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

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Lorenz Meier
2013-07-30 11:11:11 +02:00
parent 0b12efc840 d14891554e
commit 8e63dd5728
64 changed files with 3874 additions and 897 deletions
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ROMFS/px4fmu_common/init.d/01_fmu_quad_x
+107
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@@ -0,0 +1,107 @@
#!nsh
#
# Flight startup script for PX4FMU with PWM outputs.
#
# disable USB and autostart
set USB no
set MODE custom
echo "[init] doing PX4FMU Quad startup..."
#
# Start the ORB
#
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 MC_ATTRATE_P 0.14
param set MC_ATTRATE_I 0
param set MC_ATTRATE_D 0.006
param set MC_ATT_P 5.5
param set MC_ATT_I 0
param set MC_ATT_D 0
param set MC_YAWPOS_D 0
param set MC_YAWPOS_I 0
param set MC_YAWPOS_P 0.6
param set MC_YAWRATE_D 0
param set MC_YAWRATE_I 0
param set MC_YAWRATE_P 0.08
param set RC_SCALE_PITCH 1
param set RC_SCALE_ROLL 1
param set RC_SCALE_YAW 3
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 2
#
# Start MAVLink
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors
#
# Start the commander.
#
commander start
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator
#
attitude_estimator_ekf start
echo "[init] starting PWM output"
fmu mode_pwm
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
pwm -u 400 -m 0xff
#
# Start attitude control
#
multirotor_att_control 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.IO_QUAD → ROMFS/px4fmu_common/init.d/02_io_quad_x
+24 -8
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@@ -1,8 +1,11 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# Disable USB and autostart
# disable USB and autostart
set USB no
set MODE quad
set MODE custom
#
# Start the ORB (first app to start)
@@ -18,6 +21,16 @@ 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
@@ -68,6 +81,11 @@ 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)
@@ -87,21 +105,19 @@ attitude_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
pwm -u 400 -m 0xff
multirotor_att_control start
#
# Start logging
#
#sdlog start -s 4
sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
then
echo "using BlinkM for state indication"
blinkm systemstate
else
echo "no BlinkM found, OK."
fi
fi
ROMFS/px4fmu_common/init.d/rc.PX4IOAR → ROMFS/px4fmu_common/init.d/08_ardrone
View File
ROMFS/px4fmu_common/init.d/rc.PX4IOAR_PX4FLOW_example → ROMFS/px4fmu_common/init.d/09_ardrone_flow
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ROMFS/px4fmu_common/init.d/10_io_f330
+139
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@@ -0,0 +1,139 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# disable USB and autostart
set USB no
set MODE custom
#
# 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 set MC_ATTRATE_D 0.007
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.13
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_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_YAWRATE_D 0.0
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_P 0.2
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 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)
#
mavlink start
usleep 5000
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
pwm -u 400 -m 0xff
#
# 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
#
# This sets a PWM right after startup (regardless of safety button)
#
px4io idle 900 900 900 900
#
# The values are for spinning motors when armed using DJI ESCs
#
px4io min 1200 1200 1200 1200
#
# Upper limits could be higher, this is on the safe side
#
px4io max 1800 1800 1800 1800
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# 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)
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
multirotor_att_control start
#
# Start logging
#
sdlog2 start -r 20 -a -b 14
#
# Start system state
#
if blinkm start
then
blinkm systemstate
fi
ROMFS/px4fmu_common/init.d/rc.PX4IO → ROMFS/px4fmu_common/init.d/30_io_camflyer
+20 -6
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@@ -1,8 +1,11 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# Disable USB and autostart
# disable USB and autostart
set USB no
set MODE camflyer
set MODE custom
#
# Start the ORB (first app to start)
@@ -18,6 +21,16 @@ 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
@@ -68,6 +81,10 @@ px4io start
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Set actuator limit to 100 Hz update (50 Hz PWM)
px4io limit 100
#
# Start the sensors (depends on orb, px4io)
@@ -93,15 +110,12 @@ control_demo start
#
# Start logging
#
#sdlog start -s 4
sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
then
echo "using BlinkM for state indication"
blinkm systemstate
else
echo "no BlinkM found, OK."
fi
ROMFS/px4fmu_common/init.d/31_io_phantom
+121
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@@ -0,0 +1,121 @@
#!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 1
#
# 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
#
# Set actuator limit to 100 Hz update (50 Hz PWM)
px4io limit 100
#
# 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)
#
kalman_demo start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
control_demo 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.FMU_quad_x
-67
View File
@@ -1,67 +0,0 @@
#!nsh
#
# Flight startup script for PX4FMU with PWM outputs.
#
# Disable the USB interface
set USB no
# Disable autostarting other apps
set MODE custom
echo "[init] doing PX4FMU Quad startup..."
#
# Start the ORB
#
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
#
# 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 2
#
# Start MAVLink
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors
#
# Start the commander.
#
commander start
#
# Start the attitude estimator
#
attitude_estimator_ekf start
echo "[init] starting PWM output"
fmu mode_pwm
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
#
# Start attitude control
#
multirotor_att_control start
echo "[init] startup done, exiting"
exit
ROMFS/px4fmu_common/init.d/rc.sensors
+7 -6
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@@ -34,9 +34,10 @@ fi
# ALWAYS start this task before the
# preflight_check.
#
sensors start
#
# Check sensors - run AFTER 'sensors start'
#
preflight_check
if sensors start
then
#
# Check sensors - run AFTER 'sensors start'
#
preflight_check &
fi
ROMFS/px4fmu_common/init.d/rc.usb
+37 -1
View File
@@ -5,8 +5,44 @@
echo "Starting MAVLink on this USB console"
# Stop tone alarm
tone_alarm stop
# Tell MAVLink that this link is "fast"
mavlink start -b 230400 -d /dev/console
if mavlink stop
then
echo "stopped other MAVLink instance"
fi
mavlink start -b 230400 -d /dev/ttyACM0
if [ $MODE == autostart ]
then
# Start the commander
commander start
# 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
attitude_estimator_ekf start
fi
fi
# Start GPS
if gps start
then
echo "GPS started"
fi
fi
echo "MAVLink started, exiting shell.."
ROMFS/px4fmu_common/init.d/rcS
+73 -22
View File
@@ -7,7 +7,6 @@
# can change this to prevent automatic startup of the flight script.
#
set MODE autostart
set USB autoconnect
#
# Try to mount the microSD card.
@@ -42,31 +41,83 @@ then
sh /fs/microsd/etc/rc.txt
fi
#
# Check for USB host
#
if [ $USB != autoconnect ]
then
echo "[init] not connecting USB"
else
if sercon
then
echo "[init] USB interface connected"
else
if [ -f /dev/ttyACM0 ]
echo "[init] NSH via USB"
then
else
echo "[init] No USB connected"
fi
fi
fi
# if this is an APM build then there will be a rc.APM script
# from an EXTERNAL_SCRIPTS build option
if [ -f /etc/init.d/rc.APM ]
then
echo Running rc.APM
if sercon
then
echo "[init] USB interface connected"
fi
echo "Running rc.APM"
# if APM startup is successful then nsh will exit
sh /etc/init.d/rc.APM
fi
if [ $MODE == autostart ]
then
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
if ramtron start
then
param select /ramtron/params
if [ -f /ramtron/params ]
then
param load /ramtron/params
fi
else
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
fi
fi
#
# Check if auto-setup from one of the standard scripts is wanted
# SYS_AUTOSTART = 0 means no autostart (default)
#
if param compare SYS_AUTOSTART 1
then
sh /etc/init.d/01_fmu_quad_x
fi
if param compare SYS_AUTOSTART 2
then
sh /etc/init.d/02_io_quad_x
fi
if param compare SYS_AUTOSTART 8
then
sh /etc/init.d/08_ardrone
fi
if param compare SYS_AUTOSTART 9
then
sh /etc/init.d/09_ardrone_flow
fi
if param compare SYS_AUTOSTART 10
then
sh /etc/init.d/10_io_f330
fi
if param compare SYS_AUTOSTART 30
then
sh /etc/init.d/30_io_camflyer
fi
if param compare SYS_AUTOSTART 31
then
sh /etc/init.d/31_io_phantom
fi
Tools/logconv.m
+534
View File
@@ -0,0 +1,534 @@
% This Matlab Script can be used to import the binary logged values of the
% PX4FMU into data that can be plotted and analyzed.
%% ************************************************************************
% PX4LOG_PLOTSCRIPT: Main function
% ************************************************************************
function PX4Log_Plotscript
% Clear everything
clc
clear all
close all
% ************************************************************************
% SETTINGS
% ************************************************************************
% Set the path to your sysvector.bin file here
filePath = 'log_second_flight.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]
maxtime=0; %The maximum time/timestamp to display, as set by the user [0 for last element / end]
%Determine which data to plot. Not completely implemented yet.
bDisplayGPS=true;
%conversion factors
fconv_gpsalt=1; %[mm] to [m]
fconv_gpslatlong=1; %[gps_raw_position_unit] to [deg]
fconv_timestamp=1E-6; % [microseconds] to [seconds]
% ************************************************************************
% Import the PX4 logs
% ************************************************************************
ImportPX4LogData();
%Translate min and max plot times to indices
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
[imintime,imaxtime]=FindMinMaxTimeIndices();
% ************************************************************************
% PLOT & GUI SETUP
% ************************************************************************
NrFigures=5;
NrAxes=10;
h.figures(1:NrFigures)=0.0; % Temporary initialization of figure handle array - these are numbered consecutively
h.axes(1:NrAxes)=0.0; % Temporary initialization of axes handle array - these are numbered consecutively
h.pathpoints=[]; % Temporary initiliazation of path points
% Setup the GUI to control the plots
InitControlGUI();
% Setup the plotting-GUI (figures, axes) itself.
InitPlotGUI();
% ************************************************************************
% DRAW EVERYTHING
% ************************************************************************
DrawRawData();
DrawCurrentAircraftState();
%% ************************************************************************
% *** END OF MAIN SCRIPT ***
% NESTED FUNCTION DEFINTIONS FROM HERE ON
% ************************************************************************
%% ************************************************************************
% 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)
% ************************************************************************
% Attention: This is the import routine for firmware from ca. 03/2013.
% Other firmware versions might require different import
% routines.
function ImportPX4LogData()
% ************************************************************************
% RETRIEVE SYSTEM VECTOR
% *************************************************************************
% //All measurements in NED frame
% 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')
%data = csvread(data_file);
sysvector = tdfread(data_file, ',');
% shot the flight time
time_us = sysvector.TIME_StartTime(end) - sysvector.TIME_StartTime(1);
time_s = uint64(time_us*1e-6);
time_m = uint64(time_s/60);
disp([sprintf('Flight log duration: %d:%d (minutes:seconds)', time_m, time_s)]);
disp(['logfile conversion finished.' char(10)]);
else
disp(['file: ' data_file ' does not exist' char(10)]);
end
end
%% ************************************************************************
% INITCONTROLGUI (nested function)
% ************************************************************************
%Setup central control GUI components to control current time where data is shown
function InitControlGUI()
%**********************************************************************
% GUI size definitions
%**********************************************************************
dxy=5; %margins
%Panel: Plotctrl
dlabels=120;
dsliders=200;
dedits=80;
hslider=20;
hpanel1=40; %panel1
hpanel2=220;%panel2
hpanel3=3*hslider+4*dxy+3*dxy;%panel3.
width=dlabels+dsliders+dedits+4*dxy+2*dxy; %figure width
height=hpanel1+hpanel2+hpanel3+4*dxy; %figure height
%**********************************************************************
% Create GUI
%**********************************************************************
h.figures(1)=figure('Units','pixels','position',[200 200 width height],'Name','Control GUI');
h.guistatepanel=uipanel('Title','Current GUI state','Units','pixels','Position',[dxy dxy width-2*dxy hpanel1],'parent',h.figures(1));
h.aircraftstatepanel=uipanel('Title','Current aircraft state','Units','pixels','Position',[dxy hpanel1+2*dxy width-2*dxy hpanel2],'parent',h.figures(1));
h.plotctrlpanel=uipanel('Title','Plot Control','Units','pixels','Position',[dxy hpanel1+hpanel2+3*dxy width-2*dxy hpanel3],'parent',h.figures(1));
%%Control GUI-elements
%Slider: Current time
h.labels.CurTime=uicontrol(gcf,'style','text','Position',[dxy dxy dlabels hslider],'String','Current time t[s]:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
h.sliders.CurTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels dxy dsliders hslider],...
'min',mintime,'max',maxtime,'value',mintime,'callback',@curtime_callback,'parent',h.plotctrlpanel);
temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');
set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]);
h.edits.CurTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders dxy dedits hslider],'String',get(h.sliders.CurTime,'value'),...
'BackgroundColor','white','callback',@curtime_callback,'parent',h.plotctrlpanel);
%Slider: MaxTime
h.labels.MaxTime=uicontrol(gcf,'style','text','position',[dxy 2*dxy+hslider dlabels hslider],'String','Max. time t[s] to display:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
h.sliders.MaxTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 2*dxy+hslider dsliders hslider],...
'min',mintime_log,'max',maxtime_log,'value',maxtime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
h.edits.MaxTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 2*dxy+hslider dedits hslider],'String',get(h.sliders.MaxTime,'value'),...
'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
%Slider: MinTime
h.labels.MinTime=uicontrol(gcf,'style','text','position',[dxy 3*dxy+2*hslider dlabels hslider],'String','Min. time t[s] to dispay :','parent',h.plotctrlpanel,'HorizontalAlignment','left');
h.sliders.MinTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 3*dxy+2*hslider dsliders hslider],...
'min',mintime_log,'max',maxtime_log,'value',mintime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
h.edits.MinTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 3*dxy+2*hslider dedits hslider],'String',get(h.sliders.MinTime,'value'),...
'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
%%Current data/state GUI-elements (Multiline-edit-box)
h.edits.AircraftState=uicontrol(gcf,'style','edit','Units','normalized','position',[.02 .02 0.96 0.96],'Min',1,'Max',10,'String','This shows the current aircraft state',...
'HorizontalAlignment','left','parent',h.aircraftstatepanel);
h.labels.GUIState=uicontrol(gcf,'style','text','Units','pixels','position',[dxy dxy width-4*dxy hslider],'String','Current state of this GUI',...
'HorizontalAlignment','left','parent',h.guistatepanel);
end
%% ************************************************************************
% INITPLOTGUI (nested function)
% ************************************************************************
function InitPlotGUI()
% Setup handles to lines and text
h.markertext=[];
templinehandle=0.0;%line([0 1],[0 5]); % Just a temporary handle to init array
h.markerline(1:NrAxes)=templinehandle; % the actual handle-array to the lines - these are numbered consecutively
h.markerline(1:NrAxes)=0.0;
% Setup all other figures and axes for plotting
% PLOT WINDOW 1: GPS POSITION
h.figures(2)=figure('units','normalized','Toolbar','figure', 'Name', 'GPS Position');
h.axes(1)=axes();
set(h.axes(1),'Parent',h.figures(2));
% PLOT WINDOW 2: IMU, baro altitude
h.figures(3)=figure('Name', 'IMU / Baro Altitude');
h.axes(2)=subplot(4,1,1);
h.axes(3)=subplot(4,1,2);
h.axes(4)=subplot(4,1,3);
h.axes(5)=subplot(4,1,4);
set(h.axes(2:5),'Parent',h.figures(3));
% PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
h.figures(4)=figure('Name', 'Attitude Estimate / Actuators / Airspeeds');
h.axes(6)=subplot(4,1,1);
h.axes(7)=subplot(4,1,2);
h.axes(8)=subplot(4,1,3);
h.axes(9)=subplot(4,1,4);
set(h.axes(6:9),'Parent',h.figures(4));
% PLOT WINDOW 4: LOG STATS
h.figures(5) = figure('Name', 'Log Statistics');
h.axes(10)=subplot(1,1,1);
set(h.axes(10:10),'Parent',h.figures(5));
end
%% ************************************************************************
% DRAWRAWDATA (nested function)
% ************************************************************************
%Draws the raw data from the sysvector, but does not add any
%marker-lines or so
function DrawRawData()
% ************************************************************************
% PLOT WINDOW 1: GPS POSITION & GUI
% ************************************************************************
figure(h.figures(2));
% Only plot GPS data if available
if (sum(double(sysvector.GPS_Lat(imintime:imaxtime)))>0) && (bDisplayGPS)
%Draw data
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]');
zlabel(h.axes(1),'Altitude above MSL [m]');
grid on
%Reset path
h.pathpoints=0;
end
% ************************************************************************
% PLOT WINDOW 2: IMU, baro altitude
% ************************************************************************
figure(h.figures(3));
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.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.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.SENS_BaroAlt(imintime:imaxtime),'color','blue');
if(bDisplayGPS)
hold on;
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
legend('Barometric Altitude [m]');
end
title(h.axes(5),'Altitude above MSL [m]');
% ************************************************************************
% PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
% ************************************************************************
figure(h.figures(4));
%Attitude Estimate
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.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),'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.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.AIRS_IndSpeed(imintime:imaxtime));
hold on
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]');
legend(h.axes(9),'Indicated Airspeed (IAS)','True Airspeed (TAS)','GPS Airspeed');
%calculate time differences and plot them
intervals = zeros(0,imaxtime - imintime);
for k = imintime+1:imaxtime
intervals(k) = time(k) - time(k-1);
end
plot(h.axes(10), time(imintime:imaxtime), intervals);
%Set same timescale for all plots
for i=2:NrAxes
set(h.axes(i),'XLim',[mintime maxtime]);
end
set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);
end
%% ************************************************************************
% DRAWCURRENTAIRCRAFTSTATE(nested function)
% ************************************************************************
function DrawCurrentAircraftState()
%find current data index
i=find(time>=CurTime,1,'first');
%**********************************************************************
% Current aircraft state label update
%**********************************************************************
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.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.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.AIRS_IndSpeed(i)),', TAS: ',num2str(sysvector.AIRS_TrueSpeed(i)),']'];
set(h.edits.AircraftState,'String',acstate);
%**********************************************************************
% GPS Plot Update
%**********************************************************************
%Plot traveled path, and and time.
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_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_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
h.pathpoints(size(h.pathpoints,1)+1,:)=newpoint;
end
axes(h.axes(1));
line(h.pathpoints(:,1),h.pathpoints(:,2),h.pathpoints(:,3),'LineStyle','none','Marker','.','MarkerEdge','black','MarkerSize',20);
% Plot current time (small label next to current gps position)
textdesc=strcat(' t=',num2str(time(i)),'s');
if(isvalidhandle(h.markertext))
delete(h.markertext); %delete old text
end
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);
%**********************************************************************
% Plot the lines showing the current time in the 2-d plots
%**********************************************************************
for i=2:NrAxes
if(isvalidhandle(h.markerline(i))) delete(h.markerline(i)); end
ylims=get(h.axes(i),'YLim');
h.markerline(i)=line([CurTime CurTime] ,get(h.axes(i),'YLim'),'Color','black');
set(h.markerline(i),'parent',h.axes(i));
end
set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);
end
%% ************************************************************************
% MINMAXTIME CALLBACK (nested function)
% ************************************************************************
function minmaxtime_callback(hObj,event) %#ok<INUSL>
new_mintime=get(h.sliders.MinTime,'Value');
new_maxtime=get(h.sliders.MaxTime,'Value');
%Safety checks:
bErr=false;
%1: mintime must be < maxtime
if((new_mintime>maxtime) || (new_maxtime<mintime))
set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than maxtime! Values were not changed.','BackgroundColor','red');
bErr=true;
else
%2: MinTime must be <=CurTime
if(new_mintime>CurTime)
set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than CurTime! CurTime set to new mintime.','BackgroundColor','red');
mintime=new_mintime;
CurTime=mintime;
bErr=true;
end
%3: MaxTime must be >CurTime
if(new_maxtime<CurTime)
set(h.labels.GUIState,'String','Error: Maxtime cannot be smaller than CurTime! CurTime set to new maxtime.','BackgroundColor','red');
maxtime=new_maxtime;
CurTime=maxtime;
bErr=true;
end
end
if(bErr==false)
maxtime=new_maxtime;
mintime=new_mintime;
end
%Needs to be done in case values were reset above
set(h.sliders.MinTime,'Value',mintime);
set(h.sliders.MaxTime,'Value',maxtime);
%Update curtime-slider
set(h.sliders.CurTime,'Value',CurTime);
set(h.sliders.CurTime,'Max',maxtime);
set(h.sliders.CurTime,'Min',mintime);
temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');
set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]); %Set Stepsize to constant [in seconds]
%update edit fields
set(h.edits.CurTime,'String',get(h.sliders.CurTime,'Value'));
set(h.edits.MinTime,'String',get(h.sliders.MinTime,'Value'));
set(h.edits.MaxTime,'String',get(h.sliders.MaxTime,'Value'));
%Finally, we have to redraw. Update time indices first.
[imintime,imaxtime]=FindMinMaxTimeIndices();
DrawRawData(); %Rawdata only
DrawCurrentAircraftState(); %path info & markers
end
%% ************************************************************************
% CURTIME CALLBACK (nested function)
% ************************************************************************
function curtime_callback(hObj,event) %#ok<INUSL>
%find current time
if(hObj==h.sliders.CurTime)
CurTime=get(h.sliders.CurTime,'Value');
elseif (hObj==h.edits.CurTime)
temp=str2num(get(h.edits.CurTime,'String'));
if(temp<maxtime && temp>mintime)
CurTime=temp;
else
%Error
set(h.labels.GUIState,'String','Error: You tried to set an invalid current time! Previous value restored.','BackgroundColor','red');
end
else
%Error
set(h.labels.GUIState,'String','Error: curtime_callback','BackgroundColor','red');
end
set(h.sliders.CurTime,'Value',CurTime);
set(h.edits.CurTime,'String',num2str(CurTime));
%Redraw time markers, but don't have to redraw the whole raw data
DrawCurrentAircraftState();
end
%% ************************************************************************
% FINDMINMAXINDICES (nested function)
% ************************************************************************
function [idxmin,idxmax] = FindMinMaxTimeIndices()
for i=1:size(sysvector.TIME_StartTime,1)
if time(i)>=mintime; idxmin=i; break; end
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);
maxtime=time(idxmax);
end
%% ************************************************************************
% ISVALIDHANDLE (nested function)
% ************************************************************************
function isvalid = isvalidhandle(handle)
if(exist(varname(handle))>0 && length(ishandle(handle))>0)
if(ishandle(handle)>0)
if(handle>0.0)
isvalid=true;
return;
end
end
end
isvalid=false;
end
%% ************************************************************************
% JUST SOME SMALL HELPER FUNCTIONS (nested function)
% ************************************************************************
function out = varname(var)
out = inputname(1);
end
%This is the end of the matlab file / the main function
end
Tools/sdlog2_dump.py
+30 -6
View File
@@ -55,6 +55,8 @@ class SDLog2Parser:
__time_msg = None
__debug_out = False
__correct_errors = False
__file_name = None
__file = None
def __init__(self):
return
@@ -87,6 +89,14 @@ 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()
@@ -154,10 +164,13 @@ 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.__file, self.__csv_delim.join(self.__csv_columns)
else:
print self.__csv_delim.join(self.__csv_columns)
def __printCSVRow(self):
s = []
@@ -168,7 +181,11 @@ class SDLog2Parser:
else:
v = str(v)
s.append(v)
print self.__csv_delim.join(s)
if self.__file != None:
print >> self.__file, self.__csv_delim.join(s)
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])
@@ -224,7 +241,7 @@ class SDLog2Parser:
for i in xrange(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:
@@ -240,6 +257,7 @@ def _main():
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 +265,8 @@ 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 +276,11 @@ 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 +298,8 @@ def _main():
opt = "m"
elif arg == "-t":
opt = "t"
elif arg == "-f":
opt = "f"
if csv_delim == "\\t":
csv_delim = "\t"
@@ -285,6 +308,7 @@ 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/config_px4fmu-v1_default.mk
+6 -1
View File
@@ -27,17 +27,21 @@ MODULES += drivers/ms5611
MODULES += drivers/mb12xx
MODULES += drivers/gps
MODULES += drivers/hil
MODULES += drivers/hott_telemetry
MODULES += drivers/hott/hott_telemetry
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
@@ -49,6 +53,7 @@ MODULES += systemcmds/pwm
MODULES += systemcmds/reboot
MODULES += systemcmds/top
MODULES += systemcmds/tests
MODULES += systemcmds/config
#
# General system control
src/drivers/airspeed/airspeed.cpp
+378
View File
@@ -0,0 +1,378 @@
/****************************************************************************
*
* 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/boards/px4fmu/px4fmu_init.c
+1 -1
View File
@@ -194,7 +194,7 @@ __EXPORT int nsh_archinitialize(void)
/* initial LED state */
drv_led_start();
led_off(LED_AMBER);
led_on(LED_BLUE);
led_off(LED_BLUE);
/* Configure SPI-based devices */
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/ets_airspeed/ets_airspeed.cpp
+23 -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 */
@@ -779,11 +427,11 @@ 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/hmc5883/hmc5883.cpp
+2 -1
View File
@@ -1221,7 +1221,8 @@ start()
int fd;
if (g_dev != nullptr)
errx(1, "already started");
/* if already started, the still command succeeded */
errx(0, "already started");
/* create the driver, attempt expansion bus first */
g_dev = new HMC5883(PX4_I2C_BUS_EXPANSION);
src/drivers/hott/comms.cpp
+92
View File
@@ -0,0 +1,92 @@
/****************************************************************************
*
* 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 comms.c
* @author Simon Wilks <sjwilks@gmail.com>
*
*/
#include "comms.h"
#include <fcntl.h>
#include <stdio.h>
#include <sys/ioctl.h>
#include <systemlib/err.h>
#include <termios.h>
int
open_uart(const char *device)
{
/* baud rate */
static const speed_t speed = B19200;
/* open uart */
const int uart = open(device, O_RDWR | O_NOCTTY);
if (uart < 0) {
err(1, "Error opening port: %s", device);
}
/* Back up the original uart configuration to restore it after exit */
int termios_state;
struct termios uart_config_original;
if ((termios_state = tcgetattr(uart, &uart_config_original)) < 0) {
close(uart);
err(1, "Error getting baudrate / termios config for %s: %d", device, termios_state);
}
/* Fill the struct for the new configuration */
struct termios uart_config;
tcgetattr(uart, &uart_config);
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
close(uart);
err(1, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)",
device, termios_state);
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
close(uart);
err(1, "Error setting baudrate / termios config for %s (tcsetattr)", device);
}
/* Activate single wire mode */
ioctl(uart, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
return uart;
}
src/drivers/hott/comms.h
+46
View File
@@ -0,0 +1,46 @@
/****************************************************************************
*
* 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 comms.h
* @author Simon Wilks <sjwilks@gmail.com>
*
*/
#ifndef COMMS_H_
#define COMMS_H
int open_uart(const char *device);
#endif /* COMMS_H_ */
src/drivers/hott/hott_sensors/hott_sensors.cpp
+238
View File
@@ -0,0 +1,238 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Simon Wilks <sjwilks@gmail.com>
*
* 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 hott_sensors.c
* @author Simon Wilks <sjwilks@gmail.com>
*
* Graupner HoTT sensor driver implementation.
*
* Poll any sensors connected to the PX4 via the telemetry wire.
*/
#include <fcntl.h>
#include <nuttx/config.h>
#include <poll.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include "../comms.h"
#include "../messages.h"
#define DEFAULT_UART "/dev/ttyS0"; /**< USART1 */
/* Oddly, ERROR is not defined for C++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
static int thread_should_exit = false; /**< Deamon exit flag */
static int thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
static const char daemon_name[] = "hott_sensors";
static const char commandline_usage[] = "usage: hott_sensors start|status|stop [-d <device>]";
/**
* Deamon management function.
*/
extern "C" __EXPORT int hott_sensors_main(int argc, char *argv[]);
/**
* Mainloop of daemon.
*/
int hott_sensors_thread_main(int argc, char *argv[]);
static int recv_data(int uart, uint8_t *buffer, size_t *size, uint8_t *id);
static int send_poll(int uart, uint8_t *buffer, size_t size);
int
send_poll(int uart, uint8_t *buffer, size_t size)
{
for (size_t i = 0; i < size; i++) {
write(uart, &buffer[i], sizeof(buffer[i]));
/* Sleep before sending the next byte. */
usleep(POST_WRITE_DELAY_IN_USECS);
}
/* A hack the reads out what was written so the next read from the receiver doesn't get it. */
/* TODO: Fix this!! */
uint8_t dummy[size];
read(uart, &dummy, size);
return OK;
}
int
recv_data(int uart, uint8_t *buffer, size_t *size, uint8_t *id)
{
static const int timeout_ms = 1000;
struct pollfd fds;
fds.fd = uart;
fds.events = POLLIN;
// XXX should this poll be inside the while loop???
if (poll(&fds, 1, timeout_ms) > 0) {
int i = 0;
bool stop_byte_read = false;
while (true) {
read(uart, &buffer[i], sizeof(buffer[i]));
if (stop_byte_read) {
// XXX process checksum
*size = ++i;
return OK;
}
// XXX can some other field not have the STOP BYTE value?
if (buffer[i] == STOP_BYTE) {
*id = buffer[1];
stop_byte_read = true;
}
i++;
}
}
return ERROR;
}
int
hott_sensors_thread_main(int argc, char *argv[])
{
warnx("starting");
thread_running = true;
const char *device = DEFAULT_UART;
/* read commandline arguments */
for (int i = 0; i < argc && argv[i]; i++) {
if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //device set
if (argc > i + 1) {
device = argv[i + 1];
} else {
thread_running = false;
errx(1, "missing parameter to -d\n%s", commandline_usage);
}
}
}
/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
const int uart = open_uart(device);
if (uart < 0) {
errx(1, "Failed opening HoTT UART, exiting.");
thread_running = false;
}
init_pub_messages();
uint8_t buffer[MAX_MESSAGE_BUFFER_SIZE];
size_t size = 0;
uint8_t id = 0;
while (!thread_should_exit) {
// Currently we only support a General Air Module sensor.
build_gam_request(&buffer[0], &size);
send_poll(uart, buffer, size);
// The sensor will need a little time before it starts sending.
usleep(5000);
recv_data(uart, &buffer[0], &size, &id);
// Determine which moduel sent it and process accordingly.
if (id == GAM_SENSOR_ID) {
publish_gam_message(buffer);
} else {
warnx("Unknown sensor ID: %d", id);
}
}
warnx("exiting");
close(uart);
thread_running = false;
return 0;
}
/**
* Process command line arguments and start the daemon.
*/
int
hott_sensors_main(int argc, char *argv[])
{
if (argc < 1) {
errx(1, "missing command\n%s", commandline_usage);
}
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("deamon already running");
exit(0);
}
thread_should_exit = false;
deamon_task = task_spawn_cmd(daemon_name,
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40,
1024,
hott_sensors_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("daemon is running");
} else {
warnx("daemon not started");
}
exit(0);
}
errx(1, "unrecognized command\n%s", commandline_usage);
}
src/drivers/hott/hott_sensors/module.mk
+42
View File
@@ -0,0 +1,42 @@
############################################################################
#
# 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.
#
############################################################################
#
# Graupner HoTT Sensors application.
#
MODULE_COMMAND = hott_sensors
SRCS = hott_sensors.cpp \
../messages.cpp \
../comms.cpp
src/drivers/hott_telemetry/hott_telemetry_main.c → src/drivers/hott/hott_telemetry/hott_telemetry.cpp
+25 -61
View File
@@ -41,7 +41,6 @@
* The HoTT receiver polls each device at a regular interval at which point
* a data packet can be returned if necessary.
*
* TODO: Add support for at least the vario and GPS sensor data.
*/
#include <fcntl.h>
@@ -50,13 +49,21 @@
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <termios.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include "messages.h"
#include "../comms.h"
#include "../messages.h"
#define DEFAULT_UART "/dev/ttyS0"; /**< USART1 */
/* Oddly, ERROR is not defined for C++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
static int thread_should_exit = false; /**< Deamon exit flag */
static int thread_running = false; /**< Deamon status flag */
@@ -67,7 +74,7 @@ static const char commandline_usage[] = "usage: hott_telemetry start|status|stop
/**
* Deamon management function.
*/
__EXPORT int hott_telemetry_main(int argc, char *argv[]);
extern "C" __EXPORT int hott_telemetry_main(int argc, char *argv[]);
/**
* Mainloop of daemon.
@@ -77,60 +84,18 @@ int hott_telemetry_thread_main(int argc, char *argv[]);
static int recv_req_id(int uart, uint8_t *id);
static int send_data(int uart, uint8_t *buffer, size_t size);
static int
open_uart(const char *device, struct termios *uart_config_original)
{
/* baud rate */
static const speed_t speed = B19200;
/* open uart */
const int uart = open(device, O_RDWR | O_NOCTTY);
if (uart < 0) {
err(1, "Error opening port: %s", device);
}
/* Back up the original uart configuration to restore it after exit */
int termios_state;
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
close(uart);
err(1, "Error getting baudrate / termios config for %s: %d", device, termios_state);
}
/* Fill the struct for the new configuration */
struct termios uart_config;
tcgetattr(uart, &uart_config);
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
close(uart);
err(1, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)",
device, termios_state);
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
close(uart);
err(1, "Error setting baudrate / termios config for %s (tcsetattr)", device);
}
/* Activate single wire mode */
ioctl(uart, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
return uart;
}
int
recv_req_id(int uart, uint8_t *id)
{
static const int timeout_ms = 1000; // TODO make it a define
struct pollfd fds[] = { { .fd = uart, .events = POLLIN } };
uint8_t mode;
struct pollfd fds;
fds.fd = uart;
fds.events = POLLIN;
if (poll(fds, 1, timeout_ms) > 0) {
if (poll(&fds, 1, timeout_ms) > 0) {
/* Get the mode: binary or text */
read(uart, &mode, sizeof(mode));
@@ -155,7 +120,6 @@ send_data(int uart, uint8_t *buffer, size_t size)
usleep(POST_READ_DELAY_IN_USECS);
uint16_t checksum = 0;
for (size_t i = 0; i < size; i++) {
if (i == size - 1) {
/* Set the checksum: the first uint8_t is taken as the checksum. */
@@ -186,7 +150,7 @@ hott_telemetry_thread_main(int argc, char *argv[])
thread_running = true;
const char *device = "/dev/ttyS1"; /**< Default telemetry port: USART2 */
const char *device = DEFAULT_UART;
/* read commandline arguments */
for (int i = 0; i < argc && argv[i]; i++) {
@@ -202,22 +166,20 @@ hott_telemetry_thread_main(int argc, char *argv[])
}
/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
struct termios uart_config_original;
const int uart = open_uart(device, &uart_config_original);
const int uart = open_uart(device);
if (uart < 0) {
errx(1, "Failed opening HoTT UART, exiting.");
thread_running = false;
}
messages_init();
init_sub_messages();
uint8_t buffer[MESSAGE_BUFFER_SIZE];
uint8_t buffer[MAX_MESSAGE_BUFFER_SIZE];
size_t size = 0;
uint8_t id = 0;
bool connected = true;
while (!thread_should_exit) {
// Listen for and serve poll from the receiver.
if (recv_req_id(uart, &id) == OK) {
if (!connected) {
connected = true;
@@ -228,7 +190,9 @@ hott_telemetry_thread_main(int argc, char *argv[])
case EAM_SENSOR_ID:
build_eam_response(buffer, &size);
break;
case GAM_SENSOR_ID:
build_gam_response(buffer, &size);
break;
case GPS_SENSOR_ID:
build_gps_response(buffer, &size);
break;
@@ -254,7 +218,7 @@ hott_telemetry_thread_main(int argc, char *argv[])
}
/**
* Process command line arguments and tart the daemon.
* Process command line arguments and start the daemon.
*/
int
hott_telemetry_main(int argc, char *argv[])
src/drivers/hott_telemetry/module.mk → src/drivers/hott/hott_telemetry/module.mk
+4 -3
View File
@@ -32,10 +32,11 @@
############################################################################
#
# Graupner HoTT Telemetry application.
# Graupner HoTT Telemetry applications.
#
MODULE_COMMAND = hott_telemetry
SRCS = hott_telemetry_main.c \
messages.c
SRCS = hott_telemetry.cpp \
../messages.cpp \
../comms.cpp
src/drivers/hott_telemetry/messages.c → src/drivers/hott/messages.cpp
+119 -33
View File
@@ -46,6 +46,7 @@
#include <unistd.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_gps_position.h>
@@ -53,24 +54,75 @@
/* The board is very roughly 5 deg warmer than the surrounding air */
#define BOARD_TEMP_OFFSET_DEG 5
static int battery_sub = -1;
static int gps_sub = -1;
static int home_sub = -1;
static int sensor_sub = -1;
static int airspeed_sub = -1;
static int _battery_sub = -1;
static int _gps_sub = -1;
static int _home_sub = -1;
static int _sensor_sub = -1;
static int _airspeed_sub = -1;
static int _esc_sub = -1;
static bool home_position_set = false;
static double home_lat = 0.0d;
static double home_lon = 0.0d;
static orb_advert_t _esc_pub;
struct esc_status_s _esc;
static bool _home_position_set = false;
static double _home_lat = 0.0d;
static double _home_lon = 0.0d;
void
messages_init(void)
init_sub_messages(void)
{
battery_sub = orb_subscribe(ORB_ID(battery_status));
gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
home_sub = orb_subscribe(ORB_ID(home_position));
sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_battery_sub = orb_subscribe(ORB_ID(battery_status));
_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
_home_sub = orb_subscribe(ORB_ID(home_position));
_sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_esc_sub = orb_subscribe(ORB_ID(esc_status));
}
void
init_pub_messages(void)
{
memset(&_esc, 0, sizeof(_esc));
_esc_pub = orb_advertise(ORB_ID(esc_status), &_esc);
}
void
build_gam_request(uint8_t *buffer, size_t *size)
{
struct gam_module_poll_msg msg;
*size = sizeof(msg);
memset(&msg, 0, *size);
msg.mode = BINARY_MODE_REQUEST_ID;
msg.id = GAM_SENSOR_ID;
memcpy(buffer, &msg, *size);
}
void
publish_gam_message(const uint8_t *buffer)
{
struct gam_module_msg msg;
size_t size = sizeof(msg);
memset(&msg, 0, size);
memcpy(&msg, buffer, size);
/* announce the esc if needed, just publish else */
if (_esc_pub > 0) {
orb_publish(ORB_ID(esc_status), _esc_pub, &_esc);
} else {
_esc_pub = orb_advertise(ORB_ID(esc_status), &_esc);
}
// Publish it.
_esc.esc_count = 1;
_esc.esc_connectiontype = ESC_CONNECTION_TYPE_PPM;
_esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT;
_esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10;
_esc.esc[0].esc_temperature = msg.temperature1 - 20;
_esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff));
_esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff));
}
void
@@ -79,12 +131,12 @@ build_eam_response(uint8_t *buffer, size_t *size)
/* get a local copy of the current sensor values */
struct sensor_combined_s raw;
memset(&raw, 0, sizeof(raw));
orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
orb_copy(ORB_ID(sensor_combined), _sensor_sub, &raw);
/* get a local copy of the battery data */
struct battery_status_s battery;
memset(&battery, 0, sizeof(battery));
orb_copy(ORB_ID(battery_status), battery_sub, &battery);
orb_copy(ORB_ID(battery_status), _battery_sub, &battery);
struct eam_module_msg msg;
*size = sizeof(msg);
@@ -92,7 +144,7 @@ build_eam_response(uint8_t *buffer, size_t *size)
msg.start = START_BYTE;
msg.eam_sensor_id = EAM_SENSOR_ID;
msg.sensor_id = EAM_SENSOR_TEXT_ID;
msg.sensor_text_id = EAM_SENSOR_TEXT_ID;
msg.temperature1 = (uint8_t)(raw.baro_temp_celcius + 20);
msg.temperature2 = msg.temperature1 - BOARD_TEMP_OFFSET_DEG;
@@ -106,12 +158,46 @@ build_eam_response(uint8_t *buffer, size_t *size)
/* get a local copy of the airspeed data */
struct airspeed_s airspeed;
memset(&airspeed, 0, sizeof(airspeed));
orb_copy(ORB_ID(airspeed), airspeed_sub, &airspeed);
orb_copy(ORB_ID(airspeed), _airspeed_sub, &airspeed);
uint16_t speed = (uint16_t)(airspeed.indicated_airspeed_m_s * 3.6f);
msg.speed_L = (uint8_t)speed & 0xff;
msg.speed_H = (uint8_t)(speed >> 8) & 0xff;
msg.stop = STOP_BYTE;
memcpy(buffer, &msg, *size);
}
void
build_gam_response(uint8_t *buffer, size_t *size)
{
/* get a local copy of the ESC Status values */
struct esc_status_s esc;
memset(&esc, 0, sizeof(esc));
orb_copy(ORB_ID(esc_status), _esc_sub, &esc);
struct gam_module_msg msg;
*size = sizeof(msg);
memset(&msg, 0, *size);
msg.start = START_BYTE;
msg.gam_sensor_id = GAM_SENSOR_ID;
msg.sensor_text_id = GAM_SENSOR_TEXT_ID;
msg.temperature1 = (uint8_t)(esc.esc[0].esc_temperature + 20);
msg.temperature2 = 20; // 0 deg. C.
uint16_t voltage = (uint16_t)(esc.esc[0].esc_voltage);
msg.main_voltage_L = (uint8_t)voltage & 0xff;
msg.main_voltage_H = (uint8_t)(voltage >> 8) & 0xff;
uint16_t current = (uint16_t)(esc.esc[0].esc_current);
msg.current_L = (uint8_t)current & 0xff;
msg.current_H = (uint8_t)(current >> 8) & 0xff;
uint16_t rpm = (uint16_t)(esc.esc[0].esc_rpm * 0.1f);
msg.rpm_L = (uint8_t)rpm & 0xff;
msg.rpm_H = (uint8_t)(rpm >> 8) & 0xff;
msg.stop = STOP_BYTE;
memcpy(buffer, &msg, *size);
@@ -123,14 +209,14 @@ build_gps_response(uint8_t *buffer, size_t *size)
/* get a local copy of the current sensor values */
struct sensor_combined_s raw;
memset(&raw, 0, sizeof(raw));
orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
orb_copy(ORB_ID(sensor_combined), _sensor_sub, &raw);
/* get a local copy of the battery data */
struct vehicle_gps_position_s gps;
memset(&gps, 0, sizeof(gps));
orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps);
orb_copy(ORB_ID(vehicle_gps_position), _gps_sub, &gps);
struct gps_module_msg msg = { 0 };
struct gps_module_msg msg;
*size = sizeof(msg);
memset(&msg, 0, *size);
@@ -150,7 +236,7 @@ build_gps_response(uint8_t *buffer, size_t *size)
msg.flight_direction = (uint8_t)(gps.cog_rad * M_RAD_TO_DEG_F);
/* GPS speed */
uint16_t speed = (uint16_t)(gps.vel_m_s * 3.6);
uint16_t speed = (uint16_t)(gps.vel_m_s * 3.6f);
msg.gps_speed_L = (uint8_t)speed & 0xff;
msg.gps_speed_H = (uint8_t)(speed >> 8) & 0xff;
@@ -196,33 +282,33 @@ build_gps_response(uint8_t *buffer, size_t *size)
msg.longitude_sec_H = (uint8_t)(lon_sec >> 8) & 0xff;
/* Altitude */
uint16_t alt = (uint16_t)(gps.alt*1e-3 + 500.0f);
uint16_t alt = (uint16_t)(gps.alt*1e-3f + 500.0f);
msg.altitude_L = (uint8_t)alt & 0xff;
msg.altitude_H = (uint8_t)(alt >> 8) & 0xff;
/* Get any (and probably only ever one) home_sub postion report */
/* Get any (and probably only ever one) _home_sub postion report */
bool updated;
orb_check(home_sub, &updated);
orb_check(_home_sub, &updated);
if (updated) {
/* get a local copy of the home position data */
struct home_position_s home;
memset(&home, 0, sizeof(home));
orb_copy(ORB_ID(home_position), home_sub, &home);
orb_copy(ORB_ID(home_position), _home_sub, &home);
home_lat = ((double)(home.lat))*1e-7d;
home_lon = ((double)(home.lon))*1e-7d;
home_position_set = true;
_home_lat = ((double)(home.lat))*1e-7d;
_home_lon = ((double)(home.lon))*1e-7d;
_home_position_set = true;
}
/* Distance from home */
if (home_position_set) {
uint16_t dist = (uint16_t)get_distance_to_next_waypoint(home_lat, home_lon, lat, lon);
if (_home_position_set) {
uint16_t dist = (uint16_t)get_distance_to_next_waypoint(_home_lat, _home_lon, lat, lon);
msg.distance_L = (uint8_t)dist & 0xff;
msg.distance_H = (uint8_t)(dist >> 8) & 0xff;
/* Direction back to home */
uint16_t bearing = (uint16_t)(get_bearing_to_next_waypoint(home_lat, home_lon, lat, lon) * M_RAD_TO_DEG_F);
uint16_t bearing = (uint16_t)(get_bearing_to_next_waypoint(_home_lat, _home_lon, lat, lon) * M_RAD_TO_DEG_F);
msg.home_direction = (uint8_t)bearing >> 1;
}
}
src/drivers/hott/messages.h
+249
View File
@@ -0,0 +1,249 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Simon Wilks <sjwilks@gmail.com>
*
* 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 messages.h
* @author Simon Wilks <sjwilks@gmail.com>
*
* Graupner HoTT Telemetry message generation.
*
*/
#ifndef MESSAGES_H_
#define MESSAGES_H
#include <stdlib.h>
/* The HoTT receiver demands a minimum 5ms period of silence after delivering its request.
* Note that the value specified here is lower than 5000 (5ms) as time is lost constucting
* the message after the read which takes some milliseconds.
*/
#define POST_READ_DELAY_IN_USECS 4000
/* A pause of 3ms is required between each uint8_t sent back to the HoTT receiver. Much lower
* values can be used in practise though.
*/
#define POST_WRITE_DELAY_IN_USECS 2000
// Protocol constants.
#define BINARY_MODE_REQUEST_ID 0x80 // Binary mode request.
#define START_BYTE 0x7c
#define STOP_BYTE 0x7d
#define TEMP_ZERO_CELSIUS 0x14
/* The GAM Module poll message. */
struct gam_module_poll_msg {
uint8_t mode;
uint8_t id;
};
/* Electric Air Module (EAM) constants. */
#define EAM_SENSOR_ID 0x8e
#define EAM_SENSOR_TEXT_ID 0xe0
/* The Electric Air Module message. */
struct eam_module_msg {
uint8_t start; /**< Start byte */
uint8_t eam_sensor_id; /**< EAM sensor */
uint8_t warning;
uint8_t sensor_text_id;
uint8_t alarm_inverse1;
uint8_t alarm_inverse2;
uint8_t cell1_L; /**< Lipo cell voltages. Not supported. */
uint8_t cell2_L;
uint8_t cell3_L;
uint8_t cell4_L;
uint8_t cell5_L;
uint8_t cell6_L;
uint8_t cell7_L;
uint8_t cell1_H;
uint8_t cell2_H;
uint8_t cell3_H;
uint8_t cell4_H;
uint8_t cell5_H;
uint8_t cell6_H;
uint8_t cell7_H;
uint8_t batt1_voltage_L; /**< Battery 1 voltage, lower 8-bits in steps of 0.02V */
uint8_t batt1_voltage_H;
uint8_t batt2_voltage_L; /**< Battery 2 voltage, lower 8-bits in steps of 0.02V */
uint8_t batt2_voltage_H;
uint8_t temperature1; /**< Temperature sensor 1. 20 = 0 degrees */
uint8_t temperature2;
uint8_t altitude_L; /**< Attitude (meters) lower 8-bits. 500 = 0 meters */
uint8_t altitude_H;
uint8_t current_L; /**< Current (mAh) lower 8-bits in steps of 0.1V */
uint8_t current_H;
uint8_t main_voltage_L; /**< Main power voltage lower 8-bits in steps of 0.1V */
uint8_t main_voltage_H;
uint8_t battery_capacity_L; /**< Used battery capacity in steps of 10mAh */
uint8_t battery_capacity_H;
uint8_t climbrate_L; /**< Climb rate in 0.01m/s. 0m/s = 30000 */
uint8_t climbrate_H;
uint8_t climbrate_3s; /**< Climb rate in m/3sec. 0m/3sec = 120 */
uint8_t rpm_L; /**< RPM Lower 8-bits In steps of 10 U/min */
uint8_t rpm_H;
uint8_t electric_min; /**< Flight time in minutes. */
uint8_t electric_sec; /**< Flight time in seconds. */
uint8_t speed_L; /**< Airspeed in km/h in steps of 1 km/h */
uint8_t speed_H;
uint8_t stop; /**< Stop byte */
uint8_t checksum; /**< Lower 8-bits of all bytes summed. */
};
/* General Air Module (GAM) constants. */
#define GAM_SENSOR_ID 0x8d
#define GAM_SENSOR_TEXT_ID 0xd0
struct gam_module_msg {
uint8_t start; /**< Start byte */
uint8_t gam_sensor_id; /**< GAM sensor id */
uint8_t warning_beeps;
uint8_t sensor_text_id;
uint8_t alarm_invers1;
uint8_t alarm_invers2;
uint8_t cell1; /**< Lipo cell voltages. Not supported. */
uint8_t cell2;
uint8_t cell3;
uint8_t cell4;
uint8_t cell5;
uint8_t cell6;
uint8_t batt1_L; /**< Battery 1 voltage LSB value. 0.1V steps. 50 = 5.5V */
uint8_t batt1_H;
uint8_t batt2_L; /**< Battery 2 voltage LSB value. 0.1V steps. 50 = 5.5V */
uint8_t batt2_H;
uint8_t temperature1; /**< Temperature 1. offset of 20. a value of 20 = 0°C */
uint8_t temperature2; /**< Temperature 2. offset of 20. a value of 20 = 0°C */
uint8_t fuel_procent; /**< Fuel capacity in %. Values 0 - 100 */
/**< Graphical display ranges: 0 25% 50% 75% 100% */
uint8_t fuel_ml_L; /**< Fuel in ml scale. Full = 65535 */
uint8_t fuel_ml_H;
uint8_t rpm_L; /**< RPM in 10 RPM steps. 300 = 3000rpm */
uint8_t rpm_H;
uint8_t altitude_L; /**< Altitude in meters. offset of 500, 500 = 0m */
uint8_t altitude_H;
uint8_t climbrate_L; /**< Climb rate in 0.01m/s. Value of 30000 = 0.00 m/s */
uint8_t climbrate_H;
uint8_t climbrate3s; /**< Climb rate in m/3sec. Value of 120 = 0m/3sec */
uint8_t current_L; /**< Current in 0.1A steps */
uint8_t current_H;
uint8_t main_voltage_L; /**< Main power voltage using 0.1V steps */
uint8_t main_voltage_H;
uint8_t batt_cap_L; /**< Used battery capacity in 10mAh steps */
uint8_t batt_cap_H;
uint8_t speed_L; /**< Speed in km/h */
uint8_t speed_H;
uint8_t min_cell_volt; /**< Minimum cell voltage in 2mV steps. 124 = 2,48V */
uint8_t min_cell_volt_num; /**< Number of the cell with the lowest voltage */
uint8_t rpm2_L; /**< RPM in 10 RPM steps. 300 = 3000rpm */
uint8_t rpm2_H;
uint8_t general_error_number; /**< Voice error == 12. TODO: more docu */
uint8_t pressure; /**< Pressure up to 16bar. 0,1bar scale. 20 = 2bar */
uint8_t version;
uint8_t stop; /**< Stop byte */
uint8_t checksum; /**< Lower 8-bits of all bytes summed */
};
/* GPS sensor constants. */
#define GPS_SENSOR_ID 0x8a
#define GPS_SENSOR_TEXT_ID 0xa0
/**
* The GPS sensor message
* Struct based on: https://code.google.com/p/diy-hott-gps/downloads
*/
struct gps_module_msg {
uint8_t start; /**< Start byte */
uint8_t sensor_id; /**< GPS sensor ID*/
uint8_t warning; /**< 0…= warning beeps */
uint8_t sensor_text_id; /**< GPS Sensor text mode ID */
uint8_t alarm_inverse1; /**< 01 inverse status */
uint8_t alarm_inverse2; /**< 00 inverse status status 1 = no GPS Signal */
uint8_t flight_direction; /**< 119 = Flightdir./dir. 1 = 2°; 0° (North), 9 0° (East), 180° (South), 270° (West) */
uint8_t gps_speed_L; /**< 8 = /GPS speed low byte 8km/h */
uint8_t gps_speed_H; /**< 0 = /GPS speed high byte */
uint8_t latitude_ns; /**< 000 = N = 48°39’988 */
uint8_t latitude_min_L; /**< 231 0xE7 = 0x12E7 = 4839 */
uint8_t latitude_min_H; /**< 018 18 = 0x12 */
uint8_t latitude_sec_L; /**< 171 220 = 0xDC = 0x03DC =0988 */
uint8_t latitude_sec_H; /**< 016 3 = 0x03 */
uint8_t longitude_ew; /**< 000 = E= 9° 25’9360 */
uint8_t longitude_min_L; /**< 150 157 = 0x9D = 0x039D = 0925 */
uint8_t longitude_min_H; /**< 003 3 = 0x03 */
uint8_t longitude_sec_L; /**< 056 144 = 0x90 0x2490 = 9360 */
uint8_t longitude_sec_H; /**< 004 36 = 0x24 */
uint8_t distance_L; /**< 027 123 = /distance low byte 6 = 6 m */
uint8_t distance_H; /**< 036 35 = /distance high byte */
uint8_t altitude_L; /**< 243 244 = /Altitude low byte 500 = 0m */
uint8_t altitude_H; /**< 001 1 = /Altitude high byte */
uint8_t resolution_L; /**< 48 = Low Byte m/s resolution 0.01m 48 = 30000 = 0.00m/s (1=0.01m/s) */
uint8_t resolution_H; /**< 117 = High Byte m/s resolution 0.01m */
uint8_t unknown1; /**< 120 = 0m/3s */
uint8_t gps_num_sat; /**< GPS.Satellites (number of satelites) (1 byte) */
uint8_t gps_fix_char; /**< GPS.FixChar. (GPS fix character. display, if DGPS, 2D oder 3D) (1 byte) */
uint8_t home_direction; /**< HomeDirection (direction from starting point to Model position) (1 byte) */
uint8_t angle_x_direction; /**< angle x-direction (1 byte) */
uint8_t angle_y_direction; /**< angle y-direction (1 byte) */
uint8_t angle_z_direction; /**< angle z-direction (1 byte) */
uint8_t gyro_x_L; /**< gyro x low byte (2 bytes) */
uint8_t gyro_x_H; /**< gyro x high byte */
uint8_t gyro_y_L; /**< gyro y low byte (2 bytes) */
uint8_t gyro_y_H; /**< gyro y high byte */
uint8_t gyro_z_L; /**< gyro z low byte (2 bytes) */
uint8_t gyro_z_H; /**< gyro z high byte */
uint8_t vibration; /**< vibration (1 bytes) */
uint8_t ascii4; /**< 00 ASCII Free Character [4] */
uint8_t ascii5; /**< 00 ASCII Free Character [5] */
uint8_t gps_fix; /**< 00 ASCII Free Character [6], we use it for GPS FIX */
uint8_t version;
uint8_t stop; /**< Stop byte */
uint8_t checksum; /**< Lower 8-bits of all bytes summed */
};
// The maximum size of a message.
#define MAX_MESSAGE_BUFFER_SIZE 45
void init_sub_messages(void);
void init_pub_messages(void);
void build_gam_request(uint8_t *buffer, size_t *size);
void publish_gam_message(const uint8_t *buffer);
void build_eam_response(uint8_t *buffer, size_t *size);
void build_gam_response(uint8_t *buffer, size_t *size);
void build_gps_response(uint8_t *buffer, size_t *size);
float _get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
void convert_to_degrees_minutes_seconds(double lat, int *deg, int *min, int *sec);
#endif /* MESSAGES_H_ */
src/drivers/hott_telemetry/messages.h
-196
View File
@@ -1,196 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Simon Wilks <sjwilks@gmail.com>
*
* 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 messages.h
* @author Simon Wilks <sjwilks@gmail.com>
*
* Graupner HoTT Telemetry message generation.
*
*/
#ifndef MESSAGES_H_
#define MESSAGES_H
#include <stdlib.h>
/* The HoTT receiver demands a minimum 5ms period of silence after delivering its request.
* Note that the value specified here is lower than 5000 (5ms) as time is lost constucting
* the message after the read which takes some milliseconds.
*/
#define POST_READ_DELAY_IN_USECS 4000
/* A pause of 3ms is required between each uint8_t sent back to the HoTT receiver. Much lower
* values can be used in practise though.
*/
#define POST_WRITE_DELAY_IN_USECS 2000
// Protocol constants.
#define BINARY_MODE_REQUEST_ID 0x80 // Binary mode request.
#define START_BYTE 0x7c
#define STOP_BYTE 0x7d
#define TEMP_ZERO_CELSIUS 0x14
/* Electric Air Module (EAM) constants. */
#define EAM_SENSOR_ID 0x8e
#define EAM_SENSOR_TEXT_ID 0xe0
/* The Electric Air Module message. */
struct eam_module_msg {
uint8_t start; /**< Start byte */
uint8_t eam_sensor_id; /**< EAM sensor */
uint8_t warning;
uint8_t sensor_id; /**< Sensor ID, why different? */
uint8_t alarm_inverse1;
uint8_t alarm_inverse2;
uint8_t cell1_L; /**< Lipo cell voltages. Not supported. */
uint8_t cell2_L;
uint8_t cell3_L;
uint8_t cell4_L;
uint8_t cell5_L;
uint8_t cell6_L;
uint8_t cell7_L;
uint8_t cell1_H;
uint8_t cell2_H;
uint8_t cell3_H;
uint8_t cell4_H;
uint8_t cell5_H;
uint8_t cell6_H;
uint8_t cell7_H;
uint8_t batt1_voltage_L; /**< Battery 1 voltage, lower 8-bits in steps of 0.02V */
uint8_t batt1_voltage_H;
uint8_t batt2_voltage_L; /**< Battery 2 voltage, lower 8-bits in steps of 0.02V */
uint8_t batt2_voltage_H;
uint8_t temperature1; /**< Temperature sensor 1. 20 = 0 degrees */
uint8_t temperature2;
uint8_t altitude_L; /**< Attitude (meters) lower 8-bits. 500 = 0 meters */
uint8_t altitude_H;
uint8_t current_L; /**< Current (mAh) lower 8-bits in steps of 0.1V */
uint8_t current_H;
uint8_t main_voltage_L; /**< Main power voltage lower 8-bits in steps of 0.1V */
uint8_t main_voltage_H;
uint8_t battery_capacity_L; /**< Used battery capacity in steps of 10mAh */
uint8_t battery_capacity_H;
uint8_t climbrate_L; /**< Climb rate in 0.01m/s. 0m/s = 30000 */
uint8_t climbrate_H;
uint8_t climbrate_3s; /**< Climb rate in m/3sec. 0m/3sec = 120 */
uint8_t rpm_L; /**< RPM Lower 8-bits In steps of 10 U/min */
uint8_t rpm_H;
uint8_t electric_min; /**< Flight time in minutes. */
uint8_t electric_sec; /**< Flight time in seconds. */
uint8_t speed_L; /**< Airspeed in km/h in steps of 1 km/h */
uint8_t speed_H;
uint8_t stop; /**< Stop byte */
uint8_t checksum; /**< Lower 8-bits of all bytes summed. */
};
/**
* The maximum buffer size required to store a HoTT message.
*/
#define MESSAGE_BUFFER_SIZE sizeof(union { \
struct eam_module_msg eam; \
})
/* GPS sensor constants. */
#define GPS_SENSOR_ID 0x8A
#define GPS_SENSOR_TEXT_ID 0xA0
/**
* The GPS sensor message
* Struct based on: https://code.google.com/p/diy-hott-gps/downloads
*/
struct gps_module_msg {
uint8_t start; /**< Start byte */
uint8_t sensor_id; /**< GPS sensor ID*/
uint8_t warning; /**< Byte 3: 0…= warning beeps */
uint8_t sensor_text_id; /**< GPS Sensor text mode ID */
uint8_t alarm_inverse1; /**< Byte 5: 01 inverse status */
uint8_t alarm_inverse2; /**< Byte 6: 00 inverse status status 1 = no GPS Signal */
uint8_t flight_direction; /**< Byte 7: 119 = Flightdir./dir. 1 = 2°; 0° (North), 9 0° (East), 180° (South), 270° (West) */
uint8_t gps_speed_L; /**< Byte 8: 8 = /GPS speed low byte 8km/h */
uint8_t gps_speed_H; /**< Byte 9: 0 = /GPS speed high byte */
uint8_t latitude_ns; /**< Byte 10: 000 = N = 48°39’988 */
uint8_t latitude_min_L; /**< Byte 11: 231 0xE7 = 0x12E7 = 4839 */
uint8_t latitude_min_H; /**< Byte 12: 018 18 = 0x12 */
uint8_t latitude_sec_L; /**< Byte 13: 171 220 = 0xDC = 0x03DC =0988 */
uint8_t latitude_sec_H; /**< Byte 14: 016 3 = 0x03 */
uint8_t longitude_ew; /**< Byte 15: 000 = E= 9° 25’9360 */
uint8_t longitude_min_L; /**< Byte 16: 150 157 = 0x9D = 0x039D = 0925 */
uint8_t longitude_min_H; /**< Byte 17: 003 3 = 0x03 */
uint8_t longitude_sec_L; /**< Byte 18: 056 144 = 0x90 0x2490 = 9360*/
uint8_t longitude_sec_H; /**< Byte 19: 004 36 = 0x24 */
uint8_t distance_L; /**< Byte 20: 027 123 = /distance low byte 6 = 6 m */
uint8_t distance_H; /**< Byte 21: 036 35 = /distance high byte */
uint8_t altitude_L; /**< Byte 22: 243 244 = /Altitude low byte 500 = 0m */
uint8_t altitude_H; /**< Byte 23: 001 1 = /Altitude high byte */
uint8_t resolution_L; /**< Byte 24: 48 = Low Byte m/s resolution 0.01m 48 = 30000 = 0.00m/s (1=0.01m/s) */
uint8_t resolution_H; /**< Byte 25: 117 = High Byte m/s resolution 0.01m */
uint8_t unknown1; /**< Byte 26: 120 = 0m/3s */
uint8_t gps_num_sat; /**< Byte 27: GPS.Satellites (number of satelites) (1 byte) */
uint8_t gps_fix_char; /**< Byte 28: GPS.FixChar. (GPS fix character. display, if DGPS, 2D oder 3D) (1 byte) */
uint8_t home_direction; /**< Byte 29: HomeDirection (direction from starting point to Model position) (1 byte) */
uint8_t angle_x_direction; /**< Byte 30: angle x-direction (1 byte) */
uint8_t angle_y_direction; /**< Byte 31: angle y-direction (1 byte) */
uint8_t angle_z_direction; /**< Byte 32: angle z-direction (1 byte) */
uint8_t gyro_x_L; /**< Byte 33: gyro x low byte (2 bytes) */
uint8_t gyro_x_H; /**< Byte 34: gyro x high byte */
uint8_t gyro_y_L; /**< Byte 35: gyro y low byte (2 bytes) */
uint8_t gyro_y_H; /**< Byte 36: gyro y high byte */
uint8_t gyro_z_L; /**< Byte 37: gyro z low byte (2 bytes) */
uint8_t gyro_z_H; /**< Byte 38: gyro z high byte */
uint8_t vibration; /**< Byte 39: vibration (1 bytes) */
uint8_t ascii4; /**< Byte 40: 00 ASCII Free Character [4] */
uint8_t ascii5; /**< Byte 41: 00 ASCII Free Character [5] */
uint8_t gps_fix; /**< Byte 42: 00 ASCII Free Character [6], we use it for GPS FIX */
uint8_t version; /**< Byte 43: 00 version number */
uint8_t stop; /**< Byte 44: 0x7D Ende byte */
uint8_t checksum; /**< Byte 45: Parity Byte */
};
/**
* The maximum buffer size required to store a HoTT message.
*/
#define GPS_MESSAGE_BUFFER_SIZE sizeof(union { \
struct gps_module_msg gps; \
})
void messages_init(void);
void build_eam_response(uint8_t *buffer, size_t *size);
void build_gps_response(uint8_t *buffer, size_t *size);
float _get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
void convert_to_degrees_minutes_seconds(double lat, int *deg, int *min, int *sec);
#endif /* MESSAGES_H_ */
src/drivers/meas_airspeed/meas_airspeed.cpp
+506
View File
@@ -0,0 +1,506 @@
/****************************************************************************
*
* 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 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 */
#define ADDR_READ_DF2 0x00 /* read from this address to read pressure only */
#define ADDR_READ_DF3 0x01
#define ADDR_READ_DF4 0x02 /* read from this address to read pressure and temp */
/* 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], 2);
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];
diff_pres_pa = abs(diff_pres_pa - (16384 / 2.0f));
diff_pres_pa -= _diff_pres_offset;
// XXX we may want to smooth out the readings to remove noise.
_reports[_next_report].timestamp = hrt_absolute_time();
_reports[_next_report].temperature = temp;
_reports[_next_report].differential_pressure_pa = diff_pres_pa;
// Track maximum differential pressure measured (so we can work out top speed).
if (diff_pres_pa > _reports[_next_report].max_differential_pressure_pa) {
_reports[_next_report].max_differential_pressure_pa = diff_pres_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);
}
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
+32 -15
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>
@@ -191,6 +194,7 @@ private:
orb_advert_t _gyro_topic;
unsigned _reads;
unsigned _sample_rate;
perf_counter_t _sample_perf;
/**
@@ -314,6 +318,7 @@ MPU6000::MPU6000(int bus, spi_dev_e device) :
_gyro_range_rad_s(0.0f),
_gyro_topic(-1),
_reads(0),
_sample_rate(500),
_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read"))
{
// disable debug() calls
@@ -366,10 +371,6 @@ 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);
// Chip reset
write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
up_udelay(10000);
@@ -384,7 +385,7 @@ 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)
@@ -463,10 +464,18 @@ MPU6000::init()
/* do CDev init for the gyro device node, keep it optional */
int gyro_ret = _gyro->init();
/* ensure we got real values to share */
measure();
if (gyro_ret != OK) {
_gyro_topic = -1;
} else {
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_gyro_report);
}
/* advertise sensor topics */
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_report);
return ret;
}
@@ -509,6 +518,7 @@ 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;
}
/*
@@ -660,8 +670,10 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
return -EINVAL;
case ACCELIOCSSAMPLERATE:
case ACCELIOCGSAMPLERATE:
return _sample_rate;
case ACCELIOCSSAMPLERATE:
_set_sample_rate(arg);
return OK;
@@ -689,12 +701,13 @@ 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();
@@ -718,10 +731,12 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCRESET:
return ioctl(filp, cmd, arg);
case GYROIOCSSAMPLERATE:
case GYROIOCGSAMPLERATE:
_set_sample_rate(arg);
return OK;
return _sample_rate;
case GYROIOCSSAMPLERATE:
_set_sample_rate(arg);
return OK;
case GYROIOCSLOWPASS:
case GYROIOCGLOWPASS:
@@ -739,12 +754,13 @@ 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();
@@ -1063,7 +1079,8 @@ start()
int fd;
if (g_dev != nullptr)
errx(1, "already started");
/* if already started, the still command succeeded */
errx(0, "already started");
/* create the driver */
g_dev = new MPU6000(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_MPU);
src/drivers/ms5611/ms5611.cpp
+2 -1
View File
@@ -969,7 +969,8 @@ start()
int fd;
if (g_dev != nullptr)
errx(1, "already started");
/* if already started, the still command succeeded */
errx(0, "already started");
/* create the driver */
g_dev = new MS5611(MS5611_BUS);
src/modules/att_pos_estimator_ekf/kalman_main.cpp
+2 -1
View File
@@ -121,12 +121,13 @@ int att_pos_estimator_ekf_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("is running\n");
exit(0);
} else {
warnx("not started\n");
exit(1);
}
exit(0);
}
usage("unrecognized command");
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+4 -2
View File
@@ -139,10 +139,12 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tattitude_estimator_ekf app is running\n");
warnx("running");
exit(0);
} else {
printf("\tattitude_estimator_ekf app not started\n");
warnx("not started");
exit(1);
}
exit(0);
src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp
+4 -2
View File
@@ -139,10 +139,12 @@ int attitude_estimator_so3_comp_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tattitude_estimator_so3_comp app is running\n");
warnx("running");
exit(0);
} else {
printf("\tattitude_estimator_so3_comp app not started\n");
warnx("not started");
exit(1);
}
exit(0);
src/modules/commander/accelerometer_calibration.c
+11 -6
View File
@@ -268,8 +268,8 @@ 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 */
@@ -283,6 +283,9 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
hrt_abstime t = t_start;
hrt_abstime t_prev = t_start;
hrt_abstime t_still = 0;
unsigned poll_errcount = 0;
while (true) {
/* wait blocking for new data */
int poll_ret = poll(fds, 1, 1000);
@@ -327,12 +330,14 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
}
}
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "ERROR: poll failure");
return -3;
poll_errcount++;
}
if (t > t_timeout) {
mavlink_log_info(mavlink_fd, "ERROR: timeout");
poll_errcount++;
}
if (poll_errcount > 1000) {
mavlink_log_info(mavlink_fd, "ERROR: failed reading accel");
return -1;
}
}
src/modules/commander/commander.c
+9 -3
View File
@@ -282,7 +282,7 @@ void tune_error(void)
void do_rc_calibration(int status_pub, struct vehicle_status_s *status)
{
if (current_status.offboard_control_signal_lost) {
if (current_status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal.");
return;
}
@@ -587,6 +587,8 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
close(fd);
int errcount = 0;
while (calibration_counter < calibration_count) {
/* wait blocking for new data */
@@ -602,8 +604,12 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
calibration_counter++;
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry");
errcount++;
}
if (errcount > 1000) {
/* any persisting poll error is a reason to abort */
mavlink_log_info(mavlink_fd, "permanent gyro error, aborted.");
return;
}
}
src/modules/mavlink/mavlink.c
+22 -25
View File
@@ -420,12 +420,12 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
case 921600: speed = B921600; break;
default:
fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
return -EINVAL;
}
/* open uart */
printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baud);
warnx("UART is %s, baudrate is %d\n", uart_name, baud);
uart = open(uart_name, O_RDWR | O_NOCTTY);
/* Try to set baud rate */
@@ -433,37 +433,35 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
int termios_state;
*is_usb = false;
/* make some wild guesses including that USB serial is indicated by either /dev/ttyACM0 or /dev/console */
if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/console") != OK) {
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
close(uart);
return -1;
}
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
warnx("ERROR get termios config %s: %d\n", uart_name, termios_state);
close(uart);
return -1;
}
/* Fill the struct for the new configuration */
tcgetattr(uart, &uart_config);
/* Fill the struct for the new configuration */
tcgetattr(uart, &uart_config);
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* USB serial is indicated by /dev/ttyACM0*/
if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) {
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
close(uart);
return -1;
}
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
close(uart);
return -1;
}
} else {
*is_usb = true;
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
close(uart);
return -1;
}
return uart;
@@ -751,8 +749,7 @@ int mavlink_thread_main(int argc, char *argv[])
pthread_join(uorb_receive_thread, NULL);
/* Reset the UART flags to original state */
if (!usb_uart)
tcsetattr(uart, TCSANOW, &uart_config_original);
tcsetattr(uart, TCSANOW, &uart_config_original);
thread_running = false;
src/modules/mavlink/mavlink_log.c
+11
View File
@@ -41,16 +41,20 @@
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdarg.h>
#include <mavlink/mavlink_log.h>
static FILE* text_recorder_fd = NULL;
void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
{
lb->size = size;
lb->start = 0;
lb->count = 0;
lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
text_recorder_fd = fopen("/fs/microsd/text_recorder.txt", "w");
}
int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb)
@@ -82,6 +86,13 @@ int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessa
memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
lb->start = (lb->start + 1) % lb->size;
--lb->count;
if (text_recorder_fd) {
fwrite(elem->text, 1, strnlen(elem->text, 50), text_recorder_fd);
fputc("\n", text_recorder_fd);
fsync(text_recorder_fd);
}
return 0;
} else {
src/modules/sensors/sensor_params.c
+1 -1
View File
@@ -68,7 +68,7 @@ PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f);
PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f);
PARAM_DEFINE_INT32(SENS_DPRES_OFF, 1667);
PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 1667);
PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
src/modules/sensors/sensors.cpp
+35 -48
View File
@@ -60,6 +60,7 @@
#include <drivers/drv_baro.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_adc.h>
#include <drivers/drv_airspeed.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
@@ -139,14 +140,12 @@ public:
private:
static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX; /**< maximum number of r/c channels we handle */
#if CONFIG_HRT_PPM
hrt_abstime _ppm_last_valid; /**< last time we got a valid ppm signal */
/**
* Gather and publish PPM input data.
*/
void ppm_poll();
#endif
/* XXX should not be here - should be own driver */
int _fd_adc; /**< ADC driver handle */
@@ -199,7 +198,7 @@ private:
float mag_scale[3];
float accel_offset[3];
float accel_scale[3];
int diff_pres_offset_pa;
float diff_pres_offset_pa;
int rc_type;
@@ -232,6 +231,7 @@ private:
float battery_voltage_scaling;
int rc_rl1_DSM_VCC_control;
} _parameters; /**< local copies of interesting parameters */
struct {
@@ -282,6 +282,7 @@ private:
param_t battery_voltage_scaling;
param_t rc_rl1_DSM_VCC_control;
} _parameter_handles; /**< handles for interesting parameters */
@@ -393,13 +394,11 @@ namespace sensors
#endif
static const int ERROR = -1;
Sensors *g_sensors;
Sensors *g_sensors = nullptr;
}
Sensors::Sensors() :
#ifdef CONFIG_HRT_PPM
_ppm_last_valid(0),
#endif
_fd_adc(-1),
_last_adc(0),
@@ -558,25 +557,11 @@ Sensors::parameters_update()
/* rc values */
for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) {
if (param_get(_parameter_handles.min[i], &(_parameters.min[i])) != OK) {
warnx("Failed getting min for chan %d", i);
}
if (param_get(_parameter_handles.trim[i], &(_parameters.trim[i])) != OK) {
warnx("Failed getting trim for chan %d", i);
}
if (param_get(_parameter_handles.max[i], &(_parameters.max[i])) != OK) {
warnx("Failed getting max for chan %d", i);
}
if (param_get(_parameter_handles.rev[i], &(_parameters.rev[i])) != OK) {
warnx("Failed getting rev for chan %d", i);
}
if (param_get(_parameter_handles.dz[i], &(_parameters.dz[i])) != OK) {
warnx("Failed getting dead zone for chan %d", i);
}
param_get(_parameter_handles.min[i], &(_parameters.min[i]));
param_get(_parameter_handles.trim[i], &(_parameters.trim[i]));
param_get(_parameter_handles.max[i], &(_parameters.max[i]));
param_get(_parameter_handles.rev[i], &(_parameters.rev[i]));
param_get(_parameter_handles.dz[i], &(_parameters.dz[i]));
_parameters.scaling_factor[i] = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]);
@@ -666,21 +651,10 @@ Sensors::parameters_update()
warnx("Failed getting mode aux 5 index");
}
if (param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll)) != OK) {
warnx("Failed getting rc scaling for roll");
}
if (param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)) != OK) {
warnx("Failed getting rc scaling for pitch");
}
if (param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)) != OK) {
warnx("Failed getting rc scaling for yaw");
}
if (param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps)) != OK) {
warnx("Failed getting rc scaling for flaps");
}
param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll));
param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch));
param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw));
param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps));
/* update RC function mappings */
_rc.function[THROTTLE] = _parameters.rc_map_throttle - 1;
@@ -1045,6 +1019,20 @@ Sensors::parameter_update_poll(bool forced)
close(fd);
fd = open(AIRSPEED_DEVICE_PATH, 0);
/* this sensor is optional, abort without error */
if (fd > 0) {
struct airspeed_scale airscale = {
_parameters.diff_pres_offset_pa,
1.0f,
};
if (OK != ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale))
warn("WARNING: failed to set scale / offsets for airspeed sensor");
}
#if 0
printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor * 10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]);
printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor * 10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]);
@@ -1135,16 +1123,18 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
}
}
#if CONFIG_HRT_PPM
void
Sensors::ppm_poll()
{
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
bool rc_updated;
orb_check(_rc_sub, &rc_updated);
struct pollfd fds[1];
fds[0].fd = _rc_sub;
fds[0].events = POLLIN;
/* check non-blocking for new data */
int poll_ret = poll(fds, 1, 0);
if (rc_updated) {
if (poll_ret > 0) {
struct rc_input_values rc_input;
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
@@ -1332,7 +1322,6 @@ Sensors::ppm_poll()
}
}
#endif
void
Sensors::task_main_trampoline(int argc, char *argv[])
@@ -1445,10 +1434,8 @@ Sensors::task_main()
if (_publishing)
orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw);
#ifdef CONFIG_HRT_PPM
/* Look for new r/c input data */
ppm_poll();
#endif
perf_end(_loop_perf);
}
@@ -1488,7 +1475,7 @@ int sensors_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (sensors::g_sensors != nullptr)
errx(1, "sensors task already running");
errx(0, "sensors task already running");
sensors::g_sensors = new Sensors;
src/modules/systemlib/airspeed.c
+2 -2
View File
@@ -62,7 +62,7 @@ float calc_indicated_airspeed(float differential_pressure)
if (differential_pressure > 0) {
return sqrtf((2.0f*differential_pressure) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
} else {
return -sqrtf((2.0f*fabs(differential_pressure)) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
return -sqrtf((2.0f*fabsf(differential_pressure)) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
}
}
@@ -106,6 +106,6 @@ float calc_true_airspeed(float total_pressure, float static_pressure, float temp
return sqrtf((2.0f*(pressure_difference)) / density);
} else
{
return -sqrtf((2.0f*fabs(pressure_difference)) / density);
return -sqrtf((2.0f*fabsf(pressure_difference)) / density);
}
}
src/modules/systemlib/module.mk
+2 -1
View File
@@ -47,4 +47,5 @@ SRCS = err.c \
pid/pid.c \
geo/geo.c \
systemlib.c \
airspeed.c
airspeed.c \
system_params.c
src/modules/systemlib/system_params.c
+47
View File
@@ -0,0 +1,47 @@
/****************************************************************************
*
* 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 system_params.c
*
* System wide parameters
*/
#include <nuttx/config.h>
#include <systemlib/param/param.h>
// Auto-start script with index #n
PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
// Automatically configure default values
PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);
src/modules/uORB/topics/esc_status.h
+2 -1
View File
@@ -63,7 +63,8 @@
enum ESC_VENDOR {
ESC_VENDOR_GENERIC = 0, /**< generic ESC */
ESC_VENDOR_MIKROKOPTER /**< Mikrokopter */
ESC_VENDOR_MIKROKOPTER, /**< Mikrokopter */
ESC_VENDOR_GRAUPNER_HOTT /**< Graupner HoTT ESC */
};
enum ESC_CONNECTION_TYPE {
src/systemcmds/config/config.c
+200
View File
@@ -0,0 +1,200 @@
/****************************************************************************
*
* Copyright (c) 2012, 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 config.c
* @author Lorenz Meier <lm@inf.ethz.ch>
*
* config tool.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/stat.h>
#include <arch/board/board.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_mag.h>
#include "systemlib/systemlib.h"
#include "systemlib/err.h"
__EXPORT int config_main(int argc, char *argv[]);
static void do_gyro(int argc, char *argv[]);
static void do_accel(int argc, char *argv[]);
static void do_mag(int argc, char *argv[]);
int
config_main(int argc, char *argv[])
{
if (argc >= 2) {
if (!strcmp(argv[1], "gyro")) {
if (argc >= 3) {
do_gyro(argc - 2, argv + 2);
} else {
errx(1, "not enough parameters.");
}
}
if (!strcmp(argv[1], "accel")) {
if (argc >= 3) {
do_accel(argc - 2, argv + 2);
} else {
errx(1, "not enough parameters.");
}
}
if (!strcmp(argv[1], "mag")) {
if (argc >= 3) {
do_mag(argc - 2, argv + 2);
} else {
errx(1, "not enough parameters.");
}
}
}
errx(1, "expected a command, try 'gyro', 'accel', 'mag'");
}
static void
do_gyro(int argc, char *argv[])
{
int fd;
fd = open(GYRO_DEVICE_PATH, 0);
if (fd < 0) {
warn("%s", GYRO_DEVICE_PATH);
errx(1, "FATAL: no gyro found");
} else {
if (argc >= 2) {
char* end;
int i = strtol(argv[1],&end,10);
if (!strcmp(argv[0], "sampling")) {
/* set the accel internal sampling rate up to at leat i Hz */
ioctl(fd, GYROIOCSSAMPLERATE, i);
} else if (!strcmp(argv[0], "rate")) {
/* set the driver to poll at i Hz */
ioctl(fd, SENSORIOCSPOLLRATE, i);
} else if (!strcmp(argv[0], "range")) {
/* set the range to i dps */
ioctl(fd, GYROIOCSRANGE, i);
}
} else if (!(argc > 0 && !strcmp(argv[0], "info"))) {
warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2000' to set measurement range to 2000 dps\n\t");
}
int srate = ioctl(fd, GYROIOCGSAMPLERATE, 0);
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
int range = ioctl(fd, GYROIOCGRANGE, 0);
warnx("gyro: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d dps", srate, prate, range);
close(fd);
}
exit(0);
}
static void
do_mag(int argc, char *argv[])
{
exit(0);
}
static void
do_accel(int argc, char *argv[])
{
int fd;
fd = open(ACCEL_DEVICE_PATH, 0);
if (fd < 0) {
warn("%s", ACCEL_DEVICE_PATH);
errx(1, "FATAL: no accelerometer found");
} else {
if (argc >= 2) {
char* end;
int i = strtol(argv[1],&end,10);
if (!strcmp(argv[0], "sampling")) {
/* set the accel internal sampling rate up to at leat i Hz */
ioctl(fd, ACCELIOCSSAMPLERATE, i);
} else if (!strcmp(argv[0], "rate")) {
/* set the driver to poll at i Hz */
ioctl(fd, SENSORIOCSPOLLRATE, i);
} else if (!strcmp(argv[0], "range")) {
/* set the range to i dps */
ioctl(fd, ACCELIOCSRANGE, i);
}
} else if (!(argc > 0 && !strcmp(argv[0], "info"))) {
warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2' to set measurement range to 2 G\n\t");
}
int srate = ioctl(fd, ACCELIOCGSAMPLERATE, 0);
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
int range = ioctl(fd, ACCELIOCGRANGE, 0);
warnx("accel: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d m/s", srate, prate, range);
close(fd);
}
exit(0);
}
src/systemcmds/config/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.
#
############################################################################
#
# Build the config tool.
#
MODULE_COMMAND = config
SRCS = config.c
MODULE_STACKSIZE = 4096
MAXOPTIMIZATION = -Os
src/systemcmds/param/param.c
+72 -1
View File
@@ -63,6 +63,7 @@ static void do_import(const char* param_file_name);
static void do_show(const char* search_string);
static void do_show_print(void *arg, param_t param);
static void do_set(const char* name, const char* val);
static void do_compare(const char* name, const char* val);
int
param_main(int argc, char *argv[])
@@ -117,9 +118,17 @@ param_main(int argc, char *argv[])
errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3'");
}
}
if (!strcmp(argv[1], "compare")) {
if (argc >= 4) {
do_compare(argv[2], argv[3]);
} else {
errx(1, "not enough arguments.\nTry 'param compare PARAM_NAME 3'");
}
}
}
errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'select' or 'save'");
errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'compare', 'select' or 'save'");
}
static void
@@ -295,3 +304,65 @@ do_set(const char* name, const char* val)
exit(0);
}
static void
do_compare(const char* name, const char* val)
{
int32_t i;
float f;
param_t param = param_find(name);
/* set nothing if parameter cannot be found */
if (param == PARAM_INVALID) {
/* param not found */
errx(1, "Error: Parameter %s not found.", name);
}
/*
* Set parameter if type is known and conversion from string to value turns out fine
*/
int ret = 1;
switch (param_type(param)) {
case PARAM_TYPE_INT32:
if (!param_get(param, &i)) {
/* convert string */
char* end;
int j = strtol(val,&end,10);
if (i == j) {
printf(" %d: ", i);
ret = 0;
}
}
break;
case PARAM_TYPE_FLOAT:
if (!param_get(param, &f)) {
/* convert string */
char* end;
float g = strtod(val, &end);
if (fabsf(f - g) < 1e-7f) {
printf(" %4.4f: ", (double)f);
ret = 0;
}
}
break;
default:
errx(1, "<unknown / unsupported type %d>\n", 0 + param_type(param));
}
if (ret == 0) {
printf("%c %s: equal\n",
param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
param_name(param));
}
exit(ret);
}
src/systemcmds/preflight_check/preflight_check.c
+6
View File
@@ -135,6 +135,7 @@ int preflight_check_main(int argc, char *argv[])
close(fd);
fd = open(BARO_DEVICE_PATH, 0);
close(fd);
/* ---- RC CALIBRATION ---- */
@@ -251,6 +252,11 @@ system_eval:
int buzzer = open("/dev/tone_alarm", O_WRONLY);
int leds = open(LED_DEVICE_PATH, 0);
if (leds < 0) {
close(buzzer);
errx(1, "failed to open leds, aborting");
}
/* flip blue led into alternating amber */
led_off(leds, LED_BLUE);
led_off(leds, LED_AMBER);
src/systemcmds/ramtron/module.mk
+6
View File
@@ -0,0 +1,6 @@
#
# RAMTRON file system driver
#
MODULE_COMMAND = ramtron
SRCS = ramtron.c
src/systemcmds/ramtron/ramtron.c
+279
View File
@@ -0,0 +1,279 @@
/****************************************************************************
*
* 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 ramtron.c
*
* ramtron service and utility app.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/mount.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <nuttx/spi.h>
#include <nuttx/mtd.h>
#include <nuttx/fs/nxffs.h>
#include <nuttx/fs/ioctl.h>
#include <arch/board/board.h>
#include "systemlib/systemlib.h"
#include "systemlib/param/param.h"
#include "systemlib/err.h"
__EXPORT int ramtron_main(int argc, char *argv[]);
#ifndef CONFIG_MTD_RAMTRON
/* create a fake command with decent message to not confuse users */
int ramtron_main(int argc, char *argv[])
{
errx(1, "RAMTRON not enabled, skipping.");
}
#else
static void ramtron_attach(void);
static void ramtron_start(void);
static void ramtron_erase(void);
static void ramtron_ioctl(unsigned operation);
static void ramtron_save(const char *name);
static void ramtron_load(const char *name);
static void ramtron_test(void);
static bool attached = false;
static bool started = false;
static struct mtd_dev_s *ramtron_mtd;
int ramtron_main(int argc, char *argv[])
{
if (argc >= 2) {
if (!strcmp(argv[1], "start"))
ramtron_start();
if (!strcmp(argv[1], "save_param"))
ramtron_save(argv[2]);
if (!strcmp(argv[1], "load_param"))
ramtron_load(argv[2]);
if (!strcmp(argv[1], "erase"))
ramtron_erase();
if (!strcmp(argv[1], "test"))
ramtron_test();
if (0) { /* these actually require a file on the filesystem... */
if (!strcmp(argv[1], "reformat"))
ramtron_ioctl(FIOC_REFORMAT);
if (!strcmp(argv[1], "repack"))
ramtron_ioctl(FIOC_OPTIMIZE);
}
}
errx(1, "expected a command, try 'start'\n\t'save_param /ramtron/parameters'\n\t'load_param /ramtron/parameters'\n\t'erase'\n");
}
struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
static void
ramtron_attach(void)
{
/* find the right spi */
struct spi_dev_s *spi = up_spiinitialize(2);
/* this resets the spi bus, set correct bus speed again */
// xxx set in ramtron driver, leave this out
// SPI_SETFREQUENCY(spi, 4000000);
SPI_SETFREQUENCY(spi, 375000000);
SPI_SETBITS(spi, 8);
SPI_SETMODE(spi, SPIDEV_MODE3);
SPI_SELECT(spi, SPIDEV_FLASH, false);
if (spi == NULL)
errx(1, "failed to locate spi bus");
/* start the MTD driver, attempt 5 times */
for (int i = 0; i < 5; i++) {
ramtron_mtd = ramtron_initialize(spi);
if (ramtron_mtd) {
/* abort on first valid result */
if (i > 0) {
warnx("warning: ramtron needed %d attempts to attach", i+1);
}
break;
}
}
/* if last attempt is still unsuccessful, abort */
if (ramtron_mtd == NULL)
errx(1, "failed to initialize ramtron driver");
attached = true;
}
static void
ramtron_start(void)
{
int ret;
if (started)
errx(1, "ramtron already mounted");
if (!attached)
ramtron_attach();
/* start NXFFS */
ret = nxffs_initialize(ramtron_mtd);
if (ret < 0)
errx(1, "failed to initialize NXFFS - erase ramtron to reformat");
/* mount the ramtron */
ret = mount(NULL, "/ramtron", "nxffs", 0, NULL);
if (ret < 0)
errx(1, "failed to mount /ramtron - erase ramtron to reformat");
started = true;
warnx("mounted ramtron at /ramtron");
exit(0);
}
//extern int at24c_nuke(void);
static void
ramtron_erase(void)
{
if (!attached)
ramtron_attach();
// if (at24c_nuke())
errx(1, "erase failed");
errx(0, "erase done, reboot now");
}
static void
ramtron_ioctl(unsigned operation)
{
int fd;
fd = open("/ramtron/.", 0);
if (fd < 0)
err(1, "open /ramtron");
if (ioctl(fd, operation, 0) < 0)
err(1, "ioctl");
exit(0);
}
static void
ramtron_save(const char *name)
{
if (!started)
errx(1, "must be started first");
if (!name)
err(1, "missing argument for device name, try '/ramtron/parameters'");
warnx("WARNING: 'ramtron save_param' deprecated - use 'param save' instead");
/* delete the file in case it exists */
unlink(name);
/* create the file */
int fd = open(name, O_WRONLY | O_CREAT | O_EXCL);
if (fd < 0)
err(1, "opening '%s' failed", name);
int result = param_export(fd, false);
close(fd);
if (result < 0) {
unlink(name);
errx(1, "error exporting to '%s'", name);
}
exit(0);
}
static void
ramtron_load(const char *name)
{
if (!started)
errx(1, "must be started first");
if (!name)
err(1, "missing argument for device name, try '/ramtron/parameters'");
warnx("WARNING: 'ramtron load_param' deprecated - use 'param load' instead");
int fd = open(name, O_RDONLY);
if (fd < 0)
err(1, "open '%s'", name);
int result = param_load(fd);
close(fd);
if (result < 0)
errx(1, "error importing from '%s'", name);
exit(0);
}
//extern void at24c_test(void);
static void
ramtron_test(void)
{
// at24c_test();
exit(0);
}
#endif