From 7a9608e54b69568b530d237f3f6f3313cd404167 Mon Sep 17 00:00:00 2001 From: Marco Hauswirth <58551738+haumarco@users.noreply.github.com> Date: Mon, 20 Jan 2025 20:43:30 +0100 Subject: [PATCH 01/48] increase EKF2_RNG_FOG for FW and VTOL --- ROMFS/px4fmu_common/init.d/rc.mc_defaults | 3 +++ src/modules/ekf2/params_range_finder.yaml | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults index 7b2b9b095d..db11cedbb3 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -21,3 +21,6 @@ param set-default RTL_RETURN_ALT 30 param set-default RTL_DESCEND_ALT 10 param set-default GPS_UBX_DYNMODEL 6 + +# lower RNG_FOG since MC are expected to fly closer over obstacles +param set-default EKF2_RNG_FOG 1.0 diff --git a/src/modules/ekf2/params_range_finder.yaml b/src/modules/ekf2/params_range_finder.yaml index 78c30bbcca..97f60bdff4 100644 --- a/src/modules/ekf2/params_range_finder.yaml +++ b/src/modules/ekf2/params_range_finder.yaml @@ -158,7 +158,7 @@ parameters: If there's a jump from larger than RNG_FOG to smaller than EKF2_RNG_FOG, the measurement may gets rejected. 0 - disabled type: float - default: 1.0 + default: 3.0 min: 0.0 max: 20.0 unit: m From af062c85eb98070bb88044ac0531c803ae70bc55 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Tue, 14 Jan 2025 10:33:24 +0100 Subject: [PATCH 02/48] Revert "FLightTaskAuto: limit nudging speed based on distance sensor" This reverts commit 97cb933cff6d837e59dd55123804cd78abdca22a. --- .../flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp | 6 ------ 1 file changed, 6 deletions(-) diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp index 834f79465f..8e19ffd5a3 100644 --- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp +++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp @@ -282,12 +282,6 @@ void FlightTaskAuto::_prepareLandSetpoints() sticks_xy.setZero(); } - // If ground distance estimate valid (distance sensor) during nudging then limit horizontal speed - if (PX4_ISFINITE(_dist_to_bottom)) { - // Below 50cm no horizontal speed, above allow per meter altitude 0.5m/s speed - max_speed = math::max(0.f, math::min(max_speed, (_dist_to_bottom - .5f) * .5f)); - } - _stick_acceleration_xy.setVelocityConstraint(max_speed); _stick_acceleration_xy.generateSetpoints(sticks_xy, _yaw, _land_heading, _position, _velocity_setpoint_feedback.xy(), _deltatime); From 25e76883b75c6fba04869e4aa01f58364e831a13 Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Thu, 9 Jan 2025 20:33:42 +0300 Subject: [PATCH 03/48] Integrator: use 32bit integer to store dt to avoid overflow Signed-off-by: RomanBapst --- src/modules/sensors/Integrator.hpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/sensors/Integrator.hpp b/src/modules/sensors/Integrator.hpp index b6c26f331e..7895bd0c5b 100644 --- a/src/modules/sensors/Integrator.hpp +++ b/src/modules/sensors/Integrator.hpp @@ -55,7 +55,7 @@ public: ~Integrator() = default; static constexpr float DT_MIN{1e-6f}; // 1 microsecond - static constexpr float DT_MAX{static_cast(UINT16_MAX) * 1e-6f}; + static constexpr float DT_MAX{static_cast(UINT32_MAX) * 1e-6f}; /** * Put an item into the integral. @@ -111,7 +111,7 @@ public: * @param integral_dt Get the dt in us of the current integration. * @return true if integral valid */ - bool reset(matrix::Vector3f &integral, uint16_t &integral_dt) + bool reset(matrix::Vector3f &integral, uint32_t &integral_dt) { if (integral_ready()) { integral = _alpha; @@ -200,7 +200,7 @@ public: * @param integral_dt Get the dt in us of the current integration. * @return true if integral valid */ - bool reset(matrix::Vector3f &integral, uint16_t &integral_dt) + bool reset(matrix::Vector3f &integral, uint32_t &integral_dt) { if (Integrator::reset(integral, integral_dt)) { // apply coning corrections From c7e494b8d92f10dea161fa63ac209d5f74b12e7b Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Thu, 9 Jan 2025 20:34:31 +0300 Subject: [PATCH 04/48] VehicleImu: use 32 bit integer for dt Signed-off-by: RomanBapst --- msg/VehicleImu.msg | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/msg/VehicleImu.msg b/msg/VehicleImu.msg index a71bb7a01f..24912e06fb 100644 --- a/msg/VehicleImu.msg +++ b/msg/VehicleImu.msg @@ -9,8 +9,8 @@ uint32 gyro_device_id # Gyroscope unique device ID for the sensor that float32[3] delta_angle # delta angle about the FRD body frame XYZ-axis in rad over the integration time frame (delta_angle_dt) float32[3] delta_velocity # delta velocity in the FRD body frame XYZ-axis in m/s over the integration time frame (delta_velocity_dt) -uint16 delta_angle_dt # integration period in microseconds -uint16 delta_velocity_dt # integration period in microseconds +uint32 delta_angle_dt # integration period in microseconds +uint32 delta_velocity_dt # integration period in microseconds uint8 CLIPPING_X = 1 uint8 CLIPPING_Y = 2 From f36b45b2ff757329c483a22e97d2c4177a590795 Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Mon, 13 Jan 2025 11:12:38 +0300 Subject: [PATCH 05/48] VehicleOpticalFlow: use 32bit integer for dt Signed-off-by: RomanBapst --- src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.cpp b/src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.cpp index 334df661bb..f7d573d927 100644 --- a/src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.cpp +++ b/src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.cpp @@ -161,7 +161,7 @@ void VehicleOpticalFlow::Run() } Vector3f delta_angle{NAN, NAN, NAN}; - uint16_t delta_angle_dt; + uint32_t delta_angle_dt; if (_gyro_integrator.reset(delta_angle, delta_angle_dt)) { _delta_angle += delta_angle; From 8d1bfb77c6780cae27a8744523b58659b6a6880d Mon Sep 17 00:00:00 2001 From: Alex Klimaj Date: Tue, 21 Jan 2025 10:59:37 -0700 Subject: [PATCH 06/48] boards: ark fpv add gimbal module (#24229) --- boards/ark/fpv/default.px4board | 1 + 1 file changed, 1 insertion(+) diff --git a/boards/ark/fpv/default.px4board b/boards/ark/fpv/default.px4board index ff3c09f754..095141f633 100644 --- a/boards/ark/fpv/default.px4board +++ b/boards/ark/fpv/default.px4board @@ -36,6 +36,7 @@ CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y CONFIG_MODULES_LAND_DETECTOR=y From 918eca8de47c5ad435fd4e1de0390d7cc1ec5bf7 Mon Sep 17 00:00:00 2001 From: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> Date: Tue, 21 Jan 2025 12:14:38 -0900 Subject: [PATCH 07/48] gz: increase timeout for service request (#24164) * gz: increase timeout for service request * change error messages to warnings, specify retrying * fix typo --- src/modules/simulation/gz_bridge/GZBridge.cpp | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp index 2dc1ef13e4..e7b3ea484e 100644 --- a/src/modules/simulation/gz_bridge/GZBridge.cpp +++ b/src/modules/simulation/gz_bridge/GZBridge.cpp @@ -141,7 +141,7 @@ int GZBridge::init() // If Gazebo has not been called, wait 2 seconds and try again. else { - PX4_WARN("Service call timed out as Gazebo has not been detected."); + PX4_WARN("Service call timed out as Gazebo has not been detected. Retrying..."); system_usleep(2000000); } } @@ -159,7 +159,7 @@ int GZBridge::init() while (scene_created == false) { if (!callSceneInfoMsgService(scene_info_service)) { - PX4_WARN("Service call timed out as Gazebo has not been detected."); + PX4_WARN("Service call timed out as Gazebo has not been detected. Retrying..."); system_usleep(2000000); } else { @@ -919,7 +919,7 @@ bool GZBridge::callEntityFactoryService(const std::string &service, const gz::ms } } else { - PX4_ERR("Service call timed out. Check GZ_SIM_RESOURCE_PATH is set correctly."); + PX4_WARN("Service call timed out. Check GZ_SIM_RESOURCE_PATH is set correctly."); return false; } @@ -932,7 +932,7 @@ bool GZBridge::callSceneInfoMsgService(const std::string &service) gz::msgs::Empty req; gz::msgs::Scene rep; - if (_node.Request(service, req, 1000, rep, result)) { + if (_node.Request(service, req, 3000, rep, result)) { if (!result) { PX4_ERR("Scene Info service call failed."); return false; @@ -942,7 +942,7 @@ bool GZBridge::callSceneInfoMsgService(const std::string &service) } } else { - PX4_ERR("Service call timed out. Check GZ_SIM_RESOURCE_PATH is set correctly."); + PX4_WARN("Service call timed out. Check GZ_SIM_RESOURCE_PATH is set correctly."); return false; } @@ -955,7 +955,7 @@ bool GZBridge::callStringMsgService(const std::string &service, const gz::msgs:: gz::msgs::Boolean rep; - if (_node.Request(service, req, 1000, rep, result)) { + if (_node.Request(service, req, 3000, rep, result)) { if (!rep.data() || !result) { PX4_ERR("String service call failed"); return false; @@ -964,7 +964,7 @@ bool GZBridge::callStringMsgService(const std::string &service, const gz::msgs:: } else { - PX4_ERR("Service call timed out: %s", service.c_str()); + PX4_WARN("Service call timed out: %s", service.c_str()); return false; } @@ -977,7 +977,7 @@ bool GZBridge::callVector3dService(const std::string &service, const gz::msgs::V gz::msgs::Boolean rep; - if (_node.Request(service, req, 1000, rep, result)) { + if (_node.Request(service, req, 3000, rep, result)) { if (!rep.data() || !result) { PX4_ERR("String service call failed"); return false; @@ -986,7 +986,7 @@ bool GZBridge::callVector3dService(const std::string &service, const gz::msgs::V } else { - PX4_ERR("Service call timed out: %s", service.c_str()); + PX4_WARN("Service call timed out: %s", service.c_str()); return false; } From a3215419d79e55c0acc5689270d675f7ba090499 Mon Sep 17 00:00:00 2001 From: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> Date: Tue, 21 Jan 2025 14:47:25 -0900 Subject: [PATCH 08/48] gz: remove model spawn offset (#24165) --- src/modules/simulation/gz_bridge/GZBridge.cpp | 6 ------ 1 file changed, 6 deletions(-) diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp index e7b3ea484e..23684e76c1 100644 --- a/src/modules/simulation/gz_bridge/GZBridge.cpp +++ b/src/modules/simulation/gz_bridge/GZBridge.cpp @@ -95,12 +95,6 @@ int GZBridge::init() model_pose_v.push_back(0.0); } - // If model position z is less equal than 0, move above floor to prevent floor glitching - if (model_pose_v[2] <= 0.0) { - PX4_INFO("Model position z is less or equal 0.0, moving upwards"); - model_pose_v[2] = 0.5; - } - gz::msgs::Pose *p = req.mutable_pose(); gz::msgs::Vector3d *position = p->mutable_position(); position->set_x(model_pose_v[0]); From 1900d2c98f4a0d73184cd373f91cbc87540ecabc Mon Sep 17 00:00:00 2001 From: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> Date: Tue, 21 Jan 2025 14:48:05 -0900 Subject: [PATCH 09/48] uavcan: fix hw_errors from mutex lock, hide ESC/Servo status if no function set (#23888) --- src/drivers/uavcan/uavcan_main.cpp | 30 ++++++++++++++++++++---------- 1 file changed, 20 insertions(+), 10 deletions(-) diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp index 5d3ac60b62..ad39a943a7 100644 --- a/src/drivers/uavcan/uavcan_main.cpp +++ b/src/drivers/uavcan/uavcan_main.cpp @@ -1073,8 +1073,6 @@ void UavcanMixingInterfaceServo::Run() void UavcanNode::print_info() { - (void)pthread_mutex_lock(&_node_mutex); - // Memory status printf("Pool allocator status:\n"); printf("\tCapacity hard/soft: %" PRIu16 "/%" PRIu16 " blocks\n", @@ -1112,15 +1110,29 @@ UavcanNode::print_info() printf("\n"); #if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER) - printf("ESC outputs:\n"); - _mixing_interface_esc.mixingOutput().printStatus(); - printf("Servo outputs:\n"); - _mixing_interface_servo.mixingOutput().printStatus(); + // Print esc status if at least one channel is enabled + for (int i = 0; i < OutputModuleInterface::MAX_ACTUATORS; i++) { + if (_mixing_interface_esc.mixingOutput().isFunctionSet(i)) { + printf("ESC outputs:\n"); + _mixing_interface_esc.mixingOutput().printStatus(); + printf("\n"); + break; + } + } + + // Print servo status if at least one channel is enabled + for (int i = 0; i < OutputModuleInterface::MAX_ACTUATORS; i++) { + if (_mixing_interface_servo.mixingOutput().isFunctionSet(i)) { + printf("Servo outputs:\n"); + _mixing_interface_servo.mixingOutput().printStatus(); + printf("\n"); + break; + } + } + #endif - printf("\n"); - // Sensor bridges for (const auto &br : _sensor_bridges) { printf("Sensor '%s':\n", br->get_name()); @@ -1140,8 +1152,6 @@ UavcanNode::print_info() perf_print_counter(_cycle_perf); perf_print_counter(_interval_perf); - - (void)pthread_mutex_unlock(&_node_mutex); } void From caaae6ed5191e0dea9df562938815fff80350834 Mon Sep 17 00:00:00 2001 From: bresch Date: Fri, 17 Jan 2025 10:27:31 +0100 Subject: [PATCH 10/48] ekf2: allow sideslip fusion to always start with airspeed fusion This allow sideslip fusion to start during VTOL front transition or even on a multirotor with a vertical stabilizer and an airspeed sensor for example. --- .../ekf2/EKF/aid_sources/sideslip/sideslip_fusion.cpp | 2 +- src/modules/ekf2/EKF2.hpp | 9 +++------ src/modules/ekf2/params_sideslip.yaml | 4 ++-- 3 files changed, 6 insertions(+), 9 deletions(-) diff --git a/src/modules/ekf2/EKF/aid_sources/sideslip/sideslip_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/sideslip/sideslip_fusion.cpp index b2948629e4..d529e5e994 100644 --- a/src/modules/ekf2/EKF/aid_sources/sideslip/sideslip_fusion.cpp +++ b/src/modules/ekf2/EKF/aid_sources/sideslip/sideslip_fusion.cpp @@ -50,7 +50,7 @@ void Ekf::controlBetaFusion(const imuSample &imu_delayed) { _control_status.flags.fuse_beta = _params.beta_fusion_enabled - && _control_status.flags.fixed_wing + && (_control_status.flags.fixed_wing || _control_status.flags.fuse_aspd) && _control_status.flags.in_air && !_control_status.flags.fake_pos; diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp index 0bec478e0d..deb08c5a60 100644 --- a/src/modules/ekf2/EKF2.hpp +++ b/src/modules/ekf2/EKF2.hpp @@ -573,12 +573,9 @@ private: #endif // CONFIG_EKF2_AIRSPEED #if defined(CONFIG_EKF2_SIDESLIP) - (ParamExtFloat) - _param_ekf2_beta_gate, ///< synthetic sideslip innovation consistency gate size (STD) - (ParamExtFloat) _param_ekf2_beta_noise, ///< synthetic sideslip noise (rad) - - (ParamExtInt) - _param_ekf2_fuse_beta, ///< Controls synthetic sideslip fusion, 0 disables, 1 enables + (ParamExtFloat) _param_ekf2_beta_gate, + (ParamExtFloat) _param_ekf2_beta_noise, + (ParamExtInt) _param_ekf2_fuse_beta, #endif // CONFIG_EKF2_SIDESLIP #if defined(CONFIG_EKF2_MAGNETOMETER) diff --git a/src/modules/ekf2/params_sideslip.yaml b/src/modules/ekf2/params_sideslip.yaml index 49d5467fcc..0dcec672ad 100644 --- a/src/modules/ekf2/params_sideslip.yaml +++ b/src/modules/ekf2/params_sideslip.yaml @@ -6,8 +6,8 @@ parameters: description: short: Enable synthetic sideslip fusion long: 'For reliable wind estimation both sideslip and airspeed fusion (see - EKF2_ARSP_THR) should be enabled. Only applies to fixed-wing vehicles (or - VTOLs in fixed-wing mode). Note: side slip fusion is currently not supported + EKF2_ARSP_THR) should be enabled. Only applies to vehicles in fixed-wing mode + or with airspeed fusion active. Note: side slip fusion is currently not supported for tailsitters.' type: boolean default: 0 From ee150a15b41bc657b31ff70d59f711a522d433f3 Mon Sep 17 00:00:00 2001 From: PavloZMN Date: Wed, 22 Jan 2025 12:58:07 +0200 Subject: [PATCH 11/48] Optical Flow: add unit testes for only using downward distance sensor (#23266) * Test for Optical Flow checks correct camera position * Formatting fixed * Update src/modules/sensors/vehicle_optical_flow/test/CMakeLists.txt Co-authored-by: Mathieu Bresciani * Update src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp Co-authored-by: Mathieu Bresciani * Update src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp Co-authored-by: Silvan Fuhrer * For test GIVEN/WHEN/THEN added --------- Co-authored-by: Mathieu Bresciani Co-authored-by: Silvan Fuhrer --- .../vehicle_optical_flow/CMakeLists.txt | 4 + .../VehicleOpticalFlow.hpp | 6 +- .../vehicle_optical_flow/test/CMakeLists.txt | 35 ++++++ .../test/VehicleOpticalFlowTest.cpp | 118 ++++++++++++++++++ 4 files changed, 161 insertions(+), 2 deletions(-) create mode 100644 src/modules/sensors/vehicle_optical_flow/test/CMakeLists.txt create mode 100644 src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp diff --git a/src/modules/sensors/vehicle_optical_flow/CMakeLists.txt b/src/modules/sensors/vehicle_optical_flow/CMakeLists.txt index ba8761aa00..bf543c0636 100644 --- a/src/modules/sensors/vehicle_optical_flow/CMakeLists.txt +++ b/src/modules/sensors/vehicle_optical_flow/CMakeLists.txt @@ -36,3 +36,7 @@ px4_add_library(vehicle_optical_flow VehicleOpticalFlow.hpp ) target_link_libraries(vehicle_optical_flow PRIVATE px4_work_queue) + +if(BUILD_TESTING) + add_subdirectory(test) +endif() diff --git a/src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.hpp b/src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.hpp index 5a5ed1663b..dd3022c709 100644 --- a/src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.hpp +++ b/src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.hpp @@ -73,9 +73,12 @@ public: void PrintStatus(); +protected: + void UpdateDistanceSensor(); + int _distance_sensor_selected{-1}; // because we can have several distance sensor instances with different orientations + private: void ClearAccumulatedData(); - void UpdateDistanceSensor(); void UpdateSensorGyro(); void Run() override; @@ -117,7 +120,6 @@ private: uint16_t _quality_sum{0}; uint8_t _accumulated_count{0}; - int _distance_sensor_selected{-1}; // because we can have several distance sensor instances with different orientations hrt_abstime _last_range_sensor_update{0}; bool _delta_angle_available{false}; diff --git a/src/modules/sensors/vehicle_optical_flow/test/CMakeLists.txt b/src/modules/sensors/vehicle_optical_flow/test/CMakeLists.txt new file mode 100644 index 0000000000..e3d89c05a2 --- /dev/null +++ b/src/modules/sensors/vehicle_optical_flow/test/CMakeLists.txt @@ -0,0 +1,35 @@ +############################################################################ +# +# Copyright (c) 2024 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. +# +############################################################################ + +px4_add_functional_gtest(SRC VehicleOpticalFlowTest.cpp LINKLIBS vehicle_optical_flow uORB sensor_calibration) diff --git a/src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp b/src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp new file mode 100644 index 0000000000..a97a6ba1ee --- /dev/null +++ b/src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp @@ -0,0 +1,118 @@ +/**************************************************************************** + * + * Copyright (c) 2024 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. + * + ****************************************************************************/ + +/** + * Test for VehicleOpticalFlow + */ + +#include +#include "../VehicleOpticalFlow.hpp" +#include +#include + + +distance_sensor_s createDistanceSensorMessage(uint16_t orientation) +{ + distance_sensor_s message; + message.timestamp = hrt_absolute_time(); + message.min_distance = 1.f; + message.max_distance = 100.f; + message.current_distance = 1.1f; + + message.variance = 0.1f; + message.signal_quality = 100; + message.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER; + message.orientation = orientation; + message.h_fov = math::radians(50.f); + message.v_fov = math::radians(30.f); + return message; + +} + +class VehicleOpticalFlowTest : public ::testing::Test +{ +public: + + class VehicleOpticalFlowTestable : public sensors::VehicleOpticalFlow + { + public: + void UpdateDistanceSensorPublic() + { + VehicleOpticalFlow::UpdateDistanceSensor(); + } + bool IsDistanceSensorSelected() + { + return _distance_sensor_selected >= 0; + + } + }; + + void SetUp() override + { + uORB::Manager::initialize(); + + } + void TearDown() override + { + uORB::Manager::terminate(); + } +}; + + +TEST_F(VehicleOpticalFlowTest, CameraFacingDown) +{ + // GIVEN: message with sensor camera facing down + distance_sensor_s message = createDistanceSensorMessage(distance_sensor_s::ROTATION_DOWNWARD_FACING); + orb_advertise(ORB_ID(distance_sensor), &message); + + // WHEN: update distance sensor + VehicleOpticalFlowTest::VehicleOpticalFlowTestable testable; + testable.UpdateDistanceSensorPublic(); + + // THEN: sensor selected + EXPECT_TRUE(testable.IsDistanceSensorSelected()); +} + +TEST_F(VehicleOpticalFlowTest, CameraFacingForward) +{ + // GIVEN: message with sensor camera facing forward + distance_sensor_s message = createDistanceSensorMessage(distance_sensor_s::ROTATION_FORWARD_FACING); + orb_advertise(ORB_ID(distance_sensor), &message); + + // WHEN: update distance sensor + VehicleOpticalFlowTest::VehicleOpticalFlowTestable testable; + testable.UpdateDistanceSensorPublic(); + + // THEN: sensor is not selected + EXPECT_FALSE(testable.IsDistanceSensorSelected()); +} From 57fdda597be4e14e3f493f6b55ef550bbb9bdccd Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Tue, 21 Jan 2025 16:52:25 +0300 Subject: [PATCH 12/48] vtol_takeoff: store altitude on takeoff and don't use home position altitude as vehicle does not need to be close to home position Signed-off-by: RomanBapst --- src/modules/navigator/vtol_takeoff.cpp | 4 +++- src/modules/navigator/vtol_takeoff.h | 1 + 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/src/modules/navigator/vtol_takeoff.cpp b/src/modules/navigator/vtol_takeoff.cpp index f9a552ef58..503a0279f9 100644 --- a/src/modules/navigator/vtol_takeoff.cpp +++ b/src/modules/navigator/vtol_takeoff.cpp @@ -118,7 +118,7 @@ VtolTakeoff::on_active() _mission_item.time_inside = 1.f; _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); - _mission_item.altitude = _navigator->get_home_position()->alt + _param_loiter_alt.get(); + _mission_item.altitude = _takeoff_alt_msl + _param_loiter_alt.get(); mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current); pos_sp_triplet->current.lat = _loiter_location(0); @@ -170,6 +170,8 @@ VtolTakeoff::set_takeoff_position() // set current mission item to takeoff set_takeoff_item(&_mission_item, _transition_alt_amsl); + _takeoff_alt_msl = _navigator->get_global_position()->alt; + _mission_item.lat = _navigator->get_global_position()->lat; _mission_item.lon = _navigator->get_global_position()->lon; diff --git a/src/modules/navigator/vtol_takeoff.h b/src/modules/navigator/vtol_takeoff.h index a353d89ce8..3ba32ce7df 100644 --- a/src/modules/navigator/vtol_takeoff.h +++ b/src/modules/navigator/vtol_takeoff.h @@ -70,6 +70,7 @@ private: } _takeoff_state; float _transition_alt_amsl{0.f}; // absolute altitude at which vehicle will transition to forward flight + float _takeoff_alt_msl{0.f}; matrix::Vector2d _loiter_location; float _loiter_height{0}; From 045c8d9831c67ac284c5ed710da618e2bff6df69 Mon Sep 17 00:00:00 2001 From: Roman Bapst Date: Wed, 22 Jan 2025 18:56:31 +0300 Subject: [PATCH 13/48] Mission feasibility checks: make adding new check less error prone (#24241) * make adding new feasibility checks less prone to errors Signed-off-by: RomanBapst * Update src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp Co-authored-by: Silvan Fuhrer --------- Signed-off-by: RomanBapst Co-authored-by: Silvan Fuhrer --- .../MissionFeasibility/FeasibilityChecker.cpp | 39 ++++++++----------- .../MissionFeasibility/FeasibilityChecker.hpp | 27 +++++++------ 2 files changed, 30 insertions(+), 36 deletions(-) diff --git a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp index dbaf173efa..c35d2c1bde 100644 --- a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp +++ b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp @@ -46,12 +46,7 @@ FeasibilityChecker::FeasibilityChecker() : void FeasibilityChecker::reset() { - _mission_validity_failed = false; - _takeoff_failed = false; - _land_pattern_validity_failed = false; - _distance_between_waypoints_failed = false; - _fixed_wing_land_approach_failed = false; - _takeoff_land_available_failed = false; + _checks_failed.value = 0; _found_item_with_position = false; _has_vtol_takeoff = false; @@ -155,11 +150,11 @@ bool FeasibilityChecker::processNextItem(mission_item_s &mission_item, const int updateData(); } - if (!_mission_validity_failed) { - _mission_validity_failed = !checkMissionItemValidity(mission_item, current_index); + if (!_checks_failed.flags.mission_validity_failed) { + _checks_failed.flags.mission_validity_failed = !checkMissionItemValidity(mission_item, current_index); } - if (_mission_validity_failed) { + if (_checks_failed.flags.mission_validity_failed) { // if a mission item is not valid then abort the other checks return false; } @@ -177,7 +172,7 @@ bool FeasibilityChecker::processNextItem(mission_item_s &mission_item, const int } if (current_index == total_count - 1) { - _takeoff_land_available_failed = !checkTakeoffLandAvailable(); + _checks_failed.flags.takeoff_land_available_failed = !checkTakeoffLandAvailable(); } _mission_item_previous = mission_item; @@ -188,39 +183,39 @@ bool FeasibilityChecker::processNextItem(mission_item_s &mission_item, const int void FeasibilityChecker::doCommonChecks(mission_item_s &mission_item, const int current_index) { - if (!_distance_between_waypoints_failed) { - _distance_between_waypoints_failed = !checkDistancesBetweenWaypoints(mission_item); + if (!_checks_failed.flags.distance_between_waypoints_failed) { + _checks_failed.flags.distance_between_waypoints_failed = !checkDistancesBetweenWaypoints(mission_item); } if (!_first_waypoint_found) { checkHorizontalDistanceToFirstWaypoint(mission_item); } - if (!_takeoff_failed) { - _takeoff_failed = !checkTakeoff(mission_item); + if (!_checks_failed.flags.takeoff_failed) { + _checks_failed.flags.takeoff_failed = !checkTakeoff(mission_item); } - if (!_items_fit_to_vehicle_type_failed) { - _items_fit_to_vehicle_type_failed = !checkItemsFitToVehicleType(mission_item); + if (!_checks_failed.flags.items_fit_to_vehicle_type_failed) { + _checks_failed.flags.items_fit_to_vehicle_type_failed = !checkItemsFitToVehicleType(mission_item); } } void FeasibilityChecker::doVtolChecks(mission_item_s &mission_item, const int current_index, const int last_index) { - if (!_land_pattern_validity_failed) { - _land_pattern_validity_failed = !checkLandPatternValidity(mission_item, current_index, last_index); + if (!_checks_failed.flags.land_pattern_validity_failed) { + _checks_failed.flags.land_pattern_validity_failed = !checkLandPatternValidity(mission_item, current_index, last_index); } } void FeasibilityChecker::doFixedWingChecks(mission_item_s &mission_item, const int current_index, const int last_index) { - if (!_land_pattern_validity_failed) { - _land_pattern_validity_failed = !checkLandPatternValidity(mission_item, current_index, last_index); + if (!_checks_failed.flags.land_pattern_validity_failed) { + _checks_failed.flags.land_pattern_validity_failed = !checkLandPatternValidity(mission_item, current_index, last_index); } - if (!_fixed_wing_land_approach_failed) { - _fixed_wing_land_approach_failed = !checkFixedWindLandApproach(mission_item, current_index); + if (!_checks_failed.flags.fixed_wing_land_approach_failed) { + _checks_failed.flags.fixed_wing_land_approach_failed = !checkFixedWindLandApproach(mission_item, current_index); } } diff --git a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp index d0905d3635..1c002baf9a 100644 --- a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp +++ b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp @@ -77,12 +77,7 @@ public: */ bool someCheckFailed() { - return _takeoff_failed || - _distance_between_waypoints_failed || - _land_pattern_validity_failed || - _fixed_wing_land_approach_failed || - _mission_validity_failed || - _takeoff_land_available_failed; + return _checks_failed.value != 0; } /** @@ -110,14 +105,18 @@ private: matrix::Vector2d _home_lat_lon = matrix::Vector2d((double)NAN, (double)NAN); VehicleType _vehicle_type{VehicleType::RotaryWing}; - // internal flags to keep track of which checks failed - bool _mission_validity_failed{false}; - bool _takeoff_failed{false}; - bool _land_pattern_validity_failed{false}; - bool _distance_between_waypoints_failed{false}; - bool _fixed_wing_land_approach_failed{false}; - bool _takeoff_land_available_failed{false}; - bool _items_fit_to_vehicle_type_failed{false}; + union checks_failed_u { + struct { + bool mission_validity_failed : 1; + bool takeoff_failed : 1; + bool land_pattern_validity_failed : 1; + bool distance_between_waypoints_failed : 1; + bool fixed_wing_land_approach_failed : 1; + bool takeoff_land_available_failed : 1; + bool items_fit_to_vehicle_type_failed : 1; + } flags; + uint16_t value {0}; + } _checks_failed{}; // internal checkTakeoff related variables bool _found_item_with_position{false}; From e3b98e6ed23346a13005c69395c6fafb389e9487 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Wed, 22 Jan 2025 10:41:10 +1100 Subject: [PATCH 14/48] Tools: remove unused/wrong define and fix comment --- Tools/px_uploader.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py index 4aee08f388..34f3be05ca 100755 --- a/Tools/px_uploader.py +++ b/Tools/px_uploader.py @@ -189,7 +189,7 @@ class uploader: GET_CHIP = b'\x2c' # rev5+ , get chip version SET_BOOT_DELAY = b'\x2d' # rev5+ , set boot delay GET_CHIP_DES = b'\x2e' # rev5+ , get chip description in ASCII - GET_VERSION = b'\x2f' # rev5+ , get chip description in ASCII + GET_VERSION = b'\x2f' # rev5+ , get bootloader version in ASCII CHIP_FULL_ERASE = b'\x40' # full erase of flash, rev6+ MAX_DES_LENGTH = 20 @@ -201,7 +201,6 @@ class uploader: INFO_BOARD_ID = b'\x02' # board type INFO_BOARD_REV = b'\x03' # board revision INFO_FLASH_SIZE = b'\x04' # max firmware size in bytes - BL_VERSION = b'\x07' # get bootloader version, e.g. major.minor.patch.githash (up to 20 chars) PROG_MULTI_MAX = 252 # protocol max is 255, must be multiple of 4 READ_MULTI_MAX = 252 # protocol max is 255 From 1aa83d954bb8ccff2213cd3d69481b837b68076e Mon Sep 17 00:00:00 2001 From: PX4 BuildBot Date: Wed, 22 Jan 2025 11:30:49 +0000 Subject: [PATCH 15/48] update all px4board kconfig --- boards/ark/fpv/default.px4board | 2 +- boards/bitcraze/crazyflie/default.px4board | 2 +- boards/bitcraze/crazyflie21/default.px4board | 2 +- boards/diatone/mamba-f405-mk2/default.px4board | 2 +- boards/flywoo/gn-f405/default.px4board | 2 +- boards/holybro/kakutef7/default.px4board | 2 +- boards/micoair/h743-v2/default.px4board | 4 ++-- boards/modalai/fc-v1/default.px4board | 2 +- boards/omnibus/f4sd/default.px4board | 2 +- boards/px4/fmu-v2/default.px4board | 2 +- boards/raspberrypi/pico/default.px4board | 2 +- 11 files changed, 12 insertions(+), 12 deletions(-) diff --git a/boards/ark/fpv/default.px4board b/boards/ark/fpv/default.px4board index 095141f633..a7c34922cf 100644 --- a/boards/ark/fpv/default.px4board +++ b/boards/ark/fpv/default.px4board @@ -16,9 +16,9 @@ CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_HEATER=y CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y CONFIG_DRIVERS_IMU_MURATA_SCH16T=y -CONFIG_DRIVERS_OSD_MSP_OSD=y CONFIG_COMMON_LIGHT=y CONFIG_COMMON_MAGNETOMETER=y +CONFIG_DRIVERS_OSD_MSP_OSD=y CONFIG_DRIVERS_PWM_OUT=y CONFIG_COMMON_RC=y CONFIG_DRIVERS_UAVCAN=y diff --git a/boards/bitcraze/crazyflie/default.px4board b/boards/bitcraze/crazyflie/default.px4board index 84139b6dec..35abd8e338 100644 --- a/boards/bitcraze/crazyflie/default.px4board +++ b/boards/bitcraze/crazyflie/default.px4board @@ -31,7 +31,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_NAVIGATOR=y -CONFIG_NAVIGATOR_ADSB=n +# CONFIG_NAVIGATOR_ADSB is not set CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set diff --git a/boards/bitcraze/crazyflie21/default.px4board b/boards/bitcraze/crazyflie21/default.px4board index 13c44d61d9..0db161f13e 100644 --- a/boards/bitcraze/crazyflie21/default.px4board +++ b/boards/bitcraze/crazyflie21/default.px4board @@ -32,7 +32,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_NAVIGATOR=y -CONFIG_NAVIGATOR_ADSB=n +# CONFIG_NAVIGATOR_ADSB is not set CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set diff --git a/boards/diatone/mamba-f405-mk2/default.px4board b/boards/diatone/mamba-f405-mk2/default.px4board index 14e8219028..efb1faeb49 100644 --- a/boards/diatone/mamba-f405-mk2/default.px4board +++ b/boards/diatone/mamba-f405-mk2/default.px4board @@ -36,7 +36,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_NAVIGATOR=y -CONFIG_NAVIGATOR_ADSB=n +# CONFIG_NAVIGATOR_ADSB is not set CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y CONFIG_SYSTEMCMDS_DMESG=y diff --git a/boards/flywoo/gn-f405/default.px4board b/boards/flywoo/gn-f405/default.px4board index bd7ea9015d..c1f2f643bc 100644 --- a/boards/flywoo/gn-f405/default.px4board +++ b/boards/flywoo/gn-f405/default.px4board @@ -27,7 +27,7 @@ CONFIG_MODULES_MC_ATT_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_NAVIGATOR=y -CONFIG_NAVIGATOR_ADSB=n +# CONFIG_NAVIGATOR_ADSB is not set CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y CONFIG_SYSTEMCMDS_DMESG=y diff --git a/boards/holybro/kakutef7/default.px4board b/boards/holybro/kakutef7/default.px4board index 75e689ed42..82a3261e87 100644 --- a/boards/holybro/kakutef7/default.px4board +++ b/boards/holybro/kakutef7/default.px4board @@ -41,7 +41,7 @@ CONFIG_MODULES_MC_ATT_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_NAVIGATOR=y -CONFIG_NAVIGATOR_ADSB=n +# CONFIG_NAVIGATOR_ADSB is not set CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set diff --git a/boards/micoair/h743-v2/default.px4board b/boards/micoair/h743-v2/default.px4board index fed1a0756b..74f1e2de29 100644 --- a/boards/micoair/h743-v2/default.px4board +++ b/boards/micoair/h743-v2/default.px4board @@ -26,10 +26,10 @@ CONFIG_DRIVERS_PWM_OUT=y CONFIG_COMMON_RC=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_TAP_ESC=y -CONFIG_DRIVERS_UAVCAN=y -CONFIG_BOARD_UAVCAN_INTERFACES=1 CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_TONE_ALARM=y +CONFIG_DRIVERS_UAVCAN=y +CONFIG_BOARD_UAVCAN_INTERFACES=1 CONFIG_MODULES_BATTERY_STATUS=y CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y diff --git a/boards/modalai/fc-v1/default.px4board b/boards/modalai/fc-v1/default.px4board index fbd4d3fdf0..b73fdd18f8 100644 --- a/boards/modalai/fc-v1/default.px4board +++ b/boards/modalai/fc-v1/default.px4board @@ -43,6 +43,7 @@ CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_EKF2=y +# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set CONFIG_MODULES_ESC_BATTERY=y CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y @@ -104,4 +105,3 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y CONFIG_SYSTEMCMDS_VER=y CONFIG_SYSTEMCMDS_WORK_QUEUE=y CONFIG_EXAMPLES_FAKE_GPS=y -# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set diff --git a/boards/omnibus/f4sd/default.px4board b/boards/omnibus/f4sd/default.px4board index 470b95db5d..5aeb871f81 100644 --- a/boards/omnibus/f4sd/default.px4board +++ b/boards/omnibus/f4sd/default.px4board @@ -31,7 +31,7 @@ CONFIG_MODULES_MC_ATT_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_NAVIGATOR=y -CONFIG_NAVIGATOR_ADSB=n +# CONFIG_NAVIGATOR_ADSB is not set CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set diff --git a/boards/px4/fmu-v2/default.px4board b/boards/px4/fmu-v2/default.px4board index 2e2350dd5a..c5255743df 100644 --- a/boards/px4/fmu-v2/default.px4board +++ b/boards/px4/fmu-v2/default.px4board @@ -41,7 +41,7 @@ CONFIG_MODULES_MC_ATT_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_NAVIGATOR=y -CONFIG_NAVIGATOR_ADSB=n +# CONFIG_NAVIGATOR_ADSB is not set CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set diff --git a/boards/raspberrypi/pico/default.px4board b/boards/raspberrypi/pico/default.px4board index d481cf3478..27329c23bc 100644 --- a/boards/raspberrypi/pico/default.px4board +++ b/boards/raspberrypi/pico/default.px4board @@ -32,7 +32,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_NAVIGATOR=y -CONFIG_NAVIGATOR_ADSB=n +# CONFIG_NAVIGATOR_ADSB is not set CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y CONFIG_SYSTEMCMDS_DMESG=y From 752b25235c4976b7f1087af9d7372f73fa4f1483 Mon Sep 17 00:00:00 2001 From: PX4 BuildBot Date: Wed, 22 Jan 2025 11:55:09 +0000 Subject: [PATCH 16/48] boards: update all NuttX defconfigs --- .../micoair/h743-v2/nuttx-config/bootloader/defconfig | 1 - boards/micoair/h743-v2/nuttx-config/nsh/defconfig | 11 ++--------- 2 files changed, 2 insertions(+), 10 deletions(-) diff --git a/boards/micoair/h743-v2/nuttx-config/bootloader/defconfig b/boards/micoair/h743-v2/nuttx-config/bootloader/defconfig index b2c2fc88ca..10f43ff17d 100644 --- a/boards/micoair/h743-v2/nuttx-config/bootloader/defconfig +++ b/boards/micoair/h743-v2/nuttx-config/bootloader/defconfig @@ -35,7 +35,6 @@ CONFIG_CDCACM_PRODUCTID=0x004b CONFIG_CDCACM_PRODUCTSTR="MicoAir743v2" CONFIG_CDCACM_RXBUFSIZE=6000 CONFIG_CDCACM_TXBUFSIZE=12000 -#TODO：ally for VENDOR ID in the future CONFIG_CDCACM_VENDORID=0x3162 CONFIG_CDCACM_VENDORSTR="MicoAir" CONFIG_DEBUG_FULLOPT=y diff --git a/boards/micoair/h743-v2/nuttx-config/nsh/defconfig b/boards/micoair/h743-v2/nuttx-config/nsh/defconfig index 5a1f555257..dab70e35fa 100644 --- a/boards/micoair/h743-v2/nuttx-config/nsh/defconfig +++ b/boards/micoair/h743-v2/nuttx-config/nsh/defconfig @@ -196,17 +196,17 @@ CONFIG_STM32H7_SDMMC1=y CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y CONFIG_STM32H7_SPI2=y -CONFIG_STM32H7_SPI3=y CONFIG_STM32H7_SPI2_DMA=y CONFIG_STM32H7_SPI2_DMA_BUFFER=2048 +CONFIG_STM32H7_SPI3=y CONFIG_STM32H7_SPI3_DMA=y CONFIG_STM32H7_SPI3_DMA_BUFFER=2048 CONFIG_STM32H7_SPI_DMATHRESHOLD=8 +CONFIG_STM32H7_TIM15=y CONFIG_STM32H7_TIM1=y CONFIG_STM32H7_TIM3=y CONFIG_STM32H7_TIM4=y CONFIG_STM32H7_TIM8=y -CONFIG_STM32H7_TIM15=y CONFIG_STM32H7_UART4=y CONFIG_STM32H7_UART5=y CONFIG_STM32H7_UART7=y @@ -222,25 +222,18 @@ CONFIG_STM32H7_USART_SWAP=y CONFIG_SYSTEM_CDCACM=y CONFIG_SYSTEM_NSH=y CONFIG_TASK_NAME_SIZE=24 -CONFIG_UART4_BAUD=115200 CONFIG_UART4_RXBUFSIZE=600 CONFIG_UART4_TXBUFSIZE=800 -CONFIG_UART5_BAUD=115200 CONFIG_UART5_RXBUFSIZE=600 CONFIG_UART5_TXBUFSIZE=800 -CONFIG_UART7_BAUD=115200 CONFIG_UART7_RXBUFSIZE=600 CONFIG_UART7_TXBUFSIZE=800 -CONFIG_UART8_BAUD=115200 CONFIG_UART8_RXBUFSIZE=600 CONFIG_UART8_TXBUFSIZE=800 -CONFIG_USART1_BAUD=115200 CONFIG_USART1_RXBUFSIZE=1200 CONFIG_USART1_TXBUFSIZE=1500 -CONFIG_USART2_BAUD=115200 CONFIG_USART2_RXBUFSIZE=600 CONFIG_USART2_TXBUFSIZE=800 -CONFIG_USART3_BAUD=115200 CONFIG_USART3_RXBUFSIZE=600 CONFIG_USART3_TXBUFSIZE=800 CONFIG_USART6_BAUD=57600 From 6322ebc3db815b2e941b067b8bd1d3e409883928 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 22 Jan 2025 15:27:56 -0500 Subject: [PATCH 17/48] rcS: shift sensors + EKF startup earlier - we want the drivers, sensors hub, and estimator running as soon as possible to initialize and avoid commander false positives complaining about missing data --- ROMFS/px4fmu_common/init.d/rcS | 130 ++++++++++++++++++--------------- 1 file changed, 72 insertions(+), 58 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 5cdd34e698..807a26ed03 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -302,6 +302,75 @@ else . $FCONFIG fi + + # + # Sensors System (start before Commander so Preflight checks are properly run). + # + if param greater SYS_HITL 0 + then + sensors start -h + + # disable GPS + param set GPS_1_CONFIG 0 + + # start the simulator in hardware if needed + if param compare SYS_HITL 2 + then + simulator_sih start + sensor_baro_sim start + sensor_mag_sim start + sensor_gps_sim start + sensor_agp_sim start + fi + + else + # + # board sensors: rc.sensors + # + set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors + if [ -f $BOARD_RC_SENSORS ] + then + echo "Board sensors: ${BOARD_RC_SENSORS}" + . $BOARD_RC_SENSORS + fi + unset BOARD_RC_SENSORS + + . ${R}etc/init.d/rc.sensors + + if param compare -s BAT1_SOURCE 2 + then + esc_battery start + fi + + if ! param compare BAT1_SOURCE 1 + then + battery_status start + fi + + sensors start + fi + + # + # state estimator selection + # + if param compare -s EKF2_EN 1 + then + ekf2 start & + fi + + if param compare -s LPE_EN 1 + then + local_position_estimator start + fi + + if param compare -s ATT_EN 1 + then + attitude_estimator_q start + fi + + # + # px4io + # if px4io supported then # Check if PX4IO present and update firmware if needed. @@ -369,79 +438,24 @@ else fi # - # Sensors System (start before Commander so Preflight checks are properly run). - # Commander needs to be this early for in-air-restarts. + # Commander # if param greater SYS_HITL 0 then + commander start -h + if ! pwm_out_sim start -m hil then tune_control play error fi - sensors start -h - commander start -h - # disable GPS - param set GPS_1_CONFIG 0 - - # start the simulator in hardware if needed - if param compare SYS_HITL 2 - then - simulator_sih start - sensor_baro_sim start - sensor_mag_sim start - sensor_gps_sim start - sensor_agp_sim start - fi - else - # - # board sensors: rc.sensors - # - set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors - if [ -f $BOARD_RC_SENSORS ] - then - echo "Board sensors: ${BOARD_RC_SENSORS}" - . $BOARD_RC_SENSORS - fi - unset BOARD_RC_SENSORS - - . ${R}etc/init.d/rc.sensors - - if param compare -s BAT1_SOURCE 2 - then - esc_battery start - fi - - if ! param compare BAT1_SOURCE 1 - then - battery_status start - fi - - sensors start commander start dshot start pwm_out start fi - # - # state estimator selection - if param compare -s EKF2_EN 1 - then - ekf2 start & - fi - - if param compare -s LPE_EN 1 - then - local_position_estimator start - fi - - if param compare -s ATT_EN 1 - then - attitude_estimator_q start - fi - # # Configure vehicle type specific parameters. # Note: rc.vehicle_setup is the entry point for all vehicle type specific setup. From 07e7c64e6035015dbad3559e715ceaeee1dac345 Mon Sep 17 00:00:00 2001 From: Alex Klimaj Date: Wed, 22 Jan 2025 13:32:26 -0700 Subject: [PATCH 18/48] drivers/power_monitor/ina238: retry if read fails * ina238: retry if read fails * ina238: increase retries and only publish not connected if register check fails * ina238: use I2C resets --- src/drivers/power_monitor/ina238/ina238.cpp | 29 +++++++++++++-------- 1 file changed, 18 insertions(+), 11 deletions(-) diff --git a/src/drivers/power_monitor/ina238/ina238.cpp b/src/drivers/power_monitor/ina238/ina238.cpp index 42f5e12858..b46b277a84 100644 --- a/src/drivers/power_monitor/ina238/ina238.cpp +++ b/src/drivers/power_monitor/ina238/ina238.cpp @@ -160,6 +160,8 @@ int INA238::Reset() int ret = PX4_ERROR; + _retries = 3; + if (RegisterWrite(Register::CONFIG, (uint16_t)(ADC_RESET_BIT)) != PX4_OK) { return ret; } @@ -231,6 +233,16 @@ int INA238::collect() success = success && (RegisterRead(Register::CURRENT, (uint16_t &)current) == PX4_OK); success = success && (RegisterRead(Register::DIETEMP, (uint16_t &)temperature) == PX4_OK); + if (success) { + _battery.updateVoltage(static_cast(bus_voltage * INA238_VSCALE)); + _battery.updateCurrent(static_cast(current * _current_lsb)); + _battery.updateTemperature(static_cast(temperature * INA238_TSCALE)); + + _battery.setConnected(success); + + _battery.updateAndPublishBatteryStatus(hrt_absolute_time()); + } + if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) { // check configuration registers periodically or immediately following any failure if (RegisterCheck(_register_cfg[_checked_register])) { @@ -242,26 +254,21 @@ int INA238::collect() PX4_DEBUG("register check failed"); perf_count(_bad_register_perf); success = false; + + _battery.setConnected(success); + + _battery.updateAndPublishBatteryStatus(hrt_absolute_time()); } } - if (!success) { - PX4_DEBUG("error reading from sensor"); - bus_voltage = current = 0; - } - - _battery.setConnected(success); - _battery.updateVoltage(static_cast(bus_voltage * INA238_VSCALE)); - _battery.updateCurrent(static_cast(current * _current_lsb)); - _battery.updateTemperature(static_cast(temperature * INA238_TSCALE)); - _battery.updateAndPublishBatteryStatus(hrt_absolute_time()); - perf_end(_sample_perf); if (success) { return PX4_OK; } else { + PX4_DEBUG("error reading from sensor"); + return PX4_ERROR; } } From d0042aa2750c6ec3f426a9bca16842efedf328b5 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 23 Jan 2025 09:34:38 +0100 Subject: [PATCH 19/48] FW defaults: remove EKF2_GPS_CHECK custom FW setting We want to align the default over all vehicle types for this param. There are still some thresholds that are increased for FW. Signed-off-by: Silvan Fuhrer --- ROMFS/px4fmu_common/init.d/rc.fw_defaults | 1 - 1 file changed, 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults index db15c3d09d..e6271d8144 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults @@ -24,7 +24,6 @@ param set-default COM_DISARM_PRFLT -1 param set-default EKF2_ARSP_THR 8 param set-default EKF2_FUSE_BETA 1 -param set-default EKF2_GPS_CHECK 21 param set-default EKF2_MAG_ACCLIM 0 param set-default EKF2_REQ_EPH 10 param set-default EKF2_REQ_EPV 10 From 1aab194f9e5c218a10d93e30e5b298f618d95b47 Mon Sep 17 00:00:00 2001 From: cuav-liu1 Date: Thu, 23 Jan 2025 16:01:02 +0800 Subject: [PATCH 20/48] boards: fix 7-nano pwm voltage control pin not initialized --- boards/cuav/7-nano/src/board_config.h | 1 + 1 file changed, 1 insertion(+) diff --git a/boards/cuav/7-nano/src/board_config.h b/boards/cuav/7-nano/src/board_config.h index 269a4890f3..a2c564ae89 100644 --- a/boards/cuav/7-nano/src/board_config.h +++ b/boards/cuav/7-nano/src/board_config.h @@ -352,6 +352,7 @@ GPIO_nSAFETY_SWITCH_LED_OUT, \ GPIO_SAFETY_SWITCH_IN, \ GPIO_nARMED, \ + GPIO_PWM_LEVEL_CONTROL, \ } #define BOARD_ENABLE_CONSOLE_BUFFER From c3ba39f931d2cf483132ae5f60decfe87481d477 Mon Sep 17 00:00:00 2001 From: alexklimaj Date: Tue, 21 Jan 2025 23:00:37 -0700 Subject: [PATCH 21/48] dshot: remove dshot 1200 --- src/drivers/drv_dshot.h | 2 +- src/drivers/dshot/DShot.cpp | 5 +---- src/drivers/dshot/DShot.h | 2 -- src/drivers/pwm_out/module.yaml | 1 - 4 files changed, 2 insertions(+), 8 deletions(-) diff --git a/src/drivers/drv_dshot.h b/src/drivers/drv_dshot.h index 9c36dfd52d..431a56787d 100644 --- a/src/drivers/drv_dshot.h +++ b/src/drivers/drv_dshot.h @@ -88,7 +88,7 @@ typedef enum { * @param channel_mask Bitmask of channels (LSB = channel 0) to enable. * This allows some of the channels to remain configured * as GPIOs or as another function. Already used channels/timers will not be configured as DShot - * @param dshot_pwm_freq Frequency of DSHOT signal. Usually DSHOT150, DSHOT300, DSHOT600 or DSHOT1200 + * @param dshot_pwm_freq Frequency of DSHOT signal. Usually DSHOT150, DSHOT300, or DSHOT600 * @return <0 on error, the initialized channels mask. */ __EXPORT extern int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bidirectional_dshot); diff --git a/src/drivers/dshot/DShot.cpp b/src/drivers/dshot/DShot.cpp index 940019d9bf..4bd9bdef19 100644 --- a/src/drivers/dshot/DShot.cpp +++ b/src/drivers/dshot/DShot.cpp @@ -125,9 +125,6 @@ void DShot::enable_dshot_outputs(const bool enabled) } else if (tim_config == -3) { dshot_frequency_request = DSHOT600; - } else if (tim_config == -2) { - dshot_frequency_request = DSHOT1200; - } else { _output_mask &= ~channels; // don't use for dshot } @@ -824,7 +821,7 @@ On startup, the module tries to occupy all available pins for DShot output. It skips all pins already in use (e.g. by a camera trigger module). It supports: -- DShot150, DShot300, DShot600, DShot1200 +- DShot150, DShot300, DShot600 - telemetry via separate UART and publishing as esc_status message - sending DShot commands via CLI diff --git a/src/drivers/dshot/DShot.h b/src/drivers/dshot/DShot.h index e60b33b862..4fc312c3e9 100644 --- a/src/drivers/dshot/DShot.h +++ b/src/drivers/dshot/DShot.h @@ -52,7 +52,6 @@ using namespace time_literals; static constexpr unsigned int DSHOT150 = 150000u; static constexpr unsigned int DSHOT300 = 300000u; static constexpr unsigned int DSHOT600 = 600000u; -static constexpr unsigned int DSHOT1200 = 1200000u; static constexpr int DSHOT_DISARM_VALUE = 0; static constexpr int DSHOT_MIN_THROTTLE = 1; @@ -107,7 +106,6 @@ private: DShot150 = 150, DShot300 = 300, DShot600 = 600, - DShot1200 = 1200, }; struct Command { diff --git a/src/drivers/pwm_out/module.yaml b/src/drivers/pwm_out/module.yaml index c63b4195d2..8c2049cceb 100644 --- a/src/drivers/pwm_out/module.yaml +++ b/src/drivers/pwm_out/module.yaml @@ -23,7 +23,6 @@ actuator_output: -5: DShot150 -4: DShot300 -3: DShot600 - -2: DShot1200 -1: OneShot 50: PWM 50 Hz 100: PWM 100 Hz From c76e74338b289ad9d8ef29ffe7cc229f8af79d0b Mon Sep 17 00:00:00 2001 From: bresch Date: Fri, 24 Jan 2025 14:52:30 +0100 Subject: [PATCH 22/48] ekf-replay: fix airspeed replay If available, the EKF uses airspeed_validated, not airspeed --- msg/Ekf2Timestamps.msg | 1 + src/modules/ekf2/EKF2.cpp | 4 ++++ src/modules/logger/logged_topics.cpp | 1 + src/modules/replay/ReplayEkf2.cpp | 6 ++++++ src/modules/replay/ReplayEkf2.hpp | 1 + 5 files changed, 13 insertions(+) diff --git a/msg/Ekf2Timestamps.msg b/msg/Ekf2Timestamps.msg index ae3ac06766..2487cf0200 100644 --- a/msg/Ekf2Timestamps.msg +++ b/msg/Ekf2Timestamps.msg @@ -14,6 +14,7 @@ int16 RELATIVE_TIMESTAMP_INVALID = 32767 # (0x7fff) If one of the relative times # difference of +-3.2s to the sensor_combined topic. int16 airspeed_timestamp_rel +int16 airspeed_validated_timestamp_rel int16 distance_sensor_timestamp_rel int16 optical_flow_timestamp_rel int16 vehicle_air_data_timestamp_rel diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp index 4fcafacedd..ae7aad0406 100644 --- a/src/modules/ekf2/EKF2.cpp +++ b/src/modules/ekf2/EKF2.cpp @@ -745,6 +745,7 @@ void EKF2::Run() ekf2_timestamps_s ekf2_timestamps { .timestamp = now, .airspeed_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID, + .airspeed_validated_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID, .distance_sensor_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID, .optical_flow_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID, .vehicle_air_data_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID, @@ -2080,6 +2081,9 @@ void EKF2::UpdateAirspeedSample(ekf2_timestamps_s &ekf2_timestamps) } _airspeed_validated_timestamp_last = airspeed_validated.timestamp; + + ekf2_timestamps.airspeed_validated_timestamp_rel = (int16_t)((int64_t)airspeed_validated.timestamp / 100 - + (int64_t)ekf2_timestamps.timestamp / 100); } } else if (((ekf2_timestamps.timestamp - _airspeed_validated_timestamp_last) > 3_s) && _airspeed_sub.updated()) { diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp index 3e91b24619..4b1da7d3a1 100644 --- a/src/modules/logger/logged_topics.cpp +++ b/src/modules/logger/logged_topics.cpp @@ -294,6 +294,7 @@ void LoggedTopics::add_estimator_replay_topics() // current EKF2 subscriptions add_topic("airspeed"); + add_topic("airspeed_validated"); add_topic("vehicle_optical_flow"); add_topic("sensor_combined"); add_topic("sensor_selection"); diff --git a/src/modules/replay/ReplayEkf2.cpp b/src/modules/replay/ReplayEkf2.cpp index 89f4874ce5..e03072b59e 100644 --- a/src/modules/replay/ReplayEkf2.cpp +++ b/src/modules/replay/ReplayEkf2.cpp @@ -39,6 +39,7 @@ // for ekf2 replay #include +#include #include #include #include @@ -91,6 +92,9 @@ ReplayEkf2::onSubscriptionAdded(Subscription &sub, uint16_t msg_id) } else if (sub.orb_meta == ORB_ID(airspeed)) { _airspeed_msg_id = msg_id; + } else if (sub.orb_meta == ORB_ID(airspeed_validated)) { + _airspeed_validated_msg_id = msg_id; + } else if (sub.orb_meta == ORB_ID(distance_sensor)) { _distance_sensor_msg_id = msg_id; @@ -138,6 +142,7 @@ ReplayEkf2::publishEkf2Topics(const ekf2_timestamps_s &ekf2_timestamps, std::ifs }; handle_sensor_publication(ekf2_timestamps.airspeed_timestamp_rel, _airspeed_msg_id); + handle_sensor_publication(ekf2_timestamps.airspeed_validated_timestamp_rel, _airspeed_validated_msg_id); handle_sensor_publication(ekf2_timestamps.distance_sensor_timestamp_rel, _distance_sensor_msg_id); handle_sensor_publication(ekf2_timestamps.optical_flow_timestamp_rel, _optical_flow_msg_id); handle_sensor_publication(ekf2_timestamps.vehicle_air_data_timestamp_rel, _vehicle_air_data_msg_id); @@ -225,6 +230,7 @@ ReplayEkf2::onExitMainLoop() PX4_INFO("Topic, Num Published, Num Error (no timestamp match found):"); print_sensor_statistics(_airspeed_msg_id, "airspeed"); + print_sensor_statistics(_airspeed_validated_msg_id, "airspeed_validated"); print_sensor_statistics(_distance_sensor_msg_id, "distance_sensor"); print_sensor_statistics(_optical_flow_msg_id, "vehicle_optical_flow"); print_sensor_statistics(_sensor_combined_msg_id, "sensor_combined"); diff --git a/src/modules/replay/ReplayEkf2.hpp b/src/modules/replay/ReplayEkf2.hpp index 13cb3d8be5..519b4242d2 100644 --- a/src/modules/replay/ReplayEkf2.hpp +++ b/src/modules/replay/ReplayEkf2.hpp @@ -82,6 +82,7 @@ private: static constexpr uint16_t msg_id_invalid = 0xffff; uint16_t _airspeed_msg_id = msg_id_invalid; + uint16_t _airspeed_validated_msg_id = msg_id_invalid; uint16_t _distance_sensor_msg_id = msg_id_invalid; uint16_t _optical_flow_msg_id = msg_id_invalid; uint16_t _sensor_combined_msg_id = msg_id_invalid; From c1cab2d4e05db0792fbf2526008f421f3a42af7b Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 23 Oct 2024 19:33:26 +0200 Subject: [PATCH 23/48] control_allocator: add unit for slew rate and reword description --- src/modules/control_allocator/module.yaml | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/src/modules/control_allocator/module.yaml b/src/modules/control_allocator/module.yaml index 013b954033..4f49ef8b86 100644 --- a/src/modules/control_allocator/module.yaml +++ b/src/modules/control_allocator/module.yaml @@ -71,15 +71,14 @@ parameters: description: short: Motor ${i} slew rate limit long: | - Minimum time allowed for the motor input signal to pass through - the full output range. A value x means that the motor signal - can only go from 0 to 1 in minimum x seconds (in case of - reversible motors, the range is -1 to 1). + Forces the motor output signal to take at least the configured time (in seconds) + to traverse its full rangr normally [0%, 100%] if reversible [-100%, 100%]. Zero means that slew rate limiting is disabled. type: float decimal: 2 increment: 0.01 + unit: s num_instances: *max_num_mc_motors min: 0 max: 10 @@ -90,14 +89,14 @@ parameters: description: short: Servo ${i} slew rate limit long: | - Minimum time allowed for the servo input signal to pass through - the full output range. A value x means that the servo signal - can only go from -1 to 1 in minimum x seconds. + Forces the servo output signal to take at least the configured time (in seconds) + to traverse its full range [-100%, 100%]. Zero means that slew rate limiting is disabled. type: float decimal: 2 increment: 0.05 + unit: s num_instances: *max_num_servos min: 0 max: 10 From 165f644580109ac4144a4167a0ec67614b5067cd Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Fri, 8 Nov 2024 10:00:27 +0100 Subject: [PATCH 24/48] control_allocator: fix typo and use [0,1] instead of [0%, 100%] in slew rate description Co-authored-by: Hamish Willee --- src/modules/control_allocator/module.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/control_allocator/module.yaml b/src/modules/control_allocator/module.yaml index 4f49ef8b86..32f2862c9d 100644 --- a/src/modules/control_allocator/module.yaml +++ b/src/modules/control_allocator/module.yaml @@ -72,7 +72,7 @@ parameters: short: Motor ${i} slew rate limit long: | Forces the motor output signal to take at least the configured time (in seconds) - to traverse its full rangr normally [0%, 100%] if reversible [-100%, 100%]. + to traverse its full range (normally [0, 1], or if reversible [-1, 1]). Zero means that slew rate limiting is disabled. type: float From 5bca71791a27db30e89e8904c40cab51e11f8e8b Mon Sep 17 00:00:00 2001 From: Balduin Date: Mon, 27 Jan 2025 16:52:29 +0100 Subject: [PATCH 25/48] SIH: clean up control surface configuration (#24205) * fix sign error in appropriate place In PR https://github.com/PX4/PX4-Autopilot/pull/24175 I changed the control surface deflection signs in generate_fw_aerodynamics to make the 1103 airframe work correctly. However, this breaks the 1101 airframe, introducing sing errors there. So, here the change in generate_fw_aerodynamics is reverted to the state before PR #24175. Instead, the signs are set correctly by using the HIL_ACT_REV bitfield in the respective airframe config files. * match control surface parameters to SIH model --- .../airframes/10041_sihsim_airplane | 13 +++++++------ .../init.d/airframes/1101_rc_plane_sih.hil | 17 +++++++++-------- .../init.d/airframes/1103_standard_vtol_sih.hil | 11 +++++------ src/modules/simulation/simulator_sih/sih.cpp | 2 +- 4 files changed, 22 insertions(+), 21 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane b/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane index 36a69b7714..c91e732a9e 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane @@ -33,18 +33,19 @@ param set-default SIH_KDV 0.2 param set-default SIH_VEHICLE_TYPE 1 # sih as fixed wing param set-default RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched) - param set-default CA_AIRFRAME 1 - param set-default CA_ROTOR_COUNT 1 +param set-default CA_ROTOR0_PX 0.3 +# SIH for now hardcodes this configuration which we need to match in the airframe files. param set-default CA_SV_CS_COUNT 3 -param set-default CA_SV_CS0_TRQ_R -0.5 -param set-default CA_SV_CS0_TYPE 1 +param set-default CA_SV_CS0_TRQ_R 1 +param set-default CA_SV_CS0_TYPE 15 # single channel aileron param set-default CA_SV_CS1_TRQ_P 1 -param set-default CA_SV_CS1_TYPE 3 +param set-default CA_SV_CS1_TYPE 3 # elevator param set-default CA_SV_CS2_TRQ_Y 1 -param set-default CA_SV_CS2_TYPE 4 +param set-default CA_SV_CS2_TYPE 4 # rudder + param set-default PWM_MAIN_FUNC1 201 param set-default PWM_MAIN_FUNC2 202 param set-default PWM_MAIN_FUNC3 203 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil index 2bcfc14a2e..2b54650a07 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil @@ -17,15 +17,16 @@ param set UAVCAN_ENABLE 0 param set-default CA_AIRFRAME 1 param set-default CA_ROTOR_COUNT 1 param set-default CA_ROTOR0_PX 0.3 -param set-default CA_SV_CS_COUNT 3 -param set-default CA_SV_CS0_TRQ_R -0.5 -param set-default CA_SV_CS0_TYPE 1 -param set-default CA_SV_CS1_TRQ_P 1 -param set-default CA_SV_CS1_TYPE 3 -param set-default CA_SV_CS2_TRQ_Y 1 -param set-default CA_SV_CS2_TYPE 4 -param set HIL_ACT_REV 1 +# SIH for now hardcodes this configuration which we need to match in the airframe files. +param set-default CA_SV_CS_COUNT 3 +param set-default CA_SV_CS0_TRQ_R 1 +param set-default CA_SV_CS0_TYPE 15 # single channel aileron +param set-default CA_SV_CS1_TRQ_P 1 +param set-default CA_SV_CS1_TYPE 3 # elevator +param set-default CA_SV_CS2_TRQ_Y 1 +param set-default CA_SV_CS2_TYPE 4 # rudder + param set HIL_ACT_FUNC1 201 param set HIL_ACT_FUNC2 202 param set HIL_ACT_FUNC3 203 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil index c67cf2cc85..0309d3c0dc 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil @@ -41,20 +41,19 @@ param set-default CA_ROTOR3_PX -0.2 param set-default CA_ROTOR3_PY 0.2 param set-default CA_ROTOR3_KM -0.05 - param set-default CA_ROTOR4_PX -0.3 param set-default CA_ROTOR4_KM 0.05 param set-default CA_ROTOR4_AX 1 param set-default CA_ROTOR4_AZ 0 +# SIH for now hardcodes this configuration which we need to match in the airframe files. param set-default CA_SV_CS_COUNT 3 -param set-default CA_SV_CS0_TRQ_R 0.5 -param set-default CA_SV_CS0_TYPE 2 +param set-default CA_SV_CS0_TRQ_R 1 +param set-default CA_SV_CS0_TYPE 15 # single channel aileron param set-default CA_SV_CS1_TRQ_P 1 -param set-default CA_SV_CS1_TYPE 3 +param set-default CA_SV_CS1_TYPE 3 # elevator param set-default CA_SV_CS2_TRQ_Y 1 - -param set HIL_ACT_REV 32 +param set-default CA_SV_CS2_TYPE 4 # rudder param set-default FW_AIRSPD_MAX 12 param set-default FW_AIRSPD_MIN 7 diff --git a/src/modules/simulation/simulator_sih/sih.cpp b/src/modules/simulation/simulator_sih/sih.cpp index f90805dd66..07c24fe642 100644 --- a/src/modules/simulation/simulator_sih/sih.cpp +++ b/src/modules/simulation/simulator_sih/sih.cpp @@ -361,7 +361,7 @@ void Sih::generate_fw_aerodynamics(const float roll_cmd, const float pitch_cmd, _wing_l.update_aero(v_B, _w_B, alt, roll_cmd * FLAP_MAX); _wing_r.update_aero(v_B, _w_B, alt, -roll_cmd * FLAP_MAX); - _tailplane.update_aero(v_B, _w_B, alt, pitch_cmd * FLAP_MAX, _T_MAX * throttle_cmd); + _tailplane.update_aero(v_B, _w_B, alt, -pitch_cmd * FLAP_MAX, _T_MAX * throttle_cmd); _fin.update_aero(v_B, _w_B, alt, yaw_cmd * FLAP_MAX, _T_MAX * throttle_cmd); _fuselage.update_aero(v_B, _w_B, alt); From dc3f6a16088cd82bdd2051cfee6b8232417b5b68 Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Mon, 27 Jan 2025 14:59:25 +0100 Subject: [PATCH 26/48] fmu-v6xrt: Fix runtime error on new GCC New GCC versions inline builtin function like memcpy. On the fmu-v6xrt we can't call the functions inside imxrt_ocram_initialize because the ram function still needs to be initialized. This commit add a compile hint to not use builtins inside the imxrt_ocram_initialize function --- boards/px4/fmu-v6xrt/src/CMakeLists.txt | 5 + .../fmu-v6xrt/src/imxrt_ocram_initialize.c | 118 ++++++++++++++++++ boards/px4/fmu-v6xrt/src/init.c | 63 ---------- 3 files changed, 123 insertions(+), 63 deletions(-) create mode 100644 boards/px4/fmu-v6xrt/src/imxrt_ocram_initialize.c diff --git a/boards/px4/fmu-v6xrt/src/CMakeLists.txt b/boards/px4/fmu-v6xrt/src/CMakeLists.txt index e34b9a134c..1ab333085b 100644 --- a/boards/px4/fmu-v6xrt/src/CMakeLists.txt +++ b/boards/px4/fmu-v6xrt/src/CMakeLists.txt @@ -75,9 +75,14 @@ else() imxrt_flexspi_nor_boot.c imxrt_flexspi_nor_flash.c imxrt_clockconfig.c + imxrt_ocram_initialize.c ${SRCS} ) + # Force compiler not to use builtin functions (like memcpy) + # to optimize for loops in init.c (imxrt_ocram_initialize) + set_source_files_properties(imxrt_ocram_initialize.c PROPERTIES COMPILE_FLAGS -fno-builtin) + target_link_libraries(drivers_board PRIVATE arch_board_hw_info diff --git a/boards/px4/fmu-v6xrt/src/imxrt_ocram_initialize.c b/boards/px4/fmu-v6xrt/src/imxrt_ocram_initialize.c new file mode 100644 index 0000000000..5a063bd46a --- /dev/null +++ b/boards/px4/fmu-v6xrt/src/imxrt_ocram_initialize.c @@ -0,0 +1,118 @@ +/**************************************************************************** + * + * Copyright (c) 2018-2019, 2023 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 imxrt_ocram_initialize.c + * + * PX4 fmu-v6xrt RAM startup early startup code. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include "arm_internal.h" +#include "imxrt_iomuxc.h" + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +__BEGIN_DECLS +extern const uint64_t _fitcmfuncs; /* Copy source address in FLASH */ +extern uint64_t _sitcmfuncs; /* Copy destination start address in ITCM */ +extern uint64_t _eitcmfuncs; /* Copy destination end address in ITCM */ +extern uint64_t _sdtcm; /* Copy destination start address in DTCM */ +extern uint64_t _edtcm; /* Copy destination end address in DTCM */ +__END_DECLS + +/**************************************************************************** + * Name: imxrt_ocram_initialize + * + * Description: + * Called off reset vector to reconfigure the flexRAM + * and finish the FLASH to RAM Copy. + * CMakeLists.txt Forces compiler not to use builtin functions using -fno-builtin + * + ****************************************************************************/ + +__EXPORT void imxrt_ocram_initialize(void) +{ + uint32_t regval; + register uint64_t *src; + register uint64_t *dest; + + /* Reallocate + * Final Configuration is + * No DTCM + * 512k OCRAM M7 (FlexRAM) (2038:0000-203f:ffff) + * 128k OCRAMM7 FlexRAM ECC (2036:0000-2037:ffff) + * 64k OCRAM2 ECC parity (2035:0000-2035:ffff) + * 64k OCRAM1 ECC parity (2034:0000-2034:ffff) + * 512k FlexRAM OCRAM2 (202C:0000-2033:ffff) + * 512k FlexRAM OCRAM1 (2024:0000-202B:ffff) + * 256k System OCRAM M4 (2020:0000-2023:ffff) + */ + + putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR17); + putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR18); + regval = getreg32(IMXRT_IOMUXC_GPR_GPR16); + putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL_REG, IMXRT_IOMUXC_GPR_GPR16); + + /* Copy any necessary code sections from FLASH to ITCM. The process is the + * same as the code copying from FLASH to RAM above. */ + for (src = (uint64_t *)&_fitcmfuncs, dest = (uint64_t *)&_sitcmfuncs; + dest < (uint64_t *)&_eitcmfuncs;) { + *dest++ = *src++; + } + + /* Clear .dtcm. We'll do this inline (vs. calling memset) just to be + * certain that there are no issues with the state of global variables. + */ + + for (dest = &_sdtcm; dest < &_edtcm;) { + *dest++ = 0; + } + +#if defined(CONFIG_BOOT_RUNFROMISRAM) + const uint32_t *src; + uint32_t *dest; + + for (src = (uint32_t *)(LOCATE_IN_SRC(g_boot_data.start) + g_boot_data.size), + dest = (uint32_t *)(g_boot_data.start + g_boot_data.size); + dest < (uint32_t *) &_etext;) { + *dest++ = *src++; + } + +#endif +} diff --git a/boards/px4/fmu-v6xrt/src/init.c b/boards/px4/fmu-v6xrt/src/init.c index 4b2edbc658..57ac95ce20 100644 --- a/boards/px4/fmu-v6xrt/src/init.c +++ b/boards/px4/fmu-v6xrt/src/init.c @@ -109,11 +109,6 @@ extern void led_off(int led); extern uint32_t _srodata; /* Start of .rodata */ extern uint32_t _erodata; /* End of .rodata */ -extern const uint64_t _fitcmfuncs; /* Copy source address in FLASH */ -extern uint64_t _sitcmfuncs; /* Copy destination start address in ITCM */ -extern uint64_t _eitcmfuncs; /* Copy destination end address in ITCM */ -extern uint64_t _sdtcm; /* Copy destination start address in DTCM */ -extern uint64_t _edtcm; /* Copy destination end address in DTCM */ __END_DECLS /************************************************************************************ @@ -225,65 +220,7 @@ void imxrt_flash_setup_prefetch_partition(void) ARM_ISB(); ARM_DMB(); } -/**************************************************************************** - * Name: imxrt_ocram_initialize - * - * Description: - * Called off reset vector to reconfigure the flexRAM - * and finish the FLASH to RAM Copy. - * - ****************************************************************************/ -__EXPORT void imxrt_ocram_initialize(void) -{ - uint32_t regval; - register uint64_t *src; - register uint64_t *dest; - - /* Reallocate - * Final Configuration is - * No DTCM - * 512k OCRAM M7 (FlexRAM) (2038:0000-203f:ffff) - * 128k OCRAMM7 FlexRAM ECC (2036:0000-2037:ffff) - * 64k OCRAM2 ECC parity (2035:0000-2035:ffff) - * 64k OCRAM1 ECC parity (2034:0000-2034:ffff) - * 512k FlexRAM OCRAM2 (202C:0000-2033:ffff) - * 512k FlexRAM OCRAM1 (2024:0000-202B:ffff) - * 256k System OCRAM M4 (2020:0000-2023:ffff) - */ - - putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR17); - putreg32(0x0000FFAA, IMXRT_IOMUXC_GPR_GPR18); - regval = getreg32(IMXRT_IOMUXC_GPR_GPR16); - putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL_REG, IMXRT_IOMUXC_GPR_GPR16); - - /* Copy any necessary code sections from FLASH to ITCM. The process is the - * same as the code copying from FLASH to RAM above. */ - for (src = (uint64_t *)&_fitcmfuncs, dest = (uint64_t *)&_sitcmfuncs; - dest < (uint64_t *)&_eitcmfuncs;) { - *dest++ = *src++; - } - - /* Clear .dtcm. We'll do this inline (vs. calling memset) just to be - * certain that there are no issues with the state of global variables. - */ - - for (dest = &_sdtcm; dest < &_edtcm;) { - *dest++ = 0; - } - -#if defined(CONFIG_BOOT_RUNFROMISRAM) - const uint32_t *src; - uint32_t *dest; - - for (src = (uint32_t *)(LOCATE_IN_SRC(g_boot_data.start) + g_boot_data.size), - dest = (uint32_t *)(g_boot_data.start + g_boot_data.size); - dest < (uint32_t *) &_etext;) { - *dest++ = *src++; - } - -#endif -} /**************************************************************************** * Name: imxrt_boardinitialize From 92b1f51623c478d0b903e8cad7a5732ac4db2ae3 Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Mon, 27 Jan 2025 15:03:35 +0100 Subject: [PATCH 27/48] tropic: Fix runtime error on new GCC --- .../nxp/tropic-community/src/CMakeLists.txt | 4 + .../src/imxrt_ocram_initialize.c | 102 ++++++++++++++++++ boards/nxp/tropic-community/src/init.c | 49 --------- 3 files changed, 106 insertions(+), 49 deletions(-) create mode 100644 boards/nxp/tropic-community/src/imxrt_ocram_initialize.c diff --git a/boards/nxp/tropic-community/src/CMakeLists.txt b/boards/nxp/tropic-community/src/CMakeLists.txt index 91d89b5d30..6c37994652 100644 --- a/boards/nxp/tropic-community/src/CMakeLists.txt +++ b/boards/nxp/tropic-community/src/CMakeLists.txt @@ -42,8 +42,12 @@ px4_add_library(drivers_board imxrt_flexspi_nor_boot.c imxrt_flexspi_nor_flash.c imxrt_flexspi_storage.c + imxrt_ocram_initialize.c ) +# Force compiler not to use builtin functions (like memcpy) +# to optimize for loops in init.c (imxrt_ocram_initialize) +set_source_files_properties(imxrt_ocram_initialize.c PROPERTIES COMPILE_FLAGS -fno-builtin) target_link_libraries(drivers_board PRIVATE diff --git a/boards/nxp/tropic-community/src/imxrt_ocram_initialize.c b/boards/nxp/tropic-community/src/imxrt_ocram_initialize.c new file mode 100644 index 0000000000..67c1a4ca36 --- /dev/null +++ b/boards/nxp/tropic-community/src/imxrt_ocram_initialize.c @@ -0,0 +1,102 @@ +/**************************************************************************** + * + * Copyright (c) 2018-2019, 2023 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 imxrt_ocram_initialize.c + * + * PX4 fmu-v6xrt RAM startup early startup code. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include "arm_internal.h" +#include "imxrt_iomuxc.h" + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +__BEGIN_DECLS +extern const uint64_t _fitcmfuncs; /* Copy source address in FLASH */ +extern uint64_t _sitcmfuncs; /* Copy destination start address in ITCM */ +extern uint64_t _eitcmfuncs; /* Copy destination end address in ITCM */ +extern uint64_t _sdtcm; /* Copy destination start address in DTCM */ +extern uint64_t _edtcm; /* Copy destination end address in DTCM */ +__END_DECLS + +/**************************************************************************** + * Name: imxrt_ocram_initialize + * + * Description: + * Called off reset vector to reconfigure the flexRAM + * and finish the FLASH to RAM Copy. + * CMakeLists.txt Forces compiler not to use builtin functions using -fno-builtin + * + ****************************************************************************/ + +__EXPORT void imxrt_ocram_initialize(void) +{ + uint32_t regval; + register uint64_t *src; + register uint64_t *dest; + + /* FlexRAM Configuration + * F = 64K ITCM + * A = 64K DTCM + * 5 = 64K OCRAM + * So 0xFFFFFFAA is + * 384K FlexRAM ITCM + * 128K FlexRAM DTCM + * */ + + putreg32(0xFFFFFFAA, IMXRT_IOMUXC_GPR_GPR17); + regval = getreg32(IMXRT_IOMUXC_GPR_GPR16); + putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL, IMXRT_IOMUXC_GPR_GPR16); + + /* Copy any necessary code sections from FLASH to ITCM. The process is the + * same as the code copying from FLASH to RAM above. */ + for (src = (uint64_t *)&_fitcmfuncs, dest = (uint64_t *)&_sitcmfuncs; + dest < (uint64_t *)&_eitcmfuncs;) { + *dest++ = *src++; + } + + /* Clear .dtcm. We'll do this inline (vs. calling memset) just to be + * certain that there are no issues with the state of global variables. + */ + + for (dest = &_sdtcm; dest < &_edtcm;) { + *dest++ = 0; + } +} diff --git a/boards/nxp/tropic-community/src/init.c b/boards/nxp/tropic-community/src/init.c index 244d6c5fcd..8e5db86b37 100644 --- a/boards/nxp/tropic-community/src/init.c +++ b/boards/nxp/tropic-community/src/init.c @@ -104,11 +104,6 @@ extern void led_off(int led); extern uint32_t _srodata; /* Start of .rodata */ extern uint32_t _erodata; /* End of .rodata */ -extern const uint64_t _fitcmfuncs; /* Copy source address in FLASH */ -extern uint64_t _sitcmfuncs; /* Copy destination start address in ITCM */ -extern uint64_t _eitcmfuncs; /* Copy destination end address in ITCM */ -extern uint64_t _sdtcm; /* Copy destination start address in DTCM */ -extern uint64_t _edtcm; /* Copy destination end address in DTCM */ __END_DECLS /************************************************************************************ @@ -192,50 +187,6 @@ void imxrt_flash_setup_prefetch_partition(void) ARM_DMB(); } -/**************************************************************************** - * Name: imxrt_ocram_initialize - * - * Description: - * Called off reset vector to reconfigure the flexRAM - * and finish the FLASH to RAM Copy. - * - ****************************************************************************/ - -__EXPORT void imxrt_ocram_initialize(void) -{ - uint32_t regval; - register uint64_t *src; - register uint64_t *dest; - - /* FlexRAM Configuration - * F = 64K ITCM - * A = 64K DTCM - * 5 = 64K OCRAM - * So 0xFFFFFFAA is - * 384K FlexRAM ITCM - * 128K FlexRAM DTCM - * */ - - putreg32(0xFFFFFFAA, IMXRT_IOMUXC_GPR_GPR17); - regval = getreg32(IMXRT_IOMUXC_GPR_GPR16); - putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SEL, IMXRT_IOMUXC_GPR_GPR16); - - /* Copy any necessary code sections from FLASH to ITCM. The process is the - * same as the code copying from FLASH to RAM above. */ - for (src = (uint64_t *)&_fitcmfuncs, dest = (uint64_t *)&_sitcmfuncs; - dest < (uint64_t *)&_eitcmfuncs;) { - *dest++ = *src++; - } - - /* Clear .dtcm. We'll do this inline (vs. calling memset) just to be - * certain that there are no issues with the state of global variables. - */ - - for (dest = &_sdtcm; dest < &_edtcm;) { - *dest++ = 0; - } -} - /**************************************************************************** * Name: imxrt_boardinitialize * From 4df65c133ee36ffdfe22261bc618036a8644c43a Mon Sep 17 00:00:00 2001 From: Marco Hauswirth <58551738+haumarco@users.noreply.github.com> Date: Tue, 28 Jan 2025 10:37:16 +0100 Subject: [PATCH 28/48] add cs_baro_fault to switch to fallback baro if available (#24260) --- msg/EstimatorStatusFlags.msg | 1 + .../EKF/aid_sources/barometer/baro_height_control.cpp | 5 +++-- src/modules/ekf2/EKF/common.h | 1 + src/modules/ekf2/EKF/ekf.h | 1 - src/modules/ekf2/EKF2.cpp | 1 + src/modules/sensors/vehicle_air_data/VehicleAirData.cpp | 8 ++++++++ src/modules/sensors/vehicle_air_data/VehicleAirData.hpp | 3 +++ 7 files changed, 17 insertions(+), 3 deletions(-) diff --git a/msg/EstimatorStatusFlags.msg b/msg/EstimatorStatusFlags.msg index 705a5f9a71..0e5525d545 100644 --- a/msg/EstimatorStatusFlags.msg +++ b/msg/EstimatorStatusFlags.msg @@ -47,6 +47,7 @@ bool cs_rng_terrain # 39 - true if we are fusing range finder data f bool cs_opt_flow_terrain # 40 - true if we are fusing flow data for terrain bool cs_valid_fake_pos # 41 - true if a valid constant position is being fused bool cs_constant_pos # 42 - true if the vehicle is at a constant position +bool cs_baro_fault # 43 - true when the current baro has been declared faulty and is no longer being used # fault status uint32 fault_status_changes # number of filter fault status (fs) changes diff --git a/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp index 119c6fa1b3..2d20c64c81 100644 --- a/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp +++ b/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp @@ -65,6 +65,7 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample) if ((_baro_counter == 0) || baro_sample.reset) { _baro_lpf.reset(measurement); _baro_counter = 1; + _control_status.flags.baro_fault = false; } else { _baro_lpf.update(measurement); @@ -113,7 +114,7 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample) const bool continuing_conditions_passing = (_params.baro_ctrl == 1) && measurement_valid && (_baro_counter > _obs_buffer_length) - && !_baro_hgt_faulty; + && !_control_status.flags.baro_fault; const bool starting_conditions_passing = continuing_conditions_passing && isNewestSampleRecent(_time_last_baro_buffer_push, 2 * BARO_MAX_INTERVAL); @@ -148,7 +149,7 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample) if (isRecent(_time_last_hgt_fuse, _params.hgt_fusion_timeout_max)) { // Some other height source is still working - _baro_hgt_faulty = true; + _control_status.flags.baro_fault = true; } } diff --git a/src/modules/ekf2/EKF/common.h b/src/modules/ekf2/EKF/common.h index 85d075e0f5..95efc971bc 100644 --- a/src/modules/ekf2/EKF/common.h +++ b/src/modules/ekf2/EKF/common.h @@ -620,6 +620,7 @@ uint64_t mag_heading_consistent : uint64_t opt_flow_terrain : 1; ///< 40 - true if we are fusing flow data for terrain uint64_t valid_fake_pos : 1; ///< 41 - true if a valid constant position is being fused uint64_t constant_pos : 1; ///< 42 - true if the vehicle is at a constant position + uint64_t baro_fault : 1; ///< 43 - true when the baro has been declared faulty and is no longer being used } flags; uint64_t value; diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index e4a5e62ef6..47320e8c12 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -602,7 +602,6 @@ private: HeightBiasEstimator _baro_b_est{HeightSensor::BARO, _height_sensor_ref}; - bool _baro_hgt_faulty{false}; ///< true if baro data have been declared faulty TODO: move to fault flags #endif // CONFIG_EKF2_BAROMETER #if defined(CONFIG_EKF2_MAGNETOMETER) diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp index ae7aad0406..9e1f8f5378 100644 --- a/src/modules/ekf2/EKF2.cpp +++ b/src/modules/ekf2/EKF2.cpp @@ -1933,6 +1933,7 @@ void EKF2::PublishStatusFlags(const hrt_abstime ×tamp) status_flags.cs_opt_flow_terrain = _ekf.control_status_flags().opt_flow_terrain; status_flags.cs_valid_fake_pos = _ekf.control_status_flags().valid_fake_pos; status_flags.cs_constant_pos = _ekf.control_status_flags().constant_pos; + status_flags.cs_baro_fault = _ekf.control_status_flags().baro_fault; status_flags.fault_status_changes = _filter_fault_status_changes; status_flags.fs_bad_mag_x = _ekf.fault_status_flags().bad_mag_x; diff --git a/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp b/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp index 041da27c09..24996c84da 100644 --- a/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp +++ b/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp @@ -141,6 +141,9 @@ void VehicleAirData::Run() AirTemperatureUpdate(); + estimator_status_flags_s estimator_status_flags; + const bool estimator_status_flags_updated = _estimator_status_flags_sub.update(&estimator_status_flags); + bool updated[MAX_SENSOR_COUNT] {}; for (int uorb_index = 0; uorb_index < MAX_SENSOR_COUNT; uorb_index++) { @@ -196,6 +199,11 @@ void VehicleAirData::Run() ParametersUpdate(true); } + if (estimator_status_flags_updated && _selected_sensor_sub_index >= 0 && _selected_sensor_sub_index == uorb_index + && estimator_status_flags.cs_baro_fault) { + _priority[uorb_index] = 1; // 1 is min priority while still being enabled + } + // pressure corrected with offset (if available) _calibration[uorb_index].SensorCorrectionsUpdate(); const float pressure_corrected = _calibration[uorb_index].Correct(report.pressure); diff --git a/src/modules/sensors/vehicle_air_data/VehicleAirData.hpp b/src/modules/sensors/vehicle_air_data/VehicleAirData.hpp index fd28de34f8..ce7a8a117c 100644 --- a/src/modules/sensors/vehicle_air_data/VehicleAirData.hpp +++ b/src/modules/sensors/vehicle_air_data/VehicleAirData.hpp @@ -54,6 +54,7 @@ #include #include #include +#include using namespace time_literals; @@ -89,6 +90,8 @@ private: uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure)}; + uORB::Subscription _estimator_status_flags_sub{ORB_ID(estimator_status_flags)}; + uORB::SubscriptionCallbackWorkItem _sensor_sub[MAX_SENSOR_COUNT] { {this, ORB_ID(sensor_baro), 0}, {this, ORB_ID(sensor_baro), 1}, From 58d3e1ea8ecfed4a3ca0e527d859d0c3174e2e2b Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 28 Jan 2025 11:22:51 +0100 Subject: [PATCH 29/48] test: in VTOL integration test use VTOL_LAND (#24261) Signed-off-by: Silvan Fuhrer --- test/mavsdk_tests/vtol_mission_straight_south.plan | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/mavsdk_tests/vtol_mission_straight_south.plan b/test/mavsdk_tests/vtol_mission_straight_south.plan index fa6d37472b..1507af13f5 100644 --- a/test/mavsdk_tests/vtol_mission_straight_south.plan +++ b/test/mavsdk_tests/vtol_mission_straight_south.plan @@ -41,7 +41,7 @@ "AltitudeMode": 1, "MISSION_ITEM_ID": "2", "autoContinue": true, - "command": 21, + "command": 85, "doJumpId": 2, "frame": 3, "params": [ From a0a2bdaea51b351cba9899095e74c6c4a1b42360 Mon Sep 17 00:00:00 2001 From: Bertug Dilman <92028947+bdilman@users.noreply.github.com> Date: Tue, 28 Jan 2025 14:33:15 +0100 Subject: [PATCH 30/48] commander: COM_MODE_ARM_CHK parameter to allow mode registration while armed (#24249) --- ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator | 3 +++ .../HealthAndArmingChecks/checks/externalChecks.hpp | 6 +++++- src/modules/commander/ModeManagement.cpp | 9 +++------ src/modules/commander/commander_params.c | 11 +++++++++++ 4 files changed, 22 insertions(+), 7 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator index 90e86aa688..fd0954744e 100644 --- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator +++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator @@ -4,6 +4,9 @@ # Simulator IMU data provided at 250 Hz param set-default IMU_INTEG_RATE 250 +# For simulation, allow registering modes while armed for developer convenience +param set-default COM_MODE_ARM_CHK 1 + if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then echo "INFO [init] SIH simulator" diff --git a/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.hpp b/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.hpp index 7129e46203..bbba418000 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.hpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.hpp @@ -38,6 +38,7 @@ #include #include #include +#include static_assert((1ull << arming_check_reply_s::HEALTH_COMPONENT_INDEX_AVOIDANCE) == (uint64_t) health_component_t::avoidance, "enum definition missmatch"); @@ -66,7 +67,7 @@ public: void update(); bool isUnresponsive(int registration_id); - + bool allowUpdateWhileArmed() const { return _param_com_mode_arm_chk.get(); } private: static constexpr hrt_abstime REQUEST_TIMEOUT = 50_ms; static constexpr hrt_abstime UPDATE_INTERVAL = 300_ms; @@ -109,4 +110,7 @@ private: uORB::Subscription _arming_check_reply_sub{ORB_ID(arming_check_reply)}; uORB::Publication _arming_check_request_pub{ORB_ID(arming_check_request)}; + DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase, + (ParamBool) _param_com_mode_arm_chk + ); }; diff --git a/src/modules/commander/ModeManagement.cpp b/src/modules/commander/ModeManagement.cpp index 14ba7ba28f..4430a0f563 100644 --- a/src/modules/commander/ModeManagement.cpp +++ b/src/modules/commander/ModeManagement.cpp @@ -370,11 +370,7 @@ void ModeManagement::update(bool armed, uint8_t user_intended_nav_state, bool fa _failsafe_action_active = failsafe_action_active; _external_checks.update(); - bool allow_update_while_armed = false; -#if defined(CONFIG_ARCH_BOARD_PX4_SITL) - // For simulation, allow registering modes while armed for developer convenience - allow_update_while_armed = true; -#endif + bool allow_update_while_armed = _external_checks.allowUpdateWhileArmed(); if (armed && !allow_update_while_armed) { // Reject registration requests @@ -408,7 +404,8 @@ void ModeManagement::update(bool armed, uint8_t user_intended_nav_state, bool fa } } - // As we're disarmed we can use the user intended mode, as no failsafe will be active + // As we're disarmed we can use the user intended mode, as no failsafe will be active. + // Note that this might not be true if COM_MODE_ARM_CHK is set checkNewRegistrations(update_request); checkUnregistrations(user_intended_nav_state, update_request); } diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index 48b0cce522..37dcbdc9a9 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -1018,3 +1018,14 @@ PARAM_DEFINE_FLOAT(COM_THROW_SPEED, 5); * @increment 1 */ PARAM_DEFINE_INT32(COM_FLTT_LOW_ACT, 3); + +/** + * Allow external mode registration while armed. + * + * By default disabled for safety reasons + * + * @group Commander + * @boolean + * + */ +PARAM_DEFINE_INT32(COM_MODE_ARM_CHK, 0); From 41c4933e109b199d73acfeaac1231e5c21759cdf Mon Sep 17 00:00:00 2001 From: Balduin Date: Mon, 13 Jan 2025 15:41:47 +0100 Subject: [PATCH 31/48] add standard vtol airframe --- .../airframes/10043_sihsim_standard_vtol | 116 ++++++++++++++++++ .../init.d-posix/airframes/CMakeLists.txt | 1 + .../simulation/simulator_sih/CMakeLists.txt | 1 + src/modules/simulation/simulator_sih/sih.hpp | 5 + 4 files changed, 123 insertions(+) create mode 100644 ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol new file mode 100644 index 0000000000..6bfda5edf6 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol @@ -0,0 +1,116 @@ +#!/bin/sh +# +# @name SIH Standard VTOL +# +# @type Simulation +# @class VTOL +# +# @output Motor1 MC motor front right +# @output Motor2 MC motor back left +# @output Motor3 MC motor front left +# @output Motor4 MC motor back right +# @output Motor5 Forward thrust motor +# @output Servo1 Aileron +# @output Servo2 Elevator +# @output Servo3 Rudder +# +# @board px4_fmu-v2 exclude +# + +. ${R}etc/init.d/rc.vtol_defaults + +# SIH in SITL changes. could we source these from a common file? {{{ +# inspired by: diff ROMFS/px4fmu_common/init.d/airframes/4001_quad_x ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx + +PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim} +PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol} + +param set-default SENS_EN_GPSSIM 1 +param set-default SENS_EN_BAROSIM 1 +param set-default SENS_EN_MAGSIM 1 + +param set-default EKF2_GPS_DELAY 0 + +# battery check disabled below already +# HIL_ACT_FUNC* set below -- do we need PWM_MAIN_FUNC* as well? +# SIH_VEHICLE_TYPE set below too. + +# }}} + +param set-default VT_B_TRANS_DUR 5 +param set-default VT_ELEV_MC_LOCK 0 +param set-default VT_TYPE 2 +param set-default MPC_MAN_Y_MAX 60 +param set-default MC_PITCH_P 5 + +param set-default CA_AIRFRAME 2 +param set-default CA_ROTOR_COUNT 5 +param set-default CA_ROTOR0_KM 0.05 +param set-default CA_ROTOR0_PX 0.2 +param set-default CA_ROTOR0_PY 0.2 +param set-default CA_ROTOR1_KM 0.05 +param set-default CA_ROTOR1_PX -0.2 +param set-default CA_ROTOR1_PY -0.2 +param set-default CA_ROTOR2_PX 0.2 +param set-default CA_ROTOR2_PY -0.2 +param set-default CA_ROTOR2_KM -0.05 +param set-default CA_ROTOR3_PX -0.2 +param set-default CA_ROTOR3_PY 0.2 +param set-default CA_ROTOR3_KM -0.05 + + +param set-default CA_ROTOR4_PX -0.3 +param set-default CA_ROTOR4_KM 0.05 +param set-default CA_ROTOR4_AX 1 +param set-default CA_ROTOR4_AZ 0 + +# SIH for now hardcodes this configuration which we need to match in the airframe files. +param set-default CA_SV_CS_COUNT 3 +param set-default CA_SV_CS0_TRQ_R 1 +param set-default CA_SV_CS0_TYPE 15 # single channel aileron +param set-default CA_SV_CS1_TRQ_P 1 +param set-default CA_SV_CS1_TYPE 3 # elevator +param set-default CA_SV_CS2_TRQ_Y 1 +param set-default CA_SV_CS2_TYPE 4 # rudder + +param set-default FW_AIRSPD_MAX 12 +param set-default FW_AIRSPD_MIN 7 +param set-default FW_AIRSPD_TRIM 10 + +param set-default PWM_MAIN_FUNC1 101 +param set-default PWM_MAIN_FUNC2 102 +param set-default PWM_MAIN_FUNC3 103 +param set-default PWM_MAIN_FUNC4 104 +param set-default PWM_MAIN_FUNC5 201 +param set-default PWM_MAIN_FUNC6 202 +param set-default PWM_MAIN_FUNC7 203 +param set-default PWM_MAIN_FUNC8 105 + +param set-default MAV_TYPE 22 + +# set SYS_HITL to 2 to start the SIH and avoid sensors startup +# param set-default SYS_HITL 2 + +# disable some checks to allow to fly: +# - without real battery +param set-default CBRK_SUPPLY_CHK 894281 +# - without safety switch +param set-default CBRK_IO_SAFETY 22027 + +param set-default SENS_DPRES_OFF 0.001 + +param set SIH_T_MAX 2.0 +param set SIH_Q_MAX 0.0165 +param set SIH_MASS 0.2 +# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg +param set SIH_IXX 0.00354 +param set SIH_IYY 0.000625 +param set SIH_IZZ 0.00300 +param set SIH_IXZ 0 +param set SIH_KDV 0.2 +param set SIH_L_ROLL 0.145 + +# sih as standard vtol +param set SIH_VEHICLE_TYPE 3 + +param set-default VT_ARSP_TRANS 6 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt index da741d2a64..51d9eab72e 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt @@ -109,6 +109,7 @@ px4_add_romfs_files( 10040_sihsim_quadx 10041_sihsim_airplane 10042_sihsim_xvert + 10043_sihsim_standard_vtol 17001_flightgear_tf-g1 17002_flightgear_tf-g2 diff --git a/src/modules/simulation/simulator_sih/CMakeLists.txt b/src/modules/simulation/simulator_sih/CMakeLists.txt index b8d3bf1232..7ae8483c51 100644 --- a/src/modules/simulation/simulator_sih/CMakeLists.txt +++ b/src/modules/simulation/simulator_sih/CMakeLists.txt @@ -53,6 +53,7 @@ if(PX4_PLATFORM MATCHES "posix") airplane quadx xvert + standard_vtol ) # find corresponding airframes diff --git a/src/modules/simulation/simulator_sih/sih.hpp b/src/modules/simulation/simulator_sih/sih.hpp index 490e1dd823..51f6e17dae 100644 --- a/src/modules/simulation/simulator_sih/sih.hpp +++ b/src/modules/simulation/simulator_sih/sih.hpp @@ -220,7 +220,12 @@ private: float _u[NUM_ACTUATORS_MAX] {}; // thruster signals + // MC = Multicopter + // FW = Fixed Wing + // TS = Tailsitter VTOL + // SVTOL = Standard VTOL enum class VehicleType {MC, FW, TS, SVTOL}; + VehicleType _vehicle = VehicleType::MC; // aerodynamic segments for the fixedwing From 7e4760587153535f21a403de855d9e158c0764d3 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Tue, 17 Dec 2024 15:05:42 +0100 Subject: [PATCH 32/48] batteryCheck: separate event messages for low, critical and emergency battery states --- .../checks/batteryCheck.cpp | 67 +++++++++++++++---- 1 file changed, 55 insertions(+), 12 deletions(-) diff --git a/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp index d453c724d5..85a19cf550 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp @@ -206,19 +206,62 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter) || (configured_arm_threshold_in_use && below_configured_arm_threshold) ? NavModes::All : NavModes::None; events::LogLevel log_level = critical_or_higher || below_configured_arm_threshold ? events::Log::Critical : events::Log::Warning; - /* EVENT - * @description - * The battery state of charge of the worst battery is below the threshold. - * - * - * This check can be configured via BAT_LOW_THR, BAT_CRIT_THR, BAT_EMERGEN_THR and COM_ARM_BAT_MIN parameters. - * - */ - reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_low"), log_level, - "Low battery"); - if (reporter.mavlink_log_pub()) { - mavlink_log_emergency(reporter.mavlink_log_pub(), "Low battery level\t"); + switch (reporter.failsafeFlags().battery_warning) { + default: + case battery_status_s::BATTERY_WARNING_LOW: + /* EVENT + * @description + * The lowest battery state of charge is below the low threshold. + * + * + * Can be configured with BAT_LOW_THR. + * + */ + reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_low"), + log_level, "Low battery"); + + if (reporter.mavlink_log_pub()) { + mavlink_log_emergency(reporter.mavlink_log_pub(), "Low battery\t"); + } + + break; + + case battery_status_s::BATTERY_WARNING_CRITICAL: + /* EVENT + * @description + * The lowest battery state of charge is below the critical threshold. + * + * + * Can be configured with BAT_CRIT_THR and from when to disalow arming with COM_ARM_BAT_MIN. + * + */ + reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_critical"), + log_level, "Critical battery"); + + if (reporter.mavlink_log_pub()) { + mavlink_log_emergency(reporter.mavlink_log_pub(), "Critical battery\t"); + } + + break; + + case battery_status_s::BATTERY_WARNING_EMERGENCY: + /* EVENT + * @description + * The lowest battery state of charge is below the emergency threshold. + * + * + * Can be configured with BAT_EMERGEN_THR. + * + */ + reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_emergency"), + log_level, "Emergency battery level"); + + if (reporter.mavlink_log_pub()) { + mavlink_log_emergency(reporter.mavlink_log_pub(), "Emergency battery level\t"); + } + + break; } } From 2f2e56c0974fa98b907432c710a766a2135599ad Mon Sep 17 00:00:00 2001 From: Silvan Date: Fri, 24 Jan 2025 17:15:09 +0100 Subject: [PATCH 33/48] Navigator: replace custom NAV_EPSILON_POSITION with FLT_EPSILON Signed-off-by: Silvan --- src/modules/navigator/mission_block.cpp | 2 +- src/modules/navigator/navigation.h | 2 -- 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 95912a22e3..53a7ce0466 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -622,7 +622,7 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi sp->lon = item.lon; sp->alt = get_absolute_altitude_for_item(item); sp->yaw = item.yaw; - sp->loiter_radius = (fabsf(item.loiter_radius) > NAV_EPSILON_POSITION) ? fabsf(item.loiter_radius) : + sp->loiter_radius = (fabsf(item.loiter_radius) > FLT_EPSILON) ? fabsf(item.loiter_radius) : _navigator->get_loiter_radius(); sp->loiter_direction_counter_clockwise = item.loiter_radius < 0; diff --git a/src/modules/navigator/navigation.h b/src/modules/navigator/navigation.h index ecf616ffc4..520430c014 100644 --- a/src/modules/navigator/navigation.h +++ b/src/modules/navigator/navigation.h @@ -56,8 +56,6 @@ # define NUM_MISSIONS_SUPPORTED 500 #endif -#define NAV_EPSILON_POSITION 0.001f /**< Anything smaller than this is considered zero */ - /* compatible to mavlink MAV_CMD */ enum NAV_CMD { NAV_CMD_IDLE = 0, From ddf591c4f588d6829facd5369059298a72ea01c2 Mon Sep 17 00:00:00 2001 From: Silvan Date: Fri, 24 Jan 2025 17:16:57 +0100 Subject: [PATCH 34/48] Navigator: use FLT_EPSILON instead of 0.0001f for >0 float comparison Signed-off-by: Silvan --- src/modules/navigator/mission_block.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 53a7ce0466..1b05628a6c 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -626,7 +626,7 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi _navigator->get_loiter_radius(); sp->loiter_direction_counter_clockwise = item.loiter_radius < 0; - if (item.acceptance_radius > 0.001f && PX4_ISFINITE(item.acceptance_radius)) { + if (item.acceptance_radius > FLT_EPSILON && PX4_ISFINITE(item.acceptance_radius)) { // if the mission item has a specified acceptance radius, overwrite the default one from parameters sp->acceptance_radius = item.acceptance_radius; From 96105cacc094487247fbdf94c15c75f6ff3e4b75 Mon Sep 17 00:00:00 2001 From: Balduin Date: Wed, 29 Jan 2025 09:22:55 +0100 Subject: [PATCH 35/48] SIH airframes: clean up configs - set SIH_L_ROLL that agrees with CA_* rotor geometry - remove unnecessary params & comments - clarify that ailerons are single channel --- .../init.d-posix/airframes/10040_sihsim_quadx | 4 --- .../airframes/10041_sihsim_airplane | 6 ---- .../init.d-posix/airframes/10042_sihsim_xvert | 4 --- .../airframes/10043_sihsim_standard_vtol | 28 +++---------------- .../airframes/1103_standard_vtol_sih.hil | 16 +++-------- 5 files changed, 8 insertions(+), 50 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx b/ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx index 077d908ec5..623ee41f1f 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx @@ -16,10 +16,6 @@ param set-default SENS_EN_GPSSIM 1 param set-default SENS_EN_BAROSIM 1 param set-default SENS_EN_MAGSIM 1 -# disable some checks to allow to fly: -# - without real battery -param set-default CBRK_SUPPLY_CHK 894281 - # Square quadrotor X PX4 numbering param set-default CA_ROTOR_COUNT 4 param set-default CA_ROTOR0_PX 1 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane b/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane index c91e732a9e..4f1ddf2635 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane @@ -16,12 +16,6 @@ param set-default SENS_EN_BAROSIM 1 param set-default SENS_EN_MAGSIM 1 param set-default SENS_EN_ARSPDSIM 1 -# disable some checks to allow to fly: -# - with usb -param set-default CBRK_USB_CHK 197848 -# - without real battery -param set-default CBRK_SUPPLY_CHK 894281 - param set-default SIH_T_MAX 6 param set-default SIH_MASS 0.3 param set-default SIH_IXX 0.00402 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert index d82b92c1ef..ee5ea9401c 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert @@ -28,10 +28,6 @@ param set-default MC_PITCH_P 5 param set-default MAV_TYPE 19 -# disable some checks to allow to fly: -# - without real battery -param set-default CBRK_SUPPLY_CHK 894281 - param set-default SIH_T_MAX 2 param set-default SIH_Q_MAX 0.0165 param set-default SIH_MASS 0.2 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol index 6bfda5edf6..4abc9de264 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol @@ -10,7 +10,7 @@ # @output Motor3 MC motor front left # @output Motor4 MC motor back right # @output Motor5 Forward thrust motor -# @output Servo1 Aileron +# @output Servo1 Ailerons (single channel) # @output Servo2 Elevator # @output Servo3 Rudder # @@ -19,26 +19,16 @@ . ${R}etc/init.d/rc.vtol_defaults -# SIH in SITL changes. could we source these from a common file? {{{ -# inspired by: diff ROMFS/px4fmu_common/init.d/airframes/4001_quad_x ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx - PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim} PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol} param set-default SENS_EN_GPSSIM 1 param set-default SENS_EN_BAROSIM 1 param set-default SENS_EN_MAGSIM 1 +param set-default SENS_EN_ARSPDSIM 1 param set-default EKF2_GPS_DELAY 0 -# battery check disabled below already -# HIL_ACT_FUNC* set below -- do we need PWM_MAIN_FUNC* as well? -# SIH_VEHICLE_TYPE set below too. - -# }}} - -param set-default VT_B_TRANS_DUR 5 -param set-default VT_ELEV_MC_LOCK 0 param set-default VT_TYPE 2 param set-default MPC_MAN_Y_MAX 60 param set-default MC_PITCH_P 5 @@ -57,8 +47,6 @@ param set-default CA_ROTOR2_KM -0.05 param set-default CA_ROTOR3_PX -0.2 param set-default CA_ROTOR3_PY 0.2 param set-default CA_ROTOR3_KM -0.05 - - param set-default CA_ROTOR4_PX -0.3 param set-default CA_ROTOR4_KM 0.05 param set-default CA_ROTOR4_AX 1 @@ -73,9 +61,9 @@ param set-default CA_SV_CS1_TYPE 3 # elevator param set-default CA_SV_CS2_TRQ_Y 1 param set-default CA_SV_CS2_TYPE 4 # rudder -param set-default FW_AIRSPD_MAX 12 param set-default FW_AIRSPD_MIN 7 param set-default FW_AIRSPD_TRIM 10 +param set-default FW_AIRSPD_MAX 12 param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 @@ -91,12 +79,6 @@ param set-default MAV_TYPE 22 # set SYS_HITL to 2 to start the SIH and avoid sensors startup # param set-default SYS_HITL 2 -# disable some checks to allow to fly: -# - without real battery -param set-default CBRK_SUPPLY_CHK 894281 -# - without safety switch -param set-default CBRK_IO_SAFETY 22027 - param set-default SENS_DPRES_OFF 0.001 param set SIH_T_MAX 2.0 @@ -108,9 +90,7 @@ param set SIH_IYY 0.000625 param set SIH_IZZ 0.00300 param set SIH_IXZ 0 param set SIH_KDV 0.2 -param set SIH_L_ROLL 0.145 +param set SIH_L_ROLL 0.2 # sih as standard vtol param set SIH_VEHICLE_TYPE 3 - -param set-default VT_ARSP_TRANS 6 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil index 0309d3c0dc..5ac9e6b1ab 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil @@ -10,7 +10,7 @@ # @output Motor3 MC motor front left # @output Motor4 MC motor back right # @output Motor5 Forward thrust motor -# @output Servo1 Aileron +# @output Servo1 Ailerons (single channel) # @output Servo2 Elevator # @output Servo3 Rudder # @@ -20,8 +20,7 @@ . ${R}etc/init.d/rc.vtol_defaults param set UAVCAN_ENABLE 0 -param set-default VT_B_TRANS_DUR 5 -param set-default VT_ELEV_MC_LOCK 0 + param set-default VT_TYPE 2 param set-default MPC_MAN_Y_MAX 60 param set-default MC_PITCH_P 5 @@ -40,7 +39,6 @@ param set-default CA_ROTOR2_KM -0.05 param set-default CA_ROTOR3_PX -0.2 param set-default CA_ROTOR3_PY 0.2 param set-default CA_ROTOR3_KM -0.05 - param set-default CA_ROTOR4_PX -0.3 param set-default CA_ROTOR4_KM 0.05 param set-default CA_ROTOR4_AX 1 @@ -55,9 +53,9 @@ param set-default CA_SV_CS1_TYPE 3 # elevator param set-default CA_SV_CS2_TRQ_Y 1 param set-default CA_SV_CS2_TYPE 4 # rudder -param set-default FW_AIRSPD_MAX 12 param set-default FW_AIRSPD_MIN 7 param set-default FW_AIRSPD_TRIM 10 +param set-default FW_AIRSPD_MAX 12 param set-default HIL_ACT_FUNC1 101 param set-default HIL_ACT_FUNC2 102 @@ -70,16 +68,12 @@ param set-default HIL_ACT_FUNC8 105 param set-default MAV_TYPE 22 - - # set SYS_HITL to 2 to start the SIH and avoid sensors startup param set-default SYS_HITL 2 # disable some checks to allow to fly: # - without real battery param set-default CBRK_SUPPLY_CHK 894281 -# - without safety switch -param set-default CBRK_IO_SAFETY 22027 param set-default SENS_DPRES_OFF 0.001 @@ -92,9 +86,7 @@ param set SIH_IYY 0.000625 param set SIH_IZZ 0.00300 param set SIH_IXZ 0 param set SIH_KDV 0.2 -param set SIH_L_ROLL 0.145 +param set SIH_L_ROLL 0.2 # sih as standard vtol param set SIH_VEHICLE_TYPE 3 - -param set-default VT_ARSP_TRANS 6 From 1eb9d05f69030394ed08db6c3bb1aaa659b1a124 Mon Sep 17 00:00:00 2001 From: Sam 3 Firestorm <46759700+gillamkid@users.noreply.github.com> Date: Wed, 29 Jan 2025 10:37:00 -0700 Subject: [PATCH 36/48] Gazebo classic: report correct limits for H480 gimbal yaw (#24269) --- Tools/simulation/gazebo-classic/sitl_gazebo-classic | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/simulation/gazebo-classic/sitl_gazebo-classic b/Tools/simulation/gazebo-classic/sitl_gazebo-classic index c0e0751341..fbd8e9e6bb 160000 --- a/Tools/simulation/gazebo-classic/sitl_gazebo-classic +++ b/Tools/simulation/gazebo-classic/sitl_gazebo-classic @@ -1 +1 @@ -Subproject commit c0e0751341d46108377bbae2ae1bb6da8a5d4106 +Subproject commit fbd8e9e6bbd2188de81677494f15885dead99c48 From 3b828e157a6d9b7d811c80c73d95fd39fca5e181 Mon Sep 17 00:00:00 2001 From: bresch Date: Mon, 20 Jan 2025 13:52:07 +0100 Subject: [PATCH 37/48] MC att: clarify prioritization algorithm Especially rename "mix" which is just the delta yaw angle --- .../AttitudeControl/AttitudeControl.cpp | 18 +++++++++++------- 1 file changed, 11 insertions(+), 7 deletions(-) diff --git a/src/modules/mc_att_control/AttitudeControl/AttitudeControl.cpp b/src/modules/mc_att_control/AttitudeControl/AttitudeControl.cpp index 6f1585f801..02f3894f0e 100644 --- a/src/modules/mc_att_control/AttitudeControl/AttitudeControl.cpp +++ b/src/modules/mc_att_control/AttitudeControl/AttitudeControl.cpp @@ -68,17 +68,21 @@ matrix::Vector3f AttitudeControl::update(const Quatf &q) const qd_red = qd; } else { - // transform rotation from current to desired thrust vector into a world frame reduced desired attitude + // Transform rotation from current to desired thrust vector into a world frame reduced desired attitude. + // This is a right multiplication as the tilt error quaternion is obtained from two Z vectors expressed in the world frame. qd_red *= q; } - // mix full and reduced desired attitude - Quatf q_mix = qd_red.inversed() * qd; - q_mix.canonicalize(); + // With a full desired attitude given by: qd = qd_red * qd_dyaw, extract the delta yaw component. + // By definition, the delta yaw quaternion has the form (cos(angle/2), 0, 0, sin(angle/2)) + Quatf qd_dyaw = qd_red.inversed() * qd; + qd_dyaw.canonicalize(); // catch numerical problems with the domain of acosf and asinf - q_mix(0) = math::constrain(q_mix(0), -1.f, 1.f); - q_mix(3) = math::constrain(q_mix(3), -1.f, 1.f); - qd = qd_red * Quatf(cosf(_yaw_w * acosf(q_mix(0))), 0, 0, sinf(_yaw_w * asinf(q_mix(3)))); + qd_dyaw(0) = math::constrain(qd_dyaw(0), -1.f, 1.f); + qd_dyaw(3) = math::constrain(qd_dyaw(3), -1.f, 1.f); + + // scale the delta yaw angle and re-combine the desired attitude + qd = qd_red * Quatf(cosf(_yaw_w * acosf(qd_dyaw(0))), 0.f, 0.f, sinf(_yaw_w * asinf(qd_dyaw(3)))); // quaternion attitude control law, qe is rotation from q to qd const Quatf qe = q.inversed() * qd; From f1423635752ef1ab960577dfe1b26dd8f547abc1 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 29 Jan 2025 16:31:17 +0100 Subject: [PATCH 38/48] HealthAndArmingChecks: allow to warn in certain modes and fail arming checks in other modes Previously it was only possible to warn in all modes and fail none or fail and warn in certain modes. --- .../commander/HealthAndArmingChecks/Common.cpp | 8 ++++++++ .../commander/HealthAndArmingChecks/Common.hpp | 14 ++++++++++++++ 2 files changed, 22 insertions(+) diff --git a/src/modules/commander/HealthAndArmingChecks/Common.cpp b/src/modules/commander/HealthAndArmingChecks/Common.cpp index fb5639087e..16e074ba18 100644 --- a/src/modules/commander/HealthAndArmingChecks/Common.cpp +++ b/src/modules/commander/HealthAndArmingChecks/Common.cpp @@ -73,6 +73,14 @@ void Report::armingCheckFailure(NavModes required_modes, HealthComponentIndex co addEvent(event_id, log_levels, message, (uint32_t)reportedModes(required_modes), component.index); } +void Report::armingCheckFailure(NavModesMessageFail required_modes, HealthComponentIndex component, + uint32_t event_id, const events::LogLevels &log_levels, const char *message) +{ + armingCheckFailure(required_modes.fail_modes, component, log_levels.external); + addEvent(event_id, log_levels, message, + (uint32_t)reportedModes(required_modes.message_modes | required_modes.fail_modes), component.index); +} + Report::EventBufferHeader *Report::addEventToBuffer(uint32_t event_id, const events::LogLevels &log_levels, uint32_t modes, unsigned args_size) { diff --git a/src/modules/commander/HealthAndArmingChecks/Common.hpp b/src/modules/commander/HealthAndArmingChecks/Common.hpp index 826aa7629c..e069788ddf 100644 --- a/src/modules/commander/HealthAndArmingChecks/Common.hpp +++ b/src/modules/commander/HealthAndArmingChecks/Common.hpp @@ -74,6 +74,12 @@ static_assert(sizeof(navigation_mode_group_t) == sizeof(NavModes), "type mismatc static_assert(vehicle_status_s::NAVIGATION_STATE_MAX <= CHAR_BIT *sizeof(navigation_mode_group_t), "type too small, use next larger type"); +// Type to pass two mode groups in one struct to have the same number of function arguments to facilitate events parsing +struct NavModesMessageFail { + NavModes message_modes; ///< modes in which there's user messageing but arming is allowed + NavModes fail_modes; ///< modes in which checks fail which must be a subset of message_modes +}; + static inline NavModes operator|(NavModes a, NavModes b) { return static_cast(static_cast(a) | static_cast(b)); @@ -251,6 +257,14 @@ public: void armingCheckFailure(NavModes required_modes, HealthComponentIndex component, uint32_t event_id, const events::LogLevels &log_levels, const char *message); + /** + * Overloaded variant of armingCheckFailure() which allows to separately specify modes in which a message should be emitted and a subset in which arming is blocked + * @param required_modes .message_modes modes in which to put out the event and hence user message. + * .failing_modes modes in which to to fail arming. Has to be a subset of message_modes to never disallow arming without a reason. + */ + void armingCheckFailure(NavModesMessageFail required_modes, HealthComponentIndex component, + uint32_t event_id, const events::LogLevels &log_levels, const char *message); + void clearArmingBits(NavModes modes); /** From 4c2e69b2e65c7ce9fa1546887241051e8823a431 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 29 Jan 2025 16:34:15 +0100 Subject: [PATCH 39/48] estimatorCheck: only warn about GPS in modes that require a position but fail all modes if GPS required by configuration --- .../checks/estimatorCheck.cpp | 60 ++++++++++--------- 1 file changed, 32 insertions(+), 28 deletions(-) diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp index 1cd140fe5b..96b32c947c 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp @@ -273,7 +273,7 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor } if (!context.isArmed() && ekf_gps_check_fail) { - NavModes required_groups_gps; + NavModesMessageFail required_modes; events::Log log_level; switch (static_cast(_param_com_arm_wo_gps.get())) { @@ -281,17 +281,21 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* FALLTHROUGH */ case GnssArmingCheck::DenyArming: - required_groups_gps = required_groups; + required_modes.message_modes = required_modes.fail_modes = NavModes::All; log_level = events::Log::Error; break; case GnssArmingCheck::WarningOnly: - required_groups_gps = NavModes::None; // optional + required_modes.message_modes = (NavModes)(reporter.failsafeFlags().mode_req_local_position + | reporter.failsafeFlags().mode_req_local_position_relaxed + | reporter.failsafeFlags().mode_req_global_position); + // Only warn and don't block arming because there could still be a valid position estimate from another source e.g. optical flow, VIO + required_modes.fail_modes = NavModes::None; log_level = events::Log::Warning; break; case GnssArmingCheck::Disabled: - required_groups_gps = NavModes::None; + required_modes.message_modes = required_modes.fail_modes = NavModes::None; log_level = events::Log::Disabled; break; } @@ -304,10 +308,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_fix_too_low"), log_level, "GPS fix too low"); @@ -316,10 +320,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_num_sats_too_low"), log_level, "Not enough GPS Satellites"); @@ -328,10 +332,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_pdop_too_high"), log_level, "GPS PDOP too high"); @@ -340,10 +344,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_hor_pos_err_too_high"), log_level, "GPS Horizontal Position Error too high"); @@ -352,10 +356,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_vert_pos_err_too_high"), log_level, "GPS Vertical Position Error too high"); @@ -364,10 +368,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_speed_acc_too_low"), log_level, "GPS Speed Accuracy too low"); @@ -376,10 +380,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_hor_pos_drift_too_high"), log_level, "GPS Horizontal Position Drift too high"); @@ -388,10 +392,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_vert_pos_drift_too_high"), log_level, "GPS Vertical Position Drift too high"); @@ -400,10 +404,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_hor_speed_drift_too_high"), log_level, "GPS Horizontal Speed Drift too high"); @@ -412,10 +416,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_vert_speed_drift_too_high"), log_level, "GPS Vertical Speed Drift too high"); @@ -424,10 +428,10 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor /* EVENT * @description * - * This check can be configured via EKF2_GPS_CHECK parameter. + * Can be configured with EKF2_GPS_CHECK and COM_ARM_WO_GPS. * */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_spoofed"), log_level, "GPS signal spoofed"); @@ -437,7 +441,7 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor message = "Preflight%s: Estimator not using GPS"; /* EVENT */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_not_fusing"), log_level, "Estimator not using GPS"); @@ -446,7 +450,7 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor message = "Preflight%s: Poor GPS Quality"; /* EVENT */ - reporter.armingCheckFailure(required_groups_gps, health_component_t::gps, + reporter.armingCheckFailure(required_modes, health_component_t::gps, events::ID("check_estimator_gps_generic"), log_level, "Poor GPS Quality"); } From a9214b3aa3f3e0fdd6b2bd9eb91732a61aa89cdc Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 31 Jan 2025 12:59:41 +1300 Subject: [PATCH 40/48] gimbal: don't spoof gimbal device (#24271) The current approach was wrong because the gimbal protocol now handles the case properly where the autopilot is in charge of a non-MAVLink gimbal. This means that we don't need to send message "as if we were a gimbal device" and instead set thet gimbal_device_id to 1 (up to 6) to indicate we are in charge or a non-MAVLink gimbal. --- src/modules/gimbal/output_mavlink.cpp | 3 ++ src/modules/mavlink/mavlink_receiver.cpp | 7 +-- .../streams/GIMBAL_DEVICE_ATTITUDE_STATUS.hpp | 51 +++++++------------ src/modules/simulation/gz_bridge/GZGimbal.hpp | 2 +- 4 files changed, 22 insertions(+), 41 deletions(-) diff --git a/src/modules/gimbal/output_mavlink.cpp b/src/modules/gimbal/output_mavlink.cpp index ca562ec870..ae5222c674 100644 --- a/src/modules/gimbal/output_mavlink.cpp +++ b/src/modules/gimbal/output_mavlink.cpp @@ -109,6 +109,9 @@ void OutputMavlinkV1::update(const ControlData &control_data, bool new_setpoints _stream_device_attitude_status(); + // If the output is MAVLink v1, then we signal this by referring to compid 1. + gimbal_device_id = 1; + _last_update = now; } diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 37328503b9..aa8b50d01a 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -3075,12 +3075,7 @@ MavlinkReceiver::handle_message_gimbal_device_information(mavlink_message_t *msg gimbal_information.yaw_max = gimbal_device_info_msg.yaw_max; gimbal_information.yaw_min = gimbal_device_info_msg.yaw_min; - if (gimbal_device_info_msg.gimbal_device_id == 0) { - gimbal_information.gimbal_device_id = msg->compid; - - } else { - gimbal_information.gimbal_device_id = gimbal_device_info_msg.gimbal_device_id; - } + gimbal_information.gimbal_device_id = msg->compid; _gimbal_device_information_pub.publish(gimbal_information); } diff --git a/src/modules/mavlink/streams/GIMBAL_DEVICE_ATTITUDE_STATUS.hpp b/src/modules/mavlink/streams/GIMBAL_DEVICE_ATTITUDE_STATUS.hpp index c8338996ae..ae7f3cbad1 100644 --- a/src/modules/mavlink/streams/GIMBAL_DEVICE_ATTITUDE_STATUS.hpp +++ b/src/modules/mavlink/streams/GIMBAL_DEVICE_ATTITUDE_STATUS.hpp @@ -74,48 +74,31 @@ private: return false; } - if (gimbal_device_attitude_status.gimbal_device_id >= 1 && gimbal_device_attitude_status.gimbal_device_id <= 6) { - // A non-MAVLink gimbal is signalled and addressed using 1 to 6 as the gimbal_device_id - mavlink_gimbal_device_attitude_status_t msg{}; + mavlink_gimbal_device_attitude_status_t msg{}; - msg.target_system = gimbal_device_attitude_status.target_system; - msg.target_component = gimbal_device_attitude_status.target_component; + msg.target_system = gimbal_device_attitude_status.target_system; + msg.target_component = gimbal_device_attitude_status.target_component; - msg.time_boot_ms = gimbal_device_attitude_status.timestamp / 1000; + msg.time_boot_ms = gimbal_device_attitude_status.timestamp / 1000; - msg.flags = gimbal_device_attitude_status.device_flags; + msg.flags = gimbal_device_attitude_status.device_flags; - msg.q[0] = gimbal_device_attitude_status.q[0]; - msg.q[1] = gimbal_device_attitude_status.q[1]; - msg.q[2] = gimbal_device_attitude_status.q[2]; - msg.q[3] = gimbal_device_attitude_status.q[3]; + msg.q[0] = gimbal_device_attitude_status.q[0]; + msg.q[1] = gimbal_device_attitude_status.q[1]; + msg.q[2] = gimbal_device_attitude_status.q[2]; + msg.q[3] = gimbal_device_attitude_status.q[3]; - msg.angular_velocity_x = gimbal_device_attitude_status.angular_velocity_x; - msg.angular_velocity_y = gimbal_device_attitude_status.angular_velocity_y; - msg.angular_velocity_z = gimbal_device_attitude_status.angular_velocity_z; + msg.angular_velocity_x = gimbal_device_attitude_status.angular_velocity_x; + msg.angular_velocity_y = gimbal_device_attitude_status.angular_velocity_y; + msg.angular_velocity_z = gimbal_device_attitude_status.angular_velocity_z; - msg.failure_flags = gimbal_device_attitude_status.failure_flags; - msg.gimbal_device_id = gimbal_device_attitude_status.gimbal_device_id; + msg.failure_flags = gimbal_device_attitude_status.failure_flags; + msg.gimbal_device_id = gimbal_device_attitude_status.gimbal_device_id; - msg.delta_yaw = gimbal_device_attitude_status.delta_yaw; - msg.delta_yaw_velocity = gimbal_device_attitude_status.delta_yaw_velocity; + msg.delta_yaw = gimbal_device_attitude_status.delta_yaw; + msg.delta_yaw_velocity = gimbal_device_attitude_status.delta_yaw_velocity; - mavlink_msg_gimbal_device_attitude_status_send_struct(_mavlink->get_channel(), &msg); - - } else { - // We have a Mavlink gimbal. We simulate its mavlink instance by spoofing the component ID - mavlink_message_t message; - mavlink_msg_gimbal_device_attitude_status_pack_chan(_mavlink->get_system_id(), MAV_COMP_ID_GIMBAL, - _mavlink->get_channel(), &message, - gimbal_device_attitude_status.target_system, gimbal_device_attitude_status.target_component, - gimbal_device_attitude_status.timestamp / 1000, - gimbal_device_attitude_status.device_flags, gimbal_device_attitude_status.q, - gimbal_device_attitude_status.angular_velocity_x, - gimbal_device_attitude_status.angular_velocity_y, gimbal_device_attitude_status.angular_velocity_z, - gimbal_device_attitude_status.failure_flags, - 0, 0, 0); - _mavlink->forward_message(&message, _mavlink); - } + mavlink_msg_gimbal_device_attitude_status_send_struct(_mavlink->get_channel(), &msg); return true; } diff --git a/src/modules/simulation/gz_bridge/GZGimbal.hpp b/src/modules/simulation/gz_bridge/GZGimbal.hpp index 00b46becc4..662268abd2 100644 --- a/src/modules/simulation/gz_bridge/GZGimbal.hpp +++ b/src/modules/simulation/gz_bridge/GZGimbal.hpp @@ -115,7 +115,7 @@ private: const float _yaw_min = NAN; // infinite yaw const float _yaw_max = NAN; // infinite yaw - const uint8_t _gimbal_device_id = 154; // TODO the implementation differs from the protocol + const uint8_t _gimbal_device_id = 1; // Gimbal is implemented by the same component: options are 1..6 uint16_t _gimbal_device_flags = 0; // GIMBAL_DEVICE_FLAGS bool init(const std::string &world_name, const std::string &model_name); From f7dadd9b89f3052735a12bd617755e78cf5305e2 Mon Sep 17 00:00:00 2001 From: Perre Date: Mon, 3 Feb 2025 15:51:55 +0100 Subject: [PATCH 41/48] Remove inclusion of rotors in library to enable test (#24286) --- .../control_allocation/CMakeLists.txt | 2 +- ...olAllocationSequentialDesaturationTest.cpp | 60 +++++++++++++++++-- 2 files changed, 56 insertions(+), 6 deletions(-) diff --git a/src/lib/control_allocation/control_allocation/CMakeLists.txt b/src/lib/control_allocation/control_allocation/CMakeLists.txt index d65bd11fa0..4da638aac8 100644 --- a/src/lib/control_allocation/control_allocation/CMakeLists.txt +++ b/src/lib/control_allocation/control_allocation/CMakeLists.txt @@ -44,4 +44,4 @@ target_include_directories(ControlAllocation PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) target_link_libraries(ControlAllocation PRIVATE mathlib) px4_add_unit_gtest(SRC ControlAllocationPseudoInverseTest.cpp LINKLIBS ControlAllocation) -# px4_add_functional_gtest(SRC ControlAllocationSequentialDesaturationTest.cpp LINKLIBS ControlAllocation ActuatorEffectiveness) +px4_add_functional_gtest(SRC ControlAllocationSequentialDesaturationTest.cpp LINKLIBS ControlAllocation ActuatorEffectiveness) diff --git a/src/lib/control_allocation/control_allocation/ControlAllocationSequentialDesaturationTest.cpp b/src/lib/control_allocation/control_allocation/ControlAllocationSequentialDesaturationTest.cpp index 2e0af6bff4..cd478a1b00 100644 --- a/src/lib/control_allocation/control_allocation/ControlAllocationSequentialDesaturationTest.cpp +++ b/src/lib/control_allocation/control_allocation/ControlAllocationSequentialDesaturationTest.cpp @@ -40,17 +40,27 @@ #include #include -#include using namespace matrix; namespace { +struct RotorGeometryTest { + matrix::Vector3f position; + matrix::Vector3f axis; + float thrust_coef; + float moment_ratio; +}; + +struct GeometryTest { + RotorGeometryTest rotors[ActuatorEffectiveness::NUM_ACTUATORS]; + int num_rotors{0}; +}; // Makes and returns a Geometry object for a "standard" quad-x quadcopter. -ActuatorEffectivenessRotors::Geometry make_quad_x_geometry() +GeometryTest make_quad_x_geometry() { - ActuatorEffectivenessRotors::Geometry geometry = {}; + GeometryTest geometry = {}; geometry.rotors[0].position(0) = 1.0f; geometry.rotors[0].position(1) = 1.0f; geometry.rotors[0].position(2) = 0.0f; @@ -88,7 +98,6 @@ ActuatorEffectivenessRotors::Geometry make_quad_x_geometry() geometry.rotors[3].moment_ratio = -0.05f; geometry.num_rotors = 4; - return geometry; } @@ -98,7 +107,48 @@ ActuatorEffectiveness::EffectivenessMatrix make_quad_x_effectiveness() ActuatorEffectiveness::EffectivenessMatrix effectiveness; effectiveness.setZero(); const auto geometry = make_quad_x_geometry(); - ActuatorEffectivenessRotors::computeEffectivenessMatrix(geometry, effectiveness); + + // Minimalistically copied from ActuatorEffectivenessRotors::computeEffectivenessMatrix + for (int i = 0; i < geometry.num_rotors; i++) { + + // Get rotor axis + Vector3f axis = geometry.rotors[i].axis; + + // Normalize axis + float axis_norm = axis.norm(); + + if (axis_norm > FLT_EPSILON) { + axis /= axis_norm; + + } else { + // Bad axis definition, ignore this rotor + continue; + } + + // Get rotor position + const Vector3f &position = geometry.rotors[i].position; + + // Get coefficients + float ct = geometry.rotors[i].thrust_coef; + float km = geometry.rotors[i].moment_ratio; + + if (fabsf(ct) < FLT_EPSILON) { + continue; + } + + // Compute thrust generated by this rotor + matrix::Vector3f thrust = ct * axis; + + // Compute moment generated by this rotor + matrix::Vector3f moment = ct * position.cross(axis) - ct * km * axis; + + // Fill corresponding items in effectiveness matrix + for (int j = 0; j < 3; j++) { + effectiveness(j, i) = moment(j); + effectiveness(j + 3, i) = thrust(j); + } + } + return effectiveness; } From cb332e047d393785ee63d5e8f60e6d820bfafb25 Mon Sep 17 00:00:00 2001 From: mahimayoga Date: Mon, 3 Feb 2025 16:31:31 +0100 Subject: [PATCH 42/48] obstacle-math: add standard obstacle map functions. These functions help simplify repeated calculations accross driver and collision prevention files that are computing bins, angles and sensor offsets in obstacle maps. --- src/lib/collision_prevention/ObstacleMath.cpp | 58 +++++++ src/lib/collision_prevention/ObstacleMath.hpp | 44 +++++ .../collision_prevention/ObstacleMathTest.cpp | 150 +++++++++++++++++- 3 files changed, 251 insertions(+), 1 deletion(-) diff --git a/src/lib/collision_prevention/ObstacleMath.cpp b/src/lib/collision_prevention/ObstacleMath.cpp index 22d67c64ae..0605b664ec 100644 --- a/src/lib/collision_prevention/ObstacleMath.cpp +++ b/src/lib/collision_prevention/ObstacleMath.cpp @@ -51,4 +51,62 @@ void project_distance_on_horizontal_plane(float &distance, const float yaw, cons distance *= horizontal_projection_scale; } +int get_bin_at_angle(float bin_width, float angle) +{ + int bin_at_angle = (int)round(matrix::wrap(angle, 0.f, 360.f) / bin_width); + return wrap_bin(bin_at_angle, 360 / bin_width); +} + +int get_offset_bin_index(int bin, float bin_width, float angle_offset) +{ + int offset = get_bin_at_angle(bin_width, angle_offset); + return wrap_bin(bin - offset, 360 / bin_width); +} + +float sensor_orientation_to_yaw_offset(const SensorOrientation orientation) +{ + float offset = 0.0f; + + switch (orientation) { + case SensorOrientation::ROTATION_YAW_0: + offset = 0.0f; + break; + + case SensorOrientation::ROTATION_YAW_45: + offset = M_PI_F / 4.0f; + break; + + case SensorOrientation::ROTATION_YAW_90: + offset = M_PI_F / 2.0f; + break; + + case SensorOrientation::ROTATION_YAW_135: + offset = 3.0f * M_PI_F / 4.0f; + break; + + case SensorOrientation::ROTATION_YAW_180: + offset = M_PI_F; + break; + + case SensorOrientation::ROTATION_YAW_225: + offset = -3.0f * M_PI_F / 4.0f; + break; + + case SensorOrientation::ROTATION_YAW_270: + offset = -M_PI_F / 2.0f; + break; + + case SensorOrientation::ROTATION_YAW_315: + offset = -M_PI_F / 4.0f; + break; + } + + return offset; +} + +int wrap_bin(int bin, int bin_count) +{ + return (bin + bin_count) % bin_count; +} + } // ObstacleMath diff --git a/src/lib/collision_prevention/ObstacleMath.hpp b/src/lib/collision_prevention/ObstacleMath.hpp index 3c19eb9110..f5317aeaa7 100644 --- a/src/lib/collision_prevention/ObstacleMath.hpp +++ b/src/lib/collision_prevention/ObstacleMath.hpp @@ -36,6 +36,28 @@ namespace ObstacleMath { +enum SensorOrientation { + ROTATION_YAW_0 = 0, // MAV_SENSOR_ROTATION_NONE + ROTATION_YAW_45 = 1, // MAV_SENSOR_ROTATION_YAW_45 + ROTATION_YAW_90 = 2, // MAV_SENSOR_ROTATION_YAW_90 + ROTATION_YAW_135 = 3, // MAV_SENSOR_ROTATION_YAW_135 + ROTATION_YAW_180 = 4, // MAV_SENSOR_ROTATION_YAW_180 + ROTATION_YAW_225 = 5, // MAV_SENSOR_ROTATION_YAW_225 + ROTATION_YAW_270 = 6, // MAV_SENSOR_ROTATION_YAW_270 + ROTATION_YAW_315 = 7, // MAV_SENSOR_ROTATION_YAW_315 + + ROTATION_FORWARD_FACING = 0, // MAV_SENSOR_ROTATION_NONE + ROTATION_RIGHT_FACING = 2, // MAV_SENSOR_ROTATION_YAW_90 + ROTATION_BACKWARD_FACING = 4, // MAV_SENSOR_ROTATION_YAW_180 + ROTATION_LEFT_FACING = 6 // MAV_SENSOR_ROTATION_YAW_270 +}; + +/** + * Converts a sensor orientation to a yaw offset + * @param orientation sensor orientation + */ +float sensor_orientation_to_yaw_offset(const SensorOrientation orientation); + /** * Scales a distance measurement taken in the vehicle body horizontal plane onto the world horizontal plane * @param distance measurement which is scaled down @@ -44,4 +66,26 @@ namespace ObstacleMath */ void project_distance_on_horizontal_plane(float &distance, const float yaw, const matrix::Quatf &q_world_vehicle); +/** + * Returns bin index at a given angle from the 0th bin + * @param bin_width width of a bin in degrees + * @param angle clockwise angle from start bin in degrees + */ +int get_bin_at_angle(float bin_width, float angle); + +/** + * Returns bin index for the current bin after an angle offset + * @param bin current bin index + * @param bin_width width of a bin in degrees + * @param angle_offset clockwise angle offset in degrees + */ +int get_offset_bin_index(int bin, float bin_width, float angle_offset); + +/** + * Wraps a bin index to the range [0, bin_count) + * @param bin bin index + * @param bin_count number of bins + */ +int wrap_bin(int bin, int bin_count); + } // ObstacleMath diff --git a/src/lib/collision_prevention/ObstacleMathTest.cpp b/src/lib/collision_prevention/ObstacleMathTest.cpp index e24b95134c..cea54aa4a2 100644 --- a/src/lib/collision_prevention/ObstacleMathTest.cpp +++ b/src/lib/collision_prevention/ObstacleMathTest.cpp @@ -33,6 +33,7 @@ #include #include +#include #include "ObstacleMath.hpp" using namespace matrix; @@ -89,5 +90,152 @@ TEST(ObstacleMathTest, ProjectDistanceOnHorizontalPlane) expected_distance = 1.0f * expected_scale; EXPECT_NEAR(distance, expected_distance, 1e-5); - +} + +TEST(ObstacleMathTest, GetBinAtAngle) +{ + float bin_width = 5.0f; + + // GIVEN: a start bin, bin width, and angle + float angle = 0.0f; + + // WHEN: we calculate the bin index at the angle + uint16_t bin_index = ObstacleMath::get_bin_at_angle(bin_width, angle); + + // THEN: the bin index should be correct + EXPECT_EQ(bin_index, 0); + + // GIVEN: a start bin, bin width, and angle + angle = 90.0f; + + // WHEN: we calculate the bin index at the angle + bin_index = ObstacleMath::get_bin_at_angle(bin_width, angle); + + // THEN: the bin index should be correct + EXPECT_EQ(bin_index, 18); + + // GIVEN: a start bin, bin width, and angle + angle = -90.0f; + + // WHEN: we calculate the bin index at the angle + bin_index = ObstacleMath::get_bin_at_angle(bin_width, angle); + + // THEN: the bin index should be correct + EXPECT_EQ(bin_index, 54); + + // GIVEN: a start bin, bin width, and angle + angle = 450.0f; + + // WHEN: we calculate the bin index at the angle + bin_index = ObstacleMath::get_bin_at_angle(bin_width, angle); + + // THEN: the bin index should be correct + EXPECT_EQ(bin_index, 18); +} + + +TEST(ObstacleMathTest, OffsetBinIndex) +{ + // In this test, we want to offset the bin index by a negative and positive angle. + // We take the output of the first offset and offset it by the same angle in the + // opposite direction to return back to the original bin index. + + // GIVEN: a bin index, bin width, and a negative angle offset + uint16_t bin = 0; + float bin_width = 5.0f; + float angle_offset = -120.0f; + + // WHEN: we offset the bin index by the negative angle + uint16_t new_bin_index = ObstacleMath::get_offset_bin_index(bin, bin_width, angle_offset); + + // THEN: the new bin index should be correctly offset by the wrapped angle + EXPECT_EQ(new_bin_index, 24); + + // GIVEN: the output bin index of the previous offset, bin width, and the same angle + // offset in positive direction + bin = 24; + bin_width = 5.0f; + angle_offset = 120.0f; + + // WHEN: we offset the bin index by the positive angle + new_bin_index = ObstacleMath::get_offset_bin_index(bin, bin_width, angle_offset); + + // THEN: the new bin index should return back to the original bin index + EXPECT_EQ(new_bin_index, 0); +} + + +TEST(ObstacleMathTest, WrapBin) +{ + // GIVEN: a bin index within bounds and the number of bins + int bin = 0; + int bin_count = 72; + + // WHEN: we wrap a bin index within the bounds + int wrapped_bin = ObstacleMath::wrap_bin(bin, bin_count); + + // THEN: the wrapped bin index should stay 0 + EXPECT_EQ(wrapped_bin, 0); + + // GIVEN: a bin index that is out of bounds, and the number of bins + bin = 73; + bin_count = 72; + + // WHEN: we wrap a bin index that is larger than the number of bins + wrapped_bin = ObstacleMath::wrap_bin(bin, bin_count); + + // THEN: the wrapped bin index should be wrapped back to the beginning + EXPECT_EQ(wrapped_bin, 1); + + // GIVEN: a negative bin index and the number of bins + bin = -1; + bin_count = 72; + + // WHEN: we wrap a bin index that is negative + wrapped_bin = ObstacleMath::wrap_bin(bin, bin_count); + + // THEN: the wrapped bin index should be wrapped back to the end + EXPECT_EQ(wrapped_bin, 71); +} + +TEST(ObstacleMathTest, HandleMissedBins) +{ + // In this test, the current and previous bin are adjacent to the bins that are outside + // the sensor field of view. The missed bins (0,1,6 & 7) should be populated, and no + // data should be filled in the bins outside the FOV. + + // GIVEN: measurements, current bin, previous bin, bin width, and field of view offset + float measurements[8] = {0, 0, 1, 0, 0, 2, 0, 0}; + int current_bin = 2; + int previous_bin = 5; + int bin_width = 45.0f; + float fov = 270.0f; + float fov_offset = 360.0f - fov / 2; + + float measurement = measurements[current_bin]; + + // WHEN: we handle missed bins + int current_bin_offset = ObstacleMath::get_offset_bin_index(current_bin, bin_width, fov_offset); + int previous_bin_offset = ObstacleMath::get_offset_bin_index(previous_bin, bin_width, fov_offset); + + int start = math::min(current_bin_offset, previous_bin_offset) + 1; + int end = math::max(current_bin_offset, previous_bin_offset); + + EXPECT_EQ(start, 1); + EXPECT_EQ(end, 5); + + for (uint16_t i = start; i < end; i++) { + uint16_t bin_index = ObstacleMath::get_offset_bin_index(i, bin_width, -fov_offset); + measurements[bin_index] = measurement; + } + + // THEN: the correct missed bins should be populated with the measurement + EXPECT_EQ(measurements[0], 1); + EXPECT_EQ(measurements[1], 1); + EXPECT_EQ(measurements[2], 1); + EXPECT_EQ(measurements[3], 0); + EXPECT_EQ(measurements[4], 0); + EXPECT_EQ(measurements[5], 2); + EXPECT_EQ(measurements[6], 1); + EXPECT_EQ(measurements[7], 1); } From 31bff3e5bbf8aefb68d28215ed03f0cf5dedaac1 Mon Sep 17 00:00:00 2001 From: mahimayoga Date: Mon, 3 Feb 2025 16:37:00 +0100 Subject: [PATCH 43/48] sf45: change handle_missed_bins() function logic. To simplify logic for wrap-around cases and cases in which bins outside the FOV may be filled. Bin indices are offset such that the 0th bin is the first bin within the sensor FOV. This way we can always fill bins from smallest to largest index. --- .../lightware_sf45_serial.cpp | 46 ++++++------------- .../lightware_sf45_serial.hpp | 1 + 2 files changed, 16 insertions(+), 31 deletions(-) diff --git a/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp b/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp index a7a94c6791..e6fbe3e4b9 100755 --- a/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp +++ b/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp @@ -664,6 +664,7 @@ void SF45LaserSerial::sf45_process_replies() hrt_abstime now = hrt_absolute_time(); + _obstacle_distance.distances[current_bin] = _current_bin_dist; _handle_missed_bins(current_bin, _previous_bin, _current_bin_dist, now); _publish_obstacle_msg(now); @@ -701,43 +702,26 @@ void SF45LaserSerial::_handle_missed_bins(uint8_t current_bin, uint8_t previous_ { // if the sensor has its cycle delay configured for a low value like 5, it can happen that not every bin gets a measurement. // in this case we assume the measurement to be valid for all bins between the previous and the current bin. - uint8_t start; - uint8_t end; - if (abs(current_bin - previous_bin) > BIN_COUNT / 4) { - // wrap-around case is assumed to have happend when the distance between the bins is larger than 1/4 of all Bins - // THis is simplyfied as we are not considering the scaning direction - start = math::max(previous_bin, current_bin); - end = math::min(previous_bin, current_bin); + // Shift bin indices such that we can never have the wrap-around case. + const float fov_offset_angle = 360.0f - SF45_FIELDOF_VIEW / 2.f; + const uint16_t current_bin_offset = ObstacleMath::get_offset_bin_index(current_bin, _obstacle_distance.increment, + fov_offset_angle); + const uint16_t previous_bin_offset = ObstacleMath::get_offset_bin_index(previous_bin, _obstacle_distance.increment, + fov_offset_angle); - } else if (previous_bin < current_bin) { // Scanning clockwise - start = previous_bin + 1; - end = current_bin; + const uint16_t start = math::min(current_bin_offset, previous_bin_offset) + 1; + const uint16_t end = math::max(current_bin_offset, previous_bin_offset); - } else { // scanning counter-clockwise - start = current_bin; - end = previous_bin - 1; - } - - if (start <= end) { - for (uint8_t i = start; i <= end; i++) { - _obstacle_distance.distances[i] = measurement; - _data_timestamps[i] = now; - } - - } else { // wrap-around case - for (uint8_t i = start; i < BIN_COUNT; i++) { - _obstacle_distance.distances[i] = measurement; - _data_timestamps[i] = now; - } - - for (uint8_t i = 0; i <= end; i++) { - _obstacle_distance.distances[i] = measurement; - _data_timestamps[i] = now; - } + // populate the missed bins with the measurement + for (uint16_t i = start; i < end; i++) { + uint16_t bin_index = ObstacleMath::get_offset_bin_index(i, _obstacle_distance.increment, -fov_offset_angle); + _obstacle_distance.distances[bin_index] = measurement; + _data_timestamps[bin_index] = now; } } + uint8_t SF45LaserSerial::sf45_convert_angle(const int16_t yaw) { uint8_t mapped_sector = 0; diff --git a/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.hpp b/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.hpp index bfe44f0da2..d308a474d4 100755 --- a/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.hpp +++ b/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.hpp @@ -105,6 +105,7 @@ private: obstacle_distance_s::distances[0]); static constexpr uint64_t SF45_MEAS_TIMEOUT{100_ms}; static constexpr float SF45_SCALE_FACTOR = 0.01f; + static constexpr float SF45_FIELDOF_VIEW = 320.f; // degrees void start(); void stop(); From 48c0992a7d89e898bd766ea3ccceaabb439401cf Mon Sep 17 00:00:00 2001 From: mahimayoga Date: Mon, 3 Feb 2025 16:41:37 +0100 Subject: [PATCH 44/48] sf45: refactor how sensor orientation (yaw_cfg) correction is applied to incoming sensor data. yaw_cfg is now read into the obstacle_distance message as the angle_offset. The offset is computed once at init and applied to each measurement. --- .../lightware_sf45_serial.cpp | 39 +++++-------------- 1 file changed, 10 insertions(+), 29 deletions(-) diff --git a/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp b/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp index e6fbe3e4b9..7f16fa5d26 100755 --- a/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp +++ b/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp @@ -92,6 +92,11 @@ int SF45LaserSerial::init() param_get(param_find("SF45_ORIENT_CFG"), &_orient_cfg); param_get(param_find("SF45_YAW_CFG"), &_yaw_cfg); + // set the sensor orientation + const float yaw_cfg_angle = ObstacleMath::sensor_orientation_to_yaw_offset(static_cast + (_yaw_cfg)); + _obstacle_distance.angle_offset = math::degrees(matrix::wrap_2pi(yaw_cfg_angle)); + start(); return PX4_OK; } @@ -594,7 +599,6 @@ void SF45LaserSerial::sf45_process_replies() case SF_DISTANCE_DATA_CM: { const float raw_distance = (rx_field.data[0] << 0) | (rx_field.data[1] << 8); int16_t raw_yaw = ((rx_field.data[2] << 0) | (rx_field.data[3] << 8)); - int16_t scaled_yaw = 0; // The sensor scans from 0 to -160, so extract negative angle from int16 and represent as if a float if (raw_yaw > 32000) { @@ -607,33 +611,10 @@ void SF45LaserSerial::sf45_process_replies() } // SF45/B product guide {Data output bit: 8 Description: "Yaw angle [1/100 deg] size: int16}" - scaled_yaw = raw_yaw * SF45_SCALE_FACTOR; + float scaled_yaw = raw_yaw * SF45_SCALE_FACTOR; - switch (_yaw_cfg) { - case ROTATION_FORWARD_FACING: - break; - - case ROTATION_BACKWARD_FACING: - if (scaled_yaw > 180) { - scaled_yaw = scaled_yaw - 180; - - } else { - scaled_yaw = scaled_yaw + 180; // rotation facing aft - } - - break; - - case ROTATION_RIGHT_FACING: - scaled_yaw = scaled_yaw + 90; // rotation facing right - break; - - case ROTATION_LEFT_FACING: - scaled_yaw = scaled_yaw - 90; // rotation facing left - break; - - default: - break; - } + // Adjust for sensor orientation + scaled_yaw = sf45_wrap_360(scaled_yaw + _obstacle_distance.angle_offset); // Convert to meters for the debug message float distance_m = raw_distance * SF45_SCALE_FACTOR; @@ -642,7 +623,7 @@ void SF45LaserSerial::sf45_process_replies() uint8_t current_bin = sf45_convert_angle(scaled_yaw); if (current_bin != _previous_bin) { - PX4_DEBUG("scaled_yaw: \t %d, \t current_bin: \t %d, \t distance: \t %8.4f\n", scaled_yaw, current_bin, + PX4_DEBUG("scaled_yaw: \t %f, \t current_bin: \t %d, \t distance: \t %8.4f\n", (double)scaled_yaw, current_bin, (double)distance_m); if (_vehicle_attitude_sub.updated()) { @@ -726,7 +707,7 @@ uint8_t SF45LaserSerial::sf45_convert_angle(const int16_t yaw) { uint8_t mapped_sector = 0; float adjusted_yaw = sf45_wrap_360(yaw - _obstacle_distance.angle_offset); - mapped_sector = round(adjusted_yaw / _obstacle_distance.increment); + mapped_sector = floor(adjusted_yaw / _obstacle_distance.increment); return mapped_sector; } From 90a806f5f8bf170a3724e03750a7ebd48226c8b7 Mon Sep 17 00:00:00 2001 From: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> Date: Mon, 3 Feb 2025 08:10:02 -0900 Subject: [PATCH 45/48] ark: v6x: update net config (#24281) * ark: v6x: disable net binary config, update default net config * added back CONFIG_IPCFG_BINARY=y --------- Co-authored-by: Alex Klimaj --- boards/ark/fmu-v6x/nuttx-config/nsh/defconfig | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/boards/ark/fmu-v6x/nuttx-config/nsh/defconfig b/boards/ark/fmu-v6x/nuttx-config/nsh/defconfig index f5e59d2c37..94fbcc11b5 100644 --- a/boards/ark/fmu-v6x/nuttx-config/nsh/defconfig +++ b/boards/ark/fmu-v6x/nuttx-config/nsh/defconfig @@ -145,10 +145,11 @@ CONFIG_NETDB_DNSCLIENT=y CONFIG_NETDB_DNSCLIENT_ENTRIES=8 CONFIG_NETDB_DNSSERVER_NOADDR=y CONFIG_NETDEV_PHY_IOCTL=y -CONFIG_NETINIT_DHCPC=y +CONFIG_NETMAN_FALLBACK_IPADDR=0xC0A80004 CONFIG_NETINIT_DNS=y -CONFIG_NETINIT_DNSIPADDR=0xA290AFE -CONFIG_NETINIT_DRIPADDR=0xA290AFE +CONFIG_NETINIT_IPADDR=0xC0A80004 +CONFIG_NETINIT_DNSIPADDR=0xC0A800FE +CONFIG_NETINIT_DRIPADDR=0xC0A80001 CONFIG_NETINIT_MONITOR=y CONFIG_NETINIT_THREAD=y CONFIG_NETINIT_THREAD_PRIORITY=49 From 64d8f9a3c66bc5a7be9cd2db84d8989992983d1c Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Mon, 27 Jan 2025 10:43:20 +0100 Subject: [PATCH 46/48] cmake: for vscode launch fallback to gdb-multiarch Newer toolchains don't ship with arm-none-eabi-gdb hence we should use gdb-multiarch instead --- platforms/nuttx/CMakeLists.txt | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt index ba89894efe..19fcae552e 100644 --- a/platforms/nuttx/CMakeLists.txt +++ b/platforms/nuttx/CMakeLists.txt @@ -506,6 +506,11 @@ if(NOT NUTTX_DIR MATCHES "external") message(STATUS "Found SVD: ${DEBUG_SVD_FILE_PATH}") endif() + if(NOT CMAKE_GDB) + find_program(CMAKE_GDB gdb-multiarch) + message(STATUS "Found GDB: ${CMAKE_GDB}") + endif() + if(DEBUG_DEVICE) configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json @ONLY) endif() From 9e5cfa330aa912e38d31ee61192da683fee8d7f7 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Wed, 5 Feb 2025 08:51:17 +1100 Subject: [PATCH 47/48] Commander: Quick calibration supports mag too --- src/modules/commander/Commander.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index fef03b92c2..a5e1583175 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -3036,7 +3036,7 @@ The commander module contains the state machine for mode switching and failsafe #ifndef CONSTRAINED_FLASH PRINT_MODULE_USAGE_COMMAND_DESCR("calibrate", "Run sensor calibration"); PRINT_MODULE_USAGE_ARG("mag|baro|accel|gyro|level|esc|airspeed", "Calibration type", false); - PRINT_MODULE_USAGE_ARG("quick", "Quick calibration (accel only, not recommended)", false); + PRINT_MODULE_USAGE_ARG("quick", "Quick calibration [mag, accel (not recommended)]", false); PRINT_MODULE_USAGE_COMMAND_DESCR("check", "Run preflight checks"); PRINT_MODULE_USAGE_COMMAND("arm"); PRINT_MODULE_USAGE_PARAM_FLAG('f', "Force arming (do not run preflight checks)", true); From 0faec9b3e70b4df8e5665c91152da69ce6af6823 Mon Sep 17 00:00:00 2001 From: alexklimaj Date: Thu, 19 Dec 2024 15:47:28 -0700 Subject: [PATCH 48/48] boards: ARK Flow MR --- .vscode/cmake-variants.yaml | 5 + boards/ark/can-flow-mr/canbootloader.px4board | 5 + boards/ark/can-flow-mr/firmware.prototype | 13 ++ boards/ark/can-flow-mr/init/rc.board_sensors | 20 ++ .../nuttx-config/canbootloader/defconfig | 57 ++++++ .../can-flow-mr/nuttx-config/include/board.h | 136 +++++++++++++ .../nuttx-config/include/board_dma_map.h | 44 ++++ .../can-flow-mr/nuttx-config/nsh/defconfig | 149 ++++++++++++++ .../scripts/canbootloader_script.ld | 134 +++++++++++++ .../nuttx-config/scripts/script.ld | 146 ++++++++++++++ boards/ark/can-flow-mr/src/CMakeLists.txt | 65 ++++++ boards/ark/can-flow-mr/src/board_config.h | 95 +++++++++ boards/ark/can-flow-mr/src/boot.c | 188 ++++++++++++++++++ boards/ark/can-flow-mr/src/boot_config.h | 130 ++++++++++++ boards/ark/can-flow-mr/src/can.c | 130 ++++++++++++ boards/ark/can-flow-mr/src/init.c | 147 ++++++++++++++ boards/ark/can-flow-mr/src/led.c | 124 ++++++++++++ boards/ark/can-flow-mr/src/led.h | 37 ++++ boards/ark/can-flow-mr/src/spi.cpp | 48 +++++ boards/ark/can-flow-mr/uavcan_board_identity | 17 ++ 20 files changed, 1690 insertions(+) create mode 100644 boards/ark/can-flow-mr/canbootloader.px4board create mode 100644 boards/ark/can-flow-mr/firmware.prototype create mode 100644 boards/ark/can-flow-mr/init/rc.board_sensors create mode 100644 boards/ark/can-flow-mr/nuttx-config/canbootloader/defconfig create mode 100644 boards/ark/can-flow-mr/nuttx-config/include/board.h create mode 100644 boards/ark/can-flow-mr/nuttx-config/include/board_dma_map.h create mode 100644 boards/ark/can-flow-mr/nuttx-config/nsh/defconfig create mode 100644 boards/ark/can-flow-mr/nuttx-config/scripts/canbootloader_script.ld create mode 100644 boards/ark/can-flow-mr/nuttx-config/scripts/script.ld create mode 100644 boards/ark/can-flow-mr/src/CMakeLists.txt create mode 100644 boards/ark/can-flow-mr/src/board_config.h create mode 100644 boards/ark/can-flow-mr/src/boot.c create mode 100644 boards/ark/can-flow-mr/src/boot_config.h create mode 100644 boards/ark/can-flow-mr/src/can.c create mode 100644 boards/ark/can-flow-mr/src/init.c create mode 100644 boards/ark/can-flow-mr/src/led.c create mode 100644 boards/ark/can-flow-mr/src/led.h create mode 100644 boards/ark/can-flow-mr/src/spi.cpp create mode 100644 boards/ark/can-flow-mr/uavcan_board_identity diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml index 4c2753ba05..03968a6e06 100644 --- a/.vscode/cmake-variants.yaml +++ b/.vscode/cmake-variants.yaml @@ -131,6 +131,11 @@ CONFIG: buildType: MinSizeRel settings: CONFIG: ark_can-flow_canbootloader + ark_can-flow-mr_canbootloader: + short: ark_can-flow-mr_canbootloader + buildType: MinSizeRel + settings: + CONFIG: ark_can-flow-mr_canbootloader ark_can-gps_default: short: ark_can-gps_default buildType: MinSizeRel diff --git a/boards/ark/can-flow-mr/canbootloader.px4board b/boards/ark/can-flow-mr/canbootloader.px4board new file mode 100644 index 0000000000..46917280f6 --- /dev/null +++ b/boards/ark/can-flow-mr/canbootloader.px4board @@ -0,0 +1,5 @@ +CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" +CONFIG_BOARD_ARCHITECTURE="cortex-m4" +CONFIG_BOARD_ROMFSROOT="" +CONFIG_BOARD_CONSTRAINED_MEMORY=y +CONFIG_DRIVERS_BOOTLOADERS=y diff --git a/boards/ark/can-flow-mr/firmware.prototype b/boards/ark/can-flow-mr/firmware.prototype new file mode 100644 index 0000000000..2f5c9cf0d9 --- /dev/null +++ b/boards/ark/can-flow-mr/firmware.prototype @@ -0,0 +1,13 @@ +{ + "board_id": 88, + "magic": "PX4FWv1", + "description": "Firmware for the ARK Flow MR board", + "image": "", + "build_time": 0, + "summary": "ARKFLOWMR", + "version": "0.1", + "image_size": 0, + "image_maxsize": 2080768, + "git_identity": "", + "board_revision": 0 +} diff --git a/boards/ark/can-flow-mr/init/rc.board_sensors b/boards/ark/can-flow-mr/init/rc.board_sensors new file mode 100644 index 0000000000..2d476fcefb --- /dev/null +++ b/boards/ark/can-flow-mr/init/rc.board_sensors @@ -0,0 +1,20 @@ +#!/bin/sh +# +# board sensors init +#------------------------------------------------------------------------------ + +param set-default IMU_GYRO_RATEMAX 1000 +param set-default SENS_FLOW_RATE 150 +param set-default SENS_IMU_CLPNOTI 0 + +param set-default SENS_AFBR_S_RATE 25 +param set-default SENS_AFBR_L_RATE 10 +param set-default SENS_AFBR_THRESH 8 +param set-default SENS_AFBR_HYSTER 2 + +# Internal SPI +paa3905 -s start -Y 180 + +iim42653 -R 0 -s start + +afbrs50 start diff --git a/boards/ark/can-flow-mr/nuttx-config/canbootloader/defconfig b/boards/ark/can-flow-mr/nuttx-config/canbootloader/defconfig new file mode 100644 index 0000000000..a4540cbe54 --- /dev/null +++ b/boards/ark/can-flow-mr/nuttx-config/canbootloader/defconfig @@ -0,0 +1,57 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-flow-mr/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32" +CONFIG_ARCH_CHIP_STM32=y +CONFIG_ARCH_CHIP_STM32F412CE=y +CONFIG_ARCH_INTERRUPTSTACK=4096 +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_BINFMT_DISABLE=y +CONFIG_BOARDCTL=y +CONFIG_BOARD_LOOPSPERMSEC=16717 +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_TCBINFO=y +CONFIG_DEFAULT_SMALL=y +CONFIG_DISABLE_MOUNTPOINT=y +CONFIG_EXPERIMENTAL=y +CONFIG_FDCLONE_DISABLE=y +CONFIG_FDCLONE_STDIO=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_IDLETHREAD_STACKSIZE=4096 +CONFIG_INIT_STACKSIZE=4096 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_STRERROR=y +CONFIG_MM_REGIONS=2 +CONFIG_NAME_MAX=0 +CONFIG_NUNGET_CHARS=0 +CONFIG_PREALLOC_TIMERS=0 +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAM_SIZE=262144 +CONFIG_RAM_START=0x20010000 +CONFIG_RAW_BINARY=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_DISABLE_BUFFERING=y +CONFIG_STM32_FLASH_CONFIG_G=y +CONFIG_STM32_NOEXT_VECTORS=y +CONFIG_STM32_TIM8=y +CONFIG_TASK_NAME_SIZE=0 +CONFIG_USEC_PER_TICK=1000 diff --git a/boards/ark/can-flow-mr/nuttx-config/include/board.h b/boards/ark/can-flow-mr/nuttx-config/include/board.h new file mode 100644 index 0000000000..70818cb251 --- /dev/null +++ b/boards/ark/can-flow-mr/nuttx-config/include/board.h @@ -0,0 +1,136 @@ +/************************************************************************************ + * 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. + * + ************************************************************************************/ +#include "board_dma_map.h" + +#ifndef __ARCH_BOARD_BOARD_H +#define __ARCH_BOARD_BOARD_H + +#include +#ifndef __ASSEMBLY__ +# include +#endif + +#include + +/* HSI - 8 MHz RC factory-trimmed + * LSI - 32 KHz RC + * HSE - 8 MHz Crystal + * LSE - not installed + */ +#define STM32_BOARD_USEHSE 1 +#define STM32_BOARD_XTAL 8000000 +#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL + +#define STM32_HSI_FREQUENCY 16000000ul +#define STM32_LSI_FREQUENCY 32000 + +/* Main PLL Configuration */ +#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8) +#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(384) +#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_4 +#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(8) +#define STM32_PLLCFG_PLLR RCC_PLLCFG_PLLR(2) + +#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16) +#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192) +#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2) +#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2) +#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/ + +#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL +#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB +#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ + +#define STM32_SYSCLK_FREQUENCY 96000000ul + +/* AHB clock (HCLK) is SYSCLK (96MHz) */ +#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/2 (48MHz) */ +#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */ +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */ +#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_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 (96MHz) */ +#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK /* PCLK2 = HCLK */ +#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY) + +/* Timers driven from APB2 will be PCLK2 since no prescale division */ +#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM9_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM10_CLKIN (STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM11_CLKIN (STM32_PCLK2_FREQUENCY) + +/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */ +#define BOARD_TIM2_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) +#define BOARD_TIM3_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) +#define BOARD_TIM4_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) +#define BOARD_TIM5_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) +#define BOARD_TIM6_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) +#define BOARD_TIM7_FREQUENCY (2 * STM32_PCLK1_FREQUENCY) +#define BOARD_TIM8_FREQUENCY (2 * STM32_PCLK2_FREQUENCY) + +/* Alternate function pin selections ************************************************/ + +/* UARTs */ +#define GPIO_USART2_RX GPIO_USART2_RX_1 +#define GPIO_USART2_TX GPIO_USART2_TX_1 + +/* CAN */ +#define GPIO_CAN1_RX GPIO_CAN1_RX_1 +#define GPIO_CAN1_TX GPIO_CAN1_TX_1 + +/* SPI */ +#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 /* PB14 */ +#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1 /* PB15 */ +#define GPIO_SPI2_SCK GPIO_SPI2_SCK_1 /* PB10 */ + +#endif /* __ARCH_BOARD_BOARD_H */ diff --git a/boards/ark/can-flow-mr/nuttx-config/include/board_dma_map.h b/boards/ark/can-flow-mr/nuttx-config/include/board_dma_map.h new file mode 100644 index 0000000000..0eb81fc589 --- /dev/null +++ b/boards/ark/can-flow-mr/nuttx-config/include/board_dma_map.h @@ -0,0 +1,44 @@ +/**************************************************************************** + * + * Copyright (c) 2021 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. + * + ****************************************************************************/ + +#pragma once + +// DMA1 Channel/Stream Selections +//--------------------------------------------//---------------------------//---------------- +#define DMACHAN_SPI2_RX DMAMAP_SPI2_RX // DMA1, Stream 3, Channel 0 +#define DMACHAN_SPI2_TX DMAMAP_SPI2_TX // DMA1, Stream 4, Channel 0 + +// DMA2 Channel/Stream Selections +//--------------------------------------------//---------------------------//---------------- +#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_2 // DMA2, Stream 2, Channel 3 +#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2 // DMA2, Stream 5, Channel 3 diff --git a/boards/ark/can-flow-mr/nuttx-config/nsh/defconfig b/boards/ark/can-flow-mr/nuttx-config/nsh/defconfig new file mode 100644 index 0000000000..ed36c45b2e --- /dev/null +++ b/boards/ark/can-flow-mr/nuttx-config/nsh/defconfig @@ -0,0 +1,149 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_DISABLE_ENVIRON is not set +# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set +# CONFIG_DISABLE_PTHREAD is not set +# CONFIG_NSH_DISABLEBG is not set +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLE_CAT is not set +# CONFIG_NSH_DISABLE_CD is not set +# CONFIG_NSH_DISABLE_CP is not set +# CONFIG_NSH_DISABLE_DATE is not set +# CONFIG_NSH_DISABLE_DF is not set +# CONFIG_NSH_DISABLE_ECHO is not set +# CONFIG_NSH_DISABLE_ENV is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXPORT 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_ITEF is not set +# CONFIG_NSH_DISABLE_KILL is not set +# CONFIG_NSH_DISABLE_LOOPS is not set +# CONFIG_NSH_DISABLE_LS is not set +# CONFIG_NSH_DISABLE_MKDIR is not set +# CONFIG_NSH_DISABLE_MOUNT is not set +# CONFIG_NSH_DISABLE_MV is not set +# CONFIG_NSH_DISABLE_PS is not set +# CONFIG_NSH_DISABLE_PSSTACKUSAGE 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_SEMICOLON is not set +# CONFIG_NSH_DISABLE_SET is not set +# CONFIG_NSH_DISABLE_SLEEP is not set +# CONFIG_NSH_DISABLE_SOURCE is not set +# CONFIG_NSH_DISABLE_TEST is not set +# CONFIG_NSH_DISABLE_TIME 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_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-flow-mr/nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="stm32" +CONFIG_ARCH_CHIP_STM32=y +CONFIG_ARCH_CHIP_STM32F412CE=y +CONFIG_ARCH_INTERRUPTSTACK=768 +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARMV7M_MEMCPY=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_ASSERT_RESET_VALUE=0 +CONFIG_BOARD_LOOPSPERMSEC=16717 +CONFIG_BOARD_RESET_ON_ASSERT=2 +CONFIG_BUILTIN=y +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_HARDFAULT_ALERT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_TCBINFO=y +CONFIG_DEFAULT_SMALL=y +CONFIG_FDCLONE_STDIO=y +CONFIG_FS_CROMFS=y +CONFIG_FS_ROMFS=y +CONFIG_GRAN=y +CONFIG_GRAN_INTR=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INIT_STACKSIZE=2624 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_MAX_EXITFUNS=1 +CONFIG_MEMSET_64BIT=y +CONFIG_MEMSET_OPTSPEED=y +CONFIG_MM_REGIONS=2 +CONFIG_NAME_MAX=40 +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_ARGCAT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_CMDPARMS=y +CONFIG_NSH_CROMFSETC=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=15 +CONFIG_NSH_NESTDEPTH=8 +CONFIG_NSH_QUOTE=y +CONFIG_NSH_ROMFSETC=y +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_VARS=y +CONFIG_PREALLOC_TIMERS=50 +CONFIG_PTHREAD_MUTEX_ROBUST=y +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAM_SIZE=262144 +CONFIG_RAM_START=0x20000000 +CONFIG_RAW_BINARY=y +CONFIG_READLINE_CMD_HISTORY=y +CONFIG_READLINE_TABCOMPLETION=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_HPWORKPRIORITY=254 +CONFIG_SCHED_HPWORKSTACKSIZE=3000 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y +CONFIG_SCHED_INSTRUMENTATION_SWITCH=y +CONFIG_SCHED_WAITPID=y +CONFIG_SERIAL_TERMIOS=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_SIG_SIGWORK=4 +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_BUFFER_SIZE=32 +CONFIG_STM32_ADC1=y +CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y +CONFIG_STM32_DMA1=y +CONFIG_STM32_DMA2=y +CONFIG_STM32_FLASH_CONFIG_G=y +CONFIG_STM32_FLASH_PREFETCH=y +CONFIG_STM32_FLOWCONTROL_BROKEN=y +CONFIG_STM32_JTAG_SW_ENABLE=y +CONFIG_STM32_PWR=y +CONFIG_STM32_SERIALBRK_BSDCOMPAT=y +CONFIG_STM32_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32_SPI1=y +CONFIG_STM32_SPI1_DMA=y +CONFIG_STM32_SPI1_DMA_BUFFER=2048 +CONFIG_STM32_SPI2=y +CONFIG_STM32_SPI2_DMA=y +CONFIG_STM32_SPI2_DMA_BUFFER=2048 +CONFIG_STM32_TIM8=y +CONFIG_STM32_USART2=y +CONFIG_STM32_USART_BREAKS=y +CONFIG_STM32_WWDG=y +CONFIG_SYSTEM_NSH=y +CONFIG_TASK_NAME_SIZE=24 +CONFIG_USART2_BAUD=57600 +CONFIG_USART2_RXBUFSIZE=600 +CONFIG_USART2_SERIAL_CONSOLE=y +CONFIG_USART2_TXBUFSIZE=1100 +CONFIG_USEC_PER_TICK=1000 diff --git a/boards/ark/can-flow-mr/nuttx-config/scripts/canbootloader_script.ld b/boards/ark/can-flow-mr/nuttx-config/scripts/canbootloader_script.ld new file mode 100644 index 0000000000..48a59fe92d --- /dev/null +++ b/boards/ark/can-flow-mr/nuttx-config/scripts/canbootloader_script.ld @@ -0,0 +1,134 @@ +/**************************************************************************** + * nuttx-config/scripts/canbootloader_script.ld + * + * Copyright (C) 2015 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 STM32F412 has 1M 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 0x10000 of flash is reserved for the bootloader. + */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x08000000, LENGTH = 32K + sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K +} + +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(.); + } > 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(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > sram AT > flash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _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/boards/ark/can-flow-mr/nuttx-config/scripts/script.ld b/boards/ark/can-flow-mr/nuttx-config/scripts/script.ld new file mode 100644 index 0000000000..2f4769b8f5 --- /dev/null +++ b/boards/ark/can-flow-mr/nuttx-config/scripts/script.ld @@ -0,0 +1,146 @@ +/**************************************************************************** + * scripts/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 STM32F412 has 1M 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 0x10000 of flash is reserved for the bootloader. + */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x08010000, LENGTH = 928K + sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K +} + +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) +EXTERN(_bootdelay_signature) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(8); + /* + * This section positions the app_descriptor_t used + * by the make_can_boot_descriptor.py tool to set + * the application image's descriptor so that the + * uavcan bootloader has the ability to validate the + * image crc, size etc + */ + KEEP(*(.app_descriptor)) + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.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(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > sram AT > flash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _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/boards/ark/can-flow-mr/src/CMakeLists.txt b/boards/ark/can-flow-mr/src/CMakeLists.txt new file mode 100644 index 0000000000..4fae41fc0e --- /dev/null +++ b/boards/ark/can-flow-mr/src/CMakeLists.txt @@ -0,0 +1,65 @@ +############################################################################ +# +# Copyright (c) 2020 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. +# +############################################################################ + +if("${PX4_BOARD_LABEL}" STREQUAL "canbootloader") + + add_library(drivers_board + boot_config.h + boot.c + led.c + ) + target_link_libraries(drivers_board + PRIVATE + nuttx_arch + nuttx_drivers + canbootloader + ) + target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader) + +else() + add_library(drivers_board + can.c + init.c + led.c + spi.cpp + ) + + target_link_libraries(drivers_board + PRIVATE + arch_spi + drivers__led # drv_led_start + nuttx_arch + nuttx_drivers + px4_layer + ) +endif() diff --git a/boards/ark/can-flow-mr/src/board_config.h b/boards/ark/can-flow-mr/src/board_config.h new file mode 100644 index 0000000000..ad71f05b63 --- /dev/null +++ b/boards/ark/can-flow-mr/src/board_config.h @@ -0,0 +1,95 @@ +/**************************************************************************** + * + * Copyright (c) 2021 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 + * + * board internal definitions + */ + +#pragma once + +#include +#include +#include + +/* CAN Silent mode control */ +#define GPIO_CAN1_SILENT_S0 /* PB11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11) + +/* CAN termination software control */ +#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13) +#define GPIO_CAN_TERM GPIO_CAN1_TERMINATION + +/* Boot config */ +#define GPIO_BOOT_CONFIG /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI) + +/* LEDs are driven with open drain to support Anode to 5V or 3.3V */ +#define GPIO_TIM1_CH1 /* PA8 */ (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz) +#define GPIO_TIM1_CH2 /* PA9 */ (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz) +#define GPIO_TIM1_CH3 /* PA10 */ (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz) + +#define BROADCOM_AFBR_S50_S2PI_SPI_BUS 2 +#define BROADCOM_AFBR_S50_S2PI_CS /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12) +#define BROADCOM_AFBR_S50_S2PI_IRQ /* PB4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4|GPIO_EXTI) +#define BROADCOM_AFBR_S50_S2PI_CLK /* PB10 */ GPIO_SPI2_SCK_1 +#define BROADCOM_AFBR_S50_S2PI_MOSI /* PB15 */ GPIO_SPI2_MOSI_1 +#define BROADCOM_AFBR_S50_S2PI_MISO /* PB14 */ GPIO_SPI2_MISO_1 + +#define FLASH_BASED_PARAMS + +/* High-resolution timer */ +#define HRT_TIMER 3 /* use timer 3 for the HRT */ +#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */ + +#define PX4_GPIO_INIT_LIST { \ + GPIO_BOOT_CONFIG, \ + GPIO_CAN1_TX, \ + GPIO_CAN1_RX, \ + GPIO_CAN1_SILENT_S0, \ + GPIO_CAN1_TERMINATION, \ + } + +__BEGIN_DECLS + +#define BOARD_HAS_N_S_RGB_LED 1 +#define BOARD_MAX_LEDS BOARD_HAS_N_S_RGB_LED + +#ifndef __ASSEMBLY__ + +extern void stm32_spiinitialize(void); + +#include + +#endif /* __ASSEMBLY__ */ + +__END_DECLS diff --git a/boards/ark/can-flow-mr/src/boot.c b/boards/ark/can-flow-mr/src/boot.c new file mode 100644 index 0000000000..a26034e254 --- /dev/null +++ b/boards/ark/can-flow-mr/src/boot.c @@ -0,0 +1,188 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * Author: Ben Dyer + * Pavel Kirienko + * David Sidrane + * + * 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include +#include "boot_config.h" +#include "board.h" + +#include +#include +#include + +#include +#include "led.h" + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the initialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +__EXPORT void stm32_boardinitialize(void) +{ + putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR); + stm32_configgpio(GPIO_CAN1_RX); + stm32_configgpio(GPIO_CAN1_TX); + stm32_configgpio(GPIO_CAN1_SILENT_S0); + stm32_configgpio(GPIO_CAN1_TERMINATION); + putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); + putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); + +#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO) + stm32_configgpio(GPIO_GETNODEINFO_JUMPER); +#endif + +} + +/************************************************************************************ + * Name: board_deinitialize + * + * Description: + * This function is called by the bootloader code prior to booting + * the application. Is should place the HW into an benign initialized state. + * + ************************************************************************************/ + +void board_deinitialize(void) +{ + putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); +} + +/**************************************************************************** + * Name: board_get_product_name + * + * Description: + * Called to retrieve the product name. The returned value is a assumed + * to be written to a pascal style string that will be length prefixed + * and not null terminated + * + * Input Parameters: + * product_name - A pointer to a buffer to write the name. + * maxlen - The maximum number of charter that can be written + * + * Returned Value: + * The length of characters written to the buffer. + * + ****************************************************************************/ + +uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen) +{ + DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME)); + memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME)); + return UAVCAN_STRLEN(HW_UAVCAN_NAME); +} + +/**************************************************************************** + * Name: board_get_hardware_version + * + * Description: + * Called to retrieve the hardware version information. The function + * will first initialize the the callers struct to all zeros. + * + * Input Parameters: + * hw_version - A pointer to a uavcan_hardwareversion_t. + * + * Returned Value: + * Length of the unique_id + * + ****************************************************************************/ + +size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version) +{ + memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t)); + + hw_version->major = HW_VERSION_MAJOR; + hw_version->minor = HW_VERSION_MINOR; + + return board_get_mfguid(*(mfguid_t *) hw_version->unique_id); +} + +/**************************************************************************** + * Name: board_indicate + * + * Description: + * Provides User feedback to indicate the state of the bootloader + * on board specific hardware. + * + * Input Parameters: + * indication - A member of the uiindication_t + * + * Returned Value: + * None + * + ****************************************************************************/ +#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)} + +typedef begin_packed_struct struct led_t { + uint8_t red; + uint8_t green; + uint8_t blue; + uint8_t hz; +} end_packed_struct led_t; + +static const led_t i2l[] = { + + led(0, off, 0, 0, 0, 0), + led(1, reset, 128, 128, 128, 30), + led(2, autobaud_start, 0, 128, 0, 1), + led(3, autobaud_end, 0, 128, 0, 2), + led(4, allocation_start, 0, 0, 64, 2), + led(5, allocation_end, 0, 128, 64, 3), + led(6, fw_update_start, 32, 128, 64, 3), + led(7, fw_update_erase_fail, 32, 128, 32, 3), + led(8, fw_update_invalid_response, 64, 0, 0, 1), + led(9, fw_update_timeout, 64, 0, 0, 2), + led(a, fw_update_invalid_crc, 64, 0, 0, 4), + led(b, jump_to_app, 0, 128, 0, 10), + +}; + +void board_indicate(uiindication_t indication) +{ + rgb_led(i2l[indication].red, + i2l[indication].green, + i2l[indication].blue, + i2l[indication].hz); +} diff --git a/boards/ark/can-flow-mr/src/boot_config.h b/boards/ark/can-flow-mr/src/boot_config.h new file mode 100644 index 0000000000..76782f9a93 --- /dev/null +++ b/boards/ark/can-flow-mr/src/boot_config.h @@ -0,0 +1,130 @@ +/**************************************************************************** + * + * Copyright (c) 2021 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 boot_config.h + * + * bootloader definitions that configures the behavior and options + * of the Boot loader + * This file is relies on the parent folder's boot_config.h file and defines + * different usages of the hardware for bootloading + */ + +#pragma once + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +/* Bring in the board_config.h definitions + * todo:make this be pulled in from a targed's build + * files in nuttx*/ + +#include "board_config.h" +#include "uavcan.h" +#include + +#include + +#include + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define OPT_PREFERRED_NODE_ID ANY_NODE_ID + +//todo:wrap OPT_x in in ifdefs for command line definitions +#define OPT_TBOOT_MS 3000 +#define OPT_NODE_STATUS_RATE_MS 800 +#define OPT_NODE_INFO_RATE_MS 50 +#define OPT_BL_NUMBER_TIMERS 7 + +/* + * This Option set is set to 1 ensure a provider of firmware has an + * opportunity update the node's firmware. + * This Option is the default policy and can be overridden by + * a jumper + * When this Policy is set, the node will ignore tboot and + * wait indefinitely for a GetNodeInfo request before booting. + * + * OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow + * the polarity of the jumper to be True Active + * + * wait OPT_WAIT_FOR_GETNODEINFO OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO + * Jumper + * yes 1 0 x + * yes 1 1 Active + * no 1 1 Not Active + * no 0 0 X + * yes 0 1 Active + * no 0 1 Not Active + * + */ +#define OPT_WAIT_FOR_GETNODEINFO 0 +#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1 +#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1 + +#define OPT_ENABLE_WD 1 + +#define OPT_RESTART_TIMEOUT_MS 20000 + +/* Reserved for the Booloader */ +#define OPT_BOOTLOADER_SIZE_IN_K (1024*64) + +/* Reserved for the application out of the total + * system flash minus the BOOTLOADER_SIZE_IN_K + */ +#define OPT_APPLICATION_RESERVER_IN_K 0 + +#define OPT_APPLICATION_IMAGE_OFFSET OPT_BOOTLOADER_SIZE_IN_K +#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K)) + + +#define FLASH_BASE STM32_FLASH_BASE +#define FLASH_SIZE STM32_FLASH_SIZE + +#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET) +#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET) +#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t))) +#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t))) +#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t))) + +/* If this board uses big flash that have large sectors */ + +#define OPT_USE_YIELD + +/* Bootloader Option***************************************************************** + * + */ +#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI) diff --git a/boards/ark/can-flow-mr/src/can.c b/boards/ark/can-flow-mr/src/can.c new file mode 100644 index 0000000000..7737965dc6 --- /dev/null +++ b/boards/ark/can-flow-mr/src/can.c @@ -0,0 +1,130 @@ +/**************************************************************************** + * + * Copyright (C) 2021 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 can.c + * + * Board-specific CAN functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include +#include + +#include +#include + +#include "chip.h" +#include "arm_internal.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 + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ +int can_devinit(void); + +/************************************************************************************ + * 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) { + canerr("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) { + canerr("ERROR: can_register failed: %d\n", ret); + return ret; + } + + /* Now we are initialized */ + + initialized = true; + } + + return OK; +} + +#endif diff --git a/boards/ark/can-flow-mr/src/init.c b/boards/ark/can-flow-mr/src/init.c new file mode 100644 index 0000000000..a6290bdc7a --- /dev/null +++ b/boards/ark/can-flow-mr/src/init.c @@ -0,0 +1,147 @@ +/**************************************************************************** + * + * Copyright (c) 2021 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 init.c + * + * board specific early startup code. This file implements the + * board_app_initialize() 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 initialization. + */ + +#include +#include + +#include +#include +#include +#include +#include +#include + +#include + +#include +#include "board_config.h" +#include "led.h" +#include + +#include + +#include +#include +#include + +#include + +#include +#include + +# if defined(FLASH_BASED_PARAMS) +# include +#endif + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the initialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +__EXPORT void stm32_boardinitialize(void) +{ + watchdog_init(); + + /* configure pins */ + const uint32_t gpio[] = PX4_GPIO_INIT_LIST; + px4_gpio_init(gpio, arraySize(gpio)); + + // Configure SPI all interfaces GPIO & enable power. + stm32_spiinitialize(); +} + +/**************************************************************************** + * Name: board_app_initialize + * + * Description: + * Perform application specific initialization. This function is never + * called directly from application code, but only indirectly via the + * (non-standard) boardctl() interface using the command BOARDIOC_INIT. + * + * Input Parameters: + * arg - The boardctl() argument is passed to the board_app_initialize() + * implementation without modification. The argument has no + * meaning to NuttX; the meaning of the argument is a contract + * between the board-specific initalization logic and the the + * matching application logic. The value cold be such things as a + * mode enumeration value, a set of DIP switch switch settings, a + * pointer to configuration data read from a file or serial FLASH, + * or whatever you would like to do with it. Every implementation + * should accept zero/NULL as a default configuration. + * + * Returned Value: + * Zero (OK) is returned on success; a negated errno value is returned on + * any failure to indicate the nature of the failure. + * + ****************************************************************************/ + +__EXPORT int board_app_initialize(uintptr_t arg) +{ + px4_platform_init(); + +#if defined(FLASH_BASED_PARAMS) + static sector_descriptor_t params_sector_map[] = { + {2, 16 * 1024, 0x08008000}, + {3, 16 * 1024, 0x0800C000}, + {0, 0, 0}, + }; + + /* Initialize the flashfs layer to use heap allocated memory */ + int result = parameter_flashfs_init(params_sector_map, NULL, 0); + + if (result != OK) { + syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result); + } + +#endif // FLASH_BASED_PARAMS + + /* Configure the HW based on the manifest */ + //px4_platform_configure(); + + return OK; +} diff --git a/boards/ark/can-flow-mr/src/led.c b/boards/ark/can-flow-mr/src/led.c new file mode 100644 index 0000000000..9a80cae089 --- /dev/null +++ b/boards/ark/can-flow-mr/src/led.c @@ -0,0 +1,124 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file led.c + * + * LED backend. + */ + +#include + +#include + +#include "chip.h" +#include "stm32_gpio.h" +#include "board_config.h" + +#include +#include + +#include "led.h" + +#define TMR_BASE STM32_TIM1_BASE +#define TMR_FREQUENCY STM32_APB2_TIM1_CLKIN +#define TMR_REG(o) (TMR_BASE+(o)) + +void rgb_led(int r, int g, int b, int freqs) +{ + + long fosc = TMR_FREQUENCY; + long prescale = 2048; + long p1s = fosc / prescale; + long p0p5s = p1s / 2; + uint16_t val; + static bool once = 0; + + if (!once) { + once = 1; + + /* Enabel Clock to Block */ + modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN); + + /* Reload */ + + val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET)); + val |= ATIM_EGR_UG; + putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET)); + + /* Set Prescaler STM32_TIM_SETCLOCK */ + + putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET)); + + /* Enable STM32_TIM_SETMODE*/ + + putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET)); + + + putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE | + (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET)); + putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET)); + putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P | + ATIM_CCER_CC2E | ATIM_CCER_CC2P | + ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET)); + + + stm32_configgpio(GPIO_TIM1_CH1); + stm32_configgpio(GPIO_TIM1_CH2); + stm32_configgpio(GPIO_TIM1_CH3); + + /* master output enable = on */ + putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET))); + } + + long p = freqs == 0 ? p1s : p1s / freqs; + putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET)); + + p = freqs == 0 ? p1s + 1 : p0p5s / freqs; + + putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET)); + putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET)); + putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET)); + + val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET)); + + if (freqs == 0) { + val &= ~ATIM_CR1_CEN; + + } else { + val |= ATIM_CR1_CEN; + } + + putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET)); + +} diff --git a/boards/ark/can-flow-mr/src/led.h b/boards/ark/can-flow-mr/src/led.h new file mode 100644 index 0000000000..b68e4aa70d --- /dev/null +++ b/boards/ark/can-flow-mr/src/led.h @@ -0,0 +1,37 @@ +/**************************************************************************** + * + * Copyright (C) 2015 PX4 Development Team. All rights reserved. + * Author: David Sidrane + * + * 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. + * + ****************************************************************************/ + +__BEGIN_DECLS +void rgb_led(int r, int g, int b, int freqs); +__END_DECLS diff --git a/boards/ark/can-flow-mr/src/spi.cpp b/boards/ark/can-flow-mr/src/spi.cpp new file mode 100644 index 0000000000..697ddbbf1a --- /dev/null +++ b/boards/ark/can-flow-mr/src/spi.cpp @@ -0,0 +1,48 @@ +/**************************************************************************** + * + * Copyright (C) 2021 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. + * + ****************************************************************************/ + +#include +#include +#include + +constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { + initSPIBus(SPI::Bus::SPI1, { + initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortB, GPIO::Pin0}, SPI::DRDY{GPIO::PortB, GPIO::Pin1}), + initSPIDevice(DRV_FLOW_DEVTYPE_PAA3905, SPI::CS{GPIO::PortB, GPIO::Pin5}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}), + }), + initSPIBus(SPI::Bus::SPI2, { + initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin12}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}), + }), +}; + +static constexpr bool unused = validateSPIConfig(px4_spi_buses); diff --git a/boards/ark/can-flow-mr/uavcan_board_identity b/boards/ark/can-flow-mr/uavcan_board_identity new file mode 100644 index 0000000000..b0ecb3df4f --- /dev/null +++ b/boards/ark/can-flow-mr/uavcan_board_identity @@ -0,0 +1,17 @@ +# UAVCAN boot loadable Module ID +set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR}) +set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR}) +add_definitions( + -DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major} + -DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor} +) + +set(uavcanblid_hw_version_major 0) +set(uavcanblid_hw_version_minor 88) +set(uavcanblid_name "\"org.ark.can-flow-mr\"") + +add_definitions( + -DHW_UAVCAN_NAME=${uavcanblid_name} + -DHW_VERSION_MAJOR=${uavcanblid_hw_version_major} + -DHW_VERSION_MINOR=${uavcanblid_hw_version_minor} +)