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Merge branch 'master' of github.com:PX4/Firmware

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This commit is contained in:
Lorenz Meier
2012-08-14 09:08:52 +02:00
parent ab8d1b3b3b 735f8ffa3d
commit ebbdbac97b
10 changed files with 1020 additions and 461 deletions
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.gitignore
+1
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@@ -34,3 +34,4 @@ nuttx/nuttx.hex
Firmware.sublime-workspace
.DS_Store
nsh_romfsimg.h
cscope.out
apps/drivers/device/device.h.orig
-430
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@@ -1,430 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file Definitions for the generic base classes in the device framework.
*/
#ifndef _DEVICE_DEVICE_H
#define _DEVICE_DEVICE_H
/*
* Includes here should only cover the needs of the framework definitions.
*/
#include <nuttx/config.h>
#include <errno.h>
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
#include <poll.h>
#include <nuttx/fs/fs.h>
/**
* Namespace encapsulating all device framework classes, functions and data.
*/
namespace device __EXPORT
{
/**
* Fundamental base class for all device drivers.
*
* This class handles the basic "being a driver" things, including
* interrupt registration and dispatch.
*/
class __EXPORT Device
{
public:
/**
* Interrupt handler.
*/
virtual void interrupt(void *ctx); /**< interrupt handler */
protected:
const char *_name; /**< driver name */
bool _debug_enabled; /**< if true, debug messages are printed */
/**
* Constructor
*
* @param name Driver name
* @param irq Interrupt assigned to the device.
*/
Device(const char *name,
int irq = 0);
~Device();
/**
* Initialise the driver and make it ready for use.
*
* @return OK if the driver initialised OK.
*/
virtual int init();
/**
* Enable the device interrupt
*/
void interrupt_enable();
/**
* Disable the device interrupt
*/
void interrupt_disable();
/**
* Take the driver lock.
*
* Each driver instance has its own lock/semaphore.
*
* Note that we must loop as the wait may be interrupted by a signal.
*/
void lock() {
do {} while (sem_wait(&_lock) != 0);
}
/**
* Release the driver lock.
*/
void unlock() {
sem_post(&_lock);
}
/**
* Log a message.
*
* The message is prefixed with the driver name, and followed
* by a newline.
*/
void log(const char *fmt, ...);
/**
* Print a debug message.
*
* The message is prefixed with the driver name, and followed
* by a newline.
*/
void debug(const char *fmt, ...);
private:
int _irq;
bool _irq_attached;
sem_t _lock;
/** disable copy construction for this and all subclasses */
Device(const Device &);
/** disable assignment for this and all subclasses */
Device &operator = (const Device &);
/**
* Register ourselves as a handler for an interrupt
*
* @param irq The interrupt to claim
* @return OK if the interrupt was registered
*/
int dev_register_interrupt(int irq);
/**
* Unregister ourselves as a handler for any interrupt
*/
void dev_unregister_interrupt();
/**
* Interrupt dispatcher
*
* @param irq The interrupt that has been triggered.
* @param context Pointer to the interrupted context.
*/
static void dev_interrupt(int irq, void *context);
};
/**
* Abstract class for any character device
*/
class __EXPORT CDev : public Device
{
public:
/**
* Constructor
*
* @param name Driver name
* @param devname Device node name
* @param irq Interrupt assigned to the device
*/
CDev(const char *name, const char *devname, int irq = 0);
/**
* Destructor
*/
~CDev();
virtual int init();
/**
* Handle an open of the device.
*
* This function is called for every open of the device. The default
* implementation maintains _open_count and always returns OK.
*
* @param filp Pointer to the NuttX file structure.
* @return OK if the open is allowed, -errno otherwise.
*/
virtual int open(struct file *filp);
/**
* Handle a close of the device.
*
* This function is called for every close of the device. The default
* implementation maintains _open_count and returns OK as long as it is not zero.
*
* @param filp Pointer to the NuttX file structure.
* @return OK if the close was successful, -errno otherwise.
*/
virtual int close(struct file *filp);
/**
* Perform a read from the device.
*
* The default implementation returns -ENOSYS.
*
* @param filp Pointer to the NuttX file structure.
* @param buffer Pointer to the buffer into which data should be placed.
* @param buflen The number of bytes to be read.
* @return The number of bytes read or -errno otherwise.
*/
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
/**
* Perform a write to the device.
*
* The default implementation returns -ENOSYS.
*
* @param filp Pointer to the NuttX file structure.
* @param buffer Pointer to the buffer from which data should be read.
* @param buflen The number of bytes to be written.
* @return The number of bytes written or -errno otherwise.
*/
virtual ssize_t write(struct file *filp, const char *buffer, size_t buflen);
/**
* Perform a logical seek operation on the device.
*
* The default implementation returns -ENOSYS.
*
* @param filp Pointer to the NuttX file structure.
* @param offset The new file position relative to whence.
* @param whence SEEK_OFS, SEEK_CUR or SEEK_END.
* @return The previous offset, or -errno otherwise.
*/
virtual off_t seek(struct file *filp, off_t offset, int whence);
/**
* Perform an ioctl operation on the device.
*
* The default implementation handles DIOC_GETPRIV, and otherwise
* returns -ENOTTY. Subclasses should call the default implementation
* for any command they do not handle themselves.
*
* @param filp Pointer to the NuttX file structure.
* @param cmd The ioctl command value.
* @param arg The ioctl argument value.
* @return OK on success, or -errno otherwise.
*/
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Perform a poll setup/teardown operation.
*
* This is handled internally and should not normally be overridden.
*
* @param filp Pointer to the NuttX file structure.
* @param fds Poll descriptor being waited on.
* @param arg True if this is establishing a request, false if
* it is being torn down.
* @return OK on success, or -errno otherwise.
*/
virtual int poll(struct file *filp, struct pollfd *fds, bool setup);
protected:
/**
* Check the current state of the device for poll events from the
* perspective of the file.
*
* This function is called by the default poll() implementation when
* a poll is set up to determine whether the poll should return immediately.
*
* The default implementation returns no events.
*
* @param filp The file that's interested.
* @return The current set of poll events.
*/
virtual pollevent_t poll_state(struct file *filp);
/**
* Report new poll events.
*
* This function should be called anytime the state of the device changes
* in a fashion that might be interesting to a poll waiter.
*
* @param events The new event(s) being announced.
*/
virtual void poll_notify(pollevent_t events);
/**
* Internal implementation of poll_notify.
*
* @param fds A poll waiter to notify.
* @param events The event(s) to send to the waiter.
*/
virtual void poll_notify_one(struct pollfd *fds, pollevent_t events);
/**
* Notification of the first open.
*
* This function is called when the device open count transitions from zero
* to one. The driver lock is held for the duration of the call.
*
* The default implementation returns OK.
*
* @param filp Pointer to the NuttX file structure.
* @return OK if the open should proceed, -errno otherwise.
*/
virtual int open_first(struct file *filp);
/**
* Notification of the last close.
*
* This function is called when the device open count transitions from
* one to zero. The driver lock is held for the duration of the call.
*
* The default implementation returns OK.
*
* @param filp Pointer to the NuttX file structure.
* @return OK if the open should return OK, -errno otherwise.
*/
virtual int close_last(struct file *filp);
private:
static const unsigned _max_pollwaiters = 8;
const char *_devname; /**< device node name */
bool _registered; /**< true if device name was registered */
unsigned _open_count; /**< number of successful opens */
struct pollfd *_pollset[_max_pollwaiters];
/**
* Store a pollwaiter in a slot where we can find it later.
*
* Expands the pollset as required. Must be called with the driver locked.
*
* @return OK, or -errno on error.
*/
int store_poll_waiter(struct pollfd *fds);
/**
* Remove a poll waiter.
*
* @return OK, or -errno on error.
*/
int remove_poll_waiter(struct pollfd *fds);
};
/**
* Abstract class for character device accessed via PIO
*/
class __EXPORT PIO : public CDev
{
public:
/**
* Constructor
*
* @param name Driver name
* @param devname Device node name
* @param base Base address of the device PIO area
* @param irq Interrupt assigned to the device (or zero if none)
*/
PIO(const char *name,
const char *devname,
uint32_t base,
int irq = 0);
~PIO();
int init();
protected:
/**
* Read a register
*
* @param offset Register offset in bytes from the base address.
*/
uint32_t reg(uint32_t offset) {
return *(volatile uint32_t *)(_base + offset);
}
/**
* Write a register
*
* @param offset Register offset in bytes from the base address.
* @param value Value to write.
*/
void reg(uint32_t offset, uint32_t value) {
*(volatile uint32_t *)(_base + offset) = value;
}
/**
* Modify a register
*
* Note that there is a risk of a race during the read/modify/write cycle
* that must be taken care of by the caller.
*
* @param offset Register offset in bytes from the base address.
* @param clearbits Bits to clear in the register
* @param setbits Bits to set in the register
*/
void modify(uint32_t offset, uint32_t clearbits, uint32_t setbits) {
uint32_t val = reg(offset);
val &= ~clearbits;
val |= setbits;
reg(offset, val);
}
private:
uint32_t _base;
};
} // namespace device
#endif /* _DEVICE_DEVICE_H */
apps/drivers/device/spi.cpp
+2 -1
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@@ -127,6 +127,7 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
SPI_LOCK(_dev, true);
SPI_SETFREQUENCY(_dev, _frequency);
SPI_SETMODE(_dev, _mode);
SPI_SETBITS(_dev, 8);
SPI_SELECT(_dev, _device, true);
/* do the transfer */
@@ -139,4 +140,4 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
return OK;
}
} // namespace device
} // namespace device
apps/drivers/mpu6000/Makefile
+42
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@@ -0,0 +1,42 @@
############################################################################
#
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Makefile to build the BMA180 driver.
#
APPNAME = mpu6000
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
apps/drivers/mpu6000/mpu6000.cpp
+918
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File diff suppressed because it is too large Load Diff
apps/drivers/ms5611/ms5611.cpp
+14 -6
View File
@@ -58,6 +58,8 @@
#include <arch/board/up_hrt.h>
#include <systemlib/perf_counter.h>
#include <drivers/drv_baro.h>
/**
@@ -123,13 +125,15 @@ private:
int32_t _dT;
int64_t _temp64;
int _orbject;
int _baro_topic;
unsigned _reads;
unsigned _measure_errors;
unsigned _read_errors;
unsigned _buf_overflows;
perf_counter_t _sample_perf;
/**
* Test whether the device supported by the driver is present at a
* specific address.
@@ -245,7 +249,8 @@ MS5611::MS5611(int bus) :
_reads(0),
_measure_errors(0),
_read_errors(0),
_buf_overflows(0)
_buf_overflows(0),
_sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read"))
{
// enable debug() calls
_debug_enabled = true;
@@ -278,9 +283,9 @@ MS5611::init()
/* if this fails (e.g. no object in the system) that's OK */
memset(&b, 0, sizeof(b));
_orbject = orb_advertise(ORB_ID(sensor_baro), &b);
_baro_topic = orb_advertise(ORB_ID(sensor_baro), &b);
if (_orbject < 0)
if (_baro_topic < 0)
debug("failed to create sensor_baro object");
}
@@ -610,6 +615,8 @@ MS5611::collect()
/* read the most recent measurement */
cmd = 0;
perf_begin(_sample_perf);
/* this should be fairly close to the end of the conversion, so the best approximation of the time */
_reports[_next_report].timestamp = hrt_absolute_time();
@@ -655,7 +662,7 @@ MS5611::collect()
_reports[_next_report].altitude = (44330.0 * (1.0 - pow((press_int64 / 101325.0), 0.190295)));
/* publish it */
orb_publish(ORB_ID(sensor_baro), _orbject, &_reports[_next_report]);
orb_publish(ORB_ID(sensor_baro), _baro_topic, &_reports[_next_report]);
/* post a report to the ring - note, not locked */
INCREMENT(_next_report, _num_reports);
@@ -670,10 +677,11 @@ MS5611::collect()
poll_notify(POLLIN);
}
/* update the measurement state machine */
INCREMENT(_measure_phase, MS5611_MEASUREMENT_RATIO + 1);
perf_end(_sample_perf);
return OK;
}
apps/px4/px4io/driver/px4io.cpp
+1 -1
View File
@@ -536,7 +536,7 @@ px4io_main(int argc, char *argv[])
case OK:
break;
case -ENOENT:
fprintf(stderr, "PX4IO firmware file '%s' not found\n", fn);
fprintf(stderr, "PX4IO firmware file not found\n");
break;
case -EEXIST:
case -EIO:
nuttx/arch/arm/src/stm32/stm32_spi.c
+36 -18
View File
@@ -1368,15 +1368,21 @@ FAR struct spi_dev_s *up_spiinitialize(int port)
priv = &g_spi1dev;
/* Configure SPI1 pins: SCK, MISO, and MOSI */
/* Only configure if the port is not already configured */
stm32_configgpio(GPIO_SPI1_SCK);
stm32_configgpio(GPIO_SPI1_MISO);
stm32_configgpio(GPIO_SPI1_MOSI);
if (!(spi_getreg(priv, STM32_SPI_CR1_OFFSET) & SPI_CR1_SPE))
{
/* Set up default configuration: Master, 8-bit, etc. */
/* Configure SPI1 pins: SCK, MISO, and MOSI */
spi_portinitialize(priv);
stm32_configgpio(GPIO_SPI1_SCK);
stm32_configgpio(GPIO_SPI1_MISO);
stm32_configgpio(GPIO_SPI1_MOSI);
/* Set up default configuration: Master, 8-bit, etc. */
spi_portinitialize(priv);
}
}
else
#endif
@@ -1387,15 +1393,21 @@ FAR struct spi_dev_s *up_spiinitialize(int port)
priv = &g_spi2dev;
/* Configure SPI2 pins: SCK, MISO, and MOSI */
/* Only configure if the port is not already configured */
stm32_configgpio(GPIO_SPI2_SCK);
stm32_configgpio(GPIO_SPI2_MISO);
stm32_configgpio(GPIO_SPI2_MOSI);
if (!(spi_getreg(priv, STM32_SPI_CR1_OFFSET) & SPI_CR1_SPE))
{
/* Set up default configuration: Master, 8-bit, etc. */
/* Configure SPI2 pins: SCK, MISO, and MOSI */
spi_portinitialize(priv);
stm32_configgpio(GPIO_SPI2_SCK);
stm32_configgpio(GPIO_SPI2_MISO);
stm32_configgpio(GPIO_SPI2_MOSI);
/* Set up default configuration: Master, 8-bit, etc. */
spi_portinitialize(priv);
}
}
else
#endif
@@ -1406,15 +1418,21 @@ FAR struct spi_dev_s *up_spiinitialize(int port)
priv = &g_spi3dev;
/* Configure SPI3 pins: SCK, MISO, and MOSI */
/* Only configure if the port is not already configured */
stm32_configgpio(GPIO_SPI3_SCK);
stm32_configgpio(GPIO_SPI3_MISO);
stm32_configgpio(GPIO_SPI3_MOSI);
if (!(spi_getreg(priv, STM32_SPI_CR1_OFFSET) & SPI_CR1_SPE))
{
/* Set up default configuration: Master, 8-bit, etc. */
/* Configure SPI3 pins: SCK, MISO, and MOSI */
spi_portinitialize(priv);
stm32_configgpio(GPIO_SPI3_SCK);
stm32_configgpio(GPIO_SPI3_MISO);
stm32_configgpio(GPIO_SPI3_MOSI);
/* Set up default configuration: Master, 8-bit, etc. */
spi_portinitialize(priv);
}
}
#endif
nuttx/configs/px4fmu/nsh/appconfig
+2 -1
View File
@@ -75,7 +75,8 @@ CONFIGURED_APPS += attitude_estimator_ekf
# Communication and Drivers
CONFIGURED_APPS += drivers/device
#CONFIGURED_APPS += drivers/ms5611
CONFIGURED_APPS += drivers/ms5611
CONFIGURED_APPS += drivers/mpu6000
CONFIGURED_APPS += px4/px4io/driver
CONFIGURED_APPS += px4/fmu
nuttx/configs/px4fmu/nsh/defconfig
+4 -4
View File
@@ -537,10 +537,10 @@ CONFIG_SEM_NNESTPRIO=8
CONFIG_FDCLONE_DISABLE=n
CONFIG_FDCLONE_STDIO=y
CONFIG_SDCLONE_DISABLE=y
CONFIG_SCHED_WORKQUEUE=n
CONFIG_SCHED_WORKPRIORITY=50
CONFIG_SCHED_WORKPERIOD=(50*1000)
CONFIG_SCHED_WORKSTACKSIZE=1024
CONFIG_SCHED_WORKQUEUE=y
CONFIG_SCHED_WORKPRIORITY=199
CONFIG_SCHED_WORKPERIOD=(5*1000)
CONFIG_SCHED_WORKSTACKSIZE=2048
CONFIG_SIG_SIGWORK=4
CONFIG_SCHED_WAITPID=y
CONFIG_SCHED_ATEXIT=n