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Merge branch 'master' of github.com:PX4/Firmware into fixedwing_l1

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This commit is contained in:
Lorenz Meier
2013-09-16 13:30:49 +02:00
parent 9e7077fdf9 489e7b2f1e
commit 6c2640768d
27 changed files with 627 additions and 332 deletions
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Debug/Nuttx.py
+123 -50
View File
@@ -2,6 +2,106 @@
import gdb, gdb.types
class NX_register_set(object):
"""Copy of the registers for a given context"""
v7_regmap = {
'R13': 0,
'SP': 0,
'PRIORITY': 1,
'R4': 2,
'R5': 3,
'R6': 4,
'R7': 5,
'R8': 6,
'R9': 7,
'R10': 8,
'R11': 9,
'EXC_RETURN': 10,
'R0': 11,
'R1': 12,
'R2': 13,
'R3': 14,
'R12': 15,
'R14': 16,
'LR': 16,
'R15': 17,
'PC': 17,
'XPSR': 18,
}
v7em_regmap = {
'R13': 0,
'SP': 0,
'PRIORITY': 1,
'R4': 2,
'R5': 3,
'R6': 4,
'R7': 5,
'R8': 6,
'R9': 7,
'R10': 8,
'R11': 9,
'EXC_RETURN': 10,
'R0': 27,
'R1': 28,
'R2': 29,
'R3': 30,
'R12': 31,
'R14': 32,
'LR': 32,
'R15': 33,
'PC': 33,
'XPSR': 34,
}
regs = dict()
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'))
else:
for key in self.v7em_regmap.keys():
self.regs[key] = int(xcpt_regs[self.v7em_regmap[key]])
@classmethod
def with_xcpt_regs(cls, xcpt_regs):
return cls(xcpt_regs)
@classmethod
def for_current(cls):
return cls(None)
def __format__(self, format_spec):
return format_spec.format(
registers = self.registers
)
@property
def registers(self):
return self.regs
class NX_task(object):
"""Reference to a NuttX task and methods for introspecting it"""
@@ -139,56 +239,12 @@ class NX_task(object):
if 'registers' not in self.__dict__:
registers = dict()
if self._state_is('TSTATE_TASK_RUNNING'):
# XXX need to fix this to handle interrupt context
registers['R0'] = long(gdb.parse_and_eval('$r0'))
registers['R1'] = long(gdb.parse_and_eval('$r1'))
registers['R2'] = long(gdb.parse_and_eval('$r2'))
registers['R3'] = long(gdb.parse_and_eval('$r3'))
registers['R4'] = long(gdb.parse_and_eval('$r4'))
registers['R5'] = long(gdb.parse_and_eval('$r5'))
registers['R6'] = long(gdb.parse_and_eval('$r6'))
registers['R7'] = long(gdb.parse_and_eval('$r7'))
registers['R8'] = long(gdb.parse_and_eval('$r8'))
registers['R9'] = long(gdb.parse_and_eval('$r9'))
registers['R10'] = long(gdb.parse_and_eval('$r10'))
registers['R11'] = long(gdb.parse_and_eval('$r11'))
registers['R12'] = long(gdb.parse_and_eval('$r12'))
registers['R13'] = long(gdb.parse_and_eval('$r13'))
registers['SP'] = long(gdb.parse_and_eval('$sp'))
registers['R14'] = long(gdb.parse_and_eval('$r14'))
registers['LR'] = long(gdb.parse_and_eval('$lr'))
registers['R15'] = long(gdb.parse_and_eval('$r15'))
registers['PC'] = long(gdb.parse_and_eval('$pc'))
registers['XPSR'] = long(gdb.parse_and_eval('$xpsr'))
# this would only be valid if we were in an interrupt
registers['EXC_RETURN'] = 0
# we should be able to get this...
registers['PRIMASK'] = 0
registers = NX_register_set.for_current().registers
else:
context = self._tcb['xcp']
regs = context['regs']
registers['R0'] = long(regs[27])
registers['R1'] = long(regs[28])
registers['R2'] = long(regs[29])
registers['R3'] = long(regs[30])
registers['R4'] = long(regs[2])
registers['R5'] = long(regs[3])
registers['R6'] = long(regs[4])
registers['R7'] = long(regs[5])
registers['R8'] = long(regs[6])
registers['R9'] = long(regs[7])
registers['R10'] = long(regs[8])
registers['R11'] = long(regs[9])
registers['R12'] = long(regs[31])
registers['R13'] = long(regs[0])
registers['SP'] = long(regs[0])
registers['R14'] = long(regs[32])
registers['LR'] = long(regs[32])
registers['R15'] = long(regs[33])
registers['PC'] = long(regs[33])
registers['XPSR'] = long(regs[34])
registers['EXC_RETURN'] = long(regs[10])
registers['PRIMASK'] = long(regs[1])
registers = NX_register_set.with_xcpt_regs(regs).registers
self.__dict__['registers'] = registers
return self.__dict__['registers']
@@ -267,8 +323,7 @@ class NX_show_heap (gdb.Command):
def _print_allocations(self, region_start, region_end):
if region_start >= region_end:
print 'heap region {} corrupt'.format(hex(region_start))
return
raise gdb.GdbError('heap region {} corrupt'.format(hex(region_start)))
nodecount = region_end - region_start
print 'heap {} - {}'.format(region_start, region_end)
cursor = 1
@@ -286,13 +341,31 @@ 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])
NX_show_heap()
class NX_show_interrupted_thread (gdb.Command):
"""(NuttX) prints the register state of an interrupted thread when in interrupt/exception context"""
def __init__(self):
super(NX_show_interrupted_thread, self).__init__('show interrupted-thread', gdb.COMMAND_USER)
def invoke(self, args, from_tty):
regs = gdb.lookup_global_symbol('current_regs').value()
if regs is 0:
raise gdb.GdbError('not in interrupt context')
else:
registers = NX_register_set.with_xcpt_regs(regs)
my_fmt = ''
my_fmt += ' R0 {registers[R0]:#010x} {registers[R1]:#010x} {registers[R2]:#010x} {registers[R3]:#010x}\n'
my_fmt += ' R4 {registers[R4]:#010x} {registers[R5]:#010x} {registers[R6]:#010x} {registers[R7]:#010x}\n'
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)
NX_show_interrupted_thread()
ROMFS/px4fmu_common/init.d/rcS
+9 -9
View File
@@ -73,20 +73,20 @@ then
#
# Load microSD params
#
if ramtron start
then
param select /ramtron/params
if [ -f /ramtron/params ]
then
param load /ramtron/params
fi
else
#if ramtron start
#then
# param select /ramtron/params
# if [ -f /ramtron/params ]
# then
# param load /ramtron/params
# fi
#else
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
fi
#fi
#
# Start system state indicator
nuttx-configs/px4fmu-v2/nsh/defconfig
+61 -64
View File
@@ -38,7 +38,31 @@ CONFIG_ARCH_MATH_H=y
#
# Debug Options
#
# CONFIG_DEBUG is not set
CONFIG_DEBUG=n
CONFIG_DEBUG_VERBOSE=n
#
# Subsystem Debug Options
#
# CONFIG_DEBUG_MM is not set
# CONFIG_DEBUG_SCHED is not set
# CONFIG_DEBUG_USB is not set
CONFIG_DEBUG_FS=y
# CONFIG_DEBUG_LIB is not set
# CONFIG_DEBUG_BINFMT is not set
# CONFIG_DEBUG_GRAPHICS is not set
#
# Driver Debug Options
#
# CONFIG_DEBUG_ANALOG is not set
# CONFIG_DEBUG_I2C is not set
# CONFIG_DEBUG_SPI is not set
# CONFIG_DEBUG_SDIO is not set
# CONFIG_DEBUG_GPIO is not set
CONFIG_DEBUG_DMA=y
# CONFIG_DEBUG_WATCHDOG is not set
# CONFIG_DEBUG_AUDIO is not set
CONFIG_DEBUG_SYMBOLS=y
#
@@ -86,6 +110,7 @@ CONFIG_ARCH_HAVE_FPU=y
CONFIG_ARCH_FPU=y
CONFIG_ARCH_HAVE_MPU=y
# CONFIG_ARMV7M_MPU is not set
# CONFIG_DEBUG_HARDFAULT is not set
#
# ARMV7M Configuration Options
@@ -94,7 +119,9 @@ CONFIG_ARCH_HAVE_MPU=y
CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y
CONFIG_ARMV7M_STACKCHECK=y
CONFIG_SERIAL_TERMIOS=y
CONFIG_SERIAL_DISABLE_REORDERING=y
CONFIG_SDIO_DMA=y
CONFIG_SDIO_DMAPRIO=0x00010000
# CONFIG_SDIO_WIDTH_D1_ONLY is not set
#
# STM32 Configuration Options
@@ -240,9 +267,6 @@ CONFIG_STM32_ADC=y
CONFIG_STM32_SPI=y
CONFIG_STM32_I2C=y
CONFIG_ARCH_HAVE_LEDS=y
# CONFIG_ARCH_LEDS is not set
#
# Alternate Pin Mapping
#
@@ -254,7 +278,7 @@ CONFIG_STM32_JTAG_SW_ENABLE=y
CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
# CONFIG_STM32_FORCEPOWER is not set
# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set
CONFIG_STM32_CCMEXCLUDE=y
# CONFIG_STM32_CCMEXCLUDE is not set
CONFIG_STM32_DMACAPABLE=y
# CONFIG_STM32_TIM1_PWM is not set
# CONFIG_STM32_TIM3_PWM is not set
@@ -271,40 +295,22 @@ CONFIG_STM32_USART=y
# U[S]ART Configuration
#
# CONFIG_USART1_RS485 is not set
CONFIG_USART1_RXDMA=y
# CONFIG_USART1_RXDMA is not set
# CONFIG_USART2_RS485 is not set
CONFIG_USART2_RXDMA=y
# CONFIG_USART3_RS485 is not set
# CONFIG_USART3_RXDMA is not set
# CONFIG_UART4_RS485 is not set
# CONFIG_UART4_RXDMA is not set
# CONFIG_UART5_RXDMA is not set
# CONFIG_USART6_RS485 is not set
# CONFIG_USART6_RXDMA is not set
# CONFIG_USART7_RXDMA is not set
CONFIG_USART8_RXDMA=y
# CONFIG_UART7_RS485 is not set
# CONFIG_UART7_RXDMA is not set
# CONFIG_UART8_RS485 is not set
# CONFIG_UART8_RXDMA is not set
CONFIG_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32_USART_SINGLEWIRE=y
# Previous:
## CONFIG_USART1_RS485 is not set
#CONFIG_USART1_RXDMA=y
## CONFIG_USART2_RS485 is not set
#CONFIG_USART2_RXDMA=y
## CONFIG_USART3_RS485 is not set
#CONFIG_USART3_RXDMA=y
## CONFIG_UART4_RS485 is not set
#CONFIG_UART4_RXDMA=y
## CONFIG_UART5_RXDMA is not set
## CONFIG_USART6_RS485 is not set
## CONFIG_USART6_RXDMA is not set
## CONFIG_USART7_RXDMA is not set
#CONFIG_USART8_RXDMA=y
#CONFIG_STM32_USART_SINGLEWIRE=y
#
# SPI Configuration
#
@@ -323,25 +329,7 @@ CONFIG_STM32_I2CTIMEOTICKS=500
#
# SDIO Configuration
#
#
# Maintain legacy build behavior (revisit)
#
CONFIG_MMCSD=y
#CONFIG_MMCSD_SPI=y
CONFIG_MMCSD_SDIO=y
CONFIG_MTD=y
#
# STM32 SDIO-based MMC/SD driver
#
CONFIG_SDIO_DMA=y
# CONFIG_SDIO_DMAPRIO is not set
# CONFIG_SDIO_WIDTH_D1_ONLY is not set
CONFIG_MMCSD_MULTIBLOCK_DISABLE=y
CONFIG_MMCSD_MMCSUPPORT=n
CONFIG_MMCSD_HAVECARDDETECT=n
CONFIG_SDIO_PRI=128
#
# USB Host Configuration
@@ -393,15 +381,14 @@ CONFIG_BOOT_RUNFROMFLASH=y
#
# Board Selection
#
CONFIG_ARCH_BOARD_PX4FMU_V2=y
# CONFIG_ARCH_BOARD_CUSTOM is not set
CONFIG_ARCH_BOARD="px4fmu-v2"
CONFIG_ARCH_BOARD_CUSTOM=y
CONFIG_ARCH_BOARD=""
#
# Common Board Options
#
CONFIG_NSH_MMCSDSLOTNO=0
CONFIG_NSH_MMCSDMINOR=0
CONFIG_NSH_MMCSDSLOTNO=0
#
# Board-Specific Options
@@ -497,7 +484,16 @@ CONFIG_WATCHDOG=y
# CONFIG_BCH is not set
# CONFIG_INPUT is not set
# CONFIG_LCD is not set
# CONFIG_MMCSD is not set
CONFIG_MMCSD=y
CONFIG_MMCSD_NSLOTS=1
# CONFIG_MMCSD_READONLY is not set
CONFIG_MMCSD_MULTIBLOCK_DISABLE=y
# CONFIG_MMCSD_MMCSUPPORT is not set
# CONFIG_MMCSD_HAVECARDDETECT is not set
# CONFIG_MMCSD_SPI is not set
CONFIG_MMCSD_SDIO=y
# CONFIG_SDIO_MUXBUS is not set
# CONFIG_SDIO_BLOCKSETUP is not set
CONFIG_MTD=y
#
@@ -523,7 +519,7 @@ CONFIG_PIPES=y
# CONFIG_POWER is not set
# CONFIG_SENSORS is not set
CONFIG_SERIAL=y
CONFIG_DEV_LOWCONSOLE=y
# CONFIG_DEV_LOWCONSOLE is not set
CONFIG_SERIAL_REMOVABLE=y
# CONFIG_16550_UART is not set
CONFIG_ARCH_HAVE_UART4=y
@@ -536,6 +532,7 @@ CONFIG_ARCH_HAVE_USART6=y
CONFIG_MCU_SERIAL=y
CONFIG_STANDARD_SERIAL=y
CONFIG_SERIAL_NPOLLWAITERS=2
# CONFIG_SERIAL_TIOCSERGSTRUCT is not set
# CONFIG_USART1_SERIAL_CONSOLE is not set
# CONFIG_USART2_SERIAL_CONSOLE is not set
# CONFIG_USART3_SERIAL_CONSOLE is not set
@@ -640,7 +637,6 @@ CONFIG_USBDEV=y
# CONFIG_USBDEV_SELFPOWERED is not set
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
# CONFIG_USBDEV_REMOTEWAKEUP is not set
# CONFIG_USBDEV_DMA is not set
# CONFIG_USBDEV_TRACE is not set
@@ -650,7 +646,7 @@ CONFIG_USBDEV_MAXPOWER=500
# CONFIG_USBDEV_COMPOSITE is not set
# CONFIG_PL2303 is not set
CONFIG_CDCACM=y
CONFIG_CDCACM_CONSOLE=n
# CONFIG_CDCACM_CONSOLE is not set
CONFIG_CDCACM_EP0MAXPACKET=64
CONFIG_CDCACM_EPINTIN=1
CONFIG_CDCACM_EPINTIN_FSSIZE=64
@@ -702,7 +698,7 @@ CONFIG_FAT_LCNAMES=y
CONFIG_FAT_LFN=y
CONFIG_FAT_MAXFNAME=32
CONFIG_FS_FATTIME=y
# CONFIG_FAT_DMAMEMORY is not set
CONFIG_FAT_DMAMEMORY=y
CONFIG_FS_NXFFS=y
CONFIG_NXFFS_PREALLOCATED=y
CONFIG_NXFFS_ERASEDSTATE=0xff
@@ -716,10 +712,8 @@ CONFIG_FS_BINFS=y
#
# System Logging
#
CONFIG_SYSLOG_ENABLE=y
CONFIG_SYSLOG=y
CONFIG_SYSLOG_CHAR=y
CONFIG_SYSLOG_DEVPATH="/dev/ttyS6"
# CONFIG_SYSLOG_ENABLE is not set
# CONFIG_SYSLOG is not set
#
# Graphics Support
@@ -733,8 +727,9 @@ CONFIG_SYSLOG_DEVPATH="/dev/ttyS6"
# CONFIG_MM_SMALL is not set
CONFIG_MM_REGIONS=2
CONFIG_GRAN=y
CONFIG_GRAN_SINGLE=y
CONFIG_GRAN_INTR=y
# CONFIG_GRAN_SINGLE is not set
# CONFIG_GRAN_INTR is not set
# CONFIG_DEBUG_GRAN is not set
#
# Audio Support
@@ -1002,6 +997,7 @@ CONFIG_NSH_CONSOLE=y
#
# USB Trace Support
#
# CONFIG_NSH_USBDEV_TRACE is not set
# CONFIG_NSH_CONDEV is not set
CONFIG_NSH_ARCHINIT=y
@@ -1031,6 +1027,7 @@ CONFIG_NSH_ARCHINIT=y
#
# FLASH Erase-all Command
#
# CONFIG_SYSTEM_FLASH_ERASEALL is not set
#
# readline()
src/drivers/boards/px4fmu-v2/px4fmu2_init.c
+67 -1
View File
@@ -58,6 +58,7 @@
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
#include <nuttx/gran.h>
#include <stm32.h>
#include "board_config.h"
@@ -69,6 +70,7 @@
#include <drivers/drv_led.h>
#include <systemlib/cpuload.h>
#include <systemlib/perf_counter.h>
/****************************************************************************
* Pre-Processor Definitions
@@ -96,10 +98,70 @@
* Protected Functions
****************************************************************************/
#if defined(CONFIG_FAT_DMAMEMORY)
# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
# error microSD DMA support requires CONFIG_GRAN
# endif
static GRAN_HANDLE dma_allocator;
/*
* The DMA heap size constrains the total number of things that can be
* ready to do DMA at a time.
*
* For example, FAT DMA depends on one sector-sized buffer per filesystem plus
* one sector-sized buffer per file.
*
* We use a fundamental alignment / granule size of 64B; this is sufficient
* to guarantee alignment for the largest STM32 DMA burst (16 beats x 32bits).
*/
static uint8_t g_dma_heap[8192] __attribute__((aligned(64)));
static perf_counter_t g_dma_perf;
static void
dma_alloc_init(void)
{
dma_allocator = gran_initialize(g_dma_heap,
sizeof(g_dma_heap),
7, /* 128B granule - must be > alignment (XXX bug?) */
6); /* 64B alignment */
if (dma_allocator == NULL) {
message("[boot] DMA allocator setup FAILED");
} else {
g_dma_perf = perf_alloc(PC_COUNT, "DMA allocations");
}
}
/****************************************************************************
* Public Functions
****************************************************************************/
/*
* DMA-aware allocator stubs for the FAT filesystem.
*/
__EXPORT void *fat_dma_alloc(size_t size);
__EXPORT void fat_dma_free(FAR void *memory, size_t size);
void *
fat_dma_alloc(size_t size)
{
perf_count(g_dma_perf);
return gran_alloc(dma_allocator, size);
}
void
fat_dma_free(FAR void *memory, size_t size)
{
gran_free(dma_allocator, memory, size);
}
#else
# define dma_alloc_init()
#endif
/************************************************************************************
* Name: stm32_boardinitialize
*
@@ -110,7 +172,8 @@
*
************************************************************************************/
__EXPORT void stm32_boardinitialize(void)
__EXPORT void
stm32_boardinitialize(void)
{
/* configure SPI interfaces */
stm32_spiinitialize();
@@ -170,6 +233,9 @@ __EXPORT int nsh_archinitialize(void)
/* configure the high-resolution time/callout interface */
hrt_init();
/* configure the DMA allocator */
dma_alloc_init();
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
src/drivers/device/spi.cpp
+29 -5
View File
@@ -67,6 +67,7 @@ SPI::SPI(const char *name,
CDev(name, devname, irq),
// public
// protected
locking_mode(LOCK_PREEMPTION),
// private
_bus(bus),
_device(device),
@@ -132,13 +133,25 @@ SPI::probe()
int
SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
{
irqstate_t state;
if ((send == nullptr) && (recv == nullptr))
return -EINVAL;
/* do common setup */
if (!up_interrupt_context())
SPI_LOCK(_dev, true);
/* lock the bus as required */
if (!up_interrupt_context()) {
switch (locking_mode) {
default:
case LOCK_PREEMPTION:
state = irqsave();
break;
case LOCK_THREADS:
SPI_LOCK(_dev, true);
break;
case LOCK_NONE:
break;
}
}
SPI_SETFREQUENCY(_dev, _frequency);
SPI_SETMODE(_dev, _mode);
@@ -151,8 +164,19 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
/* and clean up */
SPI_SELECT(_dev, _device, false);
if (!up_interrupt_context())
SPI_LOCK(_dev, false);
if (!up_interrupt_context()) {
switch (locking_mode) {
default:
case LOCK_PREEMPTION:
irqrestore(state);
break;
case LOCK_THREADS:
SPI_LOCK(_dev, false);
break;
case LOCK_NONE:
break;
}
}
return OK;
}
src/drivers/device/spi.h
+11
View File
@@ -101,6 +101,17 @@ protected:
*/
int transfer(uint8_t *send, uint8_t *recv, unsigned len);
/**
* Locking modes supported by the driver.
*/
enum LockMode {
LOCK_PREEMPTION, /**< the default; lock against all forms of preemption. */
LOCK_THREADS, /**< lock only against other threads, using SPI_LOCK */
LOCK_NONE /**< perform no locking, only safe if the bus is entirely private */
};
LockMode locking_mode; /**< selected locking mode */
private:
int _bus;
enum spi_dev_e _device;
src/drivers/drv_pwm_output.h
+3
View File
@@ -118,6 +118,9 @@ ORB_DECLARE(output_pwm);
/** start DSM bind */
#define DSM_BIND_START _IOC(_PWM_SERVO_BASE, 7)
#define DSM2_BIND_PULSES 3 /* DSM_BIND_START ioctl parameter, pulses required to start dsm2 pairing */
#define DSMX_BIND_PULSES 7 /* DSM_BIND_START ioctl parameter, pulses required to start dsmx pairing */
/** Power up DSM receiver */
#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 8)
src/drivers/drv_tone_alarm.h
+2
View File
@@ -60,6 +60,8 @@
#include <sys/ioctl.h>
#define TONEALARM_DEVICE_PATH "/dev/tone_alarm"
#define _TONE_ALARM_BASE 0x7400
#define TONE_SET_ALARM _IOC(_TONE_ALARM_BASE, 1)
src/drivers/hmc5883/hmc5883.cpp
-4
View File
@@ -1292,10 +1292,6 @@ test()
if (fd < 0)
err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);
/* set the queue depth to 10 */
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10))
errx(1, "failed to set queue depth");
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
src/drivers/l3gd20/l3gd20.cpp
-3
View File
@@ -367,7 +367,6 @@ out:
int
L3GD20::probe()
{
irqstate_t flags = irqsave();
/* read dummy value to void to clear SPI statemachine on sensor */
(void)read_reg(ADDR_WHO_AM_I);
@@ -393,8 +392,6 @@ L3GD20::probe()
success = true;
}
irqrestore(flags);
if (success)
return OK;
src/drivers/lsm303d/lsm303d.cpp
+1 -5
View File
@@ -525,7 +525,6 @@ out:
void
LSM303D::reset()
{
irqstate_t flags = irqsave();
/* enable accel*/
write_reg(ADDR_CTRL_REG1, REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE);
@@ -540,7 +539,6 @@ LSM303D::reset()
mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA);
mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE);
irqrestore(flags);
_accel_read = 0;
_mag_read = 0;
@@ -549,15 +547,12 @@ LSM303D::reset()
int
LSM303D::probe()
{
irqstate_t flags = irqsave();
/* read dummy value to void to clear SPI statemachine on sensor */
(void)read_reg(ADDR_WHO_AM_I);
/* verify that the device is attached and functioning */
bool success = (read_reg(ADDR_WHO_AM_I) == WHO_I_AM);
irqrestore(flags);
if (success)
return OK;
@@ -1013,6 +1008,7 @@ LSM303D::accel_set_range(unsigned max_g)
_accel_range_scale = new_scale_g_digit * LSM303D_ONE_G;
modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
return OK;
src/drivers/ms5611/ms5611_spi.cpp
+1 -15
View File
@@ -142,23 +142,15 @@ MS5611_SPI::init()
goto out;
}
/* disable interrupts, make this section atomic */
flags = irqsave();
/* send reset command */
ret = _reset();
/* re-enable interrupts */
irqrestore(flags);
if (ret != OK) {
debug("reset failed");
goto out;
}
/* disable interrupts, make this section atomic */
flags = irqsave();
/* read PROM */
ret = _read_prom();
/* re-enable interrupts */
irqrestore(flags);
if (ret != OK) {
debug("prom readout failed");
goto out;
@@ -270,13 +262,7 @@ MS5611_SPI::_reg16(unsigned reg)
int
MS5611_SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len)
{
irqstate_t flags = irqsave();
int ret = transfer(send, recv, len);
irqrestore(flags);
return ret;
return transfer(send, recv, len);
}
#endif /* PX4_SPIDEV_BARO */
src/drivers/px4io/px4io.cpp
+103 -58
View File
@@ -241,7 +241,8 @@ private:
volatile int _task; ///<worker task id
volatile bool _task_should_exit; ///<worker terminate flag
int _mavlink_fd; ///<mavlink file descriptor
int _mavlink_fd; ///<mavlink file descriptor. This is opened by class instantiation and Doesn't appear to be usable in main thread.
int _thread_mavlink_fd; ///<mavlink file descriptor for thread.
perf_counter_t _perf_update; ///<local performance counter
@@ -254,6 +255,7 @@ private:
int _t_actuator_armed; ///< system armed control topic
int _t_vehicle_control_mode;///< vehicle control mode topic
int _t_param; ///< parameter update topic
int _t_vehicle_command; ///< vehicle command topic
/* advertised topics */
orb_advert_t _to_input_rc; ///< rc inputs from io
@@ -274,6 +276,7 @@ private:
bool _dsm_vcc_ctl; ///<true if relay 1 controls DSM satellite RX power
/**
* Trampoline to the worker task
*/
@@ -389,7 +392,7 @@ private:
/**
* Send mixer definition text to IO
*/
int mixer_send(const char *buf, unsigned buflen);
int mixer_send(const char *buf, unsigned buflen, unsigned retries=3);
/**
* Handle a status update from IO.
@@ -409,6 +412,13 @@ private:
*/
int io_handle_alarms(uint16_t alarms);
/**
* Handle issuing dsm bind ioctl to px4io.
*
* @param dsmMode 0:dsm2, 1:dsmx
*/
void dsm_bind_ioctl(int dsmMode);
};
@@ -433,6 +443,7 @@ PX4IO::PX4IO(device::Device *interface) :
_task(-1),
_task_should_exit(false),
_mavlink_fd(-1),
_thread_mavlink_fd(-1),
_perf_update(perf_alloc(PC_ELAPSED, "px4io update")),
_status(0),
_alarms(0),
@@ -440,6 +451,7 @@ PX4IO::PX4IO(device::Device *interface) :
_t_actuator_armed(-1),
_t_vehicle_control_mode(-1),
_t_param(-1),
_t_vehicle_command(-1),
_to_input_rc(0),
_to_actuators_effective(0),
_to_outputs(0),
@@ -710,10 +722,10 @@ void
PX4IO::task_main()
{
hrt_abstime last_poll_time = 0;
int mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
log("starting");
_thread_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
/*
* Subscribe to the appropriate PWM output topic based on whether we are the
@@ -732,16 +744,20 @@ PX4IO::task_main()
_t_param = orb_subscribe(ORB_ID(parameter_update));
orb_set_interval(_t_param, 500); /* 2Hz update rate max. */
_t_vehicle_command = orb_subscribe(ORB_ID(vehicle_command));
orb_set_interval(_t_param, 1000); /* 1Hz update rate max. */
if ((_t_actuators < 0) ||
(_t_actuator_armed < 0) ||
(_t_vehicle_control_mode < 0) ||
(_t_param < 0)) {
(_t_param < 0) ||
(_t_vehicle_command < 0)) {
log("subscription(s) failed");
goto out;
}
/* poll descriptor */
pollfd fds[4];
pollfd fds[5];
fds[0].fd = _t_actuators;
fds[0].events = POLLIN;
fds[1].fd = _t_actuator_armed;
@@ -750,8 +766,10 @@ PX4IO::task_main()
fds[2].events = POLLIN;
fds[3].fd = _t_param;
fds[3].events = POLLIN;
fds[4].fd = _t_vehicle_command;
fds[4].events = POLLIN;
debug("ready");
log("ready");
/* lock against the ioctl handler */
lock();
@@ -791,6 +809,16 @@ PX4IO::task_main()
if ((fds[1].revents & POLLIN) || (fds[2].revents & POLLIN))
io_set_arming_state();
/* if we have a vehicle command, handle it */
if (fds[4].revents & POLLIN) {
struct vehicle_command_s cmd;
orb_copy(ORB_ID(vehicle_command), _t_vehicle_command, &cmd);
// Check for a DSM pairing command
if ((cmd.command == VEHICLE_CMD_START_RX_PAIR) && (cmd.param1== 0.0f)) {
dsm_bind_ioctl((int)cmd.param2);
}
}
/*
* If it's time for another tick of the polling status machine,
* try it now.
@@ -825,20 +853,11 @@ PX4IO::task_main()
int32_t dsm_bind_val;
param_t dsm_bind_param;
// See if bind parameter has been set, and reset it to 0
// See if bind parameter has been set, and reset it to -1
param_get(dsm_bind_param = param_find("RC_DSM_BIND"), &dsm_bind_val);
if (dsm_bind_val) {
if (!(_status & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
if ((dsm_bind_val == 1) || (dsm_bind_val == 2)) {
mavlink_log_info(mavlink_fd, "[IO] binding dsm%c rx", dsm_bind_val == 1 ? '2' : 'x');
ioctl(nullptr, DSM_BIND_START, dsm_bind_val == 1 ? 3 : 7);
} else {
mavlink_log_info(mavlink_fd, "[IO] invalid bind type, bind request rejected");
}
} else {
mavlink_log_info(mavlink_fd, "[IO] system armed, bind request rejected");
}
dsm_bind_val = 0;
if (dsm_bind_val >= 0) {
dsm_bind_ioctl(dsm_bind_val);
dsm_bind_val = -1;
param_set(dsm_bind_param, &dsm_bind_val);
}
@@ -1145,6 +1164,23 @@ PX4IO::io_handle_status(uint16_t status)
return ret;
}
void
PX4IO::dsm_bind_ioctl(int dsmMode)
{
if (!(_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) {
/* 0: dsm2, 1:dsmx */
if ((dsmMode >= 0) && (dsmMode <= 1)) {
mavlink_log_info(_thread_mavlink_fd, "[IO] binding dsm%c rx", (dsmMode == 0) ? '2' : 'x');
ioctl(nullptr, DSM_BIND_START, (dsmMode == 0) ? DSM2_BIND_PULSES : DSMX_BIND_PULSES);
} else {
mavlink_log_info(_thread_mavlink_fd, "[IO] invalid dsm bind mode, bind request rejected");
}
} else {
mavlink_log_info(_thread_mavlink_fd, "[IO] system armed, bind request rejected");
}
}
int
PX4IO::io_handle_alarms(uint16_t alarms)
{
@@ -1432,61 +1468,70 @@ PX4IO::io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t
}
int
PX4IO::mixer_send(const char *buf, unsigned buflen)
PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
{
uint8_t frame[_max_transfer];
px4io_mixdata *msg = (px4io_mixdata *)&frame[0];
unsigned max_len = _max_transfer - sizeof(px4io_mixdata);
msg->f2i_mixer_magic = F2I_MIXER_MAGIC;
msg->action = F2I_MIXER_ACTION_RESET;
uint8_t frame[_max_transfer];
do {
unsigned count = buflen;
if (count > max_len)
count = max_len;
px4io_mixdata *msg = (px4io_mixdata *)&frame[0];
unsigned max_len = _max_transfer - sizeof(px4io_mixdata);
if (count > 0) {
memcpy(&msg->text[0], buf, count);
buf += count;
buflen -= count;
}
msg->f2i_mixer_magic = F2I_MIXER_MAGIC;
msg->action = F2I_MIXER_ACTION_RESET;
/*
* We have to send an even number of bytes. This
* will only happen on the very last transfer of a
* mixer, and we are guaranteed that there will be
* space left to round up as _max_transfer will be
* even.
*/
unsigned total_len = sizeof(px4io_mixdata) + count;
if (total_len % 1) {
msg->text[count] = '\0';
total_len++;
}
do {
unsigned count = buflen;
int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, total_len / 2);
if (count > max_len)
count = max_len;
if (ret) {
log("mixer send error %d", ret);
return ret;
}
if (count > 0) {
memcpy(&msg->text[0], buf, count);
buf += count;
buflen -= count;
}
msg->action = F2I_MIXER_ACTION_APPEND;
/*
* We have to send an even number of bytes. This
* will only happen on the very last transfer of a
* mixer, and we are guaranteed that there will be
* space left to round up as _max_transfer will be
* even.
*/
unsigned total_len = sizeof(px4io_mixdata) + count;
if (total_len % 1) {
msg->text[count] = '\0';
total_len++;
}
} while (buflen > 0);
int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, total_len / 2);
if (ret) {
log("mixer send error %d", ret);
return ret;
}
msg->action = F2I_MIXER_ACTION_APPEND;
} while (buflen > 0);
retries--;
log("mixer sent");
} while (retries > 0 && (!(io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK)));
/* check for the mixer-OK flag */
if (io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK) {
debug("mixer upload OK");
mavlink_log_info(_mavlink_fd, "[IO] mixer upload ok");
return 0;
} else {
debug("mixer rejected by IO");
mavlink_log_info(_mavlink_fd, "[IO] mixer upload fail");
}
log("mixer rejected by IO");
mavlink_log_info(_mavlink_fd, "[IO] mixer upload fail");
/* load must have failed for some reason */
return -EINVAL;
}
@@ -1999,9 +2044,9 @@ bind(int argc, char *argv[])
errx(0, "needs argument, use dsm2 or dsmx");
if (!strcmp(argv[2], "dsm2"))
pulses = 3;
pulses = DSM2_BIND_PULSES;
else if (!strcmp(argv[2], "dsmx"))
pulses = 7;
pulses = DSMX_BIND_PULSES;
else
errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]);
src/drivers/stm32/tone_alarm/tone_alarm.cpp
+5 -5
View File
@@ -317,7 +317,7 @@ extern "C" __EXPORT int tone_alarm_main(int argc, char *argv[]);
ToneAlarm::ToneAlarm() :
CDev("tone_alarm", "/dev/tone_alarm"),
CDev("tone_alarm", TONEALARM_DEVICE_PATH),
_default_tune_number(0),
_user_tune(nullptr),
_tune(nullptr),
@@ -820,10 +820,10 @@ play_tune(unsigned tune)
{
int fd, ret;
fd = open("/dev/tone_alarm", 0);
fd = open(TONEALARM_DEVICE_PATH, 0);
if (fd < 0)
err(1, "/dev/tone_alarm");
err(1, TONEALARM_DEVICE_PATH);
ret = ioctl(fd, TONE_SET_ALARM, tune);
close(fd);
@@ -839,10 +839,10 @@ play_string(const char *str, bool free_buffer)
{
int fd, ret;
fd = open("/dev/tone_alarm", O_WRONLY);
fd = open(TONEALARM_DEVICE_PATH, O_WRONLY);
if (fd < 0)
err(1, "/dev/tone_alarm");
err(1, TONEALARM_DEVICE_PATH);
ret = write(fd, str, strlen(str) + 1);
close(fd);
src/modules/commander/commander.cpp
+65 -39
View File
@@ -369,7 +369,13 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
transition_result_t arming_res = TRANSITION_NOT_CHANGED;
if (base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed);
if (safety->safety_switch_available && !safety->safety_off) {
print_reject_arm("NOT ARMING: Press safety switch first.");
arming_res = TRANSITION_DENIED;
} else {
arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed);
}
if (arming_res == TRANSITION_CHANGED) {
mavlink_log_info(mavlink_fd, "[cmd] ARMED by command");
@@ -561,7 +567,7 @@ int commander_thread_main(int argc, char *argv[])
/* flags for control apps */
struct vehicle_control_mode_s control_mode;
/* Initialize all flags to false */
memset(&control_mode, 0, sizeof(control_mode));
@@ -1083,10 +1089,18 @@ int commander_thread_main(int argc, char *argv[])
/* check if left stick is in lower right position and we're in MANUAL mode -> arm */
if (status.arming_state == ARMING_STATE_STANDBY &&
status.main_state == MAIN_STATE_MANUAL &&
sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
if (safety.safety_switch_available && !safety.safety_off) {
print_reject_arm("NOT ARMING: Press safety switch first.");
} else if (status.main_state != MAIN_STATE_MANUAL) {
print_reject_arm("NOT ARMING: Switch to MANUAL mode first.");
} else {
res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
}
stick_on_counter = 0;
} else {
@@ -1106,15 +1120,8 @@ int commander_thread_main(int argc, char *argv[])
}
} else if (res == TRANSITION_DENIED) {
/* DENIED here indicates safety switch not pressed */
if (!(!safety.safety_switch_available || safety.safety_off)) {
print_reject_arm("NOT ARMING: Press safety switch first.");
} else {
warnx("ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch);
mavlink_log_critical(mavlink_fd, "[cmd] ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch);
}
warnx("ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch);
mavlink_log_critical(mavlink_fd, "[cmd] ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch);
}
/* fill current_status according to mode switches */
@@ -1228,6 +1235,7 @@ int commander_thread_main(int argc, char *argv[])
/* wait for threads to complete */
ret = pthread_join(commander_low_prio_thread, NULL);
if (ret) {
warn("join failed", ret);
}
@@ -1295,8 +1303,10 @@ toggle_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool chang
if (armed->armed) {
rgbled_set_mode(RGBLED_MODE_ON);
} else if (armed->ready_to_arm) {
rgbled_set_mode(RGBLED_MODE_BREATHE);
} else {
rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
}
@@ -1304,29 +1314,35 @@ toggle_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool chang
if (status->battery_warning != VEHICLE_BATTERY_WARNING_NONE) {
switch (status->battery_warning) {
case VEHICLE_BATTERY_WARNING_LOW:
rgbled_set_color(RGBLED_COLOR_YELLOW);
break;
case VEHICLE_BATTERY_WARNING_CRITICAL:
rgbled_set_color(RGBLED_COLOR_AMBER);
break;
default:
break;
case VEHICLE_BATTERY_WARNING_LOW:
rgbled_set_color(RGBLED_COLOR_YELLOW);
break;
case VEHICLE_BATTERY_WARNING_CRITICAL:
rgbled_set_color(RGBLED_COLOR_AMBER);
break;
default:
break;
}
} else {
switch (status->main_state) {
case MAIN_STATE_MANUAL:
rgbled_set_color(RGBLED_COLOR_WHITE);
break;
case MAIN_STATE_SEATBELT:
case MAIN_STATE_EASY:
rgbled_set_color(RGBLED_COLOR_GREEN);
break;
case MAIN_STATE_AUTO:
rgbled_set_color(RGBLED_COLOR_BLUE);
break;
default:
break;
case MAIN_STATE_MANUAL:
rgbled_set_color(RGBLED_COLOR_WHITE);
break;
case MAIN_STATE_SEATBELT:
case MAIN_STATE_EASY:
rgbled_set_color(RGBLED_COLOR_GREEN);
break;
case MAIN_STATE_AUTO:
rgbled_set_color(RGBLED_COLOR_BLUE);
break;
default:
break;
}
}
@@ -1497,16 +1513,18 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c
return TRANSITION_NOT_CHANGED;
}
}
if (status->navigation_state != NAVIGATION_STATE_AUTO_TAKEOFF &&
status->navigation_state != NAVIGATION_STATE_AUTO_LOITER &&
status->navigation_state != NAVIGATION_STATE_AUTO_MISSION &&
status->navigation_state != NAVIGATION_STATE_AUTO_RTL) {
status->navigation_state != NAVIGATION_STATE_AUTO_LOITER &&
status->navigation_state != NAVIGATION_STATE_AUTO_MISSION &&
status->navigation_state != NAVIGATION_STATE_AUTO_RTL) {
/* possibly on ground, switch to TAKEOFF if needed */
if (local_pos->z > -takeoff_alt || status->condition_landed) {
res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode);
return res;
}
}
/* switch to AUTO mode */
if (status->rc_signal_found_once && !status->rc_signal_lost) {
/* act depending on switches when manual control enabled */
@@ -1524,18 +1542,20 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c
res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_LOITER, control_mode);
}
}
} else {
/* switch to MISSION when no RC control and first time in some AUTO mode */
if (status->navigation_state == NAVIGATION_STATE_AUTO_LOITER ||
status->navigation_state == NAVIGATION_STATE_AUTO_MISSION ||
status->navigation_state == NAVIGATION_STATE_AUTO_RTL ||
status->navigation_state == NAVIGATION_STATE_AUTO_LAND) {
status->navigation_state == NAVIGATION_STATE_AUTO_MISSION ||
status->navigation_state == NAVIGATION_STATE_AUTO_RTL ||
status->navigation_state == NAVIGATION_STATE_AUTO_LAND) {
res = TRANSITION_NOT_CHANGED;
} else {
res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_MISSION, control_mode);
}
}
} else {
/* disarmed, always switch to AUTO_READY */
res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_READY, control_mode);
@@ -1762,35 +1782,41 @@ void *commander_low_prio_loop(void *arg)
if (((int)(cmd.param1)) == 0) {
int ret = param_load_default();
if (ret == OK) {
mavlink_log_info(mavlink_fd, "[cmd] parameters loaded");
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
} else {
mavlink_log_critical(mavlink_fd, "[cmd] parameters load ERROR");
/* convenience as many parts of NuttX use negative errno */
if (ret < 0)
ret = -ret;
if (ret < 1000)
mavlink_log_critical(mavlink_fd, "[cmd] %s", strerror(ret));
answer_command(cmd, VEHICLE_CMD_RESULT_FAILED);
}
} else if (((int)(cmd.param1)) == 1) {
int ret = param_save_default();
if (ret == OK) {
mavlink_log_info(mavlink_fd, "[cmd] parameters saved");
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
} else {
mavlink_log_critical(mavlink_fd, "[cmd] parameters save error");
/* convenience as many parts of NuttX use negative errno */
if (ret < 0)
ret = -ret;
if (ret < 1000)
mavlink_log_critical(mavlink_fd, "[cmd] %s", strerror(ret));
answer_command(cmd, VEHICLE_CMD_RESULT_FAILED);
}
}
src/modules/commander/commander_helper.cpp
+1 -1
View File
@@ -82,7 +82,7 @@ static int buzzer;
int buzzer_init()
{
buzzer = open("/dev/tone_alarm", O_WRONLY);
buzzer = open(TONEALARM_DEVICE_PATH, O_WRONLY);
if (buzzer < 0) {
warnx("Buzzer: open fail\n");
src/modules/multirotor_pos_control/multirotor_pos_control.c
+69 -48
View File
@@ -212,17 +212,17 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
orb_advert_t global_vel_sp_pub = orb_advertise(ORB_ID(vehicle_global_velocity_setpoint), &global_vel_sp);
orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
bool global_pos_sp_reproject = false;
bool reset_mission_sp = false;
bool global_pos_sp_valid = false;
bool local_pos_sp_valid = false;
bool reset_sp_z = true;
bool reset_sp_xy = true;
bool reset_man_sp_z = true;
bool reset_man_sp_xy = true;
bool reset_int_z = true;
bool reset_int_z_manual = false;
bool reset_int_xy = true;
bool was_armed = false;
bool reset_integral = true;
bool reset_auto_pos = true;
bool reset_auto_sp_xy = true;
bool reset_auto_sp_z = true;
bool reset_takeoff_sp = true;
hrt_abstime t_prev = 0;
const float alt_ctl_dz = 0.2f;
@@ -270,11 +270,11 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
/* use integral_limit_out = tilt_max / 2 */
float i_limit;
if (params.xy_vel_i == 0.0f) {
if (params.xy_vel_i > 0.0f) {
i_limit = params.tilt_max / params.xy_vel_i / 2.0f;
} else {
i_limit = 1.0f; // not used really
i_limit = 0.0f; // not used
}
pid_set_parameters(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, i_limit, params.tilt_max);
@@ -297,7 +297,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(vehicle_global_position_setpoint), global_pos_sp_sub, &global_pos_sp);
global_pos_sp_valid = true;
global_pos_sp_reproject = true;
reset_mission_sp = true;
}
hrt_abstime t = hrt_absolute_time();
@@ -312,8 +312,11 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
if (control_mode.flag_armed && !was_armed) {
/* reset setpoints and integrals on arming */
reset_sp_z = true;
reset_sp_xy = true;
reset_man_sp_z = true;
reset_man_sp_xy = true;
reset_auto_sp_z = true;
reset_auto_sp_xy = true;
reset_takeoff_sp = true;
reset_int_z = true;
reset_int_xy = true;
}
@@ -348,8 +351,8 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
/* reset setpoints to current position if needed */
if (control_mode.flag_control_altitude_enabled) {
if (reset_sp_z) {
reset_sp_z = false;
if (reset_man_sp_z) {
reset_man_sp_z = false;
local_pos_sp.z = local_pos.z;
mavlink_log_info(mavlink_fd, "[mpc] reset alt sp: %.2f", (double) - local_pos_sp.z);
}
@@ -371,8 +374,8 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
}
if (control_mode.flag_control_position_enabled) {
if (reset_sp_xy) {
reset_sp_xy = false;
if (reset_man_sp_xy) {
reset_man_sp_xy = false;
local_pos_sp.x = local_pos.x;
local_pos_sp.y = local_pos.y;
pid_reset_integral(&xy_vel_pids[0]);
@@ -407,39 +410,43 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
local_pos_sp.yaw = att_sp.yaw_body;
/* local position setpoint is valid and can be used for loiter after position controlled mode */
local_pos_sp_valid = control_mode.flag_control_position_enabled;
reset_auto_pos = true;
/* local position setpoint is valid and can be used for auto loiter after position controlled mode */
reset_auto_sp_xy = !control_mode.flag_control_position_enabled;
reset_auto_sp_z = !control_mode.flag_control_altitude_enabled;
reset_takeoff_sp = true;
/* force reprojection of global setpoint after manual mode */
global_pos_sp_reproject = true;
reset_mission_sp = true;
} else if (control_mode.flag_control_auto_enabled) {
/* AUTO mode, use global setpoint */
if (control_mode.auto_state == NAVIGATION_STATE_AUTO_READY) {
reset_auto_pos = true;
reset_auto_sp_xy = true;
reset_auto_sp_z = true;
} else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_TAKEOFF) {
if (reset_auto_pos) {
if (reset_takeoff_sp) {
reset_takeoff_sp = false;
local_pos_sp.x = local_pos.x;
local_pos_sp.y = local_pos.y;
local_pos_sp.z = - params.takeoff_alt - params.takeoff_gap;
local_pos_sp.yaw = att.yaw;
local_pos_sp_valid = true;
att_sp.yaw_body = att.yaw;
reset_auto_pos = false;
mavlink_log_info(mavlink_fd, "[mpc] takeoff sp: %.2f %.2f %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y, (double) - local_pos_sp.z);
}
reset_auto_sp_xy = false;
reset_auto_sp_z = true;
} else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_RTL) {
// TODO
reset_auto_pos = true;
reset_auto_sp_xy = true;
reset_auto_sp_z = true;
} else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_MISSION) {
/* init local projection using local position ref */
if (local_pos.ref_timestamp != local_ref_timestamp) {
global_pos_sp_reproject = true;
reset_mission_sp = true;
local_ref_timestamp = local_pos.ref_timestamp;
double lat_home = local_pos.ref_lat * 1e-7;
double lon_home = local_pos.ref_lon * 1e-7;
@@ -447,9 +454,9 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
mavlink_log_info(mavlink_fd, "[mpc] local pos ref: %.7f, %.7f", (double)lat_home, (double)lon_home);
}
if (global_pos_sp_reproject) {
if (reset_mission_sp) {
reset_mission_sp = false;
/* update global setpoint projection */
global_pos_sp_reproject = false;
if (global_pos_sp_valid) {
/* global position setpoint valid, use it */
@@ -471,33 +478,43 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
mavlink_log_info(mavlink_fd, "[mpc] new sp: %.7f, %.7f (%.2f, %.2f)", (double)sp_lat, sp_lon, (double)local_pos_sp.x, (double)local_pos_sp.y);
} else {
if (!local_pos_sp_valid) {
if (reset_auto_sp_xy) {
reset_auto_sp_xy = false;
/* local position setpoint is invalid,
* use current position as setpoint for loiter */
local_pos_sp.x = local_pos.x;
local_pos_sp.y = local_pos.y;
local_pos_sp.z = local_pos.z;
local_pos_sp.yaw = att.yaw;
local_pos_sp_valid = true;
att_sp.yaw_body = global_pos_sp.yaw;
}
if (reset_auto_sp_z) {
reset_auto_sp_z = false;
local_pos_sp.z = local_pos.z;
}
mavlink_log_info(mavlink_fd, "[mpc] no global pos sp, loiter: %.2f, %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y);
}
}
reset_auto_pos = true;
reset_auto_sp_xy = true;
reset_auto_sp_z = true;
}
if (control_mode.auto_state != NAVIGATION_STATE_AUTO_TAKEOFF) {
reset_takeoff_sp = true;
}
if (control_mode.auto_state != NAVIGATION_STATE_AUTO_MISSION) {
global_pos_sp_reproject = true;
reset_mission_sp = true;
}
/* reset setpoints after AUTO mode */
reset_sp_xy = true;
reset_sp_z = true;
reset_man_sp_xy = true;
reset_man_sp_z = true;
} else {
/* no control, loiter or stay on ground */
/* no control (failsafe), loiter or stay on ground */
if (local_pos.landed) {
/* landed: move setpoint down */
/* in air: hold altitude */
@@ -508,27 +525,30 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
mavlink_log_info(mavlink_fd, "[mpc] landed, set alt: %.2f", (double) - local_pos_sp.z);
}
reset_sp_z = true;
reset_man_sp_z = true;
} else {
/* in air: hold altitude */
if (reset_sp_z) {
reset_sp_z = false;
if (reset_man_sp_z) {
reset_man_sp_z = false;
local_pos_sp.z = local_pos.z;
mavlink_log_info(mavlink_fd, "[mpc] set loiter alt: %.2f", (double) - local_pos_sp.z);
}
reset_auto_sp_z = false;
}
if (control_mode.flag_control_position_enabled) {
if (reset_sp_xy) {
reset_sp_xy = false;
if (reset_man_sp_xy) {
reset_man_sp_xy = false;
local_pos_sp.x = local_pos.x;
local_pos_sp.y = local_pos.y;
local_pos_sp.yaw = att.yaw;
local_pos_sp_valid = true;
att_sp.yaw_body = att.yaw;
mavlink_log_info(mavlink_fd, "[mpc] set loiter pos: %.2f %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y);
}
reset_auto_sp_xy = false;
}
}
@@ -540,7 +560,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
global_vel_sp.vz = pid_calculate(&z_pos_pid, local_pos_sp.z, local_pos.z, local_pos.vz - sp_move_rate[2], dt) + sp_move_rate[2];
} else {
reset_sp_z = true;
reset_man_sp_z = true;
global_vel_sp.vz = 0.0f;
}
@@ -558,7 +578,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
}
} else {
reset_sp_xy = true;
reset_man_sp_xy = true;
global_vel_sp.vx = 0.0f;
global_vel_sp.vy = 0.0f;
}
@@ -640,12 +660,13 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
} else {
/* position controller disabled, reset setpoints */
reset_sp_z = true;
reset_sp_xy = true;
reset_man_sp_z = true;
reset_man_sp_xy = true;
reset_int_z = true;
reset_int_xy = true;
global_pos_sp_reproject = true;
reset_auto_pos = true;
reset_mission_sp = true;
reset_auto_sp_xy = true;
reset_auto_sp_z = true;
}
/* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */
src/modules/position_estimator_inav/position_estimator_inav_main.c
+5 -5
View File
@@ -259,7 +259,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
local_pos.ref_timestamp = hrt_absolute_time();
local_pos.z_valid = true;
local_pos.v_z_valid = true;
local_pos.global_z = true;
local_pos.z_global = true;
}
}
}
@@ -597,7 +597,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
local_pos.timestamp = t;
local_pos.xy_valid = can_estimate_xy && gps_valid;
local_pos.v_xy_valid = can_estimate_xy;
local_pos.global_xy = local_pos.xy_valid && gps_valid; // will make sense when local position sources (e.g. vicon) will be implemented
local_pos.xy_global = local_pos.xy_valid && gps_valid; // will make sense when local position sources (e.g. vicon) will be implemented
local_pos.x = x_est[0];
local_pos.vx = x_est[1];
local_pos.y = y_est[0];
@@ -610,9 +610,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
orb_publish(ORB_ID(vehicle_local_position), vehicle_local_position_pub, &local_pos);
/* publish global position */
global_pos.valid = local_pos.global_xy;
global_pos.valid = local_pos.xy_global;
if (local_pos.global_xy) {
if (local_pos.xy_global) {
double est_lat, est_lon;
map_projection_reproject(local_pos.x, local_pos.y, &est_lat, &est_lon);
global_pos.lat = (int32_t)(est_lat * 1e7);
@@ -630,7 +630,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
global_pos.relative_alt = -local_pos.z;
}
if (local_pos.global_z) {
if (local_pos.z_global) {
global_pos.alt = local_pos.ref_alt - local_pos.z;
}
src/modules/sdlog2/sdlog2.c
+3
View File
@@ -1046,6 +1046,9 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat;
log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon;
log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt;
log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0);
log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0);
log_msg.body.log_LPOS.landed = buf.local_pos.landed;
LOGBUFFER_WRITE_AND_COUNT(LPOS);
}
src/modules/sdlog2/sdlog2_messages.h
+4 -1
View File
@@ -109,6 +109,9 @@ struct log_LPOS_s {
int32_t ref_lat;
int32_t ref_lon;
float ref_alt;
uint8_t xy_flags;
uint8_t z_flags;
uint8_t landed;
};
/* --- LPSP - LOCAL POSITION SETPOINT --- */
@@ -278,7 +281,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"),
LOG_FORMAT(LPOS, "ffffffLLf", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt"),
LOG_FORMAT(LPOS, "ffffffLLfBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"),
LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
src/modules/sensors/sensor_params.c
+1 -1
View File
@@ -166,7 +166,7 @@ PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f);
PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
PARAM_DEFINE_INT32(RC_DSM_BIND, 0); /* 0 = Idle, 1 = Start DSM2 bind, 2 = Start DSMX bind */
PARAM_DEFINE_INT32(RC_DSM_BIND, -1); /* -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind */
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);
src/modules/systemlib/pid/pid.c
+16 -10
View File
@@ -167,20 +167,26 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
d = 0.0f;
}
// Calculate the error integral and check for saturation
i = pid->integral + (error * dt);
if (pid->ki > 0.0f) {
// Calculate the error integral and check for saturation
i = pid->integral + (error * dt);
if ((pid->limit > SIGMA && (fabsf((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit)) ||
fabsf(i) > pid->intmax) {
i = pid->integral; // If saturated then do not update integral value
pid->saturated = 1;
if ((pid->limit > SIGMA && (fabsf((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit)) ||
fabsf(i) > pid->intmax) {
i = pid->integral; // If saturated then do not update integral value
pid->saturated = 1;
} else {
if (!isfinite(i)) {
i = 0.0f;
} else {
if (!isfinite(i)) {
i = 0.0f;
}
pid->integral = i;
pid->saturated = 0;
}
pid->integral = i;
} else {
i = 0.0f;
pid->saturated = 0;
}
src/modules/uORB/topics/vehicle_command.h
+2 -1
View File
@@ -86,7 +86,8 @@ enum VEHICLE_CMD
VEHICLE_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */
VEHICLE_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| */
VEHICLE_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */
VEHICLE_CMD_ENUM_END=401, /* | */
VEHICLE_CMD_START_RX_PAIR=500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX| */
VEHICLE_CMD_ENUM_END=501, /* | */
};
/**
src/modules/uORB/topics/vehicle_local_position.h
+2 -2
View File
@@ -70,8 +70,8 @@ struct vehicle_local_position_s
/* Heading */
float yaw;
/* Reference position in GPS / WGS84 frame */
bool global_xy; /**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */
bool global_z; /**< true if z is valid and has valid global reference (ref_alt) */
bool xy_global; /**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */
bool z_global; /**< true if z is valid and has valid global reference (ref_alt) */
uint64_t ref_timestamp; /**< Time when reference position was set */
int32_t ref_lat; /**< Reference point latitude in 1E7 degrees */
int32_t ref_lon; /**< Reference point longitude in 1E7 degrees */
src/systemcmds/preflight_check/preflight_check.c
+1 -1
View File
@@ -163,7 +163,7 @@ system_eval:
warnx("PREFLIGHT CHECK ERROR! TRIGGERING ALARM");
fflush(stderr);
int buzzer = open("/dev/tone_alarm", O_WRONLY);
int buzzer = open(TONEALARM_DEVICE_PATH, O_WRONLY);
int leds = open(LED_DEVICE_PATH, 0);
if (leds < 0) {
src/systemcmds/tests/test_hrt.c
+2 -2
View File
@@ -124,10 +124,10 @@ int test_tone(int argc, char *argv[])
int fd, result;
unsigned long tone;
fd = open("/dev/tone_alarm", O_WRONLY);
fd = open(TONEALARM_DEVICE_PATH, O_WRONLY);
if (fd < 0) {
printf("failed opening /dev/tone_alarm\n");
printf("failed opening " TONEALARM_DEVICE_PATH "\n");
goto out;
}
src/systemcmds/tests/tests_file.c
+41 -2
View File
@@ -52,6 +52,8 @@
int
test_file(int argc, char *argv[])
{
const iterations = 10;
/* check if microSD card is mounted */
struct stat buffer;
if (stat("/fs/microsd/", &buffer)) {
@@ -67,7 +69,43 @@ test_file(int argc, char *argv[])
memset(buf, 0, sizeof(buf));
start = hrt_absolute_time();
for (unsigned i = 0; i < 1024; i++) {
for (unsigned i = 0; i < iterations; i++) {
perf_begin(wperf);
write(fd, buf, sizeof(buf));
perf_end(wperf);
}
end = hrt_absolute_time();
close(fd);
warnx("%dKiB in %llu microseconds", iterations / 2, end - start);
perf_print_counter(wperf);
perf_free(wperf);
return 0;
}
#if 0
int
test_file(int argc, char *argv[])
{
const iterations = 1024;
/* check if microSD card is mounted */
struct stat buffer;
if (stat("/fs/microsd/", &buffer)) {
warnx("no microSD card mounted, aborting file test");
return 1;
}
uint8_t buf[512];
hrt_abstime start, end;
perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes");
int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
memset(buf, 0, sizeof(buf));
start = hrt_absolute_time();
for (unsigned i = 0; i < iterations; i++) {
perf_begin(wperf);
write(fd, buf, sizeof(buf));
perf_end(wperf);
@@ -78,7 +116,7 @@ test_file(int argc, char *argv[])
unlink("/fs/microsd/testfile");
warnx("512KiB in %llu microseconds", end - start);
warnx("%dKiB in %llu microseconds", iterations / 2, end - start);
perf_print_counter(wperf);
perf_free(wperf);
@@ -112,3 +150,4 @@ test_file(int argc, char *argv[])
return 0;
}
#endif