mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-27 02:40:06 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
700961daf2 |
@@ -9,10 +9,10 @@ pipeline {
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script {
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def build_nodes = [:]
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def docker_images = [
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armhf: "px4io/px4-dev-armhf:2020-11-18",
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arm64: "px4io/px4-dev-aarch64:2020-11-18",
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base: "px4io/px4-dev-base-bionic:2020-11-18",
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nuttx: "px4io/px4-dev-nuttx-focal:2020-11-18",
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armhf: "px4io/px4-dev-armhf:2020-04-01",
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arm64: "px4io/px4-dev-aarch64:latest",
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base: "px4io/px4-dev-base-bionic:2020-04-01",
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nuttx: "px4io/px4-dev-nuttx-focal:2020-09-14",
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snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
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]
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@@ -118,7 +118,7 @@ pipeline {
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// TODO: actually upload artifacts to S3
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// stage('S3 Upload') {
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// agent {
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// docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
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// docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
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// }
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// options {
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// skipDefaultCheckout()
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+66
-46
@@ -43,7 +43,23 @@ 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-FTDI_*` --baudrate 57600'
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf'
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sh './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-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_AUTOSTART 0"' // no airframe
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
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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"' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // 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("reset") {
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@@ -95,7 +111,8 @@ 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-FTDI_*` --baudrate 57600'
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf'
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sh './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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@@ -104,8 +121,8 @@ pipeline {
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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_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"'
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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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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"' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
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}
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}
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stage("status") {
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@@ -168,7 +185,8 @@ 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
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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'
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf'
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sh './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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@@ -177,7 +195,7 @@ pipeline {
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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_AUTOSTART 4001"' // generic multicopter
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
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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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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
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}
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}
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stage("status") {
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@@ -240,7 +258,8 @@ pipeline {
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sh 'find /dev/serial'
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unstash 'px4_fmu-v4pro_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-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf'
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sh './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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@@ -249,8 +268,8 @@ pipeline {
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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_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"'
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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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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"' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
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}
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}
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stage("status") {
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@@ -313,7 +332,8 @@ pipeline {
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sh 'find /dev/serial'
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unstash 'px4_fmu-v5_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-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf'
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sh './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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@@ -323,8 +343,8 @@ pipeline {
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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 set IMU_GYRO_RATEMAX 2000"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
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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
|
||||
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"' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
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}
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}
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stage("status") {
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@@ -385,23 +405,21 @@ pipeline {
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steps {
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sh 'export'
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sh 'find /dev/serial'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save" || true'
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unstash 'px4_fmu-v5_debug'
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// flash board and watch bootup
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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'
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf'
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sh './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-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 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 IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
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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 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
|
||||
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"' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
|
||||
}
|
||||
}
|
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stage("status") {
|
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@@ -464,7 +482,8 @@ pipeline {
|
||||
sh 'find /dev/serial'
|
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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-FTDI_*` --baudrate 57600'
|
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf'
|
||||
sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
@@ -473,7 +492,7 @@ pipeline {
|
||||
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_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
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -534,12 +553,10 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
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-FTDI_*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf'
|
||||
sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
@@ -550,7 +567,7 @@ pipeline {
|
||||
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
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -613,16 +630,17 @@ 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-SEGGER_*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf'
|
||||
sh './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-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_AUTOSTART 4001"' // generic vtol standardulticopter
|
||||
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
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot"' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -685,21 +703,22 @@ 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-FTDI_*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf'
|
||||
sh './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-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 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_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 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
|
||||
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"' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -763,7 +782,8 @@ 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-FTDI_*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf'
|
||||
sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
@@ -772,7 +792,7 @@ pipeline {
|
||||
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_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
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -783,7 +803,7 @@ pipeline {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*` || true' // allow failure due to intermittent serial console issues
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
@@ -867,6 +887,7 @@ void statusFTDI() {
|
||||
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 "modules status"'
|
||||
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"'
|
||||
@@ -945,6 +966,7 @@ void statusSEGGER() {
|
||||
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 "modules status"'
|
||||
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"'
|
||||
@@ -969,13 +991,12 @@ void statusSEGGER() {
|
||||
}
|
||||
|
||||
void cleanupFTDI() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules stop-all"'
|
||||
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-FTDI_*` --cmd "umount /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mkfatfs /dev/mmcsd0"'
|
||||
|
||||
@@ -996,17 +1017,16 @@ void cleanupFTDI() {
|
||||
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-FTDI_*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'
|
||||
}
|
||||
|
||||
void cleanupSEGGER() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "modules stop-all"'
|
||||
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"'
|
||||
|
||||
@@ -1027,5 +1047,5 @@ void cleanupSEGGER() {
|
||||
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'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot"'
|
||||
}
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
|
||||
{
|
||||
"name": "px4-dev-nuttx",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2020-11-18",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2020-09-14",
|
||||
|
||||
"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
|
||||
|
||||
|
||||
@@ -26,9 +26,7 @@ jobs:
|
||||
"module_documentation",
|
||||
"parameters_metadata",
|
||||
]
|
||||
container:
|
||||
image: px4io/px4-dev-nuttx-focal:2020-11-18
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
container: px4io/px4-dev-nuttx-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -55,9 +53,6 @@ jobs:
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
|
||||
- name: ${{matrix.check}}
|
||||
run: make ${{matrix.check}}
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-clang:2020-11-18
|
||||
container: px4io/px4-dev-clang:2020-08-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-armhf:2020-11-18
|
||||
container: px4io/px4-dev-armhf:2020-08-14
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-aarch64:2020-11-18
|
||||
container: px4io/px4-dev-aarch64:latest
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2020-11-18
|
||||
container: px4io/px4-dev-nuttx-focal:2020-09-14
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -11,9 +11,7 @@ on:
|
||||
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
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -19,7 +19,7 @@ jobs:
|
||||
- {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2020-11-18
|
||||
image: px4io/px4-dev-ros-melodic:2020-08-14
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -49,9 +49,7 @@ jobs:
|
||||
ccache -z
|
||||
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
run: export
|
||||
- name: Build PX4 and sitl_gazebo
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
|
||||
@@ -25,7 +25,7 @@ jobs:
|
||||
- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2020-11-18
|
||||
image: px4io/px4-dev-ros-melodic:2020-08-14
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -55,9 +55,7 @@ jobs:
|
||||
ccache -z
|
||||
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
run: export
|
||||
- name: Build PX4 and sitl_gazebo
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
|
||||
@@ -20,7 +20,7 @@ jobs:
|
||||
#- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2020-11-18
|
||||
image: px4io/px4-dev-ros-melodic:2020-08-14
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -50,9 +50,7 @@ jobs:
|
||||
ccache -z
|
||||
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
run: export
|
||||
- name: Build PX4 and sitl_gazebo
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
|
||||
@@ -12,7 +12,7 @@ jobs:
|
||||
|
||||
airframe:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2020-11-18
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -27,7 +27,7 @@ jobs:
|
||||
|
||||
module:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2020-11-18
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -42,7 +42,7 @@ jobs:
|
||||
|
||||
parameter:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2020-11-18
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -57,7 +57,7 @@ jobs:
|
||||
|
||||
uorb_graph:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2020-11-18
|
||||
container: px4io/px4-dev-nuttx-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -72,7 +72,7 @@ jobs:
|
||||
|
||||
micrortps_agent:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2020-11-18
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -86,7 +86,7 @@ jobs:
|
||||
|
||||
ROS_msgs:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2020-11-18
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -99,7 +99,7 @@ jobs:
|
||||
|
||||
ROS2_bridge:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2020-11-18
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
|
||||
@@ -20,7 +20,7 @@ jobs:
|
||||
- {latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo", model: "tailsitter" } # Florida
|
||||
- {latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage", model: "standard_vtol" } # Zurich
|
||||
container:
|
||||
image: px4io/px4-dev-simulation-focal:2020-11-18
|
||||
image: px4io/px4-dev-simulation-focal:2020-08-14
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -60,9 +60,7 @@ jobs:
|
||||
PX4_HOME_LON: ${{matrix.config.longitude}}
|
||||
PX4_HOME_ALT: ${{matrix.config.altitude}}
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
run: export
|
||||
- name: Build PX4
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
|
||||
Vendored
+13
-13
@@ -15,7 +15,7 @@ pipeline {
|
||||
// stage('Catkin build on ROS workspace') {
|
||||
// agent {
|
||||
// docker {
|
||||
// image 'px4io/px4-dev-ros-melodic:2020-11-18'
|
||||
// image 'px4io/px4-dev-ros-melodic:2020-08-20'
|
||||
// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
// }
|
||||
// }
|
||||
@@ -56,7 +56,7 @@ pipeline {
|
||||
stage('Colcon build on ROS2 workspace') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-ros2-foxy:2020-11-18'
|
||||
image 'px4io/px4-dev-ros2-foxy:2020-08-20'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
}
|
||||
}
|
||||
@@ -87,7 +87,7 @@ pipeline {
|
||||
|
||||
stage('Airframe') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
@@ -106,7 +106,7 @@ pipeline {
|
||||
|
||||
stage('Parameter') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
@@ -125,7 +125,7 @@ pipeline {
|
||||
|
||||
stage('Module') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
@@ -145,7 +145,7 @@ pipeline {
|
||||
stage('uORB graphs') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-11-18'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -174,7 +174,7 @@ pipeline {
|
||||
|
||||
stage('Devguide') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -204,7 +204,7 @@ pipeline {
|
||||
|
||||
stage('Userguide') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -234,7 +234,7 @@ pipeline {
|
||||
|
||||
stage('QGroundControl') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -262,7 +262,7 @@ pipeline {
|
||||
|
||||
stage('microRTPS agent') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -292,7 +292,7 @@ pipeline {
|
||||
|
||||
stage('PX4 ROS msgs') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -321,7 +321,7 @@ pipeline {
|
||||
|
||||
stage('PX4 ROS2 bridge') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -364,7 +364,7 @@ pipeline {
|
||||
|
||||
stage('S3') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
|
||||
@@ -72,7 +72,7 @@ rgbled start -X -q
|
||||
rgbled_ncp5623c start -X -q
|
||||
rgbled_pwm start
|
||||
|
||||
if param greater -s LIGHT_EN_BLINKM 0
|
||||
if param greater LIGHT_EN_BLINKM 0
|
||||
then
|
||||
if blinkm start -X
|
||||
then
|
||||
|
||||
@@ -22,6 +22,7 @@ fi
|
||||
# initialize script variables
|
||||
set AUX_MODE none
|
||||
set IO_PRESENT no
|
||||
set LOG_FILE bootlog.txt
|
||||
set MAV_TYPE none
|
||||
set MIXER none
|
||||
set MIXER_AUX none
|
||||
@@ -52,6 +53,10 @@ else
|
||||
fi
|
||||
fi
|
||||
|
||||
# clear bootlog
|
||||
[ -f $LOG_FILE ] && rm $LOG_FILE
|
||||
|
||||
|
||||
uorb start
|
||||
|
||||
# Load parameters
|
||||
@@ -220,7 +225,7 @@ commander start
|
||||
navigator start
|
||||
|
||||
|
||||
if param greater -s MNT_MODE_IN -1
|
||||
if ! param compare -s MNT_MODE_IN -1
|
||||
then
|
||||
vmount start
|
||||
fi
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# @name Wing Wing (aka Z-84) Flying Wing
|
||||
#
|
||||
# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
|
||||
# @url https://docs.px4.io/master/en/framebuild_plane/wing_wing_z84.html
|
||||
#
|
||||
# @type Flying Wing
|
||||
# @class Plane
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Spedix S250AQ
|
||||
# @url https://docs.px4.io/master/en/frames_multicopter/spedix_s250_pixracer.html
|
||||
# @url https://docs.px4.io/master/en/framebuild_multicopter/spedix_s250_pixracer.html
|
||||
#
|
||||
# @type Quadrotor asymmetric
|
||||
# @class Copter
|
||||
|
||||
@@ -18,7 +18,7 @@ set OUTPUT_DEV none
|
||||
# If mount (gimbal) control is enabled and output mode is AUX, set the aux
|
||||
# mixer to mount (override the airframe-specific MIXER_AUX setting).
|
||||
#
|
||||
if param greater -s MNT_MODE_IN -1
|
||||
if ! param compare -s MNT_MODE_IN -1
|
||||
then
|
||||
if param compare -s MNT_MODE_OUT 0
|
||||
then
|
||||
@@ -43,13 +43,13 @@ then
|
||||
if [ $IO_PRESENT = yes ]
|
||||
then
|
||||
set OUTPUT_MODE io
|
||||
if param greater -s DSHOT_CONFIG 0
|
||||
if param greater DSHOT_CONFIG 0
|
||||
then
|
||||
set OUTPUT_CMD dshot
|
||||
fi
|
||||
fi
|
||||
else
|
||||
if param greater -s DSHOT_CONFIG 0
|
||||
if param greater DSHOT_CONFIG 0
|
||||
then
|
||||
set OUTPUT_MODE dshot
|
||||
set OUTPUT_CMD dshot
|
||||
@@ -93,7 +93,7 @@ then
|
||||
then
|
||||
if ! $OUTPUT_CMD mode_$FMU_MODE
|
||||
then
|
||||
echo "$OUTPUT_CMD start failed"
|
||||
echo "$OUTPUT_CMD start failed" >> $LOG_FILE
|
||||
tune_control play error
|
||||
fi
|
||||
fi
|
||||
@@ -172,6 +172,7 @@ then
|
||||
echo "INFO [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
|
||||
else
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_FILE}"
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_FILE}" >> $LOG_FILE
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
fi
|
||||
|
||||
@@ -179,6 +180,7 @@ else
|
||||
if [ $MIXER != skip ]
|
||||
then
|
||||
echo "ERROR [init] Mixer undefined"
|
||||
echo "ERROR [init] Mixer undefined" >> $LOG_FILE
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
fi
|
||||
fi
|
||||
@@ -211,6 +213,7 @@ then
|
||||
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
|
||||
else
|
||||
echo "ERROR [init] Failed appending mixer: ${MIXER_AUX_FILE}"
|
||||
echo "ERROR [init] Failed appending mixer: ${MIXER_AUX_FILE}" >> $LOG_FILE
|
||||
fi
|
||||
fi
|
||||
if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
|
||||
@@ -220,13 +223,14 @@ then
|
||||
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
|
||||
else
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}" >> $LOG_FILE
|
||||
fi
|
||||
else
|
||||
set PWM_AUX_OUT none
|
||||
set FAILSAFE_AUX none
|
||||
fi
|
||||
else
|
||||
echo "ERROR: Could not start: pwm_out mode_pwm"
|
||||
echo "ERROR: Could not start: pwm_out mode_pwm" >> $LOG_FILE
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
set PWM_AUX_OUT none
|
||||
set FAILSAFE_AUX none
|
||||
|
||||
@@ -17,7 +17,7 @@ then
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
px4io recovery
|
||||
else
|
||||
echo "PX4IO start failed"
|
||||
echo "PX4IO start failed" >> $LOG_FILE
|
||||
tune_control play -t 18 # PROG_PX4IO_ERR
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -102,12 +102,6 @@ then
|
||||
paw3902 -S start
|
||||
fi
|
||||
|
||||
# vl53l1x i2c distance sensor
|
||||
if param compare -s SENS_EN_VL53L1X 1
|
||||
then
|
||||
vl53l1x start -X
|
||||
fi
|
||||
|
||||
# probe for optional external I2C devices
|
||||
if param compare SENS_EXT_I2C_PRB 1
|
||||
then
|
||||
|
||||
@@ -7,17 +7,17 @@
|
||||
|
||||
set TEMP_COMP_START ""
|
||||
|
||||
if param compare -s TC_A_ENABLE 1
|
||||
if param compare TC_A_ENABLE 1
|
||||
then
|
||||
set TEMP_COMP_START "true"
|
||||
fi
|
||||
|
||||
if param compare -s TC_B_ENABLE 1
|
||||
if param compare TC_B_ENABLE 1
|
||||
then
|
||||
set TEMP_COMP_START "true"
|
||||
fi
|
||||
|
||||
if param compare -s TC_G_ENABLE 1
|
||||
if param compare TC_G_ENABLE 1
|
||||
then
|
||||
set TEMP_COMP_START "true"
|
||||
fi
|
||||
|
||||
@@ -15,10 +15,8 @@ then
|
||||
param set MIS_TAKEOFF_ALT 20
|
||||
param set MIS_YAW_TMT 10
|
||||
|
||||
param set EKF2_ARSP_THR 10
|
||||
param set EKF2_FUSE_BETA 1
|
||||
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_LAND_SPEED 0.7
|
||||
param set MPC_TKO_SPEED 1
|
||||
param set MPC_VEL_MANUAL 3
|
||||
param set MPC_XY_CRUISE 3
|
||||
|
||||
@@ -32,6 +32,7 @@ set FMU_MODE pwm
|
||||
set FRC /fs/microsd/etc/rc.txt
|
||||
set IOFW "/etc/extras/px4_io-v2_default.bin"
|
||||
set IO_PRESENT no
|
||||
set LOG_FILE /fs/microsd/bootlog.txt
|
||||
set LOGGER_ARGS ""
|
||||
set LOGGER_BUF 14
|
||||
set MAV_TYPE none
|
||||
@@ -139,7 +140,10 @@ else
|
||||
else
|
||||
set STARTUP_TUNE 15 # tune 15 = SD_ERROR
|
||||
echo "ERROR [init] format failed"
|
||||
set LOG_FILE /dev/null
|
||||
fi
|
||||
else
|
||||
set LOG_FILE /dev/null
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -153,10 +157,9 @@ then
|
||||
else
|
||||
|
||||
#
|
||||
# Set the parameter file the board supports params on
|
||||
# MTD device.
|
||||
# Set the parameter file if mtd starts successfully.
|
||||
#
|
||||
if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
|
||||
if mtd start
|
||||
then
|
||||
set PARAM_FILE /fs/mtd_params
|
||||
fi
|
||||
@@ -164,10 +167,13 @@ else
|
||||
#
|
||||
# Load parameters.
|
||||
#
|
||||
# if the board has a storage for (factory) calibration data
|
||||
if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
|
||||
# if MTD has a secondary storage it is used for (factory) calibration data
|
||||
if mtd has-secondary
|
||||
then
|
||||
param load /fs/mtd_caldata
|
||||
if mtd start -i 1 /fs/mtd_caldata
|
||||
then
|
||||
param load /fs/mtd_caldata
|
||||
fi
|
||||
fi
|
||||
|
||||
param select $PARAM_FILE
|
||||
@@ -238,7 +244,7 @@ else
|
||||
rgbled start -X -q
|
||||
rgbled_ncp5623c start -X -q
|
||||
|
||||
if param greater -s LIGHT_EN_BLINKM 0
|
||||
if param greater LIGHT_EN_BLINKM 0
|
||||
then
|
||||
if blinkm start -X
|
||||
then
|
||||
@@ -307,7 +313,7 @@ else
|
||||
tune_control stop
|
||||
if px4io checkcrc ${IOFW}
|
||||
then
|
||||
echo "PX4IO CRC OK after updating"
|
||||
echo "PX4IO CRC OK after updating" >> $LOG_FILE
|
||||
tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
|
||||
set IO_PRESENT yes
|
||||
fi
|
||||
@@ -315,7 +321,7 @@ else
|
||||
|
||||
if [ $IO_PRESENT = no ]
|
||||
then
|
||||
echo "PX4IO update failed"
|
||||
echo "PX4IO update failed" >> $LOG_FILE
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
fi
|
||||
fi
|
||||
@@ -332,7 +338,7 @@ else
|
||||
|
||||
if [ $USE_IO = yes -a $IO_PRESENT = no ]
|
||||
then
|
||||
echo "PX4IO not found"
|
||||
echo "PX4IO not found" >> $LOG_FILE
|
||||
tune_control play error
|
||||
fi
|
||||
|
||||
@@ -404,7 +410,7 @@ else
|
||||
set AUX_MODE pwm4
|
||||
fi
|
||||
|
||||
if param greater -s TRIG_MODE 0
|
||||
if param greater TRIG_MODE 0
|
||||
then
|
||||
# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
|
||||
if param compare TRIG_PINS 56
|
||||
@@ -503,24 +509,24 @@ else
|
||||
#
|
||||
# Start vmount to control mounts such as gimbals, disabled by default.
|
||||
#
|
||||
if param greater -s MNT_MODE_IN -1
|
||||
if ! param compare MNT_MODE_IN -1
|
||||
then
|
||||
vmount start
|
||||
fi
|
||||
|
||||
# Check for flow sensor
|
||||
if param compare -s SENS_EN_PX4FLOW 1
|
||||
if param compare SENS_EN_PX4FLOW 1
|
||||
then
|
||||
px4flow start -X
|
||||
fi
|
||||
|
||||
# Blacksheep telemetry
|
||||
if param compare -s TEL_BST_EN 1
|
||||
if param greater TEL_BST_EN 0
|
||||
then
|
||||
bst start -X
|
||||
fi
|
||||
|
||||
if param compare -s IMU_GYRO_FFT_EN 1
|
||||
if param compare IMU_GYRO_FFT_EN 1
|
||||
then
|
||||
gyro_fft start
|
||||
fi
|
||||
@@ -587,6 +593,7 @@ unset FMU_MODE
|
||||
unset FRC
|
||||
unset IO_PRESENT
|
||||
unset IOFW
|
||||
unset LOG_FILE
|
||||
unset LOGGER_ARGS
|
||||
unset LOGGER_BUF
|
||||
unset MAV_TYPE
|
||||
|
||||
@@ -29,9 +29,11 @@ Channel 5 connects to the right (starboard) elevon.
|
||||
Channel 6 connects to the left (port) elevon.
|
||||
|
||||
M: 2
|
||||
O: 7500 7500 0 -10000 10000
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 1 10000 10000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 7500 7500 0 -10000 10000
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
#! /usr/bin/env python3
|
||||
#! /usr/bin/python
|
||||
|
||||
import serial, time
|
||||
import subprocess
|
||||
@@ -10,7 +10,7 @@ def monitor_firmware_upload(port, baudrate):
|
||||
databits = serial.EIGHTBITS
|
||||
stopbits = serial.STOPBITS_ONE
|
||||
parity = serial.PARITY_NONE
|
||||
ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=1)
|
||||
ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=10)
|
||||
|
||||
finished = 0
|
||||
|
||||
@@ -19,9 +19,8 @@ def monitor_firmware_upload(port, baudrate):
|
||||
timeout_newline = time.time()
|
||||
|
||||
while finished == 0:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
if (len(serial_line) > 0):
|
||||
print(serial_line.replace('\n', ''))
|
||||
serial_line = ser.readline()
|
||||
print(serial_line.replace('\n',''))
|
||||
|
||||
if "NuttShell (NSH)" in serial_line:
|
||||
finished = 1
|
||||
@@ -37,17 +36,16 @@ def monitor_firmware_upload(port, baudrate):
|
||||
finished = 1
|
||||
break
|
||||
|
||||
# newline every 10 seconds if still running
|
||||
if time.time() - timeout_newline > 10:
|
||||
# newline every 30 seconds if still running
|
||||
if time.time() - timeout_newline > 30:
|
||||
ser.write('\n')
|
||||
timeout_newline = time.time()
|
||||
ser.write('\n'.encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
ser.close()
|
||||
|
||||
def main():
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument('--device', "-d", nargs='?', default = None, help='')
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
args = parser.parse_args()
|
||||
|
||||
|
||||
+43
-58
@@ -1,87 +1,72 @@
|
||||
#! /usr/bin/env python3
|
||||
#! /usr/bin/python
|
||||
|
||||
import serial, time
|
||||
import subprocess
|
||||
from subprocess import call, Popen
|
||||
from argparse import ArgumentParser
|
||||
import re
|
||||
import sys
|
||||
|
||||
def do_nsh_cmd(port, baudrate, cmd):
|
||||
databits = serial.EIGHTBITS
|
||||
stopbits = serial.STOPBITS_ONE
|
||||
parity = serial.PARITY_NONE
|
||||
ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=0.1)
|
||||
ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=10)
|
||||
|
||||
ser.write('\n')
|
||||
|
||||
finished = 0
|
||||
success = False
|
||||
|
||||
# run command
|
||||
timeout_start = time.time()
|
||||
timeout = 10 # 10 seconds
|
||||
|
||||
# clear
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
ser.readline()
|
||||
|
||||
success_cmd = "cmd succeeded!"
|
||||
|
||||
serial_cmd = '{0}; echo "{1}"\n'.format(cmd, success_cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
ser.flush()
|
||||
ser.readline()
|
||||
|
||||
# TODO: require successful command echo
|
||||
# while True:
|
||||
# serial_cmd = '{0}; echo "{1}"\n'.format(cmd, success_cmd)
|
||||
# ser.write(serial_cmd.encode("ascii"))
|
||||
# ser.flush()
|
||||
|
||||
# serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
# if cmd in serial_line:
|
||||
# break
|
||||
# else:
|
||||
# print(serial_line, end='')
|
||||
|
||||
# if time.time() > timeout_start + timeout:
|
||||
# print("Error, timeout")
|
||||
# sys.exit(-1)
|
||||
# break
|
||||
|
||||
# time.sleep(1)
|
||||
|
||||
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
serial_line = ser.readline()
|
||||
print(serial_line.replace('\n',''))
|
||||
|
||||
if success_cmd in serial_line:
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
break
|
||||
else:
|
||||
if len(serial_line) > 0:
|
||||
print(serial_line, end='')
|
||||
|
||||
if "nsh>" in serial_line:
|
||||
#sys.exit(-1) # error, command didn't complete successfully
|
||||
break # TODO: return error on failure
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
#sys.exit(-1) # error, command didn't complete successfully
|
||||
break # TODO: return error on failure
|
||||
|
||||
if len(serial_line) <= 0:
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
break
|
||||
|
||||
ser.write('\n')
|
||||
time.sleep(0.01)
|
||||
|
||||
|
||||
# run command
|
||||
ser.write(cmd + '\n')
|
||||
|
||||
timeout = 30 # 30 seconds
|
||||
timeout_start = time.time()
|
||||
timeout_newline = timeout_start
|
||||
|
||||
while True:
|
||||
serial_line = ser.readline()
|
||||
print(serial_line.replace('\n',''))
|
||||
|
||||
if cmd in serial_line:
|
||||
continue
|
||||
elif "nsh>" in serial_line:
|
||||
break
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
break
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
break
|
||||
|
||||
ser.write('\n')
|
||||
time.sleep(0.01)
|
||||
|
||||
ser.close()
|
||||
|
||||
def main():
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument('--device', "-d", nargs='?', default = None, help='')
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run")
|
||||
args = parser.parse_args()
|
||||
|
||||
+51
-66
@@ -1,4 +1,4 @@
|
||||
#! /usr/bin/env python3
|
||||
#! /usr/bin/python
|
||||
|
||||
import serial, time
|
||||
import subprocess
|
||||
@@ -7,70 +7,64 @@ from argparse import ArgumentParser
|
||||
import re
|
||||
import unittest
|
||||
import os
|
||||
import sys
|
||||
|
||||
def do_test(port, baudrate, test_name):
|
||||
databits = serial.EIGHTBITS
|
||||
stopbits = serial.STOPBITS_ONE
|
||||
parity = serial.PARITY_NONE
|
||||
ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=1)
|
||||
ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=10)
|
||||
|
||||
ser.write('\n')
|
||||
|
||||
finished = 0
|
||||
success = False
|
||||
|
||||
# run test cmd
|
||||
print('\n|======================================================================')
|
||||
cmd = 'tests ' + test_name
|
||||
print("| Running:", cmd)
|
||||
print('|======================================================================')
|
||||
timeout_start = time.time()
|
||||
timeout = 10 # 10 seconds
|
||||
timeout_start = time.time()
|
||||
|
||||
# clear
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
ser.readline()
|
||||
while True:
|
||||
serial_line = ser.readline()
|
||||
print(serial_line.replace('\n',''))
|
||||
|
||||
serial_cmd = '{0}\n'.format(cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
ser.flush()
|
||||
ser.readline()
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
break
|
||||
|
||||
# TODO: retry command
|
||||
# while True:
|
||||
# serial_cmd = '{0}\n'.format(cmd)
|
||||
# ser.write(serial_cmd.encode("ascii"))
|
||||
# ser.flush()
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
break
|
||||
|
||||
# serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
# if cmd in serial_line:
|
||||
# break
|
||||
# else:
|
||||
# print(serial_line.replace('\n', ''))
|
||||
|
||||
# if time.time() > timeout_start + timeout:
|
||||
# print("Error, unable to write cmd")
|
||||
# return False
|
||||
|
||||
# time.sleep(1)
|
||||
ser.write('\n')
|
||||
time.sleep(0.01)
|
||||
|
||||
|
||||
# print results, wait for final result (PASSED or FAILED)
|
||||
# run test cmd
|
||||
cmd = 'tests ' + test_name
|
||||
ser.write(cmd + '\n')
|
||||
|
||||
timeout = 180 # 3 minutes
|
||||
timeout_start = time.time()
|
||||
timeout_newline = timeout_start
|
||||
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
if (len(serial_line) > 0):
|
||||
print(serial_line, end='')
|
||||
serial_line = ser.readline()
|
||||
print(serial_line.replace('\n',''))
|
||||
|
||||
if test_name + " PASSED" in serial_line:
|
||||
if cmd in serial_line:
|
||||
continue
|
||||
elif test_name + " PASSED" in serial_line:
|
||||
success = True
|
||||
break
|
||||
elif test_name + " FAILED" in serial_line:
|
||||
success = False
|
||||
break
|
||||
elif "nsh>" in serial_line:
|
||||
success = False
|
||||
break
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
success = False
|
||||
break
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
@@ -78,28 +72,22 @@ def do_test(port, baudrate, test_name):
|
||||
success = False
|
||||
break
|
||||
|
||||
# newline every 10 seconds if still running
|
||||
if time.time() - timeout_newline > 10:
|
||||
ser.write("\n".encode("ascii"))
|
||||
# newline every 30 seconds if still running
|
||||
if time.time() - timeout_newline > 30:
|
||||
ser.write('\n')
|
||||
timeout_newline = time.time()
|
||||
|
||||
ser.close()
|
||||
|
||||
return success
|
||||
|
||||
class TestHardwareMethods(unittest.TestCase):
|
||||
class TestHadrwareMethods(unittest.TestCase):
|
||||
TEST_DEVICE = 0
|
||||
TEST_BAUDRATE = 0
|
||||
|
||||
def test_atomic_bitset(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "atomic_bitset"))
|
||||
|
||||
def test_bezier(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bezier"))
|
||||
|
||||
def test_bitset(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bitset"))
|
||||
|
||||
def test_bson(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))
|
||||
|
||||
@@ -109,8 +97,8 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
def test_controllib(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "controllib"))
|
||||
|
||||
# def test_dataman(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
|
||||
# def test_dataman(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
|
||||
|
||||
def floattest_float(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "float"))
|
||||
@@ -121,9 +109,6 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
def test_IntrusiveQueue(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveQueue"))
|
||||
|
||||
def test_IntrusiveSortedList(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveSortedList"))
|
||||
|
||||
def test_List(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "List"))
|
||||
|
||||
@@ -148,8 +133,8 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
def test_microbench_uorb(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_uorb"))
|
||||
|
||||
# def test_mixer(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mixer"))
|
||||
# def test_mixer(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mixer"))
|
||||
|
||||
def test_param(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "param"))
|
||||
@@ -160,34 +145,34 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
def test_perf(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "perf"))
|
||||
|
||||
# def test_rc(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "rc"))
|
||||
|
||||
def test_search_min(self):
|
||||
def search_mintest_xxx(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "search_min"))
|
||||
|
||||
def test_sleep(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "sleep"))
|
||||
|
||||
def test_smoothz(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "smoothz"))
|
||||
|
||||
def test_time(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "time"))
|
||||
|
||||
def test_uorb(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "uorb"))
|
||||
#def test_uorb(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "uorb"))
|
||||
|
||||
def test_versioning(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))
|
||||
|
||||
def main():
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument('--device', "-d", nargs='?', default = None, help='')
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
args = parser.parse_args()
|
||||
|
||||
TestHardwareMethods.TEST_DEVICE = args.device
|
||||
TestHardwareMethods.TEST_BAUDRATE = args.baudrate
|
||||
TestHadrwareMethods.TEST_DEVICE = args.device
|
||||
TestHadrwareMethods.TEST_BAUDRATE = args.baudrate
|
||||
|
||||
unittest.main(__name__, failfast=True, verbosity=0, argv=['main'])
|
||||
unittest.main(__name__, argv=['main'])
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
+5
-5
@@ -4,10 +4,10 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
|
||||
echo "guessing PX4_DOCKER_REPO based on input";
|
||||
if [[ $@ =~ .*px4_fmu.* ]]; then
|
||||
# nuttx-px4fmu-v{1,2,3,4,5}
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-11-18"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-09-14"
|
||||
elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
|
||||
# aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-11-18"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-04-01"
|
||||
elif [[ $@ =~ .*pilotpi.arm64 ]]; then
|
||||
# scumaker_pilotpi_arm64
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
|
||||
@@ -16,13 +16,13 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
|
||||
PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2020-04-01"
|
||||
elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
|
||||
# aerotenna_ocpoc_default, posix_rpi_cross, posix_bebop_default
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-11-18"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-04-01"
|
||||
elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
|
||||
# clang tools
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-clang:2020-11-18"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-clang:2020-04-01"
|
||||
elif [[ $@ =~ .*tests* ]]; then
|
||||
# run all tests with simulation
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2020-11-18"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2020-04-01"
|
||||
fi
|
||||
else
|
||||
echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
|
||||
|
||||
@@ -16,8 +16,8 @@ function spawn_model() {
|
||||
MODEL=$1
|
||||
N=$2 #Instance Number
|
||||
|
||||
SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
|
||||
if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL"* ]];
|
||||
SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover")
|
||||
if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL "* ]];
|
||||
then
|
||||
echo "ERROR: Currently only vehicle model $MODEL is not supported!"
|
||||
echo " Supported Models: [${SUPPORTED_MODELS[@]}]"
|
||||
|
||||
+1
-1
Submodule Tools/jsbsim_bridge updated: c51a61b9eb...9f46d55291
@@ -11,7 +11,6 @@ pandas>=0.21
|
||||
pkgconfig
|
||||
psutil
|
||||
pygments
|
||||
pymavlink
|
||||
pyros-genmsg
|
||||
pyserial>=3.0
|
||||
pyulog>=0.5.0
|
||||
|
||||
+1
-1
Submodule Tools/sitl_gazebo updated: 19981d61cf...487f6283f4
+1
-24
@@ -127,30 +127,7 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
|
||||
gzserver $verbose $world_path &
|
||||
SIM_PID=$!
|
||||
|
||||
# Check all paths in ${GAZEBO_MODEL_PATH} for specified model
|
||||
IFS_bak=$IFS
|
||||
IFS=":"
|
||||
for possible_model_path in ${GAZEBO_MODEL_PATH}; do
|
||||
if [ -z $possible_model_path ]; then
|
||||
continue
|
||||
fi
|
||||
# trim \r from path
|
||||
possible_model_path=$(echo $possible_model_path | tr -d '\r')
|
||||
if test -f "${possible_model_path}/${model}/${model}.sdf" ; then
|
||||
modelpath=$possible_model_path
|
||||
break
|
||||
fi
|
||||
done
|
||||
IFS=$IFS_bak
|
||||
|
||||
if [ -z $modelpath ]; then
|
||||
echo "Model ${model} not found in model path: ${GAZEBO_MODEL_PATH}"
|
||||
exit 1
|
||||
else
|
||||
echo "Using: ${modelpath}/${model}/${model}.sdf"
|
||||
fi
|
||||
|
||||
while gz model --verbose --spawn-file="${modelpath}/${model}/${model_name}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
|
||||
while gz model --verbose --spawn-file="${src_path}/Tools/sitl_gazebo/models/${model}/${model_name}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
|
||||
echo "gzserver not ready yet, trying again!"
|
||||
sleep 1
|
||||
done
|
||||
|
||||
@@ -71,6 +71,7 @@ px4_add_board(
|
||||
esc_calib
|
||||
led_control
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
param
|
||||
perf
|
||||
|
||||
@@ -87,8 +87,8 @@ px4_add_board(
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
|
||||
@@ -307,9 +307,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
#endif
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -95,6 +95,7 @@ px4_add_board(
|
||||
#hardfault_log
|
||||
led_control
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
motor_test
|
||||
#mtd
|
||||
|
||||
@@ -93,6 +93,7 @@ px4_add_board(
|
||||
#hardfault_log
|
||||
led_control
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
motor_test
|
||||
#mtd
|
||||
|
||||
@@ -88,6 +88,7 @@ px4_add_board(
|
||||
i2cdetect
|
||||
led_control
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
motor_test
|
||||
nshterm
|
||||
|
||||
@@ -192,10 +192,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
configure_switch();
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
|
||||
@@ -67,6 +67,7 @@ px4_add_board(
|
||||
esc_calib
|
||||
led_control
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
param
|
||||
perf
|
||||
|
||||
@@ -43,8 +43,8 @@ px4_add_board(
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
|
||||
@@ -64,7 +64,6 @@ EXTERN(_vectors) /* force the vectors to be included in the output */
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
EXTERN(board_get_manifest)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
|
||||
@@ -35,7 +35,6 @@ add_library(drivers_board
|
||||
i2c.cpp
|
||||
init.c
|
||||
led.c
|
||||
mtd.cpp
|
||||
spi.cpp
|
||||
timer_config.cpp
|
||||
usb.c
|
||||
|
||||
@@ -169,9 +169,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
#endif
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -1,81 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2020 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <px4_platform_common/px4_manifest.h>
|
||||
// KiB BS nB
|
||||
static const px4_mft_device_t i2c1 = { // 24AA64FT on Base 8K 32 X 256
|
||||
.bus_type = px4_mft_device_t::I2C,
|
||||
.devid = PX4_MK_I2C_DEVID(1, 0x50)
|
||||
};
|
||||
|
||||
|
||||
static const px4_mtd_entry_t fmu_eeprom = {
|
||||
.device = &i2c1,
|
||||
.npart = 2,
|
||||
.partd = {
|
||||
{
|
||||
.type = MTD_PARAMETERS,
|
||||
.path = "/fs/mtd_params",
|
||||
.nblocks = 128
|
||||
},
|
||||
{
|
||||
.type = MTD_WAYPOINTS,
|
||||
.path = "/fs/mtd_waypoints",
|
||||
.nblocks = 128
|
||||
|
||||
}
|
||||
},
|
||||
};
|
||||
|
||||
static const px4_mtd_manifest_t board_mtd_config = {
|
||||
.nconfigs = 1,
|
||||
.entries = {
|
||||
&fmu_eeprom,
|
||||
}
|
||||
};
|
||||
|
||||
static const px4_mft_entry_s mtd_mft = {
|
||||
.type = MTD,
|
||||
.pmft = (void *) &board_mtd_config,
|
||||
};
|
||||
|
||||
static const px4_mft_s mft = {
|
||||
.nmft = 1,
|
||||
.mfts = &mtd_mft
|
||||
};
|
||||
|
||||
const px4_mft_s *board_get_manifest(void)
|
||||
{
|
||||
return &mft;
|
||||
}
|
||||
@@ -37,7 +37,6 @@ px4_add_module(
|
||||
COMPILE_FLAGS
|
||||
-Wno-cast-align # TODO: fix and enable
|
||||
SRCS
|
||||
ringbuffer.cpp
|
||||
syslink_main.cpp
|
||||
syslink_bridge.cpp
|
||||
syslink_memory.cpp
|
||||
|
||||
@@ -38,7 +38,7 @@
|
||||
#include <battery/battery.h>
|
||||
|
||||
#include <drivers/device/device.h>
|
||||
#include "ringbuffer.h"
|
||||
#include <drivers/device/ringbuffer.h>
|
||||
|
||||
#include <uORB/PublicationMulti.hpp>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
|
||||
@@ -51,7 +51,6 @@ px4_add_board(
|
||||
#hardfault_log
|
||||
#i2cdetect
|
||||
#led_control
|
||||
#mft
|
||||
#mixer
|
||||
#motor_ramp
|
||||
#motor_test
|
||||
|
||||
@@ -123,9 +123,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
px4_platform_init();
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -92,7 +92,6 @@ px4_add_board(
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
||||
@@ -156,6 +156,7 @@ CONFIG_STDIO_BUFFER_SIZE=256
|
||||
CONFIG_STM32H7_ADC1=y
|
||||
CONFIG_STM32H7_BBSRAM=y
|
||||
CONFIG_STM32H7_BBSRAM_FILES=5
|
||||
CONFIG_STM32H7_BDMA=y
|
||||
CONFIG_STM32H7_BKPSRAM=y
|
||||
CONFIG_STM32H7_DMA1=y
|
||||
CONFIG_STM32H7_DMA2=y
|
||||
|
||||
@@ -129,7 +129,7 @@
|
||||
#define GPIO_nVDD_5V_PERIPH_OC /* PJ4 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN4)
|
||||
|
||||
/* Power switch controls ******************************************************/
|
||||
#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, (on_true))
|
||||
#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
|
||||
#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_EN, (on_true))
|
||||
#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
|
||||
|
||||
|
||||
@@ -209,9 +209,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
sdio_mediachange(sdio_dev, true);
|
||||
#endif /* CONFIG_MMCSD */
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -95,7 +95,6 @@ px4_add_board(
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
||||
@@ -209,9 +209,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
sdio_mediachange(sdio_dev, true);
|
||||
#endif /* CONFIG_MMCSD */
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -97,7 +97,6 @@ px4_add_board(
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
||||
@@ -97,7 +97,6 @@ px4_add_board(
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
||||
@@ -4,14 +4,14 @@
|
||||
#------------------------------------------------------------------------------
|
||||
board_adc start
|
||||
|
||||
# SPI1
|
||||
ms5611 -s -b 1 start
|
||||
icm20649 -s -b 1 start
|
||||
|
||||
# SPI4
|
||||
ms5611 -s -b 4 start
|
||||
icm20602 -s -b 4 -R 12 start
|
||||
icm20948 -s -b 4 -R 10 -M start
|
||||
|
||||
# SPI1
|
||||
ms5611 -s -b 1 start
|
||||
icm20649 -s -b 1 start
|
||||
|
||||
# standard Here/Here2 connected to GPS1
|
||||
ak09916 -X -b 1 -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw
|
||||
|
||||
@@ -189,9 +189,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
sdio_mediachange(sdio_dev, true);
|
||||
#endif /* CONFIG_MMCSD */
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -96,7 +96,6 @@ px4_add_board(
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
||||
@@ -96,7 +96,6 @@ px4_add_board(
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
||||
@@ -4,14 +4,14 @@
|
||||
#------------------------------------------------------------------------------
|
||||
board_adc start
|
||||
|
||||
# SPI1
|
||||
ms5611 -s -b 1 start
|
||||
icm20649 -s -b 1 start
|
||||
|
||||
# SPI4
|
||||
ms5611 -s -b 4 start
|
||||
icm20602 -s -b 4 -R 12 start
|
||||
icm20948 -s -b 4 -R 10 -M start
|
||||
|
||||
# SPI1
|
||||
ms5611 -s -b 1 start
|
||||
icm20649 -s -b 1 start
|
||||
|
||||
# standard Here/Here2 connected to GPS1
|
||||
ak09916 -X -b 1 -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw
|
||||
|
||||
@@ -208,9 +208,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
sdio_mediachange(sdio_dev, true);
|
||||
#endif /* CONFIG_MMCSD */
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -67,6 +67,7 @@ px4_add_board(
|
||||
esc_calib
|
||||
led_control
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
param
|
||||
perf
|
||||
|
||||
@@ -130,8 +130,7 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
|
||||
NavioRGBLed *instance = new NavioRGBLed();
|
||||
|
||||
if (instance) {
|
||||
_object.store(instance);
|
||||
_task_id = task_id_is_work_queue;
|
||||
instance->set_task_id(task_id_is_work_queue);
|
||||
|
||||
if (instance->init() == PX4_OK) {
|
||||
return PX4_OK;
|
||||
@@ -142,8 +141,6 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
|
||||
}
|
||||
|
||||
delete instance;
|
||||
_object.store(nullptr);
|
||||
_task_id = -1;
|
||||
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
@@ -15,7 +15,6 @@ px4_add_board(
|
||||
GPS1:/dev/ttyS0
|
||||
TEL1:/dev/ttyS1
|
||||
TEL2:/dev/ttyS2
|
||||
TEL3:/dev/ttyS4
|
||||
TEL4:/dev/ttyS3
|
||||
DRIVERS
|
||||
adc/board_adc
|
||||
@@ -93,8 +92,8 @@ px4_add_board(
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
|
||||
@@ -280,9 +280,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
#endif /* CONFIG_MMCSD */
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -266,9 +266,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
#endif
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -100,7 +100,6 @@ px4_add_board(
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
||||
@@ -289,9 +289,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
#endif /* CONFIG_MMCSD */
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -7,7 +7,6 @@ px4_add_board(
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m4
|
||||
ROMFSROOT px4fmu_common
|
||||
CONSTRAINED_FLASH
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS5
|
||||
TEL1:/dev/ttyS3
|
||||
@@ -69,8 +68,8 @@ px4_add_board(
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
|
||||
@@ -65,7 +65,6 @@ EXTERN(_vectors) /* force the vectors to be included in the output */
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
EXTERN(board_get_manifest)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
|
||||
@@ -68,8 +68,8 @@ px4_add_board(
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
|
||||
@@ -36,7 +36,6 @@ add_library(drivers_board
|
||||
i2c.cpp
|
||||
init.c
|
||||
led.c
|
||||
mtd.cpp
|
||||
spi.cpp
|
||||
timer_config.cpp
|
||||
)
|
||||
|
||||
@@ -219,9 +219,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
dm_flash_sector_description_set(&dm_sector_map);
|
||||
#endif
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -1,81 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2020 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <px4_platform_common/px4_manifest.h>
|
||||
// KiB BS nB
|
||||
static const px4_mft_device_t i2c3 = { // 24AA64FT on Base 8K 32 X 256
|
||||
.bus_type = px4_mft_device_t::I2C,
|
||||
.devid = PX4_MK_I2C_DEVID(3, 0x50)
|
||||
};
|
||||
|
||||
|
||||
static const px4_mtd_entry_t fmu_eeprom = {
|
||||
.device = &i2c3,
|
||||
.npart = 2,
|
||||
.partd = {
|
||||
{
|
||||
.type = MTD_PARAMETERS,
|
||||
.path = "/fs/mtd_params",
|
||||
.nblocks = 128
|
||||
},
|
||||
{
|
||||
.type = MTD_WAYPOINTS,
|
||||
.path = "/fs/mtd_waypoints",
|
||||
.nblocks = 128
|
||||
|
||||
}
|
||||
},
|
||||
};
|
||||
|
||||
static const px4_mtd_manifest_t board_mtd_config = {
|
||||
.nconfigs = 1,
|
||||
.entries = {
|
||||
&fmu_eeprom,
|
||||
}
|
||||
};
|
||||
|
||||
static const px4_mft_entry_s mtd_mft = {
|
||||
.type = MTD,
|
||||
.pmft = (void *) &board_mtd_config,
|
||||
};
|
||||
|
||||
static const px4_mft_s mft = {
|
||||
.nmft = 1,
|
||||
.mfts = &mtd_mft
|
||||
};
|
||||
|
||||
const px4_mft_s *board_get_manifest(void)
|
||||
{
|
||||
return &mft;
|
||||
}
|
||||
@@ -86,8 +86,8 @@ px4_add_board(
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
|
||||
@@ -293,9 +293,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
#endif /* CONFIG_MMCSD */
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -92,8 +92,8 @@ px4_add_board(
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
|
||||
@@ -242,9 +242,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
#endif /* CONFIG_MMCSD */
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -94,7 +94,6 @@ px4_add_board(
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
||||
@@ -229,9 +229,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
#endif /* CONFIG_MMCSD */
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -89,8 +89,8 @@ px4_add_board(
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
|
||||
@@ -327,9 +327,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
#endif
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -88,7 +88,6 @@ px4_add_board(
|
||||
#hardfault_log # Needs bbsrm
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
||||
@@ -87,7 +87,6 @@ px4_add_board(
|
||||
#hardfault_log # Needs bbsrm
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
||||
@@ -300,9 +300,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
#endif
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -88,8 +88,8 @@ px4_add_board(
|
||||
#hardfault_log # Needs bbsrm
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
|
||||
@@ -88,7 +88,6 @@ px4_add_board(
|
||||
#hardfault_log # Needs bbsrm
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
||||
@@ -87,7 +87,6 @@ px4_add_board(
|
||||
#hardfault_log # Needs bbsrm
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
||||
@@ -292,9 +292,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
#endif
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -9,10 +9,11 @@ px4_add_board(
|
||||
ROMFSROOT px4fmu_common
|
||||
LINKER_PREFIX ocram
|
||||
# UAVCAN_INTERFACES 2
|
||||
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS1
|
||||
TEL1:/dev/ttyS2
|
||||
TEL2:/dev/ttyS3
|
||||
TEL1:/dev/ttyS3
|
||||
TEL2:/dev/ttyS2
|
||||
GPS2:/dev/ttyS4
|
||||
|
||||
DRIVERS
|
||||
@@ -84,7 +85,6 @@ px4_add_board(
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mft
|
||||
mtd
|
||||
nshterm
|
||||
param
|
||||
|
||||
@@ -234,12 +234,7 @@
|
||||
#define GPIO_LPUART2_RX (GPIO_LPUART2_RX_1 | LPUART_IOMUX) /* EVK J22-8 */ /* GPIO_AD_B1_03 */
|
||||
#define GPIO_LPUART2_TX (GPIO_LPUART2_TX_1 | LPUART_IOMUX) /* EVK J22-7 */ /* GPIO_AD_B1_02 */
|
||||
|
||||
/* N.B. Rev B schematic did not change the names of the nets. Just the silk screen renamed the ports
|
||||
* Such that Telem 2 had the real HW HS signals. The imx driver to dated does not support GOIO controlled
|
||||
* HS lines
|
||||
*/
|
||||
|
||||
/* Telem 1 */
|
||||
/* Telem 2 */
|
||||
|
||||
#define HS_INPUT_IOMUX (IOMUX_CMOS_INPUT | IOMUX_SLEW_SLOW | IOMUX_DRIVE_HIZ | IOMUX_SPEED_MEDIUM | IOMUX_PULL_UP_47K)
|
||||
#define HS_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_SLEW_FAST | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_PULL_KEEP)
|
||||
@@ -249,7 +244,7 @@
|
||||
#define GPIO_LPUART3_CTS (GPIO_PORT3 | GPIO_PIN4 | GPIO_INPUT | HS_INPUT_IOMUX) /* GPIO_SD_B1_04 GPIO3_IO04 (GPIO only, no HW Flow control) */
|
||||
#define GPIO_LPUART3_RTS (GPIO_PORT4 | GPIO_PIN24 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | HS_OUTPUT_IOMUX) /* GPIO_EMC_24 GPIO4_IO24 (GPIO only, no HW Flow control) */
|
||||
|
||||
/* Telem 2 */
|
||||
/* Telem 1 */
|
||||
|
||||
#define GPIO_LPUART4_RX (GPIO_LPUART4_RX_2 | LPUART_IOMUX) /* GPIO_EMC_20 */
|
||||
#define GPIO_LPUART4_TX (GPIO_LPUART4_TX_2 | LPUART_IOMUX) /* GPIO_EMC_19 */
|
||||
|
||||
@@ -5,9 +5,21 @@
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||
# CONFIG_MMCSD_MMCSUPPORT is not set
|
||||
# CONFIG_MMCSD_SPI 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_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
|
||||
@@ -45,10 +57,11 @@ 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_DISABLE_MQUEUE=y
|
||||
CONFIG_DISABLE_POSIX_TIMERS=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
CONFIG_FAT_LCNAMES=y
|
||||
CONFIG_FAT_LFN=y
|
||||
@@ -107,13 +120,13 @@ CONFIG_IMXRT_LPUART6=y
|
||||
CONFIG_IMXRT_LPUART7=y
|
||||
CONFIG_IMXRT_LPUART8=y
|
||||
CONFIG_IMXRT_LPUART_INVERT=y
|
||||
CONFIG_IMXRT_LPUART_SINGLEWIRE=y
|
||||
CONFIG_IMXRT_RTC_MAGIC_REG=1
|
||||
CONFIG_IMXRT_SNVS_LPSRTC=y
|
||||
CONFIG_IMXRT_USDHC1=y
|
||||
CONFIG_IMXRT_USDHC1_INVERT_CD=y
|
||||
CONFIG_IMXRT_USDHC1_WIDTH_D1_D4=y
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_LPUART2_BAUD=57600
|
||||
CONFIG_LPUART2_RXBUFSIZE=600
|
||||
@@ -154,32 +167,20 @@ 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_BASENAME=y
|
||||
CONFIG_NSH_DISABLE_CMP=y
|
||||
CONFIG_NSH_DISABLE_DD=y
|
||||
CONFIG_NSH_DISABLE_DIRNAME=y
|
||||
CONFIG_NSH_DISABLE_HEXDUMP=y
|
||||
CONFIG_NSH_DISABLE_IFCONFIG=y
|
||||
CONFIG_NSH_DISABLE_IFUPDOWN=y
|
||||
CONFIG_NSH_DISABLE_LOSETUP=y
|
||||
CONFIG_NSH_DISABLE_MB=y
|
||||
CONFIG_NSH_DISABLE_MH=y
|
||||
CONFIG_NSH_DISABLE_MKFIFO=y
|
||||
CONFIG_NSH_DISABLE_MKRD=y
|
||||
CONFIG_NSH_DISABLE_PSSTACKUSAGE=y
|
||||
CONFIG_NSH_DISABLE_PUT=y
|
||||
CONFIG_NSH_DISABLE_REBOOT=y
|
||||
CONFIG_NSH_DISABLE_TELNETD=y
|
||||
CONFIG_NSH_DISABLE_UNAME=y
|
||||
CONFIG_NSH_DISABLE_WGET=y
|
||||
CONFIG_NSH_DISABLE_XD=y
|
||||
CONFIG_NSH_FILEIOSIZE=512
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=15
|
||||
CONFIG_NSH_NESTDEPTH=8
|
||||
CONFIG_NSH_READLINE=y
|
||||
CONFIG_NSH_QUOTE=y
|
||||
CONFIG_NSH_ROMFSETC=y
|
||||
CONFIG_NSH_ROMFSSECTSIZE=128
|
||||
CONFIG_NSH_STRERROR=y
|
||||
@@ -187,6 +188,7 @@ 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
|
||||
|
||||
@@ -120,13 +120,10 @@ SECTIONS
|
||||
*(.text.*probe*)
|
||||
*(.text.*thread_main*);
|
||||
*(.text.*listener*)
|
||||
*(.text.*BlockLocalPositionEstimator*)
|
||||
*(.text.nsh_*)
|
||||
*(.text.lib_vscanf)
|
||||
*(.text.lib_vsprintf)
|
||||
*(.text.*configure_streams_to_default*)
|
||||
*(.text.*_main)
|
||||
*(.text.*GPSDriverAshtech*)
|
||||
*(.rodata .rodata.*)
|
||||
KEEP(*(__param*))
|
||||
*(.fixup)
|
||||
|
||||
@@ -242,7 +242,6 @@
|
||||
|
||||
#define DIRECT_INPUT_TIMER_CHANNELS 0
|
||||
|
||||
//#define BOARD_HAS_UI_LED_PWM 1 Not ported yet (Still Kinetis driver)
|
||||
#define BOARD_HAS_LED_PWM 1
|
||||
#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
|
||||
|
||||
@@ -270,10 +269,10 @@
|
||||
|
||||
#define OC_INPUT_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ)
|
||||
|
||||
#define GPIO_nVDD_5V_PERIPH_EN /* GPIO_B1_03 GPIO2_IO19 */ (GPIO_PORT2 | GPIO_PIN19 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX)
|
||||
#define GPIO_nVDD_5V_PERIPH_OC /* GPIO_B1_04 GPIO2_IO20 */ (GPIO_PORT2 | GPIO_PIN20 | GPIO_INPUT | OC_INPUT_IOMUX)
|
||||
#define GPIO_nVDD_5V_HIPOWER_EN /* GPIO_B1_01 GPIO2_IO17 */ (GPIO_PORT2 | GPIO_PIN17 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX)
|
||||
#define GPIO_nVDD_5V_HIPOWER_OC /* GPIO_B1_02 GPIO2_IO18 */ (GPIO_PORT2 | GPIO_PIN18 | GPIO_INPUT | OC_INPUT_IOMUX)
|
||||
#define GPIO_nVDD_5V_PERIPH_EN /* GPIO_B1_04 GPIO2_IO20 */ (GPIO_PORT2 | GPIO_PIN20 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
|
||||
#define GPIO_nVDD_5V_PERIPH_OC /* GPIO_B1_03 GPIO2_IO19 */ (GPIO_PORT2 | GPIO_PIN19 | GPIO_INPUT | OC_INPUT_IOMUX)
|
||||
#define GPIO_nVDD_5V_HIPOWER_EN /* GPIO_B1_02 GPIO2_IO18 */ (GPIO_PORT2 | GPIO_PIN18 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
|
||||
#define GPIO_nVDD_5V_HIPOWER_OC /* GPIO_B1_01 GPIO2_IO17 */ (GPIO_PORT2 | GPIO_PIN17 | GPIO_INPUT | OC_INPUT_IOMUX)
|
||||
#define GPIO_VDD_3V3_SENSORS_EN /* GPIO_EMC_41 GPIO3_IO27 */ (GPIO_PORT3 | GPIO_PIN27 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
|
||||
#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* GPIO_AD_B0_00 GPIO1_IO00 */ (GPIO_PORT1 | GPIO_PIN0 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
|
||||
#define GPIO_VDD_5V_RC_EN /* GPIO_AD_B0_08 GPIO1_IO08 */ (GPIO_PORT1 | GPIO_PIN8 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
|
||||
@@ -314,7 +313,6 @@
|
||||
#define GPIO_PPM_IN /* GPIO_B1_06 GPT1_CAPTURE2 */ (GPIO_GPT1_CAPTURE2_2 | GENERAL_INPUT_IOMUX)
|
||||
|
||||
#define RC_SERIAL_PORT "/dev/ttyS5"
|
||||
#define RC_SERIAL_SINGLEWIRE
|
||||
|
||||
/* PWM input driver. Use FMU AUX5 pins attached to GPIO_EMC_33 GPIO3_IO19 FLEXPWM3_PWMA2 */
|
||||
|
||||
|
||||
@@ -320,9 +320,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
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Reference in New Issue
Block a user