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Merge branch 'master' into vector_control2

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This commit is contained in:
Anton Babushkin
2013-12-13 17:26:07 +04:00
parent bae2171edb c46bd8b041
commit 6705e9518b
40 changed files with 1804 additions and 443 deletions
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src/modules/mavlink/missionlib.c
+5 -5
View File
@@ -276,7 +276,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
next_setpoint_index = index + 1;
}
while (next_setpoint_index < wpm->size - 1) {
while (next_setpoint_index < wpm->size) {
if (wpm->waypoints[next_setpoint_index].frame == (int)MAV_FRAME_GLOBAL && (wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_WAYPOINT ||
wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
@@ -301,7 +301,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
sp.lon = wpm->waypoints[last_setpoint_index].y * 1e7f;
sp.altitude = wpm->waypoints[last_setpoint_index].z;
sp.altitude_is_relative = false;
sp.yaw = (wpm->waypoints[last_setpoint_index].param4 / 180.0f) * M_PI_F - M_PI_F;
sp.yaw = _wrap_pi(wpm->waypoints[last_setpoint_index].param4 / 180.0f * M_PI_F);
set_special_fields(wpm->waypoints[last_setpoint_index].param1,
wpm->waypoints[last_setpoint_index].param2,
wpm->waypoints[last_setpoint_index].param3,
@@ -317,7 +317,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
sp.lon = wpm->waypoints[next_setpoint_index].y * 1e7f;
sp.altitude = wpm->waypoints[next_setpoint_index].z;
sp.altitude_is_relative = false;
sp.yaw = (wpm->waypoints[next_setpoint_index].param4 / 180.0f) * M_PI_F - M_PI_F;
sp.yaw = _wrap_pi(wpm->waypoints[next_setpoint_index].param4 / 180.0f * M_PI_F);
set_special_fields(wpm->waypoints[next_setpoint_index].param1,
wpm->waypoints[next_setpoint_index].param2,
wpm->waypoints[next_setpoint_index].param3,
@@ -343,7 +343,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
sp.lon = param6_lon_y * 1e7f;
sp.altitude = param7_alt_z;
sp.altitude_is_relative = true;
sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F);
set_special_fields(param1, param2, param3, param4, command, &sp);
/* Initialize publication if necessary */
@@ -364,7 +364,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
sp.x = param5_lat_x;
sp.y = param6_lon_y;
sp.z = param7_alt_z;
sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F);
/* Initialize publication if necessary */
if (local_position_setpoint_pub < 0) {
src/modules/px4iofirmware/protocol.h
+5
View File
@@ -186,6 +186,11 @@ enum { /* DSM bind states */
/* 8 */
#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */
#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */
#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */
#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */
/* autopilot control values, -10000..10000 */
#define PX4IO_PAGE_CONTROLS 51 /* 0..CONFIG_CONTROL_COUNT */
src/modules/px4iofirmware/px4io.c
+33
View File
@@ -45,6 +45,7 @@
#include <string.h>
#include <poll.h>
#include <signal.h>
#include <crc32.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_hrt.h>
@@ -117,6 +118,29 @@ show_debug_messages(void)
}
}
static void
heartbeat_blink(void)
{
static bool heartbeat = false;
LED_BLUE(heartbeat = !heartbeat);
}
static void
calculate_fw_crc(void)
{
#define APP_SIZE_MAX 0xf000
#define APP_LOAD_ADDRESS 0x08001000
// compute CRC of the current firmware
uint32_t sum = 0;
for (unsigned p = 0; p < APP_SIZE_MAX; p += 4) {
uint32_t bytes = *(uint32_t *)(p + APP_LOAD_ADDRESS);
sum = crc32part((uint8_t *)&bytes, sizeof(bytes), sum);
}
r_page_setup[PX4IO_P_SETUP_CRC] = sum & 0xFFFF;
r_page_setup[PX4IO_P_SETUP_CRC+1] = sum >> 16;
}
int
user_start(int argc, char *argv[])
{
@@ -129,6 +153,9 @@ user_start(int argc, char *argv[])
/* configure the high-resolution time/callout interface */
hrt_init();
/* calculate our fw CRC so FMU can decide if we need to update */
calculate_fw_crc();
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
@@ -201,6 +228,7 @@ user_start(int argc, char *argv[])
*/
uint64_t last_debug_time = 0;
uint64_t last_heartbeat_time = 0;
for (;;) {
/* track the rate at which the loop is running */
@@ -216,6 +244,11 @@ user_start(int argc, char *argv[])
controls_tick();
perf_end(controls_perf);
if ((hrt_absolute_time() - last_heartbeat_time) > 250*1000) {
last_heartbeat_time = hrt_absolute_time();
heartbeat_blink();
}
#if 0
/* check for debug activity */
show_debug_messages();
src/modules/px4iofirmware/registers.c
+27
View File
@@ -45,6 +45,8 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_pwm_output.h>
#include <systemlib/systemlib.h>
#include <stm32_pwr.h>
#include "px4io.h"
#include "protocol.h"
@@ -154,6 +156,8 @@ volatile uint16_t r_page_setup[] =
[PX4IO_P_SETUP_VBATT_SCALE] = 10000,
#endif
[PX4IO_P_SETUP_SET_DEBUG] = 0,
[PX4IO_P_SETUP_REBOOT_BL] = 0,
[PX4IO_P_SETUP_CRC ... (PX4IO_P_SETUP_CRC+1)] = 0,
};
#define PX4IO_P_SETUP_FEATURES_VALID (0)
@@ -501,6 +505,29 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
isr_debug(0, "set debug %u\n", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG]);
break;
case PX4IO_P_SETUP_REBOOT_BL:
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
(r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ||
(r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
// don't allow reboot while armed
break;
}
// check the magic value
if (value != PX4IO_REBOOT_BL_MAGIC)
break;
// note that we don't set BL_WAIT_MAGIC in
// BKP_DR1 as that is not necessary given the
// timing of the forceupdate command. The
// bootloader on px4io waits for enough time
// anyway, and this method works with older
// bootloader versions (tested with both
// revision 3 and revision 4).
up_systemreset();
break;
case PX4IO_P_SETUP_DSM:
dsm_bind(value & 0x0f, (value >> 4) & 7);
break;
src/modules/px4iofirmware/safety.c
+1 -15
View File
@@ -77,7 +77,6 @@ static unsigned blink_counter = 0;
static bool safety_button_pressed;
static void safety_check_button(void *arg);
static void heartbeat_blink(void *arg);
static void failsafe_blink(void *arg);
void
@@ -86,9 +85,6 @@ safety_init(void)
/* arrange for the button handler to be called at 10Hz */
hrt_call_every(&arming_call, 1000, 100000, safety_check_button, NULL);
/* arrange for the heartbeat handler to be called at 4Hz */
hrt_call_every(&heartbeat_call, 1000, 250000, heartbeat_blink, NULL);
/* arrange for the failsafe blinker to be called at 8Hz */
hrt_call_every(&failsafe_call, 1000, 125000, failsafe_blink, NULL);
}
@@ -163,16 +159,6 @@ safety_check_button(void *arg)
}
}
static void
heartbeat_blink(void *arg)
{
static bool heartbeat = false;
/* XXX add flags here that need to be frobbed by various loops */
LED_BLUE(heartbeat = !heartbeat);
}
static void
failsafe_blink(void *arg)
{
@@ -192,4 +178,4 @@ failsafe_blink(void *arg)
}
LED_AMBER(failsafe);
}
}