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

Browse Source
This commit is contained in:
Youssef Demitri
2015-09-14 16:25:52 +02:00
parent 9d5ea4bceb 683df0eb46
commit fa2518ac22
171 changed files with 4825 additions and 2650 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.gitmodules
+3
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@@ -19,3 +19,6 @@
[submodule "src/lib/eigen"]
path = src/lib/eigen
url = https://github.com/PX4/eigen.git
[submodule "src/lib/dspal"]
path = src/lib/dspal
url = https://github.com/mcharleb/dspal.git
.travis.yml
+11
View File
@@ -13,6 +13,7 @@ cache:
addons:
apt:
sources:
- kubuntu-backports
- ubuntu-toolchain-r-test
packages:
- build-essential
@@ -46,9 +47,18 @@ before_script:
- mkdir -p ~/bin
- ln -s /usr/bin/ccache ~/bin/arm-none-eabi-g++
- ln -s /usr/bin/ccache ~/bin/arm-none-eabi-gcc
- ln -s /usr/bin/ccache ~/bin/clang++
- ln -s /usr/bin/ccache ~/bin/clang++-3.4
- ln -s /usr/bin/ccache ~/bin/clang++-3.5
- ln -s /usr/bin/ccache ~/bin/clang
- ln -s /usr/bin/ccache ~/bin/clang-3.4
- ln -s /usr/bin/ccache ~/bin/clang-3.5
- ln -s /usr/bin/ccache ~/bin/g++-4.8
- ln -s /usr/bin/ccache ~/bin/gcc-4.8
- export PATH=~/bin:$PATH
# grab astyle 2.05.1
- wget -O ~/bin/astyle https://github.com/PX4/astyle/releases/download/2.05.1/astyle-linux && chmod +x ~/bin/astyle
- astyle --version
env:
global:
@@ -59,6 +69,7 @@ env:
- PX4_AWS_BUCKET=px4-travis
script:
- make check_format
- ccache -z
- arm-none-eabi-gcc --version
- echo 'Building POSIX Firmware..' && echo -en 'travis_fold:start:script.1\\r'
Makefile
+3 -3
View File
@@ -220,11 +220,11 @@ qurtrun:
# unit tests.
.PHONY: tests
tests: generateuorbtopicheaders
$(Q) (mkdir -p $(PX4_BASE)/unittests/build && cd $(PX4_BASE)/unittests/build && cmake .. && $(MAKE) unittests)
$(Q) (mkdir -p $(PX4_BASE)/unittests/build && cd $(PX4_BASE)/unittests/build && cmake .. && $(MAKE) --no-print-directory unittests)
.PHONY: format check_format
.PHONY: check_format
check_format:
$(Q) (./Tools/check_code_style.sh | sort -n)
$(Q) (./Tools/check_code_style.sh)
#
# Cleanup targets. 'clean' should remove all built products and force
ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
-3
View File
@@ -39,8 +39,5 @@ then
param set FW_RR_P 0.3
fi
# Enable gamepad / joystick support
param set COM_RC_IN_MODE 2
set HIL yes
set MIXER AERT
ROMFS/px4fmu_common/init.d/10016_3dr_iris
+2 -2
View File
@@ -13,11 +13,11 @@ if [ $AUTOCNF == yes ]
then
# TODO tune roll/pitch separately
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_P 0.15
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.5
ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
-3
View File
@@ -11,7 +11,4 @@ sh /etc/init.d/rc.mc_defaults
set MIXER quad_x
# Enable gamepad / joystick support
param set COM_RC_IN_MODE 2
set HIL yes
ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
-3
View File
@@ -11,7 +11,4 @@ sh /etc/init.d/rc.mc_defaults
set MIXER quad_+
# Enable gamepad / joystick support
param set COM_RC_IN_MODE 2
set HIL yes
ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
-3
View File
@@ -11,7 +11,4 @@ sh /etc/init.d/rc.fw_defaults
set HIL yes
# Enable gamepad / joystick support
param set COM_RC_IN_MODE 2
set MIXER AERT
ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
-3
View File
@@ -36,8 +36,5 @@ fi
set HIL yes
# Enable gamepad / joystick support
param set COM_RC_IN_MODE 2
# Set the AERT mixer for HIL (even if the malolo is a flying wing)
set MIXER AERT
ROMFS/px4fmu_common/init.d/4010_dji_f330
+2 -2
View File
@@ -16,11 +16,11 @@ sh /etc/init.d/4001_quad_x
if [ $AUTOCNF == yes ]
then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_P 0.15
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
ROMFS/px4fmu_common/init.d/rc.fw_defaults
-2
View File
@@ -16,8 +16,6 @@ then
param set PE_VELD_NOISE 0.35
param set PE_POSNE_NOISE 0.5
param set PE_POSD_NOISE 1.0
param set PE_GBIAS_PNOISE 0.000001
param set PE_ABIAS_PNOISE 0.0002
fi
# This is the gimbal pass mixer
ROMFS/px4fmu_common/init.d/rc.mc_defaults
-2
View File
@@ -8,8 +8,6 @@ then
param set PE_VELD_NOISE 0.35
param set PE_POSNE_NOISE 0.5
param set PE_POSD_NOISE 1.25
param set PE_GBIAS_PNOISE 0.000001
param set PE_ABIAS_PNOISE 0.0001
param set NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0
ROMFS/px4fmu_common/init.d/rc.sensors
+2 -4
View File
@@ -110,8 +110,6 @@ else
fi
fi
#
# Start sensors
#
# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
usleep 20000
sensors start
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
-1
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@@ -37,7 +37,6 @@ then
param set PE_VELD_NOISE 0.3
param set PE_POSNE_NOISE 0.5
param set PE_POSD_NOISE 1.25
param set PE_GBIAS_PNOISE 0.000001
param set PE_ABIAS_PNOISE 0.0001
fi
ROMFS/px4fmu_common/init.d/rcS
-2
View File
@@ -389,8 +389,6 @@ then
unset GPS_FAKE
# Needs to be this early for in-air-restarts
# Wait 10 ms for sensors (workaround for airspeed, to be removed)
usleep 10000
commander start
#
Tools/check_code_style.sh
+38 -9
View File
@@ -1,16 +1,45 @@
#!/usr/bin/env bash
set -eu
failed=0
for fn in $(find . -path './src/lib/uavcan' -prune -o \
-path './src/lib/mathlib/CMSIS' -prune -o \
-path './src/lib/eigen' -prune -o \
-path './src/modules/attitude_estimator_ekf/codegen' -prune -o \
-path './NuttX' -prune -o \
for fn in $(find src/examples \
src/systemcmds \
src/include \
src/drivers/blinkm \
src/drivers/bma180 \
src/drivers/pca9685 \
src/drivers/pca8574 \
src/drivers/md25 \
src/drivers/ms5611 \
src/drivers/stm32 \
src/drivers/px4io \
src/drivers/px4fmu \
src/lib/launchdetection \
src/modules/bottle_drop \
src/modules/dataman \
src/modules/fixedwing_backside \
src/modules/segway \
src/modules/unit_test \
src/modules/systemlib \
-path './Build' -prune -o \
-path './mavlink' -prune -o \
-path './unittests/gtest' -prune -o \
-path './NuttX' -prune -o \
-path './src/lib/eigen' -prune -o \
-path './src/lib/mathlib/CMSIS' -prune -o \
-path './src/lib/uavcan' -prune -o \
-path './src/modules/attitude_estimator_ekf/codegen' -prune -o \
-path './src/modules/ekf_att_pos_estimator' -prune -o \
-path './src/modules/sdlog2' -prune -o \
-path './src/modules/uORB' -prune -o \
-path './src/modules/vtol_att_control' -prune -o \
-path './unittests/build' -prune -o \
-name '*.c' -o -name '*.cpp' -o -name '*.hpp' -o -name '*.h' -type f); do
-path './unittests/gtest' -prune -o \
-name '*.c' -o -name '*.cpp' -o -name '*.hpp' -o -name '*.h' \
-not -name '*generated*' \
-not -name '*uthash.h' \
-not -name '*utstring.h' \
-not -name '*utlist.h' \
-not -name '*utarray.h' \
-type f); do
if [ -f "$fn" ];
then
./Tools/fix_code_style.sh --quiet < $fn > $fn.pretty
@@ -18,7 +47,7 @@ for fn in $(find . -path './src/lib/uavcan' -prune -o \
rm -f $fn.pretty
if [ $diffsize -ne 0 ]; then
failed=1
echo $diffsize $fn
echo $fn 'bad formatting, please run "./Tools/fix_code_style.sh' $fn'"'
fi
fi
done
@@ -27,6 +56,6 @@ if [ $failed -eq 0 ]; then
echo "Format checks passed"
exit 0
else
echo "Format checks failed; please run ./Tools/fix_code_style.sh on each file"
echo "Format checks failed"
exit 1
fi
Tools/fix_code_style.sh
+11 -1
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@@ -1,4 +1,14 @@
#!/bin/sh
#!/bin/bash
ASTYLE_VER=`astyle --version`
ASTYLE_VER_REQUIRED="Artistic Style Version 2.05.1"
if [ "$ASTYLE_VER" != "$ASTYLE_VER_REQUIRED" ]; then
echo "Error: you're using ${ASTYLE_VER}, but PX4 requires ${ASTYLE_VER_REQUIRED}"
echo "You can get the correct version here: https://github.com/PX4/astyle/releases/tag/2.05.1"
exit 1
fi
DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
astyle \
--options=$DIR/astylerc \
makefiles/firmware.mk
+2 -4
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@@ -106,8 +106,6 @@ ifneq ($(words $(PX4_BASE)),1)
$(error Cannot build when the PX4_BASE path contains one or more space characters.)
endif
$(info % GIT_DESC = $(GIT_DESC))
#
# Set a default target so that included makefiles or errors here don't
# cause confusion.
@@ -232,7 +230,7 @@ $(MODULE_OBJS): workdir = $(@D)
$(MODULE_OBJS): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
$(Q) $(MKDIR) -p $(workdir)
$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
-C $(workdir) \
--no-print-directory -C $(workdir) \
MODULE_WORK_DIR=$(workdir) \
MODULE_OBJ=$@ \
MODULE_MK=$(mkfile) \
@@ -292,7 +290,7 @@ $(LIBRARY_LIBS): workdir = $(@D)
$(LIBRARY_LIBS): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
$(Q) $(MKDIR) -p $(workdir)
$(Q) $(MAKE) -r -f $(PX4_MK_DIR)library.mk \
-C $(workdir) \
--no-print-directory -C $(workdir) \
LIBRARY_WORK_DIR=$(workdir) \
LIBRARY_LIB=$@ \
LIBRARY_MK=$(mkfile) \
makefiles/module.mk
+4
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@@ -113,7 +113,9 @@
ifeq ($(MODULE_MK),)
$(error No module makefile specified)
endif
ifeq ($(V),1)
$(info %% MODULE_MK = $(MODULE_MK))
endif
#
# Get the board/toolchain config
@@ -125,10 +127,12 @@ include $(BOARD_FILE)
#
include $(MODULE_MK)
MODULE_SRC := $(dir $(MODULE_MK))
ifeq ($(V),1)
$(info % MODULE_NAME = $(MODULE_NAME))
$(info % MODULE_SRC = $(MODULE_SRC))
$(info % MODULE_OBJ = $(MODULE_OBJ))
$(info % MODULE_WORK_DIR = $(MODULE_WORK_DIR))
endif
#
# Things that, if they change, might affect everything
makefiles/nuttx/firmware_nuttx.mk
+6 -6
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@@ -30,7 +30,7 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4: checkgitversion generateuorbtopi
@$(ECHO) %%%% Building $(config) in $(work_dir)
@$(ECHO) %%%%
$(Q) $(MKDIR) -p $(work_dir)
$(Q) $(MAKE) -r -C $(work_dir) \
$(Q) $(MAKE) -r --no-print-directory -C $(work_dir) \
-f $(PX4_MK_DIR)firmware.mk \
CONFIG=$(config) \
WORK_DIR=$(work_dir) \
@@ -77,11 +77,11 @@ $(ARCHIVE_DIR)%.export: configuration = nsh
$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
@$(ECHO) %% Configuring NuttX for $(board)
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) $(MAKE) -r -j$(J) --no-print-directory -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
@$(ECHO) %% Exporting NuttX for $(board)
$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
$(Q) $(MAKE) -r -j$(J) --no-print-directory -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
$(Q) $(MKDIR) -p $(dir $@)
$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
@@ -98,12 +98,12 @@ BOARD = $(BOARDS)
menuconfig: $(NUTTX_SRC)
@$(ECHO) %% Configuring NuttX for $(BOARD)
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) $(MAKE) -r -j$(J) --no-print-directory -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
@$(ECHO) %% Running menuconfig for $(BOARD)
$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) oldconfig
$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
$(Q) $(MAKE) -r -j$(J) --no-print-directory -C $(NUTTX_SRC) -r $(MQUIET) oldconfig
$(Q) $(MAKE) -r -j$(J) --no-print-directory -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
@$(ECHO) %% Saving configuration file
$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
else
makefiles/nuttx/toolchain_gnu-arm-eabi.mk
-2
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@@ -147,7 +147,6 @@ ARCHWARNINGS = -Wall \
-Wshadow \
-Wfloat-equal \
-Wpointer-arith \
-Wlogical-op \
-Wmissing-declarations \
-Wpacked \
-Wno-unused-parameter \
@@ -271,7 +270,6 @@ define PRELINK
@$(ECHO) "PRELINK: $1"
@$(MKDIR) -p $(dir $1)
$(Q) $(LD) -Ur -Map $1.map -o $1 $2 && $(OBJCOPY) --localize-hidden $1
#$(Q) $(LD) -Ur -Map $1.map -o $1 $2 && $(OBJCOPY) --localize-hidden $1
endef
# Update the archive $1 with the files in $2
makefiles/posix-arm/config_eagle_adsp.mk
+57
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@@ -0,0 +1,57 @@
#
# Makefile for the EAGLE *default* configuration
#
#
# Board support modules
#
MODULES += drivers/device
#
# System commands
#
MODULES += systemcmds/param
MODULES += systemcmds/ver
#
# General system control
#
MODULES += modules/mavlink
#
# Estimation modules (EKF/ SO3 / other filters)
#
#
# Vehicle Control
#
#
# Library modules
#
MODULES += modules/systemlib
MODULES += modules/uORB
MODULES += modules/dataman
#
# Libraries
#
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion
#
# Linux port
#
MODULES += platforms/posix/px4_layer
MODULES += platforms/posix/work_queue
#
# Unit tests
#
#
# muorb fastrpc changes.
#
MODULES += modules/muorb/krait
makefiles/posix-arm/config_eagle_hil.mk
+1
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@@ -6,6 +6,7 @@
# Board support modules
#
MODULES += drivers/device
MODULES += drivers/boards/sitl
#MODULES += drivers/blinkm
#MODULES += drivers/pwm_out_sim
#MODULES += drivers/rgbled
makefiles/posix-arm/toolchain_gnu-arm-linux-gnueabihf.mk
+23 -50
View File
@@ -39,14 +39,17 @@
#
CROSSDEV = arm-linux-gnueabihf-
CC = $(CROSSDEV)gcc
CXX = $(CROSSDEV)g++
CPP = $(CROSSDEV)gcc -E
LD = $(CROSSDEV)ld
AR = $(CROSSDEV)ar rcs
NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
CC ?= $(CROSSDEV)gcc
CXX ?= $(CROSSDEV)g++
CPP ?= $(CROSSDEV)gcc -E
LD ?= $(CROSSDEV)ld
AR ?= $(CROSSDEV)ar rcs
NM ?= $(CROSSDEV)nm
OBJCOPY ?= $(CROSSDEV)objcopy
OBJDUMP ?= $(CROSSDEV)objdump
ifdef OECORE_NATIVE_SYSROOT
AR := $(AR) rcs
endif
# Check if the right version of the toolchain is available
#
@@ -57,7 +60,9 @@ ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
endif
EXT_MUORB_LIB_ROOT = /opt/muorb_libs
ifndef POSIX_EXT_LIB_ROOT
$(error POSIX_EXT_LIB_ROOT is not set)
endif
# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
@@ -71,37 +76,6 @@ ARCHCPUFLAGS_CORTEXA8 = -mtune=cortex-a8 \
-mfloat-abi=hard \
-mfpu=neon
ARCHCPUFLAGS_CORTEXM4F = -mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
-mfpu=fpv4-sp-d16 \
-mfloat-abi=hard
ARCHCPUFLAGS_CORTEXM4 = -mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
-mfloat-abi=soft
ARCHCPUFLAGS_CORTEXM3 = -mcpu=cortex-m3 \
-mthumb \
-march=armv7-m \
-mfloat-abi=soft
# Enabling stack checks if OS was build with them
#
TEST_FILE_STACKCHECK=$(WORK_DIR)nuttx-export/include/nuttx/config.h
TEST_VALUE_STACKCHECK=CONFIG_ARMV7M_STACKCHECK\ 1
ENABLE_STACK_CHECKS=$(shell $(GREP) -q "$(TEST_VALUE_STACKCHECK)" $(TEST_FILE_STACKCHECK); echo $$?;)
ifeq ("$(ENABLE_STACK_CHECKS)","0")
ARCHINSTRUMENTATIONDEFINES_CORTEXM4F = -finstrument-functions -ffixed-r10
ARCHINSTRUMENTATIONDEFINES_CORTEXM4 = -finstrument-functions -ffixed-r10
ARCHINSTRUMENTATIONDEFINES_CORTEXM3 =
else
ARCHINSTRUMENTATIONDEFINES_CORTEXM4F =
ARCHINSTRUMENTATIONDEFINES_CORTEXM4 =
ARCHINSTRUMENTATIONDEFINES_CORTEXM3 =
endif
# Pick the right set of flags for the architecture.
#
ARCHCPUFLAGS = $(ARCHCPUFLAGS_$(CONFIG_ARCH))
@@ -115,13 +89,13 @@ ifeq ($(CONFIG_BOARD),)
$(error Board config does not define CONFIG_BOARD)
endif
ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
-D__PX4_LINUX -D__PX4_POSIX \
-Dnoreturn_function= \
-I$(PX4_BASE)/src/modules/systemlib \
-I$(PX4_BASE)/src/lib/eigen \
-I$(PX4_BASE)/src/platforms/posix/include \
-I$(PX4_BASE)/mavlink/include/mavlink \
-Wno-error=shadow
-D__PX4_LINUX -D__PX4_POSIX \
-Dnoreturn_function= \
-I$(PX4_BASE)/src/modules/systemlib \
-I$(PX4_BASE)/src/lib/eigen \
-I$(PX4_BASE)/src/platforms/posix/include \
-I$(PX4_BASE)/mavlink/include/mavlink \
-Wno-error=shadow
# optimisation flags
#
@@ -157,8 +131,6 @@ ARCHWARNINGS = -Wall \
-Werror=reorder \
-Werror=uninitialized \
-Werror=init-self \
-Wno-error=logical-op \
-Wlogical-op \
-Wformat=1 \
-Werror=unused-but-set-variable \
-Wno-error=double-promotion \
@@ -191,7 +163,8 @@ LIBM := $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
EXTRA_LIBS += -lpx4muorb -ladsprpc
EXTRA_LIBS += -pthread -lm -lrt
LIB_DIRS += $(EXT_MUORB_LIB_ROOT)/krait/libs
LIB_DIRS += $(POSIX_EXT_LIB_ROOT)/libs
INCLUDE_DIRS += $(POSIX_EXT_LIB_ROOT)/inc
# Flags we pass to the C compiler
#
makefiles/posix/config_posix_sitl.mk
+1
View File
@@ -5,6 +5,7 @@
#
# Board support modules
#
MODULES += drivers/boards/sitl
MODULES += drivers/device
MODULES += drivers/blinkm
MODULES += drivers/pwm_out_sim
makefiles/posix/firmware_posix.mk
+1 -1
View File
@@ -47,7 +47,7 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.a: checkgitversion generateuorbtopich
@$(ECHO) %%%% Building $(config) in $(work_dir)
@$(ECHO) %%%%
$(Q) $(MKDIR) -p $(work_dir)
$(Q) $(MAKE) -r -C $(work_dir) \
$(Q) $(MAKE) -r --no-print-directory -C $(work_dir) \
-f $(PX4_MK_DIR)firmware.mk \
CONFIG=$(config) \
WORK_DIR=$(work_dir) \
makefiles/posix/toolchain_native.mk
+1 -4
View File
@@ -183,9 +183,8 @@ ARCHWARNINGS = -Wall \
# Add compiler specific options
ifeq ($(USE_GCC),1)
ARCHDEFINES += -Wno-error=logical-op
ARCHDEFINES +=
ARCHWARNINGS += -Wdouble-promotion \
-Wlogical-op \
-Wformat=1 \
-Werror=unused-but-set-variable \
-Werror=double-promotion
@@ -348,7 +347,6 @@ endef
define LINK_A
@$(ECHO) "LINK_A: $1"
@$(MKDIR) -p $(dir $1)
echo "$(Q) $(AR) $1 $2"
$(Q) $(AR) $1 $2
endef
@@ -357,7 +355,6 @@ endef
define LINK_SO
@$(ECHO) "LINK_SO: $1"
@$(MKDIR) -p $(dir $1)
echo "$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) $(EXTRA_LIBS)"
$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) -pthread -lc
endef
makefiles/qurt/config_qurt_adsp.mk
+19 -4
View File
@@ -1,8 +1,19 @@
#Added configuration specific flags here.
ifndef HEXAGON_DRIVERS_ROOT
$(error HEXAGON_DRIVERS_ROOT is not set)
endif
ifndef EAGLE_DRIVERS_SRC
$(error EAGLE_DRIVERS_SRC is not set)
endif
INCLUDE_DIRS += $(HEXAGON_DRIVERS_ROOT)/inc
# For Actual flight we need to link against the driver dynamic libraries
LDFLAGS += -L${DSPAL_ROOT}/mpu_spi/hexagon_Debug_dynamic_toolv64/ship -lmpu9x50
LDFLAGS += -L${DSPAL_ROOT}/uart_esc/hexagon_Debug_dynamic_toolv64/ship -luart_esc
LDFLAGS += -L${HEXAGON_DRIVERS_ROOT}/libs -lmpu9x50
LDFLAGS += -luart_esc
LDFLAGS += -lcsr_gps
LDFLAGS += -lrc_receiver
#
# Makefile for the EAGLE QuRT *default* configuration
@@ -13,8 +24,10 @@ LDFLAGS += -L${DSPAL_ROOT}/uart_esc/hexagon_Debug_dynamic_toolv64/ship -luart_es
#
MODULES += drivers/device
MODULES += modules/sensors
#MODULES += platforms/qurt/drivers/mpu9x50
#MODULES += platforms/qurt/drivers/uart_esc
MODULES += $(EAGLE_DRIVERS_SRC)/mpu9x50
MODULES += $(EAGLE_DRIVERS_SRC)/uart_esc
MODULES += $(EAGLE_DRIVERS_SRC)/rc_receiver
MODULES += $(EAGLE_DRIVERS_SRC)/csr_gps
#
# System commands
@@ -47,6 +60,7 @@ MODULES += modules/systemlib/mixer
MODULES += modules/uORB
#MODULES += modules/dataman
MODULES += modules/commander
MODULES += modules/controllib
#
# Libraries
@@ -61,6 +75,7 @@ MODULES += lib/conversion
# QuRT port
#
MODULES += platforms/qurt/px4_layer
MODULES += platforms/posix/work_queue
#
# Unit tests
makefiles/qurt/config_qurt_hil.mk
+1
View File
@@ -6,6 +6,7 @@
# Board support modules
#
MODULES += drivers/device
MODULES += drivers/boards/sitl
#MODULES += drivers/blinkm
MODULES += drivers/pwm_out_sim
MODULES += drivers/led
makefiles/qurt/firmware_qurt.mk
+2 -3
View File
@@ -47,14 +47,13 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.a: generateuorbtopicheaders
@$(ECHO) %%%% Building $(config) in $(work_dir)
@$(ECHO) %%%%
$(Q) $(MKDIR) -p $(work_dir)
$(Q) $(MAKE) -r -C $(work_dir) \
$(Q) $(MAKE) -r --no-print-directory -C $(work_dir) \
-f $(PX4_MK_DIR)firmware.mk \
CONFIG=$(config) \
WORK_DIR=$(work_dir) \
$(FIRMWARE_GOAL)
HEXAGON_TOOLS_ROOT = /opt/6.4.05
#V_ARCH = v4
HEXAGON_TOOLS_ROOT ?= /opt/6.4.03
V_ARCH = v5
HEXAGON_CLANG_BIN = $(addsuffix /qc/bin,$(HEXAGON_TOOLS_ROOT))
SIM = $(HEXAGON_CLANG_BIN)/hexagon-sim
makefiles/qurt/toolchain_hexagon.mk
+7 -19
View File
@@ -35,19 +35,11 @@
#$(info TOOLCHAIN gnu-arm-eabi)
#
# Stop making if ADSP_LIB_ROOT is not set. This defines the path to
# DspAL headers and driver headers
#
ifndef DSPAL_ROOT
$(error DSPAL_ROOT is not set)
endif
# Toolchain commands. Normally only used inside this file.
#
HEXAGON_TOOLS_ROOT ?= /opt/6.4.03
#HEXAGON_TOOLS_ROOT = /opt/6.4.05
HEXAGON_SDK_ROOT = /opt/Hexagon_SDK/2.0
HEXAGON_SDK_ROOT ?= /opt/Hexagon_SDK/2.0
V_ARCH = v5
CROSSDEV = hexagon-
HEXAGON_BIN = $(addsuffix /gnu/bin,$(HEXAGON_TOOLS_ROOT))
@@ -57,7 +49,7 @@ HEXAGON_ISS_DIR = $(HEXAGON_TOOLS_ROOT)/qc/lib/iss
TOOLSLIB = $(HEXAGON_TOOLS_ROOT)/dinkumware/lib/$(V_ARCH)/G0
QCTOOLSLIB = $(HEXAGON_TOOLS_ROOT)/qc/lib/$(V_ARCH)/G0
QURTLIB = $(HEXAGON_SDK_ROOT)/lib/common/qurt/ADSP$(V_ARCH)MP/lib
#DSPAL = $(PX4_BASE)/../dspal_libs/libdspal.a
DSPAL_INCS ?= $(PX4_BASE)/src/lib/dspal
CC = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang
@@ -93,8 +85,7 @@ DYNAMIC_LIBS = \
# Check if the right version of the toolchain is available
#
CROSSDEV_VER_SUPPORTED = 6.4.03
#CROSSDEV_VER_SUPPORTED = 6.4.05
CROSSDEV_VER_SUPPORTED = 6.4.03 6.4.05
CROSSDEV_VER_FOUND = $(shell $(CC) --version | sed -n 's/^.*version \([\. 0-9]*\),.*$$/\1/p')
ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
@@ -122,18 +113,15 @@ ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
-Dnoreturn_function= \
-D__EXPORT= \
-Drestrict= \
-D_DEBUG \
-I$(DSPAL_ROOT)/ \
-I$(DSPAL_ROOT)/dspal/include \
-I$(DSPAL_ROOT)/dspal/sys \
-I$(DSPAL_ROOT)/dspal/sys/sys \
-I$(DSPAL_ROOT)/mpu_spi/inc/ \
-I$(DSPAL_ROOT)/uart_esc/inc/ \
-D_DEBUG \
-I$(DSPAL_INCS)/include \
-I$(DSPAL_INCS)/sys \
-I$(HEXAGON_TOOLS_ROOT)/gnu/hexagon/include \
-I$(PX4_BASE)/src/lib/eigen \
-I$(PX4_BASE)/src/platforms/qurt/include \
-I$(PX4_BASE)/src/platforms/posix/include \
-I$(PX4_BASE)/mavlink/include/mavlink \
-I$(PX4_BASE)/../inc \
-I$(QURTLIB)/..//include \
-I$(HEXAGON_SDK_ROOT)/inc \
-I$(HEXAGON_SDK_ROOT)/inc/stddef \
msg/input_rc.msg
+1
View File
@@ -5,6 +5,7 @@ uint8 RC_INPUT_SOURCE_PX4IO_SPEKTRUM = 3
uint8 RC_INPUT_SOURCE_PX4IO_SBUS = 4
uint8 RC_INPUT_SOURCE_PX4IO_ST24 = 5
uint8 RC_INPUT_SOURCE_MAVLINK = 6
uint8 RC_INPUT_SOURCE_QURT = 7
uint8 RC_INPUT_MAX_CHANNELS = 18 # Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
nuttx-configs/px4fmu-v2/nsh/defconfig
+2 -2
View File
@@ -551,8 +551,8 @@ CONFIG_UART7_SERIAL_CONSOLE=y
#
# USART1 Configuration
#
CONFIG_USART1_RXBUFSIZE=600
CONFIG_USART1_TXBUFSIZE=600
CONFIG_USART1_RXBUFSIZE=128
CONFIG_USART1_TXBUFSIZE=32
CONFIG_USART1_BAUD=115200
CONFIG_USART1_BITS=8
CONFIG_USART1_PARITY=0
posix-configs/SITL/init/rc.fixed_wing
+6 -3
View File
@@ -4,7 +4,6 @@ param load
param set MAV_TYPE 1
param set SYS_AUTOSTART 3033
param set SYS_RESTART_TYPE 2
param set COM_RC_IN_MODE 2
dataman start
param set CAL_GYRO0_ID 2293760
param set CAL_ACC0_ID 1376256
@@ -22,6 +21,7 @@ param set CAL_MAG0_XOFF 0.01
param set MPC_XY_P 0.4
param set MPC_XY_VEL_P 0.2
param set MPC_XY_VEL_D 0.005
param set COM_RC_IN_MODE 2
rgbled start
tone_alarm start
gyrosim start
@@ -29,18 +29,21 @@ accelsim start
barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim mode_pwm
commander start
sleep 1
sensors start
commander start
land_detector start fixedwing
navigator start
ekf_att_pos_estimator start
fw_att_control start
fw_pos_control_l1 start
mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/IO_pass.main.mix
mavlink start -u 14556 -r 60000
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 50 -s ATTITUDE -u 14556
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
mavlink boot_complete
sdlog2 start -r 100 -e -t -a
posix-configs/SITL/init/rcS
+4 -2
View File
@@ -8,7 +8,6 @@ param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.35
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
param set COM_RC_IN_MODE 2
dataman start
param set CAL_GYRO0_ID 2293760
param set CAL_ACC0_ID 1376256
@@ -27,6 +26,7 @@ param set MPC_XY_P 0.4
param set MPC_XY_VEL_P 0.2
param set MPC_XY_VEL_D 0.005
param set SENS_BOARD_ROT 0
param set COM_RC_IN_MODE 2
rgbled start
tone_alarm start
gyrosim start
@@ -35,8 +35,9 @@ barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
commander start
sleep 1
sensors start
commander start
land_detector start multicopter
navigator start
attitude_estimator_q start
@@ -53,3 +54,4 @@ mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink boot_complete
sdlog2 start -r 100 -e -t -a
posix-configs/SITL/init/rc_iris_ros
+3 -2
View File
@@ -8,7 +8,6 @@ param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.35
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
param set COM_RC_IN_MODE 2
dataman start
param set CAL_GYRO0_ID 2293760
param set CAL_ACC0_ID 1376256
@@ -41,6 +40,7 @@ param set MP_ROLLRATE_I 0.001
param set MP_ROLLRATE_D 0.001
param set MP_PITCH_P 4
param set MP_PITCHRATE_P 0.3
param set COM_RC_IN_MODE 2
rgbled start
tone_alarm start
gyrosim start
@@ -49,8 +49,9 @@ barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
commander start
sleep 1
sensors start
commander start
land_detector start multicopter
navigator start
attitude_estimator_q start
src/drivers/blinkm/blinkm.cpp
+161 -95
View File
File diff suppressed because it is too large Load Diff
src/drivers/bma180/bma180.cpp
+76 -46
View File
@@ -262,8 +262,9 @@ BMA180::~BMA180()
stop();
/* free any existing reports */
if (_reports != nullptr)
if (_reports != nullptr) {
delete _reports;
}
/* delete the perf counter */
perf_free(_sample_perf);
@@ -275,14 +276,16 @@ BMA180::init()
int ret = ERROR;
/* do SPI init (and probe) first */
if (SPI::init() != OK)
if (SPI::init() != OK) {
goto out;
}
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(accel_report));
if (_reports == nullptr)
if (_reports == nullptr) {
goto out;
}
/* perform soft reset (p48) */
write_reg(ADDR_RESET, SOFT_RESET);
@@ -308,9 +311,9 @@ BMA180::init()
/* disable writing to chip config */
modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0);
if (set_range(4)) warnx("Failed setting range");
if (set_range(4)) { warnx("Failed setting range"); }
if (set_lowpass(75)) warnx("Failed setting lowpass");
if (set_lowpass(75)) { warnx("Failed setting lowpass"); }
if (read_reg(ADDR_CHIP_ID) == CHIP_ID) {
ret = OK;
@@ -342,8 +345,9 @@ BMA180::probe()
/* dummy read to ensure SPI state machine is sane */
read_reg(ADDR_CHIP_ID);
if (read_reg(ADDR_CHIP_ID) == CHIP_ID)
if (read_reg(ADDR_CHIP_ID) == CHIP_ID) {
return OK;
}
return -EIO;
}
@@ -356,8 +360,9 @@ BMA180::read(struct file *filp, char *buffer, size_t buflen)
int ret = 0;
/* buffer must be large enough */
if (count < 1)
if (count < 1) {
return -ENOSPC;
}
/* if automatic measurement is enabled */
if (_call_interval > 0) {
@@ -383,8 +388,9 @@ BMA180::read(struct file *filp, char *buffer, size_t buflen)
measure();
/* measurement will have generated a report, copy it out */
if (_reports->get(arp))
if (_reports->get(arp)) {
ret = sizeof(*arp);
}
return ret;
}
@@ -397,27 +403,27 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_call_interval = 0;
return OK;
/* external signalling not supported */
/* external signalling not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT:
/* With internal low pass filters enabled, 250 Hz is sufficient */
return ioctl(filp, SENSORIOCSPOLLRATE, 250);
/* adjust to a legal polling interval in Hz */
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_call_interval == 0);
@@ -426,16 +432,18 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
unsigned ticks = 1000000 / arg;
/* check against maximum sane rate */
if (ticks < 1000)
if (ticks < 1000) {
return -EINVAL;
}
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_call.period = _call_interval = ticks;
/* if we need to start the poll state machine, do it */
if (want_start)
if (want_start) {
start();
}
return OK;
}
@@ -443,25 +451,29 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
}
case SENSORIOCGPOLLRATE:
if (_call_interval == 0)
if (_call_interval == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return 1000000 / _call_interval;
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100))
return -EINVAL;
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return -ENOMEM;
return OK;
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
@@ -543,11 +555,13 @@ BMA180::set_range(unsigned max_g)
{
uint8_t rangebits;
if (max_g == 0)
if (max_g == 0) {
max_g = 16;
}
if (max_g > 16)
if (max_g > 16) {
return -ERANGE;
}
if (max_g <= 2) {
_current_range = 2;
@@ -700,7 +714,7 @@ BMA180::measure()
* measurement flow without using the external interrupt.
*/
report.timestamp = hrt_absolute_time();
report.error_count = 0;
report.error_count = 0;
/*
* y of board is x of sensor and x of board is -y of sensor
* perform only the axis assignment here.
@@ -733,8 +747,9 @@ BMA180::measure()
poll_notify(POLLIN);
/* publish for subscribers */
if (_accel_topic != nullptr && !(_pub_blocked))
if (_accel_topic != nullptr && !(_pub_blocked)) {
orb_publish(ORB_ID(sensor_accel), _accel_topic, &report);
}
/* stop the perf counter */
perf_end(_sample_perf);
@@ -768,26 +783,31 @@ start()
{
int fd;
if (g_dev != nullptr)
if (g_dev != nullptr) {
errx(1, "already started");
}
/* create the driver */
g_dev = new BMA180(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_ACCEL);
if (g_dev == nullptr)
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->init())
if (OK != g_dev->init()) {
goto fail;
}
/* set the poll rate to default, starts automatic data collection */
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0)
if (fd < 0) {
goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail;
}
exit(0);
fail:
@@ -820,14 +840,16 @@ test()
ACCEL_DEVICE_PATH);
/* reset to manual polling */
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) {
err(1, "reset to manual polling");
}
/* do a simple demand read */
sz = read(fd, &a_report, sizeof(a_report));
if (sz != sizeof(a_report))
if (sz != sizeof(a_report)) {
err(1, "immediate acc read failed");
}
warnx("single read");
warnx("time: %lld", a_report.timestamp);
@@ -854,14 +876,17 @@ reset()
{
int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "failed ");
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
err(1, "driver reset failed");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "driver poll restart failed");
}
exit(0);
}
@@ -872,8 +897,9 @@ reset()
void
info()
{
if (g_dev == nullptr)
if (g_dev == nullptr) {
errx(1, "BMA180: driver not running");
}
printf("state @ %p\n", g_dev);
g_dev->print_info();
@@ -891,26 +917,30 @@ bma180_main(int argc, char *argv[])
* Start/load the driver.
*/
if (!strcmp(argv[1], "start"))
if (!strcmp(argv[1], "start")) {
bma180::start();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
if (!strcmp(argv[1], "test")) {
bma180::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset"))
if (!strcmp(argv[1], "reset")) {
bma180::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info"))
if (!strcmp(argv[1], "info")) {
bma180::info();
}
errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
}
src/drivers/boards/sitl/module.mk
+8
View File
@@ -0,0 +1,8 @@
#
# Board-specific startup code for SITL
#
SRCS = \
sitl_led.c
MAXOPTIMIZATION = -Os
src/drivers/boards/sitl/sitl_led.c
+81
View File
@@ -0,0 +1,81 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file sitl_led.c
*
* sitl LED backend.
*/
#include <px4_config.h>
#include <px4_log.h>
#include <stdbool.h>
__BEGIN_DECLS
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
__END_DECLS
static bool _led_state[2] = { false , false };
__EXPORT void led_init()
{
PX4_DEBUG("LED_INIT");
}
__EXPORT void led_on(int led)
{
if (led == 1 || led == 0) {
PX4_DEBUG("LED%d_ON", led);
_led_state[led] = true;
}
}
__EXPORT void led_off(int led)
{
if (led == 1 || led == 0) {
PX4_DEBUG("LED%d_OFF", led);
_led_state[led] = false;
}
}
__EXPORT void led_toggle(int led)
{
if (led == 1 || led == 0) {
_led_state[led] = !_led_state[led];
PX4_DEBUG("LED%d_TOGGLE: %s", led, _led_state[led] ? "ON" : "OFF");
}
}
src/drivers/device/vdev_posix.cpp
+1 -1
View File
@@ -270,7 +270,7 @@ int px4_fsync(int fd)
int px4_access(const char *pathname, int mode)
{
if (mode == F_OK) {
if (mode != F_OK) {
errno = EINVAL;
return -1;
}
src/drivers/irlock/irlock.cpp
+2 -2
View File
@@ -110,7 +110,7 @@ private:
int read_device_block(struct irlock_s *block);
/** internal variables **/
RingBuffer *_reports;
ringbuffer::RingBuffer *_reports;
bool _sensor_ok;
work_s _work;
uint32_t _read_failures;
@@ -158,7 +158,7 @@ int IRLOCK::init()
}
/** allocate buffer storing values read from sensor **/
_reports = new RingBuffer(IRLOCK_OBJECTS_MAX, sizeof(struct irlock_s));
_reports = new ringbuffer::RingBuffer(IRLOCK_OBJECTS_MAX, sizeof(struct irlock_s));
if (_reports == nullptr) {
return ENOTTY;
src/drivers/ll40ls/ll40ls.cpp
+4 -1
View File
@@ -113,6 +113,10 @@ LidarLite * get_dev(const bool use_i2c, const int bus) {
*/
void start(const bool use_i2c, const int bus)
{
if (g_dev_int != nullptr || g_dev_ext != nullptr || g_dev_pwm != nullptr) {
errx(1,"driver already started");
}
if (use_i2c) {
/* create the driver, attempt expansion bus first */
if (bus == -1 || bus == PX4_I2C_BUS_EXPANSION) {
@@ -464,7 +468,6 @@ ll40ls_main(int argc, char *argv[])
/* Start/load the driver. */
if (!strcmp(verb, "start")) {
ll40ls::start(use_i2c, bus);
}
src/drivers/md25/md25.cpp
+14 -12
View File
@@ -333,7 +333,7 @@ void MD25::update()
// check for exit condition every second
// note "::poll" is required to distinguish global
// poll from member function for driver
if (::poll(&_controlPoll, 1, 1000) < 0) return; // poll error
if (::poll(&_controlPoll, 1, 1000) < 0) { return; } // poll error
// if new data, send to motors
if (_actuators.updated()) {
@@ -350,7 +350,7 @@ int MD25::probe()
int ret = OK;
// try initial address first, if good, then done
if (readData() == OK) return ret;
if (readData() == OK) { return ret; }
// try all other addresses
uint8_t testAddress = 0;
@@ -451,9 +451,9 @@ float MD25::_uint8ToNorm(uint8_t value)
uint8_t MD25::_normToUint8(float value)
{
if (value > 1) value = 1;
if (value > 1) { value = 1; }
if (value < -1) value = -1;
if (value < -1) { value = -1; }
// TODO, should go from 0 to 255
// possibly should handle this differently
@@ -494,7 +494,7 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
break;
}
if (t > 2.0f) break;
if (t > 2.0f) { break; }
}
md25.setMotor1Speed(0);
@@ -514,7 +514,7 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
break;
}
if (t > 2.0f) break;
if (t > 2.0f) { break; }
}
md25.setMotor1Speed(0);
@@ -536,7 +536,7 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
break;
}
if (t > 2.0f) break;
if (t > 2.0f) { break; }
}
md25.setMotor2Speed(0);
@@ -556,7 +556,7 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
break;
}
if (t > 2.0f) break;
if (t > 2.0f) { break; }
}
md25.setMotor2Speed(0);
@@ -592,13 +592,14 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitu
// sine wave for motor 1
md25.resetEncoders();
while (true) {
// input
uint64_t timestamp = hrt_absolute_time();
float t = timestamp/1000000.0f;
float t = timestamp / 1000000.0f;
float input_value = amplitude*sinf(2*M_PI*frequency*t);
float input_value = amplitude * sinf(2 * M_PI * frequency * t);
md25.setMotor1Speed(input_value);
// output
@@ -613,11 +614,11 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitu
// send output message
strncpy(debug_msg.key, "md25 out ", 10);
debug_msg.timestamp_ms = 1000*timestamp;
debug_msg.timestamp_ms = 1000 * timestamp;
debug_msg.value = current_revolution;
debug_msg.update();
if (t > t_final) break;
if (t > t_final) { break; }
// update for next step
prev_revolution = current_revolution;
@@ -625,6 +626,7 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitu
// sleep
usleep(1000000 * dt);
}
md25.setMotor1Speed(0);
printf("md25 sine complete\n");
src/drivers/md25/md25_main.cpp
+8 -7
View File
@@ -79,8 +79,9 @@ static void usage(const char *reason);
static void
usage(const char *reason)
{
if (reason)
if (reason) {
fprintf(stderr, "%s\n", reason);
}
fprintf(stderr, "usage: md25 {start|stop|read|status|search|test|change_address}\n\n");
exit(1);
@@ -111,11 +112,11 @@ int md25_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = px4_task_spawn_cmd("md25",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10,
2048,
md25_thread_main,
(const char **)argv);
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10,
2048,
md25_thread_main,
(const char **)argv);
exit(0);
}
@@ -206,7 +207,7 @@ int md25_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "search")) {
if (argc < 3) {
src/drivers/ms5611/ms5611.h
+1 -1
View File
@@ -83,4 +83,4 @@ extern bool crc4(uint16_t *n_prom);
extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, uint8_t busnum) __attribute__((weak));
extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint8_t busnum) __attribute__((weak));
extern device::Device *MS5611_sim_interface(ms5611::prom_u &prom_buf, uint8_t busnum) __attribute__((weak));
typedef device::Device* (*MS5611_constructor)(ms5611::prom_u &prom_buf, uint8_t busnum);
typedef device::Device *(*MS5611_constructor)(ms5611::prom_u &prom_buf, uint8_t busnum);
src/drivers/ms5611/ms5611_i2c.cpp
+19 -15
View File
@@ -31,11 +31,11 @@
*
****************************************************************************/
/**
* @file ms5611_i2c.cpp
*
* I2C interface for MS5611
*/
/**
* @file ms5611_i2c.cpp
*
* I2C interface for MS5611
*/
/* XXX trim includes */
#include <px4_config.h>
@@ -116,13 +116,13 @@ MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint8_t busnum)
}
MS5611_I2C::MS5611_I2C(uint8_t bus, ms5611::prom_u &prom) :
I2C("MS5611_I2C",
I2C("MS5611_I2C",
#ifdef __PX4_NUTTX
nullptr, bus, 0, 400000
nullptr, bus, 0, 400000
#else
"/dev/MS5611_I2C", bus, 0
"/dev/MS5611_I2C", bus, 0
#endif
),
),
_prom(prom)
{
}
@@ -150,6 +150,7 @@ MS5611_I2C::read(device::file_t *handlep, char *data, size_t buflen)
/* read the most recent measurement */
uint8_t cmd = 0;
int ret = transfer(&cmd, 1, &buf[0], 3);
if (ret == PX4_OK) {
/* fetch the raw value */
cvt->b[0] = buf[2];
@@ -191,9 +192,9 @@ MS5611_I2C::probe()
if ((PX4_OK == _probe_address(MS5611_ADDRESS_1)) ||
(PX4_OK == _probe_address(MS5611_ADDRESS_2))) {
/*
* Disable retries; we may enable them selectively in some cases,
* Disable retries; we may enable them selectively in some cases,
* but the device gets confused if we retry some of the commands.
*/
*/
_retries = 0;
return PX4_OK;
}
@@ -208,12 +209,14 @@ MS5611_I2C::_probe_address(uint8_t address)
set_address(address);
/* send reset command */
if (PX4_OK != _reset())
if (PX4_OK != _reset()) {
return -EIO;
}
/* read PROM */
if (PX4_OK != _read_prom())
if (PX4_OK != _read_prom()) {
return -EIO;
}
return PX4_OK;
}
@@ -239,7 +242,7 @@ int
MS5611_I2C::_measure(unsigned addr)
{
/*
* Disable retries on this command; we can't know whether failure
* Disable retries on this command; we can't know whether failure
* means the device did or did not see the command.
*/
_retries = 0;
@@ -267,8 +270,9 @@ MS5611_I2C::_read_prom()
for (int i = 0; i < 8; i++) {
uint8_t cmd = ADDR_PROM_SETUP + (i * 2);
if (PX4_OK != transfer(&cmd, 1, &prom_buf[0], 2))
if (PX4_OK != transfer(&cmd, 1, &prom_buf[0], 2)) {
break;
}
/* assemble 16 bit value and convert from big endian (sensor) to little endian (MCU) */
cvt.b[0] = prom_buf[1];
src/drivers/ms5611/ms5611_nuttx.cpp
+101 -51
View File
@@ -106,7 +106,7 @@ static const int ERROR = -1;
class MS5611 : public device::CDev
{
public:
MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char* path);
MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char *path);
~MS5611();
virtual int init();
@@ -214,7 +214,7 @@ protected:
*/
extern "C" __EXPORT int ms5611_main(int argc, char *argv[]);
MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char* path) :
MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char *path) :
CDev("MS5611", path),
_interface(interface),
_prom(prom_buf.s),
@@ -243,12 +243,14 @@ MS5611::~MS5611()
/* make sure we are truly inactive */
stop_cycle();
if (_class_instance != -1)
if (_class_instance != -1) {
unregister_class_devname(get_devname(), _class_instance);
}
/* free any existing reports */
if (_reports != nullptr)
if (_reports != nullptr) {
delete _reports;
}
// free perf counters
perf_free(_sample_perf);
@@ -265,6 +267,7 @@ MS5611::init()
int ret;
ret = CDev::init();
if (ret != OK) {
DEVICE_DEBUG("CDev init failed");
goto out;
@@ -321,7 +324,7 @@ MS5611::init()
ret = OK;
_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &brp,
&_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
&_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
if (_baro_topic == nullptr) {
@@ -342,8 +345,9 @@ MS5611::read(struct file *filp, char *buffer, size_t buflen)
int ret = 0;
/* buffer must be large enough */
if (count < 1)
if (count < 1) {
return -ENOSPC;
}
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
@@ -396,8 +400,9 @@ MS5611::read(struct file *filp, char *buffer, size_t buflen)
}
/* state machine will have generated a report, copy it out */
if (_reports->get(brp))
if (_reports->get(brp)) {
ret = sizeof(*brp);
}
} while (0);
@@ -412,20 +417,20 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop_cycle();
_measure_ticks = 0;
return OK;
/* external signalling not supported */
/* external signalling not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
@@ -435,13 +440,14 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
_measure_ticks = USEC2TICK(MS5611_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start)
if (want_start) {
start_cycle();
}
return OK;
}
/* adjust to a legal polling interval in Hz */
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
@@ -450,15 +456,17 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(MS5611_CONVERSION_INTERVAL))
if (ticks < USEC2TICK(MS5611_CONVERSION_INTERVAL)) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start)
if (want_start) {
start_cycle();
}
return OK;
}
@@ -466,24 +474,28 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
}
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0)
if (_measure_ticks == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100))
return -EINVAL;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
return OK;
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
@@ -498,8 +510,9 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
case BAROIOCSMSLPRESSURE:
/* range-check for sanity */
if ((arg < 80000) || (arg > 120000))
if ((arg < 80000) || (arg > 120000)) {
return -EINVAL;
}
_msl_pressure = arg;
return OK;
@@ -554,6 +567,7 @@ MS5611::cycle()
/* perform collection */
ret = collect();
if (ret != OK) {
if (ret == -6) {
/*
@@ -564,6 +578,7 @@ MS5611::cycle()
} else {
//DEVICE_LOG("collection error %d", ret);
}
/* issue a reset command to the sensor */
_interface->ioctl(IOCTL_RESET, dummy);
/* reset the collection state machine and try again - we need
@@ -598,6 +613,7 @@ MS5611::cycle()
/* measurement phase */
ret = measure();
if (ret != OK) {
/* issue a reset command to the sensor */
_interface->ioctl(IOCTL_RESET, dummy);
@@ -633,8 +649,10 @@ MS5611::measure()
* Send the command to begin measuring.
*/
ret = _interface->ioctl(IOCTL_MEASURE, addr);
if (OK != ret)
if (OK != ret) {
perf_count(_comms_errors);
}
perf_end(_measure_perf);
@@ -652,10 +670,11 @@ MS5611::collect()
struct baro_report report;
/* this should be fairly close to the end of the conversion, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.error_count = perf_event_count(_comms_errors);
/* read the most recent measurement - read offset/size are hardcoded in the interface */
ret = _interface->read(0, (void *)&raw, 0);
if (ret < 0) {
perf_count(_comms_errors);
perf_end(_sample_perf);
@@ -883,11 +902,13 @@ crc4(uint16_t *n_prom)
bool
start_bus(struct ms5611_bus_option &bus)
{
if (bus.dev != nullptr)
errx(1,"bus option already started");
if (bus.dev != nullptr) {
errx(1, "bus option already started");
}
prom_u prom_buf;
device::Device *interface = bus.interface_constructor(prom_buf, bus.busnum);
if (interface->init() != OK) {
delete interface;
warnx("no device on bus %u", (unsigned)bus.busid);
@@ -895,6 +916,7 @@ start_bus(struct ms5611_bus_option &bus)
}
bus.dev = new MS5611(interface, prom_buf, bus.devpath);
if (bus.dev != nullptr && OK != bus.dev->init()) {
delete bus.dev;
bus.dev = NULL;
@@ -907,6 +929,7 @@ start_bus(struct ms5611_bus_option &bus)
if (fd == -1) {
errx(1, "can't open baro device");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
close(fd);
errx(1, "failed setting default poll rate");
@@ -929,20 +952,23 @@ start(enum MS5611_BUS busid)
uint8_t i;
bool started = false;
for (i=0; i<NUM_BUS_OPTIONS; i++) {
for (i = 0; i < NUM_BUS_OPTIONS; i++) {
if (busid == MS5611_BUS_ALL && bus_options[i].dev != NULL) {
// this device is already started
continue;
}
if (busid != MS5611_BUS_ALL && bus_options[i].busid != busid) {
// not the one that is asked for
continue;
}
started |= start_bus(bus_options[i]);
}
if (!started)
if (!started) {
errx(1, "driver start failed");
}
// one or more drivers started OK
exit(0);
@@ -954,13 +980,14 @@ start(enum MS5611_BUS busid)
*/
struct ms5611_bus_option &find_bus(enum MS5611_BUS busid)
{
for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
if ((busid == MS5611_BUS_ALL ||
busid == bus_options[i].busid) && bus_options[i].dev != NULL) {
return bus_options[i];
}
}
errx(1,"bus %u not started", (unsigned)busid);
errx(1, "bus %u not started", (unsigned)busid);
}
/**
@@ -979,14 +1006,17 @@ test(enum MS5611_BUS busid)
int fd;
fd = open(bus.devpath, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "open failed (try 'ms5611 start' if the driver is not running)");
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
if (sz != sizeof(report)) {
err(1, "immediate read failed");
}
warnx("single read");
warnx("pressure: %10.4f", (double)report.pressure);
@@ -995,12 +1025,14 @@ test(enum MS5611_BUS busid)
warnx("time: %lld", report.timestamp);
/* set the queue depth to 10 */
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10))
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
errx(1, "failed to set queue depth");
}
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
errx(1, "failed to set 2Hz poll rate");
}
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) {
@@ -1011,14 +1043,16 @@ test(enum MS5611_BUS busid)
fds.events = POLLIN;
ret = poll(&fds, 1, 2000);
if (ret != 1)
if (ret != 1) {
errx(1, "timed out waiting for sensor data");
}
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
if (sz != sizeof(report)) {
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("pressure: %10.4f", (double)report.pressure);
@@ -1041,14 +1075,18 @@ reset(enum MS5611_BUS busid)
int fd;
fd = open(bus.devpath, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "failed ");
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
err(1, "driver reset failed");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "driver poll restart failed");
}
exit(0);
}
@@ -1059,13 +1097,15 @@ reset(enum MS5611_BUS busid)
void
info()
{
for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
struct ms5611_bus_option &bus = bus_options[i];
if (bus.dev != nullptr) {
warnx("%s", bus.devpath);
bus.dev->print_info();
}
}
exit(0);
}
@@ -1084,12 +1124,14 @@ calibrate(unsigned altitude, enum MS5611_BUS busid)
fd = open(bus.devpath, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "open failed (try 'ms5611 start' if the driver is not running)");
}
/* start the sensor polling at max */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX))
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX)) {
errx(1, "failed to set poll rate");
}
/* average a few measurements */
pressure = 0.0f;
@@ -1104,14 +1146,16 @@ calibrate(unsigned altitude, enum MS5611_BUS busid)
fds.events = POLLIN;
ret = poll(&fds, 1, 1000);
if (ret != 1)
if (ret != 1) {
errx(1, "timed out waiting for sensor data");
}
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
if (sz != sizeof(report)) {
err(1, "sensor read failed");
}
pressure += report.pressure;
}
@@ -1134,8 +1178,9 @@ calibrate(unsigned altitude, enum MS5611_BUS busid)
/* save as integer Pa */
p1 *= 1000.0f;
if (ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)p1) != OK)
if (ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)p1) != OK) {
err(1, "BAROIOCSMSLPRESSURE");
}
close(fd);
exit(0);
@@ -1166,15 +1211,19 @@ ms5611_main(int argc, char *argv[])
case 'X':
busid = MS5611_BUS_I2C_EXTERNAL;
break;
case 'I':
busid = MS5611_BUS_I2C_INTERNAL;
break;
case 'S':
busid = MS5611_BUS_SPI_EXTERNAL;
break;
case 's':
busid = MS5611_BUS_SPI_INTERNAL;
break;
default:
ms5611::usage();
exit(0);
@@ -1215,10 +1264,11 @@ ms5611_main(int argc, char *argv[])
* Perform MSL pressure calibration given an altitude in metres
*/
if (!strcmp(verb, "calibrate")) {
if (argc < 2)
if (argc < 2) {
errx(1, "missing altitude");
}
long altitude = strtol(argv[optind+1], nullptr, 10);
long altitude = strtol(argv[optind + 1], nullptr, 10);
ms5611::calibrate(altitude, busid);
}
src/drivers/ms5611/ms5611_posix.cpp
+90 -43
View File
@@ -105,7 +105,7 @@ static const int ERROR = -1;
class MS5611 : public device::VDev
{
public:
MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char* path);
MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char *path);
~MS5611();
virtual int init();
@@ -211,7 +211,7 @@ protected:
*/
extern "C" __EXPORT int ms5611_main(int argc, char *argv[]);
MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char* path) :
MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char *path) :
VDev("MS5611", path),
_interface(interface),
_prom(prom_buf.s),
@@ -240,12 +240,14 @@ MS5611::~MS5611()
/* make sure we are truly inactive */
stop_cycle();
if (_class_instance != -1)
if (_class_instance != -1) {
unregister_class_devname(get_devname(), _class_instance);
}
/* free any existing reports */
if (_reports != nullptr)
if (_reports != nullptr) {
delete _reports;
}
// free perf counters
perf_free(_sample_perf);
@@ -263,6 +265,7 @@ MS5611::init()
warnx("MS5611::init");
ret = VDev::init();
if (ret != OK) {
DEVICE_DEBUG("VDev init failed");
goto out;
@@ -323,11 +326,12 @@ MS5611::init()
ret = OK;
_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &brp,
&_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
&_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
if (_baro_topic == nullptr) {
warnx("failed to create sensor_baro publication");
}
//warnx("sensor_baro publication %ld", _baro_topic);
} while (0);
@@ -344,8 +348,9 @@ MS5611::read(device::file_t *handlep, char *buffer, size_t buflen)
int ret = 0;
/* buffer must be large enough */
if (count < 1)
if (count < 1) {
return -ENOSPC;
}
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
@@ -398,8 +403,9 @@ MS5611::read(device::file_t *handlep, char *buffer, size_t buflen)
}
/* state machine will have generated a report, copy it out */
if (_reports->get(brp))
if (_reports->get(brp)) {
ret = sizeof(*brp);
}
} while (0);
@@ -414,20 +420,20 @@ MS5611::ioctl(device::file_t *handlep, int cmd, unsigned long arg)
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop_cycle();
_measure_ticks = 0;
return OK;
/* external signalling not supported */
/* external signalling not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
@@ -437,13 +443,14 @@ MS5611::ioctl(device::file_t *handlep, int cmd, unsigned long arg)
_measure_ticks = USEC2TICK(MS5611_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start)
if (want_start) {
start_cycle();
}
return OK;
}
/* adjust to a legal polling interval in Hz */
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
@@ -452,15 +459,17 @@ MS5611::ioctl(device::file_t *handlep, int cmd, unsigned long arg)
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if ((unsigned long)ticks < USEC2TICK(MS5611_CONVERSION_INTERVAL))
if ((unsigned long)ticks < USEC2TICK(MS5611_CONVERSION_INTERVAL)) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start)
if (want_start) {
start_cycle();
}
return OK;
}
@@ -468,21 +477,24 @@ MS5611::ioctl(device::file_t *handlep, int cmd, unsigned long arg)
}
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0)
if (_measure_ticks == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100))
return -EINVAL;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
if (!_reports->resize(arg)) {
return -ENOMEM;
if (!_reports->resize(arg)) {
return -ENOMEM;
}
return OK;
}
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
@@ -497,8 +509,9 @@ MS5611::ioctl(device::file_t *handlep, int cmd, unsigned long arg)
case BAROIOCSMSLPRESSURE:
/* range-check for sanity */
if ((arg < 80000) || (arg > 120000))
if ((arg < 80000) || (arg > 120000)) {
return -EINVAL;
}
_msl_pressure = arg;
return OK;
@@ -553,6 +566,7 @@ MS5611::cycle()
/* perform collection */
ret = collect();
if (ret != OK) {
if (ret == -6) {
/*
@@ -563,6 +577,7 @@ MS5611::cycle()
} else {
//DEVICE_LOG("collection error %d", ret);
}
/* issue a reset command to the sensor */
_interface->dev_ioctl(IOCTL_RESET, dummy);
/* reset the collection state machine and try again */
@@ -594,6 +609,7 @@ MS5611::cycle()
/* measurement phase */
ret = measure();
if (ret != OK) {
//DEVICE_LOG("measure error %d", ret);
/* issue a reset command to the sensor */
@@ -630,8 +646,10 @@ MS5611::measure()
* Send the command to begin measuring.
*/
ret = _interface->dev_ioctl(IOCTL_MEASURE, addr);
if (OK != ret)
if (OK != ret) {
perf_count(_comms_errors);
}
perf_end(_measure_perf);
@@ -649,10 +667,11 @@ MS5611::collect()
struct baro_report report;
/* this should be fairly close to the end of the conversion, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.error_count = perf_event_count(_comms_errors);
/* read the most recent measurement - read offset/size are hardcoded in the interface */
ret = _interface->dev_read(0, (void *)&raw, 0);
if (ret < 0) {
perf_count(_comms_errors);
perf_end(_sample_perf);
@@ -745,8 +764,8 @@ MS5611::collect()
if (_baro_topic != (orb_advert_t)(-1)) {
/* publish it */
orb_publish(ORB_ID(sensor_baro), _baro_topic, &report);
}
else {
} else {
printf("MS5611::collect _baro_topic not initialized\n");
}
}
@@ -897,6 +916,7 @@ start_bus(struct ms5611_bus_option &bus)
prom_u prom_buf;
device::Device *interface = bus.interface_constructor(prom_buf, bus.busnum);
if (interface->init() != OK) {
delete interface;
warnx("no device on bus %u", (unsigned)bus.busid);
@@ -904,13 +924,14 @@ start_bus(struct ms5611_bus_option &bus)
}
bus.dev = new MS5611(interface, prom_buf, bus.devpath);
if (bus.dev != nullptr && OK != bus.dev->init()) {
delete bus.dev;
bus.dev = NULL;
warnx("bus init failed %p", bus.dev);
return false;
}
int fd = px4_open(bus.devpath, O_RDONLY);
/* set the poll rate to default, starts automatic data collection */
@@ -918,6 +939,7 @@ start_bus(struct ms5611_bus_option &bus)
warnx("can't open baro device");
return false;
}
if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
px4_close(fd);
warnx("failed setting default poll rate");
@@ -941,15 +963,17 @@ start(enum MS5611_BUS busid)
uint8_t i;
bool started = false;
for (i=0; i<NUM_BUS_OPTIONS; i++) {
for (i = 0; i < NUM_BUS_OPTIONS; i++) {
if (busid == MS5611_BUS_ALL && bus_options[i].dev != NULL) {
// this device is already started
continue;
}
if (busid != MS5611_BUS_ALL && bus_options[i].busid != busid) {
// not the one that is asked for
continue;
}
started |= start_bus(bus_options[i]);
}
@@ -968,15 +992,15 @@ start(enum MS5611_BUS busid)
*/
bool find_bus(enum MS5611_BUS busid, ms5611_bus_option &bus)
{
for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
if ((busid == MS5611_BUS_ALL ||
busid == bus_options[i].busid) && bus_options[i].dev != NULL) {
bus = bus_options[i];
return true;
return true;
}
}
PX4_WARN("bus %u not started", (unsigned)busid);
PX4_WARN("bus %u not started", (unsigned)busid);
return false;
}
@@ -989,17 +1013,21 @@ int
test(enum MS5611_BUS busid)
{
struct ms5611_bus_option bus;
if (!find_bus(busid, bus)) {
return 1;
}
struct baro_report report;
ssize_t sz;
int ret;
int fd;
fd = px4_open(bus.devpath, O_RDONLY);
if (fd < 0) {
warn("open failed (try 'ms5611 start' if the driver is not running)");
return 1;
@@ -1071,6 +1099,7 @@ int
reset(enum MS5611_BUS busid)
{
struct ms5611_bus_option bus;
if (!find_bus(busid, bus)) {
return 1;
}
@@ -1078,6 +1107,7 @@ reset(enum MS5611_BUS busid)
int fd;
fd = open(bus.devpath, O_RDONLY);
if (fd < 0) {
warn("failed ");
return 1;
@@ -1092,6 +1122,7 @@ reset(enum MS5611_BUS busid)
warn("driver poll restart failed");
return 1;
}
return 0;
}
@@ -1101,13 +1132,15 @@ reset(enum MS5611_BUS busid)
int
info()
{
for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
struct ms5611_bus_option &bus = bus_options[i];
if (bus.dev != nullptr) {
warnx("%s", bus.devpath);
bus.dev->print_info();
}
}
return 0;
}
@@ -1118,12 +1151,15 @@ int
calibrate(unsigned altitude, enum MS5611_BUS busid)
{
struct ms5611_bus_option bus;
if (!find_bus(busid, bus)) {
return 1;
}
struct baro_report report;
float pressure;
float p1;
int fd;
@@ -1224,18 +1260,23 @@ ms5611_main(int argc, char *argv[])
/* jump over start/off/etc and look at options first */
int myoptind = 1;
const char *myoptarg = NULL;
while ((ch = px4_getopt(argc, argv, "XIS", &myoptind, &myoptarg)) != EOF) {
printf("ch = %d\n", ch);
switch (ch) {
case 'X':
busid = MS5611_BUS_I2C_EXTERNAL;
break;
case 'I':
busid = MS5611_BUS_I2C_INTERNAL;
break;
case 'S':
busid = MS5611_BUS_SIM_EXTERNAL;
break;
default:
ms5611::usage();
return 1;
@@ -1247,42 +1288,48 @@ ms5611_main(int argc, char *argv[])
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start"))
if (!strcmp(verb, "start")) {
ret = ms5611::start(busid);
}
/*
* Test the driver/device.
*/
else if (!strcmp(verb, "test"))
else if (!strcmp(verb, "test")) {
ret = ms5611::test(busid);
}
/*
* Reset the driver.
*/
else if (!strcmp(verb, "reset"))
else if (!strcmp(verb, "reset")) {
ret = ms5611::reset(busid);
}
/*
* Print driver information.
*/
else if (!strcmp(verb, "info"))
else if (!strcmp(verb, "info")) {
ret = ms5611::info();
}
/*
* Perform MSL pressure calibration given an altitude in metres
*/
else if (!strcmp(verb, "calibrate")) {
if (argc < 2)
PX4_WARN("missing altitude");
if (argc < 2) {
PX4_WARN("missing altitude");
}
long altitude = strtol(argv[optind+1], nullptr, 10);
long altitude = strtol(argv[optind + 1], nullptr, 10);
ret = ms5611::calibrate(altitude, busid);
}
else {
} else {
ms5611::usage();
warnx("unrecognised command, try 'start', 'test', 'reset' or 'info'");
return 1;
}
return ret;
}
src/drivers/ms5611/ms5611_sim.cpp
+8 -7
View File
@@ -31,11 +31,11 @@
*
****************************************************************************/
/**
* @file ms5611_i2c.cpp
*
* SIM interface for MS5611
*/
/**
* @file ms5611_i2c.cpp
*
* SIM interface for MS5611
*/
/* XXX trim includes */
#include <px4_config.h>
@@ -127,6 +127,7 @@ MS5611_SIM::dev_read(unsigned offset, void *data, unsigned count)
/* read the most recent measurement */
uint8_t cmd = 0;
int ret = transfer(&cmd, 1, &buf[0], 3);
if (ret == PX4_OK) {
/* fetch the raw value */
cvt->b[0] = buf[2];
@@ -178,7 +179,7 @@ int
MS5611_SIM::_measure(unsigned addr)
{
/*
* Disable retries on this command; we can't know whether failure
* Disable retries on this command; we can't know whether failure
* means the device did or did not see the command.
*/
_retries = 0;
@@ -197,7 +198,7 @@ MS5611_SIM::_read_prom()
int
MS5611_SIM::transfer(const uint8_t *send, unsigned send_len,
uint8_t *recv, unsigned recv_len)
uint8_t *recv, unsigned recv_len)
{
// TODO add Simulation data connection so calls retrieve
// data from the simulator

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