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836 Commits

Author SHA1 Message Date
David Sidrane
e847698c9f PX4 System changes Supporting STM32H7 
stm32:ToneAlarmInterfacePWM TIM15-TIM17 have a BDTR Register

common:board_crashdump Add H7 support

stm32/board_mcu_version:Support H7

PX4 ADC:Use 32 interface and resoution abstraction

Added PX4 stm32h7 ADC driver

stm32h7:adc fix ADC ready check

fmu: handle BOARD_HAS_PWM==5

cmake: improve error handling for NuttX olddefconfig failures

WorkQueueManager:Quiet loadmon stack warning

camera_trigger:GPIO support < 6 GPIO

Adjust stack sizes (under hw stack check)

PX4 System changes Supporting STM32H7 PX4IO Driver

aerotenna_ocpoc:ADC add px4_arch_adc_dn_fullcount

init.cmake:Track Upstream change needing Make.def at config time

PX4 System changes Supporting STM32H7

NuttX CMakeLists.txt Track upstream changes

Common board_crashdump add header and px4 config

NuttX simplify callinb make libapps

Use UINT32_MAX for error return

drivers:uavcannode NuttX chip is now hardware

drivers:uavcanesc NuttX chip is now hardware

px4io:Avoid Race on AP to PX4 IO upgrade
 2019-11-16 11:43:42 +01:00
David Sidrane
36a75b79a4 uavcan:Changes to support Nuttx 7.31+ 
libuavcan:Update with Kinetis NuttX 8.1+ support

Traking master uavcan changes
 2019-11-16 11:43:42 +01:00
David Sidrane
522ed2d99b NuttX based PX4 bootloader 
stm32h7 booloader:Obey VBUS input

stm32h7 booloader:Fully deinit systic
 2019-11-16 11:43:42 +01:00
Beat Küng
78944a70c3 Upgrade NuttX to 8.2 
Nuttx with PX4 contrib of bbsram fix

Nuttx 8.31+ with BBSRAM disable dcache

Nuttx 8.2-
 2019-11-16 11:43:42 +01:00
TSC21
d4ddabdf52 SITL: adds 'iris_rtps' target 2019-11-13 18:24:11 +00:00
Daniel Agar
c5520cbaca mpu9250: start building "NuttX" driver for Linux and QuRT 2019-11-13 09:21:02 -05:00
Daniel Agar
1c4e854f93 cmake don't build param "c" files and remove param defines 
- these aren't actual source code
 2019-11-11 10:25:42 -05:00
Beat Küng
5dff065ec5 uavcan: move to work queue and use MixingOutput 
Main UAVCAN protocol handling and ESC updates run on the same thread/wq as
before. There are 2 WorkItems for separate scheduling of the 2, so that
ESC updates run in sync with actuator_control updates. UAVCAN is scheduled
at a fixed rate of 3ms (previously the poll timeout) and on each UAVCAN
bus event.
This leads to roughly the same behavior as before. CPU & RAM usage are
pretty much the same (tested on Pixhawk 4).

Testing done: Motors still work (with feedback), param changes and a
UAVCAN optical flow sensor.
 2019-11-07 10:40:03 +01:00
Beat Küng
a203475489 BlockingList: fix unsafe getLockGuard() API 
getLockGuard relies on copy elision to work correctly, which the compiler
is not required to do (only with C++17).
If no copy elision happens, the mutex ends up being unlocked twice, and the
CS is executed with the mutex unlocked.

The patch also ensures that the same pattern cannot be used again.
 2019-11-05 12:14:20 +01:00
Daniel Agar
7f930f875e Jenkins store SITL unit test results 2019-11-04 14:04:40 -05:00
Daniel Agar
69bec3ee62
defines.h delete obsolete PRIu64, PRId64, and offsetof 2019-11-03 11:50:15 -05:00
Daniel Agar
7bf9700426
NuttX: math.h drop extra math defines carried in PX4 defines.h 2019-11-03 10:30:00 -05:00
FlavioTonelli
7984c0c910 px4_work_queue: stack size rounded to page size on posix 2019-11-03 09:04:04 -05:00
Matthias Grob
933ff8d480 Remove duplicate EOF trailing newlines 
because they can screw up git when merging branches.
 2019-11-02 09:49:46 -04:00
David Sidrane
a3e2777208 NuttX/nuttx with SDIO fixes (#13311) 
* NuttX/nuttx with SDIO fixes
 2019-10-31 16:55:16 +01:00
Beat Küng
1dd6b6a505 stm32f3: add libs and stubs for F3 build (thiemar_s2740vc-v1) 2019-10-30 11:48:47 +01:00
Beat Küng
3b7c1b4ff1 src/drivers/boards: move to platforms/nuttx/src/px4/common 2019-10-30 11:48:47 +01:00
Beat Küng
be7ed5e388 src/drivers/boards/common/{stm32,kinetis}: move under platforms/nuttx/src/px4 2019-10-30 11:48:47 +01:00
Beat Küng
58e161347b board_mcu_version: move to platforms/nuttx/src/px4 2019-10-30 11:48:47 +01:00
Beat Küng
e7519c9fa0 board_identity: move to platforms/nuttx/src 
And fix a potential alignment issue in board_get_mfguid and
board_get_px4_guid.
 2019-10-30 11:48:47 +01:00
Beat Küng
b30171ba8d board_common.h: move under platforms/common 
Also move board_determine_hw_info and board_gpio_init under platforms/nuttx
 2019-10-30 11:48:47 +01:00
Beat Küng
3198610f85 src/platforms: move all headers to platforms/common/include/px4_platform_common 
and remove the px4_ prefix, except for px4_config.h.

command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done

Transitional headers for submodules are added (px4_{defines,log,time}.h)
 2019-10-30 11:48:47 +01:00
Daniel Agar
6f1f5e0325 clang-tidy: partially fix readability-redundant-declaration 2019-10-28 10:50:31 -04:00
Daniel Agar
a7f330075a clang-tidy: enable hicpp-braces-around-statements and fix 2019-10-28 10:50:31 -04:00
Daniel Agar
4192414576 clang-tidy: partially fix cppcoreguidelines-pro-type-reinterpret-cast 2019-10-28 10:50:31 -04:00
Daniel Agar
967446af4c clang-tidy: enable readability-simplify-boolean-expr and fix 2019-10-27 19:19:07 -04:00
Daniel Agar
279df3b1b8 clang-tidy: partially fix hicpp-use-equals-delete 2019-10-27 19:19:07 -04:00
Daniel Agar
ae27dd60a6
Jenkins re-enable clang-tidy and update .clang-tidy 
- device/Device: fix explicit constructor and uninitialized fields
 - systemcmds/motor_test: update NULL to nullptr
 2019-10-27 17:19:11 -04:00
Igor Mišić
f4ee9141cb DShot: updated driver to use NuttX DMA functions (#13233) 2019-10-25 09:49:03 +02:00
Matthias Grob
d60e1e2774 ControlMath: switch to gtest for unit tessting 2019-10-23 17:33:47 +02:00
Julian Oes
8e625285fc platforms: initialize strings 
This might fix a warning about argv being a TAINTED_SCALAR further down.
 2019-10-17 08:44:53 -04:00
Beat Küng
25aded36ec WorkQueue: avoid potential semaphore counter overflow 
This could happen in the following cases:
- IRQ/publisher rate is faster than the processing rate, and therefore
  WorkQueue::Add is called at a higher rate
- a long-running or stuck task that blocks the work queue a long time

Both cases are not expected to happen under 'normal' circumstances (if the
system runs as expected).
 2019-10-16 18:29:26 +02:00
Beat Küng
17551a99f8 io_timer: fix potential invalid memory access 2019-10-16 13:13:17 +02:00
Matthias Grob
e843090383 Replace a lot of memset with {} initializers 2019-10-15 10:01:03 -04:00
Beat Küng
8a9744d05a dshot: allow boards to enable dshot only on a subset of the timers 2019-10-11 08:14:17 +02:00
Beat Küng
d0a7490222 dshot: update timer generation before DMA request 
This reloads the timer configuration before triggering DMA. Without that,
in rare cases, there were 17 bits sent instead of 16.
The 1. bit (1. pulse) was always wrong (too much), the rest of the bits
were the correct DShot packet that was meant to be sent.
 2019-10-11 08:14:17 +02:00
Beat Küng
7445c25fcc dshot: check if DMA still in progress 
No other functional change, just restructuring.
 2019-10-11 08:14:17 +02:00
Beat Küng
182efaa757 dshot: reduce static buffer size 
And handle failures of up_dshot_init().

On Omnibus: reduces memory usage if dshot is enabled by ~1.0KB.
The buffer is roughly 1KB in size.
 2019-10-11 08:14:17 +02:00
Beat Küng
69c10dcaac dshot: move implementation to a separate directory & library 
So that the static memory overhead is not added to targets w/o dshot
 2019-10-11 08:14:17 +02:00
Beat Küng
23dbd9426a dshot: handle dcache, flush cache before DMA transfer 2019-10-11 08:14:17 +02:00
Beat Küng
3234aca53b px4_micro_hal: add PX4_ARCH_DCACHE_LINESIZE definition 2019-10-11 08:14:17 +02:00
Igor Mišić
5bd9659301 stm32 timers: add dshot implementation 2019-10-11 08:14:17 +02:00
Daniel Agar
3c623af903 ekf2: move to WQ with uORB callback scheduling 2019-10-02 19:44:46 -04:00
Daniel Agar
26364d44c9
px4_work_queue: command line status output and shutdown empty queues 
* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items
 * WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
 2019-10-02 12:23:17 -04:00
Daniel Agar
3687677095 cmake: show sitl_gazebo build output and improve rebuild 2019-10-01 14:22:30 -04:00
Kjkinney
3f9b3fb4da px4_log: publish all PX4_INFO messages as well (#12954) 2019-09-27 14:04:30 -04:00
Daniel Agar
86dc4c5a00 cmake generate vscode launch.json 2019-09-21 13:06:49 -04:00
Daniel Agar
fb7521eb5e cmake px4_base -> px4_parse_function_args 2019-09-15 14:36:38 -04:00
Daniel Agar
d27dfcd921 NuttX CMakeLists.txt extract helpers (jlink, upload, etc) 2019-09-15 14:36:38 -04:00
Julian Oes
78d3986013 platforms: fix main function signature 2019-09-03 11:52:54 -05:00