Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

VRBRAIN: Changed the management of VirtualRobotix's boards.

This commit is contained in:
LukeMike 2014-05-30 22:58:34 +02:00 committed by Emile Castelnuovo
parent 017e4b4c8a
commit 8f552d5758
35 changed files with 408 additions and 1230 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
libraries/AP_Airspeed/AP_Airspeed.cpp
View File

@ -51,11 +51,17 @@ extern const AP_HAL::HAL& hal;
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#define ARSPD_DEFAULT_PIN AP_AIRSPEED_I2C_PIN
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V4)
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V40)
#define ARSPD_DEFAULT_PIN 0
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V5)
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V45)
#define ARSPD_DEFAULT_PIN 0
#elif defined(CONFIG_ARCH_BOARD_VRHERO_V1)
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V50)
#define ARSPD_DEFAULT_PIN 0
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
#define ARSPD_DEFAULT_PIN 0
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
#define ARSPD_DEFAULT_PIN 0
#elif defined(CONFIG_ARCH_BOARD_VRHERO_V10)
#define ARSPD_DEFAULT_PIN 0
#endif
#else

21
libraries/AP_BattMonitor/AP_BattMonitor.h
View File

@ -51,17 +51,32 @@
# define AP_BATT_CURR_PIN 12
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRBRAIN_V4)
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRBRAIN_V40)
# define AP_BATT_VOLT_PIN 100
# define AP_BATT_CURR_PIN -1
# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRBRAIN_V5)
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRBRAIN_V45)
# define AP_BATT_VOLT_PIN 100
# define AP_BATT_CURR_PIN -1
# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRBRAIN_V50)
# define AP_BATT_VOLT_PIN 100
# define AP_BATT_CURR_PIN 101
# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRHERO_V1)
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
# define AP_BATT_VOLT_PIN 100
# define AP_BATT_CURR_PIN 101
# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
# define AP_BATT_VOLT_PIN 100
# define AP_BATT_CURR_PIN -1
# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRHERO_V10)
# define AP_BATT_VOLT_PIN 100
# define AP_BATT_CURR_PIN 101
# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1

7
libraries/AP_Compass/AP_Compass_VRBRAIN.cpp
View File

@ -92,6 +92,9 @@ bool AP_Compass_VRBRAIN::read(void)
}
for (uint8_t i=0; i<_num_instances; i++) {
// avoid division by zero if we haven't received any mag reports
if (_count[i] == 0) continue;
_sum[i] /= _count[i];
_sum[i] *= 1000;
@ -126,9 +129,9 @@ bool AP_Compass_VRBRAIN::read(void)
_count[i] = 0;
}
last_update = _last_timestamp[0];
last_update = _last_timestamp[_get_primary()];
return _healthy[0];
return _healthy[_get_primary()];
}
void AP_Compass_VRBRAIN::accumulate(void)

2
libraries/AP_Compass/Compass.h
View File

@ -46,6 +46,8 @@
*/
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#define COMPASS_MAX_INSTANCES 2
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#define COMPASS_MAX_INSTANCES 2
#else
#define COMPASS_MAX_INSTANCES 1
#endif

16
libraries/AP_HAL_VRBRAIN/AnalogIn.cpp
View File

@ -40,15 +40,25 @@ static const struct {
uint8_t pin;
float scaling;
} pin_scaling[] = {
#ifdef CONFIG_ARCH_BOARD_VRBRAIN_V4
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V40)
{ 0, 3.3f/4096 },
{ 10, 3.3f/4096 },
{ 11, 3.3f/4096 },
#elif CONFIG_ARCH_BOARD_VRBRAIN_V5
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V45)
{ 0, 3.3f/4096 },
{ 10, 3.3f/4096 },
{ 11, 3.3f/4096 },
#elif CONFIG_ARCH_BOARD_VRHERO_V1
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V50)
{ 0, 3.3f/4096 },
{ 10, 3.3f/4096 },
{ 11, 3.3f/4096 },
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
{ 0, 3.3f/4096 },
{ 10, 3.3f/4096 },
{ 11, 3.3f/4096 },
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
{ 10, 3.3f/4096 },
#elif defined(CONFIG_ARCH_BOARD_VRHERO_V10)
{ 10, 3.3f/4096 },
{ 11, 3.3f/4096 },
{ 14, 3.3f/4096 },

16
libraries/AP_HAL_VRBRAIN/AnalogIn.h
View File

@ -10,14 +10,22 @@
#define VRBRAIN_ANALOG_MAX_CHANNELS 16
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V4)
// these are virtual pins that read from the ORB
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V40)
#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN 10
#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN 11
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V5)
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V45)
#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN 10
#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN 11
#elif defined(CONFIG_ARCH_BOARD_VRHERO_V1)
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V50)
#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN 10
#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN 11
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN 10
#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN 11
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN 10
#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN -1
#elif defined(CONFIG_ARCH_BOARD_VRHERO_V10)
#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN 10
#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN 11
#endif

239
libraries/AP_HAL_VRBRAIN/GPIO.cpp
View File

@ -13,7 +13,7 @@
/* VRBRAIN headers */
#include <drivers/drv_led.h>
#include <drivers/drv_tone_alarm.h>
#include <drivers/drv_buzzer.h>
#include <drivers/drv_gpio.h>
#include <arch/board/board.h>
@ -31,7 +31,6 @@ VRBRAINGPIO::VRBRAINGPIO()
void VRBRAINGPIO::init()
{
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V4) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V5) || defined(CONFIG_ARCH_BOARD_VRHERO_V1)
_led_fd = open(LED_DEVICE_PATH, O_RDWR);
if (_led_fd == -1) {
hal.scheduler->panic("Unable to open " LED_DEVICE_PATH);
@ -42,40 +41,37 @@ void VRBRAINGPIO::init()
if (ioctl(_led_fd, LED_OFF, LED_RED) != 0) {
hal.console->printf("GPIO: Unable to setup GPIO LED RED\n");
}
#endif
_tone_alarm_fd = open("/dev/tone_alarm", O_WRONLY);
if (_tone_alarm_fd == -1) {
hal.scheduler->panic("Unable to open /dev/tone_alarm");
if (ioctl(_led_fd, LED_OFF, LED_GREEN) != 0) {
hal.console->printf("GPIO: Unable to setup GPIO LED GREEN\n");
}
#if !defined(CONFIG_ARCH_BOARD_VRHERO_V10)
if (ioctl(_led_fd, LED_OFF, LED_EXT1) != 0) {
hal.console->printf("GPIO: Unable to setup GPIO LED EXT 1\n");
}
#endif
#if !defined(CONFIG_ARCH_BOARD_VRHERO_V10)
if (ioctl(_led_fd, LED_OFF, LED_EXT2) != 0) {
hal.console->printf("GPIO: Unable to setup GPIO LED EXT 2\n");
}
#endif
#if !defined(CONFIG_ARCH_BOARD_VRHERO_V10) && !defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
if (ioctl(_led_fd, LED_OFF, LED_EXT3) != 0) {
hal.console->printf("GPIO: Unable to setup GPIO LED EXT 3\n");
}
#endif
_buzzer_fd = open(BUZZER_DEVICE_PATH, O_RDWR);
if (_buzzer_fd == -1) {
hal.scheduler->panic("Unable to open " BUZZER_DEVICE_PATH);
}
if (ioctl(_buzzer_fd, BUZZER_OFF, BUZZER_EXT) != 0) {
hal.console->printf("GPIO: Unable to setup GPIO BUZZER\n");
}
}
void VRBRAINGPIO::pinMode(uint8_t pin, uint8_t output)
{
switch (pin) {
}
}
@ -85,52 +81,10 @@ int8_t VRBRAINGPIO::analogPinToDigitalPin(uint8_t pin)
}
uint8_t VRBRAINGPIO::read(uint8_t pin) {
uint8_t VRBRAINGPIO::read(uint8_t pin)
{
switch (pin) {
}
return LOW;
}
@ -139,8 +93,23 @@ void VRBRAINGPIO::write(uint8_t pin, uint8_t value)
{
switch (pin) {
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V4) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V5) || defined(CONFIG_ARCH_BOARD_VRHERO_V1)
case HAL_GPIO_A_LED_PIN: // Arming LED
if (value == LOW) {
ioctl(_led_fd, LED_OFF, LED_GREEN);
} else {
ioctl(_led_fd, LED_ON, LED_GREEN);
}
break;
case HAL_GPIO_B_LED_PIN: // not used yet
if (value == LOW) {
ioctl(_led_fd, LED_OFF, LED_BLUE);
} else {
ioctl(_led_fd, LED_ON, LED_BLUE);
}
break;
case HAL_GPIO_C_LED_PIN: // GPS LED
if (value == LOW) {
ioctl(_led_fd, LED_OFF, LED_RED);
} else {
@ -148,72 +117,86 @@ void VRBRAINGPIO::write(uint8_t pin, uint8_t value)
}
break;
case HAL_GPIO_B_LED_PIN: // not used yet
break;
case HAL_GPIO_C_LED_PIN: // GPS LED
if (value == LOW) {
ioctl(_led_fd, LED_OFF, LED_BLUE);
} else {
ioctl(_led_fd, LED_ON, LED_BLUE);
case EXTERNAL_LED_GPS:
#if !defined(CONFIG_ARCH_BOARD_VRHERO_V10)
if (value == LOW) {
ioctl(_led_fd, LED_OFF, LED_EXT1);
} else {
ioctl(_led_fd, LED_ON, LED_EXT1);
}
break;
#endif
case VRBRAIN_GPIO_PIEZO_PIN: // Piezo beeper
if (value == LOW) { // this is inverted
ioctl(_tone_alarm_fd, TONE_SET_ALARM, 3); // Alarm on !!
//::write(_tone_alarm_fd, &user_tune, sizeof(user_tune));
} else {
ioctl(_tone_alarm_fd, TONE_SET_ALARM, 0); // Alarm off !!
}
break;
case EXTERNAL_LED_ARMED:
#if !defined(CONFIG_ARCH_BOARD_VRHERO_V10)
if (value == LOW) {
ioctl(_led_fd, LED_OFF, LED_EXT2);
} else {
ioctl(_led_fd, LED_ON, LED_EXT2);
}
#endif
break;
case EXTERNAL_LED_MOTOR1:
break;
case EXTERNAL_LED_MOTOR2:
break;
case BUZZER_PIN:
if (value == LOW) {
ioctl(_buzzer_fd, BUZZER_OFF, BUZZER_EXT);
} else {
ioctl(_buzzer_fd, BUZZER_ON, BUZZER_EXT);
}
break;
}
}
void VRBRAINGPIO::toggle(uint8_t pin)
{
write(pin, !read(pin));
switch (pin) {
case HAL_GPIO_A_LED_PIN: // Arming LED
ioctl(_led_fd, LED_TOGGLE, LED_GREEN);
break;
case HAL_GPIO_B_LED_PIN: // not used yet
ioctl(_led_fd, LED_TOGGLE, LED_BLUE);
break;
case HAL_GPIO_C_LED_PIN: // GPS LED
ioctl(_led_fd, LED_TOGGLE, LED_RED);
break;
case EXTERNAL_LED_GPS:
#if !defined(CONFIG_ARCH_BOARD_VRHERO_V10)
ioctl(_led_fd, LED_TOGGLE, LED_EXT1);
#endif
break;
case EXTERNAL_LED_ARMED:
#if !defined(CONFIG_ARCH_BOARD_VRHERO_V10)
ioctl(_led_fd, LED_TOGGLE, LED_EXT2);
#endif
break;
case EXTERNAL_LED_MOTOR1:
break;
case EXTERNAL_LED_MOTOR2:
break;
case BUZZER_PIN:
ioctl(_buzzer_fd, BUZZER_TOGGLE, BUZZER_EXT);
break;
default:
write(pin, !read(pin));
break;
}
}
/* Alternative interface: */

29
libraries/AP_HAL_VRBRAIN/GPIO.h
View File

@ -5,27 +5,16 @@
#include <AP_HAL_VRBRAIN.h>
#define VRBRAIN_GPIO_PIEZO_PIN 110
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
# define HAL_GPIO_A_LED_PIN 27
# define HAL_GPIO_A_LED_PIN 25
# define HAL_GPIO_B_LED_PIN 26
# define HAL_GPIO_C_LED_PIN 25
# define HAL_GPIO_C_LED_PIN 27
# define EXTERNAL_LED_GPS 28
# define EXTERNAL_LED_ARMED 29
# define EXTERNAL_LED_MOTOR1 30
# define EXTERNAL_LED_MOTOR2 31
# define BUZZER_PIN 32
# define HAL_GPIO_LED_ON HIGH
# define HAL_GPIO_LED_OFF LOW
#endif
class VRBRAIN::VRBRAINGPIO : public AP_HAL::GPIO {
public:
@ -48,9 +37,7 @@ public:
private:
int _led_fd;
int _tone_alarm_fd;
int _buzzer_fd;
};
class VRBRAIN::VRBRAINDigitalSource : public AP_HAL::DigitalSource {

38
libraries/AP_HAL_VRBRAIN/HAL_VRBRAIN_Class.cpp
View File

@ -50,11 +50,49 @@ static VRBRAINGPIO gpioDriver;
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V40)
#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
#define UARTB_DEFAULT_DEVICE "/dev/ttyS1"
#define UARTC_DEFAULT_DEVICE "/dev/ttyS2"
#define UARTD_DEFAULT_DEVICE "/dev/null"
#define UARTE_DEFAULT_DEVICE "/dev/null"
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V45)
#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
#define UARTB_DEFAULT_DEVICE "/dev/ttyS1"
#define UARTC_DEFAULT_DEVICE "/dev/ttyS2"
#define UARTD_DEFAULT_DEVICE "/dev/null"
#define UARTE_DEFAULT_DEVICE "/dev/null"
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V50)
#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
#define UARTB_DEFAULT_DEVICE "/dev/ttyS1"
#define UARTC_DEFAULT_DEVICE "/dev/ttyS2"
#define UARTD_DEFAULT_DEVICE "/dev/null"
#define UARTE_DEFAULT_DEVICE "/dev/null"
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
#define UARTB_DEFAULT_DEVICE "/dev/ttyS0"
#define UARTC_DEFAULT_DEVICE "/dev/ttyS2"
#define UARTD_DEFAULT_DEVICE "/dev/null"
#define UARTE_DEFAULT_DEVICE "/dev/null"
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
#define UARTB_DEFAULT_DEVICE "/dev/ttyS0"
#define UARTC_DEFAULT_DEVICE "/dev/ttyS2"
#define UARTD_DEFAULT_DEVICE "/dev/null"
#define UARTE_DEFAULT_DEVICE "/dev/null"
#elif defined(CONFIG_ARCH_BOARD_VRHERO_V10)
#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
#define UARTB_DEFAULT_DEVICE "/dev/ttyS1"
#define UARTC_DEFAULT_DEVICE "/dev/ttyS2"
#define UARTD_DEFAULT_DEVICE "/dev/null"
#define UARTE_DEFAULT_DEVICE "/dev/null"
#else
#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
#define UARTB_DEFAULT_DEVICE "/dev/ttyS1"
#define UARTC_DEFAULT_DEVICE "/dev/ttyS2"
#define UARTD_DEFAULT_DEVICE "/dev/null"
#define UARTE_DEFAULT_DEVICE "/dev/null"
#endif
// 3 UART drivers, for GPS plus two mavlink-enabled devices

41
libraries/AP_HAL_VRBRAIN/RCOutput.cpp
View File

@ -90,7 +90,6 @@ void VRBRAINRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
*/
if (freq_hz > 50) {
// we are setting high rates on the given channels
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V4) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V5) || defined(CONFIG_ARCH_BOARD_VRHERO_V1)
_rate_mask |= chmask & 0xFF;
if (_rate_mask & 0x07) {
_rate_mask |= 0x07;
@ -101,21 +100,8 @@ void VRBRAINRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
if (_rate_mask & 0xC0) {
_rate_mask |= 0xC0;
}
#else
_rate_mask |= chmask & 0xFF;
if (_rate_mask & 0x3) {
_rate_mask |= 0x3;
}
if (_rate_mask & 0xc) {
_rate_mask |= 0xc;
}
if (_rate_mask & 0xF0) {
_rate_mask |= 0xF0;
}
#endif
} else {
// we are setting low rates on the given channels
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V4) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V5) || defined(CONFIG_ARCH_BOARD_VRHERO_V1)
if (chmask & 0x07) {
_rate_mask &= ~0x07;
}
@ -125,17 +111,6 @@ void VRBRAINRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
if (chmask & 0xC0) {
_rate_mask &= ~0xC0;
}
#else
if (chmask & 0x3) {
_rate_mask &= ~0x3;
}
if (chmask & 0xc) {
_rate_mask &= ~0xc;
}
if (chmask & 0xf0) {
_rate_mask &= ~0xf0;
}
#endif
}
if (ioctl(_pwm_fd, PWM_SERVO_SET_SELECT_UPDATE_RATE, _rate_mask) != 0) {
@ -183,6 +158,22 @@ void VRBRAINRCOutput::set_safety_pwm(uint32_t chmask, uint16_t period_us)
}
}
void VRBRAINRCOutput::set_failsafe_pwm(uint32_t chmask, uint16_t period_us)
{
struct pwm_output_values pwm_values;
memset(&pwm_values, 0, sizeof(pwm_values));
for (uint8_t i=0; i<_servo_count; i++) {
if ((1UL<<i) & chmask) {
pwm_values.values[i] = period_us;
}
pwm_values.channel_count++;
}
int ret = ioctl(_pwm_fd, PWM_SERVO_SET_FAILSAFE_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
hal.console->printf("Failed to setup failsafe PWM for 0x%08x to %u\n", (unsigned)chmask, period_us);
}
}
void VRBRAINRCOutput::force_safety_off(void)
{
int ret = ioctl(_pwm_fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);

1
libraries/AP_HAL_VRBRAIN/RCOutput.h
View File

@ -20,6 +20,7 @@ public:
uint16_t read(uint8_t ch);
void read(uint16_t* period_us, uint8_t len);
void set_safety_pwm(uint32_t chmask, uint16_t period_us);
void set_failsafe_pwm(uint32_t chmask, uint16_t period_us);
void force_safety_off(void);
void _timer_tick(void);

10
libraries/AP_HAL_VRBRAIN/Storage.cpp
View File

@ -154,8 +154,14 @@ void VRBRAINStorage::_storage_open(void)
if (fd == -1) {
hal.scheduler->panic("Failed to open " MTD_PARAMS_FILE);
}
if (read(fd, _buffer, sizeof(_buffer)) != sizeof(_buffer)) {
hal.scheduler->panic("Failed to read " MTD_PARAMS_FILE);
const uint16_t chunk_size = 128;
for (uint16_t ofs=0; ofs<sizeof(_buffer); ofs += chunk_size) {
ssize_t ret = read(fd, &_buffer[ofs], chunk_size);
if (ret != chunk_size) {
::printf("storage read of %u bytes at %u to %p failed - got %d errno=%d\n",
(unsigned)sizeof(_buffer), (unsigned)ofs, &_buffer[ofs], (int)ret, (int)errno);
hal.scheduler->panic("Failed to read " MTD_PARAMS_FILE);
}
}
close(fd);
_initialised = true;

3
libraries/AP_HAL_VRBRAIN/UARTDriver.cpp
View File

@ -138,6 +138,9 @@ void VRBRAINUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
tcgetattr(_fd, &t);
t.c_cflag |= CRTS_IFLOW;
tcsetattr(_fd, TCSANOW, &t);
// reset _total_written to reset flow control auto check
_total_written = 0;
}
if (_writebuf_size != 0 && _readbuf_size != 0 && _fd != -1) {

18
libraries/AP_HAL_VRBRAIN/Util.cpp
View File

@ -106,12 +106,18 @@ bool VRBRAINUtil::get_system_id(char buf[40])
uint8_t serialid[12];
memset(serialid, 0, sizeof(serialid));
get_board_serial(serialid);
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V4)
const char *board_type = "VRBRAINv4";
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V5)
const char *board_type = "VRBRAINv5";
#elif defined(CONFIG_ARCH_BOARD_VRHERO_V1)
const char *board_type = "VRHEROv1";
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V40)
const char *board_type = "VRBRAINv40";
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V45)
const char *board_type = "VRBRAINv45";
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V50)
const char *board_type = "VRBRAINv50";
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
const char *board_type = "VRBRAINv51";
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
const char *board_type = "VRUBRAINv51";
#elif defined(CONFIG_ARCH_BOARD_VRHERO_V10)
const char *board_type = "VRHEROv10";
#endif
// this format is chosen to match the human_readable_serial()
// function in auth.c

2
libraries/AP_InertialSensor/AP_InertialSensor.h
View File

@ -13,6 +13,8 @@
*/
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
#define INS_MAX_INSTANCES 2
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#define INS_MAX_INSTANCES 2
#else
#define INS_MAX_INSTANCES 1
#endif

8
libraries/AP_Notify/AP_BoardLED.h
View File

@ -61,11 +61,11 @@
# define HAL_GPIO_LED_ON LOW
# define HAL_GPIO_LED_OFF HIGH
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
# define HAL_GPIO_A_LED_PIN 27
# define HAL_GPIO_A_LED_PIN 25
# define HAL_GPIO_B_LED_PIN 26
# define HAL_GPIO_C_LED_PIN 25
# define HAL_GPIO_LED_ON LOW
# define HAL_GPIO_LED_OFF HIGH
# define HAL_GPIO_C_LED_PIN 27
# define HAL_GPIO_LED_ON HIGH
# define HAL_GPIO_LED_OFF LOW
#else
#error "Unknown board type in AP_Notify"
#endif

6
libraries/AP_Notify/AP_Notify.cpp
View File

@ -35,7 +35,8 @@ void AP_Notify::init(bool enable_external_leds)
buzzer.init();
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
tonealarm.init();
externalled.init();
buzzer.init();
#endif
}
@ -53,6 +54,7 @@ void AP_Notify::update(void)
buzzer.update();
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
tonealarm.update();
externalled.update();
buzzer.update();
#endif
}

7
libraries/AP_Notify/AP_Notify.h
View File

@ -26,8 +26,6 @@
#include <ToneAlarm_PX4.h>
#include <ExternalLED.h>
#include <Buzzer.h>
#include <ToshibaLED_VRBRAIN.h>
#include <ToneAlarm_VRBRAIN.h>
class AP_Notify
{
@ -72,8 +70,9 @@ private:
ExternalLED externalled;
Buzzer buzzer;
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
ToshibaLED_VRBRAIN toshibaled;
ToneAlarm_VRBRAIN tonealarm;
ToshibaLED_I2C toshibaled;
ExternalLED externalled;
Buzzer buzzer;
#else
ToshibaLED_I2C toshibaled;
#endif

2
libraries/AP_Notify/Buzzer.h
View File

@ -22,6 +22,8 @@
# define BUZZER_PIN 63 // pin 63 on APM1
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
# define BUZZER_PIN 59 // pin 59 on APM2
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
# define BUZZER_PIN 32
#else
# define BUZZER_PIN 0 // pin undefined on other boards
#endif

5
libraries/AP_Notify/ExternalLED.h
View File

@ -32,6 +32,11 @@
#define EXTERNAL_LED_ARMED 65 // Armed LED - AN11
#define EXTERNAL_LED_MOTOR1 62 // Motor1 LED - AN8
#define EXTERNAL_LED_MOTOR2 66 // Motor2 LED - AN12
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#define EXTERNAL_LED_GPS 28 // GPS LED - AN10
#define EXTERNAL_LED_ARMED 29 // Armed LED - AN11
#define EXTERNAL_LED_MOTOR1 30 // Motor1 LED - AN8
#define EXTERNAL_LED_MOTOR2 31 // Motor2 LED - AN12
#else
#define EXTERNAL_LED_GPS 0 // pin definitions to allow this lib to build for
#define EXTERNAL_LED_ARMED 0 // for other boards besides APM1, APM2 even though

108
libraries/AP_Notify/ToneAlarm_VRBRAIN.cpp
View File

@ -1,108 +0,0 @@
/*
ToneAlarm VRBRAIN driver
*/
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#include "ToneAlarm_VRBRAIN.h"
#include "AP_Notify.h"
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <drivers/drv_tone_alarm.h>
#include <stdio.h>
#include <errno.h>
extern const AP_HAL::HAL& hal;
bool ToneAlarm_VRBRAIN::init()
{
// open the tone alarm device
_tonealarm_fd = open(TONEALARM_DEVICE_PATH, 0);
if (_tonealarm_fd == -1) {
hal.console->printf("Unable to open " TONEALARM_DEVICE_PATH);
return false;
}
// set initial boot states. This prevents us issueing a arming
// warning in plane and rover on every boot
flags.armed = AP_Notify::flags.armed;
flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
return true;
}
// play_tune - play one of the pre-defined tunes
bool ToneAlarm_VRBRAIN::play_tune(const uint8_t tune_number)
{
int ret = ioctl(_tonealarm_fd, TONE_SET_ALARM, tune_number);
return (ret == 0);
}
// update - updates led according to timed_updated. Should be called at 50Hz
void ToneAlarm_VRBRAIN::update()
{
// exit immediately if we haven't initialised successfully
if (_tonealarm_fd == -1) {
return;
}
// check if arming status has changed
if (flags.armed != AP_Notify::flags.armed) {
flags.armed = AP_Notify::flags.armed;
if (flags.armed) {
// arming tune
play_tune(TONE_ARMING_WARNING_TUNE);
}else{
// disarming tune
play_tune(TONE_NOTIFY_NEUTRAL_TUNE);
}
}
// check if battery status has changed
if (flags.failsafe_battery != AP_Notify::flags.failsafe_battery) {
flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
if (flags.failsafe_battery) {
// low battery warning tune
play_tune(TONE_BATTERY_WARNING_FAST_TUNE);
}
}
// check gps glitch
if (flags.gps_glitching != AP_Notify::flags.gps_glitching) {
flags.gps_glitching = AP_Notify::flags.gps_glitching;
if (flags.gps_glitching) {
// gps glitch warning tune
play_tune(TONE_GPS_WARNING_TUNE);
}
}
// check gps failsafe
if (flags.failsafe_gps != AP_Notify::flags.failsafe_gps) {
flags.failsafe_gps = AP_Notify::flags.failsafe_gps;
if (flags.failsafe_gps) {
// gps glitch warning tune
play_tune(TONE_GPS_WARNING_TUNE);
}
}
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN

47
libraries/AP_Notify/ToneAlarm_VRBRAIN.h
View File

@ -1,47 +0,0 @@
/*
ToneAlarm VRBRAIN driver
*/
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __TONE_ALARM_VRBRAIN_H__
#define __TONE_ALARM_VRBRAIN_H__
#include "ToneAlarm_VRBRAIN.h"
class ToneAlarm_VRBRAIN
{
public:
/// init - initialised the tone alarm
bool init(void);
/// update - updates led according to timed_updated. Should be called at 50Hz
void update();
private:
/// play_tune - play one of the pre-defined tunes
bool play_tune(const uint8_t tune_number);
int _tonealarm_fd; // file descriptor for the tone alarm
/// tonealarm_type - bitmask of states we track
struct tonealarm_type {
uint8_t armed : 1; // 0 = disarmed, 1 = armed
uint8_t failsafe_battery : 1; // 1 if battery failsafe
uint8_t gps_glitching : 1; // 1 if gps position is not good
uint8_t failsafe_gps : 1; // 1 if gps failsafe
} flags;
};
#endif // __TONE_ALARM_VRBRAIN_H__

77
libraries/AP_Notify/ToshibaLED_VRBRAIN.cpp
View File

@ -1,77 +0,0 @@
/*
ToshibaLED VRBRAIN driver
*/
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#include "ToshibaLED_VRBRAIN.h"
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <drivers/drv_rgbled.h>
#include <stdio.h>
#include <errno.h>
extern const AP_HAL::HAL& hal;
bool ToshibaLED_VRBRAIN::hw_init()
{
// open the rgb led device
_rgbled_fd = open(RGBLED_DEVICE_PATH, 0);
if (_rgbled_fd == -1) {
hal.console->printf("Unable to open " RGBLED_DEVICE_PATH);
return false;
}
ioctl(_rgbled_fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_ON);
last.zero();
next.zero();
hal.scheduler->register_io_process(AP_HAL_MEMBERPROC(&ToshibaLED_VRBRAIN::update_timer));
return true;
}
// set_rgb - set color as a combination of red, green and blue values
bool ToshibaLED_VRBRAIN::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
{
hal.scheduler->suspend_timer_procs();
next[0] = red;
next[1] = green;
next[2] = blue;
hal.scheduler->resume_timer_procs();
return true;
}
void ToshibaLED_VRBRAIN::update_timer(void)
{
if (last == next) {
return;
}
rgbled_rgbset_t v;
v.red = next[0];
v.green = next[1];
v.blue = next[2];
ioctl(_rgbled_fd, RGBLED_SET_RGB, (unsigned long)&v);
last = next;
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN

37
libraries/AP_Notify/ToshibaLED_VRBRAIN.h
View File

@ -1,37 +0,0 @@
/*
ToshibaLED VRBRAIN driver
*/
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __TOSHIBA_LED_VRBRAIN_H__
#define __TOSHIBA_LED_VRBRAIN_H__
#include "ToshibaLED.h"
#include "AP_Math.h"
#include "vectorN.h"
class ToshibaLED_VRBRAIN : public ToshibaLED
{
public:
bool hw_init(void);
bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b);
private:
int _rgbled_fd;
void update_timer(void);
VectorN<uint8_t,3> last, next;
};
#endif // __TOSHIBA_LED_VRBRAIN_H__

12
libraries/DataFlash/DataFlash_File.cpp
View File

@ -45,11 +45,17 @@ DataFlash_File::DataFlash_File(const char *log_directory) :
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
// V1 gets IO errors with larger than 512 byte writes
_writebuf_chunk(512),
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V4)
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V40)
_writebuf_chunk(512),
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V5)
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V45)
_writebuf_chunk(512),
#elif defined(CONFIG_ARCH_BOARD_VRHERO_V1)
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V50)
_writebuf_chunk(512),
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
_writebuf_chunk(512),
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
_writebuf_chunk(512),
#elif defined(CONFIG_ARCH_BOARD_VRHERO_V10)
_writebuf_chunk(512),
#else
_writebuf_chunk(4096),

148
mk/VRBRAIN/ROMFS/init.d/rc.APM
View File

@ -1,148 +0,0 @@
#!nsh
# APM startup script for NuttX on VRBRAIN
# To disable APM startup add a /fs/microsd/APM/nostart file
# check for an old file called APM, caused by
# a bug in an earlier firmware release
if [ -f /fs/microsd/APM ]
then
echo "[APM] APM file found - renaming"
mv /fs/microsd/APM /fs/microsd/APM.old
fi
if [ -f /fs/microsd/APM/nostart ]
then
echo "[APM] APM/nostart found - skipping APM startup"
sh /etc/init.d/rc.error
fi
# mount binfs so we can find the built-in apps
if [ -f /bin/reboot ]
then
echo "[APM] binfs already mounted"
else
echo "[APM] Mounting binfs"
if mount -t binfs /dev/null /bin
then
echo "[APM] binfs mounted OK"
else
sh /etc/init.d/rc.error
fi
fi
if rm /fs/microsd/APM/boot.log
then
echo "[APM] Removed old boot.log"
fi
set logfile /fs/microsd/APM/BOOT.LOG
if [ ! -f /bin/ArduPilot ]
then
echo "[APM] /bin/ArduPilot not found"
sh /etc/init.d/rc.error
fi
if mkdir /fs/microsd/APM > /dev/null
then
echo "[APM] Created APM directory"
fi
echo "[APM] Starting UORB"
if uorb start
then
echo "[APM] UORB started OK"
else
sh /etc/init.d/rc.error
fi
echo "[APM] Starting ADC"
if adc start
then
echo "[APM] ADC started OK"
else
sh /etc/init.d/rc.error
fi
echo "[APM] Starting APM sensors"
if ms5611 start
then
echo "[APM] MS5611 started OK"
else
echo "[APM] MS5611 start failed"
sh /etc/init.d/rc.error
fi
if hmc5883 start
then
echo "[APM] HMC5883 started OK"
else
echo "[APM] HMC5883 start failed"
sh /etc/init.d/rc.error
fi
if mpu6000 start
then
echo "[APM] MPU6000 started OK"
else
echo "[APM] MPU6000 start failed"
sh /etc/init.d/rc.error
fi
echo "[APM] Starting MTD driver"
if mtd start /fs/mtd
then
echo "[APM] MTD driver started OK"
else
echo "[APM] MTD driver start failed"
sh /etc/init.d/rc.error
fi
echo "[APM] MTD driver read test"
if mtd readtest /fs/mtd
then
echo "[APM] MTD driver readtest OK"
else
echo "[APM] MTD driver failed to read"
sh /etc/init.d/rc.error
fi
echo "[APM] Starting VROUTPUT driver"
vroutput mode_pwm
#if vroutput mode_pwm
#then
# echo "[APM] VROUTPUT driver started OK"
#else
# echo "[APM] VROUTPUT driver start failed"
# sh /etc/init.d/rc.error
#fi
echo "[APM] Starting VRINPUT driver"
vrinput start
#if vrinput start
#then
# echo "[APM] VRINPUT driver started OK"
#else
# echo "[APM] VRINPUT driver start failed"
# sh /etc/init.d/rc.error
#fi
set sketch NONE
set deviceA /dev/ttyACM0
set deviceC /dev/ttyS2
echo "[APM] Starting ArduPilot" $deviceA $deviceC
if ArduPilot -d $deviceA -d2 $deviceC start
then
echo "[APM] ArduPilot started OK"
else
echo "[APM] ArduPilot start failed"
sh /etc/init.d/rc.error
fi
echo "[APM] Exiting from nsh shell"
exit
echo "[APM] Script finished"

121
mk/VRBRAIN/ROMFS/init.d/rc.APMNS
View File

@ -1,121 +0,0 @@
#!nsh
# APM startup script for NuttX on VRBRAIN
# mount binfs so we can find the built-in apps
if [ -f /bin/reboot ]
then
echo "[APMNS] binfs already mounted"
else
echo "[APMNS] Mounting binfs"
if mount -t binfs /dev/null /bin
then
echo "[APMNS] binfs mounted OK"
else
sh /etc/init.d/rc.error
fi
fi
if [ ! -f /bin/ArduPilot ]
then
echo "[APMNS] /bin/ArduPilot not found"
sh /etc/init.d/rc.error
fi
echo "[APMNS] Starting UORB"
if uorb start
then
echo "[APMNS] UORB started OK"
else
sh /etc/init.d/rc.error
fi
echo "[APMNS] Starting ADC"
if adc start
then
echo "[APMNS] ADC started OK"
else
sh /etc/init.d/rc.error
fi
echo "[APMNS] Starting APM sensors"
if ms5611 start
then
echo "[APMNS] MS5611 started OK"
else
echo "[APMNS] MS5611 start failed"
sh /etc/init.d/rc.error
fi
if hmc5883 start
then
echo "[APMNS] HMC5883 started OK"
else
echo "[APMNS] HMC5883 start failed"
sh /etc/init.d/rc.error
fi
if mpu6000 start
then
echo "[APMNS] MPU6000 started OK"
else
echo "[APMNS] MPU6000 start failed"
sh /etc/init.d/rc.error
fi
echo "[APMNS] Starting MTD driver"
if mtd start /fs/mtd
then
echo "[APMNS] MTD driver started OK"
else
echo "[APMNS] MTD driver start failed"
sh /etc/init.d/rc.error
fi
echo "[APMNS] MTD driver read test"
if mtd readtest /fs/mtd
then
echo "[APMNS] MTD driver readtest OK"
else
echo "[APMNS] MTD driver failed to read"
sh /etc/init.d/rc.error
fi
echo "[APMNS] Starting VROUTPUT driver"
vroutput mode_pwm
#if vroutput mode_pwm
#then
# echo "[APMNS] VROUTPUT driver started OK"
#else
# echo "[APMNS] VROUTPUT driver start failed"
# sh /etc/init.d/rc.error
#fi
echo "[APMNS] Starting VRINPUT driver"
vrinput start
#if vrinput start
#then
# echo "[APMNS] VRINPUT driver started OK"
#else
# echo "[APMNS] VRINPUT driver start failed"
# sh /etc/init.d/rc.error
#fi
set sketch NONE
set deviceA /dev/ttyACM0
set deviceC /dev/ttyS2
echo "[APMNS] Starting ArduPilot" $deviceA $deviceC
if ArduPilot -d $deviceA -d2 $deviceC start
then
echo "[APMNS] ArduPilot started OK"
else
echo "[APMNS] ArduPilot start failed"
sh /etc/init.d/rc.error
fi
echo "[APMNS] Exiting from nsh shell"
exit
echo "[APMNS] Script finished"

14
mk/VRBRAIN/ROMFS/init.d/rc.error
View File

@ -1,14 +0,0 @@
echo "Error in startup"
tone_alarm MNCC
nshterm /dev/ttyACM0 &
sleep 1
nshterm /dev/ttyS0 &
sleep 1
exit

97
mk/VRBRAIN/ROMFS/init.d/rcS
View File

@ -1,97 +0,0 @@
#!nsh
#
# VRBRAIN startup script.
#
# This script is responsible for:
#
# - mounting the microSD card (if present)
# - running the user startup script from the microSD card (if present)
# - detecting the configuration of the system and picking a suitable
# startup script to continue with
#
# Note: DO NOT add configuration-specific commands to this script;
# add them to the per-configuration scripts instead.
#
#
# Default to auto-start mode. An init script on the microSD card
# can change this to prevent automatic startup of the flight script.
#
set MODE autostart
set USB autoconnect
#
# Try to mount the microSD card.
#
echo "[init] looking for microSD..."
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
echo "[init] card mounted at /fs/microsd"
set HAVE_MICROSD 1
# Start playing the startup tune
tone_alarm start
else
echo "[init] no microSD card found"
set HAVE_MICROSD 0
# Play SOS
tone_alarm 2
fi
#
# Look for an init script on the microSD card.
#
# To prevent automatic startup in the current flight mode,
# the script should set MODE to some other value.
#
if [ -f /fs/microsd/etc/rc ]
then
echo "[init] reading /fs/microsd/etc/rc"
sh /fs/microsd/etc/rc
fi
# Also consider rc.txt files
if [ -f /fs/microsd/etc/rc.txt ]
then
echo "[init] reading /fs/microsd/etc/rc.txt"
sh /fs/microsd/etc/rc.txt
fi
#
# Check for USB host
#
if [ $USB != autoconnect ]
then
echo "[init] not connecting USB"
else
if sercon
then
echo "[init] USB interface connected"
else
echo "[init] No USB connected"
fi
fi
if [ $HAVE_MICROSD == 1 ]
then
if [ ! -f /fs/microsd/APM/nostart ]
then
if [ -f /etc/init.d/rc.APM ]
then
echo "[init] Running rc.APM"
# if APM startup is successful then nsh will exit
sh /etc/init.d/rc.APM
else
nshterm /dev/ttyACM0 &
fi
else
nshterm /dev/ttyACM0 &
fi
else
if [ -f /etc/init.d/rc.APMNS ]
then
echo "[init] Running rc.APM without SD"
# if APM startup is successful then nsh will exit
sh /etc/init.d/rc.APMNS
else
nshterm /dev/ttyACM0 &
fi
fi

165
mk/VRBRAIN/config_vrbrain-v4_APM.mk
View File

@ -1,165 +0,0 @@
#
# Makefile for the vrbrain-v4_APM configuration
#
#
# Use the configuration's ROMFS.
#
ROMFS_ROOT = $(SKETCHBOOK)/mk/VRBRAIN/ROMFS
MODULES += $(APM_MODULE_DIR)
#
# Board support modules
#
MODULES += drivers/device
MODULES += drivers/stm32
MODULES += drivers/stm32/adc
MODULES += drivers/stm32/tone_alarm
MODULES += drivers/led
MODULES += drivers/boards/vrbrain-v4
MODULES += drivers/vrbrain/vroutput
MODULES += drivers/vrbrain/vrinput/controls
MODULES += drivers/vrbrain/vrinput
MODULES += drivers/mpu6000
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
#
# System commands
#
MODULES += systemcmds/mtd
MODULES += systemcmds/top
MODULES += systemcmds/tests
MODULES += systemcmds/nshterm
#
# General system control
#
#
# Estimation modules (EKF/ SO3 / other filters)
#
#
# Vehicle Control
#
#
# Logging
#
#
# Unit tests
#
#
# Library modules
#
MODULES += modules/systemlib
MODULES += modules/uORB
#
# Libraries
#
MODULES += lib/mathlib/math/filter
#
# Transitional support - add commands from the NuttX export archive.
#
# In general, these should move to modules over time.
#
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
# to make the table a bit more readable.
#
define _B
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
endef
# command priority stack entrypoint
BUILTIN_COMMANDS := \
$(call _B, sercon, , 2048, sercon_main ) \
$(call _B, serdis, , 2048, serdis_main ) \
$(call _B, msconn, , 2048, msconn_main ) \
$(call _B, msdis, , 2048, msdis_main ) \
$(call _B, sysinfo, , 2048, sysinfo_main )

165
mk/VRBRAIN/config_vrbrain-v5_APM.mk
View File

@ -1,165 +0,0 @@
#
# Makefile for the vrbrain-v5_APM configuration
#
#
# Use the configuration's ROMFS.
#
ROMFS_ROOT = $(SKETCHBOOK)/mk/VRBRAIN/ROMFS
MODULES += $(APM_MODULE_DIR)
#
# Board support modules
#
MODULES += drivers/device
MODULES += drivers/stm32
MODULES += drivers/stm32/adc
MODULES += drivers/stm32/tone_alarm
MODULES += drivers/led
MODULES += drivers/boards/vrbrain-v5
MODULES += drivers/vrbrain/vroutput
MODULES += drivers/vrbrain/vrinput/controls
MODULES += drivers/vrbrain/vrinput
MODULES += drivers/mpu6000
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
#
# System commands
#
MODULES += systemcmds/mtd
MODULES += systemcmds/top
MODULES += systemcmds/tests
MODULES += systemcmds/nshterm
#
# General system control
#
#
# Estimation modules (EKF/ SO3 / other filters)
#
#
# Vehicle Control
#
#
# Logging
#
#
# Unit tests
#
#
# Library modules
#
MODULES += modules/systemlib
MODULES += modules/uORB
#
# Libraries
#
MODULES += lib/mathlib/math/filter
#
# Transitional support - add commands from the NuttX export archive.
#
# In general, these should move to modules over time.
#
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
# to make the table a bit more readable.
#
define _B
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
endef
# command priority stack entrypoint
BUILTIN_COMMANDS := \
$(call _B, sercon, , 2048, sercon_main ) \
$(call _B, serdis, , 2048, serdis_main ) \
$(call _B, msconn, , 2048, msconn_main ) \
$(call _B, msdis, , 2048, msdis_main ) \
$(call _B, sysinfo, , 2048, sysinfo_main )

4
mk/configure.mk
View File

@ -26,9 +26,9 @@ endif
@echo NUTTX_SRC=../PX4NuttX/nuttx >> $(SKETCHBOOK)/config.mk
###################### VRBRAIN ##################################
@echo \# VRBRAIN Firmware tree: >> $(SKETCHBOOK)/config.mk
@echo VRBRAIN_ROOT=../VRBRAINFirmware >> $(SKETCHBOOK)/config.mk
@echo VRBRAIN_ROOT=../VRNuttX >> $(SKETCHBOOK)/config.mk
@echo >> $(SKETCHBOOK)/config.mk
@echo \# VRBRAIN NuttX tree: >> $(SKETCHBOOK)/config.mk
@echo VRBRAIN_NUTTX_SRC=../VRBRAINFirmware/NuttX/nuttx >> $(SKETCHBOOK)/config.mk
@echo VRBRAIN_NUTTX_SRC=../VRNuttX/NuttX/nuttx >> $(SKETCHBOOK)/config.mk
@echo >> $(SKETCHBOOK)/config.mk

20
mk/environ.mk
View File

@ -80,6 +80,18 @@ ifneq ($(findstring vrbrain, $(MAKECMDGOALS)),)
BUILDROOT := $(SKETCHBOOK)/Build.$(SKETCH)
endif
ifneq ($(findstring vrubrain, $(MAKECMDGOALS)),)
# when building vrbrain we need all sources to be inside the sketchbook directory
# as the NuttX build system relies on it
BUILDROOT := $(SKETCHBOOK)/Build.$(SKETCH)
endif
ifneq ($(findstring vrhero, $(MAKECMDGOALS)),)
# when building vrbrain we need all sources to be inside the sketchbook directory
# as the NuttX build system relies on it
BUILDROOT := $(SKETCHBOOK)/Build.$(SKETCH)
endif
ifeq ($(BUILDROOT),)
BUILDROOT := $(abspath $(TMPDIR)/$(SKETCH).build)
endif
@ -130,6 +142,14 @@ ifneq ($(findstring vrbrain, $(MAKECMDGOALS)),)
HAL_BOARD = HAL_BOARD_VRBRAIN
endif
ifneq ($(findstring vrubrain, $(MAKECMDGOALS)),)
HAL_BOARD = HAL_BOARD_VRBRAIN
endif
ifneq ($(findstring vrhero, $(MAKECMDGOALS)),)
HAL_BOARD = HAL_BOARD_VRBRAIN
endif
ifneq ($(findstring apm1, $(MAKECMDGOALS)),)
HAL_BOARD = HAL_BOARD_APM1
endif

2
mk/targets.mk
View File

@ -40,7 +40,7 @@ empty: all
# cope with copter and hil targets
FRAMES = quad tri hexa y6 octa octa-quad heli single
BOARDS = apm1 apm2 apm2beta apm1-1280 px4 px4-v1 px4-v2 sitl flymaple linux vrbrain vrbrain-v4 vrbrainv-5 vrhero-v1
BOARDS = apm1 apm2 apm2beta apm1-1280 px4 px4-v1 px4-v2 sitl flymaple linux vrbrain vrbrain-v40 vrbrain-v45 vrbrainv-50 vrbrain-v51 vrubrain-v51 vrhero-v10
define frame_template
$(1)-$(2) : EXTRAFLAGS += "-DFRAME_CONFIG=$(shell echo $(2) | tr a-z A-Z | sed s/-/_/g)_FRAME "

138
mk/vrbrain_targets.mk
View File

@ -32,10 +32,13 @@ endif
# we have different config files for vrbrain_v4, vrbrain_v5 and vrhero_v1
VRBRAIN_VB4_CONFIG_FILE=$(MK_DIR)/VRBRAIN/config_vrbrain-v4_APM.mk
VRBRAIN_VB5_CONFIG_FILE=$(MK_DIR)/VRBRAIN/config_vrbrain-v5_APM.mk
VRBRAIN_VH1_CONFIG_FILE=$(MK_DIR)/VRBRAIN/config_vrhero-v1_APM.mk
# we have different config files for vrbrain_v40, vrbrain_v45, vrbrain_v50, vrbrain_v51, vrubrain_v51 and vrhero_v10
VRBRAIN_VB40_CONFIG_FILE=$(MK_DIR)/VRBRAIN/config_vrbrain-v40_APM.mk
VRBRAIN_VB45_CONFIG_FILE=$(MK_DIR)/VRBRAIN/config_vrbrain-v45_APM.mk
VRBRAIN_VB50_CONFIG_FILE=$(MK_DIR)/VRBRAIN/config_vrbrain-v50_APM.mk
VRBRAIN_VB51_CONFIG_FILE=$(MK_DIR)/VRBRAIN/config_vrbrain-v51_APM.mk
VRBRAIN_VU51_CONFIG_FILE=$(MK_DIR)/VRBRAIN/config_vrubrain-v51_APM.mk
VRBRAIN_VH10_CONFIG_FILE=$(MK_DIR)/VRBRAIN/config_vrhero-v10_APM.mk
SKETCHFLAGS=$(SKETCHLIBINCLUDES) -I$(PWD) -DARDUPILOT_BUILD -DCONFIG_HAL_BOARD=HAL_BOARD_VRBRAIN -DSKETCHNAME="\\\"$(SKETCH)\\\"" -DSKETCH_MAIN=ArduPilot_main -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
@ -54,36 +57,74 @@ module_mk:
$(v) cmp $(SKETCHBOOK)/module.mk $(SKETCHBOOK)/module.mk.new 2>/dev/null || mv $(SKETCHBOOK)/module.mk.new $(SKETCHBOOK)/module.mk
$(v) rm -f $(SKETCHBOOK)/module.mk.new
vrbrain-v4: showflags $(VRBRAIN_ROOT)/Archives/vrbrain-v4.export $(SKETCHCPP) module_mk
vrbrain-v40: showflags $(VRBRAIN_ROOT)/Archives/vrbrain-v40.export $(SKETCHCPP) module_mk
$(RULEHDR)
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/$(VRBRAIN_VB4_CONFIG_FILE)
$(v) cp $(SRCROOT)/$(VRBRAIN_VB4_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/
$(v) $(VRBRAIN_MAKE) vrbrain-v4_APM
$(v) /bin/rm -f $(SKETCH)-vrbrain-v4.vrbrain
$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v4_APM.vrbrain $(SKETCH)-vrbrain-v4.vbrain
$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v4.vbrain"
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/$(VRBRAIN_VB40_CONFIG_FILE)
$(v) cp $(SRCROOT)/$(VRBRAIN_VB40_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/
$(v) $(VRBRAIN_MAKE) vrbrain-v40_APM
$(v) /bin/rm -f $(SKETCH)-vrbrain-v40.vrx
$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v40_APM.vrx $(SKETCH)-vrbrain-v40.vrx
$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v40_APM.hex $(SKETCH)-vrbrain-v40.hex
$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v40_APM.bin $(SKETCH)-vrbrain-v40.bin
$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v40.vrx"
vrbrain-v5: showflags $(VRBRAIN_ROOT)/Archives/vrbrain-v5.export $(SKETCHCPP) module_mk
vrbrain-v45: showflags $(VRBRAIN_ROOT)/Archives/vrbrain-v45.export $(SKETCHCPP) module_mk
$(RULEHDR)
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/$(VRBRAIN_VB5_CONFIG_FILE)
$(v) cp $(SRCROOT)/$(VRBRAIN_VB5_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/
$(v) $(VRBRAIN_MAKE) vrbrain-v5_APM
$(v) /bin/rm -f $(SKETCH)-vrbrain-v5.vrbrain
$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v5_APM.vrbrain $(SKETCH)-vrbrain-v5.vbrain
$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v5.vbrain"
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/$(VRBRAIN_VB45_CONFIG_FILE)
$(v) cp $(SRCROOT)/$(VRBRAIN_VB45_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/
$(v) $(VRBRAIN_MAKE) vrbrain-v45_APM
$(v) /bin/rm -f $(SKETCH)-vrbrain-v45.vrx
$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v45_APM.vrx $(SKETCH)-vrbrain-v45.vrx
$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v45_APM.hex $(SKETCH)-vrbrain-v45.hex
$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v45_APM.bin $(SKETCH)-vrbrain-v45.bin
$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v45.vrx"
vrhero-v1: showflags $(VRBRAIN_ROOT)/Archives/vrhero-v1.export $(SKETCHCPP) module_mk
vrbrain-v50: showflags $(VRBRAIN_ROOT)/Archives/vrbrain-v50.export $(SKETCHCPP) module_mk
$(RULEHDR)
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/$(VRBRAIN_VH1_CONFIG_FILE)
$(v) cp $(SRCROOT)/$(VRBRAIN_VH1_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/
$(v) $(VRBRAIN_MAKE) vrhero-v1_APM
$(v) /bin/rm -f $(SKETCH)-vrhero-v1.vrbrain
$(v) cp $(VRBRAIN_ROOT)/Images/vrhero-v1_APM.vrbrain $(SKETCH)-vrhero-v1.vbrain
$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrhero-v1.vbrain"
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/$(VRBRAIN_VB50_CONFIG_FILE)
$(v) cp $(SRCROOT)/$(VRBRAIN_VB50_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/
$(v) $(VRBRAIN_MAKE) vrbrain-v50_APM
$(v) /bin/rm -f $(SKETCH)-vrbrain-v50.vrx
$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v50_APM.vrx $(SKETCH)-vrbrain-v50.vrx
$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v50_APM.hex $(SKETCH)-vrbrain-v50.hex
$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v50_APM.bin $(SKETCH)-vrbrain-v50.bin
$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v50.vrx"
#vrbrain: vrbrain-v4 vrbrain-v5 vrhero-v1
vrbrain: vrbrain-v4 vrbrain-v5
#vrbrain: vrbrain-v4
vrbrain-v51: showflags $(VRBRAIN_ROOT)/Archives/vrbrain-v51.export $(SKETCHCPP) module_mk
$(RULEHDR)
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/$(VRBRAIN_VB51_CONFIG_FILE)
$(v) cp $(SRCROOT)/$(VRBRAIN_VB51_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/
$(v) $(VRBRAIN_MAKE) vrbrain-v51_APM
$(v) /bin/rm -f $(SKETCH)-vrbrain-v51.vrx
$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v51_APM.vrx $(SKETCH)-vrbrain-v51.vrx
$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v51_APM.hex $(SKETCH)-vrbrain-v51.hex
$(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v51_APM.bin $(SKETCH)-vrbrain-v51.bin
$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v51.vrx"
vrubrain-v51: showflags $(VRBRAIN_ROOT)/Archives/vrubrain-v51.export $(SKETCHCPP) module_mk
$(RULEHDR)
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/$(VRBRAIN_VU51_CONFIG_FILE)
$(v) cp $(SRCROOT)/$(VRBRAIN_VU51_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/
$(v) $(VRBRAIN_MAKE) vrubrain-v51_APM
$(v) /bin/rm -f $(SKETCH)-vrubrain-v51.vrx
$(v) cp $(VRBRAIN_ROOT)/Images/vrubrain-v51_APM.vrx $(SKETCH)-vrubrain-v51.vrx
$(v) cp $(VRBRAIN_ROOT)/Images/vrubrain-v51_APM.hex $(SKETCH)-vrubrain-v51.hex
$(v) cp $(VRBRAIN_ROOT)/Images/vrubrain-v51_APM.bin $(SKETCH)-vrubrain-v51.bin
$(v) echo "MICRO VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrubrain-v51.vrx"
vrhero-v10: showflags $(VRBRAIN_ROOT)/Archives/vrhero-v10.export $(SKETCHCPP) module_mk
$(RULEHDR)
$(v) rm -f $(VRBRAIN_ROOT)/makefiles/$(VRBRAIN_VH10_CONFIG_FILE)
$(v) cp $(SRCROOT)/$(VRBRAIN_VH10_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/
$(v) $(VRBRAIN_MAKE) vrhero-v10_APM
$(v) /bin/rm -f $(SKETCH)-vrhero-v10.vrx
$(v) cp $(VRBRAIN_ROOT)/Images/vrhero-v10_APM.vrx $(SKETCH)-vrhero-v10.vrx
$(v) cp $(VRBRAIN_ROOT)/Images/vrhero-v10_APM.hex $(SKETCH)-vrhero-v10.hex
$(v) cp $(VRBRAIN_ROOT)/Images/vrhero-v10_APM.bin $(SKETCH)-vrhero-v10.bin
$(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrhero-v10.vrx"
#vrbrain: vrbrain-v40 vrbrain-v45 vrbrain-v50 vrbrain-v51 vrubrain-v51 vrhero-v10
vrbrain: vrbrain-v45 vrubrain-v51
vrbrain-clean: clean vrbrain-archives-clean
$(v) /bin/rm -rf $(VRBRAIN_ROOT)/makefiles/build $(VRBRAIN_ROOT)/Build
@ -91,30 +132,51 @@ vrbrain-clean: clean vrbrain-archives-clean
vrbrain-cleandep: clean
$(v) find $(VRBRAIN_ROOT)/Build -type f -name '*.d' | xargs rm -f
vrbrain-v4-upload: vrbrain-v4
vrbrain-v40-upload: vrbrain-v40
$(RULEHDR)
$(v) $(VRBRAIN_MAKE) vrbrain-v4_APM upload
$(v) $(VRBRAIN_MAKE) vrbrain-v40_APM upload
vrbrain-v5-upload: vrbrain-v5
vrbrain-v45-upload: vrbrain-v45
$(RULEHDR)
$(v) $(VRBRAIN_MAKE) vrbrain-v5_APM upload
$(v) $(VRBRAIN_MAKE) vrbrain-v45_APM upload
vrhero-v1-upload: vrhero-v1
vrbrain-v50-upload: vrbrain-v50
$(RULEHDR)
$(v) $(VRBRAIN_MAKE) vrhero-v1_APM upload
$(v) $(VRBRAIN_MAKE) vrbrain-v50_APM upload
vrbrain-upload: vrbrain-v4-upload
vrbrain-v51-upload: vrbrain-v51
$(RULEHDR)
$(v) $(VRBRAIN_MAKE) vrbrain-v51_APM upload
vrubrain-v51-upload: vrubrain-v51
$(RULEHDR)
$(v) $(VRBRAIN_MAKE) vrubrain-v51_APM upload
vrhero-v10-upload: vrhero-v10
$(RULEHDR)
$(v) $(VRBRAIN_MAKE) vrhero-v10_APM upload
vrbrain-upload: vrbrain-v40-upload
vrbrain-archives-clean:
$(v) /bin/rm -rf $(VRBRAIN_ROOT)/Archives
$(VRBRAIN_ROOT)/Archives/vrbrain-v4.export:
$(VRBRAIN_ROOT)/Archives/vrbrain-v40.export:
$(v) $(VRBRAIN_MAKE_ARCHIVES)
$(VRBRAIN_ROOT)/Archives/vrbrain-v5.export:
$(VRBRAIN_ROOT)/Archives/vrbrain-v45.export:
$(v) $(VRBRAIN_MAKE_ARCHIVES)
$(VRBRAIN_ROOT)/Archives/vrhero-v1.export:
$(VRBRAIN_ROOT)/Archives/vrbrain-v50.export:
$(v) $(VRBRAIN_MAKE_ARCHIVES)
$(VRBRAIN_ROOT)/Archives/vrbrain-v51.export:
$(v) $(VRBRAIN_MAKE_ARCHIVES)
$(VRBRAIN_ROOT)/Archives/vrubrain-v51.export:
$(v) $(VRBRAIN_MAKE_ARCHIVES)
$(VRBRAIN_ROOT)/Archives/vrhero-v10.export:
$(v) $(VRBRAIN_MAKE_ARCHIVES)
vrbrain-archives: