Merge branch 'px4io-i2c' of github.com:PX4/Firmware into px4io-i2c

apps/drivers/drv_range_finder.h

@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Rangefinder driver interface.
+ */
+
+#ifndef _DRV_RANGEFINDER_H
+#define _DRV_RANGEFINDER_H
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+#include "drv_sensor.h"
+#include "drv_orb_dev.h"
+
+#define RANGE_FINDER_DEVICE_PATH	"/dev/range_finder"
+
+/**
+ * range finder report structure.  Reads from the device must be in multiples of this
+ * structure.
+ */
+struct range_finder_report {
+	uint64_t timestamp;
+	float distance; 			/** in meters */
+	uint8_t valid;				/** 1 == within sensor range, 0 = outside sensor range */
+};
+
+/*
+ * ObjDev tag for raw range finder data.
+ */
+ORB_DECLARE(sensor_range_finder);
+
+/*
+ * ioctl() definitions
+ *
+ * Rangefinder drivers also implement the generic sensor driver
+ * interfaces from drv_sensor.h
+ */
+
+#define _RANGEFINDERIOCBASE			(0x7900)
+#define __RANGEFINDERIOC(_n)		(_IOC(_RANGEFINDERIOCBASE, _n))
+
+/** set the minimum effective distance of the device */
+#define RANGEFINDERIOCSETMINIUMDISTANCE	__RANGEFINDERIOC(1)
+
+/** set the maximum effective distance of the device */
+#define RANGEFINDERIOCSETMAXIUMDISTANCE	__RANGEFINDERIOC(2)
+
+
+#endif /* _DRV_RANGEFINDER_H */

apps/drivers/mb12xx/Makefile

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Makefile to build the Maxbotix Sonar driver.
+#
+
+APPNAME		= mb12xx
+PRIORITY	= SCHED_PRIORITY_DEFAULT
+STACKSIZE	= 2048
+
+include $(APPDIR)/mk/app.mk

apps/px4io/mixer.cpp

@@ -92,7 +92,7 @@ mixer_tick(void)
 
 		/* too long without FMU input, time to go to failsafe */
 		if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) {
-			debug("AP RX timeout");
+			lowsyslog("AP RX timeout");
 		}
 		r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM);
 		r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST;
@@ -101,6 +101,7 @@ mixer_tick(void)
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
 	} else {
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
+		r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_FMU_LOST;
 	}
 
 	source = MIX_FAILSAFE;
@@ -125,7 +126,8 @@ mixer_tick(void)
 		}
 
 		if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
-		     (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) {
+		     (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
+		     (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
 
 		 	/* if allowed, mix from RC inputs directly */
 			source = MIX_OVERRIDE;

apps/uORB/objects_common.cpp

@@ -53,6 +53,9 @@ ORB_DEFINE(sensor_gyro, struct gyro_report);
 #include <drivers/drv_baro.h>
 ORB_DEFINE(sensor_baro, struct baro_report);
 
+#include <drivers/drv_range_finder.h>
+ORB_DEFINE(sensor_range_finder, struct range_finder_report);
+
 #include <drivers/drv_pwm_output.h>
 ORB_DEFINE(output_pwm, struct pwm_output_values);
 

apps/uORB/topics/subsystem_info.h

@@ -71,7 +71,8 @@ enum SUBSYSTEM_TYPE
 	SUBSYSTEM_TYPE_YAWPOSITION = 4096,
 	SUBSYSTEM_TYPE_ALTITUDECONTROL = 16384,
 	SUBSYSTEM_TYPE_POSITIONCONTROL = 32768,
-	SUBSYSTEM_TYPE_MOTORCONTROL = 65536
+	SUBSYSTEM_TYPE_MOTORCONTROL = 65536,
+	SUBSYSTEM_TYPE_RANGEFINDER = 131072
 };
 
 /**

nuttx/configs/px4fmu/nsh/appconfig

@@ -125,6 +125,7 @@ CONFIGURED_APPS += drivers/stm32/adc
 CONFIGURED_APPS += drivers/px4fmu
 CONFIGURED_APPS += drivers/hil
 CONFIGURED_APPS += drivers/gps
+CONFIGURED_APPS += drivers/mb12xx
 
 # Testing stuff
 CONFIGURED_APPS += px4/sensors_bringup