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Added TeraRanger one sensor

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This commit is contained in:
Lorenz Meier
2014-11-26 07:56:54 +01:00
parent 034d0a6a61 cbcd1ea1d1
commit 6200a3e3a5
336 changed files with 18008 additions and 4788 deletions
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Debug/NuttX
+30 -8
View File
@@ -78,7 +78,7 @@ end
################################################################################
define showfiles
set $task = (struct _TCB *)$arg0
set $task = (struct tcb_s *)$arg0
set $nfiles = sizeof((*(struct filelist*)0).fl_files) / sizeof(struct file)
printf "%d files\n", $nfiles
set $index = 0
@@ -102,7 +102,7 @@ end
################################################################################
define _showtask_oneline
set $task = (struct _TCB *)$arg0
set $task = (struct tcb_s *)$arg0
printf " %p %.2d %.3d %s\n", $task, $task->pid, $task->sched_priority, $task->name
end
@@ -139,7 +139,7 @@ end
# Print task registers for a NuttX v7em target with FPU enabled.
#
define _showtaskregs_v7em
set $task = (struct _TCB *)$arg0
set $task = (struct tcb_s *)$arg0
set $regs = (uint32_t *)&($task->xcp.regs[0])
printf " r0: 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x\n", $regs[27], $regs[28], $regs[29], $regs[30], $regs[2], $regs[3], $regs[4], $regs[5]
@@ -162,7 +162,7 @@ end
define _showsemaphore
printf "count %d ", $arg0->semcount
if $arg0->holder.htcb != 0
set $_task = (struct _TCB *)$arg0->holder.htcb
set $_task = (struct tcb_s *)$arg0->holder.htcb
printf "held by %s", $_task->name
end
printf "\n"
@@ -172,7 +172,7 @@ end
# Print information about a task's stack usage
#
define showtaskstack
set $task = (struct _TCB *)$arg0
set $task = (struct tcb_s *)$arg0
if $task == &g_idletcb
printf "can't measure idle stack\n"
@@ -189,7 +189,7 @@ end
# Print details of a task
#
define showtask
set $task = (struct _TCB *)$arg0
set $task = (struct tcb_s *)$arg0
printf "%p %.2d ", $task, $task->pid
_showtaskstate $task
@@ -204,7 +204,7 @@ define showtask
if $task->task_state != TSTATE_TASK_RUNNING
_showtaskregs_v7em $task
else
_showcurrentregs_v7em
_showtaskregs_v7em $task
end
# XXX print registers here
@@ -247,8 +247,10 @@ define showtasks
_showtasklist &g_pendingtasks
printf "RUNNABLE\n"
_showtasklist &g_readytorun
printf "WAITING\n"
printf "WAITING for Semaphore\n"
_showtasklist &g_waitingforsemaphore
printf "WAITING for Signal\n"
_showtasklist &g_waitingforsignal
printf "INACTIVE\n"
_showtasklist &g_inactivetasks
end
@@ -257,3 +259,23 @@ document showtasks
. showtasks
. Print a list of all tasks in the system, separated into their respective queues.
end
define my_mem
set $start = $arg0
set $end = $arg1
set $cursor = $start
if $start < $end
while $cursor != $end
set *$cursor = 0x0000
set $cursor = $cursor + 4
printf "0x%x of 0x%x\n",$cursor,$end
end
else
while $cursor != $end
set *$cursor = 0x0000
set $cursor = $cursor - 4
end
end
end
Debug/Nuttx.py
+386 -47
View File
@@ -59,30 +59,42 @@ class NX_register_set(object):
def __init__(self, xcpt_regs):
if xcpt_regs is None:
self.regs['R0'] = long(gdb.parse_and_eval('$r0'))
self.regs['R1'] = long(gdb.parse_and_eval('$r1'))
self.regs['R2'] = long(gdb.parse_and_eval('$r2'))
self.regs['R3'] = long(gdb.parse_and_eval('$r3'))
self.regs['R4'] = long(gdb.parse_and_eval('$r4'))
self.regs['R5'] = long(gdb.parse_and_eval('$r5'))
self.regs['R6'] = long(gdb.parse_and_eval('$r6'))
self.regs['R7'] = long(gdb.parse_and_eval('$r7'))
self.regs['R8'] = long(gdb.parse_and_eval('$r8'))
self.regs['R9'] = long(gdb.parse_and_eval('$r9'))
self.regs['R10'] = long(gdb.parse_and_eval('$r10'))
self.regs['R11'] = long(gdb.parse_and_eval('$r11'))
self.regs['R12'] = long(gdb.parse_and_eval('$r12'))
self.regs['R13'] = long(gdb.parse_and_eval('$r13'))
self.regs['SP'] = long(gdb.parse_and_eval('$sp'))
self.regs['R14'] = long(gdb.parse_and_eval('$r14'))
self.regs['LR'] = long(gdb.parse_and_eval('$lr'))
self.regs['R15'] = long(gdb.parse_and_eval('$r15'))
self.regs['PC'] = long(gdb.parse_and_eval('$pc'))
self.regs['XPSR'] = long(gdb.parse_and_eval('$xpsr'))
self.regs['R0'] = self.mon_reg_call('r0')
self.regs['R1'] = self.mon_reg_call('r1')
self.regs['R2'] = self.mon_reg_call('r2')
self.regs['R3'] = self.mon_reg_call('r3')
self.regs['R4'] = self.mon_reg_call('r4')
self.regs['R5'] = self.mon_reg_call('r5')
self.regs['R6'] = self.mon_reg_call('r6')
self.regs['R7'] = self.mon_reg_call('r7')
self.regs['R8'] = self.mon_reg_call('r8')
self.regs['R9'] = self.mon_reg_call('r9')
self.regs['R10'] = self.mon_reg_call('r10')
self.regs['R11'] = self.mon_reg_call('r11')
self.regs['R12'] = self.mon_reg_call('r12')
self.regs['R13'] = self.mon_reg_call('r13')
self.regs['SP'] = self.mon_reg_call('sp')
self.regs['R14'] = self.mon_reg_call('r14')
self.regs['LR'] = self.mon_reg_call('lr')
self.regs['R15'] = self.mon_reg_call('r15')
self.regs['PC'] = self.mon_reg_call('pc')
self.regs['XPSR'] = self.mon_reg_call('xPSR')
else:
for key in self.v7em_regmap.keys():
self.regs[key] = int(xcpt_regs[self.v7em_regmap[key]])
def mon_reg_call(self,register):
"""
register is the register as a string e.g. 'pc'
return integer containing the value of the register
"""
str_to_eval = "mon reg "+register
resp = gdb.execute(str_to_eval,to_string = True)
content = resp.split()[-1];
try:
return int(content,16)
except:
return 0
@classmethod
def with_xcpt_regs(cls, xcpt_regs):
@@ -172,7 +184,7 @@ class NX_task(object):
self.__dict__['stack_used'] = 0
else:
stack_limit = self._tcb['adj_stack_size']
for offset in range(0, stack_limit):
for offset in range(0, int(stack_limit)):
if stack_base[offset] != 0xff:
break
self.__dict__['stack_used'] = stack_limit - offset
@@ -187,7 +199,7 @@ class NX_task(object):
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():
for name,value in statenames.items():
if value == self._tcb['task_state']:
return name
return 'UNKNOWN'
@@ -196,16 +208,19 @@ class NX_task(object):
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)
try:
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)
except:
return 'EXCEPTION'
if self._state_is('TSTATE_WAIT_SIG'):
return 'signal'
return None
return ""
@property
def is_waiting(self):
@@ -229,7 +244,7 @@ class NX_task(object):
filearray = filelist['fl_files']
result = dict()
for i in range(filearray.type.range()[0],filearray.type.range()[1]):
inode = long(filearray[i]['f_inode'])
inode = int(filearray[i]['f_inode'])
if inode != 0:
result[i] = inode
return result
@@ -253,7 +268,18 @@ class NX_task(object):
def __str__(self):
return "{}:{}".format(self.pid, self.name)
def showoff(self):
print("-------")
print(self.pid,end = ", ")
print(self.name,end = ", ")
print(self.state,end = ", ")
print(self.waiting_for,end = ", ")
print(self.stack_used,end = ", ")
print(self._tcb['adj_stack_size'],end = ", ")
print(self.file_descriptors)
print(self.registers)
def __format__(self, format_spec):
return format_spec.format(
pid = self.pid,
@@ -265,7 +291,7 @@ class NX_task(object):
file_descriptors = self.file_descriptors,
registers = self.registers
)
class NX_show_task (gdb.Command):
"""(NuttX) prints information about a task"""
@@ -285,7 +311,7 @@ class NX_show_task (gdb.Command):
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)
print(format(t, my_fmt))
class NX_show_tasks (gdb.Command):
"""(NuttX) prints a list of tasks"""
@@ -295,8 +321,10 @@ class NX_show_tasks (gdb.Command):
def invoke(self, args, from_tty):
tasks = NX_task.tasks()
print ('Number of tasks: ' + str(len(tasks)))
for t in tasks:
print format(t, '{pid:<2} {name:<16} {state:<20} {stack_used:>4}/{stack_limit:<4}')
#t.showoff()
print(format(t, 'Task: {pid} {name} {state} {stack_used}/{stack_limit}'))
NX_show_task()
NX_show_tasks()
@@ -306,15 +334,15 @@ class NX_show_heap (gdb.Command):
def __init__(self):
super(NX_show_heap, self).__init__('show heap', gdb.COMMAND_USER)
struct_mm_allocnode_s = gdb.lookup_type('struct mm_allocnode_s')
preceding_size = struct_mm_allocnode_s['preceding'].type.sizeof
if preceding_size == 2:
struct_mm_allocnode_s = gdb.lookup_type('struct mm_allocnode_s')
preceding_size = struct_mm_allocnode_s['preceding'].type.sizeof
if preceding_size == 2:
self._allocflag = 0x8000
elif preceding_size == 4:
elif preceding_size == 4:
self._allocflag = 0x80000000
else:
raise gdb.GdbError('invalid mm_allocnode_s.preceding size %u' % preceding_size)
self._allocnodesize = struct_mm_allocnode_s.sizeof
else:
raise gdb.GdbError('invalid mm_allocnode_s.preceding size %u' % preceding_size)
self._allocnodesize = struct_mm_allocnode_s.sizeof
def _node_allocated(self, allocnode):
if allocnode['preceding'] & self._allocflag:
@@ -328,7 +356,7 @@ class NX_show_heap (gdb.Command):
if region_start >= region_end:
raise gdb.GdbError('heap region {} corrupt'.format(hex(region_start)))
nodecount = region_end - region_start
print 'heap {} - {}'.format(region_start, region_end)
print ('heap {} - {}'.format(region_start, region_end))
cursor = 1
while cursor < nodecount:
allocnode = region_start[cursor]
@@ -336,8 +364,8 @@ class NX_show_heap (gdb.Command):
state = ''
else:
state = '(free)'
print ' {} {} {}'.format(allocnode.address + self._allocnodesize,
self._node_size(allocnode), state)
print( ' {} {} {}'.format(allocnode.address + self._allocnodesize,
self._node_size(allocnode), state))
cursor += self._node_size(allocnode) / self._allocnodesize
def invoke(self, args, from_tty):
@@ -345,7 +373,7 @@ class NX_show_heap (gdb.Command):
nregions = heap['mm_nregions']
region_starts = heap['mm_heapstart']
region_ends = heap['mm_heapend']
print '{} heap(s)'.format(nregions)
print( '{} heap(s)'.format(nregions))
# walk the heaps
for i in range(0, nregions):
self._print_allocations(region_starts[i], region_ends[i])
@@ -370,6 +398,317 @@ class NX_show_interrupted_thread (gdb.Command):
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(registers, my_fmt)
print (format(registers, my_fmt))
NX_show_interrupted_thread()
class NX_check_tcb(gdb.Command):
""" check the tcb of a task from a address """
def __init__(self):
super(NX_check_tcb,self).__init__('show tcb', gdb.COMMAND_USER)
def invoke(self,args,sth):
tasks = NX_task.tasks()
print("tcb int: ",int(args))
print(tasks[int(args)]._tcb)
a =tasks[int(args)]._tcb['xcp']['regs']
print("relevant registers:")
for reg in regmap:
hex_addr= hex(int(a[regmap[reg]]))
eval_string = 'info line *'+str(hex_addr)
print(reg,": ",hex_addr,)
NX_check_tcb()
class NX_tcb(object):
def __init__(self):
pass
def is_in(self,arg,list):
for i in list:
if arg == i:
return True;
return False
def find_tcb_list(self,dq_entry_t):
tcb_list = []
tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
first_tcb = tcb_ptr.dereference()
tcb_list.append(first_tcb);
next_tcb = first_tcb['flink'].dereference()
while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]):
tcb_list.append(next_tcb);
old_tcb = next_tcb;
next_tcb = old_tcb['flink'].dereference()
return [t for t in tcb_list if int(t['pid'])<2000]
def getTCB(self):
list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
tcb_list = [];
for l in list_of_listsnames:
li = gdb.lookup_global_symbol(l)
print(li)
cursor = li.value()['head']
tcb_list = tcb_list + self.find_tcb_list(cursor)
class NX_check_stack_order(gdb.Command):
""" Check the Stack order corresponding to the tasks """
def __init__(self):
super(NX_check_stack_order,self).__init__('show check_stack', gdb.COMMAND_USER)
def is_in(self,arg,list):
for i in list:
if arg == i:
return True;
return False
def find_tcb_list(self,dq_entry_t):
tcb_list = []
tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
first_tcb = tcb_ptr.dereference()
tcb_list.append(first_tcb);
next_tcb = first_tcb['flink'].dereference()
while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]):
tcb_list.append(next_tcb);
old_tcb = next_tcb;
next_tcb = old_tcb['flink'].dereference()
return [t for t in tcb_list if int(t['pid'])<2000]
def getTCB(self):
list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
tcb_list = [];
for l in list_of_listsnames:
li = gdb.lookup_global_symbol(l)
cursor = li.value()['head']
tcb_list = tcb_list + self.find_tcb_list(cursor)
return tcb_list
def getSPfromTask(self,tcb):
regmap = NX_register_set.v7em_regmap
a =tcb['xcp']['regs']
return int(a[regmap['SP']])
def find_closest(self,list,val):
tmp_list = [abs(i-val) for i in list]
tmp_min = min(tmp_list)
idx = tmp_list.index(tmp_min)
return idx,list[idx]
def find_next_stack(self,address,_dict_in):
add_list = []
name_list = []
for key in _dict_in.keys():
for i in range(3):
if _dict_in[key][i] < address:
add_list.append(_dict_in[key][i])
if i == 2: # the last one is the processes stack pointer
name_list.append(self.check_name(key)+"_SP")
else:
name_list.append(self.check_name(key))
idx,new_address = self.find_closest(add_list,address)
return new_address,name_list[idx]
def check_name(self,name):
if isinstance(name,(list)):
name = name[0];
idx = name.find("\\")
newname = name[:idx]
return newname
def invoke(self,args,sth):
tcb = self.getTCB();
stackadresses={};
for t in tcb:
p = [];
#print(t.name,t._tcb['stack_alloc_ptr'])
p.append(int(t['stack_alloc_ptr']))
p.append(int(t['adj_stack_ptr']))
p.append(self.getSPfromTask(t))
stackadresses[str(t['name'])] = p;
address = int("0x30000000",0)
print("stack address : process")
for i in range(len(stackadresses)*3):
address,name = self.find_next_stack(address,stackadresses)
print(hex(address),": ",name)
NX_check_stack_order()
class NX_run_debug_util(gdb.Command):
""" show the registers of a task corresponding to a tcb address"""
def __init__(self):
super(NX_run_debug_util,self).__init__('show regs', gdb.COMMAND_USER)
def printRegisters(self,task):
regmap = NX_register_set.v7em_regmap
a =task._tcb['xcp']['regs']
print("relevant registers in ",task.name,":")
for reg in regmap:
hex_addr= hex(int(a[regmap[reg]]))
eval_string = 'info line *'+str(hex_addr)
print(reg,": ",hex_addr,)
def getPCfromTask(self,task):
regmap = NX_register_set.v7em_regmap
a =task._tcb['xcp']['regs']
return hex(int(a[regmap['PC']]))
def invoke(self,args,sth):
tasks = NX_task.tasks()
if args == '':
for t in tasks:
self.printRegisters(t)
eval_str = "list *"+str(self.getPCfromTask(t))
print("this is the location in code where the current threads $pc is:")
gdb.execute(eval_str)
else:
tcb_nr = int(args);
print("tcb_nr = ",tcb_nr)
t = tasks[tcb_nr]
self.printRegisters(t)
eval_str = "list *"+str(self.getPCfromTask(t))
print("this is the location in code where the current threads $pc is:")
gdb.execute(eval_str)
NX_run_debug_util()
class NX_search_tcb(gdb.Command):
""" shot PID's of all running tasks """
def __init__(self):
super(NX_search_tcb,self).__init__('show alltcb', gdb.COMMAND_USER)
def is_in(self,arg,list):
for i in list:
if arg == i:
return True;
return False
def find_tcb_list(self,dq_entry_t):
tcb_list = []
tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
first_tcb = tcb_ptr.dereference()
tcb_list.append(first_tcb);
next_tcb = first_tcb['flink'].dereference()
while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]):
tcb_list.append(next_tcb);
old_tcb = next_tcb;
next_tcb = old_tcb['flink'].dereference()
return [t for t in tcb_list if int(t['pid'])<2000]
def invoke(self,args,sth):
list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
tasks = [];
for l in list_of_listsnames:
li = gdb.lookup_global_symbol(l)
cursor = li.value()['head']
tasks = tasks + self.find_tcb_list(cursor)
# filter for tasks that are listed twice
tasks_filt = {}
for t in tasks:
pid = int(t['pid']);
if not pid in tasks_filt.keys():
tasks_filt[pid] = t['name'];
print('{num_t} Tasks found:'.format(num_t = len(tasks_filt)))
for pid in tasks_filt.keys():
print("PID: ",pid," ",tasks_filt[pid])
NX_search_tcb()
class NX_my_bt(gdb.Command):
""" 'fake' backtrace: backtrace the stack of a process and check every suspicious address for the list
arg: tcb_address$
(can easily be found by typing 'showtask').
"""
def __init__(self):
super(NX_my_bt,self).__init__('show mybt', gdb.COMMAND_USER)
def readmem(self,addr):
'''
read memory at addr and return nr
'''
str_to_eval = "x/x "+hex(addr)
resp = gdb.execute(str_to_eval,to_string = True)
idx = resp.find('\t')
return int(resp[idx:],16)
def is_in_bounds(self,val):
lower_bound = int("08004000",16)
upper_bound = int("080ae0c0",16);
#print(lower_bound," ",val," ",upper_bound)
if val>lower_bound and val<upper_bound:
return True;
else:
return False;
def get_tcb_from_address(self,addr):
addr_value = gdb.Value(addr)
tcb_ptr = addr_value.cast(gdb.lookup_type('struct tcb_s').pointer())
return tcb_ptr.dereference()
def print_instruction_at(self,addr,stack_percentage):
gdb.write(str(round(stack_percentage,2))+":")
str_to_eval = "info line *"+hex(addr)
#gdb.execute(str_to_eval)
res = gdb.execute(str_to_eval,to_string = True)
# get information from results string:
words = res.split()
valid = False
if words[0] == 'No':
#no line info...
pass
else:
valid = True
line = int(words[1])
idx = words[3].rfind("/"); #find first backslash
if idx>0:
name = words[3][idx+1:];
path = words[3][:idx];
else:
name = words[3];
path = "";
block = gdb.block_for_pc(addr)
func = block.function
if str(func) == "None":
func = block.superblock.function
if valid:
print("Line: ",line," in ",path,"/",name,"in ",func)
return name,path,line,func
def invoke(self,args,sth):
addr_dec = int(args[2:],16)
_tcb = self.get_tcb_from_address(addr_dec)
print("found task with PID: ",_tcb["pid"])
up_stack = int(_tcb['adj_stack_ptr'])
curr_sp = int(_tcb['xcp']['regs'][0]) #curr stack pointer
other_sp = int(_tcb['xcp']['regs'][8]) # other stack pointer
stacksize = int(_tcb['adj_stack_size']) # other stack pointer
print("tasks current SP = ",hex(curr_sp),"stack max ptr is at ",hex(up_stack))
if curr_sp == up_stack:
sp = other_sp
else:
sp = curr_sp;
while(sp < up_stack):
mem = self.readmem(sp)
#print(hex(sp)," : ",hex(mem))
if self.is_in_bounds(mem):
# this is a potential instruction ptr
stack_percentage = (up_stack-sp)/stacksize
name,path,line,func = self.print_instruction_at(mem,stack_percentage)
sp = sp + 4; # jump up one word
NX_my_bt()
Documentation/versionfilter.sh
Regular → Executable
View File
LICENSE.md
+41
View File
@@ -0,0 +1,41 @@
The PX4 firmware is licensed generally under a permissive 3-clause BSD license. Contributions are required
to be made under the same license. Any exception to this general rule is listed below.
/****************************************************************************
*
* Copyright (c) 2012-2014 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.
*
****************************************************************************/
- PX4 middleware: BSD 3-clause
- PX4 flight control stack: BSD 3-clause
- NuttX operating system: BSD 3-clause
- Exceptions: Currently only this [400 LOC file](https://github.com/PX4/Firmware/blob/master/src/lib/external_lgpl/tecs/tecs.cpp) remains LGPL, but will be replaced with a BSD implementation.
NuttX
+1 -1
Submodule NuttX updated: 088146b90e...ec6b670f6d
README.md
+10
View File
@@ -0,0 +1,10 @@
## PX4 Aerial Middleware and Flight Control Stack ##
* Official Website: http://px4.io
* License: BSD 3-clause (see LICENSE.md)
* Supported airframes:
* Multicopters
* Fixed wing
* Binaries (always up-to-date from master):
* [Downloads](https://pixhawk.org/downloads)
* Mailing list: [Google Groups](http://groups.google.com/group/px4users)
ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
+2 -6
View File
@@ -1,14 +1,10 @@
#!nsh
#
# HILStar / X-Plane
#
# Lorenz Meier <lm@inf.ethz.ch>
# HILStar
# <lorenz@px4.io>
#
sh /etc/init.d/rc.fw_defaults
echo "X Plane HIL starting.."
set HIL yes
set MIXER FMU_AERT
ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+2 -1
View File
@@ -2,7 +2,7 @@
#
# Team Blacksheep Discovery Quadcopter
#
# Anton Babushkin <anton.babushkin@me.com>, Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
# Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.mc_defaults
@@ -27,3 +27,4 @@ fi
set MIXER FMU_quad_w
set PWM_OUTPUTS 1234
set PWM_MIN 1200
ROMFS/px4fmu_common/init.d/10016_3dr_iris
+1 -1
View File
@@ -2,7 +2,7 @@
#
# 3DR Iris Quadcopter
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
+1 -2
View File
@@ -2,8 +2,7 @@
#
# Steadidrone QU4D
#
# Thomas Gubler <thomasgubler@gmail.com>
# Lorenz Meier <lm@inf.ethz.ch>
# Thomas Gubler <thomas@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
+1 -1
View File
@@ -2,7 +2,7 @@
#
# HIL Quadcopter X
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
+1 -1
View File
@@ -2,7 +2,7 @@
#
# HIL Quadcopter +
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
+1 -3
View File
@@ -2,13 +2,11 @@
#
# HIL Rascal 110 (Flightgear)
#
# Thomas Gubler <thomasgubler@gmail.com>
# Thomas Gubler <thomas@px4.io>
#
sh /etc/init.d/rc.fw_defaults
echo "HIL Rascal 110 starting.."
set HIL yes
set MIXER FMU_AERT
ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
+1 -1
View File
@@ -2,7 +2,7 @@
#
# HIL Malolo 1 (Flightgear)
#
# Thomas Gubler <thomasgubler@gmail.com>
# Thomas Gubler <thomas@px4.io>
#
sh /etc/init.d/rc.fw_defaults
ROMFS/px4fmu_common/init.d/11001_hexa_cox
+2 -2
View File
@@ -2,12 +2,12 @@
#
# Generic 10" Hexa coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
# Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_cox
# We only can run one channel group with one rate, so set all 8 channels
# Need to set all 8 channels
set PWM_OUTPUTS 12345678
ROMFS/px4fmu_common/init.d/12001_octo_cox
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Generic 10" Octo coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
# Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/3030_io_camflyer
+3
View File
@@ -3,3 +3,6 @@
sh /etc/init.d/rc.fw_defaults
set MIXER FMU_Q
# Provide ESC a constant 1000 us pulse while disarmed
set PWM_OUTPUTS 4
set PWM_DISARMED 1000
ROMFS/px4fmu_common/init.d/3031_phantom
+4 -3
View File
@@ -2,7 +2,7 @@
#
# Phantom FPV Flying Wing
#
# Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
# Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.fw_defaults
@@ -21,8 +21,6 @@ then
param set FW_PR_P 0.03
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1
param set FW_RR_FF 0.5
param set FW_RR_I 0.02
@@ -30,6 +28,9 @@ then
param set FW_RR_P 0.08
param set FW_R_LIM 50
param set FW_R_RMAX 0
# Bottom of bay and nominal zero-pitch attitude differ
# the payload bay is pitched up about 7 degrees
param set SENS_BOARD_Y_OFF 7.0
fi
set MIXER phantom
ROMFS/px4fmu_common/init.d/3032_skywalker_x5
+1 -5
View File
@@ -2,7 +2,7 @@
#
# Skywalker X5 Flying Wing
#
# Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch>
# Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io>
#
sh /etc/init.d/rc.fw_defaults
@@ -19,10 +19,6 @@ then
param set FW_PR_I 0
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.03
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1
param set FW_RR_FF 0.3
param set FW_RR_I 0
ROMFS/px4fmu_common/init.d/3033_wingwing
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Wing Wing (aka Z-84) Flying Wing
#
# Simon Wilks <sjwilks@gmail.com>
# Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.fw_defaults
ROMFS/px4fmu_common/init.d/3034_fx79
+1 -1
View File
@@ -2,7 +2,7 @@
#
# FX-79 Buffalo Flying Wing
#
# Simon Wilks <sjwilks@gmail.com>
# Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.fw_defaults
ROMFS/px4fmu_common/init.d/3035_viper
+11
View File
@@ -0,0 +1,11 @@
#!nsh
#
# Viper
#
# Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.fw_defaults
set MIXER Viper
ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+2 -6
View File
@@ -1,8 +1,8 @@
#!nsh
#
# TBS Caipirinha Flying Wing
# TBS Caipirinha
#
# Thomas Gubler <thomasgubler@gmail.com>
# Thomas Gubler <thomas@px4.io>
#
sh /etc/init.d/rc.fw_defaults
@@ -22,10 +22,6 @@ then
param set FW_PR_I 0
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.03
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 0
param set FW_RR_FF 0.3
param set FW_RR_I 0
ROMFS/px4fmu_common/init.d/4001_quad_x
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Generic 10" Quad X geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
# Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/4008_ardrone
-3
View File
@@ -3,9 +3,6 @@
# ARDrone
#
echo "[init] 4008_ardrone: PX4FMU on PX4IOAR carrier board"
# Just use the default multicopter settings.
sh /etc/init.d/rc.mc_defaults
#
ROMFS/px4fmu_common/init.d/4010_dji_f330
+2 -2
View File
@@ -1,8 +1,8 @@
#!nsh
#
# DJI Flame Wheel F330 Quadcopter
# DJI Flame Wheel F330
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/4001_quad_x
ROMFS/px4fmu_common/init.d/4011_dji_f450
+2 -2
View File
@@ -1,8 +1,8 @@
#!nsh
#
# DJI Flame Wheel F450 Quadcopter
# DJI Flame Wheel F450
#
# Lorenz Meier <lm@inf.ethz.ch>
# Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/4001_quad_x
ROMFS/px4fmu_common/init.d/4012_quad_x_can
+1 -1
View File
@@ -2,7 +2,7 @@
#
# F450-sized quadrotor with CAN
#
# Lorenz Meier <lm@inf.ethz.ch>
# Pavel Kirienko <pavel@px4.io>
#
sh /etc/init.d/4001_quad_x
ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
+1 -1
View File
@@ -3,7 +3,7 @@
# Hobbyking Micro Integrated PCB Quadcopter
# with SimonK ESC firmware and Mystery A1510 motors
#
# Thomas Gubler <thomasgubler@gmail.com>
# Thomas Gubler <thomas@px4.io>
#
echo "HK Micro PCB Quad"
ROMFS/px4fmu_common/init.d/5001_quad_+
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Generic 10" Quad + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/6001_hexa_x
+2 -2
View File
@@ -2,12 +2,12 @@
#
# Generic 10" Hexa X geometry
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_x
# We only can run one channel group with one rate, so set all 8 channels
# Need to set all 8 channels
set PWM_OUTPUTS 12345678
ROMFS/px4fmu_common/init.d/7001_hexa_+
+2 -2
View File
@@ -2,12 +2,12 @@
#
# Generic 10" Hexa + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_+
# We only can run one channel group with one rate, so set all 8 channels
# Need to set all 8 channels
set PWM_OUTPUTS 12345678
ROMFS/px4fmu_common/init.d/8001_octo_x
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Generic 10" Octo X geometry
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/9001_octo_+
+1 -1
View File
@@ -2,7 +2,7 @@
#
# Generic 10" Octo + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
# Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/rc.autostart
+13 -3
View File
@@ -1,5 +1,4 @@
#
# Check if auto-setup from one of the standard scripts is wanted
# SYS_AUTOSTART = 0 means no autostart (default)
#
# AUTOSTART PARTITION:
@@ -18,9 +17,15 @@
# 12000 .. 12999 Octo Cox
#
# Simulation setups
# Simulation
#
if param compare SYS_AUTOSTART 901
then
sh /etc/init.d/901_bottle_drop_test.hil
set MODE custom
fi
if param compare SYS_AUTOSTART 1000
then
sh /etc/init.d/1000_rc_fw_easystar.hil
@@ -47,7 +52,7 @@ then
fi
#
# Standard plane
# Plane
#
if param compare SYS_AUTOSTART 2100 100
@@ -103,6 +108,11 @@ then
sh /etc/init.d/3034_fx79
fi
if param compare SYS_AUTOSTART 3035 35
then
sh /etc/init.d/3035_viper
fi
if param compare SYS_AUTOSTART 3100
then
sh /etc/init.d/3100_tbs_caipirinha
ROMFS/px4fmu_common/init.d/rc.fw_apps
+2
View File
@@ -13,3 +13,5 @@ ekf_att_pos_estimator start
#
fw_att_control start
fw_pos_control_l1 start
bottle_drop start
ROMFS/px4fmu_common/init.d/rc.fw_defaults
+4
View File
@@ -11,4 +11,8 @@ then
param set NAV_RTL_ALT 100
param set NAV_RTL_LAND_T -1
param set NAV_ACCEPT_RAD 50
param set FW_T_HRATE_P 0.01
param set FW_T_RLL2THR 15
param set FW_T_SRATE_P 0.01
param set FW_T_TIME_CONST 5
fi
ROMFS/px4fmu_common/init.d/rc.interface
+6 -5
View File
@@ -10,7 +10,7 @@ then
#
set MIXERSD /fs/microsd/etc/mixers/$MIXER.mix
#Use the mixer file from the SD-card if it exists
# Use the mixer file from the SD-card if it exists
if [ -f $MIXERSD ]
then
set MIXER_FILE $MIXERSD
@@ -54,7 +54,6 @@ then
#
if [ $PWM_RATE != none ]
then
echo "[init] Set PWM rate: $PWM_RATE"
pwm rate -c $PWM_OUTPUTS -r $PWM_RATE
fi
@@ -63,18 +62,20 @@ then
#
if [ $PWM_DISARMED != none ]
then
echo "[init] Set PWM disarmed: $PWM_DISARMED"
pwm disarmed -c $PWM_OUTPUTS -p $PWM_DISARMED
fi
if [ $PWM_MIN != none ]
then
echo "[init] Set PWM min: $PWM_MIN"
pwm min -c $PWM_OUTPUTS -p $PWM_MIN
fi
if [ $PWM_MAX != none ]
then
echo "[init] Set PWM max: $PWM_MAX"
pwm max -c $PWM_OUTPUTS -p $PWM_MAX
fi
fi
if [ $FAILSAFE != none ]
then
pwm failsafe -d $OUTPUT_DEV $FAILSAFE
fi
fi
ROMFS/px4fmu_common/init.d/rc.jig
-10
View File
@@ -1,10 +0,0 @@
#!nsh
#
# Test jig startup script
#
echo "[testing] doing production test.."
tests jig
echo "[testing] testing done"
ROMFS/px4fmu_common/init.d/rc.sensors
+5 -5
View File
@@ -54,7 +54,6 @@ then
fi
fi
# Start airspeed sensors
if meas_airspeed start
then
echo "[init] Using MEAS airspeed sensor"
@@ -68,11 +67,12 @@ else
fi
fi
if px4flow start
then
fi
#
# Start the sensor collection task.
# IMPORTANT: this also loads param offsets
# ALWAYS start this task before the
# preflight_check.
# Start sensors -> preflight_check
#
if sensors start
then
ROMFS/px4fmu_common/init.d/rc.uavcan
+18
View File
@@ -0,0 +1,18 @@
#!nsh
#
# UAVCAN initialization script.
#
if param compare UAVCAN_ENABLE 1
then
if uavcan start
then
# First sensor publisher to initialize takes lowest instance ID
# This delay ensures that UAVCAN-interfaced sensors would be allocated on lowest instance IDs
sleep 1
echo "[init] UAVCAN started"
else
echo "[init] ERROR: Could not start UAVCAN"
tone_alarm $TUNE_OUT_ERROR
fi
fi
ROMFS/px4fmu_common/init.d/rc.usb
+8 -2
View File
@@ -3,8 +3,12 @@
# USB MAVLink start
#
mavlink start -r 10000 -d /dev/ttyACM0 -x
mavlink start -r 20000 -d /dev/ttyACM0 -x
# Enable a number of interesting streams we want via USB
mavlink stream -d /dev/ttyACM0 -s PARAM_VALUE -r 200
usleep 100000
mavlink stream -d /dev/ttyACM0 -s MISSION_ITEM -r 50
usleep 100000
mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
usleep 100000
mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10
@@ -15,9 +19,11 @@ mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20
usleep 100000
mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30
usleep 100000
mavlink stream -d /dev/ttyACM0 -s RC_CHANNELS_RAW -r 5
usleep 100000
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
usleep 100000
mavlink stream -d /dev/ttyACM0 -s GLOBAL_POSITION_SETPOINT_INT -r 20
mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10
usleep 100000
# Exit shell to make it available to MAVLink
ROMFS/px4fmu_common/init.d/rcS
+23 -34
View File
@@ -66,6 +66,9 @@ then
#
sercon
# Try to get an USB console
nshterm /dev/ttyACM0 &
#
# Start the ORB (first app to start)
#
@@ -83,9 +86,12 @@ then
param select $PARAM_FILE
if param load
then
echo "[init] Params loaded: $PARAM_FILE"
echo "[param] Loaded: $PARAM_FILE"
else
echo "[init] ERROR: Params loading failed: $PARAM_FILE"
echo "[param] FAILED loading $PARAM_FILE"
if param reset
then
fi
fi
#
@@ -93,11 +99,9 @@ then
#
if rgbled start
then
echo "[init] RGB Led"
else
if blinkm start
then
echo "[init] BlinkM"
blinkm systemstate
fi
fi
@@ -126,15 +130,14 @@ then
set LOAD_DEFAULT_APPS yes
set GPS yes
set GPS_FAKE no
set FAILSAFE none
#
# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
#
if param compare SYS_AUTOCONFIG 1
then
# We can't be sure the defaults haven't changed, so
# if someone requests a re-configuration, we do it
# cleanly from scratch (except autostart / autoconfig)
# Wipe out params
param reset_nostart
set DO_AUTOCONFIG yes
else
@@ -197,12 +200,10 @@ then
if px4io checkcrc $IO_FILE
then
echo "[init] PX4IO CRC OK"
echo "PX4IO CRC OK" >> $LOG_FILE
set IO_PRESENT yes
else
echo "[init] Trying to update"
echo "PX4IO Trying to update" >> $LOG_FILE
tone_alarm MLL32CP8MB
@@ -212,18 +213,15 @@ then
usleep 500000
if px4io checkcrc $IO_FILE
then
echo "[init] PX4IO CRC OK, update successful"
echo "PX4IO CRC OK after updating" >> $LOG_FILE
tone_alarm MLL8CDE
set IO_PRESENT yes
else
echo "[init] ERROR: PX4IO update failed"
echo "PX4IO update failed" >> $LOG_FILE
tone_alarm $TUNE_OUT_ERROR
fi
else
echo "[init] ERROR: PX4IO update failed"
echo "PX4IO update failed" >> $LOG_FILE
tone_alarm $TUNE_OUT_ERROR
fi
@@ -276,17 +274,12 @@ then
fi
fi
# Try to get an USB console
nshterm /dev/ttyACM0 &
# waypoint storage
if dataman start
then
fi
#
# Start the datamanager
#
dataman start
#
# Start the Commander (needs to be this early for in-air-restarts)
#
# Needs to be this early for in-air-restarts
commander start
#
@@ -299,11 +292,10 @@ then
then
if [ $OUTPUT_MODE == uavcan_esc ]
then
if uavcan start 1
if param compare UAVCAN_ENABLE 0
then
echo "CAN UP"
else
echo "CAN ERR"
echo "[init] OVERRIDING UAVCAN_ENABLE = 1"
param set UAVCAN_ENABLE 1
fi
fi
@@ -421,9 +413,6 @@ then
fi
fi
#
# MAVLink
#
if [ $MAVLINK_FLAGS == default ]
then
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
@@ -442,19 +431,19 @@ then
mavlink start $MAVLINK_FLAGS
#
# UAVCAN
#
sh /etc/init.d/rc.uavcan
#
# Sensors, Logging, GPS
#
sh /etc/init.d/rc.sensors
#
# Start logging in all modes, including HIL
#
sh /etc/init.d/rc.logging
if [ $GPS == yes ]
then
echo "[init] Start GPS"
if [ $GPS_FAKE == yes ]
then
echo "[init] Faking GPS"
ROMFS/px4fmu_common/mixers/FMU_AERT.mix
+6 -5
View File
@@ -64,21 +64,22 @@ O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Gimbal / flaps / payload mixer for last four channels
Gimbal / flaps / payload mixer for last four channels,
using the payload control group
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
S: 2 2 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000
S: 2 3 10000 10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/FMU_FX79.mix
+7 -10
View File
@@ -27,12 +27,12 @@ for the elevons.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 5000 8000 0 -10000 10000
S: 0 0 7500 7500 0 -10000 10000
S: 0 1 8000 8000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 8000 5000 0 -10000 10000
S: 0 0 7500 7500 0 -10000 10000
S: 0 1 -8000 -8000 0 -10000 10000
Output 2
@@ -52,21 +52,18 @@ M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Gimbal / flaps / payload mixer for last four channels
Inputs to the mixer come from channel group 2 (payload), channels 0
(bay servo 1), 1 (bay servo 2) and 3 (drop release).
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000
S: 2 2 -10000 -10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/Viper.mix
Executable
+71
View File
@@ -0,0 +1,71 @@
Viper Delta-wing mixer
=================================
Designed for Viper.
TODO (sjwilks): Add mixers for flaps.
This file defines mixers suitable for controlling a delta wing aircraft using
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
assumed to be unused.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
See the README for more information on the scaler format.
Elevon mixers
-------------
Three scalers total (output, roll, pitch).
On the assumption that the two elevon servos are physically reversed, the pitch
input is inverted between the two servos.
The scaling factor for roll inputs is adjusted to implement differential travel
for the elevons.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 7500 7500 0 -10000 10000
S: 0 1 8000 8000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 7500 7500 0 -10000 10000
S: 0 1 -8000 -8000 0 -10000 10000
Output 2
--------
This mixer is empty.
Z:
Motor speed mixer
-----------------
Two scalers total (output, thrust).
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Inputs to the mixer come from channel group 2 (payload), channels 0
(bay servo 1), 1 (bay servo 2) and 3 (drop release).
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 2 -8000 -8000 0 -10000 10000
ROMFS/px4fmu_test/init.d/rcS
+30
View File
@@ -75,3 +75,33 @@ if [ -f /fs/microsd/mount_test_cmds.txt ]
then
tests mount
fi
#
# Run unit tests at board boot, reporting failure as needed.
# Add new unit tests using the same pattern as below.
#
set unit_test_failure 0
if mavlink_tests
then
else
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} mavlink_tests"
fi
if commander_tests
then
else
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} commander_tests"
fi
if [ $unit_test_failure == 0 ]
then
echo
echo "All Unit Tests PASSED"
else
echo
echo "Some Unit Tests FAILED:${unit_test_failure_list}"
fi
ROMFS/px4fmu_test/unit_test_data/mavlink_tests/empty_dir/.gitignore
View File
ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_238.data
BIN
View File
Binary file not shown.
ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_239.data
BIN
View File
Binary file not shown.
ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_240.data
BIN
View File
Binary file not shown.
Tools/check_submodules.sh
+2 -2
View File
@@ -73,8 +73,8 @@ then
exit 1
fi
else
git submodule init
git submodule update
git submodule init;
git submodule update;
fi
exit 0
Tools/fetch_file.py
+207
View File
@@ -0,0 +1,207 @@
#!/usr/bin/env python
############################################################################
#
# Copyright (C) 2013-2014 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.
#
############################################################################
"""Fetch files via nsh console
Usage: python fetch_file.py [-l] [-f] [-d device] [-s speed] [-o out_path] path
\t-l\tList files
\t-f\tOverwrite existing files
\t-d\tSerial device
\t-s\tSerial baudrate
\t-o\tOutput path
\tpath\tPath to list/fetch, if ends with "/" then directory will be fetched recursively"""
__author__ = "Anton Babushkin"
__version__ = "1.1"
import serial, time, sys, os
def _wait_for_string(ser, s, timeout):
t0 = time.time()
buf = []
res = []
while (True):
c = ser.read()
buf.append(c)
if len(buf) > len(s):
res.append(buf.pop(0))
if "".join(buf) == s:
break
if timeout > 0.0 and time.time() - t0 > timeout:
raise Exception("Timeout while waiting for: " + s)
return "".join(res)
def _exec_cmd(ser, cmd, timeout):
ser.write(cmd + "\n")
ser.flush()
_wait_for_string(ser, cmd + "\r\n", timeout)
return _wait_for_string(ser, "nsh> \x1b[K", timeout)
def _ls_dir_raw(ser, dir, timeout):
return _exec_cmd(ser, "ls -l " + dir, timeout)
def _ls_dir(ser, dir, timeout):
res = []
for line in _ls_dir_raw(ser, dir, timeout).splitlines():
if line == dir + ":":
continue
if line.startswith("nsh: ls: no such directory:"):
raise Exception("No such file: " + dir)
res.append((line[20:], int(line[11:19].strip()), line[1] == "d"))
return res
def _get_file(ser, fn, fn_out, force, timeout):
print "Get %s:" % fn,
if not force:
# Check if file already exists with the same size
try:
os.stat(fn_out)
except:
pass
else:
print "already fetched, skip"
return
cmd = "dumpfile " + fn
ser.write(cmd + "\n")
ser.flush()
_wait_for_string(ser, cmd + "\r\n", timeout)
res = _wait_for_string(ser, "\n", timeout)
if res.startswith("OK"):
# Got correct responce, open temp file
fn_out_part = fn_out + ".part"
fout = open(fn_out_part, "wb")
size = int(res.split()[1])
sys.stdout.write(" [%i bytes] " % size)
n = 0
while (n < size):
buf = ser.read(min(size - n, 8192))
n += len(buf)
sys.stdout.write(".")
sys.stdout.flush()
fout.write(buf)
print " done"
fout.close()
os.rename(fn_out_part, fn_out)
else:
raise Exception("Error reading file")
_wait_for_string(ser, "nsh> \x1b[K", timeout)
def _get_files_in_dir(ser, path, path_out, force, timeout):
try:
os.mkdir(path_out)
except:
pass
for fn in _ls_dir(ser, path, timeout):
path_fn = os.path.join(path, fn[0])
path_fn_out = os.path.join(path_out, fn[0])
if fn[2]:
_get_files_in_dir(ser, path_fn[:-1], path_fn_out[:-1], force, timeout)
else:
_get_file(ser, path_fn, path_fn_out, force, timeout)
def _usage():
print """Usage: python fetch_file.py [-l] [-f] [-d device] [-s speed] [-o out_path] path
\t-l\tList files
\t-f\tOverwrite existing files
\t-d\tSerial device
\t-s\tSerial baudrate
\t-o\tOutput path
\tpath\tPath to list/fetch, if ends with "/" then directory will be fetched recursively"""
def _main():
dev = "/dev/tty.usbmodem1"
speed = "57600"
cmd = "get"
path = None
path_out = None
force = False
opt = None
for arg in sys.argv[1:]:
if opt != None:
if opt == "d":
dev = arg
elif opt == "s":
speed = arg
elif opt == "o":
path_out = arg
opt = None
else:
if arg == "-l":
cmd = "ls"
elif arg == "-f":
force = True
elif arg == "-d":
opt = "d"
elif arg == "-s":
opt = "s"
elif arg == "-o":
opt = "o"
elif path == None:
path = arg
if path == None:
_usage()
exit(0)
# Connect to serial port
ser = serial.Serial(dev, speed, timeout=0.2)
timeout = 1.0
try:
if cmd == "ls":
# List directory
print _ls_dir_raw(ser, path, timeout)
elif cmd == "get":
# Get file(s)
if path.endswith("/"):
# Get all files from directory recursively
if path_out == None:
path_out = os.path.split(path[:-1])[1]
_get_files_in_dir(ser, path[:-1], path_out, force, timeout)
else:
# Get one file
if path_out == None:
path_out = os.path.split(path)[1]
_get_file(ser, path, os.path.split(path)[1], force, timeout)
except Exception as e:
print e
ser.close()
if __name__ == "__main__":
_main()
Tools/fetch_log.py
-133
View File
@@ -1,133 +0,0 @@
#!/usr/bin/env python
############################################################################
#
# 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.
#
############################################################################
#
# Log fetcher
#
# Print list of logs:
# python fetch_log.py
#
# Fetch log:
# python fetch_log.py sess001/log001.bin
#
import serial, time, sys, os
def wait_for_string(ser, s, timeout=1.0, debug=False):
t0 = time.time()
buf = []
res = []
n = 0
while (True):
c = ser.read()
if debug:
sys.stderr.write(c)
buf.append(c)
if len(buf) > len(s):
res.append(buf.pop(0))
n += 1
if n % 10000 == 0:
sys.stderr.write(str(n) + "\n")
if "".join(buf) == s:
break
if timeout > 0.0 and time.time() - t0 > timeout:
raise Exception("Timeout while waiting for: " + s)
return "".join(res)
def exec_cmd(ser, cmd, timeout):
ser.write(cmd + "\n")
ser.flush()
wait_for_string(ser, cmd + "\r\n", timeout)
return wait_for_string(ser, "nsh> \x1b[K", timeout)
def ls_dir(ser, dir, timeout=1.0):
res = []
for line in exec_cmd(ser, "ls -l " + dir, timeout).splitlines()[1:]:
res.append((line[20:], int(line[11:19].strip()), line[1] == "d"))
return res
def list_logs(ser):
logs_dir = "/fs/microsd/log"
res = []
for d in ls_dir(ser, logs_dir):
if d[2]:
sess_dir = d[0][:-1]
for f in ls_dir(ser, logs_dir + "/" + sess_dir):
log_file = f[0]
log_size = f[1]
res.append(sess_dir + "/" + log_file + "\t" + str(log_size))
return "\n".join(res)
def fetch_log(ser, fn, timeout):
cmd = "dumpfile " + fn
ser.write(cmd + "\n")
ser.flush()
wait_for_string(ser, cmd + "\r\n", timeout, True)
res = wait_for_string(ser, "\n", timeout, True)
data = []
if res.startswith("OK"):
size = int(res.split()[1])
n = 0
print "Reading data:"
while (n < size):
buf = ser.read(min(size - n, 8192))
data.append(buf)
n += len(buf)
sys.stdout.write(".")
sys.stdout.flush()
print
else:
raise Exception("Error reading log")
wait_for_string(ser, "nsh> \x1b[K", timeout)
return "".join(data)
def main():
dev = "/dev/tty.usbmodem1"
ser = serial.Serial(dev, "115200", timeout=0.2)
if len(sys.argv) < 2:
print list_logs(ser)
else:
log_file = sys.argv[1]
data = fetch_log(ser, "/fs/microsd/log/" + log_file, 1.0)
try:
os.mkdir(log_file.split("/")[0])
except:
pass
fout = open(log_file, "wb")
fout.write(data)
fout.close()
ser.close()
if __name__ == "__main__":
main()
Tools/px_generate_xml.sh
Regular → Executable
View File
Tools/px_mkfw.py
+5
View File
@@ -73,6 +73,7 @@ parser.add_argument("--version", action="store", help="set a version string")
parser.add_argument("--summary", action="store", help="set a brief description")
parser.add_argument("--description", action="store", help="set a longer description")
parser.add_argument("--git_identity", action="store", help="the working directory to check for git identity")
parser.add_argument("--parameter_xml", action="store", help="the parameters.xml file")
parser.add_argument("--image", action="store", help="the firmware image")
args = parser.parse_args()
@@ -101,6 +102,10 @@ if args.git_identity != None:
p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
desc['git_identity'] = str(p.read().strip())
p.close()
if args.parameter_xml != None:
f = open(args.parameter_xml, "rb")
bytes = f.read()
desc['parameter_xml'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8')
if args.image != None:
f = open(args.image, "rb")
bytes = f.read()
Tools/px_romfs_pruner.py
+1 -1
View File
@@ -57,7 +57,7 @@ def main():
for (root, dirs, files) in os.walk(args.folder):
for file in files:
# only prune text files
if ".zip" in file or ".bin" in file or ".swp" in file:
if ".zip" in file or ".bin" in file or ".swp" in file or ".data" in file:
continue
file_path = os.path.join(root, file)
Tools/px_update_wiki.sh
Regular → Executable
View File
Tools/px_uploader.py
+6 -2
View File
@@ -195,7 +195,7 @@ class uploader(object):
def __recv(self, count=1):
c = self.port.read(count)
if len(c) < 1:
raise RuntimeError("timeout waiting for data")
raise RuntimeError("timeout waiting for data (%u bytes)" % count)
# print("recv " + binascii.hexlify(c))
return c
@@ -458,7 +458,8 @@ if os.path.exists("/usr/sbin/ModemManager"):
# Load the firmware file
fw = firmware(args.firmware)
print("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision')))
print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size')))
print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.")
# Spin waiting for a device to show up
while True:
@@ -508,9 +509,12 @@ while True:
except Exception:
# most probably a timeout talking to the port, no bootloader, try to reboot the board
print("attempting reboot on %s..." % port)
print("if the board does not respond, unplug and re-plug the USB connector.")
up.send_reboot()
# wait for the reboot, without we might run into Serial I/O Error 5
time.sleep(0.5)
# always close the port
up.close()
continue
try:
Tools/sdlog2/sdlog2_dump.py
Regular → Executable
+4 -3
View File
@@ -149,12 +149,13 @@ class SDLog2Parser:
break
if first_data_msg:
# build CSV columns and init data map
self.__initCSV()
if not self.__debug_out:
self.__initCSV()
first_data_msg = False
self.__parseMsg(msg_descr)
bytes_read += self.__ptr
if not self.__debug_out and self.__time_msg != None and self.__csv_updated:
self.__printCSVRow()
if not self.__debug_out and self.__time_msg != None and self.__csv_updated:
self.__printCSVRow()
f.close()
def __bytesLeft(self):
Tools/tests-host/.gitignore
+2
View File
@@ -1,4 +1,6 @@
./obj/*
mixer_test
sf0x_test
sbus2_test
autodeclination_test
st24_test
Tools/tests-host/Makefile
+18 -3
View File
@@ -3,7 +3,7 @@ CC=g++
CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \
-I../../src -I../../src/lib -D__EXPORT="" -Dnullptr="0" -lm
all: mixer_test sbus2_test autodeclination_test
all: mixer_test sbus2_test autodeclination_test st24_test sf0x_test
MIXER_FILES=../../src/systemcmds/tests/test_mixer.cpp \
../../src/systemcmds/tests/test_conv.cpp \
@@ -20,7 +20,16 @@ SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \
hrt.cpp \
sbus2_test.cpp
AUTODECLINATION_FILES= ../../src/lib/geo/geo_mag_declination.c \
ST24_FILES=../../src/lib/rc/st24.c \
hrt.cpp \
st24_test.cpp
SF0X_FILES= \
hrt.cpp \
sf0x_test.cpp \
../../src/drivers/sf0x/sf0x_parser.cpp
AUTODECLINATION_FILES= ../../src/lib/geo_lookup/geo_mag_declination.c \
hrt.cpp \
autodeclination_test.cpp
@@ -30,10 +39,16 @@ mixer_test: $(MIXER_FILES)
sbus2_test: $(SBUS2_FILES)
$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
sf0x_test: $(SF0X_FILES)
$(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS)
autodeclination_test: $(SBUS2_FILES)
$(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS)
st24_test: $(ST24_FILES)
$(CC) -o st24_test $(ST24_FILES) $(CFLAGS)
.PHONY: clean
clean:
rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test
rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test st24_test sf0x_test
Tools/tests-host/sbus2_test.cpp
+2 -1
View File
@@ -29,7 +29,8 @@ int main(int argc, char *argv[]) {
// Trash the first 20 lines
for (unsigned i = 0; i < 20; i++) {
(void)fscanf(fp, "%f,%x,,", &f, &x);
char buf[200];
(void)fgets(buf, sizeof(buf), fp);
}
// Init the parser
Tools/tests-host/sf0x_test.cpp
+65
View File
@@ -0,0 +1,65 @@
#include <unistd.h>
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <drivers/sf0x/sf0x_parser.h>
int main(int argc, char *argv[])
{
warnx("SF0X test started");
int ret = 0;
const char LINE_MAX = 20;
char _linebuf[LINE_MAX];
_linebuf[0] = '\0';
const char *lines[] = {"0.01\r\n",
"0.02\r\n",
"0.03\r\n",
"0.04\r\n",
"0",
".",
"0",
"5",
"\r",
"\n",
"0",
"3\r",
"\n"
"\r\n",
"0.06",
"\r\n"
};
enum SF0X_PARSE_STATE state = SF0X_PARSE_STATE0_UNSYNC;
float dist_m;
char _parserbuf[LINE_MAX];
unsigned _parsebuf_index = 0;
for (unsigned l = 0; l < sizeof(lines) / sizeof(lines[0]); l++) {
printf("\n%s", _linebuf);
int parse_ret;
for (int i = 0; i < strlen(lines[l]); i++) {
parse_ret = sf0x_parser(lines[l][i], _parserbuf, &_parsebuf_index, &state, &dist_m);
if (parse_ret == 0) {
printf("\nparsed: %f %s\n", dist_m, (parse_ret == 0) ? "OK" : "");
}
}
printf("%s", lines[l]);
}
warnx("test finished");
return ret;
}
Tools/tests-host/st24_test.cpp
+76
View File
@@ -0,0 +1,76 @@
#include <stdio.h>
#include <unistd.h>
#include <string.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <rc/st24.h>
#include "../../src/systemcmds/tests/tests.h"
int main(int argc, char *argv[])
{
warnx("ST24 test started");
if (argc < 2) {
errx(1, "Need a filename for the input file");
}
warnx("loading data from: %s", argv[1]);
FILE *fp;
fp = fopen(argv[1], "rt");
if (!fp) {
errx(1, "failed opening file");
}
float f;
unsigned x;
int ret;
// Trash the first 20 lines
for (unsigned i = 0; i < 20; i++) {
char buf[200];
(void)fgets(buf, sizeof(buf), fp);
}
float last_time = 0;
while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
if (((f - last_time) * 1000 * 1000) > 3000) {
// warnx("FRAME RESET\n\n");
}
uint8_t b = static_cast<uint8_t>(x);
last_time = f;
// Pipe the data into the parser
hrt_abstime now = hrt_absolute_time();
uint8_t rssi;
uint8_t rx_count;
uint16_t channel_count;
uint16_t channels[20];
if (!st24_decode(b, &rssi, &rx_count, &channel_count, channels, sizeof(channels) / sizeof(channels[0]))) {
warnx("decoded: %u channels (converted to PPM range)", (unsigned)channel_count);
for (unsigned i = 0; i < channel_count; i++) {
int16_t val = channels[i];
warnx("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val));
}
}
}
if (ret == EOF) {
warnx("Test finished, reached end of file");
} else {
warnx("Test aborted, errno: %d", ret);
}
}
Tools/upload.sh
Executable
+28
View File
@@ -0,0 +1,28 @@
#!/bin/bash
EXEDIR=`pwd`
BASEDIR=$(dirname $0)
SYSTYPE=`uname -s`
#
# Serial port defaults.
#
# XXX The uploader should be smarter than this.
#
if [ $SYSTYPE = "Darwin" ];
then
SERIAL_PORTS="/dev/tty.usbmodemPX*,/dev/tty.usbmodem*"
fi
if [ $SYSTYPE = "Linux" ];
then
SERIAL_PORTS="/dev/serial/by-id/usb-3D_Robotics*"
fi
if [ $SYSTYPE = "" ];
then
SERIAL_PORTS="COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0"
fi
python $BASEDIR/px_uploader.py --port $SERIAL_PORTS $1
Tools/usb_serialload.py
+55
View File
@@ -0,0 +1,55 @@
import serial, time
port = serial.Serial('/dev/ttyACM0', baudrate=57600, timeout=2)
data = '01234567890123456789012345678901234567890123456789'
#data = 'hellohello'
outLine = 'echo %s\n' % data
port.write('\n\n\n')
port.write('free\n')
line = port.readline(80)
while line != '':
print(line)
line = port.readline(80)
i = 0
bytesOut = 0
bytesIn = 0
startTime = time.time()
lastPrint = startTime
while True:
bytesOut += port.write(outLine)
line = port.readline(80)
bytesIn += len(line)
# check command line echo
if (data not in line):
print('command error %d: %s' % (i,line))
#break
# read echo output
line = port.readline(80)
if (data not in line):
print('echo output error %d: %s' % (i,line))
#break
bytesIn += len(line)
#print('%d: %s' % (i,line))
#print('%d: bytesOut: %d, bytesIn: %d' % (i, bytesOut, bytesIn))
elapsedT = time.time() - lastPrint
if (time.time() - lastPrint >= 5):
outRate = bytesOut / elapsedT
inRate = bytesIn / elapsedT
usbRate = (bytesOut + bytesIn) / elapsedT
lastPrint = time.time()
print('elapsed time: %f' % (time.time() - startTime))
print('data rates (bytes/sec): out: %f, in: %f, total: %f' % (outRate, inRate, usbRate))
bytesOut = 0
bytesIn = 0
i += 1
#if (i > 2): break
makefiles/config_aerocore_default.mk
+1
View File
@@ -80,6 +80,7 @@ LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/ecl
MODULES += lib/external_lgpl
MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion
makefiles/config_px4fmu-v1_default.mk
+10 -11
View File
@@ -24,28 +24,24 @@ MODULES += drivers/l3gd20
MODULES += drivers/mpu6000
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
MODULES += drivers/mb12xx
MODULES += drivers/ll40ls
#MODULES += drivers/ll40ls
MODULES += drivers/trone
#MODULES += drivers/mb12xx
MODULES += drivers/gps
MODULES += drivers/hil
MODULES += drivers/hott/hott_telemetry
MODULES += drivers/hott/hott_sensors
MODULES += drivers/blinkm
#MODULES += drivers/blinkm
MODULES += drivers/rgbled
MODULES += drivers/mkblctrl
MODULES += drivers/airspeed
MODULES += drivers/ets_airspeed
#MODULES += drivers/ets_airspeed
MODULES += drivers/meas_airspeed
MODULES += drivers/frsky_telemetry
#MODULES += drivers/frsky_telemetry
MODULES += modules/sensors
#
# System commands
#
MODULES += systemcmds/mtd
MODULES += systemcmds/bl_update
MODULES += systemcmds/i2c
MODULES += systemcmds/mixer
MODULES += systemcmds/param
MODULES += systemcmds/perf
@@ -109,6 +105,7 @@ LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/ecl
MODULES += lib/external_lgpl
MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion
@@ -137,6 +134,9 @@ MODULES += lib/launchdetection
# Hardware test
#MODULES += examples/hwtest
# Generate parameter XML file
GEN_PARAM_XML = 1
#
# Transitional support - add commands from the NuttX export archive.
#
@@ -152,5 +152,4 @@ endef
# command priority stack entrypoint
BUILTIN_COMMANDS := \
$(call _B, sercon, , 2048, sercon_main ) \
$(call _B, serdis, , 2048, serdis_main ) \
$(call _B, sysinfo, , 2048, sysinfo_main )
$(call _B, serdis, , 2048, serdis_main )
makefiles/config_px4fmu-v2_default.mk
+11 -16
View File
@@ -41,12 +41,7 @@ MODULES += drivers/meas_airspeed
MODULES += drivers/frsky_telemetry
MODULES += modules/sensors
MODULES += drivers/mkblctrl
MODULES += drivers/pca8574
# Needs to be burned to the ground and re-written; for now,
# just don't build it.
#MODULES += drivers/mkblctrl
MODULES += drivers/px4flow
#
# System commands
@@ -61,7 +56,6 @@ MODULES += systemcmds/pwm
MODULES += systemcmds/esc_calib
MODULES += systemcmds/reboot
MODULES += systemcmds/top
MODULES += systemcmds/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
MODULES += systemcmds/mtd
@@ -81,10 +75,8 @@ MODULES += modules/uavcan
# Estimation modules (EKF/ SO3 / other filters)
#
MODULES += modules/attitude_estimator_ekf
MODULES += modules/attitude_estimator_so3
MODULES += modules/ekf_att_pos_estimator
MODULES += modules/position_estimator_inav
MODULES += examples/flow_position_estimator
#
# Vehicle Control
@@ -100,12 +92,6 @@ MODULES += modules/mc_pos_control
#
MODULES += modules/sdlog2
#
# Unit tests
#
#MODULES += modules/unit_test
#MODULES += modules/commander/commander_tests
#
# Library modules
#
@@ -122,18 +108,24 @@ LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/ecl
MODULES += lib/external_lgpl
MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion
MODULES += lib/launchdetection
#
# OBC challenge
#
MODULES += modules/bottle_drop
#
# Demo apps
#
#MODULES += examples/math_demo
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/hello_sky
MODULES += examples/px4_simple_app
#MODULES += examples/px4_simple_app
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/daemon
@@ -150,6 +142,9 @@ MODULES += examples/px4_simple_app
# Hardware test
#MODULES += examples/hwtest
# Generate parameter XML file
GEN_PARAM_XML = 1
#
# Transitional support - add commands from the NuttX export archive.
#
makefiles/config_px4fmu-v2_test.mk
+11
View File
@@ -49,11 +49,22 @@ MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/conversion
#
# Modules to test-build, but not useful for test environment
#
MODULES += modules/attitude_estimator_so3
MODULES += drivers/pca8574
MODULES += examples/flow_position_estimator
#
# Libraries
#
LIBRARIES += lib/mathlib/CMSIS
MODULES += modules/unit_test
MODULES += modules/mavlink/mavlink_tests
MODULES += modules/commander/commander_tests
#
# Transitional support - add commands from the NuttX export archive.
#
makefiles/firmware.mk
+9
View File
@@ -467,6 +467,7 @@ endif
PRODUCT_BUNDLE = $(WORK_DIR)firmware.px4
PRODUCT_BIN = $(WORK_DIR)firmware.bin
PRODUCT_ELF = $(WORK_DIR)firmware.elf
PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml
.PHONY: firmware
firmware: $(PRODUCT_BUNDLE)
@@ -497,9 +498,17 @@ $(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
$(PRODUCT_BUNDLE): $(PRODUCT_BIN)
@$(ECHO) %% Generating $@
ifdef GEN_PARAM_XML
python $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --xml
$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
--git_identity $(PX4_BASE) \
--parameter_xml $(PRODUCT_PARAMXML) \
--image $< > $@
else
$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
--git_identity $(PX4_BASE) \
--image $< > $@
endif
$(PRODUCT_BIN): $(PRODUCT_ELF)
$(call SYM_TO_BIN,$<,$@)
makefiles/toolchain_gnu-arm-eabi.mk
+3 -3
View File
@@ -50,11 +50,11 @@ OBJDUMP = $(CROSSDEV)objdump
# Check if the right version of the toolchain is available
#
CROSSDEV_VER_SUPPORTED = 4.7
CROSSDEV_VER_SUPPORTED = 4.7.4 4.7.5 4.7.6 4.8.4
CROSSDEV_VER_FOUND = $(shell $(CC) -dumpversion)
ifeq (,$(findstring $(CROSSDEV_VER_SUPPORTED),$(CROSSDEV_VER_FOUND)))
$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of $(CROSSDEV_VER_SUPPORTED).x)
ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
endif
mavlink/include/mavlink/v1.0
+1 -1
Submodule mavlink/include/mavlink/v1.0 updated: 04b1ad5b28...ad5e5a645d
nuttx-configs/aerocore/nsh/defconfig
+1 -1
View File
@@ -314,7 +314,7 @@ CONFIG_STM32_I2CTIMEOTICKS=500
# CONFIG_ARCH_NOINTC is not set
# CONFIG_ARCH_VECNOTIRQ is not set
CONFIG_ARCH_DMA=y
CONFIG_ARCH_IRQPRIO=y
# CONFIG_ARCH_IRQPRIO is not set
# CONFIG_CUSTOM_STACK is not set
# CONFIG_ADDRENV is not set
CONFIG_ARCH_HAVE_VFORK=y
nuttx-configs/px4fmu-v1/nsh/Make.defs
+1 -1
View File
@@ -53,7 +53,7 @@ NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
MAXOPTIMIZATION = -O3
MAXOPTIMIZATION = -Os
ARCHCPUFLAGS = -mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
nuttx-configs/px4fmu-v1/nsh/defconfig
+1 -2
View File
@@ -288,7 +288,6 @@ CONFIG_STM32_USART_SINGLEWIRE=y
# 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
#
@@ -309,7 +308,7 @@ CONFIG_STM32_I2CTIMEOTICKS=500
# CONFIG_ARCH_NOINTC is not set
# CONFIG_ARCH_VECNOTIRQ is not set
CONFIG_ARCH_DMA=y
CONFIG_ARCH_IRQPRIO=y
# CONFIG_ARCH_IRQPRIO is not set
# CONFIG_CUSTOM_STACK is not set
# CONFIG_ADDRENV is not set
CONFIG_ARCH_HAVE_VFORK=y
nuttx-configs/px4fmu-v2/nsh/Make.defs
+1 -1
View File
@@ -53,7 +53,7 @@ NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
MAXOPTIMIZATION = -O3
MAXOPTIMIZATION = -Os
ARCHCPUFLAGS = -mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
nuttx-configs/px4fmu-v2/nsh/defconfig
+2 -3
View File
@@ -323,8 +323,7 @@ CONFIG_STM32_USART_SINGLEWIRE=y
#
# CONFIG_STM32_I2C_DYNTIMEO is not set
CONFIG_STM32_I2CTIMEOSEC=0
CONFIG_STM32_I2CTIMEOMS=10
CONFIG_STM32_I2CTIMEOTICKS=500
CONFIG_STM32_I2CTIMEOMS=1
# CONFIG_STM32_I2C_DUTY16_9 is not set
#
@@ -350,7 +349,7 @@ CONFIG_SDIO_PRI=128
# CONFIG_ARCH_NOINTC is not set
# CONFIG_ARCH_VECNOTIRQ is not set
CONFIG_ARCH_DMA=y
CONFIG_ARCH_IRQPRIO=y
# CONFIG_ARCH_IRQPRIO is not set
# CONFIG_CUSTOM_STACK is not set
# CONFIG_ADDRENV is not set
CONFIG_ARCH_HAVE_VFORK=y
nuttx-configs/px4fmu-v2/scripts/ld.script
+2 -1
View File
@@ -50,7 +50,8 @@
MEMORY
{
flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K
/* disabled due to silicon errata flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K */
flash (rx) : ORIGIN = 0x08004000, LENGTH = 1008K
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
}
nuttx-configs/px4io-v1/nsh/Make.defs
+1 -1
View File
@@ -53,7 +53,7 @@ NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
MAXOPTIMIZATION = -O3
MAXOPTIMIZATION = -Os
ARCHCPUFLAGS = -mcpu=cortex-m3 \
-mthumb \
-march=armv7-m
nuttx-configs/px4io-v1/nsh/defconfig
+2 -1
View File
@@ -83,7 +83,6 @@ 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
@@ -134,6 +133,8 @@ CONFIG_STM32_USART2=y
CONFIG_STM32_USART3=y
CONFIG_STM32_I2C1=y
CONFIG_STM32_I2C2=n
CONFIG_STM32_I2CTIMEOSEC=0
CONFIG_STM32_I2CTIMEOMS=1
CONFIG_STM32_BKP=n
CONFIG_STM32_PWR=n
CONFIG_STM32_DAC=n
nuttx-configs/px4io-v2/nsh/Make.defs
+1 -5
View File
@@ -53,15 +53,11 @@ NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
MAXOPTIMIZATION = -O3
MAXOPTIMIZATION = -Os
ARCHCPUFLAGS = -mcpu=cortex-m3 \
-mthumb \
-march=armv7-m
# enable precise stack overflow tracking
#INSTRUMENTATIONDEFINES = -finstrument-functions \
# -ffixed-r10
# use our linker script
LDSCRIPT = ld.script
nuttx-configs/px4io-v2/nsh/defconfig
-1
View File
@@ -79,7 +79,6 @@ CONFIG_ARCH_BOARD_PX4IO_V2=y
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
src/drivers/airspeed/airspeed.cpp
+10 -5
View File
@@ -147,7 +147,7 @@ Airspeed::init()
_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp);
if (_airspeed_pub < 0)
warnx("failed to create airspeed sensor object. uORB started?");
warnx("uORB started?");
}
ret = OK;
@@ -159,12 +159,14 @@ out:
int
Airspeed::probe()
{
/* on initial power up the device needs more than one retry
for detection. Once it is running then retries aren't
needed
/* on initial power up the device may need more than one retry
for detection. Once it is running the number of retries can
be reduced
*/
_retries = 4;
int ret = measure();
// drop back to 2 retries once initialised
_retries = 2;
return ret;
}
@@ -381,7 +383,10 @@ Airspeed::cycle_trampoline(void *arg)
Airspeed *dev = (Airspeed *)arg;
dev->cycle();
dev->update_status();
// XXX we do not know if this is
// really helping - do not update the
// subsys state right now
//dev->update_status();
}
void
src/drivers/ardrone_interface/ardrone_interface.c
+14 -22
View File
@@ -89,8 +89,8 @@ static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: ardrone_interface {start|stop|status} [-d <UART>]\n\n");
warnx("%s\n", reason);
warnx("usage: {start|stop|status} [-d <UART>]\n\n");
exit(1);
}
@@ -110,7 +110,7 @@ int ardrone_interface_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("ardrone_interface already running\n");
warnx("already running\n");
/* this is not an error */
exit(0);
}
@@ -132,9 +132,9 @@ int ardrone_interface_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tardrone_interface is running\n");
warnx("running");
} else {
printf("\tardrone_interface not started\n");
warnx("not started");
}
exit(0);
}
@@ -158,7 +158,7 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
fprintf(stderr, "[ardrone_interface] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
warnx("ERR: TCGETATTR %s: %d", uart_name, termios_state);
close(uart);
return -1;
}
@@ -171,14 +171,14 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
warnx("ERR: cfsetispeed %s: %d", uart_name, termios_state);
close(uart);
return -1;
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
warnx("ERR: tcsetattr: %s", uart_name);
close(uart);
return -1;
}
@@ -192,9 +192,6 @@ int ardrone_interface_thread_main(int argc, char *argv[])
char *device = "/dev/ttyS1";
/* welcome user */
printf("[ardrone_interface] Control started, taking over motors\n");
/* File descriptors */
int gpios;
@@ -237,7 +234,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
struct termios uart_config_original;
if (motor_test_mode) {
printf("[ardrone_interface] Motor test mode enabled, setting 10 %% thrust.\n");
warnx("setting 10 %% thrust.\n");
}
/* Led animation */
@@ -255,9 +252,6 @@ int ardrone_interface_thread_main(int argc, char *argv[])
int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
printf("[ardrone_interface] Motors initialized - ready.\n");
fflush(stdout);
/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
ardrone_write = ardrone_open_uart(device, &uart_config_original);
@@ -265,7 +259,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
gpios = ar_multiplexing_init();
if (ardrone_write < 0) {
fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
warnx("No UART, exiting.");
thread_running = false;
exit(ERROR);
}
@@ -273,7 +267,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
/* initialize motors */
if (OK != ar_init_motors(ardrone_write, gpios)) {
close(ardrone_write);
fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
warnx("motor init fail");
thread_running = false;
exit(ERROR);
}
@@ -294,7 +288,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
gpios = ar_multiplexing_init();
if (ardrone_write < 0) {
fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
warnx("write fail");
thread_running = false;
exit(ERROR);
}
@@ -302,7 +296,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
/* initialize motors */
if (OK != ar_init_motors(ardrone_write, gpios)) {
close(ardrone_write);
fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
warnx("motor init fail");
thread_running = false;
exit(ERROR);
}
@@ -378,11 +372,9 @@ int ardrone_interface_thread_main(int argc, char *argv[])
int termios_state;
if ((termios_state = tcsetattr(ardrone_write, TCSANOW, &uart_config_original)) < 0) {
fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for (tcsetattr)\n");
warnx("ERR: tcsetattr");
}
printf("[ardrone_interface] Restored original UART config, exiting..\n");
/* close uarts */
close(ardrone_write);
ar_multiplexing_deinit(gpios);
src/drivers/ardrone_interface/ardrone_motor_control.c
+1 -1
View File
@@ -301,7 +301,7 @@ int ar_init_motors(int ardrone_uart, int gpios)
ardrone_write_motor_commands(ardrone_uart, 0, 0, 0, 0);
if (errcounter != 0) {
fprintf(stderr, "[ardrone_interface] init sequence incomplete, failed %d times", -errcounter);
warnx("Failed %d times", -errcounter);
fflush(stdout);
}
return errcounter;
src/drivers/boards/aerocore/aerocore_init.c
+13
View File
@@ -93,6 +93,19 @@
# 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
* of leds for system indication at will and there is no
* separate switch, we need to build independent of the
* CONFIG_ARCH_LEDS configuration switch.
*/
__BEGIN_DECLS
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
__END_DECLS
/****************************************************************************
* Protected Functions
****************************************************************************/
src/drivers/boards/aerocore/board_config.h
+19
View File
@@ -171,6 +171,25 @@ __BEGIN_DECLS
extern void stm32_spiinitialize(void);
/****************************************************************************
* Name: nsh_archinitialize
*
* Description:
* Perform architecture specific initialization for NSH.
*
* CONFIG_NSH_ARCHINIT=y :
* Called from the NSH library
*
* CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
* CONFIG_NSH_ARCHINIT=n :
* Called from board_initialize().
*
****************************************************************************/
#ifdef CONFIG_NSH_LIBRARY
int nsh_archinitialize(void);
#endif
#endif /* __ASSEMBLY__ */
__END_DECLS
src/drivers/boards/aerocore/module.mk
+2
View File
@@ -6,3 +6,5 @@ SRCS = aerocore_init.c \
aerocore_pwm_servo.c \
aerocore_spi.c \
aerocore_led.c
MAXOPTIMIZATION = -Os
src/drivers/boards/px4fmu-v1/board_config.h
+21
View File
@@ -209,6 +209,27 @@ __BEGIN_DECLS
extern void stm32_spiinitialize(void);
extern void stm32_usbinitialize(void);
/****************************************************************************
* Name: nsh_archinitialize
*
* Description:
* Perform architecture specific initialization for NSH.
*
* CONFIG_NSH_ARCHINIT=y :
* Called from the NSH library
*
* CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
* CONFIG_NSH_ARCHINIT=n :
* Called from board_initialize().
*
****************************************************************************/
#ifdef CONFIG_NSH_LIBRARY
int nsh_archinitialize(void);
#endif
#endif /* __ASSEMBLY__ */
__END_DECLS
src/drivers/boards/px4fmu-v1/module.mk
+2
View File
@@ -8,3 +8,5 @@ SRCS = px4fmu_can.c \
px4fmu_spi.c \
px4fmu_usb.c \
px4fmu_led.c
MAXOPTIMIZATION = -Os
src/drivers/boards/px4fmu-v2/board_config.h
+21
View File
@@ -229,6 +229,27 @@ __BEGIN_DECLS
extern void stm32_spiinitialize(void);
extern void stm32_usbinitialize(void);
/****************************************************************************
* Name: nsh_archinitialize
*
* Description:
* Perform architecture specific initialization for NSH.
*
* CONFIG_NSH_ARCHINIT=y :
* Called from the NSH library
*
* CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
* CONFIG_NSH_ARCHINIT=n :
* Called from board_initialize().
*
****************************************************************************/
#ifdef CONFIG_NSH_LIBRARY
int nsh_archinitialize(void);
#endif
#endif /* __ASSEMBLY__ */
__END_DECLS
src/drivers/boards/px4fmu-v2/module.mk
+2
View File
@@ -8,3 +8,5 @@ SRCS = px4fmu_can.c \
px4fmu_spi.c \
px4fmu_usb.c \
px4fmu2_led.c
MAXOPTIMIZATION = -Os
src/drivers/boards/px4fmu-v2/px4fmu2_init.c
+13
View File
@@ -94,6 +94,19 @@
# 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
* of leds for system indication at will and there is no
* separate switch, we need to build independent of the
* CONFIG_ARCH_LEDS configuration switch.
*/
__BEGIN_DECLS
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
__END_DECLS
/****************************************************************************
* Protected Functions
****************************************************************************/
src/drivers/boards/px4io-v1/module.mk
+2
View File
@@ -4,3 +4,5 @@
SRCS = px4io_init.c \
px4io_pwm_servo.c
MAXOPTIMIZATION = -Os
src/drivers/boards/px4io-v2/board_config.h
+1
View File
@@ -77,6 +77,7 @@
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11)
/* Safety switch button *******************************************************/
src/drivers/boards/px4io-v2/module.mk
+2
View File
@@ -4,3 +4,5 @@
SRCS = px4iov2_init.c \
px4iov2_pwm_servo.c
MAXOPTIMIZATION = -Os
src/drivers/boards/px4io-v2/px4iov2_init.c
+1
View File
@@ -108,6 +108,7 @@ __EXPORT void stm32_boardinitialize(void)
stm32_configgpio(GPIO_LED1);
stm32_configgpio(GPIO_LED2);
stm32_configgpio(GPIO_LED3);
stm32_configgpio(GPIO_LED4);
stm32_configgpio(GPIO_BTN_SAFETY);
src/drivers/device/device.cpp
+1
View File
@@ -97,6 +97,7 @@ Device::Device(const char *name,
/* setup a default device ID. When bus_type is UNKNOWN the
other fields are invalid */
_device_id.devid = 0;
_device_id.devid_s.bus_type = DeviceBusType_UNKNOWN;
_device_id.devid_s.bus = 0;
_device_id.devid_s.address = 0;

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