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delete px4_includes.h header and update boards/ to use syslog

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This commit is contained in:
Daniel Agar
2019-01-23 18:25:18 -05:00
parent 376e078c24
commit 2ffb49b734
86 changed files with 190 additions and 563 deletions
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boards/px4/fmu-v2/default.cmake
+1
View File
@@ -3,6 +3,7 @@ px4_add_board(
PLATFORM nuttx
VENDOR px4
MODEL fmu-v2
LABEL default
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m4
ROMFSROOT px4fmu_common
boards/px4/fmu-v2/src/init.c
+12 -31
View File
@@ -47,7 +47,6 @@
#include <px4_config.h>
#include <px4_tasks.h>
#include <px4_time.h>
#include <stdbool.h>
#include <stdio.h>
@@ -79,24 +78,6 @@
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) syslog(__VA_ARGS__)
# else
# define message(...) printf(__VA_ARGS__)
# endif
#else
# ifdef CONFIG_DEBUG
# define message syslog
# else
# define message printf
# endif
#endif
/*
* Ideally we'd be able to get these from up_internal.h,
* but since we want to be able to disable the NuttX use
@@ -130,8 +111,8 @@ __EXPORT void board_peripheral_reset(int ms)
stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 1);
/* wait for the peripheral rail to reach GND */
px4_usleep(ms * 1000);
warnx("reset done, %d ms", ms);
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
@@ -382,7 +363,7 @@ static struct sdio_dev_s *sdio;
__EXPORT int board_app_initialize(uintptr_t arg)
{
/* Ensure the power is on 1 ms before we drive the GPIO pins */
px4_usleep(1000);
usleep(1000);
if (OK == determin_hw_version(&hw_version, & hw_revision)) {
switch (hw_version) {
@@ -416,7 +397,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
hw_version = HW_VER_FMUV3_STATE;
hw_type[1]++;
hw_type[2] = '0';
message("\nPixhack V3 detected, forcing to fmu-v3");
syslog(LOG_INFO, "\nPixhack V3 detected, forcing to fmu-v3");
} else {
@@ -431,12 +412,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
/* questionable px4_fmu-v2 hardware, try forcing regular FMUv2 (not much else we can do) */
message("\nbad version detected, forcing to fmu-v2");
syslog(LOG_ERR, "\nbad version detected, forcing to fmu-v2");
hw_version = HW_VER_FMUV2_STATE;
break;
}
message("\nFMUv2 ver 0x%1X : Rev %x %s\n", hw_version, hw_revision, hw_type);
syslog(LOG_DEBUG, "\nFMUv2 ver 0x%1X : Rev %x %s\n", hw_version, hw_revision, hw_type);
}
/* configure SPI interfaces */
@@ -447,7 +428,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
/* configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
message("DMA alloc FAILED");
syslog(LOG_ERR, "DMA alloc FAILED\n");
}
/* set up the serial DMA polling */
@@ -480,7 +461,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
spi1 = stm32_spibus_initialize(PX4_SPI_BUS_SENSORS);
if (!spi1) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
led_on(LED_AMBER);
return -ENODEV;
}
@@ -496,7 +477,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
spi2 = stm32_spibus_initialize(PX4_SPI_BUS_RAMTRON);
if (!spi2) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_RAMTRON);
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_RAMTRON);
led_on(LED_AMBER);
return -ENODEV;
}
@@ -512,7 +493,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
spi4 = stm32_spibus_initialize(PX4_SPI_BUS_EXT);
if (!spi4) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXT);
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXT);
led_on(LED_AMBER);
return -ENODEV;
}
@@ -529,7 +510,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
if (!sdio) {
led_on(LED_AMBER);
message("[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
return -ENODEV;
}
@@ -538,7 +519,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
if (ret != OK) {
led_on(LED_AMBER);
message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
boards/px4/fmu-v2/src/spi.c
+3 -5
View File
@@ -41,7 +41,6 @@
* Included Files
************************************************************************************/
#include <px4_time.h>
#include <px4_config.h>
#include <stdint.h>
@@ -56,7 +55,6 @@
#include <chip.h>
#include <stm32.h>
#include "board_config.h"
#include <systemlib/err.h>
/************************************************************************************
* Public Functions
@@ -421,8 +419,8 @@ __EXPORT void board_spi_reset(int ms)
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
/* wait for the sensor rail to reach GND */
px4_usleep(ms * 1000);
warnx("reset done, %d ms", ms);
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
@@ -430,7 +428,7 @@ __EXPORT void board_spi_reset(int ms)
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* wait a bit before starting SPI, different times didn't influence results */
px4_usleep(100);
usleep(100);
/* reconfigure the SPI pins */
stm32_configgpio(GPIO_SPI1_SCK);
boards/px4/fmu-v3/nuttx-config/include/board.h
+4 -4
View File
@@ -259,13 +259,13 @@
#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_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_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)
/* SPI
*
boards/px4/fmu-v3/src/init.c
+10 -28
View File
@@ -78,24 +78,6 @@
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) syslog(__VA_ARGS__)
# else
# define message(...) printf(__VA_ARGS__)
# endif
#else
# ifdef CONFIG_DEBUG
# define message syslog
# else
# define message printf
# endif
#endif
/*
* Ideally we'd be able to get these from up_internal.h,
* but since we want to be able to disable the NuttX use
@@ -130,7 +112,7 @@ __EXPORT void board_peripheral_reset(int ms)
/* wait for the peripheral rail to reach GND */
usleep(ms * 1000);
warnx("reset done, %d ms", ms);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
@@ -415,7 +397,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
hw_version = HW_VER_FMUV3_STATE;
hw_type[1]++;
hw_type[2] = '0';
message("\nPixhack V3 detected, forcing to fmu-v3");
syslog(LOG_INFO, "\nPixhack V3 detected, forcing to fmu-v3");
} else {
@@ -430,12 +412,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
/* questionable px4_fmu-v2 hardware, try forcing regular FMUv2 (not much else we can do) */
message("\nbad version detected, forcing to fmu-v2");
syslog(LOG_ERR, "\nbad version detected, forcing to fmu-v2");
hw_version = HW_VER_FMUV2_STATE;
break;
}
message("\nFMUv2 ver 0x%1X : Rev %x %s\n", hw_version, hw_revision, hw_type);
syslog(LOG_DEBUG, "\nFMUv2 ver 0x%1X : Rev %x %s\n", hw_version, hw_revision, hw_type);
}
/* configure SPI interfaces */
@@ -446,7 +428,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
/* configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
message("DMA alloc FAILED");
syslog(LOG_ERR, "DMA alloc FAILED\n");
}
/* set up the serial DMA polling */
@@ -479,7 +461,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
spi1 = stm32_spibus_initialize(PX4_SPI_BUS_SENSORS);
if (!spi1) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
led_on(LED_AMBER);
return -ENODEV;
}
@@ -495,7 +477,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
spi2 = stm32_spibus_initialize(PX4_SPI_BUS_RAMTRON);
if (!spi2) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_RAMTRON);
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_RAMTRON);
led_on(LED_AMBER);
return -ENODEV;
}
@@ -511,7 +493,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
spi4 = stm32_spibus_initialize(PX4_SPI_BUS_EXT);
if (!spi4) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXT);
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXT);
led_on(LED_AMBER);
return -ENODEV;
}
@@ -528,7 +510,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
if (!sdio) {
led_on(LED_AMBER);
message("[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
return -ENODEV;
}
@@ -537,7 +519,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
if (ret != OK) {
led_on(LED_AMBER);
message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
boards/px4/fmu-v3/src/spi.c
+1 -2
View File
@@ -55,7 +55,6 @@
#include <chip.h>
#include <stm32.h>
#include "board_config.h"
#include <systemlib/err.h>
/************************************************************************************
* Public Functions
@@ -421,7 +420,7 @@ __EXPORT void board_spi_reset(int ms)
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
warnx("reset done, %d ms", ms);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
boards/px4/fmu-v4/src/init.c
+7 -25
View File
@@ -79,24 +79,6 @@
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) syslog(__VA_ARGS__)
# else
# define message(...) printf(__VA_ARGS__)
# endif
#else
# ifdef CONFIG_DEBUG
# define message syslog
# else
# define message printf
# endif
#endif
/**
* Ideally we'd be able to get these from up_internal.h,
* but since we want to be able to disable the NuttX use
@@ -135,7 +117,7 @@ __EXPORT void board_peripheral_reset(int ms)
// Wait for the peripheral rail to reach GND.
usleep(ms * 1000);
warnx("reset done, %d ms", ms);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
// Re-enable power.
// Switch the peripheral rail back on.
@@ -271,7 +253,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
// Configure the DMA allocator.
if (board_dma_alloc_init() < 0) {
message("DMA alloc FAILED");
syslog(LOG_ERR, "DMA alloc FAILED\n");
}
// Set up the serial DMA polling.
@@ -311,7 +293,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
spi1 = stm32_spibus_initialize(1);
if (!spi1) {
message("[boot] FAILED to initialize SPI port 1\n");
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
led_on(LED_RED);
return -ENODEV;
}
@@ -330,7 +312,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
spi2 = stm32_spibus_initialize(2);
if (!spi2) {
message("[boot] FAILED to initialize SPI port 2\n");
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 2\n");
led_on(LED_RED);
return -ENODEV;
}
@@ -354,8 +336,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
if (!sdio) {
led_on(LED_RED);
message("[boot] Failed to initialize SDIO slot %d\n",
CONFIG_NSH_MMCSDSLOTNO);
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n",
CONFIG_NSH_MMCSDSLOTNO);
return -ENODEV;
}
@@ -364,7 +346,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
if (ret != OK) {
led_on(LED_RED);
message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
boards/px4/fmu-v4/src/spi.c
+1 -2
View File
@@ -55,7 +55,6 @@
#include <chip.h>
#include <stm32.h>
#include "board_config.h"
#include <systemlib/err.h>
/************************************************************************************
* Public Functions
@@ -223,7 +222,7 @@ __EXPORT void board_spi_reset(int ms)
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
warnx("reset done, %d ms", ms);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
boards/px4/fmu-v4pro/src/init.c
+9 -27
View File
@@ -79,24 +79,6 @@
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) syslog(__VA_ARGS__)
# else
# define message(...) printf(__VA_ARGS__)
# endif
#else
# ifdef CONFIG_DEBUG
# define message syslog
# else
# define message printf
# endif
#endif
/*
* Ideally we'd be able to get these from up_internal.h,
* but since we want to be able to disable the NuttX use
@@ -137,7 +119,7 @@ __EXPORT void board_peripheral_reset(int ms)
/* wait for the peripheral rail to reach GND */
usleep(ms * 1000);
warnx("reset done, %d ms", ms);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
@@ -307,7 +289,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
/* configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
message("DMA alloc FAILED");
syslog(LOG_ERR, "DMA alloc FAILED\n");
}
/* set up the serial DMA polling */
@@ -342,7 +324,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
spi1 = stm32_spibus_initialize(PX4_SPI_BUS_SENSORS);
if (!spi1) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
led_on(LED_RED);
return -ENODEV;
}
@@ -363,7 +345,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
spi2 = stm32_spibus_initialize(PX4_SPI_BUS_RAMTRON);
if (!spi2) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_RAMTRON);
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_RAMTRON);
led_on(LED_RED);
return -ENODEV;
}
@@ -382,7 +364,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
spi5 = stm32_spibus_initialize(PX4_SPI_BUS_EXT0);
if (!spi5) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXT0);
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXT0);
led_on(LED_RED);
return -ENODEV;
}
@@ -398,7 +380,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
spi6 = stm32_spibus_initialize(PX4_SPI_BUS_EXT1);
if (!spi6) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXT1);
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXT1);
led_on(LED_RED);
return -ENODEV;
}
@@ -416,8 +398,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
if (!sdio) {
led_on(LED_RED);
message("[boot] Failed to initialize SDIO slot %d\n",
CONFIG_NSH_MMCSDSLOTNO);
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n",
CONFIG_NSH_MMCSDSLOTNO);
return -ENODEV;
}
@@ -426,7 +408,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
if (ret != OK) {
led_on(LED_RED);
message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
boards/px4/fmu-v4pro/src/spi.c
+1 -2
View File
@@ -55,7 +55,6 @@
#include <chip.h>
#include <stm32.h>
#include "board_config.h"
#include <systemlib/err.h>
/************************************************************************************
* Public Functions
@@ -258,7 +257,7 @@ __EXPORT void board_spi_reset(int ms)
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
warnx("reset done, %d ms", ms);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
boards/px4/fmu-v5/src/init.c
+1 -1
View File
@@ -162,7 +162,7 @@ __EXPORT void board_peripheral_reset(int ms)
/* wait for the peripheral rail to reach GND */
usleep(ms * 1000);
warnx("reset done, %d ms", ms);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
boards/px4/fmu-v5/src/spi.c
+1 -2
View File
@@ -57,7 +57,6 @@
#include <chip.h>
#include <stm32_gpio.h>
#include "board_config.h"
#include <systemlib/err.h>
/****************************************************************************
* Pre-Processor Definitions
@@ -476,7 +475,7 @@ __EXPORT void board_spi_reset(int ms)
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
warnx("reset done, %d ms", ms);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
boards/px4/io-v2/src/init.c
-18
View File
@@ -63,24 +63,6 @@
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) syslog(__VA_ARGS__)
# else
# define message(...) printf(__VA_ARGS__)
# endif
#else
# ifdef CONFIG_DEBUG
# define message syslog
# else
# define message printf
# endif
#endif
/****************************************************************************
* Protected Functions
****************************************************************************/