Merge branch 'public-export-build' into fmuv2_bringup

apps/examples/Makefile

@@ -38,7 +38,6 @@
 # Sub-directories
 
 SUBDIRS  = adc can cdcacm nsh
-SUBDIRS += math_demo control_demo kalman_demo px4_deamon_app 
 
 #SUBDIRS  = adc buttons can cdcacm composite cxxtest dhcpd discover elf ftpc
 #SUBDIRS += ftpd hello helloxx hidkbd igmp json keypadtest lcdrw mm modbus mount

makefiles/config_px4fmu_default.mk

@@ -116,7 +116,5 @@ endef
 
 #                  command                 priority                   stack  entrypoint
 BUILTIN_COMMANDS := \
-	$(call _B, math_demo,              ,                          8192,  math_demo_main             ) \
 	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
-	$(call _B, serdis,                 ,                          2048,  serdis_main                ) \
+	$(call _B, serdis,                 ,                          2048,  serdis_main                )
-	$(call _B, uorb,                   ,                          4096,  uorb_main                  )

makefiles/setup.mk

@@ -59,9 +59,6 @@ export INCLUDE_DIRS	:= $(PX4_MODULE_SRC) \
 			   $(PX4_MODULE_SRC)/modules/ \
 			   $(PX4_INCLUDE_DIR)
 
-# Include from legacy app/library path
-export INCLUDE_DIRS	+= $(NUTTX_APP_SRC)
-
 #
 # Tools
 #

nuttx/configs/px4io/include/board.h

@@ -100,12 +100,19 @@
  * Some of the USART pins are not available; override the GPIO
  * definitions with an invalid pin configuration.
  */
+#undef GPIO_USART2_CTS
 #define GPIO_USART2_CTS	0xffffffff
+#undef GPIO_USART2_RTS
 #define GPIO_USART2_RTS	0xffffffff
+#undef GPIO_USART2_CK
 #define GPIO_USART2_CK 	0xffffffff
+#undef GPIO_USART3_TX
 #define GPIO_USART3_TX 	0xffffffff
+#undef GPIO_USART3_CK
 #define GPIO_USART3_CK 	0xffffffff
+#undef GPIO_USART3_CTS
 #define GPIO_USART3_CTS	0xffffffff
+#undef GPIO_USART3_RTS
 #define GPIO_USART3_RTS	0xffffffff
 
 /* 
@@ -157,5 +164,9 @@ extern "C" {
 
 EXTERN void stm32_boardinitialize(void);
     
+#if defined(__cplusplus)
+}
+#endif
+
 #endif /* __ASSEMBLY__ */
 #endif  /* __ARCH_BOARD_BOARD_H */

nuttx/configs/px4io/io/appconfig

@@ -30,11 +30,3 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-
-CONFIGURED_APPS += drivers/boards/px4io
-CONFIGURED_APPS += drivers/stm32
-
-CONFIGURED_APPS += px4io
-
-# Mixer library from systemlib
-CONFIGURED_APPS += systemlib/mixer

src/drivers/boards/px4io/px4io_init.c

@@ -86,9 +86,17 @@ __EXPORT void stm32_boardinitialize(void)
 	stm32_configgpio(GPIO_SERVO_PWR_EN);
 	stm32_configgpio(GPIO_RELAY1_EN);
 	stm32_configgpio(GPIO_RELAY2_EN);
+
+    	/* turn off - all leds are active low */
+	stm32_gpiowrite(GPIO_LED1, true);
+	stm32_gpiowrite(GPIO_LED2, true);
+	stm32_gpiowrite(GPIO_LED3, true);
+
+	/* LED config */
 	stm32_configgpio(GPIO_LED1);
 	stm32_configgpio(GPIO_LED2);
 	stm32_configgpio(GPIO_LED3);
+
 	stm32_configgpio(GPIO_ACC_OC_DETECT);
 	stm32_configgpio(GPIO_SERVO_OC_DETECT);
 	stm32_configgpio(GPIO_BTN_SAFETY);

src/drivers/boards/px4io/px4io_internal.h

@@ -32,7 +32,9 @@
  ****************************************************************************/
  
 /**
- * @file PX4IO hardware definitions.
+ * @file px4io_internal.h
+ * 
+ * PX4IO hardware definitions.
  */
 
 #pragma once

src/drivers/led/module.mk

@@ -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
 # modification, are permitted provided that the following conditions
@@ -32,7 +32,7 @@
 ############################################################################
 
 #
-# Makefile to build the LED driver.
+# Build the LED driver.
 #
 
-include $(APPDIR)/mk/app.mk
+SRCS		= led.cpp

src/modules/px4iofirmware/controls.c

@@ -288,8 +288,8 @@ controls_tick() {
 			r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
 
 			/* mix new RC input control values to servos */
-			if (dsm_updated || sbus_updated || ppm_updated)
+			//if (dsm_updated || sbus_updated || ppm_updated)
-				mixer_tick();
+			//	mixer_tick();
 
 		} else {
 			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;

src/modules/px4iofirmware/module.mk

@@ -8,11 +8,12 @@ SRCS		= adc.c \
 		  registers.c \
 		  safety.c \
 		  sbus.c \
-		  mixer.cpp \
-		  ../systemlib/mixer/mixer.cpp \
-		  ../systemlib/mixer/mixer_group.cpp \
-		  ../systemlib/mixer/mixer_multirotor.cpp \
-		  ../systemlib/mixer/mixer_simple.cpp \
 		  ../systemlib/up_cxxinitialize.c \
 		  ../systemlib/hx_stream.c \
 		  ../systemlib/perf_counter.c
+
+#		  mixer.cpp \
+#		  ../systemlib/mixer/mixer.cpp \
+#		  ../systemlib/mixer/mixer_group.cpp \
+#		  ../systemlib/mixer/mixer_multirotor.cpp \
+#		  ../systemlib/mixer/mixer_simple.cpp \

src/modules/px4iofirmware/px4io.c

@@ -64,8 +64,10 @@ struct sys_state_s 	system_state;
 
 static struct hrt_call serial_dma_call;
 
+#ifdef CONFIG_STM32_I2C1
 /* store i2c reset count XXX this should be a register, together with other error counters */
 volatile uint32_t i2c_loop_resets = 0;
+#endif
 
 /*
  * a set of debug buffers to allow us to send debug information from ISRs
@@ -133,7 +135,9 @@ user_start(int argc, char *argv[])
 	 * Poll at 1ms intervals for received bytes that have not triggered
 	 * a DMA event.
 	 */
+#ifdef CONFIG_ARCH_DMA
 	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
 
 	/* print some startup info */
 	lowsyslog("\nPX4IO: starting\n");
@@ -155,8 +159,10 @@ user_start(int argc, char *argv[])
 	/* initialise the control inputs */
 	controls_init();
 
+#ifdef CONFIG_STM32_I2C1
 	/* start the i2c handler */
 	i2c_init();
+#endif
 
 	/* add a performance counter for mixing */
 	perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix");
@@ -201,7 +207,7 @@ user_start(int argc, char *argv[])
 
 		/* kick the mixer */
 		perf_begin(mixer_perf);
-		mixer_tick();
+		// mixer_tick();
 		perf_end(mixer_perf);
 
 		/* kick the control inputs */

src/modules/px4iofirmware/px4io.h

@@ -124,10 +124,18 @@ extern struct sys_state_s system_state;
 #define LED_SAFETY(_s)		stm32_gpiowrite(GPIO_LED3, !(_s))
 
 #define POWER_SERVO(_s)		stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s))
-#define POWER_ACC1(_s)		stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s))
+#ifdef GPIO_ACC1_PWR_EN
-#define POWER_ACC2(_s)		stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s))
+    #define POWER_ACC1(_s)		stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s))
-#define POWER_RELAY1(_s)	stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
+#endif
-#define POWER_RELAY2(_s)	stm32_gpiowrite(GPIO_RELAY2_EN, (_s))
+#ifdef GPIO_ACC2_PWR_EN
+    #define POWER_ACC2(_s)		stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s))
+#endif
+#ifdef GPIO_RELAY1_EN
+    #define POWER_RELAY1(_s)	stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
+#endif
+#ifdef GPIO_RELAY2_EN
+    #define POWER_RELAY2(_s)	stm32_gpiowrite(GPIO_RELAY2_EN, (_s))
+#endif
 
 #define OVERCURRENT_ACC		(!stm32_gpioread(GPIO_ACC_OC_DETECT))
 #define OVERCURRENT_SERVO	(!stm32_gpioread(GPIO_SERVO_OC_DETECT))
@@ -140,18 +148,20 @@ extern struct sys_state_s system_state;
 /*
  * Mixer
  */
-extern void	mixer_tick(void);
+//extern void	mixer_tick(void);
-extern void	mixer_handle_text(const void *buffer, size_t length);
+//extern void	mixer_handle_text(const void *buffer, size_t length);
 
 /**
  * Safety switch/LED.
  */
 extern void	safety_init(void);
 
+#ifdef CONFIG_STM32_I2C1
 /**
  * FMU communications
  */
 extern void	i2c_init(void);
+#endif
 
 /**
  * Register space
@@ -183,6 +193,7 @@ extern volatile uint8_t debug_level;
 /* send a debug message to the console */
 extern void isr_debug(uint8_t level, const char *fmt, ...);
 
+#ifdef CONFIG_STM32_I2C1
 void i2c_dump(void);
 void i2c_reset(void);
-
+#endif

src/modules/px4iofirmware/registers.c

@@ -245,7 +245,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
 
 		/* handle text going to the mixer parser */
 	case PX4IO_PAGE_MIXERLOAD:
-		mixer_handle_text(values, num_values * sizeof(*values));
+		//mixer_handle_text(values, num_values * sizeof(*values));
 		break;
 
 	default: