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265 Commits

Author SHA1 Message Date
Andrew Tridgell f2a919c55e AP_HAL_PX4: moved size of main thread stack to Scheduler.h 
make it more obvious
 2015-02-07 08:06:53 +11:00
Randy Mackay 12bd5cd6b1 AP_HAL_PX4: fix example sketch 2015-01-28 21:00:30 +09:00
Andrew Tridgell 464714f1ab HAL_PX4: fixed build warning 2015-01-09 11:37:46 +11:00
Andrew Tridgell 0c73dc2440 HAL_PX4: use common RingBuffer.h 2015-01-07 08:41:14 +11:00
Andrew Tridgell 4a91546ced HAL_PX4: FRAM does not support fsync 
the fsync just wastes time reopening /fs/mtd
 2014-12-09 14:35:36 +11:00
Andrew Tridgell 4132b53541 HAL_PX4: publish actuator values for UAVCAN ESCs 
this publishes scaled actuator values so that the uavcan module can
drive ESCs
 2014-11-26 11:14:44 +11:00
Matthias Badaire 1d3a49e466 AP_HAL_PX4 : make UARTDriver capable to be called from different threads. 
The modification allows the read and write functions to be called by any thread but the calling thread must be the last one that called the begin() function.
 2014-11-14 13:51:16 +11:00
Andrew Tridgell 154bf51279 HAL_PX4: minor tidy up of if statement 2014-11-14 13:51:16 +11:00
Holger Steinhaus 9e9c62d245 HAL_PX4: work-around for periodic enable_ch() calls 2014-11-14 13:51:16 +11:00
Holger Steinhaus e5549c90a1 HAL_PX4: do not overwrite disabled channels with zeros 
Fixes #1321
 2014-11-14 13:51:16 +11:00
Andrew Tridgell e22c8b27a9 HAL_PX4: if there are no enabled channels don't send to PX4IO 
this makes it possible to disable PWM output to IO to test override
 2014-11-07 10:39:07 +11:00
Andrew Tridgell 7e3b8a30f5 HAL_PX4: use px4io generated values for servo output readback 
this makes it easier to observe the behaviour of IO failsafe
 2014-11-05 21:54:53 +11:00
Andrew Tridgell 10b0ca7ea8 HAL_PX4: reduce the number of times we split up UART reads and writes 2014-10-09 12:29:25 +11:00
Randy Mackay ffcd259b4e HAL_PX4: implement force_safety_on 2014-09-18 09:58:46 +09:00
Andrew Tridgell 74525cad89 HAL_PX4: fixed dirty_mask calculation in FRAM storage 
this could lead to a number of bytes on 512 byte boundaries not being
written when changed in ram, so they would revert on next boot
 2014-09-11 18:58:54 +10:00
Andrew Tridgell 48247b6adc HAL_PX4: minimise usage of hrt_absolute_time() 2014-08-20 09:10:24 +10:00
Andrew Tridgell 1241da466b HAL_PX4: added millis64() and micros64() 2014-08-20 08:01:06 +10:00
Andrew Tridgell 0a20d0db60 HAL_PX4: prevent read past end of buffer 2014-08-19 10:08:17 +10:00
Andrew Tridgell 41f7ad42d4 HAL_PX4: fixed example build 2014-08-13 21:48:35 +10:00
Andrew Tridgell c864f3eed5 HAL_PX4: enable full storage size on PX4 2014-08-13 18:46:45 +10:00
Andrew Tridgell d40d0f6aec AP_HAL: removed old storage type read/write functions 
not needed any more
 2014-08-13 18:46:44 +10:00
Andrew Tridgell d1a75874a1 HAL_PX4: don't report power status change if in first 5 seconds 2014-08-09 22:50:14 +10:00
Andrew Tridgell 02dec5634f AP_HAL: fixed example builds 2014-07-25 17:52:01 +10:00
Andrew Tridgell b2bc098aee HAL_PX4: avoid some float conversion warnings 2014-07-08 20:27:19 +10:00
Andrew Tridgell 849c4905fb HAL_PX4: print overtime message on stuck task 
this should make it easier to narrow down stuck task bugs
 2014-07-03 09:11:24 +10:00
Andrew Tridgell fa4eb5475a HAL_PX4: implement analog input stop pins 
this allows multiple sonars to cooperate without interference
 2014-06-02 08:35:41 +10:00
Andrew Tridgell 37c50d9587 HAL_PX4: fixed use of FMU servo pins as digital inputs 
these pins can be PWM output or digital input or digital output
 2014-05-25 22:03:44 +10:00
Andrew Tridgell a7d6a26bec HAL_PX4: fixed auto-flow control 
the 6 bytes written to break the radio out of bootloader broke
auto flowcontrol detection
 2014-05-19 22:02:39 +10:00
Andrew Tridgell 320834a5e7 HAL_PX4: read from FRAM in 128 byte chunks (2nd try) 
this time without the amazingly silly bug
 2014-05-02 22:12:45 +10:00
Andrew Tridgell db6b96caa0 Revert "HAL_PX4: read from FRAM in 128 byte chunks" 
This reverts commit a92366c455.

This commit may be associated with FRAM corruption on Pixhawk. Revert
until we understand why
 2014-05-02 21:52:26 +10:00
Andrew Tridgell a92366c455 HAL_PX4: read from FRAM in 128 byte chunks 
this fixes FRAM read on Roberts Pixhawk. We don't know why yet.
 2014-05-02 12:24:54 +10:00
Andrew Tridgell 5cd145a307 AP_HAL: added set_failsafe_pwm() API 
this allows the PWM values for FMU firmware failure to be setup
 2014-04-21 08:36:52 +10:00
Andrew Tridgell 6eee2421cc AP_HAL: removed RCInput valid_channels() and added new_input() and num_channels() 
the valid_channels() method was inconsistently implemented between
boards, and served two quite different purposes. It is clearer as two
functions
 2014-03-25 14:39:41 +11:00
Andrew Tridgell 2a9a89e020 HAL_PX4: fixes for merged upstream PX4Firmware 2014-03-25 10:30:00 +11:00
Andrew Tridgell d36989f6a1 AP_HAL: fixed example build 2014-03-19 12:14:06 +09:00
Andrew Tridgell 5f85e7af6a HAL_PX4: switch to new serial port for 2nd GPS 2014-03-04 20:34:44 +11:00
Andrew Tridgell bf2dd141e9 HAL_PX4: support uartE for 2nd GPS 2014-02-26 08:18:11 +11:00
Andrew Tridgell 830afefcef AP_HAL: fixed example build 2014-02-15 06:40:29 +11:00
Andrew Tridgell bea0a46410 AP_HAL: added servorail_voltage and power_status_flags() API on AnalogIn 2014-02-15 05:00:09 +11:00
Andrew Tridgell 7c1b9b344f AP_HAL: added get_flow_control() API 2014-02-14 21:51:00 +11:00
Andrew Tridgell 1849db7074 AP_HAL: added board_voltage AnalogIn method 
this makes it easier to get the board voltage from any library,
without having to allocate another analog channel object
 2014-02-14 21:25:38 +11:00
Andrew Tridgell 4e2e685d7a HAL_PX4: better fix for IFLOW on all ports 
the tcsetattr() call fails to apply the baudrate if the port has no
RTS pin and we ask for IFLOW. So just make a separate call.
 2014-02-12 17:47:23 +11:00
Andrew Tridgell b2cdd39a99 HAL_PX4: don't enable IFLOW on ports without flow control 
this should have been harmless, but breaks the GPS on Pixhawk. This
disables it until we work out why.
 2014-02-12 17:32:07 +11:00
Andrew Tridgell c93794999e HAL_PX4: remove an old conditional define 2014-02-11 15:58:25 +11:00
Andrew Tridgell 439a075b30 AP_HAL: added force_safety_off rcoutput function 
this forces the safety switch off, enabling PWM on the IO board
 2014-02-11 15:58:25 +11:00
Andrew Tridgell c5c1d1358a HAL_PX4: added automatic hardware flow control detection 
this allows us to detect if hardware flow control is not available and
automatically disable it
 2014-02-11 12:11:26 +11:00
Andrew Tridgell 3e637ac5d9 AP_HAL: added enable_flow_control() option in AP_HAL 2014-02-10 12:54:50 +11:00
Andrew Tridgell 99b41f110f HAL_PX4: enable the FMU PWM pins to be used as GPIO when needed 2014-01-20 17:06:28 +11:00
Andrew Tridgell 87cc95dd7f AP_HAL: removed unused enable_mask and disable_mask functions 2014-01-16 17:16:17 +11:00
Andrew Tridgell e1f06c532a HAL_PX4: more checking of IO results in eeprom driver 2014-01-16 13:11:14 +11:00
Andrew Tridgell 3ae6f03761 HAL_PX4: be less verbose about disarmed PWM setup 2014-01-16 13:11:13 +11:00
Andrew Tridgell db1d438e97 HAL_PX4: implement set_safety_pwm() API 
used to set PWM on motors when disarmed
 2014-01-15 22:25:50 +11:00
Andrew Tridgell 64fbadcc21 HAL_PX4: use eeprom on PX4 FMUv1 as well 
this means we no longer store params on SD at all
 2014-01-15 19:33:13 +11:00
Andrew Tridgell 376ab30366 HAL_PX4: disable rename of old parameter file for now 
be nice to release candidate users
 2014-01-14 22:00:56 +11:00
Andrew Tridgell 626086063e HAL_PX4: added a signature to FRAM 
this makes for more reliable update
 2014-01-14 15:06:51 +11:00
Andrew Tridgell b88bb0751c HAL_PX4: added support for MTD (FRAM) parameters 
this allows us to store parameters and waypoints in FRAM, and
auto-upgrade from microSD
 2014-01-14 12:46:26 +11:00
Andrew Tridgell e78e35f3bd HAL_PX4: try to use uppercase names on NuttX microSD card 2014-01-14 12:46:26 +11:00
Andrew Tridgell 63586e3e23 HAL_PX4: fixed build for new PX4Firmware 2014-01-13 13:54:51 +11:00
Andrew Tridgell 89676be825 HAL_PX4: fixed RCInput race condition 
the number of channels could be zero with thread switch at the wrong
time
 2013-12-31 22:25:16 +11:00
Andrew Tridgell a2997704eb HAL_PX4: removed code which drops throttle to 900 on loss of RC 
rely on vehicle code checking for last data coming in
 2013-12-31 10:58:49 +11:00
Andrew Tridgell ea649e036b AP_HAL: added HAL_CPU_CLASS define for selecting algorithms 
this will make it easier to select the appropiate level of algorithm
for a CPU
 2013-12-31 10:28:37 +11:00
Andrew Tridgell a95868e124 HAL_PX4: even larger tx buffer size for faster log transfer 2013-12-28 16:01:48 +11:00
Andrew Tridgell 22bdee8727 HAL_PX4: implement available_memory() 2013-12-28 16:01:28 +11:00
Andrew Tridgell ff7004fcc5 HAL_PX4: use larger buffers on USB 2013-12-28 14:25:54 +11:00
Andrew Tridgell e321ad65f4 AP_HAL: fixed example build 2013-12-17 11:51:37 +11:00
Andrew Tridgell f433796435 HAL_PX4: removed an unused variable 2013-12-11 10:22:34 +11:00
Andrew Tridgell 4b4f5ed1c0 HAL_PX4: support get_system_id() on PX4 2013-11-26 13:00:03 +11:00
Andrew Tridgell 0b25ff0a16 HAL_PX4: added uartD 2013-11-23 19:29:22 +11:00
Andrew Tridgell 24d1cf3bd6 HAL_PX4: don't check USB for data if not connected 2013-11-05 14:41:42 +11:00
Andrew Tridgell 8dc6b758f3 HAL_PX4: switch to delay_microseconds_semaphore() for UART timer 
this may prevent some timing jitter on the GPS UARTs
 2013-11-05 14:41:24 +11:00
Andrew Tridgell 5800c2a2c8 HAL_PX4: prevent excessive writes on startup from blocking 
this could cause copter on PX4 to hang on startup
 2013-10-28 16:12:44 +11:00
Andrew Tridgell 622f0dcc1d HAL_PX4: prevent threads running before subsystems are initialised 
this fixes a bug where the timer thread would hang waiting for the
console on startup. This caused the "hit enter" behaviour with recent
PX4 bugs, as AnalogIn tried to read from fd==0, which was a console
read
 2013-10-26 18:12:35 +11:00
Andrew Tridgell 34cde1a640 HAL_PX4: implement set_system_clock() 2013-10-24 14:22:48 +11:00
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