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

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This commit is contained in:
Thomas Gubler
2012-10-26 21:21:07 +02:00
parent b9d03c7c27 241a0d8653
commit f321e7f419
133 changed files with 2423 additions and 4388 deletions
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Makefile
+1 -1
View File
@@ -117,7 +117,7 @@ upload: $(FIRMWARE_BUNDLE) $(UPLOADER)
upload-jtag-px4fmu:
@echo Attempting to flash PX4FMU board via JTAG
@openocd -f interface/olimex-jtag-tiny.cfg -f Tools/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown
@openocd -f interface/olimex-jtag-tiny.cfg -f ../Bootloader/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown
#
# Hacks and fixups
ROMFS/logging/logconv.m
+69 -2
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@@ -1,5 +1,72 @@
clear all
clc
close all
%%%%%%%%%%%%%%%%%%%%%%%
% SYSTEM VECTOR
%
% All measurements in NED frame
%
% uint64_t timestamp;
% float gyro[3]; in rad/s
% float accel[3]; in m/s^2
% float mag[3]; in Gauss
% float baro; pressure in millibar
% float baro_alt; altitude above MSL in meters
% float baro_temp; in degrees celcius
% float control[4]; roll, pitch, yaw [-1..1], thrust [0..1]
% float actuators[8]; motor 1-8, in motor units (PWM: 1000-2000,
% AR.Drone: 0-512
% float vbat; battery voltage in volt
% float adc[3]; remaining auxiliary ADC ports in volt
% float local_position
% int32 gps_raw_position
if exist('sysvector.bin', 'file')
% Read actuators file
myFile = java.io.File('sysvector.bin')
fileSize = length(myFile)
fid = fopen('sysvector.bin', 'r');
elements = int64(fileSize./(8+(3+3+3+1+1+1+4+8+4+3+3)*4));
for i=1:elements
% timestamp
sysvector(i,1) = double(fread(fid, 1, '*uint64', 0, 'ieee-le.l64'));
% actuators 1-16
% quadrotor: motor 1-4 on the first four positions
sysvector(i, 2:32) = fread(fid, 28+3, 'float', 'ieee-le');
sysvector(i,33:35) = fread(fid, 3, 'int32', 'ieee-le');
end
sysvector_interval_seconds = (sysvector(end,1) - sysvector(1:1)) / 1000000
sysvector_minutes = sysvector_interval_seconds / 60
% Normalize time
sysvector(:,1) = (sysvector(:,1) - sysvector(1,1)) / 1000000;
% Create some basic plots
% Remove zero rows from GPS
gps = sysvector(:,33:35);
gps(~any(gps,2), :) = [];
all_data = figure('Name', 'GPS RAW');
gps_position = plot3(gps(:,1), gps(:,2), gps(:,3));
all_data = figure('Name', 'Complete Log Data (exc. GPS)');
plot(sysvector(:,1), sysvector(:,2:32));
actuator_inputs = figure('Name', 'Attitude controller outputs');
plot(sysvector(:,1), sysvector(:,14:17));
legend('roll motor setpoint', 'pitch motor setpoint', 'yaw motor setpoint', 'throttle motor setpoint');
actuator_outputs = figure('Name', 'Actuator outputs');
plot(sysvector(:,1), sysvector(:,18:25));
legend('actuator 0', 'actuator 1', 'actuator 2', 'actuator 3', 'actuator 4', 'actuator 5', 'actuator 6', 'actuator 7');
end
if exist('actuator_outputs0.bin', 'file')
% Read actuators file
@@ -9,7 +76,7 @@ if exist('actuator_outputs0.bin', 'file')
fid = fopen('actuator_outputs0.bin', 'r');
elements = int64(fileSize./(16*4+8))
for i=1:(elements-2)
for i=1:elements
% timestamp
actuators(i,1) = double(fread(fid, 1, '*uint64', 0, 'ieee-le.l64'));
% actuators 1-16
apps/ardrone_interface/ardrone_interface.c
+1 -1
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@@ -51,7 +51,7 @@
#include <time.h>
#include <systemlib/err.h>
#include <sys/prctl.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
apps/ardrone_interface/ardrone_motor_control.c
+1 -1
View File
@@ -42,7 +42,7 @@
#include <fcntl.h>
#include <unistd.h>
#include <drivers/drv_gpio.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/actuator_outputs.h>
#include <systemlib/err.h>
apps/attitude_estimator_ekf/attitudeKalmanfilter.m
-108
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@@ -1,108 +0,0 @@
function [Rot_matrix,x_aposteriori,P_aposteriori] = attitudeKalmanfilter(dt,z_k,x_aposteriori_k,P_aposteriori_k,knownConst)
%#codegen
%Extended Attitude Kalmanfilter
%
%state vector x has the following entries [ax,ay,az||mx,my,mz||wox,woy,woz||wx,wy,wz]'
%measurement vector z has the following entries [ax,ay,az||mx,my,mz||wmx,wmy,wmz]'
%knownConst has the following entries [PrvaA,PrvarM,PrvarWO,PrvarW||MsvarA,MsvarM,MsvarW]
%
%[x_aposteriori,P_aposteriori] = AttKalman(dt,z_k,x_aposteriori_k,P_aposteriori_k,knownConst)
%
%Example....
%
% $Author: Tobias Naegeli $ $Date: 2012 $ $Revision: 1 $
%%define the matrices
acc_ProcessNoise=knownConst(1);
mag_ProcessNoise=knownConst(2);
ratesOffset_ProcessNoise=knownConst(3);
rates_ProcessNoise=knownConst(4);
acc_MeasurementNoise=knownConst(5);
mag_MeasurementNoise=knownConst(6);
rates_MeasurementNoise=knownConst(7);
%process noise covariance matrix
Q = [ eye(3)*acc_ProcessNoise, zeros(3), zeros(3), zeros(3);
zeros(3), eye(3)*mag_ProcessNoise, zeros(3), zeros(3);
zeros(3), zeros(3), eye(3)*ratesOffset_ProcessNoise, zeros(3);
zeros(3), zeros(3), zeros(3), eye(3)*rates_ProcessNoise];
%measurement noise covariance matrix
R = [ eye(3)*acc_MeasurementNoise, zeros(3), zeros(3);
zeros(3), eye(3)*mag_MeasurementNoise, zeros(3);
zeros(3), zeros(3), eye(3)*rates_MeasurementNoise];
%observation matrix
H_k=[ eye(3), zeros(3), zeros(3), zeros(3);
zeros(3), eye(3), zeros(3), zeros(3);
zeros(3), zeros(3), eye(3), eye(3)];
%compute A(t,w)
%x_aposteriori_k[10,11,12] should be [p,q,r]
%R_temp=[1,-r, q
% r, 1, -p
% -q, p, 1]
R_temp=[1,-dt*x_aposteriori_k(12),dt*x_aposteriori_k(11);
dt*x_aposteriori_k(12),1,-dt*x_aposteriori_k(10);
-dt*x_aposteriori_k(11), dt*x_aposteriori_k(10),1];
%strange, should not be transposed
A_pred=[R_temp', zeros(3), zeros(3), zeros(3);
zeros(3), R_temp', zeros(3), zeros(3);
zeros(3), zeros(3), eye(3), zeros(3);
zeros(3), zeros(3), zeros(3), eye(3)];
%%prediction step
x_apriori=A_pred*x_aposteriori_k;
%linearization
acc_temp_mat=[0, dt*x_aposteriori_k(3), -dt*x_aposteriori_k(2);
-dt*x_aposteriori_k(3), 0, dt*x_aposteriori_k(1);
dt*x_aposteriori_k(2), -dt*x_aposteriori_k(1), 0];
mag_temp_mat=[0, dt*x_aposteriori_k(6), -dt*x_aposteriori_k(5);
-dt*x_aposteriori_k(6), 0, dt*x_aposteriori_k(4);
dt*x_aposteriori_k(5), -dt*x_aposteriori_k(4), 0];
A_lin=[R_temp', zeros(3), zeros(3), acc_temp_mat';
zeros(3), R_temp', zeros(3), mag_temp_mat';
zeros(3), zeros(3), eye(3), zeros(3);
zeros(3), zeros(3), zeros(3), eye(3)];
P_apriori=A_lin*P_aposteriori_k*A_lin'+Q;
%%update step
y_k=z_k-H_k*x_apriori;
S_k=H_k*P_apriori*H_k'+R;
K_k=(P_apriori*H_k'/(S_k));
x_aposteriori=x_apriori+K_k*y_k;
P_aposteriori=(eye(12)-K_k*H_k)*P_apriori;
%%Rotation matrix generation
earth_z=x_aposteriori(1:3)/norm(x_aposteriori(1:3));
earth_x=cross(earth_z,x_aposteriori(4:6)/norm(x_aposteriori(4:6)));
earth_y=cross(earth_x,earth_z);
Rot_matrix=[earth_x,earth_y,earth_z];
apps/attitude_estimator_ekf/attitudeKalmanfilter.prj
-270
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@@ -1,270 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<deployment-project>
<configuration target="target.matlab.ecoder" target-name="MATLAB Embedded Coder Target" name="attitudeKalmanfilter" location="F:\codegenerationMatlabAttFilter" file="F:\codegenerationMatlabAttFilter\attitudeKalmanfilter.prj" build-checksum="2344418414">
<param.mex.general.TargetLang>option.general.TargetLang.C</param.mex.general.TargetLang>
<param.mex.general.IntegrityChecks>true</param.mex.general.IntegrityChecks>
<param.mex.general.ResponsivenessChecks>true</param.mex.general.ResponsivenessChecks>
<param.mex.general.EnableBLAS>true</param.mex.general.EnableBLAS>
<param.mex.general.ExtrinsicCalls>true</param.mex.general.ExtrinsicCalls>
<param.mex.general.EchoExpressions>true</param.mex.general.EchoExpressions>
<param.mex.general.EnableDebugging>true</param.mex.general.EnableDebugging>
<param.mex.general.SaturateOnIntegerOverflow>true</param.mex.general.SaturateOnIntegerOverflow>
<param.mex.general.FilePartitionMethod>option.general.FilePartitionMethod.MapMFileToCFile</param.mex.general.FilePartitionMethod>
<param.mex.general.GlobalDataSyncMethod>option.general.GlobalDataSyncMethod.SyncAlways</param.mex.general.GlobalDataSyncMethod>
<param.mex.general.EnableVariableSizing>true</param.mex.general.EnableVariableSizing>
<param.mex.general.DynamicMemoryAllocation>option.general.DynamicMemoryAllocation.Disabled</param.mex.general.DynamicMemoryAllocation>
<param.mex.paths.working>option.paths.working.project</param.mex.paths.working>
<param.mex.paths.working.specified />
<param.mex.paths.build>option.paths.build.project</param.mex.paths.build>
<param.mex.paths.build.specified />
<param.mex.paths.search />
<param.mex.report.GenerateReport>true</param.mex.report.GenerateReport>
<param.mex.report.LaunchReport>false</param.mex.report.LaunchReport>
<param.mex.comments.GenerateComments>true</param.mex.comments.GenerateComments>
<param.mex.comments.MATLABSourceComments>true</param.mex.comments.MATLABSourceComments>
<param.mex.symbols.ReservedNameArray />
<param.mex.customcode.CustomSourceCode />
<param.mex.customcode.CustomHeaderCode />
<param.mex.customcode.CustomInitializer />
<param.mex.customcode.CustomTerminator />
<param.mex.customcode.CustomInclude />
<param.mex.customcode.CustomSource />
<param.mex.customcode.CustomLibrary />
<param.mex.PostCodeGenCommand />
<param.mex.EnableMemcpy>true</param.mex.EnableMemcpy>
<param.mex.MemcpyThreshold>64</param.mex.MemcpyThreshold>
<param.mex.InitFltsAndDblsToZero>true</param.mex.InitFltsAndDblsToZero>
<param.mex.InlineThreshold>10</param.mex.InlineThreshold>
<param.mex.InlineThresholdMax>200</param.mex.InlineThresholdMax>
<param.mex.InlineStackLimit>4000</param.mex.InlineStackLimit>
<param.mex.StackUsageMax>200000</param.mex.StackUsageMax>
<param.mex.ConstantFoldingTimeout>10000</param.mex.ConstantFoldingTimeout>
<param.grt.general.TargetLang>option.general.TargetLang.C</param.grt.general.TargetLang>
<param.general.target.description>MATLAB Embedded Coder Target</param.general.target.description>
<param.grt.CCompilerOptimization>option.CCompilerOptimization.On</param.grt.CCompilerOptimization>
<param.grt.CCompilerCustomOptimizations />
<param.grt.general.GenerateMakefile>true</param.grt.general.GenerateMakefile>
<param.grt.general.MakeCommand>make_rtw</param.grt.general.MakeCommand>
<param.grt.general.TemplateMakefile>default_tmf</param.grt.general.TemplateMakefile>
<param.grt.general.SaturateOnIntegerOverflow>true</param.grt.general.SaturateOnIntegerOverflow>
<param.grt.general.FilePartitionMethod>option.general.FilePartitionMethod.MapMFileToCFile</param.grt.general.FilePartitionMethod>
<param.grt.general.EnableVariableSizing>true</param.grt.general.EnableVariableSizing>
<param.grt.general.DynamicMemoryAllocation>option.general.DynamicMemoryAllocation.Disabled</param.grt.general.DynamicMemoryAllocation>
<param.grt.paths.working>option.paths.working.project</param.grt.paths.working>
<param.grt.paths.working.specified />
<param.grt.paths.build>option.paths.build.project</param.grt.paths.build>
<param.grt.paths.build.specified />
<param.grt.paths.search />
<param.grt.report.GenerateReport>true</param.grt.report.GenerateReport>
<param.grt.report.LaunchReport>false</param.grt.report.LaunchReport>
<param.grt.GenerateComments>true</param.grt.GenerateComments>
<param.grt.MATLABSourceComments>true</param.grt.MATLABSourceComments>
<param.ert.MATLABFcnDesc>false</param.ert.MATLABFcnDesc>
<param.ert.CustomSymbolStrGlobalVar>$M$N</param.ert.CustomSymbolStrGlobalVar>
<param.ert.CustomSymbolStrType>$M$N</param.ert.CustomSymbolStrType>
<param.ert.CustomSymbolStrField>$M$N</param.ert.CustomSymbolStrField>
<param.ert.CustomSymbolStrFcn>$M$N</param.ert.CustomSymbolStrFcn>
<param.ert.CustomSymbolStrTmpVar>$M$N</param.ert.CustomSymbolStrTmpVar>
<param.ert.CustomSymbolStrMacro>$M$N</param.ert.CustomSymbolStrMacro>
<param.ert.CustomSymbolStrEMXArray>emxArray_$M$N</param.ert.CustomSymbolStrEMXArray>
<param.grt.MaxIdLength>32</param.grt.MaxIdLength>
<param.grt.ReservedNameArray />
<param.grt.customcode.CustomSourceCode />
<param.grt.customcode.CustomHeaderCode />
<param.grt.customcode.CustomInitializer />
<param.grt.customcode.CustomTerminator />
<param.grt.customcode.CustomInclude />
<param.grt.customcode.CustomSource />
<param.grt.customcode.CustomLibrary />
<param.grt.PostCodeGenCommand />
<param.grt.Verbose>false</param.grt.Verbose>
<param.grt.TargetFunctionLibrary>C89/C90 (ANSI)</param.grt.TargetFunctionLibrary>
<param.grt.SupportNonFinite>true</param.grt.SupportNonFinite>
<param.ert.TargetFunctionLibrary>C99 (ISO)</param.ert.TargetFunctionLibrary>
<param.ert.PurelyIntegerCode>false</param.ert.PurelyIntegerCode>
<param.ert.SupportNonFinite>true</param.ert.SupportNonFinite>
<param.ert.IncludeTerminateFcn>true</param.ert.IncludeTerminateFcn>
<param.ert.MultiInstanceCode>false</param.ert.MultiInstanceCode>
<param.ert.ParenthesesLevel>option.ParenthesesLevel.Nominal</param.ert.ParenthesesLevel>
<param.ert.ConvertIfToSwitch>false</param.ert.ConvertIfToSwitch>
<param.ert.PreserveExternInFcnDecls>true</param.ert.PreserveExternInFcnDecls>
<param.grt.EnableMemcpy>true</param.grt.EnableMemcpy>
<param.grt.MemcpyThreshold>64</param.grt.MemcpyThreshold>
<param.grt.InitFltsAndDblsToZero>true</param.grt.InitFltsAndDblsToZero>
<param.grt.InlineThreshold>10</param.grt.InlineThreshold>
<param.grt.InlineThresholdMax>200</param.grt.InlineThresholdMax>
<param.grt.InlineStackLimit>4000</param.grt.InlineStackLimit>
<param.grt.StackUsageMax>200000</param.grt.StackUsageMax>
<param.grt.ConstantFoldingTimeout>10000</param.grt.ConstantFoldingTimeout>
<param.UseECoderFeatures>true</param.UseECoderFeatures>
<param.mex.outputfile>attitudeKalmanfilter_mex</param.mex.outputfile>
<param.grt.outputfile>attitudeKalmanfilter</param.grt.outputfile>
<param.artifact>option.target.artifact.lib</param.artifact>
<param.mex.GenCodeOnly>false</param.mex.GenCodeOnly>
<param.grt.GenCodeOnly>true</param.grt.GenCodeOnly>
<param.version>R2011a</param.version>
<param.HasECoderFeatures>true</param.HasECoderFeatures>
<param.mex.mainhtml />
<param.grt.mainhtml>F:\codegenerationMatlabAttFilter\codegen\lib\attitudeKalmanfilter\html\index.html</param.grt.mainhtml>
<unset>
<param.mex.general.TargetLang />
<param.mex.general.IntegrityChecks />
<param.mex.general.ResponsivenessChecks />
<param.mex.general.EnableBLAS />
<param.mex.general.ExtrinsicCalls />
<param.mex.general.EchoExpressions />
<param.mex.general.EnableDebugging />
<param.mex.general.SaturateOnIntegerOverflow />
<param.mex.general.FilePartitionMethod />
<param.mex.general.GlobalDataSyncMethod />
<param.mex.general.EnableVariableSizing />
<param.mex.general.DynamicMemoryAllocation />
<param.mex.paths.working />
<param.mex.paths.working.specified />
<param.mex.paths.build />
<param.mex.paths.build.specified />
<param.mex.paths.search />
<param.mex.report.GenerateReport />
<param.mex.report.LaunchReport />
<param.mex.comments.GenerateComments />
<param.mex.comments.MATLABSourceComments />
<param.mex.symbols.ReservedNameArray />
<param.mex.customcode.CustomSourceCode />
<param.mex.customcode.CustomHeaderCode />
<param.mex.customcode.CustomInitializer />
<param.mex.customcode.CustomTerminator />
<param.mex.customcode.CustomInclude />
<param.mex.customcode.CustomSource />
<param.mex.customcode.CustomLibrary />
<param.mex.PostCodeGenCommand />
<param.mex.EnableMemcpy />
<param.mex.MemcpyThreshold />
<param.mex.InitFltsAndDblsToZero />
<param.mex.InlineThreshold />
<param.mex.InlineThresholdMax />
<param.mex.InlineStackLimit />
<param.mex.StackUsageMax />
<param.mex.ConstantFoldingTimeout />
<param.grt.general.TargetLang />
<param.grt.CCompilerCustomOptimizations />
<param.grt.general.GenerateMakefile />
<param.grt.general.MakeCommand />
<param.grt.general.TemplateMakefile />
<param.grt.general.SaturateOnIntegerOverflow />
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<param.grt.general.EnableVariableSizing />
<param.grt.general.DynamicMemoryAllocation />
<param.grt.paths.working />
<param.grt.paths.working.specified />
<param.grt.paths.build />
<param.grt.paths.build.specified />
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<param.grt.report.GenerateReport />
<param.grt.report.LaunchReport />
<param.grt.GenerateComments />
<param.ert.MATLABFcnDesc />
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<param.ert.ConvertIfToSwitch />
<param.ert.PreserveExternInFcnDecls />
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<param.grt.InlineStackLimit />
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<param.grt.ConstantFoldingTimeout />
<param.UseECoderFeatures />
<param.mex.outputfile />
<param.grt.outputfile />
<param.mex.GenCodeOnly />
<param.version />
<param.HasECoderFeatures />
<param.mex.mainhtml />
</unset>
<fileset.entrypoints>
<file value="${PROJECT_ROOT}\attitudeKalmanfilter.m" custom-data-expanded="true">
<Inputs fileName="attitudeKalmanfilter.m" functionName="attitudeKalmanfilter">
<Input Name="dt">
<Class>single</Class>
<Size>1 x 1</Size>
<Value />
<InitialValue />
<Complex>false</Complex>
</Input>
<Input Name="z_k">
<Class>single</Class>
<Size>9 x 1</Size>
<Value />
<InitialValue />
<Complex>false</Complex>
</Input>
<Input Name="x_aposteriori_k">
<Class>single</Class>
<Size>12 x 1</Size>
<Value />
<InitialValue />
<Complex>false</Complex>
</Input>
<Input Name="P_aposteriori_k">
<Class>single</Class>
<Size>12 x 12</Size>
<Value />
<InitialValue />
<Complex>false</Complex>
</Input>
<Input Name="knownConst">
<Class>single</Class>
<Size>7 x 1</Size>
<Value />
<InitialValue />
<Complex>false</Complex>
</Input>
</Inputs>
</file>
</fileset.entrypoints>
<fileset.package />
<build-deliverables />
<matlab>
<root>C:\Program Files\MATLAB\R2011a</root>
</matlab>
<platform>
<unix>false</unix>
<mac>false</mac>
<windows>true</windows>
<win2k>false</win2k>
<winxp>false</winxp>
<vista>false</vista>
<linux>false</linux>
<solaris>false</solaris>
<osver>6.1</osver>
<os32>false</os32>
<os64>true</os64>
<arch>win64</arch>
<matlab>true</matlab>
</platform>
</configuration>
</deployment-project>
apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+9 -2
View File
@@ -59,9 +59,10 @@
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/parameter_update.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
#include "codegen/attitudeKalmanfilter_initialize.h"
#include "codegen/attitudeKalmanfilter.h"
@@ -200,7 +201,9 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
uint64_t last_run = hrt_absolute_time();
struct sensor_combined_s raw;
memset(&raw, 0, sizeof(raw));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
uint64_t last_data = 0;
uint64_t last_measurement = 0;
@@ -350,7 +353,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
static bool const_initialized = false;
/* initialize with good values once we have a reasonable dt estimate */
if (!const_initialized && dt < 0.05 && dt > 0.005)
if (!const_initialized && dt < 0.05f && dt > 0.005f)
{
dt = 0.005f;
parameters_update(&ekf_param_handles, &ekf_params);
@@ -445,8 +448,12 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
memcpy(&att.R, Rot_matrix, sizeof(Rot_matrix));
att.R_valid = true;
if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) {
// Broadcast
orb_publish(ORB_ID(vehicle_attitude), pub_att, &att);
} else {
warnx("NaN in roll/pitch/yaw estimate!");
}
}
}
}
apps/commander/calibration_routines.c
+41
View File
@@ -1,3 +1,44 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* 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 calibration_routines.c
* Calibration routines implementations.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <math.h>
#include "calibration_routines.h"
apps/commander/calibration_routines.h
+40
View File
@@ -1,3 +1,43 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* 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 calibration_routines.h
* Calibration routines definitions.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
/**
* Least-squares fit of a sphere to a set of points.
apps/commander/commander.c
+57 -28
View File
@@ -1,10 +1,10 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* Author: Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
* Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -38,6 +38,12 @@
/**
* @file commander.c
* Main system state machine implementation.
*
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*
*/
#include "commander.h"
@@ -56,8 +62,8 @@
#include <v1.0/common/mavlink.h>
#include <string.h>
#include <arch/board/drv_led.h>
#include <arch/board/up_hrt.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_tone_alarm.h>
#include "state_machine_helper.h"
#include "systemlib/systemlib.h"
@@ -89,7 +95,7 @@
PARAM_DEFINE_INT32(SYS_FAILSAVE_LL, 0); /**< Go into low-level failsafe after 0 ms */
//PARAM_DEFINE_INT32(SYS_FAILSAVE_HL, 0); /**< Go into high-level failsafe after 0 ms */
#include <arch/board/up_cpuload.h>
#include <systemlib/cpuload.h>
extern struct system_load_s system_load;
/* Decouple update interval and hysteris counters, all depends on intervals */
@@ -121,9 +127,9 @@ static orb_advert_t stat_pub;
static unsigned int failsafe_lowlevel_timeout_ms;
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
static bool thread_should_exit = false; /**< daemon exit flag */
static bool thread_running = false; /**< daemon status flag */
static int daemon_task; /**< Handle of daemon task / thread */
/* pthread loops */
static void *orb_receive_loop(void *arg);
@@ -942,6 +948,8 @@ static void *orb_receive_loop(void *arg) //handles status information coming fr
int subsys_sub = orb_subscribe(ORB_ID(subsystem_info));
struct subsystem_info_s info;
struct vehicle_status_s *vstatus = (struct vehicle_status_s*)arg;
while (!thread_should_exit) {
struct pollfd fds[1] = { { .fd = subsys_sub, .events = POLLIN } };
@@ -952,6 +960,27 @@ static void *orb_receive_loop(void *arg) //handles status information coming fr
orb_copy(ORB_ID(subsystem_info), subsys_sub, &info);
printf("Subsys changed: %d\n", (int)info.subsystem_type);
/* mark / unmark as present */
if (info.present) {
vstatus->onboard_control_sensors_present |= info.subsystem_type;
} else {
vstatus->onboard_control_sensors_present &= ~info.subsystem_type;
}
/* mark / unmark as enabled */
if (info.enabled) {
vstatus->onboard_control_sensors_enabled |= info.subsystem_type;
} else {
vstatus->onboard_control_sensors_enabled &= ~info.subsystem_type;
}
/* mark / unmark as ok */
if (info.ok) {
vstatus->onboard_control_sensors_health |= info.subsystem_type;
} else {
vstatus->onboard_control_sensors_health &= ~info.subsystem_type;
}
}
}
@@ -960,12 +989,6 @@ static void *orb_receive_loop(void *arg) //handles status information coming fr
return NULL;
}
enum BAT_CHEM {
BAT_CHEM_LITHIUM_POLYMERE = 0,
};
/*
* Provides a coarse estimate of remaining battery power.
*
@@ -973,35 +996,41 @@ enum BAT_CHEM {
*
* @return the estimated remaining capacity in 0..1
*/
float battery_remaining_estimate_voltage(int cells, int chemistry, float voltage);
float battery_remaining_estimate_voltage(float voltage);
PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.2f);
PARAM_DEFINE_FLOAT(BAT_V_FULL, 4.05f);
PARAM_DEFINE_FLOAT(BAT_N_CELLS, 3);
float battery_remaining_estimate_voltage(int cells, int chemistry, float voltage)
float battery_remaining_estimate_voltage(float voltage)
{
float ret = 0;
static param_t bat_volt_empty;
static param_t bat_volt_full;
static param_t bat_n_cells;
static bool initialized = false;
static unsigned int counter = 0;
static float ncells = 3;
// XXX change cells to int (and param to INT32)
if (!initialized) {
bat_volt_empty = param_find("BAT_V_EMPTY");
bat_volt_full = param_find("BAT_V_FULL");
bat_n_cells = param_find("BAT_N_CELLS");
initialized = true;
}
float chemistry_voltage_empty[1] = { 3.2f };
float chemistry_voltage_full[1] = { 4.05f };
static float chemistry_voltage_empty = 3.2f;
static float chemistry_voltage_full = 4.05f;
if (counter % 100 == 0) {
param_get(bat_volt_empty, &(chemistry_voltage_empty[0]));
param_get(bat_volt_full, &(chemistry_voltage_full[0]));
param_get(bat_volt_empty, &chemistry_voltage_empty);
param_get(bat_volt_full, &chemistry_voltage_full);
param_get(bat_n_cells, &ncells);
}
counter++;
ret = (voltage - cells * chemistry_voltage_empty[chemistry]) / (cells * (chemistry_voltage_full[chemistry] - chemistry_voltage_empty[chemistry]));
ret = (voltage - ncells * chemistry_voltage_empty) / (ncells * (chemistry_voltage_full - chemistry_voltage_empty));
/* limit to sane values */
ret = (ret < 0) ? 0 : ret;
@@ -1014,12 +1043,12 @@ usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\n\n");
fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
exit(1);
}
/**
* The deamon app only briefly exists to start
* The daemon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
@@ -1040,7 +1069,7 @@ int commander_main(int argc, char *argv[])
}
thread_should_exit = false;
deamon_task = task_spawn("commander",
daemon_task = task_spawn("commander",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 50,
8000,
@@ -1126,7 +1155,7 @@ int commander_thread_main(int argc, char *argv[])
pthread_attr_t subsystem_info_attr;
pthread_attr_init(&subsystem_info_attr);
pthread_attr_setstacksize(&subsystem_info_attr, 2048);
pthread_create(&subsystem_info_thread, &subsystem_info_attr, orb_receive_loop, NULL);
pthread_create(&subsystem_info_thread, &subsystem_info_attr, orb_receive_loop, &current_status);
/* Start monitoring loop */
uint16_t counter = 0;
@@ -1218,7 +1247,7 @@ int commander_thread_main(int argc, char *argv[])
* valid and system has been running for two and a half seconds
*/
if (battery_voltage_valid && (hrt_absolute_time() - start_time > 2500000)) {
bat_remain = battery_remaining_estimate_voltage(3, BAT_CHEM_LITHIUM_POLYMERE, battery_voltage);
bat_remain = battery_remaining_estimate_voltage(battery_voltage);
}
/* Slow but important 8 Hz checks */
apps/commander/commander.h
+13 -4
View File
@@ -1,10 +1,11 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Author: Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
* Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
*
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
@@ -34,12 +35,20 @@
*
****************************************************************************/
/* @file Main system state machine definition */
/**
* @file commander.h
* Main system state machine definition.
*
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*
*/
#ifndef COMMANDER_H_
#define COMMANDER_H_
#define VOLTAGE_BATTERY_CRITICAL_VOLTS 10.0f
#define LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 1000.0f
#define CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 100.0f
apps/commander/state_machine_helper.c
+1 -1
View File
@@ -45,7 +45,7 @@
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <systemlib/systemlib.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <mavlink/mavlink_log.h>
#include "state_machine_helper.h"
apps/drivers/bma180/bma180.cpp
+21 -1
View File
@@ -58,7 +58,7 @@
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <drivers/device/spi.h>
@@ -289,6 +289,7 @@ BMA180::init()
_num_reports = 2;
_oldest_report = _next_report = 0;
_reports = new struct accel_report[_num_reports];
if (_reports == nullptr)
goto out;
@@ -321,13 +322,16 @@ BMA180::init()
modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0);
if (set_range(4)) warnx("Failed setting range");
if (set_lowpass(75)) warnx("Failed setting lowpass");
if (read_reg(ADDR_CHIP_ID) == CHIP_ID) {
ret = OK;
} else {
ret = ERROR;
}
out:
return ret;
}
@@ -441,6 +445,7 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCGPOLLRATE:
if (_call_interval == 0)
return SENSOR_POLLRATE_MANUAL;
return 1000000 / _call_interval;
case SENSORIOCSQUEUEDEPTH: {
@@ -549,24 +554,30 @@ BMA180::set_range(unsigned max_g)
if (max_g == 0)
max_g = 16;
if (max_g > 16)
return -ERANGE;
if (max_g <= 2) {
_current_range = 2;
rangebits = OFFSET_LSB1_RANGE_2G;
} else if (max_g <= 3) {
_current_range = 3;
rangebits = OFFSET_LSB1_RANGE_3G;
} else if (max_g <= 4) {
_current_range = 4;
rangebits = OFFSET_LSB1_RANGE_4G;
} else if (max_g <= 8) {
_current_range = 8;
rangebits = OFFSET_LSB1_RANGE_8G;
} else if (max_g <= 16) {
_current_range = 16;
rangebits = OFFSET_LSB1_RANGE_16G;
} else {
return -EINVAL;
}
@@ -781,17 +792,21 @@ start()
/* set the poll rate to default, starts automatic data collection */
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0)
goto fail;
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
goto fail;
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
@@ -809,6 +824,7 @@ test()
/* get the driver */
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'bma180 start' if the driver is not running)",
ACCEL_DEVICE_PATH);
@@ -819,6 +835,7 @@ test()
/* do a simple demand read */
sz = read(fd, &a_report, sizeof(a_report));
if (sz != sizeof(a_report))
err(1, "immediate acc read failed");
@@ -846,10 +863,13 @@ void
reset()
{
int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "failed ");
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
err(1, "driver reset failed");
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
err(1, "driver poll restart failed");
apps/px4/ground_estimator/Makefile → apps/drivers/boards/px4fmu/Makefile
+2 -4
View File
@@ -32,11 +32,9 @@
############################################################################
#
# Basic example application
# Board-specific startup code for the PX4FMU
#
APPNAME = ground_estimator
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
include $(APPDIR)/mk/app.mk
nuttx/configs/px4fmu/src/up_adc.c → apps/drivers/boards/px4fmu/px4fmu_adc.c
+18 -52
View File
@@ -1,9 +1,6 @@
/************************************************************************************
* configs/stm3240g-eval/src/up_adc.c
* arch/arm/src/board/up_adc.c
/****************************************************************************
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* 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
@@ -15,7 +12,7 @@
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* 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.
*
@@ -32,7 +29,13 @@
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
************************************************************************************/
****************************************************************************/
/**
* @file px4fmu_adc.c
*
* Board-specific ADC functions.
*/
/************************************************************************************
* Included Files
@@ -50,35 +53,8 @@
#include "chip.h"
#include "up_arch.h"
//#include "stm32_pwm.h"
#include "stm32_adc.h"
#include "px4fmu-internal.h"
#ifdef CONFIG_ADC
/************************************************************************************
* Definitions
************************************************************************************/
/* Configuration ************************************************************/
/* Up to 3 ADC interfaces are supported */
#if STM32_NADC < 3
# undef CONFIG_STM32_ADC3
#endif
#if STM32_NADC < 2
# undef CONFIG_STM32_ADC2
#endif
#if STM32_NADC < 1
# undef CONFIG_STM32_ADC3
#endif
#if defined(CONFIG_STM32_ADC1) || defined(CONFIG_STM32_ADC2) || defined(CONFIG_STM32_ADC3)
#ifndef CONFIG_STM32_ADC3
# warning "Channel information only available for ADC3"
#endif
#include "px4fmu_internal.h"
#define ADC3_NCHANNELS 4
@@ -116,7 +92,6 @@ static const uint32_t g_pinlist[ADC3_NCHANNELS] = {GPIO_ADC3_IN10, GPIO_ADC3_IN
int adc_devinit(void)
{
#ifdef CONFIG_STM32_ADC3
static bool initialized = false;
struct adc_dev_s *adc[ADC3_NCHANNELS];
int ret;
@@ -124,25 +99,22 @@ int adc_devinit(void)
/* Check if we have already initialized */
if (!initialized)
{
if (!initialized) {
char name[11];
for (i = 0; i < ADC3_NCHANNELS; i++)
{
for (i = 0; i < ADC3_NCHANNELS; i++) {
stm32_configgpio(g_pinlist[i]);
}
for (i = 0; i < 1; i++)
{
for (i = 0; i < 1; i++) {
/* Configure the pins as analog inputs for the selected channels */
//stm32_configgpio(g_pinlist[i]);
/* Call stm32_adcinitialize() to get an instance of the ADC interface */
//multiple channels only supported with dma!
adc[i] = stm32_adcinitialize(3, (g_chanlist), 4);
if (adc == NULL)
{
if (adc == NULL) {
adbg("ERROR: Failed to get ADC interface\n");
return -ENODEV;
}
@@ -151,8 +123,8 @@ int adc_devinit(void)
/* Register the ADC driver at "/dev/adc0" */
sprintf(name, "/dev/adc%d", i);
ret = adc_register(name, adc[i]);
if (ret < 0)
{
if (ret < 0) {
adbg("adc_register failed for adc %s: %d\n", name, ret);
return ret;
}
@@ -164,10 +136,4 @@ int adc_devinit(void)
}
return OK;
#else
return -ENOSYS;
#endif
}
#endif /* CONFIG_STM32_ADC || CONFIG_STM32_ADC2 || CONFIG_STM32_ADC3 */
#endif /* CONFIG_ADC */
nuttx/configs/px4fmu/src/up_can.c → apps/drivers/boards/px4fmu/px4fmu_can.c
+17 -18
View File
@@ -1,9 +1,6 @@
/************************************************************************************
* configs/px4fmu/src/up_can.c
* arch/arm/src/board/up_can.c
/****************************************************************************
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* 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
@@ -15,7 +12,7 @@
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* 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.
*
@@ -32,7 +29,14 @@
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
************************************************************************************/
****************************************************************************/
/**
* @file px4fmu_can.c
*
* Board-specific CAN functions.
*/
/************************************************************************************
* Included Files
@@ -51,9 +55,7 @@
#include "stm32.h"
#include "stm32_can.h"
#include "px4fmu-internal.h"
#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
#include "px4fmu_internal.h"
/************************************************************************************
* Pre-processor Definitions
@@ -111,13 +113,12 @@ int can_devinit(void)
/* Check if we have already initialized */
if (!initialized)
{
if (!initialized) {
/* Call stm32_caninitialize() to get an instance of the CAN interface */
can = stm32_caninitialize(CAN_PORT);
if (can == NULL)
{
if (can == NULL) {
candbg("ERROR: Failed to get CAN interface\n");
return -ENODEV;
}
@@ -125,8 +126,8 @@ int can_devinit(void)
/* Register the CAN driver at "/dev/can0" */
ret = can_register("/dev/can0", can);
if (ret < 0)
{
if (ret < 0) {
candbg("ERROR: can_register failed: %d\n", ret);
return ret;
}
@@ -138,5 +139,3 @@ int can_devinit(void)
return OK;
}
#endif /* CONFIG_STM32_CAN || CONFIG_STM32_CAN2 || CONFIG_STM32_CAN3 */
apps/drivers/boards/px4fmu/px4fmu_init.c
+317
View File
@@ -0,0 +1,317 @@
/****************************************************************************
*
* 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 px4fmu_init.c
*
* PX4FMU-specific early startup code. This file implements the
* nsh_archinitialize() function that is called early by nsh during startup.
*
* Code here is run before the rcS script is invoked; it should start required
* subsystems and perform board-specific initialisation.
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdbool.h>
#include <stdio.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/arch.h>
#include <nuttx/spi.h>
#include <nuttx/i2c.h>
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
#include <nuttx/arch.h>
#include "stm32_internal.h"
#include "px4fmu_internal.h"
#include "stm32_uart.h"
#include <arch/board/board.h>
#include <arch/board/drv_led.h>
#include <arch/board/drv_eeprom.h>
#include <drivers/drv_hrt.h>
#include <systemlib/cpuload.h>
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) lib_lowprintf(__VA_ARGS__)
# else
# define message(...) printf(__VA_ARGS__)
# endif
#else
# ifdef CONFIG_DEBUG
# define message lib_lowprintf
# else
# define message printf
# endif
#endif
/****************************************************************************
* Protected Functions
****************************************************************************/
extern int adc_devinit(void);
/****************************************************************************
* Public Functions
****************************************************************************/
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the intitialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
__EXPORT void stm32_boardinitialize(void)
{
/* configure SPI interfaces */
stm32_spiinitialize();
/* configure LEDs */
up_ledinit();
}
/****************************************************************************
* Name: nsh_archinitialize
*
* Description:
* Perform architecture specific initialization
*
****************************************************************************/
static struct spi_dev_s *spi1;
static struct spi_dev_s *spi3;
static struct i2c_dev_s *i2c1;
static struct i2c_dev_s *i2c2;
static struct i2c_dev_s *i2c3;
#include <math.h>
#ifdef __cplusplus
__EXPORT int matherr(struct __exception *e)
{
return 1;
}
#else
__EXPORT int matherr(struct exception *e)
{
return 1;
}
#endif
__EXPORT int nsh_archinitialize(void)
{
int result;
/* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */
/* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */
/* configure the high-resolution time/callout interface */
#ifdef CONFIG_HRT_TIMER
hrt_init();
#endif
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* set up the serial DMA polling */
#ifdef SERIAL_HAVE_DMA
{
static struct hrt_call serial_dma_call;
struct timespec ts;
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
ts.tv_sec = 0;
ts.tv_nsec = 1000000;
hrt_call_every(&serial_dma_call,
ts_to_abstime(&ts),
ts_to_abstime(&ts),
(hrt_callout)stm32_serial_dma_poll,
NULL);
}
#endif
message("\r\n");
up_ledoff(LED_BLUE);
up_ledoff(LED_AMBER);
up_ledon(LED_BLUE);
/* Configure user-space led driver */
px4fmu_led_init();
/* Configure SPI-based devices */
spi1 = up_spiinitialize(1);
if (!spi1) {
message("[boot] FAILED to initialize SPI port 1\r\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
// Default SPI1 to 1MHz and de-assert the known chip selects.
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20);
message("[boot] Successfully initialized SPI port 1\r\n");
/* initialize I2C2 bus */
i2c2 = up_i2cinitialize(2);
if (!i2c2) {
message("[boot] FAILED to initialize I2C bus 2\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* set I2C2 speed */
I2C_SETFREQUENCY(i2c2, 400000);
i2c3 = up_i2cinitialize(3);
if (!i2c3) {
message("[boot] FAILED to initialize I2C bus 3\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* set I2C3 speed */
I2C_SETFREQUENCY(i2c3, 400000);
/* try to attach, don't fail if device is not responding */
(void)eeprom_attach(i2c3, FMU_BASEBOARD_EEPROM_ADDRESS,
FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES,
FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES,
FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1);
#if defined(CONFIG_STM32_SPI3)
/* Get the SPI port */
message("[boot] Initializing SPI port 3\n");
spi3 = up_spiinitialize(3);
if (!spi3) {
message("[boot] FAILED to initialize SPI port 3\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
message("[boot] Successfully initialized SPI port 3\n");
/* Now bind the SPI interface to the MMCSD driver */
result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
if (result != OK) {
message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
#endif /* SPI3 */
/* initialize I2C1 bus */
i2c1 = up_i2cinitialize(1);
if (!i2c1) {
message("[boot] FAILED to initialize I2C bus 1\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* set I2C1 speed */
I2C_SETFREQUENCY(i2c1, 400000);
/* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */
/* Get board information if available */
/* Initialize the user GPIOs */
px4fmu_gpio_init();
#ifdef CONFIG_ADC
int adc_state = adc_devinit();
if (adc_state != OK) {
/* Try again */
adc_state = adc_devinit();
if (adc_state != OK) {
/* Give up */
message("[boot] FAILED adc_devinit: %d\n", adc_state);
return -ENODEV;
}
}
#endif
return OK;
}
apps/drivers/boards/px4fmu/px4fmu_internal.h
+166
View File
@@ -0,0 +1,166 @@
/****************************************************************************
*
* 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 px4fmu_internal.h
*
* PX4FMU internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <nuttx/config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
/****************************************************************************************************
* Definitions
****************************************************************************************************/
/* Configuration ************************************************************************************/
#ifdef CONFIG_STM32_SPI2
# error "SPI2 is not supported on this board"
#endif
#if defined(CONFIG_STM32_CAN1)
# warning "CAN1 is not supported on this board"
#endif
/* PX4FMU GPIOs ***********************************************************************************/
/* LEDs */
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15)
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
/* External interrupts */
#define GPIO_EXTI_COMPASS (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
// XXX MPU6000 DRDY?
/* SPI chip selects */
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
#define GPIO_SPI_CS_ACCEL (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
/* User GPIOs
*
* GPIO0-1 are the buffered high-power GPIOs.
* GPIO2-5 are the USART2 pins.
* GPIO6-7 are the CAN2 pins.
*/
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0)
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1)
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2)
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3)
#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN13)
#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN2)
#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4)
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5)
#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
#define GPIO_GPIO_DIR (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
*/
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
/* PWM
*
* The PX4FMU has five PWM outputs, of which only the output on
* pin PC8 is fixed assigned to this function. The other four possible
* pwm sources are the TX, RX, RTS and CTS pins of USART2
*
* Alternate function mapping:
* PC8 - BUZZER - TIM8_CH3/SDIO_D0 /TIM3_CH3/ USART6_CK / DCMI_D2
*/
#ifdef CONFIG_PWM
# if defined(CONFIG_STM32_TIM3_PWM)
# define BUZZER_PWMCHANNEL 3
# define BUZZER_PWMTIMER 3
# elif defined(CONFIG_STM32_TIM8_PWM)
# define BUZZER_PWMCHANNEL 3
# define BUZZER_PWMTIMER 8
# endif
#endif
/****************************************************************************************************
* Public Types
****************************************************************************************************/
/****************************************************************************************************
* Public data
****************************************************************************************************/
#ifndef __ASSEMBLY__
/****************************************************************************************************
* Public Functions
****************************************************************************************************/
/****************************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
****************************************************************************************************/
extern void stm32_spiinitialize(void);
/****************************************************************************************************
* Name: px4fmu_gpio_init
*
* Description:
* Called to configure the PX4FMU user GPIOs
*
****************************************************************************************************/
extern void px4fmu_gpio_init(void);
// XXX additional SPI chipselect functions required?
#endif /* __ASSEMBLY__ */
nuttx/configs/px4fmu/src/up_boot.c → apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c
+48 -33
View File
@@ -31,46 +31,61 @@
*
****************************************************************************/
/************************************************************************************
* Included Files
************************************************************************************/
/*
* @file px4fmu_pwm_servo.c
*
* Configuration data for the stm32 pwm_servo driver.
*
* Note that these arrays must always be fully-sized.
*/
#include <nuttx/config.h>
#include <stdint.h>
#include <debug.h>
#include <drivers/stm32/drv_pwm_servo.h>
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
#include "chip.h"
#include "up_internal.h"
#include "up_arch.h"
#include "px4fmu-internal.h"
/************************************************************************************
* Definitions
************************************************************************************/
#include "stm32_internal.h"
#include "stm32_gpio.h"
#include "stm32_tim.h"
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the intitialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
void stm32_boardinitialize(void)
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
{
/* configure SPI interfaces */
stm32_spiinitialize();
/* configure LEDs */
up_ledinit();
.base = STM32_TIM2_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM2EN,
.clock_freq = STM32_APB1_TIM2_CLKIN
}
};
__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
{
.gpio = GPIO_TIM2_CH1OUT,
.timer_index = 0,
.timer_channel = 1,
.default_value = 1000,
},
{
.gpio = GPIO_TIM2_CH2OUT,
.timer_index = 0,
.timer_channel = 2,
.default_value = 1000,
},
{
.gpio = GPIO_TIM2_CH3OUT,
.timer_index = 0,
.timer_channel = 3,
.default_value = 1000,
},
{
.gpio = GPIO_TIM2_CH4OUT,
.timer_index = 0,
.timer_channel = 4,
.default_value = 1000,
}
};
nuttx/configs/px4fmu/src/up_spi.c → apps/drivers/boards/px4fmu/px4fmu_spi.c
+20 -76
View File
@@ -1,9 +1,6 @@
/************************************************************************************
* configs/px4fmu/src/up_spi.c
* arch/arm/src/board/up_spi.c
/****************************************************************************
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* 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
@@ -15,7 +12,7 @@
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* 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.
*
@@ -32,7 +29,13 @@
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
************************************************************************************/
****************************************************************************/
/**
* @file px4fmu_spi.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
@@ -50,35 +53,7 @@
#include "up_arch.h"
#include "chip.h"
#include "stm32_internal.h"
#include "px4fmu-internal.h"
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || defined(CONFIG_STM32_SPI3)
/************************************************************************************
* Definitions
************************************************************************************/
/* Enables debug output from this file (needs CONFIG_DEBUG too) */
#undef SPI_DEBUG /* Define to enable debug */
#undef SPI_VERBOSE /* Define to enable verbose debug */
#ifdef SPI_DEBUG
# define spidbg lldbg
# ifdef SPI_VERBOSE
# define spivdbg lldbg
# else
# define spivdbg(x...)
# endif
#else
# undef SPI_VERBOSE
# define spidbg(x...)
# define spivdbg(x...)
#endif
/************************************************************************************
* Private Functions
************************************************************************************/
#include "px4fmu_internal.h"
/************************************************************************************
* Public Functions
@@ -92,7 +67,7 @@
*
************************************************************************************/
void weak_function stm32_spiinitialize(void)
__EXPORT void weak_function stm32_spiinitialize(void)
{
stm32_configgpio(GPIO_SPI_CS_GYRO);
stm32_configgpio(GPIO_SPI_CS_ACCEL);
@@ -109,36 +84,8 @@ void weak_function stm32_spiinitialize(void)
stm32_gpiowrite(GPIO_SPI_CS_SDCARD, 1);
}
/****************************************************************************
* Name: stm32_spi1/2/3select and stm32_spi1/2/3status
*
* Description:
* The external functions, stm32_spi1/2/3select and stm32_spi1/2/3status must be
* provided by board-specific logic. They are implementations of the select
* and status methods of the SPI interface defined by struct spi_ops_s (see
* include/nuttx/spi.h). All other methods (including up_spiinitialize())
* are provided by common STM32 logic. To use this common SPI logic on your
* board:
*
* 1. Provide logic in stm32_boardinitialize() to configure SPI chip select
* pins.
* 2. Provide stm32_spi1/2/3select() and stm32_spi1/2/3status() functions in your
* board-specific logic. These functions will perform chip selection and
* status operations using GPIOs in the way your board is configured.
* 3. Add a calls to up_spiinitialize() in your low level application
* initialization logic
* 4. The handle returned by up_spiinitialize() may then be used to bind the
* SPI driver to higher level logic (e.g., calling
* mmcsd_spislotinitialize(), for example, will bind the SPI driver to
* the SPI MMC/SD driver).
*
****************************************************************************/
#ifdef CONFIG_STM32_SPI1
void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
{
spidbg("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
/* SPI select is active low, so write !selected to select the device */
switch (devid) {
@@ -148,45 +95,42 @@ void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool sele
stm32_gpiowrite(GPIO_SPI_CS_MPU, selected);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, selected);
break;
case PX4_SPIDEV_ACCEL:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected);
stm32_gpiowrite(GPIO_SPI_CS_MPU, selected);
stm32_gpiowrite(GPIO_SPI_CS_GYRO, selected);
break;
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, selected);
stm32_gpiowrite(GPIO_SPI_CS_GYRO, selected);
stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
break;
default:
spidbg("devid: %d - unexpected\n", devid);
break;
}
}
uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
{
return SPI_STATUS_PRESENT;
}
#endif
#ifdef CONFIG_STM32_SPI3
void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
{
spidbg("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
/* there can only be one device on this bus, so always select it */
stm32_gpiowrite(GPIO_SPI_CS_SDCARD, 0);
}
uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
{
/* this is actually bogus, but PX4 has no way to sense the presence of an SD card */
return SPI_STATUS_PRESENT;
}
#endif
#endif /* CONFIG_STM32_SPI1 || CONFIG_STM32_SPI2 */
nuttx/configs/px4fmu/src/up_usbdev.c → apps/drivers/boards/px4fmu/px4fmu_usb.c
+14 -11
View File
@@ -1,9 +1,6 @@
/************************************************************************************
* configs/stm32f4discovery/src/up_usbdev.c
* arch/arm/src/board/up_boot.c
/****************************************************************************
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* 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
@@ -15,7 +12,7 @@
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* 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.
*
@@ -32,7 +29,13 @@
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
************************************************************************************/
****************************************************************************/
/**
* @file px4fmu_usb.c
*
* Board-specific USB functions.
*/
/************************************************************************************
* Included Files
@@ -50,7 +53,7 @@
#include "up_arch.h"
#include "stm32_internal.h"
#include "px4fmu-internal.h"
#include "px4fmu_internal.h"
/************************************************************************************
* Definitions
@@ -68,11 +71,11 @@
* Name: stm32_usbinitialize
*
* Description:
* Called to setup USB-related GPIO pins for the STM3210E-EVAL board.
* Called to setup USB-related GPIO pins for the PX4FMU board.
*
************************************************************************************/
void stm32_usbinitialize(void)
__EXPORT void stm32_usbinitialize(void)
{
/* The OTG FS has an internal soft pull-up */
@@ -98,7 +101,7 @@ void stm32_usbinitialize(void)
*
************************************************************************************/
void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
{
ulldbg("resume: %d\n", resume);
}
apps/drivers/device/spi.cpp
+2
View File
@@ -134,6 +134,7 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
/* do common setup */
if (!up_interrupt_context())
SPI_LOCK(_dev, true);
SPI_SETFREQUENCY(_dev, _frequency);
SPI_SETMODE(_dev, _mode);
SPI_SETBITS(_dev, 8);
@@ -144,6 +145,7 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
/* and clean up */
SPI_SELECT(_dev, _device, false);
if (!up_interrupt_context())
SPI_LOCK(_dev, false);
nuttx/configs/px4fmu/include/up_hrt.h → apps/drivers/drv_hrt.h
+17 -14
View File
@@ -31,12 +31,13 @@
*
****************************************************************************/
/*
* High-resolution timer callouts and timekeeping.
/**
* @file drv_hrt.h
*
* High-resolution timer with callouts and timekeeping.
*/
#ifndef UP_HRT_H_
#define UP_HRT_H_
#pragma once
#include <sys/types.h>
#include <stdbool.h>
@@ -44,6 +45,8 @@
#include <time.h>
#include <queue.h>
__BEGIN_DECLS
/*
* Absolute time, in microsecond units.
*
@@ -76,17 +79,17 @@ typedef struct hrt_call {
/*
* Get absolute time.
*/
extern hrt_abstime hrt_absolute_time(void);
__EXPORT extern hrt_abstime hrt_absolute_time(void);
/*
* Convert a timespec to absolute time.
*/
extern hrt_abstime ts_to_abstime(struct timespec *ts);
__EXPORT extern hrt_abstime ts_to_abstime(struct timespec *ts);
/*
* Convert absolute time to a timespec.
*/
extern void abstime_to_ts(struct timespec *ts, hrt_abstime abstime);
__EXPORT extern void abstime_to_ts(struct timespec *ts, hrt_abstime abstime);
/*
* Call callout(arg) after delay has elapsed.
@@ -94,12 +97,12 @@ extern void abstime_to_ts(struct timespec *ts, hrt_abstime abstime);
* If callout is NULL, this can be used to implement a timeout by testing the call
* with hrt_called().
*/
extern void hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg);
__EXPORT extern void hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg);
/*
* Call callout(arg) at absolute time calltime.
*/
extern void hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, void *arg);
__EXPORT extern void hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, void *arg);
/*
* Call callout(arg) after delay, and then after every interval.
@@ -107,7 +110,7 @@ extern void hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callou
* Note thet the interval is timed between scheduled, not actual, call times, so the call rate may
* jitter but should not drift.
*/
extern void hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg);
__EXPORT extern void hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg);
/*
* If this returns true, the entry has been invoked and removed from the callout list,
@@ -115,16 +118,16 @@ extern void hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstim
*
* Always returns false for repeating callouts.
*/
extern bool hrt_called(struct hrt_call *entry);
__EXPORT extern bool hrt_called(struct hrt_call *entry);
/*
* Remove the entry from the callout list.
*/
extern void hrt_cancel(struct hrt_call *entry);
__EXPORT extern void hrt_cancel(struct hrt_call *entry);
/*
* Initialise the HRT.
*/
extern void hrt_init(void);
__EXPORT extern void hrt_init(void);
#endif /* UP_HRT_H_ */
__END_DECLS
apps/drivers/drv_pwm_output.h
+63 -3
View File
@@ -41,14 +41,15 @@
* channel.
*/
#ifndef _DRV_PWM_OUTPUT_H
#define _DRV_PWM_OUTPUT_H
#pragma once
#include <stdint.h>
#include <sys/ioctl.h>
#include "drv_orb_dev.h"
__BEGIN_DECLS
/**
* Path for the default PWM output device.
*
@@ -109,4 +110,63 @@ ORB_DECLARE(output_pwm);
#define PWM_SERVO_GET(_servo) _IOC(_PWM_SERVO_BASE, 0x40 + _servo)
#endif /* _DRV_PWM_OUTPUT_H */
/*
* Low-level PWM output interface.
*
* This is the low-level API to the platform-specific PWM driver.
*/
/**
* Intialise the PWM servo outputs using the specified configuration.
*
* @param channel_mask Bitmask of channels (LSB = channel 0) to enable.
* This allows some of the channels to remain configured
* as GPIOs or as another function.
* @return OK on success.
*/
__EXPORT extern int up_pwm_servo_init(uint32_t channel_mask);
/**
* De-initialise the PWM servo outputs.
*/
__EXPORT extern void up_pwm_servo_deinit(void);
/**
* Arm or disarm servo outputs.
*
* When disarmed, servos output no pulse.
*
* @bug This function should, but does not, guarantee that any pulse
* currently in progress is cleanly completed.
*
* @param armed If true, outputs are armed; if false they
* are disarmed.
*/
__EXPORT extern void up_pwm_servo_arm(bool armed);
/**
* Set the servo update rate
*
* @param rate The update rate in Hz to set.
* @return OK on success, -ERANGE if an unsupported update rate is set.
*/
__EXPORT extern int up_pwm_servo_set_rate(unsigned rate);
/**
* Set the current output value for a channel.
*
* @param channel The channel to set.
* @param value The output pulse width in microseconds.
*/
__EXPORT extern int up_pwm_servo_set(unsigned channel, servo_position_t value);
/**
* Get the current output value for a channel.
*
* @param channel The channel to read.
* @return The output pulse width in microseconds, or zero if
* outputs are not armed or not configured.
*/
__EXPORT extern servo_position_t up_pwm_servo_get(unsigned channel);
__END_DECLS
apps/drivers/hmc5883/hmc5883.cpp
+42 -1
View File
@@ -58,7 +58,7 @@
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
@@ -115,6 +115,10 @@
#endif
static const int ERROR = -1;
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
class HMC5883 : public device::I2C
{
public:
@@ -328,13 +332,16 @@ HMC5883::init()
/* allocate basic report buffers */
_num_reports = 2;
_reports = new struct mag_report[_num_reports];
if (_reports == nullptr)
goto out;
_oldest_report = _next_report = 0;
/* get a publish handle on the mag topic */
memset(&_reports[0], 0, sizeof(_reports[0]));
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &_reports[0]);
if (_mag_topic < 0)
debug("failed to create sensor_mag object");
@@ -354,30 +361,37 @@ int HMC5883::set_range(unsigned range)
range_bits = 0x00;
_range_scale = 1.0f / 1370.0f;
_range_ga = 0.88f;
} else if (range <= 1) {
range_bits = 0x01;
_range_scale = 1.0f / 1090.0f;
_range_ga = 1.3f;
} else if (range <= 2) {
range_bits = 0x02;
_range_scale = 1.0f / 820.0f;
_range_ga = 1.9f;
} else if (range <= 3) {
range_bits = 0x03;
_range_scale = 1.0f / 660.0f;
_range_ga = 2.5f;
} else if (range <= 4) {
range_bits = 0x04;
_range_scale = 1.0f / 440.0f;
_range_ga = 4.0f;
} else if (range <= 4.7f) {
range_bits = 0x05;
_range_scale = 1.0f / 390.0f;
_range_ga = 4.7f;
} else if (range <= 5.6f) {
range_bits = 0x06;
_range_scale = 1.0f / 330.0f;
_range_ga = 5.6f;
} else {
range_bits = 0x07;
_range_scale = 1.0f / 230.0f;
@@ -409,10 +423,12 @@ HMC5883::probe()
uint8_t data[3] = {0, 0, 0};
_retries = 10;
if (read_reg(ADDR_ID_A, data[0]) ||
read_reg(ADDR_ID_B, data[1]) ||
read_reg(ADDR_ID_C, data[2]))
debug("read_reg fail");
_retries = 1;
if ((data[0] != ID_A_WHO_AM_I) ||
@@ -548,6 +564,7 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0)
return SENSOR_POLLRATE_MANUAL;
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
@@ -847,6 +864,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
/* do a simple demand read */
sz = read(filp, (char *)&report, sizeof(report));
if (sz != sizeof(report)) {
warn("immediate read failed");
ret = 1;
@@ -916,6 +934,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
if (sz != sizeof(report)) {
warn("periodic read failed");
goto out;
} else {
avg_excited[0] += report.x;
avg_excited[1] += report.y;
@@ -968,11 +987,14 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
ret = OK;
out:
if (ret == OK) {
warnx("mag scale calibration successfully finished.");
} else {
warnx("mag scale calibration failed.");
}
return ret;
}
@@ -982,16 +1004,22 @@ int HMC5883::set_excitement(unsigned enable)
/* arm the excitement strap */
uint8_t conf_reg;
ret = read_reg(ADDR_CONF_A, conf_reg);
if (OK != ret)
perf_count(_comms_errors);
if (((int)enable) < 0) {
conf_reg |= 0x01;
} else if (enable > 0) {
conf_reg |= 0x02;
} else {
conf_reg &= ~0x03;
}
ret = write_reg(ADDR_CONF_A, conf_reg);
if (OK != ret)
perf_count(_comms_errors);
@@ -1083,17 +1111,22 @@ start()
/* set the poll rate to default, starts automatic data collection */
fd = open(MAG_DEVICE_PATH, O_RDONLY);
if (fd < 0)
goto fail;
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
goto fail;
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
@@ -1110,11 +1143,13 @@ test()
int ret;
int fd = open(MAG_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
err(1, "immediate read failed");
@@ -1203,6 +1238,7 @@ int calibrate()
int ret;
int fd = open(MAG_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);
@@ -1214,6 +1250,7 @@ int calibrate()
if (ret == OK) {
errx(0, "PASS");
} else {
errx(1, "FAIL");
}
@@ -1226,10 +1263,13 @@ void
reset()
{
int fd = open(MAG_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "failed ");
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
err(1, "driver reset failed");
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
err(1, "driver poll restart failed");
@@ -1286,6 +1326,7 @@ hmc5883_main(int argc, char *argv[])
if (!strcmp(argv[1], "calibrate")) {
if (hmc5883::calibrate() == 0) {
errx(0, "calibration successful");
} else {
errx(1, "calibration failed");
}
apps/drivers/l3gd20/l3gd20.cpp
+19 -1
View File
@@ -57,7 +57,7 @@
#include <nuttx/arch.h>
#include <nuttx/clock.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <drivers/device/spi.h>
@@ -317,6 +317,7 @@ L3GD20::init()
_num_reports = 2;
_oldest_report = _next_report = 0;
_reports = new struct gyro_report[_num_reports];
if (_reports == nullptr)
goto out;
@@ -451,6 +452,7 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCGPOLLRATE:
if (_call_interval == 0)
return SENSOR_POLLRATE_MANUAL;
return 1000000 / _call_interval;
case SENSORIOCSQUEUEDEPTH: {
@@ -562,12 +564,15 @@ L3GD20::set_range(unsigned max_dps)
if (max_dps <= 250) {
_current_range = 250;
bits |= RANGE_250DPS;
} else if (max_dps <= 500) {
_current_range = 500;
bits |= RANGE_500DPS;
} else if (max_dps <= 2000) {
_current_range = 2000;
bits |= RANGE_2000DPS;
} else {
return -EINVAL;
}
@@ -590,15 +595,19 @@ L3GD20::set_samplerate(unsigned frequency)
if (frequency <= 95) {
_current_rate = 95;
bits |= RATE_95HZ_LP_25HZ;
} else if (frequency <= 190) {
_current_rate = 190;
bits |= RATE_190HZ_LP_25HZ;
} else if (frequency <= 380) {
_current_rate = 380;
bits |= RATE_380HZ_LP_30HZ;
} else if (frequency <= 760) {
_current_rate = 760;
bits |= RATE_760HZ_LP_30HZ;
} else {
return -EINVAL;
}
@@ -746,17 +755,21 @@ start()
/* set the poll rate to default, starts automatic data collection */
fd = open(GYRO_DEVICE_PATH, O_RDONLY);
if (fd < 0)
goto fail;
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
goto fail;
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
@@ -774,6 +787,7 @@ test()
/* get the driver */
fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
if (fd_gyro < 0)
err(1, "%s open failed", GYRO_DEVICE_PATH);
@@ -783,6 +797,7 @@ test()
/* do a simple demand read */
sz = read(fd_gyro, &g_report, sizeof(g_report));
if (sz != sizeof(g_report))
err(1, "immediate gyro read failed");
@@ -808,10 +823,13 @@ void
reset()
{
int fd = open(GYRO_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "failed ");
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
err(1, "driver reset failed");
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
err(1, "driver poll restart failed");
apps/drivers/mpu6000/mpu6000.cpp
+13 -1
View File
@@ -61,7 +61,7 @@
#include <nuttx/clock.h>
#include <arch/board/board.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <drivers/drv_accel.h>
@@ -569,6 +569,7 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCGPOLLRATE:
if (_call_interval == 0)
return SENSOR_POLLRATE_MANUAL;
return 1000000 / _call_interval;
case SENSORIOCSQUEUEDEPTH:
@@ -976,17 +977,21 @@ start()
/* set the poll rate to default, starts automatic data collection */
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0)
goto fail;
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
goto fail;
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
@@ -1006,12 +1011,14 @@ test()
/* get the driver */
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)",
ACCEL_DEVICE_PATH);
/* get the driver */
fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
if (fd_gyro < 0)
err(1, "%s open failed", GYRO_DEVICE_PATH);
@@ -1021,6 +1028,7 @@ test()
/* do a simple demand read */
sz = read(fd, &a_report, sizeof(a_report));
if (sz != sizeof(a_report))
err(1, "immediate acc read failed");
@@ -1037,6 +1045,7 @@ test()
/* do a simple demand read */
sz = read(fd_gyro, &g_report, sizeof(g_report));
if (sz != sizeof(g_report))
err(1, "immediate gyro read failed");
@@ -1066,10 +1075,13 @@ void
reset()
{
int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "failed ");
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
err(1, "driver reset failed");
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
err(1, "driver poll restart failed");
apps/drivers/ms5611/ms5611.cpp
+27 -1
View File
@@ -57,7 +57,7 @@
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
@@ -70,6 +70,10 @@
#endif
static const int ERROR = -1;
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
/**
* Calibration PROM as reported by the device.
*/
@@ -299,6 +303,7 @@ MS5611::init()
/* allocate basic report buffers */
_num_reports = 2;
_reports = new struct baro_report[_num_reports];
if (_reports == nullptr)
goto out;
@@ -307,6 +312,7 @@ MS5611::init()
/* get a publish handle on the baro topic */
memset(&_reports[0], 0, sizeof(_reports[0]));
_baro_topic = orb_advertise(ORB_ID(sensor_baro), &_reports[0]);
if (_baro_topic < 0)
debug("failed to create sensor_baro object");
@@ -319,6 +325,7 @@ int
MS5611::probe()
{
_retries = 10;
if ((OK == probe_address(MS5611_ADDRESS_1)) ||
(OK == probe_address(MS5611_ADDRESS_2))) {
_retries = 1;
@@ -480,6 +487,7 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0)
return SENSOR_POLLRATE_MANUAL;
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
@@ -514,9 +522,11 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
return -EINVAL;
case BAROIOCSMSLPRESSURE:
/* range-check for sanity */
if ((arg < 80000) || (arg > 120000))
return -EINVAL;
_msl_pressure = arg;
return OK;
@@ -693,6 +703,7 @@ MS5611::collect()
_OFF -= OFF2;
_SENS -= SENS2;
}
} else {
/* pressure calculation, result in Pa */
@@ -937,17 +948,22 @@ start()
/* set the poll rate to default, starts automatic data collection */
fd = open(BARO_DEVICE_PATH, O_RDONLY);
if (fd < 0)
goto fail;
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
goto fail;
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
@@ -964,11 +980,13 @@ test()
int ret;
int fd = open(BARO_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", BARO_DEVICE_PATH);
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
err(1, "immediate read failed");
@@ -1021,10 +1039,13 @@ void
reset()
{
int fd = open(BARO_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "failed ");
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
err(1, "driver reset failed");
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
err(1, "driver poll restart failed");
@@ -1057,6 +1078,7 @@ calibrate(unsigned altitude)
float p1;
int fd = open(BARO_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", BARO_DEVICE_PATH);
@@ -1066,6 +1088,7 @@ calibrate(unsigned altitude)
/* average a few measurements */
pressure = 0.0f;
for (unsigned i = 0; i < 20; i++) {
struct pollfd fds;
int ret;
@@ -1087,6 +1110,7 @@ calibrate(unsigned altitude)
pressure += report.pressure;
}
pressure /= 20; /* average */
pressure /= 10; /* scale from millibar to kPa */
@@ -1104,8 +1128,10 @@ calibrate(unsigned altitude)
/* save as integer Pa */
p1 *= 1000.0f;
if (ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)p1) != OK)
err(1, "BAROIOCSMSLPRESSURE");
exit(0);
}
apps/px4/px4io/driver/Makefile → apps/drivers/px4io/Makefile
View File
apps/px4/px4io/driver/px4io.cpp → apps/drivers/px4io/px4io.cpp
+20
View File
@@ -190,6 +190,7 @@ PX4IO::~PX4IO()
/* spin waiting for the thread to stop */
unsigned i = 10;
do {
/* wait 50ms - it should wake every 100ms or so worst-case */
usleep(50000);
@@ -223,11 +224,13 @@ PX4IO::init()
/* do regular cdev init */
ret = CDev::init();
if (ret != OK)
return ret;
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
if (ret == OK) {
log("default PWM output device");
_primary_pwm_device = true;
@@ -235,6 +238,7 @@ PX4IO::init()
/* start the IO interface task */
_task = task_create("px4io", SCHED_PRIORITY_DEFAULT, 4096, (main_t)&PX4IO::task_main_trampoline, nullptr);
if (_task < 0) {
debug("task start failed: %d", errno);
return -errno;
@@ -256,6 +260,7 @@ PX4IO::task_main()
/* open the serial port */
_serial_fd = ::open("/dev/ttyS2", O_RDWR);
if (_serial_fd < 0) {
debug("failed to open serial port for IO: %d", errno);
_task = -1;
@@ -343,6 +348,7 @@ PX4IO::task_main()
_send_needed = true;
}
}
if (fds[2].revents & POLLIN) {
orb_copy(ORB_ID(actuator_armed), _t_armed, &_controls);
@@ -458,13 +464,16 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
break;
case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1):
/* fake an update to the selected servo channel */
if ((arg >= 900) && (arg <= 2100)) {
_outputs.output[cmd - PWM_SERVO_SET(0)] = arg;
_send_needed = true;
} else {
ret = -EINVAL;
}
break;
case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1):
@@ -481,6 +490,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
delete _mixers;
_mixers = nullptr;
}
break;
case MIXERIOCADDSIMPLE: {
@@ -519,6 +529,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
/* allocate a new mixer group and load it from the file */
newmixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
if (newmixers->load_from_file(path) != 0) {
delete newmixers;
ret = -EINVAL;
@@ -528,6 +539,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
if (_mixers != nullptr) {
delete _mixers;
}
_mixers = newmixers;
}
@@ -537,6 +549,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
/* not a recognised value */
ret = -ENOTTY;
}
unlock();
return ret;
@@ -576,6 +589,7 @@ px4io_main(int argc, char *argv[])
if (argc > 2) {
fn[0] = argv[2];
fn[1] = nullptr;
} else {
fn[0] = "/fs/microsd/px4io.bin";
fn[1] = "/etc/px4io.bin";
@@ -589,18 +603,24 @@ px4io_main(int argc, char *argv[])
switch (ret) {
case OK:
break;
case -ENOENT:
errx(1, "PX4IO firmware file not found");
case -EEXIST:
case -EIO:
errx(1, "error updating PX4IO - check that bootloader mode is enabled");
case -EINVAL:
errx(1, "verify failed - retry the update");
case -ETIMEDOUT:
errx(1, "timed out waiting for bootloader - power-cycle and try again");
default:
errx(1, "unexpected error %d", ret);
}
return ret;
}
apps/px4/px4io/driver/uploader.cpp → apps/drivers/px4io/uploader.cpp
+43
View File
@@ -67,6 +67,7 @@ PX4IO_Uploader::upload(const char *filenames[])
int ret;
_io_fd = open("/dev/ttyS2", O_RDWR);
if (_io_fd < 0) {
log("could not open interface");
return -errno;
@@ -74,6 +75,7 @@ PX4IO_Uploader::upload(const char *filenames[])
/* look for the bootloader */
ret = sync();
if (ret != OK) {
/* this is immediately fatal */
log("bootloader not responding");
@@ -87,9 +89,11 @@ PX4IO_Uploader::upload(const char *filenames[])
log("failed to open %s", filenames[i]);
continue;
}
log("using firmware from %s", filenames[i]);
break;
}
if (_fw_fd == -1)
return -ENOENT;
@@ -98,6 +102,7 @@ PX4IO_Uploader::upload(const char *filenames[])
if (retries > 0) {
log("retrying update...");
ret = sync();
if (ret != OK) {
/* this is immediately fatal */
log("bootloader not responding");
@@ -106,25 +111,33 @@ PX4IO_Uploader::upload(const char *filenames[])
}
ret = erase();
if (ret != OK) {
log("erase failed");
continue;
}
ret = program();
if (ret != OK) {
log("program failed");
continue;
}
ret = verify();
if (ret != OK) {
log("verify failed");
continue;
}
ret = reboot();
if (ret != OK) {
log("reboot failed");
return ret;
}
log("update complete");
ret = OK;
@@ -145,6 +158,7 @@ PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
/* wait 100 ms for a character */
int ret = ::poll(&fds[0], 1, timeout);
if (ret < 1) {
//log("poll timeout %d", ret);
return -ETIMEDOUT;
@@ -160,9 +174,11 @@ PX4IO_Uploader::recv(uint8_t *p, unsigned count)
{
while (count--) {
int ret = recv(*p++);
if (ret != OK)
return ret;
}
return OK;
}
@@ -184,6 +200,7 @@ PX4IO_Uploader::send(uint8_t c)
//log("send 0x%02x", c);
if (write(_io_fd, &c, 1) != 1)
return -errno;
return OK;
}
@@ -192,9 +209,11 @@ PX4IO_Uploader::send(uint8_t *p, unsigned count)
{
while (count--) {
int ret = send(*p++);
if (ret != OK)
return ret;
}
return OK;
}
@@ -205,15 +224,20 @@ PX4IO_Uploader::get_sync(unsigned timeout)
int ret;
ret = recv(c[0], timeout);
if (ret != OK)
return ret;
ret = recv(c[1], timeout);
if (ret != OK)
return ret;
if ((c[0] != PROTO_INSYNC) || (c[1] != PROTO_OK)) {
log("bad sync 0x%02x,0x%02x", c[0], c[1]);
return -EIO;
}
return OK;
}
@@ -221,9 +245,11 @@ int
PX4IO_Uploader::sync()
{
drain();
/* complete any pending program operation */
for (unsigned i = 0; i < (PROG_MULTI_MAX + 6); i++)
send(0);
send(PROTO_GET_SYNC);
send(PROTO_EOC);
return get_sync();
@@ -239,8 +265,10 @@ PX4IO_Uploader::get_info(int param, uint32_t &val)
send(PROTO_EOC);
ret = recv((uint8_t *)&val, sizeof(val));
if (ret != OK)
return ret;
return get_sync();
}
@@ -267,10 +295,13 @@ PX4IO_Uploader::program()
/* get more bytes to program */
//log(" %d", (int)lseek(_fw_fd, 0, SEEK_CUR));
count = read(_fw_fd, file_buf, sizeof(file_buf));
if (count == 0)
return OK;
if (count < 0)
return -errno;
ASSERT((count % 4) == 0);
send(PROTO_PROG_MULTI);
@@ -279,6 +310,7 @@ PX4IO_Uploader::program()
send(PROTO_EOC);
ret = get_sync(1000);
if (ret != OK)
return ret;
}
@@ -297,6 +329,7 @@ PX4IO_Uploader::verify()
send(PROTO_CHIP_VERIFY);
send(PROTO_EOC);
ret = get_sync();
if (ret != OK)
return ret;
@@ -304,19 +337,24 @@ PX4IO_Uploader::verify()
/* get more bytes to verify */
int base = (int)lseek(_fw_fd, 0, SEEK_CUR);
count = read(_fw_fd, file_buf, sizeof(file_buf));
if (count == 0)
break;
if (count < 0)
return -errno;
ASSERT((count % 4) == 0);
send(PROTO_READ_MULTI);
send(count);
send(PROTO_EOC);
for (ssize_t i = 0; i < count; i++) {
uint8_t c;
ret = recv(c);
if (ret != OK) {
log("%d: got %d waiting for bytes", base + i, ret);
return ret;
@@ -327,12 +365,15 @@ PX4IO_Uploader::verify()
return -EINVAL;
}
}
ret = get_sync();
if (ret != OK) {
log("timeout waiting for post-verify sync");
return ret;
}
}
return OK;
}
@@ -358,6 +399,7 @@ PX4IO_Uploader::compare(bool &identical)
send(PROTO_CHIP_VERIFY);
send(PROTO_EOC);
ret = get_sync();
if (ret != OK)
return ret;
@@ -365,6 +407,7 @@ PX4IO_Uploader::compare(bool &identical)
send(sizeof(fw_vectors));
send(PROTO_EOC);
ret = recv((uint8_t *)&fw_vectors[0], sizeof(fw_vectors));
if (ret != OK)
return ret;
apps/px4/px4io/driver/uploader.h → apps/drivers/px4io/uploader.h
View File
apps/px4/attitude_estimator_bm/Makefile → apps/drivers/stm32/Makefile
+4 -4
View File
@@ -32,11 +32,11 @@
############################################################################
#
# Makefile to build the black magic attitude estimator
# STM32 driver support code
#
# Modules in this directory are compiled for all STM32 targets.
#
APPNAME = attitude_estimator_bm
PRIORITY = SCHED_PRIORITY_MAX - 10
STACKSIZE = 12000
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
include $(APPDIR)/mk/app.mk
nuttx/configs/px4fmu/src/up_hrt.c → apps/drivers/stm32/drv_hrt.c
+22 -7
View File
@@ -32,7 +32,9 @@
****************************************************************************/
/**
* @file High-resolution timer callouts and timekeeping.
* @file drv_hrt.c
*
* High-resolution timer callouts and timekeeping.
*
* This can use any general or advanced STM32 timer.
*
@@ -58,7 +60,7 @@
#include <string.h>
#include <arch/board/board.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include "chip.h"
#include "up_internal.h"
@@ -320,16 +322,16 @@ static void hrt_call_invoke(void);
/* decoded PPM buffer */
#define PPM_MAX_CHANNELS 12
uint16_t ppm_buffer[PPM_MAX_CHANNELS];
unsigned ppm_decoded_channels;
uint64_t ppm_last_valid_decode = 0;
__EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS];
__EXPORT unsigned ppm_decoded_channels;
__EXPORT uint64_t ppm_last_valid_decode = 0;
/* PPM edge history */
uint16_t ppm_edge_history[32];
__EXPORT uint16_t ppm_edge_history[32];
unsigned ppm_edge_next;
/* PPM pulse history */
uint16_t ppm_pulse_history[32];
__EXPORT uint16_t ppm_pulse_history[32];
unsigned ppm_pulse_next;
static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];
@@ -426,6 +428,7 @@ hrt_ppm_decode(uint32_t status)
ppm.last_edge = count;
ppm_edge_history[ppm_edge_next++] = width;
if (ppm_edge_next >= 32)
ppm_edge_next = 0;
@@ -439,6 +442,7 @@ hrt_ppm_decode(uint32_t status)
if (ppm.next_channel > 4) {
for (i = 0; i < ppm.next_channel && i < PPM_MAX_CHANNELS; i++)
ppm_buffer[i] = ppm_temp_buffer[i];
ppm_decoded_channels = i;
ppm_last_valid_decode = hrt_absolute_time();
@@ -459,6 +463,7 @@ hrt_ppm_decode(uint32_t status)
return;
case ARM:
/* we expect a pulse giving us the first mark */
if (width > PPM_MAX_PULSE_WIDTH)
goto error; /* pulse was too long */
@@ -479,6 +484,7 @@ hrt_ppm_decode(uint32_t status)
ppm.last_mark = count;
ppm_pulse_history[ppm_pulse_next++] = interval;
if (ppm_pulse_next >= 32)
ppm_pulse_next = 0;
@@ -524,9 +530,11 @@ hrt_tim_isr(int irq, void *context)
rSR = ~status;
#ifdef CONFIG_HRT_PPM
/* was this a PPM edge? */
if (status & (SR_INT_PPM | SR_OVF_PPM))
hrt_ppm_decode(status);
#endif
/* was this a timer tick? */
@@ -728,9 +736,11 @@ hrt_call_enter(struct hrt_call *entry)
//lldbg("call enter at head, reschedule\n");
/* we changed the next deadline, reschedule the timer event */
hrt_call_reschedule();
} else {
do {
next = (struct hrt_call *)sq_next(&call->link);
if ((next == NULL) || (entry->deadline < next->deadline)) {
//lldbg("call enter after head\n");
sq_addafter(&call->link, &entry->link, &callout_queue);
@@ -753,8 +763,10 @@ hrt_call_invoke(void)
hrt_abstime now = hrt_absolute_time();
call = (struct hrt_call *)sq_peek(&callout_queue);
if (call == NULL)
break;
if (call->deadline > now)
break;
@@ -811,11 +823,13 @@ hrt_call_reschedule()
//lldbg("pre-expired\n");
/* set a minimal deadline so that we call ASAP */
deadline = now + HRT_INTERVAL_MIN;
} else if (next->deadline < deadline) {
//lldbg("due soon\n");
deadline = next->deadline;
}
}
//lldbg("schedule for %u at %u\n", (unsigned)(deadline & 0xffffffff), (unsigned)(now & 0xffffffff));
/* set the new compare value and remember it for latency tracking */
@@ -835,6 +849,7 @@ hrt_latency_update(void)
return;
}
}
/* catch-all at the end */
latency_counters[index]++;
}
nuttx/configs/px4fmu/src/up_pwm_servo.c → apps/drivers/stm32/drv_pwm_servo.c
+20 -58
View File
@@ -32,6 +32,8 @@
****************************************************************************/
/*
* @file drv_pwm_servo.c
*
* Servo driver supporting PWM servos connected to STM32 timer blocks.
*
* Works with any of the 'generic' or 'advanced' STM32 timers that
@@ -54,7 +56,9 @@
#include <stdio.h>
#include <arch/board/board.h>
#include <arch/board/up_pwm_servo.h>
#include <drivers/drv_pwm_output.h>
#include "drv_pwm_servo.h"
#include "chip.h"
#include "up_internal.h"
@@ -64,67 +68,10 @@
#include "stm32_gpio.h"
#include "stm32_tim.h"
/* configuration limits */
#define PWM_SERVO_MAX_TIMERS 2
#define PWM_SERVO_MAX_CHANNELS 8
/* default rate (in Hz) of PWM updates */
static uint32_t pwm_update_rate = 50;
/*
* Servo configuration for all of the pins that can be used as
* PWM outputs on FMU.
*/
/* array of timers dedicated to PWM servo use */
static const struct pwm_servo_timer {
uint32_t base;
uint32_t clock_register;
uint32_t clock_bit;
uint32_t clock_freq;
} pwm_timers[] = {
{
.base = STM32_TIM2_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM2EN,
.clock_freq = STM32_APB1_TIM2_CLKIN
}
};
/* array of channels in logical order */
static const struct pwm_servo_channel {
uint32_t gpio;
uint8_t timer_index;
uint8_t timer_channel;
servo_position_t default_value;
} pwm_channels[] = {
{
.gpio = GPIO_TIM2_CH1OUT,
.timer_index = 0,
.timer_channel = 1,
.default_value = 1000,
},
{
.gpio = GPIO_TIM2_CH2OUT,
.timer_index = 0,
.timer_channel = 2,
.default_value = 1000,
},
{
.gpio = GPIO_TIM2_CH3OUT,
.timer_index = 0,
.timer_channel = 3,
.default_value = 1000,
},
{
.gpio = GPIO_TIM2_CH4OUT,
.timer_index = 0,
.timer_channel = 4,
.default_value = 1000,
}
};
#define REG(_tmr, _reg) (*(volatile uint32_t *)(pwm_timers[_tmr].base + _reg))
#define rCR1(_tmr) REG(_tmr, STM32_GTIM_CR1_OFFSET)
@@ -200,16 +147,19 @@ pwm_channel_init(unsigned channel)
rCCR1(timer) = pwm_channels[channel].default_value;
rCCER(timer) |= (1 << 0);
break;
case 2:
rCCMR1(timer) |= (6 << 12);
rCCR2(timer) = pwm_channels[channel].default_value;
rCCER(timer) |= (1 << 4);
break;
case 3:
rCCMR2(timer) |= (6 << 4);
rCCR3(timer) = pwm_channels[channel].default_value;
rCCER(timer) |= (1 << 8);
break;
case 4:
rCCMR2(timer) |= (6 << 12);
rCCR4(timer) = pwm_channels[channel].default_value;
@@ -236,22 +186,28 @@ up_pwm_servo_set(unsigned channel, servo_position_t value)
/* configure the channel */
if (value > 0)
value--;
switch (pwm_channels[channel].timer_channel) {
case 1:
rCCR1(timer) = value;
break;
case 2:
rCCR2(timer) = value;
break;
case 3:
rCCR3(timer) = value;
break;
case 4:
rCCR4(timer) = value;
break;
default:
return -1;
}
return 0;
}
@@ -276,16 +232,20 @@ up_pwm_servo_get(unsigned channel)
case 1:
value = rCCR1(timer);
break;
case 2:
value = rCCR2(timer);
break;
case 3:
value = rCCR3(timer);
break;
case 4:
value = rCCR4(timer);
break;
}
return value;
}
@@ -304,6 +264,7 @@ up_pwm_servo_init(uint32_t channel_mask)
if (((1 << i) & channel_mask) && (pwm_channels[i].gpio != 0))
pwm_channel_init(i);
}
return OK;
}
@@ -324,6 +285,7 @@ up_pwm_servo_set_rate(unsigned rate)
if (pwm_timers[i].base != 0)
pwm_timer_set_rate(i, rate);
}
return OK;
}
nuttx/configs/px4fmu/include/up_adc.h → apps/drivers/stm32/drv_pwm_servo.h
+35 -28
View File
@@ -1,9 +1,6 @@
/************************************************************************************
* configs/stm3240g-eval/src/up_adc.c
* arch/arm/src/board/up_adc.c
/****************************************************************************
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* 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
@@ -15,7 +12,7 @@
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* 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.
*
@@ -32,29 +29,39 @@
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
************************************************************************************/
****************************************************************************/
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#ifdef CONFIG_ADC
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: adc_devinit
/**
* @file drv_pwm_servo.h
*
* Description:
* All STM32 architectures must provide the following interface to work with
* examples/adc.
*
************************************************************************************/
* stm32-specific PWM output data.
*/
int adc_devinit(void);
#pragma once
#endif /* CONFIG_ADC */
#include <drivers/drv_pwm_output.h>
/* configuration limits */
#define PWM_SERVO_MAX_TIMERS 2
#define PWM_SERVO_MAX_CHANNELS 8
/* array of timers dedicated to PWM servo use */
struct pwm_servo_timer {
uint32_t base;
uint32_t clock_register;
uint32_t clock_bit;
uint32_t clock_freq;
};
/* supplied by board-specific code */
__EXPORT extern const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS];
/* array of channels in logical order */
struct pwm_servo_channel {
uint32_t gpio;
uint8_t timer_index;
uint8_t timer_channel;
servo_position_t default_value;
};
__EXPORT extern const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS];
apps/drivers/stm32/tone_alarm/tone_alarm.cpp
+23 -2
View File
@@ -71,7 +71,7 @@
#include <unistd.h>
#include <arch/board/board.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <arch/stm32/chip.h>
#include <up_internal.h>
@@ -244,7 +244,8 @@ const tone_note ToneAlarm::_patterns[_max_pattern][_max_pattern_len] = {
{{TONE_NOTE_C7, 100}},
{{TONE_NOTE_D7, 100}},
{{TONE_NOTE_E7, 100}},
{ //This is tetris ;)
{
//This is tetris ;)
{TONE_NOTE_C6, 40},
{TONE_NOTE_G5, 20},
{TONE_NOTE_G5S, 20},
@@ -361,6 +362,7 @@ ToneAlarm::init()
int ret;
ret = CDev::init();
if (ret != OK)
return ret;
@@ -413,6 +415,7 @@ ToneAlarm::ioctl(file *filp, int cmd, unsigned long arg)
switch (cmd) {
case TONE_SET_ALARM:
debug("TONE_SET_ALARM %u", arg);
if (new_pattern == 0) {
/* cancel any current alarm */
_current_pattern = _pattern_none;
@@ -431,10 +434,13 @@ ToneAlarm::ioctl(file *filp, int cmd, unsigned long arg)
/* and start playing it */
next();
} else {
/* current pattern is higher priority than the new pattern, ignore */
}
break;
default:
result = -ENOTTY;
break;
@@ -457,8 +463,10 @@ ToneAlarm::write(file *filp, const char *buffer, size_t len)
/* sanity-check the size of the write */
if (len > (_max_pattern_len * sizeof(tone_note)))
return -EFBIG;
if ((len % sizeof(tone_note)) || (len == 0))
return -EIO;
if (!check((tone_note *)buffer))
return -EIO;
@@ -479,6 +487,7 @@ ToneAlarm::write(file *filp, const char *buffer, size_t len)
debug("starting user pattern");
next();
}
irqrestore(flags);
return len;
@@ -511,18 +520,22 @@ ToneAlarm::next(void)
/* find the note to play */
if (_current_pattern == _pattern_user) {
np = &_user_pattern[_next_note];
} else {
np = &_patterns[_current_pattern - 1][_next_note];
}
/* work out which note is next */
_next_note++;
if (_next_note >= _note_max) {
/* hit the end of the pattern, stop */
_current_pattern = _pattern_none;
} else if (np[1].duration == DURATION_END) {
/* hit the end of the pattern, stop */
_current_pattern = _pattern_none;
} else if (np[1].duration == DURATION_REPEAT) {
/* next note is a repeat, rewind in preparation */
_next_note = 0;
@@ -554,6 +567,7 @@ ToneAlarm::check(tone_note *pattern)
if ((i == 0) &&
((pattern[i].duration == DURATION_END) || (pattern[i].duration == DURATION_REPEAT)))
return false;
if (pattern[i].duration == DURATION_END)
break;
@@ -561,6 +575,7 @@ ToneAlarm::check(tone_note *pattern)
if (pattern[i].pitch >= _note_max)
return false;
}
return true;
}
@@ -592,13 +607,16 @@ play_pattern(unsigned pattern)
int fd, ret;
fd = open("/dev/tone_alarm", 0);
if (fd < 0)
err(1, "/dev/tone_alarm");
warnx("playing pattern %u", pattern);
ret = ioctl(fd, TONE_SET_ALARM, pattern);
if (ret != 0)
err(1, "TONE_SET_ALARM");
exit(0);
}
@@ -615,6 +633,7 @@ tone_alarm_main(int argc, char *argv[])
if (g_dev == nullptr)
errx(1, "couldn't allocate the ToneAlarm driver");
if (g_dev->init() != OK) {
delete g_dev;
errx(1, "ToneAlarm init failed");
@@ -623,8 +642,10 @@ tone_alarm_main(int argc, char *argv[])
if ((argc > 1) && !strcmp(argv[1], "start"))
play_pattern(1);
if ((argc > 1) && !strcmp(argv[1], "stop"))
play_pattern(0);
if ((pattern = strtol(argv[1], nullptr, 10)) != 0)
play_pattern(pattern);
apps/fixedwing_control/fixedwing_control.c
+1 -1
View File
@@ -48,7 +48,7 @@
#include <math.h>
#include <poll.h>
#include <time.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_global_position.h>
apps/gps/gps.c
+4 -4
View File
@@ -564,10 +564,10 @@ void setup_port(char *device, int speed, int *fd)
*fd = open_port(device);
if (*fd != -1) {
if (gps_verbose) printf("[gps] Port opened: %s at %d speed\r\n", device, speed);
if (gps_verbose) printf("[gps] Port opened: %s at %d baud\n", device, speed);
} else {
fprintf(stderr, "[gps] Could not open port, exiting gps app!\r\n");
fprintf(stderr, "[gps] Could not open port, exiting gps app!\n");
fflush(stdout);
}
@@ -576,7 +576,7 @@ void setup_port(char *device, int speed, int *fd)
int termios_state;
if ((termios_state = tcgetattr(*fd, &uart_config)) < 0) {
fprintf(stderr, "[gps] ERROR getting baudrate / termios config for %s: %d\r\n", device, termios_state);
fprintf(stderr, "[gps] ERROR getting baudrate / termios config for %s: %d\n", device, termios_state);
close(*fd);
}
if (gps_verbose) printf("[gps] Try to set baud rate %d now\n",speed);
@@ -584,7 +584,7 @@ void setup_port(char *device, int speed, int *fd)
cfsetispeed(&uart_config, speed);
cfsetospeed(&uart_config, speed);
if ((termios_state = tcsetattr(*fd, TCSANOW, &uart_config)) < 0) {
fprintf(stderr, "[gps] ERROR setting baudrate / termios config for %s (tcsetattr)\r\n", device);
fprintf(stderr, "[gps] ERROR setting baudrate / termios config for %s (tcsetattr)\n", device);
close(*fd);
}
}
apps/gps/mtk.c
+1 -1
View File
@@ -43,7 +43,7 @@
#include <pthread.h>
#include <poll.h>
#include <fcntl.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <mavlink/mavlink_log.h>
apps/gps/nmea_helper.c
+1 -1
View File
@@ -44,7 +44,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <mavlink/mavlink_log.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#define NMEA_HEALTH_SUCCESS_COUNTER_LIMIT 2
#define NMEA_HEALTH_FAIL_COUNTER_LIMIT 2
apps/gps/ubx.c
+24 -22
View File
@@ -40,7 +40,7 @@
#include "gps.h"
#include <sys/prctl.h>
#include <poll.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <string.h>
#include <stdbool.h>
@@ -50,6 +50,7 @@
#define UBX_HEALTH_SUCCESS_COUNTER_LIMIT 2
#define UBX_HEALTH_FAIL_COUNTER_LIMIT 2
#define UBX_HEALTH_PROBE_COUNTER_LIMIT 4
#define UBX_BUFFER_SIZE 1000
@@ -242,9 +243,9 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer)
ubx_gps->timestamp = hrt_absolute_time();
ubx_gps->counter++;
pthread_mutex_lock(ubx_mutex);
//pthread_mutex_lock(ubx_mutex);
ubx_state->last_message_timestamps[NAV_POSLLH - 1] = hrt_absolute_time();
pthread_mutex_unlock(ubx_mutex);
//pthread_mutex_unlock(ubx_mutex);
ret = 1;
} else {
@@ -273,9 +274,9 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer)
ubx_gps->counter++;
pthread_mutex_lock(ubx_mutex);
//pthread_mutex_lock(ubx_mutex);
ubx_state->last_message_timestamps[NAV_SOL - 1] = hrt_absolute_time();
pthread_mutex_unlock(ubx_mutex);
//pthread_mutex_unlock(ubx_mutex);
ret = 1;
} else {
@@ -305,9 +306,9 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer)
ubx_gps->counter++;
pthread_mutex_lock(ubx_mutex);
//pthread_mutex_lock(ubx_mutex);
ubx_state->last_message_timestamps[NAV_DOP - 1] = hrt_absolute_time();
pthread_mutex_unlock(ubx_mutex);
//pthread_mutex_unlock(ubx_mutex);
ret = 1;
} else {
@@ -351,9 +352,9 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer)
ubx_gps->counter++;
pthread_mutex_lock(ubx_mutex);
//pthread_mutex_lock(ubx_mutex);
ubx_state->last_message_timestamps[NAV_TIMEUTC - 1] = hrt_absolute_time();
pthread_mutex_unlock(ubx_mutex);
//pthread_mutex_unlock(ubx_mutex);
ret = 1;
} else {
@@ -452,9 +453,9 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer)
ubx_gps->counter++;
pthread_mutex_lock(ubx_mutex);
//pthread_mutex_lock(ubx_mutex);
ubx_state->last_message_timestamps[NAV_SVINFO - 1] = hrt_absolute_time();
pthread_mutex_unlock(ubx_mutex);
//pthread_mutex_unlock(ubx_mutex);
ret = 1;
} else {
@@ -484,9 +485,9 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer)
ubx_gps->counter++;
pthread_mutex_lock(ubx_mutex);
//pthread_mutex_lock(ubx_mutex);
ubx_state->last_message_timestamps[NAV_VELNED - 1] = hrt_absolute_time();
pthread_mutex_unlock(ubx_mutex);
//pthread_mutex_unlock(ubx_mutex);
ret = 1;
} else {
@@ -518,9 +519,9 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer)
ubx_gps->counter++;
pthread_mutex_lock(ubx_mutex);
//pthread_mutex_lock(ubx_mutex);
ubx_state->last_message_timestamps[RXM_SVSI - 1] = hrt_absolute_time();
pthread_mutex_unlock(ubx_mutex);
//pthread_mutex_unlock(ubx_mutex);
ret = 1;
} else {
@@ -697,9 +698,10 @@ int write_config_message_ubx(uint8_t *message, size_t length, int fd)
// printf("[%x,%x]\n", ck_a, ck_b);
int result_write = write(fd, message, length);
unsigned int result_write = write(fd, message, length);
result_write += write(fd, &ck_a, 1);
result_write += write(fd, &ck_b, 1);
fsync(fd);
return (result_write != length + 2); //return 0 as success
@@ -759,15 +761,15 @@ void *ubx_watchdog_loop(void *args)
/* If we have too many failures and another mode or baud should be tried, exit... */
if ((gps_mode_try_all == true || gps_baud_try_all == true) && (ubx_fail_count >= UBX_HEALTH_FAIL_COUNTER_LIMIT) && (ubx_healthy == false) && once_ok == false) {
if (gps_verbose) printf("[gps] Connection attempt failed, no UBX module found\r\n");
if ((gps_mode_try_all == true || gps_baud_try_all == true) && (ubx_fail_count >= UBX_HEALTH_PROBE_COUNTER_LIMIT) && (ubx_healthy == false) && once_ok == false) {
if (gps_verbose) printf("[gps] Connection attempt failed, no UBX module found\n");
gps_mode_success = false;
break;
}
if (ubx_healthy && ubx_fail_count == UBX_HEALTH_FAIL_COUNTER_LIMIT) {
printf("[gps] ERROR: UBX GPS module stopped responding\r\n");
printf("[gps] ERROR: UBX GPS module stopped responding\n");
// global_data_send_subsystem_info(&ubx_present_enabled);
mavlink_log_critical(mavlink_fd, "[gps] UBX module stopped responding\n");
ubx_healthy = false;
@@ -817,7 +819,7 @@ void *ubx_loop(void *args)
char gps_rx_buffer[UBX_BUFFER_SIZE];
if (gps_verbose) printf("[gps] UBX protocol driver starting..\r\n");
if (gps_verbose) printf("[gps] UBX protocol driver starting..\n");
//set parameters for ubx_state
@@ -831,14 +833,14 @@ void *ubx_loop(void *args)
/* set parameters for ubx */
if (configure_gps_ubx(fd) != 0) {
printf("[gps] Configuration of gps module to ubx failed\r\n");
printf("[gps] Configuration of gps module to ubx failed\n");
/* Write shared variable sys_status */
// TODO enable this again
//global_data_send_subsystem_info(&ubx_present);
} else {
if (gps_verbose) printf("[gps] Attempting to configure GPS to UBX binary protocol\r\n");
if (gps_verbose) printf("[gps] Attempting to configure GPS to UBX binary protocol\n");
// XXX Shouldn't the system status only change if the module is known to work ok?
apps/gps/ubx.h
+14 -12
View File
@@ -76,6 +76,7 @@
// ************
/** the structures of the binary packets */
#pragma pack(push, 1)
typedef struct {
uint32_t time_milliseconds; // GPS Millisecond Time of Week
int32_t lon; // Longitude * 1e-7, deg
@@ -87,7 +88,7 @@ typedef struct {
uint8_t ck_a;
uint8_t ck_b;
} __attribute__((__packed__)) type_gps_bin_nav_posllh_packet;
} type_gps_bin_nav_posllh_packet;
typedef type_gps_bin_nav_posllh_packet gps_bin_nav_posllh_packet_t;
@@ -112,7 +113,7 @@ typedef struct {
uint8_t ck_a;
uint8_t ck_b;
} __attribute__((__packed__)) type_gps_bin_nav_sol_packet;
} type_gps_bin_nav_sol_packet;
typedef type_gps_bin_nav_sol_packet gps_bin_nav_sol_packet_t;
@@ -131,7 +132,7 @@ typedef struct {
uint8_t ck_a;
uint8_t ck_b;
} __attribute__((__packed__)) type_gps_bin_nav_timeutc_packet;
} type_gps_bin_nav_timeutc_packet;
typedef type_gps_bin_nav_timeutc_packet gps_bin_nav_timeutc_packet_t;
@@ -148,7 +149,7 @@ typedef struct {
uint8_t ck_a;
uint8_t ck_b;
} __attribute__((__packed__)) type_gps_bin_nav_dop_packet;
} type_gps_bin_nav_dop_packet;
typedef type_gps_bin_nav_dop_packet gps_bin_nav_dop_packet_t;
@@ -158,7 +159,7 @@ typedef struct {
uint8_t globalFlags;
uint16_t reserved2;
} __attribute__((__packed__)) type_gps_bin_nav_svinfo_part1_packet;
} type_gps_bin_nav_svinfo_part1_packet;
typedef type_gps_bin_nav_svinfo_part1_packet gps_bin_nav_svinfo_part1_packet_t;
@@ -172,7 +173,7 @@ typedef struct {
int16_t azim; //Azimuth in integer degrees
int32_t prRes; //Pseudo range residual in centimetres
} __attribute__((__packed__)) type_gps_bin_nav_svinfo_part2_packet;
} type_gps_bin_nav_svinfo_part2_packet;
typedef type_gps_bin_nav_svinfo_part2_packet gps_bin_nav_svinfo_part2_packet_t;
@@ -180,7 +181,7 @@ typedef struct {
uint8_t ck_a;
uint8_t ck_b;
} __attribute__((__packed__)) type_gps_bin_nav_svinfo_part3_packet;
} type_gps_bin_nav_svinfo_part3_packet;
typedef type_gps_bin_nav_svinfo_part3_packet gps_bin_nav_svinfo_part3_packet_t;
@@ -198,7 +199,7 @@ typedef struct {
uint8_t ck_a;
uint8_t ck_b;
} __attribute__((__packed__)) type_gps_bin_nav_velned_packet;
} type_gps_bin_nav_velned_packet;
typedef type_gps_bin_nav_velned_packet gps_bin_nav_velned_packet_t;
@@ -209,7 +210,7 @@ typedef struct {
//... rest of package is not used in this implementation
} __attribute__((__packed__)) type_gps_bin_rxm_svsi_packet;
} type_gps_bin_rxm_svsi_packet;
typedef type_gps_bin_rxm_svsi_packet gps_bin_rxm_svsi_packet_t;
@@ -219,7 +220,7 @@ typedef struct {
uint8_t ck_a;
uint8_t ck_b;
} __attribute__((__packed__)) type_gps_bin_ack_ack_packet;
} type_gps_bin_ack_ack_packet;
typedef type_gps_bin_ack_ack_packet gps_bin_ack_ack_packet_t;
@@ -229,7 +230,7 @@ typedef struct {
uint8_t ck_a;
uint8_t ck_b;
} __attribute__((__packed__)) type_gps_bin_ack_nak_packet;
} type_gps_bin_ack_nak_packet;
typedef type_gps_bin_ack_nak_packet gps_bin_ack_nak_packet_t;
@@ -283,9 +284,10 @@ typedef struct {
enum UBX_MESSAGE_IDS message_id;
uint64_t last_message_timestamps[UBX_NO_OF_MESSAGES];
} __attribute__((__packed__)) type_gps_bin_ubx_state;
} type_gps_bin_ubx_state;
typedef type_gps_bin_ubx_state gps_bin_ubx_state_t;
#pragma pack(pop)
extern pthread_mutex_t *ubx_mutex;
extern gps_bin_ubx_state_t *ubx_state;
apps/mavlink/mavlink.c
+5 -2
View File
@@ -50,7 +50,7 @@
#include <string.h>
#include "mavlink_bridge_header.h"
#include <v1.0/common/mavlink.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <time.h>
#include <float.h>
#include <unistd.h>
@@ -745,7 +745,10 @@ int mavlink_main(int argc, char *argv[])
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
/* XXX should wait for it to actually exit here */
while (thread_running) {
usleep(200000);
}
warnx("terminated.");
exit(0);
}
apps/mavlink/mavlink_bridge_header.h
+4 -2
View File
@@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -35,6 +35,8 @@
/**
* @file mavlink_bridge_header
* MAVLink bridge header for UART access.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
/* MAVLink adapter header */
apps/mavlink/mavlink_parameters.c
+2
View File
@@ -39,6 +39,8 @@
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include "mavlink_bridge_header.h"
#include <v1.0/common/mavlink.h>
#include "mavlink_parameters.h"
#include <uORB/uORB.h>
#include "math.h" /* isinf / isnan checks */
apps/mavlink/mavlink_parameters.h
+1 -1
View File
@@ -43,7 +43,7 @@
or in the same folder as this source file */
#include "v1.0/common/mavlink.h"
#include <v1.0/mavlink_types.h>
#include <stdbool.h>
#include <systemlib/param/param.h>
apps/mavlink/mavlink_receiver.c
+1 -1
View File
@@ -49,7 +49,7 @@
#include <string.h>
#include "mavlink_bridge_header.h"
#include <v1.0/common/mavlink.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <time.h>
#include <float.h>
#include <unistd.h>
apps/mavlink/missionlib.c
+1 -1
View File
@@ -49,7 +49,7 @@
#include <string.h>
#include "mavlink_bridge_header.h"
#include <v1.0/common/mavlink.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <time.h>
#include <float.h>
#include <unistd.h>
apps/mavlink/orb_listener.c
+1 -1
View File
@@ -46,7 +46,7 @@
#include <string.h>
#include "mavlink_bridge_header.h"
#include <v1.0/common/mavlink.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <time.h>
#include <float.h>
#include <unistd.h>

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