mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-17 20:27:35 +08:00
Merge branch 'master' of github.com:PX4/Firmware into vector_control
This commit is contained in:
Lorenz Meier
+4
-1
@@ -24,4 +24,7 @@ Firmware.sublime-workspace
|
||||
Images/*.bin
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||||
Images/*.px4
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||||
mavlink/include/mavlink/v0.9/
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||||
NuttX
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||||
/NuttX
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||||
/Documentation/doxy.log
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||||
/Documentation/html/
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||||
/Documentation/doxygen*objdb*tmp
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||||
+298
@@ -0,0 +1,298 @@
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||||
# GDB/Python functions for dealing with NuttX
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||||
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||||
import gdb, gdb.types
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||||
|
||||
class NX_task(object):
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"""Reference to a NuttX task and methods for introspecting it"""
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||||
def __init__(self, tcb_ptr):
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self._tcb = tcb_ptr.dereference()
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self._group = self._tcb['group'].dereference()
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self.pid = tcb_ptr['pid']
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||||
@classmethod
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||||
def for_tcb(cls, tcb):
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"""return a task with the given TCB pointer"""
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pidhash_sym = gdb.lookup_global_symbol('g_pidhash')
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pidhash_value = pidhash_sym.value()
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||||
pidhash_type = pidhash_sym.type
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||||
for i in range(pidhash_type.range()[0],pidhash_type.range()[1]):
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pidhash_entry = pidhash_value[i]
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||||
if pidhash_entry['tcb'] == tcb:
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||||
return cls(pidhash_entry['tcb'])
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||||
return None
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||||
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||||
@classmethod
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||||
def for_pid(cls, pid):
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||||
"""return a task for the given PID"""
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||||
pidhash_sym = gdb.lookup_global_symbol('g_pidhash')
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pidhash_value = pidhash_sym.value()
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||||
pidhash_type = pidhash_sym.type
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||||
for i in range(pidhash_type.range()[0],pidhash_type.range()[1]):
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pidhash_entry = pidhash_value[i]
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if pidhash_entry['pid'] == pid:
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||||
return cls(pidhash_entry['tcb'])
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return None
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||||
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||||
@staticmethod
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||||
def pids():
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||||
"""return a list of all PIDs"""
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pidhash_sym = gdb.lookup_global_symbol('g_pidhash')
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pidhash_value = pidhash_sym.value()
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||||
pidhash_type = pidhash_sym.type
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result = []
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for i in range(pidhash_type.range()[0],pidhash_type.range()[1]):
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entry = pidhash_value[i]
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pid = int(entry['pid'])
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if pid is not -1:
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result.append(pid)
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return result
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|
||||
@staticmethod
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||||
def tasks():
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||||
"""return a list of all tasks"""
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tasks = []
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for pid in NX_task.pids():
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tasks.append(NX_task.for_pid(pid))
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return tasks
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||||
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||||
def _state_is(self, state):
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||||
"""tests the current state of the task against the passed-in state name"""
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statenames = gdb.types.make_enum_dict(gdb.lookup_type('enum tstate_e'))
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||||
if self._tcb['task_state'] == statenames[state]:
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return True
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||||
return False
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||||
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||||
@property
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||||
def stack_used(self):
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||||
"""calculate the stack used by the thread"""
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||||
if 'stack_used' not in self.__dict__:
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||||
stack_base = self._tcb['stack_alloc_ptr'].cast(gdb.lookup_type('unsigned char').pointer())
|
||||
if stack_base == 0:
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||||
self.__dict__['stack_used'] = 0
|
||||
else:
|
||||
stack_limit = self._tcb['adj_stack_size']
|
||||
for offset in range(0, stack_limit):
|
||||
if stack_base[offset] != 0xff:
|
||||
break
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||||
self.__dict__['stack_used'] = stack_limit - offset
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||||
return self.__dict__['stack_used']
|
||||
|
||||
@property
|
||||
def name(self):
|
||||
"""return the task's name"""
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||||
return self._tcb['name'].string()
|
||||
|
||||
@property
|
||||
def state(self):
|
||||
"""return the name of the task's current state"""
|
||||
statenames = gdb.types.make_enum_dict(gdb.lookup_type('enum tstate_e'))
|
||||
for name,value in statenames.iteritems():
|
||||
if value == self._tcb['task_state']:
|
||||
return name
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||||
return 'UNKNOWN'
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||||
|
||||
@property
|
||||
def waiting_for(self):
|
||||
"""return a description of what the task is waiting for, if it is waiting"""
|
||||
if self._state_is('TSTATE_WAIT_SEM'):
|
||||
waitsem = self._tcb['waitsem'].dereference()
|
||||
waitsem_holder = waitsem['holder']
|
||||
holder = NX_task.for_tcb(waitsem_holder['htcb'])
|
||||
if holder is not None:
|
||||
return '{}({})'.format(waitsem.address, holder.name)
|
||||
else:
|
||||
return '{}(<bad holder>)'.format(waitsem.address)
|
||||
if self._state_is('TSTATE_WAIT_SIG'):
|
||||
return 'signal'
|
||||
return None
|
||||
|
||||
@property
|
||||
def is_waiting(self):
|
||||
"""tests whether the task is waiting for something"""
|
||||
if self._state_is('TSTATE_WAIT_SEM') or self._state_is('TSTATE_WAIT_SIG'):
|
||||
return True
|
||||
|
||||
@property
|
||||
def is_runnable(self):
|
||||
"""tests whether the task is runnable"""
|
||||
if (self._state_is('TSTATE_TASK_PENDING') or
|
||||
self._state_is('TSTATE_TASK_READYTORUN') or
|
||||
self._state_is('TSTATE_TASK_RUNNING')):
|
||||
return True
|
||||
return False
|
||||
|
||||
@property
|
||||
def file_descriptors(self):
|
||||
"""return a dictionary of file descriptors and inode pointers"""
|
||||
filelist = self._group['tg_filelist']
|
||||
filearray = filelist['fl_files']
|
||||
result = dict()
|
||||
for i in range(filearray.type.range()[0],filearray.type.range()[1]):
|
||||
inode = long(filearray[i]['f_inode'])
|
||||
if inode != 0:
|
||||
result[i] = inode
|
||||
return result
|
||||
|
||||
@property
|
||||
def registers(self):
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||||
if 'registers' not in self.__dict__:
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||||
registers = dict()
|
||||
if self._state_is('TSTATE_TASK_RUNNING'):
|
||||
# XXX need to fix this to handle interrupt context
|
||||
registers['R0'] = long(gdb.parse_and_eval('$r0'))
|
||||
registers['R1'] = long(gdb.parse_and_eval('$r1'))
|
||||
registers['R2'] = long(gdb.parse_and_eval('$r2'))
|
||||
registers['R3'] = long(gdb.parse_and_eval('$r3'))
|
||||
registers['R4'] = long(gdb.parse_and_eval('$r4'))
|
||||
registers['R5'] = long(gdb.parse_and_eval('$r5'))
|
||||
registers['R6'] = long(gdb.parse_and_eval('$r6'))
|
||||
registers['R7'] = long(gdb.parse_and_eval('$r7'))
|
||||
registers['R8'] = long(gdb.parse_and_eval('$r8'))
|
||||
registers['R9'] = long(gdb.parse_and_eval('$r9'))
|
||||
registers['R10'] = long(gdb.parse_and_eval('$r10'))
|
||||
registers['R11'] = long(gdb.parse_and_eval('$r11'))
|
||||
registers['R12'] = long(gdb.parse_and_eval('$r12'))
|
||||
registers['R13'] = long(gdb.parse_and_eval('$r13'))
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||||
registers['SP'] = long(gdb.parse_and_eval('$sp'))
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||||
registers['R14'] = long(gdb.parse_and_eval('$r14'))
|
||||
registers['LR'] = long(gdb.parse_and_eval('$lr'))
|
||||
registers['R15'] = long(gdb.parse_and_eval('$r15'))
|
||||
registers['PC'] = long(gdb.parse_and_eval('$pc'))
|
||||
registers['XPSR'] = long(gdb.parse_and_eval('$xpsr'))
|
||||
# this would only be valid if we were in an interrupt
|
||||
registers['EXC_RETURN'] = 0
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||||
# we should be able to get this...
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||||
registers['PRIMASK'] = 0
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||||
else:
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||||
context = self._tcb['xcp']
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||||
regs = context['regs']
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||||
registers['R0'] = long(regs[27])
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||||
registers['R1'] = long(regs[28])
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||||
registers['R2'] = long(regs[29])
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||||
registers['R3'] = long(regs[30])
|
||||
registers['R4'] = long(regs[2])
|
||||
registers['R5'] = long(regs[3])
|
||||
registers['R6'] = long(regs[4])
|
||||
registers['R7'] = long(regs[5])
|
||||
registers['R8'] = long(regs[6])
|
||||
registers['R9'] = long(regs[7])
|
||||
registers['R10'] = long(regs[8])
|
||||
registers['R11'] = long(regs[9])
|
||||
registers['R12'] = long(regs[31])
|
||||
registers['R13'] = long(regs[0])
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||||
registers['SP'] = long(regs[0])
|
||||
registers['R14'] = long(regs[32])
|
||||
registers['LR'] = long(regs[32])
|
||||
registers['R15'] = long(regs[33])
|
||||
registers['PC'] = long(regs[33])
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||||
registers['XPSR'] = long(regs[34])
|
||||
registers['EXC_RETURN'] = long(regs[10])
|
||||
registers['PRIMASK'] = long(regs[1])
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||||
self.__dict__['registers'] = registers
|
||||
return self.__dict__['registers']
|
||||
|
||||
def __repr__(self):
|
||||
return "<NX_task {}>".format(self.pid)
|
||||
|
||||
def __str__(self):
|
||||
return "{}:{}".format(self.pid, self.name)
|
||||
|
||||
def __format__(self, format_spec):
|
||||
return format_spec.format(
|
||||
pid = self.pid,
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||||
name = self.name,
|
||||
state = self.state,
|
||||
waiting_for = self.waiting_for,
|
||||
stack_used = self.stack_used,
|
||||
stack_limit = self._tcb['adj_stack_size'],
|
||||
file_descriptors = self.file_descriptors,
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||||
registers = self.registers
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||||
)
|
||||
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||||
class NX_show_task (gdb.Command):
|
||||
"""(NuttX) prints information about a task"""
|
||||
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||||
def __init__(self):
|
||||
super(NX_show_task, self).__init__("show task", gdb.COMMAND_USER)
|
||||
|
||||
def invoke(self, arg, from_tty):
|
||||
t = NX_task.for_pid(int(arg))
|
||||
if t is not None:
|
||||
my_fmt = 'PID:{pid} name:{name} state:{state}\n'
|
||||
my_fmt += ' stack used {stack_used} of {stack_limit}\n'
|
||||
if t.is_waiting:
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||||
my_fmt += ' waiting for {waiting_for}\n'
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||||
my_fmt += ' open files: {file_descriptors}\n'
|
||||
my_fmt += ' R0 {registers[R0]:#010x} {registers[R1]:#010x} {registers[R2]:#010x} {registers[R3]:#010x}\n'
|
||||
my_fmt += ' R4 {registers[R4]:#010x} {registers[R5]:#010x} {registers[R6]:#010x} {registers[R7]:#010x}\n'
|
||||
my_fmt += ' R8 {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n'
|
||||
my_fmt += ' R12 {registers[PC]:#010x}\n'
|
||||
my_fmt += ' SP {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n'
|
||||
print format(t, my_fmt)
|
||||
|
||||
class NX_show_tasks (gdb.Command):
|
||||
"""(NuttX) prints a list of tasks"""
|
||||
|
||||
def __init__(self):
|
||||
super(NX_show_tasks, self).__init__('show tasks', gdb.COMMAND_USER)
|
||||
|
||||
def invoke(self, args, from_tty):
|
||||
tasks = NX_task.tasks()
|
||||
for t in tasks:
|
||||
print format(t, '{pid:<2} {name:<16} {state:<20} {stack_used:>4}/{stack_limit:<4}')
|
||||
|
||||
NX_show_task()
|
||||
NX_show_tasks()
|
||||
|
||||
class NX_show_heap (gdb.Command):
|
||||
"""(NuttX) prints the heap"""
|
||||
|
||||
def __init__(self):
|
||||
super(NX_show_heap, self).__init__('show heap', gdb.COMMAND_USER)
|
||||
if gdb.lookup_type('struct mm_allocnode_s').sizeof == 8:
|
||||
self._allocflag = 0x80000000
|
||||
self._allocnodesize = 8
|
||||
else:
|
||||
self._allocflag = 0x8000
|
||||
self._allocnodesize = 4
|
||||
|
||||
def _node_allocated(self, allocnode):
|
||||
if allocnode['preceding'] & self._allocflag:
|
||||
return True
|
||||
return False
|
||||
|
||||
def _node_size(self, allocnode):
|
||||
return allocnode['size'] & ~self._allocflag
|
||||
|
||||
def _print_allocations(self, region_start, region_end):
|
||||
if region_start >= region_end:
|
||||
print 'heap region {} corrupt'.format(hex(region_start))
|
||||
return
|
||||
nodecount = region_end - region_start
|
||||
print 'heap {} - {}'.format(region_start, region_end)
|
||||
cursor = 1
|
||||
while cursor < nodecount:
|
||||
allocnode = region_start[cursor]
|
||||
if self._node_allocated(allocnode):
|
||||
state = ''
|
||||
else:
|
||||
state = '(free)'
|
||||
print ' {} {} {}'.format(allocnode.address + 8, self._node_size(allocnode), state)
|
||||
cursor += self._node_size(allocnode) / self._allocnodesize
|
||||
|
||||
def invoke(self, args, from_tty):
|
||||
heap = gdb.lookup_global_symbol('g_mmheap').value()
|
||||
nregions = heap['mm_nregions']
|
||||
region_starts = heap['mm_heapstart']
|
||||
region_ends = heap['mm_heapend']
|
||||
print "{} heap(s)".format(nregions)
|
||||
# walk the heaps
|
||||
for i in range(0, nregions):
|
||||
self._print_allocations(region_starts[i], region_ends[i])
|
||||
|
||||
NX_show_heap()
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -429,19 +429,19 @@ SORT_BY_SCOPE_NAME = NO
|
||||
# disable (NO) the todo list. This list is created by putting \todo
|
||||
# commands in the documentation.
|
||||
|
||||
GENERATE_TODOLIST = YES
|
||||
GENERATE_TODOLIST = NO
|
||||
|
||||
# The GENERATE_TESTLIST tag can be used to enable (YES) or
|
||||
# disable (NO) the test list. This list is created by putting \test
|
||||
# commands in the documentation.
|
||||
|
||||
GENERATE_TESTLIST = YES
|
||||
GENERATE_TESTLIST = NO
|
||||
|
||||
# The GENERATE_BUGLIST tag can be used to enable (YES) or
|
||||
# disable (NO) the bug list. This list is created by putting \bug
|
||||
# commands in the documentation.
|
||||
|
||||
GENERATE_BUGLIST = YES
|
||||
GENERATE_BUGLIST = NO
|
||||
|
||||
# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
|
||||
# disable (NO) the deprecated list. This list is created by putting
|
||||
@@ -569,7 +569,7 @@ WARN_LOGFILE = doxy.log
|
||||
# directories like "/usr/src/myproject". Separate the files or directories
|
||||
# with spaces.
|
||||
|
||||
INPUT = ../apps
|
||||
INPUT = ../src
|
||||
|
||||
# This tag can be used to specify the character encoding of the source files
|
||||
# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
|
||||
@@ -599,9 +599,8 @@ RECURSIVE = YES
|
||||
# excluded from the INPUT source files. This way you can easily exclude a
|
||||
# subdirectory from a directory tree whose root is specified with the INPUT tag.
|
||||
|
||||
EXCLUDE = ../dist/ \
|
||||
../docs/html/ \
|
||||
html
|
||||
EXCLUDE = ../src/modules/mathlib/CMSIS \
|
||||
../src/modules/attitude_estimator_ekf/codegen
|
||||
|
||||
# The EXCLUDE_SYMLINKS tag can be used select whether or not files or
|
||||
# directories that are symbolic links (a Unix filesystem feature) are excluded
|
||||
|
||||
Binary file not shown.
Binary file not shown.
File diff suppressed because it is too large
Load Diff
Binary file not shown.
Binary file not shown.
@@ -32,7 +32,8 @@
|
||||
"settings":
|
||||
{
|
||||
"tab_size": 8,
|
||||
"translate_tabs_to_spaces": false
|
||||
"translate_tabs_to_spaces": false,
|
||||
"highlight_line": true
|
||||
},
|
||||
"build_systems":
|
||||
[
|
||||
|
||||
@@ -100,7 +100,7 @@ all: $(STAGED_FIRMWARES)
|
||||
# is taken care of.
|
||||
#
|
||||
$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
|
||||
@echo %% Copying $@
|
||||
@$(ECHO) %% Copying $@
|
||||
$(Q) $(COPY) $< $@
|
||||
$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)
|
||||
|
||||
@@ -111,9 +111,9 @@ $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
|
||||
$(BUILD_DIR)%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
|
||||
$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
|
||||
$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
|
||||
@echo %%%%
|
||||
@echo %%%% Building $(config) in $(work_dir)
|
||||
@echo %%%%
|
||||
@$(ECHO) %%%%
|
||||
@$(ECHO) %%%% Building $(config) in $(work_dir)
|
||||
@$(ECHO) %%%%
|
||||
$(Q) mkdir -p $(work_dir)
|
||||
$(Q) make -r -C $(work_dir) \
|
||||
-f $(PX4_MK_DIR)firmware.mk \
|
||||
@@ -132,8 +132,6 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
|
||||
# XXX Should support fetching/unpacking from a separate directory to permit
|
||||
# downloads of the prebuilt archives as well...
|
||||
#
|
||||
# XXX PX4IO configuration name is bad - NuttX configs should probably all be "px4"
|
||||
#
|
||||
NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
|
||||
.PHONY: archives
|
||||
archives: $(NUTTX_ARCHIVES)
|
||||
@@ -146,15 +144,54 @@ endif
|
||||
|
||||
$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@))
|
||||
$(ARCHIVE_DIR)%.export: configuration = nsh
|
||||
$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS)
|
||||
@echo %% Configuring NuttX for $(board)
|
||||
$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
|
||||
@$(ECHO) %% Configuring NuttX for $(board)
|
||||
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
|
||||
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
|
||||
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
|
||||
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
|
||||
@echo %% Exporting NuttX for $(board)
|
||||
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) export
|
||||
@$(ECHO) %% Exporting NuttX for $(board)
|
||||
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
|
||||
$(Q) mkdir -p $(dir $@)
|
||||
$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
|
||||
$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
|
||||
|
||||
#
|
||||
# The user can run the NuttX 'menuconfig' tool for a single board configuration with
|
||||
# make BOARDS=<boardname> menuconfig
|
||||
#
|
||||
ifeq ($(MAKECMDGOALS),menuconfig)
|
||||
ifneq ($(words $(BOARDS)),1)
|
||||
$(error BOARDS must specify exactly one board for the menuconfig goal)
|
||||
endif
|
||||
BOARD = $(BOARDS)
|
||||
menuconfig: $(NUTTX_SRC)
|
||||
@$(ECHO) %% Configuring NuttX for $(BOARD)
|
||||
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
|
||||
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
|
||||
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
|
||||
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
|
||||
@$(ECHO) %% Running menuconfig for $(BOARD)
|
||||
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
|
||||
@$(ECHO) %% Saving configuration file
|
||||
$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
|
||||
else
|
||||
menuconfig:
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
|
||||
@$(ECHO) ""
|
||||
endif
|
||||
|
||||
$(NUTTX_SRC):
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) "NuttX sources missing - clone https://github.com/PX4/NuttX.git and try again."
|
||||
@$(ECHO) ""
|
||||
|
||||
#
|
||||
# Testing targets
|
||||
#
|
||||
testbuild:
|
||||
$(Q) (cd $(PX4_BASE) && make distclean && make archives && make -j8)
|
||||
|
||||
#
|
||||
# Cleanup targets. 'clean' should remove all built products and force
|
||||
@@ -176,40 +213,43 @@ distclean: clean
|
||||
#
|
||||
.PHONY: help
|
||||
help:
|
||||
@echo ""
|
||||
@echo " PX4 firmware builder"
|
||||
@echo " ===================="
|
||||
@echo ""
|
||||
@echo " Available targets:"
|
||||
@echo " ------------------"
|
||||
@echo ""
|
||||
@echo " archives"
|
||||
@echo " Build the NuttX RTOS archives that are used by the firmware build."
|
||||
@echo ""
|
||||
@echo " all"
|
||||
@echo " Build all firmware configs: $(CONFIGS)"
|
||||
@echo " A limited set of configs can be built with CONFIGS=<list-of-configs>"
|
||||
@echo ""
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) " PX4 firmware builder"
|
||||
@$(ECHO) " ===================="
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) " Available targets:"
|
||||
@$(ECHO) " ------------------"
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) " archives"
|
||||
@$(ECHO) " Build the NuttX RTOS archives that are used by the firmware build."
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) " all"
|
||||
@$(ECHO) " Build all firmware configs: $(CONFIGS)"
|
||||
@$(ECHO) " A limited set of configs can be built with CONFIGS=<list-of-configs>"
|
||||
@$(ECHO) ""
|
||||
@for config in $(CONFIGS); do \
|
||||
echo " $$config"; \
|
||||
echo " Build just the $$config firmware configuration."; \
|
||||
echo ""; \
|
||||
done
|
||||
@echo " clean"
|
||||
@echo " Remove all firmware build pieces."
|
||||
@echo ""
|
||||
@echo " distclean"
|
||||
@echo " Remove all compilation products, including NuttX RTOS archives."
|
||||
@echo ""
|
||||
@echo " upload"
|
||||
@echo " When exactly one config is being built, add this target to upload the"
|
||||
@echo " firmware to the board when the build is complete. Not supported for"
|
||||
@echo " all configurations."
|
||||
@echo ""
|
||||
@echo " Common options:"
|
||||
@echo " ---------------"
|
||||
@echo ""
|
||||
@echo " V=1"
|
||||
@echo " If V is set, more verbose output is printed during the build. This can"
|
||||
@echo " help when diagnosing issues with the build or toolchain."
|
||||
@echo ""
|
||||
@$(ECHO) " clean"
|
||||
@$(ECHO) " Remove all firmware build pieces."
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) " distclean"
|
||||
@$(ECHO) " Remove all compilation products, including NuttX RTOS archives."
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) " upload"
|
||||
@$(ECHO) " When exactly one config is being built, add this target to upload the"
|
||||
@$(ECHO) " firmware to the board when the build is complete. Not supported for"
|
||||
@$(ECHO) " all configurations."
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) " testbuild"
|
||||
@$(ECHO) " Perform a complete clean build of the entire tree."
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) " Common options:"
|
||||
@$(ECHO) " ---------------"
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) " V=1"
|
||||
@$(ECHO) " If V is set, more verbose output is printed during the build. This can"
|
||||
@$(ECHO) " help when diagnosing issues with the build or toolchain."
|
||||
@$(ECHO) ""
|
||||
|
||||
@@ -0,0 +1,122 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU+PX4IO
|
||||
#
|
||||
|
||||
# disable USB and autostart
|
||||
set USB no
|
||||
set MODE custom
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 10
|
||||
|
||||
#
|
||||
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||
#
|
||||
if [ -f /fs/microsd/px4io.bin ]
|
||||
then
|
||||
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
then
|
||||
echo "No newer version, skipping upgrade."
|
||||
else
|
||||
echo "Loading /fs/microsd/px4io.bin"
|
||||
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
|
||||
then
|
||||
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
|
||||
else
|
||||
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
|
||||
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start MAVLink (depends on orb)
|
||||
#
|
||||
mavlink start -d /dev/ttyS1 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the commander (depends on orb, mavlink)
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start PX4IO interface (depends on orb, commander)
|
||||
#
|
||||
px4io start
|
||||
|
||||
#
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
# this is very unlikely, but quite safe and robust.
|
||||
px4io recovery
|
||||
|
||||
#
|
||||
# Disable px4io topic limiting
|
||||
#
|
||||
px4io limit 200
|
||||
|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start GPS interface (depends on orb)
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start the attitude estimator (depends on orb)
|
||||
#
|
||||
attitude_estimator_ekf start
|
||||
|
||||
#
|
||||
# Load mixer and start controllers (depends on px4io)
|
||||
#
|
||||
md25 start 3 0x58
|
||||
segway start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog2 start -r 50 -a -b 14
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
Binary file not shown.
@@ -1,586 +0,0 @@
|
||||
% This Matlab Script can be used to import the binary logged values of the
|
||||
% PX4FMU into data that can be plotted and analyzed.
|
||||
|
||||
%% ************************************************************************
|
||||
% PX4LOG_PLOTSCRIPT: Main function
|
||||
% ************************************************************************
|
||||
function PX4Log_Plotscript
|
||||
|
||||
% Clear everything
|
||||
clc
|
||||
clear all
|
||||
close all
|
||||
|
||||
% ************************************************************************
|
||||
% SETTINGS
|
||||
% ************************************************************************
|
||||
|
||||
% Set the path to your sysvector.bin file here
|
||||
filePath = 'sysvector.bin';
|
||||
|
||||
% Set the minimum and maximum times to plot here [in seconds]
|
||||
mintime=0; %The minimum time/timestamp to display, as set by the user [0 for first element / start]
|
||||
maxtime=0; %The maximum time/timestamp to display, as set by the user [0 for last element / end]
|
||||
|
||||
%Determine which data to plot. Not completely implemented yet.
|
||||
bDisplayGPS=true;
|
||||
|
||||
%conversion factors
|
||||
fconv_gpsalt=1E-3; %[mm] to [m]
|
||||
fconv_gpslatlong=1E-7; %[gps_raw_position_unit] to [deg]
|
||||
fconv_timestamp=1E-6; % [microseconds] to [seconds]
|
||||
|
||||
% ************************************************************************
|
||||
% Import the PX4 logs
|
||||
% ************************************************************************
|
||||
ImportPX4LogData();
|
||||
|
||||
%Translate min and max plot times to indices
|
||||
time=double(sysvector.timestamp) .*fconv_timestamp;
|
||||
mintime_log=time(1); %The minimum time/timestamp found in the log
|
||||
maxtime_log=time(end); %The maximum time/timestamp found in the log
|
||||
CurTime=mintime_log; %The current time at which to draw the aircraft position
|
||||
|
||||
[imintime,imaxtime]=FindMinMaxTimeIndices();
|
||||
|
||||
% ************************************************************************
|
||||
% PLOT & GUI SETUP
|
||||
% ************************************************************************
|
||||
NrFigures=5;
|
||||
NrAxes=10;
|
||||
h.figures(1:NrFigures)=0.0; % Temporary initialization of figure handle array - these are numbered consecutively
|
||||
h.axes(1:NrAxes)=0.0; % Temporary initialization of axes handle array - these are numbered consecutively
|
||||
h.pathpoints=[]; % Temporary initiliazation of path points
|
||||
|
||||
% Setup the GUI to control the plots
|
||||
InitControlGUI();
|
||||
% Setup the plotting-GUI (figures, axes) itself.
|
||||
InitPlotGUI();
|
||||
|
||||
% ************************************************************************
|
||||
% DRAW EVERYTHING
|
||||
% ************************************************************************
|
||||
DrawRawData();
|
||||
DrawCurrentAircraftState();
|
||||
|
||||
%% ************************************************************************
|
||||
% *** END OF MAIN SCRIPT ***
|
||||
% NESTED FUNCTION DEFINTIONS FROM HERE ON
|
||||
% ************************************************************************
|
||||
|
||||
|
||||
%% ************************************************************************
|
||||
% IMPORTPX4LOGDATA (nested function)
|
||||
% ************************************************************************
|
||||
% Attention: This is the import routine for firmware from ca. 03/2013.
|
||||
% Other firmware versions might require different import
|
||||
% routines.
|
||||
|
||||
function ImportPX4LogData()
|
||||
% Work around a Matlab bug (not related to PX4)
|
||||
% where timestamps from 1.1.1970 do not allow to
|
||||
% read the file's size
|
||||
if ismac
|
||||
system('touch -t 201212121212.12 sysvector.bin');
|
||||
end
|
||||
|
||||
% ************************************************************************
|
||||
% RETRIEVE SYSTEM VECTOR
|
||||
% *************************************************************************
|
||||
% //All measurements in NED frame
|
||||
%
|
||||
% uint64_t timestamp; //[us]
|
||||
% float gyro[3]; //[rad/s]
|
||||
% float accel[3]; //[m/s^2]
|
||||
% float mag[3]; //[gauss]
|
||||
% float baro; //pressure [millibar]
|
||||
% float baro_alt; //altitude above MSL [meter]
|
||||
% float baro_temp; //[degree celcius]
|
||||
% float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
|
||||
% float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
|
||||
% float vbat; //battery voltage in [volt]
|
||||
% float bat_current - current drawn from battery at this time instant
|
||||
% float bat_discharged - discharged energy in mAh
|
||||
% float adc[4]; //remaining auxiliary ADC ports [volt]
|
||||
% float local_position[3]; //tangent plane mapping into x,y,z [m]
|
||||
% int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
|
||||
% float attitude[3]; //pitch, roll, yaw [rad]
|
||||
% float rotMatrix[9]; //unitvectors
|
||||
% float actuator_control[4]; //unitvector
|
||||
% float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
|
||||
% float diff_pressure; - pressure difference in millibar
|
||||
% float ind_airspeed;
|
||||
% float true_airspeed;
|
||||
|
||||
% Definition of the logged values
|
||||
logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64');
|
||||
logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{11} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{12} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{14} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le');
|
||||
logFormat{16} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{17} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{18} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{19} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{20} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{21} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{22} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{23} = struct('name', 'true_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
|
||||
% First get length of one line
|
||||
columns = length(logFormat);
|
||||
lineLength = 0;
|
||||
|
||||
for i=1:columns
|
||||
lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array;
|
||||
end
|
||||
|
||||
|
||||
if exist(filePath, 'file')
|
||||
|
||||
fileInfo = dir(filePath);
|
||||
fileSize = fileInfo.bytes;
|
||||
|
||||
elements = int64(fileSize./(lineLength));
|
||||
|
||||
fid = fopen(filePath, 'r');
|
||||
offset = 0;
|
||||
for i=1:columns
|
||||
% using fread with a skip speeds up the import drastically, do not
|
||||
% import the values one after the other
|
||||
sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(...
|
||||
fid, ...
|
||||
[logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ...
|
||||
lineLength - logFormat{i}.bytes*logFormat{i}.array, ...
|
||||
logFormat{i}.machineformat) ...
|
||||
);
|
||||
offset = offset + logFormat{i}.bytes*logFormat{i}.array;
|
||||
fseek(fid, offset,'bof');
|
||||
end
|
||||
|
||||
% shot the flight time
|
||||
time_us = sysvector.timestamp(end) - sysvector.timestamp(1);
|
||||
time_s = time_us*1e-6;
|
||||
time_m = time_s/60;
|
||||
|
||||
% close the logfile
|
||||
fclose(fid);
|
||||
|
||||
disp(['end log2matlab conversion' char(10)]);
|
||||
else
|
||||
disp(['file: ' filePath ' does not exist' char(10)]);
|
||||
end
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% INITCONTROLGUI (nested function)
|
||||
% ************************************************************************
|
||||
%Setup central control GUI components to control current time where data is shown
|
||||
function InitControlGUI()
|
||||
%**********************************************************************
|
||||
% GUI size definitions
|
||||
%**********************************************************************
|
||||
dxy=5; %margins
|
||||
%Panel: Plotctrl
|
||||
dlabels=120;
|
||||
dsliders=200;
|
||||
dedits=80;
|
||||
hslider=20;
|
||||
|
||||
hpanel1=40; %panel1
|
||||
hpanel2=220;%panel2
|
||||
hpanel3=3*hslider+4*dxy+3*dxy;%panel3.
|
||||
|
||||
width=dlabels+dsliders+dedits+4*dxy+2*dxy; %figure width
|
||||
height=hpanel1+hpanel2+hpanel3+4*dxy; %figure height
|
||||
|
||||
%**********************************************************************
|
||||
% Create GUI
|
||||
%**********************************************************************
|
||||
h.figures(1)=figure('Units','pixels','position',[200 200 width height],'Name','Control GUI');
|
||||
h.guistatepanel=uipanel('Title','Current GUI state','Units','pixels','Position',[dxy dxy width-2*dxy hpanel1],'parent',h.figures(1));
|
||||
h.aircraftstatepanel=uipanel('Title','Current aircraft state','Units','pixels','Position',[dxy hpanel1+2*dxy width-2*dxy hpanel2],'parent',h.figures(1));
|
||||
h.plotctrlpanel=uipanel('Title','Plot Control','Units','pixels','Position',[dxy hpanel1+hpanel2+3*dxy width-2*dxy hpanel3],'parent',h.figures(1));
|
||||
|
||||
%%Control GUI-elements
|
||||
%Slider: Current time
|
||||
h.labels.CurTime=uicontrol(gcf,'style','text','Position',[dxy dxy dlabels hslider],'String','Current time t[s]:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
|
||||
h.sliders.CurTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels dxy dsliders hslider],...
|
||||
'min',mintime,'max',maxtime,'value',mintime,'callback',@curtime_callback,'parent',h.plotctrlpanel);
|
||||
temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');
|
||||
set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]);
|
||||
h.edits.CurTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders dxy dedits hslider],'String',get(h.sliders.CurTime,'value'),...
|
||||
'BackgroundColor','white','callback',@curtime_callback,'parent',h.plotctrlpanel);
|
||||
|
||||
%Slider: MaxTime
|
||||
h.labels.MaxTime=uicontrol(gcf,'style','text','position',[dxy 2*dxy+hslider dlabels hslider],'String','Max. time t[s] to display:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
|
||||
h.sliders.MaxTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 2*dxy+hslider dsliders hslider],...
|
||||
'min',mintime_log,'max',maxtime_log,'value',maxtime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
|
||||
h.edits.MaxTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 2*dxy+hslider dedits hslider],'String',get(h.sliders.MaxTime,'value'),...
|
||||
'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
|
||||
|
||||
%Slider: MinTime
|
||||
h.labels.MinTime=uicontrol(gcf,'style','text','position',[dxy 3*dxy+2*hslider dlabels hslider],'String','Min. time t[s] to dispay :','parent',h.plotctrlpanel,'HorizontalAlignment','left');
|
||||
h.sliders.MinTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 3*dxy+2*hslider dsliders hslider],...
|
||||
'min',mintime_log,'max',maxtime_log,'value',mintime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
|
||||
h.edits.MinTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 3*dxy+2*hslider dedits hslider],'String',get(h.sliders.MinTime,'value'),...
|
||||
'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
|
||||
|
||||
%%Current data/state GUI-elements (Multiline-edit-box)
|
||||
h.edits.AircraftState=uicontrol(gcf,'style','edit','Units','normalized','position',[.02 .02 0.96 0.96],'Min',1,'Max',10,'String','This shows the current aircraft state',...
|
||||
'HorizontalAlignment','left','parent',h.aircraftstatepanel);
|
||||
|
||||
h.labels.GUIState=uicontrol(gcf,'style','text','Units','pixels','position',[dxy dxy width-4*dxy hslider],'String','Current state of this GUI',...
|
||||
'HorizontalAlignment','left','parent',h.guistatepanel);
|
||||
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% INITPLOTGUI (nested function)
|
||||
% ************************************************************************
|
||||
function InitPlotGUI()
|
||||
|
||||
% Setup handles to lines and text
|
||||
h.markertext=[];
|
||||
templinehandle=0.0;%line([0 1],[0 5]); % Just a temporary handle to init array
|
||||
h.markerline(1:NrAxes)=templinehandle; % the actual handle-array to the lines - these are numbered consecutively
|
||||
h.markerline(1:NrAxes)=0.0;
|
||||
|
||||
% Setup all other figures and axes for plotting
|
||||
% PLOT WINDOW 1: GPS POSITION
|
||||
h.figures(2)=figure('units','normalized','Toolbar','figure', 'Name', 'GPS Position');
|
||||
h.axes(1)=axes();
|
||||
set(h.axes(1),'Parent',h.figures(2));
|
||||
|
||||
% PLOT WINDOW 2: IMU, baro altitude
|
||||
h.figures(3)=figure('Name', 'IMU / Baro Altitude');
|
||||
h.axes(2)=subplot(4,1,1);
|
||||
h.axes(3)=subplot(4,1,2);
|
||||
h.axes(4)=subplot(4,1,3);
|
||||
h.axes(5)=subplot(4,1,4);
|
||||
set(h.axes(2:5),'Parent',h.figures(3));
|
||||
|
||||
% PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
|
||||
h.figures(4)=figure('Name', 'Attitude Estimate / Actuators / Airspeeds');
|
||||
h.axes(6)=subplot(4,1,1);
|
||||
h.axes(7)=subplot(4,1,2);
|
||||
h.axes(8)=subplot(4,1,3);
|
||||
h.axes(9)=subplot(4,1,4);
|
||||
set(h.axes(6:9),'Parent',h.figures(4));
|
||||
|
||||
% PLOT WINDOW 4: LOG STATS
|
||||
h.figures(5) = figure('Name', 'Log Statistics');
|
||||
h.axes(10)=subplot(1,1,1);
|
||||
set(h.axes(10:10),'Parent',h.figures(5));
|
||||
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% DRAWRAWDATA (nested function)
|
||||
% ************************************************************************
|
||||
%Draws the raw data from the sysvector, but does not add any
|
||||
%marker-lines or so
|
||||
function DrawRawData()
|
||||
% ************************************************************************
|
||||
% PLOT WINDOW 1: GPS POSITION & GUI
|
||||
% ************************************************************************
|
||||
figure(h.figures(2));
|
||||
% Only plot GPS data if available
|
||||
if (sum(double(sysvector.gps_raw_position(imintime:imaxtime,1)))>0) && (bDisplayGPS)
|
||||
%Draw data
|
||||
plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:imaxtime,1))*fconv_gpslatlong, ...
|
||||
double(sysvector.gps_raw_position(imintime:imaxtime,2))*fconv_gpslatlong, ...
|
||||
double(sysvector.gps_raw_position(imintime:imaxtime,3))*fconv_gpsalt,'r.');
|
||||
title(h.axes(1),'GPS Position Data(if available)');
|
||||
xlabel(h.axes(1),'Latitude [deg]');
|
||||
ylabel(h.axes(1),'Longitude [deg]');
|
||||
zlabel(h.axes(1),'Altitude above MSL [m]');
|
||||
grid on
|
||||
|
||||
%Reset path
|
||||
h.pathpoints=0;
|
||||
end
|
||||
|
||||
% ************************************************************************
|
||||
% PLOT WINDOW 2: IMU, baro altitude
|
||||
% ************************************************************************
|
||||
figure(h.figures(3));
|
||||
plot(h.axes(2),time(imintime:imaxtime),sysvector.mag(imintime:imaxtime,:));
|
||||
title(h.axes(2),'Magnetometers [Gauss]');
|
||||
legend(h.axes(2),'x','y','z');
|
||||
plot(h.axes(3),time(imintime:imaxtime),sysvector.accel(imintime:imaxtime,:));
|
||||
title(h.axes(3),'Accelerometers [m/s²]');
|
||||
legend(h.axes(3),'x','y','z');
|
||||
plot(h.axes(4),time(imintime:imaxtime),sysvector.gyro(imintime:imaxtime,:));
|
||||
title(h.axes(4),'Gyroscopes [rad/s]');
|
||||
legend(h.axes(4),'x','y','z');
|
||||
plot(h.axes(5),time(imintime:imaxtime),sysvector.baro_alt(imintime:imaxtime),'color','blue');
|
||||
if(bDisplayGPS)
|
||||
hold on;
|
||||
plot(h.axes(5),time(imintime:imaxtime),double(sysvector.gps_raw_position(imintime:imaxtime,3)).*fconv_gpsalt,'color','red');
|
||||
hold off
|
||||
legend('Barometric Altitude [m]','GPS Altitude [m]');
|
||||
else
|
||||
legend('Barometric Altitude [m]');
|
||||
end
|
||||
title(h.axes(5),'Altitude above MSL [m]');
|
||||
|
||||
% ************************************************************************
|
||||
% PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
|
||||
% ************************************************************************
|
||||
figure(h.figures(4));
|
||||
%Attitude Estimate
|
||||
plot(h.axes(6),time(imintime:imaxtime), sysvector.attitude(imintime:imaxtime,:).*180./3.14159);
|
||||
title(h.axes(6),'Estimated attitude [deg]');
|
||||
legend(h.axes(6),'roll','pitch','yaw');
|
||||
%Actuator Controls
|
||||
plot(h.axes(7),time(imintime:imaxtime), sysvector.actuator_control(imintime:imaxtime,:));
|
||||
title(h.axes(7),'Actuator control [-]');
|
||||
legend(h.axes(7),'0','1','2','3');
|
||||
%Actuator Controls
|
||||
plot(h.axes(8),time(imintime:imaxtime), sysvector.actuators(imintime:imaxtime,1:8));
|
||||
title(h.axes(8),'Actuator PWM (raw-)outputs [µs]');
|
||||
legend(h.axes(8),'CH1','CH2','CH3','CH4','CH5','CH6','CH7','CH8');
|
||||
set(h.axes(8), 'YLim',[800 2200]);
|
||||
%Airspeeds
|
||||
plot(h.axes(9),time(imintime:imaxtime), sysvector.ind_airspeed(imintime:imaxtime));
|
||||
hold on
|
||||
plot(h.axes(9),time(imintime:imaxtime), sysvector.true_airspeed(imintime:imaxtime));
|
||||
hold off
|
||||
%add GPS total airspeed here
|
||||
title(h.axes(9),'Airspeed [m/s]');
|
||||
legend(h.axes(9),'Indicated Airspeed (IAS)','True Airspeed (TAS)','GPS Airspeed');
|
||||
%calculate time differences and plot them
|
||||
intervals = zeros(0,imaxtime - imintime);
|
||||
for k = imintime+1:imaxtime
|
||||
intervals(k) = time(k) - time(k-1);
|
||||
end
|
||||
plot(h.axes(10), time(imintime:imaxtime), intervals);
|
||||
|
||||
%Set same timescale for all plots
|
||||
for i=2:NrAxes
|
||||
set(h.axes(i),'XLim',[mintime maxtime]);
|
||||
end
|
||||
|
||||
set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% DRAWCURRENTAIRCRAFTSTATE(nested function)
|
||||
% ************************************************************************
|
||||
function DrawCurrentAircraftState()
|
||||
%find current data index
|
||||
i=find(time>=CurTime,1,'first');
|
||||
|
||||
%**********************************************************************
|
||||
% Current aircraft state label update
|
||||
%**********************************************************************
|
||||
acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong),'°, ',...
|
||||
'lon=',num2str(double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong),'°, ',...
|
||||
'alt=',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]'];
|
||||
acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.mag(i,1)),...
|
||||
', y=',num2str(sysvector.mag(i,2)),...
|
||||
', z=',num2str(sysvector.mag(i,3)),']'];
|
||||
acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.accel(i,1)),...
|
||||
', y=',num2str(sysvector.accel(i,2)),...
|
||||
', z=',num2str(sysvector.accel(i,3)),']'];
|
||||
acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.gyro(i,1)),...
|
||||
', y=',num2str(sysvector.gyro(i,2)),...
|
||||
', z=',num2str(sysvector.gyro(i,3)),']'];
|
||||
acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.baro_alt(i)),'m, GPS: ',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]'];
|
||||
acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.attitude(i,1).*180./3.14159),...
|
||||
', Pitch=',num2str(sysvector.attitude(i,2).*180./3.14159),...
|
||||
', Yaw=',num2str(sysvector.attitude(i,3).*180./3.14159),']'];
|
||||
acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:');
|
||||
for j=1:4
|
||||
acstate{7,:}=[acstate{7,:},num2str(sysvector.actuator_control(i,j)),','];
|
||||
end
|
||||
acstate{7,:}=[acstate{7,:},']'];
|
||||
acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/µs]:');
|
||||
for j=1:8
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.actuators(i,j)),','];
|
||||
end
|
||||
acstate{8,:}=[acstate{8,:},']'];
|
||||
acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.ind_airspeed(i)),', TAS: ',num2str(sysvector.true_airspeed(i)),']'];
|
||||
|
||||
set(h.edits.AircraftState,'String',acstate);
|
||||
|
||||
%**********************************************************************
|
||||
% GPS Plot Update
|
||||
%**********************************************************************
|
||||
%Plot traveled path, and and time.
|
||||
figure(h.figures(2));
|
||||
hold on;
|
||||
if(CurTime>mintime+1) %the +1 is only a small bugfix
|
||||
h.pathline=plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:i,1))*fconv_gpslatlong, ...
|
||||
double(sysvector.gps_raw_position(imintime:i,2))*fconv_gpslatlong, ...
|
||||
double(sysvector.gps_raw_position(imintime:i,3))*fconv_gpsalt,'b','LineWidth',2);
|
||||
end;
|
||||
hold off
|
||||
%Plot current position
|
||||
newpoint=[double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong double(sysvector.gps_raw_position(i,3))*fconv_gpsalt];
|
||||
if(numel(h.pathpoints)<=3) %empty path
|
||||
h.pathpoints(1,1:3)=newpoint;
|
||||
else %Not empty, append new point
|
||||
h.pathpoints(size(h.pathpoints,1)+1,:)=newpoint;
|
||||
end
|
||||
axes(h.axes(1));
|
||||
line(h.pathpoints(:,1),h.pathpoints(:,2),h.pathpoints(:,3),'LineStyle','none','Marker','.','MarkerEdge','black','MarkerSize',20);
|
||||
|
||||
|
||||
% Plot current time (small label next to current gps position)
|
||||
textdesc=strcat(' t=',num2str(time(i)),'s');
|
||||
if(isvalidhandle(h.markertext))
|
||||
delete(h.markertext); %delete old text
|
||||
end
|
||||
h.markertext=text(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong,double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong,...
|
||||
double(sysvector.gps_raw_position(i,3))*fconv_gpsalt,textdesc);
|
||||
set(h.edits.CurTime,'String',CurTime);
|
||||
|
||||
%**********************************************************************
|
||||
% Plot the lines showing the current time in the 2-d plots
|
||||
%**********************************************************************
|
||||
for i=2:NrAxes
|
||||
if(isvalidhandle(h.markerline(i))) delete(h.markerline(i)); end
|
||||
ylims=get(h.axes(i),'YLim');
|
||||
h.markerline(i)=line([CurTime CurTime] ,get(h.axes(i),'YLim'),'Color','black');
|
||||
set(h.markerline(i),'parent',h.axes(i));
|
||||
end
|
||||
|
||||
set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% MINMAXTIME CALLBACK (nested function)
|
||||
% ************************************************************************
|
||||
function minmaxtime_callback(hObj,event) %#ok<INUSL>
|
||||
new_mintime=get(h.sliders.MinTime,'Value');
|
||||
new_maxtime=get(h.sliders.MaxTime,'Value');
|
||||
|
||||
%Safety checks:
|
||||
bErr=false;
|
||||
%1: mintime must be < maxtime
|
||||
if((new_mintime>maxtime) || (new_maxtime<mintime))
|
||||
set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than maxtime! Values were not changed.','BackgroundColor','red');
|
||||
bErr=true;
|
||||
else
|
||||
%2: MinTime must be <=CurTime
|
||||
if(new_mintime>CurTime)
|
||||
set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than CurTime! CurTime set to new mintime.','BackgroundColor','red');
|
||||
mintime=new_mintime;
|
||||
CurTime=mintime;
|
||||
bErr=true;
|
||||
end
|
||||
%3: MaxTime must be >CurTime
|
||||
if(new_maxtime<CurTime)
|
||||
set(h.labels.GUIState,'String','Error: Maxtime cannot be smaller than CurTime! CurTime set to new maxtime.','BackgroundColor','red');
|
||||
maxtime=new_maxtime;
|
||||
CurTime=maxtime;
|
||||
bErr=true;
|
||||
end
|
||||
end
|
||||
|
||||
if(bErr==false)
|
||||
maxtime=new_maxtime;
|
||||
mintime=new_mintime;
|
||||
end
|
||||
|
||||
%Needs to be done in case values were reset above
|
||||
set(h.sliders.MinTime,'Value',mintime);
|
||||
set(h.sliders.MaxTime,'Value',maxtime);
|
||||
|
||||
%Update curtime-slider
|
||||
set(h.sliders.CurTime,'Value',CurTime);
|
||||
set(h.sliders.CurTime,'Max',maxtime);
|
||||
set(h.sliders.CurTime,'Min',mintime);
|
||||
temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');
|
||||
set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]); %Set Stepsize to constant [in seconds]
|
||||
|
||||
%update edit fields
|
||||
set(h.edits.CurTime,'String',get(h.sliders.CurTime,'Value'));
|
||||
set(h.edits.MinTime,'String',get(h.sliders.MinTime,'Value'));
|
||||
set(h.edits.MaxTime,'String',get(h.sliders.MaxTime,'Value'));
|
||||
|
||||
%Finally, we have to redraw. Update time indices first.
|
||||
[imintime,imaxtime]=FindMinMaxTimeIndices();
|
||||
DrawRawData(); %Rawdata only
|
||||
DrawCurrentAircraftState(); %path info & markers
|
||||
end
|
||||
|
||||
|
||||
%% ************************************************************************
|
||||
% CURTIME CALLBACK (nested function)
|
||||
% ************************************************************************
|
||||
function curtime_callback(hObj,event) %#ok<INUSL>
|
||||
%find current time
|
||||
if(hObj==h.sliders.CurTime)
|
||||
CurTime=get(h.sliders.CurTime,'Value');
|
||||
elseif (hObj==h.edits.CurTime)
|
||||
temp=str2num(get(h.edits.CurTime,'String'));
|
||||
if(temp<maxtime && temp>mintime)
|
||||
CurTime=temp;
|
||||
else
|
||||
%Error
|
||||
set(h.labels.GUIState,'String','Error: You tried to set an invalid current time! Previous value restored.','BackgroundColor','red');
|
||||
end
|
||||
else
|
||||
%Error
|
||||
set(h.labels.GUIState,'String','Error: curtime_callback','BackgroundColor','red');
|
||||
end
|
||||
|
||||
set(h.sliders.CurTime,'Value',CurTime);
|
||||
set(h.edits.CurTime,'String',num2str(CurTime));
|
||||
|
||||
%Redraw time markers, but don't have to redraw the whole raw data
|
||||
DrawCurrentAircraftState();
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% FINDMINMAXINDICES (nested function)
|
||||
% ************************************************************************
|
||||
function [idxmin,idxmax] = FindMinMaxTimeIndices()
|
||||
for i=1:size(sysvector.timestamp,1)
|
||||
if time(i)>=mintime; idxmin=i; break; end
|
||||
end
|
||||
for i=1:size(sysvector.timestamp,1)
|
||||
if maxtime==0; idxmax=size(sysvector.timestamp,1); break; end
|
||||
if time(i)>=maxtime; idxmax=i; break; end
|
||||
end
|
||||
mintime=time(idxmin);
|
||||
maxtime=time(idxmax);
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% ISVALIDHANDLE (nested function)
|
||||
% ************************************************************************
|
||||
function isvalid = isvalidhandle(handle)
|
||||
if(exist(varname(handle))>0 && length(ishandle(handle))>0)
|
||||
if(ishandle(handle)>0)
|
||||
if(handle>0.0)
|
||||
isvalid=true;
|
||||
return;
|
||||
end
|
||||
end
|
||||
end
|
||||
isvalid=false;
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% JUST SOME SMALL HELPER FUNCTIONS (nested function)
|
||||
% ************************************************************************
|
||||
function out = varname(var)
|
||||
out = inputname(1);
|
||||
end
|
||||
|
||||
%This is the end of the matlab file / the main function
|
||||
end
|
||||
@@ -0,0 +1,13 @@
|
||||
====== PX4 LOG CONVERSION ======
|
||||
|
||||
On each log session (commonly started and stopped by arming and disarming the vehicle) a new file logxxx.bin is created. In many cases there will be only one logfile named log001.bin (only one flight).
|
||||
|
||||
There are two conversion scripts in this ZIP file:
|
||||
|
||||
logconv.m: This is a MATLAB script which will automatically convert and display the flight data with a GUI. If running this script, the second script can be ignored.
|
||||
|
||||
sdlog2_dump.py: This is a Python script (compatible with v2 and v3) which converts the self-describing binary log format to a CSV file. To export a CSV file from within a shell (Windows CMD or BASH on Linux / Mac OS), run:
|
||||
|
||||
python sdlog2_dump.py log001.bin -f "export.csv" -t "TIME" -d "," -n ""
|
||||
|
||||
Python can be downloaded from http://python.org, but is available as default on Mac OS and Linux.
|
||||
+3
-2
@@ -16,7 +16,7 @@ close all
|
||||
% ************************************************************************
|
||||
|
||||
% Set the path to your sysvector.bin file here
|
||||
filePath = 'log_second_flight.bin';
|
||||
filePath = 'log001.bin';
|
||||
|
||||
% Set the minimum and maximum times to plot here [in seconds]
|
||||
mintime=0; %The minimum time/timestamp to display, as set by the user [0 for first element / start]
|
||||
@@ -111,8 +111,9 @@ function ImportPX4LogData()
|
||||
time_us = sysvector.TIME_StartTime(end) - sysvector.TIME_StartTime(1);
|
||||
time_s = uint64(time_us*1e-6);
|
||||
time_m = uint64(time_s/60);
|
||||
time_s = time_s - time_m * 60;
|
||||
|
||||
disp([sprintf('Flight log duration: %d:%d (minutes:seconds)', time_m, time_s)]);
|
||||
disp([sprintf('Flight log duration: %d:%d (minutes:seconds)', time_m, time_s) char(10)]);
|
||||
|
||||
disp(['logfile conversion finished.' char(10)]);
|
||||
else
|
||||
|
||||
@@ -1,59 +0,0 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
"""Convert binary log generated by sdlog to CSV format
|
||||
|
||||
Usage: python logconv.py <log.bin>"""
|
||||
|
||||
__author__ = "Anton Babushkin"
|
||||
__version__ = "0.1"
|
||||
|
||||
import struct, sys
|
||||
|
||||
def _unpack_packet(data):
|
||||
s = ""
|
||||
s += "Q" #.timestamp = buf.raw.timestamp,
|
||||
s += "fff" #.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
|
||||
s += "fff" #.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
|
||||
s += "fff" #.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
|
||||
s += "f" #.baro = buf.raw.baro_pres_mbar,
|
||||
s += "f" #.baro_alt = buf.raw.baro_alt_meter,
|
||||
s += "f" #.baro_temp = buf.raw.baro_temp_celcius,
|
||||
s += "ffff" #.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
|
||||
s += "ffffffff" #.actuators = {buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3], buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]},
|
||||
s += "f" #.vbat = buf.batt.voltage_v,
|
||||
s += "f" #.bat_current = buf.batt.current_a,
|
||||
s += "f" #.bat_discharged = buf.batt.discharged_mah,
|
||||
s += "ffff" #.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2], buf.raw.adc_voltage_v[3]},
|
||||
s += "fff" #.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
|
||||
s += "iii" #.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
|
||||
s += "fff" #.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
|
||||
s += "fffffffff" #.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
|
||||
s += "fff" #.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
|
||||
s += "ffff" #.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
|
||||
s += "ffffff" #.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality},
|
||||
s += "f" #.diff_pressure = buf.diff_pres.differential_pressure_pa,
|
||||
s += "f" #.ind_airspeed = buf.airspeed.indicated_airspeed_m_s,
|
||||
s += "f" #.true_airspeed = buf.airspeed.true_airspeed_m_s
|
||||
s += "iii" # to align to 280
|
||||
d = struct.unpack(s, data)
|
||||
return d
|
||||
|
||||
def _main():
|
||||
if len(sys.argv) < 2:
|
||||
print "Usage:\npython logconv.py <log.bin>"
|
||||
return
|
||||
fn = sys.argv[1]
|
||||
sysvector_size = 280
|
||||
f = open(fn, "r")
|
||||
while True:
|
||||
data = f.read(sysvector_size)
|
||||
if len(data) < sysvector_size:
|
||||
break
|
||||
a = []
|
||||
for i in _unpack_packet(data):
|
||||
a.append(str(i))
|
||||
print ";".join(a)
|
||||
f.close()
|
||||
|
||||
if __name__ == "__main__":
|
||||
_main()
|
||||
+47
-29
@@ -1,6 +1,8 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
"""Dump binary log generated by sdlog2 or APM as CSV
|
||||
from __future__ import print_function
|
||||
|
||||
"""Dump binary log generated by PX4's sdlog2 or APM as CSV
|
||||
|
||||
Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]]
|
||||
|
||||
@@ -21,6 +23,11 @@ __version__ = "1.2"
|
||||
|
||||
import struct, sys
|
||||
|
||||
if sys.hexversion >= 0x030000F0:
|
||||
runningPython3 = True
|
||||
else:
|
||||
runningPython3 = False
|
||||
|
||||
class SDLog2Parser:
|
||||
BLOCK_SIZE = 8192
|
||||
MSG_HEADER_LEN = 3
|
||||
@@ -65,7 +72,7 @@ class SDLog2Parser:
|
||||
self.__msg_descrs = {} # message descriptions by message type map
|
||||
self.__msg_labels = {} # message labels by message name map
|
||||
self.__msg_names = [] # message names in the same order as FORMAT messages
|
||||
self.__buffer = "" # buffer for input binary data
|
||||
self.__buffer = bytearray() # buffer for input binary data
|
||||
self.__ptr = 0 # read pointer in buffer
|
||||
self.__csv_columns = [] # CSV file columns in correct order in format "MSG.label"
|
||||
self.__csv_data = {} # current values for all columns
|
||||
@@ -105,7 +112,7 @@ class SDLog2Parser:
|
||||
for msg_name, show_fields in self.__msg_filter:
|
||||
self.__msg_filter_map[msg_name] = show_fields
|
||||
first_data_msg = True
|
||||
f = open(fn, "r")
|
||||
f = open(fn, "rb")
|
||||
bytes_read = 0
|
||||
while True:
|
||||
chunk = f.read(self.BLOCK_SIZE)
|
||||
@@ -114,15 +121,15 @@ class SDLog2Parser:
|
||||
self.__buffer = self.__buffer[self.__ptr:] + chunk
|
||||
self.__ptr = 0
|
||||
while self.__bytesLeft() >= self.MSG_HEADER_LEN:
|
||||
head1 = ord(self.__buffer[self.__ptr])
|
||||
head2 = ord(self.__buffer[self.__ptr+1])
|
||||
head1 = self.__buffer[self.__ptr]
|
||||
head2 = self.__buffer[self.__ptr+1]
|
||||
if (head1 != self.MSG_HEAD1 or head2 != self.MSG_HEAD2):
|
||||
if self.__correct_errors:
|
||||
self.__ptr += 1
|
||||
continue
|
||||
else:
|
||||
raise Exception("Invalid header at %i (0x%X): %02X %02X, must be %02X %02X" % (bytes_read + self.__ptr, bytes_read + self.__ptr, head1, head2, self.MSG_HEAD1, self.MSG_HEAD2))
|
||||
msg_type = ord(self.__buffer[self.__ptr+2])
|
||||
msg_type = self.__buffer[self.__ptr+2]
|
||||
if msg_type == self.MSG_TYPE_FORMAT:
|
||||
# parse FORMAT message
|
||||
if self.__bytesLeft() < self.MSG_FORMAT_PACKET_LEN:
|
||||
@@ -168,9 +175,9 @@ class SDLog2Parser:
|
||||
self.__csv_columns.append(full_label)
|
||||
self.__csv_data[full_label] = None
|
||||
if self.__file != None:
|
||||
print >> self.__file, self.__csv_delim.join(self.__csv_columns)
|
||||
print(self.__csv_delim.join(self.__csv_columns), file=self.__file)
|
||||
else:
|
||||
print self.__csv_delim.join(self.__csv_columns)
|
||||
print(self.__csv_delim.join(self.__csv_columns))
|
||||
|
||||
def __printCSVRow(self):
|
||||
s = []
|
||||
@@ -183,18 +190,26 @@ class SDLog2Parser:
|
||||
s.append(v)
|
||||
|
||||
if self.__file != None:
|
||||
print >> self.__file, self.__csv_delim.join(s)
|
||||
print(self.__csv_delim.join(s), file=self.__file)
|
||||
else:
|
||||
print self.__csv_delim.join(s)
|
||||
print(self.__csv_delim.join(s))
|
||||
|
||||
def __parseMsgDescr(self):
|
||||
data = struct.unpack(self.MSG_FORMAT_STRUCT, self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN])
|
||||
if runningPython3:
|
||||
data = struct.unpack(self.MSG_FORMAT_STRUCT, self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN])
|
||||
else:
|
||||
data = struct.unpack(self.MSG_FORMAT_STRUCT, str(self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN]))
|
||||
msg_type = data[0]
|
||||
if msg_type != self.MSG_TYPE_FORMAT:
|
||||
msg_length = data[1]
|
||||
msg_name = data[2].strip("\0")
|
||||
msg_format = data[3].strip("\0")
|
||||
msg_labels = data[4].strip("\0").split(",")
|
||||
if runningPython3:
|
||||
msg_name = str(data[2], 'ascii').strip("\0")
|
||||
msg_format = str(data[3], 'ascii').strip("\0")
|
||||
msg_labels = str(data[4], 'ascii').strip("\0").split(",")
|
||||
else:
|
||||
msg_name = str(data[2]).strip("\0")
|
||||
msg_format = str(data[3]).strip("\0")
|
||||
msg_labels = str(data[4]).strip("\0").split(",")
|
||||
# Convert msg_format to struct.unpack format string
|
||||
msg_struct = ""
|
||||
msg_mults = []
|
||||
@@ -211,8 +226,8 @@ class SDLog2Parser:
|
||||
self.__msg_names.append(msg_name)
|
||||
if self.__debug_out:
|
||||
if self.__filterMsg(msg_name) != None:
|
||||
print "MSG FORMAT: type = %i, length = %i, name = %s, format = %s, labels = %s, struct = %s, mults = %s" % (
|
||||
msg_type, msg_length, msg_name, msg_format, str(msg_labels), msg_struct, msg_mults)
|
||||
print("MSG FORMAT: type = %i, length = %i, name = %s, format = %s, labels = %s, struct = %s, mults = %s" % (
|
||||
msg_type, msg_length, msg_name, msg_format, str(msg_labels), msg_struct, msg_mults))
|
||||
self.__ptr += self.MSG_FORMAT_PACKET_LEN
|
||||
|
||||
def __parseMsg(self, msg_descr):
|
||||
@@ -222,8 +237,11 @@ class SDLog2Parser:
|
||||
self.__csv_updated = False
|
||||
show_fields = self.__filterMsg(msg_name)
|
||||
if (show_fields != None):
|
||||
data = list(struct.unpack(msg_struct, self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length]))
|
||||
for i in xrange(len(data)):
|
||||
if runningPython3:
|
||||
data = list(struct.unpack(msg_struct, self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length]))
|
||||
else:
|
||||
data = list(struct.unpack(msg_struct, str(self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length])))
|
||||
for i in range(len(data)):
|
||||
if type(data[i]) is str:
|
||||
data[i] = data[i].strip("\0")
|
||||
m = msg_mults[i]
|
||||
@@ -231,14 +249,14 @@ class SDLog2Parser:
|
||||
data[i] = data[i] * m
|
||||
if self.__debug_out:
|
||||
s = []
|
||||
for i in xrange(len(data)):
|
||||
for i in range(len(data)):
|
||||
label = msg_labels[i]
|
||||
if show_fields == "*" or label in show_fields:
|
||||
s.append(label + "=" + str(data[i]))
|
||||
print "MSG %s: %s" % (msg_name, ", ".join(s))
|
||||
print("MSG %s: %s" % (msg_name, ", ".join(s)))
|
||||
else:
|
||||
# update CSV data buffer
|
||||
for i in xrange(len(data)):
|
||||
for i in range(len(data)):
|
||||
label = msg_labels[i]
|
||||
if label in show_fields:
|
||||
self.__csv_data[msg_name + "_" + label] = data[i]
|
||||
@@ -250,14 +268,14 @@ class SDLog2Parser:
|
||||
|
||||
def _main():
|
||||
if len(sys.argv) < 2:
|
||||
print "Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]] [-t TIME_MSG_NAME]\n"
|
||||
print "\t-v\tUse plain debug output instead of CSV.\n"
|
||||
print "\t-e\tRecover from errors.\n"
|
||||
print "\t-d\tUse \"delimiter\" in CSV. Default is \",\".\n"
|
||||
print "\t-n\tUse \"null\" as placeholder for empty values in CSV. Default is empty.\n"
|
||||
print "\t-m MSG[.field1,field2,...]\n\t\tDump only messages of specified type, and only specified fields.\n\t\tMultiple -m options allowed."
|
||||
print "\t-t\tSpecify TIME message name to group data messages by time and significantly reduce duplicate output.\n"
|
||||
print "\t-fPrint to file instead of stdout"
|
||||
print("Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]] [-t TIME_MSG_NAME]\n")
|
||||
print("\t-v\tUse plain debug output instead of CSV.\n")
|
||||
print("\t-e\tRecover from errors.\n")
|
||||
print("\t-d\tUse \"delimiter\" in CSV. Default is \",\".\n")
|
||||
print("\t-n\tUse \"null\" as placeholder for empty values in CSV. Default is empty.\n")
|
||||
print("\t-m MSG[.field1,field2,...]\n\t\tDump only messages of specified type, and only specified fields.\n\t\tMultiple -m options allowed.")
|
||||
print("\t-t\tSpecify TIME message name to group data messages by time and significantly reduce duplicate output.\n")
|
||||
print("\t-fPrint to file instead of stdout")
|
||||
return
|
||||
fn = sys.argv[1]
|
||||
debug_out = False
|
||||
|
||||
@@ -6,5 +6,6 @@
|
||||
# Configure the toolchain
|
||||
#
|
||||
CONFIG_ARCH = CORTEXM4F
|
||||
CONFIG_BOARD = PX4FMU_V1
|
||||
|
||||
include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
|
||||
|
||||
@@ -6,5 +6,6 @@
|
||||
# Configure the toolchain
|
||||
#
|
||||
CONFIG_ARCH = CORTEXM3
|
||||
CONFIG_BOARD = PX4IO_V1
|
||||
|
||||
include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
|
||||
|
||||
@@ -75,6 +75,7 @@ MODULES += examples/flow_position_estimator
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
MODULES += modules/segway
|
||||
MODULES += modules/fixedwing_backside
|
||||
MODULES += modules/fixedwing_att_control
|
||||
MODULES += modules/fixedwing_pos_control
|
||||
@@ -96,6 +97,7 @@ MODULES += modules/sdlog2
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/mathlib
|
||||
MODULES += modules/mathlib/math/filter
|
||||
MODULES += modules/controllib
|
||||
MODULES += modules/uORB
|
||||
|
||||
|
||||
@@ -153,6 +153,7 @@ ifeq ($(BOARD_FILE),)
|
||||
$(error Config $(CONFIG) references board $(BOARD), but no board definition file found)
|
||||
endif
|
||||
export BOARD
|
||||
export BOARD_FILE
|
||||
include $(BOARD_FILE)
|
||||
$(info % BOARD = $(BOARD))
|
||||
|
||||
@@ -385,7 +386,7 @@ define BUILTIN_DEF
|
||||
endef
|
||||
|
||||
# Don't generate until modules have updated their command files
|
||||
$(BUILTIN_CSRC): $(GLOBAL_DEPS) $(MODULE_OBJS) $(BUILTIN_COMMAND_FILES)
|
||||
$(BUILTIN_CSRC): $(GLOBAL_DEPS) $(MODULE_OBJS) $(MODULE_MKFILES) $(BUILTIN_COMMAND_FILES)
|
||||
@$(ECHO) "CMDS: $@"
|
||||
$(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@
|
||||
$(Q) $(ECHO) '#include <nuttx/config.h>' >> $@
|
||||
|
||||
+2
-1
@@ -98,6 +98,7 @@
|
||||
#
|
||||
# CONFIG
|
||||
# BOARD
|
||||
# BOARD_FILE
|
||||
# MODULE_WORK_DIR
|
||||
# MODULE_OBJ
|
||||
# MODULE_MK
|
||||
@@ -117,7 +118,7 @@ $(info %% MODULE_MK = $(MODULE_MK))
|
||||
#
|
||||
# Get the board/toolchain config
|
||||
#
|
||||
include $(PX4_MK_DIR)/board_$(BOARD).mk
|
||||
include $(BOARD_FILE)
|
||||
|
||||
#
|
||||
# Get the module's config
|
||||
|
||||
@@ -65,6 +65,7 @@ export INCLUDE_DIRS := $(PX4_MODULE_SRC) \
|
||||
export MKFW = $(PX4_BASE)/Tools/px_mkfw.py
|
||||
export UPLOADER = $(PX4_BASE)/Tools/px_uploader.py
|
||||
export COPY = cp
|
||||
export COPYDIR = cp -Rf
|
||||
export REMOVE = rm -f
|
||||
export RMDIR = rm -rf
|
||||
export GENROMFS = genromfs
|
||||
|
||||
@@ -85,6 +85,13 @@ ifeq ($(ARCHCPUFLAGS),)
|
||||
$(error Must set CONFIG_ARCH to one of CORTEXM4F, CORTEXM4 or CORTEXM3)
|
||||
endif
|
||||
|
||||
# Set the board flags
|
||||
#
|
||||
ifeq ($(CONFIG_BOARD),)
|
||||
$(error Board config does not define CONFIG_BOARD)
|
||||
endif
|
||||
ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD)
|
||||
|
||||
# optimisation flags
|
||||
#
|
||||
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
|
||||
|
||||
@@ -27,8 +27,6 @@ all: upload-$(METHOD)-$(BOARD)
|
||||
upload-serial-px4fmu-v1: $(BUNDLE) $(UPLOADER)
|
||||
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
|
||||
|
||||
upload-serial-px4fmuv2: $(BUNDLE) $(UPLOADER)
|
||||
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
|
||||
|
||||
#
|
||||
# JTAG firmware uploading with OpenOCD
|
||||
|
||||
@@ -0,0 +1,391 @@
|
||||
/************************************************************************************
|
||||
* configs/stm32f4discovery/include/board.h
|
||||
* include/arch/board/board.h
|
||||
*
|
||||
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __CONFIG_PX4FMU_V1_INCLUDE_BOARD_H
|
||||
#define __CONFIG_PX4FMU_V1_INCLUDE_BOARD_H
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
# include <stdint.h>
|
||||
#endif
|
||||
|
||||
#include "stm32_rcc.h"
|
||||
#include "stm32_sdio.h"
|
||||
#include "stm32.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/* Clocking *************************************************************************/
|
||||
/* The PX4FMU uses a 24MHz crystal connected to the HSE.
|
||||
*
|
||||
* This is the canonical configuration:
|
||||
* System Clock source : PLL (HSE)
|
||||
* SYSCLK(Hz) : 168000000 Determined by PLL configuration
|
||||
* HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE)
|
||||
* AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE)
|
||||
* APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1)
|
||||
* APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2)
|
||||
* HSE Frequency(Hz) : 24000000 (STM32_BOARD_XTAL)
|
||||
* PLLM : 24 (STM32_PLLCFG_PLLM)
|
||||
* PLLN : 336 (STM32_PLLCFG_PLLN)
|
||||
* PLLP : 2 (STM32_PLLCFG_PLLP)
|
||||
* PLLQ : 7 (STM32_PLLCFG_PLLQ)
|
||||
* Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK
|
||||
* Flash Latency(WS) : 5
|
||||
* Prefetch Buffer : OFF
|
||||
* Instruction cache : ON
|
||||
* Data cache : ON
|
||||
* Require 48MHz for USB OTG FS, : Enabled
|
||||
* SDIO and RNG clock
|
||||
*/
|
||||
|
||||
/* HSI - 16 MHz RC factory-trimmed
|
||||
* LSI - 32 KHz RC
|
||||
* HSE - On-board crystal frequency is 24MHz
|
||||
* LSE - not installed
|
||||
*/
|
||||
|
||||
#define STM32_BOARD_XTAL 24000000ul
|
||||
|
||||
#define STM32_HSI_FREQUENCY 16000000ul
|
||||
#define STM32_LSI_FREQUENCY 32000
|
||||
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
|
||||
//#define STM32_LSE_FREQUENCY 32768
|
||||
|
||||
/* Main PLL Configuration.
|
||||
*
|
||||
* PLL source is HSE
|
||||
* PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
|
||||
* = (8,000,000 / 8) * 336
|
||||
* = 336,000,000
|
||||
* SYSCLK = PLL_VCO / PLLP
|
||||
* = 336,000,000 / 2 = 168,000,000
|
||||
* USB OTG FS, SDIO and RNG Clock
|
||||
* = PLL_VCO / PLLQ
|
||||
* = 48,000,000
|
||||
*/
|
||||
|
||||
#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(24)
|
||||
#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336)
|
||||
#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
|
||||
#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7)
|
||||
|
||||
#define STM32_SYSCLK_FREQUENCY 168000000ul
|
||||
|
||||
/* AHB clock (HCLK) is SYSCLK (168MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */
|
||||
#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
|
||||
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
|
||||
|
||||
/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */
|
||||
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4)
|
||||
|
||||
/* Timers driven from APB1 will be twice PCLK1 */
|
||||
|
||||
#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
|
||||
#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* Timers driven from APB2 will be twice PCLK2 */
|
||||
|
||||
#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
|
||||
* otherwise frequency is 2xAPBx.
|
||||
* Note: TIM1,8 are on APB2, others on APB1
|
||||
*/
|
||||
|
||||
#define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* High-resolution timer
|
||||
*/
|
||||
#define HRT_TIMER 1 /* use timer1 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
|
||||
|
||||
/* LED definitions ******************************************************************/
|
||||
/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
|
||||
* way. The following definitions are used to access individual LEDs.
|
||||
*/
|
||||
|
||||
/* LED index values for use with stm32_setled() */
|
||||
|
||||
#define BOARD_LED1 0
|
||||
#define BOARD_LED2 1
|
||||
#define BOARD_NLEDS 2
|
||||
|
||||
#define BOARD_LED_BLUE BOARD_LED1
|
||||
#define BOARD_LED_RED BOARD_LED2
|
||||
|
||||
/* LED bits for use with stm32_setleds() */
|
||||
|
||||
#define BOARD_LED1_BIT (1 << BOARD_LED1)
|
||||
#define BOARD_LED2_BIT (1 << BOARD_LED2)
|
||||
|
||||
/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board the
|
||||
* px4fmu-v1. The following definitions describe how NuttX controls the LEDs:
|
||||
*/
|
||||
|
||||
#define LED_STARTED 0 /* LED1 */
|
||||
#define LED_HEAPALLOCATE 1 /* LED2 */
|
||||
#define LED_IRQSENABLED 2 /* LED1 */
|
||||
#define LED_STACKCREATED 3 /* LED1 + LED2 */
|
||||
#define LED_INIRQ 4 /* LED1 */
|
||||
#define LED_SIGNAL 5 /* LED2 */
|
||||
#define LED_ASSERTION 6 /* LED1 + LED2 */
|
||||
#define LED_PANIC 7 /* LED1 + LED2 */
|
||||
|
||||
/* Alternate function pin selections ************************************************/
|
||||
|
||||
/*
|
||||
* UARTs.
|
||||
*
|
||||
* Note that UART5 has no optional pinout, so it is not listed here.
|
||||
*/
|
||||
#define GPIO_USART1_RX GPIO_USART1_RX_2
|
||||
#define GPIO_USART1_TX GPIO_USART1_TX_2
|
||||
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_1
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_1
|
||||
#define GPIO_USART2_RTS GPIO_USART2_RTS_1
|
||||
#define GPIO_USART2_CTS GPIO_USART2_CTS_1
|
||||
|
||||
#define GPIO_USART6_RX GPIO_USART6_RX_1
|
||||
#define GPIO_USART6_TX GPIO_USART6_TX_1
|
||||
|
||||
/* UART DMA configuration for USART1/6 */
|
||||
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
|
||||
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
|
||||
|
||||
/*
|
||||
* PWM
|
||||
*
|
||||
* Four PWM outputs can be configured on pins otherwise shared with
|
||||
* USART2; two can take the flow control pins if they are not being used.
|
||||
*
|
||||
* Pins:
|
||||
*
|
||||
* CTS - PA0 - TIM2CH1
|
||||
* RTS - PA1 - TIM2CH2
|
||||
* TX - PA2 - TIM2CH3
|
||||
* RX - PA3 - TIM2CH4
|
||||
*
|
||||
*/
|
||||
#define GPIO_TIM2_CH1OUT GPIO_TIM2_CH1OUT_1
|
||||
#define GPIO_TIM2_CH2OUT GPIO_TIM2_CH2OUT_1
|
||||
#define GPIO_TIM2_CH3OUT GPIO_TIM2_CH3OUT_1
|
||||
#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_1
|
||||
|
||||
/*
|
||||
* PPM
|
||||
*
|
||||
* PPM input is handled by the HRT timer.
|
||||
*/
|
||||
#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
|
||||
#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
|
||||
|
||||
/*
|
||||
* CAN
|
||||
*
|
||||
* CAN2 is routed to the expansion connector.
|
||||
*/
|
||||
|
||||
#define GPIO_CAN2_RX GPIO_CAN2_RX_1
|
||||
#define GPIO_CAN2_TX GPIO_CAN2_TX_1
|
||||
|
||||
/*
|
||||
* I2C
|
||||
*
|
||||
* The optional _GPIO configurations allow the I2C driver to manually
|
||||
* reset the bus to clear stuck slaves. They match the pin configuration,
|
||||
* but are normally-high GPIOs.
|
||||
*/
|
||||
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2
|
||||
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2
|
||||
#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
|
||||
#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
|
||||
|
||||
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
|
||||
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1
|
||||
#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
|
||||
#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
|
||||
|
||||
#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1
|
||||
#define GPIO_I2C3_SDA GPIO_I2C3_SDA_1
|
||||
#define GPIO_I2C3_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
|
||||
#define GPIO_I2C3_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN9)
|
||||
|
||||
/*
|
||||
* I2C busses
|
||||
*/
|
||||
#define PX4_I2C_BUS_ESC 1
|
||||
#define PX4_I2C_BUS_ONBOARD 2
|
||||
#define PX4_I2C_BUS_EXPANSION 3
|
||||
|
||||
/*
|
||||
* Devices on the onboard bus.
|
||||
*
|
||||
* Note that these are unshifted addresses.
|
||||
*/
|
||||
#define PX4_I2C_OBDEV_HMC5883 0x1e
|
||||
#define PX4_I2C_OBDEV_MS5611 0x76
|
||||
#define PX4_I2C_OBDEV_EEPROM NOTDEFINED
|
||||
|
||||
#define PX4_I2C_OBDEV_PX4IO_BL 0x18
|
||||
#define PX4_I2C_OBDEV_PX4IO 0x1a
|
||||
|
||||
/*
|
||||
* SPI
|
||||
*
|
||||
* There are sensors on SPI1, and SPI3 is connected to the microSD slot.
|
||||
*/
|
||||
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
|
||||
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
|
||||
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
|
||||
|
||||
#define GPIO_SPI3_MISO GPIO_SPI3_MISO_2
|
||||
#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_1
|
||||
#define GPIO_SPI3_SCK GPIO_SPI3_SCK_2
|
||||
#define GPIO_SPI3_NSS GPIO_SPI3_NSS_2
|
||||
|
||||
/* SPI DMA configuration for SPI3 (microSD) */
|
||||
#define DMACHAN_SPI3_RX DMAMAP_SPI3_RX_1
|
||||
#define DMACHAN_SPI3_TX DMAMAP_SPI3_TX_2
|
||||
/* XXX since we allocate the HP work stack from CCM RAM on normal system startup,
|
||||
SPI1 will never run in DMA mode - so we can just give it a random config here.
|
||||
What we really need to do is to make DMA configurable per channel, and always
|
||||
disable it for SPI1. */
|
||||
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
|
||||
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2
|
||||
|
||||
/*
|
||||
* Use these in place of the spi_dev_e enumeration to
|
||||
* select a specific SPI device on SPI1
|
||||
*/
|
||||
#define PX4_SPIDEV_GYRO 1
|
||||
#define PX4_SPIDEV_ACCEL 2
|
||||
#define PX4_SPIDEV_MPU 3
|
||||
|
||||
/*
|
||||
* Optional devices on IO's external port
|
||||
*/
|
||||
#define PX4_SPIDEV_ACCEL_MAG 2
|
||||
|
||||
/*
|
||||
* Tone alarm output
|
||||
*/
|
||||
#define TONE_ALARM_TIMER 3 /* timer 3 */
|
||||
#define TONE_ALARM_CHANNEL 3 /* channel 3 */
|
||||
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
|
||||
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
|
||||
|
||||
/************************************************************************************
|
||||
* Public Data
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
#define EXTERN extern "C"
|
||||
extern "C" {
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Public Function Prototypes
|
||||
************************************************************************************/
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the intitialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
EXTERN void stm32_boardinitialize(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_ledinit, stm32_setled, and stm32_setleds
|
||||
*
|
||||
* Description:
|
||||
* If CONFIG_ARCH_LEDS is defined, then NuttX will control the on-board LEDs. If
|
||||
* CONFIG_ARCH_LEDS is not defined, then the following interfacesare available to
|
||||
* control the LEDs from user applications.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef CONFIG_ARCH_LEDS
|
||||
EXTERN void stm32_ledinit(void);
|
||||
EXTERN void stm32_setled(int led, bool ledon);
|
||||
EXTERN void stm32_setleds(uint8_t ledset);
|
||||
#endif
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
#endif /* __CONFIG_PX4FMU_V1_INCLUDE_BOARD_H */
|
||||
@@ -0,0 +1,42 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* nsh_romfsetc.h
|
||||
*
|
||||
* This file is a stub for 'make export' purposes; the actual ROMFS
|
||||
* must be supplied by the library client.
|
||||
*/
|
||||
|
||||
extern unsigned char romfs_img[];
|
||||
extern unsigned int romfs_img_len;
|
||||
@@ -0,0 +1,179 @@
|
||||
############################################################################
|
||||
# configs/px4fmu-v1/nsh/Make.defs
|
||||
#
|
||||
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name NuttX nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
include ${TOPDIR}/.config
|
||||
include ${TOPDIR}/tools/Config.mk
|
||||
|
||||
#
|
||||
# We only support building with the ARM bare-metal toolchain from
|
||||
# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
|
||||
#
|
||||
CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI
|
||||
|
||||
include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
|
||||
|
||||
CC = $(CROSSDEV)gcc
|
||||
CXX = $(CROSSDEV)g++
|
||||
CPP = $(CROSSDEV)gcc -E
|
||||
LD = $(CROSSDEV)ld
|
||||
AR = $(CROSSDEV)ar rcs
|
||||
NM = $(CROSSDEV)nm
|
||||
OBJCOPY = $(CROSSDEV)objcopy
|
||||
OBJDUMP = $(CROSSDEV)objdump
|
||||
|
||||
MAXOPTIMIZATION = -O3
|
||||
ARCHCPUFLAGS = -mcpu=cortex-m4 \
|
||||
-mthumb \
|
||||
-march=armv7e-m \
|
||||
-mfpu=fpv4-sp-d16 \
|
||||
-mfloat-abi=hard
|
||||
|
||||
|
||||
# enable precise stack overflow tracking
|
||||
INSTRUMENTATIONDEFINES = -finstrument-functions \
|
||||
-ffixed-r10
|
||||
|
||||
# pull in *just* libm from the toolchain ... this is grody
|
||||
LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
|
||||
EXTRA_LIBS += $(LIBM)
|
||||
|
||||
# use our linker script
|
||||
LDSCRIPT = ld.script
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
# Windows-native toolchains
|
||||
DIRLINK = $(TOPDIR)/tools/copydir.sh
|
||||
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
|
||||
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
|
||||
ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
|
||||
ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
|
||||
ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
|
||||
else
|
||||
ifeq ($(PX4_WINTOOL),y)
|
||||
# Windows-native toolchains (MSYS)
|
||||
DIRLINK = $(TOPDIR)/tools/copydir.sh
|
||||
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
|
||||
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
|
||||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
||||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
||||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
||||
else
|
||||
# Linux/Cygwin-native toolchain
|
||||
MKDEP = $(TOPDIR)/tools/mkdeps.sh
|
||||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
||||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
||||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
||||
endif
|
||||
endif
|
||||
|
||||
# tool versions
|
||||
ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
|
||||
ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
|
||||
|
||||
# optimisation flags
|
||||
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
|
||||
-fno-strict-aliasing \
|
||||
-fno-strength-reduce \
|
||||
-fomit-frame-pointer \
|
||||
-funsafe-math-optimizations \
|
||||
-fno-builtin-printf \
|
||||
-ffunction-sections \
|
||||
-fdata-sections
|
||||
|
||||
ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
|
||||
ARCHOPTIMIZATION += -g
|
||||
endif
|
||||
|
||||
ARCHCFLAGS = -std=gnu99
|
||||
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
|
||||
ARCHWARNINGS = -Wall \
|
||||
-Wextra \
|
||||
-Wdouble-promotion \
|
||||
-Wshadow \
|
||||
-Wfloat-equal \
|
||||
-Wframe-larger-than=1024 \
|
||||
-Wpointer-arith \
|
||||
-Wlogical-op \
|
||||
-Wmissing-declarations \
|
||||
-Wpacked \
|
||||
-Wno-unused-parameter
|
||||
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
|
||||
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
|
||||
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
|
||||
|
||||
ARCHCWARNINGS = $(ARCHWARNINGS) \
|
||||
-Wbad-function-cast \
|
||||
-Wstrict-prototypes \
|
||||
-Wold-style-declaration \
|
||||
-Wmissing-parameter-type \
|
||||
-Wmissing-prototypes \
|
||||
-Wnested-externs \
|
||||
-Wunsuffixed-float-constants
|
||||
ARCHWARNINGSXX = $(ARCHWARNINGS) \
|
||||
-Wno-psabi
|
||||
ARCHDEFINES =
|
||||
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
|
||||
|
||||
# this seems to be the only way to add linker flags
|
||||
EXTRA_LIBS += --warn-common \
|
||||
--gc-sections
|
||||
|
||||
CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
|
||||
CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
|
||||
CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
|
||||
CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
|
||||
CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
|
||||
AFLAGS = $(CFLAGS) -D__ASSEMBLY__
|
||||
|
||||
NXFLATLDFLAGS1 = -r -d -warn-common
|
||||
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
|
||||
LDNXFLATFLAGS = -e main -s 2048
|
||||
|
||||
OBJEXT = .o
|
||||
LIBEXT = .a
|
||||
EXEEXT =
|
||||
|
||||
|
||||
# produce partially-linked $1 from files in $2
|
||||
define PRELINK
|
||||
@echo "PRELINK: $1"
|
||||
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
||||
endef
|
||||
|
||||
HOSTCC = gcc
|
||||
HOSTINCLUDES = -I.
|
||||
HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
|
||||
HOSTLDFLAGS =
|
||||
|
||||
@@ -0,0 +1,964 @@
|
||||
#
|
||||
# Automatically generated file; DO NOT EDIT.
|
||||
# Nuttx/ Configuration
|
||||
#
|
||||
CONFIG_NUTTX_NEWCONFIG=y
|
||||
|
||||
#
|
||||
# Build Setup
|
||||
#
|
||||
# CONFIG_EXPERIMENTAL is not set
|
||||
# CONFIG_HOST_LINUX is not set
|
||||
CONFIG_HOST_OSX=y
|
||||
# CONFIG_HOST_WINDOWS is not set
|
||||
# CONFIG_HOST_OTHER is not set
|
||||
|
||||
#
|
||||
# Build Configuration
|
||||
#
|
||||
CONFIG_APPS_DIR="../apps"
|
||||
# CONFIG_BUILD_2PASS is not set
|
||||
|
||||
#
|
||||
# Binary Output Formats
|
||||
#
|
||||
# CONFIG_RRLOAD_BINARY is not set
|
||||
# CONFIG_INTELHEX_BINARY is not set
|
||||
# CONFIG_MOTOROLA_SREC is not set
|
||||
CONFIG_RAW_BINARY=y
|
||||
|
||||
#
|
||||
# Customize Header Files
|
||||
#
|
||||
# CONFIG_ARCH_STDBOOL_H is not set
|
||||
CONFIG_ARCH_MATH_H=y
|
||||
# CONFIG_ARCH_FLOAT_H is not set
|
||||
# CONFIG_ARCH_STDARG_H is not set
|
||||
|
||||
#
|
||||
# Debug Options
|
||||
#
|
||||
# CONFIG_DEBUG is not set
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
|
||||
#
|
||||
# System Type
|
||||
#
|
||||
# CONFIG_ARCH_8051 is not set
|
||||
CONFIG_ARCH_ARM=y
|
||||
# CONFIG_ARCH_AVR is not set
|
||||
# CONFIG_ARCH_HC is not set
|
||||
# CONFIG_ARCH_MIPS is not set
|
||||
# CONFIG_ARCH_RGMP is not set
|
||||
# CONFIG_ARCH_SH is not set
|
||||
# CONFIG_ARCH_SIM is not set
|
||||
# CONFIG_ARCH_X86 is not set
|
||||
# CONFIG_ARCH_Z16 is not set
|
||||
# CONFIG_ARCH_Z80 is not set
|
||||
CONFIG_ARCH="arm"
|
||||
|
||||
#
|
||||
# ARM Options
|
||||
#
|
||||
# CONFIG_ARCH_CHIP_C5471 is not set
|
||||
# CONFIG_ARCH_CHIP_CALYPSO is not set
|
||||
# CONFIG_ARCH_CHIP_DM320 is not set
|
||||
# CONFIG_ARCH_CHIP_IMX is not set
|
||||
# CONFIG_ARCH_CHIP_KINETIS is not set
|
||||
# CONFIG_ARCH_CHIP_KL is not set
|
||||
# CONFIG_ARCH_CHIP_LM is not set
|
||||
# CONFIG_ARCH_CHIP_LPC17XX is not set
|
||||
# CONFIG_ARCH_CHIP_LPC214X is not set
|
||||
# CONFIG_ARCH_CHIP_LPC2378 is not set
|
||||
# CONFIG_ARCH_CHIP_LPC31XX is not set
|
||||
# CONFIG_ARCH_CHIP_LPC43XX is not set
|
||||
# CONFIG_ARCH_CHIP_NUC1XX is not set
|
||||
# CONFIG_ARCH_CHIP_SAM34 is not set
|
||||
CONFIG_ARCH_CHIP_STM32=y
|
||||
# CONFIG_ARCH_CHIP_STR71X is not set
|
||||
CONFIG_ARCH_CORTEXM4=y
|
||||
CONFIG_ARCH_FAMILY="armv7-m"
|
||||
CONFIG_ARCH_CHIP="stm32"
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARCH_HAVE_CMNVECTOR=y
|
||||
CONFIG_ARMV7M_CMNVECTOR=y
|
||||
CONFIG_ARCH_HAVE_FPU=y
|
||||
CONFIG_ARCH_FPU=y
|
||||
CONFIG_ARCH_HAVE_MPU=y
|
||||
# CONFIG_ARMV7M_MPU is not set
|
||||
|
||||
#
|
||||
# ARMV7M Configuration Options
|
||||
#
|
||||
# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set
|
||||
CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y
|
||||
CONFIG_ARMV7M_STACKCHECK=y
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
|
||||
#
|
||||
# STM32 Configuration Options
|
||||
#
|
||||
# CONFIG_ARCH_CHIP_STM32L151C6 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L151C8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L151CB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L151R6 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L151R8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L151RB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L151V6 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L151V8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L151VB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L152C6 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L152C8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L152CB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L152R6 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L152R8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L152RB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L152V6 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L152V8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L152VB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100C8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100CB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100R8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100RB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100RC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100RD is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100RE is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100V8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100VB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100VC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100VD is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100VE is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103C4 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103C8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103RET6 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103VCT6 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103VET6 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103ZET6 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F105VBT7 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F107VC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F207IG is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F302CB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F302CC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F302RB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F302RC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F302VB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F302VC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F303CB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F303CC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F303RB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F303RC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F303VB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F303VC is not set
|
||||
CONFIG_ARCH_CHIP_STM32F405RG=y
|
||||
# CONFIG_ARCH_CHIP_STM32F405VG is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F405ZG is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F407VE is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F407VG is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F407ZE is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F407ZG is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F407IE is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F407IG is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F427V is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F427Z is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F427I is not set
|
||||
# CONFIG_STM32_STM32L15XX is not set
|
||||
# CONFIG_STM32_ENERGYLITE is not set
|
||||
# CONFIG_STM32_STM32F10XX is not set
|
||||
# CONFIG_STM32_VALUELINE is not set
|
||||
# CONFIG_STM32_CONNECTIVITYLINE is not set
|
||||
# CONFIG_STM32_PERFORMANCELINE is not set
|
||||
# CONFIG_STM32_HIGHDENSITY is not set
|
||||
# CONFIG_STM32_MEDIUMDENSITY is not set
|
||||
# CONFIG_STM32_LOWDENSITY is not set
|
||||
# CONFIG_STM32_STM32F20XX is not set
|
||||
# CONFIG_STM32_STM32F30XX is not set
|
||||
CONFIG_STM32_STM32F40XX=y
|
||||
# CONFIG_STM32_DFU is not set
|
||||
|
||||
#
|
||||
# STM32 Peripheral Support
|
||||
#
|
||||
CONFIG_STM32_ADC1=y
|
||||
# CONFIG_STM32_ADC2 is not set
|
||||
# CONFIG_STM32_ADC3 is not set
|
||||
CONFIG_STM32_BKPSRAM=y
|
||||
# CONFIG_STM32_CAN1 is not set
|
||||
# CONFIG_STM32_CAN2 is not set
|
||||
CONFIG_STM32_CCMDATARAM=y
|
||||
# CONFIG_STM32_CRC is not set
|
||||
# CONFIG_STM32_CRYP is not set
|
||||
CONFIG_STM32_DMA1=y
|
||||
CONFIG_STM32_DMA2=y
|
||||
# CONFIG_STM32_DAC1 is not set
|
||||
# CONFIG_STM32_DAC2 is not set
|
||||
# CONFIG_STM32_DCMI is not set
|
||||
# CONFIG_STM32_ETHMAC is not set
|
||||
# CONFIG_STM32_FSMC is not set
|
||||
# CONFIG_STM32_HASH is not set
|
||||
CONFIG_STM32_I2C1=y
|
||||
CONFIG_STM32_I2C2=y
|
||||
CONFIG_STM32_I2C3=y
|
||||
CONFIG_STM32_OTGFS=y
|
||||
# CONFIG_STM32_OTGHS is not set
|
||||
CONFIG_STM32_PWR=y
|
||||
# CONFIG_STM32_RNG is not set
|
||||
# CONFIG_STM32_SDIO is not set
|
||||
CONFIG_STM32_SPI1=y
|
||||
# CONFIG_STM32_SPI2 is not set
|
||||
CONFIG_STM32_SPI3=y
|
||||
CONFIG_STM32_SYSCFG=y
|
||||
# CONFIG_STM32_TIM1 is not set
|
||||
# CONFIG_STM32_TIM2 is not set
|
||||
# CONFIG_STM32_TIM3 is not set
|
||||
CONFIG_STM32_TIM4=y
|
||||
CONFIG_STM32_TIM5=y
|
||||
CONFIG_STM32_TIM6=y
|
||||
CONFIG_STM32_TIM7=y
|
||||
# CONFIG_STM32_TIM8 is not set
|
||||
CONFIG_STM32_TIM9=y
|
||||
CONFIG_STM32_TIM10=y
|
||||
CONFIG_STM32_TIM11=y
|
||||
CONFIG_STM32_TIM12=y
|
||||
CONFIG_STM32_TIM13=y
|
||||
CONFIG_STM32_TIM14=y
|
||||
CONFIG_STM32_USART1=y
|
||||
CONFIG_STM32_USART2=y
|
||||
# CONFIG_STM32_USART3 is not set
|
||||
# CONFIG_STM32_UART4 is not set
|
||||
CONFIG_STM32_UART5=y
|
||||
CONFIG_STM32_USART6=y
|
||||
# CONFIG_STM32_IWDG is not set
|
||||
CONFIG_STM32_WWDG=y
|
||||
CONFIG_STM32_ADC=y
|
||||
CONFIG_STM32_SPI=y
|
||||
CONFIG_STM32_I2C=y
|
||||
|
||||
#
|
||||
# Alternate Pin Mapping
|
||||
#
|
||||
CONFIG_STM32_FLASH_PREFETCH=y
|
||||
# CONFIG_STM32_JTAG_DISABLE is not set
|
||||
CONFIG_STM32_JTAG_FULL_ENABLE=y
|
||||
# CONFIG_STM32_JTAG_NOJNTRST_ENABLE is not set
|
||||
# CONFIG_STM32_JTAG_SW_ENABLE is not set
|
||||
CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
|
||||
# CONFIG_STM32_FORCEPOWER is not set
|
||||
# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set
|
||||
# CONFIG_STM32_CCMEXCLUDE is not set
|
||||
CONFIG_STM32_DMACAPABLE=y
|
||||
# CONFIG_STM32_TIM4_PWM is not set
|
||||
# CONFIG_STM32_TIM5_PWM is not set
|
||||
# CONFIG_STM32_TIM9_PWM is not set
|
||||
# CONFIG_STM32_TIM10_PWM is not set
|
||||
# CONFIG_STM32_TIM11_PWM is not set
|
||||
# CONFIG_STM32_TIM12_PWM is not set
|
||||
# CONFIG_STM32_TIM13_PWM is not set
|
||||
# CONFIG_STM32_TIM14_PWM is not set
|
||||
# CONFIG_STM32_TIM4_ADC is not set
|
||||
# CONFIG_STM32_TIM5_ADC is not set
|
||||
CONFIG_STM32_USART=y
|
||||
|
||||
#
|
||||
# U[S]ART Configuration
|
||||
#
|
||||
# CONFIG_USART1_RS485 is not set
|
||||
# CONFIG_USART1_RXDMA is not set
|
||||
# CONFIG_USART2_RS485 is not set
|
||||
CONFIG_USART2_RXDMA=y
|
||||
# CONFIG_USART3_RXDMA is not set
|
||||
# CONFIG_UART4_RXDMA is not set
|
||||
# CONFIG_UART5_RS485 is not set
|
||||
CONFIG_UART5_RXDMA=y
|
||||
# CONFIG_USART6_RS485 is not set
|
||||
CONFIG_USART6_RXDMA=y
|
||||
# CONFIG_USART7_RXDMA is not set
|
||||
# CONFIG_USART8_RXDMA is not set
|
||||
CONFIG_SERIAL_DISABLE_REORDERING=y
|
||||
CONFIG_STM32_USART_SINGLEWIRE=y
|
||||
|
||||
#
|
||||
# SPI Configuration
|
||||
#
|
||||
# CONFIG_STM32_SPI_INTERRUPTS is not set
|
||||
# CONFIG_STM32_SPI_DMA is not set
|
||||
|
||||
#
|
||||
# I2C Configuration
|
||||
#
|
||||
# CONFIG_STM32_I2C_DYNTIMEO is not set
|
||||
CONFIG_STM32_I2CTIMEOSEC=0
|
||||
CONFIG_STM32_I2CTIMEOMS=10
|
||||
CONFIG_STM32_I2CTIMEOTICKS=500
|
||||
# CONFIG_STM32_I2C_DUTY16_9 is not set
|
||||
|
||||
#
|
||||
# USB Host Configuration
|
||||
#
|
||||
|
||||
#
|
||||
# USB Device Configuration
|
||||
#
|
||||
|
||||
#
|
||||
# External Memory Configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Architecture Options
|
||||
#
|
||||
# CONFIG_ARCH_NOINTC is not set
|
||||
# CONFIG_ARCH_VECNOTIRQ is not set
|
||||
CONFIG_ARCH_DMA=y
|
||||
CONFIG_ARCH_IRQPRIO=y
|
||||
# CONFIG_CUSTOM_STACK is not set
|
||||
# CONFIG_ADDRENV is not set
|
||||
CONFIG_ARCH_HAVE_VFORK=y
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
# CONFIG_ENDIAN_BIG is not set
|
||||
# CONFIG_ARCH_HAVE_RAMFUNCS is not set
|
||||
CONFIG_ARCH_HAVE_RAMVECTORS=y
|
||||
# CONFIG_ARCH_RAMVECTORS is not set
|
||||
|
||||
#
|
||||
# Board Settings
|
||||
#
|
||||
CONFIG_BOARD_LOOPSPERMSEC=16717
|
||||
# CONFIG_ARCH_CALIBRATION is not set
|
||||
CONFIG_DRAM_START=0x20000000
|
||||
CONFIG_DRAM_SIZE=196608
|
||||
CONFIG_ARCH_HAVE_INTERRUPTSTACK=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=2048
|
||||
|
||||
#
|
||||
# Boot options
|
||||
#
|
||||
# CONFIG_BOOT_RUNFROMEXTSRAM is not set
|
||||
CONFIG_BOOT_RUNFROMFLASH=y
|
||||
# CONFIG_BOOT_RUNFROMISRAM is not set
|
||||
# CONFIG_BOOT_RUNFROMSDRAM is not set
|
||||
# CONFIG_BOOT_COPYTORAM is not set
|
||||
|
||||
#
|
||||
# Board Selection
|
||||
#
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD=""
|
||||
|
||||
#
|
||||
# Common Board Options
|
||||
#
|
||||
CONFIG_NSH_MMCSDMINOR=0
|
||||
CONFIG_NSH_MMCSDSLOTNO=0
|
||||
CONFIG_NSH_MMCSDSPIPORTNO=3
|
||||
|
||||
#
|
||||
# Board-Specific Options
|
||||
#
|
||||
|
||||
#
|
||||
# RTOS Features
|
||||
#
|
||||
# CONFIG_BOARD_INITIALIZE is not set
|
||||
CONFIG_MSEC_PER_TICK=1
|
||||
CONFIG_RR_INTERVAL=0
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
# CONFIG_SCHED_HAVE_PARENT is not set
|
||||
# CONFIG_JULIAN_TIME is not set
|
||||
CONFIG_START_YEAR=1970
|
||||
CONFIG_START_MONTH=1
|
||||
CONFIG_START_DAY=1
|
||||
# CONFIG_DEV_CONSOLE is not set
|
||||
# CONFIG_MUTEX_TYPES is not set
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
# CONFIG_FDCLONE_DISABLE is not set
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
# CONFIG_SCHED_STARTHOOK is not set
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_ATEXIT_MAX=1
|
||||
# CONFIG_SCHED_ONEXIT is not set
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
CONFIG_DISABLE_OS_API=y
|
||||
# CONFIG_DISABLE_CLOCK is not set
|
||||
# CONFIG_DISABLE_POSIX_TIMERS is not set
|
||||
# CONFIG_DISABLE_PTHREAD is not set
|
||||
# CONFIG_DISABLE_SIGNALS is not set
|
||||
# CONFIG_DISABLE_MQUEUE is not set
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
|
||||
#
|
||||
# Signal Numbers
|
||||
#
|
||||
CONFIG_SIG_SIGUSR1=1
|
||||
CONFIG_SIG_SIGUSR2=2
|
||||
CONFIG_SIG_SIGALARM=3
|
||||
CONFIG_SIG_SIGCONDTIMEDOUT=16
|
||||
CONFIG_SIG_SIGWORK=4
|
||||
|
||||
#
|
||||
# Sizes of configurable things (0 disables)
|
||||
#
|
||||
CONFIG_MAX_TASKS=32
|
||||
CONFIG_MAX_TASK_ARGS=10
|
||||
CONFIG_NPTHREAD_KEYS=4
|
||||
CONFIG_NFILE_DESCRIPTORS=32
|
||||
CONFIG_NFILE_STREAMS=25
|
||||
CONFIG_NAME_MAX=32
|
||||
CONFIG_PREALLOC_MQ_MSGS=4
|
||||
CONFIG_MQ_MAXMSGSIZE=32
|
||||
CONFIG_MAX_WDOGPARMS=2
|
||||
CONFIG_PREALLOC_WDOGS=50
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
|
||||
#
|
||||
# Stack and heap information
|
||||
#
|
||||
CONFIG_IDLETHREAD_STACKSIZE=6000
|
||||
CONFIG_USERMAIN_STACKSIZE=4096
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_PTHREAD_STACK_DEFAULT=2048
|
||||
|
||||
#
|
||||
# Device Drivers
|
||||
#
|
||||
# CONFIG_DISABLE_POLL is not set
|
||||
CONFIG_DEV_NULL=y
|
||||
# CONFIG_DEV_ZERO is not set
|
||||
# CONFIG_LOOP is not set
|
||||
# CONFIG_RAMDISK is not set
|
||||
# CONFIG_CAN is not set
|
||||
# CONFIG_PWM is not set
|
||||
CONFIG_I2C=y
|
||||
# CONFIG_I2C_SLAVE is not set
|
||||
CONFIG_I2C_TRANSFER=y
|
||||
# CONFIG_I2C_WRITEREAD is not set
|
||||
# CONFIG_I2C_POLLED is not set
|
||||
# CONFIG_I2C_TRACE is not set
|
||||
CONFIG_ARCH_HAVE_I2CRESET=y
|
||||
CONFIG_I2C_RESET=y
|
||||
CONFIG_SPI=y
|
||||
# CONFIG_SPI_OWNBUS is not set
|
||||
CONFIG_SPI_EXCHANGE=y
|
||||
# CONFIG_SPI_CMDDATA is not set
|
||||
# CONFIG_RTC is not set
|
||||
CONFIG_WATCHDOG=y
|
||||
# CONFIG_ANALOG is not set
|
||||
# CONFIG_AUDIO_DEVICES is not set
|
||||
# CONFIG_BCH is not set
|
||||
# CONFIG_INPUT is not set
|
||||
# CONFIG_LCD is not set
|
||||
CONFIG_MMCSD=y
|
||||
CONFIG_MMCSD_NSLOTS=1
|
||||
# CONFIG_MMCSD_READONLY is not set
|
||||
# CONFIG_MMCSD_MULTIBLOCK_DISABLE is not set
|
||||
# CONFIG_MMCSD_MMCSUPPORT is not set
|
||||
# CONFIG_MMCSD_HAVECARDDETECT is not set
|
||||
CONFIG_MMCSD_SPI=y
|
||||
CONFIG_MMCSD_SPICLOCK=24000000
|
||||
# CONFIG_MMCSD_SDIO is not set
|
||||
# CONFIG_MTD is not set
|
||||
CONFIG_PIPES=y
|
||||
# CONFIG_PM is not set
|
||||
# CONFIG_POWER is not set
|
||||
# CONFIG_SENSORS is not set
|
||||
CONFIG_SERIAL=y
|
||||
# CONFIG_DEV_LOWCONSOLE is not set
|
||||
CONFIG_SERIAL_REMOVABLE=y
|
||||
# CONFIG_16550_UART is not set
|
||||
CONFIG_ARCH_HAVE_UART5=y
|
||||
CONFIG_ARCH_HAVE_USART1=y
|
||||
CONFIG_ARCH_HAVE_USART2=y
|
||||
CONFIG_ARCH_HAVE_USART6=y
|
||||
CONFIG_MCU_SERIAL=y
|
||||
CONFIG_STANDARD_SERIAL=y
|
||||
CONFIG_SERIAL_NPOLLWAITERS=2
|
||||
# CONFIG_USART1_SERIAL_CONSOLE is not set
|
||||
# CONFIG_USART2_SERIAL_CONSOLE is not set
|
||||
# CONFIG_UART5_SERIAL_CONSOLE is not set
|
||||
# CONFIG_USART6_SERIAL_CONSOLE is not set
|
||||
CONFIG_NO_SERIAL_CONSOLE=y
|
||||
|
||||
#
|
||||
# USART1 Configuration
|
||||
#
|
||||
CONFIG_USART1_RXBUFSIZE=512
|
||||
CONFIG_USART1_TXBUFSIZE=512
|
||||
CONFIG_USART1_BAUD=57600
|
||||
CONFIG_USART1_BITS=8
|
||||
CONFIG_USART1_PARITY=0
|
||||
CONFIG_USART1_2STOP=0
|
||||
# CONFIG_USART1_IFLOWCONTROL is not set
|
||||
# CONFIG_USART1_OFLOWCONTROL is not set
|
||||
|
||||
#
|
||||
# USART2 Configuration
|
||||
#
|
||||
CONFIG_USART2_RXBUFSIZE=512
|
||||
CONFIG_USART2_TXBUFSIZE=512
|
||||
CONFIG_USART2_BAUD=57600
|
||||
CONFIG_USART2_BITS=8
|
||||
CONFIG_USART2_PARITY=0
|
||||
CONFIG_USART2_2STOP=0
|
||||
CONFIG_USART2_IFLOWCONTROL=y
|
||||
CONFIG_USART2_OFLOWCONTROL=y
|
||||
|
||||
#
|
||||
# UART5 Configuration
|
||||
#
|
||||
CONFIG_UART5_RXBUFSIZE=32
|
||||
CONFIG_UART5_TXBUFSIZE=32
|
||||
CONFIG_UART5_BAUD=57600
|
||||
CONFIG_UART5_BITS=8
|
||||
CONFIG_UART5_PARITY=0
|
||||
CONFIG_UART5_2STOP=0
|
||||
# CONFIG_UART5_IFLOWCONTROL is not set
|
||||
# CONFIG_UART5_OFLOWCONTROL is not set
|
||||
|
||||
#
|
||||
# USART6 Configuration
|
||||
#
|
||||
CONFIG_USART6_RXBUFSIZE=512
|
||||
CONFIG_USART6_TXBUFSIZE=512
|
||||
CONFIG_USART6_BAUD=57600
|
||||
CONFIG_USART6_BITS=8
|
||||
CONFIG_USART6_PARITY=0
|
||||
CONFIG_USART6_2STOP=0
|
||||
# CONFIG_USART6_IFLOWCONTROL is not set
|
||||
# CONFIG_USART6_OFLOWCONTROL is not set
|
||||
CONFIG_SERIAL_IFLOWCONTROL=y
|
||||
CONFIG_SERIAL_OFLOWCONTROL=y
|
||||
CONFIG_USBDEV=y
|
||||
|
||||
#
|
||||
# USB Device Controller Driver Options
|
||||
#
|
||||
# CONFIG_USBDEV_ISOCHRONOUS is not set
|
||||
# CONFIG_USBDEV_DUALSPEED is not set
|
||||
# CONFIG_USBDEV_SELFPOWERED is not set
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
# CONFIG_USBDEV_REMOTEWAKEUP is not set
|
||||
# CONFIG_USBDEV_DMA is not set
|
||||
# CONFIG_USBDEV_TRACE is not set
|
||||
|
||||
#
|
||||
# USB Device Class Driver Options
|
||||
#
|
||||
# CONFIG_USBDEV_COMPOSITE is not set
|
||||
# CONFIG_PL2303 is not set
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_CONSOLE=y
|
||||
CONFIG_CDCACM_EP0MAXPACKET=64
|
||||
CONFIG_CDCACM_EPINTIN=1
|
||||
CONFIG_CDCACM_EPINTIN_FSSIZE=64
|
||||
CONFIG_CDCACM_EPINTIN_HSSIZE=64
|
||||
CONFIG_CDCACM_EPBULKOUT=3
|
||||
CONFIG_CDCACM_EPBULKOUT_FSSIZE=64
|
||||
CONFIG_CDCACM_EPBULKOUT_HSSIZE=512
|
||||
CONFIG_CDCACM_EPBULKIN=2
|
||||
CONFIG_CDCACM_EPBULKIN_FSSIZE=64
|
||||
CONFIG_CDCACM_EPBULKIN_HSSIZE=512
|
||||
CONFIG_CDCACM_NWRREQS=4
|
||||
CONFIG_CDCACM_NRDREQS=4
|
||||
CONFIG_CDCACM_BULKIN_REQLEN=96
|
||||
CONFIG_CDCACM_RXBUFSIZE=256
|
||||
CONFIG_CDCACM_TXBUFSIZE=256
|
||||
CONFIG_CDCACM_VENDORID=0x26ac
|
||||
CONFIG_CDCACM_PRODUCTID=0x0010
|
||||
CONFIG_CDCACM_VENDORSTR="3D Robotics"
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v1.x"
|
||||
# CONFIG_USBMSC is not set
|
||||
# CONFIG_USBHOST is not set
|
||||
# CONFIG_WIRELESS is not set
|
||||
|
||||
#
|
||||
# System Logging Device Options
|
||||
#
|
||||
|
||||
#
|
||||
# System Logging
|
||||
#
|
||||
# CONFIG_RAMLOG is not set
|
||||
|
||||
#
|
||||
# Networking Support
|
||||
#
|
||||
# CONFIG_NET is not set
|
||||
|
||||
#
|
||||
# File Systems
|
||||
#
|
||||
|
||||
#
|
||||
# File system configuration
|
||||
#
|
||||
# CONFIG_DISABLE_MOUNTPOINT is not set
|
||||
# CONFIG_FS_RAMMAP is not set
|
||||
CONFIG_FS_FAT=y
|
||||
CONFIG_FAT_LCNAMES=y
|
||||
CONFIG_FAT_LFN=y
|
||||
CONFIG_FAT_MAXFNAME=32
|
||||
CONFIG_FS_FATTIME=y
|
||||
# CONFIG_FAT_DMAMEMORY is not set
|
||||
CONFIG_FS_NXFFS=y
|
||||
CONFIG_NXFFS_PREALLOCATED=y
|
||||
CONFIG_NXFFS_ERASEDSTATE=0xff
|
||||
CONFIG_NXFFS_PACKTHRESHOLD=32
|
||||
CONFIG_NXFFS_MAXNAMLEN=32
|
||||
CONFIG_NXFFS_TAILTHRESHOLD=2048
|
||||
CONFIG_FS_ROMFS=y
|
||||
# CONFIG_FS_SMARTFS is not set
|
||||
CONFIG_FS_BINFS=y
|
||||
|
||||
#
|
||||
# System Logging
|
||||
#
|
||||
# CONFIG_SYSLOG_ENABLE is not set
|
||||
CONFIG_SYSLOG=y
|
||||
CONFIG_SYSLOG_CHAR=y
|
||||
CONFIG_SYSLOG_DEVPATH="/dev/ttyS0"
|
||||
|
||||
#
|
||||
# Graphics Support
|
||||
#
|
||||
# CONFIG_NX is not set
|
||||
|
||||
#
|
||||
# Memory Management
|
||||
#
|
||||
# CONFIG_MM_MULTIHEAP is not set
|
||||
# CONFIG_MM_SMALL is not set
|
||||
CONFIG_MM_REGIONS=2
|
||||
CONFIG_GRAN=y
|
||||
CONFIG_GRAN_SINGLE=y
|
||||
CONFIG_GRAN_INTR=y
|
||||
|
||||
#
|
||||
# Audio Support
|
||||
#
|
||||
# CONFIG_AUDIO is not set
|
||||
|
||||
#
|
||||
# Binary Formats
|
||||
#
|
||||
# CONFIG_BINFMT_DISABLE is not set
|
||||
# CONFIG_BINFMT_EXEPATH is not set
|
||||
# CONFIG_NXFLAT is not set
|
||||
# CONFIG_ELF is not set
|
||||
CONFIG_BUILTIN=y
|
||||
# CONFIG_PIC is not set
|
||||
# CONFIG_SYMTAB_ORDEREDBYNAME is not set
|
||||
|
||||
#
|
||||
# Library Routines
|
||||
#
|
||||
|
||||
#
|
||||
# Standard C Library Options
|
||||
#
|
||||
CONFIG_STDIO_BUFFER_SIZE=256
|
||||
CONFIG_STDIO_LINEBUFFER=y
|
||||
CONFIG_NUNGET_CHARS=2
|
||||
CONFIG_LIB_HOMEDIR="/"
|
||||
# CONFIG_NOPRINTF_FIELDWIDTH is not set
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIB_RAND_ORDER=1
|
||||
# CONFIG_EOL_IS_CR is not set
|
||||
# CONFIG_EOL_IS_LF is not set
|
||||
# CONFIG_EOL_IS_BOTH_CRLF is not set
|
||||
CONFIG_EOL_IS_EITHER_CRLF=y
|
||||
# CONFIG_LIBC_EXECFUNCS is not set
|
||||
CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=1024
|
||||
CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=2048
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
# CONFIG_LIBC_STRERROR_SHORT is not set
|
||||
# CONFIG_LIBC_PERROR_STDOUT is not set
|
||||
CONFIG_ARCH_LOWPUTC=y
|
||||
CONFIG_LIB_SENDFILE_BUFSIZE=512
|
||||
# CONFIG_ARCH_ROMGETC is not set
|
||||
CONFIG_ARCH_OPTIMIZED_FUNCTIONS=y
|
||||
CONFIG_ARCH_MEMCPY=y
|
||||
# CONFIG_ARCH_MEMCMP is not set
|
||||
# CONFIG_ARCH_MEMMOVE is not set
|
||||
# CONFIG_ARCH_MEMSET is not set
|
||||
# CONFIG_MEMSET_OPTSPEED is not set
|
||||
# CONFIG_ARCH_STRCHR is not set
|
||||
# CONFIG_ARCH_STRCMP is not set
|
||||
# CONFIG_ARCH_STRCPY is not set
|
||||
# CONFIG_ARCH_STRNCPY is not set
|
||||
# CONFIG_ARCH_STRLEN is not set
|
||||
# CONFIG_ARCH_STRNLEN is not set
|
||||
# CONFIG_ARCH_BZERO is not set
|
||||
|
||||
#
|
||||
# Non-standard Library Support
|
||||
#
|
||||
CONFIG_SCHED_WORKQUEUE=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_WORKPRIORITY=192
|
||||
CONFIG_SCHED_WORKPERIOD=5000
|
||||
CONFIG_SCHED_WORKSTACKSIZE=2048
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKPERIOD=50000
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=2048
|
||||
# CONFIG_LIB_KBDCODEC is not set
|
||||
# CONFIG_LIB_SLCDCODEC is not set
|
||||
|
||||
#
|
||||
# Basic CXX Support
|
||||
#
|
||||
# CONFIG_C99_BOOL8 is not set
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
# CONFIG_CXX_NEWLONG is not set
|
||||
|
||||
#
|
||||
# uClibc++ Standard C++ Library
|
||||
#
|
||||
# CONFIG_UCLIBCXX is not set
|
||||
|
||||
#
|
||||
# Application Configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Built-In Applications
|
||||
#
|
||||
CONFIG_BUILTIN_PROXY_STACKSIZE=1024
|
||||
|
||||
#
|
||||
# Examples
|
||||
#
|
||||
# CONFIG_EXAMPLES_BUTTONS is not set
|
||||
# CONFIG_EXAMPLES_CAN is not set
|
||||
CONFIG_EXAMPLES_CDCACM=y
|
||||
# CONFIG_EXAMPLES_COMPOSITE is not set
|
||||
# CONFIG_EXAMPLES_CXXTEST is not set
|
||||
# CONFIG_EXAMPLES_DHCPD is not set
|
||||
# CONFIG_EXAMPLES_ELF is not set
|
||||
# CONFIG_EXAMPLES_FTPC is not set
|
||||
# CONFIG_EXAMPLES_FTPD is not set
|
||||
# CONFIG_EXAMPLES_HELLO is not set
|
||||
# CONFIG_EXAMPLES_HELLOXX is not set
|
||||
# CONFIG_EXAMPLES_JSON is not set
|
||||
# CONFIG_EXAMPLES_HIDKBD is not set
|
||||
# CONFIG_EXAMPLES_KEYPADTEST is not set
|
||||
# CONFIG_EXAMPLES_IGMP is not set
|
||||
# CONFIG_EXAMPLES_LCDRW is not set
|
||||
# CONFIG_EXAMPLES_MM is not set
|
||||
# CONFIG_EXAMPLES_MODBUS is not set
|
||||
CONFIG_EXAMPLES_MOUNT=y
|
||||
# CONFIG_EXAMPLES_NRF24L01TERM is not set
|
||||
CONFIG_EXAMPLES_NSH=y
|
||||
# CONFIG_EXAMPLES_NULL is not set
|
||||
# CONFIG_EXAMPLES_NX is not set
|
||||
# CONFIG_EXAMPLES_NXCONSOLE is not set
|
||||
# CONFIG_EXAMPLES_NXFFS is not set
|
||||
# CONFIG_EXAMPLES_NXFLAT is not set
|
||||
# CONFIG_EXAMPLES_NXHELLO is not set
|
||||
# CONFIG_EXAMPLES_NXIMAGE is not set
|
||||
# CONFIG_EXAMPLES_NXLINES is not set
|
||||
# CONFIG_EXAMPLES_NXTEXT is not set
|
||||
# CONFIG_EXAMPLES_OSTEST is not set
|
||||
# CONFIG_EXAMPLES_PASHELLO is not set
|
||||
# CONFIG_EXAMPLES_PIPE is not set
|
||||
# CONFIG_EXAMPLES_POSIXSPAWN is not set
|
||||
# CONFIG_EXAMPLES_QENCODER is not set
|
||||
# CONFIG_EXAMPLES_RGMP is not set
|
||||
# CONFIG_EXAMPLES_ROMFS is not set
|
||||
# CONFIG_EXAMPLES_SENDMAIL is not set
|
||||
# CONFIG_EXAMPLES_SERLOOP is not set
|
||||
# CONFIG_EXAMPLES_SLCD is not set
|
||||
# CONFIG_EXAMPLES_SMART_TEST is not set
|
||||
# CONFIG_EXAMPLES_SMART is not set
|
||||
# CONFIG_EXAMPLES_TCPECHO is not set
|
||||
# CONFIG_EXAMPLES_TELNETD is not set
|
||||
# CONFIG_EXAMPLES_THTTPD is not set
|
||||
# CONFIG_EXAMPLES_TIFF is not set
|
||||
# CONFIG_EXAMPLES_TOUCHSCREEN is not set
|
||||
# CONFIG_EXAMPLES_UDP is not set
|
||||
# CONFIG_EXAMPLES_UIP is not set
|
||||
# CONFIG_EXAMPLES_USBSERIAL is not set
|
||||
# CONFIG_EXAMPLES_USBMSC is not set
|
||||
# CONFIG_EXAMPLES_USBTERM is not set
|
||||
# CONFIG_EXAMPLES_WATCHDOG is not set
|
||||
|
||||
#
|
||||
# Graphics Support
|
||||
#
|
||||
# CONFIG_TIFF is not set
|
||||
|
||||
#
|
||||
# Interpreters
|
||||
#
|
||||
# CONFIG_INTERPRETERS_FICL is not set
|
||||
# CONFIG_INTERPRETERS_PCODE is not set
|
||||
|
||||
#
|
||||
# Network Utilities
|
||||
#
|
||||
|
||||
#
|
||||
# Networking Utilities
|
||||
#
|
||||
# CONFIG_NETUTILS_CODECS is not set
|
||||
# CONFIG_NETUTILS_DHCPC is not set
|
||||
# CONFIG_NETUTILS_DHCPD is not set
|
||||
# CONFIG_NETUTILS_FTPC is not set
|
||||
# CONFIG_NETUTILS_FTPD is not set
|
||||
# CONFIG_NETUTILS_JSON is not set
|
||||
# CONFIG_NETUTILS_RESOLV is not set
|
||||
# CONFIG_NETUTILS_SMTP is not set
|
||||
# CONFIG_NETUTILS_TELNETD is not set
|
||||
# CONFIG_NETUTILS_TFTPC is not set
|
||||
# CONFIG_NETUTILS_THTTPD is not set
|
||||
# CONFIG_NETUTILS_UIPLIB is not set
|
||||
# CONFIG_NETUTILS_WEBCLIENT is not set
|
||||
|
||||
#
|
||||
# FreeModBus
|
||||
#
|
||||
# CONFIG_MODBUS is not set
|
||||
|
||||
#
|
||||
# NSH Library
|
||||
#
|
||||
CONFIG_NSH_LIBRARY=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
|
||||
#
|
||||
# Disable Individual commands
|
||||
#
|
||||
# CONFIG_NSH_DISABLE_CAT is not set
|
||||
# CONFIG_NSH_DISABLE_CD is not set
|
||||
# CONFIG_NSH_DISABLE_CP is not set
|
||||
# CONFIG_NSH_DISABLE_DD is not set
|
||||
# CONFIG_NSH_DISABLE_ECHO is not set
|
||||
# CONFIG_NSH_DISABLE_EXEC is not set
|
||||
# CONFIG_NSH_DISABLE_EXIT is not set
|
||||
# CONFIG_NSH_DISABLE_FREE is not set
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_HELP is not set
|
||||
# CONFIG_NSH_DISABLE_HEXDUMP is not set
|
||||
# CONFIG_NSH_DISABLE_IFCONFIG is not set
|
||||
# CONFIG_NSH_DISABLE_KILL is not set
|
||||
# CONFIG_NSH_DISABLE_LOSETUP is not set
|
||||
# CONFIG_NSH_DISABLE_LS is not set
|
||||
# CONFIG_NSH_DISABLE_MB is not set
|
||||
# CONFIG_NSH_DISABLE_MKDIR is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFIFO is not set
|
||||
# CONFIG_NSH_DISABLE_MKRD is not set
|
||||
# CONFIG_NSH_DISABLE_MH is not set
|
||||
# CONFIG_NSH_DISABLE_MOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_MW is not set
|
||||
# CONFIG_NSH_DISABLE_NSFMOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_PS is not set
|
||||
# CONFIG_NSH_DISABLE_PING is not set
|
||||
# CONFIG_NSH_DISABLE_PUT is not set
|
||||
# CONFIG_NSH_DISABLE_PWD is not set
|
||||
# CONFIG_NSH_DISABLE_RM is not set
|
||||
# CONFIG_NSH_DISABLE_RMDIR is not set
|
||||
# CONFIG_NSH_DISABLE_SET is not set
|
||||
# CONFIG_NSH_DISABLE_SH is not set
|
||||
# CONFIG_NSH_DISABLE_SLEEP is not set
|
||||
# CONFIG_NSH_DISABLE_TEST is not set
|
||||
# CONFIG_NSH_DISABLE_UMOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_UNSET is not set
|
||||
# CONFIG_NSH_DISABLE_USLEEP is not set
|
||||
# CONFIG_NSH_DISABLE_WGET is not set
|
||||
# CONFIG_NSH_DISABLE_XD is not set
|
||||
|
||||
#
|
||||
# Configure Command Options
|
||||
#
|
||||
# CONFIG_NSH_CMDOPT_DF_H is not set
|
||||
CONFIG_NSH_CODECS_BUFSIZE=128
|
||||
CONFIG_NSH_FILEIOSIZE=512
|
||||
CONFIG_NSH_STRERROR=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=12
|
||||
CONFIG_NSH_NESTDEPTH=8
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
CONFIG_NSH_ROMFSETC=y
|
||||
# CONFIG_NSH_ROMFSRC is not set
|
||||
CONFIG_NSH_ROMFSMOUNTPT="/etc"
|
||||
CONFIG_NSH_INITSCRIPT="init.d/rcS"
|
||||
CONFIG_NSH_ROMFSDEVNO=0
|
||||
CONFIG_NSH_ROMFSSECTSIZE=128
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_FATDEVNO=1
|
||||
CONFIG_NSH_FATSECTSIZE=512
|
||||
CONFIG_NSH_FATNSECTORS=1024
|
||||
CONFIG_NSH_FATMOUNTPT="/tmp"
|
||||
CONFIG_NSH_CONSOLE=y
|
||||
# CONFIG_NSH_USBCONSOLE is not set
|
||||
|
||||
#
|
||||
# USB Trace Support
|
||||
#
|
||||
# CONFIG_NSH_CONDEV is not set
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
|
||||
#
|
||||
# NxWidgets/NxWM
|
||||
#
|
||||
|
||||
#
|
||||
# System NSH Add-Ons
|
||||
#
|
||||
|
||||
#
|
||||
# Custom Free Memory Command
|
||||
#
|
||||
# CONFIG_SYSTEM_FREE is not set
|
||||
|
||||
#
|
||||
# I2C tool
|
||||
#
|
||||
# CONFIG_SYSTEM_I2CTOOL is not set
|
||||
|
||||
#
|
||||
# FLASH Program Installation
|
||||
#
|
||||
# CONFIG_SYSTEM_INSTALL is not set
|
||||
|
||||
#
|
||||
# FLASH Erase-all Command
|
||||
#
|
||||
|
||||
#
|
||||
# readline()
|
||||
#
|
||||
CONFIG_SYSTEM_READLINE=y
|
||||
CONFIG_READLINE_ECHO=y
|
||||
|
||||
#
|
||||
# Power Off
|
||||
#
|
||||
# CONFIG_SYSTEM_POWEROFF is not set
|
||||
|
||||
#
|
||||
# RAMTRON
|
||||
#
|
||||
# CONFIG_SYSTEM_RAMTRON is not set
|
||||
|
||||
#
|
||||
# SD Card
|
||||
#
|
||||
# CONFIG_SYSTEM_SDCARD is not set
|
||||
|
||||
#
|
||||
# Sysinfo
|
||||
#
|
||||
CONFIG_SYSTEM_SYSINFO=y
|
||||
|
||||
#
|
||||
# USB Monitor
|
||||
#
|
||||
Executable
+75
@@ -0,0 +1,75 @@
|
||||
#!/bin/bash
|
||||
# configs/px4fmu-v1/usbnsh/setenv.sh
|
||||
#
|
||||
# Copyright (C) 2013 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name NuttX nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
if [ "$_" = "$0" ] ; then
|
||||
echo "You must source this script, not run it!" 1>&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
WD=`pwd`
|
||||
if [ ! -x "setenv.sh" ]; then
|
||||
echo "This script must be executed from the top-level NuttX build directory"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [ -z "${PATH_ORIG}" ]; then
|
||||
export PATH_ORIG="${PATH}"
|
||||
fi
|
||||
|
||||
# This is the Cygwin path to the location where I installed the RIDE
|
||||
# toolchain under windows. You will also have to edit this if you install
|
||||
# the RIDE toolchain in any other location
|
||||
#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
|
||||
|
||||
# This is the Cygwin path to the location where I installed the CodeSourcery
|
||||
# toolchain under windows. You will also have to edit this if you install
|
||||
# the CodeSourcery toolchain in any other location
|
||||
export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
|
||||
|
||||
# These are the Cygwin paths to the locations where I installed the Atollic
|
||||
# toolchain under windows. You will also have to edit this if you install
|
||||
# the Atollic toolchain in any other location. /usr/bin is added before
|
||||
# the Atollic bin path because there is are binaries named gcc.exe and g++.exe
|
||||
# at those locations as well.
|
||||
#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for ARM Pro 2.3.0/ARMTools/bin"
|
||||
#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for STMicroelectronics STM32 Lite 2.3.0/ARMTools/bin"
|
||||
|
||||
# This is the Cygwin path to the location where I build the buildroot
|
||||
# toolchain.
|
||||
#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
|
||||
|
||||
# Add the path to the toolchain to the PATH varialble
|
||||
export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
|
||||
|
||||
echo "PATH : ${PATH}"
|
||||
@@ -0,0 +1,149 @@
|
||||
/****************************************************************************
|
||||
* configs/px4fmu-v1/scripts/ld.script
|
||||
*
|
||||
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
|
||||
* 192Kb of SRAM. SRAM is split up into three blocks:
|
||||
*
|
||||
* 1) 112Kb of SRAM beginning at address 0x2000:0000
|
||||
* 2) 16Kb of SRAM beginning at address 0x2001:c000
|
||||
* 3) 64Kb of CCM SRAM beginning at address 0x1000:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*
|
||||
* The first 0x4000 of flash is reserved for the bootloader.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x08004000, LENGTH = 1008K
|
||||
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
|
||||
ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
|
||||
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
|
||||
EXTERN(_vectors) /* force the vectors to be included in the output */
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
|
||||
/*
|
||||
* This is a hack to make the newlib libm __errno() call
|
||||
* use the NuttX get_errno_ptr() function.
|
||||
*/
|
||||
__errno = get_errno_ptr;
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Construction data for parameters.
|
||||
*/
|
||||
__param ALIGN(4): {
|
||||
__param_start = ABSOLUTE(.);
|
||||
KEEP(*(__param*))
|
||||
__param_end = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@@ -0,0 +1,84 @@
|
||||
############################################################################
|
||||
# configs/px4fmu-v1/src/Makefile
|
||||
#
|
||||
# Copyright (C) 2013 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name NuttX nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
-include $(TOPDIR)/Make.defs
|
||||
|
||||
CFLAGS += -I$(TOPDIR)/sched
|
||||
|
||||
ASRCS =
|
||||
AOBJS = $(ASRCS:.S=$(OBJEXT))
|
||||
|
||||
CSRCS = empty.c
|
||||
COBJS = $(CSRCS:.c=$(OBJEXT))
|
||||
|
||||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
|
||||
ifeq ($(WINTOOL),y)
|
||||
CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
|
||||
-I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
|
||||
-I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
|
||||
else
|
||||
CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
|
||||
endif
|
||||
|
||||
all: libboard$(LIBEXT)
|
||||
|
||||
$(AOBJS): %$(OBJEXT): %.S
|
||||
$(call ASSEMBLE, $<, $@)
|
||||
|
||||
$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
|
||||
$(call COMPILE, $<, $@)
|
||||
|
||||
libboard$(LIBEXT): $(OBJS)
|
||||
$(call ARCHIVE, $@, $(OBJS))
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
$(Q) touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
$(call DELFILE, libboard$(LIBEXT))
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
||||
@@ -0,0 +1,4 @@
|
||||
/*
|
||||
* There are no source files here, but libboard.a can't be empty, so
|
||||
* we have this empty source file to keep it company.
|
||||
*/
|
||||
Executable
+1
@@ -0,0 +1 @@
|
||||
This directory contains header files unique to the PX4IO board.
|
||||
Executable
+168
@@ -0,0 +1,168 @@
|
||||
/************************************************************************************
|
||||
* configs/px4io/include/board.h
|
||||
* include/arch/board/board.h
|
||||
*
|
||||
* Copyright (C) 2009 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ARCH_BOARD_BOARD_H
|
||||
#define __ARCH_BOARD_BOARD_H
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#ifndef __ASSEMBLY__
|
||||
# include <stdint.h>
|
||||
# include <stdbool.h>
|
||||
#endif
|
||||
#include <stm32_rcc.h>
|
||||
#include <stm32_sdio.h>
|
||||
#include <stm32.h>
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/* Clocking *************************************************************************/
|
||||
|
||||
/* On-board crystal frequency is 24MHz (HSE) */
|
||||
|
||||
#define STM32_BOARD_XTAL 24000000ul
|
||||
|
||||
/* Use the HSE output as the system clock */
|
||||
|
||||
#define STM32_SYSCLK_SW RCC_CFGR_SW_HSE
|
||||
#define STM32_SYSCLK_SWS RCC_CFGR_SWS_HSE
|
||||
#define STM32_SYSCLK_FREQUENCY STM32_BOARD_XTAL
|
||||
|
||||
/* AHB clock (HCLK) is SYSCLK (24MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK
|
||||
#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
|
||||
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
|
||||
|
||||
/* APB2 clock (PCLK2) is HCLK (24MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK
|
||||
#define STM32_PCLK2_FREQUENCY STM32_HCLK_FREQUENCY
|
||||
#define STM32_APB2_CLKIN (STM32_PCLK2_FREQUENCY) /* Timers 2-4 */
|
||||
|
||||
/* APB2 timer 1 will receive PCLK2. */
|
||||
|
||||
#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* APB1 clock (PCLK1) is HCLK (24MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLK
|
||||
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY)
|
||||
|
||||
/* All timers run off PCLK */
|
||||
|
||||
#define STM32_APB1_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB1_TIM2_CLKIN (STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM3_CLKIN (STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM4_CLKIN (STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/*
|
||||
* Some of the USART pins are not available; override the GPIO
|
||||
* definitions with an invalid pin configuration.
|
||||
*/
|
||||
#undef GPIO_USART2_CTS
|
||||
#define GPIO_USART2_CTS 0xffffffff
|
||||
#undef GPIO_USART2_RTS
|
||||
#define GPIO_USART2_RTS 0xffffffff
|
||||
#undef GPIO_USART2_CK
|
||||
#define GPIO_USART2_CK 0xffffffff
|
||||
#undef GPIO_USART3_TX
|
||||
#define GPIO_USART3_TX 0xffffffff
|
||||
#undef GPIO_USART3_CK
|
||||
#define GPIO_USART3_CK 0xffffffff
|
||||
#undef GPIO_USART3_CTS
|
||||
#define GPIO_USART3_CTS 0xffffffff
|
||||
#undef GPIO_USART3_RTS
|
||||
#define GPIO_USART3_RTS 0xffffffff
|
||||
|
||||
/*
|
||||
* High-resolution timer
|
||||
*/
|
||||
#define HRT_TIMER 1 /* use timer1 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
|
||||
|
||||
/*
|
||||
* PPM
|
||||
*
|
||||
* PPM input is handled by the HRT timer.
|
||||
*
|
||||
* Pin is PA8, timer 1, channel 1
|
||||
*/
|
||||
#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */
|
||||
#define GPIO_PPM_IN GPIO_TIM1_CH1IN
|
||||
|
||||
/************************************************************************************
|
||||
* Public Data
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
#define EXTERN extern "C"
|
||||
extern "C" {
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Public Function Prototypes
|
||||
************************************************************************************/
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the intitialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
EXTERN void stm32_boardinitialize(void);
|
||||
|
||||
#if defined(__cplusplus)
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
#endif /* __ARCH_BOARD_BOARD_H */
|
||||
@@ -0,0 +1,166 @@
|
||||
############################################################################
|
||||
# configs/px4io-v1/nsh/Make.defs
|
||||
#
|
||||
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name NuttX nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
include ${TOPDIR}/.config
|
||||
include ${TOPDIR}/tools/Config.mk
|
||||
|
||||
#
|
||||
# We only support building with the ARM bare-metal toolchain from
|
||||
# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
|
||||
#
|
||||
CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI
|
||||
|
||||
include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
|
||||
|
||||
CC = $(CROSSDEV)gcc
|
||||
CXX = $(CROSSDEV)g++
|
||||
CPP = $(CROSSDEV)gcc -E
|
||||
LD = $(CROSSDEV)ld
|
||||
AR = $(CROSSDEV)ar rcs
|
||||
NM = $(CROSSDEV)nm
|
||||
OBJCOPY = $(CROSSDEV)objcopy
|
||||
OBJDUMP = $(CROSSDEV)objdump
|
||||
|
||||
MAXOPTIMIZATION = -O3
|
||||
ARCHCPUFLAGS = -mcpu=cortex-m3 \
|
||||
-mthumb \
|
||||
-march=armv7-m
|
||||
|
||||
# use our linker script
|
||||
LDSCRIPT = ld.script
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
# Windows-native toolchains
|
||||
DIRLINK = $(TOPDIR)/tools/copydir.sh
|
||||
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
|
||||
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
|
||||
ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
|
||||
ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
|
||||
ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
|
||||
else
|
||||
ifeq ($(PX4_WINTOOL),y)
|
||||
# Windows-native toolchains (MSYS)
|
||||
DIRLINK = $(TOPDIR)/tools/copydir.sh
|
||||
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
|
||||
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
|
||||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
||||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
||||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
||||
else
|
||||
# Linux/Cygwin-native toolchain
|
||||
MKDEP = $(TOPDIR)/tools/mkdeps.sh
|
||||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
||||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
||||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
||||
endif
|
||||
endif
|
||||
|
||||
# tool versions
|
||||
ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
|
||||
ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
|
||||
|
||||
# optimisation flags
|
||||
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
|
||||
-fno-strict-aliasing \
|
||||
-fno-strength-reduce \
|
||||
-fomit-frame-pointer \
|
||||
-funsafe-math-optimizations \
|
||||
-fno-builtin-printf \
|
||||
-ffunction-sections \
|
||||
-fdata-sections
|
||||
|
||||
ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
|
||||
ARCHOPTIMIZATION += -g
|
||||
endif
|
||||
|
||||
ARCHCFLAGS = -std=gnu99
|
||||
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
|
||||
ARCHWARNINGS = -Wall \
|
||||
-Wextra \
|
||||
-Wdouble-promotion \
|
||||
-Wshadow \
|
||||
-Wfloat-equal \
|
||||
-Wframe-larger-than=1024 \
|
||||
-Wpointer-arith \
|
||||
-Wlogical-op \
|
||||
-Wmissing-declarations \
|
||||
-Wpacked \
|
||||
-Wno-unused-parameter
|
||||
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
|
||||
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
|
||||
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
|
||||
|
||||
ARCHCWARNINGS = $(ARCHWARNINGS) \
|
||||
-Wbad-function-cast \
|
||||
-Wstrict-prototypes \
|
||||
-Wold-style-declaration \
|
||||
-Wmissing-parameter-type \
|
||||
-Wmissing-prototypes \
|
||||
-Wnested-externs \
|
||||
-Wunsuffixed-float-constants
|
||||
ARCHWARNINGSXX = $(ARCHWARNINGS)
|
||||
ARCHDEFINES =
|
||||
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
|
||||
|
||||
# this seems to be the only way to add linker flags
|
||||
EXTRA_LIBS += --warn-common \
|
||||
--gc-sections
|
||||
|
||||
CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
|
||||
CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
|
||||
CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
|
||||
CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
|
||||
CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
|
||||
AFLAGS = $(CFLAGS) -D__ASSEMBLY__
|
||||
|
||||
NXFLATLDFLAGS1 = -r -d -warn-common
|
||||
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
|
||||
LDNXFLATFLAGS = -e main -s 2048
|
||||
|
||||
OBJEXT = .o
|
||||
LIBEXT = .a
|
||||
EXEEXT =
|
||||
|
||||
# produce partially-linked $1 from files in $2
|
||||
define PRELINK
|
||||
@echo "PRELINK: $1"
|
||||
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
||||
endef
|
||||
|
||||
HOSTCC = gcc
|
||||
HOSTINCLUDES = -I.
|
||||
HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
|
||||
HOSTLDFLAGS =
|
||||
|
||||
@@ -0,0 +1,32 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
Executable
+537
@@ -0,0 +1,537 @@
|
||||
############################################################################
|
||||
# configs/px4io-v1/nsh/defconfig
|
||||
#
|
||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name NuttX nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
#
|
||||
# architecture selection
|
||||
#
|
||||
# CONFIG_ARCH - identifies the arch subdirectory and, hence, the
|
||||
# processor architecture.
|
||||
# CONFIG_ARCH_family - for use in C code. This identifies the
|
||||
# particular chip family that the architecture is implemented
|
||||
# in.
|
||||
# CONFIG_ARCH_architecture - for use in C code. This identifies the
|
||||
# specific architecture within the chip family.
|
||||
# CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
|
||||
# CONFIG_ARCH_CHIP_name - For use in C code
|
||||
# CONFIG_ARCH_BOARD - identifies the configs subdirectory and, hence,
|
||||
# the board that supports the particular chip or SoC.
|
||||
# CONFIG_ARCH_BOARD_name - for use in C code
|
||||
# CONFIG_ENDIAN_BIG - define if big endian (default is little endian)
|
||||
# CONFIG_BOARD_LOOPSPERMSEC - for delay loops
|
||||
# CONFIG_DRAM_SIZE - Describes the installed DRAM.
|
||||
# CONFIG_DRAM_START - The start address of DRAM (physical)
|
||||
# CONFIG_ARCH_IRQPRIO - The ST32F100CB supports interrupt prioritization
|
||||
# CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
|
||||
# stack. If defined, this symbol is the size of the interrupt
|
||||
# stack in bytes. If not defined, the user task stacks will be
|
||||
# used during interrupt handling.
|
||||
# CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions
|
||||
# CONFIG_ARCH_BOOTLOADER - Set if you are using a bootloader.
|
||||
# CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to board architecture.
|
||||
# CONFIG_ARCH_BUTTONS - Enable support for buttons. Unique to board architecture.
|
||||
# CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that
|
||||
# cause a 100 second delay during boot-up. This 100 second delay
|
||||
# serves no purpose other than it allows you to calibrate
|
||||
# CONFIG_BOARD_LOOPSPERMSEC. You simply use a stop watch to measure
|
||||
# the 100 second delay then adjust CONFIG_BOARD_LOOPSPERMSEC until
|
||||
# the delay actually is 100 seconds.
|
||||
# CONFIG_ARCH_DMA - Support DMA initialization
|
||||
#
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_ARM=y
|
||||
CONFIG_ARCH_CORTEXM3=y
|
||||
CONFIG_ARCH_CHIP="stm32"
|
||||
CONFIG_ARCH_CHIP_STM32F100C8=y
|
||||
#
|
||||
# Board Selection
|
||||
#
|
||||
CONFIG_ARCH_BOARD_PX4IO_V1=y
|
||||
# CONFIG_ARCH_BOARD_CUSTOM is not set
|
||||
CONFIG_ARCH_BOARD="px4io-v1"
|
||||
CONFIG_BOARD_LOOPSPERMSEC=2000
|
||||
CONFIG_DRAM_SIZE=0x00002000
|
||||
CONFIG_DRAM_START=0x20000000
|
||||
CONFIG_ARCH_IRQPRIO=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=n
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARCH_BOOTLOADER=n
|
||||
CONFIG_ARCH_LEDS=n
|
||||
CONFIG_ARCH_BUTTONS=n
|
||||
CONFIG_ARCH_CALIBRATION=n
|
||||
CONFIG_ARCH_DMA=y
|
||||
CONFIG_ARCH_MATH_H=y
|
||||
|
||||
CONFIG_ARMV7M_CMNVECTOR=y
|
||||
# CONFIG_ARMV7M_STACKCHECK is not set
|
||||
|
||||
#
|
||||
# JTAG Enable settings (by default JTAG-DP and SW-DP are disabled):
|
||||
#
|
||||
# CONFIG_STM32_DFU - Use the DFU bootloader, not JTAG
|
||||
#
|
||||
# JTAG Enable options:
|
||||
#
|
||||
# CONFIG_STM32_JTAG_FULL_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
|
||||
# CONFIG_STM32_JTAG_NOJNTRST_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
|
||||
# but without JNTRST.
|
||||
# CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled
|
||||
#
|
||||
CONFIG_STM32_DFU=n
|
||||
CONFIG_STM32_JTAG_FULL_ENABLE=y
|
||||
CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n
|
||||
CONFIG_STM32_JTAG_SW_ENABLE=n
|
||||
|
||||
#
|
||||
# Individual subsystems can be enabled:
|
||||
#
|
||||
# AHB:
|
||||
CONFIG_STM32_DMA1=y
|
||||
CONFIG_STM32_DMA2=n
|
||||
CONFIG_STM32_CRC=n
|
||||
# APB1:
|
||||
# Timers 2,3 and 4 are owned by the PWM driver
|
||||
CONFIG_STM32_TIM2=n
|
||||
CONFIG_STM32_TIM3=n
|
||||
CONFIG_STM32_TIM4=n
|
||||
CONFIG_STM32_TIM5=n
|
||||
CONFIG_STM32_TIM6=n
|
||||
CONFIG_STM32_TIM7=n
|
||||
CONFIG_STM32_WWDG=n
|
||||
CONFIG_STM32_SPI2=n
|
||||
CONFIG_STM32_USART2=y
|
||||
CONFIG_STM32_USART3=y
|
||||
CONFIG_STM32_I2C1=y
|
||||
CONFIG_STM32_I2C2=n
|
||||
CONFIG_STM32_BKP=n
|
||||
CONFIG_STM32_PWR=n
|
||||
CONFIG_STM32_DAC=n
|
||||
# APB2:
|
||||
# We use our own ADC driver, but leave this on for clocking purposes.
|
||||
CONFIG_STM32_ADC1=y
|
||||
CONFIG_STM32_ADC2=n
|
||||
# TIM1 is owned by the HRT
|
||||
CONFIG_STM32_TIM1=n
|
||||
CONFIG_STM32_SPI1=n
|
||||
CONFIG_STM32_TIM8=n
|
||||
CONFIG_STM32_USART1=y
|
||||
CONFIG_STM32_ADC3=n
|
||||
|
||||
|
||||
#
|
||||
# STM32F100 specific serial device driver settings
|
||||
#
|
||||
# CONFIG_USARTn_SERIAL_CONSOLE - selects the USARTn for the
|
||||
# console and ttys0 (default is the USART1).
|
||||
# CONFIG_USARTn_RXBUFSIZE - Characters are buffered as received.
|
||||
# This specific the size of the receive buffer
|
||||
# CONFIG_USARTn_TXBUFSIZE - Characters are buffered before
|
||||
# being sent. This specific the size of the transmit buffer
|
||||
# CONFIG_USARTn_BAUD - The configure BAUD of the UART. Must be
|
||||
# CONFIG_USARTn_BITS - The number of bits. Must be either 7 or 8.
|
||||
# CONFIG_USARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
|
||||
# CONFIG_USARTn_2STOP - Two stop bits
|
||||
#
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_STANDARD_SERIAL=y
|
||||
|
||||
CONFIG_USART1_SERIAL_CONSOLE=y
|
||||
CONFIG_USART2_SERIAL_CONSOLE=n
|
||||
CONFIG_USART3_SERIAL_CONSOLE=n
|
||||
|
||||
CONFIG_USART1_TXBUFSIZE=64
|
||||
CONFIG_USART2_TXBUFSIZE=64
|
||||
CONFIG_USART3_TXBUFSIZE=64
|
||||
|
||||
CONFIG_USART1_RXBUFSIZE=64
|
||||
CONFIG_USART2_RXBUFSIZE=64
|
||||
CONFIG_USART3_RXBUFSIZE=64
|
||||
|
||||
CONFIG_USART1_BAUD=115200
|
||||
CONFIG_USART2_BAUD=115200
|
||||
CONFIG_USART3_BAUD=115200
|
||||
|
||||
CONFIG_USART1_BITS=8
|
||||
CONFIG_USART2_BITS=8
|
||||
CONFIG_USART3_BITS=8
|
||||
|
||||
CONFIG_USART1_PARITY=0
|
||||
CONFIG_USART2_PARITY=0
|
||||
CONFIG_USART3_PARITY=0
|
||||
|
||||
CONFIG_USART1_2STOP=0
|
||||
CONFIG_USART2_2STOP=0
|
||||
CONFIG_USART3_2STOP=0
|
||||
|
||||
CONFIG_USART1_RXDMA=y
|
||||
SERIAL_HAVE_CONSOLE_DMA=y
|
||||
# Conflicts with I2C1 DMA
|
||||
CONFIG_USART2_RXDMA=n
|
||||
CONFIG_USART3_RXDMA=y
|
||||
|
||||
#
|
||||
# General build options
|
||||
#
|
||||
# CONFIG_RRLOAD_BINARY - make the rrload binary format used with
|
||||
# BSPs from www.ridgerun.com using the tools/mkimage.sh script
|
||||
# CONFIG_INTELHEX_BINARY - make the Intel HEX binary format
|
||||
# used with many different loaders using the GNU objcopy program
|
||||
# Should not be selected if you are not using the GNU toolchain.
|
||||
# CONFIG_MOTOROLA_SREC - make the Motorola S-Record binary format
|
||||
# used with many different loaders using the GNU objcopy program
|
||||
# Should not be selected if you are not using the GNU toolchain.
|
||||
# CONFIG_RAW_BINARY - make a raw binary format file used with many
|
||||
# different loaders using the GNU objcopy program. This option
|
||||
# should not be selected if you are not using the GNU toolchain.
|
||||
# CONFIG_HAVE_LIBM - toolchain supports libm.a
|
||||
#
|
||||
CONFIG_RRLOAD_BINARY=n
|
||||
CONFIG_INTELHEX_BINARY=n
|
||||
CONFIG_MOTOROLA_SREC=n
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_HAVE_LIBM=n
|
||||
|
||||
#
|
||||
# General OS setup
|
||||
#
|
||||
# CONFIG_APPS_DIR - Identifies the relative path to the directory
|
||||
# that builds the application to link with NuttX. Default: ../apps
|
||||
# CONFIG_DEBUG - enables built-in debug options
|
||||
# CONFIG_DEBUG_VERBOSE - enables verbose debug output
|
||||
# CONFIG_DEBUG_SYMBOLS - build without optimization and with
|
||||
# debug symbols (needed for use with a debugger).
|
||||
# CONFIG_HAVE_CXX - Enable support for C++
|
||||
# CONFIG_HAVE_CXXINITIALIZE - The platform-specific logic includes support
|
||||
# for initialization of static C++ instances for this architecture
|
||||
# and for the selected toolchain (via up_cxxinitialize()).
|
||||
# CONFIG_MM_REGIONS - If the architecture includes multiple
|
||||
# regions of memory to allocate from, this specifies the
|
||||
# number of memory regions that the memory manager must
|
||||
# handle and enables the API mm_addregion(start, end);
|
||||
# CONFIG_ARCH_LOWPUTC - architecture supports low-level, boot
|
||||
# time console output
|
||||
# CONFIG_MSEC_PER_TICK - The default system timer is 100Hz
|
||||
# or MSEC_PER_TICK=10. This setting may be defined to
|
||||
# inform NuttX that the processor hardware is providing
|
||||
# system timer interrupts at some interrupt interval other
|
||||
# than 10 msec.
|
||||
# CONFIG_RR_INTERVAL - The round robin timeslice will be set
|
||||
# this number of milliseconds; Round robin scheduling can
|
||||
# be disabled by setting this value to zero.
|
||||
# CONFIG_SCHED_INSTRUMENTATION - enables instrumentation in
|
||||
# scheduler to monitor system performance
|
||||
# CONFIG_TASK_NAME_SIZE - Spcifies that maximum size of a
|
||||
# task name to save in the TCB. Useful if scheduler
|
||||
# instrumentation is selected. Set to zero to disable.
|
||||
# CONFIG_START_YEAR, CONFIG_START_MONTH, CONFIG_START_DAY -
|
||||
# Used to initialize the internal time logic.
|
||||
# CONFIG_GREGORIAN_TIME - Enables Gregorian time conversions.
|
||||
# You would only need this if you are concerned about accurate
|
||||
# time conversions in the past or in the distant future.
|
||||
# CONFIG_JULIAN_TIME - Enables Julian time conversions. You
|
||||
# would only need this if you are concerned about accurate
|
||||
# time conversion in the distand past. You must also define
|
||||
# CONFIG_GREGORIAN_TIME in order to use Julian time.
|
||||
# CONFIG_DEV_CONSOLE - Set if architecture-specific logic
|
||||
# provides /dev/console. Enables stdout, stderr, stdin.
|
||||
# CONFIG_DEV_LOWCONSOLE - Use the simple, low-level serial console
|
||||
# driver (minimul support)
|
||||
# CONFIG_MUTEX_TYPES: Set to enable support for recursive and
|
||||
# errorcheck mutexes. Enables pthread_mutexattr_settype().
|
||||
# CONFIG_PRIORITY_INHERITANCE : Set to enable support for priority
|
||||
# inheritance on mutexes and semaphores.
|
||||
# CONFIG_SEM_PREALLOCHOLDERS: This setting is only used if priority
|
||||
# inheritance is enabled. It defines the maximum number of
|
||||
# different threads (minus one) that can take counts on a
|
||||
# semaphore with priority inheritance support. This may be
|
||||
# set to zero if priority inheritance is disabled OR if you
|
||||
# are only using semaphores as mutexes (only one holder) OR
|
||||
# if no more than two threads participate using a counting
|
||||
# semaphore.
|
||||
# CONFIG_SEM_NNESTPRIO. If priority inheritance is enabled,
|
||||
# then this setting is the maximum number of higher priority
|
||||
# threads (minus 1) than can be waiting for another thread
|
||||
# to release a count on a semaphore. This value may be set
|
||||
# to zero if no more than one thread is expected to wait for
|
||||
# a semaphore.
|
||||
# CONFIG_FDCLONE_DISABLE. Disable cloning of all file descriptors
|
||||
# by task_create() when a new task is started. If set, all
|
||||
# files/drivers will appear to be closed in the new task.
|
||||
# CONFIG_FDCLONE_STDIO. Disable cloning of all but the first
|
||||
# three file descriptors (stdin, stdout, stderr) by task_create()
|
||||
# when a new task is started. If set, all files/drivers will
|
||||
# appear to be closed in the new task except for stdin, stdout,
|
||||
# and stderr.
|
||||
# CONFIG_SDCLONE_DISABLE. Disable cloning of all socket
|
||||
# desciptors by task_create() when a new task is started. If
|
||||
# set, all sockets will appear to be closed in the new task.
|
||||
# CONFIG_SCHED_WORKQUEUE. Create a dedicated "worker" thread to
|
||||
# handle delayed processing from interrupt handlers. This feature
|
||||
# is required for some drivers but, if there are not complaints,
|
||||
# can be safely disabled. The worker thread also performs
|
||||
# garbage collection -- completing any delayed memory deallocations
|
||||
# from interrupt handlers. If the worker thread is disabled,
|
||||
# then that clean will be performed by the IDLE thread instead
|
||||
# (which runs at the lowest of priority and may not be appropriate
|
||||
# if memory reclamation is of high priority). If CONFIG_SCHED_WORKQUEUE
|
||||
# is enabled, then the following options can also be used:
|
||||
# CONFIG_SCHED_WORKPRIORITY - The execution priority of the worker
|
||||
# thread. Default: 50
|
||||
# CONFIG_SCHED_WORKPERIOD - How often the worker thread checks for
|
||||
# work in units of microseconds. Default: 50*1000 (50 MS).
|
||||
# CONFIG_SCHED_WORKSTACKSIZE - The stack size allocated for the worker
|
||||
# thread. Default: CONFIG_IDLETHREAD_STACKSIZE.
|
||||
# CONFIG_SIG_SIGWORK - The signal number that will be used to wake-up
|
||||
# the worker thread. Default: 4
|
||||
# CONFIG_SCHED_WAITPID - Enable the waitpid() API
|
||||
# CONFIG_SCHED_ATEXIT - Enabled the atexit() API
|
||||
#
|
||||
CONFIG_USER_ENTRYPOINT="user_start"
|
||||
#CONFIG_APPS_DIR=
|
||||
CONFIG_DEBUG=n
|
||||
CONFIG_DEBUG_VERBOSE=n
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_FS=n
|
||||
CONFIG_DEBUG_GRAPHICS=n
|
||||
CONFIG_DEBUG_LCD=n
|
||||
CONFIG_DEBUG_USB=n
|
||||
CONFIG_DEBUG_NET=n
|
||||
CONFIG_DEBUG_RTC=n
|
||||
CONFIG_DEBUG_ANALOG=n
|
||||
CONFIG_DEBUG_PWM=n
|
||||
CONFIG_DEBUG_CAN=n
|
||||
CONFIG_DEBUG_I2C=n
|
||||
CONFIG_DEBUG_INPUT=n
|
||||
|
||||
CONFIG_MSEC_PER_TICK=1
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_MM_REGIONS=1
|
||||
CONFIG_MM_SMALL=y
|
||||
CONFIG_ARCH_LOWPUTC=y
|
||||
CONFIG_RR_INTERVAL=0
|
||||
CONFIG_SCHED_INSTRUMENTATION=n
|
||||
CONFIG_TASK_NAME_SIZE=8
|
||||
CONFIG_START_YEAR=1970
|
||||
CONFIG_START_MONTH=1
|
||||
CONFIG_START_DAY=1
|
||||
CONFIG_GREGORIAN_TIME=n
|
||||
CONFIG_JULIAN_TIME=n
|
||||
# this eats ~1KiB of RAM ... work out why
|
||||
CONFIG_DEV_CONSOLE=y
|
||||
CONFIG_DEV_LOWCONSOLE=n
|
||||
CONFIG_MUTEX_TYPES=n
|
||||
CONFIG_PRIORITY_INHERITANCE=n
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SEM_NNESTPRIO=0
|
||||
CONFIG_FDCLONE_DISABLE=y
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_SCHED_WORKQUEUE=n
|
||||
CONFIG_SCHED_WORKPRIORITY=50
|
||||
CONFIG_SCHED_WORKPERIOD=50000
|
||||
CONFIG_SCHED_WORKSTACKSIZE=1024
|
||||
CONFIG_SIG_SIGWORK=4
|
||||
CONFIG_SCHED_WAITPID=n
|
||||
CONFIG_SCHED_ATEXIT=n
|
||||
|
||||
#
|
||||
# The following can be used to disable categories of
|
||||
# APIs supported by the OS. If the compiler supports
|
||||
# weak functions, then it should not be necessary to
|
||||
# disable functions unless you want to restrict usage
|
||||
# of those APIs.
|
||||
#
|
||||
# There are certain dependency relationships in these
|
||||
# features.
|
||||
#
|
||||
# o mq_notify logic depends on signals to awaken tasks
|
||||
# waiting for queues to become full or empty.
|
||||
# o pthread_condtimedwait() depends on signals to wake
|
||||
# up waiting tasks.
|
||||
#
|
||||
CONFIG_DISABLE_CLOCK=n
|
||||
CONFIG_DISABLE_POSIX_TIMERS=y
|
||||
CONFIG_DISABLE_PTHREAD=y
|
||||
CONFIG_DISABLE_SIGNALS=y
|
||||
CONFIG_DISABLE_MQUEUE=y
|
||||
CONFIG_DISABLE_MOUNTPOINT=y
|
||||
CONFIG_DISABLE_ENVIRON=y
|
||||
CONFIG_DISABLE_POLL=y
|
||||
|
||||
#
|
||||
# Misc libc settings
|
||||
#
|
||||
# CONFIG_NOPRINTF_FIELDWIDTH - sprintf-related logic is a
|
||||
# little smaller if we do not support fieldwidthes
|
||||
#
|
||||
CONFIG_NOPRINTF_FIELDWIDTH=n
|
||||
|
||||
#
|
||||
# Allow for architecture optimized implementations
|
||||
#
|
||||
# The architecture can provide optimized versions of the
|
||||
# following to improve system performance
|
||||
#
|
||||
CONFIG_ARCH_MEMCPY=n
|
||||
CONFIG_ARCH_MEMCMP=n
|
||||
CONFIG_ARCH_MEMMOVE=n
|
||||
CONFIG_ARCH_MEMSET=n
|
||||
CONFIG_ARCH_STRCMP=n
|
||||
CONFIG_ARCH_STRCPY=n
|
||||
CONFIG_ARCH_STRNCPY=n
|
||||
CONFIG_ARCH_STRLEN=n
|
||||
CONFIG_ARCH_STRNLEN=n
|
||||
CONFIG_ARCH_BZERO=n
|
||||
|
||||
#
|
||||
# Sizes of configurable things (0 disables)
|
||||
#
|
||||
# CONFIG_MAX_TASKS - The maximum number of simultaneously
|
||||
# active tasks. This value must be a power of two.
|
||||
# CONFIG_MAX_TASK_ARGS - This controls the maximum number of
|
||||
# of parameters that a task may receive (i.e., maxmum value
|
||||
# of 'argc')
|
||||
# CONFIG_NPTHREAD_KEYS - The number of items of thread-
|
||||
# specific data that can be retained
|
||||
# CONFIG_NFILE_DESCRIPTORS - The maximum number of file
|
||||
# descriptors (one for each open)
|
||||
# CONFIG_NFILE_STREAMS - The maximum number of streams that
|
||||
# can be fopen'ed
|
||||
# CONFIG_NAME_MAX - The maximum size of a file name.
|
||||
# CONFIG_STDIO_BUFFER_SIZE - Size of the buffer to allocate
|
||||
# on fopen. (Only if CONFIG_NFILE_STREAMS > 0)
|
||||
# CONFIG_STDIO_LINEBUFFER - If standard C buffered I/O is enabled
|
||||
# (CONFIG_STDIO_BUFFER_SIZE > 0), then this option may be added
|
||||
# to force automatic, line-oriented flushing the output buffer
|
||||
# for putc(), fputc(), putchar(), puts(), fputs(), printf(),
|
||||
# fprintf(), and vfprintf(). When a newline is encountered in
|
||||
# the output string, the output buffer will be flushed. This
|
||||
# (slightly) increases the NuttX footprint but supports the kind
|
||||
# of behavior that people expect for printf().
|
||||
# CONFIG_NUNGET_CHARS - Number of characters that can be
|
||||
# buffered by ungetc() (Only if CONFIG_NFILE_STREAMS > 0)
|
||||
# CONFIG_PREALLOC_MQ_MSGS - The number of pre-allocated message
|
||||
# structures. The system manages a pool of preallocated
|
||||
# message structures to minimize dynamic allocations
|
||||
# CONFIG_MQ_MAXMSGSIZE - Message structures are allocated with
|
||||
# a fixed payload size given by this settin (does not include
|
||||
# other message structure overhead.
|
||||
# CONFIG_MAX_WDOGPARMS - Maximum number of parameters that
|
||||
# can be passed to a watchdog handler
|
||||
# CONFIG_PREALLOC_WDOGS - The number of pre-allocated watchdog
|
||||
# structures. The system manages a pool of preallocated
|
||||
# watchdog structures to minimize dynamic allocations
|
||||
# CONFIG_PREALLOC_TIMERS - The number of pre-allocated POSIX
|
||||
# timer structures. The system manages a pool of preallocated
|
||||
# timer structures to minimize dynamic allocations. Set to
|
||||
# zero for all dynamic allocations.
|
||||
#
|
||||
CONFIG_MAX_TASKS=4
|
||||
CONFIG_MAX_TASK_ARGS=4
|
||||
CONFIG_NPTHREAD_KEYS=2
|
||||
CONFIG_NFILE_DESCRIPTORS=8
|
||||
CONFIG_NFILE_STREAMS=0
|
||||
CONFIG_NAME_MAX=12
|
||||
CONFIG_STDIO_BUFFER_SIZE=32
|
||||
CONFIG_STDIO_LINEBUFFER=n
|
||||
CONFIG_NUNGET_CHARS=2
|
||||
CONFIG_PREALLOC_MQ_MSGS=4
|
||||
CONFIG_MQ_MAXMSGSIZE=32
|
||||
CONFIG_MAX_WDOGPARMS=2
|
||||
CONFIG_PREALLOC_WDOGS=4
|
||||
CONFIG_PREALLOC_TIMERS=0
|
||||
|
||||
|
||||
#
|
||||
# Settings for apps/nshlib
|
||||
#
|
||||
# CONFIG_NSH_BUILTIN_APPS - Support external registered,
|
||||
# "named" applications that can be executed from the NSH
|
||||
# command line (see apps/README.txt for more information).
|
||||
# CONFIG_NSH_FILEIOSIZE - Size of a static I/O buffer
|
||||
# CONFIG_NSH_STRERROR - Use strerror(errno)
|
||||
# CONFIG_NSH_LINELEN - Maximum length of one command line
|
||||
# CONFIG_NSH_NESTDEPTH - Max number of nested if-then[-else]-fi
|
||||
# CONFIG_NSH_DISABLESCRIPT - Disable scripting support
|
||||
# CONFIG_NSH_DISABLEBG - Disable background commands
|
||||
# CONFIG_NSH_ROMFSETC - Use startup script in /etc
|
||||
# CONFIG_NSH_CONSOLE - Use serial console front end
|
||||
# CONFIG_NSH_TELNET - Use telnetd console front end
|
||||
# CONFIG_NSH_ARCHINIT - Platform provides architecture
|
||||
# specific initialization (nsh_archinitialize()).
|
||||
#
|
||||
|
||||
# Disable NSH completely
|
||||
CONFIG_NSH_CONSOLE=n
|
||||
|
||||
#
|
||||
# Stack and heap information
|
||||
#
|
||||
# CONFIG_BOOT_RUNFROMFLASH - Some configurations support XIP
|
||||
# operation from FLASH but must copy initialized .data sections to RAM.
|
||||
# (should also be =n for the STM3210E-EVAL which always runs from flash)
|
||||
# CONFIG_BOOT_COPYTORAM - Some configurations boot in FLASH
|
||||
# but copy themselves entirely into RAM for better performance.
|
||||
# CONFIG_CUSTOM_STACK - The up_ implementation will handle
|
||||
# all stack operations outside of the nuttx model.
|
||||
# CONFIG_STACK_POINTER - The initial stack pointer (arm7tdmi only)
|
||||
# CONFIG_IDLETHREAD_STACKSIZE - The size of the initial stack.
|
||||
# This is the thread that (1) performs the inital boot of the system up
|
||||
# to the point where user_start() is spawned, and (2) there after is the
|
||||
# IDLE thread that executes only when there is no other thread ready to
|
||||
# run.
|
||||
# CONFIG_USERMAIN_STACKSIZE - The size of the stack to allocate
|
||||
# for the main user thread that begins at the user_start() entry point.
|
||||
# CONFIG_PTHREAD_STACK_MIN - Minimum pthread stack size
|
||||
# CONFIG_PTHREAD_STACK_DEFAULT - Default pthread stack size
|
||||
# CONFIG_HEAP_BASE - The beginning of the heap
|
||||
# CONFIG_HEAP_SIZE - The size of the heap
|
||||
#
|
||||
CONFIG_BOOT_RUNFROMFLASH=n
|
||||
CONFIG_BOOT_COPYTORAM=n
|
||||
CONFIG_CUSTOM_STACK=n
|
||||
CONFIG_STACK_POINTER=
|
||||
CONFIG_IDLETHREAD_STACKSIZE=1024
|
||||
CONFIG_USERMAIN_STACKSIZE=1200
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_PTHREAD_STACK_DEFAULT=1024
|
||||
CONFIG_HEAP_BASE=
|
||||
CONFIG_HEAP_SIZE=
|
||||
|
||||
#
|
||||
# NSH Library
|
||||
#
|
||||
# CONFIG_NSH_LIBRARY is not set
|
||||
# CONFIG_NSH_BUILTIN_APPS is not set
|
||||
Executable
+47
@@ -0,0 +1,47 @@
|
||||
#!/bin/bash
|
||||
# configs/stm3210e-eval/dfu/setenv.sh
|
||||
#
|
||||
# Copyright (C) 2009 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name NuttX nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
if [ "$(basename $0)" = "setenv.sh" ] ; then
|
||||
echo "You must source this script, not run it!" 1>&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi
|
||||
|
||||
WD=`pwd`
|
||||
export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin"
|
||||
export BUILDROOT_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
|
||||
export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
|
||||
|
||||
echo "PATH : ${PATH}"
|
||||
Executable
+129
@@ -0,0 +1,129 @@
|
||||
/****************************************************************************
|
||||
* configs/stm3210e-eval/nsh/ld.script
|
||||
*
|
||||
* Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The STM32F100C8 has 64Kb of FLASH beginning at address 0x0800:0000 and
|
||||
* 8Kb of SRAM beginning at address 0x2000:0000. When booting from FLASH,
|
||||
* FLASH memory is aliased to address 0x0000:0000 where the code expects to
|
||||
* begin execution by jumping to the entry point in the 0x0800:0000 address
|
||||
* range.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x08001000, LENGTH = 60K
|
||||
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 8K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
|
||||
EXTERN(_vectors) /* force the vectors to be included in the output */
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
/* The STM32F100CB has 8Kb of SRAM beginning at the following address */
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@@ -0,0 +1,84 @@
|
||||
############################################################################
|
||||
# configs/stm3210e-eval/src/Makefile
|
||||
#
|
||||
# Copyright (C) 2009-2010 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <spudmonkey@racsa.co.cr>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name NuttX nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
-include $(TOPDIR)/Make.defs
|
||||
|
||||
CFLAGS += -I$(TOPDIR)/sched
|
||||
|
||||
ASRCS =
|
||||
AOBJS = $(ASRCS:.S=$(OBJEXT))
|
||||
|
||||
CSRCS = empty.c
|
||||
|
||||
COBJS = $(CSRCS:.c=$(OBJEXT))
|
||||
|
||||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
|
||||
ifeq ($(WINTOOL),y)
|
||||
CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
|
||||
-I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
|
||||
-I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
|
||||
else
|
||||
CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
|
||||
endif
|
||||
|
||||
all: libboard$(LIBEXT)
|
||||
|
||||
$(AOBJS): %$(OBJEXT): %.S
|
||||
$(call ASSEMBLE, $<, $@)
|
||||
|
||||
$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
|
||||
$(call COMPILE, $<, $@)
|
||||
|
||||
libboard$(LIBEXT): $(OBJS)
|
||||
$(call ARCHIVE, $@, $(OBJS))
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
$(call DELFILE, libboard$(LIBEXT))
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
@@ -0,0 +1,4 @@
|
||||
/*
|
||||
* There are no source files here, but libboard.a can't be empty, so
|
||||
* we have this empty source file to keep it company.
|
||||
*/
|
||||
@@ -111,21 +111,21 @@ CDev::~CDev()
|
||||
int
|
||||
CDev::init()
|
||||
{
|
||||
int ret = OK;
|
||||
|
||||
// base class init first
|
||||
ret = Device::init();
|
||||
int ret = Device::init();
|
||||
|
||||
if (ret != OK)
|
||||
goto out;
|
||||
|
||||
// now register the driver
|
||||
ret = register_driver(_devname, &fops, 0666, (void *)this);
|
||||
if (_devname != nullptr) {
|
||||
ret = register_driver(_devname, &fops, 0666, (void *)this);
|
||||
|
||||
if (ret != OK)
|
||||
goto out;
|
||||
if (ret != OK)
|
||||
goto out;
|
||||
|
||||
_registered = true;
|
||||
_registered = true;
|
||||
}
|
||||
|
||||
out:
|
||||
return ret;
|
||||
@@ -395,4 +395,4 @@ cdev_poll(struct file *filp, struct pollfd *fds, bool setup)
|
||||
return cdev->poll(filp, fds, setup);
|
||||
}
|
||||
|
||||
} // namespace device
|
||||
} // namespace device
|
||||
|
||||
@@ -223,5 +223,22 @@ interrupt(int irq, void *context)
|
||||
return OK;
|
||||
}
|
||||
|
||||
int
|
||||
Device::read(unsigned offset, void *data, unsigned count)
|
||||
{
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
} // namespace device
|
||||
int
|
||||
Device::write(unsigned offset, void *data, unsigned count)
|
||||
{
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
int
|
||||
Device::ioctl(unsigned operation, unsigned &arg)
|
||||
{
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
} // namespace device
|
||||
|
||||
+57
-13
@@ -68,11 +68,62 @@ namespace device __EXPORT
|
||||
class __EXPORT Device
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Destructor.
|
||||
*
|
||||
* Public so that anonymous devices can be destroyed.
|
||||
*/
|
||||
virtual ~Device();
|
||||
|
||||
/**
|
||||
* Interrupt handler.
|
||||
*/
|
||||
virtual void interrupt(void *ctx); /**< interrupt handler */
|
||||
|
||||
/*
|
||||
* Direct access methods.
|
||||
*/
|
||||
|
||||
/**
|
||||
* Initialise the driver and make it ready for use.
|
||||
*
|
||||
* @return OK if the driver initialized OK, negative errno otherwise;
|
||||
*/
|
||||
virtual int init();
|
||||
|
||||
/**
|
||||
* Read directly from the device.
|
||||
*
|
||||
* The actual size of each unit quantity is device-specific.
|
||||
*
|
||||
* @param offset The device address at which to start reading
|
||||
* @param data The buffer into which the read values should be placed.
|
||||
* @param count The number of items to read.
|
||||
* @return The number of items read on success, negative errno otherwise.
|
||||
*/
|
||||
virtual int read(unsigned address, void *data, unsigned count);
|
||||
|
||||
/**
|
||||
* Write directly to the device.
|
||||
*
|
||||
* The actual size of each unit quantity is device-specific.
|
||||
*
|
||||
* @param address The device address at which to start writing.
|
||||
* @param data The buffer from which values should be read.
|
||||
* @param count The number of items to write.
|
||||
* @return The number of items written on success, negative errno otherwise.
|
||||
*/
|
||||
virtual int write(unsigned address, void *data, unsigned count);
|
||||
|
||||
/**
|
||||
* Perform a device-specific operation.
|
||||
*
|
||||
* @param operation The operation to perform.
|
||||
* @param arg An argument to the operation.
|
||||
* @return Negative errno on error, OK or positive value on success.
|
||||
*/
|
||||
virtual int ioctl(unsigned operation, unsigned &arg);
|
||||
|
||||
protected:
|
||||
const char *_name; /**< driver name */
|
||||
bool _debug_enabled; /**< if true, debug messages are printed */
|
||||
@@ -85,14 +136,6 @@ protected:
|
||||
*/
|
||||
Device(const char *name,
|
||||
int irq = 0);
|
||||
~Device();
|
||||
|
||||
/**
|
||||
* Initialise the driver and make it ready for use.
|
||||
*
|
||||
* @return OK if the driver initialised OK.
|
||||
*/
|
||||
virtual int init();
|
||||
|
||||
/**
|
||||
* Enable the device interrupt
|
||||
@@ -189,7 +232,7 @@ public:
|
||||
/**
|
||||
* Destructor
|
||||
*/
|
||||
~CDev();
|
||||
virtual ~CDev();
|
||||
|
||||
virtual int init();
|
||||
|
||||
@@ -282,6 +325,7 @@ public:
|
||||
* Test whether the device is currently open.
|
||||
*
|
||||
* This can be used to avoid tearing down a device that is still active.
|
||||
* Note - not virtual, cannot be overridden by a subclass.
|
||||
*
|
||||
* @return True if the device is currently open.
|
||||
*/
|
||||
@@ -396,9 +440,9 @@ public:
|
||||
const char *devname,
|
||||
uint32_t base,
|
||||
int irq = 0);
|
||||
~PIO();
|
||||
virtual ~PIO();
|
||||
|
||||
int init();
|
||||
virtual int init();
|
||||
|
||||
protected:
|
||||
|
||||
@@ -407,7 +451,7 @@ protected:
|
||||
*
|
||||
* @param offset Register offset in bytes from the base address.
|
||||
*/
|
||||
uint32_t reg(uint32_t offset) {
|
||||
uint32_t reg(uint32_t offset) {
|
||||
return *(volatile uint32_t *)(_base + offset);
|
||||
}
|
||||
|
||||
@@ -444,4 +488,4 @@ private:
|
||||
|
||||
} // namespace device
|
||||
|
||||
#endif /* _DEVICE_DEVICE_H */
|
||||
#endif /* _DEVICE_DEVICE_H */
|
||||
|
||||
@@ -55,13 +55,11 @@ class __EXPORT I2C : public CDev
|
||||
|
||||
public:
|
||||
|
||||
/**
|
||||
* Get the address
|
||||
*/
|
||||
uint16_t get_address() {
|
||||
return _address;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the address
|
||||
*/
|
||||
int16_t get_address() { return _address; }
|
||||
|
||||
protected:
|
||||
/**
|
||||
* The number of times a read or write operation will be retried on
|
||||
@@ -90,7 +88,7 @@ protected:
|
||||
uint16_t address,
|
||||
uint32_t frequency,
|
||||
int irq = 0);
|
||||
~I2C();
|
||||
virtual ~I2C();
|
||||
|
||||
virtual int init();
|
||||
|
||||
|
||||
@@ -0,0 +1,203 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* 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 ringbuffer.h
|
||||
*
|
||||
* A simple ringbuffer template.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
template<typename T>
|
||||
class RingBuffer {
|
||||
public:
|
||||
RingBuffer(unsigned size);
|
||||
virtual ~RingBuffer();
|
||||
|
||||
/**
|
||||
* Put an item into the buffer.
|
||||
*
|
||||
* @param val Item to put
|
||||
* @return true if the item was put, false if the buffer is full
|
||||
*/
|
||||
bool put(T &val);
|
||||
|
||||
/**
|
||||
* Put an item into the buffer.
|
||||
*
|
||||
* @param val Item to put
|
||||
* @return true if the item was put, false if the buffer is full
|
||||
*/
|
||||
bool put(const T &val);
|
||||
|
||||
/**
|
||||
* Get an item from the buffer.
|
||||
*
|
||||
* @param val Item that was gotten
|
||||
* @return true if an item was got, false if the buffer was empty.
|
||||
*/
|
||||
bool get(T &val);
|
||||
|
||||
/**
|
||||
* Get an item from the buffer (scalars only).
|
||||
*
|
||||
* @return The value that was fetched, or zero if the buffer was
|
||||
* empty.
|
||||
*/
|
||||
T get(void);
|
||||
|
||||
/*
|
||||
* Get the number of slots free in the buffer.
|
||||
*
|
||||
* @return The number of items that can be put into the buffer before
|
||||
* it becomes full.
|
||||
*/
|
||||
unsigned space(void);
|
||||
|
||||
/*
|
||||
* Get the number of items in the buffer.
|
||||
*
|
||||
* @return The number of items that can be got from the buffer before
|
||||
* it becomes empty.
|
||||
*/
|
||||
unsigned count(void);
|
||||
|
||||
/*
|
||||
* Returns true if the buffer is empty.
|
||||
*/
|
||||
bool empty() { return _tail == _head; }
|
||||
|
||||
/*
|
||||
* Returns true if the buffer is full.
|
||||
*/
|
||||
bool full() { return _next(_head) == _tail; }
|
||||
|
||||
/*
|
||||
* Returns the capacity of the buffer, or zero if the buffer could
|
||||
* not be allocated.
|
||||
*/
|
||||
unsigned size() { return (_buf != nullptr) ? _size : 0; }
|
||||
|
||||
/*
|
||||
* Empties the buffer.
|
||||
*/
|
||||
void flush() { _head = _tail = _size; }
|
||||
|
||||
private:
|
||||
T *const _buf;
|
||||
const unsigned _size;
|
||||
volatile unsigned _head; /**< insertion point */
|
||||
volatile unsigned _tail; /**< removal point */
|
||||
|
||||
unsigned _next(unsigned index);
|
||||
};
|
||||
|
||||
template <typename T>
|
||||
RingBuffer<T>::RingBuffer(unsigned with_size) :
|
||||
_buf(new T[with_size + 1]),
|
||||
_size(with_size),
|
||||
_head(with_size),
|
||||
_tail(with_size)
|
||||
{}
|
||||
|
||||
template <typename T>
|
||||
RingBuffer<T>::~RingBuffer()
|
||||
{
|
||||
if (_buf != nullptr)
|
||||
delete[] _buf;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
bool RingBuffer<T>::put(T &val)
|
||||
{
|
||||
unsigned next = _next(_head);
|
||||
if (next != _tail) {
|
||||
_buf[_head] = val;
|
||||
_head = next;
|
||||
return true;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
bool RingBuffer<T>::put(const T &val)
|
||||
{
|
||||
unsigned next = _next(_head);
|
||||
if (next != _tail) {
|
||||
_buf[_head] = val;
|
||||
_head = next;
|
||||
return true;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
bool RingBuffer<T>::get(T &val)
|
||||
{
|
||||
if (_tail != _head) {
|
||||
val = _buf[_tail];
|
||||
_tail = _next(_tail);
|
||||
return true;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
T RingBuffer<T>::get(void)
|
||||
{
|
||||
T val;
|
||||
return get(val) ? val : 0;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
unsigned RingBuffer<T>::space(void)
|
||||
{
|
||||
return (_tail >= _head) ? (_size - (_tail - _head)) : (_head - _tail - 1);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
unsigned RingBuffer<T>::count(void)
|
||||
{
|
||||
return _size - space();
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
unsigned RingBuffer<T>::_next(unsigned index)
|
||||
{
|
||||
return (0 == index) ? _size : (index - 1);
|
||||
}
|
||||
@@ -71,7 +71,7 @@ protected:
|
||||
enum spi_mode_e mode,
|
||||
uint32_t frequency,
|
||||
int irq = 0);
|
||||
~SPI();
|
||||
virtual ~SPI();
|
||||
|
||||
virtual int init();
|
||||
|
||||
|
||||
@@ -118,11 +118,8 @@ ORB_DECLARE(output_pwm);
|
||||
/** start DSM bind */
|
||||
#define DSM_BIND_START _IOC(_PWM_SERVO_BASE, 7)
|
||||
|
||||
/** stop DSM bind */
|
||||
#define DSM_BIND_STOP _IOC(_PWM_SERVO_BASE, 8)
|
||||
|
||||
/** Power up DSM receiver */
|
||||
#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 9)
|
||||
#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 8)
|
||||
|
||||
/** set a single servo to a specific value */
|
||||
#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo)
|
||||
|
||||
@@ -383,6 +383,10 @@ test()
|
||||
warnx("diff pressure: %d pa", report.differential_pressure_pa);
|
||||
}
|
||||
|
||||
/* reset the sensor polling to its default rate */
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT))
|
||||
errx(1, "failed to set default rate");
|
||||
|
||||
errx(0, "PASS");
|
||||
}
|
||||
|
||||
|
||||
@@ -333,8 +333,13 @@ L3GD20::init()
|
||||
write_reg(ADDR_CTRL_REG4, REG4_BDU);
|
||||
write_reg(ADDR_CTRL_REG5, 0);
|
||||
|
||||
write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */
|
||||
write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_STREAM_MODE); /* Enable FIFO, old data is overwritten */
|
||||
|
||||
write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */
|
||||
|
||||
/* disable FIFO. This makes things simpler and ensures we
|
||||
* aren't getting stale data. It means we must run the hrt
|
||||
* callback fast enough to not miss data. */
|
||||
write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE);
|
||||
|
||||
set_range(500); /* default to 500dps */
|
||||
set_samplerate(0); /* max sample rate */
|
||||
|
||||
@@ -0,0 +1,8 @@
|
||||
#include "BlockSysIdent.hpp"
|
||||
|
||||
BlockSysIdent::BlockSysIdent() :
|
||||
Block(NULL, "SYSID"),
|
||||
_freq(this, "FREQ"),
|
||||
_ampl(this, "AMPL")
|
||||
{
|
||||
}
|
||||
@@ -0,0 +1,10 @@
|
||||
#include <controllib/block/Block.hpp>
|
||||
#include <controllib/block/BlockParam.hpp>
|
||||
|
||||
class BlockSysIdent : public control::Block {
|
||||
public:
|
||||
BlockSysIdent();
|
||||
private:
|
||||
control::BlockParam<float> _freq;
|
||||
control::BlockParam<float> _ampl;
|
||||
};
|
||||
@@ -45,9 +45,16 @@
|
||||
#include "md25.hpp"
|
||||
#include <poll.h>
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include <string.h>
|
||||
|
||||
#include <systemlib/err.h>
|
||||
#include <arch/board/board.h>
|
||||
#include <mavlink/mavlink_log.h>
|
||||
|
||||
#include <controllib/uorb/UOrbPublication.hpp>
|
||||
#include <uORB/topics/debug_key_value.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
// registers
|
||||
enum {
|
||||
@@ -72,6 +79,9 @@ enum {
|
||||
REG_COMMAND_RW,
|
||||
};
|
||||
|
||||
// File descriptors
|
||||
static int mavlink_fd;
|
||||
|
||||
MD25::MD25(const char *deviceName, int bus,
|
||||
uint16_t address, uint32_t speed) :
|
||||
I2C("MD25", deviceName, bus, address, speed),
|
||||
@@ -106,7 +116,8 @@ MD25::MD25(const char *deviceName, int bus,
|
||||
setMotor2Speed(0);
|
||||
resetEncoders();
|
||||
_setMode(MD25::MODE_UNSIGNED_SPEED);
|
||||
setSpeedRegulation(true);
|
||||
setSpeedRegulation(false);
|
||||
setMotorAccel(10);
|
||||
setTimeout(true);
|
||||
}
|
||||
|
||||
@@ -298,6 +309,12 @@ int MD25::setDeviceAddress(uint8_t address)
|
||||
return OK;
|
||||
}
|
||||
|
||||
int MD25::setMotorAccel(uint8_t accel)
|
||||
{
|
||||
return _writeUint8(REG_ACCEL_RATE_RW,
|
||||
accel);
|
||||
}
|
||||
|
||||
int MD25::setMotor1Speed(float value)
|
||||
{
|
||||
return _writeUint8(REG_SPEED1_RW,
|
||||
@@ -451,12 +468,12 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
|
||||
MD25 md25("/dev/md25", bus, address);
|
||||
|
||||
// print status
|
||||
char buf[200];
|
||||
char buf[400];
|
||||
md25.status(buf, sizeof(buf));
|
||||
printf("%s\n", buf);
|
||||
|
||||
// setup for test
|
||||
md25.setSpeedRegulation(true);
|
||||
md25.setSpeedRegulation(false);
|
||||
md25.setTimeout(true);
|
||||
float dt = 0.1;
|
||||
float speed = 0.2;
|
||||
@@ -550,4 +567,68 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
|
||||
return 0;
|
||||
}
|
||||
|
||||
int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitude, float frequency)
|
||||
{
|
||||
printf("md25 sine: starting\n");
|
||||
|
||||
// setup
|
||||
MD25 md25("/dev/md25", bus, address);
|
||||
|
||||
// print status
|
||||
char buf[400];
|
||||
md25.status(buf, sizeof(buf));
|
||||
printf("%s\n", buf);
|
||||
|
||||
// setup for test
|
||||
md25.setSpeedRegulation(false);
|
||||
md25.setTimeout(true);
|
||||
float dt = 0.01;
|
||||
float t_final = 60.0;
|
||||
float prev_revolution = md25.getRevolutions1();
|
||||
|
||||
// debug publication
|
||||
control::UOrbPublication<debug_key_value_s> debug_msg(NULL,
|
||||
ORB_ID(debug_key_value));
|
||||
|
||||
// sine wave for motor 1
|
||||
md25.resetEncoders();
|
||||
while (true) {
|
||||
|
||||
// input
|
||||
uint64_t timestamp = hrt_absolute_time();
|
||||
float t = timestamp/1000000.0f;
|
||||
|
||||
float input_value = amplitude*sinf(2*M_PI*frequency*t);
|
||||
md25.setMotor1Speed(input_value);
|
||||
|
||||
// output
|
||||
md25.readData();
|
||||
float current_revolution = md25.getRevolutions1();
|
||||
|
||||
// send input message
|
||||
//strncpy(debug_msg.key, "md25 in ", 10);
|
||||
//debug_msg.timestamp_ms = 1000*timestamp;
|
||||
//debug_msg.value = input_value;
|
||||
//debug_msg.update();
|
||||
|
||||
// send output message
|
||||
strncpy(debug_msg.key, "md25 out ", 10);
|
||||
debug_msg.timestamp_ms = 1000*timestamp;
|
||||
debug_msg.value = current_revolution;
|
||||
debug_msg.update();
|
||||
|
||||
if (t > t_final) break;
|
||||
|
||||
// update for next step
|
||||
prev_revolution = current_revolution;
|
||||
|
||||
// sleep
|
||||
usleep(1000000 * dt);
|
||||
}
|
||||
md25.setMotor1Speed(0);
|
||||
|
||||
printf("md25 sine complete\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
|
||||
|
||||
@@ -46,7 +46,7 @@
|
||||
|
||||
#include <poll.h>
|
||||
#include <stdio.h>
|
||||
#include <controllib/block/UOrbSubscription.hpp>
|
||||
#include <controllib/uorb/UOrbSubscription.hpp>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
#include <drivers/device/i2c.h>
|
||||
|
||||
@@ -212,6 +212,19 @@ public:
|
||||
*/
|
||||
int setDeviceAddress(uint8_t address);
|
||||
|
||||
/**
|
||||
* set motor acceleration
|
||||
* @param accel
|
||||
* controls motor speed change (1-10)
|
||||
* accel rate | time for full fwd. to full rev.
|
||||
* 1 | 6.375 s
|
||||
* 2 | 1.6 s
|
||||
* 3 | 0.675 s
|
||||
* 5(default) | 1.275 s
|
||||
* 10 | 0.65 s
|
||||
*/
|
||||
int setMotorAccel(uint8_t accel);
|
||||
|
||||
/**
|
||||
* set motor 1 speed
|
||||
* @param normSpeed normalize speed between -1 and 1
|
||||
@@ -290,4 +303,7 @@ private:
|
||||
// unit testing
|
||||
int md25Test(const char *deviceName, uint8_t bus, uint8_t address);
|
||||
|
||||
// sine testing
|
||||
int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitude, float frequency);
|
||||
|
||||
// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
|
||||
|
||||
@@ -82,7 +82,7 @@ usage(const char *reason)
|
||||
if (reason)
|
||||
fprintf(stderr, "%s\n", reason);
|
||||
|
||||
fprintf(stderr, "usage: md25 {start|stop|status|search|test|change_address}\n\n");
|
||||
fprintf(stderr, "usage: md25 {start|stop|read|status|search|test|change_address}\n\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
@@ -136,6 +136,28 @@ int md25_main(int argc, char *argv[])
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "sine")) {
|
||||
|
||||
if (argc < 6) {
|
||||
printf("usage: md25 sine bus address amp freq\n");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
const char *deviceName = "/dev/md25";
|
||||
|
||||
uint8_t bus = strtoul(argv[2], nullptr, 0);
|
||||
|
||||
uint8_t address = strtoul(argv[3], nullptr, 0);
|
||||
|
||||
float amplitude = atof(argv[4]);
|
||||
|
||||
float frequency = atof(argv[5]);
|
||||
|
||||
md25Sine(deviceName, bus, address, amplitude, frequency);
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "probe")) {
|
||||
if (argc < 4) {
|
||||
printf("usage: md25 probe bus address\n");
|
||||
@@ -162,6 +184,29 @@ int md25_main(int argc, char *argv[])
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "read")) {
|
||||
if (argc < 4) {
|
||||
printf("usage: md25 read bus address\n");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
const char *deviceName = "/dev/md25";
|
||||
|
||||
uint8_t bus = strtoul(argv[2], nullptr, 0);
|
||||
|
||||
uint8_t address = strtoul(argv[3], nullptr, 0);
|
||||
|
||||
MD25 md25(deviceName, bus, address);
|
||||
|
||||
// print status
|
||||
char buf[400];
|
||||
md25.status(buf, sizeof(buf));
|
||||
printf("%s\n", buf);
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
if (!strcmp(argv[1], "search")) {
|
||||
if (argc < 3) {
|
||||
printf("usage: md25 search bus\n");
|
||||
@@ -246,7 +291,7 @@ int md25_thread_main(int argc, char *argv[])
|
||||
uint8_t address = strtoul(argv[4], nullptr, 0);
|
||||
|
||||
// start
|
||||
MD25 md25("/dev/md25", bus, address);
|
||||
MD25 md25(deviceName, bus, address);
|
||||
|
||||
thread_running = true;
|
||||
|
||||
|
||||
@@ -34,6 +34,7 @@
|
||||
/**
|
||||
* @file meas_airspeed.cpp
|
||||
* @author Lorenz Meier
|
||||
* @author Sarthak Kaingade
|
||||
* @author Simon Wilks
|
||||
*
|
||||
* Driver for the MEAS Spec series connected via I2C.
|
||||
@@ -92,9 +93,6 @@
|
||||
|
||||
/* Register address */
|
||||
#define ADDR_READ_MR 0x00 /* write to this address to start conversion */
|
||||
#define ADDR_READ_DF2 0x00 /* read from this address to read pressure only */
|
||||
#define ADDR_READ_DF3 0x01
|
||||
#define ADDR_READ_DF4 0x02 /* read from this address to read pressure and temp */
|
||||
|
||||
/* Measurement rate is 100Hz */
|
||||
#define CONVERSION_INTERVAL (1000000 / 100) /* microseconds */
|
||||
@@ -122,7 +120,7 @@ protected:
|
||||
extern "C" __EXPORT int meas_airspeed_main(int argc, char *argv[]);
|
||||
|
||||
MEASAirspeed::MEASAirspeed(int bus, int address) : Airspeed(bus, address,
|
||||
CONVERSION_INTERVAL)
|
||||
CONVERSION_INTERVAL)
|
||||
{
|
||||
|
||||
}
|
||||
@@ -160,7 +158,7 @@ MEASAirspeed::collect()
|
||||
|
||||
perf_begin(_sample_perf);
|
||||
|
||||
ret = transfer(nullptr, 0, &val[0], 2);
|
||||
ret = transfer(nullptr, 0, &val[0], 4);
|
||||
|
||||
if (ret < 0) {
|
||||
log("error reading from sensor: %d", ret);
|
||||
@@ -171,25 +169,37 @@ MEASAirspeed::collect()
|
||||
|
||||
if (status == 2) {
|
||||
log("err: stale data");
|
||||
|
||||
} else if (status == 3) {
|
||||
log("err: fault");
|
||||
}
|
||||
|
||||
uint16_t diff_pres_pa = (val[1]) | ((val[0] & ~(0xC0)) << 8);
|
||||
//uint16_t diff_pres_pa = (val[1]) | ((val[0] & ~(0xC0)) << 8);
|
||||
uint16_t temp = (val[3] & 0xE0) << 8 | val[2];
|
||||
|
||||
diff_pres_pa = abs(diff_pres_pa - (16384 / 2.0f));
|
||||
diff_pres_pa -= _diff_pres_offset;
|
||||
// XXX leaving this in until new calculation method has been cross-checked
|
||||
//diff_pres_pa = abs(diff_pres_pa - (16384 / 2.0f));
|
||||
//diff_pres_pa -= _diff_pres_offset;
|
||||
int16_t dp_raw = 0, dT_raw = 0;
|
||||
dp_raw = (val[0] << 8) + val[1];
|
||||
dp_raw = 0x3FFF & dp_raw;
|
||||
dT_raw = (val[2] << 8) + val[3];
|
||||
dT_raw = (0xFFE0 & dT_raw) >> 5;
|
||||
float temperature = ((200 * dT_raw) / 2047) - 50;
|
||||
|
||||
// XXX we may want to smooth out the readings to remove noise.
|
||||
|
||||
// Calculate differential pressure. As its centered around 8000
|
||||
// and can go positive or negative, enforce absolute value
|
||||
uint16_t diff_press_pa = abs(dp_raw - (16384 / 2.0f));
|
||||
|
||||
_reports[_next_report].timestamp = hrt_absolute_time();
|
||||
_reports[_next_report].temperature = temp;
|
||||
_reports[_next_report].differential_pressure_pa = diff_pres_pa;
|
||||
_reports[_next_report].temperature = temperature;
|
||||
_reports[_next_report].differential_pressure_pa = diff_press_pa;
|
||||
|
||||
// Track maximum differential pressure measured (so we can work out top speed).
|
||||
if (diff_pres_pa > _reports[_next_report].max_differential_pressure_pa) {
|
||||
_reports[_next_report].max_differential_pressure_pa = diff_pres_pa;
|
||||
if (diff_press_pa > _reports[_next_report].max_differential_pressure_pa) {
|
||||
_reports[_next_report].max_differential_pressure_pa = diff_press_pa;
|
||||
}
|
||||
|
||||
/* announce the airspeed if needed, just publish else */
|
||||
@@ -405,6 +415,10 @@ test()
|
||||
warnx("temperature: %d C (0x%02x)", (int)report.temperature, (unsigned) report.temperature);
|
||||
}
|
||||
|
||||
/* reset the sensor polling to its default rate */
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT))
|
||||
errx(1, "failed to set default rate");
|
||||
|
||||
errx(0, "PASS");
|
||||
}
|
||||
|
||||
|
||||
+280
-100
@@ -67,8 +67,10 @@
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include <drivers/device/spi.h>
|
||||
#include <drivers/device/ringbuffer.h>
|
||||
#include <drivers/drv_accel.h>
|
||||
#include <drivers/drv_gyro.h>
|
||||
#include <mathlib/math/filter/LowPassFilter2p.hpp>
|
||||
|
||||
#define DIR_READ 0x80
|
||||
#define DIR_WRITE 0x00
|
||||
@@ -181,13 +183,17 @@ private:
|
||||
struct hrt_call _call;
|
||||
unsigned _call_interval;
|
||||
|
||||
struct accel_report _accel_report;
|
||||
typedef RingBuffer<accel_report> AccelReportBuffer;
|
||||
AccelReportBuffer *_accel_reports;
|
||||
|
||||
struct accel_scale _accel_scale;
|
||||
float _accel_range_scale;
|
||||
float _accel_range_m_s2;
|
||||
orb_advert_t _accel_topic;
|
||||
|
||||
struct gyro_report _gyro_report;
|
||||
typedef RingBuffer<gyro_report> GyroReportBuffer;
|
||||
GyroReportBuffer *_gyro_reports;
|
||||
|
||||
struct gyro_scale _gyro_scale;
|
||||
float _gyro_range_scale;
|
||||
float _gyro_range_rad_s;
|
||||
@@ -197,6 +203,13 @@ private:
|
||||
unsigned _sample_rate;
|
||||
perf_counter_t _sample_perf;
|
||||
|
||||
math::LowPassFilter2p _accel_filter_x;
|
||||
math::LowPassFilter2p _accel_filter_y;
|
||||
math::LowPassFilter2p _accel_filter_z;
|
||||
math::LowPassFilter2p _gyro_filter_x;
|
||||
math::LowPassFilter2p _gyro_filter_y;
|
||||
math::LowPassFilter2p _gyro_filter_z;
|
||||
|
||||
/**
|
||||
* Start automatic measurement.
|
||||
*/
|
||||
@@ -207,6 +220,13 @@ private:
|
||||
*/
|
||||
void stop();
|
||||
|
||||
/**
|
||||
* Reset chip.
|
||||
*
|
||||
* Resets the chip and measurements ranges, but not scale and offset.
|
||||
*/
|
||||
void reset();
|
||||
|
||||
/**
|
||||
* Static trampoline from the hrt_call context; because we don't have a
|
||||
* generic hrt wrapper yet.
|
||||
@@ -219,7 +239,7 @@ private:
|
||||
static void measure_trampoline(void *arg);
|
||||
|
||||
/**
|
||||
* Fetch measurements from the sensor and update the report ring.
|
||||
* Fetch measurements from the sensor and update the report buffers.
|
||||
*/
|
||||
void measure();
|
||||
|
||||
@@ -311,15 +331,23 @@ MPU6000::MPU6000(int bus, spi_dev_e device) :
|
||||
_gyro(new MPU6000_gyro(this)),
|
||||
_product(0),
|
||||
_call_interval(0),
|
||||
_accel_reports(nullptr),
|
||||
_accel_range_scale(0.0f),
|
||||
_accel_range_m_s2(0.0f),
|
||||
_accel_topic(-1),
|
||||
_gyro_reports(nullptr),
|
||||
_gyro_range_scale(0.0f),
|
||||
_gyro_range_rad_s(0.0f),
|
||||
_gyro_topic(-1),
|
||||
_reads(0),
|
||||
_sample_rate(500),
|
||||
_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read"))
|
||||
_sample_rate(1000),
|
||||
_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")),
|
||||
_accel_filter_x(1000, 30),
|
||||
_accel_filter_y(1000, 30),
|
||||
_accel_filter_z(1000, 30),
|
||||
_gyro_filter_x(1000, 30),
|
||||
_gyro_filter_y(1000, 30),
|
||||
_gyro_filter_z(1000, 30)
|
||||
{
|
||||
// disable debug() calls
|
||||
_debug_enabled = false;
|
||||
@@ -340,8 +368,6 @@ MPU6000::MPU6000(int bus, spi_dev_e device) :
|
||||
_gyro_scale.z_offset = 0;
|
||||
_gyro_scale.z_scale = 1.0f;
|
||||
|
||||
memset(&_accel_report, 0, sizeof(_accel_report));
|
||||
memset(&_gyro_report, 0, sizeof(_gyro_report));
|
||||
memset(&_call, 0, sizeof(_call));
|
||||
}
|
||||
|
||||
@@ -353,6 +379,12 @@ MPU6000::~MPU6000()
|
||||
/* delete the gyro subdriver */
|
||||
delete _gyro;
|
||||
|
||||
/* free any existing reports */
|
||||
if (_accel_reports != nullptr)
|
||||
delete _accel_reports;
|
||||
if (_gyro_reports != nullptr)
|
||||
delete _gyro_reports;
|
||||
|
||||
/* delete the perf counter */
|
||||
perf_free(_sample_perf);
|
||||
}
|
||||
@@ -361,6 +393,7 @@ int
|
||||
MPU6000::init()
|
||||
{
|
||||
int ret;
|
||||
int gyro_ret;
|
||||
|
||||
/* do SPI init (and probe) first */
|
||||
ret = SPI::init();
|
||||
@@ -371,6 +404,59 @@ MPU6000::init()
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* allocate basic report buffers */
|
||||
_accel_reports = new AccelReportBuffer(2);
|
||||
if (_accel_reports == nullptr)
|
||||
goto out;
|
||||
|
||||
_gyro_reports = new GyroReportBuffer(2);
|
||||
if (_gyro_reports == nullptr)
|
||||
goto out;
|
||||
|
||||
reset();
|
||||
|
||||
/* Initialize offsets and scales */
|
||||
_accel_scale.x_offset = 0;
|
||||
_accel_scale.x_scale = 1.0f;
|
||||
_accel_scale.y_offset = 0;
|
||||
_accel_scale.y_scale = 1.0f;
|
||||
_accel_scale.z_offset = 0;
|
||||
_accel_scale.z_scale = 1.0f;
|
||||
|
||||
_gyro_scale.x_offset = 0;
|
||||
_gyro_scale.x_scale = 1.0f;
|
||||
_gyro_scale.y_offset = 0;
|
||||
_gyro_scale.y_scale = 1.0f;
|
||||
_gyro_scale.z_offset = 0;
|
||||
_gyro_scale.z_scale = 1.0f;
|
||||
|
||||
/* do CDev init for the gyro device node, keep it optional */
|
||||
gyro_ret = _gyro->init();
|
||||
|
||||
/* fetch an initial set of measurements for advertisement */
|
||||
measure();
|
||||
|
||||
if (gyro_ret != OK) {
|
||||
_gyro_topic = -1;
|
||||
} else {
|
||||
gyro_report gr;
|
||||
_gyro_reports->get(gr);
|
||||
|
||||
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &gr);
|
||||
}
|
||||
|
||||
/* advertise accel topic */
|
||||
accel_report ar;
|
||||
_accel_reports->get(ar);
|
||||
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &ar);
|
||||
|
||||
out:
|
||||
return ret;
|
||||
}
|
||||
|
||||
void MPU6000::reset()
|
||||
{
|
||||
|
||||
// Chip reset
|
||||
write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
|
||||
up_udelay(10000);
|
||||
@@ -391,7 +477,7 @@ MPU6000::init()
|
||||
// FS & DLPF FS=2000 deg/s, DLPF = 20Hz (low pass filter)
|
||||
// was 90 Hz, but this ruins quality and does not improve the
|
||||
// system response
|
||||
_set_dlpf_filter(20);
|
||||
_set_dlpf_filter(42);
|
||||
usleep(1000);
|
||||
// Gyro scale 2000 deg/s ()
|
||||
write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS);
|
||||
@@ -402,12 +488,6 @@ MPU6000::init()
|
||||
// 2000 deg/s = (2000/180)*PI = 34.906585 rad/s
|
||||
// scaling factor:
|
||||
// 1/(2^15)*(2000/180)*PI
|
||||
_gyro_scale.x_offset = 0;
|
||||
_gyro_scale.x_scale = 1.0f;
|
||||
_gyro_scale.y_offset = 0;
|
||||
_gyro_scale.y_scale = 1.0f;
|
||||
_gyro_scale.z_offset = 0;
|
||||
_gyro_scale.z_scale = 1.0f;
|
||||
_gyro_range_scale = (0.0174532 / 16.4);//1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F);
|
||||
_gyro_range_rad_s = (2000.0f / 180.0f) * M_PI_F;
|
||||
|
||||
@@ -440,12 +520,6 @@ MPU6000::init()
|
||||
|
||||
// Correct accel scale factors of 4096 LSB/g
|
||||
// scale to m/s^2 ( 1g = 9.81 m/s^2)
|
||||
_accel_scale.x_offset = 0;
|
||||
_accel_scale.x_scale = 1.0f;
|
||||
_accel_scale.y_offset = 0;
|
||||
_accel_scale.y_scale = 1.0f;
|
||||
_accel_scale.z_offset = 0;
|
||||
_accel_scale.z_scale = 1.0f;
|
||||
_accel_range_scale = (9.81f / 4096.0f);
|
||||
_accel_range_m_s2 = 8.0f * 9.81f;
|
||||
|
||||
@@ -461,22 +535,6 @@ MPU6000::init()
|
||||
// write_reg(MPUREG_PWR_MGMT_1,MPU_CLK_SEL_PLLGYROZ);
|
||||
usleep(1000);
|
||||
|
||||
/* do CDev init for the gyro device node, keep it optional */
|
||||
int gyro_ret = _gyro->init();
|
||||
|
||||
/* ensure we got real values to share */
|
||||
measure();
|
||||
|
||||
if (gyro_ret != OK) {
|
||||
_gyro_topic = -1;
|
||||
} else {
|
||||
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_gyro_report);
|
||||
}
|
||||
|
||||
/* advertise sensor topics */
|
||||
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_report);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
@@ -555,21 +613,33 @@ MPU6000::_set_dlpf_filter(uint16_t frequency_hz)
|
||||
ssize_t
|
||||
MPU6000::read(struct file *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
int ret = 0;
|
||||
unsigned count = buflen / sizeof(accel_report);
|
||||
|
||||
/* buffer must be large enough */
|
||||
if (buflen < sizeof(_accel_report))
|
||||
if (count < 1)
|
||||
return -ENOSPC;
|
||||
|
||||
/* if automatic measurement is not enabled */
|
||||
if (_call_interval == 0)
|
||||
/* if automatic measurement is not enabled, get a fresh measurement into the buffer */
|
||||
if (_call_interval == 0) {
|
||||
_accel_reports->flush();
|
||||
measure();
|
||||
}
|
||||
|
||||
/* copy out the latest reports */
|
||||
memcpy(buffer, &_accel_report, sizeof(_accel_report));
|
||||
ret = sizeof(_accel_report);
|
||||
/* if no data, error (we could block here) */
|
||||
if (_accel_reports->empty())
|
||||
return -EAGAIN;
|
||||
|
||||
return ret;
|
||||
/* copy reports out of our buffer to the caller */
|
||||
accel_report *arp = reinterpret_cast<accel_report *>(buffer);
|
||||
int transferred = 0;
|
||||
while (count--) {
|
||||
if (!_accel_reports->get(*arp++))
|
||||
break;
|
||||
transferred++;
|
||||
}
|
||||
|
||||
/* return the number of bytes transferred */
|
||||
return (transferred * sizeof(accel_report));
|
||||
}
|
||||
|
||||
int
|
||||
@@ -586,21 +656,33 @@ MPU6000::self_test()
|
||||
ssize_t
|
||||
MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
int ret = 0;
|
||||
unsigned count = buflen / sizeof(gyro_report);
|
||||
|
||||
/* buffer must be large enough */
|
||||
if (buflen < sizeof(_gyro_report))
|
||||
if (count < 1)
|
||||
return -ENOSPC;
|
||||
|
||||
/* if automatic measurement is not enabled */
|
||||
if (_call_interval == 0)
|
||||
/* if automatic measurement is not enabled, get a fresh measurement into the buffer */
|
||||
if (_call_interval == 0) {
|
||||
_gyro_reports->flush();
|
||||
measure();
|
||||
}
|
||||
|
||||
/* copy out the latest report */
|
||||
memcpy(buffer, &_gyro_report, sizeof(_gyro_report));
|
||||
ret = sizeof(_gyro_report);
|
||||
/* if no data, error (we could block here) */
|
||||
if (_gyro_reports->empty())
|
||||
return -EAGAIN;
|
||||
|
||||
return ret;
|
||||
/* copy reports out of our buffer to the caller */
|
||||
gyro_report *arp = reinterpret_cast<gyro_report *>(buffer);
|
||||
int transferred = 0;
|
||||
while (count--) {
|
||||
if (!_gyro_reports->get(*arp++))
|
||||
break;
|
||||
transferred++;
|
||||
}
|
||||
|
||||
/* return the number of bytes transferred */
|
||||
return (transferred * sizeof(gyro_report));
|
||||
}
|
||||
|
||||
int
|
||||
@@ -608,6 +690,10 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
switch (cmd) {
|
||||
|
||||
case SENSORIOCRESET:
|
||||
reset();
|
||||
return OK;
|
||||
|
||||
case SENSORIOCSPOLLRATE: {
|
||||
switch (arg) {
|
||||
|
||||
@@ -627,8 +713,8 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
/* set default/max polling rate */
|
||||
case SENSOR_POLLRATE_MAX:
|
||||
case SENSOR_POLLRATE_DEFAULT:
|
||||
/* XXX 500Hz is just a wild guess */
|
||||
return ioctl(filp, SENSORIOCSPOLLRATE, 500);
|
||||
/* set to same as sample rate per default */
|
||||
return ioctl(filp, SENSORIOCSPOLLRATE, _sample_rate);
|
||||
|
||||
/* adjust to a legal polling interval in Hz */
|
||||
default: {
|
||||
@@ -642,6 +728,19 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
if (ticks < 1000)
|
||||
return -EINVAL;
|
||||
|
||||
// adjust filters
|
||||
float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq();
|
||||
float sample_rate = 1.0e6f/ticks;
|
||||
_accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
|
||||
_accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
|
||||
_accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
|
||||
|
||||
|
||||
float cutoff_freq_hz_gyro = _gyro_filter_x.get_cutoff_freq();
|
||||
_gyro_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
|
||||
_gyro_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
|
||||
_gyro_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
|
||||
|
||||
/* update interval for next measurement */
|
||||
/* XXX this is a bit shady, but no other way to adjust... */
|
||||
_call.period = _call_interval = ticks;
|
||||
@@ -661,25 +760,51 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
|
||||
return 1000000 / _call_interval;
|
||||
|
||||
case SENSORIOCSQUEUEDEPTH:
|
||||
/* XXX not implemented */
|
||||
return -EINVAL;
|
||||
case SENSORIOCSQUEUEDEPTH: {
|
||||
/* lower bound is mandatory, upper bound is a sanity check */
|
||||
if ((arg < 1) || (arg > 100))
|
||||
return -EINVAL;
|
||||
|
||||
/* allocate new buffer */
|
||||
AccelReportBuffer *buf = new AccelReportBuffer(arg);
|
||||
|
||||
if (nullptr == buf)
|
||||
return -ENOMEM;
|
||||
if (buf->size() == 0) {
|
||||
delete buf;
|
||||
return -ENOMEM;
|
||||
}
|
||||
|
||||
/* reset the measurement state machine with the new buffer, free the old */
|
||||
stop();
|
||||
delete _accel_reports;
|
||||
_accel_reports = buf;
|
||||
start();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
case SENSORIOCGQUEUEDEPTH:
|
||||
/* XXX not implemented */
|
||||
return -EINVAL;
|
||||
|
||||
return _accel_reports->size();
|
||||
|
||||
case ACCELIOCGSAMPLERATE:
|
||||
return _sample_rate;
|
||||
|
||||
case ACCELIOCSSAMPLERATE:
|
||||
_set_sample_rate(arg);
|
||||
return OK;
|
||||
_set_sample_rate(arg);
|
||||
return OK;
|
||||
|
||||
case ACCELIOCGLOWPASS:
|
||||
return _accel_filter_x.get_cutoff_freq();
|
||||
|
||||
case ACCELIOCSLOWPASS:
|
||||
case ACCELIOCGLOWPASS:
|
||||
_set_dlpf_filter((uint16_t)arg);
|
||||
|
||||
// XXX decide on relationship of both filters
|
||||
// i.e. disable the on-chip filter
|
||||
//_set_dlpf_filter((uint16_t)arg);
|
||||
_accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
|
||||
_accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
|
||||
_accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
|
||||
return OK;
|
||||
|
||||
case ACCELIOCSSCALE:
|
||||
@@ -726,11 +851,36 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
/* these are shared with the accel side */
|
||||
case SENSORIOCSPOLLRATE:
|
||||
case SENSORIOCGPOLLRATE:
|
||||
case SENSORIOCSQUEUEDEPTH:
|
||||
case SENSORIOCGQUEUEDEPTH:
|
||||
case SENSORIOCRESET:
|
||||
return ioctl(filp, cmd, arg);
|
||||
|
||||
case SENSORIOCSQUEUEDEPTH: {
|
||||
/* lower bound is mandatory, upper bound is a sanity check */
|
||||
if ((arg < 1) || (arg > 100))
|
||||
return -EINVAL;
|
||||
|
||||
/* allocate new buffer */
|
||||
GyroReportBuffer *buf = new GyroReportBuffer(arg);
|
||||
|
||||
if (nullptr == buf)
|
||||
return -ENOMEM;
|
||||
if (buf->size() == 0) {
|
||||
delete buf;
|
||||
return -ENOMEM;
|
||||
}
|
||||
|
||||
/* reset the measurement state machine with the new buffer, free the old */
|
||||
stop();
|
||||
delete _gyro_reports;
|
||||
_gyro_reports = buf;
|
||||
start();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
case SENSORIOCGQUEUEDEPTH:
|
||||
return _gyro_reports->size();
|
||||
|
||||
case GYROIOCGSAMPLERATE:
|
||||
return _sample_rate;
|
||||
|
||||
@@ -738,9 +888,14 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
_set_sample_rate(arg);
|
||||
return OK;
|
||||
|
||||
case GYROIOCSLOWPASS:
|
||||
case GYROIOCGLOWPASS:
|
||||
_set_dlpf_filter((uint16_t)arg);
|
||||
return _gyro_filter_x.get_cutoff_freq();
|
||||
case GYROIOCSLOWPASS:
|
||||
_gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
|
||||
_gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
|
||||
_gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
|
||||
// XXX check relation to the internal lowpass
|
||||
//_set_dlpf_filter((uint16_t)arg);
|
||||
return OK;
|
||||
|
||||
case GYROIOCSSCALE:
|
||||
@@ -865,6 +1020,10 @@ MPU6000::start()
|
||||
/* make sure we are stopped first */
|
||||
stop();
|
||||
|
||||
/* discard any stale data in the buffers */
|
||||
_accel_reports->flush();
|
||||
_gyro_reports->flush();
|
||||
|
||||
/* start polling at the specified rate */
|
||||
hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&MPU6000::measure_trampoline, this);
|
||||
}
|
||||
@@ -878,7 +1037,7 @@ MPU6000::stop()
|
||||
void
|
||||
MPU6000::measure_trampoline(void *arg)
|
||||
{
|
||||
MPU6000 *dev = (MPU6000 *)arg;
|
||||
MPU6000 *dev = reinterpret_cast<MPU6000 *>(arg);
|
||||
|
||||
/* make another measurement */
|
||||
dev->measure();
|
||||
@@ -959,10 +1118,16 @@ MPU6000::measure()
|
||||
report.gyro_x = gyro_xt;
|
||||
report.gyro_y = gyro_yt;
|
||||
|
||||
/*
|
||||
* Report buffers.
|
||||
*/
|
||||
accel_report arb;
|
||||
gyro_report grb;
|
||||
|
||||
/*
|
||||
* Adjust and scale results to m/s^2.
|
||||
*/
|
||||
_gyro_report.timestamp = _accel_report.timestamp = hrt_absolute_time();
|
||||
grb.timestamp = arb.timestamp = hrt_absolute_time();
|
||||
|
||||
|
||||
/*
|
||||
@@ -983,40 +1148,53 @@ MPU6000::measure()
|
||||
|
||||
/* NOTE: Axes have been swapped to match the board a few lines above. */
|
||||
|
||||
_accel_report.x_raw = report.accel_x;
|
||||
_accel_report.y_raw = report.accel_y;
|
||||
_accel_report.z_raw = report.accel_z;
|
||||
arb.x_raw = report.accel_x;
|
||||
arb.y_raw = report.accel_y;
|
||||
arb.z_raw = report.accel_z;
|
||||
|
||||
_accel_report.x = ((report.accel_x * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
|
||||
_accel_report.y = ((report.accel_y * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
|
||||
_accel_report.z = ((report.accel_z * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
|
||||
_accel_report.scaling = _accel_range_scale;
|
||||
_accel_report.range_m_s2 = _accel_range_m_s2;
|
||||
float x_in_new = ((report.accel_x * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
|
||||
float y_in_new = ((report.accel_y * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
|
||||
float z_in_new = ((report.accel_z * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
|
||||
|
||||
arb.x = _accel_filter_x.apply(x_in_new);
|
||||
arb.y = _accel_filter_y.apply(y_in_new);
|
||||
arb.z = _accel_filter_z.apply(z_in_new);
|
||||
|
||||
_accel_report.temperature_raw = report.temp;
|
||||
_accel_report.temperature = (report.temp) / 361.0f + 35.0f;
|
||||
arb.scaling = _accel_range_scale;
|
||||
arb.range_m_s2 = _accel_range_m_s2;
|
||||
|
||||
_gyro_report.x_raw = report.gyro_x;
|
||||
_gyro_report.y_raw = report.gyro_y;
|
||||
_gyro_report.z_raw = report.gyro_z;
|
||||
arb.temperature_raw = report.temp;
|
||||
arb.temperature = (report.temp) / 361.0f + 35.0f;
|
||||
|
||||
_gyro_report.x = ((report.gyro_x * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
|
||||
_gyro_report.y = ((report.gyro_y * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
|
||||
_gyro_report.z = ((report.gyro_z * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
|
||||
_gyro_report.scaling = _gyro_range_scale;
|
||||
_gyro_report.range_rad_s = _gyro_range_rad_s;
|
||||
grb.x_raw = report.gyro_x;
|
||||
grb.y_raw = report.gyro_y;
|
||||
grb.z_raw = report.gyro_z;
|
||||
|
||||
_gyro_report.temperature_raw = report.temp;
|
||||
_gyro_report.temperature = (report.temp) / 361.0f + 35.0f;
|
||||
float x_gyro_in_new = ((report.gyro_x * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
|
||||
float y_gyro_in_new = ((report.gyro_y * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
|
||||
float z_gyro_in_new = ((report.gyro_z * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
|
||||
|
||||
grb.x = _gyro_filter_x.apply(x_gyro_in_new);
|
||||
grb.y = _gyro_filter_y.apply(y_gyro_in_new);
|
||||
grb.z = _gyro_filter_z.apply(z_gyro_in_new);
|
||||
|
||||
grb.scaling = _gyro_range_scale;
|
||||
grb.range_rad_s = _gyro_range_rad_s;
|
||||
|
||||
grb.temperature_raw = report.temp;
|
||||
grb.temperature = (report.temp) / 361.0f + 35.0f;
|
||||
|
||||
_accel_reports->put(arb);
|
||||
_gyro_reports->put(grb);
|
||||
|
||||
/* notify anyone waiting for data */
|
||||
poll_notify(POLLIN);
|
||||
_gyro->parent_poll_notify();
|
||||
|
||||
/* and publish for subscribers */
|
||||
orb_publish(ORB_ID(sensor_accel), _accel_topic, &_accel_report);
|
||||
orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
|
||||
if (_gyro_topic != -1) {
|
||||
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &_gyro_report);
|
||||
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &grb);
|
||||
}
|
||||
|
||||
/* stop measuring */
|
||||
@@ -1119,21 +1297,19 @@ fail:
|
||||
void
|
||||
test()
|
||||
{
|
||||
int fd = -1;
|
||||
int fd_gyro = -1;
|
||||
struct accel_report a_report;
|
||||
struct gyro_report g_report;
|
||||
accel_report a_report;
|
||||
gyro_report g_report;
|
||||
ssize_t sz;
|
||||
|
||||
/* get the driver */
|
||||
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
|
||||
int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0)
|
||||
err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)",
|
||||
ACCEL_DEVICE_PATH);
|
||||
|
||||
/* get the driver */
|
||||
fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
|
||||
int fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd_gyro < 0)
|
||||
err(1, "%s open failed", GYRO_DEVICE_PATH);
|
||||
@@ -1145,8 +1321,10 @@ test()
|
||||
/* do a simple demand read */
|
||||
sz = read(fd, &a_report, sizeof(a_report));
|
||||
|
||||
if (sz != sizeof(a_report))
|
||||
if (sz != sizeof(a_report)) {
|
||||
warnx("ret: %d, expected: %d", sz, sizeof(a_report));
|
||||
err(1, "immediate acc read failed");
|
||||
}
|
||||
|
||||
warnx("single read");
|
||||
warnx("time: %lld", a_report.timestamp);
|
||||
@@ -1162,8 +1340,10 @@ test()
|
||||
/* do a simple demand read */
|
||||
sz = read(fd_gyro, &g_report, sizeof(g_report));
|
||||
|
||||
if (sz != sizeof(g_report))
|
||||
if (sz != sizeof(g_report)) {
|
||||
warnx("ret: %d, expected: %d", sz, sizeof(g_report));
|
||||
err(1, "immediate gyro read failed");
|
||||
}
|
||||
|
||||
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
|
||||
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
|
||||
|
||||
+114
-67
@@ -89,21 +89,61 @@
|
||||
#define PX4IO_SET_DEBUG _IOC(0xff00, 0)
|
||||
#define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1)
|
||||
|
||||
/**
|
||||
* The PX4IO class.
|
||||
*
|
||||
* Encapsulates PX4FMU to PX4IO communications modeled as file operations.
|
||||
*/
|
||||
class PX4IO : public device::I2C
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor.
|
||||
*
|
||||
* Initialize all class variables.
|
||||
*/
|
||||
PX4IO();
|
||||
/**
|
||||
* Destructor.
|
||||
*
|
||||
* Wait for worker thread to terminate.
|
||||
*/
|
||||
virtual ~PX4IO();
|
||||
|
||||
/**
|
||||
* Initialize the PX4IO class.
|
||||
*
|
||||
* Initialize the physical I2C interface to PX4IO. Retrieve relevant initial system parameters. Initialize PX4IO registers.
|
||||
*/
|
||||
virtual int init();
|
||||
|
||||
/**
|
||||
* IO Control handler.
|
||||
*
|
||||
* Handle all IOCTL calls to the PX4IO file descriptor.
|
||||
*
|
||||
* @param[in] filp file handle (not used). This function is always called directly through object reference
|
||||
* @param[in] cmd the IOCTL command
|
||||
* @param[in] the IOCTL command parameter (optional)
|
||||
*/
|
||||
virtual int ioctl(file *filp, int cmd, unsigned long arg);
|
||||
|
||||
/**
|
||||
* write handler.
|
||||
*
|
||||
* Handle writes to the PX4IO file descriptor.
|
||||
*
|
||||
* @param[in] filp file handle (not used). This function is always called directly through object reference
|
||||
* @param[in] buffer pointer to the data buffer to be written
|
||||
* @param[in] len size in bytes to be written
|
||||
* @return number of bytes written
|
||||
*/
|
||||
virtual ssize_t write(file *filp, const char *buffer, size_t len);
|
||||
|
||||
/**
|
||||
* Set the update rate for actuator outputs from FMU to IO.
|
||||
*
|
||||
* @param rate The rate in Hz actuator outpus are sent to IO.
|
||||
* @param[in] rate The rate in Hz actuator output are sent to IO.
|
||||
* Min 10 Hz, max 400 Hz
|
||||
*/
|
||||
int set_update_rate(int rate);
|
||||
@@ -111,29 +151,41 @@ public:
|
||||
/**
|
||||
* Set the battery current scaling and bias
|
||||
*
|
||||
* @param amp_per_volt
|
||||
* @param amp_bias
|
||||
* @param[in] amp_per_volt
|
||||
* @param[in] amp_bias
|
||||
*/
|
||||
void set_battery_current_scaling(float amp_per_volt, float amp_bias);
|
||||
|
||||
/**
|
||||
* Push failsafe values to IO.
|
||||
*
|
||||
* @param vals Failsafe control inputs: in us PPM (900 for zero, 1500 for centered, 2100 for full)
|
||||
* @param len Number of channels, could up to 8
|
||||
* @param[in] vals Failsafe control inputs: in us PPM (900 for zero, 1500 for centered, 2100 for full)
|
||||
* @param[in] len Number of channels, could up to 8
|
||||
*/
|
||||
int set_failsafe_values(const uint16_t *vals, unsigned len);
|
||||
|
||||
/**
|
||||
* Print the current status of IO
|
||||
*/
|
||||
* Print IO status.
|
||||
*
|
||||
* Print all relevant IO status information
|
||||
*/
|
||||
void print_status();
|
||||
|
||||
/**
|
||||
* Set the DSM VCC is controlled by relay one flag
|
||||
*
|
||||
* @param[in] enable true=DSM satellite VCC is controlled by relay1, false=DSM satellite VCC not controlled
|
||||
*/
|
||||
inline void set_dsm_vcc_ctl(bool enable)
|
||||
{
|
||||
_dsm_vcc_ctl = enable;
|
||||
};
|
||||
|
||||
/**
|
||||
* Get the DSM VCC is controlled by relay one flag
|
||||
*
|
||||
* @return true=DSM satellite VCC is controlled by relay1, false=DSM satellite VCC not controlled
|
||||
*/
|
||||
inline bool get_dsm_vcc_ctl()
|
||||
{
|
||||
return _dsm_vcc_ctl;
|
||||
@@ -141,52 +193,48 @@ public:
|
||||
|
||||
private:
|
||||
// XXX
|
||||
unsigned _max_actuators;
|
||||
unsigned _max_controls;
|
||||
unsigned _max_rc_input;
|
||||
unsigned _max_relays;
|
||||
unsigned _max_transfer;
|
||||
unsigned _max_actuators; ///<Maximum # of actuators supported by PX4IO
|
||||
unsigned _max_controls; ///<Maximum # of controls supported by PX4IO
|
||||
unsigned _max_rc_input; ///<Maximum receiver channels supported by PX4IO
|
||||
unsigned _max_relays; ///<Maximum relays supported by PX4IO
|
||||
unsigned _max_transfer; ///<Maximum number of I2C transfers supported by PX4IO
|
||||
|
||||
unsigned _update_interval; ///< subscription interval limiting send rate
|
||||
unsigned _update_interval; ///<Subscription interval limiting send rate
|
||||
|
||||
volatile int _task; ///< worker task
|
||||
volatile bool _task_should_exit;
|
||||
volatile int _task; ///<worker task id
|
||||
volatile bool _task_should_exit; ///<worker terminate flag
|
||||
|
||||
int _mavlink_fd;
|
||||
int _mavlink_fd; ///<mavlink file descriptor
|
||||
|
||||
perf_counter_t _perf_update;
|
||||
perf_counter_t _perf_update; ///<local performance counter
|
||||
|
||||
/* cached IO state */
|
||||
uint16_t _status;
|
||||
uint16_t _alarms;
|
||||
uint16_t _status; ///<Various IO status flags
|
||||
uint16_t _alarms; ///<Various IO alarms
|
||||
|
||||
/* subscribed topics */
|
||||
int _t_actuators; ///< actuator controls topic
|
||||
int _t_armed; ///< system armed control topic
|
||||
int _t_vstatus; ///< system / vehicle status
|
||||
int _t_param; ///< parameter update topic
|
||||
int _t_actuators; ///<actuator controls topic
|
||||
int _t_armed; ///<system armed control topic
|
||||
int _t_vstatus; ///<system / vehicle status
|
||||
int _t_param; ///<parameter update topic
|
||||
|
||||
/* advertised topics */
|
||||
orb_advert_t _to_input_rc; ///< rc inputs from io
|
||||
orb_advert_t _to_actuators_effective; ///< effective actuator controls topic
|
||||
orb_advert_t _to_outputs; ///< mixed servo outputs topic
|
||||
orb_advert_t _to_battery; ///< battery status / voltage
|
||||
orb_advert_t _to_input_rc; ///<rc inputs from IO topic
|
||||
orb_advert_t _to_actuators_effective; ///<effective actuator controls topic
|
||||
orb_advert_t _to_outputs; ///<mixed servo outputs topic
|
||||
orb_advert_t _to_battery; ///<battery status / voltage topic
|
||||
|
||||
actuator_outputs_s _outputs; ///< mixed outputs
|
||||
actuator_controls_effective_s _controls_effective; ///< effective controls
|
||||
actuator_outputs_s _outputs; ///<mixed outputs
|
||||
actuator_controls_effective_s _controls_effective; ///<effective controls
|
||||
|
||||
bool _primary_pwm_device; ///< true if we are the default PWM output
|
||||
bool _primary_pwm_device; ///<true if we are the default PWM output
|
||||
|
||||
float _battery_amp_per_volt;
|
||||
float _battery_amp_bias;
|
||||
float _battery_mamphour_total;
|
||||
uint64_t _battery_last_timestamp;
|
||||
float _battery_amp_per_volt; ///<current sensor amps/volt
|
||||
float _battery_amp_bias; ///<current sensor bias
|
||||
float _battery_mamphour_total;///<amp hours consumed so far
|
||||
uint64_t _battery_last_timestamp;///<last amp hour calculation timestamp
|
||||
|
||||
/**
|
||||
* Relay1 is dedicated to controlling DSM receiver power
|
||||
*/
|
||||
|
||||
bool _dsm_vcc_ctl;
|
||||
bool _dsm_vcc_ctl; ///<true if relay 1 controls DSM satellite RX power
|
||||
|
||||
/**
|
||||
* Trampoline to the worker task
|
||||
@@ -570,9 +618,11 @@ void
|
||||
PX4IO::task_main()
|
||||
{
|
||||
hrt_abstime last_poll_time = 0;
|
||||
int mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
|
||||
|
||||
log("starting");
|
||||
|
||||
|
||||
/*
|
||||
* Subscribe to the appropriate PWM output topic based on whether we are the
|
||||
* primary PWM output or not.
|
||||
@@ -672,6 +722,25 @@ PX4IO::task_main()
|
||||
*/
|
||||
if (fds[3].revents & POLLIN) {
|
||||
parameter_update_s pupdate;
|
||||
int32_t dsm_bind_val;
|
||||
param_t dsm_bind_param;
|
||||
|
||||
// See if bind parameter has been set, and reset it to 0
|
||||
param_get(dsm_bind_param = param_find("RC_DSM_BIND"), &dsm_bind_val);
|
||||
if (dsm_bind_val) {
|
||||
if (!(_status & PX4IO_P_STATUS_FLAGS_ARMED)) {
|
||||
if ((dsm_bind_val == 1) || (dsm_bind_val == 2)) {
|
||||
mavlink_log_info(mavlink_fd, "[IO] binding dsm%c rx", dsm_bind_val == 1 ? '2' : 'x');
|
||||
ioctl(nullptr, DSM_BIND_START, dsm_bind_val == 1 ? 3 : 7);
|
||||
} else {
|
||||
mavlink_log_info(mavlink_fd, "[IO] invalid bind type, bind request rejected");
|
||||
}
|
||||
} else {
|
||||
mavlink_log_info(mavlink_fd, "[IO] system armed, bind request rejected");
|
||||
}
|
||||
dsm_bind_val = 0;
|
||||
param_set(dsm_bind_param, &dsm_bind_val);
|
||||
}
|
||||
|
||||
/* copy to reset the notification */
|
||||
orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
|
||||
@@ -1445,16 +1514,11 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
|
||||
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
|
||||
usleep(500000);
|
||||
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
|
||||
usleep(1000);
|
||||
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
|
||||
usleep(100000);
|
||||
usleep(50000);
|
||||
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
|
||||
break;
|
||||
|
||||
case DSM_BIND_STOP:
|
||||
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
|
||||
usleep(50000);
|
||||
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
|
||||
usleep(500000);
|
||||
break;
|
||||
|
||||
case DSM_BIND_POWER_UP:
|
||||
@@ -1603,7 +1667,8 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
|
||||
}
|
||||
|
||||
ssize_t
|
||||
PX4IO::write(file *filp, const char *buffer, size_t len)
|
||||
PX4IO::write(file * /*filp*/, const char *buffer, size_t len)
|
||||
/* Make it obvious that file * isn't used here */
|
||||
{
|
||||
unsigned count = len / 2;
|
||||
|
||||
@@ -1696,30 +1761,12 @@ bind(int argc, char *argv[])
|
||||
else
|
||||
errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]);
|
||||
|
||||
/* Open console directly to grab CTRL-C signal */
|
||||
int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
|
||||
if (!console)
|
||||
errx(1, "failed opening console");
|
||||
|
||||
warnx("This command will only bind DSM if satellite VCC (red wire) is controlled by relay 1.");
|
||||
warnx("Press CTRL-C or 'c' when done.");
|
||||
|
||||
g_dev->ioctl(nullptr, DSM_BIND_START, pulses);
|
||||
|
||||
for (;;) {
|
||||
usleep(500000L);
|
||||
/* Check if user wants to quit */
|
||||
char c;
|
||||
if (read(console, &c, 1) == 1) {
|
||||
if (c == 0x03 || c == 0x63) {
|
||||
warnx("Done\n");
|
||||
g_dev->ioctl(nullptr, DSM_BIND_STOP, 0);
|
||||
g_dev->ioctl(nullptr, DSM_BIND_POWER_UP, 0);
|
||||
close(console);
|
||||
exit(0);
|
||||
}
|
||||
}
|
||||
}
|
||||
exit(0);
|
||||
|
||||
}
|
||||
|
||||
void
|
||||
|
||||
+10
-10
@@ -70,7 +70,7 @@
|
||||
#include "stm32_gpio.h"
|
||||
#include "stm32_tim.h"
|
||||
|
||||
#ifdef CONFIG_HRT_TIMER
|
||||
#ifdef HRT_TIMER
|
||||
|
||||
/* HRT configuration */
|
||||
#if HRT_TIMER == 1
|
||||
@@ -155,7 +155,7 @@
|
||||
# error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=11
|
||||
# endif
|
||||
#else
|
||||
# error HRT_TIMER must be set in board.h if CONFIG_HRT_TIMER=y
|
||||
# error HRT_TIMER must be a value between 1 and 11
|
||||
#endif
|
||||
|
||||
/*
|
||||
@@ -275,7 +275,7 @@ static void hrt_call_invoke(void);
|
||||
/*
|
||||
* Specific registers and bits used by PPM sub-functions
|
||||
*/
|
||||
#ifdef CONFIG_HRT_PPM
|
||||
#ifdef HRT_PPM_CHANNEL
|
||||
/*
|
||||
* If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it.
|
||||
*
|
||||
@@ -326,7 +326,7 @@ static void hrt_call_invoke(void);
|
||||
# define CCER_PPM (GTIM_CCER_CC4E | GTIM_CCER_CC4P | GTIM_CCER_CC4NP) /* CC4, both edges */
|
||||
# define CCER_PPM_FLIP GTIM_CCER_CC4P
|
||||
# else
|
||||
# error HRT_PPM_CHANNEL must be a value between 1 and 4 if CONFIG_HRT_PPM is set
|
||||
# error HRT_PPM_CHANNEL must be a value between 1 and 4
|
||||
# endif
|
||||
|
||||
/*
|
||||
@@ -377,7 +377,7 @@ static void hrt_ppm_decode(uint32_t status);
|
||||
# define CCMR1_PPM 0
|
||||
# define CCMR2_PPM 0
|
||||
# define CCER_PPM 0
|
||||
#endif /* CONFIG_HRT_PPM */
|
||||
#endif /* HRT_PPM_CHANNEL */
|
||||
|
||||
/*
|
||||
* Initialise the timer we are going to use.
|
||||
@@ -424,7 +424,7 @@ hrt_tim_init(void)
|
||||
up_enable_irq(HRT_TIMER_VECTOR);
|
||||
}
|
||||
|
||||
#ifdef CONFIG_HRT_PPM
|
||||
#ifdef HRT_PPM_CHANNEL
|
||||
/*
|
||||
* Handle the PPM decoder state machine.
|
||||
*/
|
||||
@@ -526,7 +526,7 @@ error:
|
||||
ppm_decoded_channels = 0;
|
||||
|
||||
}
|
||||
#endif /* CONFIG_HRT_PPM */
|
||||
#endif /* HRT_PPM_CHANNEL */
|
||||
|
||||
/*
|
||||
* Handle the compare interupt by calling the callout dispatcher
|
||||
@@ -546,7 +546,7 @@ hrt_tim_isr(int irq, void *context)
|
||||
/* ack the interrupts we just read */
|
||||
rSR = ~status;
|
||||
|
||||
#ifdef CONFIG_HRT_PPM
|
||||
#ifdef HRT_PPM_CHANNEL
|
||||
|
||||
/* was this a PPM edge? */
|
||||
if (status & (SR_INT_PPM | SR_OVF_PPM)) {
|
||||
@@ -686,7 +686,7 @@ hrt_init(void)
|
||||
sq_init(&callout_queue);
|
||||
hrt_tim_init();
|
||||
|
||||
#ifdef CONFIG_HRT_PPM
|
||||
#ifdef HRT_PPM_CHANNEL
|
||||
/* configure the PPM input pin */
|
||||
stm32_configgpio(GPIO_PPM_IN);
|
||||
#endif
|
||||
@@ -907,4 +907,4 @@ hrt_latency_update(void)
|
||||
}
|
||||
|
||||
|
||||
#endif /* CONFIG_HRT_TIMER */
|
||||
#endif /* HRT_TIMER */
|
||||
|
||||
@@ -88,6 +88,7 @@
|
||||
#define rCCR4(_tmr) REG(_tmr, STM32_GTIM_CCR4_OFFSET)
|
||||
#define rDCR(_tmr) REG(_tmr, STM32_GTIM_DCR_OFFSET)
|
||||
#define rDMAR(_tmr) REG(_tmr, STM32_GTIM_DMAR_OFFSET)
|
||||
#define rBDTR(_tmr) REG(_tmr, STM32_ATIM_BDTR_OFFSET)
|
||||
|
||||
static void pwm_timer_init(unsigned timer);
|
||||
static void pwm_timer_set_rate(unsigned timer, unsigned rate);
|
||||
@@ -110,6 +111,11 @@ pwm_timer_init(unsigned timer)
|
||||
rCCER(timer) = 0;
|
||||
rDCR(timer) = 0;
|
||||
|
||||
if ((pwm_timers[timer].base == STM32_TIM1_BASE) || (pwm_timers[timer].base == STM32_TIM8_BASE)) {
|
||||
/* master output enable = on */
|
||||
rBDTR(timer) = ATIM_BDTR_MOE;
|
||||
}
|
||||
|
||||
/* configure the timer to free-run at 1MHz */
|
||||
rPSC(timer) = (pwm_timers[timer].clock_freq / 1000000) - 1;
|
||||
|
||||
|
||||
@@ -117,10 +117,6 @@
|
||||
|
||||
#include <systemlib/err.h>
|
||||
|
||||
#ifndef CONFIG_HRT_TIMER
|
||||
# error This driver requires CONFIG_HRT_TIMER
|
||||
#endif
|
||||
|
||||
/* Tone alarm configuration */
|
||||
#if TONE_ALARM_TIMER == 2
|
||||
# define TONE_ALARM_BASE STM32_TIM2_BASE
|
||||
|
||||
@@ -47,8 +47,8 @@
|
||||
#include <mathlib/mathlib.h>
|
||||
#include <controllib/blocks.hpp>
|
||||
#include <controllib/block/BlockParam.hpp>
|
||||
#include <controllib/block/UOrbSubscription.hpp>
|
||||
#include <controllib/block/UOrbPublication.hpp>
|
||||
#include <controllib/uorb/UOrbSubscription.hpp>
|
||||
#include <controllib/uorb/UOrbPublication.hpp>
|
||||
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <uORB/topics/vehicle_global_position.h>
|
||||
|
||||
@@ -224,8 +224,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
|
||||
|
||||
/* subscribe to raw data */
|
||||
int sub_raw = orb_subscribe(ORB_ID(sensor_combined));
|
||||
/* rate-limit raw data updates to 200Hz */
|
||||
orb_set_interval(sub_raw, 4);
|
||||
/* rate-limit raw data updates to 333 Hz (sensors app publishes at 200, so this is just paranoid) */
|
||||
orb_set_interval(sub_raw, 3);
|
||||
|
||||
/* subscribe to param changes */
|
||||
int sub_params = orb_subscribe(ORB_ID(parameter_update));
|
||||
@@ -236,7 +236,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
|
||||
/* advertise attitude */
|
||||
orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
|
||||
|
||||
|
||||
int loopcounter = 0;
|
||||
int printcounter = 0;
|
||||
|
||||
@@ -384,7 +383,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
|
||||
static bool const_initialized = false;
|
||||
|
||||
/* initialize with good values once we have a reasonable dt estimate */
|
||||
if (!const_initialized && dt < 0.05f && dt > 0.005f) {
|
||||
if (!const_initialized && dt < 0.05f && dt > 0.001f) {
|
||||
dt = 0.005f;
|
||||
parameters_update(&ekf_param_handles, &ekf_params);
|
||||
|
||||
@@ -424,7 +423,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
|
||||
continue;
|
||||
}
|
||||
|
||||
if (last_data > 0 && raw.timestamp - last_data > 12000) printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data);
|
||||
if (last_data > 0 && raw.timestamp - last_data > 12000)
|
||||
printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data);
|
||||
|
||||
last_data = raw.timestamp;
|
||||
|
||||
|
||||
@@ -43,8 +43,8 @@
|
||||
|
||||
#include "Block.hpp"
|
||||
#include "BlockParam.hpp"
|
||||
#include "UOrbSubscription.hpp"
|
||||
#include "UOrbPublication.hpp"
|
||||
#include "../uorb/UOrbSubscription.hpp"
|
||||
#include "../uorb/UOrbPublication.hpp"
|
||||
|
||||
namespace control
|
||||
{
|
||||
|
||||
@@ -42,6 +42,7 @@
|
||||
#include <assert.h>
|
||||
#include <time.h>
|
||||
#include <stdlib.h>
|
||||
#include <math.h>
|
||||
#include <mathlib/math/test/test.hpp>
|
||||
|
||||
#include "block/Block.hpp"
|
||||
|
||||
@@ -37,7 +37,7 @@
|
||||
SRCS = test_params.c \
|
||||
block/Block.cpp \
|
||||
block/BlockParam.cpp \
|
||||
block/UOrbPublication.cpp \
|
||||
block/UOrbSubscription.cpp \
|
||||
blocks.cpp \
|
||||
fixedwing.cpp
|
||||
uorb/UOrbPublication.cpp \
|
||||
uorb/UOrbSubscription.cpp \
|
||||
uorb/blocks.cpp \
|
||||
blocks.cpp
|
||||
|
||||
+2
-2
@@ -39,8 +39,8 @@
|
||||
#pragma once
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include "Block.hpp"
|
||||
#include "List.hpp"
|
||||
#include "../block/Block.hpp"
|
||||
#include "../block/List.hpp"
|
||||
|
||||
|
||||
namespace control
|
||||
+2
-2
@@ -39,8 +39,8 @@
|
||||
#pragma once
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include "Block.hpp"
|
||||
#include "List.hpp"
|
||||
#include "../block/Block.hpp"
|
||||
#include "../block/List.hpp"
|
||||
|
||||
|
||||
namespace control
|
||||
@@ -0,0 +1,101 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file uorb_blocks.cpp
|
||||
*
|
||||
* uorb block library code
|
||||
*/
|
||||
|
||||
#include "blocks.hpp"
|
||||
|
||||
namespace control
|
||||
{
|
||||
|
||||
BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
|
||||
SuperBlock(parent, name),
|
||||
_xtYawLimit(this, "XT2YAW"),
|
||||
_xt2Yaw(this, "XT2YAW"),
|
||||
_psiCmd(0)
|
||||
{
|
||||
}
|
||||
|
||||
BlockWaypointGuidance::~BlockWaypointGuidance() {};
|
||||
|
||||
void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
|
||||
vehicle_attitude_s &att,
|
||||
vehicle_global_position_setpoint_s &posCmd,
|
||||
vehicle_global_position_setpoint_s &lastPosCmd)
|
||||
{
|
||||
|
||||
// heading to waypoint
|
||||
float psiTrack = get_bearing_to_next_waypoint(
|
||||
(double)pos.lat / (double)1e7d,
|
||||
(double)pos.lon / (double)1e7d,
|
||||
(double)posCmd.lat / (double)1e7d,
|
||||
(double)posCmd.lon / (double)1e7d);
|
||||
|
||||
// cross track
|
||||
struct crosstrack_error_s xtrackError;
|
||||
get_distance_to_line(&xtrackError,
|
||||
(double)pos.lat / (double)1e7d,
|
||||
(double)pos.lon / (double)1e7d,
|
||||
(double)lastPosCmd.lat / (double)1e7d,
|
||||
(double)lastPosCmd.lon / (double)1e7d,
|
||||
(double)posCmd.lat / (double)1e7d,
|
||||
(double)posCmd.lon / (double)1e7d);
|
||||
|
||||
_psiCmd = _wrap_2pi(psiTrack -
|
||||
_xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
|
||||
}
|
||||
|
||||
BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
|
||||
SuperBlock(parent, name),
|
||||
// subscriptions
|
||||
_att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20),
|
||||
_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
|
||||
_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
|
||||
_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
|
||||
_posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_set_triplet), 20),
|
||||
_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
|
||||
_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
|
||||
_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
|
||||
// publications
|
||||
_actuators(&getPublications(), ORB_ID(actuator_controls_0))
|
||||
{
|
||||
}
|
||||
|
||||
BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {};
|
||||
|
||||
} // namespace control
|
||||
|
||||
@@ -0,0 +1,113 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file uorb_blocks.h
|
||||
*
|
||||
* uorb block library code
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <uORB/topics/vehicle_attitude_setpoint.h>
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <uORB/topics/vehicle_rates_setpoint.h>
|
||||
#include <uORB/topics/vehicle_global_position.h>
|
||||
#include <uORB/topics/vehicle_global_position_set_triplet.h>
|
||||
#include <uORB/topics/manual_control_setpoint.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <math.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <poll.h>
|
||||
|
||||
extern "C" {
|
||||
#include <systemlib/geo/geo.h>
|
||||
}
|
||||
|
||||
#include "../blocks.hpp"
|
||||
#include "UOrbSubscription.hpp"
|
||||
#include "UOrbPublication.hpp"
|
||||
|
||||
namespace control
|
||||
{
|
||||
|
||||
/**
|
||||
* Waypoint Guidance block
|
||||
*/
|
||||
class __EXPORT BlockWaypointGuidance : public SuperBlock
|
||||
{
|
||||
private:
|
||||
BlockLimitSym _xtYawLimit;
|
||||
BlockP _xt2Yaw;
|
||||
float _psiCmd;
|
||||
public:
|
||||
BlockWaypointGuidance(SuperBlock *parent, const char *name);
|
||||
virtual ~BlockWaypointGuidance();
|
||||
void update(vehicle_global_position_s &pos,
|
||||
vehicle_attitude_s &att,
|
||||
vehicle_global_position_setpoint_s &posCmd,
|
||||
vehicle_global_position_setpoint_s &lastPosCmd);
|
||||
float getPsiCmd() { return _psiCmd; }
|
||||
};
|
||||
|
||||
/**
|
||||
* UorbEnabledAutopilot
|
||||
*/
|
||||
class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
|
||||
{
|
||||
protected:
|
||||
// subscriptions
|
||||
UOrbSubscription<vehicle_attitude_s> _att;
|
||||
UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
|
||||
UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
|
||||
UOrbSubscription<vehicle_global_position_s> _pos;
|
||||
UOrbSubscription<vehicle_global_position_set_triplet_s> _posCmd;
|
||||
UOrbSubscription<manual_control_setpoint_s> _manual;
|
||||
UOrbSubscription<vehicle_status_s> _status;
|
||||
UOrbSubscription<parameter_update_s> _param_update;
|
||||
// publications
|
||||
UOrbPublication<actuator_controls_s> _actuators;
|
||||
public:
|
||||
BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
|
||||
virtual ~BlockUorbEnabledAutopilot();
|
||||
};
|
||||
|
||||
} // namespace control
|
||||
|
||||
@@ -86,61 +86,6 @@ void BlockStabilization::update(float pCmd, float qCmd, float rCmd,
|
||||
_yawDamper.update(rCmd, r, outputScale);
|
||||
}
|
||||
|
||||
BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
|
||||
SuperBlock(parent, name),
|
||||
_xtYawLimit(this, "XT2YAW"),
|
||||
_xt2Yaw(this, "XT2YAW"),
|
||||
_psiCmd(0)
|
||||
{
|
||||
}
|
||||
|
||||
BlockWaypointGuidance::~BlockWaypointGuidance() {};
|
||||
|
||||
void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
|
||||
vehicle_attitude_s &att,
|
||||
vehicle_global_position_setpoint_s &posCmd,
|
||||
vehicle_global_position_setpoint_s &lastPosCmd)
|
||||
{
|
||||
|
||||
// heading to waypoint
|
||||
float psiTrack = get_bearing_to_next_waypoint(
|
||||
(double)pos.lat / (double)1e7d,
|
||||
(double)pos.lon / (double)1e7d,
|
||||
(double)posCmd.lat / (double)1e7d,
|
||||
(double)posCmd.lon / (double)1e7d);
|
||||
|
||||
// cross track
|
||||
struct crosstrack_error_s xtrackError;
|
||||
get_distance_to_line(&xtrackError,
|
||||
(double)pos.lat / (double)1e7d,
|
||||
(double)pos.lon / (double)1e7d,
|
||||
(double)lastPosCmd.lat / (double)1e7d,
|
||||
(double)lastPosCmd.lon / (double)1e7d,
|
||||
(double)posCmd.lat / (double)1e7d,
|
||||
(double)posCmd.lon / (double)1e7d);
|
||||
|
||||
_psiCmd = _wrap_2pi(psiTrack -
|
||||
_xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
|
||||
}
|
||||
|
||||
BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
|
||||
SuperBlock(parent, name),
|
||||
// subscriptions
|
||||
_att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20),
|
||||
_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
|
||||
_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
|
||||
_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
|
||||
_posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_set_triplet), 20),
|
||||
_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
|
||||
_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
|
||||
_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
|
||||
// publications
|
||||
_actuators(&getPublications(), ORB_ID(actuator_controls_0))
|
||||
{
|
||||
}
|
||||
|
||||
BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {};
|
||||
|
||||
BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *parent, const char *name) :
|
||||
BlockUorbEnabledAutopilot(parent, name),
|
||||
_stabilization(this, ""), // no name needed, already unique
|
||||
+2
-66
@@ -39,31 +39,8 @@
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <uORB/topics/vehicle_attitude_setpoint.h>
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <uORB/topics/vehicle_rates_setpoint.h>
|
||||
#include <uORB/topics/vehicle_global_position.h>
|
||||
#include <uORB/topics/vehicle_global_position_set_triplet.h>
|
||||
#include <uORB/topics/manual_control_setpoint.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <math.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <poll.h>
|
||||
|
||||
#include "blocks.hpp"
|
||||
#include "block/UOrbSubscription.hpp"
|
||||
#include "block/UOrbPublication.hpp"
|
||||
|
||||
extern "C" {
|
||||
#include <systemlib/geo/geo.h>
|
||||
}
|
||||
#include <controllib/blocks.hpp>
|
||||
#include <controllib/uorb/blocks.hpp>
|
||||
|
||||
namespace control
|
||||
{
|
||||
@@ -250,47 +227,6 @@ public:
|
||||
* than frontside at high speeds.
|
||||
*/
|
||||
|
||||
/**
|
||||
* Waypoint Guidance block
|
||||
*/
|
||||
class __EXPORT BlockWaypointGuidance : public SuperBlock
|
||||
{
|
||||
private:
|
||||
BlockLimitSym _xtYawLimit;
|
||||
BlockP _xt2Yaw;
|
||||
float _psiCmd;
|
||||
public:
|
||||
BlockWaypointGuidance(SuperBlock *parent, const char *name);
|
||||
virtual ~BlockWaypointGuidance();
|
||||
void update(vehicle_global_position_s &pos,
|
||||
vehicle_attitude_s &att,
|
||||
vehicle_global_position_setpoint_s &posCmd,
|
||||
vehicle_global_position_setpoint_s &lastPosCmd);
|
||||
float getPsiCmd() { return _psiCmd; }
|
||||
};
|
||||
|
||||
/**
|
||||
* UorbEnabledAutopilot
|
||||
*/
|
||||
class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
|
||||
{
|
||||
protected:
|
||||
// subscriptions
|
||||
UOrbSubscription<vehicle_attitude_s> _att;
|
||||
UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
|
||||
UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
|
||||
UOrbSubscription<vehicle_global_position_s> _pos;
|
||||
UOrbSubscription<vehicle_global_position_set_triplet_s> _posCmd;
|
||||
UOrbSubscription<manual_control_setpoint_s> _manual;
|
||||
UOrbSubscription<vehicle_status_s> _status;
|
||||
UOrbSubscription<parameter_update_s> _param_update;
|
||||
// publications
|
||||
UOrbPublication<actuator_controls_s> _actuators;
|
||||
public:
|
||||
BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
|
||||
virtual ~BlockUorbEnabledAutopilot();
|
||||
};
|
||||
|
||||
/**
|
||||
* Multi-mode Autopilot
|
||||
*/
|
||||
@@ -45,12 +45,13 @@
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <controllib/fixedwing.hpp>
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <math.h>
|
||||
|
||||
#include "fixedwing.hpp"
|
||||
|
||||
static bool thread_should_exit = false; /**< Deamon exit flag */
|
||||
static bool thread_running = false; /**< Deamon status flag */
|
||||
static int deamon_task; /**< Handle of deamon task / thread */
|
||||
|
||||
@@ -38,4 +38,5 @@
|
||||
MODULE_COMMAND = fixedwing_backside
|
||||
|
||||
SRCS = fixedwing_backside_main.cpp \
|
||||
fixedwing.cpp \
|
||||
params.c
|
||||
|
||||
@@ -0,0 +1,77 @@
|
||||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||||
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/// @file LowPassFilter.cpp
|
||||
/// @brief A class to implement a second order low pass filter
|
||||
/// Author: Leonard Hall <LeonardTHall@gmail.com>
|
||||
|
||||
#include "LowPassFilter2p.hpp"
|
||||
#include "math.h"
|
||||
|
||||
namespace math
|
||||
{
|
||||
|
||||
void LowPassFilter2p::set_cutoff_frequency(float sample_freq, float cutoff_freq)
|
||||
{
|
||||
_cutoff_freq = cutoff_freq;
|
||||
float fr = sample_freq/_cutoff_freq;
|
||||
float ohm = tanf(M_PI_F/fr);
|
||||
float c = 1.0f+2.0f*cosf(M_PI_F/4.0f)*ohm + ohm*ohm;
|
||||
_b0 = ohm*ohm/c;
|
||||
_b1 = 2.0f*_b0;
|
||||
_b2 = _b0;
|
||||
_a1 = 2.0f*(ohm*ohm-1.0f)/c;
|
||||
_a2 = (1.0f-2.0f*cosf(M_PI_F/4.0f)*ohm+ohm*ohm)/c;
|
||||
}
|
||||
|
||||
float LowPassFilter2p::apply(float sample)
|
||||
{
|
||||
// do the filtering
|
||||
float delay_element_0 = sample - _delay_element_1 * _a1 - _delay_element_2 * _a2;
|
||||
if (isnan(delay_element_0) || isinf(delay_element_0)) {
|
||||
// don't allow bad values to propogate via the filter
|
||||
delay_element_0 = sample;
|
||||
}
|
||||
float output = delay_element_0 * _b0 + _delay_element_1 * _b1 + _delay_element_2 * _b2;
|
||||
|
||||
_delay_element_2 = _delay_element_1;
|
||||
_delay_element_1 = delay_element_0;
|
||||
|
||||
// return the value. Should be no need to check limits
|
||||
return output;
|
||||
}
|
||||
|
||||
} // namespace math
|
||||
|
||||
@@ -0,0 +1,78 @@
|
||||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||||
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/// @file LowPassFilter.h
|
||||
/// @brief A class to implement a second order low pass filter
|
||||
/// Author: Leonard Hall <LeonardTHall@gmail.com>
|
||||
/// Adapted for PX4 by Andrew Tridgell
|
||||
|
||||
#pragma once
|
||||
|
||||
namespace math
|
||||
{
|
||||
class __EXPORT LowPassFilter2p
|
||||
{
|
||||
public:
|
||||
// constructor
|
||||
LowPassFilter2p(float sample_freq, float cutoff_freq) {
|
||||
// set initial parameters
|
||||
set_cutoff_frequency(sample_freq, cutoff_freq);
|
||||
_delay_element_1 = _delay_element_2 = 0;
|
||||
}
|
||||
|
||||
// change parameters
|
||||
void set_cutoff_frequency(float sample_freq, float cutoff_freq);
|
||||
|
||||
// apply - Add a new raw value to the filter
|
||||
// and retrieve the filtered result
|
||||
float apply(float sample);
|
||||
|
||||
// return the cutoff frequency
|
||||
float get_cutoff_freq(void) const {
|
||||
return _cutoff_freq;
|
||||
}
|
||||
|
||||
private:
|
||||
float _cutoff_freq;
|
||||
float _a1;
|
||||
float _a2;
|
||||
float _b0;
|
||||
float _b1;
|
||||
float _b2;
|
||||
float _delay_element_1; // buffered sample -1
|
||||
float _delay_element_2; // buffered sample -2
|
||||
};
|
||||
|
||||
} // namespace math
|
||||
@@ -0,0 +1,44 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# filter library
|
||||
#
|
||||
SRCS = LowPassFilter2p.cpp
|
||||
|
||||
#
|
||||
# In order to include .config we first have to save off the
|
||||
# current makefile name, since app.mk needs it.
|
||||
#
|
||||
APP_MAKEFILE := $(lastword $(MAKEFILE_LIST))
|
||||
-include $(TOPDIR)/.config
|
||||
@@ -300,6 +300,8 @@ controls_tick() {
|
||||
} else {
|
||||
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
|
||||
}
|
||||
} else {
|
||||
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
+231
-167
@@ -48,156 +48,44 @@
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#define DEBUG
|
||||
|
||||
#include "px4io.h"
|
||||
|
||||
#define DSM_FRAME_SIZE 16
|
||||
#define DSM_FRAME_CHANNELS 7
|
||||
#define DSM_FRAME_SIZE 16 /**<DSM frame size in bytes*/
|
||||
#define DSM_FRAME_CHANNELS 7 /**<Max supported DSM channels*/
|
||||
|
||||
static int dsm_fd = -1;
|
||||
|
||||
static hrt_abstime last_rx_time;
|
||||
static hrt_abstime last_frame_time;
|
||||
|
||||
static uint8_t frame[DSM_FRAME_SIZE];
|
||||
|
||||
static unsigned partial_frame_count;
|
||||
static unsigned channel_shift;
|
||||
|
||||
unsigned dsm_frame_drops;
|
||||
|
||||
static bool dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value);
|
||||
static void dsm_guess_format(bool reset);
|
||||
static bool dsm_decode(hrt_abstime now, uint16_t *values, uint16_t *num_values);
|
||||
|
||||
int
|
||||
dsm_init(const char *device)
|
||||
{
|
||||
if (dsm_fd < 0)
|
||||
dsm_fd = open(device, O_RDONLY | O_NONBLOCK);
|
||||
|
||||
if (dsm_fd >= 0) {
|
||||
struct termios t;
|
||||
|
||||
/* 115200bps, no parity, one stop bit */
|
||||
tcgetattr(dsm_fd, &t);
|
||||
cfsetspeed(&t, 115200);
|
||||
t.c_cflag &= ~(CSTOPB | PARENB);
|
||||
tcsetattr(dsm_fd, TCSANOW, &t);
|
||||
|
||||
/* initialise the decoder */
|
||||
partial_frame_count = 0;
|
||||
last_rx_time = hrt_absolute_time();
|
||||
|
||||
/* reset the format detector */
|
||||
dsm_guess_format(true);
|
||||
|
||||
debug("DSM: ready");
|
||||
|
||||
} else {
|
||||
debug("DSM: open failed");
|
||||
}
|
||||
|
||||
return dsm_fd;
|
||||
}
|
||||
|
||||
void
|
||||
dsm_bind(uint16_t cmd, int pulses)
|
||||
{
|
||||
const uint32_t usart1RxAsOutp = GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10;
|
||||
|
||||
if (dsm_fd < 0)
|
||||
return;
|
||||
|
||||
switch (cmd) {
|
||||
case dsm_bind_power_down:
|
||||
// power down DSM satellite
|
||||
POWER_RELAY1(0);
|
||||
break;
|
||||
case dsm_bind_power_up:
|
||||
POWER_RELAY1(1);
|
||||
dsm_guess_format(true);
|
||||
break;
|
||||
case dsm_bind_set_rx_out:
|
||||
stm32_configgpio(usart1RxAsOutp);
|
||||
break;
|
||||
case dsm_bind_send_pulses:
|
||||
for (int i = 0; i < pulses; i++) {
|
||||
stm32_gpiowrite(usart1RxAsOutp, false);
|
||||
up_udelay(50);
|
||||
stm32_gpiowrite(usart1RxAsOutp, true);
|
||||
up_udelay(50);
|
||||
}
|
||||
break;
|
||||
case dsm_bind_reinit_uart:
|
||||
// Restore USART rx pin
|
||||
stm32_configgpio(GPIO_USART1_RX);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
bool
|
||||
dsm_input(uint16_t *values, uint16_t *num_values)
|
||||
{
|
||||
ssize_t ret;
|
||||
hrt_abstime now;
|
||||
|
||||
/*
|
||||
* The DSM* protocol doesn't provide any explicit framing,
|
||||
* so we detect frame boundaries by the inter-frame delay.
|
||||
*
|
||||
* The minimum frame spacing is 11ms; with 16 bytes at 115200bps
|
||||
* frame transmission time is ~1.4ms.
|
||||
*
|
||||
* We expect to only be called when bytes arrive for processing,
|
||||
* and if an interval of more than 5ms passes between calls,
|
||||
* the first byte we read will be the first byte of a frame.
|
||||
*
|
||||
* In the case where byte(s) are dropped from a frame, this also
|
||||
* provides a degree of protection. Of course, it would be better
|
||||
* if we didn't drop bytes...
|
||||
*/
|
||||
now = hrt_absolute_time();
|
||||
|
||||
if ((now - last_rx_time) > 5000) {
|
||||
if (partial_frame_count > 0) {
|
||||
dsm_frame_drops++;
|
||||
partial_frame_count = 0;
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Fetch bytes, but no more than we would need to complete
|
||||
* the current frame.
|
||||
*/
|
||||
ret = read(dsm_fd, &frame[partial_frame_count], DSM_FRAME_SIZE - partial_frame_count);
|
||||
|
||||
/* if the read failed for any reason, just give up here */
|
||||
if (ret < 1)
|
||||
return false;
|
||||
|
||||
last_rx_time = now;
|
||||
|
||||
/*
|
||||
* Add bytes to the current frame
|
||||
*/
|
||||
partial_frame_count += ret;
|
||||
|
||||
/*
|
||||
* If we don't have a full frame, return
|
||||
*/
|
||||
if (partial_frame_count < DSM_FRAME_SIZE)
|
||||
return false;
|
||||
|
||||
/*
|
||||
* Great, it looks like we might have a frame. Go ahead and
|
||||
* decode it.
|
||||
*/
|
||||
partial_frame_count = 0;
|
||||
return dsm_decode(now, values, num_values);
|
||||
}
|
||||
static int dsm_fd = -1; /**<File handle to the DSM UART*/
|
||||
static hrt_abstime dsm_last_rx_time; /**<Timestamp when we last received*/
|
||||
static hrt_abstime dsm_last_frame_time; /**<Timestamp for start of last dsm frame*/
|
||||
static uint8_t dsm_frame[DSM_FRAME_SIZE]; /**<DSM dsm frame receive buffer*/
|
||||
static unsigned dsm_partial_frame_count; /**<Count of bytes received for current dsm frame*/
|
||||
static unsigned dsm_channel_shift; /**<Channel resolution, 0=unknown, 1=10 bit, 2=11 bit*/
|
||||
static unsigned dsm_frame_drops; /**<Count of incomplete DSM frames*/
|
||||
|
||||
/**
|
||||
* Attempt to decode a single channel raw channel datum
|
||||
*
|
||||
* The DSM* protocol doesn't provide any explicit framing,
|
||||
* so we detect dsm frame boundaries by the inter-dsm frame delay.
|
||||
*
|
||||
* The minimum dsm frame spacing is 11ms; with 16 bytes at 115200bps
|
||||
* dsm frame transmission time is ~1.4ms.
|
||||
*
|
||||
* We expect to only be called when bytes arrive for processing,
|
||||
* and if an interval of more than 5ms passes between calls,
|
||||
* the first byte we read will be the first byte of a dsm frame.
|
||||
*
|
||||
* In the case where byte(s) are dropped from a dsm frame, this also
|
||||
* provides a degree of protection. Of course, it would be better
|
||||
* if we didn't drop bytes...
|
||||
*
|
||||
* Upon receiving a full dsm frame we attempt to decode it
|
||||
*
|
||||
* @param[in] raw 16 bit raw channel value from dsm frame
|
||||
* @param[in] shift position of channel number in raw data
|
||||
* @param[out] channel pointer to returned channel number
|
||||
* @param[out] value pointer to returned channel value
|
||||
* @return true=raw value successfully decoded
|
||||
*/
|
||||
static bool
|
||||
dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value)
|
||||
{
|
||||
@@ -215,6 +103,11 @@ dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *va
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Attempt to guess if receiving 10 or 11 bit channel values
|
||||
*
|
||||
* @param[in] reset true=reset the 10/11 bit state to unknown
|
||||
*/
|
||||
static void
|
||||
dsm_guess_format(bool reset)
|
||||
{
|
||||
@@ -227,14 +120,14 @@ dsm_guess_format(bool reset)
|
||||
cs10 = 0;
|
||||
cs11 = 0;
|
||||
samples = 0;
|
||||
channel_shift = 0;
|
||||
dsm_channel_shift = 0;
|
||||
return;
|
||||
}
|
||||
|
||||
/* scan the channels in the current frame in both 10- and 11-bit mode */
|
||||
/* scan the channels in the current dsm_frame in both 10- and 11-bit mode */
|
||||
for (unsigned i = 0; i < DSM_FRAME_CHANNELS; i++) {
|
||||
|
||||
uint8_t *dp = &frame[2 + (2 * i)];
|
||||
uint8_t *dp = &dsm_frame[2 + (2 * i)];
|
||||
uint16_t raw = (dp[0] << 8) | dp[1];
|
||||
unsigned channel, value;
|
||||
|
||||
@@ -245,10 +138,10 @@ dsm_guess_format(bool reset)
|
||||
if (dsm_decode_channel(raw, 11, &channel, &value) && (channel < 31))
|
||||
cs11 |= (1 << channel);
|
||||
|
||||
/* XXX if we cared, we could look for the phase bit here to decide 1 vs. 2-frame format */
|
||||
/* XXX if we cared, we could look for the phase bit here to decide 1 vs. 2-dsm_frame format */
|
||||
}
|
||||
|
||||
/* wait until we have seen plenty of frames - 2 should normally be enough */
|
||||
/* wait until we have seen plenty of frames - 5 should normally be enough */
|
||||
if (samples++ < 5)
|
||||
return;
|
||||
|
||||
@@ -284,13 +177,13 @@ dsm_guess_format(bool reset)
|
||||
}
|
||||
|
||||
if ((votes11 == 1) && (votes10 == 0)) {
|
||||
channel_shift = 11;
|
||||
dsm_channel_shift = 11;
|
||||
debug("DSM: 11-bit format");
|
||||
return;
|
||||
}
|
||||
|
||||
if ((votes10 == 1) && (votes11 == 0)) {
|
||||
channel_shift = 10;
|
||||
dsm_channel_shift = 10;
|
||||
debug("DSM: 10-bit format");
|
||||
return;
|
||||
}
|
||||
@@ -300,27 +193,131 @@ dsm_guess_format(bool reset)
|
||||
dsm_guess_format(true);
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize the DSM receive functionality
|
||||
*
|
||||
* Open the UART for receiving DSM frames and configure it appropriately
|
||||
*
|
||||
* @param[in] device Device name of DSM UART
|
||||
*/
|
||||
int
|
||||
dsm_init(const char *device)
|
||||
{
|
||||
if (dsm_fd < 0)
|
||||
dsm_fd = open(device, O_RDONLY | O_NONBLOCK);
|
||||
|
||||
if (dsm_fd >= 0) {
|
||||
|
||||
struct termios t;
|
||||
|
||||
/* 115200bps, no parity, one stop bit */
|
||||
tcgetattr(dsm_fd, &t);
|
||||
cfsetspeed(&t, 115200);
|
||||
t.c_cflag &= ~(CSTOPB | PARENB);
|
||||
tcsetattr(dsm_fd, TCSANOW, &t);
|
||||
|
||||
/* initialise the decoder */
|
||||
dsm_partial_frame_count = 0;
|
||||
dsm_last_rx_time = hrt_absolute_time();
|
||||
|
||||
/* reset the format detector */
|
||||
dsm_guess_format(true);
|
||||
|
||||
debug("DSM: ready");
|
||||
|
||||
} else {
|
||||
|
||||
debug("DSM: open failed");
|
||||
|
||||
}
|
||||
|
||||
return dsm_fd;
|
||||
}
|
||||
|
||||
/**
|
||||
* Handle DSM satellite receiver bind mode handler
|
||||
*
|
||||
* @param[in] cmd commands - dsm_bind_power_down, dsm_bind_power_up, dsm_bind_set_rx_out, dsm_bind_send_pulses, dsm_bind_reinit_uart
|
||||
* @param[in] pulses Number of pulses for dsm_bind_send_pulses command
|
||||
*/
|
||||
void
|
||||
dsm_bind(uint16_t cmd, int pulses)
|
||||
{
|
||||
const uint32_t usart1RxAsOutp =
|
||||
GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN10;
|
||||
|
||||
if (dsm_fd < 0)
|
||||
return;
|
||||
|
||||
switch (cmd) {
|
||||
|
||||
case dsm_bind_power_down:
|
||||
|
||||
/*power down DSM satellite*/
|
||||
POWER_RELAY1(0);
|
||||
break;
|
||||
|
||||
case dsm_bind_power_up:
|
||||
|
||||
/*power up DSM satellite*/
|
||||
POWER_RELAY1(1);
|
||||
dsm_guess_format(true);
|
||||
break;
|
||||
|
||||
case dsm_bind_set_rx_out:
|
||||
|
||||
/*Set UART RX pin to active output mode*/
|
||||
stm32_configgpio(usart1RxAsOutp);
|
||||
break;
|
||||
|
||||
case dsm_bind_send_pulses:
|
||||
|
||||
/*Pulse RX pin a number of times*/
|
||||
for (int i = 0; i < pulses; i++) {
|
||||
stm32_gpiowrite(usart1RxAsOutp, false);
|
||||
up_udelay(25);
|
||||
stm32_gpiowrite(usart1RxAsOutp, true);
|
||||
up_udelay(25);
|
||||
}
|
||||
break;
|
||||
|
||||
case dsm_bind_reinit_uart:
|
||||
|
||||
/*Restore USART RX pin to RS232 receive mode*/
|
||||
stm32_configgpio(GPIO_USART1_RX);
|
||||
break;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Decode the entire dsm frame (all contained channels)
|
||||
*
|
||||
* @param[in] frame_time timestamp when this dsm frame was received. Used to detect RX loss in order to reset 10/11 bit guess.
|
||||
* @param[out] values pointer to per channel array of decoded values
|
||||
* @param[out] num_values pointer to number of raw channel values returned
|
||||
* @return true=DSM frame successfully decoded, false=no update
|
||||
*/
|
||||
static bool
|
||||
dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
|
||||
{
|
||||
|
||||
/*
|
||||
debug("DSM frame %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x",
|
||||
frame[0], frame[1], frame[2], frame[3], frame[4], frame[5], frame[6], frame[7],
|
||||
frame[8], frame[9], frame[10], frame[11], frame[12], frame[13], frame[14], frame[15]);
|
||||
debug("DSM dsm_frame %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x",
|
||||
dsm_frame[0], dsm_frame[1], dsm_frame[2], dsm_frame[3], dsm_frame[4], dsm_frame[5], dsm_frame[6], dsm_frame[7],
|
||||
dsm_frame[8], dsm_frame[9], dsm_frame[10], dsm_frame[11], dsm_frame[12], dsm_frame[13], dsm_frame[14], dsm_frame[15]);
|
||||
*/
|
||||
/*
|
||||
* If we have lost signal for at least a second, reset the
|
||||
* format guessing heuristic.
|
||||
*/
|
||||
if (((frame_time - last_frame_time) > 1000000) && (channel_shift != 0))
|
||||
if (((frame_time - dsm_last_frame_time) > 1000000) && (dsm_channel_shift != 0))
|
||||
dsm_guess_format(true);
|
||||
|
||||
/* we have received something we think is a frame */
|
||||
last_frame_time = frame_time;
|
||||
/* we have received something we think is a dsm_frame */
|
||||
dsm_last_frame_time = frame_time;
|
||||
|
||||
/* if we don't know the frame format, update the guessing state machine */
|
||||
if (channel_shift == 0) {
|
||||
/* if we don't know the dsm_frame format, update the guessing state machine */
|
||||
if (dsm_channel_shift == 0) {
|
||||
dsm_guess_format(false);
|
||||
return false;
|
||||
}
|
||||
@@ -332,17 +329,17 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
|
||||
* Each channel is a 16-bit unsigned value containing either a 10-
|
||||
* or 11-bit channel value and a 4-bit channel number, shifted
|
||||
* either 10 or 11 bits. The MSB may also be set to indicate the
|
||||
* second frame in variants of the protocol where more than
|
||||
* second dsm_frame in variants of the protocol where more than
|
||||
* seven channels are being transmitted.
|
||||
*/
|
||||
|
||||
for (unsigned i = 0; i < DSM_FRAME_CHANNELS; i++) {
|
||||
|
||||
uint8_t *dp = &frame[2 + (2 * i)];
|
||||
uint8_t *dp = &dsm_frame[2 + (2 * i)];
|
||||
uint16_t raw = (dp[0] << 8) | dp[1];
|
||||
unsigned channel, value;
|
||||
|
||||
if (!dsm_decode_channel(raw, channel_shift, &channel, &value))
|
||||
if (!dsm_decode_channel(raw, dsm_channel_shift, &channel, &value))
|
||||
continue;
|
||||
|
||||
/* ignore channels out of range */
|
||||
@@ -354,7 +351,7 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
|
||||
*num_values = channel + 1;
|
||||
|
||||
/* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
|
||||
if (channel_shift == 11)
|
||||
if (dsm_channel_shift == 11)
|
||||
value /= 2;
|
||||
|
||||
value += 998;
|
||||
@@ -385,7 +382,7 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
|
||||
values[channel] = value;
|
||||
}
|
||||
|
||||
if (channel_shift == 11)
|
||||
if (dsm_channel_shift == 11)
|
||||
*num_values |= 0x8000;
|
||||
|
||||
/*
|
||||
@@ -393,3 +390,70 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
|
||||
*/
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Called periodically to check for input data from the DSM UART
|
||||
*
|
||||
* The DSM* protocol doesn't provide any explicit framing,
|
||||
* so we detect dsm frame boundaries by the inter-dsm frame delay.
|
||||
* The minimum dsm frame spacing is 11ms; with 16 bytes at 115200bps
|
||||
* dsm frame transmission time is ~1.4ms.
|
||||
* We expect to only be called when bytes arrive for processing,
|
||||
* and if an interval of more than 5ms passes between calls,
|
||||
* the first byte we read will be the first byte of a dsm frame.
|
||||
* In the case where byte(s) are dropped from a dsm frame, this also
|
||||
* provides a degree of protection. Of course, it would be better
|
||||
* if we didn't drop bytes...
|
||||
* Upon receiving a full dsm frame we attempt to decode it.
|
||||
*
|
||||
* @param[out] values pointer to per channel array of decoded values
|
||||
* @param[out] num_values pointer to number of raw channel values returned
|
||||
* @return true=decoded raw channel values updated, false=no update
|
||||
*/
|
||||
bool
|
||||
dsm_input(uint16_t *values, uint16_t *num_values)
|
||||
{
|
||||
ssize_t ret;
|
||||
hrt_abstime now;
|
||||
|
||||
/*
|
||||
*/
|
||||
now = hrt_absolute_time();
|
||||
|
||||
if ((now - dsm_last_rx_time) > 5000) {
|
||||
if (dsm_partial_frame_count > 0) {
|
||||
dsm_frame_drops++;
|
||||
dsm_partial_frame_count = 0;
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Fetch bytes, but no more than we would need to complete
|
||||
* the current dsm frame.
|
||||
*/
|
||||
ret = read(dsm_fd, &dsm_frame[dsm_partial_frame_count], DSM_FRAME_SIZE - dsm_partial_frame_count);
|
||||
|
||||
/* if the read failed for any reason, just give up here */
|
||||
if (ret < 1)
|
||||
return false;
|
||||
|
||||
dsm_last_rx_time = now;
|
||||
|
||||
/*
|
||||
* Add bytes to the current dsm frame
|
||||
*/
|
||||
dsm_partial_frame_count += ret;
|
||||
|
||||
/*
|
||||
* If we don't have a full dsm frame, return
|
||||
*/
|
||||
if (dsm_partial_frame_count < DSM_FRAME_SIZE)
|
||||
return false;
|
||||
|
||||
/*
|
||||
* Great, it looks like we might have a dsm frame. Go ahead and
|
||||
* decode it.
|
||||
*/
|
||||
dsm_partial_frame_count = 0;
|
||||
return dsm_decode(now, values, num_values);
|
||||
}
|
||||
|
||||
@@ -184,7 +184,7 @@ extern void controls_init(void);
|
||||
extern void controls_tick(void);
|
||||
extern int dsm_init(const char *device);
|
||||
extern bool dsm_input(uint16_t *values, uint16_t *num_values);
|
||||
extern void dsm_bind(uint16_t cmd, int pulses);
|
||||
extern void dsm_bind(uint16_t cmd, int pulses);
|
||||
extern int sbus_init(const char *device);
|
||||
extern bool sbus_input(uint16_t *values, uint16_t *num_values);
|
||||
|
||||
@@ -192,9 +192,9 @@ extern bool sbus_input(uint16_t *values, uint16_t *num_values);
|
||||
extern volatile uint8_t debug_level;
|
||||
|
||||
/* send a debug message to the console */
|
||||
extern void isr_debug(uint8_t level, const char *fmt, ...);
|
||||
extern void isr_debug(uint8_t level, const char *fmt, ...);
|
||||
|
||||
#ifdef CONFIG_STM32_I2C1
|
||||
void i2c_dump(void);
|
||||
void i2c_reset(void);
|
||||
void i2c_dump(void);
|
||||
void i2c_reset(void);
|
||||
#endif
|
||||
|
||||
@@ -604,6 +604,15 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
errx(1, "unable to create logging folder, exiting.");
|
||||
}
|
||||
|
||||
const char *converter_in = "/etc/logging/conv.zip";
|
||||
char* converter_out = malloc(150);
|
||||
sprintf(converter_out, "%s/conv.zip", folder_path);
|
||||
|
||||
if (file_copy(converter_in, converter_out)) {
|
||||
errx(1, "unable to copy conversion scripts, exiting.");
|
||||
}
|
||||
free(converter_out);
|
||||
|
||||
/* only print logging path, important to find log file later */
|
||||
warnx("logging to directory: %s", folder_path);
|
||||
|
||||
@@ -1256,7 +1265,7 @@ int file_copy(const char *file_old, const char *file_new)
|
||||
fclose(source);
|
||||
fclose(target);
|
||||
|
||||
return ret;
|
||||
return OK;
|
||||
}
|
||||
|
||||
void handle_command(struct vehicle_command_s *cmd)
|
||||
|
||||
@@ -0,0 +1,57 @@
|
||||
#include "BlockSegwayController.hpp"
|
||||
|
||||
void BlockSegwayController::update() {
|
||||
// wait for a sensor update, check for exit condition every 100 ms
|
||||
if (poll(&_attPoll, 1, 100) < 0) return; // poll error
|
||||
|
||||
uint64_t newTimeStamp = hrt_absolute_time();
|
||||
float dt = (newTimeStamp - _timeStamp) / 1.0e6f;
|
||||
_timeStamp = newTimeStamp;
|
||||
|
||||
// check for sane values of dt
|
||||
// to prevent large control responses
|
||||
if (dt > 1.0f || dt < 0) return;
|
||||
|
||||
// set dt for all child blocks
|
||||
setDt(dt);
|
||||
|
||||
// check for new updates
|
||||
if (_param_update.updated()) updateParams();
|
||||
|
||||
// get new information from subscriptions
|
||||
updateSubscriptions();
|
||||
|
||||
// default all output to zero unless handled by mode
|
||||
for (unsigned i = 2; i < NUM_ACTUATOR_CONTROLS; i++)
|
||||
_actuators.control[i] = 0.0f;
|
||||
|
||||
// only update guidance in auto mode
|
||||
if (_status.state_machine == SYSTEM_STATE_AUTO) {
|
||||
// update guidance
|
||||
}
|
||||
|
||||
// compute speed command
|
||||
float spdCmd = -th2v.update(_att.pitch) - q2v.update(_att.pitchspeed);
|
||||
|
||||
// handle autopilot modes
|
||||
if (_status.state_machine == SYSTEM_STATE_AUTO ||
|
||||
_status.state_machine == SYSTEM_STATE_STABILIZED) {
|
||||
_actuators.control[0] = spdCmd;
|
||||
_actuators.control[1] = spdCmd;
|
||||
|
||||
} else if (_status.state_machine == SYSTEM_STATE_MANUAL) {
|
||||
if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
|
||||
_actuators.control[CH_LEFT] = _manual.throttle;
|
||||
_actuators.control[CH_RIGHT] = _manual.pitch;
|
||||
|
||||
} else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
|
||||
_actuators.control[0] = spdCmd;
|
||||
_actuators.control[1] = spdCmd;
|
||||
}
|
||||
}
|
||||
|
||||
// update all publications
|
||||
updatePublications();
|
||||
|
||||
}
|
||||
|
||||
@@ -0,0 +1,27 @@
|
||||
#pragma once
|
||||
|
||||
#include <controllib/uorb/blocks.hpp>
|
||||
|
||||
using namespace control;
|
||||
|
||||
class BlockSegwayController : public control::BlockUorbEnabledAutopilot {
|
||||
public:
|
||||
BlockSegwayController() :
|
||||
BlockUorbEnabledAutopilot(NULL,"SEG"),
|
||||
th2v(this, "TH2V"),
|
||||
q2v(this, "Q2V"),
|
||||
_attPoll(),
|
||||
_timeStamp(0)
|
||||
{
|
||||
_attPoll.fd = _att.getHandle();
|
||||
_attPoll.events = POLLIN;
|
||||
}
|
||||
void update();
|
||||
private:
|
||||
enum {CH_LEFT, CH_RIGHT};
|
||||
BlockPI th2v;
|
||||
BlockP q2v;
|
||||
struct pollfd _attPoll;
|
||||
uint64_t _timeStamp;
|
||||
};
|
||||
|
||||
@@ -0,0 +1,42 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# segway controller
|
||||
#
|
||||
|
||||
MODULE_COMMAND = segway
|
||||
|
||||
SRCS = segway_main.cpp \
|
||||
BlockSegwayController.cpp \
|
||||
params.c
|
||||
@@ -0,0 +1,8 @@
|
||||
#include <systemlib/param/param.h>
|
||||
|
||||
// 16 is max name length
|
||||
PARAM_DEFINE_FLOAT(SEG_TH2V_P, 10.0f); // pitch to voltage
|
||||
PARAM_DEFINE_FLOAT(SEG_TH2V_I, 0.0f); // pitch integral to voltage
|
||||
PARAM_DEFINE_FLOAT(SEG_TH2V_I_MAX, 0.0f); // integral limiter
|
||||
PARAM_DEFINE_FLOAT(SEG_Q2V, 1.0f); // pitch rate to voltage
|
||||
|
||||
@@ -0,0 +1,157 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: James Goppert
|
||||
*
|
||||
* 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 segway_main.cpp
|
||||
* @author James Goppert
|
||||
*
|
||||
* Segway controller using control library
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <math.h>
|
||||
|
||||
#include "BlockSegwayController.hpp"
|
||||
|
||||
static bool thread_should_exit = false; /**< Deamon exit flag */
|
||||
static bool thread_running = false; /**< Deamon status flag */
|
||||
static int deamon_task; /**< Handle of deamon task / thread */
|
||||
|
||||
/**
|
||||
* Deamon management function.
|
||||
*/
|
||||
extern "C" __EXPORT int segway_main(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* Mainloop of deamon.
|
||||
*/
|
||||
int segway_thread_main(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* Print the correct usage.
|
||||
*/
|
||||
static void usage(const char *reason);
|
||||
|
||||
static void
|
||||
usage(const char *reason)
|
||||
{
|
||||
if (reason)
|
||||
fprintf(stderr, "%s\n", reason);
|
||||
|
||||
fprintf(stderr, "usage: segway {start|stop|status} [-p <additional params>]\n\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
/**
|
||||
* The deamon app only briefly exists to start
|
||||
* the background job. The stack size assigned in the
|
||||
* Makefile does only apply to this management task.
|
||||
*
|
||||
* The actual stack size should be set in the call
|
||||
* to task_create().
|
||||
*/
|
||||
int segway_main(int argc, char *argv[])
|
||||
{
|
||||
|
||||
if (argc < 1)
|
||||
usage("missing command");
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (thread_running) {
|
||||
warnx("already running");
|
||||
/* this is not an error */
|
||||
exit(0);
|
||||
}
|
||||
|
||||
thread_should_exit = false;
|
||||
|
||||
deamon_task = task_spawn_cmd("segway",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 10,
|
||||
5120,
|
||||
segway_thread_main,
|
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
thread_should_exit = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (thread_running) {
|
||||
warnx("is running");
|
||||
|
||||
} else {
|
||||
warnx("not started");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
usage("unrecognized command");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
int segway_thread_main(int argc, char *argv[])
|
||||
{
|
||||
|
||||
warnx("starting");
|
||||
|
||||
using namespace control;
|
||||
|
||||
BlockSegwayController autopilot;
|
||||
|
||||
thread_running = true;
|
||||
|
||||
while (!thread_should_exit) {
|
||||
autopilot.update();
|
||||
}
|
||||
|
||||
warnx("exiting.");
|
||||
|
||||
thread_running = false;
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -156,6 +156,7 @@ PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f);
|
||||
|
||||
PARAM_DEFINE_INT32(RC_TYPE, 1); /** 1 = FUTABA, 2 = Spektrum, 3 = Graupner HoTT, 4 = Turnigy 9x */
|
||||
PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
|
||||
PARAM_DEFINE_INT32(RC_DSM_BIND, 0); /* 0 = Idle, 1 = Start DSM2 bind, 2 = Start DSMX bind */
|
||||
|
||||
/* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */
|
||||
PARAM_DEFINE_FLOAT(BAT_V_SCALING, (3.3f * 52.0f / 5.0f / 4095.0f));
|
||||
|
||||
@@ -92,8 +92,35 @@
|
||||
#define BARO_HEALTH_COUNTER_LIMIT_OK 5
|
||||
#define ADC_HEALTH_COUNTER_LIMIT_OK 5
|
||||
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
|
||||
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 11
|
||||
/**
|
||||
* Analog layout:
|
||||
* FMU:
|
||||
* IN2 - battery voltage
|
||||
* IN3 - battery current
|
||||
* IN4 - 5V sense
|
||||
* IN10 - spare (we could actually trim these from the set)
|
||||
* IN11 - spare (we could actually trim these from the set)
|
||||
* IN12 - spare (we could actually trim these from the set)
|
||||
* IN13 - aux1
|
||||
* IN14 - aux2
|
||||
* IN15 - pressure sensor
|
||||
*
|
||||
* IO:
|
||||
* IN4 - servo supply rail
|
||||
* IN5 - analog RSSI
|
||||
*/
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
|
||||
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 11
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL 2
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL 3
|
||||
#define ADC_5V_RAIL_SENSE 4
|
||||
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 15
|
||||
#endif
|
||||
|
||||
#define BAT_VOL_INITIAL 0.f
|
||||
#define BAT_VOL_LOWPASS_1 0.99f
|
||||
@@ -230,8 +257,6 @@ private:
|
||||
|
||||
float battery_voltage_scaling;
|
||||
|
||||
int rc_rl1_DSM_VCC_control;
|
||||
|
||||
} _parameters; /**< local copies of interesting parameters */
|
||||
|
||||
struct {
|
||||
@@ -281,8 +306,6 @@ private:
|
||||
|
||||
param_t battery_voltage_scaling;
|
||||
|
||||
param_t rc_rl1_DSM_VCC_control;
|
||||
|
||||
} _parameter_handles; /**< handles for interesting parameters */
|
||||
|
||||
|
||||
@@ -517,9 +540,6 @@ Sensors::Sensors() :
|
||||
|
||||
_parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING");
|
||||
|
||||
/* DSM VCC relay control */
|
||||
_parameter_handles.rc_rl1_DSM_VCC_control = param_find("RC_RL1_DSM_VCC");
|
||||
|
||||
/* fetch initial parameter values */
|
||||
parameters_update();
|
||||
}
|
||||
@@ -711,11 +731,6 @@ Sensors::parameters_update()
|
||||
warnx("Failed updating voltage scaling param");
|
||||
}
|
||||
|
||||
/* relay 1 DSM VCC control */
|
||||
if (param_get(_parameter_handles.rc_rl1_DSM_VCC_control, &(_parameters.rc_rl1_DSM_VCC_control)) != OK) {
|
||||
warnx("Failed updating relay 1 DSM VCC control");
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -731,11 +746,26 @@ Sensors::accel_init()
|
||||
errx(1, "FATAL: no accelerometer found");
|
||||
|
||||
} else {
|
||||
/* set the accel internal sampling rate up to at leat 500Hz */
|
||||
ioctl(fd, ACCELIOCSSAMPLERATE, 500);
|
||||
|
||||
/* set the driver to poll at 500Hz */
|
||||
ioctl(fd, SENSORIOCSPOLLRATE, 500);
|
||||
// XXX do the check more elegantly
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
|
||||
|
||||
/* set the accel internal sampling rate up to at leat 1000Hz */
|
||||
ioctl(fd, ACCELIOCSSAMPLERATE, 1000);
|
||||
|
||||
/* set the driver to poll at 1000Hz */
|
||||
ioctl(fd, SENSORIOCSPOLLRATE, 1000);
|
||||
|
||||
#else
|
||||
|
||||
/* set the accel internal sampling rate up to at leat 800Hz */
|
||||
ioctl(fd, ACCELIOCSSAMPLERATE, 800);
|
||||
|
||||
/* set the driver to poll at 800Hz */
|
||||
ioctl(fd, SENSORIOCSPOLLRATE, 800);
|
||||
|
||||
#endif
|
||||
|
||||
warnx("using system accel");
|
||||
close(fd);
|
||||
@@ -754,11 +784,28 @@ Sensors::gyro_init()
|
||||
errx(1, "FATAL: no gyro found");
|
||||
|
||||
} else {
|
||||
/* set the gyro internal sampling rate up to at leat 500Hz */
|
||||
ioctl(fd, GYROIOCSSAMPLERATE, 500);
|
||||
|
||||
/* set the driver to poll at 500Hz */
|
||||
ioctl(fd, SENSORIOCSPOLLRATE, 500);
|
||||
// XXX do the check more elegantly
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
|
||||
|
||||
/* set the gyro internal sampling rate up to at least 1000Hz */
|
||||
if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK)
|
||||
ioctl(fd, GYROIOCSSAMPLERATE, 800);
|
||||
|
||||
/* set the driver to poll at 1000Hz */
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK)
|
||||
ioctl(fd, SENSORIOCSPOLLRATE, 800);
|
||||
|
||||
#else
|
||||
|
||||
/* set the gyro internal sampling rate up to at leat 800Hz */
|
||||
ioctl(fd, GYROIOCSSAMPLERATE, 800);
|
||||
|
||||
/* set the driver to poll at 800Hz */
|
||||
ioctl(fd, SENSORIOCSPOLLRATE, 800);
|
||||
|
||||
#endif
|
||||
|
||||
warnx("using system gyro");
|
||||
close(fd);
|
||||
@@ -1360,6 +1407,9 @@ Sensors::task_main()
|
||||
/* rate limit vehicle status updates to 5Hz */
|
||||
orb_set_interval(_vstatus_sub, 200);
|
||||
|
||||
/* rate limit gyro to 250 Hz (the gyro signal is lowpassed accordingly earlier) */
|
||||
orb_set_interval(_gyro_sub, 4);
|
||||
|
||||
/*
|
||||
* do advertisements
|
||||
*/
|
||||
@@ -1395,7 +1445,7 @@ Sensors::task_main()
|
||||
|
||||
while (!_task_should_exit) {
|
||||
|
||||
/* wait for up to 500ms for data */
|
||||
/* wait for up to 100ms for data */
|
||||
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
|
||||
|
||||
/* timed out - periodic check for _task_should_exit, etc. */
|
||||
|
||||
@@ -53,14 +53,26 @@
|
||||
|
||||
|
||||
struct hx_stream {
|
||||
uint8_t buf[HX_STREAM_MAX_FRAME + 4];
|
||||
unsigned frame_bytes;
|
||||
bool escaped;
|
||||
bool txerror;
|
||||
/* RX state */
|
||||
uint8_t rx_buf[HX_STREAM_MAX_FRAME + 4];
|
||||
unsigned rx_frame_bytes;
|
||||
bool rx_escaped;
|
||||
hx_stream_rx_callback rx_callback;
|
||||
void *rx_callback_arg;
|
||||
|
||||
/* TX state */
|
||||
int fd;
|
||||
hx_stream_rx_callback callback;
|
||||
void *callback_arg;
|
||||
bool tx_error;
|
||||
uint8_t *tx_buf;
|
||||
unsigned tx_resid;
|
||||
uint32_t tx_crc;
|
||||
enum {
|
||||
TX_IDLE = 0,
|
||||
TX_SEND_START,
|
||||
TX_SEND_DATA,
|
||||
TX_SENT_ESCAPE,
|
||||
TX_SEND_END
|
||||
} tx_state;
|
||||
|
||||
perf_counter_t pc_tx_frames;
|
||||
perf_counter_t pc_rx_frames;
|
||||
@@ -81,21 +93,7 @@ static void
|
||||
hx_tx_raw(hx_stream_t stream, uint8_t c)
|
||||
{
|
||||
if (write(stream->fd, &c, 1) != 1)
|
||||
stream->txerror = true;
|
||||
}
|
||||
|
||||
static void
|
||||
hx_tx_byte(hx_stream_t stream, uint8_t c)
|
||||
{
|
||||
switch (c) {
|
||||
case FBO:
|
||||
case CEO:
|
||||
hx_tx_raw(stream, CEO);
|
||||
c ^= 0x20;
|
||||
break;
|
||||
}
|
||||
|
||||
hx_tx_raw(stream, c);
|
||||
stream->tx_error = true;
|
||||
}
|
||||
|
||||
static int
|
||||
@@ -105,11 +103,11 @@ hx_rx_frame(hx_stream_t stream)
|
||||
uint8_t b[4];
|
||||
uint32_t w;
|
||||
} u;
|
||||
unsigned length = stream->frame_bytes;
|
||||
unsigned length = stream->rx_frame_bytes;
|
||||
|
||||
/* reset the stream */
|
||||
stream->frame_bytes = 0;
|
||||
stream->escaped = false;
|
||||
stream->rx_frame_bytes = 0;
|
||||
stream->rx_escaped = false;
|
||||
|
||||
/* not a real frame - too short */
|
||||
if (length < 4) {
|
||||
@@ -122,11 +120,11 @@ hx_rx_frame(hx_stream_t stream)
|
||||
length -= 4;
|
||||
|
||||
/* compute expected CRC */
|
||||
u.w = crc32(&stream->buf[0], length);
|
||||
u.w = crc32(&stream->rx_buf[0], length);
|
||||
|
||||
/* compare computed and actual CRC */
|
||||
for (unsigned i = 0; i < 4; i++) {
|
||||
if (u.b[i] != stream->buf[length + i]) {
|
||||
if (u.b[i] != stream->rx_buf[length + i]) {
|
||||
perf_count(stream->pc_rx_errors);
|
||||
return 0;
|
||||
}
|
||||
@@ -134,7 +132,7 @@ hx_rx_frame(hx_stream_t stream)
|
||||
|
||||
/* frame is good */
|
||||
perf_count(stream->pc_rx_frames);
|
||||
stream->callback(stream->callback_arg, &stream->buf[0], length);
|
||||
stream->rx_callback(stream->rx_callback_arg, &stream->rx_buf[0], length);
|
||||
return 1;
|
||||
}
|
||||
|
||||
@@ -150,8 +148,8 @@ hx_stream_init(int fd,
|
||||
if (stream != NULL) {
|
||||
memset(stream, 0, sizeof(struct hx_stream));
|
||||
stream->fd = fd;
|
||||
stream->callback = callback;
|
||||
stream->callback_arg = arg;
|
||||
stream->rx_callback = callback;
|
||||
stream->rx_callback_arg = arg;
|
||||
}
|
||||
|
||||
return stream;
|
||||
@@ -179,49 +177,112 @@ hx_stream_set_counters(hx_stream_t stream,
|
||||
stream->pc_rx_errors = rx_errors;
|
||||
}
|
||||
|
||||
void
|
||||
hx_stream_reset(hx_stream_t stream)
|
||||
{
|
||||
stream->rx_frame_bytes = 0;
|
||||
stream->rx_escaped = false;
|
||||
|
||||
stream->tx_buf = NULL;
|
||||
stream->tx_resid = 0;
|
||||
stream->tx_state = TX_IDLE;
|
||||
}
|
||||
|
||||
int
|
||||
hx_stream_start(hx_stream_t stream,
|
||||
const void *data,
|
||||
size_t count)
|
||||
{
|
||||
if (count > HX_STREAM_MAX_FRAME)
|
||||
return -EINVAL;
|
||||
|
||||
stream->tx_buf = data;
|
||||
stream->tx_resid = count;
|
||||
stream->tx_state = TX_SEND_START;
|
||||
stream->tx_crc = crc32(data, count);
|
||||
return OK;
|
||||
}
|
||||
|
||||
int
|
||||
hx_stream_send_next(hx_stream_t stream)
|
||||
{
|
||||
int c;
|
||||
|
||||
/* sort out what we're going to send */
|
||||
switch (stream->tx_state) {
|
||||
|
||||
case TX_SEND_START:
|
||||
stream->tx_state = TX_SEND_DATA;
|
||||
return FBO;
|
||||
|
||||
case TX_SEND_DATA:
|
||||
c = *stream->tx_buf;
|
||||
|
||||
switch (c) {
|
||||
case FBO:
|
||||
case CEO:
|
||||
stream->tx_state = TX_SENT_ESCAPE;
|
||||
return CEO;
|
||||
}
|
||||
break;
|
||||
|
||||
case TX_SENT_ESCAPE:
|
||||
c = *stream->tx_buf ^ 0x20;
|
||||
stream->tx_state = TX_SEND_DATA;
|
||||
break;
|
||||
|
||||
case TX_SEND_END:
|
||||
stream->tx_state = TX_IDLE;
|
||||
return FBO;
|
||||
|
||||
case TX_IDLE:
|
||||
default:
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* if we are here, we have consumed a byte from the buffer */
|
||||
stream->tx_resid--;
|
||||
stream->tx_buf++;
|
||||
|
||||
/* buffer exhausted */
|
||||
if (stream->tx_resid == 0) {
|
||||
uint8_t *pcrc = (uint8_t *)&stream->tx_crc;
|
||||
|
||||
/* was the buffer the frame CRC? */
|
||||
if (stream->tx_buf == (pcrc + sizeof(stream->tx_crc))) {
|
||||
stream->tx_state = TX_SEND_END;
|
||||
} else {
|
||||
/* no, it was the payload - switch to sending the CRC */
|
||||
stream->tx_buf = pcrc;
|
||||
stream->tx_resid = sizeof(stream->tx_crc);
|
||||
}
|
||||
}
|
||||
return c;
|
||||
}
|
||||
|
||||
int
|
||||
hx_stream_send(hx_stream_t stream,
|
||||
const void *data,
|
||||
size_t count)
|
||||
{
|
||||
union {
|
||||
uint8_t b[4];
|
||||
uint32_t w;
|
||||
} u;
|
||||
const uint8_t *p = (const uint8_t *)data;
|
||||
unsigned resid = count;
|
||||
int result;
|
||||
|
||||
if (resid > HX_STREAM_MAX_FRAME)
|
||||
return -EINVAL;
|
||||
result = hx_stream_start(stream, data, count);
|
||||
if (result != OK)
|
||||
return result;
|
||||
|
||||
/* start the frame */
|
||||
hx_tx_raw(stream, FBO);
|
||||
|
||||
/* transmit the data */
|
||||
while (resid--)
|
||||
hx_tx_byte(stream, *p++);
|
||||
|
||||
/* compute the CRC */
|
||||
u.w = crc32(data, count);
|
||||
|
||||
/* send the CRC */
|
||||
p = &u.b[0];
|
||||
resid = 4;
|
||||
|
||||
while (resid--)
|
||||
hx_tx_byte(stream, *p++);
|
||||
|
||||
/* and the trailing frame separator */
|
||||
hx_tx_raw(stream, FBO);
|
||||
int c;
|
||||
while ((c = hx_stream_send_next(stream)) >= 0)
|
||||
hx_tx_raw(stream, c);
|
||||
|
||||
/* check for transmit error */
|
||||
if (stream->txerror) {
|
||||
stream->txerror = false;
|
||||
if (stream->tx_error) {
|
||||
stream->tx_error = false;
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
perf_count(stream->pc_tx_frames);
|
||||
return 0;
|
||||
return OK;
|
||||
}
|
||||
|
||||
void
|
||||
@@ -234,17 +295,17 @@ hx_stream_rx(hx_stream_t stream, uint8_t c)
|
||||
}
|
||||
|
||||
/* escaped? */
|
||||
if (stream->escaped) {
|
||||
stream->escaped = false;
|
||||
if (stream->rx_escaped) {
|
||||
stream->rx_escaped = false;
|
||||
c ^= 0x20;
|
||||
|
||||
} else if (c == CEO) {
|
||||
/* now escaped, ignore the byte */
|
||||
stream->escaped = true;
|
||||
/* now rx_escaped, ignore the byte */
|
||||
stream->rx_escaped = true;
|
||||
return;
|
||||
}
|
||||
|
||||
/* save for later */
|
||||
if (stream->frame_bytes < sizeof(stream->buf))
|
||||
stream->buf[stream->frame_bytes++] = c;
|
||||
if (stream->rx_frame_bytes < sizeof(stream->rx_buf))
|
||||
stream->rx_buf[stream->rx_frame_bytes++] = c;
|
||||
}
|
||||
|
||||
@@ -58,7 +58,8 @@ __BEGIN_DECLS
|
||||
* Allocate a new hx_stream object.
|
||||
*
|
||||
* @param fd The file handle over which the protocol will
|
||||
* communicate.
|
||||
* communicate, or -1 if the protocol will use
|
||||
* hx_stream_start/hx_stream_send_next.
|
||||
* @param callback Called when a frame is received.
|
||||
* @param callback_arg Passed to the callback.
|
||||
* @return A handle to the stream, or NULL if memory could
|
||||
@@ -80,6 +81,7 @@ __EXPORT extern void hx_stream_free(hx_stream_t stream);
|
||||
*
|
||||
* Any counter may be set to NULL to disable counting that datum.
|
||||
*
|
||||
* @param stream A handle returned from hx_stream_init.
|
||||
* @param tx_frames Counter for transmitted frames.
|
||||
* @param rx_frames Counter for received frames.
|
||||
* @param rx_errors Counter for short and corrupt received frames.
|
||||
@@ -89,6 +91,44 @@ __EXPORT extern void hx_stream_set_counters(hx_stream_t stream,
|
||||
perf_counter_t rx_frames,
|
||||
perf_counter_t rx_errors);
|
||||
|
||||
/**
|
||||
* Reset a stream.
|
||||
*
|
||||
* Forces the local stream state to idle.
|
||||
*
|
||||
* @param stream A handle returned from hx_stream_init.
|
||||
*/
|
||||
__EXPORT extern void hx_stream_reset(hx_stream_t stream);
|
||||
|
||||
/**
|
||||
* Prepare to send a frame.
|
||||
*
|
||||
* Use this in conjunction with hx_stream_send_next to
|
||||
* set the frame to be transmitted.
|
||||
*
|
||||
* Use hx_stream_send() to write to the stream fd directly.
|
||||
*
|
||||
* @param stream A handle returned from hx_stream_init.
|
||||
* @param data Pointer to the data to send.
|
||||
* @param count The number of bytes to send.
|
||||
* @return Zero on success, -errno on error.
|
||||
*/
|
||||
__EXPORT extern int hx_stream_start(hx_stream_t stream,
|
||||
const void *data,
|
||||
size_t count);
|
||||
|
||||
/**
|
||||
* Get the next byte to send for a stream.
|
||||
*
|
||||
* This requires that the stream be prepared for sending by
|
||||
* calling hx_stream_start first.
|
||||
*
|
||||
* @param stream A handle returned from hx_stream_init.
|
||||
* @return The byte to send, or -1 if there is
|
||||
* nothing left to send.
|
||||
*/
|
||||
__EXPORT extern int hx_stream_send_next(hx_stream_t stream);
|
||||
|
||||
/**
|
||||
* Send a frame.
|
||||
*
|
||||
|
||||
@@ -201,23 +201,50 @@ perf_end(perf_counter_t handle)
|
||||
switch (handle->type) {
|
||||
case PC_ELAPSED: {
|
||||
struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
|
||||
hrt_abstime elapsed = hrt_absolute_time() - pce->time_start;
|
||||
|
||||
pce->event_count++;
|
||||
pce->time_total += elapsed;
|
||||
if (pce->time_start != 0) {
|
||||
hrt_abstime elapsed = hrt_absolute_time() - pce->time_start;
|
||||
|
||||
if ((pce->time_least > elapsed) || (pce->time_least == 0))
|
||||
pce->time_least = elapsed;
|
||||
pce->event_count++;
|
||||
pce->time_total += elapsed;
|
||||
|
||||
if (pce->time_most < elapsed)
|
||||
pce->time_most = elapsed;
|
||||
if ((pce->time_least > elapsed) || (pce->time_least == 0))
|
||||
pce->time_least = elapsed;
|
||||
|
||||
if (pce->time_most < elapsed)
|
||||
pce->time_most = elapsed;
|
||||
|
||||
pce->time_start = 0;
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
perf_cancel(perf_counter_t handle)
|
||||
{
|
||||
if (handle == NULL)
|
||||
return;
|
||||
|
||||
switch (handle->type) {
|
||||
case PC_ELAPSED: {
|
||||
struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
|
||||
|
||||
pce->time_start = 0;
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void
|
||||
perf_reset(perf_counter_t handle)
|
||||
{
|
||||
|
||||
@@ -92,13 +92,25 @@ __EXPORT extern void perf_begin(perf_counter_t handle);
|
||||
* End a performance event.
|
||||
*
|
||||
* This call applies to counters that operate over ranges of time; PC_ELAPSED etc.
|
||||
* If a call is made without a corresopnding perf_begin call, or if perf_cancel
|
||||
* has been called subsequently, no change is made to the counter.
|
||||
*
|
||||
* @param handle The handle returned from perf_alloc.
|
||||
*/
|
||||
__EXPORT extern void perf_end(perf_counter_t handle);
|
||||
|
||||
/**
|
||||
* Reset a performance event.
|
||||
* Cancel a performance event.
|
||||
*
|
||||
* This call applies to counters that operate over ranges of time; PC_ELAPSED etc.
|
||||
* It reverts the effect of a previous perf_begin.
|
||||
*
|
||||
* @param handle The handle returned from perf_alloc.
|
||||
*/
|
||||
__EXPORT extern void perf_cancel(perf_counter_t handle);
|
||||
|
||||
/**
|
||||
* Reset a performance counter.
|
||||
*
|
||||
* This call resets performance counter to initial state
|
||||
*
|
||||
|
||||
@@ -37,6 +37,10 @@
|
||||
* Common object definitions without a better home.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @defgroup topics List of all uORB topics.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <drivers/drv_orb_dev.h>
|
||||
|
||||
@@ -52,11 +52,20 @@
|
||||
#define NUM_ACTUATOR_CONTROLS 8
|
||||
#define NUM_ACTUATOR_CONTROL_GROUPS 4 /**< for sanity checking */
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
struct actuator_controls_s {
|
||||
uint64_t timestamp;
|
||||
float control[NUM_ACTUATOR_CONTROLS];
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* actuator control sets; this list can be expanded as more controllers emerge */
|
||||
ORB_DECLARE(actuator_controls_0);
|
||||
ORB_DECLARE(actuator_controls_1);
|
||||
|
||||
@@ -53,11 +53,20 @@
|
||||
#define NUM_ACTUATOR_CONTROLS_EFFECTIVE NUM_ACTUATOR_CONTROLS
|
||||
#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE NUM_ACTUATOR_CONTROL_GROUPS /**< for sanity checking */
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
struct actuator_controls_effective_s {
|
||||
uint64_t timestamp;
|
||||
float control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE];
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* actuator control sets; this list can be expanded as more controllers emerge */
|
||||
ORB_DECLARE(actuator_controls_effective_0);
|
||||
ORB_DECLARE(actuator_controls_effective_1);
|
||||
|
||||
@@ -52,12 +52,21 @@
|
||||
#define NUM_ACTUATOR_OUTPUTS 16
|
||||
#define NUM_ACTUATOR_OUTPUT_GROUPS 4 /**< for sanity checking */
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
struct actuator_outputs_s {
|
||||
uint64_t timestamp; /**< output timestamp in us since system boot */
|
||||
float output[NUM_ACTUATOR_OUTPUTS]; /**< output data, in natural output units */
|
||||
int noutputs; /**< valid outputs */
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* actuator output sets; this list can be expanded as more drivers emerge */
|
||||
ORB_DECLARE(actuator_outputs_0);
|
||||
ORB_DECLARE(actuator_outputs_1);
|
||||
|
||||
@@ -47,6 +47,7 @@
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user