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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-04 21:40:05 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
849f4531a3 |
@@ -37,7 +37,6 @@ pipeline {
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def nuttx_builds_archive = [
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target: [
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"airmind_mindpx-v2_default",
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"ark_can-flow_default",
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"av_x-v1_default",
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"bitcraze_crazyflie_default",
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"bitcraze_crazyflie21_default",
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+292
-334
@@ -7,157 +7,6 @@ pipeline {
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parallel {
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stage("cubepilot_cubeorange_console") {
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stages {
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stage("build cubepilot_cubeorange_console") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2020-09-14'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'ccache -s'
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sh 'git fetch --tags'
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sh 'make cubepilot_cubeorange_console'
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sh 'make sizes'
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sh 'ccache -s'
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stash includes: 'build/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf', name: 'cubepilot_cubeorange_console'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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} // stage build
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stage("test") {
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agent {
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label 'cubepilot_cubeorange'
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}
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stages {
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stage("flash") {
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steps {
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sh 'export'
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sh 'find /dev/serial'
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unstash 'cubepilot_cubeorange_console'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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}
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}
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stage("configure") {
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steps {
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// configure
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/cubepilot_io-v2_default.bin" || true' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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}
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}
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stage("status") {
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steps {
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statusFTDI()
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}
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}
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stage("tests") {
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steps {
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// run tests
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sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
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}
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}
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stage("reset") {
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steps {
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cleanupFTDI();
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}
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}
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}
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options {
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timeout(time: 90, unit: 'MINUTES')
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}
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} // stage test
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}
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}
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stage("cuav_x7pro_default") {
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stages {
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stage("build cuav_x7pro_default") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2020-09-14'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'ccache -s'
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sh 'git fetch --tags'
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sh 'make cuav_x7pro_default'
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sh 'make sizes'
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sh 'ccache -s'
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stash includes: 'build/cuav_x7pro_default/cuav_x7pro_default.elf', name: 'cuav_x7pro_default'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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} // stage build
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stage("test") {
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agent {
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label 'cuav_x7pro'
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}
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stages {
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stage("flash") {
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steps {
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sh 'export'
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sh 'find /dev/serial'
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unstash 'cuav_x7pro_default'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_default/cuav_x7pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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}
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}
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stage("configure") {
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steps {
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// configure
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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}
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}
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stage("status") {
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steps {
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statusFTDI()
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}
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}
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stage("tests") {
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steps {
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// run tests
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sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
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}
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}
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stage("reset") {
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steps {
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cleanupFTDI();
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}
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}
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}
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options {
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timeout(time: 90, unit: 'MINUTES')
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}
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} // stage test
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}
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}
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// stage("px4_fmu-v2_test") {
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// stages {
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// stage("build px4_fmu-v2_test") {
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@@ -194,7 +43,7 @@ pipeline {
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// sh 'find /dev/serial'
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// unstash 'px4_fmu-v2_test'
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// // flash board and watch bootup
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// sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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// sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
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// }
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// }
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// stage("reset") {
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@@ -246,18 +95,18 @@ pipeline {
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sh 'find /dev/serial'
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unstash 'px4_fmu-v3_default'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
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}
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||||
}
|
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stage("configure") {
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steps {
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// configure
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
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stage("status") {
|
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@@ -268,7 +117,7 @@ pipeline {
|
||||
stage("tests") {
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steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
||||
}
|
||||
}
|
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stage("reset") {
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@@ -320,17 +169,17 @@ pipeline {
|
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sh 'find /dev/serial'
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unstash 'px4_fmu-v4_default'
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// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -341,7 +190,7 @@ pipeline {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
@@ -393,18 +242,18 @@ pipeline {
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v4pro_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -415,7 +264,7 @@ pipeline {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
@@ -467,19 +316,19 @@ pipeline {
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v5_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -490,7 +339,7 @@ pipeline {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
@@ -540,23 +389,23 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save" || true'
|
||||
unstash 'px4_fmu-v5_debug'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -567,7 +416,7 @@ pipeline {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
@@ -619,17 +468,17 @@ pipeline {
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v5_optimized'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -640,7 +489,7 @@ pipeline {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
@@ -690,23 +539,23 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save" || true'
|
||||
unstash 'px4_fmu-v5_stackcheck'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set MAV_0_CONFIG 0"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -717,7 +566,7 @@ pipeline {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
@@ -769,33 +618,33 @@ pipeline {
|
||||
sh 'find /dev/serial'
|
||||
unstash 'modalai_fc-v1_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-SEGGER_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standardulticopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standardulticopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
statusFTDI()
|
||||
statusSEGGER()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-SEGGER_*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
steps {
|
||||
cleanupFTDI()
|
||||
cleanupSEGGER()
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -842,34 +691,34 @@ pipeline {
|
||||
sh 'find /dev/serial'
|
||||
unstash 'holybro_durandal-v1_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set DSHOT_CONFIG 600"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_USE_IO 0"' // for dshot
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set DSHOT_CONFIG 600"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_USE_IO 0"' // for dshot
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dshot status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dshot status"'
|
||||
statusFTDI()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
@@ -921,17 +770,17 @@ pipeline {
|
||||
sh 'find /dev/serial'
|
||||
unstash 'nxp_fmuk66-v3_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -942,7 +791,7 @@ pipeline {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*` || true' // allow failure due to intermittent serial console issues
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*` || true' // allow failure due to intermittent serial console issues
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
@@ -973,111 +822,220 @@ pipeline {
|
||||
|
||||
void statusFTDI() {
|
||||
// run logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger on"'
|
||||
// status commands
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "board_adc test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 2; param show CAL_ACC*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2; param show CAL_GYRO*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2; param show SENS_BOARD*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 2; param show CAL_MAG*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -r 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "board_adc test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander check"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate accel quick; sleep 2; param show CAL_ACC*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate gyro; sleep 2; param show CAL_GYRO*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate level; sleep 2; param show SENS_BOARD*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate mag quick; sleep 2; param show CAL_MAG*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "df"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "gps status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener adc_report"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener battery_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_selector_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_sensor_bias"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener logger_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_baro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_combined"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_gyro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_gyro_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_mag"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensors_status_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener px4io_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener system_power"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_air_data"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_angular_acceleration"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_angular_velocity"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_imu_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_magnetometer"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /dev"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /etc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /proc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "cat /proc/meminfo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "cat /proc/uptime"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf latency"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ps"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info -d /dev/pwm_output0"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info -d /dev/pwm_output1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm_out status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener cpuload; top once; listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb top -1 -a"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
|
||||
// stop logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger off"'
|
||||
}
|
||||
|
||||
void statusSEGGER() {
|
||||
// run logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger on"'
|
||||
// status commands
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "board_adc test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander check"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate accel quick; sleep 2; param show CAL_ACC*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate gyro; sleep 2; param show CAL_GYRO*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate level; sleep 2; param show SENS_BOARD*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate mag quick; sleep 2; param show CAL_MAG*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "df -h"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dmesg"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "gps status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener adc_report"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener battery_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_selector_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_sensor_bias"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener logger_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_baro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_combined"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_gyro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_gyro_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_mag"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensors_status_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener px4io_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener system_power"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_air_data"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_angular_acceleration"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_angular_velocity"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_imu_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_magnetometer"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /dev"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /etc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /proc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "cat /proc/meminfo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "cat /proc/uptime"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status streams"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "perf latency"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "perf"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ps"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "pwm info -d /dev/pwm_output0"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "pwm info -d /dev/pwm_output1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "pwm_out status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "px4io status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "sd_bench -r 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "sensors status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener cpuload; top once; listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "uorb status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "uorb top -1 -a"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ver all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ekf2 status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
|
||||
// stop logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger off"'
|
||||
}
|
||||
|
||||
void cleanupFTDI() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger off"'
|
||||
|
||||
// wipe sdcard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs /dev/mmcsd0"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "umount /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mkfatfs /dev/mmcsd0"'
|
||||
|
||||
// drop any uncommited hardfaults
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "hardfault_log rearm"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "hardfault_log reset"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "hardfault_log rearm"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "hardfault_log reset"'
|
||||
|
||||
// erase mtd
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd readtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd rwtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd erase"'
|
||||
|
||||
// disable buzzer and cleanup storage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param reset_all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_DIRS_MAX 1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param reset_all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SDLOG_DIRS_MAX 1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
|
||||
|
||||
// reboot
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'
|
||||
}
|
||||
|
||||
void cleanupSEGGER() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink stop-all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "navigator stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger off"'
|
||||
|
||||
// wipe sdcard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "umount /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mkfatfs /dev/mmcsd0"'
|
||||
|
||||
// drop any uncommited hardfaults
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "hardfault_log rearm"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "hardfault_log reset"'
|
||||
|
||||
// erase mtd
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd readtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd rwtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd erase"'
|
||||
|
||||
// disable buzzer and cleanup storage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param reset_all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SDLOG_DIRS_MAX 1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param status"'
|
||||
|
||||
// reboot
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot" || true'
|
||||
}
|
||||
|
||||
@@ -17,7 +17,6 @@ jobs:
|
||||
check: [
|
||||
"check_format",
|
||||
"tests",
|
||||
"tests_coverage",
|
||||
"px4_fmu-v2_default stack_check",
|
||||
"validate_module_configs",
|
||||
"shellcheck_all",
|
||||
@@ -62,10 +61,3 @@ jobs:
|
||||
ulimit -a
|
||||
- name: ${{matrix.check}}
|
||||
run: make ${{matrix.check}}
|
||||
- name: upload coverage
|
||||
if: contains(matrix.check, 'coverage')
|
||||
uses: codecov/codecov-action@v1
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: unittests
|
||||
file: coverage/lcov.info
|
||||
|
||||
@@ -15,8 +15,7 @@ jobs:
|
||||
matrix:
|
||||
config: [
|
||||
px4_fmu-v5_default,
|
||||
px4_sitl
|
||||
#tests, # includes px4_sitl
|
||||
tests, # includes px4_sitl
|
||||
]
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
@@ -16,8 +16,6 @@ jobs:
|
||||
matrix:
|
||||
config: [
|
||||
airmind_mindpx-v2_default,
|
||||
ark_can-flow_canbootloader,
|
||||
ark_can-flow_default,
|
||||
av_x-v1_default,
|
||||
bitcraze_crazyflie_default,
|
||||
bitcraze_crazyflie21_default,
|
||||
|
||||
@@ -15,7 +15,6 @@ jobs:
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
ark_can-flow_default,
|
||||
cuav_can-gps-v1_default,
|
||||
#nxp_ucans32k146_default,
|
||||
px4_fmu-v4_cannode
|
||||
|
||||
@@ -0,0 +1,69 @@
|
||||
name: Coverage
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container:
|
||||
image: px4io/px4-dev-base-focal:2020-11-18
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
tests,
|
||||
#python_coverage,
|
||||
]
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: coverage_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: coverage_${{matrix.config}}-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: make ${{matrix.config}}
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: "Coverage"
|
||||
run: make ${{matrix.config}}
|
||||
|
||||
# Report test coverage
|
||||
- name: Upload coverage
|
||||
run: |
|
||||
git config --global credential.helper "" # disable the keychain credential helper
|
||||
git config --global --add credential.helper store # enable the local store credential helper
|
||||
echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
|
||||
git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
|
||||
mkdir -p coverage
|
||||
lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
- name: Upload coverage information to Codecov
|
||||
uses: codecov/codecov-action@v1
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: ${{matrix.config}}
|
||||
file: coverage/lcov.info
|
||||
@@ -17,12 +17,12 @@ jobs:
|
||||
config:
|
||||
- {vehicle: "iris", mission: "MC_mission_box", build_type: "RelWithDebInfo"}
|
||||
- {vehicle: "rover", mission: "rover_mission_1", build_type: "RelWithDebInfo"}
|
||||
#- {vehicle: "plane", mission: "FW_mission_1", build_type: "RelWithDebInfo"}
|
||||
#- {vehicle: "plane_catapult",mission: "FW_mission_1", build_type: "RelWithDebInfo"}
|
||||
#- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "Coverage"}
|
||||
#- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "AddressSanitizer"}
|
||||
- {vehicle: "plane", mission: "FW_mission_1", build_type: "RelWithDebInfo"}
|
||||
- {vehicle: "plane_catapult",mission: "FW_mission_1", build_type: "RelWithDebInfo"}
|
||||
- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "Coverage"}
|
||||
- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "AddressSanitizer"}
|
||||
#- {vehicle: "tailsitter", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
#- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2020-11-18
|
||||
|
||||
Vendored
-20
@@ -6,16 +6,6 @@ CONFIG:
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_default
|
||||
px4_sitl_asan:
|
||||
short: px4_sitl (AddressSanitizer)
|
||||
buildType: AddressSanitizer
|
||||
settings:
|
||||
CONFIG: px4_sitl_default
|
||||
px4_sitl_ubsan:
|
||||
short: px4_sitl (UndefinedBehaviorSanitizer)
|
||||
buildType: UndefinedBehaviorSanitizer
|
||||
settings:
|
||||
CONFIG: px4_sitl_default
|
||||
px4_sitl_replay:
|
||||
short: px4_sitl_replay
|
||||
buildType: RelWithDebInfo
|
||||
@@ -66,16 +56,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: airmind_mindpx-v2_default
|
||||
ark_can-flow_default:
|
||||
short: ark_can-flow_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-flow_default
|
||||
ark_can-flow_canbootloader:
|
||||
short: ark_can-flow_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-flow_canbootloader
|
||||
av_x-v1_default:
|
||||
short: av_x-v1
|
||||
buildType: MinSizeRel
|
||||
|
||||
@@ -362,10 +362,8 @@ tests:
|
||||
|
||||
tests_coverage:
|
||||
@$(MAKE) clean
|
||||
@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@mkdir -p coverage
|
||||
@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
|
||||
@$(MAKE) --no-print-directory px4_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@echo "Open "$(SRC_DIR)"/build/px4_sitl_default/coverage-html/index.html to see coverage"
|
||||
|
||||
rostest: px4_sitl_default
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
||||
|
||||
@@ -108,4 +108,4 @@ Additional information about supported hardware can be found in [PX4 user Guide
|
||||
|
||||
## Project Roadmap
|
||||
|
||||
A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
|
||||
A high level project roadmap is available [here](https://www.dronecode.org/roadmap/).
|
||||
|
||||
@@ -46,10 +46,10 @@ else
|
||||
# shellcheck disable=SC2012
|
||||
REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
|
||||
if [ -z "$REQUESTED_AUTOSTART" ]; then
|
||||
echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
|
||||
echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
|
||||
exit 1
|
||||
else
|
||||
echo "INFO [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
|
||||
echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -63,12 +63,12 @@ if [ -f $PARAM_FILE ]
|
||||
then
|
||||
if param load
|
||||
then
|
||||
echo "INFO [init] Loaded: $PARAM_FILE"
|
||||
echo "[param] Loaded: $PARAM_FILE"
|
||||
else
|
||||
echo "ERROR [init] FAILED loading $PARAM_FILE"
|
||||
echo "[param] FAILED loading $PARAM_FILE"
|
||||
fi
|
||||
else
|
||||
echo "INFO [init] parameter file not found, creating $PARAM_FILE"
|
||||
echo "[param] parameter file not found, creating $PARAM_FILE"
|
||||
fi
|
||||
|
||||
# exit early when the minimal shell is requested
|
||||
@@ -192,7 +192,7 @@ do
|
||||
esac
|
||||
done
|
||||
if [ ! -e "$autostart_file" ]; then
|
||||
echo "ERROR [init] no autostart file found ($autostart_file)"
|
||||
echo "Error: no autostart file found ($autostart_file)"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
|
||||
@@ -36,8 +36,6 @@ add_subdirectory(airframes)
|
||||
px4_add_romfs_files(
|
||||
rc.airship_apps
|
||||
rc.airship_defaults
|
||||
rc.balloon_apps
|
||||
rc.balloon_defaults
|
||||
rc.boat_defaults
|
||||
rc.fw_apps
|
||||
rc.fw_defaults
|
||||
|
||||
@@ -46,7 +46,7 @@ then
|
||||
|
||||
param set MPC_XY_VEL_MAX 2
|
||||
|
||||
param set PWM_MAIN_MIN 1080
|
||||
param set PWM_MIN 1080
|
||||
fi
|
||||
|
||||
set MIXER quad_w
|
||||
|
||||
@@ -27,7 +27,7 @@
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_AUX_DIS5 950
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set VT_TYPE 2
|
||||
param set VT_MOT_ID 1234
|
||||
|
||||
@@ -42,7 +42,7 @@ then
|
||||
param set MC_YAWRATE_D 0
|
||||
param set MC_YAWRATE_FF 0
|
||||
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set VT_FW_MOT_OFFID 34
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
|
||||
@@ -16,8 +16,8 @@
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_MAIN_MAX 2000
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_MAX 2000
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
|
||||
@@ -25,8 +25,8 @@
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_MAIN_MAX 2000
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_MAX 2000
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_TYPE 0
|
||||
|
||||
@@ -28,7 +28,7 @@ if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_AUX_DIS5 950
|
||||
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set MC_ROLL_P 6
|
||||
param set MC_ROLLRATE_P 0.17
|
||||
|
||||
@@ -47,7 +47,7 @@ then
|
||||
param set MPC_YAWRAUTO_MAX 20
|
||||
|
||||
param set PWM_AUX_DIS3 950
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
|
||||
@@ -36,7 +36,7 @@ then
|
||||
param set MPC_YAWRAUTO_MAX 40
|
||||
|
||||
param set PWM_AUX_DIS5 950
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_MOT_ID 1234
|
||||
|
||||
@@ -50,7 +50,7 @@ then
|
||||
param set PWM_AUX_DIS5 950
|
||||
param set PWM_AUX_REV1 1
|
||||
param set PWM_AUX_REV2 1
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set VT_ARSP_TRANS 15
|
||||
param set VT_ARSP_BLEND 8
|
||||
|
||||
@@ -70,7 +70,7 @@ then
|
||||
|
||||
param set PWM_AUX_DIS5 950
|
||||
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set VT_ARSP_TRANS 15
|
||||
param set VT_B_TRANS_DUR 4
|
||||
|
||||
@@ -21,8 +21,8 @@ then
|
||||
param set PWM_AUX_MIN 1000
|
||||
param set PWM_AUX_RATE 50
|
||||
|
||||
param set PWM_MAIN_MAX 2000
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_MAX 2000
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 13
|
||||
|
||||
@@ -61,7 +61,7 @@ then
|
||||
param set MPC_TKO_SPEED 2.5
|
||||
param set MPC_Z_VEL_MAX_UP 3
|
||||
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set SENS_BOARD_ROT 8
|
||||
|
||||
|
||||
@@ -122,7 +122,7 @@ then
|
||||
param set PWM_MAIN_DIS7 900
|
||||
param set PWM_MAIN_DIS8 900
|
||||
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set SENS_BOARD_ROT 18
|
||||
|
||||
|
||||
@@ -90,7 +90,7 @@ then
|
||||
|
||||
param set PWM_MAIN_DIS3 1000
|
||||
param set PWM_MAIN_MIN3 1120
|
||||
param set PWM_MAIN_MIN 950
|
||||
param set PWM_MIN 950
|
||||
|
||||
param set SENS_BOARD_ROT 4
|
||||
|
||||
|
||||
@@ -29,7 +29,7 @@
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_AUX_DIS5 950
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set VT_TYPE 2
|
||||
param set VT_MOT_ID 12345678
|
||||
|
||||
@@ -41,10 +41,10 @@ then
|
||||
param set NAV_ACC_RAD 2
|
||||
|
||||
param set PWM_AUX_RATE 50
|
||||
param set PWM_MAIN_DISARM 900
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_MAIN_MAX 1950
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_DISARMED 900
|
||||
param set PWM_MIN 1075
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set RTL_RETURN_ALT 30
|
||||
param set RTL_DESCEND_ALT 10
|
||||
|
||||
@@ -56,5 +56,5 @@ then
|
||||
param set MPC_THR_MIN 0.06
|
||||
param set MPC_MANTHR_MIN 0.06
|
||||
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_MIN 1075
|
||||
fi
|
||||
|
||||
@@ -32,7 +32,7 @@ then
|
||||
param set BAT_N_CELLS 3
|
||||
|
||||
param set PWM_AUX_RATE 50
|
||||
param set PWM_MAIN_RATE 50
|
||||
param set PWM_RATE 50
|
||||
|
||||
param set SENS_BOARD_ROT 8
|
||||
|
||||
|
||||
@@ -27,7 +27,7 @@ then
|
||||
param set BAT_N_CELLS 3
|
||||
|
||||
param set PWM_AUX_RATE 50
|
||||
param set PWM_MAIN_RATE 50
|
||||
param set PWM_RATE 50
|
||||
|
||||
param set SENS_BOARD_ROT 4
|
||||
|
||||
|
||||
@@ -1,37 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name ThunderFly balloon TF-B1
|
||||
#
|
||||
# @type Balloon
|
||||
# @class Balloon
|
||||
#
|
||||
#
|
||||
# @url https://github.com/ThunderFly-aerospace/TF-B1/
|
||||
# @maintainer ThunderFly s.r.o.
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.balloon_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set COM_PREARM_MODE 2 # always in prearm state
|
||||
param set CBRK_IO_SAFETY 22027
|
||||
param set SDLOG_PROFILE 17
|
||||
param set SDLOG_MODE 2
|
||||
param set MAV_0_MODE 1
|
||||
param set MAV_0_CONFIG 102
|
||||
param set GPS_UBX_DYNMODEL 8
|
||||
param set SER_TEL2_BAUD 9600
|
||||
|
||||
param set SENS_BOARD_ROT 0
|
||||
param set MAV_TYPE 8 # MAV_TYPE_FREE_BALLOON
|
||||
|
||||
fi
|
||||
|
||||
|
||||
set MIXER IO_pass
|
||||
set MIXER_AUX pass
|
||||
@@ -27,7 +27,7 @@
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_AUX_RATE 50
|
||||
param set PWM_MAIN_RATE 50
|
||||
param set PWM_RATE 50
|
||||
fi
|
||||
|
||||
set MIXER AETRFG
|
||||
|
||||
@@ -43,7 +43,7 @@ then
|
||||
param set FW_W_RMAX 0
|
||||
|
||||
# set disarmed value for the ESC
|
||||
param set PWM_MAIN_DISARM 1000
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
set MIXER AAERTWF
|
||||
|
||||
@@ -43,7 +43,7 @@ then
|
||||
param set FW_W_RMAX 0
|
||||
|
||||
# set disarmed value for the ESC
|
||||
param set PWM_MAIN_DISARM 1000
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
set MIXER AAVVTWFF
|
||||
|
||||
@@ -44,7 +44,7 @@ then
|
||||
param set FW_W_RMAX 0
|
||||
|
||||
# set disarmed value for the ESC
|
||||
param set PWM_MAIN_DISARM 1000
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
# The Mini Talon does not have a wheel and
|
||||
|
||||
@@ -37,9 +37,9 @@ then
|
||||
param set PWM_AUX_MIN 1075
|
||||
param set PWM_AUX_MAX 1950
|
||||
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_MAIN_MAX 1950
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_MIN 1075
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set RTL_DESCEND_ALT 10
|
||||
param set RTL_RETURN_ALT 30
|
||||
|
||||
@@ -44,7 +44,7 @@ then
|
||||
param set FW_RR_IMAX 0.2
|
||||
param set FW_RR_P 0.04
|
||||
|
||||
param set PWM_MAIN_DISARM 1000
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
set MIXER fw_generic_wing
|
||||
|
||||
@@ -45,7 +45,7 @@ then
|
||||
param set FW_R_LIM 50
|
||||
param set FW_R_RMAX 50
|
||||
|
||||
param set PWM_MAIN_DISARM 1000
|
||||
param set PWM_DISARMED 1000
|
||||
|
||||
# Bottom of bay and nominal zero-pitch attitude differ
|
||||
# the payload bay is pitched up about 7 degrees
|
||||
|
||||
@@ -44,7 +44,7 @@ then
|
||||
param set FW_RR_FF 0.6
|
||||
param set FW_RR_P 0.04
|
||||
|
||||
param set PWM_MAIN_DISARM 1000
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
# Configure this as plane.
|
||||
|
||||
@@ -45,7 +45,7 @@ then
|
||||
param set FW_R_RMAX 50
|
||||
param set FW_R_TC 0.3
|
||||
|
||||
param set PWM_MAIN_DISARM 1000
|
||||
param set PWM_DISARMED 1000
|
||||
|
||||
# Bottom of bay and nominal zero-pitch attitude differ
|
||||
# the payload bay is pitched up about 7 degrees
|
||||
|
||||
@@ -85,7 +85,7 @@ then
|
||||
# Roll Integrator Anti-Windup
|
||||
param set FW_RR_IMAX 0.2
|
||||
|
||||
param set PWM_MAIN_DISARM 1000
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
set MIXER fw_generic_wing.main.mix
|
||||
|
||||
@@ -61,8 +61,8 @@ then
|
||||
|
||||
param set PWM_MAIN_REV1 1
|
||||
param set PWM_MAIN_REV2 1
|
||||
param set PWM_MAIN_MIN 900
|
||||
param set PWM_MAIN_MAX 2100
|
||||
param set PWM_MIN 900
|
||||
param set PWM_MAX 2100
|
||||
fi
|
||||
|
||||
set MIXER caipi
|
||||
|
||||
@@ -34,5 +34,5 @@ then
|
||||
param set MPC_THR_MIN 0.06
|
||||
param set MPC_MANTHR_MIN 0.06
|
||||
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_MIN 1075
|
||||
fi
|
||||
|
||||
@@ -37,5 +37,5 @@ then
|
||||
param set MC_YAWRATE_D 0
|
||||
param set MPC_THR_MIN 0.06
|
||||
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_MIN 1075
|
||||
fi
|
||||
|
||||
@@ -29,5 +29,5 @@ then
|
||||
param set MC_YAWRATE_D 0
|
||||
|
||||
# DJI ESCs do not support calibration and need a higher min
|
||||
param set PWM_MAIN_MIN 1230
|
||||
param set PWM_MIN 1230
|
||||
fi
|
||||
|
||||
@@ -29,5 +29,5 @@ then
|
||||
param set MC_YAWRATE_D 0
|
||||
|
||||
# DJI ESCs do not support calibration and need a higher min
|
||||
param set PWM_MAIN_MIN 1230
|
||||
param set PWM_MIN 1230
|
||||
fi
|
||||
|
||||
@@ -104,11 +104,11 @@ then
|
||||
param set NAV_ACC_RAD 2
|
||||
|
||||
# PWM and RC Parameters
|
||||
param set PWM_MAIN_MAX 1950
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_MIN 1075
|
||||
|
||||
# use oneshot motor output protocol
|
||||
param set PWM_MAIN_RATE 0
|
||||
param set PWM_RATE 0
|
||||
|
||||
# RTL Parameters
|
||||
param set RTL_DESCEND_ALT 5
|
||||
|
||||
@@ -37,5 +37,5 @@ then
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0
|
||||
|
||||
param set PWM_MAIN_MIN 1200
|
||||
param set PWM_MIN 1200
|
||||
fi
|
||||
|
||||
@@ -37,9 +37,9 @@ then
|
||||
|
||||
param set PWM_AUX_DISARMED 950
|
||||
param set PWM_AUX_RATE 50
|
||||
param set PWM_MAIN_MIN 1100
|
||||
param set PWM_MAIN_MAX 1900
|
||||
param set PWM_MAIN_RATE 50
|
||||
param set PWM_MIN 1100
|
||||
param set PWM_MAX 1900
|
||||
param set PWM_RATE 50
|
||||
|
||||
param set RTL_RETURN_ALT 30
|
||||
param set RTL_DESCEND_ALT 10
|
||||
|
||||
@@ -41,9 +41,9 @@ then
|
||||
# use thrust curve factor (instead of TPA)
|
||||
param set THR_MDL_FAC 0.3
|
||||
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_MIN 1075
|
||||
# enable one-shot
|
||||
param set PWM_MAIN_RATE 0
|
||||
param set PWM_RATE 0
|
||||
|
||||
# enable high-rate logging profile (helps with tuning)
|
||||
param set SDLOG_PROFILE 19
|
||||
|
||||
@@ -55,5 +55,5 @@ then
|
||||
param set MPC_THR_MIN 0.06
|
||||
param set MPC_MANTHR_MIN 0.06
|
||||
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_MIN 1075
|
||||
fi
|
||||
|
||||
@@ -50,10 +50,10 @@ then
|
||||
param set MPC_THR_MIN 0.05
|
||||
param set MPC_Z_VEL_I_ACC 1.7
|
||||
|
||||
param set PWM_MAIN_MAX 1950
|
||||
param set PWM_MAIN_MIN 1050
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_MIN 1050
|
||||
|
||||
param set PWM_MAIN_RATE 0
|
||||
param set PWM_RATE 0
|
||||
param set THR_MDL_FAC 0.3
|
||||
fi
|
||||
|
||||
|
||||
@@ -33,5 +33,5 @@ then
|
||||
param set MC_YAWRATE_I 0
|
||||
param set MC_YAWRATE_D 0
|
||||
|
||||
param set PWM_MAIN_MIN 1200
|
||||
param set PWM_MIN 1200
|
||||
fi
|
||||
|
||||
@@ -65,9 +65,9 @@ then
|
||||
#param set THR_MDL_FAC 0.25
|
||||
|
||||
# System
|
||||
param set PWM_MAIN_MAX 1950
|
||||
param set PWM_MAIN_MIN 1100
|
||||
param set PWM_MAIN_RATE 0
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_MIN 1100
|
||||
param set PWM_RATE 0
|
||||
|
||||
#param set SYS_FMU_TASK 1
|
||||
param set SENS_BOARD_ROT 10
|
||||
|
||||
@@ -67,11 +67,11 @@ then
|
||||
param set THR_MDL_FAC 0.3
|
||||
|
||||
# System
|
||||
param set PWM_MAIN_MAX 1950
|
||||
param set PWM_MAIN_MIN 1180
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_MIN 1180
|
||||
|
||||
# enable one-shot
|
||||
param set PWM_MAIN_RATE 0
|
||||
param set PWM_RATE 0
|
||||
|
||||
param set SENS_BOARD_ROT 2
|
||||
|
||||
|
||||
@@ -61,9 +61,9 @@ then
|
||||
#param set THR_MDL_FAC 0.25
|
||||
|
||||
# Obsolete
|
||||
#param set PWM_MAIN_MAX 1950
|
||||
#param set PWM_MAIN_MIN 1100
|
||||
#param set PWM_MAIN_RATE 0
|
||||
#param set PWM_MAX 1950
|
||||
#param set PWM_MIN 1100
|
||||
#param set PWM_RATE 0
|
||||
|
||||
# Sensors
|
||||
param set SENS_BOARD_ROT 10
|
||||
|
||||
@@ -21,6 +21,8 @@ if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set CBRK_IO_SAFETY 22027
|
||||
|
||||
param set FAILSAFE 100
|
||||
|
||||
param set MC_ROLL_P 2.2
|
||||
param set MC_ROLLRATE_P 0.06
|
||||
param set MC_ROLLRATE_I 0.2
|
||||
@@ -42,7 +44,7 @@ then
|
||||
|
||||
# param set NAV_RCL_ACT 6 # Lockdown
|
||||
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_MAIN_DISARM 900
|
||||
param set PWM_MIN 1075
|
||||
param set PWM_RATE 400
|
||||
param set PWM_DISARMED 900
|
||||
fi
|
||||
|
||||
@@ -38,7 +38,7 @@ then
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0
|
||||
|
||||
param set PWM_MAIN_DISARM 0
|
||||
param set PWM_MAIN_MIN 500
|
||||
param set PWM_MAIN_MAX 2200
|
||||
param set PWM_DISARMED 0
|
||||
param set PWM_MIN 500
|
||||
param set PWM_MAX 2200
|
||||
fi
|
||||
|
||||
@@ -171,11 +171,11 @@ then
|
||||
param set NAV_RCL_ACT 1
|
||||
|
||||
# pwm control
|
||||
param set PWM_MAIN_DISARM 900
|
||||
param set PWM_MAIN_MAX 1850
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_DISARMED 900
|
||||
param set PWM_MAX 1850
|
||||
param set PWM_MIN 1075
|
||||
# Oneshot125
|
||||
param set PWM_MAIN_RATE 0
|
||||
param set PWM_RATE 0
|
||||
|
||||
# rtl
|
||||
param set RTL_DESCEND_ALT 5
|
||||
|
||||
@@ -60,12 +60,12 @@ then
|
||||
|
||||
param set NAV_RCL_ACT 3
|
||||
|
||||
param set PWM_MAIN_DISARM 0
|
||||
param set PWM_MAIN_MIN 0
|
||||
param set PWM_MAIN_MAX 255
|
||||
param set PWM_DISARMED 0
|
||||
param set PWM_MIN 0
|
||||
param set PWM_MAX 255
|
||||
|
||||
# Run the motors at 328.125 kHz (recommended)
|
||||
param set PWM_MAIN_RATE 3921
|
||||
param set PWM_RATE 3921
|
||||
|
||||
param set SDLOG_PROFILE 1
|
||||
|
||||
@@ -73,9 +73,9 @@ then
|
||||
|
||||
fi
|
||||
|
||||
set PWM_MAIN_DISARM none
|
||||
set PWM_MAIN_MAX none
|
||||
set PWM_MAIN_MIN none
|
||||
set PWM_DISARMED none
|
||||
set PWM_MAX none
|
||||
set PWM_MIN none
|
||||
|
||||
syslink start
|
||||
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
|
||||
|
||||
@@ -59,12 +59,12 @@ then
|
||||
|
||||
param set NAV_RCL_ACT 3
|
||||
|
||||
param set PWM_MAIN_DISARM 0
|
||||
param set PWM_MAIN_MIN 0
|
||||
param set PWM_MAIN_MAX 255
|
||||
param set PWM_DISARMED 0
|
||||
param set PWM_MIN 0
|
||||
param set PWM_MAX 255
|
||||
|
||||
# Run the motors at 328.125 kHz (recommended)
|
||||
param set PWM_MAIN_RATE 3921
|
||||
param set PWM_RATE 3921
|
||||
|
||||
param set SDLOG_PROFILE 1
|
||||
|
||||
@@ -73,9 +73,9 @@ then
|
||||
|
||||
fi
|
||||
|
||||
set PWM_MAIN_DISARM none
|
||||
set PWM_MAIN_MAX none
|
||||
set PWM_MAIN_MIN none
|
||||
set PWM_DISARMED none
|
||||
set PWM_MAX none
|
||||
set PWM_MIN none
|
||||
|
||||
syslink start
|
||||
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
|
||||
|
||||
@@ -50,9 +50,9 @@ then
|
||||
param set NAV_ACC_RAD 0.5
|
||||
|
||||
# Provide ESC a constant 1500 us pulse
|
||||
param set PWM_MAIN_DISARM 1500
|
||||
param set PWM_MAIN_MAX 2000
|
||||
param set PWM_MAIN_MIN 1000
|
||||
param set PWM_DISARMED 1500
|
||||
param set PWM_MAX 2000
|
||||
param set PWM_MIN 1000
|
||||
fi
|
||||
|
||||
# Configure this as rover
|
||||
|
||||
@@ -0,0 +1,42 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Axial Racing AX10
|
||||
#
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
# @output MAIN1 pass-through of control group 0, channel 0
|
||||
# @output MAIN2 pass-through of control group 0, channel 1
|
||||
# @output MAIN3 pass-through of control group 0, channel 2
|
||||
# @output MAIN4 pass-through of control group 0, channel 3
|
||||
# @output MAIN5 pass-through of control group 0, channel 4
|
||||
# @output MAIN6 pass-through of control group 0, channel 5
|
||||
# @output MAIN7 pass-through of control group 0, channel 6
|
||||
# @output MAIN8 pass-through of control group 0, channel 7
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
#
|
||||
# This section can be enabled once tuning parameters for this particular
|
||||
# rover model are known. It allows to configure default gains via the GUI.
|
||||
#
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# PWM default value for "disarmed" mode.
|
||||
# This centers the steering and throttle, which means
|
||||
# no motion for a rover.
|
||||
param set PWM_DISARMED 1500
|
||||
|
||||
# PWM range.
|
||||
param set PWM_MIN 1200
|
||||
param set PWM_MAX 1800
|
||||
fi
|
||||
|
||||
set MIXER IO_pass
|
||||
@@ -0,0 +1,69 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Traxxas stampede vxl 2wd
|
||||
#
|
||||
# @url https://traxxas.com/products/models/electric/stampede-vxl-tsm
|
||||
#
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
# @output MAIN2 steering
|
||||
# @output MAIN4 throttle
|
||||
#
|
||||
# @maintainer Marco Zorzi
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set BAT_N_CELLS 7
|
||||
|
||||
param set EKF2_GBIAS_INIT 0.01
|
||||
param set EKF2_ANGERR_INIT 0.01
|
||||
param set EKF2_MAG_TYPE 1
|
||||
|
||||
param set FW_AIRSPD_MIN 0
|
||||
param set FW_AIRSPD_TRIM 1
|
||||
param set FW_AIRSPD_MAX 3
|
||||
|
||||
param set GND_WR_P 2
|
||||
param set GND_WR_I 0.9674
|
||||
param set GND_WR_IMAX 0.1
|
||||
param set GND_WR_D 1.2
|
||||
param set GND_SP_CTRL_MODE 1
|
||||
param set GND_L1_DIST 10
|
||||
param set GND_THR_IDLE 0
|
||||
param set GND_THR_CRUISE 0
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
param set GND_SPEED_P 0.25
|
||||
param set GND_SPEED_I 3
|
||||
param set GND_SPEED_D 0.001
|
||||
param set GND_SPEED_IMAX 0.125
|
||||
param set GND_SPEED_THR_SC 1
|
||||
|
||||
param set MIS_LTRMIN_ALT 0.01
|
||||
param set MIS_TAKEOFF_ALT 0.01
|
||||
|
||||
param set NAV_ACC_RAD 0.5
|
||||
|
||||
# Provide ESC a constant 1500 us pulse
|
||||
param set PWM_DISARMED 1500
|
||||
param set PWM_MAX 2000
|
||||
param set PWM_MIN 1000
|
||||
fi
|
||||
|
||||
# Configure this as rover
|
||||
set MAV_TYPE 10
|
||||
|
||||
# Set mixer
|
||||
set MIXER stampede
|
||||
|
||||
set PWM_MAIN_REV2 1
|
||||
@@ -62,11 +62,11 @@ then
|
||||
|
||||
# Provide ESC a constant 1500 us pulse, which corresponds to
|
||||
# idle on the Roboclaw motor controller on the Aion R1
|
||||
param set PWM_MAIN_DISARM 1500
|
||||
param set PWM_DISARMED 1500
|
||||
param set PWM_MAIN_DIS0 1500
|
||||
param set PWM_MAIN_DIS1 1500
|
||||
param set PWM_MAIN_MAX 2000
|
||||
param set PWM_MAIN_MIN 1000
|
||||
param set PWM_MAX 2000
|
||||
param set PWM_MIN 1000
|
||||
|
||||
# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
@@ -56,13 +56,13 @@ then
|
||||
param set NAV_ACC_RAD 0.5
|
||||
|
||||
# Provide ESC a constant 1500 us pulse to idle
|
||||
param set PWM_MAIN_DISARM 1500
|
||||
param set PWM_DISARMED 1500
|
||||
param set PWM_MAIN_DIS3 1485
|
||||
param set PWM_MAIN_DIS4 1485
|
||||
param set PWM_MAIN_FAIL3 1485
|
||||
param set PWM_MAIN_FAIL4 1485
|
||||
param set PWM_MAIN_MAX 2000
|
||||
param set PWM_MAIN_MIN 1000
|
||||
param set PWM_MAX 2000
|
||||
param set PWM_MIN 1000
|
||||
param set PWM_MAIN_MIN3 970
|
||||
param set PWM_MAIN_MIN4 970
|
||||
|
||||
|
||||
@@ -83,8 +83,8 @@ then
|
||||
param set THR_MDL_FAC 0.25
|
||||
|
||||
# System
|
||||
param set PWM_MAIN_MAX 1950
|
||||
param set PWM_MAIN_MIN 1100
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_MIN 1100
|
||||
param set PWM_MAIN_DIS5 980
|
||||
param set PWM_MAIN_DIS6 980
|
||||
|
||||
@@ -115,7 +115,7 @@ then
|
||||
param set COM_DISARM_LAND 3
|
||||
|
||||
# PWM ONESHOT
|
||||
param set PWM_MAIN_RATE 0
|
||||
param set PWM_RATE 0
|
||||
|
||||
# Battery
|
||||
param set BAT_SOURCE 0
|
||||
|
||||
@@ -153,12 +153,11 @@ px4_add_romfs_files(
|
||||
17002_TF-AutoG2
|
||||
17003_TF-G2
|
||||
|
||||
# [18000, 18999] High-altitude balloons
|
||||
18001_TF-B1
|
||||
|
||||
24001_dodeca_cox
|
||||
|
||||
50000_generic_ground_vehicle
|
||||
50001_axialracing_ax10
|
||||
50002_traxxas_stampede_2wd
|
||||
50003_aion_robotics_r1_rover
|
||||
50004_nxpcup_car_dfrobot_gpx
|
||||
|
||||
|
||||
@@ -1,42 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# Standard apps for balloons
|
||||
#
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
#
|
||||
# Start the attitude and position estimator.
|
||||
#
|
||||
|
||||
if param compare SYS_MC_EST_GROUP 1
|
||||
then
|
||||
#
|
||||
# Try to start LPE. If it fails, start EKF2 as a default.
|
||||
# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
|
||||
#
|
||||
if attitude_estimator_q start
|
||||
then
|
||||
echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
|
||||
local_position_estimator start
|
||||
else
|
||||
echo "ERROR [init] Estimator LPE not available. Using EKF2"
|
||||
param set SYS_MC_EST_GROUP 2
|
||||
param save
|
||||
reboot
|
||||
fi
|
||||
else
|
||||
#
|
||||
# Q estimator (attitude estimation only)
|
||||
#
|
||||
if param compare SYS_MC_EST_GROUP 3
|
||||
then
|
||||
attitude_estimator_q start
|
||||
else
|
||||
#
|
||||
# EKF2
|
||||
#
|
||||
param set SYS_MC_EST_GROUP 2
|
||||
ekf2 start &
|
||||
fi
|
||||
fi
|
||||
@@ -1,20 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# Balloon default parameters
|
||||
#
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
set VEHICLE_TYPE fw
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
#
|
||||
# Default parameters for balloon UAVs.
|
||||
#
|
||||
#
|
||||
# FW takeoff acceleration can easily exceed ublox GPS 2G default.
|
||||
#
|
||||
param set GPS_UBX_DYNMODEL 8
|
||||
param set SYS_MC_EST_GROUP 1
|
||||
fi
|
||||
@@ -33,7 +33,7 @@ set PWM_OUT 1234
|
||||
# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
|
||||
# may damage analog servos.
|
||||
#
|
||||
set PWM_MAIN_RATE 50
|
||||
set PWM_RATE 50
|
||||
|
||||
#
|
||||
# This is the gimbal pass mixer.
|
||||
|
||||
@@ -45,7 +45,7 @@ then
|
||||
param set MIS_LTRMIN_ALT 25
|
||||
param set MIS_TAKEOFF_ALT 25
|
||||
|
||||
param set PWM_MAIN_RATE 50
|
||||
param set PWM_RATE 50
|
||||
|
||||
#
|
||||
# FW takeoff acceleration can easily exceed ublox GPS 2G default.
|
||||
|
||||
@@ -226,11 +226,13 @@ then
|
||||
fi
|
||||
else
|
||||
set PWM_AUX_OUT none
|
||||
set FAILSAFE_AUX none
|
||||
fi
|
||||
else
|
||||
echo "ERROR: Could not start: pwm_out mode_pwm"
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
set PWM_AUX_OUT none
|
||||
set FAILSAFE_AUX none
|
||||
fi
|
||||
|
||||
# for DShot do not configure pwm values
|
||||
@@ -244,7 +246,74 @@ then
|
||||
then
|
||||
pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
|
||||
fi
|
||||
|
||||
# Set disarmed, min and max PWM_AUX values.
|
||||
if [ $PWM_AUX_DISARMED != none ]
|
||||
then
|
||||
pwm disarmed -c ${PWM_AUX_OUT} -p ${PWM_AUX_DISARMED} -d ${OUTPUT_AUX_DEV}
|
||||
fi
|
||||
if [ $PWM_AUX_MIN != none ]
|
||||
then
|
||||
pwm min -c ${PWM_AUX_OUT} -p ${PWM_AUX_MIN} -d ${OUTPUT_AUX_DEV}
|
||||
fi
|
||||
if [ $PWM_AUX_MAX != none ]
|
||||
then
|
||||
pwm max -c ${PWM_AUX_OUT} -p ${PWM_AUX_MAX} -d ${OUTPUT_AUX_DEV}
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Per channel disarmed settings.
|
||||
#
|
||||
pwm disarmed -c 1 -p p:PWM_AUX_DIS1 -d ${OUTPUT_AUX_DEV}
|
||||
pwm disarmed -c 2 -p p:PWM_AUX_DIS2 -d ${OUTPUT_AUX_DEV}
|
||||
pwm disarmed -c 3 -p p:PWM_AUX_DIS3 -d ${OUTPUT_AUX_DEV}
|
||||
pwm disarmed -c 4 -p p:PWM_AUX_DIS4 -d ${OUTPUT_AUX_DEV}
|
||||
pwm disarmed -c 5 -p p:PWM_AUX_DIS5 -d ${OUTPUT_AUX_DEV}
|
||||
pwm disarmed -c 6 -p p:PWM_AUX_DIS6 -d ${OUTPUT_AUX_DEV}
|
||||
pwm disarmed -c 7 -p p:PWM_AUX_DIS7 -d ${OUTPUT_AUX_DEV}
|
||||
pwm disarmed -c 8 -p p:PWM_AUX_DIS8 -d ${OUTPUT_AUX_DEV}
|
||||
|
||||
#
|
||||
# Per channel min settings.
|
||||
#
|
||||
pwm min -c 1 -p p:PWM_AUX_MIN1 -d ${OUTPUT_AUX_DEV}
|
||||
pwm min -c 2 -p p:PWM_AUX_MIN2 -d ${OUTPUT_AUX_DEV}
|
||||
pwm min -c 3 -p p:PWM_AUX_MIN3 -d ${OUTPUT_AUX_DEV}
|
||||
pwm min -c 4 -p p:PWM_AUX_MIN4 -d ${OUTPUT_AUX_DEV}
|
||||
pwm min -c 5 -p p:PWM_AUX_MIN5 -d ${OUTPUT_AUX_DEV}
|
||||
pwm min -c 6 -p p:PWM_AUX_MIN6 -d ${OUTPUT_AUX_DEV}
|
||||
pwm min -c 7 -p p:PWM_AUX_MIN7 -d ${OUTPUT_AUX_DEV}
|
||||
pwm min -c 8 -p p:PWM_AUX_MIN8 -d ${OUTPUT_AUX_DEV}
|
||||
|
||||
#
|
||||
# Per channel max settings.
|
||||
#
|
||||
pwm max -c 1 -p p:PWM_AUX_MAX1 -d ${OUTPUT_AUX_DEV}
|
||||
pwm max -c 2 -p p:PWM_AUX_MAX2 -d ${OUTPUT_AUX_DEV}
|
||||
pwm max -c 3 -p p:PWM_AUX_MAX3 -d ${OUTPUT_AUX_DEV}
|
||||
pwm max -c 4 -p p:PWM_AUX_MAX4 -d ${OUTPUT_AUX_DEV}
|
||||
pwm max -c 5 -p p:PWM_AUX_MAX5 -d ${OUTPUT_AUX_DEV}
|
||||
pwm max -c 6 -p p:PWM_AUX_MAX6 -d ${OUTPUT_AUX_DEV}
|
||||
pwm max -c 7 -p p:PWM_AUX_MAX7 -d ${OUTPUT_AUX_DEV}
|
||||
pwm max -c 8 -p p:PWM_AUX_MAX8 -d ${OUTPUT_AUX_DEV}
|
||||
|
||||
if [ $FAILSAFE_AUX != none ]
|
||||
then
|
||||
pwm failsafe -c ${PWM_AUX_OUT} -p ${FAILSAFE} -d ${OUTPUT_AUX_DEV}
|
||||
fi
|
||||
|
||||
#
|
||||
# Per channel failsafe settings.
|
||||
#
|
||||
pwm failsafe -c 1 -p p:PWM_AUX_FAIL1 -d ${OUTPUT_AUX_DEV}
|
||||
pwm failsafe -c 2 -p p:PWM_AUX_FAIL2 -d ${OUTPUT_AUX_DEV}
|
||||
pwm failsafe -c 3 -p p:PWM_AUX_FAIL3 -d ${OUTPUT_AUX_DEV}
|
||||
pwm failsafe -c 4 -p p:PWM_AUX_FAIL4 -d ${OUTPUT_AUX_DEV}
|
||||
pwm failsafe -c 5 -p p:PWM_AUX_FAIL5 -d ${OUTPUT_AUX_DEV}
|
||||
pwm failsafe -c 6 -p p:PWM_AUX_FAIL6 -d ${OUTPUT_AUX_DEV}
|
||||
pwm failsafe -c 7 -p p:PWM_AUX_FAIL7 -d ${OUTPUT_AUX_DEV}
|
||||
pwm failsafe -c 8 -p p:PWM_AUX_FAIL8 -d ${OUTPUT_AUX_DEV}
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
@@ -254,11 +323,78 @@ then
|
||||
if [ $PWM_OUT != none ]
|
||||
then
|
||||
# Set PWM output frequency.
|
||||
if [ $PWM_MAIN_RATE != none ]
|
||||
if [ $PWM_RATE != none ]
|
||||
then
|
||||
pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
|
||||
pwm rate -c ${PWM_OUT} -r ${PWM_RATE}
|
||||
fi
|
||||
|
||||
# Set disarmed, min and max PWM values.
|
||||
if [ $PWM_DISARMED != none ]
|
||||
then
|
||||
pwm disarmed -c ${PWM_OUT} -p ${PWM_DISARMED}
|
||||
fi
|
||||
if [ $PWM_MIN != none ]
|
||||
then
|
||||
pwm min -c ${PWM_OUT} -p ${PWM_MIN}
|
||||
fi
|
||||
if [ $PWM_MAX != none ]
|
||||
then
|
||||
pwm max -c ${PWM_OUT} -p ${PWM_MAX}
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Per channel disarmed settings.
|
||||
#
|
||||
pwm disarmed -c 1 -p p:PWM_MAIN_DIS1
|
||||
pwm disarmed -c 2 -p p:PWM_MAIN_DIS2
|
||||
pwm disarmed -c 3 -p p:PWM_MAIN_DIS3
|
||||
pwm disarmed -c 4 -p p:PWM_MAIN_DIS4
|
||||
pwm disarmed -c 5 -p p:PWM_MAIN_DIS5
|
||||
pwm disarmed -c 6 -p p:PWM_MAIN_DIS6
|
||||
pwm disarmed -c 7 -p p:PWM_MAIN_DIS7
|
||||
pwm disarmed -c 8 -p p:PWM_MAIN_DIS8
|
||||
|
||||
#
|
||||
# Per channel min settings.
|
||||
#
|
||||
pwm min -c 1 -p p:PWM_MAIN_MIN1
|
||||
pwm min -c 2 -p p:PWM_MAIN_MIN2
|
||||
pwm min -c 3 -p p:PWM_MAIN_MIN3
|
||||
pwm min -c 4 -p p:PWM_MAIN_MIN4
|
||||
pwm min -c 5 -p p:PWM_MAIN_MIN5
|
||||
pwm min -c 6 -p p:PWM_MAIN_MIN6
|
||||
pwm min -c 7 -p p:PWM_MAIN_MIN7
|
||||
pwm min -c 8 -p p:PWM_MAIN_MIN8
|
||||
|
||||
#
|
||||
# Per channel max settings.
|
||||
#
|
||||
pwm max -c 1 -p p:PWM_MAIN_MAX1
|
||||
pwm max -c 2 -p p:PWM_MAIN_MAX2
|
||||
pwm max -c 3 -p p:PWM_MAIN_MAX3
|
||||
pwm max -c 4 -p p:PWM_MAIN_MAX4
|
||||
pwm max -c 5 -p p:PWM_MAIN_MAX5
|
||||
pwm max -c 6 -p p:PWM_MAIN_MAX6
|
||||
pwm max -c 7 -p p:PWM_MAIN_MAX7
|
||||
pwm max -c 8 -p p:PWM_MAIN_MAX8
|
||||
|
||||
if [ $FAILSAFE != none ]
|
||||
then
|
||||
pwm failsafe -c ${PWM_OUT} -p ${FAILSAFE} -d ${OUTPUT_DEV}
|
||||
fi
|
||||
|
||||
#
|
||||
# Per channel failsafe settings.
|
||||
#
|
||||
pwm failsafe -c 1 -p p:PWM_MAIN_FAIL1
|
||||
pwm failsafe -c 2 -p p:PWM_MAIN_FAIL2
|
||||
pwm failsafe -c 3 -p p:PWM_MAIN_FAIL3
|
||||
pwm failsafe -c 4 -p p:PWM_MAIN_FAIL4
|
||||
pwm failsafe -c 5 -p p:PWM_MAIN_FAIL5
|
||||
pwm failsafe -c 6 -p p:PWM_MAIN_FAIL6
|
||||
pwm failsafe -c 7 -p p:PWM_MAIN_FAIL7
|
||||
pwm failsafe -c 8 -p p:PWM_MAIN_FAIL8
|
||||
fi
|
||||
|
||||
if [ $EXTRA_MIXER_MODE != none ]
|
||||
@@ -284,6 +420,7 @@ then
|
||||
echo "INFO [init] Mixer: ${MIXER_EXTRA_FILE} on ${OUTPUT_EXTRA_DEV}"
|
||||
else
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_EXTRA_FILE}"
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_EXTRA_FILE}" >> $LOG_FILE
|
||||
tune_control play -t 20
|
||||
fi
|
||||
|
||||
@@ -294,7 +431,75 @@ then
|
||||
then
|
||||
pwm rate -c ${PWM_EXTRA_OUT} -r ${PWM_EXTRA_RATE}
|
||||
fi
|
||||
|
||||
# Set disarmed, min and max PWM values.
|
||||
if [ $PWM_EXTRA_DISARM != none ]
|
||||
then
|
||||
pwm disarmed -c ${PWM_EXTRA_OUT} -p ${PWM_EXTRA_DISARM}
|
||||
fi
|
||||
if [ $PWM_EXTRA_MIN != none ]
|
||||
then
|
||||
pwm min -c ${PWM_EXTRA_OUT} -p ${PWM_EXTRA_MIN}
|
||||
fi
|
||||
if [ $PWM_EXTRA_MAX != none ]
|
||||
then
|
||||
pwm max -c ${PWM_EXTRA_OUT} -p ${PWM_EXTRA_MAX}
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Per channel disarmed settings.
|
||||
#
|
||||
pwm disarmed -c 1 -p p:PWM_EXTRA_DIS1 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm disarmed -c 2 -p p:PWM_EXTRA_DIS2 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm disarmed -c 3 -p p:PWM_EXTRA_DIS3 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm disarmed -c 4 -p p:PWM_EXTRA_DIS3 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm disarmed -c 5 -p p:PWM_EXTRA_DIS5 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm disarmed -c 6 -p p:PWM_EXTRA_DIS3 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm disarmed -c 7 -p p:PWM_EXTRA_DIS7 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm disarmed -c 8 -p p:PWM_EXTRA_DIS8 -d ${OUTPUT_EXTRA_DEV}
|
||||
|
||||
#
|
||||
# Per channel min settings.
|
||||
#
|
||||
pwm min -c 1 -p p:PWM_EXTRA_MIN1 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm min -c 2 -p p:PWM_EXTRA_MIN2 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm min -c 3 -p p:PWM_EXTRA_MIN3 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm min -c 4 -p p:PWM_EXTRA_MIN4 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm min -c 5 -p p:PWM_EXTRA_MIN5 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm min -c 6 -p p:PWM_EXTRA_MIN6 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm min -c 7 -p p:PWM_EXTRA_MIN7 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm min -c 8 -p p:PWM_EXTRA_MIN8 -d ${OUTPUT_EXTRA_DEV}
|
||||
|
||||
#
|
||||
# Per channel max settings.
|
||||
#
|
||||
pwm max -c 1 -p p:PWM_EXTRA_MAX1 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm max -c 2 -p p:PWM_EXTRA_MAX2 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm max -c 3 -p p:PWM_EXTRA_MAX3 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm max -c 4 -p p:PWM_EXTRA_MAX4 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm max -c 5 -p p:PWM_EXTRA_MAX5 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm max -c 6 -p p:PWM_EXTRA_MAX6 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm max -c 7 -p p:PWM_EXTRA_MAX7 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm max -c 8 -p p:PWM_EXTRA_MAX8 -d ${OUTPUT_EXTRA_DEV}
|
||||
|
||||
if [ $FAILSAFE_EXTRA != none ]
|
||||
then
|
||||
pwm failsafe -c ${PWM_EXTRA_OUT} -p ${FAILSAFE} -d ${OUTPUT_EXTRA_DEV}
|
||||
fi
|
||||
|
||||
#
|
||||
# Per channel failsafe settings.
|
||||
#
|
||||
pwm failsafe -c 1 -p p:PWM_EXTRA_FAIL1 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm failsafe -c 2 -p p:PWM_EXTRA_FAIL2 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm failsafe -c 3 -p p:PWM_EXTRA_FAIL3 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm failsafe -c 4 -p p:PWM_EXTRA_FAIL4 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm failsafe -c 5 -p p:PWM_EXTRA_FAIL5 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm failsafe -c 6 -p p:PWM_EXTRA_FAIL6 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm failsafe -c 7 -p p:PWM_EXTRA_FAIL7 -d ${OUTPUT_EXTRA_DEV}
|
||||
pwm failsafe -c 8 -p p:PWM_EXTRA_FAIL8 -d ${OUTPUT_EXTRA_DEV}
|
||||
|
||||
fi
|
||||
|
||||
unset OUTPUT_CMD
|
||||
|
||||
@@ -14,9 +14,9 @@ then
|
||||
param set RTL_RETURN_ALT 30
|
||||
param set RTL_DESCEND_ALT 10
|
||||
|
||||
param set PWM_MAIN_MAX 1950
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_MIN 1075
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set GPS_UBX_DYNMODEL 6
|
||||
fi
|
||||
|
||||
@@ -33,7 +33,7 @@ set PWM_OUT 1234
|
||||
# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
|
||||
# may damage analog servos.
|
||||
#
|
||||
set PWM_MAIN_RATE 50
|
||||
set PWM_RATE 50
|
||||
|
||||
#
|
||||
# This is the gimbal pass mixer.
|
||||
|
||||
@@ -9,9 +9,9 @@ set VEHICLE_TYPE uuv
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_MAIN_MAX 1950
|
||||
param set PWM_MAIN_MIN 1050
|
||||
param set PWM_MAIN_DISARM 1500
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_MIN 1050
|
||||
param set PWM_DISARMED 1500
|
||||
|
||||
fi
|
||||
|
||||
@@ -19,11 +19,13 @@ fi
|
||||
# PWM Hz - 50 Hz is the normal rate in RC cars, boats etc,
|
||||
# higher rates may damage analog servos.
|
||||
#
|
||||
set PWM_MAIN_RATE 50
|
||||
set PWM_RATE 50
|
||||
|
||||
#
|
||||
# Enable servo output on pins 1-4
|
||||
set PWM_OUT 1234
|
||||
set PWM_DISARMED 1500
|
||||
|
||||
|
||||
#
|
||||
# This is the gimbal pass mixer.
|
||||
|
||||
@@ -31,7 +31,7 @@ then
|
||||
param set NAV_ACC_RAD 3
|
||||
|
||||
param set PWM_AUX_RATE 50
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set RTL_TYPE 1
|
||||
|
||||
|
||||
@@ -24,6 +24,9 @@ set R /
|
||||
set AUTOCNF no
|
||||
set AUX_MODE pwm
|
||||
set DATAMAN_OPT ""
|
||||
set FAILSAFE none
|
||||
set FAILSAFE_AUX none
|
||||
set FAILSAFE_EXTRA none
|
||||
set FCONFIG /fs/microsd/etc/config.txt
|
||||
set FEXTRAS /fs/microsd/etc/extras.txt
|
||||
set FMU_MODE pwm
|
||||
@@ -41,10 +44,19 @@ set MK_MODE none
|
||||
set MKBLCTRL_ARG ""
|
||||
set OUTPUT_MODE none
|
||||
set PARAM_FILE /fs/microsd/params
|
||||
set PWM_DISARMED p:PWM_DISARMED
|
||||
set PWM_MAX p:PWM_MAX
|
||||
set PWM_MIN p:PWM_MIN
|
||||
set PWM_OUT none
|
||||
set PWM_MAIN_RATE p:PWM_MAIN_RATE
|
||||
set PWM_RATE p:PWM_RATE
|
||||
set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
|
||||
set PWM_AUX_MAX p:PWM_AUX_MAX
|
||||
set PWM_AUX_MIN p:PWM_AUX_MIN
|
||||
set PWM_AUX_OUT none
|
||||
set PWM_AUX_RATE p:PWM_AUX_RATE
|
||||
set PWM_EXTRA_DISARMED p:PWM_EXTRA_DISARMED
|
||||
set PWM_EXTRA_MAX p:PWM_EXTRA_MAX
|
||||
set PWM_EXTRA_MIN p:PWM_EXTRA_MIN
|
||||
set PWM_EXTRA_OUT none
|
||||
set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
|
||||
set EXTRA_MIXER_MODE none
|
||||
@@ -171,10 +183,6 @@ else
|
||||
then
|
||||
param reset_all
|
||||
fi
|
||||
if ver hwtypecmp V5X00 V5X90 V5Xa0
|
||||
then
|
||||
netman update -i eth0
|
||||
fi
|
||||
|
||||
#
|
||||
# Set AUTOCNF flag to use it in AUTOSTART scripts.
|
||||
@@ -433,7 +441,7 @@ else
|
||||
then
|
||||
# Start UAVCAN firmware update server and dynamic node ID allocation server.
|
||||
uavcan start fw
|
||||
tune_control play -t 1
|
||||
|
||||
if param greater UAVCAN_ENABLE 2
|
||||
then
|
||||
set OUTPUT_MODE uavcan_esc
|
||||
@@ -572,6 +580,8 @@ unset R
|
||||
unset AUTOCNF
|
||||
unset AUX_MODE
|
||||
unset DATAMAN_OPT
|
||||
unset FAILSAFE
|
||||
unset FAILSAFE_AUX
|
||||
unset FCONFIG
|
||||
unset FEXTRAS
|
||||
unset FMU_MODE
|
||||
@@ -589,12 +599,16 @@ unset MKBLCTRL_ARG
|
||||
unset OUTPUT_MODE
|
||||
unset PARAM_DEFAULTS_VER
|
||||
unset PARAM_FILE
|
||||
unset PWM_AUX_DISARMED
|
||||
unset PWM_AUX_MAX
|
||||
unset PWM_AUX_MIN
|
||||
unset PWM_AUX_OUT
|
||||
unset PWM_AUX_RATE
|
||||
unset PWM_MAIN_RATE
|
||||
unset PWM_DISARMED
|
||||
unset PWM_MAX
|
||||
unset PWM_MIN
|
||||
unset PWM_OUT
|
||||
unset PWM_EXTRA_OUT
|
||||
unset PWM_EXTRA_RATE
|
||||
unset PWM_RATE
|
||||
unset RC_INPUT_ARGS
|
||||
unset SDCARD_MIXERS_PATH
|
||||
unset STARTUP_TUNE
|
||||
|
||||
@@ -78,6 +78,7 @@ px4_add_romfs_files(
|
||||
quad_x_vtol.main.mix
|
||||
rover_diff_and_servo.main.mix
|
||||
rover_generic.main.mix
|
||||
stampede.main.mix
|
||||
standard_vtol_hitl.main.mix
|
||||
TF-AutoG2.main.mix
|
||||
tilt_quad.aux.mix
|
||||
|
||||
@@ -0,0 +1,35 @@
|
||||
Traxxas Stampede Rc Car mixer for PX4FMU
|
||||
===========================
|
||||
|
||||
Designed for Traxxas Stampede
|
||||
|
||||
This file defines mixers suitable for controlling a Traxxas Stampede rover using
|
||||
PX4FMU. The configuration assumes the steering is connected to PX4FMU
|
||||
servo outputs 1 and the motor speed control to output 3. Output 0 and 2 is
|
||||
assumed to be unused.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (yaw), and 3 (thrust).
|
||||
|
||||
See the README for more information on the scaler format.
|
||||
|
||||
|
||||
Output 0
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Steering mixer using roll on output 1
|
||||
---------------------------------------
|
||||
M: 1
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
|
||||
Output 2
|
||||
---------------------------------------
|
||||
This mixer is empty.
|
||||
Z:
|
||||
|
||||
|
||||
Output 3
|
||||
---------------------------------------
|
||||
M: 1
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
@@ -1,172 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
import nacl.encoding
|
||||
import nacl.signing
|
||||
import nacl.hash
|
||||
import struct
|
||||
import binascii
|
||||
import json
|
||||
import time
|
||||
import argparse
|
||||
from pathlib import Path
|
||||
import sys
|
||||
|
||||
def make_public_key_h_file(signing_key,key_name):
|
||||
"""
|
||||
This file generate the public key header file
|
||||
to be included into the bootloader build.
|
||||
"""
|
||||
public_key_c='\n'
|
||||
for i,c in enumerate(signing_key.verify_key.encode(encoder=nacl.encoding.RawEncoder)):
|
||||
public_key_c+= hex(c)
|
||||
public_key_c+= ', '
|
||||
if((i+1)%8==0):
|
||||
public_key_c+= '\n'
|
||||
with open(key_name+'.pub' ,mode='w') as f:
|
||||
f.write("//Public key to verify signed binaries")
|
||||
f.write(public_key_c)
|
||||
|
||||
def make_key_file(signing_key, key_name):
|
||||
"""
|
||||
Writes the key.json file.
|
||||
Attention do not override your existing key files.
|
||||
Do not publish your private key!!
|
||||
"""
|
||||
|
||||
key_file = Path(key_name+'.json')
|
||||
if key_file.is_file():
|
||||
print("ATTENTION: key.json already exists, are you sure you want to overwrite it?")
|
||||
print("Remove file and run script again.")
|
||||
print("Script aborted!")
|
||||
sys.exit(1)
|
||||
|
||||
keys={}
|
||||
keys["date"] = time.asctime()
|
||||
keys["public"] = (signing_key.verify_key.encode(encoder=nacl.encoding.HexEncoder)).decode()
|
||||
keys["private"] = binascii.hexlify(signing_key._seed).decode()
|
||||
#print (keys)
|
||||
with open(key_name+'.json', "w") as write_file:
|
||||
json.dump(keys, write_file)
|
||||
return keys
|
||||
|
||||
def ed25519_sign(private_key, signee_bin):
|
||||
"""
|
||||
This function creates the signature. It takes the private key and the binary file
|
||||
and returns the tuple (signature, public key)
|
||||
"""
|
||||
|
||||
signing_key = nacl.signing.SigningKey(private_key, encoder=nacl.encoding.HexEncoder)
|
||||
|
||||
# Sign a message with the signing key
|
||||
signed = signing_key.sign(signee_bin,encoder=nacl.encoding.RawEncoder)
|
||||
|
||||
# Obtain the verify key for a given signing key
|
||||
verify_key = signing_key.verify_key
|
||||
|
||||
# Serialize the verify key to send it to a third party
|
||||
verify_key_hex = verify_key.encode(encoder=nacl.encoding.HexEncoder)
|
||||
|
||||
return signed.signature, verify_key_hex
|
||||
|
||||
|
||||
def sign(bin_file_path, key_file_path=None, generated_key_file=None):
|
||||
"""
|
||||
reads the binary file and the key file.
|
||||
If the key file does not exist, it generates a
|
||||
new key file.
|
||||
"""
|
||||
|
||||
with open(bin_file_path,mode='rb') as f:
|
||||
signee_bin = f.read()
|
||||
# Align to 4 bytes. Signature always starts at
|
||||
# 4 byte aligned address, but the signee size
|
||||
# might not be aligned
|
||||
signee_bin += bytearray(b'\xff')*(4-len(signee_bin)%4)
|
||||
|
||||
try:
|
||||
with open(key_file_path,mode='r') as f:
|
||||
keys = json.load(f)
|
||||
#print(keys)
|
||||
except:
|
||||
print('ERROR: Key file',key_file_path,'not found')
|
||||
sys.exit(1)
|
||||
|
||||
signature, public_key = ed25519_sign(keys["private"], signee_bin)
|
||||
|
||||
# Do a sanity check. This type of signature is always 64 bytes long
|
||||
assert len(signature) == 64
|
||||
|
||||
# Print out the signing information
|
||||
print("Binary \"%s\" signed."%bin_file_path)
|
||||
print("Signature:",binascii.hexlify(signature))
|
||||
print("Public key:",binascii.hexlify(public_key))
|
||||
|
||||
return signee_bin + signature, public_key
|
||||
|
||||
def generate_key(key_file):
|
||||
"""
|
||||
Generate two files:
|
||||
"key_file.pub" containing the public key in C-format to be included in the bootloader build
|
||||
"key_file.json, containt both private and public key.
|
||||
Do not leak or loose the key file. This is mandatory for signing
|
||||
all future binaries you want to deploy!
|
||||
"""
|
||||
|
||||
# Generate a new random signing key
|
||||
signing_key = nacl.signing.SigningKey.generate()
|
||||
# Serialize the verify key to send it to a third party
|
||||
verify_key_hex = signing_key.verify_key.encode(encoder=nacl.encoding.HexEncoder)
|
||||
print("public key :",verify_key_hex)
|
||||
|
||||
private_key_hex=binascii.hexlify(signing_key._seed)
|
||||
print("private key :",private_key_hex)
|
||||
|
||||
keys = make_key_file(signing_key,key_file)
|
||||
make_public_key_h_file(signing_key,key_file)
|
||||
return keys
|
||||
|
||||
if(__name__ == "__main__"):
|
||||
|
||||
parser = argparse.ArgumentParser(description="""CLI tool to calculate and add signature to px4. bin files\n
|
||||
if given it takes an existing key file, else it generate new keys""",
|
||||
epilog="Output: SignedBin.bin and a key.json file")
|
||||
parser.add_argument("signee", help=".bin file to add signature", nargs='?', default=None)
|
||||
parser.add_argument("signed", help="signed output .bin", nargs='?', default=None)
|
||||
|
||||
parser.add_argument("--key", help="key.json file", default="Tools/test_keys.json")
|
||||
parser.add_argument("--rdct", help="binary R&D certificate file", default=None)
|
||||
parser.add_argument("--genkey", help="new generated key", default=None)
|
||||
args = parser.parse_args()
|
||||
|
||||
# Only generate a key pair, don't sign
|
||||
if args.genkey:
|
||||
# Only create a key file, don't sign
|
||||
generate_key(args.genkey)
|
||||
print('New key file generated:',args.genkey)
|
||||
sys.exit(0);
|
||||
|
||||
# Check that both signee and signed exist
|
||||
if not args.signee or not args.signed:
|
||||
print("ERROR: Must either provide file names for both signee and signed")
|
||||
print(" or --genkey [key] to generate a new key pair")
|
||||
sys.exit(1)
|
||||
|
||||
# Issue a warning when signing with testing key
|
||||
if args.key=='Tools/test_keys.json':
|
||||
print("WARNING: Signing with PX4 test key")
|
||||
|
||||
# Sign the binary
|
||||
signed, public_key = sign(args.signee, args.key, args.genkey)
|
||||
|
||||
with open(args.signed, mode='wb') as fs:
|
||||
# Write signed binary
|
||||
fs.write(signed)
|
||||
|
||||
# Append rdcert if given
|
||||
try:
|
||||
with open(args.rdct ,mode='rb') as f:
|
||||
with open(args.signed, mode='ab') as fs:
|
||||
fs.write(f.read())
|
||||
except:
|
||||
pass
|
||||
|
||||
+1
-1
Submodule Tools/jsbsim_bridge updated: e070c50d59...c51a61b9eb
+16
-1
@@ -305,7 +305,21 @@ bootloader image to the output image.
|
||||
""".format(in_image, in_image.app_descriptor, out_image.app_descriptor,
|
||||
bootloader_size, len(bootloader_image)))
|
||||
sys.stderr.write(
|
||||
"""------------------------------------------------------------------------------
|
||||
"""READ VALUES
|
||||
------------------------------------------------------------------------------
|
||||
|
||||
Field Type Value
|
||||
signature uint64 {1.signature!r}
|
||||
image_crc uint64 0x{1.image_crc:016X}
|
||||
image_size uint32 0x{1.image_size:X} ({1.image_size:d} B)
|
||||
vcs_commit uint32 {1.vcs_commit:08X}
|
||||
version_major uint8 {1.version_major:d}
|
||||
version_minor uint8 {1.version_minor:d}
|
||||
reserved uint8[6] {1.reserved!r}
|
||||
|
||||
WRITTEN VALUES
|
||||
------------------------------------------------------------------------------
|
||||
|
||||
Field Type Value
|
||||
signature uint64 {2.signature!r}
|
||||
image_crc uint64 0x{2.image_crc:016X}
|
||||
@@ -314,6 +328,7 @@ vcs_commit uint32 {2.vcs_commit:08X}
|
||||
version_major uint8 {2.version_major:d}
|
||||
version_minor uint8 {2.version_minor:d}
|
||||
reserved uint8[6] {2.reserved!r}
|
||||
|
||||
""".format(in_image, in_image.app_descriptor, out_image.app_descriptor,
|
||||
bootloader_size, len(bootloader_image)))
|
||||
if out_image.padding:
|
||||
@@ -78,6 +78,7 @@ class RCOutput():
|
||||
if not post_start:
|
||||
result += "else\n"
|
||||
result += "\techo \"ERROR [init] No file matches SYS_AUTOSTART value found in : /etc/init.d/airframes\"\n"
|
||||
result += "\techo \"ERROR [init] No file matches SYS_AUTOSTART value found in : /etc/init.d/airframes\" >> $LOG_FILE\n"
|
||||
# Reset the configuration
|
||||
result += "\tparam set SYS_AUTOSTART 0\n"
|
||||
result += "\ttone_alarm ${TUNE_ERR}\n"
|
||||
|
||||
@@ -96,8 +96,6 @@ class ParameterGroup(object):
|
||||
return "Rover"
|
||||
elif (self.name == "Boat"):
|
||||
return "Boat"
|
||||
elif (self.name == "Balloon"):
|
||||
return "Balloon"
|
||||
return "AirframeUnknown"
|
||||
|
||||
def GetParams(self):
|
||||
|
||||
+1
-1
Submodule Tools/sitl_gazebo updated: e580bbcd1e...4048ae60ae
@@ -1 +0,0 @@
|
||||
{"date": "Tue Nov 3 13:02:09 2020", "public": "4db0c20105552a3cd7fbaf5cba7ab0811b3663db28525edb1436f2578d02b7fd", "private": "734d597e7d8ab0a1d0d64b95083aa6bee34b46b9e6e76dac1e363af114f12d15"}
|
||||
@@ -6,7 +6,6 @@ px4_add_board(
|
||||
LABEL default
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 1
|
||||
|
||||
@@ -1,30 +0,0 @@
|
||||
|
||||
# UAVCAN boot loadable Module ID
|
||||
set(uavcanblid_sw_version_major 0)
|
||||
set(uavcanblid_sw_version_minor 1)
|
||||
add_definitions(
|
||||
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
|
||||
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
|
||||
)
|
||||
|
||||
set(uavcanblid_hw_version_major 1)
|
||||
set(uavcanblid_hw_version_minor 0)
|
||||
set(uavcanblid_name "\"org.ark.can-flow\"")
|
||||
|
||||
add_definitions(
|
||||
-DHW_UAVCAN_NAME=${uavcanblid_name}
|
||||
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
|
||||
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
|
||||
)
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR ark
|
||||
MODEL can-flow
|
||||
LABEL canbootloader
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
DRIVERS
|
||||
bootloaders
|
||||
)
|
||||
@@ -1,48 +0,0 @@
|
||||
|
||||
|
||||
# UAVCAN boot loadable Module ID
|
||||
set(uavcanblid_sw_version_major 0)
|
||||
set(uavcanblid_sw_version_minor 1)
|
||||
add_definitions(
|
||||
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
|
||||
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
|
||||
)
|
||||
|
||||
set(uavcanblid_hw_version_major 1)
|
||||
set(uavcanblid_hw_version_minor 0)
|
||||
set(uavcanblid_name "\"org.ark.can-flow\"")
|
||||
|
||||
add_definitions(
|
||||
-DHW_UAVCAN_NAME=${uavcanblid_name}
|
||||
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
|
||||
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
|
||||
)
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR ark
|
||||
MODEL can-flow
|
||||
LABEL default
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT cannode
|
||||
UAVCAN_INTERFACES 1
|
||||
DRIVERS
|
||||
bootloaders
|
||||
imu/bosch/bmi088
|
||||
optical_flow/paw3902
|
||||
uavcannode
|
||||
MODULES
|
||||
#ekf2
|
||||
load_mon
|
||||
#sensors
|
||||
SYSTEMCMDS
|
||||
param
|
||||
perf
|
||||
reboot
|
||||
top
|
||||
topic_listener
|
||||
ver
|
||||
work_queue
|
||||
)
|
||||
@@ -1,13 +0,0 @@
|
||||
{
|
||||
"board_id": 11,
|
||||
"magic": "PX4FWv1",
|
||||
"description": "Firmware for the ARK flow board",
|
||||
"image": "",
|
||||
"build_time": 0,
|
||||
"summary": "ARFFLOW",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 2080768,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@@ -1,9 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# board specific defaults
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
|
||||
fi
|
||||
@@ -1,9 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# board sensors init
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
# Internal SPI
|
||||
paw3902 -s start
|
||||
bmi088 -A -s -R 0 start
|
||||
bmi088 -G -s -R 0 start
|
||||
@@ -1,68 +0,0 @@
|
||||
#
|
||||
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||
#
|
||||
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32"
|
||||
CONFIG_ARCH_CHIP_STM32=y
|
||||
CONFIG_ARCH_CHIP_STM32F412CE=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=4096
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BINFMT_DISABLE=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=16717
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CLOCK_MONOTONIC=y
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DISABLE_MOUNTPOINT=y
|
||||
CONFIG_DISABLE_MQUEUE=y
|
||||
CONFIG_DISABLE_PTHREAD=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FDCLONE_DISABLE=y
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=4096
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_LIB_BOARDCTL=y
|
||||
CONFIG_MAX_TASKS=0
|
||||
CONFIG_MM_REGIONS=2
|
||||
CONFIG_NAME_MAX=0
|
||||
CONFIG_NUNGET_CHARS=0
|
||||
CONFIG_NXFONTS_DISABLE_16BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_1BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_24BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_2BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_32BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_4BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_8BPP=y
|
||||
CONFIG_PREALLOC_TIMERS=0
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
CONFIG_SIG_SIGUSR1_ACTION=y
|
||||
CONFIG_SIG_SIGUSR2_ACTION=y
|
||||
CONFIG_STACK_COLORATION=y
|
||||
CONFIG_START_DAY=30
|
||||
CONFIG_START_MONTH=11
|
||||
CONFIG_STDIO_DISABLE_BUFFERING=y
|
||||
CONFIG_STM32_NOEXT_VECTORS=y
|
||||
CONFIG_STM32_TIM8=y
|
||||
CONFIG_TASK_NAME_SIZE=0
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_USERMAIN_STACKSIZE=4096
|
||||
@@ -1,140 +0,0 @@
|
||||
/************************************************************************************
|
||||
* configs/px4fmu/include/board.h
|
||||
* include/arch/board/board.h
|
||||
*
|
||||
* Copyright (C) 2009 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* 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 NuttX 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.
|
||||
*
|
||||
************************************************************************************/
|
||||
#include "board_dma_map.h"
|
||||
|
||||
#ifndef __ARCH_BOARD_BOARD_H
|
||||
#define __ARCH_BOARD_BOARD_H
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#ifndef __ASSEMBLY__
|
||||
# include <stdint.h>
|
||||
#endif
|
||||
|
||||
#include <stm32.h>
|
||||
|
||||
/* HSI - 8 MHz RC factory-trimmed
|
||||
* LSI - 32 KHz RC
|
||||
* HSE - 8 MHz Crystal
|
||||
* LSE - not installed
|
||||
*/
|
||||
#define STM32_BOARD_USEHSE 1
|
||||
#define STM32_BOARD_XTAL 8000000
|
||||
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
|
||||
|
||||
#define STM32_HSI_FREQUENCY 16000000ul
|
||||
#define STM32_LSI_FREQUENCY 32000
|
||||
|
||||
/* Main PLL Configuration */
|
||||
#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8)
|
||||
#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(384)
|
||||
#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_4
|
||||
#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(8)
|
||||
#define STM32_PLLCFG_PLLR RCC_PLLCFG_PLLR(2)
|
||||
|
||||
#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
|
||||
#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
|
||||
#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
|
||||
#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
|
||||
#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
|
||||
|
||||
#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
|
||||
#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
|
||||
#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
|
||||
|
||||
#define STM32_SYSCLK_FREQUENCY 96000000ul
|
||||
|
||||
/* AHB clock (HCLK) is SYSCLK (96MHz) */
|
||||
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */
|
||||
#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
|
||||
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* Same as above, to satisfy compiler */
|
||||
|
||||
/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
|
||||
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */
|
||||
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
|
||||
#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* APB2 clock (PCLK2) is HCLK (96MHz) */
|
||||
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK /* PCLK2 = HCLK */
|
||||
#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY)
|
||||
|
||||
/* Timers driven from APB2 will be PCLK2 since no prescale division */
|
||||
#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM9_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM10_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM11_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
|
||||
#define BOARD_TIM2_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
|
||||
#define BOARD_TIM3_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
|
||||
#define BOARD_TIM4_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
|
||||
#define BOARD_TIM5_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
|
||||
#define BOARD_TIM6_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
|
||||
#define BOARD_TIM7_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
|
||||
#define BOARD_TIM8_FREQUENCY (2 * STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* Alternate function pin selections ************************************************/
|
||||
|
||||
/* UARTs */
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_1
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_1
|
||||
|
||||
/* CAN */
|
||||
#define GPIO_CAN1_RX GPIO_CAN1_RX_2
|
||||
#define GPIO_CAN1_TX GPIO_CAN1_TX_2
|
||||
|
||||
/* I2C */
|
||||
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1
|
||||
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1
|
||||
|
||||
/* SPI */
|
||||
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
|
||||
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
|
||||
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
|
||||
|
||||
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1
|
||||
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1
|
||||
#define GPIO_SPI2_SCK GPIO_SPI2_SCK_1
|
||||
|
||||
#endif /* __ARCH_BOARD_BOARD_H */
|
||||
@@ -1,45 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
// DMA1 Channel/Stream Selections
|
||||
//--------------------------------------------//---------------------------//----------------
|
||||
|
||||
|
||||
// DMA2 Channel/Stream Selections
|
||||
//--------------------------------------------//---------------------------//----------------
|
||||
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_2 // DMA2, Stream 2, Channel 3
|
||||
#define DMACHAN_SPI2_RX DMAMAP_SPI2_RX // DMA2, Stream 3, Channel 0
|
||||
#define DMACHAN_SPI2_TX DMAMAP_SPI2_TX // DMA2, Stream 4, Channel 0
|
||||
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1 // DMA2, Stream 5, Channel 3
|
||||
@@ -1,161 +0,0 @@
|
||||
#
|
||||
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||
#
|
||||
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DISABLE_OS_API is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLE_DF is not set
|
||||
# CONFIG_NSH_DISABLE_EXEC is not set
|
||||
# CONFIG_NSH_DISABLE_EXIT is not set
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_STM32_DMACAPABLE is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32"
|
||||
CONFIG_ARCH_CHIP_STM32=y
|
||||
CONFIG_ARCH_CHIP_STM32F412CE=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=512
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=16717
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CLOCK_MONOTONIC=y
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_FS_BINFS=y
|
||||
CONFIG_FS_CROMFS=y
|
||||
CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=y
|
||||
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
|
||||
CONFIG_FS_PROCFS_REGISTER=y
|
||||
CONFIG_FS_ROMFS=y
|
||||
CONFIG_GRAN=y
|
||||
CONFIG_GRAN_INTR=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_I2C=y
|
||||
CONFIG_I2C_RESET=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MM_REGIONS=2
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NFILE_DESCRIPTORS=12
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
CONFIG_NSH_DISABLE_IFCONFIG=y
|
||||
CONFIG_NSH_DISABLE_IFUPDOWN=y
|
||||
CONFIG_NSH_DISABLE_MB=y
|
||||
CONFIG_NSH_DISABLE_MH=y
|
||||
CONFIG_NSH_DISABLE_TELNETD=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=15
|
||||
CONFIG_NSH_NESTDEPTH=8
|
||||
CONFIG_NSH_QUOTE=y
|
||||
CONFIG_NSH_ROMFSETC=y
|
||||
CONFIG_NSH_ROMFSSECTSIZE=128
|
||||
CONFIG_NSH_STRERROR=y
|
||||
CONFIG_NSH_VARS=y
|
||||
CONFIG_PIPES=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_RTC_DATETIME=y
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1280
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
CONFIG_SIG_SIGUSR1_ACTION=y
|
||||
CONFIG_SIG_SIGUSR2_ACTION=y
|
||||
CONFIG_SIG_SIGWORK=4
|
||||
CONFIG_STACK_COLORATION=y
|
||||
CONFIG_START_DAY=30
|
||||
CONFIG_START_MONTH=11
|
||||
CONFIG_STDIO_BUFFER_SIZE=32
|
||||
CONFIG_STM32_ADC1=y
|
||||
CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
|
||||
CONFIG_STM32_DMA1=y
|
||||
CONFIG_STM32_DMA2=y
|
||||
CONFIG_STM32_FLASH_PREFETCH=y
|
||||
CONFIG_STM32_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32_I2C1=y
|
||||
CONFIG_STM32_JTAG_SW_ENABLE=y
|
||||
CONFIG_STM32_PWR=y
|
||||
CONFIG_STM32_RTC=y
|
||||
CONFIG_STM32_RTC_HSECLOCK=y
|
||||
CONFIG_STM32_RTC_MAGIC=0xfacefeee
|
||||
CONFIG_STM32_RTC_MAGIC_REG=1
|
||||
CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
|
||||
CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
|
||||
CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
|
||||
CONFIG_STM32_SPI1=y
|
||||
CONFIG_STM32_SPI1_DMA=y
|
||||
CONFIG_STM32_SPI1_DMA_BUFFER=1024
|
||||
CONFIG_STM32_SPI2=y
|
||||
CONFIG_STM32_SPI2_DMA=y
|
||||
CONFIG_STM32_SPI2_DMA_BUFFER=1024
|
||||
CONFIG_STM32_SPI_DMA=y
|
||||
CONFIG_STM32_TIM8=y
|
||||
CONFIG_STM32_USART2=y
|
||||
CONFIG_STM32_USART_BREAKS=y
|
||||
CONFIG_STM32_WWDG=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_USART2_BAUD=57600
|
||||
CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_SERIAL_CONSOLE=y
|
||||
CONFIG_USART2_TXBUFSIZE=1100
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_USERMAIN_STACKSIZE=2624
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
@@ -1,134 +0,0 @@
|
||||
/****************************************************************************
|
||||
* nuttx-config/scripts/canbootloader_script.ld
|
||||
*
|
||||
* Copyright (C) 2015 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* 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 NuttX 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
|
||||
* 256Kb of SRAM. SRAM is split up into three blocks:
|
||||
*
|
||||
* 1) 112Kb of SRAM beginning at address 0x2000:0000
|
||||
* 2) 16Kb of SRAM beginning at address 0x2001:c000
|
||||
* 3) 64Kb of SRAM beginning at address 0x2002:0000
|
||||
* 4) 64Kb of TCM SRAM beginning at address 0x1000:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*
|
||||
* The first 0x10000 of flash is reserved for the bootloader.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x08000000, LENGTH = 32K
|
||||
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
|
||||
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
|
||||
EXTERN(_vectors) /* force the vectors to be included in the output */
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user