator outputs generated by a mixer is specific to the mixer.
|
||||
|
||||
A mixer begins with a line of the form
|
||||
|
||||
<tag>: <mixer arguments>
|
||||
|
||||
The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a
|
||||
multirotor mixer, etc.
|
||||
|
||||
Null Mixer
|
||||
..........
|
||||
|
||||
A null mixer consumes no controls and generates a single actuator output whose
|
||||
value is always zero. Typically a null mixer is used as a placeholder in a
|
||||
collection of mixers in order to achieve a specific pattern of actuator outputs.
|
||||
|
||||
The null mixer definition has the form:
|
||||
|
||||
Z:
|
||||
|
||||
Simple Mixer
|
||||
............
|
||||
|
||||
A simple mixer combines zero or more control inputs into a single actuator
|
||||
output. Inputs are scaled, and the mixing function sums the result before
|
||||
applying an output scaler.
|
||||
|
||||
A simple mixer definition begins with:
|
||||
|
||||
M: <control count>
|
||||
O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
|
||||
|
||||
If <control count> is zero, the sum is effectively zero and the mixer will
|
||||
output a fixed value that is <offset> constrained by <lower limit> and <upper
|
||||
limit>.
|
||||
|
||||
The second line defines the output scaler with scaler parameters as discussed
|
||||
above. Whilst the calculations are performed as floating-point operations, the
|
||||
values stored in the definition file are scaled by a factor of 10000; i.e. an
|
||||
offset of -0.5 is encoded as -5000.
|
||||
|
||||
The definition continues with <control count> entries describing the control
|
||||
inputs and their scaling, in the form:
|
||||
|
||||
S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
|
||||
|
||||
The <group> value identifies the control group from which the scaler will read,
|
||||
and the <index> value an offset within that group. These values are specific to
|
||||
the device reading the mixer definition.
|
||||
|
||||
When used to mix vehicle controls, mixer group zero is the vehicle attitude
|
||||
control group, and index values zero through three are normally roll, pitch,
|
||||
yaw and thrust respectively.
|
||||
|
||||
The remaining fields on the line configure the control scaler with parameters as
|
||||
discussed above. Whilst the calculations are performed as floating-point
|
||||
operations, the values stored in the definition file are scaled by a factor of
|
||||
10000; i.e. an offset of -0.5 is encoded as -5000.
|
||||
|
||||
Multirotor Mixer
|
||||
................
|
||||
|
||||
The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust)
|
||||
into a set of actuator outputs intended to drive motor speed controllers.
|
||||
|
||||
The mixer definition is a single line of the form:
|
||||
|
||||
R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
|
||||
|
||||
The supported geometries include:
|
||||
|
||||
4x - quadrotor in X configuration
|
||||
4+ - quadrotor in + configuration
|
||||
6x - hexcopter in X configuration
|
||||
6+ - hexcopter in + configuration
|
||||
8x - octocopter in X configuration
|
||||
8+ - octocopter in + configuration
|
||||
|
||||
Each of the roll, pitch and yaw scale values determine scaling of the roll,
|
||||
pitch and yaw controls relative to the thrust control. Whilst the calculations
|
||||
are performed as floating-point operations, the values stored in the definition
|
||||
file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000.
|
||||
|
||||
Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the
|
||||
thrust input ranges from 0.0 to 1.0. Output for each actuator is in the
|
||||
range -1.0 to 1.0.
|
||||
|
||||
In the case where an actuator saturates, all actuator values are rescaled so that
|
||||
the saturating actuator is limited to 1.0.
|
||||
@@ -0,0 +1,31 @@
|
||||
EASYSTAR / EASYSTAR II MIXER
|
||||
============================
|
||||
|
||||
Aileron mixer
|
||||
-------------
|
||||
One output - would be easy to add support for 2 servos
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
Elevator mixer
|
||||
------------
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
Rudder mixer
|
||||
------------
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
|
||||
Motor speed mixer
|
||||
-----------------
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
@@ -16,5 +16,6 @@ astyle \
|
||||
--ignore-exclude-errors-x \
|
||||
--lineend=linux \
|
||||
--exclude=EASTL \
|
||||
--add-brackets \
|
||||
--add-brackets \
|
||||
--max-code-length=120 \
|
||||
$*
|
||||
|
||||
+15
-14
@@ -43,29 +43,30 @@ from __future__ import print_function
|
||||
import argparse
|
||||
import os
|
||||
|
||||
|
||||
def main():
|
||||
|
||||
|
||||
# Parse commandline arguments
|
||||
parser = argparse.ArgumentParser(description="ROMFS pruner.")
|
||||
parser.add_argument('--folder', action="store", help="ROMFS scratch folder.")
|
||||
args = parser.parse_args()
|
||||
|
||||
|
||||
print("Pruning ROMFS files.")
|
||||
|
||||
# go through
|
||||
|
||||
# go through
|
||||
for (root, dirs, files) in os.walk(args.folder):
|
||||
for file in files:
|
||||
# only prune text files
|
||||
if ".zip" in file or ".bin" in file:
|
||||
if ".zip" in file or ".bin" in file or ".swp" in file:
|
||||
continue
|
||||
|
||||
file_path = os.path.join(root, file)
|
||||
|
||||
|
||||
file_path = os.path.join(root, file)
|
||||
|
||||
# read file line by line
|
||||
pruned_content = ""
|
||||
with open(file_path, "r") as f:
|
||||
for line in f:
|
||||
|
||||
for line in f:
|
||||
|
||||
# handle mixer files differently than startup files
|
||||
if file_path.endswith(".mix"):
|
||||
if line.startswith(("Z:", "M:", "R: ", "O:", "S:")):
|
||||
@@ -73,11 +74,11 @@ def main():
|
||||
else:
|
||||
if not line.isspace() and not line.strip().startswith("#"):
|
||||
pruned_content += line
|
||||
|
||||
|
||||
# overwrite old scratch file
|
||||
with open(file_path, "w") as f:
|
||||
f.write(pruned_content)
|
||||
|
||||
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
main()
|
||||
|
||||
@@ -1,2 +1,4 @@
|
||||
./obj/*
|
||||
mixer_test
|
||||
sbus2_test
|
||||
autodeclination_test
|
||||
|
||||
+26
-34
@@ -1,47 +1,39 @@
|
||||
|
||||
CC=g++
|
||||
CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers -I../../src -D__EXPORT="" -Dnullptr="0"
|
||||
CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \
|
||||
-I../../src -I../../src/lib -D__EXPORT="" -Dnullptr="0" -lm
|
||||
|
||||
ODIR=obj
|
||||
LDIR =../lib
|
||||
all: mixer_test sbus2_test autodeclination_test
|
||||
|
||||
LIBS=-lm
|
||||
MIXER_FILES=../../src/systemcmds/tests/test_mixer.cpp \
|
||||
../../src/systemcmds/tests/test_conv.cpp \
|
||||
../../src/modules/systemlib/mixer/mixer_simple.cpp \
|
||||
../../src/modules/systemlib/mixer/mixer_multirotor.cpp \
|
||||
../../src/modules/systemlib/mixer/mixer.cpp \
|
||||
../../src/modules/systemlib/mixer/mixer_group.cpp \
|
||||
../../src/modules/systemlib/mixer/mixer_load.c \
|
||||
../../src/modules/systemlib/pwm_limit/pwm_limit.c \
|
||||
hrt.cpp \
|
||||
mixer_test.cpp
|
||||
|
||||
#_DEPS = test.h
|
||||
#DEPS = $(patsubst %,$(IDIR)/%,$(_DEPS))
|
||||
SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \
|
||||
hrt.cpp \
|
||||
sbus2_test.cpp
|
||||
|
||||
_OBJ = mixer_test.o test_mixer.o mixer_simple.o mixer_multirotor.o \
|
||||
mixer.o mixer_group.o mixer_load.o test_conv.o pwm_limit.o hrt.o
|
||||
OBJ = $(patsubst %,$(ODIR)/%,$(_OBJ))
|
||||
AUTODECLINATION_FILES= ../../src/lib/geo/geo_mag_declination.c \
|
||||
hrt.cpp \
|
||||
autodeclination_test.cpp
|
||||
|
||||
#$(DEPS)
|
||||
$(ODIR)/%.o: %.cpp
|
||||
mkdir -p obj
|
||||
$(CC) -c -o $@ $< $(CFLAGS)
|
||||
mixer_test: $(MIXER_FILES)
|
||||
$(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS)
|
||||
|
||||
$(ODIR)/%.o: ../../src/systemcmds/tests/%.cpp
|
||||
$(CC) -c -o $@ $< $(CFLAGS)
|
||||
sbus2_test: $(SBUS2_FILES)
|
||||
$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
|
||||
|
||||
$(ODIR)/%.o: ../../src/modules/systemlib/%.cpp
|
||||
$(CC) -c -o $@ $< $(CFLAGS)
|
||||
|
||||
$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.cpp
|
||||
$(CC) -c -o $@ $< $(CFLAGS)
|
||||
|
||||
$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.cpp
|
||||
$(CC) -c -o $@ $< $(CFLAGS)
|
||||
|
||||
$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.c
|
||||
$(CC) -c -o $@ $< $(CFLAGS)
|
||||
|
||||
$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.c
|
||||
$(CC) -c -o $@ $< $(CFLAGS)
|
||||
|
||||
#
|
||||
mixer_test: $(OBJ)
|
||||
g++ -o $@ $^ $(CFLAGS) $(LIBS)
|
||||
autodeclination_test: $(SBUS2_FILES)
|
||||
$(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS)
|
||||
|
||||
.PHONY: clean
|
||||
|
||||
clean:
|
||||
rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~
|
||||
rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test
|
||||
@@ -0,0 +1,28 @@
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
#include <string.h>
|
||||
#include <systemlib/mixer/mixer.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <px4iofirmware/px4io.h>
|
||||
#include "../../src/systemcmds/tests/tests.h"
|
||||
#include <geo/geo.h>
|
||||
|
||||
int main(int argc, char *argv[]) {
|
||||
warnx("autodeclination test started");
|
||||
|
||||
if (argc < 3)
|
||||
errx(1, "Need lat/lon!");
|
||||
|
||||
char* p_end;
|
||||
|
||||
float lat = strtod(argv[1], &p_end);
|
||||
float lon = strtod(argv[2], &p_end);
|
||||
|
||||
float declination = get_mag_declination(lat, lon);
|
||||
|
||||
printf("lat: %f lon: %f, dec: %f\n", lat, lon, declination);
|
||||
|
||||
}
|
||||
@@ -0,0 +1,5 @@
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <systemlib/err.h>
|
||||
#define lowsyslog warnx
|
||||
@@ -11,4 +11,4 @@ int main(int argc, char *argv[]) {
|
||||
test_mixer(3, args);
|
||||
|
||||
test_conv(1, args);
|
||||
}
|
||||
}
|
||||
|
||||
Executable
+6
@@ -0,0 +1,6 @@
|
||||
#!/bin/sh
|
||||
|
||||
make clean
|
||||
make all
|
||||
./mixer_test
|
||||
./sbus2_test ../../../../data/sbus2/sbus2_r7008SB_gps_baro_tx_off.txt
|
||||
@@ -0,0 +1,75 @@
|
||||
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
#include <string.h>
|
||||
#include <systemlib/mixer/mixer.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <px4iofirmware/px4io.h>
|
||||
#include "../../src/systemcmds/tests/tests.h"
|
||||
|
||||
int main(int argc, char *argv[]) {
|
||||
warnx("SBUS2 test started");
|
||||
|
||||
if (argc < 2)
|
||||
errx(1, "Need a filename for the input file");
|
||||
|
||||
warnx("loading data from: %s", argv[1]);
|
||||
|
||||
FILE *fp;
|
||||
|
||||
fp = fopen(argv[1],"rt");
|
||||
|
||||
if (!fp)
|
||||
errx(1, "failed opening file");
|
||||
|
||||
float f;
|
||||
unsigned x;
|
||||
int ret;
|
||||
|
||||
// Trash the first 20 lines
|
||||
for (unsigned i = 0; i < 20; i++) {
|
||||
(void)fscanf(fp, "%f,%x,,", &f, &x);
|
||||
}
|
||||
|
||||
// Init the parser
|
||||
uint8_t frame[30];
|
||||
unsigned partial_frame_count = 0;
|
||||
uint16_t rc_values[18];
|
||||
uint16_t num_values;
|
||||
bool sbus_failsafe;
|
||||
bool sbus_frame_drop;
|
||||
uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);
|
||||
|
||||
float last_time = 0;
|
||||
|
||||
while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
|
||||
if (((f - last_time) * 1000 * 1000) > 3000) {
|
||||
partial_frame_count = 0;
|
||||
warnx("FRAME RESET\n\n");
|
||||
}
|
||||
|
||||
frame[partial_frame_count] = x;
|
||||
partial_frame_count++;
|
||||
|
||||
//warnx("%f: 0x%02x, first: 0x%02x, last: 0x%02x, pcount: %u", (double)f, x, frame[0], frame[24], partial_frame_count);
|
||||
|
||||
if (partial_frame_count == sizeof(frame))
|
||||
partial_frame_count = 0;
|
||||
|
||||
last_time = f;
|
||||
|
||||
// Pipe the data into the parser
|
||||
hrt_abstime now = hrt_absolute_time();
|
||||
|
||||
//if (partial_frame_count % 25 == 0)
|
||||
//sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels);
|
||||
}
|
||||
|
||||
if (ret == EOF) {
|
||||
warnx("Test finished, reached end of file");
|
||||
} else {
|
||||
warnx("Test aborted, errno: %d", ret);
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,11 @@
|
||||
#
|
||||
# Board-specific definitions for the Gumstix AeroCore
|
||||
#
|
||||
|
||||
#
|
||||
# Configure the toolchain
|
||||
#
|
||||
CONFIG_ARCH = CORTEXM4F
|
||||
CONFIG_BOARD = AEROCORE
|
||||
|
||||
include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
|
||||
@@ -0,0 +1,125 @@
|
||||
#
|
||||
# Makefile for the AeroCore *default* configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Use the configuration's ROMFS.
|
||||
#
|
||||
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
MODULES += drivers/stm32
|
||||
MODULES += drivers/stm32/adc
|
||||
MODULES += drivers/stm32/tone_alarm
|
||||
MODULES += drivers/led
|
||||
MODULES += drivers/px4fmu
|
||||
MODULES += drivers/boards/aerocore
|
||||
MODULES += drivers/lsm303d
|
||||
MODULES += drivers/l3gd20
|
||||
MODULES += drivers/ms5611
|
||||
MODULES += drivers/gps
|
||||
MODULES += drivers/hil
|
||||
MODULES += modules/sensors
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/boardinfo
|
||||
MODULES += systemcmds/mixer
|
||||
MODULES += systemcmds/param
|
||||
MODULES += systemcmds/perf
|
||||
MODULES += systemcmds/preflight_check
|
||||
MODULES += systemcmds/pwm
|
||||
MODULES += systemcmds/esc_calib
|
||||
MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/top
|
||||
MODULES += systemcmds/config
|
||||
MODULES += systemcmds/nshterm
|
||||
MODULES += systemcmds/mtd
|
||||
MODULES += systemcmds/dumpfile
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
MODULES += modules/commander
|
||||
MODULES += modules/navigator
|
||||
MODULES += modules/mavlink
|
||||
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
MODULES += modules/attitude_estimator_ekf
|
||||
MODULES += modules/attitude_estimator_so3
|
||||
MODULES += modules/ekf_att_pos_estimator
|
||||
MODULES += modules/position_estimator_inav
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
MODULES += modules/fw_pos_control_l1
|
||||
MODULES += modules/fw_att_control
|
||||
MODULES += modules/mc_att_control
|
||||
MODULES += modules/mc_pos_control
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/controllib
|
||||
MODULES += modules/uORB
|
||||
MODULES += modules/dataman
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
LIBRARIES += lib/mathlib/CMSIS
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
MODULES += lib/ecl
|
||||
MODULES += lib/external_lgpl
|
||||
MODULES += lib/geo
|
||||
MODULES += lib/conversion
|
||||
MODULES += lib/launchdetection
|
||||
|
||||
#
|
||||
# Demo apps
|
||||
#
|
||||
#MODULES += examples/math_demo
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/hello_sky
|
||||
MODULES += examples/px4_simple_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/daemon
|
||||
#MODULES += examples/px4_daemon_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/debug_values
|
||||
#MODULES += examples/px4_mavlink_debug
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
|
||||
#MODULES += examples/fixedwing_control
|
||||
|
||||
# Hardware test
|
||||
#MODULES += examples/hwtest
|
||||
|
||||
#
|
||||
# Transitional support - add commands from the NuttX export archive.
|
||||
#
|
||||
# In general, these should move to modules over time.
|
||||
#
|
||||
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
|
||||
# to make the table a bit more readable.
|
||||
#
|
||||
define _B
|
||||
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
|
||||
endef
|
||||
|
||||
BUILTIN_COMMANDS := \
|
||||
$(call _B, hello, , 2048, hello_main) \
|
||||
$(call _B, i2c, , 2048, i2c_main)
|
||||
@@ -55,8 +55,8 @@ MODULES += systemcmds/top
|
||||
MODULES += systemcmds/tests
|
||||
MODULES += systemcmds/config
|
||||
MODULES += systemcmds/nshterm
|
||||
MODULES += systemcmds/hw_ver
|
||||
MODULES += systemcmds/dumpfile
|
||||
MODULES += systemcmds/ver
|
||||
|
||||
#
|
||||
# General system control
|
||||
@@ -70,7 +70,7 @@ MODULES += modules/gpio_led
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
MODULES += modules/attitude_estimator_ekf
|
||||
MODULES += modules/fw_att_pos_estimator
|
||||
MODULES += modules/ekf_att_pos_estimator
|
||||
MODULES += modules/position_estimator_inav
|
||||
#MODULES += examples/flow_position_estimator
|
||||
|
||||
|
||||
@@ -64,8 +64,8 @@ MODULES += systemcmds/tests
|
||||
MODULES += systemcmds/config
|
||||
MODULES += systemcmds/nshterm
|
||||
MODULES += systemcmds/mtd
|
||||
MODULES += systemcmds/hw_ver
|
||||
MODULES += systemcmds/dumpfile
|
||||
MODULES += systemcmds/ver
|
||||
|
||||
#
|
||||
# General system control
|
||||
@@ -80,7 +80,7 @@ MODULES += modules/gpio_led
|
||||
#
|
||||
MODULES += modules/attitude_estimator_ekf
|
||||
MODULES += modules/attitude_estimator_so3
|
||||
MODULES += modules/fw_att_pos_estimator
|
||||
MODULES += modules/ekf_att_pos_estimator
|
||||
MODULES += modules/position_estimator_inav
|
||||
MODULES += examples/flow_position_estimator
|
||||
|
||||
|
||||
@@ -30,7 +30,7 @@ MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/tests
|
||||
MODULES += systemcmds/nshterm
|
||||
MODULES += systemcmds/mtd
|
||||
MODULES += systemcmds/hw_ver
|
||||
MODULES += systemcmds/ver
|
||||
|
||||
#
|
||||
# Library modules
|
||||
|
||||
@@ -113,7 +113,7 @@ endif
|
||||
$(info % GIT_DESC = $(GIT_DESC))
|
||||
|
||||
#
|
||||
# Set a default target so that included makefiles or errors here don't
|
||||
# Set a default target so that included makefiles or errors here don't
|
||||
# cause confusion.
|
||||
#
|
||||
# XXX We could do something cute here with $(DEFAULT_GOAL) if it's not one
|
||||
@@ -177,7 +177,7 @@ GLOBAL_DEPS += $(MAKEFILE_LIST)
|
||||
#
|
||||
# Extra things we should clean
|
||||
#
|
||||
EXTRA_CLEANS =
|
||||
EXTRA_CLEANS =
|
||||
|
||||
|
||||
#
|
||||
@@ -371,6 +371,8 @@ $(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS)
|
||||
$(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS)
|
||||
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)
|
||||
$(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH)
|
||||
# delete all files in ROMFS_SCRATCH which start with a . or end with a ~
|
||||
$(Q) $(RM) $(ROMFS_SCRATCH)/*/.[!.]* $(ROMFS_SCRATCH)/*/*~
|
||||
ifneq ($(ROMFS_EXTRA_FILES),)
|
||||
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
|
||||
$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
|
||||
|
||||
@@ -48,6 +48,16 @@ NM = $(CROSSDEV)nm
|
||||
OBJCOPY = $(CROSSDEV)objcopy
|
||||
OBJDUMP = $(CROSSDEV)objdump
|
||||
|
||||
# Check if the right version of the toolchain is available
|
||||
#
|
||||
CROSSDEV_VER_SUPPORTED = 4.7
|
||||
CROSSDEV_VER_FOUND = $(shell $(CC) -dumpversion)
|
||||
|
||||
ifeq (,$(findstring $(CROSSDEV_VER_SUPPORTED),$(CROSSDEV_VER_FOUND)))
|
||||
$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of $(CROSSDEV_VER_SUPPORTED).x)
|
||||
endif
|
||||
|
||||
|
||||
# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
|
||||
|
||||
MAXOPTIMIZATION ?= -O3
|
||||
@@ -76,7 +86,7 @@ ARCHINSTRUMENTATIONDEFINES_CORTEXM4F = -finstrument-functions \
|
||||
ARCHINSTRUMENTATIONDEFINES_CORTEXM4 = -finstrument-functions \
|
||||
-ffixed-r10
|
||||
|
||||
ARCHINSTRUMENTATIONDEFINES_CORTEXM3 =
|
||||
ARCHINSTRUMENTATIONDEFINES_CORTEXM3 =
|
||||
|
||||
# Pick the right set of flags for the architecture.
|
||||
#
|
||||
@@ -265,7 +275,7 @@ define SYM_TO_BIN
|
||||
$(Q) $(OBJCOPY) -O binary $1 $2
|
||||
endef
|
||||
|
||||
# Take the raw binary $1 and make it into an object file $2.
|
||||
# Take the raw binary $1 and make it into an object file $2.
|
||||
# The symbol $3 points to the beginning of the file, and $3_len
|
||||
# gives its length.
|
||||
#
|
||||
|
||||
@@ -0,0 +1,263 @@
|
||||
/************************************************************************************
|
||||
* configs/aerocore/include/board.h
|
||||
* include/arch/board/board.h
|
||||
*
|
||||
* Copyright (C) 2009 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ARCH_BOARD_BOARD_H
|
||||
#define __ARCH_BOARD_BOARD_H
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#ifndef __ASSEMBLY__
|
||||
# include <stdint.h>
|
||||
#endif
|
||||
|
||||
#include <stm32.h>
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/* Clocking *************************************************************************/
|
||||
/* The AeroCore uses a 24MHz crystal connected to the HSE.
|
||||
*
|
||||
* This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c:
|
||||
* System Clock source : PLL (HSE)
|
||||
* SYSCLK(Hz) : 168000000 Determined by PLL configuration
|
||||
* HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE)
|
||||
* AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE)
|
||||
* APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1)
|
||||
* APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2)
|
||||
* HSE Frequency(Hz) : 24000000 (STM32_BOARD_XTAL)
|
||||
* PLLM : 24 (STM32_PLLCFG_PLLM)
|
||||
* PLLN : 336 (STM32_PLLCFG_PLLN)
|
||||
* PLLP : 2 (STM32_PLLCFG_PLLP)
|
||||
* PLLQ : 7 (STM32_PLLCFG_PPQ)
|
||||
* Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK
|
||||
* Flash Latency(WS) : 5
|
||||
* Prefetch Buffer : OFF
|
||||
* Instruction cache : ON
|
||||
* Data cache : ON
|
||||
* Require 48MHz for USB OTG FS, : Enabled
|
||||
* SDIO and RNG clock
|
||||
*/
|
||||
|
||||
/* HSI - 16 MHz RC factory-trimmed
|
||||
* LSI - 32 KHz RC
|
||||
* HSE - On-board crystal frequency is 24MHz
|
||||
* LSE - not installed
|
||||
*/
|
||||
|
||||
#define STM32_BOARD_XTAL 24000000ul
|
||||
|
||||
#define STM32_HSI_FREQUENCY 16000000ul
|
||||
#define STM32_LSI_FREQUENCY 32000
|
||||
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
|
||||
|
||||
/* Main PLL Configuration.
|
||||
*
|
||||
* PLL source is HSE
|
||||
* PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
|
||||
* = (24,000,000 / 24) * 336
|
||||
* = 336,000,000
|
||||
* SYSCLK = PLL_VCO / PLLP
|
||||
* = 336,000,000 / 2 = 168,000,000
|
||||
* USB OTG FS, SDIO and RNG Clock
|
||||
* = PLL_VCO / PLLQ
|
||||
* = 48,000,000
|
||||
*/
|
||||
|
||||
#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(24)
|
||||
#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336)
|
||||
#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
|
||||
#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7)
|
||||
|
||||
#define STM32_SYSCLK_FREQUENCY 168000000ul
|
||||
|
||||
/* AHB clock (HCLK) is SYSCLK (168MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */
|
||||
#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
|
||||
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
|
||||
|
||||
/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */
|
||||
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4)
|
||||
|
||||
/* Timers driven from APB1 will be twice PCLK1 */
|
||||
|
||||
#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
|
||||
#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* Timers driven from APB2 will be twice PCLK2 */
|
||||
|
||||
#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
|
||||
* otherwise frequency is 2xAPBx.
|
||||
* Note: TIM1,8 are on APB2, others on APB1
|
||||
*/
|
||||
|
||||
#define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* Alternate function pin selections ************************************************/
|
||||
|
||||
/*
|
||||
* UARTs.
|
||||
*/
|
||||
/* USART1 on PB[6,7]: GPS */
|
||||
#define GPIO_USART1_RX GPIO_USART1_RX_2
|
||||
#define GPIO_USART1_TX GPIO_USART1_TX_2
|
||||
|
||||
/* USART2 on PD[5,6]: J5 Breakout */
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_2
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_2
|
||||
#define GPIO_USART2_CTS 0 // unused
|
||||
#define GPIO_USART2_RTS 0 // unused
|
||||
|
||||
/* USART3 on PD[8,9]: to DuoVero UART2 */
|
||||
#define GPIO_USART3_RX GPIO_USART3_RX_3
|
||||
#define GPIO_USART3_TX GPIO_USART3_TX_3
|
||||
#define GPIO_USART3_CTS 0 // unused
|
||||
#define GPIO_USART3_RTS 0 // unused
|
||||
|
||||
/* UART7 on PE[78]: J7 Breakout */
|
||||
#define GPIO_UART7_RX GPIO_UART7_RX_1
|
||||
#define GPIO_UART7_TX GPIO_UART7_TX_1
|
||||
|
||||
/*
|
||||
* UART8 on PE[0-1]: System Console on Port C of USB (J7)
|
||||
* No alternate pin config
|
||||
*/
|
||||
|
||||
/* USART[1,6] require a RX DMA configuration */
|
||||
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
|
||||
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
|
||||
|
||||
/*
|
||||
* I2C
|
||||
*
|
||||
* The optional _GPIO configurations allow the I2C driver to manually
|
||||
* reset the bus to clear stuck slaves. They match the pin configuration,
|
||||
* but are normally-high GPIOs.
|
||||
*/
|
||||
|
||||
/* PB[10-11]: I2C2 is broken out on J9 header */
|
||||
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
|
||||
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1
|
||||
#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
|
||||
#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
|
||||
|
||||
/*
|
||||
* SPI
|
||||
*/
|
||||
/* PA[4-7] SPI1 broken out on J12 */
|
||||
#define GPIO_SPI1_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) /* should be GPIO_SPI1_NSS_2 but use as a GPIO */
|
||||
#define GPIO_SPI1_SCK (GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI1_MISO (GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
|
||||
|
||||
/* PB[12-15]: SPI2 connected to DuoVero SPI1 */
|
||||
#define GPIO_SPI2_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9) /* should be GPIO_SPI2_NSS_2 but use as a GPIO */
|
||||
#define GPIO_SPI2_SCK (GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI2_MISO (GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI2_MOSI (GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
|
||||
|
||||
/* PC[10-12]: SPI3 connected to onboard sensors */
|
||||
#define GPIO_SPI3_SCK (GPIO_SPI3_SCK_2|GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI3_MISO (GPIO_SPI3_MISO_2|GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI3_MOSI (GPIO_SPI3_MOSI_2|GPIO_SPEED_50MHz)
|
||||
|
||||
/* PE[11-14]: SPI4 connected to FRAM */
|
||||
#define GPIO_SPI4_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN11) /* should be GPIO_SPI4_NSS_2 but use as a GPIO */
|
||||
#define GPIO_SPI4_SCK (GPIO_SPI4_SCK_2|GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI4_MISO (GPIO_SPI4_MISO_2|GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI4_MOSI (GPIO_SPI4_MOSI_2|GPIO_SPEED_50MHz)
|
||||
|
||||
/************************************************************************************
|
||||
* Public Data
|
||||
************************************************************************************/
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
#define EXTERN extern "C"
|
||||
extern "C" {
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Public Function Prototypes
|
||||
************************************************************************************/
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the intitialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
EXTERN void stm32_boardinitialize(void);
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
#endif /* __ARCH_BOARD_BOARD_H */
|
||||
+9
-15
@@ -1,8 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
*
|
||||
* 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
|
||||
@@ -33,16 +31,12 @@
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* @file Fixed Wing Attitude Rate Control */
|
||||
/**
|
||||
* nsh_romfsetc.h
|
||||
*
|
||||
* This file is a stub for 'make export' purposes; the actual ROMFS
|
||||
* must be supplied by the library client.
|
||||
*/
|
||||
|
||||
#ifndef FIXEDWING_ATT_CONTROL_RATE_H_
|
||||
#define FIXEDWING_ATT_CONTROL_RATE_H_
|
||||
|
||||
#include <uORB/topics/vehicle_rates_setpoint.h>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
|
||||
int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
|
||||
const float rates[],
|
||||
struct actuator_controls_s *actuators);
|
||||
|
||||
#endif /* FIXEDWING_ATT_CONTROL_RATE_H_ */
|
||||
extern unsigned char romfs_img[];
|
||||
extern unsigned int romfs_img_len;
|
||||
@@ -0,0 +1,179 @@
|
||||
############################################################################
|
||||
# configs/aerocore/nsh/Make.defs
|
||||
#
|
||||
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name NuttX nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
include ${TOPDIR}/.config
|
||||
include ${TOPDIR}/tools/Config.mk
|
||||
|
||||
#
|
||||
# We only support building with the ARM bare-metal toolchain from
|
||||
# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
|
||||
#
|
||||
CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI
|
||||
|
||||
include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
|
||||
|
||||
CC = $(CROSSDEV)gcc
|
||||
CXX = $(CROSSDEV)g++
|
||||
CPP = $(CROSSDEV)gcc -E
|
||||
LD = $(CROSSDEV)ld
|
||||
AR = $(CROSSDEV)ar rcs
|
||||
NM = $(CROSSDEV)nm
|
||||
OBJCOPY = $(CROSSDEV)objcopy
|
||||
OBJDUMP = $(CROSSDEV)objdump
|
||||
|
||||
MAXOPTIMIZATION = -O3
|
||||
ARCHCPUFLAGS = -mcpu=cortex-m4 \
|
||||
-mthumb \
|
||||
-march=armv7e-m \
|
||||
-mfpu=fpv4-sp-d16 \
|
||||
-mfloat-abi=hard
|
||||
|
||||
|
||||
# enable precise stack overflow tracking
|
||||
INSTRUMENTATIONDEFINES = -finstrument-functions \
|
||||
-ffixed-r10
|
||||
|
||||
# pull in *just* libm from the toolchain ... this is grody
|
||||
LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
|
||||
EXTRA_LIBS += $(LIBM)
|
||||
|
||||
# use our linker script
|
||||
LDSCRIPT = ld.script
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
# Windows-native toolchains
|
||||
DIRLINK = $(TOPDIR)/tools/copydir.sh
|
||||
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
|
||||
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
|
||||
ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
|
||||
ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
|
||||
ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
|
||||
else
|
||||
ifeq ($(PX4_WINTOOL),y)
|
||||
# Windows-native toolchains (MSYS)
|
||||
DIRLINK = $(TOPDIR)/tools/copydir.sh
|
||||
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
|
||||
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
|
||||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
||||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
||||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
||||
else
|
||||
# Linux/Cygwin-native toolchain
|
||||
MKDEP = $(TOPDIR)/tools/mkdeps.sh
|
||||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
||||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
||||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
||||
endif
|
||||
endif
|
||||
|
||||
# tool versions
|
||||
ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
|
||||
ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
|
||||
|
||||
# optimisation flags
|
||||
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
|
||||
-fno-strict-aliasing \
|
||||
-fno-strength-reduce \
|
||||
-fomit-frame-pointer \
|
||||
-funsafe-math-optimizations \
|
||||
-fno-builtin-printf \
|
||||
-ffunction-sections \
|
||||
-fdata-sections
|
||||
|
||||
ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
|
||||
ARCHOPTIMIZATION += -g
|
||||
endif
|
||||
|
||||
ARCHCFLAGS = -std=gnu99
|
||||
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
|
||||
ARCHWARNINGS = -Wall \
|
||||
-Wextra \
|
||||
-Wdouble-promotion \
|
||||
-Wshadow \
|
||||
-Wfloat-equal \
|
||||
-Wframe-larger-than=1024 \
|
||||
-Wpointer-arith \
|
||||
-Wlogical-op \
|
||||
-Wmissing-declarations \
|
||||
-Wpacked \
|
||||
-Wno-unused-parameter
|
||||
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
|
||||
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
|
||||
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
|
||||
|
||||
ARCHCWARNINGS = $(ARCHWARNINGS) \
|
||||
-Wbad-function-cast \
|
||||
-Wstrict-prototypes \
|
||||
-Wold-style-declaration \
|
||||
-Wmissing-parameter-type \
|
||||
-Wmissing-prototypes \
|
||||
-Wnested-externs \
|
||||
-Wunsuffixed-float-constants
|
||||
ARCHWARNINGSXX = $(ARCHWARNINGS) \
|
||||
-Wno-psabi
|
||||
ARCHDEFINES =
|
||||
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
|
||||
|
||||
# this seems to be the only way to add linker flags
|
||||
EXTRA_LIBS += --warn-common \
|
||||
--gc-sections
|
||||
|
||||
CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
|
||||
CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
|
||||
CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
|
||||
CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
|
||||
CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
|
||||
AFLAGS = $(CFLAGS) -D__ASSEMBLY__
|
||||
|
||||
NXFLATLDFLAGS1 = -r -d -warn-common
|
||||
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
|
||||
LDNXFLATFLAGS = -e main -s 2048
|
||||
|
||||
OBJEXT = .o
|
||||
LIBEXT = .a
|
||||
EXEEXT =
|
||||
|
||||
|
||||
# produce partially-linked $1 from files in $2
|
||||
define PRELINK
|
||||
@echo "PRELINK: $1"
|
||||
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
||||
endef
|
||||
|
||||
HOSTCC = gcc
|
||||
HOSTINCLUDES = -I.
|
||||
HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
|
||||
HOSTLDFLAGS =
|
||||
|
||||
@@ -1,6 +1,8 @@
|
||||
############################################################################
|
||||
# configs/aerocore/nsh/appconfig
|
||||
#
|
||||
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
@@ -12,7 +14,7 @@
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# 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.
|
||||
#
|
||||
@@ -31,12 +33,10 @@
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Full attitude / position Extended Kalman Filter
|
||||
#
|
||||
# Path to example in apps/examples containing the user_start entry point
|
||||
|
||||
MODULE_COMMAND = att_pos_estimator_ekf
|
||||
CONFIGURED_APPS += examples/nsh
|
||||
|
||||
SRCS = kalman_main.cpp \
|
||||
KalmanNav.cpp \
|
||||
params.c
|
||||
# The NSH application library
|
||||
CONFIGURED_APPS += nshlib
|
||||
CONFIGURED_APPS += system/readline
|
||||
File diff suppressed because it is too large
Load Diff
Regular → Executable
+36
-9
@@ -1,6 +1,8 @@
|
||||
############################################################################
|
||||
#!/bin/bash
|
||||
# configs/aerocore/nsh/setenv.sh
|
||||
#
|
||||
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
@@ -12,7 +14,7 @@
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# 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.
|
||||
#
|
||||
@@ -29,12 +31,37 @@
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Fixedwing PositionControl application
|
||||
#
|
||||
if [ "$_" = "$0" ] ; then
|
||||
echo "You must source this script, not run it!" 1>&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
MODULE_COMMAND = fixedwing_pos_control
|
||||
WD=`pwd`
|
||||
if [ ! -x "setenv.sh" ]; then
|
||||
echo "This script must be executed from the top-level NuttX build directory"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
SRCS = fixedwing_pos_control_main.c
|
||||
if [ -z "${PATH_ORIG}" ]; then
|
||||
export PATH_ORIG="${PATH}"
|
||||
fi
|
||||
|
||||
# This the Cygwin path to the location where I installed the RIDE
|
||||
# toolchain under windows. You will also have to edit this if you install
|
||||
# the RIDE toolchain in any other location
|
||||
#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
|
||||
|
||||
# This the Cygwin path to the location where I installed the CodeSourcery
|
||||
# toolchain under windows. You will also have to edit this if you install
|
||||
# the CodeSourcery toolchain in any other location
|
||||
export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
|
||||
|
||||
# This the Cygwin path to the location where I build the buildroot
|
||||
# toolchain.
|
||||
#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
|
||||
|
||||
# Add the path to the toolchain to the PATH varialble
|
||||
export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
|
||||
|
||||
echo "PATH : ${PATH}"
|
||||
@@ -0,0 +1,150 @@
|
||||
/****************************************************************************
|
||||
* configs/aerocore/common/ld.script
|
||||
*
|
||||
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The STM32F427 has 2048Kb of FLASH beginning at address 0x0800:0000 and
|
||||
* 256Kb of SRAM. SRAM is split up into three blocks:
|
||||
*
|
||||
* 1) 112Kb of SRAM beginning at address 0x2000:0000
|
||||
* 2) 16Kb of SRAM beginning at address 0x2001:c000
|
||||
* 3) 64Kb of SRAM beginning at address 0x2002:0000
|
||||
* 4) 64Kb of TCM SRAM beginning at address 0x1000:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*
|
||||
* The first 0x4000 of flash is reserved for the bootloader.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K
|
||||
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
|
||||
ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
|
||||
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
|
||||
EXTERN(_vectors) /* force the vectors to be included in the output */
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
|
||||
/*
|
||||
* This is a hack to make the newlib libm __errno() call
|
||||
* use the NuttX get_errno_ptr() function.
|
||||
*/
|
||||
__errno = get_errno_ptr;
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Construction data for parameters.
|
||||
*/
|
||||
__param ALIGN(4): {
|
||||
__param_start = ABSOLUTE(.);
|
||||
KEEP(*(__param*))
|
||||
__param_end = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@@ -1,6 +1,8 @@
|
||||
############################################################################
|
||||
# configs/aerocore/src/Makefile
|
||||
#
|
||||
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
@@ -12,7 +14,7 @@
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# 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.
|
||||
#
|
||||
@@ -31,14 +33,52 @@
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Makefile to build the position estimator
|
||||
#
|
||||
-include $(TOPDIR)/Make.defs
|
||||
|
||||
MODULE_COMMAND = position_estimator
|
||||
CFLAGS += -I$(TOPDIR)/sched
|
||||
|
||||
# XXX this should be converted to a deamon, its a pretty bad example app
|
||||
MODULE_PRIORITY = SCHED_PRIORITY_DEFAULT
|
||||
MODULE_STACKSIZE = 4096
|
||||
ASRCS =
|
||||
AOBJS = $(ASRCS:.S=$(OBJEXT))
|
||||
|
||||
CSRCS = empty.c
|
||||
COBJS = $(CSRCS:.c=$(OBJEXT))
|
||||
|
||||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
|
||||
ifeq ($(WINTOOL),y)
|
||||
CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
|
||||
-I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
|
||||
-I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
|
||||
else
|
||||
CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
|
||||
endif
|
||||
|
||||
all: libboard$(LIBEXT)
|
||||
|
||||
$(AOBJS): %$(OBJEXT): %.S
|
||||
$(call ASSEMBLE, $<, $@)
|
||||
|
||||
$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
|
||||
$(call COMPILE, $<, $@)
|
||||
|
||||
libboard$(LIBEXT): $(OBJS)
|
||||
$(call ARCHIVE, $@, $(OBJS))
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
$(Q) touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
$(call DELFILE, libboard$(LIBEXT))
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
||||
SRCS = position_estimator_main.c
|
||||
@@ -0,0 +1,4 @@
|
||||
/*
|
||||
* There are no source files here, but libboard.a can't be empty, so
|
||||
* we have this empty source file to keep it company.
|
||||
*/
|
||||
@@ -418,7 +418,7 @@ CONFIG_PREALLOC_TIMERS=50
|
||||
# Stack and heap information
|
||||
#
|
||||
CONFIG_IDLETHREAD_STACKSIZE=4096
|
||||
CONFIG_USERMAIN_STACKSIZE=4096
|
||||
CONFIG_USERMAIN_STACKSIZE=3500
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_PTHREAD_STACK_DEFAULT=2048
|
||||
|
||||
@@ -504,8 +504,8 @@ CONFIG_MTD_BYTE_WRITE=y
|
||||
#
|
||||
# USART1 Configuration
|
||||
#
|
||||
CONFIG_USART1_RXBUFSIZE=512
|
||||
CONFIG_USART1_TXBUFSIZE=512
|
||||
CONFIG_USART1_RXBUFSIZE=300
|
||||
CONFIG_USART1_TXBUFSIZE=300
|
||||
CONFIG_USART1_BAUD=57600
|
||||
CONFIG_USART1_BITS=8
|
||||
CONFIG_USART1_PARITY=0
|
||||
@@ -528,8 +528,8 @@ CONFIG_USART2_OFLOWCONTROL=y
|
||||
#
|
||||
# UART5 Configuration
|
||||
#
|
||||
CONFIG_UART5_RXBUFSIZE=512
|
||||
CONFIG_UART5_TXBUFSIZE=512
|
||||
CONFIG_UART5_RXBUFSIZE=300
|
||||
CONFIG_UART5_TXBUFSIZE=300
|
||||
CONFIG_UART5_BAUD=57600
|
||||
CONFIG_UART5_BITS=8
|
||||
CONFIG_UART5_PARITY=0
|
||||
@@ -540,8 +540,8 @@ CONFIG_UART5_2STOP=0
|
||||
#
|
||||
# USART6 Configuration
|
||||
#
|
||||
CONFIG_USART6_RXBUFSIZE=512
|
||||
CONFIG_USART6_TXBUFSIZE=512
|
||||
CONFIG_USART6_RXBUFSIZE=128
|
||||
CONFIG_USART6_TXBUFSIZE=64
|
||||
CONFIG_USART6_BAUD=57600
|
||||
CONFIG_USART6_BITS=8
|
||||
CONFIG_USART6_PARITY=0
|
||||
|
||||
@@ -268,6 +268,10 @@
|
||||
#define GPIO_SPI2_MOSI (GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI2_SCK (GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
|
||||
|
||||
#define GPIO_SPI4_MISO (GPIO_SPI4_MISO_1|GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI4_MOSI (GPIO_SPI4_MOSI_1|GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI4_SCK (GPIO_SPI4_SCK_1|GPIO_SPEED_50MHz)
|
||||
|
||||
/************************************************************************************
|
||||
* Public Data
|
||||
************************************************************************************/
|
||||
|
||||
@@ -235,7 +235,7 @@ CONFIG_STM32_SDIO=y
|
||||
CONFIG_STM32_SPI1=y
|
||||
CONFIG_STM32_SPI2=y
|
||||
# CONFIG_STM32_SPI3 is not set
|
||||
# CONFIG_STM32_SPI4 is not set
|
||||
CONFIG_STM32_SPI4=y
|
||||
# CONFIG_STM32_SPI5 is not set
|
||||
# CONFIG_STM32_SPI6 is not set
|
||||
CONFIG_STM32_SYSCFG=y
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user