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Platform header file cleanup and consolidation

Browse Source 
Removed obsolete porting cruft from px4_XXX.h files and merged the
POSIX changes in PreflightCheck_posix.cpp back to PreflightCheck.cpp

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-04-24 11:45:14 -07:00
parent 16d6068bfd
commit 20d35e33da
9 changed files with 47 additions and 399 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/PreflightCheck.cpp
+16 -15
View File
@@ -41,6 +41,7 @@
*/
#include <px4_config.h>
#include <px4_posix.h>
#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
@@ -74,7 +75,7 @@ static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional)
char s[30];
sprintf(s, "%s%u", MAG_BASE_DEVICE_PATH, instance);
int fd = open(s, 0);
int fd = px4_open(s, 0);
if (fd < 0) {
if (!optional) {
@@ -87,7 +88,7 @@ static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional)
int calibration_devid;
int ret;
int devid = ioctl(fd, DEVIOCGDEVICEID, 0);
int devid = px4_ioctl(fd, DEVIOCGDEVICEID, 0);
sprintf(s, "CAL_MAG%u_ID", instance);
param_get(param_find(s), &(calibration_devid));
@@ -98,7 +99,7 @@ static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional)
goto out;
}
ret = ioctl(fd, MAGIOCSELFTEST, 0);
ret = px4_ioctl(fd, MAGIOCSELFTEST, 0);
if (ret != OK) {
mavlink_and_console_log_critical(mavlink_fd,
@@ -108,7 +109,7 @@ static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional)
}
out:
close(fd);
px4_close(fd);
return success;
}
@@ -118,7 +119,7 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
char s[30];
sprintf(s, "%s%u", ACCEL_BASE_DEVICE_PATH, instance);
int fd = open(s, O_RDONLY);
int fd = px4_open(s, O_RDONLY);
if (fd < 0) {
if (!optional) {
@@ -131,7 +132,7 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
int calibration_devid;
int ret;
int devid = ioctl(fd, DEVIOCGDEVICEID, 0);
int devid = px4_ioctl(fd, DEVIOCGDEVICEID, 0);
sprintf(s, "CAL_ACC%u_ID", instance);
param_get(param_find(s), &(calibration_devid));
@@ -142,7 +143,7 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
goto out;
}
ret = ioctl(fd, ACCELIOCSELFTEST, 0);
ret = px4_ioctl(fd, ACCELIOCSELFTEST, 0);
if (ret != OK) {
mavlink_and_console_log_critical(mavlink_fd,
@@ -154,7 +155,7 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
if (dynamic) {
/* check measurement result range */
struct accel_report acc;
ret = read(fd, &acc, sizeof(acc));
ret = px4_read(fd, &acc, sizeof(acc));
if (ret == sizeof(acc)) {
/* evaluate values */
@@ -175,7 +176,7 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
}
out:
close(fd);
px4_close(fd);
return success;
}
@@ -185,7 +186,7 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional)
char s[30];
sprintf(s, "%s%u", GYRO_BASE_DEVICE_PATH, instance);
int fd = open(s, 0);
int fd = px4_open(s, 0);
if (fd < 0) {
if (!optional) {
@@ -198,7 +199,7 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional)
int calibration_devid;
int ret;
int devid = ioctl(fd, DEVIOCGDEVICEID, 0);
int devid = px4_ioctl(fd, DEVIOCGDEVICEID, 0);
sprintf(s, "CAL_GYRO%u_ID", instance);
param_get(param_find(s), &(calibration_devid));
@@ -209,7 +210,7 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional)
goto out;
}
ret = ioctl(fd, GYROIOCSELFTEST, 0);
ret = px4_ioctl(fd, GYROIOCSELFTEST, 0);
if (ret != OK) {
mavlink_and_console_log_critical(mavlink_fd,
@@ -219,7 +220,7 @@ static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional)
}
out:
close(fd);
px4_close(fd);
return success;
}
@@ -229,7 +230,7 @@ static bool baroCheck(int mavlink_fd, unsigned instance, bool optional)
char s[30];
sprintf(s, "%s%u", BARO_BASE_DEVICE_PATH, instance);
int fd = open(s, 0);
int fd = px4_open(s, 0);
if (fd < 0) {
if (!optional) {
@@ -240,7 +241,7 @@ static bool baroCheck(int mavlink_fd, unsigned instance, bool optional)
return false;
}
close(fd);
px4_close(fd);
return success;
}
src/modules/commander/PreflightCheck_posix.cpp
-344
View File
@@ -1,344 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 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 PreflightCheck.cpp
*
* Preflight check for main system components
*
* @author Lorenz Meier <lorenz@px4.io>
* @author Johan Jansen <jnsn.johan@gmail.com>
*/
#include <px4_config.h>
#include <px4_posix.h>
#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#include <systemlib/rc_check.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_baro.h>
#include <drivers/drv_airspeed.h>
#include <uORB/topics/airspeed.h>
#include <mavlink/mavlink_log.h>
#include "PreflightCheck.h"
namespace Commander
{
static bool magnometerCheck(int mavlink_fd, unsigned instance, bool optional)
{
bool success = true;
char s[30];
sprintf(s, "%s%u", MAG_BASE_DEVICE_PATH, instance);
int fd = px4_open(s, 0);
if (fd < 0) {
if (!optional) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: NO MAG SENSOR #%u", instance);
}
return false;
}
int calibration_devid;
int ret;
int devid = px4_ioctl(fd, DEVIOCGDEVICEID, 0);
sprintf(s, "CAL_MAG%u_ID", instance);
param_get(param_find(s), &(calibration_devid));
if (devid != calibration_devid) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: MAG #%u UNCALIBRATED (NO ID)", instance);
success = false;
goto out;
}
ret = px4_ioctl(fd, MAGIOCSELFTEST, 0);
if (ret != OK) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: MAG #%u SELFTEST FAILED", instance);
success = false;
goto out;
}
out:
px4_close(fd);
return success;
}
static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional, bool dynamic)
{
bool success = true;
char s[30];
sprintf(s, "%s%u", ACCEL_BASE_DEVICE_PATH, instance);
int fd = px4_open(s, O_RDONLY);
if (fd < 0) {
if (!optional) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: NO ACCEL SENSOR #%u", instance);
}
return false;
}
int calibration_devid;
int ret;
int devid = px4_ioctl(fd, DEVIOCGDEVICEID, 0);
sprintf(s, "CAL_ACC%u_ID", instance);
param_get(param_find(s), &(calibration_devid));
if (devid != calibration_devid) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: ACCEL #%u UNCALIBRATED (NO ID)", instance);
success = false;
goto out;
}
ret = px4_ioctl(fd, ACCELIOCSELFTEST, 0);
if (ret != OK) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: ACCEL #%u SELFTEST FAILED", instance);
success = false;
goto out;
}
if (dynamic) {
/* check measurement result range */
struct accel_report acc;
ret = px4_read(fd, &acc, sizeof(acc));
if (ret == sizeof(acc)) {
/* evaluate values */
float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: ACCEL RANGE, hold still");
/* this is frickin' fatal */
success = false;
goto out;
}
} else {
mavlink_log_critical(mavlink_fd, "PREFLIGHT FAIL: ACCEL READ");
/* this is frickin' fatal */
success = false;
goto out;
}
}
out:
px4_close(fd);
return success;
}
static bool gyroCheck(int mavlink_fd, unsigned instance, bool optional)
{
bool success = true;
char s[30];
sprintf(s, "%s%u", GYRO_BASE_DEVICE_PATH, instance);
int fd = px4_open(s, 0);
if (fd < 0) {
if (!optional) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: NO GYRO SENSOR #%u", instance);
}
return false;
}
int calibration_devid;
int ret;
int devid = px4_ioctl(fd, DEVIOCGDEVICEID, 0);
sprintf(s, "CAL_GYRO%u_ID", instance);
param_get(param_find(s), &(calibration_devid));
if (devid != calibration_devid) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: GYRO #%u UNCALIBRATED (NO ID)", instance);
success = false;
goto out;
}
ret = px4_ioctl(fd, GYROIOCSELFTEST, 0);
if (ret != OK) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: GYRO #%u SELFTEST FAILED", instance);
success = false;
goto out;
}
out:
px4_close(fd);
return success;
}
static bool baroCheck(int mavlink_fd, unsigned instance, bool optional)
{
bool success = true;
char s[30];
sprintf(s, "%s%u", BARO_BASE_DEVICE_PATH, instance);
int fd = px4_open(s, 0);
if (fd < 0) {
if (!optional) {
mavlink_and_console_log_critical(mavlink_fd,
"PREFLIGHT FAIL: NO BARO SENSOR #%u", instance);
}
return false;
}
px4_close(fd);
return success;
}
static bool airspeedCheck(int mavlink_fd, bool optional)
{
bool success = true;
int ret;
int fd = orb_subscribe(ORB_ID(airspeed));
struct airspeed_s airspeed;
if ((ret = orb_copy(ORB_ID(airspeed), fd, &airspeed)) ||
(hrt_elapsed_time(&airspeed.timestamp) > (500 * 1000))) {
mavlink_log_critical(mavlink_fd, "PREFLIGHT FAIL: AIRSPEED SENSOR MISSING");
success = false;
goto out;
}
if (fabsf(airspeed.indicated_airspeed_m_s) > 6.0f) {
mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE");
// XXX do not make this fatal yet
}
out:
close(fd);
return success;
}
bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro,
bool checkBaro, bool checkAirspeed, bool checkRC, bool checkDynamic)
{
bool failed = false;
/* ---- MAG ---- */
if (checkMag) {
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_mag_count; i++) {
bool required = (i < max_mandatory_mag_count);
if (!magnometerCheck(mavlink_fd, i, !required) && required) {
failed = true;
}
}
}
/* ---- ACCEL ---- */
if (checkAcc) {
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_accel_count; i++) {
bool required = (i < max_mandatory_accel_count);
if (!accelerometerCheck(mavlink_fd, i, !required, checkDynamic) && required) {
failed = true;
}
}
}
/* ---- GYRO ---- */
if (checkGyro) {
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_gyro_count; i++) {
bool required = (i < max_mandatory_gyro_count);
if (!gyroCheck(mavlink_fd, i, !required) && required) {
failed = true;
}
}
}
/* ---- BARO ---- */
if (checkBaro) {
/* check all sensors, but fail only for mandatory ones */
for (unsigned i = 0; i < max_optional_baro_count; i++) {
bool required = (i < max_mandatory_baro_count);
if (!baroCheck(mavlink_fd, i, !required) && required) {
failed = true;
}
}
}
/* ---- AIRSPEED ---- */
if (checkAirspeed) {
if (!airspeedCheck(mavlink_fd, true)) {
failed = true;
}
}
/* ---- RC CALIBRATION ---- */
if (checkRC) {
if (rc_calibration_check(mavlink_fd) != OK) {
failed = true;
}
}
/* Report status */
return !failed;
}
}
src/modules/commander/module.mk
+4 -5
View File
@@ -45,15 +45,14 @@ SRCS = commander.cpp \
baro_calibration.cpp \
accelerometer_calibration.cpp \
rc_calibration.cpp \
airspeed_calibration.cpp
airspeed_calibration.cpp \
PreflightCheck.cpp
ifdef ($(PX4_TARGET_OS),nuttx)
SRCS +=
state_machine_helper.cpp \
PreflightCheck.cpp
state_machine_helper.cpp
else
SRCS += state_machine_helper_posix.cpp \
PreflightCheck_posix.cpp
SRCS += state_machine_helper_posix.cpp
endif
MODULE_STACKSIZE = 5000
src/modules/mavlink/mavlink_main_posix.cpp
+2 -1
View File
@@ -216,7 +216,8 @@ Mavlink::Mavlink() :
#endif
default:
px4_errx(1, "instance ID is out of range");
warnx("instance ID is out of range");
px4_task_exit(1);
break;
}
src/platforms/px4_common.h
-1
View File
@@ -4,5 +4,4 @@
#include <types.h>
size_t strnlen(const char *s, size_t maxlen);
//inline bool isfinite(int x) { return true; }
#endif
src/platforms/px4_config.h
+5 -5
View File
@@ -34,15 +34,17 @@
/**
* @file px4_config.h
* Preserve abiility to load config information that is used in subsequent
* includes or code
Configuration flags used in code.
*/
#pragma once
#if defined(__PX4_NUTTX)
#include <nuttx/config.h>
#elif defined (__PX4_POSIX) || defined (__PX4_QURT)
#elif defined (__PX4_POSIX)
#define CONFIG_NFILE_STREAMS 1
#define CONFIG_SCHED_WORKQUEUE 1
#define CONFIG_SCHED_HPWORK 1
@@ -55,6 +57,4 @@
#define CONFIG_SCHED_INSTRUMENTATION 1
#define CONFIG_MAX_TASKS 32
#define px4_errx(x, ...) errx(x, __VA_ARGS__)
#endif
src/platforms/px4_defines.h
+16 -7
View File
@@ -67,9 +67,9 @@
/* Get value of parameter by name, which is equal to the handle for ros */
#define PX4_PARAM_GET_BYNAME(_name, _destpt) ros::param::get(_name, *_destpt)
#elif defined(__PX4_NUTTX) || defined(__PX4_POSIX) || defined(__PX4_QURT)
#elif defined(__PX4_NUTTX) || defined(__PX4_POSIX)
/*
* Building for NuttX or Linux
* Building for NuttX or POSIX
*/
#include <platforms/px4_includes.h>
/* Main entry point */
@@ -90,7 +90,9 @@ typedef param_t px4_param_t;
#error "No target OS defined"
#endif
/* NuttX Specific defines */
/*
* NuttX Specific defines
*/
#if defined(__PX4_NUTTX)
/* XXX this is a hack to resolve conflicts with NuttX headers */
@@ -106,7 +108,9 @@ typedef param_t px4_param_t;
#define PX4_ISFINITE(x) isfinite(x)
/* POSIX Specific defines */
/*
* POSIX Specific defines
*/
#elif defined(__PX4_POSIX)
// Flag is meaningless on Linux
@@ -119,6 +123,7 @@ typedef param_t px4_param_t;
//STM DocID018909 Rev 8 Sect 39.1 (Unique device ID Register)
#define UNIQUE_ID 0x1FFF7A10
/* FIXME - Used to satisfy build */
#define getreg32(a) (*(volatile uint32_t *)(a))
__BEGIN_DECLS
@@ -133,8 +138,10 @@ __END_DECLS
#endif
/* Defines for ROS and Linux */
#if defined(__PX4_ROS) || defined(__PX4_POSIX) || defined(__PX4_QURT)
/*
* Defines for ROS and Linux
*/
#if defined(__PX4_ROS) || defined(__PX4_POSIX)
#define OK 0
#define ERROR -1
@@ -203,7 +210,9 @@ __END_DECLS
#endif
/* Defines for all platforms */
/*
*Defines for all platforms
*/
/* wrapper for 2d matrices */
#define PX4_ARRAY2D(_array, _ncols, _x, _y) (_array[_x * _ncols + _y])
src/platforms/px4_i2c.h
+3 -20
View File
@@ -42,7 +42,9 @@
#define PX4_I2C_M_READ 0x0001 /* read data, from slave to master */
#if defined(__PX4_ROS)
#error "Devices not supported in ROS"
#elif defined (__PX4_NUTTX)
/*
* Building for NuttX
@@ -64,12 +66,6 @@
typedef struct i2c_dev_s px4_i2c_dev_t;
#define px4_i2cuninitialize(x) up_i2cuninitialize(x)
#define px4_i2cinitialize(x) up_i2cinitialize(x)
#define px4_i2creset(x) up_i2creset(x)
#define px4_interrupt_context() up_interrupt_context()
#elif defined(__PX4_POSIX)
#include <stdint.h>
@@ -85,25 +81,11 @@ typedef struct {
int length;
} px4_i2c_msg_t;
struct px4_i2c_ops_t;
// NOTE - This is a copy of the NuttX i2c_ops_s structure
typedef struct {
const struct px4_i2c_ops_t *ops; /* I2C vtable */
} px4_i2c_dev_t;
// FIXME - Stub implementations
inline void px4_i2cuninitialize(px4_i2c_dev_t *dev);
inline void px4_i2cuninitialize(px4_i2c_dev_t *dev) {}
inline px4_i2c_dev_t *px4_i2cinitialize(int bus);
inline px4_i2c_dev_t *px4_i2cinitialize(int bus) { return (px4_i2c_dev_t *)0; }
inline void px4_i2creset(px4_i2c_dev_t *dev);
inline void px4_i2creset(px4_i2c_dev_t *dev) { }
inline bool px4_interrupt_context(void);
inline bool px4_interrupt_context(void) { return false; }
// FIXME - Empty defines for I2C ops
// Original version commented out
//#define I2C_SETFREQUENCY(d,f) ((d)->ops->setfrequency(d,f))
@@ -134,6 +116,7 @@ struct i2c_rdwr_ioctl_data {
uint32_t nmsgs; /* number of i2c_msgs */
};
// FIXME - The functions are not implemented on QuRT/DSPAL
int ioctl(int fd, int flags, unsigned long data);
int write(int fd, const char *buffer, int buflen);
#endif