From b23af6108772f8049ca94dfd8c648e1014917062 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 12 Jan 2014 11:47:35 +0100 Subject: [PATCH 01/28] System disables all driver publications it can get hold of once entering HIL --- .../commander/state_machine_helper.cpp | 31 +++++++++++++++++++ 1 file changed, 31 insertions(+) diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 490fc8fc6b..44e3aa787f 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -42,6 +42,8 @@ #include #include #include +#include +#include #include #include @@ -51,6 +53,7 @@ #include #include #include +#include #include #include "state_machine_helper.h" @@ -491,6 +494,34 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s current_control_mode->flag_system_hil_enabled = true; mavlink_log_critical(mavlink_fd, "Switched to ON hil state"); valid_transition = true; + + // Disable publication of all attached sensors + + /* list directory */ + DIR *d; + struct dirent *direntry; + d = opendir("/dev"); + if (d) { + + while ((direntry = readdir(d)) != NULL) { + + bool blocked = false; + int sensfd = ::open(direntry->d_name, 0); + ::ioctl(sensfd, DEVIOCSPUBBLOCK, 0); + close(sensfd); + + printf("Disabling %s\n: %s", direntry->d_name, (blocked) ? "OK" : "FAIL"); + } + + closedir(d); + + warnx("directory listing ok (FS mounted and readable)"); + + } else { + /* failed opening dir */ + warnx("FAILED LISTING DEVICE ROOT DIRECTORY"); + return 1; + } } break; From c6e196edca7acae0b548a85c94d0c8f37df3c7aa Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 12 Jan 2014 11:52:19 +0100 Subject: [PATCH 02/28] Support disabling GPS output via IOCTL, general cleanup of author and copyright code style --- src/drivers/gps/gps.cpp | 21 +++++++++++++-------- src/drivers/gps/gps_helper.cpp | 7 ++++--- src/drivers/gps/gps_helper.h | 6 +++--- src/drivers/gps/module.mk | 2 +- src/drivers/gps/mtk.cpp | 11 +++++++---- src/drivers/gps/mtk.h | 11 +++++++---- src/drivers/gps/ubx.cpp | 10 ++++++---- src/drivers/gps/ubx.h | 17 ++++++++++++----- 8 files changed, 53 insertions(+), 32 deletions(-) diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 6b72d560fa..a736cbdf6b 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -289,11 +289,13 @@ GPS::task_main() //no time and satellite information simulated - if (_report_pub > 0) { - orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); + if (!(_pub_blocked)) { + if (_report_pub > 0) { + orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); - } else { - _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); + } else { + _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); + } } usleep(2e5); @@ -330,11 +332,14 @@ GPS::task_main() while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) { // lock(); /* opportunistic publishing - else invalid data would end up on the bus */ - if (_report_pub > 0) { - orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); - } else { - _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); + if (!(_pub_blocked)) { + if (_report_pub > 0) { + orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); + + } else { + _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); + } } last_rate_count++; diff --git a/src/drivers/gps/gps_helper.cpp b/src/drivers/gps/gps_helper.cpp index 2e2cbc8ddf..2360ff39bd 100644 --- a/src/drivers/gps/gps_helper.cpp +++ b/src/drivers/gps/gps_helper.cpp @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012,2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler - * Julian Oes + * Copyright (c) 2012-2014 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 @@ -41,6 +39,9 @@ /** * @file gps_helper.cpp + * + * @author Thomas Gubler + * @author Julian Oes */ float diff --git a/src/drivers/gps/gps_helper.h b/src/drivers/gps/gps_helper.h index 73d4b889cb..cfb9e0d43d 100644 --- a/src/drivers/gps/gps_helper.h +++ b/src/drivers/gps/gps_helper.h @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler - * Julian Oes + * Copyright (c) 2012-2014 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 @@ -35,6 +33,8 @@ /** * @file gps_helper.h + * @author Thomas Gubler + * @author Julian Oes */ #ifndef GPS_HELPER_H diff --git a/src/drivers/gps/module.mk b/src/drivers/gps/module.mk index 097db2abfc..82c67d40a3 100644 --- a/src/drivers/gps/module.mk +++ b/src/drivers/gps/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# Copyright (c) 2012-2014 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 diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp index 56b702ea6c..456a9645bf 100644 --- a/src/drivers/gps/mtk.cpp +++ b/src/drivers/gps/mtk.cpp @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler - * Julian Oes + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,7 +31,12 @@ * ****************************************************************************/ -/* @file mkt.cpp */ +/** + * @file mkt.cpp + * + * @author Thomas Gubler + * @author Julian Oes + */ #include #include diff --git a/src/drivers/gps/mtk.h b/src/drivers/gps/mtk.h index b5cfbf0a6d..9032e45b03 100644 --- a/src/drivers/gps/mtk.h +++ b/src/drivers/gps/mtk.h @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler - * Julian Oes + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,7 +31,12 @@ * ****************************************************************************/ -/* @file mtk.h */ +/** + * @file mkt.cpp + * + * @author Thomas Gubler + * @author Julian Oes + */ #ifndef MTK_H_ #define MTK_H_ diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index 86291901cb..8a2afecb7e 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler - * Julian Oes - * Anton Babushkin + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -40,8 +37,13 @@ * U-Blox protocol implementation. Following u-blox 6/7 Receiver Description * including Prototol Specification. * + * @author Thomas Gubler + * @author Julian Oes + * @author Anton Babushkin + * * @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf */ + #include #include #include diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index 76ef873a36..79a904f4a4 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler - * Julian Oes - * Anton Babushkin + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,7 +31,17 @@ * ****************************************************************************/ -/* @file U-Blox protocol definitions */ +/** + * @file ubx.h + * + * U-Blox protocol definition. Following u-blox 6/7 Receiver Description + * including Prototol Specification. + * + * @author Thomas Gubler + * @author Julian Oes + * @author Anton Babushkin + * + */ #ifndef UBX_H_ #define UBX_H_ From 9bf512cac82815e690774ddfc2fdeda29c22f4a0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 12 Jan 2014 11:52:41 +0100 Subject: [PATCH 03/28] Framework to support disabling publications via IOCTL --- src/drivers/device/cdev.cpp | 11 ++++++++++- src/drivers/device/device.cpp | 2 +- src/drivers/device/device.h | 4 +++- 3 files changed, 14 insertions(+), 3 deletions(-) diff --git a/src/drivers/device/cdev.cpp b/src/drivers/device/cdev.cpp index 7954ce5ab5..65a9705f55 100644 --- a/src/drivers/device/cdev.cpp +++ b/src/drivers/device/cdev.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 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 @@ -38,6 +38,7 @@ */ #include "device.h" +#include "drivers/drv_device.h" #include #include @@ -93,6 +94,7 @@ CDev::CDev(const char *name, Device(name, irq), // public // protected + _pub_blocked(false), // private _devname(devname), _registered(false), @@ -256,6 +258,13 @@ CDev::ioctl(struct file *filp, int cmd, unsigned long arg) case DIOC_GETPRIV: *(void **)(uintptr_t)arg = (void *)this; return OK; + break; + case DEVIOCSPUBBLOCK: + _pub_blocked = (arg != 0); + break; + case DEVIOCGPUBBLOCK: + return _pub_blocked; + break; } return -ENOTTY; diff --git a/src/drivers/device/device.cpp b/src/drivers/device/device.cpp index c3ee77b1ca..6834551493 100644 --- a/src/drivers/device/device.cpp +++ b/src/drivers/device/device.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 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 diff --git a/src/drivers/device/device.h b/src/drivers/device/device.h index 0235f62844..d99f229220 100644 --- a/src/drivers/device/device.h +++ b/src/drivers/device/device.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 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 @@ -415,6 +415,8 @@ protected: */ virtual int unregister_class_devname(const char *class_devname, unsigned class_instance); + bool _pub_blocked; /**< true if publishing should be blocked */ + private: static const unsigned _max_pollwaiters = 8; From d72c82f66bf6dac8e6d10bf1024641908d3b854c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 12 Jan 2014 11:53:15 +0100 Subject: [PATCH 04/28] Airspeed does not publish if disabled --- src/drivers/airspeed/airspeed.cpp | 12 +++++++----- src/drivers/airspeed/airspeed.h | 4 +++- src/drivers/ets_airspeed/ets_airspeed.cpp | 15 +++++++++++++-- src/drivers/meas_airspeed/meas_airspeed.cpp | 15 +++++++++++++-- 4 files changed, 36 insertions(+), 10 deletions(-) diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp index 5e45cc936c..215d3792e8 100644 --- a/src/drivers/airspeed/airspeed.cpp +++ b/src/drivers/airspeed/airspeed.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 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 @@ -86,6 +86,7 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval) : _collect_phase(false), _diff_pres_offset(0.0f), _airspeed_pub(-1), + _class_instance(-1), _conversion_interval(conversion_interval), _sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")), _comms_errors(perf_alloc(PC_COUNT, "airspeed_comms_errors")) @@ -102,6 +103,9 @@ Airspeed::~Airspeed() /* make sure we are truly inactive */ stop(); + if (_class_instance != -1) + unregister_class_devname(AIRSPEED_DEVICE_PATH, _class_instance); + /* free any existing reports */ if (_reports != nullptr) delete _reports; @@ -126,10 +130,8 @@ Airspeed::init() if (_reports == nullptr) goto out; - /* get a publish handle on the airspeed topic */ - differential_pressure_s zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &zero_report); + /* register alternate interfaces if we have to */ + _class_instance = register_class_devname(AIRSPEED_DEVICE_PATH); if (_airspeed_pub < 0) warnx("failed to create airspeed sensor object. Did you start uOrb?"); diff --git a/src/drivers/airspeed/airspeed.h b/src/drivers/airspeed/airspeed.h index c341aa2c6d..c27b1bcd80 100644 --- a/src/drivers/airspeed/airspeed.h +++ b/src/drivers/airspeed/airspeed.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 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 @@ -127,6 +127,8 @@ protected: orb_advert_t _airspeed_pub; + int _class_instance; + unsigned _conversion_interval; perf_counter_t _sample_perf; diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp index de371bf324..cdc70ac37c 100644 --- a/src/drivers/ets_airspeed/ets_airspeed.cpp +++ b/src/drivers/ets_airspeed/ets_airspeed.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 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 @@ -185,7 +185,18 @@ ETSAirspeed::collect() report.max_differential_pressure_pa = _max_differential_pressure_pa; /* announce the airspeed if needed, just publish else */ - orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report); + if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { + + if (_airspeed_pub > 0) { + /* publish it */ + orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report); + } else { + _airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &report); + + if (_airspeed_pub < 0) + debug("failed to create differential_pressure publication"); + } + } new_report(report); diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index a95c4576b0..fee13f139c 100644 --- a/src/drivers/meas_airspeed/meas_airspeed.cpp +++ b/src/drivers/meas_airspeed/meas_airspeed.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 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 @@ -217,7 +217,18 @@ MEASAirspeed::collect() report.max_differential_pressure_pa = _max_differential_pressure_pa; /* announce the airspeed if needed, just publish else */ - orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report); + if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { + + if (_airspeed_pub > 0) { + /* publish it */ + orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report); + } else { + _airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &report); + + if (_airspeed_pub < 0) + debug("failed to create differential_pressure publication"); + } + } new_report(report); From c7e2841baa98bb985b402c89bef85e56f765ec11 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 12 Jan 2014 11:53:31 +0100 Subject: [PATCH 05/28] BMA180 does not publish if disabled --- src/drivers/bma180/bma180.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/drivers/bma180/bma180.cpp b/src/drivers/bma180/bma180.cpp index 1590cc182b..df4e8f9989 100644 --- a/src/drivers/bma180/bma180.cpp +++ b/src/drivers/bma180/bma180.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 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 @@ -723,7 +723,8 @@ BMA180::measure() poll_notify(POLLIN); /* publish for subscribers */ - orb_publish(ORB_ID(sensor_accel), _accel_topic, &report); + if !(_pub_blocked) + orb_publish(ORB_ID(sensor_accel), _accel_topic, &report); /* stop the perf counter */ perf_end(_sample_perf); From 28a3dc726f8e4f3696736798a1d92bf7d9de6100 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 12 Jan 2014 11:53:56 +0100 Subject: [PATCH 06/28] Support for publication blocking: HMC5883 --- src/drivers/hmc5883/hmc5883.cpp | 37 +++++++++++++++++---------------- 1 file changed, 19 insertions(+), 18 deletions(-) diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index d3b99ae66e..49b72cf794 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 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 @@ -381,16 +381,6 @@ HMC5883::init() reset(); _class_instance = register_class_devname(MAG_DEVICE_PATH); - if (_class_instance == CLASS_DEVICE_PRIMARY) { - /* get a publish handle on the mag topic if we are - * the primary mag */ - struct mag_report zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_report); - - if (_mag_topic < 0) - debug("failed to create sensor_mag object"); - } ret = OK; /* sensor is ok, but not calibrated */ @@ -885,9 +875,18 @@ HMC5883::collect() } #endif - if (_mag_topic != -1) { - /* publish it */ - orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report); + if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { + + if (_mag_topic != -1) { + /* publish it */ + orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report); + } else { + _mag_topic = orb_advertise(ORB_ID(sensor_mag), &new_report); + + if (_mag_topic < 0) + debug("failed to create sensor_mag publication"); + } + } /* post a report to the ring */ @@ -1134,10 +1133,12 @@ int HMC5883::check_calibration() SUBSYSTEM_TYPE_MAG}; static orb_advert_t pub = -1; - if (pub > 0) { - orb_publish(ORB_ID(subsystem_info), pub, &info); - } else { - pub = orb_advertise(ORB_ID(subsystem_info), &info); + if (!(_pub_blocked)) { + if (pub > 0) { + orb_publish(ORB_ID(subsystem_info), pub, &info); + } else { + pub = orb_advertise(ORB_ID(subsystem_info), &info); + } } } From 3c7766db6c58dea67b66263d2a7c01bb57177db5 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 12 Jan 2014 11:54:10 +0100 Subject: [PATCH 07/28] Support for publication blocking: L3GD20(H) --- src/drivers/l3gd20/l3gd20.cpp | 23 ++++++++++++++--------- 1 file changed, 14 insertions(+), 9 deletions(-) diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index 670e51b979..e885b1bf9e 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 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 @@ -379,12 +379,6 @@ L3GD20::init() goto out; _class_instance = register_class_devname(GYRO_DEVICE_PATH); - if (_class_instance == CLASS_DEVICE_PRIMARY) { - /* advertise sensor topic */ - struct gyro_report zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &zero_report); - } reset(); @@ -894,8 +888,19 @@ L3GD20::measure() poll_notify(POLLIN); /* publish for subscribers */ - if (_gyro_topic > 0) - orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &report); + if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { + + if (_gyro_topic > 0) { + /* publish it */ + orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &report); + } else { + _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &report); + + if (_gyro_topic < 0) + debug("failed to create sensor_gyro publication"); + } + + } _read++; From a34a14ce862c270192283514d8a1914fbe43bd48 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 12 Jan 2014 11:54:25 +0100 Subject: [PATCH 08/28] Support for publication blocking: LSM303D, cleaned up device start --- src/drivers/lsm303d/lsm303d.cpp | 64 +++++++++++++++++---------------- 1 file changed, 34 insertions(+), 30 deletions(-) diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 969b5e25f9..3bd7a66f6b 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 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 @@ -277,15 +277,15 @@ private: unsigned _mag_samplerate; orb_advert_t _accel_topic; - int _class_instance; + int _accel_class_instance; unsigned _accel_read; unsigned _mag_read; perf_counter_t _accel_sample_perf; perf_counter_t _mag_sample_perf; - perf_counter_t _reg7_resets; perf_counter_t _reg1_resets; + perf_counter_t _reg7_resets; perf_counter_t _extreme_values; perf_counter_t _accel_reschedules; @@ -295,8 +295,8 @@ private: // expceted values of reg1 and reg7 to catch in-flight // brownouts of the sensor - uint8_t _reg7_expected; uint8_t _reg1_expected; + uint8_t _reg7_expected; // accel logging int _accel_log_fd; @@ -500,7 +500,7 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) : _mag_range_scale(0.0f), _mag_samplerate(0), _accel_topic(-1), - _class_instance(-1), + _accel_class_instance(-1), _accel_read(0), _mag_read(0), _accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_accel_read")), @@ -551,8 +551,8 @@ LSM303D::~LSM303D() if (_mag_reports != nullptr) delete _mag_reports; - if (_class_instance != -1) - unregister_class_devname(ACCEL_DEVICE_PATH, _class_instance); + if (_accel_class_instance != -1) + unregister_class_devname(ACCEL_DEVICE_PATH, _accel_class_instance); delete _mag; @@ -562,13 +562,13 @@ LSM303D::~LSM303D() perf_free(_reg1_resets); perf_free(_reg7_resets); perf_free(_extreme_values); + perf_free(_accel_reschedules); } int LSM303D::init() { int ret = ERROR; - int mag_ret; /* do SPI init (and probe) first */ if (SPI::init() != OK) { @@ -597,14 +597,7 @@ LSM303D::init() goto out; } - _class_instance = register_class_devname(ACCEL_DEVICE_PATH); - if (_class_instance == CLASS_DEVICE_PRIMARY) { - // we are the primary accel device, so advertise to - // the ORB - struct accel_report zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _accel_topic = orb_advertise(ORB_ID(sensor_accel), &zero_report); - } + _accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH); out: return ret; @@ -727,7 +720,7 @@ LSM303D::check_extremes(const accel_report *arb) _last_log_us = now; ::dprintf(_accel_log_fd, "ARB %llu %.3f %.3f %.3f %d %d %d boot_ok=%u\r\n", (unsigned long long)arb->timestamp, - arb->x, arb->y, arb->z, + (double)arb->x, (double)arb->y, (double)arb->z, (int)arb->x_raw, (int)arb->y_raw, (int)arb->z_raw, @@ -1517,9 +1510,18 @@ LSM303D::measure() /* notify anyone waiting for data */ poll_notify(POLLIN); - if (_accel_topic != -1) { - /* publish for subscribers */ - orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report); + if (_accel_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { + + if (_accel_topic > 0) { + /* publish it */ + orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report); + } else { + _accel_topic = orb_advertise(ORB_ID(sensor_accel), &accel_report); + + if (_accel_topic < 0) + debug("failed to create sensor_accel publication"); + } + } _accel_read++; @@ -1591,9 +1593,18 @@ LSM303D::mag_measure() /* notify anyone waiting for data */ poll_notify(POLLIN); - if (_mag->_mag_topic != -1) { - /* publish for subscribers */ - orb_publish(ORB_ID(sensor_mag), _mag->_mag_topic, &mag_report); + if (_mag->_mag_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { + + if (_mag->_mag_topic > 0) { + /* publish it */ + orb_publish(ORB_ID(sensor_mag), _mag->_mag_topic, &mag_report); + } else { + _mag->_mag_topic = orb_advertise(ORB_ID(sensor_mag), &mag_report); + + if (_mag->_mag_topic < 0) + debug("failed to create sensor_mag publication"); + } + } _mag_read++; @@ -1707,13 +1718,6 @@ LSM303D_mag::init() goto out; _mag_class_instance = register_class_devname(MAG_DEVICE_PATH); - if (_mag_class_instance == CLASS_DEVICE_PRIMARY) { - // we are the primary mag device, so advertise to - // the ORB - struct mag_report zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_report); - } out: return ret; From 7af62bbe9e4baaa846a37176d6942e1893e42715 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 12 Jan 2014 11:54:38 +0100 Subject: [PATCH 09/28] Support for publication blocking: MPU6000, cleaned up device start --- src/drivers/mpu6000/mpu6000.cpp | 46 +++++++++++++++++++-------------- 1 file changed, 26 insertions(+), 20 deletions(-) diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index bbc595af46..02fe6df4a1 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 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 @@ -443,7 +443,6 @@ int MPU6000::init() { int ret; - int gyro_ret; /* do SPI init (and probe) first */ ret = SPI::init(); @@ -488,16 +487,7 @@ MPU6000::init() return ret; } - /* fetch an initial set of measurements for advertisement */ - measure(); - _accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH); - if (_accel_class_instance == CLASS_DEVICE_PRIMARY) { - /* advertise accel topic */ - accel_report ar; - _accel_reports->get(&ar); - _accel_topic = orb_advertise(ORB_ID(sensor_accel), &ar); - } out: return ret; @@ -1307,11 +1297,32 @@ MPU6000::measure() poll_notify(POLLIN); _gyro->parent_poll_notify(); - if (_accel_topic != -1) { - orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb); + if (_accel_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { + + if (_accel_topic > 0) { + /* publish it */ + orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb); + } else { + _accel_topic = orb_advertise(ORB_ID(sensor_accel), &arb); + + if (_accel_topic < 0) + debug("failed to create sensor_accel publication"); + } + } - if (_gyro->_gyro_topic != -1) { - orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb); + + if (_gyro->_gyro_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { + + if (_gyro->_gyro_topic > 0) { + /* publish it */ + orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb); + } else { + _gyro->_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &grb); + + if (_gyro->_gyro_topic < 0) + debug("failed to create sensor_gyro publication"); + } + } /* stop measuring */ @@ -1356,11 +1367,6 @@ MPU6000_gyro::init() } _gyro_class_instance = register_class_devname(GYRO_DEVICE_PATH); - if (_gyro_class_instance == CLASS_DEVICE_PRIMARY) { - gyro_report gr; - memset(&gr, 0, sizeof(gr)); - _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &gr); - } out: return ret; From e6a67b1deb0e7d5b315d3c570ff010de4d54b65f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 12 Jan 2014 11:54:55 +0100 Subject: [PATCH 10/28] Support for publication blocking: MS5611, cleaned up device start --- src/drivers/ms5611/ms5611.cpp | 33 +++++++++++++++++++++------------ 1 file changed, 21 insertions(+), 12 deletions(-) diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp index 6326cf7fcb..0893315667 100644 --- a/src/drivers/ms5611/ms5611.cpp +++ b/src/drivers/ms5611/ms5611.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 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 @@ -132,6 +132,8 @@ protected: orb_advert_t _baro_topic; + int _class_instance; + perf_counter_t _sample_perf; perf_counter_t _measure_perf; perf_counter_t _comms_errors; @@ -204,6 +206,7 @@ MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) : _SENS(0), _msl_pressure(101325), _baro_topic(-1), + _class_instance(-1), _sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read")), _measure_perf(perf_alloc(PC_ELAPSED, "ms5611_measure")), _comms_errors(perf_alloc(PC_COUNT, "ms5611_comms_errors")), @@ -218,6 +221,9 @@ MS5611::~MS5611() /* make sure we are truly inactive */ stop_cycle(); + if (_class_instance != -1) + unregister_class_devname(BARO_DEVICE_PATH, _class_instance); + /* free any existing reports */ if (_reports != nullptr) delete _reports; @@ -251,16 +257,8 @@ MS5611::init() goto out; } - /* get a publish handle on the baro topic */ - struct baro_report zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _baro_topic = orb_advertise(ORB_ID(sensor_baro), &zero_report); - - if (_baro_topic < 0) { - debug("failed to create sensor_baro object"); - ret = -ENOSPC; - goto out; - } + /* register alternate interfaces if we have to */ + _class_instance = register_class_devname(BARO_DEVICE_PATH); ret = OK; out: @@ -670,7 +668,18 @@ MS5611::collect() report.altitude = (((pow((p / p1), (-(a * R) / g))) * T1) - T1) / a; /* publish it */ - orb_publish(ORB_ID(sensor_baro), _baro_topic, &report); + if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { + + if (_baro_topic > 0) { + /* publish it */ + orb_publish(ORB_ID(sensor_baro), _baro_topic, &report); + } else { + _baro_topic = orb_advertise(ORB_ID(sensor_baro), &report); + + if (_baro_topic < 0) + debug("failed to create sensor_baro publication"); + } + } if (_reports->force(&report)) { perf_count(_buffer_overflows); From dbbe4ab1d587376bc2d530b3e80a001aa30b69c7 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 12 Jan 2014 11:55:16 +0100 Subject: [PATCH 11/28] Header for publication disable --- src/drivers/drv_device.h | 62 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 62 insertions(+) create mode 100644 src/drivers/drv_device.h diff --git a/src/drivers/drv_device.h b/src/drivers/drv_device.h new file mode 100644 index 0000000000..b310beb746 --- /dev/null +++ b/src/drivers/drv_device.h @@ -0,0 +1,62 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file drv_device.h + * + * Generic device / sensor interface. + */ + +#ifndef _DRV_DEVICE_H +#define _DRV_DEVICE_H + +#include +#include + +#include "drv_sensor.h" +#include "drv_orb_dev.h" + +/* + * ioctl() definitions + */ + +#define _DEVICEIOCBASE (0x100) +#define _DEVICEIOC(_n) (_IOC(_DEVICEIOCBASE, _n)) + +/** ask device to stop publishing */ +#define DEVIOCSPUBBLOCK _DEVICEIOC(0) + +/** check publication block status */ +#define DEVIOCGPUBBLOCK _DEVICEIOC(1) + +#endif /* _DRV_DEVICE_H */ From 47e0c926a6932b7a60ce85a5c748ce5bfcc102e7 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 14 Jan 2014 14:02:16 +0100 Subject: [PATCH 12/28] Fixed two typos identified by kroimon --- src/drivers/gps/mtk.cpp | 2 +- src/drivers/gps/mtk.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp index 456a9645bf..c90ecbe281 100644 --- a/src/drivers/gps/mtk.cpp +++ b/src/drivers/gps/mtk.cpp @@ -32,7 +32,7 @@ ****************************************************************************/ /** - * @file mkt.cpp + * @file mtk.cpp * * @author Thomas Gubler * @author Julian Oes diff --git a/src/drivers/gps/mtk.h b/src/drivers/gps/mtk.h index 9032e45b03..a2d5e27bbf 100644 --- a/src/drivers/gps/mtk.h +++ b/src/drivers/gps/mtk.h @@ -32,7 +32,7 @@ ****************************************************************************/ /** - * @file mkt.cpp + * @file mtk.cpp * * @author Thomas Gubler * @author Julian Oes From c4dc310ebda8f79ec13c68745408444661b32fe1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 14 Jan 2014 14:03:57 +0100 Subject: [PATCH 13/28] Fixed bogus return value of publication blocking disable --- src/modules/commander/state_machine_helper.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 44e3aa787f..7ae61d9ef2 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -505,12 +505,11 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s while ((direntry = readdir(d)) != NULL) { - bool blocked = false; int sensfd = ::open(direntry->d_name, 0); - ::ioctl(sensfd, DEVIOCSPUBBLOCK, 0); + int block_ret = ::ioctl(sensfd, DEVIOCSPUBBLOCK, 0); close(sensfd); - printf("Disabling %s\n: %s", direntry->d_name, (blocked) ? "OK" : "FAIL"); + printf("Disabling %s\n: %s", direntry->d_name, (!block_ret) ? "OK" : "FAIL"); } closedir(d); From d19971065140bdfbbe5972f2a394597504abef9e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 14 Jan 2014 15:40:46 +0100 Subject: [PATCH 14/28] Fixed up init sequence of all sensors - we can publish in interrupt context, but not advertise! All advertisements now contain valid data --- src/drivers/airspeed/airspeed.cpp | 16 ++++- src/drivers/bma180/bma180.cpp | 22 ++++-- src/drivers/ets_airspeed/ets_airspeed.cpp | 15 +--- src/drivers/l3gd20/l3gd20.cpp | 30 ++++---- src/drivers/lsm303d/lsm303d.cpp | 61 +++++++++------- src/drivers/meas_airspeed/meas_airspeed.cpp | 15 +--- src/drivers/mpu6000/mpu6000.cpp | 59 ++++++++------- src/drivers/ms5611/ms5611.cpp | 80 +++++++++++++++------ 8 files changed, 186 insertions(+), 112 deletions(-) diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp index 215d3792e8..71c0b70f01 100644 --- a/src/drivers/airspeed/airspeed.cpp +++ b/src/drivers/airspeed/airspeed.cpp @@ -133,8 +133,20 @@ Airspeed::init() /* register alternate interfaces if we have to */ _class_instance = register_class_devname(AIRSPEED_DEVICE_PATH); - if (_airspeed_pub < 0) - warnx("failed to create airspeed sensor object. Did you start uOrb?"); + /* publication init */ + if (_class_instance == CLASS_DEVICE_PRIMARY) { + + /* advertise sensor topic, measure manually to initialize valid report */ + struct differential_pressure_s arp; + measure(); + _reports->get(&arp); + + /* measurement will have generated a report, publish */ + _airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp); + + if (_airspeed_pub < 0) + warnx("failed to create airspeed sensor object. uORB started?"); + } ret = OK; /* sensor is ok, but we don't really know if it is within range */ diff --git a/src/drivers/bma180/bma180.cpp b/src/drivers/bma180/bma180.cpp index df4e8f9989..e43a348052 100644 --- a/src/drivers/bma180/bma180.cpp +++ b/src/drivers/bma180/bma180.cpp @@ -153,6 +153,7 @@ private: float _accel_range_scale; float _accel_range_m_s2; orb_advert_t _accel_topic; + int _class_instance; unsigned _current_lowpass; unsigned _current_range; @@ -238,6 +239,7 @@ BMA180::BMA180(int bus, spi_dev_e device) : _accel_range_scale(0.0f), _accel_range_m_s2(0.0f), _accel_topic(-1), + _class_instance(-1), _current_lowpass(0), _current_range(0), _sample_perf(perf_alloc(PC_ELAPSED, "bma180_read")) @@ -282,11 +284,6 @@ BMA180::init() if (_reports == nullptr) goto out; - /* advertise sensor topic */ - struct accel_report zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _accel_topic = orb_advertise(ORB_ID(sensor_accel), &zero_report); - /* perform soft reset (p48) */ write_reg(ADDR_RESET, SOFT_RESET); @@ -322,6 +319,19 @@ BMA180::init() ret = ERROR; } + _class_instance = register_class_devname(ACCEL_DEVICE_PATH); + + /* advertise sensor topic, measure manually to initialize valid report */ + measure(); + + if (_class_instance == CLASS_DEVICE_PRIMARY) { + struct accel_report arp; + _reports->get(&arp); + + /* measurement will have generated a report, publish */ + _accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp); + } + out: return ret; } @@ -723,7 +733,7 @@ BMA180::measure() poll_notify(POLLIN); /* publish for subscribers */ - if !(_pub_blocked) + if (_accel_topic > 0 && !(_pub_blocked)) orb_publish(ORB_ID(sensor_accel), _accel_topic, &report); /* stop the perf counter */ diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp index cdc70ac37c..8bbef5cfa0 100644 --- a/src/drivers/ets_airspeed/ets_airspeed.cpp +++ b/src/drivers/ets_airspeed/ets_airspeed.cpp @@ -184,18 +184,9 @@ ETSAirspeed::collect() report.voltage = 0; report.max_differential_pressure_pa = _max_differential_pressure_pa; - /* announce the airspeed if needed, just publish else */ - if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { - - if (_airspeed_pub > 0) { - /* publish it */ - orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report); - } else { - _airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &report); - - if (_airspeed_pub < 0) - debug("failed to create differential_pressure publication"); - } + if (_airspeed_pub > 0 && !(_pub_blocked)) { + /* publish it */ + orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report); } new_report(report); diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index e885b1bf9e..90c3db9ae9 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -382,6 +382,21 @@ L3GD20::init() reset(); + measure(); + + if (_class_instance == CLASS_DEVICE_PRIMARY) { + + /* advertise sensor topic, measure manually to initialize valid report */ + struct gyro_report grp; + _reports->get(&grp); + + _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &grp); + + if (_gyro_topic < 0) + debug("failed to create sensor_gyro publication"); + + } + ret = OK; out: return ret; @@ -888,18 +903,9 @@ L3GD20::measure() poll_notify(POLLIN); /* publish for subscribers */ - if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { - - if (_gyro_topic > 0) { - /* publish it */ - orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &report); - } else { - _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &report); - - if (_gyro_topic < 0) - debug("failed to create sensor_gyro publication"); - } - + if (_gyro_topic > 0 && !(_pub_blocked)) { + /* publish it */ + orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &report); } _read++; diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 3bd7a66f6b..4dee7649bc 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -597,8 +597,39 @@ LSM303D::init() goto out; } + /* fill report structures */ + measure(); + + if (_mag->_mag_class_instance == CLASS_DEVICE_PRIMARY) { + + /* advertise sensor topic, measure manually to initialize valid report */ + struct mag_report mrp; + _mag_reports->get(&mrp); + + /* measurement will have generated a report, publish */ + _mag->_mag_topic = orb_advertise(ORB_ID(sensor_mag), &mrp); + + if (_mag->_mag_topic < 0) + debug("failed to create sensor_mag publication"); + + } + _accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH); + if (_accel_class_instance == CLASS_DEVICE_PRIMARY) { + + /* advertise sensor topic, measure manually to initialize valid report */ + struct accel_report arp; + _accel_reports->get(&arp); + + /* measurement will have generated a report, publish */ + _accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp); + + if (_accel_topic < 0) + debug("failed to create sensor_accel publication"); + + } + out: return ret; } @@ -1510,18 +1541,9 @@ LSM303D::measure() /* notify anyone waiting for data */ poll_notify(POLLIN); - if (_accel_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { - - if (_accel_topic > 0) { - /* publish it */ - orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report); - } else { - _accel_topic = orb_advertise(ORB_ID(sensor_accel), &accel_report); - - if (_accel_topic < 0) - debug("failed to create sensor_accel publication"); - } - + if (_accel_topic > 0 && !(_pub_blocked)) { + /* publish it */ + orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report); } _accel_read++; @@ -1593,18 +1615,9 @@ LSM303D::mag_measure() /* notify anyone waiting for data */ poll_notify(POLLIN); - if (_mag->_mag_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { - - if (_mag->_mag_topic > 0) { - /* publish it */ - orb_publish(ORB_ID(sensor_mag), _mag->_mag_topic, &mag_report); - } else { - _mag->_mag_topic = orb_advertise(ORB_ID(sensor_mag), &mag_report); - - if (_mag->_mag_topic < 0) - debug("failed to create sensor_mag publication"); - } - + if (_mag->_mag_topic > 0 && !(_pub_blocked)) { + /* publish it */ + orb_publish(ORB_ID(sensor_mag), _mag->_mag_topic, &mag_report); } _mag_read++; diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index fee13f139c..51a059e394 100644 --- a/src/drivers/meas_airspeed/meas_airspeed.cpp +++ b/src/drivers/meas_airspeed/meas_airspeed.cpp @@ -216,18 +216,9 @@ MEASAirspeed::collect() report.voltage = 0; report.max_differential_pressure_pa = _max_differential_pressure_pa; - /* announce the airspeed if needed, just publish else */ - if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { - - if (_airspeed_pub > 0) { - /* publish it */ - orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report); - } else { - _airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &report); - - if (_airspeed_pub < 0) - debug("failed to create differential_pressure publication"); - } + if (_airspeed_pub > 0 && !(_pub_blocked)) { + /* publish it */ + orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report); } new_report(report); diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 02fe6df4a1..bf80c9cff2 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -489,6 +489,35 @@ MPU6000::init() _accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH); + measure(); + + if (_accel_class_instance == CLASS_DEVICE_PRIMARY) { + + /* advertise sensor topic, measure manually to initialize valid report */ + struct accel_report arp; + _accel_reports->get(&arp); + + /* measurement will have generated a report, publish */ + _accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp); + + if (_accel_topic < 0) + debug("failed to create sensor_accel publication"); + + } + + if (_gyro->_gyro_class_instance == CLASS_DEVICE_PRIMARY) { + + /* advertise sensor topic, measure manually to initialize valid report */ + struct gyro_report grp; + _gyro_reports->get(&grp); + + _gyro->_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &grp); + + if (_gyro->_gyro_topic < 0) + debug("failed to create sensor_gyro publication"); + + } + out: return ret; } @@ -1297,32 +1326,14 @@ MPU6000::measure() poll_notify(POLLIN); _gyro->parent_poll_notify(); - if (_accel_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { - - if (_accel_topic > 0) { - /* publish it */ - orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb); - } else { - _accel_topic = orb_advertise(ORB_ID(sensor_accel), &arb); - - if (_accel_topic < 0) - debug("failed to create sensor_accel publication"); - } - + if (_accel_topic > 0 && !(_pub_blocked)) { + /* publish it */ + orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb); } - if (_gyro->_gyro_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { - - if (_gyro->_gyro_topic > 0) { - /* publish it */ - orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb); - } else { - _gyro->_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &grb); - - if (_gyro->_gyro_topic < 0) - debug("failed to create sensor_gyro publication"); - } - + if (_gyro->_gyro_topic > 0 && !(_pub_blocked)) { + /* publish it */ + orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb); } /* stop measuring */ diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp index 0893315667..0ef056273f 100644 --- a/src/drivers/ms5611/ms5611.cpp +++ b/src/drivers/ms5611/ms5611.cpp @@ -90,6 +90,7 @@ static const int ERROR = -1; /* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */ #define MS5611_CONVERSION_INTERVAL 10000 /* microseconds */ #define MS5611_MEASUREMENT_RATIO 3 /* pressure measurements per temperature measurement */ +#define MS5611_BARO_DEVICE_PATH "/dev/ms5611" class MS5611 : public device::CDev { @@ -194,7 +195,7 @@ protected: extern "C" __EXPORT int ms5611_main(int argc, char *argv[]); MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) : - CDev("MS5611", BARO_DEVICE_PATH), + CDev("MS5611", MS5611_BARO_DEVICE_PATH), _interface(interface), _prom(prom_buf.s), _measure_ticks(0), @@ -222,7 +223,7 @@ MS5611::~MS5611() stop_cycle(); if (_class_instance != -1) - unregister_class_devname(BARO_DEVICE_PATH, _class_instance); + unregister_class_devname(MS5611_BARO_DEVICE_PATH, _class_instance); /* free any existing reports */ if (_reports != nullptr) @@ -260,7 +261,54 @@ MS5611::init() /* register alternate interfaces if we have to */ _class_instance = register_class_devname(BARO_DEVICE_PATH); - ret = OK; + struct baro_report brp; + /* do a first measurement cycle to populate reports with valid data */ + _measure_phase = 0; + _reports->flush(); + + /* this do..while is goto without goto */ + do { + /* do temperature first */ + if (OK != measure()) { + ret = -EIO; + break; + } + + usleep(MS5611_CONVERSION_INTERVAL); + + if (OK != collect()) { + ret = -EIO; + break; + } + + /* now do a pressure measurement */ + if (OK != measure()) { + ret = -EIO; + break; + } + + usleep(MS5611_CONVERSION_INTERVAL); + + if (OK != collect()) { + ret = -EIO; + break; + } + + /* state machine will have generated a report, copy it out */ + _reports->get(&brp); + + ret = OK; + + if (_class_instance == CLASS_DEVICE_PRIMARY) { + + _baro_topic = orb_advertise(ORB_ID(sensor_baro), &brp); + + if (_baro_topic < 0) + debug("failed to create sensor_baro publication"); + } + + } while (0); + out: return ret; } @@ -668,17 +716,9 @@ MS5611::collect() report.altitude = (((pow((p / p1), (-(a * R) / g))) * T1) - T1) / a; /* publish it */ - if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { - - if (_baro_topic > 0) { - /* publish it */ - orb_publish(ORB_ID(sensor_baro), _baro_topic, &report); - } else { - _baro_topic = orb_advertise(ORB_ID(sensor_baro), &report); - - if (_baro_topic < 0) - debug("failed to create sensor_baro publication"); - } + if (_baro_topic > 0 && !(_pub_blocked)) { + /* publish it */ + orb_publish(ORB_ID(sensor_baro), _baro_topic, &report); } if (_reports->force(&report)) { @@ -821,7 +861,7 @@ start() goto fail; /* set the poll rate to default, starts automatic data collection */ - fd = open(BARO_DEVICE_PATH, O_RDONLY); + fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); if (fd < 0) { warnx("can't open baro device"); goto fail; @@ -855,10 +895,10 @@ test() ssize_t sz; int ret; - int fd = open(BARO_DEVICE_PATH, O_RDONLY); + int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); if (fd < 0) - err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", BARO_DEVICE_PATH); + err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", MS5611_BARO_DEVICE_PATH); /* do a simple demand read */ sz = read(fd, &report, sizeof(report)); @@ -914,7 +954,7 @@ test() void reset() { - int fd = open(BARO_DEVICE_PATH, O_RDONLY); + int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); if (fd < 0) err(1, "failed "); @@ -953,10 +993,10 @@ calibrate(unsigned altitude) float pressure; float p1; - int fd = open(BARO_DEVICE_PATH, O_RDONLY); + int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); if (fd < 0) - err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", BARO_DEVICE_PATH); + err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", MS5611_BARO_DEVICE_PATH); /* start the sensor polling at max */ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX)) From 58d78e57b7b7de57a347ad94e70d2d19bb7230d0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 14 Jan 2014 15:41:12 +0100 Subject: [PATCH 15/28] Build the sensors as part of the test binary --- makefiles/config_px4fmu-v1_test.mk | 3 +++ makefiles/config_px4fmu-v2_test.mk | 9 +++++++++ 2 files changed, 12 insertions(+) diff --git a/makefiles/config_px4fmu-v1_test.mk b/makefiles/config_px4fmu-v1_test.mk index 41e8b95ff5..300afa3d5b 100644 --- a/makefiles/config_px4fmu-v1_test.mk +++ b/makefiles/config_px4fmu-v1_test.mk @@ -29,6 +29,9 @@ MODULES += systemcmds/nshterm MODULES += modules/systemlib MODULES += modules/systemlib/mixer MODULES += modules/uORB +LIBRARIES += lib/mathlib/CMSIS +MODULES += lib/mathlib +MODULES += lib/mathlib/math/filter # # Transitional support - add commands from the NuttX export archive. diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk index f54a4d8257..ea52213df0 100644 --- a/makefiles/config_px4fmu-v2_test.mk +++ b/makefiles/config_px4fmu-v2_test.mk @@ -18,6 +18,12 @@ MODULES += drivers/stm32/tone_alarm MODULES += drivers/led MODULES += drivers/boards/px4fmu-v2 MODULES += drivers/px4io +MODULES += drivers/rgbled +MODULES += drivers/mpu6000 +MODULES += drivers/lsm303d +MODULES += drivers/l3gd20 +MODULES += drivers/hmc5883 +MODULES += drivers/ms5611 MODULES += systemcmds/perf MODULES += systemcmds/reboot MODULES += systemcmds/tests @@ -30,6 +36,9 @@ MODULES += systemcmds/mtd MODULES += modules/systemlib MODULES += modules/systemlib/mixer MODULES += modules/uORB +LIBRARIES += lib/mathlib/CMSIS +MODULES += lib/mathlib +MODULES += lib/mathlib/math/filter # # Transitional support - add commands from the NuttX export archive. From bb8956c84e83c22d143a99d4ca37491574200438 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 14 Jan 2014 16:04:12 +0100 Subject: [PATCH 16/28] Fixed return value --- src/drivers/device/cdev.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/drivers/device/cdev.cpp b/src/drivers/device/cdev.cpp index 65a9705f55..b157b3f181 100644 --- a/src/drivers/device/cdev.cpp +++ b/src/drivers/device/cdev.cpp @@ -261,6 +261,7 @@ CDev::ioctl(struct file *filp, int cmd, unsigned long arg) break; case DEVIOCSPUBBLOCK: _pub_blocked = (arg != 0); + return OK; break; case DEVIOCGPUBBLOCK: return _pub_blocked; From ac326beaaae7b38d65ad6d7d13f00dfeaa6ae520 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 14 Jan 2014 16:04:26 +0100 Subject: [PATCH 17/28] Improved config tool to also do device IOCTLs --- src/systemcmds/config/config.c | 56 +++++++++++++++++++++++++++++----- 1 file changed, 49 insertions(+), 7 deletions(-) diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c index 80689f20c8..476015f3e3 100644 --- a/src/systemcmds/config/config.c +++ b/src/systemcmds/config/config.c @@ -56,6 +56,7 @@ #include #include #include +#include #include "systemlib/systemlib.h" #include "systemlib/err.h" @@ -65,6 +66,7 @@ __EXPORT int config_main(int argc, char *argv[]); static void do_gyro(int argc, char *argv[]); static void do_accel(int argc, char *argv[]); static void do_mag(int argc, char *argv[]); +static void do_device(int argc, char *argv[]); int config_main(int argc, char *argv[]) @@ -72,20 +74,60 @@ config_main(int argc, char *argv[]) if (argc >= 2) { if (!strcmp(argv[1], "gyro")) { do_gyro(argc - 2, argv + 2); - } - - if (!strcmp(argv[1], "accel")) { + } else if (!strcmp(argv[1], "accel")) { do_accel(argc - 2, argv + 2); - } - - if (!strcmp(argv[1], "mag")) { + } else if (!strcmp(argv[1], "mag")) { do_mag(argc - 2, argv + 2); + } else { + do_device(argc - 1, argv + 1); } } errx(1, "expected a command, try 'gyro', 'accel', 'mag'"); } +static void +do_device(int argc, char *argv[]) +{ + if (argc < 2) { + errx(1, "no device path provided and command provided."); + } + + int fd; + int ret; + + fd = open(argv[0], 0); + + if (fd < 0) { + warn("%s", argv[0]); + errx(1, "FATAL: no device found"); + + } else { + + if (argc == 2 && !strcmp(argv[1], "block")) { + + /* disable the device publications */ + ret = ioctl(fd, DEVIOCSPUBBLOCK, 1); + + if (ret) + errx(ret,"uORB publications could not be blocked"); + + } else if (argc == 2 && !strcmp(argv[1], "unblock")) { + + /* enable the device publications */ + ret = ioctl(fd, DEVIOCSPUBBLOCK, 0); + + if (ret) + errx(ret,"uORB publications could not be unblocked"); + + } else { + errx("no valid command: %s", argv[1]); + } + } + + exit(0); +} + static void do_gyro(int argc, char *argv[]) { @@ -124,7 +166,7 @@ do_gyro(int argc, char *argv[]) if (ret) errx(ret,"range could not be set"); - } else if(argc == 1 && !strcmp(argv[0], "check")) { + } else if (argc == 1 && !strcmp(argv[0], "check")) { ret = ioctl(fd, GYROIOCSELFTEST, 0); if (ret) { From 9defc6cb235e13ef912a70466acf1d14314f1e3d Mon Sep 17 00:00:00 2001 From: marco Date: Sun, 2 Feb 2014 14:26:17 +0100 Subject: [PATCH 18/28] mkblctrl fmuv2 support added --- makefiles/config_px4fmu-v2_default.mk | 2 + src/drivers/mkblctrl/mkblctrl.cpp | 152 +++++++++++++++++++++++++- 2 files changed, 148 insertions(+), 6 deletions(-) diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index 880e2738ac..dc9208339b 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -38,6 +38,8 @@ MODULES += drivers/ets_airspeed MODULES += drivers/meas_airspeed MODULES += drivers/frsky_telemetry MODULES += modules/sensors +MODULES += drivers/mkblctrl + # Needs to be burned to the ground and re-written; for now, # just don't build it. diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index 30d6069b32..dbba91786b 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012,2013 PX4 Development Team. All rights reserved. + * Copyright (C) 2012-2014 PX4 Development Team. All rights reserved. * Author: Marco Bauer * * Redistribution and use in source and binary forms, with or without @@ -93,6 +93,9 @@ #define MOTOR_SPINUP_COUNTER 30 #define ESC_UORB_PUBLISH_DELAY 500000 + + + class MK : public device::I2C { public: @@ -181,6 +184,7 @@ private: static const unsigned _ngpio; void gpio_reset(void); + void sensor_reset(int ms); void gpio_set_function(uint32_t gpios, int function); void gpio_write(uint32_t gpios, int function); uint32_t gpio_read(void); @@ -196,6 +200,7 @@ private: }; const MK::GPIOConfig MK::_gpio_tab[] = { +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1}, @@ -204,6 +209,22 @@ const MK::GPIOConfig MK::_gpio_tab[] = { {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1}, {GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2}, {GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2}, +#endif +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) + {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, + {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, + {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, + {GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, + {GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, + {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, + + {0, GPIO_VDD_5V_PERIPH_EN, 0}, + {0, GPIO_VDD_3V3_SENSORS_EN, 0}, + {GPIO_VDD_BRICK_VALID, 0, 0}, + {GPIO_VDD_SERVO_VALID, 0, 0}, + {GPIO_VDD_5V_HIPOWER_OC, 0, 0}, + {GPIO_VDD_5V_PERIPH_OC, 0, 0}, +#endif }; const unsigned MK::_ngpio = sizeof(MK::_gpio_tab) / sizeof(MK::_gpio_tab[0]); @@ -623,9 +644,11 @@ MK::task_main() if(!_overrideSecurityChecks) { /* don't go under BLCTRL_MIN_VALUE */ + if (outputs.output[i] < BLCTRL_MIN_VALUE) { outputs.output[i] = BLCTRL_MIN_VALUE; } + } /* output to BLCtrl's */ @@ -1075,6 +1098,10 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg) ret = OK; break; + case PWM_SERVO_GET_UPDATE_RATE: + *(uint32_t *)arg = 400; + break; + case PWM_SERVO_SET_SELECT_UPDATE_RATE: ret = OK; break; @@ -1198,23 +1225,115 @@ MK::write(file *filp, const char *buffer, size_t len) return count * 2; } +void +MK::sensor_reset(int ms) +{ +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) + + if (ms < 1) { + ms = 1; + } + + /* disable SPI bus */ + stm32_configgpio(GPIO_SPI_CS_GYRO_OFF); + stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF); + stm32_configgpio(GPIO_SPI_CS_BARO_OFF); + stm32_configgpio(GPIO_SPI_CS_MPU_OFF); + + stm32_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0); + stm32_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0); + stm32_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0); + + stm32_configgpio(GPIO_SPI1_SCK_OFF); + stm32_configgpio(GPIO_SPI1_MISO_OFF); + stm32_configgpio(GPIO_SPI1_MOSI_OFF); + + stm32_gpiowrite(GPIO_SPI1_SCK_OFF, 0); + stm32_gpiowrite(GPIO_SPI1_MISO_OFF, 0); + stm32_gpiowrite(GPIO_SPI1_MOSI_OFF, 0); + + stm32_configgpio(GPIO_GYRO_DRDY_OFF); + stm32_configgpio(GPIO_MAG_DRDY_OFF); + stm32_configgpio(GPIO_ACCEL_DRDY_OFF); + stm32_configgpio(GPIO_EXTI_MPU_DRDY_OFF); + + stm32_gpiowrite(GPIO_GYRO_DRDY_OFF, 0); + stm32_gpiowrite(GPIO_MAG_DRDY_OFF, 0); + stm32_gpiowrite(GPIO_ACCEL_DRDY_OFF, 0); + stm32_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0); + + /* set the sensor rail off */ + stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN); + stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0); + + /* wait for the sensor rail to reach GND */ + usleep(ms * 1000); + warnx("reset done, %d ms", ms); + + /* re-enable power */ + + /* switch the sensor rail back on */ + stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1); + + /* wait a bit before starting SPI, different times didn't influence results */ + usleep(100); + + /* reconfigure the SPI pins */ +#ifdef CONFIG_STM32_SPI1 + stm32_configgpio(GPIO_SPI_CS_GYRO); + stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG); + stm32_configgpio(GPIO_SPI_CS_BARO); + stm32_configgpio(GPIO_SPI_CS_MPU); + + /* De-activate all peripherals, + * required for some peripheral + * state machines + */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); + stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); + + // // XXX bring up the EXTI pins again + // stm32_configgpio(GPIO_GYRO_DRDY); + // stm32_configgpio(GPIO_MAG_DRDY); + // stm32_configgpio(GPIO_ACCEL_DRDY); + // stm32_configgpio(GPIO_EXTI_MPU_DRDY); + +#endif +#endif +} + + void MK::gpio_reset(void) { /* - * Setup default GPIO config - all pins as GPIOs, GPIO driver chip - * to input mode. + * Setup default GPIO config - all pins as GPIOs, input if + * possible otherwise output if possible. */ - for (unsigned i = 0; i < _ngpio; i++) - stm32_configgpio(_gpio_tab[i].input); + for (unsigned i = 0; i < _ngpio; i++) { + if (_gpio_tab[i].input != 0) { + stm32_configgpio(_gpio_tab[i].input); + } else if (_gpio_tab[i].output != 0) { + stm32_configgpio(_gpio_tab[i].output); + } + } + +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) + /* if we have a GPIO direction control, set it to zero (input) */ stm32_gpiowrite(GPIO_GPIO_DIR, 0); stm32_configgpio(GPIO_GPIO_DIR); +#endif } void MK::gpio_set_function(uint32_t gpios, int function) { +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) + /* * GPIOs 0 and 1 must have the same direction as they are buffered * by a shared 2-port driver. Any attempt to set either sets both. @@ -1227,6 +1346,8 @@ MK::gpio_set_function(uint32_t gpios, int function) stm32_gpiowrite(GPIO_GPIO_DIR, 1); } +#endif + /* configure selected GPIOs as required */ for (unsigned i = 0; i < _ngpio; i++) { if (gpios & (1 << i)) { @@ -1248,9 +1369,13 @@ MK::gpio_set_function(uint32_t gpios, int function) } } +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) + /* flip buffer to input mode if required */ if ((GPIO_SET_INPUT == function) && (gpios & 3)) stm32_gpiowrite(GPIO_GPIO_DIR, 0); + +#endif } void @@ -1418,6 +1543,20 @@ mk_start(unsigned bus, unsigned motors, char *device_path) return ret; } +void +sensor_reset(int ms) +{ + int fd; + + fd = open(PX4FMU_DEVICE_PATH, O_RDWR); + + if (fd < 0) + errx(1, "open fail"); + + if (ioctl(fd, GPIO_SENSOR_RAIL_RESET, ms) < 0) + err(1, "servo arm failed"); + +} int mk_check_for_i2c_esc_bus(char *device_path, int motors) @@ -1426,6 +1565,7 @@ mk_check_for_i2c_esc_bus(char *device_path, int motors) if (g_mk == nullptr) { +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) g_mk = new MK(3, device_path); if (g_mk == nullptr) { @@ -1441,7 +1581,7 @@ mk_check_for_i2c_esc_bus(char *device_path, int motors) } } - +#endif g_mk = new MK(1, device_path); From 0089db7ef3961c36d6513877b7681ab548d20ccf Mon Sep 17 00:00:00 2001 From: marco Date: Sun, 2 Feb 2014 16:28:56 +0100 Subject: [PATCH 19/28] code cleanup --- src/drivers/mkblctrl/mkblctrl.cpp | 425 +++--------------------------- 1 file changed, 30 insertions(+), 395 deletions(-) diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index dbba91786b..c3c4bf8c1d 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -65,7 +65,7 @@ #include #include -#include +//#include #include #include @@ -123,8 +123,7 @@ public: virtual int init(unsigned motors); virtual ssize_t write(file *filp, const char *buffer, size_t len); - int set_mode(Mode mode); - int set_pwm_rate(unsigned rate); + int set_update_rate(unsigned rate); int set_motor_count(unsigned count); int set_motor_test(bool motortest); int set_overrideSecurityChecks(bool overrideSecurityChecks); @@ -136,7 +135,6 @@ private: static const unsigned _max_actuators = MAX_MOTORS; static const bool showDebug = false; - Mode _mode; int _update_rate; int _current_update_rate; int _task; @@ -183,51 +181,15 @@ private: static const GPIOConfig _gpio_tab[]; static const unsigned _ngpio; - void gpio_reset(void); - void sensor_reset(int ms); - void gpio_set_function(uint32_t gpios, int function); - void gpio_write(uint32_t gpios, int function); - uint32_t gpio_read(void); - int gpio_ioctl(file *filp, int cmd, unsigned long arg); int mk_servo_arm(bool status); - int mk_servo_set(unsigned int chan, short val); int mk_servo_set_value(unsigned int chan, short val); int mk_servo_test(unsigned int chan); short scaling(float val, float inMin, float inMax, float outMin, float outMax); - - }; -const MK::GPIOConfig MK::_gpio_tab[] = { -#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) - {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, - {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, - {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1}, - {GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1}, - {GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1}, - {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1}, - {GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2}, - {GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2}, -#endif -#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) - {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, - {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, - {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, - {GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, - {GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, - {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, - {0, GPIO_VDD_5V_PERIPH_EN, 0}, - {0, GPIO_VDD_3V3_SENSORS_EN, 0}, - {GPIO_VDD_BRICK_VALID, 0, 0}, - {GPIO_VDD_SERVO_VALID, 0, 0}, - {GPIO_VDD_5V_HIPOWER_OC, 0, 0}, - {GPIO_VDD_5V_PERIPH_OC, 0, 0}, -#endif -}; -const unsigned MK::_ngpio = sizeof(MK::_gpio_tab) / sizeof(MK::_gpio_tab[0]); const int blctrlAddr_quad_plus[] = { 2, 2, -2, -2, 0, 0, 0, 0 }; // Addresstranslator for Quad + configuration const int blctrlAddr_hexa_plus[] = { 0, 2, 2, -2, 1, -3, 0, 0 }; // Addresstranslator for Hexa + configuration @@ -268,8 +230,7 @@ MK *g_mk; MK::MK(int bus, const char *_device_path) : I2C("mkblctrl", "/dev/mkblctrl", bus, 0, I2C_BUS_SPEED), - _mode(MODE_NONE), - _update_rate(50), + _update_rate(400), _task(-1), _t_actuators(-1), _t_actuator_armed(-1), @@ -348,9 +309,6 @@ MK::init(unsigned motors) } - /* reset GPIOs */ - gpio_reset(); - /* start the IO interface task */ _task = task_spawn_cmd("mkblctrl", SCHED_DEFAULT, @@ -375,43 +333,7 @@ MK::task_main_trampoline(int argc, char *argv[]) } int -MK::set_mode(Mode mode) -{ - /* - * Configure for PWM output. - * - * Note that regardless of the configured mode, the task is always - * listening and mixing; the mode just selects which of the channels - * are presented on the output pins. - */ - switch (mode) { - case MODE_2PWM: - up_pwm_servo_deinit(); - _update_rate = UPDATE_RATE; /* default output rate */ - break; - - case MODE_4PWM: - up_pwm_servo_deinit(); - _update_rate = UPDATE_RATE; /* default output rate */ - break; - - case MODE_NONE: - debug("MODE_NONE"); - /* disable servo outputs and set a very low update rate */ - up_pwm_servo_deinit(); - _update_rate = UPDATE_RATE; - break; - - default: - return -EINVAL; - } - - _mode = mode; - return OK; -} - -int -MK::set_pwm_rate(unsigned rate) +MK::set_update_rate(unsigned rate) { if ((rate > 500) || (rate < 10)) return -EINVAL; @@ -1042,28 +964,6 @@ MK::ioctl(file *filp, int cmd, unsigned long arg) { int ret; - // XXX disabled, confusing users - - /* try it as a GPIO ioctl first */ - ret = gpio_ioctl(filp, cmd, arg); - - if (ret != -ENOTTY) - return ret; - - /* if we are in valid PWM mode, try it as a PWM ioctl as well */ - /* - switch (_mode) { - case MODE_2PWM: - case MODE_4PWM: - case MODE_6PWM: - ret = pwm_ioctl(filp, cmd, arg); - break; - - default: - debug("not in a PWM mode"); - break; - } - */ ret = pwm_ioctl(filp, cmd, arg); /* if nobody wants it, let CDev have it */ @@ -1099,7 +999,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg) break; case PWM_SERVO_GET_UPDATE_RATE: - *(uint32_t *)arg = 400; + *(uint32_t *)arg = _update_rate; break; case PWM_SERVO_SET_SELECT_UPDATE_RATE: @@ -1225,237 +1125,10 @@ MK::write(file *filp, const char *buffer, size_t len) return count * 2; } -void -MK::sensor_reset(int ms) -{ -#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) - - if (ms < 1) { - ms = 1; - } - - /* disable SPI bus */ - stm32_configgpio(GPIO_SPI_CS_GYRO_OFF); - stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF); - stm32_configgpio(GPIO_SPI_CS_BARO_OFF); - stm32_configgpio(GPIO_SPI_CS_MPU_OFF); - - stm32_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0); - stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0); - stm32_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0); - stm32_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0); - - stm32_configgpio(GPIO_SPI1_SCK_OFF); - stm32_configgpio(GPIO_SPI1_MISO_OFF); - stm32_configgpio(GPIO_SPI1_MOSI_OFF); - - stm32_gpiowrite(GPIO_SPI1_SCK_OFF, 0); - stm32_gpiowrite(GPIO_SPI1_MISO_OFF, 0); - stm32_gpiowrite(GPIO_SPI1_MOSI_OFF, 0); - - stm32_configgpio(GPIO_GYRO_DRDY_OFF); - stm32_configgpio(GPIO_MAG_DRDY_OFF); - stm32_configgpio(GPIO_ACCEL_DRDY_OFF); - stm32_configgpio(GPIO_EXTI_MPU_DRDY_OFF); - - stm32_gpiowrite(GPIO_GYRO_DRDY_OFF, 0); - stm32_gpiowrite(GPIO_MAG_DRDY_OFF, 0); - stm32_gpiowrite(GPIO_ACCEL_DRDY_OFF, 0); - stm32_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0); - - /* set the sensor rail off */ - stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN); - stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0); - - /* wait for the sensor rail to reach GND */ - usleep(ms * 1000); - warnx("reset done, %d ms", ms); - - /* re-enable power */ - - /* switch the sensor rail back on */ - stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1); - - /* wait a bit before starting SPI, different times didn't influence results */ - usleep(100); - - /* reconfigure the SPI pins */ -#ifdef CONFIG_STM32_SPI1 - stm32_configgpio(GPIO_SPI_CS_GYRO); - stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG); - stm32_configgpio(GPIO_SPI_CS_BARO); - stm32_configgpio(GPIO_SPI_CS_MPU); - - /* De-activate all peripherals, - * required for some peripheral - * state machines - */ - stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); - stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); - stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); - stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); - - // // XXX bring up the EXTI pins again - // stm32_configgpio(GPIO_GYRO_DRDY); - // stm32_configgpio(GPIO_MAG_DRDY); - // stm32_configgpio(GPIO_ACCEL_DRDY); - // stm32_configgpio(GPIO_EXTI_MPU_DRDY); - -#endif -#endif -} - - -void -MK::gpio_reset(void) -{ - /* - * Setup default GPIO config - all pins as GPIOs, input if - * possible otherwise output if possible. - */ - for (unsigned i = 0; i < _ngpio; i++) { - if (_gpio_tab[i].input != 0) { - stm32_configgpio(_gpio_tab[i].input); - - } else if (_gpio_tab[i].output != 0) { - stm32_configgpio(_gpio_tab[i].output); - } - } - -#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) - /* if we have a GPIO direction control, set it to zero (input) */ - stm32_gpiowrite(GPIO_GPIO_DIR, 0); - stm32_configgpio(GPIO_GPIO_DIR); -#endif -} - -void -MK::gpio_set_function(uint32_t gpios, int function) -{ -#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) - - /* - * GPIOs 0 and 1 must have the same direction as they are buffered - * by a shared 2-port driver. Any attempt to set either sets both. - */ - if (gpios & 3) { - gpios |= 3; - - /* flip the buffer to output mode if required */ - if (GPIO_SET_OUTPUT == function) - stm32_gpiowrite(GPIO_GPIO_DIR, 1); - } - -#endif - - /* configure selected GPIOs as required */ - for (unsigned i = 0; i < _ngpio; i++) { - if (gpios & (1 << i)) { - switch (function) { - case GPIO_SET_INPUT: - stm32_configgpio(_gpio_tab[i].input); - break; - - case GPIO_SET_OUTPUT: - stm32_configgpio(_gpio_tab[i].output); - break; - - case GPIO_SET_ALT_1: - if (_gpio_tab[i].alt != 0) - stm32_configgpio(_gpio_tab[i].alt); - - break; - } - } - } - -#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) - - /* flip buffer to input mode if required */ - if ((GPIO_SET_INPUT == function) && (gpios & 3)) - stm32_gpiowrite(GPIO_GPIO_DIR, 0); - -#endif -} - -void -MK::gpio_write(uint32_t gpios, int function) -{ - int value = (function == GPIO_SET) ? 1 : 0; - - for (unsigned i = 0; i < _ngpio; i++) - if (gpios & (1 << i)) - stm32_gpiowrite(_gpio_tab[i].output, value); -} - -uint32_t -MK::gpio_read(void) -{ - uint32_t bits = 0; - - for (unsigned i = 0; i < _ngpio; i++) - if (stm32_gpioread(_gpio_tab[i].input)) - bits |= (1 << i); - - return bits; -} - -int -MK::gpio_ioctl(struct file *filp, int cmd, unsigned long arg) -{ - int ret = OK; - - lock(); - - switch (cmd) { - - case GPIO_RESET: - gpio_reset(); - break; - - case GPIO_SET_OUTPUT: - case GPIO_SET_INPUT: - case GPIO_SET_ALT_1: - gpio_set_function(arg, cmd); - break; - - case GPIO_SET_ALT_2: - case GPIO_SET_ALT_3: - case GPIO_SET_ALT_4: - ret = -EINVAL; - break; - - case GPIO_SET: - case GPIO_CLEAR: - gpio_write(arg, cmd); - break; - - case GPIO_GET: - *(uint32_t *)arg = gpio_read(); - break; - - default: - ret = -ENOTTY; - } - - unlock(); - - return ret; -} namespace { -enum PortMode { - PORT_MODE_UNSET = 0, - PORT_FULL_GPIO, - PORT_FULL_SERIAL, - PORT_FULL_PWM, - PORT_GPIO_AND_SERIAL, - PORT_PWM_AND_SERIAL, - PORT_PWM_AND_GPIO, -}; - enum MappingMode { MAPPING_MK = 0, MAPPING_PX4, @@ -1466,20 +1139,11 @@ enum FrameType { FRAME_X, }; -PortMode g_port_mode; int -mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, int px4mode, int frametype, bool overrideSecurityChecks) +mk_new_mode(int update_rate, int motorcount, bool motortest, int px4mode, int frametype, bool overrideSecurityChecks) { - uint32_t gpio_bits; int shouldStop = 0; - MK::Mode servo_mode; - - /* reset to all-inputs */ - g_mk->ioctl(0, GPIO_RESET, 0); - - gpio_bits = 0; - servo_mode = MK::MODE_NONE; /* native PX4 addressing) */ g_mk->set_px4mode(px4mode); @@ -1493,7 +1157,6 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, /* ovveride security checks if enabled */ g_mk->set_overrideSecurityChecks(overrideSecurityChecks); - /* count used motors */ do { if (g_mk->mk_check_for_blctrl(8, false, false) != 0) { @@ -1508,12 +1171,7 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, g_mk->set_motor_count(g_mk->mk_check_for_blctrl(8, true, false)); - /* (re)set the PWM output mode */ - g_mk->set_mode(servo_mode); - - - if ((servo_mode != MK::MODE_NONE) && (update_rate != 0)) - g_mk->set_pwm_rate(update_rate); + g_mk->set_update_rate(update_rate); return OK; } @@ -1543,60 +1201,38 @@ mk_start(unsigned bus, unsigned motors, char *device_path) return ret; } -void -sensor_reset(int ms) -{ - int fd; - - fd = open(PX4FMU_DEVICE_PATH, O_RDWR); - - if (fd < 0) - errx(1, "open fail"); - - if (ioctl(fd, GPIO_SENSOR_RAIL_RESET, ms) < 0) - err(1, "servo arm failed"); - -} int mk_check_for_i2c_esc_bus(char *device_path, int motors) { int ret; + g_mk = new MK(1, device_path); + if (g_mk == nullptr) { - -#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) - g_mk = new MK(3, device_path); - - if (g_mk == nullptr) { - return -1; - - } else { - ret = g_mk->mk_check_for_blctrl(8, false, true); - delete g_mk; - g_mk = nullptr; - - if (ret > 0) { - return 3; - } - + return -1; + } else if (OK != g_mk) { + delete g_mk; + g_mk = nullptr; + } else { + ret = g_mk->mk_check_for_blctrl(8, false, true); + delete g_mk; + g_mk = nullptr; + if (ret > 0) { + return 3; } -#endif + } - g_mk = new MK(1, device_path); - - if (g_mk == nullptr) { - return -1; - - } else { - ret = g_mk->mk_check_for_blctrl(8, false, true); - delete g_mk; - g_mk = nullptr; - - if (ret > 0) { - return 1; - } + g_mk = new MK(1, device_path); + if (g_mk == nullptr) { + return -1; + } else { + ret = g_mk->mk_check_for_blctrl(8, false, true); + delete g_mk; + g_mk = nullptr; + if (ret > 0) { + return 1; } } @@ -1612,7 +1248,6 @@ extern "C" __EXPORT int mkblctrl_main(int argc, char *argv[]); int mkblctrl_main(int argc, char *argv[]) { - PortMode port_mode = PORT_FULL_PWM; int pwm_update_rate_in_hz = UPDATE_RATE; int motorcount = 8; int bus = -1; @@ -1729,7 +1364,7 @@ mkblctrl_main(int argc, char *argv[]) /* parameter set ? */ if (newMode) { /* switch parameter */ - return mk_new_mode(port_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks); + return mk_new_mode(pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks); } exit(0); From 816229652f1eecf8322603eb918f787bdd77d7e2 Mon Sep 17 00:00:00 2001 From: marco Date: Sun, 2 Feb 2014 20:36:11 +0100 Subject: [PATCH 20/28] i2c1 bug and bus scan fixed --- src/drivers/mkblctrl/mkblctrl.cpp | 62 +++++++++++++++---------------- 1 file changed, 29 insertions(+), 33 deletions(-) diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index c3c4bf8c1d..f692a0dd0d 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -65,7 +65,6 @@ #include #include -//#include #include #include @@ -99,13 +98,6 @@ class MK : public device::I2C { public: - enum Mode { - MODE_NONE, - MODE_2PWM, - MODE_4PWM, - MODE_6PWM, - }; - enum MappingMode { MAPPING_MK = 0, MAPPING_PX4, @@ -1207,11 +1199,11 @@ mk_check_for_i2c_esc_bus(char *device_path, int motors) { int ret; - g_mk = new MK(1, device_path); + // try bus 3 first + warnx("scanning i2c3..."); + g_mk = new MK(3, device_path); - if (g_mk == nullptr) { - return -1; - } else if (OK != g_mk) { + if (g_mk != nullptr && OK != g_mk->init(motors)) { delete g_mk; g_mk = nullptr; } else { @@ -1223,10 +1215,13 @@ mk_check_for_i2c_esc_bus(char *device_path, int motors) } } + // fallback to bus 1 + warnx("scanning i2c1..."); g_mk = new MK(1, device_path); - if (g_mk == nullptr) { - return -1; + if (g_mk != nullptr && OK != g_mk->init(motors)) { + delete g_mk; + g_mk = nullptr; } else { ret = g_mk->mk_check_for_blctrl(8, false, true); delete g_mk; @@ -1240,7 +1235,6 @@ mk_check_for_i2c_esc_bus(char *device_path, int motors) } - } // namespace extern "C" __EXPORT int mkblctrl_main(int argc, char *argv[]); @@ -1348,31 +1342,33 @@ mkblctrl_main(int argc, char *argv[]) if (!motortest) { - if (g_mk == nullptr) { - if (bus == -1) { - bus = mk_check_for_i2c_esc_bus(devicepath, motorcount); - } + if (g_mk == nullptr) { + if (bus == -1) { + bus = mk_check_for_i2c_esc_bus(devicepath, motorcount); - if (bus != -1) { + + } + + if (bus != -1) { if (mk_start(bus, motorcount, devicepath) != OK) { errx(1, "failed to start the MK-BLCtrl driver"); } - } else { - errx(1, "failed to start the MK-BLCtrl driver (cannot find i2c esc's)"); - } + } else { + errx(1, "failed to start the MK-BLCtrl driver (cannot find i2c esc's)"); + } - /* parameter set ? */ - if (newMode) { - /* switch parameter */ - return mk_new_mode(pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks); - } + /* parameter set ? */ + if (newMode) { + /* switch parameter */ + return mk_new_mode(pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks); + } - exit(0); - } else { - errx(1, "MK-BLCtrl driver already running"); - } + exit(0); + } else { + errx(1, "MK-BLCtrl driver already running"); + } - } else { + } else { if (g_mk == nullptr) { errx(1, "MK-BLCtrl driver not running. You have to start it first."); From 1ef7320e0c9fe00fdc13b1078d6350240a337179 Mon Sep 17 00:00:00 2001 From: marco Date: Tue, 4 Feb 2014 16:50:22 +0100 Subject: [PATCH 21/28] startup rewrite --- src/drivers/mkblctrl/mkblctrl.cpp | 108 ++++++++---------------------- 1 file changed, 27 insertions(+), 81 deletions(-) diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index f692a0dd0d..d1c817cf31 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -1169,69 +1169,39 @@ mk_new_mode(int update_rate, int motorcount, bool motortest, int px4mode, int fr } int -mk_start(unsigned bus, unsigned motors, char *device_path) -{ - int ret = OK; - - if (g_mk == nullptr) { - - g_mk = new MK(bus, device_path); - - if (g_mk == nullptr) { - ret = -ENOMEM; - - } else { - ret = g_mk->init(motors); - - if (ret != OK) { - delete g_mk; - g_mk = nullptr; - } - } - } - - return ret; -} - - -int -mk_check_for_i2c_esc_bus(char *device_path, int motors) +mk_start(unsigned motors, char *device_path) { int ret; - // try bus 3 first - warnx("scanning i2c3..."); - g_mk = new MK(3, device_path); + // try i2c3 first + g_mk = new MK(3, device_path); - if (g_mk != nullptr && OK != g_mk->init(motors)) { - delete g_mk; - g_mk = nullptr; - } else { - ret = g_mk->mk_check_for_blctrl(8, false, true); - delete g_mk; - g_mk = nullptr; - if (ret > 0) { - return 3; - } - } + if (g_mk && OK == g_mk->init(motors)) { + fprintf(stderr, "[mkblctrl] scanning i2c3...\n"); + ret = g_mk->mk_check_for_blctrl(8, false, true); + if (ret > 0) { + return OK; + } + } + + delete g_mk; + g_mk = nullptr; // fallback to bus 1 - warnx("scanning i2c1..."); g_mk = new MK(1, device_path); - if (g_mk != nullptr && OK != g_mk->init(motors)) { - delete g_mk; - g_mk = nullptr; - } else { - ret = g_mk->mk_check_for_blctrl(8, false, true); - delete g_mk; - g_mk = nullptr; - if (ret > 0) { - return 1; - } - } + if (g_mk && OK == g_mk->init(motors)) { + fprintf(stderr, "[mkblctrl] scanning i2c1...\n"); + ret = g_mk->mk_check_for_blctrl(8, false, true); + if (ret > 0) { + return OK; + } + } - return -1; + delete g_mk; + g_mk = nullptr; + + return -ENOMEM; } @@ -1244,7 +1214,6 @@ mkblctrl_main(int argc, char *argv[]) { int pwm_update_rate_in_hz = UPDATE_RATE; int motorcount = 8; - int bus = -1; int px4mode = MAPPING_PX4; int frametype = FRAME_PLUS; // + plus is default bool motortest = false; @@ -1258,18 +1227,6 @@ mkblctrl_main(int argc, char *argv[]) */ for (int i = 1; i < argc; i++) { - /* look for the optional i2c bus parameter */ - if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) { - if (argc > i + 1) { - bus = atoi(argv[i + 1]); - newMode = true; - - } else { - errx(1, "missing argument for i2c bus (-b)"); - return 1; - } - } - /* look for the optional frame parameter */ if (strcmp(argv[i], "-mkmode") == 0 || strcmp(argv[i], "--mkmode") == 0) { if (argc > i + 1) { @@ -1329,7 +1286,6 @@ mkblctrl_main(int argc, char *argv[]) fprintf(stderr, "mkblctrl: help:\n"); fprintf(stderr, " [-mkmode {+/x}] [-b i2c_bus_number] [-d devicename] [--override-security-checks] [-h / --help]\n\n"); fprintf(stderr, "\t -mkmode {+/x} \t\t Type of frame, if Mikrokopter motor order is used.\n"); - fprintf(stderr, "\t -b {i2c_bus_number} \t\t Set the i2c bus where the ESCs are connected to (default autoscan).\n"); fprintf(stderr, "\t -d {devicepath & name}\t\t Create alternate pwm device.\n"); fprintf(stderr, "\t --override-security-checks \t\t Disable all security checks (arming and number of ESCs). Used to test single Motors etc. (DANGER !!!)\n"); fprintf(stderr, "\n"); @@ -1343,19 +1299,9 @@ mkblctrl_main(int argc, char *argv[]) if (!motortest) { if (g_mk == nullptr) { - if (bus == -1) { - bus = mk_check_for_i2c_esc_bus(devicepath, motorcount); - - - } - - if (bus != -1) { - if (mk_start(bus, motorcount, devicepath) != OK) { - errx(1, "failed to start the MK-BLCtrl driver"); - } - } else { - errx(1, "failed to start the MK-BLCtrl driver (cannot find i2c esc's)"); - } + if (mk_start(motorcount, devicepath) != OK) { + errx(1, "failed to start the MK-BLCtrl driver"); + } /* parameter set ? */ if (newMode) { From 94b162d0e076a872af9d1b1538d7f688d51bfef0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 5 Feb 2014 09:34:21 +0100 Subject: [PATCH 22/28] Fixed up nullptr handling --- src/drivers/mkblctrl/mkblctrl.cpp | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index d1c817cf31..46f7905fff 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -1176,8 +1176,11 @@ mk_start(unsigned motors, char *device_path) // try i2c3 first g_mk = new MK(3, device_path); - if (g_mk && OK == g_mk->init(motors)) { - fprintf(stderr, "[mkblctrl] scanning i2c3...\n"); + if (!g_mk) + return -ENOMEM; + + if (OK == g_mk->init(motors)) { + warnx("[mkblctrl] scanning i2c3...\n"); ret = g_mk->mk_check_for_blctrl(8, false, true); if (ret > 0) { return OK; @@ -1190,8 +1193,11 @@ mk_start(unsigned motors, char *device_path) // fallback to bus 1 g_mk = new MK(1, device_path); - if (g_mk && OK == g_mk->init(motors)) { - fprintf(stderr, "[mkblctrl] scanning i2c1...\n"); + if (!g_mk) + return -ENOMEM; + + if (OK == g_mk->init(motors)) { + warnx("[mkblctrl] scanning i2c1...\n"); ret = g_mk->mk_check_for_blctrl(8, false, true); if (ret > 0) { return OK; @@ -1201,7 +1207,7 @@ mk_start(unsigned motors, char *device_path) delete g_mk; g_mk = nullptr; - return -ENOMEM; + return -ENXIO; } From 399d59483ede8a6c7c66c3d56f3025e1650d665e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 5 Feb 2014 09:36:22 +0100 Subject: [PATCH 23/28] Fixed code style --- src/drivers/mkblctrl/mkblctrl.cpp | 107 ++++++++++++++++-------------- 1 file changed, 57 insertions(+), 50 deletions(-) diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index 46f7905fff..ec5f77d747 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -291,23 +291,23 @@ MK::init(unsigned motors) usleep(500000); - if (sizeof(_device) > 0) { - ret = register_driver(_device, &fops, 0666, (void *)this); + if (sizeof(_device) > 0) { + ret = register_driver(_device, &fops, 0666, (void *)this); - if (ret == OK) { + if (ret == OK) { log("creating alternate output device"); _primary_pwm_device = true; } - } + } /* start the IO interface task */ _task = task_spawn_cmd("mkblctrl", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 20, - 2048, - (main_t)&MK::task_main_trampoline, - nullptr); + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 20, + 2048, + (main_t)&MK::task_main_trampoline, + nullptr); if (_task < 0) { @@ -556,7 +556,7 @@ MK::task_main() } } - if(!_overrideSecurityChecks) { + if (!_overrideSecurityChecks) { /* don't go under BLCTRL_MIN_VALUE */ if (outputs.output[i] < BLCTRL_MIN_VALUE) { @@ -612,21 +612,24 @@ MK::task_main() esc.esc[i].esc_current = (uint16_t) Motor[i].Current; esc.esc[i].esc_rpm = (uint16_t) 0; esc.esc[i].esc_setpoint = (float) Motor[i].SetPoint_PX4; + if (Motor[i].Version == 1) { // BLCtrl 2.0 (11Bit) - esc.esc[i].esc_setpoint_raw = (uint16_t) (Motor[i].SetPoint<<3) | Motor[i].SetPointLowerBits; + esc.esc[i].esc_setpoint_raw = (uint16_t)(Motor[i].SetPoint << 3) | Motor[i].SetPointLowerBits; + } else { // BLCtrl < 2.0 (8Bit) esc.esc[i].esc_setpoint_raw = (uint16_t) Motor[i].SetPoint; } + esc.esc[i].esc_temperature = (uint16_t) Motor[i].Temperature; esc.esc[i].esc_state = (uint16_t) Motor[i].State; esc.esc[i].esc_errorcount = (uint16_t) 0; - // if motortest is requested - do it... - if (_motortest == true) { - mk_servo_test(i); - } + // if motortest is requested - do it... + if (_motortest == true) { + mk_servo_test(i); + } } @@ -665,7 +668,7 @@ MK::mk_servo_arm(bool status) unsigned int MK::mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C) { - if(initI2C) { + if (initI2C) { I2C::init(); } @@ -718,8 +721,8 @@ MK::mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C) fprintf(stderr, "[mkblctrl] blctrl[%i] : found=%i\tversion=%i\tcurrent=%i\tmaxpwm=%i\ttemperature=%i\n", i, Motor[i].State, Motor[i].Version, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature); } - - if(!_overrideSecurityChecks) { + + if (!_overrideSecurityChecks) { if (foundMotorCount != 4 && foundMotorCount != 6 && foundMotorCount != 8) { _task_should_exit = true; } @@ -748,8 +751,8 @@ MK::mk_servo_set(unsigned int chan, short val) tmpVal = 0; } - Motor[chan].SetPoint = (uint8_t)(tmpVal>>3)&0xff; - Motor[chan].SetPointLowerBits = ((uint8_t)tmpVal%8)&0x07; + Motor[chan].SetPoint = (uint8_t)(tmpVal >> 3) & 0xff; + Motor[chan].SetPointLowerBits = ((uint8_t)tmpVal % 8) & 0x07; if (_armed == false) { Motor[chan].SetPoint = 0; @@ -1003,6 +1006,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg) if (arg < 2150) { Motor[cmd - PWM_SERVO_SET(0)].RawPwmValue = (unsigned short)arg; mk_servo_set(cmd - PWM_SERVO_SET(0), scaling(arg, 1010, 2100, 0, 2047)); + } else { ret = -EINVAL; } @@ -1173,19 +1177,20 @@ mk_start(unsigned motors, char *device_path) { int ret; - // try i2c3 first - g_mk = new MK(3, device_path); + // try i2c3 first + g_mk = new MK(3, device_path); - if (!g_mk) - return -ENOMEM; + if (!g_mk) + return -ENOMEM; - if (OK == g_mk->init(motors)) { - warnx("[mkblctrl] scanning i2c3...\n"); - ret = g_mk->mk_check_for_blctrl(8, false, true); - if (ret > 0) { - return OK; - } - } + if (OK == g_mk->init(motors)) { + warnx("[mkblctrl] scanning i2c3...\n"); + ret = g_mk->mk_check_for_blctrl(8, false, true); + + if (ret > 0) { + return OK; + } + } delete g_mk; g_mk = nullptr; @@ -1194,15 +1199,16 @@ mk_start(unsigned motors, char *device_path) g_mk = new MK(1, device_path); if (!g_mk) - return -ENOMEM; + return -ENOMEM; - if (OK == g_mk->init(motors)) { - warnx("[mkblctrl] scanning i2c1...\n"); - ret = g_mk->mk_check_for_blctrl(8, false, true); - if (ret > 0) { - return OK; - } - } + if (OK == g_mk->init(motors)) { + warnx("[mkblctrl] scanning i2c1...\n"); + ret = g_mk->mk_check_for_blctrl(8, false, true); + + if (ret > 0) { + return OK; + } + } delete g_mk; g_mk = nullptr; @@ -1298,16 +1304,16 @@ mkblctrl_main(int argc, char *argv[]) fprintf(stderr, "Motortest:\n"); fprintf(stderr, "First you have to start mkblctrl, the you can enter Motortest Mode with:\n"); fprintf(stderr, "mkblctrl -t\n"); - fprintf(stderr, "This will spin up once every motor in order of motoraddress. (DANGER !!!)\n"); + fprintf(stderr, "This will spin up once every motor in order of motoraddress. (DANGER !!!)\n"); exit(1); } if (!motortest) { if (g_mk == nullptr) { - if (mk_start(motorcount, devicepath) != OK) { - errx(1, "failed to start the MK-BLCtrl driver"); - } + if (mk_start(motorcount, devicepath) != OK) { + errx(1, "failed to start the MK-BLCtrl driver"); + } /* parameter set ? */ if (newMode) { @@ -1316,18 +1322,19 @@ mkblctrl_main(int argc, char *argv[]) } exit(0); + } else { errx(1, "MK-BLCtrl driver already running"); } } else { - if (g_mk == nullptr) { - errx(1, "MK-BLCtrl driver not running. You have to start it first."); + if (g_mk == nullptr) { + errx(1, "MK-BLCtrl driver not running. You have to start it first."); - } else { - g_mk->set_motor_test(motortest); - exit(0); + } else { + g_mk->set_motor_test(motortest); + exit(0); - } - } + } + } } From 080b2da214e014933e9062aca9a0be5bd1a2340a Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 5 Feb 2014 14:23:48 +0100 Subject: [PATCH 24/28] Updated uploader from Bootloader repo --- Tools/px_uploader.py | 48 ++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 48 insertions(+) diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py index cce5e5e54a..23dc484505 100755 --- a/Tools/px_uploader.py +++ b/Tools/px_uploader.py @@ -50,6 +50,9 @@ # Currently only used for informational purposes. # +# for python2.7 compatibility +from __future__ import print_function + import sys import argparse import binascii @@ -154,6 +157,8 @@ class uploader(object): PROG_MULTI = b'\x27' READ_MULTI = b'\x28' # rev2 only GET_CRC = b'\x29' # rev3+ + GET_OTP = b'\x2a' # rev4+ , get a word from OTP area + GET_SN = b'\x2b' # rev4+ , get a word from SN area REBOOT = b'\x30' INFO_BL_REV = b'\x01' # bootloader protocol revision @@ -175,6 +180,8 @@ class uploader(object): def __init__(self, portname, baudrate): # open the port, keep the default timeout short so we can poll quickly self.port = serial.Serial(portname, baudrate, timeout=0.5) + self.otp = b'' + self.sn = b'' def close(self): if self.port is not None: @@ -237,6 +244,22 @@ class uploader(object): self.__getSync() return value + # send the GET_OTP command and wait for an info parameter + def __getOTP(self, param): + t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array. + self.__send(uploader.GET_OTP + t + uploader.EOC) + value = self.__recv(4) + self.__getSync() + return value + + # send the GET_OTP command and wait for an info parameter + def __getSN(self, param): + t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array. + self.__send(uploader.GET_SN + t + uploader.EOC) + value = self.__recv(4) + self.__getSync() + return value + # send the CHIP_ERASE command and wait for the bootloader to become ready def __erase(self): self.__send(uploader.CHIP_ERASE @@ -353,6 +376,31 @@ class uploader(object): if self.fw_maxsize < fw.property('image_size'): raise RuntimeError("Firmware image is too large for this board") + # OTP added in v4: + if self.bl_rev > 3: + for byte in range(0,32*6,4): + x = self.__getOTP(byte) + self.otp = self.otp + x + print(binascii.hexlify(x).decode('utf-8') + ' ', end='') + # see src/modules/systemlib/otp.h in px4 code: + self.otp_id = self.otp[0:4] + self.otp_idtype = self.otp[4:5] + self.otp_vid = self.otp[8:4:-1] + self.otp_pid = self.otp[12:8:-1] + self.otp_coa = self.otp[32:160] + # show user: + print("type: " + self.otp_id.decode('utf-8')) + print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('utf-8')) + print("vid: " + binascii.hexlify(self.otp_vid).decode('utf-8')) + print("pid: "+ binascii.hexlify(self.otp_pid).decode('utf-8')) + print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('utf-8')) + print("sn: ", end='') + for byte in range(0,12,4): + x = self.__getSN(byte) + x = x[::-1] # reverse the bytes + self.sn = self.sn + x + print(binascii.hexlify(x).decode('utf-8'), end='') # show user + print('') print("erase...") self.__erase() From ac653416f8f5163a4f162ab431d69129c9e1858e Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 7 Feb 2014 22:13:20 +0100 Subject: [PATCH 25/28] X5: copy content of FMU_Q.mix to FMU_X5.mix because FMU_Q was used previously by the X5 startup script --- ROMFS/px4fmu_common/mixers/FMU_X5.mix | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/ROMFS/px4fmu_common/mixers/FMU_X5.mix b/ROMFS/px4fmu_common/mixers/FMU_X5.mix index 6108683549..80e3bac09c 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_X5.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_X5.mix @@ -23,13 +23,13 @@ for the elevons. M: 2 O: 10000 10000 0 -10000 10000 -S: 0 0 -3000 -5000 0 -10000 10000 -S: 0 1 -5000 -5000 0 -10000 10000 +S: 0 0 -8000 -8000 0 -10000 10000 +S: 0 1 6000 6000 0 -10000 10000 M: 2 O: 10000 10000 0 -10000 10000 -S: 0 0 -5000 -3000 0 -10000 10000 -S: 0 1 5000 5000 0 -10000 10000 +S: 0 0 -8000 -8000 0 -10000 10000 +S: 0 1 -6000 -6000 0 -10000 10000 Output 2 -------- @@ -48,7 +48,7 @@ M: 1 O: 10000 10000 0 -10000 10000 S: 0 3 0 20000 -10000 -10000 10000 -Gimbal / payload mixer for last four channels +Gimbal / flaps / payload mixer for last four channels ----------------------------------------------------- M: 1 @@ -66,4 +66,3 @@ S: 0 6 10000 10000 0 -10000 10000 M: 1 O: 10000 10000 0 -10000 10000 S: 0 7 10000 10000 0 -10000 10000 - From 70964dd87c72b2b9bd475645654e894ba827ac64 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 9 Feb 2014 18:34:54 +0100 Subject: [PATCH 26/28] Update upload script from bootloader repo --- Tools/px_uploader.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py index 23dc484505..e4a8b3c054 100755 --- a/Tools/px_uploader.py +++ b/Tools/px_uploader.py @@ -381,7 +381,7 @@ class uploader(object): for byte in range(0,32*6,4): x = self.__getOTP(byte) self.otp = self.otp + x - print(binascii.hexlify(x).decode('utf-8') + ' ', end='') + print(binascii.hexlify(x).decode('Latin-1') + ' ', end='') # see src/modules/systemlib/otp.h in px4 code: self.otp_id = self.otp[0:4] self.otp_idtype = self.otp[4:5] @@ -389,17 +389,17 @@ class uploader(object): self.otp_pid = self.otp[12:8:-1] self.otp_coa = self.otp[32:160] # show user: - print("type: " + self.otp_id.decode('utf-8')) - print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('utf-8')) - print("vid: " + binascii.hexlify(self.otp_vid).decode('utf-8')) - print("pid: "+ binascii.hexlify(self.otp_pid).decode('utf-8')) - print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('utf-8')) + print("type: " + self.otp_id.decode('Latin-1')) + print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1')) + print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1')) + print("pid: "+ binascii.hexlify(self.otp_pid).decode('Latin-1')) + print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('Latin-1')) print("sn: ", end='') for byte in range(0,12,4): x = self.__getSN(byte) x = x[::-1] # reverse the bytes self.sn = self.sn + x - print(binascii.hexlify(x).decode('utf-8'), end='') # show user + print(binascii.hexlify(x).decode('Latin-1'), end='') # show user print('') print("erase...") self.__erase() From b0c60296f58dfec02f115d0033f61e95389f5931 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 10 Feb 2014 12:08:39 +1100 Subject: [PATCH 27/28] FMUv2: fixed UART3 flow control pins --- nuttx-configs/px4fmu-v2/include/board.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/nuttx-configs/px4fmu-v2/include/board.h b/nuttx-configs/px4fmu-v2/include/board.h index e56b14ba41..850043ddf5 100755 --- a/nuttx-configs/px4fmu-v2/include/board.h +++ b/nuttx-configs/px4fmu-v2/include/board.h @@ -209,8 +209,8 @@ #define GPIO_USART3_RX GPIO_USART3_RX_3 #define GPIO_USART3_TX GPIO_USART3_TX_3 -#define GPIO_USART2_RTS GPIO_USART2_RTS_2 -#define GPIO_USART2_CTS GPIO_USART2_CTS_2 +#define GPIO_USART3_RTS GPIO_USART3_RTS_2 +#define GPIO_USART3_CTS GPIO_USART3_CTS_2 #define GPIO_UART4_RX GPIO_UART4_RX_1 #define GPIO_UART4_TX GPIO_UART4_TX_1 From 0388d9adefb33c98f1e4350e3f2ed59a7fdd5359 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 11 Feb 2014 08:09:51 +0100 Subject: [PATCH 28/28] Hotfix and cleanup for system mixers --- ROMFS/px4fmu_common/init.d/11001_hexa_cox | 39 +++++ .../{12001_octo_cox_pwm => 12001_octo_cox} | 4 +- ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm | 2 +- ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm | 2 +- ROMFS/px4fmu_common/init.d/8001_octo_x_pwm | 2 +- ROMFS/px4fmu_common/init.d/9001_octo_+_pwm | 2 +- ROMFS/px4fmu_common/init.d/rc.autostart | 11 +- ROMFS/px4fmu_common/init.d/rcS | 12 +- ROMFS/px4fmu_common/mixers/FMU_hex_+.mix | 17 +- ROMFS/px4fmu_common/mixers/FMU_hex_x.mix | 17 +- ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix | 6 +- ROMFS/px4fmu_common/mixers/FMU_octo_x.mix | 6 +- ROMFS/px4fmu_common/mixers/README | 154 ------------------ ROMFS/px4fmu_common/mixers/hexa_cox.mix | 3 + 14 files changed, 70 insertions(+), 207 deletions(-) create mode 100644 ROMFS/px4fmu_common/init.d/11001_hexa_cox rename ROMFS/px4fmu_common/init.d/{12001_octo_cox_pwm => 12001_octo_cox} (90%) delete mode 100644 ROMFS/px4fmu_common/mixers/README create mode 100644 ROMFS/px4fmu_common/mixers/hexa_cox.mix diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox new file mode 100644 index 0000000000..2dc83a517c --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox @@ -0,0 +1,39 @@ +#!nsh +# +# UNTESTED UNTESTED! +# +# Generic 10” Hexa coaxial geometry +# +# Lorenz Meier +# + +if [ $DO_AUTOCONFIG == yes ] +then + # + # Default parameters for this platform + # + param set MC_ATT_P 7.0 + param set MC_ATT_I 0.0 + param set MC_ATT_D 0.0 + param set MC_ATTRATE_P 0.12 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_D 0.004 + param set MC_YAWPOS_P 2.0 + param set MC_YAWPOS_I 0.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWRATE_P 0.3 + param set MC_YAWRATE_I 0.2 + param set MC_YAWRATE_D 0.005 + + # TODO add default MPC parameters +fi + +set VEHICLE_TYPE mc +set MIXER hexa_cox + +set PWM_OUTPUTS 12345678 +set PWM_RATE 400 +# DJI ESC range +set PWM_DISARMED 900 +set PWM_MIN 1200 +set PWM_MAX 1900 diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox_pwm b/ROMFS/px4fmu_common/init.d/12001_octo_cox similarity index 90% rename from ROMFS/px4fmu_common/init.d/12001_octo_cox_pwm rename to ROMFS/px4fmu_common/init.d/12001_octo_cox index 5f3cec4e0a..a55fc5a30d 100644 --- a/ROMFS/px4fmu_common/init.d/12001_octo_cox_pwm +++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox @@ -2,7 +2,7 @@ # # Generic 10” Octo coaxial geometry # -# Maintainers: Lorenz Meier +# Lorenz Meier # if [ $DO_AUTOCONFIG == yes ] @@ -29,7 +29,7 @@ fi set VEHICLE_TYPE mc set MIXER FMU_octo_cox -set PWM_OUTPUTS 1234 +set PWM_OUTPUTS 12345678 set PWM_RATE 400 # DJI ESC range set PWM_DISARMED 900 diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm b/ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm index ddec8f36ef..4477967091 100644 --- a/ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm +++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm @@ -29,7 +29,7 @@ fi set VEHICLE_TYPE mc set MIXER FMU_hexa_x -set PWM_OUTPUTS 1234 +set PWM_OUTPUTS 12345678 set PWM_RATE 400 # DJI ESC range set PWM_DISARMED 900 diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm b/ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm index 106e0fb54c..c4e9560d17 100644 --- a/ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm +++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm @@ -29,7 +29,7 @@ fi set VEHICLE_TYPE mc set MIXER FMU_hexa_+ -set PWM_OUTPUTS 1234 +set PWM_OUTPUTS 12345678 set PWM_RATE 400 # DJI ESC range set PWM_DISARMED 900 diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x_pwm b/ROMFS/px4fmu_common/init.d/8001_octo_x_pwm index f0eea339b8..ea56195d4b 100644 --- a/ROMFS/px4fmu_common/init.d/8001_octo_x_pwm +++ b/ROMFS/px4fmu_common/init.d/8001_octo_x_pwm @@ -29,7 +29,7 @@ fi set VEHICLE_TYPE mc set MIXER FMU_octo_x -set PWM_OUTPUTS 1234 +set PWM_OUTPUTS 12345678 set PWM_RATE 400 # DJI ESC range set PWM_DISARMED 900 diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+_pwm b/ROMFS/px4fmu_common/init.d/9001_octo_+_pwm index 992a7aeba6..f7693875c5 100644 --- a/ROMFS/px4fmu_common/init.d/9001_octo_+_pwm +++ b/ROMFS/px4fmu_common/init.d/9001_octo_+_pwm @@ -29,7 +29,7 @@ fi set VEHICLE_TYPE mc set MIXER FMU_octo_+ -set PWM_OUTPUTS 1234 +set PWM_OUTPUTS 12345678 set PWM_RATE 400 # DJI ESC range set PWM_DISARMED 900 diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 00baed6468..38b1cb57e6 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -185,11 +185,20 @@ then sh /etc/init.d/10016_3dr_iris fi +# +# Hexa Coaxial +# + +if param compare SYS_AUTOSTART 11001 +then + sh /etc/init.d/11001_hexa_cox +fi + # # Octo Coaxial # if param compare SYS_AUTOSTART 12001 then - sh /etc/init.d/12001_octo_cox_pwm + sh /etc/init.d/12001_octo_cox fi diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 6f4e1f3b56..50ac9759a5 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -467,19 +467,23 @@ then # Use mixer to detect vehicle type if [ $MIXER == FMU_hex_x -o $MIXER == FMU_hex_+ ] then - param set MAV_TYPE 13 + set MAV_TYPE 13 + fi + if [ $MIXER == hexa_cox ] + then + set MAV_TYPE 13 fi if [ $MIXER == FMU_octo_x -o $MIXER == FMU_octo_+ ] then - param set MAV_TYPE 14 + set MAV_TYPE 14 fi if [ $MIXER == FMU_octo_cox ] then - param set MAV_TYPE 14 + set MAV_TYPE 14 fi fi - param set MAV_TYPE $MAV_TYPE + param set MAV_TYPE $MAV_TYPE # Load mixer and configure outputs sh /etc/init.d/rc.interface diff --git a/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix index f8f9f0e4dc..e608b459f8 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix @@ -1,18 +1,3 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a hexacopter in the + configuration. All controls -are mixed 100%. +# Hexa + R: 6+ 10000 10000 10000 0 - -Gimbal / payload mixer for last two channels ------------------------------------------------------ - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 6 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 7 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix index 26b40b9e95..16e6e22f90 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix @@ -1,18 +1,3 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a hexacopter in the X configuration. All controls -are mixed 100%. +# Hexa X R: 6x 10000 10000 10000 0 - -Gimbal / payload mixer for last two channels ------------------------------------------------------ - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 6 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 7 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix index 51cebb7858..f7845450d3 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix @@ -1,7 +1,3 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a Coaxial Octocopter in the X configuration. All controls -are mixed 100%. +# Octo coaxial R: 8c 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix index edc71f0139..c9a348aa42 100644 --- a/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix +++ b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix @@ -1,7 +1,3 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a octocopter in the X configuration. All controls -are mixed 100%. +# Octo X R: 8x 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/README b/ROMFS/px4fmu_common/mixers/README deleted file mode 100644 index 6649c53c20..0000000000 --- a/ROMFS/px4fmu_common/mixers/README +++ /dev/null @@ -1,154 +0,0 @@ -PX4 mixer definitions -===================== - -Files in this directory implement example mixers that can be used as a basis -for customisation, or for general testing purposes. - -Mixer basics ------------- - -Mixers combine control values from various sources (control tasks, user inputs, -etc.) and produce output values suitable for controlling actuators; servos, -motors, switches and so on. - -An actuator derives its value from the combination of one or more control -values. Each of the control values is scaled according to the actuator's -configuration and then combined to produce the actuator value, which may then be -further scaled to suit the specific output type. - -Internally, all scaling is performed using floating point values. Inputs and -outputs are clamped to the range -1.0 to 1.0. - -control control control - | | | - v v v - scale scale scale - | | | - | v | - +-------> mix <------+ - | - scale - | - v - out - -Scaling -------- - -Basic scalers provide linear scaling of the input to the output. - -Each scaler allows the input value to be scaled independently for inputs -greater/less than zero. An offset can be applied to the output, and lower and -upper boundary constraints can be applied. Negative scaling factors cause the -output to be inverted (negative input produces positive output). - -Scaler pseudocode: - -if (input < 0) - output = (input * NEGATIVE_SCALE) + OFFSET -else - output = (input * POSITIVE_SCALE) + OFFSET - -if (output < LOWER_LIMIT) - output = LOWER_LIMIT -if (output > UPPER_LIMIT) - output = UPPER_LIMIT - -Syntax ------- - -Mixer definitions are text files; lines beginning with a single capital letter -followed by a colon are significant. All other lines are ignored, meaning that -explanatory text can be freely mixed with the definitions. - -Each file may define more than one mixer; the allocation of mixers to actuators -is specific to the device reading the mixer definition, and the number of -actuator outputs generated by a mixer is specific to the mixer. - -A mixer begins with a line of the form - - : - -The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a -multirotor mixer, etc. - -Null Mixer -.......... - -A null mixer consumes no controls and generates a single actuator output whose -value is always zero. Typically a null mixer is used as a placeholder in a -collection of mixers in order to achieve a specific pattern of actuator outputs. - -The null mixer definition has the form: - - Z: - -Simple Mixer -............ - -A simple mixer combines zero or more control inputs into a single actuator -output. Inputs are scaled, and the mixing function sums the result before -applying an output scaler. - -A simple mixer definition begins with: - - M: - O: <-ve scale> <+ve scale> - -If is zero, the sum is effectively zero and the mixer will -output a fixed value that is constrained by and . - -The second line defines the output scaler with scaler parameters as discussed -above. Whilst the calculations are performed as floating-point operations, the -values stored in the definition file are scaled by a factor of 10000; i.e. an -offset of -0.5 is encoded as -5000. - -The definition continues with entries describing the control -inputs and their scaling, in the form: - - S: <-ve scale> <+ve scale> - -The value identifies the control group from which the scaler will read, -and the value an offset within that group. These values are specific to -the device reading the mixer definition. - -When used to mix vehicle controls, mixer group zero is the vehicle attitude -control group, and index values zero through three are normally roll, pitch, -yaw and thrust respectively. - -The remaining fields on the line configure the control scaler with parameters as -discussed above. Whilst the calculations are performed as floating-point -operations, the values stored in the definition file are scaled by a factor of -10000; i.e. an offset of -0.5 is encoded as -5000. - -Multirotor Mixer -................ - -The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust) -into a set of actuator outputs intended to drive motor speed controllers. - -The mixer definition is a single line of the form: - -R: - -The supported geometries include: - - 4x - quadrotor in X configuration - 4+ - quadrotor in + configuration - 6x - hexcopter in X configuration - 6+ - hexcopter in + configuration - 8x - octocopter in X configuration - 8+ - octocopter in + configuration - -Each of the roll, pitch and yaw scale values determine scaling of the roll, -pitch and yaw controls relative to the thrust control. Whilst the calculations -are performed as floating-point operations, the values stored in the definition -file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000. - -Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the -thrust input ranges from 0.0 to 1.0. Output for each actuator is in the -range -1.0 to 1.0. - -In the case where an actuator saturates, all actuator values are rescaled so that -the saturating actuator is limited to 1.0. diff --git a/ROMFS/px4fmu_common/mixers/hexa_cox.mix b/ROMFS/px4fmu_common/mixers/hexa_cox.mix new file mode 100644 index 0000000000..497786feb5 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/hexa_cox.mix @@ -0,0 +1,3 @@ +# Hexa coaxial + +R: 6c 10000 10000 10000 0