mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-23 09:37:36 +08:00
Merge branch 'master' into mount_tests
This commit is contained in:
Lorenz Meier
@@ -213,7 +213,9 @@ then
|
||||
# 7000 .. 7999 Hexa +
|
||||
# 8000 .. 8999 Octo X
|
||||
# 9000 .. 9999 Octo +
|
||||
# 10000 .. 19999 Wide arm / H frame
|
||||
# 10000 .. 10999 Wide arm / H frame
|
||||
# 11000 .. 11999 Hexa Cox
|
||||
# 12000 .. 12999 Octo Cox
|
||||
|
||||
if param compare SYS_AUTOSTART 4008 8
|
||||
then
|
||||
@@ -277,6 +279,13 @@ then
|
||||
sh /etc/init.d/rc.octo
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 12001
|
||||
then
|
||||
set MIXER /etc/mixers/FMU_octo_cox.mix
|
||||
sh /etc/init.d/rc.octo
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 10015 15
|
||||
then
|
||||
|
||||
@@ -25,14 +25,10 @@ MODULES += drivers/bma180
|
||||
MODULES += drivers/mpu6000
|
||||
MODULES += drivers/hmc5883
|
||||
MODULES += drivers/ms5611
|
||||
MODULES += drivers/mb12xx
|
||||
MODULES += drivers/gps
|
||||
MODULES += drivers/hil
|
||||
MODULES += drivers/hott/hott_telemetry
|
||||
MODULES += drivers/hott/hott_sensors
|
||||
MODULES += drivers/blinkm
|
||||
MODULES += drivers/rgbled
|
||||
MODULES += drivers/mkblctrl
|
||||
MODULES += drivers/roboclaw
|
||||
MODULES += drivers/airspeed
|
||||
MODULES += drivers/ets_airspeed
|
||||
@@ -71,22 +67,11 @@ MODULES += modules/gpio_led
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
#MODULES += modules/attitude_estimator_ekf
|
||||
MODULES += modules/att_pos_estimator_ekf
|
||||
#MODULES += modules/position_estimator_inav
|
||||
MODULES += examples/flow_position_estimator
|
||||
MODULES += modules/attitude_estimator_so3
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
#MODULES += modules/segway # XXX Needs GCC 4.7 fix
|
||||
#MODULES += modules/fw_pos_control_l1
|
||||
#MODULES += modules/fw_att_control
|
||||
#MODULES += modules/multirotor_att_control
|
||||
#MODULES += modules/multirotor_pos_control
|
||||
#MODULES += examples/flow_position_control
|
||||
#MODULES += examples/flow_speed_control
|
||||
MODULES += modules/fixedwing_backside
|
||||
|
||||
#
|
||||
|
||||
@@ -21,7 +21,7 @@ MODULES += drivers/px4fmu
|
||||
MODULES += drivers/boards/px4fmu-v1
|
||||
MODULES += drivers/ardrone_interface
|
||||
MODULES += drivers/l3gd20
|
||||
MODULES += drivers/bma180
|
||||
#MODULES += drivers/bma180
|
||||
MODULES += drivers/mpu6000
|
||||
MODULES += drivers/hmc5883
|
||||
MODULES += drivers/ms5611
|
||||
@@ -33,10 +33,10 @@ MODULES += drivers/hott/hott_sensors
|
||||
MODULES += drivers/blinkm
|
||||
MODULES += drivers/rgbled
|
||||
MODULES += drivers/mkblctrl
|
||||
MODULES += drivers/roboclaw
|
||||
MODULES += drivers/airspeed
|
||||
MODULES += drivers/ets_airspeed
|
||||
MODULES += drivers/meas_airspeed
|
||||
MODULES += drivers/frsky_telemetry
|
||||
MODULES += modules/sensors
|
||||
|
||||
#
|
||||
@@ -75,18 +75,17 @@ MODULES += modules/attitude_estimator_ekf
|
||||
MODULES += modules/attitude_estimator_so3
|
||||
MODULES += modules/att_pos_estimator_ekf
|
||||
MODULES += modules/position_estimator_inav
|
||||
MODULES += examples/flow_position_estimator
|
||||
#MODULES += examples/flow_position_estimator
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
#MODULES += modules/segway # XXX Needs GCC 4.7 fix
|
||||
MODULES += modules/fw_pos_control_l1
|
||||
MODULES += modules/fw_att_control
|
||||
MODULES += modules/multirotor_att_control
|
||||
MODULES += modules/multirotor_pos_control
|
||||
MODULES += examples/flow_position_control
|
||||
MODULES += examples/flow_speed_control
|
||||
#MODULES += examples/flow_position_control
|
||||
#MODULES += examples/flow_speed_control
|
||||
|
||||
#
|
||||
# Logging
|
||||
|
||||
@@ -36,6 +36,7 @@ MODULES += drivers/roboclaw
|
||||
MODULES += drivers/airspeed
|
||||
MODULES += drivers/ets_airspeed
|
||||
MODULES += drivers/meas_airspeed
|
||||
MODULES += drivers/frsky_telemetry
|
||||
MODULES += modules/sensors
|
||||
|
||||
# Needs to be burned to the ground and re-written; for now,
|
||||
|
||||
@@ -566,7 +566,7 @@ CONFIG_CDCACM_NWRREQS=4
|
||||
CONFIG_CDCACM_NRDREQS=4
|
||||
CONFIG_CDCACM_BULKIN_REQLEN=96
|
||||
CONFIG_CDCACM_RXBUFSIZE=512
|
||||
CONFIG_CDCACM_TXBUFSIZE=512
|
||||
CONFIG_CDCACM_TXBUFSIZE=2048
|
||||
CONFIG_CDCACM_VENDORID=0x26ac
|
||||
CONFIG_CDCACM_PRODUCTID=0x0010
|
||||
CONFIG_CDCACM_VENDORSTR="3D Robotics"
|
||||
|
||||
@@ -295,7 +295,7 @@ CONFIG_STM32_USART=y
|
||||
# U[S]ART Configuration
|
||||
#
|
||||
# CONFIG_USART1_RS485 is not set
|
||||
# CONFIG_USART1_RXDMA is not set
|
||||
CONFIG_USART1_RXDMA=y
|
||||
# CONFIG_USART2_RS485 is not set
|
||||
CONFIG_USART2_RXDMA=y
|
||||
# CONFIG_USART3_RS485 is not set
|
||||
@@ -304,7 +304,7 @@ CONFIG_USART3_RXDMA=y
|
||||
CONFIG_UART4_RXDMA=y
|
||||
# CONFIG_UART5_RXDMA is not set
|
||||
# CONFIG_USART6_RS485 is not set
|
||||
# CONFIG_USART6_RXDMA is not set
|
||||
CONFIG_USART6_RXDMA=y
|
||||
# CONFIG_UART7_RS485 is not set
|
||||
# CONFIG_UART7_RXDMA is not set
|
||||
# CONFIG_UART8_RS485 is not set
|
||||
@@ -582,8 +582,8 @@ CONFIG_USART3_OFLOWCONTROL=y
|
||||
#
|
||||
# UART4 Configuration
|
||||
#
|
||||
CONFIG_UART4_RXBUFSIZE=128
|
||||
CONFIG_UART4_TXBUFSIZE=128
|
||||
CONFIG_UART4_RXBUFSIZE=512
|
||||
CONFIG_UART4_TXBUFSIZE=512
|
||||
CONFIG_UART4_BAUD=57600
|
||||
CONFIG_UART4_BITS=8
|
||||
CONFIG_UART4_PARITY=0
|
||||
@@ -594,8 +594,8 @@ CONFIG_UART4_2STOP=0
|
||||
#
|
||||
# USART6 Configuration
|
||||
#
|
||||
CONFIG_USART6_RXBUFSIZE=256
|
||||
CONFIG_USART6_TXBUFSIZE=256
|
||||
CONFIG_USART6_RXBUFSIZE=512
|
||||
CONFIG_USART6_TXBUFSIZE=512
|
||||
CONFIG_USART6_BAUD=57600
|
||||
CONFIG_USART6_BITS=8
|
||||
CONFIG_USART6_PARITY=0
|
||||
@@ -662,7 +662,7 @@ CONFIG_CDCACM_NWRREQS=4
|
||||
CONFIG_CDCACM_NRDREQS=4
|
||||
CONFIG_CDCACM_BULKIN_REQLEN=96
|
||||
CONFIG_CDCACM_RXBUFSIZE=512
|
||||
CONFIG_CDCACM_TXBUFSIZE=512
|
||||
CONFIG_CDCACM_TXBUFSIZE=2048
|
||||
CONFIG_CDCACM_VENDORID=0x26ac
|
||||
CONFIG_CDCACM_PRODUCTID=0x0011
|
||||
CONFIG_CDCACM_VENDORSTR="3D Robotics"
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -34,7 +34,7 @@
|
||||
/**
|
||||
* @file board_config.h
|
||||
*
|
||||
* PX4FMU internal definitions
|
||||
* PX4FMUv1 internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
@@ -60,6 +60,7 @@ __BEGIN_DECLS
|
||||
|
||||
/* PX4IO connection configuration */
|
||||
#define PX4IO_SERIAL_DEVICE "/dev/ttyS2"
|
||||
#define UDID_START 0x1FFF7A10
|
||||
|
||||
//#ifdef CONFIG_STM32_SPI2
|
||||
//# error "SPI2 is not supported on this board"
|
||||
@@ -180,7 +181,7 @@ __BEGIN_DECLS
|
||||
#define HRT_TIMER 1 /* use timer1 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
|
||||
#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
|
||||
#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
|
||||
#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -34,7 +34,7 @@
|
||||
/**
|
||||
* @file board_config.h
|
||||
*
|
||||
* PX4FMU internal definitions
|
||||
* PX4FMUv2 internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
@@ -52,6 +52,8 @@ __BEGIN_DECLS
|
||||
/* these headers are not C++ safe */
|
||||
#include <stm32.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#define UDID_START 0x1FFF7A10
|
||||
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
@@ -82,21 +84,21 @@ __BEGIN_DECLS
|
||||
#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
|
||||
|
||||
/* Data ready pins off */
|
||||
#define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
|
||||
#define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
|
||||
#define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
|
||||
#define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
|
||||
#define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
|
||||
#define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
|
||||
#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
|
||||
|
||||
/* SPI1 off */
|
||||
#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
|
||||
#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
|
||||
#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
|
||||
#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
|
||||
#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
|
||||
#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
|
||||
|
||||
/* SPI1 chip selects off */
|
||||
#define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
|
||||
#define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
|
||||
#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
|
||||
#define GPIO_SPI_CS_MPU (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
|
||||
#define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
|
||||
#define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
|
||||
#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
|
||||
#define GPIO_SPI_CS_MPU (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
|
||||
|
||||
/* SPI chip selects */
|
||||
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
|
||||
@@ -177,7 +179,7 @@ __BEGIN_DECLS
|
||||
*
|
||||
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
|
||||
*/
|
||||
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
|
||||
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
|
||||
|
||||
/* High-resolution timer */
|
||||
#define HRT_TIMER 8 /* use timer8 for the HRT */
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -92,4 +92,4 @@
|
||||
#define HRT_TIMER 1 /* use timer1 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
|
||||
#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */
|
||||
#define GPIO_PPM_IN GPIO_TIM1_CH1IN
|
||||
#define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTE|GPIO_PIN9)
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -32,7 +32,7 @@
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4iov2_internal.h
|
||||
* @file board_config.h
|
||||
*
|
||||
* PX4IOV2 internal definitions
|
||||
*/
|
||||
@@ -122,7 +122,7 @@
|
||||
#define HRT_TIMER 1 /* use timer1 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
|
||||
#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */
|
||||
#define GPIO_PPM_IN GPIO_TIM1_CH1IN
|
||||
#define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTE|GPIO_PIN9)
|
||||
|
||||
/* LED definitions ******************************************************************/
|
||||
/* PX4 has two LEDs that we will encode as: */
|
||||
|
||||
@@ -0,0 +1,289 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
|
||||
* Author: Stefan Rado <px4@sradonia.net>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file frsky_data.c
|
||||
* @author Stefan Rado <px4@sradonia.net>
|
||||
*
|
||||
* FrSky telemetry implementation.
|
||||
*
|
||||
*/
|
||||
|
||||
#include "frsky_data.h"
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <arch/math.h>
|
||||
#include <geo/geo.h>
|
||||
|
||||
#include <uORB/topics/battery_status.h>
|
||||
#include <uORB/topics/sensor_combined.h>
|
||||
#include <uORB/topics/vehicle_global_position.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
|
||||
/* FrSky sensor hub data IDs */
|
||||
#define FRSKY_ID_GPS_ALT_BP 0x01
|
||||
#define FRSKY_ID_TEMP1 0x02
|
||||
#define FRSKY_ID_RPM 0x03
|
||||
#define FRSKY_ID_FUEL 0x04
|
||||
#define FRSKY_ID_TEMP2 0x05
|
||||
#define FRSKY_ID_VOLTS 0x06
|
||||
#define FRSKY_ID_GPS_ALT_AP 0x09
|
||||
#define FRSKY_ID_BARO_ALT_BP 0x10
|
||||
#define FRSKY_ID_GPS_SPEED_BP 0x11
|
||||
#define FRSKY_ID_GPS_LONG_BP 0x12
|
||||
#define FRSKY_ID_GPS_LAT_BP 0x13
|
||||
#define FRSKY_ID_GPS_COURS_BP 0x14
|
||||
#define FRSKY_ID_GPS_DAY_MONTH 0x15
|
||||
#define FRSKY_ID_GPS_YEAR 0x16
|
||||
#define FRSKY_ID_GPS_HOUR_MIN 0x17
|
||||
#define FRSKY_ID_GPS_SEC 0x18
|
||||
#define FRSKY_ID_GPS_SPEED_AP 0x19
|
||||
#define FRSKY_ID_GPS_LONG_AP 0x1A
|
||||
#define FRSKY_ID_GPS_LAT_AP 0x1B
|
||||
#define FRSKY_ID_GPS_COURS_AP 0x1C
|
||||
#define FRSKY_ID_BARO_ALT_AP 0x21
|
||||
#define FRSKY_ID_GPS_LONG_EW 0x22
|
||||
#define FRSKY_ID_GPS_LAT_NS 0x23
|
||||
#define FRSKY_ID_ACCEL_X 0x24
|
||||
#define FRSKY_ID_ACCEL_Y 0x25
|
||||
#define FRSKY_ID_ACCEL_Z 0x26
|
||||
#define FRSKY_ID_CURRENT 0x28
|
||||
#define FRSKY_ID_VARIO 0x30
|
||||
#define FRSKY_ID_VFAS 0x39
|
||||
#define FRSKY_ID_VOLTS_BP 0x3A
|
||||
#define FRSKY_ID_VOLTS_AP 0x3B
|
||||
|
||||
#define frac(f) (f - (int)f)
|
||||
|
||||
static int battery_sub = -1;
|
||||
static int sensor_sub = -1;
|
||||
static int global_position_sub = -1;
|
||||
static int vehicle_status_sub = -1;
|
||||
|
||||
/**
|
||||
* Initializes the uORB subscriptions.
|
||||
*/
|
||||
void frsky_init()
|
||||
{
|
||||
battery_sub = orb_subscribe(ORB_ID(battery_status));
|
||||
global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
|
||||
sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
|
||||
vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
|
||||
}
|
||||
|
||||
/**
|
||||
* Sends a 0x5E start/stop byte.
|
||||
*/
|
||||
static void frsky_send_startstop(int uart)
|
||||
{
|
||||
static const uint8_t c = 0x5E;
|
||||
write(uart, &c, sizeof(c));
|
||||
}
|
||||
|
||||
/**
|
||||
* Sends one byte, performing byte-stuffing if necessary.
|
||||
*/
|
||||
static void frsky_send_byte(int uart, uint8_t value)
|
||||
{
|
||||
const uint8_t x5E[] = { 0x5D, 0x3E };
|
||||
const uint8_t x5D[] = { 0x5D, 0x3D };
|
||||
|
||||
switch (value) {
|
||||
case 0x5E:
|
||||
write(uart, x5E, sizeof(x5E));
|
||||
break;
|
||||
|
||||
case 0x5D:
|
||||
write(uart, x5D, sizeof(x5D));
|
||||
break;
|
||||
|
||||
default:
|
||||
write(uart, &value, sizeof(value));
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Sends one data id/value pair.
|
||||
*/
|
||||
static void frsky_send_data(int uart, uint8_t id, int16_t data)
|
||||
{
|
||||
/* Cast data to unsigned, because signed shift might behave incorrectly */
|
||||
uint16_t udata = data;
|
||||
|
||||
frsky_send_startstop(uart);
|
||||
|
||||
frsky_send_byte(uart, id);
|
||||
frsky_send_byte(uart, udata); /* LSB */
|
||||
frsky_send_byte(uart, udata >> 8); /* MSB */
|
||||
}
|
||||
|
||||
/**
|
||||
* Sends frame 1 (every 200ms):
|
||||
* acceleration values, barometer altitude, temperature, battery voltage & current
|
||||
*/
|
||||
void frsky_send_frame1(int uart)
|
||||
{
|
||||
/* get a local copy of the current sensor values */
|
||||
struct sensor_combined_s raw;
|
||||
memset(&raw, 0, sizeof(raw));
|
||||
orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
|
||||
|
||||
/* get a local copy of the battery data */
|
||||
struct battery_status_s battery;
|
||||
memset(&battery, 0, sizeof(battery));
|
||||
orb_copy(ORB_ID(battery_status), battery_sub, &battery);
|
||||
|
||||
/* send formatted frame */
|
||||
frsky_send_data(uart, FRSKY_ID_ACCEL_X,
|
||||
roundf(raw.accelerometer_m_s2[0] * 1000.0f));
|
||||
frsky_send_data(uart, FRSKY_ID_ACCEL_Y,
|
||||
roundf(raw.accelerometer_m_s2[1] * 1000.0f));
|
||||
frsky_send_data(uart, FRSKY_ID_ACCEL_Z,
|
||||
roundf(raw.accelerometer_m_s2[2] * 1000.0f));
|
||||
|
||||
frsky_send_data(uart, FRSKY_ID_BARO_ALT_BP,
|
||||
raw.baro_alt_meter);
|
||||
frsky_send_data(uart, FRSKY_ID_BARO_ALT_AP,
|
||||
roundf(frac(raw.baro_alt_meter) * 100.0f));
|
||||
|
||||
frsky_send_data(uart, FRSKY_ID_TEMP1,
|
||||
roundf(raw.baro_temp_celcius));
|
||||
|
||||
frsky_send_data(uart, FRSKY_ID_VFAS,
|
||||
roundf(battery.voltage_v * 10.0f));
|
||||
frsky_send_data(uart, FRSKY_ID_CURRENT,
|
||||
(battery.current_a < 0) ? 0 : roundf(battery.current_a * 10.0f));
|
||||
|
||||
frsky_send_startstop(uart);
|
||||
}
|
||||
|
||||
/**
|
||||
* Formats the decimal latitude/longitude to the required degrees/minutes/seconds.
|
||||
*/
|
||||
static float frsky_format_gps(float dec)
|
||||
{
|
||||
float dms_deg = (int) dec;
|
||||
float dec_deg = dec - dms_deg;
|
||||
float dms_min = (int) (dec_deg * 60);
|
||||
float dec_min = (dec_deg * 60) - dms_min;
|
||||
float dms_sec = dec_min * 60;
|
||||
|
||||
return (dms_deg * 100.0f) + dms_min + (dms_sec / 100.0f);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sends frame 2 (every 1000ms):
|
||||
* GPS course, latitude, longitude, ground speed, GPS altitude, remaining battery level
|
||||
*/
|
||||
void frsky_send_frame2(int uart)
|
||||
{
|
||||
/* get a local copy of the global position data */
|
||||
struct vehicle_global_position_s global_pos;
|
||||
memset(&global_pos, 0, sizeof(global_pos));
|
||||
orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos);
|
||||
|
||||
/* get a local copy of the vehicle status data */
|
||||
struct vehicle_status_s vehicle_status;
|
||||
memset(&vehicle_status, 0, sizeof(vehicle_status));
|
||||
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
|
||||
|
||||
/* send formatted frame */
|
||||
float course = 0, lat = 0, lon = 0, speed = 0, alt = 0;
|
||||
char lat_ns = 0, lon_ew = 0;
|
||||
int sec = 0;
|
||||
if (global_pos.valid) {
|
||||
time_t time_gps = global_pos.time_gps_usec / 1000000;
|
||||
struct tm *tm_gps = gmtime(&time_gps);
|
||||
|
||||
course = (global_pos.yaw + M_PI_F) / M_PI_F * 180.0f;
|
||||
lat = frsky_format_gps(abs(global_pos.lat) / 10000000.0f);
|
||||
lat_ns = (global_pos.lat < 0) ? 'S' : 'N';
|
||||
lon = frsky_format_gps(abs(global_pos.lon) / 10000000.0f);
|
||||
lon_ew = (global_pos.lon < 0) ? 'W' : 'E';
|
||||
speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy)
|
||||
* 25.0f / 46.0f;
|
||||
alt = global_pos.alt;
|
||||
sec = tm_gps->tm_sec;
|
||||
}
|
||||
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_COURS_BP, course);
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_COURS_AP, frac(course) * 1000.0f);
|
||||
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_LAT_BP, lat);
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_LAT_AP, frac(lat) * 10000.0f);
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_LAT_NS, lat_ns);
|
||||
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_LONG_BP, lon);
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_LONG_AP, frac(lon) * 10000.0f);
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_LONG_EW, lon_ew);
|
||||
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_SPEED_BP, speed);
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_SPEED_AP, frac(speed) * 100.0f);
|
||||
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_ALT_BP, alt);
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_ALT_AP, frac(alt) * 100.0f);
|
||||
|
||||
frsky_send_data(uart, FRSKY_ID_FUEL,
|
||||
roundf(vehicle_status.battery_remaining * 100.0f));
|
||||
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_SEC, sec);
|
||||
|
||||
frsky_send_startstop(uart);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sends frame 3 (every 5000ms):
|
||||
* GPS date & time
|
||||
*/
|
||||
void frsky_send_frame3(int uart)
|
||||
{
|
||||
/* get a local copy of the battery data */
|
||||
struct vehicle_global_position_s global_pos;
|
||||
memset(&global_pos, 0, sizeof(global_pos));
|
||||
orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos);
|
||||
|
||||
/* send formatted frame */
|
||||
time_t time_gps = global_pos.time_gps_usec / 1000000;
|
||||
struct tm *tm_gps = gmtime(&time_gps);
|
||||
uint16_t hour_min = (tm_gps->tm_min << 8) | (tm_gps->tm_hour & 0xff);
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_DAY_MONTH, tm_gps->tm_mday);
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_YEAR, tm_gps->tm_year);
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_HOUR_MIN, hour_min);
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_SEC, tm_gps->tm_sec);
|
||||
|
||||
frsky_send_startstop(uart);
|
||||
}
|
||||
@@ -0,0 +1,51 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
|
||||
* Author: Stefan Rado <px4@sradonia.net>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file frsky_data.h
|
||||
* @author Stefan Rado <px4@sradonia.net>
|
||||
*
|
||||
* FrSky telemetry implementation.
|
||||
*
|
||||
*/
|
||||
#ifndef _FRSKY_DATA_H
|
||||
#define _FRSKY_DATA_H
|
||||
|
||||
// Public functions
|
||||
void frsky_init(void);
|
||||
void frsky_send_frame1(int uart);
|
||||
void frsky_send_frame2(int uart);
|
||||
void frsky_send_frame3(int uart);
|
||||
|
||||
#endif /* _FRSKY_TELEMETRY_H */
|
||||
@@ -0,0 +1,266 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
|
||||
* Author: Stefan Rado <px4@sradonia.net>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file frsky_telemetry.c
|
||||
* @author Stefan Rado <px4@sradonia.net>
|
||||
*
|
||||
* FrSky telemetry implementation.
|
||||
*
|
||||
* This daemon emulates an FrSky sensor hub by periodically sending data
|
||||
* packets to an attached FrSky receiver.
|
||||
*
|
||||
*/
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <stdbool.h>
|
||||
#include <string.h>
|
||||
#include <sys/types.h>
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <termios.h>
|
||||
|
||||
#include "frsky_data.h"
|
||||
|
||||
|
||||
/* thread state */
|
||||
static volatile bool thread_should_exit = false;
|
||||
static volatile bool thread_running = false;
|
||||
static int frsky_task;
|
||||
|
||||
/* functions */
|
||||
static int frsky_open_uart(const char *uart_name, struct termios *uart_config_original);
|
||||
static void usage(void);
|
||||
static int frsky_telemetry_thread_main(int argc, char *argv[]);
|
||||
__EXPORT int frsky_telemetry_main(int argc, char *argv[]);
|
||||
|
||||
|
||||
/**
|
||||
* Opens the UART device and sets all required serial parameters.
|
||||
*/
|
||||
static int frsky_open_uart(const char *uart_name, struct termios *uart_config_original)
|
||||
{
|
||||
/* Open UART */
|
||||
const int uart = open(uart_name, O_WRONLY | O_NOCTTY);
|
||||
|
||||
if (uart < 0) {
|
||||
err(1, "Error opening port: %s", uart_name);
|
||||
}
|
||||
|
||||
/* Back up the original UART configuration to restore it after exit */
|
||||
int termios_state;
|
||||
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
|
||||
warnx("ERROR get termios config %s: %d\n", uart_name, termios_state);
|
||||
close(uart);
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Fill the struct for the new configuration */
|
||||
struct termios uart_config;
|
||||
tcgetattr(uart, &uart_config);
|
||||
|
||||
/* Disable output post-processing */
|
||||
uart_config.c_oflag &= ~OPOST;
|
||||
|
||||
/* Set baud rate */
|
||||
static const speed_t speed = B9600;
|
||||
|
||||
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
|
||||
warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
|
||||
close(uart);
|
||||
return -1;
|
||||
}
|
||||
|
||||
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
|
||||
warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
|
||||
close(uart);
|
||||
return -1;
|
||||
}
|
||||
|
||||
return uart;
|
||||
}
|
||||
|
||||
/**
|
||||
* Print command usage information
|
||||
*/
|
||||
static void usage()
|
||||
{
|
||||
fprintf(stderr,
|
||||
"usage: frsky_telemetry start [-d <devicename>]\n"
|
||||
" frsky_telemetry stop\n"
|
||||
" frsky_telemetry status\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
/**
|
||||
* The daemon thread.
|
||||
*/
|
||||
static int frsky_telemetry_thread_main(int argc, char *argv[])
|
||||
{
|
||||
/* Default values for arguments */
|
||||
char *device_name = "/dev/ttyS1"; /* USART2 */
|
||||
|
||||
/* Work around some stupidity in task_create's argv handling */
|
||||
argc -= 2;
|
||||
argv += 2;
|
||||
|
||||
int ch;
|
||||
while ((ch = getopt(argc, argv, "d:")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'd':
|
||||
device_name = optarg;
|
||||
break;
|
||||
|
||||
default:
|
||||
usage();
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* Print welcome text */
|
||||
warnx("FrSky telemetry interface starting...");
|
||||
|
||||
/* Open UART */
|
||||
struct termios uart_config_original;
|
||||
const int uart = frsky_open_uart(device_name, &uart_config_original);
|
||||
|
||||
if (uart < 0)
|
||||
err(1, "could not open %s", device_name);
|
||||
|
||||
/* Subscribe to topics */
|
||||
frsky_init();
|
||||
|
||||
thread_running = true;
|
||||
|
||||
/* Main thread loop */
|
||||
unsigned int iteration = 0;
|
||||
while (!thread_should_exit) {
|
||||
|
||||
/* Sleep 200 ms */
|
||||
usleep(200000);
|
||||
|
||||
/* Send frame 1 (every 200ms): acceleration values, altitude (vario), temperatures, current & voltages, RPM */
|
||||
frsky_send_frame1(uart);
|
||||
|
||||
/* Send frame 2 (every 1000ms): course, latitude, longitude, speed, altitude (GPS), fuel level */
|
||||
if (iteration % 5 == 0)
|
||||
{
|
||||
frsky_send_frame2(uart);
|
||||
}
|
||||
|
||||
/* Send frame 3 (every 5000ms): date, time */
|
||||
if (iteration % 25 == 0)
|
||||
{
|
||||
frsky_send_frame3(uart);
|
||||
|
||||
iteration = 0;
|
||||
}
|
||||
|
||||
iteration++;
|
||||
}
|
||||
|
||||
/* Reset the UART flags to original state */
|
||||
tcsetattr(uart, TCSANOW, &uart_config_original);
|
||||
close(uart);
|
||||
|
||||
thread_running = false;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* The main command function.
|
||||
* Processes command line arguments and starts the daemon.
|
||||
*/
|
||||
int frsky_telemetry_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
warnx("missing command");
|
||||
usage();
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
/* this is not an error */
|
||||
if (thread_running)
|
||||
errx(0, "frsky_telemetry already running");
|
||||
|
||||
thread_should_exit = false;
|
||||
frsky_task = task_spawn_cmd("frsky_telemetry",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_DEFAULT,
|
||||
2048,
|
||||
frsky_telemetry_thread_main,
|
||||
(const char **)argv);
|
||||
|
||||
while (!thread_running) {
|
||||
usleep(200);
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
|
||||
/* this is not an error */
|
||||
if (!thread_running)
|
||||
errx(0, "frsky_telemetry already stopped");
|
||||
|
||||
thread_should_exit = true;
|
||||
|
||||
while (thread_running) {
|
||||
usleep(200000);
|
||||
warnx(".");
|
||||
}
|
||||
|
||||
warnx("terminated.");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (thread_running) {
|
||||
errx(0, "running");
|
||||
|
||||
} else {
|
||||
errx(1, "not running");
|
||||
}
|
||||
}
|
||||
|
||||
warnx("unrecognized command");
|
||||
usage();
|
||||
/* not getting here */
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,41 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# FrSky telemetry application.
|
||||
#
|
||||
|
||||
MODULE_COMMAND = frsky_telemetry
|
||||
|
||||
SRCS = frsky_data.c \
|
||||
frsky_telemetry.c
|
||||
@@ -198,7 +198,9 @@ MEASAirspeed::collect()
|
||||
// uint16_t diff_press_pa = abs(dp_raw - (16384 / 2.0f));
|
||||
const float P_min = -1.0f;
|
||||
const float P_max = 1.0f;
|
||||
float diff_press_pa = math::max(0.0f, fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f) - _diff_pres_offset);
|
||||
float diff_press_pa = fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f) - _diff_pres_offset;
|
||||
if (diff_press_pa < 0.0f)
|
||||
diff_press_pa = 0.0f;
|
||||
|
||||
struct differential_pressure_s report;
|
||||
|
||||
|
||||
@@ -124,6 +124,8 @@ protected:
|
||||
int32_t _TEMP;
|
||||
int64_t _OFF;
|
||||
int64_t _SENS;
|
||||
float _P;
|
||||
float _T;
|
||||
|
||||
/* altitude conversion calibration */
|
||||
unsigned _msl_pressure; /* in kPa */
|
||||
@@ -623,6 +625,8 @@ MS5611::collect()
|
||||
|
||||
/* pressure calculation, result in Pa */
|
||||
int32_t P = (((raw * _SENS) >> 21) - _OFF) >> 15;
|
||||
_P = P * 0.01f;
|
||||
_T = _TEMP * 0.01f;
|
||||
|
||||
/* generate a new report */
|
||||
report.temperature = _TEMP / 100.0f;
|
||||
@@ -695,6 +699,8 @@ MS5611::print_info()
|
||||
printf("TEMP: %d\n", _TEMP);
|
||||
printf("SENS: %lld\n", _SENS);
|
||||
printf("OFF: %lld\n", _OFF);
|
||||
printf("P: %.3f\n", _P);
|
||||
printf("T: %.3f\n", _T);
|
||||
printf("MSL pressure: %10.4f\n", (double)(_msl_pressure / 100.f));
|
||||
|
||||
printf("factory_setup %u\n", _prom.factory_setup);
|
||||
|
||||
@@ -65,6 +65,7 @@
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/mixer/mixer.h>
|
||||
#include <systemlib/pwm_limit/pwm_limit.h>
|
||||
#include <systemlib/board_serial.h>
|
||||
#include <drivers/drv_mixer.h>
|
||||
#include <drivers/drv_rc_input.h>
|
||||
|
||||
@@ -224,10 +225,10 @@ PX4FMU::PX4FMU() :
|
||||
_armed(false),
|
||||
_pwm_on(false),
|
||||
_mixers(nullptr),
|
||||
_failsafe_pwm( {0}),
|
||||
_disarmed_pwm( {0}),
|
||||
_num_failsafe_set(0),
|
||||
_num_disarmed_set(0)
|
||||
_failsafe_pwm({0}),
|
||||
_disarmed_pwm({0}),
|
||||
_num_failsafe_set(0),
|
||||
_num_disarmed_set(0)
|
||||
{
|
||||
for (unsigned i = 0; i < _max_actuators; i++) {
|
||||
_min_pwm[i] = PWM_DEFAULT_MIN;
|
||||
@@ -575,7 +576,7 @@ PX4FMU::task_main()
|
||||
if (i >= outputs.noutputs ||
|
||||
!isfinite(outputs.output[i]) ||
|
||||
outputs.output[i] < -1.0f ||
|
||||
outputs.output[i] > 1.0f) {
|
||||
outputs.output[i] > 1.0f) {
|
||||
/*
|
||||
* Value is NaN, INF or out of band - set to the minimum value.
|
||||
* This will be clearly visible on the servo status and will limit the risk of accidentally
|
||||
@@ -933,7 +934,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
|
||||
break;
|
||||
}
|
||||
|
||||
/* FALLTHROUGH */
|
||||
/* FALLTHROUGH */
|
||||
case PWM_SERVO_SET(3):
|
||||
case PWM_SERVO_SET(2):
|
||||
if (_mode < MODE_4PWM) {
|
||||
@@ -941,7 +942,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
|
||||
break;
|
||||
}
|
||||
|
||||
/* FALLTHROUGH */
|
||||
/* FALLTHROUGH */
|
||||
case PWM_SERVO_SET(1):
|
||||
case PWM_SERVO_SET(0):
|
||||
if (arg <= 2100) {
|
||||
@@ -960,7 +961,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
|
||||
break;
|
||||
}
|
||||
|
||||
/* FALLTHROUGH */
|
||||
/* FALLTHROUGH */
|
||||
case PWM_SERVO_GET(3):
|
||||
case PWM_SERVO_GET(2):
|
||||
if (_mode < MODE_4PWM) {
|
||||
@@ -968,7 +969,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
|
||||
break;
|
||||
}
|
||||
|
||||
/* FALLTHROUGH */
|
||||
/* FALLTHROUGH */
|
||||
case PWM_SERVO_GET(1):
|
||||
case PWM_SERVO_GET(0):
|
||||
*(servo_position_t *)arg = up_pwm_servo_get(cmd - PWM_SERVO_GET(0));
|
||||
@@ -1591,6 +1592,15 @@ fmu_main(int argc, char *argv[])
|
||||
errx(0, "FMU driver stopped");
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "id")) {
|
||||
char id[12];
|
||||
(void)get_board_serial(id);
|
||||
|
||||
errx(0, "Board serial:\n %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X",
|
||||
(unsigned)id[0], (unsigned)id[1], (unsigned)id[2], (unsigned)id[3], (unsigned)id[4], (unsigned)id[5],
|
||||
(unsigned)id[6], (unsigned)id[7], (unsigned)id[8], (unsigned)id[9], (unsigned)id[10], (unsigned)id[11]);
|
||||
}
|
||||
|
||||
|
||||
if (fmu_start() != OK)
|
||||
errx(1, "failed to start the FMU driver");
|
||||
@@ -1647,6 +1657,7 @@ fmu_main(int argc, char *argv[])
|
||||
sensor_reset(0);
|
||||
warnx("resettet default time");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
@@ -203,6 +203,12 @@ dsm_guess_format(bool reset)
|
||||
int
|
||||
dsm_init(const char *device)
|
||||
{
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
|
||||
// enable power on DSM connector
|
||||
POWER_SPEKTRUM(true);
|
||||
#endif
|
||||
|
||||
if (dsm_fd < 0)
|
||||
dsm_fd = open(device, O_RDONLY | O_NONBLOCK);
|
||||
|
||||
|
||||
@@ -125,6 +125,25 @@ heartbeat_blink(void)
|
||||
LED_BLUE(heartbeat = !heartbeat);
|
||||
}
|
||||
|
||||
static uint64_t reboot_time;
|
||||
|
||||
/**
|
||||
schedule a reboot in time_delta_usec microseconds
|
||||
*/
|
||||
void schedule_reboot(uint32_t time_delta_usec)
|
||||
{
|
||||
reboot_time = hrt_absolute_time() + time_delta_usec;
|
||||
}
|
||||
|
||||
/**
|
||||
check for a scheduled reboot
|
||||
*/
|
||||
static void check_reboot(void)
|
||||
{
|
||||
if (reboot_time != 0 && hrt_absolute_time() > reboot_time) {
|
||||
up_systemreset();
|
||||
}
|
||||
}
|
||||
|
||||
static void
|
||||
calculate_fw_crc(void)
|
||||
@@ -249,6 +268,8 @@ user_start(int argc, char *argv[])
|
||||
heartbeat_blink();
|
||||
}
|
||||
|
||||
check_reboot();
|
||||
|
||||
#if 0
|
||||
/* check for debug activity */
|
||||
show_debug_messages();
|
||||
|
||||
@@ -220,3 +220,7 @@ extern volatile uint8_t debug_level;
|
||||
|
||||
/** send a debug message to the console */
|
||||
extern void isr_debug(uint8_t level, const char *fmt, ...);
|
||||
|
||||
/** schedule a reboot */
|
||||
extern void schedule_reboot(uint32_t time_delta_usec);
|
||||
|
||||
|
||||
@@ -518,16 +518,11 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
|
||||
// check the magic value
|
||||
if (value != PX4IO_REBOOT_BL_MAGIC)
|
||||
break;
|
||||
|
||||
// note that we don't set BL_WAIT_MAGIC in
|
||||
// BKP_DR1 as that is not necessary given the
|
||||
// timing of the forceupdate command. The
|
||||
// bootloader on px4io waits for enough time
|
||||
// anyway, and this method works with older
|
||||
// bootloader versions (tested with both
|
||||
// revision 3 and revision 4).
|
||||
|
||||
up_systemreset();
|
||||
// we schedule a reboot rather than rebooting
|
||||
// immediately to allow the IO board to ACK
|
||||
// the reboot command
|
||||
schedule_reboot(100000);
|
||||
break;
|
||||
|
||||
case PX4IO_P_SETUP_DSM:
|
||||
|
||||
@@ -0,0 +1,60 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file board_serial.h
|
||||
* Read off the board serial
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
|
||||
*
|
||||
*/
|
||||
|
||||
#include "otp.h"
|
||||
#include "board_config.h"
|
||||
#include "board_serial.h"
|
||||
|
||||
int get_board_serial(char *serialid)
|
||||
{
|
||||
const volatile unsigned *udid_ptr = (const unsigned *)UDID_START;
|
||||
union udid id;
|
||||
val_read((unsigned *)&id, udid_ptr, sizeof(id));
|
||||
|
||||
|
||||
/* Copy the serial from the chips non-write memory and swap endianess */
|
||||
serialid[0] = id.data[3]; serialid[1] = id.data[2]; serialid[2] = id.data[1]; serialid[3] = id.data[0];
|
||||
serialid[4] = id.data[7]; serialid[5] = id.data[6]; serialid[6] = id.data[5]; serialid[7] = id.data[4];
|
||||
serialid[8] = id.data[11]; serialid[9] = id.data[10]; serialid[10] = id.data[9]; serialid[11] = id.data[8];
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,49 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file board_serial.h
|
||||
* Read off the board serial
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
__EXPORT int get_board_serial(char *serialid);
|
||||
|
||||
__END_DECLS
|
||||
@@ -49,4 +49,7 @@ SRCS = err.c \
|
||||
airspeed.c \
|
||||
system_params.c \
|
||||
mavlink_log.c \
|
||||
rc_check.c
|
||||
rc_check.c \
|
||||
otp.c \
|
||||
board_serial.c
|
||||
|
||||
|
||||
@@ -0,0 +1,224 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
|
||||
* Authors:
|
||||
* Lorenz Meier <lm@inf.ethz.ch>
|
||||
* David "Buzz" Bussenschutt <davidbuzz@gmail.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file otp.c
|
||||
* otp estimation
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
|
||||
*
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <board_config.h>
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include <unistd.h>
|
||||
#include <string.h> // memset
|
||||
#include "conversions.h"
|
||||
#include "otp.h"
|
||||
#include "err.h" // warnx
|
||||
#include <assert.h>
|
||||
|
||||
|
||||
int val_read(void *dest, volatile const void *src, int bytes)
|
||||
{
|
||||
|
||||
int i;
|
||||
|
||||
for (i = 0; i < bytes / 4; i++) {
|
||||
*(((volatile unsigned *)dest) + i) = *(((volatile unsigned *)src) + i);
|
||||
}
|
||||
|
||||
return i * 4;
|
||||
}
|
||||
|
||||
|
||||
int write_otp(uint8_t id_type, uint32_t vid, uint32_t pid, char *signature)
|
||||
{
|
||||
|
||||
warnx("write_otp: PX4 / %02X / %02X / %02X / ... etc \n", id_type, vid, pid);
|
||||
|
||||
int errors = 0;
|
||||
|
||||
// descriptor
|
||||
if (F_write_byte(ADDR_OTP_START, 'P'))
|
||||
errors++;
|
||||
// write the 'P' from PX4. to first byte in OTP
|
||||
if (F_write_byte(ADDR_OTP_START + 1, 'X'))
|
||||
errors++; // write the 'P' from PX4. to first byte in OTP
|
||||
if (F_write_byte(ADDR_OTP_START + 2, '4'))
|
||||
errors++;
|
||||
if (F_write_byte(ADDR_OTP_START + 3, '\0'))
|
||||
errors++;
|
||||
//id_type
|
||||
if (F_write_byte(ADDR_OTP_START + 4, id_type))
|
||||
errors++;
|
||||
// vid and pid are 4 bytes each
|
||||
if (F_write_word(ADDR_OTP_START + 5, vid))
|
||||
errors++;
|
||||
if (F_write_word(ADDR_OTP_START + 9, pid))
|
||||
errors++;
|
||||
|
||||
// leave some 19 bytes of space, and go to the next block...
|
||||
// then the auth sig starts
|
||||
for (int i = 0 ; i < 128 ; i++) {
|
||||
if (F_write_byte(ADDR_OTP_START + 32 + i, signature[i]))
|
||||
errors++;
|
||||
}
|
||||
|
||||
return errors;
|
||||
}
|
||||
|
||||
int lock_otp(void)
|
||||
{
|
||||
//determine the required locking size - can only write full lock bytes */
|
||||
// int size = sizeof(struct otp) / 32;
|
||||
//
|
||||
// struct otp_lock otp_lock_mem;
|
||||
//
|
||||
// memset(&otp_lock_mem, OTP_LOCK_UNLOCKED, sizeof(otp_lock_mem));
|
||||
// for (int i = 0; i < sizeof(otp_lock_mem) / sizeof(otp_lock_mem.lock_bytes[0]); i++)
|
||||
// otp_lock_mem.lock_bytes[i] = OTP_LOCK_LOCKED;
|
||||
//XXX add the actual call here to write the OTP_LOCK bytes only at final stage
|
||||
// val_copy(lock_ptr, &otp_lock_mem, sizeof(otp_lock_mem));
|
||||
|
||||
int locksize = 5;
|
||||
|
||||
int errors = 0;
|
||||
|
||||
// or just realise it's exctly 5x 32byte blocks we need to lock. 1 block for ID,type,vid,pid, and 4 blocks for certificate, which is 128 bytes.
|
||||
for (int i = 0 ; i < locksize ; i++) {
|
||||
if (F_write_byte(ADDR_OTP_LOCK_START + i, OTP_LOCK_LOCKED))
|
||||
errors++;
|
||||
}
|
||||
|
||||
return errors;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// COMPLETE, BUSY, or other flash error?
|
||||
int F_GetStatus(void)
|
||||
{
|
||||
int fs = F_COMPLETE;
|
||||
|
||||
if ((FLASH->status & F_BSY) == F_BSY) { fs = F_BUSY; } else {
|
||||
|
||||
if ((FLASH->status & F_WRPERR) != (uint32_t)0x00) { fs = F_ERROR_WRP; } else {
|
||||
|
||||
if ((FLASH->status & (uint32_t)0xEF) != (uint32_t)0x00) { fs = F_ERROR_PROGRAM; } else {
|
||||
|
||||
if ((FLASH->status & F_OPERR) != (uint32_t)0x00) { fs = F_ERROR_OPERATION; } else {
|
||||
fs = F_COMPLETE;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return fs;
|
||||
}
|
||||
|
||||
|
||||
// enable FLASH Registers
|
||||
void F_unlock(void)
|
||||
{
|
||||
if ((FLASH->control & F_CR_LOCK) != 0) {
|
||||
FLASH->key = F_KEY1;
|
||||
FLASH->key = F_KEY2;
|
||||
}
|
||||
}
|
||||
|
||||
// lock the FLASH Registers
|
||||
void F_lock(void)
|
||||
{
|
||||
FLASH->control |= F_CR_LOCK;
|
||||
}
|
||||
|
||||
// flash write word.
|
||||
int F_write_word(uint32_t Address, uint32_t Data)
|
||||
{
|
||||
unsigned char octet[4] = {0, 0, 0, 0};
|
||||
|
||||
int ret = 0;
|
||||
|
||||
for (int i = 0; i < 4; i++) {
|
||||
octet[i] = (Data >> (i * 8)) & 0xFF;
|
||||
ret = F_write_byte(Address + i, octet[i]);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
// flash write byte
|
||||
int F_write_byte(uint32_t Address, uint8_t Data)
|
||||
{
|
||||
volatile int status = F_COMPLETE;
|
||||
|
||||
//warnx("F_write_byte: %08X %02d", Address , Data ) ;
|
||||
|
||||
//Check the parameters
|
||||
assert(IS_F_ADDRESS(Address));
|
||||
|
||||
//Wait for FLASH operation to complete by polling on BUSY flag.
|
||||
status = F_GetStatus();
|
||||
|
||||
while (status == F_BUSY) { status = F_GetStatus();}
|
||||
|
||||
if (status == F_COMPLETE) {
|
||||
//if the previous operation is completed, proceed to program the new data
|
||||
FLASH->control &= CR_PSIZE_MASK;
|
||||
FLASH->control |= F_PSIZE_BYTE;
|
||||
FLASH->control |= F_CR_PG;
|
||||
|
||||
*(volatile uint8_t *)Address = Data;
|
||||
|
||||
//Wait for FLASH operation to complete by polling on BUSY flag.
|
||||
status = F_GetStatus();
|
||||
|
||||
while (status == F_BUSY) { status = F_GetStatus();}
|
||||
|
||||
//if the program operation is completed, disable the PG Bit
|
||||
FLASH->control &= (~F_CR_PG);
|
||||
}
|
||||
|
||||
//Return the Program Status
|
||||
return !(status == F_COMPLETE);
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,151 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file otp.h
|
||||
* One TIme Programmable ( OTP ) Flash routine/s.
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef OTP_H_
|
||||
#define OTP_H_
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
#define ADDR_OTP_START 0x1FFF7800
|
||||
#define ADDR_OTP_LOCK_START 0x1FFF7A00
|
||||
|
||||
#define OTP_LOCK_LOCKED 0x00
|
||||
#define OTP_LOCK_UNLOCKED 0xFF
|
||||
|
||||
|
||||
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
|
||||
// possible flash statuses
|
||||
#define F_BUSY 1
|
||||
#define F_ERROR_WRP 2
|
||||
#define F_ERROR_PROGRAM 3
|
||||
#define F_ERROR_OPERATION 4
|
||||
#define F_COMPLETE 5
|
||||
|
||||
typedef struct {
|
||||
volatile uint32_t accesscontrol; // 0x00
|
||||
volatile uint32_t key; // 0x04
|
||||
volatile uint32_t optionkey; // 0x08
|
||||
volatile uint32_t status; // 0x0C
|
||||
volatile uint32_t control; // 0x10
|
||||
volatile uint32_t optioncontrol; //0x14
|
||||
} flash_registers;
|
||||
|
||||
#define PERIPH_BASE ((uint32_t)0x40000000) //Peripheral base address
|
||||
#define AHB1PERIPH_BASE (PERIPH_BASE + 0x00020000)
|
||||
#define F_R_BASE (AHB1PERIPH_BASE + 0x3C00)
|
||||
#define FLASH ((flash_registers *) F_R_BASE)
|
||||
|
||||
#define F_BSY ((uint32_t)0x00010000) //FLASH Busy flag bit
|
||||
#define F_OPERR ((uint32_t)0x00000002) //FLASH operation Error flag bit
|
||||
#define F_WRPERR ((uint32_t)0x00000010) //FLASH Write protected error flag bit
|
||||
#define CR_PSIZE_MASK ((uint32_t)0xFFFFFCFF)
|
||||
#define F_PSIZE_WORD ((uint32_t)0x00000200)
|
||||
#define F_PSIZE_BYTE ((uint32_t)0x00000000)
|
||||
#define F_CR_PG ((uint32_t)0x00000001) // a bit in the F_CR register
|
||||
#define F_CR_LOCK ((uint32_t)0x80000000) // also another bit.
|
||||
|
||||
#define F_KEY1 ((uint32_t)0x45670123)
|
||||
#define F_KEY2 ((uint32_t)0xCDEF89AB)
|
||||
#define IS_F_ADDRESS(ADDRESS) ((((ADDRESS) >= 0x08000000) && ((ADDRESS) < 0x080FFFFF)) || (((ADDRESS) >= 0x1FFF7800) && ((ADDRESS) < 0x1FFF7A0F)))
|
||||
|
||||
|
||||
|
||||
#pragma pack(push, 1)
|
||||
|
||||
/*
|
||||
* The OTP area is divided into 16 OTP data blocks of 32 bytes and one lock OTP block of 16 bytes.
|
||||
* The OTP data and lock blocks cannot be erased. The lock block contains 16 bytes LOCKBi (0 ≤ i ≤ 15)
|
||||
* to lock the corresponding OTP data block (blocks 0 to 15). Each OTP data block can be programmed
|
||||
* until the value 0x00 is programmed in the corresponding OTP lock byte. The lock bytes must only
|
||||
* contain 0x00 and 0xFF values, otherwise the OTP bytes might not be taken into account correctly.
|
||||
*/
|
||||
|
||||
struct otp {
|
||||
// first 32 bytes = the '0' Block
|
||||
char id[4]; ///4 bytes < 'P' 'X' '4' '\n'
|
||||
uint8_t id_type; ///1 byte < 0 for USB VID, 1 for generic VID
|
||||
uint32_t vid; ///4 bytes
|
||||
uint32_t pid; ///4 bytes
|
||||
char unused[19]; ///19 bytes
|
||||
// Cert-of-Auth is next 4 blocks ie 1-4 ( where zero is first block )
|
||||
char signature[128];
|
||||
// insert extras here
|
||||
uint32_t lock_bytes[4];
|
||||
};
|
||||
|
||||
struct otp_lock {
|
||||
uint8_t lock_bytes[16];
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
#define ADDR_F_SIZE 0x1FFF7A22
|
||||
|
||||
#pragma pack(push, 1)
|
||||
union udid {
|
||||
uint32_t serial[3];
|
||||
char data[12];
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
|
||||
/**
|
||||
* s
|
||||
*/
|
||||
//__EXPORT float calc_indicated_airspeed(float differential_pressure);
|
||||
|
||||
__EXPORT void F_unlock(void);
|
||||
__EXPORT void F_lock(void);
|
||||
__EXPORT int val_read(void *dest, volatile const void *src, int bytes);
|
||||
__EXPORT int val_write(volatile void *dest, const void *src, int bytes);
|
||||
__EXPORT int write_otp(uint8_t id_type, uint32_t vid, uint32_t pid, char *signature);
|
||||
__EXPORT int lock_otp(void);
|
||||
|
||||
|
||||
__EXPORT int F_write_byte(uint32_t Address, uint8_t Data);
|
||||
__EXPORT int F_write_word(uint32_t Address, uint32_t Data);
|
||||
|
||||
__END_DECLS
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user