mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-07 17:35:22 +08:00
Merge branch 'master' of github.com:PX4/Firmware
This commit is contained in:
Lorenz Meier
@@ -61,7 +61,7 @@
|
||||
#include <sys/prctl.h>
|
||||
#include <v1.0/common/mavlink.h>
|
||||
#include <string.h>
|
||||
#include <arch/board/drv_led.h>
|
||||
#include <drivers/drv_led.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_tone_alarm.h>
|
||||
@@ -194,7 +194,7 @@ static void buzzer_deinit()
|
||||
|
||||
static int led_init()
|
||||
{
|
||||
leds = open("/dev/led", O_RDONLY | O_NONBLOCK);
|
||||
leds = open(LED_DEVICE_PATH, 0);
|
||||
|
||||
if (leds < 0) {
|
||||
fprintf(stderr, "[commander] LED: open fail\n");
|
||||
|
||||
@@ -64,10 +64,9 @@
|
||||
#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 <drivers/drv_led.h>
|
||||
|
||||
#include <systemlib/cpuload.h>
|
||||
|
||||
@@ -132,9 +131,6 @@ __EXPORT void stm32_boardinitialize(void)
|
||||
|
||||
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>
|
||||
|
||||
@@ -154,10 +150,6 @@ __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();
|
||||
@@ -191,14 +183,12 @@ __EXPORT int nsh_archinitialize(void)
|
||||
|
||||
message("\r\n");
|
||||
|
||||
// initial LED state
|
||||
drv_led_start();
|
||||
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);
|
||||
@@ -220,37 +210,6 @@ __EXPORT int nsh_archinitialize(void)
|
||||
|
||||
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 */
|
||||
|
||||
@@ -277,23 +236,6 @@ __EXPORT int nsh_archinitialize(void)
|
||||
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 */
|
||||
|
||||
#ifdef CONFIG_ADC
|
||||
int adc_state = adc_devinit();
|
||||
|
||||
|
||||
@@ -0,0 +1,88 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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_led.c
|
||||
*
|
||||
* PX4FMU LED backend.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "up_arch.h"
|
||||
#include "up_internal.h"
|
||||
#include "stm32_internal.h"
|
||||
#include "px4fmu_internal.h"
|
||||
|
||||
__EXPORT void up_ledinit()
|
||||
{
|
||||
/* Configure LED1-2 GPIOs for output */
|
||||
|
||||
stm32_configgpio(GPIO_LED1);
|
||||
stm32_configgpio(GPIO_LED2);
|
||||
}
|
||||
|
||||
__EXPORT void up_ledon(int led)
|
||||
{
|
||||
if (led == 0)
|
||||
{
|
||||
/* Pull down to switch on */
|
||||
stm32_gpiowrite(GPIO_LED1, false);
|
||||
}
|
||||
if (led == 1)
|
||||
{
|
||||
/* Pull down to switch on */
|
||||
stm32_gpiowrite(GPIO_LED2, false);
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void up_ledoff(int led)
|
||||
{
|
||||
if (led == 0)
|
||||
{
|
||||
/* Pull up to switch off */
|
||||
stm32_gpiowrite(GPIO_LED1, true);
|
||||
}
|
||||
if (led == 1)
|
||||
{
|
||||
/* Pull up to switch off */
|
||||
stm32_gpiowrite(GPIO_LED2, true);
|
||||
}
|
||||
}
|
||||
@@ -46,13 +46,9 @@
|
||||
#include <arch/board/board.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "up_internal.h"
|
||||
#include "up_arch.h"
|
||||
|
||||
#include "stm32_internal.h"
|
||||
#include "stm32_gpio.h"
|
||||
#include "stm32_tim.h"
|
||||
#include <stm32_internal.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include <stm32_tim.h>
|
||||
|
||||
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
|
||||
{
|
||||
|
||||
@@ -0,0 +1,64 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 drv_led.h
|
||||
*
|
||||
* LED driver API
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
#include <sys/ioctl.h>
|
||||
|
||||
#define LED_DEVICE_PATH "/dev/led"
|
||||
|
||||
#define _LED_BASE 0x2800
|
||||
|
||||
/* PX4 LED colour codes */
|
||||
#define LED_AMBER 0
|
||||
#define LED_RED 0 /* some boards have red rather than amber */
|
||||
#define LED_BLUE 1
|
||||
|
||||
#define LED_ON _IOC(_LED_BASE, 0)
|
||||
#define LED_OFF _IOC(_LED_BASE, 1)
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/*
|
||||
* Initialise the LED driver.
|
||||
*/
|
||||
__EXPORT extern void drv_led_start();
|
||||
|
||||
__END_DECLS
|
||||
@@ -32,11 +32,7 @@
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Makefile to build ardrone interface
|
||||
# Makefile to build the LED driver.
|
||||
#
|
||||
|
||||
APPNAME = led
|
||||
PRIORITY = SCHED_PRIORITY_MAX - 15
|
||||
STACKSIZE = 2048
|
||||
|
||||
include $(APPDIR)/mk/app.mk
|
||||
@@ -0,0 +1,115 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 led.cpp
|
||||
*
|
||||
* LED driver.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <drivers/device/device.h>
|
||||
#include <drivers/drv_led.h>
|
||||
|
||||
/* Ideally we'd be able to get these from up_internal.h */
|
||||
//#include <up_internal.h>
|
||||
__BEGIN_DECLS
|
||||
extern void up_ledinit();
|
||||
extern void up_ledon(int led);
|
||||
extern void up_ledoff(int led);
|
||||
__END_DECLS
|
||||
|
||||
class LED : device::CDev
|
||||
{
|
||||
public:
|
||||
LED();
|
||||
~LED();
|
||||
|
||||
virtual int init();
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
};
|
||||
|
||||
LED::LED() :
|
||||
CDev("led", LED_DEVICE_PATH)
|
||||
{
|
||||
// force immediate init/device registration
|
||||
init();
|
||||
}
|
||||
|
||||
LED::~LED()
|
||||
{
|
||||
}
|
||||
|
||||
int
|
||||
LED::init()
|
||||
{
|
||||
CDev::init();
|
||||
up_ledinit();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int
|
||||
LED::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
int result = OK;
|
||||
|
||||
switch (cmd) {
|
||||
case LED_ON:
|
||||
up_ledon(arg);
|
||||
break;
|
||||
|
||||
case LED_OFF:
|
||||
up_ledoff(arg);
|
||||
break;
|
||||
|
||||
default:
|
||||
result = CDev::ioctl(filp, cmd, arg);
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
namespace
|
||||
{
|
||||
LED *gLED;
|
||||
}
|
||||
|
||||
void
|
||||
drv_led_start()
|
||||
{
|
||||
if (gLED == nullptr) {
|
||||
gLED = new LED;
|
||||
if (gLED != nullptr)
|
||||
gLED->init();
|
||||
}
|
||||
}
|
||||
@@ -1,328 +0,0 @@
|
||||
/****************************************************************************
|
||||
* px4/eeproms/test_eeproms.c
|
||||
*
|
||||
* 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 NuttX 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
#include <string.h>
|
||||
#include <fcntl.h>
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
#include <arch/board/drv_eeprom.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
static int onboard_eeprom(int argc, char *argv[]);
|
||||
static int baseboard_eeprom(int argc, char *argv[]);
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
struct {
|
||||
const char *name;
|
||||
const char *path;
|
||||
int (* test)(int argc, char *argv[]);
|
||||
} eeproms[] = {
|
||||
{"onboard_eeprom", "/dev/eeprom", onboard_eeprom},
|
||||
{"baseboard_eeprom", "/dev/baseboard_eeprom", baseboard_eeprom},
|
||||
{NULL, NULL, NULL}
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
static int
|
||||
onboard_eeprom(int argc, char *argv[])
|
||||
{
|
||||
printf("\tonboard_eeprom: test start\n");
|
||||
fflush(stdout);
|
||||
|
||||
int fd;
|
||||
uint8_t buf1[210] = {' ', 'P', 'X', '4', ' ', 'E', 'E', 'P', 'R', 'O', 'M', ' ', 'T', 'E', 'S', 'T', ' '};
|
||||
int ret;
|
||||
bool force_write = false;
|
||||
if (strcmp(argv[0], "jig") == 0) force_write = true;
|
||||
|
||||
/* fill with spaces */
|
||||
//memset(buf1+16, 'x', sizeof(buf1-16));
|
||||
|
||||
/* fill in some magic values at magic positions */
|
||||
buf1[63] = 'E';
|
||||
buf1[64] = 'S';
|
||||
buf1[127] = 'F';
|
||||
buf1[128] = 'T';
|
||||
|
||||
/* terminate string */
|
||||
buf1[sizeof(buf1) - 1] = '\0';
|
||||
|
||||
fd = open("/dev/eeprom", O_RDWR | O_NONBLOCK);
|
||||
|
||||
if (fd < 0) {
|
||||
printf("onboard eeprom: open fail\n");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* read data */
|
||||
ret = read(fd, buf1, 1);
|
||||
|
||||
if (ret != 1) {
|
||||
printf("\tonboard eeprom: ERROR: reading first byte fail: %d\n", ret);
|
||||
|
||||
switch (-ret) {
|
||||
case EPERM:
|
||||
printf("\treason: %s\n", EPERM_STR);
|
||||
break;
|
||||
|
||||
case ENOENT:
|
||||
printf("\treason: %s\n", ENOENT_STR);
|
||||
break;
|
||||
|
||||
case ESRCH:
|
||||
printf("\treason: %s\n", ESRCH_STR);
|
||||
break;
|
||||
|
||||
case EINTR:
|
||||
printf("\treason: %s\n", EINTR_STR);
|
||||
break;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
printf("\tonboard eeprom: first byte: %d\n", buf1[0]);
|
||||
if (!force_write) {
|
||||
printf("\tonboard eeprom: WARNING: FURTHER TEST STEPS WILL DESTROY YOUR FLIGHT PARAMETER CONFIGURATION. PROCEED? (y/N)\n");
|
||||
|
||||
printf("Input: ");
|
||||
char c = getchar();
|
||||
printf("%c\n", c);
|
||||
if (c != 'y' && c != 'Y') {
|
||||
/* not yes, abort */
|
||||
close(fd);
|
||||
|
||||
/* Let user know everything is ok */
|
||||
printf("\tOK: onboard eeprom test aborted by user, read test successful\r\n");
|
||||
return OK;
|
||||
}
|
||||
}
|
||||
|
||||
printf("\tonboard eeprom: proceeding with write test\r\n");
|
||||
|
||||
/* increment counter */
|
||||
buf1[0] = buf1[0] + 1;
|
||||
|
||||
/* rewind to the start of the file */
|
||||
lseek(fd, 0, SEEK_SET);
|
||||
|
||||
/* write data */
|
||||
ret = write(fd, buf1, sizeof(buf1));
|
||||
|
||||
if (ret != sizeof(buf1)) {
|
||||
printf("\tonboard eeprom: ERROR: write fail: %d\n", (char)ret);
|
||||
|
||||
switch (-ret) {
|
||||
case EPERM:
|
||||
printf("\treason: %s\n", EPERM_STR);
|
||||
break;
|
||||
|
||||
case ENOENT:
|
||||
printf("\treason: %s\n", ENOENT_STR);
|
||||
break;
|
||||
|
||||
case ESRCH:
|
||||
printf("\treason: %s\n", ESRCH_STR);
|
||||
break;
|
||||
|
||||
case EINTR:
|
||||
printf("\treason: %s\n", EINTR_STR);
|
||||
break;
|
||||
|
||||
}
|
||||
|
||||
//return ERROR;
|
||||
}
|
||||
|
||||
/* rewind to the start of the file */
|
||||
lseek(fd, 0, SEEK_SET);
|
||||
|
||||
/* read data */
|
||||
ret = read(fd, buf1, sizeof(buf1));
|
||||
|
||||
if (ret != sizeof(buf1)) {
|
||||
printf("\tonboard eeprom: ERROR: read fail: %d\n", ret);
|
||||
|
||||
switch (-ret) {
|
||||
case EPERM:
|
||||
printf("\treason: %s\n", EPERM_STR);
|
||||
break;
|
||||
|
||||
case ENOENT:
|
||||
printf("\treason: %s\n", ENOENT_STR);
|
||||
break;
|
||||
|
||||
case ESRCH:
|
||||
printf("\treason: %s\n", ESRCH_STR);
|
||||
break;
|
||||
|
||||
case EINTR:
|
||||
printf("\treason: %s\n", EINTR_STR);
|
||||
break;
|
||||
|
||||
}
|
||||
|
||||
return ERROR;
|
||||
|
||||
} else {
|
||||
/* enforce null termination and print as string */
|
||||
if (buf1[sizeof(buf1) - 1] != 0) {
|
||||
printf("\tWARNING: Null termination in file not present as expected, enforcing it now..\r\n");
|
||||
buf1[sizeof(buf1) - 1] = '\0';
|
||||
}
|
||||
|
||||
/* read out counter and replace val */
|
||||
int counter = buf1[0];
|
||||
printf("\tonboard eeprom: count: #%d, read values: %s\n", counter, (char *)buf1 + 1);
|
||||
printf("\tAll %d bytes:\n\n\t", sizeof(buf1));
|
||||
|
||||
for (int i = 0; i < sizeof(buf1); i++) {
|
||||
printf("0x%02x ", buf1[i]);
|
||||
|
||||
if (i % 8 == 7) printf("\n\t");
|
||||
|
||||
if (i % 64 == 63) printf("\n\t");
|
||||
}
|
||||
|
||||
/* end any open line */
|
||||
printf("\n\n");
|
||||
}
|
||||
|
||||
close(fd);
|
||||
|
||||
/* Let user know everything is ok */
|
||||
printf("\tOK: onboard eeprom passed all tests successfully\n");
|
||||
return ret;
|
||||
}
|
||||
|
||||
static int
|
||||
baseboard_eeprom(int argc, char *argv[])
|
||||
{
|
||||
printf("\tbaseboard eeprom: test start\n");
|
||||
fflush(stdout);
|
||||
|
||||
int fd;
|
||||
uint8_t buf[128] = {'R', 'E', 'A', 'D', ' ', 'F', 'A', 'I', 'L', 'E', 'D', '\0'};
|
||||
int ret;
|
||||
|
||||
fd = open("/dev/baseboard_eeprom", O_RDONLY | O_NONBLOCK);
|
||||
|
||||
if (fd < 0) {
|
||||
printf("\tbaseboard eeprom: open fail\n");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* read data */
|
||||
ret = read(fd, buf, sizeof(buf));
|
||||
/* set last char to string termination */
|
||||
buf[127] = '\0';
|
||||
|
||||
if (ret != sizeof(buf)) {
|
||||
printf("\tbaseboard eeprom: ERROR: read fail\n", ret);
|
||||
return ERROR;
|
||||
|
||||
} else {
|
||||
printf("\tbaseboard eeprom: string: %s\n", (char *)buf);
|
||||
}
|
||||
|
||||
close(fd);
|
||||
|
||||
/* XXX more tests here */
|
||||
|
||||
/* Let user know everything is ok */
|
||||
printf("\tOK: baseboard eeprom passed all tests successfully\n");
|
||||
return ret;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: test_eeproms
|
||||
****************************************************************************/
|
||||
|
||||
int test_eeproms(int argc, char *argv[])
|
||||
{
|
||||
unsigned i;
|
||||
|
||||
printf("Running EEPROMs tests:\n\n");
|
||||
fflush(stdout);
|
||||
|
||||
for (i = 0; eeproms[i].name; i++) {
|
||||
printf(" eeprom: %s\n", eeproms[i].name);
|
||||
eeproms[i].test(argc, argv);
|
||||
fflush(stdout);
|
||||
/* wait 100 ms to make sure buffer is emptied */
|
||||
usleep(100000);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -45,8 +45,6 @@
|
||||
#include <fcntl.h>
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
#include <arch/board/board.h>
|
||||
#include <arch/board/drv_led.h>
|
||||
#include "tests.h"
|
||||
#include <math.h>
|
||||
#include <float.h>
|
||||
|
||||
@@ -49,8 +49,6 @@
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <arch/board/drv_led.h>
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
#include <math.h>
|
||||
|
||||
@@ -49,7 +49,7 @@
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <arch/board/drv_led.h>
|
||||
#include <drivers/drv_led.h>
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
@@ -91,7 +91,7 @@ int test_led(int argc, char *argv[])
|
||||
int fd;
|
||||
int ret = 0;
|
||||
|
||||
fd = open("/dev/led", O_RDONLY | O_NONBLOCK);
|
||||
fd = open(LED_DEVICE_PATH, 0);
|
||||
|
||||
if (fd < 0) {
|
||||
printf("\tLED: open fail\n");
|
||||
|
||||
@@ -49,8 +49,6 @@
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <arch/board/drv_led.h>
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
/****************************************************************************
|
||||
|
||||
@@ -52,8 +52,6 @@
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <arch/board/drv_led.h>
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
#include <math.h>
|
||||
|
||||
@@ -50,8 +50,6 @@
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <arch/board/drv_led.h>
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
#include <math.h>
|
||||
|
||||
@@ -50,8 +50,6 @@
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <arch/board/drv_led.h>
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
#include <math.h>
|
||||
|
||||
@@ -50,8 +50,6 @@
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <arch/board/drv_led.h>
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
#include <math.h>
|
||||
|
||||
@@ -84,7 +84,6 @@ extern int test_led(int argc, char *argv[]);
|
||||
extern int test_adc(int argc, char *argv[]);
|
||||
extern int test_int(int argc, char *argv[]);
|
||||
extern int test_float(int argc, char *argv[]);
|
||||
extern int test_eeproms(int argc, char *argv[]);
|
||||
extern int test_ppm(int argc, char *argv[]);
|
||||
extern int test_servo(int argc, char *argv[]);
|
||||
extern int test_uart_loopback(int argc, char *argv[]);
|
||||
|
||||
@@ -97,7 +97,6 @@ struct {
|
||||
{"servo", test_servo, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"adc", test_adc, OPT_NOJIGTEST, 0},
|
||||
{"jig_voltages", test_jig_voltages, OPT_NOALLTEST, 0},
|
||||
{"eeproms", test_eeproms, 0, 0},
|
||||
{"uart_loopback", test_uart_loopback, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"uart_baudchange", test_uart_baudchange, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"uart_send", test_uart_send, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
|
||||
@@ -1,209 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @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 led.c
|
||||
* Plain, stupid led outputs
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <stdbool.h>
|
||||
#include <unistd.h>
|
||||
#include <math.h>
|
||||
#include <fcntl.h>
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
#include <termios.h>
|
||||
#include <time.h>
|
||||
#include <sys/prctl.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <arch/board/drv_led.h>
|
||||
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
|
||||
__EXPORT int led_main(int argc, char *argv[]);
|
||||
|
||||
|
||||
static bool thread_should_exit = false; /**< Deamon exit flag */
|
||||
static bool thread_running = false; /**< Deamon status flag */
|
||||
static int led_task; /**< Handle of deamon task / thread */
|
||||
static int leds;
|
||||
|
||||
static int led_init(void)
|
||||
{
|
||||
leds = open("/dev/led", O_RDONLY | O_NONBLOCK);
|
||||
|
||||
if (leds < 0) {
|
||||
errx(1, "[led] LED: open fail\n");
|
||||
}
|
||||
|
||||
if (ioctl(leds, LED_ON, LED_BLUE) || ioctl(leds, LED_ON, LED_AMBER)) {
|
||||
errx(1, "[led] LED: ioctl fail\n");
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void led_deinit(void)
|
||||
{
|
||||
close(leds);
|
||||
}
|
||||
|
||||
static int led_toggle(int led)
|
||||
{
|
||||
static int last_blue = LED_ON;
|
||||
static int last_amber = LED_ON;
|
||||
|
||||
if (led == LED_BLUE) last_blue = (last_blue == LED_ON) ? LED_OFF : LED_ON;
|
||||
|
||||
if (led == LED_AMBER) last_amber = (last_amber == LED_ON) ? LED_OFF : LED_ON;
|
||||
|
||||
return ioctl(leds, ((led == LED_BLUE) ? last_blue : last_amber), led);
|
||||
}
|
||||
|
||||
static int led_on(int led)
|
||||
{
|
||||
return ioctl(leds, LED_ON, led);
|
||||
}
|
||||
|
||||
static int led_off(int led)
|
||||
{
|
||||
return ioctl(leds, LED_OFF, led);
|
||||
}
|
||||
|
||||
/**
|
||||
* Mainloop of led.
|
||||
*/
|
||||
int led_thread_main(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* Print the correct usage.
|
||||
*/
|
||||
static void usage(const char *reason);
|
||||
|
||||
static void
|
||||
usage(const char *reason)
|
||||
{
|
||||
if (reason)
|
||||
fprintf(stderr, "%s\n", reason);
|
||||
|
||||
fprintf(stderr, "usage: led {start|stop|status} [-d <UART>]\n\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
/**
|
||||
* The deamon app only briefly exists to start
|
||||
* the background job. The stack size assigned in the
|
||||
* Makefile does only apply to this management task.
|
||||
*
|
||||
* The actual stack size should be set in the call
|
||||
* to task_create().
|
||||
*/
|
||||
int led_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 1)
|
||||
usage("missing command");
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (thread_running) {
|
||||
printf("led already running\n");
|
||||
/* this is not an error */
|
||||
exit(0);
|
||||
}
|
||||
|
||||
thread_should_exit = false;
|
||||
led_task = task_spawn("led",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 15,
|
||||
4096,
|
||||
led_thread_main,
|
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||
thread_running = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
thread_should_exit = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (thread_running) {
|
||||
printf("\tled is running\n");
|
||||
|
||||
} else {
|
||||
printf("\tled not started\n");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
usage("unrecognized command");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
int led_thread_main(int argc, char *argv[])
|
||||
{
|
||||
/* welcome user */
|
||||
printf("[led] Control started, taking over motors\n");
|
||||
|
||||
/* open leds */
|
||||
led_init();
|
||||
|
||||
unsigned int rate = 200;
|
||||
|
||||
while (!thread_should_exit) {
|
||||
/* swell blue led */
|
||||
|
||||
|
||||
/* 200 Hz base loop */
|
||||
usleep(1000000 / rate);
|
||||
}
|
||||
|
||||
/* close leds */
|
||||
led_deinit();
|
||||
|
||||
printf("[led] ending now...\n\n");
|
||||
fflush(stdout);
|
||||
|
||||
thread_running = false;
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -45,7 +45,6 @@
|
||||
#include <signal.h>
|
||||
#include <sys/stat.h>
|
||||
#include <unistd.h>
|
||||
#include <arch/board/drv_eeprom.h>
|
||||
#include <float.h>
|
||||
#include <string.h>
|
||||
|
||||
|
||||
Reference in New Issue
Block a user