Merge branch 'master' of github.com:PX4/Firmware

apps/drivers/drv_mixer.h

@@ -81,7 +81,7 @@ struct mixer_scaler_s
 };
 
 /** mixer input */
-struct mixer_input_s
+struct mixer_control_s
 {
 	uint8_t			control_group;	/**< group from which the input reads */
 	uint8_t			control_index;	/**< index within the control group */
@@ -91,12 +91,12 @@ struct mixer_input_s
 /** simple mixer */
 struct mixer_simple_s
 {
-	uint8_t			input_count;	/**< number of inputs */
+	uint8_t			control_count;	/**< number of inputs */
 	struct mixer_scaler_s	output_scaler;	/**< scaling for the output */
-	struct mixer_input_s	inputs[0];	/**< actual size of the array is set by input_count */
+	struct mixer_control_s	controls[0];	/**< actual size of the array is set by control_count */
 };
 
-#define MIXER_SIMPLE_SIZE(_icount)	(sizeof(struct mixer_simple_s) + (_icount) * sizeof(struct mixer_input_s))
+#define MIXER_SIMPLE_SIZE(_icount)	(sizeof(struct mixer_simple_s) + (_icount) * sizeof(struct mixer_control_s))
 
 /**
  * add a simple mixer in (struct mixer_simple_s *)arg 
@@ -114,7 +114,7 @@ struct mixer_rotor_output_s
 struct mixer_multirotor_s
 {
 	uint8_t			rotor_count;
-	struct mixer_input_s	inputs[4];	/**< inputs are roll, pitch, yaw, thrust */
+	struct mixer_control_s	controls[4];	/**< controls are roll, pitch, yaw, thrust */
 	struct mixer_rotor_output_s rotors[0];	/**< actual size of the array is set by rotor_count */
 };
 

apps/nshlib/README.txt

@@ -371,9 +371,15 @@ o get [-b|-n] [-f <local-path>] -h <ip-address> <remote-path>
       Selects either binary ("octect") or test ("netascii") transfer
       mode.  Default: text.
 
-o help
+o help [-v] [<cmd>]
 
-  Presents summary information about each command to console.
+  Presents summary information about NSH commands to console. Options:
+
+  -v
+    Show verbose output will full command usage
+
+  <cmd>
+    Show full command usage only for this command
 
 o ifconfig
 
@@ -499,14 +505,14 @@ o mkfatfs <path>
 
   Format a fat file system on the block device specified by path.
   NSH provides this command to access the mkfatfs() NuttX API.
-  This block device must reside in the NuttX psuedo filesystem and
+  This block device must reside in the NuttX pseudo filesystem and
   must have been created by some call to register_blockdriver() (see
   include/nuttx/fs/fs.h).
 
 o mkfifo <path>
 
   Creates a FIFO character device anywhere in the pseudo file system,
-  creating whatever psuedo directories that may be needed to complete
+  creating whatever pseudo directories that may be needed to complete
   the full path.  By convention, however, device drivers are place in
   the standard /dev directory. After it is created, the FIFO device
   may be used as any other device driver. NSH provides this command
@@ -578,7 +584,7 @@ o mount [-t <fstype> <block-device> <dir-path>]
 
   If the mount parameters are provied on the command after the 'mount'
   command, then the 'mount' command will mount a file system in the
-  NuttX psuedo-file system.  'mount' performs a three way association,
+  NuttX pseudo-file system.  'mount' performs a three way association,
   binding:
 
     File system.  The '-t <fstype>' option identifies the type of
@@ -586,19 +592,19 @@ o mount [-t <fstype> <block-device> <dir-path>]
       of this writing, vfat is the only supported value for <fstype>
 
     Block Device.  The <block-device> argument is the full or relative
-      path to a block driver inode in the psuedo filesystem.  By convention,
+      path to a block driver inode in the pseudo filesystem.  By convention,
       this is a name under the /dev sub-directory.  This <block-device>
       must have been previously formatted with the same file system
       type as specified by <fstype>
 
-    Mount Point.  The mount point is the location in the psuedo file
+    Mount Point.  The mount point is the location in the pseudo file
       system where the mounted volume will appear.  This mount point
-      can only reside in the NuttX psuedo filesystem.  By convention, this
+      can only reside in the NuttX pseudo filesystem.  By convention, this
       mount point is a subdirectory under /mnt.  The mount command will
-      create whatever psuedo directories that may be needed to complete
+      create whatever pseudo directories that may be needed to complete
       the full path but the full path must not already exist.
 
-  After the volume has been mounted in the NuttX psuedo file
+  After the volume has been mounted in the NuttX pseudo file
   system, it may be access in the same way as other objects in the
   file system.
 
@@ -889,6 +895,9 @@ also allow it to squeeze into very small memory footprints.
   CONFIG_NSH_DISABLE_UNSET,    CONFIG_NSH_DISABLE_USLEEP,   CONFIG_NSH_DISABLE_WGET,
   CONFIG_NSH_DISABLE_XD
 
+Verbose help output can be suppressed by defining CONFIG_NSH_HELP_TERSE.  In that
+case, the help command is still available but will be slightly smaller.
+
 NSH-Specific Configuration Settings
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 

apps/nshlib/nsh_parse.c

@@ -88,12 +88,12 @@
 #  define MAX_ARGV_ENTRIES (NSH_MAX_ARGUMENTS+4)
 #endif
 
-/* Help layout */
+/* Help command summary layout */
 
 #define MAX_CMDLEN    12
-#define CMDS_PER_LINE 5
+#define CMDS_PER_LINE 6
 
-#define NUM_CMDS      (sizeof(g_cmdmap)/sizeof(struct cmdmap_s))
+#define NUM_CMDS      ((sizeof(g_cmdmap)/sizeof(struct cmdmap_s)) - 1)
 #define NUM_CMD_ROWS  ((NUM_CMDS + (CMDS_PER_LINE-1)) / CMDS_PER_LINE)
 
 /****************************************************************************
@@ -211,7 +211,11 @@ static const struct cmdmap_s g_cmdmap[] =
 #endif
 
 #ifndef CONFIG_NSH_DISABLE_HELP
-  { "help",     cmd_help,     1, 3, "[-v] [cmd]" },
+# ifdef CONFIG_NSH_HELP_TERSE
+  { "help",     cmd_help,     1, 2, "[<cmd>]" },
+#else
+  { "help",     cmd_help,     1, 3, "[-v] [<cmd>]" },
+# endif
 #endif
 
 #ifdef CONFIG_NET
@@ -439,7 +443,7 @@ static inline void help_cmdlist(FAR struct nsh_vtbl_s *vtbl)
   for (i = 0; i < NUM_CMD_ROWS; i++)
     {
       nsh_output(vtbl, "  ");
-      for (j = 0, k = i; j < CMDS_PER_LINE && k < NUM_CMDS; j++, k += CMDS_PER_LINE)
+      for (j = 0, k = i; j < CMDS_PER_LINE && k < NUM_CMDS; j++, k += NUM_CMD_ROWS)
         {
           nsh_output(vtbl, "%-12s", g_cmdmap[k].cmd);
         }
@@ -453,7 +457,7 @@ static inline void help_cmdlist(FAR struct nsh_vtbl_s *vtbl)
  * Name: help_usage
  ****************************************************************************/
 
-#ifndef CONFIG_NSH_DISABLE_HELP
+#if !defined(CONFIG_NSH_DISABLE_HELP) && !defined(CONFIG_NSH_HELP_TERSE)
 static inline void help_usage(FAR struct nsh_vtbl_s *vtbl)
 {
   nsh_output(vtbl, "NSH command forms:\n");
@@ -512,6 +516,7 @@ static int help_cmd(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd)
         {
           /* Yes... show it */
 
+          nsh_output(vtbl, "%s usage:", cmd);
           help_showcmd(vtbl, cmdmap);
           return OK;
         }
@@ -526,7 +531,7 @@ static int help_cmd(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd)
  * Name: help_allcmds
  ****************************************************************************/
 
-#ifndef CONFIG_NSH_DISABLE_HELP
+#if !defined(CONFIG_NSH_DISABLE_HELP) && !defined(CONFIG_NSH_HELP_TERSE)
 static inline void help_allcmds(FAR struct nsh_vtbl_s *vtbl)
 {
   FAR const struct cmdmap_s *cmdmap;
@@ -569,12 +574,15 @@ static inline void help_builtins(FAR struct nsh_vtbl_s *vtbl)
 #ifndef CONFIG_NSH_DISABLE_HELP
 static int cmd_help(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
 {
-  bool verbose = false;
   FAR const char *cmd = NULL;
+#ifndef CONFIG_NSH_HELP_TERSE
+  bool verbose = false;
   int i;
+#endif
 
   /* The command may be followed by a verbose option */
 
+#ifndef CONFIG_NSH_HELP_TERSE
   i = 1;
   if (argc > i)
     {
@@ -598,6 +606,12 @@ static int cmd_help(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
     {
       help_usage(vtbl);
     }
+#else
+  if (argc > 1)
+    {
+      cmd = argv[1];
+    }
+#endif
 
   /* Are we showing help on a single command? */
 
@@ -605,13 +619,13 @@ static int cmd_help(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
     {
       /* Yes.. show the single command */
 
-      nsh_output(vtbl, "%s usage:", cmd);
       help_cmd(vtbl, cmd);
     }
   else
     {
        /* In verbose mode, show detailed help for all commands */
 
+#ifndef CONFIG_NSH_HELP_TERSE
       if (verbose)
         {
           nsh_output(vtbl, "Where <cmd> is one of:\n");
@@ -621,8 +635,8 @@ static int cmd_help(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
       /* Otherwise, just show the list of command names */
 
       else
+#endif
         {
-          nsh_output(vtbl, "help usage:");
           help_cmd(vtbl, "help");
           nsh_output(vtbl, "\n");
           help_cmdlist(vtbl);

apps/px4/fmu/fmu.cpp

@@ -226,7 +226,7 @@ FMUServo::task_main()
 	while (!_task_should_exit) {
 
 		/* sleep waiting for data, but no more than 100ms */
-		int ret = ::poll(&fds[0], 2, 100);
+		int ret = ::poll(&fds[0], 2, 1000);
 
 		/* this would be bad... */
 		if (ret < 0) {
@@ -239,17 +239,21 @@ FMUServo::task_main()
 		if (fds[0].revents & POLLIN) {
 			float outputs[num_outputs];
 
-			/* get controls */
+			/* get controls - must always do this to avoid spinning */
 			orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
 
-			/* do mixing */
-			_mixers->mix(&outputs[0], num_outputs);
+			/* can we mix? */
+			if (_mixers != nullptr) {
 
-			/* iterate actuators */
-			for (unsigned i = 0; i < num_outputs; i++) {
+				/* do mixing */
+				_mixers->mix(&outputs[0], num_outputs);
 
-				/* scale for PWM output 900 - 2100us */
-				up_pwm_servo_set(i, 1500 + (600 * outputs[i]));
+				/* iterate actuators */
+				for (unsigned i = 0; i < num_outputs; i++) {
+
+					/* scale for PWM output 900 - 2100us */
+					up_pwm_servo_set(i, 1500 + (600 * outputs[i]));
+				}
 			}
 		}
 

apps/systemlib/mixer/mixer.cpp

@@ -151,15 +151,15 @@ SimpleMixer::mix(float *outputs, unsigned space)
 	if (space < 1)
 		return 0;
 
-	for (unsigned i = 0; i < _info->input_count; i++) {
+	for (unsigned i = 0; i < _info->control_count; i++) {
 		float input;
 
 		_control_cb(_cb_handle,
-			    _info->inputs[i].control_group,
-			    _info->inputs[i].control_index,
+			    _info->controls[i].control_group,
+			    _info->controls[i].control_index,
 			    input);
 
-		sum += scale(_info->inputs[i].scaler, input);
+		sum += scale(_info->controls[i].scaler, input);
 	}
 	*outputs = scale(_info->output_scaler, sum);
 	return 1;
@@ -168,8 +168,8 @@ SimpleMixer::mix(float *outputs, unsigned space)
 void
 SimpleMixer::groups_required(uint32_t &groups)
 {
-	for (unsigned i = 0; i < _info->input_count; i++)
-		groups |= 1 << _info->inputs[i].control_group;
+	for (unsigned i = 0; i < _info->control_count; i++)
+		groups |= 1 << _info->controls[i].control_group;
 }
 
 int
@@ -180,7 +180,7 @@ SimpleMixer::check()
 
 	/* sanity that presumes that a mixer includes a control no more than once */
 	/* max of 32 groups due to groups_required API */
-	if (_info->input_count > 32)
+	if (_info->control_count > 32)
 		return -2;
 
 	/* validate the output scaler */
@@ -190,18 +190,18 @@ SimpleMixer::check()
 		return ret;
 
 	/* validate input scalers */
-	for (unsigned i = 0; i < _info->input_count; i++) {
+	for (unsigned i = 0; i < _info->control_count; i++) {
 
 		/* verify that we can fetch the control */
 		if (_control_cb(_cb_handle,
-				_info->inputs[i].control_group,
-				_info->inputs[i].control_index,
+				_info->controls[i].control_group,
+				_info->controls[i].control_index,
 				junk) != 0) {
 			return -3;
 		}
 
 		/* validate the scaler */
-		ret = scale_check(_info->inputs[i].scaler);
+		ret = scale_check(_info->controls[i].scaler);
 
 		if (ret != 0)
 			return (10 * i + ret);

apps/systemlib/mixer/mixer_group.cpp

@@ -53,6 +53,9 @@
 
 #include "mixer.h"
 
+#define debug(fmt, args...)	do { } while(0)
+//#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
+
 namespace
 {
 
@@ -76,8 +79,10 @@ mixer_getline(int fd, char *line, unsigned maxlen)
 			ret = read(fd, &c, 1);
 
 			/* on error or EOF, return same */
-			if (ret <= 0)
+			if (ret <= 0) {
+				debug("read: EOF");
 				return ret;
+			}
 
 			/* ignore carriage returns */
 			if (c == '\r')
@@ -94,6 +99,7 @@ mixer_getline(int fd, char *line, unsigned maxlen)
 
 				/* terminate line as string and return */
 				*p = '\0';
+				debug("read: '%s'", line);
 				return 1;
 			}
 
@@ -105,17 +111,42 @@ mixer_getline(int fd, char *line, unsigned maxlen)
 }
 
 /**
- * Parse a scaler from the buffer.
+ * Parse an output scaler from the buffer.
  */
 static int
-mixer_parse_scaler(const char *buf, mixer_scaler_s &scaler, uint8_t &control_group, uint8_t &control_index)
+mixer_parse_output_scaler(const char *buf, mixer_scaler_s &scaler)
+{
+	int s[5];
+
+	if (sscanf(buf, "O: %d %d %d %d %d",
+		   &s[0], &s[1], &s[2], &s[3], &s[4]) != 5) {
+		debug("scaler parse failed on '%s'", buf);
+		return -1;
+	}
+
+	scaler.negative_scale	= s[0] / 10000.0f;
+	scaler.positive_scale	= s[1] / 10000.0f;
+	scaler.offset		= s[2] / 10000.0f;
+	scaler.min_output	= s[3] / 10000.0f;
+	scaler.max_output	= s[4] / 10000.0f;
+
+	return 0;
+}
+
+/**
+ * Parse a control scaler from the buffer.
+ */
+static int
+mixer_parse_control_scaler(const char *buf, mixer_scaler_s &scaler, uint8_t &control_group, uint8_t &control_index)
 {
 	unsigned u[2];
 	int s[5];
 
 	if (sscanf(buf, "S: %u %u %d %d %d %d %d",
-		   &u[0], &u[1], &s[0], &s[1], &s[2], &s[3], &s[4]) != 7)
+		   &u[0], &u[1], &s[0], &s[1], &s[2], &s[3], &s[4]) != 7) {
+		debug("scaler parse failed on '%s'", buf);
 		return -1;
+	}
 
 	control_group	= u[0];
 	control_index	= u[1];
@@ -133,7 +164,6 @@ mixer_load_simple(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd
 {
 	mixer_simple_s	*mixinfo = nullptr;
 	char		buf[60];
-	uint8_t		control_group, control_index;
 	int		ret;
 
 	/* let's assume we're going to read a simple mixer */
@@ -141,22 +171,30 @@ mixer_load_simple(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd
 
 	/* first, get the output scaler */
 	ret = mixer_getline(fd, buf, sizeof(buf));
-	if (ret < 1)
+	if (ret < 1) {
+		debug("failed reading for output scaler");
 		goto fail;
-	if (mixer_parse_scaler(buf, mixinfo->output_scaler, control_group, control_index))
+	}
+	if (mixer_parse_output_scaler(buf, mixinfo->output_scaler)) {
+		debug("failed parsing output scaler");
 		goto fail;
+	}
 
 	/* now get any inputs */
 	for (unsigned i = 0; i < inputs; i++) {
 		ret = mixer_getline(fd, buf, sizeof(buf));
-		if (ret < 1)
-			goto fail;
-		if (mixer_parse_scaler(buf, 
-				       mixinfo->inputs[i].scaler,
-				       mixinfo->inputs[i].control_group,
-				       mixinfo->inputs[i].control_index)) {
+		if (ret < 1) {
+			debug("failed reading for control scaler");
 			goto fail;
 		}
+		if (mixer_parse_control_scaler(buf, 
+				       mixinfo->controls[i].scaler,
+				       mixinfo->controls[i].control_group,
+				       mixinfo->controls[i].control_index)) {
+			debug("failed parsing control scaler");
+			goto fail;
+		}
+		debug("got control %d", i);
 	}
 
 	/* XXX should be a factory that validates the mixinfo ... */
@@ -172,27 +210,32 @@ mixer_load(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd, Mixer
 {
 	int		ret;
 	char		buf[60];
-	unsigned	scalers;
+	unsigned	inputs;
 
 	ret = mixer_getline(fd, buf, sizeof(buf));
 
 	/* end of file or error ?*/
-	if (ret < 1)
+	if (ret < 1) {
+		debug("getline %d", ret);
 		return ret;
+	}
 
 	/* slot is empty - allocate a null mixer */
 	if (buf[0] == 'Z') {
+		debug("got null mixer");
 		mixer = new NullMixer();
-		return 0;
+		return 1;
 	}
 
 	/* is it a simple mixer? */
-	if (sscanf(buf, "M: %u", &scalers) == 1) {
-		mixer = mixer_load_simple(control_cb, cb_handle, fd, scalers);
-		return (mixer == nullptr) ? -1 : 0;
+	if (sscanf(buf, "M: %u", &inputs) == 1) {
+		debug("got simple mixer with %d inputs", inputs);
+		mixer = mixer_load_simple(control_cb, cb_handle, fd, inputs);
+		return (mixer == nullptr) ? -1 : 1;
 	}
 
 	/* we don't recognise the mixer type */
+	debug("unrecognized mixer type '%c'", buf[0]);
 	return -1;
 }
 
@@ -260,10 +303,12 @@ MixerGroup::load_from_file(const char *path)
 		return -1;
 
 	int fd = open(path, O_RDONLY);
-	if (fd < 0)
+	if (fd < 0) {
+		debug("failed to open %s", path);
 		return -1;
+	}
 
-	for (;;) {
+	for (unsigned count = 0;; count++) {
 		int	result;
 		Mixer	*mixer;
 
@@ -273,13 +318,19 @@ MixerGroup::load_from_file(const char *path)
 				    mixer);
 
 		/* error? */
-		if (result < 0)
+		if (result < 0) {
+			debug("error");
 			return -1;
+		}
 
 		/* EOF or error */
-		if (result < 1)
+		if (result < 1) {
+			printf("[mixer] loaded %u mixers\n", count);
+			debug("EOF");
 			break;
+		}
 
+		debug("loaded mixer %p", mixer);
 		add_mixer(mixer);
 	}