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Merge branch 'master' into new_state_machine_drton

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This commit is contained in:
Anton Babushkin
2013-08-15 10:33:45 +02:00
parent 39ae01dd07 d2f19c7d84
commit 7476b03543
118 changed files with 11512 additions and 1195 deletions
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Firmware.sublime-project
+2 -1
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@@ -32,7 +32,8 @@
"settings":
{
"tab_size": 8,
"translate_tabs_to_spaces": false
"translate_tabs_to_spaces": false,
"highlight_line": true
},
"build_systems":
[
Makefile
+82 -42
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@@ -100,7 +100,7 @@ all: $(STAGED_FIRMWARES)
# is taken care of.
#
$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
@echo %% Copying $@
@$(ECHO) %% Copying $@
$(Q) $(COPY) $< $@
$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)
@@ -111,9 +111,9 @@ $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
$(BUILD_DIR)%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
@echo %%%%
@echo %%%% Building $(config) in $(work_dir)
@echo %%%%
@$(ECHO) %%%%
@$(ECHO) %%%% Building $(config) in $(work_dir)
@$(ECHO) %%%%
$(Q) mkdir -p $(work_dir)
$(Q) make -r -C $(work_dir) \
-f $(PX4_MK_DIR)firmware.mk \
@@ -132,8 +132,6 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
# XXX Should support fetching/unpacking from a separate directory to permit
# downloads of the prebuilt archives as well...
#
# XXX PX4IO configuration name is bad - NuttX configs should probably all be "px4"
#
NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
.PHONY: archives
archives: $(NUTTX_ARCHIVES)
@@ -146,15 +144,54 @@ endif
$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@))
$(ARCHIVE_DIR)%.export: configuration = nsh
$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS)
@echo %% Configuring NuttX for $(board)
$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
@$(ECHO) %% Configuring NuttX for $(board)
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
@echo %% Exporting NuttX for $(board)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) export
@$(ECHO) %% Exporting NuttX for $(board)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
$(Q) mkdir -p $(dir $@)
$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
#
# The user can run the NuttX 'menuconfig' tool for a single board configuration with
# make BOARDS=<boardname> menuconfig
#
ifeq ($(MAKECMDGOALS),menuconfig)
ifneq ($(words $(BOARDS)),1)
$(error BOARDS must specify exactly one board for the menuconfig goal)
endif
BOARD = $(BOARDS)
menuconfig: $(NUTTX_SRC)
@$(ECHO) %% Configuring NuttX for $(BOARD)
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
@$(ECHO) %% Running menuconfig for $(BOARD)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
@$(ECHO) %% Saving configuration file
$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
else
menuconfig:
@$(ECHO) ""
@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
@$(ECHO) ""
endif
$(NUTTX_SRC):
@$(ECHO) ""
@$(ECHO) "NuttX sources missing - clone https://github.com/PX4/NuttX.git and try again."
@$(ECHO) ""
#
# Testing targets
#
testbuild:
$(Q) (cd $(PX4_BASE) && make distclean && make archives && make -j8)
#
# Cleanup targets. 'clean' should remove all built products and force
@@ -176,40 +213,43 @@ distclean: clean
#
.PHONY: help
help:
@echo ""
@echo " PX4 firmware builder"
@echo " ===================="
@echo ""
@echo " Available targets:"
@echo " ------------------"
@echo ""
@echo " archives"
@echo " Build the NuttX RTOS archives that are used by the firmware build."
@echo ""
@echo " all"
@echo " Build all firmware configs: $(CONFIGS)"
@echo " A limited set of configs can be built with CONFIGS=<list-of-configs>"
@echo ""
@$(ECHO) ""
@$(ECHO) " PX4 firmware builder"
@$(ECHO) " ===================="
@$(ECHO) ""
@$(ECHO) " Available targets:"
@$(ECHO) " ------------------"
@$(ECHO) ""
@$(ECHO) " archives"
@$(ECHO) " Build the NuttX RTOS archives that are used by the firmware build."
@$(ECHO) ""
@$(ECHO) " all"
@$(ECHO) " Build all firmware configs: $(CONFIGS)"
@$(ECHO) " A limited set of configs can be built with CONFIGS=<list-of-configs>"
@$(ECHO) ""
@for config in $(CONFIGS); do \
echo " $$config"; \
echo " Build just the $$config firmware configuration."; \
echo ""; \
done
@echo " clean"
@echo " Remove all firmware build pieces."
@echo ""
@echo " distclean"
@echo " Remove all compilation products, including NuttX RTOS archives."
@echo ""
@echo " upload"
@echo " When exactly one config is being built, add this target to upload the"
@echo " firmware to the board when the build is complete. Not supported for"
@echo " all configurations."
@echo ""
@echo " Common options:"
@echo " ---------------"
@echo ""
@echo " V=1"
@echo " If V is set, more verbose output is printed during the build. This can"
@echo " help when diagnosing issues with the build or toolchain."
@echo ""
@$(ECHO) " clean"
@$(ECHO) " Remove all firmware build pieces."
@$(ECHO) ""
@$(ECHO) " distclean"
@$(ECHO) " Remove all compilation products, including NuttX RTOS archives."
@$(ECHO) ""
@$(ECHO) " upload"
@$(ECHO) " When exactly one config is being built, add this target to upload the"
@$(ECHO) " firmware to the board when the build is complete. Not supported for"
@$(ECHO) " all configurations."
@$(ECHO) ""
@$(ECHO) " testbuild"
@$(ECHO) " Perform a complete clean build of the entire tree."
@$(ECHO) ""
@$(ECHO) " Common options:"
@$(ECHO) " ---------------"
@$(ECHO) ""
@$(ECHO) " V=1"
@$(ECHO) " If V is set, more verbose output is printed during the build. This can"
@$(ECHO) " help when diagnosing issues with the build or toolchain."
@$(ECHO) ""
ROMFS/px4fmu_common/init.d/02_io_quad_x
-22
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@@ -39,28 +39,6 @@ fi
#
param set MAV_TYPE 2
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
fi
fi
fi
#
# Start MAVLink (depends on orb)
#
ROMFS/px4fmu_common/init.d/10_io_f330
+7 -30
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@@ -15,20 +15,19 @@ then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param set MC_ATTRATE_D 0.007
param set MC_ATTRATE_D 0.005
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.13
param set MC_ATTRATE_P 0.1
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 7.0
param set MC_POS_P 0.1
param set MC_ATT_P 4.5
param set MC_RCLOSS_THR 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.5
param set MC_YAWPOS_P 1.0
param set MC_YAWPOS_I 0.3
param set MC_YAWPOS_P 0.6
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_P 0.1
param save /fs/microsd/params
fi
@@ -40,28 +39,6 @@ fi
#
param set MAV_TYPE 2
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io2.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io2.bin"
if px4io update /fs/microsd/px4io2.bin > /fs/microsd/px4io2.log
then
cp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
echo "Flashed /fs/microsd/px4io2.bin OK" >> /fs/microsd/px4io2.log
else
echo "Failed flashing /fs/microsd/px4io2.bin" >> /fs/microsd/px4io2.log
echo "Failed to upgrade PX4IO2 firmware - check if PX4IO2 is in bootloader mode"
fi
fi
fi
#
# Start MAVLink (depends on orb)
#
@@ -128,7 +105,7 @@ multirotor_att_control start
#
# Start logging
#
sdlog2 start -r 20 -a -b 14
sdlog2 start -r 20 -a -b 16
#
# Start system state
ROMFS/px4fmu_common/init.d/40_io_segway
+122
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@@ -0,0 +1,122 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# disable USB and autostart
set USB no
set MODE custom
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 10
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
fi
fi
fi
#
# Start MAVLink (depends on orb)
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Disable px4io topic limiting
#
px4io limit 200
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator (depends on orb)
#
attitude_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
md25 start 3 0x58
segway start
#
# Start logging
#
sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
then
blinkm systemstate
fi
ROMFS/px4fmu_common/init.d/rc.sensors
+2 -2
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@@ -25,7 +25,7 @@ then
else
echo "using L3GD20 and LSM303D"
l3gd20 start
lsm303 start
lsm303d start
fi
#
@@ -40,4 +40,4 @@ then
# Check sensors - run AFTER 'sensors start'
#
preflight_check &
fi
fi
ROMFS/px4fmu_common/init.d/rc.usb
+32 -21
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@@ -13,35 +13,46 @@ if mavlink stop
then
echo "stopped other MAVLink instance"
fi
sleep 2
mavlink start -b 230400 -d /dev/ttyACM0
if [ $MODE == autostart ]
# Start the commander
if commander start
then
echo "Commander started"
fi
# Start the commander
commander start
# Start sensors
sh /etc/init.d/rc.sensors
# Start one of the estimators
if attitude_estimator_ekf status
# Start px4io if present
if px4io start
then
echo "PX4IO driver started"
else
if fmu mode_serial
then
echo "multicopter att filter running"
echo "FMU driver started"
fi
fi
# Start sensors
sh /etc/init.d/rc.sensors
# Start one of the estimators
if attitude_estimator_ekf status
then
echo "multicopter att filter running"
else
if att_pos_estimator_ekf status
then
echo "fixedwing att filter running"
else
if att_pos_estimator_ekf status
then
echo "fixedwing att filter running"
else
attitude_estimator_ekf start
fi
attitude_estimator_ekf start
fi
fi
# Start GPS
if gps start
then
echo "GPS started"
fi
# Start GPS
if gps start
then
echo "GPS started"
fi
echo "MAVLink started, exiting shell.."
ROMFS/px4fmu_common/init.d/rcS
+23
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@@ -81,6 +81,26 @@ else
fi
fi
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io.log
echo "Failed to upgrade px4io firmware - check if px4io is in bootloader mode"
fi
fi
fi
#
@@ -121,3 +141,6 @@ if param compare SYS_AUTOSTART 31
then
sh /etc/init.d/31_io_phantom
fi
# End of autostart
fi
ROMFS/px4fmu_common/logging/conv.zip
BIN
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Tools/README.txt
+13
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@@ -0,0 +1,13 @@
====== PX4 LOG CONVERSION ======
On each log session (commonly started and stopped by arming and disarming the vehicle) a new file logxxx.bin is created. In many cases there will be only one logfile named log001.bin (only one flight).
There are two conversion scripts in this ZIP file:
logconv.m: This is a MATLAB script which will automatically convert and display the flight data with a GUI. If running this script, the second script can be ignored.
sdlog2_dump.py: This is a Python script (compatible with v2 and v3) which converts the self-describing binary log format to a CSV file. To export a CSV file from within a shell (Windows CMD or BASH on Linux / Mac OS), run:
python sdlog2_dump.py log001.bin -f "export.csv" -t "TIME" -d "," -n ""
Python can be downloaded from http://python.org, but is available as default on Mac OS and Linux.
ROMFS/px4fmu_common/logging/logconv.m → Tools/logconv.m
+90 -141
View File
@@ -16,7 +16,7 @@ close all
% ************************************************************************
% Set the path to your sysvector.bin file here
filePath = 'sysvector.bin';
filePath = 'log001.bin';
% Set the minimum and maximum times to plot here [in seconds]
mintime=0; %The minimum time/timestamp to display, as set by the user [0 for first element / start]
@@ -26,8 +26,8 @@ maxtime=0; %The maximum time/timestamp to display, as set by the user [0
bDisplayGPS=true;
%conversion factors
fconv_gpsalt=1E-3; %[mm] to [m]
fconv_gpslatlong=1E-7; %[gps_raw_position_unit] to [deg]
fconv_gpsalt=1; %[mm] to [m]
fconv_gpslatlong=1; %[gps_raw_position_unit] to [deg]
fconv_timestamp=1E-6; % [microseconds] to [seconds]
% ************************************************************************
@@ -36,7 +36,7 @@ fconv_timestamp=1E-6; % [microseconds] to [seconds]
ImportPX4LogData();
%Translate min and max plot times to indices
time=double(sysvector.timestamp) .*fconv_timestamp;
time=double(sysvector.TIME_StartTime) .*fconv_timestamp;
mintime_log=time(1); %The minimum time/timestamp found in the log
maxtime_log=time(end); %The maximum time/timestamp found in the log
CurTime=mintime_log; %The current time at which to draw the aircraft position
@@ -69,6 +69,13 @@ DrawCurrentAircraftState();
% ************************************************************************
%% ************************************************************************
% IMPORTPX4LOGDATA (nested function)
% ************************************************************************
% Attention: This is the import routine for firmware from ca. 03/2013.
% Other firmware versions might require different import
% routines.
%% ************************************************************************
% IMPORTPX4LOGDATA (nested function)
% ************************************************************************
@@ -77,108 +84,40 @@ DrawCurrentAircraftState();
% routines.
function ImportPX4LogData()
% Work around a Matlab bug (not related to PX4)
% where timestamps from 1.1.1970 do not allow to
% read the file's size
if ismac
system('touch -t 201212121212.12 sysvector.bin');
end
% ************************************************************************
% RETRIEVE SYSTEM VECTOR
% *************************************************************************
% //All measurements in NED frame
%
% uint64_t timestamp; //[us]
% float gyro[3]; //[rad/s]
% float accel[3]; //[m/s^2]
% float mag[3]; //[gauss]
% float baro; //pressure [millibar]
% float baro_alt; //altitude above MSL [meter]
% float baro_temp; //[degree celcius]
% float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
% float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
% float vbat; //battery voltage in [volt]
% float bat_current - current drawn from battery at this time instant
% float bat_discharged - discharged energy in mAh
% float adc[4]; //remaining auxiliary ADC ports [volt]
% float local_position[3]; //tangent plane mapping into x,y,z [m]
% int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
% float attitude[3]; //pitch, roll, yaw [rad]
% float rotMatrix[9]; //unitvectors
% float actuator_control[4]; //unitvector
% float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
% float diff_pressure; - pressure difference in millibar
% float ind_airspeed;
% float true_airspeed;
% Definition of the logged values
logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64');
logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{11} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{12} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{14} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le');
logFormat{16} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{17} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{18} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{19} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{20} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{21} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{22} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
logFormat{23} = struct('name', 'true_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
% First get length of one line
columns = length(logFormat);
lineLength = 0;
for i=1:columns
lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array;
% Convert to CSV
%arg1 = 'log-fx61-20130721-2.bin';
arg1 = filePath;
delim = ',';
time_field = 'TIME';
data_file = 'data.csv';
csv_null = '';
if not(exist(data_file, 'file'))
s = system( sprintf('python sdlog2_dump.py "%s" -f "%s" -t"%s" -d"%s" -n"%s"', arg1, data_file, time_field, delim, csv_null) );
end
if exist(data_file, 'file')
if exist(filePath, 'file')
fileInfo = dir(filePath);
fileSize = fileInfo.bytes;
elements = int64(fileSize./(lineLength));
fid = fopen(filePath, 'r');
offset = 0;
for i=1:columns
% using fread with a skip speeds up the import drastically, do not
% import the values one after the other
sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(...
fid, ...
[logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ...
lineLength - logFormat{i}.bytes*logFormat{i}.array, ...
logFormat{i}.machineformat) ...
);
offset = offset + logFormat{i}.bytes*logFormat{i}.array;
fseek(fid, offset,'bof');
end
%data = csvread(data_file);
sysvector = tdfread(data_file, ',');
% shot the flight time
time_us = sysvector.timestamp(end) - sysvector.timestamp(1);
time_s = time_us*1e-6;
time_m = time_s/60;
time_us = sysvector.TIME_StartTime(end) - sysvector.TIME_StartTime(1);
time_s = uint64(time_us*1e-6);
time_m = uint64(time_s/60);
time_s = time_s - time_m * 60;
disp([sprintf('Flight log duration: %d:%d (minutes:seconds)', time_m, time_s) char(10)]);
% close the logfile
fclose(fid);
disp(['end log2matlab conversion' char(10)]);
disp(['logfile conversion finished.' char(10)]);
else
disp(['file: ' filePath ' does not exist' char(10)]);
disp(['file: ' data_file ' does not exist' char(10)]);
end
end
@@ -296,11 +235,11 @@ function DrawRawData()
% ************************************************************************
figure(h.figures(2));
% Only plot GPS data if available
if (sum(double(sysvector.gps_raw_position(imintime:imaxtime,1)))>0) && (bDisplayGPS)
if (sum(double(sysvector.GPS_Lat(imintime:imaxtime)))>0) && (bDisplayGPS)
%Draw data
plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:imaxtime,1))*fconv_gpslatlong, ...
double(sysvector.gps_raw_position(imintime:imaxtime,2))*fconv_gpslatlong, ...
double(sysvector.gps_raw_position(imintime:imaxtime,3))*fconv_gpsalt,'r.');
plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:imaxtime))*fconv_gpslatlong, ...
double(sysvector.GPS_Lon(imintime:imaxtime))*fconv_gpslatlong, ...
double(sysvector.GPS_Alt(imintime:imaxtime))*fconv_gpsalt,'r.');
title(h.axes(1),'GPS Position Data(if available)');
xlabel(h.axes(1),'Latitude [deg]');
ylabel(h.axes(1),'Longitude [deg]');
@@ -315,19 +254,19 @@ function DrawRawData()
% PLOT WINDOW 2: IMU, baro altitude
% ************************************************************************
figure(h.figures(3));
plot(h.axes(2),time(imintime:imaxtime),sysvector.mag(imintime:imaxtime,:));
plot(h.axes(2),time(imintime:imaxtime),[sysvector.IMU_MagX(imintime:imaxtime), sysvector.IMU_MagY(imintime:imaxtime), sysvector.IMU_MagZ(imintime:imaxtime)]);
title(h.axes(2),'Magnetometers [Gauss]');
legend(h.axes(2),'x','y','z');
plot(h.axes(3),time(imintime:imaxtime),sysvector.accel(imintime:imaxtime,:));
plot(h.axes(3),time(imintime:imaxtime),[sysvector.IMU_AccX(imintime:imaxtime), sysvector.IMU_AccY(imintime:imaxtime), sysvector.IMU_AccZ(imintime:imaxtime)]);
title(h.axes(3),'Accelerometers [m/s²]');
legend(h.axes(3),'x','y','z');
plot(h.axes(4),time(imintime:imaxtime),sysvector.gyro(imintime:imaxtime,:));
plot(h.axes(4),time(imintime:imaxtime),[sysvector.IMU_GyroX(imintime:imaxtime), sysvector.IMU_GyroY(imintime:imaxtime), sysvector.IMU_GyroZ(imintime:imaxtime)]);
title(h.axes(4),'Gyroscopes [rad/s]');
legend(h.axes(4),'x','y','z');
plot(h.axes(5),time(imintime:imaxtime),sysvector.baro_alt(imintime:imaxtime),'color','blue');
plot(h.axes(5),time(imintime:imaxtime),sysvector.SENS_BaroAlt(imintime:imaxtime),'color','blue');
if(bDisplayGPS)
hold on;
plot(h.axes(5),time(imintime:imaxtime),double(sysvector.gps_raw_position(imintime:imaxtime,3)).*fconv_gpsalt,'color','red');
plot(h.axes(5),time(imintime:imaxtime),double(sysvector.GPS_Alt(imintime:imaxtime)).*fconv_gpsalt,'color','red');
hold off
legend('Barometric Altitude [m]','GPS Altitude [m]');
else
@@ -340,22 +279,22 @@ function DrawRawData()
% ************************************************************************
figure(h.figures(4));
%Attitude Estimate
plot(h.axes(6),time(imintime:imaxtime), sysvector.attitude(imintime:imaxtime,:).*180./3.14159);
plot(h.axes(6),time(imintime:imaxtime), [sysvector.ATT_Roll(imintime:imaxtime), sysvector.ATT_Pitch(imintime:imaxtime), sysvector.ATT_Yaw(imintime:imaxtime)] .*180./3.14159);
title(h.axes(6),'Estimated attitude [deg]');
legend(h.axes(6),'roll','pitch','yaw');
%Actuator Controls
plot(h.axes(7),time(imintime:imaxtime), sysvector.actuator_control(imintime:imaxtime,:));
plot(h.axes(7),time(imintime:imaxtime), [sysvector.ATTC_Roll(imintime:imaxtime), sysvector.ATTC_Pitch(imintime:imaxtime), sysvector.ATTC_Yaw(imintime:imaxtime), sysvector.ATTC_Thrust(imintime:imaxtime)]);
title(h.axes(7),'Actuator control [-]');
legend(h.axes(7),'0','1','2','3');
legend(h.axes(7),'ATT CTRL Roll [-1..+1]','ATT CTRL Pitch [-1..+1]','ATT CTRL Yaw [-1..+1]','ATT CTRL Thrust [0..+1]');
%Actuator Controls
plot(h.axes(8),time(imintime:imaxtime), sysvector.actuators(imintime:imaxtime,1:8));
plot(h.axes(8),time(imintime:imaxtime), [sysvector.OUT0_Out0(imintime:imaxtime), sysvector.OUT0_Out1(imintime:imaxtime), sysvector.OUT0_Out2(imintime:imaxtime), sysvector.OUT0_Out3(imintime:imaxtime), sysvector.OUT0_Out4(imintime:imaxtime), sysvector.OUT0_Out5(imintime:imaxtime), sysvector.OUT0_Out6(imintime:imaxtime), sysvector.OUT0_Out7(imintime:imaxtime)]);
title(h.axes(8),'Actuator PWM (raw-)outputs [µs]');
legend(h.axes(8),'CH1','CH2','CH3','CH4','CH5','CH6','CH7','CH8');
set(h.axes(8), 'YLim',[800 2200]);
%Airspeeds
plot(h.axes(9),time(imintime:imaxtime), sysvector.ind_airspeed(imintime:imaxtime));
plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_IndSpeed(imintime:imaxtime));
hold on
plot(h.axes(9),time(imintime:imaxtime), sysvector.true_airspeed(imintime:imaxtime));
plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_TrueSpeed(imintime:imaxtime));
hold off
%add GPS total airspeed here
title(h.axes(9),'Airspeed [m/s]');
@@ -385,33 +324,43 @@ function DrawCurrentAircraftState()
%**********************************************************************
% Current aircraft state label update
%**********************************************************************
acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong),'°, ',...
'lon=',num2str(double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong),'°, ',...
'alt=',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]'];
acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.mag(i,1)),...
', y=',num2str(sysvector.mag(i,2)),...
', z=',num2str(sysvector.mag(i,3)),']'];
acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.accel(i,1)),...
', y=',num2str(sysvector.accel(i,2)),...
', z=',num2str(sysvector.accel(i,3)),']'];
acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.gyro(i,1)),...
', y=',num2str(sysvector.gyro(i,2)),...
', z=',num2str(sysvector.gyro(i,3)),']'];
acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.baro_alt(i)),'m, GPS: ',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]'];
acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.attitude(i,1).*180./3.14159),...
', Pitch=',num2str(sysvector.attitude(i,2).*180./3.14159),...
', Yaw=',num2str(sysvector.attitude(i,3).*180./3.14159),']'];
acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.GPS_Lat(i))*fconv_gpslatlong),'°, ',...
'lon=',num2str(double(sysvector.GPS_Lon(i))*fconv_gpslatlong),'°, ',...
'alt=',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]'];
acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.IMU_MagX(i)),...
', y=',num2str(sysvector.IMU_MagY(i)),...
', z=',num2str(sysvector.IMU_MagZ(i)),']'];
acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.IMU_AccX(i)),...
', y=',num2str(sysvector.IMU_AccY(i)),...
', z=',num2str(sysvector.IMU_AccZ(i)),']'];
acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.IMU_GyroX(i)),...
', y=',num2str(sysvector.IMU_GyroY(i)),...
', z=',num2str(sysvector.IMU_GyroZ(i)),']'];
acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.SENS_BaroAlt(i)),'m, GPS: ',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]'];
acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.ATT_Roll(i).*180./3.14159),...
', Pitch=',num2str(sysvector.ATT_Pitch(i).*180./3.14159),...
', Yaw=',num2str(sysvector.ATT_Yaw(i).*180./3.14159),']'];
acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:');
for j=1:4
acstate{7,:}=[acstate{7,:},num2str(sysvector.actuator_control(i,j)),','];
end
%for j=1:4
acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Roll(i)),','];
acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Pitch(i)),','];
acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Yaw(i)),','];
acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Thrust(i)),','];
%end
acstate{7,:}=[acstate{7,:},']'];
acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/µs]:');
for j=1:8
acstate{8,:}=[acstate{8,:},num2str(sysvector.actuators(i,j)),','];
end
%for j=1:8
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out0(i)),','];
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out1(i)),','];
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out2(i)),','];
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out3(i)),','];
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out4(i)),','];
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out5(i)),','];
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out6(i)),','];
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out7(i)),','];
%end
acstate{8,:}=[acstate{8,:},']'];
acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.ind_airspeed(i)),', TAS: ',num2str(sysvector.true_airspeed(i)),']'];
acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.AIRS_IndSpeed(i)),', TAS: ',num2str(sysvector.AIRS_TrueSpeed(i)),']'];
set(h.edits.AircraftState,'String',acstate);
@@ -422,13 +371,13 @@ function DrawCurrentAircraftState()
figure(h.figures(2));
hold on;
if(CurTime>mintime+1) %the +1 is only a small bugfix
h.pathline=plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:i,1))*fconv_gpslatlong, ...
double(sysvector.gps_raw_position(imintime:i,2))*fconv_gpslatlong, ...
double(sysvector.gps_raw_position(imintime:i,3))*fconv_gpsalt,'b','LineWidth',2);
h.pathline=plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:i))*fconv_gpslatlong, ...
double(sysvector.GPS_Lon(imintime:i))*fconv_gpslatlong, ...
double(sysvector.GPS_Alt(imintime:i))*fconv_gpsalt,'b','LineWidth',2);
end;
hold off
%Plot current position
newpoint=[double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong double(sysvector.gps_raw_position(i,3))*fconv_gpsalt];
newpoint=[double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Alt(i))*fconv_gpsalt];
if(numel(h.pathpoints)<=3) %empty path
h.pathpoints(1,1:3)=newpoint;
else %Not empty, append new point
@@ -443,8 +392,8 @@ function DrawCurrentAircraftState()
if(isvalidhandle(h.markertext))
delete(h.markertext); %delete old text
end
h.markertext=text(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong,double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong,...
double(sysvector.gps_raw_position(i,3))*fconv_gpsalt,textdesc);
h.markertext=text(double(sysvector.GPS_Lat(i))*fconv_gpslatlong,double(sysvector.GPS_Lon(i))*fconv_gpslatlong,...
double(sysvector.GPS_Alt(i))*fconv_gpsalt,textdesc);
set(h.edits.CurTime,'String',CurTime);
%**********************************************************************
@@ -549,11 +498,11 @@ end
% FINDMINMAXINDICES (nested function)
% ************************************************************************
function [idxmin,idxmax] = FindMinMaxTimeIndices()
for i=1:size(sysvector.timestamp,1)
for i=1:size(sysvector.TIME_StartTime,1)
if time(i)>=mintime; idxmin=i; break; end
end
for i=1:size(sysvector.timestamp,1)
if maxtime==0; idxmax=size(sysvector.timestamp,1); break; end
for i=1:size(sysvector.TIME_StartTime,1)
if maxtime==0; idxmax=size(sysvector.TIME_StartTime,1); break; end
if time(i)>=maxtime; idxmax=i; break; end
end
mintime=time(idxmin);
Tools/logconv.py
-59
View File
@@ -1,59 +0,0 @@
#!/usr/bin/env python
"""Convert binary log generated by sdlog to CSV format
Usage: python logconv.py <log.bin>"""
__author__ = "Anton Babushkin"
__version__ = "0.1"
import struct, sys
def _unpack_packet(data):
s = ""
s += "Q" #.timestamp = buf.raw.timestamp,
s += "fff" #.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
s += "fff" #.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
s += "fff" #.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
s += "f" #.baro = buf.raw.baro_pres_mbar,
s += "f" #.baro_alt = buf.raw.baro_alt_meter,
s += "f" #.baro_temp = buf.raw.baro_temp_celcius,
s += "ffff" #.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
s += "ffffffff" #.actuators = {buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3], buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]},
s += "f" #.vbat = buf.batt.voltage_v,
s += "f" #.bat_current = buf.batt.current_a,
s += "f" #.bat_discharged = buf.batt.discharged_mah,
s += "ffff" #.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2], buf.raw.adc_voltage_v[3]},
s += "fff" #.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
s += "iii" #.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
s += "fff" #.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
s += "fffffffff" #.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
s += "fff" #.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
s += "ffff" #.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
s += "ffffff" #.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality},
s += "f" #.diff_pressure = buf.diff_pres.differential_pressure_pa,
s += "f" #.ind_airspeed = buf.airspeed.indicated_airspeed_m_s,
s += "f" #.true_airspeed = buf.airspeed.true_airspeed_m_s
s += "iii" # to align to 280
d = struct.unpack(s, data)
return d
def _main():
if len(sys.argv) < 2:
print "Usage:\npython logconv.py <log.bin>"
return
fn = sys.argv[1]
sysvector_size = 280
f = open(fn, "r")
while True:
data = f.read(sysvector_size)
if len(data) < sysvector_size:
break
a = []
for i in _unpack_packet(data):
a.append(str(i))
print ";".join(a)
f.close()
if __name__ == "__main__":
_main()
Tools/sdlog2_dump.py
+72 -30
View File
@@ -1,6 +1,8 @@
#!/usr/bin/env python
"""Dump binary log generated by sdlog2 or APM as CSV
from __future__ import print_function
"""Dump binary log generated by PX4's sdlog2 or APM as CSV
Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]]
@@ -21,6 +23,11 @@ __version__ = "1.2"
import struct, sys
if sys.hexversion >= 0x030000F0:
runningPython3 = True
else:
runningPython3 = False
class SDLog2Parser:
BLOCK_SIZE = 8192
MSG_HEADER_LEN = 3
@@ -55,6 +62,8 @@ class SDLog2Parser:
__time_msg = None
__debug_out = False
__correct_errors = False
__file_name = None
__file = None
def __init__(self):
return
@@ -63,7 +72,7 @@ class SDLog2Parser:
self.__msg_descrs = {} # message descriptions by message type map
self.__msg_labels = {} # message labels by message name map
self.__msg_names = [] # message names in the same order as FORMAT messages
self.__buffer = "" # buffer for input binary data
self.__buffer = bytearray() # buffer for input binary data
self.__ptr = 0 # read pointer in buffer
self.__csv_columns = [] # CSV file columns in correct order in format "MSG.label"
self.__csv_data = {} # current values for all columns
@@ -87,6 +96,14 @@ class SDLog2Parser:
def setCorrectErrors(self, correct_errors):
self.__correct_errors = correct_errors
def setFileName(self, file_name):
self.__file_name = file_name
if file_name != None:
self.__file = open(file_name, 'w+')
else:
self.__file = None
def process(self, fn):
self.reset()
@@ -95,7 +112,7 @@ class SDLog2Parser:
for msg_name, show_fields in self.__msg_filter:
self.__msg_filter_map[msg_name] = show_fields
first_data_msg = True
f = open(fn, "r")
f = open(fn, "rb")
bytes_read = 0
while True:
chunk = f.read(self.BLOCK_SIZE)
@@ -104,15 +121,15 @@ class SDLog2Parser:
self.__buffer = self.__buffer[self.__ptr:] + chunk
self.__ptr = 0
while self.__bytesLeft() >= self.MSG_HEADER_LEN:
head1 = ord(self.__buffer[self.__ptr])
head2 = ord(self.__buffer[self.__ptr+1])
head1 = self.__buffer[self.__ptr]
head2 = self.__buffer[self.__ptr+1]
if (head1 != self.MSG_HEAD1 or head2 != self.MSG_HEAD2):
if self.__correct_errors:
self.__ptr += 1
continue
else:
raise Exception("Invalid header at %i (0x%X): %02X %02X, must be %02X %02X" % (bytes_read + self.__ptr, bytes_read + self.__ptr, head1, head2, self.MSG_HEAD1, self.MSG_HEAD2))
msg_type = ord(self.__buffer[self.__ptr+2])
msg_type = self.__buffer[self.__ptr+2]
if msg_type == self.MSG_TYPE_FORMAT:
# parse FORMAT message
if self.__bytesLeft() < self.MSG_FORMAT_PACKET_LEN:
@@ -154,10 +171,13 @@ class SDLog2Parser:
show_fields = self.__msg_labels.get(msg_name, [])
self.__msg_filter_map[msg_name] = show_fields
for field in show_fields:
full_label = msg_name + "." + field
full_label = msg_name + "_" + field
self.__csv_columns.append(full_label)
self.__csv_data[full_label] = None
print self.__csv_delim.join(self.__csv_columns)
if self.__file != None:
print(self.__csv_delim.join(self.__csv_columns), file=self.__file)
else:
print(self.__csv_delim.join(self.__csv_columns))
def __printCSVRow(self):
s = []
@@ -168,16 +188,28 @@ class SDLog2Parser:
else:
v = str(v)
s.append(v)
print self.__csv_delim.join(s)
if self.__file != None:
print(self.__csv_delim.join(s), file=self.__file)
else:
print(self.__csv_delim.join(s))
def __parseMsgDescr(self):
data = struct.unpack(self.MSG_FORMAT_STRUCT, self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN])
if runningPython3:
data = struct.unpack(self.MSG_FORMAT_STRUCT, self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN])
else:
data = struct.unpack(self.MSG_FORMAT_STRUCT, str(self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN]))
msg_type = data[0]
if msg_type != self.MSG_TYPE_FORMAT:
msg_length = data[1]
msg_name = data[2].strip("\0")
msg_format = data[3].strip("\0")
msg_labels = data[4].strip("\0").split(",")
if runningPython3:
msg_name = str(data[2], 'ascii').strip("\0")
msg_format = str(data[3], 'ascii').strip("\0")
msg_labels = str(data[4], 'ascii').strip("\0").split(",")
else:
msg_name = str(data[2]).strip("\0")
msg_format = str(data[3]).strip("\0")
msg_labels = str(data[4]).strip("\0").split(",")
# Convert msg_format to struct.unpack format string
msg_struct = ""
msg_mults = []
@@ -194,8 +226,8 @@ class SDLog2Parser:
self.__msg_names.append(msg_name)
if self.__debug_out:
if self.__filterMsg(msg_name) != None:
print "MSG FORMAT: type = %i, length = %i, name = %s, format = %s, labels = %s, struct = %s, mults = %s" % (
msg_type, msg_length, msg_name, msg_format, str(msg_labels), msg_struct, msg_mults)
print("MSG FORMAT: type = %i, length = %i, name = %s, format = %s, labels = %s, struct = %s, mults = %s" % (
msg_type, msg_length, msg_name, msg_format, str(msg_labels), msg_struct, msg_mults))
self.__ptr += self.MSG_FORMAT_PACKET_LEN
def __parseMsg(self, msg_descr):
@@ -205,8 +237,11 @@ class SDLog2Parser:
self.__csv_updated = False
show_fields = self.__filterMsg(msg_name)
if (show_fields != None):
data = list(struct.unpack(msg_struct, self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length]))
for i in xrange(len(data)):
if runningPython3:
data = list(struct.unpack(msg_struct, self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length]))
else:
data = list(struct.unpack(msg_struct, str(self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length])))
for i in range(len(data)):
if type(data[i]) is str:
data[i] = data[i].strip("\0")
m = msg_mults[i]
@@ -214,17 +249,17 @@ class SDLog2Parser:
data[i] = data[i] * m
if self.__debug_out:
s = []
for i in xrange(len(data)):
for i in range(len(data)):
label = msg_labels[i]
if show_fields == "*" or label in show_fields:
s.append(label + "=" + str(data[i]))
print "MSG %s: %s" % (msg_name, ", ".join(s))
print("MSG %s: %s" % (msg_name, ", ".join(s)))
else:
# update CSV data buffer
for i in xrange(len(data)):
for i in range(len(data)):
label = msg_labels[i]
if label in show_fields:
self.__csv_data[msg_name + "." + label] = data[i]
self.__csv_data[msg_name + "_" + label] = data[i]
if self.__time_msg != None and msg_name != self.__time_msg:
self.__csv_updated = True
if self.__time_msg == None:
@@ -233,13 +268,14 @@ class SDLog2Parser:
def _main():
if len(sys.argv) < 2:
print "Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]] [-t TIME_MSG_NAME]\n"
print "\t-v\tUse plain debug output instead of CSV.\n"
print "\t-e\tRecover from errors.\n"
print "\t-d\tUse \"delimiter\" in CSV. Default is \",\".\n"
print "\t-n\tUse \"null\" as placeholder for empty values in CSV. Default is empty.\n"
print "\t-m MSG[.field1,field2,...]\n\t\tDump only messages of specified type, and only specified fields.\n\t\tMultiple -m options allowed."
print "\t-t\tSpecify TIME message name to group data messages by time and significantly reduce duplicate output.\n"
print("Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]] [-t TIME_MSG_NAME]\n")
print("\t-v\tUse plain debug output instead of CSV.\n")
print("\t-e\tRecover from errors.\n")
print("\t-d\tUse \"delimiter\" in CSV. Default is \",\".\n")
print("\t-n\tUse \"null\" as placeholder for empty values in CSV. Default is empty.\n")
print("\t-m MSG[.field1,field2,...]\n\t\tDump only messages of specified type, and only specified fields.\n\t\tMultiple -m options allowed.")
print("\t-t\tSpecify TIME message name to group data messages by time and significantly reduce duplicate output.\n")
print("\t-fPrint to file instead of stdout")
return
fn = sys.argv[1]
debug_out = False
@@ -247,7 +283,8 @@ def _main():
msg_filter = []
csv_null = ""
csv_delim = ","
time_msg = None
time_msg = "TIME"
file_name = None
opt = None
for arg in sys.argv[2:]:
if opt != None:
@@ -257,9 +294,11 @@ def _main():
csv_null = arg
elif opt == "t":
time_msg = arg
elif opt == "f":
file_name = arg
elif opt == "m":
show_fields = "*"
a = arg.split(".")
a = arg.split("_")
if len(a) > 1:
show_fields = a[1].split(",")
msg_filter.append((a[0], show_fields))
@@ -277,6 +316,8 @@ def _main():
opt = "m"
elif arg == "-t":
opt = "t"
elif arg == "-f":
opt = "f"
if csv_delim == "\\t":
csv_delim = "\t"
@@ -285,6 +326,7 @@ def _main():
parser.setCSVNull(csv_null)
parser.setMsgFilter(msg_filter)
parser.setTimeMsg(time_msg)
parser.setFileName(file_name)
parser.setDebugOut(debug_out)
parser.setCorrectErrors(correct_errors)
parser.process(fn)
makefiles/board_px4fmu-v1.mk
+1
View File
@@ -6,5 +6,6 @@
# Configure the toolchain
#
CONFIG_ARCH = CORTEXM4F
CONFIG_BOARD = PX4FMU_V1
include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
makefiles/board_px4io-v1.mk
+1
View File
@@ -6,5 +6,6 @@
# Configure the toolchain
#
CONFIG_ARCH = CORTEXM3
CONFIG_BOARD = PX4IO_V1
include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
makefiles/config_px4fmu-v1_default.mk
+6
View File
@@ -32,13 +32,16 @@ MODULES += drivers/hott/hott_sensors
MODULES += drivers/blinkm
MODULES += drivers/mkblctrl
MODULES += drivers/md25
MODULES += drivers/airspeed
MODULES += drivers/ets_airspeed
MODULES += drivers/meas_airspeed
MODULES += modules/sensors
#
# System commands
#
MODULES += systemcmds/eeprom
MODULES += systemcmds/ramtron
MODULES += systemcmds/bl_update
MODULES += systemcmds/boardinfo
MODULES += systemcmds/i2c
@@ -51,6 +54,7 @@ MODULES += systemcmds/esc_calib
MODULES += systemcmds/reboot
MODULES += systemcmds/top
MODULES += systemcmds/tests
MODULES += systemcmds/config
#
# General system control
@@ -72,6 +76,7 @@ MODULES += examples/flow_position_estimator
#
# Vehicle Control
#
MODULES += modules/segway
MODULES += modules/fixedwing_backside
MODULES += modules/fixedwing_att_control
MODULES += modules/fixedwing_pos_control
@@ -91,6 +96,7 @@ MODULES += modules/sdlog2
MODULES += modules/systemlib
MODULES += modules/systemlib/mixer
MODULES += modules/mathlib
MODULES += modules/mathlib/math/filter
MODULES += modules/controllib
MODULES += modules/uORB
makefiles/firmware.mk
+2 -1
View File
@@ -153,6 +153,7 @@ ifeq ($(BOARD_FILE),)
$(error Config $(CONFIG) references board $(BOARD), but no board definition file found)
endif
export BOARD
export BOARD_FILE
include $(BOARD_FILE)
$(info % BOARD = $(BOARD))
@@ -385,7 +386,7 @@ define BUILTIN_DEF
endef
# Don't generate until modules have updated their command files
$(BUILTIN_CSRC): $(GLOBAL_DEPS) $(MODULE_OBJS) $(BUILTIN_COMMAND_FILES)
$(BUILTIN_CSRC): $(GLOBAL_DEPS) $(MODULE_OBJS) $(MODULE_MKFILES) $(BUILTIN_COMMAND_FILES)
@$(ECHO) "CMDS: $@"
$(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@
$(Q) $(ECHO) '#include <nuttx/config.h>' >> $@
makefiles/module.mk
+2 -1
View File
@@ -98,6 +98,7 @@
#
# CONFIG
# BOARD
# BOARD_FILE
# MODULE_WORK_DIR
# MODULE_OBJ
# MODULE_MK
@@ -117,7 +118,7 @@ $(info %% MODULE_MK = $(MODULE_MK))
#
# Get the board/toolchain config
#
include $(PX4_MK_DIR)/board_$(BOARD).mk
include $(BOARD_FILE)
#
# Get the module's config
makefiles/setup.mk
+1
View File
@@ -65,6 +65,7 @@ export INCLUDE_DIRS := $(PX4_MODULE_SRC) \
export MKFW = $(PX4_BASE)/Tools/px_mkfw.py
export UPLOADER = $(PX4_BASE)/Tools/px_uploader.py
export COPY = cp
export COPYDIR = cp -Rf
export REMOVE = rm -f
export RMDIR = rm -rf
export GENROMFS = genromfs
makefiles/toolchain_gnu-arm-eabi.mk
+7
View File
@@ -85,6 +85,13 @@ ifeq ($(ARCHCPUFLAGS),)
$(error Must set CONFIG_ARCH to one of CORTEXM4F, CORTEXM4 or CORTEXM3)
endif
# Set the board flags
#
ifeq ($(CONFIG_BOARD),)
$(error Board config does not define CONFIG_BOARD)
endif
ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD)
# optimisation flags
#
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
makefiles/upload.mk
-2
View File
@@ -27,8 +27,6 @@ all: upload-$(METHOD)-$(BOARD)
upload-serial-px4fmu-v1: $(BUNDLE) $(UPLOADER)
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
upload-serial-px4fmuv2: $(BUNDLE) $(UPLOADER)
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
#
# JTAG firmware uploading with OpenOCD
nuttx-configs/px4fmu-v1/include/board.h
+391
View File
@@ -0,0 +1,391 @@
/************************************************************************************
* configs/stm32f4discovery/include/board.h
* include/arch/board/board.h
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 NuttX 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.
*
************************************************************************************/
#ifndef __CONFIG_PX4FMU_V1_INCLUDE_BOARD_H
#define __CONFIG_PX4FMU_V1_INCLUDE_BOARD_H
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
#endif
#include "stm32_rcc.h"
#include "stm32_sdio.h"
#include "stm32.h"
/************************************************************************************
* Definitions
************************************************************************************/
/* Clocking *************************************************************************/
/* The PX4FMU uses a 24MHz crystal connected to the HSE.
*
* This is the canonical configuration:
* System Clock source : PLL (HSE)
* SYSCLK(Hz) : 168000000 Determined by PLL configuration
* HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE)
* AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE)
* APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1)
* APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2)
* HSE Frequency(Hz) : 24000000 (STM32_BOARD_XTAL)
* PLLM : 24 (STM32_PLLCFG_PLLM)
* PLLN : 336 (STM32_PLLCFG_PLLN)
* PLLP : 2 (STM32_PLLCFG_PLLP)
* PLLQ : 7 (STM32_PLLCFG_PLLQ)
* Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK
* Flash Latency(WS) : 5
* Prefetch Buffer : OFF
* Instruction cache : ON
* Data cache : ON
* Require 48MHz for USB OTG FS, : Enabled
* SDIO and RNG clock
*/
/* HSI - 16 MHz RC factory-trimmed
* LSI - 32 KHz RC
* HSE - On-board crystal frequency is 24MHz
* LSE - not installed
*/
#define STM32_BOARD_XTAL 24000000ul
#define STM32_HSI_FREQUENCY 16000000ul
#define STM32_LSI_FREQUENCY 32000
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
//#define STM32_LSE_FREQUENCY 32768
/* Main PLL Configuration.
*
* PLL source is HSE
* PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
* = (8,000,000 / 8) * 336
* = 336,000,000
* SYSCLK = PLL_VCO / PLLP
* = 336,000,000 / 2 = 168,000,000
* USB OTG FS, SDIO and RNG Clock
* = PLL_VCO / PLLQ
* = 48,000,000
*/
#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(24)
#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336)
#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7)
#define STM32_SYSCLK_FREQUENCY 168000000ul
/* AHB clock (HCLK) is SYSCLK (168MHz) */
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */
#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4)
/* Timers driven from APB1 will be twice PCLK1 */
#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
/* Timers driven from APB2 will be twice PCLK2 */
#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY)
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
* otherwise frequency is 2xAPBx.
* Note: TIM1,8 are on APB2, others on APB1
*/
#define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY)
#define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY)
/* High-resolution timer
*/
#define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
/* LED definitions ******************************************************************/
/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
* way. The following definitions are used to access individual LEDs.
*/
/* LED index values for use with stm32_setled() */
#define BOARD_LED1 0
#define BOARD_LED2 1
#define BOARD_NLEDS 2
#define BOARD_LED_BLUE BOARD_LED1
#define BOARD_LED_RED BOARD_LED2
/* LED bits for use with stm32_setleds() */
#define BOARD_LED1_BIT (1 << BOARD_LED1)
#define BOARD_LED2_BIT (1 << BOARD_LED2)
/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board the
* px4fmu-v1. The following definitions describe how NuttX controls the LEDs:
*/
#define LED_STARTED 0 /* LED1 */
#define LED_HEAPALLOCATE 1 /* LED2 */
#define LED_IRQSENABLED 2 /* LED1 */
#define LED_STACKCREATED 3 /* LED1 + LED2 */
#define LED_INIRQ 4 /* LED1 */
#define LED_SIGNAL 5 /* LED2 */
#define LED_ASSERTION 6 /* LED1 + LED2 */
#define LED_PANIC 7 /* LED1 + LED2 */
/* Alternate function pin selections ************************************************/
/*
* UARTs.
*
* Note that UART5 has no optional pinout, so it is not listed here.
*/
#define GPIO_USART1_RX GPIO_USART1_RX_2
#define GPIO_USART1_TX GPIO_USART1_TX_2
#define GPIO_USART2_RX GPIO_USART2_RX_1
#define GPIO_USART2_TX GPIO_USART2_TX_1
#define GPIO_USART2_RTS GPIO_USART2_RTS_1
#define GPIO_USART2_CTS GPIO_USART2_CTS_1
#define GPIO_USART6_RX GPIO_USART6_RX_1
#define GPIO_USART6_TX GPIO_USART6_TX_1
/* UART DMA configuration for USART1/6 */
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
/*
* PWM
*
* Four PWM outputs can be configured on pins otherwise shared with
* USART2; two can take the flow control pins if they are not being used.
*
* Pins:
*
* CTS - PA0 - TIM2CH1
* RTS - PA1 - TIM2CH2
* TX - PA2 - TIM2CH3
* RX - PA3 - TIM2CH4
*
*/
#define GPIO_TIM2_CH1OUT GPIO_TIM2_CH1OUT_1
#define GPIO_TIM2_CH2OUT GPIO_TIM2_CH2OUT_1
#define GPIO_TIM2_CH3OUT GPIO_TIM2_CH3OUT_1
#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_1
/*
* PPM
*
* PPM input is handled by the HRT timer.
*/
#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
/*
* CAN
*
* CAN2 is routed to the expansion connector.
*/
#define GPIO_CAN2_RX GPIO_CAN2_RX_1
#define GPIO_CAN2_TX GPIO_CAN2_TX_1
/*
* I2C
*
* The optional _GPIO configurations allow the I2C driver to manually
* reset the bus to clear stuck slaves. They match the pin configuration,
* but are normally-high GPIOs.
*/
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2
#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1
#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1
#define GPIO_I2C3_SDA GPIO_I2C3_SDA_1
#define GPIO_I2C3_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
#define GPIO_I2C3_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN9)
/*
* I2C busses
*/
#define PX4_I2C_BUS_ESC 1
#define PX4_I2C_BUS_ONBOARD 2
#define PX4_I2C_BUS_EXPANSION 3
/*
* Devices on the onboard bus.
*
* Note that these are unshifted addresses.
*/
#define PX4_I2C_OBDEV_HMC5883 0x1e
#define PX4_I2C_OBDEV_MS5611 0x76
#define PX4_I2C_OBDEV_EEPROM NOTDEFINED
#define PX4_I2C_OBDEV_PX4IO_BL 0x18
#define PX4_I2C_OBDEV_PX4IO 0x1a
/*
* SPI
*
* There are sensors on SPI1, and SPI3 is connected to the microSD slot.
*/
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
#define GPIO_SPI3_MISO GPIO_SPI3_MISO_2
#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_1
#define GPIO_SPI3_SCK GPIO_SPI3_SCK_2
#define GPIO_SPI3_NSS GPIO_SPI3_NSS_2
/* SPI DMA configuration for SPI3 (microSD) */
#define DMACHAN_SPI3_RX DMAMAP_SPI3_RX_1
#define DMACHAN_SPI3_TX DMAMAP_SPI3_TX_2
/* XXX since we allocate the HP work stack from CCM RAM on normal system startup,
SPI1 will never run in DMA mode - so we can just give it a random config here.
What we really need to do is to make DMA configurable per channel, and always
disable it for SPI1. */
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2
/*
* Use these in place of the spi_dev_e enumeration to
* select a specific SPI device on SPI1
*/
#define PX4_SPIDEV_GYRO 1
#define PX4_SPIDEV_ACCEL 2
#define PX4_SPIDEV_MPU 3
/*
* Optional devices on IO's external port
*/
#define PX4_SPIDEV_ACCEL_MAG 2
/*
* Tone alarm output
*/
#define TONE_ALARM_TIMER 3 /* timer 3 */
#define TONE_ALARM_CHANNEL 3 /* channel 3 */
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
/************************************************************************************
* Public Data
************************************************************************************/
#ifndef __ASSEMBLY__
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C" {
#else
#define EXTERN extern
#endif
/************************************************************************************
* Public Function Prototypes
************************************************************************************/
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the intitialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
EXTERN void stm32_boardinitialize(void);
/************************************************************************************
* Name: stm32_ledinit, stm32_setled, and stm32_setleds
*
* Description:
* If CONFIG_ARCH_LEDS is defined, then NuttX will control the on-board LEDs. If
* CONFIG_ARCH_LEDS is not defined, then the following interfacesare available to
* control the LEDs from user applications.
*
************************************************************************************/
#ifndef CONFIG_ARCH_LEDS
EXTERN void stm32_ledinit(void);
EXTERN void stm32_setled(int led, bool ledon);
EXTERN void stm32_setleds(uint8_t ledset);
#endif
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif /* __ASSEMBLY__ */
#endif /* __CONFIG_PX4FMU_V1_INCLUDE_BOARD_H */
nuttx-configs/px4fmu-v1/include/nsh_romfsimg.h
+42
View File
@@ -0,0 +1,42 @@
/****************************************************************************
*
* Copyright (C) 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.
*
****************************************************************************/
/**
* nsh_romfsetc.h
*
* This file is a stub for 'make export' purposes; the actual ROMFS
* must be supplied by the library client.
*/
extern unsigned char romfs_img[];
extern unsigned int romfs_img_len;
nuttx-configs/px4fmu-v1/nsh/Make.defs
+179
View File
@@ -0,0 +1,179 @@
############################################################################
# configs/px4fmu-v1/nsh/Make.defs
#
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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 NuttX 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.
#
############################################################################
include ${TOPDIR}/.config
include ${TOPDIR}/tools/Config.mk
#
# We only support building with the ARM bare-metal toolchain from
# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
#
CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI
include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
CC = $(CROSSDEV)gcc
CXX = $(CROSSDEV)g++
CPP = $(CROSSDEV)gcc -E
LD = $(CROSSDEV)ld
AR = $(CROSSDEV)ar rcs
NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
MAXOPTIMIZATION = -O3
ARCHCPUFLAGS = -mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
-mfpu=fpv4-sp-d16 \
-mfloat-abi=hard
# enable precise stack overflow tracking
INSTRUMENTATIONDEFINES = -finstrument-functions \
-ffixed-r10
# pull in *just* libm from the toolchain ... this is grody
LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
EXTRA_LIBS += $(LIBM)
# use our linker script
LDSCRIPT = ld.script
ifeq ($(WINTOOL),y)
# Windows-native toolchains
DIRLINK = $(TOPDIR)/tools/copydir.sh
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
else
ifeq ($(PX4_WINTOOL),y)
# Windows-native toolchains (MSYS)
DIRLINK = $(TOPDIR)/tools/copydir.sh
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
else
# Linux/Cygwin-native toolchain
MKDEP = $(TOPDIR)/tools/mkdeps.sh
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
endif
endif
# tool versions
ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
# optimisation flags
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
-fno-strict-aliasing \
-fno-strength-reduce \
-fomit-frame-pointer \
-funsafe-math-optimizations \
-fno-builtin-printf \
-ffunction-sections \
-fdata-sections
ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
ARCHOPTIMIZATION += -g
endif
ARCHCFLAGS = -std=gnu99
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
ARCHWARNINGS = -Wall \
-Wextra \
-Wdouble-promotion \
-Wshadow \
-Wfloat-equal \
-Wframe-larger-than=1024 \
-Wpointer-arith \
-Wlogical-op \
-Wmissing-declarations \
-Wpacked \
-Wno-unused-parameter
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
ARCHCWARNINGS = $(ARCHWARNINGS) \
-Wbad-function-cast \
-Wstrict-prototypes \
-Wold-style-declaration \
-Wmissing-parameter-type \
-Wmissing-prototypes \
-Wnested-externs \
-Wunsuffixed-float-constants
ARCHWARNINGSXX = $(ARCHWARNINGS) \
-Wno-psabi
ARCHDEFINES =
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
# this seems to be the only way to add linker flags
EXTRA_LIBS += --warn-common \
--gc-sections
CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
AFLAGS = $(CFLAGS) -D__ASSEMBLY__
NXFLATLDFLAGS1 = -r -d -warn-common
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
LDNXFLATFLAGS = -e main -s 2048
OBJEXT = .o
LIBEXT = .a
EXEEXT =
# produce partially-linked $1 from files in $2
define PRELINK
@echo "PRELINK: $1"
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
endef
HOSTCC = gcc
HOSTINCLUDES = -I.
HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
HOSTLDFLAGS =
nuttx-configs/px4fmu-v1/nsh/defconfig
+964
View File
@@ -0,0 +1,964 @@
#
# Automatically generated file; DO NOT EDIT.
# Nuttx/ Configuration
#
CONFIG_NUTTX_NEWCONFIG=y
#
# Build Setup
#
# CONFIG_EXPERIMENTAL is not set
# CONFIG_HOST_LINUX is not set
CONFIG_HOST_OSX=y
# CONFIG_HOST_WINDOWS is not set
# CONFIG_HOST_OTHER is not set
#
# Build Configuration
#
CONFIG_APPS_DIR="../apps"
# CONFIG_BUILD_2PASS is not set
#
# Binary Output Formats
#
# CONFIG_RRLOAD_BINARY is not set
# CONFIG_INTELHEX_BINARY is not set
# CONFIG_MOTOROLA_SREC is not set
CONFIG_RAW_BINARY=y
#
# Customize Header Files
#
# CONFIG_ARCH_STDBOOL_H is not set
CONFIG_ARCH_MATH_H=y
# CONFIG_ARCH_FLOAT_H is not set
# CONFIG_ARCH_STDARG_H is not set
#
# Debug Options
#
# CONFIG_DEBUG is not set
CONFIG_DEBUG_SYMBOLS=y
#
# System Type
#
# CONFIG_ARCH_8051 is not set
CONFIG_ARCH_ARM=y
# CONFIG_ARCH_AVR is not set
# CONFIG_ARCH_HC is not set
# CONFIG_ARCH_MIPS is not set
# CONFIG_ARCH_RGMP is not set
# CONFIG_ARCH_SH is not set
# CONFIG_ARCH_SIM is not set
# CONFIG_ARCH_X86 is not set
# CONFIG_ARCH_Z16 is not set
# CONFIG_ARCH_Z80 is not set
CONFIG_ARCH="arm"
#
# ARM Options
#
# CONFIG_ARCH_CHIP_C5471 is not set
# CONFIG_ARCH_CHIP_CALYPSO is not set
# CONFIG_ARCH_CHIP_DM320 is not set
# CONFIG_ARCH_CHIP_IMX is not set
# CONFIG_ARCH_CHIP_KINETIS is not set
# CONFIG_ARCH_CHIP_KL is not set
# CONFIG_ARCH_CHIP_LM is not set
# CONFIG_ARCH_CHIP_LPC17XX is not set
# CONFIG_ARCH_CHIP_LPC214X is not set
# CONFIG_ARCH_CHIP_LPC2378 is not set
# CONFIG_ARCH_CHIP_LPC31XX is not set
# CONFIG_ARCH_CHIP_LPC43XX is not set
# CONFIG_ARCH_CHIP_NUC1XX is not set
# CONFIG_ARCH_CHIP_SAM34 is not set
CONFIG_ARCH_CHIP_STM32=y
# CONFIG_ARCH_CHIP_STR71X is not set
CONFIG_ARCH_CORTEXM4=y
CONFIG_ARCH_FAMILY="armv7-m"
CONFIG_ARCH_CHIP="stm32"
CONFIG_ARMV7M_USEBASEPRI=y
CONFIG_ARCH_HAVE_CMNVECTOR=y
CONFIG_ARMV7M_CMNVECTOR=y
CONFIG_ARCH_HAVE_FPU=y
CONFIG_ARCH_FPU=y
CONFIG_ARCH_HAVE_MPU=y
# CONFIG_ARMV7M_MPU is not set
#
# ARMV7M Configuration Options
#
# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set
CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y
CONFIG_ARMV7M_STACKCHECK=y
CONFIG_SERIAL_TERMIOS=y
#
# STM32 Configuration Options
#
# CONFIG_ARCH_CHIP_STM32L151C6 is not set
# CONFIG_ARCH_CHIP_STM32L151C8 is not set
# CONFIG_ARCH_CHIP_STM32L151CB is not set
# CONFIG_ARCH_CHIP_STM32L151R6 is not set
# CONFIG_ARCH_CHIP_STM32L151R8 is not set
# CONFIG_ARCH_CHIP_STM32L151RB is not set
# CONFIG_ARCH_CHIP_STM32L151V6 is not set
# CONFIG_ARCH_CHIP_STM32L151V8 is not set
# CONFIG_ARCH_CHIP_STM32L151VB is not set
# CONFIG_ARCH_CHIP_STM32L152C6 is not set
# CONFIG_ARCH_CHIP_STM32L152C8 is not set
# CONFIG_ARCH_CHIP_STM32L152CB is not set
# CONFIG_ARCH_CHIP_STM32L152R6 is not set
# CONFIG_ARCH_CHIP_STM32L152R8 is not set
# CONFIG_ARCH_CHIP_STM32L152RB is not set
# CONFIG_ARCH_CHIP_STM32L152V6 is not set
# CONFIG_ARCH_CHIP_STM32L152V8 is not set
# CONFIG_ARCH_CHIP_STM32L152VB is not set
# CONFIG_ARCH_CHIP_STM32F100C8 is not set
# CONFIG_ARCH_CHIP_STM32F100CB is not set
# CONFIG_ARCH_CHIP_STM32F100R8 is not set
# CONFIG_ARCH_CHIP_STM32F100RB is not set
# CONFIG_ARCH_CHIP_STM32F100RC is not set
# CONFIG_ARCH_CHIP_STM32F100RD is not set
# CONFIG_ARCH_CHIP_STM32F100RE is not set
# CONFIG_ARCH_CHIP_STM32F100V8 is not set
# CONFIG_ARCH_CHIP_STM32F100VB is not set
# CONFIG_ARCH_CHIP_STM32F100VC is not set
# CONFIG_ARCH_CHIP_STM32F100VD is not set
# CONFIG_ARCH_CHIP_STM32F100VE is not set
# CONFIG_ARCH_CHIP_STM32F103C4 is not set
# CONFIG_ARCH_CHIP_STM32F103C8 is not set
# CONFIG_ARCH_CHIP_STM32F103RET6 is not set
# CONFIG_ARCH_CHIP_STM32F103VCT6 is not set
# CONFIG_ARCH_CHIP_STM32F103VET6 is not set
# CONFIG_ARCH_CHIP_STM32F103ZET6 is not set
# CONFIG_ARCH_CHIP_STM32F105VBT7 is not set
# CONFIG_ARCH_CHIP_STM32F107VC is not set
# CONFIG_ARCH_CHIP_STM32F207IG is not set
# CONFIG_ARCH_CHIP_STM32F302CB is not set
# CONFIG_ARCH_CHIP_STM32F302CC is not set
# CONFIG_ARCH_CHIP_STM32F302RB is not set
# CONFIG_ARCH_CHIP_STM32F302RC is not set
# CONFIG_ARCH_CHIP_STM32F302VB is not set
# CONFIG_ARCH_CHIP_STM32F302VC is not set
# CONFIG_ARCH_CHIP_STM32F303CB is not set
# CONFIG_ARCH_CHIP_STM32F303CC is not set
# CONFIG_ARCH_CHIP_STM32F303RB is not set
# CONFIG_ARCH_CHIP_STM32F303RC is not set
# CONFIG_ARCH_CHIP_STM32F303VB is not set
# CONFIG_ARCH_CHIP_STM32F303VC is not set
CONFIG_ARCH_CHIP_STM32F405RG=y
# CONFIG_ARCH_CHIP_STM32F405VG is not set
# CONFIG_ARCH_CHIP_STM32F405ZG is not set
# CONFIG_ARCH_CHIP_STM32F407VE is not set
# CONFIG_ARCH_CHIP_STM32F407VG is not set
# CONFIG_ARCH_CHIP_STM32F407ZE is not set
# CONFIG_ARCH_CHIP_STM32F407ZG is not set
# CONFIG_ARCH_CHIP_STM32F407IE is not set
# CONFIG_ARCH_CHIP_STM32F407IG is not set
# CONFIG_ARCH_CHIP_STM32F427V is not set
# CONFIG_ARCH_CHIP_STM32F427Z is not set
# CONFIG_ARCH_CHIP_STM32F427I is not set
# CONFIG_STM32_STM32L15XX is not set
# CONFIG_STM32_ENERGYLITE is not set
# CONFIG_STM32_STM32F10XX is not set
# CONFIG_STM32_VALUELINE is not set
# CONFIG_STM32_CONNECTIVITYLINE is not set
# CONFIG_STM32_PERFORMANCELINE is not set
# CONFIG_STM32_HIGHDENSITY is not set
# CONFIG_STM32_MEDIUMDENSITY is not set
# CONFIG_STM32_LOWDENSITY is not set
# CONFIG_STM32_STM32F20XX is not set
# CONFIG_STM32_STM32F30XX is not set
CONFIG_STM32_STM32F40XX=y
# CONFIG_STM32_DFU is not set
#
# STM32 Peripheral Support
#
CONFIG_STM32_ADC1=y
# CONFIG_STM32_ADC2 is not set
# CONFIG_STM32_ADC3 is not set
CONFIG_STM32_BKPSRAM=y
# CONFIG_STM32_CAN1 is not set
# CONFIG_STM32_CAN2 is not set
CONFIG_STM32_CCMDATARAM=y
# CONFIG_STM32_CRC is not set
# CONFIG_STM32_CRYP is not set
CONFIG_STM32_DMA1=y
CONFIG_STM32_DMA2=y
# CONFIG_STM32_DAC1 is not set
# CONFIG_STM32_DAC2 is not set
# CONFIG_STM32_DCMI is not set
# CONFIG_STM32_ETHMAC is not set
# CONFIG_STM32_FSMC is not set
# CONFIG_STM32_HASH is not set
CONFIG_STM32_I2C1=y
CONFIG_STM32_I2C2=y
CONFIG_STM32_I2C3=y
CONFIG_STM32_OTGFS=y
# CONFIG_STM32_OTGHS is not set
CONFIG_STM32_PWR=y
# CONFIG_STM32_RNG is not set
# CONFIG_STM32_SDIO is not set
CONFIG_STM32_SPI1=y
# CONFIG_STM32_SPI2 is not set
CONFIG_STM32_SPI3=y
CONFIG_STM32_SYSCFG=y
# CONFIG_STM32_TIM1 is not set
# CONFIG_STM32_TIM2 is not set
# CONFIG_STM32_TIM3 is not set
CONFIG_STM32_TIM4=y
CONFIG_STM32_TIM5=y
CONFIG_STM32_TIM6=y
CONFIG_STM32_TIM7=y
# CONFIG_STM32_TIM8 is not set
CONFIG_STM32_TIM9=y
CONFIG_STM32_TIM10=y
CONFIG_STM32_TIM11=y
CONFIG_STM32_TIM12=y
CONFIG_STM32_TIM13=y
CONFIG_STM32_TIM14=y
CONFIG_STM32_USART1=y
CONFIG_STM32_USART2=y
# CONFIG_STM32_USART3 is not set
# CONFIG_STM32_UART4 is not set
CONFIG_STM32_UART5=y
CONFIG_STM32_USART6=y
# CONFIG_STM32_IWDG is not set
CONFIG_STM32_WWDG=y
CONFIG_STM32_ADC=y
CONFIG_STM32_SPI=y
CONFIG_STM32_I2C=y
#
# Alternate Pin Mapping
#
CONFIG_STM32_FLASH_PREFETCH=y
# CONFIG_STM32_JTAG_DISABLE is not set
CONFIG_STM32_JTAG_FULL_ENABLE=y
# CONFIG_STM32_JTAG_NOJNTRST_ENABLE is not set
# CONFIG_STM32_JTAG_SW_ENABLE is not set
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 is not set
CONFIG_STM32_DMACAPABLE=y
# CONFIG_STM32_TIM4_PWM is not set
# CONFIG_STM32_TIM5_PWM is not set
# CONFIG_STM32_TIM9_PWM is not set
# CONFIG_STM32_TIM10_PWM is not set
# CONFIG_STM32_TIM11_PWM is not set
# CONFIG_STM32_TIM12_PWM is not set
# CONFIG_STM32_TIM13_PWM is not set
# CONFIG_STM32_TIM14_PWM is not set
# CONFIG_STM32_TIM4_ADC is not set
# CONFIG_STM32_TIM5_ADC is not set
CONFIG_STM32_USART=y
#
# U[S]ART Configuration
#
# CONFIG_USART1_RS485 is not set
# CONFIG_USART1_RXDMA is not set
# CONFIG_USART2_RS485 is not set
CONFIG_USART2_RXDMA=y
# CONFIG_USART3_RXDMA is not set
# CONFIG_UART4_RXDMA is not set
# CONFIG_UART5_RS485 is not set
CONFIG_UART5_RXDMA=y
# CONFIG_USART6_RS485 is not set
CONFIG_USART6_RXDMA=y
# CONFIG_USART7_RXDMA is not set
# CONFIG_USART8_RXDMA is not set
CONFIG_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32_USART_SINGLEWIRE=y
#
# SPI Configuration
#
# CONFIG_STM32_SPI_INTERRUPTS is not set
# CONFIG_STM32_SPI_DMA is not set
#
# I2C Configuration
#
# 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
#
# USB Host Configuration
#
#
# USB Device Configuration
#
#
# External Memory Configuration
#
#
# Architecture Options
#
# CONFIG_ARCH_NOINTC is not set
# CONFIG_ARCH_VECNOTIRQ is not set
CONFIG_ARCH_DMA=y
CONFIG_ARCH_IRQPRIO=y
# CONFIG_CUSTOM_STACK is not set
# CONFIG_ADDRENV is not set
CONFIG_ARCH_HAVE_VFORK=y
CONFIG_ARCH_STACKDUMP=y
# CONFIG_ENDIAN_BIG is not set
# CONFIG_ARCH_HAVE_RAMFUNCS is not set
CONFIG_ARCH_HAVE_RAMVECTORS=y
# CONFIG_ARCH_RAMVECTORS is not set
#
# Board Settings
#
CONFIG_BOARD_LOOPSPERMSEC=16717
# CONFIG_ARCH_CALIBRATION is not set
CONFIG_DRAM_START=0x20000000
CONFIG_DRAM_SIZE=196608
CONFIG_ARCH_HAVE_INTERRUPTSTACK=y
CONFIG_ARCH_INTERRUPTSTACK=2048
#
# Boot options
#
# CONFIG_BOOT_RUNFROMEXTSRAM is not set
CONFIG_BOOT_RUNFROMFLASH=y
# CONFIG_BOOT_RUNFROMISRAM is not set
# CONFIG_BOOT_RUNFROMSDRAM is not set
# CONFIG_BOOT_COPYTORAM is not set
#
# Board Selection
#
CONFIG_ARCH_BOARD_CUSTOM=y
CONFIG_ARCH_BOARD=""
#
# Common Board Options
#
CONFIG_NSH_MMCSDMINOR=0
CONFIG_NSH_MMCSDSLOTNO=0
CONFIG_NSH_MMCSDSPIPORTNO=3
#
# Board-Specific Options
#
#
# RTOS Features
#
# CONFIG_BOARD_INITIALIZE is not set
CONFIG_MSEC_PER_TICK=1
CONFIG_RR_INTERVAL=0
CONFIG_SCHED_INSTRUMENTATION=y
CONFIG_TASK_NAME_SIZE=24
# CONFIG_SCHED_HAVE_PARENT is not set
# CONFIG_JULIAN_TIME is not set
CONFIG_START_YEAR=1970
CONFIG_START_MONTH=1
CONFIG_START_DAY=1
# CONFIG_DEV_CONSOLE is not set
# CONFIG_MUTEX_TYPES is not set
CONFIG_PRIORITY_INHERITANCE=y
CONFIG_SEM_PREALLOCHOLDERS=0
CONFIG_SEM_NNESTPRIO=8
# CONFIG_FDCLONE_DISABLE is not set
CONFIG_FDCLONE_STDIO=y
CONFIG_SDCLONE_DISABLE=y
CONFIG_SCHED_WAITPID=y
# CONFIG_SCHED_STARTHOOK is not set
CONFIG_SCHED_ATEXIT=y
CONFIG_SCHED_ATEXIT_MAX=1
# CONFIG_SCHED_ONEXIT is not set
CONFIG_USER_ENTRYPOINT="nsh_main"
CONFIG_DISABLE_OS_API=y
# CONFIG_DISABLE_CLOCK is not set
# CONFIG_DISABLE_POSIX_TIMERS is not set
# CONFIG_DISABLE_PTHREAD is not set
# CONFIG_DISABLE_SIGNALS is not set
# CONFIG_DISABLE_MQUEUE is not set
# CONFIG_DISABLE_ENVIRON is not set
#
# Signal Numbers
#
CONFIG_SIG_SIGUSR1=1
CONFIG_SIG_SIGUSR2=2
CONFIG_SIG_SIGALARM=3
CONFIG_SIG_SIGCONDTIMEDOUT=16
CONFIG_SIG_SIGWORK=4
#
# Sizes of configurable things (0 disables)
#
CONFIG_MAX_TASKS=32
CONFIG_MAX_TASK_ARGS=10
CONFIG_NPTHREAD_KEYS=4
CONFIG_NFILE_DESCRIPTORS=32
CONFIG_NFILE_STREAMS=25
CONFIG_NAME_MAX=32
CONFIG_PREALLOC_MQ_MSGS=4
CONFIG_MQ_MAXMSGSIZE=32
CONFIG_MAX_WDOGPARMS=2
CONFIG_PREALLOC_WDOGS=50
CONFIG_PREALLOC_TIMERS=50
#
# Stack and heap information
#
CONFIG_IDLETHREAD_STACKSIZE=6000
CONFIG_USERMAIN_STACKSIZE=4096
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_PTHREAD_STACK_DEFAULT=2048
#
# Device Drivers
#
# CONFIG_DISABLE_POLL is not set
CONFIG_DEV_NULL=y
# CONFIG_DEV_ZERO is not set
# CONFIG_LOOP is not set
# CONFIG_RAMDISK is not set
# CONFIG_CAN is not set
# CONFIG_PWM is not set
CONFIG_I2C=y
# CONFIG_I2C_SLAVE is not set
CONFIG_I2C_TRANSFER=y
# CONFIG_I2C_WRITEREAD is not set
# CONFIG_I2C_POLLED is not set
# CONFIG_I2C_TRACE is not set
CONFIG_ARCH_HAVE_I2CRESET=y
CONFIG_I2C_RESET=y
CONFIG_SPI=y
# CONFIG_SPI_OWNBUS is not set
CONFIG_SPI_EXCHANGE=y
# CONFIG_SPI_CMDDATA is not set
# CONFIG_RTC is not set
CONFIG_WATCHDOG=y
# CONFIG_ANALOG is not set
# CONFIG_AUDIO_DEVICES is not set
# CONFIG_BCH is not set
# CONFIG_INPUT is not set
# CONFIG_LCD is not set
CONFIG_MMCSD=y
CONFIG_MMCSD_NSLOTS=1
# CONFIG_MMCSD_READONLY is not set
# CONFIG_MMCSD_MULTIBLOCK_DISABLE is not set
# CONFIG_MMCSD_MMCSUPPORT is not set
# CONFIG_MMCSD_HAVECARDDETECT is not set
CONFIG_MMCSD_SPI=y
CONFIG_MMCSD_SPICLOCK=24000000
# CONFIG_MMCSD_SDIO is not set
# CONFIG_MTD is not set
CONFIG_PIPES=y
# CONFIG_PM is not set
# CONFIG_POWER is not set
# CONFIG_SENSORS is not set
CONFIG_SERIAL=y
# CONFIG_DEV_LOWCONSOLE is not set
CONFIG_SERIAL_REMOVABLE=y
# CONFIG_16550_UART is not set
CONFIG_ARCH_HAVE_UART5=y
CONFIG_ARCH_HAVE_USART1=y
CONFIG_ARCH_HAVE_USART2=y
CONFIG_ARCH_HAVE_USART6=y
CONFIG_MCU_SERIAL=y
CONFIG_STANDARD_SERIAL=y
CONFIG_SERIAL_NPOLLWAITERS=2
# CONFIG_USART1_SERIAL_CONSOLE is not set
# CONFIG_USART2_SERIAL_CONSOLE is not set
# CONFIG_UART5_SERIAL_CONSOLE is not set
# CONFIG_USART6_SERIAL_CONSOLE is not set
CONFIG_NO_SERIAL_CONSOLE=y
#
# USART1 Configuration
#
CONFIG_USART1_RXBUFSIZE=512
CONFIG_USART1_TXBUFSIZE=512
CONFIG_USART1_BAUD=57600
CONFIG_USART1_BITS=8
CONFIG_USART1_PARITY=0
CONFIG_USART1_2STOP=0
# CONFIG_USART1_IFLOWCONTROL is not set
# CONFIG_USART1_OFLOWCONTROL is not set
#
# USART2 Configuration
#
CONFIG_USART2_RXBUFSIZE=512
CONFIG_USART2_TXBUFSIZE=512
CONFIG_USART2_BAUD=57600
CONFIG_USART2_BITS=8
CONFIG_USART2_PARITY=0
CONFIG_USART2_2STOP=0
CONFIG_USART2_IFLOWCONTROL=y
CONFIG_USART2_OFLOWCONTROL=y
#
# UART5 Configuration
#
CONFIG_UART5_RXBUFSIZE=32
CONFIG_UART5_TXBUFSIZE=32
CONFIG_UART5_BAUD=57600
CONFIG_UART5_BITS=8
CONFIG_UART5_PARITY=0
CONFIG_UART5_2STOP=0
# CONFIG_UART5_IFLOWCONTROL is not set
# CONFIG_UART5_OFLOWCONTROL is not set
#
# USART6 Configuration
#
CONFIG_USART6_RXBUFSIZE=512
CONFIG_USART6_TXBUFSIZE=512
CONFIG_USART6_BAUD=57600
CONFIG_USART6_BITS=8
CONFIG_USART6_PARITY=0
CONFIG_USART6_2STOP=0
# CONFIG_USART6_IFLOWCONTROL is not set
# CONFIG_USART6_OFLOWCONTROL is not set
CONFIG_SERIAL_IFLOWCONTROL=y
CONFIG_SERIAL_OFLOWCONTROL=y
CONFIG_USBDEV=y
#
# USB Device Controller Driver Options
#
# CONFIG_USBDEV_ISOCHRONOUS is not set
# CONFIG_USBDEV_DUALSPEED is not set
# 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
#
# USB Device Class Driver Options
#
# CONFIG_USBDEV_COMPOSITE is not set
# CONFIG_PL2303 is not set
CONFIG_CDCACM=y
CONFIG_CDCACM_CONSOLE=y
CONFIG_CDCACM_EP0MAXPACKET=64
CONFIG_CDCACM_EPINTIN=1
CONFIG_CDCACM_EPINTIN_FSSIZE=64
CONFIG_CDCACM_EPINTIN_HSSIZE=64
CONFIG_CDCACM_EPBULKOUT=3
CONFIG_CDCACM_EPBULKOUT_FSSIZE=64
CONFIG_CDCACM_EPBULKOUT_HSSIZE=512
CONFIG_CDCACM_EPBULKIN=2
CONFIG_CDCACM_EPBULKIN_FSSIZE=64
CONFIG_CDCACM_EPBULKIN_HSSIZE=512
CONFIG_CDCACM_NWRREQS=4
CONFIG_CDCACM_NRDREQS=4
CONFIG_CDCACM_BULKIN_REQLEN=96
CONFIG_CDCACM_RXBUFSIZE=256
CONFIG_CDCACM_TXBUFSIZE=256
CONFIG_CDCACM_VENDORID=0x26ac
CONFIG_CDCACM_PRODUCTID=0x0010
CONFIG_CDCACM_VENDORSTR="3D Robotics"
CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v1.x"
# CONFIG_USBMSC is not set
# CONFIG_USBHOST is not set
# CONFIG_WIRELESS is not set
#
# System Logging Device Options
#
#
# System Logging
#
# CONFIG_RAMLOG is not set
#
# Networking Support
#
# CONFIG_NET is not set
#
# File Systems
#
#
# File system configuration
#
# CONFIG_DISABLE_MOUNTPOINT is not set
# CONFIG_FS_RAMMAP is not set
CONFIG_FS_FAT=y
CONFIG_FAT_LCNAMES=y
CONFIG_FAT_LFN=y
CONFIG_FAT_MAXFNAME=32
CONFIG_FS_FATTIME=y
# CONFIG_FAT_DMAMEMORY is not set
CONFIG_FS_NXFFS=y
CONFIG_NXFFS_PREALLOCATED=y
CONFIG_NXFFS_ERASEDSTATE=0xff
CONFIG_NXFFS_PACKTHRESHOLD=32
CONFIG_NXFFS_MAXNAMLEN=32
CONFIG_NXFFS_TAILTHRESHOLD=2048
CONFIG_FS_ROMFS=y
# CONFIG_FS_SMARTFS is not set
CONFIG_FS_BINFS=y
#
# System Logging
#
# CONFIG_SYSLOG_ENABLE is not set
CONFIG_SYSLOG=y
CONFIG_SYSLOG_CHAR=y
CONFIG_SYSLOG_DEVPATH="/dev/ttyS0"
#
# Graphics Support
#
# CONFIG_NX is not set
#
# Memory Management
#
# CONFIG_MM_MULTIHEAP is not set
# CONFIG_MM_SMALL is not set
CONFIG_MM_REGIONS=2
CONFIG_GRAN=y
CONFIG_GRAN_SINGLE=y
CONFIG_GRAN_INTR=y
#
# Audio Support
#
# CONFIG_AUDIO is not set
#
# Binary Formats
#
# CONFIG_BINFMT_DISABLE is not set
# CONFIG_BINFMT_EXEPATH is not set
# CONFIG_NXFLAT is not set
# CONFIG_ELF is not set
CONFIG_BUILTIN=y
# CONFIG_PIC is not set
# CONFIG_SYMTAB_ORDEREDBYNAME is not set
#
# Library Routines
#
#
# Standard C Library Options
#
CONFIG_STDIO_BUFFER_SIZE=256
CONFIG_STDIO_LINEBUFFER=y
CONFIG_NUNGET_CHARS=2
CONFIG_LIB_HOMEDIR="/"
# CONFIG_NOPRINTF_FIELDWIDTH is not set
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIB_RAND_ORDER=1
# CONFIG_EOL_IS_CR is not set
# CONFIG_EOL_IS_LF is not set
# CONFIG_EOL_IS_BOTH_CRLF is not set
CONFIG_EOL_IS_EITHER_CRLF=y
# CONFIG_LIBC_EXECFUNCS is not set
CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=1024
CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=2048
CONFIG_LIBC_STRERROR=y
# CONFIG_LIBC_STRERROR_SHORT is not set
# CONFIG_LIBC_PERROR_STDOUT is not set
CONFIG_ARCH_LOWPUTC=y
CONFIG_LIB_SENDFILE_BUFSIZE=512
# CONFIG_ARCH_ROMGETC is not set
CONFIG_ARCH_OPTIMIZED_FUNCTIONS=y
CONFIG_ARCH_MEMCPY=y
# CONFIG_ARCH_MEMCMP is not set
# CONFIG_ARCH_MEMMOVE is not set
# CONFIG_ARCH_MEMSET is not set
# CONFIG_MEMSET_OPTSPEED is not set
# CONFIG_ARCH_STRCHR is not set
# CONFIG_ARCH_STRCMP is not set
# CONFIG_ARCH_STRCPY is not set
# CONFIG_ARCH_STRNCPY is not set
# CONFIG_ARCH_STRLEN is not set
# CONFIG_ARCH_STRNLEN is not set
# CONFIG_ARCH_BZERO is not set
#
# Non-standard Library Support
#
CONFIG_SCHED_WORKQUEUE=y
CONFIG_SCHED_HPWORK=y
CONFIG_SCHED_WORKPRIORITY=192
CONFIG_SCHED_WORKPERIOD=5000
CONFIG_SCHED_WORKSTACKSIZE=2048
CONFIG_SCHED_LPWORK=y
CONFIG_SCHED_LPWORKPRIORITY=50
CONFIG_SCHED_LPWORKPERIOD=50000
CONFIG_SCHED_LPWORKSTACKSIZE=2048
# CONFIG_LIB_KBDCODEC is not set
# CONFIG_LIB_SLCDCODEC is not set
#
# Basic CXX Support
#
# CONFIG_C99_BOOL8 is not set
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
# CONFIG_CXX_NEWLONG is not set
#
# uClibc++ Standard C++ Library
#
# CONFIG_UCLIBCXX is not set
#
# Application Configuration
#
#
# Built-In Applications
#
CONFIG_BUILTIN_PROXY_STACKSIZE=1024
#
# Examples
#
# CONFIG_EXAMPLES_BUTTONS is not set
# CONFIG_EXAMPLES_CAN is not set
CONFIG_EXAMPLES_CDCACM=y
# CONFIG_EXAMPLES_COMPOSITE is not set
# CONFIG_EXAMPLES_CXXTEST is not set
# CONFIG_EXAMPLES_DHCPD is not set
# CONFIG_EXAMPLES_ELF is not set
# CONFIG_EXAMPLES_FTPC is not set
# CONFIG_EXAMPLES_FTPD is not set
# CONFIG_EXAMPLES_HELLO is not set
# CONFIG_EXAMPLES_HELLOXX is not set
# CONFIG_EXAMPLES_JSON is not set
# CONFIG_EXAMPLES_HIDKBD is not set
# CONFIG_EXAMPLES_KEYPADTEST is not set
# CONFIG_EXAMPLES_IGMP is not set
# CONFIG_EXAMPLES_LCDRW is not set
# CONFIG_EXAMPLES_MM is not set
# CONFIG_EXAMPLES_MODBUS is not set
CONFIG_EXAMPLES_MOUNT=y
# CONFIG_EXAMPLES_NRF24L01TERM is not set
CONFIG_EXAMPLES_NSH=y
# CONFIG_EXAMPLES_NULL is not set
# CONFIG_EXAMPLES_NX is not set
# CONFIG_EXAMPLES_NXCONSOLE is not set
# CONFIG_EXAMPLES_NXFFS is not set
# CONFIG_EXAMPLES_NXFLAT is not set
# CONFIG_EXAMPLES_NXHELLO is not set
# CONFIG_EXAMPLES_NXIMAGE is not set
# CONFIG_EXAMPLES_NXLINES is not set
# CONFIG_EXAMPLES_NXTEXT is not set
# CONFIG_EXAMPLES_OSTEST is not set
# CONFIG_EXAMPLES_PASHELLO is not set
# CONFIG_EXAMPLES_PIPE is not set
# CONFIG_EXAMPLES_POSIXSPAWN is not set
# CONFIG_EXAMPLES_QENCODER is not set
# CONFIG_EXAMPLES_RGMP is not set
# CONFIG_EXAMPLES_ROMFS is not set
# CONFIG_EXAMPLES_SENDMAIL is not set
# CONFIG_EXAMPLES_SERLOOP is not set
# CONFIG_EXAMPLES_SLCD is not set
# CONFIG_EXAMPLES_SMART_TEST is not set
# CONFIG_EXAMPLES_SMART is not set
# CONFIG_EXAMPLES_TCPECHO is not set
# CONFIG_EXAMPLES_TELNETD is not set
# CONFIG_EXAMPLES_THTTPD is not set
# CONFIG_EXAMPLES_TIFF is not set
# CONFIG_EXAMPLES_TOUCHSCREEN is not set
# CONFIG_EXAMPLES_UDP is not set
# CONFIG_EXAMPLES_UIP is not set
# CONFIG_EXAMPLES_USBSERIAL is not set
# CONFIG_EXAMPLES_USBMSC is not set
# CONFIG_EXAMPLES_USBTERM is not set
# CONFIG_EXAMPLES_WATCHDOG is not set
#
# Graphics Support
#
# CONFIG_TIFF is not set
#
# Interpreters
#
# CONFIG_INTERPRETERS_FICL is not set
# CONFIG_INTERPRETERS_PCODE is not set
#
# Network Utilities
#
#
# Networking Utilities
#
# CONFIG_NETUTILS_CODECS is not set
# CONFIG_NETUTILS_DHCPC is not set
# CONFIG_NETUTILS_DHCPD is not set
# CONFIG_NETUTILS_FTPC is not set
# CONFIG_NETUTILS_FTPD is not set
# CONFIG_NETUTILS_JSON is not set
# CONFIG_NETUTILS_RESOLV is not set
# CONFIG_NETUTILS_SMTP is not set
# CONFIG_NETUTILS_TELNETD is not set
# CONFIG_NETUTILS_TFTPC is not set
# CONFIG_NETUTILS_THTTPD is not set
# CONFIG_NETUTILS_UIPLIB is not set
# CONFIG_NETUTILS_WEBCLIENT is not set
#
# FreeModBus
#
# CONFIG_MODBUS is not set
#
# NSH Library
#
CONFIG_NSH_LIBRARY=y
CONFIG_NSH_BUILTIN_APPS=y
#
# Disable Individual commands
#
# CONFIG_NSH_DISABLE_CAT is not set
# CONFIG_NSH_DISABLE_CD is not set
# CONFIG_NSH_DISABLE_CP is not set
# CONFIG_NSH_DISABLE_DD is not set
# CONFIG_NSH_DISABLE_ECHO is not set
# CONFIG_NSH_DISABLE_EXEC is not set
# CONFIG_NSH_DISABLE_EXIT is not set
# CONFIG_NSH_DISABLE_FREE is not set
# CONFIG_NSH_DISABLE_GET is not set
# CONFIG_NSH_DISABLE_HELP is not set
# CONFIG_NSH_DISABLE_HEXDUMP is not set
# CONFIG_NSH_DISABLE_IFCONFIG is not set
# CONFIG_NSH_DISABLE_KILL is not set
# CONFIG_NSH_DISABLE_LOSETUP is not set
# CONFIG_NSH_DISABLE_LS is not set
# CONFIG_NSH_DISABLE_MB is not set
# CONFIG_NSH_DISABLE_MKDIR is not set
# CONFIG_NSH_DISABLE_MKFATFS is not set
# CONFIG_NSH_DISABLE_MKFIFO is not set
# CONFIG_NSH_DISABLE_MKRD is not set
# CONFIG_NSH_DISABLE_MH is not set
# CONFIG_NSH_DISABLE_MOUNT is not set
# CONFIG_NSH_DISABLE_MW is not set
# CONFIG_NSH_DISABLE_NSFMOUNT is not set
# CONFIG_NSH_DISABLE_PS is not set
# CONFIG_NSH_DISABLE_PING is not set
# CONFIG_NSH_DISABLE_PUT is not set
# CONFIG_NSH_DISABLE_PWD is not set
# CONFIG_NSH_DISABLE_RM is not set
# CONFIG_NSH_DISABLE_RMDIR is not set
# CONFIG_NSH_DISABLE_SET is not set
# CONFIG_NSH_DISABLE_SH is not set
# CONFIG_NSH_DISABLE_SLEEP is not set
# CONFIG_NSH_DISABLE_TEST is not set
# CONFIG_NSH_DISABLE_UMOUNT is not set
# CONFIG_NSH_DISABLE_UNSET is not set
# CONFIG_NSH_DISABLE_USLEEP is not set
# CONFIG_NSH_DISABLE_WGET is not set
# CONFIG_NSH_DISABLE_XD is not set
#
# Configure Command Options
#
# CONFIG_NSH_CMDOPT_DF_H is not set
CONFIG_NSH_CODECS_BUFSIZE=128
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_STRERROR=y
CONFIG_NSH_LINELEN=128
CONFIG_NSH_MAXARGUMENTS=12
CONFIG_NSH_NESTDEPTH=8
# CONFIG_NSH_DISABLESCRIPT is not set
# CONFIG_NSH_DISABLEBG is not set
CONFIG_NSH_ROMFSETC=y
# CONFIG_NSH_ROMFSRC is not set
CONFIG_NSH_ROMFSMOUNTPT="/etc"
CONFIG_NSH_INITSCRIPT="init.d/rcS"
CONFIG_NSH_ROMFSDEVNO=0
CONFIG_NSH_ROMFSSECTSIZE=128
CONFIG_NSH_ARCHROMFS=y
CONFIG_NSH_FATDEVNO=1
CONFIG_NSH_FATSECTSIZE=512
CONFIG_NSH_FATNSECTORS=1024
CONFIG_NSH_FATMOUNTPT="/tmp"
CONFIG_NSH_CONSOLE=y
# CONFIG_NSH_USBCONSOLE is not set
#
# USB Trace Support
#
# CONFIG_NSH_CONDEV is not set
CONFIG_NSH_ARCHINIT=y
#
# NxWidgets/NxWM
#
#
# System NSH Add-Ons
#
#
# Custom Free Memory Command
#
# CONFIG_SYSTEM_FREE is not set
#
# I2C tool
#
# CONFIG_SYSTEM_I2CTOOL is not set
#
# FLASH Program Installation
#
# CONFIG_SYSTEM_INSTALL is not set
#
# FLASH Erase-all Command
#
#
# readline()
#
CONFIG_SYSTEM_READLINE=y
CONFIG_READLINE_ECHO=y
#
# Power Off
#
# CONFIG_SYSTEM_POWEROFF is not set
#
# RAMTRON
#
# CONFIG_SYSTEM_RAMTRON is not set
#
# SD Card
#
# CONFIG_SYSTEM_SDCARD is not set
#
# Sysinfo
#
CONFIG_SYSTEM_SYSINFO=y
#
# USB Monitor
#
nuttx-configs/px4fmu-v1/nsh/setenv.sh
Executable
+75
View File
@@ -0,0 +1,75 @@
#!/bin/bash
# configs/px4fmu-v1/usbnsh/setenv.sh
#
# Copyright (C) 2013 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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 NuttX 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.
#
if [ "$_" = "$0" ] ; then
echo "You must source this script, not run it!" 1>&2
exit 1
fi
WD=`pwd`
if [ ! -x "setenv.sh" ]; then
echo "This script must be executed from the top-level NuttX build directory"
exit 1
fi
if [ -z "${PATH_ORIG}" ]; then
export PATH_ORIG="${PATH}"
fi
# This is the Cygwin path to the location where I installed the RIDE
# toolchain under windows. You will also have to edit this if you install
# the RIDE toolchain in any other location
#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
# This is the Cygwin path to the location where I installed the CodeSourcery
# toolchain under windows. You will also have to edit this if you install
# the CodeSourcery toolchain in any other location
export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
# These are the Cygwin paths to the locations where I installed the Atollic
# toolchain under windows. You will also have to edit this if you install
# the Atollic toolchain in any other location. /usr/bin is added before
# the Atollic bin path because there is are binaries named gcc.exe and g++.exe
# at those locations as well.
#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for ARM Pro 2.3.0/ARMTools/bin"
#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for STMicroelectronics STM32 Lite 2.3.0/ARMTools/bin"
# This is the Cygwin path to the location where I build the buildroot
# toolchain.
#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
# Add the path to the toolchain to the PATH varialble
export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
echo "PATH : ${PATH}"
nuttx-configs/px4fmu-v1/scripts/ld.script
+149
View File
@@ -0,0 +1,149 @@
/****************************************************************************
* configs/px4fmu-v1/scripts/ld.script
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 NuttX 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.
*
****************************************************************************/
/* The STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
* 192Kb of SRAM. SRAM is split up into three blocks:
*
* 1) 112Kb of SRAM beginning at address 0x2000:0000
* 2) 16Kb of SRAM beginning at address 0x2001:c000
* 3) 64Kb of CCM SRAM beginning at address 0x1000:0000
*
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
* where the code expects to begin execution by jumping to the entry point in
* the 0x0800:0000 address range.
*
* The first 0x4000 of flash is reserved for the bootloader.
*/
MEMORY
{
flash (rx) : ORIGIN = 0x08004000, LENGTH = 1008K
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
}
OUTPUT_ARCH(arm)
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
EXTERN(_vectors) /* force the vectors to be included in the output */
/*
* Ensure that abort() is present in the final object. The exception handling
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
*/
EXTERN(abort)
SECTIONS
{
.text : {
_stext = ABSOLUTE(.);
*(.vectors)
*(.text .text.*)
*(.fixup)
*(.gnu.warning)
*(.rodata .rodata.*)
*(.gnu.linkonce.t.*)
*(.got)
*(.gcc_except_table)
*(.gnu.linkonce.r.*)
_etext = ABSOLUTE(.);
/*
* This is a hack to make the newlib libm __errno() call
* use the NuttX get_errno_ptr() function.
*/
__errno = get_errno_ptr;
} > flash
/*
* Init functions (static constructors and the like)
*/
.init_section : {
_sinit = ABSOLUTE(.);
KEEP(*(.init_array .init_array.*))
_einit = ABSOLUTE(.);
} > flash
/*
* Construction data for parameters.
*/
__param ALIGN(4): {
__param_start = ABSOLUTE(.);
KEEP(*(__param*))
__param_end = ABSOLUTE(.);
} > flash
.ARM.extab : {
*(.ARM.extab*)
} > flash
__exidx_start = ABSOLUTE(.);
.ARM.exidx : {
*(.ARM.exidx*)
} > flash
__exidx_end = ABSOLUTE(.);
_eronly = ABSOLUTE(.);
.data : {
_sdata = ABSOLUTE(.);
*(.data .data.*)
*(.gnu.linkonce.d.*)
CONSTRUCTORS
_edata = ABSOLUTE(.);
} > sram AT > flash
.bss : {
_sbss = ABSOLUTE(.);
*(.bss .bss.*)
*(.gnu.linkonce.b.*)
*(COMMON)
_ebss = ABSOLUTE(.);
} > sram
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }
.stab.excl 0 : { *(.stab.excl) }
.stab.exclstr 0 : { *(.stab.exclstr) }
.stab.index 0 : { *(.stab.index) }
.stab.indexstr 0 : { *(.stab.indexstr) }
.comment 0 : { *(.comment) }
.debug_abbrev 0 : { *(.debug_abbrev) }
.debug_info 0 : { *(.debug_info) }
.debug_line 0 : { *(.debug_line) }
.debug_pubnames 0 : { *(.debug_pubnames) }
.debug_aranges 0 : { *(.debug_aranges) }
}
nuttx-configs/px4fmu-v1/src/Makefile
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############################################################################
# configs/px4fmu-v1/src/Makefile
#
# Copyright (C) 2013 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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 NuttX 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.
#
############################################################################
-include $(TOPDIR)/Make.defs
CFLAGS += -I$(TOPDIR)/sched
ASRCS =
AOBJS = $(ASRCS:.S=$(OBJEXT))
CSRCS = empty.c
COBJS = $(CSRCS:.c=$(OBJEXT))
SRCS = $(ASRCS) $(CSRCS)
OBJS = $(AOBJS) $(COBJS)
ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
ifeq ($(WINTOOL),y)
CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
-I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
-I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
else
CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
endif
all: libboard$(LIBEXT)
$(AOBJS): %$(OBJEXT): %.S
$(call ASSEMBLE, $<, $@)
$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
$(call COMPILE, $<, $@)
libboard$(LIBEXT): $(OBJS)
$(call ARCHIVE, $@, $(OBJS))
.depend: Makefile $(SRCS)
$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
$(Q) touch $@
depend: .depend
clean:
$(call DELFILE, libboard$(LIBEXT))
$(call CLEAN)
distclean: clean
$(call DELFILE, Make.dep)
$(call DELFILE, .depend)
-include Make.dep
nuttx-configs/px4fmu-v1/src/empty.c
+4
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@@ -0,0 +1,4 @@
/*
* There are no source files here, but libboard.a can't be empty, so
* we have this empty source file to keep it company.
*/
nuttx-configs/px4io-v1/include/README.txt
Executable
+1
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@@ -0,0 +1 @@
This directory contains header files unique to the PX4IO board.
nuttx-configs/px4io-v1/include/board.h
Executable
+168
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@@ -0,0 +1,168 @@
/************************************************************************************
* configs/px4io/include/board.h
* include/arch/board/board.h
*
* Copyright (C) 2009 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* Copyright (C) 2012 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 NuttX 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.
*
************************************************************************************/
#ifndef __ARCH_BOARD_BOARD_H
#define __ARCH_BOARD_BOARD_H
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
# include <stdbool.h>
#endif
#include <stm32_rcc.h>
#include <stm32_sdio.h>
#include <stm32.h>
/************************************************************************************
* Definitions
************************************************************************************/
/* Clocking *************************************************************************/
/* On-board crystal frequency is 24MHz (HSE) */
#define STM32_BOARD_XTAL 24000000ul
/* Use the HSE output as the system clock */
#define STM32_SYSCLK_SW RCC_CFGR_SW_HSE
#define STM32_SYSCLK_SWS RCC_CFGR_SWS_HSE
#define STM32_SYSCLK_FREQUENCY STM32_BOARD_XTAL
/* AHB clock (HCLK) is SYSCLK (24MHz) */
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK
#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
/* APB2 clock (PCLK2) is HCLK (24MHz) */
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK
#define STM32_PCLK2_FREQUENCY STM32_HCLK_FREQUENCY
#define STM32_APB2_CLKIN (STM32_PCLK2_FREQUENCY) /* Timers 2-4 */
/* APB2 timer 1 will receive PCLK2. */
#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY)
/* APB1 clock (PCLK1) is HCLK (24MHz) */
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLK
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY)
/* All timers run off PCLK */
#define STM32_APB1_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
#define STM32_APB1_TIM2_CLKIN (STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM3_CLKIN (STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM4_CLKIN (STM32_PCLK1_FREQUENCY)
/*
* Some of the USART pins are not available; override the GPIO
* definitions with an invalid pin configuration.
*/
#undef GPIO_USART2_CTS
#define GPIO_USART2_CTS 0xffffffff
#undef GPIO_USART2_RTS
#define GPIO_USART2_RTS 0xffffffff
#undef GPIO_USART2_CK
#define GPIO_USART2_CK 0xffffffff
#undef GPIO_USART3_TX
#define GPIO_USART3_TX 0xffffffff
#undef GPIO_USART3_CK
#define GPIO_USART3_CK 0xffffffff
#undef GPIO_USART3_CTS
#define GPIO_USART3_CTS 0xffffffff
#undef GPIO_USART3_RTS
#define GPIO_USART3_RTS 0xffffffff
/*
* High-resolution timer
*/
#define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
/*
* PPM
*
* PPM input is handled by the HRT timer.
*
* Pin is PA8, timer 1, channel 1
*/
#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */
#define GPIO_PPM_IN GPIO_TIM1_CH1IN
/************************************************************************************
* Public Data
************************************************************************************/
#ifndef __ASSEMBLY__
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C" {
#else
#define EXTERN extern
#endif
/************************************************************************************
* Public Function Prototypes
************************************************************************************/
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the intitialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
EXTERN void stm32_boardinitialize(void);
#if defined(__cplusplus)
}
#endif
#endif /* __ASSEMBLY__ */
#endif /* __ARCH_BOARD_BOARD_H */
nuttx-configs/px4io-v1/nsh/Make.defs
+166
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############################################################################
# configs/px4io-v1/nsh/Make.defs
#
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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 NuttX 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.
#
############################################################################
include ${TOPDIR}/.config
include ${TOPDIR}/tools/Config.mk
#
# We only support building with the ARM bare-metal toolchain from
# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
#
CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI
include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
CC = $(CROSSDEV)gcc
CXX = $(CROSSDEV)g++
CPP = $(CROSSDEV)gcc -E
LD = $(CROSSDEV)ld
AR = $(CROSSDEV)ar rcs
NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
MAXOPTIMIZATION = -O3
ARCHCPUFLAGS = -mcpu=cortex-m3 \
-mthumb \
-march=armv7-m
# use our linker script
LDSCRIPT = ld.script
ifeq ($(WINTOOL),y)
# Windows-native toolchains
DIRLINK = $(TOPDIR)/tools/copydir.sh
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
else
ifeq ($(PX4_WINTOOL),y)
# Windows-native toolchains (MSYS)
DIRLINK = $(TOPDIR)/tools/copydir.sh
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
else
# Linux/Cygwin-native toolchain
MKDEP = $(TOPDIR)/tools/mkdeps.sh
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
endif
endif
# tool versions
ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
# optimisation flags
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
-fno-strict-aliasing \
-fno-strength-reduce \
-fomit-frame-pointer \
-funsafe-math-optimizations \
-fno-builtin-printf \
-ffunction-sections \
-fdata-sections
ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
ARCHOPTIMIZATION += -g
endif
ARCHCFLAGS = -std=gnu99
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
ARCHWARNINGS = -Wall \
-Wextra \
-Wdouble-promotion \
-Wshadow \
-Wfloat-equal \
-Wframe-larger-than=1024 \
-Wpointer-arith \
-Wlogical-op \
-Wmissing-declarations \
-Wpacked \
-Wno-unused-parameter
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
ARCHCWARNINGS = $(ARCHWARNINGS) \
-Wbad-function-cast \
-Wstrict-prototypes \
-Wold-style-declaration \
-Wmissing-parameter-type \
-Wmissing-prototypes \
-Wnested-externs \
-Wunsuffixed-float-constants
ARCHWARNINGSXX = $(ARCHWARNINGS)
ARCHDEFINES =
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
# this seems to be the only way to add linker flags
EXTRA_LIBS += --warn-common \
--gc-sections
CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
AFLAGS = $(CFLAGS) -D__ASSEMBLY__
NXFLATLDFLAGS1 = -r -d -warn-common
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
LDNXFLATFLAGS = -e main -s 2048
OBJEXT = .o
LIBEXT = .a
EXEEXT =
# produce partially-linked $1 from files in $2
define PRELINK
@echo "PRELINK: $1"
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
endef
HOSTCC = gcc
HOSTINCLUDES = -I.
HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
HOSTLDFLAGS =
nuttx-configs/px4io-v1/nsh/appconfig
+32
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@@ -0,0 +1,32 @@
############################################################################
#
# Copyright (C) 2012 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.
#
############################################################################
nuttx-configs/px4io-v1/nsh/defconfig
Executable
+537
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@@ -0,0 +1,537 @@
############################################################################
# configs/px4io-v1/nsh/defconfig
#
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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 NuttX 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.
#
############################################################################
#
# architecture selection
#
# CONFIG_ARCH - identifies the arch subdirectory and, hence, the
# processor architecture.
# CONFIG_ARCH_family - for use in C code. This identifies the
# particular chip family that the architecture is implemented
# in.
# CONFIG_ARCH_architecture - for use in C code. This identifies the
# specific architecture within the chip family.
# CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
# CONFIG_ARCH_CHIP_name - For use in C code
# CONFIG_ARCH_BOARD - identifies the configs subdirectory and, hence,
# the board that supports the particular chip or SoC.
# CONFIG_ARCH_BOARD_name - for use in C code
# CONFIG_ENDIAN_BIG - define if big endian (default is little endian)
# CONFIG_BOARD_LOOPSPERMSEC - for delay loops
# CONFIG_DRAM_SIZE - Describes the installed DRAM.
# CONFIG_DRAM_START - The start address of DRAM (physical)
# CONFIG_ARCH_IRQPRIO - The ST32F100CB supports interrupt prioritization
# CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
# stack. If defined, this symbol is the size of the interrupt
# stack in bytes. If not defined, the user task stacks will be
# used during interrupt handling.
# CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions
# CONFIG_ARCH_BOOTLOADER - Set if you are using a bootloader.
# CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to board architecture.
# CONFIG_ARCH_BUTTONS - Enable support for buttons. Unique to board architecture.
# CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that
# cause a 100 second delay during boot-up. This 100 second delay
# serves no purpose other than it allows you to calibrate
# CONFIG_BOARD_LOOPSPERMSEC. You simply use a stop watch to measure
# the 100 second delay then adjust CONFIG_BOARD_LOOPSPERMSEC until
# the delay actually is 100 seconds.
# CONFIG_ARCH_DMA - Support DMA initialization
#
CONFIG_ARCH="arm"
CONFIG_ARCH_ARM=y
CONFIG_ARCH_CORTEXM3=y
CONFIG_ARCH_CHIP="stm32"
CONFIG_ARCH_CHIP_STM32F100C8=y
#
# Board Selection
#
CONFIG_ARCH_BOARD_PX4IO_V1=y
# CONFIG_ARCH_BOARD_CUSTOM is not set
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
CONFIG_ARCH_LEDS=n
CONFIG_ARCH_BUTTONS=n
CONFIG_ARCH_CALIBRATION=n
CONFIG_ARCH_DMA=y
CONFIG_ARCH_MATH_H=y
CONFIG_ARMV7M_CMNVECTOR=y
# CONFIG_ARMV7M_STACKCHECK is not set
#
# JTAG Enable settings (by default JTAG-DP and SW-DP are disabled):
#
# CONFIG_STM32_DFU - Use the DFU bootloader, not JTAG
#
# JTAG Enable options:
#
# CONFIG_STM32_JTAG_FULL_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
# CONFIG_STM32_JTAG_NOJNTRST_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
# but without JNTRST.
# CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled
#
CONFIG_STM32_DFU=n
CONFIG_STM32_JTAG_FULL_ENABLE=y
CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n
CONFIG_STM32_JTAG_SW_ENABLE=n
#
# Individual subsystems can be enabled:
#
# AHB:
CONFIG_STM32_DMA1=y
CONFIG_STM32_DMA2=n
CONFIG_STM32_CRC=n
# APB1:
# Timers 2,3 and 4 are owned by the PWM driver
CONFIG_STM32_TIM2=n
CONFIG_STM32_TIM3=n
CONFIG_STM32_TIM4=n
CONFIG_STM32_TIM5=n
CONFIG_STM32_TIM6=n
CONFIG_STM32_TIM7=n
CONFIG_STM32_WWDG=n
CONFIG_STM32_SPI2=n
CONFIG_STM32_USART2=y
CONFIG_STM32_USART3=y
CONFIG_STM32_I2C1=y
CONFIG_STM32_I2C2=n
CONFIG_STM32_BKP=n
CONFIG_STM32_PWR=n
CONFIG_STM32_DAC=n
# APB2:
# We use our own ADC driver, but leave this on for clocking purposes.
CONFIG_STM32_ADC1=y
CONFIG_STM32_ADC2=n
# TIM1 is owned by the HRT
CONFIG_STM32_TIM1=n
CONFIG_STM32_SPI1=n
CONFIG_STM32_TIM8=n
CONFIG_STM32_USART1=y
CONFIG_STM32_ADC3=n
#
# STM32F100 specific serial device driver settings
#
# CONFIG_USARTn_SERIAL_CONSOLE - selects the USARTn for the
# console and ttys0 (default is the USART1).
# CONFIG_USARTn_RXBUFSIZE - Characters are buffered as received.
# This specific the size of the receive buffer
# CONFIG_USARTn_TXBUFSIZE - Characters are buffered before
# being sent. This specific the size of the transmit buffer
# CONFIG_USARTn_BAUD - The configure BAUD of the UART. Must be
# CONFIG_USARTn_BITS - The number of bits. Must be either 7 or 8.
# CONFIG_USARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
# CONFIG_USARTn_2STOP - Two stop bits
#
CONFIG_SERIAL_TERMIOS=y
CONFIG_STANDARD_SERIAL=y
CONFIG_USART1_SERIAL_CONSOLE=y
CONFIG_USART2_SERIAL_CONSOLE=n
CONFIG_USART3_SERIAL_CONSOLE=n
CONFIG_USART1_TXBUFSIZE=64
CONFIG_USART2_TXBUFSIZE=64
CONFIG_USART3_TXBUFSIZE=64
CONFIG_USART1_RXBUFSIZE=64
CONFIG_USART2_RXBUFSIZE=64
CONFIG_USART3_RXBUFSIZE=64
CONFIG_USART1_BAUD=115200
CONFIG_USART2_BAUD=115200
CONFIG_USART3_BAUD=115200
CONFIG_USART1_BITS=8
CONFIG_USART2_BITS=8
CONFIG_USART3_BITS=8
CONFIG_USART1_PARITY=0
CONFIG_USART2_PARITY=0
CONFIG_USART3_PARITY=0
CONFIG_USART1_2STOP=0
CONFIG_USART2_2STOP=0
CONFIG_USART3_2STOP=0
CONFIG_USART1_RXDMA=y
SERIAL_HAVE_CONSOLE_DMA=y
# Conflicts with I2C1 DMA
CONFIG_USART2_RXDMA=n
CONFIG_USART3_RXDMA=y
#
# General build options
#
# CONFIG_RRLOAD_BINARY - make the rrload binary format used with
# BSPs from www.ridgerun.com using the tools/mkimage.sh script
# CONFIG_INTELHEX_BINARY - make the Intel HEX binary format
# used with many different loaders using the GNU objcopy program
# Should not be selected if you are not using the GNU toolchain.
# CONFIG_MOTOROLA_SREC - make the Motorola S-Record binary format
# used with many different loaders using the GNU objcopy program
# Should not be selected if you are not using the GNU toolchain.
# CONFIG_RAW_BINARY - make a raw binary format file used with many
# different loaders using the GNU objcopy program. This option
# should not be selected if you are not using the GNU toolchain.
# CONFIG_HAVE_LIBM - toolchain supports libm.a
#
CONFIG_RRLOAD_BINARY=n
CONFIG_INTELHEX_BINARY=n
CONFIG_MOTOROLA_SREC=n
CONFIG_RAW_BINARY=y
CONFIG_HAVE_LIBM=n
#
# General OS setup
#
# CONFIG_APPS_DIR - Identifies the relative path to the directory
# that builds the application to link with NuttX. Default: ../apps
# CONFIG_DEBUG - enables built-in debug options
# CONFIG_DEBUG_VERBOSE - enables verbose debug output
# CONFIG_DEBUG_SYMBOLS - build without optimization and with
# debug symbols (needed for use with a debugger).
# CONFIG_HAVE_CXX - Enable support for C++
# CONFIG_HAVE_CXXINITIALIZE - The platform-specific logic includes support
# for initialization of static C++ instances for this architecture
# and for the selected toolchain (via up_cxxinitialize()).
# CONFIG_MM_REGIONS - If the architecture includes multiple
# regions of memory to allocate from, this specifies the
# number of memory regions that the memory manager must
# handle and enables the API mm_addregion(start, end);
# CONFIG_ARCH_LOWPUTC - architecture supports low-level, boot
# time console output
# CONFIG_MSEC_PER_TICK - The default system timer is 100Hz
# or MSEC_PER_TICK=10. This setting may be defined to
# inform NuttX that the processor hardware is providing
# system timer interrupts at some interrupt interval other
# than 10 msec.
# CONFIG_RR_INTERVAL - The round robin timeslice will be set
# this number of milliseconds; Round robin scheduling can
# be disabled by setting this value to zero.
# CONFIG_SCHED_INSTRUMENTATION - enables instrumentation in
# scheduler to monitor system performance
# CONFIG_TASK_NAME_SIZE - Spcifies that maximum size of a
# task name to save in the TCB. Useful if scheduler
# instrumentation is selected. Set to zero to disable.
# CONFIG_START_YEAR, CONFIG_START_MONTH, CONFIG_START_DAY -
# Used to initialize the internal time logic.
# CONFIG_GREGORIAN_TIME - Enables Gregorian time conversions.
# You would only need this if you are concerned about accurate
# time conversions in the past or in the distant future.
# CONFIG_JULIAN_TIME - Enables Julian time conversions. You
# would only need this if you are concerned about accurate
# time conversion in the distand past. You must also define
# CONFIG_GREGORIAN_TIME in order to use Julian time.
# CONFIG_DEV_CONSOLE - Set if architecture-specific logic
# provides /dev/console. Enables stdout, stderr, stdin.
# CONFIG_DEV_LOWCONSOLE - Use the simple, low-level serial console
# driver (minimul support)
# CONFIG_MUTEX_TYPES: Set to enable support for recursive and
# errorcheck mutexes. Enables pthread_mutexattr_settype().
# CONFIG_PRIORITY_INHERITANCE : Set to enable support for priority
# inheritance on mutexes and semaphores.
# CONFIG_SEM_PREALLOCHOLDERS: This setting is only used if priority
# inheritance is enabled. It defines the maximum number of
# different threads (minus one) that can take counts on a
# semaphore with priority inheritance support. This may be
# set to zero if priority inheritance is disabled OR if you
# are only using semaphores as mutexes (only one holder) OR
# if no more than two threads participate using a counting
# semaphore.
# CONFIG_SEM_NNESTPRIO. If priority inheritance is enabled,
# then this setting is the maximum number of higher priority
# threads (minus 1) than can be waiting for another thread
# to release a count on a semaphore. This value may be set
# to zero if no more than one thread is expected to wait for
# a semaphore.
# CONFIG_FDCLONE_DISABLE. Disable cloning of all file descriptors
# by task_create() when a new task is started. If set, all
# files/drivers will appear to be closed in the new task.
# CONFIG_FDCLONE_STDIO. Disable cloning of all but the first
# three file descriptors (stdin, stdout, stderr) by task_create()
# when a new task is started. If set, all files/drivers will
# appear to be closed in the new task except for stdin, stdout,
# and stderr.
# CONFIG_SDCLONE_DISABLE. Disable cloning of all socket
# desciptors by task_create() when a new task is started. If
# set, all sockets will appear to be closed in the new task.
# CONFIG_SCHED_WORKQUEUE. Create a dedicated "worker" thread to
# handle delayed processing from interrupt handlers. This feature
# is required for some drivers but, if there are not complaints,
# can be safely disabled. The worker thread also performs
# garbage collection -- completing any delayed memory deallocations
# from interrupt handlers. If the worker thread is disabled,
# then that clean will be performed by the IDLE thread instead
# (which runs at the lowest of priority and may not be appropriate
# if memory reclamation is of high priority). If CONFIG_SCHED_WORKQUEUE
# is enabled, then the following options can also be used:
# CONFIG_SCHED_WORKPRIORITY - The execution priority of the worker
# thread. Default: 50
# CONFIG_SCHED_WORKPERIOD - How often the worker thread checks for
# work in units of microseconds. Default: 50*1000 (50 MS).
# CONFIG_SCHED_WORKSTACKSIZE - The stack size allocated for the worker
# thread. Default: CONFIG_IDLETHREAD_STACKSIZE.
# CONFIG_SIG_SIGWORK - The signal number that will be used to wake-up
# the worker thread. Default: 4
# CONFIG_SCHED_WAITPID - Enable the waitpid() API
# CONFIG_SCHED_ATEXIT - Enabled the atexit() API
#
CONFIG_USER_ENTRYPOINT="user_start"
#CONFIG_APPS_DIR=
CONFIG_DEBUG=n
CONFIG_DEBUG_VERBOSE=n
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEBUG_FS=n
CONFIG_DEBUG_GRAPHICS=n
CONFIG_DEBUG_LCD=n
CONFIG_DEBUG_USB=n
CONFIG_DEBUG_NET=n
CONFIG_DEBUG_RTC=n
CONFIG_DEBUG_ANALOG=n
CONFIG_DEBUG_PWM=n
CONFIG_DEBUG_CAN=n
CONFIG_DEBUG_I2C=n
CONFIG_DEBUG_INPUT=n
CONFIG_MSEC_PER_TICK=1
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_MM_REGIONS=1
CONFIG_MM_SMALL=y
CONFIG_ARCH_LOWPUTC=y
CONFIG_RR_INTERVAL=0
CONFIG_SCHED_INSTRUMENTATION=n
CONFIG_TASK_NAME_SIZE=8
CONFIG_START_YEAR=1970
CONFIG_START_MONTH=1
CONFIG_START_DAY=1
CONFIG_GREGORIAN_TIME=n
CONFIG_JULIAN_TIME=n
# this eats ~1KiB of RAM ... work out why
CONFIG_DEV_CONSOLE=y
CONFIG_DEV_LOWCONSOLE=n
CONFIG_MUTEX_TYPES=n
CONFIG_PRIORITY_INHERITANCE=n
CONFIG_SEM_PREALLOCHOLDERS=0
CONFIG_SEM_NNESTPRIO=0
CONFIG_FDCLONE_DISABLE=y
CONFIG_FDCLONE_STDIO=y
CONFIG_SDCLONE_DISABLE=y
CONFIG_SCHED_WORKQUEUE=n
CONFIG_SCHED_WORKPRIORITY=50
CONFIG_SCHED_WORKPERIOD=50000
CONFIG_SCHED_WORKSTACKSIZE=1024
CONFIG_SIG_SIGWORK=4
CONFIG_SCHED_WAITPID=n
CONFIG_SCHED_ATEXIT=n
#
# The following can be used to disable categories of
# APIs supported by the OS. If the compiler supports
# weak functions, then it should not be necessary to
# disable functions unless you want to restrict usage
# of those APIs.
#
# There are certain dependency relationships in these
# features.
#
# o mq_notify logic depends on signals to awaken tasks
# waiting for queues to become full or empty.
# o pthread_condtimedwait() depends on signals to wake
# up waiting tasks.
#
CONFIG_DISABLE_CLOCK=n
CONFIG_DISABLE_POSIX_TIMERS=y
CONFIG_DISABLE_PTHREAD=y
CONFIG_DISABLE_SIGNALS=y
CONFIG_DISABLE_MQUEUE=y
CONFIG_DISABLE_MOUNTPOINT=y
CONFIG_DISABLE_ENVIRON=y
CONFIG_DISABLE_POLL=y
#
# Misc libc settings
#
# CONFIG_NOPRINTF_FIELDWIDTH - sprintf-related logic is a
# little smaller if we do not support fieldwidthes
#
CONFIG_NOPRINTF_FIELDWIDTH=n
#
# Allow for architecture optimized implementations
#
# The architecture can provide optimized versions of the
# following to improve system performance
#
CONFIG_ARCH_MEMCPY=n
CONFIG_ARCH_MEMCMP=n
CONFIG_ARCH_MEMMOVE=n
CONFIG_ARCH_MEMSET=n
CONFIG_ARCH_STRCMP=n
CONFIG_ARCH_STRCPY=n
CONFIG_ARCH_STRNCPY=n
CONFIG_ARCH_STRLEN=n
CONFIG_ARCH_STRNLEN=n
CONFIG_ARCH_BZERO=n
#
# Sizes of configurable things (0 disables)
#
# CONFIG_MAX_TASKS - The maximum number of simultaneously
# active tasks. This value must be a power of two.
# CONFIG_MAX_TASK_ARGS - This controls the maximum number of
# of parameters that a task may receive (i.e., maxmum value
# of 'argc')
# CONFIG_NPTHREAD_KEYS - The number of items of thread-
# specific data that can be retained
# CONFIG_NFILE_DESCRIPTORS - The maximum number of file
# descriptors (one for each open)
# CONFIG_NFILE_STREAMS - The maximum number of streams that
# can be fopen'ed
# CONFIG_NAME_MAX - The maximum size of a file name.
# CONFIG_STDIO_BUFFER_SIZE - Size of the buffer to allocate
# on fopen. (Only if CONFIG_NFILE_STREAMS > 0)
# CONFIG_STDIO_LINEBUFFER - If standard C buffered I/O is enabled
# (CONFIG_STDIO_BUFFER_SIZE > 0), then this option may be added
# to force automatic, line-oriented flushing the output buffer
# for putc(), fputc(), putchar(), puts(), fputs(), printf(),
# fprintf(), and vfprintf(). When a newline is encountered in
# the output string, the output buffer will be flushed. This
# (slightly) increases the NuttX footprint but supports the kind
# of behavior that people expect for printf().
# CONFIG_NUNGET_CHARS - Number of characters that can be
# buffered by ungetc() (Only if CONFIG_NFILE_STREAMS > 0)
# CONFIG_PREALLOC_MQ_MSGS - The number of pre-allocated message
# structures. The system manages a pool of preallocated
# message structures to minimize dynamic allocations
# CONFIG_MQ_MAXMSGSIZE - Message structures are allocated with
# a fixed payload size given by this settin (does not include
# other message structure overhead.
# CONFIG_MAX_WDOGPARMS - Maximum number of parameters that
# can be passed to a watchdog handler
# CONFIG_PREALLOC_WDOGS - The number of pre-allocated watchdog
# structures. The system manages a pool of preallocated
# watchdog structures to minimize dynamic allocations
# CONFIG_PREALLOC_TIMERS - The number of pre-allocated POSIX
# timer structures. The system manages a pool of preallocated
# timer structures to minimize dynamic allocations. Set to
# zero for all dynamic allocations.
#
CONFIG_MAX_TASKS=4
CONFIG_MAX_TASK_ARGS=4
CONFIG_NPTHREAD_KEYS=2
CONFIG_NFILE_DESCRIPTORS=8
CONFIG_NFILE_STREAMS=0
CONFIG_NAME_MAX=12
CONFIG_STDIO_BUFFER_SIZE=32
CONFIG_STDIO_LINEBUFFER=n
CONFIG_NUNGET_CHARS=2
CONFIG_PREALLOC_MQ_MSGS=4
CONFIG_MQ_MAXMSGSIZE=32
CONFIG_MAX_WDOGPARMS=2
CONFIG_PREALLOC_WDOGS=4
CONFIG_PREALLOC_TIMERS=0
#
# Settings for apps/nshlib
#
# CONFIG_NSH_BUILTIN_APPS - Support external registered,
# "named" applications that can be executed from the NSH
# command line (see apps/README.txt for more information).
# CONFIG_NSH_FILEIOSIZE - Size of a static I/O buffer
# CONFIG_NSH_STRERROR - Use strerror(errno)
# CONFIG_NSH_LINELEN - Maximum length of one command line
# CONFIG_NSH_NESTDEPTH - Max number of nested if-then[-else]-fi
# CONFIG_NSH_DISABLESCRIPT - Disable scripting support
# CONFIG_NSH_DISABLEBG - Disable background commands
# CONFIG_NSH_ROMFSETC - Use startup script in /etc
# CONFIG_NSH_CONSOLE - Use serial console front end
# CONFIG_NSH_TELNET - Use telnetd console front end
# CONFIG_NSH_ARCHINIT - Platform provides architecture
# specific initialization (nsh_archinitialize()).
#
# Disable NSH completely
CONFIG_NSH_CONSOLE=n
#
# Stack and heap information
#
# CONFIG_BOOT_RUNFROMFLASH - Some configurations support XIP
# operation from FLASH but must copy initialized .data sections to RAM.
# (should also be =n for the STM3210E-EVAL which always runs from flash)
# CONFIG_BOOT_COPYTORAM - Some configurations boot in FLASH
# but copy themselves entirely into RAM for better performance.
# CONFIG_CUSTOM_STACK - The up_ implementation will handle
# all stack operations outside of the nuttx model.
# CONFIG_STACK_POINTER - The initial stack pointer (arm7tdmi only)
# CONFIG_IDLETHREAD_STACKSIZE - The size of the initial stack.
# This is the thread that (1) performs the inital boot of the system up
# to the point where user_start() is spawned, and (2) there after is the
# IDLE thread that executes only when there is no other thread ready to
# run.
# CONFIG_USERMAIN_STACKSIZE - The size of the stack to allocate
# for the main user thread that begins at the user_start() entry point.
# CONFIG_PTHREAD_STACK_MIN - Minimum pthread stack size
# CONFIG_PTHREAD_STACK_DEFAULT - Default pthread stack size
# CONFIG_HEAP_BASE - The beginning of the heap
# CONFIG_HEAP_SIZE - The size of the heap
#
CONFIG_BOOT_RUNFROMFLASH=n
CONFIG_BOOT_COPYTORAM=n
CONFIG_CUSTOM_STACK=n
CONFIG_STACK_POINTER=
CONFIG_IDLETHREAD_STACKSIZE=1024
CONFIG_USERMAIN_STACKSIZE=1200
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_PTHREAD_STACK_DEFAULT=1024
CONFIG_HEAP_BASE=
CONFIG_HEAP_SIZE=
#
# NSH Library
#
# CONFIG_NSH_LIBRARY is not set
# CONFIG_NSH_BUILTIN_APPS is not set
nuttx-configs/px4io-v1/nsh/setenv.sh
Executable
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#!/bin/bash
# configs/stm3210e-eval/dfu/setenv.sh
#
# Copyright (C) 2009 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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 NuttX 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.
#
if [ "$(basename $0)" = "setenv.sh" ] ; then
echo "You must source this script, not run it!" 1>&2
exit 1
fi
if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi
WD=`pwd`
export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin"
export BUILDROOT_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
echo "PATH : ${PATH}"
nuttx-configs/px4io-v1/scripts/ld.script
Executable
+129
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/****************************************************************************
* configs/stm3210e-eval/nsh/ld.script
*
* Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
*
* 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 NuttX 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.
*
****************************************************************************/
/* The STM32F100C8 has 64Kb of FLASH beginning at address 0x0800:0000 and
* 8Kb of SRAM beginning at address 0x2000:0000. When booting from FLASH,
* FLASH memory is aliased to address 0x0000:0000 where the code expects to
* begin execution by jumping to the entry point in the 0x0800:0000 address
* range.
*/
MEMORY
{
flash (rx) : ORIGIN = 0x08001000, LENGTH = 60K
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 8K
}
OUTPUT_ARCH(arm)
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
EXTERN(_vectors) /* force the vectors to be included in the output */
/*
* Ensure that abort() is present in the final object. The exception handling
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
*/
EXTERN(abort)
SECTIONS
{
.text : {
_stext = ABSOLUTE(.);
*(.vectors)
*(.text .text.*)
*(.fixup)
*(.gnu.warning)
*(.rodata .rodata.*)
*(.gnu.linkonce.t.*)
*(.glue_7)
*(.glue_7t)
*(.got)
*(.gcc_except_table)
*(.gnu.linkonce.r.*)
_etext = ABSOLUTE(.);
} > flash
/*
* Init functions (static constructors and the like)
*/
.init_section : {
_sinit = ABSOLUTE(.);
KEEP(*(.init_array .init_array.*))
_einit = ABSOLUTE(.);
} > flash
.ARM.extab : {
*(.ARM.extab*)
} > flash
__exidx_start = ABSOLUTE(.);
.ARM.exidx : {
*(.ARM.exidx*)
} > flash
__exidx_end = ABSOLUTE(.);
_eronly = ABSOLUTE(.);
/* The STM32F100CB has 8Kb of SRAM beginning at the following address */
.data : {
_sdata = ABSOLUTE(.);
*(.data .data.*)
*(.gnu.linkonce.d.*)
CONSTRUCTORS
_edata = ABSOLUTE(.);
} > sram AT > flash
.bss : {
_sbss = ABSOLUTE(.);
*(.bss .bss.*)
*(.gnu.linkonce.b.*)
*(COMMON)
_ebss = ABSOLUTE(.);
} > sram
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }
.stab.excl 0 : { *(.stab.excl) }
.stab.exclstr 0 : { *(.stab.exclstr) }
.stab.index 0 : { *(.stab.index) }
.stab.indexstr 0 : { *(.stab.indexstr) }
.comment 0 : { *(.comment) }
.debug_abbrev 0 : { *(.debug_abbrev) }
.debug_info 0 : { *(.debug_info) }
.debug_line 0 : { *(.debug_line) }
.debug_pubnames 0 : { *(.debug_pubnames) }
.debug_aranges 0 : { *(.debug_aranges) }
}
nuttx-configs/px4io-v1/src/Makefile
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############################################################################
# configs/stm3210e-eval/src/Makefile
#
# Copyright (C) 2009-2010 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <spudmonkey@racsa.co.cr>
#
# 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 NuttX 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.
#
############################################################################
-include $(TOPDIR)/Make.defs
CFLAGS += -I$(TOPDIR)/sched
ASRCS =
AOBJS = $(ASRCS:.S=$(OBJEXT))
CSRCS = empty.c
COBJS = $(CSRCS:.c=$(OBJEXT))
SRCS = $(ASRCS) $(CSRCS)
OBJS = $(AOBJS) $(COBJS)
ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
ifeq ($(WINTOOL),y)
CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
-I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
-I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
else
CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
endif
all: libboard$(LIBEXT)
$(AOBJS): %$(OBJEXT): %.S
$(call ASSEMBLE, $<, $@)
$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
$(call COMPILE, $<, $@)
libboard$(LIBEXT): $(OBJS)
$(call ARCHIVE, $@, $(OBJS))
.depend: Makefile $(SRCS)
@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
@touch $@
depend: .depend
clean:
$(call DELFILE, libboard$(LIBEXT))
$(call CLEAN)
distclean: clean
$(call DELFILE, Make.dep)
$(call DELFILE, .depend)
-include Make.dep
nuttx-configs/px4io-v1/src/empty.c
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/*
* There are no source files here, but libboard.a can't be empty, so
* we have this empty source file to keep it company.
*/
src/drivers/airspeed/airspeed.cpp
+378
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/****************************************************************************
*
* Copyright (C) 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.
*
****************************************************************************/
/**
* @file ets_airspeed.cpp
* @author Simon Wilks
*
* Driver for the Eagle Tree Airspeed V3 connected via I2C.
*/
#include <nuttx/config.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <arch/board/board.h>
#include <systemlib/airspeed.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/subsystem_info.h>
#include <drivers/airspeed/airspeed.h>
Airspeed::Airspeed(int bus, int address, unsigned conversion_interval) :
I2C("Airspeed", AIRSPEED_DEVICE_PATH, bus, address, 100000),
_num_reports(0),
_next_report(0),
_oldest_report(0),
_reports(nullptr),
_sensor_ok(false),
_measure_ticks(0),
_collect_phase(false),
_diff_pres_offset(0.0f),
_airspeed_pub(-1),
_conversion_interval(conversion_interval),
_sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")),
_comms_errors(perf_alloc(PC_COUNT, "airspeed_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "airspeed_buffer_overflows"))
{
// enable debug() calls
_debug_enabled = true;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
Airspeed::~Airspeed()
{
/* make sure we are truly inactive */
stop();
/* free any existing reports */
if (_reports != nullptr)
delete[] _reports;
}
int
Airspeed::init()
{
int ret = ERROR;
/* do I2C init (and probe) first */
if (I2C::init() != OK)
goto out;
/* allocate basic report buffers */
_num_reports = 2;
_reports = new struct differential_pressure_s[_num_reports];
for (unsigned i = 0; i < _num_reports; i++)
_reports[i].max_differential_pressure_pa = 0;
if (_reports == nullptr)
goto out;
_oldest_report = _next_report = 0;
/* get a publish handle on the airspeed topic */
memset(&_reports[0], 0, sizeof(_reports[0]));
_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &_reports[0]);
if (_airspeed_pub < 0)
warnx("failed to create airspeed sensor object. Did you start uOrb?");
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
_sensor_ok = true;
out:
return ret;
}
int
Airspeed::probe()
{
return measure();
}
int
Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* external signalling (DRDY) not supported */
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: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(_conversion_interval);
/* if we need to start the poll state machine, do it */
if (want_start)
start();
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(_conversion_interval))
return -EINVAL;
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start)
start();
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0)
return SENSOR_POLLRATE_MANUAL;
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* add one to account for the sentinel in the ring */
arg++;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100))
return -EINVAL;
/* allocate new buffer */
struct differential_pressure_s *buf = new struct differential_pressure_s[arg];
if (nullptr == buf)
return -ENOMEM;
/* reset the measurement state machine with the new buffer, free the old */
stop();
delete[] _reports;
_num_reports = arg;
_reports = buf;
start();
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _num_reports - 1;
case SENSORIOCRESET:
/* XXX implement this */
return -EINVAL;
case AIRSPEEDIOCSSCALE: {
struct airspeed_scale *s = (struct airspeed_scale*)arg;
_diff_pres_offset = s->offset_pa;
return OK;
}
case AIRSPEEDIOCGSCALE: {
struct airspeed_scale *s = (struct airspeed_scale*)arg;
s->offset_pa = _diff_pres_offset;
s->scale = 1.0f;
return OK;
}
default:
/* give it to the superclass */
return I2C::ioctl(filp, cmd, arg);
}
}
ssize_t
Airspeed::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct differential_pressure_s);
int ret = 0;
/* buffer must be large enough */
if (count < 1)
return -ENOSPC;
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the workq thread while we are doing this;
* we are careful to avoid racing with them.
*/
while (count--) {
if (_oldest_report != _next_report) {
memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
ret += sizeof(_reports[0]);
INCREMENT(_oldest_report, _num_reports);
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement - run one conversion */
/* XXX really it'd be nice to lock against other readers here */
do {
_oldest_report = _next_report = 0;
/* trigger a measurement */
if (OK != measure()) {
ret = -EIO;
break;
}
/* wait for it to complete */
usleep(_conversion_interval);
/* run the collection phase */
if (OK != collect()) {
ret = -EIO;
break;
}
/* state machine will have generated a report, copy it out */
memcpy(buffer, _reports, sizeof(*_reports));
ret = sizeof(*_reports);
} while (0);
return ret;
}
void
Airspeed::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_oldest_report = _next_report = 0;
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this, 1);
/* notify about state change */
struct subsystem_info_s info = {
true,
true,
true,
SUBSYSTEM_TYPE_DIFFPRESSURE
};
static orb_advert_t pub = -1;
if (pub > 0) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
}
void
Airspeed::stop()
{
work_cancel(HPWORK, &_work);
}
void
Airspeed::cycle_trampoline(void *arg)
{
Airspeed *dev = (Airspeed *)arg;
dev->cycle();
}
void
Airspeed::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
perf_print_counter(_buffer_overflows);
warnx("poll interval: %u ticks", _measure_ticks);
warnx("report queue: %u (%u/%u @ %p)",
_num_reports, _oldest_report, _next_report, _reports);
}
src/drivers/airspeed/airspeed.h
+169
View File
@@ -0,0 +1,169 @@
/****************************************************************************
*
* Copyright (C) 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.
*
****************************************************************************/
/**
* @file airspeed.h
* @author Simon Wilks
*
* Generic driver for airspeed sensors connected via I2C.
*/
#include <nuttx/config.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <arch/board/board.h>
#include <systemlib/airspeed.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/subsystem_info.h>
/* Default I2C bus */
#define PX4_I2C_BUS_DEFAULT PX4_I2C_BUS_EXPANSION
/* Oddly, ERROR is not defined for C++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
class __EXPORT Airspeed : public device::I2C
{
public:
Airspeed(int bus, int address, unsigned conversion_interval);
virtual ~Airspeed();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
virtual void print_info();
protected:
virtual int probe();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
virtual void cycle() = 0;
virtual int measure() = 0;
virtual int collect() = 0;
work_s _work;
unsigned _num_reports;
volatile unsigned _next_report;
volatile unsigned _oldest_report;
differential_pressure_s *_reports;
bool _sensor_ok;
int _measure_ticks;
bool _collect_phase;
float _diff_pres_offset;
orb_advert_t _airspeed_pub;
unsigned _conversion_interval;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
/**
* Test whether the device supported by the driver is present at a
* specific address.
*
* @param address The I2C bus address to probe.
* @return True if the device is present.
*/
int probe_address(uint8_t address);
/**
* Initialise the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Static trampoline from the workq context; because we don't have a
* generic workq wrapper yet.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
};
/* helper macro for handling report buffer indices */
#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
src/drivers/airspeed/module.mk
+38
View File
@@ -0,0 +1,38 @@
############################################################################
#
# Copyright (c) 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.
#
############################################################################
#
# Makefile to build the generic airspeed driver.
#
SRCS = airspeed.cpp
src/drivers/device/cdev.cpp
+8 -8
View File
@@ -111,21 +111,21 @@ CDev::~CDev()
int
CDev::init()
{
int ret = OK;
// base class init first
ret = Device::init();
int ret = Device::init();
if (ret != OK)
goto out;
// now register the driver
ret = register_driver(_devname, &fops, 0666, (void *)this);
if (_devname != nullptr) {
ret = register_driver(_devname, &fops, 0666, (void *)this);
if (ret != OK)
goto out;
if (ret != OK)
goto out;
_registered = true;
_registered = true;
}
out:
return ret;
@@ -395,4 +395,4 @@ cdev_poll(struct file *filp, struct pollfd *fds, bool setup)
return cdev->poll(filp, fds, setup);
}
} // namespace device
} // namespace device
src/drivers/device/device.cpp
+18 -1
View File
@@ -223,5 +223,22 @@ interrupt(int irq, void *context)
return OK;
}
int
Device::read(unsigned offset, void *data, unsigned count)
{
return -ENODEV;
}
} // namespace device
int
Device::write(unsigned offset, void *data, unsigned count)
{
return -ENODEV;
}
int
Device::ioctl(unsigned operation, unsigned &arg)
{
return -ENODEV;
}
} // namespace device
src/drivers/device/device.h
+57 -13
View File
@@ -68,11 +68,62 @@ namespace device __EXPORT
class __EXPORT Device
{
public:
/**
* Destructor.
*
* Public so that anonymous devices can be destroyed.
*/
virtual ~Device();
/**
* Interrupt handler.
*/
virtual void interrupt(void *ctx); /**< interrupt handler */
/*
* Direct access methods.
*/
/**
* Initialise the driver and make it ready for use.
*
* @return OK if the driver initialized OK, negative errno otherwise;
*/
virtual int init();
/**
* Read directly from the device.
*
* The actual size of each unit quantity is device-specific.
*
* @param offset The device address at which to start reading
* @param data The buffer into which the read values should be placed.
* @param count The number of items to read.
* @return The number of items read on success, negative errno otherwise.
*/
virtual int read(unsigned address, void *data, unsigned count);
/**
* Write directly to the device.
*
* The actual size of each unit quantity is device-specific.
*
* @param address The device address at which to start writing.
* @param data The buffer from which values should be read.
* @param count The number of items to write.
* @return The number of items written on success, negative errno otherwise.
*/
virtual int write(unsigned address, void *data, unsigned count);
/**
* Perform a device-specific operation.
*
* @param operation The operation to perform.
* @param arg An argument to the operation.
* @return Negative errno on error, OK or positive value on success.
*/
virtual int ioctl(unsigned operation, unsigned &arg);
protected:
const char *_name; /**< driver name */
bool _debug_enabled; /**< if true, debug messages are printed */
@@ -85,14 +136,6 @@ protected:
*/
Device(const char *name,
int irq = 0);
~Device();
/**
* Initialise the driver and make it ready for use.
*
* @return OK if the driver initialised OK.
*/
virtual int init();
/**
* Enable the device interrupt
@@ -189,7 +232,7 @@ public:
/**
* Destructor
*/
~CDev();
virtual ~CDev();
virtual int init();
@@ -282,6 +325,7 @@ public:
* Test whether the device is currently open.
*
* This can be used to avoid tearing down a device that is still active.
* Note - not virtual, cannot be overridden by a subclass.
*
* @return True if the device is currently open.
*/
@@ -396,9 +440,9 @@ public:
const char *devname,
uint32_t base,
int irq = 0);
~PIO();
virtual ~PIO();
int init();
virtual int init();
protected:
@@ -407,7 +451,7 @@ protected:
*
* @param offset Register offset in bytes from the base address.
*/
uint32_t reg(uint32_t offset) {
uint32_t reg(uint32_t offset) {
return *(volatile uint32_t *)(_base + offset);
}
@@ -444,4 +488,4 @@ private:
} // namespace device
#endif /* _DEVICE_DEVICE_H */
#endif /* _DEVICE_DEVICE_H */
src/drivers/device/i2c.h
+6 -8
View File
@@ -55,13 +55,11 @@ class __EXPORT I2C : public CDev
public:
/**
* Get the address
*/
uint16_t get_address() {
return _address;
}
/**
* Get the address
*/
int16_t get_address() { return _address; }
protected:
/**
* The number of times a read or write operation will be retried on
@@ -90,7 +88,7 @@ protected:
uint16_t address,
uint32_t frequency,
int irq = 0);
~I2C();
virtual ~I2C();
virtual int init();
src/drivers/device/ringbuffer.h
+203
View File
@@ -0,0 +1,203 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* 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.
*
****************************************************************************/
/**
* @file ringbuffer.h
*
* A simple ringbuffer template.
*/
#pragma once
template<typename T>
class RingBuffer {
public:
RingBuffer(unsigned size);
virtual ~RingBuffer();
/**
* Put an item into the buffer.
*
* @param val Item to put
* @return true if the item was put, false if the buffer is full
*/
bool put(T &val);
/**
* Put an item into the buffer.
*
* @param val Item to put
* @return true if the item was put, false if the buffer is full
*/
bool put(const T &val);
/**
* Get an item from the buffer.
*
* @param val Item that was gotten
* @return true if an item was got, false if the buffer was empty.
*/
bool get(T &val);
/**
* Get an item from the buffer (scalars only).
*
* @return The value that was fetched, or zero if the buffer was
* empty.
*/
T get(void);
/*
* Get the number of slots free in the buffer.
*
* @return The number of items that can be put into the buffer before
* it becomes full.
*/
unsigned space(void);
/*
* Get the number of items in the buffer.
*
* @return The number of items that can be got from the buffer before
* it becomes empty.
*/
unsigned count(void);
/*
* Returns true if the buffer is empty.
*/
bool empty() { return _tail == _head; }
/*
* Returns true if the buffer is full.
*/
bool full() { return _next(_head) == _tail; }
/*
* Returns the capacity of the buffer, or zero if the buffer could
* not be allocated.
*/
unsigned size() { return (_buf != nullptr) ? _size : 0; }
/*
* Empties the buffer.
*/
void flush() { _head = _tail = _size; }
private:
T *const _buf;
const unsigned _size;
volatile unsigned _head; /**< insertion point */
volatile unsigned _tail; /**< removal point */
unsigned _next(unsigned index);
};
template <typename T>
RingBuffer<T>::RingBuffer(unsigned with_size) :
_buf(new T[with_size + 1]),
_size(with_size),
_head(with_size),
_tail(with_size)
{}
template <typename T>
RingBuffer<T>::~RingBuffer()
{
if (_buf != nullptr)
delete[] _buf;
}
template <typename T>
bool RingBuffer<T>::put(T &val)
{
unsigned next = _next(_head);
if (next != _tail) {
_buf[_head] = val;
_head = next;
return true;
} else {
return false;
}
}
template <typename T>
bool RingBuffer<T>::put(const T &val)
{
unsigned next = _next(_head);
if (next != _tail) {
_buf[_head] = val;
_head = next;
return true;
} else {
return false;
}
}
template <typename T>
bool RingBuffer<T>::get(T &val)
{
if (_tail != _head) {
val = _buf[_tail];
_tail = _next(_tail);
return true;
} else {
return false;
}
}
template <typename T>
T RingBuffer<T>::get(void)
{
T val;
return get(val) ? val : 0;
}
template <typename T>
unsigned RingBuffer<T>::space(void)
{
return (_tail >= _head) ? (_size - (_tail - _head)) : (_head - _tail - 1);
}
template <typename T>
unsigned RingBuffer<T>::count(void)
{
return _size - space();
}
template <typename T>
unsigned RingBuffer<T>::_next(unsigned index)
{
return (0 == index) ? _size : (index - 1);
}
src/drivers/device/spi.h
+1 -1
View File
@@ -71,7 +71,7 @@ protected:
enum spi_mode_e mode,
uint32_t frequency,
int irq = 0);
~SPI();
virtual ~SPI();
virtual int init();
src/drivers/drv_airspeed.h
+9
View File
@@ -57,5 +57,14 @@
#define _AIRSPEEDIOCBASE (0x7700)
#define __AIRSPEEDIOC(_n) (_IOC(_AIRSPEEDIOCBASE, _n))
#define AIRSPEEDIOCSSCALE __AIRSPEEDIOC(0)
#define AIRSPEEDIOCGSCALE __AIRSPEEDIOC(1)
/** airspeed scaling factors; out = (in * Vscale) + offset */
struct airspeed_scale {
float offset_pa;
float scale;
};
#endif /* _DRV_AIRSPEED_H */
src/drivers/drv_pwm_output.h
+1 -4
View File
@@ -118,11 +118,8 @@ ORB_DECLARE(output_pwm);
/** start DSM bind */
#define DSM_BIND_START _IOC(_PWM_SERVO_BASE, 7)
/** stop DSM bind */
#define DSM_BIND_STOP _IOC(_PWM_SERVO_BASE, 8)
/** Power up DSM receiver */
#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 9)
#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 8)
/** set a single servo to a specific value */
#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo)
src/drivers/ets_airspeed/ets_airspeed.cpp
+27 -375
View File
@@ -72,9 +72,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/subsystem_info.h>
/* Default I2C bus */
#define PX4_I2C_BUS_DEFAULT PX4_I2C_BUS_EXPANSION
#include <drivers/airspeed/airspeed.h>
/* I2C bus address */
#define I2C_ADDRESS 0x75 /* 7-bit address. 8-bit address is 0xEA */
@@ -91,336 +89,32 @@
/* Measurement rate is 100Hz */
#define CONVERSION_INTERVAL (1000000 / 100) /* microseconds */
/* Oddly, ERROR is not defined for C++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
class ETSAirspeed : public device::I2C
class ETSAirspeed : public Airspeed
{
public:
ETSAirspeed(int bus, int address = I2C_ADDRESS);
virtual ~ETSAirspeed();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
protected:
virtual int probe();
private:
work_s _work;
unsigned _num_reports;
volatile unsigned _next_report;
volatile unsigned _oldest_report;
differential_pressure_s *_reports;
bool _sensor_ok;
int _measure_ticks;
bool _collect_phase;
int _diff_pres_offset;
orb_advert_t _airspeed_pub;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
/**
* Test whether the device supported by the driver is present at a
* specific address.
*
* @param address The I2C bus address to probe.
* @return True if the device is present.
*/
int probe_address(uint8_t address);
/**
* Initialise the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void cycle();
int measure();
int collect();
/**
* Static trampoline from the workq context; because we don't have a
* generic workq wrapper yet.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
virtual void cycle();
virtual int measure();
virtual int collect();
};
/* helper macro for handling report buffer indices */
#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int ets_airspeed_main(int argc, char *argv[]);
ETSAirspeed::ETSAirspeed(int bus, int address) :
I2C("ETSAirspeed", AIRSPEED_DEVICE_PATH, bus, address, 100000),
_num_reports(0),
_next_report(0),
_oldest_report(0),
_reports(nullptr),
_sensor_ok(false),
_measure_ticks(0),
_collect_phase(false),
_diff_pres_offset(0),
_airspeed_pub(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "ets_airspeed_read")),
_comms_errors(perf_alloc(PC_COUNT, "ets_airspeed_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "ets_airspeed_buffer_overflows"))
ETSAirspeed::ETSAirspeed(int bus, int address) : Airspeed(bus, address,
CONVERSION_INTERVAL)
{
// enable debug() calls
_debug_enabled = true;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
ETSAirspeed::~ETSAirspeed()
{
/* make sure we are truly inactive */
stop();
/* free any existing reports */
if (_reports != nullptr)
delete[] _reports;
}
int
ETSAirspeed::init()
{
int ret = ERROR;
/* do I2C init (and probe) first */
if (I2C::init() != OK)
goto out;
/* allocate basic report buffers */
_num_reports = 2;
_reports = new struct differential_pressure_s[_num_reports];
for (unsigned i = 0; i < _num_reports; i++)
_reports[i].max_differential_pressure_pa = 0;
if (_reports == nullptr)
goto out;
_oldest_report = _next_report = 0;
/* get a publish handle on the airspeed topic */
memset(&_reports[0], 0, sizeof(_reports[0]));
_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &_reports[0]);
if (_airspeed_pub < 0)
debug("failed to create airspeed sensor object. Did you start uOrb?");
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
_sensor_ok = true;
out:
return ret;
}
int
ETSAirspeed::probe()
{
return measure();
}
int
ETSAirspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* external signalling (DRDY) not supported */
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: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start)
start();
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(CONVERSION_INTERVAL))
return -EINVAL;
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start)
start();
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0)
return SENSOR_POLLRATE_MANUAL;
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* add one to account for the sentinel in the ring */
arg++;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100))
return -EINVAL;
/* allocate new buffer */
struct differential_pressure_s *buf = new struct differential_pressure_s[arg];
if (nullptr == buf)
return -ENOMEM;
/* reset the measurement state machine with the new buffer, free the old */
stop();
delete[] _reports;
_num_reports = arg;
_reports = buf;
start();
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _num_reports - 1;
case SENSORIOCRESET:
/* XXX implement this */
return -EINVAL;
default:
/* give it to the superclass */
return I2C::ioctl(filp, cmd, arg);
}
}
ssize_t
ETSAirspeed::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct differential_pressure_s);
int ret = 0;
/* buffer must be large enough */
if (count < 1)
return -ENOSPC;
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the workq thread while we are doing this;
* we are careful to avoid racing with them.
*/
while (count--) {
if (_oldest_report != _next_report) {
memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
ret += sizeof(_reports[0]);
INCREMENT(_oldest_report, _num_reports);
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement - run one conversion */
/* XXX really it'd be nice to lock against other readers here */
do {
_oldest_report = _next_report = 0;
/* trigger a measurement */
if (OK != measure()) {
ret = -EIO;
break;
}
/* wait for it to complete */
usleep(CONVERSION_INTERVAL);
/* run the collection phase */
if (OK != collect()) {
ret = -EIO;
break;
}
/* state machine will have generated a report, copy it out */
memcpy(buffer, _reports, sizeof(*_reports));
ret = sizeof(*_reports);
} while (0);
return ret;
}
int
@@ -463,9 +157,15 @@ ETSAirspeed::collect()
}
uint16_t diff_pres_pa = val[1] << 8 | val[0];
if (diff_pres_pa == 0) {
// a zero value means the pressure sensor cannot give us a
// value. We need to return, and not report a value or the
// caller could end up using this value as part of an
// average
log("zero value from sensor");
return -1;
}
// XXX move the parameter read out of the driver.
param_get(param_find("SENS_DPRES_OFF"), &_diff_pres_offset);
if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
diff_pres_pa = 0;
@@ -505,47 +205,6 @@ ETSAirspeed::collect()
return ret;
}
void
ETSAirspeed::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_oldest_report = _next_report = 0;
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&ETSAirspeed::cycle_trampoline, this, 1);
/* notify about state change */
struct subsystem_info_s info = {
true,
true,
true,
SUBSYSTEM_TYPE_DIFFPRESSURE
};
static orb_advert_t pub = -1;
if (pub > 0) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
}
void
ETSAirspeed::stop()
{
work_cancel(HPWORK, &_work);
}
void
ETSAirspeed::cycle_trampoline(void *arg)
{
ETSAirspeed *dev = (ETSAirspeed *)arg;
dev->cycle();
}
void
ETSAirspeed::cycle()
{
@@ -571,7 +230,7 @@ ETSAirspeed::cycle()
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&ETSAirspeed::cycle_trampoline,
(worker_t)&Airspeed::cycle_trampoline,
this,
_measure_ticks - USEC2TICK(CONVERSION_INTERVAL));
@@ -589,22 +248,11 @@ ETSAirspeed::cycle()
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&ETSAirspeed::cycle_trampoline,
(worker_t)&Airspeed::cycle_trampoline,
this,
USEC2TICK(CONVERSION_INTERVAL));
}
void
ETSAirspeed::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
perf_print_counter(_buffer_overflows);
printf("poll interval: %u ticks\n", _measure_ticks);
printf("report queue: %u (%u/%u @ %p)\n",
_num_reports, _oldest_report, _next_report, _reports);
}
/**
* Local functions in support of the shell command.
*/
@@ -642,7 +290,7 @@ start(int i2c_bus)
if (g_dev == nullptr)
goto fail;
if (OK != g_dev->init())
if (OK != g_dev->Airspeed::init())
goto fail;
/* set the poll rate to default, starts automatic data collection */
@@ -735,6 +383,10 @@ test()
warnx("diff pressure: %d pa", report.differential_pressure_pa);
}
/* reset the sensor polling to its default rate */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT))
errx(1, "failed to set default rate");
errx(0, "PASS");
}
@@ -779,11 +431,11 @@ info()
static void
ets_airspeed_usage()
{
fprintf(stderr, "usage: ets_airspeed command [options]\n");
fprintf(stderr, "options:\n");
fprintf(stderr, "\t-b --bus i2cbus (%d)\n", PX4_I2C_BUS_DEFAULT);
fprintf(stderr, "command:\n");
fprintf(stderr, "\tstart|stop|reset|test|info\n");
warnx("usage: ets_airspeed command [options]");
warnx("options:");
warnx("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
warnx("command:");
warnx("\tstart|stop|reset|test|info");
}
int
src/drivers/ets_airspeed/module.mk
+1 -1
View File
@@ -36,6 +36,6 @@
#
MODULE_COMMAND = ets_airspeed
MODULE_STACKSIZE = 1024
MODULE_STACKSIZE = 2048
SRCS = ets_airspeed.cpp
src/drivers/l3gd20/l3gd20.cpp
+7 -2
View File
@@ -333,8 +333,13 @@ L3GD20::init()
write_reg(ADDR_CTRL_REG4, REG4_BDU);
write_reg(ADDR_CTRL_REG5, 0);
write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */
write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_STREAM_MODE); /* Enable FIFO, old data is overwritten */
write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */
/* disable FIFO. This makes things simpler and ensures we
* aren't getting stale data. It means we must run the hrt
* callback fast enough to not miss data. */
write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE);
set_range(500); /* default to 500dps */
set_samplerate(0); /* max sample rate */
src/drivers/md25/BlockSysIdent.cpp
+8
View File
@@ -0,0 +1,8 @@
#include "BlockSysIdent.hpp"
BlockSysIdent::BlockSysIdent() :
Block(NULL, "SYSID"),
_freq(this, "FREQ"),
_ampl(this, "AMPL")
{
}
src/drivers/md25/BlockSysIdent.hpp
+10
View File
@@ -0,0 +1,10 @@
#include <controllib/block/Block.hpp>
#include <controllib/block/BlockParam.hpp>
class BlockSysIdent : public control::Block {
public:
BlockSysIdent();
private:
control::BlockParam<float> _freq;
control::BlockParam<float> _ampl;
};
src/drivers/md25/md25.cpp
+84 -3
View File
@@ -45,9 +45,16 @@
#include "md25.hpp"
#include <poll.h>
#include <stdio.h>
#include <math.h>
#include <string.h>
#include <systemlib/err.h>
#include <arch/board/board.h>
#include <mavlink/mavlink_log.h>
#include <controllib/uorb/UOrbPublication.hpp>
#include <uORB/topics/debug_key_value.h>
#include <drivers/drv_hrt.h>
// registers
enum {
@@ -72,6 +79,9 @@ enum {
REG_COMMAND_RW,
};
// File descriptors
static int mavlink_fd;
MD25::MD25(const char *deviceName, int bus,
uint16_t address, uint32_t speed) :
I2C("MD25", deviceName, bus, address, speed),
@@ -106,7 +116,8 @@ MD25::MD25(const char *deviceName, int bus,
setMotor2Speed(0);
resetEncoders();
_setMode(MD25::MODE_UNSIGNED_SPEED);
setSpeedRegulation(true);
setSpeedRegulation(false);
setMotorAccel(10);
setTimeout(true);
}
@@ -298,6 +309,12 @@ int MD25::setDeviceAddress(uint8_t address)
return OK;
}
int MD25::setMotorAccel(uint8_t accel)
{
return _writeUint8(REG_ACCEL_RATE_RW,
accel);
}
int MD25::setMotor1Speed(float value)
{
return _writeUint8(REG_SPEED1_RW,
@@ -451,12 +468,12 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
MD25 md25("/dev/md25", bus, address);
// print status
char buf[200];
char buf[400];
md25.status(buf, sizeof(buf));
printf("%s\n", buf);
// setup for test
md25.setSpeedRegulation(true);
md25.setSpeedRegulation(false);
md25.setTimeout(true);
float dt = 0.1;
float speed = 0.2;
@@ -550,4 +567,68 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
return 0;
}
int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitude, float frequency)
{
printf("md25 sine: starting\n");
// setup
MD25 md25("/dev/md25", bus, address);
// print status
char buf[400];
md25.status(buf, sizeof(buf));
printf("%s\n", buf);
// setup for test
md25.setSpeedRegulation(false);
md25.setTimeout(true);
float dt = 0.01;
float t_final = 60.0;
float prev_revolution = md25.getRevolutions1();
// debug publication
control::UOrbPublication<debug_key_value_s> debug_msg(NULL,
ORB_ID(debug_key_value));
// sine wave for motor 1
md25.resetEncoders();
while (true) {
// input
uint64_t timestamp = hrt_absolute_time();
float t = timestamp/1000000.0f;
float input_value = amplitude*sinf(2*M_PI*frequency*t);
md25.setMotor1Speed(input_value);
// output
md25.readData();
float current_revolution = md25.getRevolutions1();
// send input message
//strncpy(debug_msg.key, "md25 in ", 10);
//debug_msg.timestamp_ms = 1000*timestamp;
//debug_msg.value = input_value;
//debug_msg.update();
// send output message
strncpy(debug_msg.key, "md25 out ", 10);
debug_msg.timestamp_ms = 1000*timestamp;
debug_msg.value = current_revolution;
debug_msg.update();
if (t > t_final) break;
// update for next step
prev_revolution = current_revolution;
// sleep
usleep(1000000 * dt);
}
md25.setMotor1Speed(0);
printf("md25 sine complete\n");
return 0;
}
// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
src/drivers/md25/md25.hpp
+17 -1
View File
@@ -46,7 +46,7 @@
#include <poll.h>
#include <stdio.h>
#include <controllib/block/UOrbSubscription.hpp>
#include <controllib/uorb/UOrbSubscription.hpp>
#include <uORB/topics/actuator_controls.h>
#include <drivers/device/i2c.h>
@@ -212,6 +212,19 @@ public:
*/
int setDeviceAddress(uint8_t address);
/**
* set motor acceleration
* @param accel
* controls motor speed change (1-10)
* accel rate | time for full fwd. to full rev.
* 1 | 6.375 s
* 2 | 1.6 s
* 3 | 0.675 s
* 5(default) | 1.275 s
* 10 | 0.65 s
*/
int setMotorAccel(uint8_t accel);
/**
* set motor 1 speed
* @param normSpeed normalize speed between -1 and 1
@@ -290,4 +303,7 @@ private:
// unit testing
int md25Test(const char *deviceName, uint8_t bus, uint8_t address);
// sine testing
int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitude, float frequency);
// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
src/drivers/md25/md25_main.cpp
+47 -2
View File
@@ -82,7 +82,7 @@ usage(const char *reason)
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: md25 {start|stop|status|search|test|change_address}\n\n");
fprintf(stderr, "usage: md25 {start|stop|read|status|search|test|change_address}\n\n");
exit(1);
}
@@ -136,6 +136,28 @@ int md25_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "sine")) {
if (argc < 6) {
printf("usage: md25 sine bus address amp freq\n");
exit(0);
}
const char *deviceName = "/dev/md25";
uint8_t bus = strtoul(argv[2], nullptr, 0);
uint8_t address = strtoul(argv[3], nullptr, 0);
float amplitude = atof(argv[4]);
float frequency = atof(argv[5]);
md25Sine(deviceName, bus, address, amplitude, frequency);
exit(0);
}
if (!strcmp(argv[1], "probe")) {
if (argc < 4) {
printf("usage: md25 probe bus address\n");
@@ -162,6 +184,29 @@ int md25_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "read")) {
if (argc < 4) {
printf("usage: md25 read bus address\n");
exit(0);
}
const char *deviceName = "/dev/md25";
uint8_t bus = strtoul(argv[2], nullptr, 0);
uint8_t address = strtoul(argv[3], nullptr, 0);
MD25 md25(deviceName, bus, address);
// print status
char buf[400];
md25.status(buf, sizeof(buf));
printf("%s\n", buf);
exit(0);
}
if (!strcmp(argv[1], "search")) {
if (argc < 3) {
printf("usage: md25 search bus\n");
@@ -246,7 +291,7 @@ int md25_thread_main(int argc, char *argv[])
uint8_t address = strtoul(argv[4], nullptr, 0);
// start
MD25 md25("/dev/md25", bus, address);
MD25 md25(deviceName, bus, address);
thread_running = true;
src/drivers/meas_airspeed/meas_airspeed.cpp
+520
View File
@@ -0,0 +1,520 @@
/****************************************************************************
*
* Copyright (C) 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.
*
****************************************************************************/
/**
* @file meas_airspeed.cpp
* @author Lorenz Meier
* @author Sarthak Kaingade
* @author Simon Wilks
*
* Driver for the MEAS Spec series connected via I2C.
*
* Supported sensors:
*
* - MS4525DO (http://www.meas-spec.com/downloads/MS4525DO.pdf)
* - untested: MS5525DSO (http://www.meas-spec.com/downloads/MS5525DSO.pdf)
*
* Interface application notes:
*
* - Interfacing to MEAS Digital Pressure Modules (http://www.meas-spec.com/downloads/Interfacing_to_MEAS_Digital_Pressure_Modules.pdf)
*/
#include <nuttx/config.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <arch/board/board.h>
#include <systemlib/airspeed.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/subsystem_info.h>
#include <drivers/airspeed/airspeed.h>
/* I2C bus address is 1010001x */
#define I2C_ADDRESS_MS4525DO 0x28 //0x51 /* 7-bit address. */
/* The MS5525DSO address is 111011Cx, where C is the complementary value of the pin CSB */
#define I2C_ADDRESS_MS5525DSO 0x77 //0x77/* 7-bit address, addr. pin pulled low */
/* Register address */
#define ADDR_READ_MR 0x00 /* write to this address to start conversion */
/* Measurement rate is 100Hz */
#define CONVERSION_INTERVAL (1000000 / 100) /* microseconds */
class MEASAirspeed : public Airspeed
{
public:
MEASAirspeed(int bus, int address = I2C_ADDRESS_MS4525DO);
protected:
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
virtual void cycle();
virtual int measure();
virtual int collect();
};
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int meas_airspeed_main(int argc, char *argv[]);
MEASAirspeed::MEASAirspeed(int bus, int address) : Airspeed(bus, address,
CONVERSION_INTERVAL)
{
}
int
MEASAirspeed::measure()
{
int ret;
/*
* Send the command to begin a measurement.
*/
uint8_t cmd = 0;
ret = transfer(&cmd, 1, nullptr, 0);
if (OK != ret) {
perf_count(_comms_errors);
log("i2c::transfer returned %d", ret);
return ret;
}
ret = OK;
return ret;
}
int
MEASAirspeed::collect()
{
int ret = -EIO;
/* read from the sensor */
uint8_t val[4] = {0, 0, 0, 0};
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 4);
if (ret < 0) {
log("error reading from sensor: %d", ret);
return ret;
}
uint8_t status = val[0] & 0xC0;
if (status == 2) {
log("err: stale data");
} else if (status == 3) {
log("err: fault");
}
//uint16_t diff_pres_pa = (val[1]) | ((val[0] & ~(0xC0)) << 8);
uint16_t temp = (val[3] & 0xE0) << 8 | val[2];
// XXX leaving this in until new calculation method has been cross-checked
//diff_pres_pa = abs(diff_pres_pa - (16384 / 2.0f));
//diff_pres_pa -= _diff_pres_offset;
int16_t dp_raw = 0, dT_raw = 0;
dp_raw = (val[0] << 8) + val[1];
dp_raw = 0x3FFF & dp_raw;
dT_raw = (val[2] << 8) + val[3];
dT_raw = (0xFFE0 & dT_raw) >> 5;
float temperature = ((200 * dT_raw) / 2047) - 50;
// XXX we may want to smooth out the readings to remove noise.
// Calculate differential pressure. As its centered around 8000
// and can go positive or negative, enforce absolute value
uint16_t diff_press_pa = abs(dp_raw - (16384 / 2.0f));
_reports[_next_report].timestamp = hrt_absolute_time();
_reports[_next_report].temperature = temperature;
_reports[_next_report].differential_pressure_pa = diff_press_pa;
// Track maximum differential pressure measured (so we can work out top speed).
if (diff_press_pa > _reports[_next_report].max_differential_pressure_pa) {
_reports[_next_report].max_differential_pressure_pa = diff_press_pa;
}
/* announce the airspeed if needed, just publish else */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &_reports[_next_report]);
/* post a report to the ring - note, not locked */
INCREMENT(_next_report, _num_reports);
/* if we are running up against the oldest report, toss it */
if (_next_report == _oldest_report) {
perf_count(_buffer_overflows);
INCREMENT(_oldest_report, _num_reports);
}
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
void
MEASAirspeed::cycle()
{
/* collection phase? */
if (_collect_phase) {
/* perform collection */
if (OK != collect()) {
log("collection error");
/* restart the measurement state machine */
start();
return;
}
/* next phase is measurement */
_collect_phase = false;
/*
* Is there a collect->measure gap?
*/
if (_measure_ticks > USEC2TICK(CONVERSION_INTERVAL)) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&Airspeed::cycle_trampoline,
this,
_measure_ticks - USEC2TICK(CONVERSION_INTERVAL));
return;
}
}
/* measurement phase */
if (OK != measure())
log("measure error");
/* next phase is collection */
_collect_phase = true;
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&Airspeed::cycle_trampoline,
this,
USEC2TICK(CONVERSION_INTERVAL));
}
/**
* Local functions in support of the shell command.
*/
namespace meas_airspeed
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
const int ERROR = -1;
MEASAirspeed *g_dev = nullptr;
void start(int i2c_bus);
void stop();
void test();
void reset();
void info();
/**
* Start the driver.
*/
void
start(int i2c_bus)
{
int fd;
if (g_dev != nullptr)
errx(1, "already started");
/* create the driver, try the MS4525DO first */
g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS4525DO);
/* check if the MS4525DO was instantiated */
if (g_dev == nullptr)
goto fail;
/* try the MS5525DSO next if init fails */
if (OK != g_dev->Airspeed::init()) {
delete g_dev;
g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS5525DSO);
/* check if the MS5525DSO was instantiated */
if (g_dev == nullptr)
goto fail;
/* both versions failed if the init for the MS5525DSO fails, give up */
if (OK != g_dev->Airspeed::init())
goto fail;
}
/* set the poll rate to default, starts automatic data collection */
fd = open(AIRSPEED_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");
}
/**
* Stop the driver
*/
void
stop()
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
} else {
errx(1, "driver not running");
}
exit(0);
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
void
test()
{
struct differential_pressure_s report;
ssize_t sz;
int ret;
int fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'meas_airspeed start' if the driver is not running", AIRSPEED_DEVICE_PATH);
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
err(1, "immediate read failed");
warnx("single read");
warnx("diff pressure: %d pa", report.differential_pressure_pa);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
errx(1, "failed to set 2Hz poll rate");
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) {
struct pollfd fds;
/* wait for data to be ready */
fds.fd = fd;
fds.events = POLLIN;
ret = poll(&fds, 1, 2000);
if (ret != 1)
errx(1, "timed out waiting for sensor data");
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
err(1, "periodic read failed");
warnx("periodic read %u", i);
warnx("diff pressure: %d pa", report.differential_pressure_pa);
warnx("temperature: %d C (0x%02x)", (int)report.temperature, (unsigned) report.temperature);
}
/* reset the sensor polling to its default rate */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT))
errx(1, "failed to set default rate");
errx(0, "PASS");
}
/**
* Reset the driver.
*/
void
reset()
{
int fd = open(AIRSPEED_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)
errx(1, "driver not running");
printf("state @ %p\n", g_dev);
g_dev->print_info();
exit(0);
}
} // namespace
static void
meas_airspeed_usage()
{
warnx("usage: meas_airspeed command [options]");
warnx("options:");
warnx("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
warnx("command:");
warnx("\tstart|stop|reset|test|info");
}
int
meas_airspeed_main(int argc, char *argv[])
{
int i2c_bus = PX4_I2C_BUS_DEFAULT;
int i;
for (i = 1; i < argc; i++) {
if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
if (argc > i + 1) {
i2c_bus = atoi(argv[i + 1]);
}
}
}
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start"))
meas_airspeed::start(i2c_bus);
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop"))
meas_airspeed::stop();
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
meas_airspeed::test();
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset"))
meas_airspeed::reset();
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
meas_airspeed::info();
meas_airspeed_usage();
exit(0);
}
src/drivers/meas_airspeed/module.mk
+41
View File
@@ -0,0 +1,41 @@
############################################################################
#
# Copyright (c) 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.
#
############################################################################
#
# Makefile to build the MEAS Spec airspeed sensor driver.
#
MODULE_COMMAND = meas_airspeed
MODULE_STACKSIZE = 2048
SRCS = meas_airspeed.cpp
src/drivers/mpu6000/mpu6000.cpp
+300 -104
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* 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
@@ -35,6 +35,9 @@
* @file mpu6000.cpp
*
* Driver for the Invensense MPU6000 connected via SPI.
*
* @author Andrew Tridgell
* @author Pat Hickey
*/
#include <nuttx/config.h>
@@ -64,8 +67,10 @@
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#define DIR_READ 0x80
#define DIR_WRITE 0x00
@@ -178,21 +183,33 @@ private:
struct hrt_call _call;
unsigned _call_interval;
struct accel_report _accel_report;
typedef RingBuffer<accel_report> AccelReportBuffer;
AccelReportBuffer *_accel_reports;
struct accel_scale _accel_scale;
float _accel_range_scale;
float _accel_range_m_s2;
orb_advert_t _accel_topic;
struct gyro_report _gyro_report;
typedef RingBuffer<gyro_report> GyroReportBuffer;
GyroReportBuffer *_gyro_reports;
struct gyro_scale _gyro_scale;
float _gyro_range_scale;
float _gyro_range_rad_s;
orb_advert_t _gyro_topic;
unsigned _reads;
unsigned _sample_rate;
perf_counter_t _sample_perf;
math::LowPassFilter2p _accel_filter_x;
math::LowPassFilter2p _accel_filter_y;
math::LowPassFilter2p _accel_filter_z;
math::LowPassFilter2p _gyro_filter_x;
math::LowPassFilter2p _gyro_filter_y;
math::LowPassFilter2p _gyro_filter_z;
/**
* Start automatic measurement.
*/
@@ -203,6 +220,13 @@ private:
*/
void stop();
/**
* Reset chip.
*
* Resets the chip and measurements ranges, but not scale and offset.
*/
void reset();
/**
* Static trampoline from the hrt_call context; because we don't have a
* generic hrt wrapper yet.
@@ -215,7 +239,7 @@ private:
static void measure_trampoline(void *arg);
/**
* Fetch measurements from the sensor and update the report ring.
* Fetch measurements from the sensor and update the report buffers.
*/
void measure();
@@ -307,14 +331,23 @@ MPU6000::MPU6000(int bus, spi_dev_e device) :
_gyro(new MPU6000_gyro(this)),
_product(0),
_call_interval(0),
_accel_reports(nullptr),
_accel_range_scale(0.0f),
_accel_range_m_s2(0.0f),
_accel_topic(-1),
_gyro_reports(nullptr),
_gyro_range_scale(0.0f),
_gyro_range_rad_s(0.0f),
_gyro_topic(-1),
_reads(0),
_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read"))
_sample_rate(1000),
_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")),
_accel_filter_x(1000, 30),
_accel_filter_y(1000, 30),
_accel_filter_z(1000, 30),
_gyro_filter_x(1000, 30),
_gyro_filter_y(1000, 30),
_gyro_filter_z(1000, 30)
{
// disable debug() calls
_debug_enabled = false;
@@ -335,8 +368,6 @@ MPU6000::MPU6000(int bus, spi_dev_e device) :
_gyro_scale.z_offset = 0;
_gyro_scale.z_scale = 1.0f;
memset(&_accel_report, 0, sizeof(_accel_report));
memset(&_gyro_report, 0, sizeof(_gyro_report));
memset(&_call, 0, sizeof(_call));
}
@@ -348,6 +379,12 @@ MPU6000::~MPU6000()
/* delete the gyro subdriver */
delete _gyro;
/* free any existing reports */
if (_accel_reports != nullptr)
delete _accel_reports;
if (_gyro_reports != nullptr)
delete _gyro_reports;
/* delete the perf counter */
perf_free(_sample_perf);
}
@@ -356,6 +393,7 @@ int
MPU6000::init()
{
int ret;
int gyro_ret;
/* do SPI init (and probe) first */
ret = SPI::init();
@@ -366,9 +404,58 @@ MPU6000::init()
return ret;
}
/* advertise sensor topics */
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_report);
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_gyro_report);
/* allocate basic report buffers */
_accel_reports = new AccelReportBuffer(2);
if (_accel_reports == nullptr)
goto out;
_gyro_reports = new GyroReportBuffer(2);
if (_gyro_reports == nullptr)
goto out;
reset();
/* Initialize offsets and scales */
_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;
_gyro_scale.x_offset = 0;
_gyro_scale.x_scale = 1.0f;
_gyro_scale.y_offset = 0;
_gyro_scale.y_scale = 1.0f;
_gyro_scale.z_offset = 0;
_gyro_scale.z_scale = 1.0f;
/* do CDev init for the gyro device node, keep it optional */
gyro_ret = _gyro->init();
/* fetch an initial set of measurements for advertisement */
measure();
if (gyro_ret != OK) {
_gyro_topic = -1;
} else {
gyro_report gr;
_gyro_reports->get(gr);
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &gr);
}
/* advertise accel topic */
accel_report ar;
_accel_reports->get(ar);
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &ar);
out:
return ret;
}
void MPU6000::reset()
{
// Chip reset
write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
@@ -384,13 +471,13 @@ MPU6000::init()
// SAMPLE RATE
//write_reg(MPUREG_SMPLRT_DIV, 0x04); // Sample rate = 200Hz Fsample= 1Khz/(4+1) = 200Hz
_set_sample_rate(200); // default sample rate = 200Hz
_set_sample_rate(_sample_rate); // default sample rate = 200Hz
usleep(1000);
// FS & DLPF FS=2000 deg/s, DLPF = 20Hz (low pass filter)
// was 90 Hz, but this ruins quality and does not improve the
// system response
_set_dlpf_filter(20);
_set_dlpf_filter(42);
usleep(1000);
// Gyro scale 2000 deg/s ()
write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS);
@@ -401,12 +488,6 @@ MPU6000::init()
// 2000 deg/s = (2000/180)*PI = 34.906585 rad/s
// scaling factor:
// 1/(2^15)*(2000/180)*PI
_gyro_scale.x_offset = 0;
_gyro_scale.x_scale = 1.0f;
_gyro_scale.y_offset = 0;
_gyro_scale.y_scale = 1.0f;
_gyro_scale.z_offset = 0;
_gyro_scale.z_scale = 1.0f;
_gyro_range_scale = (0.0174532 / 16.4);//1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F);
_gyro_range_rad_s = (2000.0f / 180.0f) * M_PI_F;
@@ -439,12 +520,6 @@ MPU6000::init()
// Correct accel scale factors of 4096 LSB/g
// scale to m/s^2 ( 1g = 9.81 m/s^2)
_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;
_accel_range_scale = (9.81f / 4096.0f);
_accel_range_m_s2 = 8.0f * 9.81f;
@@ -460,14 +535,6 @@ MPU6000::init()
// write_reg(MPUREG_PWR_MGMT_1,MPU_CLK_SEL_PLLGYROZ);
usleep(1000);
/* do CDev init for the gyro device node, keep it optional */
int gyro_ret = _gyro->init();
if (gyro_ret != OK) {
_gyro_topic = -1;
}
return ret;
}
int
@@ -509,6 +576,7 @@ MPU6000::_set_sample_rate(uint16_t desired_sample_rate_hz)
if(div>200) div=200;
if(div<1) div=1;
write_reg(MPUREG_SMPLRT_DIV, div-1);
_sample_rate = 1000 / div;
}
/*
@@ -545,21 +613,33 @@ MPU6000::_set_dlpf_filter(uint16_t frequency_hz)
ssize_t
MPU6000::read(struct file *filp, char *buffer, size_t buflen)
{
int ret = 0;
unsigned count = buflen / sizeof(accel_report);
/* buffer must be large enough */
if (buflen < sizeof(_accel_report))
if (count < 1)
return -ENOSPC;
/* if automatic measurement is not enabled */
if (_call_interval == 0)
/* if automatic measurement is not enabled, get a fresh measurement into the buffer */
if (_call_interval == 0) {
_accel_reports->flush();
measure();
}
/* copy out the latest reports */
memcpy(buffer, &_accel_report, sizeof(_accel_report));
ret = sizeof(_accel_report);
/* if no data, error (we could block here) */
if (_accel_reports->empty())
return -EAGAIN;
return ret;
/* copy reports out of our buffer to the caller */
accel_report *arp = reinterpret_cast<accel_report *>(buffer);
int transferred = 0;
while (count--) {
if (!_accel_reports->get(*arp++))
break;
transferred++;
}
/* return the number of bytes transferred */
return (transferred * sizeof(accel_report));
}
int
@@ -576,21 +656,33 @@ MPU6000::self_test()
ssize_t
MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen)
{
int ret = 0;
unsigned count = buflen / sizeof(gyro_report);
/* buffer must be large enough */
if (buflen < sizeof(_gyro_report))
if (count < 1)
return -ENOSPC;
/* if automatic measurement is not enabled */
if (_call_interval == 0)
/* if automatic measurement is not enabled, get a fresh measurement into the buffer */
if (_call_interval == 0) {
_gyro_reports->flush();
measure();
}
/* copy out the latest report */
memcpy(buffer, &_gyro_report, sizeof(_gyro_report));
ret = sizeof(_gyro_report);
/* if no data, error (we could block here) */
if (_gyro_reports->empty())
return -EAGAIN;
return ret;
/* copy reports out of our buffer to the caller */
gyro_report *arp = reinterpret_cast<gyro_report *>(buffer);
int transferred = 0;
while (count--) {
if (!_gyro_reports->get(*arp++))
break;
transferred++;
}
/* return the number of bytes transferred */
return (transferred * sizeof(gyro_report));
}
int
@@ -598,6 +690,10 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCRESET:
reset();
return OK;
case SENSORIOCSPOLLRATE: {
switch (arg) {
@@ -617,8 +713,8 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
/* 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);
/* set to same as sample rate per default */
return ioctl(filp, SENSORIOCSPOLLRATE, _sample_rate);
/* adjust to a legal polling interval in Hz */
default: {
@@ -632,6 +728,19 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
if (ticks < 1000)
return -EINVAL;
// adjust filters
float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq();
float sample_rate = 1.0e6f/ticks;
_accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
_accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
_accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
float cutoff_freq_hz_gyro = _gyro_filter_x.get_cutoff_freq();
_gyro_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
_gyro_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
_gyro_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_call.period = _call_interval = ticks;
@@ -651,23 +760,51 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
return 1000000 / _call_interval;
case SENSORIOCSQUEUEDEPTH:
/* XXX not implemented */
return -EINVAL;
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100))
return -EINVAL;
/* allocate new buffer */
AccelReportBuffer *buf = new AccelReportBuffer(arg);
if (nullptr == buf)
return -ENOMEM;
if (buf->size() == 0) {
delete buf;
return -ENOMEM;
}
/* reset the measurement state machine with the new buffer, free the old */
stop();
delete _accel_reports;
_accel_reports = buf;
start();
return OK;
}
case SENSORIOCGQUEUEDEPTH:
/* XXX not implemented */
return -EINVAL;
return _accel_reports->size();
case ACCELIOCGSAMPLERATE:
return _sample_rate;
case ACCELIOCSSAMPLERATE:
case ACCELIOCGSAMPLERATE:
_set_sample_rate(arg);
return OK;
_set_sample_rate(arg);
return OK;
case ACCELIOCGLOWPASS:
return _accel_filter_x.get_cutoff_freq();
case ACCELIOCSLOWPASS:
case ACCELIOCGLOWPASS:
_set_dlpf_filter((uint16_t)arg);
// XXX decide on relationship of both filters
// i.e. disable the on-chip filter
//_set_dlpf_filter((uint16_t)arg);
_accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
return OK;
case ACCELIOCSSCALE:
@@ -689,12 +826,13 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
return OK;
case ACCELIOCSRANGE:
case ACCELIOCGRANGE:
/* XXX not implemented */
// XXX change these two values on set:
// _accel_range_scale = (9.81f / 4096.0f);
// _accel_range_rad_s = 8.0f * 9.81f;
// _accel_range_m_s2 = 8.0f * 9.81f;
return -EINVAL;
case ACCELIOCGRANGE:
return _accel_range_m_s2;
case ACCELIOCSELFTEST:
return self_test();
@@ -713,19 +851,51 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
/* these are shared with the accel side */
case SENSORIOCSPOLLRATE:
case SENSORIOCGPOLLRATE:
case SENSORIOCSQUEUEDEPTH:
case SENSORIOCGQUEUEDEPTH:
case SENSORIOCRESET:
return ioctl(filp, cmd, arg);
case GYROIOCSSAMPLERATE:
case GYROIOCGSAMPLERATE:
_set_sample_rate(arg);
return OK;
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100))
return -EINVAL;
/* allocate new buffer */
GyroReportBuffer *buf = new GyroReportBuffer(arg);
if (nullptr == buf)
return -ENOMEM;
if (buf->size() == 0) {
delete buf;
return -ENOMEM;
}
/* reset the measurement state machine with the new buffer, free the old */
stop();
delete _gyro_reports;
_gyro_reports = buf;
start();
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _gyro_reports->size();
case GYROIOCGSAMPLERATE:
return _sample_rate;
case GYROIOCSSAMPLERATE:
_set_sample_rate(arg);
return OK;
case GYROIOCSLOWPASS:
case GYROIOCGLOWPASS:
_set_dlpf_filter((uint16_t)arg);
return _gyro_filter_x.get_cutoff_freq();
case GYROIOCSLOWPASS:
_gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
_gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
// XXX check relation to the internal lowpass
//_set_dlpf_filter((uint16_t)arg);
return OK;
case GYROIOCSSCALE:
@@ -739,12 +909,13 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
return OK;
case GYROIOCSRANGE:
case GYROIOCGRANGE:
/* XXX not implemented */
// XXX change these two values on set:
// _gyro_range_scale = xx
// _gyro_range_m_s2 = xx
// _gyro_range_rad_s = xx
return -EINVAL;
case GYROIOCGRANGE:
return _gyro_range_rad_s;
case GYROIOCSELFTEST:
return self_test();
@@ -849,6 +1020,10 @@ MPU6000::start()
/* make sure we are stopped first */
stop();
/* discard any stale data in the buffers */
_accel_reports->flush();
_gyro_reports->flush();
/* start polling at the specified rate */
hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&MPU6000::measure_trampoline, this);
}
@@ -862,7 +1037,7 @@ MPU6000::stop()
void
MPU6000::measure_trampoline(void *arg)
{
MPU6000 *dev = (MPU6000 *)arg;
MPU6000 *dev = reinterpret_cast<MPU6000 *>(arg);
/* make another measurement */
dev->measure();
@@ -943,10 +1118,16 @@ MPU6000::measure()
report.gyro_x = gyro_xt;
report.gyro_y = gyro_yt;
/*
* Report buffers.
*/
accel_report arb;
gyro_report grb;
/*
* Adjust and scale results to m/s^2.
*/
_gyro_report.timestamp = _accel_report.timestamp = hrt_absolute_time();
grb.timestamp = arb.timestamp = hrt_absolute_time();
/*
@@ -967,40 +1148,53 @@ MPU6000::measure()
/* NOTE: Axes have been swapped to match the board a few lines above. */
_accel_report.x_raw = report.accel_x;
_accel_report.y_raw = report.accel_y;
_accel_report.z_raw = report.accel_z;
arb.x_raw = report.accel_x;
arb.y_raw = report.accel_y;
arb.z_raw = report.accel_z;
_accel_report.x = ((report.accel_x * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
_accel_report.y = ((report.accel_y * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
_accel_report.z = ((report.accel_z * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
_accel_report.scaling = _accel_range_scale;
_accel_report.range_m_s2 = _accel_range_m_s2;
float x_in_new = ((report.accel_x * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
float y_in_new = ((report.accel_y * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
float z_in_new = ((report.accel_z * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
arb.x = _accel_filter_x.apply(x_in_new);
arb.y = _accel_filter_y.apply(y_in_new);
arb.z = _accel_filter_z.apply(z_in_new);
_accel_report.temperature_raw = report.temp;
_accel_report.temperature = (report.temp) / 361.0f + 35.0f;
arb.scaling = _accel_range_scale;
arb.range_m_s2 = _accel_range_m_s2;
_gyro_report.x_raw = report.gyro_x;
_gyro_report.y_raw = report.gyro_y;
_gyro_report.z_raw = report.gyro_z;
arb.temperature_raw = report.temp;
arb.temperature = (report.temp) / 361.0f + 35.0f;
_gyro_report.x = ((report.gyro_x * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
_gyro_report.y = ((report.gyro_y * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
_gyro_report.z = ((report.gyro_z * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
_gyro_report.scaling = _gyro_range_scale;
_gyro_report.range_rad_s = _gyro_range_rad_s;
grb.x_raw = report.gyro_x;
grb.y_raw = report.gyro_y;
grb.z_raw = report.gyro_z;
_gyro_report.temperature_raw = report.temp;
_gyro_report.temperature = (report.temp) / 361.0f + 35.0f;
float x_gyro_in_new = ((report.gyro_x * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
float y_gyro_in_new = ((report.gyro_y * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
float z_gyro_in_new = ((report.gyro_z * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
grb.x = _gyro_filter_x.apply(x_gyro_in_new);
grb.y = _gyro_filter_y.apply(y_gyro_in_new);
grb.z = _gyro_filter_z.apply(z_gyro_in_new);
grb.scaling = _gyro_range_scale;
grb.range_rad_s = _gyro_range_rad_s;
grb.temperature_raw = report.temp;
grb.temperature = (report.temp) / 361.0f + 35.0f;
_accel_reports->put(arb);
_gyro_reports->put(grb);
/* notify anyone waiting for data */
poll_notify(POLLIN);
_gyro->parent_poll_notify();
/* and publish for subscribers */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &_accel_report);
orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
if (_gyro_topic != -1) {
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &_gyro_report);
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &grb);
}
/* stop measuring */
@@ -1103,21 +1297,19 @@ fail:
void
test()
{
int fd = -1;
int fd_gyro = -1;
struct accel_report a_report;
struct gyro_report g_report;
accel_report a_report;
gyro_report g_report;
ssize_t sz;
/* get the driver */
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)",
ACCEL_DEVICE_PATH);
/* get the driver */
fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
int fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
if (fd_gyro < 0)
err(1, "%s open failed", GYRO_DEVICE_PATH);
@@ -1129,8 +1321,10 @@ test()
/* do a simple demand read */
sz = read(fd, &a_report, sizeof(a_report));
if (sz != sizeof(a_report))
if (sz != sizeof(a_report)) {
warnx("ret: %d, expected: %d", sz, sizeof(a_report));
err(1, "immediate acc read failed");
}
warnx("single read");
warnx("time: %lld", a_report.timestamp);
@@ -1146,8 +1340,10 @@ test()
/* do a simple demand read */
sz = read(fd_gyro, &g_report, sizeof(g_report));
if (sz != sizeof(g_report))
if (sz != sizeof(g_report)) {
warnx("ret: %d, expected: %d", sz, sizeof(g_report));
err(1, "immediate gyro read failed");
}
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
src/drivers/px4io/px4io.cpp
+35 -28
View File
@@ -206,6 +206,12 @@ private:
bool _dsm_vcc_ctl;
/**
* System armed
*/
bool _system_armed;
/**
* Trampoline to the worker task
*/
@@ -374,7 +380,8 @@ PX4IO::PX4IO() :
_battery_amp_bias(0),
_battery_mamphour_total(0),
_battery_last_timestamp(0),
_dsm_vcc_ctl(false)
_dsm_vcc_ctl(false),
_system_armed(false)
{
/* we need this potentially before it could be set in task_main */
g_dev = this;
@@ -633,9 +640,11 @@ void
PX4IO::task_main()
{
hrt_abstime last_poll_time = 0;
int mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
log("starting");
/*
* Subscribe to the appropriate PWM output topic based on whether we are the
* primary PWM output or not.
@@ -735,6 +744,25 @@ PX4IO::task_main()
*/
if (fds[3].revents & POLLIN) {
parameter_update_s pupdate;
int32_t dsm_bind_val;
param_t dsm_bind_param;
// See if bind parameter has been set, and reset it to 0
param_get(dsm_bind_param = param_find("RC_DSM_BIND"), &dsm_bind_val);
if (dsm_bind_val) {
if (!_system_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;
param_set(dsm_bind_param, &dsm_bind_val);
}
/* copy to reset the notification */
orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
@@ -842,6 +870,8 @@ PX4IO::io_set_arming_state()
uint16_t set = 0;
uint16_t clear = 0;
_system_armed = vstatus.flag_system_armed;
if (armed.armed && !armed.lockdown) {
set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
} else {
@@ -1578,16 +1608,11 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
usleep(500000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
usleep(1000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
usleep(100000);
usleep(50000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
break;
case DSM_BIND_STOP:
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
usleep(50000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
usleep(500000);
break;
case DSM_BIND_POWER_UP:
@@ -1829,30 +1854,12 @@ bind(int argc, char *argv[])
else
errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]);
/* Open console directly to grab CTRL-C signal */
int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
if (!console)
errx(1, "failed opening console");
warnx("This command will only bind DSM if satellite VCC (red wire) is controlled by relay 1.");
warnx("Press CTRL-C or 'c' when done.");
g_dev->ioctl(nullptr, DSM_BIND_START, pulses);
for (;;) {
usleep(500000L);
/* Check if user wants to quit */
char c;
if (read(console, &c, 1) == 1) {
if (c == 0x03 || c == 0x63) {
warnx("Done\n");
g_dev->ioctl(nullptr, DSM_BIND_STOP, 0);
g_dev->ioctl(nullptr, DSM_BIND_POWER_UP, 0);
close(console);
exit(0);
}
}
}
exit(0);
}
void
src/drivers/stm32/drv_hrt.c
+10 -10
View File
@@ -70,7 +70,7 @@
#include "stm32_gpio.h"
#include "stm32_tim.h"
#ifdef CONFIG_HRT_TIMER
#ifdef HRT_TIMER
/* HRT configuration */
#if HRT_TIMER == 1
@@ -155,7 +155,7 @@
# error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=11
# endif
#else
# error HRT_TIMER must be set in board.h if CONFIG_HRT_TIMER=y
# error HRT_TIMER must be a value between 1 and 11
#endif
/*
@@ -275,7 +275,7 @@ static void hrt_call_invoke(void);
/*
* Specific registers and bits used by PPM sub-functions
*/
#ifdef CONFIG_HRT_PPM
#ifdef HRT_PPM_CHANNEL
/*
* If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it.
*
@@ -326,7 +326,7 @@ static void hrt_call_invoke(void);
# define CCER_PPM (GTIM_CCER_CC4E | GTIM_CCER_CC4P | GTIM_CCER_CC4NP) /* CC4, both edges */
# define CCER_PPM_FLIP GTIM_CCER_CC4P
# else
# error HRT_PPM_CHANNEL must be a value between 1 and 4 if CONFIG_HRT_PPM is set
# error HRT_PPM_CHANNEL must be a value between 1 and 4
# endif
/*
@@ -377,7 +377,7 @@ static void hrt_ppm_decode(uint32_t status);
# define CCMR1_PPM 0
# define CCMR2_PPM 0
# define CCER_PPM 0
#endif /* CONFIG_HRT_PPM */
#endif /* HRT_PPM_CHANNEL */
/*
* Initialise the timer we are going to use.
@@ -424,7 +424,7 @@ hrt_tim_init(void)
up_enable_irq(HRT_TIMER_VECTOR);
}
#ifdef CONFIG_HRT_PPM
#ifdef HRT_PPM_CHANNEL
/*
* Handle the PPM decoder state machine.
*/
@@ -526,7 +526,7 @@ error:
ppm_decoded_channels = 0;
}
#endif /* CONFIG_HRT_PPM */
#endif /* HRT_PPM_CHANNEL */
/*
* Handle the compare interupt by calling the callout dispatcher
@@ -546,7 +546,7 @@ hrt_tim_isr(int irq, void *context)
/* ack the interrupts we just read */
rSR = ~status;
#ifdef CONFIG_HRT_PPM
#ifdef HRT_PPM_CHANNEL
/* was this a PPM edge? */
if (status & (SR_INT_PPM | SR_OVF_PPM)) {
@@ -686,7 +686,7 @@ hrt_init(void)
sq_init(&callout_queue);
hrt_tim_init();
#ifdef CONFIG_HRT_PPM
#ifdef HRT_PPM_CHANNEL
/* configure the PPM input pin */
stm32_configgpio(GPIO_PPM_IN);
#endif
@@ -907,4 +907,4 @@ hrt_latency_update(void)
}
#endif /* CONFIG_HRT_TIMER */
#endif /* HRT_TIMER */
src/drivers/stm32/drv_pwm_servo.c
+6
View File
@@ -88,6 +88,7 @@
#define rCCR4(_tmr) REG(_tmr, STM32_GTIM_CCR4_OFFSET)
#define rDCR(_tmr) REG(_tmr, STM32_GTIM_DCR_OFFSET)
#define rDMAR(_tmr) REG(_tmr, STM32_GTIM_DMAR_OFFSET)
#define rBDTR(_tmr) REG(_tmr, STM32_ATIM_BDTR_OFFSET)
static void pwm_timer_init(unsigned timer);
static void pwm_timer_set_rate(unsigned timer, unsigned rate);
@@ -110,6 +111,11 @@ pwm_timer_init(unsigned timer)
rCCER(timer) = 0;
rDCR(timer) = 0;
if ((pwm_timers[timer].base == STM32_TIM1_BASE) || (pwm_timers[timer].base == STM32_TIM8_BASE)) {
/* master output enable = on */
rBDTR(timer) = ATIM_BDTR_MOE;
}
/* configure the timer to free-run at 1MHz */
rPSC(timer) = (pwm_timers[timer].clock_freq / 1000000) - 1;
src/drivers/stm32/tone_alarm/tone_alarm.cpp
-4
View File
@@ -117,10 +117,6 @@
#include <systemlib/err.h>
#ifndef CONFIG_HRT_TIMER
# error This driver requires CONFIG_HRT_TIMER
#endif
/* Tone alarm configuration */
#if TONE_ALARM_TIMER == 2
# define TONE_ALARM_BASE STM32_TIM2_BASE
src/modules/att_pos_estimator_ekf/KalmanNav.hpp
+2 -2
View File
@@ -47,8 +47,8 @@
#include <mathlib/mathlib.h>
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <controllib/block/UOrbSubscription.hpp>
#include <controllib/block/UOrbPublication.hpp>
#include <controllib/uorb/UOrbSubscription.hpp>
#include <controllib/uorb/UOrbPublication.hpp>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_global_position.h>
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+5 -5
View File
@@ -224,8 +224,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* subscribe to raw data */
int sub_raw = orb_subscribe(ORB_ID(sensor_combined));
/* rate-limit raw data updates to 200Hz */
orb_set_interval(sub_raw, 4);
/* rate-limit raw data updates to 333 Hz (sensors app publishes at 200, so this is just paranoid) */
orb_set_interval(sub_raw, 3);
/* subscribe to param changes */
int sub_params = orb_subscribe(ORB_ID(parameter_update));
@@ -236,7 +236,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* advertise attitude */
orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
int loopcounter = 0;
int printcounter = 0;
@@ -384,7 +383,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
static bool const_initialized = false;
/* initialize with good values once we have a reasonable dt estimate */
if (!const_initialized && dt < 0.05f && dt > 0.005f) {
if (!const_initialized && dt < 0.05f && dt > 0.001f) {
dt = 0.005f;
parameters_update(&ekf_param_handles, &ekf_params);
@@ -424,7 +423,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
continue;
}
if (last_data > 0 && raw.timestamp - last_data > 12000) printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data);
if (last_data > 0 && raw.timestamp - last_data > 12000)
printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data);
last_data = raw.timestamp;
src/modules/commander/accelerometer_calibration.cpp
+2 -2
View File
@@ -275,8 +275,8 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
float accel_disp[3] = { 0.0f, 0.0f, 0.0f };
/* EMA time constant in seconds*/
float ema_len = 0.2f;
/* set "still" threshold to 0.1 m/s^2 */
float still_thr2 = pow(0.1f, 2);
/* set "still" threshold to 0.25 m/s^2 */
float still_thr2 = pow(0.25f, 2);
/* set accel error threshold to 5m/s^2 */
float accel_err_thr = 5.0f;
/* still time required in us */
src/modules/commander/commander.cpp
+3
View File
@@ -1317,6 +1317,7 @@ toggle_status_leds(vehicle_status_s *status, actuator_armed_s *armed, vehicle_gp
/* ready to arm, blink at 2.5Hz */
if (leds_counter & 8) {
led_on(LED_AMBER);
} else {
led_off(LED_AMBER);
}
@@ -1552,6 +1553,7 @@ void *commander_low_prio_loop(void *arg)
mavlink_log_critical(mavlink_fd, "[cmd] parameters load ERROR");
tune_error();
}
low_prio_task = LOW_PRIO_TASK_NONE;
break;
@@ -1564,6 +1566,7 @@ void *commander_low_prio_loop(void *arg)
mavlink_log_critical(mavlink_fd, "[cmd] parameters save error");
tune_error();
}
low_prio_task = LOW_PRIO_TASK_NONE;
break;
src/modules/controllib/block/Block.cpp
+2 -2
View File
@@ -43,8 +43,8 @@
#include "Block.hpp"
#include "BlockParam.hpp"
#include "UOrbSubscription.hpp"
#include "UOrbPublication.hpp"
#include "../uorb/UOrbSubscription.hpp"
#include "../uorb/UOrbPublication.hpp"
namespace control
{
src/modules/controllib/blocks.hpp
+1
View File
@@ -42,6 +42,7 @@
#include <assert.h>
#include <time.h>
#include <stdlib.h>
#include <math.h>
#include <mathlib/math/test/test.hpp>
#include "block/Block.hpp"
src/modules/controllib/module.mk
+4 -4
View File
@@ -37,7 +37,7 @@
SRCS = test_params.c \
block/Block.cpp \
block/BlockParam.cpp \
block/UOrbPublication.cpp \
block/UOrbSubscription.cpp \
blocks.cpp \
fixedwing.cpp
uorb/UOrbPublication.cpp \
uorb/UOrbSubscription.cpp \
uorb/blocks.cpp \
blocks.cpp
src/modules/controllib/block/UOrbPublication.cpp → src/modules/controllib/uorb/UOrbPublication.cpp
View File
src/modules/controllib/block/UOrbPublication.hpp → src/modules/controllib/uorb/UOrbPublication.hpp
+2 -2
View File
@@ -39,8 +39,8 @@
#pragma once
#include <uORB/uORB.h>
#include "Block.hpp"
#include "List.hpp"
#include "../block/Block.hpp"
#include "../block/List.hpp"
namespace control
src/modules/controllib/block/UOrbSubscription.cpp → src/modules/controllib/uorb/UOrbSubscription.cpp
View File
src/modules/controllib/block/UOrbSubscription.hpp → src/modules/controllib/uorb/UOrbSubscription.hpp
+2 -2
View File
@@ -39,8 +39,8 @@
#pragma once
#include <uORB/uORB.h>
#include "Block.hpp"
#include "List.hpp"
#include "../block/Block.hpp"
#include "../block/List.hpp"
namespace control
src/modules/controllib/uorb/blocks.cpp
+101
View File
@@ -0,0 +1,101 @@
/****************************************************************************
*
* Copyright (C) 2012 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.
*
****************************************************************************/
/**
* @file uorb_blocks.cpp
*
* uorb block library code
*/
#include "blocks.hpp"
namespace control
{
BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_xtYawLimit(this, "XT2YAW"),
_xt2Yaw(this, "XT2YAW"),
_psiCmd(0)
{
}
BlockWaypointGuidance::~BlockWaypointGuidance() {};
void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
vehicle_attitude_s &att,
vehicle_global_position_setpoint_s &posCmd,
vehicle_global_position_setpoint_s &lastPosCmd)
{
// heading to waypoint
float psiTrack = get_bearing_to_next_waypoint(
(double)pos.lat / (double)1e7d,
(double)pos.lon / (double)1e7d,
(double)posCmd.lat / (double)1e7d,
(double)posCmd.lon / (double)1e7d);
// cross track
struct crosstrack_error_s xtrackError;
get_distance_to_line(&xtrackError,
(double)pos.lat / (double)1e7d,
(double)pos.lon / (double)1e7d,
(double)lastPosCmd.lat / (double)1e7d,
(double)lastPosCmd.lon / (double)1e7d,
(double)posCmd.lat / (double)1e7d,
(double)posCmd.lon / (double)1e7d);
_psiCmd = _wrap_2pi(psiTrack -
_xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
}
BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
// subscriptions
_att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20),
_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
_posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_set_triplet), 20),
_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
// publications
_actuators(&getPublications(), ORB_ID(actuator_controls_0))
{
}
BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {};
} // namespace control
src/modules/controllib/uorb/blocks.hpp
+113
View File
@@ -0,0 +1,113 @@
/****************************************************************************
*
* Copyright (C) 2012 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.
*
****************************************************************************/
/**
* @file uorb_blocks.h
*
* uorb block library code
*/
#pragma once
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_global_position_set_triplet.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/parameter_update.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <drivers/drv_hrt.h>
#include <poll.h>
extern "C" {
#include <systemlib/geo/geo.h>
}
#include "../blocks.hpp"
#include "UOrbSubscription.hpp"
#include "UOrbPublication.hpp"
namespace control
{
/**
* Waypoint Guidance block
*/
class __EXPORT BlockWaypointGuidance : public SuperBlock
{
private:
BlockLimitSym _xtYawLimit;
BlockP _xt2Yaw;
float _psiCmd;
public:
BlockWaypointGuidance(SuperBlock *parent, const char *name);
virtual ~BlockWaypointGuidance();
void update(vehicle_global_position_s &pos,
vehicle_attitude_s &att,
vehicle_global_position_setpoint_s &posCmd,
vehicle_global_position_setpoint_s &lastPosCmd);
float getPsiCmd() { return _psiCmd; }
};
/**
* UorbEnabledAutopilot
*/
class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
{
protected:
// subscriptions
UOrbSubscription<vehicle_attitude_s> _att;
UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
UOrbSubscription<vehicle_global_position_s> _pos;
UOrbSubscription<vehicle_global_position_set_triplet_s> _posCmd;
UOrbSubscription<manual_control_setpoint_s> _manual;
UOrbSubscription<vehicle_status_s> _status;
UOrbSubscription<parameter_update_s> _param_update;
// publications
UOrbPublication<actuator_controls_s> _actuators;
public:
BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
virtual ~BlockUorbEnabledAutopilot();
};
} // namespace control
src/modules/controllib/fixedwing.cpp → src/modules/fixedwing_backside/fixedwing.cpp
+1 -56
View File
@@ -88,61 +88,6 @@ void BlockStabilization::update(float pCmd, float qCmd, float rCmd,
_yawDamper.update(rCmd, r, outputScale);
}
BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_xtYawLimit(this, "XT2YAW"),
_xt2Yaw(this, "XT2YAW"),
_psiCmd(0)
{
}
BlockWaypointGuidance::~BlockWaypointGuidance() {};
void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
vehicle_attitude_s &att,
vehicle_global_position_setpoint_s &posCmd,
vehicle_global_position_setpoint_s &lastPosCmd)
{
// heading to waypoint
float psiTrack = get_bearing_to_next_waypoint(
(double)pos.lat / (double)1e7d,
(double)pos.lon / (double)1e7d,
(double)posCmd.lat / (double)1e7d,
(double)posCmd.lon / (double)1e7d);
// cross track
struct crosstrack_error_s xtrackError;
get_distance_to_line(&xtrackError,
(double)pos.lat / (double)1e7d,
(double)pos.lon / (double)1e7d,
(double)lastPosCmd.lat / (double)1e7d,
(double)lastPosCmd.lon / (double)1e7d,
(double)posCmd.lat / (double)1e7d,
(double)posCmd.lon / (double)1e7d);
_psiCmd = _wrap_2pi(psiTrack -
_xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
}
BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
// subscriptions
_att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20),
_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
_posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_set_triplet), 20),
_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
// publications
_actuators(&getPublications(), ORB_ID(actuator_controls_0))
{
}
BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {};
BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *parent, const char *name) :
BlockUorbEnabledAutopilot(parent, name),
_stabilization(this, ""), // no name needed, already unique
@@ -385,4 +330,4 @@ BlockMultiModeBacksideAutopilot::~BlockMultiModeBacksideAutopilot()
} // namespace control
#endif
#endif
src/modules/controllib/fixedwing.hpp → src/modules/fixedwing_backside/fixedwing.hpp
+2 -66
View File
@@ -39,31 +39,8 @@
#pragma once
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_global_position_set_triplet.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/parameter_update.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <drivers/drv_hrt.h>
#include <poll.h>
#include "blocks.hpp"
#include "block/UOrbSubscription.hpp"
#include "block/UOrbPublication.hpp"
extern "C" {
#include <systemlib/geo/geo.h>
}
#include <controllib/blocks.hpp>
#include <controllib/uorb/blocks.hpp>
namespace control
{
@@ -250,47 +227,6 @@ public:
* than frontside at high speeds.
*/
/**
* Waypoint Guidance block
*/
class __EXPORT BlockWaypointGuidance : public SuperBlock
{
private:
BlockLimitSym _xtYawLimit;
BlockP _xt2Yaw;
float _psiCmd;
public:
BlockWaypointGuidance(SuperBlock *parent, const char *name);
virtual ~BlockWaypointGuidance();
void update(vehicle_global_position_s &pos,
vehicle_attitude_s &att,
vehicle_global_position_setpoint_s &posCmd,
vehicle_global_position_setpoint_s &lastPosCmd);
float getPsiCmd() { return _psiCmd; }
};
/**
* UorbEnabledAutopilot
*/
class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
{
protected:
// subscriptions
UOrbSubscription<vehicle_attitude_s> _att;
UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
UOrbSubscription<vehicle_global_position_s> _pos;
UOrbSubscription<vehicle_global_position_set_triplet_s> _posCmd;
UOrbSubscription<manual_control_setpoint_s> _manual;
UOrbSubscription<vehicle_status_s> _status;
UOrbSubscription<parameter_update_s> _param_update;
// publications
UOrbPublication<actuator_controls_s> _actuators;
public:
BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
virtual ~BlockUorbEnabledAutopilot();
};
/**
* Multi-mode Autopilot
*/
src/modules/fixedwing_backside/fixedwing_backside_main.cpp
+2 -1
View File
@@ -45,12 +45,13 @@
#include <stdlib.h>
#include <string.h>
#include <systemlib/systemlib.h>
#include <controllib/fixedwing.hpp>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <math.h>
#include "fixedwing.hpp"
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
src/modules/fixedwing_backside/module.mk
+1
View File
@@ -38,4 +38,5 @@
MODULE_COMMAND = fixedwing_backside
SRCS = fixedwing_backside_main.cpp \
fixedwing.cpp \
params.c
src/modules/mathlib/math/filter/LowPassFilter2p.cpp
+77
View File
@@ -0,0 +1,77 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/****************************************************************************
*
* Copyright (C) 2012 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.
*
****************************************************************************/
/// @file LowPassFilter.cpp
/// @brief A class to implement a second order low pass filter
/// Author: Leonard Hall <LeonardTHall@gmail.com>
#include "LowPassFilter2p.hpp"
#include "math.h"
namespace math
{
void LowPassFilter2p::set_cutoff_frequency(float sample_freq, float cutoff_freq)
{
_cutoff_freq = cutoff_freq;
float fr = sample_freq/_cutoff_freq;
float ohm = tanf(M_PI_F/fr);
float c = 1.0f+2.0f*cosf(M_PI_F/4.0f)*ohm + ohm*ohm;
_b0 = ohm*ohm/c;
_b1 = 2.0f*_b0;
_b2 = _b0;
_a1 = 2.0f*(ohm*ohm-1.0f)/c;
_a2 = (1.0f-2.0f*cosf(M_PI_F/4.0f)*ohm+ohm*ohm)/c;
}
float LowPassFilter2p::apply(float sample)
{
// do the filtering
float delay_element_0 = sample - _delay_element_1 * _a1 - _delay_element_2 * _a2;
if (isnan(delay_element_0) || isinf(delay_element_0)) {
// don't allow bad values to propogate via the filter
delay_element_0 = sample;
}
float output = delay_element_0 * _b0 + _delay_element_1 * _b1 + _delay_element_2 * _b2;
_delay_element_2 = _delay_element_1;
_delay_element_1 = delay_element_0;
// return the value. Should be no need to check limits
return output;
}
} // namespace math
src/modules/mathlib/math/filter/LowPassFilter2p.hpp
+78
View File
@@ -0,0 +1,78 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/****************************************************************************
*
* Copyright (C) 2012 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.
*
****************************************************************************/
/// @file LowPassFilter.h
/// @brief A class to implement a second order low pass filter
/// Author: Leonard Hall <LeonardTHall@gmail.com>
/// Adapted for PX4 by Andrew Tridgell
#pragma once
namespace math
{
class __EXPORT LowPassFilter2p
{
public:
// constructor
LowPassFilter2p(float sample_freq, float cutoff_freq) {
// set initial parameters
set_cutoff_frequency(sample_freq, cutoff_freq);
_delay_element_1 = _delay_element_2 = 0;
}
// change parameters
void set_cutoff_frequency(float sample_freq, float cutoff_freq);
// apply - Add a new raw value to the filter
// and retrieve the filtered result
float apply(float sample);
// return the cutoff frequency
float get_cutoff_freq(void) const {
return _cutoff_freq;
}
private:
float _cutoff_freq;
float _a1;
float _a2;
float _b0;
float _b1;
float _b2;
float _delay_element_1; // buffered sample -1
float _delay_element_2; // buffered sample -2
};
} // namespace math
src/modules/mathlib/math/filter/module.mk
+44
View File
@@ -0,0 +1,44 @@
############################################################################
#
# 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.
#
############################################################################
#
# filter library
#
SRCS = LowPassFilter2p.cpp
#
# In order to include .config we first have to save off the
# current makefile name, since app.mk needs it.
#
APP_MAKEFILE := $(lastword $(MAKEFILE_LIST))
-include $(TOPDIR)/.config
src/modules/px4iofirmware/controls.c
+2
View File
@@ -300,6 +300,8 @@ controls_tick() {
} else {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
}
} else {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
}
}

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