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521 Commits

Author SHA1 Message Date
Andrew Tridgell 4289190654 HAL_PX4: added LIS3MDL on FMUv4 2017-12-08 09:49:25 +11:00
Mark Whitehorn b1b1c0218f AP_HAL_PX4: clean whitespace 2017-11-30 10:20:04 +11:00
Mark Whitehorn 12ea8efa84 AP_HAL_PX4: support SBusOut 
add unbuffered writes and uart config
 2017-11-30 10:20:04 +11:00
Andrew Tridgell 3402d07651 HAL_PX4: fixed a race condition on i2c init 
we could call init on two devices with the same name, which caused
init_ok to be false. This could cause the SMBus battery to fail to
initialise

Thanks to Michael duBreuil for finding this!
 2017-10-26 18:21:56 +11:00
Lucas De Marchi f6b1099896 AP_HAL: move in tap esc implementation 
This can be shared with Linux.
 2017-09-21 07:59:20 -07:00
Peter Barker 8d208ea514 AP_HAL_PX4: make in_main_thread const and override 2017-09-19 09:40:11 +10:00
VikingDai 9f0e8a64d5 Update HAL_PX4_Class.cpp 
"ttys5" used both for console and common usart ,it should be initialized by AP_SerialManager ;
 2017-09-08 10:33:40 +10:00
Andrew Tridgell d09b549144 HAL_PX4: allow uart5 to be used for non-nsh on FMUv2/FMUv3 2017-08-28 17:57:28 +10:00
Peter Barker 48c4e48225 AP_HAL_PX4: send statustext for RC input decoding type 2017-08-15 22:04:00 +01:00
Miguel Arroyo fc155eac7e AP_HAL_PX4: Adds UARTF as commandline option 2017-08-15 14:31:51 +01:00
José Roberto de Souza 9ee007f924 AP_HAL_PX4: Map PX4_I2C_BUS_EXPANSION1 2017-08-04 12:47:01 -07:00
José Roberto de Souza e674d6ee20 AP_HAL_PX4: aeorfc: Move GPS to UART7 
The UART3 also have the I2C bus 2 functions so moving GPS to UART7 to
have one additional I2C.
To keep GPS working is also necessary update the FPGA RTL to version
0xC1 or higher.
 2017-08-04 12:47:01 -07:00
Lucas De Marchi 5ea1784838 global: remove AP_HAL::in_timerprocess() 
This is not used and in the only places it would make sense would be
internally to the scheduler so remove it.
 2017-08-03 20:25:14 -07:00
Lucas De Marchi 9e66938f68 AP_HAL_PX4: Scheduler: replace use of in_timerprocess() 
This function actually checks if we are not in the main thread rather
than if we are in the timer thread.

Add a new function that does what it's supposed to do.
 2017-08-03 20:25:01 -07:00
Randy Mackay 687ec98e5d AP_HAL_PX4: set default servo update rate only when changed 
This removes the chance a small switch occurring whenever this function is called
 2017-07-26 13:28:07 +09:00
Andrew Tridgell 5b43698e25 HAL_PX4: added rcout set_detault_rate() 2017-07-24 14:07:28 +10:00
Kevin Lopez Alvarez 16a96b0643 HAL_PX4: Adjust SPI params for ppro 
Add SPI prescalers for 180 MHz and decrease LIS3MDL SPI speed
 2017-07-24 13:48:20 +10:00
Kevin Lopez Alvarez 88958b2dbf HAL_PX4: add ppro support 2017-07-24 13:47:06 +10:00
Kevin Lopez Alvarez d6d1a3e08c AP_HAL_PX4: initial FMUv4pro support 2017-07-24 13:45:37 +10:00
Siddharth Bharat Purohit 66a94f7a10 HAL_PX4: use correct datatype for time conversion 2017-07-13 18:23:00 -07:00
Eugene Shamaev 36655310b3 AP_HAL_PX4: support for several CAN interfaces and drivers, filtering support 2017-07-03 11:44:32 +01:00
Andrew Tridgell a88693c487 HAL_PX4: support RSSI from receiver protocols 2017-07-03 11:22:21 +10:00
Andrew Tridgell b8f628da83 HAL_PX4: fixed bug in last_sent 
thanks to Francisco
 2017-06-21 11:40:12 +10:00
Andrew Tridgell 17893958bf HAL_PX4: cope with brushed motors in read_last_sent() 
we need the value before scaling is applied, so slew rates can work
 2017-06-21 10:55:24 +10:00
Andrew Tridgell 11396919c8 HAL_PX4: changed BRUSHED16kHz to BRUSHED 2017-06-17 17:37:45 +10:00
Andrew Tridgell 96627bc4e5 HAL_PX4: allow any pulse freq in brushed mode 2017-06-17 17:37:45 +10:00
Peter Barker 7ce353e652 AP_HAL_PX4: use HAL_SEMAPHORE_BLOCK_FOREVER macro 2017-05-08 10:23:03 +09:00
Andrew Tridgell b72532164b AP_HAL_PX4: rename macros to avoid conflicts 
these macros were also defined in NuttX in clock.h
 2017-05-06 15:21:14 +10:00
Andrew Tridgell 37166301c9 HAL_PX4: use sensor_config_error() 2017-05-03 11:37:02 +10:00
Peter Barker 3ff4cd8c07 AP_HAL_PX4: use HAL_SEMAPHORE_BLOCK_FOREVER 2017-05-01 15:05:51 +01:00
Andrew Tridgell 9bdb6838e6 HAL_PX4: cope with nested cork/push 2017-05-01 14:32:18 +10:00
Francisco Ferreira 7dca7933fa AP_HAL_PX4: fix UAVCAN armed state to depend on safety switch 2017-04-27 14:04:56 +01:00
Francisco Ferreira 965eda69f3 AP_HAL_PX4: remove left-overs of legacy UAVCAN support 2017-04-27 13:32:43 +01:00
Andrew Tridgell ca4cde9770 HAL_PX4: fixed safety switch light pattern 
this was broken by the recent CAN merge. My fault for not checking it
carefully. We have to publish the armed state so the fmu driver on
pixracer can update the light
 2017-04-27 13:32:43 +01:00
Andrew Tridgell 3415dfb46c HAL_PX4: implement split transfers for I2C 2017-04-18 18:15:04 +10:00
Eugene Shamaev 0c4a68314b AP_HAL_PX4: removal of legacy UAVCAN support 2017-04-17 17:27:18 +10:00
Pierre Kancir a2eeab4db7 AP_HAL_PX4: example fix travis warning 
missing function declaration
implicit cast
some style fix
 2017-04-13 19:56:16 +01:00
Eugene Shamaev 55a0bd081f AP_HAL_PX4: ESC scaling 2017-04-10 22:38:12 +01:00
Eugene Shamaev 7caeaf4be6 AP_HAL_PX4: RCOutput support for UAVCAN 2017-04-10 22:38:12 +01:00
Eugene Shamaev 865392f034 AP_HAL_PX4: CAN bus driver 2017-04-10 22:38:12 +01:00
Andrew Tridgell dbfdfa2261 HAL_PX4: fixed a bug in setup of alt rates for upper channels 
this affected vehicles with high rates on upper channels, such as hexa
and octa quadplanes. The bug caused the rates set on the upper channels
to also be set on the primary channels, which means the low channels
containing aileron, elevator etc ran at 400Hz instead of 50Hz, resulting
in potential damage to the servos
 2017-04-07 20:32:19 +10:00
Andrew Tridgell a8b12dcf3c HAL_PX4: never wait on a semaphore in interrupt context 
this shouldn't ever happen, but better to check
 2017-04-07 18:16:14 +10:00
Peter Barker 724be3878c AP_HAL_PX4: correct output of system-id on px4-v3 2017-04-03 14:14:59 +10:00
Andrew Tridgell 02976168cc HAL_PX4: fixed RC rate when BRD_PWM_COUNT=0 
if BRD_PWM_COUNT is zero then alt_fd is -1, and we were not setting
servo output rate
 2017-04-03 10:05:30 +09:00
Lucas De Marchi 7c246847de AP_HAL_PX4: replace board ifdef with feature ifdef 2017-03-24 12:06:19 +11:00
Lucas De Marchi 2e4e4365d0 AP_InertialSensor: enable fast sampling for aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi 7c1f255258 AP_HAL_PX4: add pin to monitor battery 2017-03-24 12:06:19 +11:00
Lucas De Marchi 91dabbe418 AP_HAL_PX4: implement method to ajust periodic callback 
Just setting up the periodic callback sampling time on initialization
may not work well for sensors that need to request for a sample with a
bus transaction, sleep and then read the new data. That's because the
function will be kept calling at a periodic rate, while the time in
which we can read the value is not really that sampling time, but rather
the time in which sensor was last read + the time spent in the function
before sending a new sample request.

Instead of creating a new type of thread to handle this case, just
implement the minimal and easy case of updating the period for this
callback, that can only be called from inside the callback function.
 2017-03-24 12:06:19 +11:00
Lucas De Marchi 2349909033 AP_BoardConfig: start mtd driver 2017-03-24 12:06:19 +11:00
Lucas De Marchi fad583b259 AP_HAL_PX4: RCOoutput_Tap: map to [ RPMSTOPPED, RPMMAX ] range 
When it's not armed we get _esc_pwm_min from the AP_Motors library,
which would cause motors to start spinning.  Map it to start from
RPMSTOPPED so it doesn't spin when it's not armed.
 2017-03-24 12:06:19 +11:00
Lucas De Marchi 5e26940070 AP_HAL_PX4: disable safety switch for aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi 327de91b5c AP_HAL_Px4: use RCOutput_Tap for aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi 75977cd890 AP_HAL_PX4: implement motor output for aerofc 
This uses tap ESCs, as found on the PX4 project, translated to our
internal APIs. It doesn't have the feedback from ESCs yet.
 2017-03-24 12:06:19 +11:00
Lucas De Marchi ce9013b8ee AP_HAL_PX4: add RCOutput skeleton for aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi 87846fe049 AP_InertialSensor: use MPU6500 on aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi b4d0569339 AP_HAL_PX4: Use empty RCOutput driver for aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi 00c2949dfb Add support for baro on aerofc 2017-03-24 12:06:19 +11:00
Lucas De Marchi b17acfee12 Add aerofc support 
Flight Controller board that comes on Intel Aero RTF Drone.
 2017-03-24 12:06:19 +11:00
Siddharth Bharat Purohit 5029dd1bab AP_HAL_PX4: GPIO: return correct FMU pin read even if IO not connected/detected 2017-03-22 12:15:05 +11:00
Andrew Tridgell fc4caf51e9 HAL_PX4: fixed RC failsafe for SBUS on FMUv4 
the FMUv4 SBUS parser sets timestamp_last_signal even if we are in
failsafe

thanks to Mark Whitehorn for finding this
 2017-03-18 17:36:13 +11:00
Lucas De Marchi f972fed70b AP_HAL_PX4: rename method to follow AP_HAL 
This allows to avoid the cast in the HAL, making it easier to replace
the implementation with an Empty::RCOutput while prototyping.
 2017-02-26 13:38:24 +11:00
Lucas De Marchi e1eda3066c AP_HAL_PX4: SPIDevice: add missing ifdefs 
These sensors may always be present on px4fmu* boards, but they are not
always present for all boards supported by the PX4Firmware.
 2017-02-26 13:37:13 +11:00
Andrew Tridgell 787a2093ec HAL_PX4: fixed motor test for brushed motors 
this fixes zero pwm output on a subset of channels. When using
motortest and asking for a single channel, multiple channels fired due
to an incorrect optimisation
 2017-02-02 09:27:48 +09:00
murata 9b1dadd93e AP_HAL_PX4: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
iseries1 e6a643f805 AP_HAL: define pixracer LED pins 2017-01-27 11:01:17 +09:00
Andrew Tridgell 1bd9d0b7f9 HAL_PX4: cleanup whitespace 2017-01-12 17:39:37 +11:00
Andrew Tridgell 05d9455f87 Revert "HAL_PX4: Add input parameter check." 
This reverts commit 5f41b09fde.

This change is completely incorrect. It is quite common to do SPI
transfers with zero send bytes, and is required for many sensors and
other devices
 2016-12-07 12:47:10 +11:00
murata d619d33374 AP_HAL_PX4: UARTDriver: Delete the condition that does not hold. 2016-12-05 16:53:36 -08:00
Andrew Tridgell e2192d5b4d HAL_PX4: report user bus number not system bus number 2016-12-05 16:51:49 -08:00
murata 5f41b09fde HAL_PX4: Add input parameter check. 2016-12-02 17:09:47 -08:00
Andrew Tridgell 23480a92ad HAL_PX4: only include parts needed for build 
allow for external USE_FLASH_STORAGE define in build
 2016-12-02 09:58:36 +11:00
Andrew Tridgell 6bc0c76d54 HAL_PX4: update for new AP_FlashStorage API 
allow flash sector erase while disarmed
 2016-12-02 09:49:40 +11:00
Andrew Tridgell a66924422f HAL_PX4: implement optional flash backend for storage 
this allows the last two flash sectors to be used as storage for
parameters, waypoints etc.

A change to the bootloader to not erase the last two sectors is needed
 2016-12-02 09:49:39 +11:00
Andrew Tridgell b0832e6c15 HAL_PX4: factor out storage functions 
ready for multiple backends
 2016-12-02 09:49:39 +11:00
Andrew Tridgell d4f679f954 HAL_PX4: removed support for old storage files on microSD 2016-12-02 09:49:39 +11:00
Andrew Tridgell 4cfd63c30a HAL_PX4: refactor storage to use bitmask class 2016-12-02 09:49:39 +11:00
Andrew Tridgell ed8f9b444a HAL_PX4: fixed whitespace 2016-12-02 09:49:38 +11:00
Andrew Tridgell ce5ed66b45 HAL_PX4: auto-scale brushed output with ESC output range 2016-11-30 10:53:26 +11:00
Andrew Tridgell b3286c3da0 HAL_PX4: support MODE_PWM_BRUSHED16KHZ 2016-11-30 10:53:25 +11:00
Andrew Tridgell 40bd3a8861 HAL_PX4: tidy up thread wait code 
use the same method for all threads. Makes for tidier top output
 2016-11-28 10:28:01 +11:00
Andrew Tridgell f039a37971 HAL_PX4: set names on all bus threads 2016-11-28 10:18:52 +11:00
Andrew Tridgell f04b186879 HAL_PX4: fixed bug in instantiation of I2C bus threads 
we ended up with a thread per device instead of a thread per bus!
 2016-11-28 09:53:19 +11:00
Andrew Tridgell 12e0c840e8 HAL_PX4: set thread names for main threads 2016-11-28 09:47:49 +11:00
Andrew Tridgell 37a9a78725 HAL_PX4: avoid bounce buffers for SPI when possible 2016-11-27 11:10:18 +11:00
Andrew Tridgell f3d401abb9 HAL_PX4: fixed FMUv1 build 2016-11-27 07:45:54 +11:00
Andrew Tridgell df60b4252a HAL_PX4: reduced noise in PX4 console 2016-11-26 19:06:15 +11:00
Andrew Tridgell 638e89bd1d HAL_PX4: implement set_chip_select for SPI 2016-11-25 21:24:10 +11:00
Andrew Tridgell 60801314e0 HAL_PX4: added different modes for external SPI 
and lower bus speed to 1MHz
 2016-11-25 21:24:10 +11:00
Andrew Tridgell bcb6663187 HAL_PX4: added table of actual bus speeds for SPI 2016-11-25 20:31:43 +11:00
Andrew Tridgell 0e793e1214 HAL_PX4: lower SPI bus speed on invensense devices 
now we are using DMA we don't need such high bus speed, and this makes
SPI reliable with a wider range of devices.
 2016-11-25 18:32:19 +11:00
Andrew Tridgell 29bbee421e HAL_PX4: enable sharing of SPI bus with PX4 with DMA 2016-11-25 17:50:18 +11:00
Andrew Tridgell 3fad5ca065 HAL_PX4: implement DMA allocation routines 2016-11-25 17:49:58 +11:00
Andrew Tridgell 7220dc15f9 HAL_PX4: adjusted bus speeds on invensense sensors 2016-11-25 17:49:57 +11:00
Andrew Tridgell 252f90ba36 HAL_PX4: drop I2C speed to 100kHz 
reduce I2C errors on long cables for all sensors
 2016-11-21 10:29:52 +11:00
Andrew Tridgell 00938f7dbb HAL_PX4: fixed enabled channels in init 
now this is called from AP_BoardConfig we need to not clear enabled
channels
 2016-11-13 13:16:22 +11:00
Andrew Tridgell 0502eca7fc HAL_PX4: removed unused variable 2016-11-13 13:16:22 +11:00
Andrew Tridgell 41018feb3a HAL_PX4: split I2C transfers 
this avoids SCL low with a stop condition, which doesn't work with
some devices
 2016-11-12 14:18:14 +11:00
Andrew Tridgell 8e61b15384 HAL_PX4: added ICM20608_EXT SPI device 2016-11-11 08:08:55 +11:00
Andrew Tridgell 96e42696b7 HAL_PX4: added icm20608-am SPI device 2016-11-09 17:08:12 +11:00
Andrew Tridgell b34ab2956b HAL_PX4: added access to external SPI connector on FMUv2 2016-11-09 17:08:12 +11:00