diff --git a/.gitignore b/.gitignore index 3fdc1bf2a2..3e94cf6205 100644 --- a/.gitignore +++ b/.gitignore @@ -19,12 +19,19 @@ Archives/* Build/* core cscope.out -dot.gdbinit Firmware.sublime-workspace Images/*.bin Images/*.px4 mavlink/include/mavlink/v0.9/ +/nuttx-configs/px4io-v2/src/.depend +/nuttx-configs/px4io-v2/src/Make.dep +/nuttx-configs/px4io-v2/src/libboard.a +/nuttx-configs/px4io-v1/src/.depend +/nuttx-configs/px4io-v1/src/Make.dep +/nuttx-configs/px4io-v1/src/libboard.a /NuttX /Documentation/doxy.log /Documentation/html/ -/Documentation/doxygen*objdb*tmp \ No newline at end of file +/Documentation/doxygen*objdb*tmp +.tags +.tags_sorted_by_file diff --git a/Debug/PX4 b/Debug/PX4 index 085cffe434..e99228ee0c 100644 --- a/Debug/PX4 +++ b/Debug/PX4 @@ -27,7 +27,7 @@ define _perf_print # PC_COUNT if $hdr->type == 0 set $count = (struct perf_ctr_count *)$hdr - printf "%llu events,\n", $count->event_count; + printf "%llu events\n", $count->event_count end # PC_ELPASED if $hdr->type == 1 diff --git a/Debug/dot.gdbinit b/Debug/dot.gdbinit new file mode 100644 index 0000000000..d70410bc78 --- /dev/null +++ b/Debug/dot.gdbinit @@ -0,0 +1,13 @@ +# copy the file to .gdbinit in your Firmware tree, and adjust the path +# below to match your system +# For example: +# target extended /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_DDE5A1C4-if00 +# target extended /dev/ttyACM4 + + +monitor swdp_scan +attach 1 +monitor vector_catch disable hard +set mem inaccessible-by-default off +set print pretty +source Debug/PX4 diff --git a/Debug/olimex-px4fmu-debug.cfg b/Debug/olimex-px4fmu-debug.cfg new file mode 100644 index 0000000000..61d70070db --- /dev/null +++ b/Debug/olimex-px4fmu-debug.cfg @@ -0,0 +1,22 @@ +# program a bootable device load on a mavstation +# To run type openocd -f mavprogram.cfg + +source [find interface/olimex-arm-usb-ocd-h.cfg] +source [find px4fmu-v1-board.cfg] + +init +halt + +# Find the flash inside this CPU +flash probe 0 + +# erase it (128 pages) then program and exit + +#flash erase_sector 0 0 127 +# stm32f1x mass_erase 0 + +# It seems that Pat's image has a start address offset of 0x1000 but the vectors need to be at zero, so fixbin.sh moves things around +#flash write_bank 0 fixed.bin 0 +#flash write_image firmware.elf +#shutdown + diff --git a/Debug/openocd.gdbinit b/Debug/openocd.gdbinit new file mode 100644 index 0000000000..92d78b58db --- /dev/null +++ b/Debug/openocd.gdbinit @@ -0,0 +1,21 @@ +target remote :3333 + +# Don't let GDB get confused while stepping +define hook-step + mon cortex_m maskisr on +end +define hookpost-step + mon cortex_m maskisr off +end + +mon init +mon stm32_init +# mon reset halt +mon poll +mon cortex_m maskisr auto +set mem inaccessible-by-default off +set print pretty +source Debug/PX4 + +echo PX4 resumed, press ctrl-c to interrupt\n +continue diff --git a/Debug/px4fmu-v1-board.cfg b/Debug/px4fmu-v1-board.cfg new file mode 100644 index 0000000000..19b862a2d1 --- /dev/null +++ b/Debug/px4fmu-v1-board.cfg @@ -0,0 +1,38 @@ +# The latest defaults in OpenOCD 0.7.0 are actually prettymuch correct for the px4fmu + +# increase working area to 32KB for faster flash programming +set WORKAREASIZE 0x8000 + +source [find target/stm32f4x.cfg] + +# needed for px4 +reset_config trst_only + +proc stm32_reset {} { + reset halt +# FIXME - needed to init periphs on reset +# 0x40023800 RCC base +# 0x24 RCC_APB2 0x75933 +# RCC_APB2 0 +} + +# perform init that is required on each connection to the target +proc stm32_init {} { + + # force jtag to not shutdown during sleep + #uint32_t cr = getreg32(STM32_DBGMCU_CR); + #cr |= DBGMCU_CR_STANDBY | DBGMCU_CR_STOP | DBGMCU_CR_SLEEP; + #putreg32(cr, STM32_DBGMCU_CR); + mww 0xe0042004 00000007 +} + +# if srst is not fitted use SYSRESETREQ to +# perform a soft reset +cortex_m reset_config sysresetreq + +# Let GDB directly program elf binaries +gdb_memory_map enable + +# doesn't work yet +gdb_flash_program disable + diff --git a/Debug/runopenocd.sh b/Debug/runopenocd.sh new file mode 100755 index 0000000000..6258fccfb6 --- /dev/null +++ b/Debug/runopenocd.sh @@ -0,0 +1,5 @@ +#!/bin/bash + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" + +openocd -f interface/olimex-arm-usb-ocd-h.cfg -f $DIR/px4fmu-v1-board.cfg diff --git a/Debug/stm32f4x.cfg b/Debug/stm32f4x.cfg deleted file mode 100644 index 28bfcfbbbc..0000000000 --- a/Debug/stm32f4x.cfg +++ /dev/null @@ -1,64 +0,0 @@ -# script for stm32f2xxx - -if { [info exists CHIPNAME] } { - set _CHIPNAME $CHIPNAME -} else { - set _CHIPNAME stm32f4xxx -} - -if { [info exists ENDIAN] } { - set _ENDIAN $ENDIAN -} else { - set _ENDIAN little -} - -# Work-area is a space in RAM used for flash programming -# By default use 64kB -if { [info exists WORKAREASIZE] } { - set _WORKAREASIZE $WORKAREASIZE -} else { - set _WORKAREASIZE 0x10000 -} - -# JTAG speed should be <= F_CPU/6. F_CPU after reset is 8MHz, so use F_JTAG = 1MHz -# -# Since we may be running of an RC oscilator, we crank down the speed a -# bit more to be on the safe side. Perhaps superstition, but if are -# running off a crystal, we can run closer to the limit. Note -# that there can be a pretty wide band where things are more or less stable. -jtag_khz 1000 - -jtag_nsrst_delay 100 -jtag_ntrst_delay 100 - -#jtag scan chain -if { [info exists CPUTAPID ] } { - set _CPUTAPID $CPUTAPID -} else { - # See STM Document RM0033 - # Section 32.6.3 - corresponds to Cortex-M3 r2p0 - set _CPUTAPID 0x4ba00477 -} -jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID - -if { [info exists BSTAPID ] } { - set _BSTAPID $BSTAPID -} else { - # See STM Document RM0033 - # Section 32.6.2 - # - set _BSTAPID 0x06413041 -} -jtag newtap $_CHIPNAME bs -irlen 5 -expected-id $_BSTAPID - -set _TARGETNAME $_CHIPNAME.cpu -target create $_TARGETNAME cortex_m3 -endian $_ENDIAN -chain-position $_TARGETNAME -rtos auto - -$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0 - -set _FLASHNAME $_CHIPNAME.flash -flash bank $_FLASHNAME stm32f2x 0 0 0 0 $_TARGETNAME - -# if srst is not fitted use SYSRESETREQ to -# perform a soft reset -cortex_m3 reset_config sysresetreq diff --git a/Documentation/control_flow.graffle b/Documentation/control_flow.graffle index 2535231108..6188c44308 100644 --- a/Documentation/control_flow.graffle +++ b/Documentation/control_flow.graffle @@ -5,7 +5,7 @@ ApplicationVersion com.omnigroup.OmniGraffle - 139.16.0.171715 + 139.18.0.187838 CreationDate 2013-02-22 17:51:02 +0000 @@ -26,9 +26,9 @@ MasterSheets ModificationDate - 2013-04-20 15:38:47 +0000 + 2013-08-25 05:58:40 +0000 Modifier - Lorenz Meier + Lorenz NotesVisible NO OriginVisible @@ -55,7 +55,7 @@ NSPaperName string - iso-a3 + BADB3137-012D-43BB-AFDE-2C0069A874AD NSPaperSize @@ -123,7 +123,7 @@ Bounds - {{320.41170773935767, 646.55758982070449}, {100, 24}} + {{320.41170773792788, 646.55758667263535}, {100, 24}} Class ShapedGraphic FitText @@ -171,7 +171,7 @@ Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -193,8 +193,8 @@ 45 Points - {283.47949897905681, 658.66217570036315} - {459.99996984645378, 658.44980851233595} + {283.47949897630235, 658.66217426345122} + {459.99996984638915, 658.4498036008282} Style @@ -243,7 +243,7 @@ Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -289,7 +289,7 @@ Pad 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;\red68\green147\blue53;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural @@ -340,7 +340,7 @@ Pad 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;\red68\green147\blue53;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural @@ -389,7 +389,7 @@ Pad 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;\red68\green147\blue53;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -437,7 +437,7 @@ Pad 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;\red68\green147\blue53;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -461,8 +461,8 @@ 38 Points - {584.52245687751122, 125.49999965650382} - {584.56069426576869, 157.00000090441219} + {584.50076858662646, 125.50000000000021} + {584.50207726115275, 157.00000000001324} Style @@ -511,7 +511,7 @@ Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -532,8 +532,8 @@ VEHICLE_LOCAL_POSITION_SETPOINT} 34 Points - {210.47275259888471, 495.87499981747118} - {210.43193555768113, 543.06250166479344} + {210.49312053369275, 495.87499999999562} + {210.48281498396668, 543.06249999958038} Style @@ -582,7 +582,7 @@ VEHICLE_LOCAL_POSITION_SETPOINT} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -602,8 +602,8 @@ VEHICLE_LOCAL_POSITION_SETPOINT} 32 Points - {210.46968123779743, 580.06249992316259} - {210.44442316539605, 627.25000030102035} + {210.47945786724097, 580.0625} + {210.47913680605853, 627.24999999999989} Style @@ -637,8 +637,8 @@ VEHICLE_LOCAL_POSITION_SETPOINT} 30 Points - {210.48620562018775, 690.25} - {210.49612530146715, 737.4375} + {210.48620103078346, 690.25} + {210.49611383706232, 737.4375} Style @@ -694,7 +694,7 @@ VEHICLE_LOCAL_POSITION_SETPOINT} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -731,7 +731,7 @@ VEHICLE_LOCAL_POSITION_SETPOINT} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -789,7 +789,7 @@ VEHICLE_LOCAL_POSITION_SETPOINT} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -801,7 +801,7 @@ VEHICLE_LOCAL_POSITION_SETPOINT} Bounds - {{152.49994329565658, 397.00120984204113}, {116, 24}} + {{152.49998995675264, 397.00120984204113}, {116, 24}} Class ShapedGraphic FitText @@ -849,7 +849,7 @@ VEHICLE_LOCAL_POSITION_SETPOINT} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -877,8 +877,8 @@ VEHICLE_LOCAL_POSITION_SETPOINT} -1 Points - {584.49994992834695, 220} - {584.4997453697481, 348.6875000000008} + {584.49999370649277, 220} + {584.49999370649277, 348.6875} Style @@ -971,7 +971,7 @@ VEHICLE_LOCAL_POSITION_SETPOINT} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -991,8 +991,8 @@ VEHICLE_LOCAL_POSITION_SETPOINT} 17 Points - {210.49997491180866, 385.6875} - {210.49991091996927, 432.875} + {210.49998995675264, 385.6875} + {210.49998995675264, 432.875} Style @@ -1029,7 +1029,7 @@ VEHICLE_LOCAL_POSITION_SETPOINT} Points {283.49999999999511, 270.00001907176534} - {339.50000000000028, 270.00001907176534} + {339.49999999999994, 270.00001907176534} Style @@ -1098,8 +1098,8 @@ VEHICLE_LOCAL_POSITION_SETPOINT} 13 Points - {210.49171354592596, 207} - {210.49498558851923, 238.4999999999998} + {210.49209551674531, 207} + {210.49601794208507, 238.5} Style @@ -1133,8 +1133,8 @@ VEHICLE_LOCAL_POSITION_SETPOINT} 12 Points - {210.49498558851246, 138.5000000000002} - {210.48997117702493, 170.00000000001342} + {210.49601794208485, 138.5} + {210.49203588416967, 170} Style @@ -1190,7 +1190,7 @@ VEHICLE_LOCAL_POSITION_SETPOINT} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -1234,7 +1234,7 @@ VEHICLE_LOCAL_POSITION_SETPOINT} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -1278,7 +1278,7 @@ VEHICLE_LOCAL_POSITION_SETPOINT} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -1322,7 +1322,7 @@ VEHICLE_LOCAL_POSITION_SETPOINT} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -1360,7 +1360,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -1395,7 +1395,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -1430,7 +1430,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -1675,7 +1675,7 @@ PX4IO or PX4FMU} Pad 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -1774,7 +1774,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -2145,7 +2145,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -2536,7 +2536,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -2927,7 +2927,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -3361,7 +3361,7 @@ PX4IO or PX4FMU} Pad 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -3404,7 +3404,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -3791,7 +3791,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -4178,7 +4178,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -4565,7 +4565,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -4963,7 +4963,7 @@ PX4IO or PX4FMU} Pad 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -5062,7 +5062,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -5421,7 +5421,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -5780,7 +5780,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -6175,7 +6175,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -6660,7 +6660,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -7019,7 +7019,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -7406,7 +7406,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -7793,7 +7793,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -8300,7 +8300,7 @@ PX4IO or PX4FMU} Pad 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -8404,7 +8404,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -8795,7 +8795,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -9166,7 +9166,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -9537,7 +9537,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -9928,7 +9928,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -10367,7 +10367,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -10779,7 +10779,7 @@ PX4IO or PX4FMU} Pad 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -10883,7 +10883,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -11270,7 +11270,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -11629,7 +11629,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -11988,7 +11988,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -12375,7 +12375,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -12810,7 +12810,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -13257,6 +13257,1697 @@ PX4IO or PX4FMU} 1 0/72 in = 1.0000 in GraphicsList + + Class + Group + Graphics + + + Bounds + {{281.4621559838219, 891.87422762618871}, {48, 14}} + Class + ShapedGraphic + FitText + YES + Flow + Resize + ID + 1534 + Shape + Rectangle + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + stroke + + Draws + NO + + + Text + + Pad + 0 + Text + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\b\fs24 \cf0 QUAD +\b0 H} + VerticalPad + 0 + + Wrap + NO + + + Class + Group + Graphics + + + Bounds + {{282.10284531231378, 729.4992324185539}, {50.666667938232422, 36}} + Class + ShapedGraphic + ID + 1536 + Rotation + 270 + Shape + HorizontalTriangle + Style + + fill + + Color + + b + 0.13195 + g + 0.165669 + r + 1 + + + + Text + + VerticalPad + 0 + + + + Bounds + {{271.43617794923421, 713.47324050519865}, {72, 72}} + Class + ShapedGraphic + ID + 1537 + Shape + Rectangle + Style + + stroke + + CornerRadius + 9 + + + + + ID + 1535 + Rotation + 315 + + + Class + Group + Graphics + + + Bounds + {{387.95096684220994, 833.99511602139876}, {24, 24}} + Class + ShapedGraphic + ID + 1539 + Shape + Circle + Style + + shadow + + Draws + NO + + + Text + + Text + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 4} + VerticalPad + 0 + + + + Class + Group + Graphics + + + Class + LineGraphic + ID + 1541 + Points + + {447.56635253821332, 822.0678021003348} + {445.35664384700522, 823.21685061976291} + + Style + + stroke + + HeadArrow + 0 + Legacy + + TailArrow + 0 + + + + + Bounds + {{359.66328626413321, 875.75030562593793}, {16, 18.5}} + Class + ShapedGraphic + HFlip + YES + ID + 1542 + Rotation + 45 + Shape + HorizontalTriangle + Style + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + + + Bounds + {{349.2634215034181, 795.53620935597417}, {101.5, 101.5}} + Class + ShapedGraphic + HFlip + YES + ID + 1543 + Rotation + 135 + Shape + AdjustableArc + ShapeData + + endAngle + 72 + startAngle + 281 + + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + TextRelativeArea + {{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}} + + + Bounds + {{346.5134215034181, 792.78620935597417}, {107, 107}} + Class + ShapedGraphic + HFlip + YES + ID + 1544 + Rotation + 135 + Shape + AdjustableArc + ShapeData + + endAngle + 72 + startAngle + 281 + + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + TextRelativeArea + {{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}} + + + ID + 1540 + Rotation + 315 + + + Class + Group + Graphics + + + Class + LineGraphic + ID + 1546 + Points + + {352.51941963025371, 870.09214125245364} + {354.7291283214617, 868.94309273302531} + + Style + + stroke + + HeadArrow + 0 + Legacy + + TailArrow + 0 + + + + + Bounds + {{424.42248590433371, 797.90963772685075}, {16, 18.5}} + Class + ShapedGraphic + HFlip + YES + ID + 1547 + Rotation + 225 + Shape + HorizontalTriangle + Style + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + + + Bounds + {{349.32235066504887, 795.12373399681428}, {101.5, 101.5}} + Class + ShapedGraphic + HFlip + YES + ID + 1548 + Rotation + 315 + Shape + AdjustableArc + ShapeData + + endAngle + 72 + startAngle + 281 + + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + TextRelativeArea + {{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}} + + + Bounds + {{346.57235066504887, 792.37373399681428}, {107, 107}} + Class + ShapedGraphic + HFlip + YES + ID + 1549 + Rotation + 315 + Shape + AdjustableArc + ShapeData + + endAngle + 72 + startAngle + 281 + + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + TextRelativeArea + {{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}} + + + ID + 1545 + Rotation + 315 + + + Bounds + {{349.03928365032027, 795.08342417943641}, {101.82337649086284, 101.82337649086284}} + Class + ShapedGraphic + ID + 1550 + Rotation + 315 + Shape + Circle + Style + + fill + + Color + + a + 0.78 + b + 0.234512 + g + 0.673128 + r + 0.148947 + + + shadow + + Draws + NO + + stroke + + Draws + NO + + + Text + + VerticalPad + 0 + + + + ID + 1538 + Rotation + 315 + + + Class + Group + Graphics + + + Bounds + {{202.98738428569231, 833.92908910567212}, {24, 24}} + Class + ShapedGraphic + ID + 1552 + Shape + Circle + Style + + shadow + + Draws + NO + + + Text + + Text + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 2} + VerticalPad + 0 + + VFlip + YES + + + Class + Group + Graphics + + + Class + LineGraphic + ID + 1554 + Points + + {167.72554658547227, 821.64822718882488} + {169.93525527668044, 822.79727570825287} + + Style + + stroke + + HeadArrow + 0 + Legacy + + TailArrow + 0 + + + + + Bounds + {{239.62861285955245, 875.33073071442777}, {16, 18.5}} + Class + ShapedGraphic + HFlip + YES + ID + 1555 + Rotation + 135 + Shape + HorizontalTriangle + Style + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + VFlip + YES + + + Bounds + {{164.52847762026795, 795.1166344444639}, {101.5, 101.5}} + Class + ShapedGraphic + HFlip + YES + ID + 1556 + Rotation + 45 + Shape + AdjustableArc + ShapeData + + endAngle + 72 + startAngle + 281 + + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + TextRelativeArea + {{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}} + VFlip + YES + + + Bounds + {{161.77847762026795, 792.3666344444639}, {107, 107}} + Class + ShapedGraphic + HFlip + YES + ID + 1557 + Rotation + 45 + Shape + AdjustableArc + ShapeData + + endAngle + 72 + startAngle + 281 + + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + TextRelativeArea + {{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}} + VFlip + YES + + + ID + 1553 + Rotation + 225 + VFlip + YES + + + Class + Group + Graphics + + + Class + LineGraphic + ID + 1559 + Points + + {262.41893329590295, 870.02611253847215} + {260.20922460469507, 868.87706401904404} + + Style + + stroke + + HeadArrow + 0 + Legacy + + TailArrow + 0 + + + + + Bounds + {{174.51586702182317, 797.84360901286959}, {16, 18.5}} + Class + ShapedGraphic + HFlip + YES + ID + 1560 + Rotation + 315 + Shape + HorizontalTriangle + Style + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + VFlip + YES + + + Bounds + {{164.11600226110755, 795.05770528283301}, {101.5, 101.5}} + Class + ShapedGraphic + HFlip + YES + ID + 1561 + Rotation + 225 + Shape + AdjustableArc + ShapeData + + endAngle + 72 + startAngle + 281 + + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + TextRelativeArea + {{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}} + VFlip + YES + + + Bounds + {{161.36600226110755, 792.30770528283301}, {107, 107}} + Class + ShapedGraphic + HFlip + YES + ID + 1562 + Rotation + 225 + Shape + AdjustableArc + ShapeData + + endAngle + 72 + startAngle + 281 + + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + TextRelativeArea + {{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}} + VFlip + YES + + + ID + 1558 + Rotation + 225 + VFlip + YES + + + Bounds + {{164.07569244372991, 795.01739580669891}, {101.82337649086284, 101.82337649086284}} + Class + ShapedGraphic + ID + 1563 + Rotation + 225 + Shape + Circle + Style + + fill + + Color + + a + 0.78 + b + 0.673128 + g + 0.534129 + r + 0.217952 + + + shadow + + Draws + NO + + stroke + + Draws + NO + + + Text + + VerticalPad + 0 + + VFlip + YES + + + ID + 1551 + Rotation + 315 + + + Class + Group + Graphics + + + Bounds + {{424.02444829866442, 666.20122319568361}, {24, 24}} + Class + ShapedGraphic + ID + 1565 + Shape + Circle + Style + + shadow + + Draws + NO + + + Text + + Text + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 1} + VerticalPad + 0 + + VFlip + YES + + + Class + Group + Graphics + + + Class + LineGraphic + ID + 1567 + Points + + {388.76261059844421, 653.92036127883637} + {390.97231928965209, 655.06940979826459} + + Style + + stroke + + HeadArrow + 0 + Legacy + + TailArrow + 0 + + + + + Bounds + {{460.66567687252439, 707.60286480443915}, {16, 18.5}} + Class + ShapedGraphic + HFlip + YES + ID + 1568 + Rotation + 135 + Shape + HorizontalTriangle + Style + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + VFlip + YES + + + Bounds + {{385.56554163323983, 627.3887685344755}, {101.5, 101.5}} + Class + ShapedGraphic + HFlip + YES + ID + 1569 + Rotation + 45 + Shape + AdjustableArc + ShapeData + + endAngle + 72 + startAngle + 281 + + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + TextRelativeArea + {{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}} + VFlip + YES + + + Bounds + {{382.81554163323983, 624.6387685344755}, {107, 107}} + Class + ShapedGraphic + HFlip + YES + ID + 1570 + Rotation + 45 + Shape + AdjustableArc + ShapeData + + endAngle + 72 + startAngle + 281 + + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + TextRelativeArea + {{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}} + VFlip + YES + + + ID + 1566 + Rotation + 225 + VFlip + YES + + + Class + Group + Graphics + + + Class + LineGraphic + ID + 1572 + Points + + {483.455997308875, 702.29824662848364} + {481.24628861766723, 701.14919810905553} + + Style + + stroke + + HeadArrow + 0 + Legacy + + TailArrow + 0 + + + + + Bounds + {{395.55293103479517, 630.11574310288108}, {16, 18.5}} + Class + ShapedGraphic + HFlip + YES + ID + 1573 + Rotation + 315 + Shape + HorizontalTriangle + Style + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + VFlip + YES + + + Bounds + {{385.15306627407972, 627.32983937284462}, {101.5, 101.5}} + Class + ShapedGraphic + HFlip + YES + ID + 1574 + Rotation + 225 + Shape + AdjustableArc + ShapeData + + endAngle + 72 + startAngle + 281 + + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + TextRelativeArea + {{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}} + VFlip + YES + + + Bounds + {{382.40306627407972, 624.57983937284462}, {107, 107}} + Class + ShapedGraphic + HFlip + YES + ID + 1575 + Rotation + 225 + Shape + AdjustableArc + ShapeData + + endAngle + 72 + startAngle + 281 + + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + TextRelativeArea + {{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}} + VFlip + YES + + + ID + 1571 + Rotation + 225 + VFlip + YES + + + Bounds + {{385.11275645670196, 627.28952989671052}, {101.82337649086284, 101.82337649086284}} + Class + ShapedGraphic + ID + 1576 + Rotation + 225 + Shape + Circle + Style + + fill + + Color + + a + 0.78 + b + 0.673128 + g + 0.534129 + r + 0.217952 + + + shadow + + Draws + NO + + stroke + + Draws + NO + + + Text + + VerticalPad + 0 + + VFlip + YES + + + ID + 1564 + Rotation + 315 + + + Class + Group + Graphics + + + Bounds + {{170.01738471163631, 670.02445557113811}, {24, 24}} + Class + ShapedGraphic + ID + 1578 + Shape + Circle + Style + + shadow + + Draws + NO + + + Text + + Text + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 3} + VerticalPad + 0 + + + + Class + Group + Graphics + + + Class + LineGraphic + ID + 1580 + Points + + {229.63277040763995, 658.09714165007426} + {227.42306171643185, 659.24619016950237} + + Style + + stroke + + HeadArrow + 0 + Legacy + + TailArrow + 0 + + + + + Bounds + {{141.72970413355978, 711.77964517567739}, {16, 18.5}} + Class + ShapedGraphic + HFlip + YES + ID + 1581 + Rotation + 45 + Shape + HorizontalTriangle + Style + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + + + Bounds + {{131.32983937284456, 631.5655489057134}, {101.5, 101.5}} + Class + ShapedGraphic + HFlip + YES + ID + 1582 + Rotation + 135 + Shape + AdjustableArc + ShapeData + + endAngle + 72 + startAngle + 281 + + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + TextRelativeArea + {{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}} + + + Bounds + {{128.57983937284456, 628.8155489057134}, {107, 107}} + Class + ShapedGraphic + HFlip + YES + ID + 1583 + Rotation + 135 + Shape + AdjustableArc + ShapeData + + endAngle + 72 + startAngle + 281 + + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + TextRelativeArea + {{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}} + + + ID + 1579 + Rotation + 315 + + + Class + Group + Graphics + + + Class + LineGraphic + ID + 1585 + Points + + {134.58583749968011, 706.12148080219276} + {136.79554619088805, 704.97243228276466} + + Style + + stroke + + HeadArrow + 0 + Legacy + + TailArrow + 0 + + + + + Bounds + {{206.48890377375986, 633.93897727658998}, {16, 18.5}} + Class + ShapedGraphic + HFlip + YES + ID + 1586 + Rotation + 225 + Shape + HorizontalTriangle + Style + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + + + Bounds + {{131.38876853447516, 631.15307354655363}, {101.5, 101.5}} + Class + ShapedGraphic + HFlip + YES + ID + 1587 + Rotation + 315 + Shape + AdjustableArc + ShapeData + + endAngle + 72 + startAngle + 281 + + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + TextRelativeArea + {{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}} + + + Bounds + {{128.63876853447516, 628.40307354655363}, {107, 107}} + Class + ShapedGraphic + HFlip + YES + ID + 1588 + Rotation + 315 + Shape + AdjustableArc + ShapeData + + endAngle + 72 + startAngle + 281 + + Style + + fill + + Draws + NO + + shadow + + Draws + NO + + + Text + + VerticalPad + 0 + + TextRelativeArea + {{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}} + + + ID + 1584 + Rotation + 315 + + + Bounds + {{131.1057015197467, 631.11276372917564}, {101.82337649086284, 101.82337649086284}} + Class + ShapedGraphic + ID + 1589 + Rotation + 315 + Shape + Circle + Style + + fill + + Color + + a + 0.78 + b + 0.234512 + g + 0.673128 + r + 0.148947 + + + shadow + + Draws + NO + + stroke + + Draws + NO + + + Text + + VerticalPad + 0 + + + + ID + 1577 + Rotation + 315 + + + Bounds + {{253.2315878349163, 736.67782196944336}, {8, 134}} + Class + ShapedGraphic + ID + 1590 + Rotation + 225 + Shape + Rectangle + + + Bounds + {{371.51084102985902, 644.26864825135988}, {8, 134}} + Class + ShapedGraphic + ID + 1591 + Rotation + 240 + Shape + Rectangle + + + Bounds + {{353.64074716687509, 736.67780398678804}, {8, 134}} + Class + ShapedGraphic + ID + 1592 + Rotation + 315 + Shape + Rectangle + + + Bounds + {{234.00404905414581, 645.26862880510475}, {8, 134}} + Class + ShapedGraphic + ID + 1593 + Rotation + 300 + Shape + Rectangle + + + ID + 1533 + Class Group @@ -13353,7 +15044,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -13744,7 +15435,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -14135,7 +15826,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -14526,7 +16217,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -14928,7 +16619,7 @@ PX4IO or PX4FMU} Pad 0 Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -14966,7 +16657,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -15337,7 +17028,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -15708,7 +17399,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -16115,7 +17806,7 @@ PX4IO or PX4FMU} Text Text - {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 + {\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf390 \cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} {\colortbl;\red255\green255\blue255;} \pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc @@ -16581,6 +18272,94 @@ PX4IO or PX4FMU} VPages 1 + + ActiveLayerIndex + 0 + AutoAdjust + + BackgroundGraphic + + Bounds + {{0, 0}, {806, 1132}} + Class + SolidGraphic + ID + 2 + Style + + shadow + + Draws + NO + + stroke + + Draws + NO + + + + BaseZoom + 0 + CanvasOrigin + {0, 0} + ColumnAlign + 1 + ColumnSpacing + 36 + DisplayScale + 1 0/72 in = 1.0000 in + GraphicsList + + GridInfo + + HPages + 1 + KeepToScale + + Layers + + + Lock + NO + Name + Ebene 1 + Print + YES + View + YES + + + LayoutInfo + + Animate + NO + circoMinDist + 18 + circoSeparation + 0.0 + layoutEngine + dot + neatoSeparation + 0.0 + twopiSeparation + 0.0 + + Orientation + 2 + PrintOnePage + + RowAlign + 1 + RowSpacing + 36 + SheetTitle + Arbeitsfläche 6 + UniqueID + 6 + VPages + 1 + SmartAlignmentGuidesActive YES @@ -16600,7 +18379,7 @@ PX4IO or PX4FMU} Frame - {{96, 56}, {1043, 822}} + {{170, 4}, {1043, 774}} ListView OutlineWidth @@ -16614,7 +18393,7 @@ PX4IO or PX4FMU} SidebarWidth 120 VisibleRegion - {{-51, -33}, {908, 683}} + {{-51, 366}, {908, 635}} Zoom 1 ZoomValues @@ -16644,6 +18423,11 @@ PX4IO or PX4FMU} 1 1 + + Arbeitsfläche 6 + 1 + 1 + diff --git a/Documentation/flight_mode_state_machine.pdf b/Documentation/flight_mode_state_machine.pdf index cd234ada73..af41953eec 100644 Binary files a/Documentation/flight_mode_state_machine.pdf and b/Documentation/flight_mode_state_machine.pdf differ diff --git a/Documentation/rc_mode_switch.odg b/Documentation/rc_mode_switch.odg index a8a6f93f31..29d738c39c 100644 Binary files a/Documentation/rc_mode_switch.odg and b/Documentation/rc_mode_switch.odg differ diff --git a/Documentation/rc_mode_switch.pdf b/Documentation/rc_mode_switch.pdf index 3141eed7ff..856dd55c59 100644 Binary files a/Documentation/rc_mode_switch.pdf and b/Documentation/rc_mode_switch.pdf differ diff --git a/Images/px4fmu-v2.prototype b/Images/px4fmu-v2.prototype new file mode 100644 index 0000000000..5109b77d1e --- /dev/null +++ b/Images/px4fmu-v2.prototype @@ -0,0 +1,12 @@ +{ + "board_id": 9, + "magic": "PX4FWv1", + "description": "Firmware for the PX4FMUv2 board", + "image": "", + "build_time": 0, + "summary": "PX4FMUv2", + "version": "0.1", + "image_size": 0, + "git_identity": "", + "board_revision": 0 +} diff --git a/Images/px4io-v2.prototype b/Images/px4io-v2.prototype new file mode 100644 index 0000000000..af87924e90 --- /dev/null +++ b/Images/px4io-v2.prototype @@ -0,0 +1,12 @@ +{ + "board_id": 10, + "magic": "PX4FWv2", + "description": "Firmware for the PX4IOv2 board", + "image": "", + "build_time": 0, + "summary": "PX4IOv2", + "version": "2.0", + "image_size": 0, + "git_identity": "", + "board_revision": 0 +} diff --git a/Images/px4iov2.prototype b/Images/px4iov2.prototype new file mode 100644 index 0000000000..af87924e90 --- /dev/null +++ b/Images/px4iov2.prototype @@ -0,0 +1,12 @@ +{ + "board_id": 10, + "magic": "PX4FWv2", + "description": "Firmware for the PX4IOv2 board", + "image": "", + "build_time": 0, + "summary": "PX4IOv2", + "version": "2.0", + "image_size": 0, + "git_identity": "", + "board_revision": 0 +} diff --git a/Makefile b/Makefile index 778395cee9..83a6f3ce9f 100644 --- a/Makefile +++ b/Makefile @@ -40,14 +40,16 @@ export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/ include $(PX4_BASE)makefiles/setup.mk # -# Canned firmware configurations that we build. +# Canned firmware configurations that we (know how to) build. # -CONFIGS ?= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk)))) +KNOWN_CONFIGS := $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk)))) +CONFIGS ?= $(KNOWN_CONFIGS) # -# Boards that we build NuttX export kits for. +# Boards that we (know how to) build NuttX export kits for. # -BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk)))) +KNOWN_BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk)))) +BOARDS ?= $(KNOWN_BOARDS) # # Debugging @@ -87,10 +89,11 @@ endif # # Built products # -STAGED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4) -FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4) +DESIRED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4) +STAGED_FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4) +FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4) -all: $(STAGED_FIRMWARES) +all: $(DESIRED_FIRMWARES) # # Copy FIRMWARES into the image directory. @@ -114,13 +117,26 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4: @$(ECHO) %%%% @$(ECHO) %%%% Building $(config) in $(work_dir) @$(ECHO) %%%% - $(Q) mkdir -p $(work_dir) - $(Q) make -r -C $(work_dir) \ + $(Q) $(MKDIR) -p $(work_dir) + $(Q) $(MAKE) -r -C $(work_dir) \ -f $(PX4_MK_DIR)firmware.mk \ CONFIG=$(config) \ WORK_DIR=$(work_dir) \ $(FIRMWARE_GOAL) +# +# Make FMU firmwares depend on the corresponding IO firmware. +# +# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency +# and forces the _default config in all cases. There has to be a better way to do this... +# +FMU_VERSION = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1)))) +define FMU_DEP +$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4 +endef +FMU_CONFIGS := $(filter px4fmu%,$(CONFIGS)) +$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config)))) + # # Build the NuttX export archives. # @@ -147,12 +163,12 @@ $(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 -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean + $(Q) $(MAKE) -r -j1 -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 -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export - $(Q) mkdir -p $(dir $@) + $(Q) $(MAKE) -r -j1 -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)) @@ -168,11 +184,11 @@ BOARD = $(BOARDS) menuconfig: $(NUTTX_SRC) @$(ECHO) %% Configuring NuttX for $(BOARD) $(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export) - $(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean + $(Q) $(MAKE) -r -j1 -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 -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig + $(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig @$(ECHO) %% Saving configuration file $(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig else @@ -191,7 +207,7 @@ $(NUTTX_SRC): # Testing targets # testbuild: - $(Q) (cd $(PX4_BASE) && make distclean && make archives && make -j8) + $(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8) # # Cleanup targets. 'clean' should remove all built products and force @@ -206,7 +222,8 @@ clean: .PHONY: distclean distclean: clean $(Q) $(REMOVE) $(ARCHIVE_DIR)*.export - $(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean + $(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean + $(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete) # # Print some help text @@ -228,9 +245,9 @@ help: @$(ECHO) " A limited set of configs can be built with CONFIGS=" @$(ECHO) "" @for config in $(CONFIGS); do \ - echo " $$config"; \ - echo " Build just the $$config firmware configuration."; \ - echo ""; \ + $(ECHO) " $$config"; \ + $(ECHO) " Build just the $$config firmware configuration."; \ + $(ECHO) ""; \ done @$(ECHO) " clean" @$(ECHO) " Remove all firmware build pieces." diff --git a/ROMFS/px4fmu_common/init.d/02_io_quad_x b/ROMFS/px4fmu_common/init.d/02_io_quad_x deleted file mode 100644 index c63e92f6d3..0000000000 --- a/ROMFS/px4fmu_common/init.d/02_io_quad_x +++ /dev/null @@ -1,101 +0,0 @@ -#!nsh -# -# Flight startup script for PX4FMU+PX4IO -# - -# disable USB and autostart -set USB no -set MODE custom - -# -# Start the ORB (first app to start) -# -uorb start - -# -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] -then - param load /fs/microsd/params -fi - -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - param set SYS_AUTOCONFIG 0 - param save /fs/microsd/params -fi - -# -# Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ -# -param set MAV_TYPE 2 - -# -# Start MAVLink (depends on orb) -# -mavlink start -d /dev/ttyS1 -b 57600 -usleep 5000 - -# -# Start the commander (depends on orb, mavlink) -# -commander start - -# -# Start PX4IO interface (depends on orb, commander) -# -px4io start - -# -# Allow PX4IO to recover from midair restarts. -# this is very unlikely, but quite safe and robust. -px4io recovery - -# -# Disable px4io topic limiting -# -px4io limit 200 - -# -# Start the sensors (depends on orb, px4io) -# -sh /etc/init.d/rc.sensors - -# -# Start GPS interface (depends on orb) -# -gps start - -# -# Start the attitude estimator (depends on orb) -# -attitude_estimator_ekf start - -# -# Load mixer and start controllers (depends on px4io) -# -mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix -pwm -u 400 -m 0xff -multirotor_att_control start - -# -# Start logging -# -sdlog2 start -r 50 -a -b 14 - -# -# Start system state -# -if blinkm start -then - blinkm systemstate -fi diff --git a/ROMFS/px4fmu_common/init.d/08_ardrone b/ROMFS/px4fmu_common/init.d/08_ardrone index f55ac2ae34..f6d82a5ec4 100644 --- a/ROMFS/px4fmu_common/init.d/08_ardrone +++ b/ROMFS/px4fmu_common/init.d/08_ardrone @@ -1,99 +1,45 @@ #!nsh -# -# Flight startup script for PX4FMU on PX4IOAR carrier board. -# -# Disable the USB interface -set USB no - -# Disable autostarting other apps -set MODE ardrone - -echo "[init] doing PX4IOAR startup..." +echo "[init] 08_ardrone: PX4FMU on PX4IOAR carrier board" # -# Start the ORB +# Load default params for this platform # -uorb start - -# -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] +if param compare SYS_AUTOCONFIG 1 then - param load /fs/microsd/params + # Set all params here, then disable autoconfig + # TODO + + param set SYS_AUTOCONFIG 0 + param save fi # # Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ +# MAV_TYPE 2 = quadrotor # param set MAV_TYPE 2 +# +# Start MAVLink +# +mavlink start -d /dev/ttyS0 -b 57600 +usleep 5000 + # # Configure PX4FMU for operation with PX4IOAR # fmu mode_gpio_serial -# -# Start the sensors. -# -sh /etc/init.d/rc.sensors - -# -# Start MAVLink -# -mavlink start -d /dev/ttyS0 -b 57600 -usleep 5000 - -# -# Start the commander. -# -commander start - -# -# Start the attitude estimator -# -attitude_estimator_ekf start - -# -# Fire up the multi rotor attitude controller -# -multirotor_att_control start - # # Fire up the AR.Drone interface. # ardrone_interface start -d /dev/ttyS1 - -# -# Start logging -# -sdlog start -s 10 - -# -# Start GPS capture -# -gps start - -# -# Start system state -# -if blinkm start -then - echo "using BlinkM for state indication" - blinkm systemstate -else - echo "no BlinkM found, OK." -fi # -# startup is done; we don't want the shell because we -# use the same UART for telemetry +# Start common for all multirotors apps # -echo "[init] startup done" - +sh /etc/init.d/rc.multirotor + +# Exit, because /dev/ttyS0 is needed for MAVLink exit diff --git a/ROMFS/px4fmu_common/init.d/09_ardrone_flow b/ROMFS/px4fmu_common/init.d/09_ardrone_flow index e7173f6e6e..794342a0b1 100644 --- a/ROMFS/px4fmu_common/init.d/09_ardrone_flow +++ b/ROMFS/px4fmu_common/init.d/09_ardrone_flow @@ -1,55 +1,47 @@ #!nsh -# -# Flight startup script for PX4FMU on PX4IOAR carrier board. -# -# Disable the USB interface -set USB no +echo "[init] 09_ardrone_flow: PX4FMU on PX4IOAR carrier board with PX4FLOW" -# Disable autostarting other apps -set MODE ardrone - -echo "[init] doing PX4IOAR startup..." - # -# Start the ORB +# Load default params for this platform # -uorb start - -# -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] +if param compare SYS_AUTOCONFIG 1 then - param load /fs/microsd/params + # Set all params here, then disable autoconfig + # TODO + + param set SYS_AUTOCONFIG 0 + param save fi # # Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ +# MAV_TYPE 2 = quadrotor # param set MAV_TYPE 2 +# +# Start MAVLink and MAVLink Onboard (PX4FLOW Sensor) +# +mavlink start -d /dev/ttyS0 -b 57600 +mavlink_onboard start -d /dev/ttyS3 -b 115200 +usleep 5000 + # # Configure PX4FMU for operation with PX4IOAR # fmu mode_gpio_serial + +# +# Fire up the AR.Drone interface. +# +ardrone_interface start -d /dev/ttyS1 # # Start the sensors. # sh /etc/init.d/rc.sensors -# -# Start MAVLink and MAVLink Onboard (Flow Sensor) -# -mavlink start -d /dev/ttyS0 -b 57600 -mavlink_onboard start -d /dev/ttyS3 -b 115200 -usleep 5000 - # # Start the commander. # @@ -79,16 +71,6 @@ flow_position_control start # Fire up the flow speed controller # flow_speed_control start - -# -# Fire up the AR.Drone interface. -# -ardrone_interface start -d /dev/ttyS1 -# -# startup is done; we don't want the shell because we -# use the same UART for telemetry -# -echo "[init] startup done" - +# Exit, because /dev/ttyS0 is needed for MAVLink exit diff --git a/ROMFS/px4fmu_common/init.d/100_mpx_easystar b/ROMFS/px4fmu_common/init.d/100_mpx_easystar new file mode 100644 index 0000000000..e1cefdb993 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/100_mpx_easystar @@ -0,0 +1,68 @@ +#!nsh + +echo "[init] Multiplex Easystar" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + # TODO + + param set SYS_AUTOCONFIG 0 + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing +# +param set MAV_TYPE 1 + +# +# Start MAVLink (depends on orb) +# +mavlink start -d /dev/ttyS1 -b 57600 +usleep 5000 + +# +# Start and configure PX4IO interface +# +sh /etc/init.d/rc.io + +# +# Set actuator limit to 100 Hz update (50 Hz PWM) +px4io limit 100 + +# +# Start the commander +# +commander start + +# +# Start the sensors +# +sh /etc/init.d/rc.sensors + +# +# Start logging (depends on sensors) +# +sh /etc/init.d/rc.logging + +# +# Start GPS interface +# +gps start + +# +# Start the attitude and position estimator +# +att_pos_estimator_ekf start + +# +# Load mixer and start controllers (depends on px4io) +# +mixer load /dev/pwm_output /etc/mixers/FMU_RET.mix +fw_att_control start +fw_pos_control_l1 start diff --git a/ROMFS/px4fmu_common/init.d/10_dji_f330 b/ROMFS/px4fmu_common/init.d/10_dji_f330 new file mode 100644 index 0000000000..743dce9ef6 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/10_dji_f330 @@ -0,0 +1,93 @@ +#!nsh + +echo "[init] PX4FMU v1, v2 with or without IO on DJI F330" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set SYS_AUTOCONFIG 0 + + param set MC_ATTRATE_D 0.004 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_P 0.12 + param set MC_ATT_D 0.0 + param set MC_ATT_I 0.0 + param set MC_ATT_P 7.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWPOS_I 0.0 + param set MC_YAWPOS_P 2.0 + param set MC_YAWRATE_D 0.005 + param set MC_YAWRATE_I 0.2 + param set MC_YAWRATE_P 0.3 + param set NAV_TAKEOFF_ALT 1.0 + param set MPC_TILT_MAX 0.5 + param set MPC_THR_MAX 0.7 + param set MPC_THR_MIN 0.3 + param set MPC_XY_D 0 + param set MPC_XY_P 0.5 + param set MPC_XY_VEL_D 0 + param set MPC_XY_VEL_I 0 + param set MPC_XY_VEL_MAX 2 + param set MPC_XY_VEL_P 0.2 + param set MPC_Z_D 0 + param set MPC_Z_P 1 + param set MPC_Z_VEL_D 0 + param set MPC_Z_VEL_I 0.10 + param set MPC_Z_VEL_MAX 2 + param set MPC_Z_VEL_P 0.20 + + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 2 = quadrotor +# +param set MAV_TYPE 2 + +set EXIT_ON_END no + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + usleep 5000 + + sh /etc/init.d/rc.io + # Set PWM values for DJI ESCs + px4io idle 900 900 900 900 + px4io min 1200 1200 1200 1200 + px4io max 1800 1800 1800 1800 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + usleep 5000 + fmu mode_pwm + set EXIT_ON_END yes +fi + +# +# Load mixer +# +mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix + +# +# Set PWM output frequency +# +pwm -u 400 -m 0xff + +# +# Start common for all multirotors apps +# +sh /etc/init.d/rc.multirotor + +if [ $EXIT_ON_END == yes ] +then + exit +fi diff --git a/ROMFS/px4fmu_common/init.d/10_io_f330 b/ROMFS/px4fmu_common/init.d/10_io_f330 deleted file mode 100644 index 4450eb50db..0000000000 --- a/ROMFS/px4fmu_common/init.d/10_io_f330 +++ /dev/null @@ -1,116 +0,0 @@ -#!nsh -# -# Flight startup script for PX4FMU+PX4IO -# - -# disable USB and autostart -set USB no -set MODE custom - -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - param set SYS_AUTOCONFIG 0 - - param set MC_ATTRATE_D 0.005 - param set MC_ATTRATE_I 0.0 - param set MC_ATTRATE_P 0.1 - param set MC_ATT_D 0.0 - param set MC_ATT_I 0.0 - param set MC_ATT_P 4.5 - param set MC_RCLOSS_THR 0.0 - param set MC_YAWPOS_D 0.0 - param set MC_YAWPOS_I 0.3 - param set MC_YAWPOS_P 0.6 - param set MC_YAWRATE_D 0.0 - param set MC_YAWRATE_I 0.0 - param set MC_YAWRATE_P 0.1 - - param save /fs/microsd/params -fi - -# -# Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ -# -param set MAV_TYPE 2 - -# -# Start MAVLink (depends on orb) -# -mavlink start -usleep 5000 - -# -# Start PX4IO interface (depends on orb, commander) -# -px4io start -pwm -u 400 -m 0xff - -# -# Allow PX4IO to recover from midair restarts. -# this is very unlikely, but quite safe and robust. -px4io recovery - -# -# Disable px4io topic limiting -# -px4io limit 200 - -# -# This sets a PWM right after startup (regardless of safety button) -# -px4io idle 900 900 900 900 - -# -# The values are for spinning motors when armed using DJI ESCs -# -px4io min 1200 1200 1200 1200 - -# -# Upper limits could be higher, this is on the safe side -# -px4io max 1800 1800 1800 1800 - -# -# Start the sensors (depends on orb, px4io) -# -sh /etc/init.d/rc.sensors - -# -# Start the commander (depends on orb, mavlink) -# -commander start - -# -# Start GPS interface (depends on orb) -# -gps start - -# -# Start the attitude estimator (depends on orb) -# -attitude_estimator_ekf start - -# -# Load mixer and start controllers (depends on px4io) -# -mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix -multirotor_att_control start - -# -# Start logging -# -sdlog2 start -r 20 -a -b 16 - -# -# Start system state -# -if blinkm start -then - blinkm systemstate -fi diff --git a/ROMFS/px4fmu_common/init.d/11_dji_f450 b/ROMFS/px4fmu_common/init.d/11_dji_f450 new file mode 100644 index 0000000000..1827a2c114 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/11_dji_f450 @@ -0,0 +1,77 @@ +#!nsh + +echo "[init] PX4FMU v1, v2 with or without IO on DJI F450" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set SYS_AUTOCONFIG 0 + + param set MC_ATTRATE_D 0.004 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_P 0.12 + param set MC_ATT_D 0.0 + param set MC_ATT_I 0.0 + param set MC_ATT_P 7.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWPOS_I 0.0 + param set MC_YAWPOS_P 2.0 + param set MC_YAWRATE_D 0.005 + param set MC_YAWRATE_I 0.2 + param set MC_YAWRATE_P 0.3 + + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 2 = quadrotor +# +param set MAV_TYPE 2 + +set EXIT_ON_END no + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + usleep 5000 + + sh /etc/init.d/rc.io + # Set PWM values for DJI ESCs + px4io idle 900 900 900 900 + px4io min 1200 1200 1200 1200 + px4io max 1800 1800 1800 1800 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + usleep 5000 + fmu mode_pwm + set EXIT_ON_END yes +fi + +# +# Load mixer +# +mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix + +# +# Set PWM output frequency +# +pwm -u 400 -m 0xff + +# +# Start common for all multirotors apps +# +sh /etc/init.d/rc.multirotor + +if [ $EXIT_ON_END == yes ] +then + exit +fi diff --git a/ROMFS/px4fmu_common/init.d/15_tbs_discovery b/ROMFS/px4fmu_common/init.d/15_tbs_discovery new file mode 100644 index 0000000000..1fcde3e27f --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/15_tbs_discovery @@ -0,0 +1,77 @@ +#!nsh + +echo "[init] Team Blacksheep Discovery Quad" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set SYS_AUTOCONFIG 0 + + param set MC_ATTRATE_D 0.006 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_P 0.17 + param set MC_ATT_D 0.0 + param set MC_ATT_I 0.0 + param set MC_ATT_P 5.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWPOS_I 0.15 + param set MC_YAWPOS_P 0.5 + param set MC_YAWRATE_D 0.0 + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_P 0.2 + + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 2 = quadrotor +# +param set MAV_TYPE 2 + +set EXIT_ON_END no + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + usleep 5000 + + sh /etc/init.d/rc.io + # Set PWM values for DJI ESCs + px4io idle 900 900 900 900 + px4io min 1200 1200 1200 1200 + px4io max 1800 1800 1800 1800 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + usleep 5000 + fmu mode_pwm + set EXIT_ON_END yes +fi + +# +# Load the mixer for a quad with wide arms +# +mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix + +# +# Set PWM output frequency +# +pwm -u 400 -m 0xff + +# +# Start common for all multirotors apps +# +sh /etc/init.d/rc.multirotor + +if [ $EXIT_ON_END == yes ] +then + exit +fi diff --git a/ROMFS/px4fmu_common/init.d/16_3dr_iris b/ROMFS/px4fmu_common/init.d/16_3dr_iris new file mode 100644 index 0000000000..fa2cb1feb0 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/16_3dr_iris @@ -0,0 +1,77 @@ +#!nsh + +echo "[init] 3DR Iris Quad" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set SYS_AUTOCONFIG 0 + + param set MC_ATTRATE_D 0.006 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_P 0.17 + param set MC_ATT_D 0.0 + param set MC_ATT_I 0.0 + param set MC_ATT_P 5.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWPOS_I 0.15 + param set MC_YAWPOS_P 0.5 + param set MC_YAWRATE_D 0.0 + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_P 0.2 + + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 2 = quadrotor +# +param set MAV_TYPE 2 + +set EXIT_ON_END no + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + usleep 5000 + + sh /etc/init.d/rc.io + # Set PWM values for DJI ESCs + px4io idle 900 900 900 900 + px4io min 1200 1200 1200 1200 + px4io max 1800 1800 1800 1800 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + usleep 5000 + fmu mode_pwm + set EXIT_ON_END yes +fi + +# +# Load the mixer for a quad with wide arms +# +mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix + +# +# Set PWM output frequency +# +pwm -u 400 -m 0xff + +# +# Start common for all multirotors apps +# +sh /etc/init.d/rc.multirotor + +if [ $EXIT_ON_END == yes ] +then + exit +fi diff --git a/ROMFS/px4fmu_common/init.d/30_io_camflyer b/ROMFS/px4fmu_common/init.d/30_io_camflyer index 5090b98a42..f7e653362f 100644 --- a/ROMFS/px4fmu_common/init.d/30_io_camflyer +++ b/ROMFS/px4fmu_common/init.d/30_io_camflyer @@ -1,26 +1,6 @@ #!nsh -# -# Flight startup script for PX4FMU+PX4IO -# - -# disable USB and autostart -set USB no -set MODE custom - -# -# Start the ORB (first app to start) -# -uorb start - -# -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] -then - param load /fs/microsd/params -fi + +echo "[init] 30_io_camflyer: PX4FMU+PX4IO on Camflyer" # # Load default params for this platform @@ -28,39 +8,18 @@ fi if param compare SYS_AUTOCONFIG 1 then # Set all params here, then disable autoconfig + # TODO + param set SYS_AUTOCONFIG 0 - param save /fs/microsd/params + param save fi # # Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ +# MAV_TYPE 1 = fixed wing # param set MAV_TYPE 1 -# -# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell) -# -if [ -f /fs/microsd/px4io.bin ] -then - echo "PX4IO Firmware found. Checking Upgrade.." - if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current - then - echo "No newer version, skipping upgrade." - else - echo "Loading /fs/microsd/px4io.bin" - if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log - then - cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current - echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log - else - echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log - echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode" - fi - fi -fi - # # Start MAVLink (depends on orb) # @@ -90,6 +49,11 @@ px4io limit 100 # Start the sensors (depends on orb, px4io) # sh /etc/init.d/rc.sensors + +# +# Start logging (depends on sensors) +# +sh /etc/init.d/rc.logging # # Start GPS interface (depends on orb) @@ -97,25 +61,13 @@ sh /etc/init.d/rc.sensors gps start # -# Start the attitude estimator (depends on orb) +# Start the attitude and position estimator # -kalman_demo start +att_pos_estimator_ekf start # # Load mixer and start controllers (depends on px4io) # mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix -control_demo start - -# -# Start logging -# -sdlog2 start -r 50 -a -b 14 - -# -# Start system state -# -if blinkm start -then - blinkm systemstate -fi +fw_att_control start +fw_pos_control_l1 start diff --git a/ROMFS/px4fmu_common/init.d/31_io_phantom b/ROMFS/px4fmu_common/init.d/31_io_phantom index 5090b98a42..e1e6099270 100644 --- a/ROMFS/px4fmu_common/init.d/31_io_phantom +++ b/ROMFS/px4fmu_common/init.d/31_io_phantom @@ -1,26 +1,6 @@ #!nsh -# -# Flight startup script for PX4FMU+PX4IO -# - -# disable USB and autostart -set USB no -set MODE custom - -# -# Start the ORB (first app to start) -# -uorb start - -# -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] -then - param load /fs/microsd/params -fi + +echo "[init] 31_io_phantom: PX4FMU+PX4IO on Phantom" # # Load default params for this platform @@ -28,94 +8,61 @@ fi if param compare SYS_AUTOCONFIG 1 then # Set all params here, then disable autoconfig + # TODO + param set SYS_AUTOCONFIG 0 - param save /fs/microsd/params + param save fi # # Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ +# MAV_TYPE 1 = fixed wing # param set MAV_TYPE 1 - -# -# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell) -# -if [ -f /fs/microsd/px4io.bin ] -then - echo "PX4IO Firmware found. Checking Upgrade.." - if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current - then - echo "No newer version, skipping upgrade." - else - echo "Loading /fs/microsd/px4io.bin" - if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log - then - cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current - echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log - else - echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log - echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode" - fi - fi -fi - + # # Start MAVLink (depends on orb) # mavlink start -d /dev/ttyS1 -b 57600 usleep 5000 - + # -# Start the commander (depends on orb, mavlink) +# Start and configure PX4IO interface # -commander start - -# -# Start PX4IO interface (depends on orb, commander) -# -px4io start - -# -# Allow PX4IO to recover from midair restarts. -# this is very unlikely, but quite safe and robust. -px4io recovery +sh /etc/init.d/rc.io # # Set actuator limit to 100 Hz update (50 Hz PWM) px4io limit 100 # -# Start the sensors (depends on orb, px4io) +# Start the commander # -sh /etc/init.d/rc.sensors +commander start # -# Start GPS interface (depends on orb) +# Start the sensors +# +sh /etc/init.d/rc.sensors + +# +# Start logging (depends on sensors) +# +sh /etc/init.d/rc.logging + +# +# Start GPS interface # gps start # -# Start the attitude estimator (depends on orb) +# Start the attitude and position estimator # -kalman_demo start +att_pos_estimator_ekf start # # Load mixer and start controllers (depends on px4io) # mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix -control_demo start - -# -# Start logging -# -sdlog2 start -r 50 -a -b 14 - -# -# Start system state -# -if blinkm start -then - blinkm systemstate -fi +fw_att_control start +fw_pos_control_l1 start diff --git a/ROMFS/px4fmu_common/init.d/40_io_segway b/ROMFS/px4fmu_common/init.d/40_io_segway index 5742d685aa..4b7ed52869 100644 --- a/ROMFS/px4fmu_common/init.d/40_io_segway +++ b/ROMFS/px4fmu_common/init.d/40_io_segway @@ -1,26 +1,4 @@ #!nsh -# -# Flight startup script for PX4FMU+PX4IO -# - -# disable USB and autostart -set USB no -set MODE custom - -# -# Start the ORB (first app to start) -# -uorb start - -# -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] -then - param load /fs/microsd/params -fi # # Load default params for this platform @@ -28,65 +6,34 @@ fi if param compare SYS_AUTOCONFIG 1 then # Set all params here, then disable autoconfig + # TODO + param set SYS_AUTOCONFIG 0 - param save /fs/microsd/params + param save fi # # Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ +# MAV_TYPE 10 = ground rover # param set MAV_TYPE 10 - -# -# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell) -# -if [ -f /fs/microsd/px4io.bin ] -then - echo "PX4IO Firmware found. Checking Upgrade.." - if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current - then - echo "No newer version, skipping upgrade." - else - echo "Loading /fs/microsd/px4io.bin" - if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log - then - cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current - echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log - else - echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log - echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode" - fi - fi -fi - + # # Start MAVLink (depends on orb) # mavlink start -d /dev/ttyS1 -b 57600 usleep 5000 +# +# Start and configure PX4IO interface +# +sh /etc/init.d/rc.io + # # Start the commander (depends on orb, mavlink) # commander start - -# -# Start PX4IO interface (depends on orb, commander) -# -px4io start - -# -# Allow PX4IO to recover from midair restarts. -# this is very unlikely, but quite safe and robust. -px4io recovery -# -# Disable px4io topic limiting -# -px4io limit 200 - # # Start the sensors (depends on orb, px4io) # @@ -107,16 +54,3 @@ attitude_estimator_ekf start # md25 start 3 0x58 segway start - -# -# Start logging -# -sdlog2 start -r 50 -a -b 14 - -# -# Start system state -# -if blinkm start -then - blinkm systemstate -fi diff --git a/ROMFS/px4fmu_common/init.d/01_fmu_quad_x b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 similarity index 52% rename from ROMFS/px4fmu_common/init.d/01_fmu_quad_x rename to ROMFS/px4fmu_common/init.d/666_fmu_q_x550 index 58a970eba5..938663f0c2 100644 --- a/ROMFS/px4fmu_common/init.d/01_fmu_quad_x +++ b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 @@ -1,28 +1,6 @@ #!nsh -# -# Flight startup script for PX4FMU with PWM outputs. -# - -# disable USB and autostart -set USB no -set MODE custom - -echo "[init] doing PX4FMU Quad startup..." - -# -# Start the ORB -# -uorb start - -# -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] -then - param load /fs/microsd/params -fi + +echo "[init] 666_fmu_q_x550: PX4FMU Quad X550 with PWM outputs" # # Load default params for this platform @@ -47,13 +25,12 @@ then param set RC_SCALE_YAW 3 param set SYS_AUTOCONFIG 0 - param save /fs/microsd/params + param save fi # # Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ +# MAV_TYPE 2 = quadrotor # param set MAV_TYPE 2 @@ -62,46 +39,26 @@ param set MAV_TYPE 2 # mavlink start -d /dev/ttyS0 -b 57600 usleep 5000 - -# -# Start the sensors and test them. -# -sh /etc/init.d/rc.sensors - -# -# Start the commander. -# -commander start # -# Start GPS interface (depends on orb) +# Start PWM output # -gps start - -# -# Start the attitude estimator -# -attitude_estimator_ekf start - -echo "[init] starting PWM output" fmu mode_pwm -mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix -pwm -u 400 -m 0xff - -# -# Start attitude control -# -multirotor_att_control start # -# Start logging +# Load mixer # -sdlog2 start -r 50 -a -b 14 +mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix + +# +# Set PWM output frequency +# +pwm -u 400 -m 0xff + +# +# Start common for all multirotors apps +# +sh /etc/init.d/rc.multirotor -# -# Start system state -# -if blinkm start -then - blinkm systemstate -fi +# Exit, because /dev/ttyS0 is needed for MAVLink +exit diff --git a/ROMFS/px4fmu_common/init.d/rc.boarddetect b/ROMFS/px4fmu_common/init.d/rc.boarddetect deleted file mode 100644 index f233e51df4..0000000000 --- a/ROMFS/px4fmu_common/init.d/rc.boarddetect +++ /dev/null @@ -1,66 +0,0 @@ -#!nsh -# -# If we are still in flight mode, work out what airframe -# configuration we have and start up accordingly. -# -if [ $MODE != autostart ] -then - echo "[init] automatic startup cancelled by user script" -else - echo "[init] detecting attached hardware..." - - # - # Assume that we are PX4FMU in standalone mode - # - set BOARD PX4FMU - - # - # Are we attached to a PX4IOAR (AR.Drone carrier board)? - # - if boardinfo test name PX4IOAR - then - set BOARD PX4IOAR - if [ -f /etc/init.d/rc.PX4IOAR ] - then - echo "[init] reading /etc/init.d/rc.PX4IOAR" - usleep 500 - sh /etc/init.d/rc.PX4IOAR - fi - else - echo "[init] PX4IOAR not detected" - fi - - # - # Are we attached to a PX4IO? - # - if boardinfo test name PX4IO - then - set BOARD PX4IO - if [ -f /etc/init.d/rc.PX4IO ] - then - echo "[init] reading /etc/init.d/rc.PX4IO" - usleep 500 - sh /etc/init.d/rc.PX4IO - fi - else - echo "[init] PX4IO not detected" - fi - - # - # Looks like we are stand-alone - # - if [ $BOARD == PX4FMU ] - then - echo "[init] no expansion board detected" - if [ -f /etc/init.d/rc.standalone ] - then - echo "[init] reading /etc/init.d/rc.standalone" - sh /etc/init.d/rc.standalone - fi - fi - - # - # We may not reach here if the airframe-specific script exits the shell. - # - echo "[init] startup done." -fi \ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rc.hil b/ROMFS/px4fmu_common/init.d/rc.hil index 3517a5bd82..eccb2b7678 100644 --- a/ROMFS/px4fmu_common/init.d/rc.hil +++ b/ROMFS/px4fmu_common/init.d/rc.hil @@ -8,21 +8,11 @@ echo "[HIL] starting.." uorb start # Tell MAVLink that this link is "fast" -mavlink start -b 230400 -d /dev/console +mavlink start -b 230400 -d /dev/ttyS1 # Create a fake HIL /dev/pwm_output interface hil mode_pwm -# -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] -then - param load /fs/microsd/params -fi - # # Force some key parameters to sane values # MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor @@ -38,13 +28,13 @@ commander start # # Check if we got an IO # -if [ px4io start ] +if px4io start then echo "IO started" else fmu mode_serial echo "FMU started" -end +fi # # Start the sensors (depends on orb, px4io) @@ -60,9 +50,7 @@ att_pos_estimator_ekf start # Load mixer and start controllers (depends on px4io) # mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix -fixedwing_backside start +fw_pos_control_l1 start +fw_att_control start echo "[HIL] setup done, running" - -# Exit shell to make it available to MAVLink -exit diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io new file mode 100644 index 0000000000..aaf91b3166 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.io @@ -0,0 +1,23 @@ +# +# Start PX4IO interface (depends on orb, commander) +# +if px4io start +then + # + # Allow PX4IO to recover from midair restarts. + # this is very unlikely, but quite safe and robust. + px4io recovery + + # + # Disable px4io topic limiting + # + if [ $BOARD == fmuv1 ] + then + px4io limit 200 + else + px4io limit 400 + fi +else + # SOS + tone_alarm error +fi diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging index 09c2d00d19..dc4be8055a 100644 --- a/ROMFS/px4fmu_common/init.d/rc.logging +++ b/ROMFS/px4fmu_common/init.d/rc.logging @@ -5,5 +5,10 @@ if [ -d /fs/microsd ] then - sdlog start + if [ $BOARD == fmuv1 ] + then + sdlog2 start -r 50 -a -b 16 + else + sdlog2 start -r 200 -a -b 16 + fi fi diff --git a/ROMFS/px4fmu_common/init.d/rc.multirotor b/ROMFS/px4fmu_common/init.d/rc.multirotor new file mode 100644 index 0000000000..e3638e3d1f --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.multirotor @@ -0,0 +1,44 @@ +#!nsh +# +# Standard everything needed for multirotors except mixer, output and mavlink +# + +# +# Start the sensors and test them. +# +sh /etc/init.d/rc.sensors + +# +# Start logging (depends on sensors) +# +sh /etc/init.d/rc.logging + +# +# Start the commander. +# +commander start + +# +# Start GPS interface (depends on orb) +# +gps start + +# +# Start the attitude estimator +# +attitude_estimator_ekf start + +# +# Start position estimator +# +position_estimator_inav start + +# +# Start attitude control +# +multirotor_att_control start + +# +# Start position control +# +multirotor_pos_control start diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 5e80ddc2f4..2828a108bf 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -7,25 +7,24 @@ # Start sensor drivers here. # -# -# Check for UORB -# -if uorb start -then - echo "uORB started" -fi - ms5611 start adc start +# mag might be external +if hmc5883 start +then + echo "using HMC5883" +fi + if mpu6000 start then - echo "using MPU6000 and HMC5883L" - hmc5883 start + echo "using MPU6000" + set BOARD fmuv1 else echo "using L3GD20 and LSM303D" l3gd20 start lsm303d start + set BOARD fmuv2 fi # @@ -36,8 +35,5 @@ fi # if sensors start then - # - # Check sensors - run AFTER 'sensors start' - # preflight_check & fi diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index 5b1bd272e9..9264985d6d 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -8,6 +8,14 @@ echo "Starting MAVLink on this USB console" # Stop tone alarm tone_alarm stop +# +# Check for UORB +# +if uorb start +then + echo "uORB started" +fi + # Tell MAVLink that this link is "fast" if mavlink stop then @@ -16,12 +24,26 @@ fi sleep 2 mavlink start -b 230400 -d /dev/ttyACM0 +# Stop commander +if commander stop +then + echo "Commander stopped" +fi +sleep 1 + # Start the commander if commander start then echo "Commander started" fi +# Stop px4io +if px4io stop +then + echo "PX4IO stopped" +fi +sleep 1 + # Start px4io if present if px4io start then diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index f0ee1a0c6e..8c79a035a0 100755 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -20,7 +20,7 @@ then else echo "[init] no microSD card found" # Play SOS - tone_alarm 2 + tone_alarm error fi # @@ -57,90 +57,167 @@ fi if [ $MODE == autostart ] then - -# -# Start the ORB (first app to start) -# -uorb start - -# -# Load microSD params -# -if ramtron start -then - param select /ramtron/params - if [ -f /ramtron/params ] + # + # Start terminal + # + if sercon then - param load /ramtron/params + echo "USB connected" + sleep 3 + mavlink start -d /dev/ttyACM0 -b 230400 fi -else - param select /fs/microsd/params - if [ -f /fs/microsd/params ] + + # + # Start the ORB (first app to start) + # + uorb start + + # + # Load microSD params + # + if ramtron start then - param load /fs/microsd/params - fi -fi - -# -# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell) -# -if [ -f /fs/microsd/px4io.bin ] -then - echo "PX4IO Firmware found. Checking Upgrade.." - if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.cur - then - echo "No newer version, skipping upgrade." - else - echo "Loading /fs/microsd/px4io.bin" - if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log + param select /ramtron/params + if [ -f /ramtron/params ] then - cp /fs/microsd/px4io.bin /fs/microsd/px4io.cur - echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io.log - else - echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io.log - echo "Failed to upgrade px4io firmware - check if px4io is in bootloader mode" + param load /ramtron/params + fi + else + param select /fs/microsd/params + if [ -f /fs/microsd/params ] + then + param load /fs/microsd/params + fi + fi + + # + # Start system state indicator + # + if rgbled start + then + echo "Using external RGB Led" + else + if blinkm start + then + blinkm systemstate fi fi -fi -# -# Check if auto-setup from one of the standard scripts is wanted -# SYS_AUTOSTART = 0 means no autostart (default) -# -if param compare SYS_AUTOSTART 1 -then - sh /etc/init.d/01_fmu_quad_x -fi + # Try to get an USB console + #nshterm /dev/ttyACM0 & + + # + # Upgrade PX4IO firmware + # + if px4io detect + then + echo "PX4IO running, not upgrading" + else + echo "Attempting to upgrade PX4IO" + if px4io update + then + if [ -d /fs/microsd ] + then + echo "Flashed PX4IO Firmware OK" > /fs/microsd/px4io.log + fi -if param compare SYS_AUTOSTART 2 -then - sh /etc/init.d/02_io_quad_x -fi + # Allow IO to safely kick back to app + usleep 200000 + else + echo "No PX4IO to upgrade here" + fi + fi + + # + # Check if auto-setup from one of the standard scripts is wanted + # SYS_AUTOSTART = 0 means no autostart (default) + # + + if param compare SYS_AUTOSTART 8 + then + sh /etc/init.d/08_ardrone + set MODE custom + fi + + if param compare SYS_AUTOSTART 9 + then + sh /etc/init.d/09_ardrone_flow + set MODE custom + fi + + if param compare SYS_AUTOSTART 10 + then + sh /etc/init.d/10_dji_f330 + set MODE custom + fi -if param compare SYS_AUTOSTART 8 -then - sh /etc/init.d/08_ardrone -fi + if param compare SYS_AUTOSTART 11 + then + sh /etc/init.d/11_dji_f450 + set MODE custom + fi + + if param compare SYS_AUTOSTART 15 + then + sh /etc/init.d/15_tbs_discovery + set MODE custom + fi -if param compare SYS_AUTOSTART 9 -then - sh /etc/init.d/09_ardrone_flow -fi - -if param compare SYS_AUTOSTART 10 -then - sh /etc/init.d/10_io_f330 -fi - -if param compare SYS_AUTOSTART 30 -then - sh /etc/init.d/30_io_camflyer -fi - -if param compare SYS_AUTOSTART 31 -then - sh /etc/init.d/31_io_phantom -fi + if param compare SYS_AUTOSTART 16 + then + sh /etc/init.d/16_3dr_iris + set MODE custom + fi + + if param compare SYS_AUTOSTART 30 + then + sh /etc/init.d/30_io_camflyer + set MODE custom + fi + + if param compare SYS_AUTOSTART 31 + then + sh /etc/init.d/31_io_phantom + set MODE custom + fi + + # Start any custom extensions that might be missing + if [ -f /fs/microsd/etc/rc.local ] + then + sh /fs/microsd/etc/rc.local + fi + + # If none of the autostart scripts triggered, get a minimal setup + if [ $MODE == autostart ] + then + # Telemetry port is on both FMU boards ttyS1 + mavlink start -b 57600 -d /dev/ttyS1 + usleep 5000 + + # Start commander + commander start + + # Start px4io if present + if px4io detect + then + px4io start + else + if fmu mode_serial + then + echo "FMU driver (no PWM) started" + fi + fi + + # Start sensors + sh /etc/init.d/rc.sensors + + # Start one of the estimators + attitude_estimator_ekf start + + # Start GPS + gps start + + fi # End of autostart fi diff --git a/ROMFS/px4fmu_test/init.d/rc.standalone b/ROMFS/px4fmu_test/init.d/rc.standalone new file mode 100644 index 0000000000..67e95215b9 --- /dev/null +++ b/ROMFS/px4fmu_test/init.d/rc.standalone @@ -0,0 +1,13 @@ +#!nsh +# +# Flight startup script for PX4FMU standalone configuration. +# + +echo "[init] doing standalone PX4FMU startup..." + +# +# Start the ORB +# +uorb start + +echo "[init] startup done" diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS new file mode 100755 index 0000000000..7f161b053a --- /dev/null +++ b/ROMFS/px4fmu_test/init.d/rcS @@ -0,0 +1,4 @@ +#!nsh +# +# PX4FMU startup script for test hackery. +# diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py index a5277ed21a..8a7e5e2501 100755 --- a/Tools/px_uploader.py +++ b/Tools/px_uploader.py @@ -158,7 +158,7 @@ class uploader(object): INFO_BL_REV = chr(1) # bootloader protocol revision BL_REV_MIN = 2 # minimum supported bootloader protocol - BL_REV_MAX = 3 # maximum supported bootloader protocol + BL_REV_MAX = 4 # maximum supported bootloader protocol INFO_BOARD_ID = chr(2) # board type INFO_BOARD_REV = chr(3) # board revision INFO_FLASH_SIZE = chr(4) # max firmware size in bytes diff --git a/makefiles/board_px4fmu-v2.mk b/makefiles/board_px4fmu-v2.mk new file mode 100644 index 0000000000..e9a2985b7f --- /dev/null +++ b/makefiles/board_px4fmu-v2.mk @@ -0,0 +1,11 @@ +# +# Board-specific definitions for the PX4FMUv2 +# + +# +# Configure the toolchain +# +CONFIG_ARCH = CORTEXM4F +CONFIG_BOARD = PX4FMU_V2 + +include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk diff --git a/makefiles/board_px4io-v2.mk b/makefiles/board_px4io-v2.mk new file mode 100644 index 0000000000..50a4068fb2 --- /dev/null +++ b/makefiles/board_px4io-v2.mk @@ -0,0 +1,11 @@ +# +# Board-specific definitions for the PX4IOv2 +# + +# +# Configure the toolchain +# +CONFIG_ARCH = CORTEXM3 +CONFIG_BOARD = PX4IO_V2 + +include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 40eebcb52e..3e94c35344 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -6,6 +6,7 @@ # Use the configuration's ROMFS. # ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common +ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v1_default.bin # # Board support modules @@ -17,7 +18,7 @@ MODULES += drivers/stm32/tone_alarm MODULES += drivers/led MODULES += drivers/px4io MODULES += drivers/px4fmu -MODULES += drivers/boards/px4fmu +MODULES += drivers/boards/px4fmu-v1 MODULES += drivers/ardrone_interface MODULES += drivers/l3gd20 MODULES += drivers/bma180 @@ -30,6 +31,7 @@ MODULES += drivers/hil MODULES += drivers/hott/hott_telemetry MODULES += drivers/hott/hott_sensors MODULES += drivers/blinkm +MODULES += drivers/rgbled MODULES += drivers/mkblctrl MODULES += drivers/md25 MODULES += drivers/airspeed @@ -50,10 +52,12 @@ MODULES += systemcmds/param MODULES += systemcmds/perf MODULES += systemcmds/preflight_check MODULES += systemcmds/pwm +MODULES += systemcmds/esc_calib MODULES += systemcmds/reboot MODULES += systemcmds/top MODULES += systemcmds/tests MODULES += systemcmds/config +MODULES += systemcmds/nshterm # # General system control @@ -67,18 +71,16 @@ MODULES += modules/gpio_led # Estimation modules (EKF / other filters) # MODULES += modules/attitude_estimator_ekf -MODULES += modules/attitude_estimator_so3_comp -MODULES += modules/position_estimator MODULES += modules/att_pos_estimator_ekf +MODULES += modules/position_estimator_inav MODULES += examples/flow_position_estimator # # Vehicle Control # -MODULES += modules/segway -MODULES += modules/fixedwing_backside -MODULES += modules/fixedwing_att_control -MODULES += modules/fixedwing_pos_control +#MODULES += modules/segway # XXX needs state machine update +#MODULES += modules/fw_pos_control_l1 +#MODULES += modules/fw_att_control MODULES += modules/multirotor_att_control MODULES += modules/multirotor_pos_control MODULES += examples/flow_position_control @@ -89,20 +91,28 @@ MODULES += examples/flow_speed_control # MODULES += modules/sdlog2 +# +# Unit tests +# +#MODULES += modules/unit_test +#MODULES += modules/commander/commander_tests + # # Library modules # MODULES += modules/systemlib MODULES += modules/systemlib/mixer -MODULES += modules/mathlib -MODULES += modules/mathlib/math/filter MODULES += modules/controllib MODULES += modules/uORB # # Libraries # -LIBRARIES += modules/mathlib/CMSIS +LIBRARIES += lib/mathlib/CMSIS +MODULES += lib/mathlib +MODULES += lib/mathlib/math/filter +#MODULES += lib/ecl +MODULES += lib/geo # # Demo apps diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk new file mode 100644 index 0000000000..bd73bde5ea --- /dev/null +++ b/makefiles/config_px4fmu-v2_default.mk @@ -0,0 +1,142 @@ +# +# Makefile for the px4fmu_default configuration +# + +# +# Use the configuration's ROMFS, copy the px4iov2 firmware into +# the ROMFS if it's available +# +ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common +ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin + +# +# Board support modules +# +MODULES += drivers/device +MODULES += drivers/stm32 +MODULES += drivers/stm32/adc +MODULES += drivers/stm32/tone_alarm +MODULES += drivers/led +MODULES += drivers/px4fmu +MODULES += drivers/px4io +MODULES += drivers/boards/px4fmu-v2 +MODULES += drivers/rgbled +MODULES += drivers/lsm303d +MODULES += drivers/l3gd20 +MODULES += drivers/hmc5883 +MODULES += drivers/ms5611 +MODULES += drivers/mb12xx +MODULES += drivers/gps +MODULES += drivers/hil +MODULES += drivers/hott/hott_telemetry +MODULES += drivers/hott/hott_sensors +MODULES += drivers/blinkm +MODULES += drivers/airspeed +MODULES += drivers/ets_airspeed +MODULES += drivers/meas_airspeed +MODULES += modules/sensors + +# Needs to be burned to the ground and re-written; for now, +# just don't build it. +#MODULES += drivers/mkblctrl + +# +# System commands +# +MODULES += systemcmds/ramtron +MODULES += systemcmds/bl_update +MODULES += systemcmds/boardinfo +MODULES += systemcmds/mixer +MODULES += systemcmds/param +MODULES += systemcmds/perf +MODULES += systemcmds/preflight_check +MODULES += systemcmds/pwm +MODULES += systemcmds/reboot +MODULES += systemcmds/top +MODULES += systemcmds/tests +MODULES += systemcmds/config +MODULES += systemcmds/nshterm + +# +# General system control +# +MODULES += modules/commander +MODULES += modules/mavlink +MODULES += modules/mavlink_onboard + +# +# Estimation modules (EKF / other filters) +# +MODULES += modules/attitude_estimator_ekf +MODULES += modules/att_pos_estimator_ekf +MODULES += modules/position_estimator_inav +MODULES += examples/flow_position_estimator + +# +# Vehicle Control +# +#MODULES += modules/fw_pos_control_l1 +#MODULES += modules/fw_att_control +MODULES += modules/multirotor_att_control +MODULES += modules/multirotor_pos_control + +# +# Logging +# +MODULES += modules/sdlog2 + +# +# Unit tests +# +#MODULES += modules/unit_test +#MODULES += modules/commander/commander_tests + +# +# Library modules +# +MODULES += modules/systemlib +MODULES += modules/systemlib/mixer +MODULES += modules/controllib +MODULES += modules/uORB + +# +# Libraries +# +LIBRARIES += lib/mathlib/CMSIS +MODULES += lib/mathlib +MODULES += lib/mathlib/math/filter +#MODULES += lib/ecl +MODULES += lib/geo + +# +# Demo apps +# +#MODULES += examples/math_demo +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/hello_sky +#MODULES += examples/px4_simple_app + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/daemon +#MODULES += examples/px4_daemon_app + +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/debug_values +#MODULES += examples/px4_mavlink_debug + +# +# Transitional support - add commands from the NuttX export archive. +# +# In general, these should move to modules over time. +# +# Each entry here is ... but we use a helper macro +# to make the table a bit more readable. +# +define _B + $(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4) +endef + +# command priority stack entrypoint +BUILTIN_COMMANDS := \ + $(call _B, sercon, , 2048, sercon_main ) \ + $(call _B, serdis, , 2048, serdis_main ) diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk new file mode 100644 index 0000000000..0f60e88b5e --- /dev/null +++ b/makefiles/config_px4fmu-v2_test.mk @@ -0,0 +1,41 @@ +# +# Makefile for the px4fmu_default configuration +# + +# +# Use the configuration's ROMFS. +# +ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_test + +# +# Board support modules +# +MODULES += drivers/device +MODULES += drivers/stm32 +MODULES += drivers/led +MODULES += drivers/boards/px4fmu-v2 +MODULES += systemcmds/perf +MODULES += systemcmds/reboot + +# +# Library modules +# +MODULES += modules/systemlib +MODULES += modules/uORB + +# +# Transitional support - add commands from the NuttX export archive. +# +# In general, these should move to modules over time. +# +# Each entry here is ... but we use a helper macro +# to make the table a bit more readable. +# +define _B + $(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4) +endef + +# command priority stack entrypoint +BUILTIN_COMMANDS := \ + $(call _B, sercon, , 2048, sercon_main ) \ + $(call _B, serdis, , 2048, serdis_main ) diff --git a/makefiles/config_px4io-v1_default.mk b/makefiles/config_px4io-v1_default.mk index cf70391bcf..73f8adf202 100644 --- a/makefiles/config_px4io-v1_default.mk +++ b/makefiles/config_px4io-v1_default.mk @@ -6,5 +6,5 @@ # Board support modules # MODULES += drivers/stm32 -MODULES += drivers/boards/px4io +MODULES += drivers/boards/px4io-v1 MODULES += modules/px4iofirmware \ No newline at end of file diff --git a/makefiles/config_px4io-v2_default.mk b/makefiles/config_px4io-v2_default.mk new file mode 100644 index 0000000000..dbeaba3d37 --- /dev/null +++ b/makefiles/config_px4io-v2_default.mk @@ -0,0 +1,10 @@ +# +# Makefile for the px4iov2_default configuration +# + +# +# Board support modules +# +MODULES += drivers/stm32 +MODULES += drivers/boards/px4io-v2 +MODULES += modules/px4iofirmware \ No newline at end of file diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index ecff77db9a..b3e50501c7 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -177,6 +177,11 @@ GLOBAL_DEPS += $(MAKEFILE_LIST) # EXTRA_CLEANS = +# +# Append the per-board driver directory to the header search path. +# +INCLUDE_DIRS += $(PX4_MODULE_SRC)drivers/boards/$(BOARD) + ################################################################################ # NuttX libraries and paths ################################################################################ @@ -317,7 +322,7 @@ endif # a root from several templates. That would be a nice feature. # -# Add dependencies on anything in the ROMFS root +# Add dependencies on anything in the ROMFS root directory ROMFS_FILES += $(wildcard \ $(ROMFS_ROOT)/* \ $(ROMFS_ROOT)/*/* \ @@ -329,7 +334,14 @@ ifeq ($(ROMFS_FILES),) $(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files) endif ROMFS_DEPS += $(ROMFS_FILES) + +# Extra files that may be copied into the ROMFS /extras directory +# ROMFS_EXTRA_FILES are required, ROMFS_OPTIONAL_FILES are optional +ROMFS_EXTRA_FILES += $(wildcard $(ROMFS_OPTIONAL_FILES)) +ROMFS_DEPS += $(ROMFS_EXTRA_FILES) + ROMFS_IMG = romfs.img +ROMFS_SCRATCH = romfs_scratch ROMFS_CSRC = $(ROMFS_IMG:.img=.c) ROMFS_OBJ = $(ROMFS_CSRC:.c=.o) LIBS += $(ROMFS_OBJ) @@ -340,9 +352,18 @@ $(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS) $(call BIN_TO_OBJ,$<,$@,romfs_img) # Generate the ROMFS image from the root -$(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS) +$(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS) @$(ECHO) "ROMFS: $@" - $(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol" + $(Q) $(GENROMFS) -f $@ -d $(ROMFS_SCRATCH) -V "NSHInitVol" + +# Construct the ROMFS scratch root from the canonical root +$(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS) + $(Q) $(MKDIR) -p $(ROMFS_SCRATCH) + $(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH) +ifneq ($(ROMFS_EXTRA_FILES),) + $(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras + $(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras +endif EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG) diff --git a/makefiles/setup.mk b/makefiles/setup.mk index 168e41a5cb..183b143d6c 100644 --- a/makefiles/setup.mk +++ b/makefiles/setup.mk @@ -43,6 +43,7 @@ # export PX4_INCLUDE_DIR = $(abspath $(PX4_BASE)/src/include)/ export PX4_MODULE_SRC = $(abspath $(PX4_BASE)/src)/ +export PX4_LIB_DIR = $(abspath $(PX4_BASE)/src/lib)/ export PX4_MK_DIR = $(abspath $(PX4_BASE)/makefiles)/ export NUTTX_SRC = $(abspath $(PX4_BASE)/NuttX/nuttx)/ export NUTTX_APP_SRC = $(abspath $(PX4_BASE)/NuttX/apps)/ @@ -57,7 +58,8 @@ export ARCHIVE_DIR = $(abspath $(PX4_BASE)/Archives)/ # export INCLUDE_DIRS := $(PX4_MODULE_SRC) \ $(PX4_MODULE_SRC)/modules/ \ - $(PX4_INCLUDE_DIR) + $(PX4_INCLUDE_DIR) \ + $(PX4_LIB_DIR) # # Tools @@ -71,6 +73,7 @@ export RMDIR = rm -rf export GENROMFS = genromfs export TOUCH = touch export MKDIR = mkdir +export FIND = find export ECHO = echo export UNZIP_CMD = unzip export PYTHON = python diff --git a/makefiles/upload.mk b/makefiles/upload.mk index 3aebef8637..470ddfdf16 100644 --- a/makefiles/upload.mk +++ b/makefiles/upload.mk @@ -18,7 +18,7 @@ ifeq ($(SYSTYPE),Linux) SERIAL_PORTS ?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0" endif ifeq ($(SERIAL_PORTS),) -SERIAL_PORTS = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0" +SERIAL_PORTS = "COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0" endif .PHONY: all upload-$(METHOD)-$(BOARD) @@ -27,6 +27,8 @@ all: upload-$(METHOD)-$(BOARD) upload-serial-px4fmu-v1: $(BUNDLE) $(UPLOADER) $(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE) +upload-serial-px4fmu-v2: $(BUNDLE) $(UPLOADER) + $(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE) # # JTAG firmware uploading with OpenOCD diff --git a/misc/tones/charge.txt b/misc/tones/charge.txt new file mode 100644 index 0000000000..cf33c58b3e --- /dev/null +++ b/misc/tones/charge.txt @@ -0,0 +1 @@ +MFT90O3C16.C32C16.C32C16.C32G16.E32G16.E32G16.E32C16.C32C16.C32C16.C32G16.E32G16.E32G16.E32C4 \ No newline at end of file diff --git a/misc/tones/cucuracha.txt b/misc/tones/cucuracha.txt new file mode 100644 index 0000000000..dce328c03b --- /dev/null +++ b/misc/tones/cucuracha.txt @@ -0,0 +1 @@ +MFT90O2C16C16C16F8.A8C16C16C16F8.A4P16P8 \ No newline at end of file diff --git a/misc/tones/daisy.txt b/misc/tones/daisy.txt new file mode 100644 index 0000000000..e39410621c --- /dev/null +++ b/misc/tones/daisy.txt @@ -0,0 +1 @@ +MFT200O3C4.O2A4.G4.F4.D8E8F8D4F8C2.O2G4.O3C4.O2A4.F4.D8E8F8G4A8G2P8 \ No newline at end of file diff --git a/misc/tones/dixie.txt b/misc/tones/dixie.txt new file mode 100644 index 0000000000..f3ddd19ed3 --- /dev/null +++ b/misc/tones/dixie.txt @@ -0,0 +1 @@ +MFT60O3C32O2A32F16F16F32G32A32A+32O3C16C16C16O2A16 \ No newline at end of file diff --git a/misc/tones/tell.txt b/misc/tones/tell.txt new file mode 100644 index 0000000000..ea77d1a245 --- /dev/null +++ b/misc/tones/tell.txt @@ -0,0 +1 @@ +T200O2B4P8B16B16B4P8B16B16B8G+8E8G+8B8G+8B8O3E8O2B8G+8E8G+8B8G+8B8O3E8O2B4P8B16B16B4P8B16O2B16B4P8B16B16B4P8B16B16B8B16B16B8B8B8B16O2B16B8B8B8B16B16B8B8B8B16B16B8B8B2B2B8P8 P4P4P8O1B16B16B8B16B16B8B16B16O2E8F+8G+8 O1B16B16B8B16B16O2E8G+16G+16F+8D+8O1B8B16 O1B16B8B16B16B8B16B16O2E8F+8G+8E16G+16B4 O2B16A16G+16F+16E8G+8E8O3B16B16B8B16B16B8 O3B16B16O4E8F+8G+8O3B16B16B8B16B16O4E8G+16 O4G+16F+8D+8O3B8B16B16B8B16B16B8B16B16O4E8 O4F+8G+8E16G+16B4B16A16G+16F+16E8G+8E8O3G+16 O3G+16G+8G+16G+16G+8G+16G+16G+8O4C+8O3G+8 O4C+8O3G+8O4C+8O3G+8F+8E8D+8C+8G+16G+16G+8 O3G+16G+16G+8G+16G+16G+8O4C+8O3G+8O4C+8O3G+8 O4C+8O3B8A+8B8A+8B8G+16G+16G+8G+16G+16G+8 O3G+16G+16G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3G+8 O3F+8E8D+8C+8G+16G+16G+8G+16G+16G+8G+16G+16 O3G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3B8A+8B8O2B16 O2B16B8F+16F+16F+8F+16F+16F+8G+8A8F+4A8G+8 O2E4G+8F+8F+8F+8O3F+16F+16F+8F+16F+16F+8 O3G+8A8F+4A8G+8E4G+8F+8O2B16B16B8O1B16B16 O1B8B16B16B8B16B16O2E8F+8G+8O1B16B16B8B16 O1B16O2E8G+16G+16F+8D+8O1B8B16B16B8B16B16 O1B8B16B16O2E8F+8G+8E16G+16B4B16A16G+16F+16 O2E8G+8E8O3B16B16B8B16B16B8B16B16O4E8F+8 O4G+8O3B16B16B8B16B16O4E8G+16G+16F+8D+8O3B8 O3B16B16B8B16B16B8B16B16O4E8F+8G+8E16G+16 O4B4B16A16G+16F+16E8G+8E8O3E64F64G64A64B64 O4C64D64E8E16E16E8E8G+4.F+8E8D+8E8C+8O3B16 O4C+16O3B16O4C+16O3B16O4C+16D+16E16O3A16 O3B16A16B16A16B16O4C+16D+16O3G+16A16G+16 O3A16G+16A16B16O4C+16O3F+16G+16F+16G+16F+16 O3G+16F+16G+16F+16G+16F+16D+16O2B16O3B16 O4C+16D+16E8D+8E8C+8O3B16O4C+16O3B16O4C+16 O3B16O4C+16D+16E16O3A16B16A16B16A16B16O4C+16 O4D+16O3G+16A16G+16A16G+16A16B16O4C+16O3F+16 O3G+16F+16G+16F+16A16F+16E16E8P8C+4C+16O2C16 O3C+16O2C16O3D+16C+16O2B16A16A16G+16E16C+16 O2C+16C+16C+16C+16E16D+16O1C16G+16G+16G+16 O1G+16G+16G+16O2C+16E16G+16O3C+16C+16C+16 O3C+16C+16O2C16O3C+16O2C16O3D+16C+16O2B16 O2A16A16G+16E16C+16C+16C+16C+16C+16E16D+16 O1C16G+16G+16G+16G+16G+16G+16O2C+16E16G+16 O3C+16E16D+16C+16D+16O2C16G+16G+16G+16O3G+16 O3E16C+16D+16O2C16G+16G+16G+16O3G+16E16C+16 O3D+16O2B16G+16G+16A+16G16D+16D+16G+16G16 O2G+16G16G+16A16G+16F+16E16O1B16A+16B16O2E16 O1B16O2F+16O1B16O2G+16E16D+16E16G+16E16A16 O2F+16B16O3G+16F+16E16D+16F+16E16C+16O2B16 O3C+16O2B16O3C+16D+16E16F+16G+16O2A16B16 O2A16B16O3C+16D+16E16F+16O2G+16A16G+16A16 O2C16O3C+16D+16E16O2F+16G+16F+16G+16F+16 O2G+16F+16G+16F+16G+16F+16D+16O1B16C16O2C+16 O2D+16E16O1B16A+16B16O2E16O1B16O2F+16O1B16 O2G+16E16D+16E16G+16E16A16F+16B16O3G+16F+16 O3E16D+16F+16E16C+16O2B16O3C+16O2B16O3C+16 O3D+16E16F+16G+16O2A16B16A16B16O3C+16D+16 O3E16F+16O2G+16A16G+16A16B16O3C+16D+16E16 O2F+16O3C+16O2C16O3C+16D+16C+16O2A16F+16 O2E16O3E16F+16G+16A16B16O4C+16D+16E8E16E16 O4E8E8G+4.F8E8D+8E8C+8O3B16O4C+16O3B16O4C+16 O3B16O4C+16D+16E16O3A16B16A16B16A16B16O4C+16 O4D+16O3G+16A16G+16A16G+16A16B16O4C+16O3F+16 O3G+16F+16G+16F+16G+16F+16G+16F+16G+16F+16 O3D+16O2B16O3B16O4C+16D+16E8E16E16E8E8G+4." O4F+8E8D+8E8C+8O3B16O4C+16O3B16O4C+16O3B16 O4C+16D+16E16O3A16B16A16B16A16B16O4C+16D+16 O3G+16A16G+16A16G+16A16B16O4C+16O3F+16G+16 O3F+16G+16F+16A16G+16F+16E8O2B8O3E8G+16G+16 O3G+8G+16G+16G+8G+16G+16G+8O4C+8O3G+8O4C+8 O3G+8O4C+8O3G+8F+8E8D+8C+8G+16G+16G+8G+16 O3G+16G+8G+16G+16G+8O4C+8O3G+8O4C+8O3G+8 O4C+8O3B8A+8B8A+8B8G+16G+16G+8G+16G+16G+8 O3G+16G+16G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3G+8 O3F+8E8D+8C+8G+16G+16G+8G+16G+16G+8G+16G+16 O3G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3B8A+8B8A+8 O3B8O2F+16F+16F+8F+16F+16F+8G+8A8F+4A8G+8 O2E4G+8F+8B8O1B8O2F+16F+16F+8F+16F+16F+8 O2G+8A8F+4A8G+8E4G+8F+8B16B16B8O1B16B16B8 O1B16B16B8B16B16O2E8F+8G+8O1B16B16B8B16B16 O2E8G+16G+16F+8D+8O1B8B16B16B8B16B16B8B16 O1B16O2E8F+8G+8E16G+16B4B16A16G+16F+16E8 O1B8O2E8O3B16B16B8B16B16B8B16B16O4E8F+8G+8 O3B16B16B8B16B16O4E8G+16G+16F+8D+8O3B8B16 O3B16B8B16B16B8B16B16O4E8F+8G+8O3E16G+16 O3B4B16A16G+16F+16E16F+16G+16A16G+16A16B16 O4C+16O3B16O4C+16D+16E16D+16E16F+16G+16A16 O3B16O4A16O3B16O4A16O3B16O4A16O3B16O4A16 O3B16O4A16O3B16O4A16O3B16O4A16O3B16E16F+16 O3G+16A16G+16A16B16O4C+16O3B16O4C+16D+16 O4E16D+16E16F+16G+16A16O3B16O4A16O3B16O4A16 O3B16O4A16O3B16O4A16O3B16O4A16O3B16O4A16 O3B16O4A16O3B16P16G+16O4G+16O3G+16P16D+16 O4D+16O3D+16P16E16O4E16O3E16P16A16O4A16O3A16 P16O3G+16O4G+16O3G+16P16D+16O4D+16O3D+16 P16O3E16O4E16O3E16P16A16O4A16O3A16O4G16O3G16 O4G16O3G16O4G16O3G16O4G16O3G16O4G8E8C8E8 O4G+16O3G+16O4G+16O3G+16O4G+16O3G+16O4G+16 O3G+16O4G+8E8O3B8O4E8G+16O3G+16O4G+16O3G+16 O4G+16O3G+16O4G+16O3G+16O4G+8F8C+8F8A+16 O3A+16O4A+16O3A+16O4A+16O3A+16O4A+16O3A+16 O4A+8G8E8G8B8P16A+16P16A16P16G+16P16F+16 P16O4E16P16D+16P16C+16P16O3B16P16A+16P16 O3A16P16G+16P16F+16P16E16P16D+16P16F+16E16 O3F+16G+16A16G+16A16B16O4C+16O3B16O4C+16 O4D+16E16D+16E16F+16G+16A16O3B16O4A16O3B16 O4A16O3B16O4A16O3B16O4A16O3B16O4A16O3B16 O4A16O3B16O4A16O3B16E16F+16G+16A16G+16A16 O3B16O4C+16O3B16O4C+16D+16E16D+16E16F+16 O4G+16A16O3B16O4A16O3B16O4A16O3B16O4A16O3B16 O4A16O3B16O4A16O3B16O4A16O3B16O4A16O3B16 P16O3G+16O4G+16O3G+16P16D+16O4D+16O3D+16 P16O3E16O4E16O3E16P16A16O4A16O3A16P16G+16 O4G+16O3G+16P16D+16O4D+16O3D+16P16E16O4E16 O3E16P16A16O4A16O3A16O4G16O3G16O4G16O3G16 O4G16O3G16O4G16O3G16O4G8E8C8E8G+16O3G+16 O4G+16O3G+16O4G+16O3G+16O4G+16O3G+16O4G+8 O4E8O3B8O4E8G+16O3G+16O4G+16O3G+16O4G+16 O3G+16O4G+16O3G+16O4G+8F8C+8F8A+16O3A+16 O4A+16O3A+16O4A+16O3A+16O4A+16O3A+16O4A+8 O4G8E8G8B8P16A+16P16A16P16G+16P16F+16P16 O4E16P16D+16P16C+16P16O3B16P16A+16P16A16 P16O3G+16P16F+16P16E16P16D+16P16F16E16D+16 O3E16D+16E8B16B16B8B16B16B8B16B16O4E8F+8 O4G+8O3B16B16B8B16B16B8B16B16O4G+8A8B8P8 O4E8F+8G+8P8O3G+8A8B8P8P2O2B16C16O3C+16D16 O3D+16E16F16F+16G16G+16A16A+16B16C16O4C+16 O4D+16E16D+16F+16D+16E16D+16F+16D+16E16D+16 O4F+16D+16E16D+16F+16D+16E16D+16F+16D+16 O4E16D+16F+16D+16E16D+16F+16D+16E16D+16F+16 O4D+16E8E16O3E16O4E16O3E16O4E16O3E16O4E8 O3B16O2B16O3B16O2B16O3B16O2B16O3B8G+16O2G+16 O3G+16O2G+16O3G+16O2G+16O3G8E16O2E16O3E16 O2E16O3E16O2E16O3E8E16E16E8E8E8O2B16B16B8 O2B8B8G+16G+16G+8G+8G+8E16E16E8E8E8O1B8O2E8 O1B8O2G+8E8B8G+8O3E8O2B8O3E8O2B8O3G+8E8B8 O3G+8O4E4P8E16E16E8E8E8E8E4P8E16E4P8O2E16 O2E2P64 \ No newline at end of file diff --git a/misc/tones/yankee.txt b/misc/tones/yankee.txt new file mode 100644 index 0000000000..3677b39c17 --- /dev/null +++ b/misc/tones/yankee.txt @@ -0,0 +1 @@ +MNT150L8O2GGABGBADGGABL4GL8F+ \ No newline at end of file diff --git a/nuttx-configs/px4fmu-v1/include/board.h b/nuttx-configs/px4fmu-v1/include/board.h index 839631b3a2..27ace4b7db 100644 --- a/nuttx-configs/px4fmu-v1/include/board.h +++ b/nuttx-configs/px4fmu-v1/include/board.h @@ -156,11 +156,6 @@ #define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY) #define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY) -/* High-resolution timer - */ -#define HRT_TIMER 1 /* use timer1 for the HRT */ -#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */ - /* LED definitions ******************************************************************/ /* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any * way. The following definitions are used to access individual LEDs. @@ -215,33 +210,6 @@ #define DMAMAP_USART1_RX DMAMAP_USART1_RX_2 #define DMAMAP_USART6_RX DMAMAP_USART6_RX_2 -/* - * PWM - * - * Four PWM outputs can be configured on pins otherwise shared with - * USART2; two can take the flow control pins if they are not being used. - * - * Pins: - * - * CTS - PA0 - TIM2CH1 - * RTS - PA1 - TIM2CH2 - * TX - PA2 - TIM2CH3 - * RX - PA3 - TIM2CH4 - * - */ -#define GPIO_TIM2_CH1OUT GPIO_TIM2_CH1OUT_1 -#define GPIO_TIM2_CH2OUT GPIO_TIM2_CH2OUT_1 -#define GPIO_TIM2_CH3OUT GPIO_TIM2_CH3OUT_1 -#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_1 - -/* - * PPM - * - * PPM input is handled by the HRT timer. - */ -#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */ -#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10) - /* * CAN * @@ -273,25 +241,6 @@ #define GPIO_I2C3_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8) #define GPIO_I2C3_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN9) -/* - * I2C busses - */ -#define PX4_I2C_BUS_ESC 1 -#define PX4_I2C_BUS_ONBOARD 2 -#define PX4_I2C_BUS_EXPANSION 3 - -/* - * Devices on the onboard bus. - * - * Note that these are unshifted addresses. - */ -#define PX4_I2C_OBDEV_HMC5883 0x1e -#define PX4_I2C_OBDEV_MS5611 0x76 -#define PX4_I2C_OBDEV_EEPROM NOTDEFINED - -#define PX4_I2C_OBDEV_PX4IO_BL 0x18 -#define PX4_I2C_OBDEV_PX4IO 0x1a - /* * SPI * @@ -316,27 +265,6 @@ #define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1 #define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2 -/* - * Use these in place of the spi_dev_e enumeration to - * select a specific SPI device on SPI1 - */ -#define PX4_SPIDEV_GYRO 1 -#define PX4_SPIDEV_ACCEL 2 -#define PX4_SPIDEV_MPU 3 - -/* - * Optional devices on IO's external port - */ -#define PX4_SPIDEV_ACCEL_MAG 2 - -/* - * Tone alarm output - */ -#define TONE_ALARM_TIMER 3 /* timer 3 */ -#define TONE_ALARM_CHANNEL 3 /* channel 3 */ -#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8) -#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8) - /************************************************************************************ * Public Data ************************************************************************************/ diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig index 5b91930c91..68ab4da32d 100644 --- a/nuttx-configs/px4fmu-v1/nsh/defconfig +++ b/nuttx-configs/px4fmu-v1/nsh/defconfig @@ -368,7 +368,7 @@ CONFIG_TASK_NAME_SIZE=24 CONFIG_START_YEAR=1970 CONFIG_START_MONTH=1 CONFIG_START_DAY=1 -# CONFIG_DEV_CONSOLE is not set +CONFIG_DEV_CONSOLE=y # CONFIG_MUTEX_TYPES is not set CONFIG_PRIORITY_INHERITANCE=y CONFIG_SEM_PREALLOCHOLDERS=0 @@ -406,7 +406,7 @@ CONFIG_MAX_TASKS=32 CONFIG_MAX_TASK_ARGS=10 CONFIG_NPTHREAD_KEYS=4 CONFIG_NFILE_DESCRIPTORS=32 -CONFIG_NFILE_STREAMS=25 +CONFIG_NFILE_STREAMS=8 CONFIG_NAME_MAX=32 CONFIG_PREALLOC_MQ_MSGS=4 CONFIG_MQ_MAXMSGSIZE=32 @@ -476,11 +476,11 @@ CONFIG_ARCH_HAVE_USART6=y CONFIG_MCU_SERIAL=y CONFIG_STANDARD_SERIAL=y CONFIG_SERIAL_NPOLLWAITERS=2 -# CONFIG_USART1_SERIAL_CONSOLE is not set +CONFIG_USART1_SERIAL_CONSOLE=y # CONFIG_USART2_SERIAL_CONSOLE is not set # CONFIG_UART5_SERIAL_CONSOLE is not set # CONFIG_USART6_SERIAL_CONSOLE is not set -CONFIG_NO_SERIAL_CONSOLE=y +# CONFIG_NO_SERIAL_CONSOLE is not set # # USART1 Configuration @@ -551,7 +551,7 @@ CONFIG_USBDEV_MAXPOWER=500 # CONFIG_USBDEV_COMPOSITE is not set # CONFIG_PL2303 is not set CONFIG_CDCACM=y -CONFIG_CDCACM_CONSOLE=y +CONFIG_CDCACM_CONSOLE=n CONFIG_CDCACM_EP0MAXPACKET=64 CONFIG_CDCACM_EPINTIN=1 CONFIG_CDCACM_EPINTIN_FSSIZE=64 @@ -565,8 +565,8 @@ CONFIG_CDCACM_EPBULKIN_HSSIZE=512 CONFIG_CDCACM_NWRREQS=4 CONFIG_CDCACM_NRDREQS=4 CONFIG_CDCACM_BULKIN_REQLEN=96 -CONFIG_CDCACM_RXBUFSIZE=256 -CONFIG_CDCACM_TXBUFSIZE=256 +CONFIG_CDCACM_RXBUFSIZE=512 +CONFIG_CDCACM_TXBUFSIZE=512 CONFIG_CDCACM_VENDORID=0x26ac CONFIG_CDCACM_PRODUCTID=0x0010 CONFIG_CDCACM_VENDORSTR="3D Robotics" diff --git a/nuttx-configs/px4fmu-v2/include/board.h b/nuttx-configs/px4fmu-v2/include/board.h new file mode 100755 index 0000000000..507df70a23 --- /dev/null +++ b/nuttx-configs/px4fmu-v2/include/board.h @@ -0,0 +1,306 @@ +/************************************************************************************ + * configs/px4fmu/include/board.h + * include/arch/board/board.h + * + * Copyright (C) 2009 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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. + * + ************************************************************************************/ + +#ifndef __ARCH_BOARD_BOARD_H +#define __ARCH_BOARD_BOARD_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include +#ifndef __ASSEMBLY__ +# include +#endif + +#include + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/* Clocking *************************************************************************/ +/* The PX4FMUV2 uses a 24MHz crystal connected to the HSE. + * + * This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c: + * System Clock source : PLL (HSE) + * SYSCLK(Hz) : 168000000 Determined by PLL configuration + * HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE) + * AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE) + * APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1) + * APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2) + * HSE Frequency(Hz) : 24000000 (STM32_BOARD_XTAL) + * PLLM : 24 (STM32_PLLCFG_PLLM) + * PLLN : 336 (STM32_PLLCFG_PLLN) + * PLLP : 2 (STM32_PLLCFG_PLLP) + * PLLQ : 7 (STM32_PLLCFG_PPQ) + * Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK + * Flash Latency(WS) : 5 + * Prefetch Buffer : OFF + * Instruction cache : ON + * Data cache : ON + * Require 48MHz for USB OTG FS, : Enabled + * SDIO and RNG clock + */ + +/* HSI - 16 MHz RC factory-trimmed + * LSI - 32 KHz RC + * HSE - On-board crystal frequency is 24MHz + * LSE - not installed + */ + +#define STM32_BOARD_XTAL 24000000ul + +#define STM32_HSI_FREQUENCY 16000000ul +#define STM32_LSI_FREQUENCY 32000 +#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL +//#define STM32_LSE_FREQUENCY 32768 + +/* Main PLL Configuration. + * + * PLL source is HSE + * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN + * = (25,000,000 / 25) * 336 + * = 336,000,000 + * SYSCLK = PLL_VCO / PLLP + * = 336,000,000 / 2 = 168,000,000 + * USB OTG FS, SDIO and RNG Clock + * = PLL_VCO / PLLQ + * = 48,000,000 + */ + +#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(24) +#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336) +#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2 +#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7) + +#define STM32_SYSCLK_FREQUENCY 168000000ul + +/* AHB clock (HCLK) is SYSCLK (168MHz) */ + +#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */ +#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY +#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ + +/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */ + +#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */ +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4) + +/* Timers driven from APB1 will be twice PCLK1 */ + +#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) + +/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */ + +#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ +#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* Timers driven from APB2 will be twice PCLK2 */ + +#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK1_FREQUENCY) + +/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx + * otherwise frequency is 2xAPBx. + * Note: TIM1,8 are on APB2, others on APB1 + */ + +#define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY) +#define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY) + +/* SDIO dividers. Note that slower clocking is required when DMA is disabled + * in order to avoid RX overrun/TX underrun errors due to delayed responses + * to service FIFOs in interrupt driven mode. These values have not been + * tuned!!! + * + * HCLK=72MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(178+2)=400 KHz + */ + +#define SDIO_INIT_CLKDIV (178 << SDIO_CLKCR_CLKDIV_SHIFT) + +/* DMA ON: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(2+2)=18 MHz + * DMA OFF: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(3+2)=14.4 MHz + */ + +#ifdef CONFIG_SDIO_DMA +# define SDIO_MMCXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT) +#else +# define SDIO_MMCXFR_CLKDIV (3 << SDIO_CLKCR_CLKDIV_SHIFT) +#endif + +/* DMA ON: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(1+2)=24 MHz + * DMA OFF: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(3+2)=14.4 MHz + */ + +#ifdef CONFIG_SDIO_DMA +# define SDIO_SDXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT) +#else +# define SDIO_SDXFR_CLKDIV (3 << SDIO_CLKCR_CLKDIV_SHIFT) +#endif + +/* DMA Channl/Stream Selections *****************************************************/ +/* Stream selections are arbitrary for now but might become important in the future + * is we set aside more DMA channels/streams. + * + * SDIO DMA + *   DMAMAP_SDIO_1 = Channel 4, Stream 3 <- may later be used by SPI DMA + *   DMAMAP_SDIO_2 = Channel 4, Stream 6 + */ + +#define DMAMAP_SDIO DMAMAP_SDIO_1 + +/* Alternate function pin selections ************************************************/ + +/* + * UARTs. + */ +#define GPIO_USART1_RX GPIO_USART1_RX_1 /* console in from IO */ +#define GPIO_USART1_TX 0 /* USART1 is RX-only */ + +#define GPIO_USART2_RX GPIO_USART2_RX_2 +#define GPIO_USART2_TX GPIO_USART2_TX_2 +#define GPIO_USART2_RTS GPIO_USART2_RTS_2 +#define GPIO_USART2_CTS GPIO_USART2_CTS_2 + +#define GPIO_USART3_RX GPIO_USART3_RX_3 +#define GPIO_USART3_TX GPIO_USART3_TX_3 +#define GPIO_USART2_RTS GPIO_USART2_RTS_2 +#define GPIO_USART2_CTS GPIO_USART2_CTS_2 + +#define GPIO_UART4_RX GPIO_UART4_RX_1 +#define GPIO_UART4_TX GPIO_UART4_TX_1 + +#define GPIO_USART6_RX GPIO_USART6_RX_1 +#define GPIO_USART6_TX GPIO_USART6_TX_1 + +#define GPIO_UART7_RX GPIO_UART7_RX_1 +#define GPIO_UART7_TX GPIO_UART7_TX_1 + +/* UART8 has no alternate pin config */ + +/* UART RX DMA configurations */ +#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2 +#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2 + +/* + * CAN + * + * CAN1 is routed to the onboard transceiver. + * CAN2 is routed to the expansion connector. + */ +#define GPIO_CAN1_RX GPIO_CAN1_RX_3 +#define GPIO_CAN1_TX GPIO_CAN1_TX_3 +#define GPIO_CAN2_RX GPIO_CAN2_RX_1 +#define GPIO_CAN2_TX GPIO_CAN2_TX_2 + +/* + * I2C + * + * The optional _GPIO configurations allow the I2C driver to manually + * reset the bus to clear stuck slaves. They match the pin configuration, + * but are normally-high GPIOs. + */ +#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 +#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 +#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8) +#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9) + +#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 +#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 +#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10) +#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11) + +/* + * SPI + * + * There are sensors on SPI1, and SPI2 is connected to the FRAM. + */ +#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 +#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 +#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1 + +#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 +#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1 +#define GPIO_SPI2_SCK GPIO_SPI2_SCK_2 + +/************************************************************************************ + * Public Data + ************************************************************************************/ + +#ifndef __ASSEMBLY__ + +#undef EXTERN +#if defined(__cplusplus) +#define EXTERN extern "C" +extern "C" { +#else +#define EXTERN extern +#endif + +/************************************************************************************ + * Public Function Prototypes + ************************************************************************************/ +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the intitialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +EXTERN void stm32_boardinitialize(void); + +#undef EXTERN +#if defined(__cplusplus) +} +#endif + +#endif /* __ASSEMBLY__ */ +#endif /* __ARCH_BOARD_BOARD_H */ diff --git a/nuttx-configs/px4fmu-v2/include/nsh_romfsimg.h b/nuttx-configs/px4fmu-v2/include/nsh_romfsimg.h new file mode 100644 index 0000000000..15e4e7a8d5 --- /dev/null +++ b/nuttx-configs/px4fmu-v2/include/nsh_romfsimg.h @@ -0,0 +1,42 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/** + * nsh_romfsetc.h + * + * This file is a stub for 'make export' purposes; the actual ROMFS + * must be supplied by the library client. + */ + +extern unsigned char romfs_img[]; +extern unsigned int romfs_img_len; diff --git a/nuttx-configs/px4fmu-v2/nsh/Make.defs b/nuttx-configs/px4fmu-v2/nsh/Make.defs new file mode 100644 index 0000000000..e70320aaa4 --- /dev/null +++ b/nuttx-configs/px4fmu-v2/nsh/Make.defs @@ -0,0 +1,179 @@ +############################################################################ +# configs/px4fmu-v2/nsh/Make.defs +# +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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. +# +############################################################################ + +include ${TOPDIR}/.config +include ${TOPDIR}/tools/Config.mk + +# +# We only support building with the ARM bare-metal toolchain from +# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS. +# +CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI + +include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs + +CC = $(CROSSDEV)gcc +CXX = $(CROSSDEV)g++ +CPP = $(CROSSDEV)gcc -E +LD = $(CROSSDEV)ld +AR = $(CROSSDEV)ar rcs +NM = $(CROSSDEV)nm +OBJCOPY = $(CROSSDEV)objcopy +OBJDUMP = $(CROSSDEV)objdump + +MAXOPTIMIZATION = -O3 +ARCHCPUFLAGS = -mcpu=cortex-m4 \ + -mthumb \ + -march=armv7e-m \ + -mfpu=fpv4-sp-d16 \ + -mfloat-abi=hard + + +# enable precise stack overflow tracking +INSTRUMENTATIONDEFINES = -finstrument-functions \ + -ffixed-r10 + +# pull in *just* libm from the toolchain ... this is grody +LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}" +EXTRA_LIBS += $(LIBM) + +# use our linker script +LDSCRIPT = ld.script + +ifeq ($(WINTOOL),y) + # Windows-native toolchains + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" + ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}" + ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}" +else + ifeq ($(PX4_WINTOOL),y) + # Windows-native toolchains (MSYS) + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) + else + # Linux/Cygwin-native toolchain + MKDEP = $(TOPDIR)/tools/mkdeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) + endif +endif + +# tool versions +ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'} +ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1} + +# optimisation flags +ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \ + -fno-strict-aliasing \ + -fno-strength-reduce \ + -fomit-frame-pointer \ + -funsafe-math-optimizations \ + -fno-builtin-printf \ + -ffunction-sections \ + -fdata-sections + +ifeq ("${CONFIG_DEBUG_SYMBOLS}","y") +ARCHOPTIMIZATION += -g +endif + +ARCHCFLAGS = -std=gnu99 +ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x +ARCHWARNINGS = -Wall \ + -Wextra \ + -Wdouble-promotion \ + -Wshadow \ + -Wfloat-equal \ + -Wframe-larger-than=1024 \ + -Wpointer-arith \ + -Wlogical-op \ + -Wmissing-declarations \ + -Wpacked \ + -Wno-unused-parameter +# -Wcast-qual - generates spurious noreturn attribute warnings, try again later +# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code +# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives + +ARCHCWARNINGS = $(ARCHWARNINGS) \ + -Wbad-function-cast \ + -Wstrict-prototypes \ + -Wold-style-declaration \ + -Wmissing-parameter-type \ + -Wmissing-prototypes \ + -Wnested-externs \ + -Wunsuffixed-float-constants +ARCHWARNINGSXX = $(ARCHWARNINGS) \ + -Wno-psabi +ARCHDEFINES = +ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10 + +# this seems to be the only way to add linker flags +EXTRA_LIBS += --warn-common \ + --gc-sections + +CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common +CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS) +CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe +CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS) +CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) +AFLAGS = $(CFLAGS) -D__ASSEMBLY__ + +NXFLATLDFLAGS1 = -r -d -warn-common +NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections +LDNXFLATFLAGS = -e main -s 2048 + +OBJEXT = .o +LIBEXT = .a +EXEEXT = + + +# produce partially-linked $1 from files in $2 +define PRELINK + @echo "PRELINK: $1" + $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1 +endef + +HOSTCC = gcc +HOSTINCLUDES = -I. +HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe +HOSTLDFLAGS = + diff --git a/nuttx-configs/px4fmu-v2/nsh/appconfig b/nuttx-configs/px4fmu-v2/nsh/appconfig new file mode 100644 index 0000000000..0e18aa8ef1 --- /dev/null +++ b/nuttx-configs/px4fmu-v2/nsh/appconfig @@ -0,0 +1,52 @@ +############################################################################ +# configs/px4fmu/nsh/appconfig +# +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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. +# +############################################################################ + +# Path to example in apps/examples containing the user_start entry point + +CONFIGURED_APPS += examples/nsh + +# The NSH application library +CONFIGURED_APPS += nshlib +CONFIGURED_APPS += system/readline + +ifeq ($(CONFIG_CAN),y) +#CONFIGURED_APPS += examples/can +endif + +#ifeq ($(CONFIG_USBDEV),y) +#ifeq ($(CONFIG_CDCACM),y) +CONFIGURED_APPS += examples/cdcacm +#endif +#endif diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig new file mode 100644 index 0000000000..e507c89baf --- /dev/null +++ b/nuttx-configs/px4fmu-v2/nsh/defconfig @@ -0,0 +1,1063 @@ +# +# Automatically generated file; DO NOT EDIT. +# Nuttx/ Configuration +# +CONFIG_NUTTX_NEWCONFIG=y + +# +# Build Setup +# +# CONFIG_EXPERIMENTAL is not set +# CONFIG_HOST_LINUX is not set +CONFIG_HOST_OSX=y +# CONFIG_HOST_WINDOWS is not set +# CONFIG_HOST_OTHER is not set + +# +# Build Configuration +# +CONFIG_APPS_DIR="../apps" +# CONFIG_BUILD_2PASS is not set + +# +# Binary Output Formats +# +# CONFIG_RRLOAD_BINARY is not set +# CONFIG_INTELHEX_BINARY is not set +# CONFIG_MOTOROLA_SREC is not set +CONFIG_RAW_BINARY=y + +# +# Customize Header Files +# +# CONFIG_ARCH_STDBOOL_H is not set +CONFIG_ARCH_MATH_H=y +# CONFIG_ARCH_FLOAT_H is not set +# CONFIG_ARCH_STDARG_H is not set + +# +# Debug Options +# +# CONFIG_DEBUG is not set +CONFIG_DEBUG_SYMBOLS=y + +# +# System Type +# +# CONFIG_ARCH_8051 is not set +CONFIG_ARCH_ARM=y +# CONFIG_ARCH_AVR is not set +# CONFIG_ARCH_HC is not set +# CONFIG_ARCH_MIPS is not set +# CONFIG_ARCH_RGMP is not set +# CONFIG_ARCH_SH is not set +# CONFIG_ARCH_SIM is not set +# CONFIG_ARCH_X86 is not set +# CONFIG_ARCH_Z16 is not set +# CONFIG_ARCH_Z80 is not set +CONFIG_ARCH="arm" + +# +# ARM Options +# +# CONFIG_ARCH_CHIP_C5471 is not set +# CONFIG_ARCH_CHIP_CALYPSO is not set +# CONFIG_ARCH_CHIP_DM320 is not set +# CONFIG_ARCH_CHIP_IMX is not set +# CONFIG_ARCH_CHIP_KINETIS is not set +# CONFIG_ARCH_CHIP_KL is not set +# CONFIG_ARCH_CHIP_LM is not set +# CONFIG_ARCH_CHIP_LPC17XX is not set +# CONFIG_ARCH_CHIP_LPC214X is not set +# CONFIG_ARCH_CHIP_LPC2378 is not set +# CONFIG_ARCH_CHIP_LPC31XX is not set +# CONFIG_ARCH_CHIP_LPC43XX is not set +# CONFIG_ARCH_CHIP_NUC1XX is not set +# CONFIG_ARCH_CHIP_SAM34 is not set +CONFIG_ARCH_CHIP_STM32=y +# CONFIG_ARCH_CHIP_STR71X is not set +CONFIG_ARCH_CORTEXM4=y +CONFIG_ARCH_FAMILY="armv7-m" +CONFIG_ARCH_CHIP="stm32" +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_ARCH_HAVE_CMNVECTOR=y +CONFIG_ARMV7M_CMNVECTOR=y +CONFIG_ARCH_HAVE_FPU=y +CONFIG_ARCH_FPU=y +CONFIG_ARCH_HAVE_MPU=y +# CONFIG_ARMV7M_MPU is not set + +# +# ARMV7M Configuration Options +# +# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set +CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y +CONFIG_ARMV7M_STACKCHECK=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SERIAL_DISABLE_REORDERING=y + +# +# STM32 Configuration Options +# +# CONFIG_ARCH_CHIP_STM32L151C6 is not set +# CONFIG_ARCH_CHIP_STM32L151C8 is not set +# CONFIG_ARCH_CHIP_STM32L151CB is not set +# CONFIG_ARCH_CHIP_STM32L151R6 is not set +# CONFIG_ARCH_CHIP_STM32L151R8 is not set +# CONFIG_ARCH_CHIP_STM32L151RB is not set +# CONFIG_ARCH_CHIP_STM32L151V6 is not set +# CONFIG_ARCH_CHIP_STM32L151V8 is not set +# CONFIG_ARCH_CHIP_STM32L151VB is not set +# CONFIG_ARCH_CHIP_STM32L152C6 is not set +# CONFIG_ARCH_CHIP_STM32L152C8 is not set +# CONFIG_ARCH_CHIP_STM32L152CB is not set +# CONFIG_ARCH_CHIP_STM32L152R6 is not set +# CONFIG_ARCH_CHIP_STM32L152R8 is not set +# CONFIG_ARCH_CHIP_STM32L152RB is not set +# CONFIG_ARCH_CHIP_STM32L152V6 is not set +# CONFIG_ARCH_CHIP_STM32L152V8 is not set +# CONFIG_ARCH_CHIP_STM32L152VB is not set +# CONFIG_ARCH_CHIP_STM32F100C8 is not set +# CONFIG_ARCH_CHIP_STM32F100CB is not set +# CONFIG_ARCH_CHIP_STM32F100R8 is not set +# CONFIG_ARCH_CHIP_STM32F100RB is not set +# CONFIG_ARCH_CHIP_STM32F100RC is not set +# CONFIG_ARCH_CHIP_STM32F100RD is not set +# CONFIG_ARCH_CHIP_STM32F100RE is not set +# CONFIG_ARCH_CHIP_STM32F100V8 is not set +# CONFIG_ARCH_CHIP_STM32F100VB is not set +# CONFIG_ARCH_CHIP_STM32F100VC is not set +# CONFIG_ARCH_CHIP_STM32F100VD is not set +# CONFIG_ARCH_CHIP_STM32F100VE is not set +# CONFIG_ARCH_CHIP_STM32F103C4 is not set +# CONFIG_ARCH_CHIP_STM32F103C8 is not set +# CONFIG_ARCH_CHIP_STM32F103RET6 is not set +# CONFIG_ARCH_CHIP_STM32F103VCT6 is not set +# CONFIG_ARCH_CHIP_STM32F103VET6 is not set +# CONFIG_ARCH_CHIP_STM32F103ZET6 is not set +# CONFIG_ARCH_CHIP_STM32F105VBT7 is not set +# CONFIG_ARCH_CHIP_STM32F107VC is not set +# CONFIG_ARCH_CHIP_STM32F207IG is not set +# CONFIG_ARCH_CHIP_STM32F302CB is not set +# CONFIG_ARCH_CHIP_STM32F302CC is not set +# CONFIG_ARCH_CHIP_STM32F302RB is not set +# CONFIG_ARCH_CHIP_STM32F302RC is not set +# CONFIG_ARCH_CHIP_STM32F302VB is not set +# CONFIG_ARCH_CHIP_STM32F302VC is not set +# CONFIG_ARCH_CHIP_STM32F303CB is not set +# CONFIG_ARCH_CHIP_STM32F303CC is not set +# CONFIG_ARCH_CHIP_STM32F303RB is not set +# CONFIG_ARCH_CHIP_STM32F303RC is not set +# CONFIG_ARCH_CHIP_STM32F303VB is not set +# CONFIG_ARCH_CHIP_STM32F303VC is not set +# CONFIG_ARCH_CHIP_STM32F405RG is not set +# CONFIG_ARCH_CHIP_STM32F405VG is not set +# CONFIG_ARCH_CHIP_STM32F405ZG is not set +# CONFIG_ARCH_CHIP_STM32F407VE is not set +# CONFIG_ARCH_CHIP_STM32F407VG is not set +# CONFIG_ARCH_CHIP_STM32F407ZE is not set +# CONFIG_ARCH_CHIP_STM32F407ZG is not set +# CONFIG_ARCH_CHIP_STM32F407IE is not set +# CONFIG_ARCH_CHIP_STM32F407IG is not set +CONFIG_ARCH_CHIP_STM32F427V=y +# CONFIG_ARCH_CHIP_STM32F427Z is not set +# CONFIG_ARCH_CHIP_STM32F427I is not set +# CONFIG_STM32_STM32L15XX is not set +# CONFIG_STM32_ENERGYLITE is not set +# CONFIG_STM32_STM32F10XX is not set +# CONFIG_STM32_VALUELINE is not set +# CONFIG_STM32_CONNECTIVITYLINE is not set +# CONFIG_STM32_PERFORMANCELINE is not set +# CONFIG_STM32_HIGHDENSITY is not set +# CONFIG_STM32_MEDIUMDENSITY is not set +# CONFIG_STM32_LOWDENSITY is not set +# CONFIG_STM32_STM32F20XX is not set +# CONFIG_STM32_STM32F30XX is not set +CONFIG_STM32_STM32F40XX=y +CONFIG_STM32_STM32F427=y +# CONFIG_STM32_DFU is not set + +# +# STM32 Peripheral Support +# +CONFIG_STM32_ADC1=y +# CONFIG_STM32_ADC2 is not set +# CONFIG_STM32_ADC3 is not set +CONFIG_STM32_BKPSRAM=y +# CONFIG_STM32_CAN1 is not set +# CONFIG_STM32_CAN2 is not set +CONFIG_STM32_CCMDATARAM=y +# CONFIG_STM32_CRC is not set +# CONFIG_STM32_CRYP is not set +CONFIG_STM32_DMA1=y +CONFIG_STM32_DMA2=y +# CONFIG_STM32_DAC1 is not set +# CONFIG_STM32_DAC2 is not set +# CONFIG_STM32_DCMI is not set +# CONFIG_STM32_ETHMAC is not set +# CONFIG_STM32_FSMC is not set +# CONFIG_STM32_HASH is not set +CONFIG_STM32_I2C1=y +CONFIG_STM32_I2C2=y +# CONFIG_STM32_I2C3 is not set +CONFIG_STM32_OTGFS=y +# CONFIG_STM32_OTGHS is not set +CONFIG_STM32_PWR=y +# CONFIG_STM32_RNG is not set +CONFIG_STM32_SDIO=y +CONFIG_STM32_SPI1=y +CONFIG_STM32_SPI2=y +# CONFIG_STM32_SPI3 is not set +# CONFIG_STM32_SPI4 is not set +# CONFIG_STM32_SPI5 is not set +# CONFIG_STM32_SPI6 is not set +CONFIG_STM32_SYSCFG=y +CONFIG_STM32_TIM1=y +# CONFIG_STM32_TIM2 is not set +CONFIG_STM32_TIM3=y +CONFIG_STM32_TIM4=y +# CONFIG_STM32_TIM5 is not set +# CONFIG_STM32_TIM6 is not set +# CONFIG_STM32_TIM7 is not set +# CONFIG_STM32_TIM8 is not set +CONFIG_STM32_TIM9=y +CONFIG_STM32_TIM10=y +CONFIG_STM32_TIM11=y +# CONFIG_STM32_TIM12 is not set +# CONFIG_STM32_TIM13 is not set +# CONFIG_STM32_TIM14 is not set +CONFIG_STM32_USART1=y +CONFIG_STM32_USART2=y +CONFIG_STM32_USART3=y +CONFIG_STM32_UART4=y +# CONFIG_STM32_UART5 is not set +CONFIG_STM32_USART6=y +CONFIG_STM32_UART7=y +CONFIG_STM32_UART8=y +# CONFIG_STM32_IWDG is not set +CONFIG_STM32_WWDG=y +CONFIG_STM32_ADC=y +CONFIG_STM32_SPI=y +CONFIG_STM32_I2C=y + +CONFIG_ARCH_HAVE_LEDS=y +# CONFIG_ARCH_LEDS is not set + +# +# Alternate Pin Mapping +# +CONFIG_STM32_FLASH_PREFETCH=y +# CONFIG_STM32_JTAG_DISABLE is not set +# CONFIG_STM32_JTAG_FULL_ENABLE is not set +# CONFIG_STM32_JTAG_NOJNTRST_ENABLE is not set +CONFIG_STM32_JTAG_SW_ENABLE=y +CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y +# CONFIG_STM32_FORCEPOWER is not set +# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set +CONFIG_STM32_CCMEXCLUDE=y +CONFIG_STM32_DMACAPABLE=y +# CONFIG_STM32_TIM1_PWM is not set +# CONFIG_STM32_TIM3_PWM is not set +# CONFIG_STM32_TIM4_PWM is not set +# CONFIG_STM32_TIM9_PWM is not set +# CONFIG_STM32_TIM10_PWM is not set +# CONFIG_STM32_TIM11_PWM is not set +# CONFIG_STM32_TIM1_ADC is not set +# CONFIG_STM32_TIM3_ADC is not set +# CONFIG_STM32_TIM4_ADC is not set +CONFIG_STM32_USART=y + +# +# U[S]ART Configuration +# +# CONFIG_USART1_RS485 is not set +CONFIG_USART1_RXDMA=y +# CONFIG_USART2_RS485 is not set +CONFIG_USART2_RXDMA=y +# CONFIG_USART3_RS485 is not set +# CONFIG_USART3_RXDMA is not set +# CONFIG_UART4_RS485 is not set +# CONFIG_UART4_RXDMA is not set +# CONFIG_UART5_RXDMA is not set +# CONFIG_USART6_RS485 is not set +# CONFIG_USART6_RXDMA is not set +# CONFIG_USART7_RXDMA is not set +CONFIG_USART8_RXDMA=y +CONFIG_STM32_USART_SINGLEWIRE=y + + +# Previous: +## CONFIG_USART1_RS485 is not set +#CONFIG_USART1_RXDMA=y +## CONFIG_USART2_RS485 is not set +#CONFIG_USART2_RXDMA=y +## CONFIG_USART3_RS485 is not set +#CONFIG_USART3_RXDMA=y +## CONFIG_UART4_RS485 is not set +#CONFIG_UART4_RXDMA=y +## CONFIG_UART5_RXDMA is not set +## CONFIG_USART6_RS485 is not set +## CONFIG_USART6_RXDMA is not set +## CONFIG_USART7_RXDMA is not set +#CONFIG_USART8_RXDMA=y +#CONFIG_STM32_USART_SINGLEWIRE=y + + + + +# +# SPI Configuration +# +# CONFIG_STM32_SPI_INTERRUPTS is not set +# CONFIG_STM32_SPI_DMA is not set + +# +# I2C Configuration +# +# CONFIG_STM32_I2C_DYNTIMEO is not set +CONFIG_STM32_I2CTIMEOSEC=0 +CONFIG_STM32_I2CTIMEOMS=10 +CONFIG_STM32_I2CTIMEOTICKS=500 +# CONFIG_STM32_I2C_DUTY16_9 is not set + +# +# SDIO Configuration +# + +# +# Maintain legacy build behavior (revisit) +# + +CONFIG_MMCSD=y +#CONFIG_MMCSD_SPI=y +CONFIG_MMCSD_SDIO=y +CONFIG_MTD=y + +# +# STM32 SDIO-based MMC/SD driver +# +CONFIG_SDIO_DMA=y +# CONFIG_SDIO_DMAPRIO is not set +# CONFIG_SDIO_WIDTH_D1_ONLY is not set +CONFIG_MMCSD_MULTIBLOCK_DISABLE=y +CONFIG_MMCSD_MMCSUPPORT=n +CONFIG_MMCSD_HAVECARDDETECT=n + +# +# USB Host Configuration +# + +# +# USB Device Configuration +# + +# +# External Memory Configuration +# + +# +# Architecture Options +# +# CONFIG_ARCH_NOINTC is not set +# CONFIG_ARCH_VECNOTIRQ is not set +CONFIG_ARCH_DMA=y +CONFIG_ARCH_IRQPRIO=y +# CONFIG_CUSTOM_STACK is not set +# CONFIG_ADDRENV is not set +CONFIG_ARCH_HAVE_VFORK=y +CONFIG_ARCH_STACKDUMP=y +# CONFIG_ENDIAN_BIG is not set +# CONFIG_ARCH_HAVE_RAMFUNCS is not set +CONFIG_ARCH_HAVE_RAMVECTORS=y +# CONFIG_ARCH_RAMVECTORS is not set + +# +# Board Settings +# +CONFIG_BOARD_LOOPSPERMSEC=16717 +# CONFIG_ARCH_CALIBRATION is not set +CONFIG_DRAM_START=0x20000000 +CONFIG_DRAM_SIZE=262144 +CONFIG_ARCH_HAVE_INTERRUPTSTACK=y +CONFIG_ARCH_INTERRUPTSTACK=2048 + +# +# Boot options +# +# CONFIG_BOOT_RUNFROMEXTSRAM is not set +CONFIG_BOOT_RUNFROMFLASH=y +# CONFIG_BOOT_RUNFROMISRAM is not set +# CONFIG_BOOT_RUNFROMSDRAM is not set +# CONFIG_BOOT_COPYTORAM is not set + +# +# Board Selection +# +CONFIG_ARCH_BOARD_PX4FMU_V2=y +# CONFIG_ARCH_BOARD_CUSTOM is not set +CONFIG_ARCH_BOARD="px4fmu-v2" + +# +# Common Board Options +# +CONFIG_NSH_MMCSDSLOTNO=0 +CONFIG_NSH_MMCSDMINOR=0 + +# +# Board-Specific Options +# + +# +# RTOS Features +# +# CONFIG_BOARD_INITIALIZE is not set +CONFIG_MSEC_PER_TICK=1 +CONFIG_RR_INTERVAL=0 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_TASK_NAME_SIZE=24 +# CONFIG_SCHED_HAVE_PARENT is not set +# CONFIG_JULIAN_TIME is not set +CONFIG_START_YEAR=1970 +CONFIG_START_MONTH=1 +CONFIG_START_DAY=1 +CONFIG_DEV_CONSOLE=y +# CONFIG_MUTEX_TYPES is not set +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_SEM_PREALLOCHOLDERS=8 +CONFIG_SEM_NNESTPRIO=8 +# CONFIG_FDCLONE_DISABLE is not set +CONFIG_FDCLONE_STDIO=y +CONFIG_SDCLONE_DISABLE=y +CONFIG_SCHED_WAITPID=y +# CONFIG_SCHED_STARTHOOK is not set +CONFIG_SCHED_ATEXIT=y +CONFIG_SCHED_ATEXIT_MAX=1 +# CONFIG_SCHED_ONEXIT is not set +CONFIG_USER_ENTRYPOINT="nsh_main" +# CONFIG_DISABLE_OS_API is not set + +# +# Signal Numbers +# +CONFIG_SIG_SIGUSR1=1 +CONFIG_SIG_SIGUSR2=2 +CONFIG_SIG_SIGALARM=3 +CONFIG_SIG_SIGCONDTIMEDOUT=16 +CONFIG_SIG_SIGWORK=4 + +# +# Sizes of configurable things (0 disables) +# +CONFIG_MAX_TASKS=32 +CONFIG_MAX_TASK_ARGS=10 +CONFIG_NPTHREAD_KEYS=4 +CONFIG_NFILE_DESCRIPTORS=32 +CONFIG_NFILE_STREAMS=8 +CONFIG_NAME_MAX=32 +CONFIG_PREALLOC_MQ_MSGS=4 +CONFIG_MQ_MAXMSGSIZE=32 +CONFIG_MAX_WDOGPARMS=2 +CONFIG_PREALLOC_WDOGS=50 +CONFIG_PREALLOC_TIMERS=50 + +# +# Stack and heap information +# +CONFIG_IDLETHREAD_STACKSIZE=6000 +CONFIG_USERMAIN_STACKSIZE=4096 +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_PTHREAD_STACK_DEFAULT=2048 + +# +# Device Drivers +# +# CONFIG_DISABLE_POLL is not set +CONFIG_DEV_NULL=y +# CONFIG_DEV_ZERO is not set +# CONFIG_LOOP is not set +# CONFIG_RAMDISK is not set +# CONFIG_CAN is not set +# CONFIG_PWM is not set +CONFIG_I2C=y +# CONFIG_I2C_SLAVE is not set +CONFIG_I2C_TRANSFER=y +# CONFIG_I2C_WRITEREAD is not set +# CONFIG_I2C_POLLED is not set +# CONFIG_I2C_TRACE is not set +CONFIG_ARCH_HAVE_I2CRESET=y +CONFIG_I2C_RESET=y +CONFIG_SPI=y +# CONFIG_SPI_OWNBUS is not set +CONFIG_SPI_EXCHANGE=y +# CONFIG_SPI_CMDDATA is not set +# CONFIG_RTC is not set +CONFIG_WATCHDOG=y +# CONFIG_ANALOG is not set +# CONFIG_AUDIO_DEVICES is not set +# CONFIG_BCH is not set +# CONFIG_INPUT is not set +# CONFIG_LCD is not set +# CONFIG_MMCSD is not set +CONFIG_MTD=y + +# +# MTD Configuration +# +# CONFIG_MTD_PARTITION is not set +# CONFIG_MTD_BYTE_WRITE is not set + +# +# MTD Device Drivers +# +# CONFIG_RAMMTD is not set +# CONFIG_MTD_AT24XX is not set +# CONFIG_MTD_AT45DB is not set +# CONFIG_MTD_M25P is not set +# CONFIG_MTD_SMART is not set +CONFIG_MTD_RAMTRON=y +# CONFIG_MTD_SST25 is not set +# CONFIG_MTD_SST39FV is not set +# CONFIG_MTD_W25 is not set +CONFIG_PIPES=y +# CONFIG_PM is not set +# CONFIG_POWER is not set +# CONFIG_SENSORS is not set +CONFIG_SERIAL=y +CONFIG_DEV_LOWCONSOLE=y +CONFIG_SERIAL_REMOVABLE=y +# CONFIG_16550_UART is not set +CONFIG_ARCH_HAVE_UART4=y +CONFIG_ARCH_HAVE_UART7=y +CONFIG_ARCH_HAVE_UART8=y +CONFIG_ARCH_HAVE_USART1=y +CONFIG_ARCH_HAVE_USART2=y +CONFIG_ARCH_HAVE_USART3=y +CONFIG_ARCH_HAVE_USART6=y +CONFIG_MCU_SERIAL=y +CONFIG_STANDARD_SERIAL=y +CONFIG_SERIAL_NPOLLWAITERS=2 +# CONFIG_USART1_SERIAL_CONSOLE is not set +# CONFIG_USART2_SERIAL_CONSOLE is not set +# CONFIG_USART3_SERIAL_CONSOLE is not set +# CONFIG_UART4_SERIAL_CONSOLE is not set +# CONFIG_USART6_SERIAL_CONSOLE is not set +# CONFIG_UART7_SERIAL_CONSOLE is not set +CONFIG_UART8_SERIAL_CONSOLE=y +# CONFIG_NO_SERIAL_CONSOLE is not set + +# +# USART1 Configuration +# +CONFIG_USART1_RXBUFSIZE=512 +CONFIG_USART1_TXBUFSIZE=512 +CONFIG_USART1_BAUD=115200 +CONFIG_USART1_BITS=8 +CONFIG_USART1_PARITY=0 +CONFIG_USART1_2STOP=0 +# CONFIG_USART1_IFLOWCONTROL is not set +# CONFIG_USART1_OFLOWCONTROL is not set + +# +# USART2 Configuration +# +CONFIG_USART2_RXBUFSIZE=512 +CONFIG_USART2_TXBUFSIZE=512 +CONFIG_USART2_BAUD=57600 +CONFIG_USART2_BITS=8 +CONFIG_USART2_PARITY=0 +CONFIG_USART2_2STOP=0 +CONFIG_USART2_IFLOWCONTROL=y +CONFIG_USART2_OFLOWCONTROL=y + +# +# USART3 Configuration +# +CONFIG_USART3_RXBUFSIZE=512 +CONFIG_USART3_TXBUFSIZE=512 +CONFIG_USART3_BAUD=57600 +CONFIG_USART3_BITS=8 +CONFIG_USART3_PARITY=0 +CONFIG_USART3_2STOP=0 +CONFIG_USART3_IFLOWCONTROL=y +CONFIG_USART3_OFLOWCONTROL=y + +# +# UART4 Configuration +# +CONFIG_UART4_RXBUFSIZE=128 +CONFIG_UART4_TXBUFSIZE=128 +CONFIG_UART4_BAUD=57600 +CONFIG_UART4_BITS=8 +CONFIG_UART4_PARITY=0 +CONFIG_UART4_2STOP=0 +# CONFIG_UART4_IFLOWCONTROL is not set +# CONFIG_UART4_OFLOWCONTROL is not set + +# +# USART6 Configuration +# +CONFIG_USART6_RXBUFSIZE=256 +CONFIG_USART6_TXBUFSIZE=256 +CONFIG_USART6_BAUD=57600 +CONFIG_USART6_BITS=8 +CONFIG_USART6_PARITY=0 +CONFIG_USART6_2STOP=0 +# CONFIG_USART6_IFLOWCONTROL is not set +# CONFIG_USART6_OFLOWCONTROL is not set + +# +# UART7 Configuration +# +CONFIG_UART7_RXBUFSIZE=256 +CONFIG_UART7_TXBUFSIZE=256 +CONFIG_UART7_BAUD=57600 +CONFIG_UART7_BITS=8 +CONFIG_UART7_PARITY=0 +CONFIG_UART7_2STOP=0 +# CONFIG_UART7_IFLOWCONTROL is not set +# CONFIG_UART7_OFLOWCONTROL is not set + +# +# UART8 Configuration +# +CONFIG_UART8_RXBUFSIZE=256 +CONFIG_UART8_TXBUFSIZE=256 +CONFIG_UART8_BAUD=57600 +CONFIG_UART8_BITS=8 +CONFIG_UART8_PARITY=0 +CONFIG_UART8_2STOP=0 +# CONFIG_UART8_IFLOWCONTROL is not set +# CONFIG_UART8_OFLOWCONTROL is not set +CONFIG_SERIAL_IFLOWCONTROL=y +CONFIG_SERIAL_OFLOWCONTROL=y +CONFIG_USBDEV=y + +# +# USB Device Controller Driver Options +# +# CONFIG_USBDEV_ISOCHRONOUS is not set +# CONFIG_USBDEV_DUALSPEED is not set +# CONFIG_USBDEV_SELFPOWERED is not set +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +# CONFIG_USBDEV_REMOTEWAKEUP is not set +# CONFIG_USBDEV_DMA is not set +# CONFIG_USBDEV_TRACE is not set + +# +# USB Device Class Driver Options +# +# CONFIG_USBDEV_COMPOSITE is not set +# CONFIG_PL2303 is not set +CONFIG_CDCACM=y +CONFIG_CDCACM_CONSOLE=n +CONFIG_CDCACM_EP0MAXPACKET=64 +CONFIG_CDCACM_EPINTIN=1 +CONFIG_CDCACM_EPINTIN_FSSIZE=64 +CONFIG_CDCACM_EPINTIN_HSSIZE=64 +CONFIG_CDCACM_EPBULKOUT=3 +CONFIG_CDCACM_EPBULKOUT_FSSIZE=64 +CONFIG_CDCACM_EPBULKOUT_HSSIZE=512 +CONFIG_CDCACM_EPBULKIN=2 +CONFIG_CDCACM_EPBULKIN_FSSIZE=64 +CONFIG_CDCACM_EPBULKIN_HSSIZE=512 +CONFIG_CDCACM_NWRREQS=4 +CONFIG_CDCACM_NRDREQS=4 +CONFIG_CDCACM_BULKIN_REQLEN=96 +CONFIG_CDCACM_RXBUFSIZE=512 +CONFIG_CDCACM_TXBUFSIZE=512 +CONFIG_CDCACM_VENDORID=0x26ac +CONFIG_CDCACM_PRODUCTID=0x0011 +CONFIG_CDCACM_VENDORSTR="3D Robotics" +CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v2.x" +# CONFIG_USBMSC is not set +# CONFIG_USBHOST is not set +# CONFIG_WIRELESS is not set + +# +# System Logging Device Options +# + +# +# System Logging +# +# CONFIG_RAMLOG is not set + +# +# Networking Support +# +# CONFIG_NET is not set + +# +# File Systems +# + +# +# File system configuration +# +# CONFIG_DISABLE_MOUNTPOINT is not set +# CONFIG_FS_RAMMAP is not set +CONFIG_FS_FAT=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FAT_MAXFNAME=32 +CONFIG_FS_FATTIME=y +# CONFIG_FAT_DMAMEMORY is not set +CONFIG_FS_NXFFS=y +CONFIG_NXFFS_PREALLOCATED=y +CONFIG_NXFFS_ERASEDSTATE=0xff +CONFIG_NXFFS_PACKTHRESHOLD=32 +CONFIG_NXFFS_MAXNAMLEN=32 +CONFIG_NXFFS_TAILTHRESHOLD=2048 +CONFIG_FS_ROMFS=y +# CONFIG_FS_SMARTFS is not set +CONFIG_FS_BINFS=y + +# +# System Logging +# +CONFIG_SYSLOG_ENABLE=y +CONFIG_SYSLOG=y +CONFIG_SYSLOG_CHAR=y +CONFIG_SYSLOG_DEVPATH="/dev/ttyS6" + +# +# Graphics Support +# +# CONFIG_NX is not set + +# +# Memory Management +# +# CONFIG_MM_MULTIHEAP is not set +# CONFIG_MM_SMALL is not set +CONFIG_MM_REGIONS=2 +CONFIG_GRAN=y +CONFIG_GRAN_SINGLE=y +CONFIG_GRAN_INTR=y + +# +# Audio Support +# +# CONFIG_AUDIO is not set + +# +# Binary Formats +# +# CONFIG_BINFMT_DISABLE is not set +# CONFIG_BINFMT_EXEPATH is not set +# CONFIG_NXFLAT is not set +# CONFIG_ELF is not set +CONFIG_BUILTIN=y +# CONFIG_PIC is not set +# CONFIG_SYMTAB_ORDEREDBYNAME is not set + +# +# Library Routines +# + +# +# Standard C Library Options +# +CONFIG_STDIO_BUFFER_SIZE=32 +CONFIG_STDIO_LINEBUFFER=y +CONFIG_NUNGET_CHARS=2 +CONFIG_LIB_HOMEDIR="/" +# CONFIG_NOPRINTF_FIELDWIDTH is not set +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIB_RAND_ORDER=1 +# CONFIG_EOL_IS_CR is not set +# CONFIG_EOL_IS_LF is not set +# CONFIG_EOL_IS_BOTH_CRLF is not set +CONFIG_EOL_IS_EITHER_CRLF=y +# CONFIG_LIBC_EXECFUNCS is not set +CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=1024 +CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=2048 +CONFIG_LIBC_STRERROR=y +# CONFIG_LIBC_STRERROR_SHORT is not set +# CONFIG_LIBC_PERROR_STDOUT is not set +CONFIG_ARCH_LOWPUTC=y +CONFIG_LIB_SENDFILE_BUFSIZE=512 +# CONFIG_ARCH_ROMGETC is not set +CONFIG_ARCH_OPTIMIZED_FUNCTIONS=y +CONFIG_ARCH_MEMCPY=y +# CONFIG_ARCH_MEMCMP is not set +# CONFIG_ARCH_MEMMOVE is not set +# CONFIG_ARCH_MEMSET is not set +# CONFIG_MEMSET_OPTSPEED is not set +# CONFIG_ARCH_STRCHR is not set +# CONFIG_ARCH_STRCMP is not set +# CONFIG_ARCH_STRCPY is not set +# CONFIG_ARCH_STRNCPY is not set +# CONFIG_ARCH_STRLEN is not set +# CONFIG_ARCH_STRNLEN is not set +# CONFIG_ARCH_BZERO is not set + +# +# Non-standard Library Support +# +CONFIG_SCHED_WORKQUEUE=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_WORKPRIORITY=192 +CONFIG_SCHED_WORKPERIOD=5000 +CONFIG_SCHED_WORKSTACKSIZE=2048 +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKPERIOD=50000 +CONFIG_SCHED_LPWORKSTACKSIZE=2048 +# CONFIG_LIB_KBDCODEC is not set +# CONFIG_LIB_SLCDCODEC is not set + +# +# Basic CXX Support +# +CONFIG_C99_BOOL8=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +# CONFIG_CXX_NEWLONG is not set + +# +# uClibc++ Standard C++ Library +# +# CONFIG_UCLIBCXX is not set + +# +# Application Configuration +# + +# +# Built-In Applications +# +CONFIG_BUILTIN_PROXY_STACKSIZE=1024 + +# +# Examples +# +# CONFIG_EXAMPLES_BUTTONS is not set +# CONFIG_EXAMPLES_CAN is not set +CONFIG_EXAMPLES_CDCACM=y +# CONFIG_EXAMPLES_COMPOSITE is not set +# CONFIG_EXAMPLES_CXXTEST is not set +# CONFIG_EXAMPLES_DHCPD is not set +# CONFIG_EXAMPLES_ELF is not set +# CONFIG_EXAMPLES_FTPC is not set +# CONFIG_EXAMPLES_FTPD is not set +# CONFIG_EXAMPLES_HELLO is not set +# CONFIG_EXAMPLES_HELLOXX is not set +# CONFIG_EXAMPLES_JSON is not set +# CONFIG_EXAMPLES_HIDKBD is not set +# CONFIG_EXAMPLES_KEYPADTEST is not set +# CONFIG_EXAMPLES_IGMP is not set +# CONFIG_EXAMPLES_LCDRW is not set +# CONFIG_EXAMPLES_MM is not set +# CONFIG_EXAMPLES_MODBUS is not set +CONFIG_EXAMPLES_MOUNT=y +# CONFIG_EXAMPLES_NRF24L01TERM is not set +CONFIG_EXAMPLES_NSH=y +# CONFIG_EXAMPLES_NULL is not set +# CONFIG_EXAMPLES_NX is not set +# CONFIG_EXAMPLES_NXCONSOLE is not set +# CONFIG_EXAMPLES_NXFFS is not set +# CONFIG_EXAMPLES_NXFLAT is not set +# CONFIG_EXAMPLES_NXHELLO is not set +# CONFIG_EXAMPLES_NXIMAGE is not set +# CONFIG_EXAMPLES_NXLINES is not set +# CONFIG_EXAMPLES_NXTEXT is not set +# CONFIG_EXAMPLES_OSTEST is not set +# CONFIG_EXAMPLES_PASHELLO is not set +# CONFIG_EXAMPLES_PIPE is not set +# CONFIG_EXAMPLES_POSIXSPAWN is not set +# CONFIG_EXAMPLES_QENCODER is not set +# CONFIG_EXAMPLES_RGMP is not set +# CONFIG_EXAMPLES_ROMFS is not set +# CONFIG_EXAMPLES_SENDMAIL is not set +# CONFIG_EXAMPLES_SERLOOP is not set +# CONFIG_EXAMPLES_SLCD is not set +# CONFIG_EXAMPLES_SMART_TEST is not set +# CONFIG_EXAMPLES_SMART is not set +# CONFIG_EXAMPLES_TCPECHO is not set +# CONFIG_EXAMPLES_TELNETD is not set +# CONFIG_EXAMPLES_THTTPD is not set +# CONFIG_EXAMPLES_TIFF is not set +# CONFIG_EXAMPLES_TOUCHSCREEN is not set +# CONFIG_EXAMPLES_UDP is not set +# CONFIG_EXAMPLES_UIP is not set +# CONFIG_EXAMPLES_USBSERIAL is not set +# CONFIG_EXAMPLES_USBMSC is not set +# CONFIG_EXAMPLES_USBTERM is not set +# CONFIG_EXAMPLES_WATCHDOG is not set + +# +# Graphics Support +# +# CONFIG_TIFF is not set + +# +# Interpreters +# +# CONFIG_INTERPRETERS_FICL is not set +# CONFIG_INTERPRETERS_PCODE is not set + +# +# Network Utilities +# + +# +# Networking Utilities +# +# CONFIG_NETUTILS_CODECS is not set +# CONFIG_NETUTILS_DHCPC is not set +# CONFIG_NETUTILS_DHCPD is not set +# CONFIG_NETUTILS_FTPC is not set +# CONFIG_NETUTILS_FTPD is not set +# CONFIG_NETUTILS_JSON is not set +# CONFIG_NETUTILS_RESOLV is not set +# CONFIG_NETUTILS_SMTP is not set +# CONFIG_NETUTILS_TELNETD is not set +# CONFIG_NETUTILS_TFTPC is not set +# CONFIG_NETUTILS_THTTPD is not set +# CONFIG_NETUTILS_UIPLIB is not set +# CONFIG_NETUTILS_WEBCLIENT is not set + +# +# FreeModBus +# +# CONFIG_MODBUS is not set + +# +# NSH Library +# +CONFIG_NSH_LIBRARY=y +CONFIG_NSH_BUILTIN_APPS=y + +# +# Disable Individual commands +# +# CONFIG_NSH_DISABLE_CAT is not set +# CONFIG_NSH_DISABLE_CD is not set +# CONFIG_NSH_DISABLE_CP is not set +# CONFIG_NSH_DISABLE_DD is not set +# CONFIG_NSH_DISABLE_ECHO is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXIT is not set +# CONFIG_NSH_DISABLE_FREE is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_HELP is not set +# CONFIG_NSH_DISABLE_HEXDUMP is not set +# CONFIG_NSH_DISABLE_IFCONFIG is not set +# CONFIG_NSH_DISABLE_KILL is not set +# CONFIG_NSH_DISABLE_LOSETUP is not set +# CONFIG_NSH_DISABLE_LS is not set +# CONFIG_NSH_DISABLE_MB is not set +# CONFIG_NSH_DISABLE_MKDIR is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_MKFIFO is not set +# CONFIG_NSH_DISABLE_MKRD is not set +# CONFIG_NSH_DISABLE_MH is not set +# CONFIG_NSH_DISABLE_MOUNT is not set +# CONFIG_NSH_DISABLE_MW is not set +# CONFIG_NSH_DISABLE_NSFMOUNT is not set +# CONFIG_NSH_DISABLE_PS is not set +# CONFIG_NSH_DISABLE_PING is not set +# CONFIG_NSH_DISABLE_PUT is not set +# CONFIG_NSH_DISABLE_PWD is not set +# CONFIG_NSH_DISABLE_RM is not set +# CONFIG_NSH_DISABLE_RMDIR is not set +# CONFIG_NSH_DISABLE_SET is not set +# CONFIG_NSH_DISABLE_SH is not set +# CONFIG_NSH_DISABLE_SLEEP is not set +# CONFIG_NSH_DISABLE_TEST is not set +# CONFIG_NSH_DISABLE_UMOUNT is not set +# CONFIG_NSH_DISABLE_UNSET is not set +# CONFIG_NSH_DISABLE_USLEEP is not set +# CONFIG_NSH_DISABLE_WGET is not set +# CONFIG_NSH_DISABLE_XD is not set + +# +# Configure Command Options +# +# CONFIG_NSH_CMDOPT_DF_H is not set +CONFIG_NSH_CODECS_BUFSIZE=128 +CONFIG_NSH_FILEIOSIZE=512 +CONFIG_NSH_STRERROR=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=12 +CONFIG_NSH_NESTDEPTH=8 +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLEBG is not set +CONFIG_NSH_ROMFSETC=y +# CONFIG_NSH_ROMFSRC is not set +CONFIG_NSH_ROMFSMOUNTPT="/etc" +CONFIG_NSH_INITSCRIPT="init.d/rcS" +CONFIG_NSH_ROMFSDEVNO=0 +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_ARCHROMFS=y +CONFIG_NSH_FATDEVNO=1 +CONFIG_NSH_FATSECTSIZE=512 +CONFIG_NSH_FATNSECTORS=1024 +CONFIG_NSH_FATMOUNTPT="/tmp" +CONFIG_NSH_CONSOLE=y +# CONFIG_NSH_USBCONSOLE is not set + +# +# USB Trace Support +# +# CONFIG_NSH_CONDEV is not set +CONFIG_NSH_ARCHINIT=y + +# +# NxWidgets/NxWM +# + +# +# System NSH Add-Ons +# + +# +# Custom Free Memory Command +# +# CONFIG_SYSTEM_FREE is not set + +# +# I2C tool +# +# CONFIG_SYSTEM_I2CTOOL is not set + +# +# FLASH Program Installation +# +# CONFIG_SYSTEM_INSTALL is not set + +# +# FLASH Erase-all Command +# + +# +# readline() +# +CONFIG_SYSTEM_READLINE=y +CONFIG_READLINE_ECHO=y + +# +# Power Off +# +# CONFIG_SYSTEM_POWEROFF is not set + +# +# RAMTRON +# +# CONFIG_SYSTEM_RAMTRON is not set + +# +# SD Card +# +# CONFIG_SYSTEM_SDCARD is not set + +# +# Sysinfo +# +CONFIG_SYSTEM_SYSINFO=y + +# +# USB Monitor +# diff --git a/nuttx-configs/px4fmu-v2/nsh/setenv.sh b/nuttx-configs/px4fmu-v2/nsh/setenv.sh new file mode 100755 index 0000000000..265520997d --- /dev/null +++ b/nuttx-configs/px4fmu-v2/nsh/setenv.sh @@ -0,0 +1,67 @@ +#!/bin/bash +# configs/stm3240g-eval/nsh/setenv.sh +# +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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. +# + +if [ "$_" = "$0" ] ; then + echo "You must source this script, not run it!" 1>&2 + exit 1 +fi + +WD=`pwd` +if [ ! -x "setenv.sh" ]; then + echo "This script must be executed from the top-level NuttX build directory" + exit 1 +fi + +if [ -z "${PATH_ORIG}" ]; then + export PATH_ORIG="${PATH}" +fi + +# This the Cygwin path to the location where I installed the RIDE +# toolchain under windows. You will also have to edit this if you install +# the RIDE toolchain in any other location +#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin" + +# This the Cygwin path to the location where I installed the CodeSourcery +# toolchain under windows. You will also have to edit this if you install +# the CodeSourcery toolchain in any other location +export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin" + +# This the Cygwin path to the location where I build the buildroot +# toolchain. +#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin" + +# Add the path to the toolchain to the PATH varialble +export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}" + +echo "PATH : ${PATH}" diff --git a/nuttx-configs/px4fmu-v2/scripts/ld.script b/nuttx-configs/px4fmu-v2/scripts/ld.script new file mode 100644 index 0000000000..1be39fb87f --- /dev/null +++ b/nuttx-configs/px4fmu-v2/scripts/ld.script @@ -0,0 +1,150 @@ +/**************************************************************************** + * configs/px4fmu/common/ld.script + * + * Copyright (C) 2011 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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. + * + ****************************************************************************/ + +/* The STM32F427 has 2048Kb of FLASH beginning at address 0x0800:0000 and + * 256Kb of SRAM. SRAM is split up into three blocks: + * + * 1) 112Kb of SRAM beginning at address 0x2000:0000 + * 2) 16Kb of SRAM beginning at address 0x2001:c000 + * 3) 64Kb of SRAM beginning at address 0x2002:0000 + * 4) 64Kb of TCM SRAM beginning at address 0x1000:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + * + * The first 0x4000 of flash is reserved for the bootloader. + */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K + sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K + ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K +} + +OUTPUT_ARCH(arm) + +ENTRY(__start) /* treat __start as the anchor for dead code stripping */ +EXTERN(_vectors) /* force the vectors to be included in the output */ + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + /* + * This is a hack to make the newlib libm __errno() call + * use the NuttX get_errno_ptr() function. + */ + __errno = get_errno_ptr; + } > flash + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > flash + + /* + * Construction data for parameters. + */ + __param ALIGN(4): { + __param_start = ABSOLUTE(.); + KEEP(*(__param*)) + __param_end = ABSOLUTE(.); + } > flash + + .ARM.extab : { + *(.ARM.extab*) + } > flash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > flash + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > sram AT > flash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/nuttx-configs/px4fmu-v2/src/Makefile b/nuttx-configs/px4fmu-v2/src/Makefile new file mode 100644 index 0000000000..d4276f7fc5 --- /dev/null +++ b/nuttx-configs/px4fmu-v2/src/Makefile @@ -0,0 +1,84 @@ +############################################################################ +# configs/px4fmu/src/Makefile +# +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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. +# +############################################################################ + +-include $(TOPDIR)/Make.defs + +CFLAGS += -I$(TOPDIR)/sched + +ASRCS = +AOBJS = $(ASRCS:.S=$(OBJEXT)) + +CSRCS = empty.c +COBJS = $(CSRCS:.c=$(OBJEXT)) + +SRCS = $(ASRCS) $(CSRCS) +OBJS = $(AOBJS) $(COBJS) + +ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src +ifeq ($(WINTOOL),y) + CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \ + -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \ + -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}" +else + CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m +endif + +all: libboard$(LIBEXT) + +$(AOBJS): %$(OBJEXT): %.S + $(call ASSEMBLE, $<, $@) + +$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c + $(call COMPILE, $<, $@) + +libboard$(LIBEXT): $(OBJS) + $(call ARCHIVE, $@, $(OBJS)) + +.depend: Makefile $(SRCS) + $(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep + $(Q) touch $@ + +depend: .depend + +clean: + $(call DELFILE, libboard$(LIBEXT)) + $(call CLEAN) + +distclean: clean + $(call DELFILE, Make.dep) + $(call DELFILE, .depend) + +-include Make.dep + diff --git a/nuttx-configs/px4fmu-v2/src/empty.c b/nuttx-configs/px4fmu-v2/src/empty.c new file mode 100644 index 0000000000..ace900866c --- /dev/null +++ b/nuttx-configs/px4fmu-v2/src/empty.c @@ -0,0 +1,4 @@ +/* + * There are no source files here, but libboard.a can't be empty, so + * we have this empty source file to keep it company. + */ diff --git a/nuttx-configs/px4io-v1/include/board.h b/nuttx-configs/px4io-v1/include/board.h index 6503a94cd0..8150792665 100755 --- a/nuttx-configs/px4io-v1/include/board.h +++ b/nuttx-configs/px4io-v1/include/board.h @@ -115,22 +115,6 @@ #undef GPIO_USART3_RTS #define GPIO_USART3_RTS 0xffffffff -/* - * High-resolution timer - */ -#define HRT_TIMER 1 /* use timer1 for the HRT */ -#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */ - -/* - * PPM - * - * PPM input is handled by the HRT timer. - * - * Pin is PA8, timer 1, channel 1 - */ -#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */ -#define GPIO_PPM_IN GPIO_TIM1_CH1IN - /************************************************************************************ * Public Data ************************************************************************************/ diff --git a/nuttx-configs/px4io-v2/include/board.h b/nuttx-configs/px4io-v2/include/board.h new file mode 100755 index 0000000000..4b9c906385 --- /dev/null +++ b/nuttx-configs/px4io-v2/include/board.h @@ -0,0 +1,149 @@ +/************************************************************************************ + * configs/px4io/include/board.h + * include/arch/board/board.h + * + * Copyright (C) 2009 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * 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. + * + ************************************************************************************/ + +#ifndef __ARCH_BOARD_BOARD_H +#define __ARCH_BOARD_BOARD_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include +#ifndef __ASSEMBLY__ +# include +#endif +#include + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/* Clocking *************************************************************************/ + +/* On-board crystal frequency is 24MHz (HSE) */ + +#define STM32_BOARD_XTAL 24000000ul + +/* Use the HSE output as the system clock */ + +#define STM32_SYSCLK_SW RCC_CFGR_SW_HSE +#define STM32_SYSCLK_SWS RCC_CFGR_SWS_HSE +#define STM32_SYSCLK_FREQUENCY STM32_BOARD_XTAL + +/* AHB clock (HCLK) is SYSCLK (24MHz) */ + +#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK +#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY +#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ + +/* APB2 clock (PCLK2) is HCLK (24MHz) */ + +#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK +#define STM32_PCLK2_FREQUENCY STM32_HCLK_FREQUENCY +#define STM32_APB2_CLKIN (STM32_PCLK2_FREQUENCY) /* Timers 2-4 */ + +/* APB2 timer 1 will receive PCLK2. */ + +#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY) + +/* APB1 clock (PCLK1) is HCLK (24MHz) */ + +#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLK +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY) + +/* All timers run off PCLK */ + +#define STM32_APB1_TIM1_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB1_TIM2_CLKIN (STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM3_CLKIN (STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM4_CLKIN (STM32_PCLK1_FREQUENCY) + +/* + * Some of the USART pins are not available; override the GPIO + * definitions with an invalid pin configuration. + */ +#undef GPIO_USART2_CTS +#define GPIO_USART2_CTS 0xffffffff +#undef GPIO_USART2_RTS +#define GPIO_USART2_RTS 0xffffffff +#undef GPIO_USART2_CK +#define GPIO_USART2_CK 0xffffffff +#undef GPIO_USART3_TX +#define GPIO_USART3_TX 0xffffffff +#undef GPIO_USART3_CK +#define GPIO_USART3_CK 0xffffffff +#undef GPIO_USART3_CTS +#define GPIO_USART3_CTS 0xffffffff +#undef GPIO_USART3_RTS +#define GPIO_USART3_RTS 0xffffffff + +/************************************************************************************ + * Public Data + ************************************************************************************/ + +#ifndef __ASSEMBLY__ + +#undef EXTERN +#if defined(__cplusplus) +#define EXTERN extern "C" +extern "C" { +#else +#define EXTERN extern +#endif + +/************************************************************************************ + * Public Function Prototypes + ************************************************************************************/ +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the intitialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +EXTERN void stm32_boardinitialize(void); + +#if defined(__cplusplus) +} +#endif + +#endif /* __ASSEMBLY__ */ +#endif /* __ARCH_BOARD_BOARD_H */ diff --git a/nuttx-configs/px4io-v2/nsh/Make.defs b/nuttx-configs/px4io-v2/nsh/Make.defs new file mode 100644 index 0000000000..cd2d8eba3b --- /dev/null +++ b/nuttx-configs/px4io-v2/nsh/Make.defs @@ -0,0 +1,170 @@ +############################################################################ +# configs/px4io-v2/nsh/Make.defs +# +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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. +# +############################################################################ + +include ${TOPDIR}/.config +include ${TOPDIR}/tools/Config.mk + +# +# We only support building with the ARM bare-metal toolchain from +# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS. +# +CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI + +include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs + +CC = $(CROSSDEV)gcc +CXX = $(CROSSDEV)g++ +CPP = $(CROSSDEV)gcc -E +LD = $(CROSSDEV)ld +AR = $(CROSSDEV)ar rcs +NM = $(CROSSDEV)nm +OBJCOPY = $(CROSSDEV)objcopy +OBJDUMP = $(CROSSDEV)objdump + +MAXOPTIMIZATION = -O3 +ARCHCPUFLAGS = -mcpu=cortex-m3 \ + -mthumb \ + -march=armv7-m + +# enable precise stack overflow tracking +#INSTRUMENTATIONDEFINES = -finstrument-functions \ +# -ffixed-r10 + +# use our linker script +LDSCRIPT = ld.script + +ifeq ($(WINTOOL),y) + # Windows-native toolchains + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" + ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}" + ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}" +else + ifeq ($(PX4_WINTOOL),y) + # Windows-native toolchains (MSYS) + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) + else + # Linux/Cygwin-native toolchain + MKDEP = $(TOPDIR)/tools/mkdeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) + endif +endif + +# tool versions +ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'} +ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1} + +# optimisation flags +ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \ + -fno-strict-aliasing \ + -fno-strength-reduce \ + -fomit-frame-pointer \ + -funsafe-math-optimizations \ + -fno-builtin-printf \ + -ffunction-sections \ + -fdata-sections + +ifeq ("${CONFIG_DEBUG_SYMBOLS}","y") +ARCHOPTIMIZATION += -g +endif + +ARCHCFLAGS = -std=gnu99 +ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x +ARCHWARNINGS = -Wall \ + -Wextra \ + -Wdouble-promotion \ + -Wshadow \ + -Wfloat-equal \ + -Wframe-larger-than=1024 \ + -Wpointer-arith \ + -Wlogical-op \ + -Wmissing-declarations \ + -Wpacked \ + -Wno-unused-parameter +# -Wcast-qual - generates spurious noreturn attribute warnings, try again later +# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code +# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives + +ARCHCWARNINGS = $(ARCHWARNINGS) \ + -Wbad-function-cast \ + -Wstrict-prototypes \ + -Wold-style-declaration \ + -Wmissing-parameter-type \ + -Wmissing-prototypes \ + -Wnested-externs \ + -Wunsuffixed-float-constants +ARCHWARNINGSXX = $(ARCHWARNINGS) +ARCHDEFINES = +ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10 + +# this seems to be the only way to add linker flags +EXTRA_LIBS += --warn-common \ + --gc-sections + +CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common +CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS) +CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe +CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS) +CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) +AFLAGS = $(CFLAGS) -D__ASSEMBLY__ + +NXFLATLDFLAGS1 = -r -d -warn-common +NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections +LDNXFLATFLAGS = -e main -s 2048 + +OBJEXT = .o +LIBEXT = .a +EXEEXT = + +# produce partially-linked $1 from files in $2 +define PRELINK + @echo "PRELINK: $1" + $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1 +endef + +HOSTCC = gcc +HOSTINCLUDES = -I. +HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe +HOSTLDFLAGS = + diff --git a/nuttx-configs/px4io-v2/nsh/appconfig b/nuttx-configs/px4io-v2/nsh/appconfig new file mode 100644 index 0000000000..48a41bcdb8 --- /dev/null +++ b/nuttx-configs/px4io-v2/nsh/appconfig @@ -0,0 +1,32 @@ +############################################################################ +# +# 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. +# +############################################################################ diff --git a/nuttx-configs/px4io-v2/nsh/defconfig b/nuttx-configs/px4io-v2/nsh/defconfig new file mode 100755 index 0000000000..4111e70eba --- /dev/null +++ b/nuttx-configs/px4io-v2/nsh/defconfig @@ -0,0 +1,548 @@ +############################################################################ +# configs/px4io/nsh/defconfig +# +# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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. +# +############################################################################ +# +# architecture selection +# +# CONFIG_ARCH - identifies the arch subdirectory and, hence, the +# processor architecture. +# CONFIG_ARCH_family - for use in C code. This identifies the +# particular chip family that the architecture is implemented +# in. +# CONFIG_ARCH_architecture - for use in C code. This identifies the +# specific architecture within the chip family. +# CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory +# CONFIG_ARCH_CHIP_name - For use in C code +# CONFIG_ARCH_BOARD - identifies the configs subdirectory and, hence, +# the board that supports the particular chip or SoC. +# CONFIG_ARCH_BOARD_name - for use in C code +# CONFIG_ENDIAN_BIG - define if big endian (default is little endian) +# CONFIG_BOARD_LOOPSPERMSEC - for delay loops +# CONFIG_DRAM_SIZE - Describes the installed DRAM. +# CONFIG_DRAM_START - The start address of DRAM (physical) +# CONFIG_ARCH_IRQPRIO - The ST32F100CB supports interrupt prioritization +# CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt +# stack. If defined, this symbol is the size of the interrupt +# stack in bytes. If not defined, the user task stacks will be +# used during interrupt handling. +# CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions +# CONFIG_ARCH_BOOTLOADER - Set if you are using a bootloader. +# CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to board architecture. +# CONFIG_ARCH_BUTTONS - Enable support for buttons. Unique to board architecture. +# CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that +# cause a 100 second delay during boot-up. This 100 second delay +# serves no purpose other than it allows you to calibrate +# CONFIG_BOARD_LOOPSPERMSEC. You simply use a stop watch to measure +# the 100 second delay then adjust CONFIG_BOARD_LOOPSPERMSEC until +# the delay actually is 100 seconds. +# CONFIG_ARCH_DMA - Support DMA initialization +# +CONFIG_ARCH="arm" +CONFIG_ARCH_ARM=y +CONFIG_ARCH_CORTEXM3=y +CONFIG_ARCH_CHIP="stm32" +CONFIG_ARCH_CHIP_STM32F100C8=y +CONFIG_ARCH_BOARD="px4io-v2" +CONFIG_ARCH_BOARD_PX4IO_V2=y +CONFIG_BOARD_LOOPSPERMSEC=2000 +CONFIG_DRAM_SIZE=0x00002000 +CONFIG_DRAM_START=0x20000000 +CONFIG_ARCH_IRQPRIO=y +CONFIG_ARCH_INTERRUPTSTACK=n +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARCH_BOOTLOADER=n +CONFIG_ARCH_LEDS=n +CONFIG_ARCH_BUTTONS=n +CONFIG_ARCH_CALIBRATION=n +CONFIG_ARCH_DMA=y +CONFIG_ARCH_MATH_H=y + +CONFIG_ARMV7M_CMNVECTOR=y + +# +# JTAG Enable settings (by default JTAG-DP and SW-DP are disabled): +# +# CONFIG_STM32_DFU - Use the DFU bootloader, not JTAG +# +# JTAG Enable options: +# +# CONFIG_STM32_JTAG_FULL_ENABLE - Enables full SWJ (JTAG-DP + SW-DP) +# CONFIG_STM32_JTAG_NOJNTRST_ENABLE - Enables full SWJ (JTAG-DP + SW-DP) +# but without JNTRST. +# CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled +# +CONFIG_STM32_DFU=n +CONFIG_STM32_JTAG_FULL_ENABLE=y +CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n +CONFIG_STM32_JTAG_SW_ENABLE=n + +# +# Individual subsystems can be enabled: +# +# AHB: +CONFIG_STM32_DMA1=y +CONFIG_STM32_DMA2=n +CONFIG_STM32_CRC=n +# APB1: +# Timers 2,3 and 4 are owned by the PWM driver +CONFIG_STM32_TIM2=n +CONFIG_STM32_TIM3=n +CONFIG_STM32_TIM4=n +CONFIG_STM32_TIM5=n +CONFIG_STM32_TIM6=n +CONFIG_STM32_TIM7=n +CONFIG_STM32_WWDG=n +CONFIG_STM32_SPI2=n +CONFIG_STM32_USART2=y +CONFIG_STM32_USART3=y +CONFIG_STM32_I2C1=n +CONFIG_STM32_I2C2=n +CONFIG_STM32_BKP=n +CONFIG_STM32_PWR=n +CONFIG_STM32_DAC=n +# APB2: +# We use our own ADC driver, but leave this on for clocking purposes. +CONFIG_STM32_ADC1=y +CONFIG_STM32_ADC2=n +# TIM1 is owned by the HRT +CONFIG_STM32_TIM1=n +CONFIG_STM32_SPI1=n +CONFIG_STM32_TIM8=n +CONFIG_STM32_USART1=y +CONFIG_STM32_ADC3=n + + +# +# STM32F100 specific serial device driver settings +# +# CONFIG_USARTn_SERIAL_CONSOLE - selects the USARTn for the +# console and ttys0 (default is the USART1). +# CONFIG_USARTn_RXBUFSIZE - Characters are buffered as received. +# This specific the size of the receive buffer +# CONFIG_USARTn_TXBUFSIZE - Characters are buffered before +# being sent. This specific the size of the transmit buffer +# CONFIG_USARTn_BAUD - The configure BAUD of the UART. Must be +# CONFIG_USARTn_BITS - The number of bits. Must be either 7 or 8. +# CONFIG_USARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity +# CONFIG_USARTn_2STOP - Two stop bits +# +CONFIG_SERIAL_TERMIOS=y +CONFIG_STANDARD_SERIAL=y + +CONFIG_USART1_SERIAL_CONSOLE=y +CONFIG_USART2_SERIAL_CONSOLE=n +CONFIG_USART3_SERIAL_CONSOLE=n + +CONFIG_USART1_TXBUFSIZE=64 +CONFIG_USART2_TXBUFSIZE=64 +CONFIG_USART3_TXBUFSIZE=64 + +CONFIG_USART1_RXBUFSIZE=64 +CONFIG_USART2_RXBUFSIZE=64 +CONFIG_USART3_RXBUFSIZE=64 + +CONFIG_USART1_BAUD=115200 +CONFIG_USART2_BAUD=115200 +CONFIG_USART3_BAUD=115200 + +CONFIG_USART1_BITS=8 +CONFIG_USART2_BITS=8 +CONFIG_USART3_BITS=8 + +CONFIG_USART1_PARITY=0 +CONFIG_USART2_PARITY=0 +CONFIG_USART3_PARITY=0 + +CONFIG_USART1_2STOP=0 +CONFIG_USART2_2STOP=0 +CONFIG_USART3_2STOP=0 + +CONFIG_USART1_RXDMA=y +SERIAL_HAVE_CONSOLE_DMA=y +# Conflicts with I2C1 DMA +CONFIG_USART2_RXDMA=n +CONFIG_USART3_RXDMA=y + +# +# PX4IO specific driver settings +# +# CONFIG_HRT_TIMER +# Enables the high-resolution timer. The board definition must +# set HRT_TIMER and HRT_TIMER_CHANNEL to the timer and capture/ +# compare channels to be used. +# CONFIG_HRT_PPM +# Enables R/C PPM input using the HRT. The board definition must +# set HRT_PPM_CHANNEL to the timer capture/compare channel to be +# used, and define GPIO_PPM_IN to configure the appropriate timer +# GPIO. +# CONFIG_PWM_SERVO +# Enables the PWM servo driver. The driver configuration must be +# supplied by the board support at initialisation time. +# Note that USART2 must be disabled on the PX4 board for this to +# be available. +# +# +CONFIG_HRT_TIMER=y +CONFIG_HRT_PPM=y + +# +# General build options +# +# CONFIG_RRLOAD_BINARY - make the rrload binary format used with +# BSPs from www.ridgerun.com using the tools/mkimage.sh script +# CONFIG_INTELHEX_BINARY - make the Intel HEX binary format +# used with many different loaders using the GNU objcopy program +# Should not be selected if you are not using the GNU toolchain. +# CONFIG_MOTOROLA_SREC - make the Motorola S-Record binary format +# used with many different loaders using the GNU objcopy program +# Should not be selected if you are not using the GNU toolchain. +# CONFIG_RAW_BINARY - make a raw binary format file used with many +# different loaders using the GNU objcopy program. This option +# should not be selected if you are not using the GNU toolchain. +# CONFIG_HAVE_LIBM - toolchain supports libm.a +# +CONFIG_RRLOAD_BINARY=n +CONFIG_INTELHEX_BINARY=n +CONFIG_MOTOROLA_SREC=n +CONFIG_RAW_BINARY=y +CONFIG_HAVE_LIBM=n + +# +# General OS setup +# +# CONFIG_APPS_DIR - Identifies the relative path to the directory +# that builds the application to link with NuttX. Default: ../apps +# CONFIG_DEBUG - enables built-in debug options +# CONFIG_DEBUG_VERBOSE - enables verbose debug output +# CONFIG_DEBUG_SYMBOLS - build without optimization and with +# debug symbols (needed for use with a debugger). +# CONFIG_HAVE_CXX - Enable support for C++ +# CONFIG_HAVE_CXXINITIALIZE - The platform-specific logic includes support +# for initialization of static C++ instances for this architecture +# and for the selected toolchain (via up_cxxinitialize()). +# CONFIG_MM_REGIONS - If the architecture includes multiple +# regions of memory to allocate from, this specifies the +# number of memory regions that the memory manager must +# handle and enables the API mm_addregion(start, end); +# CONFIG_ARCH_LOWPUTC - architecture supports low-level, boot +# time console output +# CONFIG_MSEC_PER_TICK - The default system timer is 100Hz +# or MSEC_PER_TICK=10. This setting may be defined to +# inform NuttX that the processor hardware is providing +# system timer interrupts at some interrupt interval other +# than 10 msec. +# CONFIG_RR_INTERVAL - The round robin timeslice will be set +# this number of milliseconds; Round robin scheduling can +# be disabled by setting this value to zero. +# CONFIG_SCHED_INSTRUMENTATION - enables instrumentation in +# scheduler to monitor system performance +# CONFIG_TASK_NAME_SIZE - Spcifies that maximum size of a +# task name to save in the TCB. Useful if scheduler +# instrumentation is selected. Set to zero to disable. +# CONFIG_START_YEAR, CONFIG_START_MONTH, CONFIG_START_DAY - +# Used to initialize the internal time logic. +# CONFIG_GREGORIAN_TIME - Enables Gregorian time conversions. +# You would only need this if you are concerned about accurate +# time conversions in the past or in the distant future. +# CONFIG_JULIAN_TIME - Enables Julian time conversions. You +# would only need this if you are concerned about accurate +# time conversion in the distand past. You must also define +# CONFIG_GREGORIAN_TIME in order to use Julian time. +# CONFIG_DEV_CONSOLE - Set if architecture-specific logic +# provides /dev/console. Enables stdout, stderr, stdin. +# CONFIG_DEV_LOWCONSOLE - Use the simple, low-level serial console +# driver (minimul support) +# CONFIG_MUTEX_TYPES: Set to enable support for recursive and +# errorcheck mutexes. Enables pthread_mutexattr_settype(). +# CONFIG_PRIORITY_INHERITANCE : Set to enable support for priority +# inheritance on mutexes and semaphores. +# CONFIG_SEM_PREALLOCHOLDERS: This setting is only used if priority +# inheritance is enabled. It defines the maximum number of +# different threads (minus one) that can take counts on a +# semaphore with priority inheritance support. This may be +# set to zero if priority inheritance is disabled OR if you +# are only using semaphores as mutexes (only one holder) OR +# if no more than two threads participate using a counting +# semaphore. +# CONFIG_SEM_NNESTPRIO. If priority inheritance is enabled, +# then this setting is the maximum number of higher priority +# threads (minus 1) than can be waiting for another thread +# to release a count on a semaphore. This value may be set +# to zero if no more than one thread is expected to wait for +# a semaphore. +# CONFIG_FDCLONE_DISABLE. Disable cloning of all file descriptors +# by task_create() when a new task is started. If set, all +# files/drivers will appear to be closed in the new task. +# CONFIG_FDCLONE_STDIO. Disable cloning of all but the first +# three file descriptors (stdin, stdout, stderr) by task_create() +# when a new task is started. If set, all files/drivers will +# appear to be closed in the new task except for stdin, stdout, +# and stderr. +# CONFIG_SDCLONE_DISABLE. Disable cloning of all socket +# desciptors by task_create() when a new task is started. If +# set, all sockets will appear to be closed in the new task. +# CONFIG_SCHED_WORKQUEUE. Create a dedicated "worker" thread to +# handle delayed processing from interrupt handlers. This feature +# is required for some drivers but, if there are not complaints, +# can be safely disabled. The worker thread also performs +# garbage collection -- completing any delayed memory deallocations +# from interrupt handlers. If the worker thread is disabled, +# then that clean will be performed by the IDLE thread instead +# (which runs at the lowest of priority and may not be appropriate +# if memory reclamation is of high priority). If CONFIG_SCHED_WORKQUEUE +# is enabled, then the following options can also be used: +# CONFIG_SCHED_WORKPRIORITY - The execution priority of the worker +# thread. Default: 50 +# CONFIG_SCHED_WORKPERIOD - How often the worker thread checks for +# work in units of microseconds. Default: 50*1000 (50 MS). +# CONFIG_SCHED_WORKSTACKSIZE - The stack size allocated for the worker +# thread. Default: CONFIG_IDLETHREAD_STACKSIZE. +# CONFIG_SIG_SIGWORK - The signal number that will be used to wake-up +# the worker thread. Default: 4 +# CONFIG_SCHED_WAITPID - Enable the waitpid() API +# CONFIG_SCHED_ATEXIT - Enabled the atexit() API +# +CONFIG_USER_ENTRYPOINT="user_start" +#CONFIG_APPS_DIR= +CONFIG_DEBUG=n +CONFIG_DEBUG_VERBOSE=n +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_FS=n +CONFIG_DEBUG_GRAPHICS=n +CONFIG_DEBUG_LCD=n +CONFIG_DEBUG_USB=n +CONFIG_DEBUG_NET=n +CONFIG_DEBUG_RTC=n +CONFIG_DEBUG_ANALOG=n +CONFIG_DEBUG_PWM=n +CONFIG_DEBUG_CAN=n +CONFIG_DEBUG_I2C=n +CONFIG_DEBUG_INPUT=n + +CONFIG_MSEC_PER_TICK=1 +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_MM_REGIONS=1 +CONFIG_MM_SMALL=y +CONFIG_ARCH_LOWPUTC=y +CONFIG_RR_INTERVAL=0 +CONFIG_SCHED_INSTRUMENTATION=n +CONFIG_TASK_NAME_SIZE=8 +CONFIG_START_YEAR=1970 +CONFIG_START_MONTH=1 +CONFIG_START_DAY=1 +CONFIG_GREGORIAN_TIME=n +CONFIG_JULIAN_TIME=n +# this eats ~1KiB of RAM ... work out why +CONFIG_DEV_CONSOLE=y +CONFIG_DEV_LOWCONSOLE=n +CONFIG_MUTEX_TYPES=n +CONFIG_PRIORITY_INHERITANCE=n +CONFIG_SEM_PREALLOCHOLDERS=0 +CONFIG_SEM_NNESTPRIO=0 +CONFIG_FDCLONE_DISABLE=y +CONFIG_FDCLONE_STDIO=y +CONFIG_SDCLONE_DISABLE=y +CONFIG_SCHED_WORKQUEUE=n +CONFIG_SCHED_WORKPRIORITY=50 +CONFIG_SCHED_WORKPERIOD=50000 +CONFIG_SCHED_WORKSTACKSIZE=1024 +CONFIG_SIG_SIGWORK=4 +CONFIG_SCHED_WAITPID=n +CONFIG_SCHED_ATEXIT=n + +# +# The following can be used to disable categories of +# APIs supported by the OS. If the compiler supports +# weak functions, then it should not be necessary to +# disable functions unless you want to restrict usage +# of those APIs. +# +# There are certain dependency relationships in these +# features. +# +# o mq_notify logic depends on signals to awaken tasks +# waiting for queues to become full or empty. +# o pthread_condtimedwait() depends on signals to wake +# up waiting tasks. +# +CONFIG_DISABLE_CLOCK=n +CONFIG_DISABLE_POSIX_TIMERS=y +CONFIG_DISABLE_PTHREAD=y +CONFIG_DISABLE_SIGNALS=y +CONFIG_DISABLE_MQUEUE=y +CONFIG_DISABLE_MOUNTPOINT=y +CONFIG_DISABLE_ENVIRON=y +CONFIG_DISABLE_POLL=y + +# +# Misc libc settings +# +# CONFIG_NOPRINTF_FIELDWIDTH - sprintf-related logic is a +# little smaller if we do not support fieldwidthes +# +CONFIG_NOPRINTF_FIELDWIDTH=n + +# +# Allow for architecture optimized implementations +# +# The architecture can provide optimized versions of the +# following to improve system performance +# +CONFIG_ARCH_MEMCPY=n +CONFIG_ARCH_MEMCMP=n +CONFIG_ARCH_MEMMOVE=n +CONFIG_ARCH_MEMSET=n +CONFIG_ARCH_STRCMP=n +CONFIG_ARCH_STRCPY=n +CONFIG_ARCH_STRNCPY=n +CONFIG_ARCH_STRLEN=n +CONFIG_ARCH_STRNLEN=n +CONFIG_ARCH_BZERO=n + +# +# Sizes of configurable things (0 disables) +# +# CONFIG_MAX_TASKS - The maximum number of simultaneously +# active tasks. This value must be a power of two. +# CONFIG_MAX_TASK_ARGS - This controls the maximum number of +# of parameters that a task may receive (i.e., maxmum value +# of 'argc') +# CONFIG_NPTHREAD_KEYS - The number of items of thread- +# specific data that can be retained +# CONFIG_NFILE_DESCRIPTORS - The maximum number of file +# descriptors (one for each open) +# CONFIG_NFILE_STREAMS - The maximum number of streams that +# can be fopen'ed +# CONFIG_NAME_MAX - The maximum size of a file name. +# CONFIG_STDIO_BUFFER_SIZE - Size of the buffer to allocate +# on fopen. (Only if CONFIG_NFILE_STREAMS > 0) +# CONFIG_STDIO_LINEBUFFER - If standard C buffered I/O is enabled +# (CONFIG_STDIO_BUFFER_SIZE > 0), then this option may be added +# to force automatic, line-oriented flushing the output buffer +# for putc(), fputc(), putchar(), puts(), fputs(), printf(), +# fprintf(), and vfprintf(). When a newline is encountered in +# the output string, the output buffer will be flushed. This +# (slightly) increases the NuttX footprint but supports the kind +# of behavior that people expect for printf(). +# CONFIG_NUNGET_CHARS - Number of characters that can be +# buffered by ungetc() (Only if CONFIG_NFILE_STREAMS > 0) +# CONFIG_PREALLOC_MQ_MSGS - The number of pre-allocated message +# structures. The system manages a pool of preallocated +# message structures to minimize dynamic allocations +# CONFIG_MQ_MAXMSGSIZE - Message structures are allocated with +# a fixed payload size given by this settin (does not include +# other message structure overhead. +# CONFIG_MAX_WDOGPARMS - Maximum number of parameters that +# can be passed to a watchdog handler +# CONFIG_PREALLOC_WDOGS - The number of pre-allocated watchdog +# structures. The system manages a pool of preallocated +# watchdog structures to minimize dynamic allocations +# CONFIG_PREALLOC_TIMERS - The number of pre-allocated POSIX +# timer structures. The system manages a pool of preallocated +# timer structures to minimize dynamic allocations. Set to +# zero for all dynamic allocations. +# +CONFIG_MAX_TASKS=4 +CONFIG_MAX_TASK_ARGS=4 +CONFIG_NPTHREAD_KEYS=2 +CONFIG_NFILE_DESCRIPTORS=8 +CONFIG_NFILE_STREAMS=0 +CONFIG_NAME_MAX=12 +CONFIG_STDIO_BUFFER_SIZE=32 +CONFIG_STDIO_LINEBUFFER=n +CONFIG_NUNGET_CHARS=2 +CONFIG_PREALLOC_MQ_MSGS=4 +CONFIG_MQ_MAXMSGSIZE=32 +CONFIG_MAX_WDOGPARMS=2 +CONFIG_PREALLOC_WDOGS=4 +CONFIG_PREALLOC_TIMERS=0 + + +# +# Settings for apps/nshlib +# +# CONFIG_NSH_BUILTIN_APPS - Support external registered, +# "named" applications that can be executed from the NSH +# command line (see apps/README.txt for more information). +# CONFIG_NSH_FILEIOSIZE - Size of a static I/O buffer +# CONFIG_NSH_STRERROR - Use strerror(errno) +# CONFIG_NSH_LINELEN - Maximum length of one command line +# CONFIG_NSH_NESTDEPTH - Max number of nested if-then[-else]-fi +# CONFIG_NSH_DISABLESCRIPT - Disable scripting support +# CONFIG_NSH_DISABLEBG - Disable background commands +# CONFIG_NSH_ROMFSETC - Use startup script in /etc +# CONFIG_NSH_CONSOLE - Use serial console front end +# CONFIG_NSH_TELNET - Use telnetd console front end +# CONFIG_NSH_ARCHINIT - Platform provides architecture +# specific initialization (nsh_archinitialize()). +# + +# Disable NSH completely +CONFIG_NSH_CONSOLE=n + +# +# Stack and heap information +# +# CONFIG_BOOT_RUNFROMFLASH - Some configurations support XIP +# operation from FLASH but must copy initialized .data sections to RAM. +# (should also be =n for the STM3210E-EVAL which always runs from flash) +# CONFIG_BOOT_COPYTORAM - Some configurations boot in FLASH +# but copy themselves entirely into RAM for better performance. +# CONFIG_CUSTOM_STACK - The up_ implementation will handle +# all stack operations outside of the nuttx model. +# CONFIG_STACK_POINTER - The initial stack pointer (arm7tdmi only) +# CONFIG_IDLETHREAD_STACKSIZE - The size of the initial stack. +# This is the thread that (1) performs the inital boot of the system up +# to the point where user_start() is spawned, and (2) there after is the +# IDLE thread that executes only when there is no other thread ready to +# run. +# CONFIG_USERMAIN_STACKSIZE - The size of the stack to allocate +# for the main user thread that begins at the user_start() entry point. +# CONFIG_PTHREAD_STACK_MIN - Minimum pthread stack size +# CONFIG_PTHREAD_STACK_DEFAULT - Default pthread stack size +# CONFIG_HEAP_BASE - The beginning of the heap +# CONFIG_HEAP_SIZE - The size of the heap +# +CONFIG_BOOT_RUNFROMFLASH=n +CONFIG_BOOT_COPYTORAM=n +CONFIG_CUSTOM_STACK=n +CONFIG_STACK_POINTER= +CONFIG_IDLETHREAD_STACKSIZE=1024 +CONFIG_USERMAIN_STACKSIZE=1200 +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_PTHREAD_STACK_DEFAULT=1024 +CONFIG_HEAP_BASE= +CONFIG_HEAP_SIZE= diff --git a/nuttx-configs/px4io-v2/nsh/setenv.sh b/nuttx-configs/px4io-v2/nsh/setenv.sh new file mode 100755 index 0000000000..ff9a4bf8ae --- /dev/null +++ b/nuttx-configs/px4io-v2/nsh/setenv.sh @@ -0,0 +1,47 @@ +#!/bin/bash +# configs/stm3210e-eval/dfu/setenv.sh +# +# Copyright (C) 2009 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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. +# + +if [ "$(basename $0)" = "setenv.sh" ] ; then + echo "You must source this script, not run it!" 1>&2 + exit 1 +fi + +if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi + +WD=`pwd` +export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin" +export BUILDROOT_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin" +export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}" + +echo "PATH : ${PATH}" diff --git a/nuttx-configs/px4io-v2/scripts/ld.script b/nuttx-configs/px4io-v2/scripts/ld.script new file mode 100755 index 0000000000..69c2f9cb2e --- /dev/null +++ b/nuttx-configs/px4io-v2/scripts/ld.script @@ -0,0 +1,129 @@ +/**************************************************************************** + * configs/stm3210e-eval/nsh/ld.script + * + * Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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. + * + ****************************************************************************/ + +/* The STM32F100C8 has 64Kb of FLASH beginning at address 0x0800:0000 and + * 8Kb of SRAM beginning at address 0x2000:0000. When booting from FLASH, + * FLASH memory is aliased to address 0x0000:0000 where the code expects to + * begin execution by jumping to the entry point in the 0x0800:0000 address + * range. + */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x08001000, LENGTH = 60K + sram (rwx) : ORIGIN = 0x20000000, LENGTH = 8K +} + +OUTPUT_ARCH(arm) +ENTRY(__start) /* treat __start as the anchor for dead code stripping */ +EXTERN(_vectors) /* force the vectors to be included in the output */ + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + } > flash + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > flash + + .ARM.extab : { + *(.ARM.extab*) + } > flash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > flash + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + /* The STM32F100CB has 8Kb of SRAM beginning at the following address */ + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > sram AT > flash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/nuttx-configs/px4io-v2/src/Makefile b/nuttx-configs/px4io-v2/src/Makefile new file mode 100644 index 0000000000..bb9539d16a --- /dev/null +++ b/nuttx-configs/px4io-v2/src/Makefile @@ -0,0 +1,84 @@ +############################################################################ +# configs/stm3210e-eval/src/Makefile +# +# Copyright (C) 2009-2010 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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. +# +############################################################################ + +-include $(TOPDIR)/Make.defs + +CFLAGS += -I$(TOPDIR)/sched + +ASRCS = +AOBJS = $(ASRCS:.S=$(OBJEXT)) + +CSRCS = empty.c + +COBJS = $(CSRCS:.c=$(OBJEXT)) + +SRCS = $(ASRCS) $(CSRCS) +OBJS = $(AOBJS) $(COBJS) + +ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src +ifeq ($(WINTOOL),y) + CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \ + -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \ + -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}" +else + CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m +endif + +all: libboard$(LIBEXT) + +$(AOBJS): %$(OBJEXT): %.S + $(call ASSEMBLE, $<, $@) + +$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c + $(call COMPILE, $<, $@) + +libboard$(LIBEXT): $(OBJS) + $(call ARCHIVE, $@, $(OBJS)) + +.depend: Makefile $(SRCS) + @$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep + @touch $@ + +depend: .depend + +clean: + $(call DELFILE, libboard$(LIBEXT)) + $(call CLEAN) + +distclean: clean + $(call DELFILE, Make.dep) + $(call DELFILE, .depend) + +-include Make.dep diff --git a/nuttx-configs/px4io-v2/src/empty.c b/nuttx-configs/px4io-v2/src/empty.c new file mode 100644 index 0000000000..ace900866c --- /dev/null +++ b/nuttx-configs/px4io-v2/src/empty.c @@ -0,0 +1,4 @@ +/* + * There are no source files here, but libboard.a can't be empty, so + * we have this empty source file to keep it company. + */ diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp index 5a8157debc..1ec61eb60b 100644 --- a/src/drivers/airspeed/airspeed.cpp +++ b/src/drivers/airspeed/airspeed.cpp @@ -106,6 +106,11 @@ Airspeed::~Airspeed() /* free any existing reports */ if (_reports != nullptr) delete[] _reports; + + // free perf counters + perf_free(_sample_perf); + perf_free(_comms_errors); + perf_free(_buffer_overflows); } int @@ -146,7 +151,14 @@ out: int Airspeed::probe() { - return measure(); + /* on initial power up the device needs more than one retry + for detection. Once it is running then retries aren't + needed + */ + _retries = 4; + int ret = measure(); + _retries = 2; + return ret; } int diff --git a/src/drivers/airspeed/airspeed.h b/src/drivers/airspeed/airspeed.h index 89dfb22d70..b87494b40f 100644 --- a/src/drivers/airspeed/airspeed.h +++ b/src/drivers/airspeed/airspeed.h @@ -165,5 +165,5 @@ protected: }; /* helper macro for handling report buffer indices */ -#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) +#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0) diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c index 735bdb41a5..b88f61ce80 100644 --- a/src/drivers/ardrone_interface/ardrone_interface.c +++ b/src/drivers/ardrone_interface/ardrone_interface.c @@ -53,8 +53,10 @@ #include #include #include -#include +#include #include +#include +#include #include @@ -243,16 +245,14 @@ int ardrone_interface_thread_main(int argc, char *argv[]) int led_counter = 0; /* declare and safely initialize all structs */ - struct vehicle_status_s state; - memset(&state, 0, sizeof(state)); struct actuator_controls_s actuator_controls; memset(&actuator_controls, 0, sizeof(actuator_controls)); struct actuator_armed_s armed; + //XXX is this necessairy? armed.armed = false; /* subscribe to attitude, motor setpoints and system state */ int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); - int state_sub = orb_subscribe(ORB_ID(vehicle_status)); int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); printf("[ardrone_interface] Motors initialized - ready.\n"); @@ -322,8 +322,6 @@ int ardrone_interface_thread_main(int argc, char *argv[]) } else { /* MAIN OPERATION MODE */ - /* get a local copy of the vehicle state */ - orb_copy(ORB_ID(vehicle_status), state_sub, &state); /* get a local copy of the actuator controls */ orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls); orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp index 3fabfd9a54..2361f4dd18 100644 --- a/src/drivers/blinkm/blinkm.cpp +++ b/src/drivers/blinkm/blinkm.cpp @@ -92,9 +92,6 @@ #include -#include -#include - #include #include #include @@ -104,18 +101,23 @@ #include #include #include - -#include +#include #include #include #include - #include -#include + +#include + +#include +#include + #include #include +#include +#include #include static const float MAX_CELL_VOLTAGE = 4.3f; @@ -375,7 +377,9 @@ BlinkM::led() { static int vehicle_status_sub_fd; + static int vehicle_control_mode_sub_fd; static int vehicle_gps_position_sub_fd; + static int actuator_armed_sub_fd; static int num_of_cells = 0; static int detected_cells_runcount = 0; @@ -386,6 +390,8 @@ BlinkM::led() static int led_interval = 1000; static int no_data_vehicle_status = 0; + static int no_data_vehicle_control_mode = 0; + static int no_data_actuator_armed = 0; static int no_data_vehicle_gps_position = 0; static bool topic_initialized = false; @@ -398,6 +404,12 @@ BlinkM::led() vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status)); orb_set_interval(vehicle_status_sub_fd, 1000); + vehicle_control_mode_sub_fd = orb_subscribe(ORB_ID(vehicle_control_mode)); + orb_set_interval(vehicle_control_mode_sub_fd, 1000); + + actuator_armed_sub_fd = orb_subscribe(ORB_ID(actuator_armed)); + orb_set_interval(actuator_armed_sub_fd, 1000); + vehicle_gps_position_sub_fd = orb_subscribe(ORB_ID(vehicle_gps_position)); orb_set_interval(vehicle_gps_position_sub_fd, 1000); @@ -452,12 +464,16 @@ BlinkM::led() if (led_thread_runcount == 15) { /* obtained data for the first file descriptor */ struct vehicle_status_s vehicle_status_raw; + struct vehicle_control_mode_s vehicle_control_mode; + struct actuator_armed_s actuator_armed; struct vehicle_gps_position_s vehicle_gps_position_raw; memset(&vehicle_status_raw, 0, sizeof(vehicle_status_raw)); memset(&vehicle_gps_position_raw, 0, sizeof(vehicle_gps_position_raw)); bool new_data_vehicle_status; + bool new_data_vehicle_control_mode; + bool new_data_actuator_armed; bool new_data_vehicle_gps_position; orb_check(vehicle_status_sub_fd, &new_data_vehicle_status); @@ -471,6 +487,28 @@ BlinkM::led() no_data_vehicle_status = 3; } + orb_check(vehicle_control_mode_sub_fd, &new_data_vehicle_control_mode); + + if (new_data_vehicle_control_mode) { + orb_copy(ORB_ID(vehicle_control_mode), vehicle_control_mode_sub_fd, &vehicle_control_mode); + no_data_vehicle_control_mode = 0; + } else { + no_data_vehicle_control_mode++; + if(no_data_vehicle_control_mode >= 3) + no_data_vehicle_control_mode = 3; + } + + orb_check(actuator_armed_sub_fd, &new_data_actuator_armed); + + if (new_data_actuator_armed) { + orb_copy(ORB_ID(actuator_armed), actuator_armed_sub_fd, &actuator_armed); + no_data_actuator_armed = 0; + } else { + no_data_actuator_armed++; + if(no_data_actuator_armed >= 3) + no_data_actuator_armed = 3; + } + orb_check(vehicle_gps_position_sub_fd, &new_data_vehicle_gps_position); if (new_data_vehicle_gps_position) { @@ -486,24 +524,24 @@ BlinkM::led() /* get number of used satellites in navigation */ num_of_used_sats = 0; - //for(int satloop=0; satloop<20; satloop++) { - for(int satloop=0; satloop checking cells\n"); for(num_of_cells = 2; num_of_cells < 7; num_of_cells++) { - if(vehicle_status_raw.voltage_battery < num_of_cells * MAX_CELL_VOLTAGE) break; + if(vehicle_status_raw.battery_voltage < num_of_cells * MAX_CELL_VOLTAGE) break; } printf(" cells found:%d\n", num_of_cells); } else { - if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_WARNING) { + if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_LOW) { /* LED Pattern for battery low warning */ led_color_1 = LED_YELLOW; led_color_2 = LED_YELLOW; @@ -515,7 +553,7 @@ BlinkM::led() led_color_8 = LED_YELLOW; led_blink = LED_BLINK; - } else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_ALERT) { + } else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) { /* LED Pattern for battery critical alerting */ led_color_1 = LED_RED; led_color_2 = LED_RED; @@ -530,7 +568,7 @@ BlinkM::led() } else { /* no battery warnings here */ - if(vehicle_status_raw.flag_system_armed == false) { + if(actuator_armed.armed == false) { /* system not armed */ led_color_1 = LED_RED; led_color_2 = LED_RED; @@ -554,27 +592,24 @@ BlinkM::led() led_color_8 = LED_OFF; led_blink = LED_BLINK; - /* handle 4th led - flightmode indicator */ - switch((int)vehicle_status_raw.flight_mode) { - case VEHICLE_FLIGHT_MODE_MANUAL: - led_color_4 = LED_AMBER; - break; + if(new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) { - case VEHICLE_FLIGHT_MODE_STAB: - led_color_4 = LED_YELLOW; - break; - - case VEHICLE_FLIGHT_MODE_HOLD: - led_color_4 = LED_BLUE; - break; - - case VEHICLE_FLIGHT_MODE_AUTO: + //XXX please check + if (vehicle_control_mode.flag_control_position_enabled) led_color_4 = LED_GREEN; - break; + else if (vehicle_control_mode.flag_control_velocity_enabled) + led_color_4 = LED_BLUE; + else if (vehicle_control_mode.flag_control_attitude_enabled) + led_color_4 = LED_YELLOW; + else if (vehicle_control_mode.flag_control_manual_enabled) + led_color_4 = LED_AMBER; + else + led_color_4 = LED_OFF; + } if(new_data_vehicle_gps_position || no_data_vehicle_gps_position < 3) { - /* handling used sat´s */ + /* handling used sat�s */ if(num_of_used_sats >= 7) { led_color_1 = LED_OFF; led_color_2 = LED_OFF; @@ -831,11 +866,13 @@ BlinkM::get_firmware_version(uint8_t version[2]) return transfer(&msg, sizeof(msg), version, 2); } +void blinkm_usage(); + void blinkm_usage() { - fprintf(stderr, "missing command: try 'start', 'systemstate', 'ledoff', 'list' or a script name {options}\n"); - fprintf(stderr, "options:\n"); - fprintf(stderr, "\t-b --bus i2cbus (3)\n"); - fprintf(stderr, "\t-a --blinkmaddr blinkmaddr (9)\n"); + warnx("missing command: try 'start', 'systemstate', 'ledoff', 'list' or a script name {options}"); + warnx("options:"); + warnx("\t-b --bus i2cbus (3)"); + warnx("\t-a --blinkmaddr blinkmaddr (9)"); } int diff --git a/src/drivers/bma180/bma180.cpp b/src/drivers/bma180/bma180.cpp index 4409a8a9cb..079b5d21cb 100644 --- a/src/drivers/bma180/bma180.cpp +++ b/src/drivers/bma180/bma180.cpp @@ -59,7 +59,7 @@ #include #include -#include +#include #include #include @@ -234,7 +234,7 @@ private: }; /* helper macro for handling report buffer indices */ -#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) +#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0) BMA180::BMA180(int bus, spi_dev_e device) : diff --git a/src/drivers/boards/px4fmu/px4fmu_internal.h b/src/drivers/boards/px4fmu-v1/board_config.h similarity index 77% rename from src/drivers/boards/px4fmu/px4fmu_internal.h rename to src/drivers/boards/px4fmu-v1/board_config.h index 383a046ffd..27621211a1 100644 --- a/src/drivers/boards/px4fmu/px4fmu_internal.h +++ b/src/drivers/boards/px4fmu-v1/board_config.h @@ -32,7 +32,7 @@ ****************************************************************************/ /** - * @file px4fmu_internal.h + * @file board_config.h * * PX4FMU internal definitions */ @@ -51,13 +51,16 @@ __BEGIN_DECLS /* these headers are not C++ safe */ #include - +#include /**************************************************************************************************** * Definitions ****************************************************************************************************/ /* Configuration ************************************************************************************/ +/* PX4IO connection configuration */ +#define PX4IO_SERIAL_DEVICE "/dev/ttyS2" + //#ifdef CONFIG_STM32_SPI2 //# error "SPI2 is not supported on this board" //#endif @@ -74,15 +77,47 @@ __BEGIN_DECLS /* External interrupts */ #define GPIO_EXTI_COMPASS (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1) -// XXX MPU6000 DRDY? /* SPI chip selects */ - #define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14) #define GPIO_SPI_CS_ACCEL (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) #define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0) #define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) +/* + * Use these in place of the spi_dev_e enumeration to + * select a specific SPI device on SPI1 + */ +#define PX4_SPIDEV_GYRO 1 +#define PX4_SPIDEV_ACCEL 2 +#define PX4_SPIDEV_MPU 3 + +/* + * Optional devices on IO's external port + */ +#define PX4_SPIDEV_ACCEL_MAG 2 + +/* + * I2C busses + */ +#define PX4_I2C_BUS_ESC 1 +#define PX4_I2C_BUS_ONBOARD 2 +#define PX4_I2C_BUS_EXPANSION 3 +#define PX4_I2C_BUS_LED 3 + +/* + * Devices on the onboard bus. + * + * Note that these are unshifted addresses. + */ +#define PX4_I2C_OBDEV_HMC5883 0x1e +#define PX4_I2C_OBDEV_MS5611 0x76 +#define PX4_I2C_OBDEV_EEPROM NOTDEFINED +#define PX4_I2C_OBDEV_LED 0x55 + +#define PX4_I2C_OBDEV_PX4IO_BL 0x18 +#define PX4_I2C_OBDEV_PX4IO 0x1a + /* User GPIOs * * GPIO0-1 are the buffered high-power GPIOs. @@ -107,31 +142,45 @@ __BEGIN_DECLS #define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12) #define GPIO_GPIO_DIR (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) +/* + * Tone alarm output + */ +#define TONE_ALARM_TIMER 3 /* timer 3 */ +#define TONE_ALARM_CHANNEL 3 /* channel 3 */ +#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8) +#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8) + +/* + * PWM + * + * Four PWM outputs can be configured on pins otherwise shared with + * USART2; two can take the flow control pins if they are not being used. + * + * Pins: + * + * CTS - PA0 - TIM2CH1 + * RTS - PA1 - TIM2CH2 + * TX - PA2 - TIM2CH3 + * RX - PA3 - TIM2CH4 + * + */ +#define GPIO_TIM2_CH1OUT GPIO_TIM2_CH1OUT_1 +#define GPIO_TIM2_CH2OUT GPIO_TIM2_CH2OUT_1 +#define GPIO_TIM2_CH3OUT GPIO_TIM2_CH3OUT_1 +#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_1 + /* USB OTG FS * * PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED) */ #define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9) -/* PWM - * - * The PX4FMU has five PWM outputs, of which only the output on - * pin PC8 is fixed assigned to this function. The other four possible - * pwm sources are the TX, RX, RTS and CTS pins of USART2 - * - * Alternate function mapping: - * PC8 - BUZZER - TIM8_CH3/SDIO_D0 /TIM3_CH3/ USART6_CK / DCMI_D2 +/* High-resolution timer */ - -#ifdef CONFIG_PWM -# if defined(CONFIG_STM32_TIM3_PWM) -# define BUZZER_PWMCHANNEL 3 -# define BUZZER_PWMTIMER 3 -# elif defined(CONFIG_STM32_TIM8_PWM) -# define BUZZER_PWMCHANNEL 3 -# define BUZZER_PWMTIMER 8 -# endif -#endif +#define HRT_TIMER 1 /* use timer1 for the HRT */ +#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */ +#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */ +#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10) /**************************************************************************************************** * Public Types diff --git a/src/drivers/boards/px4fmu/module.mk b/src/drivers/boards/px4fmu-v1/module.mk similarity index 100% rename from src/drivers/boards/px4fmu/module.mk rename to src/drivers/boards/px4fmu-v1/module.mk diff --git a/src/drivers/boards/px4fmu/px4fmu_can.c b/src/drivers/boards/px4fmu-v1/px4fmu_can.c similarity index 99% rename from src/drivers/boards/px4fmu/px4fmu_can.c rename to src/drivers/boards/px4fmu-v1/px4fmu_can.c index 187689ff9a..1e1f100406 100644 --- a/src/drivers/boards/px4fmu/px4fmu_can.c +++ b/src/drivers/boards/px4fmu-v1/px4fmu_can.c @@ -54,7 +54,7 @@ #include "stm32.h" #include "stm32_can.h" -#include "px4fmu_internal.h" +#include "board_config.h" #ifdef CONFIG_CAN diff --git a/src/drivers/boards/px4fmu/px4fmu_init.c b/src/drivers/boards/px4fmu-v1/px4fmu_init.c similarity index 99% rename from src/drivers/boards/px4fmu/px4fmu_init.c rename to src/drivers/boards/px4fmu-v1/px4fmu_init.c index 36af2298c2..964f5069c6 100644 --- a/src/drivers/boards/px4fmu/px4fmu_init.c +++ b/src/drivers/boards/px4fmu-v1/px4fmu_init.c @@ -59,7 +59,7 @@ #include #include "stm32.h" -#include "px4fmu_internal.h" +#include "board_config.h" #include "stm32_uart.h" #include diff --git a/src/drivers/boards/px4fmu/px4fmu_led.c b/src/drivers/boards/px4fmu-v1/px4fmu_led.c similarity index 88% rename from src/drivers/boards/px4fmu/px4fmu_led.c rename to src/drivers/boards/px4fmu-v1/px4fmu_led.c index 31b25984e1..ea91f34ad6 100644 --- a/src/drivers/boards/px4fmu/px4fmu_led.c +++ b/src/drivers/boards/px4fmu-v1/px4fmu_led.c @@ -42,7 +42,7 @@ #include #include "stm32.h" -#include "px4fmu_internal.h" +#include "board_config.h" #include @@ -57,6 +57,7 @@ __BEGIN_DECLS extern void led_init(); extern void led_on(int led); extern void led_off(int led); +extern void led_toggle(int led); __END_DECLS __EXPORT void led_init() @@ -94,3 +95,21 @@ __EXPORT void led_off(int led) stm32_gpiowrite(GPIO_LED2, true); } } + +__EXPORT void led_toggle(int led) +{ + if (led == 0) + { + if (stm32_gpioread(GPIO_LED1)) + stm32_gpiowrite(GPIO_LED1, false); + else + stm32_gpiowrite(GPIO_LED1, true); + } + if (led == 1) + { + if (stm32_gpioread(GPIO_LED2)) + stm32_gpiowrite(GPIO_LED2, false); + else + stm32_gpiowrite(GPIO_LED2, true); + } +} diff --git a/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c b/src/drivers/boards/px4fmu-v1/px4fmu_pwm_servo.c similarity index 98% rename from src/drivers/boards/px4fmu/px4fmu_pwm_servo.c rename to src/drivers/boards/px4fmu-v1/px4fmu_pwm_servo.c index d85131dd88..848e21d798 100644 --- a/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c +++ b/src/drivers/boards/px4fmu-v1/px4fmu_pwm_servo.c @@ -41,15 +41,15 @@ #include -#include - -#include -#include - #include #include #include +#include +#include + +#include "board_config.h" + __EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = { { .base = STM32_TIM2_BASE, diff --git a/src/drivers/boards/px4fmu/px4fmu_spi.c b/src/drivers/boards/px4fmu-v1/px4fmu_spi.c similarity index 99% rename from src/drivers/boards/px4fmu/px4fmu_spi.c rename to src/drivers/boards/px4fmu-v1/px4fmu_spi.c index e05ddecf3e..17e6862f7c 100644 --- a/src/drivers/boards/px4fmu/px4fmu_spi.c +++ b/src/drivers/boards/px4fmu-v1/px4fmu_spi.c @@ -53,7 +53,7 @@ #include "up_arch.h" #include "chip.h" #include "stm32.h" -#include "px4fmu_internal.h" +#include "board_config.h" /************************************************************************************ * Public Functions diff --git a/src/drivers/boards/px4fmu/px4fmu_usb.c b/src/drivers/boards/px4fmu-v1/px4fmu_usb.c similarity index 99% rename from src/drivers/boards/px4fmu/px4fmu_usb.c rename to src/drivers/boards/px4fmu-v1/px4fmu_usb.c index 0be981c1e1..0fc8569aa4 100644 --- a/src/drivers/boards/px4fmu/px4fmu_usb.c +++ b/src/drivers/boards/px4fmu-v1/px4fmu_usb.c @@ -53,7 +53,7 @@ #include "up_arch.h" #include "stm32.h" -#include "px4fmu_internal.h" +#include "board_config.h" /************************************************************************************ * Definitions diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h new file mode 100644 index 0000000000..ec8dde4993 --- /dev/null +++ b/src/drivers/boards/px4fmu-v2/board_config.h @@ -0,0 +1,192 @@ +/**************************************************************************** + * + * 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 board_config.h + * + * PX4FMU internal definitions + */ + +#pragma once + +/**************************************************************************************************** + * Included Files + ****************************************************************************************************/ + +#include +#include +#include + +__BEGIN_DECLS + +/* these headers are not C++ safe */ +#include +#include + +/**************************************************************************************************** + * Definitions + ****************************************************************************************************/ +/* Configuration ************************************************************************************/ + +/* PX4IO connection configuration */ +#define PX4IO_SERIAL_DEVICE "/dev/ttyS4" +#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX +#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX +#define PX4IO_SERIAL_BASE STM32_USART6_BASE /* hardwired on the board */ +#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6 +#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX_2 +#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX_2 +#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY +#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */ + + +/* PX4FMU GPIOs ***********************************************************************************/ +/* LEDs */ + +#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12) + +/* External interrupts */ +#define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0) +#define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1) +#define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4) + +/* SPI chip selects */ +#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) +#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) +#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7) +#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10) + +/* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */ +#define PX4_SPIDEV_GYRO 1 +#define PX4_SPIDEV_ACCEL_MAG 2 +#define PX4_SPIDEV_BARO 3 + +/* I2C busses */ +#define PX4_I2C_BUS_EXPANSION 1 +#define PX4_I2C_BUS_LED 2 + +/* Devices on the onboard bus. + * + * Note that these are unshifted addresses. + */ +#define PX4_I2C_OBDEV_LED 0x55 +#define PX4_I2C_OBDEV_HMC5883 0x1e + +/* User GPIOs + * + * GPIO0-5 are the PWM servo outputs. + */ +#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14) +#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13) +#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11) +#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9) +#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13) +#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14) +#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14) +#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13) +#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11) +#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9) +#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) +#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) + +/* Power supply control and monitoring GPIOs */ +#define GPIO_VDD_5V_PERIPH_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8) +#define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) +#define GPIO_VDD_SERVO_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7) +#define GPIO_VDD_3V3_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) +#define GPIO_VDD_5V_HIPOWER_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10) +#define GPIO_VDD_5V_PERIPH_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15) + +/* Tone alarm output */ +#define TONE_ALARM_TIMER 2 /* timer 2 */ +#define TONE_ALARM_CHANNEL 1 /* channel 1 */ +#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) +#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15) + +/* PWM + * + * Six PWM outputs are configured. + * + * Pins: + * + * CH1 : PE14 : TIM1_CH4 + * CH2 : PE13 : TIM1_CH3 + * CH3 : PE11 : TIM1_CH2 + * CH4 : PE9 : TIM1_CH1 + * CH5 : PD13 : TIM4_CH2 + * CH6 : PD14 : TIM4_CH3 + */ +#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_2 +#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_2 +#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_2 +#define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_2 +#define GPIO_TIM4_CH2OUT GPIO_TIM4_CH2OUT_2 +#define GPIO_TIM4_CH3OUT GPIO_TIM4_CH3OUT_2 + +/* USB OTG FS + * + * PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED) + */ +#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9) + +/* High-resolution timer */ +#define HRT_TIMER 8 /* use timer8 for the HRT */ +#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */ + +/**************************************************************************************************** + * Public Types + ****************************************************************************************************/ + +/**************************************************************************************************** + * Public data + ****************************************************************************************************/ + +#ifndef __ASSEMBLY__ + +/**************************************************************************************************** + * Public Functions + ****************************************************************************************************/ + +/**************************************************************************************************** + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the PX4FMU board. + * + ****************************************************************************************************/ + +extern void stm32_spiinitialize(void); + +#endif /* __ASSEMBLY__ */ + +__END_DECLS diff --git a/src/drivers/boards/px4fmu-v2/module.mk b/src/drivers/boards/px4fmu-v2/module.mk new file mode 100644 index 0000000000..99d37eecac --- /dev/null +++ b/src/drivers/boards/px4fmu-v2/module.mk @@ -0,0 +1,10 @@ +# +# Board-specific startup code for the PX4FMUv2 +# + +SRCS = px4fmu_can.c \ + px4fmu2_init.c \ + px4fmu_pwm_servo.c \ + px4fmu_spi.c \ + px4fmu_usb.c \ + px4fmu2_led.c diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c new file mode 100644 index 0000000000..135767b26a --- /dev/null +++ b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c @@ -0,0 +1,262 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4fmu_init.c + * + * PX4FMU-specific early startup code. This file implements the + * nsh_archinitialize() function that is called early by nsh during startup. + * + * Code here is run before the rcS script is invoked; it should start required + * subsystems and perform board-specific initialisation. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include "board_config.h" +#include + +#include + +#include +#include + +#include + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +/* Configuration ************************************************************/ + +/* Debug ********************************************************************/ + +#ifdef CONFIG_CPP_HAVE_VARARGS +# ifdef CONFIG_DEBUG +# define message(...) lowsyslog(__VA_ARGS__) +# else +# define message(...) printf(__VA_ARGS__) +# endif +#else +# ifdef CONFIG_DEBUG +# define message lowsyslog +# else +# define message printf +# endif +#endif + +/**************************************************************************** + * Protected Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the intitialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +__EXPORT void stm32_boardinitialize(void) +{ + /* configure SPI interfaces */ + stm32_spiinitialize(); + + /* configure LEDs */ + up_ledinit(); +} + +/**************************************************************************** + * Name: nsh_archinitialize + * + * Description: + * Perform architecture specific initialization + * + ****************************************************************************/ + +static struct spi_dev_s *spi1; +static struct spi_dev_s *spi2; +static struct sdio_dev_s *sdio; + +#include + +#ifdef __cplusplus +__EXPORT int matherr(struct __exception *e) +{ + return 1; +} +#else +__EXPORT int matherr(struct exception *e) +{ + return 1; +} +#endif + +__EXPORT int nsh_archinitialize(void) +{ + + /* configure ADC pins */ + stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */ + stm32_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */ + stm32_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */ + stm32_configgpio(GPIO_ADC1_IN10); /* unrouted */ + stm32_configgpio(GPIO_ADC1_IN11); /* unrouted */ + stm32_configgpio(GPIO_ADC1_IN12); /* unrouted */ + stm32_configgpio(GPIO_ADC1_IN13); /* FMU_AUX_ADC_1 */ + stm32_configgpio(GPIO_ADC1_IN14); /* FMU_AUX_ADC_2 */ + stm32_configgpio(GPIO_ADC1_IN15); /* PRESSURE_SENS */ + + /* configure power supply control/sense pins */ + stm32_configgpio(GPIO_VDD_5V_PERIPH_EN); + stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN); + stm32_configgpio(GPIO_VDD_BRICK_VALID); + stm32_configgpio(GPIO_VDD_SERVO_VALID); + stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC); + stm32_configgpio(GPIO_VDD_5V_PERIPH_OC); + + /* configure the high-resolution time/callout interface */ + hrt_init(); + + /* configure CPU load estimation */ +#ifdef CONFIG_SCHED_INSTRUMENTATION + cpuload_initialize_once(); +#endif + + /* set up the serial DMA polling */ + static struct hrt_call serial_dma_call; + struct timespec ts; + + /* + * Poll at 1ms intervals for received bytes that have not triggered + * a DMA event. + */ + ts.tv_sec = 0; + ts.tv_nsec = 1000000; + + hrt_call_every(&serial_dma_call, + ts_to_abstime(&ts), + ts_to_abstime(&ts), + (hrt_callout)stm32_serial_dma_poll, + NULL); + + /* initial LED state */ + drv_led_start(); + led_off(LED_AMBER); + + /* Configure SPI-based devices */ + + spi1 = up_spiinitialize(1); + + if (!spi1) { + message("[boot] FAILED to initialize SPI port 1\n"); + up_ledon(LED_AMBER); + return -ENODEV; + } + + /* Default SPI1 to 1MHz and de-assert the known chip selects. */ + SPI_SETFREQUENCY(spi1, 10000000); + SPI_SETBITS(spi1, 8); + SPI_SETMODE(spi1, SPIDEV_MODE3); + SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false); + SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false); + SPI_SELECT(spi1, PX4_SPIDEV_BARO, false); + up_udelay(20); + + message("[boot] Successfully initialized SPI port 1\n"); + + /* Get the SPI port for the FRAM */ + + spi2 = up_spiinitialize(2); + + if (!spi2) { + message("[boot] FAILED to initialize SPI port 2\n"); + up_ledon(LED_AMBER); + return -ENODEV; + } + + /* Default SPI2 to 37.5 MHz (F4 max) and de-assert the known chip selects. */ + SPI_SETFREQUENCY(spi2, 375000000); + SPI_SETBITS(spi2, 8); + SPI_SETMODE(spi2, SPIDEV_MODE3); + SPI_SELECT(spi2, SPIDEV_FLASH, false); + + message("[boot] Successfully initialized SPI port 2\n"); + + #ifdef CONFIG_MMCSD + /* First, get an instance of the SDIO interface */ + + sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO); + if (!sdio) { + message("nsh_archinitialize: Failed to initialize SDIO slot %d\n", + CONFIG_NSH_MMCSDSLOTNO); + return -ENODEV; + } + + /* Now bind the SDIO interface to the MMC/SD driver */ + int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio); + if (ret != OK) { + message("nsh_archinitialize: Failed to bind SDIO to the MMC/SD driver: %d\n", ret); + return ret; + } + + /* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */ + sdio_mediachange(sdio, true); + + message("[boot] Initialized SDIO\n"); + #endif + + return OK; +} diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_led.c b/src/drivers/boards/px4fmu-v2/px4fmu2_led.c new file mode 100644 index 0000000000..a856ccb027 --- /dev/null +++ b/src/drivers/boards/px4fmu-v2/px4fmu2_led.c @@ -0,0 +1,97 @@ +/**************************************************************************** + * + * 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 px4fmu2_led.c + * + * PX4FMU LED backend. + */ + +#include + +#include + +#include "stm32.h" +#include "board_config.h" + +#include + +/* + * Ideally we'd be able to get these from up_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(); +extern void led_on(int led); +extern void led_off(int led); +extern void led_toggle(int led); +__END_DECLS + +__EXPORT void led_init() +{ + /* Configure LED1 GPIO for output */ + + stm32_configgpio(GPIO_LED1); +} + +__EXPORT void led_on(int led) +{ + if (led == 1) + { + /* Pull down to switch on */ + stm32_gpiowrite(GPIO_LED1, false); + } +} + +__EXPORT void led_off(int led) +{ + if (led == 1) + { + /* Pull up to switch off */ + stm32_gpiowrite(GPIO_LED1, true); + } +} + +__EXPORT void led_toggle(int led) +{ + if (led == 1) + { + if (stm32_gpioread(GPIO_LED1)) + stm32_gpiowrite(GPIO_LED1, false); + else + stm32_gpiowrite(GPIO_LED1, true); + } +} diff --git a/src/drivers/boards/px4fmu-v2/px4fmu_can.c b/src/drivers/boards/px4fmu-v2/px4fmu_can.c new file mode 100644 index 0000000000..f66c7cd79f --- /dev/null +++ b/src/drivers/boards/px4fmu-v2/px4fmu_can.c @@ -0,0 +1,144 @@ +/**************************************************************************** + * + * 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_can.c + * + * Board-specific CAN functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include +#include + +#include +#include + +#include "chip.h" +#include "up_arch.h" + +#include "stm32.h" +#include "stm32_can.h" +#include "board_config.h" + +#ifdef CONFIG_CAN + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ +/* Configuration ********************************************************************/ + +#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) +# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1." +# undef CONFIG_STM32_CAN2 +#endif + +#ifdef CONFIG_STM32_CAN1 +# define CAN_PORT 1 +#else +# define CAN_PORT 2 +#endif + +/* Debug ***************************************************************************/ +/* Non-standard debug that may be enabled just for testing CAN */ + +#ifdef CONFIG_DEBUG_CAN +# define candbg dbg +# define canvdbg vdbg +# define canlldbg lldbg +# define canllvdbg llvdbg +#else +# define candbg(x...) +# define canvdbg(x...) +# define canlldbg(x...) +# define canllvdbg(x...) +#endif + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: can_devinit + * + * Description: + * All STM32 architectures must provide the following interface to work with + * examples/can. + * + ************************************************************************************/ + +int can_devinit(void) +{ + static bool initialized = false; + struct can_dev_s *can; + int ret; + + /* Check if we have already initialized */ + + if (!initialized) { + /* Call stm32_caninitialize() to get an instance of the CAN interface */ + + can = stm32_caninitialize(CAN_PORT); + + if (can == NULL) { + candbg("ERROR: Failed to get CAN interface\n"); + return -ENODEV; + } + + /* Register the CAN driver at "/dev/can0" */ + + ret = can_register("/dev/can0", can); + + if (ret < 0) { + candbg("ERROR: can_register failed: %d\n", ret); + return ret; + } + + /* Now we are initialized */ + + initialized = true; + } + + return OK; +} + +#endif \ No newline at end of file diff --git a/src/drivers/boards/px4fmu-v2/px4fmu_pwm_servo.c b/src/drivers/boards/px4fmu-v2/px4fmu_pwm_servo.c new file mode 100644 index 0000000000..600dfef412 --- /dev/null +++ b/src/drivers/boards/px4fmu-v2/px4fmu_pwm_servo.c @@ -0,0 +1,105 @@ +/**************************************************************************** + * + * 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_pwm_servo.c + * + * Configuration data for the stm32 pwm_servo driver. + * + * Note that these arrays must always be fully-sized. + */ + +#include + +#include +#include +#include + +#include +#include + +#include "board_config.h" + +__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = { + { + .base = STM32_TIM1_BASE, + .clock_register = STM32_RCC_APB2ENR, + .clock_bit = RCC_APB2ENR_TIM1EN, + .clock_freq = STM32_APB2_TIM1_CLKIN + }, + { + .base = STM32_TIM4_BASE, + .clock_register = STM32_RCC_APB1ENR, + .clock_bit = RCC_APB1ENR_TIM4EN, + .clock_freq = STM32_APB1_TIM4_CLKIN + } +}; + +__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = { + { + .gpio = GPIO_TIM1_CH4OUT, + .timer_index = 0, + .timer_channel = 4, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM1_CH3OUT, + .timer_index = 0, + .timer_channel = 3, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM1_CH2OUT, + .timer_index = 0, + .timer_channel = 2, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM1_CH1OUT, + .timer_index = 0, + .timer_channel = 1, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM4_CH2OUT, + .timer_index = 1, + .timer_channel = 2, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM4_CH3OUT, + .timer_index = 1, + .timer_channel = 3, + .default_value = 1000, + } +}; diff --git a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c new file mode 100644 index 0000000000..09838d02fe --- /dev/null +++ b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c @@ -0,0 +1,141 @@ +/**************************************************************************** + * + * 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_spi.c + * + * Board-specific SPI functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include +#include +#include + +#include +#include + +#include +#include +#include +#include "board_config.h" + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the PX4FMU board. + * + ************************************************************************************/ + +__EXPORT void weak_function stm32_spiinitialize(void) +{ +#ifdef CONFIG_STM32_SPI1 + stm32_configgpio(GPIO_SPI_CS_GYRO); + stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG); + stm32_configgpio(GPIO_SPI_CS_BARO); + + /* De-activate all peripherals, + * required for some peripheral + * state machines + */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); + stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); +#endif + +#ifdef CONFIG_STM32_SPI2 + stm32_configgpio(GPIO_SPI_CS_FRAM); + stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1); +#endif +} + +__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* SPI select is active low, so write !selected to select the device */ + + switch (devid) { + case PX4_SPIDEV_GYRO: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); + stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + break; + + case PX4_SPIDEV_ACCEL_MAG: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected); + stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + break; + + case PX4_SPIDEV_BARO: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); + stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected); + break; + + default: + break; + } +} + +__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + return SPI_STATUS_PRESENT; +} + + +#ifdef CONFIG_STM32_SPI2 +__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* there can only be one device on this bus, so always select it */ + stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected); +} + +__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + /* FRAM is always present */ + return SPI_STATUS_PRESENT; +} +#endif diff --git a/src/drivers/boards/px4fmu-v2/px4fmu_usb.c b/src/drivers/boards/px4fmu-v2/px4fmu_usb.c new file mode 100644 index 0000000000..f329e06ff9 --- /dev/null +++ b/src/drivers/boards/px4fmu-v2/px4fmu_usb.c @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * 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_usb.c + * + * Board-specific USB functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include +#include +#include +#include + +#include +#include + +#include +#include +#include "board_config.h" + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_usbinitialize + * + * Description: + * Called to setup USB-related GPIO pins for the PX4FMU board. + * + ************************************************************************************/ + +__EXPORT void stm32_usbinitialize(void) +{ + /* The OTG FS has an internal soft pull-up */ + + /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */ + +#ifdef CONFIG_STM32_OTGFS + stm32_configgpio(GPIO_OTGFS_VBUS); + /* XXX We only support device mode + stm32_configgpio(GPIO_OTGFS_PWRON); + stm32_configgpio(GPIO_OTGFS_OVER); + */ +#endif +} + +/************************************************************************************ + * Name: stm32_usbsuspend + * + * Description: + * Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is + * used. This function is called whenever the USB enters or leaves suspend mode. + * This is an opportunity for the board logic to shutdown clocks, power, etc. + * while the USB is suspended. + * + ************************************************************************************/ + +__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) +{ + ulldbg("resume: %d\n", resume); +} + diff --git a/src/drivers/boards/px4io/px4io_internal.h b/src/drivers/boards/px4io-v1/board_config.h similarity index 92% rename from src/drivers/boards/px4io/px4io_internal.h rename to src/drivers/boards/px4io-v1/board_config.h index 6638e715ef..48aadbd768 100644 --- a/src/drivers/boards/px4io/px4io_internal.h +++ b/src/drivers/boards/px4io-v1/board_config.h @@ -32,7 +32,7 @@ ****************************************************************************/ /** - * @file px4io_internal.h + * @file board_config.h * * PX4IO hardware definitions. */ @@ -47,7 +47,9 @@ #include #include +/* these headers are not C++ safe */ #include +#include /************************************************************************************ * Definitions @@ -83,3 +85,11 @@ #define GPIO_ADC_VBATT (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4) #define GPIO_ADC_IN5 (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5) + +/* + * High-resolution timer + */ +#define HRT_TIMER 1 /* use timer1 for the HRT */ +#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */ +#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */ +#define GPIO_PPM_IN GPIO_TIM1_CH1IN diff --git a/src/drivers/boards/px4io/module.mk b/src/drivers/boards/px4io-v1/module.mk similarity index 100% rename from src/drivers/boards/px4io/module.mk rename to src/drivers/boards/px4io-v1/module.mk diff --git a/src/drivers/boards/px4io/px4io_init.c b/src/drivers/boards/px4io-v1/px4io_init.c similarity index 99% rename from src/drivers/boards/px4io/px4io_init.c rename to src/drivers/boards/px4io-v1/px4io_init.c index 15c59e4236..8292da9e1c 100644 --- a/src/drivers/boards/px4io/px4io_init.c +++ b/src/drivers/boards/px4io-v1/px4io_init.c @@ -55,7 +55,7 @@ #include #include "stm32.h" -#include "px4io_internal.h" +#include "board_config.h" #include "stm32_uart.h" #include diff --git a/src/drivers/boards/px4io/px4io_pwm_servo.c b/src/drivers/boards/px4io-v1/px4io_pwm_servo.c similarity index 100% rename from src/drivers/boards/px4io/px4io_pwm_servo.c rename to src/drivers/boards/px4io-v1/px4io_pwm_servo.c diff --git a/src/drivers/boards/px4io-v2/board_config.h b/src/drivers/boards/px4io-v2/board_config.h new file mode 100644 index 0000000000..818b644362 --- /dev/null +++ b/src/drivers/boards/px4io-v2/board_config.h @@ -0,0 +1,138 @@ +/**************************************************************************** + * + * 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 px4iov2_internal.h + * + * PX4IOV2 internal definitions + */ + +#pragma once + +/****************************************************************************** + * Included Files + ******************************************************************************/ + +#include +#include +#include + +/* these headers are not C++ safe */ +#include +#include + +/****************************************************************************** + * Definitions + ******************************************************************************/ +/* Configuration **************************************************************/ + +/****************************************************************************** + * Serial + ******************************************************************************/ +#define PX4FMU_SERIAL_BASE STM32_USART2_BASE +#define PX4FMU_SERIAL_VECTOR STM32_IRQ_USART2 +#define PX4FMU_SERIAL_TX_GPIO GPIO_USART2_TX +#define PX4FMU_SERIAL_RX_GPIO GPIO_USART2_RX +#define PX4FMU_SERIAL_TX_DMA DMACHAN_USART2_TX +#define PX4FMU_SERIAL_RX_DMA DMACHAN_USART2_RX +#define PX4FMU_SERIAL_CLOCK STM32_PCLK1_FREQUENCY +#define PX4FMU_SERIAL_BITRATE 1500000 + +/****************************************************************************** + * GPIOS + ******************************************************************************/ + +/* LEDS **********************************************************************/ + +#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14) +#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15) +#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13) + +/* Safety switch button *******************************************************/ + +#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5) + +/* Power switch controls ******************************************************/ + +#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) + +#define GPIO_SERVO_FAULT_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN15) + +/* Analog inputs **************************************************************/ + +#define GPIO_ADC_VSERVO (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4) + +/* the same rssi signal goes to both an adc and a timer input */ +#define GPIO_ADC_RSSI (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5) +#define GPIO_TIM_RSSI (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN12) + +/* PWM pins **************************************************************/ + +#define GPIO_PPM (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN8) + +#define GPIO_PWM1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0) +#define GPIO_PWM2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1) +#define GPIO_PWM3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8) +#define GPIO_PWM4 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9) +#define GPIO_PWM5 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6) +#define GPIO_PWM6 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7) +#define GPIO_PWM7 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0) +#define GPIO_PWM8 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1) + +/* SBUS pins *************************************************************/ + +/* XXX these should be UART pins */ +#define GPIO_SBUS_INPUT (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN11) +#define GPIO_SBUS_OUTPUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10) +#define GPIO_SBUS_OENABLE (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN4) + +/* + * High-resolution timer + */ +#define HRT_TIMER 1 /* use timer1 for the HRT */ +#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */ +#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */ +#define GPIO_PPM_IN GPIO_TIM1_CH1IN + +/* LED definitions ******************************************************************/ +/* PX4 has two LEDs that we will encode as: */ + +#define LED_STARTED 0 /* LED? */ +#define LED_HEAPALLOCATE 1 /* LED? */ +#define LED_IRQSENABLED 2 /* LED? + LED? */ +#define LED_STACKCREATED 3 /* LED? */ +#define LED_INIRQ 4 /* LED? + LED? */ +#define LED_SIGNAL 5 /* LED? + LED? */ +#define LED_ASSERTION 6 /* LED? + LED? + LED? */ +#define LED_PANIC 7 /* N/C + N/C + N/C + LED? */ + diff --git a/src/drivers/boards/px4io-v2/module.mk b/src/drivers/boards/px4io-v2/module.mk new file mode 100644 index 0000000000..85f94e8be1 --- /dev/null +++ b/src/drivers/boards/px4io-v2/module.mk @@ -0,0 +1,6 @@ +# +# Board-specific startup code for the PX4IOv2 +# + +SRCS = px4iov2_init.c \ + px4iov2_pwm_servo.c diff --git a/src/drivers/boards/px4io-v2/px4iov2_init.c b/src/drivers/boards/px4io-v2/px4iov2_init.c new file mode 100644 index 0000000000..0ea95bded9 --- /dev/null +++ b/src/drivers/boards/px4io-v2/px4iov2_init.c @@ -0,0 +1,162 @@ +/**************************************************************************** + * + * 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 px4iov2_init.c + * + * PX4FMU-specific early startup code. This file implements the + * nsh_archinitialize() function that is called early by nsh during startup. + * + * Code here is run before the rcS script is invoked; it should start required + * subsystems and perform board-specific initialisation. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include +#include +#include + +#include + +#include +#include "board_config.h" + +#include + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +/* Configuration ************************************************************/ + +/* Debug ********************************************************************/ + +#ifdef CONFIG_CPP_HAVE_VARARGS +# ifdef CONFIG_DEBUG +# define message(...) lowsyslog(__VA_ARGS__) +# else +# define message(...) printf(__VA_ARGS__) +# endif +#else +# ifdef CONFIG_DEBUG +# define message lowsyslog +# else +# define message printf +# endif +#endif + +/**************************************************************************** + * Protected Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the intitialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +__EXPORT void stm32_boardinitialize(void) +{ + + /* configure GPIOs */ + + /* LEDS - default to off */ + stm32_configgpio(GPIO_LED1); + stm32_configgpio(GPIO_LED2); + stm32_configgpio(GPIO_LED3); + + stm32_configgpio(GPIO_BTN_SAFETY); + + /* spektrum power enable is active high - disable it by default */ + /* XXX might not want to do this on warm restart? */ + stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, false); + stm32_configgpio(GPIO_SPEKTRUM_PWR_EN); + + stm32_configgpio(GPIO_SERVO_FAULT_DETECT); + + /* RSSI inputs */ + stm32_configgpio(GPIO_TIM_RSSI); /* xxx alternate function */ + stm32_configgpio(GPIO_ADC_RSSI); + + /* servo rail voltage */ + stm32_configgpio(GPIO_ADC_VSERVO); + + stm32_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */ + + stm32_gpiowrite(GPIO_SBUS_OUTPUT, false); + stm32_configgpio(GPIO_SBUS_OUTPUT); + + /* sbus output enable is active low - disable it by default */ + stm32_gpiowrite(GPIO_SBUS_OENABLE, true); + stm32_configgpio(GPIO_SBUS_OENABLE); + + stm32_configgpio(GPIO_PPM); /* xxx alternate function */ + + stm32_gpiowrite(GPIO_PWM1, false); + stm32_configgpio(GPIO_PWM1); + + stm32_gpiowrite(GPIO_PWM2, false); + stm32_configgpio(GPIO_PWM2); + + stm32_gpiowrite(GPIO_PWM3, false); + stm32_configgpio(GPIO_PWM3); + + stm32_gpiowrite(GPIO_PWM4, false); + stm32_configgpio(GPIO_PWM4); + + stm32_gpiowrite(GPIO_PWM5, false); + stm32_configgpio(GPIO_PWM5); + + stm32_gpiowrite(GPIO_PWM6, false); + stm32_configgpio(GPIO_PWM6); + + stm32_gpiowrite(GPIO_PWM7, false); + stm32_configgpio(GPIO_PWM7); + + stm32_gpiowrite(GPIO_PWM8, false); + stm32_configgpio(GPIO_PWM8); +} diff --git a/src/drivers/boards/px4io-v2/px4iov2_pwm_servo.c b/src/drivers/boards/px4io-v2/px4iov2_pwm_servo.c new file mode 100644 index 0000000000..4f1b9487cf --- /dev/null +++ b/src/drivers/boards/px4io-v2/px4iov2_pwm_servo.c @@ -0,0 +1,123 @@ +/**************************************************************************** + * + * 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 px4iov2_pwm_servo.c + * + * Configuration data for the stm32 pwm_servo driver. + * + * Note that these arrays must always be fully-sized. + */ + +#include + +#include + +#include +#include + +#include +#include +#include + +__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = { + { + .base = STM32_TIM2_BASE, + .clock_register = STM32_RCC_APB1ENR, + .clock_bit = RCC_APB1ENR_TIM2EN, + .clock_freq = STM32_APB1_TIM2_CLKIN + }, + { + .base = STM32_TIM3_BASE, + .clock_register = STM32_RCC_APB1ENR, + .clock_bit = RCC_APB1ENR_TIM3EN, + .clock_freq = STM32_APB1_TIM3_CLKIN + }, + { + .base = STM32_TIM4_BASE, + .clock_register = STM32_RCC_APB1ENR, + .clock_bit = RCC_APB1ENR_TIM4EN, + .clock_freq = STM32_APB1_TIM4_CLKIN + } +}; + +__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = { + { + .gpio = GPIO_TIM2_CH1OUT, + .timer_index = 0, + .timer_channel = 1, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM2_CH2OUT, + .timer_index = 0, + .timer_channel = 2, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM4_CH3OUT, + .timer_index = 2, + .timer_channel = 3, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM4_CH4OUT, + .timer_index = 2, + .timer_channel = 4, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM3_CH1OUT, + .timer_index = 1, + .timer_channel = 1, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM3_CH2OUT, + .timer_index = 1, + .timer_channel = 2, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM3_CH3OUT, + .timer_index = 1, + .timer_channel = 3, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM3_CH4OUT, + .timer_index = 1, + .timer_channel = 4, + .default_value = 1000, + } +}; diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h index 510983d4bd..37af26d522 100644 --- a/src/drivers/drv_gpio.h +++ b/src/drivers/drv_gpio.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * 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 @@ -59,17 +59,47 @@ # define GPIO_CAN_RX (1<<7) /**< CAN2 RX */ /** - * Default GPIO device - other devices may also support this protocol if - * they also export GPIO-like things. This is always the GPIOs on the - * main board. + * Device paths for things that support the GPIO ioctl protocol. */ # define PX4FMU_DEVICE_PATH "/dev/px4fmu" # define PX4IO_DEVICE_PATH "/dev/px4io" #endif -#ifndef PX4IO_DEVICE_PATH -# error No GPIO support for this board. +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 +/* + * PX4FMUv2 GPIO numbers. + * + * There are no alternate functions on this board. + */ +# define GPIO_SERVO_1 (1<<0) /**< servo 1 output */ +# define GPIO_SERVO_2 (1<<1) /**< servo 2 output */ +# define GPIO_SERVO_3 (1<<2) /**< servo 3 output */ +# define GPIO_SERVO_4 (1<<3) /**< servo 4 output */ +# define GPIO_SERVO_5 (1<<4) /**< servo 5 output */ +# define GPIO_SERVO_6 (1<<5) /**< servo 6 output */ + +# define GPIO_5V_PERIPH_EN (1<<6) /**< PA8 - !VDD_5V_PERIPH_EN */ +# define GPIO_3V3_SENSORS_EN (1<<7) /**< PE3 - VDD_3V3_SENSORS_EN */ +# define GPIO_BRICK_VALID (1<<8) /**< PB5 - !VDD_BRICK_VALID */ +# define GPIO_SERVO_VALID (1<<9) /**< PB7 - !VDD_SERVO_VALID */ +# define GPIO_5V_HIPOWER_OC (1<<10) /**< PE10 - !VDD_5V_HIPOWER_OC */ +# define GPIO_5V_PERIPH_OC (1<<11) /**< PE10 - !VDD_5V_PERIPH_OC */ + +/** + * Device paths for things that support the GPIO ioctl protocol. + */ +# define PX4FMU_DEVICE_PATH "/dev/px4fmu" +# define PX4IO_DEVICE_PATH "/dev/px4io" + +#endif + +#ifdef CONFIG_ARCH_BOARD_PX4IO_V1 +/* no GPIO driver on the PX4IOv1 board */ +#endif + +#ifdef CONFIG_ARCH_BOARD_PX4IO_V2 +/* no GPIO driver on the PX4IOv2 board */ #endif /* diff --git a/src/drivers/drv_led.h b/src/drivers/drv_led.h index 21044f6200..4ce04696e0 100644 --- a/src/drivers/drv_led.h +++ b/src/drivers/drv_led.h @@ -54,12 +54,13 @@ #define LED_ON _IOC(_LED_BASE, 0) #define LED_OFF _IOC(_LED_BASE, 1) +#define LED_TOGGLE _IOC(_LED_BASE, 2) __BEGIN_DECLS /* * Initialise the LED driver. */ -__EXPORT extern void drv_led_start(void); +__EXPORT void drv_led_start(void); __END_DECLS diff --git a/src/drivers/drv_mag.h b/src/drivers/drv_mag.h index 9aab995a17..3de5625fd7 100644 --- a/src/drivers/drv_mag.h +++ b/src/drivers/drv_mag.h @@ -90,25 +90,37 @@ ORB_DECLARE(sensor_mag); /** set the mag internal sample rate to at least (arg) Hz */ #define MAGIOCSSAMPLERATE _MAGIOC(0) +/** return the mag internal sample rate in Hz */ +#define MAGIOCGSAMPLERATE _MAGIOC(1) + /** set the mag internal lowpass filter to no lower than (arg) Hz */ -#define MAGIOCSLOWPASS _MAGIOC(1) +#define MAGIOCSLOWPASS _MAGIOC(2) + +/** return the mag internal lowpass filter in Hz */ +#define MAGIOCGLOWPASS _MAGIOC(3) /** set the mag scaling constants to the structure pointed to by (arg) */ -#define MAGIOCSSCALE _MAGIOC(2) +#define MAGIOCSSCALE _MAGIOC(4) /** copy the mag scaling constants to the structure pointed to by (arg) */ -#define MAGIOCGSCALE _MAGIOC(3) +#define MAGIOCGSCALE _MAGIOC(5) /** set the measurement range to handle (at least) arg Gauss */ -#define MAGIOCSRANGE _MAGIOC(4) +#define MAGIOCSRANGE _MAGIOC(6) + +/** return the current mag measurement range in Gauss */ +#define MAGIOCGRANGE _MAGIOC(7) /** perform self-calibration, update scale factors to canonical units */ -#define MAGIOCCALIBRATE _MAGIOC(5) +#define MAGIOCCALIBRATE _MAGIOC(8) /** excite strap */ -#define MAGIOCEXSTRAP _MAGIOC(6) +#define MAGIOCEXSTRAP _MAGIOC(9) /** perform self test and report status */ -#define MAGIOCSELFTEST _MAGIOC(7) +#define MAGIOCSELFTEST _MAGIOC(10) + +/** determine if mag is external or onboard */ +#define MAGIOCGEXTERNAL _MAGIOC(11) #endif /* _DRV_MAG_H */ diff --git a/src/drivers/drv_rgbled.h b/src/drivers/drv_rgbled.h new file mode 100644 index 0000000000..07c6186dde --- /dev/null +++ b/src/drivers/drv_rgbled.h @@ -0,0 +1,128 @@ +/**************************************************************************** + * + * Copyright (C) 2012-2013 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 drv_rgbled.h + * + * RGB led device API + */ + +#pragma once + +#include +#include + +/* more devices will be 1, 2, etc */ +#define RGBLED_DEVICE_PATH "/dev/rgbled0" + +/* + * ioctl() definitions + */ + +#define _RGBLEDIOCBASE (0x2900) +#define _RGBLEDIOC(_n) (_IOC(_RGBLEDIOCBASE, _n)) + +/** play the named script in *(char *)arg, repeating forever */ +#define RGBLED_PLAY_SCRIPT_NAMED _RGBLEDIOC(1) + +/** play the numbered script in (arg), repeating forever */ +#define RGBLED_PLAY_SCRIPT _RGBLEDIOC(2) + +/** + * Set the user script; (arg) is a pointer to an array of script lines, + * where each line is an array of four bytes giving , , arg[0-2] + * + * The script is terminated by a zero command. + */ +#define RGBLED_SET_USER_SCRIPT _RGBLEDIOC(3) + +/** set constant RGB values */ +#define RGBLED_SET_RGB _RGBLEDIOC(4) + +/** set color */ +#define RGBLED_SET_COLOR _RGBLEDIOC(5) + +/** set blink speed */ +#define RGBLED_SET_MODE _RGBLEDIOC(6) + +/** set pattern */ +#define RGBLED_SET_PATTERN _RGBLEDIOC(7) + + +/* + structure passed to RGBLED_SET_RGB ioctl() + Note that the driver scales the brightness to 0 to 255, regardless + of the hardware scaling + */ +typedef struct { + uint8_t red; + uint8_t green; + uint8_t blue; +} rgbled_rgbset_t; + +/* enum passed to RGBLED_SET_COLOR ioctl()*/ +typedef enum { + RGBLED_COLOR_OFF, + RGBLED_COLOR_RED, + RGBLED_COLOR_YELLOW, + RGBLED_COLOR_PURPLE, + RGBLED_COLOR_GREEN, + RGBLED_COLOR_BLUE, + RGBLED_COLOR_WHITE, + RGBLED_COLOR_AMBER, + RGBLED_COLOR_DIM_RED, + RGBLED_COLOR_DIM_YELLOW, + RGBLED_COLOR_DIM_PURPLE, + RGBLED_COLOR_DIM_GREEN, + RGBLED_COLOR_DIM_BLUE, + RGBLED_COLOR_DIM_WHITE, + RGBLED_COLOR_DIM_AMBER +} rgbled_color_t; + +/* enum passed to RGBLED_SET_MODE ioctl()*/ +typedef enum { + RGBLED_MODE_OFF, + RGBLED_MODE_ON, + RGBLED_MODE_BLINK_SLOW, + RGBLED_MODE_BLINK_NORMAL, + RGBLED_MODE_BLINK_FAST, + RGBLED_MODE_BREATHE, + RGBLED_MODE_PATTERN +} rgbled_mode_t; + +#define RGBLED_PATTERN_LENGTH 20 + +typedef struct { + rgbled_color_t color[RGBLED_PATTERN_LENGTH]; + unsigned duration[RGBLED_PATTERN_LENGTH]; +} rgbled_pattern_t; diff --git a/src/drivers/drv_tone_alarm.h b/src/drivers/drv_tone_alarm.h index 0c6afc64c4..f0b8606200 100644 --- a/src/drivers/drv_tone_alarm.h +++ b/src/drivers/drv_tone_alarm.h @@ -125,4 +125,24 @@ enum tone_pitch { TONE_NOTE_MAX }; +enum { + TONE_STOP_TUNE = 0, + TONE_STARTUP_TUNE, + TONE_ERROR_TUNE, + TONE_NOTIFY_POSITIVE_TUNE, + TONE_NOTIFY_NEUTRAL_TUNE, + TONE_NOTIFY_NEGATIVE_TUNE, + /* Do not include these unused tunes + TONE_CHARGE_TUNE, + TONE_DIXIE_TUNE, + TONE_CUCURACHA_TUNE, + TONE_YANKEE_TUNE, + TONE_DAISY_TUNE, + TONE_WILLIAM_TELL_TUNE, */ + TONE_ARMING_WARNING_TUNE, + TONE_BATTERY_WARNING_SLOW_TUNE, + TONE_BATTERY_WARNING_FAST_TUNE, + TONE_NUMBER_OF_TUNES +}; + #endif /* DRV_TONE_ALARM_H_ */ diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp index cd72d9d23d..257b41935c 100644 --- a/src/drivers/ets_airspeed/ets_airspeed.cpp +++ b/src/drivers/ets_airspeed/ets_airspeed.cpp @@ -59,7 +59,7 @@ #include #include -#include +#include #include #include diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index b579db7150..ba5d14cc49 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -42,13 +42,14 @@ * * @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf */ - -#include -#include -#include -#include -#include #include +#include +#include +#include +#include +#include +#include + #include #include #include @@ -452,7 +453,16 @@ UBX::handle_message() timeinfo.tm_min = packet->min; timeinfo.tm_sec = packet->sec; time_t epoch = mktime(&timeinfo); - + +#ifndef CONFIG_RTC + //Since we lack a hardware RTC, set the system time clock based on GPS UTC + //TODO generalize this by moving into gps.cpp? + timespec ts; + ts.tv_sec = epoch; + ts.tv_nsec = packet->time_nanoseconds; + clock_settime(CLOCK_REALTIME,&ts); +#endif + _gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this _gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f); _gps_position->timestamp_time = hrt_absolute_time(); diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp index bd027ce0b9..3e30e32927 100644 --- a/src/drivers/hil/hil.cpp +++ b/src/drivers/hil/hil.cpp @@ -75,6 +75,7 @@ #include #include +#include #include #include diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index ac3bdc1325..a5229b2371 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -58,7 +58,7 @@ #include #include -#include +#include #include #include @@ -77,8 +77,8 @@ #define HMC5883L_ADDRESS PX4_I2C_OBDEV_HMC5883 -/* Max measurement rate is 160Hz */ -#define HMC5883_CONVERSION_INTERVAL (1000000 / 160) /* microseconds */ +/* Max measurement rate is 160Hz, however with 160 it will be set to 166 Hz, therefore workaround using 150 */ +#define HMC5883_CONVERSION_INTERVAL (1000000 / 150) /* microseconds */ #define ADDR_CONF_A 0x00 #define ADDR_CONF_B 0x01 @@ -167,6 +167,8 @@ private: bool _sensor_ok; /**< sensor was found and reports ok */ bool _calibrated; /**< the calibration is valid */ + int _bus; /**< the bus the device is connected to */ + /** * Test whether the device supported by the driver is present at a * specific address. @@ -189,6 +191,11 @@ private: */ void stop(); + /** + * Reset the device + */ + int reset(); + /** * Perform the on-sensor scale calibration routine. * @@ -304,7 +311,7 @@ private: }; /* helper macro for handling report buffer indices */ -#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) +#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0) /* * Driver 'main' command. @@ -326,7 +333,8 @@ HMC5883::HMC5883(int bus) : _comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")), _buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows")), _sensor_ok(false), - _calibrated(false) + _calibrated(false), + _bus(bus) { // enable debug() calls _debug_enabled = false; @@ -351,6 +359,11 @@ HMC5883::~HMC5883() /* free any existing reports */ if (_reports != nullptr) delete[] _reports; + + // free perf counters + perf_free(_sample_perf); + perf_free(_comms_errors); + perf_free(_buffer_overflows); } int @@ -362,6 +375,9 @@ HMC5883::init() if (I2C::init() != OK) goto out; + /* reset the device configuration */ + reset(); + /* allocate basic report buffers */ _num_reports = 2; _reports = new struct mag_report[_num_reports]; @@ -378,9 +394,6 @@ HMC5883::init() if (_mag_topic < 0) debug("failed to create sensor_mag object"); - /* set range */ - set_range(_range_ga); - ret = OK; /* sensor is ok, but not calibrated */ _sensor_ok = true; @@ -539,68 +552,67 @@ int HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg) { switch (cmd) { - case SENSORIOCSPOLLRATE: { - switch (arg) { + switch (arg) { + + /* switching to manual polling */ + case SENSOR_POLLRATE_MANUAL: + stop(); + _measure_ticks = 0; + return OK; + + /* external signalling (DRDY) not supported */ + case SENSOR_POLLRATE_EXTERNAL: + + /* zero would be bad */ + case 0: + return -EINVAL; + + /* set default/max polling rate */ + case SENSOR_POLLRATE_MAX: + case SENSOR_POLLRATE_DEFAULT: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* set interval for next measurement to minimum legal value */ + _measure_ticks = USEC2TICK(HMC5883_CONVERSION_INTERVAL); + + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); - /* switching to manual polling */ - case SENSOR_POLLRATE_MANUAL: - stop(); - _measure_ticks = 0; return OK; + } - /* external signalling (DRDY) not supported */ - case SENSOR_POLLRATE_EXTERNAL: + /* adjust to a legal polling interval in Hz */ + default: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); - /* zero would be bad */ - case 0: - return -EINVAL; + /* convert hz to tick interval via microseconds */ + unsigned ticks = USEC2TICK(1000000 / arg); - /* set default/max polling rate */ - case SENSOR_POLLRATE_MAX: - case SENSOR_POLLRATE_DEFAULT: { - /* do we need to start internal polling? */ - bool want_start = (_measure_ticks == 0); + /* check against maximum rate */ + if (ticks < USEC2TICK(HMC5883_CONVERSION_INTERVAL)) + return -EINVAL; - /* set interval for next measurement to minimum legal value */ - _measure_ticks = USEC2TICK(HMC5883_CONVERSION_INTERVAL); + /* update interval for next measurement */ + _measure_ticks = ticks; - /* if we need to start the poll state machine, do it */ - if (want_start) - start(); + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); - return OK; - } - - /* adjust to a legal polling interval in Hz */ - default: { - /* do we need to start internal polling? */ - bool want_start = (_measure_ticks == 0); - - /* convert hz to tick interval via microseconds */ - unsigned ticks = USEC2TICK(1000000 / arg); - - /* check against maximum rate */ - if (ticks < USEC2TICK(HMC5883_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) - start(); - - return OK; - } + return OK; } } + } case SENSORIOCGPOLLRATE: if (_measure_ticks == 0) return SENSOR_POLLRATE_MANUAL; - return (1000 / _measure_ticks); + return 1000000/TICK2USEC(_measure_ticks); case SENSORIOCSQUEUEDEPTH: { /* add one to account for the sentinel in the ring */ @@ -630,17 +642,24 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg) return _num_reports - 1; case SENSORIOCRESET: - /* XXX implement this */ - return -EINVAL; + return reset(); case MAGIOCSSAMPLERATE: - /* not supported, always 1 sample per poll */ - return -EINVAL; + /* same as pollrate because device is in single measurement mode*/ + return ioctl(filp, SENSORIOCSPOLLRATE, arg); + + case MAGIOCGSAMPLERATE: + /* same as pollrate because device is in single measurement mode*/ + return 1000000/TICK2USEC(_measure_ticks); case MAGIOCSRANGE: return set_range(arg); + case MAGIOCGRANGE: + return _range_ga; + case MAGIOCSLOWPASS: + case MAGIOCGLOWPASS: /* not supported, no internal filtering */ return -EINVAL; @@ -665,6 +684,12 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg) case MAGIOCSELFTEST: return check_calibration(); + case MAGIOCGEXTERNAL: + if (_bus == PX4_I2C_BUS_EXPANSION) + return 1; + else + return 0; + default: /* give it to the superclass */ return I2C::ioctl(filp, cmd, arg); @@ -688,6 +713,13 @@ HMC5883::stop() work_cancel(HPWORK, &_work); } +int +HMC5883::reset() +{ + /* set range */ + return set_range(_range_ga); +} + void HMC5883::cycle_trampoline(void *arg) { @@ -851,10 +883,11 @@ HMC5883::collect() _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; } else { #endif - /* XXX axis assignment of external sensor is yet unknown */ - _reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale; + /* the standard external mag by 3DR has x pointing to the right, y pointing backwards, and z down, + * therefore switch x and y and invert y */ + _reports[_next_report].x = ((((report.y == -32768) ? 32767 : -report.y) * _range_scale) - _scale.x_offset) * _scale.x_scale; /* flip axes and negate value for y */ - _reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale; + _reports[_next_report].y = ((report.x * _range_scale) - _scale.y_offset) * _scale.y_scale; /* z remains z */ _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; #ifdef PX4_I2C_BUS_ONBOARD @@ -1293,6 +1326,11 @@ test() warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z); warnx("time: %lld", report.timestamp); + /* check if mag is onboard or external */ + if ((ret = ioctl(fd, MAGIOCGEXTERNAL, 0)) < 0) + errx(1, "failed to get if mag is onboard or external"); + warnx("device active: %s", ret ? "external" : "onboard"); + /* set the queue depth to 10 */ if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) errx(1, "failed to set queue depth"); diff --git a/src/drivers/hott/messages.cpp b/src/drivers/hott/messages.cpp index 57c2563394..bb8d45beab 100644 --- a/src/drivers/hott/messages.cpp +++ b/src/drivers/hott/messages.cpp @@ -42,7 +42,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index 744abfa006..e6d765e13a 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -59,11 +59,11 @@ #include #include -#include - #include #include +#include +#include /* oddly, ERROR is not defined for c++ */ #ifdef ERROR @@ -71,6 +71,12 @@ #endif static const int ERROR = -1; +/* Orientation on board */ +#define SENSOR_BOARD_ROTATION_000_DEG 0 +#define SENSOR_BOARD_ROTATION_090_DEG 1 +#define SENSOR_BOARD_ROTATION_180_DEG 2 +#define SENSOR_BOARD_ROTATION_270_DEG 3 + /* SPI protocol address bits */ #define DIR_READ (1<<7) #define DIR_WRITE (0<<7) @@ -78,6 +84,7 @@ static const int ERROR = -1; /* register addresses */ #define ADDR_WHO_AM_I 0x0F +#define WHO_I_AM_H 0xD7 #define WHO_I_AM 0xD4 #define ADDR_CTRL_REG1 0x20 @@ -85,8 +92,8 @@ static const int ERROR = -1; /* keep lowpass low to avoid noise issues */ #define RATE_95HZ_LP_25HZ ((0<<7) | (0<<6) | (0<<5) | (1<<4)) #define RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (1<<5) | (1<<4)) -#define RATE_380HZ_LP_30HZ ((1<<7) | (0<<6) | (1<<5) | (1<<4)) -#define RATE_760HZ_LP_30HZ ((1<<7) | (1<<6) | (1<<5) | (1<<4)) +#define RATE_380HZ_LP_20HZ ((1<<7) | (0<<6) | (1<<5) | (0<<4)) +#define RATE_760HZ_LP_30HZ ((1<<7) | (1<<6) | (0<<5) | (0<<4)) #define ADDR_CTRL_REG2 0x21 #define ADDR_CTRL_REG3 0x22 @@ -147,6 +154,10 @@ static const int ERROR = -1; #define FIFO_CTRL_STREAM_TO_FIFO_MODE (3<<5) #define FIFO_CTRL_BYPASS_TO_STREAM_MODE (1<<7) +#define L3GD20_DEFAULT_RATE 760 +#define L3GD20_DEFAULT_RANGE_DPS 2000 +#define L3GD20_DEFAULT_FILTER_FREQ 30 + extern "C" { __EXPORT int l3gd20_main(int argc, char *argv[]); } class L3GD20 : public device::SPI @@ -184,10 +195,16 @@ private: orb_advert_t _gyro_topic; unsigned _current_rate; - unsigned _current_range; + unsigned _orientation; + + unsigned _read; perf_counter_t _sample_perf; + math::LowPassFilter2p _gyro_filter_x; + math::LowPassFilter2p _gyro_filter_y; + math::LowPassFilter2p _gyro_filter_z; + /** * Start automatic measurement. */ @@ -198,6 +215,11 @@ private: */ void stop(); + /** + * Reset the driver + */ + void reset(); + /** * Static trampoline from the hrt_call context; because we don't have a * generic hrt wrapper yet. @@ -261,6 +283,14 @@ private: */ int set_samplerate(unsigned frequency); + /** + * Set the lowpass filter of the driver + * + * @param samplerate The current samplerate + * @param frequency The cutoff frequency for the lowpass filter + */ + void set_driver_lowpass_filter(float samplerate, float bandwidth); + /** * Self test * @@ -270,7 +300,7 @@ private: }; /* helper macro for handling report buffer indices */ -#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) +#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0) L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) : @@ -284,8 +314,12 @@ L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) : _gyro_range_rad_s(0.0f), _gyro_topic(-1), _current_rate(0), - _current_range(0), - _sample_perf(perf_alloc(PC_ELAPSED, "l3gd20_read")) + _orientation(SENSOR_BOARD_ROTATION_270_DEG), + _read(0), + _sample_perf(perf_alloc(PC_ELAPSED, "l3gd20_read")), + _gyro_filter_x(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ), + _gyro_filter_y(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ), + _gyro_filter_z(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ) { // enable debug() calls _debug_enabled = true; @@ -333,23 +367,7 @@ L3GD20::init() memset(&_reports[0], 0, sizeof(_reports[0])); _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_reports[0]); - /* set default configuration */ - write_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE); - write_reg(ADDR_CTRL_REG2, 0); /* disable high-pass filters */ - write_reg(ADDR_CTRL_REG3, 0); /* no interrupts - we don't use them */ - write_reg(ADDR_CTRL_REG4, REG4_BDU); - write_reg(ADDR_CTRL_REG5, 0); - - - write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */ - - /* disable FIFO. This makes things simpler and ensures we - * aren't getting stale data. It means we must run the hrt - * callback fast enough to not miss data. */ - write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE); - - set_range(500); /* default to 500dps */ - set_samplerate(0); /* max sample rate */ + reset(); ret = OK; out: @@ -362,9 +380,24 @@ L3GD20::probe() /* read dummy value to void to clear SPI statemachine on sensor */ (void)read_reg(ADDR_WHO_AM_I); - /* verify that the device is attached and functioning */ - if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) + /* verify that the device is attached and functioning, accept L3GD20 and L3GD20H */ + if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) { + + #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 + _orientation = SENSOR_BOARD_ROTATION_270_DEG; + #elif CONFIG_ARCH_BOARD_PX4FMU_V2 + _orientation = SENSOR_BOARD_ROTATION_270_DEG; + #else + #error This driver needs a board selection, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2 + #endif return OK; + } + + + if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM_H) { + _orientation = SENSOR_BOARD_ROTATION_180_DEG; + return OK; + } return -EIO; } @@ -434,8 +467,7 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg) /* 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); + return ioctl(filp, SENSORIOCSPOLLRATE, L3GD20_DEFAULT_RATE); /* adjust to a legal polling interval in Hz */ default: { @@ -453,6 +485,11 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg) /* XXX this is a bit shady, but no other way to adjust... */ _call.period = _call_interval = ticks; + /* adjust filters */ + float cutoff_freq_hz = _gyro_filter_x.get_cutoff_freq(); + float sample_rate = 1.0e6f/ticks; + set_driver_lowpass_filter(sample_rate, cutoff_freq_hz); + /* if we need to start the poll state machine, do it */ if (want_start) start(); @@ -496,8 +533,8 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg) return _num_reports - 1; case SENSORIOCRESET: - /* XXX implement */ - return -EINVAL; + reset(); + return OK; case GYROIOCSSAMPLERATE: return set_samplerate(arg); @@ -505,10 +542,16 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg) case GYROIOCGSAMPLERATE: return _current_rate; - case GYROIOCSLOWPASS: + case GYROIOCSLOWPASS: { + float cutoff_freq_hz = arg; + float sample_rate = 1.0e6f / _call_interval; + set_driver_lowpass_filter(sample_rate, cutoff_freq_hz); + + return OK; + } + case GYROIOCGLOWPASS: - /* XXX not implemented due to wacky interaction with samplerate */ - return -EINVAL; + return _gyro_filter_x.get_cutoff_freq(); case GYROIOCSSCALE: /* copy scale in */ @@ -521,10 +564,12 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg) return OK; case GYROIOCSRANGE: + /* arg should be in dps */ return set_range(arg); case GYROIOCGRANGE: - return _current_range; + /* convert to dps and round */ + return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f); case GYROIOCSELFTEST: return self_test(); @@ -573,28 +618,33 @@ int L3GD20::set_range(unsigned max_dps) { uint8_t bits = REG4_BDU; + float new_range_scale_dps_digit; + float new_range; - if (max_dps == 0) + if (max_dps == 0) { max_dps = 2000; - + } if (max_dps <= 250) { - _current_range = 250; + new_range = 250; bits |= RANGE_250DPS; + new_range_scale_dps_digit = 8.75e-3f; } else if (max_dps <= 500) { - _current_range = 500; + new_range = 500; bits |= RANGE_500DPS; + new_range_scale_dps_digit = 17.5e-3f; } else if (max_dps <= 2000) { - _current_range = 2000; + new_range = 2000; bits |= RANGE_2000DPS; + new_range_scale_dps_digit = 70e-3f; } else { return -EINVAL; } - _gyro_range_rad_s = _current_range / 180.0f * M_PI_F; - _gyro_range_scale = _gyro_range_rad_s / 32768.0f; + _gyro_range_rad_s = new_range / 180.0f * M_PI_F; + _gyro_range_scale = new_range_scale_dps_digit / 180.0f * M_PI_F; write_reg(ADDR_CTRL_REG4, bits); return OK; @@ -608,19 +658,20 @@ L3GD20::set_samplerate(unsigned frequency) if (frequency == 0) frequency = 760; - if (frequency <= 95) { + /* use limits good for H or non-H models */ + if (frequency <= 100) { _current_rate = 95; bits |= RATE_95HZ_LP_25HZ; - } else if (frequency <= 190) { + } else if (frequency <= 200) { _current_rate = 190; bits |= RATE_190HZ_LP_25HZ; - } else if (frequency <= 380) { + } else if (frequency <= 400) { _current_rate = 380; - bits |= RATE_380HZ_LP_30HZ; + bits |= RATE_380HZ_LP_20HZ; - } else if (frequency <= 760) { + } else if (frequency <= 800) { _current_rate = 760; bits |= RATE_760HZ_LP_30HZ; @@ -633,6 +684,14 @@ L3GD20::set_samplerate(unsigned frequency) return OK; } +void +L3GD20::set_driver_lowpass_filter(float samplerate, float bandwidth) +{ + _gyro_filter_x.set_cutoff_frequency(samplerate, bandwidth); + _gyro_filter_y.set_cutoff_frequency(samplerate, bandwidth); + _gyro_filter_z.set_cutoff_frequency(samplerate, bandwidth); +} + void L3GD20::start() { @@ -652,6 +711,30 @@ L3GD20::stop() hrt_cancel(&_call); } +void +L3GD20::reset() +{ + /* set default configuration */ + write_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE); + write_reg(ADDR_CTRL_REG2, 0); /* disable high-pass filters */ + write_reg(ADDR_CTRL_REG3, 0); /* no interrupts - we don't use them */ + write_reg(ADDR_CTRL_REG4, REG4_BDU); + write_reg(ADDR_CTRL_REG5, 0); + + write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */ + + /* disable FIFO. This makes things simpler and ensures we + * aren't getting stale data. It means we must run the hrt + * callback fast enough to not miss data. */ + write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE); + + set_samplerate(L3GD20_DEFAULT_RATE); + set_range(L3GD20_DEFAULT_RANGE_DPS); + set_driver_lowpass_filter(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ); + + _read = 0; +} + void L3GD20::measure_trampoline(void *arg) { @@ -701,14 +784,43 @@ L3GD20::measure() */ report->timestamp = hrt_absolute_time(); - /* swap x and y and negate y */ - report->x_raw = raw_report.y; - report->y_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x); + switch (_orientation) { + + case SENSOR_BOARD_ROTATION_000_DEG: + /* keep axes in place */ + report->x_raw = raw_report.x; + report->y_raw = raw_report.y; + break; + + case SENSOR_BOARD_ROTATION_090_DEG: + /* swap x and y */ + report->x_raw = raw_report.y; + report->y_raw = raw_report.x; + break; + + case SENSOR_BOARD_ROTATION_180_DEG: + /* swap x and y and negate both */ + report->x_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x); + report->y_raw = ((raw_report.y == -32768) ? 32767 : -raw_report.y); + break; + + case SENSOR_BOARD_ROTATION_270_DEG: + /* swap x and y and negate y */ + report->x_raw = raw_report.y; + report->y_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x); + break; + } + report->z_raw = raw_report.z; report->x = ((report->x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale; report->y = ((report->y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale; report->z = ((report->z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale; + + report->x = _gyro_filter_x.apply(report->x); + report->y = _gyro_filter_y.apply(report->y); + report->z = _gyro_filter_z.apply(report->z); + report->scaling = _gyro_range_scale; report->range_rad_s = _gyro_range_rad_s; @@ -726,6 +838,8 @@ L3GD20::measure() if (_gyro_topic > 0) orb_publish(ORB_ID(sensor_gyro), _gyro_topic, report); + _read++; + /* stop the perf counter */ perf_end(_sample_perf); } @@ -733,6 +847,7 @@ L3GD20::measure() void L3GD20::print_info() { + printf("gyro reads: %u\n", _read); perf_print_counter(_sample_perf); printf("report queue: %u (%u/%u @ %p)\n", _num_reports, _oldest_report, _next_report, _reports); @@ -782,7 +897,7 @@ start() int fd; if (g_dev != nullptr) - errx(1, "already started"); + errx(0, "already started"); /* create the driver */ g_dev = new L3GD20(1 /* XXX magic number */, GYRO_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO); @@ -871,7 +986,7 @@ reset() err(1, "driver reset failed"); if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) - err(1, "driver poll restart failed"); + err(1, "accel pollrate reset failed"); exit(0); } diff --git a/src/drivers/led/led.cpp b/src/drivers/led/led.cpp index 04b565358c..a37eaca533 100644 --- a/src/drivers/led/led.cpp +++ b/src/drivers/led/led.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * 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 @@ -52,6 +52,7 @@ __BEGIN_DECLS extern void led_init(); extern void led_on(int led); extern void led_off(int led); +extern void led_toggle(int led); __END_DECLS class LED : device::CDev @@ -98,6 +99,11 @@ LED::ioctl(struct file *filp, int cmd, unsigned long arg) led_off(arg); break; + case LED_TOGGLE: + led_toggle(arg); + break; + + default: result = CDev::ioctl(filp, cmd, arg); } @@ -110,11 +116,11 @@ LED *gLED; } void -drv_led_start() +drv_led_start(void) { if (gLED == nullptr) { gLED = new LED; if (gLED != nullptr) gLED->init(); } -} \ No newline at end of file +} diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp new file mode 100644 index 0000000000..05d6f1881d --- /dev/null +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -0,0 +1,1659 @@ +/**************************************************************************** + * + * 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 lsm303d.cpp + * Driver for the ST LSM303D MEMS accelerometer / magnetometer connected via SPI. + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include + +#include +#include +#include +#include + +#include +#include + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +/* SPI protocol address bits */ +#define DIR_READ (1<<7) +#define DIR_WRITE (0<<7) +#define ADDR_INCREMENT (1<<6) + + + +/* register addresses: A: accel, M: mag, T: temp */ +#define ADDR_WHO_AM_I 0x0F +#define WHO_I_AM 0x49 + +#define ADDR_OUT_L_T 0x05 +#define ADDR_OUT_H_T 0x06 +#define ADDR_STATUS_M 0x07 +#define ADDR_OUT_X_L_M 0x08 +#define ADDR_OUT_X_H_M 0x09 +#define ADDR_OUT_Y_L_M 0x0A +#define ADDR_OUT_Y_H_M 0x0B +#define ADDR_OUT_Z_L_M 0x0C +#define ADDR_OUT_Z_H_M 0x0D + +#define ADDR_OUT_TEMP_A 0x26 +#define ADDR_STATUS_A 0x27 +#define ADDR_OUT_X_L_A 0x28 +#define ADDR_OUT_X_H_A 0x29 +#define ADDR_OUT_Y_L_A 0x2A +#define ADDR_OUT_Y_H_A 0x2B +#define ADDR_OUT_Z_L_A 0x2C +#define ADDR_OUT_Z_H_A 0x2D + +#define ADDR_CTRL_REG0 0x1F +#define ADDR_CTRL_REG1 0x20 +#define ADDR_CTRL_REG2 0x21 +#define ADDR_CTRL_REG3 0x22 +#define ADDR_CTRL_REG4 0x23 +#define ADDR_CTRL_REG5 0x24 +#define ADDR_CTRL_REG6 0x25 +#define ADDR_CTRL_REG7 0x26 + +#define REG1_RATE_BITS_A ((1<<7) | (1<<6) | (1<<5) | (1<<4)) +#define REG1_POWERDOWN_A ((0<<7) | (0<<6) | (0<<5) | (0<<4)) +#define REG1_RATE_3_125HZ_A ((0<<7) | (0<<6) | (0<<5) | (1<<4)) +#define REG1_RATE_6_25HZ_A ((0<<7) | (0<<6) | (1<<5) | (0<<4)) +#define REG1_RATE_12_5HZ_A ((0<<7) | (0<<6) | (1<<5) | (1<<4)) +#define REG1_RATE_25HZ_A ((0<<7) | (1<<6) | (0<<5) | (0<<4)) +#define REG1_RATE_50HZ_A ((0<<7) | (1<<6) | (0<<5) | (1<<4)) +#define REG1_RATE_100HZ_A ((0<<7) | (1<<6) | (1<<5) | (0<<4)) +#define REG1_RATE_200HZ_A ((0<<7) | (1<<6) | (1<<5) | (1<<4)) +#define REG1_RATE_400HZ_A ((1<<7) | (0<<6) | (0<<5) | (0<<4)) +#define REG1_RATE_800HZ_A ((1<<7) | (0<<6) | (0<<5) | (1<<4)) +#define REG1_RATE_1600HZ_A ((1<<7) | (0<<6) | (1<<5) | (0<<4)) + +#define REG1_BDU_UPDATE (1<<3) +#define REG1_Z_ENABLE_A (1<<2) +#define REG1_Y_ENABLE_A (1<<1) +#define REG1_X_ENABLE_A (1<<0) + +#define REG2_ANTIALIAS_FILTER_BW_BITS_A ((1<<7) | (1<<6)) +#define REG2_AA_FILTER_BW_773HZ_A ((0<<7) | (0<<6)) +#define REG2_AA_FILTER_BW_194HZ_A ((0<<7) | (1<<6)) +#define REG2_AA_FILTER_BW_362HZ_A ((1<<7) | (0<<6)) +#define REG2_AA_FILTER_BW_50HZ_A ((1<<7) | (1<<6)) + +#define REG2_FULL_SCALE_BITS_A ((1<<5) | (1<<4) | (1<<3)) +#define REG2_FULL_SCALE_2G_A ((0<<5) | (0<<4) | (0<<3)) +#define REG2_FULL_SCALE_4G_A ((0<<5) | (0<<4) | (1<<3)) +#define REG2_FULL_SCALE_6G_A ((0<<5) | (1<<4) | (0<<3)) +#define REG2_FULL_SCALE_8G_A ((0<<5) | (1<<4) | (1<<3)) +#define REG2_FULL_SCALE_16G_A ((1<<5) | (0<<4) | (0<<3)) + +#define REG5_ENABLE_T (1<<7) + +#define REG5_RES_HIGH_M ((1<<6) | (1<<5)) +#define REG5_RES_LOW_M ((0<<6) | (0<<5)) + +#define REG5_RATE_BITS_M ((1<<4) | (1<<3) | (1<<2)) +#define REG5_RATE_3_125HZ_M ((0<<4) | (0<<3) | (0<<2)) +#define REG5_RATE_6_25HZ_M ((0<<4) | (0<<3) | (1<<2)) +#define REG5_RATE_12_5HZ_M ((0<<4) | (1<<3) | (0<<2)) +#define REG5_RATE_25HZ_M ((0<<4) | (1<<3) | (1<<2)) +#define REG5_RATE_50HZ_M ((1<<4) | (0<<3) | (0<<2)) +#define REG5_RATE_100HZ_M ((1<<4) | (0<<3) | (1<<2)) +#define REG5_RATE_DO_NOT_USE_M ((1<<4) | (1<<3) | (0<<2)) + +#define REG6_FULL_SCALE_BITS_M ((1<<6) | (1<<5)) +#define REG6_FULL_SCALE_2GA_M ((0<<6) | (0<<5)) +#define REG6_FULL_SCALE_4GA_M ((0<<6) | (1<<5)) +#define REG6_FULL_SCALE_8GA_M ((1<<6) | (0<<5)) +#define REG6_FULL_SCALE_12GA_M ((1<<6) | (1<<5)) + +#define REG7_CONT_MODE_M ((0<<1) | (0<<0)) + + +#define INT_CTRL_M 0x12 +#define INT_SRC_M 0x13 + +/* default values for this device */ +#define LSM303D_ACCEL_DEFAULT_RANGE_G 8 +#define LSM303D_ACCEL_DEFAULT_RATE 800 +#define LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ 50 +#define LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30 + +#define LSM303D_MAG_DEFAULT_RANGE_GA 2 +#define LSM303D_MAG_DEFAULT_RATE 100 + +#define LSM303D_ONE_G 9.80665f + +extern "C" { __EXPORT int lsm303d_main(int argc, char *argv[]); } + + +class LSM303D_mag; + +class LSM303D : public device::SPI +{ +public: + LSM303D(int bus, const char* path, spi_dev_e device); + virtual ~LSM303D(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +protected: + virtual int probe(); + + friend class LSM303D_mag; + + virtual ssize_t mag_read(struct file *filp, char *buffer, size_t buflen); + virtual int mag_ioctl(struct file *filp, int cmd, unsigned long arg); + +private: + + LSM303D_mag *_mag; + + struct hrt_call _accel_call; + struct hrt_call _mag_call; + + unsigned _call_accel_interval; + unsigned _call_mag_interval; + + unsigned _num_accel_reports; + volatile unsigned _next_accel_report; + volatile unsigned _oldest_accel_report; + struct accel_report *_accel_reports; + + unsigned _num_mag_reports; + volatile unsigned _next_mag_report; + volatile unsigned _oldest_mag_report; + struct mag_report *_mag_reports; + + struct accel_scale _accel_scale; + unsigned _accel_range_m_s2; + float _accel_range_scale; + unsigned _accel_samplerate; + unsigned _accel_onchip_filter_bandwith; + + struct mag_scale _mag_scale; + unsigned _mag_range_ga; + float _mag_range_scale; + unsigned _mag_samplerate; + + orb_advert_t _accel_topic; + orb_advert_t _mag_topic; + + unsigned _accel_read; + unsigned _mag_read; + + perf_counter_t _accel_sample_perf; + perf_counter_t _mag_sample_perf; + + math::LowPassFilter2p _accel_filter_x; + math::LowPassFilter2p _accel_filter_y; + math::LowPassFilter2p _accel_filter_z; + + /** + * Start automatic measurement. + */ + void start(); + + /** + * Stop automatic measurement. + */ + void stop(); + + /** + * Reset chip. + * + * Resets the chip and measurements ranges, but not scale and offset. + */ + void reset(); + + /** + * Static trampoline from the hrt_call context; because we don't have a + * generic hrt wrapper yet. + * + * Called by the HRT in interrupt context at the specified rate if + * automatic polling is enabled. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void measure_trampoline(void *arg); + + /** + * Static trampoline for the mag because it runs at a lower rate + * + * @param arg Instance pointer for the driver that is polling. + */ + static void mag_measure_trampoline(void *arg); + + /** + * Fetch accel measurements from the sensor and update the report ring. + */ + void measure(); + + /** + * Fetch mag measurements from the sensor and update the report ring. + */ + void mag_measure(); + + /** + * Accel self test + * + * @return 0 on success, 1 on failure + */ + int accel_self_test(); + + /** + * Mag self test + * + * @return 0 on success, 1 on failure + */ + int mag_self_test(); + + /** + * Read a register from the LSM303D + * + * @param The register to read. + * @return The value that was read. + */ + uint8_t read_reg(unsigned reg); + + /** + * Write a register in the LSM303D + * + * @param reg The register to write. + * @param value The new value to write. + */ + void write_reg(unsigned reg, uint8_t value); + + /** + * Modify a register in the LSM303D + * + * Bits are cleared before bits are set. + * + * @param reg The register to modify. + * @param clearbits Bits in the register to clear. + * @param setbits Bits in the register to set. + */ + void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits); + + /** + * Set the LSM303D accel measurement range. + * + * @param max_g The measurement range of the accel is in g (9.81m/s^2) + * Zero selects the maximum supported range. + * @return OK if the value can be supported, -ERANGE otherwise. + */ + int accel_set_range(unsigned max_g); + + /** + * Set the LSM303D mag measurement range. + * + * @param max_ga The measurement range of the mag is in Ga + * Zero selects the maximum supported range. + * @return OK if the value can be supported, -ERANGE otherwise. + */ + int mag_set_range(unsigned max_g); + + /** + * Set the LSM303D on-chip anti-alias filter bandwith. + * + * @param bandwidth The anti-alias filter bandwidth in Hz + * Zero selects the highest bandwidth + * @return OK if the value can be supported, -ERANGE otherwise. + */ + int accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth); + + /** + * Set the driver lowpass filter bandwidth. + * + * @param bandwidth The anti-alias filter bandwidth in Hz + * Zero selects the highest bandwidth + * @return OK if the value can be supported, -ERANGE otherwise. + */ + int accel_set_driver_lowpass_filter(float samplerate, float bandwidth); + + /** + * Set the LSM303D internal accel sampling frequency. + * + * @param frequency The internal accel sampling frequency is set to not less than + * this value. + * Zero selects the maximum rate supported. + * @return OK if the value can be supported. + */ + int accel_set_samplerate(unsigned frequency); + + /** + * Set the LSM303D internal mag sampling frequency. + * + * @param frequency The internal mag sampling frequency is set to not less than + * this value. + * Zero selects the maximum rate supported. + * @return OK if the value can be supported. + */ + int mag_set_samplerate(unsigned frequency); +}; + +/** + * Helper class implementing the mag driver node. + */ +class LSM303D_mag : public device::CDev +{ +public: + LSM303D_mag(LSM303D *parent); + ~LSM303D_mag(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + +protected: + friend class LSM303D; + + void parent_poll_notify(); +private: + LSM303D *_parent; + + void measure(); + + void measure_trampoline(void *arg); +}; + + +/* helper macro for handling report buffer indices */ +#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0) + + +LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) : + SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 8000000), + _mag(new LSM303D_mag(this)), + _call_accel_interval(0), + _call_mag_interval(0), + _num_accel_reports(0), + _next_accel_report(0), + _oldest_accel_report(0), + _accel_reports(nullptr), + _num_mag_reports(0), + _next_mag_report(0), + _oldest_mag_report(0), + _mag_reports(nullptr), + _accel_range_m_s2(0.0f), + _accel_range_scale(0.0f), + _accel_samplerate(0), + _accel_onchip_filter_bandwith(0), + _mag_range_ga(0.0f), + _mag_range_scale(0.0f), + _mag_samplerate(0), + _accel_topic(-1), + _mag_topic(-1), + _accel_read(0), + _mag_read(0), + _accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_accel_read")), + _mag_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_mag_read")), + _accel_filter_x(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), + _accel_filter_y(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), + _accel_filter_z(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ) +{ + // enable debug() calls + _debug_enabled = true; + + // default scale factors + _accel_scale.x_offset = 0.0f; + _accel_scale.x_scale = 1.0f; + _accel_scale.y_offset = 0.0f; + _accel_scale.y_scale = 1.0f; + _accel_scale.z_offset = 0.0f; + _accel_scale.z_scale = 1.0f; + + _mag_scale.x_offset = 0.0f; + _mag_scale.x_scale = 1.0f; + _mag_scale.y_offset = 0.0f; + _mag_scale.y_scale = 1.0f; + _mag_scale.z_offset = 0.0f; + _mag_scale.z_scale = 1.0f; +} + +LSM303D::~LSM303D() +{ + /* make sure we are truly inactive */ + stop(); + + /* free any existing reports */ + if (_accel_reports != nullptr) + delete[] _accel_reports; + if (_mag_reports != nullptr) + delete[] _mag_reports; + + delete _mag; + + /* delete the perf counter */ + perf_free(_accel_sample_perf); + perf_free(_mag_sample_perf); +} + +int +LSM303D::init() +{ + int ret = ERROR; + int mag_ret; + + /* do SPI init (and probe) first */ + if (SPI::init() != OK) + goto out; + + /* allocate basic report buffers */ + _num_accel_reports = 2; + _oldest_accel_report = _next_accel_report = 0; + _accel_reports = new struct accel_report[_num_accel_reports]; + + if (_accel_reports == nullptr) + goto out; + + /* advertise accel topic */ + memset(&_accel_reports[0], 0, sizeof(_accel_reports[0])); + _accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_reports[0]); + + _num_mag_reports = 2; + _oldest_mag_report = _next_mag_report = 0; + _mag_reports = new struct mag_report[_num_mag_reports]; + + if (_mag_reports == nullptr) + goto out; + + reset(); + + /* advertise mag topic */ + memset(&_mag_reports[0], 0, sizeof(_mag_reports[0])); + _mag_topic = orb_advertise(ORB_ID(sensor_mag), &_mag_reports[0]); + + /* do CDev init for the mag device node, keep it optional */ + mag_ret = _mag->init(); + + if (mag_ret != OK) { + _mag_topic = -1; + } + + ret = OK; +out: + return ret; +} + +void +LSM303D::reset() +{ + /* enable accel*/ + write_reg(ADDR_CTRL_REG1, REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE); + + /* enable mag */ + write_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M); + write_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M); + + accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G); + accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE); + accel_set_driver_lowpass_filter((float)LSM303D_ACCEL_DEFAULT_RATE, (float)LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ); + accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ); + + mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA); + mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE); + + _accel_read = 0; + _mag_read = 0; +} + +int +LSM303D::probe() +{ + /* read dummy value to void to clear SPI statemachine on sensor */ + (void)read_reg(ADDR_WHO_AM_I); + + /* verify that the device is attached and functioning */ + if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) + return OK; + + return -EIO; +} + +ssize_t +LSM303D::read(struct file *filp, char *buffer, size_t buflen) +{ + unsigned count = buflen / sizeof(struct accel_report); + int ret = 0; + + /* buffer must be large enough */ + if (count < 1) + return -ENOSPC; + + /* if automatic measurement is enabled */ + if (_call_accel_interval > 0) { + + /* + * While there is space in the caller's buffer, and reports, copy them. + * Note that we may be pre-empted by the measurement code while we are doing this; + * we are careful to avoid racing with it. + */ + while (count--) { + if (_oldest_accel_report != _next_accel_report) { + memcpy(buffer, _accel_reports + _oldest_accel_report, sizeof(*_accel_reports)); + ret += sizeof(_accel_reports[0]); + INCREMENT(_oldest_accel_report, _num_accel_reports); + } + } + + /* if there was no data, warn the caller */ + return ret ? ret : -EAGAIN; + } + + /* manual measurement */ + _oldest_accel_report = _next_accel_report = 0; + measure(); + + /* measurement will have generated a report, copy it out */ + memcpy(buffer, _accel_reports, sizeof(*_accel_reports)); + ret = sizeof(*_accel_reports); + + return ret; +} + +ssize_t +LSM303D::mag_read(struct file *filp, char *buffer, size_t buflen) +{ + unsigned count = buflen / sizeof(struct mag_report); + int ret = 0; + + /* buffer must be large enough */ + if (count < 1) + return -ENOSPC; + + /* if automatic measurement is enabled */ + if (_call_mag_interval > 0) { + + /* + * While there is space in the caller's buffer, and reports, copy them. + * Note that we may be pre-empted by the measurement code while we are doing this; + * we are careful to avoid racing with it. + */ + while (count--) { + if (_oldest_mag_report != _next_mag_report) { + memcpy(buffer, _mag_reports + _oldest_mag_report, sizeof(*_mag_reports)); + ret += sizeof(_mag_reports[0]); + INCREMENT(_oldest_mag_report, _num_mag_reports); + } + } + + /* if there was no data, warn the caller */ + return ret ? ret : -EAGAIN; + } + + /* manual measurement */ + _oldest_mag_report = _next_mag_report = 0; + measure(); + + /* measurement will have generated a report, copy it out */ + memcpy(buffer, _mag_reports, sizeof(*_mag_reports)); + ret = sizeof(*_mag_reports); + + return ret; +} + +int +LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case SENSORIOCSPOLLRATE: { + switch (arg) { + + /* switching to manual polling */ + case SENSOR_POLLRATE_MANUAL: + stop(); + _call_accel_interval = 0; + return OK; + + /* external signalling not supported */ + case SENSOR_POLLRATE_EXTERNAL: + + /* zero would be bad */ + case 0: + return -EINVAL; + + /* set default/max polling rate */ + case SENSOR_POLLRATE_MAX: + return ioctl(filp, SENSORIOCSPOLLRATE, 1600); + + case SENSOR_POLLRATE_DEFAULT: + return ioctl(filp, SENSORIOCSPOLLRATE, LSM303D_ACCEL_DEFAULT_RATE); + + /* adjust to a legal polling interval in Hz */ + default: { + /* do we need to start internal polling? */ + bool want_start = (_call_accel_interval == 0); + + /* convert hz to hrt interval via microseconds */ + unsigned ticks = 1000000 / arg; + + /* check against maximum sane rate */ + if (ticks < 500) + return -EINVAL; + + /* adjust filters */ + accel_set_driver_lowpass_filter((float)arg, _accel_filter_x.get_cutoff_freq()); + + /* update interval for next measurement */ + /* XXX this is a bit shady, but no other way to adjust... */ + _accel_call.period = _call_accel_interval = ticks; + + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); + + return OK; + } + } + } + + case SENSORIOCGPOLLRATE: + if (_call_accel_interval == 0) + return SENSOR_POLLRATE_MANUAL; + + return 1000000 / _call_accel_interval; + + case SENSORIOCSQUEUEDEPTH: { + /* account for sentinel in the ring */ + arg++; + + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 2) || (arg > 100)) + return -EINVAL; + + /* allocate new buffer */ + struct accel_report *buf = new struct accel_report[arg]; + + if (nullptr == buf) + return -ENOMEM; + + /* reset the measurement state machine with the new buffer, free the old */ + stop(); + delete[] _accel_reports; + _num_accel_reports = arg; + _accel_reports = buf; + start(); + + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _num_accel_reports - 1; + + case SENSORIOCRESET: + reset(); + return OK; + + case ACCELIOCSSAMPLERATE: + return accel_set_samplerate(arg); + + case ACCELIOCGSAMPLERATE: + return _accel_samplerate; + + case ACCELIOCSLOWPASS: { + return accel_set_driver_lowpass_filter((float)_accel_samplerate, (float)arg); + } + + case ACCELIOCGLOWPASS: + return _accel_filter_x.get_cutoff_freq(); + + case ACCELIOCSSCALE: { + /* copy scale, but only if off by a few percent */ + struct accel_scale *s = (struct accel_scale *) arg; + float sum = s->x_scale + s->y_scale + s->z_scale; + if (sum > 2.0f && sum < 4.0f) { + memcpy(&_accel_scale, s, sizeof(_accel_scale)); + return OK; + } else { + return -EINVAL; + } + } + + case ACCELIOCSRANGE: + /* arg needs to be in G */ + return accel_set_range(arg); + + case ACCELIOCGRANGE: + /* convert to m/s^2 and return rounded in G */ + return (unsigned long)((_accel_range_m_s2)/LSM303D_ONE_G + 0.5f); + + case ACCELIOCGSCALE: + /* copy scale out */ + memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale)); + return OK; + + case ACCELIOCSELFTEST: + return accel_self_test(); + + default: + /* give it to the superclass */ + return SPI::ioctl(filp, cmd, arg); + } +} + +int +LSM303D::mag_ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case SENSORIOCSPOLLRATE: { + switch (arg) { + + /* switching to manual polling */ + case SENSOR_POLLRATE_MANUAL: + stop(); + _call_mag_interval = 0; + return OK; + + /* external signalling not supported */ + case SENSOR_POLLRATE_EXTERNAL: + + /* zero would be bad */ + case 0: + return -EINVAL; + + /* set default/max polling rate */ + case SENSOR_POLLRATE_MAX: + case SENSOR_POLLRATE_DEFAULT: + /* 100 Hz is max for mag */ + return mag_ioctl(filp, SENSORIOCSPOLLRATE, 100); + + /* adjust to a legal polling interval in Hz */ + default: { + /* do we need to start internal polling? */ + bool want_start = (_call_mag_interval == 0); + + /* convert hz to hrt interval via microseconds */ + unsigned ticks = 1000000 / arg; + + /* check against maximum sane rate */ + if (ticks < 1000) + return -EINVAL; + + /* update interval for next measurement */ + /* XXX this is a bit shady, but no other way to adjust... */ + _mag_call.period = _call_mag_interval = ticks; + + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); + + return OK; + } + } + } + + case SENSORIOCGPOLLRATE: + if (_call_mag_interval == 0) + return SENSOR_POLLRATE_MANUAL; + + return 1000000 / _call_mag_interval; + + case SENSORIOCSQUEUEDEPTH: { + /* account for sentinel in the ring */ + arg++; + + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 2) || (arg > 100)) + return -EINVAL; + + /* allocate new buffer */ + struct mag_report *buf = new struct mag_report[arg]; + + if (nullptr == buf) + return -ENOMEM; + + /* reset the measurement state machine with the new buffer, free the old */ + stop(); + delete[] _mag_reports; + _num_mag_reports = arg; + _mag_reports = buf; + start(); + + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _num_mag_reports - 1; + + case SENSORIOCRESET: + reset(); + return OK; + + case MAGIOCSSAMPLERATE: + return mag_set_samplerate(arg); + + case MAGIOCGSAMPLERATE: + return _mag_samplerate; + + case MAGIOCSLOWPASS: + case MAGIOCGLOWPASS: + /* not supported, no internal filtering */ + return -EINVAL; + + case MAGIOCSSCALE: + /* copy scale in */ + memcpy(&_mag_scale, (struct mag_scale *) arg, sizeof(_mag_scale)); + return OK; + + case MAGIOCGSCALE: + /* copy scale out */ + memcpy((struct mag_scale *) arg, &_mag_scale, sizeof(_mag_scale)); + return OK; + + case MAGIOCSRANGE: + return mag_set_range(arg); + + case MAGIOCGRANGE: + return _mag_range_ga; + + case MAGIOCSELFTEST: + return mag_self_test(); + + case MAGIOCGEXTERNAL: + /* no external mag board yet */ + return 0; + + default: + /* give it to the superclass */ + return SPI::ioctl(filp, cmd, arg); + } +} + +int +LSM303D::accel_self_test() +{ + if (_accel_read == 0) + return 1; + + /* inspect accel offsets */ + if (fabsf(_accel_scale.x_offset) < 0.000001f) + return 1; + if (fabsf(_accel_scale.x_scale - 1.0f) > 0.4f || fabsf(_accel_scale.x_scale - 1.0f) < 0.000001f) + return 1; + + if (fabsf(_accel_scale.y_offset) < 0.000001f) + return 1; + if (fabsf(_accel_scale.y_scale - 1.0f) > 0.4f || fabsf(_accel_scale.y_scale - 1.0f) < 0.000001f) + return 1; + + if (fabsf(_accel_scale.z_offset) < 0.000001f) + return 1; + if (fabsf(_accel_scale.z_scale - 1.0f) > 0.4f || fabsf(_accel_scale.z_scale - 1.0f) < 0.000001f) + return 1; + + return 0; +} + +int +LSM303D::mag_self_test() +{ + if (_mag_read == 0) + return 1; + + /** + * inspect mag offsets + * don't check mag scale because it seems this is calibrated on chip + */ + if (fabsf(_mag_scale.x_offset) < 0.000001f) + return 1; + + if (fabsf(_mag_scale.y_offset) < 0.000001f) + return 1; + + if (fabsf(_mag_scale.z_offset) < 0.000001f) + return 1; + + return 0; +} + +uint8_t +LSM303D::read_reg(unsigned reg) +{ + uint8_t cmd[2]; + + cmd[0] = reg | DIR_READ; + + transfer(cmd, cmd, sizeof(cmd)); + + return cmd[1]; +} + +void +LSM303D::write_reg(unsigned reg, uint8_t value) +{ + uint8_t cmd[2]; + + cmd[0] = reg | DIR_WRITE; + cmd[1] = value; + + transfer(cmd, nullptr, sizeof(cmd)); +} + +void +LSM303D::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) +{ + uint8_t val; + + val = read_reg(reg); + val &= ~clearbits; + val |= setbits; + write_reg(reg, val); +} + +int +LSM303D::accel_set_range(unsigned max_g) +{ + uint8_t setbits = 0; + uint8_t clearbits = REG2_FULL_SCALE_BITS_A; + float new_scale_g_digit = 0.0f; + + if (max_g == 0) + max_g = 16; + + if (max_g <= 2) { + _accel_range_m_s2 = 2.0f*LSM303D_ONE_G; + setbits |= REG2_FULL_SCALE_2G_A; + new_scale_g_digit = 0.061e-3f; + + } else if (max_g <= 4) { + _accel_range_m_s2 = 4.0f*LSM303D_ONE_G; + setbits |= REG2_FULL_SCALE_4G_A; + new_scale_g_digit = 0.122e-3f; + + } else if (max_g <= 6) { + _accel_range_m_s2 = 6.0f*LSM303D_ONE_G; + setbits |= REG2_FULL_SCALE_6G_A; + new_scale_g_digit = 0.183e-3f; + + } else if (max_g <= 8) { + _accel_range_m_s2 = 8.0f*LSM303D_ONE_G; + setbits |= REG2_FULL_SCALE_8G_A; + new_scale_g_digit = 0.244e-3f; + + } else if (max_g <= 16) { + _accel_range_m_s2 = 16.0f*LSM303D_ONE_G; + setbits |= REG2_FULL_SCALE_16G_A; + new_scale_g_digit = 0.732e-3f; + + } else { + return -EINVAL; + } + + _accel_range_scale = new_scale_g_digit * LSM303D_ONE_G; + + modify_reg(ADDR_CTRL_REG2, clearbits, setbits); + + return OK; +} + +int +LSM303D::mag_set_range(unsigned max_ga) +{ + uint8_t setbits = 0; + uint8_t clearbits = REG6_FULL_SCALE_BITS_M; + float new_scale_ga_digit = 0.0f; + + if (max_ga == 0) + max_ga = 12; + + if (max_ga <= 2) { + _mag_range_ga = 2; + setbits |= REG6_FULL_SCALE_2GA_M; + new_scale_ga_digit = 0.080e-3f; + + } else if (max_ga <= 4) { + _mag_range_ga = 4; + setbits |= REG6_FULL_SCALE_4GA_M; + new_scale_ga_digit = 0.160e-3f; + + } else if (max_ga <= 8) { + _mag_range_ga = 8; + setbits |= REG6_FULL_SCALE_8GA_M; + new_scale_ga_digit = 0.320e-3f; + + } else if (max_ga <= 12) { + _mag_range_ga = 12; + setbits |= REG6_FULL_SCALE_12GA_M; + new_scale_ga_digit = 0.479e-3f; + + } else { + return -EINVAL; + } + + _mag_range_scale = new_scale_ga_digit; + + modify_reg(ADDR_CTRL_REG6, clearbits, setbits); + + return OK; +} + +int +LSM303D::accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth) +{ + uint8_t setbits = 0; + uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A; + + if (bandwidth == 0) + bandwidth = 773; + + if (bandwidth <= 50) { + setbits |= REG2_AA_FILTER_BW_50HZ_A; + _accel_onchip_filter_bandwith = 50; + + } else if (bandwidth <= 194) { + setbits |= REG2_AA_FILTER_BW_194HZ_A; + _accel_onchip_filter_bandwith = 194; + + } else if (bandwidth <= 362) { + setbits |= REG2_AA_FILTER_BW_362HZ_A; + _accel_onchip_filter_bandwith = 362; + + } else if (bandwidth <= 773) { + setbits |= REG2_AA_FILTER_BW_773HZ_A; + _accel_onchip_filter_bandwith = 773; + + } else { + return -EINVAL; + } + + modify_reg(ADDR_CTRL_REG2, clearbits, setbits); + + return OK; +} + +int +LSM303D::accel_set_driver_lowpass_filter(float samplerate, float bandwidth) +{ + _accel_filter_x.set_cutoff_frequency(samplerate, bandwidth); + _accel_filter_y.set_cutoff_frequency(samplerate, bandwidth); + _accel_filter_z.set_cutoff_frequency(samplerate, bandwidth); + + return OK; +} + +int +LSM303D::accel_set_samplerate(unsigned frequency) +{ + uint8_t setbits = 0; + uint8_t clearbits = REG1_RATE_BITS_A; + + if (frequency == 0) + frequency = 1600; + + if (frequency <= 100) { + setbits |= REG1_RATE_100HZ_A; + _accel_samplerate = 100; + + } else if (frequency <= 200) { + setbits |= REG1_RATE_200HZ_A; + _accel_samplerate = 200; + + } else if (frequency <= 400) { + setbits |= REG1_RATE_400HZ_A; + _accel_samplerate = 400; + + } else if (frequency <= 800) { + setbits |= REG1_RATE_800HZ_A; + _accel_samplerate = 800; + + } else if (frequency <= 1600) { + setbits |= REG1_RATE_1600HZ_A; + _accel_samplerate = 1600; + + } else { + return -EINVAL; + } + + modify_reg(ADDR_CTRL_REG1, clearbits, setbits); + + return OK; +} + +int +LSM303D::mag_set_samplerate(unsigned frequency) +{ + uint8_t setbits = 0; + uint8_t clearbits = REG5_RATE_BITS_M; + + if (frequency == 0) + frequency = 100; + + if (frequency <= 25) { + setbits |= REG5_RATE_25HZ_M; + _mag_samplerate = 25; + + } else if (frequency <= 50) { + setbits |= REG5_RATE_50HZ_M; + _mag_samplerate = 50; + + } else if (frequency <= 100) { + setbits |= REG5_RATE_100HZ_M; + _mag_samplerate = 100; + + } else { + return -EINVAL; + } + + modify_reg(ADDR_CTRL_REG5, clearbits, setbits); + + return OK; +} + +void +LSM303D::start() +{ + /* make sure we are stopped first */ + stop(); + + /* reset the report ring */ + _oldest_accel_report = _next_accel_report = 0; + _oldest_mag_report = _next_mag_report = 0; + + /* start polling at the specified rate */ + hrt_call_every(&_accel_call, 1000, _call_accel_interval, (hrt_callout)&LSM303D::measure_trampoline, this); + hrt_call_every(&_mag_call, 1000, _call_mag_interval, (hrt_callout)&LSM303D::mag_measure_trampoline, this); +} + +void +LSM303D::stop() +{ + hrt_cancel(&_accel_call); + hrt_cancel(&_mag_call); +} + +void +LSM303D::measure_trampoline(void *arg) +{ + LSM303D *dev = (LSM303D *)arg; + + /* make another measurement */ + dev->measure(); +} + +void +LSM303D::mag_measure_trampoline(void *arg) +{ + LSM303D *dev = (LSM303D *)arg; + + /* make another measurement */ + dev->mag_measure(); +} + +void +LSM303D::measure() +{ + /* status register and data as read back from the device */ + +#pragma pack(push, 1) + struct { + uint8_t cmd; + uint8_t status; + int16_t x; + int16_t y; + int16_t z; + } raw_accel_report; +#pragma pack(pop) + + accel_report *accel_report = &_accel_reports[_next_accel_report]; + + /* start the performance counter */ + perf_begin(_accel_sample_perf); + + /* fetch data from the sensor */ + raw_accel_report.cmd = ADDR_STATUS_A | DIR_READ | ADDR_INCREMENT; + transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report)); + + /* + * 1) Scale raw value to SI units using scaling from datasheet. + * 2) Subtract static offset (in SI units) + * 3) Scale the statically calibrated values with a linear + * dynamically obtained factor + * + * Note: the static sensor offset is the number the sensor outputs + * at a nominally 'zero' input. Therefore the offset has to + * be subtracted. + * + * Example: A gyro outputs a value of 74 at zero angular rate + * the offset is 74 from the origin and subtracting + * 74 from all measurements centers them around zero. + */ + + + accel_report->timestamp = hrt_absolute_time(); + + accel_report->x_raw = raw_accel_report.x; + accel_report->y_raw = raw_accel_report.y; + accel_report->z_raw = raw_accel_report.z; + + float x_in_new = ((accel_report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale; + float y_in_new = ((accel_report->y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale; + float z_in_new = ((accel_report->z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale; + + accel_report->x = _accel_filter_x.apply(x_in_new); + accel_report->y = _accel_filter_y.apply(y_in_new); + accel_report->z = _accel_filter_z.apply(z_in_new); + + accel_report->scaling = _accel_range_scale; + accel_report->range_m_s2 = _accel_range_m_s2; + + /* post a report to the ring - note, not locked */ + INCREMENT(_next_accel_report, _num_accel_reports); + + /* if we are running up against the oldest report, fix it */ + if (_next_accel_report == _oldest_accel_report) + INCREMENT(_oldest_accel_report, _num_accel_reports); + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + + /* publish for subscribers */ + orb_publish(ORB_ID(sensor_accel), _accel_topic, accel_report); + + _accel_read++; + + /* stop the perf counter */ + perf_end(_accel_sample_perf); +} + +void +LSM303D::mag_measure() +{ + /* status register and data as read back from the device */ +#pragma pack(push, 1) + struct { + uint8_t cmd; + uint8_t status; + int16_t x; + int16_t y; + int16_t z; + } raw_mag_report; +#pragma pack(pop) + + mag_report *mag_report = &_mag_reports[_next_mag_report]; + + /* start the performance counter */ + perf_begin(_mag_sample_perf); + + /* fetch data from the sensor */ + raw_mag_report.cmd = ADDR_STATUS_M | DIR_READ | ADDR_INCREMENT; + transfer((uint8_t *)&raw_mag_report, (uint8_t *)&raw_mag_report, sizeof(raw_mag_report)); + + /* + * 1) Scale raw value to SI units using scaling from datasheet. + * 2) Subtract static offset (in SI units) + * 3) Scale the statically calibrated values with a linear + * dynamically obtained factor + * + * Note: the static sensor offset is the number the sensor outputs + * at a nominally 'zero' input. Therefore the offset has to + * be subtracted. + * + * Example: A gyro outputs a value of 74 at zero angular rate + * the offset is 74 from the origin and subtracting + * 74 from all measurements centers them around zero. + */ + + + mag_report->timestamp = hrt_absolute_time(); + + mag_report->x_raw = raw_mag_report.x; + mag_report->y_raw = raw_mag_report.y; + mag_report->z_raw = raw_mag_report.z; + mag_report->x = ((mag_report->x_raw * _mag_range_scale) - _mag_scale.x_offset) * _mag_scale.x_scale; + mag_report->y = ((mag_report->y_raw * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale; + mag_report->z = ((mag_report->z_raw * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale; + mag_report->scaling = _mag_range_scale; + mag_report->range_ga = (float)_mag_range_ga; + + /* post a report to the ring - note, not locked */ + INCREMENT(_next_mag_report, _num_mag_reports); + + /* if we are running up against the oldest report, fix it */ + if (_next_mag_report == _oldest_mag_report) + INCREMENT(_oldest_mag_report, _num_mag_reports); + + /* XXX please check this poll_notify, is it the right one? */ + /* notify anyone waiting for data */ + poll_notify(POLLIN); + + /* publish for subscribers */ + orb_publish(ORB_ID(sensor_mag), _mag_topic, mag_report); + + _mag_read++; + + /* stop the perf counter */ + perf_end(_mag_sample_perf); +} + +void +LSM303D::print_info() +{ + printf("accel reads: %u\n", _accel_read); + printf("mag reads: %u\n", _mag_read); + perf_print_counter(_accel_sample_perf); + printf("report queue: %u (%u/%u @ %p)\n", + _num_accel_reports, _oldest_accel_report, _next_accel_report, _accel_reports); + perf_print_counter(_mag_sample_perf); + printf("report queue: %u (%u/%u @ %p)\n", + _num_mag_reports, _oldest_mag_report, _next_mag_report, _mag_reports); +} + +LSM303D_mag::LSM303D_mag(LSM303D *parent) : + CDev("LSM303D_mag", MAG_DEVICE_PATH), + _parent(parent) +{ +} + +LSM303D_mag::~LSM303D_mag() +{ +} + +void +LSM303D_mag::parent_poll_notify() +{ + poll_notify(POLLIN); +} + +ssize_t +LSM303D_mag::read(struct file *filp, char *buffer, size_t buflen) +{ + return _parent->mag_read(filp, buffer, buflen); +} + +int +LSM303D_mag::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + return _parent->mag_ioctl(filp, cmd, arg); +} + +void +LSM303D_mag::measure() +{ + _parent->mag_measure(); +} + +void +LSM303D_mag::measure_trampoline(void *arg) +{ + _parent->mag_measure_trampoline(arg); +} + +/** + * Local functions in support of the shell command. + */ +namespace lsm303d +{ + +LSM303D *g_dev; + +void start(); +void test(); +void reset(); +void info(); + +/** + * Start the driver. + */ +void +start() +{ + int fd, fd_mag; + + if (g_dev != nullptr) + errx(0, "already started"); + + /* create the driver */ + g_dev = new LSM303D(1 /* XXX magic number */, ACCEL_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG); + + if (g_dev == nullptr) + goto fail; + + 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) + goto fail; + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + goto fail; + + fd_mag = open(MAG_DEVICE_PATH, O_RDONLY); + + /* don't fail if open cannot be opened */ + if (0 <= fd_mag) { + if (ioctl(fd_mag, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { + goto fail; + } + } + + + exit(0); +fail: + + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + int fd_accel = -1; + struct accel_report accel_report; + ssize_t sz; + int ret; + + /* get the driver */ + fd_accel = open(ACCEL_DEVICE_PATH, O_RDONLY); + + if (fd_accel < 0) + err(1, "%s open failed", ACCEL_DEVICE_PATH); + + /* do a simple demand read */ + sz = read(fd_accel, &accel_report, sizeof(accel_report)); + + if (sz != sizeof(accel_report)) + err(1, "immediate read failed"); + + + warnx("accel x: \t% 9.5f\tm/s^2", (double)accel_report.x); + warnx("accel y: \t% 9.5f\tm/s^2", (double)accel_report.y); + warnx("accel z: \t% 9.5f\tm/s^2", (double)accel_report.z); + warnx("accel x: \t%d\traw", (int)accel_report.x_raw); + warnx("accel y: \t%d\traw", (int)accel_report.y_raw); + warnx("accel z: \t%d\traw", (int)accel_report.z_raw); + + warnx("accel range: %8.4f m/s^2", (double)accel_report.range_m_s2); + if (ERROR == (ret = ioctl(fd_accel, ACCELIOCGLOWPASS, 0))) + warnx("accel antialias filter bandwidth: fail"); + else + warnx("accel antialias filter bandwidth: %d Hz", ret); + + int fd_mag = -1; + struct mag_report m_report; + + /* get the driver */ + fd_mag = open(MAG_DEVICE_PATH, O_RDONLY); + + if (fd_mag < 0) + err(1, "%s open failed", MAG_DEVICE_PATH); + + /* check if mag is onboard or external */ + if ((ret = ioctl(fd_mag, MAGIOCGEXTERNAL, 0)) < 0) + errx(1, "failed to get if mag is onboard or external"); + warnx("mag device active: %s", ret ? "external" : "onboard"); + + /* do a simple demand read */ + sz = read(fd_mag, &m_report, sizeof(m_report)); + + if (sz != sizeof(m_report)) + err(1, "immediate read failed"); + + warnx("mag x: \t% 9.5f\tga", (double)m_report.x); + warnx("mag y: \t% 9.5f\tga", (double)m_report.y); + warnx("mag z: \t% 9.5f\tga", (double)m_report.z); + warnx("mag x: \t%d\traw", (int)m_report.x_raw); + warnx("mag y: \t%d\traw", (int)m_report.y_raw); + warnx("mag z: \t%d\traw", (int)m_report.z_raw); + warnx("mag range: %8.4f ga", (double)m_report.range_ga); + + /* XXX add poll-rate tests here too */ + + reset(); + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "failed "); + + if (ioctl(fd, SENSORIOCRESET, 0) < 0) + err(1, "driver reset failed"); + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + err(1, "accel pollrate reset failed"); + + fd = open(MAG_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + warnx("mag could not be opened, external mag might be used"); + } else { + /* no need to reset the mag as well, the reset() is the same */ + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + err(1, "mag pollrate reset failed"); + } + + exit(0); +} + +/** + * Print a little info about the driver. + */ +void +info() +{ + if (g_dev == nullptr) + errx(1, "driver not running\n"); + + printf("state @ %p\n", g_dev); + g_dev->print_info(); + + exit(0); +} + + +} // namespace + +int +lsm303d_main(int argc, char *argv[]) +{ + /* + * Start/load the driver. + + */ + if (!strcmp(argv[1], "start")) + lsm303d::start(); + + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) + lsm303d::test(); + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) + lsm303d::reset(); + + /* + * Print driver information. + */ + if (!strcmp(argv[1], "info")) + lsm303d::info(); + + errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); +} diff --git a/src/drivers/lsm303d/module.mk b/src/drivers/lsm303d/module.mk new file mode 100644 index 0000000000..e40f718c54 --- /dev/null +++ b/src/drivers/lsm303d/module.mk @@ -0,0 +1,8 @@ +# +# LSM303D accel/mag driver +# + +MODULE_COMMAND = lsm303d +SRCS = lsm303d.cpp + + diff --git a/src/drivers/mb12xx/mb12xx.cpp b/src/drivers/mb12xx/mb12xx.cpp index 397686e8bf..f834169935 100644 --- a/src/drivers/mb12xx/mb12xx.cpp +++ b/src/drivers/mb12xx/mb12xx.cpp @@ -59,8 +59,6 @@ #include #include -#include - #include #include @@ -70,6 +68,8 @@ #include #include +#include + /* Configuration Constants */ #define MB12XX_BUS PX4_I2C_BUS_EXPANSION #define MB12XX_BASEADDR 0x70 /* 7-bit address. 8-bit address is 0xE0 */ @@ -184,7 +184,7 @@ private: }; /* helper macro for handling report buffer indices */ -#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) +#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0) /* * Driver 'main' command. diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index 68d2c5d655..b1cb2b3d84 100644 --- a/src/drivers/meas_airspeed/meas_airspeed.cpp +++ b/src/drivers/meas_airspeed/meas_airspeed.cpp @@ -70,7 +70,7 @@ #include #include -#include +#include #include #include @@ -162,6 +162,8 @@ MEASAirspeed::collect() if (ret < 0) { log("error reading from sensor: %d", ret); + perf_count(_comms_errors); + perf_end(_sample_perf); return ret; } @@ -169,9 +171,14 @@ MEASAirspeed::collect() if (status == 2) { log("err: stale data"); - + perf_count(_comms_errors); + perf_end(_sample_perf); + return ret; } else if (status == 3) { log("err: fault"); + perf_count(_comms_errors); + perf_end(_sample_perf); + return ret; } //uint16_t diff_pres_pa = (val[1]) | ((val[0] & ~(0xC0)) << 8); diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index e78d965698..1bc3e97a41 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -59,10 +59,11 @@ #include #include +#include + #include #include #include -#include #include #include @@ -74,6 +75,7 @@ #include #include #include +#include #include #include @@ -134,7 +136,7 @@ private: int _current_update_rate; int _task; int _t_actuators; - int _t_armed; + int _t_actuator_armed; unsigned int _motor; int _px4mode; int _frametype; @@ -247,7 +249,7 @@ MK::MK(int bus) : _update_rate(50), _task(-1), _t_actuators(-1), - _t_armed(-1), + _t_actuator_armed(-1), _t_outputs(0), _t_actuators_effective(0), _t_esc_status(0), @@ -512,8 +514,8 @@ MK::task_main() /* force a reset of the update rate */ _current_update_rate = 0; - _t_armed = orb_subscribe(ORB_ID(actuator_armed)); - orb_set_interval(_t_armed, 200); /* 5Hz update rate */ + _t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed)); + orb_set_interval(_t_actuator_armed, 200); /* 5Hz update rate */ /* advertise the mixed control outputs */ actuator_outputs_s outputs; @@ -539,7 +541,7 @@ MK::task_main() pollfd fds[2]; fds[0].fd = _t_actuators; fds[0].events = POLLIN; - fds[1].fd = _t_armed; + fds[1].fd = _t_actuator_armed; fds[1].events = POLLIN; log("starting"); @@ -653,7 +655,7 @@ MK::task_main() actuator_armed_s aa; /* get new value */ - orb_copy(ORB_ID(actuator_armed), _t_armed, &aa); + orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &aa); /* update PWM servo armed status if armed and not locked down */ mk_servo_arm(aa.armed && !aa.lockdown); @@ -699,7 +701,7 @@ MK::task_main() //::close(_t_esc_status); ::close(_t_actuators); ::close(_t_actuators_effective); - ::close(_t_armed); + ::close(_t_actuator_armed); /* make sure servos are off */ @@ -1345,44 +1347,6 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, gpio_bits = 0; servo_mode = MK::MODE_NONE; - switch (new_mode) { - case PORT_FULL_GPIO: - case PORT_MODE_UNSET: - /* nothing more to do here */ - break; - - case PORT_FULL_SERIAL: - /* set all multi-GPIOs to serial mode */ - gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4; - break; - - case PORT_FULL_PWM: - /* select 4-pin PWM mode */ - servo_mode = MK::MODE_4PWM; - break; - - case PORT_GPIO_AND_SERIAL: - /* set RX/TX multi-GPIOs to serial mode */ - gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4; - break; - - case PORT_PWM_AND_SERIAL: - /* select 2-pin PWM mode */ - servo_mode = MK::MODE_2PWM; - /* set RX/TX multi-GPIOs to serial mode */ - gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4; - break; - - case PORT_PWM_AND_GPIO: - /* select 2-pin PWM mode */ - servo_mode = MK::MODE_2PWM; - break; - } - - /* adjust GPIO config for serial mode(s) */ - if (gpio_bits != 0) - g_mk->ioctl(0, GPIO_SET_ALT_1, gpio_bits); - /* native PX4 addressing) */ g_mk->set_px4mode(px4mode); diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 4f70756006..14f8f44b82 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -63,7 +63,7 @@ #include #include -#include +#include #include #include @@ -149,6 +149,17 @@ #define MPU6000_REV_D9 0x59 #define MPU6000_REV_D10 0x5A +#define MPU6000_ACCEL_DEFAULT_RANGE_G 8 +#define MPU6000_ACCEL_DEFAULT_RATE 1000 +#define MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30 + +#define MPU6000_GYRO_DEFAULT_RANGE_G 8 +#define MPU6000_GYRO_DEFAULT_RATE 1000 +#define MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ 30 + +#define MPU6000_DEFAULT_ONCHIP_FILTER_FREQ 42 + +#define MPU6000_ONE_G 9.80665f class MPU6000_gyro; @@ -357,12 +368,12 @@ MPU6000::MPU6000(int bus, spi_dev_e device) : _reads(0), _sample_rate(1000), _sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")), - _accel_filter_x(1000, 30), - _accel_filter_y(1000, 30), - _accel_filter_z(1000, 30), - _gyro_filter_x(1000, 30), - _gyro_filter_y(1000, 30), - _gyro_filter_z(1000, 30) + _accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), + _accel_filter_y(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), + _accel_filter_z(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), + _gyro_filter_x(MPU6000_GYRO_DEFAULT_RATE, MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ), + _gyro_filter_y(MPU6000_GYRO_DEFAULT_RATE, MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ), + _gyro_filter_z(MPU6000_GYRO_DEFAULT_RATE, MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ) { // disable debug() calls _debug_enabled = false; @@ -485,14 +496,13 @@ void MPU6000::reset() up_udelay(1000); // SAMPLE RATE - //write_reg(MPUREG_SMPLRT_DIV, 0x04); // Sample rate = 200Hz Fsample= 1Khz/(4+1) = 200Hz - _set_sample_rate(_sample_rate); // default sample rate = 200Hz + _set_sample_rate(_sample_rate); usleep(1000); // FS & DLPF FS=2000 deg/s, DLPF = 20Hz (low pass filter) // was 90 Hz, but this ruins quality and does not improve the // system response - _set_dlpf_filter(42); + _set_dlpf_filter(MPU6000_DEFAULT_ONCHIP_FILTER_FREQ); usleep(1000); // Gyro scale 2000 deg/s () write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS); @@ -535,8 +545,8 @@ void MPU6000::reset() // Correct accel scale factors of 4096 LSB/g // scale to m/s^2 ( 1g = 9.81 m/s^2) - _accel_range_scale = (9.81f / 4096.0f); - _accel_range_m_s2 = 8.0f * 9.81f; + _accel_range_scale = (MPU6000_ONE_G / 4096.0f); + _accel_range_m_s2 = 8.0f * MPU6000_ONE_G; usleep(1000); @@ -777,9 +787,10 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) /* set default/max polling rate */ case SENSOR_POLLRATE_MAX: + return ioctl(filp, SENSORIOCSPOLLRATE, 1000); + case SENSOR_POLLRATE_DEFAULT: - /* set to same as sample rate per default */ - return ioctl(filp, SENSORIOCSPOLLRATE, _sample_rate); + return ioctl(filp, SENSORIOCSPOLLRATE, MPU6000_ACCEL_DEFAULT_RATE); /* adjust to a legal polling interval in Hz */ default: { @@ -867,9 +878,9 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) // XXX decide on relationship of both filters // i.e. disable the on-chip filter //_set_dlpf_filter((uint16_t)arg); - _accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg); - _accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg); - _accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg); + _accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg); + _accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg); + _accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg); return OK; case ACCELIOCSSCALE: @@ -897,7 +908,7 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) // _accel_range_m_s2 = 8.0f * 9.81f; return -EINVAL; case ACCELIOCGRANGE: - return _accel_range_m_s2; + return (unsigned long)((_accel_range_m_s2)/MPU6000_ONE_G + 0.5f); case ACCELIOCSELFTEST: return accel_self_test(); @@ -920,29 +931,29 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) return ioctl(filp, cmd, arg); 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; - /* allocate new buffer */ - GyroReportBuffer *buf = new GyroReportBuffer(arg); + /* allocate new buffer */ + GyroReportBuffer *buf = new GyroReportBuffer(arg); - if (nullptr == buf) - return -ENOMEM; - if (buf->size() == 0) { - delete buf; - return -ENOMEM; - } - - /* reset the measurement state machine with the new buffer, free the old */ - stop(); - delete _gyro_reports; - _gyro_reports = buf; - start(); - - return OK; + if (nullptr == buf) + return -ENOMEM; + if (buf->size() == 0) { + delete buf; + return -ENOMEM; } + /* reset the measurement state machine with the new buffer, free the old */ + stop(); + delete _gyro_reports; + _gyro_reports = buf; + start(); + + return OK; + } + case SENSORIOCGQUEUEDEPTH: return _gyro_reports->size(); @@ -980,7 +991,7 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) // _gyro_range_rad_s = xx return -EINVAL; case GYROIOCGRANGE: - return _gyro_range_rad_s; + return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f); case GYROIOCSELFTEST: return gyro_self_test(); @@ -1400,7 +1411,7 @@ test() warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw); warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw); warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2, - (double)(a_report.range_m_s2 / 9.81f)); + (double)(a_report.range_m_s2 / MPU6000_ONE_G)); /* do a simple demand read */ sz = read(fd_gyro, &g_report, sizeof(g_report)); diff --git a/src/drivers/ms5611/module.mk b/src/drivers/ms5611/module.mk index 3c4b0f0938..20f8aa1737 100644 --- a/src/drivers/ms5611/module.mk +++ b/src/drivers/ms5611/module.mk @@ -37,4 +37,4 @@ MODULE_COMMAND = ms5611 -SRCS = ms5611.cpp +SRCS = ms5611.cpp ms5611_spi.cpp ms5611_i2c.cpp diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp index c13b65d5ae..4e43f19c5d 100644 --- a/src/drivers/ms5611/ms5611.cpp +++ b/src/drivers/ms5611/ms5611.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (C) 2012-2013 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 @@ -33,13 +33,11 @@ /** * @file ms5611.cpp - * Driver for the MS5611 barometric pressure sensor connected via I2C. + * Driver for the MS5611 barometric pressure sensor connected via I2C or SPI. */ #include -#include - #include #include #include @@ -59,12 +57,14 @@ #include +#include +#include #include #include #include -#include +#include "ms5611.h" /* oddly, ERROR is not defined for c++ */ #ifdef ERROR @@ -76,35 +76,25 @@ static const int ERROR = -1; # error This requires CONFIG_SCHED_WORKQUEUE. #endif -/** - * Calibration PROM as reported by the device. - */ -#pragma pack(push,1) -struct ms5611_prom_s { - uint16_t factory_setup; - uint16_t c1_pressure_sens; - uint16_t c2_pressure_offset; - uint16_t c3_temp_coeff_pres_sens; - uint16_t c4_temp_coeff_pres_offset; - uint16_t c5_reference_temp; - uint16_t c6_temp_coeff_temp; - uint16_t serial_and_crc; -}; +/* helper macro for handling report buffer indices */ +#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0) -/** - * Grody hack for crc4() - */ -union ms5611_prom_u { - uint16_t c[8]; - struct ms5611_prom_s s; -}; -#pragma pack(pop) +/* helper macro for arithmetic - returns the square of the argument */ +#define POW2(_x) ((_x) * (_x)) -class MS5611 : public device::I2C +/* + * MS5611 internal constants and data structures. + */ + +/* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */ +#define MS5611_CONVERSION_INTERVAL 10000 /* microseconds */ +#define MS5611_MEASUREMENT_RATIO 3 /* pressure measurements per temperature measurement */ + +class MS5611 : public device::CDev { public: - MS5611(int bus); - virtual ~MS5611(); + MS5611(device::Device *interface, ms5611::prom_u &prom_buf); + ~MS5611(); virtual int init(); @@ -117,10 +107,9 @@ public: void print_info(); protected: - virtual int probe(); + Device *_interface; -private: - union ms5611_prom_u _prom; + ms5611::prom_s _prom; struct work_s _work; unsigned _measure_ticks; @@ -149,16 +138,7 @@ private: perf_counter_t _buffer_overflows; /** - * Test whether the device supported by the driver is present at a - * specific address. - * - * @param address The I2C bus address to probe. - * @return True if the device is present. - */ - int probe_address(uint8_t address); - - /** - * Initialise the automatic measurement state machine and start it. + * Initialize the automatic measurement state machine and start it. * * @note This function is called at open and error time. It might make sense * to make it more aggressive about resetting the bus in case of errors. @@ -198,70 +178,23 @@ private: * * @return OK if the measurement command was successful. */ - int measure(); + virtual int measure(); /** * Collect the result of the most recent measurement. */ - int collect(); - - /** - * Send a reset command to the MS5611. - * - * This is required after any bus reset. - */ - int cmd_reset(); - - /** - * Read the MS5611 PROM - * - * @return OK if the PROM reads successfully. - */ - int read_prom(); - - /** - * PROM CRC routine ported from MS5611 application note - * - * @param n_prom Pointer to words read from PROM. - * @return True if the CRC matches. - */ - bool crc4(uint16_t *n_prom); - + virtual int collect(); }; -/* helper macro for handling report buffer indices */ -#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) - -/* helper macro for arithmetic - returns the square of the argument */ -#define POW2(_x) ((_x) * (_x)) - -/* - * MS5611 internal constants and data structures. - */ - -/* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */ -#define MS5611_CONVERSION_INTERVAL 10000 /* microseconds */ -#define MS5611_MEASUREMENT_RATIO 3 /* pressure measurements per temperature measurement */ - -#define MS5611_BUS PX4_I2C_BUS_ONBOARD -#define MS5611_ADDRESS_1 PX4_I2C_OBDEV_MS5611 /* address select pins pulled high (PX4FMU series v1.6+) */ -#define MS5611_ADDRESS_2 0x77 /* address select pins pulled low (PX4FMU prototypes) */ - -#define ADDR_RESET_CMD 0x1E /* write to this address to reset chip */ -#define ADDR_CMD_CONVERT_D1 0x48 /* write to this address to start temperature conversion */ -#define ADDR_CMD_CONVERT_D2 0x58 /* write to this address to start pressure conversion */ -#define ADDR_DATA 0x00 /* address of 3 bytes / 32bit pressure data */ -#define ADDR_PROM_SETUP 0xA0 /* address of 8x 2 bytes factory and calibration data */ -#define ADDR_PROM_C1 0xA2 /* address of 6x 2 bytes calibration data */ - /* * Driver 'main' command. */ extern "C" __EXPORT int ms5611_main(int argc, char *argv[]); - -MS5611::MS5611(int bus) : - I2C("MS5611", BARO_DEVICE_PATH, bus, 0, 400000), +MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) : + CDev("MS5611", BARO_DEVICE_PATH), + _interface(interface), + _prom(prom_buf.s), _measure_ticks(0), _num_reports(0), _next_report(0), @@ -279,10 +212,7 @@ MS5611::MS5611(int bus) : _comms_errors(perf_alloc(PC_COUNT, "ms5611_comms_errors")), _buffer_overflows(perf_alloc(PC_COUNT, "ms5611_buffer_overflows")) { - // enable debug() calls - _debug_enabled = true; - - // work_cancel in the dtor will explode if we don't do this... + // work_cancel in stop_cycle called from the dtor will explode if we don't do this... memset(&_work, 0, sizeof(_work)); } @@ -294,23 +224,36 @@ MS5611::~MS5611() /* free any existing reports */ if (_reports != nullptr) delete[] _reports; + + // free perf counters + perf_free(_sample_perf); + perf_free(_measure_perf); + perf_free(_comms_errors); + perf_free(_buffer_overflows); + + delete _interface; } int MS5611::init() { - int ret = ERROR; + int ret; - /* do I2C init (and probe) first */ - if (I2C::init() != OK) + ret = CDev::init(); + if (ret != OK) { + debug("CDev init failed"); goto out; + } /* allocate basic report buffers */ _num_reports = 2; _reports = new struct baro_report[_num_reports]; - if (_reports == nullptr) + if (_reports == nullptr) { + debug("can't get memory for reports"); + ret = -ENOMEM; goto out; + } _oldest_report = _next_report = 0; @@ -318,49 +261,17 @@ MS5611::init() memset(&_reports[0], 0, sizeof(_reports[0])); _baro_topic = orb_advertise(ORB_ID(sensor_baro), &_reports[0]); - if (_baro_topic < 0) + if (_baro_topic < 0) { debug("failed to create sensor_baro object"); + ret = -ENOSPC; + goto out; + } ret = OK; out: return ret; } -int -MS5611::probe() -{ - _retries = 10; - - if ((OK == probe_address(MS5611_ADDRESS_1)) || - (OK == probe_address(MS5611_ADDRESS_2))) { - /* - * 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 OK; - } - - return -EIO; -} - -int -MS5611::probe_address(uint8_t address) -{ - /* select the address we are going to try */ - set_address(address); - - /* send reset command */ - if (OK != cmd_reset()) - return -EIO; - - /* read PROM */ - if (OK != read_prom()) - return -EIO; - - return OK; -} - ssize_t MS5611::read(struct file *filp, char *buffer, size_t buflen) { @@ -546,8 +457,9 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg) break; } - /* give it to the superclass */ - return I2C::ioctl(filp, cmd, arg); + /* give it to the bus-specific superclass */ + // return bus_ioctl(filp, cmd, arg); + return CDev::ioctl(filp, cmd, arg); } void @@ -572,7 +484,7 @@ MS5611::stop_cycle() void MS5611::cycle_trampoline(void *arg) { - MS5611 *dev = (MS5611 *)arg; + MS5611 *dev = reinterpret_cast(arg); dev->cycle(); } @@ -592,7 +504,7 @@ MS5611::cycle() /* * The ms5611 seems to regularly fail to respond to * its address; this happens often enough that we'd rather not - * spam the console with the message. + * spam the console with a message for this. */ } else { //log("collection error %d", ret); @@ -654,17 +566,12 @@ MS5611::measure() /* * In phase zero, request temperature; in other phases, request pressure. */ - uint8_t cmd_data = (_measure_phase == 0) ? ADDR_CMD_CONVERT_D2 : ADDR_CMD_CONVERT_D1; + unsigned addr = (_measure_phase == 0) ? ADDR_CMD_CONVERT_D2 : ADDR_CMD_CONVERT_D1; /* * Send the command to begin measuring. - * - * Disable retries on this command; we can't know whether failure - * means the device did or did not see the write. */ - _retries = 0; - ret = transfer(&cmd_data, 1, nullptr, 0); - + ret = _interface->ioctl(IOCTL_MEASURE, addr); if (OK != ret) perf_count(_comms_errors); @@ -677,47 +584,33 @@ int MS5611::collect() { int ret; - uint8_t cmd; - uint8_t data[3]; - union { - uint8_t b[4]; - uint32_t w; - } cvt; - - /* read the most recent measurement */ - cmd = 0; + uint32_t raw; perf_begin(_sample_perf); /* this should be fairly close to the end of the conversion, so the best approximation of the time */ _reports[_next_report].timestamp = hrt_absolute_time(); - ret = transfer(&cmd, 1, &data[0], 3); - if (ret != OK) { + /* 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); return ret; } - /* fetch the raw value */ - cvt.b[0] = data[2]; - cvt.b[1] = data[1]; - cvt.b[2] = data[0]; - cvt.b[3] = 0; - uint32_t raw = cvt.w; - /* handle a measurement */ if (_measure_phase == 0) { /* temperature offset (in ADC units) */ - int32_t dT = (int32_t)raw - ((int32_t)_prom.s.c5_reference_temp << 8); + int32_t dT = (int32_t)raw - ((int32_t)_prom.c5_reference_temp << 8); /* absolute temperature in centidegrees - note intermediate value is outside 32-bit range */ - _TEMP = 2000 + (int32_t)(((int64_t)dT * _prom.s.c6_temp_coeff_temp) >> 23); + _TEMP = 2000 + (int32_t)(((int64_t)dT * _prom.c6_temp_coeff_temp) >> 23); /* base sensor scale/offset values */ - _SENS = ((int64_t)_prom.s.c1_pressure_sens << 15) + (((int64_t)_prom.s.c3_temp_coeff_pres_sens * dT) >> 8); - _OFF = ((int64_t)_prom.s.c2_pressure_offset << 16) + (((int64_t)_prom.s.c4_temp_coeff_pres_offset * dT) >> 7); + _SENS = ((int64_t)_prom.c1_pressure_sens << 15) + (((int64_t)_prom.c3_temp_coeff_pres_sens * dT) >> 8); + _OFF = ((int64_t)_prom.c2_pressure_offset << 16) + (((int64_t)_prom.c4_temp_coeff_pres_offset * dT) >> 7); /* temperature compensation */ if (_TEMP < 2000) { @@ -761,30 +654,7 @@ MS5611::collect() * double precision: ms5611_read: 992 events, 258641us elapsed, min 202us max 305us * single precision: ms5611_read: 963 events, 208066us elapsed, min 202us max 241us */ -#if 0/* USE_FLOAT */ - /* tropospheric properties (0-11km) for standard atmosphere */ - const float T1 = 15.0f + 273.15f; /* temperature at base height in Kelvin */ - const float a = -6.5f / 1000f; /* temperature gradient in degrees per metre */ - const float g = 9.80665f; /* gravity constant in m/s/s */ - const float R = 287.05f; /* ideal gas constant in J/kg/K */ - /* current pressure at MSL in kPa */ - float p1 = _msl_pressure / 1000.0f; - - /* measured pressure in kPa */ - float p = P / 1000.0f; - - /* - * Solve: - * - * / -(aR / g) \ - * | (p / p1) . T1 | - T1 - * \ / - * h = ------------------------------- + h1 - * a - */ - _reports[_next_report].altitude = (((powf((p / p1), (-(a * R) / g))) * T1) - T1) / a; -#else /* tropospheric properties (0-11km) for standard atmosphere */ const double T1 = 15.0 + 273.15; /* temperature at base height in Kelvin */ const double a = -6.5 / 1000; /* temperature gradient in degrees per metre */ @@ -807,7 +677,7 @@ MS5611::collect() * a */ _reports[_next_report].altitude = (((pow((p / p1), (-(a * R) / g))) * T1) - T1) / a; -#endif + /* publish it */ orb_publish(ORB_ID(sensor_baro), _baro_topic, &_reports[_next_report]); @@ -832,55 +702,49 @@ MS5611::collect() return OK; } -int -MS5611::cmd_reset() +void +MS5611::print_info() { - unsigned old_retrycount = _retries; - uint8_t cmd = ADDR_RESET_CMD; - int result; + perf_print_counter(_sample_perf); + perf_print_counter(_comms_errors); + perf_print_counter(_buffer_overflows); + printf("poll interval: %u ticks\n", _measure_ticks); + printf("report queue: %u (%u/%u @ %p)\n", + _num_reports, _oldest_report, _next_report, _reports); + printf("TEMP: %d\n", _TEMP); + printf("SENS: %lld\n", _SENS); + printf("OFF: %lld\n", _OFF); + printf("MSL pressure: %10.4f\n", (double)(_msl_pressure / 100.f)); - /* bump the retry count */ - _retries = 10; - result = transfer(&cmd, 1, nullptr, 0); - _retries = old_retrycount; - - return result; + printf("factory_setup %u\n", _prom.factory_setup); + printf("c1_pressure_sens %u\n", _prom.c1_pressure_sens); + printf("c2_pressure_offset %u\n", _prom.c2_pressure_offset); + printf("c3_temp_coeff_pres_sens %u\n", _prom.c3_temp_coeff_pres_sens); + printf("c4_temp_coeff_pres_offset %u\n", _prom.c4_temp_coeff_pres_offset); + printf("c5_reference_temp %u\n", _prom.c5_reference_temp); + printf("c6_temp_coeff_temp %u\n", _prom.c6_temp_coeff_temp); + printf("serial_and_crc %u\n", _prom.serial_and_crc); } -int -MS5611::read_prom() +/** + * Local functions in support of the shell command. + */ +namespace ms5611 { - uint8_t prom_buf[2]; - union { - uint8_t b[2]; - uint16_t w; - } cvt; - /* - * Wait for PROM contents to be in the device (2.8 ms) in the case we are - * called immediately after reset. - */ - usleep(3000); +MS5611 *g_dev; - /* read and convert PROM words */ - for (int i = 0; i < 8; i++) { - uint8_t cmd = ADDR_PROM_SETUP + (i * 2); - - if (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]; - cvt.b[1] = prom_buf[0]; - _prom.c[i] = cvt.w; - } - - /* calculate CRC and return success/failure accordingly */ - return crc4(&_prom.c[0]) ? OK : -EIO; -} +void start(); +void test(); +void reset(); +void info(); +void calibrate(unsigned altitude); +/** + * MS5611 crc4 cribbed from the datasheet + */ bool -MS5611::crc4(uint16_t *n_prom) +crc4(uint16_t *n_prom) { int16_t cnt; uint16_t n_rem; @@ -922,43 +786,6 @@ MS5611::crc4(uint16_t *n_prom) return (0x000F & crc_read) == (n_rem ^ 0x00); } -void -MS5611::print_info() -{ - perf_print_counter(_sample_perf); - perf_print_counter(_comms_errors); - perf_print_counter(_buffer_overflows); - printf("poll interval: %u ticks\n", _measure_ticks); - printf("report queue: %u (%u/%u @ %p)\n", - _num_reports, _oldest_report, _next_report, _reports); - printf("TEMP: %d\n", _TEMP); - printf("SENS: %lld\n", _SENS); - printf("OFF: %lld\n", _OFF); - printf("MSL pressure: %10.4f\n", (double)(_msl_pressure / 100.f)); - - printf("factory_setup %u\n", _prom.s.factory_setup); - printf("c1_pressure_sens %u\n", _prom.s.c1_pressure_sens); - printf("c2_pressure_offset %u\n", _prom.s.c2_pressure_offset); - printf("c3_temp_coeff_pres_sens %u\n", _prom.s.c3_temp_coeff_pres_sens); - printf("c4_temp_coeff_pres_offset %u\n", _prom.s.c4_temp_coeff_pres_offset); - printf("c5_reference_temp %u\n", _prom.s.c5_reference_temp); - printf("c6_temp_coeff_temp %u\n", _prom.s.c6_temp_coeff_temp); - printf("serial_and_crc %u\n", _prom.s.serial_and_crc); -} - -/** - * Local functions in support of the shell command. - */ -namespace ms5611 -{ - -MS5611 *g_dev; - -void start(); -void test(); -void reset(); -void info(); -void calibrate(unsigned altitude); /** * Start the driver. @@ -967,28 +794,46 @@ void start() { int fd; + prom_u prom_buf; if (g_dev != nullptr) /* if already started, the still command succeeded */ errx(0, "already started"); - /* create the driver */ - g_dev = new MS5611(MS5611_BUS); + device::Device *interface = nullptr; - if (g_dev == nullptr) - goto fail; + /* create the driver, try SPI first, fall back to I2C if unsuccessful */ + if (MS5611_spi_interface != nullptr) + interface = MS5611_spi_interface(prom_buf); + if (interface == nullptr && (MS5611_i2c_interface != nullptr)) + interface = MS5611_i2c_interface(prom_buf); - if (OK != g_dev->init()) + if (interface == nullptr) + errx(1, "failed to allocate an interface"); + + if (interface->init() != OK) { + delete interface; + errx(1, "interface init failed"); + } + + g_dev = new MS5611(interface, prom_buf); + if (g_dev == nullptr) { + delete interface; + errx(1, "failed to allocate driver"); + } + if (g_dev->init() != OK) goto fail; /* set the poll rate to default, starts automatic data collection */ fd = open(BARO_DEVICE_PATH, O_RDONLY); - - if (fd < 0) + if (fd < 0) { + warnx("can't open baro device"); goto fail; - - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + } + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { + warnx("failed setting default poll rate"); goto fail; + } exit(0); @@ -1155,11 +1000,11 @@ calibrate(unsigned altitude) const float g = 9.80665f; /* gravity constant in m/s/s */ const float R = 287.05f; /* ideal gas constant in J/kg/K */ - warnx("averaged pressure %10.4fkPa at %um", pressure, altitude); + warnx("averaged pressure %10.4fkPa at %um", (double)pressure, altitude); p1 = pressure * (powf(((T1 + (a * (float)altitude)) / T1), (g / (a * R)))); - warnx("calculated MSL pressure %10.4fkPa", p1); + warnx("calculated MSL pressure %10.4fkPa", (double)p1); /* save as integer Pa */ p1 *= 1000.0f; diff --git a/src/drivers/ms5611/ms5611.h b/src/drivers/ms5611/ms5611.h new file mode 100644 index 0000000000..76fb84de8e --- /dev/null +++ b/src/drivers/ms5611/ms5611.h @@ -0,0 +1,85 @@ +/**************************************************************************** + * + * Copyright (C) 2012-2013 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 ms5611.h + * + * Shared defines for the ms5611 driver. + */ + +#define ADDR_RESET_CMD 0x1E /* write to this address to reset chip */ +#define ADDR_CMD_CONVERT_D1 0x48 /* write to this address to start temperature conversion */ +#define ADDR_CMD_CONVERT_D2 0x58 /* write to this address to start pressure conversion */ +#define ADDR_DATA 0x00 /* address of 3 bytes / 32bit pressure data */ +#define ADDR_PROM_SETUP 0xA0 /* address of 8x 2 bytes factory and calibration data */ +#define ADDR_PROM_C1 0xA2 /* address of 6x 2 bytes calibration data */ + +/* interface ioctls */ +#define IOCTL_RESET 2 +#define IOCTL_MEASURE 3 + +namespace ms5611 +{ + +/** + * Calibration PROM as reported by the device. + */ +#pragma pack(push,1) +struct prom_s { + uint16_t factory_setup; + uint16_t c1_pressure_sens; + uint16_t c2_pressure_offset; + uint16_t c3_temp_coeff_pres_sens; + uint16_t c4_temp_coeff_pres_offset; + uint16_t c5_reference_temp; + uint16_t c6_temp_coeff_temp; + uint16_t serial_and_crc; +}; + +/** + * Grody hack for crc4() + */ +union prom_u { + uint16_t c[8]; + prom_s s; +}; +#pragma pack(pop) + +extern bool crc4(uint16_t *n_prom); + +} /* namespace */ + +/* interface factories */ +extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf) weak_function; +extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf) weak_function; + diff --git a/src/drivers/ms5611/ms5611_i2c.cpp b/src/drivers/ms5611/ms5611_i2c.cpp new file mode 100644 index 0000000000..87d9b94a6e --- /dev/null +++ b/src/drivers/ms5611/ms5611_i2c.cpp @@ -0,0 +1,278 @@ +/**************************************************************************** + * + * 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 ms5611_i2c.cpp + * + * I2C interface for MS5611 + */ + +/* XXX trim includes */ +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include + +#include "ms5611.h" + +#include "board_config.h" + +#ifdef PX4_I2C_OBDEV_MS5611 + +#ifndef PX4_I2C_BUS_ONBOARD + #define MS5611_BUS 1 +#else + #define MS5611_BUS PX4_I2C_BUS_ONBOARD +#endif + +#define MS5611_ADDRESS_1 0x76 /* address select pins pulled high (PX4FMU series v1.6+) */ +#define MS5611_ADDRESS_2 0x77 /* address select pins pulled low (PX4FMU prototypes) */ + + + +device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf); + +class MS5611_I2C : public device::I2C +{ +public: + MS5611_I2C(int bus, ms5611::prom_u &prom_buf); + virtual ~MS5611_I2C(); + + virtual int init(); + virtual int read(unsigned offset, void *data, unsigned count); + virtual int ioctl(unsigned operation, unsigned &arg); + +protected: + virtual int probe(); + +private: + ms5611::prom_u &_prom; + + int _probe_address(uint8_t address); + + /** + * Send a reset command to the MS5611. + * + * This is required after any bus reset. + */ + int _reset(); + + /** + * Send a measure command to the MS5611. + * + * @param addr Which address to use for the measure operation. + */ + int _measure(unsigned addr); + + /** + * Read the MS5611 PROM + * + * @return OK if the PROM reads successfully. + */ + int _read_prom(); + +}; + +device::Device * +MS5611_i2c_interface(ms5611::prom_u &prom_buf) +{ + return new MS5611_I2C(MS5611_BUS, prom_buf); +} + +MS5611_I2C::MS5611_I2C(int bus, ms5611::prom_u &prom) : + I2C("MS5611_I2C", nullptr, bus, 0, 400000), + _prom(prom) +{ +} + +MS5611_I2C::~MS5611_I2C() +{ +} + +int +MS5611_I2C::init() +{ + /* this will call probe(), and thereby _probe_address */ + return I2C::init(); +} + +int +MS5611_I2C::read(unsigned offset, void *data, unsigned count) +{ + union _cvt { + uint8_t b[4]; + uint32_t w; + } *cvt = (_cvt *)data; + uint8_t buf[3]; + + /* read the most recent measurement */ + uint8_t cmd = 0; + int ret = transfer(&cmd, 1, &buf[0], 3); + if (ret == OK) { + /* fetch the raw value */ + cvt->b[0] = buf[2]; + cvt->b[1] = buf[1]; + cvt->b[2] = buf[0]; + cvt->b[3] = 0; + } + + return ret; +} + +int +MS5611_I2C::ioctl(unsigned operation, unsigned &arg) +{ + int ret; + + switch (operation) { + case IOCTL_RESET: + ret = _reset(); + break; + + case IOCTL_MEASURE: + ret = _measure(arg); + break; + + default: + ret = EINVAL; + } + + return ret; +} + +int +MS5611_I2C::probe() +{ + _retries = 10; + + if ((OK == _probe_address(MS5611_ADDRESS_1)) || + (OK == _probe_address(MS5611_ADDRESS_2))) { + /* + * 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 OK; + } + + return -EIO; +} + +int +MS5611_I2C::_probe_address(uint8_t address) +{ + /* select the address we are going to try */ + set_address(address); + + /* send reset command */ + if (OK != _reset()) + return -EIO; + + /* read PROM */ + if (OK != _read_prom()) + return -EIO; + + return OK; +} + + +int +MS5611_I2C::_reset() +{ + unsigned old_retrycount = _retries; + uint8_t cmd = ADDR_RESET_CMD; + int result; + + /* bump the retry count */ + _retries = 10; + result = transfer(&cmd, 1, nullptr, 0); + _retries = old_retrycount; + + return result; +} + +int +MS5611_I2C::_measure(unsigned addr) +{ + /* + * Disable retries on this command; we can't know whether failure + * means the device did or did not see the command. + */ + _retries = 0; + + uint8_t cmd = addr; + return transfer(&cmd, 1, nullptr, 0); +} + +int +MS5611_I2C::_read_prom() +{ + uint8_t prom_buf[2]; + union { + uint8_t b[2]; + uint16_t w; + } cvt; + + /* + * Wait for PROM contents to be in the device (2.8 ms) in the case we are + * called immediately after reset. + */ + usleep(3000); + + /* read and convert PROM words */ + for (int i = 0; i < 8; i++) { + uint8_t cmd = ADDR_PROM_SETUP + (i * 2); + + if (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]; + cvt.b[1] = prom_buf[0]; + _prom.c[i] = cvt.w; + } + + /* calculate CRC and return success/failure accordingly */ + return ms5611::crc4(&_prom.c[0]) ? OK : -EIO; +} + +#endif /* PX4_I2C_OBDEV_MS5611 */ diff --git a/src/drivers/ms5611/ms5611_spi.cpp b/src/drivers/ms5611/ms5611_spi.cpp new file mode 100644 index 0000000000..f6c6243408 --- /dev/null +++ b/src/drivers/ms5611/ms5611_spi.cpp @@ -0,0 +1,273 @@ +/**************************************************************************** + * + * 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 ms5611_spi.cpp + * + * SPI interface for MS5611 + */ + +/* XXX trim includes */ +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include + +#include "ms5611.h" +#include "board_config.h" + +/* SPI protocol address bits */ +#define DIR_READ (1<<7) +#define DIR_WRITE (0<<7) +#define ADDR_INCREMENT (1<<6) + +#ifdef PX4_SPIDEV_BARO + +device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf); + +class MS5611_SPI : public device::SPI +{ +public: + MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf); + virtual ~MS5611_SPI(); + + virtual int init(); + virtual int read(unsigned offset, void *data, unsigned count); + virtual int ioctl(unsigned operation, unsigned &arg); + +private: + ms5611::prom_u &_prom; + + /** + * Send a reset command to the MS5611. + * + * This is required after any bus reset. + */ + int _reset(); + + /** + * Send a measure command to the MS5611. + * + * @param addr Which address to use for the measure operation. + */ + int _measure(unsigned addr); + + /** + * Read the MS5611 PROM + * + * @return OK if the PROM reads successfully. + */ + int _read_prom(); + + /** + * Read a 16-bit register value. + * + * @param reg The register to read. + */ + uint16_t _reg16(unsigned reg); + + /** + * Wrapper around transfer() that prevents interrupt-context transfers + * from pre-empting us. The sensor may (does) share a bus with sensors + * that are polled from interrupt context (or we may be pre-empted) + * so we need to guarantee that transfers complete without interruption. + */ + int _transfer(uint8_t *send, uint8_t *recv, unsigned len); +}; + +device::Device * +MS5611_spi_interface(ms5611::prom_u &prom_buf) +{ + return new MS5611_SPI(1 /* XXX MAGIC NUMBER */, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf); +} + +MS5611_SPI::MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf) : + SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 2000000), + _prom(prom_buf) +{ +} + +MS5611_SPI::~MS5611_SPI() +{ +} + +int +MS5611_SPI::init() +{ + int ret; + + ret = SPI::init(); + if (ret != OK) { + debug("SPI init failed"); + goto out; + } + + /* send reset command */ + ret = _reset(); + if (ret != OK) { + debug("reset failed"); + goto out; + } + + /* read PROM */ + ret = _read_prom(); + if (ret != OK) { + debug("prom readout failed"); + goto out; + } + +out: + return ret; +} + +int +MS5611_SPI::read(unsigned offset, void *data, unsigned count) +{ + union _cvt { + uint8_t b[4]; + uint32_t w; + } *cvt = (_cvt *)data; + uint8_t buf[4]; + + /* read the most recent measurement */ + buf[0] = 0 | DIR_WRITE; + int ret = _transfer(&buf[0], &buf[0], sizeof(buf)); + + if (ret == OK) { + /* fetch the raw value */ + cvt->b[0] = buf[3]; + cvt->b[1] = buf[2]; + cvt->b[2] = buf[1]; + cvt->b[3] = 0; + + ret = count; + } + + return ret; +} + +int +MS5611_SPI::ioctl(unsigned operation, unsigned &arg) +{ + int ret; + + switch (operation) { + case IOCTL_RESET: + ret = _reset(); + break; + + case IOCTL_MEASURE: + ret = _measure(arg); + break; + + default: + ret = EINVAL; + } + + if (ret != OK) { + errno = ret; + return -1; + } + return 0; +} + +int +MS5611_SPI::_reset() +{ + uint8_t cmd = ADDR_RESET_CMD | DIR_WRITE; + + return _transfer(&cmd, nullptr, 1); +} + +int +MS5611_SPI::_measure(unsigned addr) +{ + uint8_t cmd = addr | DIR_WRITE; + + return _transfer(&cmd, nullptr, 1); +} + + +int +MS5611_SPI::_read_prom() +{ + /* + * Wait for PROM contents to be in the device (2.8 ms) in the case we are + * called immediately after reset. + */ + usleep(3000); + + /* read and convert PROM words */ + for (int i = 0; i < 8; i++) { + uint8_t cmd = (ADDR_PROM_SETUP + (i * 2)); + _prom.c[i] = _reg16(cmd); + } + + /* calculate CRC and return success/failure accordingly */ + return ms5611::crc4(&_prom.c[0]) ? OK : -EIO; +} + +uint16_t +MS5611_SPI::_reg16(unsigned reg) +{ + uint8_t cmd[3]; + + cmd[0] = reg | DIR_READ; + + _transfer(cmd, cmd, sizeof(cmd)); + + return (uint16_t)(cmd[1] << 8) | cmd[2]; +} + +int +MS5611_SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len) +{ + irqstate_t flags = irqsave(); + + int ret = transfer(send, recv, len); + + irqrestore(flags); + + return ret; +} + +#endif /* PX4_SPIDEV_BARO */ diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index a98b527b1b..6d4019f249 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -34,7 +34,7 @@ /** * @file fmu.cpp * - * Driver/configurator for the PX4 FMU multi-purpose port. + * Driver/configurator for the PX4 FMU multi-purpose port on v1 and v2 boards. */ #include @@ -57,9 +57,10 @@ #include #include #include -#include #include +# include + #include #include #include @@ -69,17 +70,21 @@ #include #include #include +#include #include -#include +#ifdef HRT_PPM_CHANNEL +# include +#endif class PX4FMU : public device::CDev { public: enum Mode { + MODE_NONE, MODE_2PWM, MODE_4PWM, - MODE_NONE + MODE_6PWM, }; PX4FMU(); virtual ~PX4FMU(); @@ -104,7 +109,7 @@ private: unsigned _current_update_rate; int _task; int _t_actuators; - int _t_armed; + int _t_actuator_armed; orb_advert_t _t_outputs; orb_advert_t _t_actuators_effective; unsigned _num_outputs; @@ -146,6 +151,7 @@ private: }; const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = { +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1}, @@ -154,6 +160,22 @@ const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = { {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1}, {GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2}, {GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2}, +#endif +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) + {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, + {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, + {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, + {GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, + {GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, + {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, + + {0, GPIO_VDD_5V_PERIPH_EN, 0}, + {0, GPIO_VDD_3V3_SENSORS_EN, 0}, + {GPIO_VDD_BRICK_VALID, 0, 0}, + {GPIO_VDD_SERVO_VALID, 0, 0}, + {GPIO_VDD_5V_HIPOWER_OC, 0, 0}, + {GPIO_VDD_5V_PERIPH_OC, 0, 0}, +#endif }; const unsigned PX4FMU::_ngpio = sizeof(PX4FMU::_gpio_tab) / sizeof(PX4FMU::_gpio_tab[0]); @@ -174,7 +196,7 @@ PX4FMU::PX4FMU() : _current_update_rate(0), _task(-1), _t_actuators(-1), - _t_armed(-1), + _t_actuator_armed(-1), _t_outputs(0), _t_actuators_effective(0), _num_outputs(0), @@ -271,9 +293,8 @@ PX4FMU::set_mode(Mode mode) * are presented on the output pins. */ switch (mode) { - case MODE_2PWM: // multi-port with flow control lines as PWM - case MODE_4PWM: // multi-port as 4 PWM outs - debug("MODE_%dPWM", (mode == MODE_2PWM) ? 2 : 4); + case MODE_2PWM: // v1 multi-port with flow control lines as PWM + debug("MODE_2PWM"); /* default output rates */ _pwm_default_rate = 50; @@ -281,7 +302,35 @@ PX4FMU::set_mode(Mode mode) _pwm_alt_rate_channels = 0; /* XXX magic numbers */ - up_pwm_servo_init((mode == MODE_2PWM) ? 0x3 : 0xf); + up_pwm_servo_init(0x3); + set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate); + + break; + + case MODE_4PWM: // v1 multi-port as 4 PWM outs + debug("MODE_4PWM"); + + /* default output rates */ + _pwm_default_rate = 50; + _pwm_alt_rate = 50; + _pwm_alt_rate_channels = 0; + + /* XXX magic numbers */ + up_pwm_servo_init(0xf); + set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate); + + break; + + case MODE_6PWM: // v2 PWMs as 6 PWM outs + debug("MODE_6PWM"); + + /* default output rates */ + _pwm_default_rate = 50; + _pwm_alt_rate = 50; + _pwm_alt_rate_channels = 0; + + /* XXX magic numbers */ + up_pwm_servo_init(0x3f); set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate); break; @@ -376,8 +425,8 @@ PX4FMU::task_main() /* force a reset of the update rate */ _current_update_rate = 0; - _t_armed = orb_subscribe(ORB_ID(actuator_armed)); - orb_set_interval(_t_armed, 200); /* 5Hz update rate */ + _t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed)); + orb_set_interval(_t_actuator_armed, 200); /* 5Hz update rate */ /* advertise the mixed control outputs */ actuator_outputs_s outputs; @@ -396,17 +445,17 @@ PX4FMU::task_main() pollfd fds[2]; fds[0].fd = _t_actuators; fds[0].events = POLLIN; - fds[1].fd = _t_armed; + fds[1].fd = _t_actuator_armed; fds[1].events = POLLIN; - unsigned num_outputs = (_mode == MODE_2PWM) ? 2 : 4; - +#ifdef HRT_PPM_CHANNEL // rc input, published to ORB struct rc_input_values rc_in; orb_advert_t to_input_rc = 0; memset(&rc_in, 0, sizeof(rc_in)); rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM; +#endif log("starting"); @@ -460,6 +509,23 @@ PX4FMU::task_main() /* can we mix? */ if (_mixers != nullptr) { + unsigned num_outputs; + + switch (_mode) { + case MODE_2PWM: + num_outputs = 2; + break; + case MODE_4PWM: + num_outputs = 4; + break; + case MODE_6PWM: + num_outputs = 6; + break; + default: + num_outputs = 0; + break; + } + /* do mixing */ outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs); outputs.timestamp = hrt_absolute_time(); @@ -502,7 +568,7 @@ PX4FMU::task_main() actuator_armed_s aa; /* get new value */ - orb_copy(ORB_ID(actuator_armed), _t_armed, &aa); + orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &aa); /* update PWM servo armed status if armed and not locked down */ bool set_armed = aa.armed && !aa.lockdown; @@ -512,6 +578,7 @@ PX4FMU::task_main() } } +#ifdef HRT_PPM_CHANNEL // see if we have new PPM input data if (ppm_last_valid_decode != rc_in.timestamp) { // we have a new PPM frame. Publish it. @@ -531,11 +598,13 @@ PX4FMU::task_main() orb_publish(ORB_ID(input_rc), to_input_rc, &rc_in); } } +#endif + } ::close(_t_actuators); ::close(_t_actuators_effective); - ::close(_t_armed); + ::close(_t_actuator_armed); /* make sure servos are off */ up_pwm_servo_deinit(); @@ -579,6 +648,7 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg) switch (_mode) { case MODE_2PWM: case MODE_4PWM: + case MODE_6PWM: ret = pwm_ioctl(filp, cmd, arg); break; @@ -623,16 +693,24 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) ret = set_pwm_rate(arg, _pwm_default_rate, _pwm_alt_rate); break; - case PWM_SERVO_SET(2): - case PWM_SERVO_SET(3): - if (_mode != MODE_4PWM) { + case PWM_SERVO_SET(5): + case PWM_SERVO_SET(4): + if (_mode < MODE_6PWM) { + ret = -EINVAL; + break; + } + + /* FALLTHROUGH */ + case PWM_SERVO_SET(3): + case PWM_SERVO_SET(2): + if (_mode < MODE_4PWM) { ret = -EINVAL; break; } /* FALLTHROUGH */ - case PWM_SERVO_SET(0): case PWM_SERVO_SET(1): + case PWM_SERVO_SET(0): if (arg < 2100) { up_pwm_servo_set(cmd - PWM_SERVO_SET(0), arg); } else { @@ -641,16 +719,24 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) break; - case PWM_SERVO_GET(2): - case PWM_SERVO_GET(3): - if (_mode != MODE_4PWM) { + case PWM_SERVO_GET(5): + case PWM_SERVO_GET(4): + if (_mode < MODE_6PWM) { + ret = -EINVAL; + break; + } + + /* FALLTHROUGH */ + case PWM_SERVO_GET(3): + case PWM_SERVO_GET(2): + if (_mode < MODE_4PWM) { ret = -EINVAL; break; } /* FALLTHROUGH */ - case PWM_SERVO_GET(0): case PWM_SERVO_GET(1): + case PWM_SERVO_GET(0): *(servo_position_t *)arg = up_pwm_servo_get(cmd - PWM_SERVO_GET(0)); break; @@ -658,16 +744,26 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) case PWM_SERVO_GET_RATEGROUP(1): case PWM_SERVO_GET_RATEGROUP(2): case PWM_SERVO_GET_RATEGROUP(3): + case PWM_SERVO_GET_RATEGROUP(4): + case PWM_SERVO_GET_RATEGROUP(5): *(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0)); break; case PWM_SERVO_GET_COUNT: case MIXERIOCGETOUTPUTCOUNT: - if (_mode == MODE_4PWM) { + switch (_mode) { + case MODE_6PWM: + *(unsigned *)arg = 6; + break; + case MODE_4PWM: *(unsigned *)arg = 4; - - } else { + break; + case MODE_2PWM: *(unsigned *)arg = 2; + break; + default: + ret = -EINVAL; + break; } break; @@ -743,17 +839,17 @@ ssize_t PX4FMU::write(file *filp, const char *buffer, size_t len) { unsigned count = len / 2; - uint16_t values[4]; + uint16_t values[6]; - if (count > 4) { - // we only have 4 PWM outputs on the FMU - count = 4; + if (count > 6) { + // we have at most 6 outputs + count = 6; } // allow for misaligned values - memcpy(values, buffer, count*2); + memcpy(values, buffer, count * 2); - for (uint8_t i=0; i 0) { + if (pwm_value < 2000) { + pwm_value++; + } else { + direction = -1; + } + } else { + if (pwm_value > 1000) { + pwm_value--; + } else { + direction = 1; + } + } + + /* readback servo values */ + for (unsigned i = 0; i < servo_count; i++) { + servo_position_t value; + + if (ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&value)) + err(1, "error reading PWM servo %d", i); + if (value != servos[i]) + errx(1, "servo %d readback error, got %u expected %u", i, value, servos[i]); + } + + /* Check if user wants to quit */ + char c; + if (read(console, &c, 1) == 1) { + if (c == 0x03 || c == 0x63) { + warnx("User abort\n"); + break; + } + } + } + + close(console); close(fd); exit(0); @@ -1053,12 +1233,13 @@ fmu_main(int argc, char *argv[]) if (!strcmp(verb, "mode_gpio")) { new_mode = PORT_FULL_GPIO; - } else if (!strcmp(verb, "mode_serial")) { - new_mode = PORT_FULL_SERIAL; - } else if (!strcmp(verb, "mode_pwm")) { new_mode = PORT_FULL_PWM; +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) + } else if (!strcmp(verb, "mode_serial")) { + new_mode = PORT_FULL_SERIAL; + } else if (!strcmp(verb, "mode_gpio_serial")) { new_mode = PORT_GPIO_AND_SERIAL; @@ -1067,6 +1248,7 @@ fmu_main(int argc, char *argv[]) } else if (!strcmp(verb, "mode_pwm_gpio")) { new_mode = PORT_PWM_AND_GPIO; +#endif } /* was a new mode set? */ @@ -1088,6 +1270,10 @@ fmu_main(int argc, char *argv[]) fake(argc - 1, argv + 1); fprintf(stderr, "FMU: unrecognised command, try:\n"); - fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n"); +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) + fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, test\n"); +#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) + fprintf(stderr, " mode_gpio, mode_pwm, test\n"); +#endif exit(1); } diff --git a/src/drivers/px4io/module.mk b/src/drivers/px4io/module.mk index 328e5a6843..2054faa127 100644 --- a/src/drivers/px4io/module.mk +++ b/src/drivers/px4io/module.mk @@ -38,4 +38,9 @@ MODULE_COMMAND = px4io SRCS = px4io.cpp \ - uploader.cpp + px4io_uploader.cpp \ + px4io_serial.cpp \ + px4io_i2c.cpp + +# XXX prune to just get UART registers +INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index fed83ea1ac..c88abe59a8 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -58,7 +58,6 @@ #include #include -#include #include #include #include @@ -75,7 +74,9 @@ #include #include #include -#include +#include +#include +#include #include #include #include @@ -83,9 +84,13 @@ #include #include -#include "uploader.h" #include +#include "uploader.h" + +extern device::Device *PX4IO_i2c_interface() weak_function; +extern device::Device *PX4IO_serial_interface() weak_function; + #define PX4IO_SET_DEBUG _IOC(0xff00, 0) #define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1) @@ -94,7 +99,7 @@ * * Encapsulates PX4FMU to PX4IO communications modeled as file operations. */ -class PX4IO : public device::I2C +class PX4IO : public device::CDev { public: /** @@ -102,7 +107,8 @@ public: * * Initialize all class variables. */ - PX4IO(); + PX4IO(device::Device *interface); + /** * Destructor. * @@ -113,10 +119,17 @@ public: /** * Initialize the PX4IO class. * - * Initialize the physical I2C interface to PX4IO. Retrieve relevant initial system parameters. Initialize PX4IO registers. + * Retrieve relevant initial system parameters. Initialize PX4IO registers. */ virtual int init(); + /** + * Detect if a PX4IO is connected. + * + * Only validate if there is a PX4IO to talk to. + */ + virtual int detect(); + /** * IO Control handler. * @@ -143,8 +156,8 @@ public: /** * Set the update rate for actuator outputs from FMU to IO. * - * @param[in] rate The rate in Hz actuator output are sent to IO. - * Min 10 Hz, max 400 Hz + * @param[in] rate The rate in Hz actuator outpus are sent to IO. + * Min 10 Hz, max 400 Hz */ int set_update_rate(int rate); @@ -159,11 +172,26 @@ public: /** * Push failsafe values to IO. * - * @param[in] vals Failsafe control inputs: in us PPM (900 for zero, 1500 for centered, 2100 for full) - * @param[in] len Number of channels, could up to 8 + * @param[in] vals Failsafe control inputs: in us PPM (900 for zero, 1500 for centered, 2100 for full) + * @param[in] len Number of channels, could up to 8 */ int set_failsafe_values(const uint16_t *vals, unsigned len); + /** + * Set the minimum PWM signals when armed + */ + int set_min_values(const uint16_t *vals, unsigned len); + + /** + * Set the maximum PWM signal when armed + */ + int set_max_values(const uint16_t *vals, unsigned len); + + /** + * Set an idle PWM signal that is active right after startup, even when SAFETY_SAFE + */ + int set_idle_values(const uint16_t *vals, unsigned len); + /** * Print IO status. * @@ -171,6 +199,11 @@ public: */ void print_status(); + /** + * Disable RC input handling + */ + int disable_rc_handling(); + /** * Set the DSM VCC is controlled by relay one flag * @@ -192,14 +225,18 @@ public: }; private: + device::Device *_interface; + // XXX + unsigned _hardware; ///< Hardware revision unsigned _max_actuators; /// 255) || - (_max_relays < 1) || (_max_relays > 255) || - (_max_transfer < 16) || (_max_transfer > 255) || + (_max_relays > 32) || + (_max_transfer < 16) || (_max_transfer > 255) || (_max_rc_input < 1) || (_max_rc_input > 255)) { - log("failed getting parameters from PX4IO"); - mavlink_log_emergency(_mavlink_fd, "[IO] param read fail, abort."); + log("config read error"); + mavlink_log_emergency(_mavlink_fd, "[IO] config read fail, abort."); return -1; } if (_max_rc_input > RC_INPUT_MAX_CHANNELS) @@ -492,26 +570,27 @@ PX4IO::init() (reg & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { mavlink_log_emergency(_mavlink_fd, "[IO] RECOVERING FROM FMU IN-AIR RESTART"); + log("INAIR RESTART RECOVERY (needs commander app running)"); /* WARNING: COMMANDER app/vehicle status must be initialized. * If this fails (or the app is not started), worst-case IO * remains untouched (so manual override is still available). */ - int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); + int safety_sub = orb_subscribe(ORB_ID(actuator_armed)); /* fill with initial values, clear updated flag */ - vehicle_status_s status; + struct actuator_armed_s safety; uint64_t try_start_time = hrt_absolute_time(); bool updated = false; - /* keep checking for an update, ensure we got a recent state, + /* keep checking for an update, ensure we got a arming information, not something that was published a long time ago. */ do { - orb_check(vstatus_sub, &updated); + orb_check(safety_sub, &updated); if (updated) { /* got data, copy and exit loop */ - orb_copy(ORB_ID(vehicle_status), vstatus_sub, &status); + orb_copy(ORB_ID(actuator_armed), safety_sub, &safety); break; } @@ -519,7 +598,7 @@ PX4IO::init() usleep(10000); /* abort after 5s */ - if ((hrt_absolute_time() - try_start_time)/1000 > 50000) { + if ((hrt_absolute_time() - try_start_time)/1000 > 3000) { log("failed to recover from in-air restart (1), aborting IO driver init."); return 1; } @@ -537,35 +616,41 @@ PX4IO::init() cmd.param6 = 0; cmd.param7 = 0; cmd.command = VEHICLE_CMD_COMPONENT_ARM_DISARM; - cmd.target_system = status.system_id; - cmd.target_component = status.component_id; - cmd.source_system = status.system_id; - cmd.source_component = status.component_id; + // cmd.target_system = status.system_id; + // cmd.target_component = status.component_id; + // cmd.source_system = status.system_id; + // cmd.source_component = status.component_id; /* ask to confirm command */ cmd.confirmation = 1; /* send command once */ - (void)orb_advertise(ORB_ID(vehicle_command), &cmd); + orb_advert_t pub = orb_advertise(ORB_ID(vehicle_command), &cmd); /* spin here until IO's state has propagated into the system */ do { - orb_check(vstatus_sub, &updated); + orb_check(safety_sub, &updated); if (updated) { - orb_copy(ORB_ID(vehicle_status), vstatus_sub, &status); + orb_copy(ORB_ID(actuator_armed), safety_sub, &safety); } - /* wait 10 ms */ - usleep(10000); + /* wait 50 ms */ + usleep(50000); /* abort after 5s */ - if ((hrt_absolute_time() - try_start_time)/1000 > 50000) { + if ((hrt_absolute_time() - try_start_time)/1000 > 2000) { log("failed to recover from in-air restart (2), aborting IO driver init."); return 1; } - /* keep waiting for state change for 10 s */ - } while (!status.flag_system_armed); + /* re-send if necessary */ + if (!safety.armed) { + orb_publish(ORB_ID(vehicle_command), pub, &cmd); + log("re-sending arm cmd"); + } + + /* keep waiting for state change for 2 s */ + } while (!safety.armed); /* regular boot, no in-air restart, init IO */ } else { @@ -575,14 +660,19 @@ PX4IO::init() io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FMU_ARMED | PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | - PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0); + PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | + PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE, 0); - /* publish RC config to IO */ - ret = io_set_rc_config(); - if (ret != OK) { - log("failed to update RC input config"); - mavlink_log_info(_mavlink_fd, "[IO] RC config upload fail"); - return ret; + if (_rc_handling_disabled) { + ret = io_disable_rc_handling(); + } else { + /* publish RC config to IO */ + ret = io_set_rc_config(); + if (ret != OK) { + log("failed to update RC input config"); + mavlink_log_info(_mavlink_fd, "[IO] RC config upload fail"); + return ret; + } } } @@ -596,7 +686,7 @@ PX4IO::init() } /* start the IO interface task */ - _task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 4096, (main_t)&PX4IO::task_main_trampoline, nullptr); + _task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 2048, (main_t)&PX4IO::task_main_trampoline, nullptr); if (_task < 0) { debug("task start failed: %d", errno); @@ -631,22 +721,30 @@ PX4IO::task_main() ORB_ID(actuator_controls_1)); orb_set_interval(_t_actuators, 20); /* default to 50Hz */ - _t_armed = orb_subscribe(ORB_ID(actuator_armed)); - orb_set_interval(_t_armed, 200); /* 5Hz update rate */ + _t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed)); + orb_set_interval(_t_actuator_armed, 200); /* 5Hz update rate */ - _t_vstatus = orb_subscribe(ORB_ID(vehicle_status)); - orb_set_interval(_t_vstatus, 200); /* 5Hz update rate max. */ + _t_vehicle_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode)); + orb_set_interval(_t_vehicle_control_mode, 200); /* 5Hz update rate max. */ _t_param = orb_subscribe(ORB_ID(parameter_update)); orb_set_interval(_t_param, 500); /* 2Hz update rate max. */ + if ((_t_actuators < 0) || + (_t_actuator_armed < 0) || + (_t_vehicle_control_mode < 0) || + (_t_param < 0)) { + log("subscription(s) failed"); + goto out; + } + /* poll descriptor */ pollfd fds[4]; fds[0].fd = _t_actuators; fds[0].events = POLLIN; - fds[1].fd = _t_armed; + fds[1].fd = _t_actuator_armed; fds[1].events = POLLIN; - fds[2].fd = _t_vstatus; + fds[2].fd = _t_vehicle_control_mode; fds[2].events = POLLIN; fds[3].fd = _t_param; fds[3].events = POLLIN; @@ -728,7 +826,7 @@ PX4IO::task_main() // See if bind parameter has been set, and reset it to 0 param_get(dsm_bind_param = param_find("RC_DSM_BIND"), &dsm_bind_val); if (dsm_bind_val) { - if (!(_status & PX4IO_P_STATUS_FLAGS_ARMED)) { + if (!(_status & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { if ((dsm_bind_val == 1) || (dsm_bind_val == 2)) { mavlink_log_info(mavlink_fd, "[IO] binding dsm%c rx", dsm_bind_val == 1 ? '2' : 'x'); ioctl(nullptr, DSM_BIND_START, dsm_bind_val == 1 ? 3 : 7); @@ -755,6 +853,7 @@ PX4IO::task_main() unlock(); +out: debug("exiting"); /* clean up the alternate device node */ @@ -794,14 +893,53 @@ PX4IO::set_failsafe_values(const uint16_t *vals, unsigned len) return io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, vals, len); } +int +PX4IO::set_min_values(const uint16_t *vals, unsigned len) +{ + + if (len > _max_actuators) + /* fail with error */ + return E2BIG; + + /* copy values to registers in IO */ + return io_reg_set(PX4IO_PAGE_CONTROL_MIN_PWM, 0, vals, len); +} + +int +PX4IO::set_max_values(const uint16_t *vals, unsigned len) +{ + + if (len > _max_actuators) + /* fail with error */ + return E2BIG; + + /* copy values to registers in IO */ + return io_reg_set(PX4IO_PAGE_CONTROL_MAX_PWM, 0, vals, len); +} + +int +PX4IO::set_idle_values(const uint16_t *vals, unsigned len) +{ + + if (len > _max_actuators) + /* fail with error */ + return E2BIG; + + printf("Sending IDLE values\n"); + + /* copy values to registers in IO */ + return io_reg_set(PX4IO_PAGE_IDLE_PWM, 0, vals, len); +} + + int PX4IO::io_set_arming_state() { actuator_armed_s armed; ///< system armed state - vehicle_status_s vstatus; ///< overall system state + vehicle_control_mode_s control_mode; ///< vehicle_control_mode - orb_copy(ORB_ID(actuator_armed), _t_armed, &armed); - orb_copy(ORB_ID(vehicle_status), _t_vstatus, &vstatus); + orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed); + orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode); uint16_t set = 0; uint16_t clear = 0; @@ -811,14 +949,13 @@ PX4IO::io_set_arming_state() } else { clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED; } - if (armed.ready_to_arm) { set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; } else { clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; } - if (vstatus.flag_external_manual_override_ok) { + if (control_mode.flag_external_manual_override_ok) { set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; } else { clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; @@ -827,6 +964,21 @@ PX4IO::io_set_arming_state() return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set); } +int +PX4IO::disable_rc_handling() +{ + return io_disable_rc_handling(); +} + +int +PX4IO::io_disable_rc_handling() +{ + uint16_t set = PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED; + uint16_t clear = 0; + + return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set); +} + int PX4IO::io_set_rc_config() { @@ -945,14 +1097,14 @@ PX4IO::io_handle_status(uint16_t status) */ /* check for IO reset - force it back to armed if necessary */ - if (_status & PX4IO_P_STATUS_FLAGS_ARMED && !(status & PX4IO_P_STATUS_FLAGS_ARMED) + if (_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF && !(status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) && !(status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) { /* set the arming flag */ - ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARMED | PX4IO_P_STATUS_FLAGS_ARM_SYNC); + ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_SAFETY_OFF | PX4IO_P_STATUS_FLAGS_ARM_SYNC); /* set new status */ _status = status; - _status &= PX4IO_P_STATUS_FLAGS_ARMED; + _status &= PX4IO_P_STATUS_FLAGS_SAFETY_OFF; } else if (!(_status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) { /* set the sync flag */ @@ -967,6 +1119,27 @@ PX4IO::io_handle_status(uint16_t status) _status = status; } + /** + * Get and handle the safety status + */ + struct safety_s safety; + safety.timestamp = hrt_absolute_time(); + + if (status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) { + safety.safety_off = true; + safety.safety_switch_available = true; + } else { + safety.safety_off = false; + safety.safety_switch_available = true; + } + + /* lazily publish the safety status */ + if (_to_safety > 0) { + orb_publish(ORB_ID(safety), _to_safety, &safety); + } else { + _to_safety = orb_advertise(ORB_ID(safety), &safety); + } + return ret; } @@ -996,7 +1169,7 @@ PX4IO::io_get_status() io_handle_status(regs[0]); io_handle_alarms(regs[1]); - + /* only publish if battery has a valid minimum voltage */ if (regs[2] > 3300) { battery_status_s battery_status; @@ -1030,6 +1203,7 @@ PX4IO::io_get_status() _to_battery = orb_advertise(ORB_ID(battery_status), &battery_status); } } + return ret; } @@ -1037,38 +1211,38 @@ int PX4IO::io_get_raw_rc_input(rc_input_values &input_rc) { uint32_t channel_count; - int ret = OK; + int ret; /* we don't have the status bits, so input_source has to be set elsewhere */ input_rc.input_source = RC_INPUT_SOURCE_UNKNOWN; - /* - * XXX Because the channel count and channel data are fetched - * separately, there is a risk of a race between the two - * that could leave us with channel data and a count that - * are out of sync. - * Fixing this would require a guarantee of atomicity from - * IO, and a single fetch for both count and channels. - * - * XXX Since IO has the input calibration info, we ought to be - * able to get the pre-fixed-up controls directly. - * - * XXX can we do this more cheaply? If we knew we had DMA, it would - * almost certainly be better to just get all the inputs... - */ - channel_count = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT); - if (channel_count == _io_reg_get_error) - return -EIO; - if (channel_count > RC_INPUT_MAX_CHANNELS) - channel_count = RC_INPUT_MAX_CHANNELS; - input_rc.channel_count = channel_count; + static const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT); + uint16_t regs[RC_INPUT_MAX_CHANNELS + prolog]; - if (channel_count > 0) { - ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE, input_rc.values, channel_count); - if (ret == OK) - input_rc.timestamp = hrt_absolute_time(); + /* + * Read the channel count and the first 9 channels. + * + * This should be the common case (9 channel R/C control being a reasonable upper bound). + */ + input_rc.timestamp = hrt_absolute_time(); + ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT, ®s[0], prolog + 9); + if (ret != OK) + return ret; + + /* + * Get the channel count any any extra channels. This is no more expensive than reading the + * channel count once. + */ + channel_count = regs[0]; + if (channel_count > 9) { + ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, ®s[prolog + 9], channel_count - 9); + if (ret != OK) + return ret; } + input_rc.channel_count = channel_count; + memcpy(input_rc.values, ®s[prolog], channel_count * 2); + return ret; } @@ -1198,25 +1372,12 @@ PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned return -EINVAL; } - /* set up the transfer */ - uint8_t addr[2] = { - page, - offset - }; - i2c_msg_s msgv[2]; - - msgv[0].flags = 0; - msgv[0].buffer = addr; - msgv[0].length = 2; - msgv[1].flags = I2C_M_NORESTART; - msgv[1].buffer = (uint8_t *)values; - msgv[1].length = num_values * sizeof(*values); - - /* perform the transfer */ - int ret = transfer(msgv, 2); - if (ret != OK) - debug("io_reg_set: error %d", ret); - return ret; + int ret = _interface->write((page << 8) | offset, (void *)values, num_values); + if (ret != (int)num_values) { + debug("io_reg_set(%u,%u,%u): error %d", page, offset, num_values, ret); + return -1; + } + return OK; } int @@ -1228,25 +1389,18 @@ PX4IO::io_reg_set(uint8_t page, uint8_t offset, uint16_t value) int PX4IO::io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values) { - /* set up the transfer */ - uint8_t addr[2] = { - page, - offset - }; - i2c_msg_s msgv[2]; + /* range check the transfer */ + if (num_values > ((_max_transfer) / sizeof(*values))) { + debug("io_reg_get: too many registers (%u, max %u)", num_values, _max_transfer / 2); + return -EINVAL; + } - msgv[0].flags = 0; - msgv[0].buffer = addr; - msgv[0].length = 2; - msgv[1].flags = I2C_M_READ; - msgv[1].buffer = (uint8_t *)values; - msgv[1].length = num_values * sizeof(*values); - - /* perform the transfer */ - int ret = transfer(msgv, 2); - if (ret != OK) - debug("io_reg_get: data error %d", ret); - return ret; + int ret = _interface->read((page << 8) | offset, reinterpret_cast(values), num_values); + if (ret != (int)num_values) { + debug("io_reg_get(%u,%u,%u): data error %d", page, offset, num_values, ret); + return -1; + } + return OK; } uint32_t @@ -1254,7 +1408,7 @@ PX4IO::io_reg_get(uint8_t page, uint8_t offset) { uint16_t value; - if (io_reg_get(page, offset, &value, 1)) + if (io_reg_get(page, offset, &value, 1) != OK) return _io_reg_get_error; return value; @@ -1267,7 +1421,7 @@ PX4IO::io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t uint16_t value; ret = io_reg_get(page, offset, &value, 1); - if (ret) + if (ret != OK) return ret; value &= ~clearbits; value |= setbits; @@ -1339,9 +1493,9 @@ void PX4IO::print_status() { /* basic configuration */ - printf("protocol %u software %u bootloader %u buffer %uB\n", + printf("protocol %u hardware %u bootloader %u buffer %uB\n", io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION), - io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_SOFTWARE_VERSION), + io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_HARDWARE_VERSION), io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_BOOTLOADER_VERSION), io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER)); printf("%u controls %u actuators %u R/C inputs %u analog inputs %u relays\n", @@ -1357,7 +1511,8 @@ PX4IO::print_status() uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS); printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s%s\n", flags, - ((flags & PX4IO_P_STATUS_FLAGS_ARMED) ? " ARMED" : ""), + ((flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED) ? " OUTPUTS_ARMED" : ""), + ((flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ? " SAFETY_OFF" : " SAFETY_SAFE"), ((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""), ((flags & PX4IO_P_STATUS_FLAGS_RC_OK) ? " RC_OK" : " RC_FAIL"), ((flags & PX4IO_P_STATUS_FLAGS_RC_PPM) ? " PPM" : ""), @@ -1365,13 +1520,13 @@ PX4IO::print_status() (((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (flags & PX4IO_P_STATUS_FLAGS_RC_DSM11)) ? " DSM11" : ""), ((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? " SBUS" : ""), ((flags & PX4IO_P_STATUS_FLAGS_FMU_OK) ? " FMU_OK" : " FMU_FAIL"), - ((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PPM" : ""), + ((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PWM_PASSTHROUGH" : ""), ((flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ? " MIXER_OK" : " MIXER_FAIL"), ((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"), ((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL"), ((flags & PX4IO_P_STATUS_FLAGS_FAILSAFE) ? " FAILSAFE" : "")); uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS); - printf("alarms 0x%04x%s%s%s%s%s%s%s\n", + printf("alarms 0x%04x%s%s%s%s%s%s%s%s\n", alarms, ((alarms & PX4IO_P_STATUS_ALARMS_VBATT_LOW) ? " VBATT_LOW" : ""), ((alarms & PX4IO_P_STATUS_ALARMS_TEMPERATURE) ? " TEMPERATURE" : ""), @@ -1379,18 +1534,26 @@ PX4IO::print_status() ((alarms & PX4IO_P_STATUS_ALARMS_ACC_CURRENT) ? " ACC_CURRENT" : ""), ((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST) ? " FMU_LOST" : ""), ((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : ""), - ((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) ? " PWM_ERROR" : "")); + ((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) ? " PWM_ERROR" : ""), + ((alarms & PX4IO_P_STATUS_ALARMS_VSERVO_FAULT) ? " VSERVO_FAULT" : "")); /* now clear alarms */ io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, 0xFFFF); - printf("vbatt %u ibatt %u vbatt scale %u\n", - io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT), - io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT), - io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE)); - printf("amp_per_volt %.3f amp_offset %.3f mAh discharged %.3f\n", - (double)_battery_amp_per_volt, - (double)_battery_amp_bias, - (double)_battery_mamphour_total); + if (_hardware == 1) { + printf("vbatt mV %u ibatt mV %u vbatt scale %u\n", + io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT), + io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT), + io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE)); + printf("amp_per_volt %.3f amp_offset %.3f mAh discharged %.3f\n", + (double)_battery_amp_per_volt, + (double)_battery_amp_bias, + (double)_battery_mamphour_total); + } else if (_hardware == 2) { + printf("vservo %u mV vservo scale %u\n", + io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VSERVO), + io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VSERVO_SCALE)); + printf("vrssi %u\n", io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VRSSI)); + } printf("actuators"); for (unsigned i = 0; i < _max_actuators; i++) printf(" %u", io_reg_get(PX4IO_PAGE_ACTUATORS, i)); @@ -1420,12 +1583,14 @@ PX4IO::print_status() /* setup and state */ printf("features 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES)); uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING); - printf("arming 0x%04x%s%s%s%s\n", + printf("arming 0x%04x%s%s%s%s%s%s\n", arming, - ((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : ""), - ((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : ""), + ((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : " FMU_DISARMED"), + ((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : " IO_ARM_DENIED"), ((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""), - ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : "")); + ((arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ? " FAILSAFE_CUSTOM" : ""), + ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""), + ((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : "")); printf("rates 0x%04x default %u alt %u relays 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES), io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE), @@ -1453,6 +1618,9 @@ PX4IO::print_status() printf("failsafe"); for (unsigned i = 0; i < _max_actuators; i++) printf(" %u", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i)); + printf("\nidle values"); + for (unsigned i = 0; i < _max_actuators; i++) + printf(" %u", io_reg_get(PX4IO_PAGE_IDLE_PWM, i)); printf("\n"); } @@ -1561,9 +1729,9 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0); - uint32_t value = io_reg_get(PX4IO_PAGE_PWM_INFO, PX4IO_RATE_MAP_BASE + channel); - - *(uint32_t *)arg = value; + *(uint32_t *)arg = io_reg_get(PX4IO_PAGE_PWM_INFO, PX4IO_RATE_MAP_BASE + channel); + if (*(uint32_t *)arg == _io_reg_get_error) + ret = -EIO; break; } @@ -1571,7 +1739,7 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) uint32_t bits = (1 << _max_relays) - 1; /* don't touch relay1 if it's controlling RX vcc */ if (_dsm_vcc_ctl) - bits &= ~PX4IO_RELAY1; + bits &= ~PX4IO_P_SETUP_RELAYS_POWER1; ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, bits, 0); break; } @@ -1579,7 +1747,7 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) case GPIO_SET: arg &= ((1 << _max_relays) - 1); /* don't touch relay1 if it's controlling RX vcc */ - if (_dsm_vcc_ctl & (arg & PX4IO_RELAY1)) + if (_dsm_vcc_ctl & (arg & PX4IO_P_SETUP_RELAYS_POWER1)) ret = -EINVAL; else ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0, arg); @@ -1588,7 +1756,7 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) case GPIO_CLEAR: arg &= ((1 << _max_relays) - 1); /* don't touch relay1 if it's controlling RX vcc */ - if (_dsm_vcc_ctl & (arg & PX4IO_RELAY1)) + if (_dsm_vcc_ctl & (arg & PX4IO_P_SETUP_RELAYS_POWER1)) ret = -EINVAL; else ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, arg, 0); @@ -1686,8 +1854,8 @@ int PX4IO::set_update_rate(int rate) { int interval_ms = 1000 / rate; - if (interval_ms < 5) { - interval_ms = 5; + if (interval_ms < 3) { + interval_ms = 3; warnx("update rate too high, limiting interval to %d ms (%d Hz).", interval_ms, 1000 / interval_ms); } @@ -1712,23 +1880,69 @@ extern "C" __EXPORT int px4io_main(int argc, char *argv[]); namespace { +device::Device * +get_interface() +{ + device::Device *interface = nullptr; + +#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1 + /* try for a serial interface */ + if (PX4IO_serial_interface != nullptr) + interface = PX4IO_serial_interface(); + if (interface != nullptr) + goto got; +#endif + + /* try for an I2C interface if we haven't got a serial one */ + if (PX4IO_i2c_interface != nullptr) + interface = PX4IO_i2c_interface(); + if (interface != nullptr) + goto got; + + errx(1, "cannot alloc interface"); + +got: + if (interface->init() != OK) { + delete interface; + errx(1, "interface init failed"); + } + + return interface; +} + void start(int argc, char *argv[]) { if (g_dev != nullptr) errx(1, "already loaded"); + /* allocate the interface */ + device::Device *interface = get_interface(); + /* create the driver - it will set g_dev */ - (void)new PX4IO(); + (void)new PX4IO(interface); if (g_dev == nullptr) errx(1, "driver alloc failed"); if (OK != g_dev->init()) { delete g_dev; + g_dev = nullptr; errx(1, "driver init failed"); } + /* disable RC handling on request */ + if (argc > 1) { + if (!strcmp(argv[1], "norc")) { + + if(g_dev->disable_rc_handling()) + warnx("Failed disabling RC handling"); + + } else { + warnx("unknown argument: %s", argv[1]); + } + } + int dsm_vcc_ctl; if (param_get(param_find("RC_RL1_DSM_VCC"), &dsm_vcc_ctl) == OK) { @@ -1740,6 +1954,34 @@ start(int argc, char *argv[]) exit(0); } +void +detect(int argc, char *argv[]) +{ + if (g_dev != nullptr) + errx(0, "already loaded"); + + /* allocate the interface */ + device::Device *interface = get_interface(); + + /* create the driver - it will set g_dev */ + (void)new PX4IO(interface); + + if (g_dev == nullptr) + errx(1, "driver alloc failed"); + + int ret = g_dev->detect(); + + delete g_dev; + g_dev = nullptr; + + if (ret) { + /* nonzero, error */ + exit(1); + } else { + exit(0); + } +} + void bind(int argc, char *argv[]) { @@ -1786,6 +2028,11 @@ test(void) if (ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count)) err(1, "failed to get servo count"); + /* tell IO that its ok to disable its safety with the switch */ + ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0); + if (ret != OK) + err(1, "PWM_SERVO_SET_ARM_OK"); + if (ioctl(fd, PWM_SERVO_ARM, 0)) err(1, "failed to arm servos"); @@ -1834,7 +2081,7 @@ test(void) /* Check if user wants to quit */ char c; if (read(console, &c, 1) == 1) { - if (c == 0x03 || c == 0x63) { + if (c == 0x03 || c == 0x63 || c == 'q') { warnx("User abort\n"); close(console); exit(0); @@ -1871,8 +2118,19 @@ monitor(void) } } +void +if_test(unsigned mode) +{ + device::Device *interface = get_interface(); + + int result = interface->ioctl(1, mode); /* XXX magic numbers */ + delete interface; + + errx(0, "test returned %d", result); } +} /* namespace */ + int px4io_main(int argc, char *argv[]) { @@ -1883,129 +2141,8 @@ px4io_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) start(argc - 1, argv + 1); - if (!strcmp(argv[1], "limit")) { - - if (g_dev != nullptr) { - - if ((argc > 2)) { - g_dev->set_update_rate(atoi(argv[2])); - } else { - errx(1, "missing argument (50 - 200 Hz)"); - return 1; - } - } - exit(0); - } - - if (!strcmp(argv[1], "current")) { - if (g_dev != nullptr) { - if ((argc > 3)) { - g_dev->set_battery_current_scaling(atof(argv[2]), atof(argv[3])); - } else { - errx(1, "missing argument (apm_per_volt, amp_offset)"); - return 1; - } - } - exit(0); - } - - if (!strcmp(argv[1], "failsafe")) { - - if (argc < 3) { - errx(1, "failsafe command needs at least one channel value (ppm)"); - } - - if (g_dev != nullptr) { - - /* set values for first 8 channels, fill unassigned channels with 1500. */ - uint16_t failsafe[8]; - - for (int i = 0; i < sizeof(failsafe) / sizeof(failsafe[0]); i++) - { - /* set channel to commanline argument or to 900 for non-provided channels */ - if (argc > i + 2) { - failsafe[i] = atoi(argv[i+2]); - if (failsafe[i] < 800 || failsafe[i] > 2200) { - errx(1, "value out of range of 800 < value < 2200. Aborting."); - } - } else { - /* a zero value will result in stopping to output any pulse */ - failsafe[i] = 0; - } - } - - int ret = g_dev->set_failsafe_values(failsafe, sizeof(failsafe) / sizeof(failsafe[0])); - - if (ret != OK) - errx(ret, "failed setting failsafe values"); - } else { - errx(1, "not loaded"); - } - exit(0); - } - - if (!strcmp(argv[1], "recovery")) { - - if (g_dev != nullptr) { - /* - * Enable in-air restart support. - * We can cheat and call the driver directly, as it - * doesn't reference filp in ioctl() - */ - g_dev->ioctl(nullptr, PX4IO_INAIR_RESTART_ENABLE, 1); - } else { - errx(1, "not loaded"); - } - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - - if (g_dev != nullptr) { - /* stop the driver */ - delete g_dev; - } else { - errx(1, "not loaded"); - } - exit(0); - } - - - if (!strcmp(argv[1], "status")) { - - if (g_dev != nullptr) { - printf("[px4io] loaded\n"); - g_dev->print_status(); - } else { - printf("[px4io] not loaded\n"); - } - - exit(0); - } - - if (!strcmp(argv[1], "debug")) { - if (argc <= 2) { - printf("usage: px4io debug LEVEL\n"); - exit(1); - } - if (g_dev == nullptr) { - printf("px4io is not started\n"); - exit(1); - } - uint8_t level = atoi(argv[2]); - /* we can cheat and call the driver directly, as it - * doesn't reference filp in ioctl() - */ - int ret = g_dev->ioctl(nullptr, PX4IO_SET_DEBUG, level); - if (ret != 0) { - printf("SET_DEBUG failed - %d\n", ret); - exit(1); - } - printf("SET_DEBUG %u OK\n", (unsigned)level); - exit(0); - } - - /* note, stop not currently implemented */ + if (!strcmp(argv[1], "detect")) + detect(argc - 1, argv + 1); if (!strcmp(argv[1], "update")) { @@ -2016,7 +2153,7 @@ px4io_main(int argc, char *argv[]) } PX4IO_Uploader *up; - const char *fn[3]; + const char *fn[5]; /* work out what we're uploading... */ if (argc > 2) { @@ -2024,9 +2161,11 @@ px4io_main(int argc, char *argv[]) fn[1] = nullptr; } else { - fn[0] = "/fs/microsd/px4io.bin"; - fn[1] = "/etc/px4io.bin"; - fn[2] = nullptr; + fn[0] = "/etc/extras/px4io-v2_default.bin"; + fn[1] = "/etc/extras/px4io-v1_default.bin"; + fn[2] = "/fs/microsd/px4io.bin"; + fn[3] = "/fs/microsd/px4io2.bin"; + fn[4] = nullptr; } up = new PX4IO_Uploader; @@ -2057,6 +2196,223 @@ px4io_main(int argc, char *argv[]) return ret; } + if (!strcmp(argv[1], "iftest")) { + if (g_dev != nullptr) + errx(1, "can't iftest when started"); + + if_test((argc > 2) ? strtol(argv[2], NULL, 0) : 0); + } + + /* commands below here require a started driver */ + + if (g_dev == nullptr) + errx(1, "not started"); + + if (!strcmp(argv[1], "limit")) { + + if ((argc > 2)) { + g_dev->set_update_rate(atoi(argv[2])); + } else { + errx(1, "missing argument (50 - 400 Hz)"); + return 1; + } + exit(0); + } + + if (!strcmp(argv[1], "current")) { + if ((argc > 3)) { + g_dev->set_battery_current_scaling(atof(argv[2]), atof(argv[3])); + } else { + errx(1, "missing argument (apm_per_volt, amp_offset)"); + return 1; + } + exit(0); + } + + if (!strcmp(argv[1], "failsafe")) { + + if (argc < 3) { + errx(1, "failsafe command needs at least one channel value (ppm)"); + } + + /* set values for first 8 channels, fill unassigned channels with 1500. */ + uint16_t failsafe[8]; + + for (unsigned i = 0; i < sizeof(failsafe) / sizeof(failsafe[0]); i++) { + + /* set channel to commandline argument or to 900 for non-provided channels */ + if (argc > i + 2) { + failsafe[i] = atoi(argv[i+2]); + if (failsafe[i] < 800 || failsafe[i] > 2200) { + errx(1, "value out of range of 800 < value < 2200. Aborting."); + } + } else { + /* a zero value will result in stopping to output any pulse */ + failsafe[i] = 0; + } + } + + int ret = g_dev->set_failsafe_values(failsafe, sizeof(failsafe) / sizeof(failsafe[0])); + + if (ret != OK) + errx(ret, "failed setting failsafe values"); + exit(0); + } + + if (!strcmp(argv[1], "min")) { + + if (argc < 3) { + errx(1, "min command needs at least one channel value (PWM)"); + } + + if (g_dev != nullptr) { + + /* set values for first 8 channels, fill unassigned channels with 900. */ + uint16_t min[8]; + + for (unsigned i = 0; i < sizeof(min) / sizeof(min[0]); i++) + { + /* set channel to commanline argument or to 900 for non-provided channels */ + if (argc > i + 2) { + min[i] = atoi(argv[i+2]); + if (min[i] < 900 || min[i] > 1200) { + errx(1, "value out of range of 900 < value < 1200. Aborting."); + } + } else { + /* a zero value will the default */ + min[i] = 0; + } + } + + int ret = g_dev->set_min_values(min, sizeof(min) / sizeof(min[0])); + + if (ret != OK) + errx(ret, "failed setting min values"); + } else { + errx(1, "not loaded"); + } + exit(0); + } + + if (!strcmp(argv[1], "max")) { + + if (argc < 3) { + errx(1, "max command needs at least one channel value (PWM)"); + } + + if (g_dev != nullptr) { + + /* set values for first 8 channels, fill unassigned channels with 2100. */ + uint16_t max[8]; + + for (unsigned i = 0; i < sizeof(max) / sizeof(max[0]); i++) + { + /* set channel to commanline argument or to 2100 for non-provided channels */ + if (argc > i + 2) { + max[i] = atoi(argv[i+2]); + if (max[i] < 1800 || max[i] > 2100) { + errx(1, "value out of range of 1800 < value < 2100. Aborting."); + } + } else { + /* a zero value will the default */ + max[i] = 0; + } + } + + int ret = g_dev->set_max_values(max, sizeof(max) / sizeof(max[0])); + + if (ret != OK) + errx(ret, "failed setting max values"); + } else { + errx(1, "not loaded"); + } + exit(0); + } + + if (!strcmp(argv[1], "idle")) { + + if (argc < 3) { + errx(1, "max command needs at least one channel value (PWM)"); + } + + if (g_dev != nullptr) { + + /* set values for first 8 channels, fill unassigned channels with 0. */ + uint16_t idle[8]; + + for (unsigned i = 0; i < sizeof(idle) / sizeof(idle[0]); i++) + { + /* set channel to commanline argument or to 0 for non-provided channels */ + if (argc > i + 2) { + idle[i] = atoi(argv[i+2]); + if (idle[i] < 900 || idle[i] > 2100) { + errx(1, "value out of range of 900 < value < 2100. Aborting."); + } + } else { + /* a zero value will the default */ + idle[i] = 0; + } + } + + int ret = g_dev->set_idle_values(idle, sizeof(idle) / sizeof(idle[0])); + + if (ret != OK) + errx(ret, "failed setting idle values"); + } else { + errx(1, "not loaded"); + } + exit(0); + } + + if (!strcmp(argv[1], "recovery")) { + + /* + * Enable in-air restart support. + * We can cheat and call the driver directly, as it + * doesn't reference filp in ioctl() + */ + g_dev->ioctl(NULL, PX4IO_INAIR_RESTART_ENABLE, 1); + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + + /* stop the driver */ + delete g_dev; + exit(0); + } + + + if (!strcmp(argv[1], "status")) { + + printf("[px4io] loaded\n"); + g_dev->print_status(); + + exit(0); + } + + if (!strcmp(argv[1], "debug")) { + if (argc <= 2) { + printf("usage: px4io debug LEVEL\n"); + exit(1); + } + if (g_dev == nullptr) { + printf("px4io is not started\n"); + exit(1); + } + uint8_t level = atoi(argv[2]); + /* we can cheat and call the driver directly, as it + * doesn't reference filp in ioctl() + */ + int ret = g_dev->ioctl(nullptr, PX4IO_SET_DEBUG, level); + if (ret != 0) { + printf("SET_DEBUG failed - %d\n", ret); + exit(1); + } + printf("SET_DEBUG %u OK\n", (unsigned)level); + exit(0); + } + if (!strcmp(argv[1], "rx_dsm") || !strcmp(argv[1], "rx_dsm_10bit") || !strcmp(argv[1], "rx_dsm_11bit") || @@ -2074,5 +2430,5 @@ px4io_main(int argc, char *argv[]) bind(argc, argv); out: - errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit', 'current', 'failsafe', 'bind', or 'update'"); + errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug',\n 'recovery', 'limit', 'current', 'failsafe', 'min, 'max',\n 'idle', 'bind' or 'update'"); } diff --git a/src/drivers/px4io/px4io_i2c.cpp b/src/drivers/px4io/px4io_i2c.cpp new file mode 100644 index 0000000000..19776c40a2 --- /dev/null +++ b/src/drivers/px4io/px4io_i2c.cpp @@ -0,0 +1,169 @@ +/**************************************************************************** + * + * 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 px4io_i2c.cpp + * + * I2C interface for PX4IO + */ + +/* XXX trim includes */ +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include + +#ifdef PX4_I2C_OBDEV_PX4IO + +device::Device *PX4IO_i2c_interface(); + +class PX4IO_I2C : public device::I2C +{ +public: + PX4IO_I2C(int bus, uint8_t address); + virtual ~PX4IO_I2C(); + + virtual int init(); + virtual int read(unsigned offset, void *data, unsigned count = 1); + virtual int write(unsigned address, void *data, unsigned count = 1); + virtual int ioctl(unsigned operation, unsigned &arg); + +private: + +}; + +device::Device +*PX4IO_i2c_interface() +{ + return new PX4IO_I2C(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO); +} + +PX4IO_I2C::PX4IO_I2C(int bus, uint8_t address) : + I2C("PX4IO_i2c", nullptr, bus, address, 320000) +{ + _retries = 3; +} + +PX4IO_I2C::~PX4IO_I2C() +{ +} + +int +PX4IO_I2C::init() +{ + int ret; + + ret = I2C::init(); + if (ret != OK) + goto out; + + /* XXX really should do something more here */ + +out: + return 0; +} + +int +PX4IO_I2C::ioctl(unsigned operation, unsigned &arg) +{ + return 0; +} + +int +PX4IO_I2C::write(unsigned address, void *data, unsigned count) +{ + uint8_t page = address >> 8; + uint8_t offset = address & 0xff; + const uint16_t *values = reinterpret_cast(data); + + /* set up the transfer */ + uint8_t addr[2] = { + page, + offset + }; + + i2c_msg_s msgv[2]; + + msgv[0].flags = 0; + msgv[0].buffer = addr; + msgv[0].length = 2; + + msgv[1].flags = I2C_M_NORESTART; + msgv[1].buffer = (uint8_t *)values; + msgv[1].length = 2 * count; + + int ret = transfer(msgv, 2); + if (ret == OK) + ret = count; + return ret; +} + +int +PX4IO_I2C::read(unsigned address, void *data, unsigned count) +{ + uint8_t page = address >> 8; + uint8_t offset = address & 0xff; + const uint16_t *values = reinterpret_cast(data); + + /* set up the transfer */ + uint8_t addr[2] = { + page, + offset + }; + i2c_msg_s msgv[2]; + + msgv[0].flags = 0; + msgv[0].buffer = addr; + msgv[0].length = 2; + + msgv[1].flags = I2C_M_READ; + msgv[1].buffer = (uint8_t *)values; + msgv[1].length = 2 * count; + + int ret = transfer(msgv, 2); + if (ret == OK) + ret = count; + return ret; +} + +#endif /* PX4_I2C_OBDEV_PX4IO */ diff --git a/src/drivers/px4io/px4io_serial.cpp b/src/drivers/px4io/px4io_serial.cpp new file mode 100644 index 0000000000..236cb918dc --- /dev/null +++ b/src/drivers/px4io/px4io_serial.cpp @@ -0,0 +1,673 @@ +/**************************************************************************** + * + * 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 px4io_serial.cpp + * + * Serial interface for PX4IO + */ + +/* XXX trim includes */ +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +/* XXX might be able to prune these */ +#include +#include +#include +#include + +#include + +#include +#include +#include + +#include + +#include + +#ifdef PX4IO_SERIAL_BASE + +device::Device *PX4IO_serial_interface(); + +/* serial register accessors */ +#define REG(_x) (*(volatile uint32_t *)(PX4IO_SERIAL_BASE + _x)) +#define rSR REG(STM32_USART_SR_OFFSET) +#define rDR REG(STM32_USART_DR_OFFSET) +#define rBRR REG(STM32_USART_BRR_OFFSET) +#define rCR1 REG(STM32_USART_CR1_OFFSET) +#define rCR2 REG(STM32_USART_CR2_OFFSET) +#define rCR3 REG(STM32_USART_CR3_OFFSET) +#define rGTPR REG(STM32_USART_GTPR_OFFSET) + +class PX4IO_serial : public device::Device +{ +public: + PX4IO_serial(); + virtual ~PX4IO_serial(); + + virtual int init(); + virtual int read(unsigned offset, void *data, unsigned count = 1); + virtual int write(unsigned address, void *data, unsigned count = 1); + virtual int ioctl(unsigned operation, unsigned &arg); + +private: + /* + * XXX tune this value + * + * At 1.5Mbps each register takes 13.3µs, and we always transfer a full packet. + * Packet overhead is 26µs for the four-byte header. + * + * 32 registers = 451µs + * + * Maybe we can just send smaller packets (e.g. 8 regs) and loop for larger (less common) + * transfers? Could cause issues with any regs expecting to be written atomically... + */ + static IOPacket _dma_buffer; // XXX static to ensure DMA-able memory + + DMA_HANDLE _tx_dma; + DMA_HANDLE _rx_dma; + + /** saved DMA status */ + static const unsigned _dma_status_inactive = 0x80000000; // low bits overlap DMA_STATUS_* values + static const unsigned _dma_status_waiting = 0x00000000; + volatile unsigned _rx_dma_status; + + /** bus-ownership lock */ + sem_t _bus_semaphore; + + /** client-waiting lock/signal */ + sem_t _completion_semaphore; + + /** + * Start the transaction with IO and wait for it to complete. + */ + int _wait_complete(); + + /** + * DMA completion handler. + */ + static void _dma_callback(DMA_HANDLE handle, uint8_t status, void *arg); + void _do_rx_dma_callback(unsigned status); + + /** + * Serial interrupt handler. + */ + static int _interrupt(int vector, void *context); + void _do_interrupt(); + + /** + * Cancel any DMA in progress with an error. + */ + void _abort_dma(); + + /** + * Performance counters. + */ + perf_counter_t _pc_txns; + perf_counter_t _pc_dmasetup; + perf_counter_t _pc_retries; + perf_counter_t _pc_timeouts; + perf_counter_t _pc_crcerrs; + perf_counter_t _pc_dmaerrs; + perf_counter_t _pc_protoerrs; + perf_counter_t _pc_uerrs; + perf_counter_t _pc_idle; + perf_counter_t _pc_badidle; + +}; + +IOPacket PX4IO_serial::_dma_buffer; +static PX4IO_serial *g_interface; + +device::Device +*PX4IO_serial_interface() +{ + return new PX4IO_serial(); +} + +PX4IO_serial::PX4IO_serial() : + Device("PX4IO_serial"), + _tx_dma(nullptr), + _rx_dma(nullptr), + _rx_dma_status(_dma_status_inactive), + _pc_txns(perf_alloc(PC_ELAPSED, "io_txns ")), + _pc_dmasetup(perf_alloc(PC_ELAPSED, "io_dmasetup ")), + _pc_retries(perf_alloc(PC_COUNT, "io_retries ")), + _pc_timeouts(perf_alloc(PC_COUNT, "io_timeouts ")), + _pc_crcerrs(perf_alloc(PC_COUNT, "io_crcerrs ")), + _pc_dmaerrs(perf_alloc(PC_COUNT, "io_dmaerrs ")), + _pc_protoerrs(perf_alloc(PC_COUNT, "io_protoerrs")), + _pc_uerrs(perf_alloc(PC_COUNT, "io_uarterrs ")), + _pc_idle(perf_alloc(PC_COUNT, "io_idle ")), + _pc_badidle(perf_alloc(PC_COUNT, "io_badidle ")) +{ + g_interface = this; +} + +PX4IO_serial::~PX4IO_serial() +{ + if (_tx_dma != nullptr) { + stm32_dmastop(_tx_dma); + stm32_dmafree(_tx_dma); + } + if (_rx_dma != nullptr) { + stm32_dmastop(_rx_dma); + stm32_dmafree(_rx_dma); + } + + /* reset the UART */ + rCR1 = 0; + rCR2 = 0; + rCR3 = 0; + + /* detach our interrupt handler */ + up_disable_irq(PX4IO_SERIAL_VECTOR); + irq_detach(PX4IO_SERIAL_VECTOR); + + /* restore the GPIOs */ + stm32_unconfiggpio(PX4IO_SERIAL_TX_GPIO); + stm32_unconfiggpio(PX4IO_SERIAL_RX_GPIO); + + /* and kill our semaphores */ + sem_destroy(&_completion_semaphore); + sem_destroy(&_bus_semaphore); + + perf_free(_pc_txns); + perf_free(_pc_dmasetup); + perf_free(_pc_retries); + perf_free(_pc_timeouts); + perf_free(_pc_crcerrs); + perf_free(_pc_dmaerrs); + perf_free(_pc_protoerrs); + perf_free(_pc_uerrs); + perf_free(_pc_idle); + perf_free(_pc_badidle); + + if (g_interface == this) + g_interface = nullptr; +} + +int +PX4IO_serial::init() +{ + /* allocate DMA */ + _tx_dma = stm32_dmachannel(PX4IO_SERIAL_TX_DMAMAP); + _rx_dma = stm32_dmachannel(PX4IO_SERIAL_RX_DMAMAP); + if ((_tx_dma == nullptr) || (_rx_dma == nullptr)) + return -1; + + /* configure pins for serial use */ + stm32_configgpio(PX4IO_SERIAL_TX_GPIO); + stm32_configgpio(PX4IO_SERIAL_RX_GPIO); + + /* reset & configure the UART */ + rCR1 = 0; + rCR2 = 0; + rCR3 = 0; + + /* eat any existing interrupt status */ + (void)rSR; + (void)rDR; + + /* configure line speed */ + uint32_t usartdiv32 = PX4IO_SERIAL_CLOCK / (PX4IO_SERIAL_BITRATE / 2); + uint32_t mantissa = usartdiv32 >> 5; + uint32_t fraction = (usartdiv32 - (mantissa << 5) + 1) >> 1; + rBRR = (mantissa << USART_BRR_MANT_SHIFT) | (fraction << USART_BRR_FRAC_SHIFT); + + /* attach serial interrupt handler */ + irq_attach(PX4IO_SERIAL_VECTOR, _interrupt); + up_enable_irq(PX4IO_SERIAL_VECTOR); + + /* enable UART in DMA mode, enable error and line idle interrupts */ + /* rCR3 = USART_CR3_EIE;*/ + rCR1 = USART_CR1_RE | USART_CR1_TE | USART_CR1_UE | USART_CR1_IDLEIE; + + /* create semaphores */ + sem_init(&_completion_semaphore, 0, 0); + sem_init(&_bus_semaphore, 0, 1); + + + /* XXX this could try talking to IO */ + + return 0; +} + +int +PX4IO_serial::ioctl(unsigned operation, unsigned &arg) +{ + + switch (operation) { + + case 1: /* XXX magic number - test operation */ + switch (arg) { + case 0: + lowsyslog("test 0\n"); + + /* kill DMA, this is a PIO test */ + stm32_dmastop(_tx_dma); + stm32_dmastop(_rx_dma); + rCR3 &= ~(USART_CR3_DMAR | USART_CR3_DMAT); + + for (;;) { + while (!(rSR & USART_SR_TXE)) + ; + rDR = 0x55; + } + return 0; + + case 1: + { + unsigned fails = 0; + for (unsigned count = 0;; count++) { + uint16_t value = count & 0xffff; + + if (write((PX4IO_PAGE_TEST << 8) | PX4IO_P_TEST_LED, &value, 1) != 0) + fails++; + + if (count >= 5000) { + lowsyslog("==== test 1 : %u failures ====\n", fails); + perf_print_counter(_pc_txns); + perf_print_counter(_pc_dmasetup); + perf_print_counter(_pc_retries); + perf_print_counter(_pc_timeouts); + perf_print_counter(_pc_crcerrs); + perf_print_counter(_pc_dmaerrs); + perf_print_counter(_pc_protoerrs); + perf_print_counter(_pc_uerrs); + perf_print_counter(_pc_idle); + perf_print_counter(_pc_badidle); + count = 0; + } + } + return 0; + } + case 2: + lowsyslog("test 2\n"); + return 0; + } + default: + break; + } + + return -1; +} + +int +PX4IO_serial::write(unsigned address, void *data, unsigned count) +{ + uint8_t page = address >> 8; + uint8_t offset = address & 0xff; + const uint16_t *values = reinterpret_cast(data); + + if (count > PKT_MAX_REGS) + return -EINVAL; + + sem_wait(&_bus_semaphore); + + int result; + for (unsigned retries = 0; retries < 3; retries++) { + + _dma_buffer.count_code = count | PKT_CODE_WRITE; + _dma_buffer.page = page; + _dma_buffer.offset = offset; + memcpy((void *)&_dma_buffer.regs[0], (void *)values, (2 * count)); + for (unsigned i = count; i < PKT_MAX_REGS; i++) + _dma_buffer.regs[i] = 0x55aa; + + /* XXX implement check byte */ + + /* start the transaction and wait for it to complete */ + result = _wait_complete(); + + /* successful transaction? */ + if (result == OK) { + + /* check result in packet */ + if (PKT_CODE(_dma_buffer) == PKT_CODE_ERROR) { + + /* IO didn't like it - no point retrying */ + result = -EINVAL; + perf_count(_pc_protoerrs); + } + + break; + } + perf_count(_pc_retries); + } + + sem_post(&_bus_semaphore); + + if (result == OK) + result = count; + return result; +} + +int +PX4IO_serial::read(unsigned address, void *data, unsigned count) +{ + uint8_t page = address >> 8; + uint8_t offset = address & 0xff; + uint16_t *values = reinterpret_cast(data); + + if (count > PKT_MAX_REGS) + return -EINVAL; + + sem_wait(&_bus_semaphore); + + int result; + for (unsigned retries = 0; retries < 3; retries++) { + + _dma_buffer.count_code = count | PKT_CODE_READ; + _dma_buffer.page = page; + _dma_buffer.offset = offset; + + /* start the transaction and wait for it to complete */ + result = _wait_complete(); + + /* successful transaction? */ + if (result == OK) { + + /* check result in packet */ + if (PKT_CODE(_dma_buffer) == PKT_CODE_ERROR) { + + /* IO didn't like it - no point retrying */ + result = -EINVAL; + perf_count(_pc_protoerrs); + + /* compare the received count with the expected count */ + } else if (PKT_COUNT(_dma_buffer) != count) { + + /* IO returned the wrong number of registers - no point retrying */ + result = -EIO; + perf_count(_pc_protoerrs); + + /* successful read */ + } else { + + /* copy back the result */ + memcpy(values, &_dma_buffer.regs[0], (2 * count)); + } + + break; + } + perf_count(_pc_retries); + } + + sem_post(&_bus_semaphore); + + if (result == OK) + result = count; + return result; +} + +int +PX4IO_serial::_wait_complete() +{ + /* clear any lingering error status */ + (void)rSR; + (void)rDR; + + /* start RX DMA */ + perf_begin(_pc_txns); + perf_begin(_pc_dmasetup); + + /* DMA setup time ~3µs */ + _rx_dma_status = _dma_status_waiting; + + /* + * Note that we enable circular buffer mode as a workaround for + * there being no API to disable the DMA FIFO. We need direct mode + * because otherwise when the line idle interrupt fires there + * will be packet bytes still in the DMA FIFO, and we will assume + * that the idle was spurious. + * + * XXX this should be fixed with a NuttX change. + */ + stm32_dmasetup( + _rx_dma, + PX4IO_SERIAL_BASE + STM32_USART_DR_OFFSET, + reinterpret_cast(&_dma_buffer), + sizeof(_dma_buffer), + DMA_SCR_CIRC | /* XXX see note above */ + DMA_SCR_DIR_P2M | + DMA_SCR_MINC | + DMA_SCR_PSIZE_8BITS | + DMA_SCR_MSIZE_8BITS | + DMA_SCR_PBURST_SINGLE | + DMA_SCR_MBURST_SINGLE); + stm32_dmastart(_rx_dma, _dma_callback, this, false); + rCR3 |= USART_CR3_DMAR; + + /* start TX DMA - no callback if we also expect a reply */ + /* DMA setup time ~3µs */ + _dma_buffer.crc = 0; + _dma_buffer.crc = crc_packet(&_dma_buffer); + stm32_dmasetup( + _tx_dma, + PX4IO_SERIAL_BASE + STM32_USART_DR_OFFSET, + reinterpret_cast(&_dma_buffer), + PKT_SIZE(_dma_buffer), + DMA_SCR_DIR_M2P | + DMA_SCR_MINC | + DMA_SCR_PSIZE_8BITS | + DMA_SCR_MSIZE_8BITS | + DMA_SCR_PBURST_SINGLE | + DMA_SCR_MBURST_SINGLE); + stm32_dmastart(_tx_dma, nullptr, nullptr, false); + rCR3 |= USART_CR3_DMAT; + + perf_end(_pc_dmasetup); + + /* compute the deadline for a 5ms timeout */ + struct timespec abstime; + clock_gettime(CLOCK_REALTIME, &abstime); +#if 0 + abstime.tv_sec++; /* long timeout for testing */ +#else + abstime.tv_nsec += 10000000; /* 0ms timeout */ + if (abstime.tv_nsec > 1000000000) { + abstime.tv_sec++; + abstime.tv_nsec -= 1000000000; + } +#endif + + /* wait for the transaction to complete - 64 bytes @ 1.5Mbps ~426µs */ + int ret; + for (;;) { + ret = sem_timedwait(&_completion_semaphore, &abstime); + + if (ret == OK) { + /* check for DMA errors */ + if (_rx_dma_status & DMA_STATUS_TEIF) { + perf_count(_pc_dmaerrs); + ret = -EIO; + break; + } + + /* check packet CRC - corrupt packet errors mean IO receive CRC error */ + uint8_t crc = _dma_buffer.crc; + _dma_buffer.crc = 0; + if ((crc != crc_packet(&_dma_buffer)) | (PKT_CODE(_dma_buffer) == PKT_CODE_CORRUPT)) { + perf_count(_pc_crcerrs); + ret = -EIO; + break; + } + + /* successful txn (may still be reporting an error) */ + break; + } + + if (errno == ETIMEDOUT) { + /* something has broken - clear out any partial DMA state and reconfigure */ + _abort_dma(); + perf_count(_pc_timeouts); + perf_cancel(_pc_txns); /* don't count this as a transaction */ + break; + } + + /* we might? see this for EINTR */ + lowsyslog("unexpected ret %d/%d\n", ret, errno); + } + + /* reset DMA status */ + _rx_dma_status = _dma_status_inactive; + + /* update counters */ + perf_end(_pc_txns); + + return ret; +} + +void +PX4IO_serial::_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg) +{ + if (arg != nullptr) { + PX4IO_serial *ps = reinterpret_cast(arg); + + ps->_do_rx_dma_callback(status); + } +} + +void +PX4IO_serial::_do_rx_dma_callback(unsigned status) +{ + /* on completion of a reply, wake the waiter */ + if (_rx_dma_status == _dma_status_waiting) { + + /* check for packet overrun - this will occur after DMA completes */ + uint32_t sr = rSR; + if (sr & (USART_SR_ORE | USART_SR_RXNE)) { + (void)rDR; + status = DMA_STATUS_TEIF; + } + + /* save RX status */ + _rx_dma_status = status; + + /* disable UART DMA */ + rCR3 &= ~(USART_CR3_DMAT | USART_CR3_DMAR); + + /* complete now */ + sem_post(&_completion_semaphore); + } +} + +int +PX4IO_serial::_interrupt(int irq, void *context) +{ + if (g_interface != nullptr) + g_interface->_do_interrupt(); + return 0; +} + +void +PX4IO_serial::_do_interrupt() +{ + uint32_t sr = rSR; /* get UART status register */ + (void)rDR; /* read DR to clear status */ + + if (sr & (USART_SR_ORE | /* overrun error - packet was too big for DMA or DMA was too slow */ + USART_SR_NE | /* noise error - we have lost a byte due to noise */ + USART_SR_FE)) { /* framing error - start/stop bit lost or line break */ + + /* + * If we are in the process of listening for something, these are all fatal; + * abort the DMA with an error. + */ + if (_rx_dma_status == _dma_status_waiting) { + _abort_dma(); + perf_count(_pc_uerrs); + + /* complete DMA as though in error */ + _do_rx_dma_callback(DMA_STATUS_TEIF); + + return; + } + + /* XXX we might want to use FE / line break as an out-of-band handshake ... handle it here */ + + /* don't attempt to handle IDLE if it's set - things went bad */ + return; + } + + if (sr & USART_SR_IDLE) { + + /* if there is DMA reception going on, this is a short packet */ + if (_rx_dma_status == _dma_status_waiting) { + + /* verify that the received packet is complete */ + unsigned length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma); + if ((length < 1) || (length < PKT_SIZE(_dma_buffer))) { + perf_count(_pc_badidle); + return; + } + + perf_count(_pc_idle); + + /* stop the receive DMA */ + stm32_dmastop(_rx_dma); + + /* complete the short reception */ + _do_rx_dma_callback(DMA_STATUS_TCIF); + } + } +} + +void +PX4IO_serial::_abort_dma() +{ + /* disable UART DMA */ + rCR3 &= ~(USART_CR3_DMAT | USART_CR3_DMAR); + (void)rSR; + (void)rDR; + (void)rDR; + + /* stop DMA */ + stm32_dmastop(_tx_dma); + stm32_dmastop(_rx_dma); +} + +#endif /* PX4IO_SERIAL_BASE */ \ No newline at end of file diff --git a/src/drivers/px4io/uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp similarity index 74% rename from src/drivers/px4io/uploader.cpp rename to src/drivers/px4io/px4io_uploader.cpp index 9e3f041e3f..7db28ecad0 100644 --- a/src/drivers/px4io/uploader.cpp +++ b/src/drivers/px4io/px4io_uploader.cpp @@ -52,51 +52,14 @@ #include #include +#include + #include "uploader.h" -static const uint32_t crctab[] = -{ - 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, - 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, - 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, - 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, - 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, - 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59, - 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f, - 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, - 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433, - 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, - 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, - 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, - 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, - 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, - 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f, - 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, - 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, - 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, - 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, - 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, - 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, - 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, - 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, - 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, - 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713, - 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, - 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777, - 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, - 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, - 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, - 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, - 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d -}; +#include -static uint32_t -crc32(const uint8_t *src, unsigned len, unsigned state) -{ - for (unsigned i = 0; i < len; i++) - state = crctab[(state ^ src[i]) & 0xff] ^ (state >> 8); - return state; -} +// define for comms logging +//#define UDEBUG PX4IO_Uploader::PX4IO_Uploader() : _io_fd(-1), @@ -115,7 +78,32 @@ PX4IO_Uploader::upload(const char *filenames[]) const char *filename = NULL; size_t fw_size; - _io_fd = open("/dev/ttyS2", O_RDWR); +#ifndef PX4IO_SERIAL_DEVICE +#error Must define PX4IO_SERIAL_DEVICE in board configuration to support firmware upload +#endif + + /* allow an early abort and look for file first */ + for (unsigned i = 0; filenames[i] != nullptr; i++) { + _fw_fd = open(filenames[i], O_RDONLY); + + if (_fw_fd < 0) { + log("failed to open %s", filenames[i]); + continue; + } + + log("using firmware from %s", filenames[i]); + filename = filenames[i]; + break; + } + + if (filename == NULL) { + log("no firmware found"); + close(_io_fd); + _io_fd = -1; + return -ENOENT; + } + + _io_fd = open(PX4IO_SERIAL_DEVICE, O_RDWR); if (_io_fd < 0) { log("could not open interface"); @@ -139,26 +127,6 @@ PX4IO_Uploader::upload(const char *filenames[]) return -EIO; } - for (unsigned i = 0; filenames[i] != nullptr; i++) { - _fw_fd = open(filenames[i], O_RDONLY); - - if (_fw_fd < 0) { - log("failed to open %s", filenames[i]); - continue; - } - - log("using firmware from %s", filenames[i]); - filename = filenames[i]; - break; - } - - if (filename == NULL) { - log("no firmware found"); - close(_io_fd); - _io_fd = -1; - return -ENOENT; - } - struct stat st; if (stat(filename, &st) != 0) { log("Failed to stat %s - %d\n", filename, (int)errno); @@ -258,12 +226,16 @@ PX4IO_Uploader::recv(uint8_t &c, unsigned timeout) int ret = ::poll(&fds[0], 1, timeout); if (ret < 1) { - //log("poll timeout %d", ret); +#ifdef UDEBUG + log("poll timeout %d", ret); +#endif return -ETIMEDOUT; } read(_io_fd, &c, 1); - //log("recv 0x%02x", c); +#ifdef UDEBUG + log("recv 0x%02x", c); +#endif return OK; } @@ -289,16 +261,20 @@ PX4IO_Uploader::drain() do { ret = recv(c, 1000); +#ifdef UDEBUG if (ret == OK) { - //log("discard 0x%02x", c); + log("discard 0x%02x", c); } +#endif } while (ret == OK); } int PX4IO_Uploader::send(uint8_t c) { - //log("send 0x%02x", c); +#ifdef UDEBUG + log("send 0x%02x", c); +#endif if (write(_io_fd, &c, 1) != 1) return -errno; @@ -572,14 +548,14 @@ PX4IO_Uploader::verify_rev3(size_t fw_size_local) return -errno; /* calculate crc32 sum */ - sum = crc32((uint8_t *)&file_buf, sizeof(file_buf), sum); + sum = crc32part((uint8_t *)&file_buf, sizeof(file_buf), sum); bytes_read += count; } /* fill the rest with 0xff */ while (bytes_read < fw_size_remote) { - sum = crc32(&fill_blank, sizeof(fill_blank), sum); + sum = crc32part(&fill_blank, sizeof(fill_blank), sum); bytes_read += sizeof(fill_blank); } diff --git a/src/drivers/px4io/uploader.h b/src/drivers/px4io/uploader.h index 135202dd1b..22387a3e23 100644 --- a/src/drivers/px4io/uploader.h +++ b/src/drivers/px4io/uploader.h @@ -69,7 +69,7 @@ private: PROTO_REBOOT = 0x30, INFO_BL_REV = 1, /**< bootloader protocol revision */ - BL_REV = 3, /**< supported bootloader protocol */ + BL_REV = 4, /**< supported bootloader protocol */ INFO_BOARD_ID = 2, /**< board type */ INFO_BOARD_REV = 3, /**< board revision */ INFO_FLASH_SIZE = 4, /**< max firmware size in bytes */ diff --git a/src/drivers/rgbled/module.mk b/src/drivers/rgbled/module.mk new file mode 100644 index 0000000000..39b53ec9ed --- /dev/null +++ b/src/drivers/rgbled/module.mk @@ -0,0 +1,6 @@ +# +# TCA62724FMG driver for RGB LED +# + +MODULE_COMMAND = rgbled +SRCS = rgbled.cpp diff --git a/src/drivers/rgbled/rgbled.cpp b/src/drivers/rgbled/rgbled.cpp new file mode 100644 index 0000000000..feb8f1c6c9 --- /dev/null +++ b/src/drivers/rgbled/rgbled.cpp @@ -0,0 +1,602 @@ +/**************************************************************************** + * + * Copyright (C) 2012, 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 rgbled.cpp + * + * Driver for the onboard RGB LED controller (TCA62724FMG) connected via I2C. + * + * + */ + +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include + +#include + +#include + +#define RGBLED_ONTIME 120 +#define RGBLED_OFFTIME 120 + +#define ADDR PX4_I2C_OBDEV_LED /**< I2C adress of TCA62724FMG */ +#define SUB_ADDR_START 0x01 /**< write everything (with auto-increment) */ +#define SUB_ADDR_PWM0 0x81 /**< blue (without auto-increment) */ +#define SUB_ADDR_PWM1 0x82 /**< green (without auto-increment) */ +#define SUB_ADDR_PWM2 0x83 /**< red (without auto-increment) */ +#define SUB_ADDR_SETTINGS 0x84 /**< settings (without auto-increment)*/ + +#define SETTING_NOT_POWERSAVE 0x01 /**< power-save mode not off */ +#define SETTING_ENABLE 0x02 /**< on */ + + +class RGBLED : public device::I2C +{ +public: + RGBLED(int bus, int rgbled); + virtual ~RGBLED(); + + + virtual int init(); + virtual int probe(); + virtual int info(); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + +private: + work_s _work; + + rgbled_color_t _color; + rgbled_mode_t _mode; + rgbled_pattern_t _pattern; + + float _brightness; + uint8_t _r; + uint8_t _g; + uint8_t _b; + + bool _should_run; + bool _running; + int _led_interval; + int _counter; + + void set_color(rgbled_color_t ledcolor); + void set_mode(rgbled_mode_t mode); + void set_pattern(rgbled_pattern_t *pattern); + void set_brightness(float brightness); + + static void led_trampoline(void *arg); + void led(); + + int set(bool on, uint8_t r, uint8_t g, uint8_t b); + int set_on(bool on); + int set_rgb(uint8_t r, uint8_t g, uint8_t b); + int get(bool &on, bool ¬_powersave, uint8_t &r, uint8_t &g, uint8_t &b); +}; + +/* for now, we only support one RGBLED */ +namespace +{ + RGBLED *g_rgbled; +} + + +extern "C" __EXPORT int rgbled_main(int argc, char *argv[]); + +RGBLED::RGBLED(int bus, int rgbled) : + I2C("rgbled", RGBLED_DEVICE_PATH, bus, rgbled, 100000), + _color(RGBLED_COLOR_OFF), + _mode(RGBLED_MODE_OFF), + _running(false), + _brightness(1.0f), + _r(0), + _g(0), + _b(0), + _led_interval(0), + _counter(0) +{ + memset(&_work, 0, sizeof(_work)); + memset(&_pattern, 0, sizeof(_pattern)); +} + +RGBLED::~RGBLED() +{ +} + +int +RGBLED::init() +{ + int ret; + ret = I2C::init(); + + if (ret != OK) { + return ret; + } + + /* start off */ + set(false, 0, 0, 0); + + return OK; +} + +int +RGBLED::probe() +{ + int ret; + bool on, not_powersave; + uint8_t r, g, b; + + ret = get(on, not_powersave, r, g, b); + + return ret; +} + +int +RGBLED::info() +{ + int ret; + bool on, not_powersave; + uint8_t r, g, b; + + ret = get(on, not_powersave, r, g, b); + + if (ret == OK) { + /* we don't care about power-save mode */ + log("state: %s", on ? "ON" : "OFF"); + log("red: %u, green: %u, blue: %u", (unsigned)r, (unsigned)g, (unsigned)b); + } else { + warnx("failed to read led"); + } + + return ret; +} + +int +RGBLED::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + int ret = ENOTTY; + switch (cmd) { + case RGBLED_SET_RGB: + /* set the specified RGB values */ + rgbled_rgbset_t rgbset; + memcpy(&rgbset, (rgbled_rgbset_t*)arg, sizeof(rgbset)); + set_rgb(rgbset.red, rgbset.green, rgbset.blue); + set_mode(RGBLED_MODE_ON); + return OK; + + case RGBLED_SET_COLOR: + /* set the specified color name */ + set_color((rgbled_color_t)arg); + return OK; + + case RGBLED_SET_MODE: + /* set the specified blink speed */ + set_mode((rgbled_mode_t)arg); + return OK; + + case RGBLED_SET_PATTERN: + /* set a special pattern */ + set_pattern((rgbled_pattern_t*)arg); + return OK; + + default: + break; + } + + return ret; +} + + +void +RGBLED::led_trampoline(void *arg) +{ + RGBLED *rgbl = reinterpret_cast(arg); + + rgbl->led(); +} + + + +void +RGBLED::led() +{ + switch (_mode) { + case RGBLED_MODE_BLINK_SLOW: + case RGBLED_MODE_BLINK_NORMAL: + case RGBLED_MODE_BLINK_FAST: + if(_counter % 2 == 0) + set_on(true); + else + set_on(false); + break; + case RGBLED_MODE_BREATHE: + if (_counter >= 30) + _counter = 0; + if (_counter <= 15) { + set_brightness(((float)_counter)*((float)_counter)/(15.0f*15.0f)); + } else { + set_brightness(((float)(30-_counter))*((float)(30-_counter))/(15.0f*15.0f)); + } + break; + case RGBLED_MODE_PATTERN: + /* don't run out of the pattern array and stop if the next frame is 0 */ + if (_counter >= RGBLED_PATTERN_LENGTH || _pattern.duration[_counter] <= 0) + _counter = 0; + + set_color(_pattern.color[_counter]); + _led_interval = _pattern.duration[_counter]; + break; + default: + break; + } + + _counter++; + + /* re-queue ourselves to run again later */ + work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this, _led_interval); +} + +void +RGBLED::set_color(rgbled_color_t color) { + + _color = color; + + switch (color) { + case RGBLED_COLOR_OFF: // off + set_rgb(0,0,0); + break; + case RGBLED_COLOR_RED: // red + set_rgb(255,0,0); + break; + case RGBLED_COLOR_YELLOW: // yellow + set_rgb(255,70,0); + break; + case RGBLED_COLOR_PURPLE: // purple + set_rgb(255,0,255); + break; + case RGBLED_COLOR_GREEN: // green + set_rgb(0,255,0); + break; + case RGBLED_COLOR_BLUE: // blue + set_rgb(0,0,255); + break; + case RGBLED_COLOR_WHITE: // white + set_rgb(255,255,255); + break; + case RGBLED_COLOR_AMBER: // amber + set_rgb(255,20,0); + break; + case RGBLED_COLOR_DIM_RED: // red + set_rgb(90,0,0); + break; + case RGBLED_COLOR_DIM_YELLOW: // yellow + set_rgb(80,30,0); + break; + case RGBLED_COLOR_DIM_PURPLE: // purple + set_rgb(45,0,45); + break; + case RGBLED_COLOR_DIM_GREEN: // green + set_rgb(0,90,0); + break; + case RGBLED_COLOR_DIM_BLUE: // blue + set_rgb(0,0,90); + break; + case RGBLED_COLOR_DIM_WHITE: // white + set_rgb(30,30,30); + break; + case RGBLED_COLOR_DIM_AMBER: // amber + set_rgb(80,20,0); + break; + default: + warnx("color unknown"); + break; + } +} + +void +RGBLED::set_mode(rgbled_mode_t mode) +{ + _mode = mode; + + switch (mode) { + case RGBLED_MODE_OFF: + _should_run = false; + set_on(false); + break; + case RGBLED_MODE_ON: + _should_run = false; + set_on(true); + break; + case RGBLED_MODE_BLINK_SLOW: + _should_run = true; + _led_interval = 2000; + break; + case RGBLED_MODE_BLINK_NORMAL: + _should_run = true; + _led_interval = 500; + break; + case RGBLED_MODE_BLINK_FAST: + _should_run = true; + _led_interval = 100; + break; + case RGBLED_MODE_BREATHE: + _should_run = true; + set_on(true); + _counter = 0; + _led_interval = 1000/15; + break; + case RGBLED_MODE_PATTERN: + _should_run = true; + set_on(true); + _counter = 0; + break; + default: + warnx("mode unknown"); + break; + } + + /* if it should run now, start the workq */ + if (_should_run && !_running) { + _running = true; + work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this, 1); + } + /* if it should stop, then cancel the workq */ + if (!_should_run && _running) { + _running = false; + work_cancel(LPWORK, &_work); + } +} + +void +RGBLED::set_pattern(rgbled_pattern_t *pattern) +{ + memcpy(&_pattern, pattern, sizeof(rgbled_pattern_t)); + + set_mode(RGBLED_MODE_PATTERN); +} + +void +RGBLED::set_brightness(float brightness) { + + _brightness = brightness; + set_rgb(_r, _g, _b); +} + +int +RGBLED::set(bool on, uint8_t r, uint8_t g, uint8_t b) +{ + uint8_t settings_byte = 0; + + if (on) + settings_byte |= SETTING_ENABLE; +/* powersave not used */ +// if (not_powersave) + settings_byte |= SETTING_NOT_POWERSAVE; + + const uint8_t msg[5] = { SUB_ADDR_START, (uint8_t)(b*15/255), (uint8_t)(g*15/255), (uint8_t)(r*15/255), settings_byte}; + + return transfer(msg, sizeof(msg), nullptr, 0); +} + +int +RGBLED::set_on(bool on) +{ + uint8_t settings_byte = 0; + + if (on) + settings_byte |= SETTING_ENABLE; + +/* powersave not used */ +// if (not_powersave) + settings_byte |= SETTING_NOT_POWERSAVE; + + const uint8_t msg[2] = { SUB_ADDR_SETTINGS, settings_byte}; + + return transfer(msg, sizeof(msg), nullptr, 0); +} + +int +RGBLED::set_rgb(uint8_t r, uint8_t g, uint8_t b) +{ + /* save the RGB values in case we want to change the brightness later */ + _r = r; + _g = g; + _b = b; + + const uint8_t msg[6] = { SUB_ADDR_PWM0, (uint8_t)((float)b/255.0f*15.0f*_brightness), SUB_ADDR_PWM1, (uint8_t)((float)g/255.0f*15.0f*_brightness), SUB_ADDR_PWM2, (uint8_t)((float)r/255.0f*15.0f*_brightness)}; + + return transfer(msg, sizeof(msg), nullptr, 0); +} + + +int +RGBLED::get(bool &on, bool ¬_powersave, uint8_t &r, uint8_t &g, uint8_t &b) +{ + uint8_t result[2]; + int ret; + + ret = transfer(nullptr, 0, &result[0], 2); + + if (ret == OK) { + on = result[0] & SETTING_ENABLE; + not_powersave = result[0] & SETTING_NOT_POWERSAVE; + /* XXX check, looks wrong */ + r = (result[0] & 0x0f)*255/15; + g = (result[1] & 0xf0)*255/15; + b = (result[1] & 0x0f)*255/15; + } + + return ret; +} + +void rgbled_usage(); + + +void rgbled_usage() { + warnx("missing command: try 'start', 'test', 'info', 'stop'/'off', 'rgb 30 40 50'"); + warnx("options:"); + warnx(" -b i2cbus (%d)", PX4_I2C_BUS_LED); + errx(0, " -a addr (0x%x)", ADDR); +} + +int +rgbled_main(int argc, char *argv[]) +{ + int i2cdevice = -1; + int rgbledadr = ADDR; /* 7bit */ + + int ch; + /* jump over start/off/etc and look at options first */ + while ((ch = getopt(argc-1, &argv[1], "a:b:")) != EOF) { + switch (ch) { + case 'a': + rgbledadr = strtol(optarg, NULL, 0); + break; + case 'b': + i2cdevice = strtol(optarg, NULL, 0); + break; + default: + rgbled_usage(); + } + } + + const char *verb = argv[1]; + + int fd; + int ret; + + if (!strcmp(verb, "start")) { + if (g_rgbled != nullptr) + errx(1, "already started"); + + if (i2cdevice == -1) { + // try the external bus first + i2cdevice = PX4_I2C_BUS_EXPANSION; + g_rgbled = new RGBLED(PX4_I2C_BUS_EXPANSION, rgbledadr); + if (g_rgbled != nullptr && OK != g_rgbled->init()) { + delete g_rgbled; + g_rgbled = nullptr; + } + if (g_rgbled == nullptr) { + // fall back to default bus + i2cdevice = PX4_I2C_BUS_LED; + } + } + if (g_rgbled == nullptr) { + g_rgbled = new RGBLED(i2cdevice, rgbledadr); + if (g_rgbled == nullptr) + errx(1, "new failed"); + + if (OK != g_rgbled->init()) { + delete g_rgbled; + g_rgbled = nullptr; + errx(1, "init failed"); + } + } + + exit(0); + } + + /* need the driver past this point */ + if (g_rgbled == nullptr) { + warnx("not started"); + rgbled_usage(); + exit(0); + } + + if (!strcmp(verb, "test")) { + fd = open(RGBLED_DEVICE_PATH, 0); + if (fd == -1) { + errx(1, "Unable to open " RGBLED_DEVICE_PATH); + } + + rgbled_pattern_t pattern = { {RGBLED_COLOR_RED, RGBLED_COLOR_GREEN, RGBLED_COLOR_BLUE, RGBLED_COLOR_OFF}, + {200, 200, 200, 400 } }; + + ret = ioctl(fd, RGBLED_SET_PATTERN, (unsigned long)&pattern); + + close(fd); + exit(ret); + } + + if (!strcmp(verb, "info")) { + g_rgbled->info(); + exit(0); + } + + if (!strcmp(verb, "stop") || !strcmp(verb, "off")) { + /* although technically it doesn't stop, this is the excepted syntax */ + fd = open(RGBLED_DEVICE_PATH, 0); + if (fd == -1) { + errx(1, "Unable to open " RGBLED_DEVICE_PATH); + } + ret = ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_OFF); + close(fd); + exit(ret); + } + + if (!strcmp(verb, "rgb")) { + fd = open(RGBLED_DEVICE_PATH, 0); + if (fd == -1) { + errx(1, "Unable to open " RGBLED_DEVICE_PATH); + } + if (argc < 5) { + errx(1, "Usage: rgbled rgb "); + } + rgbled_rgbset_t v; + v.red = strtol(argv[1], NULL, 0); + v.green = strtol(argv[2], NULL, 0); + v.blue = strtol(argv[3], NULL, 0); + ret = ioctl(fd, RGBLED_SET_RGB, (unsigned long)&v); + close(fd); + exit(ret); + } + + rgbled_usage(); +} diff --git a/src/drivers/stm32/adc/adc.cpp b/src/drivers/stm32/adc/adc.cpp index 1020eb9465..00e46d6b82 100644 --- a/src/drivers/stm32/adc/adc.cpp +++ b/src/drivers/stm32/adc/adc.cpp @@ -227,7 +227,6 @@ ADC::init() if ((hrt_absolute_time() - now) > 500) { log("sample timeout"); return -1; - return 0xffff; } } @@ -282,7 +281,7 @@ ADC::close_last(struct file *filp) void ADC::_tick_trampoline(void *arg) { - ((ADC *)arg)->_tick(); + (reinterpret_cast(arg))->_tick(); } void @@ -342,7 +341,7 @@ test(void) err(1, "can't open ADC device"); for (unsigned i = 0; i < 50; i++) { - adc_msg_s data[8]; + adc_msg_s data[10]; ssize_t count = read(fd, data, sizeof(data)); if (count < 0) @@ -366,8 +365,15 @@ int adc_main(int argc, char *argv[]) { if (g_adc == nullptr) { - /* XXX this hardcodes the default channel set for PX4FMU - should be configurable */ +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 + /* XXX this hardcodes the default channel set for PX4FMUv1 - should be configurable */ g_adc = new ADC((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13)); +#endif +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 + /* XXX this hardcodes the default channel set for PX4FMUv2 - should be configurable */ + g_adc = new ADC((1 << 2) | (1 << 3) | (1 << 4) | + (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15)); +#endif if (g_adc == nullptr) errx(1, "couldn't allocate the ADC driver"); diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c index 83a1a1abbb..e79d7e10a3 100644 --- a/src/drivers/stm32/drv_hrt.c +++ b/src/drivers/stm32/drv_hrt.c @@ -59,7 +59,7 @@ #include #include -#include +#include #include #include "chip.h" diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp index 2284be84de..a582ece174 100644 --- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp +++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * 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 @@ -104,7 +104,7 @@ #include #include -#include +#include #include #include @@ -230,13 +230,18 @@ public: virtual int ioctl(file *filp, int cmd, unsigned long arg); virtual ssize_t write(file *filp, const char *buffer, size_t len); + inline const char *name(int tune) { + return _tune_names[tune]; + } private: - static const unsigned _tune_max = 1024; // be reasonable about user tunes - static const char * const _default_tunes[]; - static const unsigned _default_ntunes; + static const unsigned _tune_max = 1024 * 8; // be reasonable about user tunes + const char * _default_tunes[TONE_NUMBER_OF_TUNES]; + const char * _tune_names[TONE_NUMBER_OF_TUNES]; static const uint8_t _note_tab[]; + unsigned _default_tune_number; // number of currently playing default tune (0 for none) + const char *_user_tune; const char *_tune; // current tune string @@ -302,160 +307,6 @@ private: }; -// predefined tune array -const char * const ToneAlarm::_default_tunes[] = { - "MFT240L8 O4aO5dc O4aO5dc O4aO5dc L16dcdcdcdc", // startup tune - "MBT200a8a8a8PaaaP", // ERROR tone - "MFT200e8a8a", // NotifyPositive tone - "MFT200e8e", // NotifyNeutral tone - "MFT200e8c8e8c8e8c8", // NotifyNegative tone - "MFT90O3C16.C32C16.C32C16.C32G16.E32G16.E32G16.E32C16.C32C16.C32C16.C32G16.E32G16.E32G16.E32C4", // charge! - "MFT60O3C32O2A32F16F16F32G32A32A+32O3C16C16C16O2A16", // dixie - "MFT90O2C16C16C16F8.A8C16C16C16F8.A4P16P8", // cucuracha - "MNT150L8O2GGABGBADGGABL4GL8F+", // yankee - "MFT200O3C4.O2A4.G4.F4.D8E8F8D4F8C2.O2G4.O3C4.O2A4.F4.D8E8F8G4A8G2P8", // daisy - "T200O2B4P8B16B16B4P8B16B16B8G+8E8G+8B8G+8B8O3E8" // william tell - "O2B8G+8E8G+8B8G+8B8O3E8O2B4P8B16B16B4P8B16" - "O2B16B4P8B16B16B4P8B16B16B8B16B16B8B8B8B16" - "O2B16B8B8B8B16B16B8B8B8B16B16B8B8B2B2B8P8" - "P4P4P8O1B16B16B8B16B16B8B16B16O2E8F+8G+8" - "O1B16B16B8B16B16O2E8G+16G+16F+8D+8O1B8B16" - "O1B16B8B16B16B8B16B16O2E8F+8G+8E16G+16B4" - "O2B16A16G+16F+16E8G+8E8O3B16B16B8B16B16B8" - "O3B16B16O4E8F+8G+8O3B16B16B8B16B16O4E8G+16" - "O4G+16F+8D+8O3B8B16B16B8B16B16B8B16B16O4E8" - "O4F+8G+8E16G+16B4B16A16G+16F+16E8G+8E8O3G+16" - "O3G+16G+8G+16G+16G+8G+16G+16G+8O4C+8O3G+8" - "O4C+8O3G+8O4C+8O3G+8F+8E8D+8C+8G+16G+16G+8" - "O3G+16G+16G+8G+16G+16G+8O4C+8O3G+8O4C+8O3G+8" - "O4C+8O3B8A+8B8A+8B8G+16G+16G+8G+16G+16G+8" - "O3G+16G+16G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3G+8" - "O3F+8E8D+8C+8G+16G+16G+8G+16G+16G+8G+16G+16" - "O3G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3B8A+8B8O2B16" - "O2B16B8F+16F+16F+8F+16F+16F+8G+8A8F+4A8G+8" - "O2E4G+8F+8F+8F+8O3F+16F+16F+8F+16F+16F+8" - "O3G+8A8F+4A8G+8E4G+8F+8O2B16B16B8O1B16B16" - "O1B8B16B16B8B16B16O2E8F+8G+8O1B16B16B8B16" - "O1B16O2E8G+16G+16F+8D+8O1B8B16B16B8B16B16" - "O1B8B16B16O2E8F+8G+8E16G+16B4B16A16G+16F+16" - "O2E8G+8E8O3B16B16B8B16B16B8B16B16O4E8F+8" - "O4G+8O3B16B16B8B16B16O4E8G+16G+16F+8D+8O3B8" - "O3B16B16B8B16B16B8B16B16O4E8F+8G+8E16G+16" - "O4B4B16A16G+16F+16E8G+8E8O3E64F64G64A64B64" - "O4C64D64E8E16E16E8E8G+4.F+8E8D+8E8C+8O3B16" - "O4C+16O3B16O4C+16O3B16O4C+16D+16E16O3A16" - "O3B16A16B16A16B16O4C+16D+16O3G+16A16G+16" - "O3A16G+16A16B16O4C+16O3F+16G+16F+16G+16F+16" - "O3G+16F+16G+16F+16G+16F+16D+16O2B16O3B16" - "O4C+16D+16E8D+8E8C+8O3B16O4C+16O3B16O4C+16" - "O3B16O4C+16D+16E16O3A16B16A16B16A16B16O4C+16" - "O4D+16O3G+16A16G+16A16G+16A16B16O4C+16O3F+16" - "O3G+16F+16G+16F+16A16F+16E16E8P8C+4C+16O2C16" - "O3C+16O2C16O3D+16C+16O2B16A16A16G+16E16C+16" - "O2C+16C+16C+16C+16E16D+16O1C16G+16G+16G+16" - "O1G+16G+16G+16O2C+16E16G+16O3C+16C+16C+16" - "O3C+16C+16O2C16O3C+16O2C16O3D+16C+16O2B16" - "O2A16A16G+16E16C+16C+16C+16C+16C+16E16D+16" - "O1C16G+16G+16G+16G+16G+16G+16O2C+16E16G+16" - "O3C+16E16D+16C+16D+16O2C16G+16G+16G+16O3G+16" - "O3E16C+16D+16O2C16G+16G+16G+16O3G+16E16C+16" - "O3D+16O2B16G+16G+16A+16G16D+16D+16G+16G16" - "O2G+16G16G+16A16G+16F+16E16O1B16A+16B16O2E16" - "O1B16O2F+16O1B16O2G+16E16D+16E16G+16E16A16" - "O2F+16B16O3G+16F+16E16D+16F+16E16C+16O2B16" - "O3C+16O2B16O3C+16D+16E16F+16G+16O2A16B16" - "O2A16B16O3C+16D+16E16F+16O2G+16A16G+16A16" - "O2C16O3C+16D+16E16O2F+16G+16F+16G+16F+16" - "O2G+16F+16G+16F+16G+16F+16D+16O1B16C16O2C+16" - "O2D+16E16O1B16A+16B16O2E16O1B16O2F+16O1B16" - "O2G+16E16D+16E16G+16E16A16F+16B16O3G+16F+16" - "O3E16D+16F+16E16C+16O2B16O3C+16O2B16O3C+16" - "O3D+16E16F+16G+16O2A16B16A16B16O3C+16D+16" - "O3E16F+16O2G+16A16G+16A16B16O3C+16D+16E16" - "O2F+16O3C+16O2C16O3C+16D+16C+16O2A16F+16" - "O2E16O3E16F+16G+16A16B16O4C+16D+16E8E16E16" - "O4E8E8G+4.F8E8D+8E8C+8O3B16O4C+16O3B16O4C+16" - "O3B16O4C+16D+16E16O3A16B16A16B16A16B16O4C+16" - "O4D+16O3G+16A16G+16A16G+16A16B16O4C+16O3F+16" - "O3G+16F+16G+16F+16G+16F+16G+16F+16G+16F+16" - "O3D+16O2B16O3B16O4C+16D+16E8E16E16E8E8G+4." - "O4F+8E8D+8E8C+8O3B16O4C+16O3B16O4C+16O3B16" - "O4C+16D+16E16O3A16B16A16B16A16B16O4C+16D+16" - "O3G+16A16G+16A16G+16A16B16O4C+16O3F+16G+16" - "O3F+16G+16F+16A16G+16F+16E8O2B8O3E8G+16G+16" - "O3G+8G+16G+16G+8G+16G+16G+8O4C+8O3G+8O4C+8" - "O3G+8O4C+8O3G+8F+8E8D+8C+8G+16G+16G+8G+16" - "O3G+16G+8G+16G+16G+8O4C+8O3G+8O4C+8O3G+8" - "O4C+8O3B8A+8B8A+8B8G+16G+16G+8G+16G+16G+8" - "O3G+16G+16G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3G+8" - "O3F+8E8D+8C+8G+16G+16G+8G+16G+16G+8G+16G+16" - "O3G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3B8A+8B8A+8" - "O3B8O2F+16F+16F+8F+16F+16F+8G+8A8F+4A8G+8" - "O2E4G+8F+8B8O1B8O2F+16F+16F+8F+16F+16F+8" - "O2G+8A8F+4A8G+8E4G+8F+8B16B16B8O1B16B16B8" - "O1B16B16B8B16B16O2E8F+8G+8O1B16B16B8B16B16" - "O2E8G+16G+16F+8D+8O1B8B16B16B8B16B16B8B16" - "O1B16O2E8F+8G+8E16G+16B4B16A16G+16F+16E8" - "O1B8O2E8O3B16B16B8B16B16B8B16B16O4E8F+8G+8" - "O3B16B16B8B16B16O4E8G+16G+16F+8D+8O3B8B16" - "O3B16B8B16B16B8B16B16O4E8F+8G+8O3E16G+16" - "O3B4B16A16G+16F+16E16F+16G+16A16G+16A16B16" - "O4C+16O3B16O4C+16D+16E16D+16E16F+16G+16A16" - "O3B16O4A16O3B16O4A16O3B16O4A16O3B16O4A16" - "O3B16O4A16O3B16O4A16O3B16O4A16O3B16E16F+16" - "O3G+16A16G+16A16B16O4C+16O3B16O4C+16D+16" - "O4E16D+16E16F+16G+16A16O3B16O4A16O3B16O4A16" - "O3B16O4A16O3B16O4A16O3B16O4A16O3B16O4A16" - "O3B16O4A16O3B16P16G+16O4G+16O3G+16P16D+16" - "O4D+16O3D+16P16E16O4E16O3E16P16A16O4A16O3A16" - "P16O3G+16O4G+16O3G+16P16D+16O4D+16O3D+16" - "P16O3E16O4E16O3E16P16A16O4A16O3A16O4G16O3G16" - "O4G16O3G16O4G16O3G16O4G16O3G16O4G8E8C8E8" - "O4G+16O3G+16O4G+16O3G+16O4G+16O3G+16O4G+16" - "O3G+16O4G+8E8O3B8O4E8G+16O3G+16O4G+16O3G+16" - "O4G+16O3G+16O4G+16O3G+16O4G+8F8C+8F8A+16" - "O3A+16O4A+16O3A+16O4A+16O3A+16O4A+16O3A+16" - "O4A+8G8E8G8B8P16A+16P16A16P16G+16P16F+16" - "P16O4E16P16D+16P16C+16P16O3B16P16A+16P16" - "O3A16P16G+16P16F+16P16E16P16D+16P16F+16E16" - "O3F+16G+16A16G+16A16B16O4C+16O3B16O4C+16" - "O4D+16E16D+16E16F+16G+16A16O3B16O4A16O3B16" - "O4A16O3B16O4A16O3B16O4A16O3B16O4A16O3B16" - "O4A16O3B16O4A16O3B16E16F+16G+16A16G+16A16" - "O3B16O4C+16O3B16O4C+16D+16E16D+16E16F+16" - "O4G+16A16O3B16O4A16O3B16O4A16O3B16O4A16O3B16" - "O4A16O3B16O4A16O3B16O4A16O3B16O4A16O3B16" - "P16O3G+16O4G+16O3G+16P16D+16O4D+16O3D+16" - "P16O3E16O4E16O3E16P16A16O4A16O3A16P16G+16" - "O4G+16O3G+16P16D+16O4D+16O3D+16P16E16O4E16" - "O3E16P16A16O4A16O3A16O4G16O3G16O4G16O3G16" - "O4G16O3G16O4G16O3G16O4G8E8C8E8G+16O3G+16" - "O4G+16O3G+16O4G+16O3G+16O4G+16O3G+16O4G+8" - "O4E8O3B8O4E8G+16O3G+16O4G+16O3G+16O4G+16" - "O3G+16O4G+16O3G+16O4G+8F8C+8F8A+16O3A+16" - "O4A+16O3A+16O4A+16O3A+16O4A+16O3A+16O4A+8" - "O4G8E8G8B8P16A+16P16A16P16G+16P16F+16P16" - "O4E16P16D+16P16C+16P16O3B16P16A+16P16A16" - "P16O3G+16P16F+16P16E16P16D+16P16F16E16D+16" - "O3E16D+16E8B16B16B8B16B16B8B16B16O4E8F+8" - "O4G+8O3B16B16B8B16B16B8B16B16O4G+8A8B8P8" - "O4E8F+8G+8P8O3G+8A8B8P8P2O2B16C16O3C+16D16" - "O3D+16E16F16F+16G16G+16A16A+16B16C16O4C+16" - "O4D+16E16D+16F+16D+16E16D+16F+16D+16E16D+16" - "O4F+16D+16E16D+16F+16D+16E16D+16F+16D+16" - "O4E16D+16F+16D+16E16D+16F+16D+16E16D+16F+16" - "O4D+16E8E16O3E16O4E16O3E16O4E16O3E16O4E8" - "O3B16O2B16O3B16O2B16O3B16O2B16O3B8G+16O2G+16" - "O3G+16O2G+16O3G+16O2G+16O3G8E16O2E16O3E16" - "O2E16O3E16O2E16O3E8E16E16E8E8E8O2B16B16B8" - "O2B8B8G+16G+16G+8G+8G+8E16E16E8E8E8O1B8O2E8" - "O1B8O2G+8E8B8G+8O3E8O2B8O3E8O2B8O3G+8E8B8" - "O3G+8O4E4P8E16E16E8E8E8E8E4P8E16E4P8O2E16" - "O2E2P64", -}; - -const unsigned ToneAlarm::_default_ntunes = sizeof(_default_tunes) / sizeof(_default_tunes[0]); - // semitone offsets from C for the characters 'A'-'G' const uint8_t ToneAlarm::_note_tab[] = {9, 11, 0, 2, 4, 5, 7}; @@ -467,12 +318,30 @@ extern "C" __EXPORT int tone_alarm_main(int argc, char *argv[]); ToneAlarm::ToneAlarm() : CDev("tone_alarm", "/dev/tone_alarm"), + _default_tune_number(0), _user_tune(nullptr), _tune(nullptr), _next(nullptr) { // enable debug() calls //_debug_enabled = true; + _default_tunes[TONE_STARTUP_TUNE] = "MFT240L8 O4aO5dc O4aO5dc O4aO5dc L16dcdcdcdc"; // startup tune + _default_tunes[TONE_ERROR_TUNE] = "MBT200a8a8a8PaaaP"; // ERROR tone + _default_tunes[TONE_NOTIFY_POSITIVE_TUNE] = "MFT200e8a8a"; // Notify Positive tone + _default_tunes[TONE_NOTIFY_NEUTRAL_TUNE] = "MFT200e8e"; // Notify Neutral tone + _default_tunes[TONE_NOTIFY_NEGATIVE_TUNE] = "MFT200e8c8e8c8e8c8"; // Notify Negative tone + _default_tunes[TONE_ARMING_WARNING_TUNE] = "MNT75L1O2G"; //arming warning + _default_tunes[TONE_BATTERY_WARNING_SLOW_TUNE] = "MBNT100a8"; //battery warning slow + _default_tunes[TONE_BATTERY_WARNING_FAST_TUNE] = "MBNT255a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8"; //battery warning fast + + _tune_names[TONE_STARTUP_TUNE] = "startup"; // startup tune + _tune_names[TONE_ERROR_TUNE] = "error"; // ERROR tone + _tune_names[TONE_NOTIFY_POSITIVE_TUNE] = "positive"; // Notify Positive tone + _tune_names[TONE_NOTIFY_NEUTRAL_TUNE] = "neutral"; // Notify Neutral tone + _tune_names[TONE_NOTIFY_NEGATIVE_TUNE] = "negative"; // Notify Negative tone + _tune_names[TONE_ARMING_WARNING_TUNE] = "arming"; // arming warning + _tune_names[TONE_BATTERY_WARNING_SLOW_TUNE] = "slow_bat"; // battery warning slow + _tune_names[TONE_BATTERY_WARNING_FAST_TUNE] = "fast_bat"; // battery warning fast } ToneAlarm::~ToneAlarm() @@ -799,8 +668,12 @@ tune_error: // stop (and potentially restart) the tune tune_end: stop_note(); - if (_repeat) + if (_repeat) { start_tune(_tune); + } else { + _tune = nullptr; + _default_tune_number = 0; + } return; } @@ -863,14 +736,20 @@ ToneAlarm::ioctl(file *filp, int cmd, unsigned long arg) case TONE_SET_ALARM: debug("TONE_SET_ALARM %u", arg); - if (arg <= _default_ntunes) { - if (arg == 0) { + if (arg < TONE_NUMBER_OF_TUNES) { + if (arg == TONE_STOP_TUNE) { // stop the tune _tune = nullptr; _next = nullptr; + _repeat = false; + _default_tune_number = 0; } else { - // play the selected tune - start_tune(_default_tunes[arg - 1]); + /* always interrupt alarms, unless they are repeating and already playing */ + if (!(_repeat && _default_tune_number == arg)) { + /* play the selected tune */ + _default_tune_number = arg; + start_tune(_default_tunes[arg]); + } } } else { result = -EINVAL; @@ -956,7 +835,7 @@ play_tune(unsigned tune) } int -play_string(const char *str) +play_string(const char *str, bool free_buffer) { int fd, ret; @@ -968,6 +847,9 @@ play_string(const char *str) ret = write(fd, str, strlen(str) + 1); close(fd); + if (free_buffer) + free((void *)str); + if (ret < 0) err(1, "play tune"); exit(0); @@ -993,22 +875,50 @@ tone_alarm_main(int argc, char *argv[]) } } - if ((argc > 1) && !strcmp(argv[1], "start")) - play_tune(1); + if (argc > 1) { + const char *argv1 = argv[1]; - if ((argc > 1) && !strcmp(argv[1], "stop")) - play_tune(0); + if (!strcmp(argv1, "start")) + play_tune(TONE_STARTUP_TUNE); - if ((tune = strtol(argv[1], nullptr, 10)) != 0) - play_tune(tune); + if (!strcmp(argv1, "stop")) + play_tune(TONE_STOP_TUNE); - /* if it looks like a PLAY string... */ - if (strlen(argv[1]) > 2) { - const char *str = argv[1]; - if (str[0] == 'M') { - play_string(str); + if ((tune = strtol(argv1, nullptr, 10)) != 0) + play_tune(tune); + + /* It might be a tune name */ + for (tune = 1; tune < TONE_NUMBER_OF_TUNES; tune++) + if (!strcmp(g_dev->name(tune), argv1)) + play_tune(tune); + + /* If it is a file name then load and play it as a string */ + if (*argv1 == '/') { + FILE *fd = fopen(argv1, "r"); + int sz; + char *buffer; + if (fd == nullptr) + errx(1, "couldn't open '%s'", argv1); + fseek(fd, 0, SEEK_END); + sz = ftell(fd); + fseek(fd, 0, SEEK_SET); + buffer = (char *)malloc(sz + 1); + if (buffer == nullptr) + errx(1, "not enough memory memory"); + fread(buffer, sz, 1, fd); + /* terminate the string */ + buffer[sz] = 0; + play_string(buffer, true); } + + /* if it looks like a PLAY string... */ + if (strlen(argv1) > 2) { + if (*argv1 == 'M') { + play_string(argv1, false); + } + } + } - errx(1, "unrecognised command, try 'start', 'stop' or an alarm number"); + errx(1, "unrecognized command, try 'start', 'stop', an alarm number or name, or a file name starting with a '/'"); } diff --git a/src/examples/fixedwing_control/main.c b/src/examples/fixedwing_control/main.c index d13ffe4148..b286e00077 100644 --- a/src/examples/fixedwing_control/main.c +++ b/src/examples/fixedwing_control/main.c @@ -66,7 +66,7 @@ #include #include #include -#include +#include #include #include #include @@ -380,9 +380,10 @@ int fixedwing_control_thread_main(int argc, char *argv[]) /* control */ - /* if in auto mode, fly global position setpoint */ - if (vstatus.state_machine == SYSTEM_STATE_AUTO || - vstatus.state_machine == SYSTEM_STATE_STABILIZED) { +#warning fix this +#if 0 + if (vstatus.navigation_state == NAVIGATION_STATE_AUTO_ || + vstatus.navigation_state == NAVIGATION_STATE_STABILIZED) { /* simple heading control */ control_heading(&global_pos, &global_sp, &att, &att_sp); @@ -400,6 +401,7 @@ int fixedwing_control_thread_main(int argc, char *argv[]) /* set flaps to zero */ actuators.control[4] = 0.0f; + } else if (vstatus.navigation_state == NAVIGATION_STATE_MANUAL) { /* if in manual mode, decide between attitude stabilization (SAS) and full manual pass-through */ } else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) { if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { @@ -465,6 +467,7 @@ int fixedwing_control_thread_main(int argc, char *argv[]) } } } +#endif /* publish rates */ orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp); diff --git a/src/examples/flow_position_control/flow_position_control_main.c b/src/examples/flow_position_control/flow_position_control_main.c index c96f73155f..621d3253f0 100644 --- a/src/examples/flow_position_control/flow_position_control_main.c +++ b/src/examples/flow_position_control/flow_position_control_main.c @@ -55,7 +55,8 @@ #include #include #include -#include +#include +#include #include #include #include @@ -158,7 +159,8 @@ flow_position_control_thread_main(int argc, char *argv[]) const float time_scale = powf(10.0f,-6.0f); /* structures */ - struct vehicle_status_s vstatus; + struct actuator_armed_s armed; + struct vehicle_control_mode_s control_mode; struct vehicle_attitude_s att; struct manual_control_setpoint_s manual; struct filtered_bottom_flow_s filtered_flow; @@ -169,7 +171,8 @@ flow_position_control_thread_main(int argc, char *argv[]) /* subscribe to attitude, motor setpoints and system state */ int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update)); int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); + int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); + int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); int manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); int filtered_bottom_flow_sub = orb_subscribe(ORB_ID(filtered_bottom_flow)); int vehicle_local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position)); @@ -258,7 +261,7 @@ flow_position_control_thread_main(int argc, char *argv[]) perf_begin(mc_loop_perf); /* get a local copy of the vehicle state */ - orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus); + orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); /* get a local copy of manual setpoint */ orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual); /* get a local copy of attitude */ @@ -268,7 +271,7 @@ flow_position_control_thread_main(int argc, char *argv[]) /* get a local copy of local position */ orb_copy(ORB_ID(vehicle_local_position), vehicle_local_position_sub, &local_pos); - if (vstatus.state_machine == SYSTEM_STATE_AUTO) + if (control_mode.flag_control_velocity_enabled) { float manual_pitch = manual.pitch / params.rc_scale_pitch; // 0 to 1 float manual_roll = manual.roll / params.rc_scale_roll; // 0 to 1 @@ -490,7 +493,7 @@ flow_position_control_thread_main(int argc, char *argv[]) /* store actual height for speed estimation */ last_local_pos_z = local_pos.z; - speed_sp.thrust_sp = thrust_control; + speed_sp.thrust_sp = thrust_control; //manual.throttle; speed_sp.timestamp = hrt_absolute_time(); /* publish new speed setpoint */ @@ -527,7 +530,6 @@ flow_position_control_thread_main(int argc, char *argv[]) if(isfinite(manual.throttle)) speed_sp.thrust_sp = manual.throttle; } - /* measure in what intervals the controller runs */ perf_count(mc_interval_perf); perf_end(mc_loop_perf); @@ -576,7 +578,8 @@ flow_position_control_thread_main(int argc, char *argv[]) close(parameter_update_sub); close(vehicle_attitude_sub); close(vehicle_local_position_sub); - close(vehicle_status_sub); + close(armed_sub); + close(control_mode_sub); close(manual_control_setpoint_sub); close(speed_sp_pub); diff --git a/src/examples/flow_position_estimator/flow_position_estimator_main.c b/src/examples/flow_position_estimator/flow_position_estimator_main.c index e40c9081d7..5e80066a70 100644 --- a/src/examples/flow_position_estimator/flow_position_estimator_main.c +++ b/src/examples/flow_position_estimator/flow_position_estimator_main.c @@ -56,7 +56,8 @@ #include #include #include -#include +#include +#include #include #include #include @@ -143,8 +144,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) printf("[flow position estimator] starting\n"); /* rotation matrix for transformation of optical flow speed vectors */ - static const int8_t rotM_flow_sensor[3][3] = {{ 0, 1, 0 }, - { -1, 0, 0 }, + static const int8_t rotM_flow_sensor[3][3] = {{ 0, -1, 0 }, + { 1, 0, 0 }, { 0, 0, 1 }}; // 90deg rotated const float time_scale = powf(10.0f,-6.0f); static float speed[3] = {0.0f, 0.0f, 0.0f}; @@ -158,8 +159,10 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) static float sonar_lp = 0.0f; /* subscribe to vehicle status, attitude, sensors and flow*/ - struct vehicle_status_s vstatus; - memset(&vstatus, 0, sizeof(vstatus)); + struct actuator_armed_s armed; + memset(&armed, 0, sizeof(armed)); + struct vehicle_control_mode_s control_mode; + memset(&control_mode, 0, sizeof(control_mode)); struct vehicle_attitude_s att; memset(&att, 0, sizeof(att)); struct vehicle_attitude_setpoint_s att_sp; @@ -170,8 +173,11 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) /* subscribe to parameter changes */ int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update)); - /* subscribe to vehicle status */ - int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); + /* subscribe to armed topic */ + int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); + + /* subscribe to safety topic */ + int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); /* subscribe to attitude */ int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); @@ -218,6 +224,7 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) while (!thread_should_exit) { + if (sensors_ready) { /*This runs at the rate of the sensors */ @@ -263,7 +270,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) /* got flow, updating attitude and status as well */ orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att); orb_copy(ORB_ID(vehicle_attitude_setpoint), vehicle_attitude_setpoint_sub, &att_sp); - orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus); + orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); + orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode); /* vehicle state estimation */ float sonar_new = flow.ground_distance_m; @@ -273,14 +281,15 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) * -> accept sonar measurements after reaching calibration distance (values between 0.3m and 1.0m for some time) * -> minimum sonar value 0.3m */ + if (!vehicle_liftoff) { - if (vstatus.flag_system_armed && att_sp.thrust > params.minimum_liftoff_thrust && sonar_new > 0.3f && sonar_new < 1.0f) + if (armed.armed && att_sp.thrust > params.minimum_liftoff_thrust && sonar_new > 0.3f && sonar_new < 1.0f) vehicle_liftoff = true; } else { - if (!vstatus.flag_system_armed || (att_sp.thrust < params.minimum_liftoff_thrust && sonar_new <= 0.3f)) + if (!armed.armed || (att_sp.thrust < params.minimum_liftoff_thrust && sonar_new <= 0.3f)) vehicle_liftoff = false; } @@ -347,7 +356,7 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) } /* filtering ground distance */ - if (!vehicle_liftoff || !vstatus.flag_system_armed) + if (!vehicle_liftoff || !armed.armed) { /* not possible to fly */ sonar_valid = false; @@ -444,7 +453,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) close(vehicle_attitude_setpoint_sub); close(vehicle_attitude_sub); - close(vehicle_status_sub); + close(armed_sub); + close(control_mode_sub); close(parameter_update_sub); close(optical_flow_sub); diff --git a/src/examples/flow_speed_control/flow_speed_control_main.c b/src/examples/flow_speed_control/flow_speed_control_main.c index 8b3881c435..6af955cd7d 100644 --- a/src/examples/flow_speed_control/flow_speed_control_main.c +++ b/src/examples/flow_speed_control/flow_speed_control_main.c @@ -55,7 +55,8 @@ #include #include #include -#include +#include +#include #include #include #include @@ -155,7 +156,8 @@ flow_speed_control_thread_main(int argc, char *argv[]) uint32_t counter = 0; /* structures */ - struct vehicle_status_s vstatus; + struct actuator_armed_s armed; + struct vehicle_control_mode_s control_mode; struct filtered_bottom_flow_s filtered_flow; struct vehicle_bodyframe_speed_setpoint_s speed_sp; @@ -164,7 +166,8 @@ flow_speed_control_thread_main(int argc, char *argv[]) /* subscribe to attitude, motor setpoints and system state */ int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update)); int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); + int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); + int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); int filtered_bottom_flow_sub = orb_subscribe(ORB_ID(filtered_bottom_flow)); int vehicle_bodyframe_speed_setpoint_sub = orb_subscribe(ORB_ID(vehicle_bodyframe_speed_setpoint)); @@ -226,14 +229,16 @@ flow_speed_control_thread_main(int argc, char *argv[]) { perf_begin(mc_loop_perf); - /* get a local copy of the vehicle state */ - orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus); + /* get a local copy of the armed topic */ + orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); + /* get a local copy of the control mode */ + orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode); /* get a local copy of filtered bottom flow */ orb_copy(ORB_ID(filtered_bottom_flow), filtered_bottom_flow_sub, &filtered_flow); /* get a local copy of bodyframe speed setpoint */ orb_copy(ORB_ID(vehicle_bodyframe_speed_setpoint), vehicle_bodyframe_speed_setpoint_sub, &speed_sp); - if (vstatus.state_machine == SYSTEM_STATE_AUTO) + if (control_mode.flag_control_velocity_enabled) { /* calc new roll/pitch */ float pitch_body = -(speed_sp.vx - filtered_flow.vx) * params.speed_p; @@ -350,7 +355,8 @@ flow_speed_control_thread_main(int argc, char *argv[]) close(vehicle_attitude_sub); close(vehicle_bodyframe_speed_setpoint_sub); close(filtered_bottom_flow_sub); - close(vehicle_status_sub); + close(armed_sub); + close(control_mode_sub); close(att_sp_pub); perf_print_counter(mc_loop_perf); diff --git a/src/include/mavlink/mavlink_log.h b/src/include/mavlink/mavlink_log.h index a28ff3a687..5054937e07 100644 --- a/src/include/mavlink/mavlink_log.h +++ b/src/include/mavlink/mavlink_log.h @@ -107,7 +107,6 @@ struct mavlink_logmessage { struct mavlink_logbuffer { unsigned int start; - // unsigned int end; unsigned int size; int count; struct mavlink_logmessage *elems; @@ -115,6 +114,8 @@ struct mavlink_logbuffer { void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size); +void mavlink_logbuffer_destroy(struct mavlink_logbuffer *lb); + int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb); int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb); diff --git a/src/modules/systemlib/geo/geo.c b/src/lib/geo/geo.c similarity index 99% rename from src/modules/systemlib/geo/geo.c rename to src/lib/geo/geo.c index 6463e6489e..63792dda52 100644 --- a/src/modules/systemlib/geo/geo.c +++ b/src/lib/geo/geo.c @@ -44,7 +44,7 @@ * @author Lorenz Meier */ -#include +#include #include #include #include diff --git a/src/modules/systemlib/geo/geo.h b/src/lib/geo/geo.h similarity index 100% rename from src/modules/systemlib/geo/geo.h rename to src/lib/geo/geo.h diff --git a/src/lib/geo/module.mk b/src/lib/geo/module.mk new file mode 100644 index 0000000000..30a2dc99fd --- /dev/null +++ b/src/lib/geo/module.mk @@ -0,0 +1,38 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# Geo library +# + +SRCS = geo.c diff --git a/src/modules/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h b/src/lib/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h similarity index 100% rename from src/modules/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h rename to src/lib/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h diff --git a/src/modules/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h b/src/lib/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h similarity index 100% rename from src/modules/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h rename to src/lib/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h diff --git a/src/modules/mathlib/CMSIS/Include/arm_common_tables.h b/src/lib/mathlib/CMSIS/Include/arm_common_tables.h similarity index 100% rename from src/modules/mathlib/CMSIS/Include/arm_common_tables.h rename to src/lib/mathlib/CMSIS/Include/arm_common_tables.h diff --git a/src/modules/mathlib/CMSIS/Include/arm_const_structs.h b/src/lib/mathlib/CMSIS/Include/arm_const_structs.h similarity index 100% rename from src/modules/mathlib/CMSIS/Include/arm_const_structs.h rename to src/lib/mathlib/CMSIS/Include/arm_const_structs.h diff --git a/src/modules/mathlib/CMSIS/Include/arm_math.h b/src/lib/mathlib/CMSIS/Include/arm_math.h similarity index 100% rename from src/modules/mathlib/CMSIS/Include/arm_math.h rename to src/lib/mathlib/CMSIS/Include/arm_math.h diff --git a/src/modules/mathlib/CMSIS/Include/core_cm3.h b/src/lib/mathlib/CMSIS/Include/core_cm3.h similarity index 100% rename from src/modules/mathlib/CMSIS/Include/core_cm3.h rename to src/lib/mathlib/CMSIS/Include/core_cm3.h diff --git a/src/modules/mathlib/CMSIS/Include/core_cm4.h b/src/lib/mathlib/CMSIS/Include/core_cm4.h similarity index 100% rename from src/modules/mathlib/CMSIS/Include/core_cm4.h rename to src/lib/mathlib/CMSIS/Include/core_cm4.h diff --git a/src/modules/mathlib/CMSIS/Include/core_cm4_simd.h b/src/lib/mathlib/CMSIS/Include/core_cm4_simd.h similarity index 100% rename from src/modules/mathlib/CMSIS/Include/core_cm4_simd.h rename to src/lib/mathlib/CMSIS/Include/core_cm4_simd.h diff --git a/src/modules/mathlib/CMSIS/Include/core_cmFunc.h b/src/lib/mathlib/CMSIS/Include/core_cmFunc.h similarity index 100% rename from src/modules/mathlib/CMSIS/Include/core_cmFunc.h rename to src/lib/mathlib/CMSIS/Include/core_cmFunc.h diff --git a/src/modules/mathlib/CMSIS/Include/core_cmInstr.h b/src/lib/mathlib/CMSIS/Include/core_cmInstr.h similarity index 100% rename from src/modules/mathlib/CMSIS/Include/core_cmInstr.h rename to src/lib/mathlib/CMSIS/Include/core_cmInstr.h diff --git a/src/modules/mathlib/CMSIS/libarm_cortexM3l_math.a b/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a similarity index 100% rename from src/modules/mathlib/CMSIS/libarm_cortexM3l_math.a rename to src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a diff --git a/src/modules/mathlib/CMSIS/libarm_cortexM4l_math.a b/src/lib/mathlib/CMSIS/libarm_cortexM4l_math.a similarity index 100% rename from src/modules/mathlib/CMSIS/libarm_cortexM4l_math.a rename to src/lib/mathlib/CMSIS/libarm_cortexM4l_math.a diff --git a/src/modules/mathlib/CMSIS/libarm_cortexM4lf_math.a b/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a similarity index 100% rename from src/modules/mathlib/CMSIS/libarm_cortexM4lf_math.a rename to src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a diff --git a/src/modules/mathlib/CMSIS/library.mk b/src/lib/mathlib/CMSIS/library.mk similarity index 100% rename from src/modules/mathlib/CMSIS/library.mk rename to src/lib/mathlib/CMSIS/library.mk diff --git a/src/modules/mathlib/CMSIS/license.txt b/src/lib/mathlib/CMSIS/license.txt similarity index 100% rename from src/modules/mathlib/CMSIS/license.txt rename to src/lib/mathlib/CMSIS/license.txt diff --git a/src/modules/mathlib/math/Dcm.cpp b/src/lib/mathlib/math/Dcm.cpp similarity index 100% rename from src/modules/mathlib/math/Dcm.cpp rename to src/lib/mathlib/math/Dcm.cpp diff --git a/src/modules/mathlib/math/Dcm.hpp b/src/lib/mathlib/math/Dcm.hpp similarity index 100% rename from src/modules/mathlib/math/Dcm.hpp rename to src/lib/mathlib/math/Dcm.hpp diff --git a/src/modules/mathlib/math/EulerAngles.cpp b/src/lib/mathlib/math/EulerAngles.cpp similarity index 100% rename from src/modules/mathlib/math/EulerAngles.cpp rename to src/lib/mathlib/math/EulerAngles.cpp diff --git a/src/modules/mathlib/math/EulerAngles.hpp b/src/lib/mathlib/math/EulerAngles.hpp similarity index 100% rename from src/modules/mathlib/math/EulerAngles.hpp rename to src/lib/mathlib/math/EulerAngles.hpp diff --git a/src/modules/mathlib/math/Limits.cpp b/src/lib/mathlib/math/Limits.cpp similarity index 100% rename from src/modules/mathlib/math/Limits.cpp rename to src/lib/mathlib/math/Limits.cpp diff --git a/src/modules/mathlib/math/Limits.hpp b/src/lib/mathlib/math/Limits.hpp similarity index 100% rename from src/modules/mathlib/math/Limits.hpp rename to src/lib/mathlib/math/Limits.hpp diff --git a/src/modules/mathlib/math/Matrix.cpp b/src/lib/mathlib/math/Matrix.cpp similarity index 100% rename from src/modules/mathlib/math/Matrix.cpp rename to src/lib/mathlib/math/Matrix.cpp diff --git a/src/modules/mathlib/math/Matrix.hpp b/src/lib/mathlib/math/Matrix.hpp similarity index 100% rename from src/modules/mathlib/math/Matrix.hpp rename to src/lib/mathlib/math/Matrix.hpp diff --git a/src/modules/mathlib/math/Quaternion.cpp b/src/lib/mathlib/math/Quaternion.cpp similarity index 100% rename from src/modules/mathlib/math/Quaternion.cpp rename to src/lib/mathlib/math/Quaternion.cpp diff --git a/src/modules/mathlib/math/Quaternion.hpp b/src/lib/mathlib/math/Quaternion.hpp similarity index 100% rename from src/modules/mathlib/math/Quaternion.hpp rename to src/lib/mathlib/math/Quaternion.hpp diff --git a/src/modules/mathlib/math/Vector.cpp b/src/lib/mathlib/math/Vector.cpp similarity index 100% rename from src/modules/mathlib/math/Vector.cpp rename to src/lib/mathlib/math/Vector.cpp diff --git a/src/modules/mathlib/math/Vector.hpp b/src/lib/mathlib/math/Vector.hpp similarity index 100% rename from src/modules/mathlib/math/Vector.hpp rename to src/lib/mathlib/math/Vector.hpp diff --git a/src/modules/mathlib/math/Vector2f.cpp b/src/lib/mathlib/math/Vector2f.cpp similarity index 100% rename from src/modules/mathlib/math/Vector2f.cpp rename to src/lib/mathlib/math/Vector2f.cpp diff --git a/src/modules/mathlib/math/Vector2f.hpp b/src/lib/mathlib/math/Vector2f.hpp similarity index 100% rename from src/modules/mathlib/math/Vector2f.hpp rename to src/lib/mathlib/math/Vector2f.hpp diff --git a/src/modules/mathlib/math/Vector3.cpp b/src/lib/mathlib/math/Vector3.cpp similarity index 100% rename from src/modules/mathlib/math/Vector3.cpp rename to src/lib/mathlib/math/Vector3.cpp diff --git a/src/modules/mathlib/math/Vector3.hpp b/src/lib/mathlib/math/Vector3.hpp similarity index 100% rename from src/modules/mathlib/math/Vector3.hpp rename to src/lib/mathlib/math/Vector3.hpp diff --git a/src/modules/mathlib/math/arm/Matrix.cpp b/src/lib/mathlib/math/arm/Matrix.cpp similarity index 100% rename from src/modules/mathlib/math/arm/Matrix.cpp rename to src/lib/mathlib/math/arm/Matrix.cpp diff --git a/src/modules/mathlib/math/arm/Matrix.hpp b/src/lib/mathlib/math/arm/Matrix.hpp similarity index 100% rename from src/modules/mathlib/math/arm/Matrix.hpp rename to src/lib/mathlib/math/arm/Matrix.hpp diff --git a/src/modules/mathlib/math/arm/Vector.cpp b/src/lib/mathlib/math/arm/Vector.cpp similarity index 100% rename from src/modules/mathlib/math/arm/Vector.cpp rename to src/lib/mathlib/math/arm/Vector.cpp diff --git a/src/modules/mathlib/math/arm/Vector.hpp b/src/lib/mathlib/math/arm/Vector.hpp similarity index 100% rename from src/modules/mathlib/math/arm/Vector.hpp rename to src/lib/mathlib/math/arm/Vector.hpp diff --git a/src/modules/mathlib/math/filter/LowPassFilter2p.cpp b/src/lib/mathlib/math/filter/LowPassFilter2p.cpp similarity index 100% rename from src/modules/mathlib/math/filter/LowPassFilter2p.cpp rename to src/lib/mathlib/math/filter/LowPassFilter2p.cpp diff --git a/src/modules/mathlib/math/filter/LowPassFilter2p.hpp b/src/lib/mathlib/math/filter/LowPassFilter2p.hpp similarity index 100% rename from src/modules/mathlib/math/filter/LowPassFilter2p.hpp rename to src/lib/mathlib/math/filter/LowPassFilter2p.hpp diff --git a/src/modules/mathlib/math/filter/module.mk b/src/lib/mathlib/math/filter/module.mk similarity index 100% rename from src/modules/mathlib/math/filter/module.mk rename to src/lib/mathlib/math/filter/module.mk diff --git a/src/modules/mathlib/math/generic/Matrix.cpp b/src/lib/mathlib/math/generic/Matrix.cpp similarity index 100% rename from src/modules/mathlib/math/generic/Matrix.cpp rename to src/lib/mathlib/math/generic/Matrix.cpp diff --git a/src/modules/mathlib/math/generic/Matrix.hpp b/src/lib/mathlib/math/generic/Matrix.hpp similarity index 100% rename from src/modules/mathlib/math/generic/Matrix.hpp rename to src/lib/mathlib/math/generic/Matrix.hpp diff --git a/src/modules/mathlib/math/generic/Vector.cpp b/src/lib/mathlib/math/generic/Vector.cpp similarity index 100% rename from src/modules/mathlib/math/generic/Vector.cpp rename to src/lib/mathlib/math/generic/Vector.cpp diff --git a/src/modules/mathlib/math/generic/Vector.hpp b/src/lib/mathlib/math/generic/Vector.hpp similarity index 100% rename from src/modules/mathlib/math/generic/Vector.hpp rename to src/lib/mathlib/math/generic/Vector.hpp diff --git a/src/modules/mathlib/math/nasa_rotation_def.pdf b/src/lib/mathlib/math/nasa_rotation_def.pdf similarity index 100% rename from src/modules/mathlib/math/nasa_rotation_def.pdf rename to src/lib/mathlib/math/nasa_rotation_def.pdf diff --git a/src/modules/mathlib/math/test/test.cpp b/src/lib/mathlib/math/test/test.cpp similarity index 100% rename from src/modules/mathlib/math/test/test.cpp rename to src/lib/mathlib/math/test/test.cpp diff --git a/src/modules/mathlib/math/test/test.hpp b/src/lib/mathlib/math/test/test.hpp similarity index 100% rename from src/modules/mathlib/math/test/test.hpp rename to src/lib/mathlib/math/test/test.hpp diff --git a/src/modules/mathlib/math/test_math.sce b/src/lib/mathlib/math/test_math.sce similarity index 100% rename from src/modules/mathlib/math/test_math.sce rename to src/lib/mathlib/math/test_math.sce diff --git a/src/modules/mathlib/mathlib.h b/src/lib/mathlib/mathlib.h similarity index 100% rename from src/modules/mathlib/mathlib.h rename to src/lib/mathlib/mathlib.h diff --git a/src/modules/mathlib/module.mk b/src/lib/mathlib/module.mk similarity index 100% rename from src/modules/mathlib/module.mk rename to src/lib/mathlib/module.mk diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp index 191d20f306..33879892ee 100644 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp @@ -325,7 +325,7 @@ void KalmanNav::updatePublications() _pos.vx = vN; _pos.vy = vE; _pos.vz = vD; - _pos.hdg = psi; + _pos.yaw = psi; // attitude publication _att.timestamp = _pubTimeStamp; diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 9e533ccdfb..a70a14fe4b 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -57,7 +57,7 @@ #include #include #include -#include +#include #include #include @@ -216,8 +216,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds memset(&raw, 0, sizeof(raw)); struct vehicle_attitude_s att; memset(&att, 0, sizeof(att)); - struct vehicle_status_s state; - memset(&state, 0, sizeof(state)); + struct vehicle_control_mode_s control_mode; + memset(&control_mode, 0, sizeof(control_mode)); uint64_t last_data = 0; uint64_t last_measurement = 0; @@ -230,8 +230,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds /* subscribe to param changes */ int sub_params = orb_subscribe(ORB_ID(parameter_update)); - /* subscribe to system state*/ - int sub_state = orb_subscribe(ORB_ID(vehicle_status)); + /* subscribe to control mode*/ + int sub_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode)); /* advertise attitude */ orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att); @@ -282,9 +282,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds /* XXX this is seriously bad - should be an emergency */ } else if (ret == 0) { /* check if we're in HIL - not getting sensor data is fine then */ - orb_copy(ORB_ID(vehicle_status), sub_state, &state); + orb_copy(ORB_ID(vehicle_control_mode), sub_control_mode, &control_mode); - if (!state.flag_hil_enabled) { + if (!control_mode.flag_system_hil_enabled) { fprintf(stderr, "[att ekf] WARNING: Not getting sensors - sensor app running?\n"); } @@ -308,18 +308,20 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds orb_copy(ORB_ID(sensor_combined), sub_raw, &raw); if (!initialized) { + // XXX disabling init for now + initialized = true; - gyro_offsets[0] += raw.gyro_rad_s[0]; - gyro_offsets[1] += raw.gyro_rad_s[1]; - gyro_offsets[2] += raw.gyro_rad_s[2]; - offset_count++; + // gyro_offsets[0] += raw.gyro_rad_s[0]; + // gyro_offsets[1] += raw.gyro_rad_s[1]; + // gyro_offsets[2] += raw.gyro_rad_s[2]; + // offset_count++; - if (hrt_absolute_time() - start_time > 3000000LL) { - initialized = true; - gyro_offsets[0] /= offset_count; - gyro_offsets[1] /= offset_count; - gyro_offsets[2] /= offset_count; - } + // if (hrt_absolute_time() - start_time > 3000000LL) { + // initialized = true; + // gyro_offsets[0] /= offset_count; + // gyro_offsets[1] /= offset_count; + // gyro_offsets[2] /= offset_count; + // } } else { diff --git a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp index 107c2dfb12..86bda3c75e 100755 --- a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp +++ b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp @@ -35,7 +35,7 @@ #include #include #include -#include +#include #include #include @@ -547,8 +547,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds struct vehicle_attitude_s att; memset(&att, 0, sizeof(att)); - struct vehicle_status_s state; - memset(&state, 0, sizeof(state)); + struct vehicle_control_mode_s control_mode; + memset(&control_mode, 0, sizeof(control_mode)); uint64_t last_data = 0; uint64_t last_measurement = 0; @@ -561,8 +561,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds /* subscribe to param changes */ int sub_params = orb_subscribe(ORB_ID(parameter_update)); - /* subscribe to system state*/ - int sub_state = orb_subscribe(ORB_ID(vehicle_status)); + /* subscribe to control mode */ + int sub_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode)); /* advertise attitude */ orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att); @@ -612,9 +612,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds /* XXX this is seriously bad - should be an emergency */ } else if (ret == 0) { /* check if we're in HIL - not getting sensor data is fine then */ - orb_copy(ORB_ID(vehicle_status), sub_state, &state); + orb_copy(ORB_ID(vehicle_control_mode), sub_control_mode, &control_mode); - if (!state.flag_hil_enabled) { + if (!control_mode.flag_system_hil_enabled) { fprintf(stderr, "[att so3_comp] WARNING: Not getting sensors - sensor app running?\n"); } @@ -730,7 +730,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds // Because proper mount of PX4 will give you a reversed accelerometer readings. NonlinearSO3AHRSupdate(gyro[0],gyro[1],gyro[2],-acc[0],-acc[1],-acc[2],mag[0],mag[1],mag[2],so3_comp_params.Kp,so3_comp_params.Ki, dt); - // Convert q->R. + // Convert q->R, This R converts inertial frame to body frame. Rot_matrix[0] = q0q0 + q1q1 - q2q2 - q3q3;// 11 Rot_matrix[1] = 2.0 * (q1*q2 + q0*q3); // 12 Rot_matrix[2] = 2.0 * (q1*q3 - q0*q2); // 13 @@ -794,7 +794,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds memcpy(&att.rate_offsets, &(gyro_bias), sizeof(att.rate_offsets)); /* copy rotation matrix */ - memcpy(&att.R, Rot_matrix, sizeof(Rot_matrix)); + memcpy(&att.R, Rot_matrix, sizeof(float)*9); att.R_valid = true; if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) { diff --git a/src/modules/commander/accelerometer_calibration.c b/src/modules/commander/accelerometer_calibration.cpp similarity index 79% rename from src/modules/commander/accelerometer_calibration.c rename to src/modules/commander/accelerometer_calibration.cpp index fbb73d997d..cfa7d9e8a1 100644 --- a/src/modules/commander/accelerometer_calibration.c +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -33,7 +33,7 @@ ****************************************************************************/ /** - * @file accelerometer_calibration.c + * @file accelerometer_calibration.cpp * * Implementation of accelerometer calibration. * @@ -104,32 +104,44 @@ */ #include "accelerometer_calibration.h" +#include "commander_helper.h" +#include +#include #include +#include +#include +#include +#include #include #include #include -#include +#include +#include +#include #include -void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd); -int do_accel_calibration_mesurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]); +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]); int detect_orientation(int mavlink_fd, int sub_sensor_combined); int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num); int mat_invert3(float src[3][3], float dst[3][3]); int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g); -void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd) { +int do_accel_calibration(int mavlink_fd) { /* announce change */ mavlink_log_info(mavlink_fd, "accel calibration started"); - /* set to accel calibration mode */ - status->flag_preflight_accel_calibration = true; - state_machine_publish(status_pub, status, mavlink_fd); + mavlink_log_info(mavlink_fd, "accel cal progress <0> percent"); /* measure and calculate offsets & scales */ float accel_offs[3]; float accel_scale[3]; - int res = do_accel_calibration_mesurements(mavlink_fd, accel_offs, accel_scale); + int res = do_accel_calibration_measurements(mavlink_fd, accel_offs, accel_scale); if (res == OK) { /* measurements complete successfully, set parameters */ @@ -165,24 +177,17 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int m } mavlink_log_info(mavlink_fd, "accel calibration done"); - tune_confirm(); - sleep(2); - tune_confirm(); - sleep(2); - /* third beep by cal end routine */ + return OK; } else { /* measurements error */ mavlink_log_info(mavlink_fd, "accel calibration aborted"); - tune_error(); - sleep(2); + return ERROR; } /* exit accel calibration mode */ - status->flag_preflight_accel_calibration = false; - state_machine_publish(status_pub, status, mavlink_fd); } -int do_accel_calibration_mesurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]) { +int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]) { const int samples_num = 2500; float accel_ref[6][3]; bool data_collected[6] = { false, false, false, false, false, false }; @@ -207,38 +212,54 @@ int do_accel_calibration_mesurements(int mavlink_fd, float accel_offs[3], float } int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined)); + + unsigned done_count = 0; + while (true) { bool done = true; - char str[80]; - int str_ptr; - str_ptr = sprintf(str, "keep vehicle still:"); + unsigned old_done_count = done_count; + done_count = 0; + for (int i = 0; i < 6; i++) { if (!data_collected[i]) { - str_ptr += sprintf(&(str[str_ptr]), " %s", orientation_strs[i]); done = false; } } + + mavlink_log_info(mavlink_fd, "directions left: %s%s%s%s%s%s", + (!data_collected[0]) ? "x+ " : "", + (!data_collected[1]) ? "x- " : "", + (!data_collected[2]) ? "y+ " : "", + (!data_collected[3]) ? "y- " : "", + (!data_collected[4]) ? "z+ " : "", + (!data_collected[5]) ? "z- " : ""); + + if (old_done_count != done_count) + mavlink_log_info(mavlink_fd, "accel cal progress <%u> percent", 17 * done_count); + if (done) break; - mavlink_log_info(mavlink_fd, str); int orient = detect_orientation(mavlink_fd, sensor_combined_sub); - if (orient < 0) + if (orient < 0) { + close(sensor_combined_sub); return ERROR; + } if (data_collected[orient]) { - sprintf(str, "%s direction already measured, please rotate", orientation_strs[orient]); - mavlink_log_info(mavlink_fd, str); + mavlink_log_info(mavlink_fd, "%s done, please rotate to a different axis", orientation_strs[orient]); continue; } - sprintf(str, "meas started: %s", orientation_strs[orient]); - mavlink_log_info(mavlink_fd, str); + mavlink_log_info(mavlink_fd, "accel measurement started: %s axis", orientation_strs[orient]); read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num); - str_ptr = sprintf(str, "meas result for %s: [ %.2f %.2f %.2f ]", orientation_strs[orient], accel_ref[orient][0], accel_ref[orient][1], accel_ref[orient][2]); - mavlink_log_info(mavlink_fd, str); + mavlink_log_info(mavlink_fd, "result for %s axis: [ %.2f %.2f %.2f ]", orientation_strs[orient], + (double)accel_ref[orient][0], + (double)accel_ref[orient][1], + (double)accel_ref[orient][2]); + data_collected[orient] = true; - tune_confirm(); + tune_neutral(); } close(sensor_combined_sub); @@ -246,7 +267,7 @@ int do_accel_calibration_mesurements(int mavlink_fd, float accel_offs[3], float float accel_T[3][3]; int res = calculate_calibration_values(accel_ref, accel_T, accel_offs, CONSTANTS_ONE_G); if (res != 0) { - mavlink_log_info(mavlink_fd, "ERROR: calibration values calc error"); + mavlink_log_info(mavlink_fd, "ERROR: calibration values calculation error"); return ERROR; } @@ -279,8 +300,10 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) { /* set accel error threshold to 5m/s^2 */ float accel_err_thr = 5.0f; /* still time required in us */ - int64_t still_time = 2000000; - struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } }; + hrt_abstime still_time = 2000000; + struct pollfd fds[1]; + fds[0].fd = sub_sensor_combined; + fds[0].events = POLLIN; hrt_abstime t_start = hrt_absolute_time(); /* set timeout to 30s */ @@ -316,12 +339,12 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) { /* is still now */ if (t_still == 0) { /* first time */ - mavlink_log_info(mavlink_fd, "still..."); + mavlink_log_info(mavlink_fd, "detected rest position, waiting..."); t_still = t; t_timeout = t + timeout; } else { /* still since t_still */ - if ((int64_t) t - (int64_t) t_still > still_time) { + if (t > t_still + still_time) { /* vehicle is still, exit from the loop to detection of its orientation */ break; } @@ -331,7 +354,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) { accel_disp[2] > still_thr2 * 2.0f) { /* not still, reset still start time */ if (t_still != 0) { - mavlink_log_info(mavlink_fd, "moving..."); + mavlink_log_info(mavlink_fd, "detected motion, please hold still..."); t_still = 0; } } @@ -343,34 +366,34 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) { } if (poll_errcount > 1000) { - mavlink_log_info(mavlink_fd, "ERROR: failed reading accel"); + mavlink_log_info(mavlink_fd, "ERROR: Failed reading sensor"); return -1; } } - if ( fabs(accel_ema[0] - CONSTANTS_ONE_G) < accel_err_thr && - fabs(accel_ema[1]) < accel_err_thr && - fabs(accel_ema[2]) < accel_err_thr ) + if ( fabsf(accel_ema[0] - CONSTANTS_ONE_G) < accel_err_thr && + fabsf(accel_ema[1]) < accel_err_thr && + fabsf(accel_ema[2]) < accel_err_thr ) return 0; // [ g, 0, 0 ] - if ( fabs(accel_ema[0] + CONSTANTS_ONE_G) < accel_err_thr && - fabs(accel_ema[1]) < accel_err_thr && - fabs(accel_ema[2]) < accel_err_thr ) + if ( fabsf(accel_ema[0] + CONSTANTS_ONE_G) < accel_err_thr && + fabsf(accel_ema[1]) < accel_err_thr && + fabsf(accel_ema[2]) < accel_err_thr ) return 1; // [ -g, 0, 0 ] - if ( fabs(accel_ema[0]) < accel_err_thr && - fabs(accel_ema[1] - CONSTANTS_ONE_G) < accel_err_thr && - fabs(accel_ema[2]) < accel_err_thr ) + if ( fabsf(accel_ema[0]) < accel_err_thr && + fabsf(accel_ema[1] - CONSTANTS_ONE_G) < accel_err_thr && + fabsf(accel_ema[2]) < accel_err_thr ) return 2; // [ 0, g, 0 ] - if ( fabs(accel_ema[0]) < accel_err_thr && - fabs(accel_ema[1] + CONSTANTS_ONE_G) < accel_err_thr && - fabs(accel_ema[2]) < accel_err_thr ) + if ( fabsf(accel_ema[0]) < accel_err_thr && + fabsf(accel_ema[1] + CONSTANTS_ONE_G) < accel_err_thr && + fabsf(accel_ema[2]) < accel_err_thr ) return 3; // [ 0, -g, 0 ] - if ( fabs(accel_ema[0]) < accel_err_thr && - fabs(accel_ema[1]) < accel_err_thr && - fabs(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr ) + if ( fabsf(accel_ema[0]) < accel_err_thr && + fabsf(accel_ema[1]) < accel_err_thr && + fabsf(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr ) return 4; // [ 0, 0, g ] - if ( fabs(accel_ema[0]) < accel_err_thr && - fabs(accel_ema[1]) < accel_err_thr && - fabs(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr ) + if ( fabsf(accel_ema[0]) < accel_err_thr && + fabsf(accel_ema[1]) < accel_err_thr && + fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr ) return 5; // [ 0, 0, -g ] mavlink_log_info(mavlink_fd, "ERROR: invalid orientation"); @@ -382,7 +405,9 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) { * Read specified number of accelerometer samples, calculate average and dispersion. */ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num) { - struct pollfd fds[1] = { { .fd = sensor_combined_sub, .events = POLLIN } }; + struct pollfd fds[1]; + fds[0].fd = sensor_combined_sub; + fds[0].events = POLLIN; int count = 0; float accel_sum[3] = { 0.0f, 0.0f, 0.0f }; @@ -416,7 +441,7 @@ int mat_invert3(float src[3][3], float dst[3][3]) { float det = src[0][0] * (src[1][1] * src[2][2] - src[1][2] * src[2][1]) - src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) + src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]); - if (det == 0.0) + if (det == 0.0f) return ERROR; // Singular matrix dst[0][0] = (src[1][1] * src[2][2] - src[1][2] * src[2][1]) / det; diff --git a/src/modules/commander/accelerometer_calibration.h b/src/modules/commander/accelerometer_calibration.h index f93a867bae..1cf9c09775 100644 --- a/src/modules/commander/accelerometer_calibration.h +++ b/src/modules/commander/accelerometer_calibration.h @@ -44,8 +44,7 @@ #define ACCELEROMETER_CALIBRATION_H_ #include -#include -void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd); +int do_accel_calibration(int mavlink_fd); #endif /* ACCELEROMETER_CALIBRATION_H_ */ diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp new file mode 100644 index 0000000000..248eb4a66e --- /dev/null +++ b/src/modules/commander/airspeed_calibration.cpp @@ -0,0 +1,122 @@ +/**************************************************************************** + * + * 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 airspeed_calibration.cpp + * Airspeed sensor calibration routine + */ + +#include "airspeed_calibration.h" +#include "commander_helper.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +int do_airspeed_calibration(int mavlink_fd) +{ + /* give directions */ + mavlink_log_info(mavlink_fd, "airspeed calibration starting, keep it still"); + + const int calibration_count = 2500; + + int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); + struct differential_pressure_s diff_pres; + + int calibration_counter = 0; + float diff_pres_offset = 0.0f; + + while (calibration_counter < calibration_count) { + + /* wait blocking for new data */ + struct pollfd fds[1]; + fds[0].fd = diff_pres_sub; + fds[0].events = POLLIN; + + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret) { + orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); + diff_pres_offset += diff_pres.differential_pressure_pa; + calibration_counter++; + + } else if (poll_ret == 0) { + /* any poll failure for 1s is a reason to abort */ + mavlink_log_info(mavlink_fd, "airspeed calibration aborted"); + close(diff_pres_sub); + return ERROR; + } + } + + diff_pres_offset = diff_pres_offset / calibration_count; + + if (isfinite(diff_pres_offset)) { + + if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) { + mavlink_log_critical(mavlink_fd, "Setting offs failed!"); + close(diff_pres_sub); + return ERROR; + } + + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + warn("WARNING: auto-save of params to storage failed"); + mavlink_log_info(mavlink_fd, "FAILED storing calibration"); + close(diff_pres_sub); + return ERROR; + } + + mavlink_log_info(mavlink_fd, "airspeed calibration done"); + close(diff_pres_sub); + return OK; + + } else { + mavlink_log_info(mavlink_fd, "airspeed calibration FAILED (NaN)"); + close(diff_pres_sub); + return ERROR; + } +} diff --git a/src/modules/multirotor_pos_control/position_control.h b/src/modules/commander/airspeed_calibration.h similarity index 66% rename from src/modules/multirotor_pos_control/position_control.h rename to src/modules/commander/airspeed_calibration.h index 2144ebc343..71c701fc2e 100644 --- a/src/modules/multirotor_pos_control/position_control.h +++ b/src/modules/commander/airspeed_calibration.h @@ -1,10 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * @author Laurens Mackay - * @author Tobias Naegeli - * @author Martin Rutschmann + * 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 @@ -36,15 +32,15 @@ ****************************************************************************/ /** - * @file multirotor_position_control.h - * Definition of the position control for a multirotor VTOL + * @file gyro_calibration.h + * Airspeed sensor calibration routine */ -// #ifndef POSITION_CONTROL_H_ -// #define POSITION_CONTROL_H_ +#ifndef AIRSPEED_CALIBRATION_H_ +#define AIRSPEED_CALIBRATION_H_ -// void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual, -// const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos, -// const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp); +#include -// #endif /* POSITION_CONTROL_H_ */ +int do_airspeed_calibration(int mavlink_fd); + +#endif /* AIRSPEED_CALIBRATION_H_ */ diff --git a/src/modules/commander/baro_calibration.cpp b/src/modules/commander/baro_calibration.cpp new file mode 100644 index 0000000000..3123c40876 --- /dev/null +++ b/src/modules/commander/baro_calibration.cpp @@ -0,0 +1,60 @@ +/**************************************************************************** + * + * 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 baro_calibration.cpp + * Barometer calibration routine + */ + +#include "baro_calibration.h" + +#include +#include +#include +#include +#include +#include +#include +#include + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +int do_baro_calibration(int mavlink_fd) +{ + // TODO implement this + return ERROR; +} diff --git a/src/modules/commander/baro_calibration.h b/src/modules/commander/baro_calibration.h new file mode 100644 index 0000000000..bc42bc6cfc --- /dev/null +++ b/src/modules/commander/baro_calibration.h @@ -0,0 +1,46 @@ +/**************************************************************************** + * + * 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 mag_calibration.h + * Barometer calibration routine + */ + +#ifndef BARO_CALIBRATION_H_ +#define BARO_CALIBRATION_H_ + +#include + +int do_baro_calibration(int mavlink_fd); + +#endif /* BARO_CALIBRATION_H_ */ diff --git a/src/modules/commander/calibration_routines.c b/src/modules/commander/calibration_routines.cpp similarity index 99% rename from src/modules/commander/calibration_routines.c rename to src/modules/commander/calibration_routines.cpp index a269386378..be38ea1046 100644 --- a/src/modules/commander/calibration_routines.c +++ b/src/modules/commander/calibration_routines.cpp @@ -33,7 +33,7 @@ ****************************************************************************/ /** - * @file calibration_routines.c + * @file calibration_routines.cpp * Calibration routines implementations. * * @author Lorenz Meier @@ -217,3 +217,4 @@ int sphere_fit_least_squares(const float x[], const float y[], const float z[], return 0; } + diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c deleted file mode 100644 index e9d1f39540..0000000000 --- a/src/modules/commander/commander.c +++ /dev/null @@ -1,2097 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Petri Tanskanen - * Lorenz Meier - * Thomas Gubler - * Julian Oes - * - * 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 commander.c - * Main system state machine implementation. - * - * @author Petri Tanskanen - * @author Lorenz Meier - * @author Thomas Gubler - * @author Julian Oes - * - */ - -#include "commander.h" - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "state_machine_helper.h" -#include "systemlib/systemlib.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -/* XXX MOVE CALIBRATION TO SENSORS APP THREAD */ -#include -#include -#include -#include - -#include "calibration_routines.h" -#include "accelerometer_calibration.h" - -PARAM_DEFINE_INT32(SYS_FAILSAVE_LL, 0); /**< Go into low-level failsafe after 0 ms */ -//PARAM_DEFINE_INT32(SYS_FAILSAVE_HL, 0); /**< Go into high-level failsafe after 0 ms */ -PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f); -PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f); -PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f); - -#include -extern struct system_load_s system_load; - -/* Decouple update interval and hysteris counters, all depends on intervals */ -#define COMMANDER_MONITORING_INTERVAL 50000 -#define COMMANDER_MONITORING_LOOPSPERMSEC (1/(COMMANDER_MONITORING_INTERVAL/1000.0f)) -#define LOW_VOLTAGE_BATTERY_COUNTER_LIMIT (LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) -#define CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT (CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) - -#define STICK_ON_OFF_LIMIT 0.75f -#define STICK_THRUST_RANGE 1.0f -#define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000 -#define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) - -#define GPS_FIX_TYPE_2D 2 -#define GPS_FIX_TYPE_3D 3 -#define GPS_QUALITY_GOOD_HYSTERIS_TIME_MS 5000 -#define GPS_QUALITY_GOOD_COUNTER_LIMIT (GPS_QUALITY_GOOD_HYSTERIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) - -/* File descriptors */ -static int leds; -static int buzzer; -static int mavlink_fd; -static bool commander_initialized = false; -static struct vehicle_status_s current_status; /**< Main state machine */ -static orb_advert_t stat_pub; - -// static uint16_t nofix_counter = 0; -// static uint16_t gotfix_counter = 0; - -static unsigned int failsafe_lowlevel_timeout_ms; - -static bool thread_should_exit = false; /**< daemon exit flag */ -static bool thread_running = false; /**< daemon status flag */ -static int daemon_task; /**< Handle of daemon task / thread */ - -/* pthread loops */ -static void *orb_receive_loop(void *arg); - -__EXPORT int commander_main(int argc, char *argv[]); - -/** - * Mainloop of commander. - */ -int commander_thread_main(int argc, char *argv[]); - -static int buzzer_init(void); -static void buzzer_deinit(void); -static int led_init(void); -static void led_deinit(void); -static int led_toggle(int led); -static int led_on(int led); -static int led_off(int led); -static void do_gyro_calibration(int status_pub, struct vehicle_status_s *status); -static void do_mag_calibration(int status_pub, struct vehicle_status_s *status); -static void do_rc_calibration(int status_pub, struct vehicle_status_s *status); -static void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd); - -int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state); - - - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -/** - * Sort calibration values. - * - * Sorts the calibration values with bubble sort. - * - * @param a The array to sort - * @param n The number of entries in the array - */ -// static void cal_bsort(float a[], int n); - -static int buzzer_init() -{ - buzzer = open("/dev/tone_alarm", O_WRONLY); - - if (buzzer < 0) { - warnx("Buzzer: open fail\n"); - return ERROR; - } - - return 0; -} - -static void buzzer_deinit() -{ - close(buzzer); -} - - -static int led_init() -{ - leds = open(LED_DEVICE_PATH, 0); - - if (leds < 0) { - warnx("LED: open fail\n"); - return ERROR; - } - - if (ioctl(leds, LED_ON, LED_BLUE) || ioctl(leds, LED_ON, LED_AMBER)) { - warnx("LED: ioctl fail\n"); - return ERROR; - } - - return 0; -} - -static void led_deinit() -{ - 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); -} - -enum AUDIO_PATTERN { - AUDIO_PATTERN_ERROR = 2, - AUDIO_PATTERN_NOTIFY_POSITIVE = 3, - AUDIO_PATTERN_NOTIFY_NEUTRAL = 4, - AUDIO_PATTERN_NOTIFY_NEGATIVE = 5, - AUDIO_PATTERN_NOTIFY_CHARGE = 6 -}; - -int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state) -{ - - /* Trigger alarm if going into any error state */ - if (((new_state == SYSTEM_STATE_GROUND_ERROR) && (old_state != SYSTEM_STATE_GROUND_ERROR)) || - ((new_state == SYSTEM_STATE_MISSION_ABORT) && (old_state != SYSTEM_STATE_MISSION_ABORT))) { - ioctl(buzzer, TONE_SET_ALARM, 0); - ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_ERROR); - } - - /* Trigger neutral on arming / disarming */ - if (((new_state == SYSTEM_STATE_GROUND_READY) && (old_state != SYSTEM_STATE_GROUND_READY))) { - ioctl(buzzer, TONE_SET_ALARM, 0); - ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_NOTIFY_NEUTRAL); - } - - /* Trigger Tetris on being bored */ - - return 0; -} - -void tune_confirm(void) -{ - ioctl(buzzer, TONE_SET_ALARM, 3); -} - -void tune_error(void) -{ - ioctl(buzzer, TONE_SET_ALARM, 4); -} - -void do_rc_calibration(int status_pub, struct vehicle_status_s *status) -{ - if (current_status.rc_signal_lost) { - mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal."); - return; - } - - int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint)); - struct manual_control_setpoint_s sp; - orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp); - - /* set parameters */ - - float p = sp.roll; - param_set(param_find("TRIM_ROLL"), &p); - p = sp.pitch; - param_set(param_find("TRIM_PITCH"), &p); - p = sp.yaw; - param_set(param_find("TRIM_YAW"), &p); - - /* store to permanent storage */ - /* auto-save to EEPROM */ - int save_ret = param_save_default(); - - if (save_ret != 0) { - mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed"); - } - - mavlink_log_info(mavlink_fd, "trim calibration done"); -} - -void do_mag_calibration(int status_pub, struct vehicle_status_s *status) -{ - - /* set to mag calibration mode */ - status->flag_preflight_mag_calibration = true; - state_machine_publish(status_pub, status, mavlink_fd); - - int sub_mag = orb_subscribe(ORB_ID(sensor_mag)); - struct mag_report mag; - - /* 45 seconds */ - uint64_t calibration_interval = 45 * 1000 * 1000; - - /* maximum 2000 values */ - const unsigned int calibration_maxcount = 500; - unsigned int calibration_counter = 0; - - /* limit update rate to get equally spaced measurements over time (in ms) */ - orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount); - - // XXX old cal - // * FLT_MIN is not the most negative float number, - // * but the smallest number by magnitude float can - // * represent. Use -FLT_MAX to initialize the most - // * negative number - - // float mag_max[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX}; - // float mag_min[3] = {FLT_MAX, FLT_MAX, FLT_MAX}; - - int fd = open(MAG_DEVICE_PATH, O_RDONLY); - - /* erase old calibration */ - struct mag_scale mscale_null = { - 0.0f, - 1.0f, - 0.0f, - 1.0f, - 0.0f, - 1.0f, - }; - - if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) { - warn("WARNING: failed to set scale / offsets for mag"); - mavlink_log_info(mavlink_fd, "failed to set scale / offsets for mag"); - } - - /* calibrate range */ - if (OK != ioctl(fd, MAGIOCCALIBRATE, fd)) { - warnx("failed to calibrate scale"); - } - - close(fd); - - /* calibrate offsets */ - - // uint64_t calibration_start = hrt_absolute_time(); - - uint64_t axis_deadline = hrt_absolute_time(); - uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval; - - const char axislabels[3] = { 'X', 'Y', 'Z'}; - int axis_index = -1; - - float *x = (float *)malloc(sizeof(float) * calibration_maxcount); - float *y = (float *)malloc(sizeof(float) * calibration_maxcount); - float *z = (float *)malloc(sizeof(float) * calibration_maxcount); - - if (x == NULL || y == NULL || z == NULL) { - warnx("mag cal failed: out of memory"); - mavlink_log_info(mavlink_fd, "mag cal failed: out of memory"); - warnx("x:%p y:%p z:%p\n", x, y, z); - return; - } - - tune_confirm(); - sleep(2); - tune_confirm(); - - while (hrt_absolute_time() < calibration_deadline && - calibration_counter < calibration_maxcount) { - - /* wait blocking for new data */ - struct pollfd fds[1] = { { .fd = sub_mag, .events = POLLIN } }; - - /* user guidance */ - if (hrt_absolute_time() >= axis_deadline && - axis_index < 3) { - - axis_index++; - - char buf[50]; - sprintf(buf, "Please rotate around %c", axislabels[axis_index]); - mavlink_log_info(mavlink_fd, buf); - tune_confirm(); - - axis_deadline += calibration_interval / 3; - } - - if (!(axis_index < 3)) { - break; - } - - // int axis_left = (int64_t)axis_deadline - (int64_t)hrt_absolute_time(); - - // if ((axis_left / 1000) == 0 && axis_left > 0) { - // char buf[50]; - // sprintf(buf, "[cmd] %d seconds left for axis %c", axis_left, axislabels[axis_index]); - // mavlink_log_info(mavlink_fd, buf); - // } - - int poll_ret = poll(fds, 1, 1000); - - if (poll_ret) { - orb_copy(ORB_ID(sensor_mag), sub_mag, &mag); - - x[calibration_counter] = mag.x; - y[calibration_counter] = mag.y; - z[calibration_counter] = mag.z; - - /* get min/max values */ - - // if (mag.x < mag_min[0]) { - // mag_min[0] = mag.x; - // } - // else if (mag.x > mag_max[0]) { - // mag_max[0] = mag.x; - // } - - // if (raw.magnetometer_ga[1] < mag_min[1]) { - // mag_min[1] = raw.magnetometer_ga[1]; - // } - // else if (raw.magnetometer_ga[1] > mag_max[1]) { - // mag_max[1] = raw.magnetometer_ga[1]; - // } - - // if (raw.magnetometer_ga[2] < mag_min[2]) { - // mag_min[2] = raw.magnetometer_ga[2]; - // } - // else if (raw.magnetometer_ga[2] > mag_max[2]) { - // mag_max[2] = raw.magnetometer_ga[2]; - // } - - calibration_counter++; - - } else if (poll_ret == 0) { - /* any poll failure for 1s is a reason to abort */ - mavlink_log_info(mavlink_fd, "mag cal canceled (timed out)"); - break; - } - } - - float sphere_x; - float sphere_y; - float sphere_z; - float sphere_radius; - - sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius); - - free(x); - free(y); - free(z); - - if (isfinite(sphere_x) && isfinite(sphere_y) && isfinite(sphere_z)) { - - fd = open(MAG_DEVICE_PATH, 0); - - struct mag_scale mscale; - - if (OK != ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale)) - warn("WARNING: failed to get scale / offsets for mag"); - - mscale.x_offset = sphere_x; - mscale.y_offset = sphere_y; - mscale.z_offset = sphere_z; - - if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) - warn("WARNING: failed to set scale / offsets for mag"); - - close(fd); - - /* announce and set new offset */ - - if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) { - warnx("Setting X mag offset failed!\n"); - } - - if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) { - warnx("Setting Y mag offset failed!\n"); - } - - if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) { - warnx("Setting Z mag offset failed!\n"); - } - - if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) { - warnx("Setting X mag scale failed!\n"); - } - - if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) { - warnx("Setting Y mag scale failed!\n"); - } - - if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) { - warnx("Setting Z mag scale failed!\n"); - } - - /* auto-save to EEPROM */ - int save_ret = param_save_default(); - - if (save_ret != 0) { - warn("WARNING: auto-save of params to storage failed"); - mavlink_log_info(mavlink_fd, "FAILED storing calibration"); - } - - warnx("\tscale: %.6f %.6f %.6f\n \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n", - (double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale, - (double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius); - - char buf[52]; - sprintf(buf, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset, - (double)mscale.y_offset, (double)mscale.z_offset); - mavlink_log_info(mavlink_fd, buf); - - sprintf(buf, "mag scale: x:%.2f y:%.2f z:%.2f", (double)mscale.x_scale, - (double)mscale.y_scale, (double)mscale.z_scale); - mavlink_log_info(mavlink_fd, buf); - - mavlink_log_info(mavlink_fd, "mag calibration done"); - - tune_confirm(); - sleep(2); - tune_confirm(); - sleep(2); - /* third beep by cal end routine */ - - } else { - mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN in sphere fit)"); - } - - /* disable calibration mode */ - status->flag_preflight_mag_calibration = false; - state_machine_publish(status_pub, status, mavlink_fd); - - close(sub_mag); -} - -void do_gyro_calibration(int status_pub, struct vehicle_status_s *status) -{ - /* set to gyro calibration mode */ - status->flag_preflight_gyro_calibration = true; - state_machine_publish(status_pub, status, mavlink_fd); - - const int calibration_count = 5000; - - int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined)); - struct sensor_combined_s raw; - - int calibration_counter = 0; - float gyro_offset[3] = {0.0f, 0.0f, 0.0f}; - - /* set offsets to zero */ - int fd = open(GYRO_DEVICE_PATH, 0); - struct gyro_scale gscale_null = { - 0.0f, - 1.0f, - 0.0f, - 1.0f, - 0.0f, - 1.0f, - }; - - if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale_null)) - warn("WARNING: failed to set scale / offsets for gyro"); - - close(fd); - - int errcount = 0; - - while (calibration_counter < calibration_count) { - - /* wait blocking for new data */ - struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } }; - - int poll_ret = poll(fds, 1, 1000); - - if (poll_ret) { - orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw); - gyro_offset[0] += raw.gyro_rad_s[0]; - gyro_offset[1] += raw.gyro_rad_s[1]; - gyro_offset[2] += raw.gyro_rad_s[2]; - calibration_counter++; - - } else if (poll_ret == 0) { - errcount++; - } - - if (errcount > 1000) { - /* any persisting poll error is a reason to abort */ - mavlink_log_info(mavlink_fd, "permanent gyro error, aborted."); - return; - } - } - - gyro_offset[0] = gyro_offset[0] / calibration_count; - gyro_offset[1] = gyro_offset[1] / calibration_count; - gyro_offset[2] = gyro_offset[2] / calibration_count; - - /* exit gyro calibration mode */ - status->flag_preflight_gyro_calibration = false; - state_machine_publish(status_pub, status, mavlink_fd); - - if (isfinite(gyro_offset[0]) && isfinite(gyro_offset[1]) && isfinite(gyro_offset[2])) { - - if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0])) - || param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1])) - || param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) { - mavlink_log_critical(mavlink_fd, "Setting gyro offsets failed!"); - } - - /* set offsets to actual value */ - fd = open(GYRO_DEVICE_PATH, 0); - struct gyro_scale gscale = { - gyro_offset[0], - 1.0f, - gyro_offset[1], - 1.0f, - gyro_offset[2], - 1.0f, - }; - - if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) - warn("WARNING: failed to set scale / offsets for gyro"); - - close(fd); - - /* auto-save to EEPROM */ - int save_ret = param_save_default(); - - if (save_ret != 0) { - warn("WARNING: auto-save of params to storage failed"); - } - - // char buf[50]; - // sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]); - // mavlink_log_info(mavlink_fd, buf); - mavlink_log_info(mavlink_fd, "gyro calibration done"); - - tune_confirm(); - sleep(2); - tune_confirm(); - sleep(2); - /* third beep by cal end routine */ - - } else { - mavlink_log_info(mavlink_fd, "gyro calibration FAILED (NaN)"); - } - - close(sub_sensor_combined); -} - -void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status) -{ - /* announce change */ - - mavlink_log_info(mavlink_fd, "keep it still"); - /* set to accel calibration mode */ - status->flag_preflight_airspeed_calibration = true; - state_machine_publish(status_pub, status, mavlink_fd); - - const int calibration_count = 2500; - - int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); - struct differential_pressure_s diff_pres; - - int calibration_counter = 0; - float diff_pres_offset = 0.0f; - - while (calibration_counter < calibration_count) { - - /* wait blocking for new data */ - struct pollfd fds[1] = { { .fd = diff_pres_sub, .events = POLLIN } }; - - int poll_ret = poll(fds, 1, 1000); - - if (poll_ret) { - orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); - diff_pres_offset += diff_pres.differential_pressure_pa; - calibration_counter++; - - } else if (poll_ret == 0) { - /* any poll failure for 1s is a reason to abort */ - mavlink_log_info(mavlink_fd, "airspeed calibration aborted"); - return; - } - } - - diff_pres_offset = diff_pres_offset / calibration_count; - - if (isfinite(diff_pres_offset)) { - - if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) { - mavlink_log_critical(mavlink_fd, "Setting offs failed!"); - } - - /* auto-save to EEPROM */ - int save_ret = param_save_default(); - - if (save_ret != 0) { - warn("WARNING: auto-save of params to storage failed"); - } - - //char buf[50]; - //sprintf(buf, "[cmd] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]); - //mavlink_log_info(mavlink_fd, buf); - mavlink_log_info(mavlink_fd, "airspeed calibration done"); - - tune_confirm(); - sleep(2); - tune_confirm(); - sleep(2); - /* third beep by cal end routine */ - - } else { - mavlink_log_info(mavlink_fd, "airspeed calibration FAILED (NaN)"); - } - - /* exit airspeed calibration mode */ - status->flag_preflight_airspeed_calibration = false; - state_machine_publish(status_pub, status, mavlink_fd); - - close(diff_pres_sub); -} - - - -void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd) -{ - /* result of the command */ - uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED; - - /* announce command handling */ - tune_confirm(); - - - /* supported command handling start */ - - /* request to set different system mode */ - switch (cmd->command) { - case VEHICLE_CMD_DO_SET_MODE: { - if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, (uint8_t)cmd->param1)) { - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - result = VEHICLE_CMD_RESULT_DENIED; - } - } - break; - - case VEHICLE_CMD_COMPONENT_ARM_DISARM: { - /* request to arm */ - if ((int)cmd->param1 == 1) { - if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) { - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - result = VEHICLE_CMD_RESULT_DENIED; - } - - /* request to disarm */ - - } else if ((int)cmd->param1 == 0) { - if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) { - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - result = VEHICLE_CMD_RESULT_DENIED; - } - } - } - break; - - /* request for an autopilot reboot */ - case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: { - if ((int)cmd->param1 == 1) { - if (OK == do_state_update(status_pub, current_vehicle_status, mavlink_fd, SYSTEM_STATE_REBOOT)) { - /* SPECIAL CASE: SYSTEM WILL NEVER RETURN HERE */ - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - /* system may return here */ - result = VEHICLE_CMD_RESULT_DENIED; - } - } - } - break; - -// /* request to land */ -// case VEHICLE_CMD_NAV_LAND: -// { -// //TODO: add check if landing possible -// //TODO: add landing maneuver -// -// if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_ARMED)) { -// result = VEHICLE_CMD_RESULT_ACCEPTED; -// } } -// break; -// -// /* request to takeoff */ -// case VEHICLE_CMD_NAV_TAKEOFF: -// { -// //TODO: add check if takeoff possible -// //TODO: add takeoff maneuver -// -// if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_AUTO)) { -// result = VEHICLE_CMD_RESULT_ACCEPTED; -// } -// } -// break; -// - /* preflight calibration */ - case VEHICLE_CMD_PREFLIGHT_CALIBRATION: { - bool handled = false; - - /* gyro calibration */ - if ((int)(cmd->param1) == 1) { - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "starting gyro cal"); - tune_confirm(); - do_gyro_calibration(status_pub, ¤t_status); - mavlink_log_info(mavlink_fd, "finished gyro cal"); - tune_confirm(); - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - mavlink_log_critical(mavlink_fd, "REJECTING gyro cal"); - result = VEHICLE_CMD_RESULT_DENIED; - } - - handled = true; - } - - /* magnetometer calibration */ - if ((int)(cmd->param2) == 1) { - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "starting mag cal"); - tune_confirm(); - do_mag_calibration(status_pub, ¤t_status); - mavlink_log_info(mavlink_fd, "finished mag cal"); - tune_confirm(); - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - mavlink_log_critical(mavlink_fd, "REJECTING mag cal"); - result = VEHICLE_CMD_RESULT_DENIED; - } - - handled = true; - } - - /* zero-altitude pressure calibration */ - if ((int)(cmd->param3) == 1) { - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "zero altitude cal. not implemented"); - tune_confirm(); - - } else { - mavlink_log_critical(mavlink_fd, "REJECTING altitude calibration"); - result = VEHICLE_CMD_RESULT_DENIED; - } - - handled = true; - } - - /* trim calibration */ - if ((int)(cmd->param4) == 1) { - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "starting trim cal"); - tune_confirm(); - do_rc_calibration(status_pub, ¤t_status); - mavlink_log_info(mavlink_fd, "finished trim cal"); - tune_confirm(); - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - mavlink_log_critical(mavlink_fd, "REJECTING trim cal"); - result = VEHICLE_CMD_RESULT_DENIED; - } - - handled = true; - } - - /* accel calibration */ - if ((int)(cmd->param5) == 1) { - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "CMD starting accel cal"); - tune_confirm(); - do_accel_calibration(status_pub, ¤t_status, mavlink_fd); - tune_confirm(); - mavlink_log_info(mavlink_fd, "CMD finished accel cal"); - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - mavlink_log_critical(mavlink_fd, "REJECTING accel cal"); - result = VEHICLE_CMD_RESULT_DENIED; - } - - handled = true; - } - - /* airspeed calibration */ - if ((int)(cmd->param6) == 1) { //xxx: this is not defined by the mavlink protocol - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "CMD starting airspeed cal"); - tune_confirm(); - do_airspeed_calibration(status_pub, ¤t_status); - tune_confirm(); - mavlink_log_info(mavlink_fd, "CMD finished airspeed cal"); - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - mavlink_log_critical(mavlink_fd, "REJECTING airspeed cal"); - result = VEHICLE_CMD_RESULT_DENIED; - } - - handled = true; - } - - /* none found */ - if (!handled) { - //warnx("refusing unsupported calibration request\n"); - mavlink_log_critical(mavlink_fd, "CMD refusing unsup. calib. request"); - result = VEHICLE_CMD_RESULT_UNSUPPORTED; - } - } - break; - - case VEHICLE_CMD_PREFLIGHT_STORAGE: { - if (current_status.flag_system_armed && - ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || - (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || - (current_status.system_type == VEHICLE_TYPE_OCTOROTOR))) { - /* do not perform expensive memory tasks on multirotors in flight */ - // XXX this is over-safe, as soon as cmd is in low prio thread this can be allowed - mavlink_log_info(mavlink_fd, "REJECTING save cmd while multicopter armed"); - - } else { - - // XXX move this to LOW PRIO THREAD of commander app - /* Read all parameters from EEPROM to RAM */ - - if (((int)(cmd->param1)) == 0) { - - /* read all parameters from EEPROM to RAM */ - int read_ret = param_load_default(); - - if (read_ret == OK) { - //warnx("[mavlink pm] Loaded EEPROM params in RAM\n"); - mavlink_log_info(mavlink_fd, "OK loading params from"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else if (read_ret == 1) { - mavlink_log_info(mavlink_fd, "OK no changes in"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - if (read_ret < -1) { - mavlink_log_info(mavlink_fd, "ERR loading params from"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - - } else { - mavlink_log_info(mavlink_fd, "ERR no param file named"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - } - - result = VEHICLE_CMD_RESULT_FAILED; - } - - } else if (((int)(cmd->param1)) == 1) { - - /* write all parameters from RAM to EEPROM */ - int write_ret = param_save_default(); - - if (write_ret == OK) { - mavlink_log_info(mavlink_fd, "OK saved param file"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - if (write_ret < -1) { - mavlink_log_info(mavlink_fd, "ERR params file does not exit:"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - - } else { - mavlink_log_info(mavlink_fd, "ERR writing params to"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - } - - result = VEHICLE_CMD_RESULT_FAILED; - } - - } else { - mavlink_log_info(mavlink_fd, "[pm] refusing unsupp. STOR request"); - result = VEHICLE_CMD_RESULT_UNSUPPORTED; - } - } - } - break; - - default: { - mavlink_log_critical(mavlink_fd, "[cmd] refusing unsupported command"); - result = VEHICLE_CMD_RESULT_UNSUPPORTED; - /* announce command rejection */ - ioctl(buzzer, TONE_SET_ALARM, 4); - } - break; - } - - /* supported command handling stop */ - if (result == VEHICLE_CMD_RESULT_FAILED || - result == VEHICLE_CMD_RESULT_DENIED || - result == VEHICLE_CMD_RESULT_UNSUPPORTED) { - ioctl(buzzer, TONE_SET_ALARM, 5); - - } else if (result == VEHICLE_CMD_RESULT_ACCEPTED) { - tune_confirm(); - } - - /* send any requested ACKs */ - if (cmd->confirmation > 0) { - /* send acknowledge command */ - // XXX TODO - } - -} - -static void *orb_receive_loop(void *arg) //handles status information coming from subsystems (present, enabled, health), these values do not indicate the quality (variance) of the signal -{ - /* Set thread name */ - prctl(PR_SET_NAME, "commander orb rcv", getpid()); - - /* Subscribe to command topic */ - int subsys_sub = orb_subscribe(ORB_ID(subsystem_info)); - struct subsystem_info_s info; - - struct vehicle_status_s *vstatus = (struct vehicle_status_s *)arg; - - while (!thread_should_exit) { - struct pollfd fds[1] = { { .fd = subsys_sub, .events = POLLIN } }; - - if (poll(fds, 1, 5000) == 0) { - /* timeout, but this is no problem, silently ignore */ - } else { - /* got command */ - orb_copy(ORB_ID(subsystem_info), subsys_sub, &info); - - warnx("Subsys changed: %d\n", (int)info.subsystem_type); - - /* mark / unmark as present */ - if (info.present) { - vstatus->onboard_control_sensors_present |= info.subsystem_type; - - } else { - vstatus->onboard_control_sensors_present &= ~info.subsystem_type; - } - - /* mark / unmark as enabled */ - if (info.enabled) { - vstatus->onboard_control_sensors_enabled |= info.subsystem_type; - - } else { - vstatus->onboard_control_sensors_enabled &= ~info.subsystem_type; - } - - /* mark / unmark as ok */ - if (info.ok) { - vstatus->onboard_control_sensors_health |= info.subsystem_type; - - } else { - vstatus->onboard_control_sensors_health &= ~info.subsystem_type; - } - } - } - - close(subsys_sub); - - return NULL; -} - -/* - * Provides a coarse estimate of remaining battery power. - * - * The estimate is very basic and based on decharging voltage curves. - * - * @return the estimated remaining capacity in 0..1 - */ -float battery_remaining_estimate_voltage(float voltage); - -PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.2f); -PARAM_DEFINE_FLOAT(BAT_V_FULL, 4.05f); -PARAM_DEFINE_FLOAT(BAT_N_CELLS, 3); - -float battery_remaining_estimate_voltage(float voltage) -{ - float ret = 0; - static param_t bat_volt_empty; - static param_t bat_volt_full; - static param_t bat_n_cells; - static bool initialized = false; - static unsigned int counter = 0; - static float ncells = 3; - // XXX change cells to int (and param to INT32) - - if (!initialized) { - bat_volt_empty = param_find("BAT_V_EMPTY"); - bat_volt_full = param_find("BAT_V_FULL"); - bat_n_cells = param_find("BAT_N_CELLS"); - initialized = true; - } - - static float chemistry_voltage_empty = 3.2f; - static float chemistry_voltage_full = 4.05f; - - if (counter % 100 == 0) { - param_get(bat_volt_empty, &chemistry_voltage_empty); - param_get(bat_volt_full, &chemistry_voltage_full); - param_get(bat_n_cells, &ncells); - } - - counter++; - - ret = (voltage - ncells * chemistry_voltage_empty) / (ncells * (chemistry_voltage_full - chemistry_voltage_empty)); - - /* limit to sane values */ - ret = (ret < 0) ? 0 : ret; - ret = (ret > 1) ? 1 : ret; - return ret; -} - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - - fprintf(stderr, "usage: daemon {start|stop|status} [-p ]\n\n"); - exit(1); -} - -/** - * The daemon app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_create(). - */ -int commander_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - warnx("commander already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - daemon_task = task_spawn_cmd("commander", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 40, - 3000, - commander_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - warnx("\tcommander is running\n"); - - } else { - warnx("\tcommander not started\n"); - } - - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - -int commander_thread_main(int argc, char *argv[]) -{ - /* not yet initialized */ - commander_initialized = false; - bool home_position_set = false; - - /* set parameters */ - failsafe_lowlevel_timeout_ms = 0; - param_get(param_find("SYS_FAILSAVE_LL"), &failsafe_lowlevel_timeout_ms); - - param_t _param_sys_type = param_find("MAV_TYPE"); - param_t _param_system_id = param_find("MAV_SYS_ID"); - param_t _param_component_id = param_find("MAV_COMP_ID"); - - /* welcome user */ - warnx("I am in command now!\n"); - - /* pthreads for command and subsystem info handling */ - // pthread_t command_handling_thread; - pthread_t subsystem_info_thread; - - /* initialize */ - if (led_init() != 0) { - warnx("ERROR: Failed to initialize leds\n"); - } - - if (buzzer_init() != 0) { - warnx("ERROR: Failed to initialize buzzer\n"); - } - - mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - - if (mavlink_fd < 0) { - warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n"); - } - - /* make sure we are in preflight state */ - memset(¤t_status, 0, sizeof(current_status)); - current_status.state_machine = SYSTEM_STATE_PREFLIGHT; - current_status.flag_system_armed = false; - /* neither manual nor offboard control commands have been received */ - current_status.offboard_control_signal_found_once = false; - current_status.rc_signal_found_once = false; - /* mark all signals lost as long as they haven't been found */ - current_status.rc_signal_lost = true; - current_status.offboard_control_signal_lost = true; - /* allow manual override initially */ - current_status.flag_external_manual_override_ok = true; - /* flag position info as bad, do not allow auto mode */ - current_status.flag_vector_flight_mode_ok = false; - /* set battery warning flag */ - current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE; - - /* advertise to ORB */ - stat_pub = orb_advertise(ORB_ID(vehicle_status), ¤t_status); - /* publish current state machine */ - state_machine_publish(stat_pub, ¤t_status, mavlink_fd); - - /* home position */ - orb_advert_t home_pub = -1; - struct home_position_s home; - memset(&home, 0, sizeof(home)); - - if (stat_pub < 0) { - warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n"); - warnx("exiting."); - exit(ERROR); - } - - mavlink_log_info(mavlink_fd, "system is running"); - - /* create pthreads */ - pthread_attr_t subsystem_info_attr; - pthread_attr_init(&subsystem_info_attr); - pthread_attr_setstacksize(&subsystem_info_attr, 2048); - pthread_create(&subsystem_info_thread, &subsystem_info_attr, orb_receive_loop, ¤t_status); - - /* Start monitoring loop */ - uint16_t counter = 0; - uint8_t flight_env; - - /* Initialize to 0.0V */ - float battery_voltage = 0.0f; - bool battery_voltage_valid = false; - bool low_battery_voltage_actions_done = false; - bool critical_battery_voltage_actions_done = false; - uint8_t low_voltage_counter = 0; - uint16_t critical_voltage_counter = 0; - int16_t mode_switch_rc_value; - float bat_remain = 1.0f; - - uint16_t stick_off_counter = 0; - uint16_t stick_on_counter = 0; - - /* Subscribe to manual control data */ - int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - struct manual_control_setpoint_s sp_man; - memset(&sp_man, 0, sizeof(sp_man)); - - /* Subscribe to offboard control data */ - int sp_offboard_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); - struct offboard_control_setpoint_s sp_offboard; - memset(&sp_offboard, 0, sizeof(sp_offboard)); - - int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - struct vehicle_global_position_s global_position; - memset(&global_position, 0, sizeof(global_position)); - uint64_t last_global_position_time = 0; - - int local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position)); - struct vehicle_local_position_s local_position; - memset(&local_position, 0, sizeof(local_position)); - uint64_t last_local_position_time = 0; - - /* - * The home position is set based on GPS only, to prevent a dependency between - * position estimator and commander. RAW GPS is more than good enough for a - * non-flying vehicle. - */ - int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - struct vehicle_gps_position_s gps_position; - memset(&gps_position, 0, sizeof(gps_position)); - - int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - struct sensor_combined_s sensors; - memset(&sensors, 0, sizeof(sensors)); - - int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); - struct differential_pressure_s diff_pres; - memset(&diff_pres, 0, sizeof(diff_pres)); - uint64_t last_diff_pres_time = 0; - - /* Subscribe to command topic */ - int cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); - struct vehicle_command_s cmd; - memset(&cmd, 0, sizeof(cmd)); - - /* Subscribe to parameters changed topic */ - int param_changed_sub = orb_subscribe(ORB_ID(parameter_update)); - struct parameter_update_s param_changed; - memset(¶m_changed, 0, sizeof(param_changed)); - - /* subscribe to battery topic */ - int battery_sub = orb_subscribe(ORB_ID(battery_status)); - struct battery_status_s battery; - memset(&battery, 0, sizeof(battery)); - battery.voltage_v = 0.0f; - - // uint8_t vehicle_state_previous = current_status.state_machine; - float voltage_previous = 0.0f; - - uint64_t last_idle_time = 0; - - /* now initialized */ - commander_initialized = true; - thread_running = true; - - uint64_t start_time = hrt_absolute_time(); - uint64_t failsave_ll_start_time = 0; - - enum VEHICLE_MANUAL_SAS_MODE manual_sas_mode; - bool state_changed = true; - bool param_init_forced = true; - - while (!thread_should_exit) { - - /* Get current values */ - bool new_data; - orb_check(sp_man_sub, &new_data); - - if (new_data) { - orb_copy(ORB_ID(manual_control_setpoint), sp_man_sub, &sp_man); - } - - orb_check(sp_offboard_sub, &new_data); - - if (new_data) { - orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard); - } - - orb_check(sensor_sub, &new_data); - - if (new_data) { - orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors); - } - - orb_check(diff_pres_sub, &new_data); - - if (new_data) { - orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); - last_diff_pres_time = diff_pres.timestamp; - } - - orb_check(cmd_sub, &new_data); - - if (new_data) { - /* got command */ - orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); - - /* handle it */ - handle_command(stat_pub, ¤t_status, &cmd); - } - - /* update parameters */ - orb_check(param_changed_sub, &new_data); - - if (new_data || param_init_forced) { - param_init_forced = false; - /* parameters changed */ - orb_copy(ORB_ID(parameter_update), param_changed_sub, ¶m_changed); - - - /* update parameters */ - if (!current_status.flag_system_armed) { - if (param_get(_param_sys_type, &(current_status.system_type)) != OK) { - warnx("failed setting new system type"); - } - - /* disable manual override for all systems that rely on electronic stabilization */ - if (current_status.system_type == VEHICLE_TYPE_QUADROTOR || - current_status.system_type == VEHICLE_TYPE_HEXAROTOR || - current_status.system_type == VEHICLE_TYPE_OCTOROTOR) { - current_status.flag_external_manual_override_ok = false; - - } else { - current_status.flag_external_manual_override_ok = true; - } - - /* check and update system / component ID */ - param_get(_param_system_id, &(current_status.system_id)); - param_get(_param_component_id, &(current_status.component_id)); - - } - } - - /* update global position estimate */ - orb_check(global_position_sub, &new_data); - - if (new_data) { - /* position changed */ - orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position); - last_global_position_time = global_position.timestamp; - } - - /* update local position estimate */ - orb_check(local_position_sub, &new_data); - - if (new_data) { - /* position changed */ - orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position); - last_local_position_time = local_position.timestamp; - } - - /* update battery status */ - orb_check(battery_sub, &new_data); - if (new_data) { - orb_copy(ORB_ID(battery_status), battery_sub, &battery); - battery_voltage = battery.voltage_v; - battery_voltage_valid = true; - - /* - * Only update battery voltage estimate if system has - * been running for two and a half seconds. - */ - if (hrt_absolute_time() - start_time > 2500000) { - bat_remain = battery_remaining_estimate_voltage(battery_voltage); - } - } - - /* Slow but important 8 Hz checks */ - if (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 8) == 0) { - /* toggle activity (blue) led at 1 Hz in standby, 10 Hz in armed mode */ - if ((current_status.state_machine == SYSTEM_STATE_GROUND_READY || - current_status.state_machine == SYSTEM_STATE_AUTO || - current_status.state_machine == SYSTEM_STATE_MANUAL)) { - /* armed, solid */ - led_on(LED_AMBER); - - } else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { - /* not armed */ - led_toggle(LED_AMBER); - } - - if (hrt_absolute_time() - gps_position.timestamp_position < 2000000) { - - /* toggle GPS (blue) led at 1 Hz if GPS present but no lock, make is solid once locked */ - if ((hrt_absolute_time() - gps_position.timestamp_position < 2000000) - && (gps_position.fix_type == GPS_FIX_TYPE_3D)) { - /* GPS lock */ - led_on(LED_BLUE); - - } else if ((counter + 4) % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { - /* no GPS lock, but GPS module is aquiring lock */ - led_toggle(LED_BLUE); - } - - } else { - /* no GPS info, don't light the blue led */ - led_off(LED_BLUE); - } - - /* toggle GPS led at 5 Hz in HIL mode */ - if (current_status.flag_hil_enabled) { - /* hil enabled */ - led_toggle(LED_BLUE); - - } else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) { - /* toggle arming (red) at 5 Hz on low battery or error */ - led_toggle(LED_AMBER); - - } else { - // /* Constant error indication in standby mode without GPS */ - // if (!current_status.gps_valid) { - // led_on(LED_AMBER); - - // } else { - // led_off(LED_AMBER); - // } - } - - if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { - /* compute system load */ - uint64_t interval_runtime = system_load.tasks[0].total_runtime - last_idle_time; - - if (last_idle_time > 0) - current_status.load = 1000 - (interval_runtime / 1000); //system load is time spent in non-idle - - last_idle_time = system_load.tasks[0].total_runtime; - } - } - - // // XXX Export patterns and threshold to parameters - /* Trigger audio event for low battery */ - if (bat_remain < 0.1f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 4) == 0)) { - /* For less than 10%, start be really annoying at 5 Hz */ - ioctl(buzzer, TONE_SET_ALARM, 0); - ioctl(buzzer, TONE_SET_ALARM, 3); - - } else if (bat_remain < 0.1f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 4) == 2)) { - ioctl(buzzer, TONE_SET_ALARM, 0); - - } else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 0)) { - /* For less than 20%, start be slightly annoying at 1 Hz */ - ioctl(buzzer, TONE_SET_ALARM, 0); - tune_confirm(); - - } else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 2)) { - ioctl(buzzer, TONE_SET_ALARM, 0); - } - - /* Check battery voltage */ - /* write to sys_status */ - if (battery_voltage_valid) { - current_status.voltage_battery = battery_voltage; - - } else { - current_status.voltage_battery = 0.0f; - } - - /* if battery voltage is getting lower, warn using buzzer, etc. */ - if (battery_voltage_valid && (bat_remain < 0.15f /* XXX MAGIC NUMBER */) && (false == low_battery_voltage_actions_done)) { //TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS - - if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) { - low_battery_voltage_actions_done = true; - mavlink_log_critical(mavlink_fd, "[cmd] WARNING! LOW BATTERY!"); - current_status.battery_warning = VEHICLE_BATTERY_WARNING_WARNING; - } - - low_voltage_counter++; - } - - /* Critical, this is rather an emergency, kill signal to sdlog and change state machine */ - else if (battery_voltage_valid && (bat_remain < 0.1f /* XXX MAGIC NUMBER */) && (false == critical_battery_voltage_actions_done && true == low_battery_voltage_actions_done)) { - if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) { - critical_battery_voltage_actions_done = true; - mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY! CRITICAL BATTERY!"); - current_status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT; - state_machine_emergency(stat_pub, ¤t_status, mavlink_fd); - } - - critical_voltage_counter++; - - } else { - low_voltage_counter = 0; - critical_voltage_counter = 0; - } - - /* End battery voltage check */ - - - /* - * Check for valid position information. - * - * If the system has a valid position source from an onboard - * position estimator, it is safe to operate it autonomously. - * The flag_vector_flight_mode_ok flag indicates that a minimum - * set of position measurements is available. - */ - - /* store current state to reason later about a state change */ - bool vector_flight_mode_ok = current_status.flag_vector_flight_mode_ok; - bool global_pos_valid = current_status.flag_global_position_valid; - bool local_pos_valid = current_status.flag_local_position_valid; - bool airspeed_valid = current_status.flag_airspeed_valid; - - /* check for global or local position updates, set a timeout of 2s */ - if (hrt_absolute_time() - last_global_position_time < 2000000) { - current_status.flag_global_position_valid = true; - // XXX check for controller status and home position as well - - } else { - current_status.flag_global_position_valid = false; - } - - if (hrt_absolute_time() - last_local_position_time < 2000000) { - current_status.flag_local_position_valid = true; - // XXX check for controller status and home position as well - - } else { - current_status.flag_local_position_valid = false; - } - - /* Check for valid airspeed/differential pressure measurements */ - if (hrt_absolute_time() - last_diff_pres_time < 2000000) { - current_status.flag_airspeed_valid = true; - - } else { - current_status.flag_airspeed_valid = false; - } - - /* - * Consolidate global position and local position valid flags - * for vector flight mode. - */ - if (current_status.flag_local_position_valid || - current_status.flag_global_position_valid) { - current_status.flag_vector_flight_mode_ok = true; - - } else { - current_status.flag_vector_flight_mode_ok = false; - } - - /* consolidate state change, flag as changed if required */ - if (vector_flight_mode_ok != current_status.flag_vector_flight_mode_ok || - global_pos_valid != current_status.flag_global_position_valid || - local_pos_valid != current_status.flag_local_position_valid || - airspeed_valid != current_status.flag_airspeed_valid) { - state_changed = true; - } - - /* - * Mark the position of the first position lock as return to launch (RTL) - * position. The MAV will return here on command or emergency. - * - * Conditions: - * - * 1) The system aquired position lock just now - * 2) The system has not aquired position lock before - * 3) The system is not armed (on the ground) - */ - if (!current_status.flag_valid_launch_position && - !vector_flight_mode_ok && current_status.flag_vector_flight_mode_ok && - !current_status.flag_system_armed) { - /* first time a valid position, store it and emit it */ - - // XXX implement storage and publication of RTL position - current_status.flag_valid_launch_position = true; - current_status.flag_auto_flight_mode_ok = true; - state_changed = true; - } - - if (orb_check(ORB_ID(vehicle_gps_position), &new_data)) { - - orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position); - - /* check for first, long-term and valid GPS lock -> set home position */ - float hdop_m = gps_position.eph_m; - float vdop_m = gps_position.epv_m; - - /* check if gps fix is ok */ - // XXX magic number - float hdop_threshold_m = 4.0f; - float vdop_threshold_m = 8.0f; - - /* - * If horizontal dilution of precision (hdop / eph) - * and vertical diluation of precision (vdop / epv) - * are below a certain threshold (e.g. 4 m), AND - * home position is not yet set AND the last GPS - * GPS measurement is not older than two seconds AND - * the system is currently not armed, set home - * position to the current position. - */ - - if (gps_position.fix_type == GPS_FIX_TYPE_3D - && (hdop_m < hdop_threshold_m) - && (vdop_m < vdop_threshold_m) - && !home_position_set - && (hrt_absolute_time() - gps_position.timestamp_position < 2000000) - && !current_status.flag_system_armed) { - warnx("setting home position"); - - /* copy position data to uORB home message, store it locally as well */ - home.lat = gps_position.lat; - home.lon = gps_position.lon; - home.alt = gps_position.alt; - - home.eph_m = gps_position.eph_m; - home.epv_m = gps_position.epv_m; - - home.s_variance_m_s = gps_position.s_variance_m_s; - home.p_variance_m = gps_position.p_variance_m; - - /* announce new home position */ - if (home_pub > 0) { - orb_publish(ORB_ID(home_position), home_pub, &home); - } else { - home_pub = orb_advertise(ORB_ID(home_position), &home); - } - - /* mark home position as set */ - home_position_set = true; - tune_confirm(); - } - } - - /* ignore RC signals if in offboard control mode */ - if (!current_status.offboard_control_signal_found_once && sp_man.timestamp != 0) { - /* Start RC state check */ - - if ((hrt_absolute_time() - sp_man.timestamp) < 100000) { - - // /* - // * Check if manual control modes have to be switched - // */ - // if (!isfinite(sp_man.manual_mode_switch)) { - // warnx("man mode sw not finite\n"); - - // /* this switch is not properly mapped, set default */ - // if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || - // (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || - // (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) { - - // /* assuming a rotary wing, fall back to SAS */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; - // current_status.flag_control_attitude_enabled = true; - // current_status.flag_control_rates_enabled = true; - // } else { - - // /* assuming a fixed wing, fall back to direct pass-through */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT; - // current_status.flag_control_attitude_enabled = false; - // current_status.flag_control_rates_enabled = false; - // } - - // } else if (sp_man.manual_mode_switch < -STICK_ON_OFF_LIMIT) { - - // /* bottom stick position, set direct mode for vehicles supporting it */ - // if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || - // (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || - // (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) { - - // /* assuming a rotary wing, fall back to SAS */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; - // current_status.flag_control_attitude_enabled = true; - // current_status.flag_control_rates_enabled = true; - // } else { - - // /* assuming a fixed wing, set to direct pass-through as requested */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT; - // current_status.flag_control_attitude_enabled = false; - // current_status.flag_control_rates_enabled = false; - // } - - // } else if (sp_man.manual_mode_switch > STICK_ON_OFF_LIMIT) { - - // /* top stick position, set SAS for all vehicle types */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; - // current_status.flag_control_attitude_enabled = true; - // current_status.flag_control_rates_enabled = true; - - // } else { - // /* center stick position, set rate control */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_RATES; - // current_status.flag_control_attitude_enabled = false; - // current_status.flag_control_rates_enabled = true; - // } - - // warnx("man ctrl mode: %d\n", (int)current_status.manual_control_mode); - - /* - * Check if manual stability control modes have to be switched - */ - if (!isfinite(sp_man.manual_sas_switch)) { - - /* this switch is not properly mapped, set default */ - current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS; - - } else if (sp_man.manual_sas_switch < -STICK_ON_OFF_LIMIT) { - - /* bottom stick position, set default */ - /* this MUST be mapped to extremal position to switch easy in case of emergency */ - current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS; - - } else if (sp_man.manual_sas_switch > STICK_ON_OFF_LIMIT) { - - /* top stick position */ - current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_SIMPLE; - - } else { - /* center stick position, set altitude hold */ - current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ALTITUDE; - } - - if (current_status.manual_sas_mode != manual_sas_mode) { - /* publish SAS mode changes immediately */ - manual_sas_mode = current_status.manual_sas_mode; - state_changed = true; - } - - /* - * Check if left stick is in lower left position --> switch to standby state. - * Do this only for multirotors, not for fixed wing aircraft. - */ - if (((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || - (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || - (current_status.system_type == VEHICLE_TYPE_OCTOROTOR) - ) && - current_status.flag_control_manual_enabled && - current_status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS && - sp_man.yaw < -STICK_ON_OFF_LIMIT && - sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { - if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { - update_state_machine_disarm(stat_pub, ¤t_status, mavlink_fd); - stick_on_counter = 0; - - } else { - stick_off_counter++; - stick_on_counter = 0; - } - } - - /* check if left stick is in lower right position --> arm */ - if (current_status.flag_control_manual_enabled && - current_status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS && - sp_man.yaw > STICK_ON_OFF_LIMIT && - sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { - if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { - update_state_machine_arm(stat_pub, ¤t_status, mavlink_fd); - stick_on_counter = 0; - - } else { - stick_on_counter++; - stick_off_counter = 0; - } - } - - /* check manual override switch - switch to manual or auto mode */ - if (sp_man.manual_override_switch > STICK_ON_OFF_LIMIT) { - /* enable manual override */ - update_state_machine_mode_manual(stat_pub, ¤t_status, mavlink_fd); - - } else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) { - // /* check auto mode switch for correct mode */ - // if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) { - // /* enable guided mode */ - // update_state_machine_mode_guided(stat_pub, ¤t_status, mavlink_fd); - - // } else if (sp_man.auto_mode_switch < -STICK_ON_OFF_LIMIT) { - // XXX hardcode to auto for now - update_state_machine_mode_auto(stat_pub, ¤t_status, mavlink_fd); - - // } - - } else { - /* center stick position, set SAS for all vehicle types */ - update_state_machine_mode_stabilized(stat_pub, ¤t_status, mavlink_fd); - } - - /* handle the case where RC signal was regained */ - if (!current_status.rc_signal_found_once) { - current_status.rc_signal_found_once = true; - mavlink_log_critical(mavlink_fd, "DETECTED RC SIGNAL FIRST TIME."); - - } else { - if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[cmd] RECOVERY - RC SIGNAL GAINED!"); - } - - current_status.rc_signal_cutting_off = false; - current_status.rc_signal_lost = false; - current_status.rc_signal_lost_interval = 0; - - } else { - static uint64_t last_print_time = 0; - - /* print error message for first RC glitch and then every 5 s / 5000 ms) */ - if (!current_status.rc_signal_cutting_off || ((hrt_absolute_time() - last_print_time) > 5000000)) { - /* only complain if the offboard control is NOT active */ - current_status.rc_signal_cutting_off = true; - mavlink_log_critical(mavlink_fd, "CRITICAL - NO REMOTE SIGNAL!"); - last_print_time = hrt_absolute_time(); - } - - /* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */ - current_status.rc_signal_lost_interval = hrt_absolute_time() - sp_man.timestamp; - - /* if the RC signal is gone for a full second, consider it lost */ - if (current_status.rc_signal_lost_interval > 1000000) { - current_status.rc_signal_lost = true; - current_status.failsave_lowlevel = true; - state_changed = true; - } - - // if (hrt_absolute_time() - current_status.failsave_ll_start_time > failsafe_lowlevel_timeout_ms*1000) { - // publish_armed_status(¤t_status); - // } - } - } - - - - - /* End mode switch */ - - /* END RC state check */ - - - /* State machine update for offboard control */ - if (!current_status.rc_signal_found_once && sp_offboard.timestamp != 0) { - if ((hrt_absolute_time() - sp_offboard.timestamp) < 5000000) { - - /* decide about attitude control flag, enable in att/pos/vel */ - bool attitude_ctrl_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE || - sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY || - sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION); - - /* decide about rate control flag, enable it always XXX (for now) */ - bool rates_ctrl_enabled = true; - - /* set up control mode */ - if (current_status.flag_control_attitude_enabled != attitude_ctrl_enabled) { - current_status.flag_control_attitude_enabled = attitude_ctrl_enabled; - state_changed = true; - } - - if (current_status.flag_control_rates_enabled != rates_ctrl_enabled) { - current_status.flag_control_rates_enabled = rates_ctrl_enabled; - state_changed = true; - } - - /* handle the case where offboard control signal was regained */ - if (!current_status.offboard_control_signal_found_once) { - current_status.offboard_control_signal_found_once = true; - /* enable offboard control, disable manual input */ - current_status.flag_control_manual_enabled = false; - current_status.flag_control_offboard_enabled = true; - state_changed = true; - tune_confirm(); - - mavlink_log_critical(mavlink_fd, "DETECTED OFFBOARD SIGNAL FIRST"); - - } else { - if (current_status.offboard_control_signal_lost) { - mavlink_log_critical(mavlink_fd, "RECOVERY OFFBOARD CONTROL"); - state_changed = true; - tune_confirm(); - } - } - - current_status.offboard_control_signal_weak = false; - current_status.offboard_control_signal_lost = false; - current_status.offboard_control_signal_lost_interval = 0; - - /* arm / disarm on request */ - if (sp_offboard.armed && !current_status.flag_system_armed) { - update_state_machine_arm(stat_pub, ¤t_status, mavlink_fd); - /* switch to stabilized mode = takeoff */ - update_state_machine_mode_stabilized(stat_pub, ¤t_status, mavlink_fd); - - } else if (!sp_offboard.armed && current_status.flag_system_armed) { - update_state_machine_disarm(stat_pub, ¤t_status, mavlink_fd); - } - - } else { - static uint64_t last_print_time = 0; - - /* print error message for first RC glitch and then every 5 s / 5000 ms) */ - if (!current_status.offboard_control_signal_weak || ((hrt_absolute_time() - last_print_time) > 5000000)) { - current_status.offboard_control_signal_weak = true; - mavlink_log_critical(mavlink_fd, "CRIT:NO OFFBOARD CONTROL!"); - last_print_time = hrt_absolute_time(); - } - - /* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */ - current_status.offboard_control_signal_lost_interval = hrt_absolute_time() - sp_offboard.timestamp; - - /* if the signal is gone for 0.1 seconds, consider it lost */ - if (current_status.offboard_control_signal_lost_interval > 100000) { - current_status.offboard_control_signal_lost = true; - current_status.failsave_lowlevel_start_time = hrt_absolute_time(); - tune_confirm(); - - /* kill motors after timeout */ - if (hrt_absolute_time() - current_status.failsave_lowlevel_start_time > failsafe_lowlevel_timeout_ms * 1000) { - current_status.failsave_lowlevel = true; - state_changed = true; - } - } - } - } - - - current_status.counter++; - current_status.timestamp = hrt_absolute_time(); - - - /* If full run came back clean, transition to standby */ - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT && - current_status.flag_preflight_gyro_calibration == false && - current_status.flag_preflight_mag_calibration == false && - current_status.flag_preflight_accel_calibration == false) { - /* All ok, no calibration going on, go to standby */ - do_state_update(stat_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - } - - /* publish at least with 1 Hz */ - if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0 || state_changed) { - publish_armed_status(¤t_status); - orb_publish(ORB_ID(vehicle_status), stat_pub, ¤t_status); - state_changed = false; - } - - /* Store old modes to detect and act on state transitions */ - voltage_previous = current_status.voltage_battery; - - fflush(stdout); - counter++; - usleep(COMMANDER_MONITORING_INTERVAL); - } - - /* wait for threads to complete */ - // pthread_join(command_handling_thread, NULL); - pthread_join(subsystem_info_thread, NULL); - - /* close fds */ - led_deinit(); - buzzer_deinit(); - close(sp_man_sub); - close(sp_offboard_sub); - close(global_position_sub); - close(sensor_sub); - close(cmd_sub); - - warnx("exiting..\n"); - fflush(stdout); - - thread_running = false; - - return 0; -} diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp new file mode 100644 index 0000000000..8e8226f091 --- /dev/null +++ b/src/modules/commander/commander.cpp @@ -0,0 +1,1772 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Petri Tanskanen + * Lorenz Meier + * Thomas Gubler + * Julian Oes + * + * 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 commander.cpp + * Main system state machine implementation. + * + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include "px4_custom_mode.h" +#include "commander_helper.h" +#include "state_machine_helper.h" +#include "calibration_routines.h" +#include "accelerometer_calibration.h" +#include "gyro_calibration.h" +#include "mag_calibration.h" +#include "baro_calibration.h" +#include "rc_calibration.h" +#include "airspeed_calibration.h" + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +extern struct system_load_s system_load; + +#define LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 1000.0f +#define CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 100.0f + +/* Decouple update interval and hysteris counters, all depends on intervals */ +#define COMMANDER_MONITORING_INTERVAL 50000 +#define COMMANDER_MONITORING_LOOPSPERMSEC (1/(COMMANDER_MONITORING_INTERVAL/1000.0f)) +#define LOW_VOLTAGE_BATTERY_COUNTER_LIMIT (LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) +#define CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT (CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) + +#define STICK_ON_OFF_LIMIT 0.75f +#define STICK_THRUST_RANGE 1.0f +#define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000 +#define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) + +#define POSITION_TIMEOUT 1000000 /**< consider the local or global position estimate invalid after 1s */ +#define RC_TIMEOUT 100000 +#define DIFFPRESS_TIMEOUT 2000000 + +#define PRINT_INTERVAL 5000000 +#define PRINT_MODE_REJECT_INTERVAL 2000000 + +enum MAV_MODE_FLAG { + MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1, /* 0b00000001 Reserved for future use. | */ + MAV_MODE_FLAG_TEST_ENABLED = 2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */ + MAV_MODE_FLAG_AUTO_ENABLED = 4, /* 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. | */ + MAV_MODE_FLAG_GUIDED_ENABLED = 8, /* 0b00001000 guided mode enabled, system flies MISSIONs / mission items. | */ + MAV_MODE_FLAG_STABILIZE_ENABLED = 16, /* 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. | */ + MAV_MODE_FLAG_HIL_ENABLED = 32, /* 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. | */ + MAV_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, /* 0b01000000 remote control input is enabled. | */ + MAV_MODE_FLAG_SAFETY_ARMED = 128, /* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. | */ + MAV_MODE_FLAG_ENUM_END = 129, /* | */ +}; + +/* Mavlink file descriptors */ +static int mavlink_fd; + +/* flags */ +static bool commander_initialized = false; +static bool thread_should_exit = false; /**< daemon exit flag */ +static bool thread_running = false; /**< daemon status flag */ +static int daemon_task; /**< Handle of daemon task / thread */ + +static unsigned int leds_counter; +/* To remember when last notification was sent */ +static uint64_t last_print_mode_reject_time = 0; +/* if connected via USB */ +static bool on_usb_power = false; + +static float takeoff_alt = 5.0f; + +/* tasks waiting for low prio thread */ +typedef enum { + LOW_PRIO_TASK_NONE = 0, + LOW_PRIO_TASK_PARAM_SAVE, + LOW_PRIO_TASK_PARAM_LOAD, + LOW_PRIO_TASK_GYRO_CALIBRATION, + LOW_PRIO_TASK_MAG_CALIBRATION, + LOW_PRIO_TASK_ALTITUDE_CALIBRATION, + LOW_PRIO_TASK_RC_CALIBRATION, + LOW_PRIO_TASK_ACCEL_CALIBRATION, + LOW_PRIO_TASK_AIRSPEED_CALIBRATION +} low_prio_task_t; + +static low_prio_task_t low_prio_task = LOW_PRIO_TASK_NONE; + +/** + * The daemon app only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_create(). + * + * @ingroup apps + */ +extern "C" __EXPORT int commander_main(int argc, char *argv[]); + +/** + * Print the correct usage. + */ +void usage(const char *reason); + +/** + * React to commands that are sent e.g. from the mavlink module. + */ +void handle_command(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_command_s *cmd, struct actuator_armed_s *armed); + +/** + * Mainloop of commander. + */ +int commander_thread_main(int argc, char *argv[]); + +void toggle_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool changed); + +void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed); + +void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *current_status); + +transition_result_t check_main_state_machine(struct vehicle_status_s *current_status); + +void print_reject_mode(const char *msg); + +void print_reject_arm(const char *msg); + +void print_status(); + +transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos); + +/** + * Loop that runs at a lower rate and priority for calibration and parameter tasks. + */ +void *commander_low_prio_loop(void *arg); + +void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT result); + + +int commander_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + warnx("commander already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + daemon_task = task_spawn_cmd("commander", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 40, + 3000, + commander_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + warnx("\tcommander is running\n"); + print_status(); + + } else { + warnx("\tcommander not started\n"); + } + + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +void usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + + fprintf(stderr, "usage: daemon {start|stop|status} [-p ]\n\n"); + exit(1); +} + +void print_status() +{ + warnx("usb powered: %s", (on_usb_power) ? "yes" : "no"); + + /* read all relevant states */ + int state_sub = orb_subscribe(ORB_ID(vehicle_status)); + struct vehicle_status_s state; + orb_copy(ORB_ID(vehicle_status), state_sub, &state); + + const char *armed_str; + + switch (state.arming_state) { + case ARMING_STATE_INIT: + armed_str = "INIT"; + break; + + case ARMING_STATE_STANDBY: + armed_str = "STANDBY"; + break; + + case ARMING_STATE_ARMED: + armed_str = "ARMED"; + break; + + case ARMING_STATE_ARMED_ERROR: + armed_str = "ARMED_ERROR"; + break; + + case ARMING_STATE_STANDBY_ERROR: + armed_str = "STANDBY_ERROR"; + break; + + case ARMING_STATE_REBOOT: + armed_str = "REBOOT"; + break; + + case ARMING_STATE_IN_AIR_RESTORE: + armed_str = "IN_AIR_RESTORE"; + break; + + default: + armed_str = "ERR: UNKNOWN STATE"; + break; + } + + close(state_sub); + + + warnx("arming: %s", armed_str); +} + +void handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_control_mode_s *control_mode, struct vehicle_command_s *cmd, struct actuator_armed_s *armed) +{ + /* result of the command */ + uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED; + + /* only handle high-priority commands here */ + + /* request to set different system mode */ + switch (cmd->command) { + case VEHICLE_CMD_DO_SET_MODE: { + uint8_t base_mode = (uint8_t) cmd->param1; + uint8_t custom_main_mode = (uint8_t) cmd->param2; + + // TODO remove debug code + //mavlink_log_critical(mavlink_fd, "[cmd] command setmode: %d %d", base_mode, custom_main_mode); + /* set arming state */ + transition_result_t arming_res = TRANSITION_NOT_CHANGED; + + if (base_mode & MAV_MODE_FLAG_SAFETY_ARMED) { + arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed); + + if (arming_res == TRANSITION_CHANGED) { + mavlink_log_info(mavlink_fd, "[cmd] ARMED by command"); + } + + } else { + if (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR) { + arming_state_t new_arming_state = (status->arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); + arming_res = arming_state_transition(status, safety, new_arming_state, armed); + + if (arming_res == TRANSITION_CHANGED) { + mavlink_log_info(mavlink_fd, "[cmd] DISARMED by command"); + } + + } else { + arming_res = TRANSITION_NOT_CHANGED; + } + } + + /* set main state */ + transition_result_t main_res = TRANSITION_DENIED; + + if (base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) { + /* use autopilot-specific mode */ + if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) { + /* MANUAL */ + main_res = main_state_transition(status, MAIN_STATE_MANUAL); + + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_SEATBELT) { + /* SEATBELT */ + main_res = main_state_transition(status, MAIN_STATE_SEATBELT); + + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_EASY) { + /* EASY */ + main_res = main_state_transition(status, MAIN_STATE_EASY); + + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) { + /* AUTO */ + main_res = main_state_transition(status, MAIN_STATE_AUTO); + } + + } else { + /* use base mode */ + if (base_mode & MAV_MODE_FLAG_AUTO_ENABLED) { + /* AUTO */ + main_res = main_state_transition(status, MAIN_STATE_AUTO); + + } else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) { + if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) { + /* EASY */ + main_res = main_state_transition(status, MAIN_STATE_EASY); + + } else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) { + /* MANUAL */ + main_res = main_state_transition(status, MAIN_STATE_MANUAL); + } + } + } + + if (arming_res != TRANSITION_DENIED && main_res != TRANSITION_DENIED) { + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } + + break; + } + + case VEHICLE_CMD_NAV_TAKEOFF: { + if (armed->armed) { + transition_result_t nav_res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode); + + if (nav_res == TRANSITION_CHANGED) { + mavlink_log_info(mavlink_fd, "[cmd] TAKEOFF on command"); + } + + if (nav_res != TRANSITION_DENIED) { + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } + + } else { + /* reject TAKEOFF not armed */ + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } + + break; + } + + case VEHICLE_CMD_COMPONENT_ARM_DISARM: + // XXX implement later + result = VEHICLE_CMD_RESULT_DENIED; + break; + + default: + break; + } + + /* supported command handling stop */ + if (result == VEHICLE_CMD_RESULT_ACCEPTED) { + tune_positive(); + + } else if (result == VEHICLE_CMD_RESULT_UNSUPPORTED) { + /* we do not care in the high prio loop about commands we don't know */ + } else { + tune_negative(); + + if (result == VEHICLE_CMD_RESULT_DENIED) { + mavlink_log_critical(mavlink_fd, "[cmd] command denied: %u", cmd->command); + + } else if (result == VEHICLE_CMD_RESULT_FAILED) { + mavlink_log_critical(mavlink_fd, "[cmd] command failed: %u", cmd->command); + + } else if (result == VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED) { + mavlink_log_critical(mavlink_fd, "[cmd] command temporarily rejected: %u", cmd->command); + + } + } + + /* send any requested ACKs */ + if (cmd->confirmation > 0 && result != VEHICLE_CMD_RESULT_UNSUPPORTED) { + /* send acknowledge command */ + // XXX TODO + } + +} + +static struct vehicle_status_s status; + +/* armed topic */ +static struct actuator_armed_s armed; + +static struct safety_s safety; + +int commander_thread_main(int argc, char *argv[]) +{ + /* not yet initialized */ + commander_initialized = false; + bool home_position_set = false; + + bool battery_tune_played = false; + bool arm_tune_played = false; + + /* set parameters */ + param_t _param_sys_type = param_find("MAV_TYPE"); + param_t _param_system_id = param_find("MAV_SYS_ID"); + param_t _param_component_id = param_find("MAV_COMP_ID"); + param_t _param_takeoff_alt = param_find("NAV_TAKEOFF_ALT"); + + /* welcome user */ + warnx("starting"); + + /* pthread for slow low prio thread */ + pthread_t commander_low_prio_thread; + + /* initialize */ + if (led_init() != 0) { + warnx("ERROR: Failed to initialize leds"); + } + + if (buzzer_init() != OK) { + warnx("ERROR: Failed to initialize buzzer"); + } + + mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + + if (mavlink_fd < 0) { + /* try again later */ + usleep(20000); + mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + + if (mavlink_fd < 0) { + warnx("ERROR: Failed to open MAVLink log stream again, start mavlink app first."); + } + } + + /* Main state machine */ + orb_advert_t status_pub; + /* make sure we are in preflight state */ + memset(&status, 0, sizeof(status)); + status.condition_landed = true; // initialize to safe value + + /* armed topic */ + orb_advert_t armed_pub; + /* Initialize armed with all false */ + memset(&armed, 0, sizeof(armed)); + + /* flags for control apps */ + struct vehicle_control_mode_s control_mode; + orb_advert_t control_mode_pub; + + /* Initialize all flags to false */ + memset(&control_mode, 0, sizeof(control_mode)); + + status.main_state = MAIN_STATE_MANUAL; + status.navigation_state = NAVIGATION_STATE_DIRECT; + status.arming_state = ARMING_STATE_INIT; + status.hil_state = HIL_STATE_OFF; + + /* neither manual nor offboard control commands have been received */ + status.offboard_control_signal_found_once = false; + status.rc_signal_found_once = false; + + /* mark all signals lost as long as they haven't been found */ + status.rc_signal_lost = true; + status.offboard_control_signal_lost = true; + + /* allow manual override initially */ + control_mode.flag_external_manual_override_ok = true; + + /* set battery warning flag */ + status.battery_warning = VEHICLE_BATTERY_WARNING_NONE; + status.condition_battery_voltage_valid = false; + + // XXX for now just set sensors as initialized + status.condition_system_sensors_initialized = true; + + // XXX just disable offboard control for now + control_mode.flag_control_offboard_enabled = false; + + /* advertise to ORB */ + status_pub = orb_advertise(ORB_ID(vehicle_status), &status); + /* publish current state machine */ + + /* publish initial state */ + status.counter++; + status.timestamp = hrt_absolute_time(); + orb_publish(ORB_ID(vehicle_status), status_pub, &status); + + armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed); + + control_mode_pub = orb_advertise(ORB_ID(vehicle_control_mode), &control_mode); + + /* home position */ + orb_advert_t home_pub = -1; + struct home_position_s home; + memset(&home, 0, sizeof(home)); + + if (status_pub < 0) { + warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n"); + warnx("exiting."); + exit(ERROR); + } + + mavlink_log_info(mavlink_fd, "[cmd] started"); + + pthread_attr_t commander_low_prio_attr; + pthread_attr_init(&commander_low_prio_attr); + pthread_attr_setstacksize(&commander_low_prio_attr, 2992); + + struct sched_param param; + /* low priority */ + param.sched_priority = SCHED_PRIORITY_DEFAULT - 50; + (void)pthread_attr_setschedparam(&commander_low_prio_attr, ¶m); + pthread_create(&commander_low_prio_thread, &commander_low_prio_attr, commander_low_prio_loop, NULL); + + /* Start monitoring loop */ + unsigned counter = 0; + unsigned low_voltage_counter = 0; + unsigned critical_voltage_counter = 0; + unsigned stick_off_counter = 0; + unsigned stick_on_counter = 0; + + bool low_battery_voltage_actions_done = false; + bool critical_battery_voltage_actions_done = false; + + uint64_t last_idle_time = 0; + + uint64_t start_time = 0; + + bool status_changed = true; + bool param_init_forced = true; + + bool updated = false; + + bool rc_calibration_ok = (OK == rc_calibration_check()); + + /* Subscribe to safety topic */ + int safety_sub = orb_subscribe(ORB_ID(safety)); + memset(&safety, 0, sizeof(safety)); + safety.safety_switch_available = false; + safety.safety_off = false; + + /* Subscribe to manual control data */ + int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + struct manual_control_setpoint_s sp_man; + memset(&sp_man, 0, sizeof(sp_man)); + + /* Subscribe to offboard control data */ + int sp_offboard_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); + struct offboard_control_setpoint_s sp_offboard; + memset(&sp_offboard, 0, sizeof(sp_offboard)); + + /* Subscribe to global position */ + int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position)); + struct vehicle_global_position_s global_position; + memset(&global_position, 0, sizeof(global_position)); + + /* Subscribe to local position data */ + int local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position)); + struct vehicle_local_position_s local_position; + memset(&local_position, 0, sizeof(local_position)); + + /* + * The home position is set based on GPS only, to prevent a dependency between + * position estimator and commander. RAW GPS is more than good enough for a + * non-flying vehicle. + */ + + /* Subscribe to GPS topic */ + int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); + struct vehicle_gps_position_s gps_position; + memset(&gps_position, 0, sizeof(gps_position)); + + /* Subscribe to sensor topic */ + int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); + struct sensor_combined_s sensors; + memset(&sensors, 0, sizeof(sensors)); + + /* Subscribe to differential pressure topic */ + int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); + struct differential_pressure_s diff_pres; + memset(&diff_pres, 0, sizeof(diff_pres)); + + /* Subscribe to command topic */ + int cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); + struct vehicle_command_s cmd; + memset(&cmd, 0, sizeof(cmd)); + + /* Subscribe to parameters changed topic */ + int param_changed_sub = orb_subscribe(ORB_ID(parameter_update)); + struct parameter_update_s param_changed; + memset(¶m_changed, 0, sizeof(param_changed)); + + /* Subscribe to battery topic */ + int battery_sub = orb_subscribe(ORB_ID(battery_status)); + struct battery_status_s battery; + memset(&battery, 0, sizeof(battery)); + battery.voltage_v = 0.0f; + + /* Subscribe to subsystem info topic */ + int subsys_sub = orb_subscribe(ORB_ID(subsystem_info)); + struct subsystem_info_s info; + memset(&info, 0, sizeof(info)); + + toggle_status_leds(&status, &armed, true); + + /* now initialized */ + commander_initialized = true; + thread_running = true; + + start_time = hrt_absolute_time(); + + while (!thread_should_exit) { + + /* update parameters */ + orb_check(param_changed_sub, &updated); + + if (updated || param_init_forced) { + param_init_forced = false; + /* parameters changed */ + orb_copy(ORB_ID(parameter_update), param_changed_sub, ¶m_changed); + + /* update parameters */ + if (!armed.armed) { + if (param_get(_param_sys_type, &(status.system_type)) != OK) { + warnx("failed getting new system type"); + } + + /* disable manual override for all systems that rely on electronic stabilization */ + if (status.system_type == VEHICLE_TYPE_COAXIAL || + status.system_type == VEHICLE_TYPE_HELICOPTER || + status.system_type == VEHICLE_TYPE_TRICOPTER || + status.system_type == VEHICLE_TYPE_QUADROTOR || + status.system_type == VEHICLE_TYPE_HEXAROTOR || + status.system_type == VEHICLE_TYPE_OCTOROTOR) { + control_mode.flag_external_manual_override_ok = false; + status.is_rotary_wing = true; + + } else { + control_mode.flag_external_manual_override_ok = true; + status.is_rotary_wing = false; + } + + /* check and update system / component ID */ + param_get(_param_system_id, &(status.system_id)); + param_get(_param_component_id, &(status.component_id)); + status_changed = true; + + /* re-check RC calibration */ + rc_calibration_ok = (OK == rc_calibration_check()); + + /* navigation parameters */ + param_get(_param_takeoff_alt, &takeoff_alt); + } + } + + orb_check(sp_man_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(manual_control_setpoint), sp_man_sub, &sp_man); + } + + orb_check(sp_offboard_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard); + } + + orb_check(sensor_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors); + } + + orb_check(diff_pres_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); + } + + check_valid(diff_pres.timestamp, DIFFPRESS_TIMEOUT, true, &(status.condition_airspeed_valid), &status_changed); + + orb_check(cmd_sub, &updated); + + if (updated) { + /* got command */ + orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); + + /* handle it */ + handle_command(&status, &safety, &control_mode, &cmd, &armed); + } + + /* update safety topic */ + orb_check(safety_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(safety), safety_sub, &safety); + } + + /* update global position estimate */ + orb_check(global_position_sub, &updated); + + if (updated) { + /* position changed */ + orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position); + } + + /* update condition_global_position_valid */ + check_valid(global_position.timestamp, POSITION_TIMEOUT, global_position.valid, &(status.condition_global_position_valid), &status_changed); + + /* update local position estimate */ + orb_check(local_position_sub, &updated); + + if (updated) { + /* position changed */ + orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position); + } + + /* update condition_local_position_valid and condition_local_altitude_valid */ + check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid, &(status.condition_local_position_valid), &status_changed); + check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed); + + if (status.condition_local_altitude_valid) { + if (status.condition_landed != local_position.landed) { + status.condition_landed = local_position.landed; + status_changed = true; + + if (status.condition_landed) { + mavlink_log_critical(mavlink_fd, "[cmd] LANDED"); + + } else { + mavlink_log_critical(mavlink_fd, "[cmd] IN AIR"); + } + } + } + + /* update battery status */ + orb_check(battery_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(battery_status), battery_sub, &battery); + + // warnx("bat v: %2.2f", battery.voltage_v); + + /* only consider battery voltage if system has been running 2s and battery voltage is not 0 */ + if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_v > 0.001f) { + status.battery_voltage = battery.voltage_v; + status.condition_battery_voltage_valid = true; + status.battery_remaining = battery_remaining_estimate_voltage(status.battery_voltage); + } + } + + /* update subsystem */ + orb_check(subsys_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(subsystem_info), subsys_sub, &info); + + warnx("subsystem changed: %d\n", (int)info.subsystem_type); + + /* mark / unmark as present */ + if (info.present) { + status.onboard_control_sensors_present |= info.subsystem_type; + + } else { + status.onboard_control_sensors_present &= ~info.subsystem_type; + } + + /* mark / unmark as enabled */ + if (info.enabled) { + status.onboard_control_sensors_enabled |= info.subsystem_type; + + } else { + status.onboard_control_sensors_enabled &= ~info.subsystem_type; + } + + /* mark / unmark as ok */ + if (info.ok) { + status.onboard_control_sensors_health |= info.subsystem_type; + + } else { + status.onboard_control_sensors_health &= ~info.subsystem_type; + } + + status_changed = true; + } + + if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { + /* compute system load */ + uint64_t interval_runtime = system_load.tasks[0].total_runtime - last_idle_time; + + if (last_idle_time > 0) + status.load = 1.0f - ((float)interval_runtime / 1e6f); //system load is time spent in non-idle + + last_idle_time = system_load.tasks[0].total_runtime; + + /* check if board is connected via USB */ + struct stat statbuf; + //on_usb_power = (stat("/dev/ttyACM0", &statbuf) == 0); + } + + // XXX remove later + //warnx("bat remaining: %2.2f", status.battery_remaining); + + /* if battery voltage is getting lower, warn using buzzer, etc. */ + if (status.condition_battery_voltage_valid && status.battery_remaining < 0.25f && !low_battery_voltage_actions_done) { + //TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS + if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) { + low_battery_voltage_actions_done = true; + mavlink_log_critical(mavlink_fd, "[cmd] WARNING: LOW BATTERY"); + status.battery_warning = VEHICLE_BATTERY_WARNING_LOW; + status_changed = true; + battery_tune_played = false; + } + + low_voltage_counter++; + + } else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.1f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) { + /* critical battery voltage, this is rather an emergency, change state machine */ + if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) { + critical_battery_voltage_actions_done = true; + mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY: CRITICAL BATTERY"); + status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL; + battery_tune_played = false; + + if (armed.armed) { + // XXX not sure what should happen when voltage is low in flight + //arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed); + } else { + // XXX should we still allow to arm with critical battery? + //arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed); + } + + status_changed = true; + } + + critical_voltage_counter++; + + } else { + low_voltage_counter = 0; + critical_voltage_counter = 0; + } + + /* End battery voltage check */ + + /* If in INIT state, try to proceed to STANDBY state */ + if (status.arming_state == ARMING_STATE_INIT && low_prio_task == LOW_PRIO_TASK_NONE) { + // XXX check for sensors + arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); + + } else { + // XXX: Add emergency stuff if sensors are lost + } + + + /* + * Check for valid position information. + * + * If the system has a valid position source from an onboard + * position estimator, it is safe to operate it autonomously. + * The flag_vector_flight_mode_ok flag indicates that a minimum + * set of position measurements is available. + */ + + orb_check(gps_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position); + /* check if GPS fix is ok */ + float hdop_threshold_m = 4.0f; + float vdop_threshold_m = 8.0f; + + /* + * If horizontal dilution of precision (hdop / eph) + * and vertical diluation of precision (vdop / epv) + * are below a certain threshold (e.g. 4 m), AND + * home position is not yet set AND the last GPS + * GPS measurement is not older than two seconds AND + * the system is currently not armed, set home + * position to the current position. + */ + + if (!home_position_set && gps_position.fix_type >= 3 && + (gps_position.eph_m < hdop_threshold_m) && (gps_position.epv_m < vdop_threshold_m) && // XXX note that vdop is 0 for mtk + (hrt_absolute_time() < gps_position.timestamp_position + POSITION_TIMEOUT) && !armed.armed) { + /* copy position data to uORB home message, store it locally as well */ + // TODO use global position estimate + home.lat = gps_position.lat; + home.lon = gps_position.lon; + home.alt = gps_position.alt; + + home.eph_m = gps_position.eph_m; + home.epv_m = gps_position.epv_m; + + home.s_variance_m_s = gps_position.s_variance_m_s; + home.p_variance_m = gps_position.p_variance_m; + + double home_lat_d = home.lat * 1e-7; + double home_lon_d = home.lon * 1e-7; + warnx("home: lat = %.7f, lon = %.7f", home_lat_d, home_lon_d); + mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f", home_lat_d, home_lon_d); + + /* announce new home position */ + if (home_pub > 0) { + orb_publish(ORB_ID(home_position), home_pub, &home); + + } else { + home_pub = orb_advertise(ORB_ID(home_position), &home); + } + + /* mark home position as set */ + home_position_set = true; + tune_positive(); + } + } + + /* ignore RC signals if in offboard control mode */ + if (!status.offboard_control_signal_found_once && sp_man.timestamp != 0) { + /* start RC input check */ + if (hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) { + /* handle the case where RC signal was regained */ + if (!status.rc_signal_found_once) { + status.rc_signal_found_once = true; + mavlink_log_critical(mavlink_fd, "[cmd] detected RC signal first time"); + status_changed = true; + + } else { + if (status.rc_signal_lost) { + mavlink_log_critical(mavlink_fd, "[cmd] RC signal regained"); + status_changed = true; + } + } + + status.rc_signal_lost = false; + + transition_result_t res; // store all transitions results here + + /* arm/disarm by RC */ + res = TRANSITION_NOT_CHANGED; + + /* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSISTED mode and landed) -> disarm + * do it only for rotary wings */ + if (status.is_rotary_wing && + (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) && + (status.main_state == MAIN_STATE_MANUAL || status.navigation_state == NAVIGATION_STATE_AUTO_READY || + (status.condition_landed && ( + status.navigation_state == NAVIGATION_STATE_ALTHOLD || + status.navigation_state == NAVIGATION_STATE_VECTOR + ))) && sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { + if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { + /* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */ + arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); + res = arming_state_transition(&status, &safety, new_arming_state, &armed); + stick_off_counter = 0; + + } else { + stick_off_counter++; + } + + } else { + stick_off_counter = 0; + } + + /* check if left stick is in lower right position and we're in MANUAL mode -> arm */ + if (status.arming_state == ARMING_STATE_STANDBY && + status.main_state == MAIN_STATE_MANUAL && + sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { + if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { + res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); + stick_on_counter = 0; + + } else { + stick_on_counter++; + } + + } else { + stick_on_counter = 0; + } + + if (res == TRANSITION_CHANGED) { + if (status.arming_state == ARMING_STATE_ARMED) { + mavlink_log_info(mavlink_fd, "[cmd] ARMED by RC"); + + } else { + mavlink_log_info(mavlink_fd, "[cmd] DISARMED by RC"); + } + + } else if (res == TRANSITION_DENIED) { + /* DENIED here indicates safety switch not pressed */ + + if (!(!safety.safety_switch_available || safety.safety_off)) { + print_reject_arm("NOT ARMING: Press safety switch first."); + + } else { + warnx("ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); + mavlink_log_critical(mavlink_fd, "[cmd] ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); + } + } + + /* fill current_status according to mode switches */ + check_mode_switches(&sp_man, &status); + + /* evaluate the main state machine */ + res = check_main_state_machine(&status); + + if (res == TRANSITION_CHANGED) { + //mavlink_log_info(mavlink_fd, "[cmd] main state: %d", status.main_state); + tune_positive(); + + } else if (res == TRANSITION_DENIED) { + /* DENIED here indicates bug in the commander */ + warnx("ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); + mavlink_log_critical(mavlink_fd, "[cmd] ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); + } + + } else { + if (!status.rc_signal_lost) { + mavlink_log_critical(mavlink_fd, "[cmd] CRITICAL: RC SIGNAL LOST"); + status.rc_signal_lost = true; + status_changed = true; + } + } + } + + /* evaluate the navigation state machine */ + transition_result_t res = check_navigation_state_machine(&status, &control_mode, &local_position); + + if (res == TRANSITION_DENIED) { + /* DENIED here indicates bug in the commander */ + warnx("ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state); + mavlink_log_critical(mavlink_fd, "[cmd] ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state); + } + + /* check which state machines for changes, clear "changed" flag */ + bool arming_state_changed = check_arming_state_changed(); + bool main_state_changed = check_main_state_changed(); + bool navigation_state_changed = check_navigation_state_changed(); + + if (arming_state_changed || main_state_changed || navigation_state_changed) { + mavlink_log_info(mavlink_fd, "[cmd] state: arm %d, main %d, nav %d", status.arming_state, status.main_state, status.navigation_state); + status_changed = true; + + } else { + status_changed = false; + } + + hrt_abstime t1 = hrt_absolute_time(); + + /* publish arming state */ + if (arming_state_changed) { + armed.timestamp = t1; + orb_publish(ORB_ID(actuator_armed), armed_pub, &armed); + } + + /* publish control mode */ + if (navigation_state_changed || arming_state_changed) { + /* publish new navigation state */ + control_mode.flag_armed = armed.armed; // copy armed state to vehicle_control_mode topic + control_mode.counter++; + control_mode.timestamp = t1; + orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, &control_mode); + } + + /* publish states (armed, control mode, vehicle status) at least with 5 Hz */ + if (counter % (200000 / COMMANDER_MONITORING_INTERVAL) == 0 || status_changed) { + status.counter++; + status.timestamp = t1; + orb_publish(ORB_ID(vehicle_status), status_pub, &status); + control_mode.timestamp = t1; + orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, &control_mode); + armed.timestamp = t1; + orb_publish(ORB_ID(actuator_armed), armed_pub, &armed); + } + + /* play arming and battery warning tunes */ + if (!arm_tune_played && armed.armed) { + /* play tune when armed */ + if (tune_arm() == OK) + arm_tune_played = true; + + } else if (status.battery_warning == VEHICLE_BATTERY_WARNING_LOW) { + /* play tune on battery warning */ + if (tune_low_bat() == OK) + battery_tune_played = true; + + } else if (status.battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) { + /* play tune on battery critical */ + if (tune_critical_bat() == OK) + battery_tune_played = true; + + } else if (battery_tune_played) { + tune_stop(); + battery_tune_played = false; + } + + /* reset arm_tune_played when disarmed */ + if (!(armed.armed && (!safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available)))) { + arm_tune_played = false; + } + + fflush(stdout); + counter++; + + toggle_status_leds(&status, &armed, arming_state_changed || status_changed); + + usleep(COMMANDER_MONITORING_INTERVAL); + } + + /* wait for threads to complete */ + pthread_join(commander_low_prio_thread, NULL); + + /* close fds */ + led_deinit(); + buzzer_deinit(); + close(sp_man_sub); + close(sp_offboard_sub); + close(local_position_sub); + close(global_position_sub); + close(gps_sub); + close(sensor_sub); + close(safety_sub); + close(cmd_sub); + close(subsys_sub); + close(diff_pres_sub); + close(param_changed_sub); + close(battery_sub); + + warnx("exiting"); + fflush(stdout); + + thread_running = false; + + return 0; +} + +void +check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed) +{ + hrt_abstime t = hrt_absolute_time(); + bool valid_new = (t < timestamp + timeout && t > timeout && valid_in); + + if (*valid_out != valid_new) { + *valid_out = valid_new; + *changed = true; + } +} + +void +toggle_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool changed) +{ +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 + + /* this runs at around 20Hz, full cycle is 16 ticks = 10/16Hz */ + if (armed->armed) { + /* armed, solid */ + led_on(LED_BLUE); + + } else if (armed->ready_to_arm) { + /* ready to arm, blink at 1Hz */ + if (leds_counter % 20 == 0) + led_toggle(LED_BLUE); + + } else { + /* not ready to arm, blink at 10Hz */ + if (leds_counter % 2 == 0) + led_toggle(LED_BLUE); + } + +#endif + + if (changed) { + /* XXX TODO blink fast when armed and serious error occurs */ + + if (armed->armed) { + rgbled_set_mode(RGBLED_MODE_ON); + } else if (armed->ready_to_arm) { + rgbled_set_mode(RGBLED_MODE_BREATHE); + } else { + rgbled_set_mode(RGBLED_MODE_BLINK_FAST); + } + } + + if (status->battery_warning != VEHICLE_BATTERY_WARNING_NONE) { + switch (status->battery_warning) { + case VEHICLE_BATTERY_WARNING_LOW: + rgbled_set_color(RGBLED_COLOR_YELLOW); + break; + case VEHICLE_BATTERY_WARNING_CRITICAL: + rgbled_set_color(RGBLED_COLOR_AMBER); + break; + default: + break; + } + } else { + switch (status->main_state) { + case MAIN_STATE_MANUAL: + rgbled_set_color(RGBLED_COLOR_WHITE); + break; + case MAIN_STATE_SEATBELT: + case MAIN_STATE_EASY: + rgbled_set_color(RGBLED_COLOR_GREEN); + break; + case MAIN_STATE_AUTO: + rgbled_set_color(RGBLED_COLOR_BLUE); + break; + default: + break; + } + } + + /* give system warnings on error LED, XXX maybe add memory usage warning too */ + if (status->load > 0.95f) { + if (leds_counter % 2 == 0) + led_toggle(LED_AMBER); + + } else { + led_off(LED_AMBER); + } + + leds_counter++; +} + +void +check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *current_status) +{ + /* main mode switch */ + if (!isfinite(sp_man->mode_switch)) { + warnx("mode sw not finite"); + current_status->mode_switch = MODE_SWITCH_MANUAL; + + } else if (sp_man->mode_switch > STICK_ON_OFF_LIMIT) { + current_status->mode_switch = MODE_SWITCH_AUTO; + + } else if (sp_man->mode_switch < -STICK_ON_OFF_LIMIT) { + current_status->mode_switch = MODE_SWITCH_MANUAL; + + } else { + current_status->mode_switch = MODE_SWITCH_ASSISTED; + } + + /* land switch */ + if (!isfinite(sp_man->return_switch)) { + current_status->return_switch = RETURN_SWITCH_NONE; + + } else if (sp_man->return_switch > STICK_ON_OFF_LIMIT) { + current_status->return_switch = RETURN_SWITCH_RETURN; + + } else { + current_status->return_switch = RETURN_SWITCH_NONE; + } + + /* assisted switch */ + if (!isfinite(sp_man->assisted_switch)) { + current_status->assisted_switch = ASSISTED_SWITCH_SEATBELT; + + } else if (sp_man->assisted_switch > STICK_ON_OFF_LIMIT) { + current_status->assisted_switch = ASSISTED_SWITCH_EASY; + + } else { + current_status->assisted_switch = ASSISTED_SWITCH_SEATBELT; + } + + /* mission switch */ + if (!isfinite(sp_man->mission_switch)) { + current_status->mission_switch = MISSION_SWITCH_MISSION; + + } else if (sp_man->mission_switch > STICK_ON_OFF_LIMIT) { + current_status->mission_switch = MISSION_SWITCH_NONE; + + } else { + current_status->mission_switch = MISSION_SWITCH_MISSION; + } +} + +transition_result_t +check_main_state_machine(struct vehicle_status_s *current_status) +{ + /* evaluate the main state machine */ + transition_result_t res = TRANSITION_DENIED; + + switch (current_status->mode_switch) { + case MODE_SWITCH_MANUAL: + res = main_state_transition(current_status, MAIN_STATE_MANUAL); + // TRANSITION_DENIED is not possible here + break; + + case MODE_SWITCH_ASSISTED: + if (current_status->assisted_switch == ASSISTED_SWITCH_EASY) { + res = main_state_transition(current_status, MAIN_STATE_EASY); + + if (res != TRANSITION_DENIED) + break; // changed successfully or already in this state + + // else fallback to SEATBELT + print_reject_mode("EASY"); + } + + res = main_state_transition(current_status, MAIN_STATE_SEATBELT); + + if (res != TRANSITION_DENIED) + break; // changed successfully or already in this mode + + if (current_status->assisted_switch != ASSISTED_SWITCH_EASY) // don't print both messages + print_reject_mode("SEATBELT"); + + // else fallback to MANUAL + res = main_state_transition(current_status, MAIN_STATE_MANUAL); + // TRANSITION_DENIED is not possible here + break; + + case MODE_SWITCH_AUTO: + res = main_state_transition(current_status, MAIN_STATE_AUTO); + + if (res != TRANSITION_DENIED) + break; // changed successfully or already in this state + + // else fallback to SEATBELT (EASY likely will not work too) + print_reject_mode("AUTO"); + res = main_state_transition(current_status, MAIN_STATE_SEATBELT); + + if (res != TRANSITION_DENIED) + break; // changed successfully or already in this state + + // else fallback to MANUAL + res = main_state_transition(current_status, MAIN_STATE_MANUAL); + // TRANSITION_DENIED is not possible here + break; + + default: + break; + } + + return res; +} + +void +print_reject_mode(const char *msg) +{ + hrt_abstime t = hrt_absolute_time(); + + if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) { + last_print_mode_reject_time = t; + char s[80]; + sprintf(s, "[cmd] WARNING: reject %s", msg); + mavlink_log_critical(mavlink_fd, s); + tune_negative(); + } +} + +void +print_reject_arm(const char *msg) +{ + hrt_abstime t = hrt_absolute_time(); + + if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) { + last_print_mode_reject_time = t; + char s[80]; + sprintf(s, "[cmd] %s", msg); + mavlink_log_critical(mavlink_fd, s); + tune_negative(); + } +} + +transition_result_t +check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos) +{ + transition_result_t res = TRANSITION_DENIED; + + if (status->main_state == MAIN_STATE_AUTO) { + if (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR) { + // TODO AUTO_LAND handling + if (status->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) { + /* don't switch to other states until takeoff not completed */ + if (local_pos->z > -takeoff_alt || status->condition_landed) { + return TRANSITION_NOT_CHANGED; + } + } + if (status->navigation_state != NAVIGATION_STATE_AUTO_TAKEOFF && + status->navigation_state != NAVIGATION_STATE_AUTO_LOITER && + status->navigation_state != NAVIGATION_STATE_AUTO_MISSION && + status->navigation_state != NAVIGATION_STATE_AUTO_RTL) { + /* possibly on ground, switch to TAKEOFF if needed */ + if (local_pos->z > -takeoff_alt || status->condition_landed) { + res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode); + return res; + } + } + /* switch to AUTO mode */ + if (status->rc_signal_found_once && !status->rc_signal_lost) { + /* act depending on switches when manual control enabled */ + if (status->return_switch == RETURN_SWITCH_RETURN) { + /* RTL */ + res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_RTL, control_mode); + + } else { + if (status->mission_switch == MISSION_SWITCH_MISSION) { + /* MISSION */ + res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_MISSION, control_mode); + + } else { + /* LOITER */ + res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_LOITER, control_mode); + } + } + } else { + /* switch to MISSION when no RC control and first time in some AUTO mode */ + if (status->navigation_state == NAVIGATION_STATE_AUTO_LOITER || + status->navigation_state == NAVIGATION_STATE_AUTO_MISSION || + status->navigation_state == NAVIGATION_STATE_AUTO_RTL || + status->navigation_state == NAVIGATION_STATE_AUTO_LAND) { + res = TRANSITION_NOT_CHANGED; + + } else { + res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_MISSION, control_mode); + } + } + } else { + /* disarmed, always switch to AUTO_READY */ + res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_READY, control_mode); + } + + } else { + /* manual control modes */ + if (status->rc_signal_lost && (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR)) { + /* switch to failsafe mode */ + bool manual_control_old = control_mode->flag_control_manual_enabled; + + if (!status->condition_landed) { + /* in air: try to hold position */ + res = navigation_state_transition(status, NAVIGATION_STATE_VECTOR, control_mode); + + } else { + /* landed: don't try to hold position but land (if taking off) */ + res = TRANSITION_DENIED; + } + + if (res == TRANSITION_DENIED) { + res = navigation_state_transition(status, NAVIGATION_STATE_ALTHOLD, control_mode); + } + + control_mode->flag_control_manual_enabled = false; + + if (res == TRANSITION_NOT_CHANGED && manual_control_old) { + /* mark navigation state as changed to force immediate flag publishing */ + set_navigation_state_changed(); + res = TRANSITION_CHANGED; + } + + if (res == TRANSITION_CHANGED) { + if (control_mode->flag_control_position_enabled) { + mavlink_log_critical(mavlink_fd, "[cmd] FAILSAFE: POS HOLD"); + + } else { + if (status->condition_landed) { + mavlink_log_critical(mavlink_fd, "[cmd] FAILSAFE: ALT HOLD (LAND)"); + + } else { + mavlink_log_critical(mavlink_fd, "[cmd] FAILSAFE: ALT HOLD"); + } + } + } + + } else { + switch (status->main_state) { + case MAIN_STATE_MANUAL: + res = navigation_state_transition(status, status->is_rotary_wing ? NAVIGATION_STATE_STABILIZE : NAVIGATION_STATE_DIRECT, control_mode); + break; + + case MAIN_STATE_SEATBELT: + res = navigation_state_transition(status, NAVIGATION_STATE_ALTHOLD, control_mode); + break; + + case MAIN_STATE_EASY: + res = navigation_state_transition(status, NAVIGATION_STATE_VECTOR, control_mode); + break; + + default: + break; + } + } + } + + return res; +} + +void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT result) +{ + switch (result) { + case VEHICLE_CMD_RESULT_ACCEPTED: + tune_positive(); + break; + + case VEHICLE_CMD_RESULT_DENIED: + mavlink_log_critical(mavlink_fd, "[cmd] command denied: %u", cmd.command); + tune_negative(); + break; + + case VEHICLE_CMD_RESULT_FAILED: + mavlink_log_critical(mavlink_fd, "[cmd] command failed: %u", cmd.command); + tune_negative(); + break; + + case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED: + mavlink_log_critical(mavlink_fd, "[cmd] command temporarily rejected: %u", cmd.command); + tune_negative(); + break; + + case VEHICLE_CMD_RESULT_UNSUPPORTED: + mavlink_log_critical(mavlink_fd, "[cmd] command unsupported: %u", cmd.command); + tune_negative(); + break; + + default: + break; + } +} + +void *commander_low_prio_loop(void *arg) +{ + /* Set thread name */ + prctl(PR_SET_NAME, "commander_low_prio", getpid()); + + /* Subscribe to command topic */ + int cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); + struct vehicle_command_s cmd; + memset(&cmd, 0, sizeof(cmd)); + + /* wakeup source(s) */ + struct pollfd fds[1]; + + /* use the gyro to pace output - XXX BROKEN if we are using the L3GD20 */ + fds[0].fd = cmd_sub; + fds[0].events = POLLIN; + + while (!thread_should_exit) { + + /* wait for up to 100ms for data */ + int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 1000); + + /* timed out - periodic check for _task_should_exit, etc. */ + if (pret == 0) + continue; + + /* this is undesirable but not much we can do - might want to flag unhappy status */ + if (pret < 0) { + warn("poll error %d, %d", pret, errno); + continue; + } + + /* if we reach here, we have a valid command */ + orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); + + /* ignore commands the high-prio loop handles */ + if (cmd.command == VEHICLE_CMD_DO_SET_MODE || + cmd.command == VEHICLE_CMD_COMPONENT_ARM_DISARM || + cmd.command == VEHICLE_CMD_NAV_TAKEOFF) + continue; + + /* only handle low-priority commands here */ + switch (cmd.command) { + + case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: + if (is_safe(&status, &safety, &armed)) { + + if (((int)(cmd.param1)) == 1) { + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + usleep(1000000); + /* reboot */ + systemreset(false); + + } else if (((int)(cmd.param1)) == 3) { + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + usleep(1000000); + /* reboot to bootloader */ + systemreset(true); + + } else { + answer_command(cmd, VEHICLE_CMD_RESULT_DENIED); + } + + } else { + answer_command(cmd, VEHICLE_CMD_RESULT_DENIED); + } + + break; + + case VEHICLE_CMD_PREFLIGHT_CALIBRATION: { + + int calib_ret = ERROR; + + /* try to go to INIT/PREFLIGHT arming state */ + + // XXX disable interrupts in arming_state_transition + if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed)) { + answer_command(cmd, VEHICLE_CMD_RESULT_DENIED); + break; + } + + if ((int)(cmd.param1) == 1) { + /* gyro calibration */ + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + calib_ret = do_gyro_calibration(mavlink_fd); + + } else if ((int)(cmd.param2) == 1) { + /* magnetometer calibration */ + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + calib_ret = do_mag_calibration(mavlink_fd); + + } else if ((int)(cmd.param3) == 1) { + /* zero-altitude pressure calibration */ + answer_command(cmd, VEHICLE_CMD_RESULT_DENIED); + + } else if ((int)(cmd.param4) == 1) { + /* RC calibration */ + answer_command(cmd, VEHICLE_CMD_RESULT_DENIED); + + } else if ((int)(cmd.param5) == 1) { + /* accelerometer calibration */ + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + calib_ret = do_accel_calibration(mavlink_fd); + + } else if ((int)(cmd.param6) == 1) { + /* airspeed calibration */ + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + calib_ret = do_airspeed_calibration(mavlink_fd); + } + + if (calib_ret == OK) + tune_positive(); + else + tune_negative(); + + arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); + + break; + } + + case VEHICLE_CMD_PREFLIGHT_STORAGE: { + + if (((int)(cmd.param1)) == 0) { + if (0 == param_load_default()) { + mavlink_log_info(mavlink_fd, "[cmd] parameters loaded"); + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + + } else { + mavlink_log_critical(mavlink_fd, "[cmd] parameters load ERROR"); + answer_command(cmd, VEHICLE_CMD_RESULT_FAILED); + } + + } else if (((int)(cmd.param1)) == 1) { + if (0 == param_save_default()) { + mavlink_log_info(mavlink_fd, "[cmd] parameters saved"); + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + + } else { + mavlink_log_critical(mavlink_fd, "[cmd] parameters save error"); + answer_command(cmd, VEHICLE_CMD_RESULT_FAILED); + } + } + + break; + } + + default: + answer_command(cmd, VEHICLE_CMD_RESULT_UNSUPPORTED); + break; + } + + /* send any requested ACKs */ + if (cmd.confirmation > 0 && cmd.command != VEHICLE_CMD_DO_SET_MODE + && cmd.command != VEHICLE_CMD_COMPONENT_ARM_DISARM) { + /* send acknowledge command */ + // XXX TODO + } + + } + + close(cmd_sub); + + return 0; +} diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp new file mode 100644 index 0000000000..7feace2b4b --- /dev/null +++ b/src/modules/commander/commander_helper.cpp @@ -0,0 +1,259 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler + * Julian Oes + * + * 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 commander_helper.cpp + * Commander helper functions implementations + */ + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +#include "commander_helper.h" + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +bool is_multirotor(const struct vehicle_status_s *current_status) +{ + return ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) || + (current_status->system_type == VEHICLE_TYPE_HEXAROTOR) || + (current_status->system_type == VEHICLE_TYPE_OCTOROTOR) || + (current_status->system_type == VEHICLE_TYPE_TRICOPTER)); +} + +bool is_rotary_wing(const struct vehicle_status_s *current_status) +{ + return is_multirotor(current_status) || (current_status->system_type == VEHICLE_TYPE_HELICOPTER) + || (current_status->system_type == VEHICLE_TYPE_COAXIAL); +} + +static int buzzer; + +int buzzer_init() +{ + buzzer = open("/dev/tone_alarm", O_WRONLY); + + if (buzzer < 0) { + warnx("Buzzer: open fail\n"); + return ERROR; + } + + return OK; +} + +void buzzer_deinit() +{ + close(buzzer); +} + +void tune_error() +{ + ioctl(buzzer, TONE_SET_ALARM, TONE_ERROR_TUNE); +} + +void tune_positive() +{ + ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_POSITIVE_TUNE); +} + +void tune_neutral() +{ + ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEUTRAL_TUNE); +} + +void tune_negative() +{ + ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEGATIVE_TUNE); +} + +int tune_arm() +{ + return ioctl(buzzer, TONE_SET_ALARM, TONE_ARMING_WARNING_TUNE); +} + +int tune_low_bat() +{ + return ioctl(buzzer, TONE_SET_ALARM, TONE_BATTERY_WARNING_SLOW_TUNE); +} + +int tune_critical_bat() +{ + return ioctl(buzzer, TONE_SET_ALARM, TONE_BATTERY_WARNING_FAST_TUNE); +} + + + +void tune_stop() +{ + ioctl(buzzer, TONE_SET_ALARM, TONE_STOP_TUNE); +} + +static int leds; +static int rgbleds; + +int led_init() +{ + /* first open normal LEDs */ + leds = open(LED_DEVICE_PATH, 0); + + if (leds < 0) { + warnx("LED: open fail\n"); + return ERROR; + } + + /* the blue LED is only available on FMUv1 but not FMUv2 */ +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 + + if (ioctl(leds, LED_ON, LED_BLUE)) { + warnx("Blue LED: ioctl fail\n"); + return ERROR; + } +#endif + + if (ioctl(leds, LED_ON, LED_AMBER)) { + warnx("Amber LED: ioctl fail\n"); + return ERROR; + } + + /* then try RGB LEDs, this can fail on FMUv1*/ + rgbleds = open(RGBLED_DEVICE_PATH, 0); + if (rgbleds == -1) { +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 + errx(1, "Unable to open " RGBLED_DEVICE_PATH); +#else + warnx("No RGB LED found"); +#endif + } + + return 0; +} + +void led_deinit() +{ + close(leds); + + if (rgbleds != -1) { + close(rgbleds); + } +} + +int led_toggle(int led) +{ + return ioctl(leds, LED_TOGGLE, led); +} + +int led_on(int led) +{ + return ioctl(leds, LED_ON, led); +} + +int led_off(int led) +{ + return ioctl(leds, LED_OFF, led); +} + +void rgbled_set_color(rgbled_color_t color) { + + if (rgbleds != -1) + ioctl(rgbleds, RGBLED_SET_COLOR, (unsigned long)color); +} + +void rgbled_set_mode(rgbled_mode_t mode) { + + if (rgbleds != -1) + ioctl(rgbleds, RGBLED_SET_MODE, (unsigned long)mode); +} + +void rgbled_set_pattern(rgbled_pattern_t *pattern) { + + if (rgbleds != -1) + ioctl(rgbleds, RGBLED_SET_PATTERN, (unsigned long)pattern); +} + +float battery_remaining_estimate_voltage(float voltage) +{ + float ret = 0; + static param_t bat_volt_empty; + static param_t bat_volt_full; + static param_t bat_n_cells; + static bool initialized = false; + static unsigned int counter = 0; + static float ncells = 3; + // XXX change cells to int (and param to INT32) + + if (!initialized) { + bat_volt_empty = param_find("BAT_V_EMPTY"); + bat_volt_full = param_find("BAT_V_FULL"); + bat_n_cells = param_find("BAT_N_CELLS"); + initialized = true; + } + + static float chemistry_voltage_empty = 3.2f; + static float chemistry_voltage_full = 4.05f; + + if (counter % 100 == 0) { + param_get(bat_volt_empty, &chemistry_voltage_empty); + param_get(bat_volt_full, &chemistry_voltage_full); + param_get(bat_n_cells, &ncells); + } + + counter++; + + ret = (voltage - ncells * chemistry_voltage_empty) / (ncells * (chemistry_voltage_full - chemistry_voltage_empty)); + + /* limit to sane values */ + ret = (ret < 0.0f) ? 0.0f : ret; + ret = (ret > 1.0f) ? 1.0f : ret; + return ret; +} diff --git a/src/modules/commander/commander_helper.h b/src/modules/commander/commander_helper.h new file mode 100644 index 0000000000..027d0535f0 --- /dev/null +++ b/src/modules/commander/commander_helper.h @@ -0,0 +1,87 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler + * Julian Oes + * + * 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 commander_helper.h + * Commander helper functions definitions + */ + +#ifndef COMMANDER_HELPER_H_ +#define COMMANDER_HELPER_H_ + +#include +#include +#include +#include +#include + + +bool is_multirotor(const struct vehicle_status_s *current_status); +bool is_rotary_wing(const struct vehicle_status_s *current_status); + +int buzzer_init(void); +void buzzer_deinit(void); + +void tune_error(void); +void tune_positive(void); +void tune_neutral(void); +void tune_negative(void); +int tune_arm(void); +int tune_low_bat(void); +int tune_critical_bat(void); +void tune_stop(void); + +int led_init(void); +void led_deinit(void); +int led_toggle(int led); +int led_on(int led); +int led_off(int led); + +void rgbled_set_color(rgbled_color_t color); + +void rgbled_set_mode(rgbled_mode_t mode); + +void rgbled_set_pattern(rgbled_pattern_t *pattern); + +/** + * Provides a coarse estimate of remaining battery power. + * + * The estimate is very basic and based on decharging voltage curves. + * + * @return the estimated remaining capacity in 0..1 + */ +float battery_remaining_estimate_voltage(float voltage); + +#endif /* COMMANDER_HELPER_H_ */ diff --git a/src/modules/commander/commander.h b/src/modules/commander/commander_params.c similarity index 74% rename from src/modules/commander/commander.h rename to src/modules/commander/commander_params.c index 04b4e72ab3..40d0386d5e 100644 --- a/src/modules/commander/commander.h +++ b/src/modules/commander/commander_params.c @@ -1,10 +1,7 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Petri Tanskanen - * Lorenz Meier - * Thomas Gubler - * Julian Oes + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -36,23 +33,23 @@ ****************************************************************************/ /** - * @file commander.h - * Main system state machine definition. + * @file commander_params.c + * + * Parameters defined by the sensors task. * - * @author Petri Tanskanen * @author Lorenz Meier * @author Thomas Gubler * @author Julian Oes - * */ -#ifndef COMMANDER_H_ -#define COMMANDER_H_ +#include +#include -#define LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 1000.0f -#define CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 100.0f - -void tune_confirm(void); -void tune_error(void); - -#endif /* COMMANDER_H_ */ +PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 5.0f); +PARAM_DEFINE_FLOAT(NAV_TAKEOFF_GAP, 3.0f); +PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f); +PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f); +PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f); +PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.2f); +PARAM_DEFINE_FLOAT(BAT_V_FULL, 4.05f); +PARAM_DEFINE_FLOAT(BAT_N_CELLS, 3); diff --git a/src/modules/commander/commander_tests/commander_tests.cpp b/src/modules/commander/commander_tests/commander_tests.cpp new file mode 100644 index 0000000000..6e72cf0d9c --- /dev/null +++ b/src/modules/commander/commander_tests/commander_tests.cpp @@ -0,0 +1,55 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Simon Wilks + * + * 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 commander_tests.cpp + * Commander unit tests. Run the tests as follows: + * nsh> commander_tests + * + */ + +#include + +#include "state_machine_helper_test.h" + +extern "C" __EXPORT int commander_tests_main(int argc, char *argv[]); + + +int commander_tests_main(int argc, char *argv[]) +{ + state_machine_helper_test(); + //state_machine_test(); + + return 0; +} diff --git a/src/modules/commander/commander_tests/module.mk b/src/modules/commander/commander_tests/module.mk new file mode 100644 index 0000000000..4d10275d1e --- /dev/null +++ b/src/modules/commander/commander_tests/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# System state machine tests. +# + +MODULE_COMMAND = commander_tests +SRCS = commander_tests.cpp \ + state_machine_helper_test.cpp \ + ../state_machine_helper.cpp diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp new file mode 100644 index 0000000000..40bedd9f31 --- /dev/null +++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp @@ -0,0 +1,247 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Simon Wilks + * + * 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 state_machine_helper_test.cpp + * System state machine unit test. + * + */ + +#include "state_machine_helper_test.h" + +#include "../state_machine_helper.h" +#include + +class StateMachineHelperTest : public UnitTest +{ +public: + StateMachineHelperTest(); + virtual ~StateMachineHelperTest(); + + virtual const char* run_tests(); + +private: + const char* arming_state_transition_test(); + const char* arming_state_transition_arm_disarm_test(); + const char* main_state_transition_test(); + const char* is_safe_test(); +}; + +StateMachineHelperTest::StateMachineHelperTest() { +} + +StateMachineHelperTest::~StateMachineHelperTest() { +} + +const char* +StateMachineHelperTest::arming_state_transition_test() +{ + struct vehicle_status_s status; + struct safety_s safety; + arming_state_t new_arming_state; + struct actuator_armed_s armed; + + // Identical states. + status.arming_state = ARMING_STATE_INIT; + new_arming_state = ARMING_STATE_INIT; + mu_assert("no transition: identical states", + TRANSITION_NOT_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)); + + // INIT to STANDBY. + armed.armed = false; + armed.ready_to_arm = false; + status.arming_state = ARMING_STATE_INIT; + status.condition_system_sensors_initialized = true; + new_arming_state = ARMING_STATE_STANDBY; + mu_assert("transition: init to standby", + TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)); + mu_assert("current state: standby", ARMING_STATE_STANDBY == status.arming_state); + mu_assert("not armed", !armed.armed); + mu_assert("ready to arm", armed.ready_to_arm); + + // INIT to STANDBY, sensors not initialized. + armed.armed = false; + armed.ready_to_arm = false; + status.arming_state = ARMING_STATE_INIT; + status.condition_system_sensors_initialized = false; + new_arming_state = ARMING_STATE_STANDBY; + mu_assert("no transition: sensors not initialized", + TRANSITION_DENIED == arming_state_transition(&status, &safety, new_arming_state, &armed)); + mu_assert("current state: init", ARMING_STATE_INIT == status.arming_state); + mu_assert("not armed", !armed.armed); + mu_assert("not ready to arm", !armed.ready_to_arm); + + return 0; +} + +const char* +StateMachineHelperTest::arming_state_transition_arm_disarm_test() +{ + struct vehicle_status_s status; + struct safety_s safety; + arming_state_t new_arming_state; + struct actuator_armed_s armed; + + // TODO(sjwilks): ARM then DISARM. + return 0; +} + +const char* +StateMachineHelperTest::main_state_transition_test() +{ + struct vehicle_status_s current_state; + main_state_t new_main_state; + + // Identical states. + current_state.main_state = MAIN_STATE_MANUAL; + new_main_state = MAIN_STATE_MANUAL; + mu_assert("no transition: identical states", + TRANSITION_NOT_CHANGED == main_state_transition(¤t_state, new_main_state)); + mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); + + // AUTO to MANUAL. + current_state.main_state = MAIN_STATE_AUTO; + new_main_state = MAIN_STATE_MANUAL; + mu_assert("transition changed: auto to manual", + TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); + mu_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state); + + // MANUAL to SEATBELT. + current_state.main_state = MAIN_STATE_MANUAL; + current_state.condition_local_altitude_valid = true; + new_main_state = MAIN_STATE_SEATBELT; + mu_assert("tranisition: manual to seatbelt", + TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); + mu_assert("new state: seatbelt", MAIN_STATE_SEATBELT == current_state.main_state); + + // MANUAL to SEATBELT, invalid local altitude. + current_state.main_state = MAIN_STATE_MANUAL; + current_state.condition_local_altitude_valid = false; + new_main_state = MAIN_STATE_SEATBELT; + mu_assert("no transition: invalid local altitude", + TRANSITION_DENIED == main_state_transition(¤t_state, new_main_state)); + mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); + + // MANUAL to EASY. + current_state.main_state = MAIN_STATE_MANUAL; + current_state.condition_local_position_valid = true; + new_main_state = MAIN_STATE_EASY; + mu_assert("transition: manual to easy", + TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); + mu_assert("current state: easy", MAIN_STATE_EASY == current_state.main_state); + + // MANUAL to EASY, invalid local position. + current_state.main_state = MAIN_STATE_MANUAL; + current_state.condition_local_position_valid = false; + new_main_state = MAIN_STATE_EASY; + mu_assert("no transition: invalid position", + TRANSITION_DENIED == main_state_transition(¤t_state, new_main_state)); + mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); + + // MANUAL to AUTO. + current_state.main_state = MAIN_STATE_MANUAL; + current_state.condition_global_position_valid = true; + new_main_state = MAIN_STATE_AUTO; + mu_assert("transition: manual to auto", + TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); + mu_assert("current state: auto", MAIN_STATE_AUTO == current_state.main_state); + + // MANUAL to AUTO, invalid global position. + current_state.main_state = MAIN_STATE_MANUAL; + current_state.condition_global_position_valid = false; + new_main_state = MAIN_STATE_AUTO; + mu_assert("no transition: invalid global position", + TRANSITION_DENIED == main_state_transition(¤t_state, new_main_state)); + mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); + + return 0; +} + +const char* +StateMachineHelperTest::is_safe_test() +{ + struct vehicle_status_s current_state; + struct safety_s safety; + struct actuator_armed_s armed; + + armed.armed = false; + armed.lockdown = false; + safety.safety_switch_available = true; + safety.safety_off = false; + mu_assert("is safe: not armed", is_safe(¤t_state, &safety, &armed)); + + armed.armed = false; + armed.lockdown = true; + safety.safety_switch_available = true; + safety.safety_off = true; + mu_assert("is safe: software lockdown", is_safe(¤t_state, &safety, &armed)); + + armed.armed = true; + armed.lockdown = false; + safety.safety_switch_available = true; + safety.safety_off = true; + mu_assert("not safe: safety off", !is_safe(¤t_state, &safety, &armed)); + + armed.armed = true; + armed.lockdown = false; + safety.safety_switch_available = true; + safety.safety_off = false; + mu_assert("is safe: safety off", is_safe(¤t_state, &safety, &armed)); + + armed.armed = true; + armed.lockdown = false; + safety.safety_switch_available = false; + safety.safety_off = false; + mu_assert("not safe: no safety switch", !is_safe(¤t_state, &safety, &armed)); + + return 0; +} + +const char* +StateMachineHelperTest::run_tests() +{ + mu_run_test(arming_state_transition_test); + mu_run_test(arming_state_transition_arm_disarm_test); + mu_run_test(main_state_transition_test); + mu_run_test(is_safe_test); + + return 0; +} + +void +state_machine_helper_test() +{ + StateMachineHelperTest* test = new StateMachineHelperTest(); + test->UnitTest::print_results(test->run_tests()); +} diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.h b/src/modules/commander/commander_tests/state_machine_helper_test.h new file mode 100644 index 0000000000..10a68e6028 --- /dev/null +++ b/src/modules/commander/commander_tests/state_machine_helper_test.h @@ -0,0 +1,44 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Simon Wilks + * + * 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 state_machine_helper_test.h + */ + +#ifndef STATE_MACHINE_HELPER_TEST_H_ +#define STATE_MACHINE_HELPER_TEST_ + +void state_machine_helper_test(); + +#endif /* STATE_MACHINE_HELPER_TEST_H_ */ diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp new file mode 100644 index 0000000000..82a0349c9e --- /dev/null +++ b/src/modules/commander/gyro_calibration.cpp @@ -0,0 +1,293 @@ +/**************************************************************************** + * + * 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 gyro_calibration.cpp + * Gyroscope calibration routine + */ + +#include "gyro_calibration.h" +#include "commander_helper.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +int do_gyro_calibration(int mavlink_fd) +{ + mavlink_log_info(mavlink_fd, "Gyro calibration starting, do not move unit."); + + const unsigned calibration_count = 5000; + + int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined)); + struct sensor_combined_s raw; + + unsigned calibration_counter = 0; + float gyro_offset[3] = {0.0f, 0.0f, 0.0f}; + + /* set offsets to zero */ + int fd = open(GYRO_DEVICE_PATH, 0); + struct gyro_scale gscale_null = { + 0.0f, + 1.0f, + 0.0f, + 1.0f, + 0.0f, + 1.0f, + }; + + if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale_null)) + warn("WARNING: failed to set scale / offsets for gyro"); + + close(fd); + + unsigned poll_errcount = 0; + + while (calibration_counter < calibration_count) { + + /* wait blocking for new data */ + struct pollfd fds[1]; + fds[0].fd = sub_sensor_combined; + fds[0].events = POLLIN; + + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret > 0) { + orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw); + gyro_offset[0] += raw.gyro_rad_s[0]; + gyro_offset[1] += raw.gyro_rad_s[1]; + gyro_offset[2] += raw.gyro_rad_s[2]; + calibration_counter++; + if (calibration_counter % (calibration_count / 20) == 0) + mavlink_log_info(mavlink_fd, "gyro cal progress <%u> percent", (calibration_counter * 100) / calibration_count); + + } else { + poll_errcount++; + } + + if (poll_errcount > 1000) { + mavlink_log_info(mavlink_fd, "ERROR: Failed reading gyro sensor"); + close(sub_sensor_combined); + return ERROR; + } + } + + gyro_offset[0] = gyro_offset[0] / calibration_count; + gyro_offset[1] = gyro_offset[1] / calibration_count; + gyro_offset[2] = gyro_offset[2] / calibration_count; + + + if (isfinite(gyro_offset[0]) && isfinite(gyro_offset[1]) && isfinite(gyro_offset[2])) { + + if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0])) + || param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1])) + || param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) { + mavlink_log_critical(mavlink_fd, "Setting gyro offsets failed!"); + } + + /* set offsets to actual value */ + fd = open(GYRO_DEVICE_PATH, 0); + struct gyro_scale gscale = { + gyro_offset[0], + 1.0f, + gyro_offset[1], + 1.0f, + gyro_offset[2], + 1.0f, + }; + + if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) + warn("WARNING: failed to set scale / offsets for gyro"); + + close(fd); + + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + warnx("WARNING: auto-save of params to storage failed"); + mavlink_log_critical(mavlink_fd, "gyro store failed"); + close(sub_sensor_combined); + return ERROR; + } + + tune_neutral(); + /* third beep by cal end routine */ + + } else { + mavlink_log_info(mavlink_fd, "offset cal FAILED (NaN)"); + close(sub_sensor_combined); + return ERROR; + } + + + /*** --- SCALING --- ***/ + + mavlink_log_info(mavlink_fd, "offset done. Rotate for scale 30x or wait 5s to skip."); + warnx("offset calibration finished. Rotate for scale 30x, or do not rotate and wait for 5 seconds to skip."); + + unsigned rotations_count = 30; + float gyro_integral = 0.0f; + float baseline_integral = 0.0f; + + // XXX change to mag topic + orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw); + + float mag_last = -atan2f(raw.magnetometer_ga[1],raw.magnetometer_ga[0]); + if (mag_last > M_PI_F) mag_last -= 2*M_PI_F; + if (mag_last < -M_PI_F) mag_last += 2*M_PI_F; + + + uint64_t last_time = hrt_absolute_time(); + uint64_t start_time = hrt_absolute_time(); + + while ((int)fabsf(baseline_integral / (2.0f * M_PI_F)) < rotations_count) { + + /* abort this loop if not rotated more than 180 degrees within 5 seconds */ + if ((fabsf(baseline_integral / (2.0f * M_PI_F)) < 0.6f) + && (hrt_absolute_time() - start_time > 5 * 1e6)) { + mavlink_log_info(mavlink_fd, "scale skipped, gyro calibration done"); + close(sub_sensor_combined); + return OK; + } + + /* wait blocking for new data */ + struct pollfd fds[1]; + fds[0].fd = sub_sensor_combined; + fds[0].events = POLLIN; + + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret) { + + float dt_ms = (hrt_absolute_time() - last_time) / 1e3f; + last_time = hrt_absolute_time(); + + orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw); + + // XXX this is just a proof of concept and needs world / body + // transformation and more + + //math::Vector2f magNav(raw.magnetometer_ga); + + // calculate error between estimate and measurement + // apply declination correction for true heading as well. + //float mag = -atan2f(magNav(1),magNav(0)); + float mag = -atan2f(raw.magnetometer_ga[1],raw.magnetometer_ga[0]); + if (mag > M_PI_F) mag -= 2*M_PI_F; + if (mag < -M_PI_F) mag += 2*M_PI_F; + + float diff = mag - mag_last; + + if (diff > M_PI_F) diff -= 2*M_PI_F; + if (diff < -M_PI_F) diff += 2*M_PI_F; + + baseline_integral += diff; + mag_last = mag; + // Jump through some timing scale hoops to avoid + // operating near the 1e6/1e8 max sane resolution of float. + gyro_integral += (raw.gyro_rad_s[2] * dt_ms) / 1e3f; + +// warnx("dbg: b: %6.4f, g: %6.4f", (double)baseline_integral, (double)gyro_integral); + + // } else if (poll_ret == 0) { + // /* any poll failure for 1s is a reason to abort */ + // mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry"); + // return; + } + } + + float gyro_scale = baseline_integral / gyro_integral; + float gyro_scales[] = { gyro_scale, gyro_scale, gyro_scale }; + warnx("gyro scale: yaw (z): %6.4f", (double)gyro_scale); + mavlink_log_info(mavlink_fd, "gyro scale: yaw (z): %6.4f", (double)gyro_scale); + + + if (isfinite(gyro_scales[0]) && isfinite(gyro_scales[1]) && isfinite(gyro_scales[2])) { + + if (param_set(param_find("SENS_GYRO_XSCALE"), &(gyro_scales[0])) + || param_set(param_find("SENS_GYRO_YSCALE"), &(gyro_scales[1])) + || param_set(param_find("SENS_GYRO_ZSCALE"), &(gyro_scales[2]))) { + mavlink_log_critical(mavlink_fd, "Setting gyro scale failed!"); + } + + /* set offsets to actual value */ + fd = open(GYRO_DEVICE_PATH, 0); + struct gyro_scale gscale = { + gyro_offset[0], + gyro_scales[0], + gyro_offset[1], + gyro_scales[1], + gyro_offset[2], + gyro_scales[2], + }; + + if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) + warn("WARNING: failed to set scale / offsets for gyro"); + + close(fd); + + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + warn("WARNING: auto-save of params to storage failed"); + } + + // char buf[50]; + // sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]); + // mavlink_log_info(mavlink_fd, buf); + mavlink_log_info(mavlink_fd, "gyro calibration done"); + + /* third beep by cal end routine */ + close(sub_sensor_combined); + return OK; + } else { + mavlink_log_info(mavlink_fd, "gyro calibration FAILED (NaN)"); + close(sub_sensor_combined); + return ERROR; + } +} diff --git a/src/modules/commander/gyro_calibration.h b/src/modules/commander/gyro_calibration.h new file mode 100644 index 0000000000..59c32a15e9 --- /dev/null +++ b/src/modules/commander/gyro_calibration.h @@ -0,0 +1,46 @@ +/**************************************************************************** + * + * 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 gyro_calibration.h + * Gyroscope calibration routine + */ + +#ifndef GYRO_CALIBRATION_H_ +#define GYRO_CALIBRATION_H_ + +#include + +int do_gyro_calibration(int mavlink_fd); + +#endif /* GYRO_CALIBRATION_H_ */ diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp new file mode 100644 index 0000000000..b0d4266be5 --- /dev/null +++ b/src/modules/commander/mag_calibration.cpp @@ -0,0 +1,278 @@ +/**************************************************************************** + * + * 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 mag_calibration.cpp + * Magnetometer calibration routine + */ + +#include "mag_calibration.h" +#include "commander_helper.h" +#include "calibration_routines.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +int do_mag_calibration(int mavlink_fd) +{ + mavlink_log_info(mavlink_fd, "please put the system in a rest position and wait."); + + int sub_mag = orb_subscribe(ORB_ID(sensor_mag)); + struct mag_report mag; + + /* 45 seconds */ + uint64_t calibration_interval = 45 * 1000 * 1000; + + /* maximum 2000 values */ + const unsigned int calibration_maxcount = 500; + unsigned int calibration_counter = 0; + + /* limit update rate to get equally spaced measurements over time (in ms) */ + orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount); + + int fd = open(MAG_DEVICE_PATH, O_RDONLY); + + /* erase old calibration */ + struct mag_scale mscale_null = { + 0.0f, + 1.0f, + 0.0f, + 1.0f, + 0.0f, + 1.0f, + }; + + if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) { + warn("WARNING: failed to set scale / offsets for mag"); + mavlink_log_info(mavlink_fd, "failed to set scale / offsets for mag"); + } + + /* calibrate range */ + if (OK != ioctl(fd, MAGIOCCALIBRATE, fd)) { + warnx("failed to calibrate scale"); + } + + close(fd); + + mavlink_log_info(mavlink_fd, "mag cal progress <20> percent"); + + /* calibrate offsets */ + + // uint64_t calibration_start = hrt_absolute_time(); + + uint64_t axis_deadline = hrt_absolute_time(); + uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval; + + const char axislabels[3] = { 'X', 'Y', 'Z'}; + int axis_index = -1; + + float *x = (float *)malloc(sizeof(float) * calibration_maxcount); + float *y = (float *)malloc(sizeof(float) * calibration_maxcount); + float *z = (float *)malloc(sizeof(float) * calibration_maxcount); + + if (x == NULL || y == NULL || z == NULL) { + warnx("mag cal failed: out of memory"); + mavlink_log_info(mavlink_fd, "mag cal failed: out of memory"); + warnx("x:%p y:%p z:%p\n", x, y, z); + return ERROR; + } + + mavlink_log_info(mavlink_fd, "scale calibration completed, dynamic calibration starting.."); + + unsigned poll_errcount = 0; + + while (hrt_absolute_time() < calibration_deadline && + calibration_counter < calibration_maxcount) { + + /* wait blocking for new data */ + struct pollfd fds[1]; + fds[0].fd = sub_mag; + fds[0].events = POLLIN; + + /* user guidance */ + if (hrt_absolute_time() >= axis_deadline && + axis_index < 3) { + + axis_index++; + + mavlink_log_info(mavlink_fd, "please rotate in a figure 8 or around %c axis.", axislabels[axis_index]); + tune_neutral(); + + axis_deadline += calibration_interval / 3; + } + + if (!(axis_index < 3)) { + break; + } + + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret > 0) { + orb_copy(ORB_ID(sensor_mag), sub_mag, &mag); + + x[calibration_counter] = mag.x; + y[calibration_counter] = mag.y; + z[calibration_counter] = mag.z; + + calibration_counter++; + if (calibration_counter % (calibration_maxcount / 20) == 0) + mavlink_log_info(mavlink_fd, "mag cal progress <%u> percent", 20 + (calibration_counter * 50) / calibration_maxcount); + + + } else { + poll_errcount++; + } + + if (poll_errcount > 1000) { + mavlink_log_info(mavlink_fd, "ERROR: Failed reading mag sensor"); + close(sub_mag); + free(x); + free(y); + free(z); + return ERROR; + } + + + } + + float sphere_x; + float sphere_y; + float sphere_z; + float sphere_radius; + + mavlink_log_info(mavlink_fd, "mag cal progress <70> percent"); + sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius); + mavlink_log_info(mavlink_fd, "mag cal progress <80> percent"); + + free(x); + free(y); + free(z); + + if (isfinite(sphere_x) && isfinite(sphere_y) && isfinite(sphere_z)) { + + fd = open(MAG_DEVICE_PATH, 0); + + struct mag_scale mscale; + + if (OK != ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale)) + warn("WARNING: failed to get scale / offsets for mag"); + + mscale.x_offset = sphere_x; + mscale.y_offset = sphere_y; + mscale.z_offset = sphere_z; + + if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) + warn("WARNING: failed to set scale / offsets for mag"); + + close(fd); + + /* announce and set new offset */ + + if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) { + warnx("Setting X mag offset failed!\n"); + } + + if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) { + warnx("Setting Y mag offset failed!\n"); + } + + if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) { + warnx("Setting Z mag offset failed!\n"); + } + + if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) { + warnx("Setting X mag scale failed!\n"); + } + + if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) { + warnx("Setting Y mag scale failed!\n"); + } + + if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) { + warnx("Setting Z mag scale failed!\n"); + } + + mavlink_log_info(mavlink_fd, "mag cal progress <90> percent"); + + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + warn("WARNING: auto-save of params to storage failed"); + mavlink_log_info(mavlink_fd, "FAILED storing calibration"); + close(sub_mag); + return ERROR; + } + + warnx("\tscale: %.6f %.6f %.6f\n \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n", + (double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale, + (double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius); + + char buf[52]; + sprintf(buf, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset, + (double)mscale.y_offset, (double)mscale.z_offset); + mavlink_log_info(mavlink_fd, buf); + + sprintf(buf, "mag scale: x:%.2f y:%.2f z:%.2f", (double)mscale.x_scale, + (double)mscale.y_scale, (double)mscale.z_scale); + mavlink_log_info(mavlink_fd, buf); + + mavlink_log_info(mavlink_fd, "magnetometer calibration completed"); + mavlink_log_info(mavlink_fd, "mag cal progress <100> percent"); + + close(sub_mag); + return OK; + /* third beep by cal end routine */ + + } else { + mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN in sphere fit)"); + close(sub_mag); + return ERROR; + } +} diff --git a/src/modules/commander/mag_calibration.h b/src/modules/commander/mag_calibration.h new file mode 100644 index 0000000000..a101cd7b1f --- /dev/null +++ b/src/modules/commander/mag_calibration.h @@ -0,0 +1,46 @@ +/**************************************************************************** + * + * 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 mag_calibration.h + * Magnetometer calibration routine + */ + +#ifndef MAG_CALIBRATION_H_ +#define MAG_CALIBRATION_H_ + +#include + +int do_mag_calibration(int mavlink_fd); + +#endif /* MAG_CALIBRATION_H_ */ diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk index fe44e955ad..91d75121eb 100644 --- a/src/modules/commander/module.mk +++ b/src/modules/commander/module.mk @@ -36,8 +36,15 @@ # MODULE_COMMAND = commander -SRCS = commander.c \ - state_machine_helper.c \ - calibration_routines.c \ - accelerometer_calibration.c +SRCS = commander.cpp \ + commander_params.c \ + state_machine_helper.cpp \ + commander_helper.cpp \ + calibration_routines.cpp \ + accelerometer_calibration.cpp \ + gyro_calibration.cpp \ + mag_calibration.cpp \ + baro_calibration.cpp \ + rc_calibration.cpp \ + airspeed_calibration.cpp diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h new file mode 100644 index 0000000000..b60a7e0b9c --- /dev/null +++ b/src/modules/commander/px4_custom_mode.h @@ -0,0 +1,37 @@ +/* + * px4_custom_mode.h + * + * Created on: 09.08.2013 + * Author: ton + */ + +#ifndef PX4_CUSTOM_MODE_H_ +#define PX4_CUSTOM_MODE_H_ + +enum PX4_CUSTOM_MAIN_MODE { + PX4_CUSTOM_MAIN_MODE_MANUAL = 1, + PX4_CUSTOM_MAIN_MODE_SEATBELT, + PX4_CUSTOM_MAIN_MODE_EASY, + PX4_CUSTOM_MAIN_MODE_AUTO, +}; + +enum PX4_CUSTOM_SUB_MODE_AUTO { + PX4_CUSTOM_SUB_MODE_AUTO_READY = 1, + PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF, + PX4_CUSTOM_SUB_MODE_AUTO_LOITER, + PX4_CUSTOM_SUB_MODE_AUTO_MISSION, + PX4_CUSTOM_SUB_MODE_AUTO_RTL, + PX4_CUSTOM_SUB_MODE_AUTO_LAND, +}; + +union px4_custom_mode { + struct { + uint16_t reserved; + uint8_t main_mode; + uint8_t sub_mode; + }; + uint32_t data; + float data_float; +}; + +#endif /* PX4_CUSTOM_MODE_H_ */ diff --git a/src/modules/commander/rc_calibration.cpp b/src/modules/commander/rc_calibration.cpp new file mode 100644 index 0000000000..9fc1d64700 --- /dev/null +++ b/src/modules/commander/rc_calibration.cpp @@ -0,0 +1,91 @@ +/**************************************************************************** + * + * 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 rc_calibration.cpp + * Remote Control calibration routine + */ + +#include "rc_calibration.h" +#include "commander_helper.h" + +#include +#include +#include +#include +#include +#include +#include + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +int do_rc_calibration(int mavlink_fd) +{ + mavlink_log_info(mavlink_fd, "trim calibration starting"); + + /* XXX fix this */ + // if (current_status.rc_signal) { + // mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal."); + // return; + // } + + int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint)); + struct manual_control_setpoint_s sp; + orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp); + + /* set parameters */ + float p = sp.roll; + param_set(param_find("TRIM_ROLL"), &p); + p = sp.pitch; + param_set(param_find("TRIM_PITCH"), &p); + p = sp.yaw; + param_set(param_find("TRIM_YAW"), &p); + + /* store to permanent storage */ + /* auto-save */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed"); + close(sub_man); + return ERROR; + } + + mavlink_log_info(mavlink_fd, "trim calibration done"); + close(sub_man); + return OK; +} diff --git a/src/modules/commander/rc_calibration.h b/src/modules/commander/rc_calibration.h new file mode 100644 index 0000000000..9aa6faafa8 --- /dev/null +++ b/src/modules/commander/rc_calibration.h @@ -0,0 +1,46 @@ +/**************************************************************************** + * + * 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 rc_calibration.h + * Remote Control calibration routine + */ + +#ifndef RC_CALIBRATION_H_ +#define RC_CALIBRATION_H_ + +#include + +int do_rc_calibration(int mavlink_fd); + +#endif /* RC_CALIBRATION_H_ */ diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c deleted file mode 100644 index ab728c7bbb..0000000000 --- a/src/modules/commander/state_machine_helper.c +++ /dev/null @@ -1,757 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler - * Julian Oes - * - * 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 state_machine_helper.c - * State machine helper functions implementations - */ - -#include -#include - -#include -#include -#include -#include -#include -#include - -#include "state_machine_helper.h" - -static const char *system_state_txt[] = { - "SYSTEM_STATE_PREFLIGHT", - "SYSTEM_STATE_STANDBY", - "SYSTEM_STATE_GROUND_READY", - "SYSTEM_STATE_MANUAL", - "SYSTEM_STATE_STABILIZED", - "SYSTEM_STATE_AUTO", - "SYSTEM_STATE_MISSION_ABORT", - "SYSTEM_STATE_EMCY_LANDING", - "SYSTEM_STATE_EMCY_CUTOFF", - "SYSTEM_STATE_GROUND_ERROR", - "SYSTEM_STATE_REBOOT", - -}; - -/** - * Transition from one state to another - */ -int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state) -{ - int invalid_state = false; - int ret = ERROR; - - commander_state_machine_t old_state = current_status->state_machine; - - switch (new_state) { - case SYSTEM_STATE_MISSION_ABORT: { - /* Indoor or outdoor */ - // if (flight_environment_parameter == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { - ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_LANDING); - - // } else { - // ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_CUTOFF); - // } - } - break; - - case SYSTEM_STATE_EMCY_LANDING: - /* Tell the controller to land */ - - /* set system flags according to state */ - current_status->flag_system_armed = true; - - warnx("EMERGENCY LANDING!\n"); - mavlink_log_critical(mavlink_fd, "EMERGENCY LANDING!"); - break; - - case SYSTEM_STATE_EMCY_CUTOFF: - /* Tell the controller to cutoff the motors (thrust = 0) */ - - /* set system flags according to state */ - current_status->flag_system_armed = false; - - warnx("EMERGENCY MOTOR CUTOFF!\n"); - mavlink_log_critical(mavlink_fd, "EMERGENCY MOTOR CUTOFF!"); - break; - - case SYSTEM_STATE_GROUND_ERROR: - - /* set system flags according to state */ - - /* prevent actuators from arming */ - current_status->flag_system_armed = false; - - warnx("GROUND ERROR, locking down propulsion system\n"); - mavlink_log_critical(mavlink_fd, "GROUND ERROR, locking down system"); - break; - - case SYSTEM_STATE_PREFLIGHT: - if (current_status->state_machine == SYSTEM_STATE_STANDBY - || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { - /* set system flags according to state */ - current_status->flag_system_armed = false; - mavlink_log_critical(mavlink_fd, "Switched to PREFLIGHT state"); - - } else { - invalid_state = true; - mavlink_log_critical(mavlink_fd, "REFUSED to switch to PREFLIGHT state"); - } - - break; - - case SYSTEM_STATE_REBOOT: - if (current_status->state_machine == SYSTEM_STATE_STANDBY - || current_status->state_machine == SYSTEM_STATE_PREFLIGHT - || current_status->flag_hil_enabled) { - invalid_state = false; - /* set system flags according to state */ - current_status->flag_system_armed = false; - mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM"); - usleep(500000); - up_systemreset(); - /* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */ - - } else { - invalid_state = true; - mavlink_log_critical(mavlink_fd, "REFUSED to REBOOT"); - } - - break; - - case SYSTEM_STATE_STANDBY: - /* set system flags according to state */ - - /* standby enforces disarmed */ - current_status->flag_system_armed = false; - - mavlink_log_critical(mavlink_fd, "Switched to STANDBY state"); - break; - - case SYSTEM_STATE_GROUND_READY: - - /* set system flags according to state */ - - /* ground ready has motors / actuators armed */ - current_status->flag_system_armed = true; - - mavlink_log_critical(mavlink_fd, "Switched to GROUND READY state"); - break; - - case SYSTEM_STATE_AUTO: - - /* set system flags according to state */ - - /* auto is airborne and in auto mode, motors armed */ - current_status->flag_system_armed = true; - - mavlink_log_critical(mavlink_fd, "Switched to FLYING / AUTO mode"); - break; - - case SYSTEM_STATE_STABILIZED: - - /* set system flags according to state */ - current_status->flag_system_armed = true; - - mavlink_log_critical(mavlink_fd, "Switched to FLYING / STABILIZED mode"); - break; - - case SYSTEM_STATE_MANUAL: - - /* set system flags according to state */ - current_status->flag_system_armed = true; - - mavlink_log_critical(mavlink_fd, "Switched to FLYING / MANUAL mode"); - break; - - default: - invalid_state = true; - break; - } - - if (invalid_state == false || old_state != new_state) { - current_status->state_machine = new_state; - state_machine_publish(status_pub, current_status, mavlink_fd); - publish_armed_status(current_status); - ret = OK; - } - - if (invalid_state) { - mavlink_log_critical(mavlink_fd, "REJECTING invalid state transition"); - ret = ERROR; - } - - return ret; -} - -void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - /* publish the new state */ - current_status->counter++; - current_status->timestamp = hrt_absolute_time(); - - /* assemble state vector based on flag values */ - if (current_status->flag_control_rates_enabled) { - current_status->onboard_control_sensors_present |= 0x400; - - } else { - current_status->onboard_control_sensors_present &= ~0x400; - } - - current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0; - current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0; - current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0; - current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0; - - current_status->onboard_control_sensors_enabled |= (current_status->flag_control_rates_enabled) ? 0x400 : 0; - current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0; - current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0; - current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0; - current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0; - - orb_publish(ORB_ID(vehicle_status), status_pub, current_status); - printf("[cmd] new state: %s\n", system_state_txt[current_status->state_machine]); -} - -void publish_armed_status(const struct vehicle_status_s *current_status) -{ - struct actuator_armed_s armed; - armed.armed = current_status->flag_system_armed; - - /* XXX allow arming by external components on multicopters only if not yet armed by RC */ - /* XXX allow arming only if core sensors are ok */ - armed.ready_to_arm = true; - - /* lock down actuators if required, only in HIL */ - armed.lockdown = (current_status->flag_hil_enabled) ? true : false; - orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed); - orb_publish(ORB_ID(actuator_armed), armed_pub, &armed); -} - - -/* - * Private functions, update the state machine - */ -void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - warnx("EMERGENCY HANDLER\n"); - /* Depending on the current state go to one of the error states */ - - if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT || current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY) { - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_ERROR); - - } else if (current_status->state_machine == SYSTEM_STATE_AUTO || current_status->state_machine == SYSTEM_STATE_MANUAL) { - - // DO NOT abort mission - //do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT); - - } else { - warnx("Unknown system state: #%d\n", current_status->state_machine); - } -} - -void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) //do not call state_machine_emergency_always_critical if we are in manual mode for these errors -{ - if (current_status->state_machine != SYSTEM_STATE_MANUAL) { //if we are in manual: user can react to errors themself - state_machine_emergency_always_critical(status_pub, current_status, mavlink_fd); - - } else { - //global_data_send_mavlink_statustext_message_out("[cmd] ERROR: take action immediately! (did not switch to error state because the system is in manual mode)", MAV_SEVERITY_CRITICAL); - } - -} - - - -// /* -// * Wrapper functions (to be used in the commander), all functions assume lock on current_status -// */ - -// /* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR -// * -// * START SUBSYSTEM/EMERGENCY FUNCTIONS -// * */ - -// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) -// { -// current_status->onboard_control_sensors_present |= 1 << *subsystem_type; -// current_status->counter++; -// current_status->timestamp = hrt_absolute_time(); -// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); -// } - -// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) -// { -// current_status->onboard_control_sensors_present &= ~(1 << *subsystem_type); -// current_status->counter++; -// current_status->timestamp = hrt_absolute_time(); -// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); - -// /* if a subsystem was removed something went completely wrong */ - -// switch (*subsystem_type) { -// case SUBSYSTEM_TYPE_GYRO: -// //global_data_send_mavlink_statustext_message_out("Commander: gyro not present", MAV_SEVERITY_EMERGENCY); -// state_machine_emergency_always_critical(status_pub, current_status); -// break; - -// case SUBSYSTEM_TYPE_ACC: -// //global_data_send_mavlink_statustext_message_out("Commander: accelerometer not present", MAV_SEVERITY_EMERGENCY); -// state_machine_emergency_always_critical(status_pub, current_status); -// break; - -// case SUBSYSTEM_TYPE_MAG: -// //global_data_send_mavlink_statustext_message_out("Commander: magnetometer not present", MAV_SEVERITY_EMERGENCY); -// state_machine_emergency_always_critical(status_pub, current_status); -// break; - -// case SUBSYSTEM_TYPE_GPS: -// { -// uint8_t flight_env = global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]; - -// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { -// //global_data_send_mavlink_statustext_message_out("Commander: GPS not present", MAV_SEVERITY_EMERGENCY); -// state_machine_emergency(status_pub, current_status); -// } -// } -// break; - -// default: -// break; -// } - -// } - -// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) -// { -// current_status->onboard_control_sensors_enabled |= 1 << *subsystem_type; -// current_status->counter++; -// current_status->timestamp = hrt_absolute_time(); -// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); -// } - -// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) -// { -// current_status->onboard_control_sensors_enabled &= ~(1 << *subsystem_type); -// current_status->counter++; -// current_status->timestamp = hrt_absolute_time(); -// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); - -// /* if a subsystem was disabled something went completely wrong */ - -// switch (*subsystem_type) { -// case SUBSYSTEM_TYPE_GYRO: -// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - gyro disabled", MAV_SEVERITY_EMERGENCY); -// state_machine_emergency_always_critical(status_pub, current_status); -// break; - -// case SUBSYSTEM_TYPE_ACC: -// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - accelerometer disabled", MAV_SEVERITY_EMERGENCY); -// state_machine_emergency_always_critical(status_pub, current_status); -// break; - -// case SUBSYSTEM_TYPE_MAG: -// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - magnetometer disabled", MAV_SEVERITY_EMERGENCY); -// state_machine_emergency_always_critical(status_pub, current_status); -// break; - -// case SUBSYSTEM_TYPE_GPS: -// { -// uint8_t flight_env = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]); - -// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { -// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - GPS disabled", MAV_SEVERITY_EMERGENCY); -// state_machine_emergency(status_pub, current_status); -// } -// } -// break; - -// default: -// break; -// } - -// } - - -// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) -// { -// current_status->onboard_control_sensors_health |= 1 << *subsystem_type; -// current_status->counter++; -// current_status->timestamp = hrt_absolute_time(); -// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); - -// switch (*subsystem_type) { -// case SUBSYSTEM_TYPE_GYRO: -// //TODO state machine change (recovering) -// break; - -// case SUBSYSTEM_TYPE_ACC: -// //TODO state machine change -// break; - -// case SUBSYSTEM_TYPE_MAG: -// //TODO state machine change -// break; - -// case SUBSYSTEM_TYPE_GPS: -// //TODO state machine change -// break; - -// default: -// break; -// } - - -// } - - -// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) -// { -// bool previosly_healthy = (bool)(current_status->onboard_control_sensors_health & 1 << *subsystem_type); -// current_status->onboard_control_sensors_health &= ~(1 << *subsystem_type); -// current_status->counter++; -// current_status->timestamp = hrt_absolute_time(); -// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); - -// /* if we received unhealthy message more than *_HEALTH_COUNTER_LIMIT, switch to error state */ - -// switch (*subsystem_type) { -// case SUBSYSTEM_TYPE_GYRO: -// //global_data_send_mavlink_statustext_message_out("Commander: gyro unhealthy", MAV_SEVERITY_CRITICAL); - -// if (previosly_healthy) //only throw emergency if previously healthy -// state_machine_emergency_always_critical(status_pub, current_status); - -// break; - -// case SUBSYSTEM_TYPE_ACC: -// //global_data_send_mavlink_statustext_message_out("Commander: accelerometer unhealthy", MAV_SEVERITY_CRITICAL); - -// if (previosly_healthy) //only throw emergency if previously healthy -// state_machine_emergency_always_critical(status_pub, current_status); - -// break; - -// case SUBSYSTEM_TYPE_MAG: -// //global_data_send_mavlink_statustext_message_out("Commander: magnetometer unhealthy", MAV_SEVERITY_CRITICAL); - -// if (previosly_healthy) //only throw emergency if previously healthy -// state_machine_emergency_always_critical(status_pub, current_status); - -// break; - -// case SUBSYSTEM_TYPE_GPS: -// // //TODO: remove this block -// // break; -// // /////////////////// -// //global_data_send_mavlink_statustext_message_out("Commander: GPS unhealthy", MAV_SEVERITY_CRITICAL); - -// // printf("previosly_healthy = %u\n", previosly_healthy); -// if (previosly_healthy) //only throw emergency if previously healthy -// state_machine_emergency(status_pub, current_status); - -// break; - -// default: -// break; -// } - -// } - - -/* END SUBSYSTEM/EMERGENCY FUNCTIONS*/ - - -void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - /* Depending on the current state switch state */ - if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); - } -} - -void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - /* Depending on the current state switch state */ - if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_AUTO) { - state_machine_emergency(status_pub, current_status, mavlink_fd); - } -} - -void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - if (current_status->state_machine == SYSTEM_STATE_STANDBY) { - printf("[cmd] arming\n"); - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY); - } -} - -void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { - printf("[cmd] going standby\n"); - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); - - } else if (current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) { - printf("[cmd] MISSION ABORT!\n"); - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); - } -} - -void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - int old_mode = current_status->flight_mode; - current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL; - - current_status->flag_control_manual_enabled = true; - - /* set behaviour based on airframe */ - if ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) || - (current_status->system_type == VEHICLE_TYPE_HEXAROTOR) || - (current_status->system_type == VEHICLE_TYPE_OCTOROTOR)) { - - /* assuming a rotary wing, set to SAS */ - current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; - current_status->flag_control_attitude_enabled = true; - current_status->flag_control_rates_enabled = true; - - } else { - - /* assuming a fixed wing, set to direct pass-through */ - current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT; - current_status->flag_control_attitude_enabled = false; - current_status->flag_control_rates_enabled = false; - } - - if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); - - if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) { - printf("[cmd] manual mode\n"); - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL); - } -} - -void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) { - int old_mode = current_status->flight_mode; - int old_manual_control_mode = current_status->manual_control_mode; - current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL; - current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; - current_status->flag_control_attitude_enabled = true; - current_status->flag_control_rates_enabled = true; - current_status->flag_control_manual_enabled = true; - - if (old_mode != current_status->flight_mode || - old_manual_control_mode != current_status->manual_control_mode) { - printf("[cmd] att stabilized mode\n"); - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL); - state_machine_publish(status_pub, current_status, mavlink_fd); - } - - } -} - -void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - if (!current_status->flag_vector_flight_mode_ok) { - mavlink_log_critical(mavlink_fd, "NO POS LOCK, REJ. GUIDED MODE"); - tune_error(); - return; - } - - if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) { - printf("[cmd] position guided mode\n"); - int old_mode = current_status->flight_mode; - current_status->flight_mode = VEHICLE_FLIGHT_MODE_STAB; - current_status->flag_control_manual_enabled = false; - current_status->flag_control_attitude_enabled = true; - current_status->flag_control_rates_enabled = true; - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STABILIZED); - - if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); - - } -} - -void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - if (!current_status->flag_vector_flight_mode_ok) { - mavlink_log_critical(mavlink_fd, "NO POS LOCK, REJ. AUTO MODE"); - return; - } - - if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) { - printf("[cmd] auto mode\n"); - int old_mode = current_status->flight_mode; - current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO; - current_status->flag_control_manual_enabled = false; - current_status->flag_control_attitude_enabled = true; - current_status->flag_control_rates_enabled = true; - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO); - - if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); - } -} - - -uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode) -{ - uint8_t ret = 1; - - /* Switch on HIL if in standby and not already in HIL mode */ - if ((mode & VEHICLE_MODE_FLAG_HIL_ENABLED) - && !current_status->flag_hil_enabled) { - if ((current_status->state_machine == SYSTEM_STATE_STANDBY)) { - /* Enable HIL on request */ - current_status->flag_hil_enabled = true; - ret = OK; - state_machine_publish(status_pub, current_status, mavlink_fd); - publish_armed_status(current_status); - printf("[cmd] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n"); - - } else if (current_status->state_machine != SYSTEM_STATE_STANDBY && - current_status->flag_system_armed) { - - mavlink_log_critical(mavlink_fd, "REJECTING HIL, disarm first!") - - } else { - - mavlink_log_critical(mavlink_fd, "REJECTING HIL, not in standby.") - } - } - - /* switch manual / auto */ - if (mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) { - update_state_machine_mode_auto(status_pub, current_status, mavlink_fd); - - } else if (mode & VEHICLE_MODE_FLAG_STABILIZED_ENABLED) { - update_state_machine_mode_stabilized(status_pub, current_status, mavlink_fd); - - } else if (mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) { - update_state_machine_mode_guided(status_pub, current_status, mavlink_fd); - - } else if (mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) { - update_state_machine_mode_manual(status_pub, current_status, mavlink_fd); - } - - /* vehicle is disarmed, mode requests arming */ - if (!(current_status->flag_system_armed) && (mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) { - /* only arm in standby state */ - // XXX REMOVE - if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY); - ret = OK; - printf("[cmd] arming due to command request\n"); - } - } - - /* vehicle is armed, mode requests disarming */ - if (current_status->flag_system_armed && !(mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) { - /* only disarm in ground ready */ - if (current_status->state_machine == SYSTEM_STATE_GROUND_READY) { - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); - ret = OK; - printf("[cmd] disarming due to command request\n"); - } - } - - /* NEVER actually switch off HIL without reboot */ - if (current_status->flag_hil_enabled && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) { - warnx("DENYING request to switch off HIL. Please power cycle (safety reasons)\n"); - mavlink_log_critical(mavlink_fd, "Power-cycle to exit HIL"); - ret = ERROR; - } - - return ret; -} - -uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t custom_mode) //TODO: add more checks to avoid state switching in critical situations -{ - commander_state_machine_t current_system_state = current_status->state_machine; - - uint8_t ret = 1; - - switch (custom_mode) { - case SYSTEM_STATE_GROUND_READY: - break; - - case SYSTEM_STATE_STANDBY: - break; - - case SYSTEM_STATE_REBOOT: - printf("try to reboot\n"); - - if (current_system_state == SYSTEM_STATE_STANDBY - || current_system_state == SYSTEM_STATE_PREFLIGHT - || current_status->flag_hil_enabled) { - printf("system will reboot\n"); - mavlink_log_critical(mavlink_fd, "Rebooting.."); - usleep(200000); - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_REBOOT); - ret = 0; - } - - break; - - case SYSTEM_STATE_AUTO: - printf("try to switch to auto/takeoff\n"); - - if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_MANUAL) { - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO); - printf("state: auto\n"); - ret = 0; - } - - break; - - case SYSTEM_STATE_MANUAL: - printf("try to switch to manual\n"); - - if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_AUTO) { - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL); - printf("state: manual\n"); - ret = 0; - } - - break; - - default: - break; - } - - return ret; -} - diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp new file mode 100644 index 0000000000..3cef10185e --- /dev/null +++ b/src/modules/commander/state_machine_helper.cpp @@ -0,0 +1,698 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler + * Julian Oes + * + * 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 state_machine_helper.cpp + * State machine helper functions implementations + */ + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "state_machine_helper.h" +#include "commander_helper.h" + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +static bool arming_state_changed = true; +static bool main_state_changed = true; +static bool navigation_state_changed = true; + +transition_result_t +arming_state_transition(struct vehicle_status_s *status, const struct safety_s *safety, arming_state_t new_arming_state, struct actuator_armed_s *armed) +{ + /* + * Perform an atomic state update + */ + irqstate_t flags = irqsave(); + + transition_result_t ret = TRANSITION_DENIED; + + /* only check transition if the new state is actually different from the current one */ + if (new_arming_state == status->arming_state) { + ret = TRANSITION_NOT_CHANGED; + + } else { + + switch (new_arming_state) { + case ARMING_STATE_INIT: + + /* allow going back from INIT for calibration */ + if (status->arming_state == ARMING_STATE_STANDBY) { + ret = TRANSITION_CHANGED; + armed->armed = false; + armed->ready_to_arm = false; + } + + break; + + case ARMING_STATE_STANDBY: + + /* allow coming from INIT and disarming from ARMED */ + if (status->arming_state == ARMING_STATE_INIT + || status->arming_state == ARMING_STATE_ARMED) { + + /* sensors need to be initialized for STANDBY state */ + if (status->condition_system_sensors_initialized) { + ret = TRANSITION_CHANGED; + armed->armed = false; + armed->ready_to_arm = true; + } + } + + break; + + case ARMING_STATE_ARMED: + + /* allow arming from STANDBY and IN-AIR-RESTORE */ + if ((status->arming_state == ARMING_STATE_STANDBY + || status->arming_state == ARMING_STATE_IN_AIR_RESTORE) + && (!safety->safety_switch_available || safety->safety_off)) { /* only allow arming if safety is off */ + ret = TRANSITION_CHANGED; + armed->armed = true; + armed->ready_to_arm = true; + } + + break; + + case ARMING_STATE_ARMED_ERROR: + + /* an armed error happens when ARMED obviously */ + if (status->arming_state == ARMING_STATE_ARMED) { + ret = TRANSITION_CHANGED; + armed->armed = true; + armed->ready_to_arm = false; + } + + break; + + case ARMING_STATE_STANDBY_ERROR: + + /* a disarmed error happens when in STANDBY or in INIT or after ARMED_ERROR */ + if (status->arming_state == ARMING_STATE_STANDBY + || status->arming_state == ARMING_STATE_INIT + || status->arming_state == ARMING_STATE_ARMED_ERROR) { + ret = TRANSITION_CHANGED; + armed->armed = false; + armed->ready_to_arm = false; + } + + break; + + case ARMING_STATE_REBOOT: + + /* an armed error happens when ARMED obviously */ + if (status->arming_state == ARMING_STATE_INIT + || status->arming_state == ARMING_STATE_STANDBY + || status->arming_state == ARMING_STATE_STANDBY_ERROR) { + ret = TRANSITION_CHANGED; + armed->armed = false; + armed->ready_to_arm = false; + } + + break; + + case ARMING_STATE_IN_AIR_RESTORE: + + /* XXX implement */ + break; + + default: + break; + } + + if (ret == TRANSITION_CHANGED) { + status->arming_state = new_arming_state; + arming_state_changed = true; + } + } + + /* end of atomic state update */ + irqrestore(flags); + + if (ret == TRANSITION_DENIED) + warnx("arming transition rejected"); + + return ret; +} + +bool is_safe(const struct vehicle_status_s *status, const struct safety_s *safety, const struct actuator_armed_s *armed) +{ + // System is safe if: + // 1) Not armed + // 2) Armed, but in software lockdown (HIL) + // 3) Safety switch is present AND engaged -> actuators locked + if (!armed->armed || (armed->armed && armed->lockdown) || (safety->safety_switch_available && !safety->safety_off)) { + return true; + + } else { + return false; + } +} + +bool +check_arming_state_changed() +{ + if (arming_state_changed) { + arming_state_changed = false; + return true; + + } else { + return false; + } +} + +transition_result_t +main_state_transition(struct vehicle_status_s *current_state, main_state_t new_main_state) +{ + transition_result_t ret = TRANSITION_DENIED; + + /* only check transition if the new state is actually different from the current one */ + if (new_main_state == current_state->main_state) { + ret = TRANSITION_NOT_CHANGED; + + } else { + + switch (new_main_state) { + case MAIN_STATE_MANUAL: + ret = TRANSITION_CHANGED; + break; + + case MAIN_STATE_SEATBELT: + + /* need altitude estimate */ + if (current_state->condition_local_altitude_valid) { + ret = TRANSITION_CHANGED; + } + + break; + + case MAIN_STATE_EASY: + + /* need local position estimate */ + if (current_state->condition_local_position_valid) { + ret = TRANSITION_CHANGED; + } + + break; + + case MAIN_STATE_AUTO: + + /* need global position estimate */ + if (current_state->condition_global_position_valid) { + ret = TRANSITION_CHANGED; + } + + break; + } + + if (ret == TRANSITION_CHANGED) { + current_state->main_state = new_main_state; + main_state_changed = true; + } + } + + return ret; +} + +bool +check_main_state_changed() +{ + if (main_state_changed) { + main_state_changed = false; + return true; + + } else { + return false; + } +} + +transition_result_t +navigation_state_transition(struct vehicle_status_s *status, navigation_state_t new_navigation_state, struct vehicle_control_mode_s *control_mode) +{ + transition_result_t ret = TRANSITION_DENIED; + + /* only check transition if the new state is actually different from the current one */ + if (new_navigation_state == status->navigation_state) { + ret = TRANSITION_NOT_CHANGED; + + } else { + + switch (new_navigation_state) { + case NAVIGATION_STATE_DIRECT: + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = true; + control_mode->flag_control_attitude_enabled = false; + control_mode->flag_control_velocity_enabled = false; + control_mode->flag_control_position_enabled = false; + control_mode->flag_control_altitude_enabled = false; + control_mode->flag_control_climb_rate_enabled = false; + control_mode->flag_control_manual_enabled = true; + control_mode->flag_control_auto_enabled = false; + break; + + case NAVIGATION_STATE_STABILIZE: + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = true; + control_mode->flag_control_attitude_enabled = true; + control_mode->flag_control_velocity_enabled = false; + control_mode->flag_control_position_enabled = false; + control_mode->flag_control_altitude_enabled = false; + control_mode->flag_control_climb_rate_enabled = false; + control_mode->flag_control_manual_enabled = true; + control_mode->flag_control_auto_enabled = false; + break; + + case NAVIGATION_STATE_ALTHOLD: + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = true; + control_mode->flag_control_attitude_enabled = true; + control_mode->flag_control_velocity_enabled = false; + control_mode->flag_control_position_enabled = false; + control_mode->flag_control_altitude_enabled = true; + control_mode->flag_control_climb_rate_enabled = true; + control_mode->flag_control_manual_enabled = true; + control_mode->flag_control_auto_enabled = false; + break; + + case NAVIGATION_STATE_VECTOR: + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = true; + control_mode->flag_control_attitude_enabled = true; + control_mode->flag_control_velocity_enabled = true; + control_mode->flag_control_position_enabled = true; + control_mode->flag_control_altitude_enabled = true; + control_mode->flag_control_climb_rate_enabled = true; + control_mode->flag_control_manual_enabled = true; + control_mode->flag_control_auto_enabled = false; + break; + + case NAVIGATION_STATE_AUTO_READY: + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = false; + control_mode->flag_control_attitude_enabled = false; + control_mode->flag_control_velocity_enabled = false; + control_mode->flag_control_position_enabled = false; + control_mode->flag_control_altitude_enabled = false; + control_mode->flag_control_climb_rate_enabled = false; + control_mode->flag_control_manual_enabled = false; + control_mode->flag_control_auto_enabled = true; + break; + + case NAVIGATION_STATE_AUTO_TAKEOFF: + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = true; + control_mode->flag_control_attitude_enabled = true; + control_mode->flag_control_velocity_enabled = true; + control_mode->flag_control_position_enabled = true; + control_mode->flag_control_altitude_enabled = true; + control_mode->flag_control_climb_rate_enabled = true; + control_mode->flag_control_manual_enabled = false; + control_mode->flag_control_auto_enabled = true; + break; + + case NAVIGATION_STATE_AUTO_LOITER: + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = true; + control_mode->flag_control_attitude_enabled = true; + control_mode->flag_control_velocity_enabled = true; + control_mode->flag_control_position_enabled = true; + control_mode->flag_control_altitude_enabled = true; + control_mode->flag_control_climb_rate_enabled = true; + control_mode->flag_control_manual_enabled = false; + control_mode->flag_control_auto_enabled = false; + break; + + case NAVIGATION_STATE_AUTO_MISSION: + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = true; + control_mode->flag_control_attitude_enabled = true; + control_mode->flag_control_velocity_enabled = true; + control_mode->flag_control_position_enabled = true; + control_mode->flag_control_altitude_enabled = true; + control_mode->flag_control_climb_rate_enabled = true; + control_mode->flag_control_manual_enabled = false; + control_mode->flag_control_auto_enabled = true; + break; + + case NAVIGATION_STATE_AUTO_RTL: + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = true; + control_mode->flag_control_attitude_enabled = true; + control_mode->flag_control_velocity_enabled = true; + control_mode->flag_control_position_enabled = true; + control_mode->flag_control_altitude_enabled = true; + control_mode->flag_control_climb_rate_enabled = true; + control_mode->flag_control_manual_enabled = false; + control_mode->flag_control_auto_enabled = true; + break; + + case NAVIGATION_STATE_AUTO_LAND: + + /* deny transitions from landed state */ + if (status->navigation_state != NAVIGATION_STATE_AUTO_READY) { + ret = TRANSITION_CHANGED; + control_mode->flag_control_rates_enabled = true; + control_mode->flag_control_attitude_enabled = true; + control_mode->flag_control_velocity_enabled = true; + control_mode->flag_control_position_enabled = true; + control_mode->flag_control_altitude_enabled = true; + control_mode->flag_control_climb_rate_enabled = true; + control_mode->flag_control_manual_enabled = false; + control_mode->flag_control_auto_enabled = true; + } + + break; + + default: + break; + } + + if (ret == TRANSITION_CHANGED) { + status->navigation_state = new_navigation_state; + control_mode->auto_state = status->navigation_state; + navigation_state_changed = true; + } + } + + return ret; +} + +bool +check_navigation_state_changed() +{ + if (navigation_state_changed) { + navigation_state_changed = false; + return true; + + } else { + return false; + } +} + +void +set_navigation_state_changed() +{ + navigation_state_changed = true; +} + +/** +* Transition from one hil state to another +*/ +int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_status, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, const int mavlink_fd) +{ + bool valid_transition = false; + int ret = ERROR; + + warnx("Current state: %d, requested state: %d", current_status->hil_state, new_state); + + if (current_status->hil_state == new_state) { + warnx("Hil state not changed"); + valid_transition = true; + + } else { + + switch (new_state) { + + case HIL_STATE_OFF: + + if (current_status->arming_state == ARMING_STATE_INIT + || current_status->arming_state == ARMING_STATE_STANDBY) { + + current_control_mode->flag_system_hil_enabled = false; + mavlink_log_critical(mavlink_fd, "Switched to OFF hil state"); + valid_transition = true; + } + + break; + + case HIL_STATE_ON: + + if (current_status->arming_state == ARMING_STATE_INIT + || current_status->arming_state == ARMING_STATE_STANDBY) { + + current_control_mode->flag_system_hil_enabled = true; + mavlink_log_critical(mavlink_fd, "Switched to ON hil state"); + valid_transition = true; + } + + break; + + default: + warnx("Unknown hil state"); + break; + } + } + + if (valid_transition) { + current_status->hil_state = new_state; + + current_status->counter++; + current_status->timestamp = hrt_absolute_time(); + orb_publish(ORB_ID(vehicle_status), status_pub, current_status); + + current_control_mode->timestamp = hrt_absolute_time(); + orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, current_control_mode); + + ret = OK; + + } else { + mavlink_log_critical(mavlink_fd, "REJECTING invalid hil state transition"); + } + + return ret; +} + + + +// /* +// * Wrapper functions (to be used in the commander), all functions assume lock on current_status +// */ + +// /* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR +// * +// * START SUBSYSTEM/EMERGENCY FUNCTIONS +// * */ + +// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// current_status->onboard_control_sensors_present |= 1 << *subsystem_type; +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); +// } + +// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// current_status->onboard_control_sensors_present &= ~(1 << *subsystem_type); +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); + +// /* if a subsystem was removed something went completely wrong */ + +// switch (*subsystem_type) { +// case SUBSYSTEM_TYPE_GYRO: +// //global_data_send_mavlink_statustext_message_out("Commander: gyro not present", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_ACC: +// //global_data_send_mavlink_statustext_message_out("Commander: accelerometer not present", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_MAG: +// //global_data_send_mavlink_statustext_message_out("Commander: magnetometer not present", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_GPS: +// { +// uint8_t flight_env = global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]; + +// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { +// //global_data_send_mavlink_statustext_message_out("Commander: GPS not present", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency(status_pub, current_status); +// } +// } +// break; + +// default: +// break; +// } + +// } + +// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// current_status->onboard_control_sensors_enabled |= 1 << *subsystem_type; +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); +// } + +// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// current_status->onboard_control_sensors_enabled &= ~(1 << *subsystem_type); +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); + +// /* if a subsystem was disabled something went completely wrong */ + +// switch (*subsystem_type) { +// case SUBSYSTEM_TYPE_GYRO: +// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - gyro disabled", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_ACC: +// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - accelerometer disabled", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_MAG: +// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - magnetometer disabled", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_GPS: +// { +// uint8_t flight_env = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]); + +// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { +// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - GPS disabled", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency(status_pub, current_status); +// } +// } +// break; + +// default: +// break; +// } + +// } + + +///* END SUBSYSTEM/EMERGENCY FUNCTIONS*/ +// +//int update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode) +//{ +// int ret = 1; +// +//// /* Switch on HIL if in standby and not already in HIL mode */ +//// if ((mode & VEHICLE_MODE_FLAG_HIL_ENABLED) +//// && !current_status->flag_hil_enabled) { +//// if ((current_status->state_machine == SYSTEM_STATE_STANDBY)) { +//// /* Enable HIL on request */ +//// current_status->flag_hil_enabled = true; +//// ret = OK; +//// state_machine_publish(status_pub, current_status, mavlink_fd); +//// publish_armed_status(current_status); +//// printf("[cmd] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n"); +//// +//// } else if (current_status->state_machine != SYSTEM_STATE_STANDBY && +//// current_status->flag_fmu_armed) { +//// +//// mavlink_log_critical(mavlink_fd, "REJECTING HIL, disarm first!") +//// +//// } else { +//// +//// mavlink_log_critical(mavlink_fd, "REJECTING HIL, not in standby.") +//// } +//// } +// +// /* switch manual / auto */ +// if (mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) { +// update_state_machine_mode_auto(status_pub, current_status, mavlink_fd); +// +// } else if (mode & VEHICLE_MODE_FLAG_STABILIZED_ENABLED) { +// update_state_machine_mode_stabilized(status_pub, current_status, mavlink_fd); +// +// } else if (mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) { +// update_state_machine_mode_guided(status_pub, current_status, mavlink_fd); +// +// } else if (mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) { +// update_state_machine_mode_manual(status_pub, current_status, mavlink_fd); +// } +// +// /* vehicle is disarmed, mode requests arming */ +// if (!(current_status->flag_fmu_armed) && (mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) { +// /* only arm in standby state */ +// // XXX REMOVE +// if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { +// do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY); +// ret = OK; +// printf("[cmd] arming due to command request\n"); +// } +// } +// +// /* vehicle is armed, mode requests disarming */ +// if (current_status->flag_fmu_armed && !(mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) { +// /* only disarm in ground ready */ +// if (current_status->state_machine == SYSTEM_STATE_GROUND_READY) { +// do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); +// ret = OK; +// printf("[cmd] disarming due to command request\n"); +// } +// } +// +// /* NEVER actually switch off HIL without reboot */ +// if (current_status->flag_hil_enabled && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) { +// warnx("DENYING request to switch off HIL. Please power cycle (safety reasons)\n"); +// mavlink_log_critical(mavlink_fd, "Power-cycle to exit HIL"); +// ret = ERROR; +// } +// +// return ret; +//} + diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index 2f2ccc7298..1641b6f60b 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (C) 2013 PX4 Development Team. All rights reserved. * Author: Thomas Gubler * Julian Oes * @@ -46,164 +46,34 @@ #include #include +#include +#include +#include -/** - * Switch to new state with no checking. - * - * do_state_update: this is the functions that all other functions have to call in order to update the state. - * the function does not question the state change, this must be done before - * The function performs actions that are connected with the new state (buzzer, reboot, ...) - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - * - * @return 0 (macro OK) or 1 on error (macro ERROR) - */ -int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state); +typedef enum { + TRANSITION_DENIED = -1, + TRANSITION_NOT_CHANGED = 0, + TRANSITION_CHANGED -/* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR */ -// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); -// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); +} transition_result_t; -// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); -// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); +transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety, + arming_state_t new_arming_state, struct actuator_armed_s *armed); -// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); -// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); +bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed); +bool check_arming_state_changed(); -/** - * Handle state machine if got position fix - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); +transition_result_t main_state_transition(struct vehicle_status_s *current_state, main_state_t new_main_state); -/** - * Handle state machine if position fix lost - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); +bool check_main_state_changed(); -/** - * Handle state machine if user wants to arm - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); +transition_result_t navigation_state_transition(struct vehicle_status_s *status, navigation_state_t new_navigation_state, struct vehicle_control_mode_s *control_mode); -/** - * Handle state machine if user wants to disarm - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Handle state machine if mode switch is manual - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Handle state machine if mode switch is stabilized - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Handle state machine if mode switch is guided - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Handle state machine if mode switch is auto - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Publish current state information - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - - -/* - * Functions that handle incoming requests to change the state machine or a parameter (probably from the mavlink app). - * If the request is obeyed the functions return 0 - * - */ - -/** - * Handles *incoming request* to switch to a specific state, if state change is successful returns 0 - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode); - -/** - * Handles *incoming request* to switch to a specific custom state, if state change is successful returns 0 - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t custom_mode); - -/** - * Always switches to critical mode under any circumstances. - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Switches to emergency if required. - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Publish the armed state depending on the current system state - * - * @param current_status the current system status - */ -void publish_armed_status(const struct vehicle_status_s *current_status); +bool check_navigation_state_changed(); +void set_navigation_state_changed(); +int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, const int mavlink_fd); #endif /* STATE_MACHINE_HELPER_H_ */ diff --git a/src/modules/controllib/uorb/blocks.hpp b/src/modules/controllib/uorb/blocks.hpp index 9c0720aa5e..46dc1bec25 100644 --- a/src/modules/controllib/uorb/blocks.hpp +++ b/src/modules/controllib/uorb/blocks.hpp @@ -58,7 +58,7 @@ #include extern "C" { -#include +#include } #include "../blocks.hpp" diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_main.c b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c index 6c9c137bb1..b6b4546c23 100644 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_main.c +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c @@ -53,6 +53,7 @@ #include #include #include +#include #include #include #include @@ -116,6 +117,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) memset(&global_pos, 0, sizeof(global_pos)); struct manual_control_setpoint_s manual_sp; memset(&manual_sp, 0, sizeof(manual_sp)); + struct vehicle_control_mode_s control_mode; + memset(&control_mode, 0, sizeof(control_mode)); struct vehicle_status_s vstatus; memset(&vstatus, 0, sizeof(vstatus)); @@ -137,7 +140,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); + int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); + int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); /* Setup of loop */ float gyro[3] = {0.0f, 0.0f, 0.0f}; @@ -178,30 +182,16 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) } orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp); - orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus); + orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode); + orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus); gyro[0] = att.rollspeed; gyro[1] = att.pitchspeed; gyro[2] = att.yawspeed; - /* control */ - - if (vstatus.state_machine == SYSTEM_STATE_AUTO || - vstatus.state_machine == SYSTEM_STATE_STABILIZED) { - /* attitude control */ - fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp); - - /* angular rate control */ - fixedwing_att_control_rates(&rates_sp, gyro, &actuators); - - /* pass through throttle */ - actuators.control[3] = att_sp.thrust; - - /* set flaps to zero */ - actuators.control[4] = 0.0f; - - } else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) { - if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { + /* set manual setpoints if required */ + if (control_mode.flag_control_manual_enabled) { + if (control_mode.flag_control_attitude_enabled) { /* if the RC signal is lost, try to stay level and go slowly back down to ground */ if (vstatus.rc_signal_lost) { @@ -234,15 +224,6 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) att_sp.timestamp = hrt_absolute_time(); - /* attitude control */ - fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp); - - /* angular rate control */ - fixedwing_att_control_rates(&rates_sp, gyro, &actuators); - - /* pass through throttle */ - actuators.control[3] = att_sp.thrust; - /* pass through flaps */ if (isfinite(manual_sp.flaps)) { actuators.control[4] = manual_sp.flaps; @@ -251,7 +232,7 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) actuators.control[4] = 0.0f; } - } else if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { + } else { /* directly pass through values */ actuators.control[0] = manual_sp.roll; /* positive pitch means negative actuator -> pull up */ @@ -267,6 +248,22 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) } } } + + /* execute attitude control if requested */ + if (control_mode.flag_control_attitude_enabled) { + /* attitude control */ + fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp); + + /* angular rate control */ + fixedwing_att_control_rates(&rates_sp, gyro, &actuators); + + /* pass through throttle */ + actuators.control[3] = att_sp.thrust; + + /* set flaps to zero */ + actuators.control[4] = 0.0f; + + } /* publish rates */ orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp); diff --git a/src/modules/fixedwing_backside/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp index f655a13bd7..d65045d687 100644 --- a/src/modules/fixedwing_backside/fixedwing.cpp +++ b/src/modules/fixedwing_backside/fixedwing.cpp @@ -156,7 +156,7 @@ void BlockMultiModeBacksideAutopilot::update() _actuators.control[i] = 0.0f; // only update guidance in auto mode - if (_status.state_machine == SYSTEM_STATE_AUTO) { + if (_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION) { // TODO use vehicle_control_mode here? // update guidance _guide.update(_pos, _att, _posCmd.current, _lastPosCmd.current); } @@ -166,8 +166,8 @@ void BlockMultiModeBacksideAutopilot::update() // the setpoint should update to loitering around this position // handle autopilot modes - if (_status.state_machine == SYSTEM_STATE_AUTO || - _status.state_machine == SYSTEM_STATE_STABILIZED) { + if (_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION || + _status.navigation_state == NAVIGATION_STATE_STABILIZE) { // TODO use vehicle_control_mode here? // update guidance _guide.update(_pos, _att, _posCmd.current, _lastPosCmd.current); @@ -219,89 +219,83 @@ void BlockMultiModeBacksideAutopilot::update() // This is not a hack, but a design choice. /* do not limit in HIL */ - if (!_status.flag_hil_enabled) { + if (_status.hil_state != HIL_STATE_ON) { /* limit to value of manual throttle */ _actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ? _actuators.control[CH_THR] : _manual.throttle; } - } else if (_status.state_machine == SYSTEM_STATE_MANUAL) { + } else if (_status.navigation_state == NAVIGATION_STATE_DIRECT) { // TODO use vehicle_control_mode here? + _actuators.control[CH_AIL] = _manual.roll; + _actuators.control[CH_ELV] = _manual.pitch; + _actuators.control[CH_RDR] = _manual.yaw; + _actuators.control[CH_THR] = _manual.throttle; + } else if (_status.navigation_state == NAVIGATION_STATE_STABILIZE) { // TODO use vehicle_control_mode here? + // calculate velocity, XXX should be airspeed, but using ground speed for now + // for the purpose of control we will limit the velocity feedback between + // the min/max velocity + float v = _vLimit.update(sqrtf( + _pos.vx * _pos.vx + + _pos.vy * _pos.vy + + _pos.vz * _pos.vz)); - if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { - _actuators.control[CH_AIL] = _manual.roll; - _actuators.control[CH_ELV] = _manual.pitch; - _actuators.control[CH_RDR] = _manual.yaw; - _actuators.control[CH_THR] = _manual.throttle; + // pitch channel -> rate of climb + // TODO, might want to put a gain on this, otherwise commanding + // from +1 -> -1 m/s for rate of climb + //float dThrottle = _cr2Thr.update( + //_crMax.get()*_manual.pitch - _pos.vz); - } else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { + // roll channel -> bank angle + float phiCmd = _phiLimit.update(_manual.roll * _phiLimit.getMax()); + float pCmd = _phi2P.update(phiCmd - _att.roll); - // calculate velocity, XXX should be airspeed, but using ground speed for now - // for the purpose of control we will limit the velocity feedback between - // the min/max velocity - float v = _vLimit.update(sqrtf( - _pos.vx * _pos.vx + - _pos.vy * _pos.vy + - _pos.vz * _pos.vz)); + // throttle channel -> velocity + // negative sign because nose over to increase speed + float vCmd = _vLimit.update(_manual.throttle * + (_vLimit.getMax() - _vLimit.getMin()) + + _vLimit.getMin()); + float thetaCmd = _theLimit.update(-_v2Theta.update(vCmd - v)); + float qCmd = _theta2Q.update(thetaCmd - _att.pitch); - // pitch channel -> rate of climb - // TODO, might want to put a gain on this, otherwise commanding - // from +1 -> -1 m/s for rate of climb - //float dThrottle = _cr2Thr.update( - //_crMax.get()*_manual.pitch - _pos.vz); + // yaw rate cmd + float rCmd = 0; - // roll channel -> bank angle - float phiCmd = _phiLimit.update(_manual.roll * _phiLimit.getMax()); - float pCmd = _phi2P.update(phiCmd - _att.roll); + // stabilization + _stabilization.update(pCmd, qCmd, rCmd, + _att.rollspeed, _att.pitchspeed, _att.yawspeed); - // throttle channel -> velocity - // negative sign because nose over to increase speed - float vCmd = _vLimit.update(_manual.throttle * - (_vLimit.getMax() - _vLimit.getMin()) + - _vLimit.getMin()); - float thetaCmd = _theLimit.update(-_v2Theta.update(vCmd - v)); - float qCmd = _theta2Q.update(thetaCmd - _att.pitch); + // output + _actuators.control[CH_AIL] = _stabilization.getAileron() + _trimAil.get(); + _actuators.control[CH_ELV] = _stabilization.getElevator() + _trimElv.get(); + _actuators.control[CH_RDR] = _stabilization.getRudder() + _trimRdr.get(); - // yaw rate cmd - float rCmd = 0; + // currently using manual throttle + // XXX if you enable this watch out, vz might be very noisy + //_actuators.control[CH_THR] = dThrottle + _trimThr.get(); + _actuators.control[CH_THR] = _manual.throttle; - // stabilization - _stabilization.update(pCmd, qCmd, rCmd, - _att.rollspeed, _att.pitchspeed, _att.yawspeed); + // XXX limit throttle to manual setting (safety) for now. + // If it turns out to be confusing, it can be removed later once + // a first binary release can be targeted. + // This is not a hack, but a design choice. - // output - _actuators.control[CH_AIL] = _stabilization.getAileron() + _trimAil.get(); - _actuators.control[CH_ELV] = _stabilization.getElevator() + _trimElv.get(); - _actuators.control[CH_RDR] = _stabilization.getRudder() + _trimRdr.get(); - - // currently using manual throttle - // XXX if you enable this watch out, vz might be very noisy - //_actuators.control[CH_THR] = dThrottle + _trimThr.get(); - _actuators.control[CH_THR] = _manual.throttle; - - // XXX limit throttle to manual setting (safety) for now. - // If it turns out to be confusing, it can be removed later once - // a first binary release can be targeted. - // This is not a hack, but a design choice. - - /* do not limit in HIL */ - if (!_status.flag_hil_enabled) { - /* limit to value of manual throttle */ - _actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ? - _actuators.control[CH_THR] : _manual.throttle; - } + /* do not limit in HIL */ + if (_status.hil_state != HIL_STATE_ON) { + /* limit to value of manual throttle */ + _actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ? + _actuators.control[CH_THR] : _manual.throttle; } + // body rates controller, disabled for now + // TODO + } else if (0 /*_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS*/) { // TODO use vehicle_control_mode here? - // body rates controller, disabled for now - else if (0 /*_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS*/) { + _stabilization.update(_manual.roll, _manual.pitch, _manual.yaw, + _att.rollspeed, _att.pitchspeed, _att.yawspeed); - _stabilization.update(_manual.roll, _manual.pitch, _manual.yaw, - _att.rollspeed, _att.pitchspeed, _att.yawspeed); - - _actuators.control[CH_AIL] = _stabilization.getAileron(); - _actuators.control[CH_ELV] = _stabilization.getElevator(); - _actuators.control[CH_RDR] = _stabilization.getRudder(); - _actuators.control[CH_THR] = _manual.throttle; - } + _actuators.control[CH_AIL] = _stabilization.getAileron(); + _actuators.control[CH_ELV] = _stabilization.getElevator(); + _actuators.control[CH_RDR] = _stabilization.getRudder(); + _actuators.control[CH_THR] = _manual.throttle; } // update all publications diff --git a/src/modules/gpio_led/gpio_led.c b/src/modules/gpio_led/gpio_led.c index 1aef739c7b..d383146f99 100644 --- a/src/modules/gpio_led/gpio_led.c +++ b/src/modules/gpio_led/gpio_led.c @@ -51,6 +51,7 @@ #include #include #include +#include #include #include #include @@ -62,6 +63,8 @@ struct gpio_led_s { int pin; struct vehicle_status_s status; int vehicle_status_sub; + struct actuator_armed_s armed; + int actuator_armed_sub; bool led_state; int counter; }; @@ -109,19 +112,19 @@ int gpio_led_main(int argc, char *argv[]) } else if (!strcmp(argv[3], "a1")) { use_io = true; - pin = PX4IO_ACC1; + pin = PX4IO_P_SETUP_RELAYS_ACC1; } else if (!strcmp(argv[3], "a2")) { use_io = true; - pin = PX4IO_ACC2; + pin = PX4IO_P_SETUP_RELAYS_ACC2; } else if (!strcmp(argv[3], "r1")) { use_io = true; - pin = PX4IO_RELAY1; + pin = PX4IO_P_SETUP_RELAYS_POWER1; } else if (!strcmp(argv[3], "r2")) { use_io = true; - pin = PX4IO_RELAY2; + pin = PX4IO_P_SETUP_RELAYS_POWER2; } else { errx(1, "unsupported pin: %s", argv[3]); @@ -142,7 +145,7 @@ int gpio_led_main(int argc, char *argv[]) char pin_name[24]; if (use_io) { - if (pin & (PX4IO_ACC1 | PX4IO_ACC2)) { + if (pin & (PX4IO_P_SETUP_RELAYS_ACC1 | PX4IO_P_SETUP_RELAYS_ACC2)) { sprintf(pin_name, "PX4IO ACC%i", (pin >> 3)); } else { @@ -227,10 +230,15 @@ void gpio_led_cycle(FAR void *arg) if (status_updated) orb_copy(ORB_ID(vehicle_status), priv->vehicle_status_sub, &priv->status); + orb_check(priv->vehicle_status_sub, &status_updated); + + if (status_updated) + orb_copy(ORB_ID(actuator_armed), priv->actuator_armed_sub, &priv->armed); + /* select pattern for current status */ int pattern = 0; - if (priv->status.flag_system_armed) { + if (priv->armed.armed) { if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) { pattern = 0x3f; // ****** solid (armed) @@ -239,11 +247,10 @@ void gpio_led_cycle(FAR void *arg) } } else { - if (priv->status.state_machine == SYSTEM_STATE_PREFLIGHT) { + if (priv->armed.ready_to_arm) { pattern = 0x00; // ______ off (disarmed, preflight check) - } else if (priv->status.state_machine == SYSTEM_STATE_STANDBY && - priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) { + } else if (priv->armed.ready_to_arm && priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) { pattern = 0x38; // ***___ slow blink (disarmed, ready) } else { diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index 919d01561c..a8ca19d7a4 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -64,6 +64,7 @@ #include #include #include +#include #include "waypoints.h" #include "orb_topics.h" @@ -181,102 +182,80 @@ set_hil_on_off(bool hil_enabled) } void -get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode) +get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode) { /* reset MAVLink mode bitfield */ - *mavlink_mode = 0; + *mavlink_base_mode = 0; + *mavlink_custom_mode = 0; - /* set mode flags independent of system state */ + /** + * Set mode flags + **/ /* HIL */ - if (v_status.flag_hil_enabled) { - *mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED; + if (v_status.hil_state == HIL_STATE_ON) { + *mavlink_base_mode |= MAV_MODE_FLAG_HIL_ENABLED; } - /* manual input */ - if (v_status.flag_control_manual_enabled) { - *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; + /* arming state */ + if (v_status.arming_state == ARMING_STATE_ARMED + || v_status.arming_state == ARMING_STATE_ARMED_ERROR) { + *mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED; } - /* attitude or rate control */ - if (v_status.flag_control_attitude_enabled || - v_status.flag_control_rates_enabled) { - *mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; - } - - /* vector control */ - if (v_status.flag_control_velocity_enabled || - v_status.flag_control_position_enabled) { - *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; - } - - /* autonomous mode */ - if (v_status.state_machine == SYSTEM_STATE_AUTO) { - *mavlink_mode |= MAV_MODE_FLAG_AUTO_ENABLED; - } - - /* set arming state */ - if (armed.armed) { - *mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED; - - } else { - *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; - } - - switch (v_status.state_machine) { - case SYSTEM_STATE_PREFLIGHT: - if (v_status.flag_preflight_gyro_calibration || - v_status.flag_preflight_mag_calibration || - v_status.flag_preflight_accel_calibration) { - *mavlink_state = MAV_STATE_CALIBRATING; - - } else { - *mavlink_state = MAV_STATE_UNINIT; + /* main state */ + *mavlink_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; + union px4_custom_mode custom_mode; + custom_mode.data = 0; + if (v_status.main_state == MAIN_STATE_MANUAL) { + *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (v_status.is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0); + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; + } else if (v_status.main_state == MAIN_STATE_SEATBELT) { + *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT; + } else if (v_status.main_state == MAIN_STATE_EASY) { + *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_EASY; + } else if (v_status.main_state == MAIN_STATE_AUTO) { + *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + if (v_status.navigation_state == NAVIGATION_STATE_AUTO_READY) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY; + } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF; + } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_LOITER) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER; + } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION; + } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_RTL) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL; + } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_LAND) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; } - - break; - - case SYSTEM_STATE_STANDBY: - *mavlink_state = MAV_STATE_STANDBY; - break; - - case SYSTEM_STATE_GROUND_READY: - *mavlink_state = MAV_STATE_ACTIVE; - break; - - case SYSTEM_STATE_MANUAL: - *mavlink_state = MAV_STATE_ACTIVE; - break; - - case SYSTEM_STATE_STABILIZED: - *mavlink_state = MAV_STATE_ACTIVE; - break; - - case SYSTEM_STATE_AUTO: - *mavlink_state = MAV_STATE_ACTIVE; - break; - - case SYSTEM_STATE_MISSION_ABORT: - *mavlink_state = MAV_STATE_EMERGENCY; - break; - - case SYSTEM_STATE_EMCY_LANDING: - *mavlink_state = MAV_STATE_EMERGENCY; - break; - - case SYSTEM_STATE_EMCY_CUTOFF: - *mavlink_state = MAV_STATE_EMERGENCY; - break; - - case SYSTEM_STATE_GROUND_ERROR: - *mavlink_state = MAV_STATE_EMERGENCY; - break; - - case SYSTEM_STATE_REBOOT: - *mavlink_state = MAV_STATE_POWEROFF; - break; } + *mavlink_custom_mode = custom_mode.data; + /** + * Set mavlink state + **/ + + /* set calibration state */ + if (v_status.arming_state == ARMING_STATE_INIT + || v_status.arming_state == ARMING_STATE_IN_AIR_RESTORE + || v_status.arming_state == ARMING_STATE_STANDBY_ERROR) { // TODO review + *mavlink_state = MAV_STATE_UNINIT; + } else if (v_status.arming_state == ARMING_STATE_ARMED) { + *mavlink_state = MAV_STATE_ACTIVE; + } else if (v_status.arming_state == ARMING_STATE_ARMED_ERROR) { + *mavlink_state = MAV_STATE_CRITICAL; + } else if (v_status.arming_state == ARMING_STATE_STANDBY) { + *mavlink_state = MAV_STATE_STANDBY; + } else if (v_status.arming_state == ARMING_STATE_REBOOT) { + *mavlink_state = MAV_STATE_POWEROFF; + } else { + warnx("Unknown mavlink state"); + *mavlink_state = MAV_STATE_CRITICAL; + } } @@ -312,6 +291,9 @@ int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_m orb_set_interval(subs->act_2_sub, min_interval); orb_set_interval(subs->act_3_sub, min_interval); orb_set_interval(subs->actuators_sub, min_interval); + orb_set_interval(subs->actuators_effective_sub, min_interval); + orb_set_interval(subs->spa_sub, min_interval); + orb_set_interval(mavlink_subs.rates_setpoint_sub, min_interval); break; case MAVLINK_MSG_ID_MANUAL_CONTROL: @@ -534,7 +516,7 @@ void mavlink_update_system(void) int mavlink_thread_main(int argc, char *argv[]) { /* initialize mavlink text message buffering */ - mavlink_logbuffer_init(&lb, 5); + mavlink_logbuffer_init(&lb, 10); int ch; char *device_name = "/dev/ttyS1"; @@ -568,6 +550,7 @@ int mavlink_thread_main(int argc, char *argv[]) default: usage(); + break; } } @@ -674,23 +657,27 @@ int mavlink_thread_main(int argc, char *argv[]) /* translate the current system state to mavlink state and mode */ uint8_t mavlink_state = 0; - uint8_t mavlink_mode = 0; - get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode); + uint8_t mavlink_base_mode = 0; + uint32_t mavlink_custom_mode = 0; + get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); /* send heartbeat */ - mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state); + mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_base_mode, mavlink_custom_mode, mavlink_state); /* switch HIL mode if required */ - set_hil_on_off(v_status.flag_hil_enabled); + if (v_status.hil_state == HIL_STATE_ON) + set_hil_on_off(true); + else if (v_status.hil_state == HIL_STATE_OFF) + set_hil_on_off(false); /* send status (values already copied in the section above) */ mavlink_msg_sys_status_send(chan, v_status.onboard_control_sensors_present, v_status.onboard_control_sensors_enabled, v_status.onboard_control_sensors_health, - v_status.load, - v_status.voltage_battery * 1000.0f, - v_status.current_battery * 1000.0f, + v_status.load * 1000.0f, + v_status.battery_voltage * 1000.0f, + v_status.battery_current * 1000.0f, v_status.battery_remaining, v_status.drop_rate_comm, v_status.errors_comm, @@ -751,6 +738,9 @@ int mavlink_thread_main(int argc, char *argv[]) /* Reset the UART flags to original state */ tcsetattr(uart, TCSANOW, &uart_config_original); + /* destroy log buffer */ + mavlink_logbuffer_destroy(&lb); + thread_running = false; exit(0); diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 01bbabd46d..af43542da4 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -50,6 +50,10 @@ #include #include #include +#include +#include +#include +#include #include #include #include @@ -67,6 +71,7 @@ #include #include #include +#include __BEGIN_DECLS @@ -101,6 +106,10 @@ static orb_advert_t pub_hil_global_pos = -1; static orb_advert_t pub_hil_attitude = -1; static orb_advert_t pub_hil_gps = -1; static orb_advert_t pub_hil_sensors = -1; +static orb_advert_t pub_hil_gyro = -1; +static orb_advert_t pub_hil_accel = -1; +static orb_advert_t pub_hil_mag = -1; +static orb_advert_t pub_hil_baro = -1; static orb_advert_t pub_hil_airspeed = -1; static orb_advert_t cmd_pub = -1; @@ -188,9 +197,11 @@ handle_message(mavlink_message_t *msg) mavlink_set_mode_t new_mode; mavlink_msg_set_mode_decode(msg, &new_mode); + union px4_custom_mode custom_mode; + custom_mode.data = new_mode.custom_mode; /* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ vcmd.param1 = new_mode.base_mode; - vcmd.param2 = new_mode.custom_mode; + vcmd.param2 = custom_mode.main_mode; vcmd.param3 = 0; vcmd.param4 = 0; vcmd.param5 = 0; @@ -412,12 +423,12 @@ handle_message(mavlink_message_t *msg) /* airspeed from differential pressure, ambient pressure and temp */ struct airspeed_s airspeed; - airspeed.timestamp = hrt_absolute_time(); float ias = calc_indicated_airspeed(imu.diff_pressure); // XXX need to fix this float tas = ias; + airspeed.timestamp = hrt_absolute_time(); airspeed.indicated_airspeed_m_s = ias; airspeed.true_airspeed_m_s = tas; @@ -428,7 +439,67 @@ handle_message(mavlink_message_t *msg) } //warnx("SENSOR: IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s); - /* publish */ + /* individual sensor publications */ + struct gyro_report gyro; + gyro.x_raw = imu.xgyro / mrad2rad; + gyro.y_raw = imu.ygyro / mrad2rad; + gyro.z_raw = imu.zgyro / mrad2rad; + gyro.x = imu.xgyro; + gyro.y = imu.ygyro; + gyro.z = imu.zgyro; + gyro.temperature = imu.temperature; + gyro.timestamp = hrt_absolute_time(); + + if (pub_hil_gyro < 0) { + pub_hil_gyro = orb_advertise(ORB_ID(sensor_gyro), &gyro); + } else { + orb_publish(ORB_ID(sensor_gyro), pub_hil_gyro, &gyro); + } + + struct accel_report accel; + accel.x_raw = imu.xacc / mg2ms2; + accel.y_raw = imu.yacc / mg2ms2; + accel.z_raw = imu.zacc / mg2ms2; + accel.x = imu.xacc; + accel.y = imu.yacc; + accel.z = imu.zacc; + accel.temperature = imu.temperature; + accel.timestamp = hrt_absolute_time(); + + if (pub_hil_accel < 0) { + pub_hil_accel = orb_advertise(ORB_ID(sensor_accel), &accel); + } else { + orb_publish(ORB_ID(sensor_accel), pub_hil_accel, &accel); + } + + struct mag_report mag; + mag.x_raw = imu.xmag / mga2ga; + mag.y_raw = imu.ymag / mga2ga; + mag.z_raw = imu.zmag / mga2ga; + mag.x = imu.xmag; + mag.y = imu.ymag; + mag.z = imu.zmag; + mag.timestamp = hrt_absolute_time(); + + if (pub_hil_mag < 0) { + pub_hil_mag = orb_advertise(ORB_ID(sensor_mag), &mag); + } else { + orb_publish(ORB_ID(sensor_mag), pub_hil_mag, &mag); + } + + struct baro_report baro; + baro.pressure = imu.abs_pressure; + baro.altitude = imu.pressure_alt; + baro.temperature = imu.temperature; + baro.timestamp = hrt_absolute_time(); + + if (pub_hil_baro < 0) { + pub_hil_baro = orb_advertise(ORB_ID(sensor_baro), &baro); + } else { + orb_publish(ORB_ID(sensor_baro), pub_hil_baro, &baro); + } + + /* publish combined sensor topic */ if (pub_hil_sensors > 0) { orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors); } else { @@ -552,6 +623,22 @@ handle_message(mavlink_message_t *msg) } else { pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude); } + + struct accel_report accel; + accel.x_raw = hil_state.xacc / 9.81f * 1e3f; + accel.y_raw = hil_state.yacc / 9.81f * 1e3f; + accel.z_raw = hil_state.zacc / 9.81f * 1e3f; + accel.x = hil_state.xacc; + accel.y = hil_state.yacc; + accel.z = hil_state.zacc; + accel.temperature = 25.0f; + accel.timestamp = hrt_absolute_time(); + + if (pub_hil_accel < 0) { + pub_hil_accel = orb_advertise(ORB_ID(sensor_accel), &accel); + } else { + orb_publish(ORB_ID(sensor_accel), pub_hil_accel, &accel); + } } if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) { diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk index bfccb2d389..5d3d6a73c1 100644 --- a/src/modules/mavlink/module.mk +++ b/src/modules/mavlink/module.mk @@ -39,7 +39,6 @@ MODULE_COMMAND = mavlink SRCS += mavlink.c \ missionlib.c \ mavlink_parameters.c \ - mavlink_log.c \ mavlink_receiver.cpp \ orb_listener.c \ waypoints.c diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index edb8761b80..53d86ec005 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -71,7 +71,8 @@ struct vehicle_status_s v_status; struct rc_channels_s rc; struct rc_input_values rc_raw; struct actuator_armed_s armed; -struct actuator_controls_effective_s actuators_0; +struct actuator_controls_effective_s actuators_effective_0; +struct actuator_controls_s actuators_0; struct vehicle_attitude_s att; struct mavlink_subscriptions mavlink_subs; @@ -112,6 +113,7 @@ static void l_attitude_setpoint(const struct listener *l); static void l_actuator_outputs(const struct listener *l); static void l_actuator_armed(const struct listener *l); static void l_manual_control_setpoint(const struct listener *l); +static void l_vehicle_attitude_controls_effective(const struct listener *l); static void l_vehicle_attitude_controls(const struct listener *l); static void l_debug_key_value(const struct listener *l); static void l_optical_flow(const struct listener *l); @@ -138,6 +140,7 @@ static const struct listener listeners[] = { {l_actuator_armed, &mavlink_subs.armed_sub, 0}, {l_manual_control_setpoint, &mavlink_subs.man_control_sp_sub, 0}, {l_vehicle_attitude_controls, &mavlink_subs.actuators_sub, 0}, + {l_vehicle_attitude_controls_effective, &mavlink_subs.actuators_effective_sub, 0}, {l_debug_key_value, &mavlink_subs.debug_key_value, 0}, {l_optical_flow, &mavlink_subs.optical_flow, 0}, {l_vehicle_rates_setpoint, &mavlink_subs.rates_setpoint_sub, 0}, @@ -272,19 +275,23 @@ l_vehicle_status(const struct listener *l) orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed); /* enable or disable HIL */ - set_hil_on_off(v_status.flag_hil_enabled); + if (v_status.hil_state == HIL_STATE_ON) + set_hil_on_off(true); + else if (v_status.hil_state == HIL_STATE_OFF) + set_hil_on_off(false); /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state = 0; - uint8_t mavlink_mode = 0; - get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode); + uint8_t mavlink_base_mode = 0; + uint32_t mavlink_custom_mode = 0; + get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); /* send heartbeat */ mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, - mavlink_mode, - v_status.state_machine, + mavlink_base_mode, + mavlink_custom_mode, mavlink_state); } @@ -334,7 +341,7 @@ l_global_position(const struct listener *l) int16_t vz = (int16_t)(global_pos.vz * 100.0f); /* heading in degrees * 10, from 0 to 36.000) */ - uint16_t hdg = (global_pos.hdg / M_PI_F) * (180.0f * 10.0f) + (180.0f * 10.0f); + uint16_t hdg = (global_pos.yaw / M_PI_F) * (180.0f * 10.0f) + (180.0f * 10.0f); mavlink_msg_global_position_int_send(MAVLINK_COMM_0, timestamp / 1000, @@ -470,8 +477,9 @@ l_actuator_outputs(const struct listener *l) /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state = 0; - uint8_t mavlink_mode = 0; - get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode); + uint8_t mavlink_base_mode = 0; + uint32_t mavlink_custom_mode = 0; + get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); /* HIL message as per MAVLink spec */ @@ -488,7 +496,7 @@ l_actuator_outputs(const struct listener *l) -1, -1, -1, - mavlink_mode, + mavlink_base_mode, 0); } else if (mavlink_system.type == MAV_TYPE_HEXAROTOR) { @@ -502,7 +510,7 @@ l_actuator_outputs(const struct listener *l) ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f, -1, -1, - mavlink_mode, + mavlink_base_mode, 0); } else if (mavlink_system.type == MAV_TYPE_OCTOROTOR) { @@ -516,7 +524,7 @@ l_actuator_outputs(const struct listener *l) ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f, ((act_outputs.output[6] - 900.0f) / 600.0f) / 2.0f, ((act_outputs.output[7] - 900.0f) / 600.0f) / 2.0f, - mavlink_mode, + mavlink_base_mode, 0); } else { @@ -530,7 +538,7 @@ l_actuator_outputs(const struct listener *l) (act_outputs.output[5] - 1500.0f) / 500.0f, (act_outputs.output[6] - 1500.0f) / 500.0f, (act_outputs.output[7] - 1500.0f) / 500.0f, - mavlink_mode, + mavlink_base_mode, 0); } } @@ -562,28 +570,54 @@ l_manual_control_setpoint(const struct listener *l) } void -l_vehicle_attitude_controls(const struct listener *l) +l_vehicle_attitude_controls_effective(const struct listener *l) { - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_sub, &actuators_0); + orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_effective_sub, &actuators_effective_0); if (gcs_link) { /* send, add spaces so that string buffer is at least 10 chars long */ mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, "eff ctrl0 ", - actuators_0.control_effective[0]); + actuators_effective_0.control_effective[0]); mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, "eff ctrl1 ", - actuators_0.control_effective[1]); + actuators_effective_0.control_effective[1]); mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, "eff ctrl2 ", - actuators_0.control_effective[2]); + actuators_effective_0.control_effective[2]); mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, "eff ctrl3 ", - actuators_0.control_effective[3]); + actuators_effective_0.control_effective[3]); + } +} + +void +l_vehicle_attitude_controls(const struct listener *l) +{ + orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, mavlink_subs.actuators_sub, &actuators_0); + + if (gcs_link) { + /* send, add spaces so that string buffer is at least 10 chars long */ + mavlink_msg_named_value_float_send(MAVLINK_COMM_0, + last_sensor_timestamp / 1000, + "ctrl0 ", + actuators_0.control[0]); + mavlink_msg_named_value_float_send(MAVLINK_COMM_0, + last_sensor_timestamp / 1000, + "ctrl1 ", + actuators_0.control[1]); + mavlink_msg_named_value_float_send(MAVLINK_COMM_0, + last_sensor_timestamp / 1000, + "ctrl2 ", + actuators_0.control[2]); + mavlink_msg_named_value_float_send(MAVLINK_COMM_0, + last_sensor_timestamp / 1000, + "ctrl3 ", + actuators_0.control[3]); } } @@ -632,12 +666,12 @@ l_airspeed(const struct listener *l) orb_copy(ORB_ID(airspeed), mavlink_subs.airspeed_sub, &airspeed); float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy); - float throttle = actuators_0.control_effective[3] * (UINT16_MAX - 1); - float alt = global_pos.alt; - float climb = global_pos.vz; + uint16_t heading = (att.yaw + M_PI_F) / M_PI_F * 180.0f; + float throttle = actuators_effective_0.control_effective[3] * (UINT16_MAX - 1); + float alt = global_pos.relative_alt; + float climb = -global_pos.vz; - mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, - ((att.yaw + M_PI_F) / M_PI_F) * 180.0f, throttle, alt, climb); + mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, alt, climb); } static void * @@ -673,7 +707,7 @@ uorb_receive_thread(void *arg) /* handle the poll result */ if (poll_ret == 0) { - mavlink_missionlib_send_gcs_string("[mavlink] No telemetry data for 1 s"); + /* silent */ } else if (poll_ret < 0) { mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data"); @@ -768,7 +802,10 @@ uorb_receive_start(void) orb_set_interval(mavlink_subs.man_control_sp_sub, 100); /* 10Hz updates */ /* --- ACTUATOR CONTROL VALUE --- */ - mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE); + mavlink_subs.actuators_effective_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE); + orb_set_interval(mavlink_subs.actuators_effective_sub, 100); /* 10Hz updates */ + + mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); orb_set_interval(mavlink_subs.actuators_sub, 100); /* 10Hz updates */ /* --- DEBUG VALUE OUTPUT --- */ diff --git a/src/modules/mavlink/orb_topics.h b/src/modules/mavlink/orb_topics.h index 73e278dc64..e2e6300463 100644 --- a/src/modules/mavlink/orb_topics.h +++ b/src/modules/mavlink/orb_topics.h @@ -55,10 +55,12 @@ #include #include #include +#include #include #include #include #include +#include #include #include #include @@ -75,8 +77,10 @@ struct mavlink_subscriptions { int act_3_sub; int gps_sub; int man_control_sp_sub; - int armed_sub; + int safety_sub; int actuators_sub; + int armed_sub; + int actuators_effective_sub; int local_pos_sub; int spa_sub; int spl_sub; diff --git a/src/modules/mavlink/util.h b/src/modules/mavlink/util.h index a4ff06a883..5e5ee8261c 100644 --- a/src/modules/mavlink/util.h +++ b/src/modules/mavlink/util.h @@ -51,4 +51,4 @@ extern mavlink_wpm_storage *wpm; /** * Translate the custom state into standard mavlink modes and state. */ -extern void get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode); +extern void get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode); diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c index eea928a170..16a7c2d355 100644 --- a/src/modules/mavlink/waypoints.c +++ b/src/modules/mavlink/waypoints.c @@ -294,16 +294,13 @@ void mavlink_wpm_send_waypoint_reached(uint16_t seq) */ float mavlink_wpm_distance_to_point_global_wgs84(uint16_t seq, float lat, float lon, float alt) { - //TODO: implement for z once altidude contoller is implemented - static uint16_t counter; -// if(counter % 10 == 0) printf(" x = %.10f, y = %.10f\n", x, y); if (seq < wpm->size) { - mavlink_mission_item_t *cur = &(wpm->waypoints[seq]); + mavlink_mission_item_t *wp = &(wpm->waypoints[seq]); - double current_x_rad = cur->x / 180.0 * M_PI; - double current_y_rad = cur->y / 180.0 * M_PI; + double current_x_rad = wp->x / 180.0 * M_PI; + double current_y_rad = wp->y / 180.0 * M_PI; double x_rad = lat / 180.0 * M_PI; double y_rad = lon / 180.0 * M_PI; @@ -315,7 +312,10 @@ float mavlink_wpm_distance_to_point_global_wgs84(uint16_t seq, float lat, float const double radius_earth = 6371000.0; - return radius_earth * c; + float dxy = radius_earth * c; + float dz = alt - wp->z; + + return sqrtf(dxy * dxy + dz * dz); } else { return -1.0f; @@ -383,21 +383,19 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_ // XXX TODO } - if (dist >= 0.f && dist <= orbit /*&& wpm->yaw_reached*/) { //TODO implement yaw - + if (dist >= 0.f && dist <= orbit) { wpm->pos_reached = true; - } - -// else -// { -// if(counter % 100 == 0) -// printf("Setpoint not reached yet: %0.4f, orbit: %.4f, coordinate frame: %d\n",dist, orbit, coordinate_frame); -// } + // check if required yaw reached + float yaw_sp = _wrap_pi(wpm->waypoints[wpm->current_active_wp_id].param4 / 180.0f * FM_PI); + float yaw_err = _wrap_pi(yaw_sp - local_pos->yaw); + if (fabsf(yaw_err) < 0.05f) { + wpm->yaw_reached = true; + } } //check if the current waypoint was reached - if (wpm->pos_reached /*wpm->yaw_reached &&*/ && !wpm->idle) { + if (wpm->pos_reached && /*wpm->yaw_reached &&*/ !wpm->idle) { if (wpm->current_active_wp_id < wpm->size) { mavlink_mission_item_t *cur_wp = &(wpm->waypoints[wpm->current_active_wp_id]); @@ -412,11 +410,7 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_ bool time_elapsed = false; - if (cur_wp->command == (int)MAV_CMD_NAV_LOITER_TIME) { - if (now - wpm->timestamp_firstinside_orbit >= cur_wp->param1 * 1000 * 1000) { - time_elapsed = true; - } - } else if (now - wpm->timestamp_firstinside_orbit >= cur_wp->param1 * 1000 * 1000) { + if (now - wpm->timestamp_firstinside_orbit >= cur_wp->param1 * 1000 * 1000) { time_elapsed = true; } else if (cur_wp->command == (int)MAV_CMD_NAV_TAKEOFF) { time_elapsed = true; @@ -493,7 +487,7 @@ int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_positio // mavlink_wpm_send_setpoint(wpm->current_active_wp_id); // } - check_waypoints_reached(now, global_position , local_position); + check_waypoints_reached(now, global_position, local_position); return OK; } diff --git a/src/modules/mavlink_onboard/mavlink.c b/src/modules/mavlink_onboard/mavlink.c index 20fb11b2cb..e713449823 100644 --- a/src/modules/mavlink_onboard/mavlink.c +++ b/src/modules/mavlink_onboard/mavlink.c @@ -273,18 +273,18 @@ void mavlink_update_system(void) } void -get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_armed_s *armed, +get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_armed_s *armed, uint8_t *mavlink_state, uint8_t *mavlink_mode) { /* reset MAVLink mode bitfield */ *mavlink_mode = 0; /* set mode flags independent of system state */ - if (v_status->flag_control_manual_enabled) { + if (control_mode->flag_control_manual_enabled) { *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; } - if (v_status->flag_hil_enabled) { + if (control_mode->flag_system_hil_enabled) { *mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED; } @@ -295,61 +295,67 @@ get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; } - switch (v_status->state_machine) { - case SYSTEM_STATE_PREFLIGHT: - if (v_status->flag_preflight_gyro_calibration || - v_status->flag_preflight_mag_calibration || - v_status->flag_preflight_accel_calibration) { - *mavlink_state = MAV_STATE_CALIBRATING; - } else { - *mavlink_state = MAV_STATE_UNINIT; - } - break; - - case SYSTEM_STATE_STANDBY: - *mavlink_state = MAV_STATE_STANDBY; - break; - - case SYSTEM_STATE_GROUND_READY: - *mavlink_state = MAV_STATE_ACTIVE; - break; - - case SYSTEM_STATE_MANUAL: - *mavlink_state = MAV_STATE_ACTIVE; - *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; - break; - - case SYSTEM_STATE_STABILIZED: - *mavlink_state = MAV_STATE_ACTIVE; - *mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; - break; - - case SYSTEM_STATE_AUTO: - *mavlink_state = MAV_STATE_ACTIVE; + if (control_mode->flag_control_velocity_enabled) { *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; - break; - - case SYSTEM_STATE_MISSION_ABORT: - *mavlink_state = MAV_STATE_EMERGENCY; - break; - - case SYSTEM_STATE_EMCY_LANDING: - *mavlink_state = MAV_STATE_EMERGENCY; - break; - - case SYSTEM_STATE_EMCY_CUTOFF: - *mavlink_state = MAV_STATE_EMERGENCY; - break; - - case SYSTEM_STATE_GROUND_ERROR: - *mavlink_state = MAV_STATE_EMERGENCY; - break; - - case SYSTEM_STATE_REBOOT: - *mavlink_state = MAV_STATE_POWEROFF; - break; + } else { + *mavlink_mode &= ~MAV_MODE_FLAG_GUIDED_ENABLED; } +// switch (v_status->state_machine) { +// case SYSTEM_STATE_PREFLIGHT: +// if (v_status->flag_preflight_gyro_calibration || +// v_status->flag_preflight_mag_calibration || +// v_status->flag_preflight_accel_calibration) { +// *mavlink_state = MAV_STATE_CALIBRATING; +// } else { +// *mavlink_state = MAV_STATE_UNINIT; +// } +// break; +// +// case SYSTEM_STATE_STANDBY: +// *mavlink_state = MAV_STATE_STANDBY; +// break; +// +// case SYSTEM_STATE_GROUND_READY: +// *mavlink_state = MAV_STATE_ACTIVE; +// break; +// +// case SYSTEM_STATE_MANUAL: +// *mavlink_state = MAV_STATE_ACTIVE; +// *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; +// break; +// +// case SYSTEM_STATE_STABILIZED: +// *mavlink_state = MAV_STATE_ACTIVE; +// *mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; +// break; +// +// case SYSTEM_STATE_AUTO: +// *mavlink_state = MAV_STATE_ACTIVE; +// *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; +// break; +// +// case SYSTEM_STATE_MISSION_ABORT: +// *mavlink_state = MAV_STATE_EMERGENCY; +// break; +// +// case SYSTEM_STATE_EMCY_LANDING: +// *mavlink_state = MAV_STATE_EMERGENCY; +// break; +// +// case SYSTEM_STATE_EMCY_CUTOFF: +// *mavlink_state = MAV_STATE_EMERGENCY; +// break; +// +// case SYSTEM_STATE_GROUND_ERROR: +// *mavlink_state = MAV_STATE_EMERGENCY; +// break; +// +// case SYSTEM_STATE_REBOOT: +// *mavlink_state = MAV_STATE_POWEROFF; +// break; +// } + } /** @@ -361,7 +367,9 @@ int mavlink_thread_main(int argc, char *argv[]) char *device_name = "/dev/ttyS1"; baudrate = 57600; + /* XXX this is never written? */ struct vehicle_status_s v_status; + struct vehicle_control_mode_s control_mode; struct actuator_armed_s armed; /* work around some stupidity in task_create's argv handling */ @@ -430,19 +438,19 @@ int mavlink_thread_main(int argc, char *argv[]) /* translate the current system state to mavlink state and mode */ uint8_t mavlink_state = 0; uint8_t mavlink_mode = 0; - get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode); + get_mavlink_mode_and_state(&control_mode, &armed, &mavlink_state, &mavlink_mode); /* send heartbeat */ - mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state); + mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.navigation_state, mavlink_state); /* send status (values already copied in the section above) */ mavlink_msg_sys_status_send(chan, v_status.onboard_control_sensors_present, v_status.onboard_control_sensors_enabled, v_status.onboard_control_sensors_health, - v_status.load, - v_status.voltage_battery * 1000.0f, - v_status.current_battery * 1000.0f, + v_status.load * 1000.0f, + v_status.battery_voltage * 1000.0f, + v_status.battery_current * 1000.0f, v_status.battery_remaining, v_status.drop_rate_comm, v_status.errors_comm, diff --git a/src/modules/mavlink_onboard/mavlink_receiver.c b/src/modules/mavlink_onboard/mavlink_receiver.c index 68d49c24b6..0236e61264 100644 --- a/src/modules/mavlink_onboard/mavlink_receiver.c +++ b/src/modules/mavlink_onboard/mavlink_receiver.c @@ -327,4 +327,4 @@ receive_start(int uart) pthread_t thread; pthread_create(&thread, &receiveloop_attr, receive_thread, &uart); return thread; -} \ No newline at end of file +} diff --git a/src/modules/mavlink_onboard/orb_topics.h b/src/modules/mavlink_onboard/orb_topics.h index f18f562439..1b49c9ce4e 100644 --- a/src/modules/mavlink_onboard/orb_topics.h +++ b/src/modules/mavlink_onboard/orb_topics.h @@ -52,9 +52,11 @@ #include #include #include +#include #include #include #include +#include #include #include #include @@ -69,7 +71,7 @@ struct mavlink_subscriptions { int act_3_sub; int gps_sub; int man_control_sp_sub; - int armed_sub; + int safety_sub; int actuators_sub; int local_pos_sub; int spa_sub; diff --git a/src/modules/mavlink_onboard/util.h b/src/modules/mavlink_onboard/util.h index 38a4db372b..c84b6fd26e 100644 --- a/src/modules/mavlink_onboard/util.h +++ b/src/modules/mavlink_onboard/util.h @@ -50,5 +50,6 @@ extern volatile bool thread_should_exit; /** * Translate the custom state into standard mavlink modes and state. */ -extern void get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_armed_s *armed, +extern void +get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_armed_s *armed, uint8_t *mavlink_state, uint8_t *mavlink_mode); diff --git a/src/modules/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c index 99f25cfe92..04582f2a40 100644 --- a/src/modules/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c @@ -2,6 +2,7 @@ * * Copyright (C) 2012 PX4 Development Team. All rights reserved. * Author: Lorenz Meier + * Anton Babushkin * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -38,6 +39,7 @@ * Implementation of multirotor attitude control main loop. * * @author Lorenz Meier + * @author Anton Babushkin */ #include @@ -57,12 +59,13 @@ #include #include #include -#include +#include #include #include #include #include #include +#include #include #include #include @@ -74,23 +77,20 @@ #include "multirotor_attitude_control.h" #include "multirotor_rate_control.h" -PARAM_DEFINE_FLOAT(MC_RCLOSS_THR, 0.0f); // This defines the throttle when the RC signal is lost. - __EXPORT int multirotor_att_control_main(int argc, char *argv[]); static bool thread_should_exit; static int mc_task; static bool motor_test_mode = false; - -static orb_advert_t actuator_pub; - -static struct vehicle_status_s state; +static const float min_takeoff_throttle = 0.3f; +static const float yaw_deadzone = 0.01f; static int mc_thread_main(int argc, char *argv[]) { /* declare and safely initialize all structs */ - memset(&state, 0, sizeof(state)); + struct vehicle_control_mode_s control_mode; + memset(&control_mode, 0, sizeof(control_mode)); struct vehicle_attitude_s att; memset(&att, 0, sizeof(att)); struct vehicle_attitude_setpoint_s att_sp; @@ -103,7 +103,8 @@ mc_thread_main(int argc, char *argv[]) memset(&offboard_sp, 0, sizeof(offboard_sp)); struct vehicle_rates_setpoint_s rates_sp; memset(&rates_sp, 0, sizeof(rates_sp)); - + struct vehicle_status_s status; + memset(&status, 0, sizeof(status)); struct actuator_controls_s actuators; memset(&actuators, 0, sizeof(actuators)); @@ -112,9 +113,11 @@ mc_thread_main(int argc, char *argv[]) int param_sub = orb_subscribe(ORB_ID(parameter_update)); int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); - int state_sub = orb_subscribe(ORB_ID(vehicle_status)); + int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); + int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); + int status_sub = orb_subscribe(ORB_ID(vehicle_status)); /* * Do not rate-limit the loop to prevent aliasing @@ -134,10 +137,9 @@ mc_thread_main(int argc, char *argv[]) actuators.control[i] = 0.0f; } - actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators); + orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators); orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); orb_advert_t rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp); - int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); /* register the perf counter */ perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_att_control_runtime"); @@ -145,23 +147,11 @@ mc_thread_main(int argc, char *argv[]) perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "multirotor_att_control_err"); /* welcome user */ - printf("[multirotor_att_control] starting\n"); + warnx("starting"); /* store last control mode to detect mode switches */ - bool flag_control_manual_enabled = false; - bool flag_control_attitude_enabled = false; - bool flag_system_armed = false; - - /* store if yaw position or yaw speed has been changed */ bool control_yaw_position = true; - - /* store if we stopped a yaw movement */ - bool first_time_after_yaw_speed_control = true; - - /* prepare the handle for the failsafe throttle */ - param_t failsafe_throttle_handle = param_find("MC_RCLOSS_THR"); - float failsafe_throttle = 0.0f; - + bool reset_yaw_sp = true; while (!thread_should_exit) { @@ -183,7 +173,6 @@ mc_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(parameter_update), param_sub, &update); /* update parameters */ - // XXX no params here yet } /* only run controller if attitude changed */ @@ -193,10 +182,10 @@ mc_thread_main(int argc, char *argv[]) /* get a local copy of system state */ bool updated; - orb_check(state_sub, &updated); + orb_check(control_mode_sub, &updated); if (updated) { - orb_copy(ORB_ID(vehicle_status), state_sub, &state); + orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode); } /* get a local copy of manual setpoint */ @@ -212,19 +201,32 @@ mc_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp); } + /* get a local copy of status */ + orb_check(status_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(vehicle_status), status_sub, &status); + } + /* get a local copy of the current sensor values */ orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); + /* set flag to safe value */ + control_yaw_position = true; - /** STEP 1: Define which input is the dominating control input */ - if (state.flag_control_offboard_enabled) { + /* reset yaw setpoint if not armed */ + if (!control_mode.flag_armed) { + reset_yaw_sp = true; + } + + /* define which input is the dominating control input */ + if (control_mode.flag_control_offboard_enabled) { /* offboard inputs */ if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) { rates_sp.roll = offboard_sp.p1; rates_sp.pitch = offboard_sp.p2; rates_sp.yaw = offboard_sp.p3; rates_sp.thrust = offboard_sp.p4; -// printf("thrust_rate=%8.4f\n",offboard_sp.p4); rates_sp.timestamp = hrt_absolute_time(); orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); @@ -233,108 +235,57 @@ mc_thread_main(int argc, char *argv[]) att_sp.pitch_body = offboard_sp.p2; att_sp.yaw_body = offboard_sp.p3; att_sp.thrust = offboard_sp.p4; -// printf("thrust_att=%8.4f\n",offboard_sp.p4); att_sp.timestamp = hrt_absolute_time(); - /* STEP 2: publish the result to the vehicle actuators */ + /* publish the result to the vehicle actuators */ orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); } + /* reset yaw setpoint after offboard control */ + reset_yaw_sp = true; - } else if (state.flag_control_manual_enabled) { + } else if (control_mode.flag_control_manual_enabled) { + /* manual input */ + if (control_mode.flag_control_attitude_enabled) { + /* control attitude, update attitude setpoint depending on mode */ + if (att_sp.thrust < 0.1f) { + /* no thrust, don't try to control yaw */ + rates_sp.yaw = 0.0f; + control_yaw_position = false; - if (state.flag_control_attitude_enabled) { - - /* initialize to current yaw if switching to manual or att control */ - if (state.flag_control_attitude_enabled != flag_control_attitude_enabled || - state.flag_control_manual_enabled != flag_control_manual_enabled || - state.flag_system_armed != flag_system_armed) { - att_sp.yaw_body = att.yaw; - } - - static bool rc_loss_first_time = true; - - /* if the RC signal is lost, try to stay level and go slowly back down to ground */ - if (state.rc_signal_lost) { - /* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */ - param_get(failsafe_throttle_handle, &failsafe_throttle); - att_sp.roll_body = 0.0f; - att_sp.pitch_body = 0.0f; - - /* - * Only go to failsafe throttle if last known throttle was - * high enough to create some lift to make hovering state likely. - * - * This is to prevent that someone landing, but not disarming his - * multicopter (throttle = 0) does not make it jump up in the air - * if shutting down his remote. - */ - if (isfinite(manual.throttle) && manual.throttle > 0.2f) { - att_sp.thrust = failsafe_throttle; - - } else { - att_sp.thrust = 0.0f; + if (status.condition_landed) { + /* reset yaw setpoint if on ground */ + reset_yaw_sp = true; } - /* keep current yaw, do not attempt to go to north orientation, - * since if the pilot regains RC control, he will be lost regarding - * the current orientation. - */ - if (rc_loss_first_time) - att_sp.yaw_body = att.yaw; - - rc_loss_first_time = false; - } else { - rc_loss_first_time = true; + /* only move yaw setpoint if manual input is != 0 */ + if (manual.yaw < -yaw_deadzone || yaw_deadzone < manual.yaw) { + /* control yaw rate */ + control_yaw_position = false; + rates_sp.yaw = manual.yaw; + reset_yaw_sp = true; // has no effect on control, just for beautiful log + } else { + control_yaw_position = true; + } + } + + if (!control_mode.flag_control_velocity_enabled) { + /* update attitude setpoint if not in position control mode */ att_sp.roll_body = manual.roll; att_sp.pitch_body = manual.pitch; - /* set attitude if arming */ - if (!flag_control_attitude_enabled && state.flag_system_armed) { - att_sp.yaw_body = att.yaw; + if (!control_mode.flag_control_climb_rate_enabled) { + /* pass throttle directly if not in altitude control mode */ + att_sp.thrust = manual.throttle; } - - /* act if stabilization is active or if the (nonsense) direct pass through mode is set */ - if (state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS || - state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { - - if (state.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE) { - rates_sp.yaw = manual.yaw; - control_yaw_position = false; - - } else { - /* - * This mode SHOULD be the default mode, which is: - * VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS - * - * However, we fall back to this setting for all other (nonsense) - * settings as well. - */ - - /* only move setpoint if manual input is != 0 */ - if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) { - rates_sp.yaw = manual.yaw; - control_yaw_position = false; - first_time_after_yaw_speed_control = true; - - } else { - if (first_time_after_yaw_speed_control) { - att_sp.yaw_body = att.yaw; - first_time_after_yaw_speed_control = false; - } - - control_yaw_position = true; - } - } - } - - att_sp.thrust = manual.throttle; - att_sp.timestamp = hrt_absolute_time(); } - /* STEP 2: publish the controller output */ - orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); + /* reset yaw setpint to current position if needed */ + if (reset_yaw_sp) { + att_sp.yaw_body = att.yaw; + reset_yaw_sp = false; + } if (motor_test_mode) { printf("testmode"); @@ -342,65 +293,89 @@ mc_thread_main(int argc, char *argv[]) att_sp.pitch_body = 0.0f; att_sp.yaw_body = 0.0f; att_sp.thrust = 0.1f; - att_sp.timestamp = hrt_absolute_time(); - /* STEP 2: publish the result to the vehicle actuators */ - orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); } - } else { - /* manual rate inputs, from RC control or joystick */ - if (state.flag_control_rates_enabled && - state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_RATES) { - rates_sp.roll = manual.roll; + att_sp.timestamp = hrt_absolute_time(); + /* publish the attitude setpoint */ + orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); + + } else { + /* manual rate inputs (ACRO), from RC control or joystick */ + if (control_mode.flag_control_rates_enabled) { + rates_sp.roll = manual.roll; rates_sp.pitch = manual.pitch; rates_sp.yaw = manual.yaw; rates_sp.thrust = manual.throttle; rates_sp.timestamp = hrt_absolute_time(); } + + /* reset yaw setpoint after ACRO */ + reset_yaw_sp = true; } + } else { + if (!control_mode.flag_control_auto_enabled) { + /* no control, try to stay on place */ + if (!control_mode.flag_control_velocity_enabled) { + /* no velocity control, reset attitude setpoint */ + att_sp.roll_body = 0.0f; + att_sp.pitch_body = 0.0f; + att_sp.timestamp = hrt_absolute_time(); + orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); + } + } + + /* reset yaw setpoint after non-manual control */ + reset_yaw_sp = true; } - /** STEP 3: Identify the controller setup to run and set up the inputs correctly */ - if (state.flag_control_attitude_enabled) { - multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position); + /* check if we should we reset integrals */ + bool reset_integral = !control_mode.flag_armed || att_sp.thrust < 0.1f; // TODO use landed status instead of throttle + /* run attitude controller if needed */ + if (control_mode.flag_control_attitude_enabled) { + multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position, reset_integral); orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); } /* measure in what intervals the controller runs */ perf_count(mc_interval_perf); - float gyro[3]; + /* run rates controller if needed */ + if (control_mode.flag_control_rates_enabled) { + /* get current rate setpoint */ + bool rates_sp_updated = false; + orb_check(rates_sp_sub, &rates_sp_updated); - /* get current rate setpoint */ - bool rates_sp_valid = false; - orb_check(rates_sp_sub, &rates_sp_valid); + if (rates_sp_updated) { + orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp); + } - if (rates_sp_valid) { - orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp); + /* apply controller */ + float rates[3]; + rates[0] = att.rollspeed; + rates[1] = att.pitchspeed; + rates[2] = att.yawspeed; + multirotor_control_rates(&rates_sp, rates, &actuators, reset_integral); + + } else { + /* rates controller disabled, set actuators to zero for safety */ + actuators.control[0] = 0.0f; + actuators.control[1] = 0.0f; + actuators.control[2] = 0.0f; + actuators.control[3] = 0.0f; } - /* apply controller */ - gyro[0] = att.rollspeed; - gyro[1] = att.pitchspeed; - gyro[2] = att.yawspeed; - - multirotor_control_rates(&rates_sp, gyro, &actuators); + actuators.timestamp = hrt_absolute_time(); orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - /* update state */ - flag_control_attitude_enabled = state.flag_control_attitude_enabled; - flag_control_manual_enabled = state.flag_control_manual_enabled; - flag_system_armed = state.flag_system_armed; - perf_end(mc_loop_perf); } /* end of poll call for attitude updates */ } /* end of poll return value check */ } - printf("[multirotor att control] stopping, disarming motors.\n"); + warnx("stopping, disarming motors"); /* kill all outputs */ for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) @@ -410,7 +385,7 @@ mc_thread_main(int argc, char *argv[]) close(att_sub); - close(state_sub); + close(control_mode_sub); close(manual_sub); close(actuator_pub); close(att_sp_pub); @@ -467,11 +442,11 @@ int multirotor_att_control_main(int argc, char *argv[]) thread_should_exit = false; mc_task = task_spawn_cmd("multirotor_att_control", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 15, - 2048, - mc_thread_main, - NULL); + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 15, + 2048, + mc_thread_main, + NULL); exit(0); } diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c index 8f19c6a4bc..c78232f11c 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.c +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c @@ -166,7 +166,7 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc } void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, - const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position) + const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position, bool reset_integral) { static uint64_t last_run = 0; static uint64_t last_input = 0; @@ -210,13 +210,13 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); } - /* reset integral if on ground */ - if (att_sp->thrust < 0.1f) { + /* reset integrals if needed */ + if (reset_integral) { pid_reset_integral(&pitch_controller); pid_reset_integral(&roll_controller); + //TODO pid_reset_integral(&yaw_controller); } - /* calculate current control outputs */ /* control pitch (forward) output */ @@ -229,6 +229,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s if (control_yaw_position) { /* control yaw rate */ + // TODO use pid lib /* positive error: rotate to right, negative error, rotate to left (NED frame) */ // yaw_error = _wrap_pi(att_sp->yaw_body - att->yaw); @@ -246,6 +247,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s } rates_sp->thrust = att_sp->thrust; + //need to update the timestamp now that we've touched rates_sp + rates_sp->timestamp = hrt_absolute_time(); motor_skip_counter++; } diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.h b/src/modules/multirotor_att_control/multirotor_attitude_control.h index e78f45c474..431a435f7d 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.h +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.h @@ -60,6 +60,6 @@ #include void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, - const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position); + const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position, bool reset_integral); #endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */ diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index e58d357d58..0a336be47d 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -152,7 +152,7 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru } void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], struct actuator_controls_s *actuators) + const float rates[], struct actuator_controls_s *actuators, bool reset_integral) { static uint64_t last_run = 0; const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; @@ -193,10 +193,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f); } - /* reset integral if on ground */ - if (rate_sp->thrust < 0.01f) { + /* reset integrals if needed */ + if (reset_integral) { pid_reset_integral(&pitch_rate_controller); pid_reset_integral(&roll_rate_controller); + // TODO pid_reset_integral(&yaw_rate_controller); } /* control pitch (forward) output */ diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.h b/src/modules/multirotor_att_control/multirotor_rate_control.h index 362b5ed86d..ca7794c59b 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.h +++ b/src/modules/multirotor_att_control/multirotor_rate_control.h @@ -59,6 +59,6 @@ #include void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], struct actuator_controls_s *actuators); + const float rates[], struct actuator_controls_s *actuators, bool reset_integral); #endif /* MULTIROTOR_RATE_CONTROL_H_ */ diff --git a/src/modules/multirotor_pos_control/module.mk b/src/modules/multirotor_pos_control/module.mk index d048477455..bc4b48fb40 100644 --- a/src/modules/multirotor_pos_control/module.mk +++ b/src/modules/multirotor_pos_control/module.mk @@ -38,4 +38,5 @@ MODULE_COMMAND = multirotor_pos_control SRCS = multirotor_pos_control.c \ - multirotor_pos_control_params.c + multirotor_pos_control_params.c \ + thrust_pid.c diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c index f39d11438c..3365230724 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c @@ -1,7 +1,7 @@ /**************************************************************************** * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Anton Babushkin * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,13 +35,14 @@ /** * @file multirotor_pos_control.c * - * Skeleton for multirotor position controller + * Multirotor position controller */ #include #include #include #include +#include #include #include #include @@ -52,15 +53,22 @@ #include #include #include +#include #include +#include #include #include #include +#include #include -#include +#include +#include #include +#include +#include #include "multirotor_pos_control_params.h" +#include "thrust_pid.h" static bool thread_should_exit = false; /**< Deamon exit flag */ @@ -79,12 +87,16 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]); */ static void usage(const char *reason); -static void -usage(const char *reason) +static float scale_control(float ctl, float end, float dz); + +static float norm(float x, float y); + +static void usage(const char *reason) { if (reason) fprintf(stderr, "%s\n", reason); - fprintf(stderr, "usage: deamon {start|stop|status} [-p ]\n\n"); + + fprintf(stderr, "usage: multirotor_pos_control {start|stop|status}\n\n"); exit(1); } @@ -92,9 +104,9 @@ usage(const char *reason) * 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_spawn_cmd(). + * to task_spawn(). */ int multirotor_pos_control_main(int argc, char *argv[]) { @@ -104,32 +116,36 @@ int multirotor_pos_control_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) { if (thread_running) { - printf("multirotor pos control already running\n"); + warnx("already running"); /* this is not an error */ exit(0); } + warnx("start"); thread_should_exit = false; - deamon_task = task_spawn_cmd("multirotor pos control", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 60, - 4096, - multirotor_pos_control_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); + deamon_task = task_spawn_cmd("multirotor_pos_control", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 60, + 4096, + multirotor_pos_control_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); exit(0); } if (!strcmp(argv[1], "stop")) { + warnx("stop"); thread_should_exit = true; exit(0); } if (!strcmp(argv[1], "status")) { if (thread_running) { - printf("\tmultirotor pos control app is running\n"); + warnx("app is running"); + } else { - printf("\tmultirotor pos control app not started\n"); + warnx("app not started"); } + exit(0); } @@ -137,98 +153,510 @@ int multirotor_pos_control_main(int argc, char *argv[]) exit(1); } -static int -multirotor_pos_control_thread_main(int argc, char *argv[]) +static float scale_control(float ctl, float end, float dz) +{ + if (ctl > dz) { + return (ctl - dz) / (end - dz); + + } else if (ctl < -dz) { + return (ctl + dz) / (end - dz); + + } else { + return 0.0f; + } +} + +static float norm(float x, float y) +{ + return sqrtf(x * x + y * y); +} + +static int multirotor_pos_control_thread_main(int argc, char *argv[]) { /* welcome user */ - printf("[multirotor pos control] Control started, taking over position control\n"); + warnx("started"); + static int mavlink_fd; + mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + mavlink_log_info(mavlink_fd, "[mpc] started"); /* structures */ - struct vehicle_status_s state; + struct vehicle_control_mode_s control_mode; + memset(&control_mode, 0, sizeof(control_mode)); struct vehicle_attitude_s att; - //struct vehicle_global_position_setpoint_s global_pos_sp; - struct vehicle_local_position_setpoint_s local_pos_sp; - struct vehicle_vicon_position_s local_pos; - struct manual_control_setpoint_s manual; + memset(&att, 0, sizeof(att)); struct vehicle_attitude_setpoint_s att_sp; + memset(&att_sp, 0, sizeof(att_sp)); + struct manual_control_setpoint_s manual; + memset(&manual, 0, sizeof(manual)); + struct vehicle_local_position_s local_pos; + memset(&local_pos, 0, sizeof(local_pos)); + struct vehicle_local_position_setpoint_s local_pos_sp; + memset(&local_pos_sp, 0, sizeof(local_pos_sp)); + struct vehicle_global_position_setpoint_s global_pos_sp; + memset(&global_pos_sp, 0, sizeof(local_pos_sp)); + struct vehicle_global_velocity_setpoint_s global_vel_sp; + memset(&global_vel_sp, 0, sizeof(global_vel_sp)); /* subscribe to attitude, motor setpoints and system state */ + int param_sub = orb_subscribe(ORB_ID(parameter_update)); + int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - int state_sub = orb_subscribe(ORB_ID(vehicle_status)); + int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - int local_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); - //int global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); int local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); + int local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); + int global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); - /* publish attitude setpoint */ + /* publish setpoint */ + orb_advert_t local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &local_pos_sp); + orb_advert_t global_vel_sp_pub = orb_advertise(ORB_ID(vehicle_global_velocity_setpoint), &global_vel_sp); orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); + bool global_pos_sp_reproject = false; + bool global_pos_sp_valid = false; + bool local_pos_sp_valid = false; + bool reset_sp_z = true; + bool reset_sp_xy = true; + bool reset_int_z = true; + bool reset_int_z_manual = false; + bool reset_int_xy = true; + bool was_armed = false; + bool reset_integral = true; + bool reset_auto_pos = true; + + hrt_abstime t_prev = 0; + const float alt_ctl_dz = 0.2f; + const float pos_ctl_dz = 0.05f; + + float ref_alt = 0.0f; + hrt_abstime ref_alt_t = 0; + uint64_t local_ref_timestamp = 0; + + PID_t xy_pos_pids[2]; + PID_t xy_vel_pids[2]; + PID_t z_pos_pid; + thrust_pid_t z_vel_pid; + thread_running = true; - int loopcounter = 0; - - struct multirotor_position_control_params p; - struct multirotor_position_control_param_handles h; - parameters_init(&h); - parameters_update(&h, &p); + struct multirotor_position_control_params params; + struct multirotor_position_control_param_handles params_h; + parameters_init(¶ms_h); + parameters_update(¶ms_h, ¶ms); - while (1) { - /* get a local copy of the vehicle state */ - orb_copy(ORB_ID(vehicle_status), state_sub, &state); - /* get a local copy of manual setpoint */ - orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual); - /* get a local copy of attitude */ - orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); - /* get a local copy of local position */ - orb_copy(ORB_ID(vehicle_vicon_position), local_pos_sub, &local_pos); - /* get a local copy of local position setpoint */ - orb_copy(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_sub, &local_pos_sp); + for (int i = 0; i < 2; i++) { + pid_init(&(xy_pos_pids[i]), params.xy_p, 0.0f, params.xy_d, 1.0f, 0.0f, PID_MODE_DERIVATIV_SET, 0.02f); + pid_init(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, 1.0f, params.tilt_max, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f); + } - if (loopcounter == 500) { - parameters_update(&h, &p); - loopcounter = 0; + pid_init(&z_pos_pid, params.z_p, 0.0f, params.z_d, 1.0f, params.z_vel_max, PID_MODE_DERIVATIV_SET, 0.02f); + thrust_pid_init(&z_vel_pid, params.z_vel_p, params.z_vel_i, params.z_vel_d, -params.thr_max, -params.thr_min, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f); + + while (!thread_should_exit) { + + bool param_updated; + orb_check(param_sub, ¶m_updated); + + if (param_updated) { + /* clear updated flag */ + struct parameter_update_s ps; + orb_copy(ORB_ID(parameter_update), param_sub, &ps); + /* update params */ + parameters_update(¶ms_h, ¶ms); + + for (int i = 0; i < 2; i++) { + pid_set_parameters(&(xy_pos_pids[i]), params.xy_p, 0.0f, params.xy_d, 1.0f, 0.0f); + /* use integral_limit_out = tilt_max / 2 */ + float i_limit; + + if (params.xy_vel_i == 0.0f) { + i_limit = params.tilt_max / params.xy_vel_i / 2.0f; + + } else { + i_limit = 1.0f; // not used really + } + + pid_set_parameters(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, i_limit, params.tilt_max); + } + + pid_set_parameters(&z_pos_pid, params.z_p, 0.0f, params.z_d, 1.0f, params.z_vel_max); + thrust_pid_set_parameters(&z_vel_pid, params.z_vel_p, params.z_vel_i, params.z_vel_d, -params.thr_max, -params.thr_min); } - // if (state.state_machine == SYSTEM_STATE_AUTO) { - - // XXX IMPLEMENT POSITION CONTROL HERE + bool updated; - float dT = 1.0f / 50.0f; + orb_check(control_mode_sub, &updated); - float x_setpoint = 0.0f; + if (updated) { + orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode); + } - // XXX enable switching between Vicon and local position estimate - /* local pos is the Vicon position */ + orb_check(global_pos_sp_sub, &updated); - // XXX just an example, lacks rotation around world-body transformation - att_sp.pitch_body = (local_pos.x - x_setpoint) * p.p; - att_sp.roll_body = 0.0f; - att_sp.yaw_body = 0.0f; - att_sp.thrust = 0.3f; - att_sp.timestamp = hrt_absolute_time(); + if (updated) { + orb_copy(ORB_ID(vehicle_global_position_setpoint), global_pos_sp_sub, &global_pos_sp); + global_pos_sp_valid = true; + global_pos_sp_reproject = true; + } - /* publish new attitude setpoint */ - orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); - // } else if (state.state_machine == SYSTEM_STATE_STABILIZED) { - /* set setpoint to current position */ - // XXX select pos reset channel on remote - /* reset setpoint to current position (position hold) */ - // if (1 == 2) { - // local_pos_sp.x = local_pos.x; - // local_pos_sp.y = local_pos.y; - // local_pos_sp.z = local_pos.z; - // local_pos_sp.yaw = att.yaw; - // } - // } + hrt_abstime t = hrt_absolute_time(); + float dt; + + if (t_prev != 0) { + dt = (t - t_prev) * 0.000001f; + + } else { + dt = 0.0f; + } + + if (control_mode.flag_armed && !was_armed) { + /* reset setpoints and integrals on arming */ + reset_sp_z = true; + reset_sp_xy = true; + reset_int_z = true; + reset_int_xy = true; + } + + was_armed = control_mode.flag_armed; + + t_prev = t; + + if (control_mode.flag_control_altitude_enabled || control_mode.flag_control_velocity_enabled || control_mode.flag_control_position_enabled) { + orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual); + orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); + orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp); + orb_copy(ORB_ID(vehicle_local_position), local_pos_sub, &local_pos); + + float z_sp_offs_max = params.z_vel_max / params.z_p * 2.0f; + float xy_sp_offs_max = params.xy_vel_max / params.xy_p * 2.0f; + float sp_move_rate[3] = { 0.0f, 0.0f, 0.0f }; + + if (control_mode.flag_control_manual_enabled) { + /* manual control */ + /* check for reference point updates and correct setpoint */ + if (local_pos.ref_timestamp != ref_alt_t) { + if (ref_alt_t != 0) { + /* home alt changed, don't follow large ground level changes in manual flight */ + local_pos_sp.z += local_pos.ref_alt - ref_alt; + } + + ref_alt_t = local_pos.ref_timestamp; + ref_alt = local_pos.ref_alt; + // TODO also correct XY setpoint + } + + /* reset setpoints to current position if needed */ + if (control_mode.flag_control_altitude_enabled) { + if (reset_sp_z) { + reset_sp_z = false; + local_pos_sp.z = local_pos.z; + mavlink_log_info(mavlink_fd, "[mpc] reset alt sp: %.2f", (double) - local_pos_sp.z); + } + + /* move altitude setpoint with throttle stick */ + float z_sp_ctl = scale_control(manual.throttle - 0.5f, 0.5f, alt_ctl_dz); + + if (z_sp_ctl != 0.0f) { + sp_move_rate[2] = -z_sp_ctl * params.z_vel_max; + local_pos_sp.z += sp_move_rate[2] * dt; + + if (local_pos_sp.z > local_pos.z + z_sp_offs_max) { + local_pos_sp.z = local_pos.z + z_sp_offs_max; + + } else if (local_pos_sp.z < local_pos.z - z_sp_offs_max) { + local_pos_sp.z = local_pos.z - z_sp_offs_max; + } + } + } + + if (control_mode.flag_control_position_enabled) { + if (reset_sp_xy) { + reset_sp_xy = false; + local_pos_sp.x = local_pos.x; + local_pos_sp.y = local_pos.y; + pid_reset_integral(&xy_vel_pids[0]); + pid_reset_integral(&xy_vel_pids[1]); + mavlink_log_info(mavlink_fd, "[mpc] reset pos sp: %.2f, %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y); + } + + /* move position setpoint with roll/pitch stick */ + float pos_pitch_sp_ctl = scale_control(-manual.pitch / params.rc_scale_pitch, 1.0f, pos_ctl_dz); + float pos_roll_sp_ctl = scale_control(manual.roll / params.rc_scale_roll, 1.0f, pos_ctl_dz); + + if (pos_pitch_sp_ctl != 0.0f || pos_roll_sp_ctl != 0.0f) { + /* calculate direction and increment of control in NED frame */ + float xy_sp_ctl_dir = att.yaw + atan2f(pos_roll_sp_ctl, pos_pitch_sp_ctl); + float xy_sp_ctl_speed = norm(pos_pitch_sp_ctl, pos_roll_sp_ctl) * params.xy_vel_max; + sp_move_rate[0] = cosf(xy_sp_ctl_dir) * xy_sp_ctl_speed; + sp_move_rate[1] = sinf(xy_sp_ctl_dir) * xy_sp_ctl_speed; + local_pos_sp.x += sp_move_rate[0] * dt; + local_pos_sp.y += sp_move_rate[1] * dt; + /* limit maximum setpoint from position offset and preserve direction + * fail safe, should not happen in normal operation */ + float pos_vec_x = local_pos_sp.x - local_pos.x; + float pos_vec_y = local_pos_sp.y - local_pos.y; + float pos_vec_norm = norm(pos_vec_x, pos_vec_y) / xy_sp_offs_max; + + if (pos_vec_norm > 1.0f) { + local_pos_sp.x = local_pos.x + pos_vec_x / pos_vec_norm; + local_pos_sp.y = local_pos.y + pos_vec_y / pos_vec_norm; + } + } + } + + local_pos_sp.yaw = att_sp.yaw_body; + + /* local position setpoint is valid and can be used for loiter after position controlled mode */ + local_pos_sp_valid = control_mode.flag_control_position_enabled; + + reset_auto_pos = true; + + /* force reprojection of global setpoint after manual mode */ + global_pos_sp_reproject = true; + + } else if (control_mode.flag_control_auto_enabled) { + /* AUTO mode, use global setpoint */ + if (control_mode.auto_state == NAVIGATION_STATE_AUTO_READY) { + reset_auto_pos = true; + + } else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_TAKEOFF) { + if (reset_auto_pos) { + local_pos_sp.x = local_pos.x; + local_pos_sp.y = local_pos.y; + local_pos_sp.z = - params.takeoff_alt - params.takeoff_gap; + local_pos_sp.yaw = att.yaw; + local_pos_sp_valid = true; + att_sp.yaw_body = att.yaw; + reset_auto_pos = false; + mavlink_log_info(mavlink_fd, "[mpc] takeoff sp: %.2f %.2f %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y, (double) - local_pos_sp.z); + } + + } else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_RTL) { + // TODO + reset_auto_pos = true; + + } else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_MISSION) { + /* init local projection using local position ref */ + if (local_pos.ref_timestamp != local_ref_timestamp) { + global_pos_sp_reproject = true; + local_ref_timestamp = local_pos.ref_timestamp; + double lat_home = local_pos.ref_lat * 1e-7; + double lon_home = local_pos.ref_lon * 1e-7; + map_projection_init(lat_home, lon_home); + mavlink_log_info(mavlink_fd, "[mpc] local pos ref: %.7f, %.7f", (double)lat_home, (double)lon_home); + } + + if (global_pos_sp_reproject) { + /* update global setpoint projection */ + global_pos_sp_reproject = false; + + if (global_pos_sp_valid) { + /* global position setpoint valid, use it */ + double sp_lat = global_pos_sp.lat * 1e-7; + double sp_lon = global_pos_sp.lon * 1e-7; + /* project global setpoint to local setpoint */ + map_projection_project(sp_lat, sp_lon, &(local_pos_sp.x), &(local_pos_sp.y)); + + if (global_pos_sp.altitude_is_relative) { + local_pos_sp.z = -global_pos_sp.altitude; + + } else { + local_pos_sp.z = local_pos.ref_alt - global_pos_sp.altitude; + } + + local_pos_sp.yaw = global_pos_sp.yaw; + att_sp.yaw_body = global_pos_sp.yaw; + + mavlink_log_info(mavlink_fd, "[mpc] new sp: %.7f, %.7f (%.2f, %.2f)", (double)sp_lat, sp_lon, (double)local_pos_sp.x, (double)local_pos_sp.y); + + } else { + if (!local_pos_sp_valid) { + /* local position setpoint is invalid, + * use current position as setpoint for loiter */ + local_pos_sp.x = local_pos.x; + local_pos_sp.y = local_pos.y; + local_pos_sp.z = local_pos.z; + local_pos_sp.yaw = att.yaw; + local_pos_sp_valid = true; + } + + mavlink_log_info(mavlink_fd, "[mpc] no global pos sp, loiter: %.2f, %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y); + } + } + + reset_auto_pos = true; + } + + if (control_mode.auto_state != NAVIGATION_STATE_AUTO_MISSION) { + global_pos_sp_reproject = true; + } + + /* reset setpoints after AUTO mode */ + reset_sp_xy = true; + reset_sp_z = true; + + } else { + /* no control, loiter or stay on ground */ + if (local_pos.landed) { + /* landed: move setpoint down */ + /* in air: hold altitude */ + if (local_pos_sp.z < 5.0f) { + /* set altitude setpoint to 5m under ground, + * don't set it too deep to avoid unexpected landing in case of false "landed" signal */ + local_pos_sp.z = 5.0f; + mavlink_log_info(mavlink_fd, "[mpc] landed, set alt: %.2f", (double) - local_pos_sp.z); + } + + reset_sp_z = true; + + } else { + /* in air: hold altitude */ + if (reset_sp_z) { + reset_sp_z = false; + local_pos_sp.z = local_pos.z; + mavlink_log_info(mavlink_fd, "[mpc] set loiter alt: %.2f", (double) - local_pos_sp.z); + } + } + + if (control_mode.flag_control_position_enabled) { + if (reset_sp_xy) { + reset_sp_xy = false; + local_pos_sp.x = local_pos.x; + local_pos_sp.y = local_pos.y; + local_pos_sp.yaw = att.yaw; + local_pos_sp_valid = true; + att_sp.yaw_body = att.yaw; + mavlink_log_info(mavlink_fd, "[mpc] set loiter pos: %.2f %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y); + } + } + } + + /* publish local position setpoint */ + orb_publish(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_pub, &local_pos_sp); + + /* run position & altitude controllers, calculate velocity setpoint */ + if (control_mode.flag_control_altitude_enabled) { + global_vel_sp.vz = pid_calculate(&z_pos_pid, local_pos_sp.z, local_pos.z, local_pos.vz - sp_move_rate[2], dt) + sp_move_rate[2]; + + } else { + reset_sp_z = true; + global_vel_sp.vz = 0.0f; + } + + if (control_mode.flag_control_position_enabled) { + /* calculate velocity set point in NED frame */ + global_vel_sp.vx = pid_calculate(&xy_pos_pids[0], local_pos_sp.x, local_pos.x, local_pos.vx - sp_move_rate[0], dt) + sp_move_rate[0]; + global_vel_sp.vy = pid_calculate(&xy_pos_pids[1], local_pos_sp.y, local_pos.y, local_pos.vy - sp_move_rate[1], dt) + sp_move_rate[1]; + + /* limit horizontal speed */ + float xy_vel_sp_norm = norm(global_vel_sp.vx, global_vel_sp.vy) / params.xy_vel_max; + + if (xy_vel_sp_norm > 1.0f) { + global_vel_sp.vx /= xy_vel_sp_norm; + global_vel_sp.vy /= xy_vel_sp_norm; + } + + } else { + reset_sp_xy = true; + global_vel_sp.vx = 0.0f; + global_vel_sp.vy = 0.0f; + } + + /* publish new velocity setpoint */ + orb_publish(ORB_ID(vehicle_global_velocity_setpoint), global_vel_sp_pub, &global_vel_sp); + // TODO subscribe to velocity setpoint if altitude/position control disabled + + if (control_mode.flag_control_climb_rate_enabled || control_mode.flag_control_velocity_enabled) { + /* run velocity controllers, calculate thrust vector with attitude-thrust compensation */ + float thrust_sp[3] = { 0.0f, 0.0f, 0.0f }; + + if (control_mode.flag_control_climb_rate_enabled) { + if (reset_int_z) { + reset_int_z = false; + float i = params.thr_min; + + if (reset_int_z_manual) { + i = manual.throttle; + + if (i < params.thr_min) { + i = params.thr_min; + + } else if (i > params.thr_max) { + i = params.thr_max; + } + } + + thrust_pid_set_integral(&z_vel_pid, -i); + mavlink_log_info(mavlink_fd, "[mpc] reset hovering thrust: %.2f", (double)i); + } + + thrust_sp[2] = thrust_pid_calculate(&z_vel_pid, global_vel_sp.vz, local_pos.vz, dt, att.R[2][2]); + att_sp.thrust = -thrust_sp[2]; + + } else { + /* reset thrust integral when altitude control enabled */ + reset_int_z = true; + } + + if (control_mode.flag_control_velocity_enabled) { + /* calculate thrust set point in NED frame */ + if (reset_int_xy) { + reset_int_xy = false; + pid_reset_integral(&xy_vel_pids[0]); + pid_reset_integral(&xy_vel_pids[1]); + mavlink_log_info(mavlink_fd, "[mpc] reset pos integral"); + } + + thrust_sp[0] = pid_calculate(&xy_vel_pids[0], global_vel_sp.vx, local_pos.vx, 0.0f, dt); + thrust_sp[1] = pid_calculate(&xy_vel_pids[1], global_vel_sp.vy, local_pos.vy, 0.0f, dt); + + /* thrust_vector now contains desired acceleration (but not in m/s^2) in NED frame */ + /* limit horizontal part of thrust */ + float thrust_xy_dir = atan2f(thrust_sp[1], thrust_sp[0]); + /* assuming that vertical component of thrust is g, + * horizontal component = g * tan(alpha) */ + float tilt = atanf(norm(thrust_sp[0], thrust_sp[1])); + + if (tilt > params.tilt_max) { + tilt = params.tilt_max; + } + + /* convert direction to body frame */ + thrust_xy_dir -= att.yaw; + /* calculate roll and pitch */ + att_sp.roll_body = sinf(thrust_xy_dir) * tilt; + att_sp.pitch_body = -cosf(thrust_xy_dir) * tilt / cosf(att_sp.roll_body); + + } else { + reset_int_xy = true; + } + + att_sp.timestamp = hrt_absolute_time(); + + /* publish new attitude setpoint */ + orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); + } + + } else { + /* position controller disabled, reset setpoints */ + reset_sp_z = true; + reset_sp_xy = true; + reset_int_z = true; + reset_int_xy = true; + global_pos_sp_reproject = true; + reset_auto_pos = true; + } + + /* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */ + reset_int_z_manual = control_mode.flag_armed && control_mode.flag_control_manual_enabled && !control_mode.flag_control_climb_rate_enabled; /* run at approximately 50 Hz */ usleep(20000); - loopcounter++; - } - printf("[multirotor pos control] ending now...\n"); + warnx("stopped"); + mavlink_log_info(mavlink_fd, "[mpc] stopped"); thread_running = false; diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c index 6b73dc4052..bf9578ea3d 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c @@ -1,8 +1,7 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Tobias Naegeli - * Lorenz Meier + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Anton Babushkin * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,29 +33,80 @@ ****************************************************************************/ /* - * @file multirotor_position_control_params.c - * - * Parameters for EKF filter + * @file multirotor_pos_control_params.c + * + * Parameters for multirotor_pos_control */ #include "multirotor_pos_control_params.h" -/* Extended Kalman Filter covariances */ - /* controller parameters */ -PARAM_DEFINE_FLOAT(MC_POS_P, 0.2f); +PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.2f); +PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.8f); +PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f); +PARAM_DEFINE_FLOAT(MPC_Z_D, 0.0f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.0f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 3.0f); +PARAM_DEFINE_FLOAT(MPC_XY_P, 0.5f); +PARAM_DEFINE_FLOAT(MPC_XY_D, 0.0f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.2f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.0f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.0f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 10.0f); +PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 0.5f); int parameters_init(struct multirotor_position_control_param_handles *h) { - /* PID parameters */ - h->p = param_find("MC_POS_P"); + h->takeoff_alt = param_find("NAV_TAKEOFF_ALT"); + h->takeoff_gap = param_find("NAV_TAKEOFF_GAP"); + h->thr_min = param_find("MPC_THR_MIN"); + h->thr_max = param_find("MPC_THR_MAX"); + h->z_p = param_find("MPC_Z_P"); + h->z_d = param_find("MPC_Z_D"); + h->z_vel_p = param_find("MPC_Z_VEL_P"); + h->z_vel_i = param_find("MPC_Z_VEL_I"); + h->z_vel_d = param_find("MPC_Z_VEL_D"); + h->z_vel_max = param_find("MPC_Z_VEL_MAX"); + h->xy_p = param_find("MPC_XY_P"); + h->xy_d = param_find("MPC_XY_D"); + h->xy_vel_p = param_find("MPC_XY_VEL_P"); + h->xy_vel_i = param_find("MPC_XY_VEL_I"); + h->xy_vel_d = param_find("MPC_XY_VEL_D"); + h->xy_vel_max = param_find("MPC_XY_VEL_MAX"); + h->tilt_max = param_find("MPC_TILT_MAX"); + + h->rc_scale_pitch = param_find("RC_SCALE_PITCH"); + h->rc_scale_roll = param_find("RC_SCALE_ROLL"); + h->rc_scale_yaw = param_find("RC_SCALE_YAW"); return OK; } int parameters_update(const struct multirotor_position_control_param_handles *h, struct multirotor_position_control_params *p) { - param_get(h->p, &(p->p)); + param_get(h->takeoff_alt, &(p->takeoff_alt)); + param_get(h->takeoff_gap, &(p->takeoff_gap)); + param_get(h->thr_min, &(p->thr_min)); + param_get(h->thr_max, &(p->thr_max)); + param_get(h->z_p, &(p->z_p)); + param_get(h->z_d, &(p->z_d)); + param_get(h->z_vel_p, &(p->z_vel_p)); + param_get(h->z_vel_i, &(p->z_vel_i)); + param_get(h->z_vel_d, &(p->z_vel_d)); + param_get(h->z_vel_max, &(p->z_vel_max)); + param_get(h->xy_p, &(p->xy_p)); + param_get(h->xy_d, &(p->xy_d)); + param_get(h->xy_vel_p, &(p->xy_vel_p)); + param_get(h->xy_vel_i, &(p->xy_vel_i)); + param_get(h->xy_vel_d, &(p->xy_vel_d)); + param_get(h->xy_vel_max, &(p->xy_vel_max)); + param_get(h->tilt_max, &(p->tilt_max)); + + param_get(h->rc_scale_pitch, &(p->rc_scale_pitch)); + param_get(h->rc_scale_roll, &(p->rc_scale_roll)); + param_get(h->rc_scale_yaw, &(p->rc_scale_yaw)); return OK; } diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control_params.h b/src/modules/multirotor_pos_control/multirotor_pos_control_params.h index 274f6c22a9..fc658dadb8 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control_params.h +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.h @@ -1,8 +1,7 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Tobias Naegeli - * Lorenz Meier + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Anton Babushkin * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,23 +33,59 @@ ****************************************************************************/ /* - * @file multirotor_position_control_params.h - * - * Parameters for position controller + * @file multirotor_pos_control_params.h + * + * Parameters for multirotor_pos_control */ #include struct multirotor_position_control_params { - float p; - float i; - float d; + float takeoff_alt; + float takeoff_gap; + float thr_min; + float thr_max; + float z_p; + float z_d; + float z_vel_p; + float z_vel_i; + float z_vel_d; + float z_vel_max; + float xy_p; + float xy_d; + float xy_vel_p; + float xy_vel_i; + float xy_vel_d; + float xy_vel_max; + float tilt_max; + + float rc_scale_pitch; + float rc_scale_roll; + float rc_scale_yaw; }; struct multirotor_position_control_param_handles { - param_t p; - param_t i; - param_t d; + param_t takeoff_alt; + param_t takeoff_gap; + param_t thr_min; + param_t thr_max; + param_t z_p; + param_t z_d; + param_t z_vel_p; + param_t z_vel_i; + param_t z_vel_d; + param_t z_vel_max; + param_t xy_p; + param_t xy_d; + param_t xy_vel_p; + param_t xy_vel_i; + param_t xy_vel_d; + param_t xy_vel_max; + param_t tilt_max; + + param_t rc_scale_pitch; + param_t rc_scale_roll; + param_t rc_scale_yaw; }; /** diff --git a/src/modules/multirotor_pos_control/position_control.c b/src/modules/multirotor_pos_control/position_control.c deleted file mode 100644 index 9c53a5bf6c..0000000000 --- a/src/modules/multirotor_pos_control/position_control.c +++ /dev/null @@ -1,235 +0,0 @@ -// /**************************************************************************** -// * -// * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. -// * Author: @author Lorenz Meier -// * @author Laurens Mackay -// * @author Tobias Naegeli -// * @author Martin Rutschmann -// * -// * 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 multirotor_position_control.c -// * Implementation of the position control for a multirotor VTOL -// */ - -// #include -// #include -// #include -// #include -// #include -// #include -// #include -// #include - -// #include "multirotor_position_control.h" - -// void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual, -// const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos, -// const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp) -// { -// static PID_t distance_controller; - -// static int read_ret; -// static global_data_position_t position_estimated; - -// static uint16_t counter; - -// static bool initialized; -// static uint16_t pm_counter; - -// static float lat_next; -// static float lon_next; - -// static float pitch_current; - -// static float thrust_total; - - -// if (initialized == false) { - -// pid_init(&distance_controller, -// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P], -// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I], -// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D], -// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU], -// PID_MODE_DERIVATIV_CALC, 150);//150 - -// // pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM]; -// // pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM]; - -// thrust_total = 0.0f; - -// /* Position initialization */ -// /* Wait for new position estimate */ -// do { -// read_ret = read_lock_position(&position_estimated); -// } while (read_ret != 0); - -// lat_next = position_estimated.lat; -// lon_next = position_estimated.lon; - -// /* attitude initialization */ -// global_data_lock(&global_data_attitude->access_conf); -// pitch_current = global_data_attitude->pitch; -// global_data_unlock(&global_data_attitude->access_conf); - -// initialized = true; -// } - -// /* load new parameters with 10Hz */ -// if (counter % 50 == 0) { -// if (global_data_trylock(&global_data_parameter_storage->access_conf) == 0) { -// /* check whether new parameters are available */ -// if (global_data_parameter_storage->counter > pm_counter) { -// pid_set_parameters(&distance_controller, -// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P], -// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I], -// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D], -// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU]); - -// // -// // pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM]; -// // pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM]; - -// pm_counter = global_data_parameter_storage->counter; -// printf("Position controller changed pid parameters\n"); -// } -// } - -// global_data_unlock(&global_data_parameter_storage->access_conf); -// } - - -// /* Wait for new position estimate */ -// do { -// read_ret = read_lock_position(&position_estimated); -// } while (read_ret != 0); - -// /* Get next waypoint */ //TODO: add local copy - -// if (0 == global_data_trylock(&global_data_position_setpoint->access_conf)) { -// lat_next = global_data_position_setpoint->x; -// lon_next = global_data_position_setpoint->y; -// global_data_unlock(&global_data_position_setpoint->access_conf); -// } - -// /* Get distance to waypoint */ -// float distance_to_waypoint = get_distance_to_next_waypoint(position_estimated.lat , position_estimated.lon, lat_next, lon_next); -// // if(counter % 5 == 0) -// // printf("distance_to_waypoint: %.4f\n", distance_to_waypoint); - -// /* Get bearing to waypoint (direction on earth surface to next waypoint) */ -// float bearing = get_bearing_to_next_waypoint(position_estimated.lat, position_estimated.lon, lat_next, lon_next); - -// if (counter % 5 == 0) -// printf("bearing: %.4f\n", bearing); - -// /* Calculate speed in direction of bearing (needed for controller) */ -// float speed_norm = sqrtf(position_estimated.vx * position_estimated.vx + position_estimated.vy * position_estimated.vy); -// // if(counter % 5 == 0) -// // printf("speed_norm: %.4f\n", speed_norm); -// float speed_to_waypoint = 0; //(position_estimated.vx * cosf(bearing) + position_estimated.vy * sinf(bearing))/speed_norm; //FIXME, TODO: re-enable this once we have a full estimate of the speed, then we can do a PID for the distance controller - -// /* Control Thrust in bearing direction */ -// float horizontal_thrust = -pid_calculate(&distance_controller, 0, distance_to_waypoint, speed_to_waypoint, -// CONTROL_PID_POSITION_INTERVAL); //TODO: maybe this "-" sign is an error somewhere else - -// // if(counter % 5 == 0) -// // printf("horizontal thrust: %.4f\n", horizontal_thrust); - -// /* Get total thrust (from remote for now) */ -// if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { -// thrust_total = (float)global_data_rc_channels->chan[THROTTLE].scale; //TODO: how should we use the RC_CHANNELS_FUNCTION enum? -// global_data_unlock(&global_data_rc_channels->access_conf); -// } - -// const float max_gas = 500.0f; -// thrust_total *= max_gas / 20000.0f; //TODO: check this -// thrust_total += max_gas / 2.0f; - - -// if (horizontal_thrust > thrust_total) { -// horizontal_thrust = thrust_total; - -// } else if (horizontal_thrust < -thrust_total) { -// horizontal_thrust = -thrust_total; -// } - - - -// //TODO: maybe we want to add a speed controller later... - -// /* Calclulate thrust in east and north direction */ -// float thrust_north = cosf(bearing) * horizontal_thrust; -// float thrust_east = sinf(bearing) * horizontal_thrust; - -// if (counter % 10 == 0) { -// printf("thrust north: %.4f\n", thrust_north); -// printf("thrust east: %.4f\n", thrust_east); -// fflush(stdout); -// } - -// /* Get current attitude */ -// if (0 == global_data_trylock(&global_data_attitude->access_conf)) { -// pitch_current = global_data_attitude->pitch; -// global_data_unlock(&global_data_attitude->access_conf); -// } - -// /* Get desired pitch & roll */ -// float pitch_desired = 0.0f; -// float roll_desired = 0.0f; - -// if (thrust_total != 0) { -// float pitch_fraction = -thrust_north / thrust_total; -// float roll_fraction = thrust_east / (cosf(pitch_current) * thrust_total); - -// if (roll_fraction < -1) { -// roll_fraction = -1; - -// } else if (roll_fraction > 1) { -// roll_fraction = 1; -// } - -// // if(counter % 5 == 0) -// // { -// // printf("pitch_fraction: %.4f, roll_fraction: %.4f\n",pitch_fraction, roll_fraction); -// // fflush(stdout); -// // } - -// pitch_desired = asinf(pitch_fraction); -// roll_desired = asinf(roll_fraction); -// } - -// att_sp.roll = roll_desired; -// att_sp.pitch = pitch_desired; - -// counter++; -// } diff --git a/src/modules/multirotor_pos_control/thrust_pid.c b/src/modules/multirotor_pos_control/thrust_pid.c new file mode 100644 index 0000000000..b985630aec --- /dev/null +++ b/src/modules/multirotor_pos_control/thrust_pid.c @@ -0,0 +1,189 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Anton Babushkin + * + * 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 thrust_pid.c + * + * Implementation of thrust control PID. + * + * @author Anton Babushkin + */ + +#include "thrust_pid.h" +#include + +__EXPORT void thrust_pid_init(thrust_pid_t *pid, float kp, float ki, float kd, float limit_min, float limit_max, uint8_t mode, float dt_min) +{ + pid->kp = kp; + pid->ki = ki; + pid->kd = kd; + pid->limit_min = limit_min; + pid->limit_max = limit_max; + pid->mode = mode; + pid->dt_min = dt_min; + pid->last_output = 0.0f; + pid->sp = 0.0f; + pid->error_previous = 0.0f; + pid->integral = 0.0f; +} + +__EXPORT int thrust_pid_set_parameters(thrust_pid_t *pid, float kp, float ki, float kd, float limit_min, float limit_max) +{ + int ret = 0; + + if (isfinite(kp)) { + pid->kp = kp; + + } else { + ret = 1; + } + + if (isfinite(ki)) { + pid->ki = ki; + + } else { + ret = 1; + } + + if (isfinite(kd)) { + pid->kd = kd; + + } else { + ret = 1; + } + + if (isfinite(limit_min)) { + pid->limit_min = limit_min; + + } else { + ret = 1; + } + + if (isfinite(limit_max)) { + pid->limit_max = limit_max; + + } else { + ret = 1; + } + + return ret; +} + +__EXPORT float thrust_pid_calculate(thrust_pid_t *pid, float sp, float val, float dt, float r22) +{ + /* Alternative integral component calculation + * + * start: + * error = setpoint - current_value + * integral = integral + (Ki * error * dt) + * derivative = (error - previous_error) / dt + * previous_error = error + * output = (Kp * error) + integral + (Kd * derivative) + * wait(dt) + * goto start + */ + + if (!isfinite(sp) || !isfinite(val) || !isfinite(dt)) { + return pid->last_output; + } + + float i, d; + pid->sp = sp; + + // Calculated current error value + float error = pid->sp - val; + + // Calculate or measured current error derivative + if (pid->mode == THRUST_PID_MODE_DERIVATIV_CALC) { + d = (error - pid->error_previous) / fmaxf(dt, pid->dt_min); + pid->error_previous = error; + + } else if (pid->mode == THRUST_PID_MODE_DERIVATIV_CALC_NO_SP) { + d = (-val - pid->error_previous) / fmaxf(dt, pid->dt_min); + pid->error_previous = -val; + + } else { + d = 0.0f; + } + + if (!isfinite(d)) { + d = 0.0f; + } + + /* calculate the error integral */ + i = pid->integral + (pid->ki * error * dt); + + /* attitude-thrust compensation + * r22 is (2, 2) componet of rotation matrix for current attitude */ + float att_comp; + + if (r22 > 0.8f) + att_comp = 1.0f / r22; + else if (r22 > 0.0f) + att_comp = ((1.0f / 0.8f - 1.0f) / 0.8f) * r22 + 1.0f; + else + att_comp = 1.0f; + + /* calculate output */ + float output = ((error * pid->kp) + i + (d * pid->kd)) * att_comp; + + /* check for saturation */ + if (output < pid->limit_min || output > pid->limit_max) { + /* saturated, recalculate output with old integral */ + output = (error * pid->kp) + pid->integral + (d * pid->kd); + + } else { + if (isfinite(i)) { + pid->integral = i; + } + } + + if (isfinite(output)) { + if (output > pid->limit_max) { + output = pid->limit_max; + + } else if (output < pid->limit_min) { + output = pid->limit_min; + } + + pid->last_output = output; + } + + return pid->last_output; +} + +__EXPORT void thrust_pid_set_integral(thrust_pid_t *pid, float i) +{ + pid->integral = i; +} diff --git a/src/modules/multirotor_pos_control/thrust_pid.h b/src/modules/multirotor_pos_control/thrust_pid.h new file mode 100644 index 0000000000..5e169c1ba5 --- /dev/null +++ b/src/modules/multirotor_pos_control/thrust_pid.h @@ -0,0 +1,76 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Anton Babushkin + * + * 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 thrust_pid.h + * + * Definition of thrust control PID interface. + * + * @author Anton Babushkin + */ + +#ifndef THRUST_PID_H_ +#define THRUST_PID_H_ + +#include + +__BEGIN_DECLS + +/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error */ +#define THRUST_PID_MODE_DERIVATIV_CALC 0 +/* PID_MODE_DERIVATIV_CALC_NO_SP calculates discrete derivative from previous value, setpoint derivative is ignored */ +#define THRUST_PID_MODE_DERIVATIV_CALC_NO_SP 1 + +typedef struct { + float kp; + float ki; + float kd; + float sp; + float integral; + float error_previous; + float last_output; + float limit_min; + float limit_max; + float dt_min; + uint8_t mode; +} thrust_pid_t; + +__EXPORT void thrust_pid_init(thrust_pid_t *pid, float kp, float ki, float kd, float limit_min, float limit_max, uint8_t mode, float dt_min); +__EXPORT int thrust_pid_set_parameters(thrust_pid_t *pid, float kp, float ki, float kd, float limit_min, float limit_max); +__EXPORT float thrust_pid_calculate(thrust_pid_t *pid, float sp, float val, float dt, float r22); +__EXPORT void thrust_pid_set_integral(thrust_pid_t *pid, float i); + +__END_DECLS + +#endif /* THRUST_PID_H_ */ diff --git a/src/modules/position_estimator_inav/inertial_filter.c b/src/modules/position_estimator_inav/inertial_filter.c new file mode 100644 index 0000000000..13328edb4b --- /dev/null +++ b/src/modules/position_estimator_inav/inertial_filter.c @@ -0,0 +1,31 @@ +/* + * inertial_filter.c + * + * Copyright (C) 2013 Anton Babushkin. All rights reserved. + * Author: Anton Babushkin + */ + +#include "inertial_filter.h" + +void inertial_filter_predict(float dt, float x[3]) +{ + x[0] += x[1] * dt + x[2] * dt * dt / 2.0f; + x[1] += x[2] * dt; +} + +void inertial_filter_correct(float e, float dt, float x[3], int i, float w) +{ + float ewdt = w * dt; + if (ewdt > 1.0f) + ewdt = 1.0f; // prevent over-correcting + ewdt *= e; + x[i] += ewdt; + + if (i == 0) { + x[1] += w * ewdt; + x[2] += w * w * ewdt / 3.0; + + } else if (i == 1) { + x[2] += w * ewdt; + } +} diff --git a/src/modules/position_estimator_inav/inertial_filter.h b/src/modules/position_estimator_inav/inertial_filter.h new file mode 100644 index 0000000000..761c17097d --- /dev/null +++ b/src/modules/position_estimator_inav/inertial_filter.h @@ -0,0 +1,13 @@ +/* + * inertial_filter.h + * + * Copyright (C) 2013 Anton Babushkin. All rights reserved. + * Author: Anton Babushkin + */ + +#include +#include + +void inertial_filter_predict(float dt, float x[3]); + +void inertial_filter_correct(float e, float dt, float x[3], int i, float w); diff --git a/src/modules/position_estimator_inav/module.mk b/src/modules/position_estimator_inav/module.mk new file mode 100644 index 0000000000..939d768495 --- /dev/null +++ b/src/modules/position_estimator_inav/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# Makefile to build position_estimator_inav +# + +MODULE_COMMAND = position_estimator_inav +SRCS = position_estimator_inav_main.c \ + position_estimator_inav_params.c \ + inertial_filter.c diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c new file mode 100644 index 0000000000..88057b3237 --- /dev/null +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -0,0 +1,653 @@ +/**************************************************************************** + * + * Copyright (C) 2013 Anton Babushkin. All rights reserved. + * Author: Anton Babushkin + * + * 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 position_estimator_inav_main.c + * Model-identification based position estimator for multirotors + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "position_estimator_inav_params.h" +#include "inertial_filter.h" + +static bool thread_should_exit = false; /**< Deamon exit flag */ +static bool thread_running = false; /**< Deamon status flag */ +static int position_estimator_inav_task; /**< Handle of deamon task / thread */ +static bool verbose_mode = false; + +static const hrt_abstime gps_timeout = 1000000; // GPS timeout = 1s +static const hrt_abstime flow_timeout = 1000000; // optical flow timeout = 1s +static const uint32_t updates_counter_len = 1000000; +static const uint32_t pub_interval = 4000; // limit publish rate to 250 Hz + +__EXPORT int position_estimator_inav_main(int argc, char *argv[]); + +int position_estimator_inav_thread_main(int argc, char *argv[]); + +static void usage(const char *reason); + +/** + * Print the correct usage. + */ +static void usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + + fprintf(stderr, + "usage: position_estimator_inav {start|stop|status} [-v]\n\n"); + exit(1); +} + +/** + * The position_estimator_inav_thread 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 position_estimator_inav_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + if (thread_running) { + printf("position_estimator_inav already running\n"); + /* this is not an error */ + exit(0); + } + + verbose_mode = false; + + if (argc > 1) + if (!strcmp(argv[2], "-v")) + verbose_mode = true; + + thread_should_exit = false; + position_estimator_inav_task = task_spawn_cmd("position_estimator_inav", + SCHED_RR, SCHED_PRIORITY_MAX - 5, 4096, + position_estimator_inav_thread_main, + (argv) ? (const char **) &argv[2] : (const char **) NULL); + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + printf("\tposition_estimator_inav is running\n"); + + } else { + printf("\tposition_estimator_inav not started\n"); + } + + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +/**************************************************************************** + * main + ****************************************************************************/ +int position_estimator_inav_thread_main(int argc, char *argv[]) +{ + warnx("started."); + int mavlink_fd; + mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + mavlink_log_info(mavlink_fd, "[inav] started"); + + /* initialize values */ + float x_est[3] = { 0.0f, 0.0f, 0.0f }; + float y_est[3] = { 0.0f, 0.0f, 0.0f }; + float z_est[3] = { 0.0f, 0.0f, 0.0f }; + + int baro_init_cnt = 0; + int baro_init_num = 200; + float baro_alt0 = 0.0f; /* to determine while start up */ + float alt_avg = 0.0f; + bool landed = true; + hrt_abstime landed_time = 0; + bool flag_armed = false; + + uint32_t accel_counter = 0; + uint32_t baro_counter = 0; + + /* declare and safely initialize all structs */ + struct actuator_controls_effective_s actuator; + memset(&actuator, 0, sizeof(actuator)); + struct actuator_armed_s armed; + memset(&armed, 0, sizeof(armed)); + struct sensor_combined_s sensor; + memset(&sensor, 0, sizeof(sensor)); + struct vehicle_gps_position_s gps; + memset(&gps, 0, sizeof(gps)); + struct vehicle_attitude_s att; + memset(&att, 0, sizeof(att)); + struct vehicle_local_position_s local_pos; + memset(&local_pos, 0, sizeof(local_pos)); + struct optical_flow_s flow; + memset(&flow, 0, sizeof(flow)); + struct vehicle_global_position_s global_pos; + memset(&global_pos, 0, sizeof(global_pos)); + + /* subscribe */ + int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update)); + int actuator_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE); + int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); + int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined)); + int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + int optical_flow_sub = orb_subscribe(ORB_ID(optical_flow)); + int vehicle_gps_position_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); + + /* advertise */ + orb_advert_t vehicle_local_position_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos); + orb_advert_t vehicle_global_position_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos); + + struct position_estimator_inav_params params; + struct position_estimator_inav_param_handles pos_inav_param_handles; + /* initialize parameter handles */ + parameters_init(&pos_inav_param_handles); + + /* first parameters read at start up */ + struct parameter_update_s param_update; + orb_copy(ORB_ID(parameter_update), parameter_update_sub, ¶m_update); /* read from param topic to clear updated flag */ + /* first parameters update */ + parameters_update(&pos_inav_param_handles, ¶ms); + + struct pollfd fds_init[1] = { + { .fd = sensor_combined_sub, .events = POLLIN }, + }; + + /* wait for initial baro value */ + bool wait_baro = true; + + thread_running = true; + + while (wait_baro && !thread_should_exit) { + int ret = poll(fds_init, 1, 1000); + + if (ret < 0) { + /* poll error */ + errx(1, "subscriptions poll error on init."); + + } else if (ret > 0) { + if (fds_init[0].revents & POLLIN) { + orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor); + + if (wait_baro && sensor.baro_counter > baro_counter) { + baro_counter = sensor.baro_counter; + + /* mean calculation over several measurements */ + if (baro_init_cnt < baro_init_num) { + baro_alt0 += sensor.baro_alt_meter; + baro_init_cnt++; + + } else { + wait_baro = false; + baro_alt0 /= (float) baro_init_cnt; + warnx("init baro: alt = %.3f", baro_alt0); + mavlink_log_info(mavlink_fd, "[inav] init baro: alt = %.3f", baro_alt0); + local_pos.ref_alt = baro_alt0; + local_pos.ref_timestamp = hrt_absolute_time(); + local_pos.z_valid = true; + local_pos.v_z_valid = true; + local_pos.global_z = true; + } + } + } + } + } + + bool ref_xy_inited = false; + hrt_abstime ref_xy_init_start = 0; + const hrt_abstime ref_xy_init_delay = 5000000; // wait for 5s after 3D fix + + hrt_abstime t_prev = 0; + + uint16_t accel_updates = 0; + uint16_t baro_updates = 0; + uint16_t gps_updates = 0; + uint16_t attitude_updates = 0; + uint16_t flow_updates = 0; + + hrt_abstime updates_counter_start = hrt_absolute_time(); + hrt_abstime pub_last = hrt_absolute_time(); + + /* acceleration in NED frame */ + float accel_NED[3] = { 0.0f, 0.0f, -CONSTANTS_ONE_G }; + + /* store error when sensor updates, but correct on each time step to avoid jumps in estimated value */ + float accel_corr[] = { 0.0f, 0.0f, 0.0f }; // N E D + float accel_bias[] = { 0.0f, 0.0f, 0.0f }; // body frame + float baro_corr = 0.0f; // D + float gps_corr[2][2] = { + { 0.0f, 0.0f }, // N (pos, vel) + { 0.0f, 0.0f }, // E (pos, vel) + }; + float sonar_corr = 0.0f; + float sonar_corr_filtered = 0.0f; + float flow_corr[] = { 0.0f, 0.0f }; // X, Y + + float sonar_prev = 0.0f; + hrt_abstime sonar_time = 0; + + /* main loop */ + struct pollfd fds[7] = { + { .fd = parameter_update_sub, .events = POLLIN }, + { .fd = actuator_sub, .events = POLLIN }, + { .fd = armed_sub, .events = POLLIN }, + { .fd = vehicle_attitude_sub, .events = POLLIN }, + { .fd = sensor_combined_sub, .events = POLLIN }, + { .fd = optical_flow_sub, .events = POLLIN }, + { .fd = vehicle_gps_position_sub, .events = POLLIN } + }; + + if (!thread_should_exit) { + warnx("main loop started."); + } + + while (!thread_should_exit) { + int ret = poll(fds, 7, 10); // wait maximal this 10 ms = 100 Hz minimum rate + hrt_abstime t = hrt_absolute_time(); + + if (ret < 0) { + /* poll error */ + warnx("subscriptions poll error."); + thread_should_exit = true; + continue; + + } else if (ret > 0) { + /* parameter update */ + if (fds[0].revents & POLLIN) { + /* read from param to clear updated flag */ + struct parameter_update_s update; + orb_copy(ORB_ID(parameter_update), parameter_update_sub, + &update); + /* update parameters */ + parameters_update(&pos_inav_param_handles, ¶ms); + } + + /* actuator */ + if (fds[1].revents & POLLIN) { + orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, actuator_sub, &actuator); + } + + /* armed */ + if (fds[2].revents & POLLIN) { + orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); + } + + /* vehicle attitude */ + if (fds[3].revents & POLLIN) { + orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att); + attitude_updates++; + } + + /* sensor combined */ + if (fds[4].revents & POLLIN) { + orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor); + + if (sensor.accelerometer_counter > accel_counter) { + if (att.R_valid) { + /* correct accel bias, now only for Z */ + sensor.accelerometer_m_s2[2] -= accel_bias[2]; + + /* transform acceleration vector from body frame to NED frame */ + for (int i = 0; i < 3; i++) { + accel_NED[i] = 0.0f; + + for (int j = 0; j < 3; j++) { + accel_NED[i] += att.R[i][j] * sensor.accelerometer_m_s2[j]; + } + } + + accel_corr[0] = accel_NED[0] - x_est[2]; + accel_corr[1] = accel_NED[1] - y_est[2]; + accel_corr[2] = accel_NED[2] + CONSTANTS_ONE_G - z_est[2]; + + } else { + memset(accel_corr, 0, sizeof(accel_corr)); + } + + accel_counter = sensor.accelerometer_counter; + accel_updates++; + } + + if (sensor.baro_counter > baro_counter) { + baro_corr = - sensor.baro_alt_meter - z_est[0]; + baro_counter = sensor.baro_counter; + baro_updates++; + } + } + + /* optical flow */ + if (fds[5].revents & POLLIN) { + orb_copy(ORB_ID(optical_flow), optical_flow_sub, &flow); + + if (flow.ground_distance_m > 0.31f && flow.ground_distance_m < 4.0f && (flow.ground_distance_m != sonar_prev || t - sonar_time < 150000)) { + if (flow.ground_distance_m != sonar_prev) { + sonar_time = t; + sonar_prev = flow.ground_distance_m; + sonar_corr = -flow.ground_distance_m - z_est[0]; + sonar_corr_filtered += (sonar_corr - sonar_corr_filtered) * params.sonar_filt; + + if (fabsf(sonar_corr) > params.sonar_err) { + // correction is too large: spike or new ground level? + if (fabsf(sonar_corr - sonar_corr_filtered) > params.sonar_err) { + // spike detected, ignore + sonar_corr = 0.0f; + + } else { + // new ground level + baro_alt0 += sonar_corr; + mavlink_log_info(mavlink_fd, "[inav] new home: alt = %.3f", baro_alt0); + local_pos.ref_alt = baro_alt0; + local_pos.ref_timestamp = hrt_absolute_time(); + z_est[0] += sonar_corr; + sonar_corr = 0.0f; + sonar_corr_filtered = 0.0f; + } + } + } + + } else { + sonar_corr = 0.0f; + } + + flow_updates++; + } + + /* vehicle GPS position */ + if (fds[6].revents & POLLIN) { + orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub, &gps); + + if (gps.fix_type >= 3 && t < gps.timestamp_position + gps_timeout) { + /* initialize reference position if needed */ + if (!ref_xy_inited) { + /* require EPH < 10m */ + if (gps.eph_m < 10.0f) { + if (ref_xy_init_start == 0) { + ref_xy_init_start = t; + + } else if (t > ref_xy_init_start + ref_xy_init_delay) { + ref_xy_inited = true; + /* reference GPS position */ + double lat = gps.lat * 1e-7; + double lon = gps.lon * 1e-7; + + local_pos.ref_lat = gps.lat; + local_pos.ref_lon = gps.lon; + local_pos.ref_timestamp = t; + + /* initialize projection */ + map_projection_init(lat, lon); + warnx("init GPS: lat = %.10f, lon = %.10f", lat, lon); + mavlink_log_info(mavlink_fd, "[inav] init GPS: %.7f, %.7f", lat, lon); + } + } else { + ref_xy_init_start = 0; + } + } + + if (ref_xy_inited) { + /* project GPS lat lon to plane */ + float gps_proj[2]; + map_projection_project(gps.lat * 1e-7, gps.lon * 1e-7, &(gps_proj[0]), &(gps_proj[1])); + /* calculate correction for position */ + gps_corr[0][0] = gps_proj[0] - x_est[0]; + gps_corr[1][0] = gps_proj[1] - y_est[0]; + + /* calculate correction for velocity */ + if (gps.vel_ned_valid) { + gps_corr[0][1] = gps.vel_n_m_s - x_est[1]; + gps_corr[1][1] = gps.vel_e_m_s - y_est[1]; + + } else { + gps_corr[0][1] = 0.0f; + gps_corr[1][1] = 0.0f; + } + } + + } else { + /* no GPS lock */ + memset(gps_corr, 0, sizeof(gps_corr)); + ref_xy_init_start = 0; + } + + gps_updates++; + } + } + + /* end of poll return value check */ + + float dt = t_prev > 0 ? (t - t_prev) / 1000000.0f : 0.0f; + t_prev = t; + + /* reset ground level on arm */ + if (armed.armed && !flag_armed) { + baro_alt0 -= z_est[0]; + z_est[0] = 0.0f; + local_pos.ref_alt = baro_alt0; + local_pos.ref_timestamp = hrt_absolute_time(); + mavlink_log_info(mavlink_fd, "[inav] new home on arm: alt = %.3f", baro_alt0); + } + + /* accel bias correction, now only for Z + * not strictly correct, but stable and works */ + accel_bias[2] += (accel_NED[2] + CONSTANTS_ONE_G) * params.w_acc_bias * dt; + + /* inertial filter prediction for altitude */ + inertial_filter_predict(dt, z_est); + + /* inertial filter correction for altitude */ + baro_alt0 += sonar_corr * params.w_alt_sonar * dt; + inertial_filter_correct(baro_corr + baro_alt0, dt, z_est, 0, params.w_alt_baro); + inertial_filter_correct(sonar_corr, dt, z_est, 0, params.w_alt_sonar); + inertial_filter_correct(accel_corr[2], dt, z_est, 2, params.w_alt_acc); + + bool gps_valid = ref_xy_inited && gps.fix_type >= 3 && t < gps.timestamp_position + gps_timeout; + bool flow_valid = false; // TODO implement opt flow + + /* try to estimate xy even if no absolute position source available, + * if using optical flow velocity will be correct in this case */ + bool can_estimate_xy = gps_valid || flow_valid; + + if (can_estimate_xy) { + /* inertial filter prediction for position */ + inertial_filter_predict(dt, x_est); + inertial_filter_predict(dt, y_est); + + /* inertial filter correction for position */ + inertial_filter_correct(accel_corr[0], dt, x_est, 2, params.w_pos_acc); + inertial_filter_correct(accel_corr[1], dt, y_est, 2, params.w_pos_acc); + + if (gps_valid) { + inertial_filter_correct(gps_corr[0][0], dt, x_est, 0, params.w_pos_gps_p); + inertial_filter_correct(gps_corr[1][0], dt, y_est, 0, params.w_pos_gps_p); + + if (gps.vel_ned_valid && t < gps.timestamp_velocity + gps_timeout) { + inertial_filter_correct(gps_corr[0][1], dt, x_est, 1, params.w_pos_gps_v); + inertial_filter_correct(gps_corr[1][1], dt, y_est, 1, params.w_pos_gps_v); + } + } + } + + /* detect land */ + alt_avg += (z_est[0] - alt_avg) * dt / params.land_t; + float alt_disp = z_est[0] - alt_avg; + alt_disp = alt_disp * alt_disp; + float land_disp2 = params.land_disp * params.land_disp; + /* get actual thrust output */ + float thrust = armed.armed ? actuator.control_effective[3] : 0.0f; + + if (landed) { + if (alt_disp > land_disp2 && thrust > params.land_thr) { + landed = false; + landed_time = 0; + } + + } else { + if (alt_disp < land_disp2 && thrust < params.land_thr) { + if (landed_time == 0) { + landed_time = t; // land detected first time + + } else { + if (t > landed_time + params.land_t * 1000000.0f) { + landed = true; + landed_time = 0; + } + } + + } else { + landed_time = 0; + } + } + + if (verbose_mode) { + /* print updates rate */ + if (t > updates_counter_start + updates_counter_len) { + float updates_dt = (t - updates_counter_start) * 0.000001f; + warnx( + "updates rate: accelerometer = %.1f/s, baro = %.1f/s, gps = %.1f/s, attitude = %.1f/s, flow = %.1f/s", + accel_updates / updates_dt, + baro_updates / updates_dt, + gps_updates / updates_dt, + attitude_updates / updates_dt, + flow_updates / updates_dt); + updates_counter_start = t; + accel_updates = 0; + baro_updates = 0; + gps_updates = 0; + attitude_updates = 0; + flow_updates = 0; + } + } + + if (t > pub_last + pub_interval) { + pub_last = t; + /* publish local position */ + local_pos.timestamp = t; + local_pos.xy_valid = can_estimate_xy && gps_valid; + local_pos.v_xy_valid = can_estimate_xy; + local_pos.global_xy = local_pos.xy_valid && gps_valid; // will make sense when local position sources (e.g. vicon) will be implemented + local_pos.x = x_est[0]; + local_pos.vx = x_est[1]; + local_pos.y = y_est[0]; + local_pos.vy = y_est[1]; + local_pos.z = z_est[0]; + local_pos.vz = z_est[1]; + local_pos.landed = landed; + local_pos.yaw = att.yaw; + + orb_publish(ORB_ID(vehicle_local_position), vehicle_local_position_pub, &local_pos); + + /* publish global position */ + global_pos.valid = local_pos.global_xy; + + if (local_pos.global_xy) { + double est_lat, est_lon; + map_projection_reproject(local_pos.x, local_pos.y, &est_lat, &est_lon); + global_pos.lat = (int32_t)(est_lat * 1e7); + global_pos.lon = (int32_t)(est_lon * 1e7); + global_pos.time_gps_usec = gps.time_gps_usec; + } + + /* set valid values even if position is not valid */ + if (local_pos.v_xy_valid) { + global_pos.vx = local_pos.vx; + global_pos.vy = local_pos.vy; + } + + if (local_pos.z_valid) { + global_pos.relative_alt = -local_pos.z; + } + + if (local_pos.global_z) { + global_pos.alt = local_pos.ref_alt - local_pos.z; + } + + if (local_pos.v_z_valid) { + global_pos.vz = local_pos.vz; + } + global_pos.yaw = local_pos.yaw; + + global_pos.timestamp = t; + + orb_publish(ORB_ID(vehicle_global_position), vehicle_global_position_pub, &global_pos); + } + flag_armed = armed.armed; + } + + warnx("exiting."); + mavlink_log_info(mavlink_fd, "[inav] exiting"); + thread_running = false; + return 0; +} diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c new file mode 100644 index 0000000000..4f9ddd009d --- /dev/null +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -0,0 +1,96 @@ +/**************************************************************************** + * + * Copyright (C) 2013 Anton Babushkin. All rights reserved. + * Author: Anton Babushkin + * + * 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 position_estimator_inav_params.c + * + * Parameters for position_estimator_inav + */ + +#include "position_estimator_inav_params.h" + +PARAM_DEFINE_FLOAT(INAV_W_ALT_BARO, 0.5f); +PARAM_DEFINE_FLOAT(INAV_W_ALT_ACC, 50.0f); +PARAM_DEFINE_FLOAT(INAV_W_ALT_SONAR, 3.0f); +PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_P, 1.0f); +PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_V, 2.0f); +PARAM_DEFINE_FLOAT(INAV_W_POS_ACC, 10.0f); +PARAM_DEFINE_FLOAT(INAV_W_POS_FLOW, 0.0f); +PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.0f); +PARAM_DEFINE_FLOAT(INAV_FLOW_K, 1.0f); +PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.02f); +PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f); +PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f); +PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f); +PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.3f); + +int parameters_init(struct position_estimator_inav_param_handles *h) +{ + h->w_alt_baro = param_find("INAV_W_ALT_BARO"); + h->w_alt_acc = param_find("INAV_W_ALT_ACC"); + h->w_alt_sonar = param_find("INAV_W_ALT_SONAR"); + h->w_pos_gps_p = param_find("INAV_W_POS_GPS_P"); + h->w_pos_gps_v = param_find("INAV_W_POS_GPS_V"); + h->w_pos_acc = param_find("INAV_W_POS_ACC"); + h->w_pos_flow = param_find("INAV_W_POS_FLOW"); + h->w_acc_bias = param_find("INAV_W_ACC_BIAS"); + h->flow_k = param_find("INAV_FLOW_K"); + h->sonar_filt = param_find("INAV_SONAR_FILT"); + h->sonar_err = param_find("INAV_SONAR_ERR"); + h->land_t = param_find("INAV_LAND_T"); + h->land_disp = param_find("INAV_LAND_DISP"); + h->land_thr = param_find("INAV_LAND_THR"); + + return OK; +} + +int parameters_update(const struct position_estimator_inav_param_handles *h, struct position_estimator_inav_params *p) +{ + param_get(h->w_alt_baro, &(p->w_alt_baro)); + param_get(h->w_alt_acc, &(p->w_alt_acc)); + param_get(h->w_alt_sonar, &(p->w_alt_sonar)); + param_get(h->w_pos_gps_p, &(p->w_pos_gps_p)); + param_get(h->w_pos_gps_v, &(p->w_pos_gps_v)); + param_get(h->w_pos_acc, &(p->w_pos_acc)); + param_get(h->w_pos_flow, &(p->w_pos_flow)); + param_get(h->w_acc_bias, &(p->w_acc_bias)); + param_get(h->flow_k, &(p->flow_k)); + param_get(h->sonar_filt, &(p->sonar_filt)); + param_get(h->sonar_err, &(p->sonar_err)); + param_get(h->land_t, &(p->land_t)); + param_get(h->land_disp, &(p->land_disp)); + param_get(h->land_thr, &(p->land_thr)); + + return OK; +} diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.h b/src/modules/position_estimator_inav/position_estimator_inav_params.h new file mode 100644 index 0000000000..61570aea7a --- /dev/null +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.h @@ -0,0 +1,87 @@ +/**************************************************************************** + * + * Copyright (C) 2013 Anton Babushkin. All rights reserved. + * Author: Anton Babushkin + * + * 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 position_estimator_inav_params.h + * + * Parameters for Position Estimator + */ + +#include + +struct position_estimator_inav_params { + float w_alt_baro; + float w_alt_acc; + float w_alt_sonar; + float w_pos_gps_p; + float w_pos_gps_v; + float w_pos_acc; + float w_pos_flow; + float w_acc_bias; + float flow_k; + float sonar_filt; + float sonar_err; + float land_t; + float land_disp; + float land_thr; +}; + +struct position_estimator_inav_param_handles { + param_t w_alt_baro; + param_t w_alt_acc; + param_t w_alt_sonar; + param_t w_pos_gps_p; + param_t w_pos_gps_v; + param_t w_pos_acc; + param_t w_pos_flow; + param_t w_acc_bias; + param_t flow_k; + param_t sonar_filt; + param_t sonar_err; + param_t land_t; + param_t land_disp; + param_t land_thr; +}; + +/** + * Initialize all parameter handles and values + * + */ +int parameters_init(struct position_estimator_inav_param_handles *h); + +/** + * Update all parameters + * + */ +int parameters_update(const struct position_estimator_inav_param_handles *h, struct position_estimator_inav_params *p); diff --git a/src/modules/position_estimator_mc/position_estimator_mc_main.c b/src/modules/position_estimator_mc/position_estimator_mc_main.c index 984bd13298..3639618193 100755 --- a/src/modules/position_estimator_mc/position_estimator_mc_main.c +++ b/src/modules/position_estimator_mc/position_estimator_mc_main.c @@ -497,7 +497,12 @@ int position_estimator_mc_thread_main(int argc, char *argv[]) local_pos_est.vz = x_z_aposteriori_k[1]; local_pos_est.timestamp = hrt_absolute_time(); if ((isfinite(x_x_aposteriori_k[0])) && (isfinite(x_x_aposteriori_k[1])) && (isfinite(x_y_aposteriori_k[0])) && (isfinite(x_y_aposteriori_k[1])) && (isfinite(x_z_aposteriori_k[0])) && (isfinite(x_z_aposteriori_k[1]))){ - orb_publish(ORB_ID(vehicle_local_position), local_pos_est_pub, &local_pos_est); + if(local_pos_est_pub > 0) + orb_publish(ORB_ID(vehicle_local_position), local_pos_est_pub, &local_pos_est); + else + local_pos_est_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos_est); + //char buf[0xff]; sprintf(buf,"[pos_est_mc] x:%f, y:%f, z:%f",x_x_aposteriori_k[0],x_y_aposteriori_k[0],x_z_aposteriori_k[0]); + //mavlink_log_info(mavlink_fd, buf); } } } /* end of poll return value check */ diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index fbd82a4c6d..796c6cd9f5 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -59,14 +59,14 @@ static perf_counter_t c_gather_ppm; void controls_init(void) { - /* DSM input */ + /* DSM input (USART1) */ dsm_init("/dev/ttyS0"); - /* S.bus input */ + /* S.bus input (USART3) */ sbus_init("/dev/ttyS2"); /* default to a 1:1 input map, all enabled */ - for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) { + for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i; r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = 0; @@ -124,7 +124,7 @@ controls_tick() { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM; perf_end(c_gather_ppm); - ASSERT(r_raw_rc_count <= MAX_CONTROL_CHANNELS); + ASSERT(r_raw_rc_count <= PX4IO_CONTROL_CHANNELS); /* * In some cases we may have received a frame, but input has still @@ -197,7 +197,7 @@ controls_tick() { /* and update the scaled/mapped version */ unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; - ASSERT(mapped < MAX_CONTROL_CHANNELS); + ASSERT(mapped < PX4IO_CONTROL_CHANNELS); /* invert channel if pitch - pulling the lever down means pitching up by convention */ if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ @@ -209,7 +209,7 @@ controls_tick() { } /* set un-assigned controls to zero */ - for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) { + for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { if (!(assigned_channels & (1 << i))) r_rc_values[i] = 0; } @@ -321,8 +321,8 @@ ppm_input(uint16_t *values, uint16_t *num_values) /* PPM data exists, copy it */ *num_values = ppm_decoded_channels; - if (*num_values > MAX_CONTROL_CHANNELS) - *num_values = MAX_CONTROL_CHANNELS; + if (*num_values > PX4IO_CONTROL_CHANNELS) + *num_values = PX4IO_CONTROL_CHANNELS; for (unsigned i = 0; i < *num_values; i++) values[i] = ppm_buffer[i]; diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c index 745cdfa403..206e27db5a 100644 --- a/src/modules/px4iofirmware/dsm.c +++ b/src/modules/px4iofirmware/dsm.c @@ -53,13 +53,13 @@ #define DSM_FRAME_SIZE 16 /** ESC_INIT_TIME_US) { + esc_state = ESC_RAMP; + } + break; + + /* then ramp until the min speed is reached */ + case ESC_RAMP: + if (hrt_elapsed_time(&esc_init_time) > (ESC_INIT_TIME_US + ESC_RAMP_TIME_US)) { + esc_state = ESC_ON; + } + break; + + case ESC_ON: + default: + + break; + } + } else { + esc_state = ESC_OFF; + } + + /* do the calculations during the ramp for all at once */ + if(esc_state == ESC_RAMP) { + ramp_promille = (1000*(hrt_elapsed_time(&esc_init_time)-ESC_INIT_TIME_US))/ESC_RAMP_TIME_US; + } + + /* mix */ - mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT); + mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT); /* scale to PWM and update the servo outputs as required */ for (unsigned i = 0; i < mixed; i++) { @@ -176,11 +235,29 @@ mixer_tick(void) /* save actuator values for FMU readback */ r_page_actuators[i] = FLOAT_TO_REG(outputs[i]); - /* scale to servo output */ - r_page_servos[i] = (outputs[i] * 600.0f) + 1500; + switch (esc_state) { + case ESC_INIT: + r_page_servos[i] = (outputs[i] * 600 + 1500); + break; + case ESC_RAMP: + r_page_servos[i] = (outputs[i] + * (ramp_promille*r_page_servo_control_max[i] + (1000-ramp_promille)*2100 - ramp_promille*r_page_servo_control_min[i] - (1000-ramp_promille)*900)/2/1000 + + (ramp_promille*r_page_servo_control_max[i] + (1000-ramp_promille)*2100 + ramp_promille*r_page_servo_control_min[i] + (1000-ramp_promille)*900)/2/1000); + break; + + case ESC_ON: + r_page_servos[i] = (outputs[i] + * (r_page_servo_control_max[i] - r_page_servo_control_min[i])/2 + + (r_page_servo_control_max[i] + r_page_servo_control_min[i])/2); + break; + + case ESC_OFF: + default: + break; + } } - for (unsigned i = mixed; i < IO_SERVO_COUNT; i++) + for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++) r_page_servos[i] = 0; } @@ -193,30 +270,46 @@ mixer_tick(void) * XXX correct behaviour for failsafe may require an additional case * here. */ - bool should_arm = ( - /* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && - /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && - /* there is valid input via direct PWM or mixer */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) && - /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) && - /* FMU is available or FMU is not available but override is an option */ - ((r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) || (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && (r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) )) + should_arm = ( + /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) + /* and IO is armed */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) + /* and FMU is armed */ && ( + ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) + /* and there is valid input via or mixer */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ) + /* or direct PWM is set */ || (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) + /* or failsafe was set manually */ || (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) + ) ); - if (should_arm && !mixer_servos_armed) { + should_always_enable_pwm = (r_setup_arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) + && (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) + && (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK); + + if ((should_arm || should_always_enable_pwm) && !mixer_servos_armed) { /* need to arm, but not armed */ up_pwm_servo_arm(true); mixer_servos_armed = true; + r_status_flags |= PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED; + isr_debug(5, "> PWM enabled"); - } else if (!should_arm && mixer_servos_armed) { + } else if ((!should_arm && !should_always_enable_pwm) && mixer_servos_armed) { /* armed but need to disarm */ up_pwm_servo_arm(false); mixer_servos_armed = false; + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED); + isr_debug(5, "> PWM disabled"); + } - if (mixer_servos_armed) { + if (mixer_servos_armed && should_arm) { /* update the servo outputs. */ - for (unsigned i = 0; i < IO_SERVO_COUNT; i++) + for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) up_pwm_servo_set(i, r_page_servos[i]); + + } else if (mixer_servos_armed && should_always_enable_pwm) { + /* set the idle servo outputs. */ + for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) + up_pwm_servo_set(i, r_page_servo_idle[i]); } } @@ -265,9 +358,8 @@ static unsigned mixer_text_length = 0; void mixer_handle_text(const void *buffer, size_t length) { - /* do not allow a mixer change while fully armed */ - if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && - /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { + /* do not allow a mixer change while safety off */ + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) { return; } @@ -344,16 +436,17 @@ mixer_set_failsafe() * Check if a custom failsafe value has been written, * or if the mixer is not ok and bail out. */ + if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) || !(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) return; /* set failsafe defaults to the values for all inputs = 0 */ - float outputs[IO_SERVO_COUNT]; + float outputs[PX4IO_SERVO_COUNT]; unsigned mixed; /* mix */ - mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT); + mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT); /* scale to PWM and update the servo outputs as required */ for (unsigned i = 0; i < mixed; i++) { @@ -364,7 +457,7 @@ mixer_set_failsafe() } /* disable the rest of the outputs */ - for (unsigned i = mixed; i < IO_SERVO_COUNT; i++) + for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++) r_page_servo_failsafe[i] = 0; } diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk index 6379366f43..59f470a94e 100644 --- a/src/modules/px4iofirmware/module.mk +++ b/src/modules/px4iofirmware/module.mk @@ -3,17 +3,22 @@ SRCS = adc.c \ controls.c \ dsm.c \ - i2c.c \ px4io.c \ registers.c \ safety.c \ sbus.c \ ../systemlib/up_cxxinitialize.c \ - ../systemlib/hx_stream.c \ ../systemlib/perf_counter.c \ mixer.cpp \ ../systemlib/mixer/mixer.cpp \ ../systemlib/mixer/mixer_group.cpp \ ../systemlib/mixer/mixer_multirotor.cpp \ ../systemlib/mixer/mixer_simple.cpp \ - \ No newline at end of file + +ifeq ($(BOARD),px4io-v1) +SRCS += i2c.c +endif +ifeq ($(BOARD),px4io-v2) +SRCS += serial.c \ + ../systemlib/hx_stream.c +endif diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 88d8cc87c1..f5fa0ba751 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -36,7 +36,7 @@ /** * @file protocol.h * - * PX4IO I2C interface protocol. + * PX4IO interface protocol. * * Communication is performed via writes to and reads from 16-bit virtual * registers organised into pages of 255 registers each. @@ -45,7 +45,7 @@ * respectively. Subsequent reads and writes increment the offset within * the page. * - * Most pages are readable or writable but not both. + * Some pages are read- or write-only. * * Note that some pages may permit offset values greater than 255, which * can only be achieved by long writes. The offset does not wrap. @@ -62,12 +62,11 @@ * Note that the implementation of readable pages prefers registers within * readable pages to be densely packed. Page numbers do not need to be * packed. + * + * Definitions marked 1 are only valid on PX4IOv1 boards. Likewise, + * [2] denotes definitions specific to the PX4IOv2 board. */ -#define PX4IO_CONTROL_CHANNELS 8 -#define PX4IO_INPUT_CHANNELS 12 -#define PX4IO_RELAY_CHANNELS 4 - /* Per C, this is safe for all 2's complement systems */ #define REG_TO_SIGNED(_reg) ((int16_t)(_reg)) #define SIGNED_TO_REG(_signed) ((uint16_t)(_signed)) @@ -75,10 +74,12 @@ #define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f) #define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f)) +#define PX4IO_PROTOCOL_VERSION 4 + /* static configuration page */ #define PX4IO_PAGE_CONFIG 0 -#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* magic numbers TBD */ -#define PX4IO_P_CONFIG_SOFTWARE_VERSION 1 /* magic numbers TBD */ +#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* PX4IO_PROTOCOL_VERSION */ +#define PX4IO_P_CONFIG_HARDWARE_VERSION 1 /* magic numbers TBD */ #define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */ #define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */ #define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */ @@ -93,7 +94,7 @@ #define PX4IO_P_STATUS_CPULOAD 1 #define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */ -#define PX4IO_P_STATUS_FLAGS_ARMED (1 << 0) /* arm-ok and locally armed */ +#define PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED (1 << 0) /* arm-ok and locally armed */ #define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */ #define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 2) /* RC input is valid */ #define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 3) /* PPM input is valid */ @@ -105,19 +106,24 @@ #define PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 9) /* the arming state between IO and FMU is in sync */ #define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */ #define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */ -#define PX4IO_P_STATUS_FLAGS_RC_DSM11 (1 << 12) /* DSM input is 11 bit data */ +#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */ +#define PX4IO_P_STATUS_FLAGS_RC_DSM11 (1 << 13) /* DSM input is 11 bit data */ #define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */ -#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* VBatt is very close to regulator dropout */ +#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* [1] VBatt is very close to regulator dropout */ #define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */ -#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* servo current limit was exceeded */ -#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* accessory current limit was exceeded */ +#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* [1] servo current limit was exceeded */ +#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* [1] accessory current limit was exceeded */ #define PX4IO_P_STATUS_ALARMS_FMU_LOST (1 << 4) /* timed out waiting for controls from FMU */ #define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 5) /* timed out waiting for RC input */ #define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */ +#define PX4IO_P_STATUS_ALARMS_VSERVO_FAULT (1 << 7) /* [2] VServo was out of the valid range (2.5 - 5.5 V) */ -#define PX4IO_P_STATUS_VBATT 4 /* battery voltage in mV */ -#define PX4IO_P_STATUS_IBATT 5 /* battery current (raw ADC) */ +#define PX4IO_P_STATUS_VBATT 4 /* [1] battery voltage in mV */ +#define PX4IO_P_STATUS_IBATT 5 /* [1] battery current (raw ADC) */ +#define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */ +#define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */ +#define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */ /* array of post-mix actuator outputs, -10000..10000 */ #define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ @@ -143,7 +149,7 @@ #define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */ /* setup page */ -#define PX4IO_PAGE_SETUP 100 +#define PX4IO_PAGE_SETUP 50 #define PX4IO_P_SETUP_FEATURES 0 #define PX4IO_P_SETUP_ARMING 1 /* arming controls */ @@ -152,37 +158,40 @@ #define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */ #define PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM (1 << 3) /* use custom failsafe values, not 0 values of mixer */ #define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */ +#define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE (1 << 5) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */ +#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 6) /* Disable the IO-internal evaluation of the RC */ #define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ #define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */ #define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */ + #define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */ +#define PX4IO_P_SETUP_RELAYS_POWER1 (1<<0) /* hardware rev [1] power relay 1 */ +#define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* hardware rev [1] power relay 2 */ +#define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* hardware rev [1] accessory power 1 */ +#define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* hardware rev [1] accessory power 2 */ -/* px4io relay bit definitions */ -#define PX4IO_RELAY1 (1<<0) -#define PX4IO_RELAY2 (1<<1) -#define PX4IO_ACC1 (1<<2) -#define PX4IO_ACC2 (1<<3) - -#define PX4IO_P_SETUP_VBATT_SCALE 6 /* battery voltage correction factor (float) */ -#define PX4IO_P_SETUP_DSM 7 /* DSM bind state */ -enum { /* DSM bind states */ +#define PX4IO_P_SETUP_VBATT_SCALE 6 /* hardware rev [1] battery voltage correction factor (float) */ +#define PX4IO_P_SETUP_VSERVO_SCALE 6 /* hardware rev [2] servo voltage correction factor (float) */ +#define PX4IO_P_SETUP_DSM 7 /* DSM bind state */ +enum { /* DSM bind states */ dsm_bind_power_down = 0, dsm_bind_power_up, dsm_bind_set_rx_out, dsm_bind_send_pulses, dsm_bind_reinit_uart }; + /* 8 */ #define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ /* autopilot control values, -10000..10000 */ -#define PX4IO_PAGE_CONTROLS 101 /* 0..CONFIG_CONTROL_COUNT */ +#define PX4IO_PAGE_CONTROLS 51 /* 0..CONFIG_CONTROL_COUNT */ /* raw text load to the mixer parser - ignores offset */ -#define PX4IO_PAGE_MIXERLOAD 102 +#define PX4IO_PAGE_MIXERLOAD 52 /* R/C channel config */ -#define PX4IO_PAGE_RC_CONFIG 103 /* R/C input configuration */ +#define PX4IO_PAGE_RC_CONFIG 53 /* R/C input configuration */ #define PX4IO_P_RC_CONFIG_MIN 0 /* lowest input value */ #define PX4IO_P_RC_CONFIG_CENTER 1 /* center input value */ #define PX4IO_P_RC_CONFIG_MAX 2 /* highest input value */ @@ -194,10 +203,23 @@ enum { /* DSM bind states */ #define PX4IO_P_RC_CONFIG_STRIDE 6 /* spacing between channel config data */ /* PWM output - overrides mixer */ -#define PX4IO_PAGE_DIRECT_PWM 104 /* 0..CONFIG_ACTUATOR_COUNT-1 */ +#define PX4IO_PAGE_DIRECT_PWM 54 /* 0..CONFIG_ACTUATOR_COUNT-1 */ /* PWM failsafe values - zero disables the output */ -#define PX4IO_PAGE_FAILSAFE_PWM 105 /* 0..CONFIG_ACTUATOR_COUNT-1 */ +#define PX4IO_PAGE_FAILSAFE_PWM 55 /* 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* Debug and test page - not used in normal operation */ +#define PX4IO_PAGE_TEST 127 +#define PX4IO_P_TEST_LED 0 /* set the amber LED on/off */ + +/* PWM minimum values for certain ESCs */ +#define PX4IO_PAGE_CONTROL_MIN_PWM 106 /* 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* PWM maximum values for certain ESCs */ +#define PX4IO_PAGE_CONTROL_MAX_PWM 107 /* 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* PWM idle values that are active, even when SAFETY_SAFE */ +#define PX4IO_PAGE_IDLE_PWM 108 /* 0..CONFIG_ACTUATOR_COUNT-1 */ /** * As-needed mixer data upload. @@ -218,3 +240,81 @@ struct px4io_mixdata { }; #pragma pack(pop) +/** + * Serial protocol encapsulation. + */ + +#define PKT_MAX_REGS 32 // by agreement w/FMU + +#pragma pack(push, 1) +struct IOPacket { + uint8_t count_code; + uint8_t crc; + uint8_t page; + uint8_t offset; + uint16_t regs[PKT_MAX_REGS]; +}; +#pragma pack(pop) + +#define PKT_CODE_READ 0x00 /* FMU->IO read transaction */ +#define PKT_CODE_WRITE 0x40 /* FMU->IO write transaction */ +#define PKT_CODE_SUCCESS 0x00 /* IO->FMU success reply */ +#define PKT_CODE_CORRUPT 0x40 /* IO->FMU bad packet reply */ +#define PKT_CODE_ERROR 0x80 /* IO->FMU register op error reply */ + +#define PKT_CODE_MASK 0xc0 +#define PKT_COUNT_MASK 0x3f + +#define PKT_COUNT(_p) ((_p).count_code & PKT_COUNT_MASK) +#define PKT_CODE(_p) ((_p).count_code & PKT_CODE_MASK) +#define PKT_SIZE(_p) ((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p))) + +static const uint8_t crc8_tab[256] __attribute__((unused)) = +{ + 0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15, + 0x38, 0x3F, 0x36, 0x31, 0x24, 0x23, 0x2A, 0x2D, + 0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65, + 0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D, + 0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5, + 0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD, + 0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85, + 0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD, + 0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2, + 0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA, + 0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2, + 0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A, + 0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32, + 0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A, + 0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42, + 0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A, + 0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C, + 0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4, + 0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC, + 0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4, + 0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C, + 0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44, + 0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C, + 0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34, + 0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B, + 0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63, + 0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B, + 0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13, + 0xAE, 0xA9, 0xA0, 0xA7, 0xB2, 0xB5, 0xBC, 0xBB, + 0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83, + 0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC, 0xCB, + 0xE6, 0xE1, 0xE8, 0xEF, 0xFA, 0xFD, 0xF4, 0xF3 +}; + +static uint8_t crc_packet(struct IOPacket *pkt) __attribute__((unused)); +static uint8_t +crc_packet(struct IOPacket *pkt) +{ + uint8_t *end = (uint8_t *)(&pkt->regs[PKT_COUNT(*pkt)]); + uint8_t *p = (uint8_t *)pkt; + uint8_t c = 0; + + while (p < end) + c = crc8_tab[c ^ *(p++)]; + + return c; +} diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c index bc8dfc1167..e70b3fe880 100644 --- a/src/modules/px4iofirmware/px4io.c +++ b/src/modules/px4iofirmware/px4io.c @@ -64,11 +64,6 @@ struct sys_state_s system_state; static struct hrt_call serial_dma_call; -#ifdef CONFIG_STM32_I2C1 -/* store i2c reset count XXX this should be a register, together with other error counters */ -volatile uint32_t i2c_loop_resets = 0; -#endif - /* * a set of debug buffers to allow us to send debug information from ISRs */ @@ -147,8 +142,10 @@ user_start(int argc, char *argv[]) LED_BLUE(false); LED_SAFETY(false); - /* turn on servo power */ + /* turn on servo power (if supported) */ +#ifdef POWER_SERVO POWER_SERVO(true); +#endif /* start the safety switch handler */ safety_init(); @@ -159,10 +156,11 @@ user_start(int argc, char *argv[]) /* initialise the control inputs */ controls_init(); -#ifdef CONFIG_STM32_I2C1 - /* start the i2c handler */ - i2c_init(); -#endif + /* start the FMU interface */ + interface_init(); + + /* add a performance counter for the interface */ + perf_counter_t interface_perf = perf_alloc(PC_ELAPSED, "interface"); /* add a performance counter for mixing */ perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix"); @@ -205,6 +203,11 @@ user_start(int argc, char *argv[]) /* track the rate at which the loop is running */ perf_count(loop_perf); + /* kick the interface */ + perf_begin(interface_perf); + interface_tick(); + perf_end(interface_perf); + /* kick the mixer */ perf_begin(mixer_perf); mixer_tick(); @@ -223,12 +226,11 @@ user_start(int argc, char *argv[]) struct mallinfo minfo = mallinfo(); - isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x r=%u m=%u", + isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x m=%u", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG], (unsigned)r_status_flags, (unsigned)r_setup_arming, (unsigned)r_setup_features, - (unsigned)i2c_loop_resets, (unsigned)minfo.mxordblk); last_debug_time = hrt_absolute_time(); } diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index 57cffcc23a..dea67043e3 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -42,15 +42,16 @@ #include #include -#include +#include #include "protocol.h" /* * Constants and limits. */ -#define MAX_CONTROL_CHANNELS 12 -#define IO_SERVO_COUNT 8 +#define PX4IO_SERVO_COUNT 8 +#define PX4IO_CONTROL_CHANNELS 8 +#define PX4IO_INPUT_CHANNELS 12 /* * Debug logging @@ -77,6 +78,9 @@ extern volatile uint16_t r_page_setup[]; /* PX4IO_PAGE_SETUP */ extern volatile uint16_t r_page_controls[]; /* PX4IO_PAGE_CONTROLS */ extern uint16_t r_page_rc_input_config[]; /* PX4IO_PAGE_RC_INPUT_CONFIG */ extern uint16_t r_page_servo_failsafe[]; /* PX4IO_PAGE_FAILSAFE_PWM */ +extern uint16_t r_page_servo_control_min[]; /* PX4IO_PAGE_CONTROL_MIN_PWM */ +extern uint16_t r_page_servo_control_max[]; /* PX4IO_PAGE_CONTROL_MAX_PWM */ +extern uint16_t r_page_servo_idle[]; /* PX4IO_PAGE_IDLE_PWM */ /* * Register aliases. @@ -119,32 +123,43 @@ extern struct sys_state_s system_state; /* * GPIO handling. */ -#define LED_BLUE(_s) stm32_gpiowrite(GPIO_LED1, !(_s)) -#define LED_AMBER(_s) stm32_gpiowrite(GPIO_LED2, !(_s)) -#define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s)) +#define LED_BLUE(_s) stm32_gpiowrite(GPIO_LED1, !(_s)) +#define LED_AMBER(_s) stm32_gpiowrite(GPIO_LED2, !(_s)) +#define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s)) + +#ifdef CONFIG_ARCH_BOARD_PX4IO_V1 + +# define PX4IO_RELAY_CHANNELS 4 +# define POWER_SERVO(_s) stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s)) +# define POWER_ACC1(_s) stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s)) +# define POWER_ACC2(_s) stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s)) +# define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s)) +# define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s)) + +# define OVERCURRENT_ACC (!stm32_gpioread(GPIO_ACC_OC_DETECT)) +# define OVERCURRENT_SERVO (!stm32_gpioread(GPIO_SERVO_OC_DETECT)) + +# define PX4IO_ADC_CHANNEL_COUNT 2 +# define ADC_VBATT 4 +# define ADC_IN5 5 + +#endif + +#ifdef CONFIG_ARCH_BOARD_PX4IO_V2 + +# define PX4IO_RELAY_CHANNELS 0 +# define POWER_SPEKTRUM(_s) stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s)) + +# define VDD_SERVO_FAULT (!stm32_gpioread(GPIO_SERVO_FAULT_DETECT)) + +# define PX4IO_ADC_CHANNEL_COUNT 2 +# define ADC_VSERVO 4 +# define ADC_RSSI 5 -#define POWER_SERVO(_s) stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s)) -#ifdef GPIO_ACC1_PWR_EN - #define POWER_ACC1(_s) stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s)) -#endif -#ifdef GPIO_ACC2_PWR_EN - #define POWER_ACC2(_s) stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s)) -#endif -#ifdef GPIO_RELAY1_EN - #define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s)) -#endif -#ifdef GPIO_RELAY2_EN - #define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s)) #endif -#define OVERCURRENT_ACC (!stm32_gpioread(GPIO_ACC_OC_DETECT)) -#define OVERCURRENT_SERVO (!stm32_gpioread(GPIO_SERVO_OC_DETECT)) #define BUTTON_SAFETY stm32_gpioread(GPIO_BTN_SAFETY) -#define ADC_VBATT 4 -#define ADC_IN5 5 -#define ADC_CHANNEL_COUNT 2 - /* * Mixer */ @@ -156,17 +171,16 @@ extern void mixer_handle_text(const void *buffer, size_t length); */ extern void safety_init(void); -#ifdef CONFIG_STM32_I2C1 /** * FMU communications */ -extern void i2c_init(void); -#endif +extern void interface_init(void); +extern void interface_tick(void); /** * Register space */ -extern void registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values); +extern int registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values); extern int registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_values); /** @@ -191,10 +205,5 @@ extern bool sbus_input(uint16_t *values, uint16_t *num_values); /** global debug level for isr_debug() */ extern volatile uint8_t debug_level; -/* send a debug message to the console */ +/** send a debug message to the console */ extern void isr_debug(uint8_t level, const char *fmt, ...); - -#ifdef CONFIG_STM32_I2C1 -void i2c_dump(void); -void i2c_reset(void); -#endif diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index a922362b69..9c95fd1c52 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -44,6 +44,7 @@ #include #include +#include #include "px4io.h" #include "protocol.h" @@ -57,14 +58,18 @@ static void pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t alt * Static configuration parameters. */ static const uint16_t r_page_config[] = { - [PX4IO_P_CONFIG_PROTOCOL_VERSION] = 1, /* XXX hardcoded magic number */ - [PX4IO_P_CONFIG_SOFTWARE_VERSION] = 1, /* XXX hardcoded magic number */ + [PX4IO_P_CONFIG_PROTOCOL_VERSION] = PX4IO_PROTOCOL_VERSION, +#ifdef CONFIG_ARCH_BOARD_PX4IO_V2 + [PX4IO_P_CONFIG_HARDWARE_VERSION] = 2, +#else + [PX4IO_P_CONFIG_HARDWARE_VERSION] = 1, +#endif [PX4IO_P_CONFIG_BOOTLOADER_VERSION] = 3, /* XXX hardcoded magic number */ [PX4IO_P_CONFIG_MAX_TRANSFER] = 64, /* XXX hardcoded magic number */ [PX4IO_P_CONFIG_CONTROL_COUNT] = PX4IO_CONTROL_CHANNELS, - [PX4IO_P_CONFIG_ACTUATOR_COUNT] = IO_SERVO_COUNT, - [PX4IO_P_CONFIG_RC_INPUT_COUNT] = MAX_CONTROL_CHANNELS, - [PX4IO_P_CONFIG_ADC_INPUT_COUNT] = ADC_CHANNEL_COUNT, + [PX4IO_P_CONFIG_ACTUATOR_COUNT] = PX4IO_SERVO_COUNT, + [PX4IO_P_CONFIG_RC_INPUT_COUNT] = PX4IO_CONTROL_CHANNELS, + [PX4IO_P_CONFIG_ADC_INPUT_COUNT] = PX4IO_ADC_CHANNEL_COUNT, [PX4IO_P_CONFIG_RELAY_COUNT] = PX4IO_RELAY_CHANNELS, }; @@ -79,7 +84,10 @@ uint16_t r_page_status[] = { [PX4IO_P_STATUS_FLAGS] = 0, [PX4IO_P_STATUS_ALARMS] = 0, [PX4IO_P_STATUS_VBATT] = 0, - [PX4IO_P_STATUS_IBATT] = 0 + [PX4IO_P_STATUS_IBATT] = 0, + [PX4IO_P_STATUS_VSERVO] = 0, + [PX4IO_P_STATUS_VRSSI] = 0, + [PX4IO_P_STATUS_PRSSI] = 0 }; /** @@ -87,14 +95,14 @@ uint16_t r_page_status[] = { * * Post-mixed actuator values. */ -uint16_t r_page_actuators[IO_SERVO_COUNT]; +uint16_t r_page_actuators[PX4IO_SERVO_COUNT]; /** * PAGE 3 * * Servo PWM values */ -uint16_t r_page_servos[IO_SERVO_COUNT]; +uint16_t r_page_servos[PX4IO_SERVO_COUNT]; /** * PAGE 4 @@ -104,7 +112,7 @@ uint16_t r_page_servos[IO_SERVO_COUNT]; uint16_t r_page_raw_rc_input[] = { [PX4IO_P_RAW_RC_COUNT] = 0, - [PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + MAX_CONTROL_CHANNELS)] = 0 + [PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0 }; /** @@ -114,7 +122,7 @@ uint16_t r_page_raw_rc_input[] = */ uint16_t r_page_rc_input[] = { [PX4IO_P_RC_VALID] = 0, - [PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + MAX_CONTROL_CHANNELS)] = 0 + [PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0 }; /** @@ -138,7 +146,11 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_PWM_DEFAULTRATE] = 50, [PX4IO_P_SETUP_PWM_ALTRATE] = 200, [PX4IO_P_SETUP_RELAYS] = 0, +#ifdef ADC_VSERVO + [PX4IO_P_SETUP_VSERVO_SCALE] = 10000, +#else [PX4IO_P_SETUP_VBATT_SCALE] = 10000, +#endif [PX4IO_P_SETUP_SET_DEBUG] = 0, }; @@ -146,8 +158,11 @@ volatile uint16_t r_page_setup[] = #define PX4IO_P_SETUP_ARMING_VALID (PX4IO_P_SETUP_ARMING_FMU_ARMED | \ PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \ PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | \ - PX4IO_P_SETUP_ARMING_IO_ARM_OK) -#define PX4IO_P_SETUP_RATES_VALID ((1 << IO_SERVO_COUNT) - 1) + PX4IO_P_SETUP_ARMING_IO_ARM_OK | \ + PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM | \ + PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE | \ + PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) +#define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1) #define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1) /** @@ -166,7 +181,7 @@ volatile uint16_t r_page_controls[PX4IO_CONTROL_CHANNELS]; * * R/C channel input configuration. */ -uint16_t r_page_rc_input_config[MAX_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE]; +uint16_t r_page_rc_input_config[PX4IO_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE]; /* valid options */ #define PX4IO_P_RC_CONFIG_OPTIONS_VALID (PX4IO_P_RC_CONFIG_OPTIONS_REVERSE | PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) @@ -182,9 +197,33 @@ uint16_t r_page_rc_input_config[MAX_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE * * Disable pulses as default. */ -uint16_t r_page_servo_failsafe[IO_SERVO_COUNT] = { 0 }; +uint16_t r_page_servo_failsafe[PX4IO_SERVO_COUNT] = { 0 }; -void +/** + * PAGE 106 + * + * minimum PWM values when armed + * + */ +uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { 900, 900, 900, 900, 900, 900, 900, 900 }; + +/** + * PAGE 107 + * + * maximum PWM values when armed + * + */ +uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { 2100, 2100, 2100, 2100, 2100, 2100, 2100, 2100 }; + +/** + * PAGE 108 + * + * idle PWM values for difficult ESCs + * + */ +uint16_t r_page_servo_idle[PX4IO_SERVO_COUNT] = { 900, 900, 900, 900, 900, 900, 900, 900 }; + +int registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values) { @@ -233,7 +272,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num case PX4IO_PAGE_FAILSAFE_PWM: /* copy channel data */ - while ((offset < IO_SERVO_COUNT) && (num_values > 0)) { + while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) { /* XXX range-check value? */ r_page_servo_failsafe[offset] = *values; @@ -247,6 +286,75 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num } break; + case PX4IO_PAGE_CONTROL_MIN_PWM: + + /* copy channel data */ + while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) { + + if (*values == 0) + /* set to default */ + r_page_servo_control_min[offset] = 900; + + else if (*values > 1200) + r_page_servo_control_min[offset] = 1200; + else if (*values < 900) + r_page_servo_control_min[offset] = 900; + else + r_page_servo_control_min[offset] = *values; + + offset++; + num_values--; + values++; + } + break; + + case PX4IO_PAGE_CONTROL_MAX_PWM: + + /* copy channel data */ + while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) { + + if (*values == 0) + /* set to default */ + r_page_servo_control_max[offset] = 2100; + + else if (*values > 2100) + r_page_servo_control_max[offset] = 2100; + else if (*values < 1800) + r_page_servo_control_max[offset] = 1800; + else + r_page_servo_control_max[offset] = *values; + + offset++; + num_values--; + values++; + } + break; + + case PX4IO_PAGE_IDLE_PWM: + + /* copy channel data */ + while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) { + + if (*values == 0) + /* set to default */ + r_page_servo_idle[offset] = 0; + + else if (*values < 900) + r_page_servo_idle[offset] = 900; + else if (*values > 2100) + r_page_servo_idle[offset] = 2100; + else + r_page_servo_idle[offset] = *values; + + /* flag the failsafe values as custom */ + r_setup_arming |= PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE; + + offset++; + num_values--; + values++; + } + break; + /* handle text going to the mixer parser */ case PX4IO_PAGE_MIXERLOAD: mixer_handle_text(values, num_values * sizeof(*values)); @@ -260,11 +368,13 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num /* iterate individual registers, set each in turn */ while (num_values--) { if (registers_set_one(page, offset, *values)) - break; + return -1; offset++; values++; } + break; } + return 0; } static int @@ -317,8 +427,14 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) * so that an in-air reset of FMU can not lead to a * lockup of the IO arming state. */ - if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && !(value & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; + + // XXX do not reset IO's safety state by FMU for now + // if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && !(value & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { + // r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; + // } + + if (value & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) { + r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK; } r_setup_arming = value; @@ -349,10 +465,22 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_P_SETUP_RELAYS: value &= PX4IO_P_SETUP_RELAYS_VALID; r_setup_relays = value; - POWER_RELAY1(value & PX4IO_RELAY1 ? 1 : 0); - POWER_RELAY2(value & PX4IO_RELAY2 ? 1 : 0); - POWER_ACC1(value & PX4IO_ACC1 ? 1 : 0); - POWER_ACC2(value & PX4IO_ACC2 ? 1 : 0); +#ifdef POWER_RELAY1 + POWER_RELAY1((value & PX4IO_P_SETUP_RELAYS_POWER1) ? 1 : 0); +#endif +#ifdef POWER_RELAY2 + POWER_RELAY2((value & PX4IO_P_SETUP_RELAYS_POWER2) ? 1 : 0); +#endif +#ifdef POWER_ACC1 + POWER_ACC1((value & PX4IO_P_SETUP_RELAYS_ACC1) ? 1 : 0); +#endif +#ifdef POWER_ACC2 + POWER_ACC2((value & PX4IO_P_SETUP_RELAYS_ACC2) ? 1 : 0); +#endif + break; + + case PX4IO_P_SETUP_VBATT_SCALE: + r_page_setup[PX4IO_P_SETUP_VBATT_SCALE] = value; break; case PX4IO_P_SETUP_SET_DEBUG: @@ -371,9 +499,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_PAGE_RC_CONFIG: { - /* do not allow a RC config change while fully armed */ - if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && - /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { + /** + * do not allow a RC config change while outputs armed + */ + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || + (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) || + (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { break; } @@ -381,7 +512,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) unsigned index = offset - channel * PX4IO_P_RC_CONFIG_STRIDE; uint16_t *conf = &r_page_rc_input_config[channel * PX4IO_P_RC_CONFIG_STRIDE]; - if (channel >= MAX_CONTROL_CHANNELS) + if (channel >= PX4IO_CONTROL_CHANNELS) return -1; /* disable the channel until we have a chance to sanity-check it */ @@ -401,6 +532,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) value &= PX4IO_P_RC_CONFIG_OPTIONS_VALID; r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK; + /* clear any existing RC disabled flag */ + r_setup_arming &= ~(PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED); + /* set all options except the enabled option */ conf[index] = value & ~PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; @@ -426,7 +560,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) { count++; } - if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= MAX_CONTROL_CHANNELS) { + if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_CONTROL_CHANNELS) { count++; } @@ -446,6 +580,14 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) /* case PX4IO_RC_PAGE_CONFIG */ } + case PX4IO_PAGE_TEST: + switch (offset) { + case PX4IO_P_TEST_LED: + LED_AMBER(value & 1); + break; + } + break; + default: return -1; } @@ -482,6 +624,7 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val /* PX4IO_P_STATUS_ALARMS maintained externally */ +#ifdef ADC_VBATT /* PX4IO_P_STATUS_VBATT */ { /* @@ -515,7 +658,8 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val r_page_status[PX4IO_P_STATUS_VBATT] = corrected; } } - +#endif +#ifdef ADC_IBATT /* PX4IO_P_STATUS_IBATT */ { /* @@ -525,26 +669,62 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val FMU sort it out, with user selectable configuration for their sensor */ - unsigned counts = adc_measure(ADC_IN5); + unsigned counts = adc_measure(ADC_IBATT); if (counts != 0xffff) { r_page_status[PX4IO_P_STATUS_IBATT] = counts; } } +#endif +#ifdef ADC_VSERVO + /* PX4IO_P_STATUS_VSERVO */ + { + /* + * Coefficients here derived by measurement of the 5-16V + * range on one unit: + * + * XXX pending measurements + * + * slope = xxx + * intercept = xxx + * + * Intercept corrected for best results @ 5.0V. + */ + unsigned counts = adc_measure(ADC_VSERVO); + if (counts != 0xffff) { + unsigned mV = (4150 + (counts * 46)) / 10 - 200; + unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VSERVO_SCALE]) / 10000; + + r_page_status[PX4IO_P_STATUS_VSERVO] = corrected; + } + } +#endif + /* XXX PX4IO_P_STATUS_VRSSI */ + /* XXX PX4IO_P_STATUS_PRSSI */ SELECT_PAGE(r_page_status); break; case PX4IO_PAGE_RAW_ADC_INPUT: memset(r_page_scratch, 0, sizeof(r_page_scratch)); +#ifdef ADC_VBATT r_page_scratch[0] = adc_measure(ADC_VBATT); - r_page_scratch[1] = adc_measure(ADC_IN5); +#endif +#ifdef ADC_IBATT + r_page_scratch[1] = adc_measure(ADC_IBATT); +#endif +#ifdef ADC_VSERVO + r_page_scratch[0] = adc_measure(ADC_VSERVO); +#endif +#ifdef ADC_RSSI + r_page_scratch[1] = adc_measure(ADC_RSSI); +#endif SELECT_PAGE(r_page_scratch); break; case PX4IO_PAGE_PWM_INFO: memset(r_page_scratch, 0, sizeof(r_page_scratch)); - for (unsigned i = 0; i < IO_SERVO_COUNT; i++) + for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) r_page_scratch[PX4IO_RATE_MAP_BASE + i] = up_pwm_servo_get_rate_group(i); SELECT_PAGE(r_page_scratch); @@ -587,6 +767,15 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val case PX4IO_PAGE_FAILSAFE_PWM: SELECT_PAGE(r_page_servo_failsafe); break; + case PX4IO_PAGE_CONTROL_MIN_PWM: + SELECT_PAGE(r_page_servo_control_min); + break; + case PX4IO_PAGE_CONTROL_MAX_PWM: + SELECT_PAGE(r_page_servo_control_max); + break; + case PX4IO_PAGE_IDLE_PWM: + SELECT_PAGE(r_page_servo_idle); + break; default: return -1; @@ -616,7 +805,7 @@ static void pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t altrate) { for (unsigned pass = 0; pass < 2; pass++) { - for (unsigned group = 0; group < IO_SERVO_COUNT; group++) { + for (unsigned group = 0; group < PX4IO_SERVO_COUNT; group++) { /* get the channel mask for this rate group */ uint32_t mask = up_pwm_servo_get_rate_group(group); diff --git a/src/modules/px4iofirmware/safety.c b/src/modules/px4iofirmware/safety.c index 4dbecc2744..95335f038a 100644 --- a/src/modules/px4iofirmware/safety.c +++ b/src/modules/px4iofirmware/safety.c @@ -110,7 +110,7 @@ safety_check_button(void *arg) * state machine, keep ARM_COUNTER_THRESHOLD the same * length in all cases of the if/else struct below. */ - if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && + if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) && (r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)) { if (counter < ARM_COUNTER_THRESHOLD) { @@ -118,18 +118,18 @@ safety_check_button(void *arg) } else if (counter == ARM_COUNTER_THRESHOLD) { /* switch to armed state */ - r_status_flags |= PX4IO_P_STATUS_FLAGS_ARMED; + r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF; counter++; } - } else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { + } else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) { if (counter < ARM_COUNTER_THRESHOLD) { counter++; } else if (counter == ARM_COUNTER_THRESHOLD) { /* change to disarmed state and notify the FMU */ - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; + r_status_flags &= ~PX4IO_P_STATUS_FLAGS_SAFETY_OFF; counter++; } @@ -140,7 +140,7 @@ safety_check_button(void *arg) /* Select the appropriate LED flash pattern depending on the current IO/FMU arm state */ uint16_t pattern = LED_PATTERN_FMU_REFUSE_TO_ARM; - if (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) { + if (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) { if (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) { pattern = LED_PATTERN_IO_FMU_ARMED; diff --git a/src/modules/px4iofirmware/serial.c b/src/modules/px4iofirmware/serial.c new file mode 100644 index 0000000000..94d7407dff --- /dev/null +++ b/src/modules/px4iofirmware/serial.c @@ -0,0 +1,352 @@ +/**************************************************************************** + * + * Copyright (C) 2012,2013 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 serial.c + * + * Serial communication for the PX4IO module. + */ + +#include +#include +#include +#include +#include + +#include +#include + +/* XXX might be able to prune these */ +#include +#include +#include +#include +#include + +//#define DEBUG +#include "px4io.h" + +static perf_counter_t pc_txns; +static perf_counter_t pc_errors; +static perf_counter_t pc_ore; +static perf_counter_t pc_fe; +static perf_counter_t pc_ne; +static perf_counter_t pc_idle; +static perf_counter_t pc_badidle; +static perf_counter_t pc_regerr; +static perf_counter_t pc_crcerr; + +static void rx_handle_packet(void); +static void rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg); +static DMA_HANDLE tx_dma; +static DMA_HANDLE rx_dma; + +static int serial_interrupt(int irq, void *context); +static void dma_reset(void); + +/* if we spend this many ticks idle, reset the DMA */ +static unsigned idle_ticks; + +static struct IOPacket dma_packet; + +/* serial register accessors */ +#define REG(_x) (*(volatile uint32_t *)(PX4FMU_SERIAL_BASE + _x)) +#define rSR REG(STM32_USART_SR_OFFSET) +#define rDR REG(STM32_USART_DR_OFFSET) +#define rBRR REG(STM32_USART_BRR_OFFSET) +#define rCR1 REG(STM32_USART_CR1_OFFSET) +#define rCR2 REG(STM32_USART_CR2_OFFSET) +#define rCR3 REG(STM32_USART_CR3_OFFSET) +#define rGTPR REG(STM32_USART_GTPR_OFFSET) + +void +interface_init(void) +{ + pc_txns = perf_alloc(PC_ELAPSED, "txns"); + pc_errors = perf_alloc(PC_COUNT, "errors"); + pc_ore = perf_alloc(PC_COUNT, "overrun"); + pc_fe = perf_alloc(PC_COUNT, "framing"); + pc_ne = perf_alloc(PC_COUNT, "noise"); + pc_idle = perf_alloc(PC_COUNT, "idle"); + pc_badidle = perf_alloc(PC_COUNT, "badidle"); + pc_regerr = perf_alloc(PC_COUNT, "regerr"); + pc_crcerr = perf_alloc(PC_COUNT, "crcerr"); + + /* allocate DMA */ + tx_dma = stm32_dmachannel(PX4FMU_SERIAL_TX_DMA); + rx_dma = stm32_dmachannel(PX4FMU_SERIAL_RX_DMA); + + /* configure pins for serial use */ + stm32_configgpio(PX4FMU_SERIAL_TX_GPIO); + stm32_configgpio(PX4FMU_SERIAL_RX_GPIO); + + /* reset and configure the UART */ + rCR1 = 0; + rCR2 = 0; + rCR3 = 0; + + /* clear status/errors */ + (void)rSR; + (void)rDR; + + /* configure line speed */ + uint32_t usartdiv32 = PX4FMU_SERIAL_CLOCK / (PX4FMU_SERIAL_BITRATE / 2); + uint32_t mantissa = usartdiv32 >> 5; + uint32_t fraction = (usartdiv32 - (mantissa << 5) + 1) >> 1; + rBRR = (mantissa << USART_BRR_MANT_SHIFT) | (fraction << USART_BRR_FRAC_SHIFT); + + /* connect our interrupt */ + irq_attach(PX4FMU_SERIAL_VECTOR, serial_interrupt); + up_enable_irq(PX4FMU_SERIAL_VECTOR); + + /* enable UART and error/idle interrupts */ + rCR3 = USART_CR3_EIE; + rCR1 = USART_CR1_RE | USART_CR1_TE | USART_CR1_UE | USART_CR1_IDLEIE; + +#if 0 /* keep this for signal integrity testing */ + for (;;) { + while (!(rSR & USART_SR_TXE)) + ; + rDR = 0xfa; + while (!(rSR & USART_SR_TXE)) + ; + rDR = 0xa0; + } +#endif + + /* configure RX DMA and return to listening state */ + dma_reset(); + + debug("serial init"); +} + +void +interface_tick() +{ + /* XXX look for stuck/damaged DMA and reset? */ + if (idle_ticks++ > 100) { + dma_reset(); + idle_ticks = 0; + } +} + +static void +rx_handle_packet(void) +{ + /* check packet CRC */ + uint8_t crc = dma_packet.crc; + dma_packet.crc = 0; + if (crc != crc_packet(&dma_packet)) { + perf_count(pc_crcerr); + + /* send a CRC error reply */ + dma_packet.count_code = PKT_CODE_CORRUPT; + dma_packet.page = 0xff; + dma_packet.offset = 0xff; + + return; + } + + if (PKT_CODE(dma_packet) == PKT_CODE_WRITE) { + + /* it's a blind write - pass it on */ + if (registers_set(dma_packet.page, dma_packet.offset, &dma_packet.regs[0], PKT_COUNT(dma_packet))) { + perf_count(pc_regerr); + dma_packet.count_code = PKT_CODE_ERROR; + } else { + dma_packet.count_code = PKT_CODE_SUCCESS; + } + return; + } + + if (PKT_CODE(dma_packet) == PKT_CODE_READ) { + + /* it's a read - get register pointer for reply */ + unsigned count; + uint16_t *registers; + + if (registers_get(dma_packet.page, dma_packet.offset, ®isters, &count) < 0) { + perf_count(pc_regerr); + dma_packet.count_code = PKT_CODE_ERROR; + } else { + /* constrain reply to requested size */ + if (count > PKT_MAX_REGS) + count = PKT_MAX_REGS; + if (count > PKT_COUNT(dma_packet)) + count = PKT_COUNT(dma_packet); + + /* copy reply registers into DMA buffer */ + memcpy((void *)&dma_packet.regs[0], registers, count * 2); + dma_packet.count_code = count | PKT_CODE_SUCCESS; + } + return; + } + + /* send a bad-packet error reply */ + dma_packet.count_code = PKT_CODE_CORRUPT; + dma_packet.page = 0xff; + dma_packet.offset = 0xfe; +} + +static void +rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg) +{ + /* + * We are here because DMA completed, or UART reception stopped and + * we think we have a packet in the buffer. + */ + perf_begin(pc_txns); + + /* disable UART DMA */ + rCR3 &= ~(USART_CR3_DMAT | USART_CR3_DMAR); + + /* reset the idle counter */ + idle_ticks = 0; + + /* handle the received packet */ + rx_handle_packet(); + + /* re-set DMA for reception first, so we are ready to receive before we start sending */ + dma_reset(); + + /* send the reply to the just-processed request */ + dma_packet.crc = 0; + dma_packet.crc = crc_packet(&dma_packet); + stm32_dmasetup( + tx_dma, + (uint32_t)&rDR, + (uint32_t)&dma_packet, + PKT_SIZE(dma_packet), + DMA_CCR_DIR | + DMA_CCR_MINC | + DMA_CCR_PSIZE_8BITS | + DMA_CCR_MSIZE_8BITS); + stm32_dmastart(tx_dma, NULL, NULL, false); + rCR3 |= USART_CR3_DMAT; + + perf_end(pc_txns); +} + +static int +serial_interrupt(int irq, void *context) +{ + static bool abort_on_idle = false; + + uint32_t sr = rSR; /* get UART status register */ + (void)rDR; /* required to clear any of the interrupt status that brought us here */ + + if (sr & (USART_SR_ORE | /* overrun error - packet was too big for DMA or DMA was too slow */ + USART_SR_NE | /* noise error - we have lost a byte due to noise */ + USART_SR_FE)) { /* framing error - start/stop bit lost or line break */ + + perf_count(pc_errors); + if (sr & USART_SR_ORE) + perf_count(pc_ore); + if (sr & USART_SR_NE) + perf_count(pc_ne); + if (sr & USART_SR_FE) + perf_count(pc_fe); + + /* send a line break - this will abort transmission/reception on the other end */ + rCR1 |= USART_CR1_SBK; + + /* when the line goes idle, abort rather than look at the packet */ + abort_on_idle = true; + } + + if (sr & USART_SR_IDLE) { + + /* + * If we saw an error, don't bother looking at the packet - it should have + * been aborted by the sender and will definitely be bad. Get the DMA reconfigured + * ready for their retry. + */ + if (abort_on_idle) { + + abort_on_idle = false; + dma_reset(); + return 0; + } + + /* + * The sender has stopped sending - this is probably the end of a packet. + * Check the received length against the length in the header to see if + * we have something that looks like a packet. + */ + unsigned length = sizeof(dma_packet) - stm32_dmaresidual(rx_dma); + if ((length < 1) || (length < PKT_SIZE(dma_packet))) { + + /* it was too short - possibly truncated */ + perf_count(pc_badidle); + return 0; + } + + /* + * Looks like we received a packet. Stop the DMA and go process the + * packet. + */ + perf_count(pc_idle); + stm32_dmastop(rx_dma); + rx_dma_callback(rx_dma, DMA_STATUS_TCIF, NULL); + } + + return 0; +} + +static void +dma_reset(void) +{ + rCR3 &= ~(USART_CR3_DMAT | USART_CR3_DMAR); + (void)rSR; + (void)rDR; + (void)rDR; + + /* kill any pending DMA */ + stm32_dmastop(tx_dma); + stm32_dmastop(rx_dma); + + /* reset the RX side */ + stm32_dmasetup( + rx_dma, + (uint32_t)&rDR, + (uint32_t)&dma_packet, + sizeof(dma_packet), + DMA_CCR_MINC | + DMA_CCR_PSIZE_8BITS | + DMA_CCR_MSIZE_8BITS); + + /* start receive DMA ready for the next packet */ + stm32_dmastart(rx_dma, rx_dma_callback, NULL, false); + rCR3 |= USART_CR3_DMAR; +} + diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index ba7cdd91cf..e83fb7dd3a 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -75,6 +75,7 @@ #include #include #include +#include #include #include #include @@ -94,7 +95,6 @@ log_msgs_written++; \ } else { \ log_msgs_skipped++; \ - /*printf("skip\n");*/ \ } #define LOG_ORB_SUBSCRIBE(_var, _topic) subs.##_var##_sub = orb_subscribe(ORB_ID(##_topic##)); \ @@ -102,9 +102,6 @@ fds[fdsc_count].events = POLLIN; \ fdsc_count++; - -//#define SDLOG2_DEBUG - static bool main_thread_should_exit = false; /**< Deamon exit flag */ static bool thread_running = false; /**< Deamon status flag */ static int deamon_task; /**< Handle of deamon task / thread */ @@ -233,7 +230,7 @@ int sdlog2_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) { if (thread_running) { - printf("sdlog2 already running\n"); + warnx("already running"); /* this is not an error */ exit(0); } @@ -250,7 +247,7 @@ int sdlog2_main(int argc, char *argv[]) if (!strcmp(argv[1], "stop")) { if (!thread_running) { - printf("\tsdlog2 is not started\n"); + warnx("not started"); } main_thread_should_exit = true; @@ -262,7 +259,7 @@ int sdlog2_main(int argc, char *argv[]) sdlog2_status(); } else { - printf("\tsdlog2 not started\n"); + warnx("not started\n"); } exit(0); @@ -387,11 +384,6 @@ static void *logwriter_thread(void *arg) /* only get pointer to thread-safe data, do heavy I/O a few lines down */ int available = logbuffer_get_ptr(logbuf, &read_ptr, &is_part); -#ifdef SDLOG2_DEBUG - int rp = logbuf->read_ptr; - int wp = logbuf->write_ptr; -#endif - /* continue */ pthread_mutex_unlock(&logbuffer_mutex); @@ -407,9 +399,6 @@ static void *logwriter_thread(void *arg) n = write(log_file, read_ptr, n); should_wait = (n == available) && !is_part; -#ifdef SDLOG2_DEBUG - printf("write %i %i of %i rp=%i wp=%i, is_part=%i, should_wait=%i\n", log_bytes_written, n, available, rp, wp, (int)is_part, (int)should_wait); -#endif if (n < 0) { main_thread_should_exit = true; @@ -422,14 +411,8 @@ static void *logwriter_thread(void *arg) } else { n = 0; -#ifdef SDLOG2_DEBUG - printf("no data available, main_thread_should_exit=%i, logwriter_should_exit=%i\n", (int)main_thread_should_exit, (int)logwriter_should_exit); -#endif /* exit only with empty buffer */ if (main_thread_should_exit || logwriter_should_exit) { -#ifdef SDLOG2_DEBUG - printf("break logwriter thread\n"); -#endif break; } should_wait = true; @@ -444,10 +427,6 @@ static void *logwriter_thread(void *arg) fsync(log_file); close(log_file); -#ifdef SDLOG2_DEBUG - printf("logwriter thread exit\n"); -#endif - return OK; } @@ -604,15 +583,6 @@ int sdlog2_thread_main(int argc, char *argv[]) errx(1, "unable to create logging folder, exiting."); } - const char *converter_in = "/etc/logging/conv.zip"; - char* converter_out = malloc(150); - sprintf(converter_out, "%s/conv.zip", folder_path); - - if (file_copy(converter_in, converter_out)) { - errx(1, "unable to copy conversion scripts, exiting."); - } - free(converter_out); - /* only print logging path, important to find log file later */ warnx("logging to directory: %s", folder_path); @@ -623,14 +593,6 @@ int sdlog2_thread_main(int argc, char *argv[]) errx(1, "can't allocate log buffer, exiting."); } - /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ - /* number of messages */ - const ssize_t fdsc = 19; - /* Sanity check variable and index */ - ssize_t fdsc_count = 0; - /* file descriptors to wait for */ - struct pollfd fds[fdsc]; - struct vehicle_status_s buf_status; memset(&buf_status, 0, sizeof(buf_status)); @@ -655,6 +617,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct differential_pressure_s diff_pres; struct airspeed_s airspeed; struct esc_status_s esc; + struct vehicle_global_velocity_setpoint_s global_vel_sp; } buf; memset(&buf, 0, sizeof(buf)); @@ -678,6 +641,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int rc_sub; int airspeed_sub; int esc_sub; + int global_vel_sp_sub; } subs; /* log message buffer: header + body */ @@ -703,6 +667,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_GPOS_s log_GPOS; struct log_GPSP_s log_GPSP; struct log_ESC_s log_ESC; + struct log_GVSP_s log_GVSP; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -710,6 +675,14 @@ int sdlog2_thread_main(int argc, char *argv[]) #pragma pack(pop) memset(&log_msg.body, 0, sizeof(log_msg.body)); + /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ + /* number of messages */ + const ssize_t fdsc = 20; + /* Sanity check variable and index */ + ssize_t fdsc_count = 0; + /* file descriptors to wait for */ + struct pollfd fds[fdsc]; + /* --- VEHICLE COMMAND --- */ subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); fds[fdsc_count].fd = subs.cmd_sub; @@ -824,6 +797,12 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; + /* --- GLOBAL VELOCITY SETPOINT --- */ + subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint)); + fds[fdsc_count].fd = subs.global_vel_sp_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + /* WARNING: If you get the error message below, * then the number of registered messages (fdsc) * differs from the number of messages in the above list. @@ -911,15 +890,14 @@ int sdlog2_thread_main(int argc, char *argv[]) if (fds[ifds++].revents & POLLIN) { // Don't orb_copy, it's already done few lines above log_msg.msg_type = LOG_STAT_MSG; - log_msg.body.log_STAT.state = (unsigned char) buf_status.state_machine; - log_msg.body.log_STAT.flight_mode = (unsigned char) buf_status.flight_mode; - log_msg.body.log_STAT.manual_control_mode = (unsigned char) buf_status.manual_control_mode; - log_msg.body.log_STAT.manual_sas_mode = (unsigned char) buf_status.manual_sas_mode; - log_msg.body.log_STAT.armed = (unsigned char) buf_status.flag_system_armed; - log_msg.body.log_STAT.battery_voltage = buf_status.voltage_battery; - log_msg.body.log_STAT.battery_current = buf_status.current_battery; + log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state; + log_msg.body.log_STAT.navigation_state = (uint8_t) buf_status.navigation_state; + log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state; + log_msg.body.log_STAT.battery_voltage = buf_status.battery_voltage; + log_msg.body.log_STAT.battery_current = buf_status.battery_current; log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining; - log_msg.body.log_STAT.battery_warning = (unsigned char) buf_status.battery_warning; + log_msg.body.log_STAT.battery_warning = (uint8_t) buf_status.battery_warning; + log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed; LOGBUFFER_WRITE_AND_COUNT(STAT); } @@ -1065,10 +1043,9 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_LPOS.vx = buf.local_pos.vx; log_msg.body.log_LPOS.vy = buf.local_pos.vy; log_msg.body.log_LPOS.vz = buf.local_pos.vz; - log_msg.body.log_LPOS.hdg = buf.local_pos.hdg; - log_msg.body.log_LPOS.home_lat = buf.local_pos.home_lat; - log_msg.body.log_LPOS.home_lon = buf.local_pos.home_lon; - log_msg.body.log_LPOS.home_alt = buf.local_pos.home_alt; + log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat; + log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon; + log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt; LOGBUFFER_WRITE_AND_COUNT(LPOS); } @@ -1175,14 +1152,18 @@ int sdlog2_thread_main(int argc, char *argv[]) } } -#ifdef SDLOG2_DEBUG - printf("fill rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb)); -#endif + /* --- GLOBAL VELOCITY SETPOINT --- */ + if (fds[ifds++].revents & POLLIN) { + orb_copy(ORB_ID(vehicle_global_velocity_setpoint), subs.global_vel_sp_sub, &buf.global_vel_sp); + log_msg.msg_type = LOG_GVSP_MSG; + log_msg.body.log_GVSP.vx = buf.global_vel_sp.vx; + log_msg.body.log_GVSP.vy = buf.global_vel_sp.vy; + log_msg.body.log_GVSP.vz = buf.global_vel_sp.vz; + LOGBUFFER_WRITE_AND_COUNT(GVSP); + } + /* signal the other thread new data, but not yet unlock */ if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { -#ifdef SDLOG2_DEBUG - printf("signal rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb)); -#endif /* only request write if several packets can be written at once */ pthread_cond_signal(&logbuffer_cond); } @@ -1202,6 +1183,8 @@ int sdlog2_thread_main(int argc, char *argv[]) pthread_mutex_destroy(&logbuffer_mutex); pthread_cond_destroy(&logbuffer_cond); + free(lb.data); + warnx("exiting."); thread_running = false; @@ -1265,7 +1248,7 @@ int file_copy(const char *file_old, const char *file_new) fclose(source); fclose(target); - return OK; + return ret; } void handle_command(struct vehicle_command_s *cmd) @@ -1297,8 +1280,10 @@ void handle_command(struct vehicle_command_s *cmd) void handle_status(struct vehicle_status_s *status) { - if (status->flag_system_armed != flag_system_armed) { - flag_system_armed = status->flag_system_armed; + // TODO use flag from actuator_armed here? + bool armed = status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR; + if (armed != flag_system_armed) { + flag_system_armed = armed; if (flag_system_armed) { sdlog2_start_log(); diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 934e4dec89..4eeb65a87e 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -106,10 +106,9 @@ struct log_LPOS_s { float vx; float vy; float vz; - float hdg; - int32_t home_lat; - int32_t home_lon; - float home_alt; + int32_t ref_lat; + int32_t ref_lon; + float ref_alt; }; /* --- LPSP - LOCAL POSITION SETPOINT --- */ @@ -149,15 +148,14 @@ struct log_ATTC_s { /* --- STAT - VEHICLE STATE --- */ #define LOG_STAT_MSG 10 struct log_STAT_s { - uint8_t state; - uint8_t flight_mode; - uint8_t manual_control_mode; - uint8_t manual_sas_mode; - uint8_t armed; + uint8_t main_state; + uint8_t navigation_state; + uint8_t arming_state; float battery_voltage; float battery_current; float battery_remaining; uint8_t battery_warning; + uint8_t landed; }; /* --- RC - RC INPUT CHANNELS --- */ @@ -244,6 +242,14 @@ struct log_ESC_s { uint16_t esc_setpoint_raw; }; +/* --- GVSP - GLOBAL VELOCITY SETPOINT --- */ +#define LOG_GVSP_MSG 19 +struct log_GVSP_s { + float vx; + float vy; + float vz; +}; + #pragma pack(pop) /* construct list of all message formats */ @@ -254,11 +260,11 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"), - LOG_FORMAT(LPOS, "fffffffLLf", "X,Y,Z,VX,VY,VZ,Heading,HomeLat,HomeLon,HomeAlt"), + LOG_FORMAT(LPOS, "ffffffLLf", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt"), LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"), LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"), LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), - LOG_FORMAT(STAT, "BBBBBfffB", "State,FlightMode,CtlMode,SASMode,Armed,BatV,BatC,BatRem,BatWarn"), + LOG_FORMAT(STAT, "BBBfffBB", "MainState,NavState,ArmState,BatV,BatC,BatRem,BatWarn,Landed"), LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"), LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"), @@ -266,7 +272,8 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), LOG_FORMAT(GPOS, "LLffff", "Lat,Lon,Alt,VelN,VelE,VelD"), LOG_FORMAT(GPSP, "BLLfffbBffff", "AltRel,Lat,Lon,Alt,Yaw,LoiterR,LoiterDir,NavCmd,P1,P2,P3,P4"), - LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,No,Version,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), + LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), + LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"), }; static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s); diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index bd431c9ebd..992abf2ccf 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -68,7 +68,11 @@ PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f); -PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 1667); +PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f); +PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0); + +PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0); +PARAM_DEFINE_INT32(SENS_EXT_MAG_ROT, 0); PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f); PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f); @@ -154,34 +158,42 @@ PARAM_DEFINE_FLOAT(RC14_MAX, 2000); PARAM_DEFINE_FLOAT(RC14_REV, 1.0f); PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f); -PARAM_DEFINE_INT32(RC_TYPE, 1); /** 1 = FUTABA, 2 = Spektrum, 3 = Graupner HoTT, 4 = Turnigy 9x */ +PARAM_DEFINE_FLOAT(RC15_MIN, 1000); +PARAM_DEFINE_FLOAT(RC15_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC15_MAX, 2000); +PARAM_DEFINE_FLOAT(RC15_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f); + + PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */ PARAM_DEFINE_INT32(RC_DSM_BIND, 0); /* 0 = Idle, 1 = Start DSM2 bind, 2 = Start DSMX bind */ +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 +PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f); +#else /* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */ +/* PX4IOAR: 0.00838095238 */ +/* FMU standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659 */ PARAM_DEFINE_FLOAT(BAT_V_SCALING, (3.3f * 52.0f / 5.0f / 4095.0f)); +#endif PARAM_DEFINE_INT32(RC_MAP_ROLL, 1); PARAM_DEFINE_INT32(RC_MAP_PITCH, 2); PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3); PARAM_DEFINE_INT32(RC_MAP_YAW, 4); -PARAM_DEFINE_INT32(RC_MAP_OVER_SW, 5); -PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 6); +PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 5); +PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0); +PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 6); +PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0); -PARAM_DEFINE_INT32(RC_MAP_MAN_SW, 0); -PARAM_DEFINE_INT32(RC_MAP_SAS_SW, 0); -PARAM_DEFINE_INT32(RC_MAP_RTL_SW, 0); -PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0); +//PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0); PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0); PARAM_DEFINE_INT32(RC_MAP_AUX1, 0); /**< default function: camera yaw / azimuth */ PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera pitch / tilt */ -PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); /**< default function: camera trigger */ -PARAM_DEFINE_INT32(RC_MAP_AUX4, 0); /**< default function: camera roll */ -PARAM_DEFINE_INT32(RC_MAP_AUX5, 0); /**< default function: payload drop */ -PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.4f); -PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.4f); -PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 1.0f); +PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.6f); +PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f); +PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f); diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 42268b9715..e98c4d5489 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -50,6 +50,7 @@ #include #include #include +#include #include @@ -74,7 +75,7 @@ #include #include #include -#include +#include #include #include #include @@ -137,6 +138,77 @@ #define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg) +/** + * Enum for board and external compass rotations. + * This enum maps from board attitude to airframe attitude. + */ +enum Rotation { + ROTATION_NONE = 0, + ROTATION_YAW_45 = 1, + ROTATION_YAW_90 = 2, + ROTATION_YAW_135 = 3, + ROTATION_YAW_180 = 4, + ROTATION_YAW_225 = 5, + ROTATION_YAW_270 = 6, + ROTATION_YAW_315 = 7, + ROTATION_ROLL_180 = 8, + ROTATION_ROLL_180_YAW_45 = 9, + ROTATION_ROLL_180_YAW_90 = 10, + ROTATION_ROLL_180_YAW_135 = 11, + ROTATION_PITCH_180 = 12, + ROTATION_ROLL_180_YAW_225 = 13, + ROTATION_ROLL_180_YAW_270 = 14, + ROTATION_ROLL_180_YAW_315 = 15, + ROTATION_ROLL_90 = 16, + ROTATION_ROLL_90_YAW_45 = 17, + ROTATION_ROLL_90_YAW_90 = 18, + ROTATION_ROLL_90_YAW_135 = 19, + ROTATION_ROLL_270 = 20, + ROTATION_ROLL_270_YAW_45 = 21, + ROTATION_ROLL_270_YAW_90 = 22, + ROTATION_ROLL_270_YAW_135 = 23, + ROTATION_PITCH_90 = 24, + ROTATION_PITCH_270 = 25, + ROTATION_MAX +}; + +typedef struct +{ + uint16_t roll; + uint16_t pitch; + uint16_t yaw; +} rot_lookup_t; + +const rot_lookup_t rot_lookup[] = +{ + { 0, 0, 0 }, + { 0, 0, 45 }, + { 0, 0, 90 }, + { 0, 0, 135 }, + { 0, 0, 180 }, + { 0, 0, 225 }, + { 0, 0, 270 }, + { 0, 0, 315 }, + {180, 0, 0 }, + {180, 0, 45 }, + {180, 0, 90 }, + {180, 0, 135 }, + { 0, 180, 0 }, + {180, 0, 225 }, + {180, 0, 270 }, + {180, 0, 315 }, + { 90, 0, 0 }, + { 90, 0, 45 }, + { 90, 0, 90 }, + { 90, 0, 135 }, + {270, 0, 0 }, + {270, 0, 45 }, + {270, 0, 90 }, + {270, 0, 135 }, + { 0, 90, 0 }, + { 0, 270, 0 } +}; + /** * Sensor app start / stop handling function * @@ -189,9 +261,9 @@ private: int _mag_sub; /**< raw mag data subscription */ int _rc_sub; /**< raw rc channels data subscription */ int _baro_sub; /**< raw baro data subscription */ - int _airspeed_sub; /**< airspeed subscription */ - int _diff_pres_sub; /**< raw differential pressure subscription */ - int _vstatus_sub; /**< vehicle status subscription */ + int _airspeed_sub; /**< airspeed subscription */ + int _diff_pres_sub; /**< raw differential pressure subscription */ + int _vcontrol_mode_sub; /**< vehicle control mode subscription */ int _params_sub; /**< notification of parameter updates */ int _manual_control_sub; /**< notification of manual control updates */ @@ -210,13 +282,16 @@ private: struct differential_pressure_s _diff_pres; struct airspeed_s _airspeed; + math::Matrix _board_rotation; /**< rotation matrix for the orientation that the board is mounted */ + math::Matrix _external_mag_rotation; /**< rotation matrix for the orientation that an external mag is mounted */ + bool _mag_is_external; /**< true if the active mag is on an external board */ + struct { float min[_rc_max_chan_count]; float trim[_rc_max_chan_count]; float max[_rc_max_chan_count]; float rev[_rc_max_chan_count]; float dz[_rc_max_chan_count]; - // float ex[_rc_max_chan_count]; float scaling_factor[_rc_max_chan_count]; float gyro_offset[3]; @@ -226,21 +301,22 @@ private: float accel_offset[3]; float accel_scale[3]; float diff_pres_offset_pa; + float diff_pres_analog_enabled; - int rc_type; + int board_rotation; + int external_mag_rotation; int rc_map_roll; int rc_map_pitch; int rc_map_yaw; int rc_map_throttle; - int rc_map_manual_override_sw; - int rc_map_auto_mode_sw; + int rc_map_mode_sw; + int rc_map_return_sw; + int rc_map_assisted_sw; + int rc_map_mission_sw; - int rc_map_manual_mode_sw; - int rc_map_sas_mode_sw; - int rc_map_rtl_sw; - int rc_map_offboard_ctrl_mode_sw; +// int rc_map_offboard_ctrl_mode_sw; int rc_map_flaps; @@ -265,10 +341,6 @@ private: param_t max[_rc_max_chan_count]; param_t rev[_rc_max_chan_count]; param_t dz[_rc_max_chan_count]; - // param_t ex[_rc_max_chan_count]; - param_t rc_type; - - param_t rc_demix; param_t gyro_offset[3]; param_t gyro_scale[3]; @@ -277,19 +349,19 @@ private: param_t mag_offset[3]; param_t mag_scale[3]; param_t diff_pres_offset_pa; + param_t diff_pres_analog_enabled; param_t rc_map_roll; param_t rc_map_pitch; param_t rc_map_yaw; param_t rc_map_throttle; - param_t rc_map_manual_override_sw; - param_t rc_map_auto_mode_sw; + param_t rc_map_mode_sw; + param_t rc_map_return_sw; + param_t rc_map_assisted_sw; + param_t rc_map_mission_sw; - param_t rc_map_manual_mode_sw; - param_t rc_map_sas_mode_sw; - param_t rc_map_rtl_sw; - param_t rc_map_offboard_ctrl_mode_sw; +// param_t rc_map_offboard_ctrl_mode_sw; param_t rc_map_flaps; @@ -306,6 +378,9 @@ private: param_t battery_voltage_scaling; + param_t board_rotation; + param_t external_mag_rotation; + } _parameter_handles; /**< handles for interesting parameters */ @@ -314,6 +389,11 @@ private: */ int parameters_update(); + /** + * Get the rotation matrices + */ + void get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix); + /** * Do accel-related initialisation. */ @@ -380,9 +460,9 @@ private: void diff_pres_poll(struct sensor_combined_s &raw); /** - * Check for changes in vehicle status. + * Check for changes in vehicle control mode. */ - void vehicle_status_poll(); + void vehicle_control_mode_poll(); /** * Check for changes in parameters. @@ -437,7 +517,7 @@ Sensors::Sensors() : _mag_sub(-1), _rc_sub(-1), _baro_sub(-1), - _vstatus_sub(-1), + _vcontrol_mode_sub(-1), _params_sub(-1), _manual_control_sub(-1), @@ -450,7 +530,11 @@ Sensors::Sensors() : _diff_pres_pub(-1), /* performance counters */ - _loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")) + _loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")), + + _board_rotation(3,3), + _external_mag_rotation(3,3), + _mag_is_external(false) { /* basic r/c parameters */ @@ -479,8 +563,6 @@ Sensors::Sensors() : } - _parameter_handles.rc_type = param_find("RC_TYPE"); - /* mandatory input switched, mapped to channels 1-4 per default */ _parameter_handles.rc_map_roll = param_find("RC_MAP_ROLL"); _parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH"); @@ -488,16 +570,16 @@ Sensors::Sensors() : _parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE"); /* mandatory mode switches, mapped to channel 5 and 6 per default */ - _parameter_handles.rc_map_manual_override_sw = param_find("RC_MAP_OVER_SW"); - _parameter_handles.rc_map_auto_mode_sw = param_find("RC_MAP_MODE_SW"); + _parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW"); + _parameter_handles.rc_map_return_sw = param_find("RC_MAP_RETURN_SW"); _parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS"); /* optional mode switches, not mapped per default */ - _parameter_handles.rc_map_manual_mode_sw = param_find("RC_MAP_MAN_SW"); - _parameter_handles.rc_map_sas_mode_sw = param_find("RC_MAP_SAS_SW"); - _parameter_handles.rc_map_rtl_sw = param_find("RC_MAP_RTL_SW"); - _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW"); + _parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW"); + _parameter_handles.rc_map_mission_sw = param_find("RC_MAP_MISSIO_SW"); + +// _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW"); _parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1"); _parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2"); @@ -537,9 +619,14 @@ Sensors::Sensors() : /* Differential pressure offset */ _parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF"); + _parameter_handles.diff_pres_analog_enabled = param_find("SENS_DPRES_ANA"); _parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING"); + /* rotations */ + _parameter_handles.board_rotation = param_find("SENS_BOARD_ROT"); + _parameter_handles.external_mag_rotation = param_find("SENS_EXT_MAG_ROT"); + /* fetch initial parameter values */ parameters_update(); } @@ -573,7 +660,9 @@ int Sensors::parameters_update() { bool rc_valid = true; - + float tmpScaleFactor = 0.0f; + float tmpRevFactor = 0.0f; + /* rc values */ for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) { @@ -583,29 +672,27 @@ Sensors::parameters_update() param_get(_parameter_handles.rev[i], &(_parameters.rev[i])); param_get(_parameter_handles.dz[i], &(_parameters.dz[i])); - _parameters.scaling_factor[i] = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]); - + tmpScaleFactor = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]); + tmpRevFactor = tmpScaleFactor * _parameters.rev[i]; + /* handle blowup in the scaling factor calculation */ - if (!isfinite(_parameters.scaling_factor[i]) || - _parameters.scaling_factor[i] * _parameters.rev[i] < 0.000001f || - _parameters.scaling_factor[i] * _parameters.rev[i] > 0.2f) { - + if (!isfinite(tmpScaleFactor) || + (tmpRevFactor < 0.000001f) || + (tmpRevFactor > 0.2f) ) { + warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, tmpScaleFactor, (int)(_parameters.rev[i])); /* scaling factors do not make sense, lock them down */ - _parameters.scaling_factor[i] = 0; + _parameters.scaling_factor[i] = 0.0f; rc_valid = false; } - + else { + _parameters.scaling_factor[i] = tmpScaleFactor; + } } /* handle wrong values */ if (!rc_valid) warnx("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n"); - /* remote control type */ - if (param_get(_parameter_handles.rc_type, &(_parameters.rc_type)) != OK) { - warnx("Failed getting remote control type"); - } - /* channel mapping */ if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) { warnx("Failed getting roll chan index"); @@ -623,54 +710,35 @@ Sensors::parameters_update() warnx("Failed getting throttle chan index"); } - if (param_get(_parameter_handles.rc_map_manual_override_sw, &(_parameters.rc_map_manual_override_sw)) != OK) { - warnx("Failed getting override sw chan index"); + if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) { + warnx("Failed getting mode sw chan index"); } - if (param_get(_parameter_handles.rc_map_auto_mode_sw, &(_parameters.rc_map_auto_mode_sw)) != OK) { - warnx("Failed getting auto mode sw chan index"); + if (param_get(_parameter_handles.rc_map_return_sw, &(_parameters.rc_map_return_sw)) != OK) { + warnx("Failed getting return sw chan index"); + } + + if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) { + warnx("Failed getting assisted sw chan index"); + } + + if (param_get(_parameter_handles.rc_map_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) { + warnx("Failed getting mission sw chan index"); } if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) { warnx("Failed getting flaps chan index"); } - if (param_get(_parameter_handles.rc_map_manual_mode_sw, &(_parameters.rc_map_manual_mode_sw)) != OK) { - warnx("Failed getting manual mode sw chan index"); - } - - if (param_get(_parameter_handles.rc_map_rtl_sw, &(_parameters.rc_map_rtl_sw)) != OK) { - warnx("Failed getting rtl sw chan index"); - } - - if (param_get(_parameter_handles.rc_map_sas_mode_sw, &(_parameters.rc_map_sas_mode_sw)) != OK) { - warnx("Failed getting sas mode sw chan index"); - } - - if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) { - warnx("Failed getting offboard control mode sw chan index"); - } - - if (param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1)) != OK) { - warnx("Failed getting mode aux 1 index"); - } - - if (param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2)) != OK) { - warnx("Failed getting mode aux 2 index"); - } - - if (param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3)) != OK) { - warnx("Failed getting mode aux 3 index"); - } - - if (param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4)) != OK) { - warnx("Failed getting mode aux 4 index"); - } - - if (param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5)) != OK) { - warnx("Failed getting mode aux 5 index"); - } +// if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) { +// warnx("Failed getting offboard control mode sw chan index"); +// } + param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1)); + param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2)); + param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3)); + param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4)); + param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5)); param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll)); param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)); param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)); @@ -682,15 +750,14 @@ Sensors::parameters_update() _rc.function[PITCH] = _parameters.rc_map_pitch - 1; _rc.function[YAW] = _parameters.rc_map_yaw - 1; - _rc.function[OVERRIDE] = _parameters.rc_map_manual_override_sw - 1; - _rc.function[AUTO_MODE] = _parameters.rc_map_auto_mode_sw - 1; + _rc.function[MODE] = _parameters.rc_map_mode_sw - 1; + _rc.function[RETURN] = _parameters.rc_map_return_sw - 1; + _rc.function[ASSISTED] = _parameters.rc_map_assisted_sw - 1; + _rc.function[MISSION] = _parameters.rc_map_mission_sw - 1; _rc.function[FLAPS] = _parameters.rc_map_flaps - 1; - _rc.function[MANUAL_MODE] = _parameters.rc_map_manual_mode_sw - 1; - _rc.function[RTL] = _parameters.rc_map_rtl_sw - 1; - _rc.function[SAS_MODE] = _parameters.rc_map_sas_mode_sw - 1; - _rc.function[OFFBOARD_MODE] = _parameters.rc_map_offboard_ctrl_mode_sw - 1; +// _rc.function[OFFBOARD_MODE] = _parameters.rc_map_offboard_ctrl_mode_sw - 1; _rc.function[AUX_1] = _parameters.rc_map_aux1 - 1; _rc.function[AUX_2] = _parameters.rc_map_aux2 - 1; @@ -725,15 +792,40 @@ Sensors::parameters_update() /* Airspeed offset */ param_get(_parameter_handles.diff_pres_offset_pa, &(_parameters.diff_pres_offset_pa)); + param_get(_parameter_handles.diff_pres_analog_enabled, &(_parameters.diff_pres_analog_enabled)); /* scaling of ADC ticks to battery voltage */ if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) { warnx("Failed updating voltage scaling param"); } + param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation)); + param_get(_parameter_handles.external_mag_rotation, &(_parameters.external_mag_rotation)); + + get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation); + get_rot_matrix((enum Rotation)_parameters.external_mag_rotation, &_external_mag_rotation); + return OK; } +void +Sensors::get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix) +{ + /* first set to zero */ + rot_matrix->Matrix::zero(3,3); + + float roll = M_DEG_TO_RAD_F * (float)rot_lookup[rot].roll; + float pitch = M_DEG_TO_RAD_F * (float)rot_lookup[rot].pitch; + float yaw = M_DEG_TO_RAD_F * (float)rot_lookup[rot].yaw; + + math::EulerAngles euler(roll, pitch, yaw); + + math::Dcm R(euler); + + for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++) + (*rot_matrix)(i,j) = R(i, j); +} + void Sensors::accel_init() { @@ -757,7 +849,7 @@ Sensors::accel_init() /* set the driver to poll at 1000Hz */ ioctl(fd, SENSORIOCSPOLLRATE, 1000); - #else + #elif CONFIG_ARCH_BOARD_PX4FMU_V2 /* set the accel internal sampling rate up to at leat 800Hz */ ioctl(fd, ACCELIOCSSAMPLERATE, 800); @@ -765,6 +857,9 @@ Sensors::accel_init() /* set the driver to poll at 800Hz */ ioctl(fd, SENSORIOCSPOLLRATE, 800); + #else + #error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2 + #endif warnx("using system accel"); @@ -799,11 +894,11 @@ Sensors::gyro_init() #else - /* set the gyro internal sampling rate up to at leat 800Hz */ - ioctl(fd, GYROIOCSSAMPLERATE, 800); + /* set the gyro internal sampling rate up to at least 760Hz */ + ioctl(fd, GYROIOCSSAMPLERATE, 760); - /* set the driver to poll at 800Hz */ - ioctl(fd, SENSORIOCSPOLLRATE, 800); + /* set the driver to poll at 760Hz */ + ioctl(fd, SENSORIOCSPOLLRATE, 760); #endif @@ -816,6 +911,7 @@ void Sensors::mag_init() { int fd; + int ret; fd = open(MAG_DEVICE_PATH, 0); @@ -824,11 +920,33 @@ Sensors::mag_init() errx(1, "FATAL: no magnetometer found"); } - /* set the mag internal poll rate to at least 150Hz */ - ioctl(fd, MAGIOCSSAMPLERATE, 150); + /* try different mag sampling rates */ - /* set the driver to poll at 150Hz */ - ioctl(fd, SENSORIOCSPOLLRATE, 150); + + ret = ioctl(fd, MAGIOCSSAMPLERATE, 150); + if (ret == OK) { + /* set the pollrate accordingly */ + ioctl(fd, SENSORIOCSPOLLRATE, 150); + } else { + ret = ioctl(fd, MAGIOCSSAMPLERATE, 100); + /* if the slower sampling rate still fails, something is wrong */ + if (ret == OK) { + /* set the driver to poll also at the slower rate */ + ioctl(fd, SENSORIOCSPOLLRATE, 100); + } else { + errx(1, "FATAL: mag sampling rate could not be set"); + } + } + + + + ret = ioctl(fd, MAGIOCGEXTERNAL, 0); + if (ret < 0) + errx(1, "FATAL: unknown if magnetometer is external or onboard"); + else if (ret == 1) + _mag_is_external = true; + else + _mag_is_external = false; close(fd); } @@ -842,7 +960,7 @@ Sensors::baro_init() if (fd < 0) { warn("%s", BARO_DEVICE_PATH); - warnx("No barometer found, ignoring"); + errx(1, "FATAL: No barometer found"); } /* set the driver to poll at 150Hz */ @@ -874,9 +992,12 @@ Sensors::accel_poll(struct sensor_combined_s &raw) orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report); - raw.accelerometer_m_s2[0] = accel_report.x; - raw.accelerometer_m_s2[1] = accel_report.y; - raw.accelerometer_m_s2[2] = accel_report.z; + math::Vector3 vect = {accel_report.x, accel_report.y, accel_report.z}; + vect = _board_rotation*vect; + + raw.accelerometer_m_s2[0] = vect(0); + raw.accelerometer_m_s2[1] = vect(1); + raw.accelerometer_m_s2[2] = vect(2); raw.accelerometer_raw[0] = accel_report.x_raw; raw.accelerometer_raw[1] = accel_report.y_raw; @@ -897,9 +1018,12 @@ Sensors::gyro_poll(struct sensor_combined_s &raw) orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report); - raw.gyro_rad_s[0] = gyro_report.x; - raw.gyro_rad_s[1] = gyro_report.y; - raw.gyro_rad_s[2] = gyro_report.z; + math::Vector3 vect = {gyro_report.x, gyro_report.y, gyro_report.z}; + vect = _board_rotation*vect; + + raw.gyro_rad_s[0] = vect(0); + raw.gyro_rad_s[1] = vect(1); + raw.gyro_rad_s[2] = vect(2); raw.gyro_raw[0] = gyro_report.x_raw; raw.gyro_raw[1] = gyro_report.y_raw; @@ -920,9 +1044,16 @@ Sensors::mag_poll(struct sensor_combined_s &raw) orb_copy(ORB_ID(sensor_mag), _mag_sub, &mag_report); - raw.magnetometer_ga[0] = mag_report.x; - raw.magnetometer_ga[1] = mag_report.y; - raw.magnetometer_ga[2] = mag_report.z; + math::Vector3 vect = {mag_report.x, mag_report.y, mag_report.z}; + + if (_mag_is_external) + vect = _external_mag_rotation*vect; + else + vect = _board_rotation*vect; + + raw.magnetometer_ga[0] = vect(0); + raw.magnetometer_ga[1] = vect(1); + raw.magnetometer_ga[2] = vect(2); raw.magnetometer_raw[0] = mag_report.x_raw; raw.magnetometer_raw[1] = mag_report.y_raw; @@ -977,21 +1108,21 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw) } void -Sensors::vehicle_status_poll() +Sensors::vehicle_control_mode_poll() { - struct vehicle_status_s vstatus; - bool vstatus_updated; + struct vehicle_control_mode_s vcontrol_mode; + bool vcontrol_mode_updated; - /* Check HIL state if vehicle status has changed */ - orb_check(_vstatus_sub, &vstatus_updated); + /* Check HIL state if vehicle control mode has changed */ + orb_check(_vcontrol_mode_sub, &vcontrol_mode_updated); - if (vstatus_updated) { + if (vcontrol_mode_updated) { - orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &vstatus); + orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &vcontrol_mode); /* switching from non-HIL to HIL mode */ //printf("[sensors] Vehicle mode: %i \t AND: %i, HIL: %i\n", vstatus.mode, vstatus.mode & VEHICLE_MODE_FLAG_HIL_ENABLED, hil_enabled); - if (vstatus.flag_hil_enabled && !_hil_enabled) { + if (vcontrol_mode.flag_system_hil_enabled && !_hil_enabled) { _hil_enabled = true; _publishing = false; @@ -1144,9 +1275,10 @@ Sensors::adc_poll(struct sensor_combined_s &raw) /** * The voltage divider pulls the signal down, only act on - * a valid voltage from a connected sensor + * a valid voltage from a connected sensor. Also assume a non- + * zero offset from the sensor if its connected. */ - if (voltage > 0.4f) { + if (voltage > 0.4f && _parameters.diff_pres_analog_enabled) { float diff_pres_pa = voltage * 1000.0f - _parameters.diff_pres_offset_pa; //for MPXV7002DP sensor @@ -1194,10 +1326,11 @@ Sensors::ppm_poll() manual_control.yaw = NAN; manual_control.throttle = NAN; - manual_control.manual_mode_switch = NAN; - manual_control.manual_sas_switch = NAN; - manual_control.return_to_launch_switch = NAN; - manual_control.auto_offboard_input_switch = NAN; + manual_control.mode_switch = NAN; + manual_control.return_switch = NAN; + manual_control.assisted_switch = NAN; + manual_control.mission_switch = NAN; +// manual_control.auto_offboard_input_switch = NAN; manual_control.flaps = NAN; manual_control.aux1 = NAN; @@ -1297,11 +1430,17 @@ Sensors::ppm_poll() manual_control.yaw *= _parameters.rc_scale_yaw; } - /* override switch input */ - manual_control.manual_override_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OVERRIDE]].scaled); - /* mode switch input */ - manual_control.auto_mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[AUTO_MODE]].scaled); + manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled); + + /* land switch input */ + manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled); + + /* assisted switch input */ + manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled); + + /* mission switch input */ + manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled); /* flaps */ if (_rc.function[FLAPS] >= 0) { @@ -1313,21 +1452,17 @@ Sensors::ppm_poll() } } - if (_rc.function[MANUAL_MODE] >= 0) { - manual_control.manual_mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MANUAL_MODE]].scaled); + if (_rc.function[MODE] >= 0) { + manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled); } - if (_rc.function[SAS_MODE] >= 0) { - manual_control.manual_sas_switch = limit_minus_one_to_one(_rc.chan[_rc.function[SAS_MODE]].scaled); + if (_rc.function[MISSION] >= 0) { + manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled); } - if (_rc.function[RTL] >= 0) { - manual_control.return_to_launch_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RTL]].scaled); - } - - if (_rc.function[OFFBOARD_MODE] >= 0) { - manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled); - } +// if (_rc.function[OFFBOARD_MODE] >= 0) { +// manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled); +// } /* aux functions, only assign if valid mapping is present */ if (_rc.function[AUX_1] >= 0) { @@ -1400,12 +1535,12 @@ Sensors::task_main() _rc_sub = orb_subscribe(ORB_ID(input_rc)); _baro_sub = orb_subscribe(ORB_ID(sensor_baro)); _diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); - _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); + _vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); _manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); /* rate limit vehicle status updates to 5Hz */ - orb_set_interval(_vstatus_sub, 200); + orb_set_interval(_vcontrol_mode_sub, 200); /* rate limit gyro to 250 Hz (the gyro signal is lowpassed accordingly earlier) */ orb_set_interval(_gyro_sub, 4); @@ -1461,7 +1596,7 @@ Sensors::task_main() perf_begin(_loop_perf); /* check vehicle status for changes to publication state */ - vehicle_status_poll(); + vehicle_control_mode_poll(); /* check parameters for updates */ parameter_update_poll(); diff --git a/src/modules/systemlib/airspeed.c b/src/modules/systemlib/airspeed.c index e01cc4ddaa..310fbf60ff 100644 --- a/src/modules/systemlib/airspeed.c +++ b/src/modules/systemlib/airspeed.c @@ -42,7 +42,7 @@ #include #include -#include "conversions.h" +#include #include "airspeed.h" @@ -95,17 +95,21 @@ float calc_true_airspeed_from_indicated(float speed_indicated, float pressure_am float calc_true_airspeed(float total_pressure, float static_pressure, float temperature_celsius) { float density = get_air_density(static_pressure, temperature_celsius); + if (density < 0.0001f || !isfinite(density)) { - density = CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C; -// printf("[airspeed] Invalid air density, using density at sea level\n"); + density = CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C; } float pressure_difference = total_pressure - static_pressure; - if(pressure_difference > 0) { + if (pressure_difference > 0) { return sqrtf((2.0f*(pressure_difference)) / density); - } else - { + } else { return -sqrtf((2.0f*fabsf(pressure_difference)) / density); } } + +float get_air_density(float static_pressure, float temperature_celsius) +{ + return static_pressure / (CONSTANTS_AIR_GAS_CONST * (temperature_celsius - CONSTANTS_ABSOLUTE_NULL_CELSIUS)); +} diff --git a/src/modules/systemlib/airspeed.h b/src/modules/systemlib/airspeed.h index def53f0c1b..8dccaab9c5 100644 --- a/src/modules/systemlib/airspeed.h +++ b/src/modules/systemlib/airspeed.h @@ -85,6 +85,14 @@ */ __EXPORT float calc_true_airspeed(float total_pressure, float static_pressure, float temperature_celsius); + /** + * Calculates air density. + * + * @param static_pressure ambient pressure in millibar + * @param temperature_celcius air / ambient temperature in celcius + */ +__EXPORT float get_air_density(float static_pressure, float temperature_celsius); + __END_DECLS #endif diff --git a/src/modules/systemlib/conversions.c b/src/modules/systemlib/conversions.c index ac94252c57..9105d83cbe 100644 --- a/src/modules/systemlib/conversions.c +++ b/src/modules/systemlib/conversions.c @@ -55,100 +55,3 @@ int16_t_from_bytes(uint8_t bytes[]) return u.w; } - -void rot2quat(const float R[9], float Q[4]) -{ - float q0_2; - float q1_2; - float q2_2; - float q3_2; - int32_t idx; - - /* conversion of rotation matrix to quaternion - * choose the largest component to begin with */ - q0_2 = (((1.0F + R[0]) + R[4]) + R[8]) / 4.0F; - q1_2 = (((1.0F + R[0]) - R[4]) - R[8]) / 4.0F; - q2_2 = (((1.0F - R[0]) + R[4]) - R[8]) / 4.0F; - q3_2 = (((1.0F - R[0]) - R[4]) + R[8]) / 4.0F; - - idx = 0; - - if (q0_2 < q1_2) { - q0_2 = q1_2; - - idx = 1; - } - - if (q0_2 < q2_2) { - q0_2 = q2_2; - idx = 2; - } - - if (q0_2 < q3_2) { - q0_2 = q3_2; - idx = 3; - } - - q0_2 = sqrtf(q0_2); - - /* solve for the remaining three components */ - if (idx == 0) { - q1_2 = q0_2; - q2_2 = (R[5] - R[7]) / 4.0F / q0_2; - q3_2 = (R[6] - R[2]) / 4.0F / q0_2; - q0_2 = (R[1] - R[3]) / 4.0F / q0_2; - - } else if (idx == 1) { - q2_2 = q0_2; - q1_2 = (R[5] - R[7]) / 4.0F / q0_2; - q3_2 = (R[3] + R[1]) / 4.0F / q0_2; - q0_2 = (R[6] + R[2]) / 4.0F / q0_2; - - } else if (idx == 2) { - q3_2 = q0_2; - q1_2 = (R[6] - R[2]) / 4.0F / q0_2; - q2_2 = (R[3] + R[1]) / 4.0F / q0_2; - q0_2 = (R[7] + R[5]) / 4.0F / q0_2; - - } else { - q1_2 = (R[1] - R[3]) / 4.0F / q0_2; - q2_2 = (R[6] + R[2]) / 4.0F / q0_2; - q3_2 = (R[7] + R[5]) / 4.0F / q0_2; - } - - /* return values */ - Q[0] = q1_2; - Q[1] = q2_2; - Q[2] = q3_2; - Q[3] = q0_2; -} - -void quat2rot(const float Q[4], float R[9]) -{ - float q0_2; - float q1_2; - float q2_2; - float q3_2; - - memset(&R[0], 0, 9U * sizeof(float)); - - q0_2 = Q[0] * Q[0]; - q1_2 = Q[1] * Q[1]; - q2_2 = Q[2] * Q[2]; - q3_2 = Q[3] * Q[3]; - - R[0] = ((q0_2 + q1_2) - q2_2) - q3_2; - R[3] = 2.0F * (Q[1] * Q[2] - Q[0] * Q[3]); - R[6] = 2.0F * (Q[1] * Q[3] + Q[0] * Q[2]); - R[1] = 2.0F * (Q[1] * Q[2] + Q[0] * Q[3]); - R[4] = ((q0_2 + q2_2) - q1_2) - q3_2; - R[7] = 2.0F * (Q[2] * Q[3] - Q[0] * Q[1]); - R[2] = 2.0F * (Q[1] * Q[3] - Q[0] * Q[2]); - R[5] = 2.0F * (Q[2] * Q[3] + Q[0] * Q[1]); - R[8] = ((q0_2 + q3_2) - q1_2) - q2_2; -} - -float get_air_density(float static_pressure, float temperature_celsius) -{ - return static_pressure / (CONSTANTS_AIR_GAS_CONST * (temperature_celsius - CONSTANTS_ABSOLUTE_NULL_CELSIUS)); -} diff --git a/src/modules/systemlib/conversions.h b/src/modules/systemlib/conversions.h index 064426f218..dc383e770f 100644 --- a/src/modules/systemlib/conversions.h +++ b/src/modules/systemlib/conversions.h @@ -43,7 +43,6 @@ #define CONVERSIONS_H_ #include #include -#include __BEGIN_DECLS @@ -57,34 +56,6 @@ __BEGIN_DECLS */ __EXPORT int16_t int16_t_from_bytes(uint8_t bytes[]); -/** - * Converts a 3 x 3 rotation matrix to an unit quaternion. - * - * All orientations are expressed in NED frame. - * - * @param R rotation matrix to convert - * @param Q quaternion to write back to - */ -__EXPORT void rot2quat(const float R[9], float Q[4]); - -/** - * Converts an unit quaternion to a 3 x 3 rotation matrix. - * - * All orientations are expressed in NED frame. - * - * @param Q quaternion to convert - * @param R rotation matrix to write back to - */ -__EXPORT void quat2rot(const float Q[4], float R[9]); - -/** - * Calculates air density. - * - * @param static_pressure ambient pressure in millibar - * @param temperature_celcius air / ambient temperature in celcius - */ -__EXPORT float get_air_density(float static_pressure, float temperature_celsius); - __END_DECLS #endif /* CONVERSIONS_H_ */ diff --git a/src/modules/mavlink/mavlink_log.c b/src/modules/systemlib/mavlink_log.c similarity index 81% rename from src/modules/mavlink/mavlink_log.c rename to src/modules/systemlib/mavlink_log.c index 1921958568..03ca71375f 100644 --- a/src/modules/mavlink/mavlink_log.c +++ b/src/modules/systemlib/mavlink_log.c @@ -46,28 +46,33 @@ #include -static FILE* text_recorder_fd = NULL; - -void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size) +__EXPORT void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size) { lb->size = size; lb->start = 0; lb->count = 0; lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage)); - text_recorder_fd = fopen("/fs/microsd/text_recorder.txt", "w"); } -int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb) +__EXPORT void mavlink_logbuffer_destroy(struct mavlink_logbuffer *lb) +{ + lb->size = 0; + lb->start = 0; + lb->count = 0; + free(lb->elems); +} + +__EXPORT int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb) { return lb->count == (int)lb->size; } -int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb) +__EXPORT int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb) { return lb->count == 0; } -void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem) +__EXPORT void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem) { int end = (lb->start + lb->count) % lb->size; memcpy(&(lb->elems[end]), elem, sizeof(struct mavlink_logmessage)); @@ -80,19 +85,13 @@ void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_ } } -int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem) +__EXPORT int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem) { if (!mavlink_logbuffer_is_empty(lb)) { memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage)); lb->start = (lb->start + 1) % lb->size; --lb->count; - if (text_recorder_fd) { - fwrite(elem->text, 1, strnlen(elem->text, 50), text_recorder_fd); - fputc("\n", text_recorder_fd); - fsync(text_recorder_fd); - } - return 0; } else { @@ -100,7 +99,7 @@ int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessa } } -void mavlink_logbuffer_vasprintf(struct mavlink_logbuffer *lb, int severity, const char *fmt, ...) +__EXPORT void mavlink_logbuffer_vasprintf(struct mavlink_logbuffer *lb, int severity, const char *fmt, ...) { va_list ap; va_start(ap, fmt); diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk index b470c12271..843cda7225 100644 --- a/src/modules/systemlib/module.mk +++ b/src/modules/systemlib/module.mk @@ -45,7 +45,8 @@ SRCS = err.c \ getopt_long.c \ up_cxxinitialize.c \ pid/pid.c \ - geo/geo.c \ systemlib.c \ airspeed.c \ - system_params.c + system_params.c \ + mavlink_log.c \ + rc_check.c diff --git a/src/modules/systemlib/param/param.c b/src/modules/systemlib/param/param.c index 69a9bdf9b5..24b52d1a92 100644 --- a/src/modules/systemlib/param/param.c +++ b/src/modules/systemlib/param/param.c @@ -505,8 +505,15 @@ param_get_default_file(void) int param_save_default(void) { + int result; + /* delete the file in case it exists */ - unlink(param_get_default_file()); + struct stat buffer; + if (stat(param_get_default_file(), &buffer) == 0) { + result = unlink(param_get_default_file()); + if (result != OK) + warnx("unlinking file %s failed.", param_get_default_file()); + } /* create the file */ int fd = open(param_get_default_file(), O_WRONLY | O_CREAT | O_EXCL); @@ -516,7 +523,7 @@ param_save_default(void) return -1; } - int result = param_export(fd, false); + result = param_export(fd, false); close(fd); if (result != 0) { diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c index 4996a8f661..739503ed41 100644 --- a/src/modules/systemlib/pid/pid.c +++ b/src/modules/systemlib/pid/pid.c @@ -51,6 +51,8 @@ #include "pid.h" #include +#define SIGMA 0.000001f + __EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, uint8_t mode, float dt_min) { @@ -168,8 +170,8 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo // Calculate the error integral and check for saturation i = pid->integral + (error * dt); - if (fabsf((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit || - fabsf(i) > pid->intmax) { + if ((pid->limit > SIGMA && (fabsf((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit)) || + fabsf(i) > pid->intmax) { i = pid->integral; // If saturated then do not update integral value pid->saturated = 1; @@ -186,11 +188,13 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo float output = (error * pid->kp) + (i * pid->ki) + (d * pid->kd); if (isfinite(output)) { - if (output > pid->limit) { - output = pid->limit; + if (pid->limit > SIGMA) { + if (output > pid->limit) { + output = pid->limit; - } else if (output < -pid->limit) { - output = -pid->limit; + } else if (output < -pid->limit) { + output = -pid->limit; + } } pid->last_output = output; diff --git a/src/modules/systemlib/rc_check.c b/src/modules/systemlib/rc_check.c new file mode 100644 index 0000000000..60d6473b8c --- /dev/null +++ b/src/modules/systemlib/rc_check.c @@ -0,0 +1,153 @@ +/**************************************************************************** + * + * 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 rc_check.c + * + * RC calibration check + */ + +#include + +#include +#include + +#include +#include +#include +#include + +int rc_calibration_check(void) { + + char nbuf[20]; + param_t _parameter_handles_min, _parameter_handles_trim, _parameter_handles_max, + _parameter_handles_rev, _parameter_handles_dz; + + int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + + float param_min, param_max, param_trim, param_rev, param_dz; + + /* first check channel mappings */ + /* check which map param applies */ + // if (map_by_channel[i] >= MAX_CONTROL_CHANNELS) { + // mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAP >= # CHANS", i+1); + // /* give system time to flush error message in case there are more */ + // usleep(100000); + // count++; + // } + + int channel_fail_count = 0; + + for (int i = 0; i < RC_CHANNELS_MAX; i++) { + /* should the channel be enabled? */ + uint8_t count = 0; + + /* min values */ + sprintf(nbuf, "RC%d_MIN", i + 1); + _parameter_handles_min = param_find(nbuf); + param_get(_parameter_handles_min, ¶m_min); + + /* trim values */ + sprintf(nbuf, "RC%d_TRIM", i + 1); + _parameter_handles_trim = param_find(nbuf); + param_get(_parameter_handles_trim, ¶m_trim); + + /* max values */ + sprintf(nbuf, "RC%d_MAX", i + 1); + _parameter_handles_max = param_find(nbuf); + param_get(_parameter_handles_max, ¶m_max); + + /* channel reverse */ + sprintf(nbuf, "RC%d_REV", i + 1); + _parameter_handles_rev = param_find(nbuf); + param_get(_parameter_handles_rev, ¶m_rev); + + /* channel deadzone */ + sprintf(nbuf, "RC%d_DZ", i + 1); + _parameter_handles_dz = param_find(nbuf); + param_get(_parameter_handles_dz, ¶m_dz); + + /* assert min..center..max ordering */ + if (param_min < 500) { + count++; + mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MIN < 500", i+1); + /* give system time to flush error message in case there are more */ + usleep(100000); + } + if (param_max > 2500) { + count++; + mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAX > 2500", i+1); + /* give system time to flush error message in case there are more */ + usleep(100000); + } + if (param_trim < param_min) { + count++; + mavlink_log_critical(mavlink_fd, "ERR: RC_%d_TRIM < MIN (%d/%d)", i+1, (int)param_trim, (int)param_min); + /* give system time to flush error message in case there are more */ + usleep(100000); + } + if (param_trim > param_max) { + count++; + mavlink_log_critical(mavlink_fd, "ERR: RC_%d_TRIM > MAX (%d/%d)", i+1, (int)param_trim, (int)param_max); + /* give system time to flush error message in case there are more */ + usleep(100000); + } + + /* assert deadzone is sane */ + if (param_dz > 500) { + mavlink_log_critical(mavlink_fd, "ERR: RC_%d_DZ > 500", i+1); + /* give system time to flush error message in case there are more */ + usleep(100000); + count++; + } + + /* check which map param applies */ + // if (map_by_channel[i] >= MAX_CONTROL_CHANNELS) { + // mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAP >= # CHANS", i+1); + // /* give system time to flush error message in case there are more */ + // usleep(100000); + // count++; + // } + + /* sanity checks pass, enable channel */ + if (count) { + mavlink_log_critical(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1)); + warnx(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1)); + usleep(100000); + } + + channel_fail_count += count; + } + + return channel_fail_count; +} diff --git a/src/modules/systemlib/rc_check.h b/src/modules/systemlib/rc_check.h new file mode 100644 index 0000000000..e2238d1516 --- /dev/null +++ b/src/modules/systemlib/rc_check.h @@ -0,0 +1,52 @@ +/**************************************************************************** + * + * 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 rc_check.h + * + * RC calibration check + */ + +#pragma once + + __BEGIN_DECLS + +/** + * Check the RC calibration + * + * @return 0 / OK if RC calibration is ok, index + 1 of the first + * channel that failed else (so 1 == first channel failed) + */ +__EXPORT int rc_calibration_check(void); + +__END_DECLS diff --git a/src/modules/systemlib/systemlib.c b/src/modules/systemlib/systemlib.c index 3283aad8a5..57a751e1c3 100644 --- a/src/modules/systemlib/systemlib.c +++ b/src/modules/systemlib/systemlib.c @@ -43,13 +43,29 @@ #include #include #include -#include #include #include #include +#include +#include + +#include + #include "systemlib.h" +void +systemreset(bool to_bootloader) +{ + if (to_bootloader) { + stm32_pwr_enablebkp(); + + /* XXX wow, this is evil - write a magic number into backup register zero */ + *(uint32_t *)0x40002850 = 0xb007b007; + } + up_systemreset(); +} + static void kill_task(FAR struct tcb_s *tcb, FAR void *arg); void killall() diff --git a/src/modules/systemlib/systemlib.h b/src/modules/systemlib/systemlib.h index 0194b5e529..3728f20672 100644 --- a/src/modules/systemlib/systemlib.h +++ b/src/modules/systemlib/systemlib.h @@ -42,11 +42,11 @@ #include #include -/** Reboots the board */ -extern void up_systemreset(void) noreturn_function; - __BEGIN_DECLS +/** Reboots the board */ +__EXPORT void systemreset(bool to_bootloader) noreturn_function; + /** Sends SIGUSR1 to all processes */ __EXPORT void killall(void); diff --git a/src/modules/test/foo.c b/src/modules/test/foo.c deleted file mode 100644 index ff6af031f7..0000000000 --- a/src/modules/test/foo.c +++ /dev/null @@ -1,4 +0,0 @@ -int test_main(void) -{ - return 0; -} \ No newline at end of file diff --git a/src/modules/test/module.mk b/src/modules/test/module.mk deleted file mode 100644 index abf80eedf7..0000000000 --- a/src/modules/test/module.mk +++ /dev/null @@ -1,4 +0,0 @@ - -MODULE_NAME = test -SRCS = foo.c - diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 301cfa255f..1eb63a7994 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (C) 2012, 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 @@ -81,6 +81,9 @@ ORB_DEFINE(home_position, struct home_position_s); #include "topics/vehicle_status.h" ORB_DEFINE(vehicle_status, struct vehicle_status_s); +#include "topics/safety.h" +ORB_DEFINE(safety, struct safety_s); + #include "topics/battery_status.h" ORB_DEFINE(battery_status, struct battery_status_s); @@ -102,6 +105,9 @@ ORB_DEFINE(rc_channels, struct rc_channels_s); #include "topics/vehicle_command.h" ORB_DEFINE(vehicle_command, struct vehicle_command_s); +#include "topics/vehicle_control_mode.h" +ORB_DEFINE(vehicle_control_mode, struct vehicle_control_mode_s); + #include "topics/vehicle_local_position_setpoint.h" ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoint_s); @@ -114,6 +120,9 @@ ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setp #include "topics/vehicle_global_position_set_triplet.h" ORB_DEFINE(vehicle_global_position_set_triplet, struct vehicle_global_position_set_triplet_s); +#include "topics/vehicle_global_velocity_setpoint.h" +ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s); + #include "topics/mission.h" ORB_DEFINE(mission, struct mission_s); @@ -123,6 +132,9 @@ ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_setpoint_s); #include "topics/manual_control_setpoint.h" ORB_DEFINE(manual_control_setpoint, struct manual_control_setpoint_s); +#include "topics/vehicle_control_debug.h" +ORB_DEFINE(vehicle_control_debug, struct vehicle_control_debug_s); + #include "topics/offboard_control_setpoint.h" ORB_DEFINE(offboard_control_setpoint, struct offboard_control_setpoint_s); @@ -150,6 +162,8 @@ ORB_DEFINE(actuator_controls_0, struct actuator_controls_s); ORB_DEFINE(actuator_controls_1, struct actuator_controls_s); ORB_DEFINE(actuator_controls_2, struct actuator_controls_s); ORB_DEFINE(actuator_controls_3, struct actuator_controls_s); + +#include "topics/actuator_armed.h" ORB_DEFINE(actuator_armed, struct actuator_armed_s); /* actuator controls, as set by actuators / mixers after limiting */ diff --git a/src/modules/uORB/topics/actuator_armed.h b/src/modules/uORB/topics/actuator_armed.h new file mode 100644 index 0000000000..6e944ffee3 --- /dev/null +++ b/src/modules/uORB/topics/actuator_armed.h @@ -0,0 +1,58 @@ +/**************************************************************************** + * + * 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 actuator_armed.h + * + * Actuator armed topic + * + */ + +#ifndef TOPIC_ACTUATOR_ARMED_H +#define TOPIC_ACTUATOR_ARMED_H + +#include +#include "../uORB.h" + +/** global 'actuator output is live' control. */ +struct actuator_armed_s { + + uint64_t timestamp; + bool armed; /**< Set to true if system is armed */ + bool ready_to_arm; /**< Set to true if system is ready to be armed */ + bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */ +}; + +ORB_DECLARE(actuator_armed); + +#endif \ No newline at end of file diff --git a/src/modules/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h index a27095be52..e768ab2f61 100644 --- a/src/modules/uORB/topics/actuator_controls.h +++ b/src/modules/uORB/topics/actuator_controls.h @@ -52,6 +52,9 @@ #define NUM_ACTUATOR_CONTROLS 8 #define NUM_ACTUATOR_CONTROL_GROUPS 4 /**< for sanity checking */ +/* control sets with pre-defined applications */ +#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS ORB_ID(actuator_controls_0) + /** * @addtogroup topics * @{ @@ -72,16 +75,4 @@ ORB_DECLARE(actuator_controls_1); ORB_DECLARE(actuator_controls_2); ORB_DECLARE(actuator_controls_3); -/* control sets with pre-defined applications */ -#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS ORB_ID(actuator_controls_0) - -/** global 'actuator output is live' control. */ -struct actuator_armed_s { - bool armed; /**< Set to true if system is armed */ - bool ready_to_arm; /**< Set to true if system is ready to be armed */ - bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */ -}; - -ORB_DECLARE(actuator_armed); - -#endif \ No newline at end of file +#endif diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index 261a8a4ad3..eac6d6e986 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -56,17 +56,18 @@ struct manual_control_setpoint_s { float yaw; /**< rudder / yaw rate / yaw */ float throttle; /**< throttle / collective thrust / altitude */ - float manual_override_switch; /**< manual override mode (mandatory) */ - float auto_mode_switch; /**< auto mode switch (mandatory) */ + float mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */ + float return_switch; /**< land 2 position switch (mandatory): land, no effect */ + float assisted_switch; /**< assisted 2 position switch (optional): seatbelt, simple */ + float mission_switch; /**< mission 2 position switch (optional): mission, loiter */ /** * Any of the channels below may not be available and be set to NaN * to indicate that it does not contain valid data. */ - float manual_mode_switch; /**< manual mode (man, sas, alt) switch (optional) */ - float manual_sas_switch; /**< sas mode (rates / attitude) switch (optional) */ - float return_to_launch_switch; /**< return to launch switch (0 = disabled, 1 = enabled) */ - float auto_offboard_input_switch; /**< controller setpoint source (0 = onboard, 1 = offboard) */ + + // XXX needed or parameter? + //float auto_offboard_input_switch; /**< controller setpoint source (0 = onboard, 1 = offboard) */ float flaps; /**< flap position */ diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index e69335b3d8..5a85801439 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -48,9 +48,12 @@ /** * The number of RC channel inputs supported. * Current (Q1/2013) radios support up to 18 channels, - * leaving at a sane value of 14. + * leaving at a sane value of 15. + * This number can be greater then number of RC channels, + * because single RC channel can be mapped to multiple + * functions, e.g. for various mode switches. */ -#define RC_CHANNELS_MAX 14 +#define RC_CHANNELS_MAX 15 /** * This defines the mapping of the RC functions. @@ -63,18 +66,17 @@ enum RC_CHANNELS_FUNCTION ROLL = 1, PITCH = 2, YAW = 3, - OVERRIDE = 4, - AUTO_MODE = 5, - MANUAL_MODE = 6, - SAS_MODE = 7, - RTL = 8, - OFFBOARD_MODE = 9, - FLAPS = 10, - AUX_1 = 11, - AUX_2 = 12, - AUX_3 = 13, - AUX_4 = 14, - AUX_5 = 15, + MODE = 4, + RETURN = 5, + ASSISTED = 6, + MISSION = 7, + OFFBOARD_MODE = 8, + FLAPS = 9, + AUX_1 = 10, + AUX_2 = 11, + AUX_3 = 12, + AUX_4 = 13, + AUX_5 = 14, RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */ }; diff --git a/src/modules/uORB/topics/safety.h b/src/modules/uORB/topics/safety.h new file mode 100644 index 0000000000..a5d21cd4ad --- /dev/null +++ b/src/modules/uORB/topics/safety.h @@ -0,0 +1,57 @@ +/**************************************************************************** + * + * 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 safety.h + * + * Safety topic to pass safety state from px4io driver to commander + * This concerns only the safety button of the px4io but has nothing to do + * with arming/disarming. + */ + +#ifndef TOPIC_SAFETY_H +#define TOPIC_SAFETY_H + +#include +#include "../uORB.h" + +struct safety_s { + + uint64_t timestamp; + bool safety_switch_available; /**< Set to true if a safety switch is connected */ + bool safety_off; /**< Set to true if safety is off */ +}; + +ORB_DECLARE(safety); + +#endif \ No newline at end of file diff --git a/src/modules/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h index a7cda34a83..686fd765c5 100644 --- a/src/modules/uORB/topics/vehicle_attitude_setpoint.h +++ b/src/modules/uORB/topics/vehicle_attitude_setpoint.h @@ -64,6 +64,12 @@ struct vehicle_attitude_setpoint_s float R_body[9]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */ bool R_valid; /**< Set to true if rotation matrix is valid */ + //! For quaternion-based attitude control + float q_d[4]; /** Desired quaternion for quaternion control */ + bool q_d_valid; /**< Set to true if quaternion vector is valid */ + float q_e[4]; /** Attitude error in quaternion */ + bool q_e_valid; /**< Set to true if quaternion error vector is valid */ + float thrust; /**< Thrust in Newton the power system should generate */ }; diff --git a/src/modules/uORB/topics/vehicle_control_debug.h b/src/modules/uORB/topics/vehicle_control_debug.h new file mode 100644 index 0000000000..6184284a43 --- /dev/null +++ b/src/modules/uORB/topics/vehicle_control_debug.h @@ -0,0 +1,87 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * + * 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 vehicle_control_debug.h + * For debugging purposes to log PID parts of controller + */ + +#ifndef TOPIC_VEHICLE_CONTROL_DEBUG_H_ +#define TOPIC_VEHICLE_CONTROL_DEBUG_H_ + +#include +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ +struct vehicle_control_debug_s +{ + uint64_t timestamp; /**< in microseconds since system start */ + + float roll_p; /**< roll P control part */ + float roll_i; /**< roll I control part */ + float roll_d; /**< roll D control part */ + + float roll_rate_p; /**< roll rate P control part */ + float roll_rate_i; /**< roll rate I control part */ + float roll_rate_d; /**< roll rate D control part */ + + float pitch_p; /**< pitch P control part */ + float pitch_i; /**< pitch I control part */ + float pitch_d; /**< pitch D control part */ + + float pitch_rate_p; /**< pitch rate P control part */ + float pitch_rate_i; /**< pitch rate I control part */ + float pitch_rate_d; /**< pitch rate D control part */ + + float yaw_p; /**< yaw P control part */ + float yaw_i; /**< yaw I control part */ + float yaw_d; /**< yaw D control part */ + + float yaw_rate_p; /**< yaw rate P control part */ + float yaw_rate_i; /**< yaw rate I control part */ + float yaw_rate_d; /**< yaw rate D control part */ + +}; /**< vehicle_control_debug */ + + /** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_control_debug); + +#endif diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h new file mode 100644 index 0000000000..093c6775d1 --- /dev/null +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -0,0 +1,94 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * @author Petri Tanskanen + * @author Thomas Gubler + * @author Julian Oes + * + * 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 vehicle_control_mode.h + * Definition of the vehicle_control_mode uORB topic. + * + * All control apps should depend their actions based on the flags set here. + */ + +#ifndef VEHICLE_CONTROL_MODE +#define VEHICLE_CONTROL_MODE + +#include +#include +#include "../uORB.h" + +/** + * @addtogroup topics @{ + */ + + +/** + * state machine / state of vehicle. + * + * Encodes the complete system state and is set by the commander app. + */ +struct vehicle_control_mode_s +{ + uint16_t counter; /**< incremented by the writing thread every time new data is stored */ + uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ + + bool flag_armed; + + bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */ + + // XXX needs yet to be set by state machine helper + bool flag_system_hil_enabled; + + bool flag_control_manual_enabled; /**< true if manual input is mixed in */ + bool flag_control_offboard_enabled; /**< true if offboard control input is on */ + bool flag_control_rates_enabled; /**< true if rates are stabilized */ + bool flag_control_attitude_enabled; /**< true if attitude stabilization is mixed in */ + bool flag_control_velocity_enabled; /**< true if horizontal velocity (implies direction) is controlled */ + bool flag_control_position_enabled; /**< true if position is controlled */ + bool flag_control_altitude_enabled; /**< true if altitude is controlled */ + bool flag_control_climb_rate_enabled; /**< true if climb rate is controlled */ + + bool flag_control_auto_enabled; // TEMP + uint8_t auto_state; // TEMP navigation state for AUTO modes +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_control_mode); + +#endif diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index f036c72237..0fc0ed5c97 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -62,18 +62,17 @@ struct vehicle_global_position_s { uint64_t timestamp; /**< time of this estimate, in microseconds since system start */ - uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ + uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ bool valid; /**< true if position satisfies validity criteria of estimator */ - int32_t lat; /**< Latitude in 1E7 degrees LOGME */ - int32_t lon; /**< Longitude in 1E7 degrees LOGME */ - float alt; /**< Altitude in meters LOGME */ - float relative_alt; /**< Altitude above home position in meters, LOGME */ - float vx; /**< Ground X Speed (Latitude), m/s in ENU LOGME */ - float vy; /**< Ground Y Speed (Longitude), m/s in ENU LOGME */ - float vz; /**< Ground Z Speed (Altitude), m/s in ENU LOGME */ - float hdg; /**< Compass heading in radians -PI..+PI. */ - + int32_t lat; /**< Latitude in 1E7 degrees */ + int32_t lon; /**< Longitude in 1E7 degrees */ + float alt; /**< Altitude in meters */ + float relative_alt; /**< Altitude above home position in meters, */ + float vx; /**< Ground X velocity, m/s in NED */ + float vy; /**< Ground Y velocity, m/s in NED */ + float vz; /**< Ground Z velocity, m/s in NED */ + float yaw; /**< Compass heading in radians -PI..+PI. */ }; /** diff --git a/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h b/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h new file mode 100644 index 0000000000..73961cdfed --- /dev/null +++ b/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h @@ -0,0 +1,64 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: @author Anton Babushkin + * + * 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 vehicle_global_velocity_setpoint.h + * Definition of the global velocity setpoint uORB topic. + */ + +#ifndef TOPIC_VEHICLE_GLOBAL_VELOCITY_SETPOINT_H_ +#define TOPIC_VEHICLE_GLOBAL_VELOCITY_SETPOINT_H_ + +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +struct vehicle_global_velocity_setpoint_s +{ + float vx; /**< in m/s NED */ + float vy; /**< in m/s NED */ + float vz; /**< in m/s NED */ +}; /**< Velocity setpoint in NED frame */ + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_global_velocity_setpoint); + +#endif diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h index 76eddeacd2..31a0e632b2 100644 --- a/src/modules/uORB/topics/vehicle_local_position.h +++ b/src/modules/uORB/topics/vehicle_local_position.h @@ -54,27 +54,29 @@ */ struct vehicle_local_position_s { - uint64_t timestamp; /**< time of this estimate, in microseconds since system start */ - bool valid; /**< true if position satisfies validity criteria of estimator */ - - float x; /**< X positin in meters in NED earth-fixed frame */ - float y; /**< X positin in meters in NED earth-fixed frame */ - float z; /**< Z positin in meters in NED earth-fixed frame (negative altitude) */ - float absolute_alt; /**< Altitude as defined by pressure / GPS, LOGME */ - float vx; /**< Ground X Speed (Latitude), m/s in NED LOGME */ - float vy; /**< Ground Y Speed (Longitude), m/s in NED LOGME */ - float vz; /**< Ground Z Speed (Altitude), m/s in NED LOGME */ - float hdg; /**< Compass heading in radians -PI..+PI. */ - - // TODO Add covariances here - + uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */ + bool xy_valid; /**< true if x and y are valid */ + bool z_valid; /**< true if z is valid */ + bool v_xy_valid; /**< true if vy and vy are valid */ + bool v_z_valid; /**< true if vz is valid */ + /* Position in local NED frame */ + float x; /**< X position in meters in NED earth-fixed frame */ + float y; /**< X position in meters in NED earth-fixed frame */ + float z; /**< Z position in meters in NED earth-fixed frame (negative altitude) */ + /* Velocity in NED frame */ + float vx; /**< Ground X Speed (Latitude), m/s in NED */ + float vy; /**< Ground Y Speed (Longitude), m/s in NED */ + float vz; /**< Ground Z Speed (Altitude), m/s in NED */ + /* Heading */ + float yaw; /* Reference position in GPS / WGS84 frame */ - uint64_t home_timestamp;/**< Time when home position was set */ - int32_t home_lat; /**< Latitude in 1E7 degrees LOGME */ - int32_t home_lon; /**< Longitude in 1E7 degrees LOGME */ - float home_alt; /**< Altitude in meters LOGME */ - float home_hdg; /**< Compass heading in radians -PI..+PI. */ - + bool global_xy; /**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */ + bool global_z; /**< true if z is valid and has valid global reference (ref_alt) */ + uint64_t ref_timestamp; /**< Time when reference position was set */ + int32_t ref_lat; /**< Reference point latitude in 1E7 degrees */ + int32_t ref_lon; /**< Reference point longitude in 1E7 degrees */ + float ref_alt; /**< Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level */ + bool landed; /**< true if vehicle is landed */ }; /** diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 94068a9acc..1c184d3a7a 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -54,22 +54,67 @@ #include #include "../uORB.h" -/* State Machine */ -typedef enum -{ - SYSTEM_STATE_PREFLIGHT = 0, - SYSTEM_STATE_STANDBY = 1, - SYSTEM_STATE_GROUND_READY = 2, - SYSTEM_STATE_MANUAL = 3, - SYSTEM_STATE_STABILIZED = 4, - SYSTEM_STATE_AUTO = 5, - SYSTEM_STATE_MISSION_ABORT = 6, - SYSTEM_STATE_EMCY_LANDING = 7, - SYSTEM_STATE_EMCY_CUTOFF = 8, - SYSTEM_STATE_GROUND_ERROR = 9, - SYSTEM_STATE_REBOOT= 10, +/** + * @addtogroup topics @{ + */ -} commander_state_machine_t; +/* main state machine */ +typedef enum { + MAIN_STATE_MANUAL = 0, + MAIN_STATE_SEATBELT, + MAIN_STATE_EASY, + MAIN_STATE_AUTO, +} main_state_t; + +/* navigation state machine */ +typedef enum { + NAVIGATION_STATE_DIRECT = 0, // true manual control, no any stabilization + NAVIGATION_STATE_STABILIZE, // attitude stabilization + NAVIGATION_STATE_ALTHOLD, // attitude + altitude stabilization + NAVIGATION_STATE_VECTOR, // attitude + altitude + position stabilization + NAVIGATION_STATE_AUTO_READY, // AUTO, landed, reeady for takeoff + NAVIGATION_STATE_AUTO_TAKEOFF, // detect takeoff using land detector and switch to desired AUTO mode + NAVIGATION_STATE_AUTO_LOITER, // pause mission + NAVIGATION_STATE_AUTO_MISSION, // fly mission + NAVIGATION_STATE_AUTO_RTL, // Return To Launch, when home position switch to LAND + NAVIGATION_STATE_AUTO_LAND // land and switch to AUTO_READY when landed (detect using land detector) +} navigation_state_t; + +typedef enum { + ARMING_STATE_INIT = 0, + ARMING_STATE_STANDBY, + ARMING_STATE_ARMED, + ARMING_STATE_ARMED_ERROR, + ARMING_STATE_STANDBY_ERROR, + ARMING_STATE_REBOOT, + ARMING_STATE_IN_AIR_RESTORE +} arming_state_t; + +typedef enum { + HIL_STATE_OFF = 0, + HIL_STATE_ON +} hil_state_t; + +typedef enum { + MODE_SWITCH_MANUAL = 0, + MODE_SWITCH_ASSISTED, + MODE_SWITCH_AUTO +} mode_switch_pos_t; + +typedef enum { + ASSISTED_SWITCH_SEATBELT = 0, + ASSISTED_SWITCH_EASY +} assisted_switch_pos_t; + +typedef enum { + RETURN_SWITCH_NONE = 0, + RETURN_SWITCH_RETURN +} return_switch_pos_t; + +typedef enum { + MISSION_SWITCH_NONE = 0, + MISSION_SWITCH_MISSION +} mission_switch_pos_t; enum VEHICLE_MODE_FLAG { VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, @@ -82,26 +127,6 @@ enum VEHICLE_MODE_FLAG { VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1 }; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */ -enum VEHICLE_FLIGHT_MODE { - VEHICLE_FLIGHT_MODE_MANUAL = 0, /**< direct manual control, exact mode determined by VEHICLE_MANUAL_CONTROL_MODE */ - VEHICLE_FLIGHT_MODE_STAB, /**< attitude or rate stabilization plus velocity or position stabilization */ - VEHICLE_FLIGHT_MODE_HOLD, /**< hold current position (hover or loiter around position when switched) */ - VEHICLE_FLIGHT_MODE_AUTO /**< attitude or rate stabilization plus absolute position control and waypoints */ -}; - -enum VEHICLE_MANUAL_CONTROL_MODE { - VEHICLE_MANUAL_CONTROL_MODE_DIRECT = 0, /**< no attitude control, direct stick input mixing (only fixed wing) */ - VEHICLE_MANUAL_CONTROL_MODE_RATES, /**< body rates control mode */ - VEHICLE_MANUAL_CONTROL_MODE_SAS /**< stability augmented system (SAS) mode */ -}; - -enum VEHICLE_MANUAL_SAS_MODE { - VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS = 0, /**< roll, pitch and yaw absolute */ - VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE, /**< roll and pitch absolute, yaw rate */ - VEHICLE_MANUAL_SAS_MODE_SIMPLE, /**< simple mode (includes altitude hold) */ - VEHICLE_MANUAL_SAS_MODE_ALTITUDE /**< altitude hold */ -}; - /** * Should match 1:1 MAVLink's MAV_TYPE ENUM */ @@ -128,9 +153,9 @@ enum VEHICLE_TYPE { }; enum VEHICLE_BATTERY_WARNING { - VEHICLE_BATTERY_WARNING_NONE = 0, /**< no battery low voltage warning active */ - VEHICLE_BATTERY_WARNING_WARNING, /**< warning of low voltage 1. stage */ - VEHICLE_BATTERY_WARNING_ALERT /**< aleting of low voltage 2. stage */ + VEHICLE_BATTERY_WARNING_NONE = 0, /**< no battery low voltage warning active */ + VEHICLE_BATTERY_WARNING_LOW, /**< warning of low voltage */ + VEHICLE_BATTERY_WARNING_CRITICAL /**< alerting of critical voltage */ }; /** @@ -149,55 +174,54 @@ struct vehicle_status_s uint16_t counter; /**< incremented by the writing thread everytime new data is stored */ uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ - uint64_t failsave_lowlevel_start_time; /**< time when the lowlevel failsafe flag was set */ - //uint64_t failsave_highlevel_begin; TO BE COMPLETED - commander_state_machine_t state_machine; /**< current flight state, main state machine */ - enum VEHICLE_FLIGHT_MODE flight_mode; /**< current flight mode, as defined by mode switch */ - enum VEHICLE_MANUAL_CONTROL_MODE manual_control_mode; /**< current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */ - enum VEHICLE_MANUAL_SAS_MODE manual_sas_mode; /**< current stabilization mode */ + main_state_t main_state; /**< main state machine */ + navigation_state_t navigation_state; /**< navigation state machine */ + arming_state_t arming_state; /**< current arming state */ + hil_state_t hil_state; /**< current hil state */ + int32_t system_type; /**< system type, inspired by MAVLink's VEHICLE_TYPE enum */ int32_t system_id; /**< system id, inspired by MAVLink's system ID field */ int32_t component_id; /**< subsystem / component id, inspired by MAVLink's component ID field */ - /* system flags - these represent the state predicates */ + bool is_rotary_wing; - bool flag_system_armed; /**< true is motors / actuators are armed */ - bool flag_control_manual_enabled; /**< true if manual input is mixed in */ - bool flag_control_offboard_enabled; /**< true if offboard control input is on */ - bool flag_hil_enabled; /**< true if hardware in the loop simulation is enabled */ + mode_switch_pos_t mode_switch; + return_switch_pos_t return_switch; + assisted_switch_pos_t assisted_switch; + mission_switch_pos_t mission_switch; - bool flag_control_rates_enabled; /**< true if rates are stabilized */ - bool flag_control_attitude_enabled; /**< true if attitude stabilization is mixed in */ - bool flag_control_velocity_enabled; /**< true if speed (implies direction) is controlled */ - bool flag_control_position_enabled; /**< true if position is controlled */ - - bool flag_preflight_gyro_calibration; /**< true if gyro calibration is requested */ - bool flag_preflight_mag_calibration; /**< true if mag calibration is requested */ - bool flag_preflight_accel_calibration; - bool flag_preflight_airspeed_calibration; + bool condition_battery_voltage_valid; + bool condition_system_in_air_restore; /**< true if we can restore in mid air */ + bool condition_system_sensors_initialized; + bool condition_system_returned_to_home; + bool condition_auto_mission_available; + bool condition_global_position_valid; /**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */ + bool condition_launch_position_valid; /**< indicates a valid launch position */ + bool condition_home_position_valid; /**< indicates a valid home position (a valid home position is not always a valid launch) */ + bool condition_local_position_valid; + bool condition_local_altitude_valid; + bool condition_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */ + bool condition_landed; /**< true if vehicle is landed, always true if disarmed */ bool rc_signal_found_once; - bool rc_signal_lost; /**< true if RC reception is terminally lost */ - bool rc_signal_cutting_off; /**< true if RC reception is weak / cutting off */ - uint64_t rc_signal_lost_interval; /**< interval in microseconds since when no RC signal is available */ + bool rc_signal_lost; /**< true if RC reception lost */ bool offboard_control_signal_found_once; bool offboard_control_signal_lost; bool offboard_control_signal_weak; uint64_t offboard_control_signal_lost_interval; /**< interval in microseconds without an offboard control message */ - bool failsave_lowlevel; /**< Set to true if low-level failsafe mode is enabled */ - //bool failsave_highlevel; - /* see SYS_STATUS mavlink message for the following */ uint32_t onboard_control_sensors_present; uint32_t onboard_control_sensors_enabled; uint32_t onboard_control_sensors_health; - float load; - float voltage_battery; - float current_battery; + + float load; /**< processor load from 0 to 1 */ + float battery_voltage; + float battery_current; float battery_remaining; + enum VEHICLE_BATTERY_WARNING battery_warning; /**< current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum */ uint16_t drop_rate_comm; uint16_t errors_comm; @@ -205,15 +229,6 @@ struct vehicle_status_s uint16_t errors_count2; uint16_t errors_count3; uint16_t errors_count4; - - bool flag_global_position_valid; /**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */ - bool flag_local_position_valid; - bool flag_vector_flight_mode_ok; /**< position estimation, battery voltage and other critical subsystems are good for autonomous flight */ - bool flag_auto_flight_mode_ok; /**< conditions of vector flight mode apply plus a valid takeoff position lock has been aquired */ - bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */ - bool flag_valid_launch_position; /**< indicates a valid launch position */ - bool flag_valid_home_position; /**< indicates a valid home position (a valid home position is not always a valid launch) */ - bool flag_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */ }; /** diff --git a/src/modules/unit_test/module.mk b/src/modules/unit_test/module.mk new file mode 100644 index 0000000000..f00b0f5926 --- /dev/null +++ b/src/modules/unit_test/module.mk @@ -0,0 +1,39 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# Makefile to build the unit test library. +# + +SRCS = unit_test.cpp + diff --git a/src/modules/unit_test/unit_test.cpp b/src/modules/unit_test/unit_test.cpp new file mode 100644 index 0000000000..64ee544a27 --- /dev/null +++ b/src/modules/unit_test/unit_test.cpp @@ -0,0 +1,65 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Simon Wilks + * + * 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 unit_test.cpp + * A unit test library. + * + */ + +#include "unit_test.h" + +#include + + +UnitTest::UnitTest() +{ +} + +UnitTest::~UnitTest() +{ +} + +void +UnitTest::print_results(const char* result) +{ + if (result != 0) { + warnx("Failed: %s:%d", mu_last_test(), mu_line()); + warnx("%s", result); + } else { + warnx("ALL TESTS PASSED"); + warnx(" Tests run : %d", mu_tests_run()); + warnx(" Assertion : %d", mu_assertion()); + } +} diff --git a/src/modules/unit_test/unit_test.h b/src/modules/unit_test/unit_test.h new file mode 100644 index 0000000000..3020734f4b --- /dev/null +++ b/src/modules/unit_test/unit_test.h @@ -0,0 +1,93 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Simon Wilks + * + * 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 unit_test.h + * A unit test library based on MinUnit (http://www.jera.com/techinfo/jtns/jtn002.html). + * + */ + +#ifndef UNIT_TEST_H_ +#define UNIT_TEST_ + +#include + + +class __EXPORT UnitTest +{ + +public: +#define xstr(s) str(s) +#define str(s) #s +#define INLINE_GLOBAL(type,func) inline type& func() { static type x; return x; } + +INLINE_GLOBAL(int, mu_tests_run) +INLINE_GLOBAL(int, mu_assertion) +INLINE_GLOBAL(int, mu_line) +INLINE_GLOBAL(const char*, mu_last_test) + +#define mu_assert(message, test) \ + do \ + { \ + if (!(test)) \ + return __FILE__ ":" xstr(__LINE__) " " message " (" #test ")"; \ + else \ + mu_assertion()++; \ + } while (0) + + +#define mu_run_test(test) \ +do \ +{ \ + const char *message; \ + mu_last_test() = #test; \ + mu_line() = __LINE__; \ + message = test(); \ + mu_tests_run()++; \ + if (message) \ + return message; \ +} while (0) + + +public: + UnitTest(); + virtual ~UnitTest(); + + virtual const char* run_tests() = 0; + virtual void print_results(const char* result); +}; + + + +#endif /* UNIT_TEST_H_ */ diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c index 5a02fd6206..188dafa4ef 100644 --- a/src/systemcmds/config/config.c +++ b/src/systemcmds/config/config.c @@ -2,6 +2,7 @@ * * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * Author: Lorenz Meier + * Author: Julian Oes * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,6 +36,7 @@ /** * @file config.c * @author Lorenz Meier + * @author Julian Oes * * config tool. */ @@ -69,27 +71,15 @@ config_main(int argc, char *argv[]) { if (argc >= 2) { if (!strcmp(argv[1], "gyro")) { - if (argc >= 3) { - do_gyro(argc - 2, argv + 2); - } else { - errx(1, "not enough parameters."); - } + do_gyro(argc - 2, argv + 2); } if (!strcmp(argv[1], "accel")) { - if (argc >= 3) { - do_accel(argc - 2, argv + 2); - } else { - errx(1, "not enough parameters."); - } + do_accel(argc - 2, argv + 2); } if (!strcmp(argv[1], "mag")) { - if (argc >= 3) { - do_mag(argc - 2, argv + 2); - } else { - errx(1, "not enough parameters."); - } + do_mag(argc - 2, argv + 2); } } @@ -100,6 +90,7 @@ static void do_gyro(int argc, char *argv[]) { int fd; + int ret; fd = open(GYRO_DEVICE_PATH, 0); @@ -109,44 +100,45 @@ do_gyro(int argc, char *argv[]) } else { - if (argc >= 2) { + if (argc == 2 && !strcmp(argv[0], "sampling")) { - char* end; - int i = strtol(argv[1],&end,10); + /* set the gyro internal sampling rate up to at least i Hz */ + ret = ioctl(fd, GYROIOCSSAMPLERATE, strtoul(argv[1], NULL, 0)); - if (!strcmp(argv[0], "sampling")) { + if (ret) + errx(ret,"sampling rate could not be set"); - /* set the accel internal sampling rate up to at leat i Hz */ - ioctl(fd, GYROIOCSSAMPLERATE, i); + } else if (argc == 2 && !strcmp(argv[0], "rate")) { - } else if (!strcmp(argv[0], "rate")) { + /* set the driver to poll at i Hz */ + ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0)); - /* set the driver to poll at i Hz */ - ioctl(fd, SENSORIOCSPOLLRATE, i); - } else if (!strcmp(argv[0], "range")) { + if (ret) + errx(ret,"pollrate could not be set"); - /* set the range to i dps */ - ioctl(fd, GYROIOCSRANGE, i); - } + } else if (argc == 2 && !strcmp(argv[0], "range")) { - } else if (argc > 0) { + /* set the range to i dps */ + ret = ioctl(fd, GYROIOCSRANGE, strtoul(argv[1], NULL, 0)); - if(!strcmp(argv[0], "check")) { - int ret = ioctl(fd, GYROIOCSELFTEST, 0); + if (ret) + errx(ret,"range could not be set"); - if (ret) { - warnx("gyro self test FAILED! Check calibration:"); - struct gyro_scale scale; - ret = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&scale); - warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset); - warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale); - } else { - warnx("gyro calibration and self test OK"); - } + } else if(argc == 1 && !strcmp(argv[0], "check")) { + ret = ioctl(fd, GYROIOCSELFTEST, 0); + + if (ret) { + warnx("gyro self test FAILED! Check calibration:"); + struct gyro_scale scale; + ret = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&scale); + warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset); + warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale); + } else { + warnx("gyro calibration and self test OK"); } } else { - warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2000' to set measurement range to 2000 dps\n\t"); + errx(1, "wrong or no arguments given. Try: \n\n\t'check' for the self test\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2000' to set measurement range to 2000 dps\n\t"); } int srate = ioctl(fd, GYROIOCGSAMPLERATE, 0); @@ -165,6 +157,7 @@ static void do_mag(int argc, char *argv[]) { int fd; + int ret; fd = open(MAG_DEVICE_PATH, 0); @@ -174,31 +167,52 @@ do_mag(int argc, char *argv[]) } else { - if (argc > 0) { + if (argc == 2 && !strcmp(argv[0], "sampling")) { - if (!strcmp(argv[0], "check")) { - int ret = ioctl(fd, MAGIOCSELFTEST, 0); + /* set the mag internal sampling rate up to at least i Hz */ + ret = ioctl(fd, MAGIOCSSAMPLERATE, strtoul(argv[1], NULL, 0)); - if (ret) { - warnx("mag self test FAILED! Check calibration."); - struct mag_scale scale; - ret = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&scale); - warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset); - warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale); - } else { - warnx("mag calibration and self test OK"); - } + if (ret) + errx(ret,"sampling rate could not be set"); + + } else if (argc == 2 && !strcmp(argv[0], "rate")) { + + /* set the driver to poll at i Hz */ + ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0)); + + if (ret) + errx(ret,"pollrate could not be set"); + + } else if (argc == 2 && !strcmp(argv[0], "range")) { + + /* set the range to i G */ + ret = ioctl(fd, MAGIOCSRANGE, strtoul(argv[1], NULL, 0)); + + if (ret) + errx(ret,"range could not be set"); + + } else if(argc == 1 && !strcmp(argv[0], "check")) { + ret = ioctl(fd, MAGIOCSELFTEST, 0); + + if (ret) { + warnx("mag self test FAILED! Check calibration:"); + struct mag_scale scale; + ret = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&scale); + warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset); + warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale); + } else { + warnx("mag calibration and self test OK"); } } else { - warnx("no arguments given. Try: \n\n\t'check' or 'info'\n\t"); + errx(1, "wrong or no arguments given. Try: \n\n\t'check' for the self test\n\t"); } - int srate = -1;//ioctl(fd, MAGIOCGSAMPLERATE, 0); + int srate = ioctl(fd, MAGIOCGSAMPLERATE, 0); int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0); - int range = -1;//ioctl(fd, MAGIOCGRANGE, 0); + int range = ioctl(fd, MAGIOCGRANGE, 0); - warnx("mag: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d gauss", srate, prate, range); + warnx("mag: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d Ga", srate, prate, range); close(fd); } @@ -210,6 +224,7 @@ static void do_accel(int argc, char *argv[]) { int fd; + int ret; fd = open(ACCEL_DEVICE_PATH, 0); @@ -219,50 +234,52 @@ do_accel(int argc, char *argv[]) } else { - if (argc >= 2) { + if (argc == 2 && !strcmp(argv[0], "sampling")) { - char* end; - int i = strtol(argv[1],&end,10); + /* set the accel internal sampling rate up to at least i Hz */ + ret = ioctl(fd, ACCELIOCSSAMPLERATE, strtoul(argv[1], NULL, 0)); - if (!strcmp(argv[0], "sampling")) { + if (ret) + errx(ret,"sampling rate could not be set"); - /* set the accel internal sampling rate up to at leat i Hz */ - ioctl(fd, ACCELIOCSSAMPLERATE, i); + } else if (argc == 2 && !strcmp(argv[0], "rate")) { - } else if (!strcmp(argv[0], "rate")) { + /* set the driver to poll at i Hz */ + ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0)); - /* set the driver to poll at i Hz */ - ioctl(fd, SENSORIOCSPOLLRATE, i); - } else if (!strcmp(argv[0], "range")) { + if (ret) + errx(ret,"pollrate could not be set"); - /* set the range to i dps */ - ioctl(fd, ACCELIOCSRANGE, i); - } - } else if (argc > 0) { + } else if (argc == 2 && !strcmp(argv[0], "range")) { - if (!strcmp(argv[0], "check")) { - int ret = ioctl(fd, ACCELIOCSELFTEST, 0); + /* set the range to i G */ + ret = ioctl(fd, ACCELIOCSRANGE, strtoul(argv[1], NULL, 0)); - if (ret) { - warnx("accel self test FAILED! Check calibration."); - struct accel_scale scale; - ret = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&scale); - warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset); - warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale); - } else { - warnx("accel calibration and self test OK"); - } + if (ret) + errx(ret,"range could not be set"); + + } else if(argc == 1 && !strcmp(argv[0], "check")) { + ret = ioctl(fd, ACCELIOCSELFTEST, 0); + + if (ret) { + warnx("accel self test FAILED! Check calibration:"); + struct accel_scale scale; + ret = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&scale); + warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset); + warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale); + } else { + warnx("accel calibration and self test OK"); } } else { - warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2' to set measurement range to 2 G\n\t"); + errx(1,"no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2' to set measurement range to 4 G\n\t"); } int srate = ioctl(fd, ACCELIOCGSAMPLERATE, 0); int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0); int range = ioctl(fd, ACCELIOCGRANGE, 0); - warnx("accel: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d m/s", srate, prate, range); + warnx("accel: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d G", srate, prate, range); close(fd); } diff --git a/src/systemcmds/eeprom/eeprom.c b/src/systemcmds/eeprom/eeprom.c index 49da513580..2aed80e011 100644 --- a/src/systemcmds/eeprom/eeprom.c +++ b/src/systemcmds/eeprom/eeprom.c @@ -55,7 +55,7 @@ #include #include -#include +#include #include "systemlib/systemlib.h" #include "systemlib/param/param.h" diff --git a/src/systemcmds/esc_calib/esc_calib.c b/src/systemcmds/esc_calib/esc_calib.c new file mode 100644 index 0000000000..188fa4e371 --- /dev/null +++ b/src/systemcmds/esc_calib/esc_calib.c @@ -0,0 +1,250 @@ +/**************************************************************************** + * + * 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 esc_calib.c + * + * Tool for ESC calibration + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include + +#include "systemlib/systemlib.h" +#include "systemlib/err.h" +#include "drivers/drv_pwm_output.h" + +static void usage(const char *reason); +__EXPORT int esc_calib_main(int argc, char *argv[]); + +#define MAX_CHANNELS 8 + +static void +usage(const char *reason) +{ + if (reason != NULL) + warnx("%s", reason); + errx(1, + "usage:\n" + "esc_calib [-d ] \n" + " PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n" + " Provide channels (e.g.: 1 2 3 4)\n" + ); + +} + +int +esc_calib_main(int argc, char *argv[]) +{ + const char *dev = PWM_OUTPUT_DEVICE_PATH; + char *ep; + bool channels_selected[MAX_CHANNELS] = {false}; + int ch; + int ret; + char c; + + if (argc < 2) + usage(NULL); + + while ((ch = getopt(argc, argv, "d:")) != EOF) { + switch (ch) { + + case 'd': + dev = optarg; + argc--; + break; + + default: + usage(NULL); + } + } + + if(argc < 1) { + usage("no channels provided"); + } + + while (--argc) { + const char *arg = argv[argc]; + unsigned channel_number = strtol(arg, &ep, 0); + + if (*ep == '\0') { + if (channel_number > MAX_CHANNELS || channel_number <= 0) { + err(1, "invalid channel number: %d", channel_number); + } else { + channels_selected[channel_number-1] = true; + + } + } + } + + /* Wait for confirmation */ + int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY); + if (!console) + err(1, "failed opening console"); + + warnx("ATTENTION, please remove or fix props before starting calibration!\n" + "\n" + "Also press the arming switch first for safety off\n" + "\n" + "Do you really want to start calibration: y or n?\n"); + + /* wait for user input */ + while (1) { + + if (read(console, &c, 1) == 1) { + if (c == 'y' || c == 'Y') { + + break; + } else if (c == 0x03 || c == 0x63 || c == 'q') { + warnx("ESC calibration exited"); + close(console); + exit(0); + } else if (c == 'n' || c == 'N') { + warnx("ESC calibration aborted"); + close(console); + exit(0); + } else { + warnx("Unknown input, ESC calibration aborted"); + close(console); + exit(0); + } + } + /* rate limit to ~ 20 Hz */ + usleep(50000); + } + + /* open for ioctl only */ + int fd = open(dev, 0); + if (fd < 0) + err(1, "can't open %s", dev); + + // XXX arming not necessaire at the moment + // /* Then arm */ + // ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0); + // if (ret != OK) + // err(1, "PWM_SERVO_SET_ARM_OK"); + + // ret = ioctl(fd, PWM_SERVO_ARM, 0); + // if (ret != OK) + // err(1, "PWM_SERVO_ARM"); + + + + + /* Wait for user confirmation */ + warnx("Set high PWM\n" + "Connect battery now and hit ENTER after the ESCs confirm the first calibration step"); + + while (1) { + + /* First set high PWM */ + for (unsigned i = 0; i -#include +#include #include "systemlib/systemlib.h" #include "systemlib/err.h" diff --git a/src/systemcmds/nshterm/module.mk b/src/systemcmds/nshterm/module.mk new file mode 100644 index 0000000000..a485885354 --- /dev/null +++ b/src/systemcmds/nshterm/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2012, 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. +# +############################################################################ + +# +# Build nshterm utility +# + +MODULE_COMMAND = nshterm +SRCS = nshterm.c + +MODULE_STACKSIZE = 3000 diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c new file mode 100644 index 0000000000..458bb2259e --- /dev/null +++ b/src/systemcmds/nshterm/nshterm.c @@ -0,0 +1,115 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: Andrew Tridgell + * + * 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 nshterm.c + * start a nsh terminal on a given port. This can be useful for error + * handling in startup scripts to start a nsh shell on /dev/ttyACM0 + * for diagnostics + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +__EXPORT int nshterm_main(int argc, char *argv[]); + +int +nshterm_main(int argc, char *argv[]) +{ + if (argc < 2) { + printf("Usage: nshterm \n"); + exit(1); + } + uint8_t retries = 0; + int fd = -1; + while (retries < 50) { + /* the retries are to cope with the behaviour of /dev/ttyACM0 */ + /* which may not be ready immediately. */ + fd = open(argv[1], O_RDWR); + if (fd != -1) { + break; + } + usleep(100000); + retries++; + } + if (fd == -1) { + perror(argv[1]); + exit(1); + } + + /* set up the serial port with output processing */ + + /* Try to set baud rate */ + struct termios uart_config; + int termios_state; + + /* Back up the original uart configuration to restore it after exit */ + if ((termios_state = tcgetattr(fd, &uart_config)) < 0) { + warnx("ERROR get termios config %s: %d\n", argv[1], termios_state); + close(fd); + return -1; + } + + /* Set ONLCR flag (which appends a CR for every LF) */ + uart_config.c_oflag |= (ONLCR | OPOST/* | OCRNL*/); + + if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) { + warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", argv[1]); + close(fd); + return -1; + } + + /* setup standard file descriptors */ + close(0); + close(1); + close(2); + dup2(fd, 0); + dup2(fd, 1); + dup2(fd, 2); + + nsh_consolemain(0, NULL); + + close(fd); + + return OK; +} diff --git a/src/systemcmds/preflight_check/preflight_check.c b/src/systemcmds/preflight_check/preflight_check.c index d1dd85d479..f5bd01ce8c 100644 --- a/src/systemcmds/preflight_check/preflight_check.c +++ b/src/systemcmds/preflight_check/preflight_check.c @@ -57,6 +57,7 @@ #include #include +#include __EXPORT int preflight_check_main(int argc, char *argv[]); static int led_toggle(int leds, int led); @@ -139,101 +140,11 @@ int preflight_check_main(int argc, char *argv[]) /* ---- RC CALIBRATION ---- */ - param_t _parameter_handles_min, _parameter_handles_trim, _parameter_handles_max, - _parameter_handles_rev, _parameter_handles_dz; + bool rc_ok = (OK == rc_calibration_check()); - float param_min, param_max, param_trim, param_rev, param_dz; - - bool rc_ok = true; - char nbuf[20]; - - /* first check channel mappings */ - /* check which map param applies */ - // if (map_by_channel[i] >= MAX_CONTROL_CHANNELS) { - // mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAP >= # CHANS", i+1); - // /* give system time to flush error message in case there are more */ - // usleep(100000); - // count++; - // } - - for (int i = 0; i < 12; i++) { - /* should the channel be enabled? */ - uint8_t count = 0; - - /* min values */ - sprintf(nbuf, "RC%d_MIN", i + 1); - _parameter_handles_min = param_find(nbuf); - param_get(_parameter_handles_min, ¶m_min); - - /* trim values */ - sprintf(nbuf, "RC%d_TRIM", i + 1); - _parameter_handles_trim = param_find(nbuf); - param_get(_parameter_handles_trim, ¶m_trim); - - /* max values */ - sprintf(nbuf, "RC%d_MAX", i + 1); - _parameter_handles_max = param_find(nbuf); - param_get(_parameter_handles_max, ¶m_max); - - /* channel reverse */ - sprintf(nbuf, "RC%d_REV", i + 1); - _parameter_handles_rev = param_find(nbuf); - param_get(_parameter_handles_rev, ¶m_rev); - - /* channel deadzone */ - sprintf(nbuf, "RC%d_DZ", i + 1); - _parameter_handles_dz = param_find(nbuf); - param_get(_parameter_handles_dz, ¶m_dz); - - /* assert min..center..max ordering */ - if (param_min < 500) { - count++; - mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MIN < 500", i+1); - /* give system time to flush error message in case there are more */ - usleep(100000); - } - if (param_max > 2500) { - count++; - mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAX > 2500", i+1); - /* give system time to flush error message in case there are more */ - usleep(100000); - } - if (param_trim < param_min) { - count++; - mavlink_log_critical(mavlink_fd, "ERR: RC_%d_TRIM < MIN", i+1); - /* give system time to flush error message in case there are more */ - usleep(100000); - } - if (param_trim > param_max) { - count++; - mavlink_log_critical(mavlink_fd, "ERR: RC_%d_TRIM > MAX", i+1); - /* give system time to flush error message in case there are more */ - usleep(100000); - } - - /* assert deadzone is sane */ - if (param_dz > 500) { - mavlink_log_critical(mavlink_fd, "ERR: RC_%d_DZ > 500", i+1); - /* give system time to flush error message in case there are more */ - usleep(100000); - count++; - } - - /* check which map param applies */ - // if (map_by_channel[i] >= MAX_CONTROL_CHANNELS) { - // mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAP >= # CHANS", i+1); - // /* give system time to flush error message in case there are more */ - // usleep(100000); - // count++; - // } - - /* sanity checks pass, enable channel */ - if (count) { - mavlink_log_critical(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1)); - usleep(100000); - rc_ok = false; - } - } + /* warn */ + if (!rc_ok) + warnx("rc calibration test failed"); /* require RC ok to keep system_ok */ system_ok &= rc_ok; @@ -249,6 +160,9 @@ system_eval: } else { fflush(stdout); + warnx("PREFLIGHT CHECK ERROR! TRIGGERING ALARM"); + fflush(stderr); + int buzzer = open("/dev/tone_alarm", O_WRONLY); int leds = open(LED_DEVICE_PATH, 0); @@ -263,21 +177,21 @@ system_eval: led_toggle(leds, LED_BLUE); /* display and sound error */ - for (int i = 0; i < 150; i++) + for (int i = 0; i < 50; i++) { led_toggle(leds, LED_BLUE); led_toggle(leds, LED_AMBER); if (i % 10 == 0) { - ioctl(buzzer, TONE_SET_ALARM, 4); + ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEUTRAL_TUNE); } else if (i % 5 == 0) { - ioctl(buzzer, TONE_SET_ALARM, 2); + ioctl(buzzer, TONE_SET_ALARM, TONE_ERROR_TUNE); } usleep(100000); } /* stop alarm */ - ioctl(buzzer, TONE_SET_ALARM, 0); + ioctl(buzzer, TONE_SET_ALARM, TONE_STOP_TUNE); /* switch on leds */ led_on(leds, LED_BLUE); diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c index e150b5a74b..c42a36c7f3 100644 --- a/src/systemcmds/pwm/pwm.c +++ b/src/systemcmds/pwm/pwm.c @@ -180,7 +180,8 @@ pwm_main(int argc, char *argv[]) } /* iterate remaining arguments */ - unsigned channel = 0; + unsigned nchannels = 0; + unsigned channel[8] = {0}; while (argc--) { const char *arg = argv[0]; argv++; @@ -204,13 +205,15 @@ pwm_main(int argc, char *argv[]) } unsigned pwm_value = strtol(arg, &ep, 0); if (*ep == '\0') { - ret = ioctl(fd, PWM_SERVO_SET(channel), pwm_value); - if (ret != OK) - err(1, "PWM_SERVO_SET(%d)", channel); - channel++; + if (nchannels > sizeof(channel) / sizeof(channel[0])) + err(1, "too many pwm values (max %d)", sizeof(channel) / sizeof(channel[0])); + + channel[nchannels] = pwm_value; + nchannels++; + continue; } - usage("unrecognised option"); + usage("unrecognized option"); } /* print verbose info */ @@ -250,5 +253,38 @@ pwm_main(int argc, char *argv[]) } fflush(stdout); } + + /* perform PWM output */ + if (nchannels) { + + /* Open console directly to grab CTRL-C signal */ + int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY); + if (!console) + err(1, "failed opening console"); + + warnx("Press CTRL-C or 'c' to abort."); + + while (1) { + for (int i = 0; i < nchannels; i++) { + ret = ioctl(fd, PWM_SERVO_SET(i), channel[i]); + if (ret != OK) + err(1, "PWM_SERVO_SET(%d)", i); + } + + /* abort on user request */ + char c; + if (read(console, &c, 1) == 1) { + if (c == 0x03 || c == 0x63 || c == 'q') { + warnx("User abort\n"); + close(console); + exit(0); + } + } + + /* rate limit to ~ 20 Hz */ + usleep(50000); + } + } + exit(0); } \ No newline at end of file diff --git a/src/systemcmds/reboot/reboot.c b/src/systemcmds/reboot/reboot.c index 47d3cd9486..91a2c2eb8d 100644 --- a/src/systemcmds/reboot/reboot.c +++ b/src/systemcmds/reboot/reboot.c @@ -40,14 +40,31 @@ #include #include #include +#include #include +#include __EXPORT int reboot_main(int argc, char *argv[]); int reboot_main(int argc, char *argv[]) { - up_systemreset(); + int ch; + bool to_bootloader = false; + + while ((ch = getopt(argc, argv, "b")) != -1) { + switch (ch) { + case 'b': + to_bootloader = true; + break; + default: + errx(1, "usage: reboot [-b]\n" + " -b reboot into the bootloader"); + + } + } + + systemreset(to_bootloader); } diff --git a/src/systemcmds/tests/test_hrt.c b/src/systemcmds/tests/test_hrt.c index f6e540401f..ba6b86adba 100644 --- a/src/systemcmds/tests/test_hrt.c +++ b/src/systemcmds/tests/test_hrt.c @@ -137,7 +137,7 @@ int test_tone(int argc, char *argv[]) tone = atoi(argv[1]); if (tone == 0) { - result = ioctl(fd, TONE_SET_ALARM, 0); + result = ioctl(fd, TONE_SET_ALARM, TONE_STOP_TUNE); if (result < 0) { printf("failed clearing alarms\n"); @@ -148,7 +148,7 @@ int test_tone(int argc, char *argv[]) } } else { - result = ioctl(fd, TONE_SET_ALARM, 0); + result = ioctl(fd, TONE_SET_ALARM, TONE_STOP_TUNE); if (result < 0) { printf("failed clearing alarms\n"); diff --git a/src/systemcmds/tests/tests_file.c b/src/systemcmds/tests/tests_file.c index 6f75b9812e..47f480758c 100644 --- a/src/systemcmds/tests/tests_file.c +++ b/src/systemcmds/tests/tests_file.c @@ -76,9 +76,39 @@ test_file(int argc, char *argv[]) close(fd); + unlink("/fs/microsd/testfile"); + warnx("512KiB in %llu microseconds", end - start); perf_print_counter(wperf); perf_free(wperf); + warnx("running unlink test"); + + /* ensure that common commands do not run against file count limits */ + for (unsigned i = 0; i < 64; i++) { + + warnx("unlink iteration #%u", i); + + int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT); + if (fd < 0) + errx(1, "failed opening test file before unlink()"); + int ret = write(fd, buf, sizeof(buf)); + if (ret < 0) + errx(1, "failed writing test file before unlink()"); + close(fd); + + ret = unlink("/fs/microsd/testfile"); + if (ret != OK) + errx(1, "failed unlinking test file"); + + fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT); + if (fd < 0) + errx(1, "failed opening test file after unlink()"); + ret = write(fd, buf, sizeof(buf)); + if (ret < 0) + errx(1, "failed writing test file after unlink()"); + close(fd); + } + return 0; } diff --git a/src/systemcmds/top/top.c b/src/systemcmds/top/top.c index 0d064a05eb..1ca3fc9281 100644 --- a/src/systemcmds/top/top.c +++ b/src/systemcmds/top/top.c @@ -107,9 +107,6 @@ top_main(void) float interval_time_ms_inv = 0.f; - /* Open console directly to grab CTRL-C signal */ - int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY); - /* clear screen */ printf("\033[2J"); @@ -256,17 +253,24 @@ top_main(void) interval_start_time = new_time; /* Sleep 200 ms waiting for user input five times ~ 1s */ - /* XXX use poll ... */ for (int k = 0; k < 5; k++) { char c; - if (read(console, &c, 1) == 1) { + struct pollfd fds; + int ret; + fds.fd = 0; /* stdin */ + fds.events = POLLIN; + ret = poll(&fds, 1, 0); + + if (ret > 0) { + + read(0, &c, 1); + switch (c) { case 0x03: // ctrl-c case 0x1b: // esc case 'c': case 'q': - close(console); return OK; /* not reached */ } @@ -278,7 +282,5 @@ top_main(void) new_time = hrt_absolute_time(); } - close(console); - return OK; }