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

Browse Source 
Conflicts:
	.gitmodules
This commit is contained in:
Thomas Gubler
2014-12-29 08:00:12 +01:00
parent acb4844939 22f744f0e1
commit f4e0dc2857
82 changed files with 651 additions and 87 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/ardrone_interface/ardrone_interface.c
+1 -1
View File
@@ -121,7 +121,7 @@ int ardrone_interface_main(int argc, char *argv[])
SCHED_PRIORITY_MAX - 15,
1100,
ardrone_interface_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
exit(0);
}
src/drivers/boards/aerocore/aerocore_led.c
+2 -1
View File
@@ -45,6 +45,7 @@
#include "board_config.h"
#include <arch/board/board.h>
#include <systemlib/err.h>
/*
* Ideally we'd be able to get these from up_internal.h,
@@ -54,7 +55,7 @@
* CONFIG_ARCH_LEDS configuration switch.
*/
__BEGIN_DECLS
extern void led_init();
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
src/drivers/boards/px4fmu-v2/board_config.h
+2
View File
@@ -105,6 +105,7 @@ __BEGIN_DECLS
#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
#define GPIO_SPI_CS_HMC (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN1)
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
#define GPIO_SPI_CS_EXT0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
#define GPIO_SPI_CS_EXT1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
@@ -119,6 +120,7 @@ __BEGIN_DECLS
#define PX4_SPIDEV_ACCEL_MAG 2
#define PX4_SPIDEV_BARO 3
#define PX4_SPIDEV_MPU 4
#define PX4_SPIDEV_HMC 5
/* External bus */
#define PX4_SPIDEV_EXT0 1
src/drivers/boards/px4fmu-v2/px4fmu_spi.c
+15
View File
@@ -73,6 +73,7 @@ __EXPORT void weak_function stm32_spiinitialize(void)
stm32_configgpio(GPIO_SPI_CS_GYRO);
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
stm32_configgpio(GPIO_SPI_CS_BARO);
stm32_configgpio(GPIO_SPI_CS_HMC);
stm32_configgpio(GPIO_SPI_CS_MPU);
/* De-activate all peripherals,
@@ -82,6 +83,7 @@ __EXPORT void weak_function stm32_spiinitialize(void)
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_HMC, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
stm32_configgpio(GPIO_EXTI_GYRO_DRDY);
@@ -117,6 +119,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_HMC, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
@@ -125,6 +128,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_HMC, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
@@ -133,6 +137,16 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
stm32_gpiowrite(GPIO_SPI_CS_HMC, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
case PX4_SPIDEV_HMC:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_HMC, !selected);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
@@ -141,6 +155,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_HMC, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
break;
src/drivers/frsky_telemetry/frsky_telemetry.c
+1 -1
View File
@@ -221,7 +221,7 @@ int frsky_telemetry_main(int argc, char *argv[])
SCHED_PRIORITY_DEFAULT,
2000,
frsky_telemetry_thread_main,
(const char **)argv);
(char * const *)argv);
while (!thread_running) {
usleep(200);
src/drivers/hott/comms.h
+1 -1
View File
@@ -41,6 +41,6 @@
#ifndef COMMS_H_
#define COMMS_H
int open_uart(const char *device);
__EXPORT int open_uart(const char *device);
#endif /* COMMS_H_ */
src/drivers/hott/hott_sensors/hott_sensors.cpp
+1 -1
View File
@@ -214,7 +214,7 @@ hott_sensors_main(int argc, char *argv[])
SCHED_PRIORITY_DEFAULT,
1024,
hott_sensors_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
exit(0);
}
src/drivers/hott/hott_sensors/module.mk
+1 -3
View File
@@ -37,8 +37,6 @@
MODULE_COMMAND = hott_sensors
SRCS = hott_sensors.cpp \
../messages.cpp \
../comms.cpp
SRCS = hott_sensors.cpp
MAXOPTIMIZATION = -Os
src/drivers/hott/hott_telemetry/hott_telemetry.cpp
+1 -1
View File
@@ -240,7 +240,7 @@ hott_telemetry_main(int argc, char *argv[])
SCHED_PRIORITY_DEFAULT,
2048,
hott_telemetry_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
exit(0);
}
src/drivers/hott/hott_telemetry/module.mk
+1 -3
View File
@@ -37,8 +37,6 @@
MODULE_COMMAND = hott_telemetry
SRCS = hott_telemetry.cpp \
../messages.cpp \
../comms.cpp
SRCS = hott_telemetry.cpp
MAXOPTIMIZATION = -Os
src/drivers/hott/messages.h
+9 -9
View File
@@ -235,15 +235,15 @@ struct gps_module_msg {
// The maximum size of a message.
#define MAX_MESSAGE_BUFFER_SIZE 45
void init_sub_messages(void);
void init_pub_messages(void);
void build_gam_request(uint8_t *buffer, size_t *size);
void publish_gam_message(const uint8_t *buffer);
void build_eam_response(uint8_t *buffer, size_t *size);
void build_gam_response(uint8_t *buffer, size_t *size);
void build_gps_response(uint8_t *buffer, size_t *size);
float _get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
void convert_to_degrees_minutes_seconds(double lat, int *deg, int *min, int *sec);
__EXPORT void init_sub_messages(void);
__EXPORT void init_pub_messages(void);
__EXPORT void build_gam_request(uint8_t *buffer, size_t *size);
__EXPORT void publish_gam_message(const uint8_t *buffer);
__EXPORT void build_eam_response(uint8_t *buffer, size_t *size);
__EXPORT void build_gam_response(uint8_t *buffer, size_t *size);
__EXPORT void build_gps_response(uint8_t *buffer, size_t *size);
__EXPORT float _get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
__EXPORT void convert_to_degrees_minutes_seconds(double lat, int *deg, int *min, int *sec);
#endif /* MESSAGES_H_ */
src/drivers/hott/module.mk
+41
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@@ -0,0 +1,41 @@
############################################################################
#
# Copyright (c) 2012, 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.
#
############################################################################
#
# Graupner HoTT Sensors messages.
#
SRCS = messages.cpp \
comms.cpp
MAXOPTIMIZATION = -Os
src/drivers/px4flow/module.mk
+2
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@@ -40,3 +40,5 @@ MODULE_COMMAND = px4flow
SRCS = px4flow.cpp
MAXOPTIMIZATION = -Os
EXTRACXXFLAGS = -Wno-attributes
src/drivers/px4flow/px4flow.cpp
+1 -1
View File
@@ -106,7 +106,7 @@ struct i2c_frame {
};
struct i2c_frame f;
typedef struct i2c_integral_frame {
struct i2c_integral_frame {
uint16_t frame_count_since_last_readout;
int16_t pixel_flow_x_integral;
int16_t pixel_flow_y_integral;
src/drivers/roboclaw/roboclaw_main.cpp
+1 -1
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@@ -109,7 +109,7 @@ int roboclaw_main(int argc, char *argv[])
SCHED_PRIORITY_MAX - 10,
2048,
roboclaw_thread_main,
(const char **)argv);
(char * const *)argv);
exit(0);
} else if (!strcmp(argv[1], "test")) {
src/drivers/sf0x/sf0x.cpp
+3 -1
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@@ -90,7 +90,9 @@ static const int ERROR = -1;
#define SF0X_TAKE_RANGE_REG 'd'
#define SF02F_MIN_DISTANCE 0.0f
#define SF02F_MAX_DISTANCE 40.0f
#define SF0X_DEFAULT_PORT "/dev/ttyS2"
// designated SERIAL4/5 on Pixhawk
#define SF0X_DEFAULT_PORT "/dev/ttyS6"
class SF0X : public device::CDev
{
src/drivers/trone/trone.cpp
+1 -1
View File
@@ -206,7 +206,7 @@ static const uint8_t crc_table[] = {
0xfa, 0xfd, 0xf4, 0xf3
};
uint8_t crc8(uint8_t *p, uint8_t len){
static uint8_t crc8(uint8_t *p, uint8_t len) {
uint16_t i;
uint16_t crc = 0x0;