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Merge branch 'master' into export-build

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px4dev
2013-03-20 23:05:19 -07:00
parent f7b14b2e23 b7d65bf8fc
commit db91dffb23
98 changed files with 6673 additions and 2338 deletions
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apps/systemcmds/i2c/Makefile
+42
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@@ -0,0 +1,42 @@
############################################################################
#
# Copyright (C) 2012 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 i2c test tool.
#
APPNAME = i2c
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk
apps/systemcmds/i2c/i2c.c
+140
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@@ -0,0 +1,140 @@
/****************************************************************************
*
* Copyright (C) 2012 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 i2c.c
*
* i2c hacking 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/mount.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <nuttx/i2c.h>
#include <arch/board/board.h>
#include "systemlib/systemlib.h"
#include "systemlib/err.h"
#ifndef PX4_I2C_BUS_ONBOARD
# error PX4_I2C_BUS_ONBOARD not defined, no device interface
#endif
#ifndef PX4_I2C_OBDEV_PX4IO
# error PX4_I2C_OBDEV_PX4IO not defined
#endif
__EXPORT int i2c_main(int argc, char *argv[]);
static int transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len);
static struct i2c_dev_s *i2c;
int i2c_main(int argc, char *argv[])
{
/* find the right I2C */
i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD);
if (i2c == NULL)
errx(1, "failed to locate I2C bus");
usleep(100000);
uint8_t buf[] = { 0, 4};
int ret = transfer(PX4_I2C_OBDEV_PX4IO, buf, sizeof(buf), NULL, 0);
if (ret)
errx(1, "send failed - %d", ret);
uint32_t val;
ret = transfer(PX4_I2C_OBDEV_PX4IO, NULL, 0, (uint8_t *)&val, sizeof(val));
if (ret)
errx(1, "recive failed - %d", ret);
errx(0, "got 0x%08x", val);
}
static int
transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
{
struct i2c_msg_s msgv[2];
unsigned msgs;
int ret;
// debug("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
msgs = 0;
if (send_len > 0) {
msgv[msgs].addr = address;
msgv[msgs].flags = 0;
msgv[msgs].buffer = send;
msgv[msgs].length = send_len;
msgs++;
}
if (recv_len > 0) {
msgv[msgs].addr = address;
msgv[msgs].flags = I2C_M_READ;
msgv[msgs].buffer = recv;
msgv[msgs].length = recv_len;
msgs++;
}
if (msgs == 0)
return -1;
/*
* I2C architecture means there is an unavoidable race here
* if there are any devices on the bus with a different frequency
* preference. Really, this is pointless.
*/
I2C_SETFREQUENCY(i2c, 400000);
ret = I2C_TRANSFER(i2c, &msgv[0], msgs);
// reset the I2C bus to unwedge on error
if (ret != OK)
up_i2creset(i2c);
return ret;
}
apps/systemcmds/mixer/mixer.c
+17 -1
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@@ -117,7 +117,23 @@ load(const char *devname, const char *fname)
if ((strlen(line) < 2) || !isupper(line[0]) || (line[1] != ':'))
continue;
/* XXX an optimisation here would be to strip extra whitespace */
/* compact whitespace in the buffer */
char *t, *f;
for (f = buf; *f != '\0'; f++) {
/* scan for space characters */
if (*f == ' ') {
/* look for additional spaces */
t = f + 1;
while (*t == ' ')
t++;
if (*t == '\0') {
/* strip trailing whitespace */
*f = '\0';
} else if (t > (f + 1)) {
memmove(f + 1, t, strlen(t) + 1);
}
}
}
/* if the line is too long to fit in the buffer, bail */
if ((strlen(line) + strlen(buf) + 1) >= sizeof(buf))
apps/systemcmds/preflight_check/preflight_check.c
+8
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@@ -54,6 +54,8 @@
#include <drivers/drv_accel.h>
#include <drivers/drv_baro.h>
#include <mavlink/mavlink_log.h>
__EXPORT int preflight_check_main(int argc, char *argv[]);
static int led_toggle(int leds, int led);
static int led_on(int leds, int led);
@@ -75,6 +77,8 @@ int preflight_check_main(int argc, char *argv[])
bool system_ok = true;
int fd;
/* open text message output path */
int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
int ret;
/* give the system some time to sample the sensors in the background */
@@ -86,6 +90,7 @@ int preflight_check_main(int argc, char *argv[])
fd = open(MAG_DEVICE_PATH, 0);
if (fd < 0) {
warn("failed to open magnetometer - start with 'hmc5883 start' or 'lsm303d start'");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: NO MAG");
system_ok = false;
goto system_eval;
}
@@ -93,6 +98,7 @@ int preflight_check_main(int argc, char *argv[])
if (ret != OK) {
warnx("magnetometer calibration missing or bad - calibrate magnetometer first");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CALIBRATION");
system_ok = false;
goto system_eval;
}
@@ -105,6 +111,7 @@ int preflight_check_main(int argc, char *argv[])
if (ret != OK) {
warnx("accel self test failed");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL CHECK");
system_ok = false;
goto system_eval;
}
@@ -117,6 +124,7 @@ int preflight_check_main(int argc, char *argv[])
if (ret != OK) {
warnx("gyro self test failed");
mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CHECK");
system_ok = false;
goto system_eval;
}
apps/systemcmds/pwm/Makefile
+42
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@@ -0,0 +1,42 @@
############################################################################
#
# Copyright (C) 2012 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 pwm tool.
#
APPNAME = pwm
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk
apps/systemcmds/pwm/pwm.c
+233
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@@ -0,0 +1,233 @@
/****************************************************************************
*
* Copyright (C) 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.
*
****************************************************************************/
/**
* @file pwm.c
*
* PWM servo output configuration and monitoring 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/mount.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <nuttx/i2c.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/err.h"
#include "drivers/drv_pwm_output.h"
static void usage(const char *reason);
__EXPORT int pwm_main(int argc, char *argv[]);
static void
usage(const char *reason)
{
if (reason != NULL)
warnx("%s", reason);
errx(1,
"usage:\n"
"pwm [-v] [-d <device>] [-u <alt_rate>] [-c <channel group>] [arm|disarm] [<channel_value> ...]\n"
" -v Print information about the PWM device\n"
" <device> PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n"
" <alt_rate> PWM update rate for channels in <alt_channel_mask>\n"
" <channel_group> Channel group that should update at the alternate rate (may be specified more than once)\n"
" arm | disarm Arm or disarm the ouptut\n"
" <channel_value>... PWM output values in microseconds to assign to the PWM outputs\n"
"\n"
"When -c is specified, any channel groups not listed with -c will update at the default rate.\n"
);
}
int
pwm_main(int argc, char *argv[])
{
const char *dev = PWM_OUTPUT_DEVICE_PATH;
unsigned alt_rate = 0;
uint32_t alt_channel_groups = 0;
bool alt_channels_set = false;
bool print_info = false;
int ch;
int ret;
char *ep;
unsigned group;
if (argc < 2)
usage(NULL);
while ((ch = getopt(argc, argv, "c:d:u:v")) != EOF) {
switch (ch) {
case 'c':
group = strtoul(optarg, &ep, 0);
if ((*ep != '\0') || (group >= 32))
usage("bad channel_group value");
alt_channel_groups |= (1 << group);
alt_channels_set = true;
break;
case 'd':
dev = optarg;
break;
case 'u':
alt_rate = strtol(optarg, &ep, 0);
if (*ep != '\0')
usage("bad alt_rate value");
break;
case 'v':
print_info = true;
break;
default:
usage(NULL);
}
}
argc -= optind;
argv += optind;
/* open for ioctl only */
int fd = open(dev, 0);
if (fd < 0)
err(1, "can't open %s", dev);
/* change alternate PWM rate */
if (alt_rate > 0) {
ret = ioctl(fd, PWM_SERVO_SET_UPDATE_RATE, alt_rate);
if (ret != OK)
err(1, "PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)");
}
/* assign alternate rate to channel groups */
if (alt_channels_set) {
uint32_t mask = 0;
for (unsigned group = 0; group < 32; group++) {
if ((1 << group) & alt_channel_groups) {
uint32_t group_mask;
ret = ioctl(fd, PWM_SERVO_GET_RATEGROUP(group), (unsigned long)&group_mask);
if (ret != OK)
err(1, "PWM_SERVO_GET_RATEGROUP(%u)", group);
mask |= group_mask;
}
}
ret = ioctl(fd, PWM_SERVO_SELECT_UPDATE_RATE, mask);
if (ret != OK)
err(1, "PWM_SERVO_SELECT_UPDATE_RATE");
}
/* iterate remaining arguments */
unsigned channel = 0;
while (argc--) {
const char *arg = argv[0];
argv++;
if (!strcmp(arg, "arm")) {
ret = ioctl(fd, PWM_SERVO_ARM, 0);
if (ret != OK)
err(1, "PWM_SERVO_ARM");
continue;
}
if (!strcmp(arg, "disarm")) {
ret = ioctl(fd, PWM_SERVO_DISARM, 0);
if (ret != OK)
err(1, "PWM_SERVO_DISARM");
continue;
}
unsigned pwm_value = strtol(arg, &ep, 0);
if (*ep == '\0') {
ret = ioctl(fd, PWM_SERVO_SET(channel), pwm_value);
if (ret != OK)
err(1, "PWM_SERVO_SET(%d)", channel);
channel++;
continue;
}
usage("unrecognised option");
}
/* print verbose info */
if (print_info) {
/* get the number of servo channels */
unsigned count;
ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&count);
if (ret != OK)
err(1, "PWM_SERVO_GET_COUNT");
/* print current servo values */
for (unsigned i = 0; i < count; i++) {
servo_position_t spos;
ret = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&spos);
if (ret == OK) {
printf("channel %u: %uus\n", i, spos);
} else {
printf("%u: ERROR\n", i);
}
}
/* print rate groups */
for (unsigned i = 0; i < count; i++) {
uint32_t group_mask;
ret = ioctl(fd, PWM_SERVO_GET_RATEGROUP(i), (unsigned long)&group_mask);
if (ret != OK)
break;
if (group_mask != 0) {
printf("channel group %u: channels", i);
for (unsigned j = 0; j < 32; j++)
if (group_mask & (1 << j))
printf(" %u", j);
printf("\n");
}
}
fflush(stdout);
}
exit(0);
}