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Kick the BMA180 driver mostly into shape. Still not reading data correctly.

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This commit is contained in:
px4dev
2012-08-30 22:33:20 -07:00
parent 116306ae3e
commit 63485b91b2
2 changed files with 342 additions and 250 deletions
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apps/drivers/bma180/bma180.cpp
+338 -248
View File
@@ -37,12 +37,11 @@
#include <nuttx/config.h>
#include <device/spi.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stddef.h>
#include <stdlib.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
@@ -52,14 +51,71 @@
#include <math.h>
#include <unistd.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <arch/board/up_hrt.h>
#include <arch/board/board.h>
#include <drivers/device/spi.h>
#include <drivers/drv_accel.h>
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
#define ADDR_CHIP_ID 0x00
#define CHIP_ID 0x03
#define ADDR_ACC_X_LSB 0x02
#define ADDR_ACC_Y_LSB 0x04
#define ADDR_ACC_Z_LSB 0x06
#define ADDR_TEMPERATURE 0x08
#define ADDR_RESET 0x10
#define SOFT_RESET 0xB6
#define ADDR_BW_TCS 0x20
#define BW_TCS_BW_MASK (0xf<<4)
#define BW_TCS_BW_10HZ (0<<4)
#define BW_TCS_BW_20HZ (1<<4)
#define BW_TCS_BW_40HZ (2<<4)
#define BW_TCS_BW_75HZ (3<<4)
#define BW_TCS_BW_150HZ (4<<4)
#define BW_TCS_BW_300HZ (5<<4)
#define BW_TCS_BW_600HZ (6<<4)
#define BW_TCS_BW_1200HZ (7<<4)
#define ADDR_HIGH_DUR 0x27
#define HIGH_DUR_DIS_I2C (1<<0)
#define ADDR_TCO_Z 0x30
#define TCO_Z_MODE_MASK 0x3
#define ADDR_GAIN_Y 0x33
#define GAIN_Y_SHADOW_DIS (1<<0)
#define ADDR_OFFSET_LSB1 0x35
#define OFFSET_LSB1_RANGE_MASK (7<<1)
#define OFFSET_LSB1_RANGE_1G (0<<1)
#define OFFSET_LSB1_RANGE_2G (2<<1)
#define OFFSET_LSB1_RANGE_3G (3<<1)
#define OFFSET_LSB1_RANGE_4G (4<<1)
#define OFFSET_LSB1_RANGE_8G (5<<1)
#define OFFSET_LSB1_RANGE_16G (6<<1)
#define ADDR_OFFSET_T 0x37
#define OFFSET_T_READOUT_12BIT (1<<0)
extern "C" { __EXPORT int bma180_main(int argc, char *argv[]); }
class BMA180 : public device::SPI
@@ -73,9 +129,6 @@ public:
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
virtual int open_first(struct file *filp);
virtual int close_last(struct file *filp);
/**
* Diagnostics - print some basic information about the driver.
*/
@@ -94,10 +147,15 @@ private:
volatile unsigned _oldest_report;
struct accel_report *_reports;
struct accel_scale _scale;
float _range_scale;
struct accel_scale _accel_scale;
float _accel_range_scale;
float _accel_range_m_s2;
orb_advert_t _accel_topic;
unsigned _reads;
unsigned _current_lowpass;
unsigned _current_range;
perf_counter_t _sample_perf;
/**
* Start automatic measurement.
@@ -161,88 +219,44 @@ private:
int set_range(unsigned max_g);
/**
* Set the BMA180 lowpass filter.
* Set the BMA180 internal lowpass filter frequency.
*
* @param frequency Set the lowpass filter cutoff frequency to no less than
* this frequency.
* @param frequency The internal lowpass filter frequency is set to a value
* equal or greater to this.
* Zero selects the highest frequency supported.
* @return OK if the value can be supported.
*/
int set_bandwidth(unsigned frequency);
int set_lowpass(unsigned frequency);
};
/* helper macro for handling report buffer indices */
#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
#define ADDR_CHIP_ID 0x00
#define CHIP_ID 0x03
#define ADDR_ACC_X_LSB 0x02
#define ADDR_ACC_Y_LSB 0x04
#define ADDR_ACC_Z_LSB 0x06
#define ADDR_TEMPERATURE 0x08
#define ADDR_RESET 0x10
#define SOFT_RESET 0xB6
#define ADDR_BW_TCS 0x20
#define BW_TCS_BW_MASK (0xf<<4)
#define BW_TCS_BW_10HZ (0<<4)
#define BW_TCS_BW_20HZ (1<<4)
#define BW_TCS_BW_40HZ (2<<4)
#define BW_TCS_BW_75HZ (3<<4)
#define BW_TCS_BW_150HZ (4<<4)
#define BW_TCS_BW_300HZ (5<<4)
#define BW_TCS_BW_600HZ (6<<4)
#define BW_TCS_BW_1200HZ (7<<4)
#define ADDR_HIGH_DUR 0x27
#define HIGH_DUR_DIS_I2C (1<<0)
#define ADDR_TCO_Z 0x30
#define TCO_Z_MODE_MASK 0x3
#define ADDR_GAIN_Y 0x33
#define GAIN_Y_SHADOW_DIS (1<<0)
#define ADDR_OFFSET_LSB1 0x35
#define OFFSET_LSB1_RANGE_MASK (7<<1)
#define OFFSET_LSB1_RANGE_1G (0<<1)
#define OFFSET_LSB1_RANGE_2G (2<<1)
#define OFFSET_LSB1_RANGE_3G (3<<1)
#define OFFSET_LSB1_RANGE_4G (4<<1)
#define OFFSET_LSB1_RANGE_8G (5<<1)
#define OFFSET_LSB1_RANGE_16G (6<<1)
#define ADDR_OFFSET_T 0x37
#define OFFSET_T_READOUT_12BIT (1<<0)
/*
* Driver 'main' command.
*/
extern "C" { int bma180_main(int argc, char *argv[]); }
BMA180::BMA180(int bus, spi_dev_e device) :
SPI("BMA180", ACCEL_DEVICE_PATH, bus, device, SPIDEV_MODE3, 8000000),
_call_interval(0),
_num_reports(0),
_next_report(0),
_oldest_report(0),
_reports(nullptr),
_reads(0)
_accel_range_scale(0.0f),
_accel_range_m_s2(0.0f),
_accel_topic(-1),
_current_lowpass(0),
_current_range(0),
_sample_perf(perf_alloc(PC_ELAPSED, "bma180_read"))
{
// enable debug() calls
_debug_enabled = true;
// default scale factors
_scale.x_offset = 0;
_scale.x_scale = 1.0f;
_scale.y_offset = 0;
_scale.y_scale = 1.0f;
_scale.z_offset = 0;
_scale.z_scale = 1.0f;
_accel_scale.x_offset = 0;
_accel_scale.x_scale = 1.0f;
_accel_scale.y_offset = 0;
_accel_scale.y_scale = 1.0f;
_accel_scale.z_offset = 0;
_accel_scale.z_scale = 1.0f;
}
BMA180::~BMA180()
@@ -253,77 +267,63 @@ BMA180::~BMA180()
/* free any existing reports */
if (_reports != nullptr)
delete[] _reports;
/* delete the perf counter */
perf_free(_sample_perf);
}
int
BMA180::init()
{
int ret;
int ret = ERROR;
/* do SPI init (and probe) first */
ret = SPI::init();
/* if probe/setup successful, finish chip init */
if (ret == OK) {
/* perform soft reset (p48) */
write_reg(ADDR_RESET, SOFT_RESET);
/* wait 10us (p49) */
usleep(10);
/* disable I2C interface */
modify_reg(ADDR_HIGH_DUR, HIGH_DUR_DIS_I2C, 0);
/* switch to low-noise mode */
modify_reg(ADDR_TCO_Z, TCO_Z_MODE_MASK, 0);
/* disable 12-bit mode */
modify_reg(ADDR_OFFSET_T, OFFSET_T_READOUT_12BIT, 0);
/* disable shadow-disable mode */
modify_reg(ADDR_GAIN_Y, GAIN_Y_SHADOW_DIS, 0);
}
return ret;
}
int
BMA180::open_first(struct file *filp)
{
/* reset to manual-poll mode */
_call_interval = 0;
if (SPI::init() != OK)
goto out;
/* allocate basic report buffers */
_num_reports = 2;
_reports = new struct accel_report[_num_reports];
_oldest_report = _next_report = 0;
_reports = new struct accel_report[_num_reports];
if (_reports == nullptr)
goto out;
/* set default range and lowpass */
set_range(4); /* 4G */
set_bandwidth(600); /* 600Hz */
/* advertise sensor topic */
memset(&_reports[0], 0, sizeof(_reports[0]));
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_reports[0]);
return OK;
}
/* perform soft reset (p48) */
write_reg(ADDR_RESET, SOFT_RESET);
int
BMA180::close_last(struct file *filp)
{
/* stop measurement */
stop();
/* wait 10us (p49) */
usleep(10);
/* free report buffers */
if (_reports != nullptr) {
delete[] _reports;
_num_reports = 0;
}
/* disable I2C interface */
modify_reg(ADDR_HIGH_DUR, HIGH_DUR_DIS_I2C, 0);
return OK;
/* switch to low-noise mode */
modify_reg(ADDR_TCO_Z, TCO_Z_MODE_MASK, 0);
/* disable 12-bit mode */
modify_reg(ADDR_OFFSET_T, OFFSET_T_READOUT_12BIT, 0);
/* disable shadow-disable mode */
modify_reg(ADDR_GAIN_Y, GAIN_Y_SHADOW_DIS, 0);
set_range(2);
set_lowpass(75);
ret = OK;
out:
return ret;
}
int
BMA180::probe()
{
/* dummy read to ensure SPI state machine is sane */
read_reg(ADDR_CHIP_ID);
if (read_reg(ADDR_CHIP_ID) == CHIP_ID)
return OK;
@@ -356,8 +356,6 @@ BMA180::read(struct file *filp, char *buffer, size_t buflen)
}
}
_reads++;
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
@@ -378,22 +376,29 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case ACCELIOCSPOLLRATE: {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case ACC_POLLRATE_MANUAL:
case SENSOR_POLLRATE_MANUAL:
stop();
_call_interval = 0;
return OK;
/* external signalling not supported */
case ACC_POLLRATE_EXTERNAL:
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT:
/* XXX 500Hz is just a wild guess */
return ioctl(filp, SENSORIOCSPOLLRATE, 500);
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
@@ -408,7 +413,7 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_call.period = _call_interval;
_call.period = _call_interval = ticks;
/* if we need to start the poll state machine, do it */
if (want_start)
@@ -419,7 +424,15 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
}
}
case ACCELIOCSQUEUEDEPTH: {
case SENSORIOCGPOLLRATE:
if (_call_interval == 0)
return SENSOR_POLLRATE_MANUAL;
return 1000000 / _call_interval;
case SENSORIOCSQUEUEDEPTH: {
/* account for sentinel in the ring */
arg++;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100))
return -EINVAL;
@@ -440,16 +453,41 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
return OK;
}
case ACCELIOCSLOWPASS:
return set_bandwidth(arg);
case SENSORIOCGQUEUEDEPTH:
return _num_reports -1;
case ACCELIORANGE:
return set_range(arg);
case SENSORIOCRESET:
/* XXX implement */
return -EINVAL;
case ACCELIOCSSAMPLERATE: /* sensor sample rate is not (really) adjustable */
case ACCELIOCSREPORTFORMAT: /* no alternate report formats */
return -EINVAL;
case ACCELIOCGSAMPLERATE:
return 1200; /* always operating in low-noise mode */
case ACCELIOCSLOWPASS:
return set_lowpass(arg);
case ACCELIOCGLOWPASS:
return _current_lowpass;
case ACCELIOCSSCALE:
/* copy scale in */
memcpy(&_accel_scale, (struct accel_scale*) arg, sizeof(_accel_scale));
return OK;
case ACCELIOCGSCALE:
/* copy scale out */
memcpy((struct accel_scale*) arg, &_accel_scale, sizeof(_accel_scale));
return OK;
case ACCELIOCSRANGE:
return set_range(arg);
case ACCELIOCGRANGE:
return _current_range;
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
@@ -494,45 +532,43 @@ int
BMA180::set_range(unsigned max_g)
{
uint8_t rangebits;
float rangescale;
if (max_g > 16) {
if (max_g == 0)
max_g = 16;
if (max_g > 16)
return -ERANGE;
} else if (max_g > 8) { /* 16G */
rangebits = OFFSET_LSB1_RANGE_16G;
rangescale = 1.98;
} else if (max_g > 4) { /* 8G */
rangebits = OFFSET_LSB1_RANGE_8G;
rangescale = 0.99;
} else if (max_g > 3) { /* 4G */
rangebits = OFFSET_LSB1_RANGE_4G;
rangescale = 0.5;
} else if (max_g > 2) { /* 3G */
rangebits = OFFSET_LSB1_RANGE_3G;
rangescale = 0.38;
} else if (max_g > 1) { /* 2G */
if (max_g <= 1) {
_current_range = 1;
rangebits = OFFSET_LSB1_RANGE_2G;
rangescale = 0.25;
} else { /* 1G */
rangebits = OFFSET_LSB1_RANGE_1G;
rangescale = 0.13;
} else if (max_g <= 2) {
_current_range = 2;
rangebits = OFFSET_LSB1_RANGE_3G;
} else if (max_g <= 4) {
_current_range = 4;
rangebits = OFFSET_LSB1_RANGE_4G;
} else if (max_g <= 8) {
_current_range = 8;
rangebits = OFFSET_LSB1_RANGE_8G;
} else if (max_g <= 16) {
_current_range = 16;
rangebits = OFFSET_LSB1_RANGE_16G;
} else {
return -EINVAL;
}
/* set new range scaling factor */
_accel_range_m_s2 = _current_range * 9.80665f;
_accel_range_scale = _accel_range_m_s2 / 8192.0f;
/* adjust sensor configuration */
modify_reg(ADDR_OFFSET_LSB1, OFFSET_LSB1_RANGE_MASK, rangebits);
_range_scale = rangescale;
return OK;
}
int
BMA180::set_bandwidth(unsigned frequency)
BMA180::set_lowpass(unsigned frequency)
{
uint8_t bwbits;
@@ -601,24 +637,30 @@ BMA180::measure_trampoline(void *arg)
void
BMA180::measure()
{
/*
* This evil is to deal with the stupid layout of the BMA180
* measurement registers vs. the SPI transaction model.
*/
union {
uint8_t bytes[10];
uint16_t words[5];
} buf;
/* BMA180 measurement registers */
#pragma pack(push, 1)
struct {
uint8_t cmd;
uint16_t x;
uint16_t y;
uint16_t z;
} raw_report;
#pragma pack(pop)
accel_report *report = &_reports[_next_report];
/* start the performance counter */
perf_begin(_sample_perf);
/*
* Fetch the full set of measurements from the BMA180 in one pass;
* 7 bytes starting from the X LSB.
* starting from the X LSB.
*/
buf.bytes[1] = ADDR_ACC_X_LSB;
transfer(&buf.bytes[1], &buf.bytes[1], 8);
raw_report.cmd = ADDR_ACC_X_LSB;
transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report));
/*
* Adjust and scale results to mg.
* Adjust and scale results to SI units.
*
* Note that we ignore the "new data" bits. At any time we read, each
* of the axis measurements are the "most recent", even if we've seen
@@ -626,13 +668,16 @@ BMA180::measure()
* measurement flow without using the external interrupt.
*/
_reports[_next_report].timestamp = hrt_absolute_time();
_reports[_next_report].x = (buf.words[1] >> 2) * _range_scale;
_reports[_next_report].y = (buf.words[2] >> 2) * _range_scale;
_reports[_next_report].z = (buf.words[3] >> 2) * _range_scale;
/* XXX adjust for sensor alignment to board here */
report->x_raw = raw_report.x;
report->y_raw = raw_report.y;
report->z_raw = raw_report.z;
/*
* @todo Apply additional scaling / calibration factors here.
*/
report->x = ((report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
report->y = ((report->y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
report->z = ((report->z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
report->scaling = _accel_range_scale;
report->range_m_s2 = _accel_range_m_s2;
/* post a report to the ring - note, not locked */
INCREMENT(_next_report, _num_reports);
@@ -643,12 +688,18 @@ BMA180::measure()
/* notify anyone waiting for data */
poll_notify(POLLIN);
/* publish for subscribers */
orb_publish(ORB_ID(sensor_accel), _accel_topic, report);
/* stop the perf counter */
perf_end(_sample_perf);
}
void
BMA180::print_info()
{
printf("reads: %u\n", _reads);
perf_print_counter(_sample_perf);
printf("report queue: %u (%u/%u @ %p)\n",
_num_reports, _oldest_report, _next_report, _reports);
}
@@ -656,67 +707,126 @@ BMA180::print_info()
/**
* Local functions in support of the shell command.
*/
namespace
namespace bma180
{
BMA180 *g_dev;
/*
* XXX this should just be part of the generic sensors test...
*/
void start();
void test();
void reset();
void info();
int
/**
* Start the driver.
*/
void
start()
{
int fd;
if (g_dev != nullptr)
errx(1, "already started");
/* create the driver */
g_dev = new BMA180(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_ACCEL);
if (g_dev == nullptr)
goto fail;
if (OK != g_dev->init())
goto fail;
/* set the poll rate to default, starts automatic data collection */
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0)
goto fail;
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
goto fail;
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
void
test()
{
int fd = -1;
struct accel_report report;
struct accel_report a_report;
ssize_t sz;
const char *reason = "test OK";
do {
/* get the driver */
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'bma180 start' if the driver is not running)",
ACCEL_DEVICE_PATH);
/* get the driver */
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
/* reset to manual polling */
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
err(1, "reset to manual polling");
/* do a simple demand read */
sz = read(fd, &a_report, sizeof(a_report));
if (sz != sizeof(a_report))
err(1, "immediate acc read failed");
if (fd < 0) {
reason = "can't open driver";
break;
}
warnx("single read");
warnx("time: %lld", a_report.timestamp);
warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x);
warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y);
warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z);
warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
(double)(a_report.range_m_s2 / 9.81f));
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
/* XXX add poll-rate tests here too */
if (sz != sizeof(report)) {
reason = "immediate read failed";
break;
}
printf("single read\n");
fflush(stdout);
printf("time: %lld\n", report.timestamp);
printf("x: %f\n", report.x);
printf("y: %f\n", report.y);
printf("z: %f\n", report.z);
} while (0);
printf("BMA180: %s\n", reason);
return OK;
reset();
errx(0, "PASS");
}
int
/**
* Reset the driver.
*/
void
reset()
{
int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "failed ");
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
err(1, "driver reset failed");
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
err(1, "driver poll restart failed");
exit(0);
}
/**
* Print a little info about the driver.
*/
void
info()
{
if (g_dev == nullptr) {
fprintf(stderr, "BMA180: driver not running\n");
return -ENOENT;
}
if (g_dev == nullptr)
errx(1, "BMA180: driver not running");
printf("state @ %p\n", g_dev);
g_dev->print_info();
return OK;
exit(0);
}
@@ -727,48 +837,28 @@ bma180_main(int argc, char *argv[])
{
/*
* Start/load the driver.
*
* XXX it would be nice to have a wrapper for this...
*/
if (!strcmp(argv[1], "start")) {
if (g_dev != nullptr) {
fprintf(stderr, "BMA180: already loaded\n");
return -EBUSY;
}
/* create the driver */
g_dev = new BMA180(CONFIG_BMA180_SPI_BUS, (spi_dev_e)CONFIG_BMA180_SPI_DEVICE);
if (g_dev == nullptr) {
fprintf(stderr, "BMA180: driver alloc failed\n");
return -ENOMEM;
}
if (OK != g_dev->init()) {
fprintf(stderr, "BMA180: driver init failed\n");
usleep(100000);
delete g_dev;
g_dev = nullptr;
return -EIO;
}
printf("BMA180: driver started\n");
return OK;
}
if (!strcmp(argv[1], "start"))
bma180::start();
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
return test();
bma180::test();
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset"))
bma180::reset();
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info"))
return info();
bma180::info();
fprintf(stderr, "unrecognised command, try 'start', 'test' or 'info'\n");
return -EINVAL;
errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
}
nuttx/configs/px4fmu/nsh/appconfig
+4 -2
View File
@@ -45,6 +45,7 @@ CONFIGURED_APPS += system/readline
CONFIGURED_APPS += systemlib
CONFIGURED_APPS += systemlib/mixer
# System utility commands
CONFIGURED_APPS += systemcmds/reboot
CONFIGURED_APPS += systemcmds/perf
CONFIGURED_APPS += systemcmds/top
@@ -61,6 +62,7 @@ CONFIGURED_APPS += systemcmds/eeprom
# https://pixhawk.ethz.ch/px4/dev/deamon
# CONFIGURED_APPS += examples/px4_deamon_app
# Shared object broker; required by many parts of the system.
CONFIGURED_APPS += uORB
CONFIGURED_APPS += mavlink
@@ -75,6 +77,7 @@ CONFIGURED_APPS += fixedwing_control
CONFIGURED_APPS += position_estimator
CONFIGURED_APPS += attitude_estimator_ekf
# Hacking tools
#CONFIGURED_APPS += system/i2c
#CONFIGURED_APPS += tools/i2c_dev
@@ -83,7 +86,7 @@ CONFIGURED_APPS += drivers/device
CONFIGURED_APPS += drivers/ms5611
CONFIGURED_APPS += drivers/hmc5883
CONFIGURED_APPS += drivers/mpu6000
#CONFIGURED_APPS += drivers/bma180
CONFIGURED_APPS += drivers/bma180
CONFIGURED_APPS += drivers/l3gd20
CONFIGURED_APPS += px4/px4io/driver
CONFIGURED_APPS += px4/fmu
@@ -101,4 +104,3 @@ endif
CONFIGURED_APPS += examples/cdcacm
#endif
#endif