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192 Commits

Author SHA1 Message Date
Andrew Tridgell 1c091cbca5 HAL_PX4: fixed a scheduler bug that affects UART IO 
we need to detect if we are in a timer task using a PID, not a
flag. This is the same type of bug I fixed last week, but now fixed
properly.

The bug could well be the "USB bug" that Craig has been chasing
 2013-10-19 16:50:38 +11:00
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