mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-28 04:00:04 +08:00
Compare commits
4 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
a749c787ca | ||
|
Daniel Agar
|
e997a5f384 | ||
|
Daniel Agar
|
3f5b7d9e36 | ||
|
Daniel Agar
|
c2bc77b9b8 |
@@ -66,11 +66,8 @@ pipeline {
|
||||
"mro_ctrl-zero-f7_default",
|
||||
"mro_ctrl-zero-f7-oem_default",
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||||
"mro_ctrl-zero-h7_default",
|
||||
"mro_ctrl-zero-h7_rtps",
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||||
"mro_ctrl-zero-h7-oem_default",
|
||||
"mro_ctrl-zero-h7-oem_rtps",
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||||
"mro_pixracerpro_default",
|
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"mro_pixracerpro_rtps",
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||||
"mro_x21-777_default",
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||||
"mro_x21_default",
|
||||
"nxp_fmuk66-e_default",
|
||||
@@ -97,6 +94,7 @@ pipeline {
|
||||
"px4_fmu-v5_stackcheck",
|
||||
"px4_fmu-v5_uavcanv0periph",
|
||||
"px4_fmu-v5_uavcanv1",
|
||||
"px4_fmu-v5x_base_phy_DP83848C",
|
||||
"px4_fmu-v5x_default",
|
||||
"px4_fmu-v6u_default",
|
||||
"px4_fmu-v6x_default",
|
||||
|
||||
+47
-88
@@ -21,7 +21,7 @@ pipeline {
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||||
sh 'make cubepilot_cubeorange_bootloader'
|
||||
sh 'make cubepilot_cubeorange_test'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
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||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -42,16 +42,12 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
|
||||
// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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||||
resetBoard()
|
||||
}
|
||||
}
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stage("tests") {
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steps {
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// run tests
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runTests()
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||||
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// load all airframes
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// sh("./Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` `cd build/cubepilot_cubeorange_test/etc/init.d/airframes/; find . -regex '.*/[0-9].*' -exec basename {} \\; | cut -d '_' -f 1` || true") // test loading all airframes\
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -74,7 +70,8 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
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resetBoard()
|
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}
|
||||
}
|
||||
} // stage test
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||||
@@ -95,7 +92,7 @@ pipeline {
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sh 'make cuav_x7pro_bootloader'
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sh 'make cuav_x7pro_test'
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||||
sh 'ccache -s'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
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||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test'
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}
|
||||
post {
|
||||
always {
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||||
@@ -116,7 +113,6 @@ pipeline {
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||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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||||
resetBoard()
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||||
}
|
||||
}
|
||||
stage("tests") {
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||||
@@ -143,7 +139,8 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
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||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
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resetBoard()
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||||
}
|
||||
}
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||||
} // stage test
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||||
@@ -164,7 +161,7 @@ pipeline {
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sh 'make px4_fmu-v3_test'
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sh 'make px4_fmu-v3_test bootloader_elf'
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sh 'ccache -s'
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||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v3_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -185,7 +182,6 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
@@ -212,7 +208,8 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -233,7 +230,7 @@ pipeline {
|
||||
sh 'make px4_fmu-v4_test'
|
||||
sh 'make px4_fmu-v4_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -254,7 +251,6 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
@@ -280,7 +276,8 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -301,7 +298,7 @@ pipeline {
|
||||
sh 'make px4_fmu-v4pro_test'
|
||||
sh 'make px4_fmu-v4pro_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -322,7 +319,6 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
@@ -349,7 +345,8 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -370,7 +367,7 @@ pipeline {
|
||||
sh 'make px4_fmu-v5_debug'
|
||||
sh 'make px4_fmu-v5_debug bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_debug'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -396,24 +393,13 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
// test dataman
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
}
|
||||
@@ -439,7 +425,8 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -460,7 +447,7 @@ pipeline {
|
||||
sh 'make px4_fmu-v5_stackcheck'
|
||||
sh 'make px4_fmu-v5_stackcheck bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -486,7 +473,6 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
@@ -495,9 +481,6 @@ pipeline {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
|
||||
// test dataman
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -521,7 +504,8 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -542,7 +526,7 @@ pipeline {
|
||||
sh 'make px4_fmu-v5_test'
|
||||
sh 'make px4_fmu-v5_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -563,7 +547,6 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
@@ -590,7 +573,8 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -611,7 +595,7 @@ pipeline {
|
||||
sh 'make nxp_fmuk66-v3_test'
|
||||
//sh 'make nxp_fmuk66-v3_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -632,7 +616,6 @@ pipeline {
|
||||
//sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
@@ -659,7 +642,8 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -718,7 +702,7 @@ void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
|
||||
|
||||
// run logger
|
||||
@@ -772,17 +756,13 @@ void resetParameters() {
|
||||
}
|
||||
|
||||
void runTests() {
|
||||
|
||||
// test loading a range of airframes
|
||||
sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
|
||||
|
||||
resetParameters()
|
||||
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
@@ -794,49 +774,35 @@ void runTests() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
// tests (stop modules first)
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u"'
|
||||
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
|
||||
|
||||
// test rebooting multiple times
|
||||
resetParameters()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/microsd/parameters_backup.bson" || true'
|
||||
}
|
||||
|
||||
void printTopics() {
|
||||
@@ -936,10 +902,6 @@ void printTopics() {
|
||||
}
|
||||
|
||||
void resetBoard() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
|
||||
|
||||
resetParameters()
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
|
||||
@@ -947,8 +909,7 @@ void resetBoard() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
|
||||
// check SD card
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
|
||||
@@ -972,6 +933,4 @@ void resetBoard() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
|
||||
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
}
|
||||
|
||||
@@ -35,11 +35,11 @@ jobs:
|
||||
|
||||
- name: parameter & events metadata
|
||||
run: |
|
||||
make ${{matrix.target}} ver_gen events_json actuators_json
|
||||
make ${{matrix.target}} ver_gen events_json
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
|
||||
cd build/${{ matrix.target }}
|
||||
mkdir _metadata || true
|
||||
cp parameters.* events/*.xz actuators.json* _metadata
|
||||
cp parameters.* events/*.xz _metadata
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
|
||||
@@ -15,10 +15,10 @@ jobs:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {model: "iris", latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo" } # Alaska
|
||||
- {model: "standard_vtol", latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer" } # Australia
|
||||
- {model: "tailsitter" , latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo" } # Florida
|
||||
- {model: "standard_vtol", latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
|
||||
- {latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo", model: "iris" } # Alaska
|
||||
- {latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer", model: "standard_vtol" } # Australia
|
||||
- {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:2021-09-08
|
||||
@@ -96,7 +96,7 @@ jobs:
|
||||
PX4_HOME_LON: ${{matrix.config.longitude}}
|
||||
PX4_HOME_ALT: ${{matrix.config.altitude}}
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
|
||||
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json
|
||||
timeout-minutes: 45
|
||||
|
||||
- name: Look at core files
|
||||
|
||||
@@ -105,4 +105,8 @@ src/lib/version/build_git_version.h
|
||||
src/modules/simulator/simulator_config.h
|
||||
src/systemcmds/topic_listener/listener_generated.cpp
|
||||
|
||||
# SITL
|
||||
dataman
|
||||
eeprom/
|
||||
|
||||
!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
|
||||
|
||||
@@ -42,6 +42,12 @@
|
||||
[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
|
||||
path = src/drivers/uavcan_v1/public_regulated_data_types
|
||||
url = https://github.com/UAVCAN/public_regulated_data_types.git
|
||||
[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
|
||||
path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
|
||||
url = https://github.com/UAVCAN/public_regulated_data_types.git
|
||||
[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
|
||||
path = src/drivers/uavcannode_gps_demo/libcanard
|
||||
url = https://github.com/UAVCAN/libcanard.git
|
||||
[submodule "src/drivers/uavcan_v1/legacy_data_types"]
|
||||
path = src/drivers/uavcan_v1/legacy_data_types
|
||||
url = https://github.com/PX4/public_regulated_data_types.git
|
||||
|
||||
Vendored
-5
@@ -61,11 +61,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v5_default
|
||||
px4_fmu-v5_debug:
|
||||
short: px4_fmu-v5_debug
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v5_debug
|
||||
px4_fmu-v5x_default:
|
||||
short: px4_fmu-v5x
|
||||
buildType: MinSizeRel
|
||||
|
||||
@@ -423,8 +423,6 @@ endforeach()
|
||||
|
||||
# add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
|
||||
add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
|
||||
# metadata needs PX4_MODULE_CONFIG_FILES
|
||||
add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
|
||||
|
||||
# must be the last module before firmware
|
||||
add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
|
||||
|
||||
@@ -114,9 +114,14 @@ config BOARD_ETHERNET
|
||||
flag to indicate that ethernet is enabled
|
||||
|
||||
config BOARD_CRYPTO
|
||||
bool "Crypto support"
|
||||
string "Crypto"
|
||||
help
|
||||
Enable PX4 Crypto Support. Select the implementation under drivers
|
||||
Crypto implementation selection
|
||||
|
||||
config BOARD_KEYSTORE
|
||||
string "Keystore"
|
||||
help
|
||||
Keystore implememntation selection
|
||||
|
||||
menu "Serial ports"
|
||||
|
||||
|
||||
@@ -11,21 +11,39 @@
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set-default VM_MASS 1.5
|
||||
param set-default VM_INERTIA_XX 0.03
|
||||
param set-default VM_INERTIA_YY 0.03
|
||||
param set-default VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
|
||||
param set-default CA_MC_R_COUNT 4
|
||||
param set-default CA_MC_R0_PX 0.1515
|
||||
param set-default CA_MC_R0_PY 0.245
|
||||
param set-default CA_MC_R0_CT 6.5
|
||||
param set-default CA_MC_R0_KM 0.05
|
||||
param set-default CA_MC_R1_PX -0.1515
|
||||
param set-default CA_MC_R1_PY -0.1875
|
||||
param set-default CA_MC_R1_CT 6.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.1515
|
||||
param set-default CA_MC_R2_PY -0.245
|
||||
param set-default CA_MC_R2_CT 6.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.1515
|
||||
param set-default CA_MC_R3_PY 0.1875
|
||||
param set-default CA_MC_R3_CT 6.5
|
||||
param set-default CA_MC_R3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
|
||||
@@ -5,6 +5,8 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
|
||||
@@ -5,6 +5,8 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
|
||||
@@ -5,6 +5,8 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
|
||||
@@ -29,9 +29,12 @@ param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_CRUISE 0.25
|
||||
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
|
||||
@@ -19,9 +19,12 @@ param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_CRUISE 0.25
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.3
|
||||
param set-default MC_YAW_P 1.6
|
||||
|
||||
@@ -19,9 +19,12 @@ param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_CRUISE 0.38
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
|
||||
param set-default MC_YAW_P 1.6
|
||||
|
||||
|
||||
@@ -29,26 +29,51 @@ param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 0
|
||||
param set-default MAV_PROTO_VER 2
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set-default VM_MASS 2.66
|
||||
param set-default VM_INERTIA_XX 0.06
|
||||
param set-default VM_INERTIA_YY 0.06
|
||||
param set-default VM_INERTIA_ZZ 0.10
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_MC_R_COUNT 6
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT4_MIN 0.0
|
||||
param set-default CA_ACT5_MIN 0.0
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
param set-default CA_ACT4_MAX 1.0
|
||||
param set-default CA_ACT5_MAX 1.0
|
||||
|
||||
param set-default CA_MC_R0_PX 0.0
|
||||
param set-default CA_MC_R0_PY 1.0
|
||||
param set-default CA_MC_R0_CT 9.5
|
||||
param set-default CA_MC_R0_KM -0.05
|
||||
param set-default CA_MC_R1_PX 0.0
|
||||
param set-default CA_MC_R1_PY -1.0
|
||||
param set-default CA_MC_R1_CT 9.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.866025
|
||||
param set-default CA_MC_R2_PY -0.5
|
||||
param set-default CA_MC_R2_CT 9.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.866025
|
||||
param set-default CA_MC_R3_PY 0.5
|
||||
param set-default CA_MC_R3_CT 9.5
|
||||
param set-default CA_MC_R3_KM 0.05
|
||||
param set-default CA_MC_R4_PX 0.866025
|
||||
param set-default CA_MC_R4_PY 0.5
|
||||
param set-default CA_MC_R4_CT 9.5
|
||||
param set-default CA_MC_R4_KM 0.05
|
||||
param set-default CA_MC_R5_PX -0.866025
|
||||
param set-default CA_MC_R5_PY -0.5
|
||||
param set-default CA_MC_R5_CT 9.5
|
||||
param set-default CA_MC_R5_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
|
||||
@@ -1,7 +1,5 @@
|
||||
#!/bin/sh
|
||||
|
||||
set -e
|
||||
|
||||
# PX4 commands need the 'px4-' prefix in bash.
|
||||
# (px4-alias.sh is expected to be in the PATH)
|
||||
# shellcheck disable=SC1091
|
||||
|
||||
@@ -17,20 +17,39 @@ set MIXER_AUX none
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set-default VM_MASS 1.5
|
||||
param set-default VM_INERTIA_XX 0.03
|
||||
param set-default VM_INERTIA_YY 0.03
|
||||
param set-default VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
|
||||
param set-default CA_MC_R_COUNT 4
|
||||
param set-default CA_MC_R0_PX 0.177
|
||||
param set-default CA_MC_R0_PY 0.177
|
||||
param set-default CA_MC_R0_CT 6.5
|
||||
param set-default CA_MC_R0_KM 0.05
|
||||
param set-default CA_MC_R1_PX -0.177
|
||||
param set-default CA_MC_R1_PY -0.177
|
||||
param set-default CA_MC_R1_CT 6.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.177
|
||||
param set-default CA_MC_R2_PY -0.177
|
||||
param set-default CA_MC_R2_CT 6.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.177
|
||||
param set-default CA_MC_R3_PY 0.177
|
||||
param set-default CA_MC_R3_CT 6.5
|
||||
param set-default CA_MC_R3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
|
||||
@@ -13,6 +13,9 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
|
||||
@@ -13,6 +13,9 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
|
||||
@@ -22,6 +22,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
@@ -13,32 +13,57 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set-default VM_MASS 1.5
|
||||
param set-default VM_INERTIA_XX 0.03
|
||||
param set-default VM_INERTIA_YY 0.03
|
||||
param set-default VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_MC_R_COUNT 6
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT4_MIN 0.0
|
||||
param set-default CA_ACT5_MIN 0.0
|
||||
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
param set-default CA_ACT4_MAX 1.0
|
||||
param set-default CA_ACT5_MAX 1.0
|
||||
|
||||
param set-default CA_MC_R0_PX 0.0
|
||||
param set-default CA_MC_R0_PY 0.275
|
||||
param set-default CA_MC_R0_CT 6.5
|
||||
param set-default CA_MC_R0_KM -0.05
|
||||
|
||||
param set-default CA_MC_R1_PX 0.0
|
||||
param set-default CA_MC_R1_PY -0.275
|
||||
param set-default CA_MC_R1_CT 6.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
|
||||
param set-default CA_MC_R2_PX 0.238
|
||||
param set-default CA_MC_R2_PY -0.1375
|
||||
param set-default CA_MC_R2_CT 6.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
|
||||
param set-default CA_MC_R3_PX -0.238
|
||||
param set-default CA_MC_R3_PY 0.1375
|
||||
param set-default CA_MC_R3_CT 6.5
|
||||
param set-default CA_MC_R3_KM 0.05
|
||||
|
||||
param set-default CA_MC_R4_PX 0.238
|
||||
param set-default CA_MC_R4_PY 0.1375
|
||||
param set-default CA_MC_R4_CT 6.5
|
||||
param set-default CA_MC_R4_KM 0.05
|
||||
|
||||
param set-default CA_MC_R5_PX -0.238
|
||||
param set-default CA_MC_R5_PY -0.1375
|
||||
param set-default CA_MC_R5_CT 6.5
|
||||
param set-default CA_MC_R5_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
|
||||
@@ -18,17 +18,8 @@ set OUTPUT_AUX_DEV /dev/pwm_output1
|
||||
set OUTPUT_EXTRA_DEV /dev/pwm_output0
|
||||
|
||||
# set these before starting the modules
|
||||
if [ $PWM_AUX_OUT != none ]
|
||||
then
|
||||
|
||||
param set PWM_AUX_OUT ${PWM_AUX_OUT}
|
||||
fi
|
||||
|
||||
|
||||
if [ $PWM_OUT != none ]
|
||||
then
|
||||
param set PWM_MAIN_OUT ${PWM_OUT}
|
||||
fi
|
||||
param set PWM_AUX_OUT ${PWM_AUX_OUT}
|
||||
param set PWM_MAIN_OUT ${PWM_OUT}
|
||||
|
||||
#
|
||||
# If mount (gimbal) control is enabled and output mode is AUX, set the aux
|
||||
|
||||
@@ -54,6 +54,14 @@ then
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
|
||||
#
|
||||
# Disable hover thrust estimator and prearming
|
||||
# These features are currently incompatible with control allocation
|
||||
#
|
||||
# TODO: fix
|
||||
#
|
||||
param set MPC_USE_HTE 0
|
||||
fi
|
||||
|
||||
#
|
||||
|
||||
@@ -35,7 +35,7 @@ set MIXER_AUX none
|
||||
set MIXER_FILE none
|
||||
set MIXER_EXTRA none
|
||||
set OUTPUT_MODE none
|
||||
set PARAM_FILE ""
|
||||
set PARAM_FILE /fs/microsd/params
|
||||
set PWM_OUT none
|
||||
set PWM_MAIN_RATE p:PWM_MAIN_RATE
|
||||
set PWM_AUX_OUT none
|
||||
@@ -46,7 +46,6 @@ set EXTRA_MIXER_MODE none
|
||||
set RC_INPUT_ARGS ""
|
||||
set SDCARD_AVAILABLE no
|
||||
set SDCARD_EXT_PATH /fs/microsd/ext_autostart
|
||||
set SDCARD_FORMAT no
|
||||
set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
|
||||
set STARTUP_TUNE 1
|
||||
set USE_IO no
|
||||
@@ -60,77 +59,51 @@ ver all
|
||||
#
|
||||
# Try to mount the microSD card.
|
||||
#
|
||||
if [ -b "/dev/mmcsd0" ]
|
||||
# REBOOTWORK this needs to start after the flight control loop.
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
|
||||
date >> $PX4_INIT_TEST_FILE
|
||||
|
||||
if [ -f $PX4_INIT_TEST_FILE ]
|
||||
then
|
||||
if [ -f "/fs/microsd/.format" ]
|
||||
cat $PX4_INIT_TEST_FILE
|
||||
rm $PX4_INIT_TEST_FILE
|
||||
|
||||
if [ ! -f $PX4_INIT_TEST_FILE ]
|
||||
then
|
||||
echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
|
||||
set SDCARD_FORMAT yes
|
||||
rm /fs/microsd/.format
|
||||
umount /fs/microsd
|
||||
|
||||
else
|
||||
# very basic I/O test
|
||||
set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
|
||||
date >> $PX4_INIT_TEST_FILE
|
||||
|
||||
if [ $? -eq 0 -a -f $PX4_INIT_TEST_FILE ]
|
||||
then
|
||||
cat $PX4_INIT_TEST_FILE
|
||||
rm $PX4_INIT_TEST_FILE
|
||||
|
||||
if [ $? -eq 0 -a ! -f $PX4_INIT_TEST_FILE ]
|
||||
then
|
||||
set SDCARD_AVAILABLE yes
|
||||
fi
|
||||
fi
|
||||
unset PX4_INIT_TEST_FILE
|
||||
|
||||
if [ $SDCARD_AVAILABLE = no ]
|
||||
then
|
||||
echo "ERROR [init] card I/O failure, formatting"
|
||||
set SDCARD_FORMAT yes
|
||||
umount /fs/microsd
|
||||
fi
|
||||
set SDCARD_AVAILABLE yes
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
|
||||
if [ $SDCARD_AVAILABLE = no ]
|
||||
then
|
||||
set STARTUP_TUNE 14 # tune 14 = SD_INIT
|
||||
if mkfatfs -F 32 /dev/mmcsd0
|
||||
then
|
||||
echo "INFO [init] formatting /dev/mmcsd0"
|
||||
set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
|
||||
|
||||
if mkfatfs -F 32 /dev/mmcsd0
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
set SDCARD_AVAILABLE yes
|
||||
echo "INFO [init] card formatted"
|
||||
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
set SDCARD_AVAILABLE yes
|
||||
set STARTUP_TUNE 14 # tune 14 = SD_INIT
|
||||
else
|
||||
echo "ERROR [init] card mount failed"
|
||||
fi
|
||||
else
|
||||
set STARTUP_TUNE 15 # tune 15 = SD_ERROR
|
||||
echo "ERROR [init] format failed"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $SDCARD_AVAILABLE = yes ]
|
||||
if [ $SDCARD_AVAILABLE = yes ]
|
||||
then
|
||||
if hardfault_log check
|
||||
then
|
||||
if hardfault_log check
|
||||
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
||||
if hardfault_log commit
|
||||
then
|
||||
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
||||
if hardfault_log commit
|
||||
then
|
||||
hardfault_log reset
|
||||
fi
|
||||
hardfault_log reset
|
||||
fi
|
||||
fi
|
||||
|
||||
set PARAM_FILE /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
@@ -163,31 +136,8 @@ else
|
||||
param select $PARAM_FILE
|
||||
if ! param import
|
||||
then
|
||||
echo "ERROR [init] param import failed"
|
||||
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
||||
|
||||
param dump $PARAM_FILE
|
||||
|
||||
if [ -d "/fs/microsd" ]
|
||||
then
|
||||
dmesg >> /fs/microsd/param_import_fail.txt &
|
||||
|
||||
# try to make a backup copy
|
||||
cp $PARAM_FILE /fs/microsd/param_import_fail.bson &
|
||||
fi
|
||||
|
||||
# try importing from backup file
|
||||
if [ -f "/fs/microsd/parameters_backup.bson" ]
|
||||
then
|
||||
param import /fs/microsd/parameters_backup.bson
|
||||
fi
|
||||
param reset_all
|
||||
fi
|
||||
|
||||
if [ $SDCARD_AVAILABLE = yes ]
|
||||
then
|
||||
param select-backup /fs/microsd/parameters_backup.bson
|
||||
fi
|
||||
|
||||
if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
|
||||
then
|
||||
netman update -i eth0
|
||||
@@ -235,16 +185,7 @@ else
|
||||
# Waypoint storage.
|
||||
# REBOOTWORK this needs to start in parallel.
|
||||
#
|
||||
if param compare SYS_DM_BACKEND 1
|
||||
then
|
||||
dataman start -r
|
||||
else
|
||||
if param compare SYS_DM_BACKEND 0
|
||||
then
|
||||
# dataman start default
|
||||
dataman start
|
||||
fi
|
||||
fi
|
||||
dataman start
|
||||
|
||||
#
|
||||
# Start the socket communication send_event handler.
|
||||
@@ -477,12 +418,6 @@ else
|
||||
rc_input start $RC_INPUT_ARGS
|
||||
fi
|
||||
|
||||
# PPS capture driver (before pwm_out)
|
||||
if param greater -s PPS_CAP_ENABLE 0
|
||||
then
|
||||
pps_capture start
|
||||
fi
|
||||
|
||||
# Camera capture driver (before pwm_out)
|
||||
if param greater -s CAM_CAP_FBACK 0
|
||||
then
|
||||
@@ -612,7 +547,6 @@ unset PWM_EXTRA_RATE
|
||||
unset RC_INPUT_ARGS
|
||||
unset SDCARD_AVAILABLE
|
||||
unset SDCARD_EXT_PATH
|
||||
unset SDCARD_FORMAT
|
||||
unset SDCARD_MIXERS_PATH
|
||||
unset STARTUP_TUNE
|
||||
unset USE_IO
|
||||
|
||||
@@ -40,8 +40,8 @@ def monitor_firmware_upload(port, baudrate):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout = 180 # 3 minutes
|
||||
timeout_start = time.monotonic()
|
||||
timeout_newline = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout_newline = time.time()
|
||||
|
||||
return_code = 0
|
||||
|
||||
@@ -59,13 +59,13 @@ def monitor_firmware_upload(port, baudrate):
|
||||
elif "nsh>" in serial_line:
|
||||
sys.exit(return_code)
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
# newline every 10 seconds if still running
|
||||
if time.monotonic() - timeout_newline > 10:
|
||||
timeout_newline = time.monotonic()
|
||||
if time.time() - timeout_newline > 10:
|
||||
timeout_newline = time.time()
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
|
||||
+11
-13
@@ -34,7 +34,7 @@ def print_line(line):
|
||||
def do_param_set_cmd(port, baudrate, param_name, param_value):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
|
||||
# wait for nsh prompt
|
||||
@@ -50,7 +50,7 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
sys.exit(1)
|
||||
|
||||
@@ -58,13 +58,12 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
|
||||
ser.readlines()
|
||||
|
||||
# run command
|
||||
timeout_start = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout = 10 # 10 seconds
|
||||
|
||||
cmd = "param set " + param_name + " " + param_value
|
||||
|
||||
# write command (param set) and wait for command echo
|
||||
print("Running command: \'{0}\'".format(cmd))
|
||||
serial_cmd = '{0}\r\n'.format(cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
ser.flush()
|
||||
@@ -78,7 +77,7 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
|
||||
@@ -90,8 +89,8 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
|
||||
|
||||
param_show_response = param_name + " ["
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout = 3 # 3 seconds
|
||||
timeout_start = time.time()
|
||||
timeout = 2 # 2 seconds
|
||||
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
@@ -108,20 +107,19 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
if time.time() > timeout_start + timeout:
|
||||
if "nsh>" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
if len(serial_line) <= 0:
|
||||
ser.write("\r\n".encode("ascii"))
|
||||
ser.flush()
|
||||
time.sleep(0.2)
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
ser.close()
|
||||
|
||||
|
||||
@@ -1,87 +0,0 @@
|
||||
#! /usr/bin/env python3
|
||||
|
||||
import serial, time
|
||||
import subprocess
|
||||
from subprocess import call, Popen
|
||||
from argparse import ArgumentParser
|
||||
import re
|
||||
import sys
|
||||
import datetime
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
COLOR_YELLOW = "\x1b[33m"
|
||||
COLOR_WHITE = "\x1b[37m"
|
||||
COLOR_RESET = "\x1b[0m"
|
||||
|
||||
def print_line(line):
|
||||
if "WARNING" in line:
|
||||
line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
|
||||
elif "WARN" in line:
|
||||
line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
|
||||
elif "ERROR" in line:
|
||||
line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
|
||||
elif "INFO" in line:
|
||||
line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
|
||||
|
||||
if "PASSED" in line:
|
||||
line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
|
||||
|
||||
if "FAILED" in line:
|
||||
line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
|
||||
|
||||
if "\n" in line:
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
|
||||
def reboot(port, baudrate):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
# clear
|
||||
ser.readlines()
|
||||
|
||||
time_start = time.monotonic()
|
||||
ser.write("\nreboot\n".encode("ascii"))
|
||||
ser.flush()
|
||||
time_reboot_cmd = time_start
|
||||
|
||||
timeout_reboot_cmd = 90
|
||||
timeout = 300 # 5 minutes
|
||||
|
||||
return_code = 0
|
||||
|
||||
while True:
|
||||
if time.monotonic() > time_reboot_cmd + timeout_reboot_cmd:
|
||||
time_reboot_cmd = time.monotonic()
|
||||
print("sending reboot cmd again")
|
||||
ser.write("reboot\n".encode("ascii"))
|
||||
ser.flush()
|
||||
time.sleep(0.2)
|
||||
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if "ERROR" in serial_line:
|
||||
return_code = -1
|
||||
|
||||
print_line(serial_line)
|
||||
|
||||
if "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(return_code)
|
||||
|
||||
if time.monotonic() > time_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
def main():
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
args = parser.parse_args()
|
||||
|
||||
reboot(args.device, args.baudrate)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
+10
-12
@@ -40,7 +40,7 @@ def print_line(line):
|
||||
def do_nsh_cmd(port, baudrate, cmd):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
|
||||
# wait for nsh prompt
|
||||
@@ -56,7 +56,7 @@ def do_nsh_cmd(port, baudrate, cmd):
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
sys.exit(1)
|
||||
|
||||
@@ -64,13 +64,12 @@ def do_nsh_cmd(port, baudrate, cmd):
|
||||
ser.readlines()
|
||||
|
||||
# run command
|
||||
timeout_start = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout = 1 # 1 second
|
||||
|
||||
success_cmd = "cmd succeeded!"
|
||||
|
||||
# wait for command echo
|
||||
print("Running command: \'{0}\'".format(cmd))
|
||||
serial_cmd = '{0}; echo "{1}"; echo "{2}";\r\n'.format(cmd, success_cmd, success_cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
ser.flush()
|
||||
@@ -87,13 +86,13 @@ def do_nsh_cmd(port, baudrate, cmd):
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if (len(serial_line) <= 0) and (time.monotonic() > timeout_start + timeout):
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout = 240 # 4 minutes
|
||||
timeout_start = time.time()
|
||||
timeout = 180 # 3 minutes
|
||||
|
||||
return_code = 0
|
||||
|
||||
@@ -115,14 +114,13 @@ def do_nsh_cmd(port, baudrate, cmd):
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
|
||||
if (len(serial_line) <= 0) and (time.monotonic() > timeout_start + timeout):
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
if len(serial_line) <= 0:
|
||||
ser.write("\r\n".encode("ascii"))
|
||||
ser.flush()
|
||||
time.sleep(0.2)
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
ser.close()
|
||||
|
||||
|
||||
+11
-11
@@ -41,7 +41,7 @@ def print_line(line):
|
||||
def do_test(port, baudrate, test_name):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
|
||||
# wait for nsh prompt
|
||||
@@ -57,7 +57,7 @@ def do_test(port, baudrate, test_name):
|
||||
if len(serial_line) > 0:
|
||||
print(serial_line, end='')
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
return False
|
||||
|
||||
@@ -72,11 +72,10 @@ def do_test(port, baudrate, test_name):
|
||||
print("| Running:", cmd)
|
||||
print('|======================================================================')
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout = 2 # 2 seconds
|
||||
|
||||
# wait for command echo
|
||||
print("Running command: \'{0}\'".format(cmd))
|
||||
serial_cmd = '{0}\n'.format(cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
ser.flush()
|
||||
@@ -89,14 +88,14 @@ def do_test(port, baudrate, test_name):
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
|
||||
|
||||
# print results, wait for final result (PASSED or FAILED)
|
||||
timeout = 300 # 5 minutes
|
||||
timeout_start = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout_newline = timeout_start
|
||||
|
||||
while True:
|
||||
@@ -112,16 +111,16 @@ def do_test(port, baudrate, test_name):
|
||||
success = False
|
||||
break
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
|
||||
success = False
|
||||
break
|
||||
|
||||
# newline every 10 seconds if still running
|
||||
if (len(serial_line) <= 0) and (time.monotonic() - timeout_newline > 10):
|
||||
if time.time() - timeout_newline > 10:
|
||||
ser.write("\n".encode("ascii"))
|
||||
timeout_newline = time.monotonic()
|
||||
timeout_newline = time.time()
|
||||
|
||||
ser.close()
|
||||
|
||||
@@ -143,8 +142,9 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
def test_bson(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))
|
||||
|
||||
def test_dataman(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
|
||||
# TODO: review
|
||||
# def test_dataman(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
|
||||
|
||||
# def test_file(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file"))
|
||||
|
||||
@@ -1,41 +0,0 @@
|
||||
#! /bin/bash
|
||||
|
||||
# exit when any command fails
|
||||
set -e
|
||||
|
||||
DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
|
||||
|
||||
SERIAL_DEVICE=$1
|
||||
|
||||
if [ ! -e "${SERIAL_DEVICE}" ]
|
||||
then
|
||||
echo "Invalid serial device ${SERIAL_DEVICE}"
|
||||
exit -1
|
||||
fi
|
||||
|
||||
# all airframes (from ROMFS/px4fmu_common/init.d/airframes/)
|
||||
# $(find . -regex '.*/[0-9].*' -exec basename {} \; | cut -d "_" -f 1)
|
||||
ALL_AIRFRAMES=${@:2}
|
||||
echo "airframes: ${ALL_AIRFRAMES}"
|
||||
|
||||
for airframe in $ALL_AIRFRAMES
|
||||
do
|
||||
echo
|
||||
echo "##########################################################################################"
|
||||
echo " Airframe: $airframe"
|
||||
echo "##########################################################################################"
|
||||
echo
|
||||
|
||||
${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name SYS_AUTOSTART --value $airframe
|
||||
${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name CBRK_BUZZER --value 782097
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
|
||||
|
||||
${DIR}/reboot.py --device ${SERIAL_DEVICE}
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'pwm info'
|
||||
|
||||
done
|
||||
@@ -41,9 +41,7 @@ def process_target(px4board_file, target_name):
|
||||
platform = None
|
||||
toolchain = None
|
||||
|
||||
if px4board_file.endswith("default.px4board") or \
|
||||
px4board_file.endswith("recovery.px4board") or \
|
||||
px4board_file.endswith("bootloader.px4board"):
|
||||
if px4board_file.endswith("default.px4board"):
|
||||
kconf.load_config(px4board_file, replace=True)
|
||||
else: # Merge config with default.px4board
|
||||
default_kconfig = re.sub(r'[a-zA-Z\d_]+\.px4board', 'default.px4board', px4board_file)
|
||||
|
||||
@@ -92,7 +92,6 @@ pca9685,CONFIG_DRIVERS_PCA9685=y
|
||||
pca9685_pwm_out,CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
power_monitor/ina226,CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
power_monitor/voxlpm,CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
|
||||
pps_capture,CONFIG_DRIVERS_PPS_CAPTURE=y
|
||||
protocol_splitter,CONFIG_DRIVERS_PROTOCOL_SPLITTER=y
|
||||
pwm_input,CONFIG_DRIVERS_PWM_INPUT=y
|
||||
pwm_out_sim,CONFIG_DRIVERS_PWM_OUT_SIM=y
|
||||
|
||||
@@ -1,470 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
""" Script to generate actuators.json metadata from module.yaml config file(s)
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import lzma #to create .xz file
|
||||
import json
|
||||
import os
|
||||
import sys
|
||||
|
||||
from output_groups_from_timer_config import get_timer_groups, get_output_groups
|
||||
|
||||
try:
|
||||
import yaml
|
||||
except ImportError as e:
|
||||
print("Failed to import yaml: " + str(e))
|
||||
print("")
|
||||
print("You may need to install it using:")
|
||||
print(" pip3 install --user pyyaml")
|
||||
print("")
|
||||
sys.exit(1)
|
||||
|
||||
parser = argparse.ArgumentParser(description='Generate actuators.json from module.yaml file(s)')
|
||||
|
||||
parser.add_argument('--config-files', type=str, nargs='*', default=[],
|
||||
help='YAML module config file(s)')
|
||||
parser.add_argument('--output-file', type=str, action='store',
|
||||
help='JSON output file', required=True)
|
||||
parser.add_argument('--compress', action='store_true', help='Add a compressed output file')
|
||||
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
|
||||
help='Verbose Output')
|
||||
parser.add_argument('--timer-config', type=str, action='store',
|
||||
help='board-specific timer_config.cpp file')
|
||||
parser.add_argument('--board', type=str, action='store',
|
||||
help='board name, e.g. ')
|
||||
parser.add_argument('--board-with-io', dest='board_with_io', action='store_true',
|
||||
help='Indicate that the board as an IO for extra PWM',
|
||||
default=False)
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
compress = args.compress
|
||||
verbose = args.verbose
|
||||
output_file = args.output_file
|
||||
timer_config_file = args.timer_config
|
||||
board_with_io = args.board_with_io
|
||||
board = args.board
|
||||
|
||||
root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
|
||||
output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")
|
||||
|
||||
def save_compressed(filename):
|
||||
#create lzma compressed version
|
||||
xz_filename=filename+'.xz'
|
||||
with lzma.open(xz_filename, 'wt', preset=9) as f:
|
||||
with open(filename, 'r') as content_file:
|
||||
f.write(content_file.read())
|
||||
|
||||
def load_yaml_file(file_name):
|
||||
with open(file_name, 'r') as stream:
|
||||
try:
|
||||
return yaml.safe_load(stream)
|
||||
except yaml.YAMLError as exc:
|
||||
print(exc)
|
||||
raise
|
||||
|
||||
# functions
|
||||
output_functions_yaml = load_yaml_file(output_functions_file)
|
||||
output_functions = output_functions_yaml['functions']
|
||||
functions = {}
|
||||
|
||||
def add_function(functions, index, name, function_obj=None):
|
||||
functions[index] = {
|
||||
"label": name
|
||||
}
|
||||
if function_obj is not None:
|
||||
if function_obj.get('exclude_from_actuator_testing', False):
|
||||
functions[index]['exclude-from-actuator-testing'] = True
|
||||
if 'note' in function_obj:
|
||||
functions[index]['note'] = function_obj['note']
|
||||
|
||||
for group_key in output_functions:
|
||||
group = output_functions[group_key]
|
||||
for function_name in group:
|
||||
function_name_label = function_name.replace('_', ' ')
|
||||
if isinstance(group[function_name], int):
|
||||
add_function(functions, group[function_name], function_name_label)
|
||||
elif not 'count' in group[function_name]:
|
||||
add_function(functions, group[function_name]['start'], function_name_label, group[function_name])
|
||||
else:
|
||||
start = group[function_name]['start']
|
||||
count = group[function_name]['count']
|
||||
for i in range(count):
|
||||
add_function(functions, start+i, function_name_label+' '+str(i+1), group[function_name])
|
||||
|
||||
# outputs
|
||||
outputs = []
|
||||
|
||||
def process_module_name(module_name):
|
||||
if module_name == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'PWM AUX'
|
||||
return 'PWM MAIN'
|
||||
if '${' in module_name:
|
||||
raise Exception('unhandled variable in {:}'.format(module_name))
|
||||
return module_name
|
||||
|
||||
def process_param_prefix(param_prefix):
|
||||
if param_prefix == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'PWM_AUX'
|
||||
return 'PWM_MAIN'
|
||||
if '${' in param_prefix:
|
||||
raise Exception('unhandled variable in {:}'.format(param_prefix))
|
||||
return param_prefix
|
||||
|
||||
def process_channel_label(module_name, channel_label, no_prefix):
|
||||
if channel_label == '${PWM_MAIN_OR_AUX_CAP}':
|
||||
return 'CAP'
|
||||
if channel_label == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'AUX'
|
||||
return 'MAIN'
|
||||
if '${' in channel_label:
|
||||
raise Exception('unhandled variable in {:}'.format(channel_label))
|
||||
if no_prefix: return channel_label
|
||||
return channel_label
|
||||
|
||||
def get_actuator_output(yaml_config, output_functions, timer_config_file, verbose):
|
||||
""" parse the actuator_output section from the yaml config file
|
||||
"""
|
||||
if not 'actuator_output' in yaml_config:
|
||||
return None
|
||||
|
||||
|
||||
output_groups = yaml_config['actuator_output']['output_groups']
|
||||
module_name = process_module_name(yaml_config['module_name'])
|
||||
group_idx = 0
|
||||
|
||||
if verbose: print('processing module: {}'.format(module_name))
|
||||
|
||||
actuator_output = {
|
||||
'label': module_name
|
||||
}
|
||||
if 'show_subgroups_if' in yaml_config['actuator_output']:
|
||||
actuator_output['show-subgroups-if'] = yaml_config['actuator_output']['show_subgroups_if']
|
||||
|
||||
# config parameters
|
||||
def get_config_params(param_list):
|
||||
""" convert config parameter list (per group or per subgroup) """
|
||||
parameters = []
|
||||
for config_param in param_list:
|
||||
if verbose:
|
||||
print('config param: {}'.format(config_param))
|
||||
param = {
|
||||
'name': config_param['param'],
|
||||
}
|
||||
if 'label' in config_param:
|
||||
param['label'] = config_param['label']
|
||||
if 'function' in config_param:
|
||||
param['function'] = config_param['function']
|
||||
parameters.append(param)
|
||||
return parameters
|
||||
|
||||
parameters = get_config_params(yaml_config['actuator_output'].get('config_parameters', []))
|
||||
if len(parameters) > 0:
|
||||
actuator_output['parameters'] = parameters
|
||||
|
||||
subgroups = []
|
||||
|
||||
while group_idx < len(output_groups):
|
||||
group = output_groups[group_idx]
|
||||
group_idx += 1
|
||||
|
||||
if verbose: print("processing group: {:}".format(group))
|
||||
|
||||
# Check for generator and generate additional data.
|
||||
if 'generator' in group:
|
||||
if group['generator'] == 'pwm':
|
||||
param_prefix = process_param_prefix(group['param_prefix'])
|
||||
no_prefix = not group.get('channel_label_module_name_prefix', True)
|
||||
channel_labels = [process_channel_label(module_name, label, no_prefix)
|
||||
for label in group['channel_labels']]
|
||||
standard_params = group.get('standard_params', [])
|
||||
extra_function_groups = group.get('extra_function_groups', [])
|
||||
pwm_timer_param = group.get('pwm_timer_param', None)
|
||||
if 'timer_config_file' in group:
|
||||
timer_config_file = os.path.join(root_dir, group['timer_config_file'])
|
||||
if timer_config_file is None:
|
||||
raise Exception('trying to generate pwm outputs, but --timer-config not set')
|
||||
timer_groups = get_timer_groups(timer_config_file, verbose)
|
||||
timer_output_groups, timer_params = get_output_groups(timer_groups,
|
||||
param_prefix, channel_labels,
|
||||
standard_params, extra_function_groups, pwm_timer_param,
|
||||
verbose=verbose)
|
||||
output_groups.extend(timer_output_groups)
|
||||
else:
|
||||
raise Exception('unknown generator {:}'.format(group['generator']))
|
||||
continue
|
||||
|
||||
subgroup = {}
|
||||
|
||||
# supported actions
|
||||
if 'supported_actions' in group:
|
||||
actions = {}
|
||||
for action_name in group['supported_actions']:
|
||||
action = group['supported_actions'][action_name]
|
||||
action_name = action_name.replace('_', '-')
|
||||
actions[action_name] = {}
|
||||
if 'supported_if' in action:
|
||||
actions[action_name]['supported-if'] = action['supported_if']
|
||||
if 'actuator_types' in action:
|
||||
actions[action_name]['actuator-types'] = action['actuator_types']
|
||||
subgroup['supported-actions'] = actions
|
||||
|
||||
# channels
|
||||
num_channels = group['num_channels']
|
||||
no_prefix = not group.get('channel_label_module_name_prefix', True)
|
||||
channel_label = process_channel_label(module_name, group['channel_label'], no_prefix)
|
||||
instance_start = group.get('instance_start', 1)
|
||||
instance_start_label = group.get('instance_start_label', instance_start)
|
||||
channels = []
|
||||
for channel in range(num_channels):
|
||||
channels.append({
|
||||
'label': channel_label + ' ' +str(channel+instance_start_label),
|
||||
'param-index': channel+instance_start
|
||||
})
|
||||
subgroup['channels'] = channels
|
||||
|
||||
if 'group_label' in group:
|
||||
subgroup['label'] = group['group_label']
|
||||
|
||||
|
||||
# per-channel-params
|
||||
per_channel_params = []
|
||||
param_prefix = process_param_prefix(group['param_prefix'])
|
||||
standard_params = group.get('standard_params', {})
|
||||
standard_params_array = [
|
||||
( 'function', 'Function', 'FUNC', False ),
|
||||
( 'disarmed', 'Disarmed', 'DIS', False ),
|
||||
( 'min', 'Minimum', 'MIN', False ),
|
||||
( 'max', 'Maximum', 'MAX', False ),
|
||||
( 'failsafe', 'Failsafe', 'FAIL', True ),
|
||||
]
|
||||
for key, label, param_suffix, advanced in standard_params_array:
|
||||
show_if = None
|
||||
if key in standard_params and 'show_if' in standard_params[key]:
|
||||
show_if = standard_params[key]['show_if']
|
||||
|
||||
if key in standard_params or key == 'function':
|
||||
param = {
|
||||
'label': label,
|
||||
'name': param_prefix+'_'+param_suffix+'${i}',
|
||||
'function': key,
|
||||
}
|
||||
if advanced: param['advanced'] = True
|
||||
if show_if: param['show-if'] = show_if
|
||||
per_channel_params.append(param)
|
||||
|
||||
# TODO: support non-standard per-channel parameters
|
||||
|
||||
subgroup['per-channel-parameters'] = per_channel_params
|
||||
|
||||
# group config params
|
||||
parameters = get_config_params(group.get('config_parameters', []))
|
||||
if len(parameters) > 0:
|
||||
subgroup['parameters'] = parameters
|
||||
|
||||
subgroups.append(subgroup)
|
||||
|
||||
actuator_output['subgroups'] = subgroups
|
||||
return actuator_output
|
||||
|
||||
# Mixers
|
||||
mixers = None
|
||||
def get_mixers(yaml_config, output_functions, verbose):
|
||||
if not 'mixer' in yaml_config:
|
||||
return None
|
||||
|
||||
actuator_types = {}
|
||||
for actuator_type_key in yaml_config['mixer']['actuator_types']:
|
||||
actuator_type_conf = yaml_config['mixer']['actuator_types'][actuator_type_key]
|
||||
actuator_type = { }
|
||||
if actuator_type_key != 'DEFAULT':
|
||||
actuator_type['label-index-offset'] = 1 # always 1
|
||||
if 'functions' in actuator_type_conf:
|
||||
function_name = actuator_type_conf['functions']
|
||||
# we expect the function to be in 'common' (this is not a requirement, just simplicity)
|
||||
output_function = output_functions['common'][function_name]
|
||||
actuator_type['function-min'] = output_function['start']
|
||||
actuator_type['function-max'] = output_function['start'] + output_function['count'] - 1
|
||||
|
||||
values = actuator_type_conf['actuator_testing_values']
|
||||
actuator_type['values'] = {
|
||||
'min': values['min'],
|
||||
'max': values['max'],
|
||||
}
|
||||
if values.get('default_is_nan', False):
|
||||
actuator_type['values']['default-is-nan'] = True
|
||||
else:
|
||||
actuator_type['values']['default'] = values['default']
|
||||
if values.get('reversible', False):
|
||||
actuator_type['values']['reversible'] = True
|
||||
|
||||
# per item params
|
||||
per_item_params = []
|
||||
for per_item_param in actuator_type_conf.get('per_item_parameters', []):
|
||||
per_item_params.append({k.replace('_','-'): v for k, v in per_item_param.items()})
|
||||
if len(per_item_params) > 0:
|
||||
actuator_type['per-item-parameters'] = per_item_params
|
||||
|
||||
actuator_types[actuator_type_key] = actuator_type
|
||||
|
||||
if verbose:
|
||||
print('Actuator types: {}'.format(actuator_types))
|
||||
|
||||
config = []
|
||||
yaml_mixer_config = yaml_config['mixer']['config']
|
||||
select_param = yaml_mixer_config['param']
|
||||
types = yaml_mixer_config['types']
|
||||
for type_index in types:
|
||||
current_type = types[type_index]
|
||||
option = select_param + '==' + str(type_index)
|
||||
mixer_config = {
|
||||
'option': option,
|
||||
}
|
||||
if 'type' in current_type:
|
||||
mixer_config['type'] = current_type['type']
|
||||
actuators = []
|
||||
for actuator_conf in current_type['actuators']:
|
||||
actuator = {
|
||||
'actuator-type': actuator_conf['actuator_type'],
|
||||
'required': True, # for now always set as required
|
||||
}
|
||||
# sanity check that actuator type exists
|
||||
if actuator_conf['actuator_type'] not in actuator_types:
|
||||
raise Exception('actuator type "{}" does not exist (valid: {})'.format(actuator_conf['actuator_type'], actuator_types.keys()))
|
||||
|
||||
if 'group_label' in actuator_conf:
|
||||
actuator['group-label'] = actuator_conf['group_label']
|
||||
else:
|
||||
# infer from actuator type
|
||||
if actuator_conf['actuator_type'] == 'motor':
|
||||
actuator['group-label'] = 'Motors'
|
||||
elif actuator_conf['actuator_type'] == 'servo':
|
||||
actuator['group-label'] = 'Servos'
|
||||
else:
|
||||
raise Exception('Missing group label for actuator type "{}"'.format(actuator_conf['actuator_type']))
|
||||
|
||||
if 'count' in actuator_conf: # possibly dynamic size
|
||||
actuator['count'] = actuator_conf['count']
|
||||
per_item_params = actuator_conf['per_item_parameters']
|
||||
params = []
|
||||
if 'standard' in per_item_params:
|
||||
standard_params = per_item_params['standard']
|
||||
if 'position' in standard_params:
|
||||
params.extend([
|
||||
{
|
||||
'label': 'Position X',
|
||||
'function': 'posx',
|
||||
'name': standard_params['position'][0],
|
||||
},
|
||||
{
|
||||
'label': 'Position Y',
|
||||
'function': 'posy',
|
||||
'name': standard_params['position'][1],
|
||||
},
|
||||
{
|
||||
'label': 'Position Z',
|
||||
'function': 'posz',
|
||||
'name': standard_params['position'][2],
|
||||
'advanced': True,
|
||||
},
|
||||
])
|
||||
if 'extra' in per_item_params:
|
||||
for extra_param in per_item_params['extra']:
|
||||
params.append({k.replace('_','-'): v for k, v in extra_param.items()})
|
||||
actuator['per-item-parameters'] = params
|
||||
else: # fixed size
|
||||
labels = []
|
||||
pos_x = []
|
||||
pos_y = []
|
||||
pos_z = []
|
||||
for instance in actuator_conf['instances']:
|
||||
labels.append(instance['name'])
|
||||
pos_x.append(instance['position'][0])
|
||||
pos_y.append(instance['position'][1])
|
||||
pos_z.append(instance['position'][2])
|
||||
actuator['count'] = len(labels)
|
||||
actuator['item-label-prefix'] = labels
|
||||
actuator['per-item-parameters'] = [
|
||||
{
|
||||
'label': 'Position X',
|
||||
'function': 'posx',
|
||||
'value': pos_x,
|
||||
},
|
||||
{
|
||||
'label': 'Position Y',
|
||||
'function': 'posy',
|
||||
'value': pos_y,
|
||||
},
|
||||
{
|
||||
'label': 'Position Z',
|
||||
'function': 'posz',
|
||||
'value': pos_z,
|
||||
'advanced': True,
|
||||
},
|
||||
]
|
||||
|
||||
# actuator parameters
|
||||
parameters = []
|
||||
for param in actuator_conf.get('parameters', []):
|
||||
parameters.append({k.replace('_','-'): v for k, v in param.items()})
|
||||
actuator['parameters'] = parameters
|
||||
|
||||
actuators.append(actuator)
|
||||
|
||||
mixer_config['actuators'] = actuators
|
||||
config.append(mixer_config)
|
||||
|
||||
if verbose:
|
||||
print('Mixer configs: {}'.format(config))
|
||||
|
||||
mixers = {
|
||||
'actuator-types': actuator_types,
|
||||
'config': config,
|
||||
}
|
||||
return mixers
|
||||
|
||||
|
||||
for yaml_file in args.config_files:
|
||||
yaml_config = load_yaml_file(yaml_file)
|
||||
|
||||
try:
|
||||
actuator_output = get_actuator_output(yaml_config,
|
||||
output_functions, timer_config_file, verbose)
|
||||
if actuator_output:
|
||||
outputs.append(actuator_output)
|
||||
|
||||
parsed_mixers = get_mixers(yaml_config, output_functions, verbose)
|
||||
if parsed_mixers is not None:
|
||||
if mixers is not None:
|
||||
# only expected to be configured in one module
|
||||
raise Exception('multiple "mixer" sections in module config files')
|
||||
mixers = parsed_mixers
|
||||
except Exception as e:
|
||||
print('Exception while parsing {:}:'.format(yaml_file))
|
||||
raise e
|
||||
|
||||
if mixers is None:
|
||||
if len(outputs) > 0:
|
||||
raise Exception('Missing "mixer" section in yaml configs (CONFIG_MODULES_CONTROL_ALLOCATOR not added to the build?)')
|
||||
else:
|
||||
# set a minimal default
|
||||
mixers = {
|
||||
'actuator-types': { 'DEFAULT': { 'values': { 'min': 0, 'max': 1 } } },
|
||||
'config': [],
|
||||
}
|
||||
|
||||
actuators = {
|
||||
'version': 1,
|
||||
'show-ui-if': 'SYS_CTRL_ALLOC==1',
|
||||
'outputs_v1': outputs,
|
||||
'functions_v1': functions,
|
||||
'mixer_v1': mixers,
|
||||
}
|
||||
|
||||
with open(output_file, 'w') as outfile:
|
||||
indent = 2 if verbose else None
|
||||
json.dump(actuators, outfile, indent=indent)
|
||||
|
||||
if compress:
|
||||
save_compressed(output_file)
|
||||
@@ -1,12 +1,11 @@
|
||||
#!/usr/bin/env python3
|
||||
""" Script to generate params from module.yaml config file(s)
|
||||
""" Script to params from module.yaml config file(s)
|
||||
Note: serial params are handled in Tools/serial/generate_config.py
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import sys
|
||||
from copy import deepcopy
|
||||
|
||||
from output_groups_from_timer_config import get_timer_groups, get_output_groups
|
||||
|
||||
@@ -50,15 +49,10 @@ board = args.board
|
||||
root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
|
||||
output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")
|
||||
|
||||
def process_module_name(module_name):
|
||||
if module_name == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'PWM AUX'
|
||||
return 'PWM MAIN'
|
||||
if '${' in module_name:
|
||||
raise Exception('unhandled variable in {:}'.format(module_name))
|
||||
return module_name
|
||||
|
||||
def process_param_prefix(param_prefix):
|
||||
if param_prefix == '${PWM_MAIN_OR_HIL}':
|
||||
if board == 'px4_sitl': return 'PWM_MAIN'
|
||||
return 'HIL_ACT'
|
||||
if param_prefix == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'PWM_AUX'
|
||||
return 'PWM_MAIN'
|
||||
@@ -66,16 +60,16 @@ def process_param_prefix(param_prefix):
|
||||
raise Exception('unhandled variable in {:}'.format(param_prefix))
|
||||
return param_prefix
|
||||
|
||||
def process_channel_label(module_name, channel_label, no_prefix):
|
||||
if channel_label == '${PWM_MAIN_OR_AUX_CAP}':
|
||||
return 'PWM Capture'
|
||||
def process_channel_label(channel_label):
|
||||
if channel_label == '${PWM_MAIN_OR_HIL}':
|
||||
if board == 'px4_sitl': return 'PWM Sim'
|
||||
return 'HIL actuator'
|
||||
if channel_label == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'PWM Aux'
|
||||
return 'PWM Main'
|
||||
if '${' in channel_label:
|
||||
raise Exception('unhandled variable in {:}'.format(channel_label))
|
||||
if no_prefix: return channel_label
|
||||
return module_name + ' ' + channel_label
|
||||
return channel_label
|
||||
|
||||
|
||||
def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
@@ -111,7 +105,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
for key in param['values']:
|
||||
tags += '\n * @value {:} {:}'.format(key, param['values'][key])
|
||||
elif param['type'] == 'boolean':
|
||||
param_type = 'BOOL'
|
||||
param_type = 'INT32'
|
||||
tags += '\n * @boolean'
|
||||
elif param['type'] == 'int32':
|
||||
param_type = 'INT32'
|
||||
@@ -136,6 +130,9 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
else:
|
||||
default_value = param['default']
|
||||
|
||||
if type(default_value) == bool:
|
||||
default_value = int(default_value)
|
||||
|
||||
# output the existing C-style format
|
||||
ret += '''
|
||||
/**
|
||||
@@ -147,7 +144,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
*/
|
||||
PARAM_DEFINE_{param_type}({name}, {default_value});
|
||||
'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
|
||||
long_descr=param['description'].get('long', "").replace("\n", "\n * "),
|
||||
long_descr=param['description']['long'].replace("\n", "\n * "),
|
||||
tags=tags,
|
||||
param_type=param_type,
|
||||
name=param_name.replace('${i}', str(i+instance_start)),
|
||||
@@ -164,7 +161,6 @@ def get_actuator_output_params(yaml_config, output_functions,
|
||||
if not 'actuator_output' in yaml_config:
|
||||
return {}
|
||||
output_groups = yaml_config['actuator_output']['output_groups']
|
||||
module_name = process_module_name(yaml_config['module_name'])
|
||||
all_params = {}
|
||||
group_idx = 0
|
||||
|
||||
@@ -186,9 +182,7 @@ def get_actuator_output_params(yaml_config, output_functions,
|
||||
if 'generator' in group:
|
||||
if group['generator'] == 'pwm':
|
||||
param_prefix = process_param_prefix(group['param_prefix'])
|
||||
no_prefix = not group.get('channel_label_module_name_prefix', True)
|
||||
channel_labels = [process_channel_label(module_name, label, no_prefix)
|
||||
for label in group['channel_labels']]
|
||||
channel_labels = [process_channel_label(label) for label in group['channel_labels']]
|
||||
standard_params = group.get('standard_params', [])
|
||||
extra_function_groups = group.get('extra_function_groups', [])
|
||||
pwm_timer_param = group.get('pwm_timer_param', None)
|
||||
@@ -203,29 +197,13 @@ def get_actuator_output_params(yaml_config, output_functions,
|
||||
verbose=verbose)
|
||||
all_params.update(timer_params)
|
||||
output_groups.extend(timer_output_groups)
|
||||
|
||||
# In case of a board w/o IO and >8 PWM channels, pwm_out splits
|
||||
# into 2 instances (if SYS_CTRL_ALLOC==0) and we need to add the
|
||||
# PWM_AUX min/max/disarmed params as well.
|
||||
num_channels = len(timer_groups['types'])
|
||||
if not board_with_io and num_channels > 8:
|
||||
output_groups.append(
|
||||
{
|
||||
'param_prefix': 'PWM_AUX',
|
||||
'channel_label': 'PWM AUX',
|
||||
'instance_start': 1,
|
||||
'num_channels': num_channels - 8,
|
||||
'standard_params': deepcopy(timer_output_groups[0]['standard_params'])
|
||||
})
|
||||
|
||||
else:
|
||||
raise Exception('unknown generator {:}'.format(group['generator']))
|
||||
continue
|
||||
|
||||
num_channels = group['num_channels']
|
||||
param_prefix = process_param_prefix(group['param_prefix'])
|
||||
no_prefix = not group.get('channel_label_module_name_prefix', True)
|
||||
channel_label = process_channel_label(module_name, group['channel_label'], no_prefix)
|
||||
channel_label = process_channel_label(group['channel_label'])
|
||||
standard_params = group.get('standard_params', {})
|
||||
instance_start = group.get('instance_start', 1)
|
||||
instance_start_label = group.get('instance_start_label', instance_start)
|
||||
@@ -241,8 +219,6 @@ def get_actuator_output_params(yaml_config, output_functions,
|
||||
function_name_label = function_name.replace('_', ' ')
|
||||
if isinstance(group[function_name], int):
|
||||
output_function_values[group[function_name]] = function_name_label
|
||||
elif not 'count' in group[function_name]:
|
||||
output_function_values[group[function_name]['start']] = function_name_label
|
||||
else:
|
||||
start = group[function_name]['start']
|
||||
count = group[function_name]['count']
|
||||
|
||||
@@ -151,9 +151,6 @@ def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
|
||||
|
||||
channel_label = channel_labels[channel_type_idx]
|
||||
channel_type_instance = instance_start_label[channel_type_idx]
|
||||
group_label = channel_label + ' ' + str(channel_type_instance)
|
||||
if group_count > 1:
|
||||
group_label += '-' + str(channel_type_instance+group_count-1)
|
||||
group = {
|
||||
'param_prefix': param_prefix,
|
||||
'channel_label': channel_label,
|
||||
@@ -162,39 +159,16 @@ def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
|
||||
'extra_function_groups': deepcopy(extra_function_groups),
|
||||
'num_channels': group_count,
|
||||
'standard_params': deepcopy(standard_params),
|
||||
'group_label': group_label,
|
||||
'channel_label_module_name_prefix': False,
|
||||
}
|
||||
output_groups.append(group)
|
||||
|
||||
if pwm_timer_param is not None:
|
||||
timer_channels_label = channel_label + ' ' + str(channel_type_instance)
|
||||
if group_count > 1:
|
||||
timer_channels_label += '-' + str(channel_type_instance+group_count-1)
|
||||
pwm_timer_param_cp = deepcopy(pwm_timer_param)
|
||||
timer_param_name = param_prefix+'_TIM'+str(timer_index)
|
||||
|
||||
group['config_parameters'] = [
|
||||
{
|
||||
'param': timer_param_name,
|
||||
'function': 'primary',
|
||||
}
|
||||
]
|
||||
|
||||
if dshot_support:
|
||||
# don't show pwm limit params when dshot enabled
|
||||
|
||||
for standard_param in group['standard_params']:
|
||||
group['standard_params'][standard_param]['show_if'] = timer_param_name + '>=-1'
|
||||
|
||||
# indicate support for changing motor spin direction
|
||||
group['supported_actions'] = {
|
||||
'set_spin_direction1': {
|
||||
'supported_if': timer_param_name + '<-1',
|
||||
'actuator_types': ['motor']
|
||||
},
|
||||
'set_spin_direction2': {
|
||||
'supported_if': timer_param_name + '<-1',
|
||||
'actuator_types': ['motor']
|
||||
},
|
||||
}
|
||||
else:
|
||||
if not dshot_support:
|
||||
# remove dshot entries if no dshot support
|
||||
values = pwm_timer_param_cp['values']
|
||||
for key in list(values.keys()):
|
||||
@@ -204,9 +178,8 @@ def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
|
||||
for descr_type in ['short', 'long']:
|
||||
descr = pwm_timer_param_cp['description'][descr_type]
|
||||
pwm_timer_param_cp['description'][descr_type] = \
|
||||
descr.replace('${label}', group_label)
|
||||
timer_params[timer_param_name] = pwm_timer_param_cp
|
||||
output_groups.append(group)
|
||||
descr.replace('${label}', timer_channels_label)
|
||||
timer_params[param_prefix+'_TIM'+str(timer_index)] = pwm_timer_param_cp
|
||||
instance_start += group_count
|
||||
instance_start_label[channel_type_idx] += group_count
|
||||
return (output_groups, timer_params)
|
||||
|
||||
@@ -74,7 +74,6 @@ class RCOutput():
|
||||
result += "\n"
|
||||
result += "if [ ${AIRFRAME} != none ]\n"
|
||||
result += "then\n"
|
||||
result += "\techo \"Loading airframe: /etc/init.d/airframes/${AIRFRAME}\"\n"
|
||||
result += "\t. /etc/init.d/airframes/${AIRFRAME}\n"
|
||||
if not post_start:
|
||||
result += "else\n"
|
||||
|
||||
@@ -136,6 +136,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
|
||||
genromfs \
|
||||
gettext \
|
||||
gperf \
|
||||
kconfig-frontends \
|
||||
libelf-dev \
|
||||
libexpat-dev \
|
||||
libgmp-dev \
|
||||
@@ -153,12 +154,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
|
||||
util-linux \
|
||||
vim-common \
|
||||
;
|
||||
if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
kconfig-frontends \
|
||||
;
|
||||
fi
|
||||
|
||||
|
||||
if [ -n "$USER" ]; then
|
||||
# add user to dialout group (serial port access)
|
||||
|
||||
Submodule Tools/simulation-ignition updated: 483193d9b8...0ea4dbe2c3
+1
-1
Submodule Tools/sitl_gazebo updated: 27298574ce...607aa4d990
@@ -5,7 +5,6 @@ https://json-schema.org/"""
|
||||
import argparse
|
||||
import sys
|
||||
import json
|
||||
import os
|
||||
|
||||
try:
|
||||
from jsonschema import validate
|
||||
@@ -22,8 +21,6 @@ parser = argparse.ArgumentParser(description='Validate JSON file(s) against a sc
|
||||
parser.add_argument('json_file', nargs='+', help='JSON config file(s)')
|
||||
parser.add_argument('--schema-file', type=str, action='store',
|
||||
help='JSON schema file', required=True)
|
||||
parser.add_argument('--skip-if-no-schema', dest='skip_if_no_schema', action='store_true',
|
||||
help='Skip test if schema file does not exist')
|
||||
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
|
||||
help='Verbose Output')
|
||||
|
||||
@@ -32,9 +29,6 @@ schema_file = args.schema_file
|
||||
json_files = args.json_file
|
||||
verbose = args.verbose
|
||||
|
||||
if args.skip_if_no_schema and not os.path.isfile(schema_file):
|
||||
sys.exit(0)
|
||||
|
||||
# load the schema
|
||||
with open(schema_file, 'r') as stream:
|
||||
schema = json.load(stream)
|
||||
|
||||
@@ -65,7 +65,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
@@ -77,7 +76,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VMOUNT=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_ESC_CALIB=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -42,7 +42,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x0030
|
||||
CONFIG_CDCACM_PRODUCTSTR="MindPX FMU v2.x"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
@@ -114,6 +113,7 @@ CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAW_BINARY=y
|
||||
|
||||
@@ -239,6 +239,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
if (!spi4) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 4\n");
|
||||
board_autoled_on(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default SPI4 to 10MHz and de-assert the known chip selects. */
|
||||
@@ -254,6 +255,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
if (!spi1) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
|
||||
board_autoled_on(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default SPI1 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
|
||||
@@ -277,7 +279,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
|
||||
|
||||
if (!sdio) {
|
||||
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
|
||||
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n",
|
||||
CONFIG_NSH_MMCSDSLOTNO);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Now bind the SDIO interface to the MMC/SD driver */
|
||||
@@ -285,6 +289,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
if (ret != OK) {
|
||||
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
|
||||
|
||||
@@ -91,6 +91,7 @@ CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAW_BINARY=y
|
||||
|
||||
@@ -146,6 +146,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
if (result != OK) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
#endif // FLASH_BASED_PARAMS
|
||||
|
||||
@@ -93,6 +93,7 @@ CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAW_BINARY=y
|
||||
|
||||
@@ -151,6 +151,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
if (result != OK) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
#endif // FLASH_BASED_PARAMS
|
||||
|
||||
@@ -93,6 +93,7 @@ CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAW_BINARY=y
|
||||
|
||||
@@ -157,6 +157,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
if (result != OK) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
#endif // FLASH_BASED_PARAMS
|
||||
|
||||
@@ -24,14 +24,12 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_SIH=y
|
||||
CONFIG_MODULES_VMOUNT=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
|
||||
@@ -39,7 +39,6 @@ CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=22114
|
||||
@@ -47,7 +46,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x0061
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 ATL Mantis-EDU"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
@@ -121,6 +119,7 @@ CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=245760
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=y
|
||||
|
||||
@@ -240,6 +240,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
if (ret != OK) {
|
||||
led_on(LED_RED);
|
||||
return ret;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_MMCSD */
|
||||
|
||||
@@ -62,7 +62,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
@@ -74,7 +73,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VMOUNT=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_ESC_CALIB=y
|
||||
|
||||
@@ -51,7 +51,6 @@ CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=22114
|
||||
@@ -79,7 +78,6 @@ CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=y
|
||||
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_FS_PROCFS_REGISTER=y
|
||||
CONFIG_FS_ROMFS=y
|
||||
CONFIG_GRAN=y
|
||||
@@ -93,6 +91,7 @@ CONFIG_IOB_NBUFFERS=24
|
||||
CONFIG_IOB_THROTTLE=0
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
|
||||
@@ -175,6 +175,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
if (ret != OK) {
|
||||
syslog(LOG_ERR, "[boot] SDIO init failed\n");
|
||||
return ret;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_MMCSD */
|
||||
|
||||
@@ -14,7 +14,6 @@ CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
|
||||
CONFIG_DRIVERS_LINUX_PWM_OUT=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
|
||||
CONFIG_DRIVERS_PWM_OUT_SIM=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
@@ -24,7 +23,6 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_ESC_BATTERY=y
|
||||
|
||||
@@ -12,7 +12,6 @@ CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_EVENTS=y
|
||||
@@ -32,7 +31,10 @@ CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_MFT=y
|
||||
CONFIG_SYSTEMCMDS_MIXER=y
|
||||
CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
|
||||
@@ -43,7 +45,10 @@ CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_PWM=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_REFLECT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SD_STRESS=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
|
||||
|
||||
@@ -42,7 +42,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x0016
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 Crazyflie v2.0"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
|
||||
@@ -150,7 +150,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
}
|
||||
|
||||
#ifdef CONFIG_SPI
|
||||
stm32_spi_bus_initialize();
|
||||
int ret = stm32_spi_bus_initialize();
|
||||
|
||||
if (ret != OK) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
@@ -404,9 +404,9 @@ Syslink::handle_message(syslink_message_t *msg)
|
||||
memcpy(&vbat, &msg->data[1], sizeof(float));
|
||||
//memcpy(&iset, &msg->data[5], sizeof(float));
|
||||
|
||||
_battery.setConnected(true);
|
||||
_battery.updateVoltage(vbat);
|
||||
_battery.updateAndPublishBatteryStatus(t);
|
||||
_battery.updateBatteryStatus(t, vbat, -1, true,
|
||||
battery_status_s::BATTERY_SOURCE_POWER_MODULE, 0, 0);
|
||||
|
||||
|
||||
// Update battery charge state
|
||||
if (charging) {
|
||||
|
||||
@@ -139,7 +139,7 @@ private:
|
||||
|
||||
// nrf chip schedules battery updates with SYSLINK_SEND_PERIOD_MS
|
||||
static constexpr uint32_t SYSLINK_BATTERY_STATUS_INTERVAL_US = 10_ms;
|
||||
Battery _battery{1, nullptr, SYSLINK_BATTERY_STATUS_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE};
|
||||
Battery _battery{1, nullptr, SYSLINK_BATTERY_STATUS_INTERVAL_US};
|
||||
|
||||
int32_t _rssi;
|
||||
battery_state _bstate;
|
||||
|
||||
@@ -11,7 +11,6 @@ CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_EVENTS=y
|
||||
@@ -32,7 +31,10 @@ CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_MIXER=y
|
||||
CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
|
||||
CONFIG_SYSTEMCMDS_MOTOR_TEST=y
|
||||
@@ -44,6 +46,7 @@ CONFIG_SYSTEMCMDS_PWM=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_REFLECT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SD_STRESS=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
|
||||
@@ -41,7 +41,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x0016
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 Crazyflie v2.0"
|
||||
CONFIG_CDCACM_RXBUFSIZE=300
|
||||
|
||||
@@ -150,7 +150,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
}
|
||||
|
||||
#ifdef CONFIG_SPI
|
||||
stm32_spi_bus_initialize();
|
||||
int ret = stm32_spi_bus_initialize();
|
||||
|
||||
if (ret != OK) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
return OK;
|
||||
|
||||
@@ -31,7 +31,6 @@ CONFIG_ARCH_INTERRUPTSTACK=512
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=16717
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
@@ -94,6 +93,7 @@ CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAW_BINARY=y
|
||||
|
||||
@@ -145,6 +145,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
if (result != OK) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
#endif // FLASH_BASED_PARAMS
|
||||
|
||||
@@ -69,7 +69,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
@@ -79,7 +78,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VMOUNT=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_ESC_CALIB=y
|
||||
|
||||
Binary file not shown.
@@ -29,7 +29,6 @@ CONFIG_BOARD_LOOPSPERMSEC=22114
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x004c
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 BL CUAV Nora"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
@@ -52,6 +51,7 @@ CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_LIB_BOARDCTL=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=8
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
|
||||
@@ -46,7 +46,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x004c
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 CUAV Nora"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
@@ -121,6 +120,7 @@ CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=245760
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=y
|
||||
|
||||
@@ -201,10 +201,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
if (!sdio_dev) {
|
||||
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
|
||||
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* Assume that the SD card is inserted. What choice do we have? */
|
||||
|
||||
@@ -70,7 +70,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
@@ -80,7 +79,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VMOUNT=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_ESC_CALIB=y
|
||||
|
||||
Binary file not shown.
@@ -29,7 +29,6 @@ CONFIG_BOARD_LOOPSPERMSEC=22114
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x004c
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 BL CUAV X7Pro"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
@@ -52,6 +51,7 @@ CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_LIB_BOARDCTL=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=8
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
|
||||
@@ -46,13 +46,13 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x004c
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 CUAV X7Pro"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x3163
|
||||
CONFIG_CDCACM_VENDORSTR="CUAV"
|
||||
CONFIG_CLOCK_MONOTONIC=y
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
@@ -60,7 +60,6 @@ CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_EXAMPLES_CALIB_UDELAY=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
CONFIG_FAT_LCNAMES=y
|
||||
@@ -83,6 +82,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_I2C=y
|
||||
CONFIG_I2C_RESET=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
@@ -120,6 +120,7 @@ CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=245760
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=y
|
||||
|
||||
@@ -201,10 +201,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
if (!sdio_dev) {
|
||||
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
|
||||
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* Assume that the SD card is inserted. What choice do we have? */
|
||||
|
||||
@@ -65,7 +65,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
@@ -75,7 +74,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VMOUNT=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_ESC_CALIB=y
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -25,11 +25,10 @@ CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_INITTHREAD_PRIORITY=254
|
||||
CONFIG_BOARD_LATE_INITIALIZE=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=79954
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95150
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x1016
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 BL CubePilot CubeOrange"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
@@ -52,6 +51,7 @@ CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_LIB_BOARDCTL=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=8
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
|
||||
@@ -60,6 +60,7 @@
|
||||
#define STM32_HSI_FREQUENCY 16000000ul
|
||||
#define STM32_LSI_FREQUENCY 32000
|
||||
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
|
||||
#define STM32_LSE_FREQUENCY 0
|
||||
|
||||
/* Main PLL Configuration.
|
||||
*
|
||||
@@ -81,55 +82,56 @@
|
||||
* PLLP2,3 = {2, 3, 4, ..., 128}
|
||||
* CPUCLK <= 480 MHz
|
||||
*/
|
||||
#define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSE
|
||||
|
||||
/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
|
||||
*
|
||||
* PLL1_VCO = (24,000,000 / 3) * 100 = 800 MHz
|
||||
* PLL1_VCO = (24,000,000 / 2) * 80 = 960 MHz
|
||||
*
|
||||
* PLL1P = PLL1_VCO/2 = 800 MHz / 2 = 400 MHz
|
||||
* PLL1Q = PLL1_VCO/8 = 800 MHz / 8 = 100 MHz
|
||||
* PLL1R = PLL1_VCO/2 = 800 MHz / 2 = 400 MHz
|
||||
* PLL1P = PLL1_VCO/2 = 960 MHz / 2 = 480 MHz
|
||||
* PLL1Q = PLL1_VCO/4 = 960 MHz / 4 = 240 MHz
|
||||
* PLL1R = PLL1_VCO/8 = 960 MHz / 8 = 120 MHz
|
||||
*/
|
||||
#define STM32_PLLCFG_PLL1CFG (RCC_PLLCFGR_PLL1VCOSEL_WIDE|RCC_PLLCFGR_PLL1RGE_4_8_MHZ|RCC_PLLCFGR_DIVP1EN|RCC_PLLCFGR_DIVQ1EN|RCC_PLLCFGR_DIVR1EN)
|
||||
#define STM32_PLLCFG_PLL1M RCC_PLLCKSELR_DIVM1(3)
|
||||
#define STM32_PLLCFG_PLL1N RCC_PLL1DIVR_N1(100)
|
||||
#define STM32_PLLCFG_PLL1M RCC_PLLCKSELR_DIVM1(2)
|
||||
#define STM32_PLLCFG_PLL1N RCC_PLL1DIVR_N1(80)
|
||||
#define STM32_PLLCFG_PLL1P RCC_PLL1DIVR_P1(2)
|
||||
#define STM32_PLLCFG_PLL1Q RCC_PLL1DIVR_Q1(8)
|
||||
#define STM32_PLLCFG_PLL1R RCC_PLL1DIVR_R1(2)
|
||||
#define STM32_PLLCFG_PLL1Q RCC_PLL1DIVR_Q1(4)
|
||||
#define STM32_PLLCFG_PLL1R RCC_PLL1DIVR_R1(8)
|
||||
|
||||
#define STM32_VCO1_FREQUENCY ((STM32_HSE_FREQUENCY / 3) * 100)
|
||||
#define STM32_VCO1_FREQUENCY ((STM32_HSE_FREQUENCY / 2) * 80)
|
||||
#define STM32_PLL1P_FREQUENCY (STM32_VCO1_FREQUENCY / 2)
|
||||
#define STM32_PLL1Q_FREQUENCY (STM32_VCO1_FREQUENCY / 8)
|
||||
#define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 2)
|
||||
#define STM32_PLL1Q_FREQUENCY (STM32_VCO1_FREQUENCY / 4)
|
||||
#define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 8)
|
||||
|
||||
/* PLL2 */
|
||||
#define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE|RCC_PLLCFGR_PLL2RGE_4_8_MHZ|RCC_PLLCFGR_DIVP2EN|RCC_PLLCFGR_DIVQ2EN|RCC_PLLCFGR_DIVR2EN)
|
||||
#define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(2)
|
||||
#define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(30)
|
||||
#define STM32_PLLCFG_PLL2P RCC_PLL2DIVR_P2(4)
|
||||
#define STM32_PLLCFG_PLL2Q RCC_PLL2DIVR_Q2(5)
|
||||
#define STM32_PLLCFG_PLL2R RCC_PLL2DIVR_R2(1)
|
||||
#define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(4)
|
||||
#define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(32)
|
||||
#define STM32_PLLCFG_PLL2P RCC_PLL2DIVR_P2(2)
|
||||
#define STM32_PLLCFG_PLL2Q RCC_PLL2DIVR_Q2(2)
|
||||
#define STM32_PLLCFG_PLL2R RCC_PLL2DIVR_R2(2)
|
||||
|
||||
#define STM32_VCO2_FREQUENCY ((STM32_HSE_FREQUENCY / 2) * 30)
|
||||
#define STM32_PLL2P_FREQUENCY (STM32_VCO2_FREQUENCY / 4)
|
||||
#define STM32_PLL2Q_FREQUENCY (STM32_VCO2_FREQUENCY / 5)
|
||||
#define STM32_PLL2R_FREQUENCY (STM32_VCO2_FREQUENCY / 1)
|
||||
#define STM32_VCO2_FREQUENCY ((STM32_HSE_FREQUENCY / 4) * 32)
|
||||
#define STM32_PLL2P_FREQUENCY (STM32_VCO2_FREQUENCY / 2)
|
||||
#define STM32_PLL2Q_FREQUENCY (STM32_VCO2_FREQUENCY / 2)
|
||||
#define STM32_PLL2R_FREQUENCY (STM32_VCO2_FREQUENCY / 2)
|
||||
|
||||
/* PLL3 */
|
||||
#define STM32_PLLCFG_PLL3CFG (RCC_PLLCFGR_PLL3VCOSEL_WIDE|RCC_PLLCFGR_PLL3RGE_4_8_MHZ|RCC_PLLCFGR_DIVQ3EN)
|
||||
#define STM32_PLLCFG_PLL3M RCC_PLLCKSELR_DIVM3(6)
|
||||
#define STM32_PLLCFG_PLL3N RCC_PLL3DIVR_N3(72)
|
||||
#define STM32_PLLCFG_PLL3P RCC_PLL3DIVR_P3(3)
|
||||
#define STM32_PLLCFG_PLL3Q RCC_PLL3DIVR_Q3(6)
|
||||
#define STM32_PLLCFG_PLL3R RCC_PLL3DIVR_R3(9)
|
||||
#define STM32_PLLCFG_PLL3M RCC_PLLCKSELR_DIVM3(4)
|
||||
#define STM32_PLLCFG_PLL3N RCC_PLL3DIVR_N3(32)
|
||||
#define STM32_PLLCFG_PLL3P RCC_PLL3DIVR_P3(2)
|
||||
#define STM32_PLLCFG_PLL3Q RCC_PLL3DIVR_Q3(4)
|
||||
#define STM32_PLLCFG_PLL3R RCC_PLL3DIVR_R3(2)
|
||||
|
||||
#define STM32_VCO3_FREQUENCY ((STM32_HSE_FREQUENCY / 6) * 72)
|
||||
#define STM32_PLL3P_FREQUENCY (STM32_VCO3_FREQUENCY / 3)
|
||||
#define STM32_PLL3Q_FREQUENCY (STM32_VCO3_FREQUENCY / 6)
|
||||
#define STM32_PLL3R_FREQUENCY (STM32_VCO3_FREQUENCY / 9)
|
||||
#define STM32_VCO3_FREQUENCY ((STM32_HSE_FREQUENCY / 4) * 32)
|
||||
#define STM32_PLL3P_FREQUENCY (STM32_VCO3_FREQUENCY / 2)
|
||||
#define STM32_PLL3Q_FREQUENCY (STM32_VCO3_FREQUENCY / 4)
|
||||
#define STM32_PLL3R_FREQUENCY (STM32_VCO3_FREQUENCY / 2)
|
||||
|
||||
/* SYSCLK = PLL1P = 400MHz
|
||||
* CPUCLK = SYSCLK / 1 = 400 MHz
|
||||
/* SYSCLK = PLL1P = 480MHz
|
||||
* CPUCLK = SYSCLK / 1 = 480 MHz
|
||||
*/
|
||||
#define STM32_RCC_D1CFGR_D1CPRE (RCC_D1CFGR_D1CPRE_SYSCLK)
|
||||
#define STM32_SYSCLK_FREQUENCY (STM32_PLL1P_FREQUENCY)
|
||||
@@ -138,7 +140,7 @@
|
||||
/* Configure Clock Assignments */
|
||||
|
||||
/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
|
||||
* HCLK1 = HCLK2 = HCLK3 = HCLK4 = 200
|
||||
* HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
|
||||
*/
|
||||
#define STM32_RCC_D1CFGR_HPRE RCC_D1CFGR_HPRE_SYSCLKd2 /* HCLK = SYSCLK / 2 */
|
||||
#define STM32_ACLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* ACLK in D1, HCLK3 in D1 */
|
||||
@@ -184,28 +186,36 @@
|
||||
/* Kernel Clock Configuration
|
||||
* Note: look at Table 54 in ST Manual
|
||||
*/
|
||||
#define STM32_RCC_D1CCIPR_SDMMCSEL RCC_D1CCIPR_SDMMC_PLL1
|
||||
|
||||
#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI /* I2C123 clock source */
|
||||
#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */
|
||||
#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 /* SPI45 clock source */
|
||||
#define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 /* SPI6 clock source */
|
||||
#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 /* USB 1 and 2 clock source */
|
||||
#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */
|
||||
#define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */
|
||||
|
||||
#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 /* ADC 1 2 3 clock source */
|
||||
#define STM32_FDCANCLK STM32_HSE_FREQUENCY
|
||||
|
||||
/* FLASH wait states */
|
||||
#define BOARD_FLASH_WAITSTATES 2
|
||||
|
||||
/* SDMMC definitions ********************************************************/
|
||||
/* Init 400kHz, freq = PLL1Q/(2*div) div = PLL1Q/(2*freq) */
|
||||
#define STM32_SDMMC_INIT_CLKDIV (125 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
#define STM32_SDMMC_INIT_CLKDIV (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
|
||||
/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div = PLL1Q/(2*freq)
|
||||
* div = 100 / (2*25)
|
||||
/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div = PLL1Q/(2*freq)
|
||||
* div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
|
||||
*/
|
||||
#define STM32_SDMMC_MMCXFR_CLKDIV (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
#define STM32_SDMMC_SDXFR_CLKDIV (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
|
||||
# define STM32_SDMMC_MMCXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
#else
|
||||
# define STM32_SDMMC_MMCXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
#endif
|
||||
#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
|
||||
# define STM32_SDMMC_SDXFR_CLKDIV (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
#else
|
||||
# define STM32_SDMMC_SDXFR_CLKDIV (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
|
||||
#endif
|
||||
|
||||
#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE
|
||||
|
||||
|
||||
@@ -42,12 +42,11 @@ CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=79954
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95150
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x1016
|
||||
CONFIG_CDCACM_PRODUCTSTR="CubeOrange"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
@@ -122,6 +121,7 @@ CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=245760
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=y
|
||||
|
||||
@@ -41,18 +41,18 @@ CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=79954
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95150
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x1016
|
||||
CONFIG_CDCACM_PRODUCTSTR="CubeOrange"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x2DAE
|
||||
CONFIG_CDCACM_VENDORSTR="CubePilot"
|
||||
CONFIG_CLOCK_MONOTONIC=y
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
@@ -60,7 +60,6 @@ CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_EXAMPLES_CALIB_UDELAY=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
CONFIG_FAT_LCNAMES=y
|
||||
@@ -83,6 +82,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_I2C=y
|
||||
CONFIG_I2C_RESET=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
@@ -120,6 +120,7 @@ CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=245760
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=y
|
||||
|
||||
@@ -181,10 +181,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
if (!sdio_dev) {
|
||||
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
|
||||
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* Assume that the SD card is inserted. What choice do we have? */
|
||||
|
||||
@@ -65,7 +65,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
@@ -77,7 +76,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VMOUNT=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_ESC_CALIB=y
|
||||
|
||||
Binary file not shown.
@@ -40,7 +40,6 @@ CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=22114
|
||||
@@ -48,7 +47,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x1012
|
||||
CONFIG_CDCACM_PRODUCTSTR="CubeYellow"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
@@ -75,7 +73,6 @@ CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=y
|
||||
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_FS_PROCFS_REGISTER=y
|
||||
CONFIG_FS_ROMFS=y
|
||||
CONFIG_GRAN=y
|
||||
@@ -88,6 +85,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
@@ -122,6 +120,7 @@ CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=245760
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=y
|
||||
|
||||
@@ -185,10 +185,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
if (!sdio_dev) {
|
||||
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
|
||||
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* Assume that the SD card is inserted. What choice do we have? */
|
||||
|
||||
@@ -15,7 +15,6 @@ CONFIG_ARCH_CHIP="stm32"
|
||||
CONFIG_ARCH_CHIP_STM32=y
|
||||
CONFIG_ARCH_CHIP_STM32F100C8=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=2000
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
@@ -29,6 +28,7 @@ CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=316
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=2
|
||||
CONFIG_MM_FILL_ALLOCATIONS=y
|
||||
CONFIG_MM_SMALL=y
|
||||
CONFIG_NAME_MAX=12
|
||||
|
||||
@@ -14,8 +14,6 @@ CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
|
||||
CONFIG_DRIVERS_IMU_ST_LSM9DS1=y
|
||||
CONFIG_DRIVERS_LINUX_PWM_OUT=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_LSM9DS1_MAG=y
|
||||
CONFIG_DRIVERS_PWM_OUT_SIM=y
|
||||
@@ -26,7 +24,6 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_ESC_BATTERY=y
|
||||
|
||||
@@ -34,14 +34,12 @@ CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=22114
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x0016
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 FreeFly RTK GPS"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
@@ -106,6 +104,7 @@ CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=245760
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=y
|
||||
|
||||
@@ -138,6 +138,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
if (result != OK) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
#endif // FLASH_BASED_PARAMS
|
||||
|
||||
@@ -31,7 +31,6 @@ CONFIG_ARCH_INTERRUPTSTACK=512
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=16717
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
@@ -94,6 +93,7 @@ CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAW_BINARY=y
|
||||
|
||||
@@ -162,6 +162,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
if (result != OK) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
#endif // FLASH_BASED_PARAMS
|
||||
|
||||
@@ -18,7 +18,6 @@ CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_HEATER=y
|
||||
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
@@ -62,7 +61,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
@@ -72,7 +70,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VMOUNT=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_ESC_CALIB=y
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -11,18 +11,6 @@ icm20689 -R 2 -s start
|
||||
bmi088 -A -R 2 -s start
|
||||
bmi088 -G -R 2 -s start
|
||||
|
||||
if ver hwtypecmp VD00
|
||||
then
|
||||
# Internal SPI BMI088
|
||||
bmi088 -A -R 2 -s start
|
||||
bmi088 -G -R 2 -s start
|
||||
fi
|
||||
if ver hwtypecmp VD01
|
||||
then
|
||||
# Internal SPI ICM-20602
|
||||
icm20602 -R 2 -s start
|
||||
fi
|
||||
|
||||
# internal compass
|
||||
ist8310 -I -R 10 start
|
||||
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user