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Merge branch 'master' of github.com:PX4/Firmware into px4io-i2c

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This commit is contained in:
Lorenz Meier
2013-02-12 09:34:41 +01:00
parent 163257f3bd ab44a64ca0
commit b750a588a0
5 changed files with 160 additions and 65 deletions
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ROMFS/Makefile
+2 -1
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@@ -23,7 +23,8 @@ ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \
$(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \
$(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \
$(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \
$(SRCROOT)/mixers/FMU_delta.mix~mixers/FMU_delta.mix \
$(SRCROOT)/mixers/FMU_Q.mix~mixers/FMU_Q.mix \
$(SRCROOT)/mixers/FMU_X5.mix~mixers/FMU_X5.mix \
$(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \
$(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \
$(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \
ROMFS/mixers/FMU_Q.mix
+52
View File
@@ -0,0 +1,52 @@
Delta-wing mixer for PX4FMU
===========================
Designed for Bormatec Camflyer Q
This file defines mixers suitable for controlling a delta wing aircraft using
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
assumed to be unused.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
See the README for more information on the scaler format.
Elevon mixers
-------------
Three scalers total (output, roll, pitch).
On the assumption that the two elevon servos are physically reversed, the pitch
input is inverted between the two servos.
The scaling factor for roll inputs is adjusted to implement differential travel
for the elevons.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -5000 -8000 0 -10000 10000
S: 0 1 -8000 -8000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -8000 -5000 0 -10000 10000
S: 0 1 8000 8000 0 -10000 10000
Output 2
--------
This mixer is empty.
Z:
Motor speed mixer
-----------------
Two scalers total (output, thrust).
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
ROMFS/mixers/FMU_delta.mix → ROMFS/mixers/FMU_X5.mix
View File
apps/drivers/px4io/uploader.cpp
+101 -58
View File
@@ -48,6 +48,7 @@
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include <sys/stat.h>
#include "uploader.h"
@@ -109,6 +110,8 @@ int
PX4IO_Uploader::upload(const char *filenames[])
{
int ret;
const char *filename = NULL;
size_t fw_size;
_io_fd = open("/dev/ttyS2", O_RDWR);
@@ -135,9 +138,22 @@ PX4IO_Uploader::upload(const char *filenames[])
}
log("using firmware from %s", filenames[i]);
filename = filenames[i];
break;
}
if (filename == NULL) {
log("no firmware found");
return -ENOENT;
}
struct stat st;
if (stat(filename, &st) != 0) {
log("Failed to stat %s - %d\n", filename, (int)errno);
return -errno;
}
fw_size = st.st_size;
if (_fw_fd == -1)
return -ENOENT;
@@ -172,7 +188,7 @@ PX4IO_Uploader::upload(const char *filenames[])
continue;
}
ret = program();
ret = program(fw_size);
if (ret != OK) {
log("program failed");
@@ -180,9 +196,9 @@ PX4IO_Uploader::upload(const char *filenames[])
}
if (bl_rev <= 2)
ret = verify_rev2();
ret = verify_rev2(fw_size);
else if(bl_rev == 3) {
ret = verify_rev3();
ret = verify_rev3(fw_size);
}
if (ret != OK) {
@@ -219,7 +235,7 @@ PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
int ret = ::poll(&fds[0], 1, timeout);
if (ret < 1) {
//log("poll timeout %d", ret);
log("poll timeout %d", ret);
return -ETIMEDOUT;
}
@@ -232,7 +248,7 @@ int
PX4IO_Uploader::recv(uint8_t *p, unsigned count)
{
while (count--) {
int ret = recv(*p++);
int ret = recv(*p++, 5000);
if (ret != OK)
return ret;
@@ -248,7 +264,7 @@ PX4IO_Uploader::drain()
int ret;
do {
ret = recv(c, 250);
ret = recv(c, 1000);
if (ret == OK) {
//log("discard 0x%02x", c);
@@ -343,24 +359,55 @@ PX4IO_Uploader::erase()
return get_sync(10000); /* allow 10s timeout */
}
static int read_with_retry(int fd, void *buf, size_t n)
{
int ret;
uint8_t retries = 0;
do {
ret = read(fd, buf, n);
} while (ret == -1 && retries++ < 100);
if (retries != 0) {
printf("read of %u bytes needed %u retries\n",
(unsigned)n,
(unsigned)retries);
}
return ret;
}
int
PX4IO_Uploader::program()
PX4IO_Uploader::program(size_t fw_size)
{
uint8_t file_buf[PROG_MULTI_MAX];
ssize_t count;
int ret;
size_t sent = 0;
log("program...");
lseek(_fw_fd, 0, SEEK_SET);
log("programming %u bytes...", (unsigned)fw_size);
while (true) {
ret = lseek(_fw_fd, 0, SEEK_SET);
while (sent < fw_size) {
/* get more bytes to program */
//log(" %d", (int)lseek(_fw_fd, 0, SEEK_CUR));
count = read(_fw_fd, file_buf, sizeof(file_buf));
size_t n = fw_size - sent;
if (n > sizeof(file_buf)) {
n = sizeof(file_buf);
}
count = read_with_retry(_fw_fd, file_buf, n);
if (count != (ssize_t)n) {
log("firmware read of %u bytes at %u failed -> %d errno %d",
(unsigned)n,
(unsigned)sent,
(int)count,
(int)errno);
}
if (count == 0)
return OK;
sent += count;
if (count < 0)
return -errno;
@@ -376,14 +423,16 @@ PX4IO_Uploader::program()
if (ret != OK)
return ret;
}
return OK;
}
int
PX4IO_Uploader::verify_rev2()
PX4IO_Uploader::verify_rev2(size_t fw_size)
{
uint8_t file_buf[PROG_MULTI_MAX];
uint8_t file_buf[4];
ssize_t count;
int ret;
size_t sent = 0;
log("verify...");
lseek(_fw_fd, 0, SEEK_SET);
@@ -395,14 +444,27 @@ PX4IO_Uploader::verify_rev2()
if (ret != OK)
return ret;
while (true) {
while (sent < fw_size) {
/* get more bytes to verify */
int base = (int)lseek(_fw_fd, 0, SEEK_CUR);
count = read(_fw_fd, file_buf, sizeof(file_buf));
size_t n = fw_size - sent;
if (n > sizeof(file_buf)) {
n = sizeof(file_buf);
}
count = read_with_retry(_fw_fd, file_buf, n);
if (count != (ssize_t)n) {
log("firmware read of %u bytes at %u failed -> %d errno %d",
(unsigned)n,
(unsigned)sent,
(int)count,
(int)errno);
}
if (count == 0)
break;
sent += count;
if (count < 0)
return -errno;
@@ -415,15 +477,15 @@ PX4IO_Uploader::verify_rev2()
for (ssize_t i = 0; i < count; i++) {
uint8_t c;
ret = recv(c);
ret = recv(c, 5000);
if (ret != OK) {
log("%d: got %d waiting for bytes", base + i, ret);
log("%d: got %d waiting for bytes", sent + i, ret);
return ret;
}
if (c != file_buf[i]) {
log("%d: got 0x%02x expected 0x%02x", base + i, c, file_buf[i]);
log("%d: got 0x%02x expected 0x%02x", sent + i, c, file_buf[i]);
return -EINVAL;
}
}
@@ -440,21 +502,21 @@ PX4IO_Uploader::verify_rev2()
}
int
PX4IO_Uploader::verify_rev3()
PX4IO_Uploader::verify_rev3(size_t fw_size_local)
{
int ret;
uint8_t file_buf[4];
ssize_t count;
uint32_t sum = 0;
uint32_t bytes_read = 0;
uint32_t fw_size = 0;
uint32_t crc = 0;
uint32_t fw_size_remote;
uint8_t fill_blank = 0xff;
log("verify...");
lseek(_fw_fd, 0, SEEK_SET);
ret = get_info(INFO_FLASH_SIZE, fw_size);
ret = get_info(INFO_FLASH_SIZE, fw_size_remote);
send(PROTO_EOC);
if (ret != OK) {
@@ -463,9 +525,20 @@ PX4IO_Uploader::verify_rev3()
}
/* read through the firmware file again and calculate the checksum*/
while (true) {
lseek(_fw_fd, 0, SEEK_CUR);
count = read(_fw_fd, file_buf, sizeof(file_buf));
while (bytes_read < fw_size_local) {
size_t n = fw_size_local - bytes_read;
if (n > sizeof(file_buf)) {
n = sizeof(file_buf);
}
count = read_with_retry(_fw_fd, file_buf, n);
if (count != (ssize_t)n) {
log("firmware read of %u bytes at %u failed -> %d errno %d",
(unsigned)n,
(unsigned)bytes_read,
(int)count,
(int)errno);
}
/* set the rest to ff */
if (count == 0) {
@@ -482,7 +555,7 @@ PX4IO_Uploader::verify_rev3()
}
/* fill the rest with 0xff */
while (bytes_read < fw_size) {
while (bytes_read < fw_size_remote) {
sum = crc32(&fill_blank, sizeof(fill_blank), sum);
bytes_read += sizeof(fill_blank);
}
@@ -516,36 +589,6 @@ PX4IO_Uploader::reboot()
return OK;
}
int
PX4IO_Uploader::compare(bool &identical)
{
uint32_t file_vectors[15];
uint32_t fw_vectors[15];
int ret;
lseek(_fw_fd, 0, SEEK_SET);
ret = read(_fw_fd, &file_vectors[0], sizeof(file_vectors));
send(PROTO_CHIP_VERIFY);
send(PROTO_EOC);
ret = get_sync();
if (ret != OK)
return ret;
send(PROTO_READ_MULTI);
send(sizeof(fw_vectors));
send(PROTO_EOC);
ret = recv((uint8_t *)&fw_vectors[0], sizeof(fw_vectors));
if (ret != OK)
return ret;
identical = (memcmp(&file_vectors[0], &fw_vectors[0], sizeof(file_vectors))) ? true : false;
return OK;
}
void
PX4IO_Uploader::log(const char *fmt, ...)
{
@@ -557,4 +600,4 @@ PX4IO_Uploader::log(const char *fmt, ...)
va_end(ap);
printf("\n");
fflush(stdout);
}
}
apps/drivers/px4io/uploader.h
+5 -6
View File
@@ -85,7 +85,7 @@ private:
void log(const char *fmt, ...);
int recv(uint8_t &c, unsigned timeout = 1000);
int recv(uint8_t &c, unsigned timeout);
int recv(uint8_t *p, unsigned count);
void drain();
int send(uint8_t c);
@@ -94,11 +94,10 @@ private:
int sync();
int get_info(int param, uint32_t &val);
int erase();
int program();
int verify_rev2();
int verify_rev3();
int program(size_t fw_size);
int verify_rev2(size_t fw_size);
int verify_rev3(size_t fw_size);
int reboot();
int compare(bool &identical);
};
#endif
#endif