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Merged PX4Flow driver changes

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This commit is contained in:
Lorenz Meier
2014-11-26 07:43:19 +01:00
parent 739c407cfd 4724c05047
commit cbcd1ea1d1
155 changed files with 2152 additions and 765 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/airspeed/airspeed.cpp
+7 -5
View File
@@ -147,7 +147,7 @@ Airspeed::init()
_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp);
if (_airspeed_pub < 0)
warnx("failed to create airspeed sensor object. uORB started?");
warnx("uORB started?");
}
ret = OK;
@@ -159,13 +159,15 @@ out:
int
Airspeed::probe()
{
/* on initial power up the device needs more than one retry
for detection. Once it is running then retries aren't
needed
/* on initial power up the device may need more than one retry
for detection. Once it is running the number of retries can
be reduced
*/
_retries = 4;
int ret = measure();
_retries = 0;
// drop back to 2 retries once initialised
_retries = 2;
return ret;
}
src/drivers/ardrone_interface/ardrone_interface.c
+14 -22
View File
@@ -89,8 +89,8 @@ static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: ardrone_interface {start|stop|status} [-d <UART>]\n\n");
warnx("%s\n", reason);
warnx("usage: {start|stop|status} [-d <UART>]\n\n");
exit(1);
}
@@ -110,7 +110,7 @@ int ardrone_interface_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("ardrone_interface already running\n");
warnx("already running\n");
/* this is not an error */
exit(0);
}
@@ -132,9 +132,9 @@ int ardrone_interface_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tardrone_interface is running\n");
warnx("running");
} else {
printf("\tardrone_interface not started\n");
warnx("not started");
}
exit(0);
}
@@ -158,7 +158,7 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
fprintf(stderr, "[ardrone_interface] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
warnx("ERR: TCGETATTR %s: %d", uart_name, termios_state);
close(uart);
return -1;
}
@@ -171,14 +171,14 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
warnx("ERR: cfsetispeed %s: %d", uart_name, termios_state);
close(uart);
return -1;
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
warnx("ERR: tcsetattr: %s", uart_name);
close(uart);
return -1;
}
@@ -192,9 +192,6 @@ int ardrone_interface_thread_main(int argc, char *argv[])
char *device = "/dev/ttyS1";
/* welcome user */
printf("[ardrone_interface] Control started, taking over motors\n");
/* File descriptors */
int gpios;
@@ -237,7 +234,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
struct termios uart_config_original;
if (motor_test_mode) {
printf("[ardrone_interface] Motor test mode enabled, setting 10 %% thrust.\n");
warnx("setting 10 %% thrust.\n");
}
/* Led animation */
@@ -255,9 +252,6 @@ int ardrone_interface_thread_main(int argc, char *argv[])
int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
printf("[ardrone_interface] Motors initialized - ready.\n");
fflush(stdout);
/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
ardrone_write = ardrone_open_uart(device, &uart_config_original);
@@ -265,7 +259,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
gpios = ar_multiplexing_init();
if (ardrone_write < 0) {
fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
warnx("No UART, exiting.");
thread_running = false;
exit(ERROR);
}
@@ -273,7 +267,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
/* initialize motors */
if (OK != ar_init_motors(ardrone_write, gpios)) {
close(ardrone_write);
fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
warnx("motor init fail");
thread_running = false;
exit(ERROR);
}
@@ -294,7 +288,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
gpios = ar_multiplexing_init();
if (ardrone_write < 0) {
fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
warnx("write fail");
thread_running = false;
exit(ERROR);
}
@@ -302,7 +296,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
/* initialize motors */
if (OK != ar_init_motors(ardrone_write, gpios)) {
close(ardrone_write);
fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
warnx("motor init fail");
thread_running = false;
exit(ERROR);
}
@@ -378,11 +372,9 @@ int ardrone_interface_thread_main(int argc, char *argv[])
int termios_state;
if ((termios_state = tcsetattr(ardrone_write, TCSANOW, &uart_config_original)) < 0) {
fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for (tcsetattr)\n");
warnx("ERR: tcsetattr");
}
printf("[ardrone_interface] Restored original UART config, exiting..\n");
/* close uarts */
close(ardrone_write);
ar_multiplexing_deinit(gpios);
src/drivers/ardrone_interface/ardrone_motor_control.c
+1 -1
View File
@@ -301,7 +301,7 @@ int ar_init_motors(int ardrone_uart, int gpios)
ardrone_write_motor_commands(ardrone_uart, 0, 0, 0, 0);
if (errcounter != 0) {
fprintf(stderr, "[ardrone_interface] init sequence incomplete, failed %d times", -errcounter);
warnx("Failed %d times", -errcounter);
fflush(stdout);
}
return errcounter;
src/drivers/boards/aerocore/module.mk
+2
View File
@@ -6,3 +6,5 @@ SRCS = aerocore_init.c \
aerocore_pwm_servo.c \
aerocore_spi.c \
aerocore_led.c
MAXOPTIMIZATION = -Os
src/drivers/boards/px4fmu-v1/module.mk
+2
View File
@@ -8,3 +8,5 @@ SRCS = px4fmu_can.c \
px4fmu_spi.c \
px4fmu_usb.c \
px4fmu_led.c
MAXOPTIMIZATION = -Os
src/drivers/boards/px4fmu-v2/module.mk
+2
View File
@@ -8,3 +8,5 @@ SRCS = px4fmu_can.c \
px4fmu_spi.c \
px4fmu_usb.c \
px4fmu2_led.c
MAXOPTIMIZATION = -Os
src/drivers/boards/px4io-v1/module.mk
+2
View File
@@ -4,3 +4,5 @@
SRCS = px4io_init.c \
px4io_pwm_servo.c
MAXOPTIMIZATION = -Os
src/drivers/boards/px4io-v2/board_config.h
+1
View File
@@ -77,6 +77,7 @@
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11)
/* Safety switch button *******************************************************/
src/drivers/boards/px4io-v2/module.mk
+2
View File
@@ -4,3 +4,5 @@
SRCS = px4iov2_init.c \
px4iov2_pwm_servo.c
MAXOPTIMIZATION = -Os
src/drivers/boards/px4io-v2/px4iov2_init.c
+1
View File
@@ -108,6 +108,7 @@ __EXPORT void stm32_boardinitialize(void)
stm32_configgpio(GPIO_LED1);
stm32_configgpio(GPIO_LED2);
stm32_configgpio(GPIO_LED3);
stm32_configgpio(GPIO_LED4);
stm32_configgpio(GPIO_BTN_SAFETY);
src/drivers/device/device.h
+2 -1
View File
@@ -130,7 +130,8 @@ public:
enum DeviceBusType {
DeviceBusType_UNKNOWN = 0,
DeviceBusType_I2C = 1,
DeviceBusType_SPI = 2
DeviceBusType_SPI = 2,
DeviceBusType_UAVCAN = 3,
};
/*
src/drivers/drv_pwm_output.h
+30 -1
View File
@@ -117,6 +117,23 @@ struct pwm_output_values {
unsigned channel_count;
};
/**
* RC config values for a channel
*
* This allows for PX4IO_PAGE_RC_CONFIG values to be set without a
* param_get() dependency
*/
struct pwm_output_rc_config {
uint8_t channel;
uint16_t rc_min;
uint16_t rc_trim;
uint16_t rc_max;
uint16_t rc_dz;
uint16_t rc_assignment;
bool rc_reverse;
};
/*
* ORB tag for PWM outputs.
*/
@@ -214,7 +231,19 @@ ORB_DECLARE(output_pwm);
#define PWM_SERVO_SET_TERMINATION_FAILSAFE _IOC(_PWM_SERVO_BASE, 25)
/** force safety switch on (to enable use of safety switch) */
#define PWM_SERVO_SET_FORCE_SAFETY_ON _IOC(_PWM_SERVO_BASE, 26)
#define PWM_SERVO_SET_FORCE_SAFETY_ON _IOC(_PWM_SERVO_BASE, 26)
/** set RC config for a channel. This takes a pointer to pwm_output_rc_config */
#define PWM_SERVO_SET_RC_CONFIG _IOC(_PWM_SERVO_BASE, 27)
/** set the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */
#define PWM_SERVO_SET_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 28)
/** clear the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */
#define PWM_SERVO_CLEAR_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 29)
/** setup OVERRIDE_IMMEDIATE behaviour on FMU fail */
#define PWM_SERVO_SET_OVERRIDE_IMMEDIATE _IOC(_PWM_SERVO_BASE, 30)
/*
*
src/drivers/frsky_telemetry/frsky_telemetry.c
+3 -6
View File
@@ -84,7 +84,7 @@ static int frsky_open_uart(const char *uart_name, struct termios *uart_config_or
/* 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);
warnx("ERR: tcgetattr%s: %d\n", uart_name, termios_state);
close(uart);
return -1;
}
@@ -100,13 +100,13 @@ static int frsky_open_uart(const char *uart_name, struct termios *uart_config_or
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);
warnx("ERR: %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);
warnx("ERR: %s (tcsetattr)\n", uart_name);
close(uart);
return -1;
}
@@ -151,9 +151,6 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
}
}
/* 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);
src/drivers/gps/gps.cpp
-1
View File
@@ -274,7 +274,6 @@ GPS::task_main_trampoline(void *arg)
void
GPS::task_main()
{
log("starting");
/* open the serial port */
_serial_fd = ::open(_port, O_RDWR);
src/drivers/hil/hil.cpp
-2
View File
@@ -442,8 +442,6 @@ HIL::task_main()
/* make sure servos are off */
// up_pwm_servo_deinit();
log("stopping");
/* note - someone else is responsible for restoring the GPIO config */
/* tell the dtor that we are exiting */
src/drivers/hmc5883/hmc5883.cpp
+15 -34
View File
@@ -1049,11 +1049,9 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
* LSM/Ga, giving 1.16 and 1.08 */
float expected_cal[3] = { 1.16f, 1.08f, 1.08f };
warnx("starting mag scale calibration");
/* start the sensor polling at 50 Hz */
if (OK != ioctl(filp, SENSORIOCSPOLLRATE, 50)) {
warn("failed to set 2Hz poll rate");
warn("FAILED: SENSORIOCSPOLLRATE 2Hz");
ret = 1;
goto out;
}
@@ -1061,25 +1059,25 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
/* Set to 2.5 Gauss. We ask for 3 to get the right part of
* the chained if statement above. */
if (OK != ioctl(filp, MAGIOCSRANGE, 3)) {
warnx("failed to set 2.5 Ga range");
warnx("FAILED: MAGIOCSRANGE 3.3 Ga");
ret = 1;
goto out;
}
if (OK != ioctl(filp, MAGIOCEXSTRAP, 1)) {
warnx("failed to enable sensor calibration mode");
warnx("FAILED: MAGIOCEXSTRAP 1");
ret = 1;
goto out;
}
if (OK != ioctl(filp, MAGIOCGSCALE, (long unsigned int)&mscale_previous)) {
warn("WARNING: failed to get scale / offsets for mag");
warn("FAILED: MAGIOCGSCALE 1");
ret = 1;
goto out;
}
if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
warn("WARNING: failed to set null scale / offsets for mag");
warn("FAILED: MAGIOCSSCALE 1");
ret = 1;
goto out;
}
@@ -1094,7 +1092,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
ret = ::poll(&fds, 1, 2000);
if (ret != 1) {
warn("timed out waiting for sensor data");
warn("ERROR: TIMEOUT 1");
goto out;
}
@@ -1102,7 +1100,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
sz = ::read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
warn("periodic read failed");
warn("ERROR: READ 1");
ret = -EIO;
goto out;
}
@@ -1118,7 +1116,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
ret = ::poll(&fds, 1, 2000);
if (ret != 1) {
warn("timed out waiting for sensor data");
warn("ERROR: TIMEOUT 2");
goto out;
}
@@ -1126,7 +1124,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
sz = ::read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
warn("periodic read failed");
warn("ERROR: READ 2");
ret = -EIO;
goto out;
}
@@ -1142,33 +1140,19 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
sum_excited[1] += cal[1];
sum_excited[2] += cal[2];
}
//warnx("periodic read %u", i);
//warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
//warnx("cal: %.6f %.6f %.6f", (double)cal[0], (double)cal[1], (double)cal[2]);
}
if (good_count < 5) {
warn("failed calibration");
ret = -EIO;
goto out;
}
#if 0
warnx("measurement avg: %.6f %.6f %.6f",
(double)sum_excited[0]/good_count,
(double)sum_excited[1]/good_count,
(double)sum_excited[2]/good_count);
#endif
float scaling[3];
scaling[0] = sum_excited[0] / good_count;
scaling[1] = sum_excited[1] / good_count;
scaling[2] = sum_excited[2] / good_count;
warnx("axes scaling: %.6f %.6f %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]);
/* set scaling in device */
mscale_previous.x_scale = scaling[0];
mscale_previous.y_scale = scaling[1];
@@ -1179,29 +1163,26 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
out:
if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) {
warn("failed to set new scale / offsets for mag");
warn("FAILED: MAGIOCSSCALE 2");
}
/* set back to normal mode */
/* Set to 1.1 Gauss */
if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) {
warnx("failed to set 1.1 Ga range");
warnx("FAILED: MAGIOCSRANGE 1.1 Ga");
}
if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) {
warnx("failed to disable sensor calibration mode");
warnx("FAILED: MAGIOCEXSTRAP 0");
}
if (ret == OK) {
if (!check_scale()) {
warnx("mag scale calibration successfully finished.");
} else {
warnx("mag scale calibration finished with invalid results.");
if (check_scale()) {
/* failed */
warnx("FAILED: SCALE");
ret = ERROR;
}
} else {
warnx("mag scale calibration failed.");
}
return ret;
src/drivers/hmc5883/module.mk
+2
View File
@@ -42,3 +42,5 @@ SRCS = hmc5883.cpp
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++
MAXOPTIMIZATION = -Os
src/drivers/hott/comms.cpp
+4 -4
View File
@@ -55,7 +55,7 @@ open_uart(const char *device)
const int uart = open(device, O_RDWR | O_NOCTTY);
if (uart < 0) {
err(1, "Error opening port: %s", device);
err(1, "ERR: opening %s", device);
}
/* Back up the original uart configuration to restore it after exit */
@@ -63,7 +63,7 @@ open_uart(const char *device)
struct termios uart_config_original;
if ((termios_state = tcgetattr(uart, &uart_config_original)) < 0) {
close(uart);
err(1, "Error getting baudrate / termios config for %s: %d", device, termios_state);
err(1, "ERR: %s: %d", device, termios_state);
}
/* Fill the struct for the new configuration */
@@ -76,13 +76,13 @@ open_uart(const char *device)
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
close(uart);
err(1, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)",
err(1, "ERR: %s: %d (cfsetispeed, cfsetospeed)",
device, termios_state);
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
close(uart);
err(1, "Error setting baudrate / termios config for %s (tcsetattr)", device);
err(1, "ERR: %s (tcsetattr)", device);
}
/* Activate single wire mode */
src/drivers/hott/hott_sensors/hott_sensors.cpp
+3 -3
View File
@@ -204,7 +204,7 @@ hott_sensors_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("deamon already running");
warnx("already running");
exit(0);
}
@@ -225,10 +225,10 @@ hott_sensors_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("daemon is running");
warnx("is running");
} else {
warnx("daemon not started");
warnx("not started");
}
exit(0);
src/drivers/hott/hott_telemetry/hott_telemetry.cpp
+3 -3
View File
@@ -230,7 +230,7 @@ hott_telemetry_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("deamon already running");
warnx("already running");
exit(0);
}
@@ -251,10 +251,10 @@ hott_telemetry_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("daemon is running");
warnx("is running");
} else {
warnx("daemon not started");
warnx("not started");
}
exit(0);
src/drivers/l3gd20/l3gd20.cpp
+8 -1
View File
@@ -176,6 +176,7 @@ static const int ERROR = -1;
#define L3G4200D_DEFAULT_RATE 800
#define L3GD20_DEFAULT_RANGE_DPS 2000
#define L3GD20_DEFAULT_FILTER_FREQ 30
#define L3GD20_TEMP_OFFSET_CELSIUS 40
#ifndef SENSOR_BOARD_ROTATION_DEFAULT
#define SENSOR_BOARD_ROTATION_DEFAULT SENSOR_BOARD_ROTATION_270_DEG
@@ -856,7 +857,7 @@ L3GD20::measure()
#pragma pack(push, 1)
struct {
uint8_t cmd;
uint8_t temp;
int8_t temp;
uint8_t status;
int16_t x;
int16_t y;
@@ -930,6 +931,8 @@ L3GD20::measure()
report.z_raw = raw_report.z;
report.temperature_raw = raw_report.temp;
report.x = ((report.x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
report.y = ((report.y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
report.z = ((report.z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
@@ -938,6 +941,8 @@ L3GD20::measure()
report.y = _gyro_filter_y.apply(report.y);
report.z = _gyro_filter_z.apply(report.z);
report.temperature = L3GD20_TEMP_OFFSET_CELSIUS - raw_report.temp;
// apply user specified rotation
rotate_3f(_rotation, report.x, report.y, report.z);
@@ -1091,9 +1096,11 @@ test()
warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
warnx("temp: \t%d\tC", (int)g_report.temperature);
warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
warnx("temp: \t%d\traw", (int)g_report.temperature_raw);
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
src/drivers/l3gd20/module.mk
+2
View File
@@ -8,3 +8,5 @@ SRCS = l3gd20.cpp
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++
MAXOPTIMIZATION = -Os
src/drivers/lsm303d/module.mk
+2
View File
@@ -8,3 +8,5 @@ SRCS = lsm303d.cpp
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++
MAXOPTIMIZATION = -Os
src/drivers/meas_airspeed/meas_airspeed.cpp
+1 -1
View File
@@ -519,7 +519,7 @@ test()
ret = poll(&fds, 1, 2000);
if (ret != 1) {
errx(1, "timed out waiting for sensor data");
errx(1, "timed out");
}
/* now go get it */
src/drivers/mpu6000/module.mk
+2
View File
@@ -42,3 +42,5 @@ SRCS = mpu6000.cpp
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++
MAXOPTIMIZATION = -Os
src/drivers/px4flow/px4flow.cpp
+7 -7
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 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
@@ -75,7 +75,7 @@
/* Configuration Constants */
#define I2C_FLOW_ADDRESS 0x42 //* 7-bit address. 8-bit address is 0x84
//range 0x42 - 0x49
/* PX4FLOW Registers addresses */
#define PX4FLOW_REG 0x16 /* Measure Register 22*/
@@ -211,7 +211,7 @@ PX4FLOW::PX4FLOW(int bus, int address) :
_buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows"))
{
// enable debug() calls
_debug_enabled = true;
_debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
@@ -441,7 +441,7 @@ PX4FLOW::measure()
if (OK != ret) {
perf_count(_comms_errors);
log("i2c::transfer returned %d", ret);
debug("i2c::transfer returned %d", ret);
return ret;
}
@@ -469,7 +469,7 @@ PX4FLOW::collect()
}
if (ret < 0) {
log("error reading from sensor: %d", ret);
debug("error reading from sensor: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
@@ -603,12 +603,12 @@ void
PX4FLOW::cycle()
{
if (OK != measure()) {
log("measure error");
debug("measure error");
}
/* perform collection */
if (OK != collect()) {
log("collection error");
debug("collection error");
/* restart the measurement state machine */
start();
return;
src/drivers/px4fmu/module.mk
+2
View File
@@ -8,3 +8,5 @@ SRCS = fmu.cpp
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++
MAXOPTIMIZATION = -Os
src/drivers/px4io/module.mk
+2
View File
@@ -48,3 +48,5 @@ INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/com
MODULE_STACKSIZE = 1200
EXTRACXXFLAGS = -Weffc++
MAXOPTIMIZATION = -Os
src/drivers/px4io/px4io.cpp
+120 -61
View File
@@ -817,6 +817,11 @@ PX4IO::init()
}
/* set safety to off if circuit breaker enabled */
if (circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY)) {
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
}
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
@@ -1155,52 +1160,54 @@ PX4IO::io_set_arming_state()
actuator_armed_s armed; ///< system armed state
vehicle_control_mode_s control_mode; ///< vehicle_control_mode
orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed);
orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode);
int have_armed = orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed);
int have_control_mode = orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode);
uint16_t set = 0;
uint16_t clear = 0;
if (armed.armed) {
set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
if (have_armed == OK) {
if (armed.armed) {
set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
} else {
clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
}
} else {
clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
if (armed.lockdown && !_lockdown_override) {
set |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
} else {
clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
}
/* Do not set failsafe if circuit breaker is enabled */
if (armed.force_failsafe && !_cb_flighttermination) {
set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
} else {
clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
}
// XXX this is for future support in the commander
// but can be removed if unneeded
// if (armed.termination_failsafe) {
// set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// } else {
// clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// }
if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
}
}
if (armed.lockdown && !_lockdown_override) {
set |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
} else {
clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
}
/* Do not set failsafe if circuit breaker is enabled */
if (armed.force_failsafe && !_cb_flighttermination) {
set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
} else {
clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
}
// XXX this is for future support in the commander
// but can be removed if unneeded
// if (armed.termination_failsafe) {
// set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// } else {
// clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// }
if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
}
if (control_mode.flag_external_manual_override_ok) {
set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
if (have_control_mode == OK) {
if (control_mode.flag_external_manual_override_ok) {
set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
}
}
return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
@@ -1245,34 +1252,40 @@ PX4IO::io_set_rc_config()
* for compatibility reasons with existing
* autopilots / GCS'.
*/
/* ROLL */
param_get(param_find("RC_MAP_ROLL"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 0;
}
/* PITCH */
param_get(param_find("RC_MAP_PITCH"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 1;
}
/* YAW */
param_get(param_find("RC_MAP_YAW"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 2;
}
/* THROTTLE */
param_get(param_find("RC_MAP_THROTTLE"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 3;
}
/* FLAPS */
param_get(param_find("RC_MAP_FLAPS"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 4;
}
/* MAIN MODE SWITCH */
param_get(param_find("RC_MAP_MODE_SW"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input)) {
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
/* use out of normal bounds index to indicate special channel */
input_map[ichan - 1] = PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH;
}
@@ -1651,10 +1664,6 @@ PX4IO::io_publish_raw_rc()
int
PX4IO::io_publish_pwm_outputs()
{
/* if no FMU comms(!) just don't publish */
if (!(_status & PX4IO_P_STATUS_FLAGS_FMU_OK))
return OK;
/* data we are going to fetch */
actuator_outputs_s outputs;
outputs.timestamp = hrt_absolute_time();
@@ -2055,7 +2064,7 @@ PX4IO::print_status(bool extended_status)
((features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) ? " RSSI_ADC" : "")
);
uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
printf("arming 0x%04x%s%s%s%s%s%s%s%s\n",
printf("arming 0x%04x%s%s%s%s%s%s%s%s%s%s\n",
arming,
((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : " FMU_DISARMED"),
((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : " IO_ARM_DENIED"),
@@ -2065,7 +2074,8 @@ PX4IO::print_status(bool extended_status)
((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : ""),
((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) ? " LOCKDOWN" : ""),
((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) ? " FORCE_FAILSAFE" : ""),
((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : "")
((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : ""),
((arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) ? " OVERRIDE_IMMEDIATE" : "")
);
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
@@ -2190,7 +2200,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
return E2BIG;
return -E2BIG;
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm->values, pwm->channel_count);
@@ -2209,7 +2219,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
return E2BIG;
return -E2BIG;
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_DISARMED_PWM, 0, pwm->values, pwm->channel_count);
@@ -2228,7 +2238,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
return E2BIG;
return -E2BIG;
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_CONTROL_MIN_PWM, 0, pwm->values, pwm->channel_count);
@@ -2247,7 +2257,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
return E2BIG;
return -E2BIG;
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_CONTROL_MAX_PWM, 0, pwm->values, pwm->channel_count);
@@ -2305,6 +2315,19 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
}
break;
case PWM_SERVO_SET_OVERRIDE_IMMEDIATE:
/* control whether override on FMU failure is
immediate or waits for override threshold on mode
switch */
if (arg == 0) {
/* clear override immediate flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE, 0);
} else {
/* set override immediate flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE);
}
break;
case DSM_BIND_START:
/* only allow DSM2, DSM-X and DSM-X with more than 7 channels */
@@ -2566,6 +2589,42 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
break;
case PWM_SERVO_SET_RC_CONFIG: {
/* enable setting of RC configuration without relying
on param_get()
*/
struct pwm_output_rc_config* config = (struct pwm_output_rc_config*)arg;
if (config->channel >= RC_INPUT_MAX_CHANNELS) {
/* fail with error */
return -E2BIG;
}
/* copy values to registers in IO */
uint16_t regs[PX4IO_P_RC_CONFIG_STRIDE];
uint16_t offset = config->channel * PX4IO_P_RC_CONFIG_STRIDE;
regs[PX4IO_P_RC_CONFIG_MIN] = config->rc_min;
regs[PX4IO_P_RC_CONFIG_CENTER] = config->rc_trim;
regs[PX4IO_P_RC_CONFIG_MAX] = config->rc_max;
regs[PX4IO_P_RC_CONFIG_DEADZONE] = config->rc_dz;
regs[PX4IO_P_RC_CONFIG_ASSIGNMENT] = config->rc_assignment;
regs[PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
if (config->rc_reverse) {
regs[PX4IO_P_RC_CONFIG_OPTIONS] |= PX4IO_P_RC_CONFIG_OPTIONS_REVERSE;
}
ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE);
break;
}
case PWM_SERVO_SET_OVERRIDE_OK:
/* set the 'OVERRIDE OK' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK);
break;
case PWM_SERVO_CLEAR_OVERRIDE_OK:
/* clear the 'OVERRIDE OK' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0);
break;
default:
/* see if the parent class can make any use of it */
ret = CDev::ioctl(filep, cmd, arg);
src/drivers/stm32/adc/module.mk
+2
View File
@@ -40,3 +40,5 @@ MODULE_COMMAND = adc
SRCS = adc.cpp
INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
MAXOPTIMIZATION = -Os
src/drivers/stm32/module.mk
+2
View File
@@ -41,3 +41,5 @@ SRCS = drv_hrt.c \
drv_pwm_servo.c
INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
MAXOPTIMIZATION = -Os
src/drivers/stm32/tone_alarm/module.mk
+2
View File
@@ -40,3 +40,5 @@ MODULE_COMMAND = tone_alarm
SRCS = tone_alarm.cpp
INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
MAXOPTIMIZATION = -Os