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Build fixes for qurt after rebase on PX4 master
Removed the re-definitions of the usage method in the posix/main.cpp file. Added qurt_external_hook interface to call externally linked module. Fixed code format to comply with PX4 style. Added usage information to main app and handled cases for unknown arguments. Fixed the orb_priority interface to use int32_t instead of int. Fixes to get hil working with led changes. Added the config_eagle_adsp.mk file and update the make files to to use new include/lib paths Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
@@ -0,0 +1,175 @@
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/****************************************************************************
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*
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* Copyright (C) 2015 Mark Charlebois. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file commands_muorb_test.c
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* Commands to run for the "qurt_muorb_test" config
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*
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* @author Mark Charlebois <charlebm@gmail.com>
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*/
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const char *get_commands()
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{
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static const char *commands =
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"uorb start\n"
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"param set CAL_GYRO0_ID 2293760\n"
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"param set CAL_ACC0_ID 1310720\n"
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"param set CAL_ACC1_ID 1376256\n"
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"param set CAL_MAG0_ID 196608\n"
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"commander start\n"
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"param set RC_RECEIVER_TYPE 1\n"
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"rc_receiver start -D /dev/tty-1\n"
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"attitude_estimator_q start\n"
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"position_estimator_inav start\n"
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//"ekf_att_pos_estimator start\n"
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"mc_pos_control start\n"
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"mc_att_control start\n"
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"sleep 1\n"
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// Channel mapping for Spektrum DX8
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"param set RC_MAP_THROTTLE 1\n"
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"param set RC_MAP_ROLL 2\n"
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"param set RC_MAP_PITCH 3\n"
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"param set RC_MAP_YAW 4\n"
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"param set RC_MAP_MODE_SW 5\n"
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"param set RC_MAP_POSCTL_SW 6\n"
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// RC calibration for Spektrum DX8
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"param set RC1_MAX 852\n"
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"param set RC1_MIN 171\n"
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"param set RC1_TRIM 171\n"
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"param set RC1_REV 1\n"
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"param set RC2_MAX 852\n"
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"param set RC2_MIN 171\n"
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"param set RC2_TRIM 512\n"
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"param set RC2_REV -1\n"
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"param set RC3_MAX 852\n"
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"param set RC3_MIN 171\n"
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"param set RC3_TRIM 512\n"
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"param set RC3_REV 1\n"
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"param set RC4_MAX 852\n"
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"param set RC4_MIN 171\n"
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"param set RC4_TRIM 514\n"
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"param set RC4_REV -1\n"
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"param set RC5_MAX 852\n"
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"param set RC5_MIN 171\n"
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"param set RC5_TRIM 512\n"
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"param set RC5_REV 1\n"
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"param set RC6_MAX 852\n"
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"param set RC6_MIN 171\n"
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"param set RC6_TRIM 171\n"
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"param set RC6_REV 1\n"
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// // RC calibration for DX6i
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// "param set RC1_MAX 2015\n"
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// "param set RC1_MIN 996\n"
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// "param set RC1_TRIM 1502\n"
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// "param set RC1_REV -1\n"
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// "param set RC2_MAX 2016 \n"
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// "param set RC2_MIN 995\n"
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// "param set RC2_TRIM 1500\n"
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// "param set RC3_MAX 2003\n"
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// "param set RC3_MIN 992\n"
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// "param set RC3_TRIM 992\n"
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// "param set RC4_MAX 2011\n"
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// "param set RC4_MIN 997\n"
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// "param set RC4_TRIM 1504\n"
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// "param set RC4_REV -1\n"
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// "param set RC6_MAX 2016\n"
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// "param set RC6_MIN 992\n"
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// "param set RC6_TRIM 1504\n"
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// "param set RC_CHAN_CNT 8\n"
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// "param set RC_MAP_MODE_SW 5\n"
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// "param set RC_MAP_POSCTL_SW 7\n"
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// "param set RC_MAP_RETURN_SW 8\n"
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"sensors start\n"
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"param set MC_YAW_P 7.0\n"
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"param set MC_YAWRATE_P 0.1125\n"
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"param set MC_YAWRATE_I 0.0\n"
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"param set MC_YAWRATE_D 0\n"
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"param set MC_PITCH_P 6.0\n"
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"param set MC_PITCHRATE_P 0.125\n"
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"param set MC_PITCHRATE_I 0.0\n"
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"param set MC_PITCHRATE_D 0.0\n"
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"param set MC_ROLL_P 6.0\n"
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"param set MC_ROLLRATE_P 0.1125\n"
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"param set MC_ROLLRATE_I 0.0\n"
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"param set MC_ROLLRATE_D 0.0\n"
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"param set ATT_W_MAG 0.00\n"
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"param set PE_MAG_NOISE 1.0f\n" // ekf_att_pos only
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"param set SENS_BOARD_ROT 6\n"
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"param set CAL_GYRO0_XOFF 0.0\n"
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"param set CAL_GYRO0_YOFF 0.0\n"
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"param set CAL_GYRO0_ZOFF 0.0\n"
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"param set CAL_GYRO0_XSCALE 1.000000\n"
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"param set CAL_GYRO0_YSCALE 1.000000\n"
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"param set CAL_GYRO0_ZSCALE 1.000000\n"
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"param set CAL_ACC0_XOFF 0.0\n"
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"param set CAL_ACC0_YOFF 0.0\n"
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"param set CAL_ACC0_ZOFF 0.0\n"
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"param set CAL_ACC0_XSCALE 1.0\n"
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"param set CAL_ACC0_YSCALE 1.0\n"
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"param set CAL_ACC0_ZSCALE 1.0\n"
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// "param set CAL_ACC0_XOFF 0.064189\n"
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// "param set CAL_ACC0_YOFF 0.153990\n"
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// "param set CAL_ACC0_ZOFF -0.000567\n"
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"param set MPU_GYRO_LPF_ENUM 4\n"
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"param set MPU_ACC_LPF_ENUM 4\n"
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"param set MPU_SAMPLE_RATE_ENUM 2\n"
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"sleep 1\n"
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"mpu9x50 start -D /dev/spi-1\n"
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"uart_esc start -D /dev/tty-2\n"
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"csr_gps start -D /dev/tty-3\n"
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"param set MAV_TYPE 2\n"
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"list_devices\n"
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"list_files\n"
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"list_tasks\n"
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"list_topics\n"
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;
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return commands;
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}
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/*
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simulator numbers
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"param set MC_YAW_P 1.5\n"
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"param set MC_PITCH_P 3.0\n"
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"param set MC_ROLL_P 3.0\n"
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"param set MC_YAWRATE_P 0.2\n"
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"param set MC_PITCHRATE_P 0.03\n"
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"param set MC_ROLLRATE_P 0.03\n"
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*/
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@@ -56,7 +56,7 @@ const char *get_commands()
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"mc_pos_control start\n"
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"mc_att_control start\n"
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"sleep 1\n"
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"hil mode_pwm\n"
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"pwm_out_sim mode_pwm\n"
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"param set RC1_MAX 2015\n"
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"param set RC1_MIN 996\n"
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"param set RC1_TRIM 1502\n"
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@@ -32,7 +32,7 @@
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****************************************************************************/
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/**
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* @file main.cpp
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* Basic shell to execute builtin "apps"
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* Basic shell to execute builtin "apps"
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*
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* @author Mark Charlebois <charlebm@gmail.com>
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*/
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@@ -56,6 +56,8 @@ static px4_task_t g_dspal_task = -1;
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__BEGIN_DECLS
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// The commands to run are specified in a target file: commands_<target>.c
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extern const char *get_commands(void);
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// Enable external library hook
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void qurt_external_hook(void) __attribute__((weak));
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__END_DECLS
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static void run_cmd(map<string,px4_main_t> &apps, const vector<string> &appargs) {
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@@ -108,7 +110,7 @@ static void process_commands(map<string,px4_main_t> &apps, const char *cmds)
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// Eat leading whitespace
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eat_whitespace(b, i);
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for(;;) {
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// End of command line
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@@ -156,15 +158,17 @@ __END_DECLS
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int dspal_entry( int argc, char* argv[] )
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{
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//const char *argv[2] = { "dspal_client", NULL };
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//int argc = 1;
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PX4_INFO("In main\n");
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map<string,px4_main_t> apps;
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init_app_map(apps);
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px4::init_once();
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px4::init(argc, (char **)argv, "mainapp");
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process_commands(apps, get_commands());
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usleep( 1000000 ); // give time for all commands to execute before starting external function
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if(qurt_external_hook)
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{
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qurt_external_hook();
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}
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for( ;; ){
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usleep( 1000000 );
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}
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@@ -58,6 +58,9 @@ endif
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ifeq ($(CONFIG),qurt_hil)
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SRCS += commands_hil.c
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endif
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ifeq ($(CONFIG),qurt_adsp)
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SRCS += commands_adsp.c
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endif
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MAXOPTIMIZATION = -Os
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