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

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This commit is contained in:
Lorenz Meier
2013-03-09 11:03:38 +01:00
parent cc628fbc27 35790e673b
commit c9775d7455
19 changed files with 1298 additions and 172 deletions
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Debug/ARMv7M
+108 -96
View File
@@ -19,120 +19,132 @@ end
define vecstate
set $icsr = *(uint32_t *)0xe000ed04
set $icsr = *(unsigned *)0xe000ed04
set $vect = $icsr & 0x1ff
set $pend = ($icsr & 0x1ff000) >> 12
set $shcsr = *(uint32_t *)0xe000ed24
set $cfsr = *(uint32_t *)0xe000ed28
set $shcsr = *(unsigned *)0xe000ed24
set $cfsr = *(unsigned *)0xe000ed28
set $mmfsr = $cfsr & 0xff
set $bfsr = ($cfsr >> 8) & 0xff
set $ufsr = ($cfsr >> 16) & 0xffff
set $hfsr = *(uint32_t *)0xe000ed2c
set $bfar = *(uint32_t *)0xe000ed38
set $mmfar = *(uint32_t *)0xe000ed34
set $hfsr = *(unsigned *)0xe000ed2c
set $bfar = *(unsigned *)0xe000ed38
set $mmfar = *(unsigned *)0xe000ed34
# XXX Currently, rather than look at $vect, we just decode the
# fault status registers directly.
if $vect < 15
if $hfsr != 0
printf "HardFault:"
if $hfsr & (1<<1)
printf " due to vector table read fault\n"
if $hfsr != 0
printf "HardFault:"
if $hfsr & (1<<1)
printf " due to vector table read fault\n"
end
if $hfsr & (1<<30)
printf " forced due to escalated or disabled configurable fault (see below)\n"
end
if $hfsr & (1<<31)
printf " due to an unexpected debug event\n"
end
end
if $hfsr & (1<<30)
printf " forced ue to escalated or disabled configurable fault (see below)\n"
if $mmfsr != 0
printf "MemManage:"
if $mmfsr & (1<<5)
printf " during lazy FP state save"
end
if $mmfsr & (1<<4)
printf " during exception entry"
end
if $mmfsr & (1<<3)
printf " during exception return"
end
if $mmfsr & (1<<0)
printf " during data access"
end
if $mmfsr & (1<<0)
printf " during instruction prefetch"
end
if $mmfsr & (1<<7)
printf " accessing 0x%08x", $mmfar
end
printf "\n"
end
if $hfsr & (1<<31)
printf " due to an unexpected debug event\n"
if $bfsr != 0
printf "BusFault:"
if $bfsr & (1<<2)
printf " (imprecise)"
end
if $bfsr & (1<<1)
printf " (precise)"
end
if $bfsr & (1<<5)
printf " during lazy FP state save"
end
if $bfsr & (1<<4)
printf " during exception entry"
end
if $bfsr & (1<<3)
printf " during exception return"
end
if $bfsr & (1<<0)
printf " during instruction prefetch"
end
if $bfsr & (1<<7)
printf " accessing 0x%08x", $bfar
end
printf "\n"
end
if $ufsr != 0
printf "UsageFault"
if $ufsr & (1<<9)
printf " due to divide-by-zero"
end
if $ufsr & (1<<8)
printf " due to unaligned memory access"
end
if $ufsr & (1<<3)
printf " due to access to disabled/absent coprocessor"
end
if $ufsr & (1<<2)
printf " due to a bad EXC_RETURN value"
end
if $ufsr & (1<<1)
printf " due to bad T or IT bits in EPSR"
end
if $ufsr & (1<<0)
printf " due to executing an undefined instruction"
end
printf "\n"
end
else
if $vect >= 15
printf "Handling vector %u\n", $vect
end
end
if $mmfsr != 0
printf "MemManage:"
if $mmfsr & (1<<5)
printf " during lazy FP state save"
end
if $mmfsr & (1<<4)
printf " during exception entry"
end
if $mmfsr & (1<<3)
printf " during exception return"
end
if $mmfsr & (1<<0)
printf " during data access"
end
if $mmfsr & (1<<0)
printf " during instruction prefetch"
end
if $mmfsr & (1<<7)
printf " accessing 0x%08x", $mmfar
end
printf "\n"
end
if $bfsr != 0
printf "BusFault:"
if $bfsr & (1<<2)
printf " (imprecise)"
end
if $bfsr & (1<<1)
printf " (precise)"
end
if $bfsr & (1<<5)
printf " during lazy FP state save"
end
if $bfsr & (1<<4)
printf " during exception entry"
end
if $bfsr & (1<<3)
printf " during exception return"
end
if $bfsr & (1<<0)
printf " during instruction prefetch"
end
if $bfsr & (1<<7)
printf " accessing 0x%08x", $bfar
end
printf "\n"
end
if $ufsr != 0
printf "UsageFault"
if $ufsr & (1<<9)
printf " due to divide-by-zero"
end
if $ufsr & (1<<8)
printf " due to unaligned memory access"
end
if $ufsr & (1<<3)
printf " due to access to disabled/absent coprocessor"
end
if $ufsr & (1<<2)
printf " due to a bad EXC_RETURN value"
end
if $ufsr & (1<<1)
printf " due to bad T or IT bits in EPSR"
end
if $ufsr & (1<<0)
printf " due to executing an undefined instruction"
end
printf "\n"
end
if ((uint32_t)$lr & 0xf0000000) == 0xf0000000
if ((unsigned)$lr & 0xf0000000) == 0xf0000000
if ($lr & 1)
set $frame_ptr = (uint32_t *)$msp
printf "exception frame is on MSP\n"
#set $frame_ptr = (unsigned *)$msp
set $frame_ptr = (unsigned *)$sp
else
set $frame_ptr = (uint32_t *)$psp
printf "exception frame is on PSP, backtrace may not be possible\n"
#set $frame_ptr = (unsigned *)$psp
set $frame_ptr = (unsigned *)$sp
end
printf " r0: %08x r1: %08x r2: %08x r3: %08x\n, $frame_ptr[0], $frame_ptr[1], $frame_ptr[2], $frame_ptr[3]
if $lr & 0x10
set $fault_sp = $frame_ptr + (8 * 4)
else
set $fault_sp = $frame_ptr + (26 * 4)
end
printf " r0: %08x r1: %08x r2: %08x r3: %08x\n", $frame_ptr[0], $frame_ptr[1], $frame_ptr[2], $frame_ptr[3]
printf " r4: %08x r5: %08x r6: %08x r7: %08x\n", $r4, $r5, $r6, $r7
printf " r8: %08x r9: %08x r10: %08x r11: %08x\n", $r8, $r9, $r10, $r11
printf " r12: $08x lr: %08x pc: %08xx PSR: %08x\n", $frame_ptr[4], $frame_ptr[5], $frame_ptr[6], $frame_ptr[7]
printf " r12: %08x\n", $frame_ptr[4]
printf " sp: %08x lr: %08x pc: %08x PSR: %08x\n", $fault_sp, $frame_ptr[5], $frame_ptr[6], $frame_ptr[7]
# Swap to the context of the faulting code and try to print a backtrace
set $saved_sp = $sp
if $lr & 0x10
set $sp = $frame_ptr + (8 * 4)
else
set $sp = $frame_ptr + (26 * 4)
end
set $sp = $fault_sp
set $saved_lr = $lr
set $lr = $frame_ptr[5]
set $saved_pc = $pc
@@ -142,7 +154,7 @@ define vecstate
set $lr = $saved_lr
set $pc = $saved_pc
else
printf "(not currently in exception state)\n"
printf "(not currently in exception handler)\n"
end
end
apps/drivers/drv_range_finder.h
+81
View File
@@ -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
+42
View File
@@ -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/drivers/mb12xx/mb12xx.cpp
+842
View File
File diff suppressed because it is too large Load Diff
apps/drivers/px4io/px4io.cpp
+55 -15
View File
@@ -82,7 +82,9 @@
#include <uORB/topics/parameter_update.h>
#include <px4io/protocol.h>
#include <mavlink/mavlink_log.h>
#include "uploader.h"
#include <debug.h>
class PX4IO : public device::I2C
@@ -111,6 +113,8 @@ private:
volatile int _task; ///< worker task
volatile bool _task_should_exit;
int _mavlink_fd;
perf_counter_t _perf_update;
/* cached IO state */
@@ -285,6 +289,7 @@ PX4IO::PX4IO() :
_update_interval(0),
_task(-1),
_task_should_exit(false),
_mavlink_fd(-1),
_perf_update(perf_alloc(PC_ELAPSED, "px4io update")),
_status(0),
_alarms(0),
@@ -301,6 +306,9 @@ PX4IO::PX4IO() :
/* we need this potentially before it could be set in task_main */
g_dev = this;
/* open MAVLink text channel */
_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
_debug_enabled = true;
}
@@ -354,6 +362,7 @@ PX4IO::init()
(_max_rc_input < 1) || (_max_rc_input > 255)) {
log("failed getting parameters from PX4IO");
mavlink_log_emergency(_mavlink_fd, "[IO] param read fail, abort.");
return -1;
}
if (_max_rc_input > RC_INPUT_MAX_CHANNELS)
@@ -380,6 +389,8 @@ PX4IO::init()
if ((reg & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) &&
(reg & PX4IO_P_SETUP_ARMING_ARM_OK)) {
mavlink_log_emergency(_mavlink_fd, "[IO] RECOVERING FROM FMU IN-AIR RESTART");
/* WARNING: COMMANDER app/vehicle status must be initialized.
* If this fails (or the app is not started), worst-case IO
* remains untouched (so manual override is still available).
@@ -469,6 +480,7 @@ PX4IO::init()
ret = io_set_rc_config();
if (ret != OK) {
log("failed to update RC input config");
mavlink_log_info(_mavlink_fd, "[IO] RC config upload fail");
return ret;
}
@@ -490,6 +502,8 @@ PX4IO::init()
return -errno;
}
mavlink_log_info(_mavlink_fd, "[IO] init ok");
return OK;
}
@@ -771,9 +785,16 @@ PX4IO::io_set_rc_config()
/* send channel config to IO */
ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE);
if (ret != OK) {
log("RC config update failed");
log("rc config upload failed");
break;
}
/* check the IO initialisation flag */
if (!(io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_INIT_OK)) {
log("config for RC%d rejected by IO", i + 1);
break;
}
offset += PX4IO_P_RC_CONFIG_STRIDE;
}
@@ -1157,9 +1178,11 @@ PX4IO::mixer_send(const char *buf, unsigned buflen)
/* check for the mixer-OK flag */
if (io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK) {
debug("mixer upload OK");
mavlink_log_info(_mavlink_fd, "[IO] mixer upload ok");
return 0;
} else {
debug("mixer rejected by IO");
mavlink_log_info(_mavlink_fd, "[IO] mixer upload fail");
}
/* load must have failed for some reason */
@@ -1186,7 +1209,7 @@ PX4IO::print_status()
printf("%u bytes free\n",
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM));
uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS);
printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s\n",
printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s\n",
flags,
((flags & PX4IO_P_STATUS_FLAGS_ARMED) ? " ARMED" : ""),
((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""),
@@ -1197,7 +1220,8 @@ PX4IO::print_status()
((flags & PX4IO_P_STATUS_FLAGS_FMU_OK) ? " FMU_OK" : " FMU_FAIL"),
((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PPM" : ""),
((flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ? " MIXER_OK" : " MIXER_FAIL"),
((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"));
((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"),
((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL"));
uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS);
printf("alarms 0x%04x%s%s%s%s%s%s\n",
alarms,
@@ -1475,7 +1499,7 @@ test(void)
servos[i] = pwm_value;
ret = write(fd, servos, sizeof(servos));
if (ret != sizeof(servos))
if (ret != (int)sizeof(servos))
err(1, "error writing PWM servo data, wrote %u got %d", sizeof(servos), ret);
if (direction > 0) {
@@ -1547,7 +1571,7 @@ px4io_main(int argc, char *argv[])
errx(1, "already loaded");
/* create the driver - it will set g_dev */
(void)new PX4IO;
(void)new PX4IO();
if (g_dev == nullptr)
errx(1, "driver alloc failed");
@@ -1558,7 +1582,7 @@ px4io_main(int argc, char *argv[])
}
/* look for the optional pwm update rate for the supported modes */
if (strcmp(argv[2], "-u") == 0 || strcmp(argv[2], "--update-rate") == 0) {
if ((argc > 2) && (strcmp(argv[2], "-u") == 0 || strcmp(argv[2], "--update-rate") == 0)) {
if (argc > 2 + 1) {
#warning implement this
} else {
@@ -1570,16 +1594,31 @@ px4io_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "recovery")) {
if (g_dev != nullptr) {
/*
* Enable in-air restart support.
* We can cheat and call the driver directly, as it
* doesn't reference filp in ioctl()
*/
g_dev->ioctl(NULL, PWM_SERVO_INAIR_RESTART_ENABLE, 0);
} else {
errx(1, "not loaded");
}
exit(0);
}
if (!strcmp(argv[1], "stop")) {
if (g_dev != nullptr) {
/* stop the driver */
delete g_dev;
} else {
errx(1, "not loaded");
}
exit(0);
if (g_dev != nullptr) {
/* stop the driver */
delete g_dev;
} else {
errx(1, "not loaded");
}
exit(0);
}
if (!strcmp(argv[1], "status")) {
@@ -1604,8 +1643,9 @@ px4io_main(int argc, char *argv[])
exit(1);
}
uint8_t level = atoi(argv[2]);
// we can cheat and call the driver directly, as it
// doesn't reference filp in ioctl()
/* we can cheat and call the driver directly, as it
* doesn't reference filp in ioctl()
*/
int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_DEBUG, level);
if (ret != 0) {
printf("SET_DEBUG failed - %d\n", ret);
apps/mavlink/mavlink_log.h
+12
View File
@@ -63,7 +63,11 @@
* @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
* @param _text The text to log;
*/
#ifdef __cplusplus
#define mavlink_log_emergency(_fd, _text) ::ioctl(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, (unsigned long)_text);
#else
#define mavlink_log_emergency(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, (unsigned long)_text);
#endif
/**
* Send a mavlink critical message.
@@ -71,7 +75,11 @@
* @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
* @param _text The text to log;
*/
#ifdef __cplusplus
#define mavlink_log_critical(_fd, _text) ::ioctl(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, (unsigned long)_text);
#else
#define mavlink_log_critical(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, (unsigned long)_text);
#endif
/**
* Send a mavlink info message.
@@ -79,7 +87,11 @@
* @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
* @param _text The text to log;
*/
#ifdef __cplusplus
#define mavlink_log_info(_fd, _text) ::ioctl(_fd, MAVLINK_IOC_SEND_TEXT_INFO, (unsigned long)_text);
#else
#define mavlink_log_info(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_INFO, (unsigned long)_text);
#endif
struct mavlink_logmessage {
char text[51];
apps/px4io/controls.c
+32 -19
View File
@@ -147,32 +147,44 @@ controls_tick() {
uint16_t raw = r_raw_rc_values[i];
/* implement the deadzone */
if (raw < conf[PX4IO_P_RC_CONFIG_CENTER]) {
raw += conf[PX4IO_P_RC_CONFIG_DEADZONE];
if (raw > conf[PX4IO_P_RC_CONFIG_CENTER])
raw = conf[PX4IO_P_RC_CONFIG_CENTER];
}
if (raw > conf[PX4IO_P_RC_CONFIG_CENTER]) {
raw -= conf[PX4IO_P_RC_CONFIG_DEADZONE];
if (raw < conf[PX4IO_P_RC_CONFIG_CENTER])
raw = conf[PX4IO_P_RC_CONFIG_CENTER];
}
int16_t scaled;
/* constrain to min/max values */
/*
* 1) Constrain to min/max values, as later processing depends on bounds.
*/
if (raw < conf[PX4IO_P_RC_CONFIG_MIN])
raw = conf[PX4IO_P_RC_CONFIG_MIN];
if (raw > conf[PX4IO_P_RC_CONFIG_MAX])
raw = conf[PX4IO_P_RC_CONFIG_MAX];
int16_t scaled = raw;
/*
* 2) Scale around the mid point differently for lower and upper range.
*
* This is necessary as they don't share the same endpoints and slope.
*
* First normalize to 0..1 range with correct sign (below or above center),
* then scale to 20000 range (if center is an actual center, -10000..10000,
* if parameters only support half range, scale to 10000 range, e.g. if
* center == min 0..10000, if center == max -10000..0).
*
* As the min and max bounds were enforced in step 1), division by zero
* cannot occur, as for the case of center == min or center == max the if
* statement is mutually exclusive with the arithmetic NaN case.
*
* DO NOT REMOVE OR ALTER STEP 1!
*/
if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));
/* adjust to zero-relative around center (nominal -500..500) */
scaled -= conf[PX4IO_P_RC_CONFIG_CENTER];
} else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
/* scale to fixed-point representation (-10000..10000) */
scaled *= 20;
} else {
/* in the configured dead zone, output zero */
scaled = 0;
}
/* invert channel if requested */
if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE)
scaled = -scaled;
@@ -256,10 +268,11 @@ controls_tick() {
bool override = false;
/*
* Check mapped channel 5; if the value is 'high' then the pilot has
* Check mapped channel 5 (can be any remote channel,
* depends on RC_MAP_OVER parameter);
* If the value is 'high' then the pilot has
* requested override.
*
* XXX This should be configurable.
*/
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (r_rc_values[4] > RC_CHANNEL_HIGH_THRESH))
override = true;
apps/px4io/mixer.cpp
+18 -6
View File
@@ -109,9 +109,11 @@ mixer_tick(void)
/*
* Decide which set of controls we're using.
*/
if (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) {
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ||
!(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
/* don't actually mix anything - we already have raw PWM values */
/* don't actually mix anything - we already have raw PWM values or
not a valid mixer. */
source = MIX_NONE;
} else {
@@ -172,9 +174,11 @@ mixer_tick(void)
* XXX correct behaviour for failsafe may require an additional case
* here.
*/
bool should_arm = (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
/* there is valid input */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)));
bool should_arm = (
/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
/* there is valid input */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) &&
/* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK));
if (should_arm && !mixer_servos_armed) {
/* need to arm, but not armed */
@@ -239,6 +243,11 @@ static unsigned mixer_text_length = 0;
void
mixer_handle_text(const void *buffer, size_t length)
{
/* do not allow a mixer change while fully armed */
if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
return;
}
px4io_mixdata *msg = (px4io_mixdata *)buffer;
@@ -252,9 +261,12 @@ mixer_handle_text(const void *buffer, size_t length)
switch (msg->action) {
case F2I_MIXER_ACTION_RESET:
isr_debug(2, "reset");
/* FIRST mark the mixer as invalid */
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
/* THEN actually delete it */
mixer_group.reset();
mixer_text_length = 0;
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
/* FALLTHROUGH */
case F2I_MIXER_ACTION_APPEND:
apps/px4io/protocol.h
+1
View File
@@ -103,6 +103,7 @@
#define PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 7) /* raw PWM from FMU is bypassing the mixer */
#define PX4IO_P_STATUS_FLAGS_MIXER_OK (1 << 8) /* mixer is OK */
#define PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 9) /* the arming state between IO and FMU is in sync */
#define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */
#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */
#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* VBatt is very close to regulator dropout */
apps/px4io/px4io.c
+6 -2
View File
@@ -215,12 +215,16 @@ user_start(int argc, char *argv[])
/* post debug state at ~1Hz */
if (hrt_absolute_time() - last_debug_time > (1000 * 1000)) {
isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x r=%u",
struct mallinfo minfo = mallinfo();
isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x r=%u m=%u",
(unsigned)debug_level,
(unsigned)r_status_flags,
(unsigned)r_setup_arming,
(unsigned)r_setup_features,
(unsigned)i2c_loop_resets);
(unsigned)i2c_loop_resets,
(unsigned)minfo.mxordblk);
last_debug_time = hrt_absolute_time();
}
}
apps/px4io/registers.c
+42 -17
View File
@@ -361,6 +361,13 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
break;
case PX4IO_PAGE_RC_CONFIG: {
/* do not allow a RC config change while fully armed */
if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
break;
}
unsigned channel = offset / PX4IO_P_RC_CONFIG_STRIDE;
unsigned index = offset - channel * PX4IO_P_RC_CONFIG_STRIDE;
uint16_t *conf = &r_page_rc_input_config[channel * PX4IO_P_RC_CONFIG_STRIDE];
@@ -383,6 +390,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
case PX4IO_P_RC_CONFIG_OPTIONS:
value &= PX4IO_P_RC_CONFIG_OPTIONS_VALID;
r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK;
/* set all options except the enabled option */
conf[index] = value & ~PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
@@ -390,27 +398,44 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
/* should the channel be enabled? */
/* this option is normally set last */
if (value & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
uint8_t count = 0;
/* assert min..center..max ordering */
if (conf[PX4IO_P_RC_CONFIG_MIN] < 500)
break;
if (conf[PX4IO_P_RC_CONFIG_MAX] > 2500)
break;
if (conf[PX4IO_P_RC_CONFIG_CENTER] < conf[PX4IO_P_RC_CONFIG_MIN])
break;
if (conf[PX4IO_P_RC_CONFIG_CENTER] > conf[PX4IO_P_RC_CONFIG_MAX])
break;
if (conf[PX4IO_P_RC_CONFIG_MIN] < 500) {
count++;
}
if (conf[PX4IO_P_RC_CONFIG_MAX] > 2500) {
count++;
}
if (conf[PX4IO_P_RC_CONFIG_CENTER] < conf[PX4IO_P_RC_CONFIG_MIN]) {
count++;
}
if (conf[PX4IO_P_RC_CONFIG_CENTER] > conf[PX4IO_P_RC_CONFIG_MAX]) {
count++;
}
/* assert deadzone is sane */
if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500)
break;
if (conf[PX4IO_P_RC_CONFIG_MIN] > (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]))
break;
if (conf[PX4IO_P_RC_CONFIG_MAX] < (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]))
break;
if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= MAX_CONTROL_CHANNELS)
break;
if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) {
count++;
}
// The following check isn't needed as constraint checks in controls.c will catch this.
//if (conf[PX4IO_P_RC_CONFIG_MIN] > (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
// count++;
//}
//if (conf[PX4IO_P_RC_CONFIG_MAX] < (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
// count++;
//}
if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= MAX_CONTROL_CHANNELS) {
count++;
}
/* sanity checks pass, enable channel */
conf[index] |= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
if (count) {
isr_debug(0, "ERROR: %d config error(s) for RC%d.\n", count, (channel + 1));
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_INIT_OK;
} else {
conf[index] |= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
}
}
break;
/* inner switch: case PX4IO_P_RC_CONFIG_OPTIONS */
apps/px4io/safety.c
+6 -1
View File
@@ -176,12 +176,17 @@ heartbeat_blink(void *arg)
static void
failsafe_blink(void *arg)
{
/* indicate that a serious initialisation error occured */
if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)) {
LED_AMBER(true);
return;
}
static bool failsafe = false;
/* blink the failsafe LED if we don't have FMU input */
if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) {
failsafe = !failsafe;
} else {
failsafe = false;
}
apps/sensors/sensors.cpp
+28 -14
View File
@@ -1129,31 +1129,45 @@ Sensors::ppm_poll()
/* Read out values from raw message */
for (unsigned int i = 0; i < channel_limit; i++) {
/* scale around the mid point differently for lower and upper range */
/*
* 1) Constrain to min/max values, as later processing depends on bounds.
*/
if (rc_input.values[i] < _parameters.min[i])
rc_input.values[i] = _parameters.min[i];
if (rc_input.values[i] > _parameters.max[i])
rc_input.values[i] = _parameters.max[i];
/*
* 2) Scale around the mid point differently for lower and upper range.
*
* This is necessary as they don't share the same endpoints and slope.
*
* First normalize to 0..1 range with correct sign (below or above center),
* the total range is 2 (-1..1).
* If center (trim) == min, scale to 0..1, if center (trim) == max,
* scale to -1..0.
*
* As the min and max bounds were enforced in step 1), division by zero
* cannot occur, as for the case of center == min or center == max the if
* statement is mutually exclusive with the arithmetic NaN case.
*
* DO NOT REMOVE OR ALTER STEP 1!
*/
if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) {
_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i]) / (float)(_parameters.max[i] - _parameters.trim[i]);
_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]);
} else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) {
/* division by zero impossible for trim == min (as for throttle), as this falls in the above if clause */
_rc.chan[i].scaled = -((_parameters.trim[i] - rc_input.values[i]) / (float)(_parameters.trim[i] - _parameters.min[i]));
_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]);
} else {
/* in the configured dead zone, output zero */
_rc.chan[i].scaled = 0.0f;
}
/* reverse channel if required */
if (i == (int)_rc.function[THROTTLE]) {
if ((int)_parameters.rev[i] == -1) {
_rc.chan[i].scaled = 1.0f + -1.0f * _rc.chan[i].scaled;
}
} else {
_rc.chan[i].scaled *= _parameters.rev[i];
}
_rc.chan[i].scaled *= _parameters.rev[i];
/* handle any parameter-induced blowups */
if (isnan(_rc.chan[i].scaled) || isinf(_rc.chan[i].scaled))
if (!isfinite(_rc.chan[i].scaled))
_rc.chan[i].scaled = 0.0f;
}
apps/systemcmds/mixer/mixer.c
+17 -1
View File
@@ -117,7 +117,23 @@ load(const char *devname, const char *fname)
if ((strlen(line) < 2) || !isupper(line[0]) || (line[1] != ':'))
continue;
/* XXX an optimisation here would be to strip extra whitespace */
/* compact whitespace in the buffer */
char *t, *f;
for (f = buf; *f != '\0'; f++) {
/* scan for space characters */
if (*f == ' ') {
/* look for additional spaces */
t = f + 1;
while (*t == ' ')
t++;
if (*t == '\0') {
/* strip trailing whitespace */
*f = '\0';
} else if (t > (f + 1)) {
memmove(f + 1, t, strlen(t) + 1);
}
}
}
/* if the line is too long to fit in the buffer, bail */
if ((strlen(line) + strlen(buf) + 1) >= sizeof(buf))
apps/systemlib/mixer/mixer.cpp
+1
View File
@@ -54,6 +54,7 @@
#include "mixer.h"
Mixer::Mixer(ControlCallback control_cb, uintptr_t cb_handle) :
_next(nullptr),
_control_cb(control_cb),
_cb_handle(cb_handle)
{
apps/systemlib/mixer/mixer_group.cpp
+1
View File
@@ -93,6 +93,7 @@ MixerGroup::reset()
mixer = _first;
_first = mixer->_next;
delete mixer;
mixer = nullptr;
}
}
apps/uORB/objects_common.cpp
+3
View File
@@ -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
+2 -1
View File
@@ -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
+1
View File
@@ -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