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Merge remote-tracking branch 'px4/master' into pwm_ioctls

Browse Source 
Conflicts:
	src/drivers/drv_pwm_output.h
This commit is contained in:
Julian Oes
2013-09-29 18:31:13 +02:00
parent 8131d28a0f 1b32ba2436
commit 9493c7a45c
309 changed files with 11834 additions and 2994 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/airspeed/airspeed.cpp
+34 -44
View File
@@ -68,6 +68,7 @@
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/differential_pressure.h>
@@ -77,10 +78,9 @@
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),
_buffer_overflows(perf_alloc(PC_COUNT, "airspeed_buffer_overflows")),
_max_differential_pressure_pa(0),
_sensor_ok(false),
_measure_ticks(0),
_collect_phase(false),
@@ -88,8 +88,7 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval) :
_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"))
_comms_errors(perf_alloc(PC_COUNT, "airspeed_comms_errors"))
{
// enable debug() calls
_debug_enabled = true;
@@ -105,7 +104,7 @@ Airspeed::~Airspeed()
/* free any existing reports */
if (_reports != nullptr)
delete[] _reports;
delete _reports;
// free perf counters
perf_free(_sample_perf);
@@ -123,20 +122,14 @@ Airspeed::init()
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;
_reports = new RingBuffer(2, sizeof(differential_pressure_s));
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]);
differential_pressure_s zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &zero_report);
if (_airspeed_pub < 0)
warnx("failed to create airspeed sensor object. Did you start uOrb?");
@@ -229,31 +222,22 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
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))
if ((arg < 1) || (arg > 100))
return -EINVAL;
/* allocate new buffer */
struct differential_pressure_s *buf = new struct differential_pressure_s[arg];
if (nullptr == buf)
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
/* reset the measurement state machine with the new buffer, free the old */
stop();
delete[] _reports;
_num_reports = arg;
_reports = buf;
start();
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _num_reports - 1;
return _reports->size();
case SENSORIOCRESET:
/* XXX implement this */
@@ -281,7 +265,8 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
ssize_t
Airspeed::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct differential_pressure_s);
unsigned count = buflen / sizeof(differential_pressure_s);
differential_pressure_s *abuf = reinterpret_cast<differential_pressure_s *>(buffer);
int ret = 0;
/* buffer must be large enough */
@@ -297,10 +282,9 @@ Airspeed::read(struct file *filp, char *buffer, size_t buflen)
* 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 (_reports->get(abuf)) {
ret += sizeof(*abuf);
abuf++;
}
}
@@ -309,9 +293,8 @@ Airspeed::read(struct file *filp, char *buffer, size_t buflen)
}
/* manual measurement - run one conversion */
/* XXX really it'd be nice to lock against other readers here */
do {
_oldest_report = _next_report = 0;
_reports->flush();
/* trigger a measurement */
if (OK != measure()) {
@@ -329,8 +312,9 @@ Airspeed::read(struct file *filp, char *buffer, size_t buflen)
}
/* state machine will have generated a report, copy it out */
memcpy(buffer, _reports, sizeof(*_reports));
ret = sizeof(*_reports);
if (_reports->get(abuf)) {
ret = sizeof(*abuf);
}
} while (0);
@@ -342,7 +326,7 @@ Airspeed::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_oldest_report = _next_report = 0;
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this, 1);
@@ -385,6 +369,12 @@ Airspeed::print_info()
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);
_reports->print_info("report queue");
}
void
Airspeed::new_report(const differential_pressure_s &report)
{
if (!_reports->force(&report))
perf_count(_buffer_overflows);
}
src/drivers/airspeed/airspeed.h
+12 -7
View File
@@ -68,6 +68,7 @@
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/differential_pressure.h>
@@ -102,6 +103,10 @@ public:
*/
virtual void print_info();
private:
RingBuffer *_reports;
perf_counter_t _buffer_overflows;
protected:
virtual int probe();
@@ -114,10 +119,7 @@ protected:
virtual int collect() = 0;
work_s _work;
unsigned _num_reports;
volatile unsigned _next_report;
volatile unsigned _oldest_report;
differential_pressure_s *_reports;
uint16_t _max_differential_pressure_pa;
bool _sensor_ok;
int _measure_ticks;
bool _collect_phase;
@@ -129,7 +131,6 @@ protected:
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
/**
@@ -162,8 +163,12 @@ protected:
*/
static void cycle_trampoline(void *arg);
/**
* add a new report to the reports queue
*
* @param report differential_pressure_s report
*/
void new_report(const differential_pressure_s &report);
};
/* helper macro for handling report buffer indices */
#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
src/drivers/bma180/bma180.cpp
+48 -73
View File
@@ -63,6 +63,7 @@
#include <drivers/device/spi.h>
#include <drivers/drv_accel.h>
#include <drivers/device/ringbuffer.h>
/* oddly, ERROR is not defined for c++ */
@@ -146,10 +147,7 @@ private:
struct hrt_call _call;
unsigned _call_interval;
unsigned _num_reports;
volatile unsigned _next_report;
volatile unsigned _oldest_report;
struct accel_report *_reports;
RingBuffer *_reports;
struct accel_scale _accel_scale;
float _accel_range_scale;
@@ -233,16 +231,9 @@ private:
int set_lowpass(unsigned frequency);
};
/* helper macro for handling report buffer indices */
#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
BMA180::BMA180(int bus, spi_dev_e device) :
SPI("BMA180", ACCEL_DEVICE_PATH, bus, device, SPIDEV_MODE3, 8000000),
_call_interval(0),
_num_reports(0),
_next_report(0),
_oldest_report(0),
_reports(nullptr),
_accel_range_scale(0.0f),
_accel_range_m_s2(0.0f),
@@ -270,7 +261,7 @@ BMA180::~BMA180()
/* free any existing reports */
if (_reports != nullptr)
delete[] _reports;
delete _reports;
/* delete the perf counter */
perf_free(_sample_perf);
@@ -286,16 +277,15 @@ BMA180::init()
goto out;
/* allocate basic report buffers */
_num_reports = 2;
_oldest_report = _next_report = 0;
_reports = new struct accel_report[_num_reports];
_reports = new RingBuffer(2, sizeof(accel_report));
if (_reports == nullptr)
goto out;
/* advertise sensor topic */
memset(&_reports[0], 0, sizeof(_reports[0]));
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_reports[0]);
struct accel_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &zero_report);
/* perform soft reset (p48) */
write_reg(ADDR_RESET, SOFT_RESET);
@@ -352,6 +342,7 @@ ssize_t
BMA180::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct accel_report);
struct accel_report *arp = reinterpret_cast<struct accel_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
@@ -367,10 +358,9 @@ BMA180::read(struct file *filp, char *buffer, size_t buflen)
* we are careful to avoid racing with it.
*/
while (count--) {
if (_oldest_report != _next_report) {
memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
ret += sizeof(_reports[0]);
INCREMENT(_oldest_report, _num_reports);
if (_reports->get(arp)) {
ret += sizeof(*arp);
arp++;
}
}
@@ -379,12 +369,12 @@ BMA180::read(struct file *filp, char *buffer, size_t buflen)
}
/* manual measurement */
_oldest_report = _next_report = 0;
_reports->flush();
measure();
/* measurement will have generated a report, copy it out */
memcpy(buffer, _reports, sizeof(*_reports));
ret = sizeof(*_reports);
if (_reports->get(arp))
ret = sizeof(*arp);
return ret;
}
@@ -449,31 +439,22 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
return 1000000 / _call_interval;
case SENSORIOCSQUEUEDEPTH: {
/* account for sentinel in the ring */
arg++;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100))
return -EINVAL;
/* allocate new buffer */
struct accel_report *buf = new struct accel_report[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;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100))
return -EINVAL;
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _num_reports - 1;
return _reports->size();
case SENSORIOCRESET:
/* XXX implement */
@@ -654,7 +635,7 @@ BMA180::start()
stop();
/* reset the report ring */
_oldest_report = _next_report = 0;
_reports->flush();
/* start polling at the specified rate */
hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&BMA180::measure_trampoline, this);
@@ -688,7 +669,7 @@ BMA180::measure()
// } raw_report;
// #pragma pack(pop)
accel_report *report = &_reports[_next_report];
struct accel_report report;
/* start the performance counter */
perf_begin(_sample_perf);
@@ -708,45 +689,40 @@ BMA180::measure()
* them before. There is no good way to synchronise with the internal
* measurement flow without using the external interrupt.
*/
_reports[_next_report].timestamp = hrt_absolute_time();
report.timestamp = hrt_absolute_time();
/*
* y of board is x of sensor and x of board is -y of sensor
* perform only the axis assignment here.
* Two non-value bits are discarded directly
*/
report->y_raw = read_reg(ADDR_ACC_X_LSB + 0);
report->y_raw |= read_reg(ADDR_ACC_X_LSB + 1) << 8;
report->x_raw = read_reg(ADDR_ACC_X_LSB + 2);
report->x_raw |= read_reg(ADDR_ACC_X_LSB + 3) << 8;
report->z_raw = read_reg(ADDR_ACC_X_LSB + 4);
report->z_raw |= read_reg(ADDR_ACC_X_LSB + 5) << 8;
report.y_raw = read_reg(ADDR_ACC_X_LSB + 0);
report.y_raw |= read_reg(ADDR_ACC_X_LSB + 1) << 8;
report.x_raw = read_reg(ADDR_ACC_X_LSB + 2);
report.x_raw |= read_reg(ADDR_ACC_X_LSB + 3) << 8;
report.z_raw = read_reg(ADDR_ACC_X_LSB + 4);
report.z_raw |= read_reg(ADDR_ACC_X_LSB + 5) << 8;
/* discard two non-value bits in the 16 bit measurement */
report->x_raw = (report->x_raw / 4);
report->y_raw = (report->y_raw / 4);
report->z_raw = (report->z_raw / 4);
report.x_raw = (report.x_raw / 4);
report.y_raw = (report.y_raw / 4);
report.z_raw = (report.z_raw / 4);
/* invert y axis, due to 14 bit data no overflow can occur in the negation */
report->y_raw = -report->y_raw;
report.y_raw = -report.y_raw;
report->x = ((report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
report->y = ((report->y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
report->z = ((report->z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
report->scaling = _accel_range_scale;
report->range_m_s2 = _accel_range_m_s2;
report.x = ((report.x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
report.y = ((report.y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
report.z = ((report.z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
report.scaling = _accel_range_scale;
report.range_m_s2 = _accel_range_m_s2;
/* post a report to the ring - note, not locked */
INCREMENT(_next_report, _num_reports);
/* if we are running up against the oldest report, fix it */
if (_next_report == _oldest_report)
INCREMENT(_oldest_report, _num_reports);
_reports->force(&report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
/* publish for subscribers */
orb_publish(ORB_ID(sensor_accel), _accel_topic, report);
orb_publish(ORB_ID(sensor_accel), _accel_topic, &report);
/* stop the perf counter */
perf_end(_sample_perf);
@@ -756,8 +732,7 @@ void
BMA180::print_info()
{
perf_print_counter(_sample_perf);
printf("report queue: %u (%u/%u @ %p)\n",
_num_reports, _oldest_report, _next_report, _reports);
_reports->print_info("report queue");
}
/**
src/drivers/boards/px4fmu-v2/px4fmu2_init.c
+67 -1
View File
@@ -58,6 +58,7 @@
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
#include <nuttx/gran.h>
#include <stm32.h>
#include "board_config.h"
@@ -69,6 +70,7 @@
#include <drivers/drv_led.h>
#include <systemlib/cpuload.h>
#include <systemlib/perf_counter.h>
/****************************************************************************
* Pre-Processor Definitions
@@ -96,10 +98,70 @@
* Protected Functions
****************************************************************************/
#if defined(CONFIG_FAT_DMAMEMORY)
# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
# error microSD DMA support requires CONFIG_GRAN
# endif
static GRAN_HANDLE dma_allocator;
/*
* The DMA heap size constrains the total number of things that can be
* ready to do DMA at a time.
*
* For example, FAT DMA depends on one sector-sized buffer per filesystem plus
* one sector-sized buffer per file.
*
* We use a fundamental alignment / granule size of 64B; this is sufficient
* to guarantee alignment for the largest STM32 DMA burst (16 beats x 32bits).
*/
static uint8_t g_dma_heap[8192] __attribute__((aligned(64)));
static perf_counter_t g_dma_perf;
static void
dma_alloc_init(void)
{
dma_allocator = gran_initialize(g_dma_heap,
sizeof(g_dma_heap),
7, /* 128B granule - must be > alignment (XXX bug?) */
6); /* 64B alignment */
if (dma_allocator == NULL) {
message("[boot] DMA allocator setup FAILED");
} else {
g_dma_perf = perf_alloc(PC_COUNT, "DMA allocations");
}
}
/****************************************************************************
* Public Functions
****************************************************************************/
/*
* DMA-aware allocator stubs for the FAT filesystem.
*/
__EXPORT void *fat_dma_alloc(size_t size);
__EXPORT void fat_dma_free(FAR void *memory, size_t size);
void *
fat_dma_alloc(size_t size)
{
perf_count(g_dma_perf);
return gran_alloc(dma_allocator, size);
}
void
fat_dma_free(FAR void *memory, size_t size)
{
gran_free(dma_allocator, memory, size);
}
#else
# define dma_alloc_init()
#endif
/************************************************************************************
* Name: stm32_boardinitialize
*
@@ -110,7 +172,8 @@
*
************************************************************************************/
__EXPORT void stm32_boardinitialize(void)
__EXPORT void
stm32_boardinitialize(void)
{
/* configure SPI interfaces */
stm32_spiinitialize();
@@ -170,6 +233,9 @@ __EXPORT int nsh_archinitialize(void)
/* configure the high-resolution time/callout interface */
hrt_init();
/* configure the DMA allocator */
dma_alloc_init();
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
src/drivers/boards/px4io-v2/board_config.h
+1 -1
View File
@@ -84,7 +84,7 @@
/* Power switch controls ******************************************************/
#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
#define GPIO_SERVO_FAULT_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN15)
src/drivers/boards/px4io-v2/px4iov2_init.c
+1 -3
View File
@@ -111,9 +111,7 @@ __EXPORT void stm32_boardinitialize(void)
stm32_configgpio(GPIO_BTN_SAFETY);
/* spektrum power enable is active high - disable it by default */
/* XXX might not want to do this on warm restart? */
stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, false);
/* spektrum power enable is active high - enable it by default */
stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
stm32_configgpio(GPIO_SERVO_FAULT_DETECT);
src/drivers/device/ringbuffer.h
+368 -62
View File
@@ -1,7 +1,6 @@
/****************************************************************************
*
* 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
@@ -35,15 +34,14 @@
/**
* @file ringbuffer.h
*
* A simple ringbuffer template.
* A flexible ringbuffer class.
*/
#pragma once
template<typename T>
class RingBuffer {
public:
RingBuffer(unsigned size);
RingBuffer(unsigned ring_size, size_t entry_size);
virtual ~RingBuffer();
/**
@@ -52,15 +50,37 @@ public:
* @param val Item to put
* @return true if the item was put, false if the buffer is full
*/
bool put(T &val);
bool put(const void *val, size_t val_size = 0);
bool put(int8_t val);
bool put(uint8_t val);
bool put(int16_t val);
bool put(uint16_t val);
bool put(int32_t val);
bool put(uint32_t val);
bool put(int64_t val);
bool put(uint64_t val);
bool put(float val);
bool put(double val);
/**
* Put an item into the buffer.
* Force an item into the buffer, discarding an older item if there is not space.
*
* @param val Item to put
* @return true if the item was put, false if the buffer is full
* @return true if an item was discarded to make space
*/
bool put(const T &val);
bool force(const void *val, size_t val_size = 0);
bool force(int8_t val);
bool force(uint8_t val);
bool force(int16_t val);
bool force(uint16_t val);
bool force(int32_t val);
bool force(uint32_t val);
bool force(int64_t val);
bool force(uint64_t val);
bool force(float val);
bool force(double val);
/**
* Get an item from the buffer.
@@ -68,15 +88,18 @@ public:
* @param val Item that was gotten
* @return true if an item was got, false if the buffer was empty.
*/
bool get(T &val);
bool get(void *val, size_t val_size = 0);
/**
* Get an item from the buffer (scalars only).
*
* @return The value that was fetched, or zero if the buffer was
* empty.
*/
T get(void);
bool get(int8_t &val);
bool get(uint8_t &val);
bool get(int16_t &val);
bool get(uint16_t &val);
bool get(int32_t &val);
bool get(uint32_t &val);
bool get(int64_t &val);
bool get(uint64_t &val);
bool get(float &val);
bool get(double &val);
/*
* Get the number of slots free in the buffer.
@@ -97,54 +120,103 @@ public:
/*
* Returns true if the buffer is empty.
*/
bool empty() { return _tail == _head; }
bool empty();
/*
* Returns true if the buffer is full.
*/
bool full() { return _next(_head) == _tail; }
bool full();
/*
* Returns the capacity of the buffer, or zero if the buffer could
* not be allocated.
*/
unsigned size() { return (_buf != nullptr) ? _size : 0; }
unsigned size();
/*
* Empties the buffer.
*/
void flush() { _head = _tail = _size; }
void flush();
/*
* resize the buffer. This is unsafe to be called while
* a producer or consuming is running. Caller is responsible
* for any locking needed
*
* @param new_size new size for buffer
* @return true if the resize succeeds, false if
* not (allocation error)
*/
bool resize(unsigned new_size);
/*
* printf() some info on the buffer
*/
void print_info(const char *name);
private:
T *const _buf;
const unsigned _size;
volatile unsigned _head; /**< insertion point */
volatile unsigned _tail; /**< removal point */
unsigned _num_items;
const size_t _item_size;
char *_buf;
volatile unsigned _head; /**< insertion point in _item_size units */
volatile unsigned _tail; /**< removal point in _item_size units */
unsigned _next(unsigned index);
};
template <typename T>
RingBuffer<T>::RingBuffer(unsigned with_size) :
_buf(new T[with_size + 1]),
_size(with_size),
_head(with_size),
_tail(with_size)
RingBuffer::RingBuffer(unsigned num_items, size_t item_size) :
_num_items(num_items),
_item_size(item_size),
_buf(new char[(_num_items+1) * item_size]),
_head(_num_items),
_tail(_num_items)
{}
template <typename T>
RingBuffer<T>::~RingBuffer()
RingBuffer::~RingBuffer()
{
if (_buf != nullptr)
delete[] _buf;
}
template <typename T>
bool RingBuffer<T>::put(T &val)
unsigned
RingBuffer::_next(unsigned index)
{
return (0 == index) ? _num_items : (index - 1);
}
bool
RingBuffer::empty()
{
return _tail == _head;
}
bool
RingBuffer::full()
{
return _next(_head) == _tail;
}
unsigned
RingBuffer::size()
{
return (_buf != nullptr) ? _num_items : 0;
}
void
RingBuffer::flush()
{
while (!empty())
get(NULL);
}
bool
RingBuffer::put(const void *val, size_t val_size)
{
unsigned next = _next(_head);
if (next != _tail) {
_buf[_head] = val;
if ((val_size == 0) || (val_size > _item_size))
val_size = _item_size;
memcpy(&_buf[_head * _item_size], val, val_size);
_head = next;
return true;
} else {
@@ -152,52 +224,286 @@ bool RingBuffer<T>::put(T &val)
}
}
template <typename T>
bool RingBuffer<T>::put(const T &val)
bool
RingBuffer::put(int8_t val)
{
unsigned next = _next(_head);
if (next != _tail) {
_buf[_head] = val;
_head = next;
return true;
} else {
return false;
}
return put(&val, sizeof(val));
}
template <typename T>
bool RingBuffer<T>::get(T &val)
bool
RingBuffer::put(uint8_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(int16_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(uint16_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(int32_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(uint32_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(int64_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(uint64_t val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(float val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::put(double val)
{
return put(&val, sizeof(val));
}
bool
RingBuffer::force(const void *val, size_t val_size)
{
bool overwrote = false;
for (;;) {
if (put(val, val_size))
break;
get(NULL);
overwrote = true;
}
return overwrote;
}
bool
RingBuffer::force(int8_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(uint8_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(int16_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(uint16_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(int32_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(uint32_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(int64_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(uint64_t val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(float val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::force(double val)
{
return force(&val, sizeof(val));
}
bool
RingBuffer::get(void *val, size_t val_size)
{
if (_tail != _head) {
val = _buf[_tail];
_tail = _next(_tail);
unsigned candidate;
unsigned next;
if ((val_size == 0) || (val_size > _item_size))
val_size = _item_size;
do {
/* decide which element we think we're going to read */
candidate = _tail;
/* and what the corresponding next index will be */
next = _next(candidate);
/* go ahead and read from this index */
if (val != NULL)
memcpy(val, &_buf[candidate * _item_size], val_size);
/* if the tail pointer didn't change, we got our item */
} while (!__sync_bool_compare_and_swap(&_tail, candidate, next));
return true;
} else {
return false;
}
}
template <typename T>
T RingBuffer<T>::get(void)
bool
RingBuffer::get(int8_t &val)
{
T val;
return get(val) ? val : 0;
return get(&val, sizeof(val));
}
template <typename T>
unsigned RingBuffer<T>::space(void)
bool
RingBuffer::get(uint8_t &val)
{
return (_tail >= _head) ? (_size - (_tail - _head)) : (_head - _tail - 1);
return get(&val, sizeof(val));
}
template <typename T>
unsigned RingBuffer<T>::count(void)
bool
RingBuffer::get(int16_t &val)
{
return _size - space();
return get(&val, sizeof(val));
}
template <typename T>
unsigned RingBuffer<T>::_next(unsigned index)
bool
RingBuffer::get(uint16_t &val)
{
return (0 == index) ? _size : (index - 1);
return get(&val, sizeof(val));
}
bool
RingBuffer::get(int32_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(uint32_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(int64_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(uint64_t &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(float &val)
{
return get(&val, sizeof(val));
}
bool
RingBuffer::get(double &val)
{
return get(&val, sizeof(val));
}
unsigned
RingBuffer::space(void)
{
unsigned tail, head;
/*
* Make a copy of the head/tail pointers in a fashion that
* may err on the side of under-estimating the free space
* in the buffer in the case that the buffer is being updated
* asynchronously with our check.
* If the head pointer changes (reducing space) while copying,
* re-try the copy.
*/
do {
head = _head;
tail = _tail;
} while (head != _head);
return (tail >= head) ? (_num_items - (tail - head)) : (head - tail - 1);
}
unsigned
RingBuffer::count(void)
{
/*
* Note that due to the conservative nature of space(), this may
* over-estimate the number of items in the buffer.
*/
return _num_items - space();
}
bool
RingBuffer::resize(unsigned new_size)
{
char *old_buffer;
char *new_buffer = new char [(new_size+1) * _item_size];
if (new_buffer == nullptr) {
return false;
}
old_buffer = _buf;
_buf = new_buffer;
_num_items = new_size;
_head = new_size;
_tail = new_size;
delete[] old_buffer;
return true;
}
void
RingBuffer::print_info(const char *name)
{
printf("%s %u/%u (%u/%u @ %p)\n",
name,
_num_items,
_num_items * _item_size,
_head,
_tail,
_buf);
}
src/drivers/device/spi.cpp
+29 -5
View File
@@ -67,6 +67,7 @@ SPI::SPI(const char *name,
CDev(name, devname, irq),
// public
// protected
locking_mode(LOCK_PREEMPTION),
// private
_bus(bus),
_device(device),
@@ -132,13 +133,25 @@ SPI::probe()
int
SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
{
irqstate_t state;
if ((send == nullptr) && (recv == nullptr))
return -EINVAL;
/* do common setup */
if (!up_interrupt_context())
SPI_LOCK(_dev, true);
/* lock the bus as required */
if (!up_interrupt_context()) {
switch (locking_mode) {
default:
case LOCK_PREEMPTION:
state = irqsave();
break;
case LOCK_THREADS:
SPI_LOCK(_dev, true);
break;
case LOCK_NONE:
break;
}
}
SPI_SETFREQUENCY(_dev, _frequency);
SPI_SETMODE(_dev, _mode);
@@ -151,8 +164,19 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
/* and clean up */
SPI_SELECT(_dev, _device, false);
if (!up_interrupt_context())
SPI_LOCK(_dev, false);
if (!up_interrupt_context()) {
switch (locking_mode) {
default:
case LOCK_PREEMPTION:
irqrestore(state);
break;
case LOCK_THREADS:
SPI_LOCK(_dev, false);
break;
case LOCK_NONE:
break;
}
}
return OK;
}
src/drivers/device/spi.h
+11
View File
@@ -101,6 +101,17 @@ protected:
*/
int transfer(uint8_t *send, uint8_t *recv, unsigned len);
/**
* Locking modes supported by the driver.
*/
enum LockMode {
LOCK_PREEMPTION, /**< the default; lock against all forms of preemption. */
LOCK_THREADS, /**< lock only against other threads, using SPI_LOCK */
LOCK_NONE /**< perform no locking, only safe if the bus is entirely private */
};
LockMode locking_mode; /**< selected locking mode */
private:
int _bus;
enum spi_dev_e _device;
src/drivers/drv_gps.h
+1 -2
View File
@@ -51,8 +51,7 @@
typedef enum {
GPS_DRIVER_MODE_NONE = 0,
GPS_DRIVER_MODE_UBX,
GPS_DRIVER_MODE_MTK,
GPS_DRIVER_MODE_NMEA,
GPS_DRIVER_MODE_MTK
} gps_driver_mode_t;
src/drivers/drv_pwm_output.h
+3
View File
@@ -119,6 +119,9 @@ ORB_DECLARE(output_pwm);
/** start DSM bind */
#define DSM_BIND_START _IOC(_PWM_SERVO_BASE, 7)
#define DSM2_BIND_PULSES 3 /* DSM_BIND_START ioctl parameter, pulses required to start dsm2 pairing */
#define DSMX_BIND_PULSES 7 /* DSM_BIND_START ioctl parameter, pulses required to start dsmx pairing */
/** power up DSM receiver */
#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 8)
src/drivers/drv_tone_alarm.h
+3
View File
@@ -60,6 +60,8 @@
#include <sys/ioctl.h>
#define TONEALARM_DEVICE_PATH "/dev/tone_alarm"
#define _TONE_ALARM_BASE 0x7400
#define TONE_SET_ALARM _IOC(_TONE_ALARM_BASE, 1)
@@ -142,6 +144,7 @@ enum {
TONE_ARMING_WARNING_TUNE,
TONE_BATTERY_WARNING_SLOW_TUNE,
TONE_BATTERY_WARNING_FAST_TUNE,
TONE_GPS_WARNING_TUNE,
TONE_NUMBER_OF_TUNES
};
src/drivers/ets_airspeed/ets_airspeed.cpp
+12 -16
View File
@@ -68,6 +68,7 @@
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/differential_pressure.h>
@@ -173,27 +174,22 @@ ETSAirspeed::collect()
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].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;
if (diff_pres_pa > _max_differential_pressure_pa) {
_max_differential_pressure_pa = diff_pres_pa;
}
// XXX we may want to smooth out the readings to remove noise.
differential_pressure_s report;
report.timestamp = hrt_absolute_time();
report.differential_pressure_pa = diff_pres_pa;
report.voltage = 0;
report.max_differential_pressure_pa = _max_differential_pressure_pa;
/* announce the airspeed if needed, just publish else */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &_reports[_next_report]);
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &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);
}
new_report(report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
src/drivers/gps/gps.cpp
+66 -40
View File
@@ -85,7 +85,7 @@ static const int ERROR = -1;
class GPS : public device::CDev
{
public:
GPS(const char* uart_path);
GPS(const char *uart_path);
virtual ~GPS();
virtual int init();
@@ -156,7 +156,7 @@ GPS *g_dev;
}
GPS::GPS(const char* uart_path) :
GPS::GPS(const char *uart_path) :
CDev("gps", GPS_DEVICE_PATH),
_task_should_exit(false),
_healthy(false),
@@ -192,6 +192,7 @@ GPS::~GPS()
/* well, kill it anyway, though this will probably crash */
if (_task != -1)
task_delete(_task);
g_dev = nullptr;
}
@@ -270,19 +271,20 @@ GPS::task_main()
}
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
_Helper = new UBX(_serial_fd, &_report);
break;
case GPS_DRIVER_MODE_MTK:
_Helper = new MTK(_serial_fd, &_report);
break;
case GPS_DRIVER_MODE_NMEA:
//_Helper = new NMEA(); //TODO: add NMEA
break;
default:
break;
case GPS_DRIVER_MODE_UBX:
_Helper = new UBX(_serial_fd, &_report);
break;
case GPS_DRIVER_MODE_MTK:
_Helper = new MTK(_serial_fd, &_report);
break;
default:
break;
}
unlock();
if (_Helper->configure(_baudrate) == 0) {
unlock();
@@ -294,6 +296,7 @@ GPS::task_main()
/* opportunistic publishing - else invalid data would end up on the bus */
if (_report_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
} else {
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
}
@@ -310,10 +313,26 @@ GPS::task_main()
}
if (!_healthy) {
warnx("module found");
char *mode_str = "unknown";
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
mode_str = "UBX";
break;
case GPS_DRIVER_MODE_MTK:
mode_str = "MTK";
break;
default:
break;
}
warnx("module found: %s", mode_str);
_healthy = true;
}
}
if (_healthy) {
warnx("module lost");
_healthy = false;
@@ -322,25 +341,26 @@ GPS::task_main()
lock();
}
lock();
/* select next mode */
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
_mode = GPS_DRIVER_MODE_MTK;
break;
case GPS_DRIVER_MODE_MTK:
_mode = GPS_DRIVER_MODE_UBX;
break;
// case GPS_DRIVER_MODE_NMEA:
// _mode = GPS_DRIVER_MODE_UBX;
// break;
default:
break;
case GPS_DRIVER_MODE_UBX:
_mode = GPS_DRIVER_MODE_MTK;
break;
case GPS_DRIVER_MODE_MTK:
_mode = GPS_DRIVER_MODE_UBX;
break;
default:
break;
}
}
debug("exiting");
warnx("exiting");
::close(_serial_fd);
@@ -361,23 +381,25 @@ void
GPS::print_info()
{
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
warnx("protocol: UBX");
break;
case GPS_DRIVER_MODE_MTK:
warnx("protocol: MTK");
break;
case GPS_DRIVER_MODE_NMEA:
warnx("protocol: NMEA");
break;
default:
break;
case GPS_DRIVER_MODE_UBX:
warnx("protocol: UBX");
break;
case GPS_DRIVER_MODE_MTK:
warnx("protocol: MTK");
break;
default:
break;
}
warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK");
if (_report.timestamp_position != 0) {
warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type,
(double)((float)(hrt_absolute_time() - _report.timestamp_position) / 1000000.0f));
warnx("position lock: %dD, satellites: %d, last update: %fms ago", (int)_report.fix_type,
_report.satellites_visible, (hrt_absolute_time() - _report.timestamp_position) / 1000.0f);
warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
warnx("eph: %.2fm, epv: %.2fm", _report.eph_m, _report.epv_m);
warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate());
warnx("rate publication:\t%6.2f Hz", (double)_rate);
@@ -428,6 +450,7 @@ start(const char *uart_path)
errx(1, "Could not open device path: %s\n", GPS_DEVICE_PATH);
goto fail;
}
exit(0);
fail:
@@ -503,7 +526,7 @@ gps_main(int argc, char *argv[])
{
/* set to default */
char* device_name = GPS_DEFAULT_UART_PORT;
char *device_name = GPS_DEFAULT_UART_PORT;
/*
* Start/load the driver.
@@ -513,15 +536,18 @@ gps_main(int argc, char *argv[])
if (argc > 3) {
if (!strcmp(argv[2], "-d")) {
device_name = argv[3];
} else {
goto out;
}
}
gps::start(device_name);
}
if (!strcmp(argv[1], "stop"))
gps::stop();
/*
* Test the driver/device.
*/
src/drivers/gps/gps_helper.cpp
+6 -1
View File
@@ -87,13 +87,15 @@ GPS_Helper::set_baudrate(const int &fd, unsigned baud)
case 115200: speed = B115200; break;
warnx("try baudrate: %d\n", speed);
warnx("try baudrate: %d\n", speed);
default:
warnx("ERROR: Unsupported baudrate: %d\n", baud);
return -EINVAL;
}
struct termios uart_config;
int termios_state;
/* fill the struct for the new configuration */
@@ -109,14 +111,17 @@ GPS_Helper::set_baudrate(const int &fd, unsigned baud)
warnx("ERROR setting config: %d (cfsetispeed)\n", termios_state);
return -1;
}
if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
warnx("ERROR setting config: %d (cfsetospeed)\n", termios_state);
return -1;
}
if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
warnx("ERROR setting baudrate (tcsetattr)\n");
return -1;
}
/* XXX if resetting the parser here, ensure it does exist (check for null pointer) */
return 0;
}
src/drivers/gps/gps_helper.h
+1 -1
View File
@@ -33,7 +33,7 @@
*
****************************************************************************/
/**
/**
* @file gps_helper.h
*/
src/drivers/gps/mtk.cpp
+20 -6
View File
@@ -48,9 +48,9 @@
MTK::MTK(const int &fd, struct vehicle_gps_position_s *gps_position) :
_fd(fd),
_gps_position(gps_position),
_mtk_revision(0)
_fd(fd),
_gps_position(gps_position),
_mtk_revision(0)
{
decode_init();
}
@@ -73,24 +73,28 @@ MTK::configure(unsigned &baudrate)
warnx("mtk: config write failed");
return -1;
}
usleep(10000);
if (strlen(MTK_SET_BINARY) != write(_fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY))) {
warnx("mtk: config write failed");
return -1;
}
usleep(10000);
if (strlen(SBAS_ON) != write(_fd, SBAS_ON, strlen(SBAS_ON))) {
warnx("mtk: config write failed");
return -1;
}
usleep(10000);
if (strlen(WAAS_ON) != write(_fd, WAAS_ON, strlen(WAAS_ON))) {
warnx("mtk: config write failed");
return -1;
}
usleep(10000);
if (strlen(MTK_NAVTHRES_OFF) != write(_fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF))) {
@@ -128,12 +132,15 @@ MTK::receive(unsigned timeout)
handle_message(packet);
return 1;
}
/* in case we keep trying but only get crap from GPS */
if (time_started + timeout*1000 < hrt_absolute_time() ) {
if (time_started + timeout * 1000 < hrt_absolute_time()) {
return -1;
}
j++;
}
/* everything is read */
j = count = 0;
}
@@ -181,6 +188,7 @@ MTK::parse_char(uint8_t b, gps_mtk_packet_t &packet)
if (b == MTK_SYNC1_V16) {
_decode_state = MTK_DECODE_GOT_CK_A;
_mtk_revision = 16;
} else if (b == MTK_SYNC1_V19) {
_decode_state = MTK_DECODE_GOT_CK_A;
_mtk_revision = 19;
@@ -201,7 +209,7 @@ MTK::parse_char(uint8_t b, gps_mtk_packet_t &packet)
add_byte_to_checksum(b);
// Fill packet buffer
((uint8_t*)(&packet))[_rx_count] = b;
((uint8_t *)(&packet))[_rx_count] = b;
_rx_count++;
/* Packet size minus checksum, XXX ? */
@@ -209,14 +217,17 @@ MTK::parse_char(uint8_t b, gps_mtk_packet_t &packet)
/* Compare checksum */
if (_rx_ck_a == packet.ck_a && _rx_ck_b == packet.ck_b) {
ret = 1;
} else {
warnx("MTK Checksum invalid");
ret = -1;
}
// Reset state machine to decode next packet
decode_init();
}
}
return ret;
}
@@ -226,19 +237,22 @@ MTK::handle_message(gps_mtk_packet_t &packet)
if (_mtk_revision == 16) {
_gps_position->lat = packet.latitude * 10; // from degrees*1e6 to degrees*1e7
_gps_position->lon = packet.longitude * 10; // from degrees*1e6 to degrees*1e7
} else if (_mtk_revision == 19) {
_gps_position->lat = packet.latitude; // both degrees*1e7
_gps_position->lon = packet.longitude; // both degrees*1e7
} else {
warnx("mtk: unknown revision");
_gps_position->lat = 0;
_gps_position->lon = 0;
}
_gps_position->alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm
_gps_position->fix_type = packet.fix_type;
_gps_position->eph_m = packet.hdop; // XXX: Check this because eph_m is in m and hdop is without unit
_gps_position->epv_m = 0.0; //unknown in mtk custom mode
_gps_position->vel_m_s = ((float)packet.ground_speed)*1e-2f; // from cm/s to m/s
_gps_position->vel_m_s = ((float)packet.ground_speed) * 1e-2f; // from cm/s to m/s
_gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad
_gps_position->satellites_visible = packet.satellites;
src/drivers/gps/ubx.cpp
+33 -24
View File
@@ -60,13 +60,14 @@
#define UBX_CONFIG_TIMEOUT 200 // ms, timeout for waiting ACK
#define UBX_PACKET_TIMEOUT 2 // ms, if now data during this delay assume that full update received
#define UBX_WAIT_BEFORE_READ 20 // ms, wait before reading to save read() calls
#define DISABLE_MSG_INTERVAL 1000000 // us, try to disable message with this interval
UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position) :
_fd(fd),
_gps_position(gps_position),
_configured(false),
_waiting_for_ack(false),
_disable_cmd_counter(0)
_disable_cmd_last(0)
{
decode_init();
}
@@ -191,35 +192,35 @@ UBX::configure(unsigned &baudrate)
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_POSLLH, 1);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("ubx: msg rate configuration failed: NAV POSLLH\n");
warnx("ubx: msg rate configuration failed: NAV POSLLH");
return 1;
}
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_TIMEUTC, 1);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("ubx: msg rate configuration failed: NAV TIMEUTC\n");
warnx("ubx: msg rate configuration failed: NAV TIMEUTC");
return 1;
}
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SOL, 1);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("ubx: msg rate configuration failed: NAV SOL\n");
warnx("ubx: msg rate configuration failed: NAV SOL");
return 1;
}
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_VELNED, 1);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("ubx: msg rate configuration failed: NAV VELNED\n");
warnx("ubx: msg rate configuration failed: NAV VELNED");
return 1;
}
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, 5);
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
warnx("ubx: msg rate configuration failed: NAV SVINFO\n");
warnx("ubx: msg rate configuration failed: NAV SVINFO");
return 1;
}
@@ -271,11 +272,17 @@ UBX::receive(unsigned timeout)
if (ret < 0) {
/* something went wrong when polling */
warnx("ubx: poll error");
return -1;
} else if (ret == 0) {
/* return success after short delay after receiving a packet or timeout after long delay */
return handled ? 1 : -1;
if (handled) {
return 1;
} else {
return -1;
}
} else if (ret > 0) {
/* if we have new data from GPS, go handle it */
@@ -292,8 +299,6 @@ UBX::receive(unsigned timeout)
/* pass received bytes to the packet decoder */
for (int i = 0; i < count; i++) {
if (parse_char(buf[i]) > 0) {
/* return to configure during configuration or to the gps driver during normal work
* if a packet has arrived */
if (handle_message() > 0)
handled = true;
}
@@ -303,6 +308,7 @@ UBX::receive(unsigned timeout)
/* abort after timeout if no useful packets received */
if (time_started + timeout * 1000 < hrt_absolute_time()) {
warnx("ubx: timeout - no useful messages");
return -1;
}
}
@@ -453,16 +459,16 @@ UBX::handle_message()
timeinfo.tm_min = packet->min;
timeinfo.tm_sec = packet->sec;
time_t epoch = mktime(&timeinfo);
#ifndef CONFIG_RTC
//Since we lack a hardware RTC, set the system time clock based on GPS UTC
//TODO generalize this by moving into gps.cpp?
timespec ts;
ts.tv_sec = epoch;
ts.tv_nsec = packet->time_nanoseconds;
clock_settime(CLOCK_REALTIME,&ts);
//Since we lack a hardware RTC, set the system time clock based on GPS UTC
//TODO generalize this by moving into gps.cpp?
timespec ts;
ts.tv_sec = epoch;
ts.tv_nsec = packet->time_nanoseconds;
clock_settime(CLOCK_REALTIME, &ts);
#endif
_gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
_gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f);
_gps_position->timestamp_time = hrt_absolute_time();
@@ -564,10 +570,13 @@ UBX::handle_message()
if (ret == 0) {
/* message not handled */
warnx("ubx: unknown message received: 0x%02x-0x%02x\n", (unsigned)_message_class, (unsigned)_message_id);
warnx("ubx: unknown message received: 0x%02x-0x%02x", (unsigned)_message_class, (unsigned)_message_id);
if ((_disable_cmd_counter = _disable_cmd_counter++ % 10) == 0) {
hrt_abstime t = hrt_absolute_time();
if (t > _disable_cmd_last + DISABLE_MSG_INTERVAL) {
/* don't attempt for every message to disable, some might not be disabled */
_disable_cmd_last = t;
warnx("ubx: disabling message 0x%02x-0x%02x", (unsigned)_message_class, (unsigned)_message_id);
configure_message_rate(_message_class, _message_id, 0);
}
@@ -640,7 +649,7 @@ UBX::add_checksum_to_message(uint8_t *message, const unsigned length)
ck_b = ck_b + ck_a;
}
/* The checksum is written to the last to bytes of a message */
/* the checksum is written to the last to bytes of a message */
message[length - 2] = ck_a;
message[length - 1] = ck_b;
}
@@ -669,17 +678,17 @@ UBX::send_config_packet(const int &fd, uint8_t *packet, const unsigned length)
{
ssize_t ret = 0;
/* Calculate the checksum now */
/* calculate the checksum now */
add_checksum_to_message(packet, length);
const uint8_t sync_bytes[] = {UBX_SYNC1, UBX_SYNC2};
/* Start with the two sync bytes */
/* start with the two sync bytes */
ret += write(fd, sync_bytes, sizeof(sync_bytes));
ret += write(fd, packet, length);
if (ret != (int)length + (int)sizeof(sync_bytes)) // XXX is there a neater way to get rid of the unsigned signed warning?
warnx("ubx: config write fail");
warnx("ubx: configuration write fail");
}
void
@@ -696,7 +705,7 @@ UBX::send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint8_t size)
add_checksum((uint8_t *)&header.msg_class, sizeof(header) - 2, ck_a, ck_b);
add_checksum((uint8_t *)msg, size, ck_a, ck_b);
// Configure receive check
/* configure ACK check */
_message_class_needed = msg_class;
_message_id_needed = msg_id;
src/drivers/gps/ubx.h
+3 -3
View File
@@ -347,7 +347,7 @@ private:
/**
* Add the two checksum bytes to an outgoing message
*/
void add_checksum_to_message(uint8_t* message, const unsigned length);
void add_checksum_to_message(uint8_t *message, const unsigned length);
/**
* Helper to send a config packet
@@ -358,7 +358,7 @@ private:
void send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint8_t size);
void add_checksum(uint8_t* message, const unsigned length, uint8_t &ck_a, uint8_t &ck_b);
void add_checksum(uint8_t *message, const unsigned length, uint8_t &ck_a, uint8_t &ck_b);
int wait_for_ack(unsigned timeout);
@@ -376,7 +376,7 @@ private:
uint8_t _message_class;
uint8_t _message_id;
unsigned _payload_size;
uint8_t _disable_cmd_counter;
uint8_t _disable_cmd_last;
};
#endif /* UBX_H_ */
src/drivers/hmc5883/hmc5883.cpp
+44 -69
View File
@@ -65,6 +65,7 @@
#include <drivers/drv_mag.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
@@ -148,10 +149,7 @@ private:
work_s _work;
unsigned _measure_ticks;
unsigned _num_reports;
volatile unsigned _next_report;
volatile unsigned _oldest_report;
mag_report *_reports;
RingBuffer *_reports;
mag_scale _scale;
float _range_scale;
float _range_ga;
@@ -310,9 +308,6 @@ private:
};
/* helper macro for handling report buffer indices */
#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
/*
* Driver 'main' command.
*/
@@ -322,9 +317,6 @@ extern "C" __EXPORT int hmc5883_main(int argc, char *argv[]);
HMC5883::HMC5883(int bus) :
I2C("HMC5883", MAG_DEVICE_PATH, bus, HMC5883L_ADDRESS, 400000),
_measure_ticks(0),
_num_reports(0),
_next_report(0),
_oldest_report(0),
_reports(nullptr),
_range_scale(0), /* default range scale from counts to gauss */
_range_ga(1.3f),
@@ -356,9 +348,8 @@ HMC5883::~HMC5883()
/* make sure we are truly inactive */
stop();
/* free any existing reports */
if (_reports != nullptr)
delete[] _reports;
delete _reports;
// free perf counters
perf_free(_sample_perf);
@@ -375,21 +366,18 @@ HMC5883::init()
if (I2C::init() != OK)
goto out;
/* reset the device configuration */
reset();
/* allocate basic report buffers */
_num_reports = 2;
_reports = new struct mag_report[_num_reports];
_reports = new RingBuffer(2, sizeof(mag_report));
if (_reports == nullptr)
goto out;
_oldest_report = _next_report = 0;
/* reset the device configuration */
reset();
/* get a publish handle on the mag topic */
memset(&_reports[0], 0, sizeof(_reports[0]));
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &_reports[0]);
struct mag_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_report);
if (_mag_topic < 0)
debug("failed to create sensor_mag object");
@@ -493,6 +481,7 @@ ssize_t
HMC5883::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct mag_report);
struct mag_report *mag_buf = reinterpret_cast<struct mag_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
@@ -501,17 +490,15 @@ HMC5883::read(struct file *filp, char *buffer, size_t buflen)
/* 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 (_reports->get(mag_buf)) {
ret += sizeof(struct mag_report);
mag_buf++;
}
}
@@ -522,7 +509,7 @@ HMC5883::read(struct file *filp, char *buffer, size_t buflen)
/* manual measurement - run one conversion */
/* XXX really it'd be nice to lock against other readers here */
do {
_oldest_report = _next_report = 0;
_reports->flush();
/* trigger a measurement */
if (OK != measure()) {
@@ -539,10 +526,9 @@ HMC5883::read(struct file *filp, char *buffer, size_t buflen)
break;
}
/* state machine will have generated a report, copy it out */
memcpy(buffer, _reports, sizeof(*_reports));
ret = sizeof(*_reports);
if (_reports->get(mag_buf)) {
ret = sizeof(struct mag_report);
}
} while (0);
return ret;
@@ -615,31 +601,22 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
return 1000000/TICK2USEC(_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))
if ((arg < 1) || (arg > 100))
return -EINVAL;
/* allocate new buffer */
struct mag_report *buf = new struct mag_report[arg];
if (nullptr == buf)
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
/* reset the measurement state machine with the new buffer, free the old */
stop();
delete[] _reports;
_num_reports = arg;
_reports = buf;
start();
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _num_reports - 1;
return _reports->size();
case SENSORIOCRESET:
return reset();
@@ -701,7 +678,7 @@ HMC5883::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_oldest_report = _next_report = 0;
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&HMC5883::cycle_trampoline, this, 1);
@@ -810,9 +787,10 @@ HMC5883::collect()
perf_begin(_sample_perf);
struct mag_report new_report;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
_reports[_next_report].timestamp = hrt_absolute_time();
new_report.timestamp = hrt_absolute_time();
/*
* @note We could read the status register here, which could tell us that
@@ -842,8 +820,10 @@ HMC5883::collect()
*/
if ((abs(report.x) > 2048) ||
(abs(report.y) > 2048) ||
(abs(report.z) > 2048))
(abs(report.z) > 2048)) {
perf_count(_comms_errors);
goto out;
}
/*
* RAW outputs
@@ -851,10 +831,10 @@ HMC5883::collect()
* to align the sensor axes with the board, x and y need to be flipped
* and y needs to be negated
*/
_reports[_next_report].x_raw = report.y;
_reports[_next_report].y_raw = ((report.x == -32768) ? 32767 : -report.x);
new_report.x_raw = report.y;
new_report.y_raw = -report.x;
/* z remains z */
_reports[_next_report].z_raw = report.z;
new_report.z_raw = report.z;
/* scale values for output */
@@ -876,34 +856,30 @@ HMC5883::collect()
#ifdef PX4_I2C_BUS_ONBOARD
if (_bus == PX4_I2C_BUS_ONBOARD) {
/* to align the sensor axes with the board, x and y need to be flipped */
_reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
new_report.x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
/* flip axes and negate value for y */
_reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale;
new_report.y = ((-report.x * _range_scale) - _scale.y_offset) * _scale.y_scale;
/* z remains z */
_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
new_report.z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
} else {
#endif
/* the standard external mag by 3DR has x pointing to the right, y pointing backwards, and z down,
* therefore switch x and y and invert y */
_reports[_next_report].x = ((((report.y == -32768) ? 32767 : -report.y) * _range_scale) - _scale.x_offset) * _scale.x_scale;
new_report.x = ((-report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
/* flip axes and negate value for y */
_reports[_next_report].y = ((report.x * _range_scale) - _scale.y_offset) * _scale.y_scale;
new_report.y = ((report.x * _range_scale) - _scale.y_offset) * _scale.y_scale;
/* z remains z */
_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
new_report.z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
#ifdef PX4_I2C_BUS_ONBOARD
}
#endif
/* publish it */
orb_publish(ORB_ID(sensor_mag), _mag_topic, &_reports[_next_report]);
orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_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) {
/* post a report to the ring */
if (_reports->force(&new_report)) {
perf_count(_buffer_overflows);
INCREMENT(_oldest_report, _num_reports);
}
/* notify anyone waiting for data */
@@ -1222,8 +1198,7 @@ HMC5883::print_info()
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);
_reports->print_info("report queue");
}
/**
@@ -1332,7 +1307,7 @@ test()
errx(1, "failed to get if mag is onboard or external");
warnx("device active: %s", ret ? "external" : "onboard");
/* set the queue depth to 10 */
/* set the queue depth to 5 */
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10))
errx(1, "failed to set queue depth");
src/drivers/l3gd20/l3gd20.cpp
+59 -77
View File
@@ -61,6 +61,7 @@
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <drivers/drv_gyro.h>
#include <drivers/device/ringbuffer.h>
#include <board_config.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
@@ -183,11 +184,8 @@ private:
struct hrt_call _call;
unsigned _call_interval;
unsigned _num_reports;
volatile unsigned _next_report;
volatile unsigned _oldest_report;
struct gyro_report *_reports;
RingBuffer *_reports;
struct gyro_scale _gyro_scale;
float _gyro_range_scale;
@@ -299,16 +297,9 @@ private:
int self_test();
};
/* helper macro for handling report buffer indices */
#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) :
SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 8000000),
_call_interval(0),
_num_reports(0),
_next_report(0),
_oldest_report(0),
_reports(nullptr),
_gyro_range_scale(0.0f),
_gyro_range_rad_s(0.0f),
@@ -340,7 +331,7 @@ L3GD20::~L3GD20()
/* free any existing reports */
if (_reports != nullptr)
delete[] _reports;
delete _reports;
/* delete the perf counter */
perf_free(_sample_perf);
@@ -356,16 +347,15 @@ L3GD20::init()
goto out;
/* allocate basic report buffers */
_num_reports = 2;
_oldest_report = _next_report = 0;
_reports = new struct gyro_report[_num_reports];
_reports = new RingBuffer(2, sizeof(gyro_report));
if (_reports == nullptr)
goto out;
/* advertise sensor topic */
memset(&_reports[0], 0, sizeof(_reports[0]));
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_reports[0]);
struct gyro_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &zero_report);
reset();
@@ -380,6 +370,8 @@ L3GD20::probe()
/* read dummy value to void to clear SPI statemachine on sensor */
(void)read_reg(ADDR_WHO_AM_I);
bool success = false;
/* verify that the device is attached and functioning, accept L3GD20 and L3GD20H */
if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) {
@@ -390,15 +382,19 @@ L3GD20::probe()
#else
#error This driver needs a board selection, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2
#endif
return OK;
success = true;
}
if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM_H) {
_orientation = SENSOR_BOARD_ROTATION_180_DEG;
return OK;
success = true;
}
if (success)
return OK;
return -EIO;
}
@@ -406,6 +402,7 @@ ssize_t
L3GD20::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct gyro_report);
struct gyro_report *gbuf = reinterpret_cast<struct gyro_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
@@ -421,10 +418,9 @@ L3GD20::read(struct file *filp, char *buffer, size_t buflen)
* we are careful to avoid racing with it.
*/
while (count--) {
if (_oldest_report != _next_report) {
memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
ret += sizeof(_reports[0]);
INCREMENT(_oldest_report, _num_reports);
if (_reports->get(gbuf)) {
ret += sizeof(*gbuf);
gbuf++;
}
}
@@ -433,12 +429,13 @@ L3GD20::read(struct file *filp, char *buffer, size_t buflen)
}
/* manual measurement */
_oldest_report = _next_report = 0;
_reports->flush();
measure();
/* measurement will have generated a report, copy it out */
memcpy(buffer, _reports, sizeof(*_reports));
ret = sizeof(*_reports);
if (_reports->get(gbuf)) {
ret = sizeof(*gbuf);
}
return ret;
}
@@ -506,31 +503,22 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
return 1000000 / _call_interval;
case SENSORIOCSQUEUEDEPTH: {
/* account for sentinel in the ring */
arg++;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100))
return -EINVAL;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100))
return -EINVAL;
/* allocate new buffer */
struct gyro_report *buf = new struct gyro_report[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;
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _num_reports - 1;
return _reports->size();
case SENSORIOCRESET:
reset();
@@ -699,7 +687,7 @@ L3GD20::start()
stop();
/* reset the report ring */
_oldest_report = _next_report = 0;
_reports->flush();
/* start polling at the specified rate */
hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&L3GD20::measure_trampoline, this);
@@ -759,7 +747,7 @@ L3GD20::measure()
} raw_report;
#pragma pack(pop)
gyro_report *report = &_reports[_next_report];
gyro_report report;
/* start the performance counter */
perf_begin(_sample_perf);
@@ -782,61 +770,56 @@ L3GD20::measure()
* the offset is 74 from the origin and subtracting
* 74 from all measurements centers them around zero.
*/
report->timestamp = hrt_absolute_time();
report.timestamp = hrt_absolute_time();
switch (_orientation) {
case SENSOR_BOARD_ROTATION_000_DEG:
/* keep axes in place */
report->x_raw = raw_report.x;
report->y_raw = raw_report.y;
report.x_raw = raw_report.x;
report.y_raw = raw_report.y;
break;
case SENSOR_BOARD_ROTATION_090_DEG:
/* swap x and y */
report->x_raw = raw_report.y;
report->y_raw = raw_report.x;
report.x_raw = raw_report.y;
report.y_raw = raw_report.x;
break;
case SENSOR_BOARD_ROTATION_180_DEG:
/* swap x and y and negate both */
report->x_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
report->y_raw = ((raw_report.y == -32768) ? 32767 : -raw_report.y);
report.x_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
report.y_raw = ((raw_report.y == -32768) ? 32767 : -raw_report.y);
break;
case SENSOR_BOARD_ROTATION_270_DEG:
/* swap x and y and negate y */
report->x_raw = raw_report.y;
report->y_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
report.x_raw = raw_report.y;
report.y_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x);
break;
}
report->z_raw = raw_report.z;
report.z_raw = raw_report.z;
report->x = ((report->x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
report->y = ((report->y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
report->z = ((report->z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
report.x = ((report.x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
report.y = ((report.y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
report.z = ((report.z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
report->x = _gyro_filter_x.apply(report->x);
report->y = _gyro_filter_y.apply(report->y);
report->z = _gyro_filter_z.apply(report->z);
report.x = _gyro_filter_x.apply(report.x);
report.y = _gyro_filter_y.apply(report.y);
report.z = _gyro_filter_z.apply(report.z);
report->scaling = _gyro_range_scale;
report->range_rad_s = _gyro_range_rad_s;
report.scaling = _gyro_range_scale;
report.range_rad_s = _gyro_range_rad_s;
/* post a report to the ring - note, not locked */
INCREMENT(_next_report, _num_reports);
/* if we are running up against the oldest report, fix it */
if (_next_report == _oldest_report)
INCREMENT(_oldest_report, _num_reports);
_reports->force(&report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
/* publish for subscribers */
if (_gyro_topic > 0)
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, report);
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &report);
_read++;
@@ -849,8 +832,7 @@ L3GD20::print_info()
{
printf("gyro reads: %u\n", _read);
perf_print_counter(_sample_perf);
printf("report queue: %u (%u/%u @ %p)\n",
_num_reports, _oldest_report, _next_report, _reports);
_reports->print_info("report queue");
}
int
src/drivers/lsm303d/lsm303d.cpp
+87 -135
View File
@@ -62,6 +62,7 @@
#include <drivers/device/spi.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_mag.h>
#include <drivers/device/ringbuffer.h>
#include <board_config.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
@@ -218,15 +219,8 @@ private:
unsigned _call_accel_interval;
unsigned _call_mag_interval;
unsigned _num_accel_reports;
volatile unsigned _next_accel_report;
volatile unsigned _oldest_accel_report;
struct accel_report *_accel_reports;
unsigned _num_mag_reports;
volatile unsigned _next_mag_report;
volatile unsigned _oldest_mag_report;
struct mag_report *_mag_reports;
RingBuffer *_accel_reports;
RingBuffer *_mag_reports;
struct accel_scale _accel_scale;
unsigned _accel_range_m_s2;
@@ -404,7 +398,7 @@ public:
LSM303D_mag(LSM303D *parent);
~LSM303D_mag();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
protected:
@@ -420,22 +414,12 @@ private:
};
/* helper macro for handling report buffer indices */
#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 8000000),
_mag(new LSM303D_mag(this)),
_call_accel_interval(0),
_call_mag_interval(0),
_num_accel_reports(0),
_next_accel_report(0),
_oldest_accel_report(0),
_accel_reports(nullptr),
_num_mag_reports(0),
_next_mag_report(0),
_oldest_mag_report(0),
_mag_reports(nullptr),
_accel_range_m_s2(0.0f),
_accel_range_scale(0.0f),
@@ -480,9 +464,9 @@ LSM303D::~LSM303D()
/* free any existing reports */
if (_accel_reports != nullptr)
delete[] _accel_reports;
delete _accel_reports;
if (_mag_reports != nullptr)
delete[] _mag_reports;
delete _mag_reports;
delete _mag;
@@ -498,24 +482,23 @@ LSM303D::init()
int mag_ret;
/* do SPI init (and probe) first */
if (SPI::init() != OK)
if (SPI::init() != OK) {
warnx("SPI init failed");
goto out;
}
/* allocate basic report buffers */
_num_accel_reports = 2;
_oldest_accel_report = _next_accel_report = 0;
_accel_reports = new struct accel_report[_num_accel_reports];
_accel_reports = new RingBuffer(2, sizeof(accel_report));
if (_accel_reports == nullptr)
goto out;
/* advertise accel topic */
memset(&_accel_reports[0], 0, sizeof(_accel_reports[0]));
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_reports[0]);
struct accel_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &zero_report);
_num_mag_reports = 2;
_oldest_mag_report = _next_mag_report = 0;
_mag_reports = new struct mag_report[_num_mag_reports];
_mag_reports = new RingBuffer(2, sizeof(mag_report));
if (_mag_reports == nullptr)
goto out;
@@ -523,8 +506,9 @@ LSM303D::init()
reset();
/* advertise mag topic */
memset(&_mag_reports[0], 0, sizeof(_mag_reports[0]));
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &_mag_reports[0]);
struct mag_report zero_mag_report;
memset(&zero_mag_report, 0, sizeof(zero_mag_report));
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_mag_report);
/* do CDev init for the mag device node, keep it optional */
mag_ret = _mag->init();
@@ -567,7 +551,9 @@ LSM303D::probe()
(void)read_reg(ADDR_WHO_AM_I);
/* verify that the device is attached and functioning */
if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM)
bool success = (read_reg(ADDR_WHO_AM_I) == WHO_I_AM);
if (success)
return OK;
return -EIO;
@@ -577,6 +563,7 @@ ssize_t
LSM303D::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct accel_report);
accel_report *arb = reinterpret_cast<accel_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
@@ -585,17 +572,13 @@ LSM303D::read(struct file *filp, char *buffer, size_t buflen)
/* if automatic measurement is enabled */
if (_call_accel_interval > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the measurement code while we are doing this;
* we are careful to avoid racing with it.
*/
while (count--) {
if (_oldest_accel_report != _next_accel_report) {
memcpy(buffer, _accel_reports + _oldest_accel_report, sizeof(*_accel_reports));
ret += sizeof(_accel_reports[0]);
INCREMENT(_oldest_accel_report, _num_accel_reports);
if (_accel_reports->get(arb)) {
ret += sizeof(*arb);
arb++;
}
}
@@ -604,12 +587,11 @@ LSM303D::read(struct file *filp, char *buffer, size_t buflen)
}
/* manual measurement */
_oldest_accel_report = _next_accel_report = 0;
measure();
/* measurement will have generated a report, copy it out */
memcpy(buffer, _accel_reports, sizeof(*_accel_reports));
ret = sizeof(*_accel_reports);
if (_accel_reports->get(arb))
ret = sizeof(*arb);
return ret;
}
@@ -618,6 +600,7 @@ ssize_t
LSM303D::mag_read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct mag_report);
mag_report *mrb = reinterpret_cast<mag_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
@@ -629,14 +612,11 @@ LSM303D::mag_read(struct file *filp, char *buffer, size_t buflen)
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the measurement code while we are doing this;
* we are careful to avoid racing with it.
*/
while (count--) {
if (_oldest_mag_report != _next_mag_report) {
memcpy(buffer, _mag_reports + _oldest_mag_report, sizeof(*_mag_reports));
ret += sizeof(_mag_reports[0]);
INCREMENT(_oldest_mag_report, _num_mag_reports);
if (_mag_reports->get(mrb)) {
ret += sizeof(*mrb);
mrb++;
}
}
@@ -645,12 +625,12 @@ LSM303D::mag_read(struct file *filp, char *buffer, size_t buflen)
}
/* manual measurement */
_oldest_mag_report = _next_mag_report = 0;
_mag_reports->flush();
measure();
/* measurement will have generated a report, copy it out */
memcpy(buffer, _mag_reports, sizeof(*_mag_reports));
ret = sizeof(*_mag_reports);
if (_mag_reports->get(mrb))
ret = sizeof(*mrb);
return ret;
}
@@ -718,31 +698,22 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
return 1000000 / _call_accel_interval;
case SENSORIOCSQUEUEDEPTH: {
/* account for sentinel in the ring */
arg++;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100))
if ((arg < 1) || (arg > 100))
return -EINVAL;
/* allocate new buffer */
struct accel_report *buf = new struct accel_report[arg];
if (nullptr == buf)
irqstate_t flags = irqsave();
if (!_accel_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
/* reset the measurement state machine with the new buffer, free the old */
stop();
delete[] _accel_reports;
_num_accel_reports = arg;
_accel_reports = buf;
start();
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _num_accel_reports - 1;
return _accel_reports->size();
case SENSORIOCRESET:
reset();
@@ -854,31 +825,22 @@ LSM303D::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
return 1000000 / _call_mag_interval;
case SENSORIOCSQUEUEDEPTH: {
/* account for sentinel in the ring */
arg++;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100))
return -EINVAL;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100))
return -EINVAL;
/* allocate new buffer */
struct mag_report *buf = new struct mag_report[arg];
if (nullptr == buf)
return -ENOMEM;
/* reset the measurement state machine with the new buffer, free the old */
stop();
delete[] _mag_reports;
_num_mag_reports = arg;
_mag_reports = buf;
start();
return OK;
irqstate_t flags = irqsave();
if (!_mag_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _num_mag_reports - 1;
return _mag_reports->size();
case SENSORIOCRESET:
reset();
@@ -1046,6 +1008,7 @@ LSM303D::accel_set_range(unsigned max_g)
_accel_range_scale = new_scale_g_digit * LSM303D_ONE_G;
modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
return OK;
@@ -1211,8 +1174,8 @@ LSM303D::start()
stop();
/* reset the report ring */
_oldest_accel_report = _next_accel_report = 0;
_oldest_mag_report = _next_mag_report = 0;
_accel_reports->flush();
_mag_reports->flush();
/* start polling at the specified rate */
hrt_call_every(&_accel_call, 1000, _call_accel_interval, (hrt_callout)&LSM303D::measure_trampoline, this);
@@ -1259,7 +1222,7 @@ LSM303D::measure()
} raw_accel_report;
#pragma pack(pop)
accel_report *accel_report = &_accel_reports[_next_accel_report];
accel_report accel_report;
/* start the performance counter */
perf_begin(_accel_sample_perf);
@@ -1284,35 +1247,30 @@ LSM303D::measure()
*/
accel_report->timestamp = hrt_absolute_time();
accel_report.timestamp = hrt_absolute_time();
accel_report->x_raw = raw_accel_report.x;
accel_report->y_raw = raw_accel_report.y;
accel_report->z_raw = raw_accel_report.z;
accel_report.x_raw = raw_accel_report.x;
accel_report.y_raw = raw_accel_report.y;
accel_report.z_raw = raw_accel_report.z;
float x_in_new = ((accel_report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
float y_in_new = ((accel_report->y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
float z_in_new = ((accel_report->z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
float x_in_new = ((accel_report.x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
float y_in_new = ((accel_report.y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
float z_in_new = ((accel_report.z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
accel_report->x = _accel_filter_x.apply(x_in_new);
accel_report->y = _accel_filter_y.apply(y_in_new);
accel_report->z = _accel_filter_z.apply(z_in_new);
accel_report.x = _accel_filter_x.apply(x_in_new);
accel_report.y = _accel_filter_y.apply(y_in_new);
accel_report.z = _accel_filter_z.apply(z_in_new);
accel_report->scaling = _accel_range_scale;
accel_report->range_m_s2 = _accel_range_m_s2;
accel_report.scaling = _accel_range_scale;
accel_report.range_m_s2 = _accel_range_m_s2;
/* post a report to the ring - note, not locked */
INCREMENT(_next_accel_report, _num_accel_reports);
/* if we are running up against the oldest report, fix it */
if (_next_accel_report == _oldest_accel_report)
INCREMENT(_oldest_accel_report, _num_accel_reports);
_accel_reports->force(&accel_report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
/* publish for subscribers */
orb_publish(ORB_ID(sensor_accel), _accel_topic, accel_report);
orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report);
_accel_read++;
@@ -1334,7 +1292,7 @@ LSM303D::mag_measure()
} raw_mag_report;
#pragma pack(pop)
mag_report *mag_report = &_mag_reports[_next_mag_report];
mag_report mag_report;
/* start the performance counter */
perf_begin(_mag_sample_perf);
@@ -1359,30 +1317,25 @@ LSM303D::mag_measure()
*/
mag_report->timestamp = hrt_absolute_time();
mag_report.timestamp = hrt_absolute_time();
mag_report->x_raw = raw_mag_report.x;
mag_report->y_raw = raw_mag_report.y;
mag_report->z_raw = raw_mag_report.z;
mag_report->x = ((mag_report->x_raw * _mag_range_scale) - _mag_scale.x_offset) * _mag_scale.x_scale;
mag_report->y = ((mag_report->y_raw * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale;
mag_report->z = ((mag_report->z_raw * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale;
mag_report->scaling = _mag_range_scale;
mag_report->range_ga = (float)_mag_range_ga;
mag_report.x_raw = raw_mag_report.x;
mag_report.y_raw = raw_mag_report.y;
mag_report.z_raw = raw_mag_report.z;
mag_report.x = ((mag_report.x_raw * _mag_range_scale) - _mag_scale.x_offset) * _mag_scale.x_scale;
mag_report.y = ((mag_report.y_raw * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale;
mag_report.z = ((mag_report.z_raw * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale;
mag_report.scaling = _mag_range_scale;
mag_report.range_ga = (float)_mag_range_ga;
/* post a report to the ring - note, not locked */
INCREMENT(_next_mag_report, _num_mag_reports);
/* if we are running up against the oldest report, fix it */
if (_next_mag_report == _oldest_mag_report)
INCREMENT(_oldest_mag_report, _num_mag_reports);
_mag_reports->force(&mag_report);
/* XXX please check this poll_notify, is it the right one? */
/* notify anyone waiting for data */
poll_notify(POLLIN);
/* publish for subscribers */
orb_publish(ORB_ID(sensor_mag), _mag_topic, mag_report);
orb_publish(ORB_ID(sensor_mag), _mag_topic, &mag_report);
_mag_read++;
@@ -1396,11 +1349,8 @@ LSM303D::print_info()
printf("accel reads: %u\n", _accel_read);
printf("mag reads: %u\n", _mag_read);
perf_print_counter(_accel_sample_perf);
printf("report queue: %u (%u/%u @ %p)\n",
_num_accel_reports, _oldest_accel_report, _next_accel_report, _accel_reports);
perf_print_counter(_mag_sample_perf);
printf("report queue: %u (%u/%u @ %p)\n",
_num_mag_reports, _oldest_mag_report, _next_mag_report, _mag_reports);
_accel_reports->print_info("accel reports");
_mag_reports->print_info("mag reports");
}
LSM303D_mag::LSM303D_mag(LSM303D *parent) :
@@ -1470,8 +1420,10 @@ start()
/* create the driver */
g_dev = new LSM303D(1 /* XXX magic number */, ACCEL_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG);
if (g_dev == nullptr)
if (g_dev == nullptr) {
warnx("failed instantiating LSM303D obj");
goto fail;
}
if (OK != g_dev->init())
goto fail;
src/drivers/mb12xx/mb12xx.cpp
+39 -63
View File
@@ -64,6 +64,7 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
@@ -119,10 +120,7 @@ private:
float _min_distance;
float _max_distance;
work_s _work;
unsigned _num_reports;
volatile unsigned _next_report;
volatile unsigned _oldest_report;
range_finder_report *_reports;
RingBuffer *_reports;
bool _sensor_ok;
int _measure_ticks;
bool _collect_phase;
@@ -183,9 +181,6 @@ private:
};
/* helper macro for handling report buffer indices */
#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
/*
* Driver 'main' command.
*/
@@ -195,9 +190,6 @@ MB12XX::MB12XX(int bus, int address) :
I2C("MB12xx", RANGE_FINDER_DEVICE_PATH, bus, address, 100000),
_min_distance(MB12XX_MIN_DISTANCE),
_max_distance(MB12XX_MAX_DISTANCE),
_num_reports(0),
_next_report(0),
_oldest_report(0),
_reports(nullptr),
_sensor_ok(false),
_measure_ticks(0),
@@ -221,7 +213,7 @@ MB12XX::~MB12XX()
/* free any existing reports */
if (_reports != nullptr)
delete[] _reports;
delete _reports;
}
int
@@ -234,17 +226,15 @@ MB12XX::init()
goto out;
/* allocate basic report buffers */
_num_reports = 2;
_reports = new struct range_finder_report[_num_reports];
_reports = new RingBuffer(2, sizeof(range_finder_report));
if (_reports == nullptr)
goto out;
_oldest_report = _next_report = 0;
/* get a publish handle on the range finder topic */
memset(&_reports[0], 0, sizeof(_reports[0]));
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &_reports[0]);
struct range_finder_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report);
if (_range_finder_topic < 0)
debug("failed to create sensor_range_finder object. Did you start uOrb?");
@@ -354,31 +344,22 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg)
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 range_finder_report *buf = new struct range_finder_report[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;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100))
return -EINVAL;
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _num_reports - 1;
return _reports->size();
case SENSORIOCRESET:
/* XXX implement this */
@@ -406,6 +387,7 @@ ssize_t
MB12XX::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct range_finder_report);
struct range_finder_report *rbuf = reinterpret_cast<struct range_finder_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
@@ -421,10 +403,9 @@ MB12XX::read(struct file *filp, char *buffer, size_t buflen)
* 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 (_reports->get(rbuf)) {
ret += sizeof(*rbuf);
rbuf++;
}
}
@@ -433,9 +414,8 @@ MB12XX::read(struct file *filp, char *buffer, size_t buflen)
}
/* manual measurement - run one conversion */
/* XXX really it'd be nice to lock against other readers here */
do {
_oldest_report = _next_report = 0;
_reports->flush();
/* trigger a measurement */
if (OK != measure()) {
@@ -453,8 +433,9 @@ MB12XX::read(struct file *filp, char *buffer, size_t buflen)
}
/* state machine will have generated a report, copy it out */
memcpy(buffer, _reports, sizeof(*_reports));
ret = sizeof(*_reports);
if (_reports->get(rbuf)) {
ret = sizeof(*rbuf);
}
} while (0);
@@ -498,26 +479,25 @@ MB12XX::collect()
if (ret < 0)
{
log("error reading from sensor: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
uint16_t distance = val[0] << 8 | val[1];
float si_units = (distance * 1.0f)/ 100.0f; /* cm to m */
struct range_finder_report report;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
_reports[_next_report].timestamp = hrt_absolute_time();
_reports[_next_report].distance = si_units;
_reports[_next_report].valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
report.timestamp = hrt_absolute_time();
report.distance = si_units;
report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
/* publish it */
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &_reports[_next_report]);
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &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) {
if (_reports->force(&report)) {
perf_count(_buffer_overflows);
INCREMENT(_oldest_report, _num_reports);
}
/* notify anyone waiting for data */
@@ -525,11 +505,8 @@ MB12XX::collect()
ret = OK;
out:
perf_end(_sample_perf);
return ret;
return ret;
}
void
@@ -537,7 +514,7 @@ MB12XX::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_oldest_report = _next_report = 0;
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&MB12XX::cycle_trampoline, this, 1);
@@ -626,8 +603,7 @@ MB12XX::print_info()
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);
_reports->print_info("report queue");
}
/**
src/drivers/meas_airspeed/meas_airspeed.cpp
+11 -15
View File
@@ -199,27 +199,23 @@ MEASAirspeed::collect()
// Calculate differential pressure. As its centered around 8000
// and can go positive or negative, enforce absolute value
uint16_t diff_press_pa = abs(dp_raw - (16384 / 2.0f));
_reports[_next_report].timestamp = hrt_absolute_time();
_reports[_next_report].temperature = temperature;
_reports[_next_report].differential_pressure_pa = diff_press_pa;
struct differential_pressure_s report;
// Track maximum differential pressure measured (so we can work out top speed).
if (diff_press_pa > _reports[_next_report].max_differential_pressure_pa) {
_reports[_next_report].max_differential_pressure_pa = diff_press_pa;
if (diff_press_pa > _max_differential_pressure_pa) {
_max_differential_pressure_pa = diff_press_pa;
}
report.timestamp = hrt_absolute_time();
report.temperature = temperature;
report.differential_pressure_pa = diff_press_pa;
report.voltage = 0;
report.max_differential_pressure_pa = _max_differential_pressure_pa;
/* announce the airspeed if needed, just publish else */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &_reports[_next_report]);
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &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);
}
new_report(report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
src/drivers/mkblctrl/mkblctrl.cpp
+6 -1
View File
@@ -96,9 +96,10 @@ class MK : public device::I2C
{
public:
enum Mode {
MODE_NONE,
MODE_2PWM,
MODE_4PWM,
MODE_NONE
MODE_6PWM,
};
enum MappingMode {
@@ -1023,9 +1024,11 @@ MK::ioctl(file *filp, int cmd, unsigned long arg)
return ret;
/* if we are in valid PWM mode, try it as a PWM ioctl as well */
/*
switch (_mode) {
case MODE_2PWM:
case MODE_4PWM:
case MODE_6PWM:
ret = pwm_ioctl(filp, cmd, arg);
break;
@@ -1033,6 +1036,8 @@ MK::ioctl(file *filp, int cmd, unsigned long arg)
debug("not in a PWM mode");
break;
}
*/
ret = pwm_ioctl(filp, cmd, arg);
/* if nobody wants it, let CDev have it */
if (ret == -ENOTTY)
src/drivers/mpu6000/mpu6000.cpp
+32 -47
View File
@@ -194,16 +194,14 @@ private:
struct hrt_call _call;
unsigned _call_interval;
typedef RingBuffer<accel_report> AccelReportBuffer;
AccelReportBuffer *_accel_reports;
RingBuffer *_accel_reports;
struct accel_scale _accel_scale;
float _accel_range_scale;
float _accel_range_m_s2;
orb_advert_t _accel_topic;
typedef RingBuffer<gyro_report> GyroReportBuffer;
GyroReportBuffer *_gyro_reports;
RingBuffer *_gyro_reports;
struct gyro_scale _gyro_scale;
float _gyro_range_scale;
@@ -431,11 +429,11 @@ MPU6000::init()
}
/* allocate basic report buffers */
_accel_reports = new AccelReportBuffer(2);
_accel_reports = new RingBuffer(2, sizeof(accel_report));
if (_accel_reports == nullptr)
goto out;
_gyro_reports = new GyroReportBuffer(2);
_gyro_reports = new RingBuffer(2, sizeof(gyro_report));
if (_gyro_reports == nullptr)
goto out;
@@ -466,14 +464,14 @@ MPU6000::init()
_gyro_topic = -1;
} else {
gyro_report gr;
_gyro_reports->get(gr);
_gyro_reports->get(&gr);
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &gr);
}
/* advertise accel topic */
accel_report ar;
_accel_reports->get(ar);
_accel_reports->get(&ar);
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &ar);
out:
@@ -658,9 +656,10 @@ MPU6000::read(struct file *filp, char *buffer, size_t buflen)
accel_report *arp = reinterpret_cast<accel_report *>(buffer);
int transferred = 0;
while (count--) {
if (!_accel_reports->get(*arp++))
if (!_accel_reports->get(arp))
break;
transferred++;
arp++;
}
/* return the number of bytes transferred */
@@ -748,12 +747,13 @@ MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen)
return -EAGAIN;
/* copy reports out of our buffer to the caller */
gyro_report *arp = reinterpret_cast<gyro_report *>(buffer);
gyro_report *grp = reinterpret_cast<gyro_report *>(buffer);
int transferred = 0;
while (count--) {
if (!_gyro_reports->get(*arp++))
if (!_gyro_reports->get(grp))
break;
transferred++;
grp++;
}
/* return the number of bytes transferred */
@@ -837,28 +837,19 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
return 1000000 / _call_interval;
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100))
return -EINVAL;
/* allocate new buffer */
AccelReportBuffer *buf = new AccelReportBuffer(arg);
if (nullptr == buf)
return -ENOMEM;
if (buf->size() == 0) {
delete buf;
return -ENOMEM;
}
/* reset the measurement state machine with the new buffer, free the old */
stop();
delete _accel_reports;
_accel_reports = buf;
start();
return OK;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100))
return -EINVAL;
irqstate_t flags = irqsave();
if (!_accel_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _accel_reports->size();
@@ -935,21 +926,12 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
if ((arg < 1) || (arg > 100))
return -EINVAL;
/* allocate new buffer */
GyroReportBuffer *buf = new GyroReportBuffer(arg);
if (nullptr == buf)
return -ENOMEM;
if (buf->size() == 0) {
delete buf;
irqstate_t flags = irqsave();
if (!_gyro_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
/* reset the measurement state machine with the new buffer, free the old */
stop();
delete _gyro_reports;
_gyro_reports = buf;
start();
irqrestore(flags);
return OK;
}
@@ -1260,8 +1242,8 @@ MPU6000::measure()
grb.temperature_raw = report.temp;
grb.temperature = (report.temp) / 361.0f + 35.0f;
_accel_reports->put(arb);
_gyro_reports->put(grb);
_accel_reports->force(&arb);
_gyro_reports->force(&grb);
/* notify anyone waiting for data */
poll_notify(POLLIN);
@@ -1280,7 +1262,10 @@ MPU6000::measure()
void
MPU6000::print_info()
{
perf_print_counter(_sample_perf);
printf("reads: %u\n", _reads);
_accel_reports->print_info("accel queue");
_gyro_reports->print_info("gyro queue");
}
MPU6000_gyro::MPU6000_gyro(MPU6000 *parent) :
src/drivers/ms5611/ms5611.cpp
+34 -57
View File
@@ -60,6 +60,7 @@
#include <drivers/device/device.h>
#include <drivers/drv_baro.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/ringbuffer.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
@@ -114,10 +115,7 @@ protected:
struct work_s _work;
unsigned _measure_ticks;
unsigned _num_reports;
volatile unsigned _next_report;
volatile unsigned _oldest_report;
struct baro_report *_reports;
RingBuffer *_reports;
bool _collect_phase;
unsigned _measure_phase;
@@ -196,9 +194,6 @@ MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) :
_interface(interface),
_prom(prom_buf.s),
_measure_ticks(0),
_num_reports(0),
_next_report(0),
_oldest_report(0),
_reports(nullptr),
_collect_phase(false),
_measure_phase(0),
@@ -223,7 +218,7 @@ MS5611::~MS5611()
/* free any existing reports */
if (_reports != nullptr)
delete[] _reports;
delete _reports;
// free perf counters
perf_free(_sample_perf);
@@ -246,8 +241,7 @@ MS5611::init()
}
/* allocate basic report buffers */
_num_reports = 2;
_reports = new struct baro_report[_num_reports];
_reports = new RingBuffer(2, sizeof(baro_report));
if (_reports == nullptr) {
debug("can't get memory for reports");
@@ -255,11 +249,10 @@ MS5611::init()
goto out;
}
_oldest_report = _next_report = 0;
/* get a publish handle on the baro topic */
memset(&_reports[0], 0, sizeof(_reports[0]));
_baro_topic = orb_advertise(ORB_ID(sensor_baro), &_reports[0]);
struct baro_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_baro_topic = orb_advertise(ORB_ID(sensor_baro), &zero_report);
if (_baro_topic < 0) {
debug("failed to create sensor_baro object");
@@ -276,6 +269,7 @@ ssize_t
MS5611::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct baro_report);
struct baro_report *brp = reinterpret_cast<struct baro_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
@@ -291,10 +285,9 @@ MS5611::read(struct file *filp, char *buffer, size_t buflen)
* 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 (_reports->get(brp)) {
ret += sizeof(*brp);
brp++;
}
}
@@ -303,10 +296,9 @@ MS5611::read(struct file *filp, char *buffer, size_t buflen)
}
/* manual measurement - run one conversion */
/* XXX really it'd be nice to lock against other readers here */
do {
_measure_phase = 0;
_oldest_report = _next_report = 0;
_reports->flush();
/* do temperature first */
if (OK != measure()) {
@@ -335,8 +327,8 @@ MS5611::read(struct file *filp, char *buffer, size_t buflen)
}
/* state machine will have generated a report, copy it out */
memcpy(buffer, _reports, sizeof(*_reports));
ret = sizeof(*_reports);
if (_reports->get(brp))
ret = sizeof(*brp);
} while (0);
@@ -411,31 +403,21 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
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 < 1) || (arg > 100))
return -EINVAL;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100))
return -EINVAL;
/* allocate new buffer */
struct baro_report *buf = new struct baro_report[arg];
if (nullptr == buf)
return -ENOMEM;
/* reset the measurement state machine with the new buffer, free the old */
stop_cycle();
delete[] _reports;
_num_reports = arg;
_reports = buf;
start_cycle();
return OK;
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _num_reports - 1;
return _reports->size();
case SENSORIOCRESET:
/* XXX implement this */
@@ -469,7 +451,7 @@ MS5611::start_cycle()
/* reset the report ring and state machine */
_collect_phase = false;
_measure_phase = 0;
_oldest_report = _next_report = 0;
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&MS5611::cycle_trampoline, this, 1);
@@ -588,8 +570,9 @@ MS5611::collect()
perf_begin(_sample_perf);
struct baro_report report;
/* this should be fairly close to the end of the conversion, so the best approximation of the time */
_reports[_next_report].timestamp = hrt_absolute_time();
report.timestamp = hrt_absolute_time();
/* read the most recent measurement - read offset/size are hardcoded in the interface */
ret = _interface->read(0, (void *)&raw, 0);
@@ -638,8 +621,8 @@ MS5611::collect()
int32_t P = (((raw * _SENS) >> 21) - _OFF) >> 15;
/* generate a new report */
_reports[_next_report].temperature = _TEMP / 100.0f;
_reports[_next_report].pressure = P / 100.0f; /* convert to millibar */
report.temperature = _TEMP / 100.0f;
report.pressure = P / 100.0f; /* convert to millibar */
/* altitude calculations based on http://www.kansasflyer.org/index.asp?nav=Avi&sec=Alti&tab=Theory&pg=1 */
@@ -676,18 +659,13 @@ MS5611::collect()
* h = ------------------------------- + h1
* a
*/
_reports[_next_report].altitude = (((pow((p / p1), (-(a * R) / g))) * T1) - T1) / a;
report.altitude = (((pow((p / p1), (-(a * R) / g))) * T1) - T1) / a;
/* publish it */
orb_publish(ORB_ID(sensor_baro), _baro_topic, &_reports[_next_report]);
orb_publish(ORB_ID(sensor_baro), _baro_topic, &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) {
if (_reports->force(&report)) {
perf_count(_buffer_overflows);
INCREMENT(_oldest_report, _num_reports);
}
/* notify anyone waiting for data */
@@ -709,8 +687,7 @@ MS5611::print_info()
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);
_reports->print_info("report queue");
printf("TEMP: %d\n", _TEMP);
printf("SENS: %lld\n", _SENS);
printf("OFF: %lld\n", _OFF);
src/drivers/ms5611/ms5611_spi.cpp
+2 -7
View File
@@ -134,6 +134,7 @@ int
MS5611_SPI::init()
{
int ret;
irqstate_t flags;
ret = SPI::init();
if (ret != OK) {
@@ -261,13 +262,7 @@ MS5611_SPI::_reg16(unsigned reg)
int
MS5611_SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len)
{
irqstate_t flags = irqsave();
int ret = transfer(send, recv, len);
irqrestore(flags);
return ret;
return transfer(send, recv, len);
}
#endif /* PX4_SPIDEV_BARO */
src/drivers/px4fmu/fmu.cpp
+10 -7
View File
@@ -1096,10 +1096,11 @@ fmu_start(void)
void
test(void)
{
int fd;
int fd;
unsigned servo_count = 0;
unsigned pwm_value = 1000;
int direction = 1;
int ret;
fd = open(PX4FMU_DEVICE_PATH, O_RDWR);
@@ -1114,9 +1115,9 @@ test(void)
warnx("Testing %u servos", (unsigned)servo_count);
int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
if (!console)
err(1, "failed opening console");
struct pollfd fds;
fds.fd = 0; /* stdin */
fds.events = POLLIN;
warnx("Press CTRL-C or 'c' to abort.");
@@ -1166,15 +1167,17 @@ test(void)
/* Check if user wants to quit */
char c;
if (read(console, &c, 1) == 1) {
if (c == 0x03 || c == 0x63) {
ret = poll(&fds, 1, 0);
if (ret > 0) {
read(0, &c, 1);
if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("User abort\n");
break;
}
}
}
close(console);
close(fd);
exit(0);
src/drivers/px4io/px4io.cpp
+196 -92
View File
@@ -189,6 +189,7 @@ public:
*/
int disable_rc_handling();
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/**
* Set the DSM VCC is controlled by relay one flag
*
@@ -208,6 +209,9 @@ public:
{
return _dsm_vcc_ctl;
};
#endif
inline uint16_t system_status() const {return _status;}
private:
device::Device *_interface;
@@ -226,7 +230,8 @@ private:
volatile int _task; ///<worker task id
volatile bool _task_should_exit; ///<worker terminate flag
int _mavlink_fd; ///<mavlink file descriptor
int _mavlink_fd; ///<mavlink file descriptor. This is opened by class instantiation and Doesn't appear to be usable in main thread.
int _thread_mavlink_fd; ///<mavlink file descriptor for thread.
perf_counter_t _perf_update; ///<local performance counter
@@ -239,6 +244,7 @@ private:
int _t_actuator_armed; ///< system armed control topic
int _t_vehicle_control_mode;///< vehicle control mode topic
int _t_param; ///< parameter update topic
int _t_vehicle_command; ///< vehicle command topic
/* advertised topics */
orb_advert_t _to_input_rc; ///< rc inputs from io
@@ -257,7 +263,9 @@ private:
float _battery_mamphour_total;///<amp hours consumed so far
uint64_t _battery_last_timestamp;///<last amp hour calculation timestamp
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
bool _dsm_vcc_ctl; ///<true if relay 1 controls DSM satellite RX power
#endif
/**
* Trampoline to the worker task
@@ -374,7 +382,7 @@ private:
/**
* Send mixer definition text to IO
*/
int mixer_send(const char *buf, unsigned buflen);
int mixer_send(const char *buf, unsigned buflen, unsigned retries=3);
/**
* Set the minimum PWM signals when armed
@@ -409,6 +417,13 @@ private:
*/
int io_handle_alarms(uint16_t alarms);
/**
* Handle issuing dsm bind ioctl to px4io.
*
* @param dsmMode 0:dsm2, 1:dsmx
*/
void dsm_bind_ioctl(int dsmMode);
};
@@ -433,6 +448,7 @@ PX4IO::PX4IO(device::Device *interface) :
_task(-1),
_task_should_exit(false),
_mavlink_fd(-1),
_thread_mavlink_fd(-1),
_perf_update(perf_alloc(PC_ELAPSED, "px4io update")),
_status(0),
_alarms(0),
@@ -440,6 +456,7 @@ PX4IO::PX4IO(device::Device *interface) :
_t_actuator_armed(-1),
_t_vehicle_control_mode(-1),
_t_param(-1),
_t_vehicle_command(-1),
_to_input_rc(0),
_to_actuators_effective(0),
_to_outputs(0),
@@ -449,8 +466,11 @@ PX4IO::PX4IO(device::Device *interface) :
_battery_amp_per_volt(90.0f/5.0f), // this matches the 3DR current sensor
_battery_amp_bias(0),
_battery_mamphour_total(0),
_battery_last_timestamp(0),
_dsm_vcc_ctl(false)
_battery_last_timestamp(0)
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
,_dsm_vcc_ctl(false)
#endif
{
/* we need this potentially before it could be set in task_main */
g_dev = this;
@@ -487,25 +507,27 @@ PX4IO::detect()
{
int ret;
ASSERT(_task == -1);
if (_task == -1) {
/* do regular cdev init */
ret = CDev::init();
if (ret != OK)
return ret;
/* do regular cdev init */
ret = CDev::init();
if (ret != OK)
return ret;
/* get some parameters */
unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
if (protocol != PX4IO_PROTOCOL_VERSION) {
if (protocol == _io_reg_get_error) {
log("IO not installed");
} else {
log("IO version error");
mavlink_log_emergency(_mavlink_fd, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!");
/* get some parameters */
unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
if (protocol != PX4IO_PROTOCOL_VERSION) {
if (protocol == _io_reg_get_error) {
log("IO not installed");
} else {
log("IO version error");
mavlink_log_emergency(_mavlink_fd, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!");
}
return -1;
}
return -1;
}
log("IO found");
return 0;
@@ -569,6 +591,9 @@ PX4IO::init()
if ((reg & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) &&
(reg & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
/* get a status update from IO */
io_get_status();
mavlink_log_emergency(_mavlink_fd, "[IO] RECOVERING FROM FMU IN-AIR RESTART");
log("INAIR RESTART RECOVERY (needs commander app running)");
@@ -708,10 +733,10 @@ void
PX4IO::task_main()
{
hrt_abstime last_poll_time = 0;
int mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
log("starting");
_thread_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
/*
* Subscribe to the appropriate PWM output topic based on whether we are the
@@ -730,16 +755,20 @@ PX4IO::task_main()
_t_param = orb_subscribe(ORB_ID(parameter_update));
orb_set_interval(_t_param, 500); /* 2Hz update rate max. */
_t_vehicle_command = orb_subscribe(ORB_ID(vehicle_command));
orb_set_interval(_t_param, 1000); /* 1Hz update rate max. */
if ((_t_actuators < 0) ||
(_t_actuator_armed < 0) ||
(_t_vehicle_control_mode < 0) ||
(_t_param < 0)) {
(_t_param < 0) ||
(_t_vehicle_command < 0)) {
log("subscription(s) failed");
goto out;
}
/* poll descriptor */
pollfd fds[4];
pollfd fds[5];
fds[0].fd = _t_actuators;
fds[0].events = POLLIN;
fds[1].fd = _t_actuator_armed;
@@ -748,8 +777,10 @@ PX4IO::task_main()
fds[2].events = POLLIN;
fds[3].fd = _t_param;
fds[3].events = POLLIN;
fds[4].fd = _t_vehicle_command;
fds[4].events = POLLIN;
debug("ready");
log("ready");
/* lock against the ioctl handler */
lock();
@@ -789,6 +820,16 @@ PX4IO::task_main()
if ((fds[1].revents & POLLIN) || (fds[2].revents & POLLIN))
io_set_arming_state();
/* if we have a vehicle command, handle it */
if (fds[4].revents & POLLIN) {
struct vehicle_command_s cmd;
orb_copy(ORB_ID(vehicle_command), _t_vehicle_command, &cmd);
// Check for a DSM pairing command
if ((cmd.command == VEHICLE_CMD_START_RX_PAIR) && (cmd.param1== 0.0f)) {
dsm_bind_ioctl((int)cmd.param2);
}
}
/*
* If it's time for another tick of the polling status machine,
* try it now.
@@ -823,20 +864,11 @@ PX4IO::task_main()
int32_t dsm_bind_val;
param_t dsm_bind_param;
// See if bind parameter has been set, and reset it to 0
// See if bind parameter has been set, and reset it to -1
param_get(dsm_bind_param = param_find("RC_DSM_BIND"), &dsm_bind_val);
if (dsm_bind_val) {
if (!(_status & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
if ((dsm_bind_val == 1) || (dsm_bind_val == 2)) {
mavlink_log_info(mavlink_fd, "[IO] binding dsm%c rx", dsm_bind_val == 1 ? '2' : 'x');
ioctl(nullptr, DSM_BIND_START, dsm_bind_val == 1 ? 3 : 7);
} else {
mavlink_log_info(mavlink_fd, "[IO] invalid bind type, bind request rejected");
}
} else {
mavlink_log_info(mavlink_fd, "[IO] system armed, bind request rejected");
}
dsm_bind_val = 0;
if (dsm_bind_val > -1) {
dsm_bind_ioctl(dsm_bind_val);
dsm_bind_val = -1;
param_set(dsm_bind_param, &dsm_bind_val);
}
@@ -1143,6 +1175,23 @@ PX4IO::io_handle_status(uint16_t status)
return ret;
}
void
PX4IO::dsm_bind_ioctl(int dsmMode)
{
if (!(_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) {
/* 0: dsm2, 1:dsmx */
if ((dsmMode == 0) || (dsmMode == 1)) {
mavlink_log_info(_thread_mavlink_fd, "[IO] binding dsm%c rx", (dsmMode == 0) ? '2' : 'x');
ioctl(nullptr, DSM_BIND_START, (dsmMode == 0) ? DSM2_BIND_PULSES : DSMX_BIND_PULSES);
} else {
mavlink_log_info(_thread_mavlink_fd, "[IO] invalid dsm bind mode, bind request rejected");
}
} else {
mavlink_log_info(_thread_mavlink_fd, "[IO] system armed, bind request rejected");
}
}
int
PX4IO::io_handle_alarms(uint16_t alarms)
{
@@ -1430,61 +1479,70 @@ PX4IO::io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t
}
int
PX4IO::mixer_send(const char *buf, unsigned buflen)
PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
{
uint8_t frame[_max_transfer];
px4io_mixdata *msg = (px4io_mixdata *)&frame[0];
unsigned max_len = _max_transfer - sizeof(px4io_mixdata);
msg->f2i_mixer_magic = F2I_MIXER_MAGIC;
msg->action = F2I_MIXER_ACTION_RESET;
uint8_t frame[_max_transfer];
do {
unsigned count = buflen;
if (count > max_len)
count = max_len;
px4io_mixdata *msg = (px4io_mixdata *)&frame[0];
unsigned max_len = _max_transfer - sizeof(px4io_mixdata);
if (count > 0) {
memcpy(&msg->text[0], buf, count);
buf += count;
buflen -= count;
}
msg->f2i_mixer_magic = F2I_MIXER_MAGIC;
msg->action = F2I_MIXER_ACTION_RESET;
/*
* We have to send an even number of bytes. This
* will only happen on the very last transfer of a
* mixer, and we are guaranteed that there will be
* space left to round up as _max_transfer will be
* even.
*/
unsigned total_len = sizeof(px4io_mixdata) + count;
if (total_len % 1) {
msg->text[count] = '\0';
total_len++;
}
do {
unsigned count = buflen;
int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, total_len / 2);
if (count > max_len)
count = max_len;
if (ret) {
log("mixer send error %d", ret);
return ret;
}
if (count > 0) {
memcpy(&msg->text[0], buf, count);
buf += count;
buflen -= count;
}
msg->action = F2I_MIXER_ACTION_APPEND;
/*
* We have to send an even number of bytes. This
* will only happen on the very last transfer of a
* mixer, and we are guaranteed that there will be
* space left to round up as _max_transfer will be
* even.
*/
unsigned total_len = sizeof(px4io_mixdata) + count;
if (total_len % 2) {
msg->text[count] = '\0';
total_len++;
}
} while (buflen > 0);
int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, total_len / 2);
if (ret) {
log("mixer send error %d", ret);
return ret;
}
msg->action = F2I_MIXER_ACTION_APPEND;
} while (buflen > 0);
retries--;
log("mixer sent");
} while (retries > 0 && (!(io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK)));
/* check for the mixer-OK flag */
if (io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK) {
debug("mixer upload OK");
mavlink_log_info(_mavlink_fd, "[IO] mixer upload ok");
return 0;
} else {
debug("mixer rejected by IO");
mavlink_log_info(_mavlink_fd, "[IO] mixer upload fail");
}
log("mixer rejected by IO");
mavlink_log_info(_mavlink_fd, "[IO] mixer upload fail");
/* load must have failed for some reason */
return -EINVAL;
}
@@ -1591,11 +1649,19 @@ PX4IO::print_status()
((arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ? " FAILSAFE_CUSTOM" : ""),
((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""),
((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : ""));
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS));
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
printf("rates 0x%04x default %u alt %u\n",
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE));
#endif
printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG));
printf("controls");
for (unsigned i = 0; i < _max_controls; i++)
@@ -1754,36 +1820,58 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
}
case GPIO_RESET: {
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
uint32_t bits = (1 << _max_relays) - 1;
/* don't touch relay1 if it's controlling RX vcc */
if (_dsm_vcc_ctl)
bits &= ~PX4IO_P_SETUP_RELAYS_POWER1;
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, bits, 0);
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
ret = -EINVAL;
#endif
break;
}
case GPIO_SET:
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
arg &= ((1 << _max_relays) - 1);
/* don't touch relay1 if it's controlling RX vcc */
if (_dsm_vcc_ctl & (arg & PX4IO_P_SETUP_RELAYS_POWER1))
if (_dsm_vcc_ctl & (arg & PX4IO_P_SETUP_RELAYS_POWER1)) {
ret = -EINVAL;
else
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0, arg);
break;
}
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0, arg);
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
ret = -EINVAL;
#endif
break;
case GPIO_CLEAR:
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
arg &= ((1 << _max_relays) - 1);
/* don't touch relay1 if it's controlling RX vcc */
if (_dsm_vcc_ctl & (arg & PX4IO_P_SETUP_RELAYS_POWER1))
if (_dsm_vcc_ctl & (arg & PX4IO_P_SETUP_RELAYS_POWER1)) {
ret = -EINVAL;
else
break;
}
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, arg, 0);
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
ret = -EINVAL;
#endif
break;
case GPIO_GET:
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
*(uint32_t *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS);
if (*(uint32_t *)arg == _io_reg_get_error)
ret = -EIO;
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
ret = -EINVAL;
#endif
break;
case MIXERIOCGETOUTPUTCOUNT:
@@ -1961,6 +2049,7 @@ start(int argc, char *argv[])
}
}
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
int dsm_vcc_ctl;
if (param_get(param_find("RC_RL1_DSM_VCC"), &dsm_vcc_ctl) == OK) {
@@ -1969,6 +2058,7 @@ start(int argc, char *argv[])
g_dev->ioctl(nullptr, DSM_BIND_POWER_UP, 0);
}
}
#endif
exit(0);
}
@@ -2008,21 +2098,26 @@ bind(int argc, char *argv[])
if (g_dev == nullptr)
errx(1, "px4io must be started first");
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
if (!g_dev->get_dsm_vcc_ctl())
errx(1, "DSM bind feature not enabled");
#endif
if (argc < 3)
errx(0, "needs argument, use dsm2 or dsmx");
if (!strcmp(argv[2], "dsm2"))
pulses = 3;
pulses = DSM2_BIND_PULSES;
else if (!strcmp(argv[2], "dsmx"))
pulses = 7;
pulses = DSMX_BIND_PULSES;
else
errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]);
if (g_dev->system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
errx(1, "system must not be armed");
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
warnx("This command will only bind DSM if satellite VCC (red wire) is controlled by relay 1.");
#endif
g_dev->ioctl(nullptr, DSM_BIND_START, pulses);
exit(0);
@@ -2054,10 +2149,9 @@ test(void)
if (ioctl(fd, PWM_SERVO_ARM, 0))
err(1, "failed to arm servos");
/* Open console directly to grab CTRL-C signal */
int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
if (!console)
err(1, "failed opening console");
struct pollfd fds;
fds.fd = 0; /* stdin */
fds.events = POLLIN;
warnx("Press CTRL-C or 'c' to abort.");
@@ -2098,10 +2192,12 @@ test(void)
/* Check if user wants to quit */
char c;
if (read(console, &c, 1) == 1) {
ret = poll(&fds, 1, 0);
if (ret > 0) {
read(0, &c, 1);
if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("User abort\n");
close(console);
exit(0);
}
}
@@ -2171,7 +2267,7 @@ px4io_main(int argc, char *argv[])
}
PX4IO_Uploader *up;
const char *fn[5];
const char *fn[3];
/* work out what we're uploading... */
if (argc > 2) {
@@ -2179,11 +2275,19 @@ px4io_main(int argc, char *argv[])
fn[1] = nullptr;
} else {
fn[0] = "/etc/extras/px4io-v2_default.bin";
fn[1] = "/etc/extras/px4io-v1_default.bin";
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
fn[0] = "/etc/extras/px4io-v1_default.bin";
fn[1] = "/fs/microsd/px4io1.bin";
fn[2] = "/fs/microsd/px4io.bin";
fn[3] = "/fs/microsd/px4io2.bin";
fn[4] = nullptr;
fn[3] = nullptr;
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
fn[0] = "/etc/extras/px4io-v2_default.bin";
fn[1] = "/fs/microsd/px4io2.bin";
fn[2] = "/fs/microsd/px4io.bin";
fn[3] = nullptr;
#else
#error "unknown board"
#endif
}
up = new PX4IO_Uploader;
src/drivers/rgbled/rgbled.cpp
+277 -195
View File
@@ -1,6 +1,8 @@
/****************************************************************************
*
* Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Julian Oes <joes@student.ethz.ch>
* Anton Babushkin <anton.babushkin@me.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -36,7 +38,6 @@
*
* Driver for the onboard RGB LED controller (TCA62724FMG) connected via I2C.
*
*
*/
#include <nuttx/config.h>
@@ -92,16 +93,14 @@ public:
private:
work_s _work;
rgbled_color_t _color;
rgbled_mode_t _mode;
rgbled_pattern_t _pattern;
float _brightness;
uint8_t _r;
uint8_t _g;
uint8_t _b;
float _brightness;
bool _should_run;
bool _running;
int _led_interval;
int _counter;
@@ -109,35 +108,33 @@ private:
void set_color(rgbled_color_t ledcolor);
void set_mode(rgbled_mode_t mode);
void set_pattern(rgbled_pattern_t *pattern);
void set_brightness(float brightness);
static void led_trampoline(void *arg);
void led();
int set(bool on, uint8_t r, uint8_t g, uint8_t b);
int set_on(bool on);
int set_rgb(uint8_t r, uint8_t g, uint8_t b);
int get(bool &on, bool &not_powersave, uint8_t &r, uint8_t &g, uint8_t &b);
int send_led_enable(bool enable);
int send_led_rgb();
int get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b);
};
/* for now, we only support one RGBLED */
namespace
{
RGBLED *g_rgbled;
RGBLED *g_rgbled;
}
void rgbled_usage();
extern "C" __EXPORT int rgbled_main(int argc, char *argv[]);
RGBLED::RGBLED(int bus, int rgbled) :
I2C("rgbled", RGBLED_DEVICE_PATH, bus, rgbled, 100000),
_color(RGBLED_COLOR_OFF),
_mode(RGBLED_MODE_OFF),
_running(false),
_brightness(1.0f),
_r(0),
_g(0),
_b(0),
_brightness(1.0f),
_running(false),
_led_interval(0),
_counter(0)
{
@@ -159,8 +156,9 @@ RGBLED::init()
return ret;
}
/* start off */
set(false, 0, 0, 0);
/* switch off LED on start */
send_led_enable(false);
send_led_rgb();
return OK;
}
@@ -169,10 +167,10 @@ int
RGBLED::probe()
{
int ret;
bool on, not_powersave;
bool on, powersave;
uint8_t r, g, b;
ret = get(on, not_powersave, r, g, b);
ret = get(on, powersave, r, g, b);
return ret;
}
@@ -181,15 +179,16 @@ int
RGBLED::info()
{
int ret;
bool on, not_powersave;
bool on, powersave;
uint8_t r, g, b;
ret = get(on, not_powersave, r, g, b);
ret = get(on, powersave, r, g, b);
if (ret == OK) {
/* we don't care about power-save mode */
log("state: %s", on ? "ON" : "OFF");
log("red: %u, green: %u, blue: %u", (unsigned)r, (unsigned)g, (unsigned)b);
} else {
warnx("failed to read led");
}
@@ -201,28 +200,30 @@ int
RGBLED::ioctl(struct file *filp, int cmd, unsigned long arg)
{
int ret = ENOTTY;
switch (cmd) {
case RGBLED_SET_RGB:
/* set the specified RGB values */
rgbled_rgbset_t rgbset;
memcpy(&rgbset, (rgbled_rgbset_t*)arg, sizeof(rgbset));
set_rgb(rgbset.red, rgbset.green, rgbset.blue);
set_mode(RGBLED_MODE_ON);
/* set the specified color */
_r = ((rgbled_rgbset_t *) arg)->red;
_g = ((rgbled_rgbset_t *) arg)->green;
_b = ((rgbled_rgbset_t *) arg)->blue;
send_led_rgb();
return OK;
case RGBLED_SET_COLOR:
/* set the specified color name */
set_color((rgbled_color_t)arg);
send_led_rgb();
return OK;
case RGBLED_SET_MODE:
/* set the specified blink speed */
/* set the specified mode */
set_mode((rgbled_mode_t)arg);
return OK;
case RGBLED_SET_PATTERN:
/* set a special pattern */
set_pattern((rgbled_pattern_t*)arg);
set_pattern((rgbled_pattern_t *)arg);
return OK;
default:
@@ -241,39 +242,54 @@ RGBLED::led_trampoline(void *arg)
rgbl->led();
}
/**
* Main loop function
*/
void
RGBLED::led()
{
switch (_mode) {
case RGBLED_MODE_BLINK_SLOW:
case RGBLED_MODE_BLINK_NORMAL:
case RGBLED_MODE_BLINK_FAST:
if(_counter % 2 == 0)
set_on(true);
else
set_on(false);
break;
case RGBLED_MODE_BREATHE:
if (_counter >= 30)
_counter = 0;
if (_counter <= 15) {
set_brightness(((float)_counter)*((float)_counter)/(15.0f*15.0f));
} else {
set_brightness(((float)(30-_counter))*((float)(30-_counter))/(15.0f*15.0f));
}
break;
case RGBLED_MODE_PATTERN:
/* don't run out of the pattern array and stop if the next frame is 0 */
if (_counter >= RGBLED_PATTERN_LENGTH || _pattern.duration[_counter] <= 0)
_counter = 0;
case RGBLED_MODE_BLINK_SLOW:
case RGBLED_MODE_BLINK_NORMAL:
case RGBLED_MODE_BLINK_FAST:
if (_counter >= 2)
_counter = 0;
set_color(_pattern.color[_counter]);
_led_interval = _pattern.duration[_counter];
break;
default:
break;
send_led_enable(_counter == 0);
break;
case RGBLED_MODE_BREATHE:
if (_counter >= 62)
_counter = 0;
int n;
if (_counter < 32) {
n = _counter;
} else {
n = 62 - _counter;
}
_brightness = n * n / (31.0f * 31.0f);
send_led_rgb();
break;
case RGBLED_MODE_PATTERN:
/* don't run out of the pattern array and stop if the next frame is 0 */
if (_counter >= RGBLED_PATTERN_LENGTH || _pattern.duration[_counter] <= 0)
_counter = 0;
set_color(_pattern.color[_counter]);
send_led_rgb();
_led_interval = _pattern.duration[_counter];
break;
default:
break;
}
_counter++;
@@ -282,181 +298,231 @@ RGBLED::led()
work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this, _led_interval);
}
/**
* Parse color constant and set _r _g _b values
*/
void
RGBLED::set_color(rgbled_color_t color) {
_color = color;
RGBLED::set_color(rgbled_color_t color)
{
switch (color) {
case RGBLED_COLOR_OFF: // off
set_rgb(0,0,0);
break;
case RGBLED_COLOR_RED: // red
set_rgb(255,0,0);
break;
case RGBLED_COLOR_YELLOW: // yellow
set_rgb(255,70,0);
break;
case RGBLED_COLOR_PURPLE: // purple
set_rgb(255,0,255);
break;
case RGBLED_COLOR_GREEN: // green
set_rgb(0,255,0);
break;
case RGBLED_COLOR_BLUE: // blue
set_rgb(0,0,255);
break;
case RGBLED_COLOR_WHITE: // white
set_rgb(255,255,255);
break;
case RGBLED_COLOR_AMBER: // amber
set_rgb(255,20,0);
break;
case RGBLED_COLOR_DIM_RED: // red
set_rgb(90,0,0);
break;
case RGBLED_COLOR_DIM_YELLOW: // yellow
set_rgb(80,30,0);
break;
case RGBLED_COLOR_DIM_PURPLE: // purple
set_rgb(45,0,45);
break;
case RGBLED_COLOR_DIM_GREEN: // green
set_rgb(0,90,0);
break;
case RGBLED_COLOR_DIM_BLUE: // blue
set_rgb(0,0,90);
break;
case RGBLED_COLOR_DIM_WHITE: // white
set_rgb(30,30,30);
break;
case RGBLED_COLOR_DIM_AMBER: // amber
set_rgb(80,20,0);
break;
default:
warnx("color unknown");
break;
case RGBLED_COLOR_OFF:
_r = 0;
_g = 0;
_b = 0;
break;
case RGBLED_COLOR_RED:
_r = 255;
_g = 0;
_b = 0;
break;
case RGBLED_COLOR_YELLOW:
_r = 255;
_g = 200;
_b = 0;
break;
case RGBLED_COLOR_PURPLE:
_r = 255;
_g = 0;
_b = 255;
break;
case RGBLED_COLOR_GREEN:
_r = 0;
_g = 255;
_b = 0;
break;
case RGBLED_COLOR_BLUE:
_r = 0;
_g = 0;
_b = 255;
break;
case RGBLED_COLOR_WHITE:
_r = 255;
_g = 255;
_b = 255;
break;
case RGBLED_COLOR_AMBER:
_r = 255;
_g = 80;
_b = 0;
break;
case RGBLED_COLOR_DIM_RED:
_r = 90;
_g = 0;
_b = 0;
break;
case RGBLED_COLOR_DIM_YELLOW:
_r = 80;
_g = 30;
_b = 0;
break;
case RGBLED_COLOR_DIM_PURPLE:
_r = 45;
_g = 0;
_b = 45;
break;
case RGBLED_COLOR_DIM_GREEN:
_r = 0;
_g = 90;
_b = 0;
break;
case RGBLED_COLOR_DIM_BLUE:
_r = 0;
_g = 0;
_b = 90;
break;
case RGBLED_COLOR_DIM_WHITE:
_r = 30;
_g = 30;
_b = 30;
break;
case RGBLED_COLOR_DIM_AMBER:
_r = 80;
_g = 20;
_b = 0;
break;
default:
warnx("color unknown");
break;
}
}
/**
* Set mode, if mode not changed has no any effect (doesn't reset blinks phase)
*/
void
RGBLED::set_mode(rgbled_mode_t mode)
{
_mode = mode;
if (mode != _mode) {
_mode = mode;
bool should_run = false;
switch (mode) {
switch (mode) {
case RGBLED_MODE_OFF:
_should_run = false;
set_on(false);
send_led_enable(false);
break;
case RGBLED_MODE_ON:
_should_run = false;
set_on(true);
_brightness = 1.0f;
send_led_rgb();
send_led_enable(true);
break;
case RGBLED_MODE_BLINK_SLOW:
_should_run = true;
should_run = true;
_counter = 0;
_led_interval = 2000;
_brightness = 1.0f;
send_led_rgb();
break;
case RGBLED_MODE_BLINK_NORMAL:
_should_run = true;
should_run = true;
_counter = 0;
_led_interval = 500;
_brightness = 1.0f;
send_led_rgb();
break;
case RGBLED_MODE_BLINK_FAST:
_should_run = true;
should_run = true;
_counter = 0;
_led_interval = 100;
_brightness = 1.0f;
send_led_rgb();
break;
case RGBLED_MODE_BREATHE:
_should_run = true;
set_on(true);
should_run = true;
_counter = 0;
_led_interval = 1000/15;
_led_interval = 25;
send_led_enable(true);
break;
case RGBLED_MODE_PATTERN:
_should_run = true;
set_on(true);
should_run = true;
_counter = 0;
_brightness = 1.0f;
send_led_enable(true);
break;
default:
warnx("mode unknown");
break;
}
}
/* if it should run now, start the workq */
if (_should_run && !_running) {
_running = true;
work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this, 1);
}
/* if it should stop, then cancel the workq */
if (!_should_run && _running) {
_running = false;
work_cancel(LPWORK, &_work);
/* if it should run now, start the workq */
if (should_run && !_running) {
_running = true;
work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this, 1);
}
/* if it should stop, then cancel the workq */
if (!should_run && _running) {
_running = false;
work_cancel(LPWORK, &_work);
}
}
}
/**
* Set pattern for PATTERN mode, but don't change current mode
*/
void
RGBLED::set_pattern(rgbled_pattern_t *pattern)
{
memcpy(&_pattern, pattern, sizeof(rgbled_pattern_t));
set_mode(RGBLED_MODE_PATTERN);
}
void
RGBLED::set_brightness(float brightness) {
_brightness = brightness;
set_rgb(_r, _g, _b);
}
/**
* Sent ENABLE flag to LED driver
*/
int
RGBLED::set(bool on, uint8_t r, uint8_t g, uint8_t b)
RGBLED::send_led_enable(bool enable)
{
uint8_t settings_byte = 0;
if (on)
settings_byte |= SETTING_ENABLE;
/* powersave not used */
// if (not_powersave)
settings_byte |= SETTING_NOT_POWERSAVE;
const uint8_t msg[5] = { SUB_ADDR_START, (uint8_t)(b*15/255), (uint8_t)(g*15/255), (uint8_t)(r*15/255), settings_byte};
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
RGBLED::set_on(bool on)
{
uint8_t settings_byte = 0;
if (on)
if (enable)
settings_byte |= SETTING_ENABLE;
/* powersave not used */
// if (not_powersave)
settings_byte |= SETTING_NOT_POWERSAVE;
settings_byte |= SETTING_NOT_POWERSAVE;
const uint8_t msg[2] = { SUB_ADDR_SETTINGS, settings_byte};
return transfer(msg, sizeof(msg), nullptr, 0);
}
/**
* Send RGB PWM settings to LED driver according to current color and brightness
*/
int
RGBLED::set_rgb(uint8_t r, uint8_t g, uint8_t b)
RGBLED::send_led_rgb()
{
/* save the RGB values in case we want to change the brightness later */
_r = r;
_g = g;
_b = b;
const uint8_t msg[6] = { SUB_ADDR_PWM0, (uint8_t)((float)b/255.0f*15.0f*_brightness), SUB_ADDR_PWM1, (uint8_t)((float)g/255.0f*15.0f*_brightness), SUB_ADDR_PWM2, (uint8_t)((float)r/255.0f*15.0f*_brightness)};
/* To scale from 0..255 -> 0..15 shift right by 4 bits */
const uint8_t msg[6] = {
SUB_ADDR_PWM0, (uint8_t)((int)(_b * _brightness) >> 4),
SUB_ADDR_PWM1, (uint8_t)((int)(_g * _brightness) >> 4),
SUB_ADDR_PWM2, (uint8_t)((int)(_r * _brightness) >> 4)
};
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
RGBLED::get(bool &on, bool &not_powersave, uint8_t &r, uint8_t &g, uint8_t &b)
RGBLED::get(bool &on, bool &powersave, uint8_t &r, uint8_t &g, uint8_t &b)
{
uint8_t result[2];
int ret;
@@ -465,24 +531,23 @@ RGBLED::get(bool &on, bool &not_powersave, uint8_t &r, uint8_t &g, uint8_t &b)
if (ret == OK) {
on = result[0] & SETTING_ENABLE;
not_powersave = result[0] & SETTING_NOT_POWERSAVE;
powersave = !(result[0] & SETTING_NOT_POWERSAVE);
/* XXX check, looks wrong */
r = (result[0] & 0x0f)*255/15;
g = (result[1] & 0xf0)*255/15;
b = (result[1] & 0x0f)*255/15;
r = (result[0] & 0x0f) << 4;
g = (result[1] & 0xf0);
b = (result[1] & 0x0f) << 4;
}
return ret;
}
void rgbled_usage();
void rgbled_usage() {
warnx("missing command: try 'start', 'test', 'info', 'stop'/'off', 'rgb 30 40 50'");
void
rgbled_usage()
{
warnx("missing command: try 'start', 'test', 'info', 'off', 'rgb 30 40 50'");
warnx("options:");
warnx(" -b i2cbus (%d)", PX4_I2C_BUS_LED);
errx(0, " -a addr (0x%x)", ADDR);
warnx(" -a addr (0x%x)", ADDR);
}
int
@@ -492,17 +557,21 @@ rgbled_main(int argc, char *argv[])
int rgbledadr = ADDR; /* 7bit */
int ch;
/* jump over start/off/etc and look at options first */
while ((ch = getopt(argc-1, &argv[1], "a:b:")) != EOF) {
while ((ch = getopt(argc - 1, &argv[1], "a:b:")) != EOF) {
switch (ch) {
case 'a':
rgbledadr = strtol(optarg, NULL, 0);
break;
case 'b':
i2cdevice = strtol(optarg, NULL, 0);
break;
default:
rgbled_usage();
exit(0);
}
}
@@ -519,17 +588,21 @@ rgbled_main(int argc, char *argv[])
// try the external bus first
i2cdevice = PX4_I2C_BUS_EXPANSION;
g_rgbled = new RGBLED(PX4_I2C_BUS_EXPANSION, rgbledadr);
if (g_rgbled != nullptr && OK != g_rgbled->init()) {
delete g_rgbled;
g_rgbled = nullptr;
}
if (g_rgbled == nullptr) {
// fall back to default bus
i2cdevice = PX4_I2C_BUS_LED;
}
}
if (g_rgbled == nullptr) {
g_rgbled = new RGBLED(i2cdevice, rgbledadr);
if (g_rgbled == nullptr)
errx(1, "new failed");
@@ -545,21 +618,24 @@ rgbled_main(int argc, char *argv[])
/* need the driver past this point */
if (g_rgbled == nullptr) {
warnx("not started");
rgbled_usage();
exit(0);
warnx("not started");
rgbled_usage();
exit(0);
}
if (!strcmp(verb, "test")) {
fd = open(RGBLED_DEVICE_PATH, 0);
if (fd == -1) {
errx(1, "Unable to open " RGBLED_DEVICE_PATH);
}
rgbled_pattern_t pattern = { {RGBLED_COLOR_RED, RGBLED_COLOR_GREEN, RGBLED_COLOR_BLUE, RGBLED_COLOR_OFF},
{200, 200, 200, 400 } };
rgbled_pattern_t pattern = { {RGBLED_COLOR_RED, RGBLED_COLOR_GREEN, RGBLED_COLOR_BLUE, RGBLED_COLOR_WHITE, RGBLED_COLOR_OFF, RGBLED_COLOR_OFF},
{500, 500, 500, 500, 1000, 0 } // "0" indicates end of pattern
};
ret = ioctl(fd, RGBLED_SET_PATTERN, (unsigned long)&pattern);
ret = ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_PATTERN);
close(fd);
exit(ret);
@@ -570,33 +646,39 @@ rgbled_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(verb, "stop") || !strcmp(verb, "off")) {
/* although technically it doesn't stop, this is the excepted syntax */
if (!strcmp(verb, "off")) {
fd = open(RGBLED_DEVICE_PATH, 0);
if (fd == -1) {
errx(1, "Unable to open " RGBLED_DEVICE_PATH);
}
ret = ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_OFF);
close(fd);
exit(ret);
}
if (!strcmp(verb, "rgb")) {
fd = open(RGBLED_DEVICE_PATH, 0);
if (fd == -1) {
errx(1, "Unable to open " RGBLED_DEVICE_PATH);
}
if (argc < 5) {
errx(1, "Usage: rgbled rgb <red> <green> <blue>");
}
fd = open(RGBLED_DEVICE_PATH, 0);
if (fd == -1) {
errx(1, "Unable to open " RGBLED_DEVICE_PATH);
}
rgbled_rgbset_t v;
v.red = strtol(argv[1], NULL, 0);
v.green = strtol(argv[2], NULL, 0);
v.blue = strtol(argv[3], NULL, 0);
v.red = strtol(argv[2], NULL, 0);
v.green = strtol(argv[3], NULL, 0);
v.blue = strtol(argv[4], NULL, 0);
ret = ioctl(fd, RGBLED_SET_RGB, (unsigned long)&v);
ret = ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_ON);
close(fd);
exit(ret);
}
rgbled_usage();
exit(0);
}
src/drivers/stm32/tone_alarm/tone_alarm.cpp
+7 -5
View File
@@ -317,7 +317,7 @@ extern "C" __EXPORT int tone_alarm_main(int argc, char *argv[]);
ToneAlarm::ToneAlarm() :
CDev("tone_alarm", "/dev/tone_alarm"),
CDev("tone_alarm", TONEALARM_DEVICE_PATH),
_default_tune_number(0),
_user_tune(nullptr),
_tune(nullptr),
@@ -333,6 +333,7 @@ ToneAlarm::ToneAlarm() :
_default_tunes[TONE_ARMING_WARNING_TUNE] = "MNT75L1O2G"; //arming warning
_default_tunes[TONE_BATTERY_WARNING_SLOW_TUNE] = "MBNT100a8"; //battery warning slow
_default_tunes[TONE_BATTERY_WARNING_FAST_TUNE] = "MBNT255a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8"; //battery warning fast
_default_tunes[TONE_GPS_WARNING_TUNE] = "MFT255L4AAAL1F#"; //gps warning slow
_tune_names[TONE_STARTUP_TUNE] = "startup"; // startup tune
_tune_names[TONE_ERROR_TUNE] = "error"; // ERROR tone
@@ -342,6 +343,7 @@ ToneAlarm::ToneAlarm() :
_tune_names[TONE_ARMING_WARNING_TUNE] = "arming"; // arming warning
_tune_names[TONE_BATTERY_WARNING_SLOW_TUNE] = "slow_bat"; // battery warning slow
_tune_names[TONE_BATTERY_WARNING_FAST_TUNE] = "fast_bat"; // battery warning fast
_tune_names[TONE_GPS_WARNING_TUNE] = "gps_warning"; // gps warning
}
ToneAlarm::~ToneAlarm()
@@ -820,10 +822,10 @@ play_tune(unsigned tune)
{
int fd, ret;
fd = open("/dev/tone_alarm", 0);
fd = open(TONEALARM_DEVICE_PATH, 0);
if (fd < 0)
err(1, "/dev/tone_alarm");
err(1, TONEALARM_DEVICE_PATH);
ret = ioctl(fd, TONE_SET_ALARM, tune);
close(fd);
@@ -839,10 +841,10 @@ play_string(const char *str, bool free_buffer)
{
int fd, ret;
fd = open("/dev/tone_alarm", O_WRONLY);
fd = open(TONEALARM_DEVICE_PATH, O_WRONLY);
if (fd < 0)
err(1, "/dev/tone_alarm");
err(1, TONEALARM_DEVICE_PATH);
ret = write(fd, str, strlen(str) + 1);
close(fd);