Andrew Tridgell
d973730b88
HAL_PX4: use hrt timer and semaphores to improve timing
...
this gives much more accurate microsecond delays, while also ensuring
we yield the CPU when possible
2013-10-14 08:29:30 +11:00
Andrew Tridgell
e34cc6dd9a
HAL_PX4: added some UART debugging
...
this may help to track down USB issues
2013-10-13 12:43:25 +11:00
Andrew Tridgell
63bee0b2d8
HAL_PX4: disable checks for in_timerprocess
...
these are not valid in this form for the way the timer thread works on
PX4.
2013-10-11 16:06:35 +11:00
Andrew Tridgell
67db1cedaa
HAL_PX4: fixed delay_microseconds() on PX4
...
we could underflow and delay a very long time!
2013-10-08 17:31:15 +11:00
Andrew Tridgell
7cab8cb3bb
HAL_PX4: removed Console driver
2013-10-05 18:33:07 +10:00
Andrew Tridgell
ad30f8effa
HAL_PX4: try to reopen UARTs if safety switch is disarmed
...
this allows attaching to the USB port after power on
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2013-10-05 15:47:28 +10:00
Andrew Tridgell
a250c13c79
HAL_PX4: fixed build
2013-10-03 12:21:08 +10:00
Andrew Tridgell
942ae70651
HAL_PX4: updates for AP_HAL::MemberProc
2013-09-30 21:06:42 +10:00
Andrew Tridgell
7067569103
HAL_PX4: fixed end() on UARTs
2013-09-29 12:04:36 +10:00
Andrew Tridgell
7ec242146d
HAL_PX4: update for new scheduler API
2013-09-28 21:24:03 +10:00
Andrew Tridgell
40af9ab674
AP_HAL_PX4: updates for new API
2013-09-22 12:22:05 +10:00
Andrew Tridgell
05b426c1fc
HAL_PX4: use common printf implementation on UARTs
2013-09-21 14:23:52 +10:00
Andrew Tridgell
80e2a5cc32
AP_HAL_PX4: convert to new AP_HAL printf
2013-09-21 13:29:32 +10:00
Andrew Tridgell
a5b29f44d5
AP_HAL: added hal.gpio->usb_connected() function
...
this replaces the USB_MUX_PIN on APM2, and works on PX4 and FMUv2
2013-09-19 16:23:40 +10:00
Andrew Tridgell
2990359043
PX4: Implement accurate ratiometric voltage reading on Pixhawk
...
this uses the monitoring of the 5V rail to compensate for changes in
the 5V reference versus the 3.3V ADC reference. It reduces the noise
on ratiometric sensors by a factor of about 6x.
2013-09-13 10:48:57 +10:00
Andrew Tridgell
3a3cecf5ff
PX4: support getting servorail voltage from ORB
2013-09-12 16:28:06 +10:00
Andrew Tridgell
fb56feb6b2
HAL_PX4: support all analog input pins, with scaling
...
this allows voltage/current/Vcc sensing on FMUv2
2013-09-12 13:26:00 +10:00
Andrew Tridgell
fa107bdb58
PX4: moved UART handling to its own thread
...
this prevents slow writes to the SD card from interfering with MAVLink
or GPS serial communication
2013-09-04 13:15:27 +10:00
Andrew Tridgell
7082e0f8aa
AP_HAL: added hold_in_bootloader parameter to scheduler->reboot()
2013-09-04 11:58:13 +10:00
Andrew Tridgell
5e33bbd197
PX4: fixed sense of relay pins
2013-08-30 15:05:29 +10:00
Andrew Tridgell
83fbb29db1
HAL_PX4: fixed example build
2013-08-30 13:01:36 +10:00
Randy Mackay
07abfc59ac
AP_HAL_PX4: compile error fix
2013-08-30 13:01:35 +10:00
Randy Mackay
ac36a09747
AP_HAL: add toggle to GPIO
2013-08-30 13:01:34 +10:00
Andrew Tridgell
0527bae8cb
PX4: support PX4IO relay pins
...
this allows the pins to be used in the relay code
2013-08-30 13:01:34 +10:00
Andrew Tridgell
9b3c54fc39
PX4: ensure storage buffer is DMA aligned
...
this helps for boards which use DMA for FAT IO
2013-08-30 13:01:33 +10:00
Andrew Tridgell
2340bb6220
PX4: use a minimum transmit buffer for UARTs of 512 bytes
...
this avoids writes stalling on the GPS port. We can't afford this
memory on APM2, but we can on PX4, and it means that while the GPS is
blocking at startup it doesn't cause any scheduler slips
2013-08-30 13:01:33 +10:00
Andrew Tridgell
e5f19e314d
PX4: systemreset() now takes a boolean argument
...
this chooses whether to stay in the bootloader
2013-08-30 13:01:33 +10:00
Andrew Tridgell
4794d90bbb
HAL_PX4: support up to 16 analog channels
2013-08-30 13:01:32 +10:00
Andrew Tridgell
3bc035d83a
HAL_PX4: fixed GPIO build
...
don't use vehicle includes
2013-08-30 13:01:32 +10:00
Andrew Tridgell
0f677e3a10
HAL_PX4: fixed build on FMUv1
2013-08-30 13:01:32 +10:00
Andrew Tridgell
091b989b30
HAL_PX4: some GPIO functions are not available on FMUv2 yet
2013-08-30 13:01:32 +10:00
Julian Oes
56e94d70e9
PX4: Adaptations to latest build changes
2013-08-30 13:01:32 +10:00
Andrew Tridgell
83b13c3d88
HAL_PX4: fixed definition of relay and piezo pins
2013-07-11 13:50:23 +10:00
Andrew Tridgell
0916388ab5
HAL_PX4: retry opening UARTs up to 5 times
...
this seems to help a lot with the USB port on PX4
2013-07-11 13:50:23 +10:00
Marco Bauer
a3b216bce3
HAL_PX4: added GPIO driver
2013-07-11 13:50:22 +10:00
Andrew Tridgell
d7d87f827e
HAL_PX4: support voltage monitoring on multi-connector pin 5
2013-06-05 08:24:20 +10:00
Andrew Tridgell
2316c3bd11
AP_HAL: make storage->write_block() take a const pointer
2013-06-04 14:02:13 +10:00
Andrew Tridgell
e391c34d1e
AP_HAL_PX4: fixed indent-tabs-mode
2013-05-30 09:54:53 +10:00
Andrew Tridgell
2c149bac8e
HAL_PX4: added new arming ioctls
2013-05-16 16:43:38 +10:00
Andrew Tridgell
a5b20b4dfc
AP_HAL: removed scaling factor on analog sources
...
these are not use anymore, as voltage_average() is used instead
2013-05-13 15:29:42 +10:00
Andrew Tridgell
589b8cdb58
AP_HAL: added voltage_average_ratiometric() call to AnalogIn
...
this is for ratiometric sensors such as the 3DR airspeed sensor and
the Maxbotix analog sonar
2013-05-13 15:12:43 +10:00
Andrew Tridgell
172faeea26
HAL_PX4: moved rc.APM to new ROMFS directory
2013-05-10 06:16:54 +10:00
Andrew Tridgell
b3e21c6add
HAL_PX4: include visibility.h
...
needed for new nuttx structure
2013-05-10 06:16:53 +10:00
Andrew Tridgell
9cd0af1132
HAL_PX4: make PX4 snprintf support %S format
...
just maps it to %s for normal printf
2013-05-08 16:17:06 +10:00
Andrew Tridgell
9bc48c9894
HAL_PX4: fixed build with new AnalogIn API
...
pin settle times not actually implemented on PX4 yet
2013-05-03 10:09:02 +10:00
Andrew Tridgell
ccd38e58a1
HAL_PX4: fixed the scaling on the analog pins
2013-05-02 21:40:15 +10:00
Randy Mackay
bbbd90c430
AP_HAL: rename RCInput's valid() fn to valid_channels
2013-04-29 15:05:53 +09:00
Andrew Tridgell
ec1678db83
HAL_PX4: setup for 12 output channels
...
moved telemetry port to /dev/ttyS2 to free PWM outputs on FMU
2013-04-25 20:10:53 +10:00
Andrew Tridgell
709615159a
HAL_PX4: support 12 output channels with PX4IO
...
first 8 on IO board, next 4 on FMU outputs
2013-04-25 20:10:53 +10:00
Andrew Tridgell
af7381e9e0
AP_HAL: added register_io_process()
...
this is used to register a low priority IO task. Used for file IO in
DataFlash_File.cpp
2013-04-17 21:33:50 +10:00
Andrew Tridgell
d01d754ba8
HAL_PX4: if we have lost RC input then set channel 3 to 900
...
this allows failsafe to kick in
2013-04-15 10:52:32 +10:00
Andrew Tridgell
6ddb99a50b
HAL_PX4: create APM/boot.log on SD card
...
useful for debugging
2013-03-21 15:05:21 +11:00
Andrew Tridgell
cc932973d6
HAL_PX4: remove the need for the fmu_only flag file
2013-03-21 15:05:21 +11:00
Andrew Tridgell
8766e86091
HAL_PX4: fixed blocking bulk writes to UARTs
...
this fixes a problem with uBlox initialisation on PX4
2013-03-20 15:41:52 +11:00
Andrew Tridgell
14911eff6c
HAL_PX4: added a (disabled) trick for handling blocking ttyACM0
...
this doesn't work yet, but is worth having for debugging
2013-03-20 11:20:43 +11:00
Andrew Tridgell
93fc9c48e5
HAL_PX4: fixed startup bug in fmu_only mode
2013-03-19 07:57:13 +11:00
Andrew Tridgell
ac69a531d3
HAL_PX4: workaround problem with APM file on SD card
...
this works around file redirection bug from earlier firmwares
2013-03-18 13:12:17 +11:00
Andrew Tridgell
6a1aad30f1
HAL_PX4: auto-create APM directory on SD card
2013-03-16 19:47:09 +11:00
Andrew Tridgell
b1c27407a2
AP_HAL: added voltage_average() interface to AnalogIn
...
returns voltage in Volts, using averaged reading over samples.
Where possible this should be auto-scaled against a known reference
voltage
2013-03-03 16:16:01 +11:00
Pat Hickey
e0457f21de
AP_HAL_PX4: fix off-by-one error in RCOutput channel sending
2013-02-23 15:04:17 -08:00
Andrew Tridgell
c373429a6e
HAL_PX4: fixed a buffer handling bug
...
BUF_SPACE() was badly buggy, which could lead to memory corruption
2013-02-20 18:15:56 +11:00
Andrew Tridgell
160e5fa311
HAL_PX4: show a message if we fail to upgrade PX4IO firmware
2013-02-20 18:15:23 +11:00
Andrew Tridgell
02c5c3ec4a
HAL_PX4: changed scheduler priorities
...
put sensor priority above main sketch, to prevent occasional blocking
for sensor data
2013-02-20 11:30:54 +11:00
Andrew Tridgell
54e7bce75e
HAL_PX4: cope with O_NONBLOCK not working in NuttX on ttyACM0
...
writes will block anyway, which clags up APM
2013-02-19 12:02:46 +11:00
Andrew Tridgell
8041768c67
HAL_PX4: perform automatic update of px4io firmware
2013-02-18 13:55:58 +11:00
Andrew Tridgell
8e2a20bea8
HAL_PX4: enable ttyACM0 as main console, ttyS1 as telemetry port
2013-02-18 13:55:33 +11:00
Andrew Tridgell
e45b137816
HAL_PX4: added run_debug_shell() implementation for PX4
2013-02-07 15:04:33 +11:00
Andrew Tridgell
4fd7630ec9
HAL_PX4: IO_SET_FEATURES is not needed any more
2013-01-27 15:05:28 +11:00
Andrew Tridgell
8375abdd99
HAL_PX4: fixed max storage write size
2013-01-27 15:04:47 +11:00
Andrew Tridgell
e4a204d2f6
HAL_PX4: reopen storage file on any IO error
2013-01-27 13:39:11 +11:00
Andrew Tridgell
90e264d56a
HAL_PX4: disable manual override in PX4 for now
2013-01-27 12:52:14 +11:00
Andrew Tridgell
02b4ecc273
HAL_PX4: get RC input from PX4IO board
...
this allows us to support DSM and SBUS receivers
2013-01-27 12:52:14 +11:00
Andrew Tridgell
d7409b6a25
HAL_PX4: startup in low priority to fix CLI
...
this ensures that tight sensor loops in setup() can run without
sleeping
2013-01-25 20:44:36 +11:00
Andrew Tridgell
7359348e2c
HAL_PX4: added support for /fs/microsd/APM/nostart
...
prevents APM startup
2013-01-25 20:44:36 +11:00
Andrew Tridgell
8f2f4b1bc5
HAL_PX4: use write() to /dev/pwm_output for servo output
...
this lowest the cost of PWM output a lot, but relies on the new I2C
based IO firmware
2013-01-25 20:44:36 +11:00
Andrew Tridgell
f9d43f4c3e
HAL_PX4: prevent loop() overruns using hrt
...
this ensures if loop() takes more than 1 second, the main task gets
its priority dropped until loop() completes
2013-01-24 15:04:57 +11:00
Andrew Tridgell
70227d5d93
HAL_PX4: added scheduler performance counters
2013-01-24 15:04:57 +11:00
Andrew Tridgell
0e79b93289
HAL_PX4: added storage performance counters
2013-01-24 15:04:57 +11:00
Andrew Tridgell
fc8065b50f
HAL_PX4: added UART performance counters
2013-01-24 15:04:57 +11:00
Andrew Tridgell
6cf1d5e1ff
HAL_PX4: handle IO errors on microsd
...
this should handle EINTR gracefully
2013-01-24 15:04:57 +11:00
Andrew Tridgell
966b9b9b9c
HAL_PX4: format panic messages with a newline
2013-01-23 16:54:44 +11:00
Andrew Tridgell
c9799fb2b7
HAL_PX4: writing more than 512 bytes at a time can cause IO errors
...
the vfat fs in NuttX is really very picky!
2013-01-23 16:54:44 +11:00
Andrew Tridgell
952df2fced
HAL_PX4: new buffered storeage driver for microsd cards
...
this does all IO in the timer thread, avoids writes that don't change
data, and does all writes in multiples of 128 byte chunks. This should
be about as friendly to SD cards as we can get.
2013-01-23 16:37:40 +11:00
Andrew Tridgell
f72b532405
HAL_PX4: ensure all writes go via buffers
...
this prevents output corruption by direct fd writes
2013-01-23 09:22:51 +11:00
Andrew Tridgell
2a10727902
HAL_PX4: run timer thread as SCHED_FIFO
...
this ensures it never yields to the main thread, which would break our
locking assumptions
2013-01-23 09:21:50 +11:00
Andrew Tridgell
930e79a9e1
HAL_PX4: fixed rcin->valid() for RC override input
2013-01-23 07:57:59 +11:00
Andrew Tridgell
06e63d3167
HAL_PX4: use pthread_yield() in main loop
...
this lowers the latency of the main loop somewhat
2013-01-23 07:36:13 +11:00
Andrew Tridgell
6e8501603c
HAL_PX4: avoid RCOutput ioctl unless values change
...
this lowers latency somewhat
2013-01-23 07:29:59 +11:00
Andrew Tridgell
89cb3fbd61
HAL_PX4: fixed blocking IO in UART driver
2013-01-22 21:52:21 +11:00
Andrew Tridgell
6ffa18fa61
HAL_PX4: rewrite UART driver to be much more efficient
...
this does the IO in the timer thread, and uses buffers in the main
task to avoid system call costs in the flight code.
The cost of PX4 read and write system calls is quite high - about 10
to 15 usec. We can't afford to pay that per byte
2013-01-22 21:22:01 +11:00
Andrew Tridgell
546ed19ffc
HAL_PX4: improved efficiency of serial writes
...
use buffer at a time writes when possible, and use O_NONBLOCKING to
avoid txspace()
2013-01-22 10:50:26 +11:00
Andrew Tridgell
18cfd29f2f
HAL_PX4: added a read buffer to the UART driver
...
this lowers the average cost of reading bytes by a large amount, and
prevents the GPS driver from chewing lots of time.
2013-01-22 10:34:04 +11:00
Andrew Tridgell
db0bd86317
HAL_PX4: name the eeprom file after the sketch
...
this makes it easier to switch between ArduPlane and ArduCopter
2013-01-21 22:04:17 +11:00
Andrew Tridgell
1188c9e335
HAL_PX4: added Util instance
...
this fixes hal.util->vsnprintf_P()
2013-01-21 17:10:42 +11:00
Andrew Tridgell
52f560a4c2
HAL_PX4: enabled AnalogIn driver
2013-01-21 13:56:57 +11:00
Andrew Tridgell
ed94292c25
HAL_PX4: start adc driver in rc.APM
2013-01-21 13:55:58 +11:00
Andrew Tridgell
e42cf918fd
HAL_PX4: added AnalogIn driver
...
this allows airspeed to work on a PX4
2013-01-21 13:55:06 +11:00
Andrew Tridgell
39e28d48c2
HAL_PX4: switched scheduler to use a pthread
...
this allows the timer tasks to access file descriptors in the main APM
task, which makes writing PX4 device drivers much easier
2013-01-21 13:54:09 +11:00
Andrew Tridgell
ffb2924dd4
HAL_PX4: added APM startup script
2013-01-21 08:27:02 +11:00
Andrew Tridgell
0655b1a925
HAL_PX4: fixed thread_running on failed startup
2013-01-20 22:13:20 +11:00
Andrew Tridgell
76092eb590
AP_HAL: remove unused peek() interface from UART drivers
...
this is a bit tricky to implement on some platforms, and is unused
anyway
2013-01-16 14:43:18 +11:00
Andrew Tridgell
bd9c61562f
HAL_PX4: added -d command line option to app
...
allows control of serial device
2013-01-14 16:21:27 +11:00
Andrew Tridgell
64a8a8e4c9
HAL_PX4: fixed using mavlink on the console
...
this disables the ONLCR termios flag, which was injecting extra
carriage returns in the output
2013-01-14 16:21:27 +11:00
Andrew Tridgell
7c7a215934
HAL_PX4: fixes for new Scheduler API
2013-01-11 12:25:26 +11:00
Andrew Tridgell
5ac23d358f
HAL_PX4: update for new i2cdriver interface
2013-01-07 11:05:30 +11:00
Andrew Tridgell
319e1a4e84
HAL_PX4: support setting servo rate
2013-01-07 11:05:30 +11:00
Andrew Tridgell
30447018d5
HAL_PX4: handle %S in format strings
2013-01-05 08:10:07 +11:00
Andrew Tridgell
08d518e07f
HAL_PX4: switch to libc vdprintf()
...
vdprintf has now been added to NuttX
2013-01-05 08:01:10 +11:00
Andrew Tridgell
84bd10d279
HAL_PX4: minor cleanups
2013-01-04 22:27:04 +11:00
Andrew Tridgell
5829d44a22
HAL_PX4: disable failsafe handler
...
this won't work until we can set RC output values in timers
2013-01-04 22:26:16 +11:00
Andrew Tridgell
0fcc6d7389
HAL_PX4: added an RC Output driver
2013-01-04 22:25:36 +11:00
Andrew Tridgell
44837a11f2
HAL_PX4: added baudrate support to UART driver
2013-01-04 19:42:30 +11:00
Andrew Tridgell
965fc8a9d1
HAL_PX4: enable uartB as GPS port
2013-01-04 19:41:50 +11:00
Andrew Tridgell
9f423a24ad
HAL_PX4: yield CPU in delay()
...
this allows other apps to run
2013-01-04 12:34:35 +11:00
Andrew Tridgell
155fca8a4b
HAL_PX4: make APM sketches into daemons
...
this also moves uartA onto UART5, allowing ttyS0 for nsh
2013-01-04 11:14:35 +11:00
Andrew Tridgell
1fc95a2d45
HAL_PX4: support PPM RC Input
...
HIL flying now works properly
2013-01-04 08:31:23 +11:00
Andrew Tridgell
38bccee230
HAL_PX4: initial RCInput driver (overrides only)
2013-01-03 21:30:35 +11:00
Andrew Tridgell
d492b72a2c
HAL_PX4: use /dev/ttyS0 for uartA
...
this also changes txspace and available to use FIONWRITE and FIONREAD
2013-01-03 21:12:10 +11:00
Andrew Tridgell
1e69b88261
HAL_PX4: use write() in panic()
...
this allows panic from the UARTDriver
2013-01-03 21:11:37 +11:00
Andrew Tridgell
ac7117245a
HAL_PX4: added a storage driver
...
stores 'eeprom' to a sdcard file
2013-01-03 19:35:05 +11:00
Andrew Tridgell
b30fa6535b
HAL_PX4: support reboot
2013-01-03 19:34:36 +11:00
Andrew Tridgell
c6c336a6e8
HAL_PX4: implement peek() and available()
...
keep a 1 byte buffer
2013-01-03 17:27:53 +11:00
Andrew Tridgell
cc7f4353b4
HAL_PX4: update simple example
2013-01-03 13:17:32 +11:00
Andrew Tridgell
b0f1ceb76b
HAL_PX4: removed some files not needed any more
2013-01-03 13:17:11 +11:00
Andrew Tridgell
d9d5eb52bf
HAL_PX4: use fd IO instead of stdio
...
this allows for hal console output from within timers, which is very
handy for debugging
2013-01-03 13:16:41 +11:00
Andrew Tridgell
c6305b5876
HAL_PX4: rework Scheduler using hrt calls
...
thanks to Julian Oes for the suggestion
2013-01-03 13:15:57 +11:00
Andrew Tridgell
9373a4e5b3
HAL_PX4: added a uartA driver
...
uses stdin/stdout for IO
2013-01-03 11:03:05 +11:00
Andrew Tridgell
5053fb8acc
HAL_PX4: implement atomic operations
2013-01-02 21:45:17 +11:00
Andrew Tridgell
5a70f3becf
HAL_PX4: added a scheduler implementation
2013-01-02 21:39:26 +11:00
Andrew Tridgell
374af1cd14
build: change from Arduino.mk to apm.mk
2013-01-02 17:29:37 +11:00
Andrew Tridgell
da10e68e87
HAL_PX4: added basic console driver (output only)
2013-01-01 18:19:18 +11:00
Andrew Tridgell
b41440175f
HAL_PX4: started on new PX4 HAL structures
2012-12-30 20:02:45 +11:00
Andrew Tridgell
feb11f0bc9
PX4: mark example as nobuild for now
2012-12-22 14:40:10 +11:00
Pat Hickey
eb530b86e8
move Arduino.mk to /mk/Arduino.mk
2012-12-20 14:52:35 +11:00
Andrew Tridgell
7d27e420ae
AP_HAL: remove unnecessary Arduino.h includes
2012-12-20 14:52:30 +11:00
Andrew Tridgell
c4d9b5e328
AP_HAL_PX4: added stdio.h
2012-12-20 14:51:29 +11:00
Andrew Tridgell
2669c33476
AP_HAL_PX4: added main program as include
2012-12-20 14:51:29 +11:00
Pat Hickey
be00b2f681
AP_HAL_PX4: brief disclaimer
2012-12-20 14:51:28 +11:00
Pat Hickey
64a79f3598
AP_HAL_PX4: Stub Console implemented
2012-12-20 14:51:28 +11:00
Pat Hickey
2d363e0683
AP_HAL_PX4: trivial console header
2012-12-20 14:51:28 +11:00
Andrew Tridgell
471d672e54
examples: mark some examples as unable to build
...
some are not worth fixing. Some can't build on 1280/2560
2012-11-24 21:09:55 +11:00