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enable px4 flight for excelsior(legacy)

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This commit is contained in:
wangxdflight
2017-01-12 12:29:41 -08:00
committed by Lorenz Meier
parent 12767c8538
commit b693e29d64
24 changed files with 399 additions and 222 deletions
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src/modules/commander/accelerometer_calibration.cpp
+4 -4
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@@ -169,7 +169,7 @@ typedef struct {
int do_accel_calibration(orb_advert_t *mavlink_log_pub)
{
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
int fd;
#endif
@@ -189,7 +189,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
/* reset all sensors */
for (unsigned s = 0; s < max_accel_sens; s++) {
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, s);
/* reset all offsets to zero and all scales to one */
fd = px4_open(str, 0);
@@ -323,7 +323,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
return PX4_ERROR;
}
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, i);
fd = px4_open(str, 0);
@@ -413,7 +413,7 @@ calibrate_return do_accel_calibration_measurements(orb_advert_t *mavlink_log_pub
break;
}
#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_RPI) || defined(__PX4_POSIX_BEBOP)
#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)|| defined(__PX4_POSIX_RPI) || defined(__PX4_POSIX_BEBOP)
// For QURT respectively the driver framework, we need to get the device ID by copying one report.
struct accel_report accel_report;
orb_copy(ORB_ID(sensor_accel), worker_data.subs[i], &accel_report);
src/modules/commander/gyro_calibration.cpp
+3 -3
View File
@@ -180,7 +180,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
// Reset all offsets to 0 and scales to 1
(void)memcpy(&worker_data.gyro_scale[s], &gyro_scale_zero, sizeof(gyro_scale_zero));
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
int fd = px4_open(str, 0);
if (fd >= 0) {
@@ -233,7 +233,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
for (unsigned s = 0; s < gyro_count; s++) {
worker_data.gyro_sensor_sub[s] = orb_subscribe_multi(ORB_ID(sensor_gyro), s);
#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_RPI) || defined(__PX4_POSIX_BEBOP)
#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR) || defined(__PX4_POSIX_RPI) || defined(__PX4_POSIX_BEBOP)
// For QURT respectively the driver framework, we need to get the device ID by copying one report.
struct gyro_report gyro_report;
orb_copy(ORB_ID(sensor_gyro), worker_data.gyro_sensor_sub[s], &gyro_report);
@@ -331,7 +331,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
(void)sprintf(str, "CAL_GYRO%u_ID", s);
failed |= (PX4_OK != param_set_no_notification(param_find(str), &(worker_data.device_id[s])));
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
/* apply new scaling and offsets */
(void)sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
int fd = px4_open(str, 0);
src/modules/dataman/dataman.c
+1 -1
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@@ -177,7 +177,7 @@ static px4_sem_t g_sys_state_mutex;
/* The data manager store file handle and file name */
static int g_fd = -1;
static int g_task_fd = -1;
#ifdef __PX4_POSIX_EAGLE
#if defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)
static const char *default_device_path = PX4_ROOTFSDIR"/dataman";
#else
static const char *default_device_path = PX4_ROOTFSDIR"/fs/microsd/dataman";
src/modules/logger/logger.h
+1 -1
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@@ -222,7 +222,7 @@ private:
static constexpr size_t MAX_TOPICS_NUM = 64; /**< Maximum number of logged topics */
static constexpr unsigned MAX_NO_LOGFOLDER = 999; /**< Maximum number of log dirs */
static constexpr unsigned MAX_NO_LOGFILE = 999; /**< Maximum number of log files */
#ifdef __PX4_POSIX_EAGLE
#if defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)
static constexpr const char *LOG_ROOT = PX4_ROOTFSDIR"/log";
#else
static constexpr const char *LOG_ROOT = PX4_ROOTFSDIR"/fs/microsd/log";
src/modules/mavlink/mavlink_messages.cpp
+3 -3
View File
@@ -377,7 +377,7 @@ private:
unsigned _write_err_count = 0;
static const unsigned write_err_threshold = 5;
#ifndef __PX4_POSIX_EAGLE
#if !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR)
FILE *_fp = nullptr;
#endif
@@ -387,7 +387,7 @@ protected:
~MavlinkStreamStatustext()
{
#ifndef __PX4_POSIX_EAGLE
#if !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR)
if (_fp != nullptr) {
fclose(_fp);
@@ -413,7 +413,7 @@ protected:
mavlink_msg_statustext_send_struct(_mavlink->get_channel(), &msg);
// TODO: the logging doesn't work on Snapdragon yet because of file paths.
#ifndef __PX4_POSIX_EAGLE
#if !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR)
/* write log messages in first instance to disk
* timestamp each message with gps time
*/
src/modules/mavlink/mavlink_orb_subscription.cpp
+1 -1
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@@ -170,7 +170,7 @@ MavlinkOrbSubscription::is_published()
// We are checking now
_last_pub_check = now;
#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE)
#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)
// Snapdragon has currently no support for orb_exists, therefore
// we're not using it.
src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp
+4
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@@ -84,6 +84,10 @@ int calc_timer_diff_to_dsp_us(int32_t *time_diff_us);
int calc_timer_diff_to_dsp_us(int32_t *time_diff_us)
{
#if defined(__PX4_POSIX_EXCELSIOR)
*time_diff_us = 0;
return 0;
#endif
int fd = open(DSP_TIMER_FILE, O_RDONLY);
if (fd < 0) {
src/modules/sdlog2/sdlog2.c
+2 -2
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@@ -156,7 +156,7 @@ static bool _extended_logging = false;
static bool _gpstime_only = false;
static int32_t _utc_offset = 0;
#ifndef __PX4_POSIX_EAGLE
#if !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR)
#define MOUNTPOINT PX4_ROOTFSDIR"/fs/microsd"
#else
#define MOUNTPOINT "/root"
@@ -745,7 +745,7 @@ void sdlog2_start_log()
/* initialize log buffer emptying thread */
pthread_attr_init(&logwriter_attr);
#ifndef __PX4_POSIX_EAGLE
#if !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR)
struct sched_param param;
(void)pthread_attr_getschedparam(&logwriter_attr, &param);
/* low priority, as this is expensive disk I/O. */
src/modules/uORB/uORBDevices.cpp
+2
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@@ -449,6 +449,7 @@ uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const v
return ERROR;
}
#if !defined(__PX4_QURT_EXCELSIOR) && !defined(__PX4_POSIX_EXCELSIOR)
/*
* if the write is successful, send the data over the Multi-ORB link
*/
@@ -462,6 +463,7 @@ uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const v
}
}
#endif
return PX4_OK;
}
src/modules/uORB/uORBMain.cpp
+1 -1
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@@ -81,7 +81,7 @@ uorb_main(int argc, char *argv[])
return -errno;
}
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE)
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR)
/* FIXME: this fails on Snapdragon (see https://github.com/PX4/Firmware/issues/5406),
* so we disable logging messages to the ulog for now. This needs further investigations.
*/
src/platforms/posix/main.cpp
+1 -1
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@@ -273,7 +273,7 @@ bool px4_exit_requested(void)
static void set_cpu_scaling()
{
#ifdef __PX4_POSIX_EAGLE
#if defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)
// On Snapdragon we miss updates in sdlog2 unless all 4 CPUs are run
// at the maximum frequency all the time.
// Interestingely, cpu0 and cpu3 set the scaling for all 4 CPUs on Snapdragon.
src/platforms/px4_defines.h
+1 -1
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@@ -192,7 +192,7 @@ __BEGIN_DECLS
extern long PX4_TICKS_PER_SEC;
__END_DECLS
# if defined(__PX4_POSIX_EAGLE)
# if defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)
# define PX4_ROOTFSDIR "/home/linaro"
# elif defined(__PX4_POSIX_BEBOP)
# define PX4_ROOTFSDIR "/data/ftp/internal_000"
src/platforms/qurt/px4_layer/shmem_qurt.c
+17 -20
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@@ -49,10 +49,11 @@
//#define SHMEM_DEBUG
//#define PARAM_LOCK_DEBUG
static atomic_word_t mem_lock;
int mem_fd;
unsigned char *map_base, *virt_addr;
struct shmem_info *shmem_info_p;
static void *map_memory(off_t target);
int get_shmem_lock(const char *caller_file_name, int caller_line_number);
void release_shmem_lock(const char *caller_file_name, int caller_line_number);
void init_shared_memory(void);
@@ -82,24 +83,16 @@ struct param_wbuf_s {
};
extern struct param_wbuf_s *param_find_changed(param_t param);
static void *map_memory(off_t target)
{
return (void *)(target + LOCK_SIZE);
}
int get_shmem_lock(const char *caller_file_name, int caller_line_number)
{
unsigned char *lock = (unsigned char *)(MAP_ADDRESS + LOCK_OFFSET);
unsigned int i = 0;
#ifdef PARAM_LOCK_DEBUG
PX4_INFO("lock value %d before get from %s, line: %d\n", *(unsigned int *)0xfbfc000, strrchr(caller_file_name, '/'),
PX4_INFO("lock value %d before get from %s, line: %d\n", mem_lock.value, strrchr(caller_file_name, '/'),
caller_line_number);
#endif
while (!atomic_compare_and_set(lock, 1, 0)) {
while (!atomic_compare_and_set(&mem_lock, 1, 0)) {
i++;
usleep(1000);
@@ -124,9 +117,7 @@ int get_shmem_lock(const char *caller_file_name, int caller_line_number)
void release_shmem_lock(const char *caller_file_name, int caller_line_number)
{
unsigned char *lock = (unsigned char *)(MAP_ADDRESS + LOCK_OFFSET);
*lock = 1;
atomic_set(&mem_lock, 1);
#ifdef PARAM_LOCK_DEBUG
PX4_INFO("release lock, file name: %s, line number: %d.\n",
@@ -138,25 +129,31 @@ void release_shmem_lock(const char *caller_file_name, int caller_line_number)
void init_shared_memory(void)
{
//PX4_INFO("Value at lock address is %d\n", *(unsigned int*)0xfbfc000);
int i;
if (shmem_info_p) {
return;
}
virt_addr = map_memory(MAP_ADDRESS);
//virt_addr = map_memory(MAP_ADDRESS);
map_base = malloc(0x4000); //16KB
if (map_base == NULL) {
PX4_INFO("adsp memory malloc failed\n");
return;
}
virt_addr = map_base;
shmem_info_p = (struct shmem_info *) virt_addr;
//init lock as 1
unsigned char *lock = (unsigned char *)(MAP_ADDRESS + LOCK_OFFSET);
*lock = 1;
atomic_init(&mem_lock, 1);
for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
shmem_info_p->krait_changed_index[i] = 0;
}
//PX4_INFO("adsp memory mapped\n");
PX4_INFO("adsp memory mapped\n");
}
void copy_params_to_shmem(struct param_info_s *param_info_base)