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Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge

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Conflicts:
	src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
	src/modules/uORB/topics/vehicle_attitude.h
This commit is contained in:
Thomas Gubler
2015-01-21 14:41:03 +01:00
parent 3a38b0fe35 e8e4a3b5da
commit dcdde8ea88
57 changed files with 2157 additions and 3259 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/drv_mag.h
+2
View File
@@ -41,9 +41,11 @@
#include <stdint.h>
#include <sys/ioctl.h>
#include "drv_device.h"
#include "drv_sensor.h"
#include "drv_orb_dev.h"
#define MAG_DEVICE_PATH "/dev/mag"
/**
src/drivers/gps/gps_helper.cpp
-2
View File
@@ -88,8 +88,6 @@ GPS_Helper::set_baudrate(const int &fd, unsigned baud)
case 115200: speed = B115200; break;
warnx("try baudrate: %d\n", speed);
default:
warnx("ERR: baudrate: %d\n", baud);
return -EINVAL;
src/drivers/hmc5883/hmc5883.cpp
+6 -2
View File
@@ -66,6 +66,7 @@
#include <drivers/drv_mag.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/drv_device.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
@@ -725,6 +726,9 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
debug("MAGIOCGEXTERNAL in main driver");
return _interface->ioctl(cmd, dummy);
case DEVIOCGDEVICEID:
return _interface->ioctl(cmd, dummy);
default:
/* give it to the superclass */
return CDev::ioctl(filp, cmd, arg);
@@ -1305,9 +1309,9 @@ struct hmc5883_bus_option {
uint8_t busnum;
HMC5883 *dev;
} bus_options[] = {
{ HMC5883_BUS_I2C_INTERNAL, "/dev/hmc5883_int", &HMC5883_I2C_interface, PX4_I2C_BUS_EXPANSION, NULL },
{ HMC5883_BUS_I2C_EXTERNAL, "/dev/hmc5883_ext", &HMC5883_I2C_interface, PX4_I2C_BUS_EXPANSION, NULL },
#ifdef PX4_I2C_BUS_ONBOARD
{ HMC5883_BUS_I2C_EXTERNAL, "/dev/hmc5883_ext", &HMC5883_I2C_interface, PX4_I2C_BUS_ONBOARD, NULL },
{ HMC5883_BUS_I2C_INTERNAL, "/dev/hmc5883_int", &HMC5883_I2C_interface, PX4_I2C_BUS_ONBOARD, NULL },
#endif
#ifdef PX4_SPIDEV_HMC
{ HMC5883_BUS_SPI, "/dev/hmc5883_spi", &HMC5883_SPI_interface, PX4_SPI_BUS_SENSORS, NULL },
src/drivers/hmc5883/hmc5883_i2c.cpp
+5
View File
@@ -53,6 +53,7 @@
#include <drivers/device/i2c.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_device.h>
#include "hmc5883.h"
@@ -90,6 +91,7 @@ HMC5883_I2C_interface(int bus)
HMC5883_I2C::HMC5883_I2C(int bus) :
I2C("HMC5883_I2C", nullptr, bus, HMC5883L_ADDRESS, 400000)
{
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_HMC5883;
}
HMC5883_I2C::~HMC5883_I2C()
@@ -117,6 +119,9 @@ HMC5883_I2C::ioctl(unsigned operation, unsigned &arg)
return 0;
}
case DEVIOCGDEVICEID:
return CDev::ioctl(nullptr, operation, arg);
default:
ret = -EINVAL;
}
src/drivers/hmc5883/hmc5883_spi.cpp
+5
View File
@@ -53,6 +53,7 @@
#include <drivers/device/spi.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_device.h>
#include "hmc5883.h"
#include <board_config.h>
@@ -92,6 +93,7 @@ HMC5883_SPI_interface(int bus)
HMC5883_SPI::HMC5883_SPI(int bus, spi_dev_e device) :
SPI("HMC5883_SPI", nullptr, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz */)
{
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_HMC5883;
}
HMC5883_SPI::~HMC5883_SPI()
@@ -146,6 +148,9 @@ HMC5883_SPI::ioctl(unsigned operation, unsigned &arg)
return 0;
}
case DEVIOCGDEVICEID:
return CDev::ioctl(nullptr, operation, arg);
default:
{
ret = -EINVAL;
src/drivers/ms5611/ms5611.h
+6 -6
View File
@@ -37,12 +37,12 @@
* Shared defines for the ms5611 driver.
*/
#define ADDR_RESET_CMD 0x1E /* write to this address to reset chip */
#define ADDR_CMD_CONVERT_D1 0x48 /* write to this address to start temperature conversion */
#define ADDR_CMD_CONVERT_D2 0x58 /* write to this address to start pressure conversion */
#define ADDR_DATA 0x00 /* address of 3 bytes / 32bit pressure data */
#define ADDR_PROM_SETUP 0xA0 /* address of 8x 2 bytes factory and calibration data */
#define ADDR_PROM_C1 0xA2 /* address of 6x 2 bytes calibration data */
#define ADDR_RESET_CMD 0x1E /* write to this address to reset chip */
#define ADDR_CMD_CONVERT_D1 0x48 /* write to this address to start pressure conversion */
#define ADDR_CMD_CONVERT_D2 0x58 /* write to this address to start temperature conversion */
#define ADDR_DATA 0x00 /* address of 3 bytes / 32bit pressure data */
#define ADDR_PROM_SETUP 0xA0 /* address of 8x 2 bytes factory and calibration data */
#define ADDR_PROM_C1 0xA2 /* address of 6x 2 bytes calibration data */
/* interface ioctls */
#define IOCTL_RESET 2
src/drivers/px4fmu/fmu.cpp
+7 -4
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
* Copyright (C) 2012-2015 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
@@ -1637,12 +1637,15 @@ sensor_reset(int ms)
fd = open(PX4FMU_DEVICE_PATH, O_RDWR);
if (fd < 0)
if (fd < 0) {
errx(1, "open fail");
}
if (ioctl(fd, GPIO_SENSOR_RAIL_RESET, ms) < 0)
err(1, "servo arm failed");
if (ioctl(fd, GPIO_SENSOR_RAIL_RESET, ms) < 0) {
warnx("sensor rail reset failed");
}
close(fd);
}
void
src/drivers/px4io/px4io.cpp
+29 -16
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2015 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
@@ -834,7 +834,7 @@ PX4IO::init()
_task = task_spawn_cmd("px4io",
SCHED_DEFAULT,
SCHED_PRIORITY_ACTUATOR_OUTPUTS,
2000,
1800,
(main_t)&PX4IO::task_main_trampoline,
nullptr);
@@ -1102,7 +1102,7 @@ PX4IO::io_set_control_state(unsigned group)
uint16_t regs[_max_actuators];
/* get controls */
bool changed;
bool changed = false;
switch (group) {
case 0:
@@ -1144,11 +1144,13 @@ PX4IO::io_set_control_state(unsigned group)
break;
}
if (!changed)
if (!changed) {
return -1;
}
for (unsigned i = 0; i < _max_controls; i++)
for (unsigned i = 0; i < _max_controls; i++) {
regs[i] = FLOAT_TO_REG(controls.control[i]);
}
/* copy values to registers in IO */
return io_reg_set(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT, regs, _max_controls);
@@ -1773,12 +1775,12 @@ PX4IO::print_debug()
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
int io_fd = -1;
if (io_fd < 0) {
if (io_fd <= 0) {
io_fd = ::open("/dev/ttyS0", O_RDONLY | O_NONBLOCK | O_NOCTTY);
}
/* read IO's output */
if (io_fd > 0) {
if (io_fd >= 0) {
pollfd fds[1];
fds[0].fd = io_fd;
fds[0].events = POLLIN;
@@ -2278,6 +2280,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
case PWM_SERVO_GET_DISABLE_LOCKDOWN:
*(unsigned *)arg = _lockdown_override;
break;
case PWM_SERVO_SET_FORCE_SAFETY_OFF:
/* force safety swith off */
@@ -3003,11 +3006,14 @@ monitor(void)
fds[0].fd = 0;
fds[0].events = POLLIN;
poll(fds, 1, 2000);
if (poll(fds, 1, 2000) < 0) {
errx(1, "poll fail");
}
if (fds[0].revents == POLLIN) {
int c;
read(0, &c, 1);
/* control logic is to cancel with any key */
char c;
(void)read(0, &c, 1);
if (cancels-- == 0) {
printf("\033[2J\033[H"); /* move cursor home and clear screen */
@@ -3069,12 +3075,13 @@ lockdown(int argc, char *argv[])
if (ret > 0) {
read(0, &c, 1);
if (read(0, &c, 1) > 0) {
if (c != 'y') {
exit(0);
} else if (c == 'y') {
break;
if (c != 'y') {
exit(0);
} else if (c == 'y') {
break;
}
}
}
@@ -3237,7 +3244,13 @@ px4io_main(int argc, char *argv[])
if (!strcmp(argv[1], "limit")) {
if ((argc > 2)) {
g_dev->set_update_rate(atoi(argv[2]));
int limitrate = atoi(argv[2]);
if (limitrate > 0) {
g_dev->set_update_rate(limitrate);
} else {
errx(1, "invalid rate: %d", limitrate);
}
} else {
errx(1, "missing argument (50 - 500 Hz)");