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Merged release_v1.0.0 branch into master

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This commit is contained in:
Lorenz Meier
2015-06-25 21:45:17 +02:00
parent 74bdec2cc6 5b93d92339
commit 454becdae5
73 changed files with 2726 additions and 887 deletions
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src/drivers/drv_pwm_output.h
+2 -2
View File
@@ -84,7 +84,7 @@ __BEGIN_DECLS
/**
* Highest maximum PWM in us
*/
#define PWM_HIGHEST_MAX 2100
#define PWM_HIGHEST_MAX 2150
/**
* Default maximum PWM in us
@@ -94,7 +94,7 @@ __BEGIN_DECLS
/**
* Lowest PWM allowed as the maximum PWM
*/
#define PWM_LOWEST_MAX 1400
#define PWM_LOWEST_MAX 950
/**
* Do not output a channel with this value
src/drivers/drv_tone_alarm.h
+1
View File
@@ -152,6 +152,7 @@ enum {
TONE_EKF_WARNING_TUNE,
TONE_BARO_WARNING_TUNE,
TONE_SINGLE_BEEP_TUNE,
TONE_HOME_SET,
TONE_NUMBER_OF_TUNES
};
src/drivers/hil/hil.cpp
+83 -15
View File
@@ -280,36 +280,42 @@ HIL::set_mode(Mode mode)
debug("MODE_2PWM");
/* multi-port with flow control lines as PWM */
_update_rate = 50; /* default output rate */
_num_outputs = 2;
break;
case MODE_4PWM:
debug("MODE_4PWM");
/* multi-port as 4 PWM outs */
_update_rate = 50; /* default output rate */
_num_outputs = 4;
break;
case MODE_8PWM:
debug("MODE_8PWM");
/* multi-port as 8 PWM outs */
_update_rate = 50; /* default output rate */
_num_outputs = 8;
break;
case MODE_12PWM:
debug("MODE_12PWM");
/* multi-port as 12 PWM outs */
_update_rate = 50; /* default output rate */
_num_outputs = 12;
break;
case MODE_16PWM:
debug("MODE_16PWM");
/* multi-port as 16 PWM outs */
_update_rate = 50; /* default output rate */
_num_outputs = 16;
break;
case MODE_NONE:
debug("MODE_NONE");
/* disable servo outputs and set a very low update rate */
_update_rate = 10;
_num_outputs = 0;
break;
default:
@@ -480,13 +486,6 @@ HIL::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
int ret;
debug("ioctl 0x%04x 0x%08x", cmd, arg);
// /* try it as a GPIO ioctl first */
// ret = HIL::gpio_ioctl(filp, cmd, arg);
// if (ret != -ENOTTY)
// return ret;
/* if we are in valid PWM mode, try it as a PWM ioctl as well */
switch(_mode) {
case MODE_2PWM:
@@ -540,6 +539,62 @@ HIL::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
// HIL always outputs at the alternate (usually faster) rate
break;
case PWM_SERVO_GET_DEFAULT_UPDATE_RATE:
*(uint32_t *)arg = 400;
break;
case PWM_SERVO_GET_UPDATE_RATE:
*(uint32_t *)arg = 400;
break;
case PWM_SERVO_GET_SELECT_UPDATE_RATE:
*(uint32_t *)arg = 0;
break;
case PWM_SERVO_GET_FAILSAFE_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < _num_outputs; i++) {
pwm->values[i] = 850;
}
pwm->channel_count = _num_outputs;
break;
}
case PWM_SERVO_GET_DISARMED_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < _num_outputs; i++) {
pwm->values[i] = 900;
}
pwm->channel_count = _num_outputs;
break;
}
case PWM_SERVO_GET_MIN_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < _num_outputs; i++) {
pwm->values[i] = 1000;
}
pwm->channel_count = _num_outputs;
break;
}
case PWM_SERVO_GET_MAX_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < _num_outputs; i++) {
pwm->values[i] = 2000;
}
pwm->channel_count = _num_outputs;
break;
}
case PWM_SERVO_SET(2):
case PWM_SERVO_SET(3):
if (_mode != MODE_4PWM) {
@@ -560,18 +615,26 @@ HIL::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
break;
case PWM_SERVO_GET(2):
case PWM_SERVO_GET(7):
case PWM_SERVO_GET(6):
case PWM_SERVO_GET(5):
case PWM_SERVO_GET(4):
if (_num_outputs < 8) {
ret = -EINVAL;
break;
}
case PWM_SERVO_GET(3):
if (_mode != MODE_4PWM) {
case PWM_SERVO_GET(2):
if (_num_outputs < 4) {
ret = -EINVAL;
break;
}
/* FALLTHROUGH */
case PWM_SERVO_GET(0):
case PWM_SERVO_GET(1): {
// channel = cmd - PWM_SERVO_SET(0);
// *(servo_position_t *)arg = up_pwm_servo_get(channel);
case PWM_SERVO_GET(1):
case PWM_SERVO_GET(0): {
*(servo_position_t *)arg = 1500;
break;
}
@@ -583,11 +646,16 @@ HIL::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
break;
}
case PWM_SERVO_GET_COUNT:
case MIXERIOCGETOUTPUTCOUNT:
if (_mode == MODE_4PWM) {
*(unsigned *)arg = 4;
if (_mode == MODE_8PWM) {
*(unsigned *)arg = 8;
} else if (_mode == MODE_4PWM) {
*(unsigned *)arg = 4;
} else {
*(unsigned *)arg = 2;
}
src/drivers/hmc5883/hmc5883.cpp
+5 -5
View File
@@ -1124,8 +1124,8 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
}
}
/* read the sensor up to 50x, stopping when we have 10 good values */
for (uint8_t i = 0; i < 50 && good_count < 10; i++) {
/* read the sensor up to 100x, stopping when we have 30 good values */
for (uint8_t i = 0; i < 100 && good_count < 30; i++) {
struct pollfd fds;
/* wait for data to be ready */
@@ -1172,9 +1172,9 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
scaling[2] = sum_excited[2] / good_count;
/* set scaling in device */
mscale_previous.x_scale = scaling[0];
mscale_previous.y_scale = scaling[1];
mscale_previous.z_scale = scaling[2];
mscale_previous.x_scale = 1.0f / scaling[0];
mscale_previous.y_scale = 1.0f / scaling[1];
mscale_previous.z_scale = 1.0f / scaling[2];
ret = OK;
src/drivers/ms5611/ms5611_nuttx.cpp
+18 -10
View File
@@ -154,10 +154,12 @@ protected:
/**
* Initialize the automatic measurement state machine and start it.
*
* @param delay_ticks the number of queue ticks before executing the next cycle
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start_cycle();
void start_cycle(unsigned delay_ticks = 1);
/**
* Stop the automatic measurement state machine.
@@ -515,7 +517,7 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
}
void
MS5611::start_cycle()
MS5611::start_cycle(unsigned delay_ticks)
{
/* reset the report ring and state machine */
@@ -524,7 +526,7 @@ MS5611::start_cycle()
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&MS5611::cycle_trampoline, this, 1);
work_queue(HPWORK, &_work, (worker_t)&MS5611::cycle_trampoline, this, delay_ticks);
}
void
@@ -564,8 +566,11 @@ MS5611::cycle()
}
/* issue a reset command to the sensor */
_interface->ioctl(IOCTL_RESET, dummy);
/* reset the collection state machine and try again */
start_cycle();
/* reset the collection state machine and try again - we need
* to wait 2.8 ms after issuing the sensor reset command
* according to the MS5611 datasheet
*/
start_cycle(USEC2TICK(2800));
return;
}
@@ -594,7 +599,6 @@ MS5611::cycle()
/* measurement phase */
ret = measure();
if (ret != OK) {
//log("measure error %d", ret);
/* issue a reset command to the sensor */
_interface->ioctl(IOCTL_RESET, dummy);
/* reset the collection state machine and try again */
@@ -1182,26 +1186,30 @@ ms5611_main(int argc, char *argv[])
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start"))
if (!strcmp(verb, "start")) {
ms5611::start(busid);
}
/*
* Test the driver/device.
*/
if (!strcmp(verb, "test"))
if (!strcmp(verb, "test")) {
ms5611::test(busid);
}
/*
* Reset the driver.
*/
if (!strcmp(verb, "reset"))
if (!strcmp(verb, "reset")) {
ms5611::reset(busid);
}
/*
* Print driver information.
*/
if (!strcmp(verb, "info"))
if (!strcmp(verb, "info")) {
ms5611::info();
}
/*
* Perform MSL pressure calibration given an altitude in metres
src/drivers/stm32/tone_alarm/tone_alarm.cpp
+2
View File
@@ -339,6 +339,7 @@ ToneAlarm::ToneAlarm() :
_default_tunes[TONE_EKF_WARNING_TUNE] = "MFT255L8ddd#d#eeff"; // ekf warning
_default_tunes[TONE_BARO_WARNING_TUNE] = "MFT255L4gf#fed#d"; // baro warning
_default_tunes[TONE_SINGLE_BEEP_TUNE] = "MFT100a8"; // single beep
_default_tunes[TONE_HOME_SET] = "MFT100L4>G#6A#6B#4";
_tune_names[TONE_STARTUP_TUNE] = "startup"; // startup tune
_tune_names[TONE_ERROR_TUNE] = "error"; // ERROR tone
@@ -354,6 +355,7 @@ ToneAlarm::ToneAlarm() :
_tune_names[TONE_EKF_WARNING_TUNE] = "ekf_warning"; // ekf warning
_tune_names[TONE_BARO_WARNING_TUNE] = "baro_warning"; // baro warning
_tune_names[TONE_SINGLE_BEEP_TUNE] = "beep"; // single beep
_tune_names[TONE_HOME_SET] = "home_set";
}
ToneAlarm::~ToneAlarm()