mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-15 17:23:33 +08:00
Merged master
This commit is contained in:
Lorenz Meier
@@ -0,0 +1,200 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file config.c
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* config tool.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <stdbool.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <sys/stat.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <drivers/drv_gyro.h>
|
||||
#include <drivers/drv_accel.h>
|
||||
#include <drivers/drv_mag.h>
|
||||
|
||||
#include "systemlib/systemlib.h"
|
||||
#include "systemlib/err.h"
|
||||
|
||||
__EXPORT int config_main(int argc, char *argv[]);
|
||||
|
||||
static void do_gyro(int argc, char *argv[]);
|
||||
static void do_accel(int argc, char *argv[]);
|
||||
static void do_mag(int argc, char *argv[]);
|
||||
|
||||
int
|
||||
config_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc >= 2) {
|
||||
if (!strcmp(argv[1], "gyro")) {
|
||||
if (argc >= 3) {
|
||||
do_gyro(argc - 2, argv + 2);
|
||||
} else {
|
||||
errx(1, "not enough parameters.");
|
||||
}
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "accel")) {
|
||||
if (argc >= 3) {
|
||||
do_accel(argc - 2, argv + 2);
|
||||
} else {
|
||||
errx(1, "not enough parameters.");
|
||||
}
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "mag")) {
|
||||
if (argc >= 3) {
|
||||
do_mag(argc - 2, argv + 2);
|
||||
} else {
|
||||
errx(1, "not enough parameters.");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
errx(1, "expected a command, try 'gyro', 'accel', 'mag'");
|
||||
}
|
||||
|
||||
static void
|
||||
do_gyro(int argc, char *argv[])
|
||||
{
|
||||
int fd;
|
||||
|
||||
fd = open(GYRO_DEVICE_PATH, 0);
|
||||
|
||||
if (fd < 0) {
|
||||
warn("%s", GYRO_DEVICE_PATH);
|
||||
errx(1, "FATAL: no gyro found");
|
||||
|
||||
} else {
|
||||
|
||||
if (argc >= 2) {
|
||||
|
||||
char* end;
|
||||
int i = strtol(argv[1],&end,10);
|
||||
|
||||
if (!strcmp(argv[0], "sampling")) {
|
||||
|
||||
/* set the accel internal sampling rate up to at leat i Hz */
|
||||
ioctl(fd, GYROIOCSSAMPLERATE, i);
|
||||
|
||||
} else if (!strcmp(argv[0], "rate")) {
|
||||
|
||||
/* set the driver to poll at i Hz */
|
||||
ioctl(fd, SENSORIOCSPOLLRATE, i);
|
||||
} else if (!strcmp(argv[0], "range")) {
|
||||
|
||||
/* set the range to i dps */
|
||||
ioctl(fd, GYROIOCSRANGE, i);
|
||||
}
|
||||
|
||||
} else if (!(argc > 0 && !strcmp(argv[0], "info"))) {
|
||||
warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2000' to set measurement range to 2000 dps\n\t");
|
||||
}
|
||||
|
||||
int srate = ioctl(fd, GYROIOCGSAMPLERATE, 0);
|
||||
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
|
||||
int range = ioctl(fd, GYROIOCGRANGE, 0);
|
||||
|
||||
warnx("gyro: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d dps", srate, prate, range);
|
||||
|
||||
close(fd);
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
static void
|
||||
do_mag(int argc, char *argv[])
|
||||
{
|
||||
exit(0);
|
||||
}
|
||||
|
||||
static void
|
||||
do_accel(int argc, char *argv[])
|
||||
{
|
||||
int fd;
|
||||
|
||||
fd = open(ACCEL_DEVICE_PATH, 0);
|
||||
|
||||
if (fd < 0) {
|
||||
warn("%s", ACCEL_DEVICE_PATH);
|
||||
errx(1, "FATAL: no accelerometer found");
|
||||
|
||||
} else {
|
||||
|
||||
if (argc >= 2) {
|
||||
|
||||
char* end;
|
||||
int i = strtol(argv[1],&end,10);
|
||||
|
||||
if (!strcmp(argv[0], "sampling")) {
|
||||
|
||||
/* set the accel internal sampling rate up to at leat i Hz */
|
||||
ioctl(fd, ACCELIOCSSAMPLERATE, i);
|
||||
|
||||
} else if (!strcmp(argv[0], "rate")) {
|
||||
|
||||
/* set the driver to poll at i Hz */
|
||||
ioctl(fd, SENSORIOCSPOLLRATE, i);
|
||||
} else if (!strcmp(argv[0], "range")) {
|
||||
|
||||
/* set the range to i dps */
|
||||
ioctl(fd, ACCELIOCSRANGE, i);
|
||||
}
|
||||
} else if (!(argc > 0 && !strcmp(argv[0], "info"))) {
|
||||
warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2' to set measurement range to 2 G\n\t");
|
||||
}
|
||||
|
||||
int srate = ioctl(fd, ACCELIOCGSAMPLERATE, 0);
|
||||
int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
|
||||
int range = ioctl(fd, ACCELIOCGRANGE, 0);
|
||||
|
||||
warnx("accel: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d m/s", srate, prate, range);
|
||||
|
||||
close(fd);
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
@@ -0,0 +1,44 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Build the config tool.
|
||||
#
|
||||
|
||||
MODULE_COMMAND = config
|
||||
SRCS = config.c
|
||||
|
||||
MODULE_STACKSIZE = 4096
|
||||
|
||||
MAXOPTIMIZATION = -Os
|
||||
|
||||
@@ -0,0 +1,6 @@
|
||||
#
|
||||
# RAMTRON file system driver
|
||||
#
|
||||
|
||||
MODULE_COMMAND = ramtron
|
||||
SRCS = ramtron.c
|
||||
@@ -0,0 +1,279 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file ramtron.c
|
||||
*
|
||||
* ramtron service and utility app.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <stdbool.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <sys/mount.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <sys/stat.h>
|
||||
|
||||
#include <nuttx/spi.h>
|
||||
#include <nuttx/mtd.h>
|
||||
#include <nuttx/fs/nxffs.h>
|
||||
#include <nuttx/fs/ioctl.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "systemlib/systemlib.h"
|
||||
#include "systemlib/param/param.h"
|
||||
#include "systemlib/err.h"
|
||||
|
||||
__EXPORT int ramtron_main(int argc, char *argv[]);
|
||||
|
||||
#ifndef CONFIG_MTD_RAMTRON
|
||||
|
||||
/* create a fake command with decent message to not confuse users */
|
||||
int ramtron_main(int argc, char *argv[])
|
||||
{
|
||||
errx(1, "RAMTRON not enabled, skipping.");
|
||||
}
|
||||
#else
|
||||
|
||||
static void ramtron_attach(void);
|
||||
static void ramtron_start(void);
|
||||
static void ramtron_erase(void);
|
||||
static void ramtron_ioctl(unsigned operation);
|
||||
static void ramtron_save(const char *name);
|
||||
static void ramtron_load(const char *name);
|
||||
static void ramtron_test(void);
|
||||
|
||||
static bool attached = false;
|
||||
static bool started = false;
|
||||
static struct mtd_dev_s *ramtron_mtd;
|
||||
|
||||
int ramtron_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc >= 2) {
|
||||
if (!strcmp(argv[1], "start"))
|
||||
ramtron_start();
|
||||
|
||||
if (!strcmp(argv[1], "save_param"))
|
||||
ramtron_save(argv[2]);
|
||||
|
||||
if (!strcmp(argv[1], "load_param"))
|
||||
ramtron_load(argv[2]);
|
||||
|
||||
if (!strcmp(argv[1], "erase"))
|
||||
ramtron_erase();
|
||||
|
||||
if (!strcmp(argv[1], "test"))
|
||||
ramtron_test();
|
||||
|
||||
if (0) { /* these actually require a file on the filesystem... */
|
||||
|
||||
if (!strcmp(argv[1], "reformat"))
|
||||
ramtron_ioctl(FIOC_REFORMAT);
|
||||
|
||||
if (!strcmp(argv[1], "repack"))
|
||||
ramtron_ioctl(FIOC_OPTIMIZE);
|
||||
}
|
||||
}
|
||||
|
||||
errx(1, "expected a command, try 'start'\n\t'save_param /ramtron/parameters'\n\t'load_param /ramtron/parameters'\n\t'erase'\n");
|
||||
}
|
||||
|
||||
struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
|
||||
|
||||
|
||||
static void
|
||||
ramtron_attach(void)
|
||||
{
|
||||
/* find the right spi */
|
||||
struct spi_dev_s *spi = up_spiinitialize(2);
|
||||
/* this resets the spi bus, set correct bus speed again */
|
||||
// xxx set in ramtron driver, leave this out
|
||||
// SPI_SETFREQUENCY(spi, 4000000);
|
||||
SPI_SETFREQUENCY(spi, 375000000);
|
||||
SPI_SETBITS(spi, 8);
|
||||
SPI_SETMODE(spi, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi, SPIDEV_FLASH, false);
|
||||
|
||||
if (spi == NULL)
|
||||
errx(1, "failed to locate spi bus");
|
||||
|
||||
/* start the MTD driver, attempt 5 times */
|
||||
for (int i = 0; i < 5; i++) {
|
||||
ramtron_mtd = ramtron_initialize(spi);
|
||||
if (ramtron_mtd) {
|
||||
/* abort on first valid result */
|
||||
if (i > 0) {
|
||||
warnx("warning: ramtron needed %d attempts to attach", i+1);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* if last attempt is still unsuccessful, abort */
|
||||
if (ramtron_mtd == NULL)
|
||||
errx(1, "failed to initialize ramtron driver");
|
||||
|
||||
attached = true;
|
||||
}
|
||||
|
||||
static void
|
||||
ramtron_start(void)
|
||||
{
|
||||
int ret;
|
||||
|
||||
if (started)
|
||||
errx(1, "ramtron already mounted");
|
||||
|
||||
if (!attached)
|
||||
ramtron_attach();
|
||||
|
||||
/* start NXFFS */
|
||||
ret = nxffs_initialize(ramtron_mtd);
|
||||
|
||||
if (ret < 0)
|
||||
errx(1, "failed to initialize NXFFS - erase ramtron to reformat");
|
||||
|
||||
/* mount the ramtron */
|
||||
ret = mount(NULL, "/ramtron", "nxffs", 0, NULL);
|
||||
|
||||
if (ret < 0)
|
||||
errx(1, "failed to mount /ramtron - erase ramtron to reformat");
|
||||
|
||||
started = true;
|
||||
warnx("mounted ramtron at /ramtron");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
//extern int at24c_nuke(void);
|
||||
|
||||
static void
|
||||
ramtron_erase(void)
|
||||
{
|
||||
if (!attached)
|
||||
ramtron_attach();
|
||||
|
||||
// if (at24c_nuke())
|
||||
errx(1, "erase failed");
|
||||
|
||||
errx(0, "erase done, reboot now");
|
||||
}
|
||||
|
||||
static void
|
||||
ramtron_ioctl(unsigned operation)
|
||||
{
|
||||
int fd;
|
||||
|
||||
fd = open("/ramtron/.", 0);
|
||||
|
||||
if (fd < 0)
|
||||
err(1, "open /ramtron");
|
||||
|
||||
if (ioctl(fd, operation, 0) < 0)
|
||||
err(1, "ioctl");
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
static void
|
||||
ramtron_save(const char *name)
|
||||
{
|
||||
if (!started)
|
||||
errx(1, "must be started first");
|
||||
|
||||
if (!name)
|
||||
err(1, "missing argument for device name, try '/ramtron/parameters'");
|
||||
|
||||
warnx("WARNING: 'ramtron save_param' deprecated - use 'param save' instead");
|
||||
|
||||
/* delete the file in case it exists */
|
||||
unlink(name);
|
||||
|
||||
/* create the file */
|
||||
int fd = open(name, O_WRONLY | O_CREAT | O_EXCL);
|
||||
|
||||
if (fd < 0)
|
||||
err(1, "opening '%s' failed", name);
|
||||
|
||||
int result = param_export(fd, false);
|
||||
close(fd);
|
||||
|
||||
if (result < 0) {
|
||||
unlink(name);
|
||||
errx(1, "error exporting to '%s'", name);
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
static void
|
||||
ramtron_load(const char *name)
|
||||
{
|
||||
if (!started)
|
||||
errx(1, "must be started first");
|
||||
|
||||
if (!name)
|
||||
err(1, "missing argument for device name, try '/ramtron/parameters'");
|
||||
|
||||
warnx("WARNING: 'ramtron load_param' deprecated - use 'param load' instead");
|
||||
|
||||
int fd = open(name, O_RDONLY);
|
||||
|
||||
if (fd < 0)
|
||||
err(1, "open '%s'", name);
|
||||
|
||||
int result = param_load(fd);
|
||||
close(fd);
|
||||
|
||||
if (result < 0)
|
||||
errx(1, "error importing from '%s'", name);
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
//extern void at24c_test(void);
|
||||
|
||||
static void
|
||||
ramtron_test(void)
|
||||
{
|
||||
// at24c_test();
|
||||
exit(0);
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -94,7 +94,7 @@ extern uint16_t ppm_pulse_history[];
|
||||
|
||||
int test_ppm(int argc, char *argv[])
|
||||
{
|
||||
#ifdef CONFIG_HRT_PPM
|
||||
#ifdef HRT_PPM_CHANNEL
|
||||
unsigned i;
|
||||
|
||||
printf("channels: %u\n", ppm_decoded_channels);
|
||||
|
||||
Reference in New Issue
Block a user