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

.gitignore

@@ -34,3 +34,4 @@ nuttx/nuttx.hex
 Firmware.sublime-workspace
 .DS_Store
 nsh_romfsimg.h
+cscope.out

apps/drivers/device/device.h.orig

@@ -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

@@ -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 */

apps/drivers/mpu6000/Makefile

@@ -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/ms5611/ms5611.cpp

@@ -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

@@ -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

@@ -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);
+      if (!(spi_getreg(priv, STM32_SPI_CR1_OFFSET) & SPI_CR1_SPE))
-      stm32_configgpio(GPIO_SPI1_MISO);
+        {
-      stm32_configgpio(GPIO_SPI1_MOSI);
 
-      /* 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);
+      if (!(spi_getreg(priv, STM32_SPI_CR1_OFFSET) & SPI_CR1_SPE))
-      stm32_configgpio(GPIO_SPI2_MISO);
+        {
-      stm32_configgpio(GPIO_SPI2_MOSI);
 
-      /* 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);
+      if (!(spi_getreg(priv, STM32_SPI_CR1_OFFSET) & SPI_CR1_SPE))
-      stm32_configgpio(GPIO_SPI3_MISO);
+        {
-      stm32_configgpio(GPIO_SPI3_MOSI);
 
-      /* 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

@@ -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

@@ -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_WORKQUEUE=y
-CONFIG_SCHED_WORKPRIORITY=50
+CONFIG_SCHED_WORKPRIORITY=199
-CONFIG_SCHED_WORKPERIOD=(50*1000)
+CONFIG_SCHED_WORKPERIOD=(5*1000)
-CONFIG_SCHED_WORKSTACKSIZE=1024
+CONFIG_SCHED_WORKSTACKSIZE=2048
 CONFIG_SIG_SIGWORK=4
 CONFIG_SCHED_WAITPID=y
 CONFIG_SCHED_ATEXIT=n